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[MapDataUpdate]高精地图数据采集代码提交

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This commit is contained in:
renwj
2022-02-15 19:38:10 +08:00
parent e53be1817b
commit 3dbdb6cddb
11 changed files with 325 additions and 4 deletions
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1
config.gradle
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@@ -147,6 +147,7 @@ ext {
mogomap : "com.mogo.map:mogo-map:${MOGO_MAP_VERSION}",
mogomapapi : "com.mogo.map:mogo-map-api:${MOGO_MAP_API_VERSION}",
mogocustommap : "com.zhidaoauto.machine:map:${MAP_SDK_VERSION}",
mogocustommapoperational : "com.zhidaoauto.map:operational:${MAP_SDK_OPERATION_VERSION}",
modulecommon : "com.mogo.module:module-common:${MOGO_MODULE_COMMON_VERSION}",
modulemain : "com.mogo.module:module-main:${MOGO_MODULE_MAIN_VERSION}",

29
core/function-impl/mogo-core-function-autopilot/src/main/java/com/mogo/eagle/core/function/autopilot/MoGoAutopilotProvider.kt
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@@ -10,10 +10,12 @@ import com.mogo.eagle.core.data.config.FunctionBuildConfig
import com.mogo.eagle.core.data.constants.MoGoConfig
import com.mogo.eagle.core.data.constants.MogoServicePaths
import com.mogo.eagle.core.function.api.autopilot.IMoGoAutopilotProvider
import com.mogo.eagle.core.function.api.map.collect.IMoGoMapDataCollectProvider
import com.mogo.eagle.core.function.autopilot.adapter.MoGoAdasListenerImpl
import com.mogo.eagle.core.function.autopilot.adapter.MoGoAdasMsgConnectStatusListenerImpl
import com.mogo.eagle.core.function.autopilot.adapter.MoGoHandAdasMsgManager
import com.mogo.eagle.core.function.autopilot.server.AsyncDataToAutopilotServer
import com.mogo.eagle.core.function.call.map.CallerMapDataCollectorManager
import com.mogo.eagle.core.utilcode.mogo.logger.Logger
import com.mogo.eagle.core.utilcode.mogo.storage.SharedPrefsMgr
import com.mogo.eagle.core.utilcode.util.GsonUtils
@@ -30,7 +32,7 @@ import java.util.concurrent.TimeUnit
*/
@Route(path = MogoServicePaths.PATH_AUTO_PILOT)
class MoGoAutopilotProvider :
IMoGoAutopilotProvider {
IMoGoAutopilotProvider, IMoGoMapDataCollectProvider.OnMapCollectCmdListener {
private val TAG = "MoGoAutoPilotProvider"
private var mContext: Context? = null
@@ -60,6 +62,7 @@ class MoGoAutopilotProvider :
AdasManager.getInstance().setOnAdasListener(MoGoAdasListenerImpl())
// 同步数据给工控机的服务
AsyncDataToAutopilotServer.INSTANCE.initServer()
CallerMapDataCollectorManager.registerOnMapCollectTaskListener(this)
}
/**
@@ -89,6 +92,16 @@ class MoGoAutopilotProvider :
}, 1000, TimeUnit.MILLISECONDS)
}
override fun onMapCollectStart(cmdId: Int, cmdTime: Long) {
val result = recordPackage(2, cmdId)
Logger.d(TAG, "开始记录包: [$cmdId, $result]")
}
override fun onMapCollectEnd(cmdId: Int, cmdTime: Long) {
val result = stopRecord(2, cmdId)
Logger.d(TAG, "结束记录包: [$cmdId, $result]")
}
override fun startAutoPilot(result: AutopilotControlParameters) {
if (AdasManager.getInstance().isSocketConnect) {
val parameter = AutopilotControlCmdParameter("aiCloudToStartAutopilot", result)
@@ -115,6 +128,18 @@ class MoGoAutopilotProvider :
.recordPackage(1, (System.currentTimeMillis() / 1000).toInt())
}
override fun recordPackage(type: Int, id: Int): Boolean {
return AdasManager.getInstance().recordPackage(type, id)
}
override fun recordPackage(type: Int, id: Int, duration: Int): Boolean {
return AdasManager.getInstance().recordPackage(type, id, duration)
}
override fun stopRecord(type: Int, id: Int): Boolean {
return AdasManager.getInstance().stopRecord(type, id)
}
override fun setEnableLog(isEnableLog: Boolean) {
CupidLogUtils.setEnableLog(isEnableLog)
}
@@ -124,7 +149,7 @@ class MoGoAutopilotProvider :
}
override fun onDestroy() {
CallerMapDataCollectorManager.unRegisterOnMapCollectTaskListener(this)
}
override fun setAutoPilotSpeed(speed: Int): Boolean {

3
core/function-impl/mogo-core-function-main/src/main/java/com/mogo/eagle/core/function/main/MainMoGoApplication.java
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@@ -329,6 +329,9 @@ public abstract class MainMoGoApplication extends AbsMogoApplication {
// 推送模块
MogoModulePaths.addModule(new MogoModule(PushUIConstants.PATH, "PUSH_UI"));
// 地图数据收集模块
MogoModulePaths.addModuleFunctionServer(new MogoModule(MogoServicePaths.PATH_MAP_DATA_COLLECT_PROVIDER, "MoGoMapDataCollector"));
if (!DebugConfig.isLauncher()) {
PersistentManager
.getInstance().initManager(this);

2
core/function-impl/mogo-core-function-map/build.gradle
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@@ -51,7 +51,7 @@ dependencies {
kapt rootProject.ext.dependencies.aroutercompiler
implementation rootProject.ext.dependencies.adasHigh
implementation rootProject.ext.dependencies.mogocustommapoperational
if (Boolean.valueOf(USE_MAVEN_PACKAGE)) {
implementation rootProject.ext.dependencies.mogoserviceapi
implementation rootProject.ext.dependencies.modulecommon

175
core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/impl/collect/MoGoMapDataCollectProvider.kt Normal file
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@@ -0,0 +1,175 @@
package com.mogo.eagle.core.function.impl.collect
import android.content.Context
import android.text.TextUtils
import com.alibaba.android.arouter.facade.annotation.Route
import com.mogo.cloud.passport.IMoGoTokenCallback
import com.mogo.cloud.passport.MoGoAiCloudClient
import com.mogo.cloud.passport.MoGoAiCloudClientConfig
import com.mogo.eagle.core.data.constants.MogoServicePaths
import com.mogo.eagle.core.data.map.MogoLocation
import com.mogo.eagle.core.function.api.map.collect.IMoGoMapDataCollectProvider
import com.mogo.eagle.core.function.api.map.listener.IMoGoMapLocationListener
import com.mogo.eagle.core.function.call.map.CallerMapLocationListenerManager
import com.mogo.eagle.core.utilcode.mogo.logger.Logger
import com.zhidaoauto.map.operational.MapCollectionTaskRecive
import com.zhidaoauto.map.operational.abs.OnTaskListener
import java.util.concurrent.ConcurrentHashMap
import java.util.concurrent.CopyOnWriteArrayList
import java.util.concurrent.atomic.AtomicReference
@Route(path = MogoServicePaths.PATH_MAP_DATA_COLLECT_PROVIDER)
class MoGoMapDataCollectProvider : IMoGoMapDataCollectProvider, OnTaskListener, IMoGoMapLocationListener, IMoGoTokenCallback {
companion object {
const val TAG = "MoGoMapDataCollect"
}
private val executor by lazy {
AtomicReference<MapCollectionTaskRecive?>(null)
}
private val listeners by lazy {
CopyOnWriteArrayList<IMoGoMapDataCollectProvider.OnMapCollectCmdListener>()
}
private val map: MutableMap<Int, Status> by lazy {
ConcurrentHashMap()
}
override val functionName: String = TAG
override fun init(context: Context?) {
CallerMapLocationListenerManager.addListener(functionName, this)
executor.set(context?.let { MapCollectionTaskRecive(it) })
executor.get()?.setOnTaskListener(this)
val carSn = MoGoAiCloudClientConfig.getInstance().sn
if (!TextUtils.isEmpty(carSn)) {
executor.get()?.setCarSn(carSn)
}
MoGoAiCloudClient.getInstance().addTokenCallbacks(this)
Logger.d(TAG, "--------- init --------")
Logger.d(TAG, "executor: ${ executor.get()?.hashCode() ?: 0 }")
}
override fun onDestroy() {
CallerMapLocationListenerManager.removeListener(TAG)
Logger.d(TAG, "--------- onDestroy --------")
executor.get()?.let {
it.setOnTaskListener(null)
it.destory()
}
listeners.clear()
map.clear()
}
override fun registerOnMapCollectTaskListener(listener: IMoGoMapDataCollectProvider.OnMapCollectCmdListener?) {
Logger.d(TAG, "--------- registerOnMapCollectTaskListener --------")
listener ?: return
if (listeners.contains(listener)) {
return
}
listeners += listener
}
override fun unRegisterOnMapCollectTaskListener(listener: IMoGoMapDataCollectProvider.OnMapCollectCmdListener?) {
Logger.d(TAG, "--------- unRegisterOnMapCollectTaskListener --------")
listener ?: return
if (!listeners.contains(listener)) {
return
}
listeners.remove(listener)
}
override fun finish(
id: Int,
state: Int,
gpsPath: String,
videoPath: String,
reason: String
) {
Logger.d(TAG, "-- finish:[$id, $state, $gpsPath, $videoPath, $reason]")
try {
if (isInValidStatus()) {
Logger.w(TAG, "-- finish: 状态无效")
return
}
if (!map.containsKey(id)) {
Logger.w(TAG, "-- finish: 无相关指令")
return
}
Logger.d(TAG, "-- finish: 结束任务[$id]")
executor.get()?.finishTask(id, state, gpsPath, videoPath, reason)
} catch (e : Throwable) {
e.printStackTrace()
Logger.e(TAG, "-- finish:\n$e");
} finally {
map[id] = Status.FINISH
}
}
override fun onTaskFinish(id: Int, time: Long) {
Logger.d(TAG, "地图模块下发结束采集指令 -> [$id, $time]")
if (!map.containsKey(id) || map[id] == Status.FINISH) {
Logger.w(TAG, "地图模块下发结束采集指令 -> 任务[$id]已经提前完成,无需再次请求自动驾驶模块结束采集")
return
}
Logger.d(TAG, "地图模块下发结束采集指令 -> [$id, $time] -> 调用自动驾驶模块，结束数据采集")
listeners.forEach {
it.onMapCollectEnd(id, time)
}
}
override fun onTaskStart(id: Int, time: Long) {
Logger.d(TAG, "地图模块下发开始采集指令 -> [$id, $time]")
map[id] = Status.INIT
listeners.forEach {
it.onMapCollectStart(id, time)
}
map[id] = Status.START
}
override fun onLocationChanged(location: MogoLocation?) {
location ?: return
executor.get()?.onMapChange(
location.longitude,
location.latitude,
location.bearing,
location.speed,
location.provider == "GPS_SELF")
}
private fun isInValidStatus(): Boolean {
if (map.isEmpty()) {
return true
}
val iterator = map.iterator()
while (iterator.hasNext()) {
val next = iterator.next()
if (next.value == Status.FINISH) {
iterator.remove()
}
}
if (map.filter { it.value == Status.START }.isEmpty()) {
return true
}
return false
}
override fun onTokenGot(token: String?, sn: String?) {
Logger.d(TAG, "-- onTokenGot --> $sn")
sn?.let {
executor.get()?.setCarSn(it)
}
}
override fun onError(code: Int, msg: String?) = Unit
private sealed class Status {
object INIT : Status() //初始状态
object START : Status() //开始状态
object FINISH : Status() //完成状态
}
}

6
core/mogo-core-data/src/main/java/com/mogo/eagle/core/data/constants/MogoServicePaths.java
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@@ -268,4 +268,10 @@ public class MogoServicePaths {
@Keep
@Deprecated
public static final String PATH_DEVA_TOOLS = "/deva/tools";
/**
* 地图数据更新输助类
*/
@Keep
public static final String PATH_MAP_DATA_COLLECT_PROVIDER = "/map_x/collect";
}

27
core/mogo-core-function-api/src/main/java/com/mogo/eagle/core/function/api/autopilot/IMoGoAutopilotProvider.kt
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@@ -41,6 +41,33 @@ interface IMoGoAutopilotProvider : IMoGoFunctionServerProvider {
*/
fun recordPackage(): Boolean
/**
* 开启域控制器录制bag包
*
* @return true-成功,false-失败
* @param type 录制类型 1: badcase 2:map 3:rests
* @param id 指令/任务 ID
*/
fun recordPackage(type: Int, id: Int): Boolean
/**
* 开启域控制器录制bag包
*
* @return true-成功,false-失败
* @param type 录制类型 1: badcase 2:map 3:rests
* @param id 指令/任务 ID
* @param duration 录制时长
*/
fun recordPackage(type: Int, id: Int, duration: Int): Boolean
/**
* 结束录制
* @param type 录制类型 1: badcase 2:map 3:rests
* @param id 指令/任务 ID
* @return true: 成功; false 失败
*/
fun stopRecord(type: Int, id: Int): Boolean
/**
* Log 是否显示
*

43
core/mogo-core-function-api/src/main/java/com/mogo/eagle/core/function/api/map/collect/IMoGoMapDataCollectProvider.kt Normal file
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@@ -0,0 +1,43 @@
package com.mogo.eagle.core.function.api.map.collect
import com.mogo.eagle.core.function.api.base.IMoGoFunctionServerProvider
/**
* @author renwj
* @date 2021/11/10 10:00 上午
* 此类主要用来同步自动驾驶定位信息给各业务方
*/
interface IMoGoMapDataCollectProvider: IMoGoFunctionServerProvider {
/**
* 注册地图组下发收集数据任务指令监听，通知自动驾驶模块开始数据采集
*/
fun registerOnMapCollectTaskListener(listener: OnMapCollectCmdListener?)
/**
* 移除任务指令监听
*/
fun unRegisterOnMapCollectTaskListener(listener: OnMapCollectCmdListener?)
/**
* 此接口是自动驾驶模块使用，用于把自动驾驶模块收集的数据给地图组
*/
fun finish(id: Int, state: Int, gpsPath: String, videoPath: String, reason: String)
interface OnMapCollectCmdListener {
/**
* 地图组下发地图数据收集开始指令
* @param cmdId 指令ID
* @param cmdTime 指令下发时间
*/
fun onMapCollectStart(cmdId: Int, cmdTime: Long)
/**
* 地图组下发地图数据收集结束指令
* @param cmdId 指令ID
* @param cmdTime 指令下发时间
*/
fun onMapCollectEnd(cmdId: Int, cmdTime: Long)
}
}

13
core/mogo-core-function-call/src/main/java/com/mogo/eagle/core/function/call/autopilot/CallerAutoPilotManager.kt
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@@ -1,9 +1,12 @@
package com.mogo.eagle.core.function.call.autopilot
import android.os.SystemClock
import com.mogo.eagle.core.data.autopilot.AutopilotControlParameters
import com.mogo.eagle.core.data.constants.MogoServicePaths
import com.mogo.eagle.core.function.api.autopilot.IMoGoAutopilotProvider
import com.mogo.eagle.core.function.call.base.CallerBase
import com.mogo.eagle.core.utilcode.util.LogUtils
import kotlin.random.Random
/**
*@author xiaoyuzhou
@@ -60,7 +63,15 @@ object CallerAutoPilotManager {
* 开启域控制器录制bag包
*/
fun recordPackage() {
providerApi?.recordPackage()
providerApi?.recordPackage(1, Random(SystemClock.elapsedRealtime()).nextInt())
}
fun recordPackage(type: Int, id: Int) {
providerApi?.recordPackage(type, id)
}
fun recordPackage(type: Int, id: Int, duration: Int) {
providerApi?.recordPackage(type, id, duration)
}
fun setEnableLog(isEnableLog: Boolean) {

29
core/mogo-core-function-call/src/main/java/com/mogo/eagle/core/function/call/map/CallerMapDataCollectorManager.kt Normal file
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@@ -0,0 +1,29 @@
package com.mogo.eagle.core.function.call.map
import com.mogo.eagle.core.data.constants.MogoServicePaths.PATH_MAP_DATA_COLLECT_PROVIDER
import com.mogo.eagle.core.function.api.map.collect.IMoGoMapDataCollectProvider
import com.mogo.eagle.core.function.call.base.CallerBase
/**
* @author renwj
* @date 2021/11/10 10:30 上午
* 此类主要提供给各业务方使用，便于业务层管理数据收集
*/
object CallerMapDataCollectorManager {
private val provider: IMoGoMapDataCollectProvider? by lazy {
CallerBase.getApiInstance(IMoGoMapDataCollectProvider::class.java, PATH_MAP_DATA_COLLECT_PROVIDER)
}
fun registerOnMapCollectTaskListener(listener: IMoGoMapDataCollectProvider.OnMapCollectCmdListener?) {
provider?.registerOnMapCollectTaskListener(listener)
}
fun unRegisterOnMapCollectTaskListener(listener: IMoGoMapDataCollectProvider.OnMapCollectCmdListener?) {
provider?.unRegisterOnMapCollectTaskListener(listener)
}
fun finish(id: Int, state: Int, gpsPath: String, videoPath: String, reason: String) {
provider?.finish(id, state, gpsPath, videoPath, reason)
}
}

1
gradle.properties
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@@ -81,6 +81,7 @@ MOGO_LOCATION_VERSION=1.3.18
######## MogoAiCloudSDK Version ########
# 自研地图
MAP_SDK_VERSION=2.0.0.24
MAP_SDK_OPERATION_VERSION=1.0.11
# websocket
WEBSOCKET_VERSION=1.1.7
## 产品库必备配置，产品库自动对versionCode和versionName版本进行升级