diff --git a/.idea/misc.xml b/.idea/misc.xml index b707a9f159..8b4ade1e0e 100644 --- a/.idea/misc.xml +++ b/.idea/misc.xml @@ -20,7 +20,7 @@ - + diff --git a/modules/mogo-module-obu-mogo/build.gradle b/modules/mogo-module-obu-mogo/build.gradle index c85c05348a..718548cab3 100644 --- a/modules/mogo-module-obu-mogo/build.gradle +++ b/modules/mogo-module-obu-mogo/build.gradle @@ -66,6 +66,8 @@ dependencies { implementation project(':modules:mogo-module-common') } + implementation rootProject.ext.dependencies.mogoobu + } apply from: new File(rootProject.rootDir, "gradle/upload.gradle").toString() \ No newline at end of file diff --git a/modules/mogo-module-obu-mogo/src/main/java/com/mogo/module/obu/mogo/MoGoObuProvider.java b/modules/mogo-module-obu-mogo/src/main/java/com/mogo/module/obu/mogo/MoGoObuProvider.java index d3e3ff0d93..8e5ffbf443 100644 --- a/modules/mogo-module-obu-mogo/src/main/java/com/mogo/module/obu/mogo/MoGoObuProvider.java +++ b/modules/mogo-module-obu-mogo/src/main/java/com/mogo/module/obu/mogo/MoGoObuProvider.java @@ -17,7 +17,11 @@ public class MoGoObuProvider implements IMoGoObuProvider { @Override public void init(Context context) { - Logger.d(TAG, "初始化蘑菇自研OBU……"); + Logger.d(MogoObuConst.MOGO_OBU, "初始化蘑菇自研OBU……"); + + MogoSelfObuManager.getInstance().init(context); } + + } diff --git a/modules/mogo-module-obu-mogo/src/main/java/com/mogo/module/obu/mogo/MogoObuConst.java b/modules/mogo-module-obu-mogo/src/main/java/com/mogo/module/obu/mogo/MogoObuConst.java new file mode 100644 index 0000000000..53a2efa497 --- /dev/null +++ b/modules/mogo-module-obu-mogo/src/main/java/com/mogo/module/obu/mogo/MogoObuConst.java @@ -0,0 +1,87 @@ +package com.mogo.module.obu.mogo; + +/** + * author : lxiiaopeng + * date : 2021-08-4 + * desc : 常量 + */ +public class MogoObuConst { + + /** + * 自研obu的tag + */ + public static final String TAG_MOGO_OBU = "MogoObu"; + + /** + * 前碰撞预警，暂时不知道是干啥的 + */ + public static final int TYPE_FRONT_COLLISION_WARNING = 101; + + /** + * 交叉路口碰撞预警 + */ + public static final int TYPE_CROSS_COLLISION_WARNING = 102; + + /** + * 紧急制动预警 + */ + public static final int TYPE_URGENCY_COLLISION_WARNING = 105; + + /** + * 绿波车速引导 + */ + public static final int TYPE_OPTIMAL_SPEED_ADVISORY = 109; + + /** + * 行人碰撞预警 + */ + public static final int TYPE_ROAD_USER_COLLISION_WARNING = 115; + + /** + * 为vip车辆变灯提醒 + */ + public static final int TYPE_CHANGE_LIGHT_FOR_VIP = 116; + + /** + * 闯红灯预警 + */ + public static final int TYPE_RUSH_RED_LIGHT = 117; + /** + * 盲区辅助 + */ + public static final int TYPE_BLIND_ASSIST_WARN = 118; + /** + * 异常车辆预警 + */ + public static final int TYPE_UNUSUAL_CAR_WARN = 119; + /** + * 道路危险情况预警 + */ + public static final int TYPE_UNUSUAL_ROAD_WARN = 120; + /** + * 交通标牌提示 + */ + public static final int TYPE_TRAFFIC_SIGN_INFO = 121; + /** + * 前方拥堵提醒 + */ + public static final int TYPE_BLOCK_WARN = 122; + /** + * 紧急车辆提示预警 + */ + public static final int TYPE_PRESSING_CAR_WARN = 123; + /** + * 已闯红灯提示 + */ + public static final int TYPE_HAS_RUSH_RED_LIGHT = 124; + /** + * 车道汇合预警 + */ + public static final int TYPE_LANE_CONVERGE_WARN = 125; + + /** + * 限速预警 + */ + public static final int TYPE_LIMIT_SPEED_WARN = 126; + +} diff --git a/modules/mogo-module-obu-mogo/src/main/java/com/mogo/module/obu/mogo/MogoSelfObuManager.java b/modules/mogo-module-obu-mogo/src/main/java/com/mogo/module/obu/mogo/MogoSelfObuManager.java new file mode 100644 index 0000000000..5264d8beea --- /dev/null +++ b/modules/mogo-module-obu-mogo/src/main/java/com/mogo/module/obu/mogo/MogoSelfObuManager.java @@ -0,0 +1,266 @@ +package com.mogo.module.obu.mogo; + +import android.content.Context; + +import com.mogo.module.common.entity.V2XMessageEntity; +import com.mogo.module.common.entity.V2XObuEventEntity; +import com.mogo.service.adas.entity.ADASRecognizedResult; +import com.mogo.utils.logger.Logger; +import com.zhidao.support.obu.MogoObuManager; +import com.zhidao.support.obu.OnMogoObuListener; +import com.zhidao.support.obu.constants.ObuConstants; +import com.zhidao.support.obu.model.CvxAppInitIndInfo; +import com.zhidao.support.obu.model.CvxHvCarIndInfo; +import com.zhidao.support.obu.model.CvxHvInfoIndInfo; +import com.zhidao.support.obu.model.CvxRvInfoIndInfo; +import com.zhidao.support.obu.model.CvxSetConfigCfmInfo; +import com.zhidao.support.obu.model.CvxV2vThreatIndInfo; + +import java.util.ArrayList; +import java.util.List; + +import static com.mogo.module.obu.mogo.MogoObuConst.TAG_MOGO_OBU; + + +/** + * obu数据管理类封装 + * + * @author lixiaopeng + */ +public class MogoSelfObuManager { + private static final String TAG = MogoSelfObuManager.class.getSimpleName(); + + private static final long DEFAULT_INTERVAL_TIME = 30_000L; + + private List resultList = null; + + private MogoSelfObuManager() { + } + + private volatile static MogoSelfObuManager instance = null; + + public static MogoSelfObuManager getInstance() { + if (instance == null) { + synchronized (MogoSelfObuManager.class) { + if (instance == null) { + instance = new MogoSelfObuManager(); + } + } + } + return instance; + } + + private static final int MSG_HIDE_TRAFFIC_LIGHT = 1001; + final String icw_data = "02000114010000000000001effd7892b11a4440af70100142a03000907e506100e2917019000005662010a45000b0000220847162c000037970010000a17f6215c459478b6010347ac045000090a0006012c01f4009600080073007300730073000b000000000000000000000000000000002b000037780000247300003261000000000000426c827f47001200100000000000000000000021220000349a006c0010000a17f63ecb45947ba301030000332c0010000a17f642e945947bea010300004d580010000a17f6435545947e4e0103000054c40010000a17f6413a45947f96010300005c300010000a17f62c2845947d140103000070e40010000a17f5fdb14594786001030000992000060004ffec2710"; + + + public void init(Context context) { + Logger.d(TAG_MOGO_OBU, "obuManager初始化--"); + + //自研obu + MogoObuManager.getInstance().init(context); + MogoObuManager.getInstance().connect("192.168.1.199"); + MogoObuManager.getInstance().registerListener(mogoObuListener); + + //TODO 测试 +// UiThreadHandler.postDelayed( () -> { +//// MogoObuManager.getInstance().test(icw_data); +// MarkerServiceHandler.getApis().getV2XListenerManager().warningChangedForListenerWithDirection(3, MogoReceiver.ACTION_V2X_FRONT_WARNING); +// handleSdkObu(105); +// +// }, 5_000L ); + + } + + private OnMogoObuListener mogoObuListener = new OnMogoObuListener() { + @Override + public void onConnected() { + //OBU连接成功 + Logger.d(TAG_MOGO_OBU, "onConnected ------> "); + } + + @Override + public void onConnectFail(boolean isNeedReconnect) { + Logger.d(TAG_MOGO_OBU, "onConnectFail ------> "); + //OBU连接失败 + } + + @Override + public void onDisconnect() { + Logger.d(TAG_MOGO_OBU, "onDisconnect ------> "); + //OBU断开连接 + } + + @Override + public void onReceiveOriginData(String data) { + super.onReceiveOriginData(data); + Logger.d(TAG_MOGO_OBU, "onReceiveOriginData ------> data = " + data); + //接收到的原始数据 + } + + @Override + public void onSendData(byte[] bytes) { + super.onSendData(bytes); + //发送的数据 + Logger.d(TAG_MOGO_OBU, "onSendData ------> "); + } + + @Override + public void onCvxAppInitIndInfo(CvxAppInitIndInfo info) { + super.onCvxAppInitIndInfo(info); + Logger.d(TAG_MOGO_OBU, "onCvxAppInitIndInfo ------> " + info.toString()); + //CV2X系统信息 + } + + @Override + public void onCvxSetConfigCfm(CvxSetConfigCfmInfo info) { + super.onCvxSetConfigCfm(info); + Logger.d(TAG_MOGO_OBU, "onCvxSetConfigCfm ------> " + info.toString()); + //设置CV2X系统的配置确认 + } + + @Override + public void onCvxHvCarIndInfo(CvxHvCarIndInfo info) { + //主车车辆信息 + Logger.d(TAG_MOGO_OBU, "onCvxHvCarIndInfo ------> " + info.toString()); + } + + @Override + public void onCvxHvInfoIndInfo(CvxHvInfoIndInfo info) { + //主车信息 + } + + @Override + public void onCvxRvInfoIndInfo(CvxRvInfoIndInfo info) { + //远车信息 + Logger.d(TAG_MOGO_OBU, "onCvxRvInfoIndInfo ------> " + info.toString()); + } + + @Override + public void onCvxV2vThreatIndInfo(CvxV2vThreatIndInfo info) { + //预警信息,预警类型 threat_level 3 + if (info != null) { + Logger.e(TAG_MOGO_OBU, "onCvxV2vThreatIndInfo ------> " + info.toString()); + if (info.getThreat_info() != null) { + if (info.getThreat_info().getThreat_level() == 2 && + info.getThreat_info().getThreat_level() == 3) { //看看2的情况 + //预警方位 + int direction = info.getExt_info().getTarget_classification(); + Logger.d(TAG_MOGO_OBU, "direction = " + direction + "----" + getMessage(direction)); + + //显示警告弹框 TODO +// MarkerServiceHandler.getApis().getV2XListenerManager().warningChangedForListenerWithDirection(getMessage(direction), MogoReceiver.ACTION_V2X_FRONT_WARNING); + + //处理预警类型 + int appId = info.getThreat_info().getApp_id(); + handleSdkObu(getEventType(appId)); + } + + //预警数据的组装，车辆实时移动和变色 TODO 这里需要obu提供他车列表 暂时不做 +// AdasRecognizedResultDrawer.getInstance().renderAdasRecognizedResult(getResultList(info)); + + } else { + Logger.e(TAG_MOGO_OBU, "info == null "); + } + } + } + }; + + + private int getMessage(int targetClassification) { + switch (targetClassification) { + case ObuConstants.TARGET_CLASSIFICATION.TC_AHEAD_IN_LANE: + case ObuConstants.TARGET_CLASSIFICATION.TC_AHEAD_LEFT: + case ObuConstants.TARGET_CLASSIFICATION.TC_AHEAD_RIGHT: + case ObuConstants.TARGET_CLASSIFICATION.TC_AHEAD_FAR_LEFT: + case ObuConstants.TARGET_CLASSIFICATION.TC_AHEAD_FAR_RIGHT: + return 1; + + case ObuConstants.TARGET_CLASSIFICATION.TC_BEHIND_IN_LANE: + case ObuConstants.TARGET_CLASSIFICATION.TC_BEHIND_LEFT: + case ObuConstants.TARGET_CLASSIFICATION.TC_BEHIND_RIGHT: + case ObuConstants.TARGET_CLASSIFICATION.TC_BEHIND_FAR_LEFT: + case ObuConstants.TARGET_CLASSIFICATION.TC_BEHIND_FAR_RIGHT: + return 2; + + case ObuConstants.TARGET_CLASSIFICATION.TC_ONCOMING_IN_LANE: + case ObuConstants.TARGET_CLASSIFICATION.TC_ONCOMING_LEFT: + case ObuConstants.TARGET_CLASSIFICATION.TC_INTERSECTION_LEFT: + case ObuConstants.TARGET_CLASSIFICATION.TC_ONCOMING_FAR_LEFT: + return 3; + + case ObuConstants.TARGET_CLASSIFICATION.TC_ONCOMING_RIGHT: + case ObuConstants.TARGET_CLASSIFICATION.TC_ONCOMING_FAR_RIGHT: + case ObuConstants.TARGET_CLASSIFICATION.TC_INTERSECTION_RIGHT: + return 4; + default: + case ObuConstants.TARGET_CLASSIFICATION.TC_UNCLASSIFIED: + return 1; + } + } + + private int getEventType(int appid) { + if (appid == ObuConstants.USE_CASE_ID.EBW) { + return MogoObuConst.TYPE_URGENCY_COLLISION_WARNING; + } else if (appid == ObuConstants.USE_CASE_ID.ICW) { + return MogoObuConst.TYPE_CROSS_COLLISION_WARNING; + } + + return 0; + } + + private List getResultList(CvxV2vThreatIndInfo info) { + if (resultList == null) { + resultList = new ArrayList<>(); + } + + ADASRecognizedResult adasRecognizedResult = new ADASRecognizedResult(); + adasRecognizedResult.uuid = info.getVehicle_id(); + if (info.getBasic_info() != null && info.getBasic_info().getPosition() != null) { + adasRecognizedResult.lat = info.getBasic_info().getPosition().getLatitude(); + adasRecognizedResult.lon = info.getBasic_info().getPosition().getLongitude(); + } + adasRecognizedResult.type = 3; //小轿车 + adasRecognizedResult.heading = info.getBasic_info().getHeading(); + adasRecognizedResult.speed = info.getBasic_info().getSpeed(); + + resultList.add(adasRecognizedResult); + + return resultList; + + } + +// public void release() { +// NebulaObuClient.getInstance().unregisterObu(); +// NebulaObuClient.getInstance().unregisterObuListener(); +// MogoObuManager.getInstance().unregisterListener(); +// } + + + /** + * 构造对应展示数据和场景 + * + * @param type TODO + */ + private void handleSdkObu(int type) { + V2XMessageEntity messageEntity = new V2XMessageEntity<>(); + messageEntity.setType(V2XMessageEntity.V2XTypeEnum.ALERT_OBU_EVENT); + + V2XObuEventEntity urgencyEvent = new V2XObuEventEntity(); + if (type == MogoObuConst.TYPE_CROSS_COLLISION_WARNING) { //交叉路口碰撞预警 + urgencyEvent.setType(MogoObuConst.TYPE_CROSS_COLLISION_WARNING); +// urgencyEvent.setDesc(V2XObuEventScenario.URGENCY_CROING_WARN_TEXT); + } else if (type == MogoObuConst.TYPE_URGENCY_COLLISION_WARNING) { // 前车紧急制动预警 + urgencyEvent.setType(MogoObuConst.TYPE_URGENCY_COLLISION_WARNING); +// urgencyEvent.setDesc(V2XObuEventScenario.URGENCY_COLLISION_WARN_TEXT); + } else { //TODO +// urgencyEvent.setType(ObuConstant.TYPE_URGENCY_COLLISION_WARNING); +// urgencyEvent.setDesc(V2XObuEventScenario.URGENCY_COLLISION_WARN_TEXT); + } + +// messageEntity.setContent(urgencyEvent); +// V2XObuEventScenario.getInstance().init(messageEntity); + } + + +} \ No newline at end of file diff --git a/modules/mogo-module-v2x/build.gradle b/modules/mogo-module-v2x/build.gradle index 9e1de63cc6..dd390305c6 100644 --- a/modules/mogo-module-v2x/build.gradle +++ b/modules/mogo-module-v2x/build.gradle @@ -94,7 +94,6 @@ dependencies { androidTestImplementation 'androidx.test.espresso:espresso-core:3.2.0' implementation project(':modules:mogo-module-obu') // implementation rootProject.ext.dependencies.mebulaobu - implementation rootProject.ext.dependencies.mogoobu } diff --git a/modules/mogo-module-v2x/src/main/java/com/mogo/module/v2x/V2XObuManager.java b/modules/mogo-module-v2x/src/main/java/com/mogo/module/v2x/V2XObuManager.java index b423f23c4d..55bbc3584a 100644 --- a/modules/mogo-module-v2x/src/main/java/com/mogo/module/v2x/V2XObuManager.java +++ b/modules/mogo-module-v2x/src/main/java/com/mogo/module/v2x/V2XObuManager.java @@ -8,32 +8,23 @@ import android.os.Handler; import android.os.Message; import android.os.SystemClock; import android.util.ArrayMap; -import android.util.Log; import androidx.localbroadcastmanager.content.LocalBroadcastManager; import com.mogo.cloud.commons.utils.CoordinateUtils; import com.mogo.commons.debug.DebugConfig; -import com.mogo.commons.voice.AIAssist; import com.mogo.map.location.MogoLocation; import com.mogo.module.common.MogoApisHandler; -import com.mogo.module.common.drawer.AdasRecognizedResultDrawer; import com.mogo.module.common.entity.V2XMessageEntity; import com.mogo.module.common.entity.V2XObuEventEntity; import com.mogo.module.common.entity.V2XPushMessageEntity; -import com.mogo.module.service.MarkerServiceHandler; -import com.mogo.module.service.receiver.MogoReceiver; import com.mogo.module.v2x.listener.V2XLocationListener; import com.mogo.module.v2x.scenario.scene.obu.V2XObuEventScenario; import com.mogo.module.v2x.utils.ADASUtils; import com.mogo.module.v2x.utils.DrivingDirectionUtils; import com.mogo.module.v2x.utils.ObuConfig; import com.mogo.module.v2x.utils.TestOnLineCarUtils; -import com.mogo.module.v2x.utils.ToastUtils; -import com.mogo.module.v2x.utils.V2XUtils; -import com.mogo.service.adas.entity.ADASRecognizedResult; import com.mogo.service.entrance.IMogoEntranceButtonController; -import com.mogo.utils.UiThreadHandler; import com.mogo.utils.logger.Logger; import com.zhidao.mogo.module.obu.ObuConstant; import com.zhidao.mogo.module.obu.ObuManager; @@ -41,33 +32,22 @@ import com.zhidao.mogo.module.obu.obu.IObuCallback; import com.zhidao.mogo.module.obu.obu.bean.MogoObuEventInfo; import com.zhidao.mogo.module.obu.obu.bean.MogoObuLocationInfo; import com.zhidao.mogo.module.obu.obu.bean.MogoObuTrafficLightInfo; -//import com.zhidao.support.nebulaobu.NebulaObuClient; -//import com.zhidao.support.nebulaobu.OnObuListener; -//import com.zhidao.support.nebulaobu.model.ActiveSafetyInfo; -//import com.zhidao.support.nebulaobu.model.ObuInfo; -//import com.zhidao.support.nebulaobu.model.ObuInfoMore; - -import com.zhidao.support.obu.MogoObuManager; -import com.zhidao.support.obu.OnMogoObuListener; -import com.zhidao.support.obu.constants.ObuConstants; -import com.zhidao.support.obu.model.CvxAppInitIndInfo; -import com.zhidao.support.obu.model.CvxHvCarIndInfo; -import com.zhidao.support.obu.model.CvxHvInfoIndInfo; -import com.zhidao.support.obu.model.CvxRvInfoIndInfo; -import com.zhidao.support.obu.model.CvxSetConfigCfmInfo; -import com.zhidao.support.obu.model.CvxV2vThreatIndInfo; import org.json.JSONArray; import org.json.JSONObject; -import java.util.ArrayList; -import java.util.List; import java.util.Map; import static com.mogo.module.v2x.V2XConst.MODULE_NAME; import static com.mogo.module.v2x.V2XServiceManager.getContext; import static com.mogo.module.v2x.scenario.scene.obu.V2XObuEventScenario.ACTION_LAUNCHER_ADAS_APP_BIZ; +//import com.zhidao.support.nebulaobu.NebulaObuClient; +//import com.zhidao.support.nebulaobu.OnObuListener; +//import com.zhidao.support.nebulaobu.model.ActiveSafetyInfo; +//import com.zhidao.support.nebulaobu.model.ObuInfo; +//import com.zhidao.support.nebulaobu.model.ObuInfoMore; + /** * obu数据管理类封装 * @@ -113,187 +93,10 @@ public class V2XObuManager implements IObuCallback, Handler.Callback { // NebulaObuClient.getInstance().registerObu(100); // NebulaObuClient.getInstance().registerObuListener(listener); - //自研obu - MogoObuManager.getInstance().init(context); - MogoObuManager.getInstance().connect("192.168.1.199"); - MogoObuManager.getInstance().registerListener(mogoObuListener); - - //TODO 测试 -// UiThreadHandler.postDelayed( () -> { -//// MogoObuManager.getInstance().test(icw_data); -// MarkerServiceHandler.getApis().getV2XListenerManager().warningChangedForListenerWithDirection(3, MogoReceiver.ACTION_V2X_FRONT_WARNING); -// handleSdkObu(105); -// -// }, 5_000L ); - IntentFilter filter = new IntentFilter("com.mogo.launcher.v2x.action.EXCHANGE_OBU_TYPE"); context.registerReceiver(obuTypeExchangeReceiver, filter); } - private OnMogoObuListener mogoObuListener = new OnMogoObuListener() { - @Override - public void onConnected() { - //OBU连接成功 - Logger.d("liyz", "onConnected ------> "); - } - - @Override - public void onConnectFail(boolean isNeedReconnect) { - Logger.d("liyz", "onConnectFail ------> "); - //OBU连接失败 - } - - @Override - public void onDisconnect() { - Logger.d("liyz", "onDisconnect ------> "); - //OBU断开连接 - } - - @Override - public void onReceiveOriginData(String data) { - super.onReceiveOriginData(data); - Logger.d("liyz", "onReceiveOriginData ------> data = " + data); - //接收到的原始数据 - } - - @Override - public void onSendData(byte[] bytes) { - super.onSendData(bytes); - //发送的数据 - Logger.d("liyz", "onSendData ------> "); - } - - @Override - public void onCvxAppInitIndInfo(CvxAppInitIndInfo info) { - super.onCvxAppInitIndInfo(info); - Logger.d("liyz", "onCvxAppInitIndInfo ------> " + info.toString()); - //CV2X系统信息 - } - - @Override - public void onCvxSetConfigCfm(CvxSetConfigCfmInfo info) { - super.onCvxSetConfigCfm(info); - Logger.d("liyz", "onCvxSetConfigCfm ------> " + info.toString()); - //设置CV2X系统的配置确认 - } - - @Override - public void onCvxHvCarIndInfo(CvxHvCarIndInfo info) { - //主车车辆信息 - Logger.d("liyz", "onCvxHvCarIndInfo ------> " + info.toString()); - } - - @Override - public void onCvxHvInfoIndInfo(CvxHvInfoIndInfo info) { - //主车信息 - } - - @Override - public void onCvxRvInfoIndInfo(CvxRvInfoIndInfo info) { - //远车信息 - Logger.d("liyz", "onCvxRvInfoIndInfo ------> " + info.toString()); - } - - @Override - public void onCvxV2vThreatIndInfo(CvxV2vThreatIndInfo info) { - //预警信息 - Logger.e("liyz", "onCvxV2vThreatIndInfo ------> " + info.toString()); - //预警类型 threat_level 3 - if (info != null) { - if (info.getThreat_info() != null && info.getThreat_info().getThreat_level() == 2 && - info.getThreat_info().getThreat_level() == 3) { //看看2的情况 - //预警方位 - int direction = info.getExt_info().getTarget_classification(); - Logger.d("liyz", "direction = " + direction + "----" + getMessage(direction)); - MarkerServiceHandler.getApis().getV2XListenerManager().warningChangedForListenerWithDirection(getMessage(direction), MogoReceiver.ACTION_V2X_FRONT_WARNING); - - //处理预警类型 - int appId = info.getThreat_info().getApp_id(); - handleSdkObu(getEventType(appId)); - } - - //预警数据的组装，车辆实时移动和变色 TODO 这里需要obu提供他车列表 暂时不做 -// AdasRecognizedResultDrawer.getInstance().renderAdasRecognizedResult(getResultList(info)); - } else { - Logger.e("liyz", "info == null "); - } - } - }; - - - private int getMessage(int targetClassification) { - switch (targetClassification) { - case ObuConstants.TARGET_CLASSIFICATION.TC_AHEAD_IN_LANE: - case ObuConstants.TARGET_CLASSIFICATION.TC_AHEAD_LEFT: - case ObuConstants.TARGET_CLASSIFICATION.TC_AHEAD_RIGHT: - case ObuConstants.TARGET_CLASSIFICATION.TC_AHEAD_FAR_LEFT: - case ObuConstants.TARGET_CLASSIFICATION.TC_AHEAD_FAR_RIGHT: - return 1; - - case ObuConstants.TARGET_CLASSIFICATION.TC_BEHIND_IN_LANE: - case ObuConstants.TARGET_CLASSIFICATION.TC_BEHIND_LEFT: - case ObuConstants.TARGET_CLASSIFICATION.TC_BEHIND_RIGHT: - case ObuConstants.TARGET_CLASSIFICATION.TC_BEHIND_FAR_LEFT: - case ObuConstants.TARGET_CLASSIFICATION.TC_BEHIND_FAR_RIGHT: - return 2; - - case ObuConstants.TARGET_CLASSIFICATION.TC_ONCOMING_IN_LANE: - case ObuConstants.TARGET_CLASSIFICATION.TC_ONCOMING_LEFT: - case ObuConstants.TARGET_CLASSIFICATION.TC_INTERSECTION_LEFT: - case ObuConstants.TARGET_CLASSIFICATION.TC_ONCOMING_FAR_LEFT: - return 3; - - case ObuConstants.TARGET_CLASSIFICATION.TC_ONCOMING_RIGHT: - case ObuConstants.TARGET_CLASSIFICATION.TC_ONCOMING_FAR_RIGHT: - case ObuConstants.TARGET_CLASSIFICATION.TC_INTERSECTION_RIGHT: - return 4; - default: - case ObuConstants.TARGET_CLASSIFICATION.TC_UNCLASSIFIED: - return 1; - - } - } - - - private int getEventType(int appid) { - if (appid == ObuConstants.USE_CASE_ID.EBW) { - return ObuConstant.TYPE_URGENCY_COLLISION_WARNING; - } else if (appid == ObuConstants.USE_CASE_ID.ICW) { - return ObuConstant.TYPE_CROSS_COLLISION_WARNING; - } - - return 0; - } - - private List resultList = null; - - private List getResultList(CvxV2vThreatIndInfo info) { - if (resultList == null) { - resultList = new ArrayList<>(); - } - - ADASRecognizedResult adasRecognizedResult = new ADASRecognizedResult(); - adasRecognizedResult.uuid = info.getVehicle_id(); - if (info.getBasic_info() != null && info.getBasic_info().getPosition() != null) { - adasRecognizedResult.lat = info.getBasic_info().getPosition().getLatitude(); - adasRecognizedResult.lon = info.getBasic_info().getPosition().getLongitude(); - } - adasRecognizedResult.type = 3; //小轿车 - adasRecognizedResult.heading = info.getBasic_info().getHeading(); - adasRecognizedResult.speed = info.getBasic_info().getSpeed(); - - resultList.add(adasRecognizedResult); - - return resultList; - - } - -// public void release() { -// NebulaObuClient.getInstance().unregisterObu(); -// NebulaObuClient.getInstance().unregisterObuListener(); -// MogoObuManager.getInstance().unregisterListener(); -// } - /** * 星云obu数据监听 */