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完成mogo-module-adas合并到MoGoEagleEye.core.function-impl.mogo-core-function-autopilot

Signed-off-by: donghongyu <donghongyu@zhidaoauto.com>
This commit is contained in:
donghongyu
2022-02-08 20:26:15 +08:00
parent 117897d576
commit 4dc06e5817
31 changed files with 126 additions and 453 deletions
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1
modules/mogo-module-adas/.gitignore vendored
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@@ -1 +0,0 @@
/build

79
modules/mogo-module-adas/build.gradle
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@@ -1,79 +0,0 @@
plugins {
id 'com.android.library'
id 'kotlin-android'
id 'kotlin-android-extensions'
id 'kotlin-kapt'
id 'com.alibaba.arouter'
}
android {
compileSdkVersion rootProject.ext.android.compileSdkVersion
// buildToolsVersion rootProject.ext.android.buildToolsVersion
defaultConfig {
minSdkVersion rootProject.ext.android.minSdkVersion
targetSdkVersion rootProject.ext.android.targetSdkVersion
versionCode Integer.valueOf(VERSION_CODE)
versionName getValueFromRootProperties("${project.name.replace("-", "_").toUpperCase()}_VERSION")
testInstrumentationRunner "androidx.test.runner.AndroidJUnitRunner"
consumerProguardFiles 'consumer-rules.pro'
//ARouter apt 参数
kapt {
useBuildCache = false
arguments {
arg("AROUTER_MODULE_NAME", project.getName())
}
}
}
buildTypes {
release {
minifyEnabled false
proguardFiles getDefaultProguardFile('proguard-android-optimize.txt'), 'proguard-rules.pro'
}
}
compileOptions {
sourceCompatibility JavaVersion.VERSION_1_8
targetCompatibility JavaVersion.VERSION_1_8
}
}
dependencies {
implementation rootProject.ext.dependencies.androidxappcompat
implementation rootProject.ext.dependencies.androidxconstraintlayout
implementation rootProject.ext.dependencies.rxandroid
implementation rootProject.ext.dependencies.arouter
kapt rootProject.ext.dependencies.aroutercompiler
// 现有的ADAS的通讯SDK，需要将里面的东西融合到我们项目中
compileOnly rootProject.ext.dependencies.adasapi
api rootProject.ext.dependencies.adasHigh
implementation rootProject.ext.dependencies.mogoami
annotationProcessor rootProject.ext.dependencies.aroutercompiler
if (Boolean.valueOf(USE_MAVEN_PACKAGE)) {
api rootProject.ext.dependencies.mogo_core_utils
api rootProject.ext.dependencies.mogocommons
api rootProject.ext.dependencies.mogoserviceapi
implementation rootProject.ext.dependencies.modulecommon
implementation rootProject.ext.dependencies.mogo_core_data
implementation rootProject.ext.dependencies.mogo_core_utils
implementation rootProject.ext.dependencies.mogo_core_function_api
implementation rootProject.ext.dependencies.mogo_core_function_call
} else {
api project(':core:mogo-core-utils')
api project(":foudations:mogo-commons")
api project(':services:mogo-service-api')
implementation project(':modules:mogo-module-common')
implementation project(':core:mogo-core-data')
implementation project(':core:mogo-core-utils')
implementation project(':core:mogo-core-function-api')
implementation project(':core:mogo-core-function-call')
}
}
apply from: new File(rootProject.rootDir, "gradle/upload.gradle").toString()

0
modules/mogo-module-adas/consumer-rules.pro
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3
modules/mogo-module-adas/gradle.properties
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@@ -1,3 +0,0 @@
GROUP=com.mogo.module
POM_ARTIFACT_ID=mogo-module-adas
VERSION_CODE=1

21
modules/mogo-module-adas/proguard-rules.pro vendored
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@@ -1,21 +0,0 @@
# Add project specific ProGuard rules here.
# You can control the set of applied configuration files using the
# proguardFiles setting in build.gradle.
#
# For more details, see
# http://developer.android.com/guide/developing/tools/proguard.html
# If your project uses WebView with JS, uncomment the following
# and specify the fully qualified class name to the JavaScript interface
# class:
#-keepclassmembers class fqcn.of.javascript.interface.for.webview {
# public *;
#}
# Uncomment this to preserve the line number information for
# debugging stack traces.
#-keepattributes SourceFile,LineNumberTable
# If you keep the line number information, uncomment this to
# hide the original source file name.
#-renamesourcefileattribute SourceFile

5
modules/mogo-module-adas/src/main/AndroidManifest.xml
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@@ -1,5 +0,0 @@
<?xml version="1.0" encoding="utf-8"?>
<manifest xmlns:android="http://schemas.android.com/apk/res/android"
package="com.mogo.module.adas">
</manifest>

109
modules/mogo-module-adas/src/main/java/com/mogo/module/adas/AdasEventManager.java
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@@ -1,109 +0,0 @@
package com.mogo.module.adas;
import androidx.annotation.Nullable;
import com.mogo.eagle.core.data.autopilot.AutoPilotRecordResult;
import com.mogo.eagle.core.data.autopilot.AutopilotCarStateInfo;
import com.mogo.eagle.core.data.autopilot.AutopilotWarnMessage;
import com.mogo.eagle.core.data.config.FunctionBuildConfig;
import com.mogo.eagle.core.data.traffic.TrafficData;
import com.mogo.eagle.core.function.api.autopilot.IMoGoAutopilotCarStateListener;
import com.mogo.eagle.core.function.api.autopilot.IMoGoAutopilotIdentifyListener;
import com.mogo.eagle.core.function.call.autopilot.CallerAutopilotCarStatusListenerManager;
import com.mogo.eagle.core.function.call.autopilot.CallerAutopilotIdentifyListenerManager;
import com.mogo.eagle.core.utilcode.mogo.logger.Logger;
import com.mogo.eagle.core.utilcode.util.GsonUtils;
import com.mogo.eagle.core.utilcode.util.ThreadUtils;
import com.mogo.module.common.drawer.IdentifyDataDrawer;
import com.zhidao.support.obu.ami.AmiClientManager;
import java.util.ArrayList;
/**
* Created by XuYong on 2021/4/25 14:43
*/
public class AdasEventManager implements
IMoGoAutopilotIdentifyListener,
IMoGoAutopilotCarStateListener {
private final String TAG = "AdasEventManager";
private static volatile AdasEventManager adasEventManager;
private static final byte[] obj = new byte[0];
private final ArrayList<IAdasDataListener> iAdasEventListeners = new ArrayList<>();
private AdasEventManager() {
CallerAutopilotIdentifyListenerManager.INSTANCE.addListener(TAG, this);
CallerAutopilotCarStatusListenerManager.INSTANCE.addListener(TAG, this);
}
public static AdasEventManager getInstance() {
if (adasEventManager == null) {
synchronized (obj) {
if (adasEventManager == null) {
adasEventManager = new AdasEventManager();
}
}
}
return adasEventManager;
}
public void addEventListener(IAdasDataListener listener) {
Logger.d(TAG, "添加adas事件监听");
if (iAdasEventListeners.contains(listener)) {
return;
}
iAdasEventListeners.add(listener);
}
public void removeEventListener(IAdasDataListener listener) {
Logger.d(TAG, "注销adas事件监听");
iAdasEventListeners.remove(listener);
}
@Override
public void onAutopilotCarStateData(@Nullable AutopilotCarStateInfo autoPilotCarStateInfo) {
for (IAdasDataListener listener : iAdasEventListeners) {
if (listener != null) {
listener.ownerCarStateInfo(GsonUtils.toJson(autoPilotCarStateInfo));
}
}
// 获取的自动驾驶车辆信息不是空的时候
if (autoPilotCarStateInfo != null) {
//can数据转发
AutopilotCarStateInfo.ValuesBean bean = autoPilotCarStateInfo.getValues();
if (bean != null) {
//转向灯状态 0是正常 1是左转 2是右转
int turnLight = bean.getTurn_light();
AmiClientManager.getInstance().setTurnLightState(turnLight);
}
}
}
@Override
public void onAutopilotIdentifyDataUpdate(@Nullable ArrayList<TrafficData> trafficData) {
try {
if (FunctionBuildConfig.isDrawIdentifyData) {
ThreadUtils.getSinglePool().execute(() ->
IdentifyDataDrawer.getInstance().renderAdasRecognizedResult(trafficData)
);
}
} catch (Exception e) {
e.printStackTrace();
}
}
@Override
public void onAutopilotWarnMessage(@Nullable AutopilotWarnMessage autopilotWarnMessage) {
}
@Override
public void onAutopilotRecordResult(AutoPilotRecordResult result) {
}
}

37
modules/mogo-module-adas/src/main/java/com/mogo/module/adas/AdasProvider.java
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@@ -1,37 +0,0 @@
package com.mogo.module.adas;
import android.content.Context;
import com.alibaba.android.arouter.facade.annotation.Route;
import com.alibaba.android.arouter.facade.template.IProvider;
import com.mogo.eagle.core.data.constants.MogoServicePaths;
import com.mogo.eagle.core.utilcode.mogo.logger.Logger;
/**
* ADAS 模块
*
* @author
* @date 4/21/21 3:39 PM
* wiki：http://wiki.zhidaohulian.com/pages/viewpage.action?pageId=52840459
*/
@Route(path = MogoServicePaths.PATH_ADAS)
public class AdasProvider implements IProvider {
private static final String TAG = "AdasProvider";
private AdasEventManager adasEventManager;
@Override
public void init(Context context) {
Logger.d(TAG, "初始化 AdasProvider 模块");
adasEventManager = AdasEventManager.getInstance();
}
public void addAdasEventListener(IAdasDataListener listener) {
adasEventManager.addEventListener(listener);
}
public void removeAdasEventListener(IAdasDataListener listener) {
adasEventManager.removeEventListener(listener);
}
}

14
modules/mogo-module-adas/src/main/java/com/mogo/module/adas/IAdasDataListener.java
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@@ -1,14 +0,0 @@
package com.mogo.module.adas;
public interface IAdasDataListener {
/**
* 自车定位信息
*
* @param ownerCarStateInfo
*/
default void ownerCarStateInfo(String ownerCarStateInfo) {
}
}

4
modules/mogo-module-adas/src/main/res/values-xhdpi-2560x1440/dimens.xml
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@@ -1,4 +0,0 @@
<?xml version="1.0" encoding="utf-8"?>
<resources>
</resources>

4
modules/mogo-module-adas/src/main/res/values/colors.xml
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@@ -1,4 +0,0 @@
<?xml version="1.0" encoding="utf-8"?>
<resources>
</resources>

4
modules/mogo-module-adas/src/main/res/values/dimens.xml
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@@ -1,4 +0,0 @@
<?xml version="1.0" encoding="utf-8"?>
<resources>
</resources>

4
modules/mogo-module-adas/src/main/res/values/strings.xml
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@@ -1,4 +0,0 @@
<?xml version="1.0" encoding="utf-8"?>
<resources>
</resources>

73
modules/mogo-module-common/src/main/java/com/mogo/module/common/datacenter/SnapshotLocationDataCenter.java
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@@ -1,8 +1,8 @@
package com.mogo.module.common.datacenter;
import com.mogo.eagle.core.data.config.FunctionBuildConfig;
import com.mogo.commons.debug.DebugConfig;
import com.mogo.eagle.core.data.autopilot.AutopilotStatusInfo;
import com.mogo.eagle.core.data.config.FunctionBuildConfig;
import com.mogo.eagle.core.function.call.autopilot.CallerAutoPilotStatusListenerManager;
import com.mogo.module.common.MogoApisHandler;
import com.mogo.service.cloud.location.CloudLocationInfo;
@@ -38,36 +38,13 @@ public class SnapshotLocationDataCenter {
sInstance = null;
}
private CloudLocationInfo mLastLocationInfo = null;
// GPS(1s1次) RTK(OS侧)缓存数据，
private final List<CloudLocationInfo> mLocationList = new ArrayList<>();
// adda 工控机数据缓存
private final List<CloudLocationInfo> mMachineCacheList = new ArrayList<>();
private int mDataAccuracy = 0;
private double mCurSpeed;
private double mCurLon;
private double mCurLat;
private long mSatelliteTime = 0;
/**
* 同步从定位来的数据（也可能是rtk）
*
* @param cli {@link CloudLocationInfo}
*/
public void syncLocationInfo(CloudLocationInfo cli) {
if (cli == null) {
return;
}
mLastLocationInfo = cli;
mCurSpeed = cli.getSpeed();
mCurLon = cli.getLon();
mCurLat = cli.getLat();
mLocationList.add(cli);
}
/**
* 同步从工控机来的数据
*
@@ -113,62 +90,14 @@ public class SnapshotLocationDataCenter {
cloudLocationInfo.setSatelliteTime(satelliteTime);
cloudLocationInfo.setSystemTime(systemTime);
cloudLocationInfo.setTileId(String.valueOf(MogoApisHandler.getInstance().getApis().getMapServiceApi().getMapUIController().getTileId(lon, lat)));
mLastLocationInfo = cloudLocationInfo;
mMachineCacheList.add(cloudLocationInfo);
mCurSpeed = cloudLocationInfo.getSpeed();
mCurLon = cloudLocationInfo.getLon();
mCurLat = cloudLocationInfo.getLat();
mSatelliteTime = cloudLocationInfo.getSatelliteTime();
}
}
/**
* 获取某一段时间内的坐标集合
*
* @return 坐标合集
*/
public List<CloudLocationInfo> getSendLocationData() {
List<CloudLocationInfo> list = null;
if (mMachineCacheList != null) {
mDataAccuracy = 1;
list = new ArrayList<>(mMachineCacheList);
mMachineCacheList.clear();
}
if (list == null || list.isEmpty()) {
mDataAccuracy = 0;
if (mLocationList != null) {
list = new ArrayList<>(mLocationList);
mLocationList.clear();
}
}
if (list == null || list.isEmpty()) {
if (mLastLocationInfo != null) {
list = new ArrayList();
list.add(mLastLocationInfo);
mLastLocationInfo = null;
}
}
if (list.size() == 0) {
return null;
}
return list;
}
/**
* 数据精度类型，目前按照数据来源标志
*
* @return 精度
*/
public int getDataAccuracy() {
return mDataAccuracy;
}
public double getCurSpeed() {
return mCurSpeed;
}
public double getCurLon() {
return mCurLon;
}

1
modules/mogo-module-main/src/main/java/com/mogo/module/main/MainActivity.java
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@@ -268,7 +268,6 @@ public class MainActivity extends MvpActivity<MainView, MainPresenter> implement
public void hideCoverUpLayout() {
getWindow().setBackgroundDrawable(null);
mCoverUpLayout.setVisibility(View.GONE);
mServiceApis.getAdasControllerApi().showADAS();
}
@Override

53
modules/mogo-module-service/src/main/java/com/mogo/module/service/MogoServices.java
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@@ -15,7 +15,6 @@ import android.view.MotionEvent;
import com.mogo.commons.debug.DebugConfig;
import com.mogo.commons.voice.AIAssist;
import com.mogo.commons.voice.IMogoVoiceCmdCallBack;
import com.mogo.eagle.core.data.autopilot.AutopilotCarStateInfo;
import com.mogo.eagle.core.data.map.MogoLatLng;
import com.mogo.eagle.core.data.map.MogoLocation;
import com.mogo.eagle.core.utilcode.mogo.logger.Logger;
@@ -31,7 +30,6 @@ import com.mogo.map.uicontroller.IMogoMapUIController;
import com.mogo.module.common.MogoApisHandler;
import com.mogo.module.common.MogoModule;
import com.mogo.module.common.MogoModulePaths;
import com.mogo.module.common.datacenter.SnapshotLocationDataCenter;
import com.mogo.module.common.entity.MarkerResponse;
import com.mogo.module.service.handler.MainLooperHandler;
import com.mogo.module.service.handler.RefreshWorkThreadHandler;
@@ -46,7 +44,6 @@ import com.mogo.module.service.refresh.RefreshObject;
import com.mogo.module.service.timedelay.TimeDelayUploadManager;
import com.mogo.realtime.api.MoGoAiCloudRealTime;
import com.mogo.service.adas.IMogoADASController;
import com.mogo.service.adas.IMogoAdasCarDataCallback;
import com.mogo.service.fragmentmanager.FragmentStackTransactionListener;
import com.mogo.service.fragmentmanager.IMogoFragmentManager;
import com.mogo.service.intent.IMogoIntentListener;
@@ -59,8 +56,6 @@ import com.mogo.service.statusmanager.IMogoStatusChangedListener;
import com.mogo.service.statusmanager.IMogoStatusManager;
import com.mogo.service.statusmanager.StatusDescriptor;
import org.json.JSONObject;
import java.util.List;
/**
@@ -81,7 +76,6 @@ public class MogoServices implements IMogoMapListener,
IMogoVoiceCmdCallBack,
FragmentStackTransactionListener,
IMogoCarLocationChangedListener2,
IMogoAdasCarDataCallback,
IDestroyable {
private boolean mInternalUnWakeupRegisterStatus = false;
@@ -332,7 +326,6 @@ public class MogoServices implements IMogoMapListener,
mIntentManager.registerIntentListener( ConnectivityManager.CONNECTIVITY_ACTION, this );
mADASController = MarkerServiceHandler.getADASController();
mADASController.setAdasCarDataCallback( this );
mFragmentManager = MarkerServiceHandler.getFragmentManager();
mFragmentManager.addMainFragmentStackTransactionListener( this );
@@ -861,50 +854,4 @@ public class MogoServices implements IMogoMapListener,
}
}
@Override
public void onAdasCarDataCallback( AutopilotCarStateInfo stateInfo ) {
//模拟数据时，不更新由工控机传输的自车位置
if(TimeDelayUploadManager.getInstance().isMock()){
return;
}
if ( stateInfo != null && stateInfo.getValues() != null ) {
JSONObject data = new JSONObject();
try {
data.putOpt( "lon", stateInfo.getValues().getLon() );
data.putOpt( "lat", stateInfo.getValues().getLat() );
data.putOpt( "alt", stateInfo.getValues().getAlt() );
data.putOpt( "speed", stateInfo.getValues().getGnss_speed() );
data.putOpt( "heading", stateInfo.getValues().getHeading() );
data.putOpt( "acceleration", stateInfo.getValues().getAcceleration() );
data.putOpt( "yawRate", stateInfo.getValues().getYaw_rate() );
data.putOpt( "gpsProvider", 1 );
try {
data.putOpt( "systemTime", Long.parseLong( stateInfo.getValues().getSystemTime() ) );
} catch ( Exception e ) {
// e.printStackTrace();
}
try {
data.putOpt( "satelliteTime", Long.parseLong( stateInfo.getValues().getSatelliteTime() ) );
} catch ( Exception e ) {
e.printStackTrace();
}
try {
data.putOpt( "receiverDataTime", Long.parseLong( stateInfo.getValues().getReceiverDataTime() ) );
} catch ( Exception e ) {
// e.printStackTrace();
}
try {
data.putOpt( "adasSatelliteTime", Long.parseLong( stateInfo.getValues().getAdasSatelliteTime() ) );
} catch ( Exception e ) {
// e.printStackTrace();
}
MarkerServiceHandler.getApis().getMapServiceApi().getMapUIController().syncLocation2Map( data );
SnapshotLocationDataCenter.getInstance().syncAdasLocationInfo( data );
} catch ( Exception e ) {
e.printStackTrace();
}
}
}
}