Merge remote-tracking branch 'origin/dev2_aiSdk' into dev2_aiSdk

2021-04-09 11:28:32 +08:00
parent 9510705a3d 961f95ea3c
commit 504d34c437
6 changed files with 36 additions and 22 deletions
--- a/modules/mogo-module-common/src/main/java/com/mogo/module/common/constants/DataTypes.java
+++ b/modules/mogo-module-common/src/main/java/com/mogo/module/common/constants/DataTypes.java
@@ -19,10 +19,15 @@ class DataTypes {
    public static final String TYPE_MARKER_CLOUD_DATA = "TYPE_MARKER_CLOUD_DATA";

    /**
-     * 云端下发数据
+     * 云端下发警告数据
     */
    public static final String TYPE_MARKER_CLOUD_WARN_DATA = "TYPE_MARKER_CLOUD_WARN_DATA";

+    /**
+     * 云端下发停止线数据
+     */
+    public static final String TYPE_MARKER_CLOUD_STOP_LINE_DATA = "TYPE_MARKER_CLOUD_STOP_LINE_DATA";
+
    /**
     * Push 事件场景 VR
     */
--- a/modules/mogo-module-common/src/main/java/com/mogo/module/common/drawer/V2XWarnDataDrawer.java
+++ b/modules/mogo-module-common/src/main/java/com/mogo/module/common/drawer/V2XWarnDataDrawer.java
@@ -14,9 +14,9 @@ import com.mogo.module.common.entity.V2XWarningEntity;
 import com.mogo.service.statusmanager.IMogoStatusChangedListener;
 import com.mogo.service.statusmanager.StatusDescriptor;
 import com.mogo.utils.UiThreadHandler;
-import com.mogo.utils.WorkThreadHandler;
 import com.mogo.utils.logger.Logger;

+import static com.mogo.module.common.constants.DataTypes.TYPE_MARKER_CLOUD_STOP_LINE_DATA;
 import static com.mogo.module.common.constants.DataTypes.TYPE_MARKER_CLOUD_WARN_DATA;


@@ -65,7 +65,7 @@ public class V2XWarnDataDrawer extends BaseDrawer implements IMogoStatusChangedL


    /**
-     * 绘制行人和二轮车
+     * 绘制行人和二轮车,前方和左右
     *
     * @param data
     */
@@ -79,7 +79,7 @@ public class V2XWarnDataDrawer extends BaseDrawer implements IMogoStatusChangedL
        markerShowEntity.setMarkerType(TYPE_MARKER_CLOUD_WARN_DATA);

        IMogoMarker marker = drawMarker(markerShowEntity);
-        Log.d("liyz", "renderWarnData  marker != null ");
+        Log.d("liyz", "renderWarnData  marker != null direction = " + data.getDirection());
        marker.addDynamicAnchorPosition(new MogoLatLng(
                data.getDirection() == 1 ? data.getStopLines().get(1).lat : data.getCollisionLat(),
                data.getDirection() == 1 ? data.getStopLines().get(1).lon : data.getCollisionLon()), (float) data.getHeading(), 5000);
@@ -109,7 +109,7 @@ public class V2XWarnDataDrawer extends BaseDrawer implements IMogoStatusChangedL
    }

    /**
-     * 绘制停止线
+     * 绘制停止线 marker
     *
     * @param data
     */
@@ -120,7 +120,7 @@ public class V2XWarnDataDrawer extends BaseDrawer implements IMogoStatusChangedL

        MarkerShowEntity markerShowEntity = new MarkerShowEntity();
        markerShowEntity.setMarkerLocation(location);
-        markerShowEntity.setMarkerType(TYPE_MARKER_CLOUD_WARN_DATA);
+        markerShowEntity.setMarkerType(TYPE_MARKER_CLOUD_STOP_LINE_DATA);

        IMogoMarker marker = drawStopLineMarker(markerShowEntity);

--- a/modules/mogo-module-service/src/main/java/com/mogo/module/service/intent/MockIntentHandler.java
+++ b/modules/mogo-module-service/src/main/java/com/mogo/module/service/intent/MockIntentHandler.java
@@ -841,23 +841,25 @@ public class MockIntentHandler implements IntentHandler {
            }
        }

-//        List< ADASRecognizedResult > allList = new ArrayList<>();
-        JSONArray jsonArray = new JSONArray(  );
+        List< ADASRecognizedResult > allList = new ArrayList<>();
        for ( BufferedReader reader : readers ) {
            String line = reader.readLine();
-//            ADASRecognizedResult adasRecognizedResult = GsonUtil.objectFromJson( line, ADASRecognizedResult.class );
-            jsonArray.put( line );
-//            if ( adasRecognizedResult != null ) {
-//                allList.add( adasRecognizedResult );
-//            }
+            ADASRecognizedResult adasRecognizedResult = GsonUtil.objectFromJson( line, ADASRecognizedResult.class );
+            if ( adasRecognizedResult != null ) {
+                allList.add( adasRecognizedResult );
+            }
        }

-        JSONObject object = new JSONObject();
-        object.put( "action", "view" );
-        object.put( "models", jsonArray );
+        AdasRec adasRec = new AdasRec();
+        adasRec.models = allList;

-        MogoApisHandler.getInstance().getApis().getAdasControllerApi().mockAdasRecognized( object.toString() );
+        MogoApisHandler.getInstance().getApis().getAdasControllerApi().mockAdasRecognized( GsonUtil.jsonFromObject( adasRec ) );
        Log.i( "mock-timer-adas", "cost " + ( System.currentTimeMillis() - start ) + "ms" );
        return true;
    }
+
+    public static class AdasRec{
+        public String action = "view";
+        public List<ADASRecognizedResult> models;
+    }
 }
--- a/modules/mogo-module-v2x/src/main/java/com/mogo/module/v2x/V2XWaringManager.java
+++ b/modules/mogo-module-v2x/src/main/java/com/mogo/module/v2x/V2XWaringManager.java
@@ -166,6 +166,7 @@ public class V2XWaringManager {
 //        } );
 //
           //adas自车定位
+//        MogoApisHandler.getInstance().getApis().getMapServiceApi().getSingletonLocationClient().getLastKnowLocation()
 //        double lon = MogoApisHandler.getInstance().getApis().getAdasControllerApi().getLastLon();
 //        double lat = MogoApisHandler.getInstance().getApis().getAdasControllerApi().getLastLat();
    }
--- a/modules/mogo-module-v2x/src/main/java/com/mogo/module/v2x/manager/impl/MoGoV2XCloundDataManager.java
+++ b/modules/mogo-module-v2x/src/main/java/com/mogo/module/v2x/manager/impl/MoGoV2XCloundDataManager.java
@@ -59,7 +59,7 @@ public class MoGoV2XCloundDataManager implements IMoGoV2XCloundDataManager, IMog
        pointsBetween();

        //发送预警提示
-        MarkerServiceHandler.getApis().getV2XListenerManager().warningChangedForListenerWithDirection(cloundWarningInfo.getDirection(), MogoReceiver.ACTION_V2X_FRONT_WARNING);
+        MarkerServiceHandler.getApis().getV2XListenerManager().warningChangedForListenerWithDirection(cloundWarningInfo.getType(), MogoReceiver.ACTION_V2X_FRONT_WARNING);

        isSelfLineClear = false;

@@ -108,8 +108,9 @@ public class MoGoV2XCloundDataManager implements IMoGoV2XCloundDataManager, IMog
        for (int i = 0; i < fillPoints.size(); i++) {
            V2XWarningEntity entity = new V2XWarningEntity();
            MogoLatLng latLng = (MogoLatLng) fillPoints.get(i);
+            Log.d("liyz", "handleStopLine lat = " + latLng.lat + "--lon =" + latLng.lon);
            entity.setLat(latLng.lat);
-            entity.setLat(latLng.lon);
+            entity.setLon(latLng.lon);
            entity.setCollisionLat(mCloundWarningInfo.getCollisionLat());
            entity.setCollisionLon(mCloundWarningInfo.getCollisionLon());
            entity.heading = mCloundWarningInfo.heading;
@@ -194,7 +195,6 @@ public class MoGoV2XCloundDataManager implements IMoGoV2XCloundDataManager, IMog
    public void onCarLocationChanged2(Location latLng) {
 //        Log.d(V2XConst.LOG_NAME_WARN, "onCarLocationChanged2 latLng = " + latLng.getLatitude() + "--" + latLng.getLongitude() + "---isSelfLineClear = " + isSelfLineClear);
        //当行人经纬度交点 经纬度不为空，开始画线，否则清理
-        //自车只需要关注移动
        if (!isSelfLineClear) {
            IMogoPolyline mogoPolyline = V2XServiceManager.getMoGoWarnPolylineManager().getMogoWarnPolyline();
            if (mCloundWarningInfo != null) {
@@ -258,4 +258,10 @@ public class MoGoV2XCloundDataManager implements IMoGoV2XCloundDataManager, IMog

    }

+    private MogoLatLng getMogoLat(MogoLatLng latlng) {
+        MogoLatLng newLocation = LocationUtils.getNewLocation(latlng, mCloundWarningInfo.getDistance(), mCloundWarningInfo.getDirection());
+
+        return  newLocation;
+    }
+
 }
--- a/modules/mogo-module-v2x/src/main/res/raw/scenario_warning_event_data.json
+++ b/modules/mogo-module-v2x/src/main/res/raw/scenario_warning_event_data.json
@@ -1,5 +1,5 @@
 {
-  "type": 2,
+  "type": 10013,
  "lat": 39.977148,
  "lon": 116.417478,
  "distance": 2,
@@ -20,7 +20,7 @@
  "direction": 1,
  "speed": 11.108121,
  "targetColor": "#FF4040",
-  "stopLineDistance": 30,
+  "stopLineDistance": 15,
  "warningContent": "小心行人",
  "heading": 0,
  "showTime": 3000,