balabala~~~

libraries/map-custom/src/main/java/com/mogo/map/impl/custom/CustomMapView.java

@@ -24,7 +24,7 @@ public class CustomMapView implements IMogoMapViewCreator {
     @Override
     public IMogoMapView create( Context context ) {
         if ( mapView == null ) {
-            MapAutoApi.INSTANCE.init( context, MapParams.Companion.init().setDebugMode( true )
+            MapAutoApi.INSTANCE.init( context, MapParams.Companion.init().setDebugMode( false )
                     .setCoordinateType( MapParams.COORDINATETYPE_GCJ02 )
                     .setPerspectiveMode( MapParams.MAP_PERSPECTIVE_2D )
                     .setZoom( 16 )

modules/mogo-module-common/src/main/java/com/mogo/module/common/constants/AdasRecognizedType.java

@@ -9,21 +9,21 @@ public
  */
 enum AdasRecognizedType {
     //背景
-    classIdBackground( "background",0 ),
+    classIdBackground( "background", 0 ),
     //人
-    classIdPerson( "person",1 ),
+    classIdPerson( "person", 1 ),
     //自行车
-    classIdBicycle( "bicycle",2 ),
+    classIdBicycle( "bicycle", 2 ),
     //小轿车
-    classIdCar( "car",3 ),
+    classIdCar( "car", 3 ),
     //摩托车
-    classIdMoto( "moto",4 ),
+    classIdMoto( "moto", 4 ),
     //红绿灯
-    classIdTrafficSign( "traffic_sign",5 ),
+    classIdTrafficSign( "traffic_sign", 5 ),
     //bus
-    classIdTrafficBus( "traffic_bus",6 ),
+    classIdTrafficBus( "traffic_bus", 6 ),
     //track
-    classIdTrafficTruck( "traffic_truck",8 );
+    classIdTrafficTruck( "traffic_truck", 8 );
 
     AdasRecognizedType( int code ) {
         this.code = code;
@@ -42,6 +42,9 @@ enum AdasRecognizedType {
     }
 
     public static AdasRecognizedType valueFrom( int code ) {
+        if ( code == 0 ) {
+            return classIdCar;
+        }
         for ( AdasRecognizedType value : AdasRecognizedType.values() ) {
             if ( value.code == code ) {
                 return value;

modules/mogo-module-common/src/main/java/com/mogo/module/common/constants/SafeType.java

@@ -8,16 +8,22 @@ public
  * 描述
  */
 enum SafeType {
-    Normal( "安全" ),
-    SpeedWarm( "注意/超速" ),
-    DistanceWarm( "注意/保持车距" ),
-    SpeedDangerous( "危险/严重超速" ),
-    DistanceDangerous( "危险/距离过近" );
+    Normal( "normal", "安全" ),
+    SpeedWarm( "warm", "注意/超速" ),
+    DistanceWarm( "warm", "注意/保持车距" ),
+    SpeedDangerous( "dangerous", "危险/严重超速" ),
+    DistanceDangerous( "dangerous", "危险/距离过近" );
 
     private String msg;
+    private String res;
 
-    SafeType( String msg ) {
+    SafeType( String res, String msg ) {
         this.msg = msg;
+        this.res = res;
+    }
+
+    public String getRes() {
+        return res;
     }
 
     public String getMsg() {

modules/mogo-module-common/src/main/java/com/mogo/module/common/constants/VisionMode.java

@@ -9,7 +9,7 @@ public
  */
 enum VisionMode {
 
-    Machine( "user" ),
+    Machine( "machine" ),
     User( "user" );
 
     private String res;

modules/mogo-module-common/src/main/java/com/mogo/module/common/drawer/AdasRecognizedResultDrawer.java

@@ -9,6 +9,7 @@ import android.widget.ImageView;
 import android.widget.TextView;
 
 import com.mogo.commons.AbsMogoApplication;
+import com.mogo.commons.data.BaseData;
 import com.mogo.map.MogoLatLng;
 import com.mogo.map.marker.IMogoMarker;
 import com.mogo.map.marker.MogoMarkerOptions;
@@ -36,7 +37,7 @@ public
  *
  * 绘制adas近景识别到的车辆
  */
-class AdasRecognizedResultDrawer {
+class AdasRecognizedResultDrawer extends BaseDrawer {
 
     private static volatile AdasRecognizedResultDrawer sInstance;
 
@@ -183,39 +184,17 @@ class AdasRecognizedResultDrawer {
 
     private View inflateView( ADASRecognizedListResult data, boolean machineVision, double curSpeed ) {
         View rootView = LayoutInflater.from( AbsMogoApplication.getApp() ).inflate( R.layout.module_commons_layout_car, null );
-        SafeType safeType = getSafeType( data, curSpeed );
+        SafeType safeType = getSafeType( data.distanceX, data.distanceY, data.speed, curSpeed );
         TextView tv = rootView.findViewById( R.id.module_commons_marker_car_speed );
         tv.setText( safeType.getMsg() );
         ImageView iv = rootView.findViewById( R.id.module_commons_marker_car_model );
         iv.setImageResource( MarkerResourceManager.getMarkerDrawableResId(
                 machineVision ? VisionMode.Machine : VisionMode.User,
                 AdasRecognizedType.valueFrom( data.type ),
-                getCarModelType()
+                getCarModelType(),
+                safeType
         ) );
         return rootView;
     }
 
-    private SafeType getSafeType( ADASRecognizedListResult data, double curSpeed ) {
-        if ( data == null ) {
-            return SafeType.Normal;
-        }
-        if ( data.distanceY < 0.5 || data.distanceY < 0.5 ) {
-            return SafeType.DistanceDangerous;
-        }
-        if ( data.speed > curSpeed * 1.5 ) {
-            return SafeType.SpeedDangerous;
-        }
-        if ( data.distanceY < 1 || data.distanceY < 1 ) {
-            return SafeType.DistanceDangerous;
-        }
-        if ( data.speed > curSpeed * 1.1 ) {
-            return SafeType.DistanceWarm;
-        }
-        return SafeType.Normal;
-    }
-
-    private CarModelType getCarModelType() {
-        return CarModelType.Self;
-    }
-
 }

modules/mogo-module-common/src/main/java/com/mogo/module/common/drawer/BaseDrawer.java

@@ -0,0 +1,72 @@
+package com.mogo.module.common.drawer;
+
+import com.mogo.module.common.constants.CarModelType;
+import com.mogo.module.common.constants.SafeType;
+
+public
+/**
+ * @author congtaowang
+ * @since 2020/10/30
+ * <p>
+ * 描述
+ */
+class BaseDrawer {
+
+    public static final double BOUND_DISTANCE_DANGEROUS = 0.5;
+    public static final double BOUND_SPEED_DANGEROUS = 1.5;
+
+    public static final double BOUND_DISTANCE_WARM = 1;
+    public static final double BOUND_SPEED_WARM = 1.1;
+
+    /**
+     * 安全类型
+     *
+     * @param distance
+     * @param speed
+     * @param curSpeed
+     * @return
+     */
+    protected SafeType getSafeType( double distance, double speed, double curSpeed ) {
+        if ( distance < BOUND_DISTANCE_DANGEROUS ) {
+            return SafeType.DistanceDangerous;
+        }
+        if ( speed > curSpeed * BOUND_SPEED_DANGEROUS ) {
+            return SafeType.SpeedDangerous;
+        }
+        if ( distance < BOUND_DISTANCE_WARM ) {
+            return SafeType.DistanceDangerous;
+        }
+        if ( speed > curSpeed * BOUND_SPEED_WARM ) {
+            return SafeType.DistanceWarm;
+        }
+        return SafeType.Normal;
+    }
+
+
+    protected SafeType getSafeType( double distanceX, double distanceY, double speed, double curSpeed ) {
+        if ( distanceX < BOUND_DISTANCE_DANGEROUS || distanceY < BOUND_DISTANCE_DANGEROUS ) {
+            return SafeType.DistanceDangerous;
+        }
+        if ( speed > curSpeed * BOUND_SPEED_DANGEROUS ) {
+            return SafeType.SpeedDangerous;
+        }
+        if ( distanceX < BOUND_DISTANCE_WARM || distanceY < BOUND_DISTANCE_WARM ) {
+            return SafeType.DistanceWarm;
+        }
+        if ( speed > curSpeed * BOUND_SPEED_WARM ) {
+            return SafeType.SpeedWarm;
+        }
+        return SafeType.Normal;
+    }
+
+
+    /**
+     * 车模
+     *
+     * @return
+     */
+    protected CarModelType getCarModelType() {
+        // 根据车道、行驶方向等计算出选用哪个车模图片
+        return CarModelType.Other;
+    }
+}

modules/mogo-module-common/src/main/java/com/mogo/module/common/drawer/MarkerDrawer.java

@@ -122,7 +122,9 @@ class MarkerDrawer {
             if ( !existMap.containsKey( sn ) ) {
                 IMogoMarker dirtyMarker = allMap.get( sn );
                 allCarsList.remove( dirtyMarker );
-                dirtyMarker.destroy();
+                if ( dirtyMarker != null ) {
+                    dirtyMarker.destroy();
+                }
             }
         }
         allMap.clear();

modules/mogo-module-common/src/main/java/com/mogo/module/common/drawer/SnapshotSetDataDrawer.java

@@ -1,9 +1,11 @@
 package com.mogo.module.common.drawer;
 
 import android.content.Context;
+import android.graphics.Bitmap;
 import android.text.TextUtils;
 import android.view.LayoutInflater;
 import android.view.View;
+import android.view.ViewGroup;
 import android.widget.ImageView;
 import android.widget.TextView;
 
@@ -37,7 +39,7 @@ public
  *
  * 云端数据绘制
  */
-class SnapshotSetDataDrawer {
+class SnapshotSetDataDrawer extends BaseDrawer {
 
     private static final String TAG = "SnapshotSetDataDrawer";
 
@@ -110,6 +112,8 @@ class SnapshotSetDataDrawer {
                     continue;
                 }
                 mCloudSnapshotMarkersCaches.put( uniqueKey, marker );
+            } else {
+                marker.setIcon( fromView( inflateView( cloudRoadData, machineVision, data.curSpeed ) ) );
             }
             if ( marker.getObject() instanceof MogoLatLng ) {
                 marker.setPosition( ( ( MogoLatLng ) marker.getObject() ).lat, ( ( MogoLatLng ) marker.getObject() ).lon );
@@ -197,39 +201,41 @@ class SnapshotSetDataDrawer {
 
     private View inflateView( CloudRoadData data, boolean machineVision, double curSpeed ) {
         View rootView = LayoutInflater.from( AbsMogoApplication.getApp() ).inflate( R.layout.module_commons_layout_car, null );
-        SafeType safeType = getSafeType( data, curSpeed );
+        SafeType safeType = getSafeType( data.getDistance(), data.getSpeed(), curSpeed );
         TextView tv = rootView.findViewById( R.id.module_commons_marker_car_speed );
-        tv.setText( safeType.getMsg() );
+        // 机器视觉展示速度，用户视觉展示安全类型
+        tv.setText( machineVision ? String.valueOf( data.getSpeed() ) : safeType.getMsg() );
         ImageView iv = rootView.findViewById( R.id.module_commons_marker_car_model );
         iv.setImageResource( MarkerResourceManager.getMarkerDrawableResId(
                 machineVision ? VisionMode.Machine : VisionMode.User,
                 AdasRecognizedType.valueFrom( data.getType() ),
-                getCarModelType()
+                getCarModelType(),
+                safeType
         ) );
         return rootView;
     }
 
-    private SafeType getSafeType( CloudRoadData data, double curSpeed ) {
-        if ( data == null ) {
-            return SafeType.Normal;
-        }
-        if ( data.getDistance() < 0.5 ) {
-            return SafeType.DistanceDangerous;
-        }
-        if ( data.getSpeed() > curSpeed * 1.5 ) {
-            return SafeType.SpeedDangerous;
-        }
-        if ( data.getDistance() < 1 ) {
-            return SafeType.DistanceDangerous;
-        }
-        if ( data.getSpeed() > curSpeed * 1.1 ) {
-            return SafeType.DistanceWarm;
-        }
-        return SafeType.Normal;
+    private Bitmap fromView( View view ) {
+        view.setDrawingCacheEnabled( true );
+        processChildView( view );
+        view.destroyDrawingCache();
+        view.measure( View.MeasureSpec.makeMeasureSpec( 0, View.MeasureSpec.UNSPECIFIED ), View.MeasureSpec.makeMeasureSpec( 0, View.MeasureSpec.UNSPECIFIED ) );
+        view.layout( 0, 0, view.getMeasuredWidth(), view.getMeasuredHeight() );
+        Bitmap bitmap = null;
+        return ( bitmap = view.getDrawingCache() ) != null ? bitmap.copy( Bitmap.Config.ARGB_8888, false ) : null;
     }
 
-    private CarModelType getCarModelType() {
-        // 根据车道、行驶方向等计算出选用哪个车模图片
-        return CarModelType.Other;
+    private void processChildView( View view ) {
+        if ( !( view instanceof ViewGroup ) ) {
+            if ( view instanceof TextView ) {
+                ( ( TextView ) view ).setHorizontallyScrolling( false );
+            }
+
+        } else {
+            for ( int var1 = 0; var1 < ( ( ViewGroup ) view ).getChildCount(); ++var1 ) {
+                processChildView( ( ( ViewGroup ) view ).getChildAt( var1 ) );
+            }
+
+        }
     }
 }

modules/mogo-module-common/src/main/java/com/mogo/module/common/drawer/marker/MarkerResourceManager.java

@@ -4,7 +4,9 @@ import com.mogo.commons.AbsMogoApplication;
 import com.mogo.module.common.R;
 import com.mogo.module.common.constants.AdasRecognizedType;
 import com.mogo.module.common.constants.CarModelType;
+import com.mogo.module.common.constants.SafeType;
 import com.mogo.module.common.constants.VisionMode;
+import com.mogo.utils.logger.Logger;
 
 public
 /**
@@ -15,6 +17,8 @@ public
  */
 class MarkerResourceManager {
 
+    private static final String TAG = "MarkerResourceManager";
+
     /**
      * @param mode
      * @param adasRecognizedType
@@ -23,7 +27,8 @@ class MarkerResourceManager {
      */
     public static int getMarkerDrawableResId( VisionMode mode,
                                               AdasRecognizedType adasRecognizedType,
-                                              CarModelType type ) {
+                                              CarModelType type,
+                                              SafeType safeType ) {
         if ( mode == null ) {
             mode = VisionMode.User;
         }
@@ -34,20 +39,31 @@ class MarkerResourceManager {
             type = CarModelType.Other;
         }
 
-        if ( mode == VisionMode.Machine ) {
-            return R.drawable.module_common_online_car_vr_machine_middle;
+        if ( safeType == null ) {
+            safeType = SafeType.Normal;
         }
 
         StringBuilder builder = new StringBuilder();
         builder.append( "module_commons" )
                 .append( "_" ).append( mode.getRes() )
                 .append( "_" ).append( adasRecognizedType.getRes() )
-                .append( "_" ).append( type.getRes() );
+                .append( "_" ).append( type.getRes() )
+                .append( "_" ).append( safeType.getRes() );
+
+        Logger.d( TAG, "res name = %s", builder.toString() );
+
         int id = AbsMogoApplication.getApp().getResources().getIdentifier(
                 builder.toString(),
                 "drawable",
                 AbsMogoApplication.getApp().getPackageName() );
 
-        return id == 0 ? R.drawable.module_commons_user_car_other : id;
+        if ( id == 0 ) {
+            if ( mode == VisionMode.User ) {
+                return R.drawable.module_commons_user_car_other_normal;
+            } else {
+                return R.drawable.module_commons_machine_car_other_normal;
+            }
+        }
+        return id;
     }
 }

modules/mogo-module-service/src/main/java/com/mogo/module/service/vrmode/VrModeController.java

@@ -50,6 +50,8 @@ class VrModeController {
         return sInstance;
     }
 
+    private boolean mIsBinding = false;
+
     public void onVrModeChanged( boolean isVrMode ) {
         if ( isVrMode ) {
             bindVrModeService();
@@ -59,6 +61,10 @@ class VrModeController {
     }
 
     private void bindVrModeService() {
+        if ( mIsBinding ) {
+            return;
+        }
+        mIsBinding = true;
         Intent intent = new Intent();
         intent.setComponent( new ComponentName( "com.mogo.launcher.f", "com.mogo.module.machine.vision.MachineVisionMapService" ) );
         AbsMogoApplication.getApp().bindService( intent, mServiceConnection = new ServiceConnection() {
@@ -85,6 +91,7 @@ class VrModeController {
     }
 
     private void unbindVrModeService() {
+        mIsBinding = false;
         if ( mServiceConnection != null ) {
             try {
                 AbsMogoApplication.getApp().unbindService( mServiceConnection );

modules/mogo-module-service/src/main/java/com/mogo/module/service/websocket/LocationResult.java

@@ -13,9 +13,23 @@ public
  */
 class LocationResult {
 
+    /**
+     * sn
+     */
     public String sn;
+
+    /**
+     * 最后一个定位点的莫顿码
+     */
     public long mortonCode;
 
+    /**
+     * 最后一个定位点
+     */
     public CloudLocationInfo lastCoordinate;
+
+    /**
+     * 1s 内的连续定位点
+     */
     public List< CloudLocationInfo > coordinates;
 }

modules/mogo-module-service/src/main/java/com/mogo/module/service/websocket/OnePerSecondSendContent.java

@@ -13,6 +13,13 @@ public
  */
 class OnePerSecondSendContent {
 
+    /**
+     * 自车定位点
+     */
     public LocationResult self;
+
+    /**
+     * adas 识别物体：1s 识别到的最后帧
+     */
     public List< ADASRecognizedResult > adas;
 }

modules/mogo-modules-mvision/src/main/java/com/mogo/module/machine/vision/MachineVisionMapService.java

@@ -164,6 +164,7 @@ class MachineVisionMapService extends Service {
             mMapView.setLayoutParams(mMapView.getLayoutParams());
 
             mMachineVisionMapViewManager.exchangeSizeAndPosition(width, height, x, y);
+            Logger.d(TAG, "zoom out map view");
         });
     }
 

modules/mogo-modules-mvision/src/main/java/com/mogo/module/machine/vision/MachineVisionMapView.java

@@ -56,7 +56,6 @@ class MachineVisionMapView extends MogoBaseMapView {
         onCreate( null );
         postDelayed( ()->{
             getMap().getUIController().showMyLocation( true );
-            getMap().getUIController().setAnchorScale( 1, 2.5f );
         }, 1000 );
     }
 

services/mogo-service-api/src/main/java/com/mogo/service/adas/entity/ADASRecognizedListResult.java

@@ -11,12 +11,36 @@ public
  */
 class ADASRecognizedListResult {
 
+    /**
+     * 识别物体类型
+     */
     public int type;
+
+    /**
+     * 识别物体唯一标识
+     */
     public String uuid;
+    /**
+     * 方向
+     */
     public double heading;
+    /**
+     * 速度
+     */
     public double speed;
+    /**
+     * x 轴距离
+     */
     public double distanceX;
+
+    /**
+     * y 轴距离
+     */
     public double distanceY;
+
+    /**
+     * 同一个uuid 1s内所对应的连续坐标
+     */
     public List< LatLon > latLonList;
 
     public static class LatLon {

services/mogo-service-api/src/main/java/com/mogo/service/adas/entity/ADASRecognizedResult.java

@@ -9,17 +9,64 @@ public
  */
 class ADASRecognizedResult {
 
+    /**
+     * 识别物体类型
+     */
     public int type;
+
+    /**
+     * 识别物体唯一标识
+     */
     public String uuid;
+
+    /**
+     * 红绿灯颜色
+     */
     public String color;
-    public String cardId;
+
+    /**
+     *
+     */
+    public String carId;
+
+    /**
+     * 识别物体的纬度
+     */
     public double lat;
+
+    /**
+     * 识别物体的经度
+     */
     public double lon;
+
+    /**
+     * 朝向
+     */
     public double heading;
+
+    /**
+     * 系统时间
+     */
     public long systemTime;
+
+    /**
+     * 定位卫星时间
+     */
     public long satelliteTime;
+
+    /**
+     * 海拔
+     */
     public double alt;
+
+    /**
+     * 速度
+     */
     public double speed;
+
+    /**
+     * 莫顿码
+     */
     public long mortonCode;
 
 }

services/mogo-service/src/main/java/com/mogo/service/impl/adas/AdasObjectUtils.java

@@ -9,7 +9,6 @@ import com.zhidao.support.adas.high.bean.WarnMessageInfo;
 
 import java.util.ArrayList;
 import java.util.HashMap;
-import java.util.Iterator;
 import java.util.List;
 import java.util.Map;
 
@@ -74,7 +73,7 @@ class AdasObjectUtils {
         result.alt = rectBean.getAlt();
         result.color = rectBean.getColor();
         result.speed = rectBean.getSpeed();
-        result.cardId = rectBean.getCarId();
+        result.carId = rectBean.getCarId();
         result.mortonCode = MortonCode.wrapEncodeMorton( result.lon, result.lat );
         return result;
     }