?) {
+
+ }
+
+ override fun onAutopilotWarnMessage(autopilotWarnMessage: AutopilotWarnMessage?) {
+
+ }
+
+
}
\ No newline at end of file
diff --git a/core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/hmi/ui/widget/AutoPilotStatusView.kt b/core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/hmi/ui/widget/AutoPilotStatusView.kt
index 354038d4bb..f8de47ea75 100644
--- a/core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/hmi/ui/widget/AutoPilotStatusView.kt
+++ b/core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/hmi/ui/widget/AutoPilotStatusView.kt
@@ -5,8 +5,8 @@ import android.util.AttributeSet
import android.view.LayoutInflater
import android.view.View
import androidx.constraintlayout.widget.ConstraintLayout
-import com.mogo.eagle.core.data.autopilot.AutoPilotControlParameters
-import com.mogo.eagle.core.data.autopilot.AutoPilotStationInfo
+import com.mogo.eagle.core.data.autopilot.AutopilotControlParameters
+import com.mogo.eagle.core.data.autopilot.AutopilotStationInfo
import com.mogo.eagle.core.function.call.hmi.CallerHmiListenerManager
import com.mogo.eagle.core.function.hmi.R
import com.mogo.eagle.core.utilcode.util.LogUtils
@@ -68,10 +68,10 @@ class AutoPilotStatusView @JvmOverloads constructor(
}
private fun startAutoPilot() {
val currentAutopilot =
- AutoPilotControlParameters()
+ AutopilotControlParameters()
currentAutopilot.isSpeakVoice = false
- currentAutopilot.startLatLon = AutoPilotControlParameters.AutoPilotLonLat(40.199157289445921,116.73675895051454);
- currentAutopilot.endLatLon = AutoPilotControlParameters.AutoPilotLonLat(40.199255159538758,116.73274535677977);
+ currentAutopilot.startLatLon = AutopilotControlParameters.AutoPilotLonLat(40.199157289445921,116.73675895051454);
+ currentAutopilot.endLatLon = AutopilotControlParameters.AutoPilotLonLat(40.199255159538758,116.73274535677977);
currentAutopilot.vehicleType = 10
MogoApisHandler.getInstance().apis.adasControllerApi.aiCloudToAdasData(currentAutopilot)
}
@@ -103,7 +103,7 @@ class AutoPilotStatusView @JvmOverloads constructor(
}
}
- override fun onArriveAt(data: AutoPilotStationInfo?) {
+ override fun onArriveAt(data: AutopilotStationInfo?) {
}
diff --git a/core/function-impl/mogo-core-function-obu-mogo/src/main/java/com/mogo/eagle/core/function/obu/mogo/MogoPrivateObuManager.kt b/core/function-impl/mogo-core-function-obu-mogo/src/main/java/com/mogo/eagle/core/function/obu/mogo/MogoPrivateObuManager.kt
index dc8ba2576d..9cb670dc94 100644
--- a/core/function-impl/mogo-core-function-obu-mogo/src/main/java/com/mogo/eagle/core/function/obu/mogo/MogoPrivateObuManager.kt
+++ b/core/function-impl/mogo-core-function-obu-mogo/src/main/java/com/mogo/eagle/core/function/obu/mogo/MogoPrivateObuManager.kt
@@ -1,6 +1,7 @@
package com.mogo.eagle.core.function.obu.mogo
import android.content.Context
+import android.text.TextUtils
import com.alibaba.android.arouter.launcher.ARouter
import com.mogo.eagle.core.data.enums.WarningDirectionEnum
import com.mogo.eagle.core.function.api.hmi.warning.IMoGoWarningStatusListener
@@ -117,11 +118,12 @@ class MogoPrivateObuManager private constructor() {
override fun onCvxAppInitIndInfo(info: CvxAppInitIndInfo) {
super.onCvxAppInitIndInfo(info)
Logger.d(MogoObuConst.TAG_MOGO_OBU, "onCvxAppInitIndInfo ------> $info")
- mObuStatusInfo.stackInfo = info.stack_info
- mObuStatusInfo.appInfo = info.app_info
- mObuStatusInfo.hliInfo = info.hli_info
- mObuStatusInfo.otherInfo = info.other_info
- CallerObuListenerManager.invokeListener(mObuStatusInfo)
+ if (info != null) {
+ mObuStatusInfo.stackInfo = info.stack_info
+ mObuStatusInfo.appInfo = info.app_info
+ mObuStatusInfo.hliInfo = info.hli_info
+ CallerObuListenerManager.invokeListener(mObuStatusInfo)
+ }
}
// (2) 车辆信息：CVX_HV_INFO_IND
diff --git a/core/mogo-core-data/build.gradle b/core/mogo-core-data/build.gradle
index c894e49e0c..cc2dce2943 100644
--- a/core/mogo-core-data/build.gradle
+++ b/core/mogo-core-data/build.gradle
@@ -45,6 +45,9 @@ dependencies {
implementation fileTree(dir: 'libs', include: ['*.jar'])
implementation rootProject.ext.dependencies.kotlinstdlibjdk7
implementation rootProject.ext.dependencies.androidxappcompat
+
+ implementation rootProject.ext.dependencies.gson
+
if (Boolean.valueOf(RELEASE)) {
} else {
diff --git a/core/mogo-core-data/src/main/java/com/mogo/eagle/core/data/autopilot/AutoPilotControlCmdParameter.java b/core/mogo-core-data/src/main/java/com/mogo/eagle/core/data/autopilot/AutoPilotControlCmdParameter.java
deleted file mode 100644
index b4aa311b19..0000000000
--- a/core/mogo-core-data/src/main/java/com/mogo/eagle/core/data/autopilot/AutoPilotControlCmdParameter.java
+++ /dev/null
@@ -1,19 +0,0 @@
-package com.mogo.eagle.core.data.autopilot;
-
-public
-/**
- * @author congtaowang
- * @since 2020/10/22
- *
- * 域控制器 控制指令发送
- */
-class AutoPilotControlCmdParameter {
-
- public String action;
- public Object result;
-
- public AutoPilotControlCmdParameter(String action, Object result ) {
- this.action = action;
- this.result = result;
- }
-}
diff --git a/core/mogo-core-data/src/main/java/com/mogo/eagle/core/data/autopilot/AutoPilotStationInfo.java b/core/mogo-core-data/src/main/java/com/mogo/eagle/core/data/autopilot/AutoPilotStationInfo.java
deleted file mode 100644
index 375f0ba3f9..0000000000
--- a/core/mogo-core-data/src/main/java/com/mogo/eagle/core/data/autopilot/AutoPilotStationInfo.java
+++ /dev/null
@@ -1,21 +0,0 @@
-package com.mogo.eagle.core.data.autopilot;
-
-public
-/**
- * @author congtaowang
- * @since 2021/1/18
- *
- * 自动驾驶网约车回调数据
- */
-class AutoPilotStationInfo {
-
- public int type;
- public double lon;
- public double lat;
-
- public AutoPilotStationInfo(int type, double lon, double lat ) {
- this.type = type;
- this.lon = lon;
- this.lat = lat;
- }
-}
diff --git a/services/mogo-service-api/src/main/java/com/mogo/service/adas/entity/ADASCarStateInfo.java b/core/mogo-core-data/src/main/java/com/mogo/eagle/core/data/autopilot/AutopilotCarStateInfo.java
similarity index 53%
rename from services/mogo-service-api/src/main/java/com/mogo/service/adas/entity/ADASCarStateInfo.java
rename to core/mogo-core-data/src/main/java/com/mogo/eagle/core/data/autopilot/AutopilotCarStateInfo.java
index bf1810ba71..f9997eb058 100644
--- a/services/mogo-service-api/src/main/java/com/mogo/service/adas/entity/ADASCarStateInfo.java
+++ b/core/mogo-core-data/src/main/java/com/mogo/eagle/core/data/autopilot/AutopilotCarStateInfo.java
@@ -1,14 +1,13 @@
-package com.mogo.service.adas.entity;
+package com.mogo.eagle.core.data.autopilot;
import java.io.Serializable;
/**
- * @author nie yunlong
- * @des 车辆状态
- * @date 2020/3/12
+ * @author donghongyu
+ * @des 自车辆状态
+ * @date 2021/10/18
*/
-public class ADASCarStateInfo implements Serializable {
-
+public class AutopilotCarStateInfo implements Serializable {
/**
* action : “state”
@@ -17,6 +16,15 @@ public class ADASCarStateInfo implements Serializable {
private String action;
private ValuesBean values;
+ private float fps;
+
+ public float getFps() {
+ return fps;
+ }
+
+ public void setFps(float fps) {
+ this.fps = fps;
+ }
public String getAction() {
return action;
@@ -52,46 +60,105 @@ public class ADASCarStateInfo implements Serializable {
private double yaw_rate;
//惯导车速 m/s
private float gnss_speed;
- //gps 时间
+ //车辆车速 m/s
+ private float vehicle_speed;
+ //gps时间
private String satelliteTime;
-
+ //UTC时间差
+ private long utcTimeDiffer;
+ //系统时间
private String systemTime;
//接收到数据的时间
private String receiverDataTime;
- // udp收到数据的时间
- private String startReceiverDataTime;
+ //接收到gps时间
private String adasSatelliteTime;
+ //开始接收数据时间
+ private String startReceiverDataTime;
+ //时间延迟
+ private long timeDiff=0;
+ private int turn_light; //转向灯状态 0是正常 1是左转 2是右转
+ private int flash_light; //双闪灯状态
+ private int brake_light; //刹车灯状态
+ private int frame_num;//统计发包个数
+
+ public int getFrame_num() {
+ return frame_num;
+ }
+
+ public void setFrame_num(int frame_num) {
+ this.frame_num = frame_num;
+ }
+
+ public long getTimeDiff() {
+ return timeDiff;
+ }
+
+ public void setTimeDiff(long timeDiff) {
+ this.timeDiff = timeDiff;
+ }
+
+ public String getReceiverDataTime() {
+ return receiverDataTime;
+ }
+
+ public void setReceiverDataTime(String receiverDataTime) {
+ this.receiverDataTime = receiverDataTime;
+ }
public String getAdasSatelliteTime() {
return adasSatelliteTime;
}
- public void setAdasSatelliteTime( String adasSatelliteTime ) {
+ public void setAdasSatelliteTime(String adasSatelliteTime) {
this.adasSatelliteTime = adasSatelliteTime;
}
- public String getStartReceiverDataTime() {
- return startReceiverDataTime;
+ public String getSystemTime() {
+ return systemTime;
}
- public void setStartReceiverDataTime( String startReceiverDataTime ) {
- this.startReceiverDataTime = startReceiverDataTime;
+ public void setSystemTime(String systemTime) {
+ this.systemTime = systemTime;
}
public float getGnss_speed() {
return gnss_speed;
}
- public void setGnss_speed( float gnss_speed ) {
+ public void setGnss_speed(float gnss_speed) {
this.gnss_speed = gnss_speed;
}
- public String getSatelliteTime() {
- return satelliteTime;
+ public float getVehicle_speed() {
+ return vehicle_speed;
}
- public void setSatelliteTime( String satelliteTime ) {
- this.satelliteTime = satelliteTime;
+ public void setVehicle_speed(float vehicle_speed) {
+ this.vehicle_speed = vehicle_speed;
+ }
+
+ public int getTurn_light() {
+ return turn_light;
+ }
+
+ public void setTurn_light(int turn_light) {
+ this.turn_light = turn_light;
+ }
+
+ public int getFlash_light() {
+ return flash_light;
+ }
+
+ public void setFlash_light(int flash_light) {
+ this.flash_light = flash_light;
+ }
+
+ public int getBrake_light() {
+ return brake_light;
+ }
+
+ public void setBrake_light(int brake_light) {
+ this.brake_light = brake_light;
}
public double getLon() {
@@ -142,22 +209,31 @@ public class ADASCarStateInfo implements Serializable {
this.yaw_rate = yaw_rate;
}
- public String getSystemTime() {
- return systemTime;
+ public String getSatelliteTime() {
+ return satelliteTime;
}
- public void setSystemTime( String systemTime ) {
- this.systemTime = systemTime;
+ public void setSatelliteTime(String satelliteTime) {
+ this.satelliteTime = satelliteTime;
}
- public String getReceiverDataTime() {
- return receiverDataTime;
+ public long getUtcTimeDiffer() {
+ return utcTimeDiffer;
}
- public void setReceiverDataTime( String receiverDataTime ) {
- this.receiverDataTime = receiverDataTime;
+ public void setUtcTimeDiffer(long utcTimeDiffer) {
+ this.utcTimeDiffer = utcTimeDiffer;
}
+ public String getStartReceiverDataTime() {
+ return startReceiverDataTime;
+ }
+
+ public void setStartReceiverDataTime(String startReceiverDataTime) {
+ this.startReceiverDataTime = startReceiverDataTime;
+ }
+
+
@Override
public String toString() {
return "ValuesBean{" +
@@ -167,6 +243,18 @@ public class ADASCarStateInfo implements Serializable {
", heading=" + heading +
", acceleration=" + acceleration +
", yaw_rate=" + yaw_rate +
+ ", gnss_speed=" + gnss_speed +
+ ", vehicle_speed=" + vehicle_speed +
+ ", satelliteTime='" + satelliteTime + '\'' +
+ ", utcTimeDiffer='" + utcTimeDiffer + '\'' +
+ ", systemTime='" + systemTime + '\'' +
+ ", receiverDataTime='" + receiverDataTime + '\'' +
+ ", startReceiverDataTime='" + startReceiverDataTime + '\'' +
+ ", timeDiff=" + timeDiff +
+ ", turn_light=" + turn_light +
+ ", flash_light=" + flash_light +
+ ", brake_light=" + brake_light +
+ ", frame_num=" + frame_num +
'}';
}
}
diff --git a/core/mogo-core-data/src/main/java/com/mogo/eagle/core/data/autopilot/AutopilotControlCmdParameter.java b/core/mogo-core-data/src/main/java/com/mogo/eagle/core/data/autopilot/AutopilotControlCmdParameter.java
new file mode 100644
index 0000000000..09a900acef
--- /dev/null
+++ b/core/mogo-core-data/src/main/java/com/mogo/eagle/core/data/autopilot/AutopilotControlCmdParameter.java
@@ -0,0 +1,28 @@
+package com.mogo.eagle.core.data.autopilot;
+
+
+/**
+ * @author congtaowang
+ * @since 2020/10/22
+ *
+ * 域控制器 控制指令发送
+ *
+ */
+public class AutopilotControlCmdParameter {
+
+ public String action;
+ public Object result;
+
+ public AutopilotControlCmdParameter(String action, Object result) {
+ this.action = action;
+ this.result = result;
+ }
+
+ @Override
+ public String toString() {
+ return "AutoPilotControlCmdParameter{" +
+ "action='" + action + '\'' +
+ ", result=" + result +
+ '}';
+ }
+}
diff --git a/core/mogo-core-data/src/main/java/com/mogo/eagle/core/data/autopilot/AutoPilotControlParameters.java b/core/mogo-core-data/src/main/java/com/mogo/eagle/core/data/autopilot/AutopilotControlParameters.java
similarity index 92%
rename from core/mogo-core-data/src/main/java/com/mogo/eagle/core/data/autopilot/AutoPilotControlParameters.java
rename to core/mogo-core-data/src/main/java/com/mogo/eagle/core/data/autopilot/AutopilotControlParameters.java
index a1dcbe815e..c1757319b5 100644
--- a/core/mogo-core-data/src/main/java/com/mogo/eagle/core/data/autopilot/AutoPilotControlParameters.java
+++ b/core/mogo-core-data/src/main/java/com/mogo/eagle/core/data/autopilot/AutopilotControlParameters.java
@@ -7,8 +7,9 @@ import java.util.List;
* @since 2021/09/22
*
* 启动自动驾驶参数
+ *
*/
-public class AutoPilotControlParameters {
+public class AutopilotControlParameters {
public AutoPilotLonLat startLatLon;
public List wayLatLons;
@@ -43,7 +44,7 @@ public class AutoPilotControlParameters {
@Override
public String toString() {
- return "RemoteControlAutoPilotParameters{" +
+ return "AutopilotControlParameters{" +
"startLatLon=" + startLatLon +
", wayLatLons=" + wayLatLons +
", endLatLon=" + endLatLon +
diff --git a/core/mogo-core-data/src/main/java/com/mogo/eagle/core/data/autopilot/AutopilotGuardianStatusInfo.java b/core/mogo-core-data/src/main/java/com/mogo/eagle/core/data/autopilot/AutopilotGuardianStatusInfo.java
new file mode 100644
index 0000000000..9e38a0be78
--- /dev/null
+++ b/core/mogo-core-data/src/main/java/com/mogo/eagle/core/data/autopilot/AutopilotGuardianStatusInfo.java
@@ -0,0 +1,164 @@
+package com.mogo.eagle.core.data.autopilot;
+
+import com.google.gson.annotations.SerializedName;
+import com.mogo.eagle.core.data.autopilot.guardian.AutopilotCpuState;
+import com.mogo.eagle.core.data.autopilot.guardian.AutopilotDiskState;
+import com.mogo.eagle.core.data.autopilot.guardian.AutopilotHardwareState;
+import com.mogo.eagle.core.data.autopilot.guardian.AutopilotMemState;
+import com.mogo.eagle.core.data.autopilot.guardian.AutopilotNetFlowState;
+import com.mogo.eagle.core.data.autopilot.guardian.AutopilotNodeState;
+import com.mogo.eagle.core.data.autopilot.guardian.AutopilotProgramState;
+import com.mogo.eagle.core.data.autopilot.guardian.AutopilotTopicState;
+
+import java.io.Serializable;
+import java.util.List;
+
+/**
+ * @author xiaoyuzhou
+ * @date 2021/10/18 12:54 下午
+ * 工控机节点状态信息
+ */
+public class AutopilotGuardianStatusInfo implements Serializable {
+ @SerializedName("action")
+ private String action;
+ @SerializedName("value")
+ private AutopilotGuardianResult value;
+
+ public static class AutopilotGuardianResult {
+ //车辆类型 WEY-长城 DF-东风 BYD-比亚迪 JINLV-金旅
+ @SerializedName("cartype")
+ private String carType;
+ //车牌号
+ @SerializedName("carnum")
+ private String carNum;
+ //ws连接状态 0-非链接 1-链接
+ @SerializedName("websocket_state")
+ private String wsState;
+ //ai云长链状态 0-非链接 1-链接
+ @SerializedName("aicloud_state")
+ private String aiCloudState;
+ //感知 eagle_hz
+ @SerializedName("eagle_hz")
+ private String eagleHz;
+ //软件节点
+ @SerializedName("nodestate")
+ private List nodeState;
+ //topic
+ @SerializedName("topicstate")
+ private List topicState;
+ //硬件节点
+ @SerializedName("hardwarestate")
+ private List hardwareState;
+ //CPU
+ @SerializedName("cpustate")
+ private AutopilotCpuState cpuState;
+ //内存
+ @SerializedName("memstate")
+ private AutopilotMemState memState;
+ //硬盘状态
+ @SerializedName("diskstate")
+ private List diskState;
+ //占CPU最多的10个程序
+ @SerializedName("programcpustate")
+ private List programCpuState;
+ //占内存最多的10个程序
+ @SerializedName("programmemstate")
+ private List programMemState;
+ //流量
+ @SerializedName("netflowstate")
+ private List netFlowState;
+
+
+ public String getCarType() {
+ return carType;
+ }
+
+ public String getCarNum() {
+ return carNum;
+ }
+
+ public String getWsState() {
+ return wsState;
+ }
+
+ public String getAiCloudState() {
+ return aiCloudState;
+ }
+
+ public List getNodeState() {
+ return nodeState;
+ }
+
+ public List getHardwareState() {
+ return hardwareState;
+ }
+
+ public AutopilotCpuState getCpuState() {
+ return cpuState;
+ }
+
+ public AutopilotMemState getMemState() {
+ return memState;
+ }
+
+ public List getDiskState() {
+ return diskState;
+ }
+
+ public String getEagleHz() {
+ return eagleHz;
+ }
+
+ public List getProgramCpuState() {
+ return programCpuState;
+ }
+
+ public List getProgramMemState() {
+ return programMemState;
+ }
+
+ public List getNetFlowState() {
+ return netFlowState;
+ }
+
+ public List getTopicState() {
+ return topicState;
+ }
+
+ @Override
+ public String toString() {
+ return "AutopilotGuardianResult{" +
+ "carType='" + carType + '\'' +
+ ", carNum='" + carNum + '\'' +
+ ", wsState='" + wsState + '\'' +
+ ", aiCloudState='" + aiCloudState + '\'' +
+ ", eagleHz='" + eagleHz + '\'' +
+ ", nodeState=" + nodeState +
+ ", topicState=" + topicState +
+ ", hardwareState=" + hardwareState +
+ ", cpuState=" + cpuState +
+ ", memState=" + memState +
+ ", diskState=" + diskState +
+ ", programCpuState=" + programCpuState +
+ ", programMemState=" + programMemState +
+ ", netFlowState=" + netFlowState +
+ '}';
+ }
+ }
+
+ public String getAction() {
+ return action;
+ }
+
+ public AutopilotGuardianResult getValue() {
+ return value;
+ }
+
+ @Override
+ public String toString() {
+ return "AutopilotGuardianInfo{" +
+ "action='" + action + '\'' +
+ ", value=" + value +
+ '}';
+ }
+}
\ No newline at end of file
diff --git a/modules/mogo-module-service/src/main/java/com/mogo/module/service/dispatch/bean/AutopilotRoute.java b/core/mogo-core-data/src/main/java/com/mogo/eagle/core/data/autopilot/AutopilotRouteInfo.java
similarity index 83%
rename from modules/mogo-module-service/src/main/java/com/mogo/module/service/dispatch/bean/AutopilotRoute.java
rename to core/mogo-core-data/src/main/java/com/mogo/eagle/core/data/autopilot/AutopilotRouteInfo.java
index c4c4012bee..bde14bf0aa 100644
--- a/modules/mogo-module-service/src/main/java/com/mogo/module/service/dispatch/bean/AutopilotRoute.java
+++ b/core/mogo-core-data/src/main/java/com/mogo/eagle/core/data/autopilot/AutopilotRouteInfo.java
@@ -1,6 +1,5 @@
-package com.mogo.module.service.dispatch.bean;
+package com.mogo.eagle.core.data.autopilot;
-import com.google.gson.annotations.SerializedName;
import java.util.List;
@@ -10,17 +9,13 @@ import java.util.List;
* @date 2021/6/21
*/
-public class AutopilotRoute {
+public class AutopilotRouteInfo {
- @SerializedName("action")
private String action;
- @SerializedName("models")
private List models;
public static class RouteModels {
- @SerializedName("lat")
private Double lat;
- @SerializedName("lon")
private Double lon;
public Double getLat() {
diff --git a/core/mogo-core-data/src/main/java/com/mogo/eagle/core/data/autopilot/AutopilotStationInfo.java b/core/mogo-core-data/src/main/java/com/mogo/eagle/core/data/autopilot/AutopilotStationInfo.java
new file mode 100644
index 0000000000..2e803bcd48
--- /dev/null
+++ b/core/mogo-core-data/src/main/java/com/mogo/eagle/core/data/autopilot/AutopilotStationInfo.java
@@ -0,0 +1,54 @@
+package com.mogo.eagle.core.data.autopilot;
+
+/**
+ * @author congtaowang
+ * @since 2021/1/18
+ *
+ * 自动驾驶网约车回调数据
+ *
+ */
+public class AutopilotStationInfo {
+
+ private int type;
+ private double lon;
+ private double lat;
+
+ public AutopilotStationInfo(int type, double lon, double lat) {
+ this.type = type;
+ this.lon = lon;
+ this.lat = lat;
+ }
+
+ public int getType() {
+ return type;
+ }
+
+ public void setType(int type) {
+ this.type = type;
+ }
+
+ public double getLon() {
+ return lon;
+ }
+
+ public void setLon(double lon) {
+ this.lon = lon;
+ }
+
+ public double getLat() {
+ return lat;
+ }
+
+ public void setLat(double lat) {
+ this.lat = lat;
+ }
+
+ @Override
+ public String toString() {
+ return "AutoPilotStationInfo{" +
+ "type=" + type +
+ ", lon=" + lon +
+ ", lat=" + lat +
+ '}';
+ }
+}
diff --git a/modules/mogo-module-service/src/main/java/com/mogo/module/service/dispatch/bean/AutopilotStatus.java b/core/mogo-core-data/src/main/java/com/mogo/eagle/core/data/autopilot/AutopilotStatus.java
similarity index 97%
rename from modules/mogo-module-service/src/main/java/com/mogo/module/service/dispatch/bean/AutopilotStatus.java
rename to core/mogo-core-data/src/main/java/com/mogo/eagle/core/data/autopilot/AutopilotStatus.java
index b732a3d8e6..a60de52967 100644
--- a/modules/mogo-module-service/src/main/java/com/mogo/module/service/dispatch/bean/AutopilotStatus.java
+++ b/core/mogo-core-data/src/main/java/com/mogo/eagle/core/data/autopilot/AutopilotStatus.java
@@ -1,4 +1,4 @@
-package com.mogo.module.service.dispatch.bean;
+package com.mogo.eagle.core.data.autopilot;
import java.io.Serializable;
diff --git a/core/mogo-core-data/src/main/java/com/mogo/eagle/core/data/autopilot/AutoPilotStatusInfo.kt b/core/mogo-core-data/src/main/java/com/mogo/eagle/core/data/autopilot/AutopilotStatusInfo.kt
similarity index 88%
rename from core/mogo-core-data/src/main/java/com/mogo/eagle/core/data/autopilot/AutoPilotStatusInfo.kt
rename to core/mogo-core-data/src/main/java/com/mogo/eagle/core/data/autopilot/AutopilotStatusInfo.kt
index bf54ba6739..276b8f62d8 100644
--- a/core/mogo-core-data/src/main/java/com/mogo/eagle/core/data/autopilot/AutoPilotStatusInfo.kt
+++ b/core/mogo-core-data/src/main/java/com/mogo/eagle/core/data/autopilot/AutopilotStatusInfo.kt
@@ -1,12 +1,15 @@
package com.mogo.eagle.core.data.autopilot
+import java.io.Serializable
+
/**
* @author xiaoyuzhou
* @date 2021/10/12 8:16 下午
* 域控制器状态信息
* 不建议自己初始化此对象，建议使用 CallerAutoPilotStatusListenerManager.INSTANCE.getAutoPilotStatusInfo();
+ *
*/
-class AutoPilotStatusInfo {
+class AutopilotStatusInfo : Serializable {
/**
* 当前链接的IP地址, 默认地址 192.168.1.102
*/
@@ -29,17 +32,12 @@ class AutoPilotStatusInfo {
/**
* 自动驾驶状态 0是不可用 1是ready 2是自动驾驶start
*/
- var autopilotStatus = 0
-
- /**
- * 自动驾驶状态 0非自动驾驶，1自动驾驶
- */
- var autoDriveStatus = 0
+ var state = 0
/**
* 不可用原因
*/
- var errorReason: String = ""
+ var reason: String = ""
/**
* 摄像头状态 1代表开启，0代表关闭
@@ -55,4 +53,10 @@ class AutoPilotStatusInfo {
* RTK状态 1代表开启，0代表关闭
*/
var rtk = 0
+
+ /**
+ * 自动驾驶状态 0非自动驾驶，1自动驾驶
+ */
+ var pilotmode = 0
+
}
\ No newline at end of file
diff --git a/services/mogo-service-api/src/main/java/com/mogo/service/adas/entity/ADASWarnMessage.java b/core/mogo-core-data/src/main/java/com/mogo/eagle/core/data/autopilot/AutopilotWarnMessage.java
similarity index 79%
rename from services/mogo-service-api/src/main/java/com/mogo/service/adas/entity/ADASWarnMessage.java
rename to core/mogo-core-data/src/main/java/com/mogo/eagle/core/data/autopilot/AutopilotWarnMessage.java
index 4c24cb413c..3231199a58 100644
--- a/services/mogo-service-api/src/main/java/com/mogo/service/adas/entity/ADASWarnMessage.java
+++ b/core/mogo-core-data/src/main/java/com/mogo/eagle/core/data/autopilot/AutopilotWarnMessage.java
@@ -1,13 +1,13 @@
-package com.mogo.service.adas.entity;
+package com.mogo.eagle.core.data.autopilot;
+
-public
/**
* @author congtaowang
* @since 2020/10/25
- *
+ *
* 描述
*/
-class ADASWarnMessage {
+public class AutopilotWarnMessage {
public String content;
public String level;
@@ -15,7 +15,7 @@ class ADASWarnMessage {
/**
* 警告消息类型
*
- * {@link com.mogo.service.adas.MogoADASWarnType}
+ * {@link MogoADASWarnType}
*/
public int type;
public String value;
diff --git a/services/mogo-service-api/src/main/java/com/mogo/service/adas/MogoADASWarnType.java b/core/mogo-core-data/src/main/java/com/mogo/eagle/core/data/autopilot/MogoADASWarnType.java
similarity index 92%
rename from services/mogo-service-api/src/main/java/com/mogo/service/adas/MogoADASWarnType.java
rename to core/mogo-core-data/src/main/java/com/mogo/eagle/core/data/autopilot/MogoADASWarnType.java
index a75bad61da..f0d5fe26e0 100644
--- a/services/mogo-service-api/src/main/java/com/mogo/service/adas/MogoADASWarnType.java
+++ b/core/mogo-core-data/src/main/java/com/mogo/eagle/core/data/autopilot/MogoADASWarnType.java
@@ -1,13 +1,13 @@
-package com.mogo.service.adas;
+package com.mogo.eagle.core.data.autopilot;
+
-public
/**
* @author congtaowang
* @since 2020/10/25
- *
+ *
* 描述
*/
-interface MogoADASWarnType {
+public interface MogoADASWarnType {
/**
* 行人报警
diff --git a/core/mogo-core-data/src/main/java/com/mogo/eagle/core/data/autopilot/guardian/AutopilotCpuState.java b/core/mogo-core-data/src/main/java/com/mogo/eagle/core/data/autopilot/guardian/AutopilotCpuState.java
new file mode 100644
index 0000000000..814bbf8689
--- /dev/null
+++ b/core/mogo-core-data/src/main/java/com/mogo/eagle/core/data/autopilot/guardian/AutopilotCpuState.java
@@ -0,0 +1,81 @@
+package com.mogo.eagle.core.data.autopilot.guardian;
+
+import com.google.gson.annotations.SerializedName;
+
+/**
+ * @author song kenan
+ * @des CPU状态
+ * @date 2021/8/11
+ */
+public class AutopilotCpuState {
+ //cup总使用率
+ @SerializedName("all")
+ private Double all;
+ @SerializedName("cpu1")
+ private Double cpu1;
+ @SerializedName("cpu2")
+ private Double cpu2;
+ @SerializedName("cpu3")
+ private Double cpu3;
+ @SerializedName("cpu4")
+ private Double cpu4;
+ @SerializedName("cpu5")
+ private Double cpu5;
+ @SerializedName("cpu6")
+ private Double cpu6;
+ @SerializedName("cpu7")
+ private Double cpu7;
+ @SerializedName("cpu8")
+ private Double cpu8;
+
+ public Double getAll() {
+ return all;
+ }
+
+ public Double getCpu1() {
+ return cpu1;
+ }
+
+ public Double getCpu2() {
+ return cpu2;
+ }
+
+ public Double getCpu3() {
+ return cpu3;
+ }
+
+ public Double getCpu4() {
+ return cpu4;
+ }
+
+ public Double getCpu5() {
+ return cpu5;
+ }
+
+ public Double getCpu6() {
+ return cpu6;
+ }
+
+ public Double getCpu7() {
+ return cpu7;
+ }
+
+ public Double getCpu8() {
+ return cpu8;
+ }
+
+ @Override
+ public String toString() {
+ return "AutopilotCpuState{" +
+ "all=" + all +
+ ", cpu1=" + cpu1 +
+ ", cpu2=" + cpu2 +
+ ", cpu3=" + cpu3 +
+ ", cpu4=" + cpu4 +
+ ", cpu5=" + cpu5 +
+ ", cpu6=" + cpu6 +
+ ", cpu7=" + cpu7 +
+ ", cpu8=" + cpu8 +
+ '}';
+ }
+}
diff --git a/core/mogo-core-data/src/main/java/com/mogo/eagle/core/data/autopilot/guardian/AutopilotDiskState.java b/core/mogo-core-data/src/main/java/com/mogo/eagle/core/data/autopilot/guardian/AutopilotDiskState.java
new file mode 100644
index 0000000000..f6eea043f1
--- /dev/null
+++ b/core/mogo-core-data/src/main/java/com/mogo/eagle/core/data/autopilot/guardian/AutopilotDiskState.java
@@ -0,0 +1,65 @@
+package com.mogo.eagle.core.data.autopilot.guardian;
+
+import com.google.gson.annotations.SerializedName;
+
+/**
+ * @author song kenan
+ * @des 磁盘信息
+ * @date 2021/8/11
+ */
+public class AutopilotDiskState {
+ //磁盘总大小
+ @SerializedName("diskall")
+ private String diskall;
+ //磁盘空闲大小
+ @SerializedName("diskfree")
+ private String diskfree;
+ //磁盘挂在目录
+ @SerializedName("diskmount")
+ private String diskmount;
+ //磁盘名称
+ @SerializedName("diskname")
+ private String diskname;
+ //磁盘使用百分比
+ @SerializedName("diskpercent")
+ private String diskpercent;
+ //磁盘已使用大小
+ @SerializedName("diskuse")
+ private String diskuse;
+
+ public String getDiskall() {
+ return diskall;
+ }
+
+ public String getDiskfree() {
+ return diskfree;
+ }
+
+ public String getDiskmount() {
+ return diskmount;
+ }
+
+ public String getDiskname() {
+ return diskname;
+ }
+
+ public String getDiskpercent() {
+ return diskpercent;
+ }
+
+ public String getDiskuse() {
+ return diskuse;
+ }
+
+ @Override
+ public String toString() {
+ return "AutopilotDiskState{" +
+ "diskall='" + diskall + '\'' +
+ ", diskfree='" + diskfree + '\'' +
+ ", diskmount='" + diskmount + '\'' +
+ ", diskname='" + diskname + '\'' +
+ ", diskpercent='" + diskpercent + '\'' +
+ ", diskuse='" + diskuse + '\'' +
+ '}';
+ }
+}
diff --git a/core/mogo-core-data/src/main/java/com/mogo/eagle/core/data/autopilot/guardian/AutopilotHardwareState.java b/core/mogo-core-data/src/main/java/com/mogo/eagle/core/data/autopilot/guardian/AutopilotHardwareState.java
new file mode 100644
index 0000000000..f8530d8b52
--- /dev/null
+++ b/core/mogo-core-data/src/main/java/com/mogo/eagle/core/data/autopilot/guardian/AutopilotHardwareState.java
@@ -0,0 +1,41 @@
+package com.mogo.eagle.core.data.autopilot.guardian;
+
+import com.google.gson.annotations.SerializedName;
+
+/**
+ * @author song kenan
+ * @des 硬件状态
+ * @date 2021/7/26
+ */
+public class AutopilotHardwareState {
+ /**
+ * 0不正常
+ */
+ @SerializedName("run_hz")
+ private String runHz;
+ @SerializedName("set_hz")
+ private String setHz;
+ @SerializedName("topic_name")
+ private String topicName;
+
+ public String getRunHz() {
+ return runHz;
+ }
+
+ public String getSetHz() {
+ return setHz;
+ }
+
+ public String getTopicName() {
+ return topicName;
+ }
+
+ @Override
+ public String toString() {
+ return "AutopilotHardwareState{" +
+ "runHz='" + runHz + '\'' +
+ ", setHz='" + setHz + '\'' +
+ ", topicName='" + topicName + '\'' +
+ '}';
+ }
+}
diff --git a/core/mogo-core-data/src/main/java/com/mogo/eagle/core/data/autopilot/guardian/AutopilotMemState.java b/core/mogo-core-data/src/main/java/com/mogo/eagle/core/data/autopilot/guardian/AutopilotMemState.java
new file mode 100644
index 0000000000..f2d36b5b91
--- /dev/null
+++ b/core/mogo-core-data/src/main/java/com/mogo/eagle/core/data/autopilot/guardian/AutopilotMemState.java
@@ -0,0 +1,49 @@
+package com.mogo.eagle.core.data.autopilot.guardian;
+
+import com.google.gson.annotations.SerializedName;
+
+/**
+ * @author song kenan
+ * @des 内存状态
+ * @date 2021/8/11
+ */
+public class AutopilotMemState {
+ //空闲内存(M)
+ @SerializedName("free")
+ private String free;
+ //内存使用百分比
+ @SerializedName("percent_mem")
+ private String percentMem;
+ //总内存（M）
+ @SerializedName("total_mem")
+ private String totalMem;
+ //使用的内存(M)
+ @SerializedName("used_mem")
+ private String usedMem;
+
+ public String getFree() {
+ return free;
+ }
+
+ public String getPercentMem() {
+ return percentMem;
+ }
+
+ public String getTotalMem() {
+ return totalMem;
+ }
+
+ public String getUsedMem() {
+ return usedMem;
+ }
+
+ @Override
+ public String toString() {
+ return "AutopilotMemState{" +
+ "free='" + free + '\'' +
+ ", percentMem='" + percentMem + '\'' +
+ ", totalMem='" + totalMem + '\'' +
+ ", usedMem='" + usedMem + '\'' +
+ '}';
+ }
+}
diff --git a/core/mogo-core-data/src/main/java/com/mogo/eagle/core/data/autopilot/guardian/AutopilotNetFlowState.java b/core/mogo-core-data/src/main/java/com/mogo/eagle/core/data/autopilot/guardian/AutopilotNetFlowState.java
new file mode 100644
index 0000000000..0db9d02cf1
--- /dev/null
+++ b/core/mogo-core-data/src/main/java/com/mogo/eagle/core/data/autopilot/guardian/AutopilotNetFlowState.java
@@ -0,0 +1,38 @@
+package com.mogo.eagle.core.data.autopilot.guardian;
+
+import com.google.gson.annotations.SerializedName;
+
+/**
+ * @author song kenan
+ * @des 占用内存的程序
+ * @date 2021/8/16
+ */
+public class AutopilotNetFlowState {
+ @SerializedName("netname")
+ private String netName;
+ @SerializedName("recv_flow")
+ private String recvFlow;
+ @SerializedName("send_flow")
+ private String sendFlow;
+
+ public String getNetName() {
+ return netName;
+ }
+
+ public String getRecvFlow() {
+ return recvFlow;
+ }
+
+ public String getSendFlow() {
+ return sendFlow;
+ }
+
+ @Override
+ public String toString() {
+ return "AutopilotNetFlowState{" +
+ "netName='" + netName + '\'' +
+ ", recvFlow='" + recvFlow + '\'' +
+ ", sendFlow='" + sendFlow + '\'' +
+ '}';
+ }
+}
diff --git a/core/mogo-core-data/src/main/java/com/mogo/eagle/core/data/autopilot/guardian/AutopilotNodeState.java b/core/mogo-core-data/src/main/java/com/mogo/eagle/core/data/autopilot/guardian/AutopilotNodeState.java
new file mode 100644
index 0000000000..f75f1ec1d3
--- /dev/null
+++ b/core/mogo-core-data/src/main/java/com/mogo/eagle/core/data/autopilot/guardian/AutopilotNodeState.java
@@ -0,0 +1,34 @@
+package com.mogo.eagle.core.data.autopilot.guardian;
+
+import com.google.gson.annotations.SerializedName;
+
+/**
+ * @author song kenan
+ * @des 工控机节点状态
+ * @date 2021/7/7
+ */
+public class AutopilotNodeState {
+ /**
+ * -on-开启， off-关闭
+ */
+ @SerializedName("node_name")
+ private String nodeName;
+ @SerializedName("node_state")
+ private String nodeState;
+
+ public String getNodeName() {
+ return nodeName;
+ }
+
+ public String getNodeState() {
+ return nodeState;
+ }
+
+ @Override
+ public String toString() {
+ return "AutopilotNodeState{" +
+ "nodeName='" + nodeName + '\'' +
+ ", nodeState='" + nodeState + '\'' +
+ '}';
+ }
+}
diff --git a/core/mogo-core-data/src/main/java/com/mogo/eagle/core/data/autopilot/guardian/AutopilotProgramState.java b/core/mogo-core-data/src/main/java/com/mogo/eagle/core/data/autopilot/guardian/AutopilotProgramState.java
new file mode 100644
index 0000000000..a614e5b9b4
--- /dev/null
+++ b/core/mogo-core-data/src/main/java/com/mogo/eagle/core/data/autopilot/guardian/AutopilotProgramState.java
@@ -0,0 +1,41 @@
+package com.mogo.eagle.core.data.autopilot.guardian;
+
+import com.google.gson.annotations.SerializedName;
+
+/**
+ * @author song kenan
+ * @des 占用内存的程序
+ * @date 2021/8/16
+ */
+public class AutopilotProgramState {
+ //cpu
+ @SerializedName("cpu_percent")
+ private String cpuPercent;
+ //内存
+ @SerializedName("mem_percent")
+ private String memPercent;
+ //name
+ @SerializedName("prog_name")
+ private String progName;
+
+ public String getCpuPercent() {
+ return cpuPercent;
+ }
+
+ public String getMemPercent() {
+ return memPercent;
+ }
+
+ public String getProgName() {
+ return progName;
+ }
+
+ @Override
+ public String toString() {
+ return "AutopilotProgramState{" +
+ "cpuPercent='" + cpuPercent + '\'' +
+ ", memPercent='" + memPercent + '\'' +
+ ", progName='" + progName + '\'' +
+ '}';
+ }
+}
diff --git a/core/mogo-core-data/src/main/java/com/mogo/eagle/core/data/autopilot/guardian/AutopilotTopicState.java b/core/mogo-core-data/src/main/java/com/mogo/eagle/core/data/autopilot/guardian/AutopilotTopicState.java
new file mode 100644
index 0000000000..365a12f79a
--- /dev/null
+++ b/core/mogo-core-data/src/main/java/com/mogo/eagle/core/data/autopilot/guardian/AutopilotTopicState.java
@@ -0,0 +1,39 @@
+package com.mogo.eagle.core.data.autopilot.guardian;
+
+import com.google.gson.annotations.SerializedName;
+
+/**
+ * @author song kenan
+ * @des topic info
+ * @date 2021/8/16
+ */
+public class AutopilotTopicState {
+
+ @SerializedName("run_hz")
+ private String runHz;
+ @SerializedName("set_hz")
+ private String setHz;
+ @SerializedName("topic_name")
+ private String topicName;
+
+ public String getRunHz() {
+ return runHz;
+ }
+
+ public String getSetHz() {
+ return setHz;
+ }
+
+ public String getTopicName() {
+ return topicName;
+ }
+
+ @Override
+ public String toString() {
+ return "AutopilotTopicState{" +
+ "runHz='" + runHz + '\'' +
+ ", setHz='" + setHz + '\'' +
+ ", topicName='" + topicName + '\'' +
+ '}';
+ }
+}
diff --git a/core/mogo-core-data/src/main/java/com/mogo/eagle/core/data/enums/TrafficTypeEnum.kt b/core/mogo-core-data/src/main/java/com/mogo/eagle/core/data/enums/TrafficTypeEnum.kt
index 6a3a50eb7f..790e030c72 100644
--- a/core/mogo-core-data/src/main/java/com/mogo/eagle/core/data/enums/TrafficTypeEnum.kt
+++ b/core/mogo-core-data/src/main/java/com/mogo/eagle/core/data/enums/TrafficTypeEnum.kt
@@ -74,6 +74,25 @@ enum class TrafficTypeEnum(
"道路施工",
R.raw.v2x_shigong_warning,
R.raw.v2x_shigong_warning
- )
+ );
+
+ companion object {
+ @JvmStatic
+ fun getType(type: Int): TrafficTypeEnum {
+ return when (type) {
+ TYPE_TRAFFIC_ID_WEI_ZHI.type -> TYPE_TRAFFIC_ID_WEI_ZHI
+ TYPE_TRAFFIC_ID_PEOPLE.type -> TYPE_TRAFFIC_ID_PEOPLE
+ TYPE_TRAFFIC_ID_BICYCLE.type -> TYPE_TRAFFIC_ID_BICYCLE
+ TYPE_TRAFFIC_ID_TA_CHE.type -> TYPE_TRAFFIC_ID_TA_CHE
+ TYPE_TRAFFIC_ID_MOTO.type -> TYPE_TRAFFIC_ID_MOTO
+ TYPE_TRAFFIC_ID_BUS.type -> TYPE_TRAFFIC_ID_BUS
+ TYPE_TRAFFIC_ID_TRUCK.type -> TYPE_TRAFFIC_ID_TRUCK
+ TYPE_TRAFFIC_ID_CAMERA.type -> TYPE_TRAFFIC_ID_CAMERA
+ TYPE_TRAFFIC_ID_SPECIAL_VEHICLE.type -> TYPE_TRAFFIC_ID_SPECIAL_VEHICLE
+ TYPE_TRAFFIC_ID_DAO_LU_SHI_GONG.type -> TYPE_TRAFFIC_ID_DAO_LU_SHI_GONG
+ else -> TYPE_TRAFFIC_ID_WEI_ZHI
+ }
+ }
+ }
}
\ No newline at end of file
diff --git a/core/mogo-core-data/src/main/java/com/mogo/eagle/core/data/traffic/TrafficData.kt b/core/mogo-core-data/src/main/java/com/mogo/eagle/core/data/traffic/TrafficData.kt
index 2c6ef0b396..5f8937bfb2 100644
--- a/core/mogo-core-data/src/main/java/com/mogo/eagle/core/data/traffic/TrafficData.kt
+++ b/core/mogo-core-data/src/main/java/com/mogo/eagle/core/data/traffic/TrafficData.kt
@@ -18,6 +18,16 @@ class TrafficData {
*/
var uuid: String = ""
+ /**
+ * 车牌id
+ */
+ var carId: String = ""
+
+ /**
+ * 数据来源精度 0 - 普通定位、1 - 高精定位
+ */
+ var dataAccuracy = 1
+
/**
* 识别物体的纬度
*/
diff --git a/core/mogo-core-function-api/src/main/java/com/mogo/eagle/core/function/api/autopilot/IMoGoAutoPilotIdentifyListener.java b/core/mogo-core-function-api/src/main/java/com/mogo/eagle/core/function/api/autopilot/IMoGoAutoPilotIdentifyListener.java
deleted file mode 100644
index 7b90e37885..0000000000
--- a/core/mogo-core-function-api/src/main/java/com/mogo/eagle/core/function/api/autopilot/IMoGoAutoPilotIdentifyListener.java
+++ /dev/null
@@ -1,22 +0,0 @@
-package com.mogo.eagle.core.function.api.autopilot;
-
-import com.mogo.eagle.core.data.traffic.TrafficData;
-
-import java.util.List;
-
-/**
- * @author xiaoyuzhou
- * @date 2021/9/23 11:23 上午
- * 自动驾驶识别数据监听，回调后做数据可视化呈现
- */
-public interface IMoGoAutoPilotIdentifyListener {
-
- /**
- * 识别交通元素数据发生更新
- *
- * @param trafficData 交通元素信息列表
- */
- void onIdentifyDataUpdate(List trafficData);
-
-
-}
diff --git a/core/mogo-core-function-api/src/main/java/com/mogo/eagle/core/function/api/autopilot/IMoGoAutoPilotStatusListener.java b/core/mogo-core-function-api/src/main/java/com/mogo/eagle/core/function/api/autopilot/IMoGoAutoPilotStatusListener.java
deleted file mode 100644
index 06aa35de13..0000000000
--- a/core/mogo-core-function-api/src/main/java/com/mogo/eagle/core/function/api/autopilot/IMoGoAutoPilotStatusListener.java
+++ /dev/null
@@ -1,48 +0,0 @@
-package com.mogo.eagle.core.function.api.autopilot;
-
-import com.mogo.eagle.core.data.autopilot.AutoPilotStationInfo;
-import com.mogo.eagle.core.data.autopilot.AutoPilotStatusInfo;
-
-/**
- * @author xiaoyuzhou
- * @date 2021/9/22 8:59 下午
- * 自动驾驶状态回调监听
- */
-public interface IMoGoAutoPilotStatusListener {
-
- /**
- * 不可自动驾驶，目前场景是刚开机，adas还未和工控机连接
- */
- int STATUS_AUTOPILOT_DISABLE = 0;
- /**
- * 可自动驾驶，工控机连接正常，且处于人工干预状态
- */
- int STATUS_AUTOPILOT_ENABLE = 1;
- /**
- * 自动驾驶中，可能是停车，可能是行进，但是是机器在处理车的前进后退，不是人
- */
- int STATUS_AUTOPILOT_RUNNING = 2;
-
-
- /**
- * 自动驾驶到站
- *
- * @param data 所到车站的简单信息
- */
- void onAutoPilotArriveAtStation(AutoPilotStationInfo data);
-
- /**
- * 自动驾驶状态发生改变
- *
- * @param state {@link #STATUS_AUTOPILOT_DISABLE}
- * @param reason 不能自动驾驶的原因
- */
- void onAutoPilotStateChanged(int state, String reason);
-
- /**
- * 自动驾驶状态信息
- *
- * @param autoPilotStatusInfo 状态信息
- */
- void onAutoPilotStatusResponse(AutoPilotStatusInfo autoPilotStatusInfo);
-}
diff --git a/core/mogo-core-function-api/src/main/java/com/mogo/eagle/core/function/api/autopilot/IMoGoAutoPilotProvider.java b/core/mogo-core-function-api/src/main/java/com/mogo/eagle/core/function/api/autopilot/IMoGoAutopilotProvider.java
similarity index 78%
rename from core/mogo-core-function-api/src/main/java/com/mogo/eagle/core/function/api/autopilot/IMoGoAutoPilotProvider.java
rename to core/mogo-core-function-api/src/main/java/com/mogo/eagle/core/function/api/autopilot/IMoGoAutopilotProvider.java
index ff739cb76c..033591ddb7 100644
--- a/core/mogo-core-function-api/src/main/java/com/mogo/eagle/core/function/api/autopilot/IMoGoAutoPilotProvider.java
+++ b/core/mogo-core-function-api/src/main/java/com/mogo/eagle/core/function/api/autopilot/IMoGoAutopilotProvider.java
@@ -1,14 +1,15 @@
package com.mogo.eagle.core.function.api.autopilot;
-import com.mogo.eagle.core.data.autopilot.AutoPilotControlParameters;
+import com.mogo.eagle.core.data.autopilot.AutopilotControlParameters;
import com.mogo.eagle.core.function.api.base.IMoGoFunctionServerProvider;
/**
* @author xiaoyuzhou
* @date 2021/9/22 8:27 下午
* 自动驾驶节点
+ *
*/
-public interface IMoGoAutoPilotProvider extends IMoGoFunctionServerProvider {
+public interface IMoGoAutopilotProvider extends IMoGoFunctionServerProvider {
/**
* 连接自动驾驶域控制器
@@ -20,7 +21,7 @@ public interface IMoGoAutoPilotProvider extends IMoGoFunctionServerProvider {
*
* @param result
*/
- void startAutoPilot(AutoPilotControlParameters result);
+ void startAutoPilot(AutopilotControlParameters result);
/**
* 结束自动驾驶
diff --git a/core/mogo-core-function-api/src/main/java/com/mogo/eagle/core/function/api/autopilot/IMoGoAutopilotStatusListener.kt b/core/mogo-core-function-api/src/main/java/com/mogo/eagle/core/function/api/autopilot/IMoGoAutopilotStatusListener.kt
new file mode 100644
index 0000000000..3057c92488
--- /dev/null
+++ b/core/mogo-core-function-api/src/main/java/com/mogo/eagle/core/function/api/autopilot/IMoGoAutopilotStatusListener.kt
@@ -0,0 +1,83 @@
+package com.mogo.eagle.core.function.api.autopilot
+
+import com.mogo.eagle.core.data.autopilot.*
+import com.mogo.eagle.core.data.traffic.TrafficData
+
+/**
+ * @author xiaoyuzhou
+ * @date 2021/9/22 8:59 下午
+ * 自动驾驶状态回调监听
+ */
+interface IMoGoAutopilotStatusListener {
+
+ /**
+ * 自动驾驶状态信息
+ *
+ * @param autoPilotStatusInfo 状态信息
+ */
+ fun onAutopilotStatusResponse(autoPilotStatusInfo: AutopilotStatusInfo)
+
+ /**
+ * 自动驾驶到站
+ *
+ * @param autopilotWayArrive 所到车站的简单信息
+ */
+ fun onAutopilotArriveAtStation(autopilotWayArrive: AutopilotStationInfo?)
+
+
+ /**
+ * 车辆状态数据
+ *
+ * @param autoPilotCarStateInfo
+ */
+ fun onAutopilotCarStateData(autoPilotCarStateInfo: AutopilotCarStateInfo?)
+
+ /**
+ * 自动驾驶路径
+ *
+ * @param autopilotRoute
+ */
+ fun onAutopilotRoute(autopilotRoute: AutopilotRouteInfo?)
+
+ /**
+ * 工控机获取SN
+ */
+ fun onAutopilotSNRequest()
+
+ /**
+ * 工控机监控节点
+ */
+ fun onAutopilotGuardian(guardianInfo: AutopilotGuardianStatusInfo?)
+
+ /**
+ * 识别交通元素数据发生更新
+ *
+ * @param trafficData 交通元素信息列表
+ */
+ fun onAutopilotIdentifyDataUpdate(trafficData: List?)
+
+ /**
+ * 报警信息
+ *
+ * @param autopilotWarnMessage 预警信息
+ */
+ fun onAutopilotWarnMessage(autopilotWarnMessage: AutopilotWarnMessage?)
+
+
+ companion object {
+ /**
+ * 不可自动驾驶，目前场景是刚开机，adas还未和工控机连接
+ */
+ const val STATUS_AUTOPILOT_DISABLE = 0
+
+ /**
+ * 可自动驾驶，工控机连接正常，且处于人工干预状态
+ */
+ const val STATUS_AUTOPILOT_ENABLE = 1
+
+ /**
+ * 自动驾驶中，可能是停车，可能是行进，但是是机器在处理车的前进后退，不是人
+ */
+ const val STATUS_AUTOPILOT_RUNNING = 2
+ }
+}
\ No newline at end of file
diff --git a/core/mogo-core-function-call/src/main/java/com/mogo/eagle/core/function/call/autopilot/CallerAutoPilotManager.kt b/core/mogo-core-function-call/src/main/java/com/mogo/eagle/core/function/call/autopilot/CallerAutoPilotManager.kt
index 5220262ff2..16c059c7ea 100644
--- a/core/mogo-core-function-call/src/main/java/com/mogo/eagle/core/function/call/autopilot/CallerAutoPilotManager.kt
+++ b/core/mogo-core-function-call/src/main/java/com/mogo/eagle/core/function/call/autopilot/CallerAutoPilotManager.kt
@@ -1,7 +1,7 @@
package com.mogo.eagle.core.function.call.autopilot
import com.mogo.eagle.core.data.constants.MogoServicePaths
-import com.mogo.eagle.core.function.api.autopilot.IMoGoAutoPilotProvider
+import com.mogo.eagle.core.function.api.autopilot.IMoGoAutopilotProvider
import com.mogo.eagle.core.function.call.base.CallerBase
/**
@@ -10,9 +10,9 @@ import com.mogo.eagle.core.function.call.base.CallerBase
* 域控制器管理
*/
object CallerAutoPilotManager {
- private val providerApi: IMoGoAutoPilotProvider
+ private val providerApi: IMoGoAutopilotProvider
get() = CallerBase.getApiInstance(
- IMoGoAutoPilotProvider::class.java,
+ IMoGoAutopilotProvider::class.java,
MogoServicePaths.PATH_AUTO_PILOT
)
diff --git a/core/mogo-core-function-call/src/main/java/com/mogo/eagle/core/function/call/autopilot/CallerAutoPilotStatusListenerManager.kt b/core/mogo-core-function-call/src/main/java/com/mogo/eagle/core/function/call/autopilot/CallerAutoPilotStatusListenerManager.kt
index 88161e8e00..03d8d9eba1 100644
--- a/core/mogo-core-function-call/src/main/java/com/mogo/eagle/core/function/call/autopilot/CallerAutoPilotStatusListenerManager.kt
+++ b/core/mogo-core-function-call/src/main/java/com/mogo/eagle/core/function/call/autopilot/CallerAutoPilotStatusListenerManager.kt
@@ -1,9 +1,9 @@
package com.mogo.eagle.core.function.call.autopilot
import androidx.annotation.Nullable
-import com.mogo.eagle.core.data.autopilot.AutoPilotStationInfo
-import com.mogo.eagle.core.data.autopilot.AutoPilotStatusInfo
-import com.mogo.eagle.core.function.api.autopilot.IMoGoAutoPilotStatusListener
+import com.mogo.eagle.core.data.autopilot.*
+import com.mogo.eagle.core.data.traffic.TrafficData
+import com.mogo.eagle.core.function.api.autopilot.IMoGoAutopilotStatusListener
import com.mogo.eagle.core.function.api.obu.IMoGoObuStatusListener
import com.mogo.eagle.core.function.call.base.CallerBase
import com.mogo.eagle.core.utilcode.util.GsonUtils
@@ -15,26 +15,27 @@ import com.mogo.eagle.core.utilcode.util.LogUtils
* 域控制器相关的回调监听
*/
object CallerAutoPilotStatusListenerManager : CallerBase() {
- private val TAG = "CallerAutopilotListenerManager"
+ private val TAG = "CallerAutoPilotStatusListenerManager"
// 存储最后一次回调的数据，当有新当位置注册了监听将此数据回调过去，防止有些模块注册顺序问题导致无法获取最新状态
- private var mAutoPilotStatusInfo: AutoPilotStatusInfo = AutoPilotStatusInfo()
+ private var mAutopilotStatusInfo: AutopilotStatusInfo = AutopilotStatusInfo()
// 存储所有注册了监听的对象，invokeXXXX进行遍历回调，将信息同步
- private val mAutoPilotStatusListeners: HashMap = HashMap()
+ private val M_AUTOPILOT_STATUS_LISTENERS: HashMap =
+ HashMap()
/**
* 查询AutoPilot状态
*/
- fun getAutoPilotStatusInfo(): AutoPilotStatusInfo {
- return mAutoPilotStatusInfo
+ fun getAutoPilotStatusInfo(): AutopilotStatusInfo {
+ return mAutopilotStatusInfo
}
/**
* 查询AutoPilot状态
*/
fun getAutoPilotStatusInfoJsonString(): String {
- return GsonUtils.toJson(mAutoPilotStatusInfo)
+ return GsonUtils.toJson(mAutopilotStatusInfo)
}
/**
@@ -44,10 +45,10 @@ object CallerAutoPilotStatusListenerManager : CallerBase() {
*/
fun addListener(
@Nullable tag: String,
- @Nullable listener: IMoGoAutoPilotStatusListener
+ @Nullable listener: IMoGoAutopilotStatusListener
) {
- mAutoPilotStatusListeners[tag] = listener
- listener.onAutoPilotStatusResponse(mAutoPilotStatusInfo)
+ M_AUTOPILOT_STATUS_LISTENERS[tag] = listener
+ listener.onAutopilotStatusResponse(mAutopilotStatusInfo)
}
/**
@@ -55,7 +56,7 @@ object CallerAutoPilotStatusListenerManager : CallerBase() {
* @param tag 标记，用来注销监听使用
*/
fun removeListener(@Nullable tag: String) {
- mAutoPilotStatusListeners.remove(tag)
+ M_AUTOPILOT_STATUS_LISTENERS.remove(tag)
}
/**
@@ -63,9 +64,9 @@ object CallerAutoPilotStatusListenerManager : CallerBase() {
* @param listener 要删除的监听对象
*/
fun removeListener(@Nullable listener: IMoGoObuStatusListener) {
- mAutoPilotStatusListeners.forEach {
+ M_AUTOPILOT_STATUS_LISTENERS.forEach {
if (it.value == listener) {
- mAutoPilotStatusListeners.remove(it.key)
+ M_AUTOPILOT_STATUS_LISTENERS.remove(it.key)
}
}
}
@@ -74,53 +75,125 @@ object CallerAutoPilotStatusListenerManager : CallerBase() {
* 自动驾驶状态信息回调
*/
@Synchronized
- fun invokeAutoPilotStatusListener() {
- LogUtils.dTag(TAG, "$mAutoPilotStatusInfo")
- invokeAutoPilotStatusListener(mAutoPilotStatusInfo)
+ fun invokeAutoPilotStatus() {
+ LogUtils.dTag(TAG, "$mAutopilotStatusInfo")
+ invokeAutoPilotStatus(mAutopilotStatusInfo)
}
/**
- * 自动驾驶状态信息回调
- * @param autoPilotStatusInfo 自动驾驶状态信息
+ * 自动驾驶状态信息 回调
+ * @param autopilotStatusInfo 自动驾驶状态信息
*/
@Synchronized
- fun invokeAutoPilotStatusListener(autoPilotStatusInfo: AutoPilotStatusInfo) {
- LogUtils.dTag(TAG, "$autoPilotStatusInfo")
- mAutoPilotStatusInfo = autoPilotStatusInfo
- mAutoPilotStatusListeners.forEach {
+ fun invokeAutoPilotStatus(autopilotStatusInfo: AutopilotStatusInfo) {
+ LogUtils.dTag(TAG, "$autopilotStatusInfo")
+ mAutopilotStatusInfo = autopilotStatusInfo
+ M_AUTOPILOT_STATUS_LISTENERS.forEach {
val tag = it.key
val listener = it.value
LogUtils.dTag(TAG, "tag:$tag listener:$listener")
- listener.onAutoPilotStatusResponse(mAutoPilotStatusInfo)
+ listener.onAutopilotStatusResponse(mAutopilotStatusInfo)
}
}
/**
- * 自动驾驶网约车回调数据 回调
- * @param autoPilotStationInfo 自动驾驶网约车回调数据
+ * 自动驾驶站点信息 回调
+ * @param autopilotStationInfo 自动驾驶网约车回调数据
*/
- fun invokeArriveAtStationListener(autoPilotStationInfo: AutoPilotStationInfo) {
- LogUtils.dTag(TAG, "$autoPilotStationInfo")
- mAutoPilotStatusListeners.forEach {
+ @Synchronized
+ fun invokeArriveAtStation(autopilotStationInfo: AutopilotStationInfo) {
+ LogUtils.dTag(TAG, "$autopilotStationInfo")
+ M_AUTOPILOT_STATUS_LISTENERS.forEach {
val tag = it.key
val listener = it.value
LogUtils.dTag(TAG, "tag:$tag listener:$listener")
- listener.onAutoPilotArriveAtStation(autoPilotStationInfo)
+ listener.onAutopilotArriveAtStation(autopilotStationInfo)
}
}
/**
- * 自动驾驶状态回调
- * @param state
- * @param reason
+ * 车辆状态数据 回调
+ * @param autoPilotCarStateInfo
*/
- fun invokeStateChangedListener(state: Int, reason: String) {
- LogUtils.dTag(TAG, "$state $reason")
- mAutoPilotStatusListeners.forEach {
+ @Synchronized
+ fun invokeAutopilotCarStateData(autoPilotCarStateInfo: AutopilotCarStateInfo?) {
+ LogUtils.dTag(TAG, "$autoPilotCarStateInfo")
+ M_AUTOPILOT_STATUS_LISTENERS.forEach {
val tag = it.key
val listener = it.value
LogUtils.dTag(TAG, "tag:$tag listener:$listener")
- listener.onAutoPilotStateChanged(state, reason)
+ listener.onAutopilotCarStateData(autoPilotCarStateInfo)
+ }
+ }
+
+ /**
+ * 自动驾驶路径 回调
+ * @param routeInfo
+ */
+ @Synchronized
+ fun invokeAutopilotRoute(routeInfo: AutopilotRouteInfo?) {
+ LogUtils.dTag(TAG, "$routeInfo")
+ M_AUTOPILOT_STATUS_LISTENERS.forEach {
+ val tag = it.key
+ val listener = it.value
+ LogUtils.dTag(TAG, "tag:$tag listener:$listener")
+ listener.onAutopilotRoute(routeInfo)
+ }
+ }
+
+ /**
+ * 工控机获取SN 回调
+ */
+ @Synchronized
+ fun invokeAutopilotSNRequest() {
+ LogUtils.dTag(TAG, "")
+ M_AUTOPILOT_STATUS_LISTENERS.forEach {
+ val tag = it.key
+ val listener = it.value
+ LogUtils.dTag(TAG, "tag:$tag listener:$listener")
+ listener.onAutopilotSNRequest()
+ }
+ }
+
+ /**
+ * 工控机监控节点 回调
+ */
+ @Synchronized
+ fun invokeAutopilotGuardian(guardianInfo: AutopilotGuardianStatusInfo?) {
+ LogUtils.dTag(TAG, "$guardianInfo")
+ M_AUTOPILOT_STATUS_LISTENERS.forEach {
+ val tag = it.key
+ val listener = it.value
+ LogUtils.dTag(TAG, "tag:$tag listener:$listener")
+ listener.onAutopilotGuardian(guardianInfo)
+ }
+ }
+
+ /**
+ * 识别交通元素数据发生更新 回调
+ */
+ @Synchronized
+ fun invokeAutopilotIdentifyDataUpdate(trafficData: List?) {
+ LogUtils.dTag(TAG, "$trafficData")
+ M_AUTOPILOT_STATUS_LISTENERS.forEach {
+ val tag = it.key
+ val listener = it.value
+ LogUtils.dTag(TAG, "tag:$tag listener:$listener")
+ listener.onAutopilotIdentifyDataUpdate(trafficData)
+ }
+ }
+
+ /**
+ * 报警信息 回调
+ */
+ @Synchronized
+ fun invokeAutopilotWarnMessage(autopilotWarnMessage: AutopilotWarnMessage?) {
+ LogUtils.dTag(TAG, "$autopilotWarnMessage")
+ M_AUTOPILOT_STATUS_LISTENERS.forEach {
+ val tag = it.key
+ val listener = it.value
+ LogUtils.dTag(TAG, "tag:$tag listener:$listener")
+ listener.onAutopilotWarnMessage(autopilotWarnMessage)
}
}
diff --git a/gradle.properties b/gradle.properties
index eea0949dbd..5836bd6ab3 100644
--- a/gradle.properties
+++ b/gradle.properties
@@ -182,11 +182,11 @@ MOGO_TRAFFICLIVE_VERSION=1.1.46
# 定位服务
MOGO_LOCATION_VERSION=1.1.46
# 自研地图
-MAP_SDK_VERSION=1.0.1-vr-1.1.3
+MAP_SDK_VERSION=1.0.1-vr-1.1.5
#################架构升级新的版本号
MOGO_CORE_FUNCTION_HMI_VERSION=1.0.0
## 产品库必备配置，产品库自动对versionCode和versionName版本进行升级
applicationId=com.mogo.launcer
applicationName=IntelligentPilot
versionCode=80007
-versionName=8.0.12
\ No newline at end of file
+versionName=8.0.13
\ No newline at end of file
diff --git a/libraries/map-custom/src/main/java/com/mogo/map/impl/custom/AMapViewWrapper.java b/libraries/map-custom/src/main/java/com/mogo/map/impl/custom/AMapViewWrapper.java
index 64a31a3f4c..87f4bbf533 100644
--- a/libraries/map-custom/src/main/java/com/mogo/map/impl/custom/AMapViewWrapper.java
+++ b/libraries/map-custom/src/main/java/com/mogo/map/impl/custom/AMapViewWrapper.java
@@ -349,28 +349,28 @@ public class AMapViewWrapper implements IMogoMapView,
Logger.d(TAG, "设置的样式 = %s", ui);
if (checkAMapView()) {
switch (ui) {
- case CarUp_2D:
- case CarUp_3D:
- case NorthUP_2D:
- setUIMode(ui);
- break;
+// case CarUp_2D:
+// case CarUp_3D:
+// case NorthUP_2D:
+// setUIMode(ui);
+// break;
case Type_VR:
mMapView.getMapAutoViewHelper().setScaleVRMode(true);
mMapView.getMapAutoViewHelper().setMapStyle(MapAutoApi.MAP_STYLE_VR);
return;
- case Type_Light:
- mMapView.getMapAutoViewHelper().setAutoSwitchStyle(false);
- mMapView.getMapAutoViewHelper().setMapStyle(MapAutoApi.MAP_STYLE_DAY);
- mIsLightStyle = true;
- break;
- case Type_Night:
- mMapView.getMapAutoViewHelper().setAutoSwitchStyle(false);
- mMapView.getMapAutoViewHelper().setMapStyle(MapAutoApi.MAP_STYLE_NIGHT);
- mIsLightStyle = false;
- break;
- case Type_AUTO_LIGHT_Night:
- mMapView.getMapAutoViewHelper().setAutoSwitchStyle(true);
- break;
+// case Type_Light:
+// mMapView.getMapAutoViewHelper().setAutoSwitchStyle(false);
+// mMapView.getMapAutoViewHelper().setMapStyle(MapAutoApi.MAP_STYLE_DAY);
+// mIsLightStyle = true;
+// break;
+// case Type_Night:
+// mMapView.getMapAutoViewHelper().setAutoSwitchStyle(false);
+// mMapView.getMapAutoViewHelper().setMapStyle(MapAutoApi.MAP_STYLE_NIGHT);
+// mIsLightStyle = false;
+// break;
+// case Type_AUTO_LIGHT_Night:
+// mMapView.getMapAutoViewHelper().setAutoSwitchStyle(true);
+// break;
}
}
diff --git a/modules/mogo-module-adas/build.gradle b/modules/mogo-module-adas/build.gradle
index e6d26d48b9..7ef67cf156 100644
--- a/modules/mogo-module-adas/build.gradle
+++ b/modules/mogo-module-adas/build.gradle
@@ -1,6 +1,10 @@
-apply plugin: 'com.android.library'
-apply plugin: 'com.alibaba.arouter'
-
+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
@@ -10,14 +14,15 @@ android {
versionCode Integer.valueOf(VERSION_CODE)
versionName getValueFromRootProperties("${project.name.replace("-", "_").toUpperCase()}_VERSION")
- javaCompileOptions {
- annotationProcessorOptions {
- arguments = [AROUTER_MODULE_NAME: project.getName()]
- }
- }
-
testInstrumentationRunner "androidx.test.runner.AndroidJUnitRunner"
consumerProguardFiles 'consumer-rules.pro'
+ //ARouter apt 参数
+ kapt {
+ useBuildCache = false
+ arguments {
+ arg("AROUTER_MODULE_NAME", project.getName())
+ }
+ }
}
buildTypes {
@@ -37,10 +42,10 @@ dependencies {
implementation rootProject.ext.dependencies.androidxappcompat
implementation rootProject.ext.dependencies.androidxconstraintlayout
- implementation rootProject.ext.dependencies.arouter
implementation rootProject.ext.dependencies.rxandroid
- annotationProcessor rootProject.ext.dependencies.aroutercompiler
+ 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
@@ -61,6 +66,7 @@ dependencies {
implementation project(':modules:mogo-module-common')
implementation project(':core:mogo-core-data')
+ implementation project(':core:mogo-core-function-api')
implementation project(':core:mogo-core-function-call')
}
}
diff --git a/modules/mogo-module-adas/src/main/java/com/mogo/module/adas/AdasAutoPilotManager.java b/modules/mogo-module-adas/src/main/java/com/mogo/module/adas/AdasAutoPilotManager.java
index 9953305f2b..7f9c4c80b9 100644
--- a/modules/mogo-module-adas/src/main/java/com/mogo/module/adas/AdasAutoPilotManager.java
+++ b/modules/mogo-module-adas/src/main/java/com/mogo/module/adas/AdasAutoPilotManager.java
@@ -12,6 +12,8 @@ import android.location.Location;
import android.os.Handler;
import android.os.Message;
+import com.mogo.eagle.core.data.autopilot.AutopilotRouteInfo;
+import com.mogo.eagle.core.data.autopilot.AutopilotStatusInfo;
import com.mogo.eagle.core.data.map.MogoLatLng;
import com.mogo.map.location.MogoLocation;
import com.mogo.map.navi.IMogoCarLocationChangedListener2;
@@ -29,7 +31,6 @@ import com.mogo.service.cloud.socket.IMogoOnMessageListener;
import com.mogo.utils.logger.Logger;
import com.mogo.utils.network.utils.GsonUtil;
import com.zhidao.support.adas.high.bean.AutopilotRoute;
-import com.zhidao.support.adas.high.bean.AutopilotStatus;
import java.util.ArrayList;
import java.util.List;
@@ -129,12 +130,12 @@ public class AdasAutoPilotManager implements IMogoOnMessageListener trafficData) {
+ Logger.d(TAG, "onRectData " + trafficData);
+ // 仅在 vr 模式下显示 adas 识别车辆
+ if (trafficData == null) {
+ Logger.w(TAG, "--->action is null");
+ } else {
+ final long start = System.nanoTime();
+ try {
+ IdentifyDataDrawer.getInstance().renderAdasRecognizedResult(trafficData);
+ Log.i(TAG, "接收数据 -> 发出 cost :" + TimeUnit.NANOSECONDS.toMillis((System.nanoTime() - start)) + "ms");
+ } catch (Exception e) {
+ e.printStackTrace();
+ }
+ }
+ try {
+ for (IAdasDataListener listener : iAdasEventListeners) {
+ if (listener != null) {
+ listener.onRectData(trafficData);
+ }
+ }
+ } catch (Exception e) {
+ e.printStackTrace();
+ }
+ }
+
+ @Override
+ public void onAutopilotWarnMessage(@Nullable AutopilotWarnMessage autopilotWarnMessage) {
+ Logger.d(TAG, "onWarnMessage " + autopilotWarnMessage);
+ //报警model
+ for (IAdasDataListener listener : iAdasEventListeners) {
+ if (listener != null) {
+ listener.onWarnMessage(autopilotWarnMessage);
+ }
+ }
+ }
}
diff --git a/modules/mogo-module-adas/src/main/java/com/mogo/module/adas/AdasObjectUtils.kt b/modules/mogo-module-adas/src/main/java/com/mogo/module/adas/AdasObjectUtils.kt
new file mode 100644
index 0000000000..592222d186
--- /dev/null
+++ b/modules/mogo-module-adas/src/main/java/com/mogo/module/adas/AdasObjectUtils.kt
@@ -0,0 +1,110 @@
+package com.mogo.module.adas
+
+import android.util.Log
+import com.mogo.eagle.core.data.autopilot.AutopilotWarnMessage
+import com.mogo.eagle.core.data.autopilot.AutopilotCarStateInfo
+import com.mogo.eagle.core.data.autopilot.AutopilotGuardianStatusInfo
+import com.mogo.eagle.core.data.autopilot.AutopilotRouteInfo
+import com.mogo.eagle.core.data.enums.TrafficTypeEnum
+import com.mogo.eagle.core.data.traffic.TrafficData
+import com.mogo.utils.network.utils.GsonUtil
+import com.zhidao.support.adas.high.bean.AutopilotRoute
+import com.zhidao.support.adas.high.bean.CarStateInfo
+import com.zhidao.support.adas.high.bean.RectInfo.RectBean
+import com.zhidao.support.adas.high.bean.WarnMessageInfo
+import com.zhidao.support.adas.high.bean.guardian.AutopilotGuardianInfo
+import java.util.*
+import java.util.concurrent.TimeUnit
+
+/**
+ * @author congtaowang
+ * @since 2020/10/25
+ *
+ * 对象转换类
+ */
+object AdasObjectUtils {
+
+ fun fromAutopilotGuardianInfo(autopilotGuardianInfo: AutopilotGuardianInfo): AutopilotGuardianStatusInfo? {
+ return GsonUtil.objectFromJson(
+ GsonUtil.jsonFromObject(autopilotGuardianInfo),
+ AutopilotGuardianStatusInfo::class.java
+ )
+ }
+
+ fun fromAdasAutopilotRoute(carStateInfo: AutopilotRoute): AutopilotRouteInfo? {
+ return GsonUtil.objectFromJson(
+ GsonUtil.jsonFromObject(carStateInfo),
+ AutopilotRouteInfo::class.java
+ )
+ }
+
+ fun fromAdasCarStateInfoObject(carStateInfo: CarStateInfo): AutopilotCarStateInfo? {
+ return GsonUtil.objectFromJson(
+ GsonUtil.jsonFromObject(carStateInfo),
+ AutopilotCarStateInfo::class.java
+ )
+ }
+
+ fun fromAdasObject(info: WarnMessageInfo?): AutopilotWarnMessage? {
+ if (info == null) {
+ return null
+ }
+ val warnMessage =
+ AutopilotWarnMessage()
+ warnMessage.content = info.content
+ warnMessage.level = info.level
+ try {
+ warnMessage.type = info.type.toInt()
+ } catch (e: NumberFormatException) {
+ return null
+ }
+ warnMessage.value = info.value
+ return warnMessage
+ }
+
+ fun regroupTrafficDataData(datums: List?): List? {
+ if (datums == null || datums.isEmpty()) {
+ return null
+ }
+ val recognizedListResults: MutableList = ArrayList()
+ for (model in datums) {
+ if (model == null) {
+ continue
+ }
+ val recognizedListResult = fromAdasTrafficDataObject(model)
+ if (recognizedListResult != null) {
+ recognizedListResults.add(recognizedListResult)
+ }
+ }
+ return recognizedListResults
+ }
+
+ fun fromAdasTrafficDataObject(model: RectBean?): TrafficData? {
+ if (model == null) {
+ return null
+ }
+ val start = System.nanoTime()
+ val result = TrafficData()
+ result.uuid = model.uuid
+ result.lat = model.lat
+ result.lon = model.lon
+ result.type = TrafficTypeEnum.getType(model.type.toInt())
+ result.heading = model.heading
+ result.systemTime = model.systemTime.toLong()
+ result.satelliteTime = model.satelliteTime.toLong()
+ result.alt = model.alt
+ result.speed = model.speed
+ result.carId = model.carId
+ result.dataAccuracy = model.dataAccuracy
+ result.distance = model.distance
+ result.threatLevel = model.drawlevel
+ Log.d(
+ "ADAS数据延时", "fromAdasObject cost : " + TimeUnit.NANOSECONDS.toMillis(
+ System.nanoTime() - start
+ )
+ )
+ return result
+ }
+
+
+}
\ No newline at end of file
diff --git a/modules/mogo-module-adas/src/main/java/com/mogo/module/adas/AdasProvider.java b/modules/mogo-module-adas/src/main/java/com/mogo/module/adas/AdasProvider.java
index 1df536fd16..f9f10eec9f 100644
--- a/modules/mogo-module-adas/src/main/java/com/mogo/module/adas/AdasProvider.java
+++ b/modules/mogo-module-adas/src/main/java/com/mogo/module/adas/AdasProvider.java
@@ -9,7 +9,9 @@ import com.mogo.eagle.core.data.constants.MogoServicePaths;
import com.mogo.utils.logger.Logger;
import com.zhidao.autopilotservice.model.AdasAIDLAutopilotStateModel;
import com.zhidao.support.adas.high.AdasManager;
+import com.zhidao.support.adas.high.bean.AutopilotRoute;
import com.zhidao.support.adas.high.bean.BasicInfo;
+import com.zhidao.support.adas.high.bean.guardian.AutopilotGuardianInfo;
/**
@@ -45,7 +47,7 @@ public class AdasProvider implements IProvider {
private void initAdas(Context context, AdasEventManager adasEventManager) {
AdasManager.getInstance().create(context);
- AdasManager.getInstance().setOnAdasListener(adasEventManager);
+ AdasManager.getInstance().setOnAdasListener(new OnAdasListenerAdapter());
AdasManager.getInstance().setOnAdasConnectStatusListener(adasEventManager);
adasEventManager.setProviderBizListener(this::setBasicInfo);
}
diff --git a/modules/mogo-module-adas/src/main/java/com/mogo/module/adas/AutonomousDriveStatusBean.java b/modules/mogo-module-adas/src/main/java/com/mogo/module/adas/AutonomousDriveStatusBean.java
deleted file mode 100644
index 686ae78eb0..0000000000
--- a/modules/mogo-module-adas/src/main/java/com/mogo/module/adas/AutonomousDriveStatusBean.java
+++ /dev/null
@@ -1,41 +0,0 @@
-package com.mogo.module.adas;
-
-/**
- * Created by XuYong on 2021/5/28 16:12
- */
-public class AutonomousDriveStatusBean {
-
- private String sn;
- private int status;
- private float vehicleSpeed;
-
- public AutonomousDriveStatusBean(String sn, int status, float vehicleSpeed) {
- this.sn = sn;
- this.status = status;
- this.vehicleSpeed = vehicleSpeed;
- }
-
- public String getSn() {
- return sn;
- }
-
- public void setSn(String sn) {
- this.sn = sn;
- }
-
- public int getStatus() {
- return status;
- }
-
- public void setStatus(int status) {
- this.status = status;
- }
-
- public float getVehicleSpeed() {
- return vehicleSpeed;
- }
-
- public void setVehicleSpeed(float vehicleSpeed) {
- this.vehicleSpeed = vehicleSpeed;
- }
-}
diff --git a/modules/mogo-module-adas/src/main/java/com/mogo/module/adas/IAdasDataListener.java b/modules/mogo-module-adas/src/main/java/com/mogo/module/adas/IAdasDataListener.java
index 30555b8b3e..f87b28fe43 100644
--- a/modules/mogo-module-adas/src/main/java/com/mogo/module/adas/IAdasDataListener.java
+++ b/modules/mogo-module-adas/src/main/java/com/mogo/module/adas/IAdasDataListener.java
@@ -1,10 +1,12 @@
package com.mogo.module.adas;
-import com.zhidao.autopilotservice.model.AdasAIDLAutopilotArriveModel;
-import com.zhidao.support.adas.high.bean.AutopilotRoute;
-import com.zhidao.support.adas.high.bean.AutopilotStatus;
-import com.zhidao.support.adas.high.bean.RectInfo;
-import com.zhidao.support.adas.high.bean.WarnMessageInfo;
+import com.mogo.eagle.core.data.autopilot.AutopilotRouteInfo;
+import com.mogo.eagle.core.data.autopilot.AutopilotStationInfo;
+import com.mogo.eagle.core.data.autopilot.AutopilotStatusInfo;
+import com.mogo.eagle.core.data.autopilot.AutopilotWarnMessage;
+import com.mogo.eagle.core.data.traffic.TrafficData;
+
+import java.util.List;
public interface IAdasDataListener {
@@ -13,11 +15,11 @@ public interface IAdasDataListener {
}
- default void onRectData(RectInfo rectInfo) {
+ default void onRectData(List trafficData) {
}
- default void onWarnMessage(WarnMessageInfo warnMessageInfo) {
+ default void onWarnMessage(AutopilotWarnMessage autopilotWarnMessage) {
}
@@ -25,17 +27,17 @@ public interface IAdasDataListener {
/**
* 自动驾驶到达站点回调接口
*
- * @param autopilotArriveModel
+ * @param autopilotWayArrive
*/
- default void autopilotArrive(AdasAIDLAutopilotArriveModel autopilotArriveModel) {
+ default void autopilotArrive(AutopilotStationInfo autopilotWayArrive) {
}
/**
* 自动驾驶路线回调
*
- * @param autopilotRoute {@link AutopilotRoute}
+ * @param autopilotRoute {@link AutopilotRouteInfo}
*/
- default void autopilotRoute(AutopilotRoute autopilotRoute) {
+ default void autopilotRoute(AutopilotRouteInfo autopilotRoute) {
}
@@ -50,9 +52,9 @@ public interface IAdasDataListener {
/**
* 自动驾驶状态信息
*
- * @param autopilotStatus {@link AutopilotStatus}
+ * @param autopilotStatus {@link AutopilotStatusInfo}
*/
- default void notifyAutopilotState(AutopilotStatus autopilotStatus) {
+ default void notifyAutopilotState(AutopilotStatusInfo autopilotStatus) {
}
}
diff --git a/modules/mogo-module-adas/src/main/java/com/mogo/module/adas/OnAdasListenerAdapter.java b/modules/mogo-module-adas/src/main/java/com/mogo/module/adas/OnAdasListenerAdapter.java
new file mode 100644
index 0000000000..1f90088712
--- /dev/null
+++ b/modules/mogo-module-adas/src/main/java/com/mogo/module/adas/OnAdasListenerAdapter.java
@@ -0,0 +1,141 @@
+package com.mogo.module.adas;
+
+import com.mogo.eagle.core.data.autopilot.AutopilotCarStateInfo;
+import com.mogo.eagle.core.data.autopilot.AutopilotGuardianStatusInfo;
+import com.mogo.eagle.core.data.autopilot.AutopilotRouteInfo;
+import com.mogo.eagle.core.data.autopilot.AutopilotStationInfo;
+import com.mogo.eagle.core.data.autopilot.AutopilotStatusInfo;
+import com.mogo.eagle.core.data.autopilot.AutopilotWarnMessage;
+import com.mogo.eagle.core.data.traffic.TrafficData;
+import com.mogo.eagle.core.function.call.autopilot.CallerAutoPilotStatusListenerManager;
+import com.mogo.utils.logger.Logger;
+import com.zhidao.support.adas.high.AdasManager;
+import com.zhidao.support.adas.high.OnAdasListener;
+import com.zhidao.support.adas.high.bean.AutopilotRoute;
+import com.zhidao.support.adas.high.bean.AutopilotStatus;
+import com.zhidao.support.adas.high.bean.AutopilotWayArrive;
+import com.zhidao.support.adas.high.bean.CarLaneInfo;
+import com.zhidao.support.adas.high.bean.CarStateInfo;
+import com.zhidao.support.adas.high.bean.LightStatueInfo;
+import com.zhidao.support.adas.high.bean.ObstaclesInfo;
+import com.zhidao.support.adas.high.bean.RectInfo;
+import com.zhidao.support.adas.high.bean.WarnMessageInfo;
+import com.zhidao.support.adas.high.bean.guardian.AutopilotGuardianInfo;
+import com.zhidao.support.obu.ami.AmiClientManager;
+
+import java.util.List;
+
+/**
+ * @author congtaowang
+ * @since 2020/10/22
+ *
+ * 适配ADAS 回调监听分发
+ */
+public class OnAdasListenerAdapter implements OnAdasListener {
+ private final String TAG = "OnAdasListenerAdapter";
+
+ @Override
+ public void onRectData(RectInfo rectInfo) {
+ List recognizedListResults = AdasObjectUtils.INSTANCE.regroupTrafficDataData(rectInfo.getModels());
+ CallerAutoPilotStatusListenerManager.INSTANCE.invokeAutopilotIdentifyDataUpdate(recognizedListResults);
+ }
+
+ @Override
+ public void onCarStateData(CarStateInfo carStateInfo) {
+ AutopilotCarStateInfo autopilotCarStateInfo = AdasObjectUtils.INSTANCE.fromAdasCarStateInfoObject(carStateInfo);
+ CallerAutoPilotStatusListenerManager.INSTANCE.invokeAutopilotCarStateData(autopilotCarStateInfo);
+
+ //can数据转发
+ CarStateInfo.ValuesBean bean = carStateInfo.getValues();
+ if (bean != null) {
+ int turn_light = bean.getTurn_light(); //转向灯状态 0是正常 1是左转 2是右转
+ AmiClientManager.getInstance().setTurnLightState(turn_light);
+ }
+ }
+
+ @Override
+ public void autopilotStatus(AutopilotStatus autopilotStatus) {
+ AutopilotStatus.ValuesBean autopilotStatusValues = autopilotStatus.getValues();
+
+ if (autopilotStatusValues != null) {
+ // 初始化自动驾驶状态信息
+ AutopilotStatusInfo autopilotStatusInfo = CallerAutoPilotStatusListenerManager.INSTANCE.getAutoPilotStatusInfo();
+ autopilotStatusInfo.setState(autopilotStatusValues.getState());
+ autopilotStatusInfo.setPilotmode(autopilotStatusValues.getPilotmode());
+ autopilotStatusInfo.setReason(autopilotStatusValues.getReason());
+ autopilotStatusInfo.setCamera(autopilotStatusValues.getCamera());
+ autopilotStatusInfo.setRtk(autopilotStatusValues.getRtk());
+ autopilotStatusInfo.setRadar(autopilotStatusValues.getRadar());
+ autopilotStatusInfo.setSpeed(autopilotStatusValues.getSpeed());
+ // 初始化自动驾驶状态信息
+ autopilotStatusInfo.setVersion(AdasManager.getInstance().getAdasConfig().getVersion());
+ autopilotStatusInfo.setConnectIP(AdasManager.getInstance().getAdasConfig().getAddress());
+
+ CallerAutoPilotStatusListenerManager.INSTANCE.invokeAutoPilotStatus();
+ }
+ }
+
+ @Override
+ public void autopilotArrive(AutopilotWayArrive autopilotWayArrive) {
+ if (autopilotWayArrive != null) {
+ AutopilotWayArrive.ResultBean result = autopilotWayArrive.getResult();
+ if (result != null) {
+ AutopilotWayArrive.ResultBean.EndLatLonBean endLatLon = result.getEndLatLon();
+ if (endLatLon != null) {
+ AutopilotStationInfo stationInfo = new AutopilotStationInfo(result.getCarType(), endLatLon.getLon(), endLatLon.getLat());
+
+ CallerAutoPilotStatusListenerManager.INSTANCE.invokeArriveAtStation(stationInfo);
+ }
+ }
+ }
+ }
+
+ @Override
+ public void onAutopilotRoute(AutopilotRoute route) {
+ Logger.d(TAG, "onAutopilotRoute : " + route.toString());
+ AutopilotRouteInfo autopilotRoute = AdasObjectUtils.INSTANCE.fromAdasAutopilotRoute(route);
+ CallerAutoPilotStatusListenerManager.INSTANCE.invokeAutopilotRoute(autopilotRoute);
+ }
+
+ @Override
+ public void onAutopilotSNRequest() {
+ CallerAutoPilotStatusListenerManager.INSTANCE.invokeAutopilotSNRequest();
+ }
+
+ @Override
+ public void onAutopilotGuardian(AutopilotGuardianInfo guardianInfo) {
+ AutopilotGuardianStatusInfo autopilotRoute = AdasObjectUtils.INSTANCE.fromAutopilotGuardianInfo(guardianInfo);
+ CallerAutoPilotStatusListenerManager.INSTANCE.invokeAutopilotGuardian(autopilotRoute);
+ }
+
+
+ @Override
+ public void onLightStateData(LightStatueInfo lightStatueInfo) {
+
+ }
+
+ @Override
+ public void onObstaclesInfo(ObstaclesInfo obstaclesInfo) {
+
+ }
+
+ @Override
+ public void onCarLaneInfo(CarLaneInfo carLaneInfo) {
+
+ }
+
+
+ @Override
+ public void onWarnMessage(WarnMessageInfo warnMessageInfo) {
+ final AutopilotWarnMessage warnMessage = AdasObjectUtils.INSTANCE.fromAdasObject(warnMessageInfo);
+ CallerAutoPilotStatusListenerManager.INSTANCE.invokeAutopilotWarnMessage(warnMessage);
+
+ }
+
+ @Override
+ public void onVideoSize(int width, int height) {
+
+ }
+
+
+}
diff --git a/modules/mogo-module-adas/src/main/java/com/mogo/module/adas/ReportSiteBean.java b/modules/mogo-module-adas/src/main/java/com/mogo/module/adas/ReportSiteBean.java
deleted file mode 100644
index 76677e00ba..0000000000
--- a/modules/mogo-module-adas/src/main/java/com/mogo/module/adas/ReportSiteBean.java
+++ /dev/null
@@ -1,40 +0,0 @@
-package com.mogo.module.adas;
-
-/**
- * Created by XuYong on 2021/5/31 16:24
- */
-public class ReportSiteBean {
- private String sn;
- private double lon;
- private double lat;
-
- public ReportSiteBean(String sn, double lon, double lat) {
- this.sn = sn;
- this.lon = lon;
- this.lat = lat;
- }
-
- public String getSn() {
- return sn;
- }
-
- public void setSn(String sn) {
- this.sn = sn;
- }
-
- public double getLon() {
- return lon;
- }
-
- public void setLon(double lon) {
- this.lon = lon;
- }
-
- public double getLat() {
- return lat;
- }
-
- public void setLat(double lat) {
- this.lat = lat;
- }
-}
diff --git a/modules/mogo-module-adas/src/main/java/com/mogo/module/adas/entity/ReportedRoute.java b/modules/mogo-module-adas/src/main/java/com/mogo/module/adas/entity/ReportedRoute.java
index 850473685e..8fc5663dce 100644
--- a/modules/mogo-module-adas/src/main/java/com/mogo/module/adas/entity/ReportedRoute.java
+++ b/modules/mogo-module-adas/src/main/java/com/mogo/module/adas/entity/ReportedRoute.java
@@ -1,17 +1,17 @@
package com.mogo.module.adas.entity;
-import com.zhidao.support.adas.high.bean.AutopilotStatus;
+import com.mogo.eagle.core.data.autopilot.AutopilotStatusInfo;
/**
* 上报自动驾驶规划的路径
*/
public class ReportedRoute {
private String sn;
- private AutopilotStatus.ValuesBean bean;
+ private AutopilotStatusInfo bean;
private String siteList;
- public ReportedRoute(String sn, AutopilotStatus.ValuesBean bean) {
+ public ReportedRoute(String sn, AutopilotStatusInfo bean) {
this.sn = sn;
this.bean = bean;
}
diff --git a/modules/mogo-module-adas/src/main/java/com/mogo/module/adas/entity/WarnMessageModel.java b/modules/mogo-module-adas/src/main/java/com/mogo/module/adas/entity/WarnMessageModel.java
deleted file mode 100644
index ae6a6d8cab..0000000000
--- a/modules/mogo-module-adas/src/main/java/com/mogo/module/adas/entity/WarnMessageModel.java
+++ /dev/null
@@ -1,31 +0,0 @@
-package com.mogo.module.adas.entity;
-
-import com.zhidao.support.adas.high.bean.WarnMessageInfo;
-
-/**
- * @author nie yunlong
- * @des
- * @date 2020/10/22
- */
-public class WarnMessageModel {
-
- private String action;
-
- private WarnMessageInfo values;
-
- public String getAction() {
- return action;
- }
-
- public void setAction(String action) {
- this.action = action;
- }
-
- public WarnMessageInfo getValues() {
- return values;
- }
-
- public void setValues(WarnMessageInfo values) {
- this.values = values;
- }
-}
diff --git a/modules/mogo-module-adas/src/main/java/com/mogo/module/adas/model/AdasServiceModel.java b/modules/mogo-module-adas/src/main/java/com/mogo/module/adas/model/AdasServiceModel.java
index 6f9a2e9f2f..b5d733503d 100644
--- a/modules/mogo-module-adas/src/main/java/com/mogo/module/adas/model/AdasServiceModel.java
+++ b/modules/mogo-module-adas/src/main/java/com/mogo/module/adas/model/AdasServiceModel.java
@@ -3,6 +3,7 @@ package com.mogo.module.adas.model;
import com.mogo.cloud.passport.MoGoAiCloudClientConfig;
import com.mogo.commons.data.BaseData;
import com.mogo.commons.network.SubscribeImpl;
+import com.mogo.eagle.core.data.autopilot.AutopilotStatusInfo;
import com.mogo.module.adas.entity.AutonomousDriveStatusBean;
import com.mogo.module.adas.entity.ReportDispatchResult;
import com.mogo.module.adas.entity.ReportSiteBean;
@@ -59,9 +60,9 @@ public class AdasServiceModel {
*
* @param autopilotStatus {@link AutopilotStatus}
*/
- public void uploadAutopilotStatus(AutopilotStatus autopilotStatus) {
+ public void uploadAutopilotStatus(AutopilotStatusInfo autopilotStatus) {
String sn = MoGoAiCloudClientConfig.getInstance().getSn();
- ReportedRoute reportedRoute = new ReportedRoute(sn, autopilotStatus.getValues());
+ ReportedRoute reportedRoute = new ReportedRoute(sn, autopilotStatus);
Map map = new HashMap<>();
map.put("sn", sn);
map.put("data", GsonUtil.jsonFromObject(reportedRoute));
diff --git a/modules/mogo-module-adas/src/main/java/com/mogo/module/adas/receiver/test b/modules/mogo-module-adas/src/main/java/com/mogo/module/adas/receiver/test
deleted file mode 100644
index cd012b0554..0000000000
--- a/modules/mogo-module-adas/src/main/java/com/mogo/module/adas/receiver/test
+++ /dev/null
@@ -1,216 +0,0 @@
-原数据
-26.820175208327566,112.57748204198309
-26.82009891465042,112.57735739748664
-26.820022750763542,112.57723266155585
-26.81994655656347,112.57710795477944
-26.81987031666393,112.57698328267305
-26.819793988171348,112.57685866945901
-26.819717530408877,112.57673414980971
-26.819635079638967,112.57661462149986
-26.819532022659132,112.5765234581422
-26.819488197195188,112.5764835085963
-26.81947053563866,112.57645743645142
-26.81945285740347,112.5764313389555
-26.81941584428336,112.57637074918446
-26.819355855639404,112.57626774620917
-26.8193352833325,112.57623094969783
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-
-
-排序数据：
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-
-
-
-
-
-
-
-
diff --git a/modules/mogo-module-common/src/main/java/com/mogo/module/common/datacenter/SnapshotLocationDataCenter.java b/modules/mogo-module-common/src/main/java/com/mogo/module/common/datacenter/SnapshotLocationDataCenter.java
index 081c2f2a4e..10ca090421 100644
--- a/modules/mogo-module-common/src/main/java/com/mogo/module/common/datacenter/SnapshotLocationDataCenter.java
+++ b/modules/mogo-module-common/src/main/java/com/mogo/module/common/datacenter/SnapshotLocationDataCenter.java
@@ -2,7 +2,7 @@ package com.mogo.module.common.datacenter;
import com.mogo.commons.FunctionBuildConfig;
import com.mogo.commons.debug.DebugConfig;
-import com.mogo.eagle.core.data.autopilot.AutoPilotStatusInfo;
+import com.mogo.eagle.core.data.autopilot.AutopilotStatusInfo;
import com.mogo.eagle.core.function.call.autopilot.CallerAutoPilotStatusListenerManager;
import com.mogo.module.common.MogoApisHandler;
import com.mogo.service.cloud.location.CloudLocationInfo;
@@ -94,10 +94,10 @@ public class SnapshotLocationDataCenter {
// 使用与渠道配置一样的gps提供者提供的数据
if (gpsProvider == FunctionBuildConfig.gpsProvider) {
//测试面板状态同步
- AutoPilotStatusInfo autopilotStatusInfo = CallerAutoPilotStatusListenerManager.INSTANCE.getAutoPilotStatusInfo();
+ AutopilotStatusInfo autopilotStatusInfo = CallerAutoPilotStatusListenerManager.INSTANCE.getAutoPilotStatusInfo();
autopilotStatusInfo.setLocationLat(lat);
autopilotStatusInfo.setLocationLon(lon);
- CallerAutoPilotStatusListenerManager.INSTANCE.invokeAutoPilotStatusListener();
+ CallerAutoPilotStatusListenerManager.INSTANCE.invokeAutoPilotStatus();
DebugConfig.setStatusData(DebugConfig.sLon, lon);
DebugConfig.setStatusData(DebugConfig.sLat, lat);
diff --git a/modules/mogo-module-common/src/main/java/com/mogo/module/common/drawer/AdasRecognizedResultDrawer.java b/modules/mogo-module-common/src/main/java/com/mogo/module/common/drawer/AdasRecognizedResultDrawer.java
index bc4cb1ac7e..377c6aab9d 100644
--- a/modules/mogo-module-common/src/main/java/com/mogo/module/common/drawer/AdasRecognizedResultDrawer.java
+++ b/modules/mogo-module-common/src/main/java/com/mogo/module/common/drawer/AdasRecognizedResultDrawer.java
@@ -1,5 +1,7 @@
package com.mogo.module.common.drawer;
+import static com.mogo.cloud.socket.entity.SocketDownDataHelper.FROM_ADAS;
+
import android.os.Build;
import android.text.TextUtils;
import android.util.Log;
@@ -7,12 +9,12 @@ import android.util.Log;
import com.mogo.cloud.commons.utils.CoordinateUtils;
import com.mogo.commons.debug.DebugConfig;
import com.mogo.eagle.core.data.map.MogoLatLng;
+import com.mogo.eagle.core.data.traffic.TrafficData;
import com.mogo.map.marker.IMogoMarker;
import com.mogo.map.marker.MogoMarkerOptions;
import com.mogo.module.common.MogoApisHandler;
import com.mogo.module.common.constants.DataTypes;
import com.mogo.module.common.utils.Trigonometric;
-import com.mogo.service.adas.entity.ADASRecognizedResult;
import java.util.ArrayList;
import java.util.Iterator;
@@ -21,18 +23,15 @@ import java.util.Map;
import java.util.concurrent.ConcurrentHashMap;
import java.util.concurrent.TimeUnit;
-import static com.mogo.cloud.socket.entity.SocketDownDataHelper.FROM_ADAS;
-
-public
/**
* @author congtaowang
* @since 2020/10/28
- *
+ *
* 绘制adas近景识别到的车辆
*/
-class AdasRecognizedResultDrawer extends BaseDrawer {
+public class AdasRecognizedResultDrawer extends BaseDrawer {
- private static final String TAG = "RecognizedResultDrawer";
+ private static final String TAG = "AdasRecognizedResultDrawer";
private static volatile AdasRecognizedResultDrawer sInstance;
@@ -45,7 +44,7 @@ class AdasRecognizedResultDrawer extends BaseDrawer {
super();
}
- private final Map mLastPositions = new ConcurrentHashMap<>();
+ private final Map mLastPositions = new ConcurrentHashMap<>();
public static AdasRecognizedResultDrawer getInstance() {
if (sInstance == null) {
@@ -76,7 +75,7 @@ class AdasRecognizedResultDrawer extends BaseDrawer {
*
* @param resultList adas感知融合数据
*/
- public void renderAdasRecognizedResult(List resultList) {
+ public void renderAdasRecognizedResult(List resultList) {
final long start = System.nanoTime();
if (resultList == null || resultList.isEmpty() || !DebugConfig.isUseAdasRecognize()) {
@@ -91,18 +90,18 @@ class AdasRecognizedResultDrawer extends BaseDrawer {
return;
}
-// List allDatumsList = new ArrayList<>();
+// List allDatumsList = new ArrayList<>();
// prepareData(resultList, allDatumsList);
Map newAdasRecognizedMarkersCaches = new ConcurrentHashMap<>();
- List newDiffSet = new ArrayList<>();
- for (ADASRecognizedResult recognizedListResult : resultList) {
+ List newDiffSet = new ArrayList<>();
+ for (TrafficData recognizedListResult : resultList) {
if (isUselessValue(recognizedListResult)) {
continue;
}
// 复用之前存在的 marker
- String uniqueKey = recognizedListResult.uuid;
+ String uniqueKey = recognizedListResult.getUuid();
IMogoMarker marker = mMarkersCaches.remove(uniqueKey);
if (marker != null && !marker.isDestroyed()) {
// Log.d(TAG, "发现缓存marker id : " + uniqueKey);
@@ -120,8 +119,8 @@ class AdasRecognizedResultDrawer extends BaseDrawer {
// 复用过期 marker
if (newDiffSetSize > 0) {
for (int i = 0; i < newDiffSetSize; i++) {
- ADASRecognizedResult recognizedListResult = newDiffSet.get(i);
- String uniqueKey = recognizedListResult.uuid;
+ TrafficData recognizedListResult = newDiffSet.get(i);
+ String uniqueKey = recognizedListResult.getUuid();
IMogoMarker marker = drawAdasRecognizedDataMarker(recognizedListResult);
if (marker == null) {
continue;
@@ -142,7 +141,7 @@ class AdasRecognizedResultDrawer extends BaseDrawer {
* @param in
* @param out
*/
- private void prepareData(List in, List out) {
+ private void prepareData(List in, List out) {
// foreCastPoint(in);
out.addAll(in);
}
@@ -154,22 +153,22 @@ class AdasRecognizedResultDrawer extends BaseDrawer {
*
* @param in 数据源
*/
- private void foreCastPoint(List in) {
+ private void foreCastPoint(List in) {
if (Build.VERSION.SDK_INT >= Build.VERSION_CODES.N) {
- for (ADASRecognizedResult adasResult : in) {
- Log.d(FORECAST, "ready to foreCast current uuid : " + adasResult.uuid);
- long internal = getCurSatelliteTime() - adasResult.satelliteTime;
+ for (TrafficData adasResult : in) {
+ Log.d(FORECAST, "ready to foreCast current uuid : " + adasResult.getUuid());
+ long internal = getCurSatelliteTime() - adasResult.getSatelliteTime();
if (internal <= 0) {
- Log.d(FORECAST, "time internal less than 0 , uuid : " + adasResult.uuid);
+ Log.d(FORECAST, "time internal less than 0 , uuid : " + adasResult.getUuid());
continue;
}
long startTime = System.currentTimeMillis();
// 预测点
- Log.d(FORECAST, "time internal : " + internal + " speed : " + adasResult.speed);
- double foreCastDistance = adasResult.speed * internal / 1000;
+ Log.d(FORECAST, "time internal : " + internal + " speed : " + adasResult.getSpeed());
+ double foreCastDistance = adasResult.getSpeed() * internal / 1000;
Log.d(FORECAST, "foreCastDistance : " + foreCastDistance);
- MogoLatLng mogoLatLng = new MogoLatLng(adasResult.lat, adasResult.lon);
- MogoLatLng foreCastMogoLatLon = Trigonometric.getNewLocation(mogoLatLng, foreCastDistance, adasResult.heading);
+ MogoLatLng mogoLatLng = new MogoLatLng(adasResult.getLat(), adasResult.getLon());
+ MogoLatLng foreCastMogoLatLon = Trigonometric.getNewLocation(mogoLatLng, foreCastDistance, adasResult.getHeading());
// 计算与自车距离
float distanceFromSelf = CoordinateUtils.calculateLineDistance(getCurCoordinates()[0], getCurCoordinates()[1]
@@ -178,10 +177,10 @@ class AdasRecognizedResultDrawer extends BaseDrawer {
long foreCastInternal = System.currentTimeMillis() - startTime;
Log.d(FORECAST, "foreCastInternal :" + foreCastInternal); //todo 耗时1~2毫秒 需要测试是否由于补点算法造成
- adasResult.lat = foreCastMogoLatLon.getLat();
- adasResult.lon = foreCastMogoLatLon.getLon();
- adasResult.satelliteTime = (getCurSatelliteTime() - foreCastInternal);
- adasResult.distance = distanceFromSelf;
+ adasResult.setLat(foreCastMogoLatLon.getLat());
+ adasResult.setLon(foreCastMogoLatLon.getLon());
+ adasResult.setSatelliteTime((getCurSatelliteTime() - foreCastInternal));
+ adasResult.setDistance(distanceFromSelf);
}
}
}
@@ -192,9 +191,9 @@ class AdasRecognizedResultDrawer extends BaseDrawer {
* @param marker
* @param recognizedListResult
*/
- private void updateCacheMarkerRes(IMogoMarker marker, ADASRecognizedResult recognizedListResult) {
+ private void updateCacheMarkerRes(IMogoMarker marker, TrafficData recognizedListResult) {
String resIdVal;
- int resId = getModelRes(recognizedListResult.type);
+ int resId = getModelRes(recognizedListResult.getType().getType());
resIdVal = resId + "";
String resName = mMarkerCachesResMd5Values.get(resIdVal);
if (!TextUtils.isEmpty(resName)) {
@@ -211,11 +210,11 @@ class AdasRecognizedResultDrawer extends BaseDrawer {
if (mLastPositions.isEmpty()) {
return;
}
- Iterator iterator = mLastPositions.values().iterator();
+ Iterator iterator = mLastPositions.values().iterator();
Log.d("EmArrow", "removeUselessLastRecord size : " + mLastPositions.size());
while (iterator.hasNext()) {
- ADASRecognizedResult result = iterator.next();
- long internal = result.satelliteTime - getCurSatelliteTime();
+ TrafficData result = iterator.next();
+ long internal = result.getSatelliteTime() - getCurSatelliteTime();
if (internal > 3000) { //防止帧率过低导致误删除上一个节点对象，从而出现跳跃现象
iterator.remove();
}
@@ -225,33 +224,33 @@ class AdasRecognizedResultDrawer extends BaseDrawer {
/**
* 过滤无用数据
*
- * @param recognizedListResult {@link ADASRecognizedResult}
+ * @param recognizedListResult {@link TrafficData}
* @return useless
*/
- private boolean isUselessValue(ADASRecognizedResult recognizedListResult) {
+ private boolean isUselessValue(TrafficData recognizedListResult) {
if (recognizedListResult == null) {
return true;
}
- if (nonRenderType(recognizedListResult.type)) {
+ if (nonRenderType(recognizedListResult.getType().getType())) {
return true;
}
- String uniqueKey = recognizedListResult.uuid;
+ String uniqueKey = recognizedListResult.getUuid();
return TextUtils.isEmpty(uniqueKey);
}
/**
* 绘制某个物体的一个数据
*
- * @param recognizedListResult {@link ADASRecognizedResult}
+ * @param recognizedListResult {@link TrafficData}
* @param newAdasRecognizedMarkersCaches 缓存集合
*/
private void renderAdasOneFrame(IMogoMarker marker,
String uniqueKey,
- ADASRecognizedResult recognizedListResult,
+ TrafficData recognizedListResult,
Map newAdasRecognizedMarkersCaches) {
final long start = System.nanoTime();
// Log.d(TAG, "renderAdasOneFrame uuid : " + uniqueKey + " type : " + recognizedListResult.type + " heading : " + recognizedListResult.heading);
- ADASRecognizedResult lastPosition = mLastPositions.remove(uniqueKey);
+ TrafficData lastPosition = mLastPositions.remove(uniqueKey);
// 道路吸附
// double lastLon = -1;
// double lastLat = -1;
@@ -269,18 +268,15 @@ class AdasRecognizedResultDrawer extends BaseDrawer {
// Log.d(TAG, "使用缓存 id : " + uniqueKey);
long interval = 45;
if (lastPosition != null) {
- interval = computeAnimDuration(lastPosition.satelliteTime, recognizedListResult.satelliteTime);
+ interval = computeAnimDuration(lastPosition.getSatelliteTime(), recognizedListResult.getSatelliteTime());
}
- final MogoLatLng renderLoc = new MogoLatLng(recognizedListResult.lat, recognizedListResult.lon);
+ final MogoLatLng renderLoc = new MogoLatLng(recognizedListResult.getLat(), recognizedListResult.getLon());
long cost = TimeUnit.NANOSECONDS.toMillis(System.nanoTime() - start);
- Log.d("ADAS动画数据","cost : " + cost);
+ Log.d("ADAS动画数据", "cost : " + cost);
final long intervalRef = interval - cost;
- Log.d("ADAS动画数据", "最终赋值 : " + intervalRef + " 两帧间隔 : " + interval + " uuid : " + recognizedListResult.uuid);
- marker.addDynamicAnchorPosition(renderLoc, (float) recognizedListResult.heading, intervalRef);
- String carColor = recognizedListResult.color;
- if (TextUtils.isEmpty(carColor)) {
- carColor = getModelRenderColor(recognizedListResult.type, FROM_ADAS, recognizedListResult.drawlevel);
- }
+ Log.d("ADAS动画数据", "最终赋值 : " + intervalRef + " 两帧间隔 : " + interval + " uuid : " + recognizedListResult.getUuid());
+ marker.addDynamicAnchorPosition(renderLoc, (float) recognizedListResult.getHeading(), intervalRef);
+ String carColor = getModelRenderColor(recognizedListResult.getType().getType(), FROM_ADAS, recognizedListResult.getThreatLevel());
marker.setAnchorColor(carColor);
newAdasRecognizedMarkersCaches.put(uniqueKey, marker);
@@ -302,22 +298,19 @@ class AdasRecognizedResultDrawer extends BaseDrawer {
/**
* 绘制 marker
*
- * @param recognizedListResult {@link ADASRecognizedResult}
+ * @param recognizedListResult {@link TrafficData}
* @return {@link IMogoMarker}
*/
- private IMogoMarker drawAdasRecognizedDataMarker(ADASRecognizedResult recognizedListResult) {
+ private IMogoMarker drawAdasRecognizedDataMarker(TrafficData recognizedListResult) {
long start = System.nanoTime();
if (recognizedListResult == null) {
return null;
}
- int resId = getModelRes(recognizedListResult.type);
+ int resId = getModelRes(recognizedListResult.getType().getType());
String resIdVal = resId + "";
- String carColor = recognizedListResult.color;
- if (TextUtils.isEmpty(carColor)) {
- carColor = getModelRenderColor(recognizedListResult.type, FROM_ADAS, recognizedListResult.drawlevel);
- }
+ String carColor = getModelRenderColor(recognizedListResult.getType().getType(), FROM_ADAS, recognizedListResult.getThreatLevel());
MogoMarkerOptions options = new MogoMarkerOptions()
.owner(DataTypes.TYPE_MARKER_ADAS)
.anchor(0.5f, 0.5f)
@@ -327,8 +320,8 @@ class AdasRecognizedResultDrawer extends BaseDrawer {
.controlAngle(true)
.resName(mMarkerCachesResMd5Values.get(resIdVal))
.icon3DRes(resId)
- .rotate((float) recognizedListResult.heading)
- .position(new MogoLatLng(recognizedListResult.lat, recognizedListResult.lon));
+ .rotate((float) recognizedListResult.getHeading())
+ .position(new MogoLatLng(recognizedListResult.getLat(), recognizedListResult.getLon()));
IMogoMarker marker = MogoApisHandler.getInstance().getApis().getMapServiceApi().getMarkerManager(mContext).addMarker(DataTypes.TYPE_MARKER_ADAS, options);
cacheMarkerIconResMd5Val(resIdVal, marker);
Log.d("ADAS数据延时", "创建一个新 marker cost : " + TimeUnit.NANOSECONDS.toMillis((System.nanoTime() - start)));
diff --git a/modules/mogo-module-common/src/main/java/com/mogo/module/common/drawer/IdentifyDataDrawer.java b/modules/mogo-module-common/src/main/java/com/mogo/module/common/drawer/IdentifyDataDrawer.java
new file mode 100644
index 0000000000..e2c95f4d59
--- /dev/null
+++ b/modules/mogo-module-common/src/main/java/com/mogo/module/common/drawer/IdentifyDataDrawer.java
@@ -0,0 +1,252 @@
+package com.mogo.module.common.drawer;
+
+import static com.mogo.cloud.socket.entity.SocketDownDataHelper.FROM_ADAS;
+
+import android.text.TextUtils;
+import android.util.Log;
+
+import com.mogo.commons.debug.DebugConfig;
+import com.mogo.eagle.core.data.map.MogoLatLng;
+import com.mogo.eagle.core.data.traffic.TrafficData;
+import com.mogo.map.marker.IMogoMarker;
+import com.mogo.map.marker.MogoMarkerOptions;
+import com.mogo.module.common.MogoApisHandler;
+import com.mogo.module.common.constants.DataTypes;
+
+import java.util.ArrayList;
+import java.util.Iterator;
+import java.util.List;
+import java.util.Map;
+import java.util.concurrent.ConcurrentHashMap;
+import java.util.concurrent.TimeUnit;
+
+/**
+ * @author xiaoyuzhou
+ * @date 2021/10/19 10:45 上午
+ * 域控制器识别信息绘制
+ */
+public class IdentifyDataDrawer extends BaseDrawer {
+
+ private static final String TAG = "IdentifyDataDrawer";
+
+ private static volatile IdentifyDataDrawer sInstance;
+
+ /**
+ * 上一帧数据的缓存
+ */
+ private static Map mMarkersCaches = new ConcurrentHashMap<>();
+
+ public IdentifyDataDrawer() {
+ super();
+ }
+
+ private final Map mLastPositions = new ConcurrentHashMap<>();
+
+ public static IdentifyDataDrawer getInstance() {
+ if (sInstance == null) {
+ synchronized (IdentifyDataDrawer.class) {
+ if (sInstance == null) {
+ sInstance = new IdentifyDataDrawer();
+ }
+ }
+ }
+ return sInstance;
+ }
+
+ public synchronized void release() {
+ sInstance = null;
+ }
+
+ /**
+ * 渲染 adas 识别的数据
+ *
+ * @param resultList adas感知融合数据
+ */
+ public void renderAdasRecognizedResult(List resultList) {
+
+ final long start = System.nanoTime();
+ if (resultList == null || resultList.isEmpty() || !DebugConfig.isUseAdasRecognize()) {
+ clearOldMarker();
+ Log.w("ADAS数据延时绘制", "resultList==>" + resultList + " DebugConfig.isUseAdasRecognize()==>" + DebugConfig.isUseAdasRecognize());
+ return;
+ }
+
+ if (!MogoApisHandler.getInstance().getApis().getStatusManagerApi().isVrMode()) {
+ clearOldMarker();
+ Log.w("ADAS数据延时绘制", "当前不是VR模式");
+ return;
+ }
+
+
+ Map newAdasRecognizedMarkersCaches = new ConcurrentHashMap<>();
+ List newDiffSet = new ArrayList<>();
+ for (TrafficData recognizedListResult : resultList) {
+
+ if (isUselessValue(recognizedListResult)) {
+ continue;
+ }
+ // 复用之前存在的 marker
+ String uniqueKey = recognizedListResult.getUuid();
+ IMogoMarker marker = mMarkersCaches.remove(uniqueKey);
+ if (marker != null && !marker.isDestroyed()) {
+// Log.d(TAG, "发现缓存marker id : " + uniqueKey);
+ updateCacheMarkerRes(marker, recognizedListResult);
+ renderAdasOneFrame(marker, uniqueKey, recognizedListResult, newAdasRecognizedMarkersCaches);
+ } else {
+ // 新增添加进差集
+ newDiffSet.add(recognizedListResult);
+ }
+ }
+ removeUselessMarker(mMarkersCaches);
+ removeUselessLastRecord();
+ int newDiffSetSize = newDiffSet.size();
+// Log.d(TAG, "原数据量 ： " + resultList.size() + " 新增marker数量 ： " + newDiffSetSize);
+ // 复用过期 marker
+ if (newDiffSetSize > 0) {
+ for (int i = 0; i < newDiffSetSize; i++) {
+ TrafficData recognizedListResult = newDiffSet.get(i);
+ String uniqueKey = recognizedListResult.getUuid();
+ IMogoMarker marker = drawAdasRecognizedDataMarker(recognizedListResult);
+ if (marker == null) {
+ continue;
+ }
+// Log.d(TAG, "新增marker id : " + uniqueKey);
+ renderAdasOneFrame(marker, uniqueKey, recognizedListResult, newAdasRecognizedMarkersCaches);
+ }
+ }
+ sendMessage(MSG_REMOVE_DIRTY_MARKERS, mMarkersCaches);
+ mMarkersCaches.clear();
+ mMarkersCaches = newAdasRecognizedMarkersCaches;
+ Log.d("ADAS数据延时绘制", "render 接收数据 -> 处理结束 " + TimeUnit.NANOSECONDS.toMillis((System.nanoTime() - start)) + "ms");
+ }
+
+ /**
+ * todo 后面涉及到此类变化的数据均改动
+ *
+ * @param marker
+ * @param recognizedListResult
+ */
+ private void updateCacheMarkerRes(IMogoMarker marker, TrafficData recognizedListResult) {
+ String resIdVal;
+ int resId = getModelRes(recognizedListResult.getType().getType());
+ resIdVal = resId + "";
+ String resName = mMarkerCachesResMd5Values.get(resIdVal);
+ if (!TextUtils.isEmpty(resName)) {
+ if (!TextUtils.equals(resName, marker.getMarkerResName())) {
+ marker.use3DResource(resName);
+ }
+ } else {
+ resName = marker.use3DResource(resId);
+ mMarkerCachesResMd5Values.put(resIdVal, resName);
+ }
+ }
+
+ private void removeUselessLastRecord() { // todo 最好重新设计一个数据结构，用于多线程数据过期失效的场景，参见redis数据过期
+ if (mLastPositions.isEmpty()) {
+ return;
+ }
+ Iterator iterator = mLastPositions.values().iterator();
+ Log.d("EmArrow", "removeUselessLastRecord size : " + mLastPositions.size());
+ while (iterator.hasNext()) {
+ TrafficData result = iterator.next();
+ long internal = result.getSatelliteTime() - getCurSatelliteTime();
+ if (internal > 3000) { //防止帧率过低导致误删除上一个节点对象，从而出现跳跃现象
+ iterator.remove();
+ }
+ }
+ }
+
+ /**
+ * 过滤无用数据
+ *
+ * @param recognizedListResult {@link TrafficData}
+ * @return useless
+ */
+ private boolean isUselessValue(TrafficData recognizedListResult) {
+ if (recognizedListResult == null) {
+ return true;
+ }
+ if (nonRenderType(recognizedListResult.getType().getType())) {
+ return true;
+ }
+ String uniqueKey = recognizedListResult.getUuid();
+ return TextUtils.isEmpty(uniqueKey);
+ }
+
+ /**
+ * 绘制某个物体的一个数据
+ *
+ * @param recognizedListResult {@link TrafficData}
+ * @param newAdasRecognizedMarkersCaches 缓存集合
+ */
+ private void renderAdasOneFrame(IMogoMarker marker,
+ String uniqueKey,
+ TrafficData recognizedListResult,
+ Map newAdasRecognizedMarkersCaches) {
+ final long start = System.nanoTime();
+// Log.d(TAG, "renderAdasOneFrame uuid : " + uniqueKey + " type : " + recognizedListResult.type + " heading : " + recognizedListResult.heading);
+ TrafficData lastPosition = mLastPositions.remove(uniqueKey);
+
+ mLastPositions.put(uniqueKey, recognizedListResult);
+// Log.d(TAG, "使用缓存 id : " + uniqueKey);
+ long interval = 45;
+ if (lastPosition != null) {
+ interval = computeAnimDuration(lastPosition.getSatelliteTime(), recognizedListResult.getSatelliteTime());
+ }
+ final MogoLatLng renderLoc = new MogoLatLng(recognizedListResult.getLat(), recognizedListResult.getLon());
+ long cost = TimeUnit.NANOSECONDS.toMillis(System.nanoTime() - start);
+ Log.d("ADAS动画数据", "cost : " + cost);
+ final long intervalRef = interval - cost;
+ Log.d("ADAS动画数据", "最终赋值 : " + intervalRef + " 两帧间隔 : " + interval + " uuid : " + recognizedListResult.getUuid());
+ marker.addDynamicAnchorPosition(renderLoc, (float) recognizedListResult.getHeading(), intervalRef);
+ String carColor = getModelRenderColor(recognizedListResult.getType().getType(), FROM_ADAS, recognizedListResult.getThreatLevel());
+ marker.setAnchorColor(carColor);
+
+ newAdasRecognizedMarkersCaches.put(uniqueKey, marker);
+ Log.d("ADAS数据延时", "render 刷新一台车 cost : " + TimeUnit.NANOSECONDS.toMillis((System.nanoTime() - start)));
+ }
+
+ /**
+ * 绘制 marker
+ *
+ * @param recognizedListResult {@link TrafficData}
+ * @return {@link IMogoMarker}
+ */
+ private IMogoMarker drawAdasRecognizedDataMarker(TrafficData recognizedListResult) {
+ long start = System.nanoTime();
+ if (recognizedListResult == null) {
+ return null;
+ }
+
+ int resId = getModelRes(recognizedListResult.getType().getType());
+ String resIdVal = resId + "";
+
+ String carColor = getModelRenderColor(recognizedListResult.getType().getType(), FROM_ADAS, recognizedListResult.getThreatLevel());
+ MogoMarkerOptions options = new MogoMarkerOptions()
+ .owner(DataTypes.TYPE_MARKER_ADAS)
+ .anchor(0.5f, 0.5f)
+ .set3DMode(true)
+ .gps(true)
+ .anchorColor(carColor)
+ .controlAngle(true)
+ .resName(mMarkerCachesResMd5Values.get(resIdVal))
+ .icon3DRes(resId)
+ .rotate((float) recognizedListResult.getHeading())
+ .position(new MogoLatLng(recognizedListResult.getLat(), recognizedListResult.getLon()));
+ IMogoMarker marker = MogoApisHandler.getInstance().getApis().getMapServiceApi().getMarkerManager(mContext).addMarker(DataTypes.TYPE_MARKER_ADAS, options);
+ cacheMarkerIconResMd5Val(resIdVal, marker);
+ Log.d("ADAS数据延时", "创建一个新 marker cost : " + TimeUnit.NANOSECONDS.toMillis((System.nanoTime() - start)));
+ return marker;
+ }
+
+ /**
+ * 清除旧的 marker 数据
+ */
+ public void clearOldMarker() {
+ if (mMarkersCaches != null) {
+ mMarkersCaches.clear();
+ }
+ mLastPositions.clear();
+ sendMessage(MSG_REMOVE_DIRTY_MARKERS, DataTypes.TYPE_MARKER_ADAS);
+ }
+}
diff --git a/modules/mogo-module-common/src/main/java/com/mogo/module/common/enums/EventTypeEnum.kt b/modules/mogo-module-common/src/main/java/com/mogo/module/common/enums/EventTypeEnum.kt
index fbbe5bdb39..18b11c830c 100644
--- a/modules/mogo-module-common/src/main/java/com/mogo/module/common/enums/EventTypeEnum.kt
+++ b/modules/mogo-module-common/src/main/java/com/mogo/module/common/enums/EventTypeEnum.kt
@@ -223,7 +223,7 @@ enum class EventTypeEnum(
"车内标牌",
poiTypeSrcVr=R.drawable.icon_warning_v2x_road_construction,
content="车内标牌",
- tts="车内标牌"
+ tts=""
),
TYPE_USECASE_ID_TJW(
ObuConstants.USE_CASE_ID.TJW.toString(),
diff --git a/modules/mogo-module-extensions/src/main/java/com/mogo/module/extensions/utils/AdasNoticeHelper.java b/modules/mogo-module-extensions/src/main/java/com/mogo/module/extensions/utils/AdasNoticeHelper.java
index 33ef9c90fe..5033726c1d 100644
--- a/modules/mogo-module-extensions/src/main/java/com/mogo/module/extensions/utils/AdasNoticeHelper.java
+++ b/modules/mogo-module-extensions/src/main/java/com/mogo/module/extensions/utils/AdasNoticeHelper.java
@@ -14,8 +14,8 @@ import com.mogo.module.common.MogoApisHandler;
import com.mogo.module.extensions.navi.VrModeNavInfoView;
import com.mogo.realtime.socket.IMogoCloudOnMsgListener;
import com.mogo.service.adas.IMogoAdasWarnMessageCallback;
-import com.mogo.service.adas.MogoADASWarnType;
-import com.mogo.service.adas.entity.ADASWarnMessage;
+import com.mogo.eagle.core.data.autopilot.MogoADASWarnType;
+import com.mogo.eagle.core.data.autopilot.AutopilotWarnMessage;
import com.mogo.utils.logger.Logger;
import org.json.JSONArray;
@@ -92,7 +92,7 @@ public class AdasNoticeHelper implements IMogoAdasWarnMessageCallback, IMogoLoca
}
@Override
- public void onReceiveData(ADASWarnMessage msg) {
+ public void onReceiveData(AutopilotWarnMessage msg) {
Logger.d(TAG, "收到adas warn message, isVrMode: " + isVrMode + " msg: " + msg);
if (!isVrMode) {
return;
diff --git a/modules/mogo-module-main/src/main/java/com/mogo/module/main/MainActivity.java b/modules/mogo-module-main/src/main/java/com/mogo/module/main/MainActivity.java
index 7c694e9073..8e95779ddb 100644
--- a/modules/mogo-module-main/src/main/java/com/mogo/module/main/MainActivity.java
+++ b/modules/mogo-module-main/src/main/java/com/mogo/module/main/MainActivity.java
@@ -253,6 +253,7 @@ public class MainActivity extends MvpActivity implement
loadContainerModules();
MogoModulesManager.getInstance().loadModules();
MogoModulesManager.getInstance().loadFunctionModules();
+ MogoModulesManager.getInstance().loadFunctionModulesServer();
mPresenter.delayOperations();
// 启动一些基本的服务：定位等
diff --git a/modules/mogo-module-service/consumer-rules.pro b/modules/mogo-module-service/consumer-rules.pro
index 0d1241abed..599bf003e2 100644
--- a/modules/mogo-module-service/consumer-rules.pro
+++ b/modules/mogo-module-service/consumer-rules.pro
@@ -1,5 +1,5 @@
#-----ServiceModule-----
--keep class com.mogo.module.service.carinfo.CarStateInfo{*;}
+-keep class com.mogo.eagle.core.data.autopilot.AutopilotCarStateInfo{*;}
-keep class com.mogo.module.service.launchercard.LauncherCardRefreshType{*;}
-keep class com.mogo.module.service.network.bean.*{*;}
-keep class com.mogo.module.service.network.RefreshBody{*;}
diff --git a/modules/mogo-module-service/proguard-rules.pro b/modules/mogo-module-service/proguard-rules.pro
index 02a339ca47..e486a97ecb 100644
--- a/modules/mogo-module-service/proguard-rules.pro
+++ b/modules/mogo-module-service/proguard-rules.pro
@@ -21,7 +21,7 @@
#-renamesourcefileattribute SourceFile
#-----ServiceModule-----
--keep class com.mogo.module.service.carinfo.CarStateInfo.*{*;}
+-keep class com.mogo.eagle.core.data.autopilot.AutopilotCarStateInfo.*{*;}
-keep class com.mogo.module.service.network.RefreshBody.*{*;}
-keep class com.mogo.module.service.network.bean.DemoUserInfoEntity.*{*;}
-keep interface com.mogo.module.service.intent.IntentHandler
diff --git a/modules/mogo-module-service/src/main/java/com/mogo/module/service/MogoServices.java b/modules/mogo-module-service/src/main/java/com/mogo/module/service/MogoServices.java
index 040203ec18..dfe873e36a 100644
--- a/modules/mogo-module-service/src/main/java/com/mogo/module/service/MogoServices.java
+++ b/modules/mogo-module-service/src/main/java/com/mogo/module/service/MogoServices.java
@@ -53,7 +53,7 @@ import com.mogo.module.service.ttsConfig.TtsConfigModleData;
import com.mogo.realtime.api.MoGoAiCloudRealTime;
import com.mogo.service.adas.IMogoADASController;
import com.mogo.service.adas.IMogoAdasCarDataCallback;
-import com.mogo.service.adas.entity.ADASCarStateInfo;
+import com.mogo.eagle.core.data.autopilot.AutopilotCarStateInfo;
import com.mogo.service.fragmentmanager.FragmentStackTransactionListener;
import com.mogo.service.fragmentmanager.IMogoFragmentManager;
import com.mogo.service.intent.IMogoIntentListener;
@@ -970,7 +970,7 @@ public class MogoServices implements IMogoMapListener,
}
@Override
- public void onAdasCarDataCallback( ADASCarStateInfo stateInfo ) {
+ public void onAdasCarDataCallback( AutopilotCarStateInfo stateInfo ) {
if(TimeDelayUploadManager.getInstance().isMock()){ //模拟数据时，不更新由工控机传输的自车位置
return;
diff --git a/modules/mogo-module-service/src/main/java/com/mogo/module/service/autopilot/AutoPilotRemoteController.java b/modules/mogo-module-service/src/main/java/com/mogo/module/service/autopilot/AutoPilotRemoteController.java
index 1ad2fd1597..254ccfb2c9 100644
--- a/modules/mogo-module-service/src/main/java/com/mogo/module/service/autopilot/AutoPilotRemoteController.java
+++ b/modules/mogo-module-service/src/main/java/com/mogo/module/service/autopilot/AutoPilotRemoteController.java
@@ -2,7 +2,7 @@ package com.mogo.module.service.autopilot;
import com.mogo.commons.AbsMogoApplication;
import com.mogo.module.common.MogoApisHandler;
-import com.mogo.eagle.core.data.autopilot.AutoPilotControlParameters;
+import com.mogo.eagle.core.data.autopilot.AutopilotControlParameters;
import com.mogo.service.cloud.socket.IMogoOnMessageListener;
import com.mogo.service.cloud.socket.IMogoSocketManager;
import com.mogo.utils.logger.Logger;
@@ -23,14 +23,14 @@ class AutoPilotRemoteController {
private IMogoSocketManager mMogoSocketManager;
- private IMogoOnMessageListener mParametersListener = new IMogoOnMessageListener() {
+ private IMogoOnMessageListener mParametersListener = new IMogoOnMessageListener() {
@Override
- public Class target() {
- return AutoPilotControlParameters.class;
+ public Class target() {
+ return AutopilotControlParameters.class;
}
@Override
- public void onMsgReceived( AutoPilotControlParameters obj ) {
+ public void onMsgReceived( AutopilotControlParameters obj ) {
if ( obj == null ) {
Logger.e( TAG, "远端控制参数为null", new NullPointerException() );
return;
diff --git a/modules/mogo-module-service/src/main/java/com/mogo/module/service/carinfo/CarStateInfo.java b/modules/mogo-module-service/src/main/java/com/mogo/module/service/carinfo/CarStateInfo.java
deleted file mode 100644
index 6d25e50caf..0000000000
--- a/modules/mogo-module-service/src/main/java/com/mogo/module/service/carinfo/CarStateInfo.java
+++ /dev/null
@@ -1,142 +0,0 @@
-package com.mogo.module.service.carinfo;
-
-import java.io.Serializable;
-
-/**
- * @author nie yunlong
- * @des 车辆状态
- * @date 2020/3/12
- */
-public class CarStateInfo implements Serializable {
-
-
- /**
- * action : “state”
- * values : {"lon":116.8,"lat":39.4,"alt":22.3,"heading":87.5,"acceleration":0.5,"yaw_rate":0.3}
- */
-
- private String action;
- private ValuesBean values;
-
- public String getAction() {
- return action;
- }
-
- public void setAction(String action) {
- this.action = action;
- }
-
- public ValuesBean getValues() {
- return values;
- }
-
- public void setValues(ValuesBean values) {
- this.values = values;
- }
-
- public static class ValuesBean {
- /**
- * lon : 116.8
- * lat : 39.4
- * alt : 22.3
- * heading : 87.5
- * acceleration : 0.5
- * yaw_rate : 0.3
- */
-
- private double lon;
- private double lat;
- private double alt;
- private double heading;
- private double acceleration;
- private double yaw_rate;
- //惯导车速 m/s
- private float gnss_speed;
- //gps 时间
- private String satelliteTime;
-
- public float getGnss_speed() {
- return gnss_speed;
- }
-
- public void setGnss_speed( float gnss_speed ) {
- this.gnss_speed = gnss_speed;
- }
-
- public String getSatelliteTime() {
- return satelliteTime;
- }
-
- public void setSatelliteTime( String satelliteTime ) {
- this.satelliteTime = satelliteTime;
- }
-
- public double getLon() {
- return lon;
- }
-
- public void setLon(double lon) {
- this.lon = lon;
- }
-
- public double getLat() {
- return lat;
- }
-
- public void setLat(double lat) {
- this.lat = lat;
- }
-
- public double getAlt() {
- return alt;
- }
-
- public void setAlt(double alt) {
- this.alt = alt;
- }
-
- public double getHeading() {
- return heading;
- }
-
- public void setHeading(double heading) {
- this.heading = heading;
- }
-
- public double getAcceleration() {
- return acceleration;
- }
-
- public void setAcceleration(double acceleration) {
- this.acceleration = acceleration;
- }
-
- public double getYaw_rate() {
- return yaw_rate;
- }
-
- public void setYaw_rate(double yaw_rate) {
- this.yaw_rate = yaw_rate;
- }
-
- @Override
- public String toString() {
- return "ValuesBean{" +
- "lon=" + lon +
- ", lat=" + lat +
- ", alt=" + alt +
- ", heading=" + heading +
- ", acceleration=" + acceleration +
- ", yaw_rate=" + yaw_rate +
- '}';
- }
- }
-
- @Override
- public String toString() {
- return "CarStateInfo{" +
- "action='" + action + '\'' +
- ", values=" + values +
- '}';
- }
-}
diff --git a/modules/mogo-module-service/src/main/java/com/mogo/module/service/dispatch/DispatchAutoPilotManager.java b/modules/mogo-module-service/src/main/java/com/mogo/module/service/dispatch/DispatchAutoPilotManager.java
index 084de993db..2c85cce12b 100644
--- a/modules/mogo-module-service/src/main/java/com/mogo/module/service/dispatch/DispatchAutoPilotManager.java
+++ b/modules/mogo-module-service/src/main/java/com/mogo/module/service/dispatch/DispatchAutoPilotManager.java
@@ -10,8 +10,8 @@ import android.os.Handler;
import android.os.Message;
import com.mogo.cloud.commons.utils.CoordinateUtils;
-import com.mogo.eagle.core.data.autopilot.AutoPilotStationInfo;
-import com.mogo.eagle.core.data.autopilot.AutoPilotControlParameters;
+import com.mogo.eagle.core.data.autopilot.AutopilotStationInfo;
+import com.mogo.eagle.core.data.autopilot.AutopilotControlParameters;
import com.mogo.eagle.core.data.map.MogoLatLng;
import com.mogo.eagle.core.function.api.hmi.autopilot.IMoGoCheckAutoPilotBtnListener;
import com.mogo.eagle.core.function.call.hmi.CallerHmiListenerManager;
@@ -137,17 +137,17 @@ public class DispatchAutoPilotManager implements IMogoOnMessageListener wayLatLon = new ArrayList<>();
+ List wayLatLon = new ArrayList<>();
if (receiverBean!=null && receiverBean.getStopsList()!= null){
for (MogoLatLng mogoLatLng : receiverBean.getStopsList()) {
- wayLatLon.add(new AutoPilotControlParameters.AutoPilotLonLat(mogoLatLng.lat, mogoLatLng.lon));
+ wayLatLon.add(new AutopilotControlParameters.AutoPilotLonLat(mogoLatLng.lat, mogoLatLng.lon));
}
}
currentAutopilot.wayLatLons = wayLatLon;
- currentAutopilot.startLatLon = new AutoPilotControlParameters.AutoPilotLonLat(receiverBean.getStartLat(), receiverBean.getStartLon());
- currentAutopilot.endLatLon = new AutoPilotControlParameters.AutoPilotLonLat(receiverBean.getEndLat(), receiverBean.getEndLon());
+ currentAutopilot.startLatLon = new AutopilotControlParameters.AutoPilotLonLat(receiverBean.getStartLat(), receiverBean.getStartLon());
+ currentAutopilot.endLatLon = new AutopilotControlParameters.AutoPilotLonLat(receiverBean.getEndLat(), receiverBean.getEndLon());
currentAutopilot.vehicleType = 10;
Logger.d(TAG, "开启自动驾驶====" + currentAutopilot);
mApis.getAdasControllerApi().aiCloudToAdasData(currentAutopilot);
@@ -191,10 +191,10 @@ public class DispatchAutoPilotManager implements IMogoOnMessageListener vals = new ArrayList<>();
+ List vals = new ArrayList<>();
while ((line = br.readLine()) != null) {
String[] json = line.split(" - ");
long time = Long.parseLong(json[0]);
- ADASCarStateInfo si = GsonUtil.objectFromJson(json[1], ADASCarStateInfo.class);
+ AutopilotCarStateInfo si = GsonUtil.objectFromJson(json[1], AutopilotCarStateInfo.class);
// si.getValues().setSatelliteTime( time + "" );
vals.add(si);
}
long interval = -1;
- ADASCarStateInfo last = null;
- for (ADASCarStateInfo val : vals) {
+ AutopilotCarStateInfo last = null;
+ for (AutopilotCarStateInfo val : vals) {
if (last == null) {
interval = 0;
} else {
@@ -523,10 +523,10 @@ public class MockIntentHandler implements IntentHandler {
.onAutopilotArriveLike(intent.getIntExtra("type", 8));
break;
case 44:// 控制自动驾驶
- AutoPilotControlParameters parameters = new AutoPilotControlParameters();
+ AutopilotControlParameters parameters = new AutopilotControlParameters();
parameters.vehicleType = 9;
- parameters.startLatLon = new AutoPilotControlParameters.AutoPilotLonLat(40.1690522746, 116.567374558);
- parameters.endLatLon = new AutoPilotControlParameters.AutoPilotLonLat(40.1651999405, 116.567217441);
+ parameters.startLatLon = new AutopilotControlParameters.AutoPilotLonLat(40.1690522746, 116.567374558);
+ parameters.endLatLon = new AutopilotControlParameters.AutoPilotLonLat(40.1651999405, 116.567217441);
MogoApisHandler.getInstance()
.getApis()
.getAdasControllerApi()
@@ -664,7 +664,7 @@ public class MockIntentHandler implements IntentHandler {
}
- public void onAdasCarDataCallback(ADASCarStateInfo stateInfo) {
+ public void onAdasCarDataCallback(AutopilotCarStateInfo stateInfo) {
if (stateInfo != null && stateInfo.getValues() != null) {
JSONObject data = new JSONObject();
try {
@@ -905,10 +905,10 @@ public class MockIntentHandler implements IntentHandler {
}
}
- List allList = new ArrayList<>();
+ List allList = new ArrayList<>();
for (BufferedReader reader : readers) {
String line = reader.readLine();
- ADASRecognizedResult adasRecognizedResult = GsonUtil.objectFromJson(line, ADASRecognizedResult.class);
+ TrafficData adasRecognizedResult = GsonUtil.objectFromJson(line, TrafficData.class);
if (adasRecognizedResult != null) {
allList.add(adasRecognizedResult);
}
@@ -932,10 +932,10 @@ public class MockIntentHandler implements IntentHandler {
}
}
- List allList = new ArrayList<>();
+ List allList = new ArrayList<>();
for (BufferedReader reader : readers2) {
String line = reader.readLine();
- ADASRecognizedResult adasRecognizedResult = GsonUtil.objectFromJson(line, ADASRecognizedResult.class);
+ TrafficData adasRecognizedResult = GsonUtil.objectFromJson(line, TrafficData.class);
if (adasRecognizedResult != null) {
allList.add(adasRecognizedResult);
}
diff --git a/modules/mogo-module-service/src/main/java/com/mogo/module/service/marker/MapMarkerManager.java b/modules/mogo-module-service/src/main/java/com/mogo/module/service/marker/MapMarkerManager.java
index 7d52f427ad..2cf4493f02 100644
--- a/modules/mogo-module-service/src/main/java/com/mogo/module/service/marker/MapMarkerManager.java
+++ b/modules/mogo-module-service/src/main/java/com/mogo/module/service/marker/MapMarkerManager.java
@@ -17,6 +17,7 @@ import com.mogo.module.common.ModuleNames;
import com.mogo.module.common.MogoApisHandler;
import com.mogo.module.common.api.CallChatApi;
import com.mogo.module.common.drawer.AdasRecognizedResultDrawer;
+import com.mogo.module.common.drawer.IdentifyDataDrawer;
import com.mogo.module.common.drawer.MarkerDrawer;
import com.mogo.module.common.drawer.OnlineCarDrawer;
import com.mogo.module.common.drawer.RoadConditionDrawer;
@@ -184,7 +185,7 @@ public class MapMarkerManager implements IMogoMarkerClickListener,
// 使用与渠道配置一样的gps提供者提供的数据 修改fPadLenovo.gradle文件中的GPS_PROVIDER字段控制渲染来源
Logger.d(TAG, "result.addAdasRecognizedDataCallback == 3 ------> ");
if (FunctionBuildConfig.gpsProvider != 2) {
- AdasRecognizedResultDrawer.getInstance().renderAdasRecognizedResult(resultList);
+ IdentifyDataDrawer.getInstance().renderAdasRecognizedResult(resultList);
}
//添加自车的定位图标，碰撞只有一个预警,还需要和adas 联调，
diff --git a/services/mogo-service-api/src/main/java/com/mogo/service/adas/IMogoADASController.java b/services/mogo-service-api/src/main/java/com/mogo/service/adas/IMogoADASController.java
index 8676708622..6aff8eef3c 100644
--- a/services/mogo-service-api/src/main/java/com/mogo/service/adas/IMogoADASController.java
+++ b/services/mogo-service-api/src/main/java/com/mogo/service/adas/IMogoADASController.java
@@ -1,9 +1,9 @@
package com.mogo.service.adas;
import com.alibaba.android.arouter.facade.template.IProvider;
-import com.mogo.eagle.core.data.autopilot.AutoPilotControlParameters;
+import com.mogo.eagle.core.data.autopilot.AutopilotControlParameters;
+import com.mogo.eagle.core.data.traffic.TrafficData;
import com.mogo.map.uicontroller.EnumMapUI;
-import com.mogo.service.adas.entity.ADASRecognizedResult;
import java.util.List;
@@ -57,7 +57,7 @@ public interface IMogoADASController extends IProvider {
*
* @param result
*/
- void aiCloudToAdasData(AutoPilotControlParameters result);
+ void aiCloudToAdasData(AutopilotControlParameters result);
/**
* 添加adas数据回调接口
@@ -183,6 +183,6 @@ public interface IMogoADASController extends IProvider {
*/
void cancelAutopilot();
- void mockAdasRecognized(List recognizedResults);
+ void mockAdasRecognized(List recognizedResults);
}
diff --git a/services/mogo-service-api/src/main/java/com/mogo/service/adas/IMogoAdasCarDataCallback.java b/services/mogo-service-api/src/main/java/com/mogo/service/adas/IMogoAdasCarDataCallback.java
index cfdf4d9b20..3f5f9a90d2 100644
--- a/services/mogo-service-api/src/main/java/com/mogo/service/adas/IMogoAdasCarDataCallback.java
+++ b/services/mogo-service-api/src/main/java/com/mogo/service/adas/IMogoAdasCarDataCallback.java
@@ -1,6 +1,6 @@
package com.mogo.service.adas;
-import com.mogo.service.adas.entity.ADASCarStateInfo;
+import com.mogo.eagle.core.data.autopilot.AutopilotCarStateInfo;
/**
* adas 自车位置数据回调
@@ -13,5 +13,5 @@ public interface IMogoAdasCarDataCallback {
*
* @param msg 具体数据
*/
- void onAdasCarDataCallback( ADASCarStateInfo msg );
+ void onAdasCarDataCallback( AutopilotCarStateInfo msg );
}
diff --git a/services/mogo-service-api/src/main/java/com/mogo/service/adas/IMogoAdasOCHCallback.java b/services/mogo-service-api/src/main/java/com/mogo/service/adas/IMogoAdasOCHCallback.java
index a4f99fa1e7..0a16fc0848 100644
--- a/services/mogo-service-api/src/main/java/com/mogo/service/adas/IMogoAdasOCHCallback.java
+++ b/services/mogo-service-api/src/main/java/com/mogo/service/adas/IMogoAdasOCHCallback.java
@@ -1,6 +1,6 @@
package com.mogo.service.adas;
-import com.mogo.eagle.core.data.autopilot.AutoPilotStationInfo;
+import com.mogo.eagle.core.data.autopilot.AutopilotStationInfo;
public
/**
@@ -29,7 +29,7 @@ interface IMogoAdasOCHCallback {
* 到站
* @param data 所到车站的简单信息
*/
- void onArriveAt( AutoPilotStationInfo data );
+ void onArriveAt( AutopilotStationInfo data );
/**
* 自动驾驶状态发生改变
diff --git a/services/mogo-service-api/src/main/java/com/mogo/service/adas/IMogoAdasRecognizedDataCallback.java b/services/mogo-service-api/src/main/java/com/mogo/service/adas/IMogoAdasRecognizedDataCallback.java
index b4154fd354..740b3c80cb 100644
--- a/services/mogo-service-api/src/main/java/com/mogo/service/adas/IMogoAdasRecognizedDataCallback.java
+++ b/services/mogo-service-api/src/main/java/com/mogo/service/adas/IMogoAdasRecognizedDataCallback.java
@@ -1,7 +1,7 @@
package com.mogo.service.adas;
-import com.mogo.service.adas.entity.ADASRecognizedResult;
+import com.mogo.eagle.core.data.traffic.TrafficData;
import java.util.List;
@@ -16,5 +16,5 @@ public interface IMogoAdasRecognizedDataCallback {
*
* @param resultList 具体识别的物体数据
*/
- void onAdasDataCallback(List resultList);
+ void onAdasDataCallback(List resultList);
}
\ No newline at end of file
diff --git a/services/mogo-service-api/src/main/java/com/mogo/service/adas/IMogoAdasWarnMessageCallback.java b/services/mogo-service-api/src/main/java/com/mogo/service/adas/IMogoAdasWarnMessageCallback.java
index 2106b7ab11..b593381b48 100644
--- a/services/mogo-service-api/src/main/java/com/mogo/service/adas/IMogoAdasWarnMessageCallback.java
+++ b/services/mogo-service-api/src/main/java/com/mogo/service/adas/IMogoAdasWarnMessageCallback.java
@@ -1,6 +1,6 @@
package com.mogo.service.adas;
-import com.mogo.service.adas.entity.ADASWarnMessage;
+import com.mogo.eagle.core.data.autopilot.AutopilotWarnMessage;
/**
* adas 数据回调接口
@@ -12,5 +12,5 @@ public interface IMogoAdasWarnMessageCallback {
* adas 数据回调
* @param msg 具体数据
*/
- void onReceiveData( ADASWarnMessage msg );
+ void onReceiveData( AutopilotWarnMessage msg );
}
\ No newline at end of file
diff --git a/services/mogo-service-api/src/main/java/com/mogo/service/adas/entity/ADASRecognizedResult.java b/services/mogo-service-api/src/main/java/com/mogo/service/adas/entity/ADASRecognizedResult.java
deleted file mode 100644
index eceb47b2dc..0000000000
--- a/services/mogo-service-api/src/main/java/com/mogo/service/adas/entity/ADASRecognizedResult.java
+++ /dev/null
@@ -1,115 +0,0 @@
-package com.mogo.service.adas.entity;
-
-/*
- * adas 识别物体参数
- */
-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;
-
- /**
- * 车ID
- */
- public String carId;
-
- /**
- * 识别物体的纬度
- */
- public double lat;
-
- /**
- * 识别物体的经度
- */
- public double lon;
-
- /**
- * 车头朝向
- */
- 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;
-
- /**
- * 实际距离
- * 使用distanceX和distanceY计算
- */
- public double distance;
-
- /**
- * 数据来源精度
- * 0：普通定位
- * 1：高精定位
- */
- public int dataAccuracy;
-
- /**
- * 道路ID
- */
- public String roadId;
-
- /**
- * 车道ID-2D路段
- */
- public String laneId;
-
- /**
- * 车道号：中心线编号为0，中心线右侧编号为负数，3车道通行Road的车道编号，0，-1，-2，-3
- */
- public int laneNum;
-
- /**
- * 限速
- */
- public double rateLimiting;
-
- /**
- * 瓦片id
- */
- public String tileId;
-
- /**
- * 车道宽度
- */
- public double roadWidth;
-
- /**
- * 1 绿, 2 黄, 3 红
- */
- public int drawlevel;
-}
diff --git a/services/mogo-service/src/main/java/com/mogo/service/impl/adas/AdasObjectUtils.java b/services/mogo-service/src/main/java/com/mogo/service/impl/adas/AdasObjectUtils.java
deleted file mode 100644
index bb26ebf9e4..0000000000
--- a/services/mogo-service/src/main/java/com/mogo/service/impl/adas/AdasObjectUtils.java
+++ /dev/null
@@ -1,90 +0,0 @@
-package com.mogo.service.impl.adas;
-
-import android.util.Log;
-
-import com.alibaba.android.arouter.launcher.ARouter;
-import com.mogo.commons.utils.MortonCode;
-import com.mogo.map.uicontroller.IMogoMapUIController;
-import com.mogo.service.IMogoServiceApis;
-import com.mogo.service.adas.entity.ADASRecognizedResult;
-import com.mogo.service.adas.entity.ADASWarnMessage;
-import com.zhidao.support.adas.high.bean.RectInfo;
-import com.zhidao.support.adas.high.bean.WarnMessageInfo;
-
-import java.util.ArrayList;
-import java.util.List;
-import java.util.concurrent.TimeUnit;
-
-
-/*
- * @author congtaowang
- * @since 2020/10/25
- *
- * 对象转换类
- */
-public class AdasObjectUtils {
-
- public static ADASWarnMessage fromAdasObject(WarnMessageInfo info) {
- if (info == null) {
- return null;
- }
- ADASWarnMessage warnMessage = new ADASWarnMessage();
- warnMessage.content = info.getContent();
- warnMessage.level = info.getLevel();
- try {
- warnMessage.type = Integer.parseInt(info.getType());
- } catch (NumberFormatException e) {
- return null;
- }
- warnMessage.value = info.getValue();
- return warnMessage;
- }
-
- public static List regroupData(List datums) {
- if (datums == null || datums.isEmpty()) {
- return null;
- }
- List recognizedListResults = new ArrayList<>();
- for (RectInfo.RectBean model : datums) {
- if (model == null) {
- continue;
- }
- ADASRecognizedResult recognizedListResult = fromAdasObject(model);
- if (recognizedListResult != null) {
- recognizedListResults.add(recognizedListResult);
- }
- }
- return recognizedListResults;
- }
-
- public static ADASRecognizedResult fromAdasObject(RectInfo.RectBean model) {
- if (model == null) {
- return null;
- }
- long start = System.nanoTime();
- ADASRecognizedResult result = new ADASRecognizedResult();
- result.uuid = model.getUuid();
- result.lat = model.getLat();
- result.lon = model.getLon();
- result.type = Integer.parseInt(model.getType());
- result.heading = model.getHeading();
- result.systemTime = Long.parseLong(model.getSystemTime());
- result.satelliteTime = Long.parseLong(model.getSatelliteTime());
- result.alt = model.getAlt();
- result.color = model.getColor();
- result.speed = model.getSpeed();
- result.carId = model.getCarId();
- result.dataAccuracy = model.dataAccuracy;
- result.distance = model.distance;
- result.drawlevel = model.getDrawlevel();
-// result.mortonCode = MortonCode.wrapEncodeMorton(result.lon, result.lat);
- Log.d("ADAS数据延时","fromAdasObject cost : " + TimeUnit.NANOSECONDS.toMillis((System.nanoTime() - start)));
-// IMogoMapUIController mogoMapUIController = ARouter.getInstance().navigation(IMogoServiceApis.class).getMapServiceApi().getMapUIController();
-// if (mogoMapUIController != null) {
-// long start = System.currentTimeMillis();
-// result.tileId = String.valueOf(mogoMapUIController.getTileId(result.lon, result.lat));
-// Log.d("ADAS数据延时", "getTileId 耗时 : " + (System.currentTimeMillis() - start) + "ms");
-// }
- return result;
- }
-}
diff --git a/services/mogo-service/src/main/java/com/mogo/service/impl/adas/MogoADASController.java b/services/mogo-service/src/main/java/com/mogo/service/impl/adas/MogoADASController.java
index 79e6546233..2672d07c0d 100644
--- a/services/mogo-service/src/main/java/com/mogo/service/impl/adas/MogoADASController.java
+++ b/services/mogo-service/src/main/java/com/mogo/service/impl/adas/MogoADASController.java
@@ -5,18 +5,22 @@ import android.content.Context;
import android.content.Intent;
import android.os.Handler;
import android.os.Message;
-import android.text.TextUtils;
import android.util.Log;
import com.alibaba.android.arouter.facade.annotation.Route;
import com.alibaba.android.arouter.launcher.ARouter;
import com.mogo.commons.AbsMogoApplication;
import com.mogo.commons.debug.DebugConfig;
-import com.mogo.eagle.core.data.autopilot.AutoPilotControlCmdParameter;
-import com.mogo.eagle.core.data.autopilot.AutoPilotControlParameters;
-import com.mogo.eagle.core.data.autopilot.AutoPilotStationInfo;
+import com.mogo.eagle.core.data.autopilot.AutopilotCarStateInfo;
+import com.mogo.eagle.core.data.autopilot.AutopilotControlCmdParameter;
+import com.mogo.eagle.core.data.autopilot.AutopilotControlParameters;
+import com.mogo.eagle.core.data.autopilot.AutopilotRouteInfo;
+import com.mogo.eagle.core.data.autopilot.AutopilotStationInfo;
+import com.mogo.eagle.core.data.autopilot.AutopilotStatusInfo;
+import com.mogo.eagle.core.data.autopilot.AutopilotWarnMessage;
import com.mogo.eagle.core.data.constants.MogoServicePaths;
import com.mogo.eagle.core.data.map.MogoLatLng;
+import com.mogo.eagle.core.data.traffic.TrafficData;
import com.mogo.map.uicontroller.EnumMapUI;
import com.mogo.module.adas.AdasProvider;
import com.mogo.module.adas.IAdasDataListener;
@@ -28,9 +32,6 @@ import com.mogo.service.adas.IMogoAdasOCHCallback;
import com.mogo.service.adas.IMogoAdasRecognizedDataCallback;
import com.mogo.service.adas.IMogoAdasRouteCallBack;
import com.mogo.service.adas.IMogoAdasWarnMessageCallback;
-import com.mogo.service.adas.entity.ADASCarStateInfo;
-import com.mogo.service.adas.entity.ADASRecognizedResult;
-import com.mogo.service.adas.entity.ADASWarnMessage;
import com.mogo.service.impl.singleton.SingletonsHolder;
import com.mogo.service.statusmanager.IMogoStatusManager;
import com.mogo.utils.UiThreadHandler;
@@ -41,11 +42,6 @@ import com.zhidao.adasconfig.api.AdasConfigApiController;
import com.zhidao.adasconfig.common.config.EnumCarHeading;
import com.zhidao.adasconfig.common.config.EnumSkinStyle;
import com.zhidao.autopilot.support.api.AutopilotServiceManage;
-import com.zhidao.autopilotservice.model.AdasAIDLAutopilotArriveModel;
-import com.zhidao.support.adas.high.bean.AutopilotRoute;
-import com.zhidao.support.adas.high.bean.AutopilotStatus;
-import com.zhidao.support.adas.high.bean.RectInfo;
-import com.zhidao.support.adas.high.bean.WarnMessageInfo;
import org.json.JSONObject;
@@ -71,8 +67,6 @@ public class MogoADASController implements IMogoADASController {
private final IMogoStatusManager mStatusManager = SingletonsHolder.get(IMogoStatusManager.class);
- private boolean mIsReleased = true;
-
private AdasProvider adasProvider;
/**
@@ -131,7 +125,7 @@ public class MogoADASController implements IMogoADASController {
public void handleMessage(Message msg) {
super.handleMessage(msg);
if (msg.obj instanceof List) {
- handleAdasRecognizedData((List) msg.obj);
+ handleAdasRecognizedData((List) msg.obj);
} else if (msg.obj == null) {
handleAdasRecognizedData(null);
}
@@ -147,7 +141,7 @@ public class MogoADASController implements IMogoADASController {
super.handleMessage(msg);
final long start = System.currentTimeMillis();
- ADASCarStateInfo stateInfo = GsonUtil.objectFromJson(((String) msg.obj), ADASCarStateInfo.class);
+ AutopilotCarStateInfo stateInfo = GsonUtil.objectFromJson(((String) msg.obj), AutopilotCarStateInfo.class);
if (stateInfo == null || stateInfo.getValues() == null) {
// Logger.d(TAG, "ADAS-LOC-timer", "upd 到 aidl 传输数据 stateInfo or stateInfo.getValues() is null");
return;
@@ -174,7 +168,7 @@ public class MogoADASController implements IMogoADASController {
*
* @param models
*/
- private void handleAdasRecognizedData(List models) {
+ private void handleAdasRecognizedData(List models) {
if (models == null
|| models.isEmpty()) {
invokeCallbackPerSecond(null);
@@ -183,14 +177,13 @@ public class MogoADASController implements IMogoADASController {
invokeCallbackPerSecond(models);
}
- private void invokeCallbackPerSecond(List models) {
- List recognizedListResults = AdasObjectUtils.regroupData(models);
+ private void invokeCallbackPerSecond(List models) {
if (!mMogoAdasRecognizedDataCallbacks.isEmpty()) {
for (IMogoAdasRecognizedDataCallback callback : mMogoAdasRecognizedDataCallbacks) {
if (callback == null) {
continue;
}
- callback.onAdasDataCallback(recognizedListResults);
+ callback.onAdasDataCallback(models);
}
}
}
@@ -243,58 +236,30 @@ public class MogoADASController implements IMogoADASController {
}
@Override
- public void onRectData(RectInfo rectInfo) {
- // 仅在 vr 模式下显示 adas 识别车辆
- if (!SingletonsHolder.get(IMogoStatusManager.class).isVrMode()) {
- return;
- }
- if (!SingletonsHolder.get(IMogoStatusManager.class).isMainPageLaunched()) {
- return;
- }
- if (rectInfo == null || TextUtils.isEmpty(rectInfo.getAction())) {
- Logger.w(TAG, "--->action is null");
- return;
- }
- final long start = System.nanoTime();
- if (rectInfo.getModels() != null && !rectInfo.getModels().isEmpty()) {
- List beans = rectInfo.getModels();
- try {
- Message message = mAdasRecognizedRecHandler.obtainMessage();
- message.obj = beans;
- message.sendToTarget();
- Log.i("ADAS数据延时", "接收数据 -> 发出 cost :" + TimeUnit.NANOSECONDS.toMillis((System.nanoTime() - start)) + "ms");
- } catch (Exception e) {
- e.printStackTrace();
- }
- }
- DebugConfig.setStatus(DebugConfig.sAdasRecognized, true);
+ public void onRectData(List trafficData) {
}
@Override
- public void onWarnMessage(WarnMessageInfo warnMessageInfo) {
- if (warnMessageInfo == null) {
+ public void onWarnMessage(AutopilotWarnMessage autopilotWarnMessage) {
+ if (autopilotWarnMessage == null) {
return;
}
// 警告消息
- Logger.d(TAG, "onWarnMessage = %s", warnMessageInfo.toString());
+ Logger.d(TAG, "onWarnMessage = %s", autopilotWarnMessage.toString());
if (mMogoAdasWarnMessageCallbackList.isEmpty()) {
return;
}
- final ADASWarnMessage warnMessage = AdasObjectUtils.fromAdasObject(warnMessageInfo);
- if (warnMessage == null) {
- return;
- }
UiThreadHandler.post(() -> {
for (IMogoAdasWarnMessageCallback callback : mMogoAdasWarnMessageCallbackList) {
if (callback != null) {
- callback.onReceiveData(warnMessage);
+ callback.onReceiveData(autopilotWarnMessage);
}
}
});
}
@Override
- public void autopilotArrive(AdasAIDLAutopilotArriveModel autopilotArriveModel) {
+ public void autopilotArrive(AutopilotStationInfo autopilotArriveModel) {
Logger.d(TAG, "autopilotArriveModel " + autopilotArriveModel);
if (autopilotArriveModel == null) {
Logger.d(TAG, "autopilotArrive autopilotArriveModel is null");
@@ -303,8 +268,8 @@ public class MogoADASController implements IMogoADASController {
Logger.d(TAG, "autopilotArrive : " + autopilotArriveModel.toString());
if (!mAdasOCHCallback.isEmpty()) {
for (IMogoAdasOCHCallback cb : mAdasOCHCallback) {
- cb.onArriveAt(new AutoPilotStationInfo(
- autopilotArriveModel.getCarType(),
+ cb.onArriveAt(new AutopilotStationInfo(
+ autopilotArriveModel.getType(),
autopilotArriveModel.getLon(),
autopilotArriveModel.getLat())
);
@@ -313,12 +278,12 @@ public class MogoADASController implements IMogoADASController {
}
@Override
- public void autopilotRoute(AutopilotRoute autopilotRoute) {
+ public void autopilotRoute(AutopilotRouteInfo autopilotRoute) {
if (autopilotRoute.getModels() == null || autopilotRoute.getModels().size() == 0) {
return;
}
List latLngList = new ArrayList<>();
- for (AutopilotRoute.RouteModels routeModel : autopilotRoute.getModels()) {
+ for (AutopilotRouteInfo.RouteModels routeModel : autopilotRoute.getModels()) {
latLngList.add(new MogoLatLng(routeModel.getLat(), routeModel.getLon()));
}
for (IMogoAdasRouteCallBack callback : mMogoAdasRouteCallBacks) {
@@ -338,13 +303,13 @@ public class MogoADASController implements IMogoADASController {
}
@Override
- public void notifyAutopilotState(AutopilotStatus autopilotStatus) {
+ public void notifyAutopilotState(AutopilotStatusInfo autopilotStatus) {
Logger.d(TAG, "notifyAutopilotState: " + GsonUtil.jsonFromObject(autopilotStatus));
- DebugConfig.setAutoPilotStatus(autopilotStatus.getValues().getState() + "");
+ DebugConfig.setAutoPilotStatus(autopilotStatus.getState() + "");
if (!mAdasOCHCallback.isEmpty()) {
for (IMogoAdasOCHCallback cb : mAdasOCHCallback) {
- cb.onStateChanged(autopilotStatus.getValues().getState(), autopilotStatus.getValues().getReason());
+ cb.onStateChanged(autopilotStatus.getState(), autopilotStatus.getReason());
}
}
}
@@ -422,7 +387,6 @@ public class MogoADASController implements IMogoADASController {
@Override
public void init(Context context) {
- mIsReleased = false;
adasProvider = ARouter.getInstance().navigation(AdasProvider.class);
}
@@ -464,7 +428,7 @@ public class MogoADASController implements IMogoADASController {
}
@Override
- public void aiCloudToAdasData(AutoPilotControlParameters result) {
+ public void aiCloudToAdasData(AutopilotControlParameters result) {
try {
syncControlCmdToADAS("aiCloudToStartAutopilot", result);
} catch (Exception e) {
@@ -477,7 +441,7 @@ public class MogoADASController implements IMogoADASController {
* @param result
*/
private void syncControlCmdToADAS(String action, Object result) {
- AutoPilotControlCmdParameter parameter = new AutoPilotControlCmdParameter(action, result);
+ AutopilotControlCmdParameter parameter = new AutopilotControlCmdParameter(action, result);
//位置信息 action是aiCloudToStartAutopilot
try {
adasProvider.sendWsMessage(GsonUtil.jsonFromObject(parameter));
@@ -488,7 +452,6 @@ public class MogoADASController implements IMogoADASController {
@Override
public void release() {
- mIsReleased = true;
adasProvider.removeAdasEventListener(mAdasDataListener);
adasProvider.removeAdasStatusListener();
AutopilotServiceManage.getInstance().release();
@@ -593,7 +556,7 @@ public class MogoADASController implements IMogoADASController {
public void onAutopilotArriveLike(int carType) {
if (!mAdasOCHCallback.isEmpty()) {
for (IMogoAdasOCHCallback cb : mAdasOCHCallback) {
- cb.onArriveAt(new AutoPilotStationInfo(
+ cb.onArriveAt(new AutopilotStationInfo(
carType,
116.09888888,
39.999999)
@@ -623,7 +586,7 @@ public class MogoADASController implements IMogoADASController {
if (state == -1) {
if (!mAdasOCHCallback.isEmpty()) {
for (IMogoAdasOCHCallback cb : mAdasOCHCallback) {
- cb.onArriveAt(new AutoPilotStationInfo(1, 1d, 1d));
+ cb.onArriveAt(new AutopilotStationInfo(1, 1d, 1d));
}
}
} else {
@@ -642,7 +605,7 @@ public class MogoADASController implements IMogoADASController {
}
@Override
- public void mockAdasRecognized(List recognizedResults) {
+ public void mockAdasRecognized(List recognizedResults) {
if (!mMogoAdasRecognizedDataCallbacks.isEmpty()) {
for (IMogoAdasRecognizedDataCallback callback : mMogoAdasRecognizedDataCallbacks) {
if (callback == null) {
diff --git a/services/mogo-service/src/main/java/com/mogo/service/impl/adas/OnAdasListenerAdapter.java b/services/mogo-service/src/main/java/com/mogo/service/impl/adas/OnAdasListenerAdapter.java
deleted file mode 100644
index 9c968e8a39..0000000000
--- a/services/mogo-service/src/main/java/com/mogo/service/impl/adas/OnAdasListenerAdapter.java
+++ /dev/null
@@ -1,66 +0,0 @@
-package com.mogo.service.impl.adas;
-
-import com.zhidao.support.adas.high.OnAdasListener;
-import com.zhidao.support.adas.high.bean.AutopilotStatus;
-import com.zhidao.support.adas.high.bean.AutopilotWayArrive;
-import com.zhidao.support.adas.high.bean.CarLaneInfo;
-import com.zhidao.support.adas.high.bean.CarStateInfo;
-import com.zhidao.support.adas.high.bean.LightStatueInfo;
-import com.zhidao.support.adas.high.bean.ObstaclesInfo;
-import com.zhidao.support.adas.high.bean.RectInfo;
-import com.zhidao.support.adas.high.bean.WarnMessageInfo;
-
-public
-/**
- * @author congtaowang
- * @since 2020/10/22
- *
- * 适配ADAS 回调监听分发
- */
-abstract class OnAdasListenerAdapter implements OnAdasListener {
-
- @Override
- public void onWarnMessage(WarnMessageInfo warnMessageInfo) {
-
- }
-
- @Override
- public void onVideoSize(int width, int height) {
-
- }
-
- @Override
- public void onRectData(RectInfo rectInfo) {
-
- }
-
- @Override
- public void onCarStateData(CarStateInfo carStateInfo) {
-
- }
-
- @Override
- public void onLightStateData(LightStatueInfo lightStatueInfo) {
-
- }
-
- @Override
- public void onObstaclesInfo(ObstaclesInfo obstaclesInfo) {
-
- }
-
- @Override
- public void onCarLaneInfo(CarLaneInfo carLaneInfo) {
-
- }
-
- @Override
- public void autopilotStatus(AutopilotStatus autopilotStatus) {
-
- }
-
- @Override
- public void autopilotArrive(AutopilotWayArrive autopilotWayArrive) {
-
- }
-}
diff --git a/services/mogo-service/src/main/java/com/mogo/service/impl/map/MogoMapService.java b/services/mogo-service/src/main/java/com/mogo/service/impl/map/MogoMapService.java
index 72fde0dede..6142e8101b 100644
--- a/services/mogo-service/src/main/java/com/mogo/service/impl/map/MogoMapService.java
+++ b/services/mogo-service/src/main/java/com/mogo/service/impl/map/MogoMapService.java
@@ -123,7 +123,11 @@ public class MogoMapService implements IMogoMapService {
@Override
public String getMapVersion() {
- return MogoMap.getInstance().getMogoMap().getMapVersion();
+ if (MogoMap.getInstance().getMogoMap() != null) {
+ return MogoMap.getInstance().getMogoMap().getMapVersion();
+ } else {
+ return "0";
+ }
}
@Override