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eagle 工控机提供车前引导线数据

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lianglihui
2021-10-22 19:39:45 +08:00
parent 18dc7918fd
commit 5742f2ad93
11 changed files with 306 additions and 12 deletions
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46
core/function-impl/mogo-core-function-smp/src/main/java/com/mogo/eagle/core/function/smp/SmallMapDirectionView.java
View File

@@ -34,8 +34,11 @@ import com.mogo.eagle.core.data.map.MogoLatLng;
import com.mogo.eagle.core.function.smp.utils.MapAssetStyleUtils;
import com.mogo.eagle.core.function.smp.view.ISmallMapDirectionView;
import com.mogo.eagle.core.widget.RoundLayout;
import com.mogo.map.location.MogoLocation;
import com.mogo.map.navi.IMogoCarLocationChangedListener2;
import com.mogo.module.common.MogoApisHandler;
import com.mogo.module.common.utils.DrivingDirectionUtils;
import com.mogo.module.common.utils.LocationUtils;
import com.mogo.utils.logger.Logger;
import java.util.ArrayList;
@@ -184,7 +187,7 @@ public class SmallMapDirectionView
public void onCarLocationChanged2(Location latLng) {
Logger.d(MODULE_NAME, "onCarLocationChanged2 latLng:" + latLng);
LatLng currentLatLng = new LatLng(latLng.getLatitude(), latLng.getLongitude());
//更新车辆位置
if (mCarMarker != null) {
// mCarMarker.setRotateAngle(360 - latLng.getBearing());
mCarMarker.setPosition(currentLatLng);
@@ -193,11 +196,12 @@ public class SmallMapDirectionView
if (mCoordinatesLatLng.size() > 1) {
mCoordinatesLatLngCurrent.clear();
for (LatLng lng : mCoordinatesLatLng) {
MogoLatLng mogoLatLng = new MogoLatLng(lng.latitude, lng.longitude);
mCoordinatesLatLngCurrent.add(mogoLatLng);
}
// mCoordinatesLatLngCurrent.clear();
// for (LatLng lng : mCoordinatesLatLng) {
// MogoLatLng mogoLatLng = new MogoLatLng(lng.latitude, lng.longitude);
// mCoordinatesLatLngCurrent.add(mogoLatLng);
// }
removeLoction(latLng);
// 结束位置
LatLng endLatLng = mCoordinatesLatLng.get(mCoordinatesLatLng.size() - 1);
@@ -211,7 +215,7 @@ public class SmallMapDirectionView
endLatLng.latitude, endLatLng.longitude,
currentLatLng.latitude, currentLatLng.longitude
);
Log.d(MODULE_NAME, "calculateDistance=" + calculateDistance);
if (calculateDistance <= 20) {
clearPolyline();
@@ -226,6 +230,34 @@ public class SmallMapDirectionView
mAMap.moveCamera(CameraUpdateFactory.newCameraPosition(cameraPosition));
}
private void removeLoction(Location latLng) {
for (LatLng l: mCoordinatesLatLng){
if (!isPointOnCarFront(latLng,l)){
mCoordinatesLatLng.remove(l);
}
}
}
public static boolean isPointOnCarFront(Location carLocal, LatLng pointLocal) {
double carLon = carLocal.getLongitude();
double carLat = carLocal.getLatitude();
double poiLon = pointLocal.longitude;
double poiLat = pointLocal.latitude;
float carAngle = carLocal.getBearing();
// 计算车辆与点之间的夹角
int diffAngle = DrivingDirectionUtils.getDegreeOfCar2Poi(
carLon, carLat, poiLon, poiLat, (int) carAngle);
if (diffAngle <= 90) {
Log.i("lianglihui", "目标点在车辆--前方");
return true;
} else {
Log.i("lianglihui", "目标点在车辆--后方");
return false;
}
}
@Override
public void onCarLocationChanged(MogoLatLng latLng) {
Logger.d(MODULE_NAME, "onCarLocationChanged latLng:" + latLng);

3
modules/mogo-module-adas/build.gradle
View File

@@ -45,8 +45,9 @@ dependencies {
// 现有的ADAS的通讯SDK，需要将里面的东西融合到我们项目中
compileOnly rootProject.ext.dependencies.adasapi
api "com.zhidao.support.adas:high:1.2.0.2"
api "com.zhidao.support.adas:high:1.2.0.8"
implementation rootProject.ext.dependencies.mogoami
// implementation "com.zhidao.support.adas:high:1.2.0.7"
annotationProcessor rootProject.ext.dependencies.aroutercompiler
if (Boolean.valueOf(RELEASE)) {

26
modules/mogo-module-adas/src/main/java/com/mogo/module/adas/AdasEventManager.java
View File

@@ -1,5 +1,7 @@
package com.mogo.module.adas;
import android.util.Log;
import com.google.gson.Gson;
import com.mogo.module.adas.entity.WarnMessageModel;
import com.mogo.module.adas.model.AdasServiceModel;
@@ -19,11 +21,14 @@ 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.TrajectoryInfo;
import com.zhidao.support.adas.high.bean.WarnMessageInfo;
import com.zhidao.support.adas.high.bean.guardian.AutopilotGuardianInfo;
import com.zhidao.support.adas.high.common.MsgActionType;
import com.zhidao.support.obu.ami.AmiClientManager;
import java.util.ArrayList;
import java.util.List;
import java.util.concurrent.TimeUnit;
import io.reactivex.Flowable;
@@ -240,6 +245,18 @@ public class AdasEventManager implements OnAdasListener, OnAdasMsgConnectStatusL
}
}
@Override
public void onAutopilotTrajectory(List<TrajectoryInfo> trajectoryList) {
// Log.e("lianglihui","adas onAutopilotTrajectory");
if(trajectoryList != null && trajectoryList.size() >0){
for (IAdasDataListener listener : iAdasEventListeners) {
if (listener != null) {
listener.onAutopilotTrajectory(trajectoryList);
}
}
}
}
@Override
public void onAutopilotSNRequest() {
if (providerBizListener != null) {
@@ -249,6 +266,11 @@ public class AdasEventManager implements OnAdasListener, OnAdasMsgConnectStatusL
}
}
@Override
public void onAutopilotGuardian(AutopilotGuardianInfo guardianInfo) {
}
@Override
public void onWebSocketConnectSuccess() {
Logger.d(TAG, "webSocket 连接成功");
@@ -259,8 +281,8 @@ public class AdasEventManager implements OnAdasListener, OnAdasMsgConnectStatusL
}
@Override
public void onWebSocketConnectFailed() {
Logger.d(TAG, "webSocket 连接失败");
public void onWebSocketConnectFailed(String t) {
Logger.d(TAG, "webSocket 连接失败:"+t);
for (IAdasStatusListener listener : iAdasStatusListeners) {
listener.onServiceDisconnected();
}

10
modules/mogo-module-adas/src/main/java/com/mogo/module/adas/IAdasDataListener.java
View File

@@ -7,6 +7,7 @@ import com.zhidao.autopilotservice.model.AdasAIDLOwnerCarStateModel;
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.TrajectoryInfo;
import com.zhidao.support.adas.high.bean.WarnMessageInfo;
import java.util.List;
@@ -72,4 +73,13 @@ public interface IAdasDataListener {
default void notifyAutopilotState(AutopilotStatus autopilotStatus) {
}
/**
* 车前引导路径回调
* @param trajectory
*/
default void onAutopilotTrajectory(List<TrajectoryInfo> trajectory) {
}
}

22
modules/mogo-module-service/src/main/java/com/mogo/module/service/routeoverlay/MogoRouteOverlayManager.java
View File

@@ -2,14 +2,17 @@ package com.mogo.module.service.routeoverlay;
import android.content.Context;
import android.location.Location;
import android.util.Log;
import com.mogo.eagle.core.data.map.MogoLatLng;
import com.mogo.map.location.MogoLocation;
import com.mogo.map.navi.IMogoCarLocationChangedListener2;
import com.mogo.module.common.MogoApisHandler;
import com.mogo.module.common.drawer.MarkerDrawer;
import com.mogo.service.adas.IMogoAdasRouteCallBack;
import com.mogo.service.adas.IMogoAdasTrajectoryDataCallBack;
import com.mogo.service.adas.entity.ADASTrajectoryInfo;
import java.util.ArrayList;
import java.util.List;
public class MogoRouteOverlayManager implements IMogoCarLocationChangedListener2 {
@@ -32,7 +35,22 @@ public class MogoRouteOverlayManager implements IMogoCarLocationChangedListener2
RouteOverlayDrawer.getInstance(mContext).putRouteList(routeList);
}
});
MogoApisHandler.getInstance().getApis().getAdasControllerApi().addAdasTrajectoryDataCallBack(new IMogoAdasTrajectoryDataCallBack() {
@Override
public void onAutopilotTrajectory(List<ADASTrajectoryInfo> trajectoryInfos) {
// Log.e("lianglihui","onAutopilotTrajectory");
if (trajectoryInfos == null || trajectoryInfos.size() == 0){
return;
}
// Log.e("lianglihui","trajectoryInfos:"+trajectoryInfos.size());
List<MogoLatLng> mogoLatLngs = new ArrayList<>();
for (ADASTrajectoryInfo a:trajectoryInfos) {
mogoLatLngs.add(new MogoLatLng(a.getLat(),a.getLon()));
}
RouteOverlayDrawer.getInstance(mContext).drawTrajectoryList(mogoLatLngs);
}
});
}
public static MogoRouteOverlayManager getInstance(Context context) {
@@ -49,7 +67,7 @@ public class MogoRouteOverlayManager implements IMogoCarLocationChangedListener2
@Override
public void onCarLocationChanged2(Location latLng) {
updateLocation(latLng);
// updateLocation(latLng);
}
@Override

17
modules/mogo-module-service/src/main/java/com/mogo/module/service/routeoverlay/RouteOverlayDrawer.java
View File

@@ -124,4 +124,21 @@ public class RouteOverlayDrawer {
public void putRouteList(List<MogoLatLng> routeList) {
this.mRouteList = routeList;
}
public void drawTrajectoryList(List<MogoLatLng> routeList) {
clearMogoRouteOverlay();
if (routeList != null) {
for (MogoLatLng latLng : routeList) {
mPolylinePointList.add(latLng);
}
mPolylineOptions.setGps(true);
mPolylineColors.addAll(ColorUtils.getGradientAlpha("#002965ED", "#FF2965ED", "#002965ED", mPolylinePointList.size()));
// 替换路径集合
mPolylineOptions.points(mPolylinePointList);
// 线条粗细，渐变，渐变色值
mPolylineOptions.width(25).useGradient(true).colorValues(mPolylineColors);
// 绘制线
mMoGoPolyline = mogoOverlayManager.addPolyline(mPolylineOptions);
}
}
}

12
services/mogo-service-api/src/main/java/com/mogo/service/adas/IMogoADASController.java
View File

@@ -4,6 +4,7 @@ import com.alibaba.android.arouter.facade.template.IProvider;
import com.mogo.eagle.core.data.autopilot.RemoteControlAutoPilotParameters;
import com.mogo.map.uicontroller.EnumMapUI;
import com.mogo.service.adas.entity.ADASRecognizedResult;
import com.mogo.service.adas.entity.ADASTrajectoryInfo;
import java.util.List;
@@ -205,4 +206,15 @@ public interface IMogoADASController extends IProvider {
void mockAdasRecognized(List<ADASRecognizedResult> recognizedResults);
/**
* 添加车前引导线回调
* @param
*/
void addAdasTrajectoryDataCallBack(IMogoAdasTrajectoryDataCallBack callBack);
/**
* 移除车前引导线回调
* @param
*/
void removeAdasTrajectoryDataCallBack(IMogoAdasTrajectoryDataCallBack callBack);
}

9
services/mogo-service-api/src/main/java/com/mogo/service/adas/IMogoAdasTrajectoryDataCallBack.java Normal file
View File

@@ -0,0 +1,9 @@
package com.mogo.service.adas;
import com.mogo.service.adas.entity.ADASTrajectoryInfo;
import java.util.List;
public interface IMogoAdasTrajectoryDataCallBack {
void onAutopilotTrajectory(List<ADASTrajectoryInfo> trajectoryInfo);
}

115
services/mogo-service-api/src/main/java/com/mogo/service/adas/entity/ADASTrajectoryInfo.java Normal file
View File

@@ -0,0 +1,115 @@
package com.mogo.service.adas.entity;
/**
* @author song kenan
* @des
* @date 2021/10/21
*/
public class ADASTrajectoryInfo {
//经度
private Double lon;
//纬度
private Double lat;
//高度
private Double alt;
//时间 秒s
private Double time;
//速度 m/s
private Double velocity;
//加速度
private Double acceleration;
//速度方向
private Double theta;
//曲率
private Double kappa;
//从起点到目前的总距离
private Double accumulatedDis;
public void setLon(Double lon) {
this.lon = lon;
}
public void setLat(Double lat) {
this.lat = lat;
}
public void setAlt(Double alt) {
this.alt = alt;
}
public void setTime(Double time) {
this.time = time;
}
public void setVelocity(Double velocity) {
this.velocity = velocity;
}
public void setAcceleration(Double acceleration) {
this.acceleration = acceleration;
}
public void setTheta(Double theta) {
this.theta = theta;
}
public void setKappa(Double kappa) {
this.kappa = kappa;
}
public void setAccumulatedDis(Double accumulatedDis) {
this.accumulatedDis = accumulatedDis;
}
public Double getLon() {
return lon;
}
public Double getLat() {
return lat;
}
public Double getAlt() {
return alt;
}
public Double getTime() {
return time;
}
public Double getVelocity() {
return velocity;
}
public Double getAcceleration() {
return acceleration;
}
public Double getTheta() {
return theta;
}
public Double getKappa() {
return kappa;
}
public Double getAccumulatedDis() {
return accumulatedDis;
}
@Override
public String toString() {
return "TrajectoryModels{" +
"lon=" + lon +
", lat=" + lat +
", alt=" + alt +
", time='" + time + '\'' +
", velocity=" + velocity +
", acceleration=" + acceleration +
", theta=" + theta +
", kappa=" + kappa +
", accumulatedDis=" + accumulatedDis +
'}';
}
}

56
services/mogo-service/src/main/java/com/mogo/service/impl/adas/MogoADASController.java
View File

@@ -5,6 +5,7 @@ import android.content.Context;
import android.content.Intent;
import android.os.Handler;
import android.os.Message;
import android.os.SystemClock;
import android.text.TextUtils;
import android.util.Log;
@@ -26,10 +27,12 @@ import com.mogo.service.adas.IMogoAdasDataCallback;
import com.mogo.service.adas.IMogoAdasOCHCallback;
import com.mogo.service.adas.IMogoAdasRecognizedDataCallback;
import com.mogo.service.adas.IMogoAdasRouteCallBack;
import com.mogo.service.adas.IMogoAdasTrajectoryDataCallBack;
import com.mogo.service.adas.IMogoAdasWarnMessageCallback;
import com.mogo.eagle.core.data.autopilot.RemoteControlAutoPilotParameters;
import com.mogo.service.adas.entity.ADASCarStateInfo;
import com.mogo.service.adas.entity.ADASRecognizedResult;
import com.mogo.service.adas.entity.ADASTrajectoryInfo;
import com.mogo.service.adas.entity.ADASWarnMessage;
import com.mogo.eagle.core.data.autopilot.AdasOCHData;
import com.mogo.service.adas.entity.CarModelListResponse;
@@ -53,6 +56,7 @@ import com.zhidao.autopilotservice.model.AdasAIDLOwnerCarRectModel;
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.TrajectoryInfo;
import com.zhidao.support.adas.high.bean.WarnMessageInfo;
import org.json.JSONObject;
@@ -107,6 +111,11 @@ public class MogoADASController implements IMogoADASController {
*/
private final List<IMogoAdasRouteCallBack> mMogoAdasRouteCallBacks = new CopyOnWriteArrayList<>();
/**
* 车前引导线回调
*/
private final List<IMogoAdasTrajectoryDataCallBack> mMogoAdasTrajectoryDataCallBacks = new CopyOnWriteArrayList<>();
private IAdasDataListener mAdasDataListener;
private IMogoAdasCarDataCallback mMogoAdasCarDataCallback;
@@ -309,6 +318,7 @@ public class MogoADASController implements IMogoADASController {
});
}
@Override
public void selectCarModelUrl(String carStyleUrl) {
Logger.d(TAG, "selectCarModelUrl: " + carStyleUrl);
@@ -367,6 +377,36 @@ public class MogoADASController implements IMogoADASController {
}
}
@Override
public void onAutopilotTrajectory(List<TrajectoryInfo> trajectorys) {
if(trajectorys != null && trajectorys.size() > 0){
List<ADASTrajectoryInfo> trajectoryInfoArrayList = new ArrayList<>();
TrajectoryInfo t= trajectorys.get(0);
Log.e("lianglihui","trajectorys:"+ t.getLat()+"-"+t.getLon()+"-"+System.currentTimeMillis());
for (TrajectoryInfo trajectory : trajectorys){
ADASTrajectoryInfo adasTrajectoryInfo = new ADASTrajectoryInfo();
adasTrajectoryInfo.setLat(trajectory.getLat());
adasTrajectoryInfo.setLon(trajectory.getLon());
adasTrajectoryInfo.setAcceleration(trajectory.getAcceleration());
adasTrajectoryInfo.setAccumulatedDis(trajectory.getAccumulatedDis());
adasTrajectoryInfo.setTime(trajectory.getTime());
adasTrajectoryInfo.setVelocity(trajectory.getVelocity());
adasTrajectoryInfo.setAlt(trajectory.getAlt());
adasTrajectoryInfo.setKappa(trajectory.getKappa());
adasTrajectoryInfo.setTheta(trajectory.getTheta());
trajectoryInfoArrayList.add(adasTrajectoryInfo);
}
for (IMogoAdasTrajectoryDataCallBack callBack: mMogoAdasTrajectoryDataCallBacks){
if (callBack != null){
callBack.onAutopilotTrajectory(trajectoryInfoArrayList);
}
}
}
}
@Override
public void autopilotRoute(AutopilotRoute autopilotRoute) {
if (autopilotRoute.getModels() == null || autopilotRoute.getModels().size() == 0) {
@@ -770,6 +810,22 @@ public class MogoADASController implements IMogoADASController {
}
}
@Override
public void addAdasTrajectoryDataCallBack(IMogoAdasTrajectoryDataCallBack callBack) {
if (callBack == null) {
return;
}
if (!mMogoAdasTrajectoryDataCallBacks.contains(callBack)) {
mMogoAdasTrajectoryDataCallBacks.add(callBack);
}
}
@Override
public void removeAdasTrajectoryDataCallBack(IMogoAdasTrajectoryDataCallBack callBack) {
if (callBack != null){
mMogoAdasTrajectoryDataCallBacks.remove(callBack);
}
}
}

2
test/crashreport-upgrade/src/main/AndroidManifest.xml
View File

@@ -1,4 +1,5 @@
<manifest xmlns:android="http://schemas.android.com/apk/res/android"
xmlns:tools="http://schemas.android.com/tools"
package="com.mogo.test.crashreport.upgrade">
<application>
@@ -6,6 +7,7 @@
android:name="androidx.core.content.FileProvider"
android:authorities="${applicationId}.fileProvider"
android:exported="false"
tools:replace="android:authorities"
android:grantUriPermissions="true">
<meta-data
android:name="android.support.FILE_PROVIDER_PATHS"