rebase

2022-03-11 20:04:11 +08:00
parent c804f5162d
commit 5886f4feb7
81 changed files with 1689 additions and 1095 deletions
--- a/modules/mogo-module-common/src/main/AndroidManifest.xml
+++ b/modules/mogo-module-common/src/main/AndroidManifest.xml
@@ -1,12 +1,4 @@
-<manifest xmlns:android="http://schemas.android.com/apk/res/android"
-    package="com.mogo.module.common" >
+<manifest package="com.mogo.module.common">
+

-    <application>
-        <receiver android:name=".datacenter.receiver.SnapShotMockTestPanelBroadCastReceiver">
-            <intent-filter>
-                <action android:name="com.loc.test_panel_control" />
-                <category android:name="android.intent.category.DEFAULT" />
-            </intent-filter>
-        </receiver>
-    </application>
 </manifest>
--- 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 +2,6 @@ package com.mogo.module.common.datacenter;

 import com.mogo.commons.debug.DebugConfig;
 import com.mogo.eagle.core.data.autopilot.AutopilotStatusInfo;
-import com.mogo.eagle.core.data.config.FunctionBuildConfig;
 import com.mogo.eagle.core.function.call.autopilot.CallerAutoPilotStatusListenerManager;
 import com.mogo.module.common.MogoApisHandler;
 import com.mogo.service.cloud.location.CloudLocationInfo;
@@ -12,6 +11,8 @@ import org.json.JSONObject;
 import java.util.ArrayList;
 import java.util.List;

+import mogo.telematics.pad.MessagePad;
+
 /**
 * 定位坐标同步数据中心
 * 接收来自工控机实际定位数据
@@ -61,13 +62,27 @@ public class SnapshotLocationDataCenter {
        double lat = data.optDouble("lat", -1);
        double alt = data.optDouble("alt", -1);
        double heading = data.optDouble("heading", -1);
-        double acceleration = data.optDouble("acceleration", -1);
-        double yawRate = data.optDouble("yawRate", -1);
        double speed = data.optDouble("speed", -1);
        long satelliteTime = data.optLong("satelliteTime");
        long systemTime = data.optLong("systemTime");
-        int gpsProvider = data.optInt("gpsProvider", 1);
+        realSync(lon, lat, alt, heading, speed, satelliteTime, systemTime);
+    }

+    public void syncAdasLocationInfo(MessagePad.GnssInfo gnssInfo) {
+        //测试面板状态同步
+        DebugConfig.setStatus(DebugConfig.sLocation, true);
+
+        double lon = gnssInfo.getLongitude();
+        double lat = gnssInfo.getLatitude();
+        double alt = gnssInfo.getAltitude();
+        double heading = gnssInfo.getHeading();
+        double speed = gnssInfo.getGnssSpeed();
+        long satelliteTime = Double.valueOf(gnssInfo.getSatelliteTime()).longValue();
+        long systemTime = Double.valueOf(gnssInfo.getSystemTime()).longValue();
+        realSync(lon, lat, alt, heading, speed, satelliteTime, systemTime);
+    }
+
+    private void realSync(double lon, double lat, double alt, double heading, double speed, long satelliteTime, long systemTime) {
        // 使用与渠道配置一样的gps提供者提供的数据,app/productFlavors/fPadLenovo.gradle  GPS_PROVIDER  0-Android系统，1-工控机，2-OBU
        AutopilotStatusInfo autopilotStatusInfo = CallerAutoPilotStatusListenerManager.INSTANCE.getAutoPilotStatusInfo();
        autopilotStatusInfo.setLocationLat(lat);
@@ -80,22 +95,21 @@ public class SnapshotLocationDataCenter {
        DebugConfig.setStatusData(DebugConfig.sLat, lat);

        // 使用与渠道配置一样的gps提供者提供的数据
-        if (gpsProvider == FunctionBuildConfig.gpsProvider) {
-            CloudLocationInfo cloudLocationInfo = new CloudLocationInfo();
-            cloudLocationInfo.setAlt(alt);
-            cloudLocationInfo.setHeading(heading);
-            cloudLocationInfo.setLat(lat);
-            cloudLocationInfo.setLon(lon);
-            cloudLocationInfo.setSpeed(speed);
-            cloudLocationInfo.setSatelliteTime(satelliteTime);
-            cloudLocationInfo.setSystemTime(systemTime);
-            cloudLocationInfo.setTileId(String.valueOf(MogoApisHandler.getInstance().getApis().getMapServiceApi().getMapUIController().getTileId(lon, lat)));
-            mMachineCacheList.add(cloudLocationInfo);
+        CloudLocationInfo cloudLocationInfo = new CloudLocationInfo();
+        cloudLocationInfo.setAlt(alt);
+        cloudLocationInfo.setHeading(heading);
+        cloudLocationInfo.setLat(lat);
+        cloudLocationInfo.setLon(lon);
+        cloudLocationInfo.setSpeed(speed);
+        cloudLocationInfo.setSatelliteTime(satelliteTime);
+        cloudLocationInfo.setSystemTime(systemTime);
+        cloudLocationInfo.setTileId(String.valueOf(MogoApisHandler.getInstance().getApis().getMapServiceApi().getMapUIController().getTileId(lon, lat)));
+        //todo list数据暂时无人使用，增加后会导致数据量缓慢增加
+//            mMachineCacheList.add(cloudLocationInfo);

-            mCurLon = cloudLocationInfo.getLon();
-            mCurLat = cloudLocationInfo.getLat();
-            mSatelliteTime = cloudLocationInfo.getSatelliteTime();
-        }
+        mCurLon = cloudLocationInfo.getLon();
+        mCurLat = cloudLocationInfo.getLat();
+        mSatelliteTime = cloudLocationInfo.getSatelliteTime();
    }

    public double getCurLon() {
--- a/modules/mogo-module-common/src/main/java/com/mogo/module/common/drawer/BaseDrawer.java
+++ b/modules/mogo-module-common/src/main/java/com/mogo/module/common/drawer/BaseDrawer.java
@@ -168,11 +168,11 @@ public class BaseDrawer {
     * @return SNTP时间
     */
    protected long getCurSatelliteTime() {
-        String satelliteTime = MogoApisHandler.getInstance().getApis().getAdasControllerApi().getSatelliteTime();
-        if (TextUtils.isEmpty(satelliteTime)) {
+        Long satelliteTime = MogoApisHandler.getInstance().getApis().getAdasControllerApi().getSatelliteTime();
+        if (satelliteTime == 0) {
            return System.currentTimeMillis();
        }
-        return Long.parseLong(satelliteTime);
+        return satelliteTime;
    }

    /**
--- 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
@@ -13,6 +13,8 @@ import com.mogo.module.common.MogoApisHandler;
 import java.util.ArrayList;
 import java.util.concurrent.ConcurrentHashMap;

+import mogo.telematics.pad.MessagePad;
+
 /**
 * @author xiaoyuzhou
 * @date 2021/10/19 10:45 上午
@@ -40,7 +42,7 @@ public class IdentifyDataDrawer {
    /**
     * 过滤后的数据集合
     */
-    private final ArrayList<TrafficData> mFilterTrafficData = new ArrayList<>();
+    private final ArrayList<MessagePad.TrackedObject> mFilterTrafficData = new ArrayList<>();

    private IdentifyDataDrawer() {
        mContext = AbsMogoApplication.getApp();
@@ -67,7 +69,7 @@ public class IdentifyDataDrawer {
     *
     * @param resultList adas感知融合数据
     */
-    public void renderAdasRecognizedResult(ArrayList<TrafficData> resultList) {
+    public void renderAdasRecognizedResult(ArrayList<MessagePad.TrackedObject> resultList) {
        if (resultList == null || resultList.isEmpty()) {
            clearOldMarker();
            Logger.w(TAG, "感知数据为空无需渲染……");
@@ -82,14 +84,14 @@ public class IdentifyDataDrawer {

        // 循环将集合中的数据提取记录

-        for (TrafficData trafficData : resultList) {
+        for (MessagePad.TrackedObject trafficData : resultList) {
            // 过滤掉未知感知数据
            if (!FunctionBuildConfig.isDrawUnknownIdentifyData &&
-                    trafficData.getType() == TrafficTypeEnum.TYPE_TRAFFIC_ID_WEI_ZHI) {
+                    trafficData.getType() == TrafficTypeEnum.TYPE_TRAFFIC_ID_WEI_ZHI.getType()) {
                //Logger.w(TAG, "未知感知类型数据，丢弃，不渲染");
                continue;
            }
-            trafficDataUuidList.add(trafficData.getUuid());
+            trafficDataUuidList.add("" + trafficData.getUuid());
        }
 //        // 找出上一针数据中已经不在本次数据中存在的数据
 //        for (String uuid : mMarkersCaches.keySet()) {
@@ -118,11 +120,11 @@ public class IdentifyDataDrawer {
     *
     * @return 过滤后的数据集合
     */
-    private ArrayList<TrafficData> filterTrafficData(ArrayList<TrafficData> trafficData) {
+    private ArrayList<MessagePad.TrackedObject> filterTrafficData(ArrayList<MessagePad.TrackedObject> trafficData) {
        mFilterTrafficData.clear();
-        for (TrafficData data : trafficData) {
+        for (MessagePad.TrackedObject data : trafficData) {
            // 过滤掉未知感知数据
-            if (data.getType() == TrafficTypeEnum.TYPE_TRAFFIC_ID_WEI_ZHI) {
+            if (data.getType() == TrafficTypeEnum.TYPE_TRAFFIC_ID_WEI_ZHI.getType()) {
                //Logger.w(TAG, "未知感知类型数据，丢弃，不渲染");
                continue;
            }
--- a/modules/mogo-module-common/src/main/java/com/mogo/module/common/drawer/SnapshotSetDataDrawer.java
+++ b/modules/mogo-module-common/src/main/java/com/mogo/module/common/drawer/SnapshotSetDataDrawer.java
@@ -23,7 +23,6 @@ import com.mogo.module.common.MogoApisHandler;
 import com.mogo.module.common.R;
 import com.mogo.module.common.constants.DataTypes;
 import com.mogo.module.common.utils.Trigonometric;
-import com.mogo.service.adas.IMogoADASController;
 import com.mogo.service.statusmanager.IMogoStatusChangedListener;
 import com.mogo.service.statusmanager.StatusDescriptor;

@@ -90,7 +89,6 @@ public class SnapshotSetDataDrawer extends BaseDrawer implements IMogoMarkerClic
        sendMessage(MSG_REMOVE_DIRTY_MARKERS, mMarkersCaches);
        removeUselessMarker(mMarkersCaches);
        mLastPositions.clear();
-        AdasRecognizedResultDrawer.getInstance().notifyVrModeChanged(); //清除ADAS old marker data
    }

    public boolean isChangeCarModeStatus() {
@@ -215,10 +213,6 @@ public class SnapshotSetDataDrawer extends BaseDrawer implements IMogoMarkerClic
        if (mMarkersCaches.isEmpty()) {
            return;
        }
-        IMogoADASController adasControllerApi = MogoApisHandler.getInstance().getApis().getAdasControllerApi();
-        if (TextUtils.isEmpty(adasControllerApi.getSatelliteTime())) {
-            return;
-        }
        Iterator<IMogoMarker> iterator = mMarkersCaches.values().iterator();
        while (iterator.hasNext()) {
            IMogoMarker result = iterator.next();
@@ -226,9 +220,9 @@ public class SnapshotSetDataDrawer extends BaseDrawer implements IMogoMarkerClic
            if (proto == null) { // 后续有业务数据在操作，更新数据，不做处理
                continue;
            }
-            long internal = Long.parseLong(adasControllerApi.getSatelliteTime()) - proto.getSatelliteTime();
+            long internal = getCurSatelliteTime() - proto.getSatelliteTime();
            Log.d("MogoArrow", "delayRemoveUselessMarker  uuid : " + proto.getUuid()
-                    + "  localTime :  " + adasControllerApi.getSatelliteTime()
+                    + "  localTime :  " + getCurSatelliteTime()
                    + "  originTime : " + proto.getSatelliteTime()
                    + "  internal  : " + internal);
            if (internal > 5000) {
@@ -242,14 +236,10 @@ public class SnapshotSetDataDrawer extends BaseDrawer implements IMogoMarkerClic
        if (mLastPositions.isEmpty()) {
            return;
        }
-        IMogoADASController adasControllerApi = MogoApisHandler.getInstance().getApis().getAdasControllerApi();
-        if (TextUtils.isEmpty(adasControllerApi.getSatelliteTime()) || adasControllerApi.getSatelliteTime().equals("0")) {
-            return;
-        }
        Iterator<SocketDownData.CloudRoadDataProto> iterator = mLastPositions.values().iterator();
        while (iterator.hasNext()) {
            SocketDownData.CloudRoadDataProto result = iterator.next();
-            long internal = Long.parseLong(adasControllerApi.getSatelliteTime()) - result.getSatelliteTime();
+            long internal = getCurSatelliteTime() - result.getSatelliteTime();
            if (internal > 3000) {
                iterator.remove();
            }
--- a/modules/mogo-module-service/src/main/java/com/mogo/module/service/intent/MockIntentHandler.java
+++ b/modules/mogo-module-service/src/main/java/com/mogo/module/service/intent/MockIntentHandler.java
@@ -297,10 +297,6 @@ public class MockIntentHandler implements IntentHandler {
                MogoApisHandler.getInstance().getApis().getMapServiceApi().getMapUIController()
                        .rtkEnable(false);
                break;
-            case 39:// 使用自动驾驶车的定位数据
-                MogoApisHandler.getInstance().getApis().getMapServiceApi().getMapUIController()
-                        .syncLocation2Map(null);
-                break;
            case 40:
                double[][] coors = new double[][]{{40.17511749267578, 116.74359130859375},
                        {40.20258331298828, 116.74071502685547},
@@ -789,9 +785,9 @@ public class MockIntentHandler implements IntentHandler {

        try {
            if (FunctionBuildConfig.isDrawIdentifyData) {
-                ThreadUtils.getSinglePool().execute(() ->
-                        IdentifyDataDrawer.getInstance().renderAdasRecognizedResult(trafficData)
-                );
+//                ThreadUtils.getSinglePool().execute(() ->
+//                        IdentifyDataDrawer.getInstance().renderAdasRecognizedResult(trafficData)
+//                );
            } else {
                IdentifyDataDrawer.getInstance().clearOldMarker();
            }
@@ -825,9 +821,9 @@ public class MockIntentHandler implements IntentHandler {

        try {
            if (FunctionBuildConfig.isDrawIdentifyData) {
-                ThreadUtils.getSinglePool().execute(() ->
-                        IdentifyDataDrawer.getInstance().renderAdasRecognizedResult(trafficData)
-                );
+//                ThreadUtils.getSinglePool().execute(() ->
+//                        IdentifyDataDrawer.getInstance().renderAdasRecognizedResult(trafficData)
+//                );
            } else {
                IdentifyDataDrawer.getInstance().clearOldMarker();
            }
--- a/modules/mogo-module-service/src/main/java/com/mogo/module/service/routeoverlay/MogoRouteOverlayManager.java
+++ b/modules/mogo-module-service/src/main/java/com/mogo/module/service/routeoverlay/MogoRouteOverlayManager.java
@@ -4,9 +4,6 @@ import android.content.Context;
 import android.util.Log;

 import com.mogo.eagle.core.data.autopilot.ADASTrajectoryInfo;
-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.config.FunctionBuildConfig;
 import com.mogo.eagle.core.data.map.MogoLatLng;
@@ -18,7 +15,6 @@ import com.mogo.eagle.core.function.call.autopilot.CallerAutoPilotStatusListener
 import com.mogo.eagle.core.function.call.autopilot.CallerAutopilotPlanningListenerManager;
 import com.mogo.eagle.core.function.call.map.CallerMapLocationListenerManager;
 import com.mogo.eagle.core.utilcode.mogo.logger.Logger;
-import com.mogo.eagle.core.utilcode.util.GsonUtils;
 import com.mogo.module.common.utils.DrivingDirectionUtils;

 import org.jetbrains.annotations.NotNull;
@@ -27,6 +23,9 @@ import org.jetbrains.annotations.Nullable;
 import java.util.ArrayList;
 import java.util.List;

+import mogo.telematics.pad.MessagePad;
+import mogo_msg.MogoReportMsg;
+
 public class MogoRouteOverlayManager implements
        IMoGoAutopilotPlanningListener, IMoGoAutopilotStatusListener,
        IMoGoMapLocationListener {
@@ -102,13 +101,13 @@ public class MogoRouteOverlayManager implements
    }

    @Override
-    public void onAutopilotRotting(AutopilotRouteInfo routeList) {
-        if (routeList.getModels() == null || routeList.getModels().size() == 0) {
+    public void onAutopilotRotting(MessagePad.GlobalPathResp globalPathResp) {
+        if (globalPathResp == null || globalPathResp.getWayPointsList().size() == 0) {
            return;
        }
        List<MogoLatLng> latLngList = new ArrayList<>();
-        for (AutopilotRouteInfo.RouteModels routeModel : routeList.getModels()) {
-            latLngList.add(new MogoLatLng(routeModel.getLat(), routeModel.getLon()));
+        for (MessagePad.Location routeModel : globalPathResp.getWayPointsList()) {
+            latLngList.add(new MogoLatLng(routeModel.getLatitude(), routeModel.getLongitude()));
        }
        int listSize = latLngList.size();
        mEnding = latLngList.get(listSize - 1);
@@ -120,7 +119,7 @@ public class MogoRouteOverlayManager implements
        if (FunctionBuildConfig.isIgnoreConditionsDrawAutopilotTrajectoryData) {
            return;
        }
-        this.STATUS_AUTOPILOT = autoPilotStatusInfo.getControl_pilotmode();
+        this.STATUS_AUTOPILOT = autoPilotStatusInfo.getPilotmode();
        //Log.d("lianglihui","onAutopilotStatusResponse:"+STATUS_AUTOPILOT);
 //        if (STATUS_AUTOPILOT == 1 ){
 //            if (mEnding != null){
@@ -128,7 +127,7 @@ public class MogoRouteOverlayManager implements
 //            }
 //        }else {
 //
-//        }我
+//        }
        if (STATUS_AUTOPILOT != 1) {
            RouteOverlayDrawer.getInstance(mContext).clearEndingMarker();
            RouteOverlayDrawer.getInstance(mContext).clearMogoRouteOverlay();
@@ -136,20 +135,16 @@ public class MogoRouteOverlayManager implements
    }

    @Override
-    public void onAutopilotArriveAtStation(@Nullable AutopilotStationInfo autopilotWayArrive) {
+    public void onAutopilotArriveAtStation(MessagePad.ArrivalNotification arrivalNotification) {

-        if (autopilotWayArrive == null) {
+        if (arrivalNotification == null) {
            return;
        }
-        Logger.d(TAG, "onArriveAt data : " + autopilotWayArrive.toString());
+        Logger.d(TAG, "onArriveAt data : " + arrivalNotification.toString());
 //        //演示模式下 到达终点将忽略 引导线绘制 选项关闭
 //        FunctionBuildConfig.isIgnoreConditionsDrawAutopilotTrajectoryData = false;
    }

-    @Override
-    public void onAutopilotGuardian(@Nullable AutopilotGuardianStatusInfo guardianInfo) {
-
-    }

    @Override
    public void onAutopilotSNRequest() {
@@ -157,7 +152,7 @@ public class MogoRouteOverlayManager implements
    }

    @Override
-    public void onLocationChanged(@Nullable MogoLocation location) {  //todo 拖尾
+    public void onLocationChanged(@Nullable MogoLocation location) {
 //        mLocation = location;
 //        if (mTrajectoryList.isEmpty()) {
 //            return;
@@ -184,18 +179,18 @@ public class MogoRouteOverlayManager implements

        mLocation = location;
        List<MogoLatLng> temp = mTrajectoryList;
-        if (temp.isEmpty()){
+        if (temp.isEmpty()) {
            return;
        }
 //        Log.e(TAG, "onLocationChanged: size = "+ mTrajectoryList.size()+" ----- "+mLocation.getLongitude()+"-"+mLocation.getLatitude());
-        ArrayList  list = new ArrayList();
-        for (MogoLatLng latLng:temp) {
+        ArrayList list = new ArrayList();
+        for (MogoLatLng latLng : temp) {
 //            if(!isPointOnCarFront(mLocation,latLng)){
-                list.add(latLng);
+            list.add(latLng);
 //            }
        }
-        Log.d(TAG,"TrajectoryData = " + FunctionBuildConfig.isIgnoreConditionsDrawAutopilotTrajectoryData + "---status = " + STATUS_AUTOPILOT + "----size = " + list.size());
-        if (FunctionBuildConfig.isIgnoreConditionsDrawAutopilotTrajectoryData || STATUS_AUTOPILOT == 1){
+        Log.d(TAG, "TrajectoryData = " + FunctionBuildConfig.isIgnoreConditionsDrawAutopilotTrajectoryData + "---status = " + STATUS_AUTOPILOT + "----size = " + list.size());
+        if (FunctionBuildConfig.isIgnoreConditionsDrawAutopilotTrajectoryData || STATUS_AUTOPILOT == 1) {
            RouteOverlayDrawer.getInstance(mContext).drawTrajectoryList(list);
        }
    }
@@ -218,4 +213,9 @@ public class MogoRouteOverlayManager implements
        }
    }

+    @Override
+    public void onAutopilotGuardian(MogoReportMsg.MogoReportMessage guardianInfo) {
+
+    }
+
 }