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Merge branch 'master' into release_robosweeper-d_100-sweeper_220830_1.0.0.1_merge

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# Conflicts:
#	app_ipc_monitoring/src/main/java/com/zhidao/adas/client/ui/MainActivity.java
#	core/function-impl/mogo-core-function-autopilot/src/main/java/com/mogo/eagle/core/function/autopilot/MoGoAutopilotProvider.kt
#	core/function-impl/mogo-core-function-autopilot/src/main/java/com/mogo/eagle/core/function/autopilot/adapter/MoGoAdasListenerImpl.kt
#	core/function-impl/mogo-core-function-autopilot/src/main/java/com/mogo/eagle/core/function/autopilot/adapter/MoGoAdasMsgConnectStatusListenerImpl.kt
#	core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/hmi/ui/widget/TrafficDataView.java
#	core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/map/MapPointCloudSubscriber.kt
#	core/mogo-core-function-api/src/main/java/com/mogo/eagle/core/function/api/autopilot/IMoGoAutopilotProvider.kt
#	gradle.properties
#	libraries/mogo-adas-data/src/main/proto/message_pad.proto
#	libraries/mogo-adas-data/src/main/proto/special_vehicle_task_cmd.proto
#	libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/AdasChannel.java
#	libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/AdasManager.java
#	libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/IAdasNetCommApi.java
#	libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/common/MessageType.java
This commit is contained in:
aibingbing
2022-09-26 19:16:37 +08:00
parent bbb467b0b1 eba88750d8
commit 6a21e175b4
266 changed files with 9667 additions and 771 deletions
Download Patch File Download Diff File Expand all files Collapse all files

69
core/function-impl/mogo-core-function-autopilot/src/main/java/com/mogo/eagle/core/function/autopilot/MoGoAutopilotProvider.kt
View File

@@ -52,9 +52,7 @@ import com.zhidao.support.adas.high.OnMultiDeviceListener
import com.zhidao.support.adas.high.common.Constants
import com.zhidao.support.adas.high.common.Constants.IPC_CONNECTION_STATUS
import com.zhidao.support.adas.high.common.CupidLogUtils
import com.zhidao.support.adas.high.common.MessageType
import com.zhidao.support.adas.high.common.MogoReport
import com.zhidao.support.adas.high.subscribe.SubscribeInterfaceOptions
import com.zhjt.service.chain.ChainLog
import com.zhjt.service.chain.TracingConstants
import io.netty.channel.Channel
@@ -91,19 +89,19 @@ class MoGoAutopilotProvider :
CallerMapDataCollectorManager.registerOnMapCollectTaskListener(this)
// 配置默认关闭的连接topic
val messageTypes: MutableSet<MessageType> = HashSet()
messageTypes.add(MessageType.TYPE_RECEIVE_POINT_CLOUD)
val subscribeInterfaceOptions = SubscribeInterfaceOptions.newBuilder()
.setRole(Constants.TERMINAL_ROLE.DRIVER)
.setType(Constants.SUBSCRIBE_TYPE.UNSUBSCRIBE)
.setMessageTypes(messageTypes).build()
// val messageTypes: MutableSet<MessageType> = HashSet()
// messageTypes.add(MessageType.TYPE_RECEIVE_POINT_CLOUD)
// val subscribeInterfaceOptions = SubscribeInterfaceOptions.newBuilder()
// .setRole(Constants.TERMINAL_ROLE.DRIVER)
// .setType(Constants.SUBSCRIBE_TYPE.UNSUBSCRIBE)
// .setMessageTypes(messageTypes).build()
// "192.168.1.102"
val options = AdasOptions.Builder()
.setIpcConnectionMode(AdasOptions.IPC_CONNECTION_MODE.FIXATION)
.setIpcFixationIP(AdasManager.getInstance().getIPCFixationIPList(mContext))
.setClient(false)
.setSubscribeInterfaceOptions(subscribeInterfaceOptions)
// .setSubscribeInterfaceOptions(subscribeInterfaceOptions)//
.build()
AdasManager.getInstance().create(options, MoGoAdasMsgConnectStatusListenerImpl())
@@ -380,7 +378,7 @@ class MoGoAutopilotProvider :
override fun setDemoMode(isEnable: Boolean) {
// 同步给乘客端
if (AppIdentityModeUtils.isDriver(FunctionBuildConfig.appIdentityMode)) {
var byteArray = if (isEnable) byteArrayOf(1) else byteArrayOf(0)
val byteArray = if (isEnable) byteArrayOf(1) else byteArrayOf(0)
if (NSDNettyManager.getInstance().isServerStart) {
NSDNettyManager.getInstance()
.sendMsgToAllClients(
@@ -396,6 +394,25 @@ class MoGoAutopilotProvider :
}
}
override fun setIgnoreConditionDraw(isIgnore: Boolean) {
// 同步给乘客端
if (AppIdentityModeUtils.isDriver(FunctionBuildConfig.appIdentityMode)) {
val byteArray = if (isIgnore) byteArrayOf(1) else byteArrayOf(0)
if (NSDNettyManager.getInstance().isServerStart) {
NSDNettyManager.getInstance()
.sendMsgToAllClients(
MogoProtocolMsg(
11,
byteArray.size,
byteArray
)
)
} else {
CallerLogger.d("$M_ADAS_IMPL$TAG", "同步美化模式状态时司机端Server未启动！")
}
}
}
/**
* 设置工控机演示模式（美化模式）开启、关闭
* isEnable = true 开启
@@ -429,6 +446,38 @@ class MoGoAutopilotProvider :
AdasManager.getInstance().sendRecordDataConfigReq()
}
/**
* 向左变道
*/
override fun sendOperatorChangeLaneLeft() {
// Log.d("liyz", "MoGoAutopilotProvider sendOperatorChangeLaneLeft -------> ")
AdasManager.getInstance().sendOperatorCmdChangeLaneLeft()
}
/**
* 向右变道
*/
override fun sendOperatorChangeLaneRight() {
// Log.d("liyz", "MoGoAutopilotProvider sendOperatorChangeLaneRight -------> ")
AdasManager.getInstance().sendOperatorCmdChangeLaneRight()
}
/**
* 发送设置加速度 acc>0加速 acc<0减速 acc=0复位
*/
override fun sendOperatorSetAcceleratedSpeed(cc: Double) {
// Log.d("liyz", "MoGoAutopilotProvider sendOperatorSetAcceleratedSpeed cc $cc ")
AdasManager.getInstance().sendOperatorCmdSetAcceleratedSpeed(cc)
}
/**
* 鸣笛 value 1: honk 2: stop honking
*/
override fun sendOperatorSetHorn(value: Double) {
// Log.d("liyz", "MoGoAutopilotProvider sendOperatorSetHorn value $value ")
AdasManager.getInstance().sendOperatorCmdSetHorn(value)
}
/**
* 发送工控机所有节点重启命令
*/

21
core/function-impl/mogo-core-function-autopilot/src/main/java/com/mogo/eagle/core/function/autopilot/adapter/MoGoAdasListenerImpl.kt
View File

@@ -1,6 +1,7 @@
package com.mogo.eagle.core.function.autopilot.adapter
import chassis.VehicleStateOuterClass
import com.mogo.eagle.core.data.app.AppConfigInfo
import com.mogo.eagle.core.data.config.FunctionBuildConfig
import com.mogo.eagle.core.data.config.HdMapBuildConfig
import com.mogo.eagle.core.data.deva.chain.ChainConstant.Companion.CHAIN_ALIAS_CODE_ADAS_MESSAGE_AUTOPILOT_ARRIVE
@@ -13,6 +14,7 @@ import com.mogo.eagle.core.data.deva.chain.ChainConstant.Companion.CHAIN_ALIAS_C
import com.mogo.eagle.core.data.deva.chain.ChainConstant.Companion.CHAIN_ALIAS_CODE_ADAS_MESSAGE_AUTOPILOT_VEHICLE
import com.mogo.eagle.core.data.deva.chain.ChainConstant.Companion.CHAIN_ALIAS_CODE_ADAS_MESSAGE_CAR_CONFIG
import com.mogo.eagle.core.data.deva.chain.ChainConstant.Companion.CHAIN_ALIAS_CODE_ADAS_MESSAGE_CAR_STATE
import com.mogo.eagle.core.data.deva.chain.ChainConstant.Companion.CHAIN_ALIAS_CODE_ADAS_MESSAGE_PLANNING_ACTIONS
import com.mogo.eagle.core.data.deva.chain.ChainConstant.Companion.CHAIN_ALIAS_CODE_ADAS_MESSAGE_PLANNING_OBJECTS
import com.mogo.eagle.core.data.deva.chain.ChainConstant.Companion.CHAIN_ALIAS_CODE_ADAS_MESSAGE_RECT_DATA
import com.mogo.eagle.core.data.deva.chain.ChainConstant.Companion.CHAIN_ALIAS_CODE_ADAS_STATUS_QUERY_RESP
@@ -21,6 +23,7 @@ import com.mogo.eagle.core.data.deva.chain.ChainConstant.Companion.CHAIN_LINK_LO
import com.mogo.eagle.core.data.deva.chain.ChainConstant.Companion.CHAIN_LINK_LOG_WEB_SOCKET_AUTOPILOT
import com.mogo.eagle.core.data.deva.chain.ChainConstant.Companion.CHAIN_LINK_LOG_WEB_SOCKET_DATA_TRACKED
import com.mogo.eagle.core.data.deva.chain.ChainConstant.Companion.CHAIN_LINK_LOG_WEB_SOCKET_GNSSINFO
import com.mogo.eagle.core.data.deva.chain.ChainConstant.Companion.CHAIN_LINK_LOG_WEB_SOCKET_PLANNING_ACTIONS
import com.mogo.eagle.core.data.deva.chain.ChainConstant.Companion.CHAIN_LINK_LOG_WEB_SOCKET_PLANNING_OBJECTS
import com.mogo.eagle.core.data.deva.chain.ChainConstant.Companion.CHAIN_LINK_LOG_WEB_SOCKET_TRAFFIC_LIGHT
import com.mogo.eagle.core.data.deva.chain.ChainConstant.Companion.CHAIN_LINK_LOG_WEB_SOCKET_TRAJECTORY
@@ -38,6 +41,7 @@ import com.mogo.eagle.core.function.call.autopilot.CallerAutopilotIdentifyListen
import com.mogo.eagle.core.function.call.autopilot.CallerAutopilotIdentifyListenerManager.invokeAutopilotIdentifyDataUpdate
import com.mogo.eagle.core.function.call.autopilot.CallerAutopilotIdentifyListenerManager.invokeAutopilotIdentifyPlanningObj
import com.mogo.eagle.core.function.call.autopilot.CallerAutopilotIdentifyListenerManager.invokeAutopilotWarnMessage
import com.mogo.eagle.core.function.call.autopilot.CallerAutopilotPlanningActionsListenerManager.invokePNCActions
import com.mogo.eagle.core.function.call.autopilot.CallerAutopilotPlanningListenerManager.invokeAutopilotRotting
import com.mogo.eagle.core.function.call.autopilot.CallerAutopilotPlanningListenerManager.invokeAutopilotTrajectory
import com.mogo.eagle.core.function.call.autopilot.CallerAutopilotPointCloudListenerManager
@@ -203,6 +207,7 @@ class MoGoAdasListenerImpl : OnAdasListener {
}
AdasManager.getInstance().carConfig?.let {
autopilotStatusInfo.dockVersion = it.dockVersion
AppConfigInfo.dockerVersion = it.dockVersion
}
invokeAutoPilotStatus()
}
@@ -404,7 +409,21 @@ class MoGoAdasListenerImpl : OnAdasListener {
/**
* planning决策状态, 透传
*/
override fun onPlanningActionMsg(header: MessagePad.Header?, planningActionMsg: MessagePad.PlanningActionMsg?) {
@ChainLog(
linkChainLog = CHAIN_LINK_LOG_WEB_SOCKET_PLANNING_ACTIONS,
linkCode = CHAIN_LINK_ADAS,
endpoint = PAD,
nodeAliasCode = CHAIN_ALIAS_CODE_ADAS_MESSAGE_PLANNING_ACTIONS,
paramIndexes = [0, 1],
clientPkFileName = "sn"
)
override fun onPlanningActionMsg(
header: MessagePad.Header?,
planningActionMsg: MessagePad.PlanningActionMsg?
) {
planningActionMsg?.let {
invokePNCActions(it)
}
}

30
core/function-impl/mogo-core-function-autopilot/src/main/java/com/mogo/eagle/core/function/autopilot/adapter/MoGoAdasMsgConnectStatusListenerImpl.kt
View File

@@ -2,7 +2,6 @@ package com.mogo.eagle.core.function.autopilot.adapter
import android.annotation.SuppressLint
import com.mogo.cloud.passport.MoGoAiCloudClientConfig
import com.mogo.commons.debug.DebugConfig
import com.mogo.commons.debug.DebugConfig.*
import com.mogo.eagle.core.data.autopilot.AutopilotStatusInfo
import com.mogo.eagle.core.data.config.FunctionBuildConfig
@@ -23,11 +22,9 @@ import com.zhidao.support.adas.high.common.Constants
import com.zhidao.support.adas.high.common.Constants.ENVIRONMENT.*
import com.zhidao.support.adas.high.common.Constants.TERMINAL_ROLE.DRIVER
import com.zhidao.support.adas.high.common.Constants.TERMINAL_ROLE.PASSENGER
import io.reactivex.Flowable
import io.reactivex.android.schedulers.AndroidSchedulers
import io.reactivex.schedulers.Schedulers
import mogo.telematics.pad.MessagePad
import java.util.concurrent.TimeUnit
import java.util.*
import java.util.concurrent.atomic.AtomicBoolean
/**
* ADAS-SDK与工控机连接状态回调
@@ -44,6 +41,10 @@ class MoGoAdasMsgConnectStatusListenerImpl : OnAdasConnectStatusListener,
private var connectStatus = false
private val hasUploadTaskLaunched by lazy { AtomicBoolean(false) }
private val timer = Timer()
init {
CallerCloudListenerManager.registerCloudListener(TAG, this)
}
@@ -168,15 +169,16 @@ class MoGoAdasMsgConnectStatusListenerImpl : OnAdasConnectStatusListener,
*/
@SuppressLint("CheckResult")
private fun updateDriveStatusTask() {
CallerLogger.d("$M_ADAS_IMPL$TAG", "updateDriveStatusTask")
Flowable.interval(0, 5, TimeUnit.SECONDS)
.subscribeOn(Schedulers.io())
.unsubscribeOn(Schedulers.io())
.observeOn(AndroidSchedulers.mainThread())
.subscribe {
AdasServiceModel.getInstance()
.updateDriveStatus(mCurrentAutopilotStatus, mCurrentAutopilotSpeed)
}
if (hasUploadTaskLaunched.compareAndSet(false, true)) {
timer.schedule(object : TimerTask() {
override fun run() {
CallerLogger.d("$M_ADAS_IMPL$TAG", "updateDriveStatusTask")
AdasServiceModel.getInstance()
.updateDriveStatus(mCurrentAutopilotStatus, mCurrentAutopilotSpeed)
}
}, 0, 5000)
}
}
override fun tokenGot(sn: String) {

4
core/function-impl/mogo-core-function-autopilot/src/main/java/com/mogo/eagle/core/function/autopilot/server/AsyncDataToAutopilotServer.kt
View File

@@ -3,7 +3,7 @@ package com.mogo.eagle.core.function.autopilot.server
import com.mogo.eagle.core.data.trafficlight.TrafficLightResult
import com.mogo.eagle.core.function.api.trafficlight.IMoGoTrafficLightListener
import com.mogo.eagle.core.function.call.autopilot.CallerAutoPilotManager
import com.mogo.eagle.core.function.call.trafficlight.CallTrafficLightListenerManager
import com.mogo.eagle.core.function.call.trafficlight.CallerTrafficLightListenerManager
/**
* @author xiaoyuzhou
@@ -22,7 +22,7 @@ class AsyncDataToAutopilotServer private constructor() : IMoGoTrafficLightListen
}
fun initServer() {
CallTrafficLightListenerManager.registerTrafficLightListener(TAG, this)
CallerTrafficLightListenerManager.registerTrafficLightListener(TAG, this)
}
override fun onTrafficLightStatus(trafficLightResult: TrafficLightResult) {

28
core/function-impl/mogo-core-function-autopilot/src/main/java/com/mogo/eagle/core/function/autopilot/telematic/TeleMsgHandler.kt
View File

@@ -11,6 +11,7 @@ import com.mogo.eagle.core.data.deva.chain.ChainConstant
import com.mogo.eagle.core.data.deva.chain.ChainConstant.Companion.CHAIN_LINK_LOG_CONNECT_STATUS
import com.mogo.eagle.core.function.call.autopilot.CallerAutoPilotManager
import com.mogo.eagle.core.function.call.autopilot.CallerAutoPilotManager.setDemoMode
import com.mogo.eagle.core.function.call.autopilot.CallerAutoPilotManager.setIgnoreConditionDraw
import com.mogo.eagle.core.function.call.bindingcar.CallerBindingcarManager
import com.mogo.eagle.core.utilcode.mogo.logger.CallerLogger
import com.mogo.eagle.core.utilcode.mogo.logger.scene.SceneConstant
@@ -60,12 +61,13 @@ class TeleMsgHandler : IMsgHandler {
1 -> true
else -> false
}
setDemoMode(FunctionBuildConfig.isDemoMode)
invokeNettyConnResult("乘客屏收到的美化模式DemoMode为：${FunctionBuildConfig.isDemoMode}")
}
MogoProtocolMsg.REQ_MAC_ADDRESS -> {
val carConfig = MessagePad.CarConfigResp.parseFrom(msg.body)
AppConfigInfo.plateNumber = carConfig.plateNumber
AppConfigInfo.iPCMacAddress = carConfig.macAddress
AppConfigInfo.dockerVersion = carConfig.dockVersion
invokeNettyConnResult(
"司机屏发送给乘客屏配置信息为:${
TextFormat.printer().escapingNonAscii(false).printToString(carConfig)
@@ -77,11 +79,20 @@ class TeleMsgHandler : IMsgHandler {
MoGoAiCloudClientConfig.getInstance().sn
)
}
// SN
10 -> {
val sn = String(it.body)
isReceiveSN = true
NettyTcpClient.sSERVER_SN = sn
}
// 美化模式是否忽略条件直接绘制
11 -> {
FunctionBuildConfig.isIgnoreConditionsDrawAutopilotTrajectoryData = when (it.body[0].toInt()) {
1 -> true
else -> false
}
invokeNettyConnResult("乘客屏收到的美化模式isIgnore为：${FunctionBuildConfig.isIgnoreConditionsDrawAutopilotTrajectoryData}")
}
else -> {
}
}
@@ -139,17 +150,8 @@ class TeleMsgHandler : IMsgHandler {
override fun handleClientConn2Server(channel: Channel?) {
val socketAddress = channel?.remoteAddress().toString()
CallerLogger.d("${SceneConstant.M_ADAS_IMPL}$TAG", "Client ip is:${socketAddress}")
val byteArray =
if (FunctionBuildConfig.isDemoMode) byteArrayOf(1) else byteArrayOf(0)
NSDNettyManager.getInstance().sendMsgToSpecifiedClient(
MogoProtocolMsg(
MogoProtocolMsg.SYNC_MODE_STATUS,
byteArray.size,
byteArray
), channel
) {
CallerLogger.d("${SceneConstant.M_ADAS_IMPL}$TAG", "同步美化模式状态是否成功：${it.isSuccess}")
}
setDemoMode(FunctionBuildConfig.isDemoMode)
setIgnoreConditionDraw(FunctionBuildConfig.isIgnoreConditionsDrawAutopilotTrajectoryData)
}
override fun handleClientConnStatus(statusCode: Int, content: String?, channel: Channel) {
@@ -162,7 +164,7 @@ class TeleMsgHandler : IMsgHandler {
if (isReceiveSN) {
isReceiveSN = false
}
AdasManager.getInstance().startDispatchHandler()
// AdasManager.getInstance().startDispatchHandler()
ToastUtils.showShort("连接司机屏成功!")
invokeNettyConnResult("乘客屏连接司机屏成功")
val byteArray = byteArrayOf(0)

1
core/function-impl/mogo-core-function-devatools/build.gradle
View File

@@ -82,7 +82,6 @@ dependencies {
implementation rootProject.ext.dependencies.androidxconstraintlayout
implementation rootProject.ext.dependencies.androidxrecyclerview
implementation rootProject.ext.dependencies.flexbox
if (Boolean.valueOf(USE_MAVEN_PACKAGE)) {
implementation rootProject.ext.dependencies.mogoserviceapi
implementation rootProject.ext.dependencies.modulecommon

9
core/function-impl/mogo-core-function-devatools/src/main/java/com/zhjt/mogo_core_function_devatools/DevaToolsProvider.kt
View File

@@ -12,6 +12,7 @@ import com.mogo.eagle.core.data.deva.scene.SceneTAG
import com.mogo.eagle.core.function.api.devatools.IDevaToolsProvider
import com.zhjt.mogo_core_function_devatools.badcase.BadCaseManager
import com.zhjt.mogo_core_function_devatools.logcatch.MogoLogCatchManager
import com.zhjt.mogo_core_function_devatools.monitor.MonitorManager
import com.zhjt.mogo_core_function_devatools.scene.SceneManager.Companion.sceneManager
import com.zhjt.mogo_core_function_devatools.status.*
import com.zhjt.mogo_core_function_devatools.trace.TraceManager.Companion.traceManager
@@ -110,4 +111,12 @@ class DevaToolsProvider : IDevaToolsProvider {
override fun hideStatusBar() {
StatusManager.hide()
}
override fun startMonitor() {
mContext?.let { MonitorManager.getInstance(it)?.startMonitor() }
}
override fun stopMonitor() {
mContext?.let { MonitorManager.getInstance(it)?.stopMonitor() }
}
}

108
core/function-impl/mogo-core-function-devatools/src/main/java/com/zhjt/mogo_core_function_devatools/monitor/CpuMonitor.kt Normal file
View File

@@ -0,0 +1,108 @@
package com.zhjt.mogo_core_function_devatools.monitor
import android.annotation.SuppressLint
import android.content.Context
import android.os.Process
import android.util.Log
import com.zhjt.mogo_core_function_devatools.monitor.db.CpuInfo
import com.zhjt.mogo_core_function_devatools.monitor.db.MonitorDb
import com.zhjt.mogo_core_function_devatools.monitor.utils.CpuUtils
import java.text.SimpleDateFormat
class CpuMonitor private constructor(var context: Context) {
var isRunning = false
private val pid by lazy {
Process.myPid()
}
private val cpuInfoList by lazy {
ArrayList<CpuInfo>()
}
private val dateFormat by lazy {
SimpleDateFormat("yyyy-MM-dd HH:mm:ss")
}
companion object {
private const val TAG = "CpuMonitor"
const val INTERVAL_PERF = 1000L
@SuppressLint("StaticFieldLeak")
@Volatile
private var sInstance: CpuMonitor? = null
fun getInstance(context: Context): CpuMonitor? {
if (sInstance == null) {
synchronized(CpuMonitor::class.java) {
if (sInstance == null) {
sInstance = CpuMonitor(context)
}
}
}
return sInstance
}
}
/**
* 请先运行Shizuku的服务
*/
@Synchronized
fun startRun() {
if (!isRunning) {
Thread(CpuRunnable()).start()
isRunning = true
}
}
@Synchronized
fun isStarted() = isRunning
@Synchronized
fun stop() {
isRunning = false
}
fun saveCpuInfos() {
synchronized(this) {
MonitorDb.getDb(context).monitorDao().saveAllCpuInfos(*cpuInfoList.toTypedArray())
cpuInfoList.clear()
}
}
private fun getCpuValue(): Double {
var value = 0.0
try {
// 应用获取当前进程CPU使用时间，Binder服务端获取系统CPU时间，中间用耗时，不如使用top命令
// value = UserServiceManager.getCpuUsage(Process.myPid())
value = CpuUtils.getCpuUsageForO()
return value
} catch (e: Exception) {
Log.e(TAG, e.message ?: "未知异常!")
}
return value
}
inner class CpuRunnable : Runnable {
override fun run() {
while (isRunning) {
val cpu = getCpuValue()
if (cpu > 0) {
synchronized(this@CpuMonitor) {
cpuInfoList.add(
CpuInfo(
saveTime = dateFormat.format(System.currentTimeMillis()),
cpuPercent = cpu
)
)
}
}
try {
Thread.sleep(INTERVAL_PERF)
} catch (e: InterruptedException) {
e.printStackTrace()
}
}
}
}
}

121
core/function-impl/mogo-core-function-devatools/src/main/java/com/zhjt/mogo_core_function_devatools/monitor/MemMonitor.kt Normal file
View File

@@ -0,0 +1,121 @@
package com.zhjt.mogo_core_function_devatools.monitor
import android.annotation.SuppressLint
import android.content.Context
import android.os.Process.myPid
import android.util.Log
import com.zhjt.mogo_core_function_devatools.monitor.db.MemInfo
import com.zhjt.mogo_core_function_devatools.monitor.db.MonitorDb
import com.zhjt.mogo_core_function_devatools.monitor.utils.HookUtils
import com.zhjt.mogo_core_function_devatools.monitor.utils.MemUtils
import java.text.SimpleDateFormat
class MemMonitor private constructor(var context: Context) {
var isRunning = false
private val memInfoList by lazy {
ArrayList<MemInfo>()
}
private val dateFormat by lazy {
SimpleDateFormat("yyyy-MM-dd HH:mm:ss")
}
companion object {
private const val TAG = "MemMonitor"
const val INTERVAL_PERF = 1000L
@SuppressLint("StaticFieldLeak")
@Volatile
private var sInstance: MemMonitor? = null
fun getInstance(context: Context): MemMonitor? {
if (sInstance == null) {
synchronized(MemMonitor::class.java) {
if (sInstance == null) {
sInstance = MemMonitor(context)
}
}
}
return sInstance
}
}
@Synchronized
fun startRun() {
if (!isRunning) {
Thread(MemoryRunnable()).start()
isRunning = true
}
}
@Synchronized
fun isStarted() = isRunning
@Synchronized
fun stop() {
isRunning = false
}
fun saveMemInfos() {
synchronized(this) {
MonitorDb.getDb(context).monitorDao().saveAllMemInfos(*memInfoList.toTypedArray())
memInfoList.clear()
}
}
/**
* 单位MB
*/
private fun getMemoryValue(): Double {
var value = 0.0
try {
value = MemUtils.getPssMemValue(context, intArrayOf(myPid()))
return value
} catch (e: Exception) {
Log.e(TAG, e.message ?: "未知异常!")
}
return value
}
/**
* 单位MB
*/
private fun getMemoryArray(): DoubleArray {
var value = doubleArrayOf()
try {
value = MemUtils.getPssArray(context, intArrayOf(myPid()))
return value
} catch (e: Exception) {
Log.e(TAG, e.message ?: "未知异常!")
}
return value
}
inner class MemoryRunnable : Runnable {
override fun run() {
while (isRunning) {
// 0: 总PSS，1: dalvik总Pss, 2: native总Pss, 3: other总Pss
val pssArray = getMemoryArray()
if (pssArray[0] > 0) {
synchronized(this@MemMonitor) {
memInfoList.add(
MemInfo(
saveTime = dateFormat.format(System.currentTimeMillis()),
totalPss = pssArray[0],
dalvikPss = pssArray[1],
nativePss = pssArray[2],
otherPss = pssArray[3]
)
)
}
}
try {
Thread.sleep(INTERVAL_PERF)
} catch (e: InterruptedException) {
e.printStackTrace()
}
}
}
}
}

64
core/function-impl/mogo-core-function-devatools/src/main/java/com/zhjt/mogo_core_function_devatools/monitor/MonitorManager.kt Normal file
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package com.zhjt.mogo_core_function_devatools.monitor
import android.annotation.SuppressLint
import android.content.Context
import android.os.Looper
import com.mogo.eagle.core.utilcode.util.ToastUtils
import java.util.*
class MonitorManager private constructor(var context: Context) {
private var timer: Timer? = null
private var isStarted = false
companion object {
@SuppressLint("StaticFieldLeak")
@Volatile
private var sInstance: MonitorManager? = null
fun getInstance(context: Context): MonitorManager? {
if (sInstance == null) {
synchronized(MonitorManager::class.java) {
if (sInstance == null) {
sInstance = MonitorManager(context)
}
}
}
return sInstance
}
}
/**
* 主线程中执行
*/
fun startMonitor() {
if (Thread.currentThread() == Looper.getMainLooper().thread) {
if (!isStarted) {
CpuMonitor.getInstance(context)?.startRun()
MemMonitor.getInstance(context)?.startRun()
if (timer == null) {
timer = Timer()
}
timer!!.schedule(object : TimerTask() {
override fun run() {
CpuMonitor.getInstance(context)?.saveCpuInfos()
MemMonitor.getInstance(context)?.saveMemInfos()
}
}, 1000, 60000)
isStarted = true
ToastUtils.showShort("性能监控启动成功!")
} else {
ToastUtils.showShort("性能监控已启动，请勿重复启动!")
}
}
}
fun stopMonitor() {
CpuMonitor.getInstance(context)?.stop()
MemMonitor.getInstance(context)?.stop()
timer?.cancel()
timer = null
isStarted = false
ToastUtils.showShort("性能监控停止成功!")
}
}

18
core/function-impl/mogo-core-function-devatools/src/main/java/com/zhjt/mogo_core_function_devatools/monitor/db/CpuInfo.kt Normal file
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package com.zhjt.mogo_core_function_devatools.monitor.db
import androidx.room.ColumnInfo
import androidx.room.Entity
import androidx.room.PrimaryKey
@Entity(tableName = "t_cpu")
data class CpuInfo(
@PrimaryKey(autoGenerate = true)
@ColumnInfo(name = "id")
val uuid: Long = 0,
@ColumnInfo(name = "save_time")
val saveTime: String?,
@ColumnInfo(name = "cpu_percent")
val cpuPercent: Double
)

27
core/function-impl/mogo-core-function-devatools/src/main/java/com/zhjt/mogo_core_function_devatools/monitor/db/MemInfo.kt Normal file
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package com.zhjt.mogo_core_function_devatools.monitor.db
import androidx.room.ColumnInfo
import androidx.room.Entity
import androidx.room.PrimaryKey
@Entity(tableName = "t_memory")
data class MemInfo(
@PrimaryKey(autoGenerate = true)
@ColumnInfo(name = "id")
val uuid: Long = 0,
@ColumnInfo(name = "save_time")
val saveTime: String,
@ColumnInfo(name = "total_pss")
val totalPss: Double,
@ColumnInfo(name = "dalvik_pss")
val dalvikPss: Double,
@ColumnInfo(name = "native_pss")
val nativePss: Double,
@ColumnInfo(name = "other_pss")
val otherPss: Double
)

24
core/function-impl/mogo-core-function-devatools/src/main/java/com/zhjt/mogo_core_function_devatools/monitor/db/MonitorDao.kt Normal file
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package com.zhjt.mogo_core_function_devatools.monitor.db
import androidx.room.*
@Dao
interface MonitorDao {
@Insert(onConflict = OnConflictStrategy.REPLACE)
fun saveCpu(info: CpuInfo)
@Insert(onConflict = OnConflictStrategy.REPLACE)
fun saveAllCpuInfos(vararg cpuInfo: CpuInfo)
@Insert(onConflict = OnConflictStrategy.REPLACE)
fun saveMemory(info: MemInfo)
@Insert(onConflict = OnConflictStrategy.REPLACE)
fun saveAllMemInfos(vararg memInfo: MemInfo)
@Query("SELECT * FROM t_cpu WHERE id =:id")
fun getAllCPUById(id: Long): List<CpuInfo>
@Query("SELECT * FROM t_memory WHERE id =:id")
fun getAllMemById(id: Long): List<MemInfo>
}

27
core/function-impl/mogo-core-function-devatools/src/main/java/com/zhjt/mogo_core_function_devatools/monitor/db/MonitorDb.kt Normal file
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package com.zhjt.mogo_core_function_devatools.monitor.db
import android.content.Context
import androidx.room.Database
import androidx.room.Room
import androidx.room.RoomDatabase
@Database(entities = [CpuInfo::class, MemInfo::class], version = 1, exportSchema = false)
abstract class MonitorDb: RoomDatabase() {
abstract fun monitorDao(): MonitorDao
companion object {
const val INTERNAL_DB_NAME = "mogo_monitor.db"
private var db: MonitorDb? = null
@JvmStatic
fun getDb(context: Context): MonitorDb {
if (db == null) {
db = Room.databaseBuilder(context.applicationContext, MonitorDb::class.java, INTERNAL_DB_NAME)
.fallbackToDestructiveMigration()
.build()
}
return db!!
}
}
}

17
core/function-impl/mogo-core-function-devatools/src/main/java/com/zhjt/mogo_core_function_devatools/monitor/remote/IUserInterface.java Normal file
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package com.zhjt.mogo_core_function_devatools.monitor.remote;
import android.os.IBinder;
import android.os.IInterface;
import android.os.RemoteException;
public interface IUserInterface extends IInterface {
String DESCRIPTOR = "rikka.shizuku.demo.IUserInterface";
int TRANSACTION_exec = IBinder.FIRST_CALL_TRANSACTION;
int TRANSACTION_getCpuUsage = IBinder.FIRST_CALL_TRANSACTION + 1;
String exec(String cmd) throws RemoteException;
double getCpuUsage(int pid) throws RemoteException;
}

141
core/function-impl/mogo-core-function-devatools/src/main/java/com/zhjt/mogo_core_function_devatools/monitor/remote/RemoteUserServiceImp.java Normal file
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package com.zhjt.mogo_core_function_devatools.monitor.remote;
import android.os.Binder;
import android.os.IBinder;
import android.os.IInterface;
import android.os.Parcel;
import android.os.RemoteException;
import androidx.annotation.NonNull;
import androidx.annotation.Nullable;
import com.zhjt.mogo_core_function_devatools.monitor.utils.CpuUtils;
/**
* Server端Binder类
*/
public class RemoteUserServiceImp extends Binder implements IUserInterface {
public RemoteUserServiceImp() {
attachInterface(this, DESCRIPTOR);
}
public static IUserInterface asInterface(IBinder obj) {
if ((obj == null)) {
return null;
}
IInterface iin = obj.queryLocalInterface(DESCRIPTOR);
if (iin instanceof IUserInterface) {
return ((IUserInterface) iin);
}
return new Proxy(obj);
}
@Override
public String exec(String cmd) throws RemoteException {
return "";
}
@Override
public double getCpuUsage(int pid) throws RemoteException {
return CpuUtils.getCpuUsagePercentWithPid(pid);
}
/**
* 处理Client端请求
*
* @param code
* @param data
* @param reply
* @param flags
* @return
* @throws RemoteException
*/
@Override
protected boolean onTransact(int code, @NonNull Parcel data, @Nullable Parcel reply, int flags) throws RemoteException {
final String descriptor = DESCRIPTOR;
switch (code) {
case TRANSACTION_exec:
data.enforceInterface(descriptor);
String _arg0;
_arg0 = data.readString();
String _result = this.exec(_arg0);
reply.writeNoException();
reply.writeString(_result);
return true;
default:
return super.onTransact(code, data, reply, flags);
}
}
@Nullable
@Override
public String getInterfaceDescriptor() {
return super.getInterfaceDescriptor();
}
/**
* 返回给Client端并被封装成BinderProxy
*
* @return
*/
@Override
public IBinder asBinder() {
return this;
}
public static class Proxy implements IUserInterface {
private IBinder mRemote;
public Proxy(IBinder remote) {
mRemote = remote;
}
public String getInterfaceDescriptor() {
return DESCRIPTOR;
}
@Override
public IBinder asBinder() {
// 返回Server端Binder对象
return mRemote;
}
@Override
public String exec(String cmd) throws RemoteException {
// 参数传递给Server端并挂起当前线程，等待Server端执行完返回结果
Parcel _data = Parcel.obtain();
Parcel _reply = Parcel.obtain();
String _result;
try {
_data.writeInterfaceToken(DESCRIPTOR);
_data.writeString(cmd);
mRemote.transact(TRANSACTION_exec, _data, _reply, 0);
_reply.readException();
_result = _reply.readString();
} finally {
_reply.recycle();
_data.recycle();
}
return _result;
}
@Override
public double getCpuUsage(int pid) throws RemoteException {
Parcel _data = Parcel.obtain();
Parcel _reply = Parcel.obtain();
double _result;
try {
_data.writeInterfaceToken(DESCRIPTOR);
_data.writeInt(pid);
mRemote.transact(TRANSACTION_getCpuUsage, _data, _reply, 0);
_reply.readException();
_result = _reply.readDouble();
} finally {
_reply.recycle();
_data.recycle();
}
return _result;
}
}
}

182
core/function-impl/mogo-core-function-devatools/src/main/java/com/zhjt/mogo_core_function_devatools/monitor/remote/UserServiceManager.kt Normal file
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package com.zhjt.mogo_core_function_devatools.monitor.remote
//import rikka.shizuku.Shizuku
//import android.content.ServiceConnection
//import android.content.ComponentName
//import android.os.IBinder
//import rikka.shizuku.Shizuku.UserServiceArgs
//import android.content.pm.PackageManager
//import android.util.Log
//import com.mogo.eagle.core.utilcode.util.AppUtils
//import com.mogo.eagle.core.utilcode.util.ToastUtils
//import rikka.shizuku.Shizuku.OnBinderReceivedListener
//import rikka.shizuku.Shizuku.OnBinderDeadListener
//import rikka.shizuku.Shizuku.OnRequestPermissionResultListener
//import java.lang.StringBuilder
object UserServiceManager {
// private const val TAG = "UserServiceManager"
// private const val REQUEST_CODE_BIND = 1
// private const val REQUEST_CODE_UNBIND = 2
//
// private var userServiceProxy: IUserInterface? = null
// private var isFirst = true
//
// fun init() {
// if (isFirst) {
// addListener()
// isFirst = false
// }
// bindUserService()
// }
//
// fun stopService() {
// removeListener()
// unbindUserService()
// }
//
// fun isServiceActive(): Boolean {
// var isActive = false
// val service = userServiceProxy
// if (service != null && service is IBinder && service.isBinderAlive) {
// isActive = true
// }
// return isActive
// }
//
// private fun addListener() {
// Shizuku.addBinderReceivedListenerSticky(BINDER_RECEIVED_LISTENER)
// Shizuku.addBinderDeadListener(BINDER_DEAD_LISTENER)
// Shizuku.addRequestPermissionResultListener(REQUEST_PERMISSION_RESULT_LISTENER)
// }
//
// private fun removeListener() {
// Shizuku.removeBinderReceivedListener(BINDER_RECEIVED_LISTENER)
// Shizuku.removeBinderDeadListener(BINDER_DEAD_LISTENER)
// Shizuku.removeRequestPermissionResultListener(REQUEST_PERMISSION_RESULT_LISTENER)
// }
//
// private fun bindUserService() {
// if (checkPermission(REQUEST_CODE_BIND)) {
// val res = StringBuilder()
// try {
// if (Shizuku.getVersion() < 10) {
// res.append("requires Shizuku API 10")
// } else {
// Shizuku.bindUserService(userServiceArgs, userServiceConnection)
// }
// } catch (tr: Throwable) {
// tr.printStackTrace()
// res.append(tr.toString())
// }
// }
// }
//
// private fun unbindUserService() {
// if (checkPermission(REQUEST_CODE_UNBIND)) {
// val res = StringBuilder()
// try {
// if (Shizuku.getVersion() < 10) {
// res.append("requires Shizuku API 10")
// } else {
// Shizuku.unbindUserService(userServiceArgs, userServiceConnection, true)
// }
// } catch (tr: Throwable) {
// tr.printStackTrace()
// res.append(tr.toString())
// }
// }
// }
//
// fun exec(cmd: String): String {
// return userServiceProxy?.exec(cmd) ?: ""
// }
//
// /**
// * 单位：%，保留1位小数
// */
// fun getCpuUsage(pid: Int): Double {
// return userServiceProxy?.getCpuUsage(pid) ?: -1.0
// }
//
// private val userServiceConnection: ServiceConnection = object : ServiceConnection {
// override fun onServiceConnected(componentName: ComponentName, binder: IBinder?) {
// if (binder != null && binder.pingBinder()) {
// val service = RemoteUserServiceImp.asInterface(binder)
// userServiceProxy = service
// ToastUtils.showShort("监控权限获取成功!")
// }
// }
//
// override fun onServiceDisconnected(componentName: ComponentName) {}
// }
//
// private val userServiceArgs by lazy {
// val appInfo = AppUtils.getAppInfo()
// UserServiceArgs(
// ComponentName(
// appInfo?.packageName ?: "com.mogo.launcher.f",
// RemoteUserServiceImp::class.java.name
// )
// )
// .daemon(false)
// .processNameSuffix("service")
// .debuggable(true)
// .version(appInfo?.versionCode ?: 1)
// }
//
// private fun checkPermission(code: Int): Boolean {
// if (Shizuku.isPreV11()) {
// Log.w(TAG, "Version is preV11!")
// return false
// }
// try {
// return if (Shizuku.checkSelfPermission() == PackageManager.PERMISSION_GRANTED) {
// true
// } else if (Shizuku.shouldShowRequestPermissionRationale()) {
// Log.e(TAG, "User denied permission (shouldShowRequestPermissionRationale=true)")
// false
// } else {
// Shizuku.requestPermission(code)
// false
// }
// } catch (e: Throwable) {
// Log.e(TAG, Log.getStackTraceString(e))
// ToastUtils.showLong("请先打开Shizuku并启动它！")
// }
// return false
// }
//
// private fun onRequestPermissionsResult(requestCode: Int, grantResult: Int) {
// if (grantResult == PackageManager.PERMISSION_GRANTED) {
// when (requestCode) {
// REQUEST_CODE_BIND -> {
// bindUserService()
// }
// REQUEST_CODE_UNBIND -> {
// unbindUserService()
// }
// else -> {}
// }
// } else {
// Log.e(TAG, "User denied permission")
// }
// }
//
// private val BINDER_RECEIVED_LISTENER = OnBinderReceivedListener {
// if (Shizuku.isPreV11()) {
// Log.w(TAG, "Shizuku pre-v11 is not supported")
// } else {
// Log.d(TAG, "Binder received")
// }
// }
// private val BINDER_DEAD_LISTENER = OnBinderDeadListener { Log.w(TAG, "Binder dead") }
// private val REQUEST_PERMISSION_RESULT_LISTENER =
// OnRequestPermissionResultListener { requestCode: Int, grantResult: Int ->
// onRequestPermissionsResult(
// requestCode,
// grantResult
// )
// }
}

298
core/function-impl/mogo-core-function-devatools/src/main/java/com/zhjt/mogo_core_function_devatools/monitor/utils/CpuUtils.java Normal file
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package com.zhjt.mogo_core_function_devatools.monitor.utils;
import android.os.Process;
import android.text.TextUtils;
import java.io.BufferedReader;
import java.io.File;
import java.io.FileNotFoundException;
import java.io.FileReader;
import java.io.IOException;
import java.io.InputStreamReader;
import java.io.RandomAccessFile;
/**
* CPU相关工具类。
*/
public class CpuUtils {
private static boolean initCpu = true;
private static double oCpu = 0.0;
private static double oIdle = 0.0;
private static double pJif = 0.0;
private static double pCpu = 0.0;
private static double aCpu = 0.0;
private static double opCpu = 0.0;
private static double oaCpu = 0.0;
/**
* 8.0以上获取cpu的方式
*
* @return
*/
public static double getCpuUsageForO() {
java.lang.Process process = null;
try {
process = Runtime.getRuntime().exec("top -n 1");
BufferedReader reader = new BufferedReader(new InputStreamReader(process.getInputStream()));
String line;
int cpuIndex = -1;
while ((line = reader.readLine()) != null) {
line = line.trim();
if (TextUtils.isEmpty(line)) {
continue;
}
int tempIndex = getCPUIndex(line);
if (tempIndex != -1) {
cpuIndex = tempIndex;
continue;
}
if (line.startsWith(String.valueOf(Process.myPid()))) {
if (cpuIndex == -1) {
continue;
}
String[] param = line.split("\\s+");
if (param.length <= cpuIndex) {
continue;
}
String cpu = param[cpuIndex];
if (cpu.endsWith("%")) {
cpu = cpu.substring(0, cpu.lastIndexOf("%"));
}
return Double.parseDouble(cpu) / Runtime.getRuntime().availableProcessors();
}
}
} catch (IOException e) {
e.printStackTrace();
} finally {
if (process != null) {
process.destroy();
}
}
return 0;
}
private static int getCPUIndex(String line) {
if (line.contains("CPU")) {
String[] titles = line.split("\\s+");
for (int i = 0; i < titles.length; i++) {
if (titles[i].contains("CPU")) {
return i;
}
}
}
return -1;
}
/**
* 获取应用的CPU占用率，单位：%，保留1位小数
* @param pid
* @return
*/
public static double getCpuUsagePercentWithPid(int pid) {
double usage = 0.0;
String[] result1;
String[] result2;
if (pid >= 0) {
result1 = getCpuWithPid(pid);
if (null != result1) {
pCpu = Double.parseDouble(result1[1])
+ Double.parseDouble(result1[2]);
}
result2 = getSystemCpu();
if (null != result2) {
aCpu = 0.0;
for (int i = 2; i < result2.length; i++) {
if (result2[i] != null) {
aCpu += Double.parseDouble(result2[i]);
}
}
}
if ((aCpu - oaCpu) != 0) {
usage = DoubleUtils.div(((pCpu - opCpu) * 100.00),
(aCpu - oaCpu), 1);
if (usage < 0) {
usage = 0;
}
else if (usage > 100)
{
usage = 100;
}
}
opCpu = pCpu;
oaCpu = aCpu;
}
pJif = pCpu;
return usage;
}
/**
* 获取CPU使用率
*
* @return CPU使用率，单位：%
*/
public static double getSysCpuUsagePercent() {
double usage = 0.0;
if (initCpu) {
initCpu = false;
RandomAccessFile reader = null;
try {
reader = new RandomAccessFile("/proc/stat",
"r");
String load;
load = reader.readLine();
String[] toks = load.split(" ");
oIdle = Double.parseDouble(toks[5]);
oCpu = Double.parseDouble(toks[2])
+ Double.parseDouble(toks[3])
+ Double.parseDouble(toks[4])
+ Double.parseDouble(toks[6])
+ Double.parseDouble(toks[8])
+ Double.parseDouble(toks[7]);
} catch (IOException e) {
e.printStackTrace();
}
finally
{
FileUtil.closeRandomAccessFile(reader);
}
} else {
RandomAccessFile reader = null;
try {
reader = new RandomAccessFile("/proc/stat", "r");
String load;
load = reader.readLine();
String[] toks = load.split(" ");
double cIdle = Double.parseDouble(toks[5]);
double cCpu = Double.parseDouble(toks[2])
+ Double.parseDouble(toks[3])
+ Double.parseDouble(toks[4])
+ Double.parseDouble(toks[6])
+ Double.parseDouble(toks[8])
+ Double.parseDouble(toks[7]);
if (0 != ((cCpu + cIdle) - (oCpu + oIdle))) {
usage = DoubleUtils.div((100.00 * ((cCpu - oCpu))),
((cCpu + cIdle) - (oCpu + oIdle)), 1);
if (usage < 0) {
usage = 0;
}
else if (usage > 100)
{
usage = 100;
}
}
oCpu = cCpu;
oIdle = cIdle;
} catch (IOException e) {
e.printStackTrace();
} finally {
FileUtil.closeRandomAccessFile(reader);
}
}
return usage;
}
private static String[] getCpuWithPid(int pid) {
String cpuPath = "/proc/" + pid + "/stat";
String cpu = "";
String[] result = new String[3];
File f = new File(cpuPath);
// 部分进程信息无法读取
if (!f.exists() || !f.canRead())
{
return result;
}
FileReader fr = null;
BufferedReader localBufferedReader = null;
try {
fr = new FileReader(f);
localBufferedReader = new BufferedReader(fr, 8192);
cpu = localBufferedReader.readLine();
if (null != cpu) {
String[] cpuSplit = cpu.split(" ");
result[0] = cpuSplit[1];
result[1] = cpuSplit[13];
result[2] = cpuSplit[14];
}
}catch (IOException e) {
e.printStackTrace();
}
FileUtil.closeReader(localBufferedReader);
return result;
}
private static String[] getSystemCpu() {
String cpuPath = "/proc/stat";
String cpu = "";
String[] result = new String[7];
File f = new File(cpuPath);
if (!f.exists() || !f.canRead())
{
return result;
}
FileReader fr = null;
BufferedReader localBufferedReader = null;
try {
fr = new FileReader(f);
localBufferedReader = new BufferedReader(fr, 8192);
cpu = localBufferedReader.readLine();
if (null != cpu) {
result = cpu.split(" ");
}
} catch (FileNotFoundException e) {
e.printStackTrace();
} catch (IOException e) {
e.printStackTrace();
}
FileUtil.closeReader(localBufferedReader);
return result;
}
public static String getCpuUsageByCmd() {
java.lang.Process process;
StringBuilder sb = new StringBuilder();
String line;
String cmd = "dumpsys cpuinfo";
try {
process = Runtime.getRuntime().exec(
new String[] { "sh", "-c", cmd });
BufferedReader br = new BufferedReader(new InputStreamReader(
process.getInputStream()));
while (((line = br.readLine()) != null)) {
// 去掉空白行数据
line = line.trim();
if (line.equals("")) {
continue;
}
sb.append(line);
sb.append("\r\n");
}
try {
process.waitFor();
} catch (InterruptedException e) {
e.printStackTrace();
}
} catch (IOException e) {
e.printStackTrace();
}
return sb.toString();
}
/**
* 获取进程的CPU使用时间片
*
* @return 进程的CPU使用时间片
*/
public long getJif() {
return (long)pJif;
}
}

44
core/function-impl/mogo-core-function-devatools/src/main/java/com/zhjt/mogo_core_function_devatools/monitor/utils/DoubleUtils.kt Normal file
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package com.zhjt.mogo_core_function_devatools.monitor.utils
import java.lang.Exception
import java.math.BigDecimal
object DoubleUtils {
fun mul(d1: Double, d2: Double): Double {
val bd1 = BigDecimal(d1.toString())
val bd2 = BigDecimal(d2.toString())
return try {
bd1.multiply(bd2).toDouble()
} catch (e: Exception) {
e.printStackTrace()
0.0
}
}
@JvmStatic
fun div(d1: Double, d2: Double, scale: Int): Double {
val bd1 = BigDecimal(d1.toString())
val bd2 = BigDecimal(d2.toString())
return try {
// 直接向下取整
bd1.divide(bd2, scale, BigDecimal.ROUND_DOWN).toDouble()
} catch (e: Exception) {
e.printStackTrace()
0.0
}
}
/**
* 四舍五入
* scale:保留多少个小数位
*/
@JvmStatic
fun keepDecimal(v: Double, scale: Int = 1): Double {
if (scale < 0) {
throw IllegalArgumentException("The scale must be a positive integer or zero")
}
return BigDecimal(v).setScale(scale, BigDecimal.ROUND_HALF_UP).toDouble()
}
}

304
core/function-impl/mogo-core-function-devatools/src/main/java/com/zhjt/mogo_core_function_devatools/monitor/utils/FileUtil.kt Normal file
View File

@@ -0,0 +1,304 @@
package com.zhjt.mogo_core_function_devatools.monitor.utils
import android.net.LocalSocket
import android.util.Log
import java.io.*
import java.lang.Exception
import java.net.Socket
import java.nio.channels.FileChannel
object FileUtil {
private const val TAG = "FileUtil"
const val separator = "/"
fun isPathStringValid(path: String?): Boolean {
if (null == path || path.isEmpty()) {
return false
}
if (path.contains(":") || path.contains("*") || path.contains("?")
|| path.contains("\"") || path.contains("<")
|| path.contains(">") || path.contains("|")
) {
Log.w(TAG, "filename can not contains:*:?\"<>|")
return false
}
return true
}
fun isPath(path: String): Boolean {
return path.contains(separator) || path.contains("\\")
}
fun getPath(path: String): String {
val la = path.lastIndexOf(separator)
return path.substring(0, la)
}
fun convertValidFilePath(path: String, defPosfix: String): String {
var filePath = path
if (path.contains(separator) || path.contains("\\")) {
val la = filePath.lastIndexOf(".")
if (la < 0) {
filePath = path + defPosfix
} else {
val temp = filePath.substring(la)
if (temp.contains(separator) || temp.contains("\\")) {
// "."是目录名的一部分而不是后缀名的情况
filePath = path + defPosfix
}
// else fileName = fileName
}
} else {
if (!path.contains(".")) // 没有有后缀
{
filePath = filePath + defPosfix
}
}
return filePath
}
fun isFileExists(file: String?): Boolean {
try {
val f = File(file)
if (!f.exists()) {
return false
}
} catch (e: Exception) {
e.printStackTrace()
return false
}
return true
}
fun isFileValid(f: File): Boolean {
if (!f.exists()) {
try {
f.createNewFile()
} catch (e: IOException) {
return false
}
f.delete()
}
return true
}
fun isFileValid(parent: File?, name: String?): Boolean {
val f = File(parent, name)
return isFileValid(f)
}
/**
* 删除存在的文件
*
* @param filePath
*/
fun delExistFile(filePath: String?) {
val f = File(filePath)
if (f.exists()) f.delete()
}
/**
* 关闭bufferReader
*
* @param br
*/
@JvmStatic
fun closeReader(br: Reader?) {
if (br != null) {
try {
br.close()
} catch (e: IOException) {
e.printStackTrace()
}
}
}
/**
* 关闭Writer
*
* @param wr
*/
fun closeWriter(wr: Writer?) {
if (wr != null) {
try {
wr.close()
} catch (e: IOException) {
e.printStackTrace()
}
}
}
/**
* flush Writer
*
* @param wr
*/
fun flushWriter(wr: Writer?) {
if (wr != null) {
try {
wr.flush()
} catch (e: IOException) {
e.printStackTrace()
}
}
}
/**
* 输入流的关闭
*
* @param in
*/
fun closeInputStream(`in`: InputStream?) {
if (`in` != null) {
try {
`in`.close()
} catch (e: IOException) {
e.printStackTrace()
}
}
}
/**
* 输出流的关闭
*
* @param out
*/
fun closeOutputStream(out: OutputStream?) {
if (out != null) {
try {
out.close()
} catch (e: IOException) {
e.printStackTrace()
}
}
}
/**
* 文件管道的关闭
*
* @param chl
*/
fun closeFileChannel(chl: FileChannel?) {
if (chl != null) {
try {
chl.close()
} catch (e: IOException) {
e.printStackTrace()
}
}
}
/**
* RandomAccessFile的关闭
*
* @param f RandomAccessFile对象
*/
@JvmStatic
fun closeRandomAccessFile(f: RandomAccessFile?) {
if (f != null) {
try {
f.close()
} catch (e: IOException) {
e.printStackTrace()
}
}
}
/**
* Socket的关闭
*
* @param s Socket对象
*/
fun colseSocket(s: Socket?) {
if (s != null) {
try {
s.close()
} catch (e: IOException) {
e.printStackTrace()
}
}
}
/**
* LocalSocket的关闭
*
* @param s Socket对象
*/
fun colseLocalSocket(s: LocalSocket?) {
if (s != null) {
try {
s.close()
} catch (e: IOException) {
e.printStackTrace()
}
}
}
fun deleteFile(file: File) {
if (file.exists()) { // 判断文件是否存在
if (file.isFile) { // 判断是否是文件
file.delete() // delete()方法 你应该知道 是删除的意思;
} else if (file.isDirectory) { // 否则如果它是一个目录
val files = file.listFiles() // 声明目录下所有的文件 files[];
for (i in files.indices) { // 遍历目录下所有的文件
deleteFile(files[i]) // 把每个文件 用这个方法进行迭代
}
}
file.delete()
} else {
Log.e(TAG, "文件不存在！" + "n")
}
}
/**
* 拷贝文件
*
* @param s 源文件
* @param t 目标文件
*/
fun copyFile(s: File?, t: File) {
var fi: FileInputStream? = null
var fo: FileOutputStream? = null
var `in`: FileChannel? = null
var out: FileChannel? = null
try {
if (!t.exists()) {
t.createNewFile()
}
fi = FileInputStream(s)
fo = FileOutputStream(t)
`in` = fi.channel
out = fo.channel
// 连接两个通道，并且从in通道读取，然后写入out通道
`in`.transferTo(0, `in`.size(), out)
} catch (e: IOException) {
e.printStackTrace()
} finally {
closeOutputStream(fo)
closeInputStream(fi)
closeFileChannel(`in`)
closeFileChannel(out)
}
}
fun copyInputToFile(`in`: InputStream?, path: String?) {
var bis: BufferedInputStream? = null
var fos: FileOutputStream? = null
try {
val buffer = ByteArray(10 * 1024)
bis = BufferedInputStream(`in`)
fos = FileOutputStream(path)
var a = bis.read(buffer, 0, buffer.size)
while (a != -1) {
fos.write(buffer, 0, a)
fos.flush()
a = bis.read(buffer, 0, buffer.size)
}
} catch (e: Exception) {
e.printStackTrace()
} finally {
closeOutputStream(fos)
closeInputStream(bis)
closeInputStream(`in`)
}
}
}

54
core/function-impl/mogo-core-function-devatools/src/main/java/com/zhjt/mogo_core_function_devatools/monitor/utils/HookUtils.java Normal file
View File

@@ -0,0 +1,54 @@
package com.zhjt.mogo_core_function_devatools.monitor.utils;
import android.os.Debug;
import android.util.Log;
import java.lang.reflect.Field;
public class HookUtils {
private static final String TAG = "HookUtils";
/**
* 单位为MB
* 0: 总PSS，1: dalvik总Pss, 2: native总Pss, 3: other总Pss
* @param memoryInfo
* @return
*/
public static double[] getPssArray(Debug.MemoryInfo memoryInfo) {
double[] pssArray = new double[4];
if (memoryInfo != null) {
double totalPss = DoubleUtils.keepDecimal(memoryInfo.getTotalPss() / 1024.0, 3);
// Log.d(TAG, "===========Hook PSS 开始:===========\n");
// Log.d(TAG, "总PSS内存为：" + totalPss);
pssArray[0] = totalPss;
try {
Field dalvikField = memoryInfo.getClass().getField("dalvikSwappedOutPss");
double dalvikPss = DoubleUtils.keepDecimal(memoryInfo.dalvikPss / 1024.0, 3);
double dalvikSwappedOutPss = DoubleUtils.keepDecimal((int) dalvikField.get(memoryInfo) / 1024.0, 3);
pssArray[1] = dalvikPss + dalvikSwappedOutPss;
// Log.d(TAG, "dalvikPss is:" + dalvikSwappedOutPss);
// Log.d(TAG, "dalvikSwappedOutPss is:" + dalvikPss + "\n\n");
Field nativeField = memoryInfo.getClass().getField("nativeSwappedOutPss");
double nativePss = DoubleUtils.keepDecimal(memoryInfo.nativePss / 1024.0, 3);
double nativeSwappedOutPss = DoubleUtils.keepDecimal((int) nativeField.get(memoryInfo) / 1024.0, 3);
pssArray[2] = nativePss + nativeSwappedOutPss;
// Log.d(TAG, "nativePss is:" + nativePss);
// Log.d(TAG, "nativeSwappedOutPss is:" + nativeSwappedOutPss + "\n\n");
Field otherField = memoryInfo.getClass().getField("otherSwappedOutPss");
double otherPss = DoubleUtils.keepDecimal(memoryInfo.otherPss / 1024.0, 3);
double otherSwappedOutPss = DoubleUtils.keepDecimal((int) otherField.get(memoryInfo) / 1024.0, 3);
pssArray[3] = otherPss + otherSwappedOutPss;
// Log.d(TAG, "otherPss is:" + otherPss);
// Log.d(TAG, "otherSwappedOutPss is:" + otherSwappedOutPss + "\n\n");
//
// Log.d(TAG, "===========Hook PSS 结束!===========\n");
} catch (Exception e) {
e.printStackTrace();
Log.e(TAG, e.getMessage());
}
}
return pssArray;
}
}

180
core/function-impl/mogo-core-function-devatools/src/main/java/com/zhjt/mogo_core_function_devatools/monitor/utils/MemUtils.java Normal file
View File

@@ -0,0 +1,180 @@
package com.zhjt.mogo_core_function_devatools.monitor.utils;
import android.app.ActivityManager;
import android.content.Context;
import android.os.Debug;
import java.lang.reflect.Method;
/**
* 内存信息工具类。
*/
public class MemUtils {
public static double[] getPssArray(Context context, int[] pids) {
Debug.MemoryInfo[] memoryArray = getMemoryInfo(context, pids);
if (memoryArray.length > 0) {
return HookUtils.getPssArray(memoryArray[0]);
} else {
return new double[4];
}
}
/**
* 单位MB
*/
public static double getPssMemValue(Context context, int[] pids) {
double value = 0.0;
Debug.MemoryInfo[] memoryArray = getMemoryInfo(context, pids);
if (memoryArray.length > 0) {
value = DoubleUtils.keepDecimal(memoryArray[0].getTotalPss() / 1024.0, 1);
}
return value;
}
/**
* 只能获取本应用的PSS内存占系统百分比：单位%，保留1位小数
* @return
*/
public static double getPidMemPercent() {
double percent = 0.0;
Debug.MemoryInfo memInfo = new Debug.MemoryInfo();
Debug.getMemoryInfo(memInfo);
int pidTotalPss = memInfo.getTotalPss();
long systemTotalMem = getTotalMem();
percent = DoubleUtils.keepDecimal(pidTotalPss * 100.0 / systemTotalMem, 1);
return percent;
}
/**
* 获取本应用进程总pss内存，单位MB
*/
public static double getPssMem() {
Debug.MemoryInfo memInfo = new Debug.MemoryInfo();
Debug.getMemoryInfo(memInfo);
return DoubleUtils.keepDecimal(memInfo.getTotalPss() / 1024.0, 1);
}
/**
* 获取系统空闲内存占用百分比: 单位%
* @return
*/
public static double getSystemMemPercent() {
double percent = 0.0;
long[] memInfo = getMemInfo();
long free = memInfo[1] + memInfo[2] + memInfo[3];
long total = memInfo[0];
percent = DoubleUtils.keepDecimal(free * 100.0 / total, 1);
return percent;
}
/**
* 获取空闲内存
*
* @return 空闲内存，单位KB
*/
public static long getFreeMem() {
long[] memInfo = getMemInfo();
return memInfo[1] + memInfo[2] + memInfo[3];
}
/**
* 获取总内存
*
* @return 总内存，单位KB
*/
public static long getTotalMem() {
long[] memInfo = getMemInfo();
return memInfo[0];
}
/**
* 获取内存信息：total、free、buffers、cached，单位KB
*
* @return 内存信息
*/
public static long[] getMemInfo() {
long memInfo[] = new long[4];
try {
Class<?> procClazz = Class.forName("android.os.Process");
Class<?> paramTypes[] = new Class[] { String.class, String[].class,
long[].class };
Method readProclines = procClazz.getMethod("readProcLines",
paramTypes);
Object args[] = new Object[3];
final String[] memInfoFields = new String[] { "MemTotal:",
"MemFree:", "Buffers:", "Cached:" };
long[] memInfoSizes = new long[memInfoFields.length];
memInfoSizes[0] = 30;
memInfoSizes[1] = -30;
args[0] = "/proc/meminfo";
args[1] = memInfoFields;
args[2] = memInfoSizes;
if (null != readProclines) {
readProclines.invoke(null, args);
for (int i = 0; i < memInfoSizes.length; i++) {
memInfo[i] = memInfoSizes[i];
}
}
} catch (Exception e) {
e.printStackTrace();
}
return memInfo;
}
public static long[] getHeapNative() {
int Native_HeapSize = 0;
int Native_HeapAlloc = 1;
long[] value = new long[2];
value[Native_HeapSize] = Debug.getNativeHeapSize() >> 10;
value[Native_HeapAlloc] = Debug.getNativeHeapAllocatedSize() >> 10;
return value;
}
public static long[] getHeapDalvik() {
int Total_HeapSize = 0;
int Total_HeapAlloc = 1;
long[] value_total = new long[2];
value_total[Total_HeapSize] = Runtime.getRuntime().totalMemory() >> 10;
value_total[Total_HeapAlloc] = (Runtime.getRuntime().totalMemory() - Runtime
.getRuntime().freeMemory()) >> 10;
long[] value_native = getHeapNative();
int Dalvik_HeapSize = 0;
int Dalvik_HeapAlloc = 1;
long[] value_dalvik = new long[2];
value_dalvik[Dalvik_HeapSize] = value_total[Total_HeapSize]
- value_native[0];
value_dalvik[Dalvik_HeapAlloc] = value_total[Total_HeapAlloc]
- value_native[1];
return value_dalvik;
}
/**
* 获取堆内存数据，精确到KB Get VM Heap Size by calling:
* Runtime.getRuntime().totalMemory(); Get Allocated VM Memory by calling:
* Runtime.getRuntime().totalMemory() - Runtime.getRuntime().freeMemory();
* Get VM Heap Size Limit by calling: Runtime.getRuntime().maxMemory() Get
* Native Allocated Memory by calling: Debug.getNativeHeapAllocatedSize();
*/
public static long[] getVM() {
long[] value = new long[5];
value[0] = (Runtime.getRuntime().totalMemory() - Runtime.getRuntime()
.freeMemory()) >> 10;
value[1] = Runtime.getRuntime().totalMemory() >> 10;
value[2] = Debug.getNativeHeapAllocatedSize() >> 10;
value[3] = Debug.getNativeHeapSize() >> 10;
value[4] = Debug.getGlobalAllocSize() >> 10;
return value;
}
private static Debug.MemoryInfo[] getMemoryInfo(Context context, int[] pids) {
ActivityManager am = (ActivityManager) context.getSystemService(Context.ACTIVITY_SERVICE);
return am.getProcessMemoryInfo(pids);
}
}

72
core/function-impl/mogo-core-function-devatools/src/main/java/com/zhjt/mogo_core_function_devatools/status/entity/Status.kt
View File

@@ -145,7 +145,25 @@ class CanStatus(var enabled: Boolean = false): Status() {
*/
class TracingStatus(var state: Tracing = UNKNOWN): Status() {
enum class Tracing(val code: String? = "") {
enum class Tracing(val code: String? = "", var extra: Map<String, String>? = null) {
/**
* 类型切换
*/
MAP_TRA_TYPE("IMAP_TRA_TYPE"),
/**
* 地图数据存在
*/
MAP_DATA_EXIST("IMAP_DATA_EXIST"),
/**
* 地图数据不存在
*/
MAP_DATA_NOT_EXIST("EMAP_DATA_NOT_EXIST"),
/**
* 寻迹-已找到轨迹文件
*/
@@ -182,12 +200,10 @@ class TracingStatus(var state: Tracing = UNKNOWN): Status() {
UNKNOWN;
fun isException(): Boolean {
val c1 = when (this) {
TRACK_FINDED, TRACK_NOT_EXIST, TRACK_LOAD_FAIL, ROUTE_FAILED, UNKNOWN -> true
else -> false
if (this == TRACK_LOADED || this == ROUTE_LOADED) {
return false
}
val c2 = CallerAutoPilotStatusListenerManager.getAutoPilotStatusInfo().state != IMoGoAutopilotStatusListener.STATUS_AUTOPILOT_DISABLE
return c1 and c2
return true
}
}
@@ -212,14 +228,46 @@ class TracingStatus(var state: Tracing = UNKNOWN): Status() {
override fun isException(): Boolean = state.isException()
}
fun String.toState(): Tracing? {
fun String.toState(msg: String?): Tracing? {
val ss = msg?.split("|")
var extra: Map<String, String>? = null
if (ss != null && ss.isNotEmpty()) {
val sb = StringBuilder()
for (element in ss) {
sb.append(element)
sb.append(",")
}
if (sb.isNotEmpty()) {
sb.setLength(sb.length - 1)
}
extra = mutableMapOf("extra" to sb.toString())
}
return when(this) {
"IMAP_TRA_EXIST" -> TRACK_FINDED
"IMAP_TRA_LOADED" -> TRACK_LOADED
"EMAP_TRA_NOT_EXIST" -> TRACK_NOT_EXIST
"EMAP_TRA_LOAD_FAILED" -> TRACK_LOAD_FAIL
"IMAP_TRA_ROUTING" -> ROUTE_LOADED
"IMAP_TRA_EXIST" -> TRACK_FINDED.apply {
this.extra = extra
}
"IMAP_TRA_LOADED" -> TRACK_LOADED.apply {
this.extra = extra
}
"EMAP_TRA_NOT_EXIST" -> TRACK_NOT_EXIST.apply {
this.extra = extra
}
"EMAP_TRA_LOAD_FAILED" -> TRACK_LOAD_FAIL.apply {
this.extra = extra
}
"IMAP_TRA_ROUTING" -> ROUTE_LOADED.apply {
this.extra = extra
}
"EMAP_HADMAP_ENGINE_NO_ROUTING_INFO" -> ROUTE_FAILED
"IMAP_TRA_TYPE" -> MAP_TRA_TYPE.apply {
this.extra = extra
}
"MAP_DATA_EXIST" -> MAP_DATA_EXIST.apply {
this.extra = extra
}
"MAP_DATA_NOT_EXIST" -> MAP_DATA_NOT_EXIST.apply {
this.extra = extra
}
else -> null
}
}

2
core/function-impl/mogo-core-function-devatools/src/main/java/com/zhjt/mogo_core_function_devatools/status/flow/can/CanImpl.kt
View File

@@ -103,7 +103,7 @@ internal class CanImpl(ctx: Context): IFlow<CanStatus>(ctx), IMoGoAutopilotVehic
private fun timeOutCheck() {
job?.safeCancel()
launch(Dispatchers.Default) {
launch(Dispatchers.Unconfined) {
delay(4000)
send(CanStatus(isCanEnabled()))
}.also { job = it }

16
core/function-impl/mogo-core-function-devatools/src/main/java/com/zhjt/mogo_core_function_devatools/status/flow/gps/GpsImpl.kt
View File

@@ -35,21 +35,29 @@ internal class GpsImpl(ctx: Context): IFlow<GpsStatus>(ctx) {
}
private val onClose = {
send(false, PermissionUtils.isGranted(Manifest.permission.ACCESS_FINE_LOCATION))
send(false, isGrandFineLocation())
}
private val onOpen = {
send(true, PermissionUtils.isGranted(Manifest.permission.ACCESS_FINE_LOCATION))
send(true, isGrandFineLocation())
}
private fun isGrandFineLocation(): Boolean = try {
PermissionUtils.isGranted(Manifest.permission.ACCESS_FINE_LOCATION)
} catch (t: Throwable) {
t.printStackTrace()
false
}
override fun onCreate() {
val isGranted = PermissionUtils.isGranted(Manifest.permission.ACCESS_FINE_LOCATION)
val isGranted = isGrandFineLocation()
send(isLocationEnabled(), isGranted)
if (!isGranted) {
PermissionUtils.requestAccessFineLocation(object : SimpleCallback {
override fun onGranted() {
Log.d(TAG,"权限: ${Manifest.permission.ACCESS_FINE_LOCATION} 被授予了....")
send(enabled = isLocationEnabled(), isGranted = false)
send(enabled = isLocationEnabled(), isGranted = true)
}
override fun onDenied() {

19
core/function-impl/mogo-core-function-devatools/src/main/java/com/zhjt/mogo_core_function_devatools/status/flow/nets/NetsImpl.kt
View File

@@ -78,12 +78,21 @@ internal class NetsImpl(ctx: Context): IFlow<NetStatus>(ctx) {
private var loopCheckAndSendJob: Job? = null
private fun checkAndSend() {
val connectionInfo = wifiMgr.connectionInfo
val enabled = isNetConnected()
val name = if (isLocationEnabled()) connectionInfo.ssid?.replace(Regex("[\\W]"), "") else "WI-FI"
loopCheckAndSendJob?.safeCancel()
launch(Dispatchers.Default) { delay(1000); checkAndSend() }.also { loopCheckAndSendJob = it }
send(enabled, name)
launch(Dispatchers.Unconfined) {
val connectionInfo = wifiMgr.connectionInfo
val enabled = isNetConnected()
val name =
try {
if (isLocationEnabled()) connectionInfo.ssid?.replace(Regex("[\\W]"), "") else "WI-FI"
} catch (t: Throwable) {
t.printStackTrace()
"WI-FI"
}
send(enabled, name)
delay(1000);
checkAndSend()
}.also { loopCheckAndSendJob = it }
}
private fun isLocationEnabled() =

4
core/function-impl/mogo-core-function-devatools/src/main/java/com/zhjt/mogo_core_function_devatools/status/flow/rtk/RTKImpl.kt
View File

@@ -44,7 +44,7 @@ internal class RTKImpl(ctx: Context): IFlow<RTKStatus>(ctx), IMoGoAutopilotStatu
return
}
check?.takeIf { it.isActive }?.cancel()
launch {
launch(Dispatchers.Unconfined) {
CallerAutoPilotManager.sendStatusQueryReq()
delay(5000)
isOldVersion.set(true)
@@ -82,7 +82,7 @@ internal class RTKImpl(ctx: Context): IFlow<RTKStatus>(ctx), IMoGoAutopilotStatu
if (isRTKEnabled()) {
send(RTKStatus("RTK", 0))
timeOutCheck?.takeIf { it.isActive }?.cancel()
launch {
launch(Dispatchers.Unconfined) {
delay(4000)
send(RTKStatus("", -1))
}.also {

14
core/function-impl/mogo-core-function-devatools/src/main/java/com/zhjt/mogo_core_function_devatools/status/flow/trace/TracingImpl.kt
View File

@@ -1,9 +1,9 @@
package com.zhjt.mogo_core_function_devatools.status.flow.trace
import android.content.*
import android.util.*
import com.mogo.eagle.core.data.autopilot.*
import com.mogo.eagle.core.function.api.autopilot.*
import com.mogo.eagle.core.function.api.autopilot.IMoGoAutopilotStatusListener.Companion.STATUS_AUTOPILOT_RUNNING
import com.mogo.eagle.core.function.call.autopilot.*
import com.zhjt.mogo_core_function_devatools.status.entity.*
import com.zhjt.mogo_core_function_devatools.status.entity.TracingStatus.Tracing.*
@@ -20,7 +20,8 @@ internal class TracingImpl(ctx: Context): IFlow<TracingStatus>(ctx), IMoGoAutopi
override fun onCreate() {
val code = CallerAutoPilotStatusListenerManager.getAutoPilotReportMessageCode()
val state = code.toState() ?: UNKNOWN
val msg = CallerAutoPilotStatusListenerManager.getAutoPilotReportMessageContent()
val state = code.toState(msg) ?: UNKNOWN
old = state
send(TracingStatus(state))
CallerAutoPilotStatusListenerManager.addListener(TAG, this)
@@ -30,7 +31,7 @@ internal class TracingImpl(ctx: Context): IFlow<TracingStatus>(ctx), IMoGoAutopi
override fun onAutopilotGuardian(guardianInfo: MogoReportMessage?) {
super.onAutopilotGuardian(guardianInfo)
val current = guardianInfo?.code
val newState = current?.toState()
val newState = current?.toState(guardianInfo.msg)
if (newState != null && newState != old) {
send(TracingStatus(newState))
old = newState
@@ -40,17 +41,20 @@ internal class TracingImpl(ctx: Context): IFlow<TracingStatus>(ctx), IMoGoAutopi
override fun onAutopilotIpcConnectStatusChanged(status: Int, reason: String?) {
super.onAutopilotIpcConnectStatusChanged(status, reason)
if (!CallerAutoPilotManager.isConnected()) {
old = UNKNOWN
send(TracingStatus(UNKNOWN))
}
}
override fun onAutopilotStatusResponse(autoPilotStatusInfo: AutopilotStatusInfo) {
super.onAutopilotStatusResponse(autoPilotStatusInfo)
if (autoPilotStatusInfo.state == IMoGoAutopilotStatusListener.STATUS_AUTOPILOT_DISABLE) {
if (autoPilotStatusInfo.state != STATUS_AUTOPILOT_RUNNING) {
old = UNKNOWN
send(TracingStatus(UNKNOWN))
return
}
if (old.isException() && autoPilotStatusInfo.state == IMoGoAutopilotStatusListener.STATUS_AUTOPILOT_RUNNING) {
if (old.isException()) {
old = TRACK_LOADED
send(TracingStatus(TRACK_LOADED))
}
}

28
core/function-impl/mogo-core-function-devatools/src/main/java/com/zhjt/mogo_core_function_devatools/status/ui/adapter/StatusAdapter.kt
View File

@@ -6,6 +6,7 @@ import android.widget.*
import androidx.core.content.*
import androidx.recyclerview.widget.*
import com.mogo.eagle.core.utilcode.kotlin.*
import com.mogo.eagle.core.utilcode.mogo.logger.*
import com.mogo.eagle.core.utilcode.util.*
import com.zhjt.mogo_core_function_devatools.*
import com.zhjt.mogo_core_function_devatools.R
@@ -19,6 +20,10 @@ import kotlinx.coroutines.*
internal class StatusAdapter(val ctx: Context, var data: ArrayList<Status>): RecyclerView.Adapter<StatusViewHolder>() {
companion object {
const val TAG = "StatusAdapter"
}
override fun onCreateViewHolder(parent: ViewGroup, viewType: Int): StatusViewHolder =
StatusViewHolder(LayoutInflater.from(ctx).inflate(R.layout.layout_status_bar_item, parent, false))
@@ -69,7 +74,7 @@ internal class StatusAdapter(val ctx: Context, var data: ArrayList<Status>): Rec
}
is TracingStatus -> {
when(status.state) {
ROUTE_FAILED, TRACK_LOAD_FAIL, TRACK_NOT_EXIST, TRACK_FINDED, UNKNOWN -> {
MAP_DATA_NOT_EXIST, MAP_DATA_EXIST, MAP_TRA_TYPE, ROUTE_FAILED, TRACK_LOAD_FAIL, TRACK_NOT_EXIST, TRACK_FINDED, UNKNOWN -> {
iv.background = ContextCompat.getDrawable(itemView.context, drawable.icon_dev_status_trace_unkown)
}
TRACK_LOADED -> {
@@ -116,7 +121,26 @@ internal class StatusAdapter(val ctx: Context, var data: ArrayList<Status>): Rec
else ->
"定位异常"
}
is TracingStatus -> "轨迹类型:${ if (status.state == TRACK_LOADED) "循迹" else if (status.state == ROUTE_LOADED) "自主算路" else "暂无轨迹" }"
is TracingStatus -> {
val extra = status.state.extra
val extraDesc = if (extra != null && extra.isNotEmpty()) extra.values.joinToString(",") else ""
Logger.d(TAG, "traceing_state: $status -> extra: $extraDesc :: extra: $extra")
when(status.state) {
//"轨迹类型:${ if (status.state == TRACK_LOADED) "循迹" else if (status.state == ROUTE_LOADED) "自主算路" else "暂无轨迹" }"
MAP_TRA_TYPE -> {
"暂无轨迹"
}
MAP_DATA_EXIST -> "地图数据存在,正在加载${if (extraDesc.isEmpty()) "" else "[$extraDesc]" }"
MAP_DATA_NOT_EXIST -> "地图数据不存在${if (extraDesc.isEmpty()) "" else "[$extraDesc]"}"
TRACK_FINDED -> "轨迹类型:循迹[已找到轨迹$extraDesc]"
TRACK_LOADED -> "轨迹类型:循迹[加载成功$extraDesc]"
TRACK_NOT_EXIST -> "轨迹类型:循迹[不存在$extraDesc]"
TRACK_LOAD_FAIL -> "轨迹类型:循迹[加载失败$extraDesc]"
ROUTE_LOADED -> "轨迹类型:自主算路[加载成功$extraDesc]"
ROUTE_FAILED -> "轨迹类型:自主算路[加载失败$extraDesc]"
UNKNOWN -> "暂无轨迹"
}
}
}
}
}

12
core/function-impl/mogo-core-function-devatools/src/main/java/com/zhjt/mogo_core_function_devatools/trace/TraceManager.kt
View File

@@ -57,6 +57,12 @@ class TraceManager : IMoGoCloudListener {
FwBuild(false, 30, pkgName + ChainConstant.CHAIN_LINK_LOG_ADAS_TRAFFIC_LIGHT)
fwBuildMap[ChainConstant.CHAIN_LINK_LOG_WEB_SOCKET_PLANNING_OBJECTS] =
FwBuild(false, 30, pkgName + ChainConstant.CHAIN_LINK_LOG_ADAS_PLANNING_OBJECTS)
fwBuildMap[ChainConstant.CHAIN_LINK_LOG_WEB_SOCKET_PLANNING_ACTIONS] =
FwBuild(true, -1, pkgName + ChainConstant.CHAIN_LINK_LOG_ADAS_PLANNING_ACTIONS)
fwBuildMap[ChainConstant.CHAIN_LINK_LOG_NATIVE_LEAK] =
FwBuild(true, -1, pkgName + ChainConstant.CHAIN_LINK_LOG_RECORD_NATIVE_LEAK)
traceInfoCache[ChainConstant.CHAIN_LINK_LOG_CONNECT_STATUS] =
ChainLogParam(true, "ADAS连接状态")
@@ -70,8 +76,14 @@ class TraceManager : IMoGoCloudListener {
ChainLogParam(false, "ADAS车前引导线")
traceInfoCache[ChainConstant.CHAIN_LINK_LOG_WEB_SOCKET_VEHICLE] =
ChainLogParam(false, "ADAS车辆底盘数据")
traceInfoCache[ChainConstant.CHAIN_LINK_LOG_WEB_SOCKET_TRAFFIC_LIGHT] =
ChainLogParam(false, "ADAS红绿灯数据")
traceInfoCache[ChainConstant.CHAIN_LINK_LOG_WEB_SOCKET_PLANNING_OBJECTS] =
ChainLogParam(false, "ADAS PLANNING 感知障碍物")
traceInfoCache[ChainConstant.CHAIN_LINK_LOG_WEB_SOCKET_PLANNING_ACTIONS] =
ChainLogParam(true, "ADAS PLANNING 决策行为")
traceInfoCache[ChainConstant.CHAIN_LINK_LOG_NATIVE_LEAK] =
ChainLogParam(true, "Native Leak Record")
FileWriteManager.getInstance()
.init(context, MoGoAiCloudClientConfig.getInstance().sn, pkgName, fwBuildMap)

2
core/function-impl/mogo-core-function-hmi/build.gradle
View File

@@ -75,6 +75,8 @@ dependencies {
implementation rootProject.ext.dependencies.android_start_up
implementation rootProject.ext.dependencies.cicle_indicator
implementation rootProject.ext.dependencies.koomnative
implementation rootProject.ext.dependencies.koomxhook
if (Boolean.valueOf(USE_MAVEN_PACKAGE)) {
api rootProject.ext.dependencies.mogoaicloudservicesdk
api rootProject.ext.dependencies.mogocommons

4
core/function-impl/mogo-core-function-hmi/src/main/AndroidManifest.xml
View File

@@ -2,8 +2,10 @@
<manifest xmlns:android="http://schemas.android.com/apk/res/android"
package="com.mogo.eagle.core.function.hmi">
<uses-permission android:name="android.permission.ACCESS_WIFI_STATE" />
<uses-permission android:name="android.permission.BLUETOOTH" />
<uses-permission android:name="android.permission.BLUETOOTH_ADMIN" />
<uses-permission android:name="android.permission.ACCESS_COARSE_LOCATION" />
<uses-permission android:name="android.permission.CHANGE_WIFI_STATE" />
<uses-permission android:name="android.permission.READ_EXTERNAL_STORAGE" />
<uses-permission android:name="android.permission.WRITE_EXTERNAL_STORAGE" />

97
core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/hmi/ui/MoGoHmiFragment.kt
View File

@@ -40,6 +40,7 @@ import com.mogo.eagle.core.function.api.autopilot.IMoGoAutopilotRecordListener
import com.mogo.eagle.core.function.api.autopilot.IMoGoAutopilotStatusListener
import com.mogo.eagle.core.function.api.hmi.IMoGoHmiViewProxy
import com.mogo.eagle.core.function.api.hmi.IMoGoHmiViewProxy.IViewNotificationProvider
import com.mogo.eagle.core.function.api.hmi.view.IOchBusView
import com.mogo.eagle.core.function.api.hmi.view.IViewLimitingVelocity
import com.mogo.eagle.core.function.api.hmi.view.IViewNotification
import com.mogo.eagle.core.function.api.hmi.view.IViewTrafficLight
@@ -69,6 +70,7 @@ import com.mogo.eagle.core.function.hmi.ui.setting.IPCReportWindow
import com.mogo.eagle.core.function.hmi.ui.setting.ReportListFloatWindow
import com.mogo.eagle.core.function.hmi.ui.tools.AdUpgradeDialog
import com.mogo.eagle.core.function.hmi.ui.tools.AutoPilotAndCheckView
import com.mogo.eagle.core.function.hmi.ui.tools.MaskView
import com.mogo.eagle.core.function.hmi.ui.widget.V2XNotificationView
import com.mogo.eagle.core.utilcode.kotlin.*
import com.mogo.eagle.core.utilcode.mogo.AppIdentityModeUtils
@@ -87,8 +89,11 @@ import com.mogo.eagle.core.utilcode.util.ToastUtils
import com.mogo.module.common.enums.*
import com.zhjt.mogo_core_function_devatools.badcase.consts.BadCaseConfig
import kotlinx.android.synthetic.main.fragment_hmi.*
import kotlinx.android.synthetic.main.view_auto_pilot_check.view.*
import kotlinx.android.synthetic.main.view_och_bus_operation.view.*
import kotlinx.coroutines.*
import mogo_msg.MogoReportMsg
import org.greenrobot.eventbus.EventBus
import record_cache.RecordPanelOuterClass
import java.util.*
@@ -123,6 +128,9 @@ import java.util.*
// 检测、自动驾驶速度设置
private var toolsViewFloat: WarningFloat.Builder? = null
private var maskViewFloat: WarningFloat.Builder? = null
private var maskView: MaskView? = null
private var upgradeTipsView: (() -> View)? = null
// HMI 视图控件代理
@@ -150,6 +158,8 @@ import java.util.*
private var showingV2XTip: IReminder? = null
private var roadVideoDialog: RoadVideoDialog? = null
private var busOperationStatus: IOchBusView? = null
override fun onCreate(savedInstanceState: Bundle?) {
super.onCreate(savedInstanceState)
}
@@ -172,7 +182,7 @@ import java.util.*
}
}
/*ivCameraIcon?.setOnLongClickListener {
/**ivCameraIcon?.setOnLongClickListener {
activity?.let { it1 -> CarcorderPreviewView.show(it1) }
true
}*/
@@ -235,8 +245,8 @@ import java.util.*
return
}
}
//处于非美化模式下弹窗
if (!FunctionBuildConfig.isDemoMode && (recordPanel.stat == 100 || recordPanel.stat == 101)) {
//处于非美化模式下弹窗；是地图数据采集任务时即type=2时，不弹窗
if (!FunctionBuildConfig.isDemoMode && (recordPanel.stat == 100 || recordPanel.stat == 101) && recordPanel.type!=2) {
//只在司机屏生效，乘客屏不生效
if(AppIdentityModeUtils.isDriver(FunctionBuildConfig.appIdentityMode)){
activity?.let { CallerDevaToolsManager.onReceiveBadCaseRecord(recordPanel, it) }
@@ -327,6 +337,15 @@ import java.util.*
}
}
override fun changeBusOperationStatus(isOut: Boolean) {
busOperationStatus?.changerOperationStatus(isOut)
}
override fun setBusOperationView(view: IOchBusView) {
busOperationStatus = view
busOperationStatus?.showBusOperation()
}
/**
* 设置 红绿灯 代理View
*/
@@ -709,7 +728,9 @@ import java.util.*
WarningFloat.dismiss(tag)
}
Log.d("$M_HMI$TAG", "--- disableWarningV2X ---")
showingV2XTip?.takeIf { it.isShowing() }?.also { it.hide() }
lifecycleScope.launch {
showingV2XTip?.takeIf { it.isShowing() }?.also { it.hide() }
}
}
/**
@@ -941,6 +962,66 @@ import java.util.*
cameraListView?.showNoSignal()
}
/**
* 展示蒙层
*/
override fun showMaskView() {
if (maskViewFloat == null) {
context?.let {
if (maskViewFloat == null) {
if (maskView == null) {
maskView = MaskView(it)
}
maskViewFloat = WarningFloat.with(it)
.setTag("MaskViewFloat")
.setLayout(maskView!!)
.setSidePattern(SidePattern.LEFT)
.setGravity(Gravity.CENTER)
.setImmersionStatusBar(true)
.setWindowHeight(LayoutParams.MATCH_PARENT)
.setWindowWidth(LayoutParams.MATCH_PARENT)
// .setCountDownTime(6000)
.setAnimator(object : DefaultAnimator() {
override fun enterAnim(
view: View,
params: LayoutParams,
windowManager: WindowManager,
sidePattern: SidePattern
): Animator? =
super.enterAnim(view, params, windowManager, sidePattern)
?.apply {
interpolator = OvershootInterpolator()
}
override fun exitAnim(
view: View,
params: LayoutParams,
windowManager: WindowManager,
sidePattern: SidePattern
): Animator? =
super.exitAnim(view, params, windowManager, sidePattern)
?.setDuration(200)
})
.addWarningStatusListener(object : IMoGoWarningStatusListener {
override fun onDismiss() {
maskViewFloat = null
maskView = null
// TODO:("")
}
})
.show()
} else {
maskViewFloat?.show()
}
}
}
}
override fun hideMaskView() {
dismissMaskView()
}
override fun showToolsView() {
if (toolsViewFloat == null) {
showToolsFloat()
@@ -1037,6 +1118,14 @@ import java.util.*
}
}
private fun dismissMaskView() {
maskViewFloat?.let {
WarningFloat.dismiss(it.config.floatTag, false)
maskViewFloat = null
maskView = null
}
}
private var isLeftLight :Boolean = false
private var isRightLight :Boolean = false
private var isDisappare :Boolean = false

115
core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/hmi/ui/pnc/PncActionsView.kt Normal file
View File

@@ -0,0 +1,115 @@
package com.mogo.eagle.core.function.hmi.ui.pnc
import android.content.Context
import android.util.AttributeSet
import android.view.LayoutInflater
import androidx.appcompat.content.res.AppCompatResources
import androidx.constraintlayout.widget.ConstraintLayout
import com.mogo.eagle.core.data.autopilot.AutopilotStatusInfo
import com.mogo.eagle.core.data.autopilot.pnc.PncActionsHelper
import com.mogo.eagle.core.data.trafficlight.TrafficLightResult
import com.mogo.eagle.core.data.trafficlight.currentRoadTrafficLight
import com.mogo.eagle.core.data.trafficlight.isRed
import com.mogo.eagle.core.function.api.autopilot.IMoGoAutopilotPlanningActionsListener
import com.mogo.eagle.core.function.api.autopilot.IMoGoAutopilotStatusListener
import com.mogo.eagle.core.function.api.autopilot.IMoGoAutopilotStatusListener.Companion.STATUS_AUTOPILOT_RUNNING
import com.mogo.eagle.core.function.api.trafficlight.IMoGoTrafficLightListener
import com.mogo.eagle.core.function.call.autopilot.CallerAutoPilotStatusListenerManager
import com.mogo.eagle.core.function.call.autopilot.CallerAutopilotPlanningActionsListenerManager
import com.mogo.eagle.core.function.call.trafficlight.CallerTrafficLightListenerManager
import com.mogo.eagle.core.function.hmi.R
import com.mogo.eagle.core.utilcode.util.UiThreadHandler
import kotlinx.android.synthetic.main.view_pnc_actions.view.*
import mogo.telematics.pad.MessagePad
class PncActionsView @JvmOverloads constructor(
context: Context,
attrs: AttributeSet? = null,
defStyleAttr: Int = 0
) : ConstraintLayout(context, attrs, defStyleAttr), IMoGoAutopilotPlanningActionsListener,
IMoGoTrafficLightListener, IMoGoAutopilotStatusListener {
companion object {
const val TAG = "PncActionsView"
}
@Volatile
private var mTrafficLightResult: TrafficLightResult? = null
private var mAutoPilotStatusInfo: AutopilotStatusInfo? = null
init {
LayoutInflater.from(context).inflate(R.layout.view_pnc_actions, this, true)
}
override fun onAttachedToWindow() {
super.onAttachedToWindow()
CallerAutoPilotStatusListenerManager.addListener(TAG, this)
CallerAutopilotPlanningActionsListenerManager.addListener(TAG, this)
CallerTrafficLightListenerManager.registerTrafficLightListener(TAG, this)
}
override fun onDetachedFromWindow() {
super.onDetachedFromWindow()
CallerAutoPilotStatusListenerManager.removeListener(TAG)
CallerAutopilotPlanningActionsListenerManager.removeListener(TAG)
CallerTrafficLightListenerManager.unRegisterTrafficLightListener(TAG)
}
override fun onAutopilotStatusResponse(autoPilotStatusInfo: AutopilotStatusInfo) {
super.onAutopilotStatusResponse(autoPilotStatusInfo)
mAutoPilotStatusInfo = autoPilotStatusInfo
if (mAutoPilotStatusInfo!!.state != STATUS_AUTOPILOT_RUNNING) {
UiThreadHandler.post {
this.background = null
tvHmiPncActions.text = ""
}
}
}
override fun pncActions(planningActionMsg: MessagePad.PlanningActionMsg) {
mAutoPilotStatusInfo?.let {
if (it.state == STATUS_AUTOPILOT_RUNNING) {
UiThreadHandler.post {
var actions: String? = null
planningActionMsg.actionMsg?.let {
actions = PncActionsHelper.getAction(it.drivingState.number, it.drivingAction.number)
//如果是存在云端红绿灯数据条件下，设置云端数据
if (PncActionsHelper.isWaitingTrafficlight(it.drivingState.number, it.drivingAction.number)
&& mTrafficLightResult != null
&& getWaitTrafficlightTime().isNotBlank()) {
actions += ",预计${getWaitTrafficlightTime()}秒后通过"
} else {
mTrafficLightResult = null
}
}
// update view
if (actions.isNullOrEmpty()) {
this.background = null
tvHmiPncActions.text = ""
} else {
this.background = AppCompatResources.getDrawable(context, R.drawable.pnc_actions_bg)
tvHmiPncActions.text = actions
}
}
}
}
}
override fun onTrafficLightStatus(trafficLightResult: TrafficLightResult) {
mTrafficLightResult = trafficLightResult
}
private fun getWaitTrafficlightTime(): String {
return if (mTrafficLightResult != null
&& mTrafficLightResult!!.currentRoadTrafficLight() != null
&& mTrafficLightResult!!.currentRoadTrafficLight()!!.isRed()
) {
mTrafficLightResult!!.currentRoadTrafficLight()!!.remain.toString()
} else {
""
}
}
}

87
core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/hmi/ui/setting/DebugSettingView.kt
View File

@@ -66,6 +66,7 @@ import com.mogo.eagle.core.utilcode.mogo.storage.SharedPrefsMgr
import com.mogo.eagle.core.utilcode.mogo.toast.TipToast
import com.mogo.eagle.core.utilcode.util.*
import com.mogo.map.MogoMap
import com.mogo.map.MogoMapUIController
import com.mogo.map.uicontroller.VisualAngleMode
import com.mogo.map.uicontroller.VisualAngleMode.*
import com.mogo.module.service.routeoverlay.*
@@ -152,6 +153,8 @@ class DebugSettingView @JvmOverloads constructor(
SimpleDateFormat("yyyy-MM-dd HH:mm:ss.SSS")
}
private var isStarted = false
init {
LayoutInflater.from(context).inflate(R.layout.view_debug_setting, this, true)
initView()
@@ -248,6 +251,23 @@ class DebugSettingView @JvmOverloads constructor(
}
}
/**
* 魔戒控制
*/
tbMojie.setOnCheckedChangeListener { buttonView, isChecked ->
if (isChecked) {
buttonView.setCompoundDrawables(null, null, iconDown, null)
btnOpenAllGestures.visibility = View.VISIBLE
} else {
buttonView.setCompoundDrawables(null, null, iconRight, null)
btnOpenAllGestures.visibility = View.GONE
}
}
btnOpenAllGestures.setOnClickListener {
MogoMapUIController.getInstance().setAllGesturesEnabled(true)
}
/**
* 版本信息
*/
@@ -554,6 +574,11 @@ class DebugSettingView @JvmOverloads constructor(
}
}
//只在司机端设置美化模式开关功能
if(AppIdentityModeUtils.isPassenger(FunctionBuildConfig.appIdentityMode)){
tbIsDemoMode.visibility = View.GONE
}
// 雨天模式，上一次勾选的数据
tbIsRainMode.isChecked = FunctionBuildConfig.isRainMode
//雨天模式
@@ -566,6 +591,15 @@ class DebugSettingView @JvmOverloads constructor(
tbIsRainMode.visibility = View.GONE
}
tbBeautyMode.isChecked = FunctionBuildConfig.isBeautyMode
//感知优化模式
tbBeautyMode.setOnCheckedChangeListener { _, isChecked ->
FunctionBuildConfig.isBeautyMode = isChecked
if (!FunctionBuildConfig.isBeautyMode) {
tbBeautyMode.isChecked = false
}
}
//重启工控机所有节点
btnIpcReboot.onClick {
CallerAutoPilotManager.sendIpcReboot()
@@ -616,6 +650,31 @@ class DebugSettingView @JvmOverloads constructor(
}
}
// 初始化 tracker感知数据源 数据
trackerProvider.check(
when (FunctionBuildConfig.debugTrackerProvider) {
0 -> {
R.id.trackerProviderOrigin
}
1 -> {
R.id.trackerProviderObu
}
else -> R.id.trackerProviderOrigin
}
)
trackerProvider.setOnCheckedChangeListener { _, checkedId ->
when (checkedId) {
R.id.trackerProviderOrigin -> {
FunctionBuildConfig.debugTrackerProvider = 0
// update tracker provider view
}
R.id.trackerProviderObu -> {
FunctionBuildConfig.debugTrackerProvider = 1
// update tracker provider view
}
}
}
// 初始化 ADAS感知数据是否绘制 选择情况
tbIsDrawIdentifyData.isChecked = FunctionBuildConfig.isDrawIdentifyData
@@ -802,6 +861,17 @@ class DebugSettingView @JvmOverloads constructor(
}
}
btnBrakeThreshold.setOnLongClickListener {
if (!isStarted) {
CallerDevaToolsManager.startMonitor()
isStarted = true
} else {
CallerDevaToolsManager.stopMonitor()
isStarted = false
}
true
}
//设置连接司机屏IP
btnConnectServerIp.setOnClickListener {
val ip = etConnectServerIp.text.toString()
@@ -1380,6 +1450,19 @@ class DebugSettingView @JvmOverloads constructor(
}
}
/**
* ADAS红绿灯数据
*/
cbAdasTrafficlight.setOnCheckedChangeListener { _, isChecked ->
val map = CallerDevaToolsManager.getTraceInfo()
val param = map[ChainConstant.CHAIN_LINK_LOG_WEB_SOCKET_TRAFFIC_LIGHT]
param?.let {
it.record = isChecked
map[ChainConstant.CHAIN_LINK_LOG_WEB_SOCKET_TRAFFIC_LIGHT] = param
CallerDevaToolsManager.refreshTraceInfo(map)
}
}
/**
* ADAS PLANNING OBJ 感知障碍物
*/
@@ -1413,6 +1496,10 @@ class DebugSettingView @JvmOverloads constructor(
vehicle?.let {
cbAdasVehicle.isChecked = it.record
}
val trafficlight = traceInfoMap[ChainConstant.CHAIN_LINK_LOG_WEB_SOCKET_TRAFFIC_LIGHT]
trafficlight?.let {
cbAdasTrafficlight.isChecked = it.record
}
}
/**

46
core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/hmi/ui/tools/AutoPilotAndCheckView.kt
View File

@@ -2,32 +2,35 @@ package com.mogo.eagle.core.function.hmi.ui.tools
import android.annotation.SuppressLint
import android.content.Context
import android.content.Intent
import android.graphics.Color
import android.graphics.drawable.ColorDrawable
import android.os.Process
import android.util.AttributeSet
import android.util.Log
import android.view.LayoutInflater
import android.view.View
import android.widget.FrameLayout
import com.mogo.cloud.passport.MoGoAiCloudClient
import com.mogo.commons.debug.DebugConfig
import com.mogo.eagle.core.data.app.AppConfigInfo
import com.mogo.eagle.core.data.autopilot.AutopilotStatusInfo
import com.mogo.eagle.core.data.bindingcar.IPCUpgradeStateInfo
import com.mogo.eagle.core.data.config.FunctionBuildConfig
import com.mogo.eagle.core.data.temp.EventBusOperation
import com.mogo.eagle.core.data.temp.EventLogout
import com.mogo.eagle.core.function.api.autopilot.IMoGoAutopilotCarConfigListener
import com.mogo.eagle.core.function.api.autopilot.IMoGoAutopilotStatusListener
import com.mogo.eagle.core.function.call.autopilot.CallerAutoPilotManager
import com.mogo.eagle.core.function.call.autopilot.CallerAutoPilotStatusListenerManager
import com.mogo.eagle.core.function.call.autopilot.CallerAutopilotCarConfigListenerManager
import com.mogo.eagle.core.function.call.bindingcar.CallerBindingcarManager
import com.mogo.eagle.core.function.call.hmi.CallerHmiManager
import com.mogo.eagle.core.function.hmi.R
import com.mogo.eagle.core.function.hmi.ui.utils.KeyBoardUtil
import com.mogo.eagle.core.utilcode.kotlin.onClick
import com.mogo.eagle.core.utilcode.mogo.AppIdentityModeUtils
import com.mogo.eagle.core.utilcode.util.ToastUtils
import com.mogo.eagle.core.utilcode.util.UiThreadHandler
import kotlinx.android.synthetic.main.view_auto_pilot_check.view.*
import mogo.telematics.pad.MessagePad
import org.greenrobot.eventbus.EventBus
import kotlin.system.exitProcess
/**
* @author ChenFufeng
@@ -96,6 +99,9 @@ class AutoPilotAndCheckView @JvmOverloads constructor(
ivCloseIcon.setOnClickListener {
clickListener?.onClose(it)
}
rlKillLayout.setOnClickListener {
killApp()
}
viewCheckStatus.setOnClickListener {
clickListener?.go2CheckPage()
}
@@ -142,6 +148,7 @@ class AutoPilotAndCheckView @JvmOverloads constructor(
if (speedLimit > 0) {
etInputSpeed.setText((speedLimit * 3.6).toInt().toString())
}
initOchView()
// // 比如需要设置默认速度
// val speed = "30"
// etInputSpeed.setText(speed)
@@ -149,6 +156,35 @@ class AutoPilotAndCheckView @JvmOverloads constructor(
}
private fun initOchView() {
actvLoginout.onClick {
EventBus.getDefault().post(EventLogout())
}
when (DebugConfig.getProductFlavor()) {
"fPadLenovoOchTaxi" -> {
actvLoginout.visibility = View.VISIBLE
}
"fPadLenovoOchBus" ->{
CallerHmiManager.setBusOperationView(toolBusOperationView)
EventBus.getDefault().post(EventBusOperation(0))
}
else -> {
}
}
}
private fun killApp() {
Intent(Intent.ACTION_MAIN).apply {
addCategory(Intent.CATEGORY_HOME)
flags = Intent.FLAG_ACTIVITY_NEW_TASK
context.startActivity(this)
Process.killProcess(Process.myPid())
exitProcess(0)
}
}
fun setClickListener(clickListener: ClickListener) {
this.clickListener = clickListener
}

43
core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/hmi/ui/tools/BusOperationView.kt Normal file
View File

@@ -0,0 +1,43 @@
package com.mogo.eagle.core.function.hmi.ui.tools
import android.content.Context
import android.util.AttributeSet
import android.view.LayoutInflater
import android.view.View
import com.mogo.eagle.core.data.temp.EventBusOperation
import com.mogo.eagle.core.function.api.hmi.view.IOchBusView
import com.mogo.eagle.core.function.hmi.R
import kotlinx.android.synthetic.main.view_och_bus_operation.view.*
import org.greenrobot.eventbus.EventBus
/**
* @author: wangmingjun
* @date: 2022/8/23
*/
class BusOperationView @JvmOverloads constructor(
context: Context?,
attrs: AttributeSet? = null,
defStyleAttr: Int = 0)
: IOchBusView(context, attrs, defStyleAttr), View.OnClickListener {
init {
LayoutInflater.from(context).inflate(R.layout.view_och_bus_operation,this,true)
ochBusOperationStatus.setOnClickListener(this)
}
override fun showBusOperation() {
ochBusOperationStatus.visibility = View.VISIBLE
}
override fun changerOperationStatus(isOut: Boolean) {
if (isOut){
ochBusOperationStatusCTV.text = "收车"
}else{
ochBusOperationStatusCTV.text = "出车"
}
}
override fun onClick(v: View?) {
EventBus.getDefault().post(EventBusOperation(1))
}
}

42
core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/hmi/ui/tools/MaskView.kt Normal file
View File

@@ -0,0 +1,42 @@
package com.mogo.eagle.core.function.hmi.ui.tools
import android.annotation.SuppressLint
import android.content.Context
import android.graphics.Color
import android.graphics.drawable.ColorDrawable
import android.util.AttributeSet
import android.view.LayoutInflater
import android.widget.FrameLayout
import com.mogo.eagle.core.function.hmi.R
/**
* @author lixiaopeng
* 蒙层view
*/
class MaskView @JvmOverloads constructor(
context: Context,
attrs: AttributeSet? = null,
defStyleAttr: Int = 0
) : FrameLayout(
context,
attrs,
defStyleAttr
) {
private val TAG = "MaskView"
init {
LayoutInflater.from(context).inflate(R.layout.view_mask, this, true)
initView()
}
companion object {
private var speedLimit: Double = 0.0
}
@SuppressLint("ClickableViewAccessibility")
private fun initView() {
// background = ColorDrawable(Color.parseColor("#F0151D41"))
}
}

26
core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/hmi/ui/widget/PerspectiveSwitchView.kt
View File

@@ -1,17 +1,16 @@
package com.mogo.eagle.core.function.hmi.ui.widget
import android.content.Context
import android.util.AttributeSet
import android.view.LayoutInflater
import android.view.View
import android.widget.FrameLayout
import com.mogo.commons.AbsMogoApplication
import android.content.*
import android.util.*
import android.view.*
import android.widget.*
import com.mogo.commons.*
import com.mogo.eagle.core.function.hmi.R
import com.mogo.map.MogoMapUIController
import com.mogo.map.MogoMarkerManager
import com.mogo.map.uicontroller.VisualAngleMode
import com.mogo.module.common.MogoApisHandler
import com.mogo.module.common.constants.DataTypes
import com.mogo.eagle.core.function.hmi.R.drawable
import com.mogo.map.*
import com.mogo.map.uicontroller.*
import com.mogo.map.uicontroller.VisualAngleMode.MODE_MEDIUM_SIGHT
import com.mogo.module.common.constants.*
import kotlinx.android.synthetic.main.view_perspective_switch.view.*
/**
@@ -43,6 +42,11 @@ class PerspectiveSwitchView @JvmOverloads constructor(
.inVisibleWithoutMarkers(DataTypes.TYPE_MARKER_ADAS)
MogoMapUIController.getInstance().changeMapVisualAngle(VisualAngleMode.MODE_LONG_SIGHT, null)
textSwitch.setText(R.string.module_map_model_faster)
} else {
MogoMarkerManager.getInstance(AbsMogoApplication.getApp())
.visibleAllMarkers()
MogoMapUIController.getInstance().changeMapVisualAngle(VisualAngleMode.MODE_MEDIUM_SIGHT, null)
textSwitch.setText(R.string.module_map_model_normal)
}
}
}

15
core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/hmi/ui/widget/TrafficDataView.java
View File

@@ -1,5 +1,7 @@
package com.mogo.eagle.core.function.hmi.ui.widget;
import static com.mogo.eagle.core.function.api.autopilot.IMoGoAutopilotStatusListener.STATUS_AUTOPILOT_RUNNING;
import android.annotation.SuppressLint;
import android.content.Context;
import android.os.Handler;
@@ -15,7 +17,7 @@ import androidx.constraintlayout.widget.ConstraintLayout;
import com.mogo.eagle.core.function.api.autopilot.IMoGoAutopilotVehicleStateListener;
import com.mogo.eagle.core.function.call.autopilot.CallerAutoPilotStatusListenerManager;
import com.mogo.eagle.core.function.call.autopilot.CallerAutopilotCarStatusListenerManager;
import com.mogo.eagle.core.function.call.autopilot.CallerAutopilotPlanningActionsListenerManager;
import com.mogo.eagle.core.function.call.autopilot.CallerAutopilotVehicleStateListenerManager;
import com.mogo.eagle.core.function.hmi.R;
import com.mogo.eagle.core.utilcode.mogo.logger.CallerLogger;
@@ -25,6 +27,7 @@ import org.jetbrains.annotations.NotNull;
import chassis.Chassis;
import chassis.VehicleStateOuterClass;
import mogo.telematics.pad.MessagePad;
/**
* @author Jing
@@ -61,7 +64,7 @@ public class TrafficDataView extends ConstraintLayout {
accTextView.setText("- " + accStr);
}
int state = CallerAutoPilotStatusListenerManager.INSTANCE.getAutoPilotStatusInfo().getState();
if (state < 2) {
if (state < STATUS_AUTOPILOT_RUNNING) {
if (mBrake > 0) {
brakeStatus.setImageResource(R.drawable.traffic_data_brake);
} else if (mThrottle >= 0 && mBrake == 0) {
@@ -100,11 +103,7 @@ public class TrafficDataView extends ConstraintLayout {
super.onAttachedToWindow();
handler.sendEmptyMessageDelayed(MSG_SEND_UPDATE, 1000L);
CallerAutopilotVehicleStateListenerManager.INSTANCE.addListener(TAG, mIMoGoAutopilotVehicleStateListener);
CallerAutopilotCarStatusListenerManager.INSTANCE.addListener(TAG, gnssInfo -> {
if (gnssInfo != null) {
acceleration = gnssInfo.getAcceleration();
}
});
CallerAutopilotPlanningActionsListenerManager.INSTANCE.addListener(TAG, planningActionMsg -> acceleration = planningActionMsg.getDestinationAcc());
}
private void initView(@NonNull Context context) {
@@ -120,7 +119,7 @@ public class TrafficDataView extends ConstraintLayout {
protected void onDetachedFromWindow() {
super.onDetachedFromWindow();
CallerAutopilotVehicleStateListenerManager.INSTANCE.removeListener(TAG);
CallerAutopilotCarStatusListenerManager.INSTANCE.removeListener(TAG);
CallerAutopilotPlanningActionsListenerManager.INSTANCE.removeListener(TAG);
}
private final IMoGoAutopilotVehicleStateListener mIMoGoAutopilotVehicleStateListener = new IMoGoAutopilotVehicleStateListener() {

46
core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/main/MainActivity.java
View File

@@ -1,5 +1,8 @@
package com.mogo.eagle.core.function.main;
import static com.mogo.eagle.core.data.deva.chain.ChainConstant.CHAIN_ALIAS_CODE_RECORD_NATIVE_LEAK;
import static com.mogo.eagle.core.data.deva.chain.ChainConstant.CHAIN_LINK_LEAK;
import static com.mogo.eagle.core.data.deva.chain.ChainConstant.CHAIN_LINK_LOG_NATIVE_LEAK;
import static com.mogo.eagle.core.function.main.MainPresenter.MOGO_PERMISSION_REQUEST_CODE;
import static com.mogo.eagle.core.utilcode.mogo.logger.scene.SceneConstant.M_HMI;
@@ -19,6 +22,10 @@ import androidx.recyclerview.widget.LinearLayoutManager;
import androidx.recyclerview.widget.RecyclerView;
import com.alibaba.android.arouter.launcher.ARouter;
import com.kwai.koom.base.MonitorManager;
import com.kwai.koom.nativeoom.leakmonitor.LeakMonitor;
import com.kwai.koom.nativeoom.leakmonitor.LeakMonitorConfig;
import com.kwai.koom.nativeoom.leakmonitor.LeakRecord;
import com.mogo.cloud.commons.BuildConfig;
import com.mogo.commons.context.ContextHolderUtil;
import com.mogo.commons.mvp.BaseFragment;
@@ -54,6 +61,8 @@ import com.mogo.service.statusmanager.IMogoStatusManager;
import com.rousetime.android_startup.StartupManager;
import com.rousetime.android_startup.model.LoggerLevel;
import com.rousetime.android_startup.model.StartupConfig;
import com.zhjt.service.chain.ChainLog;
import com.zhjt.service.chain.TracingConstants;
import java.util.ArrayList;
import java.util.HashMap;
@@ -274,6 +283,8 @@ public class MainActivity extends MvpActivity<MainView, MainPresenter> implement
// 启动一些基本的服务：定位等
startBaseService();
// 启动Native内存泄漏监测
startLeakMonitor();
}
/**
@@ -288,6 +299,38 @@ public class MainActivity extends MvpActivity<MainView, MainPresenter> implement
// startService(intentCarcorderService);
}
private void startLeakMonitor() {
LeakMonitorConfig leakMonitorConfig = new LeakMonitorConfig.Builder()
.setLoopInterval(50000)
.setMonitorThreshold(16)
.setNativeHeapAllocatedThreshold(0)
.setEnableLocalSymbolic(true)
.setLeakListener(leaks -> {
StringBuilder stringBuilder = new StringBuilder();
if (!leaks.isEmpty()) {
for (LeakRecord leakRecord : leaks) {
stringBuilder.append(leakRecord.toString());
}
printLeakMsg(stringBuilder.toString());
}
})
.build();
MonitorManager.addMonitorConfig(leakMonitorConfig);
LeakMonitor.INSTANCE.start();
}
@ChainLog(
linkChainLog = CHAIN_LINK_LOG_NATIVE_LEAK,
linkCode = CHAIN_LINK_LEAK,
endpoint = TracingConstants.Endpoint.PAD,
nodeAliasCode = CHAIN_ALIAS_CODE_RECORD_NATIVE_LEAK,
paramIndexes = {0},
clientPkFileName = "sn"
)
private void printLeakMsg(String leakRecord) {
CallerLogger.INSTANCE.d(M_HMI + TAG, "内存泄漏日志如下：\n" + leakRecord);
}
@Override
public void hideCoverUpLayout() {
mConnectInfoRV.setVisibility(View.GONE);
@@ -388,7 +431,8 @@ public class MainActivity extends MvpActivity<MainView, MainPresenter> implement
}
@Override
public void onAutopilotIpcConnectStatusChanged(int status, @Nullable String reason) { }
public void onAutopilotIpcConnectStatusChanged(int status, @Nullable String reason) {
}
@Override
public void onAutopilotSNRequest() {

349
core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/main/MainLauncherActivity.java
View File

@@ -5,11 +5,17 @@ import static com.mogo.eagle.core.data.deva.chain.ChainConstant.CHAIN_LINK_INIT;
import static com.mogo.eagle.core.data.deva.chain.ChainConstant.CHAIN_LINK_LOG_CONNECT_STATUS;
import static com.mogo.eagle.core.utilcode.mogo.logger.scene.SceneConstant.M_HMI;
import android.bluetooth.BluetoothAdapter;
import android.bluetooth.BluetoothDevice;
import android.content.Intent;
import android.content.IntentFilter;
import android.os.Bundle;
import android.os.Handler;
import android.os.Process;
import android.text.TextUtils;
import android.util.Log;
import android.view.KeyEvent;
import android.view.MotionEvent;
import android.widget.FrameLayout;
import androidx.annotation.Nullable;
@@ -19,11 +25,17 @@ import com.mogo.commons.debug.DebugConfig;
import com.mogo.eagle.core.data.config.FunctionBuildConfig;
import com.mogo.eagle.core.function.api.base.IMoGoFunctionProvider;
import com.mogo.eagle.core.function.api.setting.IMoGoSkinModeChangeListener;
import com.mogo.eagle.core.function.call.autopilot.CallerAutoPilotManager;
import com.mogo.eagle.core.function.call.setting.CallerSkinModeListenerManager;
import com.mogo.eagle.core.function.hmi.R;
import com.mogo.eagle.core.function.main.moujie.BluetoothMonitorReceiver;
import com.mogo.eagle.core.function.main.moujie.ConnectBluetoothEvent;
import com.mogo.eagle.core.utilcode.mogo.AppIdentityModeUtils;
import com.mogo.eagle.core.utilcode.mogo.logger.CallerLogger;
import com.mogo.eagle.core.utilcode.mogo.storage.SharedPrefsMgr;
import com.mogo.eagle.core.utilcode.util.BarUtils;
import com.mogo.eagle.core.utilcode.util.ToastUtils;
import com.mogo.eagle.core.utilcode.util.UiThreadHandler;
import com.mogo.service.intent.IMogoIntentListener;
import com.rousetime.android_startup.model.CostTimesModel;
import com.zhjt.service.chain.ChainLog;
@@ -31,8 +43,15 @@ import com.zhjt.service.chain.TracingConstants;
import org.greenrobot.eventbus.EventBus;
import org.greenrobot.eventbus.Subscribe;
import org.greenrobot.eventbus.ThreadMode;
import java.lang.reflect.InvocationTargetException;
import java.lang.reflect.Method;
import java.util.ArrayList;
import java.util.List;
import java.util.Set;
import java.util.Timer;
import java.util.TimerTask;
/**
* 针对作为Launcher的情况，做个性化操作
@@ -45,12 +64,47 @@ public class MainLauncherActivity extends MainActivity implements IMogoIntentLis
private final static Handler handlerV2XEvent = new Handler();
private static Runnable runnableV2XEvent;
private volatile double accelerated;//加速度
private Timer timerHorn;
private Timer timerAcc;
private BluetoothMonitorReceiver mBluetoothReceiver = null;
private BluetoothAdapter mBluetoothAdapter;
private List<BluetoothDevice> mAreadlyConnectedList = new ArrayList<>();//已连接设备集合
private int numberA = 0;
private boolean isLongPressA = false;
private int numberB = 0;
private boolean isLongPressB = false;
private int numberC = 0;
private boolean isLongPressC = false;
private int numberD = 0;
private boolean isLongPressD = false;
private int numberE = 0;
private boolean isLongPressE = false;
@Override
protected void onCreate(@Nullable Bundle savedInstanceState) {
super.onCreate(savedInstanceState);
DebugConfig.setNeedRequestUserInfo(true);
EventBus.getDefault().register(this);
CallerLogger.INSTANCE.i(M_HMI + TAG, "onCreate");
}
@Override
protected void onResume() {
super.onResume();
initBluetooth();
mBluetoothAdapter = BluetoothAdapter.getDefaultAdapter();
if (!mBluetoothAdapter.isEnabled()) {
mBluetoothAdapter.enable();
}
mBluetoothAdapter.startDiscovery();
showBondedDevice(mBluetoothAdapter);
}
@Override
@@ -155,6 +209,188 @@ public class MainLauncherActivity extends MainActivity implements IMogoIntentLis
}
}
@Override
public boolean onKeyDown(int keyCode, KeyEvent event) {
if (keyCode == KeyEvent.KEYCODE_VOLUME_UP) { //向上长按 开启自动驾驶
long currentTime = System.currentTimeMillis() / (1000);
long oldTime = SharedPrefsMgr.getInstance(getContext()).getLong("old_time_up", 0);
// Log.d("liyz", "time = " + (currentTime - oldTime));
if (currentTime - oldTime > 6) {
SharedPrefsMgr.getInstance(getContext()).putLong("old_time_up", System.currentTimeMillis() / 1000);
// ToastUtils.showShort("长按 ↑↑↑ 开启自动驾驶");
CallerAutoPilotManager.INSTANCE.setControlAutopilotCarAuto(true);
}
return true;
} else if (keyCode == KeyEvent.KEYCODE_VOLUME_DOWN) { //下和中间键盘长按，减速为-2
long currentTime = System.currentTimeMillis() / (1000);
long oldTime = SharedPrefsMgr.getInstance(getContext()).getLong("old_time_down", 0);
if (currentTime - oldTime > 6) {
SharedPrefsMgr.getInstance(getContext()).putLong("old_time_down", System.currentTimeMillis() / 1000);
// ToastUtils.showShort("长按 ↓↓↓ 减速 -2 ");
sendAcc(true, -2);
}
return true;
}
// Log.e("liyz", "onKeyDown keyCode = " + keyCode + "--action = " + event.getAction() + "---" + event);
return super.onKeyDown(keyCode, event);
}
@Override
public boolean dispatchKeyEvent(KeyEvent event) {
// Log.d("liyz", "dispatchKeyEvent code = " + event.getKeyCode() + "--action = " + event.getAction() + "----" + event);
if (event.getKeyCode() == KeyEvent.KEYCODE_A) { //单击向左变道，长按-1
if (event.getAction() == KeyEvent.ACTION_DOWN) {
numberA++;
if (numberA > 2) {
if (!isLongPressA) {
// ToastUtils.showShort("方块 长按A -2 ");
sendAcc(true, -2);
isLongPressA = true;
}
}
} else if (event.getAction() == KeyEvent.ACTION_UP) {
if (numberA == 1) {
// ToastUtils.showShort("方块 点击A -1 ");
sendAcc(true, -1);
}
numberA = 0;
isLongPressA = false;
}
return true;
} else if (event.getKeyCode() == KeyEvent.KEYCODE_B) { //单击向右变道，长按-2
if (event.getAction() == KeyEvent.ACTION_DOWN) {
numberB++;
if (numberB > 2) {
if (!isLongPressB) {
// ToastUtils.showShort("方块 长按B 无操作 ");
isLongPressB = true;
}
}
} else if (event.getAction() == KeyEvent.ACTION_UP) {
if (numberB == 1) {
// ToastUtils.showShort("方块 单击B 复原 ");
sendAcc(false, 0.0);
}
numberB = 0;
isLongPressB = false;
}
return true;
} else if (event.getKeyCode() == KeyEvent.KEYCODE_C) { //单击鸣笛，
if (event.getAction() == KeyEvent.ACTION_DOWN) {
numberC++;
if (numberC > 2) {
if (!isLongPressC) {
// ToastUtils.showShort("方块 长按C 无操作");
isLongPressC = true;
}
}
} else if (event.getAction() == KeyEvent.ACTION_UP) {
if (numberC == 1) {
// ToastUtils.showShort("方块 单击C ← 向左变道 ");
CallerAutoPilotManager.INSTANCE.sendOperatorChangeLaneLeft();
}
numberC = 0;
isLongPressC = false;
}
return true;
} else if (event.getKeyCode() == KeyEvent.KEYCODE_D) { //单击开启自动驾驶，
if (event.getAction() == KeyEvent.ACTION_DOWN) {
numberD++;
if (numberD > 2) {
if (!isLongPressD) {
// ToastUtils.showShort("方块 长按D 无操作");
isLongPressD = true;
}
}
} else if (event.getAction() == KeyEvent.ACTION_UP) {
if (numberD == 1) {
// ToastUtils.showShort("方块 单击D → 向右变道 ");
CallerAutoPilotManager.INSTANCE.sendOperatorChangeLaneRight();
}
numberD = 0;
isLongPressD = false;
}
return true;
} else if (event.getKeyCode() == KeyEvent.KEYCODE_E) { //单击复原，
if (event.getAction() == KeyEvent.ACTION_DOWN) {
numberE++;
if (numberE > 2) {
if (!isLongPressE) {
// ToastUtils.showShort("方块 长按E 鸣笛 ");
CallerAutoPilotManager.INSTANCE.sendOperatorSetHorn(1);
if (timerHorn == null) {
timerHorn = new Timer();
}
timerHorn.schedule(new TimerTask() {
@Override
public void run() {
CallerAutoPilotManager.INSTANCE.sendOperatorSetHorn(2);
timerHorn = null;
}
}, 500);
isLongPressE = true;
}
}
} else if (event.getAction() == KeyEvent.ACTION_UP) {
if (numberE == 1) {
// ToastUtils.showShort("方块 单击E 开启自动驾驶 ");
CallerAutoPilotManager.INSTANCE.setControlAutopilotCarAuto(true);
}
numberE = 0;
isLongPressE = false;
}
return true;
}
return super.dispatchKeyEvent(event);
}
@Override
public boolean dispatchTouchEvent(MotionEvent event) {
// Log.d("liyz", "dispatchTouchEvent event.getX() = " + event.getX() + "--event.getY() = " + event.getY() + "--action = " + event.getAction());
if (event.getX() == -1469.6875 && event.getY() == 530.0) { //向左变道
// ToastUtils.showShort("← 向左变道");
CallerAutoPilotManager.INSTANCE.sendOperatorChangeLaneLeft();
return true;
} else if (event.getX() == -1096.25 && event.getY() == 132.5) { //鸣笛
// ToastUtils.showShort("↑ 鸣笛 ");
CallerAutoPilotManager.INSTANCE.sendOperatorSetHorn(1);
if (timerHorn == null) {
timerHorn = new Timer();
}
timerHorn.schedule(new TimerTask() {
@Override
public void run() {
CallerAutoPilotManager.INSTANCE.sendOperatorSetHorn(2);
timerHorn = null;
}
}, 500);
return true;
} else if (event.getX() == -863.4375 && event.getY() == 690.0) { //向右变道
CallerAutoPilotManager.INSTANCE.sendOperatorChangeLaneRight();
// ToastUtils.showShort("→ 向右变道");
return true;
} else if (event.getX() == -1096.25 && event.getY() == 1099.0) { // -1减速
sendAcc(true, -1);
// ToastUtils.showShort("↓ 减速 -1 ");
return true;
} else if (event.getX() == -1096.25 && event.getY() == 690.0) { //复原
// ToastUtils.showShort("O 复原 ");
sendAcc(false, 0.0);
return true;
}
return super.dispatchTouchEvent(event);
}
@Override
public void onSkinModeChange(int skinMode) {
if (skinMode == 0) {
@@ -163,4 +399,117 @@ public class MainLauncherActivity extends MainActivity implements IMogoIntentLis
BarUtils.setStatusBarLightMode(this, true);
}
}
private synchronized void sendAcc(boolean isSend, double acc) {
if (isSend) {
accelerated = acc;
if (timerAcc == null) {
timerAcc = new Timer();
timerAcc.schedule(new TimerTask() {
@Override
public void run() {
CallerAutoPilotManager.INSTANCE.sendOperatorSetAcceleratedSpeed(accelerated);
}
}, 0, 500);
}
} else {
if (timerAcc != null) {
timerAcc.cancel();
timerAcc = null;
}
CallerAutoPilotManager.INSTANCE.sendOperatorSetAcceleratedSpeed(acc);
}
}
/**
* 初始化蓝牙广播
*/
private void initBluetooth() {
this.mBluetoothReceiver = new BluetoothMonitorReceiver();
IntentFilter intentFilter = new IntentFilter();
// 监视蓝牙关闭和打开的状态
intentFilter.addAction(BluetoothAdapter.ACTION_STATE_CHANGED);
// 监视蓝牙设备与APP连接的状态
intentFilter.addAction(BluetoothDevice.ACTION_ACL_DISCONNECTED);
intentFilter.addAction(BluetoothDevice.ACTION_ACL_CONNECTED);
// 注册广播
registerReceiver(this.mBluetoothReceiver, intentFilter);
}
/**
* 查找蓝牙连接过的蓝牙设备
*
* @param bluetoothAdapter
*/
private void showBondedDevice(BluetoothAdapter bluetoothAdapter) {
mAreadlyConnectedList.clear();
Set<BluetoothDevice> deviceList = bluetoothAdapter.getBondedDevices();
for (BluetoothDevice device : deviceList) {
try {
//使用反射调用获取设备连接状态方法
Method isConnectedMethod = BluetoothDevice.class.getDeclaredMethod("isConnected", (Class[]) null);
isConnectedMethod.setAccessible(true);
boolean isConnected = (boolean) isConnectedMethod.invoke(device, (Object[]) null);
// Log.e("liyz", "showBondedDevice Name:" + device.getName() + " Mac:" + device.getAddress() + "---isConnected = " + isConnected);
mAreadlyConnectedList.add(device);
if (device.getName().equals("JX-05")) { //后面魔戒可能不使用了
SharedPrefsMgr.getInstance(getContext()).putString("BT_MAC", device.getAddress());
}
if (!isConnected) {
UiThreadHandler.postDelayed(() -> {
connectBluetooth(); //主动连接一次
}, 4000L);
}
} catch (NoSuchMethodException e) {
e.printStackTrace();
} catch (IllegalAccessException e) {
e.printStackTrace();
} catch (InvocationTargetException e) {
e.printStackTrace();
}
}
}
@Subscribe(threadMode = ThreadMode.MAIN)
public void onAutoConnection(ConnectBluetoothEvent event) {
// connectBluetooth();
}
/**
* 主动连接最近的一次连接
*/
private void connectBluetooth() {
// Log.d("liyz", "connectBluetooth ----> size() = " + mAreadlyConnectedList.size());
if (mAreadlyConnectedList.size() > 0) {
try {
Method method = BluetoothDevice.class.getMethod("createBond");
String macAddress = SharedPrefsMgr.getInstance(getContext()).getString("BT_MAC");
int pos = -1;
for (int i = 0; i < mAreadlyConnectedList.size(); i++) {
if (macAddress.equals(mAreadlyConnectedList.get(i).getAddress())) {
pos = i;
}
}
// Log.d("liyz", "connectBluetooth macAddress = " + macAddress + "---pos = " + pos);
if (mAreadlyConnectedList.size() > pos && (pos >= 0)) {
method.invoke(mAreadlyConnectedList.get(pos));
}
} catch (NoSuchMethodException e) {
e.printStackTrace();
} catch (IllegalAccessException e) {
e.printStackTrace();
} catch (InvocationTargetException e) {
e.printStackTrace();
}
}
}
}

26
core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/main/MainMoGoApplication.java
View File

@@ -7,7 +7,7 @@ import android.os.Process;
import com.bytedance.boost_multidex.BoostMultiDex;
import com.elegant.utils.UiThreadHandler;
import com.mogo.cloud.passport.MoGoAiCloudClientConfig;
import com.kwai.koom.base.DefaultInitTask;
import com.mogo.cloud.socket.SocketBuildConfig;
import com.mogo.commons.AbsMogoApplication;
import com.mogo.eagle.core.data.config.FunctionBuildConfig;
@@ -28,8 +28,12 @@ import com.mogo.module.common.MogoModule;
import com.mogo.module.common.MogoModulePaths;
import com.mogo.module.service.ServiceConst;
import com.zhidao.support.obu.ami.AmiClientManager;
import com.zhjt.mogo_core_function_devatools.monitor.db.CpuInfo;
import com.zhjt.mogo_core_function_devatools.monitor.db.MemInfo;
import com.zhjt.mogo_core_function_devatools.monitor.db.MonitorDb;
import java.lang.reflect.Field;
import java.util.List;
/**
* 默认初始化一些基础服务配置
@@ -37,8 +41,6 @@ import java.lang.reflect.Field;
public abstract class MainMoGoApplication extends AbsMogoApplication {
private static final String TAG = "MogoApplication";
// 配置云服务API
protected MoGoAiCloudClientConfig clientConfig = MoGoAiCloudClientConfig.getInstance();
private long start;
@Override
@@ -56,8 +58,10 @@ public abstract class MainMoGoApplication extends AbsMogoApplication {
initTipToast();
initModules();
initKoom();
//查询是否有版本的更新
queryAppUpgrade();
checkMonitorDb();
}
@Override
@@ -75,6 +79,22 @@ public abstract class MainMoGoApplication extends AbsMogoApplication {
},5000);
}
private void checkMonitorDb() {
new Thread(() -> {
long limitId = 50001;
List<CpuInfo> cpuList = MonitorDb.getDb(this).monitorDao().getAllCPUById(limitId);
List<MemInfo> memList = MonitorDb.getDb(this).monitorDao().getAllMemById(limitId);
// 大于5w条清除
if (cpuList.size() > 0 || memList.size() > 0) {
this.deleteDatabase(MonitorDb.INTERNAL_DB_NAME);
}
}).start();
}
private void initKoom() {
DefaultInitTask.INSTANCE.init(this);
}
/**
* 初始化异常采集配置
*/

64
core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/main/moujie/BluetoothMonitorReceiver.java Normal file
View File

@@ -0,0 +1,64 @@
package com.mogo.eagle.core.function.main.moujie;
import android.bluetooth.BluetoothAdapter;
import android.bluetooth.BluetoothDevice;
import android.content.BroadcastReceiver;
import android.content.Context;
import android.content.Intent;
import android.util.Log;
import android.widget.Toast;
import com.mogo.eagle.core.utilcode.mogo.storage.SharedPrefsMgr;
import org.greenrobot.eventbus.EventBus;
/**
* @author lixiaopeng
* @description
* @since 2022/7/29
*/
public class BluetoothMonitorReceiver extends BroadcastReceiver {
@Override
public void onReceive(Context context, Intent intent) {
String action = intent.getAction();
if (action != null) {
switch (action) {
case BluetoothAdapter.ACTION_STATE_CHANGED:
int blueState = intent.getIntExtra(BluetoothAdapter.EXTRA_STATE, 0);
switch (blueState) {
case BluetoothAdapter.STATE_TURNING_ON:
// Toast.makeText(context, "蓝牙正在打开", Toast.LENGTH_SHORT).show();
break;
case BluetoothAdapter.STATE_ON:
// Toast.makeText(context, "蓝牙已经打开", Toast.LENGTH_SHORT).show();
EventBus.getDefault().post(new ConnectBluetoothEvent());
break;
case BluetoothAdapter.STATE_TURNING_OFF:
// Toast.makeText(context, "蓝牙正在关闭", Toast.LENGTH_SHORT).show();
break;
case BluetoothAdapter.STATE_OFF:
// Toast.makeText(context, "蓝牙已经关闭", Toast.LENGTH_SHORT).show();
break;
}
break;
case BluetoothDevice.ACTION_ACL_CONNECTED:
// Toast.makeText(context, "蓝牙设备已连接", Toast.LENGTH_SHORT).show();
// Log.d("liyz", "蓝牙设备已连接 ----> ");
// SharedPrefsMgr.getInstance(context).putBoolean("BLUETOOTH", true);
break;
case BluetoothDevice.ACTION_ACL_DISCONNECTED:
// SharedPrefsMgr.getInstance(context).putBoolean("BLUETOOTH", false);
// Log.d("liyz", "蓝牙设备已断开 ----> ");
// Toast.makeText(context, "蓝牙设备已断开", Toast.LENGTH_SHORT).show();
EventBus.getDefault().post(new ConnectBluetoothEvent());
break;
}
}
}
}

10
core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/main/moujie/ConnectBluetoothEvent.java Normal file
View File

@@ -0,0 +1,10 @@
package com.mogo.eagle.core.function.main.moujie;
/**
* @author lixiaopeng
* @description 连接蓝牙事件
* @since 2022/8/16
*/
public class ConnectBluetoothEvent {
}

2
core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/main/service/MogoMainService.java
View File

@@ -67,7 +67,7 @@ class MogoMainService extends Service implements IMogoLocationListener {
@Override
public int onStartCommand(Intent intent, int flags, int startId) {
return START_STICKY;
return START_NOT_STICKY;
}
private void initAndStartLocation() {

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4
core/function-impl/mogo-core-function-hmi/src/main/res/drawable/bus_autopilot_text_color_selector.xml Normal file
View File

@@ -0,0 +1,4 @@
<?xml version="1.0" encoding="utf-8"?>
<selector xmlns:android="http://schemas.android.com/apk/res/android">
<item android:color="@color/bus_autopilot_text_color_normal"/>
</selector>

8
core/function-impl/mogo-core-function-hmi/src/main/res/drawable/bus_operation_status_bg_selector1.xml Executable file
View File

@@ -0,0 +1,8 @@
<?xml version="1.0" encoding="utf-8"?>
<selector xmlns:android="http://schemas.android.com/apk/res/android">
<item android:drawable="@drawable/icon_bus_operation_status" android:state_focused="true" android:state_pressed="true" />
<item android:drawable="@drawable/icon_bus_operation_status" android:state_focused="false" android:state_pressed="true" />
<item android:drawable="@drawable/icon_bus_operation_status" android:state_selected="true" />
<item android:drawable="@drawable/icon_bus_operation_status" android:state_focused="true" />
<item android:drawable="@drawable/icon_bus_operation_status_un" />
</selector>

BIN
core/function-impl/mogo-core-function-hmi/src/main/res/drawable/pnc_actions_bg.png Normal file
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8
core/function-impl/mogo-core-function-hmi/src/main/res/drawable/taxi_loginout_bg.xml Normal file
View File

@@ -0,0 +1,8 @@
<?xml version="1.0" encoding="utf-8"?>
<shape xmlns:android="http://schemas.android.com/apk/res/android"
android:shape="rectangle">
<corners android:radius="24px"/>
<gradient android:startColor="#029DFF" android:endColor="#0056FF"/>
</shape>

8
core/function-impl/mogo-core-function-hmi/src/main/res/layout/fragment_hmi.xml
View File

@@ -181,6 +181,14 @@
app:layout_constraintStart_toStartOf="parent"
app:layout_constraintTop_toTopOf="parent" />
<com.mogo.eagle.core.function.hmi.ui.pnc.PncActionsView
android:layout_width="wrap_content"
android:layout_height="wrap_content"
android:layout_marginBottom="@dimen/dp_110"
app:layout_constraintBottom_toBottomOf="parent"
app:layout_constraintStart_toStartOf="parent"
app:layout_constraintEnd_toEndOf="parent"/>
<!--APP、MAP版本-->
<com.mogo.eagle.core.function.hmi.ui.widget.VersionNameView
android:layout_width="wrap_content"

51
core/function-impl/mogo-core-function-hmi/src/main/res/layout/view_auto_pilot_check.xml
View File

@@ -107,6 +107,31 @@
android:textSize="32px" />
</RelativeLayout>
<RelativeLayout
android:id="@+id/rlKillLayout"
android:layout_width="wrap_content"
android:layout_height="wrap_content"
android:layout_marginStart="142px">
<ImageView
android:id="@+id/ivKillImg"
android:layout_width="150px"
android:layout_height="150px"
android:layout_centerHorizontal="true"
android:background="@drawable/close_nor" />
<TextView
android:id="@+id/tvKillContent"
android:layout_width="wrap_content"
android:layout_height="42px"
android:layout_alignParentBottom="true"
android:layout_centerHorizontal="true"
android:layout_marginTop="23px"
android:text="杀死APP"
android:textColor="@color/color_FFA7B6F0"
android:textSize="32px" />
</RelativeLayout>
</LinearLayout>
<TextView
@@ -252,10 +277,34 @@
android:layout_height="wrap_content"
android:layout_marginTop="40px"
android:layout_marginBottom="40px"
app:layout_constraintBottom_toBottomOf="parent"
app:layout_constraintStart_toStartOf="parent"
app:layout_constraintTop_toBottomOf="@id/viewSystemVersion" />
<com.mogo.eagle.core.function.hmi.ui.tools.BusOperationView
android:id="@+id/toolBusOperationView"
android:layout_width="wrap_content"
android:layout_height="wrap_content"
app:layout_constraintTop_toBottomOf="@+id/systemVersionView"
app:layout_constraintStart_toStartOf="parent"/>
<androidx.appcompat.widget.AppCompatTextView
android:id="@+id/actvLoginout"
app:layout_constraintStart_toStartOf="parent"
app:layout_constraintEnd_toEndOf="parent"
app:layout_constraintTop_toBottomOf="@+id/systemVersionView"
app:layout_constraintBottom_toBottomOf="parent"
android:gravity="center"
android:background="@drawable/taxi_loginout_bg"
android:layout_marginBottom="40px"
android:text="退出登录"
android:visibility="gone"
android:textColor="@android:color/white"
android:textSize="42px"
android:layout_width="790px"
android:layout_height="126px"/>
<com.mogo.eagle.core.function.hmi.ui.tools.SpeedKeyboardView
android:id="@+id/sKeyBoardView"
android:layout_width="match_parent"

75
core/function-impl/mogo-core-function-hmi/src/main/res/layout/view_debug_setting.xml
View File

@@ -232,6 +232,42 @@
android:textSize="@dimen/dp_24"
android:background="@drawable/radio_button_normal_background_right"/>
<ToggleButton
android:id="@+id/tbBeautyMode"
android:layout_width="match_parent"
android:layout_height="wrap_content"
android:layout_margin="@dimen/dp_10"
android:textColor="#000"
android:textOff="开启感知优化模式"
android:textOn="关闭感知优化模式"
android:textSize="@dimen/dp_24"
android:background="@drawable/radio_button_normal_background_right"/>
<ToggleButton
android:id="@+id/tbMojie"
android:layout_width="match_parent"
android:layout_height="wrap_content"
android:layout_margin="@dimen/dp_10"
android:background="@drawable/radio_button_normal_background_right"
android:drawableEnd="@drawable/icon_right"
android:padding="@dimen/dp_20"
android:textOff="魔戒控制"
android:textOn="魔戒控制" />
<Button
android:id="@+id/btnOpenAllGestures"
android:layout_width="wrap_content"
android:layout_height="wrap_content"
android:gravity="center"
android:padding="@dimen/dp_5"
android:paddingStart="@dimen/dp_20"
android:paddingEnd="@dimen/dp_20"
android:text="开启手势滑动"
android:visibility="gone"
android:textSize="@dimen/dp_24"
app:layout_constraintLeft_toLeftOf="parent"
app:layout_constraintTop_toTopOf="parent" />
<Button
android:id="@+id/btnIpcReboot"
android:layout_width="match_parent"
@@ -1718,6 +1754,35 @@
</RadioGroup>
<RadioGroup
android:id="@+id/trackerProvider"
android:layout_width="match_parent"
android:layout_height="wrap_content"
android:orientation="horizontal"
app:layout_constraintTop_toBottomOf="@id/rgGpsProvider">
<RadioButton
android:id="@+id/trackerProviderOrigin"
android:layout_width="0dp"
android:layout_height="wrap_content"
android:layout_weight="1"
android:padding="@dimen/dp_10"
android:text="使用工控感知数据"
android:textColor="#000"
android:textSize="@dimen/dp_24" />
<RadioButton
android:id="@+id/trackerProviderObu"
android:layout_width="0dp"
android:layout_height="wrap_content"
android:layout_weight="1"
android:padding="@dimen/dp_10"
android:text="使用debugOBU感知数据"
android:textColor="#000"
android:textSize="@dimen/dp_24" />
</RadioGroup>
</androidx.constraintlayout.widget.ConstraintLayout>
@@ -2030,6 +2095,16 @@
android:textColor="#000"
android:textSize="@dimen/dp_24" />
<CheckBox
android:id="@+id/cbAdasTrafficlight"
android:layout_width="wrap_content"
android:layout_height="wrap_content"
android:checked="false"
android:padding="@dimen/dp_10"
android:text="ADAS红绿灯数据"
android:textColor="#000"
android:textSize="@dimen/dp_24" />
<CheckBox
android:id="@+id/cbAdasPlanningObj"
android:layout_width="wrap_content"

18
core/function-impl/mogo-core-function-hmi/src/main/res/layout/view_mask.xml Normal file
View File

@@ -0,0 +1,18 @@
<?xml version="1.0" encoding="utf-8"?>
<androidx.constraintlayout.widget.ConstraintLayout xmlns:android="http://schemas.android.com/apk/res/android"
xmlns:app="http://schemas.android.com/apk/res-auto"
xmlns:tools="http://schemas.android.com/tools"
android:background="#00000000"
android:layout_width="match_parent"
android:layout_height="match_parent">
<ImageView
android:id="@+id/ivWaringIcon"
android:layout_width="132px"
android:layout_height="132px"
app:layout_constraintBottom_toBottomOf="parent"
app:layout_constraintStart_toStartOf="parent"
app:layout_constraintEnd_toEndOf="parent"
app:layout_constraintTop_toTopOf="parent" />
</androidx.constraintlayout.widget.ConstraintLayout>

45
core/function-impl/mogo-core-function-hmi/src/main/res/layout/view_och_bus_operation.xml Normal file
View File

@@ -0,0 +1,45 @@
<?xml version="1.0" encoding="utf-8"?>
<RelativeLayout xmlns:android="http://schemas.android.com/apk/res/android"
xmlns:tools="http://schemas.android.com/tools"
android:id="@+id/ochBusOperationStatus"
android:layout_width="wrap_content"
android:layout_height="wrap_content"
android:layout_marginTop="40px"
android:paddingBottom="40px"
android:visibility="gone"
tools:visibility="visible"
tools:ignore="DuplicateIds">
<View
android:id="@+id/bus_operation_view"
android:layout_width="14px"
android:layout_height="50px"
android:layout_marginStart="80px"
android:background="@color/color_FF2966EC" />
<TextView
android:id="@+id/tv_bus_operation_title"
android:layout_width="wrap_content"
android:layout_height="wrap_content"
android:layout_marginStart="113px"
android:gravity="center"
android:paddingBottom="4px"
android:text="@string/bus_operation_title"
android:textColor="@color/color_FFFFFF"
android:textSize="42px" />
<CheckedTextView
android:id="@+id/ochBusOperationStatusCTV"
android:layout_width="@dimen/och_bus_operation_status_bg_width"
android:layout_height="@dimen/och_bus_operation_status_bg_height"
android:layout_below="@+id/tv_bus_operation_title"
android:layout_marginStart="113px"
android:layout_marginTop="40px"
android:background="@drawable/bus_operation_status_bg_selector1"
android:gravity="center"
android:text="出车"
android:textAlignment="center"
android:textColor="@color/bus_autopilot_text_color_normal"
android:textSize="@dimen/module_mogo_och_autopilot_status_text_size"
android:textStyle="bold" />
</RelativeLayout>

20
core/function-impl/mogo-core-function-hmi/src/main/res/layout/view_pnc_actions.xml Normal file
View File

@@ -0,0 +1,20 @@
<?xml version="1.0" encoding="utf-8"?>
<androidx.constraintlayout.widget.ConstraintLayout xmlns:android="http://schemas.android.com/apk/res/android"
xmlns:app="http://schemas.android.com/apk/res-auto"
android:layout_width="wrap_content"
android:layout_height="@dimen/dp_100">
<TextView
android:id="@+id/tvHmiPncActions"
android:layout_width="wrap_content"
android:layout_height="wrap_content"
android:gravity="center"
android:paddingStart="@dimen/dp_68"
android:paddingEnd="@dimen/dp_68"
android:textColor="#FFFFFF"
android:textSize="@dimen/dp_34"
app:layout_constraintBottom_toBottomOf="parent"
app:layout_constraintEnd_toEndOf="parent"
app:layout_constraintStart_toStartOf="parent"
app:layout_constraintTop_toTopOf="parent" />
</androidx.constraintlayout.widget.ConstraintLayout>

1
core/function-impl/mogo-core-function-hmi/src/main/res/values-xhdpi-2560x1440/color.xml
View File

@@ -8,4 +8,5 @@
<color name="notice_dialog_back">#3B4577</color>
<color name="acc_default_txt_color">#FF343C63</color>
<color name="hmi_check_keyboard_input_field">#FF282F62</color>
<color name="bus_autopilot_text_color_normal">#FFFFFF</color>
</resources>

14
core/function-impl/mogo-core-function-hmi/src/main/res/values-xhdpi-2560x1440/dimens.xml
View File

@@ -15,19 +15,25 @@
<dimen name="dp_18">18px</dimen>
<dimen name="dp_30">30px</dimen>
<dimen name="dp_36">36px</dimen>
<dimen name="dp_34">34px</dimen>
<dimen name="dp_38">38px</dimen>
<dimen name="dp_42">42px</dimen>
<dimen name="dp_45">45px</dimen>
<dimen name="dp_46">46px</dimen>
<dimen name="dp_48">48px</dimen>
<dimen name="dp_50">50px</dimen>
<dimen name="dp_52">52px</dimen>
<dimen name="dp_54">54px</dimen>
<dimen name="dp_56">56px</dimen>
<dimen name="dp_62">62px</dimen>
<dimen name="dp_68">68px</dimen>
<dimen name="dp_70">70px</dimen>
<dimen name="dp_75">80px</dimen>
<dimen name="dp_72">72px</dimen>
<dimen name="dp_75">75px</dimen>
<dimen name="dp_80">80px</dimen>
<dimen name="dp_96">96px</dimen>
<dimen name="dp_100">100px</dimen>
<dimen name="dp_110">110px</dimen>
<dimen name="dp_140">140px</dimen>
<dimen name="dp_150">150px</dimen>
<dimen name="dp_180">180px</dimen>
@@ -54,4 +60,10 @@
<dimen name="hmi_traffic_light_time_size">60px</dimen>
<dimen name="hmi_traffic_light_source_size">32px</dimen>
<dimen name="och_bus_operation_status_bg_width">150px</dimen>
<dimen name="och_bus_operation_status_bg_height">150px</dimen>
<dimen name="module_mogo_och_autopilot_status_text_size">42px</dimen>
<dimen name="module_mogo_och_margin_left">40px</dimen>
<dimen name="module_mogo_och_margin_bottom">46px</dimen>
</resources>

1
core/function-impl/mogo-core-function-hmi/src/main/res/values/color.xml
View File

@@ -66,4 +66,5 @@
<color name="dark_mode_select_txt_color">#FFFFFFFF</color>
<color name="hmi_check_keyboard_input_field">#FF282F62</color>
<color name="bus_autopilot_text_color_normal">#FFFFFF</color>
</resources>

5
core/function-impl/mogo-core-function-hmi/src/main/res/values/dimens.xml
View File

@@ -60,4 +60,9 @@
<dimen name="hmi_traffic_light_time_size">60px</dimen>
<dimen name="hmi_traffic_light_source_size">32px</dimen>
<dimen name="och_bus_operation_status_bg_width">150px</dimen>
<dimen name="och_bus_operation_status_bg_height">150px</dimen>
<dimen name="module_mogo_och_autopilot_status_text_size">42px</dimen>
<dimen name="module_mogo_och_margin_left">40px</dimen>
<dimen name="module_mogo_och_margin_bottom">46px</dimen>
</resources>

1
core/function-impl/mogo-core-function-hmi/src/main/res/values/strings.xml
View File

@@ -23,6 +23,7 @@
<string name="debug_panel">调试面板</string>
<string name="debug_panel_fb">录包设置</string>
<string name="check_vehicle_speed_setting">车速设置</string>
<string name="bus_operation_title">出收车状态</string>
<string name="check_system_operation">系统运行</string>
<string name="check_system_shut_down">关机</string>
<string name="check_system_reboot">重启</string>

5
core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/impl/collect/MoGoMapDataCollectProvider.kt
View File

@@ -151,8 +151,9 @@ class MoGoMapDataCollectProvider : IMoGoMapDataCollectProvider, OnTaskListener,
override fun onLocationChanged(location: MogoLocation?, from: Int) {
location ?: return
executor.get()?.updateLocation(
location.longitude,
location.latitude,
location.longitude,
location.latitude,
location.altitude,
location.bearing,
location.speed,
location.provider == "GPS_RTK")

11
core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/map/MapIdentifySubscriber.kt
View File

@@ -42,7 +42,7 @@ class MapIdentifySubscriber private constructor() : IMoGoSubscriber,
override fun onAutopilotIdentifyDataUpdate(trafficData: List<TrackedObject>?) {
try {
if (FunctionBuildConfig.isDrawIdentifyData) {
if (FunctionBuildConfig.isDrawIdentifyData && FunctionBuildConfig.debugTrackerProvider == 0) {
ThreadUtils.getSinglePool().execute {
IdentifyFactory.renderAdasRecognizedResult(trafficData)
}
@@ -56,9 +56,12 @@ class MapIdentifySubscriber private constructor() : IMoGoSubscriber,
override fun onAutopilotIdentifyPlanningObj(planningObjects: List<MessagePad.PlanningObject>?) {
try {
if (FunctionBuildConfig.isDrawIdentifyData) {
ThreadUtils.getSinglePool()
.execute { IdentifyFactory.renderPlanningWarningObj(planningObjects) }
if (FunctionBuildConfig.isDrawIdentifyData && FunctionBuildConfig.debugTrackerProvider == 0) {
ThreadUtils.getSinglePool().execute {
IdentifyFactory.renderPlanningWarningObj(planningObjects)
}
} else {
IdentifyFactory.clearOldMarker()
}
} catch (e: Exception) {
e.printStackTrace()

103
core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/map/MapPointCloudSubscriber.kt
View File

@@ -1,14 +1,12 @@
package com.mogo.eagle.core.function.map
import com.mogo.eagle.core.data.app.AppConfigInfo
import com.mogo.eagle.core.data.config.FunctionBuildConfig
import com.mogo.eagle.core.function.api.autopilot.IMoGoAutopilotPointCloudListener
import com.mogo.eagle.core.function.api.base.IMoGoSubscriber
import com.mogo.eagle.core.function.call.autopilot.CallerAutoPilotStatusListenerManager
import com.mogo.eagle.core.function.call.autopilot.CallerAutopilotPointCloudListenerManager
import com.mogo.eagle.core.utilcode.mogo.logger.Logger
import com.zhidaoauto.map.sdk.open.business.PointCloudHelper
import mogo.telematics.pad.MessagePad
import rule_segement.MogoPointCloudOuterClass
import java.math.BigDecimal
/**
@@ -17,7 +15,8 @@ import java.math.BigDecimal
*
* @author donghongyu
*/
class MapPointCloudSubscriber private constructor() : IMoGoSubscriber, IMoGoAutopilotPointCloudListener {
class MapPointCloudSubscriber private constructor()
: IMoGoSubscriber, IMoGoAutopilotPointCloudListener {
private val TAG = "MapPointCloudSubscriber"
@@ -35,7 +34,6 @@ class MapPointCloudSubscriber private constructor() : IMoGoSubscriber, IMoGoAuto
override fun onCrate() {
CallerAutopilotPointCloudListenerManager.addListener(TAG, this)
}
override fun onDestroy() {
@@ -43,42 +41,81 @@ class MapPointCloudSubscriber private constructor() : IMoGoSubscriber, IMoGoAuto
}
override fun onAutopilotPointCloudDataUpdate(pointCloud: ByteArray?) {
// 根据配置动态控制点云是否绘制
if (FunctionBuildConfig.isDrawPointCloudData) {
if (!isDrawPointCloud) {
Logger.d(TAG, "====开启点云渲染====")
isDrawPointCloud = true
try {// 根据配置动态控制点云是否绘制
if (FunctionBuildConfig.isDrawPointCloudData && isDrawCloudPointDockerVersion()) {
if (!isDrawPointCloud) {
Logger.d(TAG, "====开启点云渲染====")
isDrawPointCloud = true
PointCloudHelper.setIsDrawPointCloud(true)//打开点云绘制
}
PointCloudHelper.setIsDrawPointCloud(true)//打开点云绘制
}
PointCloudHelper.setIsDrawPointCloud(true)//打开点云绘制
/**
* 更新点云数据
* @param dataStr 点云数据
* @param isTrasformer 是否需要转换坐标
* @param isResidual 是否需要差量更新
* @param isStrong 是否加粗显示
* @return 是否执行
*/
Logger.d(TAG, "====开始传入地图点云数据====")
val result = PointCloudHelper.updatePointCloudDataByPb(pointCloud, true, false, false)
Logger.d(TAG, "====结束传入地图点云数据=====$result")
} else {
if (isDrawPointCloud) {
Logger.d(TAG, "====停止点云绘制====")
isDrawPointCloud = false
PointCloudHelper.setIsDrawPointCloud(false)//停止点云绘制
/**
* 更新点云数据
* @param dataStr 点云数据
* @param isTrasformer 是否需要转换坐标
* @param isResidual 是否需要差量更新
* @param isStrong 是否加粗显示
* @return 是否执行
*/
Logger.d(TAG, "====开始传入地图点云数据====")
val result = PointCloudHelper.updatePointCloudDataByPb(pointCloud, true, false, false)
Logger.d(TAG, "====结束传入地图点云数据=====$result")
} else {
if (isDrawPointCloud) {
Logger.d(TAG, "====停止点云绘制====")
isDrawPointCloud = false
PointCloudHelper.setIsDrawPointCloud(false)//停止点云绘制
}
}
} catch (e: Exception) {
e.printStackTrace()
}
}
override fun onAutopilotPointCloudDataUpdate(header: MessagePad.Header?, pointCloud: MogoPointCloudOuterClass.MogoPointCloud?) {
// Logger.d(TAG, "数据对比："
// + "\n自车定位：自车的 satelliteTime==${getPrettyNumber(CallerAutoPilotStatusListenerManager.getAutoPilotStatusInfo().satelliteTime.toString())} 经纬度：${CallerAutoPilotStatusListenerManager.getAutoPilotStatusInfo().locationLat},${CallerAutoPilotStatusListenerManager.getAutoPilotStatusInfo().locationLon}"
// + "\n点云数据：点云的 header?.timestamp==${getPrettyNumber(header?.timestamp.toString())} 经纬度：${pointCloud?.selfLatitude},${pointCloud?.selfLongitude} 点云数量：addDataCount==${pointCloud?.addDataCount} delDataCount===${pointCloud?.delDataCount} "
// )
/**
* 判断是否是260之后但版本
*/
fun isDrawCloudPointDockerVersion(): Boolean {
// 由于Docker命名规则不统一，但核心版本是统一但，采用"."分割，如下
// MAP-taxi_RoboTaxi_Default_2.2.0_badcasetest_20220215_dev
val dockerVersionName = AppConfigInfo.dockerVersion
// "." 分割，取前两位
val dockerVersionNameArray = dockerVersionName?.split(".")
var dockerVersionCode = ""
dockerVersionNameArray?.let {
if (it.size > 3) {
for (index in 0 until 3) {
dockerVersionCode +=
when (index) {
0 -> {
it[index].substring(it[index].lastIndex)
}
it.size - 1 -> {
it[index].substring(0, 1)
}
else -> {
it[index]
}
}
}
}
}
val dockerVersion =
if (dockerVersionCode.isNotEmpty()) {
dockerVersionCode.toInt()
} else {
0
}
if (dockerVersion >= 260) {
return true
}
return false
}
fun getPrettyNumber(number: String): String {
return BigDecimal.valueOf(number.toDouble())
.stripTrailingZeros().toPlainString()

9
core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/map/identify/Identify.kt
View File

@@ -1,15 +1,18 @@
package com.mogo.eagle.core.function.map.identify
import com.mogo.eagle.core.data.traffic.TrafficData
import mogo.telematics.pad.MessagePad
import mogo.telematics.pad.MessagePad.TrackedObject
interface Identify {
fun renderPlanningWarningObj(planningObjects: List<MessagePad.PlanningObject>?){
fun renderAdasRecognizedResult(resultList: List<TrackedObject>?)
fun renderPlanningWarningObj(planningObjects: List<MessagePad.PlanningObject>?)
fun renderOBUWarningObj(exist: Boolean, obuTrafficData: TrafficData) {
}
fun renderAdasRecognizedResult(resultList: List<TrackedObject>?)
fun clearOldMarker()
}

12
core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/map/identify/IdentifyBeautifyDataDrawer.kt
View File

@@ -2,6 +2,7 @@ package com.mogo.eagle.core.function.map.identify
import android.annotation.SuppressLint
import com.mogo.commons.AbsMogoApplication
import com.mogo.eagle.core.data.traffic.TrafficData
import com.mogo.eagle.core.utilcode.mogo.logger.CallerLogger.w
import com.mogo.map.MogoMarkerManager
import com.mogo.module.common.MogoApisHandler
@@ -17,6 +18,14 @@ class IdentifyBeautifyDataDrawer : Identify {
private const val TAG = "IdentifyDataDrawer"
}
override fun renderPlanningWarningObj(planningObjects: List<MessagePad.PlanningObject>?) {
TrackManager.getInstance().renderPlanningWarningObj(planningObjects)
}
override fun renderOBUWarningObj(exist: Boolean, obuTrafficData: TrafficData) {
TrackManager.getInstance().renderOBUWarningObj(exist, obuTrafficData)
}
/**
* 渲染 adas 识别的数据
*
@@ -52,4 +61,5 @@ class IdentifyBeautifyDataDrawer : Identify {
TrackManager.getInstance().clearAll()
}
}
}

62
core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/map/identify/IdentifyFactory.kt
View File

@@ -3,12 +3,17 @@ package com.mogo.eagle.core.function.map.identify
import android.os.Handler
import android.os.Message
import com.mogo.eagle.core.data.config.FunctionBuildConfig
import com.mogo.eagle.core.utilcode.mogo.AppIdentityModeUtils
import com.mogo.eagle.core.data.traffic.TrafficData
import com.mogo.eagle.core.function.api.obu.IMoGoObuStatusListener
import com.mogo.eagle.core.function.call.obu.CallerObuListenerManager
import com.mogo.eagle.core.utilcode.mogo.thread.WorkThreadHandler
import mogo.telematics.pad.MessagePad
import mogo.telematics.pad.MessagePad.TrackedObject
object IdentifyFactory : Identify {
object IdentifyFactory : Identify, IMoGoObuStatusListener {
private const val TAG = "IdentifyFactory"
object DriverIdentify {
internal val originDataDrawer = IdentifyOriginDataDrawer()
}
@@ -20,34 +25,60 @@ object IdentifyFactory : Identify {
private var identify: Identify? = null
init {
identify = if (AppIdentityModeUtils.isBus(FunctionBuildConfig.appIdentityMode)) {
identify = if (FunctionBuildConfig.isBeautyMode) {
UserIdentify.beautifyDataDrawer
} else {
DriverIdentify.originDataDrawer
}
CallerObuListenerManager.addListener(TAG, this)
}
private const val MSG_DATA_TRACK = 0
private const val MSG_DATA_WARNING = 1
private const val MSG_DATA_CLEAR = 2
private const val MSG_DATA_OBU_WARNING_UPDATE = 2
private const val MSG_DATA_OBU_WARNING_REMOVE = 3
private const val MSG_DATA_CLEAR = 4
// 维护一个线程定时轮询数据进行地图绘制
private val mDrawerHandler: Handler =
object : Handler(WorkThreadHandler.newInstance("IdentifyFactoryDrawer").looper) {
override fun handleMessage(msg: Message) {
super.handleMessage(msg)
when(msg.what){
if (!FunctionBuildConfig.isBeautyMode) {
// 非感知美化优化模式，清除旧数据，使用 DriverIdentify originDataDrawer 原始数据绘制
if (identify is IdentifyBeautifyDataDrawer) {
identify!!.clearOldMarker()
identify = DriverIdentify.originDataDrawer
}
} else {
// 感知优化模式，清除旧数据，使用 UserIdentify beautifyDataDrawer 优化数据
if (identify is IdentifyOriginDataDrawer) {
identify!!.clearOldMarker()
identify = UserIdentify.beautifyDataDrawer
}
}
when (msg.what) {
MSG_DATA_TRACK -> {
if(msg.obj is List<*>){
if (msg.obj is List<*>) {
identify!!.renderAdasRecognizedResult(msg.obj as List<TrackedObject>?)
}
}
MSG_DATA_WARNING -> {
if(msg.obj is List<*>){
if (msg.obj is List<*>) {
identify!!.renderPlanningWarningObj(msg.obj as List<MessagePad.PlanningObject>?)
}
}
MSG_DATA_CLEAR ->{
MSG_DATA_OBU_WARNING_UPDATE -> {
if (msg.obj is TrafficData) {
identify!!.renderOBUWarningObj(true, msg.obj as TrafficData)
}
}
MSG_DATA_OBU_WARNING_REMOVE -> {
if (msg.obj is TrafficData) {
identify!!.renderOBUWarningObj(false, msg.obj as TrafficData)
}
}
MSG_DATA_CLEAR -> {
identify!!.clearOldMarker()
}
}
@@ -74,4 +105,19 @@ object IdentifyFactory : Identify {
mDrawerHandler.sendMessage(message)
}
override fun updateTrackerWarningInfo(trafficData: TrafficData) {
super.updateTrackerWarningInfo(trafficData)
val message = Message.obtain()
message.what = MSG_DATA_OBU_WARNING_UPDATE
message.obj = trafficData
mDrawerHandler.sendMessage(message)
}
override fun removeTrackerWarningInfo(trafficData: TrafficData) {
super.removeTrackerWarningInfo(trafficData)
val message = Message.obtain()
message.what = MSG_DATA_OBU_WARNING_REMOVE
message.obj = trafficData
mDrawerHandler.sendMessage(message)
}
}

73
core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/map/identify/IdentifyOriginDataDrawer.kt
View File

@@ -1,18 +1,21 @@
package com.mogo.eagle.core.function.map.identify
import android.annotation.SuppressLint
import android.text.TextUtils
import androidx.collection.ArraySet
import com.mogo.commons.AbsMogoApplication
import com.mogo.eagle.core.data.autopilot.AutopilotStatusInfo
import com.mogo.eagle.core.data.config.FunctionBuildConfig
import com.mogo.eagle.core.data.enums.TrafficTypeEnum
import com.mogo.eagle.core.data.traffic.TrafficData
import com.mogo.eagle.core.data.traffic.threatLevelColor
import com.mogo.eagle.core.function.api.autopilot.IMoGoAutopilotStatusListener
import com.mogo.eagle.core.function.call.autopilot.CallerAutoPilotStatusListenerManager
import com.mogo.eagle.core.utilcode.mogo.logger.CallerLogger.w
import com.mogo.map.MogoMarkerManager
import com.mogo.module.common.MogoApisHandler
import mogo.telematics.pad.MessagePad
import mogo.telematics.pad.MessagePad.TrackedObject
import mogo.telematics.pad.MessagePad.*
import java.util.concurrent.ConcurrentHashMap
/**
@@ -49,17 +52,21 @@ class IdentifyOriginDataDrawer : Identify, IMoGoAutopilotStatusListener {
* 过滤后的数据集合
*/
@SuppressLint("NewApi")
private val mFilterTrafficData = HashMap<String,TrackedObject>()
private val mFilterTrafficData = HashMap<String, TrackedObject>()
/**
* planning 感知物预警缓存，用于重置color状态
*/
private val colorTrafficData = ConcurrentHashMap<String, PlanningTrack>()
private val pncWarningTrafficData = ConcurrentHashMap<String, PlanningTrack>()
/**
* obu 感知物预警缓存，用于重置color状态
*/
private val obuWarningTrafficData = ConcurrentHashMap<String, TrafficData>()
@SuppressLint("NewApi")
override fun renderPlanningWarningObj(planningObjects: List<MessagePad.PlanningObject>?) {
colorTrafficData.clear()
//处于美化模式或者自动驾驶状态下展示
pncWarningTrafficData.clear()
if (FunctionBuildConfig.isIgnoreConditionsDrawAutopilotTrajectoryData || mAutopilotStatus == 2) {
if (planningObjects == null) {
return
@@ -68,18 +75,18 @@ class IdentifyOriginDataDrawer : Identify, IMoGoAutopilotStatusListener {
val trackId = planningObj.uuid.toString()
if (mMarkersCaches.containsKey(trackId)) {
val trackObj = mMarkersCaches[trackId]
if(planningObj.type == 0){
if (planningObj.type == 0) {
//0是leading障碍物，障碍物车身红色提示
trackObj?.let {
colorTrafficData[trackId] = PlanningTrack(
pncWarningTrafficData[trackId] = PlanningTrack(
"#D65D5AFF",
CallerAutoPilotStatusListenerManager.getCurWgs84SatelliteTime()
)
}
}else if(planningObj.type == 1){
} else if (planningObj.type == 1) {
//1是避障和择机的障碍物，障碍物车身黄色提示
trackObj?.let {
colorTrafficData[trackId] = PlanningTrack(
pncWarningTrafficData[trackId] = PlanningTrack(
"#E4DD94FF",
CallerAutoPilotStatusListenerManager.getCurWgs84SatelliteTime()
)
@@ -90,6 +97,17 @@ class IdentifyOriginDataDrawer : Identify, IMoGoAutopilotStatusListener {
}
}
override fun renderOBUWarningObj(exist: Boolean, obuTrafficData: TrafficData) {
if (obuTrafficData.uuid.isNullOrEmpty()) {
return
}
if (exist) {
obuWarningTrafficData[obuTrafficData.uuid!!] = obuTrafficData
} else {
obuWarningTrafficData.remove(obuTrafficData.uuid!!)
}
}
/**
* 渲染 adas 识别的数据
*
@@ -141,7 +159,8 @@ class IdentifyOriginDataDrawer : Identify, IMoGoAutopilotStatusListener {
*
* @return 过滤后的数据集合
*/
private fun filterTrafficData(trafficData: List<TrackedObject>): HashMap<String,TrackedObject> {
@SuppressLint("NewApi")
private fun filterTrafficData(trafficData: List<TrackedObject>): HashMap<String, TrackedObject> {
mFilterTrafficData.clear()
trafficDataUuidList.clear()
for (data in trafficData) {
@@ -154,19 +173,38 @@ class IdentifyOriginDataDrawer : Identify, IMoGoAutopilotStatusListener {
//首次过来的数据不添加,首次未添加的感知物在调用完绘制方法后再塞入cache map
val cacheData = mMarkersCaches[uuid]
if (cacheData != null) {
if (data.speed < 0.5) {
temp = data.toBuilder().setHeading(cacheData.heading)
.setLongitude(cacheData.longitude)
.setLatitude(cacheData.latitude).build()
//OBU数据颜色标记
val first = data.trackedSourceList.stream()
.filter { trackedSource: TrackedSource -> trackedSource.source == 4 }
.findFirst()
if (first.isPresent) {
val subFirst = first.get().subSourceList.stream()
.filter { subSource: SubSource -> subSource.source == 1 }
.findFirst()
if (subFirst.isPresent) {
val subID = subFirst.get().id
if (!TextUtils.isEmpty(subID)) {
temp = data.toBuilder().setColor("#36D3FE").build()
if (obuWarningTrafficData.containsKey(subID)) {
temp = data.toBuilder()
.setColor(obuWarningTrafficData[subID]!!.threatLevelColor())
.build()
}
}
}
}
if (colorTrafficData.containsKey(uuid)) {
val planningTrack = colorTrafficData[uuid]
//预警颜色变化
if (pncWarningTrafficData.containsKey(uuid)) {
val planningTrack = pncWarningTrafficData[uuid]
if (!timeOut(planningTrack!!.time)) {
temp = data.toBuilder().setColor(planningTrack.color).build()
} else {
colorTrafficData.remove(uuid)
pncWarningTrafficData.remove(uuid)
}
}
mFilterTrafficData[uuid] = temp
}
mMarkersCaches[uuid] = temp
@@ -185,6 +223,7 @@ class IdentifyOriginDataDrawer : Identify, IMoGoAutopilotStatusListener {
.removeMarker(uuid)
}
trafficDataUuidList.clear()
pncWarningTrafficData.clear()
}
override fun onAutopilotStatusResponse(autoPilotStatusInfo: AutopilotStatusInfo) {

24
core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/map/identify/ObjQueue.java
View File

@@ -4,11 +4,15 @@ public class ObjQueue {
private double heading;
private double speed;
private double lat;
private double lon;
private int type;
public ObjQueue(double heading, double speed, int type) {
public ObjQueue(double heading, double speed, double lat, double lon, int type) {
this.heading = heading;
this.speed = speed;
this.lat = lat;
this.lon = lon;
this.type = type;
}
@@ -28,6 +32,22 @@ public class ObjQueue {
this.speed = speed;
}
public double getLat() {
return lat;
}
public void setLat(double lat) {
this.lat = lat;
}
public double getLon() {
return lon;
}
public void setLon(double lon) {
this.lon = lon;
}
public int getType() {
return type;
}
@@ -41,6 +61,8 @@ public class ObjQueue {
return "ObjQueue{" +
"heading=" + heading +
", speed=" + speed +
", lat=" + lat +
", lon=" + lon +
", type=" + type +
'}';
}

100
core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/map/identify/TrackManager.java
View File

@@ -2,7 +2,7 @@ package com.mogo.eagle.core.function.map.identify;
import android.annotation.SuppressLint;
import android.os.Build;
import android.util.Log;
import android.text.TextUtils;
import androidx.annotation.RequiresApi;
@@ -11,6 +11,9 @@ import com.google.common.collect.HashBiMap;
import com.mogo.commons.AbsMogoApplication;
import com.mogo.eagle.core.data.config.FunctionBuildConfig;
import com.mogo.eagle.core.data.enums.TrafficTypeEnum;
import com.mogo.eagle.core.data.traffic.TrafficData;
import com.mogo.eagle.core.data.traffic.TrafficDataKt;
import com.mogo.eagle.core.function.call.autopilot.CallerAutoPilotStatusListenerManager;
import com.mogo.eagle.core.utilcode.geometry.S2CellId;
import com.mogo.eagle.core.utilcode.geometry.S2LatLng;
import com.mogo.map.MogoMarkerManager;
@@ -19,6 +22,7 @@ import java.util.HashMap;
import java.util.Iterator;
import java.util.List;
import java.util.Map;
import java.util.Optional;
import java.util.concurrent.ConcurrentHashMap;
import mogo.telematics.pad.MessagePad;
@@ -35,6 +39,9 @@ public class TrackManager {
public static double LIMIT_SPEED = 0.45;
private TrackManager() {
}
/**
* marker缓存队列
*/
@@ -57,6 +64,59 @@ public class TrackManager {
@SuppressLint("NewApi")
private final HashMap<String, MessagePad.TrackedObject> mFilterTrafficData = new HashMap<>();
//感知物预警各自先以帧数更新保持，不做同一个集合的融合处理(以卫星时间做判断先后，可能会出现不同ip节点间的回溯问题)
/**
* planning 感知物预警缓存，用于重置color状态
*/
private final ConcurrentHashMap<String, PlanningTrack> pncWarningTrafficData = new ConcurrentHashMap<>();
/**
* obu 感知物预警缓存，用于重置color状态
*/
private final ConcurrentHashMap<String, TrafficData> obuWarningTrafficData = new ConcurrentHashMap<>();
@SuppressLint("NewApi")
public synchronized void renderPlanningWarningObj(List<MessagePad.PlanningObject> planningObjects) {
pncWarningTrafficData.clear();
//处于美化模式或者自动驾驶状态下展示
if (FunctionBuildConfig.isIgnoreConditionsDrawAutopilotTrajectoryData || CallerAutoPilotStatusListenerManager.INSTANCE.getAutoPilotStatusInfo().getState() == 2) {
if (planningObjects == null) {
return;
}
planningObjects.forEach(planningObj -> {
String trackId = "" + planningObj.getUuid();
if (mMarkersCaches.containsKey(trackId)) {
TrackObj trackObj = mMarkersCaches.get(trackId);
if (trackObj == null) {
return;
}
if (planningObj.getType() == 0) {
pncWarningTrafficData.put(trackId, new PlanningTrack(
"#D65D5AFF",
CallerAutoPilotStatusListenerManager.INSTANCE.getCurWgs84SatelliteTime()
));
} else if (planningObj.getType() == 1) {
pncWarningTrafficData.put(trackId, new PlanningTrack(
"#E4DD94FF",
CallerAutoPilotStatusListenerManager.INSTANCE.getCurWgs84SatelliteTime()
));
}
}
});
}
}
public synchronized void renderOBUWarningObj(boolean exist, TrafficData obuTrafficData) {
if (obuTrafficData.getUuid() == null || obuTrafficData.getUuid().isEmpty()) {
return;
}
if (exist) {
obuWarningTrafficData.put(obuTrafficData.getUuid(), obuTrafficData);
} else {
obuWarningTrafficData.remove(obuTrafficData.getUuid());
}
}
/**
* 过滤后的数据集合
*/
@@ -71,6 +131,35 @@ public class TrackManager {
}
String uuid = "" + data.getUuid();
TrackObj trackObj = mMarkersCaches.get(uuid);
//OBU数据颜色标记
Optional<MessagePad.TrackedSource> first = data.getTrackedSourceList().stream()
.filter(trackedSource -> trackedSource.getSource() == 4).findFirst();
if (first.isPresent()) {
Optional<MessagePad.SubSource> subFirst = first.get().getSubSourceList().stream().filter(subSource -> subSource.getSource() == 1).findFirst();
if (subFirst.isPresent()) {
String subID = subFirst.get().getId();
if (!TextUtils.isEmpty(subID)) {
data = data.toBuilder().setColor("#36D3FE").build();
if (obuWarningTrafficData.containsKey(subID)) {
data = data.toBuilder()
.setColor(TrafficDataKt.threatLevelColor(obuWarningTrafficData.get(subID)))
.build();
}
}
}
}
// 判断物体是否与预警信息
if (pncWarningTrafficData.containsKey(uuid)) {
PlanningTrack planningTrack = pncWarningTrafficData.get(uuid);
if (planningTrack != null && !timeOut(planningTrack.getTime())) {
data = data.toBuilder().setColor(planningTrack.getColor()).build();
} else {
pncWarningTrafficData.remove(uuid);
}
}
if (trackObj != null) {
trackObj.updateObj(data);
} else {
@@ -80,7 +169,6 @@ public class TrackManager {
// 融合逻辑 : 判断是否有重合元素
if (cellIdCaches.containsValue(pos)) {
String findSameValue = cellIdCaches.inverse().get(pos);
Log.d("hy uuid : " + findSameValue, " 与新感知物 : " + uuid + "相同");
//uuid处理
data = data.toBuilder().setUuid(Integer.parseInt(findSameValue)).build();
TrackObj cacheTrack = mMarkersCaches.get(findSameValue);
@@ -90,6 +178,9 @@ public class TrackManager {
if (cache != null) {
//相对静止物体并且非obu数据，则不改变，为感知融合同位置物体，使用缓存数据做覆盖
if (cacheTrack.relativeStatic()) {
if(data.getColor()!= null && !data.getColor().isEmpty()){
cache = cache.toBuilder().setColor(data.getColor()).build();
}
data = cache;
}
}
@@ -143,8 +234,13 @@ public class TrackManager {
@SuppressLint("NewApi")
public void clearAll() {
trafficDataUuid.clear();
pncWarningTrafficData.clear();
mMarkersCaches.forEach((uuid, trackObj) -> removeKey(uuid));
}
private Boolean timeOut(Double time) {
long duration = (long) (CallerAutoPilotStatusListenerManager.INSTANCE.getCurWgs84SatelliteTime() * 1000) - (long) (time * 1000);
return duration >= 500;
}
}

112
core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/map/identify/TrackObj.java
View File

@@ -5,13 +5,12 @@ import static com.mogo.eagle.core.function.map.identify.TrackManager.LIMIT_SPEED
import android.annotation.SuppressLint;
import android.util.Log;
import com.mogo.cloud.commons.utils.CoordinateUtils;
import com.mogo.eagle.core.data.enums.TrafficTypeEnum;
import com.mogo.eagle.core.data.map.CenterLine;
import com.mogo.eagle.core.function.call.map.CallerHDMapManager;
import com.mogo.eagle.core.utilcode.geometry.S2CellId;
import com.mogo.eagle.core.utilcode.geometry.S2LatLng;
import com.mogo.map.utils.PointInterpolatorUtil;
import com.zhidaoauto.map.sdk.open.data.MapDataApi;
import java.util.Arrays;
import java.util.Comparator;
@@ -21,23 +20,23 @@ import mogo.telematics.pad.MessagePad;
public class TrackObj {
private final CircleQueue circleQueue = new CircleQueue(10);
private final CircleQueue circleQueue = new CircleQueue(6);
// private final KalmanFilter kalmanFilter; //卡尔曼结果
private S2CellId s2CellId; //s2 id权重
private S2LatLng s2LatLng; //s2 经纬度
private double recentlyTime; //用于缓存帧数判断，暂定缓存1秒数据，中间如果有物体未出现，1秒后删除
private double roadAngle; //道路航向
private double headingDelta; //航向角德尔塔
// private double headingDelta; //航向角德尔塔
private int[] typeArray = new int[3];
private int typeWeight; //类型权重
private double lat;
private double lon;
private double speedAverage;
private CenterLine centerLineInfo = null;
// private CenterLine centerLineInfo = null;
public TrackObj(MessagePad.TrackedObject data) {
// kalmanFilter = new KalmanFilter(data.getLongitude(), data.getLatitude(), 0.0000005);
circleQueue.addQueue(new ObjQueue(data.getHeading(), data.getSpeed(), data.getType()));
circleQueue.addQueue(new ObjQueue(data.getHeading(), data.getSpeed(), data.getLatitude(), data.getLongitude(), data.getType()));
recentlyTime = data.getSatelliteTime();
lat = data.getLatitude();
lon = data.getLongitude();
@@ -47,6 +46,7 @@ public class TrackObj {
if (centerLine != null && centerLine.getAngle() != 0) {
roadAngle = centerLine.getAngle();
}
}
private MessagePad.TrackedObject cacheData;
@@ -56,7 +56,7 @@ public class TrackObj {
cacheData = data;
correct();
recentlyTime = data.getSatelliteTime();
circleQueue.addQueue(new ObjQueue(cacheData.getHeading(), cacheData.getSpeed(), cacheData.getType()));
circleQueue.addQueue(new ObjQueue(cacheData.getHeading(), cacheData.getSpeed(), data.getLatitude(), data.getLongitude(), data.getType()));
}
private void correct() {
@@ -102,30 +102,30 @@ public class TrackObj {
private void calLoc() {
//距离计算,位置修正
if (relativeStatic()) {
double angle = roadAngle != 0 ? roadAngle : cacheData.getHeading();
if (centerLineInfo == null && isFourWheelType()) {
try {
centerLineInfo = CallerHDMapManager.INSTANCE.getCenterLineInfo(lon, lat, (float) angle);
} catch (Exception e) {
Log.d("hy uuid : " + cacheData.getUuid(), "道路获取异常");
}
if (centerLineInfo != null && centerLineInfo.getPoints() != null && !centerLineInfo.getPoints().isEmpty()) {
double[] matchedPoint = PointInterpolatorUtil.mergeToRoad(cacheData.getLongitude(), cacheData.getLatitude(), centerLineInfo.getPoints());
if (matchedPoint[0] > 0 || matchedPoint[1] > 0) {
lon = matchedPoint[0];
lat = matchedPoint[1];
s2LatLng = S2LatLng.fromDegrees(cacheData.getLatitude(), cacheData.getLongitude());
s2CellId = S2CellId.fromLatLng(s2LatLng).parent(22);
} else {
centerLineInfo = null;
}
} else {
centerLineInfo = null;
}
}
// double angle = roadAngle != 0 ? roadAngle : cacheData.getHeading();
// if (centerLineInfo == null && isFourWheelType()) {
// try {
// centerLineInfo = CallerHDMapManager.INSTANCE.getCenterLineInfo(lon, lat, (float) angle);
// } catch (Exception e) {
// Log.d("hy uuid : " + cacheData.getUuid(), "道路获取异常");
// }
// if (centerLineInfo != null && centerLineInfo.getPoints() != null && !centerLineInfo.getPoints().isEmpty()) {
// double[] matchedPoint = PointInterpolatorUtil.mergeToRoad(cacheData.getLongitude(), cacheData.getLatitude(), centerLineInfo.getPoints());
// if (matchedPoint[0] > 0 || matchedPoint[1] > 0) {
// lon = matchedPoint[0];
// lat = matchedPoint[1];
// s2LatLng = S2LatLng.fromDegrees(cacheData.getLatitude(), cacheData.getLongitude());
// s2CellId = S2CellId.fromLatLng(s2LatLng).parent(22);
// } else {
// centerLineInfo = null;
// }
// } else {
// centerLineInfo = null;
// }
// }
cacheData = cacheData.toBuilder().setLongitude(lon).setLatitude(lat).build();
} else {
centerLineInfo = null;
// centerLineInfo = null;
//不在阈值内则更新，代表物体移动，使用卡尔曼滤波经纬度数据
//double[] lonLat = kalmanFilter.filter(cacheData.getLongitude(), cacheData.getLatitude());
lat = cacheData.getLatitude();
@@ -175,7 +175,30 @@ public class TrackObj {
}
public boolean relativeStatic() {
return speedAverage < LIMIT_SPEED | cacheData.getSpeed() < LIMIT_SPEED;
if (speedAverage < LIMIT_SPEED) {
// Log.d("emArrow-Track", "relativeStatic return" + " , uuid : " + cacheData.getUuid());
return true;
} else {
return isInRange();
}
}
private boolean isInRange() {
if (circleQueue.size() < 3) {
return false;
}
List<ObjQueue> objQueueList = circleQueue.getPreFrame();
double[] center = getCenterPoint(objQueueList);
if (center[0] == 0.0 || center[1] == 0.0) {
return false;
}
double dis = CoordinateUtils.calculateLineDistance(center[0], center[1], cacheData.getLongitude(), cacheData.getLatitude());
// Log.d("emArrow-Track", "uuid : " + cacheData.getUuid() + " , type : " + cacheData.getType() + " , list size : " + objQueueList.size() + " , dis : " + dis);
if (cacheData.getType() == TrafficTypeEnum.TYPE_TRAFFIC_ID_BUS.getType() || cacheData.getType() == TrafficTypeEnum.TYPE_TRAFFIC_ID_TRUCK.getType()) {
return dis <= 0.6;
} else {
return dis <= 0.3;
}
}
public boolean isFourWheelType() {
@@ -184,6 +207,35 @@ public class TrackObj {
&& typeWeight != TrafficTypeEnum.TYPE_TRAFFIC_ID_MOTO.getType();
}
private double[] getCenterPoint(List<ObjQueue> objQueueList) {
int total = objQueueList.size();
double X = 0, Y = 0, Z = 0;
for (int i = 0; i < objQueueList.size() - 1; i++) {
ObjQueue objQueue = objQueueList.get(i);
if (objQueue != null) {
double lat, lon, x, y, z;
lat = objQueue.getLat() * Math.PI / 180;
lon = objQueue.getLon() * Math.PI / 180;
x = Math.cos(lat) * Math.cos(lon);
y = Math.cos(lat) * Math.sin(lon);
z = Math.sin(lat);
X += x;
Y += y;
Z += z;
}
}
X = X / total;
Y = Y / total;
Z = Z / total;
double Lon = Math.atan2(Y, X);
double Hyp = Math.sqrt(X * X + Y * Y);
double Lat = Math.atan2(Z, Hyp);
double[] d = new double[2];
d[0] = Lon * 180 / Math.PI;
d[1] = Lat * 180 / Math.PI;
return d;
}
@Override
public String toString() {
return "TrackObj{" +

10
core/function-impl/mogo-core-function-obu-mogo/src/main/java/com/mogo/eagle/core/function/obu/mogo/MogoPrivateObuManager.kt
View File

@@ -359,6 +359,7 @@ class MogoPrivateObuManager private constructor() {
)
// 更新数据
TrafficDataConvertUtils.cvxRtiThreatIndInfo2TrafficData(info)?.let {
CallerObuListenerManager.invokeTrackerWarningInfo(it)
TrafficMarkerDrawer.updateITrafficThreatLevelInfo(it)
}
}
@@ -370,9 +371,10 @@ class MogoPrivateObuManager private constructor() {
CallerHmiManager.disableWarningV2X((appId + direction.direction).toString())
// 更新数据
TrafficDataConvertUtils.cvxRtiThreatIndInfo2TrafficData(info)?.let {
CallerObuListenerManager.removeTrackerWarningInfo(it)
// 事件结束，还原车辆颜色
it.threatLevel = 0x01
TrafficMarkerDrawer.updateITrafficInfo(it)
TrafficMarkerDrawer.updateITrafficThreatLevelInfo(it)
}
}
}
@@ -468,7 +470,8 @@ class MogoPrivateObuManager private constructor() {
// }
// 更新数据
TrafficDataConvertUtils.cvxPtcThreatIndInfo2TrafficData(info)?.let {
TrafficMarkerDrawer.updateITrafficInfo(it)
CallerObuListenerManager.invokeTrackerWarningInfo(it)
TrafficMarkerDrawer.updateITrafficThreatLevelInfo(it)
}
}
// 删除
@@ -477,6 +480,7 @@ class MogoPrivateObuManager private constructor() {
CallerHmiManager.showWarning(WarningDirectionEnum.ALERT_WARNING_NON)
// 更新数据
TrafficDataConvertUtils.cvxPtcThreatIndInfo2TrafficData(info)?.let {
CallerObuListenerManager.removeTrackerWarningInfo(it)
// 事件结束，还原交通参与者颜色
it.threatLevel = 0x01
TrafficMarkerDrawer.updateITrafficThreatLevelInfo(it)
@@ -880,6 +884,7 @@ class MogoPrivateObuManager private constructor() {
}
//更新周边车辆进行预警颜色变换，车辆实时移动和变色
TrafficDataConvertUtils.cvxV2vThreatIndInfo2TrafficData(info)?.let {
CallerObuListenerManager.invokeTrackerWarningInfo(it)
TrafficMarkerDrawer.updateITrafficThreatLevelInfo(it)
}
}
@@ -891,6 +896,7 @@ class MogoPrivateObuManager private constructor() {
CallerHmiManager.disableWarningV2X((appId + direction.direction).toString())
//更新周边车辆进行预警颜色变换，车辆实时移动和变色
TrafficDataConvertUtils.cvxV2vThreatIndInfo2TrafficData(info)?.let {
CallerObuListenerManager.removeTrackerWarningInfo(it)
it.threatLevel = 0x01
TrafficMarkerDrawer.updateITrafficThreatLevelInfo(it)
}

2
core/function-impl/mogo-core-function-v2x/build.gradle
View File

@@ -49,9 +49,7 @@ dependencies {
implementation rootProject.ext.dependencies.arouter
implementation rootProject.ext.dependencies.rxandroid
implementation rootProject.ext.dependencies.flexbox
kapt rootProject.ext.dependencies.aroutercompiler
// implementation rootProject.ext.dependencies.adasHigh
implementation rootProject.ext.dependencies.mogo_v2x
implementation rootProject.ext.dependencies.mogoaicloudtrafficlive
if (Boolean.valueOf(USE_MAVEN_PACKAGE)) {

5
core/function-impl/mogo-core-function-v2x/src/main/java/com/mogo/eagle/core/function/v2x/V2XProvider.kt
View File

@@ -5,9 +5,8 @@ import com.alibaba.android.arouter.facade.annotation.Route
import com.mogo.eagle.core.data.config.FunctionBuildConfig
import com.mogo.eagle.core.data.constants.MogoServicePaths.PATH_V2X_MODULE
import com.mogo.eagle.core.function.api.base.IMoGoFunctionServerProvider
import com.mogo.eagle.core.function.call.trafficlight.CallTrafficLightManager
import com.mogo.eagle.core.function.call.trafficlight.CallerTrafficLightManager
import com.mogo.eagle.core.function.v2x.events.V2XEventManager
import com.mogo.eagle.core.function.v2x.redlightwarning.RedLightWarningManager
import com.mogo.eagle.core.function.v2x.speedlimit.SpeedLimitDataManager
import com.mogo.eagle.core.function.v2x.trafficlight.core.TrafficLightDispatcher
import com.mogo.eagle.core.function.v2x.vip.VipCarManager
@@ -20,7 +19,7 @@ class V2XProvider : IMoGoFunctionServerProvider {
get() = "V2XProvider"
override fun init(context: Context) {
CallTrafficLightManager.getTrafficLightProvider().initTrafficLightServer(context)
CallerTrafficLightManager.getTrafficLightProvider().initTrafficLightServer(context)
VipCarManager.INSTANCE.initServer(context)
SpeedLimitDataManager.getInstance().start()
TrafficLightDispatcher.INSTANCE.initServer(context)

12
core/function-impl/mogo-core-function-v2x/src/main/java/com/mogo/eagle/core/function/v2x/events/V2XEventManager.kt
View File

@@ -7,6 +7,7 @@ import android.os.Handler
import android.os.Looper
import android.provider.Settings.System
import android.util.*
import androidx.core.util.Pair
import androidx.localbroadcastmanager.content.LocalBroadcastManager
import com.mogo.cloud.commons.utils.*
import com.mogo.cloud.passport.IMoGoTokenCallback
@@ -14,8 +15,7 @@ import com.mogo.cloud.passport.MoGoAiCloudClient
import com.mogo.cloud.passport.MoGoAiCloudClientConfig
import com.mogo.commons.network.ParamsUtil
import com.mogo.eagle.core.data.enums.TrafficTypeEnum
import com.mogo.eagle.core.data.map.MogoLatLng
import com.mogo.eagle.core.data.map.MogoLocation
import com.mogo.eagle.core.data.map.*
import com.mogo.eagle.core.data.traffic.TrafficData
import com.mogo.eagle.core.function.api.hmi.warning.IMoGoWarningStatusListener
import com.mogo.eagle.core.function.api.map.listener.IMoGoMapLocationListener
@@ -472,6 +472,14 @@ object V2XEventManager : IMoGoMapLocationListener, IMoGoTokenCallback, IV2XCallb
}
})
}
this.roadwork?.polygonList?.takeIf { it.isNotEmpty() }?.also { old ->
l1.extras = HashMap<String, List<Pair<Double, Double>>>().also { extra ->
extra["polygon"] = old.map { d ->
val p = CoordinateUtils.transformWgsToGcj(d.lat, d.lon)
Pair(p[0], p[1])
}
}
}
}
private fun handleWarningTargetEvent(data: V2XWarningTarget) {

2
core/function-impl/mogo-core-function-v2x/src/main/java/com/mogo/eagle/core/function/v2x/events/manager/impl/MoGoV2XMarkerManager.java
View File

@@ -150,7 +150,7 @@ public class MoGoV2XMarkerManager implements IMoGoV2XMarkerManager {
// 探路目前只有上报拥堵
v2XRoadEventEntity.setPoiType(markerExploreWay.getPoiType());
v2XRoadEventEntity.setNoveltyInfo(EntityUtilsKt.toMarkExploreWay(markerExploreWay));
v2XRoadEventEntity.setNoveltyInfo(EntityUtilsKt.toMarkExploreWay(markerExploreWay,markerCardResult.getExtras()));
v2XRoadEventEntity.setExpireTime(20000);
mV2XRoadEventEntityArrayList.add(v2XRoadEventEntity);
}

118
core/function-impl/mogo-core-function-v2x/src/main/java/com/mogo/eagle/core/function/v2x/events/scenario/scene/road/V2XRoadEventMarker.java
View File

@@ -1,15 +1,39 @@
package com.mogo.eagle.core.function.v2x.events.scenario.scene.road;
import android.graphics.Color;
import androidx.core.util.Pair;
import com.mogo.eagle.core.data.map.MogoLatLng;
import com.mogo.eagle.core.function.v2x.R;
import com.mogo.eagle.core.function.v2x.events.bridge.BridgeApi;
import com.mogo.eagle.core.function.v2x.events.manager.IMoGoV2XMarkerManager;
import com.mogo.eagle.core.function.v2x.events.manager.IMoGoV2XPolylineManager;
import com.mogo.eagle.core.function.v2x.events.manager.IMoGoV2XStatusManager;
import com.mogo.eagle.core.function.v2x.events.scenario.view.IV2XMarker;
import com.mogo.map.MogoMarkerManager;
import com.mogo.map.MogoOverlayManager;
import com.mogo.map.marker.IMogoMarker;
import com.mogo.map.marker.MogoMarkerOptions;
import com.mogo.map.overlay.IMogoOverlayManager;
import com.mogo.map.overlay.IMogoPolyline;
import com.mogo.map.overlay.MogoPolylineOptions;
import com.mogo.module.common.entity.MarkerExploreWay;
import com.mogo.module.common.entity.V2XRoadEventEntity;
import java.util.ArrayList;
import java.util.List;
/**
* 道路V2X事件的Marker
*/
public class V2XRoadEventMarker implements IV2XMarker<V2XRoadEventEntity> {
private final List<IMogoMarker> pyramids = new ArrayList<>();
private IMogoPolyline polyline;
private IMogoOverlayManager overlayManager;
@Override
public void drawPOI(V2XRoadEventEntity entity) {
try {
@@ -17,9 +41,88 @@ public class V2XRoadEventMarker implements IV2XMarker<V2XRoadEventEntity> {
IMoGoV2XMarkerManager marker = BridgeApi.INSTANCE.v2xMarker();
if (marker != null) {
marker.clearAlarmPOI();
if (entity != null) {
marker.drawableAlarmPOI(BridgeApi.INSTANCE.context(), entity, null);
MarkerExploreWay noveltyInfo = entity.getNoveltyInfo();
if (noveltyInfo != null && noveltyInfo.extras != null && noveltyInfo.extras.containsKey("polygon")) {
Object extra = noveltyInfo.extras.get("polygon");
if (pyramids.size() > 0) {
for (IMogoMarker m : pyramids) {
m.remove();
}
pyramids.clear();
}
if (polyline != null && polyline.isVisible()) {
polyline.remove();
}
if (extra instanceof List) {
List l = (List) extra;
if (l.size() > 0) {
List<Pair<Double, Double>> polygons = new ArrayList<>();
for (int i = 0; i < l.size(); i++) {
Object o = l.get(i);
if (!(o instanceof Pair)) {
continue;
}
Pair p = (Pair) o;
Object first = p.first;
Object second = p.second;
if (first == null || second == null) {
continue;
}
if (!(first instanceof Double) || !(second instanceof Double)) {
continue;
}
polygons.add(Pair.create((Double) first, (Double) second));
}
if (polygons.size() > 0) {
for (int i = 0; i < polygons.size(); i++) {
Pair<Double, Double> p = polygons.get(i);
MogoMarkerOptions options = new MogoMarkerOptions()
.data(entity)
.latitude(p.second)
.longitude(p.first);
options.anchor(0.5f, 0.5f);
options.icon3DRes(R.raw.sanjiaozhui);
try {
pyramids.add(MogoMarkerManager.getInstance(BridgeApi.INSTANCE.context()).addMarker("road_pyramid_" + entity.getPoiType(), options));
} catch (Throwable t) {
t.printStackTrace();
}
}
// if (polygons.size() > 1) {
// if (overlayManager == null) {
// overlayManager = MogoOverlayManager.getInstance();
// }
// MogoPolylineOptions options = new MogoPolylineOptions();
// List<Integer> colors = new ArrayList<>();
// colors.add(Color.argb(204, 237, 172, 21));
// colors.add(Color.argb(0, 255, 255, 255));
// options.colorValues(colors);
// List<MogoLatLng> points = new ArrayList<>();
// for (int i = 0; i < polygons.size(); i++) {
// Pair<Double, Double> p = polygons.get(i);
// points.add(new MogoLatLng(p.second, p.first));
// }
// if (points.size() > 2) {
// points.add(points.get(0));
// }
// options.points(points);
// options.useGradient(true);
// options.useFacade(true);
// options.setGps(false);
// options.width(5f);
// options.zIndex(75000f);
// options.maxIndex(800000f);
// polyline = overlayManager.addPolyline(options);
// polyline.setVisible(true);
// }
}
}
}
}
}
}
} catch (Exception e) {
@@ -34,6 +137,19 @@ public class V2XRoadEventMarker implements IV2XMarker<V2XRoadEventEntity> {
if (polyLineManager != null) {
polyLineManager.clearLine();
}
IMoGoV2XStatusManager v2xStatus = BridgeApi.INSTANCE.v2xStatus();
if (v2xStatus != null && v2xStatus.isRoadEventPOIShow()) {
if (polyline != null) {
polyline.remove();
}
if (pyramids.size() > 0) {
for (IMogoMarker marker : pyramids) {
marker.remove();
}
pyramids.clear();
}
}
IMoGoV2XMarkerManager v2xMarker = BridgeApi.INSTANCE.v2xMarker();
if (v2xMarker != null) {
// 移除事件POI

3
core/function-impl/mogo-core-function-v2x/src/main/java/com/mogo/eagle/core/function/v2x/events/utils/EntityUtils.kt
View File

@@ -33,7 +33,7 @@ fun V2XMarkerUserInfo?.toMarkerUserInfo(): MarkerUserInfo? = if (this == null) n
it.setAge(this.age)
}
fun V2XMarkerExploreWay.toMarkExploreWay(): MarkerExploreWay = MarkerExploreWay().also {
fun V2XMarkerExploreWay.toMarkExploreWay(extras: Map<String, Any>? = null): MarkerExploreWay = MarkerExploreWay().also {
it.items = this.items?.map { itx -> itx.toMarkerExploreWayItem() }
it.userInfo = this.userInfo?.toMarkerUserInfo()
it.distance = this.distance
@@ -51,4 +51,5 @@ fun V2XMarkerExploreWay.toMarkExploreWay(): MarkerExploreWay = MarkerExploreWay(
it.isFabulous = this.isFabulous
it.uploadType = this.uploadType
it.isCanLive = this.canLive != "0"
it.extras = extras
}

16
core/function-impl/mogo-core-function-v2x/src/main/java/com/mogo/eagle/core/function/v2x/redlightwarning/RedLightWarningManager.kt
View File

@@ -10,9 +10,8 @@ import com.mogo.eagle.core.function.api.vip.IMoGoVipSetListener
import com.mogo.eagle.core.function.call.hmi.CallerHmiManager
import com.mogo.eagle.core.utilcode.mogo.logger.CallerLogger
import com.mogo.eagle.core.function.call.map.CallerMapUIServiceManager
import com.mogo.eagle.core.function.call.trafficlight.CallTrafficLightListenerManager
import com.mogo.eagle.core.function.call.trafficlight.CallerTrafficLightListenerManager
import com.mogo.eagle.core.function.call.vip.CallVipSetListenerManager
import com.mogo.eagle.core.function.v2x.vip.VipCarManager
import com.mogo.eagle.core.utilcode.util.ThreadUtils
import com.mogo.map.navi.IMogoCarLocationChangedListener2
import com.mogo.module.common.MogoApisHandler
@@ -72,12 +71,9 @@ class RedLightWarningManager : IMoGoTrafficLightListener, IMoGoVipSetListener,
}
fun listenTrafficLight() {
CallTrafficLightListenerManager.registerEnterCrossRoadListener(TAG, this)
CallTrafficLightListenerManager.registerTrafficLightListener(TAG, this)
MogoApisHandler.getInstance().apis.registerCenterApi.registerCarLocationChangedListener(
VipCarManager.TAG,
this
)
CallerTrafficLightListenerManager.registerEnterCrossRoadListener(TAG, this)
CallerTrafficLightListenerManager.registerTrafficLightListener(TAG, this)
MogoApisHandler.getInstance().apis.registerCenterApi.registerCarLocationChangedListener(TAG, this)
CallVipSetListenerManager.registerVipSetListener(TAG, this)
}
@@ -196,9 +192,9 @@ class RedLightWarningManager : IMoGoTrafficLightListener, IMoGoVipSetListener,
}
fun onDestroy() {
CallTrafficLightListenerManager.unRegisterTrafficLightListener(TAG)
CallerTrafficLightListenerManager.unRegisterTrafficLightListener(TAG)
CallVipSetListenerManager.unRegisterVipSetListener(TAG)
CallTrafficLightListenerManager.unRegisterEnterCrossRoadListener(TAG)
CallerTrafficLightListenerManager.unRegisterEnterCrossRoadListener(TAG)
MogoApisHandler.getInstance().apis.registerCenterApi.unregisterCarLocationChangedListener(
TAG, this
)

16
core/function-impl/mogo-core-function-v2x/src/main/java/com/mogo/eagle/core/function/v2x/trafficlight/core/MogoTrafficLightManager.kt
View File

@@ -11,7 +11,7 @@ import com.mogo.eagle.core.data.trafficlight.TrafficLightResult
import com.mogo.eagle.core.data.trafficlight.isInRange
import com.mogo.eagle.core.utilcode.mogo.logger.CallerLogger
import com.mogo.eagle.core.function.call.map.CallerMapUIServiceManager
import com.mogo.eagle.core.function.call.trafficlight.CallTrafficLightListenerManager
import com.mogo.eagle.core.function.call.trafficlight.CallerTrafficLightListenerManager
import com.mogo.eagle.core.function.v2x.trafficlight.TrafficLightHMIManager
import com.mogo.eagle.core.function.v2x.trafficlight.core.TrafficLightThreadHandler.Companion.MSG_WHAT_LOOP_SEARCH_CROSS_ROAD
import com.mogo.eagle.core.function.v2x.trafficlight.core.TrafficLightThreadHandler.Companion.MSG_WHAT_LOOP_SEARCH_TRAFFIC_LIGHT
@@ -52,7 +52,7 @@ class MogoTrafficLightManager : IMogoCarLocationChangedListener2 {
//第一次查询路口时，如果红绿灯显示，则隐藏掉
if(firstLoopCrossRoad && TrafficLightHMIManager.INSTANCE.isWarningTrafficLightShow()){
TrafficLightHMIManager.INSTANCE.hideTrafficLight()
CallTrafficLightListenerManager.resetTrafficLightData()
CallerTrafficLightListenerManager.resetTrafficLightData()
}
firstLoopCrossRoad = false
mLocation?.let { it ->
@@ -81,7 +81,7 @@ class MogoTrafficLightManager : IMogoCarLocationChangedListener2 {
it.latitude, it.longitude, it.bearing.toDouble(), road, { result ->
trafficLightResult = result
// TrafficLightHMIManager.INSTANCE.updateTrafficLight(result)
CallTrafficLightListenerManager.invokeTrafficLightStatus(result)
CallerTrafficLightListenerManager.invokeTrafficLightStatus(result)
},
{ errorMsg ->
//如果没有获取到正确的红绿灯数据，则取消读灯，继续读路口，防止出现一直读灯的情况
@@ -103,9 +103,9 @@ class MogoTrafficLightManager : IMogoCarLocationChangedListener2 {
}
if (TrafficLightHMIManager.INSTANCE.isWarningTrafficLightShow()) {
TrafficLightHMIManager.INSTANCE.hideTrafficLight()
CallTrafficLightListenerManager.resetTrafficLightData()
CallerTrafficLightListenerManager.resetTrafficLightData()
}
CallTrafficLightListenerManager.invokeTrafficRequestError()
CallerTrafficLightListenerManager.invokeTrafficRequestError()
})
}
@@ -130,18 +130,18 @@ class MogoTrafficLightManager : IMogoCarLocationChangedListener2 {
if (trafficLightResult != null && it.isInRange(loc.latitude, loc.longitude)) {
inRange = true
// CallerLogger.d(M_V2X + TAG, "进入路口")
CallTrafficLightListenerManager.invokeEnterCrossRoad(true)
CallerTrafficLightListenerManager.invokeEnterCrossRoad(true)
return
}
if (inRange) {
// CallerLogger.d(M_V2X + TAG, "离开路口")
CallTrafficLightListenerManager.invokeEnterCrossRoad(false)
CallerTrafficLightListenerManager.invokeEnterCrossRoad(false)
inRange = false
trafficLightResult = null
firstLoopCrossRoad = true
mThreadHandler?.sendEmptyMessage(MSG_WHAT_STOP_SEARCH_TRAFFIC_LIGHT)
TrafficLightHMIManager.INSTANCE.hideTrafficLight()
CallTrafficLightListenerManager.resetTrafficLightData()
CallerTrafficLightListenerManager.resetTrafficLightData()
}
}
}

18
core/function-impl/mogo-core-function-v2x/src/main/java/com/mogo/eagle/core/function/v2x/trafficlight/core/TrafficLightDispatcher.kt
View File

@@ -7,7 +7,7 @@ import com.mogo.eagle.core.function.api.autopilot.IMoGoAutopilotIdentifyListener
import com.mogo.eagle.core.function.api.trafficlight.IMoGoTrafficLightListener
import com.mogo.eagle.core.function.call.autopilot.CallerAutopilotIdentifyListenerManager
import com.mogo.eagle.core.function.call.hmi.CallerHmiManager
import com.mogo.eagle.core.function.call.trafficlight.CallTrafficLightListenerManager
import com.mogo.eagle.core.function.call.trafficlight.CallerTrafficLightListenerManager
import com.mogo.eagle.core.function.v2x.trafficlight.TrafficLightHMIManager
import perception.TrafficLightOuterClass
import perception.TrafficLightOuterClass.TrafficLight
@@ -34,11 +34,11 @@ class TrafficLightDispatcher : IMoGoAutopilotIdentifyListener , IMoGoTrafficLigh
fun initServer(context: Context){
mContext = context
//注册监听AI云获取红绿灯状态
CallTrafficLightListenerManager.registerTrafficLightListener(TAG, this)
CallerTrafficLightListenerManager.registerTrafficLightListener(TAG, this)
//注册监听AI云进入路口
CallTrafficLightListenerManager.registerEnterCrossRoadListener(TAG, this)
CallerTrafficLightListenerManager.registerEnterCrossRoadListener(TAG, this)
//注册监听红绿灯请求失败
CallTrafficLightListenerManager.registerTrafficRequestErrorListener(TAG,this)
CallerTrafficLightListenerManager.registerTrafficRequestErrorListener(TAG,this)
//注册监听工控机感知红绿灯
CallerAutopilotIdentifyListenerManager.addListener(TAG, this)
}
@@ -80,6 +80,10 @@ class TrafficLightDispatcher : IMoGoAutopilotIdentifyListener , IMoGoTrafficLigh
CallerHmiManager.showWarningTrafficLight(3,2)
CallerHmiManager.changeCountdownGreen(0)
}
TrafficLightOuterClass.LightState.STATE_OFF -> {
//黑灯，隐藏红绿灯显示
TrafficLightHMIManager.INSTANCE.hideTrafficLight()
}
else -> {}
}
}
@@ -119,13 +123,13 @@ class TrafficLightDispatcher : IMoGoAutopilotIdentifyListener , IMoGoTrafficLigh
fun destroy(){
//取消注册监听AI云获取红绿灯状态
CallTrafficLightListenerManager.unRegisterTrafficLightListener(TAG)
CallerTrafficLightListenerManager.unRegisterTrafficLightListener(TAG)
//取消注册监听工控机感知红绿灯
CallerAutopilotIdentifyListenerManager.removeListener(TAG)
//取消注册监听红绿灯请求失败
CallTrafficLightListenerManager.unRegisterTrafficRequestErrorListener(TAG)
CallerTrafficLightListenerManager.unRegisterTrafficRequestErrorListener(TAG)
//取消注册监听AI云进入路口
CallTrafficLightListenerManager.unRegisterEnterCrossRoadListener(TAG)
CallerTrafficLightListenerManager.unRegisterEnterCrossRoadListener(TAG)
}
}

10
core/function-impl/mogo-core-function-v2x/src/main/java/com/mogo/eagle/core/function/v2x/vip/VipCarManager.kt
View File

@@ -15,7 +15,7 @@ import com.mogo.eagle.core.function.api.trafficlight.IMoGoTrafficLightListener
import com.mogo.eagle.core.function.call.hmi.CallerHmiManager
import com.mogo.eagle.core.utilcode.mogo.logger.CallerLogger
import com.mogo.eagle.core.function.call.map.CallerMapUIServiceManager
import com.mogo.eagle.core.function.call.trafficlight.CallTrafficLightListenerManager
import com.mogo.eagle.core.function.call.trafficlight.CallerTrafficLightListenerManager
import com.mogo.eagle.core.function.call.vip.CallVipSetListenerManager
import com.mogo.eagle.core.function.v2x.trafficlight.core.MogoTrafficLightManager
import com.mogo.eagle.core.function.v2x.vip.network.VipNetWorkModel
@@ -183,8 +183,8 @@ class VipCarManager : IMogoOnMessageListener<VipMessage>, IMoGoTrafficLightListe
)
CallerHmiManager.vipIdentification(true)
CallVipSetListenerManager.invokeVipSetStatus(true)
CallTrafficLightListenerManager.registerTrafficLightListener(TAG, this)
CallTrafficLightListenerManager.registerEnterCrossRoadListener(TAG, this)
CallerTrafficLightListenerManager.registerTrafficLightListener(TAG, this)
CallerTrafficLightListenerManager.registerEnterCrossRoadListener(TAG, this)
}
private fun cancelVip() {
@@ -194,8 +194,8 @@ class VipCarManager : IMogoOnMessageListener<VipMessage>, IMoGoTrafficLightListe
}
CallerHmiManager.vipIdentification(false)
CallVipSetListenerManager.invokeVipSetStatus(false)
CallTrafficLightListenerManager.unRegisterTrafficLightListener(TAG)
CallTrafficLightListenerManager.unRegisterEnterCrossRoadListener(TAG)
CallerTrafficLightListenerManager.unRegisterTrafficLightListener(TAG)
CallerTrafficLightListenerManager.unRegisterEnterCrossRoadListener(TAG)
}
private fun canGetThroughCross(