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add aiCloudToAdasData

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This commit is contained in:
zhongchao
2021-06-25 12:03:07 +08:00
parent 8e506f2da9
commit 6bf3d079af
9 changed files with 252 additions and 21 deletions
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107
modules/mogo-module-adas/src/main/java/com/mogo/module/adas/AdasAutoPilotManager.java
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@@ -9,12 +9,18 @@ import com.mogo.map.MogoLatLng;
import com.mogo.map.location.MogoLocation;
import com.mogo.map.navi.IMogoCarLocationChangedListener2;
import com.mogo.module.adas.entity.AdasAutoPilotLocReceiverBean;
import com.mogo.module.adas.entity.DispatchData;
import com.mogo.module.adas.entity.DispatchResult;
import com.mogo.module.adas.entity.EndLatLon;
import com.mogo.module.adas.entity.StartLatLon;
import com.mogo.module.adas.model.AdasServiceModel;
import com.mogo.module.adas.model.IDispatch;
import com.mogo.module.adas.overlay.LineOverlayManager;
import com.mogo.module.adas.view.DispatchRemindDialog;
import com.mogo.module.common.MogoApisHandler;
import com.mogo.service.connection.IMogoOnMessageListener;
import com.mogo.utils.logger.Logger;
import com.mogo.utils.network.utils.GsonUtil;
import com.zhidao.support.adas.high.bean.AutopilotRoute;
import com.zhidao.support.adas.high.bean.AutopilotStatus;
@@ -43,6 +49,8 @@ public class AdasAutoPilotManager implements IMogoOnMessageListener<AdasAutoPilo
private DispatchRemindDialog dispatchRemindDialog;
private LineOverlayManager lineOverlayManager;
private MogoLocation mogoLocation;
private IDispatchResultListener dispatchResultListener;
private AdasAutoPilotLocReceiverBean receiverBean;
private AdasAutoPilotManager() {
@@ -82,6 +90,10 @@ public class AdasAutoPilotManager implements IMogoOnMessageListener<AdasAutoPilo
dispatchRemindDialog.addIDispatchRemindListener(this);
}
public void addIDispatchResult(IDispatchResultListener listener) {
this.dispatchResultListener = listener;
}
@Override
public Class<AdasAutoPilotLocReceiverBean> target() {
return AdasAutoPilotLocReceiverBean.class;
@@ -98,6 +110,7 @@ public class AdasAutoPilotManager implements IMogoOnMessageListener<AdasAutoPilo
Logger.d(TAG, "onMsgReceived 接收到服务端调度信息，但现在已经在自动驾驶状态，下发重复 略过");
return;
}
this.receiverBean = adasAutoPilotLocReceiverBean;
Message message = new Message();
message.what = MSG_TYPE_SHOW_DIALOG;
message.obj = adasAutoPilotLocReceiverBean;
@@ -125,13 +138,67 @@ public class AdasAutoPilotManager implements IMogoOnMessageListener<AdasAutoPilo
@Override
public void affirm() {
AdasServiceModel.getInstance().dispatchResultUpload(DISPATCH_RESULT_AFFIRM);
AdasServiceModel.getInstance().dispatchResultUpload(DISPATCH_RESULT_AFFIRM, new IDispatch() {
@Override
public void onSuccess() {
if (dispatchResultListener != null) {
DispatchResult dispatchResult = new DispatchResult(
new StartLatLon(mogoLocation.getLatitude(), mogoLocation.getLongitude()),
new EndLatLon(receiverBean.getLat(), receiverBean.getLon()));
DispatchData dispatchData = new DispatchData("aiCloudToStartAutopilot", dispatchResult);
dispatchResultListener.dispatchAffirm(GsonUtil.jsonFromObject(dispatchData));
}
}
@Override
public void onError(String msg) {
}
});
}
@Override
public void cancel(boolean manualTrigger) {
AdasServiceModel.getInstance().dispatchResultUpload(manualTrigger ?
DISPATCH_RESULT_MANUAL_CANCEL : DISPATCH_RESULT_TIMER_CANCEL);
DISPATCH_RESULT_MANUAL_CANCEL : DISPATCH_RESULT_TIMER_CANCEL, new IDispatch() {
@Override
public void onSuccess() {
}
@Override
public void onError(String msg) {
}
});
}
@Override
public void onCarLocationChanged2(Location location) {
//坐标转换
MogoLocation loc = new MogoLocation();
loc.setTime(loc.getTime());
loc.setAccuracy(location.getAccuracy());
loc.setSpeed(location.getSpeed());
loc.setLongitude(location.getLongitude());
loc.setLatitude(location.getLatitude());
loc.setAltitude(location.getAltitude());
loc.setBearing(location.getBearing());
loc.setProvider(location.getProvider());
mogoLocation = loc;
}
@Override
public void onCarLocationChanged(MogoLatLng mogoLatLng) {
}
/**
* 调度指令结果回调
*/
public interface IDispatchResultListener {
//调用确认
void dispatchAffirm(String json);
}
public void test() {
@@ -158,26 +225,26 @@ public class AdasAutoPilotManager implements IMogoOnMessageListener<AdasAutoPilo
}
public void testDispatchResultUpload() {
AdasServiceModel.getInstance().dispatchResultUpload(DISPATCH_RESULT_AFFIRM);
AdasServiceModel.getInstance().dispatchResultUpload(DISPATCH_RESULT_AFFIRM, new IDispatch() {
@Override
public void onSuccess() {
}
@Override
public void onError(String msg) {
}
});
}
@Override
public void onCarLocationChanged2(Location location) {
//坐标转换
MogoLocation loc = new MogoLocation();
loc.setTime(loc.getTime());
loc.setAccuracy(location.getAccuracy());
loc.setSpeed(location.getSpeed());
loc.setLongitude(location.getLongitude());
loc.setLatitude(location.getLatitude());
loc.setAltitude(location.getAltitude());
loc.setBearing(location.getBearing());
loc.setProvider(location.getProvider());
mogoLocation = loc;
public void testDispatchAutopilot() {
DispatchResult dispatchResult = new DispatchResult(
new StartLatLon(12.12, 13.13),
new EndLatLon(12.12, 13.13));
DispatchData dispatchData = new DispatchData("aiCloudToStartAutopilot", dispatchResult);
String json = GsonUtil.jsonFromObject(dispatchData);
Logger.d(TAG, "testDispatchAutopilot json : " + json);
}
@Override
public void onCarLocationChanged(MogoLatLng mogoLatLng) {
}
}

8
modules/mogo-module-adas/src/main/java/com/mogo/module/adas/AdasProvider.java
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@@ -11,6 +11,8 @@ import com.zhidao.autopilotservice.model.AdasAIDLAutopilotStateModel;
import com.zhidao.support.adas.high.AdasManager;
import com.zhidao.support.adas.high.bean.BasicInfo;
import adas.Adas;
/**
* ADAS 模块
@@ -40,6 +42,12 @@ public class AdasProvider implements IProvider {
private void initAutoPilotBusiness(Context context) {
AdasAutoPilotManager.getInstance().initSocket(context);
AdasAutoPilotManager.getInstance().addIDispatchResult(new AdasAutoPilotManager.IDispatchResultListener() {
@Override
public void dispatchAffirm(String json) {
AdasManager.getInstance().aiCloudToAdasData(json);
}
});
}
public void setBasicInfo(){

36
modules/mogo-module-adas/src/main/java/com/mogo/module/adas/entity/DispatchData.java Normal file
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@@ -0,0 +1,36 @@
package com.mogo.module.adas.entity;
public class DispatchData {
private String action;
private DispatchResult result;
public DispatchData(String action, DispatchResult result) {
this.action = action;
this.result = result;
}
public String getAction() {
return action;
}
public void setAction(String action) {
this.action = action;
}
public DispatchResult getResult() {
return result;
}
public void setResult(DispatchResult result) {
this.result = result;
}
@Override
public String toString() {
return "DispatchData{" +
"action='" + action + '\'' +
", result=" + result +
'}';
}
}

36
modules/mogo-module-adas/src/main/java/com/mogo/module/adas/entity/DispatchResult.java Normal file
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@@ -0,0 +1,36 @@
package com.mogo.module.adas.entity;
public class DispatchResult {
private StartLatLon startLatLon;
private EndLatLon endLatLon;
public DispatchResult(StartLatLon startLatLon, EndLatLon endLatLon) {
this.startLatLon = startLatLon;
this.endLatLon = endLatLon;
}
public StartLatLon getStartLatLon() {
return startLatLon;
}
public void setStartLatLon(StartLatLon startLatLon) {
this.startLatLon = startLatLon;
}
public EndLatLon getEndLatLon() {
return endLatLon;
}
public void setEndLatLon(EndLatLon endLatLon) {
this.endLatLon = endLatLon;
}
@Override
public String toString() {
return "DispatchResult{" +
"startLatLon=" + startLatLon +
", endLatLon=" + endLatLon +
'}';
}
}

36
modules/mogo-module-adas/src/main/java/com/mogo/module/adas/entity/EndLatLon.java Normal file
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@@ -0,0 +1,36 @@
package com.mogo.module.adas.entity;
public class EndLatLon {
private double lat;
private double lon;
public EndLatLon(double lat, double lon) {
this.lat = lat;
this.lon = lon;
}
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;
}
@Override
public String toString() {
return "EndLatLon{" +
"lat=" + lat +
", lon=" + lon +
'}';
}
}

36
modules/mogo-module-adas/src/main/java/com/mogo/module/adas/entity/StartLatLon.java Normal file
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@@ -0,0 +1,36 @@
package com.mogo.module.adas.entity;
public class StartLatLon {
private double lat;
private double lon;
public StartLatLon(double lat, double lon) {
this.lat = lat;
this.lon = lon;
}
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;
}
@Override
public String toString() {
return "StartLatLon{" +
"lat=" + lat +
", lon=" + lon +
'}';
}
}

4
modules/mogo-module-adas/src/main/java/com/mogo/module/adas/model/AdasServiceModel.java
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@@ -125,7 +125,7 @@ public class AdasServiceModel {
*
* @param dispatchResultType int
*/
public void dispatchResultUpload(int dispatchResultType) {
public void dispatchResultUpload(int dispatchResultType,IDispatch dispatch) {
String sn = MoGoAiCloudClientConfig.getInstance().getSn();
ReportDispatchResult reportDispatchResult = new ReportDispatchResult(sn, dispatchResultType);
Map<String, Object> map = new HashMap<>();
@@ -139,12 +139,14 @@ public class AdasServiceModel {
public void onNext(BaseData o) {
super.onNext(o);
Logger.d(TAG, "dispatchResultUpload success");
dispatch.onSuccess();
}
@Override
public void onError(Throwable e) {
super.onError(e);
Logger.d(TAG, "dispatchResultUpload error : " + e.getMessage());
dispatch.onError(e.getMessage());
}
@Override

8
modules/mogo-module-adas/src/main/java/com/mogo/module/adas/model/IDispatch.java Normal file
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@@ -0,0 +1,8 @@
package com.mogo.module.adas.model;
public interface IDispatch {
void onSuccess();
void onError(String msg);
}

2
modules/mogo-module-adas/src/main/java/com/mogo/module/adas/receiver/AdasTestPanelBroadCastReceiver.java
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@@ -47,6 +47,8 @@ public class AdasTestPanelBroadCastReceiver extends BroadcastReceiver {
AdasAutoPilotManager.getInstance().testUploadAutopilotRoute();
} else if(sceneType == 3){ //验证自动驾驶调度上报接口
AdasAutoPilotManager.getInstance().testDispatchResultUpload();
} else if(sceneType == 4){ //验证下发给自动驾驶的调用数据
AdasAutoPilotManager.getInstance().testDispatchAutopilot();
}
}
}