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Merge remote-tracking branch 'origin/dev2_aiSdk' into dev2_aiSdk

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董宏宇
2021-04-26 20:56:06 +08:00
parent e49af51597 24d97544bc
commit 79664b99b6
18 changed files with 746 additions and 724 deletions
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102
modules/mogo-module-common/src/main/java/com/mogo/module/common/uploadintime/SnapshotLocationController.java
View File

@@ -11,12 +11,12 @@ import java.util.ArrayList;
import java.util.List;
public
/*
* @author congtaowang
* @since 2020/12/14
*
* 实时坐标数据处理中心
*/
/*
* @author congtaowang
* @since 2020/12/14
*
* 实时坐标数据处理中心
*/
class SnapshotLocationController {
private static final String TAG = "SnapshotLocationController";
@@ -27,9 +27,9 @@ class SnapshotLocationController {
}
public static SnapshotLocationController getInstance() {
if ( sInstance == null ) {
synchronized ( SnapshotLocationController.class ) {
if ( sInstance == null ) {
if (sInstance == null) {
synchronized (SnapshotLocationController.class) {
if (sInstance == null) {
sInstance = new SnapshotLocationController();
}
}
@@ -44,10 +44,10 @@ class SnapshotLocationController {
private CloudLocationInfo mLastLocationInfo = null;
// GPS(1s1次) RTK(OS侧)缓存数据，
private final List< CloudLocationInfo > mLocationList = new ArrayList<>();
private final List<CloudLocationInfo> mLocationList = new ArrayList<>();
// adda 工控机数据缓存
private final List< CloudLocationInfo > mMachineCacheList = new ArrayList<>();
private final List<CloudLocationInfo> mMachineCacheList = new ArrayList<>();
private int mDataAccuracy = 0;
private double mCurSpeed;
@@ -59,15 +59,15 @@ class SnapshotLocationController {
*
* @param cli {@link CloudLocationInfo}
*/
public void syncLocationInfo( CloudLocationInfo cli ) {
if ( cli == null ) {
public void syncLocationInfo(CloudLocationInfo cli) {
if (cli == null) {
return;
}
mLastLocationInfo = cli;
mCurSpeed = cli.getSpeed();
mCurLon = cli.getLon();
mCurLat = cli.getLat();
mLocationList.add( cli );
mLocationList.add(cli);
}
/**
@@ -75,33 +75,39 @@ class SnapshotLocationController {
*
* @param data JSON结构化数据
*/
public void syncAdasLocationInfo( JSONObject data ) {
if ( data == null ) {
public void syncAdasLocationInfo(JSONObject data) {
if (data == null) {
return;
}
DebugConfig.setStatus( DebugConfig.sLocation, true );
Logger.d( TAG, "同步到rtk数据" );
double lon = data.optDouble( "lon", -1 );
double lat = data.optDouble( "lat", -1 );
double alt = data.optDouble( "alt", -1 );
double heading = data.optDouble( "heading", -1 );
double acceleration = data.optDouble( "acceleration", -1 );
double yawRate = data.optDouble( "yawRate", -1 );
double speed = data.optDouble( "speed", -1 );
long satelliteTime = data.optLong( "satelliteTime" );
long systemTime = data.optLong( "systemTime" );
//测试面板状态同步
DebugConfig.setStatus(DebugConfig.sLocation, true);
Logger.d(TAG, "同步到rtk数据");
double lon = data.optDouble("lon", -1);
double lat = data.optDouble("lat", -1);
double alt = data.optDouble("alt", -1);
double heading = data.optDouble("heading", -1);
double acceleration = data.optDouble("acceleration", -1);
double yawRate = data.optDouble("yawRate", -1);
double speed = data.optDouble("speed", -1);
long satelliteTime = data.optLong("satelliteTime");
long systemTime = data.optLong("systemTime");
//测试面板状态同步
DebugConfig.setStatusData(DebugConfig.sLon, lon);
DebugConfig.setStatusData(DebugConfig.sLat, lat);
CloudLocationInfo cloudLocationInfo = new CloudLocationInfo();
cloudLocationInfo.setAlt( alt );
cloudLocationInfo.setHeading( heading );
cloudLocationInfo.setLat( lat );
cloudLocationInfo.setLon( lon );
cloudLocationInfo.setSpeed( speed );
cloudLocationInfo.setSatelliteTime( satelliteTime );
cloudLocationInfo.setSystemTime( systemTime );
cloudLocationInfo.setTileId(String.valueOf(MogoApisHandler.getInstance().getApis().getMapServiceApi().getMapUIController().getTileId(lon,lat)));
cloudLocationInfo.setAlt(alt);
cloudLocationInfo.setHeading(heading);
cloudLocationInfo.setLat(lat);
cloudLocationInfo.setLon(lon);
cloudLocationInfo.setSpeed(speed);
cloudLocationInfo.setSatelliteTime(satelliteTime);
cloudLocationInfo.setSystemTime(systemTime);
cloudLocationInfo.setTileId(String.valueOf(MogoApisHandler.getInstance().getApis().getMapServiceApi().getMapUIController().getTileId(lon, lat)));
mLastLocationInfo = cloudLocationInfo;
mMachineCacheList.add( cloudLocationInfo );
mMachineCacheList.add(cloudLocationInfo);
mCurSpeed = cloudLocationInfo.getSpeed();
mCurLon = cloudLocationInfo.getLon();
@@ -113,29 +119,29 @@ class SnapshotLocationController {
*
* @return 坐标合集
*/
public List< CloudLocationInfo > getSendLocationData() {
public List<CloudLocationInfo> getSendLocationData() {
List< CloudLocationInfo > list = null;
if ( mMachineCacheList != null ) {
List<CloudLocationInfo> list = null;
if (mMachineCacheList != null) {
mDataAccuracy = 1;
list = new ArrayList<>( mMachineCacheList );
list = new ArrayList<>(mMachineCacheList);
mMachineCacheList.clear();
}
if ( list == null || list.isEmpty() ) {
if (list == null || list.isEmpty()) {
mDataAccuracy = 0;
if ( mLocationList != null ) {
list = new ArrayList<>( mLocationList );
if (mLocationList != null) {
list = new ArrayList<>(mLocationList);
mLocationList.clear();
}
}
if ( list == null || list.isEmpty() ) {
if ( mLastLocationInfo != null ) {
if (list == null || list.isEmpty()) {
if (mLastLocationInfo != null) {
list = new ArrayList();
list.add( mLastLocationInfo );
list.add(mLastLocationInfo);
mLastLocationInfo = null;
}
}
Logger.d( TAG, "upload loc size = %s", list == null ? 0 : list.size() );
Logger.d(TAG, "upload loc size = %s", list == null ? 0 : list.size());
return list;
}
@@ -145,7 +151,7 @@ class SnapshotLocationController {
* @return 精度
*/
public int getDataAccuracy() {
Logger.d( TAG, "upload loc accuracy = %s", mDataAccuracy );
Logger.d(TAG, "upload loc accuracy = %s", mDataAccuracy);
return mDataAccuracy;
}

46
modules/mogo-module-main/src/main/java/com/mogo/module/main/service/MogoMainService.java
View File

@@ -26,7 +26,7 @@ public
*
* 描述
*/
@Route( path = "/service/base/info" )
@Route(path = "/service/base/info")
class MogoMainService extends Service implements IMogoLocationListener {
private static final String TAG = "MogoMainService";
@@ -39,10 +39,10 @@ class MogoMainService extends Service implements IMogoLocationListener {
@Override
public void onCreate() {
Logger.d( TAG, "基本服务启动" );
Logger.d(TAG, "基本服务启动");
mServiceApis = MogoApisHandler.getInstance().getApis();
initAndStartLocation();
UiThreadHandler.postDelayed( () -> {
UiThreadHandler.postDelayed(() -> {
loadBaseModules();
startTanluService();
initADAS();
@@ -56,53 +56,61 @@ class MogoMainService extends Service implements IMogoLocationListener {
@Nullable
@Override
public IBinder onBind( Intent intent ) {
public IBinder onBind(Intent intent) {
return null;
}
@Override
public int onStartCommand( Intent intent, int flags, int startId ) {
public int onStartCommand(Intent intent, int flags, int startId) {
return START_STICKY;
}
private void initAndStartLocation() {
Logger.d( TAG, "开始定位" );
mLocationClient = mServiceApis.getMapServiceApi().getSingletonLocationClient( AbsMogoApplication.getApp() );
mLocationClient.addLocationListener( this );
mLocationClient.start( 2_000L );
Logger.d(TAG, "开始定位");
if (mServiceApis != null) {
mLocationClient = mServiceApis.getMapServiceApi().getSingletonLocationClient(AbsMogoApplication.getApp());
mLocationClient.addLocationListener(this);
mLocationClient.start(2_000L);
}
}
private void initGpsSimulatorListener() {
mServiceApis.getMapServiceApi().getNavi( this ).registerCarLocationChangedListener( EventDispatchCenter.getInstance() );
if (mServiceApis != null) {
mServiceApis.getMapServiceApi().getNavi(this).registerCarLocationChangedListener(EventDispatchCenter.getInstance());
}
}
private void loadBaseModules() {
Logger.d( TAG, "加载基本模块" );
Logger.d(TAG, "加载基本模块");
MogoModulesManager.getInstance().loadBaseModule();
}
private void startTanluService() {
UiThreadHandler.postDelayed( () -> {
Logger.d( TAG, "startTanluService ---------- " );
mServiceApis.getTanluApi().startTanluService();
UiThreadHandler.postDelayed(() -> {
Logger.d(TAG, "startTanluService ---------- ");
if (mServiceApis != null) {
mServiceApis.getTanluApi().startTanluService();
}
}, 2_000L
);
}
private void initADAS() {
mServiceApis.getAdasControllerApi().init( AbsMogoApplication.getApp() );
if (mServiceApis != null) {
mServiceApis.getAdasControllerApi().init(AbsMogoApplication.getApp());
}
}
@Override
public void onLocationChanged( MogoLocation location ) {
EventDispatchCenter.getInstance().onLocationChanged( location );
public void onLocationChanged(MogoLocation location) {
EventDispatchCenter.getInstance().onLocationChanged(location);
}
@Override
public void onDestroy() {
super.onDestroy();
if ( mLocationClient != null ) {
mLocationClient.removeLocationListener( this );
if (mLocationClient != null) {
mLocationClient.removeLocationListener(this);
mLocationClient.stop();
mLocationClient.destroy();
mLocationClient = null;

14
modules/mogo-module-service/src/main/java/com/mogo/module/service/MarkerServiceHandler.java
View File

@@ -7,6 +7,7 @@ import com.mogo.map.location.IMogoLocationClient;
import com.mogo.map.marker.IMogoMarker;
import com.mogo.map.marker.IMogoMarkerManager;
import com.mogo.map.navi.IMogoNavi;
import com.mogo.map.overlay.IMogoOverlayManager;
import com.mogo.map.uicontroller.IMogoMapUIController;
import com.mogo.module.common.MogoApisHandler;
import com.mogo.module.common.drawer.MarkerDrawer;
@@ -61,6 +62,7 @@ public class MarkerServiceHandler {
private static IMogoFragmentManager sFragmentManager;
private static ICarsChattingProvider sCarChatting;
private static IV2XProvider sIV2XProvider;
private static IMogoOverlayManager sIMogoOverlayManager;
// private static IMogoGpsSimulatorManager sGpsSimulatorManager;
@@ -77,6 +79,7 @@ public class MarkerServiceHandler {
sMogoSocketManager = sApis.getSocketManagerApi( context );
sMogoAnalytics = sApis.getAnalyticsApi();
sMarkerManager = sMapService.getMarkerManager( context );
sIMogoOverlayManager = sMapService.getOverlayManager(context);
sNavi = sMapService.getNavi( context );
sMapUIController = sMapService.getMapUIController();
sLocationClient = sMapService.getSingletonLocationClient( context );
@@ -87,7 +90,6 @@ public class MarkerServiceHandler {
sADASController = sApis.getAdasControllerApi();
sLauncher = sApis.getLauncherApi();
sFragmentManager = sApis.getFragmentManagerApi();
sCarChatting = ( ICarsChattingProvider ) ARouter.getInstance().build( CallChattingProviderConstant.CAR_CALL_PROVIDER ).navigation( context );
sIV2XProvider = sApis.getV2XListenerManager();
@@ -172,7 +174,15 @@ public class MarkerServiceHandler {
return sCarChatting;
}
// public static IMogoGpsSimulatorManager getGpsSimulatorManager() {
public static IMogoOverlayManager getsIMogoOverlayManager() {
return sIMogoOverlayManager;
}
public static void setsIMogoOverlayManager(IMogoOverlayManager sIMogoOverlayManager) {
MarkerServiceHandler.sIMogoOverlayManager = sIMogoOverlayManager;
}
// public static IMogoGpsSimulatorManager getGpsSimulatorManager() {
// return sGpsSimulatorManager;
// }

798
modules/mogo-module-service/src/main/java/com/mogo/module/service/intent/MockIntentHandler.java
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File diff suppressed because it is too large Load Diff

50
modules/mogo-module-service/src/main/java/com/mogo/module/service/marker/MapMarkerManager.java
View File

@@ -8,6 +8,7 @@ import android.os.Message;
import android.text.TextUtils;
import android.util.Log;
import com.mogo.cloud.commons.utils.CoordinateUtils;
import com.mogo.commons.AbsMogoApplication;
import com.mogo.commons.debug.DebugConfig;
import com.mogo.map.MogoLatLng;
@@ -16,6 +17,7 @@ import com.mogo.map.marker.IMogoMarkerClickListener;
import com.mogo.map.marker.IMogoMarkerManager;
import com.mogo.map.marker.MogoMarkerOptions;
import com.mogo.map.navi.IMogoCarLocationChangedListener2;
import com.mogo.map.overlay.IMogoPolyline;
import com.mogo.map.uicontroller.EnumMapUI;
import com.mogo.map.uicontroller.IMogoMapUIController;
import com.mogo.module.common.ModuleNames;
@@ -36,12 +38,15 @@ import com.mogo.module.common.entity.MarkerLocation;
import com.mogo.module.common.entity.MarkerOnlineCar;
import com.mogo.module.common.entity.MarkerResponse;
import com.mogo.module.common.entity.MarkerShowEntity;
import com.mogo.module.common.entity.V2XWarningEntity;
import com.mogo.module.common.utils.CloudPoiManager;
import com.mogo.module.common.utils.Trigonometric;
import com.mogo.module.service.MarkerServiceHandler;
import com.mogo.module.service.R;
import com.mogo.module.service.ServiceConst;
import com.mogo.module.service.network.RefreshCallback;
import com.mogo.module.service.network.RefreshModel;
import com.mogo.module.service.polyline.LimberCollisionPolyline;
import com.mogo.realtime.api.MoGoAiCloudRealTime;
import com.mogo.realtime.entity.ADASRecognizedResult;
import com.mogo.realtime.entity.MogoSnapshotSetData;
@@ -62,6 +67,7 @@ import org.json.JSONException;
import org.json.JSONObject;
import java.util.ArrayList;
import java.util.Arrays;
import java.util.HashMap;
import java.util.List;
import java.util.Map;
@@ -161,24 +167,58 @@ public class MapMarkerManager implements IMogoMarkerClickListener,
msg.sendToTarget();
}
} );
// adas 每隔一秒传递的数据
MarkerServiceHandler.getApis().getAdasControllerApi().addAdasRecognizedDataCallback( resultList -> {
// 绘制近景识别到的车辆
AdasRecognizedResultDrawer.getInstance().renderAdasRecognizedResult( resultList );
//绘制他车的线 liyz
//添加自车的定位图标，碰撞只有一个预警 TODO
//添加自车的定位图标，碰撞只有一个预警,还需要和adas 联调，还需要改 liyz
// ADASRecognizedResult result = null;
// for (int i = 0; i < resultList.size(); i++) {
// result = resultList.get(i);
// if (result.type) { //找出可能碰撞的车
// result = resultList.get(i);
// }
//绘制他车的线,从列表中查出可能碰撞的车的经纬度(没有或者只有一个)，然后预设20米的长度
//绘制碰撞的他车指引线，需要实时给数据更新 TODO
// drawLimberCollisionPolyline(result);
// }
//
// //通过这个传值 ADASRecognizedResult
// MarkerServiceHandler.getApis().getMapServiceApi().getMapUIController().setAdasRecognizedResult(GsonUtil.jsonFromObject(result));
// //通过这个传值到 AMapViewWrapper，根据数据更新自车的模型数据 ADASRecognizedResult
// MarkerServiceHandler.getApis().getMapServiceApi().getMapUIController().setAdasRecognizedResult(result);
} );
}
/**
* 实时绘制连线
* @param result
*/
private void drawLimberCollisionPolyline(ADASRecognizedResult result) {
if (result != null) {
IMogoPolyline polyLine = LimberCollisionPolyline.getInstance().getPolyLine();
MogoLatLng startLatLng = new MogoLatLng(result.lat, result.lon);
MogoLatLng endLatlng = Trigonometric.getNewLocation(startLatLng, 20, result.heading);
Log.d(TAG, "红色区域起始点 = " + startLatLng.lon + "," + startLatLng.lat
+ "终点" + endLatlng.lon + "," + endLatlng.lat + "--heading =" + result.heading);
if (polyLine != null) {
Log.d(TAG, "drawStopLine polyLine != null");
polyLine.setPoints(Arrays.asList(startLatLng, endLatlng));
} else {
List<MogoLatLng> latLngs = new ArrayList<>();
latLngs.add(startLatLng);
latLngs.add(endLatlng);
LimberCollisionPolyline.getInstance().draw((float) result.roadWidth, latLngs);
}
} else {
LimberCollisionPolyline.getInstance().clearLine();
}
}
private Handler mSnapshotHandler = new Handler( WorkThreadHandler.newInstance( "snapshot-thread" ).getLooper() ) {
@Override
public void handleMessage( Message msg ) {

88
modules/mogo-module-service/src/main/java/com/mogo/module/service/polyline/LimberCollisionPolyline.java Normal file
View File

@@ -0,0 +1,88 @@
package com.mogo.module.service.polyline;
import com.mogo.map.MogoLatLng;
import com.mogo.map.overlay.IMogoPolyline;
import com.mogo.map.overlay.MogoPolylineOptions;
import com.mogo.module.service.MarkerServiceHandler;
import java.util.ArrayList;
import java.util.List;
/**
* @author lixiaopeng
* @description 前车碰撞的画线
* @since 2021/4/25
*/
public class LimberCollisionPolyline {
private volatile static LimberCollisionPolyline mInstance = null;
private IMogoPolyline mMoGoPolyline;
// 连接线参数
private MogoPolylineOptions mPolylineOptions;
// 线路径集合
private List<MogoLatLng> mPolylinePointList;
public static LimberCollisionPolyline getInstance() {
if (mInstance == null) {
synchronized (LimberCollisionPolyline.class) {
if (mInstance == null) {
mInstance = new LimberCollisionPolyline();
}
}
}
return mInstance;
}
protected LimberCollisionPolyline() {
mPolylineOptions = new MogoPolylineOptions();
// 绘制路径集合
mPolylinePointList = new ArrayList<>();
}
public IMogoPolyline draw(float width, List<MogoLatLng> polylinePoint) {
try {
if (mMoGoPolyline != null) {
mMoGoPolyline.remove();
mPolylinePointList.clear();
}
// 连接线参数
MogoPolylineOptions options = new MogoPolylineOptions();
// 渐变色
List<Integer> colors = new ArrayList<>();
// colors.add(0x0DE32F46);
colors.add(0xD9E32F46);
colors.add(0x0DE32F46);
// 线条粗细，渐变，渐变色值 TODO liyz 宽度需要传过来
options.width(60).useGradient(true).colorValues(colors);
for (int i = 0; i < polylinePoint.size(); i++) {
options.add(polylinePoint.get(i));
}
// 绘制线的对象
mMoGoPolyline = MarkerServiceHandler.getsIMogoOverlayManager().addPolyline(options);
} catch (Exception e) {
e.printStackTrace();
}
return mMoGoPolyline;
}
public IMogoPolyline getPolyLine() {
return mMoGoPolyline;
}
public void clearLine() {
if (mMoGoPolyline != null) {
mMoGoPolyline.remove();
mMoGoPolyline = null;
}
}
}

82
modules/mogo-module-service/src/main/java/com/mogo/module/service/status/EnvStatusManager.java
View File

@@ -15,14 +15,14 @@ import com.mogo.module.common.MogoApisHandler;
import com.mogo.module.common.wm.WindowManagerView;
import com.mogo.module.service.R;
public
/**
/*
* @author congtaowang
* @since 2021/3/17
*
* 环境状态
*/
class EnvStatusManager {
public class EnvStatusManager {
private static volatile EnvStatusManager sInstance;
@@ -30,9 +30,9 @@ class EnvStatusManager {
}
public static EnvStatusManager getInstance() {
if ( sInstance == null ) {
synchronized ( EnvStatusManager.class ) {
if ( sInstance == null ) {
if (sInstance == null) {
synchronized (EnvStatusManager.class) {
if (sInstance == null) {
sInstance = new EnvStatusManager();
}
}
@@ -51,13 +51,13 @@ class EnvStatusManager {
private WindowManagerView mPanelView;
private TextView mStatusTv;
private Handler mMainHandler = new Handler( Looper.getMainLooper() ) {
private final Handler mMainHandler = new Handler(Looper.getMainLooper()) {
@Override
public void handleMessage( Message msg ) {
super.handleMessage( msg );
if ( mPanelView.isShowing() ) {
public void handleMessage(Message msg) {
super.handleMessage(msg);
if (mPanelView.isShowing()) {
renderStatus();
mMainHandler.sendEmptyMessageDelayed( MSG, 5_000L );
mMainHandler.sendEmptyMessageDelayed(MSG, 5_000L);
}
}
};
@@ -69,54 +69,54 @@ class EnvStatusManager {
"近景",
"下发",
"AUTO",
"长链"
"长链",
"经度",
"纬度"
};
StringBuilder stringBuilder = new StringBuilder();
for ( int i = 0; i < sStatusName.length; i++ ) {
stringBuilder.append( sStatusName[i] ).append( ":" );
if ( i != 3 ) {
stringBuilder.append( "true".equals( DebugConfig.getStatus( i, true ) ) ? "正常" : "异常" ).append( "\n" );
for (int i = 0; i < sStatusName.length; i++) {
stringBuilder.append(sStatusName[i]).append(":");
if (i == 3) {
stringBuilder.append(DebugConfig.getAutoPilotStatus()).append("\n");
} else if (i == 5 || i == 6) {
stringBuilder.append(DebugConfig.getStatusData(i)).append("\n");
} else {
stringBuilder.append( DebugConfig.getAutoPilotStatus() ).append( "\n" );
stringBuilder.append("true".equals(DebugConfig.getStatus(i, true)) ? "正常" : "异常").append("\n");
}
}
mStatusTv.setText( stringBuilder );
if ( MogoApisHandler.getInstance().getApis().getStatusManagerApi().isVrMode() ) {
mStatusTv.setTextColor( Color.WHITE );
mStatusTv.setText(stringBuilder);
if (MogoApisHandler.getInstance().getApis().getStatusManagerApi().isVrMode()) {
mStatusTv.setTextColor(Color.WHITE);
} else {
if ( MogoApisHandler.getInstance().getApis().getAdasControllerApi()
.getCurrentSkinMode() == EnumMapUI.Type_Light ) {
mStatusTv.setTextColor( Color.BLACK );
if (MogoApisHandler.getInstance().getApis().getAdasControllerApi()
.getCurrentSkinMode() == EnumMapUI.Type_Light) {
mStatusTv.setTextColor(Color.BLACK);
} else {
mStatusTv.setTextColor( Color.WHITE );
mStatusTv.setTextColor(Color.WHITE);
}
}
}
public void showPanel( Context context ) {
if ( mPanelView == null ) {
mPanelView = new WindowManagerView.Builder( context )
.contentView( R.layout.module_services_status_panel )
.position( 0, 100 )
.size( ViewGroup.LayoutParams.WRAP_CONTENT, ViewGroup.LayoutParams.WRAP_CONTENT )
.gravity( Gravity.TOP )
public void showPanel(Context context) {
if (mPanelView == null) {
mPanelView = new WindowManagerView.Builder(context)
.contentView(R.layout.module_services_status_panel)
.position(0, 100)
.size(ViewGroup.LayoutParams.WRAP_CONTENT, ViewGroup.LayoutParams.WRAP_CONTENT)
.gravity(Gravity.TOP)
.showInWindowManager();
mPanelView.attachTouchEvent( ( ( view, xPos, yPos ) -> {
closePanel();
} ) );
mPanelView.findViewById( R.id.module_services_status_iv ).setOnClickListener( view -> {
closePanel();
} );
mStatusTv = mPanelView.findViewById( R.id.module_services_status_tv );
mPanelView.attachTouchEvent(((view, xPos, yPos) -> closePanel()));
mPanelView.findViewById(R.id.module_services_status_iv).setOnClickListener(view -> closePanel());
mStatusTv = mPanelView.findViewById(R.id.module_services_status_tv);
}
mPanelView.show();
mMainHandler.sendEmptyMessageDelayed( MSG, 0L );
mMainHandler.sendEmptyMessageDelayed(MSG, 0L);
}
public void closePanel() {
if ( mPanelView != null ) {
if (mPanelView != null) {
mPanelView.dismiss();
mMainHandler.removeMessages( MSG );
mMainHandler.removeMessages(MSG);
}
}
}

39
modules/mogo-module-v2x/src/main/java/com/mogo/module/v2x/V2XWaringManager.java
View File

@@ -41,7 +41,6 @@ import static com.mogo.module.v2x.V2XServiceManager.getContext;
*/
public class V2XWaringManager {
List<MogoLatLng> lonLats = new ArrayList<>();
private Context mContext;
private static V2XWaringManager mV2XWaringManager;
@@ -111,7 +110,6 @@ public class V2XWaringManager {
} catch (Exception e) {
e.printStackTrace();
}
}
/**
@@ -151,43 +149,6 @@ public class V2XWaringManager {
String adasResult = (String) intent.getSerializableExtra(V2XConst.BROADCAST_ADAS_EXTRA_KEY);
//测试数据
testData(adasResult);
// adas 每隔一秒传递的他车或行人数据，避免重复。
// V2XServiceManager.getmIMogoADASController().addAdasRecognizedDataCallback(resultList -> {
// // 处理他车车身变色，这个可以使用 TODO
// AdasRecognizedResultDrawer.getInstance().renderAdasRecognizedResult( resultList );
//
// // adas自车定位，显示红色碰撞预警图，以及解除碰撞
// double lon = MogoApisHandler.getInstance().getApis().getAdasControllerApi().getLastLon();
// double lat = MogoApisHandler.getInstance().getApis().getAdasControllerApi().getLastLat();
// //需要把自车的经纬度前移到车头，然后打点红色的marker
//
// } );
}
/**
* 添加2d的碰撞 marker
*
* @param markerShowEntity
* @return
*/
private IMogoMarker drawMarker2dResource(MarkerShowEntity markerShowEntity) {
MogoLatLng mogoLatLng = new MogoLatLng(markerShowEntity.getMarkerLocation().getLat(), markerShowEntity.getMarkerLocation().getLon());
MogoLatLng newLocation = Trigonometric.getNewLocation(mogoLatLng, 8, 180);
MogoMarkerOptions optionsRipple = new MogoMarkerOptions()
.latitude(newLocation.getLat())
.longitude(newLocation.getLon())
.anchor(1.0f, 1.0f)
.zIndex(MarkerDrawer.MARKER_Z_INDEX_HIGH);
optionsRipple
.icon(ViewUtils.fromView(new EmptyMarkerView(mContext)));
IMogoMarker marker = MogoApisHandler.getInstance().getApis().getMapServiceApi().getMarkerManager(mContext).addMarker(markerShowEntity.getMarkerType(), optionsRipple);
marker.setInfoWindowAdapter(new AheadCollisionWindow3DAdapter(mContext));
marker.showInfoWindow();
return marker;
}