dev

services/mogo-service/src/main/java/com/mogo/service/impl/adas/AdasObjectUtils.java

@@ -1,13 +1,17 @@
 package com.mogo.service.impl.adas;
 
 import com.mogo.commons.utils.MortonCode;
+import com.mogo.service.adas.entity.ADASRecognizedListResult;
 import com.mogo.service.adas.entity.ADASRecognizedResult;
 import com.mogo.service.adas.entity.ADASWarnMessage;
 import com.zhidao.support.adas.high.bean.RectInfo;
 import com.zhidao.support.adas.high.bean.WarnMessageInfo;
 
 import java.util.ArrayList;
+import java.util.HashMap;
+import java.util.Iterator;
 import java.util.List;
+import java.util.Map;
 
 public
 /**
@@ -74,4 +78,36 @@ class AdasObjectUtils {
         result.mortonCode = MortonCode.wrapEncodeMorton( result.lon, result.lat );
         return result;
     }
+
+    public static List< ADASRecognizedListResult > regroupData( List< RectInfo > datums ) {
+        if ( datums == null || datums.isEmpty() ) {
+            return null;
+        }
+        Map< String, ADASRecognizedListResult > result = new HashMap<>();
+        for ( RectInfo rectInfo : datums ) {
+            if ( rectInfo == null || rectInfo.getModels() == null || rectInfo.getModels().isEmpty() ) {
+                continue;
+            }
+            List< RectInfo.RectBean > models = rectInfo.getModels();
+            for ( RectInfo.RectBean model : models ) {
+                ADASRecognizedListResult recognizedListResult = null;
+                if ( !result.containsKey( model.getUuid() ) ) {
+                    recognizedListResult = new ADASRecognizedListResult();
+                    recognizedListResult.latLonList = new ArrayList<>();
+                    recognizedListResult.heading = model.getHeading();
+                    recognizedListResult.speed = model.getSpeed();
+                    recognizedListResult.type = Integer.valueOf( model.getType() );
+                    recognizedListResult.uuid = model.getUuid();
+                    result.put( model.getUuid(), recognizedListResult );
+                } else {
+                    recognizedListResult = result.get( model.getUuid() );
+                }
+                recognizedListResult.latLonList.add( new ADASRecognizedListResult.LatLon( model.getLat(), model.getLon() ) );
+            }
+        }
+        if ( result.isEmpty() ) {
+            return null;
+        }
+        return new ArrayList<>( result.values() );
+    }
 }

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

@@ -14,8 +14,10 @@ import com.mogo.module.common.utils.CarSeries;
 import com.mogo.service.MogoServicePaths;
 import com.mogo.service.adas.IMogoADASController;
 import com.mogo.service.adas.IMogoAdasDataCallback;
+import com.mogo.service.adas.IMogoAdasRecognizedDataCallback;
 import com.mogo.service.adas.IMogoAdasWarnMessageCallback;
 import com.mogo.service.adas.RemoteControlAutoPilotParameters;
+import com.mogo.service.adas.entity.ADASRecognizedListResult;
 import com.mogo.service.adas.entity.ADASRecognizedResult;
 import com.mogo.service.adas.entity.ADASWarnMessage;
 import com.mogo.service.impl.singleton.SingletonsHolder;
@@ -81,6 +83,10 @@ public class MogoADASController implements IMogoADASController {
      */
     private List< IMogoAdasWarnMessageCallback > mMogoAdasWarnMessageCallbackList = new CopyOnWriteArrayList<>();
 
+    /**
+     * adas 识别物体回调
+     */
+    private List< IMogoAdasRecognizedDataCallback > mMogoAdasRecognizedDataCallbacks = new CopyOnWriteArrayList<>();
 
     private RectInfo mLastFrameData;
 
@@ -91,6 +97,7 @@ public class MogoADASController implements IMogoADASController {
             // 物体识别返回
             Logger.d( TAG, "onRectData = %s", rectInfo.toString() );
             mLastFrameData = rectInfo;
+            handleAdasRecognizedData( rectInfo );
         }
 
         @Override
@@ -119,6 +126,53 @@ public class MogoADASController implements IMogoADASController {
         }
     };
 
+    private long mLastRecordSeconds = 0L;
+
+
+    /**
+     * 缓存容器
+     */
+    List< RectInfo > mCacheRecognizedDataSet = new ArrayList<>();
+
+    /**
+     * 处理数据，将识别到的物体分组，然后每1s进行一次回调
+     * 时间:系统时间
+     *
+     * @param rectInfo
+     */
+    private void handleAdasRecognizedData( RectInfo rectInfo ) {
+        if ( rectInfo == null
+                || rectInfo.getModels() == null
+                || rectInfo.getModels().isEmpty() ) {
+            return;
+        }
+        long curTime = System.currentTimeMillis() / 1000;
+        if ( mLastRecordSeconds == 0L ) {
+            mLastRecordSeconds = curTime;
+        }
+        if ( mLastRecordSeconds != curTime ) {
+            invokeCallbackPerSecond( mCacheRecognizedDataSet );
+            mCacheRecognizedDataSet = new ArrayList<>();
+        }
+        mCacheRecognizedDataSet.add( rectInfo );
+    }
+
+    private void invokeCallbackPerSecond( List< RectInfo > data ) {
+        List< RectInfo > newRef = data;
+        List< ADASRecognizedListResult > recognizedListResults = AdasObjectUtils.regroupData( newRef );
+        if ( recognizedListResults == null || recognizedListResults.isEmpty() ) {
+            return;
+        }
+        if ( !mMogoAdasRecognizedDataCallbacks.isEmpty() ) {
+            for ( IMogoAdasRecognizedDataCallback callback : mMogoAdasRecognizedDataCallbacks ) {
+                if ( callback == null ) {
+                    continue;
+                }
+                callback.onAdasDataCallback( recognizedListResults );
+            }
+        }
+    }
+
     private MyMessageFactory mAdasMessageFactory;
     private IAutopolitDataCallBack mAutoPilotDataCallBack = new IAutopolitDataCallBack() {
         @Override
@@ -376,4 +430,22 @@ public class MogoADASController implements IMogoADASController {
         List< ADASRecognizedResult > recognizedResultList = AdasObjectUtils.fromAdasObject( rectInfo );
         return recognizedResultList;
     }
+
+    @Override
+    public void addAdasRecognizedDataCallback( IMogoAdasRecognizedDataCallback callback ) {
+        if ( callback == null ) {
+            return;
+        }
+        if ( !mMogoAdasRecognizedDataCallbacks.contains( callback ) ) {
+            mMogoAdasRecognizedDataCallbacks.add( callback );
+        }
+    }
+
+    @Override
+    public void removeAdasRecognizedDataCallback( IMogoAdasRecognizedDataCallback callback ) {
+        if ( callback == null ) {
+            return;
+        }
+        mMogoAdasRecognizedDataCallbacks.remove( callback );
+    }
 }