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Merge remote-tracking branch 'origin/demo/shunyi_vr_map' into demo/shunyi_vr_map

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This commit is contained in:
wangcongtao
2020-12-01 15:13:10 +08:00
parent e43a661581 0dc442100b
commit 827cb28da5
15 changed files with 419 additions and 48 deletions
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1
.idea/gradle.xml generated
View File

@@ -88,6 +88,7 @@
</set>
</option>
<option name="resolveModulePerSourceSet" value="false" />
<option name="useQualifiedModuleNames" value="true" />
</GradleProjectSettings>
</option>
</component>

2
.idea/misc.xml generated
View File

@@ -4,7 +4,7 @@
<asm skipDebug="false" skipFrames="false" skipCode="false" expandFrames="false" />
<groovy codeStyle="LEGACY" />
</component>
<component name="ProjectRootManager" version="2" languageLevel="JDK_1_8" project-jdk-name="JDK" project-jdk-type="JavaSDK">
<component name="ProjectRootManager" version="2" languageLevel="JDK_1_8" default="true" project-jdk-name="JDK" project-jdk-type="JavaSDK">
<output url="file://$PROJECT_DIR$/build/classes" />
</component>
<component name="SuppressionsComponent">

2
foudations/mogo-base-websocket-sdk/build.gradle
View File

@@ -30,7 +30,7 @@ dependencies {
implementation fileTree(dir: "libs", include: ["*.jar"])
implementation rootProject.ext.dependencies.arouter
implementation "com.mogo.module.carchatting:module-carchatt-socket:1.1.1"
implementation "com.mogo.module.carchatting:module-carchatt-socket:1.1.2"
if (Boolean.valueOf(RELEASE)) {
implementation rootProject.ext.dependencies.mogoutils

40
foudations/mogo-base-websocket-sdk/src/main/java/com/mogo/base/websocket/WebSocketConstant.java
View File

@@ -5,13 +5,21 @@ import com.mogo.commons.debug.DebugConfig;
public class WebSocketConstant {
private static final String HOST_DEV = "ws://62.234.196.121:14001/ws";
private static final String HOST_QA = "ws://62.234.196.121:14001/ws";
private static final String HOST_DEMO = "ws://62.234.196.121:14001/ws";
private static final String HOST_RELEASE = "ws://62.234.196.121:14001/ws";
private static final String HOST_DEV = "ws://62.234.196.121";
private static final String HOST_QA = "ws://62.234.196.121";
private static final String HOST_DEMO = "ws://62.234.196.121";
private static final String HOST_RELEASE = "ws://62.234.196.121";
// private static final String PORT = ":14001/ws";
public static final String PORT = ":4003/ws";
public static final String PROTOCOL = "ws://";
public static String getSocketServer(){
switch (DebugConfig.getNetMode()){
private static final String DOMAIN_DEV = "dzt-city.zhidaozhixing.com";
private static final String DOMAIN_QA = "dzt-city.zhidaozhixing.com";
private static final String DOMAIN_DEMO = "dzt-city.zhidaozhixing.com";
private static final String DOMAIN_RELEASE = "dzt-city.zhidaozhixing.com";
public static String getSocketServer() {
switch (DebugConfig.getNetMode()) {
case DebugConfig.NET_MODE_DEV:
return HOST_DEV;
case DebugConfig.NET_MODE_QA:
@@ -21,7 +29,25 @@ public class WebSocketConstant {
case DebugConfig.NET_MODE_RELEASE:
default:
return HOST_RELEASE;
}
}
public static String getDomain(){
switch (DebugConfig.getNetMode()) {
case DebugConfig.NET_MODE_DEV:
return DOMAIN_DEV;
case DebugConfig.NET_MODE_QA:
return DOMAIN_QA;
case DebugConfig.NET_MODE_DEMO:
return DOMAIN_DEMO;
case DebugConfig.NET_MODE_RELEASE:
default:
return DOMAIN_RELEASE;
}
}
// public static String getSocketPort() {
// return PORT;
// }
}

10
foudations/mogo-base-websocket-sdk/src/main/java/com/mogo/base/websocket/WebSocketData.java
View File

@@ -12,6 +12,8 @@ public class WebSocketData implements Serializable {
private String data;
private long utcTime;
public long getSeq() {
return seq;
}
@@ -43,4 +45,12 @@ public class WebSocketData implements Serializable {
public void setData(String data) {
this.data = data;
}
public long getUtcTime() {
return utcTime;
}
public void setUtcTime(long utcTime) {
this.utcTime = utcTime;
}
}

16
foudations/mogo-base-websocket-sdk/src/main/java/com/mogo/base/websocket/WebSocketDnsManager.java
View File

@@ -27,28 +27,30 @@ public class WebSocketDnsManager {
public void getHttpDnsIp(WebSocketDns webSocketDns) {
this.webSocketDns = webSocketDns;
IMogoHttpDns mogoHttpDns = ARouter.getInstance().navigation(IMogoHttpDns.class);
ThreadPoolService.execute(() -> mogoHttpDns.getHttpDnsIp(WebSocketConstant.getSocketServer(), true, ip -> {
ThreadPoolService.execute(() -> mogoHttpDns.getHttpDnsIp(WebSocketConstant.getDomain(), false, ip -> {
Logger.d(TAG, "getHttpDnsIp ip : " + ip + " , 得到Dns IP,准备回调 初始化webSocket");
this.cacheIp = ip;
this.webSocketDns.getDnsIp(cacheIp != null ? cacheIp : WebSocketConstant.getSocketServer());
this.webSocketDns.getDnsIp((cacheIp != null ?
WebSocketConstant.PROTOCOL + ip + WebSocketConstant.PORT :
WebSocketConstant.getSocketServer() + WebSocketConstant.PORT));
}));
mogoHttpDns.addHttpDnsTtlCallback(WebSocketConstant.getSocketServer(), () -> {
mogoHttpDns.addHttpDnsTtlCallback(WebSocketConstant.getDomain(), () -> {
Logger.d(TAG, "ttl callBack ,ready to getCache Dns IP");
String dnsCacheIp = mogoHttpDns.getCachedHttpDnsIps(WebSocketConstant.getSocketServer());
String dnsCacheIp = mogoHttpDns.getCachedHttpDnsIps(WebSocketConstant.getDomain());
if (dnsCacheIp == null) {
return;
}
Logger.d(TAG, "获取缓存Dns IP : " + dnsCacheIp + " , 原缓存 IP ： " + cacheIp);
if (cacheIp != null && !cacheIp.equals(dnsCacheIp)) {
this.webSocketDns.ttlIp(dnsCacheIp);
this.webSocketDns.ttlIp(dnsCacheIp + WebSocketConstant.PORT);
}
});
}
public interface WebSocketDns {
void getDnsIp(String ip);
void getDnsIp(String url);
void ttlIp(String ip);
void ttlIp(String url);
}
}

53
foudations/mogo-base-websocket-sdk/src/main/java/com/mogo/base/websocket/WebSocketManager.java
View File

@@ -1,6 +1,7 @@
package com.mogo.base.websocket;
import android.content.Context;
import android.os.SystemClock;
import androidx.annotation.Keep;
@@ -22,6 +23,7 @@ import java.util.List;
import java.util.Map;
import java.util.concurrent.ConcurrentHashMap;
import static com.mogo.service.connection.WebSocketMsgType.MSG_TYPE_ACK;
import static com.mogo.service.connection.WebSocketMsgType.MSG_TYPE_DOWNLINK_CAR_DATA;
@Keep
@@ -70,18 +72,18 @@ public class WebSocketManager implements IMogoWebSocketManager, ISocketMsgSettin
public void init(Context context, String appId) {
WebSocketDnsManager.getInstance().getHttpDnsIp(new WebSocketDnsManager.WebSocketDns() {
@Override
public void getDnsIp(String ip) {
Logger.d(TAG,"getDnsIp ip : " + ip);
initWebSocket(ip);
public void getDnsIp(String url) {
Logger.d(TAG,"getDnsIp url : " + url);
initWebSocket(url);
}
@Override
public void ttlIp(String ip) {
Logger.d(TAG,"ttlIp ip : " + ip);
public void ttlIp(String url) {
Logger.d(TAG,"ttlIp url : " + url);
SocketClient.getInstance().getClientProxy().stop();
SocketClient.getInstance().getClientProxy().disConnect();
Logger.d(TAG,"ready to re initWebSocket : " + ip);
initWebSocket(ip);
Logger.d(TAG,"ready to re initWebSocket : " + url);
initWebSocket(url);
}
});
}
@@ -133,12 +135,13 @@ public class WebSocketManager implements IMogoWebSocketManager, ISocketMsgSettin
Logger.d(TAG, "websocket sendMsg body = " + body);
if (handlerThread != null) {
WebSocketData webSocketData = new WebSocketData();
webSocketData.setSeq(System.currentTimeMillis());
webSocketData.setSeq(computeSendMsgTime());
webSocketData.setMsgType(listener.getUpLinkType().getMsgType());
webSocketData.setSn(Utils.getSn());
webSocketData.setData(new Gson().toJson(body));
Logger.d(TAG,"sendMsg : " + new Gson().toJson(webSocketData));
handlerThread.sendMsg(new Gson().toJson(webSocketData));
webSocketData.setData(GsonUtil.jsonFromObject(body));
String msg = GsonUtil.jsonFromObject(webSocketData);
Logger.d(TAG,"sendMsg : " + msg);
handlerThread.sendMsg(msg);
}
}
@@ -152,12 +155,34 @@ public class WebSocketManager implements IMogoWebSocketManager, ISocketMsgSettin
Logger.d(TAG, "websocket onConnectOpen");
}
private long serverTime = 0;
private long receiveMsgTime = 0;
/**
* 服务端会在ack数据中增加服务端的时间戳{@link #serverTime}, 收到消息时，记录收到消息的时间{@link #receiveMsgTime}，收消息的时间用{@link SystemClock#elapsedRealtime()}可以避免系统时间改变造成的影响
* 在发送数据时，使用serverTime+(elapseRealtime()-receiveMsgTime)计算发送数据时的时间戳，这个时间戳是基本相对服务端的时间戳为基准的时间，忽略了ack下发时的时间延迟
*
* 如果{@link #serverTime}或{@link #receiveMsgTime}数据有异常，则使用{@link System#currentTimeMillis()}当做当前时间，作为容错
*
* @return 基本相对服务端的时间戳为基准的时间
*/
private long computeSendMsgTime(){
long sendMsgTime = 0;
if (serverTime > 0 && receiveMsgTime > 0) {
sendMsgTime = serverTime + (SystemClock.elapsedRealtime() - receiveMsgTime);
}else{
sendMsgTime = System.currentTimeMillis();
}
return sendMsgTime;
}
@Override
public void handleMessage(String message) {
Logger.d(TAG, "websocket received msg = " + message);
WebSocketData webSocketData = GsonUtil.objectFromJson(message, WebSocketData.class);
int msgType = webSocketData.getMsgType();
Logger.d(TAG, "websocket received msg type = " + msgType);
//服务端下发数据返回，上传数据回执默认不返回
if (msgType == MSG_TYPE_DOWNLINK_CAR_DATA.getMsgType()) {
List<IMogoOnWebSocketMessageListener> listeners = mListeners.get(msgType);
@@ -172,6 +197,12 @@ public class WebSocketManager implements IMogoWebSocketManager, ISocketMsgSettin
}
}
}
} else if (msgType == MSG_TYPE_ACK.getMsgType()) {
if (webSocketData.getUtcTime() > 0) {
serverTime = webSocketData.getUtcTime();
receiveMsgTime = SystemClock.elapsedRealtime();
Logger.d(TAG, "设置serverTime");
}
}
}

37
modules/mogo-module-common/src/main/java/com/mogo/module/common/entity/CloudLocationInfo.java
View File

@@ -3,6 +3,8 @@ package com.mogo.module.common.entity;
import android.os.Parcel;
import android.os.Parcelable;
import java.util.Objects;
/**
* 云端定位信息和自车定位信息
*
@@ -17,7 +19,17 @@ public class CloudLocationInfo implements Parcelable {
private double alt;
private double speed;
public CloudLocationInfo(){
public CloudLocationInfo() {
}
public CloudLocationInfo(CloudLocationInfo info) {
this.lat = info.getLat();
this.lon = info.getLon();
this.heading = info.getHeading();
this.systemTime = System.currentTimeMillis();
this.satelliteTime = System.currentTimeMillis();
this.alt = info.alt;
this.speed = info.speed;
}
protected CloudLocationInfo(Parcel in) {
@@ -126,4 +138,27 @@ public class CloudLocationInfo implements Parcelable {
", speed=" + speed +
'}';
}
public String print() {
return "CloudLocation{ lon: " + lon + " lat: " + lat + " heading: " + heading + " speed: "
+ speed+"}";
}
@Override
public boolean equals(Object o) {
if (this == o) {
return true;
}
if (o == null || getClass() != o.getClass()) {
return false;
}
CloudLocationInfo that = (CloudLocationInfo) o;
return Double.compare(that.lat, lat) == 0 &&
Double.compare(that.lon, lon) == 0;
}
@Override
public int hashCode() {
return Objects.hash(lat, lon);
}
}

39
modules/mogo-module-extensions/src/main/java/com/mogo/module/extensions/entrance/EntranceFragment.java
View File

@@ -17,6 +17,7 @@ import androidx.annotation.NonNull;
import androidx.annotation.Nullable;
import androidx.constraintlayout.widget.ConstraintLayout;
import androidx.constraintlayout.widget.ConstraintSet;
import androidx.constraintlayout.widget.Group;
import com.alibaba.android.arouter.launcher.ARouter;
import com.bumptech.glide.request.RequestOptions;
@@ -257,7 +258,7 @@ public class EntranceFragment extends MvpFragment<EntranceView, EntrancePresente
}
}
} );
mUserHeadImg = findViewById(R.id.ivUserHeadImg);
if (DebugConfig.isDebug()) {
mMove2CurrentLocation.setOnLongClickListener(view -> {
mApis.getSearchManagerApi().goSettings();
@@ -268,8 +269,19 @@ public class EntranceFragment extends MvpFragment<EntranceView, EntrancePresente
mApis.getMogoMonitorApi().showLogDebugDialog();
return true;
});
mUserHeadImg.setOnLongClickListener(view ->{
if (groupFix.getVisibility() == View.VISIBLE) {
groupFix.setVisibility(View.GONE);
}else{
groupFix.setVisibility(View.VISIBLE);
}
return true;
});
}
groupFix = findViewById(R.id.groupFix);
ConstraintLayout rootView = findViewById(R.id.module_entrance_id_top_motion_layout);
if (rootView != null) {
TopViewAnimHelper.getInstance().init(rootView);
@@ -347,8 +359,6 @@ public class EntranceFragment extends MvpFragment<EntranceView, EntrancePresente
mWeatherIcon = findViewById(R.id.module_ext_id_weather_icon);
mWeatherTemp = findViewById(R.id.module_ext_id_weather_temp);
mUserHeadImg = findViewById(R.id.ivUserHeadImg);
mMsgContainer = findViewById(R.id.module_ext_id_msg);
mMsgContainer.setOnClickListener( new OnPreventFastClickListener() {
@@ -419,8 +429,30 @@ public class EntranceFragment extends MvpFragment<EntranceView, EntrancePresente
if (mStatusManager.isVrMode()) {
enterVrMode();
}
etTimes = findViewById(R.id.etTimes);
findViewById(R.id.btnFix).setOnClickListener((view)->{
try {
String times = etTimes.getText().toString().trim();
int fixTime = Integer.parseInt(times);
Logger.d(TAG, "修改上报时间间隔： " + times + " fixTime: " + fixTime);
if(fixTime > 0) {
Intent intent = new Intent("com.mogo.launcher.action.FIX_UPLOAT_DELAY");
intent.putExtra("fixTime", fixTime);
getContext().sendBroadcast(intent);
TipToast.tip("已经发送修改广播");
}else{
TipToast.tip("fixTime为0，不发送广播");
}
} catch (Exception e) {
TipToast.tip("fixTime异常");
e.printStackTrace();
}
});
}
private EditText etTimes;
private Group groupFix;
private void enterVrMode(){
tvEnterVrMode.setVisibility(View.GONE);
mMove2CurrentLocation.setVisibility(View.GONE);
@@ -444,6 +476,7 @@ public class EntranceFragment extends MvpFragment<EntranceView, EntrancePresente
tvExitVrMode.setVisibility(View.GONE);
adasNoticeHelper.exitVrMode();
}
private void debugCrashWarn(){

31
modules/mogo-module-extensions/src/main/res/layout/module_ext_layout_entrance.xml
View File

@@ -353,4 +353,35 @@
layout="@layout/module_ext_layout_crash_threshold_set"
android:visibility="gone" />
<EditText
android:layout_width="400px"
android:layout_height="wrap_content"
android:id="@+id/etTimes"
android:textSize="40sp"
android:background="#fff"
android:textColor="#000"
app:layout_constraintLeft_toLeftOf="parent"
app:layout_constraintTop_toTopOf="parent"
app:layout_constraintRight_toRightOf="parent"
app:layout_constraintBottom_toBottomOf="parent" />
<Button
android:layout_width="wrap_content"
android:layout_height="wrap_content"
android:id="@+id/btnFix"
android:text="修改"
android:textSize="40sp"
app:layout_constraintLeft_toRightOf="@id/etTimes"
app:layout_constraintTop_toTopOf="@id/etTimes"
android:layout_marginStart="10px"
android:background="#fff"
android:textColor="#000" />
<androidx.constraintlayout.widget.Group
android:layout_width="wrap_content"
android:layout_height="wrap_content"
android:id="@+id/groupFix"
android:visibility="gone"
app:constraint_referenced_ids="etTimes,btnFix" />
</androidx.constraintlayout.widget.ConstraintLayout>

33
modules/mogo-module-service/src/main/java/com/mogo/module/service/MogoServices.java
View File

@@ -55,6 +55,8 @@ import com.mogo.module.service.refresh.AutoRefreshStrategy;
import com.mogo.module.service.refresh.CustomRefreshStrategy;
import com.mogo.module.service.refresh.RefreshObject;
import com.mogo.module.service.strategy.CarIconDisplayStrategy;
import com.mogo.module.service.utils.LocationParseUtil;
import com.mogo.module.service.utils.SimpleLocationCorrectStrategy;
import com.mogo.module.service.vrmode.VrModeController;
import com.mogo.module.service.websocket.LocationResult;
import com.mogo.module.service.websocket.OnePerSecondSendContent;
@@ -465,22 +467,29 @@ public class MogoServices implements IMogoMapListener,
}
private void startSendCarLocationAndAdasRecognizedResult2Server(List<CloudLocationInfo> cloudLocationInfo) {
Location lastCarLocation = mLastCarLocation;
// Location lastCarLocation = mLastCarLocation;
CloudLocationInfo lastInfo = LocationParseUtil.locationToCloudLocation(mLastCarLocation);
// 如果数组内容不为空，就用数组最后一个值
if (cloudLocationInfo != null && !cloudLocationInfo.isEmpty()) {
lastInfo = cloudLocationInfo.get(cloudLocationInfo.size() - 1);
}
LocationResult locationResult = null;
if ( lastCarLocation != null ) {
if ( lastInfo != null ) {
// 定位点预测纠偏
lastInfo = SimpleLocationCorrectStrategy.getInstance().correct(lastInfo);
if (lastInfo == null) {
return;
}
locationResult = new LocationResult();
locationResult.lastCoordinate = new CloudLocationInfo();
locationResult.lastCoordinate.setAlt( lastCarLocation.getAltitude() );
locationResult.lastCoordinate.setHeading( lastCarLocation.getBearing() );
locationResult.lastCoordinate.setLat( lastCarLocation.getLatitude() );
locationResult.lastCoordinate.setLon( lastCarLocation.getLongitude() );
locationResult.lastCoordinate.setSatelliteTime( lastCarLocation.getTime() );
locationResult.lastCoordinate.setSystemTime( System.currentTimeMillis() );
locationResult.lastCoordinate.setSpeed( lastCarLocation.getSpeed() );
locationResult.lastCoordinate = lastInfo;
locationResult.coordinates = new ArrayList<>();
locationResult.sn = com.mogo.commons.network.Utils.getSn();
locationResult.mortonCode = MortonCode.wrapEncodeMorton( locationResult.lastCoordinate.getLon(), locationResult.lastCoordinate.getLat() );
locationResult.coordinates.addAll( cloudLocationInfo );
locationResult.mortonCode = MortonCode.wrapEncodeMorton( lastInfo.getLon(), lastInfo.getLat() );
if(cloudLocationInfo == null){
locationResult.coordinates.addAll(new ArrayList<>());
}else {
locationResult.coordinates.addAll(cloudLocationInfo);
}
}
List< ADASRecognizedResult > recognizedResults = MarkerServiceHandler.getADASController().getLastADASRecognizedResult();
OnePerSecondSendContent content = new OnePerSecondSendContent();

25
modules/mogo-module-service/src/main/java/com/mogo/module/service/location/MogoRTKLocation.java
View File

@@ -1,6 +1,9 @@
package com.mogo.module.service.location;
import android.content.BroadcastReceiver;
import android.content.Context;
import android.content.Intent;
import android.content.IntentFilter;
import android.location.Criteria;
import android.location.Location;
import android.location.LocationListener;
@@ -21,7 +24,7 @@ public class MogoRTKLocation {
private static final String TAG = "MogoRTKLocation";
private static final int MSG_DATA_CHANGED = 0x100;
private static final long MSG_DATA_INTERNAL = 1 * 1_000L;
private static final long MSG_DATA_INTERNAL = 500L;
private Handler mHandler;
private LocationManager locationManager;
@@ -43,7 +46,7 @@ public class MogoRTKLocation {
super.handleMessage(msg);
if (msg.what == MSG_DATA_CHANGED) {
sendLocationData();
mHandler.sendEmptyMessageDelayed(MSG_DATA_CHANGED, MSG_DATA_INTERNAL);
mHandler.sendEmptyMessageDelayed(MSG_DATA_CHANGED, uploadDelay);
}
}
};
@@ -57,8 +60,7 @@ public class MogoRTKLocation {
private void sendLocationData() {
if (rtkLocationListener != null) {
Logger.d(TAG, "sendLocationData size : " + cacheList.size());
List list = new ArrayList();
list.addAll(cacheList);
List<CloudLocationInfo> list = new ArrayList<>(cacheList);
rtkLocationListener.onLocationChanged(list);
}
if (cacheList != null && cacheList.size() > 0) {
@@ -89,6 +91,10 @@ public class MogoRTKLocation {
} else {
Logger.d(TAG, "RTK LocationManager Provider GPS_PROVIDER unable");
}
// 注册修改上报间隔的广播, 临时使用，后面可直接干掉，发送广播的地方在EntranceFragment
IntentFilter filter = new IntentFilter("com.mogo.launcher.action.FIX_UPLOAT_DELAY");
AbsMogoApplication.getApp().registerReceiver(fixUploadDelayReceiver, filter);
}
private Criteria getCriteria() {
@@ -142,4 +148,15 @@ public class MogoRTKLocation {
Logger.d(TAG, "stop failed , reason : loc" + locationManager + " , or loc listener: " + locationListener + " is null");
}
}
private long uploadDelay = MSG_DATA_INTERNAL;
private FixUploadDelayReceiver fixUploadDelayReceiver = new FixUploadDelayReceiver();
private class FixUploadDelayReceiver extends BroadcastReceiver{
@Override
public void onReceive(Context context, Intent intent) {
uploadDelay = intent.getIntExtra("fixTime", 0);
}
}
}

40
modules/mogo-module-service/src/main/java/com/mogo/module/service/utils/LocationParseUtil.java Normal file
View File

@@ -0,0 +1,40 @@
package com.mogo.module.service.utils;
import android.location.Location;
import com.mogo.map.MogoLatLng;
import com.mogo.module.common.entity.CloudLocationInfo;
/**
* 定位数据类型转换工具
*
* @author tongchenfei
*/
public class LocationParseUtil {
/**
* 从Location 转 CloudLocationInfo
* @param info 待转数据
* @return 转后数据
*/
public static CloudLocationInfo locationToCloudLocation(Location info) {
if (info == null) {
return null;
}
CloudLocationInfo cloud = new CloudLocationInfo();
cloud.setLat(info.getLatitude());
cloud.setLon(info.getLongitude());
cloud.setAlt(info.getAltitude());
cloud.setHeading(info.getBearing());
cloud.setSpeed(info.getSpeed());
cloud.setSatelliteTime(info.getTime());
cloud.setSystemTime(System.currentTimeMillis());
return cloud;
}
public static MogoLatLng cloudLocationToMogoLatLng(CloudLocationInfo info) {
if (info == null) {
return null;
}
return new MogoLatLng(info.getLat(), info.getLon());
}
}

135
modules/mogo-module-service/src/main/java/com/mogo/module/service/utils/SimpleLocationCorrectStrategy.java Normal file
View File

@@ -0,0 +1,135 @@
package com.mogo.module.service.utils;
import android.location.Location;
import android.os.SystemClock;
import com.mogo.module.common.MogoApisHandler;
import com.mogo.module.common.entity.CloudLocationInfo;
import com.mogo.utils.logger.Logger;
import java.util.ArrayList;
import java.util.List;
/**
* 定位预测纠错策略
*
* @author tongchenfei
*/
public class SimpleLocationCorrectStrategy {
private static final String TAG = "SimpleLocationCorrectStrategy";
private static final int ERR_COUNT_THRESHOLD = 3;
/**
* 目标距离误差是10米，就是在原目标距离基础上增加10米
*/
private static final float TARGET_DISTANCE_DEVIATION = 10;
private CloudLocationInfo lastLocation = null;
private long anchorTime;
private int errCount;
private static SimpleLocationCorrectStrategy instance = new SimpleLocationCorrectStrategy();
public static SimpleLocationCorrectStrategy getInstance(){
return instance;
}
private List<CloudLocationInfo> tmpList = new ArrayList<>();
public CloudLocationInfo correct(CloudLocationInfo info) {
Logger.d(TAG, "info: " + info.print());
Logger.d("tmpList", "tmpList: " + tmpList);
if(isLocationValid(info)) {
tmpList.add(info);
if (lastLocation == null) {
lastLocation = info;
anchorTime = SystemClock.elapsedRealtime();
Logger.d(TAG, "第一条数据");
return info;
}
if (lastLocation.equals(info)) {
Logger.d(TAG, "相同坐标点==");
return info;
}
try {
float targetDistance =
(float) (lastLocation.getSpeed() * (SystemClock.elapsedRealtime() - anchorTime) / 1000) + TARGET_DISTANCE_DEVIATION;
float distance = MogoApisHandler.getInstance().getApis().getMapServiceApi().getMapUIController().calculateLineDistance(LocationParseUtil.cloudLocationToMogoLatLng(lastLocation), LocationParseUtil.cloudLocationToMogoLatLng(info));
Logger.d(TAG,
"准备计算{ lastInfo: " + lastLocation.print() + " info: " + info.print() + " targetDistance: " + targetDistance + " distance : " + distance + "}");
if (distance <= targetDistance) {
// 新的定位点在目标距离范围内，认为此数据有效
lastLocation = info;
anchorTime = SystemClock.elapsedRealtime();
errCount = 0;
Logger.d(TAG, "在范围内，为有效点");
return info;
} else {
// 出现异常点
if (errCount >= ERR_COUNT_THRESHOLD) {
// 出错次数超过阈值，认为本次出错点为正确点
lastLocation = info;
anchorTime = SystemClock.elapsedRealtime();
errCount = 0;
Logger.d(TAG, "出错次数超限，异常点变有效点");
return info;
} else {
// 按照上一个点的方向和速度，计算下一个点的位置，下一个点除坐标点外，其余数据与上一个点相同
// CloudLocationInfo nextInfo = new CloudLocationInfo(lastLocation);
// nextInfo.setLon(targetDistance * Math.sin(lastLocation.getHeading() * Math.PI / 180));
// nextInfo.setLat(targetDistance * Math.cos(lastLocation.getHeading() * Math.PI / 180));
// lastLocation = nextInfo;
anchorTime = SystemClock.elapsedRealtime();
errCount++;
Logger.d(TAG, "异常点纠偏 info: " + lastLocation);
return lastLocation;
// return nextInfo;
}
}
} catch (Exception e) {
Logger.e(TAG, e, "纠偏异常");
e.printStackTrace();
}
}else{
Logger.d(TAG, "定位点异常");
if (lastLocation == null) {
return null;
}else{
try {
float targetDistance =
(float) (lastLocation.getSpeed() * (SystemClock.elapsedRealtime() - anchorTime) / 1000) + TARGET_DISTANCE_DEVIATION;
float distance = MogoApisHandler.getInstance().getApis().getMapServiceApi().getMapUIController().calculateLineDistance(LocationParseUtil.cloudLocationToMogoLatLng(lastLocation), LocationParseUtil.cloudLocationToMogoLatLng(info));
Logger.d(TAG,
"异常定位点\n准备计算{ lastInfo: " + lastLocation.print() + " info: " + info.print() + " targetDistance: " + targetDistance + " distance : " + distance + "}");
// 按照上一个点的方向和速度，计算下一个点的位置，下一个点除坐标点外，其余数据与上一个点相同
// CloudLocationInfo nextInfo = new CloudLocationInfo(lastLocation);
// nextInfo.setLon(targetDistance * Math.sin(lastLocation.getHeading()));
// nextInfo.setLat(targetDistance * Math.cos(lastLocation.getHeading()));
// lastLocation = nextInfo;
anchorTime = SystemClock.elapsedRealtime();
errCount++;
Logger.d(TAG, "异常点纠偏 info: " + lastLocation);
// return nextInfo;
return lastLocation;
}catch (Exception e){
Logger.e(TAG, e, "纠偏异常");
e.printStackTrace();
}
}
}
return null;
}
private boolean isLocationValid(CloudLocationInfo info) {
return info.getLat() != 0 && info.getLon() != 0;
}
private float getDistance(CloudLocationInfo lastInfo, CloudLocationInfo info) {
float[] results=new float[1];
try{
Location.distanceBetween(lastInfo.getLat(), lastInfo.getLon(), info.getLat(), info.getLon(), results);
}catch(Exception e){
e.printStackTrace();
}
return results[0]*1000;
}
}

3
services/mogo-service-api/src/main/java/com/mogo/service/connection/WebSocketMsgType.java
View File

@@ -3,7 +3,8 @@ package com.mogo.service.connection;
public enum WebSocketMsgType {
MSG_TYPE_UPLINK_CAR_DATA(0,"自车与ADAS数据"),
MSG_TYPE_DOWNLINK_CAR_DATA(1,"服务端下发车辆信息");
MSG_TYPE_DOWNLINK_CAR_DATA(1,"服务端下发车辆信息"),
MSG_TYPE_ACK(3, "ACK");
private int msgType;
private String msg;