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wangcongtao
2021-01-22 16:48:02 +08:00
parent 7d5e8566fd
commit 87607058cb
13 changed files with 362 additions and 84 deletions
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2
config.gradle
View File

@@ -157,7 +157,7 @@ ext {
gpssimulatordebug : "com.mogo.module:module-gps-simulator-debug:${MOGO_MODULE_GPS_SIMULATOR_DEBUG_VERSION}",
gpssimulatornoop : "com.mogo.module:module-gps-simulator-noop:${MOGO_MODULE_GPS_SIMULATOR_NOOP_VERSION}",
adasapi : "com.zhidao.autopilot.support:adas:1.0.6.5",
adasapi : "com.zhidao.autopilot.support:adas:1.0.6.7",
adasconfigapi : "com.zhidao.adasconfig:adasconfig:1.1.5.2",
// 个人中心的SDK

10
foudations/mogo-commons/src/main/java/com/mogo/commons/debug/DebugConfig.java
View File

@@ -403,4 +403,14 @@ public class DebugConfig {
public static void setUseAdasRtkLocationInfo( boolean sIsUseAdasRtkLocationInfo ) {
DebugConfig.sIsUseAdasRtkLocationInfo = sIsUseAdasRtkLocationInfo;
}
public static boolean sIsNotSmooth = false;
public static boolean isNotSmooth() {
return sIsNotSmooth;
}
public static void setNotSmooth( boolean sIsNotSmooth ) {
DebugConfig.sIsNotSmooth = sIsNotSmooth;
}
}

2
libraries/map-custom/build.gradle
View File

@@ -67,7 +67,7 @@ dependencies {
implementation project(':foudations:mogo-commons')
}
implementation 'com.zhidaoauto.machine:map:1.0.0-vr-8.0.0'
implementation 'com.zhidaoauto.machine:map:1.0.0-vr-8.0.3'
// implementation 'com.zhidaoauto.machine:map:1.0.0-vr-test-3.4'
}

71
modules/mogo-module-common/src/main/java/com/mogo/module/common/drawer/AdasRecognizedResultDrawer.java
View File

@@ -1,13 +1,13 @@
package com.mogo.module.common.drawer;
import android.content.Context;
import android.os.SystemClock;
import android.text.TextUtils;
import android.view.LayoutInflater;
import android.view.View;
import android.widget.ImageView;
import com.mogo.commons.AbsMogoApplication;
import com.mogo.commons.debug.DebugConfig;
import com.mogo.map.MogoLatLng;
import com.mogo.map.marker.IMogoMarker;
import com.mogo.map.marker.MogoMarkerOptions;
@@ -39,7 +39,7 @@ class AdasRecognizedResultDrawer extends BaseDrawer {
mContext = AbsMogoApplication.getApp();
}
private Map< String, MogoLatLng > mLastPositions = new ConcurrentHashMap<>();
private Map< String, ADASRecognizedListResult > mLastPositions = new ConcurrentHashMap<>();
public static AdasRecognizedResultDrawer getInstance() {
if ( sInstance == null ) {
@@ -94,36 +94,30 @@ class AdasRecognizedResultDrawer extends BaseDrawer {
continue;
}
mAdasRecognizedMarkersCaches.put( uniqueKey, marker );
}
MogoLatLng lastPosition = mLastPositions.get( uniqueKey );
List< MogoLatLng > points = new ArrayList<>();
MogoLatLng endLatLon = null;
if ( recognizedListResult.latLonList != null
&& recognizedListResult.latLonList.size() > 1 ) {
for ( int j = 0; j < recognizedListResult.latLonList.size(); j++ ) {
ADASRecognizedListResult.LatLon latLon = recognizedListResult.latLonList.get( j );
if ( latLon == null ) {
continue;
mLastPositions.put( uniqueKey, recognizedListResult );
} else {
ADASRecognizedListResult lastPosition = mLastPositions.get( uniqueKey );
mLastPositions.put( uniqueKey, recognizedListResult );
if ( lastPosition != null ) {
List< MogoLatLng > points = new ArrayList<>();
MogoLatLng endLatLon = new MogoLatLng( recognizedListResult.lat, recognizedListResult.lon );
points.add( new MogoLatLng( lastPosition.lat, lastPosition.lon ) );
points.add( endLatLon );
if ( DebugConfig.isNotSmooth() ) {
marker.setPosition( recognizedListResult.lat, recognizedListResult.lon );
} else {
long interval = recognizedListResult.systemTime - lastPosition.systemTime;
marker.startSmoothInMs( points, interval );
}
points.add( endLatLon = new MogoLatLng( latLon.lat, latLon.lon ) );
} else {
marker.setPosition( recognizedListResult.lat, recognizedListResult.lon );
}
} else if ( recognizedListResult.latLonList != null
&& recognizedListResult.latLonList.size() == 1 ) {
// 原来的点和新的点做一个数组进行平滑移动
ADASRecognizedListResult.LatLon latLon = recognizedListResult.latLonList.get( 0 );
if ( latLon == null ) {
continue;
}
points.add( lastPosition );
points.add( endLatLon = new MogoLatLng( latLon.lat, latLon.lon ) );
}
mLastPositions.put( uniqueKey, endLatLon );
if ( points.size() >= 1 ) {
marker.startSmoothInMs( points, 100 );
}
showSelfSpeed( mContext,
marker,
recognizedListResult.speed,
MogoApisHandler.getInstance().getApis().getStatusManagerApi().isVrMode()
);
}
}
@@ -177,7 +171,7 @@ class AdasRecognizedResultDrawer extends BaseDrawer {
.set3DMode( true )
.icon3DRes( getVrModel() )
.rotate( ( float ) recognizedListResult.heading )
.position( new MogoLatLng( recognizedListResult.latLonList.get( 0 ).lat, recognizedListResult.latLonList.get( 0 ).lon ) );
.position( new MogoLatLng( recognizedListResult.lat, recognizedListResult.lon ) );
return MogoApisHandler.getInstance().getApis().getMapServiceApi().getMarkerManager( mContext ).addMarker( DataTypes.TYPE_MARKER_ADAS, options );
}
@@ -185,21 +179,4 @@ class AdasRecognizedResultDrawer extends BaseDrawer {
return R.raw.carred;
}
private View inflateView( ADASRecognizedListResult data, boolean machineVision, double curSpeed ) {
View rootView = LayoutInflater.from( AbsMogoApplication.getApp() ).inflate( R.layout.module_commons_layout_car, null );
// SafeType safeType = getSafeType( data.distanceX, data.distanceY, data.speed, curSpeed );
// TextView tv = rootView.findViewById( R.id.module_commons_marker_car_speed );
// tv.setText( safeType.getMsg() );
ImageView iv = rootView.findViewById( R.id.module_commons_marker_car_model );
// iv.setImageResource( MarkerResourceManager.getMarkerDrawableResId(
// machineVision ? VisionMode.Machine : VisionMode.User,
// AdasRecognizedType.valueFrom( data.type ),
// getCarModelType(),
// safeType
// ) );
iv.setImageResource( R.drawable.icon_map_marker_car_gray );
return rootView;
}
}

27
modules/mogo-module-service/src/main/java/com/mogo/module/service/MogoServices.java
View File

@@ -50,6 +50,8 @@ import com.mogo.module.service.strategy.CarIconDisplayStrategy;
import com.mogo.module.service.ttsConfig.TtsConfigModleData;
import com.mogo.module.service.uploadintime.SnapshotUploadInTime;
import com.mogo.service.adas.IMogoADASController;
import com.mogo.service.adas.IMogoAdasCarDataCallback;
import com.mogo.service.adas.entity.ADASCarStateInfo;
import com.mogo.service.fragmentmanager.FragmentStackTransactionListener;
import com.mogo.service.fragmentmanager.IMogoFragmentManager;
import com.mogo.service.intent.IMogoIntentListener;
@@ -65,6 +67,8 @@ import com.mogo.utils.NetworkUtils;
import com.mogo.utils.WorkThreadHandler;
import com.mogo.utils.logger.Logger;
import org.json.JSONObject;
import java.util.List;
/**
@@ -86,6 +90,7 @@ public class MogoServices implements IMogoMapListener,
IMogoVoiceCmdCallBack,
FragmentStackTransactionListener,
IMogoCarLocationChangedListener2,
IMogoAdasCarDataCallback,
IDestroyable {
private boolean mInternalUnWakeupRegisterStatus = false;
@@ -370,6 +375,7 @@ public class MogoServices implements IMogoMapListener,
mIntentManager.registerIntentListener( ConnectivityManager.CONNECTIVITY_ACTION, this );
mADASController = MarkerServiceHandler.getADASController();
mADASController.setAdasCarDataCallback( this );
mFragmentManager = MarkerServiceHandler.getFragmentManager();
mFragmentManager.addMainFragmentStackTransactionListener( this );
@@ -950,4 +956,25 @@ public class MogoServices implements IMogoMapListener,
}
}
}
@Override
public void onAdasCarDataCallback( ADASCarStateInfo stateInfo ) {
if ( stateInfo != null && stateInfo.getValues() != null ) {
JSONObject data = new JSONObject();
try {
data.putOpt( "lon", stateInfo.getValues().getLon() );
data.putOpt( "lat", stateInfo.getValues().getLat() );
data.putOpt( "alt", stateInfo.getValues().getAlt() );
data.putOpt( "speed", stateInfo.getValues().getGnss_speed() );
data.putOpt( "satelliteTime", stateInfo.getValues().getSatelliteTime() );
data.putOpt( "heading", stateInfo.getValues().getHeading() );
data.putOpt( "acceleration", stateInfo.getValues().getAcceleration() );
data.putOpt( "yawRate", stateInfo.getValues().getYaw_rate() );
MarkerServiceHandler.getApis().getMapServiceApi().getMapUIController().syncLocation2Map( data );
SnapshotUploadInTime.getInstance().syncAdasLocationInfo( data );
} catch ( Exception e ) {
e.printStackTrace();
}
}
}
}

7
modules/mogo-module-service/src/main/java/com/mogo/module/service/intent/MockIntentHandler.java
View File

@@ -434,6 +434,7 @@ public class MockIntentHandler implements IntentHandler {
{40.20254135131836, 116.74005889892578},
{40.20252990722656, 116.74007415771484},
{40.20254898071289, 116.74008178710938},
{40.20254135131836, 116.74005889892578},
{40.20252227783203, 116.74006652832031},
{40.20254898071289, 116.74002838134766},
@@ -472,6 +473,12 @@ public class MockIntentHandler implements IntentHandler {
double delta = CoordinateUtils.calculateLineDistance( lon, lat, originCoor[0], originCoor[1] );
Logger.d( TAG, "偏差值：%s", delta );
}
break;
case 41:
// adb shell am broadcast -a com.mogo.mock --ei oper 41 --ei type 0 平滑移动
// adb shell am broadcast -a com.mogo.mock --ei oper 41 --ei type 1 直接打点
DebugConfig.setNotSmooth( intent.getIntExtra( "type", 0 ) == 1 );
break;
}
}

7
services/mogo-service-api/src/main/java/com/mogo/service/adas/IMogoADASController.java
View File

@@ -128,4 +128,11 @@ public interface IMogoADASController extends IProvider {
* @param callback
*/
void removeAdasRecognizedDataCallback( IMogoAdasRecognizedDataCallback callback );
/**
* 自车定位数据
*
* @param carDataCallback
*/
void setAdasCarDataCallback( IMogoAdasCarDataCallback carDataCallback );
}

17
services/mogo-service-api/src/main/java/com/mogo/service/adas/IMogoAdasCarDataCallback.java Normal file
View File

@@ -0,0 +1,17 @@
package com.mogo.service.adas;
import com.mogo.service.adas.entity.ADASCarStateInfo;
/**
* adas 自车位置数据回调
*
* @author tongchenfei
*/
public interface IMogoAdasCarDataCallback {
/**
* adas 数据回调
*
* @param msg 具体数据
*/
void onAdasCarDataCallback( ADASCarStateInfo msg );
}

142
services/mogo-service-api/src/main/java/com/mogo/service/adas/entity/ADASCarStateInfo.java Normal file
View File

@@ -0,0 +1,142 @@
package com.mogo.service.adas.entity;
import java.io.Serializable;
/**
* @author nie yunlong
* @des 车辆状态
* @date 2020/3/12
*/
public class ADASCarStateInfo implements Serializable {
/**
* action : “state”
* values : {"lon":116.8,"lat":39.4,"alt":22.3,"heading":87.5,"acceleration":0.5,"yaw_rate":0.3}
*/
private String action;
private ValuesBean values;
public String getAction() {
return action;
}
public void setAction(String action) {
this.action = action;
}
public ValuesBean getValues() {
return values;
}
public void setValues(ValuesBean values) {
this.values = values;
}
public static class ValuesBean {
/**
* lon : 116.8
* lat : 39.4
* alt : 22.3
* heading : 87.5
* acceleration : 0.5
* yaw_rate : 0.3
*/
private double lon;
private double lat;
private double alt;
private double heading;
private double acceleration;
private double yaw_rate;
//惯导车速 m/s
private float gnss_speed;
//gps 时间
private String satelliteTime;
public float getGnss_speed() {
return gnss_speed;
}
public void setGnss_speed( float gnss_speed ) {
this.gnss_speed = gnss_speed;
}
public String getSatelliteTime() {
return satelliteTime;
}
public void setSatelliteTime( String satelliteTime ) {
this.satelliteTime = satelliteTime;
}
public double getLon() {
return lon;
}
public void setLon(double lon) {
this.lon = lon;
}
public double getLat() {
return lat;
}
public void setLat(double lat) {
this.lat = lat;
}
public double getAlt() {
return alt;
}
public void setAlt(double alt) {
this.alt = alt;
}
public double getHeading() {
return heading;
}
public void setHeading(double heading) {
this.heading = heading;
}
public double getAcceleration() {
return acceleration;
}
public void setAcceleration(double acceleration) {
this.acceleration = acceleration;
}
public double getYaw_rate() {
return yaw_rate;
}
public void setYaw_rate(double yaw_rate) {
this.yaw_rate = yaw_rate;
}
@Override
public String toString() {
return "ValuesBean{" +
"lon=" + lon +
", lat=" + lat +
", alt=" + alt +
", heading=" + heading +
", acceleration=" + acceleration +
", yaw_rate=" + yaw_rate +
'}';
}
}
@Override
public String toString() {
return "CarStateInfo{" +
"action='" + action + '\'' +
", values=" + values +
'}';
}
}

16
services/mogo-service-api/src/main/java/com/mogo/service/adas/entity/ADASRecognizedListResult.java
View File

@@ -39,18 +39,10 @@ class ADASRecognizedListResult {
public double distanceY;
/**
* 同一个uuid 1s内所对应的连续坐标
* 同一个uuid 1帧内所对应的坐标
*/
public List< LatLon > latLonList;
public double lon;
public double lat;
public static class LatLon {
public LatLon( double lat, double lon ) {
this.lat = lat;
this.lon = lon;
}
public double lat;
public double lon;
}
public long systemTime;
}

42
services/mogo-service/src/main/java/com/mogo/service/impl/adas/AdasObjectUtils.java
View File

@@ -65,7 +65,7 @@ class AdasObjectUtils {
if ( rectBean == null ) {
return null;
}
if( rectBean.getLat() < 1){
if ( rectBean.getLat() < 1 ) {
return null;
}
ADASRecognizedResult result = new ADASRecognizedResult();
@@ -96,37 +96,33 @@ class AdasObjectUtils {
if ( datums == null || datums.isEmpty() ) {
return null;
}
Map< String, ADASRecognizedListResult > result = new HashMap<>();
List< ADASRecognizedListResult > recognizedListResults = new ArrayList<>();
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 ) {
for ( RectInfo.RectBean model : rectInfo.getModels() ) {
if ( model == null || TextUtils.isEmpty( model.getUuid() ) ) {
continue;
}
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.distanceX = model.getDistance_x();
recognizedListResult.distanceY = model.getDistance_y();
}
ADASRecognizedListResult recognizedListResult = new ADASRecognizedListResult();
recognizedListResult.heading = model.getHeading();
recognizedListResult.speed = model.getSpeed();
recognizedListResult.type = Integer.valueOf( model.getType() );
recognizedListResult.uuid = model.getUuid();
recognizedListResult.distanceX = model.getDistance_x();
recognizedListResult.distanceY = model.getDistance_y();
double amapCoord[] = CoordinateUtils.transformWgsToGcj( model.getLat(), model.getLon() );
recognizedListResult.latLonList.add( new ADASRecognizedListResult.LatLon( amapCoord[1], amapCoord[0] ) );
recognizedListResult.lat = amapCoord[1];
recognizedListResult.lon = amapCoord[0];
try {
recognizedListResult.systemTime = Long.valueOf( model.getSystemTime() );
} catch ( Exception e ) {
recognizedListResult.systemTime = System.currentTimeMillis();
}
recognizedListResults.add( recognizedListResult );
}
}
if ( result.isEmpty() ) {
return null;
}
return new ArrayList<>( result.values() );
return recognizedListResults;
}
}

71
services/mogo-service/src/main/java/com/mogo/service/impl/adas/LogWriter.java Normal file
View File

@@ -0,0 +1,71 @@
package com.mogo.service.impl.adas;
import android.os.Handler;
import android.os.Message;
import com.mogo.utils.WorkThreadHandler;
import com.mogo.utils.network.utils.GsonUtil;
import java.io.File;
import java.io.FileWriter;
import java.io.IOException;
public
/**
* @author congtaowang
* @since 2021/1/22
*
* 描述
*/
class LogWriter {
public static final int MAX_SIZE = 6 * 1024 * 1924;
private final String path;
private Handler writeHandler = null;
public LogWriter( String path ) {
this.path = path;
File file = new File( path );
if ( !file.exists() ) {
try {
if ( !file.getParentFile().exists() ) {
file.getParentFile().mkdirs();
}
file.createNewFile();
} catch ( Exception e ) {
e.printStackTrace();
}
}
writeHandler = new Handler( WorkThreadHandler.newInstance( "Logger-Writer" ).getLooper() ) {
@Override
public void handleMessage( Message msg ) {
super.handleMessage( msg );
if ( msg.what == 100 ) {
writeImpl( ( ( String ) msg.obj ) );
}
}
};
}
private void writeImpl( Object log ) {
try {
FileWriter fw = new FileWriter( path, true );
fw.append( System.currentTimeMillis() + " - " );
fw.append( GsonUtil.jsonFromObject( log ) );
fw.append( "\n" );
fw.flush();
fw.close();
} catch ( Exception e ) {
e.printStackTrace();
}
}
public void write( Object log ) {
Message msg = Message.obtain();
msg.obj = log;
msg.what = 100;
writeHandler.sendMessage( msg );
}
}

32
services/mogo-service/src/main/java/com/mogo/service/impl/adas/MogoADASController.java
View File

@@ -20,10 +20,12 @@ import com.mogo.module.common.map.MyLocationUtil;
import com.mogo.module.common.utils.CarSeries;
import com.mogo.service.MogoServicePaths;
import com.mogo.service.adas.IMogoADASController;
import com.mogo.service.adas.IMogoAdasCarDataCallback;
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.ADASCarStateInfo;
import com.mogo.service.adas.entity.ADASRecognizedListResult;
import com.mogo.service.adas.entity.ADASRecognizedResult;
import com.mogo.service.adas.entity.ADASWarnMessage;
@@ -42,7 +44,9 @@ import com.zhidao.adasconfig.common.config.EnumSkinStyle;
import com.zhidao.autopilot.support.api.AutopilotServiceManage;
import com.zhidao.autopilot.support.api.IAutopilotServiceStatusListener;
import com.zhidao.autopilot.support.api.IAutopolitDataCallBack;
import com.zhidao.autopilotservice.model.AdasAIDLAutopilotArriveModel;
import com.zhidao.support.adas.high.OnAdasListener;
import com.zhidao.support.adas.high.bean.CarStateInfo;
import com.zhidao.support.adas.high.bean.RectInfo;
import com.zhidao.support.adas.high.bean.WarnMessageInfo;
import com.zhidao.support.adas.high.msg.MyMessageFactory;
@@ -106,15 +110,25 @@ public class MogoADASController implements IMogoADASController {
*/
private List< IMogoAdasRecognizedDataCallback > mMogoAdasRecognizedDataCallbacks = new CopyOnWriteArrayList<>();
private IMogoAdasCarDataCallback mMogoAdasCarDataCallback;
private RectInfo mLastFrameData;
private OnAdasListener mOnAdasListener = new OnAdasListenerAdapter() {
LogWriter logWriter = null;
@Override
public void onRectData( RectInfo rectInfo ) {
// 物体识别返回
Logger.d( TAG, "onRectData = %s", rectInfo.toString() );
if ( logWriter == null ) {
String path = context.getExternalCacheDir().getAbsolutePath() + "/adaslog/log.txt";
Logger.d( TAG, path );
logWriter = new LogWriter( path );
}
mLastFrameData = rectInfo;
logWriter.write( GsonUtil.jsonFromObject( rectInfo ) );
// 仅在 vr 模式下显示 adas 识别车辆
if ( !MogoApisHandler.getInstance().getApis().getStatusManagerApi().isVrMode() ) {
return;
@@ -290,6 +304,19 @@ public class MogoADASController implements IMogoADASController {
public void showToast( String msg ) {
UiThreadHandler.post( () -> TipToast.tip( msg ) );
}
@Override
public void autopilotArrive( AdasAIDLAutopilotArriveModel autopilotArriveModel ) {
}
@Override
public void ownerCarStateInfo( String ownerCarStateInfo ) {
ADASCarStateInfo stateInfo = GsonUtil.objectFromJson( ownerCarStateInfo, ADASCarStateInfo.class );
if ( mMogoAdasCarDataCallback != null ) {
mMogoAdasCarDataCallback.onAdasCarDataCallback( stateInfo );
}
}
};
AutopilotServiceManage.getInstance().registerAutopilotDataListener( mAutopolitDataCallBack );
}
@@ -569,4 +596,9 @@ public class MogoADASController implements IMogoADASController {
}
mMogoAdasRecognizedDataCallbacks.remove( callback );
}
@Override
public void setAdasCarDataCallback( IMogoAdasCarDataCallback carDataCallback ) {
mMogoAdasCarDataCallback = carDataCallback;
}
}