From 87607058cba483ef39ad58a351feae7a4616cda1 Mon Sep 17 00:00:00 2001 From: wangcongtao Date: Fri, 22 Jan 2021 16:48:02 +0800 Subject: [PATCH] ui opt --- config.gradle | 2 +- .../com/mogo/commons/debug/DebugConfig.java | 10 ++ libraries/map-custom/build.gradle | 2 +- .../drawer/AdasRecognizedResultDrawer.java | 71 +++------ .../com/mogo/module/service/MogoServices.java | 27 ++++ .../service/intent/MockIntentHandler.java | 7 + .../service/adas/IMogoADASController.java | 7 + .../adas/IMogoAdasCarDataCallback.java | 17 +++ .../service/adas/entity/ADASCarStateInfo.java | 142 ++++++++++++++++++ .../adas/entity/ADASRecognizedListResult.java | 16 +- .../service/impl/adas/AdasObjectUtils.java | 42 +++--- .../com/mogo/service/impl/adas/LogWriter.java | 71 +++++++++ .../service/impl/adas/MogoADASController.java | 32 ++++ 13 files changed, 362 insertions(+), 84 deletions(-) create mode 100644 services/mogo-service-api/src/main/java/com/mogo/service/adas/IMogoAdasCarDataCallback.java create mode 100644 services/mogo-service-api/src/main/java/com/mogo/service/adas/entity/ADASCarStateInfo.java create mode 100644 services/mogo-service/src/main/java/com/mogo/service/impl/adas/LogWriter.java diff --git a/config.gradle b/config.gradle index 4fd57c702c..d80ec3d708 100644 --- a/config.gradle +++ b/config.gradle @@ -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 diff --git a/foudations/mogo-commons/src/main/java/com/mogo/commons/debug/DebugConfig.java b/foudations/mogo-commons/src/main/java/com/mogo/commons/debug/DebugConfig.java index 8c77fbc934..e4d32ec638 100644 --- a/foudations/mogo-commons/src/main/java/com/mogo/commons/debug/DebugConfig.java +++ b/foudations/mogo-commons/src/main/java/com/mogo/commons/debug/DebugConfig.java @@ -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; + } } diff --git a/libraries/map-custom/build.gradle b/libraries/map-custom/build.gradle index 954225df6e..37e6d07321 100644 --- a/libraries/map-custom/build.gradle +++ b/libraries/map-custom/build.gradle @@ -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' } diff --git a/modules/mogo-module-common/src/main/java/com/mogo/module/common/drawer/AdasRecognizedResultDrawer.java b/modules/mogo-module-common/src/main/java/com/mogo/module/common/drawer/AdasRecognizedResultDrawer.java index 9051634f8b..8bf6860e48 100644 --- a/modules/mogo-module-common/src/main/java/com/mogo/module/common/drawer/AdasRecognizedResultDrawer.java +++ b/modules/mogo-module-common/src/main/java/com/mogo/module/common/drawer/AdasRecognizedResultDrawer.java @@ -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; - } - } diff --git a/modules/mogo-module-service/src/main/java/com/mogo/module/service/MogoServices.java b/modules/mogo-module-service/src/main/java/com/mogo/module/service/MogoServices.java index 4070427fd0..f7d779f49d 100644 --- a/modules/mogo-module-service/src/main/java/com/mogo/module/service/MogoServices.java +++ b/modules/mogo-module-service/src/main/java/com/mogo/module/service/MogoServices.java @@ -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(); + } + } + } } diff --git a/modules/mogo-module-service/src/main/java/com/mogo/module/service/intent/MockIntentHandler.java b/modules/mogo-module-service/src/main/java/com/mogo/module/service/intent/MockIntentHandler.java index 801ac3fb0d..96d1cb0069 100644 --- a/modules/mogo-module-service/src/main/java/com/mogo/module/service/intent/MockIntentHandler.java +++ b/modules/mogo-module-service/src/main/java/com/mogo/module/service/intent/MockIntentHandler.java @@ -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; } } diff --git a/services/mogo-service-api/src/main/java/com/mogo/service/adas/IMogoADASController.java b/services/mogo-service-api/src/main/java/com/mogo/service/adas/IMogoADASController.java index 4d4bfc61dd..f43939c0f3 100644 --- a/services/mogo-service-api/src/main/java/com/mogo/service/adas/IMogoADASController.java +++ b/services/mogo-service-api/src/main/java/com/mogo/service/adas/IMogoADASController.java @@ -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 ); } diff --git a/services/mogo-service-api/src/main/java/com/mogo/service/adas/IMogoAdasCarDataCallback.java b/services/mogo-service-api/src/main/java/com/mogo/service/adas/IMogoAdasCarDataCallback.java new file mode 100644 index 0000000000..cfdf4d9b20 --- /dev/null +++ b/services/mogo-service-api/src/main/java/com/mogo/service/adas/IMogoAdasCarDataCallback.java @@ -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 ); +} diff --git a/services/mogo-service-api/src/main/java/com/mogo/service/adas/entity/ADASCarStateInfo.java b/services/mogo-service-api/src/main/java/com/mogo/service/adas/entity/ADASCarStateInfo.java new file mode 100644 index 0000000000..e8ea32512d --- /dev/null +++ b/services/mogo-service-api/src/main/java/com/mogo/service/adas/entity/ADASCarStateInfo.java @@ -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 + + '}'; + } +} diff --git a/services/mogo-service-api/src/main/java/com/mogo/service/adas/entity/ADASRecognizedListResult.java b/services/mogo-service-api/src/main/java/com/mogo/service/adas/entity/ADASRecognizedListResult.java index 7196126e4b..7c5d8e06b4 100644 --- a/services/mogo-service-api/src/main/java/com/mogo/service/adas/entity/ADASRecognizedListResult.java +++ b/services/mogo-service-api/src/main/java/com/mogo/service/adas/entity/ADASRecognizedListResult.java @@ -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; } diff --git a/services/mogo-service/src/main/java/com/mogo/service/impl/adas/AdasObjectUtils.java b/services/mogo-service/src/main/java/com/mogo/service/impl/adas/AdasObjectUtils.java index 70018428a7..1329234417 100644 --- a/services/mogo-service/src/main/java/com/mogo/service/impl/adas/AdasObjectUtils.java +++ b/services/mogo-service/src/main/java/com/mogo/service/impl/adas/AdasObjectUtils.java @@ -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; } } diff --git a/services/mogo-service/src/main/java/com/mogo/service/impl/adas/LogWriter.java b/services/mogo-service/src/main/java/com/mogo/service/impl/adas/LogWriter.java new file mode 100644 index 0000000000..66a0944c30 --- /dev/null +++ b/services/mogo-service/src/main/java/com/mogo/service/impl/adas/LogWriter.java @@ -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 ); + } +} diff --git a/services/mogo-service/src/main/java/com/mogo/service/impl/adas/MogoADASController.java b/services/mogo-service/src/main/java/com/mogo/service/impl/adas/MogoADASController.java index 6098151435..9186b1fe16 100644 --- a/services/mogo-service/src/main/java/com/mogo/service/impl/adas/MogoADASController.java +++ b/services/mogo-service/src/main/java/com/mogo/service/impl/adas/MogoADASController.java @@ -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; + } }