完成新架构的域控制器的监听及数据改造

Signed-off-by: 董宏宇 <martindhy@gmail.com>

modules/mogo-module-common/src/main/java/com/mogo/module/common/datacenter/SnapshotLocationDataCenter.java

@@ -2,7 +2,7 @@ package com.mogo.module.common.datacenter;
 
 import com.mogo.commons.FunctionBuildConfig;
 import com.mogo.commons.debug.DebugConfig;
-import com.mogo.eagle.core.data.autopilot.AutoPilotStatusInfo;
+import com.mogo.eagle.core.data.autopilot.AutopilotStatusInfo;
 import com.mogo.eagle.core.function.call.autopilot.CallerAutoPilotStatusListenerManager;
 import com.mogo.module.common.MogoApisHandler;
 import com.mogo.service.cloud.location.CloudLocationInfo;
@@ -94,10 +94,10 @@ public class SnapshotLocationDataCenter {
         // 使用与渠道配置一样的gps提供者提供的数据
         if (gpsProvider == FunctionBuildConfig.gpsProvider) {
             //测试面板状态同步
-            AutoPilotStatusInfo autopilotStatusInfo = CallerAutoPilotStatusListenerManager.INSTANCE.getAutoPilotStatusInfo();
+            AutopilotStatusInfo autopilotStatusInfo = CallerAutoPilotStatusListenerManager.INSTANCE.getAutoPilotStatusInfo();
             autopilotStatusInfo.setLocationLat(lat);
             autopilotStatusInfo.setLocationLon(lon);
-            CallerAutoPilotStatusListenerManager.INSTANCE.invokeAutoPilotStatusListener();
+            CallerAutoPilotStatusListenerManager.INSTANCE.invokeAutoPilotStatus();
 
             DebugConfig.setStatusData(DebugConfig.sLon, lon);
             DebugConfig.setStatusData(DebugConfig.sLat, lat);

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

@@ -1,5 +1,7 @@
 package com.mogo.module.common.drawer;
 
+import static com.mogo.cloud.socket.entity.SocketDownDataHelper.FROM_ADAS;
+
 import android.os.Build;
 import android.text.TextUtils;
 import android.util.Log;
@@ -7,12 +9,12 @@ import android.util.Log;
 import com.mogo.cloud.commons.utils.CoordinateUtils;
 import com.mogo.commons.debug.DebugConfig;
 import com.mogo.eagle.core.data.map.MogoLatLng;
+import com.mogo.eagle.core.data.traffic.TrafficData;
 import com.mogo.map.marker.IMogoMarker;
 import com.mogo.map.marker.MogoMarkerOptions;
 import com.mogo.module.common.MogoApisHandler;
 import com.mogo.module.common.constants.DataTypes;
 import com.mogo.module.common.utils.Trigonometric;
-import com.mogo.service.adas.entity.ADASRecognizedResult;
 
 import java.util.ArrayList;
 import java.util.Iterator;
@@ -21,16 +23,13 @@ import java.util.Map;
 import java.util.concurrent.ConcurrentHashMap;
 import java.util.concurrent.TimeUnit;
 
-import static com.mogo.cloud.socket.entity.SocketDownDataHelper.FROM_ADAS;
-
-public
 /**
  * @author congtaowang
  * @since 2020/10/28
- *
+ * <p>
  * 绘制adas近景识别到的车辆
  */
-class AdasRecognizedResultDrawer extends BaseDrawer {
+public class AdasRecognizedResultDrawer extends BaseDrawer {
 
     private static final String TAG = "RecognizedResultDrawer";
 
@@ -45,7 +44,7 @@ class AdasRecognizedResultDrawer extends BaseDrawer {
         super();
     }
 
-    private final Map<String, ADASRecognizedResult> mLastPositions = new ConcurrentHashMap<>();
+    private final Map<String, TrafficData> mLastPositions = new ConcurrentHashMap<>();
 
     public static AdasRecognizedResultDrawer getInstance() {
         if (sInstance == null) {
@@ -76,7 +75,7 @@ class AdasRecognizedResultDrawer extends BaseDrawer {
      *
      * @param resultList adas感知融合数据
      */
-    public void renderAdasRecognizedResult(List<ADASRecognizedResult> resultList) {
+    public void renderAdasRecognizedResult(List<TrafficData> resultList) {
 
         final long start = System.nanoTime();
         if (resultList == null || resultList.isEmpty() || !DebugConfig.isUseAdasRecognize()) {
@@ -91,18 +90,18 @@ class AdasRecognizedResultDrawer extends BaseDrawer {
             return;
         }
 
-//        List<ADASRecognizedResult> allDatumsList = new ArrayList<>();
+//        List<TrafficData> allDatumsList = new ArrayList<>();
 //        prepareData(resultList, allDatumsList);
 
         Map<String, IMogoMarker> newAdasRecognizedMarkersCaches = new ConcurrentHashMap<>();
-        List<ADASRecognizedResult> newDiffSet = new ArrayList<>();
-        for (ADASRecognizedResult recognizedListResult : resultList) {
+        List<TrafficData> newDiffSet = new ArrayList<>();
+        for (TrafficData recognizedListResult : resultList) {
 
             if (isUselessValue(recognizedListResult)) {
                 continue;
             }
             // 复用之前存在的 marker
-            String uniqueKey = recognizedListResult.uuid;
+            String uniqueKey = recognizedListResult.getUuid();
             IMogoMarker marker = mMarkersCaches.remove(uniqueKey);
             if (marker != null && !marker.isDestroyed()) {
 //                Log.d(TAG, "发现缓存marker id : " + uniqueKey);
@@ -120,8 +119,8 @@ class AdasRecognizedResultDrawer extends BaseDrawer {
         // 复用过期 marker
         if (newDiffSetSize > 0) {
             for (int i = 0; i < newDiffSetSize; i++) {
-                ADASRecognizedResult recognizedListResult = newDiffSet.get(i);
-                String uniqueKey = recognizedListResult.uuid;
+                TrafficData recognizedListResult = newDiffSet.get(i);
+                String uniqueKey = recognizedListResult.getUuid();
                 IMogoMarker marker = drawAdasRecognizedDataMarker(recognizedListResult);
                 if (marker == null) {
                     continue;
@@ -142,7 +141,7 @@ class AdasRecognizedResultDrawer extends BaseDrawer {
      * @param in
      * @param out
      */
-    private void prepareData(List<ADASRecognizedResult> in, List<ADASRecognizedResult> out) {
+    private void prepareData(List<TrafficData> in, List<TrafficData> out) {
 //        foreCastPoint(in);
         out.addAll(in);
     }
@@ -154,22 +153,22 @@ class AdasRecognizedResultDrawer extends BaseDrawer {
      *
      * @param in 数据源
      */
-    private void foreCastPoint(List<ADASRecognizedResult> in) {
+    private void foreCastPoint(List<TrafficData> in) {
         if (Build.VERSION.SDK_INT >= Build.VERSION_CODES.N) {
-            for (ADASRecognizedResult adasResult : in) {
-                Log.d(FORECAST, "ready to foreCast current uuid : " + adasResult.uuid);
-                long internal = getCurSatelliteTime() - adasResult.satelliteTime;
+            for (TrafficData adasResult : in) {
+                Log.d(FORECAST, "ready to foreCast current uuid : " + adasResult.getUuid());
+                long internal = getCurSatelliteTime() - adasResult.getSatelliteTime();
                 if (internal <= 0) {
-                    Log.d(FORECAST, "time internal less than 0 , uuid : " + adasResult.uuid);
+                    Log.d(FORECAST, "time internal less than 0 , uuid : " + adasResult.getUuid());
                     continue;
                 }
                 long startTime = System.currentTimeMillis();
                 // 预测点
-                Log.d(FORECAST, "time internal : " + internal + " speed : " + adasResult.speed);
-                double foreCastDistance = adasResult.speed * internal / 1000;
+                Log.d(FORECAST, "time internal : " + internal + " speed : " + adasResult.getSpeed());
+                double foreCastDistance = adasResult.getSpeed() * internal / 1000;
                 Log.d(FORECAST, "foreCastDistance : " + foreCastDistance);
-                MogoLatLng mogoLatLng = new MogoLatLng(adasResult.lat, adasResult.lon);
-                MogoLatLng foreCastMogoLatLon = Trigonometric.getNewLocation(mogoLatLng, foreCastDistance, adasResult.heading);
+                MogoLatLng mogoLatLng = new MogoLatLng(adasResult.getLat(), adasResult.getLon());
+                MogoLatLng foreCastMogoLatLon = Trigonometric.getNewLocation(mogoLatLng, foreCastDistance, adasResult.getHeading());
 
                 // 计算与自车距离
                 float distanceFromSelf = CoordinateUtils.calculateLineDistance(getCurCoordinates()[0], getCurCoordinates()[1]
@@ -178,10 +177,10 @@ class AdasRecognizedResultDrawer extends BaseDrawer {
                 long foreCastInternal = System.currentTimeMillis() - startTime;
                 Log.d(FORECAST, "foreCastInternal :" + foreCastInternal); //todo 耗时1~2毫秒 需要测试是否由于补点算法造成
 
-                adasResult.lat = foreCastMogoLatLon.getLat();
-                adasResult.lon = foreCastMogoLatLon.getLon();
-                adasResult.satelliteTime = (getCurSatelliteTime() - foreCastInternal);
-                adasResult.distance = distanceFromSelf;
+                adasResult.setLat(foreCastMogoLatLon.getLat());
+                adasResult.setLon(foreCastMogoLatLon.getLon());
+                adasResult.setSatelliteTime((getCurSatelliteTime() - foreCastInternal));
+                adasResult.setDistance(distanceFromSelf);
             }
         }
     }
@@ -192,9 +191,9 @@ class AdasRecognizedResultDrawer extends BaseDrawer {
      * @param marker
      * @param recognizedListResult
      */
-    private void updateCacheMarkerRes(IMogoMarker marker, ADASRecognizedResult recognizedListResult) {
+    private void updateCacheMarkerRes(IMogoMarker marker, TrafficData recognizedListResult) {
         String resIdVal;
-        int resId = getModelRes(recognizedListResult.type);
+        int resId = getModelRes(recognizedListResult.getType().getType());
         resIdVal = resId + "";
         String resName = mMarkerCachesResMd5Values.get(resIdVal);
         if (!TextUtils.isEmpty(resName)) {
@@ -211,11 +210,11 @@ class AdasRecognizedResultDrawer extends BaseDrawer {
         if (mLastPositions.isEmpty()) {
             return;
         }
-        Iterator<ADASRecognizedResult> iterator = mLastPositions.values().iterator();
+        Iterator<TrafficData> iterator = mLastPositions.values().iterator();
         Log.d("EmArrow", "removeUselessLastRecord size : " + mLastPositions.size());
         while (iterator.hasNext()) {
-            ADASRecognizedResult result = iterator.next();
-            long internal = result.satelliteTime - getCurSatelliteTime();
+            TrafficData result = iterator.next();
+            long internal = result.getSatelliteTime() - getCurSatelliteTime();
             if (internal > 3000) { //防止帧率过低导致误删除上一个节点对象，从而出现跳跃现象
                 iterator.remove();
             }
@@ -225,33 +224,33 @@ class AdasRecognizedResultDrawer extends BaseDrawer {
     /**
      * 过滤无用数据
      *
-     * @param recognizedListResult {@link ADASRecognizedResult}
+     * @param recognizedListResult {@link TrafficData}
      * @return useless
      */
-    private boolean isUselessValue(ADASRecognizedResult recognizedListResult) {
+    private boolean isUselessValue(TrafficData recognizedListResult) {
         if (recognizedListResult == null) {
             return true;
         }
-        if (nonRenderType(recognizedListResult.type)) {
+        if (nonRenderType(recognizedListResult.getType().getType())) {
             return true;
         }
-        String uniqueKey = recognizedListResult.uuid;
+        String uniqueKey = recognizedListResult.getUuid();
         return TextUtils.isEmpty(uniqueKey);
     }
 
     /**
      * 绘制某个物体的一个数据
      *
-     * @param recognizedListResult           {@link ADASRecognizedResult}
+     * @param recognizedListResult           {@link TrafficData}
      * @param newAdasRecognizedMarkersCaches 缓存集合
      */
     private void renderAdasOneFrame(IMogoMarker marker,
                                     String uniqueKey,
-                                    ADASRecognizedResult recognizedListResult,
+                                    TrafficData recognizedListResult,
                                     Map<String, IMogoMarker> newAdasRecognizedMarkersCaches) {
         final long start = System.nanoTime();
 //        Log.d(TAG, "renderAdasOneFrame uuid :  " + uniqueKey + "  type : " + recognizedListResult.type + " heading : " + recognizedListResult.heading);
-        ADASRecognizedResult lastPosition = mLastPositions.remove(uniqueKey);
+        TrafficData lastPosition = mLastPositions.remove(uniqueKey);
         // 道路吸附
 //        double lastLon = -1;
 //        double lastLat = -1;
@@ -269,18 +268,15 @@ class AdasRecognizedResultDrawer extends BaseDrawer {
 //        Log.d(TAG, "使用缓存 id : " + uniqueKey);
         long interval = 45;
         if (lastPosition != null) {
-            interval = computeAnimDuration(lastPosition.satelliteTime, recognizedListResult.satelliteTime);
+            interval = computeAnimDuration(lastPosition.getSatelliteTime(), recognizedListResult.getSatelliteTime());
         }
-        final MogoLatLng renderLoc = new MogoLatLng(recognizedListResult.lat, recognizedListResult.lon);
+        final MogoLatLng renderLoc = new MogoLatLng(recognizedListResult.getLat(), recognizedListResult.getLon());
         long cost = TimeUnit.NANOSECONDS.toMillis(System.nanoTime() - start);
-        Log.d("ADAS动画数据","cost : " + cost);
+        Log.d("ADAS动画数据", "cost : " + cost);
         final long intervalRef = interval - cost;
-        Log.d("ADAS动画数据", "最终赋值 : " + intervalRef + "  两帧间隔 : " + interval + "  uuid : " + recognizedListResult.uuid);
-        marker.addDynamicAnchorPosition(renderLoc, (float) recognizedListResult.heading, intervalRef);
-        String carColor = recognizedListResult.color;
-        if (TextUtils.isEmpty(carColor)) {
-            carColor = getModelRenderColor(recognizedListResult.type, FROM_ADAS, recognizedListResult.drawlevel);
-        }
+        Log.d("ADAS动画数据", "最终赋值 : " + intervalRef + "  两帧间隔 : " + interval + "  uuid : " + recognizedListResult.getUuid());
+        marker.addDynamicAnchorPosition(renderLoc, (float) recognizedListResult.getHeading(), intervalRef);
+        String carColor = getModelRenderColor(recognizedListResult.getType().getType(), FROM_ADAS, recognizedListResult.getThreatLevel());
         marker.setAnchorColor(carColor);
 
         newAdasRecognizedMarkersCaches.put(uniqueKey, marker);
@@ -302,22 +298,19 @@ class AdasRecognizedResultDrawer extends BaseDrawer {
     /**
      * 绘制 marker
      *
-     * @param recognizedListResult {@link ADASRecognizedResult}
+     * @param recognizedListResult {@link TrafficData}
      * @return {@link IMogoMarker}
      */
-    private IMogoMarker drawAdasRecognizedDataMarker(ADASRecognizedResult recognizedListResult) {
+    private IMogoMarker drawAdasRecognizedDataMarker(TrafficData recognizedListResult) {
         long start = System.nanoTime();
         if (recognizedListResult == null) {
             return null;
         }
 
-        int resId = getModelRes(recognizedListResult.type);
+        int resId = getModelRes(recognizedListResult.getType().getType());
         String resIdVal = resId + "";
 
-        String carColor = recognizedListResult.color;
-        if (TextUtils.isEmpty(carColor)) {
-            carColor = getModelRenderColor(recognizedListResult.type, FROM_ADAS, recognizedListResult.drawlevel);
-        }
+        String carColor = getModelRenderColor(recognizedListResult.getType().getType(), FROM_ADAS, recognizedListResult.getThreatLevel());
         MogoMarkerOptions options = new MogoMarkerOptions()
                 .owner(DataTypes.TYPE_MARKER_ADAS)
                 .anchor(0.5f, 0.5f)
@@ -327,8 +320,8 @@ class AdasRecognizedResultDrawer extends BaseDrawer {
                 .controlAngle(true)
                 .resName(mMarkerCachesResMd5Values.get(resIdVal))
                 .icon3DRes(resId)
-                .rotate((float) recognizedListResult.heading)
-                .position(new MogoLatLng(recognizedListResult.lat, recognizedListResult.lon));
+                .rotate((float) recognizedListResult.getHeading())
+                .position(new MogoLatLng(recognizedListResult.getLat(), recognizedListResult.getLon()));
         IMogoMarker marker = MogoApisHandler.getInstance().getApis().getMapServiceApi().getMarkerManager(mContext).addMarker(DataTypes.TYPE_MARKER_ADAS, options);
         cacheMarkerIconResMd5Val(resIdVal, marker);
         Log.d("ADAS数据延时", "创建一个新 marker cost : " + TimeUnit.NANOSECONDS.toMillis((System.nanoTime() - start)));