From 915547f5e662cda8a367451ee21966c7db82e8d9 Mon Sep 17 00:00:00 2001 From: aibingbing Date: Fri, 28 Jun 2024 19:36:31 +0800 Subject: [PATCH] =?UTF-8?q?[6.5.0]=20feat:=20=E5=A2=9E=E5=8A=A0=E5=85=AC?= =?UTF-8?q?=E4=BA=A4=E7=AB=99=E7=82=B9=E7=AE=A1=E7=90=86=E7=B1=BB=EF=BC=9B?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- .../eagle/function/biz/FuncBizProvider.kt | 3 + .../v2x/busstation/BusStationEventManager.kt | 106 ++++++++++++++++++ .../src/main/java/com/mogo/map/IMogoData.kt | 28 ++++- .../java/com/mogo/map/entities/BusStation.kt | 16 +++ .../main/java/com/mogo/map/MapDataWrapper.kt | 37 +++++- 5 files changed, 182 insertions(+), 8 deletions(-) create mode 100644 core/function-impl/mogo-core-function-biz/src/main/java/com/mogo/eagle/function/biz/v2x/busstation/BusStationEventManager.kt create mode 100644 libraries/mogo-map-api/src/main/java/com/mogo/map/entities/BusStation.kt diff --git a/core/function-impl/mogo-core-function-biz/src/main/java/com/mogo/eagle/function/biz/FuncBizProvider.kt b/core/function-impl/mogo-core-function-biz/src/main/java/com/mogo/eagle/function/biz/FuncBizProvider.kt index 943c90cf67..4d64f929f1 100644 --- a/core/function-impl/mogo-core-function-biz/src/main/java/com/mogo/eagle/function/biz/FuncBizProvider.kt +++ b/core/function-impl/mogo-core-function-biz/src/main/java/com/mogo/eagle/function/biz/FuncBizProvider.kt @@ -14,6 +14,7 @@ import com.mogo.eagle.function.biz.dispatch.DispatchAutoPilotManager.Companion.d import com.mogo.eagle.function.biz.monitoring.CronTaskManager.Companion.cronTaskManager import com.mogo.eagle.function.biz.notice.NoticeSocketManager.Companion.noticeSocketManager import com.mogo.eagle.function.biz.notice.network.NoticeNetWorkManager +import com.mogo.eagle.function.biz.v2x.busstation.BusStationEventManager import com.mogo.eagle.function.biz.v2x.obu.V2xObuEventManager import com.mogo.eagle.function.biz.v2x.overview.OverViewDataManager import com.mogo.eagle.function.biz.v2x.overview.db.OverviewDb @@ -54,6 +55,7 @@ class FuncBizProvider : IMoGoFuncBizProvider { V2NIdentifyDrawer.init() // RedLightWarningManager.INSTANCE.listenTrafficLight() V2XEventAnalyticsManager.init() + BusStationEventManager.init() } override fun feedBackNoticeTraffic(infoId: String, sn: String, accept: Int) { @@ -126,6 +128,7 @@ class FuncBizProvider : IMoGoFuncBizProvider { dispatchAutoPilotManager.release() cronTaskManager.release() + BusStationEventManager.unInit() VipCarManager.INSTANCE.destroy() if(!(AppIdentityModeUtils.isBus(FunctionBuildConfig.appIdentityMode) diff --git a/core/function-impl/mogo-core-function-biz/src/main/java/com/mogo/eagle/function/biz/v2x/busstation/BusStationEventManager.kt b/core/function-impl/mogo-core-function-biz/src/main/java/com/mogo/eagle/function/biz/v2x/busstation/BusStationEventManager.kt new file mode 100644 index 0000000000..1c978f29d5 --- /dev/null +++ b/core/function-impl/mogo-core-function-biz/src/main/java/com/mogo/eagle/function/biz/v2x/busstation/BusStationEventManager.kt @@ -0,0 +1,106 @@ +package com.mogo.eagle.function.biz.v2x.busstation + +import android.util.Pair +import com.mogo.eagle.core.data.map.MogoLocation +import com.mogo.eagle.core.function.api.autopilot.IMoGoChassisLocationWGS84Listener +import com.mogo.eagle.core.function.call.autopilot.CallerChassisLocationWGS84ListenerManager +import com.mogo.eagle.core.utilcode.mogo.logger.Logger +import com.mogo.map.MogoData +import com.mogo.map.entities.BusStation +import com.zhidaoauto.map.data.point.LonLatPoint +import kotlinx.coroutines.CoroutineScope +import kotlinx.coroutines.Dispatchers +import kotlinx.coroutines.SupervisorJob +import kotlinx.coroutines.cancel +import kotlinx.coroutines.launch +import java.util.concurrent.atomic.AtomicBoolean +import kotlin.math.sin + +/** + * 计算通过公交站点 管理类 + */ +object BusStationEventManager : IMoGoChassisLocationWGS84Listener { + + const val TAG = "BusStationEventManager" + + private val mScope: CoroutineScope = CoroutineScope(SupervisorJob() + Dispatchers.Default) + private val isCalculateNearByStation = AtomicBoolean(false) + private val farthestLocationList = ArrayList() + private val busStationListNearBy = LinkedHashMap() + + + fun init() { + CallerChassisLocationWGS84ListenerManager.addListener(TAG, 1, this) + } + + fun unInit() { + CallerChassisLocationWGS84ListenerManager.removeListener(TAG) + mScope?.cancel() + } + + override fun onChassisLocationWGS84(gnssInfo: MogoLocation) { + if (!isCalculateNearByStation.get()) { + isCalculateNearByStation.set(true) + calculateNearByStation(gnssInfo, 15, 10) + isCalculateNearByStation.set(false) + } + } + + /** + * @param gnssInfo 当前经纬度 + * @param segment 段总数 + * @param metersPreSegment 每段多少米 + */ + private fun calculateNearByStation( + gnssInfo: MogoLocation, + segmentSum: Int, + metersPreSegment: Int + ) { + mScope.launch { + farthestLocationList.clear() + val heading = gnssInfo.heading + //每10米一个点，获取150米范围内的坐标点 + for (index in 1..segmentSum) { + val newPoint = calculateNewPoint( + gnssInfo.longitude, + gnssInfo.latitude, + heading, + index * metersPreSegment * 1.0 + ) + newPoint?.also { + farthestLocationList.add(LonLatPoint(it.first, it.second)) + } + } + MogoData.mogoMapData.get()?.also { iMogoData -> + val busStationList = iMogoData.getBusStation(farthestLocationList) + Logger.d( + TAG, + "calculateNearByStation --> 查询出附近公交站点 ${busStationList.size} 个" + ) + busStationList.forEach { + busStationListNearBy[it.getBusStationId()] = it + } + } + } + } + + /** + * 根据当前经纬度和方向，计算距离 distance 米处的坐标 + */ + private fun calculateNewPoint( + x: Double, + y: Double, + angle: Double, + distance: Double + ): Pair? { + if (distance == 0.0) { + return null + } + val radian = Math.toRadians(angle) + val radianCandle = Math.toRadians(angle) + val nX = x + distance * sin(radian) / 100000.0 + val nY = y + distance * sin(radianCandle) / 100000.0 + return Pair.create(nX, nY) + } + +} \ No newline at end of file diff --git a/libraries/mogo-map-api/src/main/java/com/mogo/map/IMogoData.kt b/libraries/mogo-map-api/src/main/java/com/mogo/map/IMogoData.kt index f955786acf..3e73cc5ec2 100644 --- a/libraries/mogo-map-api/src/main/java/com/mogo/map/IMogoData.kt +++ b/libraries/mogo-map-api/src/main/java/com/mogo/map/IMogoData.kt @@ -1,8 +1,10 @@ package com.mogo.map import com.mogo.eagle.core.data.map.MogoLocation +import com.mogo.map.entities.BusStation import com.mogo.map.entities.Lane import com.mogo.map.entities.RoadInfo +import com.zhidaoauto.map.data.point.LonLatPoint import com.zhidaoauto.map.data.road.CenterLine interface IMogoData { @@ -54,7 +56,13 @@ interface IMogoData { /** * 获取道路宽度 */ - fun getRoadWidth(lon: Double, lat: Double, angle: Float, isGpsLocation: Boolean, isRTK: Boolean): Float + fun getRoadWidth( + lon: Double, + lat: Double, + angle: Float, + isGpsLocation: Boolean, + isRTK: Boolean + ): Float /** * 获取行车方向 @@ -75,17 +83,24 @@ interface IMogoData { /** * 通过cityCode,缓存城市HDMap */ - fun cacheHDDataByCity(progress:((cityId: Int, progress: Double) -> Unit), result:((cityId: Int, state: Int) -> Unit)) + fun cacheHDDataByCity( + progress: ((cityId: Int, progress: Double) -> Unit), + result: ((cityId: Int, state: Int) -> Unit) + ) /** * 通过经纬度信息，缓存城市HDMap */ - fun cacheHDDataByCityByLonLat(location: MogoLocation, progress:((cityId: Int, progress: Double) -> Unit), result:((cityId: Int, state: Int) -> Unit)) + fun cacheHDDataByCityByLonLat( + location: MogoLocation, + progress: ((cityId: Int, progress: Double) -> Unit), + result: ((cityId: Int, state: Int) -> Unit) + ) /** * 当前城市离线数据是否已缓存 */ - fun isCityDataCached(cache:((Boolean) -> Unit)) + fun isCityDataCached(cache: ((Boolean) -> Unit)) /** * 取消下载 城市HDMap @@ -101,4 +116,9 @@ interface IMogoData { * 根据瓦片Id和道路Id获取车道数据 */ fun getLaneInfo(tileId: Long, roadId: Int): List + + /** + * 获取公交站点集合 + */ + fun getBusStation(routeList: ArrayList): List } \ No newline at end of file diff --git a/libraries/mogo-map-api/src/main/java/com/mogo/map/entities/BusStation.kt b/libraries/mogo-map-api/src/main/java/com/mogo/map/entities/BusStation.kt new file mode 100644 index 0000000000..edfb3f6bc8 --- /dev/null +++ b/libraries/mogo-map-api/src/main/java/com/mogo/map/entities/BusStation.kt @@ -0,0 +1,16 @@ +package com.mogo.map.entities + +data class BusStation( + var busStationPoints: List, + var id: Int, + var roadId: Int, + var type: Int +) { + override fun toString(): String { + return "BusStation(busStationPoints=$busStationPoints, id=$id, roadId=$roadId, type=$type)" + } + + fun getBusStationId(): String { + return "${id}_${roadId}" + } +} \ No newline at end of file diff --git a/libraries/mogo-map/src/main/java/com/mogo/map/MapDataWrapper.kt b/libraries/mogo-map/src/main/java/com/mogo/map/MapDataWrapper.kt index f3cc47865a..8a4c49667d 100644 --- a/libraries/mogo-map/src/main/java/com/mogo/map/MapDataWrapper.kt +++ b/libraries/mogo-map/src/main/java/com/mogo/map/MapDataWrapper.kt @@ -5,12 +5,15 @@ import com.mogo.eagle.core.utilcode.mogo.logger.CallerLogger.i import com.mogo.eagle.core.utilcode.mogo.logger.Logger import com.mogo.eagle.core.utilcode.mogo.logger.scene.SceneConstant.Companion.M_MAP import com.mogo.map.MogoData.Companion.mogoMapData +import com.mogo.map.entities.BusStation import com.mogo.map.entities.Lane import com.mogo.map.location.GDLocationClient.Companion.gdLocationClient import com.mogo.map.utils.HDMapUtils.getHDCityCode +import com.zhidaoauto.map.data.point.LonLatPoint import com.zhidaoauto.map.data.road.CenterLine import com.zhidaoauto.map.data.road.RoadNameInfo import com.zhidaoauto.map.data.road.RoadRectInfos +import com.zhidaoauto.map.data.road.RoutePath import com.zhidaoauto.map.data.routeinfo.RoadInfo import com.zhidaoauto.map.sdk.open.MapAutoApi import com.zhidaoauto.map.sdk.open.abs.IResult @@ -82,7 +85,7 @@ object MapDataWrapper : IMogoData { call: ((CenterLine?) -> Unit) ) { try { - MapDataApi.getCenterLineRangeInfo(lon, lat, angle, distance,false,6, + MapDataApi.getCenterLineRangeInfo(lon, lat, angle, distance, false, 6, object : IResult { override fun result(code: Int, result: CenterLine?) { call.invoke(result) @@ -206,7 +209,7 @@ object MapDataWrapper : IMogoData { location.longitude, location.latitude, object : OnHdDataDownByCityListener { override fun onMapHDDataCacheProgressByCity(id: Int, p: Double) { - progress.invoke(id, p * 100) + progress.invoke(id, p * 100) } override fun onMapHDDataCacheStateByCity(id: Int, state: Int) { @@ -266,12 +269,38 @@ object MapDataWrapper : IMogoData { }) latch.await() Logger.d(TAG, "getRoadInfo --- 2 ---: code -> $tempCode, data -> $tempData") - return com.mogo.map.entities.RoadInfo(tempCode, tempData?.tile_id?.toLong()?:0L, tempData?.road_id?.toInt() ?: 0, tempData?.road_name ?: "") + return com.mogo.map.entities.RoadInfo( + tempCode, + tempData?.tile_id?.toLong() ?: 0L, + tempData?.road_id?.toInt() ?: 0, + tempData?.road_name ?: "" + ) } override fun getLaneInfo(tileId: Long, roadId: Int): List { return MapDataApi.getLaneInfo(tileId, roadId)?.map { itx -> - Lane(itx.laneId, itx.laneWidth, itx.laneLatLonPoints.map { Pair(it.longitude, it.latitude) }) + Lane( + itx.laneId, + itx.laneWidth, + itx.laneLatLonPoints.map { Pair(it.longitude, it.latitude) }) } ?: emptyList() } + + override fun getBusStation(routeList: ArrayList): MutableList { + val latch = CountDownLatch(1) + val resultList = mutableListOf() + MapDataApi.getBusStation(routeList, object : IResult { + override fun result(code: Int, result: RoutePath?) { + result?.steps?.forEach { + it?.busStations?.forEach { + val busStation = BusStation(it.busStationPoints, it.id, it.roadId, it.type) + resultList.add(busStation) + } + } + latch.countDown() + } + }) + latch.await() + return resultList + } } \ No newline at end of file