[2.13.2] add func of identify aicloud data

2023-01-10 16:35:00 +08:00
parent 775ec4be60
commit 98c85d9ee5
16 changed files with 346 additions and 37 deletions
--- a/core/function-impl/mogo-core-function-map/src/main/AndroidManifest.xml
+++ b/core/function-impl/mogo-core-function-map/src/main/AndroidManifest.xml
@@ -2,4 +2,13 @@
 <manifest xmlns:android="http://schemas.android.com/apk/res/android"
    package="com.mogo.eagle.core.function.map">

+    <application>
+
+        <receiver android:name="com.mogo.eagle.core.function.business.ai.AiCloudRangeBroadcastReceiver">
+            <intent-filter>
+                <action android:name="com.map.aiCloud.notification" />
+                <category android:name="android.intent.category.DEFAULT" />
+            </intent-filter>
+        </receiver>
+    </application>
 </manifest>
--- a/core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/business/ai/AiCloudIdentifyDataManager.kt
+++ b/core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/business/ai/AiCloudIdentifyDataManager.kt
@@ -1,54 +1,83 @@
 package com.mogo.eagle.core.function.business.ai

 import android.content.Context
-import com.mogo.cloud.socket.entity.SocketDownData
+import com.mogo.cloud.socket.IMogoCloudSocketOnMessageListener
+import com.mogo.cloud.socket.SocketManager
+import com.mogo.cloud.socket.entity.SocketDownData.SocketDownDataProto
 import com.mogo.eagle.core.function.business.ai.net.AiCloudIdentifyNetWorkModel
 import com.mogo.eagle.core.function.business.identify.MapIdentifySubscriber
-import com.mogo.eagle.core.function.call.map.CallerMapIdentifyManager
 import com.mogo.eagle.core.utilcode.mogo.logger.CallerLogger
 import com.mogo.eagle.core.utilcode.mogo.logger.scene.SceneConstant.Companion.M_MAP
-import com.mogo.realtime.api.MoGoAiCloudRealTime
-import com.mogo.realtime.socket.IMogoCloudOnMsgListener
+import com.mogo.map.listener.IMogoMapListener
+import com.mogo.map.uicontroller.VisualAngleMode
+import com.mogo.module.common.MogoApisHandler
+import com.mogo.realtime.constant.RealTimeConstant

-class AiCloudIdentifyDataManager {
+class AiCloudIdentifyDataManager : IMogoMapListener {

    companion object {
        private const val TAG = "AiCloudIdentifyData"

+        var START_METRE = 140
+        var END_METRE = 2000
+
        @JvmStatic
        val aiCloudIdentifyDataManager by lazy(LazyThreadSafetyMode.SYNCHRONIZED) {
            AiCloudIdentifyDataManager()
        }
-
-        const val START_METRE = 140
-        const val END_METRE = 2000
    }

    private val aiCloudIdentifyNetWorkModel = AiCloudIdentifyNetWorkModel()
+    private var showAiCloud = false

    fun init(mContext: Context) {
-        MoGoAiCloudRealTime.registerOnMsgListener(object : IMogoCloudOnMsgListener {
-            override fun onMsgSend(id: Long) {
-            }
+        MogoApisHandler.getInstance().apis.registerCenterApi.registerMogoMapListener(TAG, this)
+        SocketManager.getInstance()
+            .registerOnMessageListener(
+                RealTimeConstant.LOW_FREQUENCY_CHANNEL_ID,
+                object : IMogoCloudSocketOnMessageListener<SocketDownDataProto> {
+                    override fun target(msgType: Int): Class<SocketDownDataProto> {
+                        return SocketDownDataProto::class.java
+                    }

-            override fun onMsgReceived(mogoSnapshotSetData: SocketDownData.LauncherSnapshotProto?) {
-                mogoSnapshotSetData?.let {
-                    CallerLogger.d(TAG, "mogoSnapshotSetData : $it")
-                    //todo 感知数据转换
-//                    MapIdentifySubscriber.instance.onAutopilotIdentifyDataUpdate()
-                }
-            }
-        })
-        changeRangeOfIdentify()
+                    override fun onMsgReceived(msgType: Int, obj: SocketDownDataProto?) {
+                        CallerLogger.d("$M_MAP$TAG", "SocketDownDataProto obj : $obj")
+                        obj?.let {
+                            obj.data?.let {
+                                if (showAiCloud) {
+                                    if (it.allListList == null || it.allListList.size == 0) {
+                                        MapIdentifySubscriber.instance.clearAiCloudRoma()
+                                        return
+                                    }
+                                    MapIdentifySubscriber.instance.renderAiCloudResult(it.allListList)
+                                }
+                            }
+                        }
+                    }
+                })
+        requestRangeOfIdentify()
    }

-    //todo 加调试广播
-    private fun changeRangeOfIdentify() {
+    fun requestRangeOfIdentify() {
        aiCloudIdentifyNetWorkModel.requestIdentifyRange({
-            CallerLogger.d(M_MAP + TAG, "requestIdentifyRange ok")
+            CallerLogger.d(
+                M_MAP + TAG,
+                "requestIdentifyRange ok startRange:$START_METRE, endRange:$END_METRE"
+            )
        }, {
-            CallerLogger.d(M_MAP + TAG, "requestIdentifyRange error : $it")
+            CallerLogger.d(
+                M_MAP + TAG,
+                "requestIdentifyRange error : $it , startRange:$START_METRE, endRange:$END_METRE"
+            )
        })
    }

+    override fun onMapVisualAngleChanged(visualAngleMode: VisualAngleMode) {
+        super.onMapVisualAngleChanged(visualAngleMode)
+        showAiCloud = when {
+            visualAngleMode.isLongSight -> true
+            else -> false
+        }
+    }
+
 }
--- a/core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/business/ai/AiCloudRangeBroadcastReceiver.kt
+++ b/core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/business/ai/AiCloudRangeBroadcastReceiver.kt
@@ -0,0 +1,30 @@
+package com.mogo.eagle.core.function.business.ai
+
+import android.content.BroadcastReceiver
+import android.content.Context
+import android.content.Intent
+import com.mogo.eagle.core.function.business.ai.AiCloudIdentifyDataManager.Companion.END_METRE
+import com.mogo.eagle.core.function.business.ai.AiCloudIdentifyDataManager.Companion.START_METRE
+import com.mogo.eagle.core.function.business.ai.AiCloudIdentifyDataManager.Companion.aiCloudIdentifyDataManager
+import com.mogo.eagle.core.utilcode.mogo.logger.CallerLogger
+import com.mogo.eagle.core.utilcode.mogo.logger.scene.SceneConstant.Companion.M_MAP
+
+class AiCloudRangeBroadcastReceiver : BroadcastReceiver() {
+
+    companion object {
+        private const val TAG = "AiCloudRangeBroadcastReceiver"
+        private const val START_RANGE = "startRange"
+        private const val END_RANGE = "endRange"
+
+        // adb shell am broadcast -a com.map.aiCloud.notification --ei startRange 140 --ei endRange 2000
+    }
+
+    override fun onReceive(context: Context, intent: Intent) {
+        val startRange = intent.getIntExtra(START_RANGE, START_METRE)
+        val endRange = intent.getIntExtra(END_RANGE, END_METRE)
+        START_METRE = startRange
+        END_METRE = endRange
+        CallerLogger.d("$M_MAP$TAG", "startRange:$startRange, endRange:$endRange")
+        aiCloudIdentifyDataManager.requestRangeOfIdentify()
+    }
+}
--- a/core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/business/ai/net/IAiCloudIdentifyApiService.kt
+++ b/core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/business/ai/net/IAiCloudIdentifyApiService.kt
@@ -2,10 +2,12 @@ package com.mogo.eagle.core.function.business.ai.net

 import com.mogo.eagle.core.data.BaseResponse
 import retrofit2.http.Body
+import retrofit2.http.Headers
 import retrofit2.http.POST

 interface IAiCloudIdentifyApiService {

+    @Headers("Content-type:application/json;charset=UTF-8")
    @POST("yycp-c-v2x-service/dataFusion/remoteDrivingSet")
    suspend fun identifyRange(@Body map: MutableMap<String, Any>): BaseResponse<Any>
 }
--- a/core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/business/identify/Identify.kt
+++ b/core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/business/identify/Identify.kt
@@ -1,20 +1,37 @@
 package com.mogo.eagle.core.function.business.identify

+import com.mogo.cloud.socket.entity.SocketDownData
 import com.mogo.eagle.core.data.traffic.TrafficData
 import mogo.telematics.pad.MessagePad
 import mogo.telematics.pad.MessagePad.TrackedObject

 interface Identify {

-    fun renderAdasRecognizedResult(resultList: List<TrackedObject>?)
+    fun renderAdasRecognizedResult(resultList: List<TrackedObject>?){

-    fun renderPlanningWarningObj(planningObjects: List<MessagePad.PlanningObject>?)
+    }
+
+    fun renderAiCloudResult(resultList: List<SocketDownData.CloudRoadDataProto>){
+
+    }
+
+    fun renderPlanningWarningObj(planningObjects: List<MessagePad.PlanningObject>?){
+
+    }

    fun renderOBUWarningObj(exist: Boolean, obuTrafficData: TrafficData) {

    }

-    fun clearOldMarker()
+    fun clearOldMarker(){

-    fun getIdentifyObj(uuid: String):TrackedObject?
+    }
+
+    fun clearAiMarker(){
+
+    }
+
+    fun getIdentifyObj(uuid: String):TrackedObject?{
+        return null
+    }
 }
--- a/core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/business/identify/IdentifyAiCloudDataDrawer.kt
+++ b/core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/business/identify/IdentifyAiCloudDataDrawer.kt
@@ -0,0 +1,102 @@
+package com.mogo.eagle.core.function.business.identify
+
+import android.annotation.SuppressLint
+import androidx.collection.ArraySet
+import com.mogo.cloud.socket.entity.SocketDownData
+import com.mogo.commons.AbsMogoApplication
+import com.mogo.commons.module.status.MogoStatusManager
+import com.mogo.eagle.core.data.traffic.TrafficData
+import com.mogo.eagle.core.utilcode.mogo.logger.CallerLogger.w
+import com.mogo.map.MogoMarkerManager
+import mogo.telematics.pad.MessagePad.PlanningObject
+import mogo.telematics.pad.MessagePad.TrackedObject
+import java.util.concurrent.ConcurrentHashMap
+
+class IdentifyAiCloudDataDrawer : Identify {
+
+    companion object {
+        private const val TAG = "IdentifyDataDrawer"
+    }
+
+    /**
+     * 上一帧数据的缓存
+     */
+    private val mMarkersCaches = ConcurrentHashMap<String, SocketDownData.CloudRoadDataProto>()
+
+    /**
+     * 记录每次实际绘制的交通元素UUID
+     */
+    @SuppressLint("NewApi")
+    private val trafficDataUuidList = ArraySet<String>()
+
+    /**
+     * 过滤后的数据集合
+     */
+    @SuppressLint("NewApi")
+    private val mFilterTrafficData = HashMap<String, SocketDownData.CloudRoadDataProto>()
+
+    @SuppressLint("NewApi")
+    override fun renderAiCloudResult(resultList: List<SocketDownData.CloudRoadDataProto>) {
+        if (resultList.isEmpty()) {
+            clearOldMarker()
+            w(TAG, "感知数据为空无需渲染……")
+            return
+        }
+        if (!MogoStatusManager.getInstance().isVrMode) {
+            clearOldMarker()
+            w(TAG, "渲染 adas 识别的数据 当前不是VR模式")
+            return
+        }
+
+        //清除缓存
+        for (data in resultList) {
+            if (trafficDataUuidList.size > 0 && trafficDataUuidList.contains("" + data.uuid)) {
+                trafficDataUuidList.remove("" + data.uuid)
+            }
+        }
+
+        //清除缓存,删除marker
+        val it: MutableIterator<*> = trafficDataUuidList.iterator()
+        while (it.hasNext()) {
+            val key = it.next() as String
+            it.remove()
+            mMarkersCaches.remove(key)
+            MogoMarkerManager.getInstance(AbsMogoApplication.getApp())
+                .removeMarker(key)
+        }
+
+        val filterList = filterTrafficData(resultList)
+        if (filterList.size > 0) {
+            // 绘制新数据
+            MogoMarkerManager.getInstance(AbsMogoApplication.getApp())
+                .updateBatchAiMarkerPosition(filterList)
+        }
+    }
+
+    /**
+     * 数据过滤器
+     *
+     * @return 过滤后的数据集合
+     */
+    @SuppressLint("NewApi")
+    private fun filterTrafficData(trafficData: List<SocketDownData.CloudRoadDataProto>): HashMap<String, SocketDownData.CloudRoadDataProto> {
+        mFilterTrafficData.clear()
+        trafficDataUuidList.clear()
+        for (data in trafficData) {
+            val uuid = "" + data.uuid
+            mMarkersCaches[uuid] = data
+            trafficDataUuidList.add(uuid)
+        }
+        return mFilterTrafficData
+    }
+
+    @SuppressLint("NewApi")
+    override fun clearAiMarker() {
+        for (uuid in trafficDataUuidList) {
+            MogoMarkerManager.getInstance(AbsMogoApplication.getApp())
+                .removeMarker(uuid)
+        }
+        trafficDataUuidList.clear()
+    }
+
+}
--- a/core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/business/identify/IdentifyFactory.kt
+++ b/core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/business/identify/IdentifyFactory.kt
@@ -2,6 +2,7 @@ package com.mogo.eagle.core.function.business.identify

 import android.os.Handler
 import android.os.Message
+import com.mogo.cloud.socket.entity.SocketDownData
 import com.mogo.eagle.core.data.config.FunctionBuildConfig
 import com.mogo.eagle.core.data.traffic.TrafficData
 import com.mogo.eagle.core.function.api.obu.IMoGoObuStatusListener
@@ -22,7 +23,12 @@ object IdentifyFactory : Identify, IMoGoObuStatusListener {
        internal val beautifyDataDrawer = IdentifyBeautifyDataDrawer()
    }

+    object AiIdentify {
+        internal val aiCloudDataDrawer = IdentifyAiCloudDataDrawer()
+    }
+
    private var identify: Identify? = null
+    private var aiCloudIdentify: Identify? = null

    init {
        identify = if (FunctionBuildConfig.isBeautyMode) {
@@ -30,14 +36,17 @@ object IdentifyFactory : Identify, IMoGoObuStatusListener {
        } else {
            DriverIdentify.originDataDrawer
        }
+        aiCloudIdentify = AiIdentify.aiCloudDataDrawer
        CallerObuListenerManager.addListener(TAG, this)
    }

    private const val MSG_DATA_TRACK = 0
-    private const val MSG_DATA_WARNING = 1
-    private const val MSG_DATA_OBU_WARNING_UPDATE = 2
-    private const val MSG_DATA_OBU_WARNING_REMOVE = 3
-    private const val MSG_DATA_CLEAR = 4
+    private const val MSG_DATA_AI_TRACK = 1
+    private const val MSG_DATA_WARNING = 2
+    private const val MSG_DATA_OBU_WARNING_UPDATE = 3
+    private const val MSG_DATA_OBU_WARNING_REMOVE = 4
+    private const val MSG_DATA_CLEAR = 5
+    private const val MSG_DATA_AI_CLEAR = 6

    // 维护一个线程定时轮询数据进行地图绘制
    private val mDrawerHandler: Handler =
@@ -63,6 +72,11 @@ object IdentifyFactory : Identify, IMoGoObuStatusListener {
                            identify!!.renderAdasRecognizedResult(msg.obj as List<TrackedObject>?)
                        }
                    }
+                    MSG_DATA_AI_TRACK -> {
+                        if (msg.obj is List<*>) {
+                            aiCloudIdentify!!.renderAiCloudResult(msg.obj as List<SocketDownData.CloudRoadDataProto>)
+                        }
+                    }
                    MSG_DATA_WARNING -> {
                        if (msg.obj is List<*>) {
                            identify!!.renderPlanningWarningObj(msg.obj as List<MessagePad.PlanningObject>?)
@@ -81,6 +95,9 @@ object IdentifyFactory : Identify, IMoGoObuStatusListener {
                    MSG_DATA_CLEAR -> {
                        identify!!.clearOldMarker()
                    }
+                    MSG_DATA_AI_CLEAR -> {
+                        aiCloudIdentify!!.clearAiMarker()
+                    }
                }
            }
        }
@@ -92,6 +109,13 @@ object IdentifyFactory : Identify, IMoGoObuStatusListener {
        mDrawerHandler.sendMessage(message)
    }

+    override fun renderAiCloudResult(resultList: List<SocketDownData.CloudRoadDataProto>) {
+        val message = Message.obtain()
+        message.what = MSG_DATA_AI_TRACK
+        message.obj = resultList
+        mDrawerHandler.sendMessage(message)
+    }
+
    override fun renderPlanningWarningObj(planningObjects: List<MessagePad.PlanningObject>?) {
        val message = Message.obtain()
        message.what = MSG_DATA_WARNING
@@ -105,6 +129,12 @@ object IdentifyFactory : Identify, IMoGoObuStatusListener {
        mDrawerHandler.sendMessage(message)
    }

+    override fun clearAiMarker() {
+        val message = Message.obtain()
+        message.what = MSG_DATA_AI_CLEAR
+        mDrawerHandler.sendMessage(message)
+    }
+
    override fun getIdentifyObj(uuid: String): TrackedObject? {
        return identify?.getIdentifyObj(uuid)
    }
--- a/core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/business/identify/MapIdentifySubscriber.kt
+++ b/core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/business/identify/MapIdentifySubscriber.kt
@@ -2,11 +2,13 @@ package com.mogo.eagle.core.function.business.identify

 import android.content.Context
 import com.alibaba.android.arouter.facade.annotation.Route
+import com.mogo.cloud.socket.entity.SocketDownData
 import com.mogo.eagle.core.data.config.FunctionBuildConfig
 import com.mogo.eagle.core.data.constants.MogoServicePaths.PATH_IDENTIFY
 import com.mogo.eagle.core.function.api.autopilot.IMoGoAutopilotIdentifyListener
 import com.mogo.eagle.core.function.api.base.IMoGoSubscriber
 import com.mogo.eagle.core.function.api.map.marker.IMoGoIdentifyListener
+import com.mogo.eagle.core.function.business.identify.IdentifyFactory.AiIdentify.aiCloudDataDrawer
 import com.mogo.eagle.core.function.call.autopilot.CallerAutopilotIdentifyListenerManager
 import com.mogo.eagle.core.utilcode.util.ThreadUtils
 import mogo.telematics.pad.MessagePad
@@ -19,7 +21,7 @@ import mogo.telematics.pad.MessagePad.TrackedObject
 * @author donghongyu
 */
@Route(path = PATH_IDENTIFY)
-class MapIdentifySubscriber private constructor() :IMoGoIdentifyListener, IMoGoSubscriber,
+class MapIdentifySubscriber private constructor() : IMoGoIdentifyListener, IMoGoSubscriber,
    IMoGoAutopilotIdentifyListener {

    private val TAG = "MapIdentifySubscriber"
@@ -41,7 +43,6 @@ class MapIdentifySubscriber private constructor() :IMoGoIdentifyListener, IMoGoS

    override fun onDestroy() {
        CallerAutopilotIdentifyListenerManager.removeListener(TAG)
-
    }

    override fun onAutopilotIdentifyDataUpdate(trafficData: List<TrackedObject>?) {
@@ -58,6 +59,26 @@ class MapIdentifySubscriber private constructor() :IMoGoIdentifyListener, IMoGoS
        }
    }

+    fun renderAiCloudResult(cloudData: List<SocketDownData.CloudRoadDataProto>) {
+        try {
+            if (FunctionBuildConfig.isDrawIdentifyData) {
+                ThreadUtils.getSinglePool().execute {
+                    aiCloudDataDrawer.renderAiCloudResult(cloudData)
+//                    IdentifyFactory.renderAiCloudResult(cloudData)
+                }
+            } else {
+                clearAiCloudRoma()
+            }
+        } catch (e: Exception) {
+            e.printStackTrace()
+        }
+    }
+
+    override fun clearAiCloudRoma() {
+        aiCloudDataDrawer.clearAiMarker()
+//        IdentifyFactory.clearAiMarker()
+    }
+
    override fun onAutopilotIdentifyPlanningObj(planningObjects: List<MessagePad.PlanningObject>?) {
        try {
            if (FunctionBuildConfig.isDrawIdentifyData && FunctionBuildConfig.debugTrackerProvider == 0) {
--- a/core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/smp/SmallMapFragment.java
+++ b/core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/smp/SmallMapFragment.java
@@ -141,12 +141,12 @@ public class SmallMapFragment extends BaseFragment
    @Override
    public void onAutopilotStatusResponse(@NotNull AutopilotStatusInfo autoPilotStatusInfo) {
        int  tempStatus =   autoPilotStatusInfo.getPilotmode();
-        CallerLogger.INSTANCE.i(M_MAP + TAG, "onAutopilotStatusResponse:"+tempStatus+" autoPilotStatus:"+autoPilotStatus);
+//        CallerLogger.INSTANCE.i(M_MAP + TAG, "onAutopilotStatusResponse:"+tempStatus+" autoPilotStatus:"+autoPilotStatus);
        if (tempStatus != 1) {
-            CallerLogger.INSTANCE.i(M_MAP + TAG, "onAutopilotStatusResponse:"+tempStatus+" clearPolyline");
+//            CallerLogger.INSTANCE.i(M_MAP + TAG, "onAutopilotStatusResponse:"+tempStatus+" clearPolyline");
            clearPolyline();
        }else if (tempStatus  == 1 && autoPilotStatus == 0){
-            CallerLogger.INSTANCE.i(M_MAP + TAG, "onAutopilotStatusResponse:getGlobalPath");
+//            CallerLogger.INSTANCE.i(M_MAP + TAG, "onAutopilotStatusResponse:getGlobalPath");
            CallerAutoPilotManager.INSTANCE.getGlobalPath();
        }
        autoPilotStatus = tempStatus;