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合并dev_MogoAP_eagle-930_210926_8.0.12分支，并将规划全局路径以及引导线按照新架构中的监听合并，测试可用，在工控机上执行sh roadPlanning.sh 使用带有引导线的数据包

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Signed-off-by: 董宏宇 <martindhy@gmail.com>
This commit is contained in:
董宏宇
2021-10-28 15:25:26 +08:00
parent 02f5f7cbee
commit a70eed4475
20 changed files with 377 additions and 471 deletions
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117
services/mogo-service/src/main/java/com/mogo/service/impl/adas/MogoADASController.java
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@@ -3,11 +3,6 @@ package com.mogo.service.impl.adas;
import android.app.Application;
import android.content.Context;
import android.content.Intent;
import android.os.Handler;
import android.os.Message;
import android.os.SystemClock;
import android.text.TextUtils;
import android.util.Log;
import com.alibaba.android.arouter.facade.annotation.Route;
import com.alibaba.android.arouter.launcher.ARouter;
@@ -16,13 +11,10 @@ import com.mogo.commons.debug.DebugConfig;
import com.mogo.eagle.core.data.autopilot.AutopilotCarStateInfo;
import com.mogo.eagle.core.data.autopilot.AutopilotControlCmdParameter;
import com.mogo.eagle.core.data.autopilot.AutopilotControlParameters;
import com.mogo.eagle.core.data.autopilot.AutopilotRouteInfo;
import com.mogo.eagle.core.data.autopilot.AutopilotStationInfo;
import com.mogo.eagle.core.data.autopilot.AutopilotStatusInfo;
import com.mogo.eagle.core.data.autopilot.AutopilotWarnMessage;
import com.mogo.eagle.core.data.constants.MogoServicePaths;
import com.mogo.eagle.core.data.map.MogoLatLng;
import com.mogo.eagle.core.data.traffic.TrafficData;
import com.mogo.map.uicontroller.EnumMapUI;
import com.mogo.module.adas.AdasProvider;
import com.mogo.module.adas.IAdasDataListener;
@@ -31,17 +23,7 @@ import com.mogo.service.adas.IMogoADASController;
import com.mogo.service.adas.IMogoAdasCarDataCallback;
import com.mogo.service.adas.IMogoAdasDataCallback;
import com.mogo.service.adas.IMogoAdasOCHCallback;
import com.mogo.service.adas.IMogoAdasRouteCallBack;
import com.mogo.service.adas.IMogoAdasTrajectoryDataCallBack;
import com.mogo.service.adas.IMogoAdasWarnMessageCallback;
import com.mogo.eagle.core.data.autopilot.RemoteControlAutoPilotParameters;
import com.mogo.service.adas.entity.ADASCarStateInfo;
import com.mogo.service.adas.entity.ADASRecognizedResult;
import com.mogo.service.adas.entity.ADASTrajectoryInfo;
import com.mogo.service.adas.entity.ADASWarnMessage;
import com.mogo.eagle.core.data.autopilot.AdasOCHData;
import com.mogo.service.adas.entity.CarModelListResponse;
import com.mogo.service.datamanager.IMogoDataManager;
import com.mogo.service.impl.singleton.SingletonsHolder;
import com.mogo.service.statusmanager.IMogoStatusManager;
import com.mogo.utils.UiThreadHandler;
@@ -51,17 +33,9 @@ import com.zhidao.adasconfig.api.AdasConfigApiController;
import com.zhidao.adasconfig.common.config.EnumCarHeading;
import com.zhidao.adasconfig.common.config.EnumSkinStyle;
import com.zhidao.autopilot.support.api.AutopilotServiceManage;
import com.zhidao.autopilotservice.model.AdasAIDLAutopilotArriveModel;
import com.zhidao.autopilotservice.model.AdasAIDLOwnerCarRectModel;
import com.zhidao.support.adas.high.bean.AutopilotRoute;
import com.zhidao.support.adas.high.bean.AutopilotStatus;
import com.zhidao.support.adas.high.bean.RectInfo;
import com.zhidao.support.adas.high.bean.TrajectoryInfo;
import com.zhidao.support.adas.high.bean.WarnMessageInfo;
import org.json.JSONObject;
import java.util.ArrayList;
import java.util.List;
import java.util.concurrent.CopyOnWriteArrayList;
@@ -94,16 +68,6 @@ public class MogoADASController implements IMogoADASController {
*/
private final List<IMogoAdasWarnMessageCallback> mMogoAdasWarnMessageCallbackList = new CopyOnWriteArrayList<>();
/**
* 自动驾驶路线回调
*/
private final List<IMogoAdasRouteCallBack> mMogoAdasRouteCallBacks = new CopyOnWriteArrayList<>();
/**
* 车前引导线回调
*/
private final List<IMogoAdasTrajectoryDataCallBack> mMogoAdasTrajectoryDataCallBacks = new CopyOnWriteArrayList<>();
private IAdasDataListener mAdasDataListener;
private IMogoAdasCarDataCallback mMogoAdasCarDataCallback;
@@ -214,53 +178,6 @@ public class MogoADASController implements IMogoADASController {
}
}
@Override
public void onAutopilotTrajectory(List<TrajectoryInfo> trajectorys) {
if(trajectorys != null && trajectorys.size() > 0){
List<ADASTrajectoryInfo> trajectoryInfoArrayList = new ArrayList<>();
// TrajectoryInfo t= trajectorys.get(0);
Log.e("lianglihui","time:"+ System.currentTimeMillis());
for (TrajectoryInfo trajectory : trajectorys){
ADASTrajectoryInfo adasTrajectoryInfo = new ADASTrajectoryInfo();
adasTrajectoryInfo.setLat(trajectory.getLat());
adasTrajectoryInfo.setLon(trajectory.getLon());
adasTrajectoryInfo.setAcceleration(trajectory.getAcceleration());
adasTrajectoryInfo.setAccumulatedDis(trajectory.getAccumulatedDis());
adasTrajectoryInfo.setTime(trajectory.getTime());
adasTrajectoryInfo.setVelocity(trajectory.getVelocity());
adasTrajectoryInfo.setAlt(trajectory.getAlt());
adasTrajectoryInfo.setKappa(trajectory.getKappa());
adasTrajectoryInfo.setTheta(trajectory.getTheta());
Log.e("lianglihui","trajectory:"+ trajectory.getLat()+"-"+trajectory.getLon());
trajectoryInfoArrayList.add(adasTrajectoryInfo);
}
for (IMogoAdasTrajectoryDataCallBack callBack: mMogoAdasTrajectoryDataCallBacks){
if (callBack != null){
callBack.onAutopilotTrajectory(trajectoryInfoArrayList);
}
}
}
}
@Override
public void autopilotRoute(AutopilotRouteInfo autopilotRoute) {
if (autopilotRoute.getModels() == null || autopilotRoute.getModels().size() == 0) {
return;
}
List<MogoLatLng> latLngList = new ArrayList<>();
for (AutopilotRouteInfo.RouteModels routeModel : autopilotRoute.getModels()) {
latLngList.add(new MogoLatLng(routeModel.getLat(), routeModel.getLon()));
}
for (IMogoAdasRouteCallBack callback : mMogoAdasRouteCallBacks) {
if (callback == null) {
continue;
}
callback.routeResult(latLngList);
}
}
@Override
public void ownerCarStateInfo(String ownerCarStateInfo) {
@@ -467,24 +384,6 @@ public class MogoADASController implements IMogoADASController {
mMogoAdasWarnMessageCallbackList.remove(callback);
}
@Override
public void addAdasAutopilotRouteCallBack(IMogoAdasRouteCallBack callBack) {
if (callBack == null) {
return;
}
if (!mMogoAdasRouteCallBacks.contains(callBack)) {
mMogoAdasRouteCallBacks.add(callBack);
}
}
@Override
public void removeAdasAutopilotRouteCallBack(IMogoAdasRouteCallBack callBack) {
if (callBack == null) {
return;
}
mMogoAdasRouteCallBacks.remove(callBack);
}
@Override
public void queryAutopilotRoute() {
adasProvider.queryAutopilotRoute();
@@ -560,22 +459,6 @@ public class MogoADASController implements IMogoADASController {
adasProvider.cancelPilot();
}
@Override
public void addAdasTrajectoryDataCallBack(IMogoAdasTrajectoryDataCallBack callBack) {
if (callBack == null) {
return;
}
if (!mMogoAdasTrajectoryDataCallBacks.contains(callBack)) {
mMogoAdasTrajectoryDataCallBacks.add(callBack);
}
}
@Override
public void removeAdasTrajectoryDataCallBack(IMogoAdasTrajectoryDataCallBack callBack) {
if (callBack != null){
mMogoAdasTrajectoryDataCallBacks.remove(callBack);
}
}
}