yangyakun921/MoGoEagleEye
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merge qa_aiSdk_datalink

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zhongchao
2021-06-07 10:45:02 +08:00
parent 1355c411f8 89e0a4d824
commit a8e44f2d43
5 changed files with 48 additions and 38 deletions
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2
libraries/map-custom/build.gradle
View File

@@ -67,7 +67,7 @@ dependencies {
implementation project(':foudations:mogo-commons')
}
implementation 'com.zhidaoauto.machine:map:1.0.0-vr-8.5.40'
implementation 'com.zhidaoauto.machine:map:1.0.0-vr-8.5.44'
// implementation 'com.zhidaoauto.machine:map:1.0.0-vr-test-3.4'
}

3
libraries/map-custom/src/main/java/com/mogo/map/impl/custom/CustomMapApiBuilder.java
View File

@@ -95,7 +95,8 @@ class CustomMapApiBuilder implements IMogoMapApiBuilder {
public IMogoMapView getMapView( Context context ) {
Log.d(TAG,"setDebugMode==true");
NavAutoApi.INSTANCE.init( context, MapParams.Companion.init()
.setDebugMode( false )
.setDebugMode( true )
.setDataFileSource(1) //todo 使用本地地图数据
.setCoordinateType( MapParams.COORDINATETYPE_GCJ02 )
.setPerspectiveMode( MapParams.MAP_PERSPECTIVE_2D )
.setZoom( 20 )

6
modules/mogo-module-common/src/main/java/com/mogo/module/common/drawer/AdasRecognizedResultDrawer.java
View File

@@ -307,9 +307,9 @@ class AdasRecognizedResultDrawer extends BaseDrawer {
}
marker.setAnchorColor(carColor);
if (shouldShowSpeed(recognizedListResult.type)) {
showSelfSpeed(marker, recognizedListResult.speed, recognizedListResult.uuid, recognizedListResult.type, MogoApisHandler.getInstance().getApis().getStatusManagerApi().isVrMode());
}
// if (shouldShowSpeed(recognizedListResult.type)) {
// showSelfSpeed(marker, recognizedListResult.speed, recognizedListResult.uuid, recognizedListResult.type, MogoApisHandler.getInstance().getApis().getStatusManagerApi().isVrMode());
// } //todo 6月4号演示关闭
}
/**

6
modules/mogo-module-service/src/main/java/com/mogo/module/service/marker/MapMarkerManager.java
View File

@@ -2,6 +2,8 @@ package com.mogo.module.service.marker;
import android.content.Context;
import android.graphics.Rect;
import android.os.Handler;
import android.os.Message;
import android.text.TextUtils;
import com.mogo.cloud.socket.entity.SocketDownData;
@@ -36,11 +38,13 @@ import com.mogo.module.service.network.RefreshModel;
import com.mogo.realtime.api.MoGoAiCloudRealTime;
import com.mogo.realtime.socket.IMogoCloudOnMsgListener;
import com.mogo.service.adas.IMogoADASControlStatusChangedListener;
import com.mogo.service.adas.entity.ADASRecognizedResult;
import com.mogo.service.module.IMogoBizActionDoneListener;
import com.mogo.utils.ResourcesHelper;
import com.mogo.utils.ThreadPoolService;
import com.mogo.utils.UiThreadHandler;
import com.mogo.utils.ViewUtils;
import com.mogo.utils.WorkThreadHandler;
import com.mogo.utils.logger.Logger;
import com.zhidao.carchattingprovider.ICallChatResponse;
@@ -154,11 +158,11 @@ public class MapMarkerManager implements IMogoMarkerClickListener,
// adas 每隔一定频率传递过来的数据
MarkerServiceHandler.getApis().getAdasControllerApi().addAdasRecognizedDataCallback(resultList -> {
AdasRecognizedResultDrawer.getInstance().renderAdasRecognizedResult(resultList);
// Message msg = mSnapshotHandler.obtainMessage();
// msg.obj = resultList;
// msg.what = MSG_ADAS;
// msg.sendToTarget();
AdasRecognizedResultDrawer.getInstance().renderAdasRecognizedResult(resultList);
//添加自车的定位图标，碰撞只有一个预警,还需要和adas 联调，
// for ( ADASRecognizedResult result : resultList) {

69
services/mogo-service/src/main/java/com/mogo/service/impl/adas/MogoADASController.java
View File

@@ -15,7 +15,6 @@ import com.mogo.cloud.passport.MoGoAiCloudClientConfig;
import com.mogo.commons.AbsMogoApplication;
import com.mogo.commons.debug.DebugConfig;
import com.mogo.commons.network.SubscribeImpl;
import com.mogo.commons.network.Utils;
import com.mogo.map.uicontroller.EnumMapUI;
import com.mogo.module.adas.AdasDataListener;
import com.mogo.module.adas.AdasProvider;
@@ -49,7 +48,6 @@ import com.zhidao.adasconfig.common.config.EnumCarChatIncognitoMode;
import com.zhidao.adasconfig.common.config.EnumCarHeading;
import com.zhidao.adasconfig.common.config.EnumSkinStyle;
import com.zhidao.autopilot.support.api.AutopilotServiceManage;
import com.zhidao.autopilot.support.api.IAutopolitDataCallBack;
import com.zhidao.autopilotservice.model.AdasAIDLAutopilotArriveModel;
import com.zhidao.autopilotservice.model.AdasAIDLAutopilotStateModel;
import com.zhidao.autopilotservice.model.AdasAIDLOwnerCarRectModel;
@@ -126,12 +124,12 @@ public class MogoADASController implements IMogoADASController {
*/
private final Handler mAdasRecognizedRecHandler = new Handler(WorkThreadHandler.newInstance("AdasRecognizedRecThread").getLooper()) {
@Override
public void handleMessage( Message msg ) {
super.handleMessage( msg );
if ( msg.obj instanceof List ) {
mAdasDataListener.notifyOwnerCarRect( ( List< AdasAIDLOwnerCarRectModel > ) msg.obj );
} else if(msg.obj == null ){
mAdasDataListener.notifyOwnerCarRect( null );
public void handleMessage(Message msg) {
super.handleMessage(msg);
if (msg.obj instanceof List) {
mAdasDataListener.notifyOwnerCarRect((List<AdasAIDLOwnerCarRectModel>) msg.obj);
} else if (msg.obj == null) {
mAdasDataListener.notifyOwnerCarRect(null);
}
}
};
@@ -186,7 +184,14 @@ public class MogoADASController implements IMogoADASController {
model.setYt(bean.getYt());
model.setDistance_x(bean.getDistance_x());
model.setDistance_y(bean.getDistance_y());
model.setType(bean.getType());
String type;
if (TextUtils.isEmpty(bean.getType())) {
type = "100";
Logger.d(TAG, " === ADAS 返回结果出现 type 为 null情况 ====");
} else {
type = bean.getType();
}
model.setType(type);
model.setLat(bean.getLat());
model.setLon(bean.getLon());
model.setHeading(bean.getHeading());
@@ -203,8 +208,8 @@ public class MogoADASController implements IMogoADASController {
data.add(model);
Log.d("ADAS数据延时", "uuid : " + bean.getUuid() + " type : " + bean.getType() + "systemTime : " + System.currentTimeMillis() + " GPS time" + Long.parseLong(bean.getSystemTime())
+ " timeDelay : " + (System.currentTimeMillis() - Long.parseLong(bean.getSystemTime())));
Log.d("ADAS数据延时", "uuid : " + bean.getUuid() + " type : " + bean.getType() + "systemTime : " + System.currentTimeMillis() + " GPS time" + Long.parseLong(bean.getSystemTime())
+ " timeDelay : " + (System.currentTimeMillis() - Long.parseLong(bean.getSystemTime())));
// Log.d("ADAS原始数据", "uuid : " + bean.getUuid() + " type : " + bean.getType());
Logger.d(TAG, "识别距离：x = %s, y = %s", model.getDistance_x(), model.getDistance_y());
@@ -312,8 +317,8 @@ public class MogoADASController implements IMogoADASController {
if (SingletonsHolder.get(IMogoStatusManager.class).isVrMode()) {
return;
}
Logger.d( TAG, Log.getStackTraceString( new Throwable() ) );
init( AbsMogoApplication.getApp() );
Logger.d(TAG, Log.getStackTraceString(new Throwable()));
init(AbsMogoApplication.getApp());
adasProvider.addAdasStatusListener(new AdasStatusListener() {
@Override
public void onServiceConnected() {
@@ -327,18 +332,18 @@ public class MogoADASController implements IMogoADASController {
@Override
public void onServiceDisconnected() {
Logger.d( TAG, "adas statuslistener disconnected");
Logger.d(TAG, "adas statuslistener disconnected");
super.onServiceDisconnected();
}
});
invokeShowADASOperation();
if ( mAdasDataListener == null ) {
if (mAdasDataListener == null) {
mAdasDataListener = new AdasDataListener() {
@Override
public void sendMsg( String msg ) {
Logger.d( TAG, "adas AdasDataListener sendmsg " + msg);
for ( IMogoAdasDataCallback callback : mAdasDataCallbackList ) {
public void sendMsg(String msg) {
Logger.d(TAG, "adas AdasDataListener sendmsg " + msg);
for (IMogoAdasDataCallback callback : mAdasDataCallbackList) {
try {
callback.onAdasDataCallback(msg);
} catch (Exception e) {
@@ -348,8 +353,8 @@ public class MogoADASController implements IMogoADASController {
}
@Override
public void cameraEyeDetectResult( String detectResult ) {
Logger.d( TAG, "detectResult " + detectResult);
public void cameraEyeDetectResult(String detectResult) {
Logger.d(TAG, "detectResult " + detectResult);
try {
JSONObject jsonObjectWs = new JSONObject(detectResult);
String action = jsonObjectWs.optString("action");
@@ -375,9 +380,9 @@ public class MogoADASController implements IMogoADASController {
@Override
public void requestGetCarModelListInfo() {
Logger.d( TAG, "requestGetCarModelListInfo ");
if ( DebugConfig.isMapBased() ) {
Logger.d( TAG, "requestGetCarModelListInfo" );
Logger.d(TAG, "requestGetCarModelListInfo ");
if (DebugConfig.isMapBased()) {
Logger.d(TAG, "requestGetCarModelListInfo");
// 向adas发送车模list
String carModelList = SharedPrefsMgr.getInstance(context).getString("CAR_MODEL_LIST", "");
if (carModelList != null && !carModelList.isEmpty()) {
@@ -404,9 +409,9 @@ public class MogoADASController implements IMogoADASController {
}
@Override
public void autopilotArrive( AdasAIDLAutopilotArriveModel autopilotArriveModel ) {
Logger.d( TAG, "autopilotArriveModel " + autopilotArriveModel);
if ( autopilotArriveModel == null ) {
public void autopilotArrive(AdasAIDLAutopilotArriveModel autopilotArriveModel) {
Logger.d(TAG, "autopilotArriveModel " + autopilotArriveModel);
if (autopilotArriveModel == null) {
return;
}
if (mAdasOCHCallback != null) {
@@ -419,16 +424,16 @@ public class MogoADASController implements IMogoADASController {
}
@Override
public void ownerCarStateInfo( String ownerCarStateInfo ) {
Logger.d( TAG, "ownerCarStateInfo " + ownerCarStateInfo);
public void ownerCarStateInfo(String ownerCarStateInfo) {
Logger.d(TAG, "ownerCarStateInfo " + ownerCarStateInfo);
Message message = mAdasLocationRecHandler.obtainMessage();
message.obj = ownerCarStateInfo;
message.sendToTarget();
}
@Override
public void notifyOwnerCarState( AdasAIDLOwnerCarStateModel ownerCarStateModel ) {
Logger.d( TAG, "AdasAIDLOwnerCarStateModel " + ownerCarStateModel);
public void notifyOwnerCarState(AdasAIDLOwnerCarStateModel ownerCarStateModel) {
Logger.d(TAG, "AdasAIDLOwnerCarStateModel " + ownerCarStateModel);
ADASCarStateInfo stateInf = new ADASCarStateInfo();
stateInf.setAction("state");
ADASCarStateInfo.ValuesBean bean = new ADASCarStateInfo.ValuesBean();
@@ -880,7 +885,7 @@ public class MogoADASController implements IMogoADASController {
}
@Override
public void mockAdasRecognized( String json ) {
mAdasDataListener.cameraEyeDetectResult( json );
public void mockAdasRecognized(String json) {
mAdasDataListener.cameraEyeDetectResult(json);
}
}