From a9b8067d5df5b8fc9cfc3a971f6ca771115a3cf9 Mon Sep 17 00:00:00 2001 From: lixiaopeng Date: Mon, 21 Jun 2021 18:21:20 +0800 Subject: [PATCH] opt mogoobu --- .../com/mogo/module/v2x/V2XObuManager.java | 80 +++++++++++++++---- .../com/mogo/module/v2x/utils/V2XUtils.java | 12 +++ 2 files changed, 77 insertions(+), 15 deletions(-) diff --git a/modules/mogo-module-v2x/src/main/java/com/mogo/module/v2x/V2XObuManager.java b/modules/mogo-module-v2x/src/main/java/com/mogo/module/v2x/V2XObuManager.java index f117c07323..02b4309e98 100644 --- a/modules/mogo-module-v2x/src/main/java/com/mogo/module/v2x/V2XObuManager.java +++ b/modules/mogo-module-v2x/src/main/java/com/mogo/module/v2x/V2XObuManager.java @@ -17,6 +17,7 @@ import com.mogo.commons.debug.DebugConfig; import com.mogo.commons.voice.AIAssist; import com.mogo.map.location.MogoLocation; import com.mogo.module.common.MogoApisHandler; +import com.mogo.module.common.drawer.AdasRecognizedResultDrawer; import com.mogo.module.common.entity.V2XMessageEntity; import com.mogo.module.common.entity.V2XObuEventEntity; import com.mogo.module.common.entity.V2XPushMessageEntity; @@ -29,6 +30,8 @@ import com.mogo.module.v2x.utils.DrivingDirectionUtils; import com.mogo.module.v2x.utils.ObuConfig; import com.mogo.module.v2x.utils.TestOnLineCarUtils; import com.mogo.module.v2x.utils.ToastUtils; +import com.mogo.module.v2x.utils.V2XUtils; +import com.mogo.service.adas.entity.ADASRecognizedResult; import com.mogo.service.entrance.IMogoEntranceButtonController; import com.mogo.utils.UiThreadHandler; import com.mogo.utils.logger.Logger; @@ -46,6 +49,7 @@ import com.zhidao.mogo.module.obu.obu.bean.MogoObuTrafficLightInfo; import com.zhidao.support.obu.MogoObuManager; import com.zhidao.support.obu.OnMogoObuListener; +import com.zhidao.support.obu.constants.ObuConstants; import com.zhidao.support.obu.model.CvxAppInitIndInfo; import com.zhidao.support.obu.model.CvxHvCarIndInfo; import com.zhidao.support.obu.model.CvxHvInfoIndInfo; @@ -56,6 +60,7 @@ import com.zhidao.support.obu.model.CvxV2vThreatIndInfo; import org.json.JSONArray; import org.json.JSONObject; +import java.util.ArrayList; import java.util.List; import java.util.Map; @@ -94,6 +99,7 @@ public class V2XObuManager implements IObuCallback, Handler.Callback { private final Handler handler = new Handler(this); private final ObuTypeExchangeReceiver obuTypeExchangeReceiver = new ObuTypeExchangeReceiver(); private ObuManager obuManager; + final String icw_data = "02000114010000000000001effd7892b11a4440af70100142a03000907e506100e2917019000005662010a45000b0000220847162c000037970010000a17f6215c459478b6010347ac045000090a0006012c01f4009600080073007300730073000b000000000000000000000000000000002b000037780000247300003261000000000000426c827f47001200100000000000000000000021220000349a006c0010000a17f63ecb45947ba301030000332c0010000a17f642e945947bea010300004d580010000a17f6435545947e4e0103000054c40010000a17f6413a45947f96010300005c300010000a17f62c2845947d140103000070e40010000a17f5fdb14594786001030000992000060004ffec2710"; public void init(Context context) { Logger.d(MODULE_NAME, "obuManager初始化--"); @@ -111,10 +117,11 @@ public class V2XObuManager implements IObuCallback, Handler.Callback { MogoObuManager.getInstance().init(context); MogoObuManager.getInstance().connect(); MogoObuManager.getInstance().registerListener(mogoObuListener); - MogoObuManager.getInstance().unregisterListener(); + + //TODO 测试 +// MogoObuManager.getInstance().test(icw_data); // UiThreadHandler.postDelayed( () -> { -// //TODO 测试 // MarkerServiceHandler.getApis().getV2XListenerManager().warningChangedForListenerWithDirection(3, MogoReceiver.ACTION_V2X_FRONT_WARNING); // handleSdkObu(1); // @@ -191,19 +198,66 @@ public class V2XObuManager implements IObuCallback, Handler.Callback { @Override public void onCvxV2vThreatIndInfo(CvxV2vThreatIndInfo info) { //预警信息 - Logger.e("liyz", "onCvxRvInfoIndInfo ------> " + info.toString()); + Logger.e("liyz", "onCvxV2vThreatIndInfo ------> " + info.toString()); + //预警类型 threat_level 3 + if (info != null) { + if (info.getThreat_info() != null && info.getControl() != null && + info.getThreat_info().getThreat_level() == 3) { //看看2的情况 + //预警方位 + int direction = V2XUtils.getDirection((float) info.getExt_info().getAzimuth()); + Log.d("liyz", "direction = " + direction + "---azimuth = " + (float) info.getExt_info().getAzimuth()); + MarkerServiceHandler.getApis().getV2XListenerManager().warningChangedForListenerWithDirection(direction, MogoReceiver.ACTION_V2X_FRONT_WARNING); - //预警数据的组装，车辆实时移动和变色。 - //预警方位 - //预警类型 + //处理预警类型 + int appId = info.getThreat_info().getApp_id(); + handleSdkObu(getEventType(appId)); + } + //预警数据的组装，车辆实时移动和变色 TODO 这里需要obu提供他车列表 + AdasRecognizedResultDrawer.getInstance().renderAdasRecognizedResult(getResultList(info)); + } else { + Log.e("liyz", "info == null "); + } } }; + private int getEventType(int appid) { + if (appid == ObuConstants.USE_CASE_ID.EBW) { + return ObuConstant.TYPE_URGENCY_COLLISION_WARNING; + } else if (appid == ObuConstants.USE_CASE_ID.ICW) { + return ObuConstant.TYPE_CROSS_COLLISION_WARNING; + } + + return 0; + } + + private List resultList = null; + + private List getResultList(CvxV2vThreatIndInfo info) { + if (resultList == null) { + resultList = new ArrayList<>(); + } + + ADASRecognizedResult adasRecognizedResult = new ADASRecognizedResult(); + adasRecognizedResult.uuid = info.getVehicle_id(); + if (info.getBasic_info() != null && info.getBasic_info().getPosition() != null) { + adasRecognizedResult.lat = info.getBasic_info().getPosition().getLatitude(); + adasRecognizedResult.lon = info.getBasic_info().getPosition().getLongitude(); + } + adasRecognizedResult.type = 3; //小轿车 + adasRecognizedResult.heading = info.getBasic_info().getHeading(); + adasRecognizedResult.speed = info.getBasic_info().getSpeed(); + + resultList.add(adasRecognizedResult); + + return resultList; + + } // public void release() { // NebulaObuClient.getInstance().unregisterObu(); // NebulaObuClient.getInstance().unregisterObuListener(); +// MogoObuManager.getInstance().unregisterListener(); // } /** @@ -216,7 +270,6 @@ public class V2XObuManager implements IObuCallback, Handler.Callback { // // @Override // public void onConnectFail(boolean isNeedReconnect) { -// Logger.d("liyz", "onConnectFail ------> "); // } // // @Override @@ -225,7 +278,6 @@ public class V2XObuManager implements IObuCallback, Handler.Callback { // // @Override // public void onObuInfo(ObuInfo info) { -// Logger.d("liyz", "onObuInfo ------> " + info.toString()); // } // // @Override @@ -243,22 +295,20 @@ public class V2XObuManager implements IObuCallback, Handler.Callback { // } // } // }; - - private void handleSdkObu(int type) { V2XMessageEntity messageEntity = new V2XMessageEntity<>(); messageEntity.setType(V2XMessageEntity.V2XTypeEnum.ALERT_OBU_EVENT); V2XObuEventEntity urgencyEvent = new V2XObuEventEntity(); - if (type == 1) { //交叉路口碰撞预警 TODO + if (type == ObuConstant.TYPE_CROSS_COLLISION_WARNING) { //交叉路口碰撞预警 urgencyEvent.setType(ObuConstant.TYPE_CROSS_COLLISION_WARNING); urgencyEvent.setDesc(V2XObuEventScenario.URGENCY_CROING_WARN_TEXT); - } else if (type == 2) { // 前车紧急制动预警 + } else if (type == ObuConstant.TYPE_URGENCY_COLLISION_WARNING) { // 前车紧急制动预警 urgencyEvent.setType(ObuConstant.TYPE_URGENCY_COLLISION_WARNING); urgencyEvent.setDesc(V2XObuEventScenario.URGENCY_COLLISION_WARN_TEXT); } else { - urgencyEvent.setType(ObuConstant.TYPE_URGENCY_COLLISION_WARNING); - urgencyEvent.setDesc(V2XObuEventScenario.URGENCY_COLLISION_WARN_TEXT); +// urgencyEvent.setType(ObuConstant.TYPE_URGENCY_COLLISION_WARNING); +// urgencyEvent.setDesc(V2XObuEventScenario.URGENCY_COLLISION_WARN_TEXT); } messageEntity.setContent(urgencyEvent); @@ -457,7 +507,7 @@ public class V2XObuManager implements IObuCallback, Handler.Callback { // 暂无设计图，先简单显示 V2XObuEventEntity tmpEvent = new V2XObuEventEntity(); tmpEvent.setType(eventType); - tmpEvent.setDesc(info.getType()+"--"+info.getDescribe()); + tmpEvent.setDesc(info.getType() + "--" + info.getDescribe()); messageEntity.setContent(tmpEvent); V2XObuEventScenario.getInstance().init(messageEntity); break; diff --git a/modules/mogo-module-v2x/src/main/java/com/mogo/module/v2x/utils/V2XUtils.java b/modules/mogo-module-v2x/src/main/java/com/mogo/module/v2x/utils/V2XUtils.java index 4cf2b7a50c..3cd697c057 100644 --- a/modules/mogo-module-v2x/src/main/java/com/mogo/module/v2x/utils/V2XUtils.java +++ b/modules/mogo-module-v2x/src/main/java/com/mogo/module/v2x/utils/V2XUtils.java @@ -779,4 +779,16 @@ public class V2XUtils { return flag; } + public static int getDirection(float degree) { + if (degree > 45 && degree < 135) { + return 1; //前方 + } else if (degree > 135 && degree < 225) { + return 4; //右方 + } else if ((degree < 45 && degree > 0) || degree < 360 && degree > 315) { + return 3; //左方 + } + + return 1; + } + }