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Merge branch 'dev_arch_opt_3.0' into dev_robobus-m1-p-app-module_1.0.0_230112_1.0.0

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yangyakun
2023-02-12 12:33:45 +08:00
parent a907f2a96f b6a01e5d8e
commit c5c5699b47
116 changed files with 1485 additions and 739 deletions
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78
libraries/mogo-adas-data/src/main/proto/SocketDownDataProto3.proto Normal file
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@@ -0,0 +1,78 @@
syntax = "proto3";
package mogo.yycp.service;
option java_package = "mogo.yycp.api.proto";
option java_outer_classname = "SocketDownData";
/*
message xxx {
// 字段规则：required -> 字段只能也必须出现 1 次
// 字段规则：optional -> 字段可出现 0 次或1次
// 字段规则：repeated -> 字段可出现任意多次（包括 0）
// 类型：int32、int64、sint32、sint64、string、32-bit ....
// 字段编号：0 ~ 536870911（除去 19000 到 19999 之间的数字）
字段规则 类型 名称 = 字段编号;
}
*/
//返回车机主实体
message SocketDownDataProto {
uint64 seq = 1;
uint32 msgType = 2;
string sn = 3;
LauncherSnapshotProto data = 4;
uint64 utcTime = 5;
uint64 upUtcTime = 6;
string cityCode = 7;
}
//LauncherSnapshot数据响应VO
message LauncherSnapshotProto {
//总数据集合 RoadDataVo
repeated CloudRoadDataProto allList = 1;
//前方50米数据集合 RoadDataVo
repeated CloudRoadDataProto nearList = 2;
//摄像头 RoadDataVo
CloudRoadDataProto camera = 3;
string msgId = 4;
uint64 time = 5;
//过期时间
uint64 expire = 6;
}
//RoadDataVo
message CloudRoadDataProto {
/**物体类型 1-人 2-自行车 3-小轿车 4-摩托车 5-红绿灯 6-bus 8-truck 9-路边摄像头*/
uint32 type = 1;
/**数据来源 1,"自车数据" 2,"ADAS数据" 3,"路测设备识别数据" */
uint32 fromType = 2;
/**
* 车机上行pgs坐标给lat，lon两个成员变量
*
* 在下发车机时计算高德经纬度
* 1.将gps（lat，lon）给wgslat,wgalon
* 2.高德算法算出高德经纬度，给lat,lon
*/
double lat = 3; //gps->gd
double lon = 4; //gps->gd
double wgslat = 5; //原gps
double wgslon = 6; //原gps
//车机sn
string sn = 7;
//车辆UUID
string uuid = 8;
/** 车牌号 */
string cardId = 9;
/**速度*/
double speed = 10;
/**方向*/
double heading = 11;
/** 系统时间 */
uint64 systemTime = 12;
/** 星历时间 */
uint64 satelliteTime = 13;
/**红绿灯状态 1红 2绿 3黄*/
uint32 lightStatus = 14;
/**红绿灯剩余时间 读秒*/
uint32 lightLeftTime = 15;
/**视频流直播地址*/
string rtmpUrl = 16;
/**距离*/
double distance = 17;
}

8
libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/OnAdasListener.java
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@@ -195,14 +195,6 @@ public interface OnAdasListener {
*/
void onPlanningActionMsg(MessagePad.Header header, MessagePad.PlanningActionMsg planningActionMsg);
/**
* OBU预警事件
*
* @param header 头
* @param obuWarningData 数据
*/
void onObuWarningData(MessagePad.Header header, ObuWarningEvent.ObuWarningData obuWarningData);
/**
* OBU 红绿灯预警信息
*

2
libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/msg/ObuWarningDataMessage.java
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@@ -26,7 +26,7 @@ public class ObuWarningDataMessage extends MyAbstractMessageHandler {
if (CupidLogUtils.isEnableLog())
nowTime = SystemClock.elapsedRealtime();
if (adasListener != null) {
adasListener.onObuWarningData(raw.getHeader(), obuWarningData);
// adasListener.onObuWarningData(raw.getHeader(), obuWarningData);
}
AdasChannel.calculateTimeConsumingBusiness("OBU预警事件", nowTime);

9
libraries/mogo-map-api/src/main/java/com/mogo/map/IMogoMap.java
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@@ -1,5 +1,6 @@
package com.mogo.map;
import com.mogo.eagle.core.data.map.MogoLatLng;
import com.mogo.map.center.CenterLine;
import com.mogo.map.marker.IMogoMarker;
import com.mogo.map.marker.MogoMarkerOptions;
@@ -12,6 +13,7 @@ import java.util.ArrayList;
import java.util.HashMap;
import mogo.telematics.pad.MessagePad;
import mogo.yycp.api.proto.SocketDownData;
/**
* @author congtaowang
@@ -51,6 +53,13 @@ public interface IMogoMap {
*/
void updateBatchMarkerPosition(HashMap<String, MessagePad.TrackedObject> optionsArrayList);
/**
* 批量更新锚点位置
*
* @param optionsArrayList 锚点集合
*/
void updateBatchAiMarkerPosition(HashMap<String, SocketDownData.CloudRoadDataProto> optionsArrayList);
/**
* 添加感知使用到的3d模型
*

8
libraries/mogo-map-api/src/main/java/com/mogo/map/marker/IMogoMarkerManager.java
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@@ -10,6 +10,7 @@ import java.util.List;
import java.util.Map;
import mogo.telematics.pad.MessagePad;
import mogo.yycp.api.proto.SocketDownData;
/**
* @author congtaowang
@@ -44,6 +45,13 @@ public interface IMogoMarkerManager {
*/
void updateBatchMarkerPosition(HashMap<String, MessagePad.TrackedObject> optionsArrayList);
/**
* 批量更新锚点位置
*
* @param optionsArrayList 锚点集合
*/
void updateBatchAiMarkerPosition(HashMap<String, SocketDownData.CloudRoadDataProto> optionsArrayList);
/**
* 添加感知使用到的3d模型
*

12
libraries/mogo-map-api/src/main/java/com/mogo/map/uicontroller/IMogoMapUIController.java
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@@ -13,6 +13,7 @@ import com.mogo.eagle.core.data.map.MogoLocation;
import java.util.List;
/**
* @author congtaowang
* @since 2019-12-26
@@ -48,6 +49,17 @@ public interface IMogoMapUIController {
*/
void changeMapVisualAngle(VisualAngleMode angelMode, MogoLatLng mogoLatLng);
/**
* 设置漫游路径
* @param trajectory
*/
void setRoamTrajectory(String trajectory);
/**
* 设置漫游模式 , 0:自由漫游，1:路径漫游
*/
void setRomaMode(int mode);
/**
* 获得当前地图视距模式
*

11
libraries/mogo-map-api/src/main/java/com/mogo/map/uicontroller/VisualAngleMode.java
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@@ -35,7 +35,12 @@ public enum VisualAngleMode implements IMogoMapVisualAngle {
/**
* 十字路口视角
*/
MAP_STYLE_VR_ANGLE_CROSS(5);
MAP_STYLE_VR_ANGLE_CROSS(5),
/**
* 漫游模式
*/
MAP_STYLE_VR_ROMA(7);
private final int code;
@@ -62,4 +67,8 @@ public enum VisualAngleMode implements IMogoMapVisualAngle {
public boolean isMediumSight() {
return code == MODE_MEDIUM_SIGHT.getCode();
}
public boolean isRoma(){
return code == MAP_STYLE_VR_ROMA.getCode();
}
}

30
libraries/mogo-map/src/main/java/com/mogo/map/AMapViewWrapper.java
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File diff suppressed because one or more lines are too long

20
libraries/mogo-map/src/main/java/com/mogo/map/AMapWrapper.java
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@@ -6,6 +6,7 @@ import android.graphics.Point;
import android.util.Pair;
import com.mogo.eagle.core.data.config.FunctionBuildConfig;
import com.mogo.eagle.core.data.map.MogoLatLng;
import com.mogo.eagle.core.utilcode.mogo.logger.CallerLogger;
import com.mogo.map.center.CenterLine;
import com.mogo.map.marker.AMapInfoWindowAdapter;
@@ -41,6 +42,7 @@ import java.util.HashMap;
import java.util.List;
import mogo.telematics.pad.MessagePad;
import mogo.yycp.api.proto.SocketDownData;
/**
* @author congtaowang
@@ -123,6 +125,24 @@ public class AMapWrapper implements IMogoMap {
MarkerHelper.INSTANCE.updateBatchMarkerPositon(markerOptionsArrayList, false, FunctionBuildConfig.isBeautyMode ? 8.0f : 0f, 1, time, 1);
}
@SuppressLint("NewApi")
@Override
public void updateBatchAiMarkerPosition(HashMap<String, SocketDownData.CloudRoadDataProto> optionsArrayList) {
if (!checkAMap()) {
return;
}
ArrayList<MarkerSimpleData> markerOptionsArrayList = new ArrayList<>();
optionsArrayList.forEach((s, trackedObject) -> {
MarkerSimpleData markerOptions = ObjectUtils.fromAiData(trackedObject);
if (markerOptions != null) {
markerOptionsArrayList.add(markerOptions);
}
});
long time = markerOptionsArrayList.get(0).getTime();
// 最后一个参数，是否管理锚点的删除
MarkerHelper.INSTANCE.updateBatchMarkerPositon(markerOptionsArrayList, false, FunctionBuildConfig.isBeautyMode ? 8.0f : 0f, 1, time, 0);
}
@Override
public String addPreVehicleModel(int type, int modelRes) {
try {

18
libraries/mogo-map/src/main/java/com/mogo/map/MogoMapUIController.java
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@@ -16,6 +16,7 @@ import com.mogo.map.uicontroller.VisualAngleMode;
import java.util.List;
/**
* @author congtaowang
* @since 2019-12-26
@@ -81,6 +82,23 @@ public class MogoMapUIController implements IMogoMapUIController {
}
}
@Override
public void setRoamTrajectory(String trajectory) {
initDelegate();
if (mDelegate != null) {
mDelegate.setRoamTrajectory(trajectory);
}
}
@Override
public void setRomaMode(int mode) {
initDelegate();
if (mDelegate != null) {
CallerLogger.INSTANCE.d(TAG, "set setRomaMode: " + mode);
mDelegate.setRomaMode(mode);
}
}
@Override
public VisualAngleMode getCurrentMapVisualAngle() {
initDelegate();

56
libraries/mogo-map/src/main/java/com/mogo/map/MogoMarkerManager.java
View File

@@ -15,6 +15,7 @@ import java.util.List;
import java.util.Map;
import mogo.telematics.pad.MessagePad;
import mogo.yycp.api.proto.SocketDownData;
/**
* @author congtaowang
@@ -29,17 +30,17 @@ public class MogoMarkerManager implements IMogoMarkerManager {
private static volatile MogoMarkerManager sInstance;
private Context mApplicationContext;
private MogoMarkerManager( Context context ) {
if ( context != null ) {
private MogoMarkerManager(Context context) {
if (context != null) {
mApplicationContext = context.getApplicationContext();
}
}
public static MogoMarkerManager getInstance( Context context ) {
if ( sInstance == null ) {
synchronized ( MogoMarkerManager.class ) {
if ( sInstance == null ) {
sInstance = new MogoMarkerManager( context );
public static MogoMarkerManager getInstance(Context context) {
if (sInstance == null) {
synchronized (MogoMarkerManager.class) {
if (sInstance == null) {
sInstance = new MogoMarkerManager(context);
}
}
}
@@ -51,27 +52,27 @@ public class MogoMarkerManager implements IMogoMarkerManager {
}
@Override
public IMogoMarker addMarker( String tag, MogoMarkerOptions options ) {
public IMogoMarker addMarker(String tag, MogoMarkerOptions options) {
try {
return MogoMap.getInstance().getMogoMap().addMarker( tag, options );
} catch ( Exception e ) {
return MogoMap.getInstance().getMogoMap().addMarker(tag, options);
} catch (Exception e) {
e.printStackTrace();
return null;
}
}
@Override
public List< IMogoMarker > addMarkers( String tag, ArrayList< MogoMarkerOptions > options, boolean moveToCenter ) {
public List<IMogoMarker> addMarkers(String tag, ArrayList<MogoMarkerOptions> options, boolean moveToCenter) {
try {
return MogoMap.getInstance().getMogoMap().addMarkers( tag, options, moveToCenter );
} catch ( Exception e ) {
return MogoMap.getInstance().getMogoMap().addMarkers(tag, options, moveToCenter);
} catch (Exception e) {
e.printStackTrace();
return null;
}
}
@Override
public void updateBatchMarkerPosition(HashMap<String,MessagePad.TrackedObject> optionsArrayList) {
public void updateBatchMarkerPosition(HashMap<String, MessagePad.TrackedObject> optionsArrayList) {
try {
MogoMap.getInstance().getMogoMap().updateBatchMarkerPosition(optionsArrayList);
} catch (Exception e) {
@@ -79,6 +80,15 @@ public class MogoMarkerManager implements IMogoMarkerManager {
}
}
@Override
public void updateBatchAiMarkerPosition(HashMap<String, SocketDownData.CloudRoadDataProto> optionsArrayList) {
try {
MogoMap.getInstance().getMogoMap().updateBatchAiMarkerPosition(optionsArrayList);
} catch (Exception e) {
e.printStackTrace();
}
}
@Override
public String addPreVehicleModel(int type, int modelRes) {
try {
@@ -100,9 +110,9 @@ public class MogoMarkerManager implements IMogoMarkerManager {
@Override
public void removeMarkers( String tag ) {
public void removeMarkers(String tag) {
CallMarkersClearManager.INSTANCE.invokeClearAllMarkersOfTag(tag);
MogoMarkersHandler.Companion.getMogoMarkersHandler().remove( tag );
MogoMarkersHandler.Companion.getMogoMarkersHandler().remove(tag);
}
@Override
@@ -123,27 +133,27 @@ public class MogoMarkerManager implements IMogoMarkerManager {
}
@Override
public void inVisibleWithoutMarkers(String ...owner) {
public void inVisibleWithoutMarkers(String... owner) {
MogoMarkersHandler.Companion.getMogoMarkersHandler().inVisibleMarkers(owner);
}
@Override
public List< IMogoMarker > getMarkers( String tag ) {
return MogoMarkersHandler.Companion.getMogoMarkersHandler().getMarkers( tag );
public List<IMogoMarker> getMarkers(String tag) {
return MogoMarkersHandler.Companion.getMogoMarkersHandler().getMarkers(tag);
}
@Override
public Map< String, List< IMogoMarker > > getAllMarkers() {
public Map<String, List<IMogoMarker>> getAllMarkers() {
return MogoMarkersHandler.Companion.getMogoMarkersHandler().getAllMarkers();
}
@Override
public void removeMarkersExcept( String tag ) {
MogoMarkersHandler.Companion.getMogoMarkersHandler().deleteAllExcept( tag );
public void removeMarkersExcept(String tag) {
MogoMarkersHandler.Companion.getMogoMarkersHandler().deleteAllExcept(tag);
}
@Override
public void addRouteWay(Context context, MogoLatLng startPoint, MogoLatLng endPoint, List< MogoLatLng > wayPoints ) {
public void addRouteWay(Context context, MogoLatLng startPoint, MogoLatLng endPoint, List<MogoLatLng> wayPoints) {
}
@Override

17
libraries/mogo-map/src/main/java/com/mogo/map/uicontroller/AMapUIController.java
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@@ -11,6 +11,7 @@ import com.zhidaoauto.map.sdk.open.MapAutoApi;
import java.util.List;
/**
* @author congtaowang
* @since 2019-12-26
@@ -19,8 +20,6 @@ import java.util.List;
*/
public class AMapUIController implements IMogoMapUIController {
private static final String TAG = "AMapUIController";
private static volatile AMapUIController sInstance;
private IMogoMapUIController mClient;
@@ -70,6 +69,20 @@ public class AMapUIController implements IMogoMapUIController {
}
}
@Override
public void setRoamTrajectory(String trajectory) {
if (mClient != null) {
mClient.setRoamTrajectory(trajectory);
}
}
@Override
public void setRomaMode(int mode) {
if (mClient != null) {
mClient.setRomaMode(mode);
}
}
@Override
public VisualAngleMode getCurrentMapVisualAngle() {
if (mClient != null) {

21
libraries/mogo-map/src/main/java/com/mogo/map/utils/ObjectUtils.java
View File

@@ -23,6 +23,7 @@ import java.util.ArrayList;
import java.util.List;
import mogo.telematics.pad.MessagePad;
import mogo.yycp.api.proto.SocketDownData;
/**
* @author congtaowang
@@ -117,6 +118,26 @@ public class ObjectUtils {
return markerOptions;
}
public static MarkerSimpleData fromAiData(SocketDownData.CloudRoadDataProto aiData) {
if (aiData == null) {
return null;
}
MarkerSimpleData markerOptions = null;
try {
markerOptions = new MarkerSimpleData();
markerOptions.setId(aiData.getUuid().hashCode());
markerOptions.setMarkerType(aiData.getType());
markerOptions.setRotateAngle((float) aiData.getHeading());
markerOptions.setLat(aiData.getWgslat());
markerOptions.setLon(aiData.getWgslon());
markerOptions.setTime(Double.valueOf(aiData.getSatelliteTime()).longValue());
markerOptions.setColor("#00FF00FF");
} catch (Exception e) {
e.printStackTrace();
}
return markerOptions;
}
private static BitmapDescriptor getBitmapDescriptorFromMogo(MogoMarkerOptions options) {
if (options == null) {
return null;