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优化数据，自车正常移动

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This commit is contained in:
lixiaopeng
2022-09-06 17:19:39 +08:00
parent fa019d9755
commit c5def34a1a
6 changed files with 112 additions and 56 deletions
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2
config.gradle
View File

@@ -113,7 +113,7 @@ ext {
// obu sdk
obusdk : "com.zhidao.enterprise.smartv2x:smartv2x:1.0.0.3",
// mogoobu : 'com.zhidao.support.obu:mogoobu:1.0.0.33',
mogoobu : 'com.mogo.support.obu:mogo-obu:1.0.0_beta7',
mogoobu : 'com.mogo.support.obu:mogo-obu:1.0.0_beta10',
mogoami : 'com.zhidao.support.obu.ami:mogoami:1.0.0.24',
// google

36
core/function-impl/mogo-core-function-obu-mogo/src/main/java/com/mogo/eagle/core/function/obu/mogo/MoGoObuProvider.kt
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@@ -6,9 +6,11 @@ import com.mogo.eagle.core.data.config.FunctionBuildConfig
import com.mogo.eagle.core.data.constants.MogoServicePaths
import com.mogo.eagle.core.function.api.obu.IMoGoObuProvider
import com.mogo.eagle.core.utilcode.mogo.AppIdentityModeUtils
import com.mogo.eagle.core.utilcode.mogo.MapAssetStyleUtils
import com.mogo.eagle.core.utilcode.mogo.logger.CallerLogger
import com.mogo.eagle.core.utilcode.mogo.logger.scene.SceneConstant.Companion.M_OBU
import com.mogo.eagle.core.utilcode.util.CommonUtils
import com.mogo.eagle.core.utilcode.util.UiThreadHandler
/**
* @author xiaoyuzhou
@@ -21,7 +23,9 @@ class MoGoObuProvider : IMoGoObuProvider {
private var mContext: Context? = null
private val busObuIp = "192.168.8.199"
private val taxiObuIp = "192.168.1.199"
// private val taxiObuIp = "192.168.1.199"
private val taxiObuIp = "192.168.0.56" //TODO
override val functionName: String
get() = TAG
@@ -30,21 +34,35 @@ class MoGoObuProvider : IMoGoObuProvider {
}
override fun init(context: Context) {
CallerLogger.d("$M_OBU$TAG", "初始化蘑菇自研OBU…… localIp = " + CommonUtils.getLocalIPAddress())
//bus乘客版本obu功能去掉
if (AppIdentityModeUtils.isBus(FunctionBuildConfig.appIdentityMode) && AppIdentityModeUtils.isPassenger(FunctionBuildConfig.appIdentityMode)) {
if (AppIdentityModeUtils.isBus(FunctionBuildConfig.appIdentityMode) && AppIdentityModeUtils.isPassenger(
FunctionBuildConfig.appIdentityMode
)
) {
//不处理
} else {
mContext = context
mContext?.let {
if (AppIdentityModeUtils.isBus(FunctionBuildConfig.appIdentityMode)) {
MogoPrivateObuNewManager.INSTANCE.connectObu(it, CommonUtils.getLocalIPAddress(), busObuIp)
} else if (AppIdentityModeUtils.isTaxi(FunctionBuildConfig.appIdentityMode)) {
MogoPrivateObuNewManager.INSTANCE.connectObu(it, CommonUtils.getLocalIPAddress(), taxiObuIp)
val thread = object : Thread() {
override fun run() {
mContext?.let {
if (AppIdentityModeUtils.isBus(FunctionBuildConfig.appIdentityMode)) {
MogoPrivateObuNewManager.INSTANCE.connectObu(
it,
busObuIp,
CommonUtils.getIpAddressString()
)
} else if (AppIdentityModeUtils.isTaxi(FunctionBuildConfig.appIdentityMode)) {
MogoPrivateObuNewManager.INSTANCE.connectObu(
it,
taxiObuIp,
CommonUtils.getIpAddressString()
)
}
}
}
}
}.start()
}
}

38
core/function-impl/mogo-core-function-obu-mogo/src/main/java/com/mogo/eagle/core/function/obu/mogo/MogoPrivateObuNewManager.kt
View File

@@ -99,9 +99,9 @@ class MogoPrivateObuNewManager private constructor() {
* HV车辆基础信息 CvxHvCarIndInfo CvxHvInfoIndInfo
*/
override fun onMogoObuHvBasics(p0: MogoObuHvBasicsData?) {
Log.d(TAG, "onMogoObuHvBasics p0 = ${p0.toString()}")
Log.d(TAG, "onMogoObuHvBasics ------ p0 = ${p0.toString()}" + "-----FunctionBuildConfig.gpsProvider = " + FunctionBuildConfig.gpsProvider)
if (p0 != null && p0.vehBasicsMsg != null) {
Log.d(TAG, "lon = ${p0.vehBasicsMsg.longitude} --- lat = ${p0.vehBasicsMsg.latitude} ---speed = ${p0.vehBasicsMsg.speed} ---heading = ${p0.vehBasicsMsg.heading} --acceleration = ${p0.vehBasicsMsg.accFourAxes.accLat} --yawRate = ${p0.vehBasicsMsg.accFourAxes.accYaw}")
val data = JSONObject()
try {
data.putOpt("lon", p0.vehBasicsMsg.longitude)
@@ -129,8 +129,8 @@ class MogoPrivateObuNewManager private constructor() {
// 同步更新经纬度和系统时间至 AutoPilotStatusListener
CallerAutoPilotStatusListenerManager.updateAutoPilotLatLon(
System.currentTimeMillis() / 1000.0,
p0.vehBasicsMsg.longitude.toDouble(),
p0.vehBasicsMsg.latitude.toDouble()
p0.vehBasicsMsg.longitude,
p0.vehBasicsMsg.latitude
)
}
} catch (e: Exception) {
@@ -146,9 +146,10 @@ class MogoPrivateObuNewManager private constructor() {
super.onMogoObuRvWarning(data)
// 更新数据，远车数据，之前要匹配uuid TODO
// TrafficDataConvertUtilsNew.cvxRvInfoIndInfo2TrafficData(data)?.let {
// TrafficMarkerDrawer.updateITrafficLocationInfo(it)
// }
TrafficDataConvertUtilsNew.cvxRvInfoIndInfo2TrafficData(data)?.let {
TrafficMarkerDrawer.updateITrafficLocationInfo(it)
}
Log.d(TAG, data.toString())
data.let {
//预警信息,预警类型 threat_level 2、3
@@ -173,7 +174,7 @@ class MogoPrivateObuNewManager private constructor() {
} --- direction = $direction --- appId = $appId ---level = $level -- status = $status"
)
Log.d(
Log.e(
TAG,
"onMogoObuRvWarning target_classification = ${
getMessageDirection(data.vehBasicsMsg.targetPosition)
@@ -181,7 +182,9 @@ class MogoPrivateObuNewManager private constructor() {
)
//拼凑数据
handleSdkObu(appId, direction, status, level, data)
if (appId != null) {
handleSdkObu(appId, direction, status, level, data)
}
}
}
}
@@ -191,8 +194,7 @@ class MogoPrivateObuNewManager private constructor() {
*/
override fun onMogoObuSpatWarning(data: MogoObuSpatWarningData) {
super.onMogoObuSpatWarning(data)
if (data != null && data.lights != null
&& data.lights.isNotEmpty()
if (data?.lights != null && data.lights.isNotEmpty()
) {
handlerTrafficLight(
data.warningType,
@@ -235,11 +237,6 @@ class MogoPrivateObuNewManager private constructor() {
EventTypeEnum.TYPE_USECASE_ID_IVS.poiType //车内标牌
-> {
when (data.warning_Msg[0].eventSerialNum) { //TODO 没有下面分类
// //桥梁 和驼峰桥区别
// 1 -> {
// appId = EventTypeEnum.TYPE_USECASE_ID_ROAD_HUMP_BRIDGE.poiType
// }
904 -> { //车辆逆行
appId = EventTypeEnum.TYPE_USECASE_ID_ROAD_VEHICLE_RETROGRADE.poiType
}
@@ -260,7 +257,6 @@ class MogoPrivateObuNewManager private constructor() {
appId = EventTypeEnum.TYPE_USECASE_ID_ROAD_PARKING.poiType
}
}
alertContent = EventTypeEnum.getWarningContent(appId)
ttsContent = EventTypeEnum.getWarningTts(appId)
@@ -411,7 +407,7 @@ class MogoPrivateObuNewManager private constructor() {
*/
private fun getMessageDirection(targetClassification: Int): WarningDirectionEnum {
CallerLogger.d("$M_OBU${MogoObuConst.TAG_MOGO_OBU}", "预警红边：预警方向->$targetClassification")
Log.d(TAG, "getMessageDirection 预警红边：预警方向->$targetClassification")
// Log.d(TAG, "getMessageDirection 预警红边：预警方向->$targetClassification")
return when (targetClassification) {
MogoObuConstants.VEH_TARGET_POSITION.AHEAD_IN_LANE,
MogoObuConstants.VEH_TARGET_POSITION.ONCOMING_IN_LANE -> WarningDirectionEnum.ALERT_WARNING_TOP //正前方
@@ -679,7 +675,7 @@ class MogoPrivateObuNewManager private constructor() {
isGreenLight = false
CallerHmiManager.showWarningTrafficLight(1, 2)
val red = currentLight.countDown
val red = currentLight.countDown.toInt()
CallerHmiManager.changeCountdownRed(red)
CallerHmiManager.changeCountdownGreen(0)
CallerHmiManager.changeCountdownYellow(0)
@@ -692,7 +688,7 @@ class MogoPrivateObuNewManager private constructor() {
}
isRedLight = false
CallerHmiManager.showWarningTrafficLight(3, 2)
val green = currentLight.countDown
val green = currentLight.countDown.toInt()
CallerHmiManager.changeCountdownGreen(green)
//防止数据出现问题的容错
CallerHmiManager.changeCountdownRed(0)
@@ -734,7 +730,7 @@ class MogoPrivateObuNewManager private constructor() {
0x3 -> {
CallerHmiManager.disableWarningV2X(appId.toString())
CallerHmiManager.showWarningTrafficLight(2, 2)
val yellow = currentLight.countDown
val yellow = currentLight.countDown.toInt()
CallerHmiManager.changeCountdownYellow(yellow)
CallerHmiManager.changeCountdownGreen(0)
CallerHmiManager.changeCountdownRed(0)

40
core/function-impl/mogo-core-function-obu-mogo/src/main/java/com/mogo/eagle/core/function/obu/mogo/utils/TrafficDataConvertUtilsNew.kt
View File

@@ -1,5 +1,6 @@
package com.mogo.eagle.core.function.obu.mogo.utils
import android.util.Log
import com.mogo.eagle.core.data.enums.TrafficTypeEnum
import com.mogo.eagle.core.data.traffic.TrafficData
import com.mogo.eagle.core.utilcode.mogo.logger.CallerLogger
@@ -22,6 +23,7 @@ object TrafficDataConvertUtilsNew {
*/
fun cvxRvInfoIndInfo2TrafficData(info: MogoObuRvWarningData): TrafficData? {
if (info.vehBasicsMsg == null) {
Log.e("liyz", "cvxRvInfoIndInfo2TrafficData info.vehBasicsMsg == null ")
CallerLogger.e("$M_OBU$TAG", "cvxRvInfoIndInfo2TrafficData 数据转换异常，请检查参数是否齐全")
return null
}
@@ -42,6 +44,7 @@ object TrafficDataConvertUtilsNew {
fun cvxRtiThreatIndInfo2TrafficData(info: MogoObuRsiWarningData): TrafficData? {
if (info.warning_Msg == null || info.warning_Msg.size < 1 || info.warning_Msg[0].position == null) {
CallerLogger.e("$M_OBU$TAG", "数据转换异常，请检查参数是否齐全")
Log.e("liyz", "cvxRtiThreatIndInfo2TrafficData info.warning_Msg == null ")
return null
}
val trafficData = TrafficData()
@@ -49,8 +52,10 @@ object TrafficDataConvertUtilsNew {
trafficData.uuid = info.warning_Msg[0].signSerialNum.toString() //TODO
trafficData.lat = info.warning_Msg[0].position.latitude.toDouble()
trafficData.lon = info.warning_Msg[0].position.longitude.toDouble()
trafficData.threatLevel = info.warning_Msg[0].warningLevel
//TODO 没有数据
trafficData.threatLevel = info.warning_Msg[0].warningLevel
Log.e("liyz", "cvxRtiThreatIndInfo2TrafficData trafficData -- ${trafficData.toString()}")
return trafficData
}
@@ -58,21 +63,27 @@ object TrafficDataConvertUtilsNew {
* OBU 预警事件 转换交通元素数据 他车预警
*/
fun cvxV2vThreatIndInfo2TrafficData(info: MogoObuRvWarningData): TrafficData? {
if (info == null || info.vehBasicsMsg == null || info.warningMsg == null || info.warningMsg.warningData == null) {
if (info == null || info.vehBasicsMsg == null || info.warningMsg == null) {
CallerLogger.e("$M_OBU$TAG", "数据转换异常，请检查参数是否齐全")
Log.e("liyz", "cvxV2vThreatIndInfo2TrafficData info == null ")
return null
}
val trafficData = TrafficData()
trafficData.uuid = info.vehBasicsMsg.id
trafficData.lat = info.vehBasicsMsg.latitude.toDouble()
trafficData.lon = info.vehBasicsMsg.longitude.toDouble()
trafficData.heading = info.vehBasicsMsg.heading.toDouble()
trafficData.speed = info.vehBasicsMsg.speed.toDouble()
trafficData.lat = info.vehBasicsMsg.latitude
trafficData.lon = info.vehBasicsMsg.longitude
trafficData.heading = info.vehBasicsMsg.heading
trafficData.speed = info.vehBasicsMsg.speed
// 判断车辆V2X预警级别，调整车辆颜色
trafficData.threatLevel = info.warningMsg.warningData[0].warningLevel
if (info.warningMsg.warningData != null) {
trafficData.threatLevel = info.warningMsg.warningData[0].warningLevel
} else {
trafficData.threatLevel = 1
}
trafficData.type = TrafficTypeEnum.TYPE_TRAFFIC_ID_TA_CHE
Log.e("liyz", "cvxV2vThreatIndInfo2TrafficData trafficData = ${trafficData.toString()} ")
return trafficData
}
@@ -82,14 +93,15 @@ object TrafficDataConvertUtilsNew {
fun cvxPtcThreatIndInfo2TrafficData(info: MogoObuRsmWarningData): TrafficData? {
if (info.participant == null) {
CallerLogger.e("$M_OBU$TAG", "数据转换异常，请检查参数是否齐全")
Log.e("liyz", "cvxPtcThreatIndInfo2TrafficData info.participant ")
return null
}
val trafficData = TrafficData()
trafficData.uuid = info.participant.ptcId.toString()
trafficData.lat = info.participant.latitude.toDouble()
trafficData.lon = info.participant.longitude.toDouble()
trafficData.heading = info.participant.heading.toDouble()
trafficData.speed = info.participant.speed.toDouble()
trafficData.lat = info.participant.latitude
trafficData.lon = info.participant.longitude
trafficData.heading = info.participant.heading
trafficData.speed = info.participant.speed
when (info.participant.ptcType) {
// 未知
@@ -109,8 +121,10 @@ object TrafficDataConvertUtilsNew {
// 判断车辆V2X预警级别，调整车辆颜色
if (info.m_warning_msg != null && info.m_warning_msg.warningData != null) {
trafficData.threatLevel = info.m_warning_msg.warningData[0].warningLevel
} else {
trafficData.threatLevel = 1
}
Log.e("liyz", "cvxPtcThreatIndInfo2TrafficData trafficData = ${trafficData.toString()} ")
return trafficData
}

20
core/mogo-core-utils/src/main/java/com/mogo/eagle/core/utilcode/util/CommonUtils.java
View File

@@ -23,6 +23,7 @@ import java.io.InputStreamReader;
import java.io.LineNumberReader;
import java.io.UnsupportedEncodingException;
import java.lang.reflect.Field;
import java.net.Inet4Address;
import java.net.InetAddress;
import java.net.NetworkInterface;
import java.net.SocketException;
@@ -397,6 +398,25 @@ public class CommonUtils {
}
public static String getIpAddressString() {
try {
for (Enumeration<NetworkInterface> enNetI = NetworkInterface
.getNetworkInterfaces(); enNetI.hasMoreElements(); ) {
NetworkInterface netI = enNetI.nextElement();
for (Enumeration<InetAddress> enumIpAddr = netI
.getInetAddresses(); enumIpAddr.hasMoreElements(); ) {
InetAddress inetAddress = enumIpAddr.nextElement();
if (inetAddress instanceof Inet4Address && !inetAddress.isLoopbackAddress()) {
return inetAddress.getHostAddress();
}
}
}
} catch (SocketException e) {
e.printStackTrace();
}
return "127.0.0.1";
}
// 获取本地IP函数
public static String getLocalIPAddress() {
try {

32
modules/mogo-module-common/src/main/java/com/mogo/module/common/drawer/TrafficMarkerDrawer.kt
View File

@@ -5,6 +5,7 @@ import android.content.Context
import android.os.Handler
import android.os.Message
import android.text.TextUtils
import android.util.Log
import com.mogo.commons.AbsMogoApplication
import com.mogo.eagle.core.data.enums.TrafficTypeEnum
import com.mogo.eagle.core.data.traffic.TrafficData
@@ -46,7 +47,7 @@ object TrafficMarkerDrawer {
override fun handleMessage(msg: Message) {
super.handleMessage(msg)
// TODO 因为与自动驾驶的感知重合，临时关掉OBU车辆绘制
// drawerTrafficInfo()
drawerTrafficInfo()
// 延时50毫秒重复发送自己，定时轮询进行车辆绘制，可以及时将已经不存在车辆删除
sendEmptyMessageDelayed(0, 50L)
}
@@ -79,17 +80,19 @@ object TrafficMarkerDrawer {
* 更新识别数据位置
*/
fun updateITrafficLocationInfo(trafficData: TrafficData) {
val tempTraffic = mTrafficMap[trafficData.uuid]
if (tempTraffic != null) {
tempTraffic.lat = trafficData.lat
tempTraffic.lon = trafficData.lon
tempTraffic.heading = trafficData.heading
if (trafficData.uuid != null) {
mTrafficMap[trafficData.uuid!!] = tempTraffic
}
} else {
if (trafficData.uuid != null) {
mTrafficMap[trafficData.uuid!!] = trafficData
if (trafficData != null && !TextUtils.isEmpty(trafficData.uuid)) {
val tempTraffic = mTrafficMap[trafficData.uuid]
if (tempTraffic != null) {
tempTraffic.lat = trafficData.lat
tempTraffic.lon = trafficData.lon
tempTraffic.heading = trafficData.heading
if (trafficData.uuid != null) {
mTrafficMap[trafficData.uuid!!] = tempTraffic
}
} else {
if (trafficData.uuid != null) {
mTrafficMap[trafficData.uuid!!] = trafficData
}
}
}
}
@@ -162,6 +165,7 @@ object TrafficMarkerDrawer {
TAG,
"trafficData.type = " + trafficData.type + "---trafficData.threatLevel = " + trafficData.threatLevel
)
Log.e("liyz", "drawObuRecognizedDataMarker trafficData.type = " + trafficData.type + "---trafficData.threatLevel = " + trafficData.threatLevel)
if (trafficData.type != null) {
val resId: Int = trafficData.type.traffic3DIconId
@@ -222,6 +226,10 @@ object TrafficMarkerDrawer {
TAG,
"trafficData.type = " + trafficData.type + "---trafficData.threatLevel = " + trafficData.threatLevel
)
Log.e("liyz",
"trafficData.type = " + trafficData.type + "---trafficData.threatLevel = " + trafficData.threatLevel
)
if (trafficData.type != TrafficTypeEnum.TYPE_TRAFFIC_ID_SPECIAL_VEHICLE) {
// 修改颜色
when (trafficData.threatLevel) {