From c5def34a1a0380496599f5c26ddfbfba165985bb Mon Sep 17 00:00:00 2001 From: lixiaopeng Date: Tue, 6 Sep 2022 17:19:39 +0800 Subject: [PATCH] =?UTF-8?q?=E4=BC=98=E5=8C=96=E6=95=B0=E6=8D=AE=EF=BC=8C?= =?UTF-8?q?=E8=87=AA=E8=BD=A6=E6=AD=A3=E5=B8=B8=E7=A7=BB=E5=8A=A8?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- config.gradle | 2 +- .../core/function/obu/mogo/MoGoObuProvider.kt | 36 ++++++++++++----- .../obu/mogo/MogoPrivateObuNewManager.kt | 38 ++++++++---------- .../mogo/utils/TrafficDataConvertUtilsNew.kt | 40 +++++++++++++------ .../eagle/core/utilcode/util/CommonUtils.java | 20 ++++++++++ .../common/drawer/TrafficMarkerDrawer.kt | 32 +++++++++------ 6 files changed, 112 insertions(+), 56 deletions(-) diff --git a/config.gradle b/config.gradle index a19f7a51ea..b955a690ba 100644 --- a/config.gradle +++ b/config.gradle @@ -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 diff --git a/core/function-impl/mogo-core-function-obu-mogo/src/main/java/com/mogo/eagle/core/function/obu/mogo/MoGoObuProvider.kt b/core/function-impl/mogo-core-function-obu-mogo/src/main/java/com/mogo/eagle/core/function/obu/mogo/MoGoObuProvider.kt index 3bbbe00e6a..d069cac805 100644 --- a/core/function-impl/mogo-core-function-obu-mogo/src/main/java/com/mogo/eagle/core/function/obu/mogo/MoGoObuProvider.kt +++ b/core/function-impl/mogo-core-function-obu-mogo/src/main/java/com/mogo/eagle/core/function/obu/mogo/MoGoObuProvider.kt @@ -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() } } diff --git a/core/function-impl/mogo-core-function-obu-mogo/src/main/java/com/mogo/eagle/core/function/obu/mogo/MogoPrivateObuNewManager.kt b/core/function-impl/mogo-core-function-obu-mogo/src/main/java/com/mogo/eagle/core/function/obu/mogo/MogoPrivateObuNewManager.kt index 26a6433649..f3446bb1bd 100644 --- a/core/function-impl/mogo-core-function-obu-mogo/src/main/java/com/mogo/eagle/core/function/obu/mogo/MogoPrivateObuNewManager.kt +++ b/core/function-impl/mogo-core-function-obu-mogo/src/main/java/com/mogo/eagle/core/function/obu/mogo/MogoPrivateObuNewManager.kt @@ -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) diff --git a/core/function-impl/mogo-core-function-obu-mogo/src/main/java/com/mogo/eagle/core/function/obu/mogo/utils/TrafficDataConvertUtilsNew.kt b/core/function-impl/mogo-core-function-obu-mogo/src/main/java/com/mogo/eagle/core/function/obu/mogo/utils/TrafficDataConvertUtilsNew.kt index bece548a1f..f8ca2b2392 100644 --- a/core/function-impl/mogo-core-function-obu-mogo/src/main/java/com/mogo/eagle/core/function/obu/mogo/utils/TrafficDataConvertUtilsNew.kt +++ b/core/function-impl/mogo-core-function-obu-mogo/src/main/java/com/mogo/eagle/core/function/obu/mogo/utils/TrafficDataConvertUtilsNew.kt @@ -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 } diff --git a/core/mogo-core-utils/src/main/java/com/mogo/eagle/core/utilcode/util/CommonUtils.java b/core/mogo-core-utils/src/main/java/com/mogo/eagle/core/utilcode/util/CommonUtils.java index d5b944f02e..a7f5bfd736 100644 --- a/core/mogo-core-utils/src/main/java/com/mogo/eagle/core/utilcode/util/CommonUtils.java +++ b/core/mogo-core-utils/src/main/java/com/mogo/eagle/core/utilcode/util/CommonUtils.java @@ -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 enNetI = NetworkInterface + .getNetworkInterfaces(); enNetI.hasMoreElements(); ) { + NetworkInterface netI = enNetI.nextElement(); + for (Enumeration 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 { diff --git a/modules/mogo-module-common/src/main/java/com/mogo/module/common/drawer/TrafficMarkerDrawer.kt b/modules/mogo-module-common/src/main/java/com/mogo/module/common/drawer/TrafficMarkerDrawer.kt index bb45bb1c5d..11156f25ec 100644 --- a/modules/mogo-module-common/src/main/java/com/mogo/module/common/drawer/TrafficMarkerDrawer.kt +++ b/modules/mogo-module-common/src/main/java/com/mogo/module/common/drawer/TrafficMarkerDrawer.kt @@ -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) {