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Merge branch 'dev_robotaxi-d-app-module_2100_220816_2.10.0' of gitlab.zhidaoauto.com:zhjt/AndroidApp/MoGoEagleEye into dev_robotaxi-d-app-module_2100_220816_2.10.0

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This commit is contained in:
wangmingjun
2022-08-22 17:30:57 +08:00
parent ccac54962d cc9f60c695
commit c6a8da48d6
10 changed files with 47 additions and 44 deletions
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2
build.gradle
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@@ -32,7 +32,7 @@ buildscript {
classpath "com.bytedance.android.byteX:base-plugin:0.3.0"
classpath "com.mogo.cloud:hook:${HOOK_LOG_VERSION}"
classpath 'com.volcengine:apm_insight_plugin:1.4.1'
classpath 'com.mogo.cloud:thread_opt:5.0.5'
classpath 'com.mogo.thread.opt:plg:1.0.1'
classpath 'com.mogo.cloud:systrace:1.0.1'
classpath 'com.google.protobuf:protobuf-gradle-plugin:0.8.18'

12
core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/hmi/ui/pnc/PncActionsView.kt
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@@ -3,13 +3,16 @@ package com.mogo.eagle.core.function.hmi.ui.pnc
import android.content.Context
import android.util.AttributeSet
import android.view.LayoutInflater
import androidx.appcompat.content.res.AppCompatResources
import androidx.constraintlayout.widget.ConstraintLayout
import com.mogo.eagle.core.data.autopilot.pnc.PncActionsHelper
import com.mogo.eagle.core.data.trafficlight.TrafficLightResult
import com.mogo.eagle.core.data.trafficlight.currentRoadTrafficLight
import com.mogo.eagle.core.data.trafficlight.isRed
import com.mogo.eagle.core.function.api.autopilot.IMoGoAutopilotPlanningActionsListener
import com.mogo.eagle.core.function.api.autopilot.IMoGoAutopilotStatusListener.Companion.STATUS_AUTOPILOT_RUNNING
import com.mogo.eagle.core.function.api.trafficlight.IMoGoTrafficLightListener
import com.mogo.eagle.core.function.call.autopilot.CallerAutoPilotStatusListenerManager.getAutoPilotStatusInfo
import com.mogo.eagle.core.function.call.autopilot.CallerAutopilotPlanningActionsListenerManager
import com.mogo.eagle.core.function.call.trafficlight.CallerTrafficLightListenerManager
import com.mogo.eagle.core.function.hmi.R
@@ -52,7 +55,8 @@ class PncActionsView @JvmOverloads constructor(
var actions: String? = null
planningActionMsg.actionMsg?.let {
actions = PncActionsHelper.getAction(it.drivingState.number, it.drivingAction.number)
actions =
PncActionsHelper.getAction(it.drivingState.number, it.drivingAction.number)
//如果是存在云端红绿灯数据条件下，设置云端数据
if (PncActionsHelper.isWaitingTrafficlight(
@@ -68,7 +72,11 @@ class PncActionsView @JvmOverloads constructor(
}
}
// update view
actions?.let {
if (actions.isNullOrEmpty() || getAutoPilotStatusInfo().state != STATUS_AUTOPILOT_RUNNING) {
this.background = null
tvHmiPncActions.text = ""
} else {
this.background = AppCompatResources.getDrawable(context, R.drawable.pnc_actions_bg)
tvHmiPncActions.text = actions
}
}

15
core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/hmi/ui/widget/TrafficDataView.java
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@@ -1,5 +1,7 @@
package com.mogo.eagle.core.function.hmi.ui.widget;
import static com.mogo.eagle.core.function.api.autopilot.IMoGoAutopilotStatusListener.STATUS_AUTOPILOT_RUNNING;
import android.annotation.SuppressLint;
import android.content.Context;
import android.os.Handler;
@@ -15,7 +17,7 @@ import androidx.constraintlayout.widget.ConstraintLayout;
import com.mogo.eagle.core.function.api.autopilot.IMoGoAutopilotVehicleStateListener;
import com.mogo.eagle.core.function.call.autopilot.CallerAutoPilotStatusListenerManager;
import com.mogo.eagle.core.function.call.autopilot.CallerAutopilotCarStatusListenerManager;
import com.mogo.eagle.core.function.call.autopilot.CallerAutopilotPlanningActionsListenerManager;
import com.mogo.eagle.core.function.call.autopilot.CallerAutopilotVehicleStateListenerManager;
import com.mogo.eagle.core.function.hmi.R;
import com.mogo.eagle.core.utilcode.mogo.logger.CallerLogger;
@@ -24,6 +26,7 @@ import com.mogo.eagle.core.utilcode.util.ThreadUtils;
import org.jetbrains.annotations.NotNull;
import chassis.Chassis;
import mogo.telematics.pad.MessagePad;
/**
* @author Jing
@@ -60,7 +63,7 @@ public class TrafficDataView extends ConstraintLayout {
accTextView.setText("- " + accStr);
}
int state = CallerAutoPilotStatusListenerManager.INSTANCE.getAutoPilotStatusInfo().getState();
if (state < 2) {
if (state < STATUS_AUTOPILOT_RUNNING) {
if (mBrake > 0) {
brakeStatus.setImageResource(R.drawable.traffic_data_brake);
} else if (mThrottle >= 0 && mBrake == 0) {
@@ -99,11 +102,7 @@ public class TrafficDataView extends ConstraintLayout {
super.onAttachedToWindow();
handler.sendEmptyMessageDelayed(MSG_SEND_UPDATE, 1000L);
CallerAutopilotVehicleStateListenerManager.INSTANCE.addListener(TAG, mIMoGoAutopilotVehicleStateListener);
CallerAutopilotCarStatusListenerManager.INSTANCE.addListener(TAG, gnssInfo -> {
if (gnssInfo != null) {
acceleration = gnssInfo.getAcceleration();
}
});
CallerAutopilotPlanningActionsListenerManager.INSTANCE.addListener(TAG, planningActionMsg -> acceleration = planningActionMsg.getDestinationAcc());
}
private void initView(@NonNull Context context) {
@@ -119,7 +118,7 @@ public class TrafficDataView extends ConstraintLayout {
protected void onDetachedFromWindow() {
super.onDetachedFromWindow();
CallerAutopilotVehicleStateListenerManager.INSTANCE.removeListener(TAG);
CallerAutopilotCarStatusListenerManager.INSTANCE.removeListener(TAG);
CallerAutopilotPlanningActionsListenerManager.INSTANCE.removeListener(TAG);
}
private final IMoGoAutopilotVehicleStateListener mIMoGoAutopilotVehicleStateListener = new IMoGoAutopilotVehicleStateListener() {

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core/function-impl/mogo-core-function-hmi/src/main/res/drawable/pnc_actions_bg.png Normal file
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2
core/function-impl/mogo-core-function-hmi/src/main/res/layout/fragment_hmi.xml
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@@ -184,7 +184,7 @@
<com.mogo.eagle.core.function.hmi.ui.pnc.PncActionsView
android:layout_width="wrap_content"
android:layout_height="wrap_content"
android:layout_marginBottom="@dimen/dp_200"
android:layout_marginBottom="@dimen/dp_110"
app:layout_constraintBottom_toBottomOf="parent"
app:layout_constraintStart_toStartOf="parent"
app:layout_constraintEnd_toEndOf="parent"/>

7
core/function-impl/mogo-core-function-hmi/src/main/res/layout/view_pnc_actions.xml
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@@ -2,14 +2,17 @@
<androidx.constraintlayout.widget.ConstraintLayout xmlns:android="http://schemas.android.com/apk/res/android"
xmlns:app="http://schemas.android.com/apk/res-auto"
android:layout_width="wrap_content"
android:layout_height="wrap_content">
android:layout_height="@dimen/dp_100">
<TextView
android:id="@+id/tvHmiPncActions"
android:layout_width="wrap_content"
android:layout_height="wrap_content"
android:textSize="@dimen/sp_38"
android:gravity="center"
android:paddingStart="@dimen/dp_68"
android:paddingEnd="@dimen/dp_68"
android:textColor="#FFFFFF"
android:textSize="@dimen/dp_34"
app:layout_constraintBottom_toBottomOf="parent"
app:layout_constraintEnd_toEndOf="parent"
app:layout_constraintStart_toStartOf="parent"

8
core/function-impl/mogo-core-function-hmi/src/main/res/values-xhdpi-2560x1440/dimens.xml
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@@ -15,19 +15,25 @@
<dimen name="dp_18">18px</dimen>
<dimen name="dp_30">30px</dimen>
<dimen name="dp_36">36px</dimen>
<dimen name="dp_34">34px</dimen>
<dimen name="dp_38">38px</dimen>
<dimen name="dp_42">42px</dimen>
<dimen name="dp_45">45px</dimen>
<dimen name="dp_46">46px</dimen>
<dimen name="dp_48">48px</dimen>
<dimen name="dp_50">50px</dimen>
<dimen name="dp_52">52px</dimen>
<dimen name="dp_54">54px</dimen>
<dimen name="dp_56">56px</dimen>
<dimen name="dp_62">62px</dimen>
<dimen name="dp_68">68px</dimen>
<dimen name="dp_70">70px</dimen>
<dimen name="dp_75">80px</dimen>
<dimen name="dp_72">72px</dimen>
<dimen name="dp_75">75px</dimen>
<dimen name="dp_80">80px</dimen>
<dimen name="dp_96">96px</dimen>
<dimen name="dp_100">100px</dimen>
<dimen name="dp_110">110px</dimen>
<dimen name="dp_140">140px</dimen>
<dimen name="dp_150">150px</dimen>
<dimen name="dp_180">180px</dimen>

22
core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/map/identify/IdentifyFactory.kt
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@@ -2,9 +2,7 @@ package com.mogo.eagle.core.function.map.identify
import android.os.Handler
import android.os.Message
import android.util.Log
import com.mogo.eagle.core.data.config.FunctionBuildConfig
import com.mogo.eagle.core.utilcode.mogo.AppIdentityModeUtils
import com.mogo.eagle.core.utilcode.mogo.thread.WorkThreadHandler
import mogo.telematics.pad.MessagePad
import mogo.telematics.pad.MessagePad.TrackedObject
@@ -37,29 +35,31 @@ object IdentifyFactory : Identify {
object : Handler(WorkThreadHandler.newInstance("IdentifyFactoryDrawer").looper) {
override fun handleMessage(msg: Message) {
super.handleMessage(msg)
if(!FunctionBuildConfig.isBeautyMode){
if(identify is IdentifyBeautifyDataDrawer){
if (!FunctionBuildConfig.isBeautyMode) {
// 非感知美化优化模式，清除旧数据，使用 DriverIdentify originDataDrawer 原始数据绘制
if (identify is IdentifyBeautifyDataDrawer) {
identify!!.clearOldMarker()
identify = DriverIdentify.originDataDrawer
}
}else{
if(identify is IdentifyOriginDataDrawer){
} else {
// 感知优化模式，清除旧数据，使用 UserIdentify beautifyDataDrawer 优化数据
if (identify is IdentifyOriginDataDrawer) {
identify!!.clearOldMarker()
identify = UserIdentify.beautifyDataDrawer
identify = UserIdentify.beautifyDataDrawer
}
}
when(msg.what){
when (msg.what) {
MSG_DATA_TRACK -> {
if(msg.obj is List<*>){
if (msg.obj is List<*>) {
identify!!.renderAdasRecognizedResult(msg.obj as List<TrackedObject>?)
}
}
MSG_DATA_WARNING -> {
if(msg.obj is List<*>){
if (msg.obj is List<*>) {
identify!!.renderPlanningWarningObj(msg.obj as List<MessagePad.PlanningObject>?)
}
}
MSG_DATA_CLEAR ->{
MSG_DATA_CLEAR -> {
identify!!.clearOldMarker()
}
}

5
libraries/mogo-map/src/main/java/com/mogo/map/AMapWrapper.java
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@@ -4,6 +4,7 @@ import android.annotation.SuppressLint;
import android.content.Context;
import android.graphics.Point;
import com.mogo.eagle.core.data.config.FunctionBuildConfig;
import com.mogo.eagle.core.utilcode.mogo.logger.CallerLogger;
import com.mogo.map.marker.AMapInfoWindowAdapter;
import com.mogo.map.marker.AMapMarkerWrapper;
@@ -114,13 +115,13 @@ public class AMapWrapper implements IMogoMap {
markerOptionsArrayList.add(markerOptions);
}
});
MarkerHelper.INSTANCE.updateBatchMarkerPositon(markerOptionsArrayList, false, 8.0f, 1, 100, 1);
MarkerHelper.INSTANCE.updateBatchMarkerPositon(markerOptionsArrayList, false, FunctionBuildConfig.isBeautyMode ? 8.0f : 0f, 1, 100, 1);
}
@Override
public String addPreVehicleModel(int type, int modelRes) {
try {
return MarkerHelper.INSTANCE.addPreVehicleModel(type, modelRes);
return MarkerHelper.INSTANCE.addPreVehicleModel(type, modelRes);
} catch (Exception e) {
e.printStackTrace();
}

18
modules/mogo-module-service/src/main/java/com/mogo/module/service/routeoverlay/RouteOverlayDrawer.java
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@@ -99,7 +99,6 @@ public class RouteOverlayDrawer {
int total;
try {
pps.clear();
long drawStart = SystemClock.elapsedRealtime();
List<MessagePad.TrajectoryPoint> routes = this.routeList;
if (routes == null || (total = routes.size()) < 2) {
isExcept = true;
@@ -136,7 +135,6 @@ public class RouteOverlayDrawer {
}
double lon = CallerAutoPilotStatusListenerManager.INSTANCE.getCurWgs84Lon();
double lat = CallerAutoPilotStatusListenerManager.INSTANCE.getCurWgs84Lat();
int removeCount = 0;
if (points.size() > 0) {
MogoLatLng top = null;
while (points.size() != 0) {
@@ -151,7 +149,6 @@ public class RouteOverlayDrawer {
lat = CallerAutoPilotStatusListenerManager.INSTANCE.getCurWgs84Lat();
long angle = isPointOnCarFront(lon, lat, bearing, first.lon, first.lat);
if (angle >= 90) {
removeCount++;
RouteStrategy.INSTANCE.remove(first.acc);
pools.release(first);
points.poll();
@@ -203,10 +200,8 @@ public class RouteOverlayDrawer {
} else {
isExcept = true;
}
long drawEnd = SystemClock.elapsedRealtime();
Logger.d(M_OLD_ROUTE + TAG, "drawTrajectoryList cost : " + (drawEnd - drawStart) + "ms and isExcept:" + isExcept + "::removeCount:" + removeCount + "::total:" + total);
} catch (Throwable t) {
Logger.d(M_OLD_ROUTE + TAG, "drawTrajectoryList error (isExcept: "+isExcept+") : " + t);
t.printStackTrace();
} finally {
if (isExcept) {
setVisible(false);
@@ -224,16 +219,7 @@ public class RouteOverlayDrawer {
}
private long isPointOnCarFront(double car_lon, double car_lat, double car_head, double lon, double lat) {
long start = SystemClock.elapsedRealtime();
try {
// 计算车辆与点之间的夹角
long diffAngle = DrivingDirectionUtils.getDegreeOfCar2Poi2(
car_lon, car_lat, lon, lat, car_head);
CallerLogger.INSTANCE.d(M_OLD_ROUTE + TAG, "isPointOnCarFront: angle->" + diffAngle);
return diffAngle;
} finally {
CallerLogger.INSTANCE.d(M_OLD_ROUTE + TAG, "isPointOnCarFront cost:" + (SystemClock.elapsedRealtime() - start) + "ms");
}
return DrivingDirectionUtils.getDegreeOfCar2Poi2(car_lon, car_lat, lon, lat, car_head);
}
}