yangyakun921/MoGoEagleEye
1
0
Fork 0
Code Issues Pull Requests Actions Packages Projects Releases Wiki Activity

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

Browse Source
This commit is contained in:
yangyakun
2023-02-13 15:23:43 +08:00
parent 39d6a38194 23b18ed482
commit cff6cd71ce
15 changed files with 631 additions and 102 deletions
Download Patch File Download Diff File Expand all files Collapse all files

49
app_ipc_monitoring/src/main/java/com/zhidao/adas/client/DataDistribution.java
View File

@@ -15,6 +15,10 @@ import com.zhidao.adas.client.bean.FSMFunctionStates;
import com.zhidao.adas.client.bean.GlobalPathResp;
import com.zhidao.adas.client.bean.GnssInfo;
import com.zhidao.adas.client.bean.MogoReportMessage;
import com.zhidao.adas.client.bean.ObuMap;
import com.zhidao.adas.client.bean.ObuRsi;
import com.zhidao.adas.client.bean.ObuRsm;
import com.zhidao.adas.client.bean.ObuSpat;
import com.zhidao.adas.client.bean.ObuWarningData;
import com.zhidao.adas.client.bean.OriginalPointCloudData;
import com.zhidao.adas.client.bean.PerceptionTrafficLight;
@@ -128,6 +132,10 @@ public class DataDistribution {
public final List<DataShow> listRoboSweeperTaskIndex = new ArrayList<>();
public final List<DataShow> listBagManagerCmd = new ArrayList<>();
public final List<DataShow> listObuWarningData = new ArrayList<>();
public final List<DataShow> listObuSpat = new ArrayList<>();
public final List<DataShow> listObuRsi = new ArrayList<>();
public final List<DataShow> listObuRsm = new ArrayList<>();
public final List<DataShow> listObuMap = new ArrayList<>();
private long listTrajectorySize = 0;
private long listTrackedObjectsSize = 0;
@@ -152,6 +160,11 @@ public class DataDistribution {
private long listRoboSweeperTaskIndexSize = 0;
private long listBagManagerCmdSize = 0;
private long listObuWarningDataSize = 0;
private long listObuSpatSize = 0;
private long listObuRsiSize = 0;
private long listObuRsmSize = 0;
private long listObuMapSize = 0;
public void clearCount() {
listTrajectorySize = 1;
@@ -177,6 +190,10 @@ public class DataDistribution {
listRoboSweeperTaskIndexSize = 1;
listBagManagerCmdSize = 1;
listObuWarningDataSize = 1;
listObuSpatSize = 1;
listObuRsiSize = 1;
listObuRsmSize = 1;
listObuMapSize = 1;
}
public String cutDown(String str) {
@@ -237,6 +254,38 @@ public class DataDistribution {
if (listener != null && Constants.TITLE.RECEIVE_OBU_WARNING_DATA.equals(listener.first)) {
listener.second.onRefresh();
}
} else if (data instanceof ObuSpat) {
listObuSpat.add(0, new DataShow(listObuSpatSize++, time + str));
if (listObuSpat.size() > LIST_SIZE) {
listObuSpat.remove(listObuSpat.size() - 1);
}
if (listener != null && Constants.TITLE.RECEIVE_OBU_SPAT.equals(listener.first)) {
listener.second.onRefresh();
}
} else if (data instanceof ObuRsi) {
listObuRsi.add(0, new DataShow(listObuRsiSize++, time + str));
if (listObuRsi.size() > LIST_SIZE) {
listObuRsi.remove(listObuRsi.size() - 1);
}
if (listener != null && Constants.TITLE.RECEIVE_OBU_RSI.equals(listener.first)) {
listener.second.onRefresh();
}
} else if (data instanceof ObuRsm) {
listObuRsm.add(0, new DataShow(listObuRsmSize++, time + str));
if (listObuRsm.size() > LIST_SIZE) {
listObuRsm.remove(listObuRsm.size() - 1);
}
if (listener != null && Constants.TITLE.RECEIVE_OBU_RSM.equals(listener.first)) {
listener.second.onRefresh();
}
} else if (data instanceof ObuMap) {
listObuMap.add(0, new DataShow(listObuMapSize++, time + str));
if (listObuMap.size() > LIST_SIZE) {
listObuMap.remove(listObuMap.size() - 1);
}
if (listener != null && Constants.TITLE.RECEIVE_OBU_MAP.equals(listener.first)) {
listener.second.onRefresh();
}
} else if (data instanceof GnssInfo) {
listGnssInfo.add(0, new DataShow(listGnssInfoSize++, time + str));
if (listGnssInfo.size() > LIST_SIZE) {

24
app_ipc_monitoring/src/main/java/com/zhidao/adas/client/bean/ObuMap.java Normal file
View File

@@ -0,0 +1,24 @@
package com.zhidao.adas.client.bean;
import com.google.protobuf.TextFormat;
import com.mogo.support.obu.ObuScene;
import java.text.SimpleDateFormat;
import mogo.telematics.pad.MessagePad;
public class ObuMap extends BaseInfo {
public final ObuScene.MapMatchData bean;
public ObuMap(MessagePad.Header header, ObuScene.MapMatchData bean, SimpleDateFormat sdf) {
super("接收", bean.getSerializedSize(), header, sdf);
this.bean = bean;
}
@Override
public String toString() {
return super.toString() + TextFormat.printer().escapingNonAscii(false).printToString(bean);
}
}

24
app_ipc_monitoring/src/main/java/com/zhidao/adas/client/bean/ObuRsi.java Normal file
View File

@@ -0,0 +1,24 @@
package com.zhidao.adas.client.bean;
import com.google.protobuf.TextFormat;
import com.mogo.support.obu.ObuScene;
import java.text.SimpleDateFormat;
import mogo.telematics.pad.MessagePad;
public class ObuRsi extends BaseInfo {
public final ObuScene.RsiWarningData bean;
public ObuRsi(MessagePad.Header header, ObuScene.RsiWarningData bean, SimpleDateFormat sdf) {
super("接收", bean.getSerializedSize(), header, sdf);
this.bean = bean;
}
@Override
public String toString() {
return super.toString() + TextFormat.printer().escapingNonAscii(false).printToString(bean);
}
}

24
app_ipc_monitoring/src/main/java/com/zhidao/adas/client/bean/ObuRsm.java Normal file
View File

@@ -0,0 +1,24 @@
package com.zhidao.adas.client.bean;
import com.google.protobuf.TextFormat;
import com.mogo.support.obu.ObuScene;
import java.text.SimpleDateFormat;
import mogo.telematics.pad.MessagePad;
public class ObuRsm extends BaseInfo {
public final ObuScene.RsmWarningData bean;
public ObuRsm(MessagePad.Header header, ObuScene.RsmWarningData bean, SimpleDateFormat sdf) {
super("接收", bean.getSerializedSize(), header, sdf);
this.bean = bean;
}
@Override
public String toString() {
return super.toString() + TextFormat.printer().escapingNonAscii(false).printToString(bean);
}
}

24
app_ipc_monitoring/src/main/java/com/zhidao/adas/client/bean/ObuSpat.java Normal file
View File

@@ -0,0 +1,24 @@
package com.zhidao.adas.client.bean;
import com.google.protobuf.TextFormat;
import com.mogo.support.obu.ObuScene;
import java.text.SimpleDateFormat;
import mogo.telematics.pad.MessagePad;
public class ObuSpat extends BaseInfo {
public final ObuScene.SpatWarningData bean;
public ObuSpat(MessagePad.Header header, ObuScene.SpatWarningData bean, SimpleDateFormat sdf) {
super("接收", bean.getSerializedSize(), header, sdf);
this.bean = bean;
}
@Override
public String toString() {
return super.toString() + TextFormat.printer().escapingNonAscii(false).printToString(bean);
}
}

10
app_ipc_monitoring/src/main/java/com/zhidao/adas/client/ui/InfoFragment.java
View File

@@ -136,7 +136,15 @@ public class InfoFragment extends BaseFragment {
adapter.setData(DataDistribution.getInstance().listStatusInfo);
} else if (Constants.TITLE.RECEIVE_OBU_WARNING_DATA.equals(title)) {
adapter.setData(DataDistribution.getInstance().listObuWarningData);
} else if (Constants.TITLE.RECEIVE_RECORD_DATA_CONFIG_RESP.equals(title)) {
}else if (Constants.TITLE.RECEIVE_OBU_SPAT.equals(title)) {
adapter.setData(DataDistribution.getInstance().listObuSpat);
} else if (Constants.TITLE.RECEIVE_OBU_RSI.equals(title)) {
adapter.setData(DataDistribution.getInstance().listObuRsi);
} else if (Constants.TITLE.RECEIVE_OBU_RSM.equals(title)) {
adapter.setData(DataDistribution.getInstance().listObuRsm);
} else if (Constants.TITLE.RECEIVE_OBU_MAP.equals(title)) {
adapter.setData(DataDistribution.getInstance().listObuMap);
} else if (Constants.TITLE.RECEIVE_RECORD_DATA_CONFIG_RESP.equals(title)) {
adapter.setData(DataDistribution.getInstance().listRecordDataConfig);
} else if (Constants.TITLE.RECEIVE_GLOBAL_PATH_RESP.equals(title)) {
adapter.setData(DataDistribution.getInstance().listGlobalPathResp);

35
app_ipc_monitoring/src/main/java/com/zhidao/adas/client/ui/MainActivity.java
View File

@@ -44,7 +44,6 @@ import androidx.recyclerview.widget.RecyclerView;
import androidx.recyclerview.widget.SimpleItemAnimator;
import com.google.protobuf.TextFormat;
import com.mogo.support.obu.ObuPenetrate;
import com.mogo.support.obu.ObuScene;
import com.mogo.telematic.MogoProtocolMsg;
import com.mogo.telematic.NSDNettyManager;
@@ -70,6 +69,10 @@ import com.zhidao.adas.client.bean.GlobalPathResp;
import com.zhidao.adas.client.bean.GnssInfo;
import com.zhidao.adas.client.bean.IPCConnectState;
import com.zhidao.adas.client.bean.MogoReportMessage;
import com.zhidao.adas.client.bean.ObuMap;
import com.zhidao.adas.client.bean.ObuRsi;
import com.zhidao.adas.client.bean.ObuRsm;
import com.zhidao.adas.client.bean.ObuSpat;
import com.zhidao.adas.client.bean.ObuWarningData;
import com.zhidao.adas.client.bean.OriginalPointCloudData;
import com.zhidao.adas.client.bean.PerceptionTrafficLight;
@@ -552,7 +555,7 @@ public class MainActivity extends BaseActivity implements OnAdasListener, OnAdas
@Override
public void onClick(View v) {
if (TextUtils.equals(title.getText(), getString(R.string.have_error_data))) {
int position=titleFragmentData.size() - 1;
int position = titleFragmentData.size() - 1;
infoFragment.smoothScrollToPosition(position);
fragmentAdapter.setSelectedPosition(position);
showFragment(Constants.TITLE.RECEIVE_ERROR);
@@ -666,6 +669,10 @@ public class MainActivity extends BaseActivity implements OnAdasListener, OnAdas
titleFragmentData.add(Constants.TITLE.RECEIVE_ARRIVAL_NOTIFICATION);
titleFragmentData.add(Constants.TITLE.RECEIVE_STATUS_QUERY_RESP);
titleFragmentData.add(Constants.TITLE.RECEIVE_OBU_WARNING_DATA);
titleFragmentData.add(Constants.TITLE.RECEIVE_OBU_SPAT);
titleFragmentData.add(Constants.TITLE.RECEIVE_OBU_RSI);
titleFragmentData.add(Constants.TITLE.RECEIVE_OBU_RSM);
titleFragmentData.add(Constants.TITLE.RECEIVE_OBU_MAP);
titleFragmentData.add(Constants.TITLE.RECEIVE_SWEEPER_TASK_INDEX_DATA);
titleFragmentData.add(Constants.TITLE.RECEIVE_WARN);
titleFragmentData.add(Constants.TITLE.RECEIVE_ERROR);
@@ -1032,23 +1039,33 @@ public class MainActivity extends BaseActivity implements OnAdasListener, OnAdas
}
@Override
public void onoObuSpatWarning(MessagePad.Header header, ObuScene.SpatWarningData spatWarningData) {
public void onObuWarningData(MessagePad.Header header, ObuWarningEvent.ObuWarningData obuWarningData) {
ObuWarningData base = new ObuWarningData(header, obuWarningData, sdf);
DataDistribution.getInstance().addData(base);
}
@Override
public void onoObuRsiWarning(MessagePad.Header header, ObuScene.RsiWarningData rsiWarningData) {
public void onObuSpatWarning(MessagePad.Header header, ObuScene.SpatWarningData spatWarningData) {
ObuSpat base = new ObuSpat(header, spatWarningData, sdf);
DataDistribution.getInstance().addData(base);
}
@Override
public void onoObuRsmWarning(MessagePad.Header header, ObuScene.RsmWarningData rsmWarningData) {
public void onObuRsiWarning(MessagePad.Header header, ObuScene.RsiWarningData rsiWarningData) {
ObuRsi base = new ObuRsi(header, rsiWarningData, sdf);
DataDistribution.getInstance().addData(base);
}
@Override
public void onoObuObuMapMath(MessagePad.Header header, ObuScene.MapMatchData mapMatchData) {
public void onObuRsmWarning(MessagePad.Header header, ObuScene.RsmWarningData rsmWarningData) {
ObuRsm base = new ObuRsm(header, rsmWarningData, sdf);
DataDistribution.getInstance().addData(base);
}
@Override
public void onObuMapMath(MessagePad.Header header, ObuScene.MapMatchData mapMatchData) {
ObuMap base = new ObuMap(header, mapMatchData, sdf);
DataDistribution.getInstance().addData(base);
}
@Override

4
app_ipc_monitoring/src/main/java/com/zhidao/adas/client/utils/Constants.java
View File

@@ -173,6 +173,10 @@ public class Constants {
String RECEIVE_ARRIVAL_NOTIFICATION = MessageType.TYPE_RECEIVE_ARRIVAL_NOTIFICATION.desc;
String RECEIVE_STATUS_QUERY_RESP = MessageType.TYPE_RECEIVE_STATUS_QUERY_RESP.desc;
String RECEIVE_OBU_WARNING_DATA = MessageType.TYPE_RECEIVE_OBU_WARNING_DATA.desc;
String RECEIVE_OBU_SPAT = "OBU SPAT信息";
String RECEIVE_OBU_RSI = "OBU RSI信息";
String RECEIVE_OBU_RSM = "OBU RSM信息";
String RECEIVE_OBU_MAP = "OBU MAP信息";
String RECEIVE_ERROR = "错误数据";

13
app_mogo_magic_ring/src/main/java/com/zhidao/adas/magic/ui/MainActivity.java
View File

@@ -547,22 +547,27 @@ public class MainActivity extends BaseActivity implements OnAdasListener, OnAdas
}
@Override
public void onoObuSpatWarning(MessagePad.Header header, ObuScene.SpatWarningData spatWarningData) {
public void onObuWarningData(MessagePad.Header header, ObuWarningEvent.ObuWarningData obuWarningData) {
}
@Override
public void onoObuRsiWarning(MessagePad.Header header, ObuScene.RsiWarningData rsiWarningData) {
public void onObuSpatWarning(MessagePad.Header header, ObuScene.SpatWarningData spatWarningData) {
}
@Override
public void onoObuRsmWarning(MessagePad.Header header, ObuScene.RsmWarningData rsmWarningData) {
public void onObuRsiWarning(MessagePad.Header header, ObuScene.RsiWarningData rsiWarningData) {
}
@Override
public void onoObuObuMapMath(MessagePad.Header header, ObuScene.MapMatchData mapMatchData) {
public void onObuRsmWarning(MessagePad.Header header, ObuScene.RsmWarningData rsmWarningData) {
}
@Override
public void onObuMapMath(MessagePad.Header header, ObuScene.MapMatchData mapMatchData) {
}

8
core/function-impl/mogo-core-function-datacenter/src/main/java/com/mogo/eagle/core/function/datacenter/autopilot/adapter/MoGoAdasListenerImpl.kt
View File

@@ -532,7 +532,7 @@ class MoGoAdasListenerImpl : OnAdasListener {
* @param header 头
* @param spatWarningData 数据
*/
override fun onoObuSpatWarning(header: MessagePad.Header?, spatWarningData: ObuScene.SpatWarningData?) {
override fun onObuSpatWarning(header: MessagePad.Header?, spatWarningData: ObuScene.SpatWarningData?) {
CallerObuWarningSpatListenerManager.invokeObuSpatWarning(spatWarningData!!)
}
/**
@@ -541,7 +541,7 @@ class MoGoAdasListenerImpl : OnAdasListener {
* @param header 头
* @param rsiWarningData 数据
*/
override fun onoObuRsiWarning(header: MessagePad.Header?, rsiWarningData: ObuScene.RsiWarningData?) {
override fun onObuRsiWarning(header: MessagePad.Header?, rsiWarningData: ObuScene.RsiWarningData?) {
CallerObuWarningRsiListenerManager.invokeObuRsiWarning(rsiWarningData!!)
}
@@ -551,7 +551,7 @@ class MoGoAdasListenerImpl : OnAdasListener {
* @param header 头
* @param rsmWarningData 数据
*/
override fun onoObuRsmWarning(header: MessagePad.Header?, rsmWarningData: ObuScene.RsmWarningData?) {
override fun onObuRsmWarning(header: MessagePad.Header?, rsmWarningData: ObuScene.RsmWarningData?) {
CallerObuWarningRsmListenerManager.invokeObuRsmWarning(rsmWarningData!!)
}
/**
@@ -560,7 +560,7 @@ class MoGoAdasListenerImpl : OnAdasListener {
* @param header 头
* @param mapMatchData 数据
*/
override fun onoObuObuMapMath(header: MessagePad.Header?, mapMatchData: ObuScene.MapMatchData?) {
override fun onObuMapMath(header: MessagePad.Header?, mapMatchData: ObuScene.MapMatchData?) {
CallerObuMapMathListenerManager.invokeObuMapMath(mapMatchData!!)
}

106
core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/view/OverMapView.kt
View File

@@ -8,6 +8,7 @@ import android.util.AttributeSet
import android.util.Log
import android.view.LayoutInflater
import android.view.MotionEvent
import android.view.View
import android.widget.RelativeLayout
import android.widget.TextView
import ch.hsr.geohash.GeoHash
@@ -16,7 +17,6 @@ import com.amap.api.maps.CameraUpdate
import com.amap.api.maps.CameraUpdateFactory
import com.amap.api.maps.TextureMapView
import com.amap.api.maps.model.*
import com.mogo.eagle.core.data.config.FunctionBuildConfig
import com.mogo.eagle.core.data.map.Infrastructure
import com.mogo.eagle.core.data.map.MogoLocation
import com.mogo.eagle.core.data.v2x.V2XEvent
@@ -38,7 +38,6 @@ import com.mogo.eagle.core.function.smp.MarkerDrawerManager.planningPoints
import com.mogo.eagle.core.function.smp.MarkerDrawerManager.startLoopCalCarLocation
import com.mogo.eagle.core.function.smp.MarkerDrawerManager.updateRoutePoints
import com.mogo.eagle.core.function.smp.V2XMarkerView
import com.mogo.eagle.core.utilcode.mogo.AppIdentityModeUtils.isTaxi
import com.mogo.eagle.core.utilcode.mogo.MapAssetStyleUtils
import com.mogo.eagle.core.utilcode.util.UiThreadHandler
import me.jessyan.autosize.utils.AutoSizeUtils
@@ -54,6 +53,18 @@ class OverMapView @JvmOverloads constructor(
attrs: AttributeSet? = null,
defStyleAttr: Int = 0
) : RelativeLayout(context, attrs, defStyleAttr), IMoGoChassisLocationGCJ02Listener {
// =============自定义属性相关=============
private var mapStylePath: String? = null
private var mapStyleExtraPath: String? = null
private var carDrawable: Int = -1
private var compassDrawable: Int = -1
private var startPointDrawable: Int = -1
private var endPointDrawable: Int = -1
private var arrivedDrawable: Int = -1
private var unArrivedDrawable: Int = -1
private var resetDrawable: Int = -1
private var mMapView: TextureMapView? = null
private var mAMap: AMap? = null
private val zoomLevel = 15
@@ -94,6 +105,20 @@ class OverMapView @JvmOverloads constructor(
init {
try {
val typedArray = context.obtainStyledAttributes(attrs, R.styleable.OverMapView)
mapStylePath = typedArray.getString(R.styleable.OverMapView_mapStylePath)
mapStyleExtraPath = typedArray.getString(R.styleable.OverMapView_mapStyleExtraPath)
carDrawable = typedArray.getResourceId(R.styleable.OverMapView_carDrawable, -1)
compassDrawable = typedArray.getResourceId(R.styleable.OverMapView_compassDrawable, -1)
startPointDrawable =
typedArray.getResourceId(R.styleable.OverMapView_startPointDrawable, -1)
endPointDrawable =
typedArray.getResourceId(R.styleable.OverMapView_endPointDrawable, -1)
arrivedDrawable = typedArray.getResourceId(R.styleable.OverMapView_arrivedDrawable, -1)
unArrivedDrawable =
typedArray.getResourceId(R.styleable.OverMapView_unArrivedDrawable, -1)
resetDrawable = typedArray.getResourceId(R.styleable.OverMapView_resetDrawable, -1)
typedArray.recycle()
initView(context)
} catch (e: Exception) {
e.printStackTrace()
@@ -129,21 +154,18 @@ class OverMapView @JvmOverloads constructor(
}
// =================必须通知高德地图生命周期的变化=================
fun hideResetView() {
overLayerView?.visibility = View.GONE
}
private fun initView(context: Context) {
mContext = context
val smpView = LayoutInflater.from(context).inflate(R.layout.module_overview_map_view, this)
mMapView = smpView.findViewById(R.id.aMapView)
overLayerView = findViewById(R.id.overLayer)
if (isTaxi(FunctionBuildConfig.appIdentityMode)) {
overLayerView?.background = resources.getDrawable(R.drawable.amap_reset)
arrivedBitmap = BitmapDescriptorFactory.fromResource(R.drawable.taxi_map_arrow_arrived)
unArrivedBitmap =
BitmapDescriptorFactory.fromResource(R.drawable.taxi_map_arrow_un_arrive)
} else {
overLayerView?.background = resources.getDrawable(R.drawable.amap_reset_bus)
arrivedBitmap = BitmapDescriptorFactory.fromResource(R.drawable.arrow_arrived_img)
unArrivedBitmap = BitmapDescriptorFactory.fromResource(R.drawable.amap_bus_smooth_route)
}
overLayerView?.background = resources.getDrawable(if (resetDrawable != -1) resetDrawable else R.drawable.amap_reset)
arrivedBitmap = BitmapDescriptorFactory.fromResource(if (arrivedDrawable != -1) arrivedDrawable else R.drawable.taxi_map_arrow_arrived)
unArrivedBitmap = BitmapDescriptorFactory.fromResource(if (unArrivedDrawable != -1) unArrivedDrawable else R.drawable.taxi_map_arrow_un_arrive)
CallerPlanningRottingListenerManager.addListener(TAG, moGoAutopilotPlanningListener)
initAMapView(context)
// 注册定位监听
@@ -157,19 +179,12 @@ class OverMapView @JvmOverloads constructor(
mCameraUpdate = CameraUpdateFactory.zoomTo(zoomLevel.toFloat())
mAMap = mMapView!!.map
mCustomMapStyleOptions = CustomMapStyleOptions()
if (isTaxi(FunctionBuildConfig.appIdentityMode)) {
if (!mapStylePath.isNullOrEmpty() && !mapStyleExtraPath.isNullOrEmpty()) {
mCustomMapStyleOptions!!.styleData =
MapAssetStyleUtils.getAssetsStyle(getContext(), "over_view_style.data")
MapAssetStyleUtils.getAssetsStyle(getContext(), mapStylePath)
mCustomMapStyleOptions!!.styleExtraData =
MapAssetStyleUtils.getAssetsExtraStyle(getContext(), "over_view_style_extra.data")
} else {
mCustomMapStyleOptions!!.styleData =
MapAssetStyleUtils.getAssetsStyle(getContext(), "over_view_style_bus.data")
mCustomMapStyleOptions!!.styleExtraData =
MapAssetStyleUtils.getAssetsExtraStyle(
getContext(),
"over_view_style_extra_bus.data"
)
MapAssetStyleUtils.getAssetsExtraStyle(getContext(), mapStyleExtraPath)
}
mAMap?.setOnMapLoadedListener {
Log.d(TAG, "---onMapLoaded---")
@@ -227,36 +242,23 @@ class OverMapView @JvmOverloads constructor(
* 自定义导航View和路况状态
*/
private fun customOptions() {
if (isTaxi(FunctionBuildConfig.appIdentityMode)) {
mCarMarker = mAMap!!.addMarker(
MarkerOptions()
.icon(BitmapDescriptorFactory.fromResource(R.drawable.map_car_icon))
.anchor(0.5f, 0.5f)
)
mCompassMarker = mAMap!!.addMarker(
MarkerOptions()
.icon(BitmapDescriptorFactory.fromResource(R.drawable.amap_custom_corner))
.anchor(0.5f, 0.5f)
)
} else {
mCarMarker = mAMap!!.addMarker(
MarkerOptions()
.icon(BitmapDescriptorFactory.fromResource(R.drawable.map_bus_icon))
.anchor(0.5f, 0.5f)
)
mCompassMarker = mAMap!!.addMarker(
MarkerOptions()
.icon(BitmapDescriptorFactory.fromResource(R.drawable.amap_bus_corner))
.anchor(0.5f, 0.5f)
)
}
mCarMarker = mAMap!!.addMarker(
MarkerOptions()
.icon(BitmapDescriptorFactory.fromResource(if (carDrawable != -1) carDrawable else R.drawable.map_car_icon))
.anchor(0.5f, 0.5f)
)
mCompassMarker = mAMap!!.addMarker(
MarkerOptions()
.icon(BitmapDescriptorFactory.fromResource(if (compassDrawable != -1) compassDrawable else R.drawable.amap_custom_corner))
.anchor(0.5f, 0.5f)
)
mStartMarker = mAMap!!.addMarker(
MarkerOptions()
.icon(BitmapDescriptorFactory.fromResource(R.drawable.module_small_map_view_dir_start))
.icon(BitmapDescriptorFactory.fromResource(if (startPointDrawable != -1) startPointDrawable else R.drawable.module_small_map_view_dir_start))
)
mEndMarker = mAMap!!.addMarker(
MarkerOptions()
.icon(BitmapDescriptorFactory.fromResource(R.drawable.module_small_map_view_dir_end))
.icon(BitmapDescriptorFactory.fromResource(if (endPointDrawable != -1) endPointDrawable else R.drawable.module_small_map_view_dir_end))
)
}
@@ -558,10 +560,14 @@ class OverMapView @JvmOverloads constructor(
for (i in coordinates.indices) {
if (i <= locIndex) {
// 已走过的置灰
textureList.add(arrivedBitmap)
arrivedBitmap?.let {
textureList.add(it)
}
} else {
// 未走过的纹理
textureList.add(unArrivedBitmap)
unArrivedBitmap?.let {
textureList.add(it)
}
}
texIndexList.add(i)
}

22
core/function-impl/mogo-core-function-map/src/main/res/values/attrs.xml Normal file
View File

@@ -0,0 +1,22 @@
<?xml version="1.0" encoding="utf-8"?>
<resources>
<declare-styleable name="OverMapView">
<!-- 地图样式asset目录下的路径 -->
<attr name="mapStylePath" format="string" />
<attr name="mapStyleExtraPath" format="string" />
<!-- 自车模型图片 -->
<attr name="carDrawable" format="reference" />
<!-- 罗盘图片 -->
<attr name="compassDrawable" format="reference" />
<!-- 起点图片 -->
<attr name="startPointDrawable" format="reference" />
<!-- 终点图片 -->
<attr name="endPointDrawable" format="reference" />
<!-- 已走过路线的图片 -->
<attr name="arrivedDrawable" format="reference" />
<!-- 未走过路线的图片 -->
<attr name="unArrivedDrawable" format="reference" />
<!-- 重置位置图片 -->
<attr name="resetDrawable" format="reference" />
</declare-styleable>
</resources>

3
libraries/mogo-adas-data/README.md
View File

@@ -1,5 +1,5 @@
# 工控机PB文件 用于生成Java Bean
# ***鹰眼自用PB文件放在单独文件夹（personal）目的是为了区分工控机PB还是自用PB***
## 1. studio中*.proto文件中如果出现“Cannot resolve symbol 'xxxx'”提示
**不影响正常编译，只影响美观以及无法在proto文件中跳转**
~~~
@@ -15,7 +15,6 @@
~~~
# 工控机透传OBU V2I PB转换
***鹰眼自用PB文件放在单独文件夹（personal）目的是为了区分工控机PB还是自用PB***
|工控机原始PB文件|转换后鹰眼所用PB|
|:-|:-|
|obu_warning_event.proto|personal/obu_penetrate.proto、personal/obu_scene.proto|

8
libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/OnAdasListener.java
View File

@@ -201,7 +201,7 @@ public interface OnAdasListener {
* @param header 头
* @param spatWarningData 数据
*/
void onoObuSpatWarning(MessagePad.Header header, ObuScene.SpatWarningData spatWarningData);
void onObuSpatWarning(MessagePad.Header header, ObuScene.SpatWarningData spatWarningData);
/**
* OBU RSI预警信息
@@ -209,7 +209,7 @@ public interface OnAdasListener {
* @param header 头
* @param rsiWarningData 数据
*/
void onoObuRsiWarning(MessagePad.Header header, ObuScene.RsiWarningData rsiWarningData);
void onObuRsiWarning(MessagePad.Header header, ObuScene.RsiWarningData rsiWarningData);
/**
* OBU RSM预警信息
@@ -217,7 +217,7 @@ public interface OnAdasListener {
* @param header 头
* @param rsmWarningData 数据
*/
void onoObuRsmWarning(MessagePad.Header header, ObuScene.RsmWarningData rsmWarningData);
void onObuRsmWarning(MessagePad.Header header, ObuScene.RsmWarningData rsmWarningData);
/**
* OBU 地图匹配结果
@@ -225,7 +225,7 @@ public interface OnAdasListener {
* @param header 头
* @param mapMatchData 数据
*/
void onoObuObuMapMath(MessagePad.Header header, ObuScene.MapMatchData mapMatchData);
void onObuMapMath(MessagePad.Header header, ObuScene.MapMatchData mapMatchData);
/**
* 重构后的功能状态

379
libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/msg/ObuWarningDataMessage.java
View File

@@ -1,15 +1,19 @@
package com.zhidao.support.adas.high.msg;
import android.os.SystemClock;
import android.util.Log;
import com.google.protobuf.InvalidProtocolBufferException;
import com.google.protobuf.UnknownFieldSet;
import com.mogo.support.obu.ObuBase;
import com.mogo.support.obu.ObuPenetrate;
import com.mogo.support.obu.ObuScene;
import com.zhidao.support.adas.high.AdasChannel;
import com.zhidao.support.adas.high.OnAdasListener;
import com.zhidao.support.adas.high.common.CupidLogUtils;
import com.zhidao.support.adas.high.protocol.RawData;
import java.util.List;
import mogo.v2x.ObuWarningEvent;
@@ -20,39 +24,358 @@ public class ObuWarningDataMessage extends MyAbstractMessageHandler {
@Override
public void handlerMsg(RawData raw, OnAdasListener adasListener) throws InvalidProtocolBufferException {
ObuWarningEvent.ObuWarningData obuWarningData = ObuWarningEvent.ObuWarningData.parser().parseFrom(raw.originalData.toByteArray(), raw.getOffsetValue(), raw.getPackageLengthValue() - raw.getOffsetValue());
AdasChannel.calculateTimeConsumingOnDispatchRaw("OBU预警事件", raw.receiveTime);
long nowTime = 0;
if (CupidLogUtils.isEnableLog())
nowTime = SystemClock.elapsedRealtime();
if (adasListener != null) {
// adasListener.onObuWarningData(raw.getHeader(), obuWarningData);
}
AdasChannel.calculateTimeConsumingBusiness("OBU预警事件", nowTime);
// ObuPenetrate.WarningData warningData = ObuPenetrate.WarningData.parser().parseFrom(raw.originalData.toByteArray(), raw.getOffsetValue(), raw.getPackageLengthValue() - raw.getOffsetValue());
// UnknownFieldSet set = warningData.getMapMatchData().getUnknownFields();
//
// Log.i("ddd", "set.getField(7).getVarintList()=" + set.getField(7).getVarintList());
// Long a = set.getField(7).getVarintList().get(0);
//
// ObuScene.MapMatchData.Builder MapMatchDataBuilder = warningData.getMapMatchData().toBuilder().setSpeedMinLimit(a * 0.02D);
// MapMatchDataBuilder.setUnknownFields(UnknownFieldSet.getDefaultInstance());
// ObuPenetrate.WarningData.Builder builder = warningData.toBuilder();
// builder.setMapMatchData(MapMatchDataBuilder);
// warningData = builder.build();
//// Log.i("ddd","a="+a);
//
//
// ObuWarningEvent.ObuWarningData obuWarningData = ObuWarningEvent.ObuWarningData.parser().parseFrom(raw.originalData.toByteArray(), raw.getOffsetValue(), raw.getPackageLengthValue() - raw.getOffsetValue());
// AdasChannel.calculateTimeConsumingOnDispatchRaw("OBU预警事件", raw.receiveTime);
// long nowTime = 0;
// if (CupidLogUtils.isEnableLog())
// nowTime = SystemClock.elapsedRealtime();
// if (adasListener != null) {
// adasListener.onObuWarningData(raw.getHeader(), warningData);
// adasListener.onObuWarningData(raw.getHeader(), obuWarningData);
// }
// AdasChannel.calculateTimeConsumingBusiness("OBU预警事件", nowTime);
ObuPenetrate.PenetrateWarningData warningData = ObuPenetrate.PenetrateWarningData.parser().parseFrom(raw.originalData.toByteArray(), raw.getOffsetValue(), raw.getPackageLengthValue() - raw.getOffsetValue());
AdasChannel.calculateTimeConsumingOnDispatchRaw("OBU预警事件", raw.receiveTime);
long nowTime = 0;
if (CupidLogUtils.isEnableLog())
nowTime = SystemClock.elapsedRealtime();
if (adasListener != null) {
if (warningData.getMsgDataType() == 1) {//rsiEvent
if (warningData.hasRsiEvent()) {
ObuScene.RsiWarningData rsiWarningData = warningData.getRsiEvent();
ObuScene.RsiWarningData.Builder rsiWarningDataBuilder = rsiWarningData.toBuilder();
int size = rsiWarningData.getWarningMsgCount();
for (int i = 0; i < size; i++) {
ObuBase.RsiWarning warning = rsiWarningData.getWarningMsg(i);
ObuBase.RsiWarning.Builder warningBuilder = warning.toBuilder();
if (warning.hasPosition()) {
ObuBase.PositionLLV positionLLV = warning.getPosition();
ObuBase.PositionLLV.Builder positionLLVBuilder = positionLLV.toBuilder();
if (positionLLV.hasPosition()) {
ObuBase.PositionOffset positionOffset = positionLLV.getPosition();
ObuBase.PositionOffset.Builder positionOffsetBuilder = positionOffset.toBuilder();
if (positionOffset.hasPositionLL1()) {
ObuBase.PositionLL1 positionLL1 = positionOffset.getPositionLL1();
ObuBase.PositionLL1.Builder positionLL1Builder = positionLL1.toBuilder();
UnknownFieldSet set = positionLL1.getUnknownFields();
UnknownFieldSet.Builder unknownFieldSetBuilder = set.toBuilder();
double value = getVarint(set, unknownFieldSetBuilder, 1, 10000000.0D);
if (value != Double.MIN_VALUE) {
positionLL1Builder.setLongitude(value);
}
value = getVarint(set, unknownFieldSetBuilder, 2, 10000000.0D);
if (value != Double.MIN_VALUE) {
positionLL1Builder.setLatitude(value);
}
positionLL1Builder.setUnknownFields(unknownFieldSetBuilder.build());
positionOffsetBuilder.setPositionLL1(positionLL1Builder);
positionLLVBuilder.setPosition(positionOffsetBuilder);
}
if (positionOffset.hasPositionLL2()) {
ObuBase.PositionLL2 positionLL2 = positionOffset.getPositionLL2();
ObuBase.PositionLL2.Builder positionLL2Builder = positionLL2.toBuilder();
UnknownFieldSet set = positionLL2.getUnknownFields();
UnknownFieldSet.Builder unknownFieldSetBuilder = set.toBuilder();
double value = getVarint(set, unknownFieldSetBuilder, 1, 10000000.0D);
if (value != Double.MIN_VALUE) {
positionLL2Builder.setLongitude(value);
}
value = getVarint(set, unknownFieldSetBuilder, 2, 10000000.0D);
if (value != Double.MIN_VALUE) {
positionLL2Builder.setLatitude(value);
}
positionLL2Builder.setUnknownFields(unknownFieldSetBuilder.build());
positionOffsetBuilder.setPositionLL2(positionLL2Builder);
positionLLVBuilder.setPosition(positionOffsetBuilder);
}
if (positionOffset.hasPositionLL3()) {
ObuBase.PositionLL3 positionLL3 = positionOffset.getPositionLL3();
ObuBase.PositionLL3.Builder positionLL3Builder = positionLL3.toBuilder();
UnknownFieldSet set = positionLL3.getUnknownFields();
UnknownFieldSet.Builder unknownFieldSetBuilder = set.toBuilder();
double value = getVarint(set, unknownFieldSetBuilder, 1, 10000000.0D);
if (value != Double.MIN_VALUE) {
positionLL3Builder.setLongitude(value);
}
value = getVarint(set, unknownFieldSetBuilder, 2, 10000000.0D);
if (value != Double.MIN_VALUE) {
positionLL3Builder.setLatitude(value);
}
positionLL3Builder.setUnknownFields(unknownFieldSetBuilder.build());
positionOffsetBuilder.setPositionLL3(positionLL3Builder);
positionLLVBuilder.setPosition(positionOffsetBuilder);
}
if (positionOffset.hasPositionLL4()) {
ObuBase.PositionLL4 positionLL4 = positionOffset.getPositionLL4();
ObuBase.PositionLL4.Builder positionLL4Builder = positionLL4.toBuilder();
UnknownFieldSet set = positionLL4.getUnknownFields();
UnknownFieldSet.Builder unknownFieldSetBuilder = set.toBuilder();
double value = getVarint(set, unknownFieldSetBuilder, 1, 10000000.0D);
if (value != Double.MIN_VALUE) {
positionLL4Builder.setLongitude(value);
}
value = getVarint(set, unknownFieldSetBuilder, 2, 10000000.0D);
if (value != Double.MIN_VALUE) {
positionLL4Builder.setLatitude(value);
}
positionLL4Builder.setUnknownFields(unknownFieldSetBuilder.build());
positionOffsetBuilder.setPositionLL4(positionLL4Builder);
positionLLVBuilder.setPosition(positionOffsetBuilder);
}
if (positionOffset.hasPositionLL5()) {
ObuBase.PositionLL5 positionLL5 = positionOffset.getPositionLL5();
ObuBase.PositionLL5.Builder positionLL5Builder = positionLL5.toBuilder();
UnknownFieldSet set = positionLL5.getUnknownFields();
UnknownFieldSet.Builder unknownFieldSetBuilder = set.toBuilder();
double value = getVarint(set, unknownFieldSetBuilder, 1, 10000000.0D);
if (value != Double.MIN_VALUE) {
positionLL5Builder.setLongitude(value);
}
value = getVarint(set, unknownFieldSetBuilder, 2, 10000000.0D);
if (value != Double.MIN_VALUE) {
positionLL5Builder.setLatitude(value);
}
positionLL5Builder.setUnknownFields(unknownFieldSetBuilder.build());
positionOffsetBuilder.setPositionLL5(positionLL5Builder);
positionLLVBuilder.setPosition(positionOffsetBuilder);
}
if (positionOffset.hasPositionLL6()) {
ObuBase.PositionLL6 positionLL6 = positionOffset.getPositionLL6();
ObuBase.PositionLL6.Builder positionLL6Builder = positionLL6.toBuilder();
UnknownFieldSet set = positionLL6.getUnknownFields();
UnknownFieldSet.Builder unknownFieldSetBuilder = set.toBuilder();
double value = getVarint(set, unknownFieldSetBuilder, 1, 10000000.0D);
if (value != Double.MIN_VALUE) {
positionLL6Builder.setLongitude(value);
}
value = getVarint(set, unknownFieldSetBuilder, 2, 10000000.0D);
if (value != Double.MIN_VALUE) {
positionLL6Builder.setLatitude(value);
}
positionLL6Builder.setUnknownFields(unknownFieldSetBuilder.build());
positionOffsetBuilder.setPositionLL6(positionLL6Builder);
positionLLVBuilder.setPosition(positionOffsetBuilder);
}
if (positionOffset.hasPositionLatLon()) {
ObuBase.PositionLatLon positionLatLon = positionOffset.getPositionLatLon();
ObuBase.PositionLatLon.Builder positionLatLonBuilder = positionLatLon.toBuilder();
UnknownFieldSet set = positionLatLon.getUnknownFields();
UnknownFieldSet.Builder unknownFieldSetBuilder = set.toBuilder();
double value = getVarint(set, unknownFieldSetBuilder, 1, 10000000.0D);
if (value != Double.MIN_VALUE) {
positionLatLonBuilder.setLongitude(value);
}
value = getVarint(set, unknownFieldSetBuilder, 2, 10000000.0D);
if (value != Double.MIN_VALUE) {
positionLatLonBuilder.setLatitude(value);
}
positionLatLonBuilder.setUnknownFields(unknownFieldSetBuilder.build());
positionOffsetBuilder.setPositionLatLon(positionLatLonBuilder);
positionLLVBuilder.setPosition(positionOffsetBuilder);
}
}
if (positionLLV.hasVertical()) {
ObuBase.VerticalLLV verticalLLV = positionLLV.getVertical();
ObuBase.VerticalLLV.Builder verticalLLVBuilder = verticalLLV.toBuilder();
UnknownFieldSet set = verticalLLV.getUnknownFields();
UnknownFieldSet.Builder unknownFieldSetBuilder = set.toBuilder();
double value = getVarint(set, unknownFieldSetBuilder, 1, 10.0D);
if (value != Double.MIN_VALUE) {
verticalLLVBuilder.setOffset1(value);
}
value = getVarint(set, unknownFieldSetBuilder, 2, 10.0D);
if (value != Double.MIN_VALUE) {
verticalLLVBuilder.setOffset2(value);
}
value = getVarint(set, unknownFieldSetBuilder, 3, 10.0D);
if (value != Double.MIN_VALUE) {
verticalLLVBuilder.setOffset3(value);
}
value = getVarint(set, unknownFieldSetBuilder, 4, 10.0D);
if (value != Double.MIN_VALUE) {
verticalLLVBuilder.setOffset4(value);
}
value = getVarint(set, unknownFieldSetBuilder, 5, 10.0D);
if (value != Double.MIN_VALUE) {
verticalLLVBuilder.setOffset5(value);
}
value = getVarint(set, unknownFieldSetBuilder, 6, 10.0D);
if (value != Double.MIN_VALUE) {
verticalLLVBuilder.setOffset6(value);
}
value = getVarint(set, unknownFieldSetBuilder, 7, 10.0D);
if (value != Double.MIN_VALUE) {
verticalLLVBuilder.setElevation(value);
}
verticalLLVBuilder.setUnknownFields(unknownFieldSetBuilder.build());
positionLLVBuilder.setVertical(verticalLLVBuilder);
}
warningBuilder.setPosition(positionLLVBuilder);
}
UnknownFieldSet set = warning.getUnknownFields();
UnknownFieldSet.Builder unknownFieldSetBuilder = set.toBuilder();
double value = getVarint(set, unknownFieldSetBuilder, 6, 50.0D);
if (value != Double.MIN_VALUE) {
warningBuilder.setSpeedMaxLimit(value);
}
value = getVarint(set, unknownFieldSetBuilder, 7, 50.0D);
if (value != Double.MIN_VALUE) {
warningBuilder.setSpeedMinLimit(value);
}
value = getVarint(set, unknownFieldSetBuilder, 8, 10.0D);
if (value != Double.MIN_VALUE) {
warningBuilder.setEventRadius(value);
}
value = getVarint(set, unknownFieldSetBuilder, 11, 100.0D);
if (value != Double.MIN_VALUE) {
warningBuilder.setDistance(value);
}
warningBuilder.setUnknownFields(unknownFieldSetBuilder.build());
rsiWarningDataBuilder.setWarningMsg(i, warningBuilder);
}
rsiWarningData = rsiWarningDataBuilder.build();
adasListener.onObuRsiWarning(raw.getHeader(), rsiWarningData);
}
} else if (warningData.getMsgDataType() == 2) {//rsmEvent
if (warningData.hasRsmEvent()) {
ObuScene.RsmWarningData rsmWarningData = warningData.getRsmEvent();
ObuScene.RsmWarningData.Builder rsmWarningDataBuilder = rsmWarningData.toBuilder();
if (rsmWarningData.hasParticipant()) {
ObuBase.Participant participant = rsmWarningData.getParticipant();
ObuBase.Participant.Builder participantBuilder = participant.toBuilder();
UnknownFieldSet set = participant.getUnknownFields();
UnknownFieldSet.Builder unknownFieldSetBuilder = set.toBuilder();
double value = getVarint(set, unknownFieldSetBuilder, 5, 10000000.0D);
if (value != Double.MIN_VALUE) {
participantBuilder.setLatitude(value);
}
value = getVarint(set, unknownFieldSetBuilder, 6, 10000000.0D);
if (value != Double.MIN_VALUE) {
participantBuilder.setLongitude(value);
}
value = getVarint(set, unknownFieldSetBuilder, 7, 10.0D);
if (value != Double.MIN_VALUE) {
participantBuilder.setElevation(value);
}
value = getVarint(set, unknownFieldSetBuilder, 8, 50.0D);
if (value != Double.MIN_VALUE) {
participantBuilder.setSpeed(value);
}
value = getVarint(set, unknownFieldSetBuilder, 9, 80.0D);
if (value != Double.MIN_VALUE) {
participantBuilder.setHeading(value);
}
participantBuilder.setUnknownFields(unknownFieldSetBuilder.build());
if (participant.hasAccFourAxes()) {
ObuBase.AccFourAxes accFourAxes = participant.getAccFourAxes();
ObuBase.AccFourAxes.Builder accFourAxesBuilder = accFourAxes.toBuilder();
UnknownFieldSet accFourAxesSet = accFourAxes.getUnknownFields();
UnknownFieldSet.Builder accFourAxesSetBuilder = accFourAxesSet.toBuilder();
value = getVarint(accFourAxesSet, accFourAxesSetBuilder, 1, 100.0D);
if (value != Double.MIN_VALUE) {
accFourAxesBuilder.setAccLng(value);
}
value = getVarint(accFourAxesSet, accFourAxesSetBuilder, 2, 100.0D);
if (value != Double.MIN_VALUE) {
accFourAxesBuilder.setAccLat(value);
}
value = getVarint(accFourAxesSet, accFourAxesSetBuilder, 3, 50.0D);
if (value != Double.MIN_VALUE) {
accFourAxesBuilder.setAccVert(value);
}
value = getVarint(accFourAxesSet, accFourAxesSetBuilder, 4, 100.0D);
if (value != Double.MIN_VALUE) {
accFourAxesBuilder.setAccYaw(value);
}
accFourAxesBuilder.setUnknownFields(accFourAxesSetBuilder.build());
participantBuilder.setAccFourAxes(accFourAxesBuilder);
}
if (participant.hasPtcSize()) {
ObuBase.VehicleSize vehicleSize = participant.getPtcSize();
ObuBase.VehicleSize.Builder vehicleSizeBuilder = vehicleSize.toBuilder();
vehicleSizeBuilder.setHeight(vehicleSize.getHeight() * 5);
participantBuilder.setPtcSize(vehicleSizeBuilder);
}
rsmWarningDataBuilder.setParticipant(participantBuilder);
}
if (rsmWarningData.hasWarningMsg()) {
ObuBase.V2xWarning warning = rsmWarningData.getWarningMsg();
ObuBase.V2xWarning.Builder warningBuilder = warning.toBuilder();
UnknownFieldSet warningSet = warning.getUnknownFields();
UnknownFieldSet.Builder warningSetBuilder = warningSet.toBuilder();
double value = getVarint(warningSet, warningSetBuilder, 4, 100.0D);
if (value != Double.MIN_VALUE) {
warningBuilder.setDistance(value);
}
warningBuilder.setUnknownFields(warningSetBuilder.build());
rsmWarningDataBuilder.setWarningMsg(warningBuilder);
}
rsmWarningData = rsmWarningDataBuilder.build();
adasListener.onObuRsmWarning(raw.getHeader(), rsmWarningData);
}
} else if (warningData.getMsgDataType() == 3) {//spatEvent
if (warningData.hasSpatEvent()) {
ObuScene.SpatWarningData spatWarningData = warningData.getSpatEvent();
ObuScene.SpatWarningData.Builder spatWarningDataBuilder = spatWarningData.toBuilder();
int size = spatWarningData.getLightsCount();
for (int i = 0; i < size; i++) {
ObuBase.SpatLight spatLight = spatWarningData.getLights(i);
ObuBase.SpatLight.Builder spatLightBuilder = spatLight.toBuilder();
UnknownFieldSet set = spatLight.getUnknownFields();
UnknownFieldSet.Builder unknownFieldSetBuilder = set.toBuilder();
double value = getVarint(set, unknownFieldSetBuilder, 4, 10.0D);
if (value != Double.MIN_VALUE) {
spatLightBuilder.setCountDown(value);
}
value = getVarint(set, unknownFieldSetBuilder, 5, 50.0D);
if (value != Double.MIN_VALUE) {
spatLightBuilder.setSuggestMaxSpeed(value);
}
value = getVarint(set, unknownFieldSetBuilder, 6, 50.0D);
if (value != Double.MIN_VALUE) {
spatLightBuilder.setSuggestMinSpeed(value);
}
spatLightBuilder.setUnknownFields(unknownFieldSetBuilder.build());
spatWarningDataBuilder.setLights(i, spatLightBuilder);
}
spatWarningData = spatWarningDataBuilder.build();
adasListener.onObuSpatWarning(raw.getHeader(), spatWarningData);
}
} else if (warningData.getMsgDataType() == 4) {//mapMatchData
if (warningData.hasMapMatchData()) {
ObuScene.MapMatchData mapMatchData = warningData.getMapMatchData();
ObuScene.MapMatchData.Builder mapMatchDataBuilder = mapMatchData.toBuilder();
UnknownFieldSet set = mapMatchData.getUnknownFields();
UnknownFieldSet.Builder unknownFieldSetBuilder = set.toBuilder();
double value = getVarint(set, unknownFieldSetBuilder, 6, 50.0D);
if (value != Double.MIN_VALUE) {
mapMatchDataBuilder.setSpeedMaxLimit(value);
}
value = getVarint(set, unknownFieldSetBuilder, 7, 50.0D);
if (value != Double.MIN_VALUE) {
mapMatchDataBuilder.setSpeedMinLimit(value);
}
mapMatchDataBuilder.setUnknownFields(unknownFieldSetBuilder.build());
mapMatchData = mapMatchDataBuilder.build();
adasListener.onObuMapMath(raw.getHeader(), mapMatchData);
}
}
}
AdasChannel.calculateTimeConsumingBusiness("OBU预警事件", nowTime);
}
private double getVarint(final UnknownFieldSet set, final UnknownFieldSet.Builder builder, final int number, final double precision) {
if (set.hasField(number)) {
List<Long> list = set.getField(number).getVarintList();
if (list != null && !list.isEmpty()) {
Long value = list.get(0);
if (value != null) {
builder.clearField(number);
return value / precision;
}
}
}
return Double.MIN_VALUE;
}
}