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lixiaopeng
2022-11-15 19:05:33 +08:00
parent 30a9c2507c 5f972dd012
commit dcf780ed55
730 changed files with 31009 additions and 55206 deletions
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7
modules/mogo-module-common/src/main/java/com/mogo/module/common/constants/HostConst.java
View File

@@ -19,9 +19,10 @@ public class HostConst {
public static final String CITY_HOST = "http://dzt-city.zhidaozhixing.com";
public static final String SOCKET_CENTER_DOMAIN = "socketRegion";
public static final String BINDING_SN_HOST = "https://mygateway.zhidaozhixing.com/cmdbapi/"; //中台提供的接口服务
public static final String BINDING_SN_HOST_TEST = "https://mygateway.zhidaozhixing.com/cmdbapitest/"; //中台提供的接口服务测试
// public static final String UPGRADE_APP_HOST_TEST = "http://10.0.200.12:32423?/";
public static final String UPGRADE_APP_HOST = "http://eagle-mis.zhidaozhixing.com/";
public static final String CMDB_HOST = "http://eagle-mis.zhidaozhixing.com/eagleEye-mis/cmdbapi/";
public static final String UPGRADE_APP_HOST = "http://10.0.200.12:32423?/";
}

130
modules/mogo-module-common/src/main/java/com/mogo/module/common/drawer/TrafficMarkerDrawer.kt
View File

@@ -5,10 +5,11 @@ 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.config.FunctionBuildConfig
import com.mogo.eagle.core.data.enums.TrafficTypeEnum
import com.mogo.eagle.core.data.traffic.TrafficData
import com.mogo.eagle.core.data.traffic.threatLevelColor
import com.mogo.eagle.core.utilcode.mogo.logger.CallerLogger
import com.mogo.eagle.core.utilcode.mogo.thread.WorkThreadHandler
import com.mogo.map.MogoMarkerManager
@@ -18,19 +19,19 @@ import com.mogo.module.common.constants.DataTypes
import java.util.concurrent.ConcurrentHashMap
/**
* @author xiaoyuzhou
* @date 2021/8/18 11:12 上午
* 交通元素 2D\3D绘制
* 此类用于obu/v2x预警绘制交通元素 2D\3D绘制
* obu:与其进行调试单独展示，与debugview上感知开关相关联
* v2x:绘制云端预警marker，不会做感知控制管理，后续根据注解的方式来控制v2x业务
*/
@SuppressLint("StaticFieldLeak")
object TrafficMarkerDrawer {
private val TAG = "TrafficMarkerDrawer"
private const val TAG = "TrafficMarkerDrawer"
private var mContext: Context? = null
// 动画持续时间 TODO 150
private val stepTime = 50L
// 动画持续时间
private const val stepTime = 150L
// 维护Obu识别的他车集合
private val mTrafficMap = ConcurrentHashMap<String, TrafficData>()
@@ -46,8 +47,9 @@ object TrafficMarkerDrawer {
object : Handler(WorkThreadHandler.newInstance("other_traffic_drawer").looper) {
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()
if (FunctionBuildConfig.debugTrackerProvider == 1) {
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)
}
@@ -58,15 +60,6 @@ object TrafficMarkerDrawer {
mDrawerHandler.sendEmptyMessageDelayed(1, 0L)
}
/**
* 添加识别的数据
*/
fun addTrafficInfo(trafficData: TrafficData) {
if (trafficData.uuid != null) {
mTrafficMap[trafficData.uuid!!] = trafficData
}
}
/**
* 更新识别数据,V2V预警的时候需要修改车辆颜色
*/
@@ -80,19 +73,20 @@ object TrafficMarkerDrawer {
* 更新识别数据位置
*/
fun updateITrafficLocationInfo(trafficData: 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
}
if (FunctionBuildConfig.debugTrackerProvider != 1) {
return
}
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
}
}
}
@@ -101,6 +95,9 @@ object TrafficMarkerDrawer {
* 更新识别数据颜色
*/
fun updateITrafficThreatLevelInfo(trafficData: TrafficData) {
if (FunctionBuildConfig.debugTrackerProvider != 1) {
return
}
if (trafficData != null && !TextUtils.isEmpty(trafficData.uuid)) {
val tempTraffic = mTrafficMap[trafficData.uuid]
if (tempTraffic != null) {
@@ -162,10 +159,9 @@ object TrafficMarkerDrawer {
*/
private fun drawObuRecognizedDataMarker(trafficData: TrafficData) {
CallerLogger.d(
TAG,
"trafficData.type = " + trafficData.type + "---trafficData.threatLevel = " + trafficData.threatLevel
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
@@ -181,30 +177,18 @@ object TrafficMarkerDrawer {
.icon3DRes(resId)
.rotate(trafficData.heading.toFloat())
.position(
com.mogo.eagle.core.data.map.MogoLatLng(
trafficData.lat,
trafficData.lon
)
com.mogo.eagle.core.data.map.MogoLatLng(
trafficData.lat,
trafficData.lon
)
)
if (trafficData.type != TrafficTypeEnum.TYPE_TRAFFIC_ID_SPECIAL_VEHICLE) {
// 修改颜色
when (trafficData.threatLevel) {
1 -> {
mMarkersCaches[trafficData.uuid]?.setAnchorColor("#D8D8D8FF")
}
2 -> {
mMarkersCaches[trafficData.uuid]?.setAnchorColor("#FFD53EFF")
}
3 -> {
mMarkersCaches[trafficData.uuid]?.setAnchorColor("#FF3C45FF")
}
else -> {
mMarkersCaches[trafficData.uuid]?.setAnchorColor("#D8D8D8FF")
}
}
mMarkersCaches[trafficData.uuid]?.setAnchorColor(trafficData.threatLevelColor())
}
val marker = MogoMarkerManager.getInstance(mContext).addMarker(DataTypes.TYPE_MARKER_OBU_DATA, options)
val marker = MogoMarkerManager.getInstance(mContext)
.addMarker(DataTypes.TYPE_MARKER_OBU_DATA, options)
// 缓存3D资源
mMarkerCachesResMd5Values[resIdVal] = marker.markerResName
@@ -219,43 +203,25 @@ object TrafficMarkerDrawer {
* 带动画的修改Marker
*/
private fun changeDynamicMarker(
marker: IMogoMarker,
trafficData: TrafficData
marker: IMogoMarker,
trafficData: TrafficData
) {
CallerLogger.d(
TAG,
"trafficData.type = " + trafficData.type + "---trafficData.threatLevel = " + trafficData.threatLevel
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) {
1 -> {
mMarkersCaches[trafficData.uuid]?.setAnchorColor("#D8D8D8FF")
}
2 -> {
mMarkersCaches[trafficData.uuid]?.setAnchorColor("#FFD53EFF")
}
3 -> {
mMarkersCaches[trafficData.uuid]?.setAnchorColor("#FF3C45FF")
}
else -> {
mMarkersCaches[trafficData.uuid]?.setAnchorColor("#D8D8D8FF")
}
}
mMarkersCaches[trafficData.uuid]?.setAnchorColor(trafficData.threatLevelColor())
}
try {
marker.addDynamicAnchorPosition(
com.mogo.eagle.core.data.map.MogoLatLng(
trafficData.lat,
trafficData.lon
),
trafficData.heading.toFloat(),
stepTime
com.mogo.eagle.core.data.map.MogoLatLng(
trafficData.lat,
trafficData.lon
),
trafficData.heading.toFloat(),
stepTime
)
} catch (e: Exception) {
e.printStackTrace()

25
modules/mogo-module-common/src/main/java/com/mogo/module/common/drawer/V2XWarnDataDrawer.java
View File

@@ -15,7 +15,6 @@ import com.mogo.module.common.drawer.marker.IMarkerView;
import com.mogo.module.common.drawer.marker.MapMarkerAdapter;
import com.mogo.module.common.entity.MarkerLocation;
import com.mogo.module.common.entity.MarkerShowEntity;
import com.mogo.module.common.entity.V2XWarningEntity;
import com.mogo.service.statusmanager.IMogoStatusChangedListener;
import com.mogo.service.statusmanager.StatusDescriptor;
@@ -65,21 +64,20 @@ public class V2XWarnDataDrawer extends BaseDrawer implements IMogoStatusChangedL
/**
* 识别物移动
*
* @param data
*/
public void renderWarnData(V2XWarningEntity data) {
public void renderWarnData(double lon, double lat, int type, double collisionlat, double collisionLon, double angle, long showTime) {
MarkerLocation location = new MarkerLocation();
location.setLat(data.getLat());
location.setLon(data.getLon());
location.setLat(lat);
location.setLon(lon);
location.setAngle(angle);
MarkerShowEntity markerShowEntity = new MarkerShowEntity();
markerShowEntity.setMarkerLocation(location);
markerShowEntity.setMarkerType(TYPE_MARKER_CLOUD_WARN_DATA);
IMogoMarker marker = drawMarker(markerShowEntity, modeResType(data.getType()));
marker.addDynamicAnchorPosition(new MogoLatLng(data.getCollisionLat(), data.getCollisionLon()), (float) data.getHeading(), (long) (data.getShowTime() * 1000));
IMogoMarker marker = drawMarker(markerShowEntity, modeResType(type));
// marker.addDynamicAnchorPosition(new MogoLatLng(collisionlat, collisionLon), (float) heading, showTime * 1000);
UiThreadHandler.postDelayed(() -> {
marker.remove();
}, data.getShowTime() * 1000);
}, showTime * 1000);
}
@@ -103,6 +101,8 @@ public class V2XWarnDataDrawer extends BaseDrawer implements IMogoStatusChangedL
.data(markerShowEntity)
.latitude(markerShowEntity.getMarkerLocation().getLat())
.longitude(markerShowEntity.getMarkerLocation().getLon())
.controlAngle(true)
.rotate((float) markerShowEntity.getMarkerLocation().getAngle())
.setGps(true);
IMarkerView iMarkerView = MapMarkerAdapter.getMarkerView(mContext, markerShowEntity, options);
options.icon3DRes(getModelRes(modeResType)); //TODO
@@ -132,12 +132,11 @@ public class V2XWarnDataDrawer extends BaseDrawer implements IMogoStatusChangedL
/**
* 绘制停止线 marker
*
* @param data
*/
public void renderStopLineData(V2XWarningEntity data) {
public void renderStopLineData(double lon, double lat) {
MarkerLocation location = new MarkerLocation();
location.setLat(data.getLat());
location.setLon(data.getLon());
location.setLat(lat);
location.setLon(lon);
MarkerShowEntity markerShowEntity = new MarkerShowEntity();
markerShowEntity.setMarkerLocation(location);

4
modules/mogo-module-common/src/main/java/com/mogo/module/common/entity/MarkerExploreWay.java
View File

@@ -7,6 +7,7 @@ import com.mogo.module.common.enums.EventTypeEnum;
import java.io.Serializable;
import java.util.List;
import java.util.Map;
import java.util.Objects;
@SuppressWarnings("unused")
@@ -38,6 +39,8 @@ public class MarkerExploreWay implements Serializable {
// 1 需要用户判断是否拥堵 进行UGC问答
private int infoCheckNode;
public Map<String, Object> extras = null;
public String getAddr() {
if (TextUtils.isEmpty(addr)) {
return "未知道路";
@@ -141,6 +144,7 @@ public class MarkerExploreWay implements Serializable {
return infoId;
}
public int getInfoIdInt() {
try {
return Integer.parseInt(infoId);

10
modules/mogo-module-common/src/main/java/com/mogo/module/common/enums/EventTypeEnum.kt
View File

@@ -112,11 +112,11 @@ enum class EventTypeEnum(
GHOST_PROBE("10024", "前方盲区行人预警", "前方盲区行人预警", R.drawable.icon_warning_v2x_pedestrian_crossing,
"前方盲区行人通行，请注意", "前方盲区即将有行人通过，请减速慢行"),
//接管 TODO
// TAKE_OVER_EVENT(
// "20000", "注意周围、立即接管", "注意周围、立即接管", R.drawable.icon_warning_take_over,
// "注意周围、立即接管", "自动驾驶退出请立即接管"
// ),
//接管
TAKE_OVER_EVENT(
"20000", "注意周围、立即接管", "注意周围、立即接管", R.drawable.icon_warning_take_over,
"注意周围、立即接管", "自动驾驶退出请立即接管"
),
// 前方静止or慢速车辆报警
ALERT_FRONT_CAR("99999"),

189
modules/mogo-module-common/src/main/java/com/mogo/module/common/enums/EventTypeHelper.kt Normal file
View File

@@ -0,0 +1,189 @@
package com.mogo.module.common.enums
import com.mogo.eagle.core.data.deva.bizconfig.FuncBizConfig.Companion.BIZ_AVW
import com.mogo.eagle.core.data.deva.bizconfig.FuncBizConfig.Companion.BIZ_BSW
import com.mogo.eagle.core.data.deva.bizconfig.FuncBizConfig.Companion.BIZ_CLW
import com.mogo.eagle.core.data.deva.bizconfig.FuncBizConfig.Companion.BIZ_DNPW
import com.mogo.eagle.core.data.deva.bizconfig.FuncBizConfig.Companion.BIZ_EBW
import com.mogo.eagle.core.data.deva.bizconfig.FuncBizConfig.Companion.BIZ_FCW
import com.mogo.eagle.core.data.deva.bizconfig.FuncBizConfig.Companion.BIZ_LCW
import com.mogo.eagle.core.data.deva.bizconfig.FuncBizConfig.Companion.BIZ_LTA
import com.mogo.eagle.core.data.deva.bizconfig.FuncBizConfig.Companion.BIZ_OPT_LINE
import com.mogo.eagle.core.data.deva.bizconfig.FuncBizConfig.Companion.BIZ_VRU
import com.mogo.eagle.core.data.deva.bizconfig.FuncBizConfig.Companion.BIZ_VRU_RI
import com.mogo.eagle.core.data.deva.bizconfig.FuncBizConfig.Companion.V2N
import com.mogo.eagle.core.data.deva.bizconfig.FuncBizConfig.Companion.V2V
import com.mogo.eagle.core.data.enums.WarningDirectionEnum
import com.mogo.eagle.core.data.enums.isLeft
import com.mogo.eagle.core.data.enums.isRight
import com.zhjt.service_biz.BizConfig
class EventTypeHelper {
companion object {
//变道预警
@BizConfig(V2V, "", BIZ_LCW)
fun getLCW(
appId: Int,
direction: WarningDirectionEnum,
data: ((alert: String, tts: String) -> Unit)
) {
when {
direction.isLeft() -> {
data.invoke(
EventTypeEnum.getWarningContent(appId.toString() + "左"),
EventTypeEnum.getWarningTts(appId.toString() + "左")
)
}
direction.isRight() -> {
data.invoke(
EventTypeEnum.getWarningContent(appId.toString() + "右"),
EventTypeEnum.getWarningTts(appId.toString() + "右")
)
}
else -> {
data.invoke(
EventTypeEnum.getWarningContent(appId.toString()),
EventTypeEnum.getWarningTts(appId.toString())
)
}
}
}
//车辆失控预警
@BizConfig(V2V, "", BIZ_CLW)
fun getCLW(
appId: Int,
direction: WarningDirectionEnum,
data: ((alert: String, tts: String) -> Unit)
) {
data.invoke(
EventTypeEnum.getWarningContent(appId.toString() + direction.desc),
EventTypeEnum.getWarningContent(appId.toString() + direction.desc)
)
}
//左转辅助
@BizConfig(V2V, "", BIZ_LTA)
fun getLTA(appId: Int, data: ((alert: String, tts: String) -> Unit)) {
data.invoke(
EventTypeEnum.getWarningContent(appId.toString()),
EventTypeEnum.getWarningTts(appId.toString())
)
}
//异常车辆提醒
@BizConfig(V2V, "", BIZ_AVW)
fun getAVW(
appId: Int,
direction: WarningDirectionEnum,
data: ((alert: String, tts: String) -> Unit)
) {
data.invoke(
EventTypeEnum.getWarningContent(appId.toString() + direction.desc),
EventTypeEnum.getWarningTts(appId.toString() + direction.desc)
)
}
//盲区预警
@BizConfig(V2V, "", BIZ_BSW)
fun getBSW(
appId: Int,
direction: WarningDirectionEnum,
data: ((alert: String, tts: String, visualAngle: Boolean) -> Unit)
) {
when {
direction.isLeft() -> {
data.invoke(
EventTypeEnum.getWarningContent(appId.toString() + "左"),
EventTypeEnum.getWarningTts(appId.toString() + "左"),
true
)
}
direction.isRight() -> {
data.invoke(
EventTypeEnum.getWarningContent(appId.toString() + "右"),
EventTypeEnum.getWarningTts(appId.toString() + "右"),
true
)
}
else -> {
data.invoke(
EventTypeEnum.getWarningContent(appId.toString()),
EventTypeEnum.getWarningTts(appId.toString()),
false
)
}
}
}
//弱势交通碰撞预警
@BizConfig(V2N, "", BIZ_VRU)
fun getVRU(data: ((appId: Int, tts: String, content: String) -> Unit)) {
data.invoke(
EventTypeEnum.TYPE_USECASE_ID_VRUCW_PERSON.poiType.toInt(),
EventTypeEnum.TYPE_USECASE_ID_VRUCW_PERSON.tts,
EventTypeEnum.TYPE_USECASE_ID_VRUCW_PERSON.content
)
}
//弱势交通逆行预警
@BizConfig(V2N, "", BIZ_VRU_RI)
fun getVRURI(data: ((appId: Int, tts: String, content: String) -> Unit)) {
data.invoke(
EventTypeEnum.TYPE_USECASE_ID_VRUCW_PERSON.poiType.toInt(),
"行人逆行预警",
"行人逆行预警"
)
}
//最优车道
@BizConfig(V2N, "", BIZ_OPT_LINE)
fun getOptLine(data: ((appId: Int, tts: String, content: String) -> Unit)) {
data.invoke(
EventTypeEnum.TYPE_USECASE_OPTIMAL_LANE.poiType.toInt(),
EventTypeEnum.TYPE_USECASE_OPTIMAL_LANE.tts,
EventTypeEnum.TYPE_USECASE_OPTIMAL_LANE.content
)
}
//前方道路拥堵预警
fun getTJW(data: ((appId: Int, tts: String, content: String) -> Unit)) {
data.invoke(
EventTypeEnum.FOURS_BLOCK_UP.poiType.toInt(),
EventTypeEnum.FOURS_BLOCK_UP.tts,
EventTypeEnum.FOURS_BLOCK_UP.content
)
}
//前车急刹
@BizConfig(V2V, "", BIZ_EBW)
fun getEBW(appId: Int, data: ((tts: String, content: String) -> Unit)) {
data.invoke(
EventTypeEnum.getWarningContent(appId.toString()),
EventTypeEnum.getWarningTts(appId.toString())
)
}
//前向碰撞预警
@BizConfig(V2V, "", BIZ_FCW)
fun getFCW(appId: Int, data: ((tts: String, content: String) -> Unit)) {
data.invoke(
EventTypeEnum.getWarningContent(appId.toString()),
EventTypeEnum.getWarningTts(appId.toString())
)
}
//逆向超车预警
@BizConfig(V2V, "", BIZ_DNPW)
fun getDNPW(appId: Int, data: ((tts: String, content: String) -> Unit)) {
data.invoke(
EventTypeEnum.getWarningContent(appId.toString()),
EventTypeEnum.getWarningTts(appId.toString())
)
}
}
}

2
modules/mogo-module-common/src/main/java/com/mogo/module/common/utils/DrivingDirectionUtils.java
View File

@@ -26,7 +26,7 @@ public class DrivingDirectionUtils {
return Math.sqrt(Math.pow(x1 - x2, 2.0) + Math.pow(y1 - y2, 2.0));
}
private static double getAngle(double sx, double sy, double x1, double y1, double x2, double y2) {
public static double getAngle(double sx, double sy, double x1, double y1, double x2, double y2) {
x1 = x1 - sx;
y1 = y1 - sy;
x2 = x2 - sx;

8
modules/mogo-module-common/src/main/java/com/mogo/module/common/utils/Trigonometric.java
View File

@@ -37,10 +37,10 @@ public class Trigonometric {
/**
* 根据角度获取指定距离点的经纬度
*/
public static MogoLatLng getNewLocation(MogoLatLng st, double distance, double angle) {
mRadLo = st.getLon() * Math.PI / 180.;
mRadLa = st.getLat() * Math.PI / 180.;
Ec = radius_s + (radius_b - radius_s) * (90. - st.lat) / 90;
public static MogoLatLng getNewLocation(double lon, double lat, double distance, double angle) {
mRadLo = lon * Math.PI / 180.;
mRadLa = lat * Math.PI / 180.;
Ec = radius_s + (radius_b - radius_s) * (90. - lat) / 90;
Ed = Ec * Math.cos(mRadLa);
double dx = distance * Math.sin(Math.toRadians(angle));

49754
modules/mogo-module-service/src/main/assets/loc.txt
View File

File diff suppressed because it is too large Load Diff

4
modules/mogo-module-service/src/main/java/com/mogo/module/service/MogoServices.java
View File

@@ -158,7 +158,7 @@ public class MogoServices implements IMogoMapListener,
if (!mLastStatusIsVr) {
MogoApisHandler.getInstance().getApis().getStatusManagerApi().setVrMode(TAG, true);
if (DebugConfig.getCarMachineType() != DebugConfig.CAR_MACHINE_TYPE_LENOVO) {
AIAssist.getInstance(mContext).speakTTSVoice("已开启鹰眼模式");
//AIAssist.getInstance(mContext).speakTTSVoice("已开启鹰眼模式");
}
mLastStatusIsVr = true;
}
@@ -167,7 +167,7 @@ public class MogoServices implements IMogoMapListener,
mLastStatusIsVr = false;
MogoApisHandler.getInstance().getApis().getStatusManagerApi().setVrMode(TAG, false);
if (DebugConfig.getCarMachineType() != DebugConfig.CAR_MACHINE_TYPE_LENOVO) {
AIAssist.getInstance(mContext).speakTTSVoice("已退出鹰眼模式");
//AIAssist.getInstance(mContext).speakTTSVoice("已退出鹰眼模式");
}
}
}

29
modules/mogo-module-service/src/main/java/com/mogo/module/service/routeoverlay/MogoRouteOverlayManager.java
View File

@@ -1,10 +1,6 @@
package com.mogo.module.service.routeoverlay;
import android.os.SystemClock;
import android.util.Log;
import androidx.annotation.NonNull;
import androidx.annotation.Nullable;
import com.mogo.eagle.core.data.autopilot.AutopilotStatusInfo;
import com.mogo.eagle.core.data.config.FunctionBuildConfig;
@@ -15,15 +11,12 @@ import com.mogo.eagle.core.function.api.map.listener.IMoGoMapLocationListener;
import com.mogo.eagle.core.function.call.autopilot.CallerAutoPilotStatusListenerManager;
import com.mogo.eagle.core.function.call.autopilot.CallerAutopilotPlanningListenerManager;
import com.mogo.eagle.core.function.call.map.CallerMapLocationListenerManager;
import com.mogo.eagle.core.utilcode.mogo.logger.Logger;
import org.jetbrains.annotations.NotNull;
import java.util.LinkedList;
import java.util.List;
import java.util.concurrent.atomic.AtomicBoolean;
import java.util.concurrent.atomic.AtomicInteger;
import java.util.concurrent.locks.Lock;
import java.util.concurrent.locks.ReentrantLock;
import mogo.telematics.pad.MessagePad;
import mogo_msg.MogoReportMsg;
@@ -45,7 +38,7 @@ public class MogoRouteOverlayManager implements
public void init() {
CallerAutopilotPlanningListenerManager.INSTANCE.addListener(TAG, this);
CallerAutoPilotStatusListenerManager.INSTANCE.addListener(TAG, this);
CallerMapLocationListenerManager.INSTANCE.addListener(TAG, this);
CallerMapLocationListenerManager.INSTANCE.addListener(TAG, this, false);
}
public static MogoRouteOverlayManager getInstance() {
@@ -68,11 +61,11 @@ public class MogoRouteOverlayManager implements
}
@Override
public void onLocationChanged(@Nullable MogoLocation location, int from) {
public void onLocationChanged(@org.jetbrains.annotations.Nullable MogoLocation location, int from, boolean isGps) {
if (from != 1 || location == null) {
return;
}
if (isArriveAtStation.get()) {
if (isArriveAtStation.get() && autopilotMode.get() != 1) {
RouteOverlayDrawer.getInstance().clearMogoRouteOverlay();
return;
}
@@ -82,12 +75,13 @@ public class MogoRouteOverlayManager implements
return;
}
synchronized (queue) {
List<MessagePad.TrajectoryPoint> items = queue.peekLast();
if (items != null && !items.isEmpty()) {
RouteOverlayDrawer.getInstance().drawTrajectoryList(items, location.getBearing());
if (!queue.isEmpty()) {
List<MessagePad.TrajectoryPoint> items = queue.pollLast();
if (items != null && !items.isEmpty()) {
RouteOverlayDrawer.getInstance().drawTrajectoryList(items, location.getBearing());
}
}
}
}
@Override
@@ -96,10 +90,6 @@ public class MogoRouteOverlayManager implements
@Override
public void onAutopilotStatusResponse(@NotNull AutopilotStatusInfo autoPilotStatusInfo) {
if (FunctionBuildConfig.isIgnoreConditionsDrawAutopilotTrajectoryData) {
isArriveAtStation.set(false);
return;
}
int mode = autoPilotStatusInfo.getPilotmode();
if (mode == 1) {
isArriveAtStation.set(false);
@@ -112,7 +102,6 @@ public class MogoRouteOverlayManager implements
if (arrivalNotification == null) {
return;
}
Log.d(TAG, "onArriveAt data : " + arrivalNotification);
if (!isArriveAtStation.get()) {
isArriveAtStation.set(true);
}

25
modules/mogo-module-service/src/main/java/com/mogo/module/service/routeoverlay/RouteOverlayDrawer.java
View File

@@ -63,14 +63,13 @@ public class RouteOverlayDrawer {
}
public void clearMogoRouteOverlay() {
if (mRenderTask != null) {
mRenderHandler.removeCallbacks(mRenderTask);
}
if (mMoGoPolyline != null) {
mMoGoPolyline.remove();
mMoGoPolyline = null;
}
if (mRenderTask != null) {
mRenderHandler.removeCallbacks(mRenderTask);
}
}
private class RenderTask implements Runnable {
@@ -99,7 +98,6 @@ 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 +134,6 @@ 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 +148,6 @@ 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 +199,8 @@ 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 +218,7 @@ 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);
}
}

2
modules/mogo-module-service/src/main/java/com/mogo/module/service/routeoverlay/RouteStrategy.kt
View File

@@ -41,7 +41,7 @@ class ColorfulStrategy(private val colors: List<Int> = emptyList(), var isLightO
object RouteStrategy {
@Volatile
private var isEnable = AppIdentityModeUtils.isDriver(FunctionBuildConfig.appIdentityMode) && !AppIdentityModeUtils.isBus(FunctionBuildConfig.appIdentityMode)
private var isEnable = !AppIdentityModeUtils.isBus(FunctionBuildConfig.appIdentityMode)
private var strategy: Strategy? = null