[3.3.0][M1] 360环视需求代码提交

2023-06-13 16:39:27 +08:00
parent 59dd44a14b
commit dd9a4667df
37 changed files with 1388 additions and 231 deletions
--- a/core/function-impl/mogo-core-function-devatools/src/main/java/com/zhjt/mogo_core_function_devatools/DevaToolsProvider.kt
+++ b/core/function-impl/mogo-core-function-devatools/src/main/java/com/zhjt/mogo_core_function_devatools/DevaToolsProvider.kt
@@ -20,6 +20,7 @@ import com.mogo.eagle.core.function.api.devatools.apm.*
 import com.mogo.eagle.core.function.api.devatools.strict.*
 import com.mogo.eagle.core.function.call.map.*
 import com.mogo.eagle.core.function.api.devatools.download.*
+import com.mogo.eagle.core.function.api.lookaround.*
 import com.mogo.eagle.core.utilcode.mogo.logger.CallerLogger
 import com.mogo.eagle.core.utilcode.mogo.logger.CallerLogger.w
 import com.tencent.matrix.Matrix
@@ -42,6 +43,7 @@ import com.zhjt.mogo_core_function_devatools.funcconfig.FuncConfigCenter.Compani
 import com.zhjt.mogo_core_function_devatools.funcconfig.FuncConfigImpl
 import com.zhjt.mogo_core_function_devatools.koom.KoomInitTask
 import com.zhjt.mogo_core_function_devatools.logcatch.MogoLogCatchManager
+import com.zhjt.mogo_core_function_devatools.lookaround.*
 import com.zhjt.mogo_core_function_devatools.matrix.DynamicConfigImpl
 import com.zhjt.mogo_core_function_devatools.mofang.MoFangManager.Companion.moFangManager
 import com.zhjt.mogo_core_function_devatools.monitor.MonitorManager
@@ -72,6 +74,9 @@ class DevaToolsProvider : IDevaToolsProvider {

    private val strictModeProvider by lazy { StrictModeProviderImpl() }

+
+    private val lookAroundDataProvider by lazy { MoGoLookAroundProviderImpl() }
+
    @Volatile
    private var mDockerVersion: String? = null

@@ -105,6 +110,7 @@ class DevaToolsProvider : IDevaToolsProvider {
            // 监听弱网
            WeakNetworkStrategy.startListen()
        }
+        lookAroundDataProvider.init(mContext!!)
    }

    override fun checkMonitorDb() {
@@ -356,4 +362,6 @@ class DevaToolsProvider : IDevaToolsProvider {
        return upgradeManager.upgradeProvider()
    }
    override fun strict(): IStrictModeProvider = strictModeProvider
+
+    override fun lookAroundDataProvider(): IMoGoLookAroundProvider = lookAroundDataProvider
 }
--- a/core/function-impl/mogo-core-function-devatools/src/main/java/com/zhjt/mogo_core_function_devatools/lookaround/MoGoLookAroundProviderImpl.kt
+++ b/core/function-impl/mogo-core-function-devatools/src/main/java/com/zhjt/mogo_core_function_devatools/lookaround/MoGoLookAroundProviderImpl.kt
@@ -0,0 +1,160 @@
+package com.zhjt.mogo_core_function_devatools.lookaround
+
+import android.content.*
+import android.graphics.BitmapFactory
+import android.util.*
+import androidx.core.util.Pools
+import com.mogo.eagle.core.data.config.*
+import com.mogo.eagle.core.function.api.autopilot.*
+import com.mogo.eagle.core.function.api.lookaround.*
+import com.mogo.eagle.core.function.api.lookaround.data.*
+import com.mogo.eagle.core.function.call.autopilot.*
+import com.mogo.eagle.core.utilcode.mogo.*
+import com.zhjt.mogo.adas.data.*
+import com.zhjt.mogo.adas.data.bean.*
+import kotlinx.coroutines.*
+import kotlinx.coroutines.channels.*
+import kotlinx.coroutines.channels.Channel.Factory.CONFLATED
+import kotlinx.coroutines.flow.*
+import mogo.telematics.pad.MessagePad.Header
+import mogo.telematics.pad.MessagePad.SetParamReq
+import java.util.concurrent.atomic.AtomicInteger
+import kotlin.concurrent.*
+
+internal class MoGoLookAroundProviderImpl: IMoGoLookAroundProvider, IMoGoSweeperFutianBackCameraVideoListener, IMoGoRoboBusJinlvM1StitchedVideoListener, IMoGoGetParamResponseListener {
+
+    companion object {
+        private const val TAG = "MoGoLookAroundProvider"
+    }
+
+    @OptIn(ExperimentalCoroutinesApi::class)
+    private var channel: Channel<LookAroundData> = Channel(CONFLATED)
+        get() {
+            return if (field.isClosedForReceive || field.isClosedForSend) {
+                Channel(CONFLATED)
+            } else {
+                field
+            }
+        }
+
+    private val pool by lazy { Pools.SynchronizedPool<LookAroundData>(10) }
+
+    private val bitmapWidth by lazy { AtomicInteger(0) }
+
+    private val bitmapHeight by lazy { AtomicInteger(0) }
+
+    //276,319,147,366
+    private val targetX by lazy { AtomicInteger(0) }
+
+    private val targetY by lazy { AtomicInteger(0) }
+
+    private val targetWidth by lazy { AtomicInteger(0) }
+
+    private val targetHeight by lazy { AtomicInteger(0) }
+
+    private val scope by lazy { CoroutineScope(Dispatchers.IO + SupervisorJob()) }
+
+    @Volatile
+    private var job: Job? = null
+
+    override fun init(ctx: Context) {
+        CallerSweeperFutianBackCameraVideoListenerManager.addListener(TAG, this)
+        CallerRoboBusJinlvM1StitchedVideoListenerManager.addListener(TAG, this)
+        CallerAutopilotGetParamResponseDispatcher.addListener(TAG, this)
+        if (AppIdentityModeUtils.isM1(FunctionBuildConfig.appIdentityMode)) {
+            sendReqForParamPeriod()
+        }
+    }
+
+    private fun sendReqForParamPeriod() {
+        scope.launch {
+            while (targetX.get() == 0 || targetY.get() == 0) {
+                CallerAutoPilotControlManager.sendGetParamReq(AdasConstants.MapSystemParamType.M1_STITCHED_VIDEO_SELF_VEHICLE_PARAM)
+                delay(2000)
+            }
+        }.also {
+            job = it
+        }
+    }
+
+    @OptIn(ExperimentalCoroutinesApi::class)
+    override fun flow(): Flow<LookAroundData> = channelFlow {
+        val iterator = this@MoGoLookAroundProviderImpl.channel.iterator()
+        while (iterator.hasNext()) {
+            send(iterator.next())
+        }
+    }.flowOn(Dispatchers.IO)
+
+    override fun onRoboBusJinlvM1StitchedVideo(data: ByteArray) {
+        if (bitmapWidth.get() == 0 || bitmapHeight.get() == 0) {
+            val options = BitmapFactory.Options()
+            options.inJustDecodeBounds = true
+            BitmapFactory.decodeByteArray(data,0 , data.size, options)
+            bitmapWidth.set(options.outWidth)
+            bitmapHeight.set(options.outHeight)
+        }
+        Log.d(TAG, "-- onRoboBusJinlvM1StitchedVideo -- bitmap:[${bitmapWidth.get()}, ${bitmapHeight.get()}] -- data: ${data.size}")
+        var old = pool.acquire()
+        try {
+            if (old == null) {
+                old = LookAroundData(data, bitmapWidth.get(), bitmapHeight.get(), targetX.get(), targetY.get(), targetWidth.get(), targetHeight.get())
+            } else {
+                old.data = data
+                old.bitmapWidth = bitmapWidth.get()
+                old.bitmapHeight = bitmapHeight.get()
+                old.targetX = targetX.get()
+                old.targetY = targetY.get()
+                old.targetWidth = targetWidth.get()
+                old.targetHeight = targetHeight.get()
+            }
+            channel.trySend(old)
+        } finally {
+            if (old != null) {
+                pool.release(old)
+            }
+        }
+
+    }
+
+    override fun onSweeperFutianBackCameraVideo(data: ByteArray) {
+        if (bitmapWidth.get() == 0 || bitmapHeight.get() == 0) {
+            val options = BitmapFactory.Options()
+            options.inJustDecodeBounds = true
+            BitmapFactory.decodeByteArray(data,0 , data.size, options)
+            bitmapWidth.set(options.outWidth)
+            bitmapHeight.set(options.outHeight)
+        }
+        Log.d(TAG, "-- onSweeperFutianBackCameraVideo -- bitmap:[${bitmapWidth.get()}, ${bitmapHeight.get()}] -- data: ${data.size}")
+        var old = pool.acquire()
+        try {
+            if (old == null) {
+                old = LookAroundData(data, bitmapWidth.get(), bitmapHeight.get(), targetX.get(), targetY.get(), targetWidth.get(), targetHeight.get())
+            } else {
+                old.data = data
+                old.bitmapWidth = bitmapWidth.get()
+                old.bitmapHeight = bitmapHeight.get()
+                old.targetX = targetX.get()
+                old.targetY = targetY.get()
+                old.targetWidth = targetWidth.get()
+                old.targetHeight = targetHeight.get()
+            }
+            channel.trySend(old)
+        } finally {
+            if (old != null) {
+                pool.release(old)
+            }
+        }
+    }
+
+    override fun onGetParamResp(header: Header, getParamResp: SetParamReq, adasParam: AdasParam) {
+        Log.d(TAG, "-- onGetParamResp -- 1 --")
+        val parse = adasParam.m1StitchedVideoSelfVehicleParamParse
+        if (parse != null) {
+            targetX.set(parse.x)
+            targetY.set(parse.y)
+            targetWidth.set(parse.width)
+            targetHeight.set(parse.height)
+            Log.d(TAG, "-- onGetParamResp -- 2 --:[x: ${parse.x}, y: ${parse.y}, width: ${parse.width}, height: ${parse.height}]")
+        }
+    }
+}
--- a/core/function-impl/mogo-core-function-devatools/src/main/java/com/zhjt/mogo_core_function_devatools/status/StatusManager.kt
+++ b/core/function-impl/mogo-core-function-devatools/src/main/java/com/zhjt/mogo_core_function_devatools/status/StatusManager.kt
@@ -8,16 +8,13 @@ import androidx.lifecycle.*
 import androidx.lifecycle.Lifecycle.Event
 import androidx.lifecycle.Lifecycle.Event.ON_CREATE
 import androidx.lifecycle.Lifecycle.Event.ON_DESTROY
-import com.mogo.eagle.core.function.api.autopilot.IMoGoAutopilotStatusListener
 import com.mogo.eagle.core.function.call.autopilot.*
 import com.mogo.eagle.core.utilcode.kotlin.*
 import com.mogo.eagle.core.utilcode.mogo.logger.*
-import com.mogo.eagle.core.utilcode.mogo.logger.scene.SceneConstant.Companion.M_DEVA
 import com.mogo.eagle.core.utilcode.util.*
 import com.zhjt.mogo_core_function_devatools.status.entity.CanStatus
 import com.zhjt.mogo_core_function_devatools.status.entity.GpsStatus
 import com.zhjt.mogo_core_function_devatools.status.entity.IpcStatus
-//import com.zhjt.mogo_core_function_devatools.status.entity.NetStatus
 import com.zhjt.mogo_core_function_devatools.status.entity.RTKStatus
 import com.zhjt.mogo_core_function_devatools.status.entity.Status
 import com.zhjt.mogo_core_function_devatools.status.entity.TracingStatus
@@ -26,13 +23,11 @@ import com.zhjt.mogo_core_function_devatools.status.flow.IFlow
 import com.zhjt.mogo_core_function_devatools.status.flow.can.CanImpl
 import com.zhjt.mogo_core_function_devatools.status.flow.gps.GpsImpl
 import com.zhjt.mogo_core_function_devatools.status.flow.ipc.IpcImpl
-//import com.zhjt.mogo_core_function_devatools.status.flow.nets.NetsImpl
 import com.zhjt.mogo_core_function_devatools.status.flow.rtk.RTKImpl
 import com.zhjt.mogo_core_function_devatools.status.flow.trace.TracingImpl
 import com.zhjt.mogo_core_function_devatools.status.ui.StatusView
 import kotlinx.coroutines.*
 import kotlinx.coroutines.flow.*
-import mogo_msg.MogoReportMsg
 import java.lang.ref.*
 import java.util.concurrent.*

@@ -42,52 +37,14 @@ object StatusManager {
    private const val TAG = "StatusManager"

    private lateinit var model: StatusModel
-//    private var timer: Job? = null
    private var hasInit = false
    private val listeners by lazy { CopyOnWriteArrayList<IStatusListener>() }
    private var container: WeakReference<ViewGroup>? = null

-//    private val listener = object : IMoGoAutopilotStatusListener {
-//        override fun onAutopilotGuardian(guardianInfo: MogoReportMsg.MogoReportMessage?) {
-//            super.onAutopilotGuardian(guardianInfo)
-//            guardianInfo?.code?.takeIf {
-//                CallerLogger.d("$M_DEVA$TAG", "-- onAutopilotGuardian ---: code: $it")
-//                it.contains("RTK_STATUS", true) || it.contains("CAN", true) || it == "ILCT_RTK_OR_SLAM_CHANGE"
-//            }?.run {
-//                CallerLogger.d("$M_DEVA$TAG", "-- onAutopilotGuardian trigger req ---: code: $this")
-//                req()
-//            }
-//        }
-//    }
-
-//    private val appStateListener = object : IAppStateListener {
-//
-//        override fun onAppStateChanged(isForeground: Boolean) {
-//            if (isForeground) {
-//                req()
-//            } else {
-//                timer?.cancel()
-//            }
-//        }
-//    }
-
    private val flows: ArrayList<IFlow<out Status>> by lazy {
        ArrayList()
    }

-//    private fun req() {
-//        timer?.cancel()
-//        model.viewModelScope.launch(Dispatchers.IO) {
-//            CallerAutoPilotManager.sendStatusQueryReq()
-//            while (true) {
-//                delay(60000) //一分钟主动请求一次
-//                CallerAutoPilotManager.sendStatusQueryReq()
-//            }
-//        }.also {
-//            timer = it
-//        }
-//    }
-
    fun init(ctx: Context) {
        if (hasInit) {
            return
@@ -109,14 +66,10 @@ object StatusManager {

    private fun onCreate(ctx: Context) {
        val values = model.status.value?.second ?: throw IllegalStateException("state is not right.")
-//        CallerAutoPilotStatusListenerManager.addListener(TAG, listener)
-//        AppStateManager.registerAppStateListener(appStateListener)
-//        req()
        values.map {
            when (it) {
                is CanStatus -> CanImpl(ctx)
                is IpcStatus -> IpcImpl(ctx)
-//                is NetStatus -> NetsImpl(ctx)
                is GpsStatus -> GpsImpl(ctx)
                is TracingStatus -> TracingImpl(ctx)
                is RTKStatus -> RTKImpl(ctx)
@@ -138,16 +91,6 @@ object StatusManager {
        }
    }

-
-    fun registerListener(listener: IStatusListener) {
-        listeners.add(listener)
-    }
-
-
-    fun unRegisterListener(listener: IStatusListener) {
-        listeners.remove(listener)
-    }
-
    fun show(container: ViewGroup) {
        if (container.childCount > 0) {
            if (container.visibility != View.VISIBLE) {
@@ -166,9 +109,6 @@ object StatusManager {

    private fun onDestroy(ctx: Context) {
        hasInit = false
-//        CallerAutoPilotStatusListenerManager.removeListener(TAG)
-//        AppStateManager.unRegisterAppStateListener(appStateListener)
-//        timer?.cancel()
        flows.forEach {
            it.onDestroy()
        }
--- a/core/function-impl/mogo-core-function-devatools/src/main/java/com/zhjt/mogo_core_function_devatools/status/model/StatusModel.kt
+++ b/core/function-impl/mogo-core-function-devatools/src/main/java/com/zhjt/mogo_core_function_devatools/status/model/StatusModel.kt
@@ -23,7 +23,6 @@ internal class StatusModel : ViewModel() {
            it += CanStatus(false)
            it += TracingStatus(UNKNOWN)
            it += RTKStatus("", -1)
-            // it += NetStatus(false)
            it += GpsStatus(enabled = false, isGranted = false)
        })
    }