diff --git a/OCH/mogo-och-bus-passenger/src/main/java/com/mogo/och/bus/passenger/model/BusPassengerModel.java b/OCH/mogo-och-bus-passenger/src/main/java/com/mogo/och/bus/passenger/model/BusPassengerModel.java index 7d71a9c5a9..6364ef050e 100644 --- a/OCH/mogo-och-bus-passenger/src/main/java/com/mogo/och/bus/passenger/model/BusPassengerModel.java +++ b/OCH/mogo-och-bus-passenger/src/main/java/com/mogo/och/bus/passenger/model/BusPassengerModel.java @@ -5,12 +5,12 @@ import android.content.Intent; import android.location.Location; import android.net.ConnectivityManager; +import androidx.annotation.NonNull; import androidx.annotation.Nullable; import com.mogo.aicloud.services.socket.IMogoLifecycleListener; import com.mogo.aicloud.services.socket.MogoAiCloudSocketManager; import com.mogo.commons.debug.DebugConfig; -import com.mogo.eagle.core.data.autopilot.ADASTrajectoryInfo; import com.mogo.eagle.core.data.autopilot.AutopilotStatusInfo; import com.mogo.eagle.core.data.config.FunctionBuildConfig; import com.mogo.eagle.core.function.api.autopilot.IMoGoAutopilotPlanningListener; @@ -32,6 +32,7 @@ import com.mogo.service.statusmanager.StatusDescriptor; import org.jetbrains.annotations.NotNull; import java.util.ArrayList; +import java.util.List; import java.util.Map; import java.util.concurrent.ConcurrentHashMap; @@ -243,6 +244,11 @@ public class BusPassengerModel { private final IMoGoAutopilotPlanningListener moGoAutopilotPlanningListener = new IMoGoAutopilotPlanningListener(){ + @Override + public void onAutopilotTrajectory(@NonNull List trajectoryInfos) { + + } + @Override public void onAutopilotRotting(@Nullable MessagePad.GlobalPathResp routeList) { if (null != routeList && routeList.getWayPointsList().size() > 0){ @@ -251,10 +257,6 @@ public class BusPassengerModel { } } - @Override - public void onAutopilotTrajectory(ArrayList trajectoryInfos) { - - } }; } diff --git a/OCH/mogo-och-taxi-passenger/src/main/java/com/mogo/och/taxi/passenger/model/TaxiPassengerModel.java b/OCH/mogo-och-taxi-passenger/src/main/java/com/mogo/och/taxi/passenger/model/TaxiPassengerModel.java index 4b10e44624..91ad233a8d 100644 --- a/OCH/mogo-och-taxi-passenger/src/main/java/com/mogo/och/taxi/passenger/model/TaxiPassengerModel.java +++ b/OCH/mogo-och-taxi-passenger/src/main/java/com/mogo/och/taxi/passenger/model/TaxiPassengerModel.java @@ -6,6 +6,7 @@ import android.location.Location; import android.net.ConnectivityManager; import android.os.Looper; +import androidx.annotation.NonNull; import androidx.annotation.Nullable; import com.amap.api.maps.model.LatLng; @@ -14,7 +15,6 @@ import com.elegant.network.utils.GsonUtil; import com.mogo.aicloud.services.socket.MogoAiCloudSocketManager; import com.mogo.cloud.commons.utils.CoordinateUtils; import com.mogo.commons.debug.DebugConfig; -import com.mogo.eagle.core.data.autopilot.ADASTrajectoryInfo; import com.mogo.eagle.core.data.autopilot.AutopilotStatusInfo; import com.mogo.eagle.core.data.config.FunctionBuildConfig; import com.mogo.eagle.core.function.api.autopilot.IMoGoAutopilotPlanningListener; @@ -556,6 +556,11 @@ public class TaxiPassengerModel implements IOCHTaxiPassengerNaviChangedCallback private final IMoGoAutopilotPlanningListener moGoAutopilotPlanningListener = new IMoGoAutopilotPlanningListener(){ + @Override + public void onAutopilotTrajectory(@NonNull List trajectoryInfos) { + + } + @Override public void onAutopilotRotting(@Nullable MessagePad.GlobalPathResp routeList) { if (null != routeList && routeList.getWayPointsList().size() > 0){ @@ -564,11 +569,6 @@ public class TaxiPassengerModel implements IOCHTaxiPassengerNaviChangedCallback } } - @Override - public void onAutopilotTrajectory(ArrayList trajectoryInfos) { - - } - }; /** diff --git a/OCH/mogo-och-taxi/src/main/java/com/mogo/och/taxi/model/TaxiModel.java b/OCH/mogo-och-taxi/src/main/java/com/mogo/och/taxi/model/TaxiModel.java index 838e6ca2a1..9ddc43412d 100644 --- a/OCH/mogo-och-taxi/src/main/java/com/mogo/och/taxi/model/TaxiModel.java +++ b/OCH/mogo-och-taxi/src/main/java/com/mogo/och/taxi/model/TaxiModel.java @@ -7,6 +7,7 @@ import android.content.Intent; import android.location.Location; import android.net.ConnectivityManager; +import androidx.annotation.NonNull; import androidx.annotation.Nullable; import com.amap.api.maps.model.LatLng; @@ -15,7 +16,6 @@ import com.mogo.aicloud.services.socket.MogoAiCloudSocketManager; import com.mogo.cloud.commons.utils.CoordinateUtils; import com.mogo.commons.debug.DebugConfig; import com.mogo.eagle.core.data.BaseData; -import com.mogo.eagle.core.data.autopilot.ADASTrajectoryInfo; import com.mogo.eagle.core.data.autopilot.AutopilotControlParameters; import com.mogo.eagle.core.data.autopilot.AutopilotStatusInfo; import com.mogo.eagle.core.data.config.FunctionBuildConfig; @@ -1046,6 +1046,11 @@ public class TaxiModel { }; private final IMoGoAutopilotPlanningListener moGoAutopilotPlanningListener = new IMoGoAutopilotPlanningListener() { + @Override + public void onAutopilotTrajectory(@NonNull List trajectoryInfos) { + + } + @Override public void onAutopilotRotting(MessagePad.GlobalPathResp routeList) { if (null != routeList && routeList.getWayPointsList().size() > 0){ @@ -1054,11 +1059,6 @@ public class TaxiModel { } } - @Override - public void onAutopilotTrajectory(ArrayList trajectoryInfos) { - - } - }; /** diff --git a/core/function-impl/mogo-core-function-autopilot/src/main/java/com/mogo/eagle/core/function/autopilot/adapter/MoGoAdasListenerImpl.kt b/core/function-impl/mogo-core-function-autopilot/src/main/java/com/mogo/eagle/core/function/autopilot/adapter/MoGoAdasListenerImpl.kt index 8dadc76b34..007fdd2f3d 100644 --- a/core/function-impl/mogo-core-function-autopilot/src/main/java/com/mogo/eagle/core/function/autopilot/adapter/MoGoAdasListenerImpl.kt +++ b/core/function-impl/mogo-core-function-autopilot/src/main/java/com/mogo/eagle/core/function/autopilot/adapter/MoGoAdasListenerImpl.kt @@ -1,7 +1,6 @@ package com.mogo.eagle.core.function.autopilot.adapter import chassis.VehicleStateOuterClass -import com.mogo.eagle.core.data.autopilot.ADASTrajectoryInfo import com.mogo.eagle.core.data.config.FunctionBuildConfig import com.mogo.eagle.core.data.config.HdMapBuildConfig import com.mogo.eagle.core.data.deva.chain.ChainConstant.Companion.CHAIN_ALIAS_CODE_ADAS_MESSAGE_AUTOPILOT_ARRIVE @@ -19,7 +18,6 @@ import com.mogo.eagle.core.data.deva.chain.ChainConstant.Companion.CHAIN_LINK_LO import com.mogo.eagle.core.data.deva.chain.ChainConstant.Companion.CHAIN_LINK_LOG_WEB_SOCKET_TRAJECTORY import com.mogo.eagle.core.data.deva.chain.ChainConstant.Companion.CHAIN_LINK_LOG_WEB_SOCKET_VEHICLE import com.mogo.eagle.core.function.call.autopilot.CallerAutoPilotStatusListenerManager -import com.mogo.eagle.core.utilcode.mogo.logger.scene.SceneConstant.Companion.M_ADAS_IMPL import com.mogo.eagle.core.function.call.autopilot.CallerAutoPilotStatusListenerManager.getAutoPilotStatusInfo import com.mogo.eagle.core.function.call.autopilot.CallerAutoPilotStatusListenerManager.invokeArriveAtStation import com.mogo.eagle.core.function.call.autopilot.CallerAutoPilotStatusListenerManager.invokeAutoPilotStatus @@ -37,6 +35,7 @@ import com.mogo.eagle.core.function.call.hmi.CallerHmiManager.showAdUpgradeStatu import com.mogo.eagle.core.function.call.hmi.CallerHmiManager.showDockerRebootResult import com.mogo.eagle.core.function.call.map.CallerMapUIServiceManager import com.mogo.eagle.core.utilcode.mogo.logger.CallerLogger +import com.mogo.eagle.core.utilcode.mogo.logger.scene.SceneConstant.Companion.M_ADAS_IMPL import com.zhidao.support.adas.high.AdasManager import com.zhidao.support.adas.high.OnAdasListener import com.zhidao.support.adas.high.bean.IPCUpgradeStateInfo @@ -49,7 +48,6 @@ import mogo.telematics.pad.MessagePad.TrackedObject import mogo_msg.MogoReportMsg import perception.TrafficLightOuterClass import record_cache.RecordPanelOuterClass -import java.util.* /** * @author emArrow @@ -75,23 +73,9 @@ class MoGoAdasListenerImpl : OnAdasListener { ) override fun onTrajectory(header: MessagePad.Header, trajectory: MessagePad.Trajectory?) { if (HdMapBuildConfig.isMapLoaded) { - val trajectoryInfoArrayList = ArrayList() if (trajectory != null && trajectory.pointsList.size > 0) { - for (trajectory in trajectory.pointsList) { - val adasTrajectoryInfo = ADASTrajectoryInfo() - adasTrajectoryInfo.lat = trajectory.latitude - adasTrajectoryInfo.lon = trajectory.longitude - adasTrajectoryInfo.acceleration = trajectory.acceleration - adasTrajectoryInfo.accumulatedDis = trajectory.accumulatedDis - adasTrajectoryInfo.time = trajectory.time - adasTrajectoryInfo.velocity = trajectory.velocity - adasTrajectoryInfo.alt = trajectory.altitude - adasTrajectoryInfo.kappa = trajectory.kappa - adasTrajectoryInfo.theta = trajectory.theta - trajectoryInfoArrayList.add(adasTrajectoryInfo) - } + invokeAutopilotTrajectory(trajectory.pointsList) } - invokeAutopilotTrajectory(trajectoryInfoArrayList) } } @@ -129,7 +113,11 @@ class MoGoAdasListenerImpl : OnAdasListener { // 同步给MAP地图 CallerMapUIServiceManager.getMapUIController()?.syncLocation2Map(gnssInfo) // 同步更新经纬度和系统时间至 AutoPilotStatusListener - CallerAutoPilotStatusListenerManager.updateAutoPilotLatLon(gnssInfo.satelliteTime.toLong(),gnssInfo.longitude, gnssInfo.latitude) + CallerAutoPilotStatusListenerManager.updateAutoPilotLatLon( + gnssInfo.satelliteTime.toLong(), + gnssInfo.longitude, + gnssInfo.latitude + ) } } } @@ -217,6 +205,7 @@ class MoGoAdasListenerImpl : OnAdasListener { invokeAutopilotGuardian(mogoReportMessage) } } + //感知红绿灯 override fun onPerceptionTrafficLight( header: MessagePad.Header?, diff --git a/core/function-impl/mogo-core-function-devatools/src/main/java/com/zhjt/mogo_core_function_devatools/logcatch/MogoLogCatchManager.kt b/core/function-impl/mogo-core-function-devatools/src/main/java/com/zhjt/mogo_core_function_devatools/logcatch/MogoLogCatchManager.kt index 2bd9d3dbc0..133555a2d0 100644 --- a/core/function-impl/mogo-core-function-devatools/src/main/java/com/zhjt/mogo_core_function_devatools/logcatch/MogoLogCatchManager.kt +++ b/core/function-impl/mogo-core-function-devatools/src/main/java/com/zhjt/mogo_core_function_devatools/logcatch/MogoLogCatchManager.kt @@ -156,7 +156,7 @@ object MogoLogCatchManager : IMogoOnMessageListener, Handl MoGoAiCloudClientConfig.getInstance().sn, AppConfigInfo.toString(), logPrefixName?.replace("_", "-"), - null, + mutableListOf(), content, this ) diff --git a/core/function-impl/mogo-core-function-dispatch/src/main/java/com/zhjt/dispatch/DispatchAutoPilotManager.java b/core/function-impl/mogo-core-function-dispatch/src/main/java/com/zhjt/dispatch/DispatchAutoPilotManager.java index b8e8b9cec6..f7d0ffb66d 100644 --- a/core/function-impl/mogo-core-function-dispatch/src/main/java/com/zhjt/dispatch/DispatchAutoPilotManager.java +++ b/core/function-impl/mogo-core-function-dispatch/src/main/java/com/zhjt/dispatch/DispatchAutoPilotManager.java @@ -7,7 +7,6 @@ import android.os.Message; import com.mogo.aicloud.services.socket.MogoAiCloudSocketManager; import com.mogo.cloud.commons.utils.CoordinateUtils; -import com.mogo.eagle.core.data.autopilot.ADASTrajectoryInfo; import com.mogo.eagle.core.data.autopilot.AutopilotControlParameters; import com.mogo.eagle.core.data.autopilot.AutopilotRouteInfo; import com.mogo.eagle.core.data.autopilot.AutopilotStatusInfo; @@ -275,7 +274,7 @@ public class DispatchAutoPilotManager implements IMogoOnMessageListener trajectoryInfos) { + public void onAutopilotTrajectory(List trajectoryInfos) { } diff --git a/core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/hmi/ui/MoGoHmiFragment.kt b/core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/hmi/ui/MoGoHmiFragment.kt index 6fe5a61626..f8b4a63b69 100644 --- a/core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/hmi/ui/MoGoHmiFragment.kt +++ b/core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/hmi/ui/MoGoHmiFragment.kt @@ -839,7 +839,9 @@ class MoGoHmiFragment : MvpFragment */ override fun showTurnLight(light: Int) { if (HmiBuildConfig.isShowTurnLightView) { - turnLightView.setTurnLight(light) + ThreadUtils.runOnUiThread { + turnLightView.setTurnLight(light) + } } } @@ -848,7 +850,9 @@ class MoGoHmiFragment : MvpFragment */ override fun showBrakeLight(light: Int) { if (HmiBuildConfig.isShowBrakeLightView) { - brakeView.setBrakeLight(light) + ThreadUtils.runOnUiThread { + brakeView.setBrakeLight(light) + } } } diff --git a/core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/hmi/ui/setting/DebugSettingView.kt b/core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/hmi/ui/setting/DebugSettingView.kt index e594c29280..e9ce3fbaaf 100644 --- a/core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/hmi/ui/setting/DebugSettingView.kt +++ b/core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/hmi/ui/setting/DebugSettingView.kt @@ -1565,7 +1565,7 @@ class DebugSettingView @JvmOverloads constructor( } } - override fun onAutopilotTrajectory(trajectoryInfos: ArrayList) { + override fun onAutopilotTrajectory(trajectoryInfos: MutableList) { mTrajectoryInfoSize = trajectoryInfos.size } diff --git a/core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/smp/SmallMapFragment.java b/core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/smp/SmallMapFragment.java index 6de360c5ca..a673435510 100644 --- a/core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/smp/SmallMapFragment.java +++ b/core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/smp/SmallMapFragment.java @@ -6,7 +6,6 @@ import android.view.View; import com.alibaba.android.arouter.facade.annotation.Route; import com.mogo.commons.mvp.BaseFragment; -import com.mogo.eagle.core.data.autopilot.ADASTrajectoryInfo; import com.mogo.eagle.core.data.autopilot.AutopilotStatusInfo; import com.mogo.eagle.core.data.constants.MoGoFragmentPaths; import com.mogo.eagle.core.data.map.MogoLatLng; @@ -130,7 +129,7 @@ public class SmallMapFragment extends BaseFragment } @Override - public void onAutopilotTrajectory(ArrayList trajectoryInfos) { + public void onAutopilotTrajectory(List trajectoryInfos) { } diff --git a/core/mogo-core-data/src/main/java/com/mogo/eagle/core/data/autopilot/ADASTrajectoryInfo.java b/core/mogo-core-data/src/main/java/com/mogo/eagle/core/data/autopilot/ADASTrajectoryInfo.java deleted file mode 100644 index 025c0007bf..0000000000 --- a/core/mogo-core-data/src/main/java/com/mogo/eagle/core/data/autopilot/ADASTrajectoryInfo.java +++ /dev/null @@ -1,115 +0,0 @@ -package com.mogo.eagle.core.data.autopilot; - - -/** - * @author song kenan - * @des - * @date 2021/10/21 - */ -public class ADASTrajectoryInfo { - //经度 - private Double lon; - //纬度 - private Double lat; - //高度 - private Double alt; - //时间 秒s - private Double time; - //速度 m/s - private Double velocity; - //加速度 - private Double acceleration; - //速度方向 - private Double theta; - //曲率 - private Double kappa; - //从起点到目前的总距离 - private Double accumulatedDis; - - public void setLon(Double lon) { - this.lon = lon; - } - - public void setLat(Double lat) { - this.lat = lat; - } - - public void setAlt(Double alt) { - this.alt = alt; - } - - public void setTime(Double time) { - this.time = time; - } - - public void setVelocity(Double velocity) { - this.velocity = velocity; - } - - public void setAcceleration(Double acceleration) { - this.acceleration = acceleration; - } - - public void setTheta(Double theta) { - this.theta = theta; - } - - public void setKappa(Double kappa) { - this.kappa = kappa; - } - - public void setAccumulatedDis(Double accumulatedDis) { - this.accumulatedDis = accumulatedDis; - } - - public Double getLon() { - return lon; - } - - public Double getLat() { - return lat; - } - - public Double getAlt() { - return alt; - } - - public Double getTime() { - return time; - } - - public Double getVelocity() { - return velocity; - } - - public Double getAcceleration() { - return acceleration; - } - - public Double getTheta() { - return theta; - } - - public Double getKappa() { - return kappa; - } - - public Double getAccumulatedDis() { - return accumulatedDis; - } - - @Override - public String toString() { - return "TrajectoryModels{" + - "lon=" + lon + - ", lat=" + lat + - ", alt=" + alt + - ", time='" + time + '\'' + - ", velocity=" + velocity + - ", acceleration=" + acceleration + - ", theta=" + theta + - ", kappa=" + kappa + - ", accumulatedDis=" + accumulatedDis + - '}'; - } -} diff --git a/core/mogo-core-function-api/src/main/java/com/mogo/eagle/core/function/api/autopilot/IMoGoAutopilotPlanningListener.kt b/core/mogo-core-function-api/src/main/java/com/mogo/eagle/core/function/api/autopilot/IMoGoAutopilotPlanningListener.kt index d6a46b1a58..c11a3a2449 100644 --- a/core/mogo-core-function-api/src/main/java/com/mogo/eagle/core/function/api/autopilot/IMoGoAutopilotPlanningListener.kt +++ b/core/mogo-core-function-api/src/main/java/com/mogo/eagle/core/function/api/autopilot/IMoGoAutopilotPlanningListener.kt @@ -1,8 +1,6 @@ package com.mogo.eagle.core.function.api.autopilot -import com.mogo.eagle.core.data.autopilot.ADASTrajectoryInfo import mogo.telematics.pad.MessagePad -import java.util.ArrayList /** * 自动驾驶规划路线相关的监听 @@ -13,7 +11,7 @@ interface IMoGoAutopilotPlanningListener { * * @param trajectoryInfos 引导线数据经纬度 */ - fun onAutopilotTrajectory(trajectoryInfos: ArrayList) + fun onAutopilotTrajectory(trajectoryInfos: MutableList) /** * 2021/6/23 工控机经纬度 绘制时转成高德经纬度 diff --git a/core/mogo-core-function-call/src/main/java/com/mogo/eagle/core/function/call/autopilot/CallerAutopilotPlanningListenerManager.kt b/core/mogo-core-function-call/src/main/java/com/mogo/eagle/core/function/call/autopilot/CallerAutopilotPlanningListenerManager.kt index ed74c7659b..0e998ac52d 100644 --- a/core/mogo-core-function-call/src/main/java/com/mogo/eagle/core/function/call/autopilot/CallerAutopilotPlanningListenerManager.kt +++ b/core/mogo-core-function-call/src/main/java/com/mogo/eagle/core/function/call/autopilot/CallerAutopilotPlanningListenerManager.kt @@ -1,7 +1,6 @@ package com.mogo.eagle.core.function.call.autopilot import androidx.annotation.Nullable -import com.mogo.eagle.core.data.autopilot.ADASTrajectoryInfo import com.mogo.eagle.core.function.api.autopilot.IMoGoAutopilotPlanningListener import com.mogo.eagle.core.function.call.base.CallerBase import mogo.telematics.pad.MessagePad @@ -18,7 +17,6 @@ object CallerAutopilotPlanningListenerManager : CallerBase() { private val M_AUTOPILOT_PLANNING_LISTENER: ConcurrentHashMap = ConcurrentHashMap() - /** * 添加监听 * @param tag 标记，用来注销监听使用 @@ -62,7 +60,7 @@ object CallerAutopilotPlanningListenerManager : CallerBase() { * @param trajectoryInfo 自动驾驶状态信息 */ @Synchronized - fun invokeAutopilotTrajectory(trajectoryInfo: ArrayList) { + fun invokeAutopilotTrajectory(trajectoryInfo: MutableList) { M_AUTOPILOT_PLANNING_LISTENER.forEach { val tag = it.key val listener = it.value diff --git a/modules/mogo-module-service/src/main/java/com/mogo/module/service/routeoverlay/MogoRouteOverlayManager.java b/modules/mogo-module-service/src/main/java/com/mogo/module/service/routeoverlay/MogoRouteOverlayManager.java index 485c1d326d..1f0a18821a 100644 --- a/modules/mogo-module-service/src/main/java/com/mogo/module/service/routeoverlay/MogoRouteOverlayManager.java +++ b/modules/mogo-module-service/src/main/java/com/mogo/module/service/routeoverlay/MogoRouteOverlayManager.java @@ -4,7 +4,8 @@ import static com.mogo.eagle.core.utilcode.mogo.logger.scene.SceneConstant.M_OLD import android.content.Context; -import com.mogo.eagle.core.data.autopilot.ADASTrajectoryInfo; +import androidx.annotation.NonNull; + import com.mogo.eagle.core.data.autopilot.AutopilotStatusInfo; import com.mogo.eagle.core.data.config.FunctionBuildConfig; import com.mogo.eagle.core.data.map.MogoLatLng; @@ -66,12 +67,10 @@ public class MogoRouteOverlayManager implements } @Override - public void onAutopilotTrajectory(ArrayList trajectoryInfos) { + public void onAutopilotTrajectory(List trajectoryInfos) { if (trajectoryInfos == null || trajectoryInfos.size() == 0) { return; } -// double lat = MogoApisHandler.getInstance().getApis().getAdasControllerApi().getLastLat(); -// double lon = MogoApisHandler.getInstance().getApis().getAdasControllerApi().getLastLon(); StringBuilder builder = new StringBuilder(); builder.append("{"); builder.append(System.currentTimeMillis()).append(";"); @@ -80,25 +79,20 @@ public class MogoRouteOverlayManager implements builder.append(mLocation.getAltitude()).append(";"); builder.append(mLocation.getBearing()).append(";"); builder.append(mLocation.getSpeed()).append(";"); -// ADASTrajectoryInfo adasTrajectoryInfo = trajectoryInfos.get(0); -// long temp = SystemClock.currentThreadTimeMillis(); -// CallerLogger.INSTANCE.d(M_OLD_ROUTE + TAG, "temp:"+temp+" size:" + trajectoryInfos.size()); -// CallerLogger.INSTANCE.d(M_OLD_ROUTE + TAG, "trajectoryInfos:" + adasTrajectoryInfo.getLat()+":"+adasTrajectoryInfo.getLon()); -// CallerLogger.INSTANCE.d(M_OLD_ROUTE + TAG, "temp:"+temp+" location:" + lat+":"+lon); List mogoLatLngs = new ArrayList<>(); for (int i = 0; i < trajectoryInfos.size(); i++) { // 临时解决车尾拖线问题，丢弃距离车最近的几个经纬度，原因是惯性导航的中心靠近车尾，会导致经纬度靠近尾部，且两个数据不同频 if (i > 5) { - ADASTrajectoryInfo a = trajectoryInfos.get(i); - builder.append(a.getLon()).append(","); - builder.append(a.getLat()).append(","); - mogoLatLngs.add(new MogoLatLng(a.getLat(), a.getLon())); + + MessagePad.TrajectoryPoint a = trajectoryInfos.get(i); + builder.append(a.getLongitude()).append(","); + builder.append(a.getLatitude()).append(","); + mogoLatLngs.add(new MogoLatLng(a.getLatitude(), a.getLongitude())); } } mTrajectoryList = mogoLatLngs; builder.append("}"); - CallerLogger.INSTANCE.d(M_OLD_ROUTE + TAG, builder.toString()); } @Override @@ -115,6 +109,7 @@ public class MogoRouteOverlayManager implements // RouteOverlayDrawer.getInstance(mContext).addEndingMarker(latLngList.get(listSize - 1).lat,latLngList.get(listSize - 1).lon); } + @Override public void onAutopilotStatusResponse(@NotNull AutopilotStatusInfo autoPilotStatusInfo) { if (FunctionBuildConfig.isIgnoreConditionsDrawAutopilotTrajectoryData) { @@ -190,7 +185,7 @@ public class MogoRouteOverlayManager implements list.add(latLng); // } } - CallerLogger.INSTANCE.d(M_OLD_ROUTE + TAG, "TrajectoryData = " + FunctionBuildConfig.isIgnoreConditionsDrawAutopilotTrajectoryData + "---status = " + STATUS_AUTOPILOT + "----size = " + list.size()); +// CallerLogger.INSTANCE.d(M_OLD_ROUTE + TAG, "TrajectoryData = " + FunctionBuildConfig.isIgnoreConditionsDrawAutopilotTrajectoryData + "---status = " + STATUS_AUTOPILOT + "----size = " + list.size()); if (FunctionBuildConfig.isIgnoreConditionsDrawAutopilotTrajectoryData || STATUS_AUTOPILOT == 1) { RouteOverlayDrawer.getInstance(mContext).drawTrajectoryList(list); } diff --git a/modules/mogo-module-service/src/main/java/com/mogo/module/service/routeoverlay/RouteOverlayDrawer.java b/modules/mogo-module-service/src/main/java/com/mogo/module/service/routeoverlay/RouteOverlayDrawer.java index 6d1bf7c3f6..a8f04250de 100644 --- a/modules/mogo-module-service/src/main/java/com/mogo/module/service/routeoverlay/RouteOverlayDrawer.java +++ b/modules/mogo-module-service/src/main/java/com/mogo/module/service/routeoverlay/RouteOverlayDrawer.java @@ -117,8 +117,6 @@ public class RouteOverlayDrawer { public void drawTrajectoryList(List routeList) { // clearMogoRouteOverlay(); - long drawstart = System.currentTimeMillis(); - mPolylinePointList.clear(); if (routeList != null && routeList.size() > 0) { for (MogoLatLng latLng : routeList) { @@ -126,15 +124,12 @@ public class RouteOverlayDrawer { } mPolylineColors.clear(); // mPolylineColors.addAll(ColorUtils.gradientAlpha_("#FF2AAFFD", "#7b2965ED", "#002965ED", mPolylinePointList.size())); - long start = System.currentTimeMillis(); List list = new ArrayList<>(); // list = ColorUtils.gradientAlpha("#FF2AAFFD", "#002965ED", mPolylinePointList.size()); int[] startColor = ColorUtils.hexToArgb("#CC64C3EA"); int[] endColor = ColorUtils.hexToArgb("#0064C3EA"); list.add(Color.argb(startColor[0], startColor[1], startColor[2], startColor[3])); list.add(Color.argb(endColor[0], endColor[1], endColor[2], endColor[3])); - long end = System.currentTimeMillis(); - CallerLogger.INSTANCE.d(M_OLD_ROUTE + TAG, "get color cost : " + (end - start)); mPolylineColors.addAll(list); // 线条粗细，渐变，渐变色值 @@ -147,8 +142,6 @@ public class RouteOverlayDrawer { mMoGoPolyline.setOption(mPolylineOptions); } } - long drawend = System.currentTimeMillis(); - CallerLogger.INSTANCE.d(M_OLD_ROUTE + TAG, "drawTrajectoryList cost : " + (drawend - drawstart)); } public void initDraw() {