dev

services/mogo-service/src/main/java/com/mogo/service/impl/adas/AdasObjectUtils.java

@@ -0,0 +1,77 @@
+package com.mogo.service.impl.adas;
+
+import com.mogo.commons.utils.MortonCode;
+import com.mogo.service.adas.entity.ADASRecognizedResult;
+import com.mogo.service.adas.entity.ADASWarnMessage;
+import com.zhidao.support.adas.high.bean.RectInfo;
+import com.zhidao.support.adas.high.bean.WarnMessageInfo;
+
+import java.util.ArrayList;
+import java.util.List;
+
+public
+/**
+ * @author congtaowang
+ * @since 2020/10/25
+ *
+ * 对象转换类
+ */
+class AdasObjectUtils {
+
+    public static ADASWarnMessage fromAdasObject( WarnMessageInfo info ) {
+        if ( info == null ) {
+            return null;
+        }
+        ADASWarnMessage warnMessage = new ADASWarnMessage();
+        warnMessage.content = info.getContent();
+        warnMessage.level = info.getLevel();
+        try {
+            warnMessage.type = Integer.valueOf( info.getType() );
+        } catch ( NumberFormatException e ) {
+            return null;
+        }
+        warnMessage.value = info.getValue();
+        return warnMessage;
+    }
+
+    public static List< ADASRecognizedResult > fromAdasObject( RectInfo rectInfo ) {
+        if ( rectInfo == null
+                || rectInfo.getModels() == null
+                || rectInfo.getModels().isEmpty() ) {
+            return null;
+        }
+
+        List< ADASRecognizedResult > recognizedResults = new ArrayList<>();
+        for ( RectInfo.RectBean model : rectInfo.getModels() ) {
+            try {
+                ADASRecognizedResult result = fromAdasObject( model );
+                if ( result != null ) {
+                    recognizedResults.add( result );
+                }
+            } catch ( Exception e ) {
+                e.printStackTrace();
+            }
+        }
+        return recognizedResults;
+    }
+
+    public static ADASRecognizedResult fromAdasObject( RectInfo.RectBean rectBean ) {
+        if ( rectBean == null ) {
+            return null;
+        }
+        ADASRecognizedResult result = new ADASRecognizedResult();
+        result.uuid = rectBean.getUuid();
+        result.lat = rectBean.getLat();
+        result.lon = rectBean.getLon();
+        result.type = Integer.valueOf( rectBean.getType() );
+        result.heading = rectBean.getHeading();
+        result.systemTime = Long.valueOf( rectBean.getSystemTime() );
+        result.satelliteTime = Long.valueOf( rectBean.getSatelliteTime() );
+        result.alt = rectBean.getAlt();
+        result.color = rectBean.getColor();
+        result.speed = rectBean.getSpeed();
+        result.cardId = rectBean.getCarId();
+        result.mortonCode = MortonCode.encodeMorton( result.lon, result.lat );
+        return result;
+    }
+}

services/mogo-service/src/main/java/com/mogo/service/impl/adas/MogoADASController.java

@@ -13,7 +13,10 @@ import com.mogo.module.common.utils.CarSeries;
 import com.mogo.service.MogoServicePaths;
 import com.mogo.service.adas.IMogoADASController;
 import com.mogo.service.adas.IMogoAdasDataCallback;
+import com.mogo.service.adas.IMogoAdasWarnMessageCallback;
 import com.mogo.service.adas.RemoteControlAutoPilotParameters;
+import com.mogo.service.adas.entity.ADASRecognizedResult;
+import com.mogo.service.adas.entity.ADASWarnMessage;
 import com.mogo.service.impl.singleton.SingletonsHolder;
 import com.mogo.service.statusmanager.IMogoStatusManager;
 import com.mogo.utils.UiThreadHandler;
@@ -36,7 +39,9 @@ import org.json.JSONException;
 import org.json.JSONObject;
 
 import java.util.ArrayList;
+import java.util.Iterator;
 import java.util.List;
+import java.util.concurrent.CopyOnWriteArrayList;
 
 import static com.mogo.module.common.utils.SPConst.getSpGuide;
 
@@ -65,7 +70,18 @@ public class MogoADASController implements IMogoADASController {
 
     private boolean mIsReleased = true;
 
-    private List< IMogoAdasDataCallback > mAdasDataCallbackList = new ArrayList<>();
+    /**
+     * 获取adas前车距离
+     */
+    private List< IMogoAdasDataCallback > mAdasDataCallbackList = new CopyOnWriteArrayList<>();
+
+    /**
+     * adas 报警数据回调
+     */
+    private List< IMogoAdasWarnMessageCallback > mMogoAdasWarnMessageCallbackList = new CopyOnWriteArrayList<>();
+
+
+    private RectInfo mLastFrameData;
 
     private OnAdasListener mOnAdasListener = new OnAdasListenerAdapter() {
 
@@ -73,16 +89,35 @@ public class MogoADASController implements IMogoADASController {
         public void onRectData( RectInfo rectInfo ) {
             // 物体识别返回
             Logger.d( TAG, "onRectData = %s", rectInfo.toString() );
+            mLastFrameData = rectInfo;
         }
 
         @Override
         public void onWarnMessage( WarnMessageInfo warnMessageInfo ) {
+            if ( warnMessageInfo == null ) {
+                return;
+            }
             // 警告消息
             Logger.d( TAG, "onWarnMessage = %s", warnMessageInfo.toString() );
+            if ( mMogoAdasWarnMessageCallbackList.isEmpty() ) {
+                return;
+            }
+            final ADASWarnMessage warnMessage = AdasObjectUtils.fromAdasObject( warnMessageInfo );
+            if ( warnMessage == null ) {
+                return;
+            }
+            UiThreadHandler.post( () -> {
+                Iterator< IMogoAdasWarnMessageCallback > iMogoAdasWarnMessageCallbackIterator = mMogoAdasWarnMessageCallbackList.iterator();
+                while ( iMogoAdasWarnMessageCallbackIterator.hasNext() ) {
+                    IMogoAdasWarnMessageCallback callback = iMogoAdasWarnMessageCallbackIterator.next();
+                    if ( callback != null ) {
+                        callback.onReceiveData( warnMessage );
+                    }
+                }
+            } );
         }
     };
 
-
     private MyMessageFactory mAdasMessageFactory;
     private IAutopolitDataCallBack mAutoPilotDataCallBack = new IAutopolitDataCallBack() {
         @Override
@@ -297,11 +332,44 @@ public class MogoADASController implements IMogoADASController {
 
     @Override
     public void addAdasDataCallback( IMogoAdasDataCallback callback ) {
-
+        if ( callback == null ) {
+            return;
+        }
+        if ( !mAdasDataCallbackList.contains( callback ) ) {
+            mAdasDataCallbackList.add( callback );
+        }
     }
 
     @Override
     public void removeAdasDataCallback( IMogoAdasDataCallback callback ) {
+        if ( callback == null ) {
+            return;
+        }
+        mAdasDataCallbackList.remove( callback );
+    }
 
+    @Override
+    public void addAdasWarnMessageCallback( IMogoAdasWarnMessageCallback callback ) {
+        if ( callback == null ) {
+            return;
+        }
+        if ( !mMogoAdasWarnMessageCallbackList.contains( callback ) ) {
+            mMogoAdasWarnMessageCallbackList.add( callback );
+        }
+    }
+
+    @Override
+    public void removeAdasWarnMessageCallback( IMogoAdasWarnMessageCallback callback ) {
+        if ( callback == null ) {
+            return;
+        }
+        mMogoAdasWarnMessageCallbackList.remove( callback );
+    }
+
+    @Override
+    public List< ADASRecognizedResult > getLastADASRecognizedResult() {
+        RectInfo rectInfo = mLastFrameData;
+        List< ADASRecognizedResult > recognizedResultList = AdasObjectUtils.fromAdasObject( rectInfo );
+        return recognizedResultList;
     }
 }

services/mogo-service/src/main/java/com/mogo/service/impl/statusmanager/MogoStatusManager.java

@@ -49,6 +49,11 @@ public class MogoStatusManager implements IMogoStatusManager {
         return get_bool_val( StatusDescriptor.VOICE_UI );
     }
 
+    @Override
+    public boolean isVrMode() {
+        return get_bool_val(StatusDescriptor.VR_MODE);
+    }
+
     @Override
     public boolean isADASShow() {
         return get_bool_val( StatusDescriptor.ADAS_UI );
@@ -127,6 +132,11 @@ public class MogoStatusManager implements IMogoStatusManager {
         return val == null ? false : val;
     }
 
+    @Override
+    public void setVrMode(String tag, boolean vrMode) {
+        doSetStatus(tag, StatusDescriptor.VR_MODE, vrMode);
+    }
+
     @Override
     public void setVoiceUIShow( String tag, boolean show ) {
         doSetStatus( tag, StatusDescriptor.VOICE_UI, show );