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

Merge branch 'dev_robotaxi-d-app-module_265_220329_2.6.5' of gitlab.zhidaoauto.com:zhjt/AndroidApp/MoGoEagleEye into dev_robotaxi-d-app-module_265_220329_2.6.5

Browse Source
This commit is contained in:
xinfengkun
2022-04-08 15:40:24 +08:00
parent b1171724be fc5f9b4bc5
commit e1ecbd5fad
31 changed files with 516 additions and 93 deletions
Download Patch File Download Diff File Expand all files Collapse all files

48
app/build.gradle
View File

@@ -24,7 +24,7 @@ if (!isAndroidTestBuild()) {
}
//if (!isAndroidTestBuild()) {
// apply plugin: 'apm-plugin'
apply plugin: 'apm-plugin'
//}
//if (!isAndroidTestBuild()) {
@@ -263,29 +263,29 @@ dependencies {
}
//if (!isAndroidTestBuild()) {
// ApmPlugin {
// // 是否进行插桩
// enable true
// // 是否在Debug包插桩，默认不插桩
// enableInDebug true
// // DEBUG("DEBUG"), INFO("INFO"), WARN("WARN"), ERROR("ERROR");
// // INFO 级别Log会汇总所有被插桩处理的类供查看，路径 app/build/ByteX/ApmPlugin
// logLevel "DEBUG"
// // 启动分析开关：监控App启动耗时，需要同时开启pageLoadSwitch
// startSwitch = true
// // 页面响应开关：监控Activity的生命周期耗时
// pageLoadSwitch = true
// // 网络监控开关：监控okhttp3的网络请求
// okHttp3Switch = true
// // 白名单下的包进行插桩，需要填写要插装类所在的包名，支持前缀配置
// whiteList = [
// "com.mogo"
// ]
// // 黑名单包下类不进行插桩，可以配置包名和类名，没有可以填空
// blackList = [
//
// ]
// }
ApmPlugin {
// 是否进行插桩
enable true
// 是否在Debug包插桩，默认不插桩
enableInDebug true
// DEBUG("DEBUG"), INFO("INFO"), WARN("WARN"), ERROR("ERROR");
// INFO 级别Log会汇总所有被插桩处理的类供查看，路径 app/build/ByteX/ApmPlugin
logLevel "DEBUG"
// 启动分析开关：监控App启动耗时，需要同时开启pageLoadSwitch
startSwitch = true
// 页面响应开关：监控Activity的生命周期耗时
pageLoadSwitch = true
// 网络监控开关：监控okhttp3的网络请求
okHttp3Switch = false
// 白名单下的包进行插桩，需要填写要插装类所在的包名，支持前缀配置
whiteList = [
"com.mogo"
]
// 黑名单包下类不进行插桩，可以配置包名和类名，没有可以填空
blackList = [
]
}
//}
android.applicationVariants.all { variant ->

8
app/src/main/AndroidManifest.xml
View File

@@ -36,6 +36,14 @@
android:name="MAP_SDK_VERSION"
android:value="${MAP_SDK_VERSION}" />
<!-- 自动驾驶业务埋点上报URL -->
<meta-data
android:name="com.elegant.analytics.AnalyticsConfig.EventsEndpoint"
android:value="https://bdlog.zhidaozhixing.com/autocar" />
<meta-data
android:name="com.elegant.analytics.AnalyticsConfig.EventsFallbackEndpoint"
android:value="https://bdlog.zhidaozhixing.com/autocar" />
</application>

2
config.gradle
View File

@@ -166,7 +166,7 @@ ext {
crashreportapmbyte : "com.mogo.test:crashreport-apmbyte:${CRASHREPORT_APMBYTE_VERSION}",
crashreportnoop : "com.mogo.test:crashreport-noop:${CRASHREPORT_NOOP_VERSION}",
crashreportupgrade : "com.mogo.test:crashreport-upgrade:${CRASHREPORT_UPGRADE_VERSION}",
apm_insight : 'com.volcengine:apm_insight:1.4.4.cn',
apm_insight : 'com.volcengine:apm_insight:1.4.5.cn',
apm_insight_crash : 'com.volcengine:apm_insight_crash:1.4.2',
//========================= TTS语音 Maven 版本管理 =========================

4
core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/hmi/ui/WaringPresenter.kt → core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/hmi/ui/HmiPresenter.kt
View File

@@ -6,8 +6,8 @@ import com.mogo.commons.mvp.Presenter
* @author xiaoyuzhou
* @date 2021/8/3 3:55 下午
*/
class WaringPresenter(view: MoGoWarningContract.View?) :
Presenter<MoGoWarningContract.View?>(view) {
class HmiPresenter(view: MoGoHmiContract.View?) :
Presenter<MoGoHmiContract.View?>(view) {
}

2
core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/hmi/ui/MoGoWarningContract.kt → core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/hmi/ui/MoGoHmiContract.kt
View File

@@ -11,7 +11,7 @@ import com.mogo.eagle.core.function.api.hmi.warning.IMoGoWarningStatusListener
*@author xiaoyuzhou
*@date 2021/8/4 3:38 下午
*/
interface MoGoWarningContract {
interface MoGoHmiContract {
interface View : IView {

8
core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/hmi/ui/MoGoHmiFragment.kt
View File

@@ -60,10 +60,10 @@ import java.util.*
* 预警图层
*/
@Route(path = MoGoFragmentPaths.PATH_FRAGMENT_HMI)
class MoGoHmiFragment : MvpFragment<MoGoWarningContract.View?, WaringPresenter?>(),
class MoGoHmiFragment : MvpFragment<MoGoHmiContract.View?, HmiPresenter?>(),
IMoGoWaringProvider,
IMoGoHmiViewProxy,
MoGoWarningContract.View,
MoGoHmiContract.View,
IMoGoAutopilotRecordListener {
private val TAG = "MoGoHmiFragment"
@@ -347,8 +347,8 @@ class MoGoHmiFragment : MvpFragment<MoGoWarningContract.View?, WaringPresenter?>
return TAG
}
override fun createPresenter(): WaringPresenter {
return WaringPresenter(this)
override fun createPresenter(): HmiPresenter {
return HmiPresenter(this)
}
override fun setSpeedChartViewVisibility(visibility: Int) {

13
core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/hmi/ui/tools/AutoPilotAndCheckView.kt
View File

@@ -51,6 +51,11 @@ class AutoPilotAndCheckView @JvmOverloads constructor(
initView()
}
companion object {
private var maxAcceleration: Double = 2.0
private var speedLimit: Double = 0.0
}
@SuppressLint("ClickableViewAccessibility")
private fun initView() {
background = ColorDrawable(Color.parseColor("#F0151D41"))
@@ -124,6 +129,12 @@ class AutoPilotAndCheckView @JvmOverloads constructor(
if (AppConfigInfo.isConnectAutopilot) {
CallerAutoPilotManager.getCarConfig()
}
if (maxAcceleration > 0) {
tvAcceleration.text = "加速度 $maxAcceleration m/s²"
}
if (speedLimit > 0) {
etInputSpeed.setText((speedLimit * 3.6).toInt().toString())
}
// // 比如需要设置默认速度
// val speed = "30"
// etInputSpeed.setText(speed)
@@ -204,6 +215,8 @@ class AutoPilotAndCheckView @JvmOverloads constructor(
override fun onAutopilotCarConfig(carConfigResp: MessagePad.CarConfigResp) {
UiThreadHandler.post {
tvAcceleration?.let {
maxAcceleration = carConfigResp.maxAcceleration
speedLimit = carConfigResp.speedLimit
tvAcceleration.text = "加速度 ${carConfigResp.maxAcceleration} m/s²"
etInputSpeed.setText((carConfigResp.speedLimit * 3.6).toInt().toString())
}

8
core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/hmi/ui/turnlight/BrakeViewStatus.kt
View File

@@ -55,12 +55,12 @@ class BrakeViewStatus @JvmOverloads constructor(
if (isBrake) {
isBrake = false
GlobalScope.launch(Dispatchers.Main) {
scaleImageAndTv()
// scaleImageAndTv()
var disappearAnimation = AlphaAnimation(1f, 0f)
disappearAnimation.duration = 1200
disappearAnimation.duration = 400
layout_brake.startAnimation(disappearAnimation)
image_brake.startAnimation(disappearAnimation)
tv_brake.startAnimation(disappearAnimation)
// image_brake.startAnimation(disappearAnimation)
// tv_brake.startAnimation(disappearAnimation)
disappearAnimation.setAnimationListener(object : Animation.AnimationListener {
override fun onAnimationRepeat(p0: Animation?) {

8
core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/hmi/ui/turnlight/TurnLightViewStatus.kt
View File

@@ -107,9 +107,9 @@ class TurnLightViewStatus @JvmOverloads constructor(
//显示背景
private fun showNormalAnimation() {
val appearAnimation = AlphaAnimation(0f, 1.0f)
appearAnimation.duration = 600
appearAnimation.duration = 300
val appearAnimationImage = AlphaAnimation(0f, 1.0f)
appearAnimation.duration = 1000
appearAnimation.duration = 500
turn_light_layout.startAnimation(appearAnimation)
left_nor_image.startAnimation(appearAnimationImage)
right_nor_image.startAnimation(appearAnimationImage)
@@ -134,7 +134,7 @@ class TurnLightViewStatus @JvmOverloads constructor(
disappearAnimationLeft.duration = 300
val disappearAnimationBg = AlphaAnimation(1.0f, 0f)
disappearAnimationBg.duration = 1200
disappearAnimationBg.duration = 500
left_nor_image.startAnimation(disappearAnimationLeft)
right_nor_image.startAnimation(disappearAnimationLeft)
@@ -170,7 +170,7 @@ class TurnLightViewStatus @JvmOverloads constructor(
//实现图片闪烁效果
private fun setAnimation(imageView: ImageView) {
val animation = AlphaAnimation(1.0f, 0f)
animation.duration = 600
animation.duration = 500
animation.interpolator = LinearInterpolator()
animation.repeatCount = Animation.INFINITE
animation.repeatMode = Animation.REVERSE

4
core/function-impl/mogo-core-function-hmi/src/main/res/layout/fragment_hmi.xml
View File

@@ -137,8 +137,8 @@
<!--限速牌子-->
<com.mogo.eagle.core.function.hmi.ui.widget.LimitingVelocityView
android:id="@+id/viewLimitingVelocity"
android:layout_width="130px"
android:layout_height="130px"
android:layout_width="120px"
android:layout_height="120px"
android:layout_marginTop="30px"
android:layout_marginEnd="40px"
android:background="@drawable/bg_waring_limiting_velocity"

2
core/function-impl/mogo-core-function-hmi/src/main/res/layout/module_main_activity_main.xml
View File

@@ -37,7 +37,7 @@
app:layout_constraintEnd_toEndOf="parent" />
</androidx.constraintlayout.widget.ConstraintLayout>
<!--预警视图 OBU、云端下发、自车感知、自车策略-->
<!--HMI 预警视图 OBU、云端下发、自车感知、自车策略-->
<FrameLayout
android:id="@+id/module_main_id_waring_fragment"
android:layout_width="match_parent"

1
core/function-impl/mogo-core-function-hmi/src/main/res/layout/view_auto_pilot_check.xml
View File

@@ -185,7 +185,6 @@
android:layout_height="wrap_content"
android:layout_marginStart="123px"
android:layout_marginTop="12px"
android:text="加速度 2 m/s²"
android:textColor="#A7B6F0"
android:textSize="32px"
app:layout_constraintStart_toStartOf="parent"

5
core/function-impl/mogo-core-function-hmi/src/main/res/layout/view_brake_light_status.xml
View File

@@ -25,7 +25,7 @@
android:id="@+id/image_brake"
android:layout_width="wrap_content"
android:layout_height="wrap_content"
android:layout_marginLeft="110px"
android:layout_marginLeft="115px"
android:layout_gravity="center_vertical"
android:src="@drawable/module_light_nor"
android:visibility="gone"
@@ -37,10 +37,9 @@
android:layout_width="wrap_content"
android:layout_height="wrap_content"
android:layout_gravity="center_vertical"
android:layout_marginLeft="20px"
android:text="刹车中"
android:textColor="#ffffff"
android:textSize="45px"
android:textSize="40px"
android:visibility="gone"
app:layout_constraintTop_toTopOf="parent"
app:layout_constraintStart_toEndOf="@+id/image_brake" />

8
core/function-impl/mogo-core-function-hmi/src/main/res/layout/view_turn_light_status.xml
View File

@@ -38,8 +38,8 @@
android:layout_width="wrap_content"
android:layout_height="wrap_content"
android:layout_gravity="left|center_vertical"
android:layout_marginLeft="10px"
android:layout_marginTop="5px"
android:layout_marginLeft="13px"
android:layout_marginTop="3px"
android:src="@drawable/module_arrow_left_select_nor"
android:visibility="gone" />
@@ -48,8 +48,8 @@
android:layout_width="wrap_content"
android:layout_height="wrap_content"
android:layout_gravity="right|center_vertical"
android:layout_marginTop="5px"
android:layout_marginRight="10px"
android:layout_marginTop="3px"
android:layout_marginRight="13px"
android:src="@drawable/module_arrow_right_select_nor"
android:visibility="gone" />
</FrameLayout>

2
core/function-impl/mogo-core-function-hmi/src/main/res/values/dimens.xml
View File

@@ -37,7 +37,7 @@
<dimen name="dp_1066">1066px</dimen>
<dimen name="turnlight_bg_corner">60px</dimen>
<dimen name="turnlight_width">270px</dimen>
<dimen name="turnlight_width">275px</dimen>
<dimen name="turnlight_height">120px</dimen>
<dimen name="brakelight_width">460px</dimen>
<dimen name="brakelight_height">120px</dimen>

93
core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/map/IdentifyDataDrawer.java
View File

@@ -1,15 +1,18 @@
package com.mogo.eagle.core.function.map;
import static com.mogo.eagle.core.utilcode.mogo.logger.scene.SceneConstant.M_HMI;
import android.annotation.SuppressLint;
import android.content.Context;
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.utilcode.mogo.logger.CallerLogger;
import com.mogo.eagle.core.utilcode.util.UiThreadHandler;
import com.mogo.map.MogoMarkerManager;
import com.mogo.module.common.MogoApisHandler;
import com.mogo.module.common.utils.DrivingDirectionUtils;
import java.util.ArrayList;
import java.util.List;
@@ -31,12 +34,12 @@ public class IdentifyDataDrawer {
/**
* 上一帧数据的缓存
*/
private static final ConcurrentHashMap<String, TrafficData> mMarkersCaches = new ConcurrentHashMap<>();
private static final ConcurrentHashMap<String, MessagePad.TrackedObject> mMarkersCaches = new ConcurrentHashMap<>();
/**
* 已经感知不到的脏数据
*/
private final ConcurrentHashMap<String, TrafficData> mDirtyPositions = new ConcurrentHashMap<>();
private final ConcurrentHashMap<String, MessagePad.TrackedObject> firstData = new ConcurrentHashMap<>();
/**
* 记录每次实际绘制的交通元素UUID
*/
@@ -71,6 +74,7 @@ public class IdentifyDataDrawer {
*
* @param resultList adas感知融合数据
*/
@SuppressLint("NewApi")
public void renderAdasRecognizedResult(List<MessagePad.TrackedObject> resultList) {
if (resultList == null || resultList.isEmpty()) {
clearOldMarker();
@@ -84,35 +88,32 @@ public class IdentifyDataDrawer {
return;
}
// 循环将集合中的数据提取记录
for (MessagePad.TrackedObject trafficData : resultList) {
// 过滤掉未知感知数据
if (!FunctionBuildConfig.isDrawUnknownIdentifyData &&
trafficData.getType() == TrafficTypeEnum.TYPE_TRAFFIC_ID_WEI_ZHI.getType()) {
//CallerLogger.INSTANCE.w(TAG, "未知感知类型数据，丢弃，不渲染");
continue;
long start = System.currentTimeMillis();
//清除缓存
for (MessagePad.TrackedObject data : resultList) {
if (trafficDataUuidList.size() > 0 && trafficDataUuidList.contains("" + data.getUuid())) {
trafficDataUuidList.remove("" + data.getUuid());
}
trafficDataUuidList.add("" + trafficData.getUuid());
}
// // 找出上一针数据中已经不在本次数据中存在的数据
// for (String uuid : mMarkersCaches.keySet()) {
// if (!trafficDataUuidList.contains(uuid)) {
// mDirtyPositions.put(uuid, mMarkersCaches.get(uuid));
// }
// }
// // 移除脏数据
// for (String uuid : mDirtyPositions.keySet()) {
// MogoApisHandler.getInstance().getApis()
// .getMapServiceApi()
// .getMarkerManager(mContext)
// .removeMarker(uuid);
// }
trafficDataUuidList.forEach(uuid -> {
mMarkersCaches.remove(uuid);
});
// 绘制新数据
MogoMarkerManager.getInstance(mContext)
.updateBatchMarkerPosition(filterTrafficData(resultList));
CallerLogger.INSTANCE.d(M_HMI + "arrow47", "origin data size : " + resultList.size());
ArrayList<MessagePad.TrackedObject> filterList = filterTrafficData(resultList);
long cost = System.currentTimeMillis() - start;
CallerLogger.INSTANCE.d(M_HMI + "arrow47", "cost : " + cost);
if (filterList.size() > 0) {
// 绘制新数据
MogoMarkerManager.getInstance(mContext)
.updateBatchMarkerPosition(filterList);
}
CallerLogger.INSTANCE.d(M_HMI + "arrow47", "first data size : " + firstData.size() + " , mMarkersCaches : " + mMarkersCaches.size());
// 首次未添加的感知物在调用完绘制方法后再塞入cache map
mMarkersCaches.putAll(firstData);
}
/**
@@ -121,14 +122,46 @@ public class IdentifyDataDrawer {
* @return 过滤后的数据集合
*/
private ArrayList<MessagePad.TrackedObject> filterTrafficData(List<MessagePad.TrackedObject> trafficData) {
firstData.clear();
mFilterTrafficData.clear();
trafficDataUuidList.clear();
for (MessagePad.TrackedObject data : trafficData) {
// 过滤掉未知感知数据
if (data.getType() == TrafficTypeEnum.TYPE_TRAFFIC_ID_WEI_ZHI.getType()) {
if (!FunctionBuildConfig.isDrawUnknownIdentifyData && data.getType() == TrafficTypeEnum.TYPE_TRAFFIC_ID_WEI_ZHI.getType()) {
//CallerLogger.INSTANCE.w(TAG, "未知感知类型数据，丢弃，不渲染");
continue;
}
mFilterTrafficData.add(data);
//首次过来的数据不添加,首次未添加的感知物在调用完绘制方法后再塞入cache map
MessagePad.TrackedObject cacheData = mMarkersCaches.get("" + data.getUuid());
if (cacheData != null) {
MessagePad.TrackedObject correctData = null;
//todo 进行修正
if (Math.abs(cacheData.getHeading() - data.getHeading()) > 40 && Math.abs(cacheData.getHeading() - data.getHeading()) < 90) {
CallerLogger.INSTANCE.d(M_HMI + "arrow47", "uuid: " + data.getUuid() + " , 40~90差值范围 , 上一帧 : " + cacheData.getHeading() + " , 当前帧 : " + data.getHeading());
}
if (Math.abs(cacheData.getHeading() - data.getHeading()) > 90) {
int degree = DrivingDirectionUtils.getDegreeOfCar2Poi(cacheData.getLongitude(), cacheData.getLatitude(), data.getLongitude(), data.getLatitude(), Double.valueOf(cacheData.getHeading()).intValue());
if (degree > 90) {
CallerLogger.INSTANCE.d(M_HMI + "arrow47", "uuid: " + data.getUuid() + " , 夹角 : " + degree + " , 修正 上一帧 : " + cacheData.getHeading() + " , 当前帧 : " + data.getHeading());
correctData = data.toBuilder().setHeading(cacheData.getHeading()).build();
} else {
CallerLogger.INSTANCE.d(M_HMI + "arrow47", "uuid: " + data.getUuid() + " , 夹角 : " + degree + " , 未修正 上一帧 : " + cacheData.getHeading() + " , 当前帧 : " + data.getHeading());
}
}
if (correctData != null) {
mFilterTrafficData.add(correctData);
//更新已存在的感知物体数据
mMarkersCaches.put("" + data.getUuid(), correctData);
} else {
mFilterTrafficData.add(data);
//更新已存在的感知物体数据
mMarkersCaches.put("" + data.getUuid(), data);
}
} else {
firstData.put("" + data.getUuid(), data);
}
trafficDataUuidList.add("" + data.getUuid());
}
return mFilterTrafficData;
}

212
core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/map/IdentifyDataDrawerTest.java Normal file
View File

@@ -0,0 +1,212 @@
package com.mogo.eagle.core.function.map;
import static com.mogo.eagle.core.utilcode.mogo.logger.scene.SceneConstant.M_HMI;
import android.annotation.SuppressLint;
import android.content.Context;
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.utilcode.mogo.logger.CallerLogger;
import com.mogo.eagle.core.utilcode.util.UiThreadHandler;
import com.mogo.map.MogoMap;
import com.mogo.map.MogoMarkerManager;
import com.mogo.module.common.MogoApisHandler;
import com.mogo.module.common.constants.AdasRecognizedType;
import java.util.ArrayList;
import java.util.List;
import java.util.concurrent.ConcurrentHashMap;
import mogo.telematics.pad.MessagePad;
/**
* @author xiaoyuzhou
* @date 2021/10/19 10:45 上午
* 域控制器识别信息绘制
*/
public class IdentifyDataDrawerTest {
private static final String TAG = "IdentifyDataDrawer";
protected final Context mContext;
private static volatile IdentifyDataDrawerTest sInstance;
/**
* 上一帧数据的缓存
*/
private static final ConcurrentHashMap<String, MessagePad.TrackedObject> mMarkersCaches = new ConcurrentHashMap<>();
private static final ConcurrentHashMap<String, KalmanFilter> algoCache = new ConcurrentHashMap<>();
/**
* 记录每次实际绘制的交通元素UUID
*/
private final ArrayList<String> trafficDataUuidList = new ArrayList<>();
/**
* 过滤后的数据集合
*/
private final ArrayList<MessagePad.TrackedObject> mFilterTrafficData = new ArrayList<>();
private IdentifyDataDrawerTest() {
mContext = AbsMogoApplication.getApp();
addPreVehicleModel();
}
public static IdentifyDataDrawerTest getInstance() {
if (sInstance == null) {
synchronized (IdentifyDataDrawerTest.class) {
if (sInstance == null) {
sInstance = new IdentifyDataDrawerTest();
}
}
}
return sInstance;
}
public synchronized void release() {
sInstance = null;
}
/**
* 渲染 adas 识别的数据
*
* @param resultList adas感知融合数据
*/
@SuppressLint("NewApi")
public void renderAdasRecognizedResult(List<MessagePad.TrackedObject> resultList) {
if (resultList == null || resultList.isEmpty()) {
clearOldMarker();
CallerLogger.INSTANCE.w(TAG, "感知数据为空无需渲染……");
return;
}
if (!MogoApisHandler.getInstance().getApis().getStatusManagerApi().isVrMode()) {
clearOldMarker();
CallerLogger.INSTANCE.w(TAG, "渲染 adas 识别的数据 当前不是VR模式");
return;
}
//清除缓存
for (MessagePad.TrackedObject data : resultList) {
if (trafficDataUuidList.size() > 0 && trafficDataUuidList.contains("" + data.getUuid())) {
trafficDataUuidList.remove("" + data.getUuid());
}
}
trafficDataUuidList.forEach(uuid -> {
mMarkersCaches.remove(uuid);
algoCache.remove(uuid);
});
ArrayList<MessagePad.TrackedObject> filterList = filterTrafficData(resultList);
if (filterList.size() > 0) {
// 绘制新数据
MogoMarkerManager.getInstance(mContext)
.updateBatchMarkerPosition(filterList);
}
}
/**
* 数据过滤器
*
* @return 过滤后的数据集合
*/
private ArrayList<MessagePad.TrackedObject> filterTrafficData(List<MessagePad.TrackedObject> trafficData) {
mFilterTrafficData.clear();
trafficDataUuidList.clear();
for (MessagePad.TrackedObject data : trafficData) {
// 过滤掉未知感知数据
if (!FunctionBuildConfig.isDrawUnknownIdentifyData && data.getType() == TrafficTypeEnum.TYPE_TRAFFIC_ID_WEI_ZHI.getType()) {
//CallerLogger.INSTANCE.w(TAG, "未知感知类型数据，丢弃，不渲染");
continue;
}
MessagePad.TrackedObject cacheData = mMarkersCaches.get("" + data.getUuid());
double heading = MogoMap.getInstance().getMogoMap().getUIController().getAngle(cacheData.getLongitude(), cacheData.getLatitude(), data.getLongitude(), data.getLatitude());
CallerLogger.INSTANCE.d(M_HMI + "arrow47", " uuid : " + data.getUuid() + " , origin heading : " + data.getHeading() + " , correct heading : " + heading + " ---- " + (data.getHeading() - heading));
// double heading = kalmanFilter(data);
MessagePad.TrackedObject correctData = data.toBuilder().setHeading(heading).build();
mFilterTrafficData.add(correctData);
//更新已存在的感知物体数据
mMarkersCaches.put("" + correctData.getUuid(), correctData);
trafficDataUuidList.add("" + correctData.getUuid());
}
return mFilterTrafficData;
}
private double kalmanFilter(MessagePad.TrackedObject data) {
String uuid = "" + data.getUuid();
if (algoCache.containsKey(uuid)) {
Object o = algoCache.get(uuid);
KalmanFilter kf = (KalmanFilter) o;
assert kf != null;
double[] lonLat = kf.filter(data.getLongitude(), data.getLatitude());
algoCache.put(uuid, kf);
MessagePad.TrackedObject cacheTrackObj = mMarkersCaches.get(uuid);
assert cacheTrackObj != null;
double heading = MogoMap.getInstance().getMogoMap().getUIController().getAngle(cacheTrackObj.getLongitude(), cacheTrackObj.getLatitude(), lonLat[0], lonLat[1]);
CallerLogger.INSTANCE.d(M_HMI + "arrow47", " uuid : " + uuid + " , origin heading : " + data.getHeading() + " , correct heading : " + heading + " ---- " + (data.getHeading() - heading));
return heading;
} else {
double r = 0.00005;
if (AdasRecognizedType.valueFrom(data.getType()) == AdasRecognizedType.classIdTrafficBus || AdasRecognizedType.valueFrom(data.getType()) == AdasRecognizedType.classIdTrafficTruck) {
r = 0.0001;
}
algoCache.put(uuid, new KalmanFilter(data.getLongitude(), data.getLatitude(), r));
return data.getHeading();
}
}
/**
* 清除旧的 marker 数据
*/
public void clearOldMarker() {
for (String uuid : trafficDataUuidList) {
MogoMarkerManager.getInstance(mContext)
.removeMarker(uuid);
}
trafficDataUuidList.clear();
}
private void addPreVehicleModel() {
CallerLogger.INSTANCE.d(TAG, "添加感知模型到地图中……");
addPreVehicleModelWeiZhi(TrafficTypeEnum.TYPE_TRAFFIC_ID_WEI_ZHI, "添加感知模型到地图中……preVehicleStrWeiZhi=");
addPreVehicleModelWeiZhi(TrafficTypeEnum.TYPE_TRAFFIC_ID_PEOPLE, "添加感知模型到地图中……preVehicleStrPeople=");
addPreVehicleModelWeiZhi(TrafficTypeEnum.TYPE_TRAFFIC_ID_BICYCLE, "添加感知模型到地图中……preVehicleStrBicycle=");
addPreVehicleModelWeiZhi(TrafficTypeEnum.TYPE_TRAFFIC_ID_TA_CHE, "添加感知模型到地图中……preVehicleStrTaChe=");
addPreVehicleModelWeiZhi(TrafficTypeEnum.TYPE_TRAFFIC_ID_MOTO, "添加感知模型到地图中……preVehicleStrMoto=");
addPreVehicleModelWeiZhi(TrafficTypeEnum.TYPE_TRAFFIC_ID_BUS, "添加感知模型到地图中……preVehicleStrBus=");
addPreVehicleModelWeiZhi(TrafficTypeEnum.TYPE_TRAFFIC_ID_TRUCK, "添加感知模型到地图中……preVehicleStrTruck=");
}
/**
* 添加模型到地图中
*
* @param typeTrafficIdWeiZhi
* @param s
*/
private void addPreVehicleModelWeiZhi(TrafficTypeEnum typeTrafficIdWeiZhi, String s) {
String preVehicleStrWeiZhi = MogoMarkerManager.getInstance(mContext)
.addPreVehicleModel(typeTrafficIdWeiZhi.getType(),
typeTrafficIdWeiZhi.getTraffic3DIconId());
CallerLogger.INSTANCE.d(TAG, s + preVehicleStrWeiZhi);
if (preVehicleStrWeiZhi == null) {
UiThreadHandler.postDelayed(new Runnable() {
@Override
public void run() {
CallerLogger.INSTANCE.w(TAG, "添加感知模型到地图中失败，尝试重复添加……");
addPreVehicleModelWeiZhi(typeTrafficIdWeiZhi, s);
}
}, 1000L);
}
}
}

34
core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/map/KalmanFilter.java Normal file
View File

@@ -0,0 +1,34 @@
package com.mogo.eagle.core.function.map;
public class KalmanFilter {
private final double q = 1.0E-6D;
double r = 5.0E-5D;
double[][] xhat = new double[][]{{0.0D, 0.0D}, {0.0D, 0.0D}};
double[][] p = new double[][]{{1.0D, 1.0D}, {0.0D, 0.0D}};
double[][] xhatminus = new double[][]{{0.0D, 0.0D}, {0.0D, 0.0D}};
double[][] pMinus = new double[][]{{0.0D, 0.0D}, {0.0D, 0.0D}};
double[][] k = new double[][]{{0.0D, 0.0D}, {0.0D, 0.0D}};
int idx = 1;
public KalmanFilter(double lon, double lat, double r) {
this.xhat[0][0] = lon;
this.xhat[0][1] = lat;
this.r = r;
}
public double[] filter(double lon, double lat) {
for(int i = 0; i < 2; ++i) {
this.xhatminus[this.idx][i] = this.xhat[1 - this.idx][i];
this.pMinus[this.idx][i] = this.p[1 - this.idx][i] + 1.0E-6D;
this.k[this.idx][i] = this.pMinus[this.idx][i] / (this.pMinus[this.idx][i] + this.r);
double value = i == 0 ? lon : lat;
this.xhat[this.idx][i] = this.xhatminus[this.idx][i] + this.k[this.idx][i] * (value - this.xhatminus[this.idx][i]);
this.p[this.idx][i] = (1.0D - this.k[this.idx][i]) * this.pMinus[this.idx][i];
}
double lon1 = this.xhat[this.idx][0];
double lat1 = this.xhat[this.idx][1];
this.idx = 1 - this.idx;
return new double[]{lon1, lat1};
}
}

2
core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/smp/SmallMapDirectionView.java
View File

@@ -262,7 +262,7 @@ public class SmallMapDirectionView
new PolylineOptions()
.addAll(mCoordinatesLatLng)
.color(Color.argb(255, 31, 127, 255))
.width(5));
.width(6));
}
// else {

BIN
core/function-impl/mogo-core-function-map/src/main/res/drawable-xhdpi-2560x1440/module_small_map_view_dir_end.png
View File

Binary file not shown.
Side by Side Swipe Overlay

Before

Width:  |  Height:  |  Size: 604 B

After

Width:  |  Height:  |  Size: 6.1 KiB

BIN
core/function-impl/mogo-core-function-map/src/main/res/drawable-xhdpi-2560x1440/module_small_map_view_dir_start.png
View File

Binary file not shown.
Side by Side Swipe Overlay

Before

Width:  |  Height:  |  Size: 601 B

After

Width:  |  Height:  |  Size: 7.5 KiB

12
core/function-impl/mogo-core-function-v2x/src/main/java/com/mogo/eagle/core/function/v2x/trafficlight/TrafficLightHMIManager.kt
View File

@@ -40,20 +40,20 @@ class TrafficLightHMIManager {
trafficLightStatus.isGreen() || trafficLightStatus.isFlashGreen() -> {
CallerHmiManager.showWarningTrafficLight(3)
CallerHmiManager.changeCountdownGreen(remain)
CallerHmiManager.changeCountdownRed(-1)
CallerHmiManager.changeCountdownYellow(-1)
// CallerHmiManager.changeCountdownRed(-1)
// CallerHmiManager.changeCountdownYellow(-1)
}
trafficLightStatus.isYellow() -> {
CallerHmiManager.showWarningTrafficLight(2)
CallerHmiManager.changeCountdownYellow(remain)
CallerHmiManager.changeCountdownGreen(-1)
CallerHmiManager.changeCountdownRed(-1)
// CallerHmiManager.changeCountdownGreen(-1)
// CallerHmiManager.changeCountdownRed(-1)
}
trafficLightStatus.isRed() -> {
CallerHmiManager.showWarningTrafficLight(1)
CallerHmiManager.changeCountdownRed(remain)
CallerHmiManager.changeCountdownGreen(-1)
CallerHmiManager.changeCountdownYellow(-1)
// CallerHmiManager.changeCountdownGreen(-1)
// CallerHmiManager.changeCountdownYellow(-1)
}
}
}

93
core/mogo-core-utils/src/main/java/com/mogo/eagle/core/utilcode/util/OverlayViewUtils.java Normal file
View File

@@ -0,0 +1,93 @@
package com.mogo.eagle.core.utilcode.util;
import android.app.Activity;
import android.content.Context;
import android.view.View;
import android.view.WindowManager;
import android.view.WindowManager.LayoutParams;
/**
* 遮罩层工具类
*
* @author mogoauto
*/
public class OverlayViewUtils {
private static final String TAG = "OverlayViewUtils";
private static WindowManager windowManager;
private static Context applicationContext;
private static volatile boolean isShowing = false;
/**
* 记录上一次的View
*/
private static View lastOverlayView;
/**
* 添加覆盖View在Activity上面
*/
public static void showOverlayView(Activity context, View overlayView) {
if (applicationContext == null) {
applicationContext = context.getApplicationContext();
}
if (windowManager == null) {
windowManager = context.getWindowManager();
}
// 设置View显示模式，沉浸式的侵入到状态栏，导航栏
overlayView.setSystemUiVisibility(View.SYSTEM_UI_FLAG_LAYOUT_FULLSCREEN
| View.SYSTEM_UI_FLAG_IMMERSIVE_STICKY
| View.SYSTEM_UI_FLAG_HIDE_NAVIGATION
| View.SYSTEM_UI_FLAG_LAYOUT_STABLE
| View.SYSTEM_UI_FLAG_LAYOUT_HIDE_NAVIGATION);
LayoutParams params = new LayoutParams();
params.width = LayoutParams.MATCH_PARENT;
params.height = LayoutParams.MATCH_PARENT;
params.alpha = 1.0f;
// 设置窗口类型为应用子窗口，和PopupWindow同类型
params.type = WindowManager.LayoutParams.TYPE_APPLICATION_PANEL;
// 没有边界限制，允许窗口扩展到屏幕外
params.flags = WindowManager.LayoutParams.FLAG_LAYOUT_NO_LIMITS;
// 如果正在展示中，并且lastOverlayView不为null，先做移除操作，保证覆盖在最上面的View只有一个，防止叠加导致无法移除
if (lastOverlayView != null) {
dismissOverlayView(lastOverlayView);
}
try {
// 后门逻辑，长时间触摸消失
overlayView.setOnLongClickListener(v -> {
dismissOverlayView(lastOverlayView);
return true;
});
lastOverlayView = overlayView;
windowManager.addView(overlayView, params);
isShowing = true;
} catch (Exception e) {
e.printStackTrace();
}
}
/**
* 移除覆盖View在Activity上面
*/
public static void dismissOverlayView(View overlayView) {
if (!isShowing) {
return;
}
try {
if (windowManager != null && overlayView != null) {
windowManager.removeView(overlayView);
}
isShowing = false;
} catch (Exception e) {
e.printStackTrace();
}
}
}

1
libraries/mogo-map-api/src/main/java/com/mogo/map/IMogoMap.java
View File

@@ -1,6 +1,5 @@
package com.mogo.map;
import com.mogo.eagle.core.data.traffic.TrafficData;
import com.mogo.map.marker.IMogoMarker;
import com.mogo.map.marker.MogoMarkerOptions;
import com.mogo.map.overlay.IMogoPolyline;

6
libraries/mogo-map-api/src/main/java/com/mogo/map/uicontroller/IMogoMapUIController.java
View File

@@ -352,4 +352,10 @@ public interface IMogoMapUIController {
* 设置地图视线角度
*/
void setMapDAngle(float angle);
/**
* 获取行车方向
* @return
*/
float getAngle(double startLon, double startLat, double endLon, double endLat);
}

5
libraries/mogo-map/src/main/java/com/mogo/map/AMapViewWrapper.java
View File

@@ -1079,4 +1079,9 @@ public class AMapViewWrapper implements IMogoMapView,
mMapView.getMapAutoViewHelper().setMapDAngle(angle);
}
@Override
public float getAngle(double startLon, double startLat, double endLon, double endLat) {
return MapAutoApi.INSTANCE.getAngle(startLon,startLat,endLon,endLat);
}
}

9
libraries/mogo-map/src/main/java/com/mogo/map/MogoMapUIController.java
View File

@@ -454,4 +454,13 @@ public class MogoMapUIController implements IMogoMapUIController {
mDelegate.setMapDAngle(angle);
}
}
@Override
public float getAngle(double startLon, double startLat, double endLon, double endLat) {
initDelegate();
if (mDelegate != null) {
return mDelegate.getAngle(startLon, startLat, endLon, endLat);
}
return 0.0f;
}
}

8
libraries/mogo-map/src/main/java/com/mogo/map/uicontroller/AMapUIController.java
View File

@@ -374,4 +374,12 @@ public class AMapUIController implements IMogoMapUIController {
mClient.setMapDAngle(angle);
}
}
@Override
public float getAngle(double startLon, double startLat, double endLon, double endLat) {
if (mClient != null) {
return mClient.getAngle(startLon,startLat,endLon,endLat);
}
return 0;
}
}

1
modules/mogo-module-common/build.gradle
View File

@@ -81,6 +81,7 @@ dependencies {
} else {
api project(":libraries:mogo-map")
api project(":libraries:mogo-map-api")
implementation project(':libraries:mogo-adas-data')
api project(":foudations:mogo-commons")
api project(':services:mogo-service-api')
api project(':core:mogo-core-utils')

3
modules/mogo-module-service/src/main/java/com/mogo/module/service/routeoverlay/MogoRouteOverlayManager.java
View File

@@ -180,6 +180,8 @@ public class MogoRouteOverlayManager implements
}
// CallerLogger.INSTANCE.d(M_OLD_ROUTE + TAG , "onLocationChanged: size = "+ mTrajectoryList.size()+" ----- "+mLocation.getLongitude()+"-"+mLocation.getLatitude());
ArrayList list = new ArrayList();
MogoLatLng carlatLng = new MogoLatLng(CallerAutoPilotStatusListenerManager.INSTANCE.getCurWgs84Lat(),CallerAutoPilotStatusListenerManager.INSTANCE.getCurWgs84Lon());
list.add(carlatLng);
for (MogoLatLng latLng : temp) {
// if(!isPointOnCarFront(mLocation,latLng)){
list.add(latLng);
@@ -191,6 +193,7 @@ public class MogoRouteOverlayManager implements
}
}
public boolean isPointOnCarFront(MogoLocation carLocal, MogoLatLng pointLocal) {
double carLon = carLocal.getLongitude();
double carLat = carLocal.getLatitude();

7
test/crashreport-apmbyte/src/main/java/com/mogo/test/crashreport/apm/ApmCrashReportProvider.java
View File

@@ -53,10 +53,10 @@ public class ApmCrashReportProvider implements ITestCrashReportProvider {
return map;
}
});
crash.config().setChannel("eagle");
String mapSDKVersion = AppUtils.getCustomMapSDKVersion(context);
crash.config().setChannel("MAP_SDK_VERSION:"+mapSDKVersion);
//可选，可以设置自定义did,不设置会使用内部默认的
crash.config().setDeviceId(MoGoAiCloudClientConfig.getInstance().getSn());
String mapSDKVersion = AppUtils.getCustomMapSDKVersion(context);
crash.addTags(MAP_SDK_VERSION, mapSDKVersion);
// crash.setReportUrl("www.xxx.com"); // 私有化部署：私有化部署才配置上报地址
// crash.addTags("key", "value"); // 自定义筛选tag, 按需添加、可多次覆盖
@@ -66,6 +66,7 @@ public class ApmCrashReportProvider implements ITestCrashReportProvider {
dimension.put("Devices_SN_DeviceId", MoGoAiCloudClientConfig.getInstance().getSn() + "__" + DeviceIdUtils.getDeviceId(context));
dimension.put("Devices_SN_WidevineID_MD5", MoGoAiCloudClientConfig.getInstance().getSn() + "__" + DeviceIdUtils.getWidevineIDWithMd5(context));
dimension.put("Devices_SN_WidevineID", MoGoAiCloudClientConfig.getInstance().getSn() + "__" + DeviceIdUtils.getWidevineID(context));
dimension.put(MAP_SDK_VERSION, mapSDKVersion);
HashMap<String, Double> metric = new HashMap<>();
//指标值
//metric.put("Devices_ID_metric", (double) 100);
@@ -95,7 +96,7 @@ public class ApmCrashReportProvider implements ITestCrashReportProvider {
//是否打印日志，注：线上release版本要配置为false
builder.debugMode(true);
//支持用户自定义user_id把平台数据和自己用户关联起来，可以不配置
builder.userId(MoGoAiCloudClientConfig.getInstance().getSn());
// builder.userId(MoGoAiCloudClientConfig.getInstance().getSn());
//私有化部署：配置数据上报的域名 （私有化部署才需要配置，内部有默认域名），测试支持设置http://www.xxx.com 默认是https协议
// builder.defaultReportDomain("www.xxx.com");
//设置渠道。1.3.16版本增加接口