recognizedResults);
void mockAdasRecognized( String json );
}
diff --git a/services/mogo-service-api/src/main/java/com/mogo/service/adas/IMogoAdasRecognizedDataCallback.java b/services/mogo-service-api/src/main/java/com/mogo/service/adas/IMogoAdasRecognizedDataCallback.java
index 37ebe3c140..df37c1435c 100644
--- a/services/mogo-service-api/src/main/java/com/mogo/service/adas/IMogoAdasRecognizedDataCallback.java
+++ b/services/mogo-service-api/src/main/java/com/mogo/service/adas/IMogoAdasRecognizedDataCallback.java
@@ -1,7 +1,7 @@
package com.mogo.service.adas;
-import com.mogo.realtime.entity.ADASRecognizedResult;
+import com.mogo.service.adas.entity.ADASRecognizedResult;
import java.util.List;
diff --git a/services/mogo-service-api/src/main/java/com/mogo/service/adas/entity/ADASRecognizedResult.java b/services/mogo-service-api/src/main/java/com/mogo/service/adas/entity/ADASRecognizedResult.java
new file mode 100644
index 0000000000..eceb47b2dc
--- /dev/null
+++ b/services/mogo-service-api/src/main/java/com/mogo/service/adas/entity/ADASRecognizedResult.java
@@ -0,0 +1,115 @@
+package com.mogo.service.adas.entity;
+
+/*
+ * adas 识别物体参数
+ */
+public class ADASRecognizedResult {
+
+ /**
+ * 识别物体类型
+ */
+ public int type;
+
+ /**
+ * 识别物体唯一标识
+ */
+ public String uuid;
+
+ /**
+ * 红绿灯颜色
+ */
+ public String color;
+
+ /**
+ * 车ID
+ */
+ public String carId;
+
+ /**
+ * 识别物体的纬度
+ */
+ public double lat;
+
+ /**
+ * 识别物体的经度
+ */
+ public double lon;
+
+ /**
+ * 车头朝向
+ */
+ public double heading;
+
+ /**
+ * 系统时间
+ */
+ public long systemTime;
+
+ /**
+ * 定位卫星时间
+ */
+ public long satelliteTime;
+
+ /**
+ * 海拔
+ */
+ public double alt;
+
+ /**
+ * 速度
+ */
+ public double speed;
+
+ /**
+ * 莫顿码
+ */
+ public long mortonCode;
+
+ /**
+ * 实际距离
+ * 使用distanceX和distanceY计算
+ */
+ public double distance;
+
+ /**
+ * 数据来源精度
+ * 0：普通定位
+ * 1：高精定位
+ */
+ public int dataAccuracy;
+
+ /**
+ * 道路ID
+ */
+ public String roadId;
+
+ /**
+ * 车道ID-2D路段
+ */
+ public String laneId;
+
+ /**
+ * 车道号：中心线编号为0，中心线右侧编号为负数，3车道通行Road的车道编号，0，-1，-2，-3
+ */
+ public int laneNum;
+
+ /**
+ * 限速
+ */
+ public double rateLimiting;
+
+ /**
+ * 瓦片id
+ */
+ public String tileId;
+
+ /**
+ * 车道宽度
+ */
+ public double roadWidth;
+
+ /**
+ * 1 绿, 2 黄, 3 红
+ */
+ public int drawlevel;
+}
diff --git a/services/mogo-service-api/src/main/java/com/mogo/service/connection/IMogoSocketManager.java b/services/mogo-service-api/src/main/java/com/mogo/service/connection/IMogoSocketManager.java
index def9af01f0..a07f749aff 100644
--- a/services/mogo-service-api/src/main/java/com/mogo/service/connection/IMogoSocketManager.java
+++ b/services/mogo-service-api/src/main/java/com/mogo/service/connection/IMogoSocketManager.java
@@ -3,6 +3,7 @@ package com.mogo.service.connection;
import android.content.Context;
import com.alibaba.android.arouter.facade.template.IProvider;
+import com.mogo.cloud.socket.entity.MsgBody;
/**
* @author congtaowang
@@ -50,5 +51,5 @@ public interface IMogoSocketManager extends IProvider {
* @param body 消息体
* @param listener 回执监听
*/
- void sendMsg( MsgBody body, IMogoMsgAckListener listener );
+ void sendMsg(MsgBody body, IMogoMsgAckListener listener );
}
diff --git a/services/mogo-service-api/src/main/java/com/mogo/service/connection/MsgBody.java b/services/mogo-service-api/src/main/java/com/mogo/service/connection/MsgBody.java
deleted file mode 100644
index dd9a466280..0000000000
--- a/services/mogo-service-api/src/main/java/com/mogo/service/connection/MsgBody.java
+++ /dev/null
@@ -1,71 +0,0 @@
-package com.mogo.service.connection;
-
-/**
- * @author congtaowang
- * @since 2019-12-31
- *
- * 描述
- */
-public class MsgBody {
-
- /**
- * 消息类型
- */
- private int mMsgType;
-
-// /**
-// * 服务端分发，业务线
-// */
-// private int mProductLine = MogoCommon.Product.mogoBussiness_VALUE;
-//
-// /**
-// *
-// */
-// private int mHeaderType = MogoConnsvr.MsgType.mogoMsgTypeDispatchSvrNoRspReq_VALUE;
-
- /**
- * 是否回执
- */
- private boolean mAck = false;
-
- /**
- * 消息ID
- */
- private final long mMsgId = System.currentTimeMillis();
-
- /**
- * 消息内容
- */
- private byte[] mContent;
-
- public MsgBody msgType( int msgType ) {
- this.mMsgType = msgType;
- return this;
- }
-
- public MsgBody ack( boolean ack ) {
- this.mAck = ack;
- return this;
- }
-
- public MsgBody content( byte[] object ) {
- this.mContent = object;
- return this;
- }
-
- public int getMsgType() {
- return mMsgType;
- }
-
- public boolean isAck() {
- return mAck;
- }
-
- public long getMsgId() {
- return mMsgId;
- }
-
- public byte[] getContent() {
- return mContent;
- }
-}
diff --git a/services/mogo-service-api/src/main/java/com/mogo/service/locationinfo/CloudLocationInfo.java b/services/mogo-service-api/src/main/java/com/mogo/service/locationinfo/CloudLocationInfo.java
new file mode 100644
index 0000000000..ee316d8043
--- /dev/null
+++ b/services/mogo-service-api/src/main/java/com/mogo/service/locationinfo/CloudLocationInfo.java
@@ -0,0 +1,314 @@
+package com.mogo.service.locationinfo;
+
+import android.os.Build;
+import android.os.Parcel;
+import android.os.Parcelable;
+
+import androidx.annotation.RequiresApi;
+
+import java.util.Objects;
+
+/**
+ * 自车定位信息
+ */
+public class CloudLocationInfo implements Parcelable {
+
+ /**
+ * 纬度
+ */
+ private double lat;
+
+ /**
+ * 经度
+ */
+ private double lon;
+
+ /**
+ * 车头方向
+ */
+ private double heading;
+
+ /**
+ * 系统时间
+ */
+ private long systemTime;
+
+ /**
+ * 卫星时间
+ */
+ private long satelliteTime;
+
+ /**
+ * 海拔
+ */
+ private double alt;
+
+ /**
+ * 车速
+ */
+ private double speed;
+
+ /**
+ * 车辆类型
+ * 0:普通车辆、家用车
+ */
+ private int vehicleType = 0;
+
+ /**
+ * 道路ID
+ */
+ private String roadId;
+
+ /**
+ * 车道ID-2D路段
+ */
+ private String laneId;
+
+ /**
+ * 车道号：中心线编号为0，中心线右侧编号为负数，3车道通行Road的车道编号，0，-1，-2，-3
+ */
+ private int laneNum;
+
+ /**
+ * 限速
+ */
+ private double rateLimiting;
+
+ /**
+ * 瓦片id
+ */
+ private String tileId;
+
+ /**
+ * 车道宽度
+ */
+ private double roadWidth;
+
+ public CloudLocationInfo() {
+ }
+
+ public CloudLocationInfo(CloudLocationInfo info) {
+ this.lat = info.getLat();
+ this.lon = info.getLon();
+ this.heading = info.getHeading();
+ this.systemTime = System.currentTimeMillis();
+ this.satelliteTime = System.currentTimeMillis();
+ this.alt = info.alt;
+ this.speed = info.speed;
+ this.vehicleType = info.vehicleType;
+ this.roadId = info.roadId;
+ this.laneId = info.laneId;
+ this.laneNum = info.laneNum;
+ this.rateLimiting = info.rateLimiting;
+ this.tileId = info.tileId;
+ this.roadWidth = info.roadWidth;
+ }
+
+ protected CloudLocationInfo(Parcel in) {
+ lat = in.readDouble();
+ lon = in.readDouble();
+ heading = in.readDouble();
+ systemTime = in.readLong();
+ satelliteTime = in.readLong();
+ alt = in.readDouble();
+ speed = in.readDouble();
+ vehicleType = in.readInt();
+ roadId = in.readString();
+ laneId = in.readString();
+ laneNum = in.readInt();
+ rateLimiting = in.readDouble();
+ tileId = in.readString();
+ roadWidth = in.readDouble();
+ }
+
+ @Override
+ public void writeToParcel(Parcel dest, int flags) {
+ dest.writeDouble(lat);
+ dest.writeDouble(lon);
+ dest.writeDouble(heading);
+ dest.writeLong(systemTime);
+ dest.writeLong(satelliteTime);
+ dest.writeDouble(alt);
+ dest.writeDouble(speed);
+ dest.writeInt(vehicleType);
+ dest.writeString(roadId);
+ dest.writeString(laneId);
+ dest.writeInt(laneNum);
+ dest.writeDouble(rateLimiting);
+ dest.writeString(tileId);
+ dest.writeDouble(roadWidth);
+ }
+
+ @Override
+ public int describeContents() {
+ return 0;
+ }
+
+ public static final Creator CREATOR = new Creator() {
+ @Override
+ public CloudLocationInfo createFromParcel(Parcel in) {
+ return new CloudLocationInfo(in);
+ }
+
+ @Override
+ public CloudLocationInfo[] newArray(int size) {
+ return new CloudLocationInfo[size];
+ }
+ };
+
+ public double getLat() {
+ return lat;
+ }
+
+ public void setLat(double lat) {
+ this.lat = lat;
+ }
+
+ public double getLon() {
+ return lon;
+ }
+
+ public void setLon(double lon) {
+ this.lon = lon;
+ }
+
+ public double getHeading() {
+ return heading;
+ }
+
+ public void setHeading(double heading) {
+ this.heading = heading;
+ }
+
+ public long getSystemTime() {
+ return systemTime;
+ }
+
+ public void setSystemTime(long systemTime) {
+ this.systemTime = systemTime;
+ }
+
+ public long getSatelliteTime() {
+ return satelliteTime;
+ }
+
+ public void setSatelliteTime(long satelliteTime) {
+ this.satelliteTime = satelliteTime;
+ }
+
+ public double getAlt() {
+ return alt;
+ }
+
+ public void setAlt(double alt) {
+ this.alt = alt;
+ }
+
+ public double getSpeed() {
+ return speed;
+ }
+
+ public void setSpeed(double speed) {
+ this.speed = speed;
+ }
+
+ public int getVehicleType() {
+ return vehicleType;
+ }
+
+ public void setVehicleType(int vehicleType) {
+ this.vehicleType = vehicleType;
+ }
+
+ public String getRoadId() {
+ return roadId;
+ }
+
+ public void setRoadId(String roadId) {
+ this.roadId = roadId;
+ }
+
+ public String getLaneId() {
+ return laneId;
+ }
+
+ public void setLaneId(String laneId) {
+ this.laneId = laneId;
+ }
+
+ public int getLaneNum() {
+ return laneNum;
+ }
+
+ public void setLaneNum(int laneNum) {
+ this.laneNum = laneNum;
+ }
+
+ public double getRateLimiting() {
+ return rateLimiting;
+ }
+
+ public void setRateLimiting(double rateLimiting) {
+ this.rateLimiting = rateLimiting;
+ }
+
+ public String getTileId() {
+ return tileId;
+ }
+
+ public void setTileId(String tileId) {
+ this.tileId = tileId;
+ }
+
+ public double getRoadWidth() {
+ return roadWidth;
+ }
+
+ public void setRoadWidth(double roadWidth) {
+ this.roadWidth = roadWidth;
+ }
+
+ @Override
+ public String toString() {
+ return "CloudLocationInfo{" +
+ "lat=" + lat +
+ ", lon=" + lon +
+ ", heading=" + heading +
+ ", systemTime=" + systemTime +
+ ", satelliteTime=" + satelliteTime +
+ ", alt=" + alt +
+ ", speed=" + speed +
+ ", vehicleType=" + vehicleType +
+ ", roadId='" + roadId + '\'' +
+ ", laneId='" + laneId + '\'' +
+ ", laneNum=" + laneNum +
+ ", rateLimiting=" + rateLimiting +
+ ", tileId=" + tileId +
+ ", roadWidth=" + roadWidth +
+ '}';
+ }
+
+ public String print() {
+ return "CloudLocation{ lon: " + lon + " lat: " + lat + " heading: " + heading + " speed: "
+ + speed + " vehicleType: " + vehicleType + "}";
+ }
+
+ @Override
+ public boolean equals(Object o) {
+ if (this == o) {
+ return true;
+ }
+ if (o == null || getClass() != o.getClass()) {
+ return false;
+ }
+ CloudLocationInfo that = (CloudLocationInfo) o;
+ return Double.compare(that.lat, lat) == 0 &&
+ Double.compare(that.lon, lon) == 0;
+ }
+
+ @RequiresApi(api = Build.VERSION_CODES.KITKAT)
+ @Override
+ public int hashCode() {
+ return Objects.hash(lat, lon);
+ }
+}
diff --git a/services/mogo-service/src/main/java/com/mogo/service/impl/adas/AdasObjectUtils.java b/services/mogo-service/src/main/java/com/mogo/service/impl/adas/AdasObjectUtils.java
index f8be97107f..7119cce607 100644
--- a/services/mogo-service/src/main/java/com/mogo/service/impl/adas/AdasObjectUtils.java
+++ b/services/mogo-service/src/main/java/com/mogo/service/impl/adas/AdasObjectUtils.java
@@ -3,8 +3,8 @@ package com.mogo.service.impl.adas;
import com.alibaba.android.arouter.launcher.ARouter;
import com.mogo.commons.utils.MortonCode;
import com.mogo.map.uicontroller.IMogoMapUIController;
-import com.mogo.realtime.entity.ADASRecognizedResult;
import com.mogo.service.IMogoServiceApis;
+import com.mogo.service.adas.entity.ADASRecognizedResult;
import com.mogo.service.adas.entity.ADASWarnMessage;
import com.zhidao.autopilotservice.model.AdasAIDLOwnerCarRectModel;
import com.zhidao.support.adas.high.bean.WarnMessageInfo;
diff --git a/services/mogo-service/src/main/java/com/mogo/service/impl/adas/MogoADASController.java b/services/mogo-service/src/main/java/com/mogo/service/impl/adas/MogoADASController.java
index dadc92af50..9d6c7692da 100644
--- a/services/mogo-service/src/main/java/com/mogo/service/impl/adas/MogoADASController.java
+++ b/services/mogo-service/src/main/java/com/mogo/service/impl/adas/MogoADASController.java
@@ -15,7 +15,6 @@ import com.mogo.commons.debug.DebugConfig;
import com.mogo.commons.network.SubscribeImpl;
import com.mogo.commons.network.Utils;
import com.mogo.map.uicontroller.EnumMapUI;
-import com.mogo.realtime.entity.ADASRecognizedResult;
import com.mogo.service.MogoServicePaths;
import com.mogo.service.adas.IMogoADASController;
import com.mogo.service.adas.IMogoAdasCarDataCallback;
@@ -25,6 +24,7 @@ import com.mogo.service.adas.IMogoAdasRecognizedDataCallback;
import com.mogo.service.adas.IMogoAdasWarnMessageCallback;
import com.mogo.service.adas.RemoteControlAutoPilotParameters;
import com.mogo.service.adas.entity.ADASCarStateInfo;
+import com.mogo.service.adas.entity.ADASRecognizedResult;
import com.mogo.service.adas.entity.ADASWarnMessage;
import com.mogo.service.adas.entity.AdasOCHData;
import com.mogo.service.adas.entity.CarModelListResponse;
@@ -148,8 +148,10 @@ public class MogoADASController implements IMogoADASController {
mLastLon = stateInfo.getValues().getLon();
mLastLat = stateInfo.getValues().getLat();
- if ( mMogoAdasCarDataCallback != null ) {
- mMogoAdasCarDataCallback.onAdasCarDataCallback( stateInfo );
+ mSpeed = stateInfo.getValues().getGnss_speed();
+ satelliteTime = stateInfo.getValues().getSystemTime();
+ if (mMogoAdasCarDataCallback != null) {
+ mMogoAdasCarDataCallback.onAdasCarDataCallback(stateInfo);
}
Logger.i( "ADAS-LOC-timer", "cost " + ( System.currentTimeMillis() - start ) + "ms" );
}
@@ -457,12 +459,18 @@ public class MogoADASController implements IMogoADASController {
private double mLastLon;
private double mLastLat;
private double mSpeed;
+ private String satelliteTime;
@Override
public double getLastSpeed() {
return mSpeed;
}
+ @Override
+ public String getSatelliteTime() {
+ return satelliteTime;
+ }
+
public double getLastLat() {
return mLastLat;
}
@@ -831,7 +839,7 @@ public class MogoADASController implements IMogoADASController {
}
@Override
- public void mockAdasRecognized( List< ADASRecognizedResult > recognizedResults ) {
+ public void mockAdasRecognized( List recognizedResults ) {
if ( !mMogoAdasRecognizedDataCallbacks.isEmpty() ) {
for ( IMogoAdasRecognizedDataCallback callback : mMogoAdasRecognizedDataCallbacks ) {
if ( callback == null ) {
diff --git a/services/mogo-service/src/main/java/com/mogo/service/impl/connection/MogoSocketManager.java b/services/mogo-service/src/main/java/com/mogo/service/impl/connection/MogoSocketManager.java
index 3267279738..261d77a924 100644
--- a/services/mogo-service/src/main/java/com/mogo/service/impl/connection/MogoSocketManager.java
+++ b/services/mogo-service/src/main/java/com/mogo/service/impl/connection/MogoSocketManager.java
@@ -3,11 +3,11 @@ package com.mogo.service.impl.connection;
import android.content.Context;
import com.alibaba.android.arouter.facade.annotation.Route;
+import com.mogo.cloud.socket.entity.MsgBody;
import com.mogo.service.MogoServicePaths;
import com.mogo.service.connection.IMogoMsgAckListener;
import com.mogo.service.connection.IMogoOnMessageListener;
import com.mogo.service.connection.IMogoSocketManager;
-import com.mogo.service.connection.MsgBody;
import com.mogo.utils.logger.Logger;
import java.lang.reflect.Method;
@@ -53,7 +53,7 @@ public class MogoSocketManager implements IMogoSocketManager {
}
@Override
- public void sendMsg( MsgBody body, IMogoMsgAckListener listener ) {
+ public void sendMsg(MsgBody body, IMogoMsgAckListener listener ) {
if ( mDelegate != null ) {
mDelegate.sendMsg( body, listener );
}