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add new func of ezhou airport and upgrade the aiSdkVersion to fit demo server

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This commit is contained in:
zhongchao
2021-08-05 10:50:05 +08:00
parent 78e869a3b4
commit ea4e380b35
73 changed files with 2634 additions and 829 deletions
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4
modules/mogo-module-service/src/main/java/com/mogo/module/service/MogoServiceProvider.java
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@@ -16,6 +16,7 @@ import com.mogo.map.location.IMogoLocationListener;
import com.mogo.map.marker.IMogoMarkerClickListener;
import com.mogo.map.navi.IMogoNaviListener;
import com.mogo.module.common.utils.CarSeries;
import com.mogo.module.service.dispatch.DispatchAutoPilotManager;
import com.mogo.module.service.location.MogoRTKLocation;
import com.mogo.service.module.IMogoModuleLifecycle;
import com.mogo.service.module.IMogoModuleProvider;
@@ -101,9 +102,10 @@ public class MogoServiceProvider implements IMogoModuleProvider {
MarkerServiceHandler.init( context );
// if ( DebugConfig.isNeedUploadCoordinatesDurationInTime() ) {
// }
MogoRTKLocation.getInstance().init();
// MogoRTKLocation.getInstance().init(); //todo RTK LOCATION Close
MogoServices.getInstance().preInit( context );
MogoServices.getInstance().init( AbsMogoApplication.getApp() );
DispatchAutoPilotManager.getInstance().initSocket(context);
UiThreadHandler.postDelayed( () -> {
}, 5_000L );
}

11
modules/mogo-module-service/src/main/java/com/mogo/module/service/MogoServices.java
View File

@@ -34,7 +34,7 @@ import com.mogo.module.common.MogoModulePaths;
import com.mogo.module.common.entity.MarkerResponse;
import com.mogo.module.common.map.MapCenterPointStrategy;
import com.mogo.module.common.map.Scene;
import com.mogo.module.common.uploadintime.SnapshotLocationController;
import com.mogo.module.common.datacenter.SnapshotLocationDataCenter;
import com.mogo.module.service.autopilot.AutoPilotRemoteController;
import com.mogo.module.service.handler.MainLooperHandler;
import com.mogo.module.service.handler.RefreshWorkThreadHandler;
@@ -47,6 +47,7 @@ import com.mogo.module.service.refresh.AutoRefreshStrategy;
import com.mogo.module.service.refresh.CustomRefreshStrategy;
import com.mogo.module.service.refresh.RefreshObject;
import com.mogo.module.service.strategy.CarIconDisplayStrategy;
import com.mogo.module.service.timedelay.TimeDelayUploadManager;
import com.mogo.module.service.ttsConfig.TtsConfigModleData;
import com.mogo.realtime.api.MoGoAiCloudRealTime;
import com.mogo.service.adas.IMogoADASController;
@@ -391,6 +392,7 @@ public class MogoServices implements IMogoMapListener,
if ( DebugConfig.isNeedUploadCoordinatesDurationInTime() ) {
MoGoAiCloudRealTime.startRealTime( mContext, DebugConfig.getSocketAppId() );
}
TimeDelayUploadManager.getInstance().init(context);
}
public void initLocationServiceProcess( Context context ) {
@@ -960,6 +962,11 @@ public class MogoServices implements IMogoMapListener,
@Override
public void onAdasCarDataCallback( ADASCarStateInfo stateInfo ) {
if(TimeDelayUploadManager.getInstance().isMock()){ //模拟数据时，不更新由工控机传输的自车位置
return;
}
if ( stateInfo != null && stateInfo.getValues() != null ) {
JSONObject data = new JSONObject();
try {
@@ -991,7 +998,7 @@ public class MogoServices implements IMogoMapListener,
e.printStackTrace();
}
MarkerServiceHandler.getApis().getMapServiceApi().getMapUIController().syncLocation2Map( data );
SnapshotLocationController.getInstance().syncAdasLocationInfo( data );
SnapshotLocationDataCenter.getInstance().syncAdasLocationInfo( data );
} catch ( Exception e ) {
e.printStackTrace();
}

178
modules/mogo-module-service/src/main/java/com/mogo/module/service/dispatch/DispatchAutoPilotManager.java Normal file
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@@ -0,0 +1,178 @@
package com.mogo.module.service.dispatch;
import static com.mogo.module.service.dispatch.model.DispatchServiceModel.DISPATCH_RESULT_AFFIRM;
import android.content.Context;
import android.location.Location;
import android.os.Handler;
import android.os.Message;
import com.mogo.map.MogoLatLng;
import com.mogo.map.location.MogoLocation;
import com.mogo.map.navi.IMogoCarLocationChangedListener2;
import com.mogo.module.common.MogoApisHandler;
import com.mogo.module.service.dispatch.bean.AutopilotRoute;
import com.mogo.module.service.dispatch.bean.DispatchAdasAutoPilotLocReceiverBean;
import com.mogo.module.service.dispatch.bean.DispatchData;
import com.mogo.module.service.dispatch.bean.EndLatLon;
import com.mogo.module.service.dispatch.bean.StartLatLon;
import com.mogo.module.service.dispatch.model.DispatchResult;
import com.mogo.module.service.dispatch.model.DispatchServiceModel;
import com.mogo.module.service.dispatch.model.IDispatch;
import com.mogo.service.adas.RemoteControlAutoPilotParameters;
import com.mogo.service.connection.IMogoOnMessageListener;
import com.mogo.utils.logger.Logger;
import com.mogo.utils.network.utils.GsonUtil;
import java.util.ArrayList;
import java.util.List;
//todo 后续拆解是否放到网约车模块,画线部分已与产品沟通，放入后续迭代需求
//负责监听自动驾驶状态并进行状态上报，自动驾驶路线上报，接收调度指令展示指令弹窗
public class DispatchAutoPilotManager implements IMogoOnMessageListener<DispatchAdasAutoPilotLocReceiverBean>
, DispatchRemindDialog.IDispatchRemindClickListener
, IMogoCarLocationChangedListener2 {
private static final String TAG = "DispatchAutoPilotManager";
private static volatile DispatchAutoPilotManager instance;
private static final byte[] obj = new byte[0];
private Context mContext;
private static final int MSG_SOCKET_TYPE = 501000;
private static final int MSG_TYPE_SHOW_DIALOG = 0;
private DispatchRemindDialog dispatchRemindDialog;
private MogoLocation mogoLocation;
private DispatchAdasAutoPilotLocReceiverBean receiverBean;
private DispatchAutoPilotManager() {
}
public static DispatchAutoPilotManager getInstance() {
if (instance == null) {
synchronized (obj) {
if (instance == null) {
instance = new DispatchAutoPilotManager();
}
}
}
return instance;
}
private final Handler handler = new Handler() {
@Override
public void handleMessage(Message msg) {
super.handleMessage(msg);
if (msg.what == MSG_TYPE_SHOW_DIALOG) {
DispatchAdasAutoPilotLocReceiverBean msgData = (DispatchAdasAutoPilotLocReceiverBean) msg.obj;
dispatchRemindDialog.showDialog(msgData);
}
}
};
public void initSocket(Context context) {
mContext = context;
MogoApisHandler.getInstance()
.getApis()
.getSocketManagerApi(context).registerOnMessageListener(MSG_SOCKET_TYPE, this);
MogoApisHandler.getInstance().getApis().getRegisterCenterApi()
.registerCarLocationChangedListener(TAG, this);
dispatchRemindDialog = new DispatchRemindDialog(context);
dispatchRemindDialog.addIDispatchRemindListener(this);
}
@Override
public Class<DispatchAdasAutoPilotLocReceiverBean> target() {
return DispatchAdasAutoPilotLocReceiverBean.class;
}
@Override
public void onMsgReceived(DispatchAdasAutoPilotLocReceiverBean adasAutoPilotLocReceiverBean) {
if (adasAutoPilotLocReceiverBean != null
&& adasAutoPilotLocReceiverBean.getStartLat() != 0.0
&& adasAutoPilotLocReceiverBean.getStartLon() != 0.0) {
this.receiverBean = adasAutoPilotLocReceiverBean;
Message message = new Message();
message.what = MSG_TYPE_SHOW_DIALOG;
message.obj = adasAutoPilotLocReceiverBean;
handler.sendMessage(message);
}
}
@Override
public void affirm() {
DispatchServiceModel.getInstance().dispatchResultUpload(DISPATCH_RESULT_AFFIRM, new IDispatch() {
@Override
public void onSuccess() {
Logger.d(TAG, "");
RemoteControlAutoPilotParameters currentAutopilot = new RemoteControlAutoPilotParameters();
currentAutopilot.isSpeakVoice = false;
currentAutopilot.startLatLon = new RemoteControlAutoPilotParameters.AutoPilotLonLat(receiverBean.getStartLat(), receiverBean.getStartLon());
currentAutopilot.endLatLon = new RemoteControlAutoPilotParameters.AutoPilotLonLat(receiverBean.getEndLat(), receiverBean.getEndLon());
currentAutopilot.vehicleType = 10;
Logger.d(TAG, "开启自动驾驶====" + currentAutopilot);
MogoApisHandler.getInstance().getApis().getAdasControllerApi().aiCloudToAdasData(currentAutopilot);
}
@Override
public void onError(String msg) {
}
});
}
@Override
public void onCarLocationChanged2(Location location) {
//坐标转换
MogoLocation loc = new MogoLocation();
loc.setTime(loc.getTime());
loc.setAccuracy(location.getAccuracy());
loc.setSpeed(location.getSpeed());
loc.setLongitude(location.getLongitude());
loc.setLatitude(location.getLatitude());
loc.setAltitude(location.getAltitude());
loc.setBearing(location.getBearing());
loc.setProvider(location.getProvider());
mogoLocation = loc;
}
@Override
public void onCarLocationChanged(MogoLatLng mogoLatLng) {
}
public void test() {
Logger.d(TAG, "test to trigger mock autopilot");
DispatchAdasAutoPilotLocReceiverBean adasAutoPilotLocReceiverBean = new DispatchAdasAutoPilotLocReceiverBean(
"1", 26.825571122, 112.5762410415, "起点---5号跑道",
26.825571122, 112.5762410415, "终点---鄂州机场",
"" + System.currentTimeMillis(), "AR453航班", "实现调度", System.currentTimeMillis());
this.receiverBean = adasAutoPilotLocReceiverBean;
dispatchRemindDialog.showDialog(adasAutoPilotLocReceiverBean);
}
public void testUploadAutopilotRoute() {
List<AutopilotRoute.RouteModels> list = new ArrayList<>();
AutopilotRoute.RouteModels routeModels = new AutopilotRoute.RouteModels();
routeModels.setLat(12.12);
routeModels.setLon(13.14);
list.add(routeModels);
DispatchServiceModel.getInstance().uploadAutopilotRoute(list);
}
public void testDispatchResultUpload() {
DispatchServiceModel.getInstance().dispatchResultUpload(DISPATCH_RESULT_AFFIRM, new IDispatch() {
@Override
public void onSuccess() {
}
@Override
public void onError(String msg) {
}
});
}
}

70
modules/mogo-module-service/src/main/java/com/mogo/module/service/dispatch/DispatchRemindDialog.java Normal file
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@@ -0,0 +1,70 @@
package com.mogo.module.service.dispatch;
import android.content.Context;
import android.widget.Button;
import android.widget.TextView;
import androidx.annotation.NonNull;
import com.mogo.module.common.dialog.BaseFloatDialog;
import com.mogo.module.service.R;
import com.mogo.module.service.dispatch.bean.DispatchAdasAutoPilotLocReceiverBean;
import com.mogo.utils.logger.Logger;
public class DispatchRemindDialog extends BaseFloatDialog {
private static final String TAG = "DispatchRemindDialog";
private IDispatchRemindClickListener mListener;
private final TextView tvStartLoc;
private final TextView tvEndLoc;
private final TextView tvTaskTime;
private final TextView tvFlightInfo;
private final TextView tvTaskContent;
public DispatchRemindDialog(@NonNull Context context) {
super(context);
setContentView(R.layout.module_dialog_adas_dispatch_remind);
setCanceledOnTouchOutside(false);
tvStartLoc = findViewById(R.id.module_services_dispatch_dialog_start_content);
tvEndLoc = findViewById(R.id.module_services_dispatch_dialog_end_content);
tvTaskTime = findViewById(R.id.module_services_dispatch_dialog_task_time);
tvFlightInfo = findViewById(R.id.module_services_dispatch_dialog_flight_time);
tvTaskContent = findViewById(R.id.module_services_dispatch_dialog_task_content);
Button btnAffirm = (Button) findViewById(R.id.module_services_dispatch_dialog_confirm);
btnAffirm.setOnClickListener(v -> {
if (mListener != null) {
mListener.affirm();
dismissDialog();
}
});
}
public void showDialog(DispatchAdasAutoPilotLocReceiverBean dispatchContent) {
show();
tvStartLoc.setText(dispatchContent.getStartLocAddress());
tvEndLoc.setText(dispatchContent.getEndLocAddress());
tvTaskTime.setText(dispatchContent.getTaskTime());
tvFlightInfo.setText(dispatchContent.getFlightInfo());
tvTaskContent.setText(dispatchContent.getTaskInfo());
}
private void dismissDialog() {
dismiss();
}
public void addIDispatchRemindListener(IDispatchRemindClickListener listener) {
if (listener == null) {
Logger.d(TAG, "addIDispatchRemindListener listener is null");
return;
}
this.mListener = listener;
}
public interface IDispatchRemindClickListener {
void affirm();
}
}

49
modules/mogo-module-service/src/main/java/com/mogo/module/service/dispatch/DispatchTestPanelBroadCastReceiver.java Normal file
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@@ -0,0 +1,49 @@
package com.mogo.module.service.dispatch;
import android.content.BroadcastReceiver;
import android.content.Context;
import android.content.Intent;
import com.mogo.utils.logger.Logger;
public class DispatchTestPanelBroadCastReceiver extends BroadcastReceiver {
private static final String TAG = "DispatchTestPanelBroadCastReceiver";
/**
* Adas测试控制面板广播Action
*/
public static final String BROADCAST_TEST_PANEL_CONTROL_TYPE_EXTRA_KEY = "sceneType";
private Context mContext;
@Override
public void onReceive(Context context, Intent intent) {
try {
this.mContext = context;
int sceneType = intent.getIntExtra(BROADCAST_TEST_PANEL_CONTROL_TYPE_EXTRA_KEY, 0);
Logger.d(TAG, "textPanelOpenType:" + sceneType);
// 分发场景
dispatchSceneTest(sceneType);
} catch (Exception e) {
e.printStackTrace();
}
}
/**
* 分发处理场景
*
* @param sceneType 场景类型
*/
private void dispatchSceneTest(int sceneType) {
Logger.d(TAG, "sceneType=" + sceneType);
if (sceneType == 0) {//打开调度弹窗
DispatchAutoPilotManager.getInstance().test();
} else if(sceneType == 1){ //验证自动驾驶路线上报接口
DispatchAutoPilotManager.getInstance().testUploadAutopilotRoute();
} else if(sceneType == 2){ //验证自动驾驶调度上报接口
DispatchAutoPilotManager.getInstance().testDispatchResultUpload();
}
}
}

41
modules/mogo-module-service/src/main/java/com/mogo/module/service/dispatch/bean/AutonomousDriveStatusBean.java Normal file
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@@ -0,0 +1,41 @@
package com.mogo.module.service.dispatch.bean;
/**
* Created by XuYong on 2021/5/28 16:12
*/
public class AutonomousDriveStatusBean {
private String sn;
private int status;
private float vehicleSpeed;
public AutonomousDriveStatusBean(String sn, int status, float vehicleSpeed) {
this.sn = sn;
this.status = status;
this.vehicleSpeed = vehicleSpeed;
}
public String getSn() {
return sn;
}
public void setSn(String sn) {
this.sn = sn;
}
public int getStatus() {
return status;
}
public void setStatus(int status) {
this.status = status;
}
public float getVehicleSpeed() {
return vehicleSpeed;
}
public void setVehicleSpeed(float vehicleSpeed) {
this.vehicleSpeed = vehicleSpeed;
}
}

75
modules/mogo-module-service/src/main/java/com/mogo/module/service/dispatch/bean/AutopilotRoute.java Normal file
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@@ -0,0 +1,75 @@
package com.mogo.module.service.dispatch.bean;
import com.google.gson.annotations.SerializedName;
import java.util.List;
/**
* @author song kenan
* @des
* @date 2021/6/21
*/
public class AutopilotRoute {
@SerializedName("action")
private String action;
@SerializedName("models")
private List<RouteModels> models;
public static class RouteModels {
@SerializedName("lat")
private Double lat;
@SerializedName("lon")
private Double lon;
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;
}
@Override
public String toString() {
return "RouteModels{" +
"lat=" + lat +
", lon=" + lon +
'}';
}
}
public String getAction() {
return action;
}
public void setAction(String action) {
this.action = action;
}
public List<RouteModels> getModels() {
return models;
}
public void setModels(List<RouteModels> models) {
this.models = models;
}
@Override
public String toString() {
return "AutopilotRoute{" +
"action='" + action + '\'' +
", models=" + models +
'}';
}
}

108
modules/mogo-module-service/src/main/java/com/mogo/module/service/dispatch/bean/AutopilotStatus.java Normal file
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@@ -0,0 +1,108 @@
package com.mogo.module.service.dispatch.bean;
import java.io.Serializable;
/**
* @author nie yunlong
* @des
* @date 2020/7/14
*/
public class AutopilotStatus implements Serializable {
/**
* action : autopilotstate
* values : {"state":0,"reason":""}
*/
private String action;
private ValuesBean values;
public String getAction() {
return action;
}
public void setAction(String action) {
this.action = action;
}
public ValuesBean getValues() {
return values;
}
public void setValues(ValuesBean values) {
this.values = values;
}
public static class ValuesBean {
/**
* 0是不可用 1是ready 2是自动驾驶start
*
* @return
*/
private int state;
/**
* 车速 m/s
*/
private float speed;
/**
* 不可用原因
*/
private String reason;
/**
* 摄像头状态 1代表开启，0代表关闭
*/
private int camera;
/**
* 雷达状态 1代表开启，0代表关闭
*/
private int radar;
/**
* RTK状态 1代表开启，0代表关闭
*/
private int rtk;
/**
* 自动驾驶状态 0非自动驾驶，1自动驾驶
*/
private int pilotmode;
public int getState() {
return state;
}
public void setState(int state) {
this.state = state;
}
public String getReason() {
return reason;
}
public void setReason(String reason) {
this.reason = reason;
}
public float getSpeed() {
return speed;
}
public void setSpeed(float speed) {
this.speed = speed;
}
public int getCamera() {
return camera;
}
public int getRadar() {
return radar;
}
public int getRtk() {
return rtk;
}
public int getPilotmode() {
return pilotmode;
}
}
}

138
modules/mogo-module-service/src/main/java/com/mogo/module/service/dispatch/bean/DispatchAdasAutoPilotLocReceiverBean.java Normal file
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@@ -0,0 +1,138 @@
package com.mogo.module.service.dispatch.bean;
public class DispatchAdasAutoPilotLocReceiverBean {
private String poiId;
private double startLat;
private double startLon;
private String startLocAddress;
private double endLat;
private double endLon;
private String endLocAddress;
private String taskTime;
private String flightInfo;
private String taskInfo;
private long systemTime;
public DispatchAdasAutoPilotLocReceiverBean(String poiId, double startLat, double startLon, String startLocAddress, double endLat, double endLon, String endLocAddress, String taskTime, String flightInfo, String taskInfo, long systemTime) {
this.poiId = poiId;
this.startLat = startLat;
this.startLon = startLon;
this.startLocAddress = startLocAddress;
this.endLat = endLat;
this.endLon = endLon;
this.endLocAddress = endLocAddress;
this.taskTime = taskTime;
this.flightInfo = flightInfo;
this.taskInfo = taskInfo;
this.systemTime = systemTime;
}
public String getPoiId() {
return poiId;
}
public void setPoiId(String poiId) {
this.poiId = poiId;
}
public double getStartLat() {
return startLat;
}
public void setStartLat(double startLat) {
this.startLat = startLat;
}
public double getStartLon() {
return startLon;
}
public void setStartLon(double startLon) {
this.startLon = startLon;
}
public String getStartLocAddress() {
return startLocAddress;
}
public void setStartLocAddress(String startLocAddress) {
this.startLocAddress = startLocAddress;
}
public double getEndLat() {
return endLat;
}
public void setEndLat(double endLat) {
this.endLat = endLat;
}
public double getEndLon() {
return endLon;
}
public void setEndLon(double endLon) {
this.endLon = endLon;
}
public String getEndLocAddress() {
return endLocAddress;
}
public void setEndLocAddress(String endLocAddress) {
this.endLocAddress = endLocAddress;
}
public String getTaskTime() {
return taskTime;
}
public void setTaskTime(String taskTime) {
this.taskTime = taskTime;
}
public String getFlightInfo() {
return flightInfo;
}
public void setFlightInfo(String flightInfo) {
this.flightInfo = flightInfo;
}
public String getTaskInfo() {
return taskInfo;
}
public void setTaskInfo(String taskInfo) {
this.taskInfo = taskInfo;
}
public long getSystemTime() {
return systemTime;
}
public void setSystemTime(long systemTime) {
this.systemTime = systemTime;
}
@Override
public String toString() {
return "DispatchAdasAutoPilotLocReceiverBean{" +
"poiId='" + poiId + '\'' +
", startLat=" + startLat +
", startLon=" + startLon +
", startLocAddress='" + startLocAddress + '\'' +
", endLat=" + endLat +
", endLon=" + endLon +
", endLocAddress='" + endLocAddress + '\'' +
", taskTime='" + taskTime + '\'' +
", flightInfo='" + flightInfo + '\'' +
", taskInfo='" + taskInfo + '\'' +
", systemTime=" + systemTime +
'}';
}
}

38
modules/mogo-module-service/src/main/java/com/mogo/module/service/dispatch/bean/DispatchData.java Normal file
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@@ -0,0 +1,38 @@
package com.mogo.module.service.dispatch.bean;
import com.mogo.module.service.dispatch.model.DispatchResult;
public class DispatchData {
private String action;
private DispatchResult result;
public DispatchData(String action, DispatchResult result) {
this.action = action;
this.result = result;
}
public String getAction() {
return action;
}
public void setAction(String action) {
this.action = action;
}
public DispatchResult getResult() {
return result;
}
public void setResult(DispatchResult result) {
this.result = result;
}
@Override
public String toString() {
return "DispatchData{" +
"action='" + action + '\'' +
", result=" + result +
'}';
}
}

36
modules/mogo-module-service/src/main/java/com/mogo/module/service/dispatch/bean/EndLatLon.java Normal file
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@@ -0,0 +1,36 @@
package com.mogo.module.service.dispatch.bean;
public class EndLatLon {
private double lat;
private double lon;
public EndLatLon(double lat, double lon) {
this.lat = lat;
this.lon = lon;
}
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;
}
@Override
public String toString() {
return "EndLatLon{" +
"lat=" + lat +
", lon=" + lon +
'}';
}
}

36
modules/mogo-module-service/src/main/java/com/mogo/module/service/dispatch/bean/ReportDispatchResult.java Normal file
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@@ -0,0 +1,36 @@
package com.mogo.module.service.dispatch.bean;
public class ReportDispatchResult {
private String sn;
private int dispatchResult;
public ReportDispatchResult(String sn, int dispatchResult) {
this.sn = sn;
this.dispatchResult = dispatchResult;
}
public String getSn() {
return sn;
}
public void setSn(String sn) {
this.sn = sn;
}
public int getDispatchResult() {
return dispatchResult;
}
public void setDispatchResult(int dispatchResult) {
this.dispatchResult = dispatchResult;
}
@Override
public String toString() {
return "ReportDispatchResult{" +
"sn='" + sn + '\'' +
", dispatchResult=" + dispatchResult +
'}';
}
}

40
modules/mogo-module-service/src/main/java/com/mogo/module/service/dispatch/bean/ReportSiteBean.java Normal file
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@@ -0,0 +1,40 @@
package com.mogo.module.service.dispatch.bean;
/**
* Created by XuYong on 2021/5/31 16:24
*/
public class ReportSiteBean {
private String sn;
private double lon;
private double lat;
public ReportSiteBean(String sn, double lon, double lat) {
this.sn = sn;
this.lon = lon;
this.lat = lat;
}
public String getSn() {
return sn;
}
public void setSn(String sn) {
this.sn = sn;
}
public double getLon() {
return lon;
}
public void setLon(double lon) {
this.lon = lon;
}
public double getLat() {
return lat;
}
public void setLat(double lat) {
this.lat = lat;
}
}

36
modules/mogo-module-service/src/main/java/com/mogo/module/service/dispatch/bean/ReportedRoute.java Normal file
View File

@@ -0,0 +1,36 @@
package com.mogo.module.service.dispatch.bean;
/**
* 上报自动驾驶规划的路径
*/
public class ReportedRoute {
private String sn;
private AutopilotStatus.ValuesBean bean;
private String siteList;
public ReportedRoute(String sn, AutopilotStatus.ValuesBean bean) {
this.sn = sn;
this.bean = bean;
}
public ReportedRoute(String sn, String siteList) {
this.sn = sn;
this.siteList = siteList;
}
public String getSiteList() {
return siteList;
}
public String getState() {
return "{\"sn\":\"" + sn + "\",\"state\":" + bean.getState() + ",\"speed\":" + bean.getSpeed() + ",\"reason\":\"" + bean.getReason() + "\",\"camera\":" + bean.getCamera() + ",\"radar\":" + bean.getRadar() + ",\"rtk\":" + bean.getRtk() + "}";
}
public String getRoute() {
return "{\"sn\":\"" + sn + "\",\"siteList\":" + siteList + "}";
}
}

36
modules/mogo-module-service/src/main/java/com/mogo/module/service/dispatch/bean/StartLatLon.java Normal file
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@@ -0,0 +1,36 @@
package com.mogo.module.service.dispatch.bean;
public class StartLatLon {
private double lat;
private double lon;
public StartLatLon(double lat, double lon) {
this.lat = lat;
this.lon = lon;
}
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;
}
@Override
public String toString() {
return "StartLatLon{" +
"lat=" + lat +
", lon=" + lon +
'}';
}
}

39
modules/mogo-module-service/src/main/java/com/mogo/module/service/dispatch/model/DispatchResult.java Normal file
View File

@@ -0,0 +1,39 @@
package com.mogo.module.service.dispatch.model;
import com.mogo.module.service.dispatch.bean.EndLatLon;
import com.mogo.module.service.dispatch.bean.StartLatLon;
public class DispatchResult {
private StartLatLon startLatLon;
private EndLatLon endLatLon;
public DispatchResult(StartLatLon startLatLon, EndLatLon endLatLon) {
this.startLatLon = startLatLon;
this.endLatLon = endLatLon;
}
public StartLatLon getStartLatLon() {
return startLatLon;
}
public void setStartLatLon(StartLatLon startLatLon) {
this.startLatLon = startLatLon;
}
public EndLatLon getEndLatLon() {
return endLatLon;
}
public void setEndLatLon(EndLatLon endLatLon) {
this.endLatLon = endLatLon;
}
@Override
public String toString() {
return "DispatchResult{" +
"startLatLon=" + startLatLon +
", endLatLon=" + endLatLon +
'}';
}
}

121
modules/mogo-module-service/src/main/java/com/mogo/module/service/dispatch/model/DispatchServiceModel.java Normal file
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@@ -0,0 +1,121 @@
package com.mogo.module.service.dispatch.model;
import static com.mogo.commons.context.ContextHolderUtil.getContext;
import static com.mogo.module.common.constants.HostConst.DATA_SERVICE_HOST;
import com.mogo.cloud.passport.MoGoAiCloudClientConfig;
import com.mogo.commons.data.BaseData;
import com.mogo.commons.network.SubscribeImpl;
import com.mogo.module.common.MogoApisHandler;
import com.mogo.module.service.dispatch.bean.AutopilotRoute;
import com.mogo.module.service.dispatch.bean.ReportDispatchResult;
import com.mogo.module.service.dispatch.bean.ReportedRoute;
import com.mogo.utils.logger.Logger;
import com.mogo.utils.network.RequestOptions;
import com.mogo.utils.network.utils.GsonUtil;
import java.util.HashMap;
import java.util.List;
import java.util.Map;
import io.reactivex.android.schedulers.AndroidSchedulers;
import io.reactivex.schedulers.Schedulers;
public class DispatchServiceModel {
private static final String TAG = "AdasServiceModel";
private static volatile DispatchServiceModel instance;
private static final byte[] obj = new byte[0];
public static final int DISPATCH_RESULT_AFFIRM = 0;
public static final int DISPATCH_RESULT_MANUAL_CANCEL = 1;
public static final int DISPATCH_RESULT_TIMER_CANCEL = 2;
private final IDispatchAdasApiService mAdasApiService;
private DispatchServiceModel() {
this.mAdasApiService = MogoApisHandler.getInstance().getApis().getNetworkApi().create(IDispatchAdasApiService.class, DATA_SERVICE_HOST);
}
public static DispatchServiceModel getInstance() {
if (instance == null) {
synchronized (obj) {
if (instance == null) {
instance = new DispatchServiceModel();
}
}
}
return instance;
}
/**
* 上报自动驾驶路线
*
* @param list 路线集合
*/
public void uploadAutopilotRoute(List<AutopilotRoute.RouteModels> list) {
String sn = MoGoAiCloudClientConfig.getInstance().getSn();
ReportedRoute reportedRoute = new ReportedRoute(sn, GsonUtil.jsonFromObject(list));
Map<String, Object> map = new HashMap<>();
map.put("sn", sn);
map.put("data", GsonUtil.jsonFromObject(reportedRoute));
mAdasApiService.uploadAutopilotRoute(map)
.subscribeOn(Schedulers.io())
.observeOn(AndroidSchedulers.mainThread())
.subscribe(new SubscribeImpl<BaseData>(RequestOptions.create(getContext())) {
@Override
public void onNext(BaseData o) {
super.onNext(o);
Logger.d(TAG, "uploadAutopilotRoute success");
}
@Override
public void onError(Throwable e) {
super.onError(e);
Logger.d(TAG, "uploadAutopilotRoute error : " + e.getMessage());
}
@Override
public void onSuccess(BaseData o) {
super.onSuccess(o);
}
});
}
/**
* 上报调度处理结果
*
* @param dispatchResultType int
*/
public void dispatchResultUpload(int dispatchResultType, IDispatch dispatch) {
String sn = MoGoAiCloudClientConfig.getInstance().getSn();
ReportDispatchResult reportDispatchResult = new ReportDispatchResult(sn, dispatchResultType);
Map<String, Object> map = new HashMap<>();
map.put("sn", sn);
map.put("data", GsonUtil.jsonFromObject(reportDispatchResult));
mAdasApiService.uploadDispatchResult(map)
.subscribeOn(Schedulers.io())
.observeOn(AndroidSchedulers.mainThread())
.subscribe(new SubscribeImpl<BaseData>(RequestOptions.create(getContext())) {
@Override
public void onNext(BaseData o) {
super.onNext(o);
Logger.d(TAG, "dispatchResultUpload success");
dispatch.onSuccess();
}
@Override
public void onError(Throwable e) {
super.onError(e);
Logger.d(TAG, "dispatchResultUpload error : " + e.getMessage());
dispatch.onError(e.getMessage());
}
@Override
public void onSuccess(BaseData o) {
super.onSuccess(o);
}
});
}
}

8
modules/mogo-module-service/src/main/java/com/mogo/module/service/dispatch/model/IDispatch.java Normal file
View File

@@ -0,0 +1,8 @@
package com.mogo.module.service.dispatch.model;
public interface IDispatch {
void onSuccess();
void onError(String msg);
}

33
modules/mogo-module-service/src/main/java/com/mogo/module/service/dispatch/model/IDispatchAdasApiService.java Normal file
View File

@@ -0,0 +1,33 @@
package com.mogo.module.service.dispatch.model;
import com.mogo.commons.data.BaseData;
import java.util.Map;
import io.reactivex.Observable;
import retrofit2.http.FieldMap;
import retrofit2.http.FormUrlEncoded;
import retrofit2.http.POST;
public interface IDispatchAdasApiService {
/**
* 上报自动驾驶路径 服务于业务调度
*
* @param parameters map
* @return {@link BaseData}
*/
@FormUrlEncoded
@POST("/dataService/autoDriver/receiveCarPreSetPath")
Observable<BaseData> uploadAutopilotRoute(@FieldMap Map<String, Object> parameters);
/**
* 上报自动驾驶调度处理结果 服务于业务调度
*
* @param parameters map
* @return {@link BaseData}
*/
@FormUrlEncoded
@POST("/dataService/autoDriver/receiverDestSiteResult")
Observable<BaseData> uploadDispatchResult(@FieldMap Map<String, Object> parameters);
}

4
modules/mogo-module-service/src/main/java/com/mogo/module/service/intent/ADASStatusIntentHandler.java
View File

@@ -4,7 +4,7 @@ import android.content.Context;
import android.content.Intent;
import android.text.TextUtils;
import com.mogo.module.common.uploadintime.SnapshotLocationController;
import com.mogo.module.common.datacenter.SnapshotLocationDataCenter;
import com.mogo.module.service.MarkerServiceHandler;
import com.mogo.module.service.ServiceConst;
import com.mogo.module.service.carinfo.CarStateInfo;
@@ -73,7 +73,7 @@ class ADASStatusIntentHandler implements IntentHandler {
data.putOpt( "acceleration", stateInfo.getValues().getAcceleration() );
data.putOpt( "yawRate", stateInfo.getValues().getYaw_rate() );
MarkerServiceHandler.getApis().getMapServiceApi().getMapUIController().syncLocation2Map( data );
SnapshotLocationController.getInstance().syncAdasLocationInfo( data );
SnapshotLocationDataCenter.getInstance().syncAdasLocationInfo( data );
} catch ( Exception e ) {
e.printStackTrace();
}

115
modules/mogo-module-service/src/main/java/com/mogo/module/service/intent/MockIntentHandler.java
View File

@@ -13,6 +13,8 @@ import android.view.View;
import android.widget.TextView;
import com.mogo.cloud.commons.utils.CoordinateUtils;
import com.mogo.cloud.socket.entity.SocketDownData;
import com.mogo.cloud.socket.entity.SocketDownDataHelper;
import com.mogo.commons.AbsMogoApplication;
import com.mogo.commons.debug.DebugConfig;
import com.mogo.commons.voice.AIAssist;
@@ -31,16 +33,14 @@ import com.mogo.module.common.MogoApisHandler;
import com.mogo.module.common.constants.DataTypes;
import com.mogo.module.common.dialog.WMDialog;
import com.mogo.module.common.drawer.SnapshotSetDataDrawer;
import com.mogo.module.common.uploadintime.SnapshotLocationController;
import com.mogo.module.common.datacenter.SnapshotLocationDataCenter;
import com.mogo.module.service.MarkerServiceHandler;
import com.mogo.module.service.R;
import com.mogo.module.service.status.EnvStatusManager;
import com.mogo.module.service.timedelay.TimeDelayUploadManager;
import com.mogo.realtime.entity.ADASRecognizedResult;
import com.mogo.realtime.entity.CloudRoadData;
import com.mogo.realtime.entity.MogoSnapshotSetData;
import com.mogo.service.adas.RemoteControlAutoPilotParameters;
import com.mogo.service.adas.entity.ADASCarStateInfo;
import com.mogo.service.adas.entity.ADASRecognizedResult;
import com.mogo.service.entrance.ButtonIndex;
import com.mogo.utils.TipToast;
import com.mogo.utils.WorkThreadHandler;
@@ -77,9 +77,11 @@ public class MockIntentHandler implements IntentHandler {
final int oper = intent.getIntExtra("oper", -1);
switch (oper) {
case 1:
// 展示自车位置
MarkerServiceHandler.getMapUIController().showMyLocation(intent.getBooleanExtra("status", true));
break;
case 2:
// 发起求助
boolean status = intent.getBooleanExtra("status", false);
MarkerServiceHandler.getMogoStatusManager().setSeekHelping(TAG, status);
break;
@@ -339,7 +341,7 @@ public class MockIntentHandler implements IntentHandler {
MarkerServiceHandler.getApis().getRefreshStrategyControllerApi().restartAutoRefreshAtTime(duration);
IMogoMarker marker = MarkerServiceHandler.getMarkerManager().addMarker(TAG, options);
MarkerServiceHandler.getMogoStatusManager().setUserInteractionStatus(TAG, true, false);
if(!MarkerServiceHandler.getApis().getStatusManagerApi().isVrMode()){
if (!MarkerServiceHandler.getApis().getStatusManagerApi().isVrMode()) {
MarkerServiceHandler.getMapUIController().moveToCenter(mogoLatLngs.get(0));
}
WorkThreadHandler.getInstance().post(() -> marker.startSmooth(mogoLatLngs, duration));
@@ -403,7 +405,6 @@ public class MockIntentHandler implements IntentHandler {
.syncLocation2Map(null);
break;
case 40:
double[][] coors = new double[][]{{40.17511749267578, 116.74359130859375},
{40.20258331298828, 116.74071502685547},
{40.202598571777344, 116.74067687988281},
@@ -444,7 +445,6 @@ public class MockIntentHandler implements IntentHandler {
{40.20254135131836, 116.74005889892578},
{40.20252990722656, 116.74007415771484},
{40.20254898071289, 116.74008178710938},
{40.20254135131836, 116.74005889892578},
{40.20252227783203, 116.74006652832031},
{40.20254898071289, 116.74002838134766},
@@ -543,8 +543,8 @@ public class MockIntentHandler implements IntentHandler {
.openVrMode(false);
break;
case 46:// 模拟 自车周边数据
String json = "{\"allList\":[{\"type\":3,\"uuid\":\"10009-5152\",\"lat\":40.1990809296,\"lon\":116.7393252195,\"speed\":0.0,\"heading\":0.0,\"systemTime\":1614329151909,\"vehicleType\":0,\"distance\":576.0,\"fromType\":3,\"isOnline\":0},{\"type\":3,\"uuid\":\"10009-5161\",\"lat\":40.1990827227,\"lon\":116.739325826,\"speed\":0.0,\"heading\":0.0,\"systemTime\":1614329151909,\"vehicleType\":0,\"distance\":576.0,\"fromType\":3,\"isOnline\":0}],\"nearList\":[],\"time\":1614329152238}";
SnapshotSetDataDrawer.getInstance().renderSnapshotData(GsonUtil.objectFromJson(json, MogoSnapshotSetData.class));
// String json = "{\"allList\":[{\"type\":3,\"uuid\":\"10009-5152\",\"lat\":40.1990809296,\"lon\":116.7393252195,\"speed\":0.0,\"heading\":0.0,\"systemTime\":1614329151909,\"vehicleType\":0,\"distance\":576.0,\"fromType\":3,\"isOnline\":0},{\"type\":3,\"uuid\":\"10009-5161\",\"lat\":40.1990827227,\"lon\":116.739325826,\"speed\":0.0,\"heading\":0.0,\"systemTime\":1614329151909,\"vehicleType\":0,\"distance\":576.0,\"fromType\":3,\"isOnline\":0}],\"nearList\":[],\"time\":1614329152238}";
// SnapshotSetDataDrawer.getInstance().renderSnapshotData(GsonUtil.objectFromJson(json, MogoSnapshotSetData.class));
break;
case 47:// 模拟鹰眼模式下绘制车辆周边的数据
mTimeTickHandler.sendEmptyMessageDelayed(1, 0L);
@@ -603,8 +603,8 @@ public class MockIntentHandler implements IntentHandler {
DebugConfig.setSelfCarSpeedYOffset(intent.getIntExtra("yOffset", 20));
break;
case 51:// 模拟路口车辆移动
mLocationMockHandler.sendEmptyMessageDelayed(100, 0L);
mLocationMockHandler.sendEmptyMessageDelayed(101, 1000L);
// mLocationMockHandler.sendEmptyMessageDelayed(100, 0L);
// mLocationMockHandler.sendEmptyMessageDelayed(101, 1000L);
break;
case 52:
// 打开连调工控机、ADAS的控制面板
@@ -616,7 +616,7 @@ public class MockIntentHandler implements IntentHandler {
DebugConfig.setUseAdasRecognize(isUseAdasRecognize);
break;
case 54:
mTimeTickCarHandler.sendEmptyMessageDelayed(1, 0L);
// mTimeTickCarHandler.sendEmptyMessageDelayed(1, 0L);
break;
case 55:
//开启模拟数据Mock，用于验证算法准确性
@@ -647,18 +647,22 @@ public class MockIntentHandler implements IntentHandler {
*/
private void handleRoadSideMockDataIntent() throws Exception {
if (roadSizeBr == null) {
roadSizeBr = new BufferedReader(new InputStreamReader(AbsMogoApplication.getApp().getAssets().open("roadSide.txt")));
roadSizeBr = new BufferedReader(new InputStreamReader(AbsMogoApplication.getApp().getAssets().open("roadSide.txt"))); //todo 需要重新模拟一个test数据
}
String carsLine = roadSizeBr.readLine();
MogoSnapshotSetData data = new MogoSnapshotSetData();
List<CloudRoadData> allList = GsonUtil.arrayFromJson(carsLine, CloudRoadData.class);
for (CloudRoadData cloudRoadData : allList) {
cloudRoadData.setWgslat(cloudRoadData.getLat());
cloudRoadData.setWgslon(cloudRoadData.getLon());
cloudRoadData.setFromType(CloudRoadData.FROM_ROAD_UNIT);
SocketDownData.LauncherSnapshotProto.Builder data = SocketDownData.LauncherSnapshotProto.newBuilder();
List<SocketDownData.CloudRoadDataProto> allList = GsonUtil.arrayFromJson(carsLine, SocketDownData.CloudRoadDataProto.class);
if (allList == null || allList.size() == 0) {
return;
}
data.setAllList(allList);
SnapshotSetDataDrawer.getInstance().renderSnapshotData(data);
for (SocketDownData.CloudRoadDataProto cloudRoadData : allList) {
cloudRoadData.toBuilder()
.setWgslat(cloudRoadData.getLon())
.setWgslon(cloudRoadData.getLon())
.setFromType(SocketDownDataHelper.FROM_ROAD_UNIT);
}
data.addAllAllList(allList);
SnapshotSetDataDrawer.getInstance().renderSnapshotData(data.build());
mLocationMockHandler.sendEmptyMessageDelayed(101, 100L);
}
@@ -848,9 +852,9 @@ public class MockIntentHandler implements IntentHandler {
//改变rtk定位数据，触发自车移动
MarkerServiceHandler.getApis().getMapServiceApi().getMapUIController().syncLocation2Map(jo);
Log.i("mock-timer-loc-map", "cost " + (System.currentTimeMillis() - start) + "ms");
SnapshotLocationController.getInstance().syncAdasLocationInfo(jo);
SnapshotLocationDataCenter.getInstance().syncAdasLocationInfo(jo);
Log.i("mock-timer-loc", "cost " + (System.currentTimeMillis() - start) + "ms");
Log.i("mock-timer-loc-info",jo.toString());
Log.i("mock-timer-loc-info", jo.toString());
return true;
}
@@ -861,29 +865,30 @@ public class MockIntentHandler implements IntentHandler {
* 模拟快照意图
*/
private boolean handleMockSnapshotIntent2() throws Exception {
if (br4 == null) {
br4 = new BufferedReader(new InputStreamReader(AbsMogoApplication.getApp().getAssets().open("snapshot.txt")));
}
String line = br4.readLine();
if (line == null) {
throw new Exception("end of file 2.");
}
MogoSnapshotSetData data = new MogoSnapshotSetData();
List<CloudRoadData> allList = new ArrayList<>();
CloudRoadData cloudRoadData = GsonUtil.objectFromJson(line, CloudRoadData.class);
if (cloudRoadData == null) {
return false;
}
cloudRoadData.setWgslon(cloudRoadData.getLon());
cloudRoadData.setWgslat(cloudRoadData.getLat());
cloudRoadData.setUuid("1_21");
allList.add(cloudRoadData);
data.setAllList(allList);
final long start = System.currentTimeMillis();
SnapshotSetDataDrawer.getInstance().renderSnapshotData(data);
Log.i("mock-timer-snapshot", "cost " + (System.currentTimeMillis() - start) + "ms");
// mLocationMockHandler.sendEmptyMessageDelayed( 21, 100L );
// if (br4 == null) {
// br4 = new BufferedReader(new InputStreamReader(AbsMogoApplication.getApp().getAssets().open("snapshot.txt"))); todo 需要重新模拟一个test数据
// }
// String line = br4.readLine();
// if (line == null) {
// throw new Exception("end of file 2.");
// }
// SocketDownData.LauncherSnapshotProto.Builder data = SocketDownData.LauncherSnapshotProto.newBuilder();
// List<SocketDownData.CloudRoadDataProto> allList = new ArrayList<>();
// SocketDownData.CloudRoadDataProto cloudRoadData = GsonUtil.objectFromJson(line, SocketDownData.CloudRoadDataProto.class);
// if (cloudRoadData == null) {
// return false;
// }
// SocketDownData.CloudRoadDataProto.Builder builder = cloudRoadData.toBuilder();
// builder.setWgslat(cloudRoadData.getLon());
// builder.setWgslon(cloudRoadData.getLat());
// builder.setUuid("1_21");
// allList.add(cloudRoadData);
// data.addAllAllList(allList);
//
// final long start = System.currentTimeMillis();
// SnapshotSetDataDrawer.getInstance().renderSnapshotData(data.build());
// Log.i("mock-timer-snapshot", "cost " + (System.currentTimeMillis() - start) + "ms");
//// mLocationMockHandler.sendEmptyMessageDelayed( 21, 100L );
return true;
}
@@ -897,8 +902,8 @@ public class MockIntentHandler implements IntentHandler {
final long start = System.currentTimeMillis();
if (readers == null) {
readers = new BufferedReader[10];
for (int i = 0; i < 10; i++) {
readers = new BufferedReader[200];
for (int i = 0; i < 200; i++) {
readers[i] = new BufferedReader(new InputStreamReader(AbsMogoApplication.getApp().getAssets().open("adas" + i + ".txt")));
}
}
@@ -912,10 +917,7 @@ public class MockIntentHandler implements IntentHandler {
}
}
AdasRec adasRec = new AdasRec();
adasRec.models = allList;
MogoApisHandler.getInstance().getApis().getAdasControllerApi().mockAdasRecognized(GsonUtil.jsonFromObject(adasRec));
MogoApisHandler.getInstance().getApis().getAdasControllerApi().mockAdasRecognized(allList);
Log.i("mock-timer-adas", "cost " + (System.currentTimeMillis() - start) + "ms");
return true;
}
@@ -942,16 +944,9 @@ public class MockIntentHandler implements IntentHandler {
}
}
AdasRec adasRec = new AdasRec();
adasRec.models = allList;
MogoApisHandler.getInstance().getApis().getAdasControllerApi().mockAdasRecognized(GsonUtil.jsonFromObject(adasRec));
MogoApisHandler.getInstance().getApis().getAdasControllerApi().mockAdasRecognized(allList);
Log.i("mock-timer-adas", "cost " + (System.currentTimeMillis() - start) + "ms");
return true;
}
public static class AdasRec {
public String action = "view";
public List<ADASRecognizedResult> models;
}
}

10
modules/mogo-module-service/src/main/java/com/mogo/module/service/location/MogoRTKLocation.java
View File

@@ -1,5 +1,6 @@
package com.mogo.module.service.location;
import android.annotation.SuppressLint;
import android.content.Context;
import android.location.Criteria;
import android.location.Location;
@@ -9,8 +10,8 @@ import android.os.Bundle;
import com.mogo.commons.AbsMogoApplication;
import com.mogo.module.common.MogoApisHandler;
import com.mogo.module.common.uploadintime.SnapshotLocationController;
import com.mogo.realtime.entity.CloudLocationInfo;
import com.mogo.module.common.datacenter.SnapshotLocationDataCenter;
import com.mogo.service.locationinfo.CloudLocationInfo;
import com.mogo.utils.logger.Logger;
public class MogoRTKLocation {
@@ -29,6 +30,7 @@ public class MogoRTKLocation {
private MogoRTKLocation() {
}
@SuppressLint("MissingPermission")
public void init() {
locationManager = (LocationManager) AbsMogoApplication.getApp().getApplicationContext().getSystemService(Context.LOCATION_SERVICE);
String provider = locationManager.getBestProvider(getCriteria(), true);
@@ -74,7 +76,7 @@ public class MogoRTKLocation {
cloudLocationInfo.setSystemTime(System.currentTimeMillis());
cloudLocationInfo.setTileId(String.valueOf(MogoApisHandler.getInstance().getApis().getMapServiceApi().getMapUIController()
.getTileId(location.getLongitude(), location.getLatitude())));
SnapshotLocationController.getInstance().syncLocationInfo(cloudLocationInfo);
SnapshotLocationDataCenter.getInstance().syncLocationInfo(cloudLocationInfo);
}
} else {
Logger.e(TAG, "location == null");
@@ -102,7 +104,7 @@ public class MogoRTKLocation {
if (locationManager != null && locationListener != null) {
locationManager.removeUpdates(locationListener);
} else {
Logger.d(TAG, "stop failed , reason : loc" + locationManager + " , or loc listener: " + locationListener + " is null");
Logger.d(TAG, "stop failed , listener: " + locationListener + " is null");
}
}
}

10
modules/mogo-module-service/src/main/java/com/mogo/module/service/marker/MapMarkerManager.java
View File

@@ -7,6 +7,7 @@ import android.os.Message;
import android.text.TextUtils;
import android.util.Log;
import com.mogo.cloud.socket.entity.SocketDownData;
import com.mogo.commons.AbsMogoApplication;
import com.mogo.commons.debug.DebugConfig;
import com.mogo.map.MogoLatLng;
@@ -39,10 +40,9 @@ import com.mogo.module.service.network.RefreshCallback;
import com.mogo.module.service.network.RefreshModel;
import com.mogo.module.service.polyline.LimberCollisionPolyline;
import com.mogo.realtime.api.MoGoAiCloudRealTime;
import com.mogo.realtime.entity.ADASRecognizedResult;
import com.mogo.realtime.entity.MogoSnapshotSetData;
import com.mogo.realtime.socket.IMogoCloudOnMsgListener;
import com.mogo.service.adas.IMogoADASControlStatusChangedListener;
import com.mogo.service.adas.entity.ADASRecognizedResult;
import com.mogo.service.module.IMogoBizActionDoneListener;
import com.mogo.utils.ResourcesHelper;
import com.mogo.utils.ThreadPoolService;
@@ -147,7 +147,7 @@ public class MapMarkerManager implements IMogoMarkerClickListener,
}
@Override
public void onMsgReceived(MogoSnapshotSetData mogoSnapshotSetData) {
public void onMsgReceived(SocketDownData.LauncherSnapshotProto mogoSnapshotSetData) {
DebugConfig.setStatus(DebugConfig.sDownloadSnapshot, true);
Message msg = mSnapshotHandler.obtainMessage();
msg.obj = mogoSnapshotSetData;
@@ -207,8 +207,8 @@ public class MapMarkerManager implements IMogoMarkerClickListener,
@Override
public void handleMessage(Message msg) {
super.handleMessage(msg);
if (msg.obj instanceof MogoSnapshotSetData) {
SnapshotSetDataDrawer.getInstance().renderSnapshotData(((MogoSnapshotSetData) msg.obj));
if (msg.obj instanceof SocketDownData.LauncherSnapshotProto) {
SnapshotSetDataDrawer.getInstance().renderSnapshotData(((SocketDownData.LauncherSnapshotProto) msg.obj));
} else if (msg.obj == null) {
SnapshotSetDataDrawer.getInstance().renderSnapshotData(null);
}

21
modules/mogo-module-service/src/main/java/com/mogo/module/service/spi/SPIRealTimeUpload.java
View File

@@ -1,29 +1,16 @@
package com.mogo.module.service.spi;
import com.elegant.spi.annotations.Service;
import com.mogo.module.common.uploadintime.SnapshotLocationController;
import com.mogo.module.service.MarkerServiceHandler;
import com.mogo.module.common.datacenter.SnapshotLocationDataCenter;
import com.mogo.realtime.api.IRealTimeProvider;
import com.mogo.realtime.entity.ADASRecognizedResult;
import com.mogo.realtime.entity.CloudLocationInfo;
import com.mogo.realtime.entity.SocketReceiveDataProto3;
import java.util.List;
@Service(value = IRealTimeProvider.class)
public class SPIRealTimeUpload implements IRealTimeProvider {
@Override
public List<ADASRecognizedResult> getLastADASRecognizedResult() {
return MarkerServiceHandler.getADASController().getLastADASRecognizedResult();
}
@Override
public List<CloudLocationInfo> getLocationMsg() {
return SnapshotLocationController.getInstance().getSendLocationData();
}
@Override
public int getLocationAccuracy() {
return SnapshotLocationController.getInstance().getDataAccuracy();
public SocketReceiveDataProto3.SocketReceiveDataProto getLocationMsg() {
return null;
}
}

26
modules/mogo-module-service/src/main/java/com/mogo/module/service/status/EnvStatusManager.java
View File

@@ -5,10 +5,12 @@ import android.graphics.Color;
import android.os.Handler;
import android.os.Looper;
import android.os.Message;
import android.text.TextUtils;
import android.view.Gravity;
import android.view.ViewGroup;
import android.widget.TextView;
import com.mogo.cloud.passport.MoGoAiCloudClientConfig;
import com.mogo.commons.debug.DebugConfig;
import com.mogo.map.uicontroller.EnumMapUI;
import com.mogo.module.common.MogoApisHandler;
@@ -69,16 +71,17 @@ public class EnvStatusManager {
private void renderStatus() {
String[] sStatusName = {
"定位",
"近景",
"下发",
"AUTO",
"长链",
"工控机定位",
"ADAS近景感知",
"云端远景感知",
"自动驾驶状态",
"socket长链",
"经度",
"纬度",
"网络状态",
"App版本",
"Map版本"
"Map版本",
"SN"
};
StringBuilder stringBuilder = new StringBuilder();
for (int i = 0; i < sStatusName.length; i++) {
@@ -92,7 +95,12 @@ public class EnvStatusManager {
} else if (i == 8) {
stringBuilder.append(getVersionName(mContext, "com.mogo.launcher.f")).append("\n");
} else if (i == 9) {
stringBuilder.append(AppUtils.getCustomMapSDKVersion(mContext)).append("\n");
String mapVersion = AppUtils.getCustomMapSDKVersion(mContext);
if (!TextUtils.isEmpty(mapVersion)) {
stringBuilder.append(mapVersion).append("\n");
}
} else if(i == 10){
stringBuilder.append(MoGoAiCloudClientConfig.getInstance().getSn()).append("\n");
} else {
stringBuilder.append("true".equals(DebugConfig.getStatus(i, true)) ? "正常" : "异常").append("\n");
}
@@ -108,10 +116,6 @@ public class EnvStatusManager {
mStatusTv.setTextColor(Color.WHITE);
}
}
//添加网络状态
//
}
private Context mContext;

36
modules/mogo-module-service/src/main/java/com/mogo/module/service/timedelay/TimeDelayUploadManager.java
View File

@@ -4,22 +4,23 @@ import android.content.Context;
import android.os.Build;
import android.os.Handler;
import android.os.Message;
import android.text.TextUtils;
import androidx.annotation.RequiresApi;
import com.mogo.cloud.passport.MoGoAiCloudClientConfig;
import com.mogo.cloud.socket.entity.SocketDownData;
import com.mogo.commons.data.BaseData;
import com.mogo.commons.network.SubscribeImpl;
import com.mogo.commons.network.Utils;
import com.mogo.module.common.MogoApisHandler;
import com.mogo.module.common.uploadintime.SnapshotLocationController;
import com.mogo.module.common.datacenter.SnapshotLocationDataCenter;
import com.mogo.module.service.MarkerServiceHandler;
import com.mogo.module.service.network.TimeDelayApiService;
import com.mogo.module.service.network.bean.MockSocketReceiverData;
import com.mogo.module.service.network.bean.MockSocketSendData;
import com.mogo.realtime.api.MoGoAiCloudRealTime;
import com.mogo.realtime.entity.CloudRoadData;
import com.mogo.realtime.entity.MogoSnapshotSetData;
import com.mogo.realtime.socket.IMogoCloudOnMsgListener;
import com.mogo.service.adas.IMogoADASController;
import com.mogo.service.connection.IMogoOnMessageListener;
import com.mogo.utils.WorkThreadHandler;
import com.mogo.utils.logger.Logger;
@@ -53,6 +54,7 @@ public class TimeDelayUploadManager implements IMogoOnMessageListener<MockSocket
private long mRecordSatelliteTime; //todo 后续多点模拟用
private TimeDelayApiService timeDelayApiService;
private IMogoADASController adasControllerApi;
private TimeDelayUploadManager() {
@@ -69,11 +71,16 @@ public class TimeDelayUploadManager implements IMogoOnMessageListener<MockSocket
return timeDelayUploadManager;
}
public boolean isMock() {
return isMockData;
}
public void init(Context mContext) {
MogoApisHandler.getInstance()
.getApis()
.getSocketManagerApi(mContext).registerOnMessageListener(MSG_SOCKET_TYPE, this);
MoGoAiCloudRealTime.registerOnMsgListener(this);
adasControllerApi = MogoApisHandler.getInstance().getApis().getAdasControllerApi();
}
private final Handler mockHandler = new Handler(WorkThreadHandler.newInstance("mock-algorithm-work-thread").getLooper()) {
@@ -93,7 +100,7 @@ public class TimeDelayUploadManager implements IMogoOnMessageListener<MockSocket
e.printStackTrace();
}
MarkerServiceHandler.getApis().getMapServiceApi().getMapUIController().syncLocation2Map(jo);
SnapshotLocationController.getInstance().syncAdasLocationInfo(jo);
SnapshotLocationDataCenter.getInstance().syncAdasLocationInfo(jo);
mockHandler.sendEmptyMessageDelayed(MOCK_MSG, 50);
}
}
@@ -137,10 +144,11 @@ public class TimeDelayUploadManager implements IMogoOnMessageListener<MockSocket
//接收实时数据监听回调，用于给服务端上报时延
@RequiresApi(api = Build.VERSION_CODES.N)
@Override
public void onMsgReceived(MogoSnapshotSetData mogoSnapshotSetData) {
public void onMsgReceived(SocketDownData.LauncherSnapshotProto mogoSnapshotSetData) {
if (isMockData) {
Logger.d(TAG,"收到下发数据 mogoSnapshotSetData : " + mogoSnapshotSetData.toString());
//接口数据上报
CloudRoadData result = mogoSnapshotSetData.getAllList()
SocketDownData.CloudRoadDataProto result = mogoSnapshotSetData.getAllListList()
.stream()
.filter(cloudRoadData -> cloudRoadData.getUuid().contains("serialNumber_"))
.findAny()
@@ -149,12 +157,19 @@ public class TimeDelayUploadManager implements IMogoOnMessageListener<MockSocket
Logger.d(TAG, "未找到与之匹配数据");
return;
}
MockSocketSendData mockSocketSendData = new MockSocketSendData(System.currentTimeMillis(), result.getUuid(), result.getSatelliteTime());
Logger.d(TAG,"找到匹配数据 result : " + result.toString());
long satelliteTime;
if (TextUtils.isEmpty(adasControllerApi.getSatelliteTime())) {
satelliteTime = System.currentTimeMillis();
} else {
satelliteTime = Long.parseLong(adasControllerApi.getSatelliteTime());
}
MockSocketSendData mockSocketSendData = new MockSocketSendData(satelliteTime, result.getUuid(), result.getSatelliteTime());
Map<String, Object> map = new HashMap<>();
map.put("sn", Utils.getSn());
map.put("sn", MoGoAiCloudClientConfig.getInstance().getSn());
map.put("data", GsonUtil.jsonFromObject(mockSocketSendData));
Logger.d(TAG, "mockSocketSendData : " + GsonUtil.jsonFromObject(mockSocketSendData));
Logger.d(TAG, "data uuid : " + result.getUuid() + " duration : " + (System.currentTimeMillis() - result.getSatelliteTime()));
Logger.d(TAG, "data uuid : " + result.getUuid() + " duration : " + (satelliteTime - result.getSatelliteTime()));
timeDelayApiService.uploadDelayData(map)
.subscribeOn(Schedulers.io())
.observeOn(AndroidSchedulers.mainThread())
@@ -171,4 +186,5 @@ public class TimeDelayUploadManager implements IMogoOnMessageListener<MockSocket
});
}
}
}

2
modules/mogo-module-service/src/main/java/com/mogo/module/service/utils/LocationParseUtil.java
View File

@@ -3,7 +3,7 @@ package com.mogo.module.service.utils;
import android.location.Location;
import com.mogo.map.MogoLatLng;
import com.mogo.realtime.entity.CloudLocationInfo;
import com.mogo.service.locationinfo.CloudLocationInfo;
/**
* 定位数据类型转换工具

2
modules/mogo-module-service/src/main/java/com/mogo/module/service/utils/SimpleLocationCorrectStrategy.java
View File

@@ -4,7 +4,7 @@ import android.os.SystemClock;
import com.mogo.map.MogoLatLng;
import com.mogo.module.common.MogoApisHandler;
import com.mogo.realtime.entity.CloudLocationInfo;
import com.mogo.service.locationinfo.CloudLocationInfo;
import com.mogo.utils.logger.Logger;
import java.util.ArrayList;