diff --git a/config.gradle b/config.gradle index c1c27bc09f..f31899eddc 100644 --- a/config.gradle +++ b/config.gradle @@ -114,7 +114,7 @@ ext { obusdk : "com.zhidao.enterprise.smartv2x:smartv2x:1.0.0.3", mogoobu : 'com.zhidao.support.obu:mogoobu:1.0.0.19', mogoami : 'com.zhidao.support.obu.ami:mogoami:1.0.0.10', - adasHigh : 'com.zhidao.support.adas:high:1.2.1.2_bate23', + adasHigh : 'com.zhidao.support.adas:high:1.2.1.2_bate25', // google googlezxing : "com.google.zxing:core:3.3.3", diff --git a/core/function-impl/mogo-core-function-autopilot/src/main/java/com/mogo/eagle/core/function/autopilot/MoGoAutopilotProvider.kt b/core/function-impl/mogo-core-function-autopilot/src/main/java/com/mogo/eagle/core/function/autopilot/MoGoAutopilotProvider.kt index e8e341b05f..d8c0a64ae1 100644 --- a/core/function-impl/mogo-core-function-autopilot/src/main/java/com/mogo/eagle/core/function/autopilot/MoGoAutopilotProvider.kt +++ b/core/function-impl/mogo-core-function-autopilot/src/main/java/com/mogo/eagle/core/function/autopilot/MoGoAutopilotProvider.kt @@ -29,6 +29,7 @@ import com.mogo.telematic.client.listener.NettyClientListener import com.mogo.telematic.client.status.ConnectState import com.mogo.telematic.server.netty.NettyServerListener import com.zhidao.support.adas.high.AdasManager +import com.zhidao.support.adas.high.AdasOptions import com.zhidao.support.adas.high.bean.IPCUpgradeInfo import com.zhidao.support.adas.high.common.CupidLogUtils import io.netty.channel.Channel diff --git a/core/function-impl/mogo-core-function-autopilot/src/main/java/com/mogo/eagle/core/function/autopilot/adapter/MoGoAdasListenerImpl.java b/core/function-impl/mogo-core-function-autopilot/src/main/java/com/mogo/eagle/core/function/autopilot/adapter/MoGoAdasListenerImpl.java index 82d0fde422..6e36a13d5d 100644 --- a/core/function-impl/mogo-core-function-autopilot/src/main/java/com/mogo/eagle/core/function/autopilot/adapter/MoGoAdasListenerImpl.java +++ b/core/function-impl/mogo-core-function-autopilot/src/main/java/com/mogo/eagle/core/function/autopilot/adapter/MoGoAdasListenerImpl.java @@ -217,7 +217,7 @@ public class MoGoAdasListenerImpl implements OnAdasListener { @Override public void autopilotArrive(AutopilotWayArrive autopilotWayArrive) { if (HdMapBuildConfig.isMapLoaded) { - Logger.d(TAG, "autopilotArrive : " + autopilotWayArrive); +// Logger.d(TAG, "autopilotArrive : " + autopilotWayArrive); if (autopilotWayArrive != null) { AutopilotWayArrive.ResultBean result = autopilotWayArrive.getResult(); if (result != null) { @@ -241,7 +241,7 @@ public class MoGoAdasListenerImpl implements OnAdasListener { @Override public void onAutopilotRoute(AutopilotRoute route) { if (HdMapBuildConfig.isMapLoaded) { - Logger.d(TAG, "onAutopilotRoute : " + route.toString()); +// Logger.d(TAG, "onAutopilotRoute : " + route.toString()); AutopilotRouteInfo autopilotRoute = AdasObjectConvertUtils.INSTANCE.fromAdasAutopilotRoute(route); CallerAutopilotPlanningListenerManager.INSTANCE.invokeAutopilotRotting(autopilotRoute); } @@ -255,7 +255,7 @@ public class MoGoAdasListenerImpl implements OnAdasListener { @Override public void onAutopilotTrajectory(List trajectoryList) { if (HdMapBuildConfig.isMapLoaded) { - //Logger.d(TAG, "onAutopilotTrajectory : " + trajectoryList); +// Logger.d(TAG, "onAutopilotTrajectory : " + trajectoryList); ArrayList trajectoryInfoArrayList = new ArrayList<>(); if (trajectoryList != null && trajectoryList.size() > 0) { for (TrajectoryInfo trajectory : trajectoryList) { @@ -271,7 +271,7 @@ public class MoGoAdasListenerImpl implements OnAdasListener { adasTrajectoryInfo.setTheta(trajectory.getTheta()); trajectoryInfoArrayList.add(adasTrajectoryInfo); } - //Log.e(TAG, "time:" + System.currentTimeMillis() + "trajectoryInfoArrayList:" + trajectoryInfoArrayList); +// Log.e(TAG, "time:" + System.currentTimeMillis() + "trajectoryInfoArrayList:" + trajectoryInfoArrayList); } CallerAutopilotPlanningListenerManager.INSTANCE.invokeAutopilotTrajectory(trajectoryInfoArrayList); } diff --git a/core/function-impl/mogo-core-function-main/src/main/java/com/mogo/eagle/core/function/main/MainMoGoApplication.java b/core/function-impl/mogo-core-function-main/src/main/java/com/mogo/eagle/core/function/main/MainMoGoApplication.java index b9fbe31957..93edc490a0 100644 --- a/core/function-impl/mogo-core-function-main/src/main/java/com/mogo/eagle/core/function/main/MainMoGoApplication.java +++ b/core/function-impl/mogo-core-function-main/src/main/java/com/mogo/eagle/core/function/main/MainMoGoApplication.java @@ -248,7 +248,7 @@ public abstract class MainMoGoApplication extends AbsMogoApplication { */ private void connectAmiIp() { String ipAddress = SharedPrefsMgr.getInstance(AbsMogoApplication.getApp().getBaseContext()).getString(MoGoConfig.OBU_IP, "192.168.1.199"); - Logger.d("OnAdasListenerAdapter", "application --ipAddress = " + ipAddress); + //Logger.d("OnAdasListenerAdapter", "application --ipAddress = " + ipAddress); AmiClientManager.getInstance().setObuIp(ipAddress); } diff --git a/modules/mogo-module-service/src/main/java/com/mogo/module/service/routeoverlay/MogoRouteOverlayManager.java b/modules/mogo-module-service/src/main/java/com/mogo/module/service/routeoverlay/MogoRouteOverlayManager.java index 1d6e326a69..d580ac9aa1 100644 --- a/modules/mogo-module-service/src/main/java/com/mogo/module/service/routeoverlay/MogoRouteOverlayManager.java +++ b/modules/mogo-module-service/src/main/java/com/mogo/module/service/routeoverlay/MogoRouteOverlayManager.java @@ -83,11 +83,14 @@ public class MogoRouteOverlayManager implements // Log.d(TAG, "trajectoryInfos:" + adasTrajectoryInfo.getLat()+":"+adasTrajectoryInfo.getLon()); // Log.d(TAG, "temp:"+temp+" location:" + lat+":"+lon); List mogoLatLngs = new ArrayList<>(); - for (ADASTrajectoryInfo a : trajectoryInfos) { -// Log.d(TAG, "temp:"+temp+" trajectoryInfos:" + a.getLat()+":"+a.getLon()); - builder.append(a.getLon()).append(","); - builder.append(a.getLat()).append(","); - mogoLatLngs.add(new MogoLatLng(a.getLat(), a.getLon())); + for (int i = 0; i < trajectoryInfos.size(); i++) { + // 临时解决车尾拖线问题，丢弃距离车最近的几个经纬度，原因是惯性导航的中心靠近车尾，会导致经纬度靠近尾部，且两个数据不同频 + if (i > 5) { + ADASTrajectoryInfo a = trajectoryInfos.get(i); + builder.append(a.getLon()).append(","); + builder.append(a.getLat()).append(","); + mogoLatLngs.add(new MogoLatLng(a.getLat(), a.getLon())); + } } if (FunctionBuildConfig.isIgnoreConditionsDrawAutopilotTrajectoryData || STATUS_AUTOPILOT == 1){ RouteOverlayDrawer.getInstance(mContext).drawTrajectoryList(mogoLatLngs); diff --git a/modules/mogo-module-service/src/main/java/com/mogo/module/service/routeoverlay/RouteOverlayDrawer.java b/modules/mogo-module-service/src/main/java/com/mogo/module/service/routeoverlay/RouteOverlayDrawer.java index 0419d5d39a..c7a023eebb 100644 --- a/modules/mogo-module-service/src/main/java/com/mogo/module/service/routeoverlay/RouteOverlayDrawer.java +++ b/modules/mogo-module-service/src/main/java/com/mogo/module/service/routeoverlay/RouteOverlayDrawer.java @@ -124,7 +124,7 @@ public class RouteOverlayDrawer { long start = System.currentTimeMillis(); List list = new ArrayList<>(); // list = ColorUtils.gradientAlpha("#FF2AAFFD", "#002965ED", mPolylinePointList.size()); - int[] startColor = ColorUtils.hexToArgb("#FF64C3EA"); + int[] startColor = ColorUtils.hexToArgb("#CC64C3EA"); int[] endColor = ColorUtils.hexToArgb("#0064C3EA"); list.add(Color.argb(startColor[0],startColor[1],startColor[2],startColor[3])); list.add(Color.argb(endColor[0],endColor[1],endColor[2],endColor[3]));