From 618a8762ca6c59f2dfd29d3099f4123bcebb5fb5 Mon Sep 17 00:00:00 2001 From: donghongyu Date: Fri, 25 Feb 2022 16:42:37 +0800 Subject: [PATCH 1/2] =?UTF-8?q?[Change]=20=E4=BF=AE=E5=A4=8DPAD=E4=B8=8E?= =?UTF-8?q?=E5=B7=A5=E6=8E=A7=E6=9C=BA=E6=96=AD=E5=BC=80=E6=B2=A1=E6=9C=89?= =?UTF-8?q?=E9=87=8D=E8=BF=9E=E7=9A=84bug=20=E4=BF=AE=E5=A4=8D=E5=BC=95?= =?UTF-8?q?=E5=AF=BC=E7=BA=BF=E8=BD=A6=E8=BE=86=E5=B0=BE=E6=8B=96=E7=8E=B0?= =?UTF-8?q?=E8=B1=A1?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit Signed-off-by: donghongyu --- config.gradle | 2 +- .../autopilot/MoGoAutopilotProvider.kt | 23 ++++++++++++++++--- .../routeoverlay/MogoRouteOverlayManager.java | 13 +++++++---- 3 files changed, 29 insertions(+), 9 deletions(-) diff --git a/config.gradle b/config.gradle index fd0958357f..858fcd1c53 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_bate21', + 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 fc67de4c1f..320f7a2b24 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 @@ -21,6 +21,7 @@ import com.mogo.eagle.core.utilcode.mogo.storage.SharedPrefsMgr import com.mogo.eagle.core.utilcode.util.GsonUtils import com.mogo.eagle.core.utilcode.util.ThreadUtils 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 java.util.concurrent.TimeUnit @@ -51,17 +52,33 @@ class MoGoAutopilotProvider : 0x00 -> // 司机 { CallerMapDataCollectorManager.registerOnMapCollectTaskListener(this) - AdasManager.getInstance().create(context, FunctionBuildConfig.adasConnectIP) + // "192.168.1.102" + val options = AdasOptions.Builder() + .setIPCIp(FunctionBuildConfig.adasConnectIP) + .setClient(false) + .build() + AdasManager.getInstance().create(context, options) } 0x01 -> // 乘客 { // 乘客端默认接收绘制全局路径+引导线 //FunctionBuildConfig.isDemoMode = true //FunctionBuildConfig.isIgnoreConditionsDrawAutopilotTrajectoryData = true - AdasManager.getInstance().create(context, FunctionBuildConfig.adasConnectIP) + // "192.168.1.103" + val options = AdasOptions.Builder() + .setIPCIp(FunctionBuildConfig.adasConnectIP) + .setClient(false) + .build() + AdasManager.getInstance().create(context, options) } else -> // 默认采用UDP寻址方式 - AdasManager.getInstance().create(context) + { + val options = AdasOptions.Builder() + .setIPCIp(FunctionBuildConfig.adasConnectIP) + .setClient(false) + .build() + AdasManager.getInstance().create(context, options) + } } //////////////////////////////////注意先后顺序，AdasManager.getInstance().create后才可以设置监听///////////////////////////////////////////// // 监听 adas 连接状态 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 11fa9763e0..3cd2ddf2a9 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); From 0c1690afd64eb4b3dd311879caa7f7f7cc781ac1 Mon Sep 17 00:00:00 2001 From: donghongyu Date: Fri, 25 Feb 2022 16:57:38 +0800 Subject: [PATCH 2/2] =?UTF-8?q?[Change]=20=E4=BF=AE=E6=94=B9=E5=BC=95?= =?UTF-8?q?=E5=AF=BC=E7=BA=BF=E9=85=8D=E8=89=B2?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit Signed-off-by: donghongyu --- .../function/autopilot/adapter/MoGoAdasListenerImpl.java | 8 ++++---- .../eagle/core/function/main/MainMoGoApplication.java | 2 +- .../module/service/routeoverlay/RouteOverlayDrawer.java | 2 +- 3 files changed, 6 insertions(+), 6 deletions(-) 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 a2b9997f1f..09ac36f488 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 @@ -180,7 +180,7 @@ 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) { @@ -198,7 +198,7 @@ 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); } @@ -207,7 +207,7 @@ 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) { @@ -223,7 +223,7 @@ 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 e00bbd4713..a56f5b701f 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 @@ -249,7 +249,7 @@ 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/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]));