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增加了OBU提供自车位置的功能

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This commit is contained in:
董宏宇
2021-08-25 12:53:50 +08:00
parent 152c916a8e
commit f7214481a2
10 changed files with 269 additions and 228 deletions
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2
app/productFlavors/fPadLenovo.gradle
View File

@@ -31,5 +31,7 @@ project.android.productFlavors {
buildConfigField 'boolean', 'IS_USE_ADAS_RTK_LOCATION_INFO', 'true'
// 是否需要悬浮窗权限申请
buildConfigField 'boolean', 'IS_NEED_REQUEST_FLOAT_PERMISSION', 'true'
// GPS数据提供源： 0-Android系统，1-工控机，2-OBU
buildConfigField 'int', 'GPS_PROVIDER', "2"
}
}

19
app/src/main/java/com/mogo/launcher/MogoApplication.java
View File

@@ -10,11 +10,11 @@ import com.auto.zhidao.logsdk.CrashSystem;
import com.bytedance.boost_multidex.BoostMultiDex;
import com.mogo.cloud.httpdns.MogoHttpDnsConfig;
import com.mogo.cloud.httpdns.bean.HttpDnsSimpleLocation;
import com.mogo.cloud.httpdns.listener.IHttpDnsCurrentLocation;
import com.mogo.cloud.passport.IMoGoTokenCallback;
import com.mogo.cloud.passport.MoGoAiCloudClient;
import com.mogo.cloud.passport.MoGoAiCloudClientConfig;
import com.mogo.commons.AbsMogoApplication;
import com.mogo.commons.FunctionBuildConfig;
import com.mogo.commons.constants.SharedPrefsConstants;
import com.mogo.commons.debug.DebugConfig;
import com.mogo.commons.network.Utils;
@@ -36,7 +36,6 @@ import com.mogo.service.MogoServicePaths;
import com.mogo.test.crashreport.ITestCrashReportProvider;
import com.mogo.test.crashreport.upgrade.UpgradeReportProvider;
import com.mogo.utils.ProcessUtils;
import com.mogo.utils.httpdns.HttpSimpleLocation;
import com.mogo.utils.logger.LogLevel;
import com.mogo.utils.logger.Logger;
import com.mogo.utils.storage.SharedPrefsMgr;
@@ -70,7 +69,7 @@ public class MogoApplication extends AbsMogoApplication {
CrashSystem crashSystem = CrashSystem.getInstance(this);
crashSystem.init();
//设置debug模式，日志不上传
// crashSystem.setDebug(BuildConfig.DEBUG);
// crashSystem.setDebug(BuildConfig.DEBUG);
Logger.init(BuildConfig.DEBUG ? LogLevel.DEBUG : LogLevel.OFF);
initTipToast();
initModules();
@@ -109,6 +108,8 @@ public class MogoApplication extends AbsMogoApplication {
DebugConfig.setUseAdasRtkLocationInfo(BuildConfig.IS_USE_ADAS_RTK_LOCATION_INFO);
DebugConfig.setNeedRequestFloatPermission(BuildConfig.IS_NEED_REQUEST_FLOAT_PERMISSION);
DebugConfig.setObuType(SharedPrefsMgr.getInstance(this).getInt("OBU_TYPE", DebugConfig.OBU_TYPE_CIDI));
FunctionBuildConfig.gpsProvider = BuildConfig.GPS_PROVIDER;
}
@Override
@@ -181,11 +182,11 @@ public class MogoApplication extends AbsMogoApplication {
clientConfig.setLoopCheckDelay(5 * 1000);
// 设置DNS经纬度位置
// clientConfig.setIHttpDnsCurrentLocation(() -> {
// SocketTestBroadCastReceiver.SocketTestData socketTestData = SocketTestBroadCastReceiver.SocketTestData.getInstance();
// Log.d("TEST-SOCKET","socketTestData cityCode: " + socketTestData.getCityCode());
// return new HttpDnsSimpleLocation(socketTestData.getCityCode(),socketTestData.getLat(),socketTestData.getLon()); //todo 对象唯一实例优化
// });
// clientConfig.setIHttpDnsCurrentLocation(() -> {
// SocketTestBroadCastReceiver.SocketTestData socketTestData = SocketTestBroadCastReceiver.SocketTestData.getInstance();
// Log.d("TEST-SOCKET","socketTestData cityCode: " + socketTestData.getCityCode());
// return new HttpDnsSimpleLocation(socketTestData.getCityCode(),socketTestData.getLat(),socketTestData.getLon()); //todo 对象唯一实例优化
// });
clientConfig.setIHttpDnsCurrentLocation(() -> {
MogoLocation mogoLocation =
MogoApisHandler.getInstance()
@@ -244,7 +245,7 @@ public class MogoApplication extends AbsMogoApplication {
);
}
private void uploadLocPerFiveSecond(){
private void uploadLocPerFiveSecond() {
if (DebugConfig.getCarMachineType() != DebugConfig.CAR_MACHINE_TYPE_SELF_INNOVATE) {
IMogoServiceApis apis = MogoApisHandler.getInstance().getApis();
apis.getLocationInfoApi().start();

4
foudations/mogo-commons/src/main/java/com/mogo/commons/FunctionBuildConfig.java
View File

@@ -8,9 +8,9 @@ package com.mogo.commons;
public class FunctionBuildConfig {
// 地图是否绘制Adas识别回调的Marker
public boolean isShowAdasMarker = true;
public static boolean isShowAdasMarker = true;
// 自车位置使用哪种外部数据源,0-Android系统，1-工控机，2-OBU
public int gpsProvider = 0;
public static int gpsProvider = 0;
}

320
libraries/map-custom/src/main/java/com/mogo/map/impl/custom/AMapViewWrapper.java
View File

@@ -1,5 +1,9 @@
package com.mogo.map.impl.custom;
import static com.mogo.map.uicontroller.VisualAngleMode.MODE_CLOSE_SIGHT;
import static com.mogo.map.uicontroller.VisualAngleMode.MODE_LONG_SIGHT;
import static com.mogo.map.uicontroller.VisualAngleMode.MODE_MEDIUM_SIGHT;
import android.content.Context;
import android.graphics.Color;
import android.graphics.Point;
@@ -16,6 +20,7 @@ import android.view.ViewGroup;
import android.view.animation.Interpolator;
import android.widget.TextView;
import com.mogo.commons.FunctionBuildConfig;
import com.mogo.commons.constants.SharedPrefsConstants;
import com.mogo.commons.debug.DebugConfig;
import com.mogo.map.IMogoMap;
@@ -71,10 +76,6 @@ import java.util.List;
import java.util.Map;
import java.util.concurrent.ConcurrentHashMap;
import static com.mogo.map.uicontroller.VisualAngleMode.MODE_CLOSE_SIGHT;
import static com.mogo.map.uicontroller.VisualAngleMode.MODE_LONG_SIGHT;
import static com.mogo.map.uicontroller.VisualAngleMode.MODE_MEDIUM_SIGHT;
public class AMapViewWrapper implements IMogoMapView,
IMogoMapUIController,
LocationListener,
@@ -114,7 +115,7 @@ public class AMapViewWrapper implements IMogoMapView,
public AMapViewWrapper(MapAutoView mMapView) {
startTime = System.currentTimeMillis();
Logger.i(TAG, "autoop--AMapViewWrapper: init");
// Logger.i("lianglihui", "autoop--AMapViewWrapper: init");
// Logger.i("lianglihui", "autoop--AMapViewWrapper: init");
this.mMapView = mMapView;
if (DebugConfig.isDebug()) {
GpsTester.getInstance().init(mMapView);
@@ -136,64 +137,64 @@ public class AMapViewWrapper implements IMogoMapView,
if (options != null) {
options.setZoomGesturesEnabled(true);
// 设置是否开启自动黑夜模式切换，默认为false，不自动切换
// options.setAutoSwitchStyle(false);
// options.setAutoSwitchStyle(false);
// 设置6秒后是否自动锁车
// options.setAutoLockCar( false );
// options.setAutoLockCar( false );
// 设置路线上的摄像头气泡是否显示
// options.setCameraBubbleShow( true );
// options.setCameraBubbleShow( true );
// 设置路线相关的配置属性，如：路线的路况颜色，路线上是否显示摄像头气泡等。
// options.setRouteOverlayOptions( MapStyleUtils.getRouteOverlayOptions() );
// 设置自车的图片对象
options.setMyLocationStyle(options.getMyLocationStyle().myLocationIcon(DEFAULT_OPTION.getCarCursorRes()));
// 设置指南针图标否在导航界面显示，默认显示。true，显示；false，隐藏。
// options.hiddenDirection();
// options.hiddenDirection();
// 黑夜模式
// options.setMapStyle(MapAutoApi.MAP_STYLE_NIGHT);
// options.setMapStyle(MapAutoApi.MAP_STYLE_NIGHT);
//设置路况光柱条是否显示（只适用于驾车导航，需要联网）。
// options.setTrafficBarEnabled( false );
// options.setTrafficBarEnabled( false );
// 设置[实时交通图层开关按钮]是否显示（只适用于驾车导航，需要联网）。
// options.setTrafficLayerEnabled( false );
// options.setTrafficLayerEnabled( false );
// 设置导航界面是否显示路线全览按钮。
// options.setRouteListButtonShow( false );
// options.setRouteListButtonShow( false );
// 设置导航状态下屏幕是否一直开启。
// options.setScreenAlwaysBright( true );
// options.setScreenAlwaysBright( true );
// 设置交通播报是否打开（只适用于驾车导航，需要联网）。
// options.setTrafficInfoUpdateEnabled( true );
// options.setTrafficInfoUpdateEnabled( true );
// 设置摄像头播报是否打开（只适用于驾车导航）。
// options.setCameraInfoUpdateEnabled( true );
// options.setCameraInfoUpdateEnabled( true );
// 设置菜单按钮是否在导航界面显示。
// options.setSettingMenuEnabled( false );
// options.setSettingMenuEnabled( false );
// 设置是否绘制显示交通路况的线路（彩虹线），拥堵-红色，畅通-绿色，缓慢-黄色，未知-蓝色。默认不绘制彩虹线。
// options.setTrafficLine( true );
// options.setTrafficLine( true );
// 设置是否绘制牵引线（当前位置到目的地的指引线）。默认不绘制牵引线。
// options.setLeaderLineEnabled( -1 );
// options.setLeaderLineEnabled( -1 );
// 设置导航界面UI是否显示。
// options.setLayoutVisible( false );
// options.setLayoutVisible( false );
// 设置是否自动画路
// options.setAutoDrawRoute( false );
// options.setAutoDrawRoute( false );
// 设置是否显示路口放大图(实景图)
// options.setRealCrossDisplayShow( false );
// options.setRealCrossDisplayShow( false );
// 设置是否显示路口放大图(路口模型图)
// options.setModeCrossDisplayShow( false );
// options.setModeCrossDisplayShow( false );
// 设置是否显示道路信息view
// options.setLaneInfoShow( false );
// options.setLaneInfoShow( false );
// 设置是否自动改变缩放等级
// options.setAutoChangeZoom( false );
// options.setAutoChangeZoom( false );
// 设置是否自动全览模式，即在算路成功后自动进入全览模式
// options.setAutoDisplayOverview( false );
// options.setAutoDisplayOverview( false );
// 设置路线转向箭头隐藏和显示
// options.setNaviArrowVisible( false );
// options.setNaviArrowVisible( false );
// 通过路线是否自动置灰，仅支持驾车导航
// options.setAfterRouteAutoGray( true );
// options.setZoom(((int) mDefaultZoomLevel));
// options.setPointToCenter( 0.5D, 0.5D );
// options.setAfterRouteAutoGray( true );
// options.setZoom(((int) mDefaultZoomLevel));
// options.setPointToCenter( 0.5D, 0.5D );
// 2D模式
// options.setMapViewPerspective(MapAutoApi.MAP_PERSPECTIVE_2D);
// mMapView.setViewOptions( options );
// options.setMapViewPerspective(MapAutoApi.MAP_PERSPECTIVE_2D);
// mMapView.setViewOptions( options );
}
// mMapView.setRouteOverlayVisible( false );
// mMapView.setCarOverlayVisible( false );
// setUIMode(EnumMapUI.CarUp_2D);
// mMapView.setRouteOverlayVisible( false );
// mMapView.setCarOverlayVisible( false );
// setUIMode(EnumMapUI.CarUp_2D);
}
private void initListeners() {
@@ -204,7 +205,7 @@ public class AMapViewWrapper implements IMogoMapView,
mMapView.setOnMapTouchListener(this);
mMapView.setOnMapClickListener(this);
mMapView.getLocationClient().registerListener(this);
// mMapView.getLocationClient().registerGpsListener( this );
// mMapView.getLocationClient().registerGpsListener( this );
mMapView.registerListener(this, MapAutoApi.LISTENER_TYPE_ZOOM);
mMapView.registerListener(this, MapAutoApi.LISTENER_TYPE_ROTATE);
mMapView.registerListener(this, MapAutoApi.LISTENER_TYPE_3D);
@@ -213,17 +214,17 @@ public class AMapViewWrapper implements IMogoMapView,
mMapView.setOnMapViewVisualAngleChangeListener(this);
Logger.d(TAG, "styleop - initListeners - setOnMapStyleListener - view %s", mMapView);
// mMapView.setOnPolylineClickListener( this );
// mMapView.setAMapNaviViewListener( this );
//
// final AMap aMap = mMapView.getMap();
// if ( aMap != null ) {
// aMap.setOnPOIClickListener( this );
// aMap.setOnMapClickListener( this );
// aMap.setOnCameraChangeListener( this );
// aMap.setOnMyLocationChangeListener( this );
// }
// AMapMessageManager.getInstance().registerAMapMessageListener( this );
// mMapView.setOnPolylineClickListener( this );
// mMapView.setAMapNaviViewListener( this );
//
// final AMap aMap = mMapView.getMap();
// if ( aMap != null ) {
// aMap.setOnPOIClickListener( this );
// aMap.setOnMapClickListener( this );
// aMap.setOnCameraChangeListener( this );
// aMap.setOnMyLocationChangeListener( this );
// }
// AMapMessageManager.getInstance().registerAMapMessageListener( this );
}
private Context getContext() {
@@ -295,7 +296,7 @@ public class AMapViewWrapper implements IMogoMapView,
@Override
public void setTrafficEnabled(boolean visible) {
if (checkAMapView()) {
// mMapView.getMapAutoViewHelper().setTraffic( visible );
// mMapView.getMapAutoViewHelper().setTraffic( visible );
}
}
@@ -351,30 +352,30 @@ public class AMapViewWrapper implements IMogoMapView,
Logger.d(TAG, "设置的样式 = %s", ui);
if (checkAMapView()) {
switch (ui) {
// case CarUp_2D:
// case CarUp_3D:
// case NorthUP_2D:
// setUIMode(ui);
// break;
// case CarUp_2D:
// case CarUp_3D:
// case NorthUP_2D:
// setUIMode(ui);
// break;
case Type_VR:
if (DebugConfig.getCarMachineType() == DebugConfig.CAR_MACHINE_TYPE_LENOVO) {
mMapView.getMapAutoViewHelper().setScaleVRMode(true);
}
mMapView.getMapAutoViewHelper().setMapStyle(MapAutoApi.MAP_STYLE_VR);
return;
// case Type_Light:
// mMapView.getMapAutoViewHelper().setAutoSwitchStyle(false);
// mMapView.getMapAutoViewHelper().setMapStyle(MapAutoApi.MAP_STYLE_DAY);
// mIsLightStyle = true;
// break;
// case Type_Night:
// mMapView.getMapAutoViewHelper().setAutoSwitchStyle(false);
// mMapView.getMapAutoViewHelper().setMapStyle(MapAutoApi.MAP_STYLE_NIGHT);
// mIsLightStyle = false;
// break;
// case Type_AUTO_LIGHT_Night:
// mMapView.getMapAutoViewHelper().setAutoSwitchStyle(true);
// break;
// case Type_Light:
// mMapView.getMapAutoViewHelper().setAutoSwitchStyle(false);
// mMapView.getMapAutoViewHelper().setMapStyle(MapAutoApi.MAP_STYLE_DAY);
// mIsLightStyle = true;
// break;
// case Type_Night:
// mMapView.getMapAutoViewHelper().setAutoSwitchStyle(false);
// mMapView.getMapAutoViewHelper().setMapStyle(MapAutoApi.MAP_STYLE_NIGHT);
// mIsLightStyle = false;
// break;
// case Type_AUTO_LIGHT_Night:
// mMapView.getMapAutoViewHelper().setAutoSwitchStyle(true);
// break;
}
}
@@ -460,9 +461,9 @@ public class AMapViewWrapper implements IMogoMapView,
if (visible && NaviClient.getInstance(getContext()).isNaviing()) {
return;
}
// if (DebugConfig.isDebug()) {
// Logger.d(TAG, Log.getStackTraceString(new Throwable()));
// }
// if (DebugConfig.isDebug()) {
// Logger.d(TAG, Log.getStackTraceString(new Throwable()));
// }
if (checkAMapView()) {
MyLocationStyle style = mMapView.getMapAutoViewHelper().getMyLocationStyle();
if (visible) {
@@ -495,10 +496,10 @@ public class AMapViewWrapper implements IMogoMapView,
MyLocationStyle style = mMapView.getMapAutoViewHelper().getMyLocationStyle();
style.setLocationType(MyLocationStyle.LOCATION_TYPE_FOLLOW_NO_CENTER);
style.interval(1000);
// style.anchor( 0.5F, 0.5F );
// style.strokeColor( Color.TRANSPARENT );
// style.strokeWidth( 0 );
// style.radiusFillColor( Color.TRANSPARENT );
// style.anchor( 0.5F, 0.5F );
// style.strokeColor( Color.TRANSPARENT );
// style.strokeWidth( 0 );
// style.radiusFillColor( Color.TRANSPARENT );
mMapView.getMapAutoViewHelper().setMyLocationStyle(style);
}
}
@@ -506,14 +507,14 @@ public class AMapViewWrapper implements IMogoMapView,
@Override
public void recoverLockMode() {
if (checkAMapView()) {
// if ( DebugConfig.isDebug() ) {
// Logger.d( TAG, Log.getStackTraceString( new Throwable() ) );
// }
// if ( DebugConfig.isDebug() ) {
// Logger.d( TAG, Log.getStackTraceString( new Throwable() ) );
// }
if (mCurrentUI == EnumMapUI.Type_VR) {
return;
}
Logger.d(TAG, "锁车");
// mMapView.getMapAutoViewHelper().setZoom(mLockZoom);
// mMapView.getMapAutoViewHelper().setZoom(mLockZoom);
mMapView.getMapAutoViewHelper().setLockMode(true);
mIsCarLocked = true;
}
@@ -622,20 +623,20 @@ public class AMapViewWrapper implements IMogoMapView,
return;
}
try {
// final LatLng latLng = ObjectUtils.fromMogo2( marker.getPosition() );
// Point point = mMapView.getMap().getProjection().toScreenLocation( latLng );
// point.y -= WindowUtils.dip2px( getContext(), high );
// LatLng target = mMapView.getMap().getProjection().fromScreenLocation( point );
// //使用TranslateAnimation,填写一个需要移动的目标点
// Animation animation = new TranslateAnimation( target );
// animation.setInterpolator( interpolator );
// //整个移动所需要的时间
// animation.setDuration( duration );
// //设置动画
// if ( marker instanceof AMapMarkerWrapper ) {
// ( ( AMapMarkerWrapper ) marker ).getMarker().setAnimation( animation );
// ( ( AMapMarkerWrapper ) marker ).getMarker().startAnimation();
// }
// final LatLng latLng = ObjectUtils.fromMogo2( marker.getPosition() );
// Point point = mMapView.getMap().getProjection().toScreenLocation( latLng );
// point.y -= WindowUtils.dip2px( getContext(), high );
// LatLng target = mMapView.getMap().getProjection().fromScreenLocation( point );
// //使用TranslateAnimation,填写一个需要移动的目标点
// Animation animation = new TranslateAnimation( target );
// animation.setInterpolator( interpolator );
// //整个移动所需要的时间
// animation.setDuration( duration );
// //设置动画
// if ( marker instanceof AMapMarkerWrapper ) {
// ( ( AMapMarkerWrapper ) marker ).getMarker().setAnimation( animation );
// ( ( AMapMarkerWrapper ) marker ).getMarker().startAnimation();
// }
} catch (Exception e) {
Logger.e(TAG, e, "error.");
}
@@ -809,18 +810,18 @@ public class AMapViewWrapper implements IMogoMapView,
} catch (Exception e) {
}
} else {
// 通过不同的方向类型来改变车模，目前暂定三种模型，drawlevel 1 绿,2 黄,3 红，绿色的时候需要把相应的切换为默认模型
// Logger.d("liyz", " mDrawlevel = " + mDrawlevel);
// if (mDrawlevel == 1 && isShowWarn) {
// mSelfMarker.marker3DIcon(R.raw.car);
// isShowWarn = false;
// } else if (mDrawlevel == 2) { //不处理
//
// } else if (mDrawlevel == 3 && !isShowWarn) {
// //继续判断相应的方位，目前是只有 前方 TODO
// mSelfMarker.marker3DIcon(R.raw.qfpz);
// isShowWarn = true;
// }
// 通过不同的方向类型来改变车模，目前暂定三种模型，drawlevel 1 绿,2 黄,3 红，绿色的时候需要把相应的切换为默认模型
// Logger.d("liyz", " mDrawlevel = " + mDrawlevel);
// if (mDrawlevel == 1 && isShowWarn) {
// mSelfMarker.marker3DIcon(R.raw.car);
// isShowWarn = false;
// } else if (mDrawlevel == 2) { //不处理
//
// } else if (mDrawlevel == 3 && !isShowWarn) {
// //继续判断相应的方位，目前是只有 前方 TODO
// mSelfMarker.marker3DIcon(R.raw.qfpz);
// isShowWarn = true;
// }
}
showSelfSpeed(location.getSpeed());
}
@@ -926,7 +927,7 @@ public class AMapViewWrapper implements IMogoMapView,
@Override
public void onMapStatusChanged(int type, int value) {
// Logger.i( TAG, "mapop--onMapStatusChanged-: " + type + "," + value );
// Logger.i( TAG, "mapop--onMapStatusChanged-: " + type + "," + value );
}
@Override
@@ -951,12 +952,12 @@ public class AMapViewWrapper implements IMogoMapView,
@Override
public void onCameraChange(int type, int value) {
// Logger.i( TAG, "mapop--onCameraChange-: " + type + "," + value );
// Logger.i( TAG, "mapop--onCameraChange-: " + type + "," + value );
}
@Override
public void onCameraChangeFinish(@Nullable CameraPosition cameraPosition) {
// Logger.i( TAG, "mapop--onCameraChangeFinish-: " + cameraPosition + "cost:" + ( System.currentTimeMillis() - startTime ) );
// Logger.i( TAG, "mapop--onCameraChangeFinish-: " + cameraPosition + "cost:" + ( System.currentTimeMillis() - startTime ) );
if (cameraPosition != null) {
Trace.beginSection("timer.onCameraChangeFinish");
MogoMapListenerHandler.getInstance().onMapChanged(ObjectUtils.fromAMap(cameraPosition.getTarget()),
@@ -983,7 +984,7 @@ public class AMapViewWrapper implements IMogoMapView,
}
//目前切换完vr之后，会立即回调其他样式，这里做一个判断
// private boolean mVrModeAutoChangedFlag = false;
// private boolean mVrModeAutoChangedFlag = false;
@Override
public void onChangeMapStyle(int i) {
@@ -1002,11 +1003,11 @@ public class AMapViewWrapper implements IMogoMapView,
// 进入vr模式的时候自动切换到车头朝上
change2CarUp();
}
// else if ( i == MapAutoApi.MAP_PERSPECTIVE_2D ) {
// mCurrentUI = EnumMapUI.CarUp_2D;
// } else if ( i == MapAutoApi.MAP_PERSPECTIVE_3D ) {
// mCurrentUI = EnumMapUI.CarUp_3D;
// }
// else if ( i == MapAutoApi.MAP_PERSPECTIVE_2D ) {
// mCurrentUI = EnumMapUI.CarUp_2D;
// } else if ( i == MapAutoApi.MAP_PERSPECTIVE_3D ) {
// mCurrentUI = EnumMapUI.CarUp_3D;
// }
if (last == mCurrentUI) {
Logger.d(TAG, "currentUI is same as last = %s", mCurrentUI);
@@ -1021,10 +1022,10 @@ public class AMapViewWrapper implements IMogoMapView,
changeMapMode(EnumMapUI.Type_Light);
return;
}
// if ( mVrModeAutoChangedFlag ) {
// mVrModeAutoChangedFlag = false;
// return;
// }
// if ( mVrModeAutoChangedFlag ) {
// mVrModeAutoChangedFlag = false;
// return;
// }
}
Logger.d(TAG, Log.getStackTraceString(new Throwable()));
if (mCurrentUI != null) {
@@ -1056,7 +1057,7 @@ public class AMapViewWrapper implements IMogoMapView,
if (isVrMode) {
if (mCurrentUI != EnumMapUI.Type_VR) {
Logger.d(TAG, "自动切换为vr模式");
// mVrModeAutoChangedFlag = true;
// mVrModeAutoChangedFlag = true;
changeMapMode(EnumMapUI.Type_VR);
}
} else {
@@ -1104,23 +1105,28 @@ public class AMapViewWrapper implements IMogoMapView,
long satelliteTime = data.optLong("satelliteTime");
long receiverDataTime = data.optLong("receiverDataTime");
long adasSatelliteTime = data.optLong("adasSatelliteTime");
if (lon == -1) {
return;
int gpsProvider = data.optInt("gpsProvider", 1);
// 使用与渠道配置一样的gps提供者提供的数据
if (gpsProvider == FunctionBuildConfig.gpsProvider) {
if (lon == -1) {
return;
}
RTKAutopilotLocationBean bean = new RTKAutopilotLocationBean();
bean.setYaw_rate(yawRate);
bean.setHeading(heading);
bean.setAcceleration(acceleration);
bean.setAlt(alt);
bean.setSystemTime(systemTime);
bean.setSatelliteTime(satelliteTime);
bean.setReceiverDataTime(receiverDataTime);
bean.setAdasSatelliteTime(adasSatelliteTime);
bean.setLon(lon);
bean.setGnss_speed(((float) speed));
bean.setLat(lat);
// 使用外部定位数据修改自车位置
mMapView.getLocationClient().updateRTKAutoPilotLocation(bean);
}
RTKAutopilotLocationBean bean = new RTKAutopilotLocationBean();
bean.setYaw_rate(yawRate);
bean.setHeading(heading);
bean.setAcceleration(acceleration);
bean.setAlt(alt);
bean.setSystemTime(systemTime);
bean.setSatelliteTime(satelliteTime);
bean.setReceiverDataTime(receiverDataTime);
bean.setAdasSatelliteTime(adasSatelliteTime);
bean.setLon(lon);
bean.setGnss_speed(((float) speed));
bean.setLat(lat);
// 使用外部定位数据修改自车位置
mMapView.getLocationClient().updateRTKAutoPilotLocation(bean);
}
@Override
@@ -1177,33 +1183,33 @@ public class AMapViewWrapper implements IMogoMapView,
if (roadCache == null || roadCache == noCache) {
SinglePointRoadInfo singlePointRoadInfo = MapDataApi.INSTANCE.getSinglePointMatchRoad(((float) wgs[0]), ((float) wgs[1]), ((float) angle), isGpsLocation, isRTK);
if (singlePointRoadInfo != null && singlePointRoadInfo.getCoords() != null && !singlePointRoadInfo.getCoords().isEmpty()) {
// Log.i("timer-matchRoad-4", "cost " + (System.currentTimeMillis() - start) + "ms roadId: " + singlePointRoadInfo.getRoadId());
// Log.i("timer-matchRoad-4", "cost " + (System.currentTimeMillis() - start) + "ms roadId: " + singlePointRoadInfo.getRoadId());
roadCache = new RoadCacheWrapper(singlePointRoadInfo.getCoords());
roadCache.setLaneWidth(singlePointRoadInfo.getLaneWidth());
// 在地图上画点的测试方法
// try {
// PolylineOptions options = new PolylineOptions( );
// options.setColor( colors[colorIndex++] );
// options.setId( "test-line"+new Random( ).nextLong() );
// options.setGps( true );
// options.setLineWidth( 3 );
// List<LonLatPoint> points = singlePointRoadInfo.getCoords();
// ArrayList< LonLat > lonLats = new ArrayList<>( );
// for ( LonLatPoint point : points ) {
// lonLats.add( new LonLat( point.getLongitude(), point.getLatitude() ) );
// }
// options.setLonLats( lonLats );
// mMapView.getMapAutoViewHelper().drawThickLine( options );
// if (colorIndex >= colors.length) {
// colorIndex = 0;
// }
// } catch( Exception e ){
// e.printStackTrace();
// }
// try {
// PolylineOptions options = new PolylineOptions( );
// options.setColor( colors[colorIndex++] );
// options.setId( "test-line"+new Random( ).nextLong() );
// options.setGps( true );
// options.setLineWidth( 3 );
// List<LonLatPoint> points = singlePointRoadInfo.getCoords();
// ArrayList< LonLat > lonLats = new ArrayList<>( );
// for ( LonLatPoint point : points ) {
// lonLats.add( new LonLat( point.getLongitude(), point.getLatitude() ) );
// }
// options.setLonLats( lonLats );
// mMapView.getMapAutoViewHelper().drawThickLine( options );
// if (colorIndex >= colors.length) {
// colorIndex = 0;
// }
// } catch( Exception e ){
// e.printStackTrace();
// }
}
}
// Log.i("timer-matchRoad-1", "cost " + (System.currentTimeMillis() - start) + "ms");
// Log.i("timer-matchRoad-1", "cost " + (System.currentTimeMillis() - start) + "ms");
if (roadCache != null
&& roadCache.getRoad() != null
&& !roadCache.getRoad().isEmpty()) {
@@ -1215,16 +1221,16 @@ public class AMapViewWrapper implements IMogoMapView,
if (matchThreshold > 0 && matchedPoint[2] > 0 && matchedPoint[2] <= matchThreshold) {
// 目标车在阈值范围内
roadCacheMap.put(id, roadCache);
// Logger.i("timer-matchRoad-3", "cost " + (System.currentTimeMillis() - start) + "ms");
// Logger.i("timer-matchRoad-3", "cost " + (System.currentTimeMillis() - start) + "ms");
return matchedPoint;
// Logger.i("timer-matchRoad-2", "cost " + (System.currentTimeMillis() - start) + "ms roadId: "+roadCache.getLastLat());
// Logger.i("timer-matchRoad-2", "cost " + (System.currentTimeMillis() - start) + "ms roadId: "+roadCache.getLastLat());
} else if (matchedPoint[2] > matchThreshold && matchedPoint[2] < 1.5) {
// 目标车在阈值范围外，也就是说距离道路中心线太远了，就不吸附了
return null;
} else {
// 目标车到道路中心线的映射点不在道路上，也就是已经使出了缓存的那条道路，需要重新获取一条道路，用useCache这个参数来避免重复递归
roadCacheMap.put(id, noCache);
// Logger.i("timer-matchRoad-2", "cost " + (System.currentTimeMillis() - start) + "ms roadId: " + roadCache.getLastLat());
// Logger.i("timer-matchRoad-2", "cost " + (System.currentTimeMillis() - start) + "ms roadId: " + roadCache.getLastLat());
if (usdCache) {
return matchRoad(id, lon, lat, angle, isGpsLocation, isRTK, false);
} else {

41
modules/mogo-module-common/src/main/java/com/mogo/module/common/datacenter/SnapshotLocationDataCenter.java
View File

@@ -1,5 +1,6 @@
package com.mogo.module.common.datacenter;
import com.mogo.commons.FunctionBuildConfig;
import com.mogo.commons.debug.DebugConfig;
import com.mogo.module.common.MogoApisHandler;
import com.mogo.service.locationinfo.CloudLocationInfo;
@@ -86,27 +87,31 @@ public class SnapshotLocationDataCenter {
double speed = data.optDouble("speed", -1);
long satelliteTime = data.optLong("satelliteTime");
long systemTime = data.optLong("systemTime");
int gpsProvider = data.optInt("gpsProvider",1);
//测试面板状态同步
DebugConfig.setStatusData(DebugConfig.sLon, lon);
DebugConfig.setStatusData(DebugConfig.sLat, lat);
// 使用与渠道配置一样的gps提供者提供的数据
if (gpsProvider == FunctionBuildConfig.gpsProvider) {
//测试面板状态同步
DebugConfig.setStatusData(DebugConfig.sLon, lon);
DebugConfig.setStatusData(DebugConfig.sLat, lat);
CloudLocationInfo cloudLocationInfo = new CloudLocationInfo();
cloudLocationInfo.setAlt(alt);
cloudLocationInfo.setHeading(heading);
cloudLocationInfo.setLat(lat);
cloudLocationInfo.setLon(lon);
cloudLocationInfo.setSpeed(speed);
cloudLocationInfo.setSatelliteTime(satelliteTime);
cloudLocationInfo.setSystemTime(systemTime);
cloudLocationInfo.setTileId(String.valueOf(MogoApisHandler.getInstance().getApis().getMapServiceApi().getMapUIController().getTileId(lon, lat)));
mLastLocationInfo = cloudLocationInfo;
mMachineCacheList.add(cloudLocationInfo);
CloudLocationInfo cloudLocationInfo = new CloudLocationInfo();
cloudLocationInfo.setAlt(alt);
cloudLocationInfo.setHeading(heading);
cloudLocationInfo.setLat(lat);
cloudLocationInfo.setLon(lon);
cloudLocationInfo.setSpeed(speed);
cloudLocationInfo.setSatelliteTime(satelliteTime);
cloudLocationInfo.setSystemTime(systemTime);
cloudLocationInfo.setTileId(String.valueOf(MogoApisHandler.getInstance().getApis().getMapServiceApi().getMapUIController().getTileId(lon, lat)));
mLastLocationInfo = cloudLocationInfo;
mMachineCacheList.add(cloudLocationInfo);
mCurSpeed = cloudLocationInfo.getSpeed();
mCurLon = cloudLocationInfo.getLon();
mCurLat = cloudLocationInfo.getLat();
mSatelliteTime = cloudLocationInfo.getSatelliteTime();
mCurSpeed = cloudLocationInfo.getSpeed();
mCurLon = cloudLocationInfo.getLon();
mCurLat = cloudLocationInfo.getLat();
mSatelliteTime = cloudLocationInfo.getSatelliteTime();
}
}
/**

72
modules/mogo-module-obu-mogo/src/main/java/com/mogo/module/obu/mogo/MogoPrivateObuManager.kt
View File

@@ -3,11 +3,13 @@ package com.mogo.module.obu.mogo
import android.content.Context
import android.util.Log
import com.alibaba.android.arouter.launcher.ARouter
import com.mogo.module.common.datacenter.SnapshotLocationDataCenter
import com.mogo.module.common.drawer.TrafficMarkerDrawer
import com.mogo.module.common.enums.WarningTypeEnum
import com.mogo.module.obu.mogo.utils.TrafficDataConvertUtils
import com.mogo.service.IMogoServiceApis
import com.mogo.service.MogoServicePaths
import com.mogo.service.map.IMogoMapService
import com.mogo.service.warning.IMoGoWaringProvider
import com.mogo.utils.logger.Logger
import com.mogo.utils.storage.SharedPrefsMgr
@@ -16,6 +18,7 @@ import com.zhidao.support.obu.OnMogoObuListener
import com.zhidao.support.obu.constants.ObuConstants
import com.zhidao.support.obu.model.*
import com.zhidao.support.obu.model.advance.Light
import org.json.JSONObject
/**
* @description
@@ -32,6 +35,7 @@ class MogoPrivateObuManager private constructor() {
private var mMogoServiceApis: IMogoServiceApis? = null
private var mIMoGoWaringProvider: IMoGoWaringProvider? = null
private var mIMogoMapService: IMogoMapService? = null
private var mContext: Context? = null
fun init(context: Context?) {
@@ -42,6 +46,7 @@ class MogoPrivateObuManager private constructor() {
// 获取预警模块的接口
mIMoGoWaringProvider = mMogoServiceApis!!.waringProviderApi
mIMogoMapService = mMogoServiceApis!!.mapServiceApi
//自研obu
MogoObuManager.getInstance().connect(context, "192.168.1.199")
@@ -87,21 +92,52 @@ class MogoPrivateObuManager private constructor() {
Logger.d(MogoObuConst.TAG_MOGO_OBU, "onCvxAppInitIndInfo ------> $info")
}
// 设置CV2X系统的配置确认
override fun onCvxSetConfigCfm(info: CvxSetConfigCfmInfo) {
super.onCvxSetConfigCfm(info)
Logger.d(MogoObuConst.TAG_MOGO_OBU, "onCvxSetConfigCfm ------> $info")
}
// 主车车辆信息
override fun onCvxHvCarIndInfo(info: CvxHvCarIndInfo) {
Logger.d(MogoObuConst.TAG_MOGO_OBU, "onCvxHvCarIndInfo ------> $info")
}
// CVX_HV_INFO_IND 主车信息
override fun onCvxHvInfoIndInfo(info: CvxHvInfoIndInfo) {
// (2) 车辆信息：CVX_HV_INFO_IND
override fun onCvxHvInfoIndInfo(info: CvxHvInfoIndInfo?) {
mContext?.let { SharedPrefsMgr.getInstance(it).putBoolean("OBU_HV", true) }
Logger.d(MogoObuConst.TAG_MOGO_OBU, "onCvxHvInfoIndInfo ------> $info")
if (info != null && info.basic_info != null && info.basic_info.position != null) {
val movingObjectInfo = info.basic_info
val position = movingObjectInfo.position
val data = JSONObject()
try {
data.putOpt("lon", position.longitude)
data.putOpt("lat", position.latitude)
data.putOpt("speed", movingObjectInfo.speed)
data.putOpt("heading", movingObjectInfo.heading)
if (info.acceleration_set != null) {
data.putOpt("acceleration", info.acceleration_set.lateral)
data.putOpt("yawRate", info.acceleration_set.yaw_rate)
}
data.putOpt("gpsProvider", 2)
try {
data.putOpt("systemTime", System.currentTimeMillis())
} catch (e: Exception) {
e.printStackTrace()
}
try {
data.putOpt("satelliteTime", System.currentTimeMillis())
} catch (e: Exception) {
e.printStackTrace()
}
try {
data.putOpt("receiverDataTime", System.currentTimeMillis())
} catch (e: Exception) {
e.printStackTrace()
}
try {
data.putOpt("adasSatelliteTime", System.currentTimeMillis())
} catch (e: Exception) {
e.printStackTrace()
}
mIMogoMapService?.mapUIController?.syncLocation2Map(data)
SnapshotLocationDataCenter.getInstance().syncAdasLocationInfo(data)
} catch (e: Exception) {
e.printStackTrace()
}
}
}
// (3) 远车信息：CVX_RV_INFO_IND
@@ -510,7 +546,10 @@ class MogoPrivateObuManager private constructor() {
info: CvxV2vThreatIndInfo
) {
// 这里排除需要特殊定制的语音及文案外,其余的都可以使用 WarningTypeEnum 提供的
Log.d(MogoObuConst.TAG_MOGO_OBU, "handleSdkObu appId = $appId --- handleDirection = $direction ---level = $level")
Log.d(
MogoObuConst.TAG_MOGO_OBU,
"handleSdkObu appId = $appId --- handleDirection = $direction ---level = $level"
)
var alertContent = ""
var ttsContent = ""
when (appId) {
@@ -586,7 +625,10 @@ class MogoPrivateObuManager private constructor() {
"ACTION_V2X_FRONT_WARNING"
)
//显示弹框，语音提示
Log.d(MogoObuConst.TAG_MOGO_OBU, "appId = $appId --- level = $level --- alertContent = $alertContent")
Log.d(
MogoObuConst.TAG_MOGO_OBU,
"appId = $appId --- level = $level --- alertContent = $alertContent"
)
mIMoGoWaringProvider!!.showWarningV2X(
appId,
alertContent,

13
modules/mogo-module-obu-mogo/src/main/java/com/mogo/module/obu/mogo/receiver/ObuTestTriggerRecognizedReceiver.kt
View File

@@ -6,7 +6,7 @@ import android.content.Intent
import com.mogo.module.obu.mogo.MogoObuConst
import com.mogo.module.obu.mogo.MogoPrivateObuManager
import com.mogo.utils.logger.Logger
import com.zhidao.support.obu.model.CvxRvInfoIndInfo
import com.zhidao.support.obu.model.CvxHvInfoIndInfo
import com.zhidao.support.obu.model.advance.MovingObjectInfo
import com.zhidao.support.obu.model.advance.Position
@@ -14,7 +14,7 @@ import com.zhidao.support.obu.model.advance.Position
* @author xiaoyuzhou
* @date 2021/8/11 10:50 上午
*
* OBU 周边车辆 测试使用
* OBU 模拟自车
*/
class ObuTestTriggerRecognizedReceiver : BroadcastReceiver() {
private var mContext: Context? = null
@@ -34,16 +34,15 @@ class ObuTestTriggerRecognizedReceiver : BroadcastReceiver() {
val obuLevel = intent.getIntExtra(MogoObuConst.BROADCAST_OBU_LEVEL_EXTRA_KEY, 3)
Logger.d(TAG, "obuType:$obuType obuStatus:$obuStatus obuLevel:$obuLevel")
// TODO 测试数据
val cvxRvInfoIndInfo = CvxRvInfoIndInfo(0, 1, 2)
cvxRvInfoIndInfo.vehicle_id = "123321"
val cvxHvInfoIndInfo = CvxHvInfoIndInfo(0, 1, 2)
val position = Position(0, 399739429, 1164115207, 20)
val movingObjectInfo = MovingObjectInfo(0, position, 1800, 60)
cvxRvInfoIndInfo.basic_info = movingObjectInfo
cvxHvInfoIndInfo.basic_info = movingObjectInfo
MogoPrivateObuManager.INSTANCE
.getMogoObuListener()
.onCvxRvInfoIndInfo(cvxRvInfoIndInfo)
.onCvxHvInfoIndInfo(cvxHvInfoIndInfo)
}

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

@@ -13,6 +13,7 @@ import android.text.TextUtils;
import android.util.Log;
import android.view.MotionEvent;
import com.mogo.commons.FunctionBuildConfig;
import com.mogo.commons.debug.DebugConfig;
import com.mogo.commons.storage.SpStorage;
import com.mogo.commons.voice.AIAssist;
@@ -978,6 +979,7 @@ public class MogoServices implements IMogoMapListener,
data.putOpt( "heading", stateInfo.getValues().getHeading() );
data.putOpt( "acceleration", stateInfo.getValues().getAcceleration() );
data.putOpt( "yawRate", stateInfo.getValues().getYaw_rate() );
data.putOpt( "gpsProvider", 1 );
try {
data.putOpt( "systemTime", Long.parseLong( stateInfo.getValues().getSystemTime() ) );
} catch ( Exception e ) {

2
services/mogo-service-api/src/main/java/com/mogo/service/adas/IMogoADASController.java
View File

@@ -202,8 +202,6 @@ public interface IMogoADASController extends IProvider {
*/
void cancelAutopilot();
void mockAdasLoc(String json);
void mockAdasRecognized(List<ADASRecognizedResult> recognizedResults);
}

22
services/mogo-service/src/main/java/com/mogo/service/impl/adas/MogoADASController.java
View File

@@ -49,7 +49,6 @@ import com.zhidao.adasconfig.common.config.EnumCarChatIncognitoMode;
import com.zhidao.adasconfig.common.config.EnumCarHeading;
import com.zhidao.adasconfig.common.config.EnumSkinStyle;
import com.zhidao.autopilotservice.model.AdasAIDLAutopilotArriveModel;
import com.zhidao.autopilotservice.model.AdasAIDLOwnerCarRectModel;
import com.zhidao.support.adas.high.bean.AutopilotRoute;
import com.zhidao.support.adas.high.bean.AutopilotStatus;
import com.zhidao.support.adas.high.bean.RectInfo;
@@ -233,9 +232,9 @@ public class MogoADASController implements IMogoADASController {
}
}
// TODO 以前这里是考虑ADAS独立应用，现在集成ADAS-SDK到程序内了，这个判断不需要了
// if (SingletonsHolder.get(IMogoStatusManager.class).isVrMode()) {
// return;
// }
// if (SingletonsHolder.get(IMogoStatusManager.class).isVrMode()) {
// return;
// }
Logger.d(TAG, Log.getStackTraceString(new Throwable()));
init(AbsMogoApplication.getApp());
adasProvider.addAdasStatusListener(new IAdasStatusListener() {
@@ -394,8 +393,6 @@ public class MogoADASController implements IMogoADASController {
Message message = mAdasLocationRecHandler.obtainMessage();
message.obj = ownerCarStateInfo;
message.sendToTarget();
}
@Override
@@ -612,7 +609,7 @@ public class MogoADASController implements IMogoADASController {
adasProvider.removeAdasStatusListener();
//AutopilotServiceManage.getInstance().release();
//关闭定时任务
// if (mDisposable != null) mDisposable.dispose();
// if (mDisposable != null) mDisposable.dispose();
}
@Override
@@ -753,17 +750,6 @@ public class MogoADASController implements IMogoADASController {
adasProvider.cancelPilot();
}
@Override
public void mockAdasLoc(String json) {
ADASCarStateInfo stateInf = GsonUtil.objectFromJson(json, ADASCarStateInfo.class);
if (stateInf == null) {
return;
}
if (mMogoAdasCarDataCallback != null) {
mMogoAdasCarDataCallback.onAdasCarDataCallback(stateInf);
}
}
@Override
public void mockAdasRecognized(List<ADASRecognizedResult> recognizedResults) {
if (!mMogoAdasRecognizedDataCallbacks.isEmpty()) {