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重构obu模块，新增udp通信

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This commit is contained in:
yangjingjing
2020-09-18 19:02:05 +08:00
parent f700d3a88b
commit fc9cf0d6fc
32 changed files with 631 additions and 456 deletions
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2
modules/mogo-module-v2x/src/main/java/com/mogo/module/v2x/V2XModuleProvider.java
View File

@@ -136,7 +136,7 @@ public class V2XModuleProvider implements
localBroadcastManager.registerReceiver(localReceiver, intentFilter);
// obu数据转发初始化
V2XObuManager.getInstance().init();
V2XObuManager.getInstance().init(context);
}
private void initBiz(Context context) {

259
modules/mogo-module-v2x/src/main/java/com/mogo/module/v2x/V2XObuManager.java
View File

@@ -1,5 +1,6 @@
package com.mogo.module.v2x;
import android.content.Context;
import android.content.Intent;
import android.os.Handler;
import android.os.Message;
@@ -17,13 +18,15 @@ import com.mogo.module.v2x.scenario.scene.obu.V2XObuEventScenario;
import com.mogo.module.v2x.utils.ADASUtils;
import com.mogo.module.v2x.utils.DrivingDirectionUtils;
import com.mogo.module.v2x.utils.ObuConfig;
import com.mogo.service.obu.IMogoObuDataChangedListener;
import com.mogo.utils.logger.Logger;
import com.zhidao.mogo.module.obu.ObuConstant;
import com.zhidao.smartv2x.model.obu.CarEventInfo;
import com.zhidao.smartv2x.model.obu.CarLocationInfo;
import com.zhidao.smartv2x.model.obu.TrafficLightInfo;
import com.zhidao.mogo.module.obu.ObuManager;
import com.zhidao.mogo.module.obu.obu.IObuCallback;
import com.zhidao.mogo.module.obu.obu.bean.MogoObuEventInfo;
import com.zhidao.mogo.module.obu.obu.bean.MogoObuLocationInfo;
import com.zhidao.mogo.module.obu.obu.bean.MogoObuTrafficLightInfo;
import org.jetbrains.annotations.NotNull;
import org.json.JSONObject;
import java.util.Map;
@@ -36,7 +39,7 @@ import static com.mogo.module.v2x.scenario.scene.obu.V2XObuEventScenario.ACTION_
*
* @author tongchenfei
*/
public class V2XObuManager implements IMogoObuDataChangedListener, Handler.Callback {
public class V2XObuManager implements IObuCallback, Handler.Callback {
private static final String TAG = V2XObuManager.class.getSimpleName();
private static final long DEFAULT_INTERVAL_TIME = 30_000L;
@@ -61,9 +64,11 @@ public class V2XObuManager implements IMogoObuDataChangedListener, Handler.Callb
private static final long DEFAULT_HIDE_TRAFFIC_LIGHT_DELAY = 1500L;
private Handler handler = new Handler(this);
public void init() {
public void init(Context context) {
Logger.d(MODULE_NAME, "obuManager初始化--");
V2XServiceManager.getMogoRegisterCenter().registerObuDataListener(MODULE_NAME, this);
ObuManager obuManager = new ObuManager();
obuManager.init(context);
obuManager.registerObuDataChangedListener(this);
}
/**
@@ -71,133 +76,6 @@ public class V2XObuManager implements IMogoObuDataChangedListener, Handler.Callb
*/
private Map<String, Long> intervalMap = new ArrayMap<>();
/**
* 车辆位置信息回调接口
*
* @param info 位置信息
*/
@Override
public void showCarLocationInfo(CarLocationInfo info) {
if (ObuConfig.useObuLocation) {
MogoLocation currentLocation = new MogoLocation();
CoordinateConverter converter = new CoordinateConverter(V2XServiceManager.getContext());
converter.from(CoordinateConverter.CoordType.GPS);
LatLng latLng = new LatLng(info.lat, info.lng);
converter.coord(latLng);
LatLng convert = converter.convert();
currentLocation.setLatitude(convert.latitude);
currentLocation.setLongitude(convert.longitude);
currentLocation.setBearing(computeCarAngle(currentLocation));
V2XObuEventScenario.getInstance().updateLocation(currentLocation);
}
}
/**
* UDP 收发消息回调接口
*
* @param info 消息回调
*/
@Override
public void showOtherInfo(String info) {
}
/**
* 交通信号灯信息回调接口
*
* @param info 信号灯信息
*/
@Override
public void showTrafficLightInfo(TrafficLightInfo info) {
handler.removeMessages(MSG_HIDE_TRAFFIC_LIGHT);
if (info == null) {
Logger.d("V2X_OBU_EVENT", "红绿灯数据为空===");
sendTrafficLightStatusToAdas(CALL_ADAS_HIDE_TRAFFIC_LIGHT, null);
} else {
Logger.d("V2X_OBU_EVENT", "红绿灯数据==" + info);
handler.sendEmptyMessageDelayed(MSG_HIDE_TRAFFIC_LIGHT, DEFAULT_HIDE_TRAFFIC_LIGHT_DELAY);
sendTrafficLightStatusToAdas(CALL_ADAS_SHOW_TRAFFIC_LIGHT, info);
}
}
/**
* 场景触发事件信息回调接口
*
* @param info 场景触发事件信息
*/
@Override
public void showCarEventInfo(CarEventInfo info) {
Logger.d("V2X_OBU_EVENT", "carEventInfo==" + info);
Long last = intervalMap.get(info.typeCode);
if (last == null) {
last = 0L;
}
int eventType = parseObuEvent(info.typeCode);
if (eventType == ObuConstant.TYPE_OPTIMAL_SPEED_ADVISORY) {
// 加一个容错机制，如果已经驶过绿波车速路口，那么再收到绿波车速obu事件，就不再上报
MogoLocation currentLocation = V2XLocationListener.getInstance().getLastCarLocation();
double eventAngle = DrivingDirectionUtils.getDegreeOfCar2Poi(
currentLocation.getLongitude(),
currentLocation.getLatitude(),
V2XObuEventScenario.getInstance().getOptimalCrossing().getLon(),
V2XObuEventScenario.getInstance().getOptimalCrossing().getLat(),
(int) currentLocation.getBearing()
);
if (0 > eventAngle || eventAngle > 20) {
Logger.e(MODULE_NAME, "超出绿波引导点范围，不处理此次事件===" + eventAngle);
return;
}
}
if (SystemClock.elapsedRealtime() - last > DEFAULT_INTERVAL_TIME) {
// 距离上次记录超过三十秒，继续相关逻辑，如果不超过三十秒，忽略此次事件
intervalMap.put(info.typeCode, SystemClock.elapsedRealtime());
V2XMessageEntity<V2XObuEventEntity> messageEntity = new V2XMessageEntity<>();
messageEntity.setType(V2XMessageEntity.V2XTypeEnum.ALERT_OBU_EVENT);
switch (eventType) {
case ObuConstant
.TYPE_OPTIMAL_SPEED_ADVISORY:
// 绿波车速引导
V2XObuEventEntity optimalEvent = new V2XObuEventEntity();
optimalEvent.setType(ObuConstant.TYPE_OPTIMAL_SPEED_ADVISORY);
optimalEvent.setDesc(info.describe);
messageEntity.setContent(optimalEvent);
V2XObuEventScenario.getInstance().init(messageEntity);
break;
case ObuConstant.TYPE_URGENCY_COLLISION_WARNING:
// 前车紧急制动预警
V2XObuEventEntity urgencyEvent = new V2XObuEventEntity();
urgencyEvent.setType(ObuConstant.TYPE_URGENCY_COLLISION_WARNING);
urgencyEvent.setDesc(V2XObuEventScenario.URGENCY_COLLISION_WARN_TEXT);
messageEntity.setContent(urgencyEvent);
V2XObuEventScenario.getInstance().init(messageEntity);
break;
case ObuConstant.TYPE_ROAD_USER_COLLISION_WARNING:
// 行人预警，给adas发送广播即可
V2XPushMessageEntity entity = new V2XPushMessageEntity();
// 盲区行人预警的sceneId-100003
entity.setSceneId("100003");
entity.setTts("前方行人，注意减速");
entity.setExpireTime(30_000);
entity.setAlarmContent("前方行人，注意减速");
ADASUtils.broadcastToADAS(V2XServiceManager.getContext(), entity);
break;
case ObuConstant.TYPE_CHANGE_LIGHT_FOR_VIP:
// vip变灯提醒
V2XObuEventEntity changeLightEvent = new V2XObuEventEntity();
changeLightEvent.setType(ObuConstant.TYPE_CHANGE_LIGHT_FOR_VIP);
changeLightEvent.setDesc(info.describe);
messageEntity.setContent(changeLightEvent);
V2XObuEventScenario.getInstance().init(messageEntity);
break;
default:
break;
}
}
}
private int parseObuEvent(String type) {
switch (type) {
case "06":
@@ -240,7 +118,7 @@ public class V2XObuManager implements IMogoObuDataChangedListener, Handler.Callb
private static final String CALL_ADAS_SHOW_TRAFFIC_LIGHT = "2";
private static final String CALL_ADAS_HIDE_TRAFFIC_LIGHT = "1";
private void sendTrafficLightStatusToAdas(String status, TrafficLightInfo trafficLightInfo) {
private void sendTrafficLightStatusToAdas(String status, MogoObuTrafficLightInfo trafficLightInfo) {
if (V2XObuEventScenario.getInstance().isInChangeLightForVip()) {
status = CALL_ADAS_HIDE_TRAFFIC_LIGHT;
}
@@ -250,15 +128,15 @@ public class V2XObuManager implements IMogoObuDataChangedListener, Handler.Callb
// String action "1" - 隐藏 "2" - 显示
json.put("action", status);
if (trafficLightInfo != null) {
if (trafficLightInfo.lightStatus == null) {
if (trafficLightInfo.getLightStatus() == null) {
json.put("lightStatus", "G");
} else {
json.put("lightStatus", trafficLightInfo.lightStatus);
json.put("lightStatus", trafficLightInfo.getLightStatus());
}
if (trafficLightInfo.surplusTime == null) {
if (trafficLightInfo.getSurplusTime() == null) {
json.put("surplusTime", "0");
} else {
json.put("surplusTime", trafficLightInfo.surplusTime);
json.put("surplusTime", trafficLightInfo.getSurplusTime());
}
}
String data = json.toString();
@@ -280,4 +158,107 @@ public class V2XObuManager implements IMogoObuDataChangedListener, Handler.Callb
}
return false;
}
@Override
public void onEventInfoCallback(MogoObuEventInfo info) {
Logger.d("V2X_OBU_EVENT", "carEventInfo==" + info);
Long last = intervalMap.get(info.getTypeCode());
if (last == null) {
last = 0L;
}
int eventType = parseObuEvent(info.getTypeCode());
if (eventType == ObuConstant.TYPE_OPTIMAL_SPEED_ADVISORY) {
// 加一个容错机制，如果已经驶过绿波车速路口，那么再收到绿波车速obu事件，就不再上报
MogoLocation currentLocation = V2XLocationListener.getInstance().getLastCarLocation();
double eventAngle = DrivingDirectionUtils.getDegreeOfCar2Poi(
currentLocation.getLongitude(),
currentLocation.getLatitude(),
V2XObuEventScenario.getInstance().getOptimalCrossing().getLon(),
V2XObuEventScenario.getInstance().getOptimalCrossing().getLat(),
(int) currentLocation.getBearing()
);
if (0 > eventAngle || eventAngle > 20) {
Logger.e(MODULE_NAME, "超出绿波引导点范围，不处理此次事件===" + eventAngle);
return;
}
}
if (SystemClock.elapsedRealtime() - last > DEFAULT_INTERVAL_TIME) {
// 距离上次记录超过三十秒，继续相关逻辑，如果不超过三十秒，忽略此次事件
intervalMap.put(info.getTypeCode(), SystemClock.elapsedRealtime());
V2XMessageEntity<V2XObuEventEntity> messageEntity = new V2XMessageEntity<>();
messageEntity.setType(V2XMessageEntity.V2XTypeEnum.ALERT_OBU_EVENT);
switch (eventType) {
case ObuConstant
.TYPE_OPTIMAL_SPEED_ADVISORY:
// 绿波车速引导
V2XObuEventEntity optimalEvent = new V2XObuEventEntity();
optimalEvent.setType(ObuConstant.TYPE_OPTIMAL_SPEED_ADVISORY);
optimalEvent.setDesc(info.getDescribe());
messageEntity.setContent(optimalEvent);
V2XObuEventScenario.getInstance().init(messageEntity);
break;
case ObuConstant.TYPE_URGENCY_COLLISION_WARNING:
// 前车紧急制动预警
V2XObuEventEntity urgencyEvent = new V2XObuEventEntity();
urgencyEvent.setType(ObuConstant.TYPE_URGENCY_COLLISION_WARNING);
urgencyEvent.setDesc(V2XObuEventScenario.URGENCY_COLLISION_WARN_TEXT);
messageEntity.setContent(urgencyEvent);
V2XObuEventScenario.getInstance().init(messageEntity);
break;
case ObuConstant.TYPE_ROAD_USER_COLLISION_WARNING:
// 行人预警，给adas发送广播即可
V2XPushMessageEntity entity = new V2XPushMessageEntity();
// 盲区行人预警的sceneId-100003
entity.setSceneId("100003");
entity.setTts("前方行人，注意减速");
entity.setExpireTime(30_000);
entity.setAlarmContent("前方行人，注意减速");
ADASUtils.broadcastToADAS(V2XServiceManager.getContext(), entity);
break;
case ObuConstant.TYPE_CHANGE_LIGHT_FOR_VIP:
// vip变灯提醒
V2XObuEventEntity changeLightEvent = new V2XObuEventEntity();
changeLightEvent.setType(ObuConstant.TYPE_CHANGE_LIGHT_FOR_VIP);
changeLightEvent.setDesc(info.getDescribe());
messageEntity.setContent(changeLightEvent);
V2XObuEventScenario.getInstance().init(messageEntity);
break;
default:
break;
}
}
}
@Override
public void onLocationInfoCallback( MogoObuLocationInfo locationInfo) {
if (ObuConfig.useObuLocation) {
MogoLocation currentLocation = new MogoLocation();
CoordinateConverter converter = new CoordinateConverter(V2XServiceManager.getContext());
converter.from(CoordinateConverter.CoordType.GPS);
LatLng latLng = new LatLng(locationInfo.getLat(), locationInfo.getLon());
converter.coord(latLng);
LatLng convert = converter.convert();
currentLocation.setLatitude(convert.latitude);
currentLocation.setLongitude(convert.longitude);
currentLocation.setBearing(computeCarAngle(currentLocation));
V2XObuEventScenario.getInstance().updateLocation(currentLocation);
}
}
@Override
public void onTrafficLightInfoCallback(MogoObuTrafficLightInfo trafficLightInfo) {
handler.removeMessages(MSG_HIDE_TRAFFIC_LIGHT);
if (trafficLightInfo == null) {
Logger.d("V2X_OBU_EVENT", "红绿灯数据为空===");
sendTrafficLightStatusToAdas(CALL_ADAS_HIDE_TRAFFIC_LIGHT, null);
} else {
Logger.d("V2X_OBU_EVENT", "红绿灯数据==" + trafficLightInfo);
handler.sendEmptyMessageDelayed(MSG_HIDE_TRAFFIC_LIGHT,
DEFAULT_HIDE_TRAFFIC_LIGHT_DELAY);
sendTrafficLightStatusToAdas(CALL_ADAS_SHOW_TRAFFIC_LIGHT, trafficLightInfo);
}
}
}

18
modules/mogo-module-v2x/src/main/java/com/mogo/module/v2x/scenario/scene/obu/V2XObuEventScenario.java
View File

@@ -6,8 +6,6 @@ import android.os.Handler;
import android.os.Looper;
import android.os.Message;
import androidx.annotation.Nullable;
import com.mogo.commons.voice.AIAssist;
import com.mogo.map.MogoLatLng;
import com.mogo.map.location.MogoLocation;
@@ -23,13 +21,15 @@ import com.mogo.module.v2x.scenario.impl.AbsV2XScenario;
import com.mogo.module.v2x.utils.DrivingDirectionUtils;
import com.mogo.utils.logger.Logger;
import com.zhidao.mogo.module.obu.ObuConstant;
import com.zhidao.smartv2x.model.obu.CarEventInfo;
import com.zhidao.mogo.module.obu.obu.bean.MogoObuEventInfo;
import org.json.JSONObject;
import java.util.Arrays;
import java.util.List;
import androidx.annotation.Nullable;
import static com.mogo.module.v2x.V2XConst.MODULE_NAME;
/**
@@ -99,7 +99,7 @@ public class V2XObuEventScenario extends AbsV2XScenario<V2XObuEventEntity> imple
} else if (v2XMessageEntity.getContent().getType() == ObuConstant.TYPE_CHANGE_LIGHT_FOR_VIP) {
// vip变灯提醒
isInChangeLightForVip = true;
V2XObuManager.getInstance().showTrafficLightInfo(null);
V2XObuManager.getInstance().onTrafficLightInfoCallback(null);
if (optimalSpeedMarker == null) {
optimalSpeedMarker = new OptimalSpeedMarker();
@@ -267,11 +267,11 @@ public class V2XObuEventScenario extends AbsV2XScenario<V2XObuEventEntity> imple
//距离小于DEFAULT_VIP_CROSSING_DISTANCE，且夹角在0~20（说明在前方），则触发vip通行
defaultTarget = crossing;
handler.post(() -> {
CarEventInfo eventInfo = new CarEventInfo();
eventInfo.type = "vip变灯提醒";
eventInfo.typeCode = "vip变灯提醒";
eventInfo.describe = "将为您变灯，vip车辆可优先通行";
V2XObuManager.getInstance().showCarEventInfo(eventInfo);
MogoObuEventInfo eventInfo = new MogoObuEventInfo();
eventInfo.setType("vip变灯提醒");
eventInfo.setTypeCode("vip变灯提醒");
eventInfo.setDescribe("将为您变灯，vip车辆可优先通行");
V2XObuManager.getInstance().onEventInfoCallback(eventInfo);
});
break;
}