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fixbug of ADAS send sn problem and note the foreCast latlon of adasRecognize data

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This commit is contained in:
zhongchao
2021-05-27 16:07:38 +08:00
parent 8f0f61f554
commit fddb6f0e7d
9 changed files with 61 additions and 29 deletions
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2
modules/mogo-module-adas/build.gradle
View File

@@ -45,7 +45,7 @@ dependencies {
// 现有的ADAS的通讯SDK，需要将里面的东西融合到我们项目中
compileOnly rootProject.ext.dependencies.adasapi
api "com.zhidao.support.adas:high:1.1.9.0"
api "com.zhidao.support.adas:high:1.1.9.1"
annotationProcessor rootProject.ext.dependencies.aroutercompiler
if (Boolean.valueOf(RELEASE)) {

35
modules/mogo-module-adas/src/main/java/com/mogo/module/adas/AdasEventManager.java
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@@ -26,10 +26,10 @@ public class AdasEventManager implements OnAdasListener, OnAdasMsgConnectStatusL
private final String TAG = "AdasEventManager";
private Gson gson;
private final Gson gson;
private ArrayList<AdasDataListener> iAdasEventListeners;
private ArrayList<AdasStatusListener> iAdasStatusListeners;
private final ArrayList<AdasDataListener> iAdasEventListeners = new ArrayList<>();
private final ArrayList<AdasStatusListener> iAdasStatusListeners = new ArrayList<>();
public AdasEventManager() {
gson = GsonUtil.getGson();
@@ -37,31 +37,31 @@ public class AdasEventManager implements OnAdasListener, OnAdasMsgConnectStatusL
public void addEventListener(AdasDataListener listener) {
Logger.d(TAG,"添加adas事件监听");
if (iAdasEventListeners == null) {
iAdasEventListeners = new ArrayList<AdasDataListener>();
if(iAdasEventListeners.contains(listener)){
return;
}
iAdasEventListeners.add(listener);
}
public void removeEventListener(AdasDataListener listener) {
Logger.d(TAG,"注销adas事件监听");
if (iAdasEventListeners != null && iAdasEventListeners.contains(listener)) {
if (iAdasEventListeners != null) {
iAdasEventListeners.remove(listener);
}
}
public void addStatusListener(AdasStatusListener listener) {
Logger.d(TAG,"添加adas状态事件监听");
if (iAdasStatusListeners == null) {
iAdasStatusListeners = new ArrayList<AdasStatusListener>();
if(iAdasStatusListeners.contains(listener)){
return;
}
iAdasStatusListeners.add(listener);
}
public void removeStatusListener(AdasStatusListener listener) {
Logger.d(TAG,"注销adas状态事件监听");
if (iAdasEventListeners != null && iAdasEventListeners.contains(listener)) {
iAdasEventListeners.remove(listener);
if (iAdasStatusListeners != null) {
iAdasStatusListeners.remove(listener);
}
}
@@ -186,13 +186,24 @@ public class AdasEventManager implements OnAdasListener, OnAdasMsgConnectStatusL
}
}
@Override
public void onAutopilotRoute(String route) {
}
@Override
public void onWebSocketConnectSuccess() {
Logger.d(TAG,"websocket连接成功");
Logger.d(TAG,"webSocket 连接成功");
for (AdasStatusListener listener :iAdasStatusListeners) {
listener.onServiceConnected();
}
}
@Override
public void onWebSocketConnectFailed() {
Logger.d(TAG,"websocket连接失败");
Logger.d(TAG,"webSocket 连接失败");
for (AdasStatusListener listener :iAdasStatusListeners) {
listener.onServiceDisconnected();
}
}
}

4
modules/mogo-module-adas/src/main/java/com/mogo/module/adas/AdasProvider.java
View File

@@ -18,7 +18,7 @@ import com.zhidao.support.adas.high.AdasManager;
*/
@Route(path = MogoServicePaths.PATH_ADAS)
public class AdasProvider implements IProvider {
private final String TAG = "AdasProvider";
private static final String TAG = "AdasProvider";
private AdasEventManager adasEventManager;
@Override
@@ -43,7 +43,7 @@ public class AdasProvider implements IProvider {
adasEventManager.removeEventListener(listener);
}
public void addAdaStatusListener(AdasStatusListener listener) {
public void addAdasStatusListener(AdasStatusListener listener) {
adasEventManager.addStatusListener(listener);
}

8
modules/mogo-module-common/src/main/java/com/mogo/module/common/drawer/AdasRecognizedResultDrawer.java
View File

@@ -80,7 +80,7 @@ class AdasRecognizedResultDrawer extends BaseDrawer {
}
List<ADASRecognizedResult> allDatumsList = new ArrayList<>();
prepareData(resultList, allDatumsList);
// prepareData(resultList, allDatumsList);
Map<String, IMogoMarker> newAdasRecognizedMarkersCaches = new ConcurrentHashMap<>();
List<ADASRecognizedResult> newDiffSet = new ArrayList<>();
@@ -159,7 +159,7 @@ class AdasRecognizedResultDrawer extends BaseDrawer {
* @param out
*/
private void prepareData(List<ADASRecognizedResult> in, List<ADASRecognizedResult> out) {
foreCastPoint(in);
// foreCastPoint(in);
out.addAll(in);
}
@@ -179,7 +179,7 @@ class AdasRecognizedResultDrawer extends BaseDrawer {
Log.d(FORECAST, "time internal less than 0 , uuid : " + adasResult.uuid);
continue;
}
long startTime = System.nanoTime();
long startTime = System.currentTimeMillis();
// 预测点
Log.d(FORECAST, "time internal : " + internal + " speed : " + adasResult.speed);
double foreCastDistance = adasResult.speed * internal / 1000;
@@ -191,7 +191,7 @@ class AdasRecognizedResultDrawer extends BaseDrawer {
float distanceFromSelf = CoordinateUtils.calculateLineDistance(getCurCoordinates()[0], getCurCoordinates()[1]
, foreCastMogoLatLon.getLon(), foreCastMogoLatLon.getLat());
long foreCastInternal = System.nanoTime() - startTime;
long foreCastInternal = System.currentTimeMillis() - startTime;
Log.d(FORECAST, "foreCastInternal :" + foreCastInternal); //todo 看是否耗时，增加的时间需要从当前SNTP时间减去
adasResult.lat = foreCastMogoLatLon.getLat();

4
modules/mogo-module-common/src/main/java/com/mogo/module/common/drawer/SnapshotSetDataDrawer.java
View File

@@ -380,7 +380,7 @@ public class SnapshotSetDataDrawer extends BaseDrawer implements IMogoMarkerClic
Log.d(FORECAST, "time internal less than 0 , uuid : " + proto.getUuid());
continue;
}
long startTime = System.nanoTime();
long startTime = System.currentTimeMillis();
// 预测点
Log.d(FORECAST, "time internal : " + internal + " speed : " + proto.getSpeed());
double foreCastDistance = proto.getSpeed() * internal / 1000;
@@ -392,7 +392,7 @@ public class SnapshotSetDataDrawer extends BaseDrawer implements IMogoMarkerClic
float distanceFromSelf = CoordinateUtils.calculateLineDistance(getCurCoordinates()[0], getCurCoordinates()[1]
, foreCastMogoLatLon.getLon(), foreCastMogoLatLon.getLat());
long foreCastInternal = System.nanoTime() - startTime;
long foreCastInternal = System.currentTimeMillis() - startTime;
Log.d(FORECAST, "foreCastInternal :" + foreCastInternal); //todo 看是否耗时，增加的时间需要从当前SNTP时间减去
builder.setWgslat(foreCastMogoLatLon.getLat());