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fix bug of delay and update map version

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This commit is contained in:
zhongchao
2021-07-09 09:25:09 +08:00
parent d6f995b33d
commit ff61d92a89
16 changed files with 242 additions and 499 deletions
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0
app/src/main/java/com/mogo/launcher/delayLog Normal file
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1
config.gradle
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@@ -250,6 +250,7 @@ ext {
mogoaicloudrealtime : "com.mogo.cloud:realtime:${MOGO_REALTIME_VERSION}",
mogoaicloudtanlu : "com.mogo.cloud:tanlu:${MOGO_TANLU_VERSION}",
mogoaicloudtrafficlive : "com.mogo.cloud:trafficlive:${MOGO_TRAFFICLIVE_VERSION}",
mogoaicloudlocation : "com.mogo.cloud:location:${MOGO_LOCATION_VERSION}",
]
}

4
foudations/mogo-aicloud-services-sdk/build.gradle
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@@ -28,9 +28,7 @@ android {
dependencies {
implementation rootProject.ext.dependencies.mogoaicloudsocket
// 上报位置
implementation 'com.zhidao.locupload:loc-upload-sdk:1.1.7'
implementation rootProject.ext.dependencies.mogoaicloudlocation
if (Boolean.valueOf(RELEASE)) {
implementation rootProject.ext.dependencies.mogoutils

41
foudations/mogo-aicloud-services-sdk/src/main/java/com/mogo/aicloud/services/locationinfo/MogoLocationInfoServices.java
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@@ -4,22 +4,13 @@ import android.content.Context;
import androidx.annotation.Keep;
import com.mogo.commons.debug.DebugConfig;
import com.mogo.cloud.location.LocationManager;
import com.mogo.map.location.MogoLocation;
import com.mogo.service.locationinfo.IMogoLocationInfoService;
import com.mogo.utils.logger.Logger;
import com.zhidao.locupload.LocUploadConfig;
import com.zhidao.locupload.LocUploadManager;
public
/*
* @author congtaowang
* @since 2020/7/16
*
* 位置服务
*/
@Keep
class MogoLocationInfoServices implements IMogoLocationInfoService {
public class MogoLocationInfoServices implements IMogoLocationInfoService {
private static final String TAG = "MogoLocationInfoServices-sdk";
@@ -31,9 +22,9 @@ class MogoLocationInfoServices implements IMogoLocationInfoService {
@Keep
public static MogoLocationInfoServices getInstance() {
if ( sInstance == null ) {
synchronized ( MogoLocationInfoServices.class ) {
if ( sInstance == null ) {
if (sInstance == null) {
synchronized (MogoLocationInfoServices.class) {
if (sInstance == null) {
sInstance = new MogoLocationInfoServices();
}
}
@@ -46,9 +37,9 @@ class MogoLocationInfoServices implements IMogoLocationInfoService {
}
@Override
public void provideLocation( MogoLocation location ) {
public void provideLocation(MogoLocation location) {
mLocation = location;
Logger.d( TAG, "sdk - provideLocation" );
Logger.d(TAG, "sdk - provideLocation");
}
public MogoLocation getLocation() {
@@ -57,23 +48,19 @@ class MogoLocationInfoServices implements IMogoLocationInfoService {
@Override
public void start() {
LocUploadManager.getInstance().startUpload();
Logger.d( TAG, "sdk - start" );
LocationManager.getInstance().start();
Logger.d(TAG, "sdk - start");
}
@Override
public void stop() {
LocUploadManager.getInstance().stopUpload();
Logger.d( TAG, "sdk - stop" );
LocationManager.getInstance().stop();
Logger.d(TAG, "sdk - stop");
}
@Override
public void init( Context context ) {
LocUploadConfig.instance().
setAppId( DebugConfig.getSocketAppId() ).
setContext( context.getApplicationContext() ).
setLoggable( DebugConfig.isDebug() ).
setLocInterval( 2000L );
Logger.d( TAG, "sdk - init" );
public void init(Context context) {
LocationManager.getInstance().init(context);
Logger.d(TAG, "sdk - init");
}
}

39
foudations/mogo-aicloud-services-sdk/src/main/java/com/mogo/aicloud/services/locationinfo/MogoLocationSource.java
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@@ -3,19 +3,12 @@ package com.mogo.aicloud.services.locationinfo;
import com.elegant.spi.annotations.Service;
import com.zhidao.locupload.location.LocationServiceProvider;
public
/*
* @author congtaowang
* @since 2020/7/16
*
* 描述
*/
@Service( value = LocationServiceProvider.class )
class MogoLocationSource extends LocationServiceProvider {
@Service(value = LocationServiceProvider.class)
public class MogoLocationSource extends LocationServiceProvider {
@Override
public float getBearing() {
if ( MogoLocationInfoServices.getInstance().getLocation() != null ) {
if (MogoLocationInfoServices.getInstance().getLocation() != null) {
return MogoLocationInfoServices.getInstance().getLocation().getBearing();
}
return 0;
@@ -23,7 +16,7 @@ class MogoLocationSource extends LocationServiceProvider {
@Override
public float getAccuracy() {
if ( MogoLocationInfoServices.getInstance().getLocation() != null ) {
if (MogoLocationInfoServices.getInstance().getLocation() != null) {
return MogoLocationInfoServices.getInstance().getLocation().getAccuracy();
}
return 0;
@@ -31,7 +24,7 @@ class MogoLocationSource extends LocationServiceProvider {
@Override
public String getProvider() {
if ( MogoLocationInfoServices.getInstance().getLocation() != null ) {
if (MogoLocationInfoServices.getInstance().getLocation() != null) {
return MogoLocationInfoServices.getInstance().getLocation().getProvider();
}
return null;
@@ -39,7 +32,7 @@ class MogoLocationSource extends LocationServiceProvider {
@Override
public float getSpeed() {
if ( MogoLocationInfoServices.getInstance().getLocation() != null ) {
if (MogoLocationInfoServices.getInstance().getLocation() != null) {
return MogoLocationInfoServices.getInstance().getLocation().getSpeed();
}
return 0;
@@ -47,7 +40,7 @@ class MogoLocationSource extends LocationServiceProvider {
@Override
public double getAltitude() {
if ( MogoLocationInfoServices.getInstance().getLocation() != null ) {
if (MogoLocationInfoServices.getInstance().getLocation() != null) {
return MogoLocationInfoServices.getInstance().getLocation().getAltitude();
}
return 0;
@@ -55,7 +48,7 @@ class MogoLocationSource extends LocationServiceProvider {
@Override
public String getAdCode() {
if ( MogoLocationInfoServices.getInstance().getLocation() != null ) {
if (MogoLocationInfoServices.getInstance().getLocation() != null) {
return MogoLocationInfoServices.getInstance().getLocation().getAdCode();
}
return null;
@@ -63,7 +56,7 @@ class MogoLocationSource extends LocationServiceProvider {
@Override
public int getLocType() {
if ( MogoLocationInfoServices.getInstance().getLocation() != null ) {
if (MogoLocationInfoServices.getInstance().getLocation() != null) {
return MogoLocationInfoServices.getInstance().getLocation().getLocType();
}
return 0;
@@ -71,7 +64,7 @@ class MogoLocationSource extends LocationServiceProvider {
@Override
public double getLatitude() {
if ( MogoLocationInfoServices.getInstance().getLocation() != null ) {
if (MogoLocationInfoServices.getInstance().getLocation() != null) {
return MogoLocationInfoServices.getInstance().getLocation().getLatitude();
}
return 0;
@@ -79,7 +72,7 @@ class MogoLocationSource extends LocationServiceProvider {
@Override
public double getLongitude() {
if ( MogoLocationInfoServices.getInstance().getLocation() != null ) {
if (MogoLocationInfoServices.getInstance().getLocation() != null) {
return MogoLocationInfoServices.getInstance().getLocation().getLongitude();
}
return 0;
@@ -87,7 +80,7 @@ class MogoLocationSource extends LocationServiceProvider {
@Override
public long getTime() {
if ( MogoLocationInfoServices.getInstance().getLocation() != null ) {
if (MogoLocationInfoServices.getInstance().getLocation() != null) {
return MogoLocationInfoServices.getInstance().getLocation().getTime();
}
return 0;
@@ -95,7 +88,7 @@ class MogoLocationSource extends LocationServiceProvider {
@Override
public String getCityCode() {
if ( MogoLocationInfoServices.getInstance().getLocation() != null ) {
if (MogoLocationInfoServices.getInstance().getLocation() != null) {
return MogoLocationInfoServices.getInstance().getLocation().getCityCode();
}
return null;
@@ -103,7 +96,7 @@ class MogoLocationSource extends LocationServiceProvider {
@Override
public String getCityName() {
if ( MogoLocationInfoServices.getInstance().getLocation() != null ) {
if (MogoLocationInfoServices.getInstance().getLocation() != null) {
return MogoLocationInfoServices.getInstance().getLocation().getCityName();
}
return null;
@@ -111,7 +104,7 @@ class MogoLocationSource extends LocationServiceProvider {
@Override
public int getGpsAccuracyStatus() {
if ( MogoLocationInfoServices.getInstance().getLocation() != null ) {
if (MogoLocationInfoServices.getInstance().getLocation() != null) {
return MogoLocationInfoServices.getInstance().getLocation().getGpsAccuracyStatus();
}
return 0;
@@ -119,7 +112,7 @@ class MogoLocationSource extends LocationServiceProvider {
@Override
public int getSatellites() {
if ( MogoLocationInfoServices.getInstance().getLocation() != null ) {
if (MogoLocationInfoServices.getInstance().getLocation() != null) {
return MogoLocationInfoServices.getInstance().getLocation().getSatellite();
}
return 0;

21
gradle.properties
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@@ -158,21 +158,22 @@ LOGLIB_VERSION = 1.0.4
######## MogoAiCloudSDK Version
# 网络请求
MOGO_NETWORK_VERSION=1.1.18
MOGO_NETWORK_VERSION=1.1.21
# 鉴权
MOGO_PASSPORT_VERSION=1.1.18
MOGO_PASSPORT_VERSION=1.1.21
# 常链接
MOGO_SOCKET_VERSION=1.1.18
MOGO_SOCKET_VERSION=1.1.21
# 数据采集
MOGO_REALTIME_VERSION=1.1.18
MOGO_REALTIME_VERSION=1.1.21
# 探路，道路事件发布，获取
MOGO_TANLU_VERSION=1.1.18
MOGO_TANLU_VERSION=1.1.21
# 直播推流
MOGO_LIVE_VERSION=1.1.18
MOGO_LIVE_VERSION=1.1.21
# 直播拉流
MOGO_TRAFFICLIVE_VERSION=1.1.18
#ADAS HIGHT
MOGO_ADASHIGH_VERSION=1.1.3
MOGO_TRAFFICLIVE_VERSION=1.1.21
# 定位服务
MOGO_LOCATION_VERSION=1.1.21
######## Foundation MogoAiCloud Module
# mogoAiCloud apk services
@@ -180,7 +181,7 @@ MOGO_AICLOUD_SERVICES_APK_VERSION=1.0.0-SNAPSHOT
# mogoAiCloud sdk services
MOGO_AICLOUD_SERVICES_SDK_VERSION=1.0.0-SNAPSHOT
# 自研地图
MAP_SDK_VERSION=1.0.0-vr-8.5.64
MAP_SDK_VERSION=1.0.0-vr-8.5.66
## 产品库必备配置，产品库自动对versionCode和versionName版本进行升级

2
libraries/map-custom/src/main/java/com/mogo/map/impl/custom/CustomMapApiBuilder.java
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@@ -95,7 +95,7 @@ class CustomMapApiBuilder implements IMogoMapApiBuilder {
public IMogoMapView getMapView( Context context ) {
Log.d(TAG,"setDebugMode==true");
NavAutoApi.INSTANCE.init( context, MapParams.Companion.init()
.setDebugMode( true )
.setDebugMode( DebugConfig.isDebug() )
.setDataFileSource(1) //todo 1-使用本地地图数据，0-使用在线地图数据
.setCoordinateType( MapParams.COORDINATETYPE_GCJ02 )
.setPerspectiveMode( MapParams.MAP_PERSPECTIVE_2D )

76
modules/mogo-module-adas/src/main/java/com/mogo/module/adas/AdasEventManager.java
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@@ -1,16 +1,11 @@
package com.mogo.module.adas;
import com.google.gson.Gson;
import com.mogo.cloud.passport.MoGoAiCloudClientConfig;
import com.mogo.commons.data.BaseData;
import com.mogo.commons.network.SubscribeImpl;
import com.mogo.module.adas.entity.AutonomousDriveStatusBean;
import com.mogo.module.adas.entity.ReportSiteBean;
import com.mogo.module.adas.entity.WarnMessageModel;
import com.mogo.module.adas.model.AdasServiceModel;
import com.mogo.module.adas.network.IAdasApiService;
import com.mogo.module.common.MogoApisHandler;
import com.mogo.utils.logger.Logger;
import com.mogo.utils.network.RequestOptions;
import com.mogo.utils.network.utils.GsonUtil;
import com.zhidao.autopilotservice.model.AdasAIDLAutopilotArriveModel;
import com.zhidao.autopilotservice.model.AdasAIDLAutopilotStateModel;
@@ -34,10 +29,7 @@ import io.reactivex.Flowable;
import io.reactivex.android.schedulers.AndroidSchedulers;
import io.reactivex.disposables.Disposable;
import io.reactivex.schedulers.Schedulers;
import okhttp3.MediaType;
import okhttp3.RequestBody;
import static com.mogo.commons.context.ContextHolderUtil.getContext;
import static com.mogo.module.adas.AdasConstant.getBaseUrl;
/**
@@ -53,7 +45,6 @@ public class AdasEventManager implements OnAdasListener, OnAdasMsgConnectStatusL
private final Gson gson;
private final ArrayList<IAdasDataListener> iAdasEventListeners = new ArrayList<>();
private final ArrayList<IAdasStatusListener> iAdasStatusListeners = new ArrayList<>();
private final IAdasApiService mAdasApiService;
private Disposable uploadAutopilotStatus;
//自动驾驶状态
private int mCurrentAutopilotStatus = -1;
@@ -67,7 +58,6 @@ public class AdasEventManager implements OnAdasListener, OnAdasMsgConnectStatusL
private AdasEventManager() {
gson = GsonUtil.getGson();
mAdasApiService = MogoApisHandler.getInstance().getApis().getNetworkApi().create(IAdasApiService.class, getBaseUrl());
}
public static AdasEventManager getInstance() {
@@ -116,15 +106,9 @@ public class AdasEventManager implements OnAdasListener, OnAdasMsgConnectStatusL
public void onWarnMessage(WarnMessageInfo warnMessageInfo) {
Logger.d(TAG, "onWarnMessage " + warnMessageInfo);
//报警model
WarnMessageModel warnMessageModel = null;
for (IAdasDataListener listener : iAdasEventListeners) {
if (listener != null) {
if (warnMessageModel == null) {
warnMessageModel = new WarnMessageModel();
warnMessageModel.setAction(MsgActionType.ACTION_WS_MSG_WARNING_TYPE.getmActionType());
}
warnMessageModel.setValues(warnMessageInfo);
listener.cameraEyeDetectResult(gson.toJson(warnMessageModel));
listener.onWarnMessage(warnMessageInfo);
}
}
}
@@ -144,7 +128,7 @@ public class AdasEventManager implements OnAdasListener, OnAdasMsgConnectStatusL
try {
for (IAdasDataListener listener : iAdasEventListeners) {
if (listener != null) {
listener.cameraEyeDetectResult(gson.toJson(rectInfo));
listener.onRectData(rectInfo);
}
}
} catch (Exception e) {
@@ -236,10 +220,10 @@ public class AdasEventManager implements OnAdasListener, OnAdasMsgConnectStatusL
@Override
public void onAutopilotRoute(AutopilotRoute autopilotRoute) {
if (autopilotRoute.getModels() == null || autopilotRoute.getModels().size() == 0) {
Logger.d(TAG,"onAutopilotRoute is null !");
Logger.d(TAG, "onAutopilotRoute is null !");
return;
}
Logger.d(TAG,"onAutopilotRoute : " + autopilotRoute.toString());
Logger.d(TAG, "onAutopilotRoute : " + autopilotRoute.toString());
for (IAdasDataListener listener : iAdasEventListeners) {
if (listener != null) {
listener.autopilotRoute(autopilotRoute);
@@ -283,56 +267,14 @@ public class AdasEventManager implements OnAdasListener, OnAdasMsgConnectStatusL
}
private void updateDriveStatus() {
String sn = MoGoAiCloudClientConfig.getInstance().getSn();
AutonomousDriveStatusBean request = new AutonomousDriveStatusBean(sn, mCurrentAutopilotStatus, mCurrentAutopilotSpeed);
RequestBody requestBody = RequestBody.create(MediaType.get("application/json;charset=UTF-8"), GsonUtil.jsonFromObject(request));
mAdasApiService.updateAutonomousDriveStatus(requestBody).
subscribeOn(Schedulers.io()).observeOn(AndroidSchedulers.mainThread())
.subscribe(new SubscribeImpl<BaseData>(RequestOptions.create(getContext())) {
@Override
public void onError(String message, int code) {
super.onError(message, code);
}
@Override
public void onError(Throwable e) {
super.onError(e);
}
@Override
public void onSuccess(BaseData o) {
super.onSuccess(o);
Logger.d(TAG, "updateDriveStatus success");
}
});
AdasServiceModel.getInstance().updateDriveStatus(mCurrentAutopilotStatus, mCurrentAutopilotSpeed);
}
private void reportSite(double lon, double lat) {
String sn = MoGoAiCloudClientConfig.getInstance().getSn();
ReportSiteBean reportSiteBean = new ReportSiteBean(sn, lon, lat);
RequestBody requestBody = RequestBody.create(MediaType.get("application/json;charset=UTF-8"), GsonUtil.jsonFromObject(reportSiteBean));
mAdasApiService.updateReportSite(requestBody).
subscribeOn(Schedulers.io()).observeOn(AndroidSchedulers.mainThread())
.subscribe(new SubscribeImpl<BaseData>(RequestOptions.create(getContext())) {
@Override
public void onError(String message, int code) {
super.onError(message, code);
}
@Override
public void onError(Throwable e) {
super.onError(e);
}
@Override
public void onSuccess(BaseData o) {
super.onSuccess(o);
Logger.d(TAG, "autopilotArrive success");
}
});
AdasServiceModel.getInstance().reportSite(lon, lat);
}
public AutopilotStatus.ValuesBean getAutopilotValuesStatus(){
public AutopilotStatus.ValuesBean getAutopilotValuesStatus() {
return mAutopilotValuesStatus;
}
@@ -346,7 +288,7 @@ public class AdasEventManager implements OnAdasListener, OnAdasMsgConnectStatusL
return adasAIDLAutopilotStateModel;
}
public void setProviderBizListener(IAdasProviderBizListener listener){
public void setProviderBizListener(IAdasProviderBizListener listener) {
providerBizListener = listener;
}
}

46
modules/mogo-module-adas/src/main/java/com/mogo/module/adas/IAdasDataListener.java
View File

@@ -1,35 +1,32 @@
package com.mogo.module.adas;
import com.mogo.module.adas.entity.WarnMessageModel;
import com.zhidao.autopilotservice.model.AdasAIDLAutopilotArriveModel;
import com.zhidao.autopilotservice.model.AdasAIDLAutopilotStateModel;
import com.zhidao.autopilotservice.model.AdasAIDLOwnerCarRectModel;
import com.zhidao.autopilotservice.model.AdasAIDLOwnerCarStateModel;
import com.zhidao.support.adas.high.OnAdasListener;
import com.zhidao.support.adas.high.bean.AutopilotRoute;
import com.zhidao.support.adas.high.bean.AutopilotStatus;
import com.zhidao.support.adas.high.bean.AutopilotWayArrive;
import com.zhidao.support.adas.high.bean.CarLaneInfo;
import com.zhidao.support.adas.high.bean.CarStateInfo;
import com.zhidao.support.adas.high.bean.LightStatueInfo;
import com.zhidao.support.adas.high.bean.ObstaclesInfo;
import com.zhidao.support.adas.high.bean.RectInfo;
import com.zhidao.support.adas.high.bean.WarnMessageInfo;
import java.util.List;
/**
* Created by XuYong on 2021/4/25 16:52
*/
public interface IAdasDataListener {
default void sendMsg( String msg ){
default void sendMsg(String msg) {
};
default void cameraEyeDetectResult( String detectResult ) {
}
default void selectCarModelUrl( String carStyleUrl ) {
default void onRectData(RectInfo rectInfo) {
}
default void onWarnMessage(WarnMessageInfo warnMessageInfo) {
}
default void selectCarModelUrl(String carStyleUrl) {
}
default void requestGetCarModelListInfo() {
@@ -38,42 +35,41 @@ public interface IAdasDataListener {
default void clickSettingBack() {
}
default void showToast( String msg ) {
default void showToast(String msg) {
}
/**
* 自动驾驶到达站点回调接口
*
* @param autopilotArriveModel
*/
default void autopilotArrive( AdasAIDLAutopilotArriveModel autopilotArriveModel ) {
default void autopilotArrive(AdasAIDLAutopilotArriveModel autopilotArriveModel) {
}
/**
* 自动驾驶路线回调
*
* @param autopilotRoute {@link AutopilotRoute}
*/
default void autopilotRoute(AutopilotRoute autopilotRoute){
default void autopilotRoute(AutopilotRoute autopilotRoute) {
}
/**
* 自车定位信息
*
* @param ownerCarStateInfo
*/
default void ownerCarStateInfo( String ownerCarStateInfo ) {
}
default void notifyOwnerCarState( AdasAIDLOwnerCarStateModel ownerCarStateModel ) {
default void ownerCarStateInfo(String ownerCarStateInfo) {
}
/**
* 自动驾驶状态信息
*
* @param autopilotStatus {@link AutopilotStatus}
*/
default void notifyAutopilotState( AutopilotStatus autopilotStatus ) {
default void notifyAutopilotState(AutopilotStatus autopilotStatus) {
}
default void notifyOwnerCarRect( List<AdasAIDLOwnerCarRectModel> ownerCarStateRectList ) {
}
}

59
modules/mogo-module-adas/src/main/java/com/mogo/module/adas/model/AdasServiceModel.java
View File

@@ -1,10 +1,11 @@
package com.mogo.module.adas.model;
import com.google.gson.Gson;
import com.mogo.cloud.passport.MoGoAiCloudClientConfig;
import com.mogo.commons.data.BaseData;
import com.mogo.commons.network.SubscribeImpl;
import com.mogo.module.adas.entity.AutonomousDriveStatusBean;
import com.mogo.module.adas.entity.ReportDispatchResult;
import com.mogo.module.adas.entity.ReportSiteBean;
import com.mogo.module.adas.entity.ReportedRoute;
import com.mogo.module.adas.network.IAdasApiService;
import com.mogo.module.common.MogoApisHandler;
@@ -14,16 +15,16 @@ import com.mogo.utils.network.utils.GsonUtil;
import com.zhidao.support.adas.high.bean.AutopilotRoute;
import com.zhidao.support.adas.high.bean.AutopilotStatus;
import java.util.Arrays;
import java.util.HashMap;
import java.util.List;
import java.util.Map;
import io.reactivex.android.schedulers.AndroidSchedulers;
import io.reactivex.schedulers.Schedulers;
import okhttp3.MediaType;
import okhttp3.RequestBody;
import static com.mogo.commons.context.ContextHolderUtil.getContext;
import static com.mogo.module.adas.AdasConstant.getBaseUrl;
import static com.mogo.module.common.constants.HostConst.DATA_SERVICE_HOST;
public class AdasServiceModel {
@@ -126,7 +127,7 @@ public class AdasServiceModel {
*
* @param dispatchResultType int
*/
public void dispatchResultUpload(int dispatchResultType,IDispatch dispatch) {
public void dispatchResultUpload(int dispatchResultType, IDispatch dispatch) {
String sn = MoGoAiCloudClientConfig.getInstance().getSn();
ReportDispatchResult reportDispatchResult = new ReportDispatchResult(sn, dispatchResultType);
Map<String, Object> map = new HashMap<>();
@@ -157,4 +158,54 @@ public class AdasServiceModel {
});
}
public void updateDriveStatus(int autoPilotStatus, float autoPilotSpeed) {
String sn = MoGoAiCloudClientConfig.getInstance().getSn();
AutonomousDriveStatusBean request = new AutonomousDriveStatusBean(sn, autoPilotStatus, autoPilotSpeed);
RequestBody requestBody = RequestBody.create(MediaType.get("application/json;charset=UTF-8"), GsonUtil.jsonFromObject(request));
mAdasApiService.updateAutonomousDriveStatus(requestBody).
subscribeOn(Schedulers.io()).observeOn(AndroidSchedulers.mainThread())
.subscribe(new SubscribeImpl<BaseData>(RequestOptions.create(getContext())) {
@Override
public void onError(String message, int code) {
super.onError(message, code);
}
@Override
public void onError(Throwable e) {
super.onError(e);
}
@Override
public void onSuccess(BaseData o) {
super.onSuccess(o);
Logger.d(TAG, "updateDriveStatus success");
}
});
}
public void reportSite(double lon, double lat){
String sn = MoGoAiCloudClientConfig.getInstance().getSn();
ReportSiteBean reportSiteBean = new ReportSiteBean(sn, lon, lat);
RequestBody requestBody = RequestBody.create(MediaType.get("application/json;charset=UTF-8"), GsonUtil.jsonFromObject(reportSiteBean));
mAdasApiService.updateReportSite(requestBody).
subscribeOn(Schedulers.io()).observeOn(AndroidSchedulers.mainThread())
.subscribe(new SubscribeImpl<BaseData>(RequestOptions.create(getContext())) {
@Override
public void onError(String message, int code) {
super.onError(message, code);
}
@Override
public void onError(Throwable e) {
super.onError(e);
}
@Override
public void onSuccess(BaseData o) {
super.onSuccess(o);
Logger.d(TAG, "autopilotArrive success");
}
});
}
}

29
modules/mogo-module-common/src/main/java/com/mogo/module/common/drawer/AdasRecognizedResultDrawer.java
View File

@@ -19,6 +19,7 @@ import java.util.Iterator;
import java.util.List;
import java.util.Map;
import java.util.concurrent.ConcurrentHashMap;
import java.util.concurrent.TimeUnit;
import static com.mogo.cloud.socket.entity.SocketDownDataHelper.FROM_ADAS;
@@ -76,6 +77,7 @@ class AdasRecognizedResultDrawer extends BaseDrawer {
* @param resultList
*/
public void renderAdasRecognizedResult(List<ADASRecognizedResult> resultList) {
final long start = System.nanoTime();
if (resultList == null || resultList.isEmpty() || !DebugConfig.isUseAdasRecognize()) {
clearOldMarker();
return;
@@ -100,7 +102,7 @@ class AdasRecognizedResultDrawer extends BaseDrawer {
String uniqueKey = recognizedListResult.uuid;
IMogoMarker marker = mMarkersCaches.remove(uniqueKey);
if (marker != null && !marker.isDestroyed()) {
Log.d(TAG, "发现缓存marker id : " + uniqueKey);
// Log.d(TAG, "发现缓存marker id : " + uniqueKey);
updateCacheMarkerRes(marker, recognizedListResult);
renderAdasOneFrame(true, marker, uniqueKey, recognizedListResult, newAdasRecognizedMarkersCaches);
} else {
@@ -110,9 +112,9 @@ class AdasRecognizedResultDrawer extends BaseDrawer {
}
removeUselessMarker(mMarkersCaches);
removeUselessLastRecord();
Log.d("ADAS数据延时绘制", "查找缓存绘制 cost : " + TimeUnit.NANOSECONDS.toMillis((System.nanoTime() - start)));
int newDiffSetSize = newDiffSet.size();
Log.d(TAG, "原数据量 ： " + resultList.size() + " 新增marker数量 ： " + newDiffSetSize);
// Log.d(TAG, "原数据量 ： " + resultList.size() + " 新增marker数量 ： " + newDiffSetSize);
// 复用过期 marker
if (newDiffSetSize > 0) {
for (int i = 0; i < newDiffSetSize; i++) {
@@ -122,14 +124,15 @@ class AdasRecognizedResultDrawer extends BaseDrawer {
if (marker == null) {
continue;
}
Log.d(TAG, "新增marker id : " + uniqueKey);
// Log.d(TAG, "新增marker id : " + uniqueKey);
renderAdasOneFrame(false, marker, uniqueKey, recognizedListResult, newAdasRecognizedMarkersCaches);
}
}
sendMessage(MSG_REMOVE_DIRTY_MARKERS, mMarkersCaches);
mMarkersCaches.clear();
mMarkersCaches = newAdasRecognizedMarkersCaches;
Log.d(TAG, "更新缓存marker, size : " + mMarkersCaches.size());
// Log.d(TAG, "更新缓存marker, size : " + mMarkersCaches.size());
Log.d("ADAS数据延时绘制", "render 接收数据 -> 处理结束 " + TimeUnit.NANOSECONDS.toMillis((System.nanoTime() - start)) + "ms");
}
/**
@@ -245,9 +248,8 @@ class AdasRecognizedResultDrawer extends BaseDrawer {
String uniqueKey,
ADASRecognizedResult recognizedListResult,
Map<String, IMogoMarker> newAdasRecognizedMarkersCaches) {
final long start = System.currentTimeMillis();
Log.d(TAG, "renderAdasOneFrame uuid : " + uniqueKey + " type : " + recognizedListResult.type + " heading : " + recognizedListResult.heading);
final long start = System.nanoTime();
// Log.d(TAG, "renderAdasOneFrame uuid : " + uniqueKey + " type : " + recognizedListResult.type + " heading : " + recognizedListResult.heading);
ADASRecognizedResult lastPosition = mLastPositions.remove(uniqueKey);
// 道路吸附
// double lastLon = -1;
@@ -264,7 +266,7 @@ class AdasRecognizedResultDrawer extends BaseDrawer {
mLastPositions.put(uniqueKey, recognizedListResult);
// if (useCache) {
Log.d(TAG, "使用缓存 id : " + uniqueKey);
// Log.d(TAG, "使用缓存 id : " + uniqueKey);
long interval = 45;
if (lastPosition != null) {
interval = computeAnimDuration(lastPosition.systemTime, recognizedListResult.systemTime, lastPosition.satelliteTime, recognizedListResult.satelliteTime);
@@ -286,9 +288,10 @@ class AdasRecognizedResultDrawer extends BaseDrawer {
marker.setAnchorColor(carColor);
newAdasRecognizedMarkersCaches.put(uniqueKey, marker);
if (shouldShowSpeed(recognizedListResult.type)) {
showSelfSpeed(marker, recognizedListResult.speed, recognizedListResult.uuid, recognizedListResult.type, recognizedListResult.heading, MogoApisHandler.getInstance().getApis().getStatusManagerApi().isVrMode());
}
// if (shouldShowSpeed(recognizedListResult.type)) {
// showSelfSpeed(marker, recognizedListResult.speed, recognizedListResult.uuid, recognizedListResult.type, recognizedListResult.heading, MogoApisHandler.getInstance().getApis().getStatusManagerApi().isVrMode());
// }
Log.d("ADAS数据延时", "render 刷新一台车 cost : " + TimeUnit.NANOSECONDS.toMillis((System.nanoTime() - start)));
}
/**
@@ -298,6 +301,7 @@ class AdasRecognizedResultDrawer extends BaseDrawer {
* @return {@link IMogoMarker}
*/
private IMogoMarker drawAdasRecognizedDataMarker(ADASRecognizedResult recognizedListResult) {
long start = System.nanoTime();
if (recognizedListResult == null) {
return null;
}
@@ -322,6 +326,7 @@ class AdasRecognizedResultDrawer extends BaseDrawer {
.position(new MogoLatLng(recognizedListResult.lat, recognizedListResult.lon));
IMogoMarker marker = MogoApisHandler.getInstance().getApis().getMapServiceApi().getMarkerManager(mContext).addMarker(DataTypes.TYPE_MARKER_ADAS, options);
cacheMarkerIconResMd5Val(resIdVal, marker);
Log.d("ADAS数据延时", "创建一个新 marker cost : " + TimeUnit.NANOSECONDS.toMillis((System.nanoTime() - start)));
return marker;
}

37
modules/mogo-module-common/src/main/java/com/mogo/module/common/drawer/BaseDrawer.java
View File

@@ -211,45 +211,8 @@ class BaseDrawer {
// AdasRecognizedType recognizedType = AdasRecognizedType.valueFrom(type);
// if (recognizedType == AdasRecognizedType.classIdUnKnow) {
// return Car3DModelColor.Normal.color;
// }
// 距离策略 todo 此处两种策略是临时方案
// double[] coordinates = getCurCoordinates();
// double distance = CoordinateUtils.calculateLineDistance(lon, lat, coordinates[0], coordinates[1]) * 100;
// if (distance < 15) {
// return Car3DModelColor.Dangerous.color; // todo 方案1
//// return Car3DTestModelColor.getTestModelColor(fromType, Waring_Dangerous); // todo 方案2
// } else if (distance < 50 && distance >= 15) {
// return Car3DModelColor.Warming.color; // todo 方案1
//// return Car3DTestModelColor.getTestModelColor(fromType, Waring_Close); // todo 方案2
// }
// 他车车速和自车车速对比速度策略
// 自车速度 >= 50% 危险
// 10% < 自车速度 < 50% 警告
// double curSpeed = getCurSpeed();
// if (curSpeed > 0 && speed > curSpeed) {
// double rate = ((speed - curSpeed) / curSpeed) * 100;
// if (rate >= 50) {
// return Car3DModelColor.Dangerous.color; // todo 方案1
//// return Car3DTestModelColor.getTestModelColor(fromType, Waring_Dangerous); // todo 方案2
// } else if (rate > 10 && rate < 50) {
// return Car3DModelColor.Warming.color; // todo 方案1
//// return Car3DTestModelColor.getTestModelColor(fromType, Waring_Close); // todo 方案2
// }
// }
// 默认颜色 // todo 方案1
// switch (fromType) {
// case FROM_ADAS:
// return Car3DModelColor.Normal_Visual.color;
// case FROM_ROAD_UNIT:
// return Car3DModelColor.Normal_Cloud.color;
// default:
// return Car3DModelColor.Normal.color;
// }
return Car3DModelColor.Normal.color;
// todo 方案2
// return Car3DTestModelColor.getTestModelColor(fromType, Waring_Normal);
}
/**

20
modules/mogo-module-service/src/main/java/com/mogo/module/service/intent/MockIntentHandler.java
View File

@@ -341,7 +341,7 @@ public class MockIntentHandler implements IntentHandler {
MarkerServiceHandler.getApis().getRefreshStrategyControllerApi().restartAutoRefreshAtTime(duration);
IMogoMarker marker = MarkerServiceHandler.getMarkerManager().addMarker(TAG, options);
MarkerServiceHandler.getMogoStatusManager().setUserInteractionStatus(TAG, true, false);
if(!MarkerServiceHandler.getApis().getStatusManagerApi().isVrMode()){
if (!MarkerServiceHandler.getApis().getStatusManagerApi().isVrMode()) {
MarkerServiceHandler.getMapUIController().moveToCenter(mogoLatLngs.get(0));
}
WorkThreadHandler.getInstance().post(() -> marker.startSmooth(mogoLatLngs, duration));
@@ -652,7 +652,7 @@ public class MockIntentHandler implements IntentHandler {
String carsLine = roadSizeBr.readLine();
SocketDownData.LauncherSnapshotProto.Builder data = SocketDownData.LauncherSnapshotProto.newBuilder();
List<SocketDownData.CloudRoadDataProto> allList = GsonUtil.arrayFromJson(carsLine, SocketDownData.CloudRoadDataProto.class);
if(allList == null || allList.size() == 0){
if (allList == null || allList.size() == 0) {
return;
}
for (SocketDownData.CloudRoadDataProto cloudRoadData : allList) {
@@ -854,7 +854,7 @@ public class MockIntentHandler implements IntentHandler {
Log.i("mock-timer-loc-map", "cost " + (System.currentTimeMillis() - start) + "ms");
SnapshotLocationController.getInstance().syncAdasLocationInfo(jo);
Log.i("mock-timer-loc", "cost " + (System.currentTimeMillis() - start) + "ms");
Log.i("mock-timer-loc-info",jo.toString());
Log.i("mock-timer-loc-info", jo.toString());
return true;
}
@@ -917,10 +917,7 @@ public class MockIntentHandler implements IntentHandler {
}
}
AdasRec adasRec = new AdasRec();
adasRec.models = allList;
MogoApisHandler.getInstance().getApis().getAdasControllerApi().mockAdasRecognized(GsonUtil.jsonFromObject(adasRec));
MogoApisHandler.getInstance().getApis().getAdasControllerApi().mockAdasRecognized(allList);
Log.i("mock-timer-adas", "cost " + (System.currentTimeMillis() - start) + "ms");
return true;
}
@@ -947,16 +944,9 @@ public class MockIntentHandler implements IntentHandler {
}
}
AdasRec adasRec = new AdasRec();
adasRec.models = allList;
MogoApisHandler.getInstance().getApis().getAdasControllerApi().mockAdasRecognized(GsonUtil.jsonFromObject(adasRec));
MogoApisHandler.getInstance().getApis().getAdasControllerApi().mockAdasRecognized(allList);
Log.i("mock-timer-adas", "cost " + (System.currentTimeMillis() - start) + "ms");
return true;
}
public static class AdasRec {
public String action = "view";
public List<ADASRecognizedResult> models;
}
}

8
services/mogo-service-api/src/main/java/com/mogo/service/adas/IMogoADASController.java
View File

@@ -108,13 +108,6 @@ public interface IMogoADASController extends IProvider {
*/
void removeAdasWarnMessageCallback(IMogoAdasWarnMessageCallback callback);
/**
* 获取 adas 识别列表
*
* @return
*/
List<ADASRecognizedResult> getLastADASRecognizedResult();
/**
* 添加adas识别物体回调
*
@@ -213,5 +206,4 @@ public interface IMogoADASController extends IProvider {
void mockAdasRecognized(List<ADASRecognizedResult> recognizedResults);
void mockAdasRecognized(String json);
}

26
services/mogo-service/src/main/java/com/mogo/service/impl/adas/AdasObjectUtils.java
View File

@@ -1,16 +1,19 @@
package com.mogo.service.impl.adas;
import android.util.Log;
import com.alibaba.android.arouter.launcher.ARouter;
import com.mogo.commons.utils.MortonCode;
import com.mogo.map.uicontroller.IMogoMapUIController;
import com.mogo.service.IMogoServiceApis;
import com.mogo.service.adas.entity.ADASRecognizedResult;
import com.mogo.service.adas.entity.ADASWarnMessage;
import com.zhidao.autopilotservice.model.AdasAIDLOwnerCarRectModel;
import com.zhidao.support.adas.high.bean.RectInfo;
import com.zhidao.support.adas.high.bean.WarnMessageInfo;
import java.util.ArrayList;
import java.util.List;
import java.util.concurrent.TimeUnit;
/*
@@ -37,12 +40,12 @@ public class AdasObjectUtils {
return warnMessage;
}
public static List<ADASRecognizedResult> regroupData(List<AdasAIDLOwnerCarRectModel> datums) {
public static List<ADASRecognizedResult> regroupData(List<RectInfo.RectBean> datums) {
if (datums == null || datums.isEmpty()) {
return null;
}
List<ADASRecognizedResult> recognizedListResults = new ArrayList<>();
for (AdasAIDLOwnerCarRectModel model : datums) {
for (RectInfo.RectBean model : datums) {
if (model == null) {
continue;
}
@@ -54,10 +57,12 @@ public class AdasObjectUtils {
return recognizedListResults;
}
public static ADASRecognizedResult fromAdasObject(AdasAIDLOwnerCarRectModel model) {
public static ADASRecognizedResult fromAdasObject(RectInfo.RectBean model) {
if (model == null) {
return null;
}
long start = System.nanoTime();
ADASRecognizedResult result = new ADASRecognizedResult();
result.uuid = model.getUuid();
result.lat = model.getLat();
@@ -73,11 +78,14 @@ public class AdasObjectUtils {
result.dataAccuracy = model.dataAccuracy;
result.distance = model.distance;
result.drawlevel = model.getDrawlevel();
result.mortonCode = MortonCode.wrapEncodeMorton(result.lon, result.lat);
IMogoMapUIController mogoMapUIController = ARouter.getInstance().navigation(IMogoServiceApis.class).getMapServiceApi().getMapUIController();
if (mogoMapUIController != null) {
result.tileId = String.valueOf(mogoMapUIController.getTileId(result.lon, result.lat));
}
// result.mortonCode = MortonCode.wrapEncodeMorton(result.lon, result.lat);
Log.d("ADAS数据延时","fromAdasObject cost : " + TimeUnit.NANOSECONDS.toMillis((System.nanoTime() - start)));
// IMogoMapUIController mogoMapUIController = ARouter.getInstance().navigation(IMogoServiceApis.class).getMapServiceApi().getMapUIController();
// if (mogoMapUIController != null) {
// long start = System.currentTimeMillis();
// result.tileId = String.valueOf(mogoMapUIController.getTileId(result.lon, result.lat));
// Log.d("ADAS数据延时", "getTileId 耗时 : " + (System.currentTimeMillis() - start) + "ms");
// }
return result;
}
}

332
services/mogo-service/src/main/java/com/mogo/service/impl/adas/MogoADASController.java
View File

@@ -17,8 +17,8 @@ import com.mogo.commons.network.SubscribeImpl;
import com.mogo.map.MogoLatLng;
import com.mogo.map.uicontroller.EnumMapUI;
import com.mogo.module.adas.AdasProvider;
import com.mogo.module.adas.IAdasStatusListener;
import com.mogo.module.adas.IAdasDataListener;
import com.mogo.module.adas.IAdasStatusListener;
import com.mogo.service.MogoServicePaths;
import com.mogo.service.adas.IMogoADASController;
import com.mogo.service.adas.IMogoAdasCarDataCallback;
@@ -50,15 +50,11 @@ 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.autopilotservice.model.AdasAIDLOwnerCarStateModel;
import com.zhidao.support.adas.high.OnAdasListener;
import com.zhidao.support.adas.high.bean.AutopilotRoute;
import com.zhidao.support.adas.high.bean.AutopilotStatus;
import com.zhidao.support.adas.high.bean.RectInfo;
import com.zhidao.support.adas.high.bean.WarnMessageInfo;
import com.zhidao.support.adas.high.msg.MyMessageFactory;
import org.json.JSONException;
import org.json.JSONObject;
import java.util.ArrayList;
@@ -66,15 +62,10 @@ import java.util.HashMap;
import java.util.List;
import java.util.Map;
import java.util.concurrent.CopyOnWriteArrayList;
import java.util.concurrent.TimeUnit;
import io.reactivex.schedulers.Schedulers;
/**
* @author congtaowang
* @since 2020-03-10
* <p>
* 描述
*/
@Route(path = MogoServicePaths.PATH_ADAS_CONTROLLER)
public class MogoADASController implements IMogoADASController {
@@ -94,10 +85,8 @@ public class MogoADASController implements IMogoADASController {
private boolean mIsReleased = true;
private IAdasDataListener mAdasDataListener;
private AdasProvider adasProvider;
/**
* 获取adas前车距离
*/
@@ -118,24 +107,33 @@ public class MogoADASController implements IMogoADASController {
*/
private final List<IMogoAdasRouteCallBack> mMogoAdasRouteCallBacks = new CopyOnWriteArrayList<>();
private IAdasDataListener mAdasDataListener;
private IMogoAdasCarDataCallback mMogoAdasCarDataCallback;
private List<AdasAIDLOwnerCarRectModel> mLastFrameDatums;
private IMogoAdasOCHCallback mAdasOCHCallback;
/**
* 接收 adas 识别数据线程
*/
private final Handler mAdasRecognizedRecHandler = new Handler(WorkThreadHandler.newInstance("AdasRecognizedRecThread").getLooper()) {
@Override
public void handleMessage(Message msg) {
super.handleMessage(msg);
if (msg.obj instanceof List) {
mAdasDataListener.notifyOwnerCarRect((List<AdasAIDLOwnerCarRectModel>) msg.obj);
} else if (msg.obj == null) {
mAdasDataListener.notifyOwnerCarRect(null);
}
}
};
private double mLastLon;
private double mLastLat;
private double mSpeed;
private String satelliteTime;
@Override
public double getLastSpeed() {
return mSpeed;
}
public double getLastLat() {
return mLastLat;
}
public double getLastLon() {
return mLastLon;
}
public String getSatelliteTime() {
return satelliteTime;
}
/**
* 接收 adas 定位数据线程
@@ -160,6 +158,7 @@ public class MogoADASController implements IMogoADASController {
mLastLon = stateInfo.getValues().getLon();
mLastLat = stateInfo.getValues().getLat();
mSpeed = stateInfo.getValues().getGnss_speed();
// satelliteTime = stateInfo.getValues().getSatelliteTime();
satelliteTime = stateInfo.getValues().getSystemTime();
if (mMogoAdasCarDataCallback != null) {
@@ -169,116 +168,12 @@ public class MogoADASController implements IMogoADASController {
}
};
private final OnAdasListener mOnAdasListener = new OnAdasListenerAdapter() {
@Override
public void onRectData(RectInfo rectInfo) {
List<AdasAIDLOwnerCarRectModel> data = new ArrayList<>();
if (rectInfo != null && rectInfo.getModels() != null && !rectInfo.getModels().isEmpty()) {
List<RectInfo.RectBean> beans = rectInfo.getModels();
for (RectInfo.RectBean bean : beans) {
if (bean == null) {
continue;
}
AdasAIDLOwnerCarRectModel model = new AdasAIDLOwnerCarRectModel();
model.setId(bean.getId());
model.setXl(bean.getXl());
model.setXr(bean.getXr());
model.setYb(bean.getYb());
model.setYt(bean.getYt());
model.setDistance_x(bean.getDistance_x());
model.setDistance_y(bean.getDistance_y());
String type;
if (TextUtils.isEmpty(bean.getType())) {
type = "100";
Logger.d(TAG, " === ADAS 返回结果出现 type 为 null情况 ====");
} else {
type = bean.getType();
}
model.setType(type);
model.setLat(bean.getLat());
model.setLon(bean.getLon());
model.setHeading(bean.getHeading());
model.setSystemTime(bean.getSystemTime());
model.setSatelliteTime(bean.getSystemTime());
model.setAlt(bean.getAlt());
model.setCarId(bean.getCarId());
model.setUuid(bean.getUuid());
model.setColor(bean.getColor());
model.setSpeed(bean.getSpeed());
model.setDataAccuracy(bean.getDataAccuracy());
model.setDistance(bean.getDistance());
model.setDrawlevel(bean.getDrawlevel()); //liyz
data.add(model);
Log.d("ADAS数据延时", "uuid : " + bean.getUuid() + " type : " + bean.getType() + "systemTime : " + System.currentTimeMillis() + " GPS time" + Long.parseLong(bean.getSystemTime())
+ " timeDelay : " + (System.currentTimeMillis() - Long.parseLong(bean.getSystemTime())));
// Log.d("ADAS原始数据", "uuid : " + bean.getUuid() + " type : " + bean.getType());
Logger.d(TAG, "识别距离：x = %s, y = %s", model.getDistance_x(), model.getDistance_y());
}
}
if (mLastFrameDatums == null) {
mLastFrameDatums = new ArrayList<>();
}
try {
mLastFrameDatums.addAll(data);
} catch (Exception e) {
}
Message message = mAdasRecognizedRecHandler.obtainMessage();
message.obj = data;
message.sendToTarget();
DebugConfig.setStatus(DebugConfig.sAdasRecognized, true);
}
@Override
public void onAutopilotRoute(AutopilotRoute autopilotRoute) {
}
@Override
public void onAutopilotSNRequest() {
}
@Override
public void onWarnMessage(WarnMessageInfo warnMessageInfo) {
if (warnMessageInfo == null) {
return;
}
// 警告消息
Logger.d(TAG, "onWarnMessage = %s", warnMessageInfo.toString());
if (mMogoAdasWarnMessageCallbackList.isEmpty()) {
return;
}
final ADASWarnMessage warnMessage = AdasObjectUtils.fromAdasObject(warnMessageInfo);
if (warnMessage == null) {
return;
}
UiThreadHandler.post(() -> {
for (IMogoAdasWarnMessageCallback callback : mMogoAdasWarnMessageCallbackList) {
if (callback != null) {
callback.onReceiveData(warnMessage);
}
}
});
}
};
private IMogoAdasOCHCallback mAdasOCHCallback;
/**
* 处理数据
*
* @param models
*/
private void handleAdasRecognizedData(List<AdasAIDLOwnerCarRectModel> models) {
private void handleAdasRecognizedData(List<RectInfo.RectBean> models) {
if (models == null
|| models.isEmpty()) {
invokeCallbackPerSecond(null);
@@ -287,7 +182,7 @@ public class MogoADASController implements IMogoADASController {
invokeCallbackPerSecond(models);
}
private void invokeCallbackPerSecond(List<AdasAIDLOwnerCarRectModel> models) {
private void invokeCallbackPerSecond(List<RectInfo.RectBean> models) {
List<ADASRecognizedResult> recognizedListResults = AdasObjectUtils.regroupData(models);
if (!mMogoAdasRecognizedDataCallbacks.isEmpty()) {
for (IMogoAdasRecognizedDataCallback callback : mMogoAdasRecognizedDataCallbacks) {
@@ -299,8 +194,6 @@ public class MogoADASController implements IMogoADASController {
}
}
private MyMessageFactory mAdasMessageFactory;
@Override
public void openADAS() {
showADAS();
@@ -360,20 +253,52 @@ public class MogoADASController implements IMogoADASController {
}
@Override
public void cameraEyeDetectResult(String detectResult) {
Logger.d(TAG, "detectResult " + detectResult);
try {
JSONObject jsonObjectWs = new JSONObject(detectResult);
String action = jsonObjectWs.optString("action");
if (TextUtils.isEmpty(action)) {
Logger.w(TAG, "--->action is null");
return;
}
//识别的他车移动操作
mAdasMessageFactory.createMessage(action).handlerMsg(GsonUtil.getGson(), mOnAdasListener, detectResult);
} catch (JSONException e) {
e.printStackTrace();
public void onRectData(RectInfo rectInfo) {
// 仅在 vr 模式下显示 adas 识别车辆
if (!SingletonsHolder.get(IMogoStatusManager.class).isVrMode()) {
return;
}
if (!SingletonsHolder.get(IMogoStatusManager.class).isMainPageLaunched()) {
return;
}
if (rectInfo == null || TextUtils.isEmpty(rectInfo.getAction())) {
Logger.w(TAG, "--->action is null");
return;
}
final long start = System.nanoTime();
if (rectInfo.getModels() != null && !rectInfo.getModels().isEmpty()) {
List<RectInfo.RectBean> beans = rectInfo.getModels();
try {
handleAdasRecognizedData(beans);
} catch (Exception e) {
e.printStackTrace();
}
}
Log.i("ADAS数据延时", "接收数据 -> 发出 cost :" + TimeUnit.NANOSECONDS.toMillis((System.nanoTime() - start)) + "ms");
DebugConfig.setStatus(DebugConfig.sAdasRecognized, true);
}
@Override
public void onWarnMessage(WarnMessageInfo warnMessageInfo) {
if (warnMessageInfo == null) {
return;
}
// 警告消息
Logger.d(TAG, "onWarnMessage = %s", warnMessageInfo.toString());
if (mMogoAdasWarnMessageCallbackList.isEmpty()) {
return;
}
final ADASWarnMessage warnMessage = AdasObjectUtils.fromAdasObject(warnMessageInfo);
if (warnMessage == null) {
return;
}
UiThreadHandler.post(() -> {
for (IMogoAdasWarnMessageCallback callback : mMogoAdasWarnMessageCallbackList) {
if (callback != null) {
callback.onReceiveData(warnMessage);
}
}
});
}
@Override
@@ -455,31 +380,6 @@ public class MogoADASController implements IMogoADASController {
message.sendToTarget();
}
@Override
public void notifyOwnerCarState(AdasAIDLOwnerCarStateModel ownerCarStateModel) {
Logger.d(TAG, "AdasAIDLOwnerCarStateModel " + ownerCarStateModel);
ADASCarStateInfo stateInf = new ADASCarStateInfo();
stateInf.setAction("state");
ADASCarStateInfo.ValuesBean bean = new ADASCarStateInfo.ValuesBean();
bean.setSatelliteTime(ownerCarStateModel.getSatelliteTime());
bean.setAcceleration(ownerCarStateModel.getAcceleration());
bean.setAlt(ownerCarStateModel.getAlt());
bean.setGnss_speed(ownerCarStateModel.getGnss_speed());
bean.setHeading(ownerCarStateModel.getHeading());
bean.setLat(ownerCarStateModel.getLat());
bean.setLon(ownerCarStateModel.getLon());
bean.setReceiverDataTime(ownerCarStateModel.getReceiverDataTime());
bean.setSystemTime(ownerCarStateModel.getSystemTime());
bean.setYaw_rate(ownerCarStateModel.getYaw_rate());
stateInf.setValues(bean);
mLastLon = ownerCarStateModel.getLon();
mLastLat = ownerCarStateModel.getLat();
mSpeed = ownerCarStateModel.getGnss_speed();
if (mMogoAdasCarDataCallback != null) {
mMogoAdasCarDataCallback.onAdasCarDataCallback(stateInf);
}
}
@Override
public void notifyAutopilotState(AutopilotStatus autopilotStatus) {
Logger.d(TAG, "notifyAutopilotState: " + autopilotStatus);
@@ -488,53 +388,11 @@ public class MogoADASController implements IMogoADASController {
mAdasOCHCallback.onStateChanged(autopilotStatus.getValues().getState(), autopilotStatus.getValues().getReason());
}
}
@Override
public void notifyOwnerCarRect(List<AdasAIDLOwnerCarRectModel> ownerCarStateRectList) {
// 物体识别返回
Logger.d(TAG, "ADAS-REC-received data: size = %s", ownerCarStateRectList == null ? 0 : ownerCarStateRectList.size());
final long start = System.currentTimeMillis();
// 仅在 vr 模式下显示 adas 识别车辆
if (!SingletonsHolder.get(IMogoStatusManager.class).isVrMode()) {
return;
}
if (!SingletonsHolder.get(IMogoStatusManager.class).isMainPageLaunched()) {
return;
}
try {
handleAdasRecognizedData(ownerCarStateRectList);
} catch (Exception e) {
e.printStackTrace();
}
Logger.i("ADAS-REC-timer", "cost " + (System.currentTimeMillis() - start) + "ms");
}
};
adasProvider.addAdasEventListener(mAdasDataListener);
}
}
private double mLastLon;
private double mLastLat;
private double mSpeed;
private String satelliteTime;
@Override
public double getLastSpeed() {
return mSpeed;
}
public double getLastLat() {
return mLastLat;
}
public double getLastLon() {
return mLastLon;
}
public String getSatelliteTime() {
return satelliteTime;
}
private boolean useTestSn = false;
private void invokeShowADASOperation() {
@@ -607,7 +465,6 @@ public class MogoADASController implements IMogoADASController {
@Override
public void init(Context context) {
mIsReleased = false;
mAdasMessageFactory = new MyMessageFactory();
adasProvider = ARouter.getInstance().navigation(AdasProvider.class);
this.context = context;
}
@@ -627,7 +484,6 @@ public class MogoADASController implements IMogoADASController {
if (ui == null || !DebugConfig.isMapBased()) {
return;
}
Logger.d(TAG, "new Mode: " + ui.name());
switch (ui) {
case CarUp_2D:
@@ -777,25 +633,6 @@ public class MogoADASController implements IMogoADASController {
mMogoAdasWarnMessageCallbackList.remove(callback);
}
@Override
public List<ADASRecognizedResult> getLastADASRecognizedResult() {
if (mLastFrameDatums == null) {
return null;
}
if (!DebugConfig.isUseAdasRecognize()) {
return null;
}
try {
List<AdasAIDLOwnerCarRectModel> data = mLastFrameDatums;
mLastFrameDatums = null;
List<ADASRecognizedResult> recognizedResultList;
recognizedResultList = AdasObjectUtils.regroupData(data);
return recognizedResultList;
} catch (Exception e) {
return null;
}
}
@Override
public void addAdasRecognizedDataCallback(IMogoAdasRecognizedDataCallback callback) {
if (callback == null) {
@@ -921,27 +758,6 @@ public class MogoADASController implements IMogoADASController {
}
}
@Override
public void mockAdasRecognized(String json) {
mAdasDataListener.cameraEyeDetectResult(json);
}
//
// private static final int PERIOD = 5 * 1000;
// private static final int DELAY = 10000;
// private Disposable mDisposable;
//
// /**
// * 定时循环任务
// */
// private void timeLoop() {
// mDisposable = Observable.interval(DELAY, PERIOD, TimeUnit.MILLISECONDS)
// .map((aLong -> aLong + 1))
// .subscribeOn(Schedulers.io())
// .subscribe(aLong ->
// adasProvider.setBasicInfo()
// );//getUnreadCount()执行的任务
// }
}