From ff61d92a893975f16de0c389cc823040e7577487 Mon Sep 17 00:00:00 2001 From: zhongchao Date: Fri, 9 Jul 2021 09:25:09 +0800 Subject: [PATCH] fix bug of delay and update map version --- app/src/main/java/com/mogo/launcher/delayLog | 0 config.gradle | 1 + .../mogo-aicloud-services-sdk/build.gradle | 4 +- .../MogoLocationInfoServices.java | 41 +-- .../locationinfo/MogoLocationSource.java | 39 +- gradle.properties | 21 +- .../map/impl/custom/CustomMapApiBuilder.java | 2 +- .../mogo/module/adas/AdasEventManager.java | 76 +--- .../mogo/module/adas/IAdasDataListener.java | 46 ++- .../module/adas/model/AdasServiceModel.java | 59 +++- .../drawer/AdasRecognizedResultDrawer.java | 29 +- .../mogo/module/common/drawer/BaseDrawer.java | 37 -- .../service/intent/MockIntentHandler.java | 20 +- .../service/adas/IMogoADASController.java | 8 - .../service/impl/adas/AdasObjectUtils.java | 26 +- .../service/impl/adas/MogoADASController.java | 332 ++++-------------- 16 files changed, 242 insertions(+), 499 deletions(-) create mode 100644 app/src/main/java/com/mogo/launcher/delayLog diff --git a/app/src/main/java/com/mogo/launcher/delayLog b/app/src/main/java/com/mogo/launcher/delayLog new file mode 100644 index 0000000000..e69de29bb2 diff --git a/config.gradle b/config.gradle index 60f5f6a454..0960863cbf 100644 --- a/config.gradle +++ b/config.gradle @@ -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}", ] } \ No newline at end of file diff --git a/foudations/mogo-aicloud-services-sdk/build.gradle b/foudations/mogo-aicloud-services-sdk/build.gradle index 773a369e9a..54ed22ca87 100644 --- a/foudations/mogo-aicloud-services-sdk/build.gradle +++ b/foudations/mogo-aicloud-services-sdk/build.gradle @@ -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 diff --git a/foudations/mogo-aicloud-services-sdk/src/main/java/com/mogo/aicloud/services/locationinfo/MogoLocationInfoServices.java b/foudations/mogo-aicloud-services-sdk/src/main/java/com/mogo/aicloud/services/locationinfo/MogoLocationInfoServices.java index aabfcc9ffe..a202024872 100644 --- a/foudations/mogo-aicloud-services-sdk/src/main/java/com/mogo/aicloud/services/locationinfo/MogoLocationInfoServices.java +++ b/foudations/mogo-aicloud-services-sdk/src/main/java/com/mogo/aicloud/services/locationinfo/MogoLocationInfoServices.java @@ -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"); } } diff --git a/foudations/mogo-aicloud-services-sdk/src/main/java/com/mogo/aicloud/services/locationinfo/MogoLocationSource.java b/foudations/mogo-aicloud-services-sdk/src/main/java/com/mogo/aicloud/services/locationinfo/MogoLocationSource.java index 55ea01b57d..76e4e977f6 100644 --- a/foudations/mogo-aicloud-services-sdk/src/main/java/com/mogo/aicloud/services/locationinfo/MogoLocationSource.java +++ b/foudations/mogo-aicloud-services-sdk/src/main/java/com/mogo/aicloud/services/locationinfo/MogoLocationSource.java @@ -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; diff --git a/gradle.properties b/gradle.properties index 7ed5e6ed84..7fe3560a5d 100644 --- a/gradle.properties +++ b/gradle.properties @@ -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 diff --git a/libraries/map-custom/src/main/java/com/mogo/map/impl/custom/CustomMapApiBuilder.java b/libraries/map-custom/src/main/java/com/mogo/map/impl/custom/CustomMapApiBuilder.java index 8523bf3592..2640a5a819 100644 --- a/libraries/map-custom/src/main/java/com/mogo/map/impl/custom/CustomMapApiBuilder.java +++ b/libraries/map-custom/src/main/java/com/mogo/map/impl/custom/CustomMapApiBuilder.java @@ -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 ) diff --git a/modules/mogo-module-adas/src/main/java/com/mogo/module/adas/AdasEventManager.java b/modules/mogo-module-adas/src/main/java/com/mogo/module/adas/AdasEventManager.java index 434c6a5579..0e693aaf2a 100644 --- a/modules/mogo-module-adas/src/main/java/com/mogo/module/adas/AdasEventManager.java +++ b/modules/mogo-module-adas/src/main/java/com/mogo/module/adas/AdasEventManager.java @@ -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 iAdasEventListeners = new ArrayList<>(); private final ArrayList 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(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(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; } } diff --git a/modules/mogo-module-adas/src/main/java/com/mogo/module/adas/IAdasDataListener.java b/modules/mogo-module-adas/src/main/java/com/mogo/module/adas/IAdasDataListener.java index a0775e71a3..ab674557dd 100644 --- a/modules/mogo-module-adas/src/main/java/com/mogo/module/adas/IAdasDataListener.java +++ b/modules/mogo-module-adas/src/main/java/com/mogo/module/adas/IAdasDataListener.java @@ -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 ownerCarStateRectList ) { - } } diff --git a/modules/mogo-module-adas/src/main/java/com/mogo/module/adas/model/AdasServiceModel.java b/modules/mogo-module-adas/src/main/java/com/mogo/module/adas/model/AdasServiceModel.java index 5e277ee27f..6f9a2e9f2f 100644 --- a/modules/mogo-module-adas/src/main/java/com/mogo/module/adas/model/AdasServiceModel.java +++ b/modules/mogo-module-adas/src/main/java/com/mogo/module/adas/model/AdasServiceModel.java @@ -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 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(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(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"); + } + }); + } + } diff --git a/modules/mogo-module-common/src/main/java/com/mogo/module/common/drawer/AdasRecognizedResultDrawer.java b/modules/mogo-module-common/src/main/java/com/mogo/module/common/drawer/AdasRecognizedResultDrawer.java index 32b6e15d13..a599a08763 100644 --- a/modules/mogo-module-common/src/main/java/com/mogo/module/common/drawer/AdasRecognizedResultDrawer.java +++ b/modules/mogo-module-common/src/main/java/com/mogo/module/common/drawer/AdasRecognizedResultDrawer.java @@ -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 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 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; } diff --git a/modules/mogo-module-common/src/main/java/com/mogo/module/common/drawer/BaseDrawer.java b/modules/mogo-module-common/src/main/java/com/mogo/module/common/drawer/BaseDrawer.java index 0768434e18..80fa96ec53 100644 --- a/modules/mogo-module-common/src/main/java/com/mogo/module/common/drawer/BaseDrawer.java +++ b/modules/mogo-module-common/src/main/java/com/mogo/module/common/drawer/BaseDrawer.java @@ -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); } /** diff --git a/modules/mogo-module-service/src/main/java/com/mogo/module/service/intent/MockIntentHandler.java b/modules/mogo-module-service/src/main/java/com/mogo/module/service/intent/MockIntentHandler.java index aaadcc4ccc..f9238e5fb0 100644 --- a/modules/mogo-module-service/src/main/java/com/mogo/module/service/intent/MockIntentHandler.java +++ b/modules/mogo-module-service/src/main/java/com/mogo/module/service/intent/MockIntentHandler.java @@ -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 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 models; - } } diff --git a/services/mogo-service-api/src/main/java/com/mogo/service/adas/IMogoADASController.java b/services/mogo-service-api/src/main/java/com/mogo/service/adas/IMogoADASController.java index cac11a6ba0..f850464b3d 100644 --- a/services/mogo-service-api/src/main/java/com/mogo/service/adas/IMogoADASController.java +++ b/services/mogo-service-api/src/main/java/com/mogo/service/adas/IMogoADASController.java @@ -108,13 +108,6 @@ public interface IMogoADASController extends IProvider { */ void removeAdasWarnMessageCallback(IMogoAdasWarnMessageCallback callback); - /** - * 获取 adas 识别列表 - * - * @return - */ - List getLastADASRecognizedResult(); - /** * 添加adas识别物体回调 * @@ -213,5 +206,4 @@ public interface IMogoADASController extends IProvider { void mockAdasRecognized(List recognizedResults); - void mockAdasRecognized(String json); } diff --git a/services/mogo-service/src/main/java/com/mogo/service/impl/adas/AdasObjectUtils.java b/services/mogo-service/src/main/java/com/mogo/service/impl/adas/AdasObjectUtils.java index 7119cce607..9d5f6a6ab8 100644 --- a/services/mogo-service/src/main/java/com/mogo/service/impl/adas/AdasObjectUtils.java +++ b/services/mogo-service/src/main/java/com/mogo/service/impl/adas/AdasObjectUtils.java @@ -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 regroupData(List datums) { + public static List regroupData(List datums) { if (datums == null || datums.isEmpty()) { return null; } List 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; } } diff --git a/services/mogo-service/src/main/java/com/mogo/service/impl/adas/MogoADASController.java b/services/mogo-service/src/main/java/com/mogo/service/impl/adas/MogoADASController.java index f13512500b..0ad53e8a88 100644 --- a/services/mogo-service/src/main/java/com/mogo/service/impl/adas/MogoADASController.java +++ b/services/mogo-service/src/main/java/com/mogo/service/impl/adas/MogoADASController.java @@ -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 - *

- * 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 mMogoAdasRouteCallBacks = new CopyOnWriteArrayList<>(); + private IAdasDataListener mAdasDataListener; + private IMogoAdasCarDataCallback mMogoAdasCarDataCallback; - private List 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) 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 data = new ArrayList<>(); - if (rectInfo != null && rectInfo.getModels() != null && !rectInfo.getModels().isEmpty()) { - List 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 models) { + private void handleAdasRecognizedData(List models) { if (models == null || models.isEmpty()) { invokeCallbackPerSecond(null); @@ -287,7 +182,7 @@ public class MogoADASController implements IMogoADASController { invokeCallbackPerSecond(models); } - private void invokeCallbackPerSecond(List models) { + private void invokeCallbackPerSecond(List models) { List 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 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 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 getLastADASRecognizedResult() { - if (mLastFrameDatums == null) { - return null; - } - if (!DebugConfig.isUseAdasRecognize()) { - return null; - } - try { - List data = mLastFrameDatums; - mLastFrameDatums = null; - List 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 -// } }