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[6.4.0][启动自驾指引] 添加是否可启自驾的状态监听

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This commit is contained in:
renwj
2024-04-19 15:31:15 +08:00
parent addac36782
commit 00cb85ad69
5 changed files with 103 additions and 50 deletions
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31
core/function-impl/mogo-core-function-devatools/src/main/java/com/zhjt/mogo_core_function_devatools/DevaToolsProvider.kt
View File

@@ -39,7 +39,6 @@ import com.tencent.matrix.trace.config.TraceConfig
import com.zhjt.mogo_core_function_devatools.apm.*
import com.mogo.eagle.core.function.api.upgrade.*
import com.mogo.weak.network.SdtManager
import com.zhjt.mogo.adas.data.bean.ReceivedAck.Status
import com.zhjt.mogo_core_function_devatools.adas.PowerOffManager
import com.zhjt.mogo_core_function_devatools.badcase.BadCaseManager
import com.zhjt.mogo_core_function_devatools.badcase.consts.BadCaseConfig
@@ -60,6 +59,7 @@ import com.zhjt.mogo_core_function_devatools.perf.MoGoCpuUsageProviderImpl
import com.zhjt.mogo_core_function_devatools.report.IPCReportManager.Companion.iPCReportManager
import com.zhjt.mogo_core_function_devatools.scene.SceneManager.Companion.sceneManager
import com.zhjt.mogo_core_function_devatools.status.StatusManager
import com.zhjt.mogo_core_function_devatools.status.entity.IAutopilotPreLaunchStatus
import com.zhjt.mogo_core_function_devatools.status.entity.RouteDownloadStatus
import com.zhjt.mogo_core_function_devatools.status.ui.AutoPilotLaunchBeforeView
import com.zhjt.mogo_core_function_devatools.strict.*
@@ -71,7 +71,6 @@ import com.zhjt.mogo_core_function_devatools.weaknetwork.WeakNetworkStrategy
import com.zhjt.service.chain.ChainLog
import java.lang.ref.WeakReference
import java.util.concurrent.ConcurrentHashMap
import java.util.concurrent.CopyOnWriteArrayList
@Route(path = MogoServicePaths.PATH_DEVA_TOOLS)
class DevaToolsProvider : IDevaToolsProvider {
@@ -102,14 +101,28 @@ class DevaToolsProvider : IDevaToolsProvider {
private var container: WeakReference<ViewGroup>? = null
private val downloadCallbacks by lazy { ConcurrentHashMap<String, ArrayList<(Int) -> Unit>>() }
private val startAutopilotCallbacks by lazy { ConcurrentHashMap<String, ArrayList<(Boolean) -> Unit>>() }
private val statusListener by lazy {
object : StatusManager.IStatusListener {
override fun onStatusChanged(data: List<com.zhjt.mogo_core_function_devatools.status.entity.Status>, hasException: Boolean) {
data.filterIsInstance(RouteDownloadStatus::class.java).forEach { s ->
downloadCallbacks.values.flatten().forEach { listener ->
listener.invoke(s.state.ordinal)
var hasExceptionForAutopilotBefore = false
data.forEach { s ->
if (s is RouteDownloadStatus) {
runCatching {
downloadCallbacks.values.flatten().forEach { listener ->
listener.invoke(s.state.ordinal)
}
}
}
if (s is IAutopilotPreLaunchStatus && s.isException()) {
hasExceptionForAutopilotBefore = true
runCatching { startAutopilotCallbacks.values.flatten().forEach { it.invoke(false) } }
return@forEach
}
}
if (!hasExceptionForAutopilotBefore) {
runCatching { startAutopilotCallbacks.values.flatten().forEach { it.invoke(true) } }
}
}
}
@@ -518,4 +531,12 @@ class DevaToolsProvider : IDevaToolsProvider {
override fun unRegisterRouteDownloadListener(tag: String) {
downloadCallbacks.remove(tag)
}
override fun registerStartAutopilotStateListener(tag: String, block: (isCanStartAutopilot: Boolean) -> Unit) {
startAutopilotCallbacks.getOrPut(tag) { ArrayList() } += block
}
override fun unRegisterStartAutopilotStateListener(tag: String) {
startAutopilotCallbacks.remove(tag)
}
}

14
core/function-impl/mogo-core-function-devatools/src/main/java/com/zhjt/mogo_core_function_devatools/status/entity/Status.kt
View File

@@ -1,5 +1,7 @@
package com.zhjt.mogo_core_function_devatools.status.entity
import com.mogo.eagle.core.function.api.autopilot.IMoGoAutopilotStatusListener
import com.mogo.eagle.core.function.call.autopilot.CallerAutoPilotStatusListenerManager
import com.zhjt.mogo_core_function_devatools.status.entity.RouteState.RouteFailed
import com.zhjt.mogo_core_function_devatools.status.entity.RouteState.RouteNone
import com.zhjt.mogo_core_function_devatools.status.entity.RouteState.RouteStart
@@ -311,7 +313,7 @@ data class SteerStatus(val angle: Float, var isError: Boolean = false): Status()
override fun isException(): Boolean {
return isError
return isError && CallerAutoPilotStatusListenerManager.getAutoPilotStatusInfo().state != IMoGoAutopilotStatusListener.STATUS_AUTOPILOT_RUNNING
}
override fun equals(other: Any?): Boolean {
@@ -339,7 +341,7 @@ data class SteerStatus(val angle: Float, var isError: Boolean = false): Status()
data class AcceleratorStatus(val angle: Float, var isError: Boolean = false): Status(), IAutopilotPreLaunchStatus {
override fun isException(): Boolean {
return isError
return isError && CallerAutoPilotStatusListenerManager.getAutoPilotStatusInfo().state != IMoGoAutopilotStatusListener.STATUS_AUTOPILOT_RUNNING
}
override fun equals(other: Any?): Boolean {
@@ -369,7 +371,7 @@ data class AcceleratorStatus(val angle: Float, var isError: Boolean = false): St
data class BrakeStatus(val angle: Float, var isError: Boolean = false): Status(), IAutopilotPreLaunchStatus {
override fun isException(): Boolean {
return isError
return isError && CallerAutoPilotStatusListenerManager.getAutoPilotStatusInfo().state != IMoGoAutopilotStatusListener.STATUS_AUTOPILOT_RUNNING
}
override fun equals(other: Any?): Boolean {
@@ -398,7 +400,7 @@ data class BrakeStatus(val angle: Float, var isError: Boolean = false): Status()
data class DoubleFlashStatus(val type: Int, var isError: Boolean = false): Status(), IAutopilotPreLaunchStatus {
override fun isException(): Boolean {
return isError
return isError && CallerAutoPilotStatusListenerManager.getAutoPilotStatusInfo().state != IMoGoAutopilotStatusListener.STATUS_AUTOPILOT_RUNNING
}
override fun equals(other: Any?): Boolean {
@@ -426,7 +428,7 @@ data class DoubleFlashStatus(val type: Int, var isError: Boolean = false): Statu
data class GearStatus(val value: Int, var isError: Boolean = false): Status(), IAutopilotPreLaunchStatus {
override fun isException(): Boolean {
return isError
return isError && CallerAutoPilotStatusListenerManager.getAutoPilotStatusInfo().state != IMoGoAutopilotStatusListener.STATUS_AUTOPILOT_RUNNING
}
override fun equals(other: Any?): Boolean {
@@ -462,7 +464,7 @@ enum class RouteState {
data class RouteDownloadStatus(val lineId: Long = -1, val state: RouteState = RouteNone): Status(), IAutopilotPreLaunchStatus {
override fun isException(): Boolean {
return state == RouteStart || state == RouteFailed
return (state == RouteStart || state == RouteFailed) && CallerAutoPilotStatusListenerManager.getAutoPilotStatusInfo().state != IMoGoAutopilotStatusListener.STATUS_AUTOPILOT_RUNNING
}
override fun equals(other: Any?): Boolean {

4
core/mogo-core-function-api/src/main/java/com/mogo/eagle/core/function/api/devatools/IDevaToolsProvider.kt
View File

@@ -299,4 +299,8 @@ interface IDevaToolsProvider : IProvider {
fun registerRouteDownloadListener(tag: String, block:(state: Int) -> Unit)
fun unRegisterRouteDownloadListener(tag: String)
fun registerStartAutopilotStateListener(tag: String, block: (isCanStartAutopilot: Boolean) -> Unit)
fun unRegisterStartAutopilotStateListener(tag: String)
}

96
core/mogo-core-function-call/src/main/java/com/mogo/eagle/core/function/call/autopilot/CallerAutoPilotControlManager.kt
View File

@@ -70,6 +70,21 @@ object CallerAutoPilotControlManager {
* @param controlParameters 开启自动驾驶的控制参数
*/
fun startAutoPilot(controlParameters: AutopilotControlParameters?) {
if (controlParameters == null) {
//LogUtils.eTag(TAG, "自动驾驶控制参数异常，请检查参数信息")
return
}
providerApi?.startAutoPilot(controlParameters)
// 更新记录在全局的控制参数
CallerAutoPilotStatusListenerManager.updateAutopilotControlParameters(controlParameters)
}
/**
* 启自驾前，是否要拦截
* @param isShowTip true: 展示Toast+语音提示; false:不展示Toast+语音提示
*
*/
fun isCanStartAutopilot(isShowTip: Boolean): Boolean {
/**
* 方向盘： 1<<0
* 油门 : 1<<1
@@ -80,49 +95,52 @@ object CallerAutoPilotControlManager {
*/
val exceptionValue = CallerDevaToolsManager.getExceptionStatusBeforeLaunchAutopilot()
if (exceptionValue != 0) {
val sb = StringBuilder("请检查车辆")
if ((exceptionValue and 1) != 0) {
sb.append("方向盘$")
}
if (((exceptionValue and (1 shl 1)) != 0)) {
sb.append("油门$")
}
if ((exceptionValue and (1 shl 2)) != 0) {
sb.append("刹车$")
}
if ((exceptionValue and (1 shl 3)) != 0) {
sb.append("双闪$")
}
if ((exceptionValue and (1 shl 4)) != 0) {
sb.append("档位$")
}
if ((exceptionValue and (1 shl 5)) != 0 || ((exceptionValue and (1 shl 6)) != 0)) {
sb.setLength(0)
sb.append("轨迹未就绪，请稍后重试")
}
val voiceText = sb.toString().let { str ->
val count = str.count { it == '$' }
if (count == 1) {
str.replace("$", "")
} else {
str.removeSuffix("$").replace("$", "、")
if (isShowTip) {
val sb = StringBuilder("请检查车辆")
if ((exceptionValue and 1) != 0) {
sb.append("方向盘$")
}
if (((exceptionValue and (1 shl 1)) != 0)) {
sb.append("油门$")
}
if ((exceptionValue and (1 shl 2)) != 0) {
sb.append("刹车$")
}
if ((exceptionValue and (1 shl 3)) != 0) {
sb.append("双闪$")
}
if ((exceptionValue and (1 shl 4)) != 0) {
sb.append("档位$")
}
if ((exceptionValue and (1 shl 5)) != 0 || ((exceptionValue and (1 shl 6)) != 0)) {
sb.setLength(0)
sb.append("轨迹未就绪，请稍后重试")
}
val voiceText = sb.toString().let { str ->
val count = str.count { it == '$' }
if (count == 1) {
str.replace("$", "")
} else {
str.removeSuffix("$").replace("$", "、")
}
}
Logger.d(TAG, "voiceText: $voiceText")
ToastUtils.showShort(voiceText)
AppStateManager.currentActivity()?.also {
AIAssist.getInstance(it).speakTTSVoice(voiceText)
}
}
Logger.d(TAG, "voiceText: $voiceText")
ToastUtils.showShort(voiceText)
AppStateManager.currentActivity()?.also {
AIAssist.getInstance(it).speakTTSVoice(voiceText)
}
return
return false
}
return true
}
if (controlParameters == null) {
//LogUtils.eTag(TAG, "自动驾驶控制参数异常，请检查参数信息")
return
}
providerApi?.startAutoPilot(controlParameters)
// 更新记录在全局的控制参数
CallerAutoPilotStatusListenerManager.updateAutopilotControlParameters(controlParameters)
fun addStartAutopilotStateListener(tag: String, listener: (Boolean) -> Unit) {
CallerDevaToolsManager.registerStartAutopilotStateListener(tag, listener)
}
fun removeStartAutopilotStateListener(tag: String) {
CallerDevaToolsManager.unRegisterStartAutopilotStateListener(tag)
}
/**

8
core/mogo-core-function-call/src/main/java/com/mogo/eagle/core/function/call/devatools/CallerDevaToolsManager.kt
View File

@@ -367,4 +367,12 @@ object CallerDevaToolsManager {
fun getExceptionStatusBeforeLaunchAutopilot(): Int {
return devaToolsProviderApi?.getExceptionStatusBeforeLaunchAutopilot() ?: 0
}
fun registerStartAutopilotStateListener(tag: String, block: (isCanStartAutopilot: Boolean) -> Unit) {
devaToolsProviderApi?.registerStartAutopilotStateListener(tag, block)
}
fun unRegisterStartAutopilotStateListener(tag: String) {
devaToolsProviderApi?.unRegisterStartAutopilotStateListener(tag)
}
}