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[Routing dev]

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1、删除isAutoRouting
This commit is contained in:
donghongyu
2024-05-31 14:17:23 +08:00
parent c51e4aa6b9
commit 03c922249a
10 changed files with 29 additions and 53 deletions
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3
OCH/taxi/unmanned-driver/src/main/java/com/mogo/och/taxi/bean/TaxiRoutingBean.kt
View File

@@ -11,8 +11,7 @@ data class GrayLineBean(
var lineFailCount: Int?, //线路累计反馈不可用次数
var isChoosed: Boolean = false, //当前是否选中
var startSite: RoutingSite?,
var endSite: RoutingSite?,
var isAutoRouting: Boolean = true //是否进行自动算路,true--使用车端自动算路，false--不使用自动算路，使用轨迹循迹
var endSite: RoutingSite?
)
data class RoutingSite(

6
OCH/taxi/unmanned-driver/src/main/java/com/mogo/och/taxi/ui/routing/TaxiRoutingChooseLineAdapter.kt
View File

@@ -33,11 +33,7 @@ class TaxiRoutingChooseLineAdapter(
val currentPosition = holder.bindingAdapterPosition
val data = mData[currentPosition]
// 区分Routing和循迹
holder.lineNameTextView.text = if (data.isAutoRouting) {
"Routing-" + data.lineName
} else {
data.lineName
}
holder.lineNameTextView.text = data.lineName
holder.todayVerifyNumTextView.text = "本车今日已验证：${data.carVerificationCount}次"
holder.historyVerifyNumTextView.text =
"路线累计反馈${data.lineSuccessCount}可用，${data.lineFailCount}不可用"

6
OCH/taxi/unmanned-driver/src/main/java/com/mogo/och/taxi/ui/routing/TaxiRoutingModel.kt
View File

@@ -211,10 +211,6 @@ object TaxiRoutingModel {
DebugView.printInfoMsg("[查询灰度路线] 请求success，dataSize=${data?.data?.size}")
val result = mutableListOf<GrayLineBean>()
data.data?.also {
//TODO Routing 临时修改，这里后面从接口数据直接获取，需要配合运营平台一起修改灰度路线数据
it.forEach {
it.isAutoRouting = true
}
result.addAll(it)
}
mTaxiRoutingCallbackMap.forEach {
@@ -496,8 +492,6 @@ object TaxiRoutingModel {
CallerLogger.e(TAG, "AutopilotControlParameters is empty.")
return
}
// 使用云端配置的Routing灰度路线
parameters.isAutoRouting = grayLineBean.isAutoRouting
OchAutoPilotManager.startAutoPilot(parameters);

21
core/function-impl/mogo-core-function-datacenter/src/main/java/com/mogo/eagle/core/function/datacenter/autopilot/MoGoAutopilotControlProvider.kt
View File

@@ -388,12 +388,12 @@ class MoGoAutopilotControlProvider :
private fun startAutoPilotWithNoParameter(source: Int) {
if (AppIdentityModeUtils.isPassenger(FunctionBuildConfig.appIdentityMode)) {
val invokeResult = AdasManager.getInstance()
.sendAutoPilotModeReq(1, source, null, false)
.sendAutoPilotModeReq(1, source, null)
invokeAutoPilotResult(if (invokeResult > -1) "无参自动驾驶调用成功：${invokeResult}" else "自动驾驶调用失败, socket 或者 rawPack 可能为空")
} else {
if (AdasManager.getInstance().ipcConnectionStatus == AdasConstants.IpcConnectionStatus.CONNECTED) {
val invokeResult = AdasManager.getInstance()
.sendAutoPilotModeReq(1, source, null, false)
.sendAutoPilotModeReq(1, source, null)
invokeAutoPilotResult(if (invokeResult > -1) "无参自动驾驶调用成功：${invokeResult}" else "自动驾驶调用失败, socket 或者 rawPack 可能为空")
} else {
invokeAutoPilotResult("车机与工控机链接失败，无法开启自动驾驶 无参")
@@ -405,12 +405,12 @@ class MoGoAutopilotControlProvider :
private fun startAutoPilot(controlParameters: AutopilotControlParameters, source: Int) {
if (AppIdentityModeUtils.isPassenger(FunctionBuildConfig.appIdentityMode)) {
val invokeResult = AdasManager.getInstance()
.sendAutoPilotModeReq(1, source, controlParameters.toRouteInfo(), controlParameters.isAutoRouting)
.sendAutoPilotModeReq(1, source, controlParameters.toRouteInfo())
invokeAutoPilotResult(if (invokeResult > -1) "自动驾驶调用成功：${invokeResult}" else "自动驾驶调用失败, socket 或者 rawPack 可能为空")
} else {
if (AdasManager.getInstance().ipcConnectionStatus == AdasConstants.IpcConnectionStatus.CONNECTED) {
val invokeResult = AdasManager.getInstance()
.sendAutoPilotModeReq(1, source, controlParameters.toRouteInfo(), controlParameters.isAutoRouting)
.sendAutoPilotModeReq(1, source, controlParameters.toRouteInfo())
invokeAutoPilotResult(if (invokeResult > -1) "自动驾驶调用成功：${invokeResult}" else "自动驾驶调用失败, socket 或者 rawPack 可能为空")
} else {
invokeAutoPilotResult("车机与工控机链接失败，无法开启自动驾驶")
@@ -446,21 +446,20 @@ class MoGoAutopilotControlProvider :
)
}
override fun sendTrajectoryDownloadReq(autoPilotLine: AutopilotControlParameters.AutoPilotLine, isAutoRouting: Boolean, routeInfo: MessagePad.RouteInfo?) {
AdasManager.getInstance().sendTrajectoryDownloadReq(autoPilotLine.toAutoPilotLine(),isAutoRouting,routeInfo)
override fun sendTrajectoryDownloadReq(autoPilotLine: AutopilotControlParameters.AutoPilotLine, routeInfo: MessagePad.RouteInfo?) {
AdasManager.getInstance().sendTrajectoryDownloadReq(autoPilotLine.toAutoPilotLine(),routeInfo)
}
override fun sendTrajectoryDownloadReq(autoPilotLine: AutopilotControlParameters.AutoPilotLine, downloadType: Int, isAutoRouting: Boolean, routeInfo: MessagePad.RouteInfo?) {
override fun sendTrajectoryDownloadReq(autoPilotLine: AutopilotControlParameters.AutoPilotLine, downloadType: Int, routeInfo: MessagePad.RouteInfo?) {
AdasManager.getInstance().sendTrajectoryDownloadReq(
autoPilotLine.toAutoPilotLine(),
downloadType,
isAutoRouting,
routeInfo)
}
override fun cancelAutoPilot() {
if (AdasManager.getInstance().ipcConnectionStatus == AdasConstants.IpcConnectionStatus.CONNECTED) {
AdasManager.getInstance().sendAutoPilotModeReq(0, 1, null, false)
AdasManager.getInstance().sendAutoPilotModeReq(0, 1, null)
} else {
CallerLogger.e("$M_D_C$TAG", "车机与工控机链接失败，无法断开自动驾驶")
}
@@ -930,11 +929,11 @@ class MoGoAutopilotControlProvider :
*/
override fun setControlAutopilotCarAuto(isEnable: Boolean) {
if (isEnable) {
AdasManager.getInstance().sendAutoPilotModeReq(1, 0, null, false)
AdasManager.getInstance().sendAutoPilotModeReq(1, 0, null)
} else {
// 司机屏才可关闭自动驾驶
if (AppIdentityModeUtils.isDriver(FunctionBuildConfig.appIdentityMode)) {
AdasManager.getInstance().sendAutoPilotModeReq(0, 0, null, false)
AdasManager.getInstance().sendAutoPilotModeReq(0, 0, null)
}
}
}

4
core/mogo-core-data/src/main/java/com/mogo/eagle/core/data/autopilot/AutopilotControlParameters.kt
View File

@@ -139,7 +139,6 @@ class AutopilotControlParameters {
@JvmField
var autoPilotLine: AutoPilotLine? = null // 自动驾驶路线
var isAutoRouting = false//是否进行自动算路,true--使用车端自动算路，false--不使用自动算路，使用轨迹循迹
class AutoPilotLine {
var lineId = 0L
@@ -229,8 +228,7 @@ class AutopilotControlParameters {
"routeID=$routeID, " +
"routeName='$routeName', " +
"isSpeakVoice=$isSpeakVoice, " +
"autoPilotLine=$autoPilotLine, " +
"isAutoRouting=$isAutoRouting)"
"autoPilotLine=$autoPilotLine)"
}

5
core/mogo-core-function-api/src/main/java/com/mogo/eagle/core/function/api/autopilot/IMoGoAutopilotControlProvider.kt
View File

@@ -56,17 +56,16 @@ interface IMoGoAutopilotControlProvider : IMoGoFunctionServerProvider {
/**
* 发送 轨迹下载请求
*/
fun sendTrajectoryDownloadReq(autoPilotLine: AutopilotControlParameters.AutoPilotLine, isAutoRouting: Boolean, routeInfo: MessagePad.RouteInfo?)
fun sendTrajectoryDownloadReq(autoPilotLine: AutopilotControlParameters.AutoPilotLine, routeInfo: MessagePad.RouteInfo?)
/**
* 发送 轨迹下载请求
*
* @param autoPilotLine 线路相关参数详情见PB message_pad.proto -> Line
* @param downloadType 下载类型: 0:正常下载 1:预下载
* @param isAutoRouting 20240523 是否进行自动算路
* @param routeInfo 20240523 进行自动算路，务必下单时候携带自动驾驶路径信息，否则可不填！
*/
fun sendTrajectoryDownloadReq(autoPilotLine: AutopilotControlParameters.AutoPilotLine, downloadType: Int, isAutoRouting: Boolean, routeInfo: MessagePad.RouteInfo?)
fun sendTrajectoryDownloadReq(autoPilotLine: AutopilotControlParameters.AutoPilotLine, downloadType: Int, routeInfo: MessagePad.RouteInfo?)
/**
* 结束自动驾驶
*/

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

@@ -182,8 +182,8 @@ object CallerAutoPilotControlManager {
*/
fun sendTrajectoryDownloadReq(autoPilotLine: AutopilotControlParameters.AutoPilotLine) {
if (AppIdentityModeUtils.isDriver(FunctionBuildConfig.appIdentityMode)) {
//TODO Routing 需要传参 isAutoRouting, routeInfo
providerApi?.sendTrajectoryDownloadReq(autoPilotLine, false, null)
//TODO Routing 需要传参 routeInfo
providerApi?.sendTrajectoryDownloadReq(autoPilotLine, null)
CallerAutoPilotStatusListenerManager.invokeTrajectoryDownloadReq(autoPilotLine, 0)
}
}
@@ -194,8 +194,8 @@ object CallerAutoPilotControlManager {
*/
fun sendTrajectoryDownloadReq(autoPilotLine: AutopilotControlParameters.AutoPilotLine, downloadType: Int) {
if (AppIdentityModeUtils.isDriver(FunctionBuildConfig.appIdentityMode)) {
//TODO Routing 需要传参 isAutoRouting, routeInfo
providerApi?.sendTrajectoryDownloadReq(autoPilotLine, downloadType, false, null)
//TODO Routing 需要传参 routeInfo
providerApi?.sendTrajectoryDownloadReq(autoPilotLine, downloadType, null)
CallerAutoPilotStatusListenerManager.invokeTrajectoryDownloadReq(autoPilotLine, downloadType)
}
}

8
libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/AdasChannel.java
View File

@@ -1192,20 +1192,18 @@ public class AdasChannel implements IAdasNetCommApi, FpgaSocket.IWebSocketConnec
* @param mode 1: enter autopilot mode, 0: quit autopilot mode
* @param source 命令来源: 0: pad模拟, 1: pad业务, 2:aicloud, 3:魔方(清扫车MAP Version==332以及MAP Version>=350，其他车型目前未上线)
* @param routeInfo 自动驾驶路径信息
* @param isAutoRouting 20240523 是否进行自动算路
* @return 消息是否添加到WS消息发送队列，返回值为非0的正整数时表示下发消息的消息ID
* * >=0：表示添加到WS发送消息队列
* * =0：表示乘客屏模式添加到WS发送消息队列
* * -1L：添加到WS发送消息队列失败
*/
@Override
public long sendAutoPilotModeReq(int mode, int source, MessagePad.RouteInfo routeInfo, boolean isAutoRouting) {
public long sendAutoPilotModeReq(int mode, int source, MessagePad.RouteInfo routeInfo) {
MessagePad.SetAutopilotModeReq.Builder builder = MessagePad.SetAutopilotModeReq.newBuilder();
builder.setMode(mode);
builder.setSource(source);
if (routeInfo != null)
builder.setRouteInfo(routeInfo);
builder.setIsAutoRouting(isAutoRouting);
MessagePad.SetAutopilotModeReq req = builder.build();
if (autopilotReview != null) autopilotReview.onAutopilotCommandTrigger(req);
return sendPBMessage(MessageType.TYPE_SEND_SET_AUTOPILOT_MODE_REQ, req.toByteArray());
@@ -1659,7 +1657,6 @@ public class AdasChannel implements IAdasNetCommApi, FpgaSocket.IWebSocketConnec
*
* @param line 线路相关参数详情见PB message_pad.proto -> Line
* @param downloadType 下载类型: 0:正常下载 1:预下载
* @param isAutoRouting 20240523 是否进行自动算路
* @param routeInfo 20240523 进行自动算路，务必下单时候携带自动驾驶路径信息，否则可不填！
* @return 消息是否添加到WS消息发送队列，返回值为非0的正整数时表示下发消息的消息ID
* * >=0：表示添加到WS发送消息队列
@@ -1673,7 +1670,7 @@ public class AdasChannel implements IAdasNetCommApi, FpgaSocket.IWebSocketConnec
paramIndexes = {0}
)
@Override
public long sendTrajectoryDownloadReq(MessagePad.Line line, int downloadType, boolean isAutoRouting, MessagePad.RouteInfo routeInfo) {
public long sendTrajectoryDownloadReq(MessagePad.Line line, int downloadType, MessagePad.RouteInfo routeInfo) {
MessagePad.TrajectoryDownloadReq.Builder builder = MessagePad.TrajectoryDownloadReq.newBuilder();
builder.setSource(1);//指令来源: 0: default, 1:pad, 2:aicloud
if (line != null) {
@@ -1682,7 +1679,6 @@ public class AdasChannel implements IAdasNetCommApi, FpgaSocket.IWebSocketConnec
if (downloadType > -1) {
builder.setDownloadType(downloadType);
}
builder.setIsAutoRouting(isAutoRouting);
if (routeInfo != null) {
builder.setRouteInfo(routeInfo);
}

15
libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/AdasManager.java
View File

@@ -396,15 +396,14 @@ public class AdasManager implements IAdasNetCommApi {
* @param mode 1: enter autopilot mode, 0: quit autopilot mode
* @param source 命令来源: 0: pad模拟, 1: pad业务, 2:aicloud, 3:魔方(清扫车MAP Version==332以及MAP Version>=350，其他车型目前未上线)
* @param routeInfo 自动驾驶路径信息
* @param isAutoRouting 20240523 是否进行自动算路
* @return 消息是否添加到WS消息发送队列，返回值为非0的正整数时表示下发消息的消息ID
* * >=0：表示添加到WS发送消息队列
* * =0：表示乘客屏模式添加到WS发送消息队列
* * -1L：添加到WS发送消息队列失败
*/
@Override
public long sendAutoPilotModeReq(int mode, int source, MessagePad.RouteInfo routeInfo, boolean isAutoRouting) {
return mChannel == null ? -1L : mChannel.sendAutoPilotModeReq(mode, source, routeInfo, isAutoRouting);
public long sendAutoPilotModeReq(int mode, int source, MessagePad.RouteInfo routeInfo) {
return mChannel == null ? -1L : mChannel.sendAutoPilotModeReq(mode, source, routeInfo);
}
/**
@@ -760,15 +759,14 @@ public class AdasManager implements IAdasNetCommApi {
* 此方法存在域控回执，监听{@link OnAdasListener#onReceiveReceivedAck(ReceivedAck)}回调.使用方法：将此方法的返回值与{@link ReceivedAck#getMsgId()}进行比较，如果相同判断{@link ReceivedAck#getStatus()}是否等于{@link ReceivedAck.Status#NORMAL}，详情参见CheckSystemView中的onReceiveReceivedAck
*
* @param line 线路相关参数详情见PB message_pad.proto -> Line
* @param isAutoRouting 20240523 是否进行自动算路
* @param routeInfo 20240523 进行自动算路，务必下单时候携带自动驾驶路径信息，否则可不填！
* @return 消息是否添加到WS消息发送队列，返回值为非0的正整数时表示下发消息的消息ID
* * >=0：表示添加到WS发送消息队列
* * =0：表示乘客屏模式添加到WS发送消息队列
* * -1L：添加到WS发送消息队列失败
*/
public long sendTrajectoryDownloadReq(MessagePad.Line line, boolean isAutoRouting, MessagePad.RouteInfo routeInfo) {
return mChannel == null ? -1L : mChannel.sendTrajectoryDownloadReq(line, -1, isAutoRouting, routeInfo);
public long sendTrajectoryDownloadReq(MessagePad.Line line, MessagePad.RouteInfo routeInfo) {
return mChannel == null ? -1L : mChannel.sendTrajectoryDownloadReq(line, -1, routeInfo);
}
/**
@@ -777,7 +775,6 @@ public class AdasManager implements IAdasNetCommApi {
*
* @param line 线路相关参数详情见PB message_pad.proto -> Line
* @param downloadType 下载类型: 0:正常下载 1:预下载
* @param isAutoRouting 20240523 是否进行自动算路
* @param routeInfo 20240523 进行自动算路，务必下单时候携带自动驾驶路径信息，否则可不填！
* @return 消息是否添加到WS消息发送队列，返回值为非0的正整数时表示下发消息的消息ID
* * >=0：表示添加到WS发送消息队列
@@ -785,8 +782,8 @@ public class AdasManager implements IAdasNetCommApi {
* * -1L：添加到WS发送消息队列失败
*/
@Override
public long sendTrajectoryDownloadReq(MessagePad.Line line, int downloadType, boolean isAutoRouting, MessagePad.RouteInfo routeInfo) {
return mChannel == null ? -1L : mChannel.sendTrajectoryDownloadReq(line, downloadType, isAutoRouting, routeInfo);
public long sendTrajectoryDownloadReq(MessagePad.Line line, int downloadType, MessagePad.RouteInfo routeInfo) {
return mChannel == null ? -1L : mChannel.sendTrajectoryDownloadReq(line, downloadType, routeInfo);
}
/**

6
libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/IAdasNetCommApi.java
View File

@@ -176,13 +176,12 @@ public interface IAdasNetCommApi {
* @param mode 1: enter autopilot mode, 0: quit autopilot mode
* @param source 命令来源: 0: pad模拟, 1: pad业务, 2:aicloud, 3:魔方(清扫车MAP Version==332以及MAP Version>=350，其他车型目前未上线)
* @param routeInfo 自动驾驶路径信息
* @param isAutoRouting 20240523 是否进行自动算路
* @return 消息是否添加到WS消息发送队列，返回值为非0的正整数时表示下发消息的消息ID
* * >=0：表示添加到WS发送消息队列
* * =0：表示乘客屏模式添加到WS发送消息队列
* * -1L：添加到WS发送消息队列失败
*/
long sendAutoPilotModeReq(int mode, int source, MessagePad.RouteInfo routeInfo, boolean isAutoRouting);
long sendAutoPilotModeReq(int mode, int source, MessagePad.RouteInfo routeInfo);
/**
@@ -478,14 +477,13 @@ public interface IAdasNetCommApi {
*
* @param line 线路相关参数详情见PB message_pad.proto -> Line
* @param downloadType 下载类型: 0:正常下载 1:预下载
* @param isAutoRouting 20240523 是否进行自动算路
* @param routeInfo 20240523 进行自动算路，务必下单时候携带自动驾驶路径信息，否则可不填！
* @return 消息是否添加到WS消息发送队列，返回值为非0的正整数时表示下发消息的消息ID
* * >=0：表示添加到WS发送消息队列
* * =0：表示乘客屏模式添加到WS发送消息队列
* * -1L：添加到WS发送消息队列失败
*/
long sendTrajectoryDownloadReq(MessagePad.Line line, int downloadType, boolean isAutoRouting, MessagePad.RouteInfo routeInfo);
long sendTrajectoryDownloadReq(MessagePad.Line line, int downloadType, MessagePad.RouteInfo routeInfo);
/**
* 发送 状态查询请求