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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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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)
}
}