[3.4.0-map-sdk] merge 6.1.0

2023-09-18 19:32:55 +08:00
parent 51f38ae919 6c0d8b58fe
commit 059b3cf777
154 changed files with 4655 additions and 1794 deletions
--- a/core/function-impl/mogo-core-function-datacenter/src/main/java/com/mogo/eagle/core/function/datacenter/autopilot/MoGoAutopilotControlProvider.kt
+++ b/core/function-impl/mogo-core-function-datacenter/src/main/java/com/mogo/eagle/core/function/datacenter/autopilot/MoGoAutopilotControlProvider.kt
@@ -70,6 +70,7 @@ import com.zhjt.mogo.adas.data.sweeper.task.stop.SweeperTaskStop
 import com.zhjt.service.chain.ChainLog
 import io.netty.channel.Channel
 import mogo.telematics.pad.MessagePad
+import mogo.yycp.paralleldriving.protocol.ParallelDrivingRequest
 import java.util.*
 import java.util.concurrent.TimeUnit

@@ -1093,6 +1094,13 @@ class MoGoAutopilotControlProvider :
        return AdasManager.getInstance().sendSweeperCloudSuspendResumeTaskResp(reqNo, bigTaskActionResp)
    }

+    override fun sendParallelDrivingReq(
+        reqNo: String,
+        parallelRequest: ParallelDrivingRequest.ParallelRequest
+    ): Boolean {
+        return AdasManager.getInstance().sendParallelDrivingReq(reqNo, parallelRequest)
+    }
+
    override fun setIsDrawPointCloud(isDrawPointCloud: Boolean) {
        if (isDrawPointCloud) {
            AdasManager.getInstance().subscribeInterface(
--- a/core/function-impl/mogo-core-function-datacenter/src/main/java/com/mogo/eagle/core/function/datacenter/autopilot/adapter/MoGoAdasListenerImpl.kt
+++ b/core/function-impl/mogo-core-function-datacenter/src/main/java/com/mogo/eagle/core/function/datacenter/autopilot/adapter/MoGoAdasListenerImpl.kt
@@ -49,28 +49,32 @@ import com.mogo.eagle.core.function.call.obu.CallerObuMapMathListenerManager
 import com.mogo.eagle.core.function.call.obu.CallerObuWarningRsiListenerManager
 import com.mogo.eagle.core.function.call.obu.CallerObuWarningRsmListenerManager
 import com.mogo.eagle.core.function.call.obu.CallerObuWarningSpatListenerManager
+import com.mogo.eagle.core.function.call.v2x.*
 import com.mogo.eagle.core.utilcode.mogo.logger.Logger
 import com.mogo.eagle.core.utilcode.util.DeviceUtils
 import com.mogo.support.obu.ObuScene
 import com.zhidao.support.adas.high.OnAdasListener
 import com.zhjt.mogo.adas.data.bean.AdasParam
 import com.zhidao.support.adas.high.common.ProtocolStatus
+import com.zhjt.mogo.adas.data.AiCloudTask
 import com.zhjt.mogo.adas.data.bean.AutopilotStatistics
-import com.zhjt.mogo.adas.data.bean.UnableAutopilotReason
-import com.zhjt.mogo.adas.data.sweeper.SweeperCloudTask
+import com.zhjt.mogo.adas.data.bean.UnableLaunchReason
 import com.zhjt.mogo.adas.data.sweeper.bootable.SweeperBootable
 import com.zhjt.mogo.adas.data.sweeper.task.SweeperTask
-import com.zhjt.mogo.adas.data.sweeper.task.big.SweeperBigTaskStatus
-import com.zhjt.mogo.adas.data.sweeper.task.confirm.SweeperTaskConfirm
 import com.zhjt.mogo.adas.data.sweeper.task.s_r.SweeperTaskSuspendResume
+import com.zhjt.mogo.adas.data.sweeper.task.big.SweeperBigTaskStatus
+import com.zhjt.mogo.adas.data.sweeper.task.cloud.s_r.SweeperTaskCloudSuspendResume
+import com.zhjt.mogo.adas.data.sweeper.task.confirm.SweeperTaskConfirm
 import com.zhjt.mogo.adas.data.sweeper.task.status.SweeperTaskStatus
 import com.zhjt.mogo.adas.data.sweeper.task.stop.SweeperTaskStop
 import com.zhjt.service.chain.ChainLog
+import fault_management.FmInfo
 import function_state_management.FunctionStates
 import mogo.telematics.pad.MessagePad
 import mogo.telematics.pad.MessagePad.TrackedObject
 import mogo.v2x.MogoV2X
 import mogo.v2x.RoadOverviewEvents
+import mogo.yycp.paralleldriving.protocol.ParallelTaskProcessNoticeOuterClass
 import mogo_msg.MogoReportMsg
 import perception.TrafficLightOuterClass
 import planning.RoboSweeperTaskIndexOuterClass
@@ -444,6 +448,10 @@ class MoGoAdasListenerImpl : OnAdasListener {
        invokeSystemStatus(statusInf)
    }

+    override fun onFaultManagementState(header: MessagePad.Header?, fmInfo: FmInfo.FaultResultMsg) {
+        CallerFaultManagementStateListenerManager.invokeFaultManagementState(fmInfo)
+    }
+
    /**
     * 数据采集配置应答
     */
@@ -574,7 +582,7 @@ class MoGoAdasListenerImpl : OnAdasListener {
     */
    override fun onSweeperFutianCloudTask(
        header: MessagePad.Header,
-        messageType: SweeperCloudTask.MessageType,
+        messageType: AiCloudTask.MessageType,
        reqNo: String?,
        sysTime: Long,
        taskInfo: SweeperTask.TaskInfo?
@@ -598,7 +606,7 @@ class MoGoAdasListenerImpl : OnAdasListener {
     */
    override fun onSweeperFutianCloudTaskConfirm(
        header: MessagePad.Header,
-        messageType: SweeperCloudTask.MessageType,
+        messageType: AiCloudTask.MessageType,
        reqNo: String?,
        sysTime: Long,
        taskConfirm: SweeperTaskConfirm.TaskConfirm?
@@ -622,7 +630,7 @@ class MoGoAdasListenerImpl : OnAdasListener {
     */
    override fun onSweeperFutianCloudTaskStatus(
        header: MessagePad.Header,
-        messageType: SweeperCloudTask.MessageType,
+        messageType: AiCloudTask.MessageType,
        reqNo: String?,
        sysTime: Long,
        taskStatusPush: SweeperTaskStatus.TaskStatusPush?
@@ -646,7 +654,7 @@ class MoGoAdasListenerImpl : OnAdasListener {
     */
    override fun onSweeperFutianCloudTaskStop(
        header: MessagePad.Header,
-        messageType: SweeperCloudTask.MessageType,
+        messageType: AiCloudTask.MessageType,
        reqNo: String?,
        sysTime: Long,
        stopTaskReq: SweeperTaskStop.StopTaskReq?
@@ -671,7 +679,7 @@ class MoGoAdasListenerImpl : OnAdasListener {
     */
    override fun onSweeperFutianCloudTaskSuspendResume(
        header: MessagePad.Header,
-        messageType: SweeperCloudTask.MessageType,
+        messageType: AiCloudTask.MessageType,
        reqNo: String?,
        sysTime: Long,
        suspendResumeTaskResp: SweeperTaskSuspendResume.SuspendResumeTaskResp?
@@ -695,7 +703,7 @@ class MoGoAdasListenerImpl : OnAdasListener {
     */
    override fun onSweeperFutianCloudBootable(
        header: MessagePad.Header,
-        messageType: SweeperCloudTask.MessageType,
+        messageType: AiCloudTask.MessageType,
        reqNo: String?,
        sysTime: Long,
        isBootableResp: SweeperBootable.IsBootableResp?
@@ -719,7 +727,7 @@ class MoGoAdasListenerImpl : OnAdasListener {
     */
    override fun onSweeperFutianCloudBigTaskStatus(
        header: MessagePad.Header,
-        messageType: SweeperCloudTask.MessageType,
+        messageType: AiCloudTask.MessageType,
        reqNo: String?,
        sysTime: Long,
        bigTaskStatusPush: SweeperBigTaskStatus.BigTaskStatusPush?
@@ -732,13 +740,46 @@ class MoGoAdasListenerImpl : OnAdasListener {
        )
    }

+    /**
+     * 10、云端下发任务暂停/恢复指令到pad（type: 100010）-> sweeper_task_cloud_suspend_resume.proto
+     *
+     * @param header            头
+     * @param messageType       消息类型
+     * @param reqNo             请求编号
+     * @param sysTime           当前时间戳
+     * @param bigTaskActionPush 数据
+     */
+    override fun onSweeperFutianCloudTaskCloudSuspendResume(header: MessagePad.Header, messageType: AiCloudTask.MessageType, reqNo: String?, sysTime: Long, bigTaskActionPush: SweeperTaskCloudSuspendResume.BigTaskActionPush?) {
+        CallerSweeperFutianCloudTaskListenerManager.invokeSweeperFutianCloudTaskCloudSuspendResume(messageType, reqNo, sysTime, bigTaskActionPush)
+    }
+
+    /**
+     * 无人化场景
+     * 平行驾驶请求相关状态反馈
+     *
+     * @param header                    头
+     * @param messageType               消息类型
+     * @param reqNo                     请求编号
+     * @param sysTime                   当前时间戳
+     * @param parallelTaskProcessNotice 数据
+     */
+    override fun onParallelDrivingResp(
+        header: MessagePad.Header,
+        messageType: AiCloudTask.MessageType,
+        reqNo: String?,
+        sysTime: Long,
+        parallelTaskProcessNotice: ParallelTaskProcessNoticeOuterClass.ParallelTaskProcessNotice?
+    ) {
+        CallerParallelDrivingListenerManager.invokeParallelDrivingListener(parallelTaskProcessNotice)
+    }
+
    /**
     * 清扫车云端任务未知类型
     *
     * @param header 头
     * @param bytes  原始数据
     */
-    override fun onSweeperFutianCloudTaskUnknown(header: MessagePad.Header, bytes: ByteArray) {
+    override fun onAiCloudTaskUnknown(header: MessagePad.Header, bytes: ByteArray) {
        CallerSweeperFutianCloudTaskListenerManager.invokeSweeperFutianCloudTaskUnknown(bytes)
    }

@@ -844,7 +885,7 @@ class MoGoAdasListenerImpl : OnAdasListener {
     */
    override fun onAutopilotAbility(
        isAutopilotAbility: Boolean,
-        unableAutopilotReasons: ArrayList<UnableAutopilotReason>?
+        unableAutopilotReasons: ArrayList<UnableLaunchReason>?
    ) {
        if (unableAutopilotReasons != null && unableAutopilotReasons.size > 0) {
            autopilotAbilityCheck(isAutopilotAbility, unableAutopilotReasons.toString())
@@ -852,6 +893,16 @@ class MoGoAdasListenerImpl : OnAdasListener {
        invokeAutopilotAbility(isAutopilotAbility, unableAutopilotReasons)
    }

+    override fun onParallelDrivingAbility(
+        isParallelDrivingAbility: Boolean,
+        unableParallelDrivingReasons: java.util.ArrayList<UnableLaunchReason>?
+    ) {
+        CallerParallelDrivingActionsListenerManager.invokeParallelDrivingAbility(
+            isParallelDrivingAbility,
+            unableParallelDrivingReasons
+        )
+    }
+
    @ChainLog(
        linkChainLog = CHAIN_TYPE_SOCKET_AUTOPILOT,
        linkCode = CHAIN_SOURCE_ADAS,
--- a/core/function-impl/mogo-core-function-datacenter/src/main/java/com/mogo/eagle/core/function/datacenter/autopilot/adapter/MoGoAdasMsgConnectStatusListenerImpl.kt
+++ b/core/function-impl/mogo-core-function-datacenter/src/main/java/com/mogo/eagle/core/function/datacenter/autopilot/adapter/MoGoAdasMsgConnectStatusListenerImpl.kt
@@ -9,6 +9,7 @@ import com.mogo.eagle.core.function.api.cloud.IMoGoCloudListener
 import com.mogo.eagle.core.function.call.autopilot.CallerAutoPilotControlManager
 import com.mogo.eagle.core.function.call.autopilot.CallerAutoPilotStatusListenerManager
 import com.mogo.eagle.core.function.call.autopilot.CallerAutopilotActionsListenerManager
+import com.mogo.eagle.core.function.call.autopilot.CallerParallelDrivingActionsListenerManager
 import com.mogo.eagle.core.function.call.cloud.CallerCloudListenerManager
 import com.mogo.eagle.core.utilcode.mogo.AppIdentityModeUtils
 import com.mogo.eagle.core.utilcode.mogo.logger.CallerLogger
@@ -39,10 +40,12 @@ class MoGoAdasMsgConnectStatusListenerImpl :
    init {
        CallerCloudListenerManager.addListener(TAG, this)
        CallerAutopilotActionsListenerManager.setConnected(AdasManager.getInstance().ipcConnectionStatus == Constants.IPC_CONNECTION_STATUS.CONNECTED)
+        CallerParallelDrivingActionsListenerManager.setConnected(AdasManager.getInstance().ipcConnectionStatus == Constants.IPC_CONNECTION_STATUS.CONNECTED)
    }

    override fun onConnectionIPCStatus(ipcConnectionStatus: Int, reason: String?) {
        CallerAutopilotActionsListenerManager.setConnected(ipcConnectionStatus == Constants.IPC_CONNECTION_STATUS.CONNECTED)
+        CallerParallelDrivingActionsListenerManager.setConnected(ipcConnectionStatus == Constants.IPC_CONNECTION_STATUS.CONNECTED)
        AppConfigInfo.connectStatusDescribe = reason
        when (ipcConnectionStatus) {
            Constants.IPC_CONNECTION_STATUS.CONNECTED -> {
--- a/core/function-impl/mogo-core-function-datacenter/src/main/java/com/mogo/eagle/core/function/datacenter/obu/MogoObuDcCombineManager.kt
+++ b/core/function-impl/mogo-core-function-datacenter/src/main/java/com/mogo/eagle/core/function/datacenter/obu/MogoObuDcCombineManager.kt
@@ -561,32 +561,34 @@ class MogoObuDcCombineManager private constructor() : IMoGoObuWarningRsiListener

            }
            1 -> { //闯红灯 V2I_RLVW_VIOLATION_TYPE_RUNNING_RED_LIGHT 一个红灯周期只显示一次
-                if (HmiBuildConfig.isShowRunRedLightView) {
-                    if (!isShowRunRedLight) {
-                        isShowRunRedLight = true
-                        ttsContent =
-                            EventTypeEnumNew.getWarningTts(EventTypeEnumNew.TYPE_USECASE_ID_IVP_RED.poiType)
-                        alertContent =
-                            EventTypeEnumNew.getWarningContent(EventTypeEnumNew.TYPE_USECASE_ID_IVP_RED.poiType)
-                        CallerLogger.d(
-                            "${M_OBU}${TAG}",
-                            "MogoObuDcCombineManager changeTrafficLightStatus 闯红灯 --------> ttsContent = $ttsContent ---alertContent = $alertContent "
-                        )
-                        if (alertContent.isEmpty() || ttsContent.isEmpty()) {
-                            return
+                if(HmiBuildConfig.isShowObuV2iView){
+                    if (HmiBuildConfig.isShowRunRedLightView) {
+                        if (!isShowRunRedLight) {
+                            isShowRunRedLight = true
+                            ttsContent =
+                                EventTypeEnumNew.getWarningTts(EventTypeEnumNew.TYPE_USECASE_ID_IVP_RED.poiType)
+                            alertContent =
+                                EventTypeEnumNew.getWarningContent(EventTypeEnumNew.TYPE_USECASE_ID_IVP_RED.poiType)
+                            CallerLogger.d(
+                                "${M_OBU}${TAG}",
+                                "MogoObuDcCombineManager changeTrafficLightStatus 闯红灯 --------> ttsContent = $ttsContent ---alertContent = $alertContent "
+                            )
+                            if (alertContent.isEmpty() || ttsContent.isEmpty()) {
+                                return
+                            }
+                            saveObuToDcData(
+                                EventTypeEnumNew.TYPE_USECASE_ID_IVP_RED.poiType,
+                                alertContent,
+                                ttsContent,
+                                CommunicationType.V2I
+                            )
+                            showWarning(
+                                EventTypeEnumNew.TYPE_USECASE_ID_IVP_RED.poiType,
+                                alertContent,
+                                ttsContent,
+                                WarningDirectionEnum.ALERT_WARNING_NON
+                            )
                        }
-                        saveObuToDcData(
-                            EventTypeEnumNew.TYPE_USECASE_ID_IVP_RED.poiType,
-                            alertContent,
-                            ttsContent,
-                            CommunicationType.V2I
-                        )
-                        showWarning(
-                            EventTypeEnumNew.TYPE_USECASE_ID_IVP_RED.poiType,
-                            alertContent,
-                            ttsContent,
-                            WarningDirectionEnum.ALERT_WARNING_NON
-                        )
                    }
                }
            }
--- a/core/function-impl/mogo-core-function-datacenter/src/main/java/com/mogo/eagle/core/function/datacenter/obu/MogoPrivateObuNewManager.kt
+++ b/core/function-impl/mogo-core-function-datacenter/src/main/java/com/mogo/eagle/core/function/datacenter/obu/MogoPrivateObuNewManager.kt
@@ -299,7 +299,7 @@ class MogoPrivateObuNewManager private constructor() : OnUpgradeListener {
         * v2v预警信息 CvxRvInfoIndInfo  CvxV2vThreatIndInfo 他车
         */
        override fun onObuRvWarning(data: ObuScene.RvWarningData) {
-            if (HmiBuildConfig.isShowObuV2vView) {
+            if (FunctionBuildConfig.v2xMainSwitch && HmiBuildConfig.isShowObuV2vView) {
                if (data.warningMsg != null) {
                    // 更新数据，远车数据，之前要匹配uuid
                    data.vehBasicsMsg?.let {
@@ -1042,25 +1042,27 @@ class MogoPrivateObuNewManager private constructor() : OnUpgradeListener {

            }
            1 -> {//闯红灯 V2I_RLVW_VIOLATION_TYPE_RUNNING_RED_LIGHT 一个红灯周期只显示一次
-                if (HmiBuildConfig.isShowRunRedLightView) {
-                    if (!isShowRunRedLight) {
-                        isShowRunRedLight = true
-                        ttsContent =
-                            EventTypeEnumNew.getWarningTts(EventTypeEnumNew.TYPE_USECASE_ID_IVP_RED.poiType)
-                        alertContent =
-                            EventTypeEnumNew.getWarningContent(EventTypeEnumNew.TYPE_USECASE_ID_IVP_RED.poiType)
-                        saveObuData(
-                            EventTypeEnumNew.TYPE_USECASE_ID_IVP_RED.poiType,
-                            alertContent,
-                            ttsContent,
-                            CommunicationType.V2I
-                        )
-                        showWarning(
-                            EventTypeEnumNew.TYPE_USECASE_ID_IVP_RED.poiType,
-                            alertContent,
-                            ttsContent,
-                            WarningDirectionEnum.ALERT_WARNING_NON
-                        )
+                if(HmiBuildConfig.isShowObuV2iView){
+                    if (HmiBuildConfig.isShowRunRedLightView) {
+                        if (!isShowRunRedLight) {
+                            isShowRunRedLight = true
+                            ttsContent =
+                                EventTypeEnumNew.getWarningTts(EventTypeEnumNew.TYPE_USECASE_ID_IVP_RED.poiType)
+                            alertContent =
+                                EventTypeEnumNew.getWarningContent(EventTypeEnumNew.TYPE_USECASE_ID_IVP_RED.poiType)
+                            saveObuData(
+                                EventTypeEnumNew.TYPE_USECASE_ID_IVP_RED.poiType,
+                                alertContent,
+                                ttsContent,
+                                CommunicationType.V2I
+                            )
+                            showWarning(
+                                EventTypeEnumNew.TYPE_USECASE_ID_IVP_RED.poiType,
+                                alertContent,
+                                ttsContent,
+                                WarningDirectionEnum.ALERT_WARNING_NON
+                            )
+                        }
                    }
                }
            }