yangyakun921/MoGoEagleEye
1
0
Fork 0
Code Issues Pull Requests Actions Packages Projects Releases Wiki Activity

Merge branch 'dev_arch_opt_3.0' into dev_robobus-m1-p-app-module_1.0.0_230112_1.0.0

Browse Source 
# Conflicts:
#	core/function-impl/mogo-core-function-startup/src/main/java/com/mogo/eagle/core/function/startup/stageone/HttpDnsStartUp.kt
#	libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/AdasChannel.java
#	libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/AdasManager.java
This commit is contained in:
yangyakun
2023-02-21 16:28:51 +08:00
parent e8c7327ff0 b192238894
commit 0d084aefc2
34 changed files with 797 additions and 315 deletions
Download Patch File Download Diff File Expand all files Collapse all files

5
core/function-impl/mogo-core-function-biz/src/main/java/com/mogo/eagle/function/biz/v2x/obu/V2xObuEventManager.kt
View File

@@ -13,7 +13,6 @@ import com.mogo.eagle.core.function.call.obu.CallerObuSaveMessageListenerManager
* 处理obu分发出来，在消息盒子展示的消息
*/
object V2xObuEventManager : IMoGoObuSaveMessageListener {
private const val TAG = "V2xObuEventManager"
fun init(context: Context) {
@@ -33,7 +32,7 @@ object V2xObuEventManager : IMoGoObuSaveMessageListener {
* @param content 事件内容
* @param tts 事件语音播报
*/
override fun onMoGoObuSaveMessage(type: String, content: String, tts: String) {
override fun onMoGoObuSaveMessage(type: String, content: String, tts: String, source: DataSourceType) {
CallerMsgBoxManager.saveMsgBox(
MsgBoxBean(
MsgBoxType.V2X,
@@ -43,7 +42,7 @@ object V2xObuEventManager : IMoGoObuSaveMessageListener {
tts
)
).apply {
sourceType = DataSourceType.OBU
sourceType = source
}
)
}

34
core/function-impl/mogo-core-function-datacenter/src/main/java/com/mogo/eagle/core/function/datacenter/autopilot/MoGoAutopilotControlProvider.kt
View File

@@ -2,7 +2,6 @@ package com.mogo.eagle.core.function.datacenter.autopilot
import android.Manifest.permission
import android.content.Context
import android.util.Log
import androidx.annotation.RequiresPermission
import chassis.SpecialVehicleTaskCmdOuterClass
import com.alibaba.android.arouter.facade.annotation.Route
@@ -737,4 +736,37 @@ class MoGoAutopilotControlProvider :
MessageType.TYPE_RECEIVE_POINT_CLOUD)
}
}
override fun sendRoboBusJinlvM1FrontDoorCmd(switchCmd: Int): Boolean {
return AdasManager.getInstance().sendRoboBusJinlvM1FrontDoorCmd(switchCmd)
}
override fun sendRoboBusJinlvM1AirConditionerCmd(
switchCmd: Int,
modeCmd: Int,
windSpeedCmd: Int,
temperatureCmd: Int
): Boolean {
return AdasManager.getInstance().sendRoboBusJinlvM1AirConditionerCmd(switchCmd, modeCmd, windSpeedCmd, temperatureCmd)
}
override fun sendRoboBusJinlvM1HeaderCmd(switchCmd: Int, windSpeedCmd: Int): Boolean {
return AdasManager.getInstance().sendRoboBusJinlvM1HeaderCmd(switchCmd, windSpeedCmd)
}
override fun sendRoboBusJinlvM1MainLamp1Cmd(switchCmd: Int): Boolean {
return AdasManager.getInstance().sendRoboBusJinlvM1MainLamp1Cmd(switchCmd)
}
override fun sendRoboBusJinlvM1MainLamp2Cmd(switchCmd: Int): Boolean {
return AdasManager.getInstance().sendRoboBusJinlvM1MainLamp2Cmd(switchCmd)
}
override fun sendRoboBusJinlvM1SmallLampCmd(switchCmd: Int): Boolean {
return AdasManager.getInstance().sendRoboBusJinlvM1SmallLampCmd(switchCmd)
}
override fun sendRoboBusJinlvM1TaskCmd(roboBusJinlvM1Cmd: SpecialVehicleTaskCmdOuterClass.RoboBusJinlvM1Cmd): Boolean {
return AdasManager.getInstance().sendRoboBusJinlvM1TaskCmd(roboBusJinlvM1Cmd)
}
}

4
core/function-impl/mogo-core-function-datacenter/src/main/java/com/mogo/eagle/core/function/datacenter/autopilot/adapter/MoGoAdasListenerImpl.kt
View File

@@ -173,7 +173,7 @@ class MoGoAdasListenerImpl : OnAdasListener {
CallerChassisLamplightListenerManager.invokeAutopilotBrakeLightData(vehicleState.brakeLightStatus)
//方向盘转向角数据
CallerChassisSteeringStateListenerManager.invokeAutopilotSteeringData(vehicleState.steering)
//挂挡档位数据
//挂档档位数据
CallerChassisGearStateListenerManager.invokeAutopilotGearData(vehicleState.gear)
//加速度
CallerChassisAccStateListenerManager.invokeAutopilotAcc(vehicleState.accel)
@@ -237,7 +237,7 @@ class MoGoAdasListenerImpl : OnAdasListener {
}
chassisStates.gearSystemStates?.let { gearSystemStates ->
gearSystemStates.gearPosition?.let {
//挂挡档位数据
//挂档档位数据
CallerChassisGearStateListenerManager.invokeAutopilotGearData(it)
}
}

131
core/function-impl/mogo-core-function-datacenter/src/main/java/com/mogo/eagle/core/function/datacenter/obu/MogoObuDcCombineManager.kt
View File

@@ -16,19 +16,16 @@ import com.mogo.eagle.core.function.api.obu.IMoGoObuWarningSpatListener
import com.mogo.eagle.core.function.call.hmi.CallerHmiManager
import com.mogo.eagle.core.function.call.map.CallerMapUIServiceManager
import com.mogo.eagle.core.function.call.msgbox.CallerMsgBoxManager
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.obu.*
import com.mogo.eagle.core.function.call.v2x.CallerLimitingVelocityListenerManager
import com.mogo.eagle.core.function.call.v2x.CallerTrafficLightListenerManager
import com.mogo.eagle.core.function.datacenter.obu.utils.TrafficDataConvertUtilsNew
import com.mogo.eagle.core.utilcode.mogo.logger.CallerLogger
import com.mogo.eagle.core.utilcode.mogo.logger.scene.SceneConstant.Companion.M_OBU
import com.mogo.support.obu.ObuScene
import com.mogo.support.obu.constants.MogoObuConstants
import kotlin.math.roundToInt
/**
*
* @author lixiaopeng
@@ -78,7 +75,6 @@ class MogoObuDcCombineManager private constructor() : IMoGoObuWarningRsiListener
onMogoObuMapMath(mapMatchData)
}
/**
* RSI预警信息 CvxRtiThreatIndInfo（交通标志预警（前方限速、前方学校等等），交通事件预警（前方拥堵、前方积水等等））
*/
@@ -140,9 +136,6 @@ class MogoObuDcCombineManager private constructor() : IMoGoObuWarningRsiListener
//车内标牌
MogoObuConstants.RSI_SCENE_TYPE.IVS.toString() -> {
when (rsiWarningData.warningMsgList[0].signSerialNum) {
// MogoObuConstants.RTS.RTI_TYPE_INTERSECTION -> { //十字路口
// appId = V2iEventTypeEnum.TYPE_ID_NTERSECTION.poiType
// }
MogoObuConstants.RTS.RTI_TYPE_SHAPR_TURNS -> { //急转弯
appId = EventTypeEnumNew.TYPE_ID_SHAPR_TURNS.poiType
}
@@ -191,10 +184,6 @@ class MogoObuDcCombineManager private constructor() : IMoGoObuWarningRsiListener
MogoObuConstants.RTS.RTI_TYPE_SPEED_LIMIT -> { //限速
appId = EventTypeEnumNew.TYPE_USECASE_ID_ROAD_SPEED_LIMIT.poiType
}
// MogoObuConstants.RTS.RTI_TYPE_GO_STRAIGHT_TURN_RIGHT -> { //直行或右转
// appId =
// EventTypeEnumNew.TYPE_USECASE_ID_GO_STRAIGHT_TURN_RIGHT.poiType
// }
MogoObuConstants.RTS.RTI_TYPE_BUS_WARNING -> { //公交提醒
appId = EventTypeEnumNew.TYPE_USECASE_ID_BUS_WARNING.poiType
}
@@ -258,11 +247,6 @@ class MogoObuDcCombineManager private constructor() : IMoGoObuWarningRsiListener
MogoObuConstants.STATUS.ADD -> {
saveObuToDcData(appId, alertContent, ttsContent)
showWarning(appId, alertContent, ttsContent, direction)
// 更新数据，是否需要
// TrafficDataConvertUtilsNew.cvxRtiThreatIndInfo2TrafficData(rsiWarningData)?.let {
// CallerMapUIServiceManager.getMarkerService()
// ?.updateITrafficThreatLevelInfo(it)
// }
}
MogoObuConstants.STATUS.UPDATE -> { // 更新
@@ -272,14 +256,6 @@ class MogoObuDcCombineManager private constructor() : IMoGoObuWarningRsiListener
MogoObuConstants.STATUS.DELETE -> {
// 关闭警告红边
CallerHmiManager.dismissWarning(WarningDirectionEnum.ALERT_WARNING_NON)
// 更新数据，删除标牌？
// TrafficDataConvertUtilsNew.cvxRtiThreatIndInfo2TrafficData(rsiWarningData)
// ?.let {
// // 事件结束，还原车辆颜色
// it.threatLevel = 0x01
// CallerMapUIServiceManager.getMarkerService()
// ?.updateITrafficInfo(it)
// }
}
}
}
@@ -296,25 +272,55 @@ class MogoObuDcCombineManager private constructor() : IMoGoObuWarningRsiListener
)
// 交通参与者类型 0x0:未知 UNKNOWN | 1机动车 2:非机动车 NON_MOTOR | 3:行人 PEDESTRIAN 4:obu
if (rsmWarningData != null && rsmWarningData.participant != null) {
var v2xType = ""
if (rsmWarningData.participant.ptcType == 1) { //机动车
v2xType =
var v2xType = when (rsmWarningData.participant.ptcType) {
1 -> { //机动车
EventTypeEnumNew.TYPE_USECASE_ID_VRUCW_MOTOR_VEHICLES.poiType
} else if (rsmWarningData.participant.ptcType == 2) { //非机动车
v2xType =
}
2 -> { //非机动车
EventTypeEnumNew.TYPE_USECASE_ID_VRUCW_NOT_MOTOR_VEHICLES.poiType
} else if (rsmWarningData.participant.ptcType == 3) { //行人
v2xType =
}
3 -> { //行人
EventTypeEnumNew.TYPE_USECASE_ID_VRUCW_PERSON.poiType
} else { //未知
v2xType = EventTypeEnumNew.TYPE_ERROR.poiType
}
else -> { //未知
EventTypeEnumNew.TYPE_ERROR.poiType
}
}
val ttsContent = EventTypeEnumNew.getWarningTts(v2xType)
val alertContent =
EventTypeEnumNew.getWarningContent(v2xType)
var level = -1
val direction =
getMessageDirection(rsmWarningData.participant.targetPosition) //TODO 只有一个
val direction = getMessageDirection(rsmWarningData.participant.targetPosition)
//模型的显示
when (rsmWarningData.status) {
MogoObuConstants.STATUS.ADD -> { // 添加
// 更新数据，模型变色的时候是不是update,如果不是更新，可能导致模型不变色，（add的时候，是否有level高的） TODO
TrafficDataConvertUtilsNew.cvxPtcThreatIndInfo2TrafficData(rsmWarningData)
?.let {
CallerMapUIServiceManager.getMarkerService()
?.updateITrafficThreatLevelInfo(it)
}
}
MogoObuConstants.STATUS.UPDATE -> { // 更新
}
MogoObuConstants.STATUS.DELETE -> { // 删除
// 更新数据 TODO 删除原来的，改变颜色，删除marker。不影响别的模型添加
TrafficDataConvertUtilsNew.cvxPtcThreatIndInfo2TrafficData(rsmWarningData)
?.let {
// 事件结束，还原交通参与者颜色
it.threatLevel = 0x01
CallerMapUIServiceManager.getMarkerService()
?.updateITrafficThreatLevelInfo(it)
}
//删除弱势交通元素
CallerMapUIServiceManager.getMarkerService()
?.removeCvxRvInfoIndInfo(rsmWarningData.participant.ptcId.toString())
}
}
if (rsmWarningData.warningMsg != null && rsmWarningData.warningMsg.warningDataList != null && rsmWarningData.warningMsg.warningDataList.size > 0) {
level = rsmWarningData.warningMsg.warningDataList[0].warningLevel
CallerLogger.d(
@@ -323,45 +329,36 @@ class MogoObuDcCombineManager private constructor() : IMoGoObuWarningRsiListener
rsmWarningData.warningMsg.warningDataList[0].status
} --v2xType--- $v2xType ---alertContent = $alertContent ---ttsContent= $ttsContent"
)
when (rsmWarningData.warningMsg.warningDataList[0].status) {
MogoObuConstants.STATUS.ADD -> { // 添加
//更新模型的颜色
TrafficDataConvertUtilsNew.cvxPtcThreatIndInfo2TrafficData(rsmWarningData)
?.let {
CallerMapUIServiceManager.getMarkerService()
?.updateITrafficThreatLevelInfo(it)
}
if (alertContent.isEmpty() || ttsContent.isEmpty()) {
return
}
saveObuToDcData(v2xType, alertContent, ttsContent)
showWarning(v2xType, alertContent, ttsContent, direction)
// 更新数据 TODO
// TrafficDataConvertUtils.cvxPtcThreatIndInfo2TrafficData(rsmWarningData)?.let {
//// TrafficMarkerDrawer.updateITrafficThreatLevelInfo(it)
// CallerMapUIServiceManager.getMarkerService()
// ?.updateITrafficThreatLevelInfo(it)
// }
}
MogoObuConstants.STATUS.UPDATE -> {// 更新
}
// 删除
MogoObuConstants.STATUS.DELETE -> {
MogoObuConstants.STATUS.DELETE -> { // 删除
// 关闭警告红边
CallerHmiManager.dismissWarning(WarningDirectionEnum.ALERT_WARNING_ALL)
// 更新数据 TODO 由于obu通过域控需要转换单位，这里临时转换，后面3.0不需要转换
// TrafficDataConvertUtils.cvxPtcThreatIndInfo2TrafficData(rsmWarningData)?.let {
// // 事件结束，还原交通参与者颜色
// it.threatLevel = 0x01
//// TrafficMarkerDrawer.updateITrafficThreatLevelInfo(it)
// CallerMapUIServiceManager.getMarkerService()
// ?.updateITrafficThreatLevelInfo(it)
// }
//删除弱势交通元素
CallerMapUIServiceManager.getMarkerService()
?.removeCvxRvInfoIndInfo(rsmWarningData.participant.ptcId.toString())
// TrafficMarkerDrawer.removeCvxRvInfoIndInfo(rsmWarningData.participantOfOne.ptcID.toString())
}
}
}
}
}
}
/**
@@ -383,10 +380,6 @@ class MogoObuDcCombineManager private constructor() : IMoGoObuWarningRsiListener
* 地图匹配 是OBU算法输出地图匹配结果，主车匹配道路哪条路或者哪条车道
*/
fun onMogoObuMapMath(data: ObuScene.MapMatchData?) {
CallerLogger.d(
"${M_OBU}${TAG}",
"MogoObuDcCombineManager onMogoObuMapMath HmiBuildConfig.isShowObuLimitSpeedView = " + HmiBuildConfig.isShowObuLimitSpeedView
)
if (HmiBuildConfig.isShowObuLimitSpeedView) {
if (data != null) {
CallerLogger.d(
@@ -398,7 +391,7 @@ class MogoObuDcCombineManager private constructor() : IMoGoObuWarningRsiListener
} --- data.speedMaxLimit = ${data.speedMaxLimit}"
)
when (data.status) {
MogoObuConstants.STATUS.ADD -> { // 添加 TODO
MogoObuConstants.STATUS.ADD -> { // 添加
CallerLimitingVelocityListenerManager.invokeUnion(
(data.speedMaxLimit * 0.02 * 3.6).roundToInt().toInt(),
DataSourceType.OBU
@@ -469,6 +462,7 @@ class MogoObuDcCombineManager private constructor() : IMoGoObuWarningRsiListener
MogoObuConstants.STATUS.DELETE -> {
// 移除顶部弹窗，当收不到信号的时候触发一次
CallerTrafficLightListenerManager.disableTrafficLight()
CallerTrafficLightListenerManager.invokeTrafficLightDisapper()
isShowGreenWave = false
isShowRunRedLight = false
}
@@ -598,18 +592,7 @@ class MogoObuDcCombineManager private constructor() : IMoGoObuWarningRsiListener
* 保存obu通过工控机传输的数据到消息盒子
*/
private fun saveObuToDcData(type: String, content: String, tts: String) {
CallerMsgBoxManager.saveMsgBox(
MsgBoxBean(
MsgBoxType.V2X,
V2XMsg(
type,
content,
tts
)
).apply {
sourceType = DataSourceType.TELEMATIC
}
)
CallerObuSaveMessageListenerManager.invokeObuSaveMessage(type, content, tts, DataSourceType.TELEMATIC)
}
/**

36
core/function-impl/mogo-core-function-datacenter/src/main/java/com/mogo/eagle/core/function/datacenter/obu/MogoPrivateObuNewManager.kt
View File

@@ -107,7 +107,7 @@ class MogoPrivateObuNewManager private constructor() {
fun setObuLog(isChecked: Boolean) {
ObuManager.getInstance().setEnableLog(isChecked)
val builder: com.mogo.support.obu.option.MogoObuLog.Builder =
val builder: MogoObuLog.Builder =
MogoObuLog.newBuilder().setEnableStdio(isChecked)
if (isChecked) {
builder.setStdioLevel(MogoObuLogLevel.DBG)
@@ -437,27 +437,24 @@ class MogoPrivateObuNewManager private constructor() {
if (HmiBuildConfig.isShowObuWeaknessTrafficView) {
// 交通参与者类型 0x0:未知 UNKNOWN | 1机动车 2:非机动车 NON_MOTOR | 3:行人 PEDESTRIAN 4:obu
if (data != null && data.participant != null) {
var v2xType = ""
if (data.participant.ptcType == 1) { //机动车
v2xType =
var v2xType = when (data.participant.ptcType) {
1 -> { //机动车
EventTypeEnumNew.TYPE_USECASE_ID_VRUCW_MOTOR_VEHICLES.poiType
} else if (data.participant.ptcType == 2) { //非机动车
v2xType =
}
2 -> { //非机动车
EventTypeEnumNew.TYPE_USECASE_ID_VRUCW_NOT_MOTOR_VEHICLES.poiType
} else if (data.participant.ptcType == 3) { //行人
v2xType =
}
3 -> { //行人
EventTypeEnumNew.TYPE_USECASE_ID_VRUCW_PERSON.poiType
} else { //未知
v2xType = EventTypeEnumNew.TYPE_ERROR.poiType
}
else -> { //未知
EventTypeEnumNew.TYPE_ERROR.poiType
}
}
val ttsContent = EventTypeEnumNew.getWarningTts(v2xType)
val alertContent =
EventTypeEnumNew.getWarningContent(v2xType)
val alertContent = EventTypeEnumNew.getWarningContent(v2xType)
var level = -1
val direction = getMessageDirection(data.participant.targetPosition)
//物体数据绘制
CallerLogger.d(
"$M_OBU${MogoObuConst.TAG_MOGO_NEW_OBU}",
"onMogoObuRsmWarning ---- data.status = ${data.status} ---data.participant.ptcId = ${data.participant.ptcId} ---data.participant.ptcType = ${data.participant.ptcType} ---data.warningMsg = ${data.warningMsg} -----data = ${data.toString()}"
@@ -745,11 +742,6 @@ class MogoPrivateObuNewManager private constructor() {
v2xType = EventTypeEnumNew.TYPE_USECASE_ID_EVW.poiType
}
// 这里处理固定的提示信息,包括了<紧急车辆提醒>
else -> {
// ttsContent = EventTypeEnumNew.getWarningTts(appId.toString())
// alertContent = EventTypeEnumNew.getWarningContent(appId.toString())
}
}
when (status) {
@@ -830,9 +822,9 @@ class MogoPrivateObuNewManager private constructor() {
MogoObuConstants.STATUS.DELETE -> {
// 移除顶部弹窗
CallerTrafficLightListenerManager.disableTrafficLight()
CallerTrafficLightListenerManager.invokeTrafficLightDisapper()
isShowGreenWave = false
isShowRunRedLight = false
CallerTrafficLightListenerManager.invokeTrafficLightDisapper()
}
}
}
@@ -969,7 +961,7 @@ class MogoPrivateObuNewManager private constructor() {
* 保存obu直连数据到消息盒子
*/
private fun saveObuData(type: String, content: String, tts: String) {
CallerObuSaveMessageListenerManager.invokeObuSaveMessage(type, content, tts)
CallerObuSaveMessageListenerManager.invokeObuSaveMessage(type, content, tts, DataSourceType.OBU)
}
/**

4
core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/hmi/ui/setting/DebugSettingView.kt
View File

@@ -1931,12 +1931,12 @@ internal class DebugSettingView @JvmOverloads constructor(
}
/**
* 车辆挂挡档位
* 车辆挂档档位
* @param gear 档位
*/
override fun onAutopilotGearData(gear: Chassis.GearPosition) {
ThreadUtils.runOnUiThread {
tvGearInfo.text = "挂挡档位：${gear}"
tvGearInfo.text = "挂档档位：${gear}"
}
}

2
core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/hmi/ui/widget/VersionNameView.kt
View File

@@ -60,7 +60,7 @@ class VersionNameView @JvmOverloads constructor(
@SuppressLint("SetTextI18n")
private fun showCurrentPadVersion() {
tvAppVersionName?.let {
// it.text = "APP:${AppUtils.getAppVersionName()}"
it.text = "APP:${AppUtils.getAppVersionName()}"
}
}

2
core/function-impl/mogo-core-function-hmi/src/main/res/layout/view_debug_setting.xml
View File

@@ -1009,7 +1009,7 @@
style="@style/DebugSettingText"
android:layout_width="match_parent"
android:layout_height="wrap_content"
android:text="挂挡档位:" />
android:text="挂档档位:" />
<View
android:layout_width="match_parent"

149
core/function-impl/mogo-core-function-startup/src/main/java/com/mogo/eagle/core/function/startup/stageone/HttpDnsStartUp.kt
View File

@@ -11,15 +11,16 @@ import com.mogo.cloud.passport.IMoGoTokenCallback
import com.mogo.cloud.passport.MoGoAiCloudClient
import com.mogo.cloud.passport.MoGoAiCloudClientConfig
import com.mogo.commons.AbsMogoApplication
import com.mogo.commons.utils.MogoAnalyticUtils
import com.mogo.commons.constants.SharedPrefsConstants
import com.mogo.commons.debug.DebugConfig
import com.mogo.commons.module.status.MogoStatusManager
import com.mogo.commons.network.NetConfigUtils
import com.mogo.commons.utils.MogoAnalyticUtils
import com.mogo.eagle.core.data.config.FunctionBuildConfig
import com.mogo.eagle.core.data.deva.chain.ChainConstant.Companion.CHAIN_ALIAS_CODE_CLOUD_CONNECT_FAIL
import com.mogo.eagle.core.data.deva.chain.ChainConstant.Companion.CHAIN_ALIAS_CODE_CLOUD_CONNECT_LOST
import com.mogo.eagle.core.data.deva.chain.ChainConstant.Companion.CHAIN_ALIAS_CODE_CLOUD_CONNECT_SUCCESS
import com.mogo.eagle.core.data.deva.chain.ChainConstant.Companion.CHAIN_ALIAS_CODE_CLOUD_RECONNECT
import com.mogo.eagle.core.data.deva.chain.ChainConstant.Companion.CHAIN_LINK_CLOUD
import com.mogo.eagle.core.data.deva.chain.ChainConstant.Companion.CHAIN_LINK_LOG_CONNECT_STATUS
import com.mogo.eagle.core.data.map.MogoLocation
@@ -29,29 +30,35 @@ import com.mogo.eagle.core.function.call.cloud.CallerCloudListenerManager
import com.mogo.eagle.core.function.call.devatools.CallerDevaToolsManager
import com.mogo.eagle.core.function.call.map.CallerMapUIServiceManager
import com.mogo.eagle.core.utilcode.mogo.logger.CallerLogger
import com.mogo.eagle.core.utilcode.mogo.logger.scene.SceneConstant
import com.mogo.eagle.core.utilcode.mogo.logger.scene.SceneConstant.Companion.M_MAIN
import com.mogo.eagle.core.utilcode.mogo.storage.SharedPrefsMgr
import com.mogo.eagle.core.utilcode.util.*
import com.rousetime.android_startup.AndroidStartup
import com.zhjt.service.chain.ChainLog
import com.zhjt.service.chain.TracingConstants.Endpoint.Companion.PAD
import kotlin.properties.Delegates
class HttpDnsStartUp : AndroidStartup<Boolean>() {
private val TAG = "MogoApplication"
companion object {
private const val TAG = "HttpDnsStartUp"
}
// 配置云服务API
private val clientConfig by lazy {
MoGoAiCloudClientConfig.getInstance()
}
// 缓存IP地址
private var cacheIp: String? = null
private var context: Context? = null
private var gotToken = false
private var httpDnsSimpleLocation by Delegates.observable(getDefaultSimpleLocation()) { _, oldValue, newValue ->
if (oldValue.cityCode != newValue.cityCode) {
reConnectSocket(oldValue.cityCode, newValue.cityCode)
}
}
override fun callCreateOnMainThread() = true
override fun waitOnMainThread() = false
@@ -90,9 +97,9 @@ class HttpDnsStartUp : AndroidStartup<Boolean>() {
clientConfig.isUseOriginSocket = true
// 设置是否输出网络日志
clientConfig.isShowNetDebugLog = false
clientConfig.passportUrl = FunctionBuildConfig.urlJson.passportUrl
clientConfig.socketBaseUrl = FunctionBuildConfig.urlJson.socketBaseUrl
clientConfig.socketTechUrl = FunctionBuildConfig.urlJson.socketTechUrl
// clientConfig.passportUrl //todo 亚坤
// clientConfig.socketBaseUrl
// clientConfig.socketTechUrl
// 设置是否是直播推流的主播
clientConfig.isAnchor = true
when (DebugConfig.getCarMachineType()) {
@@ -121,7 +128,10 @@ class HttpDnsStartUp : AndroidStartup<Boolean>() {
override fun getCurrentLocation(): HttpDnsSimpleLocation {
val envConfig = CallerDevaToolsManager.getEnvConfig()
if (envConfig != null) {
return HttpDnsSimpleLocation(envConfig.cityCode, envConfig.lat, envConfig.lon)
// 更新
httpDnsSimpleLocation =
HttpDnsSimpleLocation(envConfig.cityCode, envConfig.lat, envConfig.lon)
return httpDnsSimpleLocation
}
var mogoLocation: MogoLocation? = null
val locationClient =
@@ -129,49 +139,25 @@ class HttpDnsStartUp : AndroidStartup<Boolean>() {
if (locationClient != null) {
mogoLocation = locationClient
}
val httpDnsSimpleLocation =
if (mogoLocation != null && mogoLocation.latitude != 0.0 && mogoLocation.longitude != 0.0) {
if (mogoLocation.cityCode.isNullOrEmpty()
&& !CallerMapUIServiceManager.getGDLocationServer(context!!)?.lastCityCode.isNullOrEmpty()
) {
HttpDnsSimpleLocation(
CallerMapUIServiceManager.getGDLocationServer(context!!)?.lastCityCode
?: "010",
mogoLocation.latitude,
mogoLocation.longitude
)
} else {
HttpDnsSimpleLocation(
mogoLocation.cityCode,
mogoLocation.latitude,
mogoLocation.longitude
)
}
if (mogoLocation != null && mogoLocation.latitude != 0.0 && mogoLocation.longitude != 0.0) {
// 更新
httpDnsSimpleLocation = if (mogoLocation.cityCode.isNullOrEmpty()
&& !CallerMapUIServiceManager.getGDLocationServer(context!!)?.lastCityCode.isNullOrEmpty()
) {
HttpDnsSimpleLocation(
CallerMapUIServiceManager.getGDLocationServer(context!!)?.lastCityCode
?: "010",
mogoLocation.latitude,
mogoLocation.longitude
)
} else {
val ciyCode =
SharedPrefsMgr.getInstance(
AbsMogoApplication.getApp()
)
.getString(SharedPrefsConstants.LOCATION_CITY_CODE)
val latitude =
SharedPrefsMgr.getInstance(
AbsMogoApplication.getApp()
)
.getString(SharedPrefsConstants.LOCATION_LATITUDE)
val longitude =
SharedPrefsMgr.getInstance(
AbsMogoApplication.getApp()
)
.getString(SharedPrefsConstants.LOCATION_LONGITUDE)
try {
HttpDnsSimpleLocation(
ciyCode, latitude.toDouble(), longitude.toDouble()
)
} catch (e: NumberFormatException) {
// e.printStackTrace();
HttpDnsSimpleLocation("010", 1.0, 1.0)
}
HttpDnsSimpleLocation(
mogoLocation.cityCode,
mogoLocation.latitude,
mogoLocation.longitude
)
}
}
return httpDnsSimpleLocation
}
}
@@ -186,10 +172,7 @@ class HttpDnsStartUp : AndroidStartup<Boolean>() {
clientConfig.token = token
// 由于存在token过期问题，在更新后会回调至此处，增加二次判定
if (!gotToken) {
CallerLogger.d(
SceneConstant.M_MAIN + TAG,
"onTokenGot token : $token , sn :$sn"
)
CallerLogger.d("$M_MAIN$TAG", "onTokenGot token : $token , sn :$sn")
CallerCloudListenerManager.invokeCloudTokenGot(token, sn)
// 异步初始化NetConfig
asyncInit()
@@ -202,7 +185,7 @@ class HttpDnsStartUp : AndroidStartup<Boolean>() {
override fun onError(code: Int, msg: String) {
CallerLogger.d(
SceneConstant.M_MAIN + TAG,
"$M_MAIN$TAG",
"初始化MogoAiCloudSdk failed ,reason : $msg , 未能开启长链服务和初始化Modules服务"
)
}
@@ -250,13 +233,10 @@ class HttpDnsStartUp : AndroidStartup<Boolean>() {
}
private fun startSocketService() {
CallerLogger.d(SceneConstant.M_MAIN + TAG, "startSocketService")
CallerLogger.d("$M_MAIN$TAG","startSocketService")
val location = CallerChassisLocationGCJ02ListenerManager.getChassisLocationGCJ02()
// 关闭长链服务
MogoAiCloudSocketManager.getInstance(context).destroy()
MogoAiCloudSocketManager.getInstance(context)
.registerLifecycleListener(10020, object : IMogoLifecycleListener {
@ChainLog(
linkChainLog = CHAIN_LINK_LOG_CONNECT_STATUS,
linkCode = CHAIN_LINK_CLOUD,
@@ -266,7 +246,7 @@ class HttpDnsStartUp : AndroidStartup<Boolean>() {
clientPkFileName = "sn"
)
override fun onConnectFailure() {
CallerLogger.d(SceneConstant.M_MAIN + TAG, "socket-onConnectFailure")
CallerLogger.d("$M_MAIN$TAG", "socket-onConnectFailure")
MogoStatusManager.getInstance().setCloudSocketMode(TAG, false)
}
@@ -279,7 +259,7 @@ class HttpDnsStartUp : AndroidStartup<Boolean>() {
clientPkFileName = "sn"
)
override fun onConnectSuccess() {
CallerLogger.d(SceneConstant.M_MAIN + TAG, "socket-onConnectSuccess")
CallerLogger.d("$M_MAIN$TAG", "socket-onConnectSuccess")
MogoStatusManager.getInstance().setCloudSocketMode(TAG, true)
}
@@ -292,7 +272,7 @@ class HttpDnsStartUp : AndroidStartup<Boolean>() {
clientPkFileName = "sn"
)
override fun onConnectLost() {
CallerLogger.d(SceneConstant.M_MAIN + TAG, "socket-onConnectLost")
CallerLogger.d("$M_MAIN$TAG", "socket-onConnectLost")
MogoStatusManager.getInstance().setCloudSocketMode(TAG, false)
}
@@ -305,10 +285,7 @@ class HttpDnsStartUp : AndroidStartup<Boolean>() {
clientPkFileName = "sn"
)
override fun onError(code: String, msg: String?) {
CallerLogger.d(
SceneConstant.M_MAIN + TAG,
"socket-onError code : $code , msg : $msg"
)
CallerLogger.d("$M_MAIN$TAG", "socket-onError code : $code , msg : $msg")
}
})
// 开启Socket长链服务
@@ -319,4 +296,42 @@ class HttpDnsStartUp : AndroidStartup<Boolean>() {
MogoAiCloudSocketManager.getInstance(context)
.init(context, DebugConfig.getSocketAppId(), lat, lon)
}
@ChainLog(
linkChainLog = CHAIN_LINK_LOG_CONNECT_STATUS,
linkCode = CHAIN_LINK_CLOUD,
endpoint = PAD,
nodeAliasCode = CHAIN_ALIAS_CODE_CLOUD_RECONNECT,
paramIndexes = [0, 1],
clientPkFileName = "sn"
)
private fun reConnectSocket(oldCityCode: String, newCityCode: String) {
CallerLogger.d("$M_MAIN$TAG", "reConnectSocket oldCityCode : $oldCityCode , newCityCode : $newCityCode")
MogoAiCloudSocketManager.getInstance(context).reConnect()
}
private fun getDefaultSimpleLocation(): HttpDnsSimpleLocation {
val ciyCode =
SharedPrefsMgr.getInstance(
AbsMogoApplication.getApp()
)
.getString(SharedPrefsConstants.LOCATION_CITY_CODE)
val latitude =
SharedPrefsMgr.getInstance(
AbsMogoApplication.getApp()
)
.getString(SharedPrefsConstants.LOCATION_LATITUDE)
val longitude =
SharedPrefsMgr.getInstance(
AbsMogoApplication.getApp()
)
.getString(SharedPrefsConstants.LOCATION_LONGITUDE)
return try {
HttpDnsSimpleLocation(
ciyCode, latitude.toDouble(), longitude.toDouble()
)
} catch (e: NumberFormatException) {
HttpDnsSimpleLocation("010", 1.0, 1.0)
}
}
}

1
core/mogo-core-data/src/main/java/com/mogo/eagle/core/data/deva/chain/ChainConstant.kt
View File

@@ -58,6 +58,7 @@ class ChainConstant {
const val CHAIN_ALIAS_CODE_CLOUD_CONNECT_FAIL = "CHAIN_ALIAS_CODE_CLOUD_CONNECT_FAIL"
const val CHAIN_ALIAS_CODE_CLOUD_CONNECT_SUCCESS = "CHAIN_ALIAS_CODE_CLOUD_CONNECT_SUCCESS"
const val CHAIN_ALIAS_CODE_CLOUD_RECONNECT = "CHAIN_ALIAS_CODE_CLOUD_RECONNECT"
const val CHAIN_ALIAS_CODE_CLOUD_CONNECT_LOST = "CHAIN_ALIAS_CODE_CLOUD_CONNECT_LOST"
const val CHAIN_ALIAS_CODE_CLOUD_CONNECT_ERROR = "CHAIN_ALIAS_CODE_CLOUD_CONNECT_ERROR"
const val CHAIN_ALIAS_CODE_HTTP_DNS_CHANGED = "CHAIN_ALIAS_CODE_HTTP_DNS_CHANGED"

22
core/mogo-core-function-api/src/main/java/com/mogo/eagle/core/function/api/autopilot/IMoGoAutopilotControlProvider.kt
View File

@@ -290,4 +290,26 @@ interface IMoGoAutopilotControlProvider : IMoGoFunctionServerProvider {
* @param isDrawPointCloud 是否绘制点云
*/
fun setIsDrawPointCloud(isDrawPointCloud: Boolean)
fun sendRoboBusJinlvM1FrontDoorCmd(switchCmd: Int): Boolean
fun sendRoboBusJinlvM1AirConditionerCmd(
switchCmd: Int,
modeCmd: Int,
windSpeedCmd: Int,
temperatureCmd: Int
): Boolean
fun sendRoboBusJinlvM1HeaderCmd(switchCmd: Int, windSpeedCmd: Int): Boolean
fun sendRoboBusJinlvM1MainLamp1Cmd(switchCmd: Int): Boolean
fun sendRoboBusJinlvM1MainLamp2Cmd(switchCmd: Int): Boolean
/**
* 车门控制
*/
fun sendRoboBusJinlvM1SmallLampCmd(switchCmd: Int): Boolean
fun sendRoboBusJinlvM1TaskCmd(roboBusJinlvM1Cmd: SpecialVehicleTaskCmdOuterClass.RoboBusJinlvM1Cmd): Boolean
}

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

@@ -3,12 +3,12 @@ package com.mogo.eagle.core.function.api.autopilot
import chassis.Chassis
/**
* 车辆挂挡档位 数据 回调监听
* 车辆挂档档位 数据 回调监听
*/
interface IMoGoChassisGearStateListener {
/**
* 车辆挂挡档位
* 车辆挂档档位
* @param gear 档位
*/
fun onAutopilotGearData(gear: Chassis.GearPosition)

6
core/mogo-core-function-api/src/main/java/com/mogo/eagle/core/function/api/obu/IMoGoObuSaveMessageListener.kt
View File

@@ -1,5 +1,7 @@
package com.mogo.eagle.core.function.api.obu
import com.mogo.eagle.core.data.enums.DataSourceType
/**
* OBU 数据保存
* @author lixiaopeng
@@ -11,8 +13,8 @@ interface IMoGoObuSaveMessageListener {
* @param type 事件id，类似与uuid
* @param content 事件内容
* @param tts 事件语音播报
*
* @param sourceType 来源
*/
fun onMoGoObuSaveMessage(type: String, content: String, tts: String)
fun onMoGoObuSaveMessage(type: String, content: String, tts: String, sourceType: DataSourceType)
}

35
core/mogo-core-function-call/src/main/java/com/mogo/eagle/core/function/call/autopilot/CallerAutoPilotControlManager.kt
View File

@@ -415,4 +415,39 @@ object CallerAutoPilotControlManager {
providerApi?.setIsDrawPointCloud(isDrawPointCloud)
}
fun sendRoboBusJinlvM1FrontDoorCmd(switchCmd: Int): Boolean {
return providerApi?.sendRoboBusJinlvM1FrontDoorCmd(switchCmd) ?: false
}
fun sendRoboBusJinlvM1AirConditionerCmd(
switchCmd: Int,
modeCmd: Int,
windSpeedCmd: Int,
temperatureCmd: Int
): Boolean {
return providerApi?.sendRoboBusJinlvM1AirConditionerCmd(switchCmd, modeCmd, windSpeedCmd, temperatureCmd) ?: false
}
fun sendRoboBusJinlvM1HeaderCmd(switchCmd: Int, windSpeedCmd: Int): Boolean {
return providerApi?.sendRoboBusJinlvM1HeaderCmd(switchCmd, windSpeedCmd) ?: false
}
fun sendRoboBusJinlvM1MainLamp1Cmd(switchCmd: Int): Boolean {
return providerApi?.sendRoboBusJinlvM1MainLamp1Cmd(switchCmd) ?: false
}
fun sendRoboBusJinlvM1MainLamp2Cmd(switchCmd: Int): Boolean {
return providerApi?.sendRoboBusJinlvM1MainLamp2Cmd(switchCmd) ?: false
}
/**
* 车门控制
*/
fun sendRoboBusJinlvM1SmallLampCmd(switchCmd: Int): Boolean {
return providerApi?.sendRoboBusJinlvM1SmallLampCmd(switchCmd) ?: false
}
fun sendRoboBusJinlvM1TaskCmd(roboBusJinlvM1Cmd: SpecialVehicleTaskCmdOuterClass.RoboBusJinlvM1Cmd): Boolean {
return providerApi?.sendRoboBusJinlvM1TaskCmd(roboBusJinlvM1Cmd) ?: false
}
}

2
core/mogo-core-function-call/src/main/java/com/mogo/eagle/core/function/call/autopilot/CallerChassisBrakeStateListenerManager.kt
View File

@@ -4,7 +4,7 @@ import com.mogo.eagle.core.function.api.autopilot.IMoGoChassisBrakeStateListener
import com.mogo.eagle.core.function.call.base.CallerBase
/**
* 车辆挂挡档位 回调监听
* 车辆刹车 回调监听
*/
object CallerChassisBrakeStateListenerManager : CallerBase<IMoGoChassisBrakeStateListener>() {

4
core/mogo-core-function-call/src/main/java/com/mogo/eagle/core/function/call/autopilot/CallerChassisGearStateListenerManager.kt
View File

@@ -5,12 +5,12 @@ import com.mogo.eagle.core.function.api.autopilot.IMoGoChassisGearStateListener
import com.mogo.eagle.core.function.call.base.CallerBase
/**
* 车辆挂挡档位 回调监听
* 车辆挂档档位 回调监听
*/
object CallerChassisGearStateListenerManager : CallerBase<IMoGoChassisGearStateListener>() {
/**
* 车辆挂挡档位
* 车辆挂档档位
* @param gear 档位
*/
fun invokeAutopilotGearData(gear: Chassis.GearPosition) {

2
core/mogo-core-function-call/src/main/java/com/mogo/eagle/core/function/call/autopilot/CallerChassisLocationGCJ02ListenerManager.kt
View File

@@ -35,8 +35,6 @@ object CallerChassisLocationGCJ02ListenerManager : CallerBase<IMoGoChassisLocati
setListenerHz(tag, callBackHz)
}
//todo 宏宇 添加HZ的移除操作
fun getChassisLocationGCJ02(): MogoLocation? {
return mGnssInfo
}

20
core/mogo-core-function-call/src/main/java/com/mogo/eagle/core/function/call/base/CallerBase.kt
View File

@@ -70,6 +70,16 @@ open class CallerBase<T : Any> {
return
}
M_LISTENERS.remove(tag)
if (!M_LISTENERS_HZ.containsKey(tag)) {
return
}
M_LISTENERS_HZ.remove(tag)
if (!M_LISTENERS_HZ_LAST_SEND_TIME.containsKey(tag)) {
return
}
M_LISTENERS_HZ_LAST_SEND_TIME.remove(tag)
}
/**
@@ -83,6 +93,16 @@ open class CallerBase<T : Any> {
M_LISTENERS.forEach {
if (it.value == listener) {
M_LISTENERS.remove(it.key)
if (!M_LISTENERS_HZ.containsKey(it.key)) {
return
}
M_LISTENERS_HZ.remove(it.key)
if (!M_LISTENERS_HZ_LAST_SEND_TIME.containsKey(it.key)) {
return
}
M_LISTENERS_HZ_LAST_SEND_TIME.remove(it.key)
}
}
}

5
core/mogo-core-function-call/src/main/java/com/mogo/eagle/core/function/call/obu/CallerObuSaveMessageListenerManager.kt
View File

@@ -1,5 +1,6 @@
package com.mogo.eagle.core.function.call.obu
import com.mogo.eagle.core.data.enums.DataSourceType
import com.mogo.eagle.core.function.api.obu.IMoGoObuSaveMessageListener
import com.mogo.eagle.core.function.api.obu.IMoGoObuWarningRsiListener
import com.mogo.eagle.core.function.call.base.CallerBase
@@ -11,11 +12,11 @@ import com.mogo.support.obu.ObuScene
*/
object CallerObuSaveMessageListenerManager : CallerBase<IMoGoObuSaveMessageListener>() {
fun invokeObuSaveMessage(type: String, content: String, tts: String) {
fun invokeObuSaveMessage(type: String, content: String, tts: String, sourceType: DataSourceType) {
M_LISTENERS.forEach {
val tag = it.key
val listener = it.value
listener.onMoGoObuSaveMessage(type, content, tts)
listener.onMoGoObuSaveMessage(type, content, tts, sourceType)
}
}

9
core/mogo-core-utils/src/main/java/com/mogo/eagle/core/utilcode/mogo/AppIdentityModeUtils.kt
View File

@@ -31,7 +31,6 @@ object AppIdentityModeUtils {
private fun getInfo(appIdentityMode: String): Array<String> {
val split = appIdentityMode.split("_")
if (split.size == 3) {
@@ -40,6 +39,14 @@ object AppIdentityModeUtils {
return arrayOf("", "", "")
}
fun getBuildCarType(appIdentityMode: String): String {
val (_, _, carType) = getInfo(appIdentityMode)
if(carType.isNotEmpty()){
return carType
}
return ""
}
/**
* 是否是 司机端（这里不细分具体是：小巴、出租车等类型）
*

5
foudations/mogo-aicloud-services-sdk/src/main/java/com/mogo/aicloud/services/socket/IMogoSocketManager.java
View File

@@ -21,6 +21,11 @@ public interface IMogoSocketManager extends IProvider {
*/
void init( Context context, String appId , double lat, double lon);
/**
* 重新连接
*/
void reConnect();
/**
* 注册消息监听
*

5
foudations/mogo-aicloud-services-sdk/src/main/java/com/mogo/aicloud/services/socket/MogoAiCloudSocketManager.java
View File

@@ -74,6 +74,11 @@ public class MogoAiCloudSocketManager extends ConnectionLifecycleListener implem
SocketManager.getInstance().init(context, lat, lon);
}
@Override
public void reConnect() {
SocketManager.getInstance().reConnect();
}
@Override
public void registerOnMessageListener(int msgType, IMogoOnMessageListener listener) {
if (mListeners.containsKey(msgType)) {

18
gradle.properties
View File

@@ -66,23 +66,23 @@ SERVICE_BIZ_VERSION=1.2.4
LOGLIB_VERSION=1.5.10
######## MogoAiCloudSDK Version ########
# 网络请求LOGLIB_VERSION
MOGO_NETWORK_VERSION=1.4.4.4
MOGO_NETWORK_VERSION=1.4.4.7
# 鉴权
MOGO_PASSPORT_VERSION=1.4.4.4
MOGO_PASSPORT_VERSION=1.4.4.7
# 常链接
MOGO_SOCKET_VERSION=1.4.4.4
MOGO_SOCKET_VERSION=1.4.4.7
# 数据采集
MOGO_REALTIME_VERSION=1.4.4.4
MOGO_REALTIME_VERSION=1.4.4.7
# 探路，道路事件发布，获取
MOGO_TANLU_VERSION=1.4.4.4
MOGO_TANLU_VERSION=1.4.4.7
# 直播推流
MOGO_LIVE_VERSION=1.4.4.4
MOGO_LIVE_VERSION=1.4.4.7
# 直播拉流
MOGO_TRAFFICLIVE_VERSION=1.4.4.4
MOGO_TRAFFICLIVE_VERSION=1.4.4.7
# 定位服务
MOGO_LOCATION_VERSION=1.4.4.4
MOGO_LOCATION_VERSION=1.4.4.7
# 远程通讯模块
MOGO_TELEMATIC_VERSION=1.4.4.4
MOGO_TELEMATIC_VERSION=1.4.4.7
######## MogoAiCloudSDK Version ########
# 自研地图
MAP_SDK_VERSION=2.10.0.2_test_01

53
libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/AdasChannel.java
View File

@@ -23,7 +23,6 @@ import androidx.annotation.Nullable;
import com.google.protobuf.InvalidProtocolBufferException;
import com.zhidao.support.adas.high.bean.AutopilotStatistics;
import com.zhidao.support.adas.high.bean.VersionCompatibility;
import com.zhidao.support.adas.high.common.AutopilotAbilityManager;
import com.zhidao.support.adas.high.common.AutopilotReview;
import com.zhidao.support.adas.high.common.ByteUtil;
import com.zhidao.support.adas.high.common.Constants;
@@ -34,6 +33,7 @@ import com.zhidao.support.adas.high.common.MessageType;
import com.zhidao.support.adas.high.common.ProtocolStatus;
import com.zhidao.support.adas.high.common.ReceiveTimeoutManager;
import com.zhidao.support.adas.high.common.RegexUtils;
import com.zhidao.support.adas.high.common.autopilot.ability.AutopilotAbilityManager;
import com.zhidao.support.adas.high.msg.IMsg;
import com.zhidao.support.adas.high.msg.MyMessageFactory;
import com.zhidao.support.adas.high.protocol.RawData;
@@ -129,6 +129,7 @@ public class AdasChannel implements IAdasNetCommApi, FpgaSocket.IWebSocketConnec
* 乘客屏无法进行注册或取消注册，因为乘客屏无法感知司机屏与工控机连接状态。无法重置已注册或未注册接口列表
*/
private SubscribeInterface subscribeInterface;
private Timer carConfigReqTimer;//车辆基础信息请求 多次请求防止无法收到基础信息情况出现
public void setOnMultiDeviceListener(OnMultiDeviceListener onMultiDeviceListener) {
this.onMultiDeviceListener = onMultiDeviceListener;
@@ -535,7 +536,7 @@ public class AdasChannel implements IAdasNetCommApi, FpgaSocket.IWebSocketConnec
@Override
public void onWebSocketConnectSuccess(String ipAddress, int port) {
sendCarConfigReq();
startCarConfigReq();
ipcConnectedIp = ipAddress;
ipcConnectedPort = port;
subscribeInterface = new SubscribeInterface(this);
@@ -662,6 +663,7 @@ public class AdasChannel implements IAdasNetCommApi, FpgaSocket.IWebSocketConnec
if (status == Constants.IPC_CONNECTION_STATUS.DISCONNECTED) {
AdasManager.getInstance().setCarConfig(null);
stopDispatchHandler();
stopCarConfigReq();
}
if (adasConnectStatusListener != null) {
adasConnectStatusListener.onConnectionIPCStatus(ipcConnectionStatus.get(), reason);
@@ -775,6 +777,40 @@ public class AdasChannel implements IAdasNetCommApi, FpgaSocket.IWebSocketConnec
CupidLogUtils.setEnableLog(isEnableLog);
}
//车辆基础信息请求
private void startCarConfigReq() {
if (carConfigReqTimer == null) {
carConfigReqTimer = new Timer();
carConfigReqTimer.schedule(new TimerTask() {
int num = 0;
@Override
public void run() {
if (getIpcConnectionStatus() == Constants.IPC_CONNECTION_STATUS.CONNECTED) {
if (AdasManager.getInstance().getCarConfig() == null) {
num++;
if (num > 3) {
CupidLogUtils.i(TAG, "最后一次也未获取到车机基础信息");
stopCarConfigReq();
} else {
CupidLogUtils.i(TAG, "第" + num + "次获取车机基础信息");
sendCarConfigReq();
}
} else {
stopCarConfigReq();
}
}
}
}, 10, 2000L);
}
}
private synchronized void stopCarConfigReq() {
if (carConfigReqTimer != null) {
carConfigReqTimer.cancel();
carConfigReqTimer = null;
}
}
/**************************************************************************************************************************/
/**
@@ -1284,6 +1320,12 @@ public class AdasChannel implements IAdasNetCommApi, FpgaSocket.IWebSocketConnec
.build());
}
/**
* 金旅M1顶灯1控制
*
* @param switchCmd //0: default, 1: 开启顶灯, 2: 关闭顶灯
* @return boolean
*/
@Override
public boolean sendRoboBusJinlvM1MainLamp1Cmd(int switchCmd) {
return sendRoboBusJinlvM1TaskCmd(SpecialVehicleTaskCmdOuterClass.RoboBusJinlvM1Cmd.newBuilder()
@@ -1291,6 +1333,12 @@ public class AdasChannel implements IAdasNetCommApi, FpgaSocket.IWebSocketConnec
.build());
}
/**
* 金旅M1顶灯2控制
*
* @param switchCmd //0: default, 1: 开启顶灯, 2: 关闭顶灯
* @return boolean
*/
@Override
public boolean sendRoboBusJinlvM1MainLamp2Cmd(int switchCmd) {
return sendRoboBusJinlvM1TaskCmd(SpecialVehicleTaskCmdOuterClass.RoboBusJinlvM1Cmd.newBuilder()
@@ -1298,7 +1346,6 @@ public class AdasChannel implements IAdasNetCommApi, FpgaSocket.IWebSocketConnec
.build());
}
/**
* 金旅M1小灯(氛围灯)控制
*

4
libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/AdasManager.java
View File

@@ -685,9 +685,9 @@ public class AdasManager implements IAdasNetCommApi {
}
/**
* 金旅M1车门控制
* 金旅M1小灯(氛围灯)控制
*
* @param switchCmd //0: default, 1: 开启车门, 2: 关闭车门
* @param switchCmd //0: default, 1: 开启小灯(氛围灯), 2: 关闭小灯(氛围灯)
* @return boolean
*/
@Override

2
libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/AdasOptions.java
View File

@@ -1,6 +1,6 @@
package com.zhidao.support.adas.high;
import com.zhidao.support.adas.high.common.AutopilotAbilityManager;
import com.zhidao.support.adas.high.common.autopilot.ability.AutopilotAbilityManager;
import com.zhidao.support.adas.high.subscribe.SubscribeInterfaceOptions;
import java.util.HashSet;

118
libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/common/autopilot/ability/AutopilotAbility230.java Normal file
View File

@@ -0,0 +1,118 @@
package com.zhidao.support.adas.high.common.autopilot.ability;
import com.zhidao.support.adas.high.OnAdasListener;
import java.util.Timer;
import java.util.TimerTask;
import java.util.regex.Pattern;
import chassis.Chassis;
import chassis.ChassisStatesOuterClass;
/**
* 是否可以启动自动驾驶能力检测 工控机版本>=230&& <250 使用此类
* 目前监控了底盘的一些状态和查询节点状态应答的数据
* 没有使用监控事件报告的原因是因为，部分异常没进行正常恢复通知，例如收到了异常监控数据，但是异常恢复之后没有恢复的通知
* <p>
* 此定时器不能停止 鹰眼中存在UI更新依赖循环查询系统状态
*/
public class AutopilotAbility230 {
private static final String TAG = AutopilotAbility230.class.getSimpleName();
private static final long DEFAULT_DETECTION_TIME = 3 * 1000L;//默认检测时间
private volatile Timer timer;
private ChassisStatesOuterClass.ChassisStates chassisStates;
public AutopilotAbility230() {
}
public void setChassisStates(ChassisStatesOuterClass.ChassisStates chassisStates) {
this.chassisStates = chassisStates;
}
private void onCallback() {
//金旅、开沃小巴乘客端 不能启动自动驾驶
if (AutopilotAbilityManager.getInstance().isBusPassenger()) {
return;
}
boolean isAutopilotAbility = true;//是否能启动自动驾驶
String unableAutopilotReason = null;//不能启动自动驾驶原因
//检测底盘相关
if (chassisStates != null) {
if (chassisStates.hasBrakeSystemStates()) {
float brake = chassisStates.getBrakeSystemStates().getBrakePedalResponsePosition();
if (brake > 0) {
isAutopilotAbility = false;
unableAutopilotReason = "制动踏板被踩下";
}
}
if (isAutopilotAbility) {
/**
* 档位状态判断 目前判断的车型包括 东风Taxi 红旗Taxi 金旅Bus 金旅M1 金旅M1 福田清扫车 开沃
* TODO 如果 identityMode 未赋值以及目前已知其他车型判断逻辑跟东风Taxi和红旗 走
*/
//开沃任何档位都能启动自驾
if (!AutopilotAbilityManager.getInstance().isBusDriverVan()) {
if (chassisStates.hasGearSystemStates()) {
Chassis.GearPosition gear = chassisStates.getGearSystemStates().getGearPosition();
//金旅Bus和清扫车 档位不正常
if (AutopilotAbilityManager.getInstance().isBusDriver()) {
if (gear == Chassis.GearPosition.GEAR_N || gear == Chassis.GearPosition.GEAR_R) {
isAutopilotAbility = false;
unableAutopilotReason = "档位不正常";
}
} else if (AutopilotAbilityManager.getInstance().isSweeperDriverFutian()) {
if (gear == Chassis.GearPosition.GEAR_N) {
isAutopilotAbility = false;
unableAutopilotReason = "档位不正常";
}
} else {
//东风Taxi和红旗 司机端和乘客端 档位不正常
if (gear == Chassis.GearPosition.GEAR_P || gear == Chassis.GearPosition.GEAR_R) {
isAutopilotAbility = false;
unableAutopilotReason = "档位不正常";
}
}
}
}
}
//TODO 关于手刹：不同车型的实现不同所以目前没法使用此字段
// if (isAutopilotAbility) {
// //电子驻车制动系统
// if (chassisStates.hasEpbSystemStates()) {
// ChassisStatesOuterClass.EPBSystemStates epb = chassisStates.getEpbSystemStates();
// if (epb.hasEpbEnableState()){
// epb.getEpbWorkState();
// }
// }
// }
}
if (AutopilotAbilityManager.getInstance().getListener() != null) {
AutopilotAbilityManager.getInstance().getListener().onAutopilotAbility(isAutopilotAbility, unableAutopilotReason);
}
}
public synchronized void start() {
if (timer == null) {
timer = new Timer();
timer.schedule(new TimerTask() {
@Override
public void run() {
onCallback();
}
}, 2000L, DEFAULT_DETECTION_TIME);//延迟执行，避免刚连接成功后底盘信息无法及时同步
}
}
public synchronized void stop() {
if (timer != null) {
timer.cancel();
timer = null;
}
this.chassisStates = null;
}
}

143
libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/common/AutopilotAbilityManager.java → libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/common/autopilot/ability/AutopilotAbility250.java
View File

@@ -1,106 +1,41 @@
package com.zhidao.support.adas.high.common;
package com.zhidao.support.adas.high.common.autopilot.ability;
import android.os.Handler;
import android.os.Message;
import android.text.TextUtils;
import com.zhidao.support.adas.high.AdasManager;
import com.zhidao.support.adas.high.OnAdasListener;
import java.util.List;
import java.util.Timer;
import java.util.TimerTask;
import java.util.regex.Matcher;
import java.util.regex.Pattern;
import chassis.Chassis;
import chassis.ChassisStatesOuterClass;
import system_master.SystemStatusInfo;
/**
* 是否可以启动自动驾驶能力检测
* 是否可以启动自动驾驶能力检测 工控机版本>=250使用此类
* 目前监控了底盘的一些状态和查询节点状态应答的数据
* 没有使用监控事件报告的原因是因为，部分异常没进行正常恢复通知，例如收到了异常监控数据，但是异常恢复之后没有恢复的通知
* <p>
* 此定时器不能停止 鹰眼中存在UI更新依赖循环查询系统状态
*/
public class AutopilotAbilityManager {
private static final String TAG = AutopilotAbilityManager.class.getSimpleName();
public class AutopilotAbility250 {
private static final String TAG = AutopilotAbility250.class.getSimpleName();
private static final int WHAT_TIMEOUT = 0;
private static final int DEFAULT_TIMEOUT = 1500;
private static final long DEFAULT_DETECTION_TIME = 3 * 1000L;//默认检测时间
private static final String[] NODE_INFO_STATE = {"未知状态 ", "依赖未就绪 ", "启动中 ", "运行 ", "停止 ", "无法启动状态 ", "人为启动状态 ", "人为关闭状态 "};
private static volatile AutopilotAbilityManager INSTANCE;
private OnAdasListener listener;
private volatile Timer timer;
private final Pattern pattern = Pattern.compile("\\d+.\\d+.\\d+");
private ChassisStatesOuterClass.ChassisStates chassisStates;
private Handler handler;
private OnAutopilotAbilityListener onAutopilotAbilityListener;
/**
* 身份/车型
*/
private String identityMode;
public interface OnAutopilotAbilityListener {
void onStatusQuery();//查询是被调用
public AutopilotAbility250() {
}
/**
* 身份规则定义根据app/productFlavors/README.md
* * taxi司机屏 Taxi_Driver_Base （东风、红旗司机端）
* * taxi乘客屏 Taxi_Passenger_Base （东风、红旗乘客端）
* * bus司机屏 Bus_Driver_Base （金旅小巴司机端）
* * Bus_Driver_Van （开沃小巴司机端）
* * bus乘客屏 Bus_Passenger_Base （金旅、开沃小巴乘客端）
* * Bus_Passenger_M1 （M1小巴乘客端）
* * Bus_Passenger_M2 （M2小巴乘客端）
* * 清扫车 Sweeper_Driver_FT （福田清扫车司机端）
* <p>
* 此定义不区分角色，只区分业务线和车型
*/
private interface IDENTITY_MODE {
String TAXI_DRIVER_BASE = "Taxi_Driver_Base";//（东风、红旗司机端）
String TAXI_PASSENGER_BASE = "Taxi_Passenger_Base";//（东风、红旗乘客端）
String BUS_DRIVER_BASE = "Bus_Driver_Base";//（金旅小巴司机端）
String BUS_DRIVER_VAN = "Bus_Driver_Van";//（开沃小巴司机端）
String BUS_PASSENGER_BASE = "Bus_Passenger_Base";//（金旅、开沃小巴乘客端）
String BUS_PASSENGER_M1 = "Bus_Passenger_M1";//（M1小巴乘客端）
String BUS_PASSENGER_M2 = "Bus_Passenger_M2";//（M2小巴乘客端）
String SWEEPER_DRIVER_FT = "Sweeper_Driver_FT";//（福田清扫车司机端）
}
public void setIdentityMode(String identityMode) {
this.identityMode = identityMode;
}
public void setOnAdasListener(OnAdasListener listener) {
this.listener = listener;
}
public void setOnAutopilotAbilityListener(OnAutopilotAbilityListener onAutopilotAbilityListener) {
this.onAutopilotAbilityListener = onAutopilotAbilityListener;
}
private AutopilotAbilityManager() {
}
public static AutopilotAbilityManager getInstance() {
if (INSTANCE == null) {
synchronized (AutopilotAbilityManager.class) {
if (INSTANCE == null) {
INSTANCE = new AutopilotAbilityManager();
}
}
}
return INSTANCE;
}
public void setStatusInfo(SystemStatusInfo.StatusInfo statusInfo) {
if (handler != null) {
if (handler.hasMessages(WHAT_TIMEOUT))
handler.removeMessages(WHAT_TIMEOUT);
if (AutopilotAbilityManager.getInstance().getHandler() != null) {
if (AutopilotAbilityManager.getInstance().getHandler().hasMessages(WHAT_TIMEOUT))
AutopilotAbilityManager.getInstance().getHandler().removeMessages(WHAT_TIMEOUT);
}
onCallback(statusInfo);
}
@@ -111,7 +46,7 @@ public class AutopilotAbilityManager {
private void onCallback(SystemStatusInfo.StatusInfo statusInfo) {
//金旅、开沃小巴乘客端 不能启动自动驾驶
if (IDENTITY_MODE.BUS_PASSENGER_BASE.equalsIgnoreCase(identityMode)) {
if (AutopilotAbilityManager.getInstance().isBusPassenger()) {
return;
}
boolean isAutopilotAbility = true;//是否能启动自动驾驶
@@ -122,20 +57,7 @@ public class AutopilotAbilityManager {
if (statusInfo.hasMasterVersion()) {
//截取Master Version
String masterVersion = statusInfo.getMasterVersion();
if (!TextUtils.isEmpty(masterVersion)) {
try {
Matcher matcher = pattern.matcher(masterVersion);
if (matcher.find()) {
String group = matcher.group();
if (!TextUtils.isEmpty(group)) {
String v = group.split("\\.")[0];
version = Integer.parseInt(v);
}
}
} catch (Exception e) {
e.printStackTrace();
}
}
version = AutopilotAbilityManager.getInstance().parseVersion(false, masterVersion);
}
//如果 maser version 大于1，还需要判断AutoPilotReady字段是否存在，以确保MAP版本和SSM Maser版本不陪配情况逻辑能正常执行
if (version > 1 && statusInfo.hasAutoPilotReady()) {
@@ -204,24 +126,26 @@ public class AutopilotAbilityManager {
* 档位状态判断 目前判断的车型包括 东风Taxi 红旗Taxi 金旅Bus 金旅M1 金旅M1 福田清扫车 开沃
* TODO 如果 identityMode 未赋值以及目前已知其他车型判断逻辑跟东风Taxi和红旗 走
*/
if (chassisStates.hasGearSystemStates()) {
Chassis.GearPosition gear = chassisStates.getGearSystemStates().getGearPosition();
if (TextUtils.isEmpty(identityMode)) {
identityMode = "";
}
//开沃任何档位都能启动自驾
if (!IDENTITY_MODE.BUS_DRIVER_VAN.equalsIgnoreCase(identityMode)) {
//开沃任何档位都能启动自驾
if (!AutopilotAbilityManager.getInstance().isBusDriverVan()) {
if (chassisStates.hasGearSystemStates()) {
Chassis.GearPosition gear = chassisStates.getGearSystemStates().getGearPosition();
//金旅Bus和清扫车 档位不正常
if (IDENTITY_MODE.BUS_DRIVER_BASE.equalsIgnoreCase(identityMode) || IDENTITY_MODE.SWEEPER_DRIVER_FT.equalsIgnoreCase(identityMode)) {
if (AutopilotAbilityManager.getInstance().isBusDriver()) {
if (gear == Chassis.GearPosition.GEAR_N || gear == Chassis.GearPosition.GEAR_R) {
isAutopilotAbility = false;
unableAutopilotReason = "挡位不正常";
unableAutopilotReason = "档位不正常";
}
} else if (AutopilotAbilityManager.getInstance().isSweeperDriverFutian()) {
if (gear == Chassis.GearPosition.GEAR_N) {
isAutopilotAbility = false;
unableAutopilotReason = "档位不正常";
}
} else {
//东风Taxi和红旗 司机端和乘客端 档位不正常
if (gear == Chassis.GearPosition.GEAR_P || gear == Chassis.GearPosition.GEAR_R) {
isAutopilotAbility = false;
unableAutopilotReason = "挡位不正常";
unableAutopilotReason = "档位不正常";
}
}
}
@@ -239,8 +163,8 @@ public class AutopilotAbilityManager {
// }
// }
}
if (listener != null) {
listener.onAutopilotAbility(isAutopilotAbility, unableAutopilotReason);
if (AutopilotAbilityManager.getInstance().getListener() != null) {
AutopilotAbilityManager.getInstance().getListener().onAutopilotAbility(isAutopilotAbility, unableAutopilotReason);
}
}
@@ -250,14 +174,14 @@ public class AutopilotAbilityManager {
timer.schedule(new TimerTask() {
@Override
public void run() {
if (onAutopilotAbilityListener != null) {
onAutopilotAbilityListener.onStatusQuery();
if (AutopilotAbilityManager.getInstance().getOnAutopilotAbilityListener() != null) {
AutopilotAbilityManager.getInstance().getOnAutopilotAbilityListener().onStatusQuery();
}
AdasManager.getInstance().sendStatusQueryReq();
if (handler != null) {
if (handler.hasMessages(WHAT_TIMEOUT))
handler.removeMessages(WHAT_TIMEOUT);
handler.sendEmptyMessageDelayed(WHAT_TIMEOUT, DEFAULT_TIMEOUT);
if (AutopilotAbilityManager.getInstance().getHandler() != null) {
if (AutopilotAbilityManager.getInstance().getHandler().hasMessages(WHAT_TIMEOUT))
AutopilotAbilityManager.getInstance().getHandler().removeMessages(WHAT_TIMEOUT);
AutopilotAbilityManager.getInstance().getHandler().sendEmptyMessageDelayed(WHAT_TIMEOUT, DEFAULT_TIMEOUT);
}
}
}, 2000L, DEFAULT_DETECTION_TIME);//延迟执行，避免刚连接成功后底盘信息无法及时同步
@@ -269,18 +193,15 @@ public class AutopilotAbilityManager {
timer.cancel();
timer = null;
}
handler = null;
this.chassisStates = null;
}
public void setHandler(Handler handler) {
this.handler = handler;
}
public void onHandleMessage(Message msg) {
if (msg.what == WHAT_TIMEOUT) {
onCallback(null);
}
}
}

274
libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/common/autopilot/ability/AutopilotAbilityManager.java Normal file
View File

@@ -0,0 +1,274 @@
package com.zhidao.support.adas.high.common.autopilot.ability;
import android.os.Handler;
import android.os.Message;
import android.text.TextUtils;
import android.util.Log;
import com.zhidao.support.adas.high.AdasManager;
import com.zhidao.support.adas.high.OnAdasListener;
import com.zhidao.support.adas.high.common.Constants;
import com.zhidao.support.adas.high.common.CupidLogUtils;
import java.util.Timer;
import java.util.TimerTask;
import java.util.regex.Matcher;
import java.util.regex.Pattern;
import chassis.ChassisStatesOuterClass;
import mogo.telematics.pad.MessagePad;
import system_master.SystemStatusInfo;
/**
* 是否可以启动自动驾驶能力检测
* 目前监控了底盘的一些状态和查询节点状态应答的数据
* 没有使用监控事件报告的原因是因为，部分异常没进行正常恢复通知，例如收到了异常监控数据，但是异常恢复之后没有恢复的通知
* <p>
* 此定时器不能停止 鹰眼中存在UI更新依赖循环查询系统状态
*/
public class AutopilotAbilityManager {
private static final String TAG = AutopilotAbilityManager.class.getSimpleName();
private static volatile AutopilotAbilityManager INSTANCE;
private OnAdasListener listener;
private final Pattern pattern = Pattern.compile("\\d+\\.\\d+\\.\\d+");
private Handler handler;
private OnAutopilotAbilityListener onAutopilotAbilityListener;
private int dockerVersion = -1;//工控机版本
private AutopilotAbility230 autopilotAbility230;
private AutopilotAbility250 autopilotAbility250;
private Timer startTimer;
/**
* 身份/车型
*/
private String identityMode;
public interface OnAutopilotAbilityListener {
void onStatusQuery();//查询是被调用
}
/**
* 身份规则定义根据app/productFlavors/README.md
* * taxi司机屏 Taxi_Driver_Base （东风、红旗司机端）
* * taxi乘客屏 Taxi_Passenger_Base （东风、红旗乘客端）
* * bus司机屏 Bus_Driver_Base （金旅小巴司机端）
* * Bus_Driver_Van （开沃小巴司机端）
* * bus乘客屏 Bus_Passenger_Base （金旅、开沃小巴乘客端）
* * Bus_Passenger_M1 （M1小巴乘客端）
* * Bus_Passenger_M2 （M2小巴乘客端）
* * 清扫车 Sweeper_Driver_FT （福田清扫车司机端）
* <p>
* 此定义不区分角色，只区分业务线和车型
*/
private interface IDENTITY_MODE {
String TAXI_DRIVER_BASE = "Taxi_Driver_Base";//（东风、红旗司机端）
String TAXI_PASSENGER_BASE = "Taxi_Passenger_Base";//（东风、红旗乘客端）
String BUS_DRIVER_BASE = "Bus_Driver_Base";//（金旅小巴司机端）
String BUS_DRIVER_VAN = "Bus_Driver_Van";//（开沃小巴司机端）
String BUS_PASSENGER_BASE = "Bus_Passenger_Base";//（金旅、开沃小巴乘客端）
String BUS_PASSENGER_M1 = "Bus_Passenger_M1";//（M1小巴乘客端）
String BUS_PASSENGER_M2 = "Bus_Passenger_M2";//（M2小巴乘客端）
String SWEEPER_DRIVER_FT = "Sweeper_Driver_FT";//（福田清扫车司机端）
}
private AutopilotAbilityManager() {
}
public static AutopilotAbilityManager getInstance() {
if (INSTANCE == null) {
synchronized (AutopilotAbilityManager.class) {
if (INSTANCE == null) {
INSTANCE = new AutopilotAbilityManager();
}
}
}
return INSTANCE;
}
public void setIdentityMode(String identityMode) {
this.identityMode = identityMode;
}
public void setCarConfig(MessagePad.CarConfigResp carConfig) {
if (dockerVersion == -1) {
String v = carConfig.getDockVersion();
int version = parseVersion(true, v);
if (version != -1) {
stopTimer();
dockerVersion = version;
Log.i("dddd", "工控机版本=" + dockerVersion);
initAutopilotAbility();
}
}
}
public void setOnAdasListener(OnAdasListener listener) {
this.listener = listener;
}
public OnAdasListener getListener() {
return listener;
}
public void setHandler(Handler handler) {
this.handler = handler;
}
public Handler getHandler() {
return handler;
}
public void setOnAutopilotAbilityListener(OnAutopilotAbilityListener onAutopilotAbilityListener) {
this.onAutopilotAbilityListener = onAutopilotAbilityListener;
}
public OnAutopilotAbilityListener getOnAutopilotAbilityListener() {
return onAutopilotAbilityListener;
}
public void setStatusInfo(SystemStatusInfo.StatusInfo statusInfo) {
if (autopilotAbility250 != null) {
autopilotAbility250.setStatusInfo(statusInfo);
}
}
public void setChassisStates(ChassisStatesOuterClass.ChassisStates chassisStates) {
if (autopilotAbility230 != null) {
autopilotAbility230.setChassisStates(chassisStates);
}
if (autopilotAbility250 != null) {
autopilotAbility250.setChassisStates(chassisStates);
}
}
public void onHandleMessage(Message msg) {
if (autopilotAbility250 != null) {
autopilotAbility250.onHandleMessage(msg);
}
}
private void initAutopilotAbility() {
if (dockerVersion >= 250) {
stop230();
if (autopilotAbility250 == null) {
autopilotAbility250 = new AutopilotAbility250();
autopilotAbility250.start();
}
} else {
stop250();
if (autopilotAbility230 == null) {
autopilotAbility230 = new AutopilotAbility230();
autopilotAbility230.start();
}
}
}
private void stop230() {
if (autopilotAbility230 != null) {
autopilotAbility230.stop();
autopilotAbility230 = null;
}
}
private void stop250() {
if (autopilotAbility250 != null) {
autopilotAbility250.stop();
autopilotAbility250 = null;
}
}
private void stopTimer() {
if (startTimer != null) {
startTimer.cancel();
startTimer = null;
}
}
/**
* 连接工控机成功调用此函数，如果dockerVersion还未获取到将启动最低版本的启动自动驾驶能力检测
* 此函数为保险措施 以防无法获取工控机版本时 也能 正常执行逻辑
*/
public synchronized void start() {
if (startTimer == null) {
startTimer = new Timer();
startTimer.schedule(new TimerTask() {
@Override
public void run() {
if (dockerVersion == -1 && AdasManager.getInstance().getIpcConnectionStatus() == Constants.IPC_CONNECTION_STATUS.CONNECTED) {
dockerVersion = 230;
initAutopilotAbility();
}
}
}, 8000L);//延迟执行，避免刚连接成功后底盘信息无法及时同步
}
}
public synchronized void stop() {
stopTimer();
stop230();
stop250();
handler = null;
dockerVersion = -1;
}
/**
* 解析版本 格式 xxx.xxx.xxx(x的数量不固定)
*
* @param isUserAll 是否使用全部截取数据 true：表示 12.34.56 截取之后 123456 false：表示12.34.56 截取之后 12
* @param ver 版本字符串
* @return -1表示解析失败
*/
public int parseVersion(boolean isUserAll, String ver) {
int version = -1;
if (!TextUtils.isEmpty(ver)) {
try {
Matcher matcher = pattern.matcher(ver);
if (matcher.find()) {
String group = matcher.group();
if (!TextUtils.isEmpty(group)) {
if (isUserAll) {
group = group.replace(".", "");
} else {
group = group.split("\\.")[0];
}
version = Integer.parseInt(group);
}
}
} catch (Exception e) {
CupidLogUtils.e(TAG, "版本解析失败=" + ver, e);
}
}
return version;
}
/**
* 金旅、开沃小巴乘客端
*/
public boolean isBusPassenger() {
return IDENTITY_MODE.BUS_PASSENGER_BASE.equalsIgnoreCase(identityMode);
}
/**
* 开沃小巴司机端
*/
public boolean isBusDriverVan() {
return IDENTITY_MODE.BUS_DRIVER_VAN.equalsIgnoreCase(identityMode);
}
/**
* 金旅小巴司机端
*/
public boolean isBusDriver() {
return IDENTITY_MODE.BUS_DRIVER_BASE.equalsIgnoreCase(identityMode);
}
/**
* 福田清扫车司机端
*/
public boolean isSweeperDriverFutian() {
return IDENTITY_MODE.SWEEPER_DRIVER_FT.equalsIgnoreCase(identityMode);
}
}

2
libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/msg/CarConfigRespMessage.java
View File

@@ -7,6 +7,7 @@ import com.zhidao.support.adas.high.AdasChannel;
import com.zhidao.support.adas.high.AdasManager;
import com.zhidao.support.adas.high.OnAdasListener;
import com.zhidao.support.adas.high.common.CupidLogUtils;
import com.zhidao.support.adas.high.common.autopilot.ability.AutopilotAbilityManager;
import com.zhidao.support.adas.high.protocol.RawData;
import mogo.telematics.pad.MessagePad;
@@ -20,6 +21,7 @@ public class CarConfigRespMessage extends MyAbstractMessageHandler {
public void handlerMsg(RawData raw, OnAdasListener adasListener) throws InvalidProtocolBufferException {
MessagePad.CarConfigResp carConfigResp = MessagePad.CarConfigResp.parser().parseFrom(raw.originalData.toByteArray(), raw.getOffsetValue(), raw.getPackageLengthValue() - raw.getOffsetValue());
AdasChannel.calculateTimeConsumingOnDispatchRaw("车机基础信息应答", raw.receiveTime);
AutopilotAbilityManager.getInstance().setCarConfig(carConfigResp);
AdasManager.getInstance().setCarConfig(carConfigResp);
long nowTime = 0;
if (CupidLogUtils.isEnableLog())

2
libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/msg/ChassisStatesMessage.java
View File

@@ -2,7 +2,7 @@ package com.zhidao.support.adas.high.msg;
import com.google.protobuf.InvalidProtocolBufferException;
import com.zhidao.support.adas.high.OnAdasListener;
import com.zhidao.support.adas.high.common.AutopilotAbilityManager;
import com.zhidao.support.adas.high.common.autopilot.ability.AutopilotAbilityManager;
import com.zhidao.support.adas.high.protocol.RawData;
import chassis.ChassisStatesOuterClass;

2
libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/msg/StatusQueryRespMessage.java
View File

@@ -5,7 +5,7 @@ import android.os.SystemClock;
import com.google.protobuf.InvalidProtocolBufferException;
import com.zhidao.support.adas.high.AdasChannel;
import com.zhidao.support.adas.high.OnAdasListener;
import com.zhidao.support.adas.high.common.AutopilotAbilityManager;
import com.zhidao.support.adas.high.common.autopilot.ability.AutopilotAbilityManager;
import com.zhidao.support.adas.high.common.CupidLogUtils;
import com.zhidao.support.adas.high.protocol.RawData;

4
libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/msg/VehicleStateMessage.java
View File

@@ -5,7 +5,7 @@ import android.os.SystemClock;
import com.google.protobuf.InvalidProtocolBufferException;
import com.zhidao.support.adas.high.AdasChannel;
import com.zhidao.support.adas.high.OnAdasListener;
import com.zhidao.support.adas.high.common.AutopilotAbilityManager;
import com.zhidao.support.adas.high.common.autopilot.ability.AutopilotAbilityManager;
import com.zhidao.support.adas.high.common.CupidLogUtils;
import com.zhidao.support.adas.high.protocol.RawData;
@@ -141,7 +141,7 @@ public class VehicleStateMessage extends MyAbstractMessageHandler {
ChassisStatesOuterClass.GearSystemStates.Builder gearSystemStates = null;
if (vehicleState.hasGear()) {
gearSystemStates = ChassisStatesOuterClass.GearSystemStates.newBuilder();
//挂挡档位数据
//档位数据
gearSystemStates.setGearPosition(vehicleState.getGear());//鹰眼已用
}
if (vehicleState.hasGearSwitchInference()) {

3
test/crashreport-apmbyte/src/main/java/com/mogo/test/crashreport/apm/ApmCrashReportProvider.java
View File

@@ -13,6 +13,8 @@ import com.bytedance.apm.insight.ApmInsightInitConfig;
import com.mogo.commons.constants.SharedPrefsConstants;
import com.mogo.commons.debug.DebugConfig;
import com.mogo.eagle.core.data.bindingcar.CarInfo;
import com.mogo.eagle.core.data.config.FunctionBuildConfig;
import com.mogo.eagle.core.utilcode.mogo.AppIdentityModeUtils;
import com.mogo.eagle.core.utilcode.mogo.logger.CallerLogger;
import com.mogo.eagle.core.utilcode.mogo.storage.SharedPrefsMgr;
import com.mogo.eagle.core.utilcode.util.CommonUtils;
@@ -96,6 +98,7 @@ public class ApmCrashReportProvider implements ITestCrashReportProvider {
crash.addTags("CITYCODE", mCityCode);
crash.addTags("LATITUDE", mLat);
crash.addTags("LONGITUTE", mLogt);
crash.addTags("CAR_TYPE", AppIdentityModeUtils.INSTANCE.getBuildCarType(FunctionBuildConfig.appIdentityMode));
// crash.setReportUrl("www.xxx.com"); // 私有化部署：私有化部署才配置上报地址
// crash.addTags("key", "value"); // 自定义筛选tag, 按需添加、可多次覆盖