[6.1.0][车前引导线] 优化因自驾状态未同步，导致引导线未绘制的问题

core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/business/routeoverlay/MogoRouteOverlayManager.java

@@ -30,14 +30,10 @@ import system_master.SystemStatusInfo;
 
 public class MogoRouteOverlayManager implements
         IMoGoPlanningTrajectoryListener,
-        IMoGoAutopilotStatusListener,
         IMoGoChassisLocationGCJ02Listener {
     private static volatile MogoRouteOverlayManager sInstance;
     private static final String TAG = "Route";
 
-    private final AtomicBoolean isArriveAtStation = new AtomicBoolean(false);
-    private final AtomicInteger autopilotMode = new AtomicInteger(0);
-
     private final LinkedList<List<MessagePad.TrajectoryPoint>> queue = new LinkedList<>();
 
     private MogoRouteOverlayManager() {
@@ -46,7 +42,6 @@ public class MogoRouteOverlayManager implements
 
     public void init() {
         CallerPlanningTrajectoryListenerManager.INSTANCE.addListener(TAG, this);
-        CallerAutoPilotStatusListenerManager.INSTANCE.addListener(TAG, this);
         CallerChassisLocationGCJ02ListenerManager.INSTANCE.addListener(TAG, 20,this);
     }
 
@@ -75,14 +70,16 @@ public class MogoRouteOverlayManager implements
         if (gnssInfo == null) {
             return;
         }
-        Log.d(TAG, "-- onChassisLocationGCJ02 -- 1 ---" + ":auto-mode:" + autopilotMode.get() + ", isArriveAtStation: " + isArriveAtStation.get());
-        if (isArriveAtStation.get() && autopilotMode.get() != 2) {
+        int autoPilotState = CallerAutoPilotStatusListenerManager.INSTANCE.getState();
+        boolean isArriveAtStation = CallerAutoPilotStatusListenerManager.INSTANCE.isArriveAtStation();
+        Log.d(TAG, "-- onChassisLocationGCJ02 -- 1 ---" + ":auto-mode:" + autoPilotState + ", isArriveAtStation: " + isArriveAtStation);
+        if (isArriveAtStation && autoPilotState != 2) {
             RouteOverlayDrawer.getInstance().clearMogoRouteOverlay();
             return;
         }
-        Log.d(TAG, "-- onChassisLocationGCJ02 -- 2 ---" + "auto-mode:" + autopilotMode.get() + ", isDemoMode:" + FunctionBuildConfig.isDemoMode + ", force:" + FunctionBuildConfig.isForceDrawAutopilotTrajectoryByDebugSettingView);
+        Log.d(TAG, "-- onChassisLocationGCJ02 -- 2 ---" + "auto-mode:" + autoPilotState + ", isDemoMode:" + FunctionBuildConfig.isDemoMode + ", force:" + FunctionBuildConfig.isForceDrawAutopilotTrajectoryByDebugSettingView);
         boolean force = FunctionBuildConfig.isForceDrawAutopilotTrajectoryByDebugSettingView || FunctionBuildConfig.isDemoMode && FunctionBuildConfig.isIgnoreConditionsDrawAutopilotTrajectoryData;
-        if (!force && autopilotMode.get() != 2) {
+        if (!force && autoPilotState != 2) {
             RouteOverlayDrawer.getInstance().clearMogoRouteOverlay();
             return;
         }
@@ -96,66 +93,4 @@ public class MogoRouteOverlayManager implements
             }
         }
     }
-
-    @Override
-    public void onAutopilotStatusResponse(int state) {
-        if (state == 2) {
-            isArriveAtStation.set(false);
-        }
-        Log.d(TAG, "-- onAutopilotStatusResponse  ---: state:" + state);
-        this.autopilotMode.set(state);
-    }
-
-    @Override
-    public void onAutopilotStatusResponse(@NotNull AutopilotStatusInfo autoPilotStatusInfo) {
-    }
-
-    @Override
-    public void onAutopilotArriveAtStation(MessagePad.ArrivalNotification arrivalNotification) {
-        Log.d(TAG, "-- onAutopilotArriveAtStation  --- 1 ---");
-        if (arrivalNotification == null) {
-            return;
-        }
-        Log.d(TAG, "-- onAutopilotArriveAtStation  --- 2 ---");
-        if(!HdMapBuildConfig.isMapLoaded){
-            return;
-        }
-        Log.d(TAG, "-- onAutopilotArriveAtStation  --- 3 ---");
-        if (!isArriveAtStation.get()) {
-            isArriveAtStation.set(true);
-        }
-    }
-
-
-    @Override
-    public void onAutopilotSNRequest() {
-
-    }
-
-    @Override
-    public void onAutopilotGuardian(MogoReportMsg.MogoReportMessage guardianInfo) {
-
-    }
-
-    @Override
-    public void onAutopilotIpcConnectStatusChanged(int status, @androidx.annotation.Nullable String reason) {
-    }
-
-    @Override
-    public void onAutopilotStatusRespByQuery(@NonNull SystemStatusInfo.StatusInfo status) {
-    }
-
-    @Override
-    public void onSystemStatus(@NonNull SsmInfo.SsmStatusInf statusInf) {
-    }
-
-    @Override
-    public void onAutopilotRouteLineId(long lineId) {
-
-    }
-
-    @Override
-    public void onAutopilotDockerInfo(@NonNull String dockerVersion) {
-    }
-
 }

core/mogo-core-data/src/main/java/com/mogo/eagle/core/data/autopilot/AutopilotStatusInfo.kt

@@ -70,6 +70,12 @@ open class AutopilotStatusInfo : Serializable, Cloneable {
     @Volatile
     var autopilotControlParameters: AutopilotControlParameters? = null
 
+    /**
+     * 是否到站
+     */
+    @Volatile
+    var isArriveAtStation: Boolean = false
+
     override fun toString(): String {
         return "connectIP=$connectIP, connectPort=$connectPort, " +
                 "connectStatus=$connectStatus, connectDescribe=$connectStatusDescribe, version=$version, dockVersion=$dockVersion," +

core/mogo-core-function-call/src/main/java/com/mogo/eagle/core/function/call/autopilot/CallerAutoPilotStatusListenerManager.kt

@@ -34,6 +34,7 @@ object CallerAutoPilotStatusListenerManager : CallerBase<IMoGoAutopilotStatusLis
 
     private var autopilotState: Int by Delegates.observable(0) { _, oldValue, newValue ->
         if (oldValue != newValue) {
+            fixAtStationState(newValue)
             M_LISTENERS.forEach {
                 val listener = it.value
                 listener.onAutopilotStatusResponse(newValue)
@@ -41,6 +42,19 @@ object CallerAutoPilotStatusListenerManager : CallerBase<IMoGoAutopilotStatusLis
         }
     }
 
+    private fun fixAtStationState(autoPilotMode: Int) {
+        if (autoPilotMode == 2) {
+            //自驾状态下，将到站状态置为false
+            mAutopilotStatusInfo.isArriveAtStation = false
+        } else {
+            //其它状态下, 将到站状态置为false
+            val arriveAtStation = mAutopilotStatusInfo.isArriveAtStation
+            if (arriveAtStation) {
+                mAutopilotStatusInfo.isArriveAtStation = false
+            }
+        }
+    }
+
     private var dockerV: String by Delegates.observable("") { _, oldValue, newValue ->
         if (!oldValue.contentEquals(newValue)) {
             M_LISTENERS.forEach {
@@ -105,6 +119,8 @@ object CallerAutoPilotStatusListenerManager : CallerBase<IMoGoAutopilotStatusLis
 
     fun getAutoPilotReportMessageContent(): String = autoPilotMessageContent
 
+    fun isArriveAtStation(): Boolean = mAutopilotStatusInfo.isArriveAtStation
+
     /**
      * 通过Gnss定位更新来同步更新自动驾驶状态
      */
@@ -156,6 +172,7 @@ object CallerAutoPilotStatusListenerManager : CallerBase<IMoGoAutopilotStatusLis
      */
     @Synchronized
     fun invokeArriveAtStation(arrivalNotification: MessagePad.ArrivalNotification?) {
+        mAutopilotStatusInfo.isArriveAtStation = true
         M_LISTENERS.forEach {
             val listener = it.value
             listener.onAutopilotArriveAtStation(arrivalNotification)