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整理ADAS相关代码

Signed-off-by: donghongyu <donghongyu@zhidaoauto.com>
This commit is contained in:
donghongyu
2022-02-08 19:07:28 +08:00
parent 14c2128a1e
commit 117897d576
19 changed files with 255 additions and 417 deletions
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7
core/function-impl/mogo-core-function-autopilot/build.gradle
View File

@@ -52,15 +52,22 @@ dependencies {
kapt rootProject.ext.dependencies.aroutercompiler
implementation rootProject.ext.dependencies.adasHigh
implementation rootProject.ext.dependencies.mogoami
if (Boolean.valueOf(USE_MAVEN_PACKAGE)) {
implementation rootProject.ext.dependencies.modulecommon
implementation rootProject.ext.dependencies.mogo_core_data
implementation rootProject.ext.dependencies.mogo_core_utils
implementation rootProject.ext.dependencies.mogo_core_network
implementation rootProject.ext.dependencies.mogo_core_function_api
implementation rootProject.ext.dependencies.mogo_core_function_call
} else {
implementation project(':modules:mogo-module-common')
implementation project(':core:mogo-core-data')
implementation project(':core:mogo-core-utils')
implementation project(':core:mogo-core-network')
implementation project(':core:mogo-core-function-api')
implementation project(':core:mogo-core-function-call')
}

28
core/function-impl/mogo-core-function-autopilot/src/main/java/com/mogo/eagle/core/function/autopilot/MoGoAutopilotProvider.kt
View File

@@ -6,13 +6,16 @@ import androidx.annotation.RequiresPermission
import com.alibaba.android.arouter.facade.annotation.Route
import com.mogo.eagle.core.data.autopilot.AutopilotControlCmdParameter
import com.mogo.eagle.core.data.autopilot.AutopilotControlParameters
import com.mogo.eagle.core.data.config.FunctionBuildConfig
import com.mogo.eagle.core.data.constants.MoGoConfig
import com.mogo.eagle.core.data.constants.MogoServicePaths
import com.mogo.eagle.core.function.api.autopilot.IMoGoAutopilotProvider
import com.mogo.eagle.core.function.autopilot.adapter.MoGoAdasListenerImpl
import com.mogo.eagle.core.function.autopilot.adapter.MoGoAdasMsgConnectStatusListenerImpl
import com.mogo.eagle.core.function.autopilot.server.AsyncDataToAutopilotServer
import com.mogo.eagle.core.utilcode.mogo.logger.Logger
import com.mogo.eagle.core.utilcode.mogo.storage.SharedPrefsMgr
import com.mogo.eagle.core.utilcode.util.GsonUtils
import com.mogo.eagle.core.utilcode.util.LogUtils
import com.mogo.eagle.core.utilcode.util.ThreadUtils
import com.zhidao.support.adas.high.AdasManager
import com.zhidao.support.adas.high.bean.IPCUpgradeInfo
@@ -34,9 +37,26 @@ class MoGoAutopilotProvider :
get() = TAG
override fun init(context: Context) {
Logger.d(TAG, "初始化工控机连接……")
mContext = context
// 初始化ADAS 域控制器
//AdasManager.getInstance().create(context)
CupidLogUtils.setEnableLog(false)
CupidLogUtils.setIsWriteLog(false)
// TODO 临时方案，根据不同的身份标识，连接不同的工控机IP
when (FunctionBuildConfig.appIdentityMode) {
0 -> // 司机
AdasManager.getInstance().create(context, "192.168.1.102")
1 -> // 乘客
AdasManager.getInstance().create(context, "192.168.1.103")
else -> // 默认采用UDP寻址方式
AdasManager.getInstance().create(context)
}
//////////////////////////////////注意先后顺序，AdasManager.getInstance().create后才可以设置监听/////////////////////////////////////////////
// 监听 adas 连接状态
AdasManager.getInstance().setOnAdasConnectStatusListener(MoGoAdasMsgConnectStatusListenerImpl())
// 监听ADAS-SDK获取到的工控机数据
AdasManager.getInstance().setOnAdasListener(MoGoAdasListenerImpl())
// 同步数据给工控机的服务
AsyncDataToAutopilotServer.INSTANCE.initServer()
}
@@ -72,7 +92,7 @@ class MoGoAutopilotProvider :
val parameter = AutopilotControlCmdParameter("aiCloudToStartAutopilot", result)
AdasManager.getInstance().aiCloudToAdasData(GsonUtils.toJson(parameter))
} else {
LogUtils.eTag(TAG, "车机与工控机链接失败，无法开启自动驾驶")
Logger.e(TAG, "车机与工控机链接失败，无法开启自动驾驶")
}
}
@@ -84,7 +104,7 @@ class MoGoAutopilotProvider :
if (AdasManager.getInstance().isSocketConnect) {
AdasManager.getInstance().controlAutopilotCarHead()
} else {
LogUtils.eTag(TAG, "车机与工控机链接失败，无法断开自动驾驶")
Logger.e(TAG, "车机与工控机链接失败，无法断开自动驾驶")
}
}

20
modules/mogo-module-adas/src/main/java/com/mogo/module/adas/OnAdasListenerAdapter.java → core/function-impl/mogo-core-function-autopilot/src/main/java/com/mogo/eagle/core/function/autopilot/adapter/MoGoAdasListenerImpl.java
View File

@@ -1,4 +1,4 @@
package com.mogo.module.adas;
package com.mogo.eagle.core.function.autopilot.adapter;
import android.util.Log;
@@ -12,6 +12,7 @@ import com.mogo.eagle.core.data.autopilot.AutopilotStatusInfo;
import com.mogo.eagle.core.data.autopilot.AutopilotWarnMessage;
import com.mogo.eagle.core.data.config.HdMapBuildConfig;
import com.mogo.eagle.core.data.traffic.TrafficData;
import com.mogo.eagle.core.function.autopilot.utils.AdasObjectConvertUtils;
import com.mogo.eagle.core.function.call.autopilot.CallerAutoPilotStatusListenerManager;
import com.mogo.eagle.core.function.call.autopilot.CallerAutopilotCarStatusListenerManager;
import com.mogo.eagle.core.function.call.autopilot.CallerAutopilotIdentifyListenerManager;
@@ -45,19 +46,18 @@ import java.util.List;
* <p>
* 适配ADAS 回调监听分发
*/
public class OnAdasListenerAdapter implements OnAdasListener {
public class MoGoAdasListenerImpl implements OnAdasListener {
private final String TAG = "OnAdasListenerAdapter";
@Override
public void onRectData(RectInfo rectInfo) {
if (HdMapBuildConfig.isMapLoaded) {
ArrayList<TrafficData> recognizedListResults = AdasObjectUtils.INSTANCE.regroupTrafficDataData(rectInfo.getModels());
ArrayList<TrafficData> recognizedListResults = AdasObjectConvertUtils.INSTANCE.regroupTrafficDataData(rectInfo.getModels());
CallerAutopilotIdentifyListenerManager.INSTANCE.invokeAutopilotIdentifyDataUpdate(recognizedListResults);
}
}
@Override
public void onCarStateData(CarStateInfo carStateInfo) {
if (HdMapBuildConfig.isMapLoaded) {
@@ -65,23 +65,19 @@ public class OnAdasListenerAdapter implements OnAdasListener {
//can数据转发
CarStateInfo.ValuesBean bean = carStateInfo.getValues();
// Log.w("DHY-location", bean.getLon() + "," + bean.getLat() + " OnAdasListenerAdapter-onCarStateData：");
if (bean != null) {
int turnLight = bean.getTurnLightOften(); //转向灯状态 0是正常 1是左转 2是右转
AmiClientManager.getInstance().setTurnLightState(turnLight);
int brakeLight = bean.getBrake_light(); //TODO
// Logger.d(TAG, "onCarStateData ---- turnLight = " + turnLight + "---brakeLight = " + brakeLight);
//设置转向灯
CallerHmiManager.INSTANCE.showTurnLight(turnLight);
//设置刹车信息
CallerHmiManager.INSTANCE.showBrakeLight(brakeLight);
} else {
Logger.e(TAG, "bean == null ");
}
AutopilotCarStateInfo autopilotCarStateInfo = AdasObjectUtils.INSTANCE.fromAdasCarStateInfoObject(carStateInfo);
AutopilotCarStateInfo autopilotCarStateInfo = AdasObjectConvertUtils.INSTANCE.fromAdasCarStateInfoObject(carStateInfo);
CallerAutopilotCarStatusListenerManager.INSTANCE.invokeAutopilotCarStateData(autopilotCarStateInfo);
}
}
@@ -134,7 +130,7 @@ public class OnAdasListenerAdapter implements OnAdasListener {
public void onAutopilotRoute(AutopilotRoute route) {
if (HdMapBuildConfig.isMapLoaded) {
Logger.d(TAG, "onAutopilotRoute : " + route.toString());
AutopilotRouteInfo autopilotRoute = AdasObjectUtils.INSTANCE.fromAdasAutopilotRoute(route);
AutopilotRouteInfo autopilotRoute = AdasObjectConvertUtils.INSTANCE.fromAdasAutopilotRoute(route);
CallerAutopilotPlanningListenerManager.INSTANCE.invokeAutopilotRotting(autopilotRoute);
}
}
@@ -172,7 +168,7 @@ public class OnAdasListenerAdapter implements OnAdasListener {
@Override
public void onAutopilotGuardian(AutopilotGuardianInfo guardianInfo) {
if (HdMapBuildConfig.isMapLoaded) {
AutopilotGuardianStatusInfo autopilotRoute = AdasObjectUtils.INSTANCE.fromAutopilotGuardianInfo(guardianInfo);
AutopilotGuardianStatusInfo autopilotRoute = AdasObjectConvertUtils.INSTANCE.fromAutopilotGuardianInfo(guardianInfo);
CallerAutoPilotStatusListenerManager.INSTANCE.invokeAutopilotGuardian(autopilotRoute);
}
}
@@ -214,7 +210,7 @@ public class OnAdasListenerAdapter implements OnAdasListener {
@Override
public void onWarnMessage(WarnMessageInfo warnMessageInfo) {
final AutopilotWarnMessage warnMessage = AdasObjectUtils.INSTANCE.fromAdasObject(warnMessageInfo);
final AutopilotWarnMessage warnMessage = AdasObjectConvertUtils.INSTANCE.fromAdasObject(warnMessageInfo);
CallerAutopilotIdentifyListenerManager.INSTANCE.invokeAutopilotWarnMessage(warnMessage);
}

100
core/function-impl/mogo-core-function-autopilot/src/main/java/com/mogo/eagle/core/function/autopilot/adapter/MoGoAdasMsgConnectStatusListenerImpl.kt Normal file
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@@ -0,0 +1,100 @@
package com.mogo.eagle.core.function.autopilot.adapter
import com.mogo.cloud.passport.MoGoAiCloudClientConfig
import com.mogo.eagle.core.data.autopilot.AutopilotStationInfo
import com.mogo.eagle.core.data.autopilot.AutopilotStatusInfo
import com.mogo.eagle.core.function.api.autopilot.IMoGoAutopilotStatusListener
import com.mogo.eagle.core.function.autopilot.network.AdasServiceModel
import com.mogo.eagle.core.function.call.autopilot.CallerAutoPilotStatusListenerManager
import com.mogo.eagle.core.utilcode.mogo.logger.Logger
import com.zhidao.support.adas.high.AdasManager
import com.zhidao.support.adas.high.OnAdasMsgConnectStatusListener
import com.zhidao.support.adas.high.bean.BasicInfo
import io.reactivex.Flowable
import io.reactivex.android.schedulers.AndroidSchedulers
import io.reactivex.schedulers.Schedulers
import java.util.concurrent.TimeUnit
/**
* ADAS-SDK与工控机连接状态回调
*
* @author donghongyu
*/
class MoGoAdasMsgConnectStatusListenerImpl : OnAdasMsgConnectStatusListener, IMoGoAutopilotStatusListener {
private val TAG = "MoGoAdasMsgConnectStatusListenerImpl"
//自动驾驶状态
private var mCurrentAutopilotStatus = -1
//自动驾驶车速度
private var mCurrentAutopilotSpeed = 0f
override fun onWebSocketConnectSuccess() {
Logger.d(TAG, "webSocket 连接成功")
// 初始化自动驾驶状态信息
CallerAutoPilotStatusListenerManager.getAutoPilotStatusInfo().connectIP = AdasManager.getInstance().adasConfig.address
CallerAutoPilotStatusListenerManager.getAutoPilotStatusInfo().connectStatus = true
CallerAutoPilotStatusListenerManager.invokeAutoPilotStatus()
// 同步SN给工控机
syncBasicInfoToAutopilot()
// 开启轮训上传自动驾驶状态
updateDriveStatusTask()
}
override fun onWebSocketConnectFailed(reason: String) {
Logger.d(TAG, "webSocket 连接失败 reason:$reason")
CallerAutoPilotStatusListenerManager.getAutoPilotStatusInfo().connectIP = AdasManager.getInstance().adasConfig.address
CallerAutoPilotStatusListenerManager.getAutoPilotStatusInfo().connectStatus = false
CallerAutoPilotStatusListenerManager.invokeAutoPilotStatus()
}
/**
* 工控机获取SN
*/
override fun onAutopilotSNRequest() {
syncBasicInfoToAutopilot()
}
override fun onAutopilotArriveAtStation(autopilotWayArrive: AutopilotStationInfo?) {
if (autopilotWayArrive != null) {
val lon = autopilotWayArrive.lon
val lat = autopilotWayArrive.lat
AdasServiceModel.getInstance().reportSite(lon, lat)
}
}
override fun onAutopilotStatusResponse(autoPilotStatusInfo: AutopilotStatusInfo) {
val state = autoPilotStatusInfo.state
val speed = autoPilotStatusInfo.speed
mCurrentAutopilotStatus = state
mCurrentAutopilotSpeed = speed
}
/**
* 同步SN信息给工控机
*/
fun syncBasicInfoToAutopilot() {
Logger.d(TAG, "同步PAD的SN给工控机……")
val info = BasicInfo()
info.setSn(MoGoAiCloudClientConfig.getInstance().sn)
AdasManager.getInstance().setBasicInfo(info)
}
/**
* 上传自动驾驶状态任务
*/
fun updateDriveStatusTask() {
Logger.d(TAG, "updateDriveStatusTask")
Flowable.interval(0, 5, TimeUnit.SECONDS)
.subscribeOn(Schedulers.io())
.unsubscribeOn(Schedulers.io())
.observeOn(AndroidSchedulers.mainThread())
.subscribe { aLong: Long? ->
AdasServiceModel.getInstance().updateDriveStatus(mCurrentAutopilotStatus, mCurrentAutopilotSpeed)
}
}
}

38
core/function-impl/mogo-core-function-autopilot/src/main/java/com/mogo/eagle/core/function/autopilot/adapter/MoGoAutopilotStatusListenerImpl.java
View File

@@ -1,38 +0,0 @@
package com.mogo.eagle.core.function.autopilot.adapter;
import androidx.annotation.NonNull;
import androidx.annotation.Nullable;
import com.mogo.eagle.core.data.autopilot.AutopilotGuardianStatusInfo;
import com.mogo.eagle.core.data.autopilot.AutopilotStationInfo;
import com.mogo.eagle.core.data.autopilot.AutopilotStatusInfo;
import com.mogo.eagle.core.function.api.autopilot.IMoGoAutopilotStatusListener;
/**
* @author xiaoyuzhou
* @date 2021/10/20 1:02 下午
* 自动驾驶状态回调用
*/
public class MoGoAutopilotStatusListenerImpl implements IMoGoAutopilotStatusListener {
@Override
public void onAutopilotStatusResponse(@NonNull AutopilotStatusInfo autoPilotStatusInfo) {
}
@Override
public void onAutopilotArriveAtStation(@Nullable AutopilotStationInfo autopilotWayArrive) {
}
@Override
public void onAutopilotSNRequest() {
}
@Override
public void onAutopilotGuardian(@Nullable AutopilotGuardianStatusInfo guardianInfo) {
}
}

2
modules/mogo-module-adas/src/main/java/com/mogo/module/adas/entity/AutonomousDriveStatusBean.java → core/function-impl/mogo-core-function-autopilot/src/main/java/com/mogo/eagle/core/function/autopilot/entity/AutonomousDriveStatusBean.java
View File

@@ -1,4 +1,4 @@
package com.mogo.module.adas.entity;
package com.mogo.eagle.core.function.autopilot.entity;
/**
* Created by XuYong on 2021/5/28 16:12

2
modules/mogo-module-adas/src/main/java/com/mogo/module/adas/entity/ReportSiteBean.java → core/function-impl/mogo-core-function-autopilot/src/main/java/com/mogo/eagle/core/function/autopilot/entity/ReportSiteBean.java
View File

@@ -1,4 +1,4 @@
package com.mogo.module.adas.entity;
package com.mogo.eagle.core.function.autopilot.entity;
/**
* Created by XuYong on 2021/5/31 16:24

23
modules/mogo-module-adas/src/main/java/com/mogo/module/adas/model/AdasServiceModel.java → core/function-impl/mogo-core-function-autopilot/src/main/java/com/mogo/eagle/core/function/autopilot/network/AdasServiceModel.java
View File

@@ -1,24 +1,27 @@
package com.mogo.module.adas.model;
package com.mogo.eagle.core.function.autopilot.network;
import com.mogo.cloud.passport.MoGoAiCloudClientConfig;
import com.mogo.commons.context.ContextHolderUtil;
import com.mogo.eagle.core.data.BaseData;
import com.mogo.eagle.core.function.autopilot.entity.AutonomousDriveStatusBean;
import com.mogo.eagle.core.function.autopilot.entity.ReportSiteBean;
import com.mogo.eagle.core.network.RequestOptions;
import com.mogo.eagle.core.network.SubscribeImpl;
import com.mogo.eagle.core.network.utils.GsonUtil;
import com.mogo.eagle.core.utilcode.mogo.logger.Logger;
import com.mogo.module.adas.entity.AutonomousDriveStatusBean;
import com.mogo.module.adas.entity.ReportSiteBean;
import com.mogo.module.adas.network.IAdasApiService;
import com.mogo.module.common.MogoApisHandler;
import com.mogo.module.common.constants.HostConst;
import io.reactivex.android.schedulers.AndroidSchedulers;
import io.reactivex.schedulers.Schedulers;
import okhttp3.MediaType;
import okhttp3.RequestBody;
import static com.mogo.commons.context.ContextHolderUtil.getContext;
import static com.mogo.module.common.constants.HostConst.DATA_SERVICE_HOST;
/**
* 将自动驾驶状态及站点信息上传给云平台，云平台会根据此数据做路线的绘制
*
* @author dongghongyu
*/
public class AdasServiceModel {
private static final String TAG = "AdasServiceModel";
@@ -28,7 +31,7 @@ public class AdasServiceModel {
private final IAdasApiService mAdasApiService;
private AdasServiceModel() {
this.mAdasApiService = MogoApisHandler.getInstance().getApis().getNetworkApi().create(IAdasApiService.class, DATA_SERVICE_HOST);
this.mAdasApiService = MogoApisHandler.getInstance().getApis().getNetworkApi().create(IAdasApiService.class, HostConst.DATA_SERVICE_HOST);
}
public static AdasServiceModel getInstance() {
@@ -48,7 +51,7 @@ public class AdasServiceModel {
RequestBody requestBody = RequestBody.create(MediaType.get("application/json;charset=UTF-8"), GsonUtil.jsonFromObject(request));
mAdasApiService.updateAutonomousDriveStatus(requestBody).
subscribeOn(Schedulers.io()).observeOn(AndroidSchedulers.mainThread())
.subscribe(new SubscribeImpl<BaseData>(RequestOptions.create(getContext())) {
.subscribe(new SubscribeImpl<BaseData>(RequestOptions.create(ContextHolderUtil.getContext())) {
@Override
public void onError(String message, int code) {
super.onError(message, code);
@@ -73,7 +76,7 @@ public class AdasServiceModel {
RequestBody requestBody = RequestBody.create(MediaType.get("application/json;charset=UTF-8"), GsonUtil.jsonFromObject(reportSiteBean));
mAdasApiService.updateReportSite(requestBody).
subscribeOn(Schedulers.io()).observeOn(AndroidSchedulers.mainThread())
.subscribe(new SubscribeImpl<BaseData>(RequestOptions.create(getContext())) {
.subscribe(new SubscribeImpl<BaseData>(RequestOptions.create(ContextHolderUtil.getContext())) {
@Override
public void onError(String message, int code) {
super.onError(message, code);

2
modules/mogo-module-adas/src/main/java/com/mogo/module/adas/network/IAdasApiService.java → core/function-impl/mogo-core-function-autopilot/src/main/java/com/mogo/eagle/core/function/autopilot/network/IAdasApiService.java
View File

@@ -1,4 +1,4 @@
package com.mogo.module.adas.network;
package com.mogo.eagle.core.function.autopilot.network;
import com.mogo.eagle.core.data.BaseData;

94
core/function-impl/mogo-core-function-autopilot/src/main/java/com/mogo/eagle/core/function/autopilot/utils/AdasObjectConvertUtils.kt
View File

@@ -1,10 +1,102 @@
package com.mogo.eagle.core.function.autopilot.utils
import com.mogo.eagle.core.data.autopilot.AutopilotCarStateInfo
import com.mogo.eagle.core.data.autopilot.AutopilotGuardianStatusInfo
import com.mogo.eagle.core.data.autopilot.AutopilotRouteInfo
import com.mogo.eagle.core.data.autopilot.AutopilotWarnMessage
import com.mogo.eagle.core.data.enums.TrafficTypeEnum
import com.mogo.eagle.core.data.traffic.TrafficData
import com.zhidao.support.adas.high.bean.AutopilotRoute
import com.zhidao.support.adas.high.bean.CarStateInfo
import com.zhidao.support.adas.high.bean.RectInfo
import com.zhidao.support.adas.high.bean.WarnMessageInfo
import com.zhidao.support.adas.high.bean.guardian.AutopilotGuardianInfo
import com.zhidao.utils.common.GsonUtil
/**
* @author xiaoyuzhou
* @date 2021/10/18 1:32 下午
*/
class AdasObjectConvertUtils {
object AdasObjectConvertUtils {
val TAG = "AdasObjectConvertUtils"
fun fromAutopilotGuardianInfo(autopilotGuardianInfo: AutopilotGuardianInfo): AutopilotGuardianStatusInfo? {
return GsonUtil.objectFromJson(
GsonUtil.jsonFromObject(autopilotGuardianInfo),
AutopilotGuardianStatusInfo::class.java
)
}
fun fromAdasAutopilotRoute(carStateInfo: AutopilotRoute): AutopilotRouteInfo? {
return GsonUtil.objectFromJson(
GsonUtil.jsonFromObject(carStateInfo),
AutopilotRouteInfo::class.java
)
}
fun fromAdasCarStateInfoObject(carStateInfo: CarStateInfo): AutopilotCarStateInfo? {
return GsonUtil.objectFromJson(
GsonUtil.jsonFromObject(carStateInfo),
AutopilotCarStateInfo::class.java
)
}
fun fromAdasObject(info: WarnMessageInfo?): AutopilotWarnMessage? {
if (info == null) {
return null
}
val warnMessage = AutopilotWarnMessage()
warnMessage.content = info.content
warnMessage.level = info.level
try {
warnMessage.type = info.type.toInt()
} catch (e: NumberFormatException) {
return null
}
warnMessage.value = info.value
return warnMessage
}
fun regroupTrafficDataData(datums: List<RectInfo.RectBean?>?): ArrayList<TrafficData>? {
if (datums == null || datums.isEmpty()) {
return null
}
val recognizedListResults: ArrayList<TrafficData> = ArrayList()
for (model in datums) {
if (model == null) {
continue
}
val recognizedListResult = fromAdasTrafficDataObject(model)
if (recognizedListResult != null) {
recognizedListResults.add(recognizedListResult)
}
}
return recognizedListResults
}
fun fromAdasTrafficDataObject(model: RectInfo.RectBean?): TrafficData? {
if (model == null) {
return null
}
val result = TrafficData()
result.uuid = model.uuid
result.lat = model.lat
result.lon = model.lon
result.type = TrafficTypeEnum.getType(model.type.toInt())
result.heading = model.heading
result.systemTime = model.systemTime.toLong()
result.satelliteTime = model.satelliteTime.toLong()
result.alt = model.alt
result.speed = model.speed
result.carId = model.carId
result.dataAccuracy = model.dataAccuracy
result.distance = model.distance
result.threatLevel = model.drawlevel
//Log.d(TAG, "TrafficData = $result")
return result
}
}

10
core/mogo-core-function-api/src/main/java/com/mogo/eagle/core/function/api/autopilot/IMoGoAutopilotStatusListener.kt
View File

@@ -16,16 +16,14 @@ interface IMoGoAutopilotStatusListener {
*
* @param autoPilotStatusInfo 状态信息
*/
fun onAutopilotStatusResponse(autoPilotStatusInfo: AutopilotStatusInfo)
fun onAutopilotStatusResponse(autoPilotStatusInfo: AutopilotStatusInfo){}
/**
* 自动驾驶到站
*
* @param autopilotWayArrive 所到车站的简单信息
*/
fun onAutopilotArriveAtStation(autopilotWayArrive: AutopilotStationInfo?){
}
fun onAutopilotArriveAtStation(autopilotWayArrive: AutopilotStationInfo?){}
/**
* 工控机获取SN
@@ -35,9 +33,7 @@ interface IMoGoAutopilotStatusListener {
/**
* 工控机监控节点
*/
fun onAutopilotGuardian(guardianInfo: AutopilotGuardianStatusInfo?){
}
fun onAutopilotGuardian(guardianInfo: AutopilotGuardianStatusInfo?){}
companion object {

130
modules/mogo-module-adas/src/main/java/com/mogo/module/adas/AdasEventManager.java
View File

@@ -1,52 +1,28 @@
package com.mogo.module.adas;
import androidx.annotation.NonNull;
import androidx.annotation.Nullable;
import com.google.gson.Gson;
import com.mogo.cloud.passport.MoGoAiCloudClientConfig;
import com.mogo.eagle.core.data.autopilot.ADASTrajectoryInfo;
import com.mogo.eagle.core.data.autopilot.AutoPilotRecordResult;
import com.mogo.eagle.core.data.autopilot.AutopilotCarStateInfo;
import com.mogo.eagle.core.data.autopilot.AutopilotGuardianStatusInfo;
import com.mogo.eagle.core.data.autopilot.AutopilotRouteInfo;
import com.mogo.eagle.core.data.autopilot.AutopilotStationInfo;
import com.mogo.eagle.core.data.autopilot.AutopilotStatusInfo;
import com.mogo.eagle.core.data.autopilot.AutopilotWarnMessage;
import com.mogo.eagle.core.data.config.FunctionBuildConfig;
import com.mogo.eagle.core.data.traffic.TrafficData;
import com.mogo.eagle.core.function.api.autopilot.IMoGoAutopilotCarStateListener;
import com.mogo.eagle.core.function.api.autopilot.IMoGoAutopilotIdentifyListener;
import com.mogo.eagle.core.function.api.autopilot.IMoGoAutopilotPlanningListener;
import com.mogo.eagle.core.function.api.autopilot.IMoGoAutopilotStatusListener;
import com.mogo.eagle.core.function.call.autopilot.CallerAutoPilotStatusListenerManager;
import com.mogo.eagle.core.function.call.autopilot.CallerAutopilotCarStatusListenerManager;
import com.mogo.eagle.core.function.call.autopilot.CallerAutopilotIdentifyListenerManager;
import com.mogo.eagle.core.function.call.autopilot.CallerAutopilotPlanningListenerManager;
import com.mogo.eagle.core.network.utils.GsonUtil;
import com.mogo.eagle.core.utilcode.mogo.logger.Logger;
import com.mogo.eagle.core.utilcode.util.GsonUtils;
import com.mogo.eagle.core.utilcode.util.ThreadUtils;
import com.mogo.module.adas.model.AdasServiceModel;
import com.mogo.module.common.drawer.IdentifyDataDrawer;
import com.zhidao.support.adas.high.AdasManager;
import com.zhidao.support.adas.high.OnAdasMsgConnectStatusListener;
import com.zhidao.support.adas.high.bean.BasicInfo;
import com.zhidao.support.obu.ami.AmiClientManager;
import java.util.ArrayList;
import java.util.concurrent.TimeUnit;
import io.reactivex.Flowable;
import io.reactivex.android.schedulers.AndroidSchedulers;
import io.reactivex.schedulers.Schedulers;
/**
* Created by XuYong on 2021/4/25 14:43
*/
public class AdasEventManager implements
OnAdasMsgConnectStatusListener,
IMoGoAutopilotStatusListener,
IMoGoAutopilotPlanningListener,
IMoGoAutopilotIdentifyListener,
IMoGoAutopilotCarStateListener {
@@ -55,18 +31,9 @@ public class AdasEventManager implements
private static volatile AdasEventManager adasEventManager;
private static final byte[] obj = new byte[0];
private final Gson gson;
private final ArrayList<IAdasDataListener> iAdasEventListeners = new ArrayList<>();
//自动驾驶状态
private int mCurrentAutopilotStatus = -1;
//自动驾驶车速度
private float mCurrentAutopilotSpeed = 0;
private AdasEventManager() {
gson = GsonUtil.getGson();
CallerAutoPilotStatusListenerManager.INSTANCE.addListener(TAG, this);
CallerAutopilotPlanningListenerManager.INSTANCE.addListener(TAG, this);
CallerAutopilotIdentifyListenerManager.INSTANCE.addListener(TAG, this);
CallerAutopilotCarStatusListenerManager.INSTANCE.addListener(TAG, this);
}
@@ -95,89 +62,11 @@ public class AdasEventManager implements
iAdasEventListeners.remove(listener);
}
/**
* 同步SN信息给工控机
*/
public void syncBasicInfoToAutopilot() {
Logger.d(TAG, "同步PAD的SN给工控机……");
BasicInfo info = new BasicInfo();
info.setSn(MoGoAiCloudClientConfig.getInstance().getSn());
AdasManager.getInstance().setBasicInfo(info);
}
@Override
public void onAutopilotSNRequest() {
syncBasicInfoToAutopilot();
}
@Override
public void onWebSocketConnectSuccess() {
Logger.d(TAG, "webSocket 连接成功");
// 初始化自动驾驶状态信息
CallerAutoPilotStatusListenerManager.INSTANCE.getAutoPilotStatusInfo().setConnectIP(AdasManager.getInstance().getAdasConfig().getAddress());
CallerAutoPilotStatusListenerManager.INSTANCE.getAutoPilotStatusInfo().setConnectStatus(true);
CallerAutoPilotStatusListenerManager.INSTANCE.invokeAutoPilotStatus();
// 同步SN给工控机
syncBasicInfoToAutopilot();
// 开启轮训上传自动驾驶状态
updateDriveStatusTask();
}
@Override
public void onWebSocketConnectFailed(String reason) {
Logger.d(TAG, "webSocket 连接失败 reason:" + reason);
CallerAutoPilotStatusListenerManager.INSTANCE.getAutoPilotStatusInfo().setConnectIP(AdasManager.getInstance().getAdasConfig().getAddress());
CallerAutoPilotStatusListenerManager.INSTANCE.getAutoPilotStatusInfo().setConnectStatus(false);
CallerAutoPilotStatusListenerManager.INSTANCE.invokeAutoPilotStatus();
}
public void updateDriveStatusTask() {
Logger.d(TAG, "updateDriveStatusTask");
Flowable.interval(0, 5, TimeUnit.SECONDS)
.subscribeOn(Schedulers.io())
.unsubscribeOn(Schedulers.io())
.observeOn(AndroidSchedulers.mainThread())
.subscribe(aLong -> updateDriveStatus());
}
private void updateDriveStatus() {
AdasServiceModel.getInstance().updateDriveStatus(mCurrentAutopilotStatus, mCurrentAutopilotSpeed);
}
private void reportSite(double lon, double lat) {
AdasServiceModel.getInstance().reportSite(lon, lat);
}
@Override
public void onAutopilotStatusResponse(@NonNull AutopilotStatusInfo autoPilotStatusInfo) {
int state = autoPilotStatusInfo.getState();
float speed = autoPilotStatusInfo.getSpeed();
mCurrentAutopilotStatus = state;
mCurrentAutopilotSpeed = speed;
for (IAdasDataListener listener : iAdasEventListeners) {
if (listener != null) {
listener.notifyAutopilotState(autoPilotStatusInfo);
}
}
}
@Override
public void onAutopilotArriveAtStation(AutopilotStationInfo autopilotWayArrive) {
if (autopilotWayArrive != null) {
double lon = autopilotWayArrive.getLon();
double lat = autopilotWayArrive.getLat();
reportSite(lon, lat);
}
}
@Override
public void onAutopilotCarStateData(@Nullable AutopilotCarStateInfo autoPilotCarStateInfo) {
for (IAdasDataListener listener : iAdasEventListeners) {
if (listener != null) {
listener.ownerCarStateInfo(gson.toJson(autoPilotCarStateInfo));
listener.ownerCarStateInfo(GsonUtils.toJson(autoPilotCarStateInfo));
}
}
@@ -194,11 +83,6 @@ public class AdasEventManager implements
}
@Override
public void onAutopilotGuardian(@Nullable AutopilotGuardianStatusInfo guardianInfo) {
}
@Override
public void onAutopilotIdentifyDataUpdate(@Nullable ArrayList<TrafficData> trafficData) {
try {
@@ -217,16 +101,6 @@ public class AdasEventManager implements
}
@Override
public void onAutopilotTrajectory(ArrayList<ADASTrajectoryInfo> trajectoryInfo) {
}
@Override
public void onAutopilotRotting(@Nullable AutopilotRouteInfo autopilotRoute) {
}
@Override
public void onAutopilotRecordResult(AutoPilotRecordResult result) {

103
modules/mogo-module-adas/src/main/java/com/mogo/module/adas/AdasObjectUtils.kt
View File

@@ -1,103 +0,0 @@
package com.mogo.module.adas
import com.mogo.eagle.core.data.autopilot.AutopilotCarStateInfo
import com.mogo.eagle.core.data.autopilot.AutopilotGuardianStatusInfo
import com.mogo.eagle.core.data.autopilot.AutopilotRouteInfo
import com.mogo.eagle.core.data.autopilot.AutopilotWarnMessage
import com.mogo.eagle.core.data.enums.TrafficTypeEnum
import com.mogo.eagle.core.data.traffic.TrafficData
import com.mogo.eagle.core.network.utils.GsonUtil
import com.zhidao.support.adas.high.bean.AutopilotRoute
import com.zhidao.support.adas.high.bean.CarStateInfo
import com.zhidao.support.adas.high.bean.RectInfo.RectBean
import com.zhidao.support.adas.high.bean.WarnMessageInfo
import com.zhidao.support.adas.high.bean.guardian.AutopilotGuardianInfo
/**
* @author congtaowang
* @since 2020/10/25
*
* 对象转换类
*/
object AdasObjectUtils {
val TAG = "AdasObjectUtils"
fun fromAutopilotGuardianInfo(autopilotGuardianInfo: AutopilotGuardianInfo): AutopilotGuardianStatusInfo? {
return GsonUtil.objectFromJson(
GsonUtil.jsonFromObject(autopilotGuardianInfo),
AutopilotGuardianStatusInfo::class.java
)
}
fun fromAdasAutopilotRoute(carStateInfo: AutopilotRoute): AutopilotRouteInfo? {
return GsonUtil.objectFromJson(
GsonUtil.jsonFromObject(carStateInfo),
AutopilotRouteInfo::class.java
)
}
fun fromAdasCarStateInfoObject(carStateInfo: CarStateInfo): AutopilotCarStateInfo? {
return GsonUtil.objectFromJson(
GsonUtil.jsonFromObject(carStateInfo),
AutopilotCarStateInfo::class.java
)
}
fun fromAdasObject(info: WarnMessageInfo?): AutopilotWarnMessage? {
if (info == null) {
return null
}
val warnMessage = AutopilotWarnMessage()
warnMessage.content = info.content
warnMessage.level = info.level
try {
warnMessage.type = info.type.toInt()
} catch (e: NumberFormatException) {
return null
}
warnMessage.value = info.value
return warnMessage
}
fun regroupTrafficDataData(datums: List<RectBean?>?): ArrayList<TrafficData>? {
if (datums == null || datums.isEmpty()) {
return null
}
val recognizedListResults: ArrayList<TrafficData> = ArrayList()
for (model in datums) {
if (model == null) {
continue
}
val recognizedListResult = fromAdasTrafficDataObject(model)
if (recognizedListResult != null) {
recognizedListResults.add(recognizedListResult)
}
}
return recognizedListResults
}
fun fromAdasTrafficDataObject(model: RectBean?): TrafficData? {
if (model == null) {
return null
}
val result = TrafficData()
result.uuid = model.uuid
result.lat = model.lat
result.lon = model.lon
result.type = TrafficTypeEnum.getType(model.type.toInt())
result.heading = model.heading
result.systemTime = model.systemTime.toLong()
result.satelliteTime = model.satelliteTime.toLong()
result.alt = model.alt
result.speed = model.speed
result.carId = model.carId
result.dataAccuracy = model.dataAccuracy
result.distance = model.distance
result.threatLevel = model.drawlevel
//Log.d(TAG, "TrafficData = $result")
return result
}
}

30
modules/mogo-module-adas/src/main/java/com/mogo/module/adas/AdasProvider.java
View File

@@ -4,11 +4,8 @@ import android.content.Context;
import com.alibaba.android.arouter.facade.annotation.Route;
import com.alibaba.android.arouter.facade.template.IProvider;
import com.mogo.eagle.core.data.config.FunctionBuildConfig;
import com.mogo.eagle.core.data.constants.MogoServicePaths;
import com.mogo.eagle.core.utilcode.mogo.logger.Logger;
import com.zhidao.support.adas.high.AdasManager;
import com.zhidao.support.adas.high.common.CupidLogUtils;
/**
@@ -27,29 +24,6 @@ public class AdasProvider implements IProvider {
public void init(Context context) {
Logger.d(TAG, "初始化 AdasProvider 模块");
adasEventManager = AdasEventManager.getInstance();
initAdas(context, adasEventManager);
}
private void initAdas(Context context, AdasEventManager adasEventManager) {
CupidLogUtils.setEnableLog(false);
CupidLogUtils.setIsWriteLog(false);
// TODO 临时方案，根据不同的身份标识，连接不同的工控机IP
switch (FunctionBuildConfig.appIdentityMode) {
case 0:
// 司机
AdasManager.getInstance().create(context, "192.168.1.102");
break;
case 1:
// 乘客
AdasManager.getInstance().create(context, "192.168.1.103");
break;
default:
// 默认采用UDP寻址方式
AdasManager.getInstance().create(context);
break;
}
AdasManager.getInstance().setOnAdasListener(new OnAdasListenerAdapter());
AdasManager.getInstance().setOnAdasConnectStatusListener(adasEventManager);
}
public void addAdasEventListener(IAdasDataListener listener) {
@@ -60,8 +34,4 @@ public class AdasProvider implements IProvider {
adasEventManager.removeEventListener(listener);
}
public void sendWsMessage(String msg) {
AdasManager.getInstance().aiCloudToAdasData(msg);
}
}

10
modules/mogo-module-adas/src/main/java/com/mogo/module/adas/IAdasDataListener.java
View File

@@ -1,7 +1,5 @@
package com.mogo.module.adas;
import com.mogo.eagle.core.data.autopilot.AutopilotStatusInfo;
public interface IAdasDataListener {
@@ -13,12 +11,4 @@ public interface IAdasDataListener {
default void ownerCarStateInfo(String ownerCarStateInfo) {
}
/**
* 自动驾驶状态信息
*
* @param autopilotStatus {@link AutopilotStatusInfo}
*/
default void notifyAutopilotState(AutopilotStatusInfo autopilotStatus) {
}
}

15
modules/mogo-module-service/src/main/java/com/mogo/module/service/MogoServices.java
View File

@@ -86,7 +86,6 @@ public class MogoServices implements IMogoMapListener,
private boolean mInternalUnWakeupRegisterStatus = false;
private Location mLastCarLocation;
private MogoServices() {
// private constructor
@@ -201,7 +200,6 @@ public class MogoServices implements IMogoMapListener,
}
mStatusManager.setUserInteractionStatus( ServiceConst.TYPE, true, false );
mUiController.changeZoom( ServiceConst.DEFAULT_LOCK_CAR_ZOOM_LEVEL );
// mUiController.setLockZoom( ServiceConst.DEFAULT_LOCK_CAR_ZOOM_LEVEL );
mStatusManager.setUserInteractionStatus( TAG, true, false );
mUiController.recoverLockMode();
notifyRefreshData( mLastAutoRefreshLocation, ServiceConst.DEFAULT_AUTO_REFRESH_DATA_RADIUS, mAutoRefreshCallback );
@@ -265,11 +263,6 @@ public class MogoServices implements IMogoMapListener,
private Handler mThreadHandler;
/**
* 当前限速
*/
private int mCurrentLimit = -1;
private final IMogoStatusChangedListener statusChangedListener = new StatusChangedAdapter() {
@Override
@@ -646,7 +639,6 @@ public class MogoServices implements IMogoMapListener,
if ( latLng == null ) {
return;
}
mLastCarLocation = latLng;
// poi 定位无法获取时，使用该定位
if ( mLastAutoRefreshLocation == null ) {
MogoLatLng point = new MogoLatLng( latLng.getLatitude(), latLng.getLongitude() );
@@ -834,10 +826,6 @@ public class MogoServices implements IMogoMapListener,
MoGoAiCloudRealTime.stopRealTime();
}
public Location getLastCarLocation() {
return mLastCarLocation;
}
private boolean mLastStatusIsVr = false;
public boolean isLastStatusIsVr() {
@@ -876,7 +864,8 @@ public class MogoServices implements IMogoMapListener,
@Override
public void onAdasCarDataCallback( AutopilotCarStateInfo stateInfo ) {
if(TimeDelayUploadManager.getInstance().isMock()){ //模拟数据时，不更新由工控机传输的自车位置
//模拟数据时，不更新由工控机传输的自车位置
if(TimeDelayUploadManager.getInstance().isMock()){
return;
}

45
services/mogo-service-api/src/main/java/com/mogo/service/adas/IMogoAdasOCHCallback.java
View File

@@ -1,45 +0,0 @@
package com.mogo.service.adas;
import com.mogo.eagle.core.data.autopilot.AutopilotStationInfo;
/**
* @author congtaowang
* @since 2021/1/18
* <p>
* 自动驾驶到站回调
*/
public interface IMogoAdasOCHCallback {
/**
* 不可自动驾驶，目前场景是刚开机，adas还未和工控机连接
*/
int STATUS_AUTOPILOT_DISABLE = 0;
/**
* 可自动驾驶，工控机连接正常，且处于人工干预状态
*/
int STATUS_AUTOPILOT_ENABLE = 1;
/**
* 自动驾驶中，可能是停车，可能是行进，但是是机器在处理车的前进后退，不是人
*/
int STATUS_AUTOPILOT_RUNNING = 2;
/**
* 到站
*
* @param data 所到车站的简单信息
* @see com.mogo.eagle.core.function.api.autopilot.IMoGoAutopilotStatusListener#onAutopilotArriveAtStation
*/
@Deprecated
void onArriveAt(AutopilotStationInfo data);
/**
* 自动驾驶状态发生改变
*
* @param state {@link #STATUS_AUTOPILOT_DISABLE}
* @param reason 不能自动驾驶的原因
* @see com.mogo.eagle.core.function.api.autopilot.IMoGoAutopilotStatusListener#onAutopilotStatusResponse
*/
@Deprecated
void onStateChanged(int state, String reason);
}

1
services/mogo-service/build.gradle
View File

@@ -62,7 +62,6 @@ dependencies {
implementation rootProject.ext.dependencies.mogo_core_data
implementation rootProject.ext.dependencies.mogo_core_function_check
} else {
implementation project(':modules:mogo-module-adas')
api project(":libraries:mogo-map")
implementation project(":libraries:mogo-map-api")
implementation project(':core:mogo-core-utils')

12
services/mogo-service/src/main/java/com/mogo/service/impl/adas/MogoADASController.java
View File

@@ -15,7 +15,6 @@ import com.mogo.module.adas.AdasProvider;
import com.mogo.module.adas.IAdasDataListener;
import com.mogo.service.adas.IMogoADASController;
import com.mogo.service.adas.IMogoAdasCarDataCallback;
import com.mogo.service.adas.IMogoAdasOCHCallback;
import com.zhidao.autopilot.support.api.AutopilotServiceManage;
import java.util.List;
@@ -50,8 +49,6 @@ public class MogoADASController implements IMogoADASController {
return satelliteTime;
}
private final List<IMogoAdasOCHCallback> mAdasOCHCallback = new CopyOnWriteArrayList<>();
@Override
public void init(Context context) {
adasProvider = ARouter.getInstance().navigation(AdasProvider.class);
@@ -79,15 +76,6 @@ public class MogoADASController implements IMogoADASController {
}
}
@Override
public void notifyAutopilotState(AutopilotStatusInfo autopilotStatus) {
DebugConfig.setAutoPilotStatus(autopilotStatus.getState() + "");
if (!mAdasOCHCallback.isEmpty()) {
for (IMogoAdasOCHCallback cb : mAdasOCHCallback) {
cb.onStateChanged(autopilotStatus.getState(), autopilotStatus.getReason());
}
}
}
};
adasProvider.addAdasEventListener(mAdasDataListener);
}