From 117897d576fa8cb2e7e0d27f397dd88663de1de4 Mon Sep 17 00:00:00 2001 From: donghongyu Date: Tue, 8 Feb 2022 19:07:28 +0800 Subject: [PATCH] =?UTF-8?q?[Change]=20=E6=95=B4=E7=90=86ADAS=E7=9B=B8?= =?UTF-8?q?=E5=85=B3=E4=BB=A3=E7=A0=81?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit Signed-off-by: donghongyu --- .../mogo-core-function-autopilot/build.gradle | 7 + .../autopilot/MoGoAutopilotProvider.kt | 28 +++- .../adapter/MoGoAdasListenerImpl.java | 20 ++- .../MoGoAdasMsgConnectStatusListenerImpl.kt | 100 ++++++++++++++ .../MoGoAutopilotStatusListenerImpl.java | 38 ----- .../entity/AutonomousDriveStatusBean.java | 2 +- .../autopilot}/entity/ReportSiteBean.java | 2 +- .../autopilot/network}/AdasServiceModel.java | 23 ++-- .../autopilot}/network/IAdasApiService.java | 2 +- .../autopilot/utils/AdasObjectConvertUtils.kt | 94 ++++++++++++- .../autopilot/IMoGoAutopilotStatusListener.kt | 10 +- .../mogo/module/adas/AdasEventManager.java | 130 +----------------- .../com/mogo/module/adas/AdasObjectUtils.kt | 103 -------------- .../com/mogo/module/adas/AdasProvider.java | 30 ---- .../mogo/module/adas/IAdasDataListener.java | 10 -- .../com/mogo/module/service/MogoServices.java | 15 +- .../service/adas/IMogoAdasOCHCallback.java | 45 ------ services/mogo-service/build.gradle | 1 - .../service/impl/adas/MogoADASController.java | 12 -- 19 files changed, 255 insertions(+), 417 deletions(-) rename 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 (94%) create mode 100644 core/function-impl/mogo-core-function-autopilot/src/main/java/com/mogo/eagle/core/function/autopilot/adapter/MoGoAdasMsgConnectStatusListenerImpl.kt delete mode 100644 core/function-impl/mogo-core-function-autopilot/src/main/java/com/mogo/eagle/core/function/autopilot/adapter/MoGoAutopilotStatusListenerImpl.java rename {modules/mogo-module-adas/src/main/java/com/mogo/module/adas => core/function-impl/mogo-core-function-autopilot/src/main/java/com/mogo/eagle/core/function/autopilot}/entity/AutonomousDriveStatusBean.java (93%) rename {modules/mogo-module-adas/src/main/java/com/mogo/module/adas => core/function-impl/mogo-core-function-autopilot/src/main/java/com/mogo/eagle/core/function/autopilot}/entity/ReportSiteBean.java (92%) rename {modules/mogo-module-adas/src/main/java/com/mogo/module/adas/model => core/function-impl/mogo-core-function-autopilot/src/main/java/com/mogo/eagle/core/function/autopilot/network}/AdasServiceModel.java (84%) rename {modules/mogo-module-adas/src/main/java/com/mogo/module/adas => core/function-impl/mogo-core-function-autopilot/src/main/java/com/mogo/eagle/core/function/autopilot}/network/IAdasApiService.java (93%) delete mode 100644 modules/mogo-module-adas/src/main/java/com/mogo/module/adas/AdasObjectUtils.kt delete mode 100644 services/mogo-service-api/src/main/java/com/mogo/service/adas/IMogoAdasOCHCallback.java diff --git a/core/function-impl/mogo-core-function-autopilot/build.gradle b/core/function-impl/mogo-core-function-autopilot/build.gradle index 0cf2df7226..49e96989a9 100644 --- a/core/function-impl/mogo-core-function-autopilot/build.gradle +++ b/core/function-impl/mogo-core-function-autopilot/build.gradle @@ -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') } diff --git a/core/function-impl/mogo-core-function-autopilot/src/main/java/com/mogo/eagle/core/function/autopilot/MoGoAutopilotProvider.kt b/core/function-impl/mogo-core-function-autopilot/src/main/java/com/mogo/eagle/core/function/autopilot/MoGoAutopilotProvider.kt index 68ac9a4333..b1b7b8ea67 100644 --- a/core/function-impl/mogo-core-function-autopilot/src/main/java/com/mogo/eagle/core/function/autopilot/MoGoAutopilotProvider.kt +++ b/core/function-impl/mogo-core-function-autopilot/src/main/java/com/mogo/eagle/core/function/autopilot/MoGoAutopilotProvider.kt @@ -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") } } diff --git a/modules/mogo-module-adas/src/main/java/com/mogo/module/adas/OnAdasListenerAdapter.java b/core/function-impl/mogo-core-function-autopilot/src/main/java/com/mogo/eagle/core/function/autopilot/adapter/MoGoAdasListenerImpl.java similarity index 94% rename from modules/mogo-module-adas/src/main/java/com/mogo/module/adas/OnAdasListenerAdapter.java rename to core/function-impl/mogo-core-function-autopilot/src/main/java/com/mogo/eagle/core/function/autopilot/adapter/MoGoAdasListenerImpl.java index 799d3d7b05..8ae436afc8 100644 --- a/modules/mogo-module-adas/src/main/java/com/mogo/module/adas/OnAdasListenerAdapter.java +++ b/core/function-impl/mogo-core-function-autopilot/src/main/java/com/mogo/eagle/core/function/autopilot/adapter/MoGoAdasListenerImpl.java @@ -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; *

* 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 recognizedListResults = AdasObjectUtils.INSTANCE.regroupTrafficDataData(rectInfo.getModels()); + ArrayList 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); } diff --git a/core/function-impl/mogo-core-function-autopilot/src/main/java/com/mogo/eagle/core/function/autopilot/adapter/MoGoAdasMsgConnectStatusListenerImpl.kt b/core/function-impl/mogo-core-function-autopilot/src/main/java/com/mogo/eagle/core/function/autopilot/adapter/MoGoAdasMsgConnectStatusListenerImpl.kt new file mode 100644 index 0000000000..233a997ead --- /dev/null +++ b/core/function-impl/mogo-core-function-autopilot/src/main/java/com/mogo/eagle/core/function/autopilot/adapter/MoGoAdasMsgConnectStatusListenerImpl.kt @@ -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) + } + } + + +} \ No newline at end of file diff --git a/core/function-impl/mogo-core-function-autopilot/src/main/java/com/mogo/eagle/core/function/autopilot/adapter/MoGoAutopilotStatusListenerImpl.java b/core/function-impl/mogo-core-function-autopilot/src/main/java/com/mogo/eagle/core/function/autopilot/adapter/MoGoAutopilotStatusListenerImpl.java deleted file mode 100644 index b4ef89d40c..0000000000 --- a/core/function-impl/mogo-core-function-autopilot/src/main/java/com/mogo/eagle/core/function/autopilot/adapter/MoGoAutopilotStatusListenerImpl.java +++ /dev/null @@ -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) { - - } - -} diff --git a/modules/mogo-module-adas/src/main/java/com/mogo/module/adas/entity/AutonomousDriveStatusBean.java b/core/function-impl/mogo-core-function-autopilot/src/main/java/com/mogo/eagle/core/function/autopilot/entity/AutonomousDriveStatusBean.java similarity index 93% rename from modules/mogo-module-adas/src/main/java/com/mogo/module/adas/entity/AutonomousDriveStatusBean.java rename to core/function-impl/mogo-core-function-autopilot/src/main/java/com/mogo/eagle/core/function/autopilot/entity/AutonomousDriveStatusBean.java index e4bba0a1e2..2557f03e5e 100644 --- a/modules/mogo-module-adas/src/main/java/com/mogo/module/adas/entity/AutonomousDriveStatusBean.java +++ b/core/function-impl/mogo-core-function-autopilot/src/main/java/com/mogo/eagle/core/function/autopilot/entity/AutonomousDriveStatusBean.java @@ -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 diff --git a/modules/mogo-module-adas/src/main/java/com/mogo/module/adas/entity/ReportSiteBean.java b/core/function-impl/mogo-core-function-autopilot/src/main/java/com/mogo/eagle/core/function/autopilot/entity/ReportSiteBean.java similarity index 92% rename from modules/mogo-module-adas/src/main/java/com/mogo/module/adas/entity/ReportSiteBean.java rename to core/function-impl/mogo-core-function-autopilot/src/main/java/com/mogo/eagle/core/function/autopilot/entity/ReportSiteBean.java index ed0f765e2e..9b1f9f4328 100644 --- a/modules/mogo-module-adas/src/main/java/com/mogo/module/adas/entity/ReportSiteBean.java +++ b/core/function-impl/mogo-core-function-autopilot/src/main/java/com/mogo/eagle/core/function/autopilot/entity/ReportSiteBean.java @@ -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 diff --git a/modules/mogo-module-adas/src/main/java/com/mogo/module/adas/model/AdasServiceModel.java b/core/function-impl/mogo-core-function-autopilot/src/main/java/com/mogo/eagle/core/function/autopilot/network/AdasServiceModel.java similarity index 84% rename from modules/mogo-module-adas/src/main/java/com/mogo/module/adas/model/AdasServiceModel.java rename to core/function-impl/mogo-core-function-autopilot/src/main/java/com/mogo/eagle/core/function/autopilot/network/AdasServiceModel.java index 31553c43b3..009c446151 100644 --- a/modules/mogo-module-adas/src/main/java/com/mogo/module/adas/model/AdasServiceModel.java +++ b/core/function-impl/mogo-core-function-autopilot/src/main/java/com/mogo/eagle/core/function/autopilot/network/AdasServiceModel.java @@ -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(RequestOptions.create(getContext())) { + .subscribe(new SubscribeImpl(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(RequestOptions.create(getContext())) { + .subscribe(new SubscribeImpl(RequestOptions.create(ContextHolderUtil.getContext())) { @Override public void onError(String message, int code) { super.onError(message, code); diff --git a/modules/mogo-module-adas/src/main/java/com/mogo/module/adas/network/IAdasApiService.java b/core/function-impl/mogo-core-function-autopilot/src/main/java/com/mogo/eagle/core/function/autopilot/network/IAdasApiService.java similarity index 93% rename from modules/mogo-module-adas/src/main/java/com/mogo/module/adas/network/IAdasApiService.java rename to core/function-impl/mogo-core-function-autopilot/src/main/java/com/mogo/eagle/core/function/autopilot/network/IAdasApiService.java index e3fe324cfb..b9565cf782 100644 --- a/modules/mogo-module-adas/src/main/java/com/mogo/module/adas/network/IAdasApiService.java +++ b/core/function-impl/mogo-core-function-autopilot/src/main/java/com/mogo/eagle/core/function/autopilot/network/IAdasApiService.java @@ -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; diff --git a/core/function-impl/mogo-core-function-autopilot/src/main/java/com/mogo/eagle/core/function/autopilot/utils/AdasObjectConvertUtils.kt b/core/function-impl/mogo-core-function-autopilot/src/main/java/com/mogo/eagle/core/function/autopilot/utils/AdasObjectConvertUtils.kt index d698761766..e729b26521 100644 --- a/core/function-impl/mogo-core-function-autopilot/src/main/java/com/mogo/eagle/core/function/autopilot/utils/AdasObjectConvertUtils.kt +++ b/core/function-impl/mogo-core-function-autopilot/src/main/java/com/mogo/eagle/core/function/autopilot/utils/AdasObjectConvertUtils.kt @@ -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?): ArrayList? { + if (datums == null || datums.isEmpty()) { + return null + } + val recognizedListResults: ArrayList = 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 + } + } diff --git a/core/mogo-core-function-api/src/main/java/com/mogo/eagle/core/function/api/autopilot/IMoGoAutopilotStatusListener.kt b/core/mogo-core-function-api/src/main/java/com/mogo/eagle/core/function/api/autopilot/IMoGoAutopilotStatusListener.kt index 8b09cbb008..aaf8923fd6 100644 --- a/core/mogo-core-function-api/src/main/java/com/mogo/eagle/core/function/api/autopilot/IMoGoAutopilotStatusListener.kt +++ b/core/mogo-core-function-api/src/main/java/com/mogo/eagle/core/function/api/autopilot/IMoGoAutopilotStatusListener.kt @@ -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 { diff --git a/modules/mogo-module-adas/src/main/java/com/mogo/module/adas/AdasEventManager.java b/modules/mogo-module-adas/src/main/java/com/mogo/module/adas/AdasEventManager.java index f93a41f096..2401fc18a1 100644 --- a/modules/mogo-module-adas/src/main/java/com/mogo/module/adas/AdasEventManager.java +++ b/modules/mogo-module-adas/src/main/java/com/mogo/module/adas/AdasEventManager.java @@ -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 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) { try { @@ -217,16 +101,6 @@ public class AdasEventManager implements } - @Override - public void onAutopilotTrajectory(ArrayList trajectoryInfo) { - - } - - - @Override - public void onAutopilotRotting(@Nullable AutopilotRouteInfo autopilotRoute) { - - } @Override public void onAutopilotRecordResult(AutoPilotRecordResult result) { diff --git a/modules/mogo-module-adas/src/main/java/com/mogo/module/adas/AdasObjectUtils.kt b/modules/mogo-module-adas/src/main/java/com/mogo/module/adas/AdasObjectUtils.kt deleted file mode 100644 index 78968f5c9f..0000000000 --- a/modules/mogo-module-adas/src/main/java/com/mogo/module/adas/AdasObjectUtils.kt +++ /dev/null @@ -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?): ArrayList? { - if (datums == null || datums.isEmpty()) { - return null - } - val recognizedListResults: ArrayList = 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 - } - - -} \ No newline at end of file diff --git a/modules/mogo-module-adas/src/main/java/com/mogo/module/adas/AdasProvider.java b/modules/mogo-module-adas/src/main/java/com/mogo/module/adas/AdasProvider.java index 7130cdeb32..4065c8aa50 100644 --- a/modules/mogo-module-adas/src/main/java/com/mogo/module/adas/AdasProvider.java +++ b/modules/mogo-module-adas/src/main/java/com/mogo/module/adas/AdasProvider.java @@ -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); - } - } diff --git a/modules/mogo-module-adas/src/main/java/com/mogo/module/adas/IAdasDataListener.java b/modules/mogo-module-adas/src/main/java/com/mogo/module/adas/IAdasDataListener.java index 880297c08f..6d9c6319d3 100644 --- a/modules/mogo-module-adas/src/main/java/com/mogo/module/adas/IAdasDataListener.java +++ b/modules/mogo-module-adas/src/main/java/com/mogo/module/adas/IAdasDataListener.java @@ -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) { - } - } diff --git a/modules/mogo-module-service/src/main/java/com/mogo/module/service/MogoServices.java b/modules/mogo-module-service/src/main/java/com/mogo/module/service/MogoServices.java index fbb84ab24e..1e7e5d031f 100644 --- a/modules/mogo-module-service/src/main/java/com/mogo/module/service/MogoServices.java +++ b/modules/mogo-module-service/src/main/java/com/mogo/module/service/MogoServices.java @@ -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; } diff --git a/services/mogo-service-api/src/main/java/com/mogo/service/adas/IMogoAdasOCHCallback.java b/services/mogo-service-api/src/main/java/com/mogo/service/adas/IMogoAdasOCHCallback.java deleted file mode 100644 index 5d87b368d2..0000000000 --- a/services/mogo-service-api/src/main/java/com/mogo/service/adas/IMogoAdasOCHCallback.java +++ /dev/null @@ -1,45 +0,0 @@ -package com.mogo.service.adas; - -import com.mogo.eagle.core.data.autopilot.AutopilotStationInfo; - -/** - * @author congtaowang - * @since 2021/1/18 - *

- * 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); -} diff --git a/services/mogo-service/build.gradle b/services/mogo-service/build.gradle index 27baa7d66d..220180a410 100644 --- a/services/mogo-service/build.gradle +++ b/services/mogo-service/build.gradle @@ -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') diff --git a/services/mogo-service/src/main/java/com/mogo/service/impl/adas/MogoADASController.java b/services/mogo-service/src/main/java/com/mogo/service/impl/adas/MogoADASController.java index 035b2e55c8..04c548c34f 100644 --- a/services/mogo-service/src/main/java/com/mogo/service/impl/adas/MogoADASController.java +++ b/services/mogo-service/src/main/java/com/mogo/service/impl/adas/MogoADASController.java @@ -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 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); }