[Change]

整理ADAS相关代码

Signed-off-by: donghongyu <donghongyu@zhidaoauto.com>

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<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) {

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

@@ -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
-    }
-
-
-}

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);
-    }
-
 }

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) {
-    }
-
 }

modules/mogo-module-adas/src/main/java/com/mogo/module/adas/OnAdasListenerAdapter.java

@@ -1,253 +0,0 @@
-package com.mogo.module.adas;
-
-import android.util.Log;
-
-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.HdMapBuildConfig;
-import com.mogo.eagle.core.data.traffic.TrafficData;
-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.function.call.hmi.CallerHmiManager;
-import com.mogo.eagle.core.utilcode.mogo.logger.Logger;
-import com.zhidao.support.adas.high.AdasManager;
-import com.zhidao.support.adas.high.OnAdasListener;
-import com.zhidao.support.adas.high.bean.AutopilotRoute;
-import com.zhidao.support.adas.high.bean.AutopilotStatus;
-import com.zhidao.support.adas.high.bean.AutopilotWayArrive;
-import com.zhidao.support.adas.high.bean.CarLaneInfo;
-import com.zhidao.support.adas.high.bean.CarStateInfo;
-import com.zhidao.support.adas.high.bean.IPCUpgradeStateInfo;
-import com.zhidao.support.adas.high.bean.LightStatueInfo;
-import com.zhidao.support.adas.high.bean.ObstaclesInfo;
-import com.zhidao.support.adas.high.bean.RectInfo;
-import com.zhidao.support.adas.high.bean.SSHResult;
-import com.zhidao.support.adas.high.bean.TrajectoryInfo;
-import com.zhidao.support.adas.high.bean.WarnMessageInfo;
-import com.zhidao.support.adas.high.bean.guardian.AutopilotGuardianInfo;
-import com.zhidao.support.adas.high.bean.record.AutopilotRecordResult;
-import com.zhidao.support.obu.ami.AmiClientManager;
-
-import java.util.ArrayList;
-import java.util.List;
-
-/**
- * @author congtaowang
- * @since 2020/10/22
- * <p>
- * 适配ADAS 回调监听分发
- */
-public class OnAdasListenerAdapter implements OnAdasListener {
-    private final String TAG = "OnAdasListenerAdapter";
-
-
-    @Override
-    public void onRectData(RectInfo rectInfo) {
-        if (HdMapBuildConfig.isMapLoaded) {
-            ArrayList<TrafficData> recognizedListResults = AdasObjectUtils.INSTANCE.regroupTrafficDataData(rectInfo.getModels());
-            CallerAutopilotIdentifyListenerManager.INSTANCE.invokeAutopilotIdentifyDataUpdate(recognizedListResults);
-        }
-    }
-
-
-    @Override
-    public void onCarStateData(CarStateInfo carStateInfo) {
-        if (HdMapBuildConfig.isMapLoaded) {
-//        Logger.d(TAG, "--------carStateInfo.toString() = " + carStateInfo.toString());
-            //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);
-            CallerAutopilotCarStatusListenerManager.INSTANCE.invokeAutopilotCarStateData(autopilotCarStateInfo);
-        }
-    }
-
-    @Override
-    public void autopilotStatus(AutopilotStatus autopilotStatus) {
-        if (HdMapBuildConfig.isMapLoaded) {
-            AutopilotStatus.ValuesBean autopilotStatusValues = autopilotStatus.getValues();
-
-            if (autopilotStatusValues != null) {
-                // 初始化自动驾驶状态信息
-                AutopilotStatusInfo autopilotStatusInfo = CallerAutoPilotStatusListenerManager.INSTANCE.getAutoPilotStatusInfo();
-                autopilotStatusInfo.setState(autopilotStatusValues.getState());
-                autopilotStatusInfo.setPilotmode(autopilotStatusValues.getPilotmode());
-                autopilotStatusInfo.setControl_pilotmode(autopilotStatusValues.getControl_pilotmode());
-                autopilotStatusInfo.setReason(autopilotStatusValues.getReason());
-                autopilotStatusInfo.setCamera(autopilotStatusValues.getCamera());
-                autopilotStatusInfo.setRtk(autopilotStatusValues.getRtk());
-                autopilotStatusInfo.setRadar(autopilotStatusValues.getRadar());
-                autopilotStatusInfo.setSpeed(autopilotStatusValues.getSpeed());
-                // 初始化自动驾驶状态信息
-                autopilotStatusInfo.setVersion(AdasManager.getInstance().getAdasConfig().getVersion());
-                autopilotStatusInfo.setConnectIP(AdasManager.getInstance().getAdasConfig().getAddress());
-                autopilotStatusInfo.setDockVersion(AdasManager.getInstance().getAdasConfig().getDockVersion());
-
-                CallerAutoPilotStatusListenerManager.INSTANCE.invokeAutoPilotStatus();
-            }
-        }
-    }
-
-    @Override
-    public void autopilotArrive(AutopilotWayArrive autopilotWayArrive) {
-        if (HdMapBuildConfig.isMapLoaded) {
-            Logger.d(TAG, "autopilotArrive : " + autopilotWayArrive);
-            if (autopilotWayArrive != null) {
-                AutopilotWayArrive.ResultBean result = autopilotWayArrive.getResult();
-                if (result != null) {
-                    AutopilotWayArrive.ResultBean.EndLatLonBean endLatLon = result.getEndLatLon();
-                    if (endLatLon != null) {
-                        AutopilotStationInfo stationInfo = new AutopilotStationInfo(result.getCarType(), endLatLon.getLon(), endLatLon.getLat());
-
-                        CallerAutoPilotStatusListenerManager.INSTANCE.invokeArriveAtStation(stationInfo);
-                    }
-                }
-            }
-        }
-    }
-
-    @Override
-    public void onAutopilotRoute(AutopilotRoute route) {
-        if (HdMapBuildConfig.isMapLoaded) {
-            Logger.d(TAG, "onAutopilotRoute : " + route.toString());
-            AutopilotRouteInfo autopilotRoute = AdasObjectUtils.INSTANCE.fromAdasAutopilotRoute(route);
-            CallerAutopilotPlanningListenerManager.INSTANCE.invokeAutopilotRotting(autopilotRoute);
-        }
-    }
-
-    @Override
-    public void onAutopilotTrajectory(List<TrajectoryInfo> trajectoryList) {
-        if (HdMapBuildConfig.isMapLoaded) {
-            Logger.d(TAG, "onAutopilotTrajectory : " + trajectoryList);
-            ArrayList<ADASTrajectoryInfo> trajectoryInfoArrayList = new ArrayList<>();
-            if (trajectoryList != null && trajectoryList.size() > 0) {
-                for (TrajectoryInfo trajectory : trajectoryList) {
-                    ADASTrajectoryInfo adasTrajectoryInfo = new ADASTrajectoryInfo();
-                    adasTrajectoryInfo.setLat(trajectory.getLat());
-                    adasTrajectoryInfo.setLon(trajectory.getLon());
-                    adasTrajectoryInfo.setAcceleration(trajectory.getAcceleration());
-                    adasTrajectoryInfo.setAccumulatedDis(trajectory.getAccumulatedDis());
-                    adasTrajectoryInfo.setTime(trajectory.getTime());
-                    adasTrajectoryInfo.setVelocity(trajectory.getVelocity());
-                    adasTrajectoryInfo.setAlt(trajectory.getAlt());
-                    adasTrajectoryInfo.setKappa(trajectory.getKappa());
-                    adasTrajectoryInfo.setTheta(trajectory.getTheta());
-                    trajectoryInfoArrayList.add(adasTrajectoryInfo);
-                }
-                Log.e(TAG, "time:" + System.currentTimeMillis() + "trajectoryInfoArrayList:" + trajectoryInfoArrayList);
-            }
-            CallerAutopilotPlanningListenerManager.INSTANCE.invokeAutopilotTrajectory(trajectoryInfoArrayList);
-        }
-    }
-
-    @Override
-    public void onAutopilotSNRequest() {
-        CallerAutoPilotStatusListenerManager.INSTANCE.invokeAutopilotSNRequest();
-    }
-
-    @Override
-    public void onAutopilotGuardian(AutopilotGuardianInfo guardianInfo) {
-        if (HdMapBuildConfig.isMapLoaded) {
-            AutopilotGuardianStatusInfo autopilotRoute = AdasObjectUtils.INSTANCE.fromAutopilotGuardianInfo(guardianInfo);
-            CallerAutoPilotStatusListenerManager.INSTANCE.invokeAutopilotGuardian(autopilotRoute);
-        }
-    }
-
-    @Override
-    public void onAutopilotRecord(AutopilotRecordResult result) {
-        if (result != null) {
-            AutoPilotRecordResult real = new AutoPilotRecordResult();
-            real.setDiskFree(result.getDiskFree());
-            real.setId(result.getId());
-            real.setDuration(result.getDuration());
-            real.setNote(result.getNote());
-            real.setTotal(result.getTotalSize());
-            real.setType(result.getType());
-            real.setFileName(result.getFilename());
-            real.setKey(result.getKey());
-            real.setStat(result.getStat());
-            real.setTimestamp(result.getTimestamp());
-            CallerAutopilotIdentifyListenerManager.INSTANCE.invokeAutopilotRecordResult(real);
-        }
-    }
-
-
-    @Override
-    public void onLightStateData(LightStatueInfo lightStatueInfo) {
-
-    }
-
-    @Override
-    public void onObstaclesInfo(ObstaclesInfo obstaclesInfo) {
-
-    }
-
-    @Override
-    public void onCarLaneInfo(CarLaneInfo carLaneInfo) {
-
-    }
-
-
-    @Override
-    public void onWarnMessage(WarnMessageInfo warnMessageInfo) {
-        final AutopilotWarnMessage warnMessage = AdasObjectUtils.INSTANCE.fromAdasObject(warnMessageInfo);
-        CallerAutopilotIdentifyListenerManager.INSTANCE.invokeAutopilotWarnMessage(warnMessage);
-    }
-
-    @Override
-    public void onVideoSize(int width, int height) {
-
-    }
-
-    /**
-     * 工控机升级状态
-     * @param info 工控机升级状态
-     */
-    @Override
-    public void onUpgradeStateInfo(IPCUpgradeStateInfo info) {
-        if(info != null){
-            Logger.d(TAG,"onUpgradeStateInfo "+
-                    " upgrade mode="+info.getUpgradeMode()+
-                    " download status="+info.getDownloadStatus()+
-                    " download progress current="+info.getProgress().getCurrent()+
-                    " download progress total="+info.getProgress().getTotal()+
-                    " download version="+info.getImages()+
-                    " upgrade status="+info.getUpgradeStatus());
-            CallerHmiManager.INSTANCE.showAdUpgradeStatus(info.getUpgradeMode(),info.getDownloadStatus(),info.getProgress().getCurrent(),
-                    info.getProgress().getTotal(),info.getImages(),info.getUpgradeStatus());
-        }else{
-            Logger.d(TAG,"onUpgradeStateInfo : upgrade state info is null");
-        }
-    }
-
-
-
-    @Override
-    public void onSSHResult(SSHResult info) {
-
-    }
-}

modules/mogo-module-adas/src/main/java/com/mogo/module/adas/entity/AutonomousDriveStatusBean.java

@@ -1,41 +0,0 @@
-package com.mogo.module.adas.entity;
-
-/**
- * Created by XuYong on 2021/5/28 16:12
- */
-public class AutonomousDriveStatusBean {
-
-    private String sn;
-    private int status;
-    private float vehicleSpeed;
-
-    public AutonomousDriveStatusBean(String sn, int status, float vehicleSpeed) {
-        this.sn = sn;
-        this.status = status;
-        this.vehicleSpeed = vehicleSpeed;
-    }
-
-    public String getSn() {
-        return sn;
-    }
-
-    public void setSn(String sn) {
-        this.sn = sn;
-    }
-
-    public int getStatus() {
-        return status;
-    }
-
-    public void setStatus(int status) {
-        this.status = status;
-    }
-
-    public float getVehicleSpeed() {
-        return vehicleSpeed;
-    }
-
-    public void setVehicleSpeed(float vehicleSpeed) {
-        this.vehicleSpeed = vehicleSpeed;
-    }
-}

modules/mogo-module-adas/src/main/java/com/mogo/module/adas/entity/ReportSiteBean.java

@@ -1,40 +0,0 @@
-package com.mogo.module.adas.entity;
-
-/**
- * Created by XuYong on 2021/5/31 16:24
- */
-public class ReportSiteBean {
-    private String sn;
-    private double lon;
-    private double lat;
-
-    public ReportSiteBean(String sn, double lon, double lat) {
-        this.sn = sn;
-        this.lon = lon;
-        this.lat = lat;
-    }
-
-    public String getSn() {
-        return sn;
-    }
-
-    public void setSn(String sn) {
-        this.sn = sn;
-    }
-
-    public double getLon() {
-        return lon;
-    }
-
-    public void setLon(double lon) {
-        this.lon = lon;
-    }
-
-    public double getLat() {
-        return lat;
-    }
-
-    public void setLat(double lat) {
-        this.lat = lat;
-    }
-}

modules/mogo-module-adas/src/main/java/com/mogo/module/adas/model/AdasServiceModel.java

@@ -1,95 +0,0 @@
-package com.mogo.module.adas.model;
-
-import com.mogo.cloud.passport.MoGoAiCloudClientConfig;
-import com.mogo.eagle.core.data.BaseData;
-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 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;
-
-public class AdasServiceModel {
-
-    private static final String TAG = "AdasServiceModel";
-    private static volatile AdasServiceModel instance;
-    private static final byte[] obj = new byte[0];
-
-    private final IAdasApiService mAdasApiService;
-
-    private AdasServiceModel() {
-        this.mAdasApiService = MogoApisHandler.getInstance().getApis().getNetworkApi().create(IAdasApiService.class, DATA_SERVICE_HOST);
-    }
-
-    public static AdasServiceModel getInstance() {
-        if (instance == null) {
-            synchronized (obj) {
-                if (instance == null) {
-                    instance = new AdasServiceModel();
-                }
-            }
-        }
-        return instance;
-    }
-
-    public void updateDriveStatus(int autoPilotStatus, float autoPilotSpeed) {
-        String sn = MoGoAiCloudClientConfig.getInstance().getSn();
-        AutonomousDriveStatusBean request = new AutonomousDriveStatusBean(sn, autoPilotStatus, autoPilotSpeed);
-        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())) {
-                    @Override
-                    public void onError(String message, int code) {
-                        super.onError(message, code);
-                    }
-
-                    @Override
-                    public void onError(Throwable e) {
-                        super.onError(e);
-                    }
-
-                    @Override
-                    public void onSuccess(BaseData o) {
-                        super.onSuccess(o);
-                        Logger.d(TAG, "updateDriveStatus success");
-                    }
-                });
-    }
-
-    public void reportSite(double lon, double lat) {
-        String sn = MoGoAiCloudClientConfig.getInstance().getSn();
-        ReportSiteBean reportSiteBean = new ReportSiteBean(sn, lon, lat);
-        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())) {
-                    @Override
-                    public void onError(String message, int code) {
-                        super.onError(message, code);
-                    }
-
-                    @Override
-                    public void onError(Throwable e) {
-                        super.onError(e);
-                    }
-
-                    @Override
-                    public void onSuccess(BaseData o) {
-                        super.onSuccess(o);
-                        Logger.d(TAG, "autopilotArrive success");
-                    }
-                });
-    }
-
-}

modules/mogo-module-adas/src/main/java/com/mogo/module/adas/network/IAdasApiService.java

@@ -1,31 +0,0 @@
-package com.mogo.module.adas.network;
-
-import com.mogo.eagle.core.data.BaseData;
-
-import io.reactivex.Observable;
-import okhttp3.RequestBody;
-import retrofit2.http.Body;
-import retrofit2.http.Headers;
-import retrofit2.http.POST;
-
-public interface IAdasApiService {
-
-    /**
-     * 上传自动驾驶状态接口
-     * @param requestBody
-     * @return
-     */
-    @Headers({"Content-Type:application/json;charset=UTF-8"})
-    @POST("/dataService/autonomousDrive/updateAutonomousDriveStatus")
-    Observable<BaseData> updateAutonomousDriveStatus(@Body RequestBody requestBody);
-
-    /**
-     * 站点上报 用于网约车业务 云平台绘制路线使用
-     * @param requestBody
-     * @return
-     */
-    @Headers({"Content-Type:application/json;charset=UTF-8"})
-    @POST("/dataService/autonomousDrive/reportSite")
-    Observable<BaseData> updateReportSite(@Body RequestBody requestBody);
-
-}

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;
         }