From 14730f926683d0295219fd679c5b0f99eb1e9a48 Mon Sep 17 00:00:00 2001 From: donghongyu Date: Tue, 3 Jan 2023 19:21:28 +0800 Subject: [PATCH] =?UTF-8?q?[opt=203.0]=20[Change]=20[1=E3=80=81=E5=A2=9E?= =?UTF-8?q?=E5=8A=A0=E6=B3=A8=E9=87=8A]?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit Signed-off-by: donghongyu --- .../autopilot/adapter/MoGoAdasListenerImpl.kt | 16 +++----- .../MoGoAdasMsgConnectStatusListenerImpl.kt | 40 ++++++++++--------- .../adapter/MoGoHandAdasMsgManager.java | 1 + ...lerAutopilotVehicleStateListenerManager.kt | 2 +- 4 files changed, 29 insertions(+), 30 deletions(-) diff --git a/core/function-impl/mogo-core-function-datacenter/src/main/java/com/mogo/eagle/core/function/datacenter/autopilot/adapter/MoGoAdasListenerImpl.kt b/core/function-impl/mogo-core-function-datacenter/src/main/java/com/mogo/eagle/core/function/datacenter/autopilot/adapter/MoGoAdasListenerImpl.kt index d327f39797..ec4672eff1 100644 --- a/core/function-impl/mogo-core-function-datacenter/src/main/java/com/mogo/eagle/core/function/datacenter/autopilot/adapter/MoGoAdasListenerImpl.kt +++ b/core/function-impl/mogo-core-function-datacenter/src/main/java/com/mogo/eagle/core/function/datacenter/autopilot/adapter/MoGoAdasListenerImpl.kt @@ -53,6 +53,7 @@ import com.mogo.eagle.core.function.call.autopilot.CallerAutopilotVehicleStateLi import com.mogo.eagle.core.function.call.autopilot.CallerStartAutopilotFailedListenerManager.invokeStartAutopilotFailed import com.mogo.eagle.core.function.call.map.CallerMapUIServiceManager import com.mogo.eagle.core.utilcode.mogo.logger.CallerLogger +import com.mogo.eagle.core.utilcode.mogo.logger.Logger import com.zhidao.support.adas.high.AdasManager import com.zhidao.support.adas.high.OnAdasListener import com.zhidao.support.adas.high.bean.AutopilotAbility @@ -78,7 +79,7 @@ import system_master.SystemStatusInfo class MoGoAdasListenerImpl : OnAdasListener { companion object { - const val TAG = "OnAdasListenerAdapter" + const val TAG = "MoGoAdasListenerImpl" } //车前引导线 @@ -260,6 +261,7 @@ class MoGoAdasListenerImpl : OnAdasListener { } } + //他车轨迹预测 override fun onPredictionObstacleTrajectory( header: MessagePad.Header?, predictionObjects: Prediction.mPredictionObjects? @@ -267,12 +269,6 @@ class MoGoAdasListenerImpl : OnAdasListener { //他车轨迹预测 } -// override fun onPointCloud(header: MessagePad.Header?, pointCloud: MogoPointCloudOuterClass.MogoPointCloud?) { -// //点云数据透传 -// //Logger.d("pointCloud","pointCloud"+pointCloud); -// CallerAutopilotPointCloudListenerManager.invokeAutopilotPointCloudDataUpdate(header, pointCloud) -// } - override fun onPointCloud(pointCloud: ByteArray?) { //点云数据透传 CallerAutopilotPointCloudListenerManager.invokeAutopilotPointCloudDataUpdate(pointCloud) @@ -296,6 +292,7 @@ class MoGoAdasListenerImpl : OnAdasListener { } } + // 自动驾驶设备基础信息请求 override fun onBasicInfoReq( header: MessagePad.Header, basicInfoReq: MessagePad.BasicInfoReq? @@ -416,7 +413,7 @@ class MoGoAdasListenerImpl : OnAdasListener { header: MessagePad.Header?, config: MessagePad.RecordDataConfig? ) { - if(config!=null){ + if (config != null) { invokeAutopilotRecordConfig(config) } } @@ -442,7 +439,6 @@ class MoGoAdasListenerImpl : OnAdasListener { } - /** * 是否可以启动自动驾驶 * 使用方法查看：app_ipc_monitoring/uiMainActivity/onAutopilotAbility @@ -480,6 +476,6 @@ class MoGoAdasListenerImpl : OnAdasListener { * @param bytes 原始数据 */ override fun onError(status: ProtocolStatus, bytes: ByteArray) { - + Logger.e(TAG, "status===$status") } } \ No newline at end of file diff --git a/core/function-impl/mogo-core-function-datacenter/src/main/java/com/mogo/eagle/core/function/datacenter/autopilot/adapter/MoGoAdasMsgConnectStatusListenerImpl.kt b/core/function-impl/mogo-core-function-datacenter/src/main/java/com/mogo/eagle/core/function/datacenter/autopilot/adapter/MoGoAdasMsgConnectStatusListenerImpl.kt index cabbebd66d..61a46fd01e 100644 --- a/core/function-impl/mogo-core-function-datacenter/src/main/java/com/mogo/eagle/core/function/datacenter/autopilot/adapter/MoGoAdasMsgConnectStatusListenerImpl.kt +++ b/core/function-impl/mogo-core-function-datacenter/src/main/java/com/mogo/eagle/core/function/datacenter/autopilot/adapter/MoGoAdasMsgConnectStatusListenerImpl.kt @@ -23,8 +23,10 @@ import com.zhidao.support.adas.high.common.Constants.TERMINAL_ROLE.PASSENGER /** * ADAS-SDK与工控机连接状态回调 */ -class MoGoAdasMsgConnectStatusListenerImpl : OnAdasConnectStatusListener, - IMoGoAutopilotStatusListener, IMoGoCloudListener { +class MoGoAdasMsgConnectStatusListenerImpl : + OnAdasConnectStatusListener, + IMoGoAutopilotStatusListener, + IMoGoCloudListener { private val TAG = "ConnectStatus" private var connectStatus = false @@ -35,17 +37,17 @@ class MoGoAdasMsgConnectStatusListenerImpl : OnAdasConnectStatusListener, override fun onConnectionIPCStatus(ipcConnectionStatus: Int, reason: String?) { CallerAutoPilotStatusListenerManager.invokeAutoPilotIPCStatusChanged( - ipcConnectionStatus, - reason + ipcConnectionStatus, + reason ) if (ipcConnectionStatus == Constants.IPC_CONNECTION_STATUS.CONNECTED) { CallerLogger.d("$M_ADAS_IMPL$TAG", "webSocket 连接成功") connectStatus = true // 初始化自动驾驶状态信息 CallerAutoPilotStatusListenerManager.getAutoPilotStatusInfo().connectIP = - AdasManager.getInstance().ipcConnectedIp + AdasManager.getInstance().ipcConnectedIp CallerAutoPilotStatusListenerManager.getAutoPilotStatusInfo().connectPort = - AdasManager.getInstance().ipcConnectedPort + AdasManager.getInstance().ipcConnectedPort CallerAutoPilotStatusListenerManager.getAutoPilotStatusInfo().connectStatus = true // 同步SN给工控机 syncBasicInfoToAutopilot() @@ -66,9 +68,9 @@ class MoGoAdasMsgConnectStatusListenerImpl : OnAdasConnectStatusListener, connectStatus = false } CallerAutoPilotStatusListenerManager.getAutoPilotStatusInfo().connectIP = - AdasManager.getInstance().ipcConnectedIp + AdasManager.getInstance().ipcConnectedIp CallerAutoPilotStatusListenerManager.getAutoPilotStatusInfo().connectPort = - AdasManager.getInstance().ipcConnectedPort + AdasManager.getInstance().ipcConnectedPort CallerAutoPilotStatusListenerManager.getAutoPilotStatusInfo().connectStatus = false //与工控机断开连接，需要重置自动驾驶状态(包括上传至云平台缓存信息)，等待连接成功后同步状态信息 CallerAutoPilotStatusListenerManager.getAutoPilotStatusInfo().state = 0 @@ -81,7 +83,7 @@ class MoGoAdasMsgConnectStatusListenerImpl : OnAdasConnectStatusListener, CallerLogger.d("$M_ADAS_IMPL$TAG", "webSocket 找不到可用IP 传入的IP不可用或固定IP列表中所有IP不可用") } CallerAutoPilotStatusListenerManager.getAutoPilotStatusInfo().ipcConnStatus = - ipcConnectionStatus + ipcConnectionStatus CallerAutoPilotStatusListenerManager.getAutoPilotStatusInfo().connectStatusDescribe = reason CallerAutoPilotStatusListenerManager.invokeAutoPilotStatus() } @@ -105,19 +107,19 @@ class MoGoAdasMsgConnectStatusListenerImpl : OnAdasConnectStatusListener, if (AppIdentityModeUtils.isDriver(FunctionBuildConfig.appIdentityMode)) { // 设置PAD-SN给工控,网络环境 AdasManager.getInstance() - .sendBasicInfoResp( - MoGoAiCloudClientConfig.getInstance().sn, - getEnvironment(), - getTerminalRole() - ) + .sendBasicInfoResp( + MoGoAiCloudClientConfig.getInstance().sn, + getEnvironment(), + getTerminalRole() + ) } else { // 乘客屏先不传sn AdasManager.getInstance() - .sendBasicInfoResp( - "", - getEnvironment(), - getTerminalRole() - ) + .sendBasicInfoResp( + "", + getEnvironment(), + getTerminalRole() + ) } } diff --git a/core/function-impl/mogo-core-function-datacenter/src/main/java/com/mogo/eagle/core/function/datacenter/autopilot/adapter/MoGoHandAdasMsgManager.java b/core/function-impl/mogo-core-function-datacenter/src/main/java/com/mogo/eagle/core/function/datacenter/autopilot/adapter/MoGoHandAdasMsgManager.java index d413ed27ca..5725f0711d 100644 --- a/core/function-impl/mogo-core-function-datacenter/src/main/java/com/mogo/eagle/core/function/datacenter/autopilot/adapter/MoGoHandAdasMsgManager.java +++ b/core/function-impl/mogo-core-function-datacenter/src/main/java/com/mogo/eagle/core/function/datacenter/autopilot/adapter/MoGoHandAdasMsgManager.java @@ -95,6 +95,7 @@ public class MoGoHandAdasMsgManager implements @Override public void onAutopilotLightSwitchData(Chassis.LightSwitch lightSwitch) { + // TODO @李小鹏 这里需要修改为：由HMI 监听数据变换来更新UI，而不是由数据驱动UI //can数据转发 转向灯状态 0是正常 1是左转 2是右转 // if (!AppIdentityModeUtils.isBus(FunctionBuildConfig.appIdentityMode)) { //小巴不展示 if (lightSwitch != null) { diff --git a/core/mogo-core-function-call/src/main/java/com/mogo/eagle/core/function/call/autopilot/CallerAutopilotVehicleStateListenerManager.kt b/core/mogo-core-function-call/src/main/java/com/mogo/eagle/core/function/call/autopilot/CallerAutopilotVehicleStateListenerManager.kt index a704804633..443251dc14 100644 --- a/core/mogo-core-function-call/src/main/java/com/mogo/eagle/core/function/call/autopilot/CallerAutopilotVehicleStateListenerManager.kt +++ b/core/mogo-core-function-call/src/main/java/com/mogo/eagle/core/function/call/autopilot/CallerAutopilotVehicleStateListenerManager.kt @@ -9,7 +9,7 @@ import mogo.telematics.pad.MessagePad import java.util.concurrent.ConcurrentHashMap /** - * 车辆地盘数据 回调监听 + * 车辆底盘数据 回调监听 */ object CallerAutopilotVehicleStateListenerManager : CallerBase() {