[opt 3.0]

[Change]
[1、增加注释]

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

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")
     }
 }

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()
+                    )
         }
     }
 

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) {