[2.13.0-arch-opt] merge

2023-02-07 15:06:28 +08:00
parent a382fc36c1
commit 1548c607da
71 changed files with 1014 additions and 1337 deletions
--- a/core/mogo-core-function-call/src/main/java/com/mogo/eagle/core/function/call/autopilot/CallerAutoPilotControlManager.kt
+++ b/core/mogo-core-function-call/src/main/java/com/mogo/eagle/core/function/call/autopilot/CallerAutoPilotControlManager.kt
@@ -104,14 +104,14 @@ object CallerAutoPilotControlManager {
    /**
     * 开启域控制器录制bag包
     */
-    @BizConfig(FuncBizConfig.FOUNDATION,"", FuncBizConfig.BIZ_BAG_RECORD)
+    @BizConfig(FuncBizConfig.FOUNDATION, "", FuncBizConfig.BIZ_BAG_RECORD)
    fun recordPackage() {
        if (AppIdentityModeUtils.isDriver(FunctionBuildConfig.appIdentityMode)) {
            providerApi?.recordPackage(1, Random(SystemClock.elapsedRealtime()).nextInt())
        }
    }

-    @BizConfig(FuncBizConfig.FOUNDATION,"", FuncBizConfig.BIZ_BAG_RECORD)
+    @BizConfig(FuncBizConfig.FOUNDATION, "", FuncBizConfig.BIZ_BAG_RECORD)
    fun recordPackage(duration: Int) {
        if (AppIdentityModeUtils.isDriver(FunctionBuildConfig.appIdentityMode)) {
            providerApi?.recordPackage(1, Random(SystemClock.elapsedRealtime()).nextInt(), duration)
@@ -136,8 +136,8 @@ object CallerAutoPilotControlManager {
        }
    }

-    fun recordPackage(type: Int,id: Int,duration: Int,bduration: Int,topics: List<String>){
-        if (AppIdentityModeUtils.isDriver(FunctionBuildConfig.appIdentityMode)){
+    fun recordPackage(type: Int, id: Int, duration: Int, bduration: Int, topics: List<String>) {
+        if (AppIdentityModeUtils.isDriver(FunctionBuildConfig.appIdentityMode)) {
            providerApi?.recordPackage(type, id, duration, bduration, topics)
        }
    }
@@ -240,7 +240,7 @@ object CallerAutoPilotControlManager {
     * isEnable = false 关闭
     * @return boolean
     */
-    fun sendDetouring(isEnable: Boolean): Boolean?{
+    fun sendDetouring(isEnable: Boolean): Boolean? {
        return providerApi?.sendDetouring(isEnable)
    }

@@ -249,7 +249,7 @@ object CallerAutoPilotControlManager {
     * @param speed 速度阈值 m/s
     * @return boolean
     */
-    fun sendDetouringSpeed(speed: Double): Boolean?{
+    fun sendDetouringSpeed(speed: Double): Boolean? {
        return providerApi?.sendDetouringSpeed(speed)
    }

@@ -259,11 +259,11 @@ object CallerAutoPilotControlManager {
     * @param recordType        0:不需要修改内置类型的topic组合, 1:需要修改内置类型的topic组合
     * @param topicsNeedToCache
     */
-    fun getBadCaseConfig(reqType: Int,recordType: Int,topicsNeedToCache: List<String>): Boolean?{
+    fun getBadCaseConfig(reqType: Int, recordType: Int, topicsNeedToCache: List<String>): Boolean? {
        // 司机屏才能查询数据采集的配置
        if (AppIdentityModeUtils.isDriver(FunctionBuildConfig.appIdentityMode)) {
            return providerApi?.getBadCaseConfig(reqType, recordType, topicsNeedToCache)
-        }else{
+        } else {
            return false
        }
    }
@@ -310,7 +310,13 @@ object CallerAutoPilotControlManager {
     * @return boolean
     */
    @JvmStatic
-    fun sendTripInfo(type: Int, lineName: String, departureStopName: String, arrivalStopName: String, isLastStop: Boolean) {
+    fun sendTripInfo(
+        type: Int,
+        lineName: String,
+        departureStopName: String,
+        arrivalStopName: String,
+        isLastStop: Boolean
+    ) {
        providerApi?.sendTripInfo(type, lineName, departureStopName, arrivalStopName, isLastStop)
    }

@@ -401,4 +407,12 @@ object CallerAutoPilotControlManager {
    fun sendSweeperFuTianTaskCmd(fuTianTaskCmd: SpecialVehicleTaskCmdOuterClass.RoboSweeperFuTianTaskCmd) {
        providerApi?.sendSweeperFuTianTaskCmd(fuTianTaskCmd)
    }
+
+    /**
+     * 打开点云绘制
+     */
+    fun setIsDrawPointCloud(isDrawPointCloud: Boolean) {
+        providerApi?.setIsDrawPointCloud(isDrawPointCloud)
+    }
+
 }
--- a/core/mogo-core-function-call/src/main/java/com/mogo/eagle/core/function/call/autopilot/CallerPlanningRottingListenerManager.kt
+++ b/core/mogo-core-function-call/src/main/java/com/mogo/eagle/core/function/call/autopilot/CallerPlanningRottingListenerManager.kt
@@ -14,7 +14,9 @@ object CallerPlanningRottingListenerManager : CallerBase<IMoGoPlanningRottingLis
    private var globalPathResp: MessagePad.GlobalPathResp? = null

    override fun doSomeAfterAddListener(tag: String, listener: IMoGoPlanningRottingListener) {
-        listener.onAutopilotRotting(globalPathResp)
+        globalPathResp?.let {
+            listener.onAutopilotRotting(globalPathResp)
+        }
    }

    /**
--- a/core/mogo-core-function-call/src/main/java/com/mogo/eagle/core/function/call/map/CallerHDMapManager.kt
+++ b/core/mogo-core-function-call/src/main/java/com/mogo/eagle/core/function/call/map/CallerHDMapManager.kt
@@ -1,112 +0,0 @@
-package com.mogo.eagle.core.function.call.map
-
-import androidx.annotation.RawRes
-import com.alibaba.android.arouter.launcher.ARouter
-import com.mogo.eagle.core.data.config.FunctionBuildConfig
-import com.mogo.eagle.core.data.constants.MoGoFragmentPaths
-import com.mogo.eagle.core.data.map.CenterLine
-import com.mogo.eagle.core.function.api.map.hd.IMoGoMapFragmentProvider
-import com.zhidao.support.adas.high.AdasManager
-import com.zhidao.support.adas.high.common.Constants
-import com.zhidao.support.adas.high.common.MessageType
-
-/**
- * @author xiaoyuzhou
- * @date 2021/9/17 6:15 下午
- * 高精度地图控制
- */
-object CallerHDMapManager {
-    private val mapProviderApi: IMoGoMapFragmentProvider
-        get() = ARouter.getInstance().build(MoGoFragmentPaths.PATH_FRAGMENT_MAP)
-                .navigation() as IMoGoMapFragmentProvider
-
-    /**
-     * 修改地图中心点
-     * MapAutoApi.CAR_CENTER_100  1/4
-     * MapAutoApi.CAR_CENTER_100  2/5
-     * MapAutoApi.CAR_CENTER_100  80米
-     * MapAutoApi.CAR_CENTER_100  2/5
-     */
-    fun changeMaoViewAngle(type: Int) {
-        mapProviderApi.changeMaoViewAngle(type)
-    }
-
-
-    /**
-     * 修改高精地图自车图标
-     * 传入资源ID
-     */
-    fun changeCurrentIcon(@RawRes iconId: Int) {
-        mapProviderApi.changeCurrentIcon(iconId)
-    }
-
-    /**
-     * 设置地图视线角度
-     */
-    fun setMapDAngle(mode: Int) {
-        mapProviderApi.setMapDAngle(mode)
-    }
-
-    /**
-     * 获取车道中心线信息
-     */
-    fun getCenterLineInfo(lon: Double, lat: Double, angle: Float): CenterLine? {
-        return mapProviderApi.getCenterLineInfo(lon, lat, angle)
-    }
-
-    /**
-     * 切换到自研vr
-     * @param isDayMode true-白天模式，false-夜间模式
-     */
-    fun stepInVrMode(isDayMode: Boolean) {
-        return mapProviderApi.stepInVrMode(isDayMode)
-    }
-
-    /**
-     *
-     * 打开点云绘制
-     *
-     * @param isDrawPointCloud 是否绘制点云
-     */
-    fun setIsDrawPointCloud(isDrawPointCloud: Boolean) {
-        if (isDrawPointCloud) {
-            AdasManager.getInstance().subscribeInterface(
-                    Constants.TERMINAL_ROLE.DRIVER,
-                    Constants.SUBSCRIBE_TYPE.SUBSCRIBE,
-                    MessageType.TYPE_RECEIVE_POINT_CLOUD)
-        } else {
-            AdasManager.getInstance().subscribeInterface(
-                    Constants.TERMINAL_ROLE.DRIVER,
-                    Constants.SUBSCRIBE_TYPE.UNSUBSCRIBE,
-                    MessageType.TYPE_RECEIVE_POINT_CLOUD)
-        }
-
-        FunctionBuildConfig.isDrawPointCloudData = isDrawPointCloud
-        return mapProviderApi.setIsDrawPointCloud(isDrawPointCloud)
-    }
-
-    /**
-     * 设制点云大小
-     * @param pointCloudSize 点云的点大小
-     */
-    fun setPointCloudSize(pointCloudSize: Float) {
-        return mapProviderApi.setPointCloudSize(pointCloudSize)
-    }
-
-    /**
-     * 设置点云颜色
-     *
-     * @param color // color:"#RRGGBB*
-     */
-    fun setPointCloudColor(color: String) {
-        return mapProviderApi.setPointCloudColor(color)
-    }
-
-    /**
-     * 设置地图是否是Debug模式
-     * @param debugMode 是否开启Debug模式
-     */
-    fun setDebugMode(debugMode: Boolean) {
-        return mapProviderApi.setDebugMode(debugMode)
-    }
-}