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[3.3.0]merge code_opt_3.3.0

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zhongchao
2023-06-15 17:50:51 +08:00
parent 8bf7b87741 cda5dcfe1d
commit 1692004f4b
4 changed files with 8 additions and 7 deletions
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2
core/function-impl/mogo-core-function-datacenter/src/main/java/com/mogo/eagle/core/function/datacenter/autopilot/adapter/MoGoAdasListenerImpl.kt
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@@ -279,7 +279,7 @@ class MoGoAdasListenerImpl : OnAdasListener {
if (autopilotState != null) {
//工控机模拟时间
CallerAutopilotVehicleStateListenerManager.invokeAutopilotTime(header.timestamp.toLong())
if (HdMapBuildConfig.isMapLoaded) { //todo check
if (HdMapBuildConfig.isMapLoaded) {
updateAutoPilotStatus(autopilotState.state, autopilotState.autopilotMode)
}
}

5
core/function-impl/mogo-core-function-datacenter/src/main/java/com/mogo/eagle/core/function/datacenter/v2x/TrafficLightDispatcher.kt
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@@ -82,7 +82,10 @@ class TrafficLightDispatcher : IMoGoAutopilotIdentifyListener, IMoGoTrafficLight
* @param trafficLights 感知红绿灯
*/
override fun onAutopilotPerceptionTrafficLight(trafficLights: TrafficLightOuterClass.TrafficLights?) {
CallerLogger.d("${SceneConstant.M_OBU}${TAG}", "onAutopilotPerceptionTrafficLight ---- hasObuLightStatus = $hasObuLightStatus ----hasAiLightStatus = $hasAiLightStatus ")
CallerLogger.d(
"${SceneConstant.M_OBU}${TAG}",
"onAutopilotPerceptionTrafficLight ---- hasObuLightStatus = $hasObuLightStatus ----hasAiLightStatus = $hasAiLightStatus "
)
if (!hasObuLightStatus) {
if (!hasAiLightStatus) {

5
core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/smp/MarkerDrawerManager.kt
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@@ -166,10 +166,7 @@ object MarkerDrawerManager {
}
}
}
Log.d(
"MarkerDrawerManager",
"当次计算已走过的点的索引为：$currentIndex，存储的上次索引为：$lastArrivedIndex, ,起点为:(${newPoints[0].longitude},${newPoints[0].latitude}),终点为:(${newPoints.last().longitude},${newPoints.last().latitude})"
)
Log.d("MarkerDrawerManager", "当次计算已走过的点的索引为：$currentIndex，存储的上次索引为：$lastArrivedIndex, ,起点为:(${newPoints[0].longitude},${newPoints[0].latitude}),终点为:(${newPoints.last().longitude},${newPoints.last().latitude})")
if (!isLongDistance) {
// 过滤缓存的非当次轨迹的索引，并且出现车已走过索引跳跃过大时视为无效复用上一次计算结果
if (currentIndex < lastArrivedIndex || (lastArrivedIndex >= 0 && currentIndex - lastArrivedIndex >= 10)) {

3
core/mogo-core-function-call/src/main/java/com/mogo/eagle/core/function/call/autopilot/CallerAutoPilotControlManager.kt
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@@ -3,7 +3,7 @@ package com.mogo.eagle.core.function.call.autopilot
import android.os.SystemClock
import chassis.SpecialVehicleTaskCmdOuterClass
import com.mogo.eagle.core.data.autopilot.AutopilotControlParameters
import com.mogo.eagle.core.data.biz.trafficlight.TrafficLightResult
import com.mogo.eagle.core.data.deva.badcase.BagManagerEntity
import com.mogo.eagle.core.data.config.FunctionBuildConfig
import com.mogo.eagle.core.data.constants.MogoServicePaths
import com.mogo.eagle.core.data.deva.badcase.BagManagerEntity
@@ -11,6 +11,7 @@ import com.mogo.eagle.core.data.deva.bizconfig.FuncBizConfig
import com.mogo.eagle.core.data.deva.chain.ChainConstant.Companion.CHAIN_CODE_EAGLE_START_AUTOPILOT
import com.mogo.eagle.core.data.deva.chain.ChainConstant.Companion.CHAIN_SOURCE_ADAS
import com.mogo.eagle.core.data.deva.chain.ChainConstant.Companion.CHAIN_TYPE_SOCKET_AUTOPILOT
import com.mogo.eagle.core.data.biz.trafficlight.TrafficLightResult
import com.mogo.eagle.core.function.api.autopilot.IMoGoAutopilotControlProvider
import com.mogo.eagle.core.function.call.base.CallerBase
import com.mogo.eagle.core.utilcode.mogo.AppIdentityModeUtils