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Merge branch 'dev_arch_opt_3.0' into dev_robosweeper-d_app-module_221230_1.1.0

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This commit is contained in:
donghongyu
2023-02-13 18:47:04 +08:00
parent 1637c74630 21bde9d621
commit 190eca3493
203 changed files with 4538 additions and 2341 deletions
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18
core/function-impl/mogo-core-function-datacenter/src/main/java/com/mogo/eagle/core/function/datacenter/autopilot/adapter/MoGoAdasListenerImpl.kt
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@@ -526,23 +526,13 @@ class MoGoAdasListenerImpl : OnAdasListener {
}
}
/**
* OBU预警事件
*
* @param header 头
* @param obuWarningData 数据
*/
override fun onObuWarningData(header: MessagePad.Header?, obuWarningData: ObuWarningEvent.ObuWarningData?) {
CallerObuDcCombineListenerManager.invokeObuDcData(obuWarningData)
}
/**
* OBU 红绿灯预警信息
*
* @param header 头
* @param spatWarningData 数据
*/
override fun onoObuSpatWarning(header: MessagePad.Header?, spatWarningData: ObuScene.SpatWarningData?) {
override fun onObuSpatWarning(header: MessagePad.Header?, spatWarningData: ObuScene.SpatWarningData?) {
CallerObuWarningSpatListenerManager.invokeObuSpatWarning(spatWarningData!!)
}
/**
@@ -551,7 +541,7 @@ class MoGoAdasListenerImpl : OnAdasListener {
* @param header 头
* @param rsiWarningData 数据
*/
override fun onoObuRsiWarning(header: MessagePad.Header?, rsiWarningData: ObuScene.RsiWarningData?) {
override fun onObuRsiWarning(header: MessagePad.Header?, rsiWarningData: ObuScene.RsiWarningData?) {
CallerObuWarningRsiListenerManager.invokeObuRsiWarning(rsiWarningData!!)
}
@@ -561,7 +551,7 @@ class MoGoAdasListenerImpl : OnAdasListener {
* @param header 头
* @param rsmWarningData 数据
*/
override fun onoObuRsmWarning(header: MessagePad.Header?, rsmWarningData: ObuScene.RsmWarningData?) {
override fun onObuRsmWarning(header: MessagePad.Header?, rsmWarningData: ObuScene.RsmWarningData?) {
CallerObuWarningRsmListenerManager.invokeObuRsmWarning(rsmWarningData!!)
}
/**
@@ -570,7 +560,7 @@ class MoGoAdasListenerImpl : OnAdasListener {
* @param header 头
* @param mapMatchData 数据
*/
override fun onoObuObuMapMath(header: MessagePad.Header?, mapMatchData: ObuScene.MapMatchData?) {
override fun onObuMapMath(header: MessagePad.Header?, mapMatchData: ObuScene.MapMatchData?) {
CallerObuMapMathListenerManager.invokeObuMapMath(mapMatchData!!)
}

14
core/function-impl/mogo-core-function-datacenter/src/main/java/com/mogo/eagle/core/function/datacenter/location/MoGoLocationDispatcher.kt
View File

@@ -17,7 +17,6 @@ import com.mogo.eagle.core.function.call.autopilot.CallerChassisLocationWGS84Lis
import com.mogo.eagle.core.function.call.obu.CallerObuLocationWGS84ListenerManager
import com.mogo.eagle.core.utilcode.mogo.storage.SharedPrefsMgr
import com.mogo.eagle.core.utilcode.util.CoordinateTransform
import com.mogo.eagle.core.utilcode.util.FileUtils
import com.mogo.eagle.core.utilcode.util.TimeUtils
import com.mogo.eagle.core.utilcode.util.Utils
import com.mogo.support.obu.model.MogoObuHvBasicsData
@@ -89,6 +88,11 @@ object MoGoLocationDispatcher :
lastGnssLocation.lastReceiveTime = TimeUtils.getNowMills()
// 将高德中的一些用于业务的数据进行融合，例如：CityCode、address等
mapLocation?.let {
//agps 高德
//agps_rtk 高德-高精
lastGnssLocation.locType = 1000 // 定位类型为WGS84进行转译的坐标
lastGnssLocation.satellite = 4
lastGnssLocation.cityName = it.city
lastGnssLocation.cityCode = it.cityCode
lastGnssLocation.provider = it.provider
@@ -145,6 +149,9 @@ object MoGoLocationDispatcher :
lastGaoDeLocation.satelliteTime = it.time
lastGaoDeLocation.lastReceiveTime = TimeUtils.getNowMills()
lastGaoDeLocation.locType = 1 // 定位类型为高德坐标(网路或者硬件定位)
lastGaoDeLocation.satellite = 4
lastGaoDeLocation.cityName = it.city
lastGaoDeLocation.cityCode = it.cityCode
lastGaoDeLocation.provider = it.provider
@@ -228,6 +235,11 @@ object MoGoLocationDispatcher :
// 将高德中的一些用于业务的数据进行融合，例如：CityCode、address等
mapLocation?.let {
//agps 高德
//agps_rtk 高德-高精
lastOBULocation.locType = 1000 // 定位类型为WGS84进行转译的坐标
lastOBULocation.satellite = 4
lastOBULocation.cityName = it.city
lastOBULocation.cityCode = it.cityCode
lastOBULocation.provider = it.provider

42
core/function-impl/mogo-core-function-datacenter/src/main/java/com/mogo/eagle/core/function/datacenter/obu/MoGoObuProvider.kt
View File

@@ -22,8 +22,7 @@ class MoGoObuProvider : IMoGoObuProvider {
private val TAG = "MoGoObuProvider"
private var mContext: Context? = null
private val busObuIp = "192.168.8.199"
private val taxiObuIp = "192.168.1.199"
private val taxiObuIp = "192.168.1.199" //obu的taxi和bus的ip已经全部统一成1网段ip
override val functionName: String
get() = TAG
@@ -37,35 +36,16 @@ class MoGoObuProvider : IMoGoObuProvider {
MogoObuDcCombineManager.INSTANCE.init(context)
CallerLogger.d("$M_OBU$TAG", "初始化蘑菇自研OBU…… localIp = " + CommonUtils.getLocalIPAddress())
//bus乘客版本obu功能去掉
if (AppIdentityModeUtils.isBus(FunctionBuildConfig.appIdentityMode)
&& AppIdentityModeUtils.isPassenger(FunctionBuildConfig.appIdentityMode)
) {
//不处理
} else {
mContext = context
mContext?.let {
if (AppIdentityModeUtils.isBus(FunctionBuildConfig.appIdentityMode)) { //bus 司机端
val ipAddress =
SharedPrefsMgr.getInstance(context).getString(MoGoConfig.OBU_IP, busObuIp)
//mogo obu
MogoPrivateObuNewManager.INSTANCE.connectObu(
it,
ipAddress,
CommonUtils.getIpAddressString()
)
} else if (AppIdentityModeUtils.isTaxi(FunctionBuildConfig.appIdentityMode)) { //taxi 司机端和乘客端
val ipAddress =
SharedPrefsMgr.getInstance(context).getString(MoGoConfig.OBU_IP, taxiObuIp)
//mogo obu
MogoPrivateObuNewManager.INSTANCE.connectObu(
it,
ipAddress,
CommonUtils.getIpAddressString()
)
}
}
//bus乘客版本obu功能去掉，大理项目需要全部车辆接收，不在限制
mContext = context
mContext?.let {
val ipAddress = SharedPrefsMgr.getInstance(context).getString(MoGoConfig.OBU_IP, taxiObuIp)
//mogo obu
MogoPrivateObuNewManager.INSTANCE.connectObu(
it,
ipAddress,
CommonUtils.getIpAddressString()
)
}
}

874
core/function-impl/mogo-core-function-datacenter/src/main/java/com/mogo/eagle/core/function/datacenter/obu/MogoPrivateObuNewManager.kt
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File diff suppressed because it is too large Load Diff

8
core/function-impl/mogo-core-function-datacenter/src/main/java/com/mogo/eagle/core/function/datacenter/obu/receiver/ObuTestNewObuReceiver.kt
View File

@@ -47,11 +47,11 @@ class ObuTestNewObuReceiver : BroadcastReceiver() {
val warningList = listOf(warningData1)
warningMsg.warningData = warningList
val cvxHvInfoIndInfo = MogoObuRvWarningData(0, vehBasicsMsg, warningMsg)
// val cvxHvInfoIndInfo = MogoRvWarningData(0, vehBasicsMsg, warningMsg)
MogoPrivateObuNewManager.INSTANCE
.getMogoObuListener()
.onMogoObuRvWarning(cvxHvInfoIndInfo)
// MogoPrivateObuNewManager.INSTANCE
// .getMogoObuListener()
// .onGnssInfo(cvxHvInfoIndInfo)
}

10
core/function-impl/mogo-core-function-datacenter/src/main/java/com/mogo/eagle/core/function/datacenter/obu/receiver/ObuTestNewObuRsiReceiver.kt
View File

@@ -41,11 +41,11 @@ class ObuTestNewObuRsiReceiver : BroadcastReceiver() {
val rsiWarningList = listOf(rsiWarning) //TODO
val cvxObuRsiInfo = MogoObuRsiWarningData(obuStatus, 1, rsiWarningList)
MogoPrivateObuNewManager.INSTANCE
.getMogoObuListener()
.onMogoObuRsiWarning(cvxObuRsiInfo)
// val cvxObuRsiInfo = MogoObuRsiWarningData(obuStatus, 1, rsiWarningList)
//
// MogoPrivateObuNewManager.INSTANCE
// .getMogoObuListener()
// .onObuRsiWarning(cvxObuRsiInfo)
}

42
core/function-impl/mogo-core-function-datacenter/src/main/java/com/mogo/eagle/core/function/datacenter/obu/utils/TrafficDataConvertUtilsNew.kt
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@@ -4,6 +4,8 @@ import com.mogo.eagle.core.data.enums.TrafficTypeEnum
import com.mogo.eagle.core.data.traffic.TrafficData
import com.mogo.eagle.core.utilcode.mogo.logger.CallerLogger
import com.mogo.eagle.core.utilcode.mogo.logger.scene.SceneConstant.Companion.M_OBU
import com.mogo.support.obu.ObuBase
import com.mogo.support.obu.ObuScene
import com.mogo.support.obu.model.MogoObuRsiWarningData
import com.mogo.support.obu.model.MogoObuRsmWarningData
import com.mogo.support.obu.model.MogoObuRvWarningData
@@ -20,18 +22,18 @@ object TrafficDataConvertUtilsNew {
/**
* OBU 远车 转换交通元素数据,是否需要
*/
fun cvxRvInfoIndInfo2TrafficData(info: MogoObuRvWarningData): TrafficData? {
if (info.vehBasicsMsg == null) {
fun cvxRvInfoIndInfo2TrafficData(info: ObuBase.VehicleBasics): TrafficData? {
if (info == null) {
CallerLogger.e("$M_OBU$TAG", "cvxRvInfoIndInfo2TrafficData 数据转换异常，请检查参数是否齐全")
return null
}
val trafficData = TrafficData()
trafficData.type = TrafficTypeEnum.TYPE_TRAFFIC_ID_TA_CHE
trafficData.uuid = info.vehBasicsMsg.id
trafficData.lat = info.vehBasicsMsg.latitude
trafficData.lon = info.vehBasicsMsg.longitude
trafficData.heading = info.vehBasicsMsg.heading
trafficData.speed = info.vehBasicsMsg.speed
trafficData.uuid = info.id
trafficData.lat = info.latitude
trafficData.lon = info.longitude
trafficData.heading = info.heading
trafficData.speed = info.speed
return trafficData
}
@@ -39,25 +41,25 @@ object TrafficDataConvertUtilsNew {
/**
* OBU RSU道路事件预警信息 转换交通元素数据 标牌 为何要显示level
*/
fun cvxRtiThreatIndInfo2TrafficData(info: MogoObuRsiWarningData): TrafficData? {
if (info.warningMsg == null || info.warningMsg.size < 1 || info.warningMsg[0].position == null) {
fun cvxRtiThreatIndInfo2TrafficData(info: ObuScene.RsiWarningData): TrafficData? {
if (info.warningMsgList == null || info.warningMsgList.size < 1 || info.warningMsgList[0].position == null) {
CallerLogger.e("$M_OBU$TAG", "数据转换异常，请检查参数是否齐全")
return null
}
val trafficData = TrafficData()
trafficData.type = TrafficTypeEnum.TYPE_TRAFFIC_ID_DAO_LU_SHI_GONG
trafficData.uuid = info.warningMsg[0].signSerialNum.toString()
trafficData.lat = info.warningMsg[0].position.latitude
trafficData.lon = info.warningMsg[0].position.longitude
trafficData.threatLevel = info.warningMsg[0].warningLevel
trafficData.uuid = info.warningMsgList[0].signSerialNum.toString()
trafficData.lat = info.warningMsgList[0].position.position.positionLatLon.latitude
trafficData.lon = info.warningMsgList[0].position.position.positionLatLon.longitude
trafficData.threatLevel = info.warningMsgList[0].warningLevel
return trafficData
}
/**
* OBU 预警事件 转换交通元素数据 他车预警
*/
fun cvxV2vThreatIndInfo2TrafficData(info: MogoObuRvWarningData): TrafficData? {
if (info == null || info.vehBasicsMsg == null || info.warningMsg == null) {
fun cvxV2vThreatIndInfo2TrafficData(info: ObuScene.RvWarningData): TrafficData? {
if (info?.vehBasicsMsg == null || info.warningMsg == null) {
CallerLogger.e("$M_OBU$TAG", "数据转换异常，请检查参数是否齐全")
return null
}
@@ -68,8 +70,8 @@ object TrafficDataConvertUtilsNew {
trafficData.heading = info.vehBasicsMsg.heading
trafficData.speed = info.vehBasicsMsg.speed
// 判断车辆V2X预警级别，调整车辆颜色
if (info.warningMsg.warningData != null) {
trafficData.threatLevel = info.warningMsg.warningData[0].warningLevel
if (info.warningMsg.warningDataList != null) {
trafficData.threatLevel = info.warningMsg.warningDataList[0].warningLevel
} else {
trafficData.threatLevel = 1
}
@@ -81,7 +83,7 @@ object TrafficDataConvertUtilsNew {
/**
* OBU 弱势交通参与者信息 转换交通元素数据
*/
fun cvxPtcThreatIndInfo2TrafficData(info: MogoObuRsmWarningData): TrafficData? {
fun cvxPtcThreatIndInfo2TrafficData(info: ObuScene.RsmWarningData): TrafficData? {
if (info.participant == null) {
CallerLogger.e("$M_OBU$TAG", "数据转换异常，请检查参数是否齐全")
return null
@@ -121,8 +123,8 @@ object TrafficDataConvertUtilsNew {
}
// 判断车辆V2X预警级别，调整车辆颜色
if (info.warningMsg != null && info.warningMsg.warningData != null) {
trafficData.threatLevel = info.warningMsg.warningData[0].warningLevel
if (info.warningMsg != null && info.warningMsg.warningDataList != null) {
trafficData.threatLevel = info.warningMsg.warningDataList[0].warningLevel
} else {
trafficData.threatLevel = 1
}

2
core/function-impl/mogo-core-function-datacenter/src/main/java/com/mogo/eagle/core/function/datacenter/v2x/TrafficLightDispatcher.kt
View File

@@ -136,7 +136,7 @@ class TrafficLightDispatcher : IMoGoAutopilotIdentifyListener, IMoGoTrafficLight
super.onTrafficLightPlusSource(light, remain, lightSource)
if (lightSource == DataSourceType.OBU) {
hasObuLightStatus = true //todo 会存在优先级高的数据没有回调，导致没有数据出现
hasObuLightStatus = true
}
CallerTrafficLightListenerManager.showTrafficLight(light, lightSource)