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Merge branch 'dev/dev_eagle_architecture_upgrade' into dev/dev_eagle_wuhan_sikua_obu

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董宏宇
2021-09-27 10:20:48 +08:00
parent 6e88508cfa 1a7553a196
commit 1f410f98f4
211 changed files with 4149 additions and 1863 deletions
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2
modules/mogo-module-service/src/main/java/com/mogo/module/service/MogoServiceProvider.java
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@@ -18,6 +18,7 @@ import com.mogo.map.navi.IMogoNaviListener;
import com.mogo.module.common.utils.CarSeries;
import com.mogo.module.service.dispatch.DispatchAutoPilotManager;
import com.mogo.module.service.location.MogoRTKLocation;
import com.mogo.module.service.routeoverlay.MogoRouteOverlayManager;
import com.mogo.service.module.IMogoModuleLifecycle;
import com.mogo.service.module.IMogoModuleProvider;
import com.mogo.service.module.ModuleType;
@@ -106,6 +107,7 @@ public class MogoServiceProvider implements IMogoModuleProvider {
MogoServices.getInstance().preInit( context );
MogoServices.getInstance().init( AbsMogoApplication.getApp() );
DispatchAutoPilotManager.getInstance().initSocket(context);
MogoRouteOverlayManager.getInstance(context).init();
UiThreadHandler.postDelayed( () -> {
}, 5_000L );
}

2
modules/mogo-module-service/src/main/java/com/mogo/module/service/autopilot/AutoPilotRemoteController.java
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@@ -2,7 +2,7 @@ package com.mogo.module.service.autopilot;
import com.mogo.commons.AbsMogoApplication;
import com.mogo.module.common.MogoApisHandler;
import com.mogo.service.adas.RemoteControlAutoPilotParameters;
import com.mogo.eagle.core.data.autopilot.RemoteControlAutoPilotParameters;
import com.mogo.service.cloud.socket.IMogoOnMessageListener;
import com.mogo.service.cloud.socket.IMogoSocketManager;
import com.mogo.utils.logger.Logger;

32
modules/mogo-module-service/src/main/java/com/mogo/module/service/dispatch/DispatchAutoPilotManager.java
View File

@@ -10,7 +10,11 @@ import android.os.Handler;
import android.os.Message;
import com.mogo.cloud.commons.utils.CoordinateUtils;
import com.mogo.eagle.core.data.autopilot.AdasOCHData;
import com.mogo.eagle.core.data.autopilot.RemoteControlAutoPilotParameters;
import com.mogo.eagle.core.data.map.MogoLatLng;
import com.mogo.eagle.core.function.api.hmi.autopilot.IMoGoCheckAutoPilotBtnListener;
import com.mogo.eagle.core.function.call.hmi.CallerHmiListenerManager;
import com.mogo.map.location.MogoLocation;
import com.mogo.map.navi.IMogoCarLocationChangedListener2;
import com.mogo.module.common.MogoApisHandler;
@@ -19,10 +23,7 @@ import com.mogo.module.service.dispatch.model.DispatchServiceModel;
import com.mogo.module.service.dispatch.model.IDispatch;
import com.mogo.service.IMogoServiceApis;
import com.mogo.service.adas.IMogoAdasOCHCallback;
import com.mogo.service.adas.RemoteControlAutoPilotParameters;
import com.mogo.service.adas.entity.AdasOCHData;
import com.mogo.service.cloud.socket.IMogoOnMessageListener;
import com.mogo.service.entrance.IMogoEntranceAutopilotStatusClickListener;
import com.mogo.utils.logger.Logger;
import java.util.ArrayList;
@@ -31,7 +32,7 @@ import java.util.List;
//负责监听自动驾驶状态并进行状态上报，自动驾驶路线上报，接收调度指令展示指令弹窗
public class DispatchAutoPilotManager implements IMogoOnMessageListener<DispatchAdasAutoPilotLocReceiverBean>
, IDispatchRemindClickListener
, IMogoCarLocationChangedListener2, IMogoAdasOCHCallback, IMogoEntranceAutopilotStatusClickListener {
, IMogoCarLocationChangedListener2, IMogoAdasOCHCallback, IMoGoCheckAutoPilotBtnListener {
private static final String TAG = "DispatchAutoPilotManager";
private static volatile DispatchAutoPilotManager instance;
@@ -95,7 +96,7 @@ public class DispatchAutoPilotManager implements IMogoOnMessageListener<Dispatch
.registerCarLocationChangedListener(TAG, this);
mApis.getAdasControllerApi()
.addAdasOCHCallback(this);
mApis.getEntranceButtonController().addEntranceAutopilotStatusClickListener(this);
CallerHmiListenerManager.INSTANCE.addCheckAutoPilotBtnListener(TAG, this);
dispatchDialogManager = DispatchDialogManager.getInstance(context);
dispatchDialogManager.addIDispatchRemindListener(this);
handler.sendEmptyMessageDelayed(MSG_TYPE_UPLOAD_AUTOPILOT_STATUS, 1000L);
@@ -210,15 +211,18 @@ public class DispatchAutoPilotManager implements IMogoOnMessageListener<Dispatch
}
@Override
public void click() {
// 确保到达终点后，再次点击，不会有回馈，并且在下次调开始时，才会重置
if (isArriveEnd) {
return;
}
//todo 确认是否要根据停靠时自动驾驶状态，再次开启自动驾驶
// 确保处于调度中并且返回的自动驾驶状态为1才开启自动驾驶
if (isDispatch ) {
startAutoPilot();
public void onCheck(boolean isChecked) {
if (isChecked) {
// 确保到达终点后，再次点击，不会有回馈，并且在下次调开始时，才会重置
if (isArriveEnd) {
return;
}
//todo 确认是否要根据停靠时自动驾驶状态，再次开启自动驾驶
// 确保处于调度中并且返回的自动驾驶状态为1才开启自动驾驶
// 上述等待鄂州项目复盘后，产品输出完成方案后再进操作！！！
if (isDispatch) {
startAutoPilot();
}
}
}

2
modules/mogo-module-service/src/main/java/com/mogo/module/service/intent/MockIntentHandler.java
View File

@@ -38,7 +38,7 @@ import com.mogo.module.service.MarkerServiceHandler;
import com.mogo.module.service.R;
import com.mogo.module.service.status.EnvStatusManager;
import com.mogo.module.service.timedelay.TimeDelayUploadManager;
import com.mogo.service.adas.RemoteControlAutoPilotParameters;
import com.mogo.eagle.core.data.autopilot.RemoteControlAutoPilotParameters;
import com.mogo.service.adas.entity.ADASCarStateInfo;
import com.mogo.service.adas.entity.ADASRecognizedResult;
import com.mogo.service.entrance.ButtonIndex;

71
modules/mogo-module-service/src/main/java/com/mogo/module/service/routeoverlay/MogoRouteOverlayManager.java Normal file
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@@ -0,0 +1,71 @@
package com.mogo.module.service.routeoverlay;
import android.content.Context;
import android.location.Location;
import com.mogo.eagle.core.data.map.MogoLatLng;
import com.mogo.map.location.MogoLocation;
import com.mogo.map.navi.IMogoCarLocationChangedListener2;
import com.mogo.module.common.MogoApisHandler;
import com.mogo.module.common.drawer.MarkerDrawer;
import com.mogo.service.adas.IMogoAdasRouteCallBack;
import java.util.List;
public class MogoRouteOverlayManager implements IMogoCarLocationChangedListener2 {
private static volatile MogoRouteOverlayManager sInstance;
private Context mContext;
private MogoRouteOverlayManager(Context context){
mContext = context;
}
public void init() {
MogoApisHandler.getInstance().getApis().getAdasControllerApi().addAdasAutopilotRouteCallBack(new IMogoAdasRouteCallBack(){
@Override
public void routeResult(List<MogoLatLng> routeList) {
RouteOverlayDrawer.getInstance(mContext).putRouteList(routeList);
}
});
}
public static MogoRouteOverlayManager getInstance(Context context) {
if (sInstance == null) {
synchronized (MogoRouteOverlayManager.class) {
if (sInstance == null) {
sInstance = new MogoRouteOverlayManager(context);
}
}
}
return sInstance;
}
@Override
public void onCarLocationChanged2(Location latLng) {
updateLocation(latLng);
}
@Override
public void onCarLocationChanged(MogoLatLng latLng) {
}
public void updateLocation(Location location){
if (location == null){
return;
}
//坐标转换
MogoLocation loc = new MogoLocation();
loc.setTime(loc.getTime());
loc.setAccuracy(location.getAccuracy());
loc.setSpeed(location.getSpeed());
loc.setLongitude(location.getLongitude());
loc.setLatitude(location.getLatitude());
loc.setAltitude(location.getAltitude());
loc.setBearing(location.getBearing());
loc.setProvider(location.getProvider());
RouteOverlayDrawer.getInstance(mContext).drawRouteOverlay(loc);
}
}

114
modules/mogo-module-service/src/main/java/com/mogo/module/service/routeoverlay/RouteOverlayDrawer.java Normal file
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@@ -0,0 +1,114 @@
package com.mogo.module.service.routeoverlay;
import android.content.Context;
import com.mogo.eagle.core.data.map.MogoLatLng;
import com.mogo.map.location.MogoLocation;
import com.mogo.map.overlay.IMogoOverlayManager;
import com.mogo.map.overlay.IMogoPolyline;
import com.mogo.map.overlay.MogoPolylineOptions;
import com.mogo.module.common.MogoApisHandler;
import com.mogo.module.common.drawer.MarkerDrawer;
import com.mogo.module.common.utils.LocationUtils;
import com.mogo.utils.ColorUtils;
import java.util.ArrayList;
import java.util.List;
public class RouteOverlayDrawer {
private IMogoPolyline mMoGoPolyline;
// 连接线参数
private MogoPolylineOptions mPolylineOptions;
// 线路径集合
private List<MogoLatLng> mPolylinePointList;
// 渐变色
private List<Integer> mPolylineColors;
private Context mContext;
IMogoOverlayManager mogoOverlayManager;
private static volatile RouteOverlayDrawer sInstance;
private RouteOverlayDrawer(Context context) {
mPolylineOptions = new MogoPolylineOptions();
// 绘制路径集合
mPolylinePointList = new ArrayList<>();
// 引导线颜色
mPolylineColors = new ArrayList<>();
mContext = context;
mogoOverlayManager = MogoApisHandler.getInstance().getApis().getMapServiceApi().getOverlayManager(mContext);
}
public static RouteOverlayDrawer getInstance(Context context) {
if (sInstance == null) {
synchronized (RouteOverlayDrawer.class) {
if (sInstance == null) {
sInstance = new RouteOverlayDrawer(context);
}
}
}
return sInstance;
}
public synchronized void release() {
sInstance = null;
}
private Object readResolve() {
// 阻止反序列化，必须实现 Serializable 接口
return sInstance;
}
private List<MogoLatLng> mRouteList;
public void drawRouteOverlay(MogoLocation location){
if (mRouteList == null ){
clearMogoRouteOverlay();
return;
}
if (mRouteList.size() >0){
//adas回调导航路径 绘制引导线
draw(location,mRouteList);
}
}
/**
* 绘制最优路线
*
* @param routelist 要绘制的经纬度度集合
*/
public IMogoPolyline draw(MogoLocation carLocal, List<MogoLatLng> routelist) {
clearMogoRouteOverlay();
if (routelist != null) {
// 将当前车辆位置放进去
mPolylinePointList.add(new MogoLatLng(carLocal.getLatitude(), carLocal.getLongitude()));
// 过滤后台推送的推荐路线集合
for (MogoLatLng polyline : routelist) {
//需要剔除已经行驶过的经纬度，这里需要比对推荐路线集合中的点是否在当前车辆行驶方向前面如果不在则抛弃
if (LocationUtils.isPointOnCarFront(carLocal, polyline)) {
mPolylinePointList.add(polyline);
}
}
mPolylineColors.addAll(ColorUtils.getGradientAlpha("#002965ED", "#FF2965ED", "#002965ED", mPolylinePointList.size()));
// 替换路径集合
mPolylineOptions.points(mPolylinePointList);
// 线条粗细，渐变，渐变色值
mPolylineOptions.width(25).useGradient(true).colorValues(mPolylineColors);
// 绘制线
mMoGoPolyline = mogoOverlayManager.addPolyline(mPolylineOptions);
}
return mMoGoPolyline;
}
public void clearMogoRouteOverlay(){
if (mMoGoPolyline != null) {
mMoGoPolyline.remove();
mPolylinePointList.clear();
mPolylineColors.clear();
}
}
public void putRouteList(List<MogoLatLng> routeList) {
this.mRouteList = routeList;
}
}