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zhongchao
2022-11-21 14:47:53 +08:00
parent b119e62fe5 2b38bf67c0
commit 1fec32f633
316 changed files with 11353 additions and 191 deletions
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7
core/function-impl/mogo-core-function-autopilot/src/main/java/com/mogo/eagle/core/function/autopilot/MoGoAutopilotProvider.kt
View File

@@ -2,7 +2,9 @@ package com.mogo.eagle.core.function.autopilot
import android.Manifest.permission
import android.content.Context
import android.util.Log
import androidx.annotation.RequiresPermission
import chassis.SpecialVehicleTaskCmdOuterClass
import com.alibaba.android.arouter.facade.annotation.Route
import com.mogo.cloud.passport.MoGoAiCloudClientConfig
import com.mogo.eagle.core.data.autopilot.AutopilotControlParameters
@@ -718,4 +720,9 @@ class MoGoAutopilotProvider :
override fun sendStatusQueryReq() {
AdasManager.getInstance().sendStatusQueryReq()
}
override fun sendSweeperFuTianTaskCmd(fuTianTaskCmd: SpecialVehicleTaskCmdOuterClass.RoboSweeperFuTianTaskCmd) {
Log.d(TAG, "---- sendSweeperFuTianTaskCmd ----")
AdasManager.getInstance().sendRoboSweeperFuTianTaskCmd(fuTianTaskCmd)
}
}

43
core/function-impl/mogo-core-function-autopilot/src/main/java/com/mogo/eagle/core/function/autopilot/adapter/MoGoAdasListenerImpl.kt
View File

@@ -48,12 +48,15 @@ import com.mogo.eagle.core.function.call.autopilot.CallerAutopilotPlanningListen
import com.mogo.eagle.core.function.call.autopilot.CallerAutopilotPointCloudListenerManager
import com.mogo.eagle.core.function.call.autopilot.CallerAutopilotRecordListenerManager.invokeAutopilotRecordConfig
import com.mogo.eagle.core.function.call.autopilot.CallerAutopilotRecordListenerManager.invokeAutopilotRecordResult
import com.mogo.eagle.core.function.call.autopilot.CallerAutopilotStatisticsListenerManager.invokeAutopilotStatistics
import com.mogo.eagle.core.function.call.autopilot.CallerAutopilotVehicleStateListenerManager
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.zhidao.support.adas.high.AdasManager
import com.zhidao.support.adas.high.OnAdasListener
import com.zhidao.support.adas.high.bean.AutopilotAbility
import com.zhidao.support.adas.high.bean.AutopilotStatistics
import com.zhidao.support.adas.high.common.ProtocolStatus
import com.zhjt.service.chain.ChainLog
import com.zhjt.service.chain.TracingConstants.Endpoint.Companion.PAD
@@ -167,7 +170,10 @@ class MoGoAdasListenerImpl : OnAdasListener {
CallerAutopilotVehicleStateListenerManager.invokeAutopilotThrottle(vehicleState.throttle)
//刹车
CallerAutopilotVehicleStateListenerManager.invokeAutopilotBrake(vehicleState.brake)
//清扫车（福田）清扫控制系统状态
vehicleState.sweeperFutianCleanSystemState?.also {
CallerAutopilotVehicleStateListenerManager.invokeSweeperFutianCleanSystemState(it)
}
} else {
CallerAutopilotVehicleStateListenerManager.invokeAutopilotDataException(header.timestamp.toLong())
}
@@ -436,9 +442,6 @@ class MoGoAdasListenerImpl : OnAdasListener {
}
override fun onError(status: ProtocolStatus, bytes: ByteArray) {
}
/**
* 是否可以启动自动驾驶
@@ -447,4 +450,36 @@ class MoGoAdasListenerImpl : OnAdasListener {
override fun onAutopilotAbility(ability: AutopilotAbility?) {
invokeAutopilotAbility(ability)
}
/**
* 启动自动驾驶失败回调
* 根据MAP 系统监控状态返回过滤
* message.getMsg() 获取详细错误说明
* message.getCode() 可用于判断属于什么类型
*
* @param message 数据
*/
override fun onStartAutopilotFailed(message: MogoReportMsg.MogoReportMessage?) {
invokeStartAutopilotFailed(message);
}
/**
* 启动自动驾驶状态统计
* 触发机制：下发启动自动驾驶命令，根据MAP返回状态判断成功或失败
* 统计四种状态：成功 失败 取消 超时
*
* @param statistics 统计数据
*/
override fun onAutopilotStatistics(statistics: AutopilotStatistics?) {
invokeAutopilotStatistics(statistics);
}
/**
* 数据解析失败、数据异常回调
* @param status 错误原因
* @param bytes 原始数据
*/
override fun onError(status: ProtocolStatus, bytes: ByteArray) {
}
}

2
core/function-impl/mogo-core-function-autopilot/src/main/java/com/mogo/eagle/core/function/autopilot/adapter/MoGoAdasMsgConnectStatusListenerImpl.kt
View File

@@ -24,7 +24,7 @@ import com.zhidao.support.adas.high.common.Constants.TERMINAL_ROLE.DRIVER
import com.zhidao.support.adas.high.common.Constants.TERMINAL_ROLE.PASSENGER
import mogo.telematics.pad.MessagePad
import java.util.*
import java.util.concurrent.atomic.*
import java.util.concurrent.atomic.AtomicBoolean
/**
* ADAS-SDK与工控机连接状态回调

7
core/function-impl/mogo-core-function-autopilot/src/main/java/com/mogo/eagle/core/function/autopilot/adapter/MoGoHandAdasMsgManager.java
View File

@@ -4,6 +4,7 @@ import android.content.Context;
import android.text.TextUtils;
import android.util.Log;
import androidx.annotation.NonNull;
import androidx.annotation.Nullable;
import com.mogo.cloud.passport.MoGoAiCloudClientConfig;
@@ -24,6 +25,7 @@ import com.mogo.eagle.core.utilcode.mogo.storage.SharedPrefsMgr;
import org.jetbrains.annotations.NotNull;
import chassis.Chassis;
import chassis.VehicleStateOuterClass;
import mogo.telematics.pad.MessagePad;
public class MoGoHandAdasMsgManager implements
@@ -178,4 +180,9 @@ public class MoGoHandAdasMsgManager implements
}
@Override
public void onSweeperFutianCleanSystemState(VehicleStateOuterClass.SweeperFuTianCleanSystemState cleanSystemState) {
}
}

1
core/function-impl/mogo-core-function-check/build.gradle
View File

@@ -70,7 +70,6 @@ dependencies {
implementation project(':services:mogo-service-api')
implementation project(':modules:mogo-module-common')
//implementation project(':modules:mogo-module-carchattingprovider')
implementation project(':core:mogo-core-data')
implementation project(':core:mogo-core-utils')

6
core/function-impl/mogo-core-function-devatools/src/main/java/com/zhjt/mogo_core_function_devatools/status/flow/can/CanImpl.kt
View File

@@ -4,6 +4,7 @@ import android.content.*
import android.util.Log
import chassis.Chassis.GearPosition
import chassis.Chassis.LightSwitch
import chassis.VehicleStateOuterClass
import com.mogo.eagle.core.function.api.autopilot.*
import com.mogo.eagle.core.function.call.autopilot.*
import com.mogo.eagle.core.utilcode.kotlin.*
@@ -81,6 +82,11 @@ internal class CanImpl(ctx: Context): IFlow<CanStatus>(ctx), IMoGoAutopilotVehic
timeOutCheck()
}
override fun onSweeperFutianCleanSystemState(cleanSystemState: VehicleStateOuterClass.SweeperFuTianCleanSystemState) {
send(CanStatus(isCanEnabled()))
timeOutCheck()
}
override fun onAutopilotGuardian(guardianInfo: MogoReportMessage?) {
super.onAutopilotGuardian(guardianInfo)
send(CanStatus(isCanEnabled()))

5
core/function-impl/mogo-core-function-dispatch/src/main/java/com/zhjt/dispatch/DispatchAutoPilotManager.java
View File

@@ -66,8 +66,6 @@ public class DispatchAutoPilotManager implements IMogoOnMessageListener<Dispatch
private boolean isDispatch = false;
private boolean isArriveEnd = false;
private IMogoServiceApis mApis;
private DispatchAutoPilotManager() {
}
@@ -104,10 +102,9 @@ public class DispatchAutoPilotManager implements IMogoOnMessageListener<Dispatch
public void initSocket(Context context) {
mContext = context;
mApis = MogoApisHandler.getInstance().getApis();
MogoAiCloudSocketManager.getInstance(context).registerOnMessageListener(MSG_SOCKET_TYPE, this);
mApis.getRegisterCenterApi()
MogoApisHandler.getInstance().getApis().getRegisterCenterApi()
.registerCarLocationChangedListener(TAG, this);
// 添加自动驾驶按钮选中监听
CallerHmiListenerManager.INSTANCE.addCheckAutoPilotBtnListener(TAG, this);

8
core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/hmi/ui/setting/DebugSettingView.kt
View File

@@ -19,6 +19,7 @@ import androidx.core.content.ContextCompat
import androidx.core.view.*
import androidx.recyclerview.widget.LinearLayoutManager
import chassis.Chassis
import chassis.VehicleStateOuterClass
import com.mogo.cloud.passport.MoGoAiCloudClient
import com.mogo.cloud.passport.MoGoAiCloudClientConfig
import com.mogo.commons.debug.DebugConfig
@@ -2092,6 +2093,13 @@ class DebugSettingView @JvmOverloads constructor(
}
/**
* 清扫车（福田）清扫控制系统状态
*/
override fun onSweeperFutianCleanSystemState(cleanSystemState: VehicleStateOuterClass.SweeperFuTianCleanSystemState) {
}
/**
* 吐司提示
*/

45
core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/hmi/ui/tools/AutoPilotAndCheckView.kt
View File

@@ -7,6 +7,7 @@ import android.graphics.Color
import android.graphics.drawable.ColorDrawable
import android.os.Process
import android.util.AttributeSet
import android.util.Log
import android.view.LayoutInflater
import android.view.View
import android.widget.FrameLayout
@@ -113,51 +114,45 @@ class AutoPilotAndCheckView @JvmOverloads constructor(
// if (maxAcceleration > 0) {
// tvAcceleration.text = "加速度 $maxAcceleration m/s²"
// }
tvAcceleration.text = "每次调整车速±5km/h"
tvAcceleration.text = "每次调整车速±5km/h,点击确定生效"
if (speedLimit > 0) {
tvSpeed.text = speedLimit.toString()
}else{
tvSpeed.text = "0"
}
ivSpeedReduce.setOnClickListener {
if(speedLimit>=5){
speedLimit -= 5
//速度显示
val isSuccess = CallerAutoPilotManager.setAutoPilotSpeed(speedLimit)
when {
isSuccess -> {
//速度显示
tvSpeed.text = speedLimit.toString()
ToastUtils.showShort("车速设置成功，立即生效")
}
else -> {
ToastUtils.showShort("设置车速失败，请启动域控制器")
}
}
tvSpeed.text = speedLimit.toString()
}else{
ToastUtils.showShort("车速不能再减了")
}
}
ivSpeedAdd.setOnClickListener {
if(speedLimit<=55){
speedLimit += 5
//速度显示
val isSuccess = CallerAutoPilotManager.setAutoPilotSpeed(speedLimit)
when {
isSuccess -> {
//速度显示
tvSpeed.text = speedLimit.toString()
ToastUtils.showShort("车速设置成功，立即生效")
}
else -> {
ToastUtils.showShort("设置车速失败，请启动域控制器")
}
}
tvSpeed.text = speedLimit.toString()
}else{
ToastUtils.showShort("车速不能再加了")
}
}
//速度确认
tvSureModify.setOnClickListener {
val isSuccess = CallerAutoPilotManager.setAutoPilotSpeed(speedLimit)
when {
isSuccess -> {
//速度显示
tvSpeed.text = speedLimit.toString()
ToastUtils.showShort("车速设置成功，立即生效")
}
else -> {
ToastUtils.showShort("设置车速失败，请启动域控制器")
}
}
}
initOchView()
}

1
core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/hmi/ui/widget/AutoPilotStatusView.kt
View File

@@ -18,7 +18,6 @@ import com.mogo.eagle.core.utilcode.mogo.logger.CallerLogger
import com.mogo.eagle.core.utilcode.mogo.logger.scene.SceneConstant.Companion.M_HMI
import com.mogo.eagle.core.utilcode.util.ToastUtils
import com.mogo.eagle.core.utilcode.util.UiThreadHandler
import com.mogo.module.common.MogoApisHandler
import kotlinx.android.synthetic.main.view_autopilot_status.view.*
/**

5
core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/hmi/ui/widget/SteeringWheelView.java
View File

@@ -27,6 +27,7 @@ import com.mogo.eagle.core.utilcode.util.ThreadUtils;
import org.jetbrains.annotations.NotNull;
import chassis.Chassis;
import chassis.VehicleStateOuterClass;
import mogo.telematics.pad.MessagePad;
import mogo_msg.MogoReportMsg;
import system_master.SystemStatusInfo;
@@ -164,6 +165,10 @@ public class SteeringWheelView extends ConstraintLayout {
private final IMoGoAutopilotVehicleStateListener mIMoGoAutopilotVehicleStateListener = new IMoGoAutopilotVehicleStateListener() {
@Override
public void onSweeperFutianCleanSystemState(@NonNull VehicleStateOuterClass.SweeperFuTianCleanSystemState cleanSystemState) {
}
/**
* @param brake 刹车
*/

5
core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/hmi/ui/widget/TrafficDataView.java
View File

@@ -26,6 +26,7 @@ import com.mogo.eagle.core.utilcode.util.ThreadUtils;
import org.jetbrains.annotations.NotNull;
import chassis.Chassis;
import chassis.VehicleStateOuterClass;
import mogo.telematics.pad.MessagePad;
/**
@@ -122,6 +123,10 @@ public class TrafficDataView extends ConstraintLayout {
}
private final IMoGoAutopilotVehicleStateListener mIMoGoAutopilotVehicleStateListener = new IMoGoAutopilotVehicleStateListener() {
@Override
public void onSweeperFutianCleanSystemState(@NonNull VehicleStateOuterClass.SweeperFuTianCleanSystemState cleanSystemState) {
}
/**
* 车辆转向灯
* @param lightSwitch

15
core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/main/MainActivity.java
View File

@@ -60,8 +60,6 @@ import com.mogo.map.listener.MogoMapListenerHandler;
import com.mogo.map.location.IMogoLocationListener;
import com.mogo.map.uicontroller.EnumMapUI;
import com.mogo.map.uicontroller.IMogoMapUIController;
import com.mogo.module.common.MogoApisHandler;
import com.mogo.service.IMogoServiceApis;
import com.rousetime.android_startup.StartupManager;
import com.rousetime.android_startup.model.LoggerLevel;
import com.rousetime.android_startup.model.StartupConfig;
@@ -90,8 +88,6 @@ public class MainActivity extends MvpActivity<MainView, MainPresenter> implement
protected static final String TAG = "MainActivity";
private static final int REQUEST_CODE_DIALOG = 100;
protected IMogoServiceApis mServiceApis;
protected FrameLayout mFloatingLayout;
protected View mCoverUpLayout;
@@ -221,9 +217,6 @@ public class MainActivity extends MvpActivity<MainView, MainPresenter> implement
}
private void init() {
if (mServiceApis == null) {
mServiceApis = MogoApisHandler.getInstance().getApis();
}
MogoStatusManager.getInstance().setMainPageLaunchedStatus(TAG, true);
}
@@ -417,14 +410,6 @@ public class MainActivity extends MvpActivity<MainView, MainPresenter> implement
super.onNewIntent(intent);
}
@Override
public IMogoServiceApis getApis() {
if (mServiceApis == null) {
mServiceApis = MogoApisHandler.getInstance().getApis();
}
return mServiceApis;
}
@Override
public void onAutopilotStatusResponse(@NonNull AutopilotStatusInfo autoPilotStatusInfo) {
int status = autoPilotStatusInfo.getIpcConnStatus();

7
core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/main/MainView.java
View File

@@ -26,11 +26,4 @@ public interface MainView extends IView {
*/
void loadModules();
/**
* 接口水龙头
*
* @return
*/
IMogoServiceApis getApis();
}

2
core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/main/service/MogoMainService.java
View File

@@ -21,8 +21,6 @@ import com.mogo.eagle.core.utilcode.util.UiThreadHandler;
import com.mogo.map.location.IMogoLocationClient;
import com.mogo.map.location.IMogoLocationListener;
import com.mogo.map.navi.MogoCarLocationChangedListenerRegister;
import com.mogo.module.common.MogoApisHandler;
import com.mogo.service.IMogoServiceApis;
public
/**

6
core/function-impl/mogo-core-function-hmi/src/main/res/drawable/taxi_loginout_sure_bg.xml Normal file
View File

@@ -0,0 +1,6 @@
<?xml version="1.0" encoding="utf-8"?>
<shape xmlns:android="http://schemas.android.com/apk/res/android"
android:shape="rectangle">
<corners android:radius="24px"/>
<solid android:color="#1E3062" />
</shape>

19
core/function-impl/mogo-core-function-hmi/src/main/res/layout/view_auto_pilot_check.xml
View File

@@ -241,6 +241,7 @@
/>
<TextView
android:id="@+id/tvUnit"
android:layout_width="wrap_content"
android:layout_height="wrap_content"
android:text="km/h"
@@ -249,8 +250,22 @@
app:layout_constraintTop_toTopOf="@id/ivSpeedAdd"
app:layout_constraintBottom_toBottomOf="@id/ivSpeedAdd"
app:layout_constraintLeft_toRightOf="@id/ivSpeedAdd"
android:layout_marginStart="40px"
/>x`
android:layout_marginStart="40px" />
<androidx.appcompat.widget.AppCompatTextView
android:id="@+id/tvSureModify"
android:layout_width="200px"
android:layout_height="135px"
android:background="@drawable/taxi_loginout_sure_bg"
android:gravity="center"
android:text="确定"
android:textColor="@android:color/white"
android:textSize="42px"
android:layout_marginLeft="50px"
app:layout_constraintTop_toTopOf="@id/tvSpeed"
app:layout_constraintBottom_toBottomOf="@id/tvSpeed"
app:layout_constraintLeft_toRightOf="@id/tvUnit"
tools:visibility="visible" />
<TextView
android:id="@+id/tvAcceleration"

3
core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/business/routeoverlay/MogoRouteOverlayManager.java
View File

@@ -66,13 +66,11 @@ public class MogoRouteOverlayManager implements
return;
}
if (isArriveAtStation.get() && autopilotMode.get() != 1) {
Logger.d(TAG, "--- onLocationChanged 1 -- [isDemo1: " + FunctionBuildConfig.isIgnoreConditionsDrawAutopilotTrajectoryData + ",isDemo2:" +FunctionBuildConfig.isDemoMode + ",isGps:" + isGps + ",mode:" + autopilotMode.get() + ",lon:" + location.getLongitude() + ",lat:" + location.getLatitude() + ",angle:" + location.getBearing() + "]");
RouteOverlayDrawer.getInstance().clearMogoRouteOverlay();
return;
}
boolean force = FunctionBuildConfig.isIgnoreConditionsDrawAutopilotTrajectoryData;
if (!force && autopilotMode.get() != 1) {
Logger.d(TAG, "--- onLocationChanged 2 -- [isDemo1: " + FunctionBuildConfig.isIgnoreConditionsDrawAutopilotTrajectoryData + ",isDemo2:" +FunctionBuildConfig.isDemoMode + ",isGps:" + isGps + ",mode:" + autopilotMode.get() + ",lon:" + location.getLongitude() + ",lat:" + location.getLatitude() + ",angle:" + location.getBearing() + "]");
RouteOverlayDrawer.getInstance().clearMogoRouteOverlay();
return;
}
@@ -80,7 +78,6 @@ public class MogoRouteOverlayManager implements
if (!queue.isEmpty()) {
List<MessagePad.TrajectoryPoint> items = queue.pollLast();
if (items != null && !items.isEmpty()) {
Logger.d(TAG, "--- onLocationChanged -- [isDemo1: " + FunctionBuildConfig.isIgnoreConditionsDrawAutopilotTrajectoryData + ",isDemo2:" +FunctionBuildConfig.isDemoMode + ",isGps:" + isGps + ",mode:" + autopilotMode.get() + ",lon:" + location.getLongitude() + ",lat:" + location.getLatitude() + ",angle:" + location.getBearing() + "]");
RouteOverlayDrawer.getInstance().drawTrajectoryList(items, location.getBearing());
}
}

8
core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/smp/SmallMapFragment.java
View File

@@ -15,6 +15,7 @@ import com.mogo.eagle.core.data.map.MogoLatLng;
import com.mogo.eagle.core.function.api.autopilot.IMoGoAutopilotPlanningListener;
import com.mogo.eagle.core.function.api.autopilot.IMoGoAutopilotStatusListener;
import com.mogo.eagle.core.function.api.map.smp.IMogoSmallMapProvider;
import com.mogo.eagle.core.function.call.autopilot.CallerAutoPilotManager;
import com.mogo.eagle.core.function.call.autopilot.CallerAutopilotPlanningListenerManager;
import com.mogo.eagle.core.function.map.R;
import com.mogo.eagle.core.utilcode.util.UiThreadHandler;
@@ -38,6 +39,7 @@ public class SmallMapFragment extends BaseFragment
IMoGoAutopilotStatusListener {
private final String TAG = "SmallMapFragment";
protected SmallMapDirectionView mSmallMapDirectionView;
private int autoPilotStatus = 0;
@Override
public void onAttach(Context context) {
@@ -128,9 +130,13 @@ public class SmallMapFragment extends BaseFragment
@Override
public void onAutopilotStatusResponse(@NotNull AutopilotStatusInfo autoPilotStatusInfo) {
if (autoPilotStatusInfo.getPilotmode() != 1) {
int tempStatus = autoPilotStatusInfo.getPilotmode();
if (tempStatus != 1) {
clearPolyline();
}else if (tempStatus == 1 && autoPilotStatus == 0){
CallerAutoPilotManager.INSTANCE.getGlobalPath();
}
autoPilotStatus = tempStatus;
}
@Override

1
core/function-impl/mogo-core-function-v2x/build.gradle
View File

@@ -69,7 +69,6 @@ dependencies {
implementation project(':core:mogo-core-utils')
implementation project(':core:mogo-core-function-api')
implementation project(':core:mogo-core-function-call')
//implementation project(':modules:mogo-module-carchattingprovider')
implementation project(':core:mogo-core-res')
implementation project(':libraries:mogo-adas')

3
core/function-impl/mogo-core-function-v2x/src/main/java/com/mogo/eagle/core/function/v2x/events/utils/LocationUtils.java
View File

@@ -8,11 +8,8 @@ import com.mogo.eagle.core.data.map.MogoLocation;
import com.mogo.eagle.core.function.call.autopilot.CallerAutoPilotStatusListenerManager;
import com.mogo.eagle.core.function.call.map.CallerMapUIServiceManager;
import com.mogo.eagle.core.utilcode.mogo.logger.CallerLogger;
import com.mogo.eagle.core.function.v2x.events.bridge.BridgeApi;
import com.mogo.eagle.core.utilcode.util.AppUtils;
import com.mogo.map.location.IMogoLocationClient;
import com.mogo.map.uicontroller.IMogoMapUIController;
import com.mogo.module.common.MogoApisHandler;
/**
* author : donghongyu