yangyakun921/MoGoEagleEye
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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
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@@ -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
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@@ -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
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@@ -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) {
}
}