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Merge branch 'dev_robotaxi-d_230809_6.0.0' of gitlab.zhidaoauto.com:SCA/L4HA/AndroidApp/MoGoEagleEye into dev_robotaxi-d_230809_6.0.0

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This commit is contained in:
aibingbing
2023-09-06 20:37:29 +08:00
parent 9eadadef99 dbb9ac3986
commit 25d93067e2
18 changed files with 81 additions and 28 deletions
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2
OCH/mogo-och-common-module/src/main/java/com/mogo/och/common/module/manager/distancemamager/TrajectoryAndDistanceManager.kt
View File

@@ -92,7 +92,7 @@ object TrajectoryAndDistanceManager: IMoGoPlanningRottingListener{
d(M_OCHCOMMON + TAG, "onAutopilotRotting: 收到轨迹")
globalPathResp?.wayPointsList?.let {
if (it.size > 0) {
d(M_OCHCOMMON + TAG, "收到轨迹:${it.size}第一个点${it[0]}最后一个点:${it.last()}")
d(M_OCHCOMMON + TAG, "收到轨迹:轨迹个数${it.size}第一个点${it[0]}最后一个点:${it.last()} 轨迹id:${globalPathResp.lineId}")
if(globalPathResp.lineId!=null) {// 适配低版本不传递lineId
if (globalPathResp.lineId == lineId && !mRoutePoints.isNullOrEmpty()) {
d(M_OCHCOMMON + TAG, "重复轨迹")

5
OCH/mogo-och-common-module/src/main/java/com/mogo/och/common/module/map/CommonAmapNaviVIew.kt
View File

@@ -134,7 +134,6 @@ class CommonAmapNaviVIew @JvmOverloads constructor(
}
override fun onNaviCancel() {
TODO("Not yet implemented")
}
override fun onNaviBackClick(): Boolean {
@@ -170,11 +169,11 @@ class CommonAmapNaviVIew @JvmOverloads constructor(
}
override fun onMapTypeChanged(p0: Int) {
TODO("Not yet implemented")
}
override fun onNaviViewShowMode(p0: Int) {
TODO("Not yet implemented")
}
fun onCreate(savedInstanceState : Bundle?){

4
OCH/taxi/passenger/src/main/java/com/mogo/och/taxi/passenger/ui/TaxiPassengerBaseFragment.kt
View File

@@ -96,8 +96,10 @@ class TaxiPassengerBaseFragment() :
ck_setting.visibility = View.VISIBLE
if (DeviceUtils.isLenovoModel() || DeviceUtils.isEB5Model()) {
romaPView.visibility = View.VISIBLE
romaDistanceView.visibility = View.VISIBLE
} else {
romaPView.visibility = View.GONE
romaDistanceView.visibility = View.GONE
}
rv_location_center.visibility = View.VISIBLE
pcnActionView.visibility = View.VISIBLE
@@ -111,6 +113,7 @@ class TaxiPassengerBaseFragment() :
presenter?.setItineraryVisibility()
ck_setting.visibility = View.VISIBLE
romaPView.visibility = View.GONE
romaDistanceView.visibility = View.GONE
rv_location_center.visibility = View.VISIBLE
pcnActionView.visibility = View.VISIBLE
CallerHmiManager.showTrafficLightView()
@@ -124,6 +127,7 @@ class TaxiPassengerBaseFragment() :
ck_setting.visibility = View.GONE
ck_setting.isChecked = false
romaPView.visibility = View.GONE
romaDistanceView.visibility = View.GONE
rv_location_center.visibility = View.GONE
pcnActionView.visibility = View.GONE
CallerHmiManager.hideTrafficLightView()

1
OCH/taxi/passenger/src/main/res/layout/taxi_p_base_fragment.xml
View File

@@ -82,6 +82,7 @@
app:roma_open="@drawable/taxi_p_roma_checked" />
<com.mogo.eagle.core.function.hmi.ui.widget.RomaDistanceView
android:id="@+id/romaDistanceView"
android:layout_width="@dimen/dp_334"
android:layout_height="@dimen/dp_120"
android:layout_marginStart="@dimen/dp_50"

2
OCH/taxi/unmanned-driver/src/main/java/com/mogo/och/taxi/ui/base/BaseTaxiTabFragment.kt
View File

@@ -592,6 +592,7 @@ abstract class BaseTaxiTabFragment<V : IView, P : Presenter<V>> : MvpFragment<V,
fun showRoutingToStationFragment(isShow: Boolean) {
val transaction: FragmentTransaction = childFragmentManager.beginTransaction()
closeRoutingViewIfHadAdd()
if (isShow) {
closeAmapViewIFHadeAdd()
taxiRoutingNaviFragment = TaxiRoutingNaviFragment.newInstance()
@@ -605,7 +606,6 @@ abstract class BaseTaxiTabFragment<V : IView, P : Presenter<V>> : MvpFragment<V,
module_mogo_och_navi_panel_container.visibility = View.VISIBLE
smallMapView.visibility = View.GONE
} else {
closeRoutingViewIfHadAdd()
taxi_close_navi_icon.visibility = View.GONE
module_mogo_och_navi_panel_container.visibility = View.INVISIBLE //2023.9.4高德导航由gone设置成INVISIBLE,保留导航实例,避免导航被挂起
smallMapView.visibility = View.VISIBLE

4
OCH/taxi/unmanned-driver/src/main/java/com/mogo/och/taxi/ui/navi/auto/TaxiMapDirectionView.kt
View File

@@ -74,6 +74,7 @@ class TaxiMapDirectionView @JvmOverloads constructor(
override fun onDetachedFromWindow() {
super.onDetachedFromWindow()
// 注册定位监听
clearPolyline()
CallerChassisLocationGCJ02ListenerManager.removeListener(TAG)
}
@@ -215,6 +216,7 @@ class TaxiMapDirectionView @JvmOverloads constructor(
texIndexList.add(1)
}
if (mPolyline != null) {
d(SceneConstant.M_TAXI + TAG, "mPolyline != null")
mPolyline!!.points = allPoints
mPolyline!!.options.customTextureIndex = texIndexList
return
@@ -234,10 +236,12 @@ class TaxiMapDirectionView @JvmOverloads constructor(
}
// 绘制线
d(SceneConstant.M_TAXI + TAG, "绘制线mPolyline = mAMap.addPolyline(polylineOptions)")
mPolyline = mAMap.addPolyline(polylineOptions)
}
override fun clearPolyline() {
d(SceneConstant.M_TAXI + TAG, "clearPolyline")
if (mPolyline != null) {
mPolyline!!.remove()
mPolyline = null

2
OCH/taxi/unmanned-driver/src/main/java/com/mogo/och/taxi/ui/task/TaxiCurrentTaskViewModel.kt
View File

@@ -267,7 +267,7 @@ class TaxiCurrentTaskViewModel : BaseViewModel<UnmannedState, TaskUiIntent>(),
driveToNearestStationTask: StartServiceRespBean.Result?,
currentTaskWithOrder: QueryCurrentTaskRespBean.Result?
) {
if (currentTaskWithOrder?.endSite != null && currentTaskWithOrder.startSite != null
if (currentTaskWithOrder?.endSite != null
&& (currentTaskWithOrder.currentStatus < TaskStatusEnum.CompleteTask.code
||currentTaskWithOrder.order != null)
) {

3
OCH/taxi/unmanned-driver/src/main/java/com/mogo/och/taxi/ui/task/TaxiTaskModel.kt
View File

@@ -706,7 +706,8 @@ object TaxiTaskModel {
if (result.order != null && result.currentStatus == TaskStatusEnum.CompleteTask.code
&& result.servingStatus == 1){
if (result.order!!.orderStatus <= TaxiOrderStatusEnum.ArriveAtStart.code) {
if (result.taskType <= TaskTypeEnum.VirtualTask.code
&& result.order!!.orderStatus < TaxiOrderStatusEnum.ArriveAtStart.code) {
VoiceNotice.showNotice("已为您接到订单")
}
if (result.taskType == TaskTypeEnum.ToOrderStartTask.code

2
OCH/taxi/unmanned-driver/src/main/java/com/mogo/och/taxi/utils/TaxiTrajectoryManager.java
View File

@@ -287,7 +287,7 @@ public class TaxiTrajectoryManager {
}
if (mPreAutoPilotLine != null){
DebugView.Companion.printInfoMsg("[下发轨迹] sendTrajectoryDownloadReq, lindId=" + mPreAutoPilotLine.getLineId() + ", lineName=" + mPreAutoPilotLine.getLineName());
DebugView.Companion.printInfoMsg("[下发预加载轨迹] sendTrajectoryDownloadReq, lindId=" + mPreAutoPilotLine.getLineId() + ", lineName=" + mPreAutoPilotLine.getLineName());
CallerAutoPilotControlManager.INSTANCE.sendTrajectoryDownloadReq(mPreAutoPilotLine, PRE_LOADING);
}else {
CallerLogger.e(M_TAXI + TAG, "sendTrajectoryReq(): mPreAutoPilotLine is null!!!");

4
OCH/taxi/unmanned-passenger/src/main/java/com/mogo/och/taxi/passenger/ui/TaxiPassengerBaseFragment.kt
View File

@@ -95,8 +95,10 @@ class TaxiPassengerBaseFragment() :
ck_setting.visibility = View.VISIBLE
if (DeviceUtils.isLenovoModel() || DeviceUtils.isEB5Model()) {
romaPView.visibility = View.VISIBLE
romaDistanceView.visibility = View.VISIBLE
} else {
romaPView.visibility = View.GONE
romaDistanceView.visibility = View.GONE
}
rv_location_center.visibility = View.VISIBLE
pcnActionView.visibility = View.VISIBLE
@@ -110,6 +112,7 @@ class TaxiPassengerBaseFragment() :
presenter?.setItineraryVisibility()
ck_setting.visibility = View.VISIBLE
romaPView.visibility = View.GONE
romaDistanceView.visibility = View.GONE
rv_location_center.visibility = View.VISIBLE
pcnActionView.visibility = View.VISIBLE
CallerHmiManager.showTrafficLightView()
@@ -123,6 +126,7 @@ class TaxiPassengerBaseFragment() :
ck_setting.visibility = View.GONE
ck_setting.isChecked = false
romaPView.visibility = View.GONE
romaDistanceView.visibility = View.GONE
rv_location_center.visibility = View.GONE
pcnActionView.visibility = View.GONE
CallerHmiManager.hideTrafficLightView()

1
OCH/taxi/unmanned-passenger/src/main/res/layout/taxi_p_base_fragment.xml
View File

@@ -80,6 +80,7 @@
app:roma_open="@drawable/taxi_p_roma_checked" />
<com.mogo.eagle.core.function.hmi.ui.widget.RomaDistanceView
android:id="@+id/romaDistanceView"
android:layout_width="@dimen/dp_334"
android:layout_height="@dimen/dp_120"
android:layout_marginStart="@dimen/dp_50"

10
core/function-impl/mogo-core-function-datacenter/src/main/java/com/mogo/eagle/core/function/datacenter/autopilot/MoGoAutopilotControlProvider.kt
View File

@@ -122,7 +122,7 @@ class MoGoAutopilotControlProvider :
// .setSubscribeInterfaceOptions(subscribeInterfaceOptions)//
.build()
AdasManager.getInstance().create(options, MoGoAdasMsgConnectStatusListenerImpl())
AdasManager.getInstance().create(context, options, MoGoAdasMsgConnectStatusListenerImpl())
//////////////////////////////////注意先后顺序，AdasManager.getInstance().create后才可以设置监听/////////////////////////////////////////////
// 监听ADAS-SDK获取到的工控机数据
AdasManager.getInstance().setOnAdasListener(MoGoAdasListenerImpl())
@@ -209,7 +209,7 @@ class MoGoAutopilotControlProvider :
UiThreadHandler.post {
if (isSupportMulti) {
// 直连工控机
directConnect()
directConnect(context)
} else {
val options = AdasOptions
.Builder()
@@ -217,7 +217,7 @@ class MoGoAutopilotControlProvider :
.setUnableLaunchAutopilotGear(FunctionBuildConfig.unableLaunchAutopilotGear)
.build()
AdasManager.getInstance()
.create(options, MoGoAdasMsgConnectStatusListenerImpl())
.create(context, options, MoGoAdasMsgConnectStatusListenerImpl())
// 监听ADAS-SDK获取到的工控机数据
AdasManager.getInstance().setOnAdasListener(MoGoAdasListenerImpl())
// 接收司机屏发过来的感知、定位等数据
@@ -240,7 +240,7 @@ class MoGoAutopilotControlProvider :
}
}
private fun directConnect() {
private fun directConnect(context: Context) {
val options = AdasOptions
.Builder()
.setIpcConnectionMode(AdasOptions.IPC_CONNECTION_MODE.FIXATION)
@@ -248,7 +248,7 @@ class MoGoAutopilotControlProvider :
.setClient(false)// 乘客端直连工控机改为false
.setUnableLaunchAutopilotGear(FunctionBuildConfig.unableLaunchAutopilotGear)
.build()
AdasManager.getInstance().create(options, MoGoAdasMsgConnectStatusListenerImpl())
AdasManager.getInstance().create(context, options, MoGoAdasMsgConnectStatusListenerImpl())
//////////////////////////////////注意先后顺序，AdasManager.getInstance().create后才可以设置监听/////////////////////////////////////////////
// 监听ADAS-SDK获取到的工控机数据
AdasManager.getInstance().setOnAdasListener(MoGoAdasListenerImpl())

2
gradle.properties
View File

@@ -80,7 +80,7 @@ MOGO_LOCATION_VERSION=1.4.7.16
MOGO_TELEMATIC_VERSION=1.4.7.16
######## MogoAiCloudSDK Version ########
# 自研地图
MAP_SDK_VERSION=2.14.3.9
MAP_SDK_VERSION=2.14.3.10
MAP_SDK_OPERATION_VERSION=1.1.4.1
# websocket
WEBSOCKET_VERSION=1.1.7

1
libraries/mogo-adas/src/main/AndroidManifest.xml
View File

@@ -3,4 +3,5 @@
<uses-permission android:name="android.permission.ACCESS_BACKGROUND_LOCATION"/>
<uses-permission android:name="android.permission.ACCESS_FINE_LOCATION"/>
<uses-permission android:name="android.permission.ACCESS_COARSE_LOCATION"/>
<uses-permission android:name="android.permission.ACCESS_NETWORK_STATE" />
</manifest>

8
libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/AdasChannel.java
View File

@@ -11,6 +11,7 @@ import static com.zhidao.support.adas.high.chain.AdasChain.CHAIN_SOURCE_ADAS;
import static com.zhidao.support.adas.high.chain.AdasChain.CHAIN_TYPE_INIT_STATUS;
import static com.zhidao.support.adas.high.chain.AdasChain.CHAIN_TYPE_SOCKET_AUTOPILOT;
import android.content.Context;
import android.os.Handler;
import android.os.Message;
import android.os.SystemClock;
@@ -138,6 +139,7 @@ public class AdasChannel implements IAdasNetCommApi, FpgaSocket.IWebSocketConnec
*/
private SubscribeInterface subscribeInterface;
private Timer carConfigReqTimer;//车辆基础信息请求 多次请求防止无法收到基础信息情况出现
private Context context;
public void setOnMultiDeviceListener(OnMultiDeviceListener onMultiDeviceListener) {
this.onMultiDeviceListener = onMultiDeviceListener;
@@ -169,7 +171,8 @@ public class AdasChannel implements IAdasNetCommApi, FpgaSocket.IWebSocketConnec
* @param options
* @param onAdasConnectStatusListener
*/
AdasChannel(AdasOptions options, OnAdasConnectStatusListener onAdasConnectStatusListener) {
AdasChannel(Context context, AdasOptions options, OnAdasConnectStatusListener onAdasConnectStatusListener) {
this.context = context;
this.adasConnectStatusListener = onAdasConnectStatusListener;
//配置为null默认是乘客屏幕
if (options == null) {
@@ -279,7 +282,8 @@ public class AdasChannel implements IAdasNetCommApi, FpgaSocket.IWebSocketConnec
nodeAliasCode = CHAIN_CODE_ADAS_INIT,
paramIndexes = {-1})
private void initSocket() {
mSocket = new FpgaSocket();
mSocket = new FpgaSocket(context);
context = null;
mSocket.setWebSocketListener(this);
if (isUseQueue) {
WebSocketQueueManager.getInstance().registerWebSocketListener(this);

4
libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/AdasManager.java
View File

@@ -103,13 +103,13 @@ public class AdasManager implements IAdasNetCommApi {
* @param options 连接参数
* @param onAdasConnectStatusListener 连接状态监听
*/
public synchronized void create(AdasOptions options, OnAdasConnectStatusListener onAdasConnectStatusListener) {
public synchronized void create(Context context, AdasOptions options, OnAdasConnectStatusListener onAdasConnectStatusListener) {
if (mChannel != null) {
mChannel.disconnect();
carConfig = null;
mChannel = null;
}
mChannel = new AdasChannel(options, onAdasConnectStatusListener);
mChannel = new AdasChannel(context, options, onAdasConnectStatusListener);
}

41
libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/common/ReconnectManager.java
View File

@@ -1,5 +1,15 @@
package com.zhidao.support.adas.high.common;
import android.content.Context;
import android.net.ConnectivityManager;
import android.net.Network;
import android.net.NetworkRequest;
import android.os.Build;
import android.util.Log;
import androidx.annotation.NonNull;
import androidx.annotation.RequiresApi;
import java.util.Timer;
import java.util.TimerTask;
import java.util.concurrent.atomic.AtomicBoolean;
@@ -13,15 +23,17 @@ public class ReconnectManager {
private final AtomicBoolean isReconnection = new AtomicBoolean(false);//是否正在重连
private final OnReconnectListener listener;
private volatile Timer timer;
private final Context context;
private final AtomicBoolean isRegisterNetworkCallback = new AtomicBoolean(false);
public interface OnReconnectListener {
void onReconnection();
void onReconnection(String tag);
}
public ReconnectManager(OnReconnectListener listener) {
public ReconnectManager(Context context, OnReconnectListener listener) {
this.context = context;
this.listener = listener;
}
/**
@@ -36,6 +48,12 @@ public class ReconnectManager {
if (!isReconnection.get()) {
CupidLogUtils.i(TAG, "开始重连");
isReconnection.set(true);
if (Build.VERSION.SDK_INT >= Build.VERSION_CODES.LOLLIPOP) {
ConnectivityManager connMgr = (ConnectivityManager) context.getSystemService(Context.CONNECTIVITY_SERVICE);
NetworkRequest networkRequest = new NetworkRequest.Builder().build();
connMgr.registerNetworkCallback(networkRequest, networkCallback);
isRegisterNetworkCallback.set(true);
}
if (timer == null) {
timer = new Timer();
timer.schedule(new TimerTask() {
@@ -43,7 +61,7 @@ public class ReconnectManager {
public void run() {
if (isReconnection.get()) {
if (listener != null)
listener.onReconnection();
listener.onReconnection("定时器");
}
}
}, 0, RECONNECT_INTERVAL);//延时
@@ -54,11 +72,26 @@ public class ReconnectManager {
public synchronized void stop() {
CupidLogUtils.i(TAG, "停止重连");
isReconnection.set(false);
if (Build.VERSION.SDK_INT >= Build.VERSION_CODES.LOLLIPOP && isRegisterNetworkCallback.get()) {
ConnectivityManager connMgr = (ConnectivityManager) context.getSystemService(Context.CONNECTIVITY_SERVICE);
connMgr.unregisterNetworkCallback(networkCallback);
isRegisterNetworkCallback.set(false);
}
if (timer != null) {
timer.cancel();
timer = null;
}
}
@RequiresApi(api = Build.VERSION_CODES.LOLLIPOP)
private final ConnectivityManager.NetworkCallback networkCallback = new ConnectivityManager.NetworkCallback() {
@Override
public void onAvailable(@NonNull Network network) {
super.onAvailable(network);
Log.i(TAG, "网络连接成功");
if (listener != null)
listener.onReconnection("网络监听");
}
};
}

13
libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/socket/FpgaSocket.java
View File

@@ -6,6 +6,7 @@ import static com.zhidao.support.adas.high.chain.AdasChain.CHAIN_TYPE_INIT_STATU
import static com.zhidao.support.adas.high.common.Constants.RESOURCE_PATH;
import static com.zhidao.support.adas.high.common.Constants.WS_IP_HOST_HEAD;
import android.content.Context;
import android.os.SystemClock;
import android.text.TextUtils;
import android.util.Log;
@@ -79,11 +80,11 @@ public class FpgaSocket implements IWebSocket {
*/
private volatile String receiveTimeoutReason = null;
public FpgaSocket() {
init();
public FpgaSocket(Context context) {
init(context);
}
private void init() {
private void init(Context context) {
listener = new EchoWebSocketListener();
OkHttpClient.Builder okBuilder = new OkHttpClient.Builder();
okBuilder.writeTimeout(4, TimeUnit.SECONDS)
@@ -96,10 +97,10 @@ public class FpgaSocket implements IWebSocket {
onPassiveClose(1001, receiveTimeoutReason);
}
});
reconnectManager = new ReconnectManager(new ReconnectManager.OnReconnectListener() {
reconnectManager = new ReconnectManager(context, new ReconnectManager.OnReconnectListener() {
@Override
public void onReconnection() {
connect("重连中");
public void onReconnection(String tag) {
connect("重连中（" + tag + "）");
}
});
client = okBuilder.build();