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Merge branch 'dev_robotaxi-d_230612_3.3.0' of gitlab.zhidaoauto.com:SCA/L4HA/AndroidApp/MoGoEagleEye into dev_robotaxi-d_230612_3.3.0

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wangmingjun
2023-06-28 10:23:01 +08:00
parent 8e85620f5b 34aeedd45c
commit 28022dc78e
7 changed files with 47 additions and 30 deletions
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17
OCH/mogo-och-bus-passenger/src/jinlvvan/java/com/mogo/och/bus/passenger/ui/BusPassengerMapDirectionView.kt
View File

@@ -41,7 +41,7 @@ class BusPassengerMapDirectionView @JvmOverloads constructor(
companion object {
//小地图名称
const val TAG = "TPMapDirectionView"
const val TAG = "BusPassengerMapDirectionView"
}
private lateinit var mAMapNaviView: TextureMapView
@@ -116,7 +116,7 @@ class BusPassengerMapDirectionView @JvmOverloads constructor(
// 设置地图的样式
mAMap.uiSettings.apply {
isZoomControlsEnabled = false // 地图缩放级别的交换按钮
setAllGesturesEnabled(false) // 所有手势
setAllGesturesEnabled(true) // 所有手势
isMyLocationButtonEnabled = false // 显示默认的定位按钮
setLogoBottomMargin(-150) //设置Logo下边界距离屏幕底部的边距,设置为负值即可
}
@@ -148,9 +148,9 @@ class BusPassengerMapDirectionView @JvmOverloads constructor(
mAMap.setOnCameraChangeListener(this)
}
override fun onInterceptTouchEvent(ev: MotionEvent): Boolean {
return true
}
// override fun onInterceptTouchEvent(ev: MotionEvent): Boolean {
// return true
// }
override fun onChassisLocationGCJ02(mogoLocation: MogoLocation?) {
if (mogoLocation == null) {
@@ -212,8 +212,10 @@ class BusPassengerMapDirectionView @JvmOverloads constructor(
mPolyline!!.options.customTextureIndex = texIndexList
return
}
textureList.add(mArrivedRes)
textureList.add(mUnArrivedRes)
if(textureList.isEmpty()) {
textureList.add(mArrivedRes)
textureList.add(mUnArrivedRes)
}
//设置线段纹理
val polylineOptions = PolylineOptions().apply {
addAll(allPoints)
@@ -231,6 +233,7 @@ class BusPassengerMapDirectionView @JvmOverloads constructor(
override fun clearPolyline() {
if (mPolyline != null) {
mPolyline!!.remove()
mPolyline = null
}
}

9
OCH/mogo-och-taxi-passenger/src/main/java/com/mogo/och/taxi/passenger/ui/TaxiPassengerMapDirectionView.kt
View File

@@ -42,7 +42,7 @@ class TaxiPassengerMapDirectionView @JvmOverloads constructor(
companion object {
//小地图名称
const val TAG = "TPMapDirectionView"
const val TAG = "TaxiPassengerMapDirectionView"
private const val zoomLevel = 13.0f
}
@@ -212,8 +212,10 @@ class TaxiPassengerMapDirectionView @JvmOverloads constructor(
mPolyline!!.options.customTextureIndex = texIndexList
return
}
textureList.add(mArrivedRes)
textureList.add(mUnArrivedRes)
if(textureList.isEmpty()) {
textureList.add(mArrivedRes)
textureList.add(mUnArrivedRes)
}
//设置线段纹理
val polylineOptions = PolylineOptions().apply {
addAll(allPoints)
@@ -231,6 +233,7 @@ class TaxiPassengerMapDirectionView @JvmOverloads constructor(
override fun clearPolyline() {
if (mPolyline != null) {
mPolyline!!.remove()
mPolyline = null
}
mStartMarker.isVisible = false
mEndMarker.isVisible = false

9
OCH/mogo-och-taxi/src/main/java/com/mogo/och/taxi/ui/TaxiMapDirectionView.kt
View File

@@ -219,8 +219,10 @@ class TaxiMapDirectionView @JvmOverloads constructor(
mPolyline!!.options.customTextureIndex = texIndexList
return
}
textureList.add(mArrivedRes)
textureList.add(mUnArrivedRes)
if(textureList.isEmpty()) {
textureList.add(mArrivedRes)
textureList.add(mUnArrivedRes)
}
//设置线段纹理
val polylineOptions = PolylineOptions().apply {
addAll(allPoints)
@@ -238,6 +240,7 @@ class TaxiMapDirectionView @JvmOverloads constructor(
override fun clearPolyline() {
if (mPolyline != null) {
mPolyline!!.remove()
mPolyline = null
}
mStartMarker.isVisible = false
mEndMarker.isVisible = false
@@ -281,6 +284,6 @@ class TaxiMapDirectionView @JvmOverloads constructor(
companion object {
//小地图名称
const val TAG = "TPMapDirectionView"
const val TAG = "TaxiMapDirectionView"
}
}

2
core/function-impl/mogo-core-function-devatools/src/main/java/com/zhjt/mogo_core_function_devatools/mofang/MoFangLinkedLog.kt
View File

@@ -15,7 +15,7 @@ internal class MoFangLinkedLog {
@ChainLog(
linkChainLog = ChainConstant.CHAIN_TYPE_HMI,
linkCode = ChainConstant.CHAIN_SOURCE_CLOUD,
linkCode = ChainConstant.CHAIN_SOURCE_HMI,
nodeAliasCode = ChainConstant.CHAIN_CODE_MO_FANG_CONNECT,
paramIndexes = [0]
)

17
libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/common/autopilot/ability/AutopilotAbility250.java
View File

@@ -3,6 +3,7 @@ package com.zhidao.support.adas.high.common.autopilot.ability;
import android.os.Message;
import com.zhidao.support.adas.high.AdasManager;
import com.zhidao.support.adas.high.common.CupidLogUtils;
import java.util.List;
import java.util.Timer;
@@ -27,10 +28,12 @@ public class AutopilotAbility250 {
private static final String[] NODE_INFO_STATE = {"未知状态 ", "依赖未就绪 ", "启动中 ", "运行 ", "停止 ", "无法启动状态 ", "人为启动状态 ", "人为关闭状态 "};
private volatile Timer timer;
private ChassisStatesOuterClass.ChassisStates chassisStates;
private int mapVersion = -1;//工控机版本
private int mapVersion = -1;//MAP版本
private int masterVersion = -1;//Master版本
public AutopilotAbility250(int mapVersion) {
this.mapVersion = mapVersion;
this.masterVersion = -1;
}
@@ -51,19 +54,18 @@ public class AutopilotAbility250 {
String unableAutopilotReason = null;//不能启动自动驾驶原因
//检测节点状态相关
if (statusInfo != null) {
int version = -1;
if (statusInfo.hasMasterVersion()) {
if (masterVersion == -1 && statusInfo.hasMasterVersion()) {
//截取Master Version
String masterVersion = statusInfo.getMasterVersion();
version = AdasManager.getInstance().parseVersion(false, masterVersion);
masterVersion = AdasManager.getInstance().parseVersion(false, statusInfo.getMasterVersion());
}
CupidLogUtils.i(TAG, "MasterVersion=" + masterVersion);
//SSM 3版本兼容
if (mapVersion >= 30400 && version > 2 && statusInfo.hasAutoPilotReady() && statusInfo.hasAutoPilotUnreadyReason()) {
if (mapVersion >= 30400 && masterVersion > 2 && statusInfo.hasAutoPilotReady() && statusInfo.hasAutoPilotUnreadyReason()) {
isAutopilotAbility = statusInfo.getAutoPilotReady();
if (!isAutopilotAbility) {
unableAutopilotReason = statusInfo.getAutoPilotUnreadyReason();
}
} else if (mapVersion >= 21000 && version > 1 && statusInfo.hasAutoPilotReady()) {//如果 maser version 大于1，还需要判断AutoPilotReady字段是否存在，以确保MAP版本和SSM Maser版本不陪配情况逻辑能正常执行
} else if (mapVersion >= 21000 && masterVersion > 1 && statusInfo.hasAutoPilotReady()) {//如果 maser version 大于1，还需要判断AutoPilotReady字段是否存在，以确保MAP版本和SSM Maser版本不陪配情况逻辑能正常执行
isAutopilotAbility = statusInfo.getAutoPilotReady();
if (!isAutopilotAbility) {
SystemStatusInfo.NodeFaultList nodeFaultList = statusInfo.getAutoPilotUnreadyList();
@@ -176,6 +178,7 @@ public class AutopilotAbility250 {
timer = null;
}
this.chassisStates = null;
this.masterVersion = -1;
}

20
libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/common/autopilot/ability/AutopilotAbility330.java
View File

@@ -2,8 +2,8 @@ package com.zhidao.support.adas.high.common.autopilot.ability;
import android.os.Message;
import com.google.protobuf.TextFormat;
import com.zhidao.support.adas.high.AdasManager;
import com.zhidao.support.adas.high.common.CupidLogUtils;
import java.util.List;
import java.util.Timer;
@@ -29,8 +29,12 @@ public class AutopilotAbility330 {
private volatile Timer timer;
private volatile FSMStatusReasonQueryOuterClass.FSMStatusReasonRespond fsmStatusReasonRespond;//自动驾驶状态为OFF的原因
private int mapVersion = -1;//MAP版本
private int masterVersion = -1;//Master版本
public AutopilotAbility330() {
public AutopilotAbility330(int mapVersion) {
this.mapVersion = mapVersion;
this.masterVersion = -1;
}
public synchronized void setFsmStatusReasonRespond(FSMStatusReasonQueryOuterClass.FSMStatusReasonRespond fsmStatusReasonRespond) {
@@ -51,19 +55,18 @@ public class AutopilotAbility330 {
String unableAutopilotReason = null;//不能启动自动驾驶原因
//检测节点状态相关
if (statusInfo != null) {
int version = -1;
if (statusInfo.hasMasterVersion()) {
if (masterVersion == -1 && statusInfo.hasMasterVersion()) {
//截取Master Version
String masterVersion = statusInfo.getMasterVersion();
version = AdasManager.getInstance().parseVersion(false, masterVersion);
masterVersion = AdasManager.getInstance().parseVersion(false, statusInfo.getMasterVersion());
}
CupidLogUtils.i(TAG, "MasterVersion=" + masterVersion);
//SSM 3版本兼容
if (version > 2 && statusInfo.hasAutoPilotReady() && statusInfo.hasAutoPilotUnreadyReason()) {
if (mapVersion >= 30400 && masterVersion > 2 && statusInfo.hasAutoPilotReady() && statusInfo.hasAutoPilotUnreadyReason()) {
isAutopilotAbility = statusInfo.getAutoPilotReady();
if (!isAutopilotAbility) {
unableAutopilotReason = statusInfo.getAutoPilotUnreadyReason();
}
} else if (version > 1 && statusInfo.hasAutoPilotReady()) {//如果 maser version 大于1，还需要判断AutoPilotReady字段是否存在，以确保MAP版本和SSM Maser版本不陪配情况逻辑能正常执行
} else if (mapVersion >= 21000 && masterVersion > 1 && statusInfo.hasAutoPilotReady()) {//如果 maser version 大于1，还需要判断AutoPilotReady字段是否存在，以确保MAP版本和SSM Maser版本不陪配情况逻辑能正常执行
isAutopilotAbility = statusInfo.getAutoPilotReady();
if (!isAutopilotAbility) {
SystemStatusInfo.NodeFaultList nodeFaultList = statusInfo.getAutoPilotUnreadyList();
@@ -162,6 +165,7 @@ public class AutopilotAbility330 {
timer.cancel();
timer = null;
}
this.masterVersion = -1;
}

3
libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/common/autopilot/ability/AutopilotAbilityManager.java
View File

@@ -168,7 +168,7 @@ public class AutopilotAbilityManager {
stop230();
stop250();
if (autopilotAbility330 == null) {
autopilotAbility330 = new AutopilotAbility330();
autopilotAbility330 = new AutopilotAbility330(mapVersion);
autopilotAbility330.start();
}
} else if (mapVersion >= 20500) {
@@ -243,6 +243,7 @@ public class AutopilotAbilityManager {
stopTimer();
stop230();
stop250();
stop330();
handler = null;
mapVersion = -1;
isFutianSweeper = false;