Merge remote-tracking branch 'origin/release_robotaxi-d-app-module_2120_221017_2.12.0.1'

# Conflicts: # core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/main/MainLauncherActivity.java # core/mogo-core-function-api/src/main/java/com/mogo/eagle/core/function/api/autopilot/IMoGoAutopilotProvider.kt # libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/common/MessageType.java
2022-11-15 11:23:39 +08:00
parent a676ea93c9 10a9e7e3b1
commit 2b38bf67c0
287 changed files with 8616 additions and 3625 deletions
--- a/core/function-impl/mogo-core-function-autopilot/src/main/java/com/mogo/eagle/core/function/autopilot/MoGoAutopilotProvider.kt
+++ b/core/function-impl/mogo-core-function-autopilot/src/main/java/com/mogo/eagle/core/function/autopilot/MoGoAutopilotProvider.kt
@@ -383,6 +383,16 @@ class MoGoAutopilotProvider :
        return AdasManager.getInstance().startRecordPackage(id, duration, type, bduration)
    }

+    override fun recordPackage(
+        type: Int,
+        id: Int,
+        duration: Int,
+        bduration: Int,
+        topics: List<String>
+    ): Boolean {
+        return AdasManager.getInstance().startRecordPackage(id, duration, type, bduration, topics)
+    }
+
    override fun stopRecord(type: Int, id: Int): Boolean {
        return AdasManager.getInstance().stopRecordPackage(id, type)
    }
@@ -501,17 +511,43 @@ class MoGoAutopilotProvider :
    }

    /**
-     * 获取数据采集录制模式配置列表
+     * 绕障类功能开关
+     * isEnable = true  开启
+     * isEnable = false 关闭
+     * @return boolean
     */
-    override fun getBadCaseConfig() {
-        AdasManager.getInstance().sendRecordDataConfigReq()
+    override fun sendDetouring(isEnable: Boolean): Boolean {
+        return if(isEnable){
+            AdasManager.getInstance().sendDetouring(1)
+        }else{
+            AdasManager.getInstance().sendDetouring(0)
+        }
+    }
+
+    /**
+     * 变道绕障的目标障碍物速度阈值
+     * @param speed 速度阈值 m/s
+     * @return boolean
+     */
+    override fun sendDetouringSpeed(speed: Double): Boolean {
+        return AdasManager.getInstance().sendDetouringSpeed(speed)
+    }
+
+    /**
+     * 获取数据采集录制模式配置列表
+     * @param reqType           0: all,  1:获取当前所有topic列表, 2:配置需要预加载的topic组合
+     * @param recordType        0:不需要修改内置类型的topic组合, 1:需要修改内置类型的topic组合
+     * @param topicsNeedToCache
+     * @return boolean
+     */
+    override fun getBadCaseConfig(reqType: Int,recordType: Int,topicsNeedToCache: List<String>): Boolean{
+       return AdasManager.getInstance().sendRecordDataConfigReq(reqType, recordType, topicsNeedToCache)
    }

    /**
     * 向左变道
     */
    override fun sendOperatorChangeLaneLeft() {
-//        Log.d("liyz", "MoGoAutopilotProvider sendOperatorChangeLaneLeft -------> ")
        AdasManager.getInstance().sendOperatorCmdChangeLaneLeft()
    }

@@ -519,7 +555,6 @@ class MoGoAutopilotProvider :
     * 向右变道
     */
    override fun sendOperatorChangeLaneRight() {
-//        Log.d("liyz", "MoGoAutopilotProvider sendOperatorChangeLaneRight -------> ")
        AdasManager.getInstance().sendOperatorCmdChangeLaneRight()
    }

@@ -527,7 +562,6 @@ class MoGoAutopilotProvider :
     * 发送设置加速度 acc>0加速 acc<0减速 acc=0复位
     */
    override fun sendOperatorSetAcceleratedSpeed(cc: Double) {
-//        Log.d("liyz", "MoGoAutopilotProvider sendOperatorSetAcceleratedSpeed cc $cc ")
        AdasManager.getInstance().sendOperatorCmdSetAcceleratedSpeed(cc)
    }

@@ -535,10 +569,26 @@ class MoGoAutopilotProvider :
     * 鸣笛  value 1: honk 2: stop honking
     */
    override fun sendOperatorSetHorn(value: Double) {
-//        Log.d("liyz", "MoGoAutopilotProvider sendOperatorSetHorn value $value ")
        AdasManager.getInstance().sendOperatorCmdSetHorn(value)
    }

+    /**
+     * 发生行程相关
+     * type=1或2的时 需要参数 lineName
+     * type=3或4的时 需要参数 lineName departureStopName arrivalStopName isLastStop
+     * type=5时 不需要任何参数
+     *
+     * @param type              事件类型, 1:行程开始, 2:行程结束, 3:出站, 4:进站, 5:城市占道施工预警
+     * @param lineName          路线名
+     * @param departureStopName 出站站点名
+     * @param arrivalStopName   下一站到达站点名
+     * @param isLastStop        是否最终站
+     * @return boolean
+     */
+    override fun sendTripInfo(type: Int, lineName: String, departureStopName: String,arrivalStopName: String, isLastStop: Boolean) {
+        AdasManager.getInstance().sendTripInfoReq(type, lineName, departureStopName,arrivalStopName, isLastStop)
+    }
+
    /**
     * 发送工控机所有节点重启命令
     */
--- a/core/function-impl/mogo-core-function-autopilot/src/main/java/com/mogo/eagle/core/function/autopilot/adapter/MoGoAdasListenerImpl.kt
+++ b/core/function-impl/mogo-core-function-autopilot/src/main/java/com/mogo/eagle/core/function/autopilot/adapter/MoGoAdasListenerImpl.kt
@@ -46,13 +46,17 @@ import com.mogo.eagle.core.function.call.autopilot.CallerAutopilotPlanningAction
 import com.mogo.eagle.core.function.call.autopilot.CallerAutopilotPlanningListenerManager.invokeAutopilotRotting
 import com.mogo.eagle.core.function.call.autopilot.CallerAutopilotPlanningListenerManager.invokeAutopilotTrajectory
 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
@@ -412,7 +416,9 @@ class MoGoAdasListenerImpl : OnAdasListener {
            header: MessagePad.Header?,
            config: MessagePad.RecordDataConfig?
    ) {
-
+        if(config!=null){
+            invokeAutopilotRecordConfig(config)
+        }
    }

    /**
@@ -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) {
+
+    }
 }