[6.7.0]

[fea] [循环线路支持]
2024-09-25 15:51:07 +08:00
parent 41f1b7312c
commit 2d5e2cdc48
6 changed files with 107 additions and 37 deletions
--- a/OCH/common/common/src/main/java/com/mogo/och/common/module/constant/OchCommonConst.kt
+++ b/OCH/common/common/src/main/java/com/mogo/och/common/module/constant/OchCommonConst.kt
@@ -59,5 +59,7 @@ class OchCommonConst {

        // 自动驾驶自动规划的最大距离
        const val AUTOMATIC_PLANNING_MAX_DISTANCE = 15
+
+        const val ARRIVE_AT_END_STATION_DISTANCE = 10
    }
 }
--- a/OCH/common/common/src/main/java/com/mogo/och/common/module/manager/autopilot/autopilot/OchAutoPilotManager.kt
+++ b/OCH/common/common/src/main/java/com/mogo/och/common/module/manager/autopilot/autopilot/OchAutoPilotManager.kt
@@ -95,7 +95,6 @@ object OchAutoPilotManager : IMoGoReceiveReceivedAckListener, IMoGoFsm2024Listen
    @JvmStatic
    fun startAutoPilot(controlParameters: AutopilotControlParameters?): Long {
        val sessionId = CallerAutoPilotControlManager.startAutoPilot(controlParameters)
-        LineManager.isReStartAutopilot = false
        globalSessionId.set(sessionId)
        fsmBackSessionId.set(-1L)
        OchAutopilotAnalytics.triggerStartAutopilotParameters(controlParameters, sessionId)
--- a/OCH/common/common/src/main/java/com/mogo/och/common/module/manager/autopilot/autopilot/OchAutoPilotStatusListenerManager.kt
+++ b/OCH/common/common/src/main/java/com/mogo/och/common/module/manager/autopilot/autopilot/OchAutoPilotStatusListenerManager.kt
@@ -6,11 +6,13 @@ import com.mogo.eagle.core.function.api.autopilot.IMoGoAutopilotStatusListener
 import com.mogo.eagle.core.function.call.autopilot.CallerAutoPilotControlManager
 import com.mogo.eagle.core.function.call.autopilot.CallerAutoPilotStatusListenerManager
 import com.mogo.eagle.core.utilcode.mogo.AppIdentityModeUtils
+import com.mogo.eagle.core.utilcode.util.StringUtils
 import com.mogo.eagle.core.utilcode.util.ToastUtils
 import com.mogo.och.common.module.R
 import com.mogo.och.common.module.manager.autopilot.autopilot.bean.ArrivedStation
 import com.mogo.och.common.module.manager.autopilot.line.LineManager
 import com.mogo.och.common.module.manager.autopilot.trajectory.TrajectoryManager
+import com.mogo.och.common.module.manager.logchainanalytic.OchChainLogManager
 import com.mogo.och.common.module.utils.CallerBase
 import com.zhjt.mogo.adas.data.AdasConstants
 import com.zhjt.mogo.adas.data.bean.MogoReport
@@ -51,10 +53,12 @@ object OchAutoPilotStatusListenerManager : CallerBase<IOchAutopilotStatusListene
                LineManager.triggerStartServiceEvent(true, 0)
            }

+
            M_LISTENERS.forEach {
                val listener = it.value
                listener.onAutopilotStatusResponse(newValue)
            }
+            LineManager.searchAutopilotState()
        }
    }
    val autopilotState:Int
@@ -93,15 +97,6 @@ object OchAutoPilotStatusListenerManager : CallerBase<IOchAutopilotStatusListene
        }
    }

-    override fun onAutopilotArriveAtStation(arrivalNotification: MessagePad.ArrivalNotification?) {
-        super.onAutopilotArriveAtStation(arrivalNotification)
-        val trasform = ArrivedStation.trasform(arrivalNotification)
-        M_LISTENERS.forEach {
-            val listener = it.value
-            listener.onAutopilotArriveAtStation(trasform)
-        }
-    }
-
    override fun onAutopilotSNRequest(basicInfoReq: MessagePad.BasicInfoReq) {
        super.onAutopilotSNRequest(basicInfoReq)
        M_LISTENERS.forEach {
@@ -196,6 +191,7 @@ object OchAutoPilotStatusListenerManager : CallerBase<IOchAutopilotStatusListene

    override fun onAutopilotStatusResponseFromCan(state: Int) {
        super.onAutopilotStatusResponseFromCan(state)
+        LineManager.searchAutopilotState()
        M_LISTENERS.forEach {
            val listener = it.value
            listener.onAutopilotStatusResponseFromCan(state)
@@ -206,4 +202,36 @@ object OchAutoPilotStatusListenerManager : CallerBase<IOchAutopilotStatusListene
            }
        }
    }
+
+    override fun onAutopilotArriveAtStation(arrivalNotification: MessagePad.ArrivalNotification?) {
+        super.onAutopilotArriveAtStation(arrivalNotification)
+        val trasform = ArrivedStation.trasform(arrivalNotification)
+        M_LISTENERS.forEach {
+            val listener = it.value
+            listener.onAutopilotArriveAtStation(trasform)
+        }
+    }
+
+    override  fun onAutoPilotStation(
+        token: Long,
+        timestamp: Long,
+        autoPilotStation: SsmInfo.AutoPilotStation?
+    ) {
+        OchChainLogManager.writeChainLogAutopilot("到站逻辑",
+            "token:$token 通过主动查询到站底盘传递:${autoPilotStation?.orderId}_${autoPilotStation?.arrivedStationFlag}")
+        autoPilotStation?.let {
+            if (it.hasOrderId() && !StringUtils.isEmpty(it.orderId)&&it.hasArrivedStationFlag()) {
+                LineManager.invokeArrivedStation(it.orderId,it.arrivedStationFlag)
+            }
+        }
+    }
+    override fun onAutoPilotInfo(token: Long, timestamp: Long, autoPilotInfo: SsmInfo.AutoPilotInfo?) {
+        OchChainLogManager.writeChainLogAutopilot("自驾状态",
+            "token:$token 通过主动查询到站底盘传递:${autoPilotInfo?.orderId}_第一次启动自驾${autoPilotInfo?.firstAutopilotFlag}_次数：${autoPilotInfo?.count}")
+        autoPilotInfo?.let {
+            if (it.hasOrderId() && !StringUtils.isEmpty(it.orderId)) {
+                LineManager.invokeSetIsFirstAutopilot(it.orderId,it.firstAutopilotFlag,it.count)
+            }
+        }
+    }
 }
--- a/OCH/common/common/src/main/java/com/mogo/och/common/module/manager/autopilot/line/ILineCallback.java
+++ b/OCH/common/common/src/main/java/com/mogo/och/common/module/manager/autopilot/line/ILineCallback.java
@@ -12,4 +12,6 @@ public interface ILineCallback {
    default void startAutopilotTimeOut(){}

    default void startAutopilotFailure(String startFailedCode,String startFailedMessage){}
+
+    default void arrivedStationSuccessBySearch(){}
 }
--- a/OCH/common/common/src/main/java/com/mogo/och/common/module/manager/autopilot/line/LineManager.kt
+++ b/OCH/common/common/src/main/java/com/mogo/och/common/module/manager/autopilot/line/LineManager.kt
@@ -8,6 +8,7 @@ import com.mogo.eagle.core.data.autopilot.AutopilotControlParameters.AutoPilotLi
 import com.mogo.eagle.core.data.autopilot.AutopilotControlParameters.AutoPilotLonLat
 import com.mogo.eagle.core.data.config.FunctionBuildConfig
 import com.mogo.eagle.core.data.map.MogoLocation
+import com.mogo.eagle.core.function.api.autopilot.IMoGoChassisLocationGCJ02Listener
 import com.mogo.eagle.core.function.call.autopilot.CallerAutoPilotControlManager
 import com.mogo.eagle.core.function.call.autopilot.CallerAutoPilotStatusListenerManager
 import com.mogo.eagle.core.function.call.map.CallerMapGlobalTrajectoryDrawManager
@@ -15,12 +16,15 @@ import com.mogo.eagle.core.function.call.order.CallerOrderListenerManager
 import com.mogo.eagle.core.utilcode.mogo.logger.CallerLogger.d
 import com.mogo.eagle.core.utilcode.mogo.logger.CallerLogger.e
 import com.mogo.eagle.core.utilcode.mogo.logger.scene.SceneConstant.Companion.M_BUS
+import com.mogo.eagle.core.utilcode.util.CoordinateUtils
 import com.mogo.eagle.core.utilcode.util.StringUtils
 import com.mogo.eagle.core.utilcode.util.ToastUtils
+import com.mogo.och.common.module.constant.OchCommonConst
 import com.mogo.och.common.module.manager.autopilot.OCHAdasAbilityManager
 import com.mogo.och.common.module.manager.autopilot.autopilot.OchAutoPilotManager
 import com.mogo.och.common.module.manager.autopilot.autopilot.OchAutoPilotManager.startAutoPilot
 import com.mogo.och.common.module.manager.autopilot.autopilot.OchAutopilotAnalytics
+import com.mogo.och.common.module.manager.autopilot.location.OchLocationManager
 import com.mogo.och.common.module.manager.distance.TrajectoryAndDistanceManager
 import com.mogo.och.common.module.manager.logchainanalytic.OchChainLogManager
 import com.mogo.och.common.module.utils.CallerBase
@@ -64,14 +68,54 @@ object LineManager : CallerBase<ILineCallback>() {
     */
    private var endStation: BusStationBean? = null

-    var isReStartAutopilot = true
+    var isFirstStartAutopilot = true
+
+    private var orderId = ""
+
+    // 自车定位
+    private val mMapLocationListener = object : IMoGoChassisLocationGCJ02Listener {
+        override fun onChassisLocationGCJ02(mogoLocation: MogoLocation?) {
+            if (null == mogoLocation) return
+            getStations { start, end ->
+                val startLon = end.gcjLon
+                val startLat = end.gcjLat
+                val distance = CoordinateUtils.calculateLineDistance(
+                    startLon, startLat,
+                    mogoLocation.longitude, mogoLocation.latitude
+                )
+                if (distance <= OchCommonConst.ARRIVE_AT_END_STATION_DISTANCE) {
+                    val token = CallerAutoPilotControlManager.sendSsmFuncQueryAutoPilotStation(orderId)
+                    OchChainLogManager.writeChainLogAutopilot("到站逻辑","距离站点：$distance  请求token：$token")
+                }
+            }
+        }
+    }
+
+
+    fun invokeArrivedStation(orderId: String, arrivedStationFlag: Boolean) {
+        if (this.orderId==orderId&&arrivedStationFlag){
+            M_LISTENERS.forEach {
+                it.value.arrivedStationSuccessBySearch()
+            }
+        }
+    }
+
+    fun invokeSetIsFirstAutopilot(orderId: String?, firstAutopilotFlag: Boolean, count: Int) {
+        if (this.orderId==orderId){
+            if(count>=1){
+                isFirstStartAutopilot = false
+            }else{
+                isFirstStartAutopilot = true
+            }
+        }
+    }

    /**
     * 设置站点信息
     */
    fun setStartAndEndStation(startStation: BusStationBean?, endStation: BusStationBean?) {
        if(this.startStation!=startStation||this.endStation!=endStation){
-            isReStartAutopilot = true
+            isFirstStartAutopilot = true
        }
        this.startStation = startStation
        this.endStation = endStation
@@ -197,11 +241,19 @@ object LineManager : CallerBase<ILineCallback>() {
            endStationLocation.latitude = end.gcjLat
            endStationLocation.longitude = end.gcjLon
            TrajectoryAndDistanceManager.setStationPoint(startStationLocation, endStationLocation, lineInfo.lineId)
+            OchLocationManager.addGCJ02Listener(TAG,1,mMapLocationListener)
+            // 恢复启动自驾信息
+            searchAutopilotState()
        }
    }
+    fun searchAutopilotState(){
+        CallerAutoPilotControlManager.sendSsmFuncQueryAutoPilotInfo()
+    }
    private fun clearAutopilotControlParameters(){
        CallerAutoPilotStatusListenerManager.updateAutopilotControlParameters(null)
        TrajectoryAndDistanceManager.setStationPoint(null, null, null)
+        this.orderId = ""
+        OchLocationManager.removeGCJ02Listener(TAG)
    }

    fun hasDrawnGlobalTrajectory(): Boolean {
@@ -245,6 +297,9 @@ object LineManager : CallerBase<ILineCallback>() {
            parameters?.startLatLon = AutoPilotLonLat(start.lat, start.lon)
            parameters?.endLatLon = AutoPilotLonLat(end.lat, end.lon)
            parameters?.vehicleType = 10
+            this.orderId =  "${lineInfo.lineId}_${start.siteId}_${end.siteId}"
+            parameters?.orderId = this.orderId
+            parameters?.firstAutopilotFlag = isFirstStartAutopilot

            if (parameters?.autoPilotLine == null) {
                parameters?.autoPilotLine = AutoPilotLine(
@@ -334,7 +389,7 @@ object LineManager : CallerBase<ILineCallback>() {
            M_BUS + TAG,
            "行程日志-开启自动驾驶====" + GsonUtil.jsonFromObject(parameters)
                    + " startLatLon=" + parameters.startName + "，endLatLon=" + parameters.endName +
-                    "isRestart = " + LineManager.isReStartAutopilot
+                    "isRestart = " + LineManager.isFirstStartAutopilot
        )

        M_LISTENERS.forEach {
@@ -354,7 +409,7 @@ object LineManager : CallerBase<ILineCallback>() {
    fun triggerStartServiceEvent(send: Boolean,source:Int) {
        getStationsWithLine { start, end, lineInfo ->
            OchAutopilotAnalytics.triggerStartAutopilotEvent(
-                isReStartAutopilot,
+                isFirstStartAutopilot,
                send,
                start.name,
                end.name,
--- a/OCH/shuttle/driver_weaknet/src/main/java/com/mogo/och/weaknet/model/OrderModel.kt
+++ b/OCH/shuttle/driver_weaknet/src/main/java/com/mogo/och/weaknet/model/OrderModel.kt
@@ -18,6 +18,7 @@ import com.mogo.eagle.core.utilcode.util.ToastUtils
 import com.mogo.eagle.core.utilcode.util.UiThreadHandler
 import com.mogo.och.common.module.biz.login.LoginStatusManager
 import com.mogo.och.common.module.manager.autopilot.autopilot.bean.ArrivedStation
+import com.mogo.och.common.module.manager.autopilot.line.ILineCallback
 import com.mogo.och.common.module.manager.autopilot.line.LineManager
 import com.mogo.och.common.module.manager.autopilot.location.OchLocationManager
 import com.mogo.och.common.module.manager.logchainanalytic.OchChainLogManager
@@ -71,8 +72,8 @@ object OrderModel {
        // 加载核销模块
        TicketModel.load()

-        // 定位监听
-        OchLocationManager.addGCJ02Listener(TAG, 5, mMapLocationListener)
+
+        LineManager.addListener(TAG,arriveStationBySearch)

        OchTransform.addListener(TAG,ochTransform)

@@ -87,7 +88,7 @@ object OrderModel {

        TicketModel.release()

-        OchLocationManager.removeGCJ02Listener(TAG)
+        LineManager.removeListener(TAG)
        OchTransform.removeListener(TAG)
    }

@@ -105,34 +106,17 @@ object OrderModel {


    // 自车定位
-    private val mMapLocationListener = object : IMoGoChassisLocationGCJ02Listener {
-        override fun onChassisLocationGCJ02(mogoLocation: MogoLocation?) {
-            if (null == mogoLocation) return
-
+    private val arriveStationBySearch = object : ILineCallback {
+        override fun arrivedStationSuccessBySearch() {
            //是否到站的围栏判断 离站状态并且自动驾驶还未触发到站
            if (isGoingToNextStation && !isArrivedStation) {
                OCHThreadPoolManager.getsInstance().locationExecute {
-                    judgeArrivedStation(mogoLocation)
+                    onArriveAt(null, "兜底：根据定位计算到站")
                }
            }
        }
    }

-    //根据围栏判断，是否到达站点
-    private fun judgeArrivedStation(location: MogoLocation) {
-        LineManager.getStations { start, end ->
-            val startLon = end.gcjLon
-            val startLat = end.gcjLat
-            val distance = CoordinateUtils.calculateLineDistance(
-                startLon, startLat,
-                location.longitude, location.latitude
-            )
-            if (distance <= BusConst.ARRIVE_AT_END_STATION_DISTANCE) {
-                d(M_BUS + TAG, "行程日志-judgeArrivedStation() distance = $distance to ${end.name}")
-                onArriveAt(null, "兜底：根据定位计算到站")
-            }
-        }
-    }

    /**
     * 查询小巴路线