Merge branch 'dev_robotaxi-d-app-module_270_220510_2.7.0' of gitlab.zhidaoauto.com:zhjt/AndroidApp/MoGoEagleEye into dev_robotaxi-d-app-module_270_220510_2.7.0

 Conflicts:

	core/function-impl/mogo-core-function-autopilot/src/main/java/com/mogo/eagle/core/function/autopilot/MoGoAutopilotProvider.kt

core/function-impl/mogo-core-function-autopilot/src/main/java/com/mogo/eagle/core/function/autopilot/MoGoAutopilotProvider.kt

@@ -12,6 +12,7 @@ import com.mogo.eagle.core.data.config.FunctionBuildConfig
 import com.mogo.eagle.core.data.constants.MoGoConfig
 import com.mogo.eagle.core.data.constants.MogoServicePaths
 import com.mogo.eagle.core.data.deva.chain.ChainConstant
+import com.mogo.eagle.core.data.deva.chain.ChainConstant.Companion.CHAIN_ALIAS_CODE_MULTI_CONNECT
 import com.mogo.eagle.core.data.deva.chain.ChainConstant.Companion.CHAIN_LINK_ADAS
 import com.mogo.eagle.core.data.deva.chain.ChainConstant.Companion.CHAIN_LINK_LOG_WEB_SOCKET_AUTOPILOT
 import com.mogo.eagle.core.utilcode.mogo.logger.scene.SceneConstant.Companion.M_ADAS_IMPL
@@ -42,6 +43,7 @@ import com.mogo.telematic.server.netty.NettyTcpServer
 import com.zhidao.support.adas.high.AdasManager
 import com.zhidao.support.adas.high.AdasOptions
 import com.zhidao.support.adas.high.bean.IPCUpgradeInfo
+import com.zhidao.support.adas.high.chain.AdasChain.CHAIN_LINK_LOG_CONNECT_STATUS
 import com.zhidao.support.adas.high.common.Constants
 import com.zhidao.support.adas.high.common.Constants.IPC_CONNECTION_STATUS
 import com.zhidao.support.adas.high.common.CupidLogUtils
@@ -100,10 +102,7 @@ class MoGoAutopilotProvider :
                                             platNumberArray.size, platNumberArray
                                         ), channel
                                     ) {
-                                        CallerLogger.d(
-                                            "$M_ADAS_IMPL$TAG",
-                                            "司机端发送车牌号到乘客端是否成功：${it.isSuccess}"
-                                        )
+                                        invokeNettyConnResult("司机屏发送车牌号到乘客屏是否成功：${it.isSuccess}")
                                     }
                                 } else {
                                     CallerAutoPilotManager.getCarConfig()
@@ -117,10 +116,12 @@ class MoGoAutopilotProvider :
 
                 override fun onStartServer() {
                     ToastUtils.showShort("司机端服务启动成功!")
+                    invokeNettyConnResult("司机端服务启动成功!")
                 }
 
                 override fun onStopServer() {
                     ToastUtils.showLong("司机端服务停止!")
+                    invokeNettyConnResult("司机端服务停止!")
                 }
 
                 override fun onChannelConnect(channel: Channel?) {
@@ -142,6 +143,10 @@ class MoGoAutopilotProvider :
                 override fun onChannelDisConnect(channel: Channel?) {
                     CallerLogger.d("$M_ADAS_IMPL$TAG", "onChannelDisConnect")
                 }
+
+                override fun onReceiveClientSign(channel: Channel?, sn: String?) {
+
+                }
             }, MoGoAiCloudClientConfig.getInstance().sn)
         } else {
             // 乘客端默认接收绘制全局路径+引导线
@@ -249,7 +254,7 @@ class MoGoAutopilotProvider :
     }
 
     override fun startAutoPilot(controlParameters: AutopilotControlParameters) {
-        if (AdasManager.getInstance().ipcConnectionStatus == Constants.IPC_CONNECTION_STATUS.CONNECTED) {
+        if (AdasManager.getInstance().ipcConnectionStatus == IPC_CONNECTION_STATUS.CONNECTED) {
             val invokeResult = AdasManager.getInstance().sendAutoPilotModeReq(1, 1, controlParameters.toRouteInfo())
             invokeAutoPilotResult(if (invokeResult) "自动驾驶调用成功" else "自动驾驶调用失败, socket 或者 rawPack 可能为空")
         } else {
@@ -285,9 +290,6 @@ class MoGoAutopilotProvider :
         )
     }
 
-    override fun sendMessageToAutopilot(jsonString: String) {
-    }
-
     override fun cancelAutoPilot() {
         if (AdasManager.getInstance().ipcConnectionStatus == Constants.IPC_CONNECTION_STATUS.CONNECTED) {
             AdasManager.getInstance().sendAutoPilotModeReq(0, 1, null)
@@ -472,50 +474,51 @@ class MoGoAutopilotProvider :
     }
 
     private fun handleMsgFromServer(msg: MogoProtocolMsg?, channel: Channel) {
-        try {
-            msg?.let {
-                when (it.protocolType) {
-                    NORMAL_DATA -> AdasManager.getInstance().decoderRaw(it.body)
-                    SYNC_MODE_STATUS -> {
-                        FunctionBuildConfig.isDemoMode = when (it.body[0].toInt()) {
-                            1 -> true
-                            else -> false
-                        }
-                        setDemoMode(FunctionBuildConfig.isDemoMode)
-                    }
-                    REQ_CAR_NUMBER -> {
-                        AppConfigInfo.plateNumber = String(msg.body)
-                    }
-                    else -> {
+        msg?.let {
+            when (it.protocolType) {
+                NORMAL_DATA -> {
+                    try {
+                        AdasManager.getInstance().decoderRaw(it.body)
+                    } catch (e: Exception) {
+                        e.printStackTrace()
+                        CallerLogger.e("$M_ADAS_IMPL$TAG", "乘客屏解析数据过程中出现异常：${e.message}")
                     }
                 }
+                SYNC_MODE_STATUS -> {
+                    FunctionBuildConfig.isDemoMode = when (it.body[0].toInt()) {
+                        1 -> true
+                        else -> false
+                    }
+                    setDemoMode(FunctionBuildConfig.isDemoMode)
+                }
+                REQ_CAR_NUMBER -> {
+                    AppConfigInfo.plateNumber = String(msg.body)
+                    invokeNettyConnResult("司机屏发送给乘客屏车牌号为:${AppConfigInfo.plateNumber}")
+                }
+                else -> {
+                }
             }
-        } catch (e: Exception) {
-            e.printStackTrace()
-            CallerLogger.e("$M_ADAS_IMPL$TAG", "乘客屏解析数据流程中出现异常：${e.message}")
         }
     }
 
     private fun handleConnStatusWithServer(statusCode: Int, sign: String?) {
         when (statusCode) {
             ConnectState.STATUS_CONNECT_SUCCESS -> {
-                CallerLogger.d("$M_ADAS_IMPL$TAG", "乘客端连接司机端服务成功! sign is:${sign}")
+                ToastUtils.showShort("连接司机屏成功!")
+                invokeNettyConnResult("乘客屏连接司机屏成功，司机屏SN为：$sign")
                 // 连接成功后，乘客屏没拿到车牌号就像司机屏请求
                 if (AppConfigInfo.plateNumber.isNullOrEmpty()) {
                     var byteArray = byteArrayOf(0)
                     NSDNettyManager.getInstance().sendMogoProtocolMsgToServer(
                         MogoProtocolMsg(REQ_CAR_NUMBER, byteArray.size, byteArray)
                     ) {
-                        CallerLogger.d("$M_ADAS_IMPL$TAG", "请求车牌号数据发送是否成功：${it}")
+                        invokeNettyConnResult("乘客屏请求车牌号数据发送是否成功：${it}")
                     }
                 }
             }
             else -> {
                 ToastUtils.showLong("和司机端连接异常!")
-                CallerLogger.d(
-                    "$M_ADAS_IMPL$TAG",
-                    "client statusCode is:${statusCode}"
-                )
+                invokeNettyConnResult("乘客屏和司机屏连接异常，状态码为：$statusCode")
             }
         }
     }
@@ -523,5 +526,18 @@ class MoGoAutopilotProvider :
     override fun onAutopilotCarConfig(carConfigResp: MessagePad.CarConfigResp) {
         // 乘客屏才监听
         AppConfigInfo.plateNumber = carConfigResp.plateNumber
+        invokeNettyConnResult("乘客屏车牌号:${carConfigResp.plateNumber}")
+    }
+
+    @ChainLog(
+        linkChainLog = CHAIN_LINK_LOG_CONNECT_STATUS,
+        linkCode = CHAIN_LINK_ADAS,
+        endpoint = TracingConstants.Endpoint.PAD,
+        nodeAliasCode = CHAIN_ALIAS_CODE_MULTI_CONNECT,
+        paramIndexes = [0],
+        clientPkFileName = "sn"
+    )
+    private fun invokeNettyConnResult(status: String) {
+        CallerLogger.d("$M_ADAS_IMPL$TAG", status)
     }
 }

core/function-impl/mogo-core-function-autopilot/src/main/java/com/mogo/eagle/core/function/autopilot/adapter/MoGoAdasListenerImpl.kt

@@ -8,6 +8,7 @@ import com.mogo.eagle.core.data.deva.chain.ChainConstant.Companion.CHAIN_ALIAS_C
 import com.mogo.eagle.core.data.deva.chain.ChainConstant.Companion.CHAIN_ALIAS_CODE_ADAS_MESSAGE_AUTOPILOT_RECORD
 import com.mogo.eagle.core.data.deva.chain.ChainConstant.Companion.CHAIN_ALIAS_CODE_ADAS_MESSAGE_AUTOPILOT_ROUTE
 import com.mogo.eagle.core.data.deva.chain.ChainConstant.Companion.CHAIN_ALIAS_CODE_ADAS_MESSAGE_AUTOPILOT_STATUS
+import com.mogo.eagle.core.data.deva.chain.ChainConstant.Companion.CHAIN_ALIAS_CODE_ADAS_MESSAGE_AUTOPILOT_TRAFFIC_LIGHT
 import com.mogo.eagle.core.data.deva.chain.ChainConstant.Companion.CHAIN_ALIAS_CODE_ADAS_MESSAGE_AUTOPILOT_TRAJECTORY
 import com.mogo.eagle.core.data.deva.chain.ChainConstant.Companion.CHAIN_ALIAS_CODE_ADAS_MESSAGE_AUTOPILOT_VEHICLE
 import com.mogo.eagle.core.data.deva.chain.ChainConstant.Companion.CHAIN_ALIAS_CODE_ADAS_MESSAGE_CAR_STATE
@@ -15,6 +16,8 @@ import com.mogo.eagle.core.data.deva.chain.ChainConstant.Companion.CHAIN_ALIAS_C
 import com.mogo.eagle.core.data.deva.chain.ChainConstant.Companion.CHAIN_LINK_ADAS
 import com.mogo.eagle.core.data.deva.chain.ChainConstant.Companion.CHAIN_LINK_LOG_WEB_SOCKET_AUTOPILOT
 import com.mogo.eagle.core.data.deva.chain.ChainConstant.Companion.CHAIN_LINK_LOG_WEB_SOCKET_DATA_TRACKED
+import com.mogo.eagle.core.data.deva.chain.ChainConstant.Companion.CHAIN_LINK_LOG_WEB_SOCKET_GNSSINFO
+import com.mogo.eagle.core.data.deva.chain.ChainConstant.Companion.CHAIN_LINK_LOG_WEB_SOCKET_TRAFFIC_LIGHT
 import com.mogo.eagle.core.data.deva.chain.ChainConstant.Companion.CHAIN_LINK_LOG_WEB_SOCKET_TRAJECTORY
 import com.mogo.eagle.core.data.deva.chain.ChainConstant.Companion.CHAIN_LINK_LOG_WEB_SOCKET_VEHICLE
 import com.mogo.eagle.core.function.call.autopilot.CallerAutoPilotStatusListenerManager
@@ -25,6 +28,7 @@ import com.mogo.eagle.core.function.call.autopilot.CallerAutoPilotStatusListener
 import com.mogo.eagle.core.function.call.autopilot.CallerAutoPilotStatusListenerManager.invokeAutopilotSNRequest
 import com.mogo.eagle.core.function.call.autopilot.CallerAutopilotCarConfigListenerManager.invokeAutopilotCarConfigData
 import com.mogo.eagle.core.function.call.autopilot.CallerAutopilotCarStatusListenerManager.invokeAutopilotCarStateData
+import com.mogo.eagle.core.function.call.autopilot.CallerAutopilotIdentifyListenerManager
 import com.mogo.eagle.core.function.call.autopilot.CallerAutopilotIdentifyListenerManager.invokeAutopilotIdentifyDataUpdate
 import com.mogo.eagle.core.function.call.autopilot.CallerAutopilotRecordListenerManager.invokeAutopilotRecordResult
 import com.mogo.eagle.core.function.call.autopilot.CallerAutopilotIdentifyListenerManager.invokeAutopilotWarnMessage
@@ -110,7 +114,7 @@ class MoGoAdasListenerImpl : OnAdasListener {
 
     //自车定位信息
     @ChainLog(
-        linkChainLog = CHAIN_LINK_LOG_WEB_SOCKET_AUTOPILOT,
+        linkChainLog = CHAIN_LINK_LOG_WEB_SOCKET_GNSSINFO,
         linkCode = CHAIN_LINK_ADAS,
         endpoint = PAD,
         nodeAliasCode = CHAIN_ALIAS_CODE_ADAS_MESSAGE_CAR_STATE,
@@ -220,11 +224,23 @@ class MoGoAdasListenerImpl : OnAdasListener {
     }
 
     //感知红绿灯
+    @ChainLog(
+        linkChainLog = CHAIN_LINK_LOG_WEB_SOCKET_TRAFFIC_LIGHT,
+        linkCode = CHAIN_LINK_ADAS,
+        endpoint = PAD,
+        nodeAliasCode = CHAIN_ALIAS_CODE_ADAS_MESSAGE_AUTOPILOT_TRAFFIC_LIGHT,
+        paramIndexes = [0, 1],
+        clientPkFileName = "sn"
+    )
     override fun onPerceptionTrafficLight(
         header: MessagePad.Header?,
         trafficLights: TrafficLightOuterClass.TrafficLights?
     ) {
-
+        if(trafficLights != null){
+            CallerAutopilotIdentifyListenerManager.invokeAutopilotPerceptionTrafficLight(
+                trafficLights
+            )
+        }
     }
 
     override fun onPredictionObstacleTrajectory(
@@ -326,14 +342,6 @@ class MoGoAdasListenerImpl : OnAdasListener {
 
     }
 
-//    override fun onSSHResult(info: com.zhidao.adas.client.ssh.SSHResult?) {
-//        if (info != null && "docker restart autocar_default_1" == info.cmd) {
-//            showDockerRebootResult(info.code, info.msg)
-//        } else {
-//            CallerLogger.w("$M_ADAS_IMPL$TAG", "onSSHResult : result info is null")
-//        }
-//    }
-
     override fun onError(status: ProtocolStatus, bytes: ByteArray) {
 
     }

core/function-impl/mogo-core-function-autopilot/src/main/java/com/mogo/eagle/core/function/autopilot/adapter/MoGoAdasMsgConnectStatusListenerImpl.kt

@@ -75,6 +75,7 @@ class MoGoAdasMsgConnectStatusListenerImpl : OnAdasConnectStatusListener,
         } else if (ipcConnectionStatus == Constants.IPC_CONNECTION_STATUS.NOT_FOUND_ADDRESS) {
             CallerLogger.d("$M_ADAS_IMPL$TAG", "webSocket 找不到可用IP 传入的IP不可用或固定IP列表中所有IP不可用")
         }
+        CallerAutoPilotStatusListenerManager.getAutoPilotStatusInfo().ipcConnStatus = ipcConnectionStatus
         CallerAutoPilotStatusListenerManager.getAutoPilotStatusInfo().connectStatusDescribe=reason
         CallerAutoPilotStatusListenerManager.invokeAutoPilotStatus()
     }