[3.4.0-map-sdk] merge 6.1.0

OCH/mogo-och-common-module/src/main/java/com/mogo/och/common/module/manager/autopilotmanager/OCHAdasAbilityManager.java

@@ -6,7 +6,6 @@ import androidx.annotation.Nullable;
 
 import com.mogo.eagle.core.function.api.autopilot.IMoGoAutopilotActionsListener;
 import com.mogo.eagle.core.function.api.autopilot.IMoGoAutopilotStatisticsListener;
-import com.mogo.eagle.core.function.api.autopilot.IMoGoParallelDrivingActionsListener;
 import com.mogo.eagle.core.function.call.autopilot.CallerAutoPilotStatusListenerManager;
 import com.mogo.eagle.core.function.call.autopilot.CallerAutopilotActionsListenerManager;
 import com.mogo.eagle.core.function.call.autopilot.CallerAutopilotStatisticsListenerManager;
@@ -24,7 +23,7 @@ import java.util.ArrayList;
  * 工控机状态信息回调（判断是否能否启动自动驾驶的回调）
  * 目前定的是3秒回调一次
  */
-public class OCHAdasAbilityManager implements IMoGoAutopilotActionsListener, IMoGoAutopilotStatisticsListener, IMoGoParallelDrivingActionsListener {
+public class OCHAdasAbilityManager implements IMoGoAutopilotActionsListener, IMoGoAutopilotStatisticsListener {
 
     private static final String TAG = OCHAdasAbilityManager.class.getSimpleName();
 
@@ -89,8 +88,6 @@ public class OCHAdasAbilityManager implements IMoGoAutopilotActionsListener, IMo
         //2022.10.9 工控机状态信息回调（判断是否能否启动自动驾驶的回调）， 目前定的是3秒回调一次
         CallerAutopilotActionsListenerManager.INSTANCE.addListener(TAG, this);
         CallerAutopilotStatisticsListenerManager.INSTANCE.addListener(TAG,this);
-        //map3.6.0且是东风或者红旗的时候返回
-        CallerParallelDrivingActionsListenerManager.INSTANCE.addListener(TAG,this);
     }
 
     private void releaseListeners() {
@@ -115,7 +112,6 @@ public class OCHAdasAbilityManager implements IMoGoAutopilotActionsListener, IMo
 
         }
     }
-
     @Override
     public void onAutopilotStatistics(@Nullable AutopilotStatistics statistics) {
         if (statistics == null) return;
@@ -129,20 +125,6 @@ public class OCHAdasAbilityManager implements IMoGoAutopilotActionsListener, IMo
         }
     }
 
-    @Override
-    public void onParallelDrivingAbility(boolean isParallelDrivingAbility, @Nullable ArrayList<UnableLaunchReason> unableParallelDrivingReasons) {
-        if (unableParallelDrivingReasons != null && getMapVersion() >= 30600) {
-            //刹车变化回调
-            Logger.d(TAG,"onParallelDrivingAbility = " + isParallelDrivingAbility +
-                    " unableParallelDrivingReasons =" +  unableParallelDrivingReasons.toString());
-            if (unableParallelDrivingReasons.toString().contains(UnableLaunchReason.SourceType.CHASSIS.name())
-                    && unableParallelDrivingReasons.toString().contains(UnableLaunchReason.UnableType.BRAKE.name())) {
-                failureCallback.brakeStatusChanged(isParallelDrivingAbility);
-            }
-
-        }
-    }
-
     private int getMapVersion(){
         return ParseVersionUtils.parseVersion(true, CallerAutoPilotStatusListenerManager.INSTANCE.getDockerVersion());
     }

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

@@ -1,6 +1,5 @@
 package com.mogo.eagle.core.function.datacenter.autopilot.adapter
 
-import android.util.Log
 import bag_manager.BagManagerOuterClass
 import chassis.ChassisStatesOuterClass
 import chassis.VehicleStateOuterClass
@@ -164,9 +163,6 @@ class MoGoAdasListenerImpl : OnAdasListener {
         vehicleState: VehicleStateOuterClass.VehicleState?
     ) {
         if (vehicleState != null) {
-            Log.i(
-                "xfk",
-                "底盘 onVehicleState 刹车=${vehicleState.brake}")
             //转向灯数据
             CallerChassisLamplightListenerManager.invokeAutopilotLightSwitchData(vehicleState.light)
             //刹车灯数据
@@ -256,9 +252,6 @@ class MoGoAdasListenerImpl : OnAdasListener {
                 CallerChassisThrottleStateListenerManager.invokeAutopilotThrottle(it.throttleResponsePosition)
             }
             chassisStates.brakeSystemStates?.let {
-                Log.i(
-                    "xfk",
-                    "底盘 onVehicleState 刹车=${it.brakePedalResponsePosition}")
                 //刹车
                 CallerChassisBrakeStateListenerManager.invokeAutopilotBrake(it.brakePedalResponsePosition)
             }

core/function-impl/mogo-core-function-datacenter/src/main/java/com/mogo/eagle/core/function/datacenter/obu/MogoObuDcCombineManager.kt

@@ -1,6 +1,7 @@
 package com.mogo.eagle.core.function.datacenter.obu
 
 import android.content.Context
+import com.mogo.eagle.core.data.config.FunctionBuildConfig
 import com.mogo.eagle.core.data.config.HmiBuildConfig
 import com.mogo.eagle.core.data.enums.CommunicationType
 import com.mogo.eagle.core.data.enums.DataSourceType
@@ -62,25 +63,25 @@ class MogoObuDcCombineManager private constructor() : IMoGoObuWarningRsiListener
     }
 
     override fun onMoGoObuRsiWarning(rsiWarningData: ObuScene.RsiWarningData) {
-        if (HmiBuildConfig.isShowObuV2iView) {
+        if (FunctionBuildConfig.v2xMainSwitch && HmiBuildConfig.isShowObuV2iView) {
             onMogoObuDcRsiWarning(rsiWarningData)
         }
     }
 
     override fun onMoGoObuRsmWarning(rsmWarningData: ObuScene.RsmWarningData) {
-        if (HmiBuildConfig.isShowObuV2iView) {
+        if (FunctionBuildConfig.v2xMainSwitch && HmiBuildConfig.isShowObuV2iView) {
             onMogoObuDcRsmWarning(rsmWarningData)
         }
     }
 
     override fun onMoGoObuSpatWarning(spatWarningData: ObuScene.SpatWarningData) {
-        if (HmiBuildConfig.isShowObuV2iView) {
+        if (FunctionBuildConfig.v2xMainSwitch && HmiBuildConfig.isShowObuV2iView) {
             onMogoObuDcSpatWarning(spatWarningData)
         }
     }
 
     override fun onMoGoObuMapMath(mapMatchData: ObuScene.MapMatchData) {
-        if (HmiBuildConfig.isShowObuV2iView) {
+        if (FunctionBuildConfig.v2xMainSwitch && HmiBuildConfig.isShowObuV2iView) {
             onMogoObuMapMath(mapMatchData)
         }
     }
@@ -561,7 +562,7 @@ class MogoObuDcCombineManager private constructor() : IMoGoObuWarningRsiListener
 
             }
             1 -> { //闯红灯 V2I_RLVW_VIOLATION_TYPE_RUNNING_RED_LIGHT 一个红灯周期只显示一次
-                if(HmiBuildConfig.isShowObuV2iView){
+                if(FunctionBuildConfig.v2xMainSwitch && HmiBuildConfig.isShowObuV2iView){
                     if (HmiBuildConfig.isShowRunRedLightView) {
                         if (!isShowRunRedLight) {
                             isShowRunRedLight = true
@@ -594,7 +595,7 @@ class MogoObuDcCombineManager private constructor() : IMoGoObuWarningRsiListener
             }
 
             2 -> { //绿波通行引导 V2I_RLVW_VIOLATION_TYPE_NO_VIOLATION 一个绿灯周期只显示一次
-                if (HmiBuildConfig.isShowGreenWaveView) {
+                if (FunctionBuildConfig.v2xMainSwitch && FunctionBuildConfig.v2nMainSwitch && HmiBuildConfig.isShowGreenWaveView) {
                     if (!isShowGreenWave) {
                         isShowGreenWave = true
                         CallerLogger.d(
@@ -602,14 +603,14 @@ class MogoObuDcCombineManager private constructor() : IMoGoObuWarningRsiListener
                             "MogoObuDcCombineManager 绿波通行引导 --------> speed_min = ${currentLight.suggestMinSpeed} --speed_max = ${currentLight.suggestMaxSpeed}"
                         )
                         var minSpeedTemp = Math.round(currentLight.suggestMinSpeed * 3.6)
-                        var maxSpeedTemp = Math.round(currentLight.suggestMaxSpeed * 3.6)
+                        val maxSpeedTemp = Math.round(currentLight.suggestMaxSpeed * 3.6)
                         if (minSpeedTemp == maxSpeedTemp) {
                             minSpeedTemp -= 5
                         }
 
                         val maxSpeed = currentLight.suggestMaxSpeed
                         if (maxSpeed > 0) {
-                            var currentSpeed =
+                            val currentSpeed =
                                 CallerChassisLocationGCJ02ListenerManager.getChassisLocationGCJ02().gnssSpeed.toDouble()
                             if (currentSpeed > 0) {
                                 ttsContentNew =

core/function-impl/mogo-core-function-datacenter/src/main/java/com/mogo/eagle/core/function/datacenter/obu/MogoPrivateObuNewManager.kt

@@ -346,7 +346,7 @@ class MogoPrivateObuNewManager private constructor() : OnUpgradeListener {
          * 红绿灯预警信息 CvxIvpThreatIndInfo
          */
         override fun onObuSpatWarning(data: ObuScene.SpatWarningData) {
-            if (HmiBuildConfig.isShowObuV2iView) {
+            if (FunctionBuildConfig.v2xMainSwitch && HmiBuildConfig.isShowObuV2iView) {
                 handlerTrafficLight(
                     data.warningType,
                     data.status,
@@ -359,7 +359,7 @@ class MogoPrivateObuNewManager private constructor() : OnUpgradeListener {
          * RSI预警信息 onMogoObuRsiWarning（交通标志预警（前方限速、前方学校等等），交通事件预警（前方拥堵、前方积水等等））
          */
         override fun onObuRsiWarning(data: ObuScene.RsiWarningData) {
-            if (HmiBuildConfig.isShowObuV2iView) {
+            if (FunctionBuildConfig.v2xMainSwitch && HmiBuildConfig.isShowObuV2iView) {
                 if (data.warningMsgList != null && data.warningMsgList.size > 0) {
                     var alertContent = ""
                     var ttsContent = ""
@@ -632,7 +632,7 @@ class MogoPrivateObuNewManager private constructor() : OnUpgradeListener {
                 "$M_OBU${MogoObuConst.TAG_MOGO_NEW_OBU}",
                 "onMogoObuRsmWarning ------> ${data?.toString()}"
             )
-            if (HmiBuildConfig.isShowObuV2iView) {
+            if (FunctionBuildConfig.v2xMainSwitch && HmiBuildConfig.isShowObuV2iView) {
                 if (HmiBuildConfig.isShowObuWeaknessTrafficView) {
                     // 交通参与者类型 0x0:未知 UNKNOWN | 1机动车  2:非机动车 NON_MOTOR | 3:行人 PEDESTRIAN 4:obu
                     if (data != null && data.participant != null) {
@@ -725,7 +725,7 @@ class MogoPrivateObuNewManager private constructor() : OnUpgradeListener {
          * 地图匹配 是OBU算法输出地图匹配结果，主车匹配道路哪条路或者哪条车道
          */
         override fun onObuMapMath(data: ObuScene.MapMatchData?) {
-            if (HmiBuildConfig.isShowObuV2iView) {
+            if (FunctionBuildConfig.v2xMainSwitch && HmiBuildConfig.isShowObuV2iView) {
                 if (data != null) {
                     CallerLogger.d(
                         "$M_OBU${MogoObuConst.TAG_MOGO_NEW_OBU}",
@@ -1042,7 +1042,7 @@ class MogoPrivateObuNewManager private constructor() : OnUpgradeListener {
 
             }
             1 -> {//闯红灯 V2I_RLVW_VIOLATION_TYPE_RUNNING_RED_LIGHT 一个红灯周期只显示一次
-                if(HmiBuildConfig.isShowObuV2iView){
+                if(FunctionBuildConfig.v2xMainSwitch && HmiBuildConfig.isShowObuV2iView){
                     if (HmiBuildConfig.isShowRunRedLightView) {
                         if (!isShowRunRedLight) {
                             isShowRunRedLight = true

core/function-impl/mogo-core-function-devatools/src/main/java/com/zhjt/mogo_core_function_devatools/badcase/biz/adapter/BagManagerListAdapter.kt

@@ -96,10 +96,12 @@ class BagManagerListAdapter: RecyclerView.Adapter<RecyclerView.ViewHolder>() {
                             //已上报
                             holder.tvBagReportStatus.text = "已上报"
                             holder.tvBagReportStatus.setBackgroundResource(R.drawable.bag_reported_button_bg)
+                            holder.tvBagReportStatus.isClickable = false
                         }else{
                             //未上报
                             holder.tvBagReportStatus.text = "上报"
                             holder.tvBagReportStatus.setBackgroundResource(R.drawable.bag_report_button_bg)
+                            holder.tvBagReportStatus.isClickable = true
                             holder.tvBagReportStatus.setOnClickListener {
                                 bagClickListener?.uploadBI(bagInfoEntity)
                             }
@@ -127,11 +129,15 @@ class BagManagerListAdapter: RecyclerView.Adapter<RecyclerView.ViewHolder>() {
                     holder.tvBagSize.text = "${bagSize}G"
 
                     //时间
-                    bagInfoEntity.timestamp?.let { time->
+                    bagInfoEntity.timestamp.let { time->
-                        val hour = time.substring(8,10)
+                        try {
-                        val min = time.substring(10,12)
+                            val hour = time.substring(8,10)
-                        val second = time.substring(12,14)
+                            val min = time.substring(10,12)
-                        holder.tvBagTime.text = "${hour}:${min}:${second}"
+                            val second = time.substring(12,14)
+                            holder.tvBagTime.text = "${hour}:${min}:${second}"
+                        }catch (e: Exception){
+                            e.printStackTrace()
+                        }
                     }
                 }
             }

core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/hmi/ui/setting/DebugSettingView.kt

@@ -856,7 +856,22 @@ internal class DebugSettingView @JvmOverloads constructor(
 
         //TODO
         tbIsDrawPath.setOnCheckedChangeListener { _, isChecked ->
+            ToastUtils.showShort("功能开发中")
+        }
 
+        if(FunctionBuildConfig.isDrawPointCloudData){
+            //如果点云效果是打开的，则自车光圈也跟随打开
+            tbCarAperture.isChecked = true
+        }else{
+            tbCarAperture.isChecked = FunctionBuildConfig.isDisplayAnimEnable
+        }
+        tbCarAperture.setOnCheckedChangeListener { compoundButton, isChecked ->
+            CallerMapUIServiceManager.getMapUIController()?.setDisplayAnimEnable(isChecked)
+            CallerSopSettingManager.invokeCarApertureListener(isChecked)
+            if(!compoundButton.isPressed){
+                return@setOnCheckedChangeListener
+            }
+            FunctionBuildConfig.isDisplayAnimEnable = isChecked
         }
 
         //初始化点云数据渲染情况
@@ -866,6 +881,12 @@ internal class DebugSettingView @JvmOverloads constructor(
             if (!compoundButton.isPressed) {
                 return@setOnCheckedChangeListener
             }
+            //打开点云效果时，如果自车光圈是关闭状态，则自动打开自车光圈（点云是跟随光圈的 默认没有光圈就不显示点云的）
+            if(isChecked && !FunctionBuildConfig.isDisplayAnimEnable){
+                tbCarAperture.isChecked = true
+            }else{
+                tbCarAperture.isChecked = FunctionBuildConfig.isDisplayAnimEnable
+            }
             CallerAutoPilotControlManager.setIsDrawPointCloud(isChecked)
             FunctionBuildConfig.isDrawPointCloudData = isChecked
             CallerMapUIServiceManager.getMapUIController()?.setIsDrawPointCloud(isChecked)
@@ -2240,4 +2261,11 @@ internal class DebugSettingView @JvmOverloads constructor(
         tbDrawPointCloudData.isChecked = status
     }
 
+    /**
+     * 自车光圈
+     */
+    override fun onCarApertureClickEvent(status: Boolean) {
+        tbCarAperture.isChecked = status
+    }
+
 }

core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/hmi/ui/setting/SOPSettingView.kt

@@ -390,6 +390,7 @@ internal class SOPSettingView @JvmOverloads constructor(
         }
         scCarAperture.setOnCheckedChangeListener { compoundButton, isChecked ->
             CallerMapUIServiceManager.getMapUIController()?.setDisplayAnimEnable(isChecked)
+            CallerSopSettingManager.invokeCarApertureListener(isChecked)
             hmiAction("SOP 是否展示自车光圈，",isChecked)
             Log.i(TAG,"SOP 是否展示自车光圈，$isChecked")
             if(!compoundButton.isPressed){
@@ -768,6 +769,10 @@ internal class SOPSettingView @JvmOverloads constructor(
         scDrawPointCloudData.isChecked = status
     }
 
+    override fun onCarApertureClickEvent(status: Boolean) {
+        scCarAperture.isChecked = status
+    }
+
     /**
      * 工控机配置参数获取
      */

core/function-impl/mogo-core-function-hmi/src/main/res/layout/view_debug_setting.xml

@@ -1775,6 +1775,22 @@
                         app:layout_constraintRight_toRightOf="@id/tbIsDrawAutopilotTrajectoryData"
                         app:layout_constraintTop_toBottomOf="@id/tbIsDrawAutopilotTrajectoryData" />
 
+                    <ToggleButton
+                        android:id="@+id/tbCarAperture"
+                        android:layout_width="0dp"
+                        android:layout_height="wrap_content"
+                        android:layout_margin="2dp"
+                        android:padding="@dimen/dp_20"
+                        android:textColor="#000"
+                        android:textOff="开启自车光圈"
+                        android:textOn="关闭自车光圈"
+                        android:textSize="@dimen/dp_24"
+                        app:layout_constraintLeft_toRightOf="@id/tbChangeAutoPilotStatus"
+                        app:layout_constraintRight_toRightOf="parent"
+                        app:layout_constraintTop_toBottomOf="@id/tbIsDrawAutopilotTrajectoryData"
+                        />
+
+
                     <ToggleButton
                         android:id="@+id/tbDrawPointCloudData"
                         android:layout_width="0dp"
@@ -1785,9 +1801,10 @@
                         android:textOff="开启渲染点云数据"
                         android:textOn="关闭渲染点云数据"
                         android:textSize="@dimen/dp_24"
-                        app:layout_constraintLeft_toRightOf="@id/tbChangeAutoPilotStatus"
+                        app:layout_constraintLeft_toLeftOf="@id/tbChangeAutoPilotStatus"
-                        app:layout_constraintRight_toRightOf="parent"
+                        app:layout_constraintRight_toRightOf="@id/tbChangeAutoPilotStatus"
-                        app:layout_constraintTop_toBottomOf="@id/tbIsDrawAutopilotTrajectoryData" />
+                        app:layout_constraintTop_toBottomOf="@id/tbChangeAutoPilotStatus"
+                        />
 
                     <Button
                         android:id="@+id/btnPointCloudSize"

core/mogo-core-function-api/src/main/java/com/mogo/eagle/core/function/api/setting/ISopSettingListener.kt

@@ -20,4 +20,9 @@ interface ISopSettingListener {
      */
     fun onPointCloudClickEvent(status: Boolean){}
 
+    /**
+     * 自车光圈
+     */
+    fun onCarApertureClickEvent(status: Boolean){}
+
 }

core/mogo-core-function-call/src/main/java/com/mogo/eagle/core/function/call/autopilot/CallerAutopilotActionsListenerManager.kt

@@ -1,6 +1,5 @@
 package com.mogo.eagle.core.function.call.autopilot
 
-import android.util.Log
 import com.mogo.eagle.core.function.api.autopilot.IMoGoAutopilotActionsListener
 import com.mogo.eagle.core.function.call.base.CallerBase
 import com.zhjt.mogo.adas.data.bean.UnableLaunchReason
@@ -18,7 +17,6 @@ object CallerAutopilotActionsListenerManager : CallerBase<IMoGoAutopilotActionsL
     init {
         isAutopilotAbility = false
         unableAutopilotReasons = disconnectedReason()
-//        printLog("初始化")
     }
 
     private fun disconnectedReason(): ArrayList<UnableLaunchReason> {
@@ -54,7 +52,6 @@ object CallerAutopilotActionsListenerManager : CallerBase<IMoGoAutopilotActionsL
             this.isAutopilotAbility = isConnected
             unableAutopilotReasons = if (isConnected) null else disconnectedReason()
             notification()
-//            printLog("更新数据 连接状态变更")
         }
     }
 
@@ -62,9 +59,6 @@ object CallerAutopilotActionsListenerManager : CallerBase<IMoGoAutopilotActionsL
     fun invokeAutopilotAbility(
         isAutopilotAbility: Boolean, unableAutopilotReasons: ArrayList<UnableLaunchReason>?
     ) {
-        Log.i(
-            "xfk",
-            "CallerAutopilotActionsListenerManager invokeAutopilotAbility=${CallerAutopilotActionsListenerManager.isAutopilotAbility} ${(if (CallerAutopilotActionsListenerManager.unableAutopilotReasons == null) null else CallerAutopilotActionsListenerManager.unableAutopilotReasons.toString())}")
         if (isConnected) {
             var isEquals: Boolean = true
             if (unableAutopilotReasons != null && this.unableAutopilotReasons != null) {
@@ -73,41 +67,22 @@ object CallerAutopilotActionsListenerManager : CallerBase<IMoGoAutopilotActionsL
                     this.unableAutopilotReasons?.let { old ->
                         old.sortWith(compareBy(UnableLaunchReason::hashCode));
                         isEquals = onw.toTypedArray() contentEquals old.toTypedArray()
-//                        Log.i(
-//                            "ddd",
-//                            "都不为null时=${isEquals}=${this.isAutopilotAbility} ${(if (this.unableAutopilotReasons == null) null else this.unableAutopilotReasons.toString())}"
-//                        )
                     }
                 }
             } else isEquals =
                 !(unableAutopilotReasons != null || this.unableAutopilotReasons != null)
-//            Log.i(
-//                "ddd",
-//                " 两个List是否相同=${isEquals} 新是否能启动自驾=${isAutopilotAbility} 老是否能启动自驾=${this.isAutopilotAbility} 新List是否为空=${unableAutopilotReasons == null} 老List是否为空=${this.unableAutopilotReasons == null}"
-//            )
             if (this.isAutopilotAbility != isAutopilotAbility || !isEquals) {
                 this.isAutopilotAbility = isAutopilotAbility
                 this.unableAutopilotReasons = unableAutopilotReasons
                 notification()
-//                printLog("更新数据")
             }
         }
     }
 
     private fun notification() {
-        Log.i(
-            "xfk",
-            "CallerAutopilotActionsListenerManager 通知=${isAutopilotAbility} ${(if (unableAutopilotReasons == null) null else unableAutopilotReasons.toString())}")
         M_LISTENERS.forEach {
             val listener = it.value
             listener.onAutopilotAbility(isAutopilotAbility, unableAutopilotReasons)
         }
     }
-
-//    fun printLog(tag: String) {
-//        Log.i(
-//            "xfk",
-//            "${tag}=${isAutopilotAbility} ${(if (unableAutopilotReasons == null) null else unableAutopilotReasons.toString())}"
-//        )
-//    }
 }

core/mogo-core-function-call/src/main/java/com/mogo/eagle/core/function/call/setting/CallerSopSettingManager.kt

@@ -38,4 +38,14 @@ object CallerSopSettingManager: CallerBase<ISopSettingListener>() {
         }
     }
 
+    /**
+     * 触发自车光圈事件监听
+     */
+    fun invokeCarApertureListener(status: Boolean){
+        M_LISTENERS.forEach {
+            val listener = it.value
+            listener.onCarApertureClickEvent(status)
+        }
+    }
+
 }