[MapDataCollect]高精车采逻辑优化

2022-03-24 11:10:44 +08:00
parent e1ccfc755c
commit 31e4ee1681
11 changed files with 378 additions and 8 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
@@ -14,11 +14,13 @@ import com.mogo.eagle.core.utilcode.mogo.logger.scene.SceneConstant.Companion.M_
 import com.mogo.eagle.core.data.trafficlight.TrafficLightResult
 import com.mogo.eagle.core.data.trafficlight.toTrafficLightDetail
 import com.mogo.eagle.core.function.api.autopilot.IMoGoAutopilotProvider
+import com.mogo.eagle.core.function.api.map.collect.IMoGoMapDataCollectProvider
 import com.mogo.eagle.core.function.autopilot.adapter.MoGoAdasListenerImpl
 import com.mogo.eagle.core.function.autopilot.adapter.MoGoAdasMsgConnectStatusListenerImpl
 import com.mogo.eagle.core.function.autopilot.adapter.MoGoHandAdasMsgManager
 import com.mogo.eagle.core.function.autopilot.server.AsyncDataToAutopilotServer
 import com.mogo.eagle.core.utilcode.mogo.logger.CallerLogger
+import com.mogo.eagle.core.function.call.map.CallerMapDataCollectorManager
 import com.mogo.eagle.core.utilcode.mogo.AppIdentityModeUtils
 import com.mogo.eagle.core.utilcode.mogo.storage.SharedPrefsMgr
 import com.mogo.eagle.core.utilcode.util.ThreadUtils
@@ -46,7 +48,7 @@ import java.util.concurrent.TimeUnit
 */
@Route(path = MogoServicePaths.PATH_AUTO_PILOT)
 class MoGoAutopilotProvider :
-    IMoGoAutopilotProvider {
+    IMoGoAutopilotProvider, IMoGoMapDataCollectProvider.OnMapCollectCmdListener {
    private val TAG = "MoGoAutoPilotProvider"
    private var mContext: Context? = null

@@ -61,6 +63,8 @@ class MoGoAutopilotProvider :
        CupidLogUtils.setEnableLog(false)
        // TODO 临时方案，根据不同的身份标识，连接不同的工控机IP
        if (AppIdentityModeUtils.isDriver(FunctionBuildConfig.appIdentityMode)) {// 司机
+            // 注册地图采集功能
+            CallerMapDataCollectorManager.registerOnMapCollectTaskListener(this)
            // "192.168.1.102"
            val options = AdasOptions.Builder()
                .setIpcConnectionMode(AdasOptions.IPC_CONNECTION_MODE.FIXATION)
@@ -206,6 +210,16 @@ class MoGoAutopilotProvider :
        }, 1000, TimeUnit.MILLISECONDS)
    }

+    override fun onMapCollectStart(cmdId: Int, cmdTime: Long) {
+        val result = recordPackage(2, cmdId)
+        CallerLogger.d("$M_ADAS_IMPL$TAG", "开始记录包: [$cmdId, $result]")
+    }
+
+    override fun onMapCollectEnd(cmdId: Int, cmdTime: Long) {
+        val result = stopRecord(2, cmdId)
+        CallerLogger.d("$M_ADAS_IMPL$TAG", "结束记录包: [$cmdId, $result]")
+    }
+
    override fun startAutoPilot(controlParameters: AutopilotControlParameters) {
        if (AdasManager.getInstance().ipcConnectionStatus == Constants.IPC_CONNECTION_STATUS.CONNECTED) {
            AdasManager.getInstance().sendAutoPilotModeReq(1, 1, controlParameters.toRouteInfo())
@@ -262,6 +276,7 @@ class MoGoAutopilotProvider :
    }

    override fun onDestroy() {
+        CallerMapDataCollectorManager.unRegisterOnMapCollectTaskListener(this)
    }

    override fun setAutoPilotSpeed(speed: Int): Boolean {
--- a/core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/hmi/ui/MoGoHmiFragment.kt
+++ b/core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/hmi/ui/MoGoHmiFragment.kt
@@ -30,6 +30,7 @@ import com.mogo.eagle.core.function.api.hmi.warning.IMoGoWarningStatusListener
 import com.mogo.eagle.core.function.call.autopilot.CallerAutopilotIdentifyListenerManager
 import com.mogo.eagle.core.function.call.check.CallerCheckManager
 import com.mogo.eagle.core.function.call.devatools.CallerDevaToolsManager
+import com.mogo.eagle.core.function.call.map.CallerMapDataCollectorManager
 import com.mogo.eagle.core.function.call.monitor.CallerMonitorManager
 import com.mogo.eagle.core.function.hmi.R
 import com.mogo.eagle.core.function.hmi.WaringConst
@@ -41,14 +42,12 @@ import com.mogo.eagle.core.function.hmi.ui.camera.CameraListView
 import com.mogo.eagle.core.function.hmi.ui.notice.NoticeBannerView
 import com.mogo.eagle.core.function.hmi.ui.notice.NoticeNormalBannerView
 import com.mogo.eagle.core.function.hmi.ui.setting.DebugSettingView
-import com.mogo.eagle.core.function.hmi.ui.tools.AdUpgradeDialog
 import com.mogo.eagle.core.function.hmi.ui.tools.AutoPilotAndCheckView
 import com.mogo.eagle.core.function.hmi.ui.widget.V2XNotificationView
 import com.mogo.eagle.core.utilcode.mogo.logger.CallerLogger
 import com.mogo.eagle.core.utilcode.mogo.logger.scene.SceneConstant.Companion.M_HMI
 import com.mogo.eagle.core.utilcode.util.ThreadUtils
 import com.mogo.eagle.core.utilcode.util.ToastUtils
-import com.mogo.eagle.core.utilcode.util.Utils
 import com.mogo.module.common.enums.EventTypeEnum
 import kotlinx.android.synthetic.main.fragment_hmi.*
 import kotlinx.coroutines.*
@@ -149,9 +148,17 @@ class MoGoHmiFragment : MvpFragment<MoGoWarningContract.View?, WaringPresenter?>
    }

    @OptIn(ExperimentalCoroutinesApi::class)
-    override fun onAutopilotRecordResult(record: RecordPanelOuterClass.RecordPanel) {
-        if (HmiBuildConfig.isShowBadCaseView && record.type == 1 && record.stat == 100) {
-            CallerDevaToolsManager.onReceiveBadCaseRecord(record)
+    override fun onAutopilotRecordResult(recordPanel: RecordPanelOuterClass.RecordPanel) {
+        if (HmiBuildConfig.isShowBadCaseView && recordPanel.type == 1 && recordPanel.stat == 100) {
+            CallerDevaToolsManager.onReceiveBadCaseRecord(recordPanel)
+        }
+        if (recordPanel.type == 2 && (
+                    recordPanel.stat == 101 || //工控机采集完成-被动完成
+                            recordPanel.stat == 100 || //工控机采集完成-主动完成
+                            recordPanel.stat == 102 || //工控机达到最大采集时长
+                            recordPanel.stat == 103)   //工控机磁盘满了
+        ) {
+            CallerMapDataCollectorManager.finish(recordPanel.id, recordPanel.stat, "", recordPanel.filename ?: "", recordPanel.note ?: "")
        }
    }

--- a/core/function-impl/mogo-core-function-main/src/main/java/com/mogo/eagle/core/function/main/MainMoGoApplication.java
+++ b/core/function-impl/mogo-core-function-main/src/main/java/com/mogo/eagle/core/function/main/MainMoGoApplication.java
@@ -349,6 +349,12 @@ public abstract class MainMoGoApplication extends AbsMogoApplication {
        // 绑定车辆
        MogoModulePaths.addModuleFunctionServer(new MogoModule(MogoServicePaths.PATH_BINDING_CAR, "IMoGoBindingcarProvider"));

+        // 司机身份专属模块
+        if (AppIdentityModeUtils.isDriver(FunctionBuildConfig.appIdentityMode)) {
+            // 地图数据收集模块
+            MogoModulePaths.addModuleFunctionServer(new MogoModule(MogoServicePaths.PATH_MAP_DATA_COLLECT_PROVIDER, "MoGoMapDataCollector"));
+        }
+
        if (!DebugConfig.isLauncher()) {
            PersistentManager
                    .getInstance().initManager(this);
--- a/core/function-impl/mogo-core-function-map/build.gradle
+++ b/core/function-impl/mogo-core-function-map/build.gradle
@@ -51,6 +51,8 @@ dependencies {

    kapt rootProject.ext.dependencies.aroutercompiler
    //implementation rootProject.ext.dependencies.adasHigh
+    implementation rootProject.ext.dependencies.mogocustommapoperational
+
    implementation rootProject.ext.dependencies.amapnavi3dmap
    implementation rootProject.ext.dependencies.amaplocation

--- a/core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/impl/collect/MoGoMapDataCollectProvider.kt
+++ b/core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/impl/collect/MoGoMapDataCollectProvider.kt
@@ -0,0 +1,193 @@
+package com.mogo.eagle.core.function.impl.collect
+
+import android.content.Context
+import android.text.TextUtils
+import com.alibaba.android.arouter.facade.annotation.Route
+import com.mogo.cloud.passport.IMoGoTokenCallback
+import com.mogo.cloud.passport.MoGoAiCloudClient
+import com.mogo.cloud.passport.MoGoAiCloudClientConfig
+import com.mogo.commons.debug.DebugConfig
+import com.mogo.eagle.core.data.constants.MogoServicePaths
+import com.mogo.eagle.core.utilcode.mogo.logger.scene.SceneConstant.Companion.M_MAP
+import com.mogo.eagle.core.data.map.MogoLocation
+import com.mogo.eagle.core.function.api.map.collect.IMoGoMapDataCollectProvider
+import com.mogo.eagle.core.function.api.map.listener.IMoGoMapLocationListener
+import com.mogo.eagle.core.utilcode.mogo.logger.CallerLogger
+import com.mogo.eagle.core.function.call.map.CallerMapLocationListenerManager
+import com.zhidaoauto.map.operational.open.GatherApi
+import com.zhidaoauto.map.operational.open.GatherParams
+import com.zhidaoauto.map.operational.open.abs.OnTaskListener
+import java.util.concurrent.ConcurrentHashMap
+import java.util.concurrent.CopyOnWriteArrayList
+import java.util.concurrent.atomic.AtomicReference
+
+@Route(path = MogoServicePaths.PATH_MAP_DATA_COLLECT_PROVIDER)
+class MoGoMapDataCollectProvider : IMoGoMapDataCollectProvider, OnTaskListener, IMoGoMapLocationListener, IMoGoTokenCallback {
+
+    companion object {
+        const val TAG = "MoGoMapDataCollect"
+    }
+
+    private val executor by lazy {
+        AtomicReference<GatherApi>(null)
+    }
+
+    private val listeners by lazy {
+        CopyOnWriteArrayList<IMoGoMapDataCollectProvider.OnMapCollectCmdListener>()
+    }
+
+    private val map: MutableMap<Int, Status> by lazy {
+        ConcurrentHashMap()
+    }
+
+    override val functionName: String = "$M_MAP$TAG"
+
+    @Volatile
+    private var hasInit = false
+
+    override fun init(context: Context?) {
+        CallerMapLocationListenerManager.addListener(functionName, this)
+        executor.set(context?.let {
+            GatherApi.also { itx ->
+            itx.init(it,
+                GatherParams.init()
+                    .setDebugMode(DebugConfig.isDebug())
+                    .setCoordinateType(GatherParams.COORDINATETYPE_GCJ02))
+        } })
+        executor.get()?.setOnTaskListener(this)
+        val carSn = MoGoAiCloudClientConfig.getInstance().sn
+        if (!TextUtils.isEmpty(carSn)) {
+            executor.get()?.setCarSn(carSn)
+        }
+        MoGoAiCloudClient.getInstance().addTokenCallbacks(this)
+        CallerLogger.d("$M_MAP$TAG", "--------- init --------")
+        CallerLogger.d("$M_MAP$TAG", "executor: ${ executor.get()?.hashCode() ?: 0 }")
+    }
+
+    override fun onDestroy() {
+        CallerMapLocationListenerManager.removeListener("$M_MAP$TAG")
+        CallerLogger.d("$M_MAP$TAG", "--------- onDestroy --------")
+        executor.get()?.setOnTaskListener(null)
+        listeners.clear()
+        map.clear()
+    }
+
+    override fun registerOnMapCollectTaskListener(listener: IMoGoMapDataCollectProvider.OnMapCollectCmdListener?) {
+        CallerLogger.d("$M_MAP$TAG", "--------- registerOnMapCollectTaskListener --------")
+        listener ?: return
+        if (listeners.contains(listener)) {
+            return
+        }
+        listeners += listener
+    }
+
+    override fun unRegisterOnMapCollectTaskListener(listener: IMoGoMapDataCollectProvider.OnMapCollectCmdListener?) {
+        CallerLogger.d("$M_MAP$TAG", "--------- unRegisterOnMapCollectTaskListener --------")
+        listener ?: return
+        if (!listeners.contains(listener)) {
+            return
+        }
+        listeners.remove(listener)
+    }
+
+    override fun finish(
+        id: Int,
+        state: Int,
+        gpsPath: String,
+        videoPath: String,
+        reason: String
+    ) {
+        CallerLogger.d("$M_MAP$TAG", "-- finish:[$id, $state, $gpsPath, $videoPath, $reason]")
+        try {
+            if (isInValidStatus()) {
+                CallerLogger.w("$M_MAP$TAG", "-- finish: 状态无效")
+                return
+            }
+            if (!map.containsKey(id)) {
+                CallerLogger.w("$M_MAP$TAG", "-- finish: 无相关指令")
+                return
+            }
+            CallerLogger.d("$M_MAP$TAG", "-- finish: 结束任务[$id]")
+            executor.get()?.finishTask(id, state, gpsPath, videoPath, reason)
+        } catch (e : Throwable) {
+            e.printStackTrace()
+            CallerLogger.e("$M_MAP$TAG", "-- finish:\n$e")
+        } finally {
+            map[id] = Status.FINISH
+        }
+    }
+
+    override fun onTaskFinish(id: Int, time: Long) {
+        CallerLogger.d("$M_MAP$TAG", "地图模块下发结束采集指令 -> [$id, $time]")
+        if (!map.containsKey(id) || map[id] == Status.FINISH) {
+            CallerLogger.w("$M_MAP$TAG", "地图模块下发结束采集指令 -> 任务[$id]已经提前完成,无需再次请求自动驾驶模块结束采集")
+            return
+        }
+        CallerLogger.d("$M_MAP$TAG", "地图模块下发结束采集指令 -> [$id, $time] -> 调用自动驾驶模块，结束数据采集")
+        listeners.forEach {
+            it.onMapCollectEnd(id, time)
+        }
+    }
+
+    override fun onTaskStart(id: Int, time: Long) {
+        CallerLogger.d("$M_MAP$TAG", "地图模块下发开始采集指令 -> [$id, $time]")
+        map[id] = Status.INIT
+        listeners.forEach {
+            it.onMapCollectStart(id, time)
+        }
+        map[id] = Status.START
+    }
+
+    override fun setIsInit() {
+        if (!hasInit) {
+            executor.get()?.also {
+                hasInit = true
+                CallerLogger.d("$M_MAP$TAG", "告之地图sdk，定义数据可以用了")
+                it.setIsInit()
+            }
+        }
+    }
+
+    override fun onLocationChanged(location: MogoLocation?) {
+        location ?: return
+        executor.get()?.updateLocation(
+            location.longitude,
+            location.latitude,
+            location.bearing,
+            location.speed,
+            location.provider == "GPS_SELF")
+    }
+
+
+    private fun isInValidStatus(): Boolean {
+        if (map.isEmpty()) {
+            return true
+        }
+        val iterator = map.iterator()
+        while (iterator.hasNext()) {
+            val next = iterator.next()
+            if (next.value == Status.FINISH) {
+                iterator.remove()
+            }
+        }
+        if (map.filter { it.value == Status.START }.isEmpty()) {
+            return true
+        }
+        return false
+    }
+
+    override fun onTokenGot(token: String?, sn: String?) {
+        CallerLogger.d("$M_MAP$TAG", "-- onTokenGot --> $sn")
+        sn?.let {
+            executor.get()?.setCarSn(it)
+        }
+    }
+
+    override fun onError(code: Int, msg: String?) = Unit
+
+    private sealed class Status {
+        object INIT : Status()   //初始状态
+        object START : Status()  //开始状态
+        object FINISH : Status() //完成状态
+    }
+}