diff --git a/config.gradle b/config.gradle index 0908e296e0..fd0958357f 100644 --- a/config.gradle +++ b/config.gradle @@ -99,8 +99,8 @@ ext { videoprocessor : "com.zhidao.video:video-processor:1.0.2.1", livesdk : "com.tencent.liteavsdk:LiteAVSDK_Smart:7.4.9211", - coroutinescore : "org.jetbrains.kotlinx:kotlinx-coroutines-core:1.3.3", - coroutinesandroid : "org.jetbrains.kotlinx:kotlinx-coroutines-android:1.3.3", + coroutinescore : "org.jetbrains.kotlinx:kotlinx-coroutines-core:1.4.2", + coroutinesandroid : "org.jetbrains.kotlinx:kotlinx-coroutines-android:1.4.2", aspectj : "org.aspectj:aspectjrt:1.8.9", @@ -147,6 +147,7 @@ ext { mogomap : "com.mogo.map:mogo-map:${MOGO_MAP_VERSION}", mogomapapi : "com.mogo.map:mogo-map-api:${MOGO_MAP_API_VERSION}", mogocustommap : "com.zhidaoauto.machine:map:${MAP_SDK_VERSION}", + mogocustommapoperational : "com.zhidaoauto.map:operational:${MAP_SDK_OPERATION_VERSION}", modulecommon : "com.mogo.module:module-common:${MOGO_MODULE_COMMON_VERSION}", modulemain : "com.mogo.module:module-main:${MOGO_MODULE_MAIN_VERSION}", diff --git 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 index d5c0ac877e..438fb22daa 100644 --- 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 @@ -10,10 +10,12 @@ 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.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.function.call.map.CallerMapDataCollectorManager import com.mogo.eagle.core.utilcode.mogo.logger.Logger import com.mogo.eagle.core.utilcode.mogo.storage.SharedPrefsMgr import com.mogo.eagle.core.utilcode.util.GsonUtils @@ -30,7 +32,7 @@ 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 @@ -60,6 +62,7 @@ class MoGoAutopilotProvider : AdasManager.getInstance().setOnAdasListener(MoGoAdasListenerImpl()) // 同步数据给工控机的服务 AsyncDataToAutopilotServer.INSTANCE.initServer() + CallerMapDataCollectorManager.registerOnMapCollectTaskListener(this) } /** @@ -89,6 +92,16 @@ class MoGoAutopilotProvider : }, 1000, TimeUnit.MILLISECONDS) } + override fun onMapCollectStart(cmdId: Int, cmdTime: Long) { + val result = recordPackage(2, cmdId) + Logger.d(TAG, "开始记录包: [$cmdId, $result]") + } + + override fun onMapCollectEnd(cmdId: Int, cmdTime: Long) { + val result = stopRecord(2, cmdId) + Logger.d(TAG, "结束记录包: [$cmdId, $result]") + } + override fun startAutoPilot(result: AutopilotControlParameters) { if (AdasManager.getInstance().isSocketConnect) { val parameter = AutopilotControlCmdParameter("aiCloudToStartAutopilot", result) @@ -115,6 +128,18 @@ class MoGoAutopilotProvider : .recordPackage(1, (System.currentTimeMillis() / 1000).toInt()) } + override fun recordPackage(type: Int, id: Int): Boolean { + return AdasManager.getInstance().recordPackage(type, id) + } + + override fun recordPackage(type: Int, id: Int, duration: Int): Boolean { + return AdasManager.getInstance().recordPackage(type, id, duration) + } + + override fun stopRecord(type: Int, id: Int): Boolean { + return AdasManager.getInstance().stopRecord(type, id) + } + override fun setEnableLog(isEnableLog: Boolean) { CupidLogUtils.setEnableLog(isEnableLog) } @@ -124,7 +149,7 @@ class MoGoAutopilotProvider : } override fun onDestroy() { - + CallerMapDataCollectorManager.unRegisterOnMapCollectTaskListener(this) } override fun setAutoPilotSpeed(speed: Int): Boolean { diff --git 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 index 5c3941ac6d..1cc069f33e 100644 --- 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 @@ -329,6 +329,9 @@ public abstract class MainMoGoApplication extends AbsMogoApplication { // 推送模块 MogoModulePaths.addModule(new MogoModule(PushUIConstants.PATH, "PUSH_UI")); + // 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); diff --git a/core/function-impl/mogo-core-function-map/build.gradle b/core/function-impl/mogo-core-function-map/build.gradle index cc7eeed20f..7600662cfe 100644 --- a/core/function-impl/mogo-core-function-map/build.gradle +++ b/core/function-impl/mogo-core-function-map/build.gradle @@ -51,7 +51,7 @@ dependencies { kapt rootProject.ext.dependencies.aroutercompiler implementation rootProject.ext.dependencies.adasHigh - + implementation rootProject.ext.dependencies.mogocustommapoperational if (Boolean.valueOf(USE_MAVEN_PACKAGE)) { implementation rootProject.ext.dependencies.mogoserviceapi implementation rootProject.ext.dependencies.modulecommon diff --git 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 new file mode 100644 index 0000000000..6d1604610a --- /dev/null +++ b/core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/impl/collect/MoGoMapDataCollectProvider.kt @@ -0,0 +1,175 @@ +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.eagle.core.data.constants.MogoServicePaths +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.function.call.map.CallerMapLocationListenerManager +import com.mogo.eagle.core.utilcode.mogo.logger.Logger +import com.zhidaoauto.map.operational.MapCollectionTaskRecive +import com.zhidaoauto.map.operational.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(null) + } + + private val listeners by lazy { + CopyOnWriteArrayList() + } + + private val map: MutableMap by lazy { + ConcurrentHashMap() + } + + override val functionName: String = TAG + + override fun init(context: Context?) { + CallerMapLocationListenerManager.addListener(functionName, this) + executor.set(context?.let { MapCollectionTaskRecive(it) }) + executor.get()?.setOnTaskListener(this) + val carSn = MoGoAiCloudClientConfig.getInstance().sn + if (!TextUtils.isEmpty(carSn)) { + executor.get()?.setCarSn(carSn) + } + MoGoAiCloudClient.getInstance().addTokenCallbacks(this) + Logger.d(TAG, "--------- init --------") + Logger.d(TAG, "executor: ${ executor.get()?.hashCode() ?: 0 }") + } + + override fun onDestroy() { + CallerMapLocationListenerManager.removeListener(TAG) + Logger.d(TAG, "--------- onDestroy --------") + executor.get()?.let { + it.setOnTaskListener(null) + it.destory() + } + listeners.clear() + map.clear() + } + + override fun registerOnMapCollectTaskListener(listener: IMoGoMapDataCollectProvider.OnMapCollectCmdListener?) { + Logger.d(TAG, "--------- registerOnMapCollectTaskListener --------") + listener ?: return + if (listeners.contains(listener)) { + return + } + listeners += listener + } + + override fun unRegisterOnMapCollectTaskListener(listener: IMoGoMapDataCollectProvider.OnMapCollectCmdListener?) { + Logger.d(TAG, "--------- unRegisterOnMapCollectTaskListener --------") + listener ?: return + if (!listeners.contains(listener)) { + return + } + listeners.remove(listener) + } + + override fun finish( + id: Int, + state: Int, + gpsPath: String, + videoPath: String, + reason: String + ) { + Logger.d(TAG, "-- finish:[$id, $state, $gpsPath, $videoPath, $reason]") + try { + if (isInValidStatus()) { + Logger.w(TAG, "-- finish: 状态无效") + return + } + if (!map.containsKey(id)) { + Logger.w(TAG, "-- finish: 无相关指令") + return + } + Logger.d(TAG, "-- finish: 结束任务[$id]") + executor.get()?.finishTask(id, state, gpsPath, videoPath, reason) + } catch (e : Throwable) { + e.printStackTrace() + Logger.e(TAG, "-- finish:\n$e"); + } finally { + map[id] = Status.FINISH + } + } + + override fun onTaskFinish(id: Int, time: Long) { + Logger.d(TAG, "地图模块下发结束采集指令 -> [$id, $time]") + if (!map.containsKey(id) || map[id] == Status.FINISH) { + Logger.w(TAG, "地图模块下发结束采集指令 -> 任务[$id]已经提前完成,无需再次请求自动驾驶模块结束采集") + return + } + Logger.d(TAG, "地图模块下发结束采集指令 -> [$id, $time] -> 调用自动驾驶模块，结束数据采集") + listeners.forEach { + it.onMapCollectEnd(id, time) + } + } + + override fun onTaskStart(id: Int, time: Long) { + Logger.d(TAG, "地图模块下发开始采集指令 -> [$id, $time]") + map[id] = Status.INIT + listeners.forEach { + it.onMapCollectStart(id, time) + } + map[id] = Status.START + } + + + override fun onLocationChanged(location: MogoLocation?) { + location ?: return + executor.get()?.onMapChange( + 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?) { + Logger.d(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 + } +} \ No newline at end of file diff --git a/core/mogo-core-data/src/main/java/com/mogo/eagle/core/data/constants/MogoServicePaths.java b/core/mogo-core-data/src/main/java/com/mogo/eagle/core/data/constants/MogoServicePaths.java index aee937489f..9e910c1789 100644 --- a/core/mogo-core-data/src/main/java/com/mogo/eagle/core/data/constants/MogoServicePaths.java +++ b/core/mogo-core-data/src/main/java/com/mogo/eagle/core/data/constants/MogoServicePaths.java @@ -268,4 +268,10 @@ public class MogoServicePaths { @Keep @Deprecated public static final String PATH_DEVA_TOOLS = "/deva/tools"; + + /** + * 地图数据更新输助类 + */ + @Keep + public static final String PATH_MAP_DATA_COLLECT_PROVIDER = "/map_x/collect"; } diff --git a/core/mogo-core-function-api/src/main/java/com/mogo/eagle/core/function/api/autopilot/IMoGoAutopilotProvider.kt b/core/mogo-core-function-api/src/main/java/com/mogo/eagle/core/function/api/autopilot/IMoGoAutopilotProvider.kt index 34f2103554..b3d0d87a23 100644 --- a/core/mogo-core-function-api/src/main/java/com/mogo/eagle/core/function/api/autopilot/IMoGoAutopilotProvider.kt +++ b/core/mogo-core-function-api/src/main/java/com/mogo/eagle/core/function/api/autopilot/IMoGoAutopilotProvider.kt @@ -41,6 +41,33 @@ interface IMoGoAutopilotProvider : IMoGoFunctionServerProvider { */ fun recordPackage(): Boolean + /** + * 开启域控制器录制bag包 + * + * @return true-成功,false-失败 + * @param type 录制类型 1: badcase 2:map 3:rests + * @param id 指令/任务 ID + */ + fun recordPackage(type: Int, id: Int): Boolean + + /** + * 开启域控制器录制bag包 + * + * @return true-成功,false-失败 + * @param type 录制类型 1: badcase 2:map 3:rests + * @param id 指令/任务 ID + * @param duration 录制时长 + */ + fun recordPackage(type: Int, id: Int, duration: Int): Boolean + + /** + * 结束录制 + * @param type 录制类型 1: badcase 2:map 3:rests + * @param id 指令/任务 ID + * @return true: 成功; false 失败 + */ + fun stopRecord(type: Int, id: Int): Boolean + /** * Log 是否显示 * diff --git a/core/mogo-core-function-api/src/main/java/com/mogo/eagle/core/function/api/map/collect/IMoGoMapDataCollectProvider.kt b/core/mogo-core-function-api/src/main/java/com/mogo/eagle/core/function/api/map/collect/IMoGoMapDataCollectProvider.kt new file mode 100644 index 0000000000..8172294b0c --- /dev/null +++ b/core/mogo-core-function-api/src/main/java/com/mogo/eagle/core/function/api/map/collect/IMoGoMapDataCollectProvider.kt @@ -0,0 +1,43 @@ +package com.mogo.eagle.core.function.api.map.collect + +import com.mogo.eagle.core.function.api.base.IMoGoFunctionServerProvider + +/** + * @author renwj + * @date 2021/11/10 10:00 上午 + * 此类主要用来同步自动驾驶定位信息给各业务方 + */ +interface IMoGoMapDataCollectProvider: IMoGoFunctionServerProvider { + + /** + * 注册地图组下发收集数据任务指令监听，通知自动驾驶模块开始数据采集 + */ + fun registerOnMapCollectTaskListener(listener: OnMapCollectCmdListener?) + + /** + * 移除任务指令监听 + */ + fun unRegisterOnMapCollectTaskListener(listener: OnMapCollectCmdListener?) + + /** + * 此接口是自动驾驶模块使用，用于把自动驾驶模块收集的数据给地图组 + */ + fun finish(id: Int, state: Int, gpsPath: String, videoPath: String, reason: String) + + interface OnMapCollectCmdListener { + + /** + * 地图组下发地图数据收集开始指令 + * @param cmdId 指令ID + * @param cmdTime 指令下发时间 + */ + fun onMapCollectStart(cmdId: Int, cmdTime: Long) + + /** + * 地图组下发地图数据收集结束指令 + * @param cmdId 指令ID + * @param cmdTime 指令下发时间 + */ + fun onMapCollectEnd(cmdId: Int, cmdTime: Long) + } +} \ No newline at end of file diff --git a/core/mogo-core-function-call/src/main/java/com/mogo/eagle/core/function/call/autopilot/CallerAutoPilotManager.kt b/core/mogo-core-function-call/src/main/java/com/mogo/eagle/core/function/call/autopilot/CallerAutoPilotManager.kt index 0279c39f2f..901c127c52 100644 --- a/core/mogo-core-function-call/src/main/java/com/mogo/eagle/core/function/call/autopilot/CallerAutoPilotManager.kt +++ b/core/mogo-core-function-call/src/main/java/com/mogo/eagle/core/function/call/autopilot/CallerAutoPilotManager.kt @@ -1,9 +1,12 @@ package com.mogo.eagle.core.function.call.autopilot +import android.os.SystemClock import com.mogo.eagle.core.data.autopilot.AutopilotControlParameters import com.mogo.eagle.core.data.constants.MogoServicePaths import com.mogo.eagle.core.function.api.autopilot.IMoGoAutopilotProvider import com.mogo.eagle.core.function.call.base.CallerBase +import com.mogo.eagle.core.utilcode.util.LogUtils +import kotlin.random.Random /** *@author xiaoyuzhou @@ -60,7 +63,15 @@ object CallerAutoPilotManager { * 开启域控制器录制bag包 */ fun recordPackage() { - providerApi?.recordPackage() + providerApi?.recordPackage(1, Random(SystemClock.elapsedRealtime()).nextInt()) + } + + fun recordPackage(type: Int, id: Int) { + providerApi?.recordPackage(type, id) + } + + fun recordPackage(type: Int, id: Int, duration: Int) { + providerApi?.recordPackage(type, id, duration) } fun setEnableLog(isEnableLog: Boolean) { diff --git a/core/mogo-core-function-call/src/main/java/com/mogo/eagle/core/function/call/map/CallerMapDataCollectorManager.kt b/core/mogo-core-function-call/src/main/java/com/mogo/eagle/core/function/call/map/CallerMapDataCollectorManager.kt new file mode 100644 index 0000000000..86cb4dc777 --- /dev/null +++ b/core/mogo-core-function-call/src/main/java/com/mogo/eagle/core/function/call/map/CallerMapDataCollectorManager.kt @@ -0,0 +1,29 @@ +package com.mogo.eagle.core.function.call.map + +import com.mogo.eagle.core.data.constants.MogoServicePaths.PATH_MAP_DATA_COLLECT_PROVIDER +import com.mogo.eagle.core.function.api.map.collect.IMoGoMapDataCollectProvider +import com.mogo.eagle.core.function.call.base.CallerBase + +/** + * @author renwj + * @date 2021/11/10 10:30 上午 + * 此类主要提供给各业务方使用，便于业务层管理数据收集 + */ +object CallerMapDataCollectorManager { + + private val provider: IMoGoMapDataCollectProvider? by lazy { + CallerBase.getApiInstance(IMoGoMapDataCollectProvider::class.java, PATH_MAP_DATA_COLLECT_PROVIDER) + } + + fun registerOnMapCollectTaskListener(listener: IMoGoMapDataCollectProvider.OnMapCollectCmdListener?) { + provider?.registerOnMapCollectTaskListener(listener) + } + + fun unRegisterOnMapCollectTaskListener(listener: IMoGoMapDataCollectProvider.OnMapCollectCmdListener?) { + provider?.unRegisterOnMapCollectTaskListener(listener) + } + + fun finish(id: Int, state: Int, gpsPath: String, videoPath: String, reason: String) { + provider?.finish(id, state, gpsPath, videoPath, reason) + } +} \ No newline at end of file diff --git a/gradle.properties b/gradle.properties index 1f55a98e33..797e015c01 100644 --- a/gradle.properties +++ b/gradle.properties @@ -81,6 +81,7 @@ MOGO_LOCATION_VERSION=1.3.18 ######## MogoAiCloudSDK Version ######## # 自研地图 MAP_SDK_VERSION=2.0.0.24 +MAP_SDK_OPERATION_VERSION=1.0.11 # websocket WEBSOCKET_VERSION=1.1.7 ## 产品库必备配置，产品库自动对versionCode和versionName版本进行升级