yangyakun921/MoGoEagleEye
1
0
Fork 0
Code Issues Pull Requests Actions Packages Projects Releases Wiki Activity

Merge branch 'dev_robotaxi-d_230912_6.1.0' into base_3.4.0-map-sdk

Browse Source
This commit is contained in:
zhongchao
2023-09-28 16:29:35 +08:00
parent 5d222c70fb e37d19d80c
commit 38ce4919bc
6 changed files with 68 additions and 41 deletions
Download Patch File Download Diff File Expand all files Collapse all files

4
OCH/taxi/unmanned-driver/src/main/java/com/mogo/och/taxi/ui/task/TaxiCurrentTaskFragment.kt
View File

@@ -493,7 +493,9 @@ class TaxiCurrentTaskFragment : BaseFragment(),
}
private fun updateOrderUI(order: OrderDetail) {
cancelOrder.visibility = View.VISIBLE
cancelOrder.visibility = if (order.orderStatus
== TaxiOrderStatusEnum.ArriveAtEnd.code
) View.GONE else View.VISIBLE
orderPhoneAndNum.visibility = View.VISIBLE
taskClickBtn.visibility = View.VISIBLE
taskTypeTv.visibility = View.VISIBLE

2
OCH/taxi/unmanned-driver/src/main/java/com/mogo/och/taxi/ui/task/TaxiTaskModel.kt
View File

@@ -730,6 +730,7 @@ object TaxiTaskModel {
//达到终点后查询全程里程和用时
if (QueryCurrentTaskRespBean.isOrderArriveAtEnd(result)) {
d(TAG, "queryCurrentTaskOnce ArriveAtEnd")
mIsArrivedSiteStartTag = false
mTaxiTaskWithOrderCallbackMap.forEach {
val listener = it.value
listener.onOrderArriveAtEnd(result.order!!.orderNo)
@@ -1321,6 +1322,7 @@ object TaxiTaskModel {
*/
fun clearCurrentOCHOrder() {
clearAutopilotControlParameters()
mIsArrivedSiteStartTag = false
isRestartAutopilot = false
if (FunctionBuildConfig.isDemoMode) {
// 当美化模式（演示模式）开启时: 取消或订单已完成时，置false

7
core/function-impl/mogo-core-function-datacenter/src/main/java/com/mogo/eagle/core/function/datacenter/autopilot/adapter/MoGoAdasListenerImpl.kt
View File

@@ -17,6 +17,7 @@ import com.mogo.eagle.core.data.deva.chain.ChainConstant.Companion.CHAIN_CODE_AD
import com.mogo.eagle.core.data.deva.chain.ChainConstant.Companion.CHAIN_CODE_ADAS_VEHICLE
import com.mogo.eagle.core.data.deva.chain.ChainConstant.Companion.CHAIN_CODE_ADAS_CAR_CONFIG
import com.mogo.eagle.core.data.deva.chain.ChainConstant.Companion.CHAIN_CODE_ADAS_CAR_LOC
import com.mogo.eagle.core.data.deva.chain.ChainConstant.Companion.CHAIN_CODE_ADAS_PARALLEL
import com.mogo.eagle.core.data.deva.chain.ChainConstant.Companion.CHAIN_CODE_ADAS_P_ACTIONS
import com.mogo.eagle.core.data.deva.chain.ChainConstant.Companion.CHAIN_CODE_ADAS_P_OBJECTS
import com.mogo.eagle.core.data.deva.chain.ChainConstant.Companion.CHAIN_CODE_ADAS_STATUS_QUERY_RESP
@@ -771,6 +772,12 @@ class MoGoAdasListenerImpl : OnAdasListener {
* @param sysTime 当前时间戳
* @param parallelTaskProcessNotice 数据
*/
@ChainLog(
linkChainLog = CHAIN_TYPE_SOCKET_AUTOPILOT,
linkCode = CHAIN_SOURCE_ADAS,
nodeAliasCode = CHAIN_CODE_ADAS_PARALLEL,
paramIndexes = [0, 1, 2, 4]
)
override fun onParallelDrivingResp(
header: MessagePad.Header,
messageType: AiCloudTask.MessageType,

31
core/function-impl/mogo-core-function-datacenter/src/main/java/com/mogo/eagle/core/function/datacenter/v2x/TrafficLightDispatcher.kt
View File

@@ -66,6 +66,11 @@ class TrafficLightDispatcher : IMoGoAutopilotIdentifyListener, IMoGoTrafficLight
//obu数据
@Volatile
private var hasObuLightStatus: Boolean = false
//是否有自车感知红绿灯数据
@Volatile
private var hasAutopilotPerception: Boolean = false
//红绿灯定时器，超时未更新隐藏红绿灯
@Volatile
private var lightCountDownTimer: CountDownTimer? = null
@@ -90,7 +95,7 @@ class TrafficLightDispatcher : IMoGoAutopilotIdentifyListener, IMoGoTrafficLight
)
if (!hasObuLightStatus) {
if (!hasAiLightStatus) {
trafficLights?.let { it ->
trafficLights?.let {
var light: TrafficLight? = null
if (it.hasStraight()) {
light = it.straight
@@ -106,9 +111,13 @@ class TrafficLightDispatcher : IMoGoAutopilotIdentifyListener, IMoGoTrafficLight
"onAutopilotPerceptionTrafficLight light = $light "
)
if (light == null) {
hasAutopilotPerception = false
//隐藏红绿灯显示
hide("感知light为null隐藏", DataSourceType.TELEMATIC)
} else {
if(!hasAutopilotPerception){
hasAutopilotPerception = true
}
onTrafficLightPlusSource(light.convert(), 0, DataSourceType.TELEMATIC)
}
}
@@ -127,7 +136,6 @@ class TrafficLightDispatcher : IMoGoAutopilotIdentifyListener, IMoGoTrafficLight
)
}
if (!hasObuLightStatus) {
hasAiLightStatus = true
CallerLogger.d(
"${SceneConstant.M_D_C}${TAG}",
"onTrafficLightStatus trafficLightResult = $trafficLightResult "
@@ -156,7 +164,7 @@ class TrafficLightDispatcher : IMoGoAutopilotIdentifyListener, IMoGoTrafficLight
//如果没有OBU灯态则进行隐藏，如果有OBU灯态，则交由OBU管理
if (!hasObuLightStatus) {
CallerTrafficLightListenerManager.resetTrafficLightStatus(!hasObuLightStatus)
hide("云端离开路口隐藏", DataSourceType.AICLOUD)
// hide("云端离开路口隐藏", DataSourceType.AICLOUD)
}
}
}
@@ -165,15 +173,15 @@ class TrafficLightDispatcher : IMoGoAutopilotIdentifyListener, IMoGoTrafficLight
* 红绿灯接口请求失败
*/
override fun onTrafficRequestError() {
hasAiLightStatus = false
CallerLogger.d(
"${SceneConstant.M_D_C}${TAG}",
"onTrafficRequestError hasObuLightStatus = $hasObuLightStatus ------> "
)
CallerTrafficLightListenerManager.resetTrafficLightStatus(!hasObuLightStatus)
if (!hasObuLightStatus) {
hide("云端红绿灯接口请求失败隐藏", DataSourceType.AICLOUD)
}
CallerTrafficLightListenerManager.resetTrafficLightStatus(hasAiLightStatus)
hasAiLightStatus = false
// if (!hasObuLightStatus) {
// hide("云端红绿灯接口请求失败隐藏", DataSourceType.AICLOUD)
// }
}
/**
@@ -186,14 +194,14 @@ class TrafficLightDispatcher : IMoGoAutopilotIdentifyListener, IMoGoTrafficLight
}
/**
* 是否重置红绿灯数据,需要确保，在obu的红绿灯显示的时候，不执行。否则会闪屏
* 是否重置红绿灯数据,需要确保，在obu的红绿灯显示或自车感知红绿灯显示的时候，不执行。否则会闪屏
*/
override fun resetTrafficLight(isReset: Boolean) {
CallerLogger.d(
"${SceneConstant.M_D_C}${TAG}",
"resetTrafficLight ------> isReset = $isReset ---hasObuLightStatus = $hasObuLightStatus"
)
if (!hasObuLightStatus) {
if (!hasObuLightStatus && !hasAutopilotPerception) {
if (isReset) {
hide("云端重置红绿灯数据", DataSourceType.AICLOUD)
}
@@ -228,6 +236,7 @@ class TrafficLightDispatcher : IMoGoAutopilotIdentifyListener, IMoGoTrafficLight
super.onTrafficLightPlusSource(light, remain, lightSource)
if (lightSource == DataSourceType.OBU) {
hasObuLightStatus = true
hasAutopilotPerception = false
}
CallerLogger.d(
"${SceneConstant.M_D_C}${TAG}",
@@ -293,6 +302,8 @@ class TrafficLightDispatcher : IMoGoAutopilotIdentifyListener, IMoGoTrafficLight
"updateTrafficLight ----- currentTrafficLight = $currentTrafficLight"
)
currentTrafficLight?.let {
hasAiLightStatus = true
hasAutopilotPerception = false
val remain = if (it.time() > 99) {
99
} else {

64
core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/hmi/ui/widget/ParallelDriveView.kt
View File

@@ -93,16 +93,19 @@ class ParallelDriveView @JvmOverloads constructor(
reqParaDrive()
listener?.onReqClick()
}
APP_REQUESTING -> {
cancelParaDrive()
Log.d(TAG, "Click-请求已取消")
ToastUtils.showShort("请求已取消！")
checkAvailableAndUpdateUI()
}
AD_REQUESTING -> {
Log.d(TAG, "Click-自动驾驶正在请求平行驾驶")
ToastUtils.showShort("自动驾驶正在请求平行驾驶")
}
UNAVAILABLE -> {
Log.d(TAG, "Click-请P档驻车并松开油门刹车后请求")
ToastUtils.showShort("请P档驻车并松开油门刹车后请求")
@@ -118,41 +121,42 @@ class ParallelDriveView @JvmOverloads constructor(
override fun onAutopilotStatusResponse(state: Int) {
super.onAutopilotStatusResponse(state)
if (state != autopilotState) {
synchronized(this) {
when (state) {
7 -> {
if (this.autopilotState != 7) {
isAutoDriving = false
Log.d(TAG, "onAutopilotStatusResponse-7")
ThreadUtils.runOnUiThread({
updateUI(PARALLEL_DRIVING)
}, ThreadUtils.MODE.QUEUE)
}
}
when (state) {
7 -> {
if (this.autopilotState != 7) {
isAutoDriving = false
Log.d(TAG, "onAutopilotStatusResponse-7")
ThreadUtils.runOnUiThread({
updateUI(PARALLEL_DRIVING)
}, ThreadUtils.MODE.QUEUE)
}
}
2 -> {
if (this.autopilotState != state) {
isAutoDriving = true
Log.d(TAG, "onAutopilotStatusResponse-2")
}
}
else -> {
if (this.autopilotState != state) {
isAutoDriving = false
Log.d(TAG, "onAutopilotStatusResponse-else")
if (this.autopilotState == 7) {
ThreadUtils.runOnUiThread({
checkAvailableAndUpdateUI()
}, ThreadUtils.MODE.QUEUE)
}
}
2 -> {
if (this.autopilotState != state) {
isAutoDriving = true
Log.d(TAG, "onAutopilotStatusResponse-2")
if (this.autopilotState == 7) {
ThreadUtils.runOnUiThread({
checkAvailableAndUpdateUI()
}, ThreadUtils.MODE.QUEUE)
}
}
}
else -> {
if (this.autopilotState != state) {
isAutoDriving = false
Log.d(TAG, "onAutopilotStatusResponse-else")
if (this.autopilotState == 7) {
ThreadUtils.runOnUiThread({
checkAvailableAndUpdateUI()
}, ThreadUtils.MODE.QUEUE)
}
}
this.autopilotState = state
}
}
this.autopilotState = state
}
override fun onParallelDrivingAbility(

1
core/mogo-core-data/src/main/java/com/mogo/eagle/core/data/deva/chain/ChainConstant.kt
View File

@@ -70,6 +70,7 @@ class ChainConstant {
const val CHAIN_CODE_ADAS_P_OBJECTS = "CHAIN_CODE_ADAS_P_OBJECTS"
const val CHAIN_CODE_ADAS_P_ACTIONS = "CHAIN_CODE_ADAS_P_ACTIONS"
const val CHAIN_CODE_ADAS_STATUS_QUERY_RESP = "CHAIN_CODE_ADAS_STATUS_QUERY_RESP"
const val CHAIN_CODE_ADAS_PARALLEL = "CHAIN_CODE_ADAS_PARALLEL"
const val CHAIN_CODE_RECORD_NATIVE_LEAK = "CHAIN_CODE_RECORD_NATIVE_LEAK"
const val CHAIN_CODE_RECORD_ANR = "CHAIN_CODE_RECORD_ANR"