diff --git a/OCH/taxi/unmanned-driver/src/main/java/com/mogo/och/taxi/ui/task/TaxiCurrentTaskFragment.kt b/OCH/taxi/unmanned-driver/src/main/java/com/mogo/och/taxi/ui/task/TaxiCurrentTaskFragment.kt index b9c0a1276a..1f7b1cf37a 100644 --- a/OCH/taxi/unmanned-driver/src/main/java/com/mogo/och/taxi/ui/task/TaxiCurrentTaskFragment.kt +++ b/OCH/taxi/unmanned-driver/src/main/java/com/mogo/och/taxi/ui/task/TaxiCurrentTaskFragment.kt @@ -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 diff --git a/OCH/taxi/unmanned-driver/src/main/java/com/mogo/och/taxi/ui/task/TaxiTaskModel.kt b/OCH/taxi/unmanned-driver/src/main/java/com/mogo/och/taxi/ui/task/TaxiTaskModel.kt index d6d6f7453f..745dfa717b 100644 --- a/OCH/taxi/unmanned-driver/src/main/java/com/mogo/och/taxi/ui/task/TaxiTaskModel.kt +++ b/OCH/taxi/unmanned-driver/src/main/java/com/mogo/och/taxi/ui/task/TaxiTaskModel.kt @@ -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 diff --git a/core/function-impl/mogo-core-function-datacenter/src/main/java/com/mogo/eagle/core/function/datacenter/autopilot/adapter/MoGoAdasListenerImpl.kt b/core/function-impl/mogo-core-function-datacenter/src/main/java/com/mogo/eagle/core/function/datacenter/autopilot/adapter/MoGoAdasListenerImpl.kt index 48891547c5..0263d37654 100644 --- a/core/function-impl/mogo-core-function-datacenter/src/main/java/com/mogo/eagle/core/function/datacenter/autopilot/adapter/MoGoAdasListenerImpl.kt +++ b/core/function-impl/mogo-core-function-datacenter/src/main/java/com/mogo/eagle/core/function/datacenter/autopilot/adapter/MoGoAdasListenerImpl.kt @@ -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, diff --git a/core/function-impl/mogo-core-function-datacenter/src/main/java/com/mogo/eagle/core/function/datacenter/v2x/TrafficLightDispatcher.kt b/core/function-impl/mogo-core-function-datacenter/src/main/java/com/mogo/eagle/core/function/datacenter/v2x/TrafficLightDispatcher.kt index 902302fec5..e0c8f7057e 100644 --- a/core/function-impl/mogo-core-function-datacenter/src/main/java/com/mogo/eagle/core/function/datacenter/v2x/TrafficLightDispatcher.kt +++ b/core/function-impl/mogo-core-function-datacenter/src/main/java/com/mogo/eagle/core/function/datacenter/v2x/TrafficLightDispatcher.kt @@ -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 { diff --git a/core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/hmi/ui/widget/ParallelDriveView.kt b/core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/hmi/ui/widget/ParallelDriveView.kt index 84742609d3..fead1ec4c7 100644 --- a/core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/hmi/ui/widget/ParallelDriveView.kt +++ b/core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/hmi/ui/widget/ParallelDriveView.kt @@ -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( diff --git a/core/mogo-core-data/src/main/java/com/mogo/eagle/core/data/deva/chain/ChainConstant.kt b/core/mogo-core-data/src/main/java/com/mogo/eagle/core/data/deva/chain/ChainConstant.kt index e393ead0aa..670ce998aa 100644 --- a/core/mogo-core-data/src/main/java/com/mogo/eagle/core/data/deva/chain/ChainConstant.kt +++ b/core/mogo-core-data/src/main/java/com/mogo/eagle/core/data/deva/chain/ChainConstant.kt @@ -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"