Merge branch 'dev_robosweeper-d_app-module_221230_1.1.0' into dev_arch_opt_3.0
# Conflicts: # OCH/mogo-och-common-module/src/main/java/com/mogo/och/common/module/utils/CallerLoggerUtils.kt # OCH/mogo-och-sweeper/src/main/java/com/mogo/och/sweeper/ui/SweeperOperatePanelView.java # app/src/main/java/com/mogo/launcher/stageone/ConfigStartUp.kt # core/function-impl/mogo-core-function-datacenter/src/main/java/com/mogo/eagle/core/function/datacenter/autopilot/adapter/MoGoAdasListenerImpl.kt # core/function-impl/mogo-core-function-datacenter/src/main/java/com/mogo/eagle/core/function/datacenter/autopilot/adapter/MoGoHandAdasMsgManager.java # core/function-impl/mogo-core-function-devatools/src/main/java/com/zhjt/mogo_core_function_devatools/badcase/biz/AIDataCollectWindow.kt # core/function-impl/mogo-core-function-devatools/src/main/java/com/zhjt/mogo_core_function_devatools/badcase/biz/InitiativeBadCaseWindow.kt # core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/hmi/ui/widget/SteeringWheelView.java # core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/hmi/ui/widget/TrafficDataView.java # core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/smp/SmallMapFragment.java # core/mogo-core-function-api/src/main/java/com/mogo/eagle/core/function/api/autopilot/IMoGoAutopilotVehicleStateListener.kt # core/mogo-core-function-call/src/main/java/com/mogo/eagle/core/function/call/autopilot/CallerAutopilotVehicleStateListenerManager.kt # gradle.properties # libraries/mogo-map/src/main/java/com/mogo/map/CustomMapApiBuilder.java
This commit is contained in:
donghongyu
@@ -1,5 +1,6 @@
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package com.mogo.eagle.core.function.datacenter.autopilot.adapter
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import chassis.ChassisStatesOuterClass
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import chassis.VehicleStateOuterClass
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import com.mogo.eagle.core.data.app.AppConfigInfo
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import com.mogo.eagle.core.data.config.FunctionBuildConfig
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@@ -58,6 +59,7 @@ import com.zhidao.support.adas.high.bean.AutopilotStatistics
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import com.zhidao.support.adas.high.common.ProtocolStatus
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import com.zhjt.service.chain.ChainLog
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import com.zhjt.service.chain.TracingConstants.Endpoint.Companion.PAD
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import function_state_management.FunctionStates
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import mogo.telematics.pad.MessagePad
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import mogo.telematics.pad.MessagePad.TrackedObject
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import mogo_msg.MogoReportMsg
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@@ -139,38 +141,66 @@ class MoGoAdasListenerImpl : OnAdasListener {
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}
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}
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//自车状态(底盘)，车灯等。
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@ChainLog(
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linkChainLog = CHAIN_LINK_LOG_WEB_SOCKET_VEHICLE,
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linkCode = CHAIN_LINK_ADAS,
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endpoint = PAD,
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nodeAliasCode = CHAIN_ALIAS_CODE_ADAS_MESSAGE_AUTOPILOT_VEHICLE,
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paramIndexes = [0, 1],
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clientPkFileName = "sn"
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)
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/**
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* 老底盘
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* TODO 老地盘数据会转发到新地盘
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* TODO 鹰眼不要用此接口展示页面相关，可以用来记录链路日志
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*
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* @param header 头
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* @param vehicleState 数据
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*/
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override fun onVehicleState(
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header: MessagePad.Header,
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vehicleState: VehicleStateOuterClass.VehicleState?
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) {
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if (vehicleState != null) {
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//转向灯数据
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CallerChassisLamplightListenerManager.invokeAutopilotLightSwitchData(vehicleState.light)
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//刹车灯数据
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CallerChassisLamplightListenerManager.invokeAutopilotBrakeLightData(vehicleState.brakeLightStatus)
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//方向盘转向角数据
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CallerChassisSteeringStateListenerManager.invokeAutopilotSteeringData(vehicleState.steering)
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//挂挡档位数据
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CallerChassisGearStateListenerManager.invokeAutopilotGearData(vehicleState.gear)
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//加速度
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CallerChassisAccStateListenerManager.invokeAutopilotAcc(vehicleState.accel)
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//油门
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CallerChassisThrottleStateListenerManager.invokeAutopilotThrottle(vehicleState.throttle)
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//刹车
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CallerChassisBrakeStateListenerManager.invokeAutopilotBrake(vehicleState.brake)
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//清扫车（福田）清扫控制系统状态
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vehicleState.sweeperFutianCleanSystemState?.also {
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CallerSweeperFutianCleanSystemListenerManager.invokeSweeperFutianCleanSystemState(it)
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}
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@ChainLog(
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linkChainLog = CHAIN_LINK_LOG_WEB_SOCKET_VEHICLE,
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linkCode = CHAIN_LINK_ADAS,
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endpoint = PAD,
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nodeAliasCode = CHAIN_ALIAS_CODE_ADAS_MESSAGE_AUTOPILOT_VEHICLE,
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paramIndexes = [0, 1],
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clientPkFileName = "sn"
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)
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override fun onChassisStates(header: MessagePad.Header, chassisStates: ChassisStatesOuterClass.ChassisStates?) {
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if (chassisStates != null) {
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chassisStates.bcmSystemStates?.let { bcmSystemStates ->
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bcmSystemStates.turnLightState?.let {
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//转向灯数据
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CallerChassisLamplightListenerManager.invokeAutopilotLightSwitchData(it)
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}
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//刹车灯数据
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CallerChassisLamplightListenerManager.invokeAutopilotBrakeLightData(bcmSystemStates.brakeLightState != 0)
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}
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chassisStates.steerSystemStates?.let {
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//方向盘转向角数据
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CallerChassisSteeringStateListenerManager.invokeAutopilotSteeringData(it.steeringWheelAngle)
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}
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chassisStates.gearSystemStates?.let { gearSystemStates ->
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gearSystemStates.gearPosition?.let {
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//挂挡档位数据
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CallerChassisGearStateListenerManager.invokeAutopilotGearData(it)
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}
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}
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chassisStates.vehicleMotionStates?.let {
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//加速度
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CallerChassisAccStateListenerManager.invokeAutopilotAcc(it.acceleration)
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}
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chassisStates.drivingSystemStates?.let {
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//油门
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CallerChassisThrottleStateListenerManager.invokeAutopilotThrottle(it.throttleResponsePosition)
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}
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chassisStates.brakeSystemStates?.let {
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//刹车
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CallerChassisBrakeStateListenerManager.invokeAutopilotBrake(it.brakePedalResponsePosition)
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}
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chassisStates.taskSystemStates?.let { taskSystemStates ->
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taskSystemStates.sweeperFutianTaskSystemStates?.let {
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//清扫车（福田）清扫控制系统状态
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CallerSweeperFutianCleanSystemListenerManager.invokeSweeperFutianCleanSystemState(it)
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}
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}
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} else {
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CallerAutopilotVehicleStateListenerManager.invokeAutopilotDataException(header.timestamp.toLong())
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@@ -434,7 +464,15 @@ class MoGoAdasListenerImpl : OnAdasListener {
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invokePNCActions(it)
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}
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}
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/**
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* 重构后的功能状态
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*
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* @param header 头
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* @param functionStates 头
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*/
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override fun onFunctionStates(header: MessagePad.Header?, functionStates: FunctionStates.FSMFunctionStates?) {
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}
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/**
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* 是否可以启动自动驾驶
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