[Change]

替换调度中的开启自动驾驶的方法调用

Signed-off-by: donghongyu <donghongyu@zhidaoauto.com>

modules/mogo-module-adas/src/main/assets/testFile.txt

@@ -1,102 +0,0 @@
-{lat=26.820175208327566,lon=112.57748204198309},
-{lat=26.82009891465042,lon=112.57735739748664},
-{lat=26.820022750763542,lon=112.57723266155585},
-{lat=26.81994655656347,lon=112.57710795477944},
-{lat=26.81987031666393,lon=112.57698328267305},
-{lat=26.819793988171348,lon=112.57685866945901},
-{lat=26.819717530408877,lon=112.57673414980971},
-{lat=26.819635079638967,lon=112.57661462149986},
-{lat=26.819532022659132,lon=112.5765234581422},
-{lat=26.819488197195188,lon=112.5764835085963},
-{lat=26.81947053563866,lon=112.57645743645142},
-{lat=26.81945285740347,lon=112.5764313389555},
-{lat=26.81941584428336,lon=112.57637074918446},
-{lat=26.819355855639404,lon=112.57626774620917},
-{lat=26.8193352833325,lon=112.57623094969783},
-{lat=26.819315738575742,lon=112.57619587959701},
-{lat=26.81929619389902,lon=112.5761608096667},
-{lat=26.819276064037396,lon=112.5761245744324},
-{lat=26.819221654527443,lon=112.5760208132482},
-{lat=26.819153675938914,lon=112.5758903945585},
-{lat=26.8190859083974,lon=112.57576035026403},
-{lat=26.81904791926707,lon=112.57568644394968},
-{lat=26.819047477540156,lon=112.57568591545105},
-{lat=26.819047035811135,lon=112.57568538694994},
-{lat=26.819046594080046,lon=112.57568485844635},
-{lat=26.81902999052958,lon=112.57568137976324},
-{lat=26.818966668056316,lon=112.57572279587626},
-{lat=26.81896660310204,lon=112.57572518130716},
-{lat=26.81896683258833,lon=112.57572606581252},
-{lat=26.81896706207354,lon=112.57572695031374},
-{lat=26.818971211272444,lon=112.57573544393973},
-{lat=26.819027657144368,lon=112.57584589447032},
-{lat=26.819095546341085,lon=112.57597644303986},
-{lat=26.8191650468231,lon=112.57610591408428},
-{lat=26.819236806047,lon=112.5762338575302},
-{lat=26.819310184480436,lon=112.57636063880027},
-{lat=26.819384451187933,lon=112.5764867800095},
-{lat=26.819460642360763,lon=112.57661149583805},
-{lat=26.819536878267925,lon=112.57673619431976},
-{lat=26.819613220428206,lon=112.57686079387894},
-{lat=26.819689146973122,lon=112.57698570087358},
-{lat=26.819765257290772,lon=112.57711047564952},
-{lat=26.81984156841068,lon=112.57723510283108},
-{lat=26.819916608456698,lon=112.57735767331373},
-{lat=26.819990868286688,lon=112.57747918205983},
-{lat=26.82006704845146,lon=112.57760363217366},
-{lat=26.820142688927376,lon=112.57772676391022},
-{lat=26.820220480866162,lon=112.57784947830805},
-{lat=26.82029609426984,lon=112.57797111160743},
-{lat=26.820372540342063,lon=112.57809575812311},
-{lat=26.820449035279513,lon=112.57822036992494},
-{lat=26.82052479395364,lon=112.5783432083879},
-{lat=26.820600741070034,lon=112.57846626552721},
-{lat=26.820676451505513,lon=112.57858892597905},
-{lat=26.820750627333855,lon=112.57870908764811},
-{lat=26.820788099971104,lon=112.57876896886103},
-{lat=26.82079340880141,lon=112.57877600898784},
-{lat=26.82079871765643,lon=112.57878304914836},
-{lat=26.820804096213536,lon=112.57879017489086},
-{lat=26.820866626548845,lon=112.5788587003478},
-{lat=26.820983640738305,lon=112.57893123552938},
-{lat=26.82111632395692,lon=112.57893777257203},
-{lat=26.82117204164965,lon=112.57891747212024},
-{lat=26.821184743761496,lon=112.57890962148315},
-{lat=26.821197445813166,lon=112.57890177088103},
-{lat=26.821210607045213,lon=112.57889357476125},
-{lat=26.821290516628242,lon=112.57883467623317},
-{lat=26.82140278979742,lon=112.57875048180252},
-{lat=26.821515292745254,lon=112.57866667791178},
-{lat=26.821628395747688,lon=112.5785838835907},
-{lat=26.82174189376551,lon=112.57850175198458},
-{lat=26.82185566968843,lon=112.57842010282002},
-{lat=26.82196987298559,lon=112.57833919555353},
-{lat=26.822083935682734,lon=112.5782580474171},
-{lat=26.822198178890964,lon=112.57817722472228},
-{lat=26.82231299206679,lon=112.5780973993899},
-{lat=26.822427661696032,lon=112.57801732090307},
-{lat=26.82254293064344,lon=112.57793832470455},
-{lat=26.822658717481524,lon=112.57786026718888},
-{lat=26.822774624402133,lon=112.57778243034805},
-{lat=26.82289066838358,lon=112.57770484656757},
-{lat=26.823007036027615,lon=112.57762787191734},
-{lat=26.823123797760537,lon=112.57755163699323},
-{lat=26.82324089700492,lon=112.57747604255579},
-{lat=26.823355874237176,lon=112.57740187937155},
-{lat=26.823470001455,lon=112.57732986163221},
-{lat=26.82358841433288,lon=112.57725688653507},
-{lat=26.823706827172103,lon=112.5771839112856},
-{lat=26.82382523997266,lon=112.57711093588388},
-{lat=26.823943652734542,lon=112.57703796032986},
-{lat=26.824062065457753,lon=112.57696498462354},
-{lat=26.824180478142292,lon=112.57689200876496},
-{lat=26.82429889078817,lon=112.57681903275407},
-{lat=26.824416715403633,lon=112.5767464980989},
-{lat=26.824533859020413,lon=112.57667699873441},
-{lat=26.824651399274774,lon=112.57660868246823},
-{lat=26.824762900762973,lon=112.57658692553045},
-{lat=26.824968687097577,lon=112.57656763804074},
-{lat=26.825104150528567,lon=112.57650684107888},
-{lat=26.82522465989416,lon=112.57643823074989},
-{lat=26.825345659446693,lon=112.57637072881484},
-{lat=26.8255763298452,lon=112.57624421893341},

modules/mogo-module-service/src/main/java/com/mogo/module/service/dispatch/DispatchAutoPilotManager.java

@@ -17,6 +17,7 @@ import com.mogo.eagle.core.data.map.MogoLocation;
 import com.mogo.eagle.core.function.api.autopilot.IMoGoAutopilotPlanningListener;
 import com.mogo.eagle.core.function.api.autopilot.IMoGoAutopilotStatusListener;
 import com.mogo.eagle.core.function.api.hmi.autopilot.IMoGoCheckAutoPilotBtnListener;
+import com.mogo.eagle.core.function.call.autopilot.CallerAutoPilotManager;
 import com.mogo.eagle.core.function.call.autopilot.CallerAutoPilotStatusListenerManager;
 import com.mogo.eagle.core.function.call.autopilot.CallerAutopilotPlanningListenerManager;
 import com.mogo.eagle.core.function.call.hmi.CallerHmiListenerManager;
@@ -172,7 +173,7 @@ public class DispatchAutoPilotManager implements IMogoOnMessageListener<Dispatch
         currentAutopilot.endLatLon = new AutopilotControlParameters.AutoPilotLonLat(receiverBean.getEndLat(), receiverBean.getEndLon());
         currentAutopilot.vehicleType = 10;
         Logger.d(TAG, "开启自动驾驶====" + currentAutopilot);
-        mApis.getAdasControllerApi().aiCloudToAdasData(currentAutopilot);
+        CallerAutoPilotManager.INSTANCE.startAutoPilot(currentAutopilot);
     }
 
     @Override

services/mogo-service-api/src/main/java/com/mogo/service/adas/IMogoADASController.java

@@ -1,7 +1,6 @@
 package com.mogo.service.adas;
 
 import com.alibaba.android.arouter.facade.template.IProvider;
-import com.mogo.eagle.core.data.autopilot.AutopilotControlParameters;
 
 /**
  * @author congtaowang
@@ -18,14 +17,6 @@ public interface IMogoADASController extends IProvider {
 
     void release();
 
-    /**
-     * 给adas传递数据
-     *
-     * @param result
-     */
-    void aiCloudToAdasData(AutopilotControlParameters result);
-
-
     /**
      * 自车定位数据
      *

services/mogo-service/src/main/java/com/mogo/service/impl/adas/MogoADASController.java

@@ -7,8 +7,6 @@ import com.alibaba.android.arouter.launcher.ARouter;
 import com.mogo.commons.AbsMogoApplication;
 import com.mogo.commons.debug.DebugConfig;
 import com.mogo.eagle.core.data.autopilot.AutopilotCarStateInfo;
-import com.mogo.eagle.core.data.autopilot.AutopilotControlCmdParameter;
-import com.mogo.eagle.core.data.autopilot.AutopilotControlParameters;
 import com.mogo.eagle.core.data.autopilot.AutopilotStatusInfo;
 import com.mogo.eagle.core.data.constants.MogoServicePaths;
 import com.mogo.eagle.core.network.utils.GsonUtil;
@@ -95,22 +93,6 @@ public class MogoADASController implements IMogoADASController {
         }
     }
 
-    @Override
-    public void aiCloudToAdasData(AutopilotControlParameters result) {
-        try {
-            AutopilotControlCmdParameter parameter = new AutopilotControlCmdParameter("aiCloudToStartAutopilot", result);
-            //位置信息 action是aiCloudToStartAutopilot
-            try {
-                adasProvider.sendWsMessage(GsonUtil.jsonFromObject(parameter));
-            } catch (Exception e) {
-                e.printStackTrace();
-            }
-        } catch (Exception e) {
-            Logger.e(TAG, e, "aiCloudToAdasData");
-        }
-    }
-
-
     @Override
     public void release() {
         adasProvider.removeAdasEventListener(mAdasDataListener);