Merge branch 'dev_arch_opt_3.0' into dev_robosweeper-d_app-module_221230_1.1.0

# Conflicts: # OCH/mogo-och-sweeper/src/main/java/com/mogo/och/sweeper/view/SweeperLimitingVelocityView.kt # OCH/mogo-och-sweeper/src/main/java/com/mogo/och/sweeper/view/SweeperTrafficDataView.java # OCH/mogo-och-sweeper/src/main/res/layout/sweeper_base_fragment.xml
2023-01-31 17:25:18 +08:00
parent 9abdb2f123 c591a30752
commit 417db47d77
185 changed files with 2897 additions and 5656 deletions
--- a/core/mogo-core-function-call/src/main/java/com/mogo/eagle/core/function/call/autopilot/CallerAutoPilotStatusListenerManager.kt
+++ b/core/mogo-core-function-call/src/main/java/com/mogo/eagle/core/function/call/autopilot/CallerAutoPilotStatusListenerManager.kt
@@ -10,9 +10,9 @@ import mogo_msg.MogoReportMsg
 import system_master.SystemStatusInfo

 /**
- * @author xiaoyuzhou
- * @date 2021/9/30 5:48 下午
 * 域控制器相关的回调监听
+ * @date 2021/9/30 5:48 下午
+ * @author xiaoyuzhou
 */
 object CallerAutoPilotStatusListenerManager : CallerBase<IMoGoAutopilotStatusListener>() {

--- a/core/mogo-core-function-call/src/main/java/com/mogo/eagle/core/function/call/autopilot/REEADME.md
+++ b/core/mogo-core-function-call/src/main/java/com/mogo/eagle/core/function/call/autopilot/REEADME.md
@@ -1,6 +1,58 @@
-#### CallerAutoPilotStatusListenerManager  管理自动驾驶中的状态及参数信息
+#### 管理与工控机相关的数据回掉
+
+``` kotlin
+/**
+ * 添加 监听
+ * @param tag 标记，用来注销监听使用
+ * @param listener 监听回调
+ */
+fun addListener(
+        tag: String,
+        listener: T
+)
+
+/**
+ * 在添加了监听后执行
+ */
+open fun doSomeAfterAddListener(tag: String, listener: T) 
+
+/**
+ * 删除监听
+ * @param tag 标记，用来注销监听使用
+ */
+fun removeListener(tag: String) 
+
+/**
+ * 删除监听
+ * @param listener 要删除的监听对象
+ */
+fun removeListener(listener: T) 
+```
+
+CallerAutopilotActionsListenerManager
+CallerAutopilotCarConfigListenerManager
+CallerAutopilotIdentifyListenerManager
+CallerAutoPilotManager
+CallerAutopilotPointCloudListenerManager
+CallerAutopilotRecordListenerManager
+CallerAutopilotStatisticsListenerManager
+CallerAutoPilotStatusListenerManager
+CallerAutopilotVehicleStateListenerManager
+CallerBatteryManagementSystemListenerManager
+CallerChassisAccStateListenerManager
+CallerChassisBrakeStateListenerManager
+CallerChassisGearStateListenerManager
+CallerChassisLamplightListenerManager
+CallerChassisLocationGCJ20ListenerManager
+CallerChassisLocationWGS84ListenerManager
+CallerChassisSteeringStateListenerManager
+CallerChassisThrottleStateListenerManager
+CallerPlanningActionsListenerManager
+CallerPlanningRottingListenerManager
+CallerPlanningTrajectoryListenerManager
+CallerRoboBusJinlvM1StatesListenerManager
+CallerStartAutopilotFailedListenerManager
+CallerSweeperFutianCleanSystemListenerManager
+
+

-AutopilotStatusInfo：
-连接信息
-实时经纬度、速度、车辆硬件状态
-最后一次启动自动驾驶时候的启动参数 AutopilotControlParameters
--- a/core/mogo-core-function-call/src/main/java/com/mogo/eagle/core/function/call/devatools/CallerDevaToolsManager.kt
+++ b/core/mogo-core-function-call/src/main/java/com/mogo/eagle/core/function/call/devatools/CallerDevaToolsManager.kt
@@ -4,6 +4,7 @@ import android.app.Activity
 import android.content.Context
 import android.view.View
 import android.view.ViewGroup
+import com.mogo.eagle.core.data.EnvConfig
 import com.mogo.eagle.core.data.bindingcar.ModifyBindingcarInfo
 import com.mogo.eagle.core.data.config.FunctionBuildConfig
 import com.mogo.eagle.core.data.constants.MogoServicePaths
@@ -172,6 +173,10 @@ object CallerDevaToolsManager {
        devaToolsProviderApi?.syncConfig()
    }

+    fun getEnvConfig(): EnvConfig? {
+        return devaToolsProviderApi?.getEnvConfig()
+    }
+
    fun modifyCarInfo(callBack: (ModifyBindingcarInfo) -> Unit){
        devaToolsProviderApi?.modifyCarInfo(callBack)
    }
--- a/core/mogo-core-function-call/src/main/java/com/mogo/eagle/core/function/call/hmi/CallerHmiManager.kt
+++ b/core/mogo-core-function-call/src/main/java/com/mogo/eagle/core/function/call/hmi/CallerHmiManager.kt
@@ -1,23 +1,18 @@
 package com.mogo.eagle.core.function.call.hmi

-import android.view.View
 import android.view.ViewGroup
 import com.alibaba.android.arouter.launcher.ARouter
 import com.mogo.eagle.core.data.bindingcar.IPCUpgradeStateInfo
 import com.mogo.eagle.core.data.constants.MoGoFragmentPaths
-import com.mogo.eagle.core.data.deva.bizconfig.FuncBizConfig.Companion.BIZ_SLW
-import com.mogo.eagle.core.data.deva.bizconfig.FuncBizConfig.Companion.V2I
 import com.mogo.eagle.core.data.dispatch.DispatchAdasAutoPilotLocReceiverBean
 import com.mogo.eagle.core.data.enums.WarningDirectionEnum
 import com.mogo.eagle.core.data.map.Infrastructure
 import com.mogo.eagle.core.data.notice.NoticeNormalData
 import com.mogo.eagle.core.data.notice.NoticeTrafficStylePushData
 import com.mogo.eagle.core.data.report.ReportEntity
-import com.mogo.eagle.core.function.api.hmi.view.IViewLimitingVelocity
 import com.mogo.eagle.core.function.api.hmi.view.IViewTrafficLight
 import com.mogo.eagle.core.function.api.hmi.warning.IMoGoHmiProvider
 import com.mogo.eagle.core.function.api.hmi.warning.IMoGoWarningStatusListener
-import com.zhjt.service_biz.BizConfig

 /**
 * @author xiaoyuzhou
@@ -37,42 +32,6 @@ object CallerHmiManager {
        waringProviderApi?.displayEffects()
    }

-    /**
-     * 隐藏 脉速表
-     * @param visibility View.VISIBLE, View.INVISIBLE,View.GONE
-     */
-    fun setSpeedChartViewVisibility(visibility: Int) {
-        waringProviderApi?.setSpeedChartViewVisibility(visibility)
-    }
-
-    /**
-     * 隐藏 自动驾驶触发 按钮
-     *  @param visibility View.VISIBLE, View.INVISIBLE,View.GONE
-     */
-    fun setAutopilotStatusViewVisibility(visibility: Int) {
-        waringProviderApi?.setAutopilotStatusViewVisibility(visibility)
-    }
-
-    /**
-     * 隐藏 切换视角 按钮
-     * @param visibility View.VISIBLE, View.INVISIBLE,View.GONE
-     */
-    fun setPerspectiveSwitchViewVisibility(visibility: Int) {
-        waringProviderApi?.setPerspectiveSwitchViewVisibility(visibility)
-    }
-
-    /**
-     * 隐藏 工具箱 按钮
-     * @param visibility View.VISIBLE, View.INVISIBLE,View.GONE
-     */
-    fun setToolsViewVisibility(visibility: Int) {
-        waringProviderApi?.setToolsViewVisibility(visibility)
-    }
-
-    fun setCameraViewVisibility(visibility: Int) {
-        waringProviderApi?.setCameraViewVisibility(visibility)
-    }
-
    /**
     * 控制转向灯功能
     */
@@ -200,24 +159,6 @@ object CallerHmiManager {
        waringProviderApi?.changeCountdownTrafficLightNum(readNum, yellowNum, greenNum)
    }

-    /**
-     * 展示限速预警
-     *
-     * @param limitingSpeed 限速速度
-     * @param limitSpeedSource 限速来源 1:MAP, 2:RSU
-     */
-    @BizConfig(V2I, "", BIZ_SLW)
-    fun showLimitingVelocity(limitingSpeed: Int, limitSpeedSource: Int) {
-        waringProviderApi?.showLimitingVelocity(limitingSpeed, limitSpeedSource)
-    }
-
-    /**
-     * 关闭限速预警
-     */
-    fun disableLimitingVelocity() {
-        waringProviderApi?.disableLimitingVelocity()
-    }
-
    /**
     * 展示指定方位上的红框预警
     * @param direction
@@ -346,14 +287,6 @@ object CallerHmiManager {
        waringProviderApi?.setProxyTrafficLightView(view)
    }

-    /**
-     * 设置 限速 代理View
-     * @param view
-     */
-    fun setProxyLimitingSpeedView(view: IViewLimitingVelocity) {
-        waringProviderApi?.setProxyLimitingSpeedView(view)
-    }
-
    /**
     * 展示工控机监控上报数据
     * @param errorReportList 错误级别上报数据列表
--- a/core/mogo-core-function-call/src/main/java/com/mogo/eagle/core/function/call/map/CallerMapLocationListenerManager.kt
+++ b/core/mogo-core-function-call/src/main/java/com/mogo/eagle/core/function/call/map/CallerMapLocationListenerManager.kt
@@ -13,21 +13,9 @@ import java.util.concurrent.ConcurrentHashMap
 object CallerMapLocationListenerManager : CallerBase<Any>() {

    // 记录地图最后一次位置
+    @Volatile
    private var mLocation: MogoLocation? = null

-    /**
-     * 记录最后一次高精坐标的位置
-     */
-    private var mGpsLocation: MogoLocation? = null
-
-    // 存储所有注册了监听的对象，invokeXXXX进行遍历回调，将信息同步
-    private val mMapStyleChangeListeners: ConcurrentHashMap<String, IMoGoMapLocationListener> =
-        ConcurrentHashMap()
-
-
-    // 高精坐标回调
-    private val mGpsChangedListeners: ConcurrentHashMap<String, IMoGoMapLocationListener> = ConcurrentHashMap()
-
    /**
     * 获取当前经纬度
     */
@@ -35,103 +23,7 @@ object CallerMapLocationListenerManager : CallerBase<Any>() {
        return mLocation
    }

-    /**
-     * 获取当前高精坐标
-     */
-    fun getCurrentGpsLocation(): MogoLocation? {
-        return mGpsLocation
-    }
-
-    /**
-     * 添加 地图样式改变 监听
-     * @param tag 标记，用来注销监听使用
-     * @param listener 监听回调
-     */
-    fun addListener(tag: String, listener: IMoGoMapLocationListener, isGps: Boolean) {
-        if (!isGps) {
-            if (mMapStyleChangeListeners.containsKey(tag)) {
-                return
-            }
-            mMapStyleChangeListeners[tag] = listener
-            listener.onLocationChanged(mLocation, 0, isGps)
-        } else {
-            if (mGpsChangedListeners.containsKey(tag)) {
-                return
-            }
-            mGpsChangedListeners[tag] = listener
-            listener.onLocationChanged(mGpsLocation, 0, isGps)
-        }
-
-    }
-
-    /**
-     * 删除 地图样式改变 监听
-     * @param tag 标记，用来注销监听使用
-     */
-    fun removeListener(tag: String, isGps: Boolean) {
-        if (!isGps) {
-            if (!mMapStyleChangeListeners.containsKey(tag)) {
-                return
-            }
-            mMapStyleChangeListeners.remove(tag)
-        } else {
-            if (!mGpsChangedListeners.containsKey(tag)) {
-                return
-            }
-            mGpsChangedListeners.remove(tag)
-        }
-
-    }
-
-    /**
-     * 删除 地图样式改变 监听
-     * @param listener 要删除的监听对象
-     */
-    fun removeListener(listener: IMoGoMapLocationListener, isGps: Boolean) {
-        if (!isGps) {
-            if (!mMapStyleChangeListeners.containsValue(listener)) {
-                return
-            }
-            mMapStyleChangeListeners.forEach {
-                if (it.value == listener) {
-                    mMapStyleChangeListeners.remove(it.key)
-                }
-            }
-        } else {
-            if (!mGpsChangedListeners.containsValue(listener)) {
-                return
-            }
-            mGpsChangedListeners.forEach {
-                if (it.value == listener) {
-                    mGpsChangedListeners.remove(it.key)
-                }
-            }
-        }
-    }
-
-    /**
-     * 触发 地图样式改变 监听
-     */
-    fun invokeMapLocationChangeListener() {
-        invokeMapLocationChangeListener(mLocation, 0, false)
-    }
-
-    /**
-     * 触发 地图样式改变 监听
-     * @param location 选中状态
-     */
-    fun invokeMapLocationChangeListener(location: MogoLocation?, from: Int, isGps: Boolean) {
-        if (!isGps) {
-            mLocation = location
-            mMapStyleChangeListeners.forEach {
-                val listener = it.value
-                listener.onLocationChanged(location, from, isGps)
-            }
-        } else {
-            mGpsLocation = location
-            mGpsChangedListeners.forEach {
-                it.value.onLocationChanged(location, from, isGps)
-            }
-        }
+    fun setCurrentLocation(location: MogoLocation) {
+        mLocation = location
    }
 }
--- a/core/mogo-core-function-call/src/main/java/com/mogo/eagle/core/function/call/map/CallerVisualAngleManager.kt
+++ b/core/mogo-core-function-call/src/main/java/com/mogo/eagle/core/function/call/map/CallerVisualAngleManager.kt
@@ -12,6 +12,7 @@ import androidx.lifecycle.LifecycleOwner
 import com.mogo.eagle.core.data.config.FunctionBuildConfig
 import com.mogo.eagle.core.data.map.*
 import com.mogo.eagle.core.data.map.MapRoadInfo.StopLine
+import com.mogo.eagle.core.function.call.autopilot.*
 import com.mogo.eagle.core.function.call.map.CallerMapRoadListenerManager.OnRoadListener
 import com.mogo.eagle.core.function.call.map.CallerVisualAngleManager.Scene.*
 import com.mogo.eagle.core.utilcode.kotlin.lifeCycleOwner
@@ -23,6 +24,7 @@ import com.zhidaoauto.map.sdk.open.tools.MapTools
 import kotlinx.coroutines.*
 import kotlinx.coroutines.android.asCoroutineDispatcher
 import kotlinx.coroutines.internal.synchronized
+import mogo.telematics.pad.MessagePad.GnssInfo
 import java.util.*
 import java.util.concurrent.TimeUnit
 import java.util.concurrent.TimeUnit.SECONDS
@@ -63,7 +65,7 @@ object CallerVisualAngleManager {
        val displayThreshold: Long  //最大展示时长 > 0; 表示最长展示多长时间， -1 表示，一直展示，直到触发默认视角, 0: 默认视角专用值，
    }

-    private val triggerLocation = AtomicReference<MogoLocation>()
+    private val triggerLocation = AtomicReference<GnssInfo>()

    private val distanceOfCarToStopLine = AtomicReference(0.0)

@@ -76,7 +78,7 @@ object CallerVisualAngleManager {
        override fun onRoadIdInfo(roadId: String) {
            this.roadId.set(roadId)
            Log.d(TAG, "-- onRoadIdInfo --: prev: ${this.triggerRoadId.get()} -> curr: $roadId")
-            val loc = CallerMapLocationListenerManager.getCurrentLocation()
+            val loc = CallerChassisLocationGCJ20ListenerManager.getChassisLocationGCJ02()
            var triggerClose = false
            val distance = distanceOfCarToStopLine.get() +  5
            if (hasCrossRoad && distance > 0) {
@@ -109,7 +111,7 @@ object CallerVisualAngleManager {
                hasCrossRoad = true
                triggerRoadId.set(this.roadId.get())
                distanceOfCarToStopLine.set(info.distanceOfCarToStopLine)
-                triggerLocation.set(CallerMapLocationListenerManager.getCurrentLocation())
+                triggerLocation.set(CallerChassisLocationGCJ20ListenerManager.getChassisLocationGCJ02())
                changeVisualAngle(CrossRoad(true))
            }
        }
--- a/core/mogo-core-function-call/src/main/java/com/mogo/eagle/core/function/call/msgbox/CallerMsgBoxEventListenerManager.kt
+++ b/core/mogo-core-function-call/src/main/java/com/mogo/eagle/core/function/call/msgbox/CallerMsgBoxEventListenerManager.kt
@@ -0,0 +1,30 @@
+package com.mogo.eagle.core.function.call.msgbox
+
+import androidx.annotation.Nullable
+import com.mogo.eagle.core.function.api.msgbox.IMsgBoxEventListener
+import com.mogo.eagle.core.function.call.base.CallerBase
+import java.util.concurrent.ConcurrentHashMap
+
+/**
+ * @author XuXinChao
+ * @date 2023/1/16
+ * 消息盒子事件监听管理
+ */
+object CallerMsgBoxEventListenerManager: CallerBase<IMsgBoxEventListener>() {
+
+    private val statusListeners: ConcurrentHashMap<String, IMsgBoxEventListener> =
+        ConcurrentHashMap()
+
+    /**
+     * 触发监听
+     */
+    fun invokeListener(){
+        statusListeners.forEach {
+            val tag = it.key
+            val listener = it.value
+            listener.onSummaryClickEvent()
+        }
+    }
+
+
+}
--- a/core/mogo-core-function-call/src/main/java/com/mogo/eagle/core/function/call/startup/CallerStartUpManager.kt
+++ b/core/mogo-core-function-call/src/main/java/com/mogo/eagle/core/function/call/startup/CallerStartUpManager.kt
@@ -0,0 +1,25 @@
+package com.mogo.eagle.core.function.call.startup
+
+import com.mogo.eagle.core.data.constants.MogoServicePaths
+import com.mogo.eagle.core.function.api.startup.IStartUpProvider
+import com.mogo.eagle.core.function.call.base.CallerBase
+
+object CallerStartUpManager {
+    private val TAG = "CallerStartUpManager"
+
+    private val providerApi: IStartUpProvider?
+        get() = CallerBase.getApiInstance(
+            IStartUpProvider::class.java,
+            MogoServicePaths.PATH_STARTUP_PROVIDER
+        )
+
+    @JvmStatic
+    fun initStageOne() {
+        providerApi?.initStageOne()
+    }
+
+    @JvmStatic
+    fun initStageTwo() {
+        providerApi?.initStageTwo()
+    }
+}
--- a/core/mogo-core-function-call/src/main/java/com/mogo/eagle/core/function/call/v2x/CallLimitingVelocityListenerManager.kt
+++ b/core/mogo-core-function-call/src/main/java/com/mogo/eagle/core/function/call/v2x/CallLimitingVelocityListenerManager.kt
@@ -1,29 +0,0 @@
-package com.mogo.eagle.core.function.call.v2x
-
-import com.mogo.eagle.core.function.api.v2x.LimitingVelocityListener
-import com.mogo.eagle.core.function.call.base.CallerBase
-
-/**
- * 限速信息监听
- */
-object CallLimitingVelocityListenerManager : CallerBase<LimitingVelocityListener>() {
-
-    private const val TAG = "CallLimitingVelocityListenerManager"
-
-    private var mCurrentLimitingVelocity = 0
-
-    override fun doSomeAfterAddListener(tag: String, listener: LimitingVelocityListener) {
-        listener.onLimitingVelocityChange(mCurrentLimitingVelocity)
-    }
-
-    fun invokeOnLimitingVelocityChange(limitingVelocity: Int) {
-        this.mCurrentLimitingVelocity = limitingVelocity
-        M_LISTENERS.forEach {
-            val tag = it.key
-            //LogUtils.dTag(TAG, "invokeOnLimitingVelocityChange tag is : $tag")
-            val listener = it.value
-            listener.onLimitingVelocityChange(limitingVelocity)
-        }
-    }
-
-}
--- a/core/mogo-core-function-call/src/main/java/com/mogo/eagle/core/function/call/v2x/CallObuLimitingSpeedListenerManager.kt
+++ b/core/mogo-core-function-call/src/main/java/com/mogo/eagle/core/function/call/v2x/CallObuLimitingSpeedListenerManager.kt
@@ -1,26 +0,0 @@
-package com.mogo.eagle.core.function.call.v2x
-
-import com.mogo.eagle.core.function.api.v2x.ObuLimitingSpeedListener
-import com.mogo.eagle.core.function.call.base.CallerBase
-import java.util.concurrent.ConcurrentHashMap
-
-/**
- * 限速信息监听
- */
-object CallObuLimitingSpeedListenerManager : CallerBase<ObuLimitingSpeedListener>(){
-
-    private const val TAG = "CallObuLimitingSpeedListenerManager"
-    private val M_TRAFFIC_LIGHT_LISTENER: ConcurrentHashMap<String, ObuLimitingSpeedListener> =
-            ConcurrentHashMap()
-    private var mObuLimitSpeed = 0
-
-    fun invokeOnObuLimitingSpeedChange(limitingSpeed: Int) {
-        this.mObuLimitSpeed = limitingSpeed
-        M_TRAFFIC_LIGHT_LISTENER.forEach {
-            val tag = it.key
-            val listener = it.value
-            listener.onObuLimitingSpeedChange(limitingSpeed)
-        }
-    }
-
-}
--- a/core/mogo-core-function-call/src/main/java/com/mogo/eagle/core/function/call/v2x/CallerLimitingVelocityListenerManager.kt
+++ b/core/mogo-core-function-call/src/main/java/com/mogo/eagle/core/function/call/v2x/CallerLimitingVelocityListenerManager.kt
@@ -0,0 +1,28 @@
+package com.mogo.eagle.core.function.call.v2x
+
+import com.mogo.eagle.core.data.enums.DataSourceType
+import com.mogo.eagle.core.function.api.v2x.ILimitingVelocityListener
+import com.mogo.eagle.core.function.call.base.CallerBase
+
+/**
+ * 限速信息监听
+ */
+object CallerLimitingVelocityListenerManager : CallerBase<ILimitingVelocityListener>() {
+
+    private var mCurrentLimitingVelocity = 0
+    private var sourceType = DataSourceType.DEFAULT
+
+    override fun doSomeAfterAddListener(tag: String, listener: ILimitingVelocityListener) {
+        listener.onLimitingVelocityChange(mCurrentLimitingVelocity, sourceType)
+    }
+
+    fun invokeOnLimitingVelocityChange(limitingVelocity: Int, sourceType: DataSourceType) {
+        this.mCurrentLimitingVelocity = limitingVelocity
+        this.sourceType = sourceType
+        M_LISTENERS.forEach {
+            val listener = it.value
+            listener.onLimitingVelocityChange(limitingVelocity, sourceType)
+        }
+    }
+
+}
--- a/core/mogo-core-function-call/src/main/java/com/mogo/eagle/core/function/call/v2x/CallerViewLimitingVelocityListenerManager.kt
+++ b/core/mogo-core-function-call/src/main/java/com/mogo/eagle/core/function/call/v2x/CallerViewLimitingVelocityListenerManager.kt
@@ -0,0 +1,28 @@
+package com.mogo.eagle.core.function.call.v2x
+
+import com.mogo.eagle.core.data.enums.DataSourceType
+import com.mogo.eagle.core.function.api.v2x.ILimitingVelocityListener
+import com.mogo.eagle.core.function.call.base.CallerBase
+
+/**
+ * 限速信息监听
+ */
+object CallerViewLimitingVelocityListenerManager : CallerBase<ILimitingVelocityListener>() {
+
+    private var mCurrentLimitingVelocity = 0
+    private var sourceType = DataSourceType.DEFAULT
+
+    override fun doSomeAfterAddListener(tag: String, listener: ILimitingVelocityListener) {
+        listener.onLimitingVelocityChange(mCurrentLimitingVelocity, sourceType)
+    }
+
+    fun invokeOnLimitingVelocityChange(limitingVelocity: Int, sourceType: DataSourceType) {
+        this.mCurrentLimitingVelocity = limitingVelocity
+        this.sourceType = sourceType
+        M_LISTENERS.forEach {
+            val listener = it.value
+            listener.onLimitingVelocityChange(limitingVelocity, sourceType)
+        }
+    }
+
+}