[6.6.0] merge

2024-08-16 11:24:53 +08:00
parent cd6fef7e7c 1609504f9d
commit 41e26b86d1
26 changed files with 580 additions and 311 deletions
--- 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
@@ -5,32 +5,30 @@ import chassis.Chassis
 import chassis.ChassisStatesOuterClass
 import chassis.VehicleStateOuterClass
 import com.mogo.eagle.core.data.app.AppConfigInfo
-import com.mogo.eagle.core.data.config.FunctionBuildConfig
 import com.mogo.eagle.core.data.config.HdMapBuildConfig
 import com.mogo.eagle.core.data.deva.chain.ChainConstant
-import com.mogo.eagle.core.data.deva.chain.ChainConstant.Companion.CHAIN_CODE_ADAS_ABILITY
 import com.mogo.eagle.core.data.deva.chain.ChainConstant.Companion.CHAIN_CODE_ADAS_ARRIVE
-import com.mogo.eagle.core.data.deva.chain.ChainConstant.Companion.CHAIN_CODE_ADAS_GUARDIAN
-import com.mogo.eagle.core.data.deva.chain.ChainConstant.Companion.CHAIN_CODE_ADAS_RECORD
-import com.mogo.eagle.core.data.deva.chain.ChainConstant.Companion.CHAIN_CODE_ADAS_ROUTE
-import com.mogo.eagle.core.data.deva.chain.ChainConstant.Companion.CHAIN_CODE_ADAS_STATUS
-import com.mogo.eagle.core.data.deva.chain.ChainConstant.Companion.CHAIN_CODE_ADAS_TRAJECTORY
-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_FM_MSG
+import com.mogo.eagle.core.data.deva.chain.ChainConstant.Companion.CHAIN_CODE_ADAS_GUARDIAN
 import com.mogo.eagle.core.data.deva.chain.ChainConstant.Companion.CHAIN_CODE_ADAS_MAP_PARAM
 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_RECORD
+import com.mogo.eagle.core.data.deva.chain.ChainConstant.Companion.CHAIN_CODE_ADAS_ROUTE
+import com.mogo.eagle.core.data.deva.chain.ChainConstant.Companion.CHAIN_CODE_ADAS_STATUS
 import com.mogo.eagle.core.data.deva.chain.ChainConstant.Companion.CHAIN_CODE_ADAS_STATUS_QUERY_RESP
+import com.mogo.eagle.core.data.deva.chain.ChainConstant.Companion.CHAIN_CODE_ADAS_TRAJECTORY
+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_SOURCE_ADAS
 import com.mogo.eagle.core.data.deva.chain.ChainConstant.Companion.CHAIN_TYPE_GNSS
-import com.mogo.eagle.core.data.deva.chain.ChainConstant.Companion.CHAIN_TYPE_STATUS
 import com.mogo.eagle.core.data.deva.chain.ChainConstant.Companion.CHAIN_TYPE_SOCKET_AUTOPILOT
 import com.mogo.eagle.core.data.deva.chain.ChainConstant.Companion.CHAIN_TYPE_SOCKET_TRAJECTORY
 import com.mogo.eagle.core.data.deva.chain.ChainConstant.Companion.CHAIN_TYPE_SOCKET_VEHICLE
-import com.mogo.eagle.core.function.call.autopilot.*
+import com.mogo.eagle.core.data.deva.chain.ChainConstant.Companion.CHAIN_TYPE_STATUS
+import com.mogo.eagle.core.function.call.autopilot.CallerAutoPilotStatusListenerManager
 import com.mogo.eagle.core.function.call.autopilot.CallerAutoPilotStatusListenerManager.invokeArriveAtStation
 import com.mogo.eagle.core.function.call.autopilot.CallerAutoPilotStatusListenerManager.invokeAutopilotGuardian
 import com.mogo.eagle.core.function.call.autopilot.CallerAutoPilotStatusListenerManager.invokeAutopilotSNRequest
@@ -38,22 +36,51 @@ import com.mogo.eagle.core.function.call.autopilot.CallerAutoPilotStatusListener
 import com.mogo.eagle.core.function.call.autopilot.CallerAutoPilotStatusListenerManager.invokeSystemStatus
 import com.mogo.eagle.core.function.call.autopilot.CallerAutoPilotStatusListenerManager.updateAutoPilotDockerInfo
 import com.mogo.eagle.core.function.call.autopilot.CallerAutoPilotStatusListenerManager.updateAutoPilotStatus
+import com.mogo.eagle.core.function.call.autopilot.CallerAutopilotActionsListenerManager
 import com.mogo.eagle.core.function.call.autopilot.CallerAutopilotActionsListenerManager.invokeAutopilotAbility
 import com.mogo.eagle.core.function.call.autopilot.CallerAutopilotCarConfigListenerManager.invokeAutopilotCarConfigData
+import com.mogo.eagle.core.function.call.autopilot.CallerAutopilotGetParamResponseDispatcher
+import com.mogo.eagle.core.function.call.autopilot.CallerAutopilotIdentifyListenerManager
 import com.mogo.eagle.core.function.call.autopilot.CallerAutopilotIdentifyListenerManager.invokeAutopilotIdentifyDataUpdate
 import com.mogo.eagle.core.function.call.autopilot.CallerAutopilotIdentifyListenerManager.invokeAutopilotIdentifyPlanningObj
+import com.mogo.eagle.core.function.call.autopilot.CallerAutopilotPointCloudListenerManager
+import com.mogo.eagle.core.function.call.autopilot.CallerAutopilotRecordListenerManager
 import com.mogo.eagle.core.function.call.autopilot.CallerAutopilotRecordListenerManager.invokeAutopilotRecordConfig
 import com.mogo.eagle.core.function.call.autopilot.CallerAutopilotRecordListenerManager.invokeAutopilotRecordResult
 import com.mogo.eagle.core.function.call.autopilot.CallerAutopilotStatisticsListenerManager.invokeAutopilotStatistics
+import com.mogo.eagle.core.function.call.autopilot.CallerAutopilotVehicleStateListenerManager
+import com.mogo.eagle.core.function.call.autopilot.CallerBackCameraVideoListenerManager
+import com.mogo.eagle.core.function.call.autopilot.CallerBatteryManagementSystemListenerManager
+import com.mogo.eagle.core.function.call.autopilot.CallerChassisAccStateListenerManager
+import com.mogo.eagle.core.function.call.autopilot.CallerChassisBrakeStateListenerManager
+import com.mogo.eagle.core.function.call.autopilot.CallerChassisDoorStateListenerManager
+import com.mogo.eagle.core.function.call.autopilot.CallerChassisGearStateListenerManager
+import com.mogo.eagle.core.function.call.autopilot.CallerChassisGnssListenerManager
+import com.mogo.eagle.core.function.call.autopilot.CallerChassisLamplightListenerManager
+import com.mogo.eagle.core.function.call.autopilot.CallerChassisSteeringStateListenerManager
+import com.mogo.eagle.core.function.call.autopilot.CallerChassisThrottleStateListenerManager
+import com.mogo.eagle.core.function.call.autopilot.CallerFaultManagementStateListenerManager
+import com.mogo.eagle.core.function.call.autopilot.CallerFsm2024ListenerManager
+import com.mogo.eagle.core.function.call.autopilot.CallerLocalizationStateListenerManager
+import com.mogo.eagle.core.function.call.autopilot.CallerParallelDrivingActionsListenerManager
+import com.mogo.eagle.core.function.call.autopilot.CallerParallelDrivingListenerManager
 import com.mogo.eagle.core.function.call.autopilot.CallerPlanningActionsListenerManager.invokePNCActions
 import com.mogo.eagle.core.function.call.autopilot.CallerPlanningRottingListenerManager.invokeAutopilotRotting
 import com.mogo.eagle.core.function.call.autopilot.CallerPlanningTrajectoryListenerManager.invokeAutopilotTrajectory
+import com.mogo.eagle.core.function.call.autopilot.CallerReceiveReceivedAckListenerManager
+import com.mogo.eagle.core.function.call.autopilot.CallerRoboBusJinlvM1StatesListenerManager
+import com.mogo.eagle.core.function.call.autopilot.CallerRoboBusJinlvM1StitchedVideoListenerManager
 import com.mogo.eagle.core.function.call.autopilot.CallerStartAutopilotFailedListenerManager.invokeStartAutopilotFailed
+import com.mogo.eagle.core.function.call.autopilot.CallerSweeperFutianCleanSystemListenerManager
+import com.mogo.eagle.core.function.call.autopilot.CallerSweeperFutianCloudTaskListenerManager
+import com.mogo.eagle.core.function.call.autopilot.CallerV2XListenerManager
+import com.mogo.eagle.core.function.call.autopilot.CallerV2nNioEventListenerManager
 import com.mogo.eagle.core.function.call.obu.CallerObuMapMathListenerManager
 import com.mogo.eagle.core.function.call.obu.CallerObuWarningRsiListenerManager
 import com.mogo.eagle.core.function.call.obu.CallerObuWarningRsmListenerManager
 import com.mogo.eagle.core.function.call.obu.CallerObuWarningSpatListenerManager
-import com.mogo.eagle.core.utilcode.mogo.logger.Logger
+import com.mogo.eagle.core.utilcode.mogo.logger.CallerLogger
+import com.mogo.eagle.core.utilcode.mogo.logger.scene.SceneConstant.Companion.M_D_C
 import com.mogo.eagle.core.utilcode.util.DeviceUtils
 import com.mogo.support.obu.ObuScene
 import com.zhidao.support.adas.high.OnAdasListener
@@ -63,15 +90,15 @@ import com.zhidao.support.adas.high.common.ProtocolStatus
 import com.zhjt.mogo.adas.common.MessageType
 import com.zhjt.mogo.adas.data.AiCloudTask
 import com.zhjt.mogo.adas.data.bean.AutopilotStatistics
-import com.zhjt.mogo.adas.data.bean.ReceivedAck
 import com.zhjt.mogo.adas.data.bean.LaunchConditionData
+import com.zhjt.mogo.adas.data.bean.ReceivedAck
 import com.zhjt.mogo.adas.data.bean.UnableLaunchReason
 import com.zhjt.mogo.adas.data.sweeper.bootable.SweeperBootable
 import com.zhjt.mogo.adas.data.sweeper.task.SweeperTask
-import com.zhjt.mogo.adas.data.sweeper.task.s_r.SweeperTaskSuspendResume
 import com.zhjt.mogo.adas.data.sweeper.task.big.SweeperBigTaskStatus
 import com.zhjt.mogo.adas.data.sweeper.task.cloud.s_r.SweeperTaskCloudSuspendResume
 import com.zhjt.mogo.adas.data.sweeper.task.confirm.SweeperTaskConfirm
+import com.zhjt.mogo.adas.data.sweeper.task.s_r.SweeperTaskSuspendResume
 import com.zhjt.mogo.adas.data.sweeper.task.status.SweeperTaskStatus
 import com.zhjt.mogo.adas.data.sweeper.task.stop.SweeperTaskStop
 import com.zhjt.service.chain.ChainLog
@@ -116,13 +143,6 @@ class MoGoAdasListenerImpl : OnAdasListener {
        }
    }

-    //感知物体 注解暂时关闭，通过调试面板查看数量，此注解暂时用于aiCloud显示感知物
-//    @ChainLog(
-//        linkChainLog = CHAIN_LINK_LOG_WEB_SOCKET_DATA_TRACKED,
-//        linkCode = CHAIN_LINK_ADAS,
-//        nodeAliasCode = CHAIN_ALIAS_CODE_ADAS_MESSAGE_RECT_DATA,
-//        paramIndexes = [0, 1]
-//    )
    override fun onTrackedObjects(
        header: MessagePad.Header,
        trackedObjects: MessagePad.TrackedObjects
@@ -142,10 +162,13 @@ class MoGoAdasListenerImpl : OnAdasListener {
    override fun onGnssInfo(header: MessagePad.Header, gnssInfo: MessagePad.GnssInfo) {
        CallerChassisGnssListenerManager.invokeChassisGnssListener(gnssInfo)
        if (gnssInfo != null) {
-            if (1 == FunctionBuildConfig.gpsProvider) {
-                // 同步更新经纬度和系统时间至 AutoPilotStatusListener
-                CallerAutoPilotStatusListenerManager.updateAutoPilotLocAndTime(gnssInfo.satelliteTime, gnssInfo.longitude, gnssInfo.latitude, gnssInfo.heading)
-            }
+            // 同步更新经纬度和系统时间至 AutoPilotStatusListener
+            CallerAutoPilotStatusListenerManager.updateAutoPilotLocAndTime(
+                gnssInfo.satelliteTime,
+                gnssInfo.longitude,
+                gnssInfo.latitude,
+                gnssInfo.heading
+            )
        }
    }

@@ -169,8 +192,6 @@ class MoGoAdasListenerImpl : OnAdasListener {
    ) {
        CallerAutopilotActionsListenerManager.setVehicleState(vehicleState)
        if (vehicleState != null) {
-            //转向灯数据
-//            CallerChassisLamplightListenerManager.invokeAutopilotLightSwitchData(vehicleState.light)
            //刹车灯数据
            CallerChassisLamplightListenerManager.invokeAutopilotBrakeLightData(vehicleState.brakeLightStatus)
            //方向盘转向角数据
@@ -233,10 +254,6 @@ class MoGoAdasListenerImpl : OnAdasListener {
        CallerAutopilotActionsListenerManager.setChassisStates(chassisStates)
        if (chassisStates != null) {
            chassisStates.bcmSystemStates?.let { bcmSystemStates ->
-//                bcmSystemStates.turnLightState?.let {
-//                    //转向灯数据
-//                    CallerChassisLamplightListenerManager.invokeAutopilotLightSwitchData(it)
-//                }
                //刹车灯数据
                CallerChassisLamplightListenerManager.invokeAutopilotBrakeLightData(bcmSystemStates.brakeLightState != 0)
            }
@@ -306,9 +323,7 @@ class MoGoAdasListenerImpl : OnAdasListener {
        if (autopilotState != null) {
            //工控机模拟时间
            CallerAutopilotVehicleStateListenerManager.invokeAutopilotTime(header.timestamp.toLong())
-            if (HdMapBuildConfig.isMapLoaded) {
-                updateAutoPilotStatus(autopilotState.state, autopilotState.autopilotMode)
-            }
+            updateAutoPilotStatus(autopilotState.state, autopilotState.autopilotMode)
        }
    }

@@ -323,9 +338,7 @@ class MoGoAdasListenerImpl : OnAdasListener {
        header: MessagePad.Header,
        mogoReportMessage: MogoReportMsg.MogoReportMessage?
    ) {
-        if (HdMapBuildConfig.isMapLoaded) {
-            invokeAutopilotGuardian(mogoReportMessage)
-        }
+        invokeAutopilotGuardian(mogoReportMessage)
    }

    //融合感知红绿灯
@@ -463,18 +476,20 @@ class MoGoAdasListenerImpl : OnAdasListener {
        header: MessagePad.Header?,
        statusInfo: SystemStatusInfo.StatusInfo?
    ) {
-        if(statusInfo!=null && statusInfo.hasAutoPilotReady()){
-            CallerAutoPilotStatusListenerManager.getAutoPilotStatusInfo().ssmAutoPilotReady = statusInfo.autoPilotReady
-        }else{
+        if (statusInfo != null && statusInfo.hasAutoPilotReady()) {
+            CallerAutoPilotStatusListenerManager.getAutoPilotStatusInfo().ssmAutoPilotReady =
+                statusInfo.autoPilotReady
+        } else {
            CallerAutoPilotStatusListenerManager.getAutoPilotStatusInfo().ssmAutoPilotReady = false
        }
        invokeAutopilotStatusRespByQuery(statusInfo)
    }

    override fun onSystemStatus(header: MessagePad.Header?, statusInf: SsmInfo.SsmStatusInf?) {
-        if(statusInf!=null && statusInf.hasAutoPilotReady()){
-            CallerAutoPilotStatusListenerManager.getAutoPilotStatusInfo().ssmAutoPilotReady = statusInf.autoPilotReady
-        }else{
+        if (statusInf != null && statusInf.hasAutoPilotReady()) {
+            CallerAutoPilotStatusListenerManager.getAutoPilotStatusInfo().ssmAutoPilotReady =
+                statusInf.autoPilotReady
+        } else {
            CallerAutoPilotStatusListenerManager.getAutoPilotStatusInfo().ssmAutoPilotReady = false
        }
        invokeSystemStatus(statusInf)
@@ -529,12 +544,12 @@ class MoGoAdasListenerImpl : OnAdasListener {
    /**
     * planning决策状态, 透传
     */
-    @ChainLog(
-        linkChainLog = CHAIN_TYPE_SOCKET_AUTOPILOT,
-        linkCode = CHAIN_SOURCE_ADAS,
-        nodeAliasCode = CHAIN_CODE_ADAS_P_ACTIONS,
-        paramIndexes = [0, 1]
-    )
+//    @ChainLog(
+//        linkChainLog = CHAIN_TYPE_SOCKET_AUTOPILOT,
+//        linkCode = CHAIN_SOURCE_ADAS,
+//        nodeAliasCode = CHAIN_CODE_ADAS_P_ACTIONS,
+//        paramIndexes = [0, 1]
+//    )
    override fun onPlanningActionMsg(
        header: MessagePad.Header?,
        planningActionMsg: MessagePad.PlanningActionMsg?
@@ -1036,18 +1051,15 @@ class MoGoAdasListenerImpl : OnAdasListener {
        launchConditionData: LaunchConditionData,
        unableAutopilotReasons: ArrayList<UnableLaunchReason>?
    ) {
-        var reason = ""
-        if (unableAutopilotReasons != null) {
-            reason = unableAutopilotReasons.toString()
-        }
-        autopilotAbilityCheck(isAutopilotAbility, reason, launchConditionData.json)
        invokeAutopilotAbility(isAutopilotAbility, launchConditionData, unableAutopilotReasons)
    }

    override fun onParallelDrivingAbility(
        isParallelDrivingAbility: Boolean
    ) {
-        CallerParallelDrivingActionsListenerManager.invokeParallelDrivingAbility(isParallelDrivingAbility)
+        CallerParallelDrivingActionsListenerManager.invokeParallelDrivingAbility(
+            isParallelDrivingAbility
+        )
    }

    /**
@@ -1083,16 +1095,6 @@ class MoGoAdasListenerImpl : OnAdasListener {
    private fun receiveReceivedAck(receivedAck: ReceivedAck) {
    }

-    @ChainLog(
-        linkChainLog = CHAIN_TYPE_SOCKET_AUTOPILOT,
-        linkCode = CHAIN_SOURCE_ADAS,
-        nodeAliasCode = CHAIN_CODE_ADAS_ABILITY,
-        paramIndexes = [0, 1, 2]
-    )
-    private fun autopilotAbilityCheck(isAutopilotAbility: Boolean, reason: String, launchConditionDataJson: String) {
-
-    }
-
    /**
     * 启动自动驾驶失败回调
     * 根据MAP 系统监控状态返回过滤
@@ -1122,6 +1124,6 @@ class MoGoAdasListenerImpl : OnAdasListener {
     * @param bytes  原始数据
     */
    override fun onError(status: ProtocolStatus, bytes: ByteArray) {
-        Logger.e(TAG, "status===$status")
+        CallerLogger.e("$M_D_C$TAG", "status===$status")
    }
 }
--- a/core/function-impl/mogo-core-function-datacenter/src/main/java/com/mogo/eagle/core/function/datacenter/autopilot/adapter/MoGoAdasMsgConnectStatusListenerImpl.kt
+++ b/core/function-impl/mogo-core-function-datacenter/src/main/java/com/mogo/eagle/core/function/datacenter/autopilot/adapter/MoGoAdasMsgConnectStatusListenerImpl.kt
@@ -328,7 +328,7 @@ class MoGoAdasMsgConnectStatusListenerImpl :
            else -> {}
        }
        if (title.isNotEmpty() && content.isNotEmpty()) {
-            CallerMsgBoxManager.saveMsgBox(
+            CallerMsgBoxManager.saveMsgBoxNoTrace(
                MsgBoxBean(
                    MsgBoxType.AUTOPILOT,
                    AutopilotMsg(0, title, content, System.currentTimeMillis())
--- a/core/function-impl/mogo-core-function-datacenter/src/main/java/com/mogo/eagle/core/function/datacenter/location/MoGoLocationDispatcher.kt
+++ b/core/function-impl/mogo-core-function-datacenter/src/main/java/com/mogo/eagle/core/function/datacenter/location/MoGoLocationDispatcher.kt
@@ -34,7 +34,7 @@ object MoGoLocationDispatcher :
    private var lastGnssLocation: MogoLocation = MogoLocation()

    /**
-     * 最后一次OBU GNSS 返回更新的位置
+     * 最后一次OBU GNSS 返回更新的位置 
     */
    private var lastOBULocation: MogoLocation = MogoLocation()

@@ -69,16 +69,10 @@ object MoGoLocationDispatcher :
            lastGnssLocation.district = it.district
            lastGnssLocation.province = it.province
            lastGnssLocation.adCode = it.adCode
-            lastGnssLocation.locationDetail = it.locationDetail
            lastGnssLocation.poiName = it.poiName
            lastGnssLocation.aoiName = it.aoiName
            lastGnssLocation.street = it.street
            lastGnssLocation.streetNum = it.streetNum
-            lastGnssLocation.description = it.description
-            lastGnssLocation.buildingId = it.buildingId
-            lastGnssLocation.floor = it.floor
-            lastGnssLocation.errorCode = it.errorCode
-            lastGnssLocation.errorInfo = it.errorInfo
        }
        if (1 == FunctionBuildConfig.gpsProvider) {
            // WGS84坐标系高精度位置信息
@@ -158,16 +152,10 @@ object MoGoLocationDispatcher :
            lastOBULocation.district = it.district
            lastOBULocation.province = it.province
            lastOBULocation.adCode = it.adCode
-            lastOBULocation.locationDetail = it.locationDetail
            lastOBULocation.poiName = it.poiName
            lastOBULocation.aoiName = it.aoiName
            lastOBULocation.street = it.street
            lastOBULocation.streetNum = it.streetNum
-            lastOBULocation.description = it.description
-            lastOBULocation.buildingId = it.buildingId
-            lastOBULocation.floor = it.floor
-            lastOBULocation.errorCode = it.errorCode
-            lastOBULocation.errorInfo = it.errorInfo
        }

        if (2 == FunctionBuildConfig.gpsProvider) {