From 425a0e3018829d982b69ea1c7512a6c3786982dc Mon Sep 17 00:00:00 2001 From: yangyakun Date: Tue, 26 Nov 2024 11:04:39 +0800 Subject: [PATCH] =?UTF-8?q?[6.8.0]=20[fea]=20[taxi=20=E6=AD=A3=E5=B8=B8?= =?UTF-8?q?=E5=8D=95=E6=B7=BB=E5=8A=A0wayLatLons=E3=80=81blackLatLons]?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- .../manager/autopilot/line/LineManager.kt | 126 +++--- .../taxi/bean/TaxiDriverTaskWithOrderBean.kt | 14 +- .../unmanned/taxi/ui/task/TaxiTaskModel.kt | 2 +- .../itinerarycurrent/ItineraryCurrentModel.kt | 2 +- .../taxi/utils/TaxiTrajectoryManager.kt | 420 +++++++++--------- .../autopilot/AutopilotControlParameters.kt | 18 + .../CallerAutoPilotControlManager.kt | 4 +- 7 files changed, 304 insertions(+), 282 deletions(-) diff --git a/OCH/common/common/src/main/java/com/mogo/och/common/module/manager/autopilot/line/LineManager.kt b/OCH/common/common/src/main/java/com/mogo/och/common/module/manager/autopilot/line/LineManager.kt index 58c50e194d..bafe671ce6 100644 --- a/OCH/common/common/src/main/java/com/mogo/och/common/module/manager/autopilot/line/LineManager.kt +++ b/OCH/common/common/src/main/java/com/mogo/och/common/module/manager/autopilot/line/LineManager.kt @@ -342,64 +342,7 @@ object LineManager : CallerBase() { ) } - val wayLatLons = mutableListOf() - // 途经点 - if (!contrai.passPoints.isNullOrEmpty()) { - for (mogoLatLng in contrai.passPoints!!) { - wayLatLons.add( - AutoPilotLonLat( - mogoLatLng.lat, - mogoLatLng.lon, - when (mogoLatLng.pointType) { - 1 -> {//途径点 - false - } - - 2 -> {//禁行点 - false - } - - 3 -> {//站点 - true - } - - else -> { - false - } - } - ) - ) - } - } - val blackLatLons = mutableListOf() - // 黑名单点 - if (!contrai.blackPoints.isNullOrEmpty()) { - for (mogoLatLng in contrai.blackPoints!!) { - blackLatLons.add( - AutoPilotLonLat( - mogoLatLng.lat, - mogoLatLng.lat, - when (mogoLatLng.pointType) { - 1 -> {//途径点 - false - } - - 2 -> {//禁行点 - false - } - - 3 -> {//站点 - true - } - - else -> { - false - } - } - ) - ) - } - } + val (wayLatLons, blackLatLons) = getWayBlackLatLons(contrai.passPoints, contrai.blackPoints) parameters?.wayLatLons = wayLatLons parameters?.blackLatLons = blackLatLons @@ -411,6 +354,73 @@ object LineManager : CallerBase() { return parameters } + fun getWayBlackLatLons( + passPoints: MutableList?, + blackPoints: MutableList? + ): Pair, MutableList> { + val wayLatLons = mutableListOf() + // 途经点 + if (!passPoints.isNullOrEmpty()) { + for (mogoLatLng in passPoints) { + wayLatLons.add( + AutoPilotLonLat( + mogoLatLng.lat, + mogoLatLng.lon, + when (mogoLatLng.pointType) { + 1 -> {//途径点 + false + } + + 2 -> {//禁行点 + false + } + + 3 -> {//站点 + true + } + + else -> { + false + } + } + ) + ) + } + } + val blackLatLons = mutableListOf() + // 黑名单点 + if (!blackPoints.isNullOrEmpty()) { + for (mogoLatLng in blackPoints) { + blackLatLons.add( + AutoPilotLonLat( + mogoLatLng.lat, + mogoLatLng.lat, + when (mogoLatLng.pointType) { + 1 -> {//途径点 + false + } + + 2 -> {//禁行点 + false + } + + 3 -> {//站点 + true + } + + else -> { + false + } + } + ) + ) + } + } + return Pair(wayLatLons,blackLatLons) + } + + + // 启动自动驾驶 fun startAutopilot() { diff --git a/OCH/taxi/unmanned-driver/src/main/java/com/mogo/och/unmanned/taxi/bean/TaxiDriverTaskWithOrderBean.kt b/OCH/taxi/unmanned-driver/src/main/java/com/mogo/och/unmanned/taxi/bean/TaxiDriverTaskWithOrderBean.kt index 574d0583b6..49c161ce8e 100644 --- a/OCH/taxi/unmanned-driver/src/main/java/com/mogo/och/unmanned/taxi/bean/TaxiDriverTaskWithOrderBean.kt +++ b/OCH/taxi/unmanned-driver/src/main/java/com/mogo/och/unmanned/taxi/bean/TaxiDriverTaskWithOrderBean.kt @@ -266,10 +266,20 @@ data class TrajectoryListRespBean(var data: MutableList?) : BaseData() { var csvFileMd5DPQP: String, var txtFileUrlDPQP: String, var txtFileMd5DPQP: String, - var contrailSaveTimeDPQP: Long + var contrailSaveTimeDPQP: Long, + var passPoints: MutableList?, // 用于算路的经停点 + var blackPoints: MutableList?, // 用于算路的黑名單點 ){ fun toCommonContraiInfo(): ContraiInfo { - val result = ContraiInfo(lineId,csvFileUrl,csvFileMd5,txtFileUrl,txtFileMd5,contrailSaveTime,source = source) + val tempPassPoints = mutableListOf() + passPoints?.forEach { + tempPassPoints.add(it.toBusStationBean()) + } + val tempblackPoints = mutableListOf() + blackPoints?.forEach { + tempPassPoints.add(it.toBusStationBean()) + } + val result = ContraiInfo(lineId,csvFileUrl,csvFileMd5,txtFileUrl,txtFileMd5,contrailSaveTime,tempPassPoints,tempblackPoints,source) return result } } diff --git a/OCH/taxi/unmanned-driver/src/main/java/com/mogo/och/unmanned/taxi/ui/task/TaxiTaskModel.kt b/OCH/taxi/unmanned-driver/src/main/java/com/mogo/och/unmanned/taxi/ui/task/TaxiTaskModel.kt index 12800e9511..c0481efe1e 100644 --- a/OCH/taxi/unmanned-driver/src/main/java/com/mogo/och/unmanned/taxi/ui/task/TaxiTaskModel.kt +++ b/OCH/taxi/unmanned-driver/src/main/java/com/mogo/och/unmanned/taxi/ui/task/TaxiTaskModel.kt @@ -283,7 +283,7 @@ object TaxiTaskModel { } override fun onAutopilotGuardian(guardianInfo: MogoReportMessage?, lineId: Long) { - TaxiTrajectoryManager.getInstance().onAutopilotGuardian(guardianInfo,lineId) + TaxiTrajectoryManager.onAutopilotGuardian(guardianInfo,lineId) } override fun onAutopilotStatusResponseFromCan(state: Int) { diff --git a/OCH/taxi/unmanned-driver/src/main/java/com/mogo/och/unmanned/taxi/ui/task/itinerarycurrent/ItineraryCurrentModel.kt b/OCH/taxi/unmanned-driver/src/main/java/com/mogo/och/unmanned/taxi/ui/task/itinerarycurrent/ItineraryCurrentModel.kt index 8b6968b90e..da0295b710 100644 --- a/OCH/taxi/unmanned-driver/src/main/java/com/mogo/och/unmanned/taxi/ui/task/itinerarycurrent/ItineraryCurrentModel.kt +++ b/OCH/taxi/unmanned-driver/src/main/java/com/mogo/och/unmanned/taxi/ui/task/itinerarycurrent/ItineraryCurrentModel.kt @@ -355,7 +355,7 @@ class ItineraryCurrentModel : BaseViewModel(), } override fun onTaskTrajectoryDataChanged(data: TrajectoryListRespBean?) { - TaxiTrajectoryManager.getInstance().syncTrajectoryInfo() //同步轨迹信息 + TaxiTrajectoryManager.syncTrajectoryInfo() //同步轨迹信息 } override fun onOrderCancel() { diff --git a/OCH/taxi/unmanned-driver/src/main/java/com/mogo/och/unmanned/taxi/utils/TaxiTrajectoryManager.kt b/OCH/taxi/unmanned-driver/src/main/java/com/mogo/och/unmanned/taxi/utils/TaxiTrajectoryManager.kt index 3dfa45b051..8df62689c8 100644 --- a/OCH/taxi/unmanned-driver/src/main/java/com/mogo/och/unmanned/taxi/utils/TaxiTrajectoryManager.kt +++ b/OCH/taxi/unmanned-driver/src/main/java/com/mogo/och/unmanned/taxi/utils/TaxiTrajectoryManager.kt @@ -1,288 +1,272 @@ -package com.mogo.och.unmanned.taxi.utils; +package com.mogo.och.unmanned.taxi.utils -import static com.mogo.eagle.core.utilcode.mogo.logger.scene.SceneConstant.M_TAXI; - -import androidx.annotation.Nullable; - -import com.mogo.eagle.core.data.autopilot.AutopilotControlParameters; -import com.mogo.eagle.core.function.call.autopilot.CallerAutoPilotControlManager; -import com.mogo.eagle.core.utilcode.mogo.logger.CallerLogger; -import com.mogo.eagle.core.utilcode.util.GsonUtils; -import com.mogo.och.common.module.manager.logchainanalytic.OchChainLogManager; -import com.mogo.och.unmanned.taxi.bean.OrderDetail; -import com.mogo.och.unmanned.taxi.bean.QueryCurrentTaskRespBean; -import com.mogo.och.unmanned.taxi.bean.TrajectoryListRespBean; -import com.mogo.och.unmanned.taxi.constant.TaskStatusEnum; -import com.mogo.och.unmanned.taxi.constant.TaxiUnmannedConst; -import com.mogo.och.unmanned.taxi.ui.debug.DebugView; -import com.mogo.och.unmanned.taxi.ui.task.TaxiTaskModel; - -import java.util.ArrayList; -import java.util.Arrays; -import java.util.List; -import java.util.concurrent.TimeUnit; - -import io.reactivex.Observable; -import io.reactivex.android.schedulers.AndroidSchedulers; -import io.reactivex.disposables.Disposable; -import io.reactivex.schedulers.Schedulers; -import mogo_msg.MogoReportMsg; +import com.mogo.eagle.core.data.autopilot.AutopilotControlParameters +import com.mogo.eagle.core.data.autopilot.AutopilotControlParameters.AutoPilotLine +import com.mogo.eagle.core.function.call.autopilot.CallerAutoPilotControlManager.sendTrajectoryDownloadReq +import com.mogo.eagle.core.utilcode.mogo.logger.CallerLogger.d +import com.mogo.eagle.core.utilcode.mogo.logger.CallerLogger.e +import com.mogo.eagle.core.utilcode.mogo.logger.scene.SceneConstant +import com.mogo.eagle.core.utilcode.util.GsonUtils +import com.mogo.och.common.module.manager.autopilot.line.LineManager +import com.mogo.och.common.module.manager.logchainanalytic.OchChainLogManager +import com.mogo.och.common.module.manager.logchainanalytic.OchChainLogManager.writeChainLog +import com.mogo.och.unmanned.taxi.bean.TrajectoryListRespBean +import com.mogo.och.unmanned.taxi.constant.TaskStatusEnum +import com.mogo.och.unmanned.taxi.constant.TaxiUnmannedConst +import com.mogo.och.unmanned.taxi.ui.debug.DebugView.Companion.printInfoMsg +import com.mogo.och.unmanned.taxi.ui.task.TaxiTaskModel.getCurrentOrderTrajectoryList +import com.mogo.och.unmanned.taxi.ui.task.TaxiTaskModel.getCurrentTaskTrajectory +import com.mogo.och.unmanned.taxi.ui.task.TaxiTaskModel.getCurrentTaskWithOrder +import io.reactivex.Observable +import io.reactivex.android.schedulers.AndroidSchedulers +import io.reactivex.disposables.Disposable +import io.reactivex.functions.Function +import io.reactivex.schedulers.Schedulers +import mogo_msg.MogoReportMsg.MogoReportMessage +import java.util.Arrays +import java.util.concurrent.TimeUnit /** * Taxi轨迹管理：给MEC下发用于轨迹下载的信息 * Created on 2022/6/22 */ -public class TaxiTrajectoryManager { - private static final String TAG = TaxiTrajectoryManager.class.getSimpleName(); +object TaxiTrajectoryManager { + + private val TAG: String = TaxiTrajectoryManager::class.java.simpleName //载类型: 0:正常下载 1:预下载 - private static final int COMMON_LOADING = 0; - private static final int PRE_LOADING = 1; - - - private static final class SingletonHolder { - private static final TaxiTrajectoryManager INSTANCE = new TaxiTrajectoryManager(); - } - - public static TaxiTrajectoryManager getInstance() { - return SingletonHolder.INSTANCE; - } + private const val COMMON_LOADING = 0 + private const val PRE_LOADING = 1 //正常加载的路线 - private AutopilotControlParameters.AutoPilotLine mAutoPilotLine = null; + private var mAutoPilotLine: AutopilotControlParameters? = null + //预加载的路线 - private AutopilotControlParameters.AutoPilotLine mPreAutoPilotLine = null; + private var mPreAutoPilotLine: AutopilotControlParameters? = null - private Disposable mSendReqDisposable = null; - private String mPrevTaskLineId = ""; + private var mSendReqDisposable: Disposable? = null + private var mPrevTaskLineId = "" - public TaxiTrajectoryManager() { - mAutoPilotLine = new AutopilotControlParameters.AutoPilotLine(-1, "", - "", "", "", "", 0, "", - "", "", "", "", 0); - - mPreAutoPilotLine = new AutopilotControlParameters.AutoPilotLine(-1, "", - "", "", "", "", 0, "", - "", "", "", "", 0); + init { + mAutoPilotLine = AutopilotControlParameters() + mPreAutoPilotLine = AutopilotControlParameters() } /** * 同步订单信息 */ - public void syncTrajectoryInfo() { - OchChainLogManager.writeChainLog("轨迹监控","开始或者结束下发轨迹 轨迹id"+mAutoPilotLine.getLineId(), true, OchChainLogManager.EVENT_KEY_INFE_WITH_TRAJECTORY); - QueryCurrentTaskRespBean.Result taskAndOrder = TaxiTaskModel.INSTANCE.getCurrentTaskWithOrder(); - if (taskAndOrder == null || taskAndOrder.getCurrentStatus() >= TaskStatusEnum.StartTask.getCode()) { - CallerLogger.d(M_TAXI + TAG, "syncTrajectoryInfo() stop."); - stopTrajReqLoop(); + fun syncTrajectoryInfo() { + writeChainLog( + "轨迹监控", + "开始或者结束下发轨迹 轨迹id" + mAutoPilotLine?.autoPilotLine?.lineId, + true, + OchChainLogManager.EVENT_KEY_INFE_WITH_TRAJECTORY + ) + val taskAndOrder = getCurrentTaskWithOrder() + if (taskAndOrder == null || taskAndOrder.currentStatus >= TaskStatusEnum.StartTask.code) { + d(SceneConstant.M_TAXI + TAG, "syncTrajectoryInfo() stop.") + stopTrajReqLoop() } else { - if (mPrevTaskLineId.equals(String.valueOf(taskAndOrder.getLineId()))) { - CallerLogger.d(M_TAXI + TAG, "syncTrajectoryInfo() 重复订单."); + if (mPrevTaskLineId == taskAndOrder.lineId.toString()) { + d(SceneConstant.M_TAXI + TAG, "syncTrajectoryInfo() 重复订单.") } else { - mPrevTaskLineId = String.valueOf(taskAndOrder.getLineId()); - CallerLogger.d(M_TAXI + TAG, "syncTrajectoryInfo() start."); - startTrajReqLoop(); + mPrevTaskLineId = taskAndOrder.lineId.toString() + d(SceneConstant.M_TAXI + TAG, "syncTrajectoryInfo() start.") + startTrajReqLoop() } } } - public void onAutopilotGuardian(@Nullable MogoReportMsg.MogoReportMessage guardianInfo,long lineId) { - onAutopilotGuardian(guardianInfo); + fun onAutopilotGuardian(guardianInfo: MogoReportMessage?, lineId: Long) { + onAutopilotGuardian(guardianInfo) } /** * 接口MEC反馈的常规信息（MAP v2.5.0新增轨迹相关信息） * @param guardianInfo */ - public void onAutopilotGuardian(@Nullable MogoReportMsg.MogoReportMessage guardianInfo) { - if (guardianInfo == null || !guardianInfo.hasCode()) return; - if ("ISYS_INIT_TRAJECTORY_START".equals(guardianInfo.getCode())) { - stopTrajReqLoop(); - } else if ("ISYS_INIT_TRAJECTORY_TIMEOUT".equals(guardianInfo.getCode())) { - OchChainLogManager.writeChainLog("轨迹监控","onAutopilotGuardian() 轨迹下载超时", true, OchChainLogManager.EVENT_KEY_INFE_WITH_TRAJECTORY); + fun onAutopilotGuardian(guardianInfo: MogoReportMessage?) { + if (guardianInfo == null || !guardianInfo.hasCode()) return + if ("ISYS_INIT_TRAJECTORY_START" == guardianInfo.code) { + stopTrajReqLoop() + } else if ("ISYS_INIT_TRAJECTORY_TIMEOUT" == guardianInfo.code) { + writeChainLog( + "轨迹监控", + "onAutopilotGuardian() 轨迹下载超时", + true, + OchChainLogManager.EVENT_KEY_INFE_WITH_TRAJECTORY + ) } - } + } - private void setupAutoPilotLine() { - QueryCurrentTaskRespBean.Result taskAndOrder = TaxiTaskModel.INSTANCE.getCurrentTaskWithOrder(); + private fun setupAutoPilotLine() { + val taskAndOrder = getCurrentTaskWithOrder() - if (taskAndOrder == null || taskAndOrder.getEndSite() == null) { - CallerLogger.e(M_TAXI + TAG, - "setupAutoPilotLine(): taskAndOrder or taskAndOrder.getEndSite() is null."); + if (taskAndOrder?.endSite == null) { + e( + SceneConstant.M_TAXI + TAG, + "setupAutoPilotLine(): taskAndOrder or taskAndOrder.getEndSite() is null." + ) } else { /** * 主要加载和预加载轨迹方案 - * 1、获取当前跑的任务的lineId - * 2、当前任务lineId是否在运营单的轨迹集合里 - * 3、存在, 通知下载加载当前任务的轨迹以及预加载lineId在集合对应的下一个lineId对应的轨迹 - * 4、若不存在,说明当前的执行的任务是与订单无关的演练任务,通知下载加载当前任务的轨迹以及预加载订单轨迹集合的第一个 + * 1、获取当前跑的任务的lineId + * 2、当前任务lineId是否在运营单的轨迹集合里 + * 3、存在, 通知下载加载当前任务的轨迹以及预加载lineId在集合对应的下一个lineId对应的轨迹 + * 4、若不存在,说明当前的执行的任务是与订单无关的演练任务,通知下载加载当前任务的轨迹以及预加载订单轨迹集合的第一个 */ - final TrajectoryListRespBean.Result curTaskContrail = TaxiTaskModel.INSTANCE.getCurrentTaskTrajectory(); - if (curTaskContrail == null) return; + /** + * 主要加载和预加载轨迹方案 + * 1、获取当前跑的任务的lineId + * 2、当前任务lineId是否在运营单的轨迹集合里 + * 3、存在, 通知下载加载当前任务的轨迹以及预加载lineId在集合对应的下一个lineId对应的轨迹 + * 4、若不存在,说明当前的执行的任务是与订单无关的演练任务,通知下载加载当前任务的轨迹以及预加载订单轨迹集合的第一个 + */ - long curLineId = taskAndOrder.getLineId(); + val curTaskContrail = getCurrentTaskTrajectory() ?: return - if (mAutoPilotLine == null) { - mAutoPilotLine = new AutopilotControlParameters.AutoPilotLine(curTaskContrail.getLineId(), curTaskContrail.getLineName(), - curTaskContrail.getCsvFileUrl(), curTaskContrail.getCsvFileMd5(), curTaskContrail.getTxtFileUrl(), - curTaskContrail.getTxtFileMd5(), curTaskContrail.getContrailSaveTime(), String.valueOf(TaxiUnmannedConst.BUSINESSTYPE), - curTaskContrail.getCsvFileUrlDPQP(), curTaskContrail.getCsvFileMd5DPQP(), curTaskContrail.getTxtFileUrlDPQP(), - curTaskContrail.getTxtFileMd5DPQP(), curTaskContrail.getContrailSaveTimeDPQP()); - } else { - mAutoPilotLine.setLineId(curTaskContrail.getLineId()); - mAutoPilotLine.setLineName(curTaskContrail.getLineName()); - mAutoPilotLine.setTrajUrl(curTaskContrail.getCsvFileUrl()); - mAutoPilotLine.setTrajMd5(curTaskContrail.getCsvFileMd5()); - mAutoPilotLine.setStopUrl(curTaskContrail.getTxtFileUrl()); - mAutoPilotLine.setStopMd5(curTaskContrail.getTxtFileMd5()); - mAutoPilotLine.setTimestamp(curTaskContrail.getContrailSaveTime()); - mAutoPilotLine.setVehicleModel(String.valueOf(TaxiUnmannedConst.BUSINESSTYPE)); - mAutoPilotLine.setTrajUrl_dpqp(curTaskContrail.getCsvFileUrlDPQP()); - mAutoPilotLine.setTrajMd5_dpqp(curTaskContrail.getCsvFileMd5DPQP()); - mAutoPilotLine.setStopUrl_dpqp(curTaskContrail.getTxtFileUrlDPQP()); - mAutoPilotLine.setStopMd5_dpqp(curTaskContrail.getTxtFileMd5DPQP()); - mAutoPilotLine.setTimestamp_dpqp(curTaskContrail.getContrailSaveTimeDPQP()); - } + val curLineId = taskAndOrder.lineId - final OrderDetail orderDetail = taskAndOrder.getOrder(); - TrajectoryListRespBean.Result preloadContrail = null; //预加载的轨迹 - final List orderContrails = TaxiTaskModel.INSTANCE.getCurrentOrderTrajectoryList(); + mAutoPilotLine = LineManager.initAutopilotControlParameters() - if (orderDetail != null && orderContrails != null && orderContrails.size() != 0 ){ - List lineIds = new ArrayList<>(); - lineIds.addAll(Arrays.asList(orderDetail.getPlanningLines())); // 接驾 - lineIds.add(orderDetail.getOrderLine());//送驾 + val orderDetail = taskAndOrder.order + var preloadContrail: TrajectoryListRespBean.Result? = null //预加载的轨迹 + val orderContrails: List = + getCurrentOrderTrajectoryList() - if (lineIds.contains(curLineId)){ //当前任务在lineIds集合里 - //计算预加载的下一个轨迹 - int preLoadIndex = lineIds.indexOf(curLineId) + 1; - if (lineIds.size() -1 >= preLoadIndex){ - long preLoadLineId = lineIds.get(preLoadIndex); - for (int i = 0; i< orderContrails.size() ; i++){ - if (orderContrails.get(i).getLineId() == preLoadLineId){ - preloadContrail = orderContrails.get(i); - break; + if (orderDetail != null && orderContrails != null && orderContrails.size != 0) { + val lineIds: MutableList = ArrayList() + lineIds.addAll(Arrays.asList(*orderDetail.planningLines)) // 接驾 + lineIds.add(orderDetail.orderLine) //送驾 + + if (lineIds.contains(curLineId)) { //当前任务在lineIds集合里 + //计算预加载的下一个轨迹 + val preLoadIndex = lineIds.indexOf(curLineId) + 1 + if (lineIds.size - 1 >= preLoadIndex) { + val preLoadLineId = lineIds[preLoadIndex] + for (i in orderContrails.indices) { + if (orderContrails[i].lineId == preLoadLineId) { + preloadContrail = orderContrails[i] + break } } } - }else {//说明当前任务轨迹在接驾/送驾轨迹集合里没有, 直接加载轨迹集合第一个 - preloadContrail = orderContrails.get(0); + } else { //说明当前任务轨迹在接驾/送驾轨迹集合里没有, 直接加载轨迹集合第一个 + preloadContrail = orderContrails[0] } } - if (preloadContrail == null) return; + if (preloadContrail == null) return if (mPreAutoPilotLine == null) { - mPreAutoPilotLine = new AutopilotControlParameters.AutoPilotLine(preloadContrail.getLineId(), preloadContrail.getLineName(), - preloadContrail.getCsvFileUrl(), preloadContrail.getCsvFileMd5(), preloadContrail.getTxtFileUrl(), - preloadContrail.getTxtFileMd5(), preloadContrail.getContrailSaveTime(), String.valueOf(TaxiUnmannedConst.BUSINESSTYPE), - preloadContrail.getCsvFileUrlDPQP(), preloadContrail.getCsvFileMd5DPQP(), preloadContrail.getTxtFileUrlDPQP(), - preloadContrail.getTxtFileMd5DPQP(), preloadContrail.getContrailSaveTimeDPQP()); - } else { - mPreAutoPilotLine.setLineId(preloadContrail.getLineId()); - mPreAutoPilotLine.setLineName(preloadContrail.getLineName()); - mPreAutoPilotLine.setTrajUrl(preloadContrail.getCsvFileUrl()); - mPreAutoPilotLine.setTrajMd5(preloadContrail.getCsvFileMd5()); - mPreAutoPilotLine.setStopUrl(preloadContrail.getTxtFileUrl()); - mPreAutoPilotLine.setStopMd5(preloadContrail.getTxtFileMd5()); - mPreAutoPilotLine.setTimestamp(preloadContrail.getContrailSaveTime()); - mPreAutoPilotLine.setVehicleModel(String.valueOf(TaxiUnmannedConst.BUSINESSTYPE)); - mPreAutoPilotLine.setTrajUrl_dpqp(preloadContrail.getCsvFileUrlDPQP()); - mPreAutoPilotLine.setTrajMd5_dpqp(preloadContrail.getCsvFileMd5DPQP()); - mPreAutoPilotLine.setStopUrl_dpqp(preloadContrail.getTxtFileUrlDPQP()); - mPreAutoPilotLine.setStopMd5_dpqp(preloadContrail.getTxtFileMd5DPQP()); - mPreAutoPilotLine.setTimestamp_dpqp(preloadContrail.getContrailSaveTimeDPQP()); + mPreAutoPilotLine = AutopilotControlParameters() } + if(mPreAutoPilotLine?.autoPilotLine==null){ + mPreAutoPilotLine?.autoPilotLine = AutoPilotLine() + } + mPreAutoPilotLine?.autoPilotLine?.lineId = preloadContrail.lineId + mPreAutoPilotLine?.autoPilotLine?.lineName = preloadContrail.lineName + mPreAutoPilotLine?.autoPilotLine?.trajUrl = preloadContrail.csvFileUrl + mPreAutoPilotLine?.autoPilotLine?.trajMd5 = preloadContrail.csvFileMd5 + mPreAutoPilotLine?.autoPilotLine?.stopUrl = preloadContrail.txtFileUrl + mPreAutoPilotLine?.autoPilotLine?.stopMd5 = preloadContrail.txtFileMd5 + mPreAutoPilotLine?.autoPilotLine?.timestamp = preloadContrail.contrailSaveTime + mPreAutoPilotLine?.autoPilotLine?.vehicleModel = TaxiUnmannedConst.BUSINESSTYPE.toString() + mPreAutoPilotLine?.autoPilotLine?.trajUrl_dpqp = preloadContrail.csvFileUrlDPQP + mPreAutoPilotLine?.autoPilotLine?.trajMd5_dpqp = preloadContrail.csvFileMd5DPQP + mPreAutoPilotLine?.autoPilotLine?.stopUrl_dpqp = preloadContrail.txtFileUrlDPQP + mPreAutoPilotLine?.autoPilotLine?.stopMd5_dpqp = preloadContrail.txtFileMd5DPQP + mPreAutoPilotLine?.autoPilotLine?.timestamp_dpqp = preloadContrail.contrailSaveTimeDPQP + + val toCommonContraiInfo = preloadContrail.toCommonContraiInfo() + val (wayLatLons, blackLatLons) = LineManager.getWayBlackLatLons( + toCommonContraiInfo.passPoints, + toCommonContraiInfo.blackPoints + ) + mPreAutoPilotLine?.wayLatLons = wayLatLons + mPreAutoPilotLine?.blackLatLons = blackLatLons } } - private void clearAutoPilotLine() { - if (mAutoPilotLine != null){ - mAutoPilotLine.setLineId(-1); - mAutoPilotLine.setLineName(""); - mAutoPilotLine.setTrajUrl(""); - mAutoPilotLine.setTrajMd5(""); - mAutoPilotLine.setStopUrl(""); - mAutoPilotLine.setStopMd5(""); - mAutoPilotLine.setTimestamp(0); - mAutoPilotLine.setVehicleModel(""); - mAutoPilotLine.setTrajUrl_dpqp(""); - mAutoPilotLine.setTrajMd5_dpqp(""); - mAutoPilotLine.setStopUrl_dpqp(""); - mAutoPilotLine.setStopMd5_dpqp(""); - mAutoPilotLine.setTimestamp_dpqp(0); - } - - if (mPreAutoPilotLine != null){ - mPreAutoPilotLine.setLineId(-1); - mPreAutoPilotLine.setLineName(""); - mPreAutoPilotLine.setTrajUrl(""); - mPreAutoPilotLine.setTrajMd5(""); - mPreAutoPilotLine.setStopUrl(""); - mPreAutoPilotLine.setStopMd5(""); - mPreAutoPilotLine.setTimestamp(0); - mPreAutoPilotLine.setVehicleModel(""); - mPreAutoPilotLine.setTrajUrl_dpqp(""); - mPreAutoPilotLine.setTrajMd5_dpqp(""); - mPreAutoPilotLine.setStopUrl_dpqp(""); - mPreAutoPilotLine.setStopMd5_dpqp(""); - mPreAutoPilotLine.setTimestamp_dpqp(0); - } + private fun clearAutoPilotLine() { + mAutoPilotLine = null + mPreAutoPilotLine = null } - private void startTrajReqLoop() { - OchChainLogManager.writeChainLog("轨迹监控","开始下发轨迹 轨迹id"+mAutoPilotLine.getLineId(), true, OchChainLogManager.EVENT_KEY_INFE_WITH_TRAJECTORY); - if (mSendReqDisposable != null && !mSendReqDisposable.isDisposed()) { - return; + private fun startTrajReqLoop() { + writeChainLog( + "轨迹监控", + "开始下发轨迹 轨迹id" + mAutoPilotLine?.autoPilotLine?.lineId, + true, + OchChainLogManager.EVENT_KEY_INFE_WITH_TRAJECTORY + ) + if (mSendReqDisposable != null && !mSendReqDisposable!!.isDisposed) { + return } - DebugView.Companion.printInfoMsg("[下发轨迹] startTrajectoryReqLoop"); - CallerLogger.d(M_TAXI + TAG, "startTrajReqLoop()"); - setupAutoPilotLine(); - mSendReqDisposable = Observable.interval(TaxiUnmannedConst.LOOP_DELAY, - TaxiUnmannedConst.LOOP_PERIOD_10S, TimeUnit.MILLISECONDS) - .map((aLong -> aLong + 1)) - .subscribeOn(Schedulers.io()) - .observeOn(AndroidSchedulers.mainThread()) - .subscribe(aLong -> { - if (aLong > TaxiUnmannedConst.LOOP_SEND_TRAJ_TIMES) { - mPrevTaskLineId = ""; //重发超时后将mPrevOrderNo置空，这样订单进入下个状态时还可以重发 - stopTrajReqLoop(); - return; - } - CallerLogger.d(M_TAXI + TAG, "loop sendTrajectoryReq: " + aLong); - sendTrajectoryReq(); - }); + printInfoMsg("[下发轨迹] startTrajectoryReqLoop") + d(SceneConstant.M_TAXI + TAG, "startTrajReqLoop()") + setupAutoPilotLine() + mSendReqDisposable = Observable.interval( + TaxiUnmannedConst.LOOP_DELAY, + TaxiUnmannedConst.LOOP_PERIOD_10S, TimeUnit.MILLISECONDS + ) + .map((Function { aLong: Long -> aLong + 1 })) + .subscribeOn(Schedulers.io()) + .observeOn(AndroidSchedulers.mainThread()) + .subscribe { aLong: Long -> + if (aLong > TaxiUnmannedConst.LOOP_SEND_TRAJ_TIMES) { + mPrevTaskLineId = "" //重发超时后将mPrevOrderNo置空，这样订单进入下个状态时还可以重发 + stopTrajReqLoop() + return@subscribe + } + d(SceneConstant.M_TAXI + TAG, "loop sendTrajectoryReq: $aLong") + sendTrajectoryReq() + } } - private void stopTrajReqLoop() { - OchChainLogManager.writeChainLog("轨迹监控","结束下发轨迹 轨迹id"+mAutoPilotLine.getLineId(), true, OchChainLogManager.EVENT_KEY_INFE_WITH_TRAJECTORY); - DebugView.Companion.printInfoMsg("[下发轨迹] stopTrajectoryReqLoop"); + private fun stopTrajReqLoop() { + writeChainLog( + "轨迹监控", + "结束下发轨迹 轨迹id" + mAutoPilotLine?.autoPilotLine?.lineId, + true, + OchChainLogManager.EVENT_KEY_INFE_WITH_TRAJECTORY + ) + printInfoMsg("[下发轨迹] stopTrajectoryReqLoop") if (mSendReqDisposable != null) { - CallerLogger.d(M_TAXI + TAG, "stopTrajReqLoop()"); - mSendReqDisposable.dispose(); - mSendReqDisposable = null; - clearAutoPilotLine(); + d(SceneConstant.M_TAXI + TAG, "stopTrajReqLoop()") + mSendReqDisposable!!.dispose() + mSendReqDisposable = null + clearAutoPilotLine() } } - private void sendTrajectoryReq() { + private fun sendTrajectoryReq() { if (mAutoPilotLine != null) { - DebugView.Companion.printInfoMsg("[下发轨迹] sendTrajectoryDownloadReq, lindId=" + mAutoPilotLine.getLineId() + ", lineName=" + mAutoPilotLine.getLineName()); - OchChainLogManager.writeChainLog("轨迹监控","sendTrajectoryReq() 下发轨迹 轨迹id"+mAutoPilotLine.getLineId(), true, OchChainLogManager.EVENT_KEY_INFE_WITH_TRAJECTORY); - CallerAutoPilotControlManager.INSTANCE.sendTrajectoryDownloadReq(mAutoPilotLine,COMMON_LOADING); - }else { - CallerLogger.e(M_TAXI + TAG, "sendTrajectoryReq(): mAutoPilotLine is null!!!"); + printInfoMsg("[下发轨迹] sendTrajectoryDownloadReq, lindId=" + mAutoPilotLine?.autoPilotLine?.lineId + ", lineName=" + mAutoPilotLine?.autoPilotLine?.lineName) + writeChainLog( + "轨迹监控", + "sendTrajectoryReq() 下发轨迹 轨迹id" + mAutoPilotLine?.autoPilotLine?.lineId, + true, + OchChainLogManager.EVENT_KEY_INFE_WITH_TRAJECTORY + ) + sendTrajectoryDownloadReq(mAutoPilotLine!!, COMMON_LOADING) + } else { + e(SceneConstant.M_TAXI + TAG, "sendTrajectoryReq(): mAutoPilotLine is null!!!") } - if (mPreAutoPilotLine != null){ - DebugView.Companion.printInfoMsg("[下发预加载轨迹] sendTrajectoryDownloadReq, lindId=" + mPreAutoPilotLine.getLineId() + ", lineName=" + mPreAutoPilotLine.getLineName()); - CallerAutoPilotControlManager.INSTANCE.sendTrajectoryDownloadReq(mPreAutoPilotLine, PRE_LOADING); - }else { - CallerLogger.e(M_TAXI + TAG, "sendTrajectoryReq(): mPreAutoPilotLine is null!!!"); - + if (mPreAutoPilotLine != null) { + printInfoMsg("[下发预加载轨迹] sendTrajectoryDownloadReq, lindId=" + mPreAutoPilotLine?.autoPilotLine?.lineId + ", lineName=" + mPreAutoPilotLine?.autoPilotLine?.lineName) + sendTrajectoryDownloadReq(mPreAutoPilotLine!!, PRE_LOADING) + } else { + e(SceneConstant.M_TAXI + TAG, "sendTrajectoryReq(): mPreAutoPilotLine is null!!!") } - CallerLogger.d(M_TAXI + TAG, "sendTrajectoryReq(): common_load = " - + GsonUtils.toJson(mAutoPilotLine) + ", pre_load" + GsonUtils.toJson(mPreAutoPilotLine)); + d( + SceneConstant.M_TAXI + TAG, "sendTrajectoryReq(): common_load = " + + GsonUtils.toJson(mAutoPilotLine) + ", pre_load" + GsonUtils.toJson( + mPreAutoPilotLine + ) + ) } + } diff --git a/core/mogo-core-data/src/main/java/com/mogo/eagle/core/data/autopilot/AutopilotControlParameters.kt b/core/mogo-core-data/src/main/java/com/mogo/eagle/core/data/autopilot/AutopilotControlParameters.kt index 321eb2de06..6ea711c1bd 100644 --- a/core/mogo-core-data/src/main/java/com/mogo/eagle/core/data/autopilot/AutopilotControlParameters.kt +++ b/core/mogo-core-data/src/main/java/com/mogo/eagle/core/data/autopilot/AutopilotControlParameters.kt @@ -182,6 +182,8 @@ class AutopilotControlParameters { var stopMd5_dpqp = "" //轨迹文件md5，默认“” var timestamp_dpqp = 0L //上传轨迹完成时间戳(ms)：用于MEC本地手动导入轨迹验证时不会被云端轨迹覆盖 + constructor() + constructor(lineId: Long, trajUrl: String, trajMd5: String, stopUrl: String, stopMd5: String, timestamp: Long, @@ -223,6 +225,22 @@ class AutopilotControlParameters { fun deepCopy(): AutoPilotLine { return AutoPilotLine(this.lineId, this.lineName, this.trajUrl, this.trajMd5, this.stopUrl, this.stopMd5, this.timestamp, this.vehicleModel, this.trajUrl_dpqp, this.trajMd5_dpqp, this.stopUrl_dpqp, this.stopMd5_dpqp, this.timestamp_dpqp) } + + fun reset(){ + lineId = -1 + lineName = "" + trajUrl = "" + trajMd5 = "" + stopUrl = "" + stopMd5 = "" + timestamp = 0 + vehicleModel = "" + trajUrl_dpqp = "" + trajMd5_dpqp = "" + stopUrl_dpqp = "" + stopMd5_dpqp = "" + timestamp_dpqp = 0 + } } class AutoPilotLonLat { diff --git a/core/mogo-core-function-call/src/main/java/com/mogo/eagle/core/function/call/autopilot/CallerAutoPilotControlManager.kt b/core/mogo-core-function-call/src/main/java/com/mogo/eagle/core/function/call/autopilot/CallerAutoPilotControlManager.kt index 169954dfbc..33fdcfc114 100644 --- a/core/mogo-core-function-call/src/main/java/com/mogo/eagle/core/function/call/autopilot/CallerAutoPilotControlManager.kt +++ b/core/mogo-core-function-call/src/main/java/com/mogo/eagle/core/function/call/autopilot/CallerAutoPilotControlManager.kt @@ -206,11 +206,11 @@ object CallerAutoPilotControlManager { /** * 发送 轨迹下载请求。带有Routing的参数，让MAP进行离线算路。 */ - fun sendTrajectoryDownloadReq(autopilotControlParameters: AutopilotControlParameters) { + fun sendTrajectoryDownloadReq(autopilotControlParameters: AutopilotControlParameters,downloadType: Int=0) { if (AppIdentityModeUtils.isDriver(FunctionBuildConfig.appIdentityMode)) { // Routing 需要传参 routeInfo providerApi?.sendTrajectoryDownloadReq(autopilotControlParameters.autoPilotLine!!, autopilotControlParameters.toRouteInfo()) - CallerAutoPilotStatusListenerManager.invokeTrajectoryDownloadReq(autopilotControlParameters.autoPilotLine!!, 0) + CallerAutoPilotStatusListenerManager.invokeTrajectoryDownloadReq(autopilotControlParameters.autoPilotLine!!, downloadType) } }