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Merge branch 'dev_robotaxi-d-app-module_2110_220915_2.11.0' into 'test_robotaxi-d-app-module_2110_220915_2.11.0.1'

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Dev robotaxi d app module 2110 220915 2.11.0

See merge request zhjt/AndroidApp/MoGoEagleEye!250
This commit is contained in:
wangmingjun
2022-10-12 12:18:49 +00:00
parent 7d9311b70f 0169a68d1e
commit 42ad3de7b0
3 changed files with 36 additions and 23 deletions
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51
core/function-impl/mogo-core-function-autopilot/src/main/java/com/mogo/eagle/core/function/autopilot/MoGoAutopilotProvider.kt
View File

@@ -153,27 +153,6 @@ class MoGoAutopilotProvider :
}
}, MoGoAiCloudClientConfig.getInstance().sn)
} else {
msgHandler.setListener(object : EventListener {
override fun connectDevice(isSupportMulti: Boolean) {
if (!isInit) {
isInit = true
UiThreadHandler.post {
if (isSupportMulti) {
// 直连工控机
directConnect()
} else {
val options = AdasOptions
.Builder()
.setClient(true)
.build()
AdasManager.getInstance()
.create(options, MoGoAdasMsgConnectStatusListenerImpl())
listenDeviceData()
}
}
}
}
})
NSDNettyManager.getInstance()
.searchAndConnectServer(context, MoGoAiCloudClientConfig.getInstance().sn,
AppIdentityModeUtils.isTaxi(FunctionBuildConfig.appIdentityMode),
@@ -196,6 +175,36 @@ class MoGoAutopilotProvider :
}
})
}
msgHandler.setListener(object : EventListener {
override fun connectDevice(isSupportMulti: Boolean) {
if (AppIdentityModeUtils.isDriver(FunctionBuildConfig.appIdentityMode)) {
if (!isInit) {
isInit = true
// 转发工控机数据给乘客屏
listenDeviceData()
}
} else {
if (!isInit) {
isInit = true
UiThreadHandler.post {
if (isSupportMulti) {
// 直连工控机
directConnect()
} else {
val options = AdasOptions
.Builder()
.setClient(true)
.build()
AdasManager.getInstance()
.create(options, MoGoAdasMsgConnectStatusListenerImpl())
// 接收司机屏发过来的感知、定位等数据
listenDeviceData()
}
}
}
}
}
})
CallerAutopilotCarConfigListenerManager.addListener(TAG, this)
CallerLogger.i("$M_ADAS_IMPL$TAG", "initServer……")
// 同步数据给工控机的服务

6
core/function-impl/mogo-core-function-autopilot/src/main/java/com/mogo/eagle/core/function/autopilot/telematic/TeleMsgHandler.kt
View File

@@ -118,7 +118,10 @@ class TeleMsgHandler : IMsgHandler {
"1" -> true
else -> false
}
Logger.d("Route", "TeleMsgHandler -> handleMsgFromServer ==> isDemoMode:" + FunctionBuildConfig.isDemoMode + ",isIgnore:" + FunctionBuildConfig.isIgnoreConditionsDrawAutopilotTrajectoryData)
Logger.d(
"Route",
"TeleMsgHandler -> handleMsgFromServer ==> isDemoMode:" + FunctionBuildConfig.isDemoMode + ",isIgnore:" + FunctionBuildConfig.isIgnoreConditionsDrawAutopilotTrajectoryData
)
timestamp = currTime
invokeNettyConnResult("乘客屏收到的美化模式isIgnore为：${FunctionBuildConfig.isIgnoreConditionsDrawAutopilotTrajectoryData}")
} else {
@@ -139,6 +142,7 @@ class TeleMsgHandler : IMsgHandler {
MogoProtocolMsg.REQ_MAC_ADDRESS -> {
val carConfig = AdasManager.getInstance().carConfig
if (carConfig != null) {
listener?.connectDevice(!carConfig.dockVersion.contains("2.3.0"))
val configArray = carConfig.toByteArray()
NSDNettyManager.getInstance().sendMsgToSpecifiedClient(

2
core/function-impl/mogo-core-function-v2x/src/main/java/com/mogo/eagle/core/function/v2x/events/scenario/scene/airoad/AiRoadMarker.kt
View File

@@ -45,7 +45,7 @@ object AiRoadMarker {
private val line by lazy { AtomicReference<IMogoPolyline>() }
private val START_COLOR = Color.parseColor("#002ABAD9")
private val END_COLOR = Color.parseColor("#FFFF7A30")
private val END_COLOR = Color.parseColor("#66FF7A30")
private val markers = ConcurrentSet<Marker>()