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Merge branch 'dev_robotaxi-d_240516_6.4.2_routing' into dev_robotaxi-d_240621_6.4.6

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This commit is contained in:
donghongyu
2024-06-24 14:21:24 +08:00
parent 352ed82c2f 88f73c5fd7
commit 454d461528
20 changed files with 345 additions and 62 deletions
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79
OCH/taxi/unmanned-driver/src/main/java/com/mogo/och/unmanned/taxi/bean/TaxiRoutingBean.kt
View File

@@ -2,6 +2,9 @@ package com.mogo.och.unmanned.taxi.bean
import com.mogo.eagle.core.data.BaseData
/**
* 灰度路线信息
*/
data class GrayLineBean(
var lineId: Long?, //线路id
var lineName: String?, //线路名称
@@ -11,18 +14,30 @@ data class GrayLineBean(
var lineFailCount: Int?, //线路累计反馈不可用次数
var isChoosed: Boolean = false, //当前是否选中
var startSite: RoutingSite?,
var endSite: RoutingSite?
var endSite: RoutingSite?,
var hdMapDBVersionCode: String?,// Routing 运营平台通过算路引擎算这条路时候使用的对应高精地图版本号
var hdMapDBVersionName: String?,// Routing 运营平台通过算路引擎算这条路时候使用的对应高精地图版本名
var routingEnginVersionCode: String?,// Routing 运营平台当前的算路引擎版本号码
var routingEnginVersionName: String?,// Routing 运营平台当前的算路引擎版本名称
var wayPoints: MutableList<RoutingSite>?,// Routing 给算路引擎使用的经停点列表，不是真正的要停车
var blackPoints: MutableList<RoutingSite>?// Routing 给算路引擎使用的黑名单点，目的是不参与算路
)
/**
* 站点信息
*/
data class RoutingSite(
var siteId: Long,
var siteName: String,
var gcjLat: Double,
var gcjLon: Double,
var wgs84Lon: Double,
var wgs84Lat: Double
var siteId: Long,// 站点ID
var siteName: String,// 站点名称
var gcjLat: Double,// 高德坐标
var gcjLon: Double,// 高德坐标
var wgs84Lon: Double,//高精坐标
var wgs84Lat: Double//高精坐标
)
/**
* 轨迹信息
*/
data class ContrailBean(
var lineId: Long = -1L,
var lineName: String = "",
@@ -37,32 +52,74 @@ data class ContrailBean(
var txtFileUrlDPQP: String = "",
var txtFileMd5DPQP: String = "",
var contrailSaveTimeDPQP: Long = -1L,
var version: Long = -1L
var version: Long = -1L,
var passPoints: MutableList<RoutingSite>?, // 用于算路的经停点
)
/**
* 查询灰度线路列表
*/
data class QueryGrayContrailListRsp(var data: MutableList<GrayLineBean>?) : BaseData()
/**
* 通过id查询轨迹详情
*/
data class StartGrayContrailTaskReq(var sn: String, var contrailId: Long)
/**
* 开始一个路线的灰度任务，对服务端的路线标记
*/
data class StartGrayContrailTaskRsp(var data: Long?) : BaseData()
/**
* 根据id查询灰度轨迹详情
*/
data class QueryRoutingContrailByIdRsp(var data: ContrailBean?) : BaseData()
/**
* 上报路线打点
*/
data class SubmitGrayLineIssueLocationReq(var grayId: Long, var gcjLon: Double, var gcjLat: Double)
data class EndGrayContrailTaskReq(var grayId: Long, var feedback: Int,var occurrenceTime:Long) //feedback 1:成功 2:失败
/**
* 结束一个路线的灰度任务
*/
data class EndGrayContrailTaskReq(
var grayId: Long,
var feedback: Int,
var occurrenceTime: Long
) //feedback 1:成功 2:失败
/**
* 灰度任务&查询轨迹详情
*/
data class StartGrayAndQueryContrailRsp(
var taskId: Long?,
var contrail: ContrailBean?,
var grayLineBean: GrayLineBean
) : BaseData()
data class PointError(var code:String,var name:String,var isCheck:Boolean = false)
data class PointError(var code: String, var name: String, var isCheck: Boolean = false)
/**
* 获取打点问题字典
*/
data class QueryPointErrorReasonsRsp(var data: MutableList<PointError>?) : BaseData()
/**
* 结束一个路线的灰度任务，并上报灰度路线测试情况
*/
data class SaveGrayContrailErrorReasons(
var grayId: Long,
var gcjLon: Double,
var gcjLat: Double,
var wgs84Lon: Double,
var wgs84Lat: Double,
var occurrenceTime:Long,
var occurrenceTime: Long,
var noteCodes: MutableList<String>,
) //feedback 1:成功 2:失败
enum class EndGrayTaskFeedbackType(var type: Int) {
USABLE_YES(1),
USABLE_NO(2)

45
OCH/taxi/unmanned-driver/src/main/java/com/mogo/och/unmanned/taxi/callback/ITaxiRoutingCallback.kt
View File

@@ -4,14 +4,59 @@ import com.mogo.och.unmanned.taxi.bean.GrayLineBean
import com.mogo.och.unmanned.taxi.bean.StartGrayAndQueryContrailRsp
interface ITaxiRoutingCallback {
/**
* 查询灰度路线列表--成功✅
*/
fun onQueryRoutingGrayLineListSuccess(data: MutableList<GrayLineBean>)
/**
* 查询灰度路线列表--失败❌
* @param errorStr 错误信息
*/
fun onQueryRoutingGrayLineListFailed(errorStr: String)
/**
* 灰度任务&查询轨迹详情--成功✅
*/
fun onStartGrayTaskAndQueryContrailSuccess(data: StartGrayAndQueryContrailRsp)
/**
* 灰度任务&查询轨迹详情--失败❌
* @param errorStr 错误信息
*/
fun onStartGrayTaskAndQueryContrailFailed(errorStr: String)
/**
* 灰度任务过程中，上报问题打点--成功✅
*/
fun onSubmitGrayLineIssueLocationSuccess()
/**
* 灰度任务过程中，上报问题打点--失败❌
* @param errorStr 错误信息
*/
fun onSubmitGrayLineIssueLocationFailed(errorStr: String)
/**
* 结束灰度任务--成功✅
*/
fun onSubmitEndTaskSuccess()
/**
* 结束灰度任务--成功❌
* @param errorStr 错误信息
*/
fun onSubmitEndTaskFailed(errorStr: String)
/**
* MAP到站通知
* @param grayId 灰度路线ID
*/
fun onAutoPilotArriveAtEndStation(grayId: Long?)
/**
* 自车定位围栏
* @param grayId 灰度路线ID
*/
fun onGDMapArriveAtEndStation(grayId: Long?)
}

3
OCH/taxi/unmanned-driver/src/main/java/com/mogo/och/unmanned/taxi/network/TaxiRoutingServiceManager.kt
View File

@@ -105,6 +105,9 @@ object TaxiRoutingServiceManager {
.subscribe(OchCommonSubscribeImpl(context, callback, "dot/list"))
}
/**
* 标记灰度任务被启动验证
*/
fun startGrayTaskAndQueryRoutingContrail(
context: Context,
sn: String,

3
OCH/taxi/unmanned-driver/src/main/java/com/mogo/och/unmanned/taxi/ui/base/TaxiPresenter.java
View File

@@ -76,9 +76,12 @@ public class TaxiPresenter extends Presenter<TaxiFragment> implements ITaxiADASS
* 开启自动驾驶 自驾模式
*/
public void startAutoPilot() {
// 这里区分是订单还是灰度测试
if (MogoStatusManager.getInstance().isTaxiUnmanedDriverLineRoutingVerifyMode()) {
// 灰度测试
TaxiRoutingModel.INSTANCE.startAutoPilotByClick();
} else {
// 订单
TaxiTaskModel.INSTANCE.startAutopilotByClick();
}
}

8
OCH/taxi/unmanned-driver/src/main/java/com/mogo/och/unmanned/taxi/ui/routing/TaxiRoutingChooseLineActivity.kt
View File

@@ -90,6 +90,8 @@ class TaxiRoutingChooseLineActivity : AppCompatActivity() {
btnClose.setOnClickListener {
finish()
}
// 选择路线后，「确认」按钮
btnChooseLineSubmit.setOnClickListener {
if (mCurrentChosenPosition == -1) {
ToastUtils.showLong("请先选择任务")
@@ -99,11 +101,15 @@ class TaxiRoutingChooseLineActivity : AppCompatActivity() {
mLoadingDialog.showLoading()
val chosenItem = mRoutingLineList[mCurrentChosenPosition]
mViewModel.sendUiIntent(
// 调用查询接口获取路线详情
TaxiRoutingUiIntent.StartTaskAndQueryContrail(chosenItem)
)
}
}
/**
* 初始化UI观察者
*/
private fun initViewModelObserver() {
lifecycleScope.launchWhenStarted {
mViewModel.uiStateFlow.map { it.routingUiState }.collect { routingUiState ->
@@ -111,6 +117,7 @@ class TaxiRoutingChooseLineActivity : AppCompatActivity() {
TAG,
"uiStateFlow-initViewModelObserver: $routingUiState"
)
// 分发处理具体UI更新
when (routingUiState) {
is RoutingUIState.Init -> {
showEmptyView()
@@ -128,6 +135,7 @@ class TaxiRoutingChooseLineActivity : AppCompatActivity() {
}
}
// 将结果同步更新到UI
is RoutingUIState.PostRoutingTaskResult -> {
FlowBus.with<RoutingUIState.RoutingTask>(TaxiDriverEventConst.RoutingActivityEvent.EVENT_TYPE_GET_CHOSEN_LINE_TASK)
.post(this, RoutingUIState.RoutingTask(

1
OCH/taxi/unmanned-driver/src/main/java/com/mogo/och/unmanned/taxi/ui/routing/TaxiRoutingChooseLineAdapter.kt
View File

@@ -32,6 +32,7 @@ class TaxiRoutingChooseLineAdapter(
override fun onBindViewHolder(holder: SwitchLineViewHolder, position: Int) {
val currentPosition = holder.bindingAdapterPosition
val data = mData[currentPosition]
holder.lineNameTextView.text = data.lineName
holder.todayVerifyNumTextView.text = "本车今日已验证：${data.carVerificationCount}次"
holder.historyVerifyNumTextView.text =

3
OCH/taxi/unmanned-driver/src/main/java/com/mogo/och/unmanned/taxi/ui/routing/TaxiRoutingChooseLineViewModel.kt
View File

@@ -56,6 +56,9 @@ class TaxiRoutingChooseLineViewModel : BaseViewModel<TaxiRoutingUiState, TaxiRou
}
}
/**
* 查询轨迹详情成功的回调
*/
override fun onStartGrayTaskAndQueryContrailSuccess(data: StartGrayAndQueryContrailRsp) {
if (data.taskId == -1L) {
onStartGrayTaskAndQueryContrailFailed("开始任务失败, 请稍后重试")

7
OCH/taxi/unmanned-driver/src/main/java/com/mogo/och/unmanned/taxi/ui/routing/TaxiRoutingFragment.kt
View File

@@ -121,6 +121,9 @@ class TaxiRoutingFragment : BaseFragment(), ICommonNaviChangedCallback {
}
}
/**
* 展示选择任务视图
*/
private fun showChooseTaskView() {
noDataContainer.visibility = View.VISIBLE
mCurrentTaskLayout.visibility = View.GONE
@@ -133,6 +136,9 @@ class TaxiRoutingFragment : BaseFragment(), ICommonNaviChangedCallback {
removeAllMapMarker()
}
/**
* 展示当前路线任务信息
*/
private fun showCurrentLineTaskContentView(data: RoutingUIState.RoutingTask) {
noDataContainer.visibility = View.GONE
mCurrentTaskLayout.visibility = View.VISIBLE
@@ -142,6 +148,7 @@ class TaxiRoutingFragment : BaseFragment(), ICommonNaviChangedCallback {
btnChooseTask.visibility = View.GONE
btnStartTask.visibility = View.VISIBLE
// 开始任务，按钮
btnStartTask.setOnClickListener {
mViewModel.sendUiIntent(TaxiRoutingUiIntent.StartTaskAction(data))
}

1
OCH/taxi/unmanned-driver/src/main/java/com/mogo/och/unmanned/taxi/ui/routing/TaxiRoutingFragmentViewModel.kt
View File

@@ -59,6 +59,7 @@ class TaxiRoutingFragmentViewModel : BaseViewModel<TaxiRoutingUiState, TaxiRouti
.setTaxiUnmanedDriverLineRoutingPerformTask(TAG, true)
}
// 启动自动驾驶
is TaxiRoutingUiIntent.StartTaskAction -> {
DebugView.printInfoMsg("[开始任务] 准备开始任务")
val grayLineBean = intent.routingTask.grayLineBean

110
OCH/taxi/unmanned-driver/src/main/java/com/mogo/och/unmanned/taxi/ui/routing/TaxiRoutingModel.kt
View File

@@ -19,12 +19,14 @@ import com.mogo.eagle.core.utilcode.util.DrivingDirectionUtils
import com.mogo.eagle.core.utilcode.util.GsonUtils
import com.mogo.eagle.core.utilcode.util.NetworkUtils
import com.mogo.eagle.core.utilcode.util.ToastUtils
import com.mogo.och.common.module.network.OchCommonServiceCallback
import com.mogo.och.common.module.manager.autopilot.OCHAdasAbilityManager
import com.mogo.och.common.module.manager.autopilot.autopilot.ArrivedStation
import com.mogo.och.common.module.manager.autopilot.autopilot.IOchAutopilotStatusListener
import com.mogo.och.common.module.manager.autopilot.autopilot.OchAutoPilotManager
import com.mogo.och.common.module.manager.autopilot.autopilot.OchAutoPilotStatusListenerManager
import com.mogo.och.common.module.manager.logchainanalytic.OchChainLogManager
import com.mogo.och.common.module.manager.logchainanalytic.OchChainLogManager.writeChainLog
import com.mogo.och.common.module.network.OchCommonServiceCallback
import com.mogo.och.common.module.utils.OCHThreadPoolManager
import com.mogo.och.unmanned.taxi.bean.ContrailBean
import com.mogo.och.unmanned.taxi.bean.EndGrayContrailTaskReq
@@ -88,7 +90,9 @@ object TaxiRoutingModel {
OchAutoPilotStatusListenerManager.removeListener(TAG)
}
//MAP到站监听
/**
* MAP到站监听
*/
private val mMogoAutopilotStatusListener: IOchAutopilotStatusListener =
object : IOchAutopilotStatusListener {
@@ -128,7 +132,9 @@ object TaxiRoutingModel {
}
}
// 自车定位监听
/**
* 自车定位监听
*/
private val mMapLocationListener: IMoGoChassisLocationGCJ02Listener =
object : IMoGoChassisLocationGCJ02Listener {
override fun onChassisLocationGCJ02(currentLocation: MogoLocation?) {
@@ -199,6 +205,9 @@ object TaxiRoutingModel {
CallerChassisLocationGCJ02ListenerManager.removeListener(TAG)
}
/**
* 查询灰度路线
*/
fun queryRoutingGrayLineList() {
DebugView.printInfoMsg("[查询灰度路线] 准备发送请求，sn=${SharedPrefsMgr.getInstance().sn}")
TaxiRoutingServiceManager.queryRoutingGrayLineList(mContext,
@@ -255,6 +264,9 @@ object TaxiRoutingModel {
})
}
/**
* 开始灰度任务&查询轨迹详情
*/
fun startGrayTaskAndQueryRoutingContrail(contrailId: Long, grayLineBean: GrayLineBean) {
DebugView.printInfoMsg("[开始灰度任务&查询轨迹详情] 准备发送请求，contrailId=${contrailId}, lineId=${grayLineBean.lineId}")
TaxiRoutingServiceManager.startGrayTaskAndQueryRoutingContrail(
@@ -276,6 +288,9 @@ object TaxiRoutingModel {
mTaxiRoutingCallbackMap.forEach {
val listener = it.value
listener.onStartGrayTaskAndQueryContrailSuccess(data)
// Routing 从这里解析出经停信息，轨迹信息，并调用下载轨迹接口
sendTrajectoryReq(data)
}
}
@@ -315,6 +330,9 @@ object TaxiRoutingModel {
)
}
/**
* 灰度任务过程中，上报问题打点
*/
fun submitGrayLineIssueLocation(grayId: Long, gcjLon: Double, gcjLat: Double) {
DebugView.printInfoMsg("[上报打点] 准备发送请求，grayId=$grayId, gcjLon=$gcjLon, gcjLat=$gcjLat")
val submit = SubmitGrayLineIssueLocationReq(grayId, gcjLon, gcjLat)
@@ -374,9 +392,12 @@ object TaxiRoutingModel {
)
}
fun endGrayTask(grayId: Long, type: EndGrayTaskFeedbackType, occurrenceTime:Long,) {
/**
* 结束灰度任务
*/
fun endGrayTask(grayId: Long, type: EndGrayTaskFeedbackType, occurrenceTime: Long) {
DebugView.printInfoMsg("[结束灰度任务] 准备发送请求，grayId=$grayId， type=${type.type}, typeName=${type.name}")
val submit = EndGrayContrailTaskReq(grayId, type.type,occurrenceTime)
val submit = EndGrayContrailTaskReq(grayId, type.type, occurrenceTime)
TaxiRoutingServiceManager.endGrayTask(
mContext,
submit,
@@ -432,6 +453,42 @@ object TaxiRoutingModel {
})
}
/**
* 下载路线请求
*/
fun sendTrajectoryReq(startGrayAndQueryContrailRsp: StartGrayAndQueryContrailRsp) {
startGrayAndQueryContrailRsp.contrail?.let { contrail ->
// 初始化自动驾驶需要的参数
val parameters = initAutopilotControlParameters(
startGrayAndQueryContrailRsp.grayLineBean,
contrail
)
if (parameters!!.autoPilotLine == null) {
CallerLogger.e(
SceneConstant.M_BUS + TAG,
"sendTrajectoryReq(): mAutoPilotLine is null!!!"
)
return
}
writeChainLog(
"轨迹监控",
"sendTrajectoryReq() 下发轨迹 轨迹id" + parameters.autoPilotLine!!.lineId,
true,
OchChainLogManager.EVENT_KEY_INFE_WITH_TRAJECTORY
)
CallerAutoPilotControlManager.sendTrajectoryDownloadReq(parameters)
CallerLogger.d(
SceneConstant.M_BUS + TAG,
"sendTrajectoryReq(): "
+ GsonUtils.toJson(parameters)
)
}
}
/**
* 更新灰度路线信息
*/
fun updateCurrentGrayLineAndContrail(
grayLineBean: GrayLineBean?,
contrailBean: ContrailBean?,
@@ -442,6 +499,9 @@ object TaxiRoutingModel {
currentGrayId = grayId
}
/**
* 灰度测试路线，启动自动驾驶
*/
fun startAutoPilotByClick() {
if (currentGrayLineBean == null || currentContrailBean == null) {
CallerLogger.e(
@@ -454,6 +514,9 @@ object TaxiRoutingModel {
startAutoPilot(currentGrayLineBean!!, currentContrailBean!!)
}
/**
* 启动自动驾驶
*/
fun startAutoPilot(grayLineBean: GrayLineBean, contrailBean: ContrailBean) {
if (grayLineBean.startSite == null || grayLineBean.endSite == null) {
CallerLogger.e(TAG, "start site or end site is null")
@@ -487,13 +550,15 @@ object TaxiRoutingModel {
return
}
// 初始化自动驾驶需要的参数
val parameters = initAutopilotControlParameters(grayLineBean, contrailBean)
if (null == parameters) {
CallerLogger.e(TAG, "AutopilotControlParameters is empty.")
return
}
OchAutoPilotManager.startAutoPilot(parameters);
// 开启自动驾驶
OchAutoPilotManager.startAutoPilot(parameters)
DebugView.printInfoMsg("[启自驾] 调用成功")
CallerLogger.d(
@@ -503,6 +568,9 @@ object TaxiRoutingModel {
mControllerStatusCallback?.startOpenAutopilot()
}
/**
* 初始化自动驾驶控制参数
*/
private fun initAutopilotControlParameters(
grayLineBean: GrayLineBean,
contrailBean: ContrailBean
@@ -520,6 +588,36 @@ object TaxiRoutingModel {
parameters.startLatLon =
AutopilotControlParameters.AutoPilotLonLat(startWgsLat, startWgsLon)
parameters.endLatLon = AutopilotControlParameters.AutoPilotLonLat(endWgsLat, endWgsLon)
// Routing 给算路引擎使用的:经停点列表、黑名单
val wayLatLons: MutableList<AutopilotControlParameters.AutoPilotLonLat> = ArrayList()
val blackLatLons: MutableList<AutopilotControlParameters.AutoPilotLonLat> = ArrayList()
if (!grayLineBean.wayPoints.isNullOrEmpty()) {
for (mogoLatLng in grayLineBean.wayPoints!!) {
wayLatLons.add(
AutopilotControlParameters.AutoPilotLonLat(
mogoLatLng.wgs84Lat,
mogoLatLng.wgs84Lon
)
)
}
}
if (!grayLineBean.blackPoints.isNullOrEmpty()) {
for (mogoLatLng in grayLineBean.blackPoints!!) {
wayLatLons.add(
AutopilotControlParameters.AutoPilotLonLat(
mogoLatLng.wgs84Lat,
mogoLatLng.wgs84Lon
)
)
}
}
parameters.wayLatLons = wayLatLons
parameters.blackLatLons = blackLatLons
if (parameters.autoPilotLine == null) {
parameters.autoPilotLine = AutopilotControlParameters.AutoPilotLine(
contrailBean.lineId,

3
OCH/taxi/unmanned-driver/src/main/java/com/mogo/och/unmanned/taxi/ui/routing/TaxiRoutingUiState.kt
View File

@@ -6,6 +6,9 @@ import com.mogo.och.unmanned.taxi.bean.GrayLineBean
data class TaxiRoutingUiState(val routingUiState: RoutingUIState) : IUiState
/**
* 算路UI状态
*/
sealed class RoutingUIState {
object Init : RoutingUIState()

17
core/function-impl/mogo-core-function-datacenter/src/main/java/com/mogo/eagle/core/function/datacenter/autopilot/MoGoAutopilotControlProvider.kt
View File

@@ -380,6 +380,11 @@ class MoGoAutopilotControlProvider :
startAutoPilot(controlParameters, Constants.AUTOPILOT_SOURCE.MO_FANG)
}
}
/**
* 无参数启动自动驾驶，现在的调用方有：魔方
* @param source 数据来源
*/
private fun startAutoPilotWithNoParameter(source: Int) {
if (AppIdentityModeUtils.isPassenger(FunctionBuildConfig.appIdentityMode)) {
val invokeResult = AdasManager.getInstance()
@@ -396,6 +401,7 @@ class MoGoAutopilotControlProvider :
}
}
}
private fun startAutoPilot(controlParameters: AutopilotControlParameters, source: Int) {
if (AppIdentityModeUtils.isPassenger(FunctionBuildConfig.appIdentityMode)) {
val invokeResult = AdasManager.getInstance()
@@ -440,12 +446,15 @@ class MoGoAutopilotControlProvider :
)
}
override fun sendTrajectoryDownloadReq(autoPilotLine: AutopilotControlParameters.AutoPilotLine) {
AdasManager.getInstance().sendTrajectoryDownloadReq(autoPilotLine.toAutoPilotLine())
override fun sendTrajectoryDownloadReq(autoPilotLine: AutopilotControlParameters.AutoPilotLine, routeInfo: MessagePad.RouteInfo?) {
AdasManager.getInstance().sendTrajectoryDownloadReq(autoPilotLine.toAutoPilotLine(),routeInfo)
}
override fun sendTrajectoryDownloadReq(autoPilotLine: AutopilotControlParameters.AutoPilotLine, downloadType: Int) {
AdasManager.getInstance().sendTrajectoryDownloadReq(autoPilotLine.toAutoPilotLine(), downloadType)
override fun sendTrajectoryDownloadReq(autoPilotLine: AutopilotControlParameters.AutoPilotLine, downloadType: Int, routeInfo: MessagePad.RouteInfo?) {
AdasManager.getInstance().sendTrajectoryDownloadReq(
autoPilotLine.toAutoPilotLine(),
downloadType,
routeInfo)
}
override fun cancelAutoPilot() {

31
core/mogo-core-data/src/main/java/com/mogo/eagle/core/data/autopilot/AutopilotControlParameters.kt
View File

@@ -113,7 +113,10 @@ class AutopilotControlParameters {
var startLatLon: AutoPilotLonLat? = null
@JvmField
var wayLatLons: List<AutoPilotLonLat>? = null
var wayLatLons: List<AutoPilotLonLat>? = null // Routing 给算路引擎使用的经停点列表，不是真正的要停车
@JvmField
var blackLatLons: List<AutoPilotLonLat>? = null // Routing 给算路引擎使用的黑名单点，目的是不参与算路
@JvmField
var endLatLon: AutoPilotLonLat? = null
@@ -139,6 +142,7 @@ class AutopilotControlParameters {
@JvmField
var autoPilotLine: AutoPilotLine? = null // 自动驾驶路线
class AutoPilotLine {
var lineId = 0L
var lineName = ""
@@ -216,15 +220,20 @@ class AutopilotControlParameters {
}
override fun toString(): String {
return "AutopilotControlParameters{" +
"startName='" + startName + '\'' +
", endName='" + endName + '\'' +
", startLatLon=" + startLatLon +
", wayLatLons=" + wayLatLons +
", endLatLon=" + endLatLon +
", speedLimit=" + speedLimit +
", vehicleType=" + vehicleType +
", isSpeakVoice=" + isSpeakVoice +
'}'
return "AutopilotControlParameters(" +
"startName='$startName', " +
"endName='$endName', " +
"startLatLon=$startLatLon, " +
"wayLatLons=$wayLatLons," +
"blackLatLons=$blackLatLons," +
"endLatLon=$endLatLon," +
"speedLimit=$speedLimit, " +
"vehicleType=$vehicleType, " +
"routeID=$routeID, " +
"routeName='$routeName', " +
"isSpeakVoice=$isSpeakVoice, " +
"autoPilotLine=$autoPilotLine)"
}
}

10
core/mogo-core-function-api/src/main/java/com/mogo/eagle/core/function/api/autopilot/IMoGoAutopilotControlProvider.kt
View File

@@ -13,6 +13,7 @@ import com.zhjt.mogo.adas.data.sweeper.task.confirm.SweeperTaskConfirm.TaskConfi
import com.zhjt.mogo.adas.data.sweeper.task.stop.SweeperTaskStop.StopTaskResp
import com.zhjt.mogo.adas.data.AdasConstants
import com.zhjt.mogo.adas.data.sweeper.task.cloud.s_r.SweeperTaskCloudSuspendResume.BigTaskActionResp
import mogo.telematics.pad.MessagePad
import mogo.yycp.paralleldriving.protocol.ParallelDrivingRequest
/**
@@ -55,13 +56,16 @@ interface IMoGoAutopilotControlProvider : IMoGoFunctionServerProvider {
/**
* 发送 轨迹下载请求
*/
fun sendTrajectoryDownloadReq(autoPilotLine: AutopilotControlParameters.AutoPilotLine)
fun sendTrajectoryDownloadReq(autoPilotLine: AutopilotControlParameters.AutoPilotLine, routeInfo: MessagePad.RouteInfo?)
/**
* 发送 轨迹下载请求
* @param downloadType 下载类型: 0:正常下载 1:预下载
*
* @param autoPilotLine 线路相关参数详情见PB message_pad.proto -> Line
* @param downloadType 下载类型: 0:正常下载 1:预下载
* @param routeInfo 20240523 进行自动算路，务必下单时候携带自动驾驶路径信息，否则可不填！
*/
fun sendTrajectoryDownloadReq(autoPilotLine: AutopilotControlParameters.AutoPilotLine, downloadType: Int)
fun sendTrajectoryDownloadReq(autoPilotLine: AutopilotControlParameters.AutoPilotLine, downloadType: Int, routeInfo: MessagePad.RouteInfo?)
/**
* 结束自动驾驶
*/

19
core/mogo-core-function-call/src/main/java/com/mogo/eagle/core/function/call/autopilot/CallerAutoPilotControlManager.kt
View File

@@ -4,6 +4,8 @@ import android.os.SystemClock
import chassis.SpecialVehicleTaskCmdOuterClass
import com.mogo.commons.voice.AIAssist
import com.mogo.eagle.core.data.autopilot.AutopilotControlParameters
import com.mogo.eagle.core.data.autopilot.toAutoPilotLine
import com.mogo.eagle.core.data.autopilot.toRouteInfo
import com.mogo.eagle.core.data.deva.badcase.BagManagerEntity
import com.mogo.eagle.core.data.config.FunctionBuildConfig
import com.mogo.eagle.core.data.constants.MogoServicePaths
@@ -177,12 +179,24 @@ object CallerAutoPilotControlManager {
}
}
/**
* 发送 轨迹下载请求
*/
fun sendTrajectoryDownloadReq(autopilotControlParameters: AutopilotControlParameters) {
if (AppIdentityModeUtils.isDriver(FunctionBuildConfig.appIdentityMode)) {
// Routing 需要传参 routeInfo
providerApi?.sendTrajectoryDownloadReq(autopilotControlParameters.autoPilotLine!!, autopilotControlParameters.toRouteInfo())
CallerAutoPilotStatusListenerManager.invokeTrajectoryDownloadReq(autopilotControlParameters.autoPilotLine!!, 0)
}
}
/**
* 发送 轨迹下载请求
*/
fun sendTrajectoryDownloadReq(autoPilotLine: AutopilotControlParameters.AutoPilotLine) {
if (AppIdentityModeUtils.isDriver(FunctionBuildConfig.appIdentityMode)) {
providerApi?.sendTrajectoryDownloadReq(autoPilotLine)
//TODO Routing 需要传参 routeInfo，这里建议业务侧重新整合到同一个数据实体内传入
providerApi?.sendTrajectoryDownloadReq(autoPilotLine, null)
CallerAutoPilotStatusListenerManager.invokeTrajectoryDownloadReq(autoPilotLine, 0)
}
}
@@ -193,7 +207,8 @@ object CallerAutoPilotControlManager {
*/
fun sendTrajectoryDownloadReq(autoPilotLine: AutopilotControlParameters.AutoPilotLine, downloadType: Int) {
if (AppIdentityModeUtils.isDriver(FunctionBuildConfig.appIdentityMode)) {
providerApi?.sendTrajectoryDownloadReq(autoPilotLine, downloadType)
//TODO Routing 需要传参 routeInfo，这里建议业务侧重新整合到同一个数据实体内传入
providerApi?.sendTrajectoryDownloadReq(autoPilotLine, downloadType, null)
CallerAutoPilotStatusListenerManager.invokeTrajectoryDownloadReq(autoPilotLine, downloadType)
}
}

2
gradle/wrapper/gradle-wrapper.properties vendored
View File

@@ -1,6 +1,6 @@
#Fri Sep 22 11:53:55 CST 2023
distributionBase=GRADLE_USER_HOME
distributionUrl=https\://services.gradle.org/distributions/gradle-6.1.1-all.zip
distributionUrl=https\://mirrors.tencent.com/gradle/gradle-6.1.1-all.zip
distributionPath=wrapper/dists
zipStorePath=wrapper/dists
zipStoreBase=GRADLE_USER_HOME

10
libraries/mogo-adas-data/src/main/proto/message_pad.proto
View File

@@ -272,6 +272,8 @@ message TrajectoryDownloadReq
Line line = 1; //路线
uint32 source = 2; //指令来源: 0: default, 1:pad, 2:aicloud
uint32 downloadType = 3; //下载类型: 0:正常下载 1:预下载
RouteInfo routeInfo = 4; //20240523 进行自动算路，务必下单时候携带自动驾驶路径信息，否则可不填！（Line信息重复）
}
// message definition for MessageType: MsgTypeBasicInfoReq
@@ -297,6 +299,8 @@ message Location
double latitude = 2;
double altitude = 3;
double heading = 4;
bool station = 5; //20240523， 判断此点是中间站点还是途径点 ------- true：站点， false：简单的途径点
}
message RouteInfo
@@ -311,7 +315,10 @@ message RouteInfo
bool isSpeakVoice = 8; //abandoned
uint32 routeID = 9;
string routeName = 10;
Line line = 11; //路线信息
Line line = 11; //路线信息，原有轨迹线路信息
repeated Location blackPoints = 12; //20240523 不让走的道路，异常线路点
bool isStation = 13; //20240523 用于表示判断是否是站点下单。默认false：起点下单，接管下单； true: 中间站点下单
}
message SetAutopilotModeReq
@@ -319,6 +326,7 @@ message SetAutopilotModeReq
uint32 mode = 1; //1: enter autopilot mode, 0: quit autopilot mode
uint32 source = 2; //命令来源: 0: pad模拟, 1: pad业务, 2:aicloud, 3:魔方(清扫车MAP Version==332以及MAP Version>=350，其他车型目前未上线)
RouteInfo routeInfo = 3; //自动驾驶路径信息
}
// message definition for MsgTypeSetDemoModeReq

20
libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/AdasChannel.java
View File

@@ -1189,9 +1189,9 @@ public class AdasChannel implements IAdasNetCommApi, FpgaSocket.IWebSocketConnec
* 设置自动驾驶模式 启动自动驾驶
* 此方法存在域控回执，监听{@link OnAdasListener#onReceiveReceivedAck(ReceivedAck)}回调.使用方法：将此方法的返回值与{@link ReceivedAck#getMsgId()}进行比较，如果相同判断{@link ReceivedAck#getStatus()}是否等于{@link ReceivedAck.Status#NORMAL}，详情参见CheckSystemView中的onReceiveReceivedAck
*
* @param mode 1: enter autopilot mode, 0: quit autopilot mode
* @param source 命令来源: 0: pad模拟, 1: pad业务, 2:aicloud, 3:魔方(清扫车MAP Version==332以及MAP Version>=350，其他车型目前未上线)
* @param routeInfo 自动驾驶路径信息
* @param mode 1: enter autopilot mode, 0: quit autopilot mode
* @param source 命令来源: 0: pad模拟, 1: pad业务, 2:aicloud, 3:魔方(清扫车MAP Version==332以及MAP Version>=350，其他车型目前未上线)
* @param routeInfo 自动驾驶路径信息
* @return 消息是否添加到WS消息发送队列，返回值为非0的正整数时表示下发消息的消息ID
* * >=0：表示添加到WS发送消息队列
* * =0：表示乘客屏模式添加到WS发送消息队列
@@ -1655,8 +1655,9 @@ public class AdasChannel implements IAdasNetCommApi, FpgaSocket.IWebSocketConnec
* 发送 轨迹下载请求
* 此方法存在域控回执，监听{@link OnAdasListener#onReceiveReceivedAck(ReceivedAck)}回调.使用方法：将此方法的返回值与{@link ReceivedAck#getMsgId()}进行比较，如果相同判断{@link ReceivedAck#getStatus()}是否等于{@link ReceivedAck.Status#NORMAL}，详情参见CheckSystemView中的onReceiveReceivedAck
*
* @param line 线路相关参数详情见PB message_pad.proto -> Line
* @param downloadType 下载类型: 0:正常下载 1:预下载
* @param line 线路相关参数详情见PB message_pad.proto -> Line
* @param downloadType 下载类型: 0:正常下载 1:预下载
* @param routeInfo 20240523 进行自动算路，务必下单时候携带自动驾驶路径信息，否则可不填！
* @return 消息是否添加到WS消息发送队列，返回值为非0的正整数时表示下发消息的消息ID
* * >=0：表示添加到WS发送消息队列
* * =0：表示乘客屏模式添加到WS发送消息队列
@@ -1669,13 +1670,18 @@ public class AdasChannel implements IAdasNetCommApi, FpgaSocket.IWebSocketConnec
paramIndexes = {0}
)
@Override
public long sendTrajectoryDownloadReq(MessagePad.Line line, int downloadType) {
public long sendTrajectoryDownloadReq(MessagePad.Line line, int downloadType, MessagePad.RouteInfo routeInfo) {
MessagePad.TrajectoryDownloadReq.Builder builder = MessagePad.TrajectoryDownloadReq.newBuilder();
builder.setSource(1);//指令来源: 0: default, 1:pad, 2:aicloud
builder.setLine(line);
if (line != null) {
builder.setLine(line);
}
if (downloadType > -1) {
builder.setDownloadType(downloadType);
}
if (routeInfo != null) {
builder.setRouteInfo(routeInfo);
}
MessagePad.TrajectoryDownloadReq req = builder.build();
return sendPBMessage(MessageType.TYPE_SEND_TRAJECTORY_DOWNLOAD_REQ, req.toByteArray());
}

22
libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/AdasManager.java
View File

@@ -393,9 +393,9 @@ public class AdasManager implements IAdasNetCommApi {
* 设置自动驾驶模式 启动自动驾驶
* 此方法存在域控回执，监听{@link OnAdasListener#onReceiveReceivedAck(ReceivedAck)}回调.使用方法：将此方法的返回值与{@link ReceivedAck#getMsgId()}进行比较，如果相同判断{@link ReceivedAck#getStatus()}是否等于{@link ReceivedAck.Status#NORMAL}，详情参见CheckSystemView中的onReceiveReceivedAck
*
* @param mode 1: enter autopilot mode, 0: quit autopilot mode
* @param source 命令来源: 0: pad模拟, 1: pad业务, 2:aicloud, 3:魔方(清扫车MAP Version==332以及MAP Version>=350，其他车型目前未上线)
* @param routeInfo 自动驾驶路径信息
* @param mode 1: enter autopilot mode, 0: quit autopilot mode
* @param source 命令来源: 0: pad模拟, 1: pad业务, 2:aicloud, 3:魔方(清扫车MAP Version==332以及MAP Version>=350，其他车型目前未上线)
* @param routeInfo 自动驾驶路径信息
* @return 消息是否添加到WS消息发送队列，返回值为非0的正整数时表示下发消息的消息ID
* * >=0：表示添加到WS发送消息队列
* * =0：表示乘客屏模式添加到WS发送消息队列
@@ -758,30 +758,32 @@ public class AdasManager implements IAdasNetCommApi {
* 发送 轨迹下载请求
* 此方法存在域控回执，监听{@link OnAdasListener#onReceiveReceivedAck(ReceivedAck)}回调.使用方法：将此方法的返回值与{@link ReceivedAck#getMsgId()}进行比较，如果相同判断{@link ReceivedAck#getStatus()}是否等于{@link ReceivedAck.Status#NORMAL}，详情参见CheckSystemView中的onReceiveReceivedAck
*
* @param line 线路相关参数详情见PB message_pad.proto -> Line
* @param line 线路相关参数详情见PB message_pad.proto -> Line
* @param routeInfo 20240523 进行自动算路，务必下单时候携带自动驾驶路径信息，否则可不填！
* @return 消息是否添加到WS消息发送队列，返回值为非0的正整数时表示下发消息的消息ID
* * >=0：表示添加到WS发送消息队列
* * =0：表示乘客屏模式添加到WS发送消息队列
* * -1L：添加到WS发送消息队列失败
*/
public long sendTrajectoryDownloadReq(MessagePad.Line line) {
return mChannel == null ? -1L : mChannel.sendTrajectoryDownloadReq(line, -1);
public long sendTrajectoryDownloadReq(MessagePad.Line line, MessagePad.RouteInfo routeInfo) {
return mChannel == null ? -1L : mChannel.sendTrajectoryDownloadReq(line, -1, routeInfo);
}
/**
* 发送 轨迹下载请求
* 此方法存在域控回执，监听{@link OnAdasListener#onReceiveReceivedAck(ReceivedAck)}回调.使用方法：将此方法的返回值与{@link ReceivedAck#getMsgId()}进行比较，如果相同判断{@link ReceivedAck#getStatus()}是否等于{@link ReceivedAck.Status#NORMAL}，详情参见CheckSystemView中的onReceiveReceivedAck
*
* @param line 线路相关参数详情见PB message_pad.proto -> Line
* @param downloadType 下载类型: 0:正常下载 1:预下载
* @param line 线路相关参数详情见PB message_pad.proto -> Line
* @param downloadType 下载类型: 0:正常下载 1:预下载
* @param routeInfo 20240523 进行自动算路，务必下单时候携带自动驾驶路径信息，否则可不填！
* @return 消息是否添加到WS消息发送队列，返回值为非0的正整数时表示下发消息的消息ID
* * >=0：表示添加到WS发送消息队列
* * =0：表示乘客屏模式添加到WS发送消息队列
* * -1L：添加到WS发送消息队列失败
*/
@Override
public long sendTrajectoryDownloadReq(MessagePad.Line line, int downloadType) {
return mChannel == null ? -1L : mChannel.sendTrajectoryDownloadReq(line, downloadType);
public long sendTrajectoryDownloadReq(MessagePad.Line line, int downloadType, MessagePad.RouteInfo routeInfo) {
return mChannel == null ? -1L : mChannel.sendTrajectoryDownloadReq(line, downloadType, routeInfo);
}
/**

13
libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/IAdasNetCommApi.java
View File

@@ -173,9 +173,9 @@ public interface IAdasNetCommApi {
* 设置自动驾驶模式 启动自动驾驶
* 此方法存在域控回执，监听{@link OnAdasListener#onReceiveReceivedAck(ReceivedAck)}回调.使用方法：将此方法的返回值与{@link ReceivedAck#getMsgId()}进行比较，如果相同判断{@link ReceivedAck#getStatus()}是否等于{@link ReceivedAck.Status#NORMAL}，详情参见CheckSystemView中的onReceiveReceivedAck
*
* @param mode 1: enter autopilot mode, 0: quit autopilot mode
* @param source 命令来源: 0: pad模拟, 1: pad业务, 2:aicloud, 3:魔方(清扫车MAP Version==332以及MAP Version>=350，其他车型目前未上线)
* @param routeInfo 自动驾驶路径信息
* @param mode 1: enter autopilot mode, 0: quit autopilot mode
* @param source 命令来源: 0: pad模拟, 1: pad业务, 2:aicloud, 3:魔方(清扫车MAP Version==332以及MAP Version>=350，其他车型目前未上线)
* @param routeInfo 自动驾驶路径信息
* @return 消息是否添加到WS消息发送队列，返回值为非0的正整数时表示下发消息的消息ID
* * >=0：表示添加到WS发送消息队列
* * =0：表示乘客屏模式添加到WS发送消息队列
@@ -475,14 +475,15 @@ public interface IAdasNetCommApi {
* 发送 轨迹下载请求
* 此方法存在域控回执，监听{@link OnAdasListener#onReceiveReceivedAck(ReceivedAck)}回调.使用方法：将此方法的返回值与{@link ReceivedAck#getMsgId()}进行比较，如果相同判断{@link ReceivedAck#getStatus()}是否等于{@link ReceivedAck.Status#NORMAL}，详情参见CheckSystemView中的onReceiveReceivedAck
*
* @param line 线路相关参数详情见PB message_pad.proto -> Line
* @param downloadType 下载类型: 0:正常下载 1:预下载
* @param line 线路相关参数详情见PB message_pad.proto -> Line
* @param downloadType 下载类型: 0:正常下载 1:预下载
* @param routeInfo 20240523 进行自动算路，务必下单时候携带自动驾驶路径信息，否则可不填！
* @return 消息是否添加到WS消息发送队列，返回值为非0的正整数时表示下发消息的消息ID
* * >=0：表示添加到WS发送消息队列
* * =0：表示乘客屏模式添加到WS发送消息队列
* * -1L：添加到WS发送消息队列失败
*/
long sendTrajectoryDownloadReq(MessagePad.Line line, int downloadType);
long sendTrajectoryDownloadReq(MessagePad.Line line, int downloadType, MessagePad.RouteInfo routeInfo);
/**
* 发送 状态查询请求