diff --git 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 index 693217a87b..8de2df22c4 100644 --- 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 @@ -549,12 +549,12 @@ 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? diff --git a/core/mogo-core-function-call/src/main/java/com/mogo/eagle/core/function/call/autopilot/CallerPlanningActionsListenerManager.kt b/core/mogo-core-function-call/src/main/java/com/mogo/eagle/core/function/call/autopilot/CallerPlanningActionsListenerManager.kt index e4f273b8ca..9131d0bf31 100644 --- a/core/mogo-core-function-call/src/main/java/com/mogo/eagle/core/function/call/autopilot/CallerPlanningActionsListenerManager.kt +++ b/core/mogo-core-function-call/src/main/java/com/mogo/eagle/core/function/call/autopilot/CallerPlanningActionsListenerManager.kt @@ -2,6 +2,7 @@ package com.mogo.eagle.core.function.call.autopilot import com.mogo.eagle.core.function.api.autopilot.IMoGoAutopilotPlanningActionsListener import com.mogo.eagle.core.function.call.base.CallerBase +import com.mogo.eagle.core.function.call.trace.CallerTrace import mogo.telematics.pad.MessagePad /** @@ -9,12 +10,22 @@ import mogo.telematics.pad.MessagePad */ object CallerPlanningActionsListenerManager : CallerBase() { + private var state = 0 + private var action = 0 + /** * pnc actions 决策回调 * @param planningActionMsg 具体决策 */ @Synchronized fun invokePNCActions(planningActionMsg: MessagePad.PlanningActionMsg) { + val s = planningActionMsg.actionMsg.drivingState.number + val a = planningActionMsg.actionMsg.drivingAction.number + if(s != state || a != action){ + state = s + action = a + CallerTrace.write("PncActions", mapOf("state" to state, "action" to action)) + } M_LISTENERS.forEach { val listener = it.value listener.pncActions(planningActionMsg) diff --git a/libraries/mogo-map/src/main/java/com/mogo/map/utils/HDMapUtils.kt b/libraries/mogo-map/src/main/java/com/mogo/map/utils/HDMapUtils.kt index 72e8eadaa5..bda1551898 100644 --- a/libraries/mogo-map/src/main/java/com/mogo/map/utils/HDMapUtils.kt +++ b/libraries/mogo-map/src/main/java/com/mogo/map/utils/HDMapUtils.kt @@ -3,17 +3,374 @@ package com.mogo.map.utils object HDMapUtils { private val cityCodeMap by lazy(LazyThreadSafetyMode.SYNCHRONIZED) { val map = HashMap() - // TODO:("高精地图自己去做") - map["0831"] = 5115// 宜宾市 - map["0512"] = 3205// 苏州市 - map["0872"] = 5329// 大理市 - map["0711"] = 4207// 鄂州市 - map["028"] = 5101// 成都市 - map["0931"] = 6201// 兰州市 - map["0535"] = 3706// 烟台市 - map["027"] = 4201// 武汉市 - map["010"] = 1101// 北京市 - map["0734"] = 4304// 衡阳市 + + map["010"] = 1101 //北京市 + map["022"] = 1201 //天津市 + map["024"] = 2101 //沈阳市 + map["021"] = 3101 //上海市 + map["025"] = 3201 //南京市 + map["027"] = 4201 //武汉市 + map["020"] = 4401 //广州市 + map["023"] = 5001 //重庆市 + map["028"] = 5101 //成都市 + map["029"] = 6101 //西安市 + + //河北 + map["0311"] = 1301 //石家庄市 +// map["0315"] = 1302 //唐山市 +// map["0335"] = 1303 //秦皇岛市 +// map["0310"] = 1304 //邯郸市 +// map["0319"] = 1305 //邢台市 +// map["0312"] = 1306 //保定市 +// map["0313"] = 1307 //张家口市 +// map["0314"] = 1308 //承德市 +// map["0317"] = 1309 //沧州市 + map["0316"] = 1310 //廊坊市 +// map["0318"] = 1311 //衡水市 + + //山西 +// map["0351"] = 1401 //太原市 +// map["0352"] = 1402 //大同市 +// map["0353"] = 1403 //阳泉市 +// map["0355"] = 1404 //长治市 +// map["0356"] = 1405 //晋城市 +// map["0349"] = 1406 //朔州市 +// map["0354"] = 1407 //晋中市 +// map["0359"] = 1408 //运城市 +// map["0350"] = 1409 //忻州市 +// map["0357"] = 1410 //临汾市 +// map["0358"] = 1411 //吕梁市 + + //内蒙古 + map["0471"] = 1501 //呼和浩特市 + map["0472"] = 1502 //包头市 +// map["0473"] = 1503 //乌海市 +// map["0476"] = 1504 //赤峰市 +// map["0475"] = 1505 //通辽市 + map["0477"] = 1506 //鄂尔多斯市 + map["0470"] = 1507 //呼伦贝尔市 +// map["0478"] = 1508 //巴彦淖尔市 +// map["0474"] = 1509 //乌兰察布市 +// map["0482"] = 1522 //兴安盟 + map["0479"] = 1525 //锡林郭勒盟 +// map["0483"] = 1529 //阿拉善盟 + + //辽宁 +// map["0411"] = 2102 //大连市 +// map["0412"] = 2103 //鞍山市 +// map["0413"] = 2104 //抚顺市 +// map["0414"] = 2105 //本溪市 +// map["0415"] = 2106 //丹东市 +// map["0416"] = 2107 //锦州市 +// map["0417"] = 2108 //营口市 +// map["0418"] = 2109 //阜新市 +// map["0419"] = 2110 //辽阳市 +// map["0427"] = 2111 //盘锦市 +// map["0410"] = 2112 //铁岭市 +// map["0421"] = 2113 //朝阳市 +// map["0429"] = 2114 //葫芦岛市 + + //吉林 + map["0431"] = 2201 //长春市 + map["0432"] = 2202 //吉林市 +// map["0434"] = 2203 //四平市 +// map["0437"] = 2204 //辽源市 +// map["0435"] = 2205 //通化市 +// map["0439"] = 2206 //白山市 +// map["0438"] = 2207 //松原市 +// map["0436"] = 2208 //白城市 +// map["1433"] = 2224 //延边朝鲜族自治州 + + //黑龙江 + map["0451"] = 2301 //哈尔滨市 +// map["0452"] = 2302 //齐齐哈尔市 +// map["0467"] = 2303 //鸡西市 +// map["0468"] = 2304 //鹤岗市 +// map["0469"] = 2305 //双鸭山市 +// map["0459"] = 2306 //大庆市 +// map["0458"] = 2307 //伊春市 +// map["0454"] = 2308 //佳木斯市 +// map["0464"] = 2309 //七台河市 +// map["0453"] = 2310 //牡丹江市 +// map["0456"] = 2311 //黑河市 +// map["0455"] = 2312 //绥化市 +// map["0457"] = 2327 //大兴安岭地区 + + //江苏 + map["0510"] = 3202 //无锡市 +// map["0516"] = 3203 //徐州市 +// map["0519"] = 3204 //常州市 + map["0512"] = 3205 //苏州市 +// map["0513"] = 3206 //南通市 +// map["0518"] = 3207 //连云港市 +// map["0517"] = 3208 //淮安市 +// map["0515"] = 3209 //盐城市 +// map["0514"] = 3210 //扬州市 +// map["0511"] = 3211 //镇江市 +// map["0523"] = 3212 //泰州市 +// map["0527"] = 3213 //宿迁市 + + //浙江 +// map["0571"] = 3301 //杭州市 +// map["0574"] = 3302 //宁波市 +// map["0577"] = 3303 //温州市 + map["0573"] = 3304 //嘉兴市 + map["0572"] = 3305 //湖州市 +// map["0575"] = 3306 //绍兴市 +// map["0579"] = 3307 //金华市 +// map["0570"] = 3308 //衢州市 +// map["0580"] = 3309 //舟山市 +// map["0576"] = 3310 //台州市 +// map["0578"] = 3311 //丽水市 + + //安徽 +// map["0551"] = 3401 //合肥市 +// map["0553"] = 3402 //芜湖市 +// map["0552"] = 3403 //蚌埠市 +// map["0554"] = 3404 //淮南市 +// map["0555"] = 3405 //马鞍山市 +// map["0561"] = 3406 //淮北市 +// map["0562"] = 3407 //铜陵市 +// map["0556"] = 3408 //安庆市 +// map["0559"] = 3410 //黄山市 +// map["0550"] = 3411 //滁州市 +// map["1558"] = 3412 //阜阳市 +// map["0557"] = 3413 //宿州市 +// map["0564"] = 3415 //六安市 +// map["0558"] = 3416 //亳州市 +// map["0566"] = 3417 //池州市 +// map["0563"] = 3418 //宣城市 + + //福建 + map["0591"] = 3501 //福州市 + map["0592"] = 3502 //厦门市 +// map["0594"] = 3503 //莆田市 +// map["0598"] = 3504 //三明市 +// map["0595"] = 3505 //泉州市 +// map["0596"] = 3506 //漳州市 +// map["0599"] = 3507 //南平市 +// map["0597"] = 3508 //龙岩市 +// map["0593"] = 3509 //宁德市 + + //江西 + map["0791"] = 3601 //南昌市 +// map["0798"] = 3602 //景德镇市 +// map["0799"] = 3603 //萍乡市 +// map["0792"] = 3604 //九江市 +// map["0790"] = 3605 //新余市 +// map["0701"] = 3606 //鹰潭市 +// map["0797"] = 3607 //赣州市 +// map["0796"] = 3608 //吉安市 +// map["0795"] = 3609 //宜春市 +// map["0794"] = 3610 //抚州市 +// map["0793"] = 3611 //上饶市 + + //山东 +// map["0531"] = 3701 //济南市 +// map["0532"] = 3702 //青岛市 +// map["0533"] = 3703 //淄博市 +// map["0632"] = 3704 //枣庄市 +// map["0546"] = 3705 //东营市 + map["0535"] = 3706 //烟台市 +// map["0536"] = 3707 //潍坊市 +// map["0537"] = 3708 //济宁市 +// map["0538"] = 3709 //泰安市 +// map["0631"] = 3710 //威海市 +// map["0633"] = 3711 //日照市 +// map["0539"] = 3713 //临沂市 +// map["0534"] = 3714 //德州市 +// map["0635"] = 3715 //聊城市 +// map["0543"] = 3716 //滨州市 +// map["0530"] = 3717 //菏泽市 + + //河南 + map["0371"] = 4101 //郑州市 +// map["0378"] = 4102 //开封市 +// map["0379"] = 4103 //洛阳市 +// map["0375"] = 4104 //平顶山市 +// map["0372"] = 4105 //安阳市 + map["0392"] = 4106 //鹤壁市 +// map["0373"] = 4107 //新乡市 +// map["0391"] = 4108 //焦作市 +// map["0393"] = 4109 //濮阳市 +// map["0374"] = 4110 //许昌市 +// map["0395"] = 4111 //漯河市 + map["0398"] = 4112 //三门峡市 +// map["0377"] = 4113 //南阳市 +// map["0370"] = 4114 //商丘市 +// map["0376"] = 4115 //信阳市 +// map["0394"] = 4116 //周口市 +// map["0396"] = 4117 //驻马店市 + + //湖北 +// map["0714"] = 4202 //黄石市 +// map["0719"] = 4203 //十堰市 +// map["0717"] = 4205 //宜昌市 +// map["0710"] = 4206 //襄阳市 + map["0711"] = 4207 //鄂州市 +// map["0724"] = 4208 //荆门市 +// map["0712"] = 4209 //孝感市 +// map["0716"] = 4210 //荆州市 +// map["0713"] = 4211 //黄冈市 +// map["0715"] = 4212 //咸宁市 +// map["0722"] = 4213 //随州市 +// map["0718"] = 4228 //恩施土家族苗族自治州 + + //湖南 +// map["0731"] = 4301 //长沙市 + map["0733"] = 4302 //株洲市 +// map["0732"] = 4303 //湘潭市 + map["0734"] = 4304 //衡阳市 +// map["0739"] = 4305 //邵阳市 +// map["0730"] = 4306 //岳阳市 +// map["0736"] = 4307 //常德市 +// map["0744"] = 4308 //张家界市 +// map["0737"] = 4309 //益阳市 +// map["0735"] = 4310 //郴州市 +// map["0746"] = 4311 //永州市 +// map["0745"] = 4312 //怀化市 +// map["0738"] = 4313 //娄底市 +// map["0743"] = 4331 //湘西土家族苗族自治州 + + //广东 +// map["0751"] = 4402 //韶关市 + map["0755"] = 4403 //深圳市 +// map["0756"] = 4404 //珠海市 +// map["0754"] = 4405 //汕头市 +// map["0757"] = 4406 //佛山市 +// map["0750"] = 4407 //江门市 +// map["0759"] = 4408 //湛江市 +// map["0668"] = 4409 //茂名市 +// map["0758"] = 4412 //肇庆市 +// map["0752"] = 4413 //惠州市 +// map["0753"] = 4414 //梅州市 +// map["0660"] = 4415 //汕尾市 +// map["0762"] = 4416 //河源市 +// map["0662"] = 4417 //阳江市 +// map["0763"] = 4418 //清远市 +// map["0769"] = 4419 //东莞市 +// map["0760"] = 4420 //中山市 +// map["0768"] = 4451 //潮州市 +// map["0663"] = 4452 //揭阳市 +// map["0766"] = 4453 //云浮市 + + //广西 + map["0771"] = 4501 //南宁市 +// map["0772"] = 4502 //柳州市 +// map["0773"] = 4503 //桂林市 +// map["0774"] = 4504 //梧州市 +// map["0779"] = 4505 //北海市 +// map["0770"] = 4506 //防城港市 +// map["0777"] = 4507 //钦州市 +// map["1755"] = 4508 //贵港市 +// map["0775"] = 4509 //玉林市 +// map["0776"] = 4510 //百色市 +// map["1774"] = 4511 //贺州市 +// map["0778"] = 4512 //河池市 +// map["1772"] = 4513 //来宾市 +// map["1771"] = 4514 //崇左市 + + //海南 +// map["0898"] = 4601 //海口市 +// map["0899"] = 4602 //三亚市 +// map["2898"] = 4603 //三沙市 +// map["0805"] = 4604 //儋州市 + + //四川 +// map["0813"] = 5103 //自贡市 +// map["0812"] = 5104 //攀枝花市 +// map["0830"] = 5105 //泸州市 +// map["0838"] = 5106 //德阳市 +// map["0816"] = 5107 //绵阳市 +// map["0839"] = 5108 //广元市 +// map["0825"] = 5109 //遂宁市 +// map["1832"] = 5110 //内江市 +// map["0833"] = 5111 //乐山市 +// map["0817"] = 5113 //南充市 +// map["1833"] = 5114 //眉山市 + map["0831"] = 5115 //宜宾市 +// map["0826"] = 5116 //广安市 +// map["0818"] = 5117 //达州市 +// map["0835"] = 5118 //雅安市 +// map["0827"] = 5119 //巴中市 +// map["0832"] = 5120 //资阳市 +// map["0837"] = 5132 //阿坝藏族羌族自治州 +// map["0836"] = 5133 //甘孜藏族自治州 +// map["0834"] = 5134 //凉山彝族自治州 + + //贵州 + map["0851"] = 5201 //贵阳市 +// map["0858"] = 5202 //六盘水市 +// map["0852"] = 5203 //遵义市 +// map["0853"] = 5204 //安顺市 +// map["0857"] = 5205 //毕节市 +// map["0856"] = 5206 //铜仁市 +// map["0859"] = 5223 //黔西南布依族苗族自治州 +// map["0855"] = 5226 //黔东南苗族侗族自治州 +// map["0854"] = 5227 //黔南布依族苗族自治州 + + //云南 +// map["0871"] = 5301 //昆明市 +// map["0874"] = 5303 //曲靖市 +// map["0877"] = 5304 //玉溪市 +// map["0875"] = 5305 //保山市 +// map["0870"] = 5306 //昭通市 +// map["0888"] = 5307 //丽江市 +// map["0879"] = 5308 //普洱市 +// map["0883"] = 5309 //临沧市 +// map["0878"] = 5323 //楚雄彝族自治州 +// map["0873"] = 5325 //红河哈尼族彝族自治州 +// map["0876"] = 5326 //文山壮族苗族自治州 +// map["0691"] = 5328 //西双版纳傣族自治州 + map["0872"] = 5329 //大理白族自治州 +// map["0692"] = 5331 //德宏傣族景颇族自治州 +// map["0886"] = 5333 //怒江傈僳族自治州 +// map["0887"] = 5334 //迪庆藏族自治州 + + //陕西 +// map["0919"] = 6102 //铜川市 +// map["0917"] = 6103 //宝鸡市 +// map["0910"] = 6104 //咸阳市 +// map["0913"] = 6105 //渭南市 +// map["0911"] = 6106 //延安市 +// map["0916"] = 6107 //汉中市 +// map["0912"] = 6108 //榆林市 +// map["0915"] = 6109 //安康市 +// map["0914"] = 6110 //商洛市 + + //甘肃 + map["0931"] = 6201 //兰州市 +// map["1937"] = 6202 //嘉峪关市 +// map["0935"] = 6203 //金昌市 +// map["0943"] = 6204 //白银市 +// map["0938"] = 6205 //天水市 +// map["1935"] = 6206 //武威市 +// map["0936"] = 6207 //张掖市 +// map["0933"] = 6208 //平凉市 +// map["0937"] = 6209 //酒泉市 +// map["0934"] = 6210 //庆阳市 +// map["0932"] = 6211 //定西市 +// map["2935"] = 6212 //陇南市 +// map["0930"] = 6229 //临夏回族自治州 +// map["0941"] = 6230 //甘南藏族自治州 + + //青海 + map["0971"] = 6301 //西宁市 +// map["0972"] = 6302 //海东市 + + //宁夏 + map["0951"] = 6401 //银川市 +// map["0952"] = 6402 //石嘴山市 +// map["0953"] = 6403 //吴忠市 +// map["0954"] = 6404 //固原市 +// map["1953"] = 6405 //中卫市 + + //新疆 +// map["0991"] = 6501 //乌鲁木齐市 +// map["0990"] = 6502 //克拉玛依市 +// map["0995"] = 6504 //吐鲁番地区 +// map["0902"] = 6505 //哈密地区 + map }