diff --git a/OCH/common/bridge/src/main/java/com/mogo/och/bridge/autopilot/line/LineManager.kt b/OCH/common/bridge/src/main/java/com/mogo/och/bridge/autopilot/line/LineManager.kt index af177bb16c..7a3230e681 100644 --- a/OCH/common/bridge/src/main/java/com/mogo/och/bridge/autopilot/line/LineManager.kt +++ b/OCH/common/bridge/src/main/java/com/mogo/och/bridge/autopilot/line/LineManager.kt @@ -27,7 +27,6 @@ import com.mogo.och.bridge.R import com.mogo.och.bridge.autopilot.OCHAdasAbilityManager import com.mogo.och.bridge.autopilot.autopilot.OchAutoPilotManager import com.mogo.och.bridge.autopilot.autopilot.OchAutoPilotManager.startAutoPilot -import com.mogo.och.bridge.autopilot.autopilot.OchAutoPilotManager.unmannedStartAutoPilot import com.mogo.och.bridge.autopilot.autopilot.OchAutopilotAnalytics import com.mogo.och.bridge.autopilot.location.OchLocationManager import com.mogo.och.bridge.distance.TrajectoryAndDistanceManager @@ -626,7 +625,7 @@ object LineManager : CallerBase() { } } - fun unmannedStartAutopilot(taskId: Long, isSlideAutoStart: Boolean = false) { + fun unmannedStartAutopilot(isSlideAutoStart: Boolean = false) { if (startStation == null || endStation == null) { // ToastUtils.showShort("未设置起始或终点站点") ToastUtils.showShort(R.string.module_och_not_stat_and_end_point) @@ -731,7 +730,7 @@ object LineManager : CallerBase() { .wayPoints(wayPoints) .blackPoints(blackPoints) .build() - val sessionId = OchAutoPilotManager.unmannedStartAutoPilot(taskId, traj, parameters) + val sessionId = OchAutoPilotManager.unmannedStartAutoPilot(i.taskId, traj, parameters) OchAutopilotAnalytics.triggerUpdateStartAutoPilotSessionId(sessionId, true) d( TAG, @@ -747,7 +746,7 @@ object LineManager : CallerBase() { //TODO 任务管理继续 - fun unmanneAutopilotContinue(taskId: Long, isSlideAutoStart: Boolean = false) { + fun unmanneAutopilotContinue(isSlideAutoStart: Boolean = false) { if (startStation == null || endStation == null) { // ToastUtils.showShort("未设置起始或终点站点") ToastUtils.showShort(R.string.module_och_not_stat_and_end_point) @@ -793,7 +792,7 @@ object LineManager : CallerBase() { e(TAG, "无人化 行程日志-AutopilotControlParameters is empty.") return } - _lineInfos?.let { i -> + _lineInfos?.let { lineInfo -> startStation?.let { start-> val wayPoints = ArrayList() val blackPoints = ArrayList() @@ -808,8 +807,8 @@ object LineManager : CallerBase() { .build() wayPoints.add(vehicleSite) val traj = Trajectory.builder() - .id(i.lineId) - .name(i.lineName) + .id(lineInfo.lineId) + .name(lineInfo.lineName) .trajUrl(_contraiInfo!!.csvFileUrl) .trajMd5(_contraiInfo!!.csvFileMd5) .stopUrl(_contraiInfo!!.txtFileUrl) @@ -818,7 +817,7 @@ object LineManager : CallerBase() { .wayPoints(wayPoints) .blackPoints(blackPoints) .build() - val sessionId = OchAutoPilotManager.unmannedAutoPilotContinue(taskId, traj,vehicleSite, parameters) + val sessionId = OchAutoPilotManager.unmannedAutoPilotContinue(lineInfo.taskId, traj,vehicleSite, parameters) OchAutopilotAnalytics.triggerUpdateStartAutoPilotSessionId(sessionId, true) d( TAG, diff --git a/OCH/common/bridge/src/main/java/com/mogo/och/bridge/ui/autopilot/AutopilotState.kt b/OCH/common/bridge/src/main/java/com/mogo/och/bridge/ui/autopilot/AutopilotState.kt index 27f16d8cff..fe37bff1c5 100644 --- a/OCH/common/bridge/src/main/java/com/mogo/och/bridge/ui/autopilot/AutopilotState.kt +++ b/OCH/common/bridge/src/main/java/com/mogo/och/bridge/ui/autopilot/AutopilotState.kt @@ -119,7 +119,7 @@ class AutopilotState @JvmOverloads constructor( actv_autopilot_state.setTextColor(ResourcesUtils.getColor(R.color.common_B3FFFFFF)) actv_autopilot_state.text = ResourcesUtils.getString(R.string.common_autopilot_starting) actv_pxjs_state.setTextColor(ResourcesUtils.getColor(R.color.common_19FFCB)) - AutopilotState@this.isEnabled = false + //AutopilotState@this.isEnabled = false autopilotLoadingAnimator.start() @@ -140,7 +140,7 @@ class AutopilotState @JvmOverloads constructor( actv_autopilot_state.setTextColor(ResourcesUtils.getColor(R.color.common_B3FFFFFF)) actv_autopilot_state.text = ResourcesUtils.getString(R.string.common_autopilot_starting) actv_pxjs_state.setTextColor(ResourcesUtils.getColor(R.color.common_19FFCB)) - AutopilotState@this.isEnabled = false + //AutopilotState@this.isEnabled = false autopilotLoadingAnimator.cancel() autopilotChangeStateAnimator.start() @@ -158,7 +158,7 @@ class AutopilotState @JvmOverloads constructor( actv_autopilot_state.setTextColor(ResourcesUtils.getColor(R.color.common_19FFCB)) actv_autopilot_state.text = ResourcesUtils.getString(R.string.common_autopilot_running) actv_pxjs_state.setTextColor(ResourcesUtils.getColor(R.color.common_19FFCB)) - AutopilotState@this.isEnabled = false + //AutopilotState@this.isEnabled = false aciv_autopilot_running_ani.visibility = VISIBLE autopilotStateAnimator?.start() @@ -179,7 +179,7 @@ class AutopilotState @JvmOverloads constructor( actv_autopilot_state.text = ResourcesUtils.getString(R.string.common_autopilot_start) actv_pxjs_state.setTextColor(ResourcesUtils.getColor(R.color.common_19FFCB)) - AutopilotState@this.isEnabled = false + //AutopilotState@this.isEnabled = false aciv_autopilot_running_ani.visibility = GONE autopilotStateAnimator?.stop() @@ -220,7 +220,7 @@ class AutopilotState @JvmOverloads constructor( actv_autopilot_state.setTextColor(ResourcesUtils.getColor(R.color.common_19FFCB)) actv_autopilot_state.text = ResourcesUtils.getString(R.string.common_autopilot_start) actv_pxjs_state.setTextColor(ResourcesUtils.getColor(R.color.common_19FFCB)) - AutopilotState@this.isEnabled = false + //AutopilotState@this.isEnabled = false aciv_autopilot_running_ani.visibility = VISIBLE autopilotStateAnimator?.start() @@ -244,7 +244,7 @@ class AutopilotState @JvmOverloads constructor( actv_autopilot_state.setTextColor(ResourcesUtils.getColor(R.color.common_FF4E41)) actv_autopilot_state.text = ResourcesUtils.getString(R.string.common_autopilot_fail) actv_pxjs_state.setTextColor(ResourcesUtils.getColor(R.color.common_19FFCB)) - AutopilotState@this.isEnabled = false + //AutopilotState@this.isEnabled = false aciv_autopilot_running_ani.visibility = GONE autopilotStateAnimator?.stop() diff --git a/OCH/common/bridge/src/main/java/com/mogo/och/bridge/ui/autopilot/AutopilotStateModel.kt b/OCH/common/bridge/src/main/java/com/mogo/och/bridge/ui/autopilot/AutopilotStateModel.kt index e8cab03885..e653e9fe7b 100644 --- a/OCH/common/bridge/src/main/java/com/mogo/och/bridge/ui/autopilot/AutopilotStateModel.kt +++ b/OCH/common/bridge/src/main/java/com/mogo/och/bridge/ui/autopilot/AutopilotStateModel.kt @@ -4,6 +4,9 @@ import androidx.lifecycle.ViewModel import com.mogo.eagle.core.data.config.FunctionBuildConfig import com.mogo.eagle.core.function.api.autopilot.IMoGoAutopilotStatusListener import com.mogo.eagle.core.function.call.autopilot.CallerAutoPilotControlManager +import com.mogo.eagle.core.function.call.autopilot.CallerTaskListenerManager +import com.mogo.eagle.core.utilcode.mogo.AppIdentityModeUtils +import com.mogo.eagle.core.utilcode.mogo.CockpitType import com.mogo.eagle.core.utilcode.util.UiThreadHandler import com.mogo.och.common.module.debug.autopilot.AutopilotStateDebug import com.mogo.och.common.module.debug.autopilot.IOchDebugAutopilotStatusListener @@ -229,7 +232,15 @@ class AutopilotStateModel : ViewModel(), IOchAutopilotStatusListener, ILineCallb startAutopilotFail() } } else { - LineManager.startAutopilot() + if (AppIdentityModeUtils.getCockpitType() == CockpitType.UNMANNED) { + if (CallerTaskListenerManager.isCarRunningTask()) { + LineManager.unmanneAutopilotContinue(false) + }else{ + LineManager.unmannedStartAutopilot(true) + } + }else{ + LineManager.startAutopilot() + } } } diff --git a/OCH/common/data/src/main/java/com/mogo/och/data/bean/LineInfo.kt b/OCH/common/data/src/main/java/com/mogo/och/data/bean/LineInfo.kt index 1e51f328fb..bb979efdbc 100644 --- a/OCH/common/data/src/main/java/com/mogo/och/data/bean/LineInfo.kt +++ b/OCH/common/data/src/main/java/com/mogo/och/data/bean/LineInfo.kt @@ -23,6 +23,7 @@ data class LineInfo( */ var siteInfos:MutableList = mutableListOf(), + var taskId:Long=-1L ) { fun genAutopilotId(): String { val tempAutopilotId = StringBuilder() diff --git a/OCH/shuttle/driver_unmanned/src/main/java/com/mogo/och/unmanned/bean/response/BusRoutesResponse.kt b/OCH/shuttle/driver_unmanned/src/main/java/com/mogo/och/unmanned/bean/response/BusRoutesResponse.kt index 86f891556b..13ce5c4d93 100644 --- a/OCH/shuttle/driver_unmanned/src/main/java/com/mogo/och/unmanned/bean/response/BusRoutesResponse.kt +++ b/OCH/shuttle/driver_unmanned/src/main/java/com/mogo/och/unmanned/bean/response/BusRoutesResponse.kt @@ -111,6 +111,7 @@ class BusRoutesResponse : BaseData() { // 线路信息 if (lineInfo == null && taskAndsite.lineId != null && taskAndsite.lineName != null) { lineInfo = LineInfo(taskAndsite.lineId!!, taskAndsite.lineName!!, orderId = taskAndsite.taskId.toString()) + lineInfo?.taskId = taskAndsite.taskId?.toLong()?:0L } } if (currentStationIndex == -1) { diff --git a/OCH/shuttle/driver_unmanned/src/main/java/com/mogo/och/unmanned/model/OrderModel.kt b/OCH/shuttle/driver_unmanned/src/main/java/com/mogo/och/unmanned/model/OrderModel.kt index 01dab14900..99bc38cde5 100644 --- a/OCH/shuttle/driver_unmanned/src/main/java/com/mogo/och/unmanned/model/OrderModel.kt +++ b/OCH/shuttle/driver_unmanned/src/main/java/com/mogo/och/unmanned/model/OrderModel.kt @@ -9,6 +9,7 @@ import com.mogo.eagle.core.data.config.FunctionBuildConfig import com.mogo.eagle.core.function.api.autopilot.IMoGoAutopilotStatusListener import com.mogo.eagle.core.function.call.autopilot.CallerAutoPilotControlManager import com.mogo.eagle.core.function.call.autopilot.CallerAutoPilotStatusListenerManager +import com.mogo.eagle.core.function.call.autopilot.CallerTaskListenerManager import com.mogo.eagle.core.function.call.setting.CallerSopSettingManager import com.mogo.eagle.core.utilcode.mogo.logger.CallerLogger.d import com.mogo.eagle.core.utilcode.mogo.logger.CallerLogger.e @@ -16,6 +17,7 @@ import com.mogo.eagle.core.utilcode.mogo.logger.scene.SceneConstant.Companion.M_ import com.mogo.eagle.core.utilcode.util.CoordinateUtils import com.mogo.eagle.core.utilcode.util.StringUtils import com.mogo.eagle.core.utilcode.util.ThreadUtils +import com.mogo.eagle.core.utilcode.util.ToastUtils import com.mogo.eagle.core.utilcode.util.UiThreadHandler import com.mogo.och.bridge.autopilot.autopilot.IOchAutopilotStatusListener import com.mogo.och.bridge.autopilot.autopilot.OchAutoPilotStatusListenerManager @@ -244,11 +246,16 @@ object OrderModel { private fun onStartAutopilot(taskId: Long?) { //开启自动驾驶 2.10.0: 如果自动驾驶状态下开启， 非自动驾驶状态下不开启，需手动点击自动驾驶按钮开启 isGoingToNextStation = true + if (CallerTaskListenerManager.isCarRunningTask()) { + LineManager.unmanneAutopilotContinue(false) + }else{ + LineManager.unmannedStartAutopilot(true) + } if (CallerAutoPilotStatusListenerManager.getState() != IMoGoAutopilotStatusListener.STATUS_AUTOPILOT_RUNNING ) { - LineManager.unmannedStartAutopilot(taskId ?: 0L, true) - }else{ - LineManager.unmanneAutopilotContinue(taskId ?: 0L, false) + + } else { + } } diff --git a/OCH/shuttle/driver_unmanned/src/main/java/com/mogo/och/unmanned/repository/line/impl/NormalRepository.kt b/OCH/shuttle/driver_unmanned/src/main/java/com/mogo/och/unmanned/repository/line/impl/NormalRepository.kt index cf6d6cadf9..23b96a3fa8 100644 --- a/OCH/shuttle/driver_unmanned/src/main/java/com/mogo/och/unmanned/repository/line/impl/NormalRepository.kt +++ b/OCH/shuttle/driver_unmanned/src/main/java/com/mogo/och/unmanned/repository/line/impl/NormalRepository.kt @@ -111,6 +111,7 @@ class NormalRepository : ILineRepository { // 线路信息 if (lineInfo == null && busRoutesResult.name != null) { lineInfo = LineInfo(busRoutesResult.lineId.toLong(), busRoutesResult.name, orderId = busRoutesResult.taskId.toString()) + lineInfo?.taskId = busRoutesResult.taskId.toLong() } } diff --git a/OCH/shuttle/driver_unmanned/src/main/java/com/mogo/och/unmanned/ui/taskrunning/TaskRunningView.kt b/OCH/shuttle/driver_unmanned/src/main/java/com/mogo/och/unmanned/ui/taskrunning/TaskRunningView.kt index 072ff04b05..4dcc28403d 100644 --- a/OCH/shuttle/driver_unmanned/src/main/java/com/mogo/och/unmanned/ui/taskrunning/TaskRunningView.kt +++ b/OCH/shuttle/driver_unmanned/src/main/java/com/mogo/och/unmanned/ui/taskrunning/TaskRunningView.kt @@ -6,6 +6,7 @@ import android.view.LayoutInflater import androidx.constraintlayout.widget.ConstraintLayout import androidx.lifecycle.ViewModelProvider import androidx.lifecycle.findViewTreeViewModelStoreOwner +import com.mogo.eagle.core.function.call.autopilot.CallerAutoPilotControlManager import com.mogo.eagle.core.utilcode.kotlin.onClick import com.mogo.eagle.core.utilcode.mogo.logger.CallerLogger import com.mogo.eagle.core.utilcode.mogo.logger.scene.SceneConstant.Companion.M_BUS @@ -82,15 +83,15 @@ class TaskRunningView : ConstraintLayout, TaskRunningModel.SwtichLineViewCallbac }) unmanned_actv_arriver_station.onClick { unmanned_loading_arrive_station.visibility = VISIBLE - if(LineModel.isPreLastStation()==true){ - viewModel?.arriveStation() - }else{ - viewModel?.skipStation() - } - +// if(LineModel.isPreLastStation()==true){ +// viewModel?.arriveStation() +// }else{ +// viewModel?.skipStation() +// } + viewModel?.arriveStation() } unmanned_actv_arriver_station_new.setOnLongClickListener { - viewModel?.arriveStation() + CallerAutoPilotControlManager.sendTaskManagerRunningInfo() true } unmanned_actv_complete_task.onClick { diff --git a/core/function-impl/mogo-core-function-datacenter/src/main/java/com/mogo/eagle/core/function/datacenter/autopilot/MoGoAutopilotControlProvider.kt b/core/function-impl/mogo-core-function-datacenter/src/main/java/com/mogo/eagle/core/function/datacenter/autopilot/MoGoAutopilotControlProvider.kt index 5e03a7d18b..ca542bc86d 100644 --- a/core/function-impl/mogo-core-function-datacenter/src/main/java/com/mogo/eagle/core/function/datacenter/autopilot/MoGoAutopilotControlProvider.kt +++ b/core/function-impl/mogo-core-function-datacenter/src/main/java/com/mogo/eagle/core/function/datacenter/autopilot/MoGoAutopilotControlProvider.kt @@ -137,7 +137,7 @@ class MoGoAutopilotControlProvider : // .setType(Constants.SUBSCRIBE_TYPE.UNSUBSCRIBE) // .setMessageTypes(messageTypes).build() - // "192.168.1.102" + // "172.30.33.83" val options = AdasOptions.newBuilder() .setConnectionMode(AdasOptions.IPC_CONNECTION_MODE.PING) .setPingAddressList(AdasManager.getInstance().pingAddressList) @@ -445,6 +445,16 @@ class MoGoAutopilotControlProvider : } } + override fun sendTaskManagerRunningInfo(): Long { + return if (AdasManager.getInstance().ipcConnectionStatus == AdasConstants.IpcConnectionStatus.CONNECTED) { + val invokeResult = AdasManager.getInstance().sendTaskManagerRunningInfo() + invokeAutoPilotResult(if (invokeResult > -1) "无人化 获取正在执行的任务信息调用成功：${invokeResult}" else "获取正在执行的任务信息调用失败, socket 或者 rawPack 可能为空") + invokeResult + } else { + invokeAutoPilotResult("无人化 车机与工控机链接失败，无法开启自动驾驶") + -1L + } + } override fun sendTaskManagerAutopilotStart(taskId: Long, traj: Trajectory): Long { return if (AdasManager.getInstance().ipcConnectionStatus == AdasConstants.IpcConnectionStatus.CONNECTED) { 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 d54d48f9fb..bdf3ba6ec9 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 @@ -83,6 +83,7 @@ import com.mogo.eagle.core.function.call.autopilot.CallerRoboBusJinlvM1StitchedV 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.CallerTakeoverListenerManager +import com.mogo.eagle.core.function.call.autopilot.CallerTaskListenerManager 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.autopilot.CallerVlmManager @@ -131,6 +132,7 @@ 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.mogo.adas.unmanned.task.dto.cmd.TaskLocationQueryResponse import com.zhjt.mogo.adas.utils.ByteUtil import com.zhjt.service.chain.ChainLog import fault_management.FmInfo @@ -1700,6 +1702,10 @@ class MoGoAdasListenerImpl : OnAdasListener { override fun onAdasTaskManagerComplete(taskId: Long?, userId: Long?, status: Int?, reason: String?, completedTime: Date?, mileage: BigDecimal?) { } + override fun onAdasTaskManagerRunning(taskId: Long?, lineId: Long?, taskLocationQueryResponse: TaskLocationQueryResponse?){ + CallerTaskListenerManager.invokeRunningTaskInfo(taskId,lineId,taskLocationQueryResponse) + } + /** * 是否可以启动自动驾驶 * 使用方法查看：app_ipc_monitoring/uiMainActivity/onAutopilotAbility diff --git a/core/mogo-core-data/src/main/java/com/mogo/eagle/core/data/autopilot/AutopilotStatusInfo.kt b/core/mogo-core-data/src/main/java/com/mogo/eagle/core/data/autopilot/AutopilotStatusInfo.kt index 0452b59bd4..26e4109445 100644 --- a/core/mogo-core-data/src/main/java/com/mogo/eagle/core/data/autopilot/AutopilotStatusInfo.kt +++ b/core/mogo-core-data/src/main/java/com/mogo/eagle/core/data/autopilot/AutopilotStatusInfo.kt @@ -12,7 +12,7 @@ import java.io.Serializable */ open class AutopilotStatusInfo : Serializable, Cloneable { /** - * 当前链接的IP地址, 默认地址 192.168.1.102 + * 当前链接的IP地址, 默认地址 172.30.33.83 */ var connectIP: String? = null diff --git a/core/mogo-core-data/src/main/java/com/mogo/eagle/core/data/config/FunctionBuildConfig.kt b/core/mogo-core-data/src/main/java/com/mogo/eagle/core/data/config/FunctionBuildConfig.kt index 6466ccb584..3f4648e0eb 100644 --- a/core/mogo-core-data/src/main/java/com/mogo/eagle/core/data/config/FunctionBuildConfig.kt +++ b/core/mogo-core-data/src/main/java/com/mogo/eagle/core/data/config/FunctionBuildConfig.kt @@ -181,11 +181,11 @@ object FunctionBuildConfig { /** * 配置连接工控机的IP地址 * 小巴车 192.168.8.102 - * 出租车 192.168.1.102 + * 出租车 172.30.33.83 */ @Volatile @JvmField - var adasConnectIP = "192.168.1.102" + var adasConnectIP = "172.30.33.83" /** * acc 加速度值阈值 diff --git a/core/mogo-core-function-api/src/main/java/com/mogo/eagle/core/function/api/autopilot/IMoGoAutopilotControlProvider.kt b/core/mogo-core-function-api/src/main/java/com/mogo/eagle/core/function/api/autopilot/IMoGoAutopilotControlProvider.kt index 7e20ffb5ab..7ce79e731e 100644 --- a/core/mogo-core-function-api/src/main/java/com/mogo/eagle/core/function/api/autopilot/IMoGoAutopilotControlProvider.kt +++ b/core/mogo-core-function-api/src/main/java/com/mogo/eagle/core/function/api/autopilot/IMoGoAutopilotControlProvider.kt @@ -45,6 +45,8 @@ interface IMoGoAutopilotControlProvider : IMoGoFunctionServerProvider { */ fun startAutoPilot(controlParameters: AutopilotControlParameters): Long + fun sendTaskManagerRunningInfo(): Long + fun sendTaskManagerAutopilotStart(taskId: Long, traj: Trajectory): Long fun sendTaskManagerAutopilotContinue(trackId: Long, taskId: Long, stationId: Long, stationName: String, stationSeq: Int, lon: Double, lat: Double): Long 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 210ffe227f..4792b68745 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 @@ -92,6 +92,17 @@ object CallerAutoPilotControlManager { return sessionId } + /** + * 开启自动驾驶 + * + * @param controlParameters 开启自动驾驶的控制参数 + */ + fun sendTaskManagerRunningInfo(): Long { + val sessionId = providerApi?.sendTaskManagerRunningInfo() ?: -1L + // 更新记录在全局的控制参数 + return sessionId + } + /** * 开启自动驾驶 * diff --git a/core/mogo-core-function-call/src/main/java/com/mogo/eagle/core/function/call/autopilot/CallerTaskListenerManager.kt b/core/mogo-core-function-call/src/main/java/com/mogo/eagle/core/function/call/autopilot/CallerTaskListenerManager.kt new file mode 100644 index 0000000000..816a1fc156 --- /dev/null +++ b/core/mogo-core-function-call/src/main/java/com/mogo/eagle/core/function/call/autopilot/CallerTaskListenerManager.kt @@ -0,0 +1,38 @@ +package com.mogo.eagle.core.function.call.autopilot + +import com.mogo.eagle.core.function.api.autopilot.IMoGoAutopilotActionsListener +import com.mogo.eagle.core.function.call.base.CallerBase +import com.zhjt.mogo.adas.unmanned.task.dto.cmd.TaskLocationQueryResponse + + +/** + * 能否启动自驾管理类 + */ +object CallerTaskListenerManager : CallerBase() { + @Volatile + private var runningtaskId = 0L + + @Volatile + private var runningLineId = 0L + + @Volatile + private var runningTaskLocationInfo: TaskLocationQueryResponse? = null + + init { + + } + + fun isCarRunningTask(): Boolean { + return runningLineId != 0L && runningLineId != 0L + } + + fun invokeRunningTaskInfo( + taskId: Long?, + lineId: Long?, + taskLocationQueryResponse: TaskLocationQueryResponse? + ) { + this.runningtaskId = taskId ?: 0L + this.runningLineId = lineId ?: 0L + this.runningTaskLocationInfo = taskLocationQueryResponse + } +} \ No newline at end of file diff --git a/core/mogo-core-utils/src/main/java/com/mogo/eagle/core/utilcode/mogo/AppIdentityModeUtils.kt b/core/mogo-core-utils/src/main/java/com/mogo/eagle/core/utilcode/mogo/AppIdentityModeUtils.kt index 6beeba44ed..910d176f04 100644 --- a/core/mogo-core-utils/src/main/java/com/mogo/eagle/core/utilcode/mogo/AppIdentityModeUtils.kt +++ b/core/mogo-core-utils/src/main/java/com/mogo/eagle/core/utilcode/mogo/AppIdentityModeUtils.kt @@ -366,8 +366,8 @@ object AppIdentityModeUtils { //获取驾舱类型 @JvmStatic fun getCockpitType(): CockpitType { - return CockpitType.getCockpitType(SPUtils.getInstance().getString(COCKPIT_TYPE, CockpitType.NONE.code)) -// return CockpitType.UNMANNED +// return CockpitType.getCockpitType(SPUtils.getInstance().getString(COCKPIT_TYPE, CockpitType.NONE.code)) + return CockpitType.UNMANNED } } diff --git a/libraries/mogo-adas-data/src/main/java/com/zhjt/mogo/adas/unmanned/task/dto/cmd/TaskRouteSyncRequest.java b/libraries/mogo-adas-data/src/main/java/com/zhjt/mogo/adas/unmanned/task/dto/cmd/TaskRouteSyncRequest.java new file mode 100644 index 0000000000..f074197d2b --- /dev/null +++ b/libraries/mogo-adas-data/src/main/java/com/zhjt/mogo/adas/unmanned/task/dto/cmd/TaskRouteSyncRequest.java @@ -0,0 +1,23 @@ +package com.zhjt.mogo.adas.unmanned.task.dto.cmd; + +/** + * app发送给车端 + * 开启任务 + */ +public class TaskRouteSyncRequest { + + + public TaskRouteSyncRequest() { + } + + public static Builder builder() { + return new Builder(); + } + + public static class Builder { + + public TaskRouteSyncRequest build() { + return new TaskRouteSyncRequest(); + } + } +} diff --git a/libraries/mogo-adas-data/src/main/java/com/zhjt/mogo/adas/unmanned/task/enums/MessageCmdEnum.java b/libraries/mogo-adas-data/src/main/java/com/zhjt/mogo/adas/unmanned/task/enums/MessageCmdEnum.java index 1a30ed2576..9572bb1076 100644 --- a/libraries/mogo-adas-data/src/main/java/com/zhjt/mogo/adas/unmanned/task/enums/MessageCmdEnum.java +++ b/libraries/mogo-adas-data/src/main/java/com/zhjt/mogo/adas/unmanned/task/enums/MessageCmdEnum.java @@ -19,6 +19,8 @@ public enum MessageCmdEnum { TaskCancelResponse("TaskCancelResponse", "任务取消请求"), TaskQueryStateRequest("TaskQueryStateRequest", "任务状态查询"), TaskQueryStateResponse("TaskQueryStateResponse", "任务状态查询响应"), + TaskRouteSyncRequest("TaskRouteSyncRequest", "查询正在执行的任务"), + TaskRouteSyncResponse("TaskRouteSyncResponse", "查询执行的任务的结果"), ; private final String code; private final String desc; diff --git a/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/AdasChannel.java b/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/AdasChannel.java index 437b89b939..c08e1e1d33 100644 --- a/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/AdasChannel.java +++ b/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/AdasChannel.java @@ -65,6 +65,7 @@ import com.zhjt.mogo.adas.unmanned.task.dto.cmd.AutopilotPoint; import com.zhjt.mogo.adas.unmanned.task.dto.cmd.AutopilotStartRequest; import com.zhjt.mogo.adas.unmanned.task.dto.cmd.CmdDto; import com.zhjt.mogo.adas.unmanned.task.dto.cmd.TaskContinueNotification; +import com.zhjt.mogo.adas.unmanned.task.dto.cmd.TaskRouteSyncRequest; import com.zhjt.mogo.adas.unmanned.task.dto.cmd.Trajectory; import com.zhjt.mogo.adas.unmanned.task.dto.cmd.VehicleSite; import com.zhjt.mogo.adas.unmanned.task.enums.AutopilotCoordinateTypeEnum; @@ -3396,9 +3397,22 @@ public class AdasChannel implements IAdasNetCommApi, FpgaSocket.IWebSocketConnec // .newBuilder() // .setTaskData(com.google.protobuf.ByteString.copyFrom(JsonUtil.toJsonBase64(data).getBytes(StandardCharsets.UTF_8))); // return sendPBMessage(MessageType.TYPE_SEND_TASK_MANAGER, builder.build().toByteArray()); + Log.i(TAG, "任务管理:"+data.toString()); return sendPBMessage(MessageType.TYPE_SEND_TASK_MANAGER, JsonUtil.toJsonBase64(data).getBytes(StandardCharsets.UTF_8)); } + /** + * 向任务管理发送启动自驾命令 + * + * @return + */ + @Override + public long sendTaskManagerRunningInfo() { + CmdDto cmdDto = CmdDto.builder().cmdType(MessageCmdEnum.TaskRouteSyncRequest.getCode()).taskId(-1L) + .lineId(-1L).timestamp(System.currentTimeMillis()).build(); + return sendTaskManager(cmdDto); + } + /** * 向任务管理发送启动自驾命令 * diff --git a/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/AdasManager.java b/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/AdasManager.java index 49875a4ef3..1a12b967ed 100644 --- a/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/AdasManager.java +++ b/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/AdasManager.java @@ -2087,6 +2087,11 @@ public class AdasManager implements IAdasNetCommApi { return mChannel == null ? -1L : mChannel.sendImgUploadCloudStatusQuery(); } + @Override + public long sendTaskManagerRunningInfo() { + return mChannel == null ? -1L : mChannel.sendTaskManagerRunningInfo(); + } + @Override public long sendTaskManagerAutopilotStart(Long taskId, Trajectory traj) { return mChannel == null ? -1L : mChannel.sendTaskManagerAutopilotStart(taskId, traj); diff --git a/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/IAdasNetCommApi.java b/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/IAdasNetCommApi.java index d7fb1ff6d1..d60130095c 100644 --- a/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/IAdasNetCommApi.java +++ b/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/IAdasNetCommApi.java @@ -1544,6 +1544,7 @@ public interface IAdasNetCommApi { */ long sendImgUploadCloudStatusQuery(); + long sendTaskManagerRunningInfo(); long sendTaskManagerAutopilotStart(Long taskId, Trajectory traj); long sendTaskManagerAutopilotContinue(Long trackId, Long taskId, Long stationId, String stationName, Integer stationSeq, double lon, double lat); diff --git a/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/OnAdasListener.java b/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/OnAdasListener.java index 48f70f8859..dffcac4499 100644 --- a/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/OnAdasListener.java +++ b/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/OnAdasListener.java @@ -33,6 +33,7 @@ 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.mogo.adas.unmanned.task.dto.cmd.TaskLocationQueryResponse; import java.math.BigDecimal; import java.util.ArrayList; @@ -840,6 +841,14 @@ public interface OnAdasListener { */ void onAdasTaskManagerComplete(Long taskId, Long userId, Integer status, String reason, Date completedTime, BigDecimal mileage); + /** + * 地盘正在执行的任务 + * @param taskId + * @param lineId + * @param taskLocationQueryResponse + */ + void onAdasTaskManagerRunning(Long taskId, Long lineId, TaskLocationQueryResponse taskLocationQueryResponse); + /** * 是否有能力启动自动驾驶 * diff --git a/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/common/Constants.java b/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/common/Constants.java index 7205a2971b..0b7767f151 100644 --- a/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/common/Constants.java +++ b/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/common/Constants.java @@ -42,7 +42,7 @@ public class Constants { */ public static final ByteString RAW_HEARTBEAT = ByteString.of((byte) 0x6e, (byte) 0x68, (byte) 0x6f, (byte) 0x69); - public static final String DEFAULT_PING_ADDRESS_LIST = "[\"192.168.1.102\", \"192.168.8.102\"]"; + public static final String DEFAULT_PING_ADDRESS_LIST = "[\"172.30.33.83\", \"192.168.8.102\"]"; /** diff --git a/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/msg/TaskManagerMessage.java b/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/msg/TaskManagerMessage.java index a0d0697e1c..27c28f21ca 100644 --- a/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/msg/TaskManagerMessage.java +++ b/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/msg/TaskManagerMessage.java @@ -95,8 +95,10 @@ public class TaskManagerMessage extends MyAbstractMessageHandler { if (cmdDto != null) { Log.i(TAG, "onAdasTaskLocationQueryResponse=" + cmdDto); TaskLocationQueryResponse taskLocationQueryResponse = cmdDto.getData(); + adasListener.onAdasTaskManagerRunning(cmdDto.getTaskId(),cmdDto.getLineId(),taskLocationQueryResponse); } - + } else if (messageCmdEnum == MessageCmdEnum.TaskRouteSyncResponse) {//任务查询结果 + Log.i(TAG, "TaskRouteSyncResponse=" + data); } }