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整理ADAS模块
替换3D模型

Signed-off-by: donghongyu <donghongyu@zhidaoauto.com>
This commit is contained in:
donghongyu
2022-01-27 11:26:23 +08:00
parent 3d0c86e323
commit 4b7ded6036
19 changed files with 15 additions and 197 deletions
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16
core/function-impl/mogo-core-function-smp/src/main/java/com/mogo/eagle/core/function/smp/SmallMapFragment.java
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@@ -19,8 +19,6 @@ import com.mogo.eagle.core.function.api.autopilot.IMoGoAutopilotStatusListener;
import com.mogo.eagle.core.function.api.map.smp.IMogoSmallMapProvider;
import com.mogo.eagle.core.function.call.autopilot.CallerAutopilotPlanningListenerManager;
import com.mogo.eagle.core.utilcode.util.UiThreadHandler;
import com.mogo.module.common.MogoApisHandler;
import com.mogo.service.adas.IMogoAdasOCHCallback;
import org.jetbrains.annotations.NotNull;
import org.jetbrains.annotations.Nullable;
@@ -33,7 +31,9 @@ import java.util.List;
* @date 2021/5/19 10:50 上午
*/
@Route(path = MoGoFragmentPaths.PATH_FRAGMENT_SMP)
public class SmallMapFragment extends BaseFragment implements IMogoSmallMapProvider, IMoGoAutopilotPlanningListener, IMogoAdasOCHCallback , IMoGoAutopilotStatusListener {
public class SmallMapFragment extends BaseFragment
implements IMogoSmallMapProvider, IMoGoAutopilotPlanningListener,
IMoGoAutopilotStatusListener {
private final String TAG = "SmallMapFragment";
protected SmallMapDirectionView mSmallMapDirectionView;
@@ -63,7 +63,6 @@ public class SmallMapFragment extends BaseFragment implements IMogoSmallMapProvi
mSmallMapDirectionView = mRootView.findViewById(R.id.smallMapDirectionView);
mSmallMapDirectionView.onCreateView(savedInstanceState);
CallerAutopilotPlanningListenerManager.INSTANCE.addListener(TAG, this);
MogoApisHandler.getInstance().getApis().getAdasControllerApi().addAdasOCHCallback(this);
}
@Override
@@ -143,15 +142,6 @@ public class SmallMapFragment extends BaseFragment implements IMogoSmallMapProvi
}
}
@Override
public void onArriveAt(AutopilotStationInfo data) {
}
@Override
public void onStateChanged(int state, String reason) {
}
@Override
public void onAutopilotStatusResponse(@NotNull AutopilotStatusInfo autoPilotStatusInfo) {

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3
modules/mogo-module-main/src/main/java/com/mogo/module/main/MainActivity.java
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@@ -323,9 +323,6 @@ public class MainActivity extends MvpActivity<MainView, MainPresenter> implement
super.onResume();
mMogoStatusManager.setMainPageResumeStatus(TAG, true);
mMogoStatusManager.setMainPageIsBackgroundStatus(TAG, false);
if (mCoverUpLayout.getVisibility() != View.VISIBLE) {
mServiceApis.getAdasControllerApi().showADAS();
}
}
@Override

1
modules/mogo-module-service/src/main/java/com/mogo/module/service/MogoServices.java
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@@ -796,7 +796,6 @@ public class MogoServices implements IMogoMapListener,
mStatusManager.setSearchUIShow( TAG, false );
}
mUiController.recoverLockMode();
mADASController.showADAS();
} else {
mUiController.showMyLocation( false );
AIAssist.getInstance( mContext ).registerUnWakeupCommand( ServiceConst.CMD_BACK, ServiceConst.CMD_BACK_WORDS, this );

1
modules/mogo-module-service/src/main/java/com/mogo/module/service/StatusChangedAdapter.java
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@@ -140,7 +140,6 @@ abstract class StatusChangedAdapter implements IMogoStatusChangedListener {
mIsFirstAccOn = false;
return;
}
MogoApisHandler.getInstance().getApis().getAdasControllerApi().showADAS();
MarkerServiceHandler.getApis().getMapServiceApi().getSingletonLocationClient(AbsMogoApplication.getApp()).start();
MarkerServiceHandler.getApis().getMapServiceApi().getMarkerManager(AbsMogoApplication.getApp()).removeMarkers();
UiThreadHandler.postDelayed(() -> {

82
modules/mogo-module-service/src/main/java/com/mogo/module/service/autopilot/AutoPilotRemoteController.java
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@@ -1,82 +0,0 @@
package com.mogo.module.service.autopilot;
import com.mogo.commons.AbsMogoApplication;
import com.mogo.eagle.core.network.utils.GsonUtil;
import com.mogo.eagle.core.utilcode.mogo.logger.Logger;
import com.mogo.module.common.MogoApisHandler;
import com.mogo.eagle.core.data.autopilot.AutopilotControlParameters;
import com.mogo.service.cloud.socket.IMogoOnMessageListener;
import com.mogo.service.cloud.socket.IMogoSocketManager;
public
/**
* @author congtaowang
* @since 2020/10/16
*
* 远端控制自动驾驶
*/
class AutoPilotRemoteController {
private static final String TAG = "AutoPilotRemoteController";
private static volatile AutoPilotRemoteController sInstance;
private IMogoSocketManager mMogoSocketManager;
private IMogoOnMessageListener<AutopilotControlParameters> mParametersListener = new IMogoOnMessageListener<AutopilotControlParameters>() {
@Override
public Class<AutopilotControlParameters> target() {
return AutopilotControlParameters.class;
}
@Override
public void onMsgReceived( AutopilotControlParameters obj ) {
if ( obj == null ) {
Logger.e( TAG, "远端控制参数为null", new NullPointerException() );
return;
}
String json = GsonUtil.jsonFromObject( obj );
Logger.d( TAG, json );
MogoApisHandler.getInstance().getApis().getAdasControllerApi().aiCloudToAdasData( obj );
}
};
/**
* 远端控制自动驾驶的消息类型
*/
public static final int MSG_TYPE_REMOTE_CONTROL_AUTOPILOT = 401014;
private AutoPilotRemoteController() {
mMogoSocketManager = MogoApisHandler.getInstance().getApis().getSocketManagerApi( AbsMogoApplication.getApp() );
}
public static AutoPilotRemoteController getInstance() {
if ( sInstance == null ) {
synchronized ( AutoPilotRemoteController.class ) {
if ( sInstance == null ) {
sInstance = new AutoPilotRemoteController();
}
}
}
return sInstance;
}
public void start() {
mMogoSocketManager.registerOnMessageListener( MSG_TYPE_REMOTE_CONTROL_AUTOPILOT, mParametersListener );
}
public synchronized void release() {
sInstance = null;
if ( mMogoSocketManager != null ) {
mMogoSocketManager.unregisterOnMessageListener( MSG_TYPE_REMOTE_CONTROL_AUTOPILOT, mParametersListener );
}
mMogoSocketManager = null;
mParametersListener = null;
}
private Object readResolve() {
// 阻止反序列化，必须实现 Serializable 接口
return sInstance;
}
}

4
modules/mogo-module-service/src/main/java/com/mogo/module/service/dispatch/DispatchAutoPilotManager.java
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@@ -35,8 +35,8 @@ import java.util.List;
//负责监听自动驾驶状态并进行状态上报，自动驾驶路线上报，接收调度指令展示指令弹窗
public class DispatchAutoPilotManager implements IMogoOnMessageListener<DispatchAdasAutoPilotLocReceiverBean>
, IDispatchRemindClickListener
, IMogoCarLocationChangedListener2, IMogoAdasOCHCallback, IMoGoCheckAutoPilotBtnListener, IMoGoAutopilotPlanningListener {
, IDispatchRemindClickListener, IMogoCarLocationChangedListener2, IMogoAdasOCHCallback,
IMoGoCheckAutoPilotBtnListener, IMoGoAutopilotPlanningListener {
private static final String TAG = "DispatchAutoPilotManager";
private static volatile DispatchAutoPilotManager instance;

16
modules/mogo-module-service/src/main/java/com/mogo/module/service/intent/MockIntentHandler.java
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@@ -411,22 +411,6 @@ public class MockIntentHandler implements IntentHandler {
}
});
break;
case 43://
MogoApisHandler.getInstance()
.getApis()
.getAdasControllerApi()
.onAutopilotArriveLike(intent.getIntExtra("type", 8));
break;
case 44:// 控制自动驾驶
AutopilotControlParameters parameters = new AutopilotControlParameters();
parameters.vehicleType = 9;
parameters.startLatLon = new AutopilotControlParameters.AutoPilotLonLat(40.1690522746, 116.567374558);
parameters.endLatLon = new AutopilotControlParameters.AutoPilotLonLat(40.1651999405, 116.567217441);
MogoApisHandler.getInstance()
.getApis()
.getAdasControllerApi()
.aiCloudToAdasData(parameters);
break;
case 45:// 测试开启鹰眼模式
MogoApisHandler.getInstance()
.getApis()

19
modules/mogo-module-service/src/main/java/com/mogo/module/service/routeoverlay/MogoRouteOverlayManager.java
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@@ -1,11 +1,8 @@
package com.mogo.module.service.routeoverlay;
import android.content.Context;
import android.location.Location;
import android.os.SystemClock;
import android.util.Log;
import com.mogo.cloud.commons.utils.CoordinateUtils;
import com.mogo.eagle.core.data.autopilot.ADASTrajectoryInfo;
import com.mogo.eagle.core.data.autopilot.AutopilotGuardianStatusInfo;
import com.mogo.eagle.core.data.autopilot.AutopilotRouteInfo;
@@ -21,9 +18,7 @@ import com.mogo.eagle.core.function.call.autopilot.CallerAutoPilotStatusListener
import com.mogo.eagle.core.function.call.autopilot.CallerAutopilotPlanningListenerManager;
import com.mogo.eagle.core.function.call.map.CallerMapLocationListenerManager;
import com.mogo.eagle.core.utilcode.mogo.logger.Logger;
import com.mogo.map.navi.IMogoCarLocationChangedListener2;
import com.mogo.module.common.MogoApisHandler;
import com.mogo.service.adas.IMogoAdasOCHCallback;
import org.jetbrains.annotations.NotNull;
import org.jetbrains.annotations.Nullable;
@@ -31,7 +26,9 @@ import org.jetbrains.annotations.Nullable;
import java.util.ArrayList;
import java.util.List;
public class MogoRouteOverlayManager implements IMoGoAutopilotPlanningListener, IMoGoAutopilotStatusListener, IMoGoMapLocationListener, IMogoAdasOCHCallback {
public class MogoRouteOverlayManager implements
IMoGoAutopilotPlanningListener, IMoGoAutopilotStatusListener,
IMoGoMapLocationListener {
private static volatile MogoRouteOverlayManager sInstance;
private Context mContext;
private String TAG = "MogoRouteOverlayManager";
@@ -47,7 +44,6 @@ public class MogoRouteOverlayManager implements IMoGoAutopilotPlanningListener,
CallerAutopilotPlanningListenerManager.INSTANCE.addListener(TAG, this);
CallerAutoPilotStatusListenerManager.INSTANCE.addListener(TAG, this);
CallerMapLocationListenerManager.INSTANCE.addListener(TAG,this);
MogoApisHandler.getInstance().getApis().getAdasControllerApi().addAdasOCHCallback(this);
// intiDrawer();
}
@@ -154,13 +150,4 @@ public class MogoRouteOverlayManager implements IMoGoAutopilotPlanningListener,
mLocation = location;
}
@Override
public void onArriveAt(AutopilotStationInfo data) {
}
@Override
public void onStateChanged(int state, String reason) {
}
}

11
services/mogo-service-api/src/main/java/com/mogo/service/adas/IMogoADASController.java
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@@ -53,7 +53,6 @@ public interface IMogoADASController extends IProvider {
*/
void removeAdasOCHCallback();
void onAutopilotArriveLike(int type);
/**
* 获取车辆自动驾驶状态
@@ -76,12 +75,6 @@ public interface IMogoADASController extends IProvider {
*/
double getLastLon();
/**
* 获取车身定位经度
*
* @return
*/
double getLastSpeed();
/**
* 获取由工控机传回的GPS星历时间
@@ -90,9 +83,5 @@ public interface IMogoADASController extends IProvider {
*/
String getSatelliteTime();
/**
* 结束自动驾驶
*/
void cancelAutopilot();
}

59
services/mogo-service/src/main/java/com/mogo/service/impl/adas/MogoADASController.java
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@@ -1,8 +1,6 @@
package com.mogo.service.impl.adas;
import android.app.Application;
import android.content.Context;
import android.content.Intent;
import com.alibaba.android.arouter.facade.annotation.Route;
import com.alibaba.android.arouter.launcher.ARouter;
@@ -36,7 +34,6 @@ public class MogoADASController implements IMogoADASController {
private static final String TAG = "MogoADASController";
private AdasProvider adasProvider;
/**
@@ -55,14 +52,8 @@ public class MogoADASController implements IMogoADASController {
private double mLastLon;
private double mLastLat;
private double mSpeed;
private String satelliteTime;
@Override
public double getLastSpeed() {
return mSpeed;
}
@Override
public double getLastLat() {
return mLastLat;
@@ -149,7 +140,6 @@ public class MogoADASController implements IMogoADASController {
}
mLastLon = stateInfo.getValues().getLon();
mLastLat = stateInfo.getValues().getLat();
mSpeed = stateInfo.getValues().getGnss_speed();
satelliteTime = stateInfo.getValues().getSatelliteTime();
if (mMogoAdasCarDataCallback != null) {
mMogoAdasCarDataCallback.onAdasCarDataCallback(stateInfo);
@@ -171,16 +161,6 @@ public class MogoADASController implements IMogoADASController {
}
private void sendBroadcast(Intent intent) {
Application app = AbsMogoApplication.getApp();
if (app == null) {
Logger.e(TAG, "un handle Application instance.");
return;
}
app.sendBroadcast(intent);
}
@Override
public EnumMapUI getCurrentSkinMode() {
return EnumMapUI.Type_VR;
@@ -189,25 +169,18 @@ public class MogoADASController implements IMogoADASController {
@Override
public void aiCloudToAdasData(AutopilotControlParameters result) {
try {
syncControlCmdToADAS("aiCloudToStartAutopilot", result);
AutopilotControlCmdParameter parameter = new AutopilotControlCmdParameter("aiCloudToStartAutopilot", result);
//位置信息 action是aiCloudToStartAutopilot
try {
adasProvider.sendWsMessage(GsonUtil.jsonFromObject(parameter));
} catch (Exception e) {
e.printStackTrace();
}
} catch (Exception e) {
Logger.e(TAG, e, "aiCloudToAdasData");
}
}
/**
* @param action
* @param result
*/
private void syncControlCmdToADAS(String action, Object result) {
AutopilotControlCmdParameter parameter = new AutopilotControlCmdParameter(action, result);
//位置信息 action是aiCloudToStartAutopilot
try {
adasProvider.sendWsMessage(GsonUtil.jsonFromObject(parameter));
} catch (Exception e) {
e.printStackTrace();
}
}
@Override
public void release() {
@@ -234,19 +207,6 @@ public class MogoADASController implements IMogoADASController {
mAdasOCHCallback.clear();
}
@Override
public void onAutopilotArriveLike(int carType) {
if (!mAdasOCHCallback.isEmpty()) {
for (IMogoAdasOCHCallback cb : mAdasOCHCallback) {
cb.onArriveAt(new AutopilotStationInfo(
carType,
116.09888888,
39.999999)
);
}
}
}
@Override
public int getAutopilotStatus() {
int status = IMogoAdasOCHCallback.STATUS_AUTOPILOT_DISABLE;
@@ -258,11 +218,6 @@ public class MogoADASController implements IMogoADASController {
return status;
}
@Override
public void cancelAutopilot() {
adasProvider.cancelPilot();
}
}