[6.7.0]

[fea]
[taxi无人化 到站逻辑简化]

OCH/taxi/unmanned-driver/src/main/java/com/mogo/och/unmanned/taxi/ui/task/TaxiTaskModel.kt

@@ -45,6 +45,7 @@ import com.mogo.och.common.module.manager.autopilot.autopilot.IOchAutopilotStatu
 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.autopilot.autopilot.OchAutopilotAnalytics
+import com.mogo.och.common.module.manager.autopilot.line.ILineCallback
 import com.mogo.och.common.module.manager.autopilot.line.LineManager
 import com.mogo.och.common.module.manager.autopilot.location.OchLocationManager
 import com.mogo.och.common.module.manager.distance.IDistanceListener
@@ -214,6 +215,7 @@ object TaxiTaskModel {
         OchAutoPilotStatusListenerManager.addListener(TAG, mMogoAutopilotStatusListener)
         //定位监听， 传false是高德坐标系 10 -> 100ms一次
         OchLocationManager.addGCJ02Listener(TAG, 5, mMapLocationListener)
+        LineManager.addListener(TAG,iLineCallback)
         //2021.11.1 自动驾驶路线规划接口
         CallerPlanningRottingListenerManager.addListener(TAG, mMogoAutopilotPlanningListener)
         //开启自驾后 异常信息返回
@@ -235,6 +237,7 @@ object TaxiTaskModel {
 
         // 注销地图监听
         OchLocationManager.removeGCJ02Listener(TAG)
+        LineManager.removeListener(TAG)
         OCHSocketMessageManager.releaseSocketMessageListener(OCHSocketMessageManager.msgMonitorType)
         OchAutoPilotStatusListenerManager.removeListener(mMogoAutopilotStatusListener)
         CallerPlanningRottingListenerManager.removeListener(mMogoAutopilotPlanningListener)
@@ -276,14 +279,6 @@ object TaxiTaskModel {
     private val mMogoAutopilotStatusListener: IOchAutopilotStatusListener =
         object : IOchAutopilotStatusListener {
             override fun onAutopilotIpcConnectStatusChanged(status: AdasConstants.IpcConnectionStatus, reason: String?) {
-//                DebugView.printInfoMsg(
-//                    "[域控连接状态变化] status=$status, reason=${
-//                        if (TextUtils.isEmpty(
-//                                reason
-//                            )
-//                        ) "" else reason
-//                    }"
-//                )
             }
 
             override fun onAutopilotGuardian(guardianInfo: MogoReportMessage?, lineId: Long) {
@@ -390,10 +385,10 @@ object TaxiTaskModel {
                     ).toDouble()
                     if (distance <= TaxiUnmannedConst.ARRIVE_AT_START_STATION_DISTANCE){// 两坐标小于15米
                         DebugView.printInfoMsg("[MAP到站通知] 到站坐标和任务终点15米内, 请求到站")
-                        autopilotArriveAtStation()
                     }else{
                         DebugView.printInfoMsg("[MAP到站通知] 到站坐标和任务终点不一致, 不请求到站")
                     }
+                    autopilotArriveAtStation()
                 }else{
                     DebugView.printInfoMsg("[MAP到站通知] endSiteLat = $endSiteLat, endSiteLon = $endSiteLon, " +
                             "mapEndSiteLat = $mapEndSiteLatWgs, mapEndSiteLon = $mapEndSiteLonWgs")
@@ -410,10 +405,17 @@ object TaxiTaskModel {
                 }
             }
 
-            override fun canStartAutopilot(canStart: Boolean) {
+        }
-                super.canStartAutopilot(canStart)
+    private val iLineCallback: ILineCallback =
+        object : ILineCallback {
+            override fun arrivedStationSuccessBySearch() {
+                super.arrivedStationSuccessBySearch()
+                if (checkCurrentTaskCondition()
+                    && QueryCurrentTaskRespBean.isTaskStartTaskType(mCurrentTaskWithOrder)
+                ) {
+                    judgeTaskEndSiteStation()
+                }
             }
-
         }
 
     // 自车定位
@@ -422,18 +424,12 @@ object TaxiTaskModel {
             override fun onChassisLocationGCJ02(mogoLocation: MogoLocation?) {
                 //位置变化时，通过围栏判断是否到达x点
                 if (null == mogoLocation) return
-
+                if (mDriveToNearestStationTask != null) {
-                OCHThreadPoolManager.getsInstance().locationExecute {
+                    OCHThreadPoolManager.getsInstance().locationExecute {
-                    if (mDriveToNearestStationTask != null) {
+                        if (mDriveToNearestStationTask != null) {
-                        judgeDriveToNearestStationTaskStation(mDriveToNearestStationTask, mogoLocation)
+                            judgeDriveToNearestStationTaskStation(mDriveToNearestStationTask, mogoLocation)
+                        }
                     }
-
-                    if (checkCurrentTaskCondition()
-                        && QueryCurrentTaskRespBean.isTaskStartTaskType(mCurrentTaskWithOrder)
-                    ) {
-                        judgeTaskEndSiteStation(mogoLocation)
-                    }
-
                 }
             }
         }
@@ -1310,65 +1306,20 @@ object TaxiTaskModel {
         }
     }
 
-    private fun judgeTaskEndSiteStation(currentLocation: MogoLocation) {
+    private fun judgeTaskEndSiteStation() {
         if (!checkCurrentTaskCondition() || !QueryCurrentTaskRespBean.isTaskStartTaskType(mCurrentTaskWithOrder)) {
             return
         }
         val endSite = mCurrentTaskWithOrder!!.endSite ?: return
 
-        val endLon = endSite.gcjLon
+        if (!checkCurrentTaskCondition()
-        val endLat = endSite.gcjLat
+            || !QueryCurrentTaskRespBean.isTaskStartTaskType(mCurrentTaskWithOrder)
-        val distance = CoordinateUtils.calculateLineDistance(
+        ) {
-            endLon, endLat,
+            i(TAG, "task null or TaskStatus = ${getCurTaskStatus()}")
-            currentLocation.longitude, currentLocation.latitude
+            return
-        ).toDouble()
-        i(TAG, "judgeEndStation() distance = $distance")
-        if (distance <= TaxiUnmannedConst.ARRIVE_AT_START_STATION_DISTANCE) { //1、当前位置和站点围栏15m内
-
-            //2、开始计算当前位置和站点的向量角度 < 90度 未经过 >90度 经过
-            val stationAngle = DrivingDirectionUtils.getDegreeOfCar2Poi(
-                currentLocation.longitude,
-                currentLocation.latitude,
-                endLon,
-                endLat, currentLocation.heading.toInt()
-            ).toDouble()
-            i(
-                TAG,
-                "judgeEndStation() stationAngle = $stationAngle"
-            )
-
-            if (!checkCurrentTaskCondition()
-                || !QueryCurrentTaskRespBean.isTaskStartTaskType(mCurrentTaskWithOrder)
-            ) {
-                i(TAG, "task null or TaskStatus = ${getCurTaskStatus()}")
-                return
-            }
-            //3、刚过站且过站距离在15m内， 提交到站
-            if (stationAngle > 90) {
-                i(TAG, "judgeEndStation() = 刚过站且在15m内")
-                DebugView.printInfoMsg(
-                    "[自车定位围栏] 触发围栏，任务类型：${
-                        TaskTypeEnum.valueOf(
-                            mCurrentTaskWithOrder?.taskType ?: 0
-                        )?.name
-                    }，围栏范围：${TaxiUnmannedConst.ARRIVE_AT_START_STATION_DISTANCE}米 刚过站且在15m内"
-                )
-                submitArriveSite(endSite.siteId, true)
-            } else {
-                // 4、 没有过站距离小于15m 速度小于0.3(根据M1来的模数 可能要调)
-                if (currentLocation.gnssSpeed < 0.3) {
-                    i(TAG, "judgeEndStation() = 没有过站、速度基本为零且在15m内")
-                    DebugView.printInfoMsg(
-                        "[自车定位围栏] 触发围栏，任务类型：${
-                            TaskTypeEnum.valueOf(
-                                mCurrentTaskWithOrder?.taskType ?: 0
-                            )?.name
-                        }，围栏范围：${TaxiUnmannedConst.ARRIVE_AT_START_STATION_DISTANCE}米 没有过站、速度基本为零且在15m内"
-                    )
-                    submitArriveSite(endSite.siteId, true)
-                }
-            }
         }
+
+        submitArriveSite(endSite.siteId, true)
     }
 
     /**