diff --git a/ZD_README/README_VersionHistory.md b/ZD_README/README_VersionHistory.md index 320ac5c41c..116e6ba841 100644 --- a/ZD_README/README_VersionHistory.md +++ b/ZD_README/README_VersionHistory.md @@ -63,7 +63,6 @@ callchatprovider : "com.mogo.module.carchatout:module-carchatting-pr // V2X moduleV2x : "com.mogo.module:module-v2x:${MOGO_COMMONS_VERSION}", -moduleADAS : "com.mogo.module:mogo-module-adas:${MOGO_COMMONS_VERSION}", modulesearch : "com.mogo.module:module-search:${MOGO_COMMONS_VERSION}", // push modulepush : "com.mogo.module:module-push:${MOGO_COMMONS_VERSION}", diff --git a/config.gradle b/config.gradle index 37d9c96ba2..23aec83d49 100644 --- a/config.gradle +++ b/config.gradle @@ -162,7 +162,6 @@ ext { // V2X moduleV2x : "com.mogo.module:module-v2x:${MOGO_MODULE_V2X_VERSION}", - moduleADAS : "com.mogo.module:mogo-module-adas:${MOGO_MODULE_ADAS_VERSION}", modulesearch : "com.mogo.module:module-search:${MOGO_MODULE_SEARCH_VERSION}", // push modulepush : "com.mogo.module:module-push:${MOGO_MODULE_PUSH_VERSION}", diff --git a/core/function-impl/mogo-core-function-autopilot/build.gradle b/core/function-impl/mogo-core-function-autopilot/build.gradle index 49e96989a9..0dd305e15c 100644 --- a/core/function-impl/mogo-core-function-autopilot/build.gradle +++ b/core/function-impl/mogo-core-function-autopilot/build.gradle @@ -56,6 +56,7 @@ dependencies { if (Boolean.valueOf(USE_MAVEN_PACKAGE)) { implementation rootProject.ext.dependencies.modulecommon + implementation rootProject.ext.dependencies.moduleservice implementation rootProject.ext.dependencies.mogo_core_data implementation rootProject.ext.dependencies.mogo_core_utils @@ -64,6 +65,7 @@ dependencies { implementation rootProject.ext.dependencies.mogo_core_function_call } else { implementation project(':modules:mogo-module-common') + implementation project(':modules:mogo-module-service') implementation project(':core:mogo-core-data') implementation project(':core:mogo-core-utils') diff --git a/core/function-impl/mogo-core-function-autopilot/src/main/java/com/mogo/eagle/core/function/autopilot/MoGoAutopilotProvider.kt b/core/function-impl/mogo-core-function-autopilot/src/main/java/com/mogo/eagle/core/function/autopilot/MoGoAutopilotProvider.kt index b1b7b8ea67..50eb04ec6f 100644 --- a/core/function-impl/mogo-core-function-autopilot/src/main/java/com/mogo/eagle/core/function/autopilot/MoGoAutopilotProvider.kt +++ b/core/function-impl/mogo-core-function-autopilot/src/main/java/com/mogo/eagle/core/function/autopilot/MoGoAutopilotProvider.kt @@ -12,6 +12,7 @@ import com.mogo.eagle.core.data.constants.MogoServicePaths import com.mogo.eagle.core.function.api.autopilot.IMoGoAutopilotProvider import com.mogo.eagle.core.function.autopilot.adapter.MoGoAdasListenerImpl import com.mogo.eagle.core.function.autopilot.adapter.MoGoAdasMsgConnectStatusListenerImpl +import com.mogo.eagle.core.function.autopilot.adapter.MoGoHandAdasMsgManager import com.mogo.eagle.core.function.autopilot.server.AsyncDataToAutopilotServer import com.mogo.eagle.core.utilcode.mogo.logger.Logger import com.mogo.eagle.core.utilcode.mogo.storage.SharedPrefsMgr @@ -37,6 +38,7 @@ class MoGoAutopilotProvider : get() = TAG override fun init(context: Context) { + MoGoHandAdasMsgManager.getInstance(); Logger.d(TAG, "初始化工控机连接……") mContext = context // 初始化ADAS 域控制器 diff --git a/core/function-impl/mogo-core-function-autopilot/src/main/java/com/mogo/eagle/core/function/autopilot/adapter/MoGoAdasListenerImpl.java b/core/function-impl/mogo-core-function-autopilot/src/main/java/com/mogo/eagle/core/function/autopilot/adapter/MoGoAdasListenerImpl.java index 8ae436afc8..b4e1860e4a 100644 --- a/core/function-impl/mogo-core-function-autopilot/src/main/java/com/mogo/eagle/core/function/autopilot/adapter/MoGoAdasListenerImpl.java +++ b/core/function-impl/mogo-core-function-autopilot/src/main/java/com/mogo/eagle/core/function/autopilot/adapter/MoGoAdasListenerImpl.java @@ -2,6 +2,8 @@ package com.mogo.eagle.core.function.autopilot.adapter; import android.util.Log; +import androidx.annotation.Nullable; + import com.mogo.eagle.core.data.autopilot.ADASTrajectoryInfo; import com.mogo.eagle.core.data.autopilot.AutoPilotRecordResult; import com.mogo.eagle.core.data.autopilot.AutopilotCarStateInfo; @@ -19,6 +21,10 @@ import com.mogo.eagle.core.function.call.autopilot.CallerAutopilotIdentifyListen import com.mogo.eagle.core.function.call.autopilot.CallerAutopilotPlanningListenerManager; import com.mogo.eagle.core.function.call.hmi.CallerHmiManager; import com.mogo.eagle.core.utilcode.mogo.logger.Logger; +import com.mogo.module.common.MogoApisHandler; +import com.mogo.module.common.datacenter.SnapshotLocationDataCenter; +import com.mogo.module.service.MarkerServiceHandler; +import com.mogo.module.service.timedelay.TimeDelayUploadManager; import com.zhidao.support.adas.high.AdasManager; import com.zhidao.support.adas.high.OnAdasListener; import com.zhidao.support.adas.high.bean.AutopilotRoute; @@ -37,6 +43,8 @@ import com.zhidao.support.adas.high.bean.guardian.AutopilotGuardianInfo; import com.zhidao.support.adas.high.bean.record.AutopilotRecordResult; import com.zhidao.support.obu.ami.AmiClientManager; +import org.json.JSONObject; + import java.util.ArrayList; import java.util.List; @@ -78,7 +86,62 @@ public class MoGoAdasListenerImpl implements OnAdasListener { Logger.e(TAG, "bean == null "); } AutopilotCarStateInfo autopilotCarStateInfo = AdasObjectConvertUtils.INSTANCE.fromAdasCarStateInfoObject(carStateInfo); + // 将数据通过数据中心分发出去 CallerAutopilotCarStatusListenerManager.INSTANCE.invokeAutopilotCarStateData(autopilotCarStateInfo); + // 同步给MAP地图 + adasCarDataCallback(autopilotCarStateInfo); + } + } + + + public void adasCarDataCallback(@Nullable AutopilotCarStateInfo stateInfo) { + + //模拟数据时，不更新由工控机传输的自车位置 + if (TimeDelayUploadManager.getInstance().isMock()) { + return; + } + + if (stateInfo != null && stateInfo.getValues() != null) { + //Logger.d(TAG,"同步自车数据给地图……"); + + MogoApisHandler.getInstance().getApis().getAdasControllerApi().setLastLat(stateInfo.getValues().getLat()); + MogoApisHandler.getInstance().getApis().getAdasControllerApi().setLastLon(stateInfo.getValues().getLon()); + MogoApisHandler.getInstance().getApis().getAdasControllerApi().setSatelliteTime(stateInfo.getValues().getSatelliteTime()); + JSONObject data = new JSONObject(); + try { + data.putOpt("lon", stateInfo.getValues().getLon()); + data.putOpt("lat", stateInfo.getValues().getLat()); + data.putOpt("alt", stateInfo.getValues().getAlt()); + data.putOpt("speed", stateInfo.getValues().getGnss_speed()); + data.putOpt("heading", stateInfo.getValues().getHeading()); + data.putOpt("acceleration", stateInfo.getValues().getAcceleration()); + data.putOpt("yawRate", stateInfo.getValues().getYaw_rate()); + data.putOpt("gpsProvider", 1); + try { + data.putOpt("systemTime", Long.parseLong(stateInfo.getValues().getSystemTime())); + } catch (Exception e) { +// e.printStackTrace(); + } + try { + data.putOpt("satelliteTime", Long.parseLong(stateInfo.getValues().getSatelliteTime())); + } catch (Exception e) { + e.printStackTrace(); + } + try { + data.putOpt("receiverDataTime", Long.parseLong(stateInfo.getValues().getReceiverDataTime())); + } catch (Exception e) { +// e.printStackTrace(); + } + try { + data.putOpt("adasSatelliteTime", Long.parseLong(stateInfo.getValues().getAdasSatelliteTime())); + } catch (Exception e) { +// e.printStackTrace(); + } + MarkerServiceHandler.getApis().getMapServiceApi().getMapUIController().syncLocation2Map(data); + SnapshotLocationDataCenter.getInstance().syncAdasLocationInfo(data); + } catch (Exception e) { + e.printStackTrace(); + } } } @@ -221,27 +284,27 @@ public class MoGoAdasListenerImpl implements OnAdasListener { /** * 工控机升级状态 + * * @param info 工控机升级状态 */ @Override public void onUpgradeStateInfo(IPCUpgradeStateInfo info) { - if(info != null){ - Logger.d(TAG,"onUpgradeStateInfo "+ - " upgrade mode="+info.getUpgradeMode()+ - " download status="+info.getDownloadStatus()+ - " download progress current="+info.getProgress().getCurrent()+ - " download progress total="+info.getProgress().getTotal()+ - " download version="+info.getImages()+ - " upgrade status="+info.getUpgradeStatus()); - CallerHmiManager.INSTANCE.showAdUpgradeStatus(info.getUpgradeMode(),info.getDownloadStatus(),info.getProgress().getCurrent(), - info.getProgress().getTotal(),info.getImages(),info.getUpgradeStatus()); - }else{ - Logger.d(TAG,"onUpgradeStateInfo : upgrade state info is null"); + if (info != null) { + Logger.d(TAG, "onUpgradeStateInfo " + + " upgrade mode=" + info.getUpgradeMode() + + " download status=" + info.getDownloadStatus() + + " download progress current=" + info.getProgress().getCurrent() + + " download progress total=" + info.getProgress().getTotal() + + " download version=" + info.getImages() + + " upgrade status=" + info.getUpgradeStatus()); + CallerHmiManager.INSTANCE.showAdUpgradeStatus(info.getUpgradeMode(), info.getDownloadStatus(), info.getProgress().getCurrent(), + info.getProgress().getTotal(), info.getImages(), info.getUpgradeStatus()); + } else { + Logger.d(TAG, "onUpgradeStateInfo : upgrade state info is null"); } } - @Override public void onSSHResult(SSHResult info) { diff --git a/core/function-impl/mogo-core-function-autopilot/src/main/java/com/mogo/eagle/core/function/autopilot/adapter/MoGoAdasMsgConnectStatusListenerImpl.kt b/core/function-impl/mogo-core-function-autopilot/src/main/java/com/mogo/eagle/core/function/autopilot/adapter/MoGoAdasMsgConnectStatusListenerImpl.kt index 233a997ead..c365e23c55 100644 --- a/core/function-impl/mogo-core-function-autopilot/src/main/java/com/mogo/eagle/core/function/autopilot/adapter/MoGoAdasMsgConnectStatusListenerImpl.kt +++ b/core/function-impl/mogo-core-function-autopilot/src/main/java/com/mogo/eagle/core/function/autopilot/adapter/MoGoAdasMsgConnectStatusListenerImpl.kt @@ -75,7 +75,7 @@ class MoGoAdasMsgConnectStatusListenerImpl : OnAdasMsgConnectStatusListener, IMo /** * 同步SN信息给工控机 */ - fun syncBasicInfoToAutopilot() { + private fun syncBasicInfoToAutopilot() { Logger.d(TAG, "同步PAD的SN给工控机……") val info = BasicInfo() info.setSn(MoGoAiCloudClientConfig.getInstance().sn) @@ -85,7 +85,7 @@ class MoGoAdasMsgConnectStatusListenerImpl : OnAdasMsgConnectStatusListener, IMo /** * 上传自动驾驶状态任务 */ - fun updateDriveStatusTask() { + private fun updateDriveStatusTask() { Logger.d(TAG, "updateDriveStatusTask") Flowable.interval(0, 5, TimeUnit.SECONDS) .subscribeOn(Schedulers.io()) diff --git a/modules/mogo-module-adas/src/main/java/com/mogo/module/adas/AdasEventManager.java b/core/function-impl/mogo-core-function-autopilot/src/main/java/com/mogo/eagle/core/function/autopilot/adapter/MoGoHandAdasMsgManager.java similarity index 64% rename from modules/mogo-module-adas/src/main/java/com/mogo/module/adas/AdasEventManager.java rename to core/function-impl/mogo-core-function-autopilot/src/main/java/com/mogo/eagle/core/function/autopilot/adapter/MoGoHandAdasMsgManager.java index 2401fc18a1..f05e957166 100644 --- a/modules/mogo-module-adas/src/main/java/com/mogo/module/adas/AdasEventManager.java +++ b/core/function-impl/mogo-core-function-autopilot/src/main/java/com/mogo/eagle/core/function/autopilot/adapter/MoGoHandAdasMsgManager.java @@ -1,4 +1,4 @@ -package com.mogo.module.adas; +package com.mogo.eagle.core.function.autopilot.adapter; import androidx.annotation.Nullable; @@ -11,65 +11,39 @@ import com.mogo.eagle.core.function.api.autopilot.IMoGoAutopilotCarStateListener import com.mogo.eagle.core.function.api.autopilot.IMoGoAutopilotIdentifyListener; import com.mogo.eagle.core.function.call.autopilot.CallerAutopilotCarStatusListenerManager; import com.mogo.eagle.core.function.call.autopilot.CallerAutopilotIdentifyListenerManager; -import com.mogo.eagle.core.utilcode.mogo.logger.Logger; -import com.mogo.eagle.core.utilcode.util.GsonUtils; import com.mogo.eagle.core.utilcode.util.ThreadUtils; import com.mogo.module.common.drawer.IdentifyDataDrawer; import com.zhidao.support.obu.ami.AmiClientManager; import java.util.ArrayList; -/** - * Created by XuYong on 2021/4/25 14:43 - */ -public class AdasEventManager implements +public class MoGoHandAdasMsgManager implements IMoGoAutopilotIdentifyListener, IMoGoAutopilotCarStateListener { private final String TAG = "AdasEventManager"; - private static volatile AdasEventManager adasEventManager; - private static final byte[] obj = new byte[0]; + private static volatile MoGoHandAdasMsgManager moGoHandAdasMsgManager; - private final ArrayList iAdasEventListeners = new ArrayList<>(); - - private AdasEventManager() { + private MoGoHandAdasMsgManager() { CallerAutopilotIdentifyListenerManager.INSTANCE.addListener(TAG, this); CallerAutopilotCarStatusListenerManager.INSTANCE.addListener(TAG, this); } - public static AdasEventManager getInstance() { - if (adasEventManager == null) { - synchronized (obj) { - if (adasEventManager == null) { - adasEventManager = new AdasEventManager(); + public static MoGoHandAdasMsgManager getInstance() { + if (moGoHandAdasMsgManager == null) { + synchronized (MoGoHandAdasMsgManager.class) { + if (moGoHandAdasMsgManager == null) { + moGoHandAdasMsgManager = new MoGoHandAdasMsgManager(); } } } - return adasEventManager; + return moGoHandAdasMsgManager; } - public void addEventListener(IAdasDataListener listener) { - Logger.d(TAG, "添加adas事件监听"); - if (iAdasEventListeners.contains(listener)) { - return; - } - iAdasEventListeners.add(listener); - } - - public void removeEventListener(IAdasDataListener listener) { - Logger.d(TAG, "注销adas事件监听"); - iAdasEventListeners.remove(listener); - } @Override public void onAutopilotCarStateData(@Nullable AutopilotCarStateInfo autoPilotCarStateInfo) { - for (IAdasDataListener listener : iAdasEventListeners) { - if (listener != null) { - listener.ownerCarStateInfo(GsonUtils.toJson(autoPilotCarStateInfo)); - } - } - // 获取的自动驾驶车辆信息不是空的时候 if (autoPilotCarStateInfo != null) { //can数据转发 @@ -106,4 +80,4 @@ public class AdasEventManager implements public void onAutopilotRecordResult(AutoPilotRecordResult result) { } -} +} \ No newline at end of file diff --git a/core/function-impl/mogo-core-function-main/build.gradle b/core/function-impl/mogo-core-function-main/build.gradle index 577bdb204c..dfc2b92c2b 100644 --- a/core/function-impl/mogo-core-function-main/build.gradle +++ b/core/function-impl/mogo-core-function-main/build.gradle @@ -70,7 +70,6 @@ dependencies { api rootProject.ext.dependencies.mogoservice api rootProject.ext.dependencies.moduleshare api rootProject.ext.dependencies.moduleextensions - api rootProject.ext.dependencies.moduleADAS api rootProject.ext.dependencies.callchat api rootProject.ext.dependencies.callchatprovider api rootProject.ext.dependencies.mapcustom @@ -98,7 +97,6 @@ dependencies { api project(':modules:mogo-module-common') api project(':modules:mogo-module-service') api project(':modules:mogo-module-extensions') - api project(':modules:mogo-module-adas') api project(':modules:mogo-module-carchatting') api project(':modules:mogo-module-carchattingprovider') api project(':libraries:map-custom') diff --git a/core/function-impl/mogo-core-function-main/src/main/java/com/mogo/eagle/core/function/main/MainMoGoApplication.java b/core/function-impl/mogo-core-function-main/src/main/java/com/mogo/eagle/core/function/main/MainMoGoApplication.java index 9530e9ed09..5c3941ac6d 100644 --- a/core/function-impl/mogo-core-function-main/src/main/java/com/mogo/eagle/core/function/main/MainMoGoApplication.java +++ b/core/function-impl/mogo-core-function-main/src/main/java/com/mogo/eagle/core/function/main/MainMoGoApplication.java @@ -328,8 +328,6 @@ public abstract class MainMoGoApplication extends AbsMogoApplication { MogoModulePaths.addBaseModule(new MogoModule(MogoServicePaths.PATH_CHECK, "CheckProvider")); // 推送模块 MogoModulePaths.addModule(new MogoModule(PushUIConstants.PATH, "PUSH_UI")); - // ADAS模块（旧，慢慢被 域控制器模块 替换掉） - MogoModulePaths.addBaseModule(new MogoModule(MogoServicePaths.PATH_ADAS, "AdasProvider")); if (!DebugConfig.isLauncher()) { PersistentManager diff --git a/core/mogo-core-data/src/main/java/com/mogo/eagle/core/data/constants/MogoServicePaths.java b/core/mogo-core-data/src/main/java/com/mogo/eagle/core/data/constants/MogoServicePaths.java index 551ff92cfa..aee937489f 100644 --- a/core/mogo-core-data/src/main/java/com/mogo/eagle/core/data/constants/MogoServicePaths.java +++ b/core/mogo-core-data/src/main/java/com/mogo/eagle/core/data/constants/MogoServicePaths.java @@ -208,13 +208,6 @@ public class MogoServicePaths { @Deprecated public static final String PATH_SMALL_MAP = "/small_map/api"; - /** - * ADAS 模块 - */ - @Keep - @Deprecated - public static final String PATH_ADAS = "/adas/api"; - /** * 车辆检测 模块 */ diff --git a/modules.txt b/modules.txt index 7cf07efb7b..a969ffe1d8 100644 --- a/modules.txt +++ b/modules.txt @@ -23,7 +23,6 @@ :test:crashreport-noop :test:crashreport-upgrade :core:function-impl:mogo-core-function-obu-mogo -:modules:mogo-module-adas :modules:mogo-module-service :core:function-impl:mogo-core-function-check :services:mogo-service diff --git a/modules/mogo-module-adas/.gitignore b/modules/mogo-module-adas/.gitignore deleted file mode 100644 index 42afabfd2a..0000000000 --- a/modules/mogo-module-adas/.gitignore +++ /dev/null @@ -1 +0,0 @@ -/build \ No newline at end of file diff --git a/modules/mogo-module-adas/build.gradle b/modules/mogo-module-adas/build.gradle deleted file mode 100644 index 28b5c71236..0000000000 --- a/modules/mogo-module-adas/build.gradle +++ /dev/null @@ -1,79 +0,0 @@ -plugins { - id 'com.android.library' - id 'kotlin-android' - id 'kotlin-android-extensions' - id 'kotlin-kapt' - id 'com.alibaba.arouter' -} -android { - compileSdkVersion rootProject.ext.android.compileSdkVersion - // buildToolsVersion rootProject.ext.android.buildToolsVersion - defaultConfig { - minSdkVersion rootProject.ext.android.minSdkVersion - targetSdkVersion rootProject.ext.android.targetSdkVersion - versionCode Integer.valueOf(VERSION_CODE) - versionName getValueFromRootProperties("${project.name.replace("-", "_").toUpperCase()}_VERSION") - - testInstrumentationRunner "androidx.test.runner.AndroidJUnitRunner" - consumerProguardFiles 'consumer-rules.pro' - //ARouter apt 参数 - kapt { - useBuildCache = false - arguments { - arg("AROUTER_MODULE_NAME", project.getName()) - } - } - } - - buildTypes { - release { - minifyEnabled false - proguardFiles getDefaultProguardFile('proguard-android-optimize.txt'), 'proguard-rules.pro' - } - } - - compileOptions { - sourceCompatibility JavaVersion.VERSION_1_8 - targetCompatibility JavaVersion.VERSION_1_8 - } -} - -dependencies { - - implementation rootProject.ext.dependencies.androidxappcompat - implementation rootProject.ext.dependencies.androidxconstraintlayout - implementation rootProject.ext.dependencies.rxandroid - - implementation rootProject.ext.dependencies.arouter - kapt rootProject.ext.dependencies.aroutercompiler - - // 现有的ADAS的通讯SDK，需要将里面的东西融合到我们项目中 - compileOnly rootProject.ext.dependencies.adasapi - - api rootProject.ext.dependencies.adasHigh - implementation rootProject.ext.dependencies.mogoami - - annotationProcessor rootProject.ext.dependencies.aroutercompiler - if (Boolean.valueOf(USE_MAVEN_PACKAGE)) { - api rootProject.ext.dependencies.mogo_core_utils - api rootProject.ext.dependencies.mogocommons - api rootProject.ext.dependencies.mogoserviceapi - implementation rootProject.ext.dependencies.modulecommon - - implementation rootProject.ext.dependencies.mogo_core_data - implementation rootProject.ext.dependencies.mogo_core_utils - implementation rootProject.ext.dependencies.mogo_core_function_api - implementation rootProject.ext.dependencies.mogo_core_function_call - } else { - api project(':core:mogo-core-utils') - api project(":foudations:mogo-commons") - api project(':services:mogo-service-api') - implementation project(':modules:mogo-module-common') - - implementation project(':core:mogo-core-data') - implementation project(':core:mogo-core-utils') - implementation project(':core:mogo-core-function-api') - implementation project(':core:mogo-core-function-call') - } -} -apply from: new File(rootProject.rootDir, "gradle/upload.gradle").toString() diff --git a/modules/mogo-module-adas/consumer-rules.pro b/modules/mogo-module-adas/consumer-rules.pro deleted file mode 100644 index e69de29bb2..0000000000 diff --git a/modules/mogo-module-adas/gradle.properties b/modules/mogo-module-adas/gradle.properties deleted file mode 100644 index 1c2efc6a15..0000000000 --- a/modules/mogo-module-adas/gradle.properties +++ /dev/null @@ -1,3 +0,0 @@ -GROUP=com.mogo.module -POM_ARTIFACT_ID=mogo-module-adas -VERSION_CODE=1 diff --git a/modules/mogo-module-adas/proguard-rules.pro b/modules/mogo-module-adas/proguard-rules.pro deleted file mode 100644 index 481bb43481..0000000000 --- a/modules/mogo-module-adas/proguard-rules.pro +++ /dev/null @@ -1,21 +0,0 @@ -# Add project specific ProGuard rules here. -# You can control the set of applied configuration files using the -# proguardFiles setting in build.gradle. -# -# For more details, see -# http://developer.android.com/guide/developing/tools/proguard.html - -# If your project uses WebView with JS, uncomment the following -# and specify the fully qualified class name to the JavaScript interface -# class: -#-keepclassmembers class fqcn.of.javascript.interface.for.webview { -# public *; -#} - -# Uncomment this to preserve the line number information for -# debugging stack traces. -#-keepattributes SourceFile,LineNumberTable - -# If you keep the line number information, uncomment this to -# hide the original source file name. -#-renamesourcefileattribute SourceFile \ No newline at end of file diff --git a/modules/mogo-module-adas/src/main/AndroidManifest.xml b/modules/mogo-module-adas/src/main/AndroidManifest.xml deleted file mode 100644 index 592a5f5be0..0000000000 --- a/modules/mogo-module-adas/src/main/AndroidManifest.xml +++ /dev/null @@ -1,5 +0,0 @@ - - - - \ No newline at end of file diff --git a/modules/mogo-module-adas/src/main/java/com/mogo/module/adas/AdasProvider.java b/modules/mogo-module-adas/src/main/java/com/mogo/module/adas/AdasProvider.java deleted file mode 100644 index 4065c8aa50..0000000000 --- a/modules/mogo-module-adas/src/main/java/com/mogo/module/adas/AdasProvider.java +++ /dev/null @@ -1,37 +0,0 @@ -package com.mogo.module.adas; - -import android.content.Context; - -import com.alibaba.android.arouter.facade.annotation.Route; -import com.alibaba.android.arouter.facade.template.IProvider; -import com.mogo.eagle.core.data.constants.MogoServicePaths; -import com.mogo.eagle.core.utilcode.mogo.logger.Logger; - - -/** - * ADAS 模块 - * - * @author - * @date 4/21/21 3:39 PM - * wiki：http://wiki.zhidaohulian.com/pages/viewpage.action?pageId=52840459 - */ -@Route(path = MogoServicePaths.PATH_ADAS) -public class AdasProvider implements IProvider { - private static final String TAG = "AdasProvider"; - private AdasEventManager adasEventManager; - - @Override - public void init(Context context) { - Logger.d(TAG, "初始化 AdasProvider 模块"); - adasEventManager = AdasEventManager.getInstance(); - } - - public void addAdasEventListener(IAdasDataListener listener) { - adasEventManager.addEventListener(listener); - } - - public void removeAdasEventListener(IAdasDataListener listener) { - adasEventManager.removeEventListener(listener); - } - -} diff --git a/modules/mogo-module-adas/src/main/java/com/mogo/module/adas/IAdasDataListener.java b/modules/mogo-module-adas/src/main/java/com/mogo/module/adas/IAdasDataListener.java deleted file mode 100644 index 6d9c6319d3..0000000000 --- a/modules/mogo-module-adas/src/main/java/com/mogo/module/adas/IAdasDataListener.java +++ /dev/null @@ -1,14 +0,0 @@ -package com.mogo.module.adas; - -public interface IAdasDataListener { - - - /** - * 自车定位信息 - * - * @param ownerCarStateInfo - */ - default void ownerCarStateInfo(String ownerCarStateInfo) { - } - -} diff --git a/modules/mogo-module-adas/src/main/res/values-xhdpi-2560x1440/dimens.xml b/modules/mogo-module-adas/src/main/res/values-xhdpi-2560x1440/dimens.xml deleted file mode 100644 index 0d2c4cc409..0000000000 --- a/modules/mogo-module-adas/src/main/res/values-xhdpi-2560x1440/dimens.xml +++ /dev/null @@ -1,4 +0,0 @@ - - - - \ No newline at end of file diff --git a/modules/mogo-module-adas/src/main/res/values/colors.xml b/modules/mogo-module-adas/src/main/res/values/colors.xml deleted file mode 100644 index 0d2c4cc409..0000000000 --- a/modules/mogo-module-adas/src/main/res/values/colors.xml +++ /dev/null @@ -1,4 +0,0 @@ - - - - \ No newline at end of file diff --git a/modules/mogo-module-adas/src/main/res/values/dimens.xml b/modules/mogo-module-adas/src/main/res/values/dimens.xml deleted file mode 100644 index 0d2c4cc409..0000000000 --- a/modules/mogo-module-adas/src/main/res/values/dimens.xml +++ /dev/null @@ -1,4 +0,0 @@ - - - - \ No newline at end of file diff --git a/modules/mogo-module-adas/src/main/res/values/strings.xml b/modules/mogo-module-adas/src/main/res/values/strings.xml deleted file mode 100644 index 0d2c4cc409..0000000000 --- a/modules/mogo-module-adas/src/main/res/values/strings.xml +++ /dev/null @@ -1,4 +0,0 @@ - - - - \ No newline at end of file diff --git a/modules/mogo-module-common/src/main/java/com/mogo/module/common/datacenter/SnapshotLocationDataCenter.java b/modules/mogo-module-common/src/main/java/com/mogo/module/common/datacenter/SnapshotLocationDataCenter.java index 4ef5407052..cca8f1a2ce 100644 --- a/modules/mogo-module-common/src/main/java/com/mogo/module/common/datacenter/SnapshotLocationDataCenter.java +++ b/modules/mogo-module-common/src/main/java/com/mogo/module/common/datacenter/SnapshotLocationDataCenter.java @@ -1,8 +1,8 @@ package com.mogo.module.common.datacenter; -import com.mogo.eagle.core.data.config.FunctionBuildConfig; import com.mogo.commons.debug.DebugConfig; import com.mogo.eagle.core.data.autopilot.AutopilotStatusInfo; +import com.mogo.eagle.core.data.config.FunctionBuildConfig; import com.mogo.eagle.core.function.call.autopilot.CallerAutoPilotStatusListenerManager; import com.mogo.module.common.MogoApisHandler; import com.mogo.service.cloud.location.CloudLocationInfo; @@ -38,36 +38,13 @@ public class SnapshotLocationDataCenter { sInstance = null; } - private CloudLocationInfo mLastLocationInfo = null; - - // GPS(1s1次) RTK(OS侧)缓存数据， - private final List mLocationList = new ArrayList<>(); - // adda 工控机数据缓存 private final List mMachineCacheList = new ArrayList<>(); - private int mDataAccuracy = 0; - private double mCurSpeed; private double mCurLon; private double mCurLat; private long mSatelliteTime = 0; - /** - * 同步从定位来的数据（也可能是rtk） - * - * @param cli {@link CloudLocationInfo} - */ - public void syncLocationInfo(CloudLocationInfo cli) { - if (cli == null) { - return; - } - mLastLocationInfo = cli; - mCurSpeed = cli.getSpeed(); - mCurLon = cli.getLon(); - mCurLat = cli.getLat(); - mLocationList.add(cli); - } - /** * 同步从工控机来的数据 * @@ -113,62 +90,14 @@ public class SnapshotLocationDataCenter { cloudLocationInfo.setSatelliteTime(satelliteTime); cloudLocationInfo.setSystemTime(systemTime); cloudLocationInfo.setTileId(String.valueOf(MogoApisHandler.getInstance().getApis().getMapServiceApi().getMapUIController().getTileId(lon, lat))); - mLastLocationInfo = cloudLocationInfo; mMachineCacheList.add(cloudLocationInfo); - mCurSpeed = cloudLocationInfo.getSpeed(); mCurLon = cloudLocationInfo.getLon(); mCurLat = cloudLocationInfo.getLat(); mSatelliteTime = cloudLocationInfo.getSatelliteTime(); } } - /** - * 获取某一段时间内的坐标集合 - * - * @return 坐标合集 - */ - public List getSendLocationData() { - - List list = null; - if (mMachineCacheList != null) { - mDataAccuracy = 1; - list = new ArrayList<>(mMachineCacheList); - mMachineCacheList.clear(); - } - if (list == null || list.isEmpty()) { - mDataAccuracy = 0; - if (mLocationList != null) { - list = new ArrayList<>(mLocationList); - mLocationList.clear(); - } - } - if (list == null || list.isEmpty()) { - if (mLastLocationInfo != null) { - list = new ArrayList(); - list.add(mLastLocationInfo); - mLastLocationInfo = null; - } - } - if (list.size() == 0) { - return null; - } - return list; - } - - /** - * 数据精度类型，目前按照数据来源标志 - * - * @return 精度 - */ - public int getDataAccuracy() { - return mDataAccuracy; - } - - public double getCurSpeed() { - return mCurSpeed; - } - public double getCurLon() { return mCurLon; } diff --git a/modules/mogo-module-main/src/main/java/com/mogo/module/main/MainActivity.java b/modules/mogo-module-main/src/main/java/com/mogo/module/main/MainActivity.java index d14addc67e..670e5f7676 100644 --- a/modules/mogo-module-main/src/main/java/com/mogo/module/main/MainActivity.java +++ b/modules/mogo-module-main/src/main/java/com/mogo/module/main/MainActivity.java @@ -268,7 +268,6 @@ public class MainActivity extends MvpActivity implement public void hideCoverUpLayout() { getWindow().setBackgroundDrawable(null); mCoverUpLayout.setVisibility(View.GONE); - mServiceApis.getAdasControllerApi().showADAS(); } @Override diff --git a/modules/mogo-module-service/src/main/java/com/mogo/module/service/MogoServices.java b/modules/mogo-module-service/src/main/java/com/mogo/module/service/MogoServices.java index 1e7e5d031f..1d177c2b28 100644 --- a/modules/mogo-module-service/src/main/java/com/mogo/module/service/MogoServices.java +++ b/modules/mogo-module-service/src/main/java/com/mogo/module/service/MogoServices.java @@ -15,7 +15,6 @@ import android.view.MotionEvent; import com.mogo.commons.debug.DebugConfig; import com.mogo.commons.voice.AIAssist; import com.mogo.commons.voice.IMogoVoiceCmdCallBack; -import com.mogo.eagle.core.data.autopilot.AutopilotCarStateInfo; import com.mogo.eagle.core.data.map.MogoLatLng; import com.mogo.eagle.core.data.map.MogoLocation; import com.mogo.eagle.core.utilcode.mogo.logger.Logger; @@ -31,7 +30,6 @@ import com.mogo.map.uicontroller.IMogoMapUIController; import com.mogo.module.common.MogoApisHandler; import com.mogo.module.common.MogoModule; import com.mogo.module.common.MogoModulePaths; -import com.mogo.module.common.datacenter.SnapshotLocationDataCenter; import com.mogo.module.common.entity.MarkerResponse; import com.mogo.module.service.handler.MainLooperHandler; import com.mogo.module.service.handler.RefreshWorkThreadHandler; @@ -46,7 +44,6 @@ import com.mogo.module.service.refresh.RefreshObject; import com.mogo.module.service.timedelay.TimeDelayUploadManager; import com.mogo.realtime.api.MoGoAiCloudRealTime; import com.mogo.service.adas.IMogoADASController; -import com.mogo.service.adas.IMogoAdasCarDataCallback; import com.mogo.service.fragmentmanager.FragmentStackTransactionListener; import com.mogo.service.fragmentmanager.IMogoFragmentManager; import com.mogo.service.intent.IMogoIntentListener; @@ -59,8 +56,6 @@ import com.mogo.service.statusmanager.IMogoStatusChangedListener; import com.mogo.service.statusmanager.IMogoStatusManager; import com.mogo.service.statusmanager.StatusDescriptor; -import org.json.JSONObject; - import java.util.List; /** @@ -81,7 +76,6 @@ public class MogoServices implements IMogoMapListener, IMogoVoiceCmdCallBack, FragmentStackTransactionListener, IMogoCarLocationChangedListener2, - IMogoAdasCarDataCallback, IDestroyable { private boolean mInternalUnWakeupRegisterStatus = false; @@ -332,7 +326,6 @@ public class MogoServices implements IMogoMapListener, mIntentManager.registerIntentListener( ConnectivityManager.CONNECTIVITY_ACTION, this ); mADASController = MarkerServiceHandler.getADASController(); - mADASController.setAdasCarDataCallback( this ); mFragmentManager = MarkerServiceHandler.getFragmentManager(); mFragmentManager.addMainFragmentStackTransactionListener( this ); @@ -861,50 +854,4 @@ public class MogoServices implements IMogoMapListener, } } - @Override - public void onAdasCarDataCallback( AutopilotCarStateInfo stateInfo ) { - - //模拟数据时，不更新由工控机传输的自车位置 - if(TimeDelayUploadManager.getInstance().isMock()){ - return; - } - - if ( stateInfo != null && stateInfo.getValues() != null ) { - JSONObject data = new JSONObject(); - try { - data.putOpt( "lon", stateInfo.getValues().getLon() ); - data.putOpt( "lat", stateInfo.getValues().getLat() ); - data.putOpt( "alt", stateInfo.getValues().getAlt() ); - data.putOpt( "speed", stateInfo.getValues().getGnss_speed() ); - data.putOpt( "heading", stateInfo.getValues().getHeading() ); - data.putOpt( "acceleration", stateInfo.getValues().getAcceleration() ); - data.putOpt( "yawRate", stateInfo.getValues().getYaw_rate() ); - data.putOpt( "gpsProvider", 1 ); - try { - data.putOpt( "systemTime", Long.parseLong( stateInfo.getValues().getSystemTime() ) ); - } catch ( Exception e ) { -// e.printStackTrace(); - } - try { - data.putOpt( "satelliteTime", Long.parseLong( stateInfo.getValues().getSatelliteTime() ) ); - } catch ( Exception e ) { - e.printStackTrace(); - } - try { - data.putOpt( "receiverDataTime", Long.parseLong( stateInfo.getValues().getReceiverDataTime() ) ); - } catch ( Exception e ) { -// e.printStackTrace(); - } - try { - data.putOpt( "adasSatelliteTime", Long.parseLong( stateInfo.getValues().getAdasSatelliteTime() ) ); - } catch ( Exception e ) { -// e.printStackTrace(); - } - MarkerServiceHandler.getApis().getMapServiceApi().getMapUIController().syncLocation2Map( data ); - SnapshotLocationDataCenter.getInstance().syncAdasLocationInfo( data ); - } catch ( Exception e ) { - e.printStackTrace(); - } - } - } } diff --git a/services/mogo-service-api/src/main/java/com/mogo/service/adas/IMogoADASController.java b/services/mogo-service-api/src/main/java/com/mogo/service/adas/IMogoADASController.java index ea47d78cbc..4838429a4f 100644 --- a/services/mogo-service-api/src/main/java/com/mogo/service/adas/IMogoADASController.java +++ b/services/mogo-service-api/src/main/java/com/mogo/service/adas/IMogoADASController.java @@ -10,20 +10,8 @@ import com.alibaba.android.arouter.facade.template.IProvider; */ public interface IMogoADASController extends IProvider { - /** - * 显示 - */ - void showADAS(); - void release(); - /** - * 自车定位数据 - * - * @param carDataCallback - */ - void setAdasCarDataCallback(IMogoAdasCarDataCallback carDataCallback); - /** * 获取车身的定位纬度 * @@ -31,6 +19,11 @@ public interface IMogoADASController extends IProvider { */ double getLastLat(); + /** + * 设置自车的定位纬度 + */ + void setLastLat(double lastLat); + /** * 获取车身定位经度 * @@ -38,6 +31,11 @@ public interface IMogoADASController extends IProvider { */ double getLastLon(); + /** + * 设置自车的定位经度 + */ + void setLastLon(double lastLon); + /** * 获取由工控机传回的GPS星历时间 * @@ -45,4 +43,9 @@ public interface IMogoADASController extends IProvider { */ String getSatelliteTime(); + /** + * 设置自车的GPS星历时间 + */ + void setSatelliteTime(String satelliteTime); + } diff --git a/services/mogo-service-api/src/main/java/com/mogo/service/adas/IMogoAdasCarDataCallback.java b/services/mogo-service-api/src/main/java/com/mogo/service/adas/IMogoAdasCarDataCallback.java deleted file mode 100644 index 3f5f9a90d2..0000000000 --- a/services/mogo-service-api/src/main/java/com/mogo/service/adas/IMogoAdasCarDataCallback.java +++ /dev/null @@ -1,17 +0,0 @@ -package com.mogo.service.adas; - -import com.mogo.eagle.core.data.autopilot.AutopilotCarStateInfo; - -/** - * adas 自车位置数据回调 - * - * @author tongchenfei - */ -public interface IMogoAdasCarDataCallback { - /** - * adas 数据回调 - * - * @param msg 具体数据 - */ - void onAdasCarDataCallback( AutopilotCarStateInfo msg ); -} diff --git a/services/mogo-service/build.gradle b/services/mogo-service/build.gradle index 220180a410..76d36c3203 100644 --- a/services/mogo-service/build.gradle +++ b/services/mogo-service/build.gradle @@ -57,7 +57,6 @@ dependencies { implementation rootProject.ext.dependencies.mogo_core_utils implementation rootProject.ext.dependencies.mogocommons implementation rootProject.ext.dependencies.mogoserviceapi - implementation rootProject.ext.dependencies.moduleADAS implementation rootProject.ext.dependencies.mogo_core_data implementation rootProject.ext.dependencies.mogo_core_function_check @@ -67,7 +66,6 @@ dependencies { implementation project(':core:mogo-core-utils') implementation project(":foudations:mogo-commons") implementation project(":services:mogo-service-api") - implementation project(':modules:mogo-module-adas') implementation project(':core:function-impl:mogo-core-function-check') implementation project(':core:mogo-core-data') diff --git a/services/mogo-service/src/main/java/com/mogo/service/impl/adas/MogoADASController.java b/services/mogo-service/src/main/java/com/mogo/service/impl/adas/MogoADASController.java index 04c548c34f..73607cfaf3 100644 --- a/services/mogo-service/src/main/java/com/mogo/service/impl/adas/MogoADASController.java +++ b/services/mogo-service/src/main/java/com/mogo/service/impl/adas/MogoADASController.java @@ -3,95 +3,59 @@ package com.mogo.service.impl.adas; import android.content.Context; import com.alibaba.android.arouter.facade.annotation.Route; -import com.alibaba.android.arouter.launcher.ARouter; -import com.mogo.commons.AbsMogoApplication; -import com.mogo.commons.debug.DebugConfig; -import com.mogo.eagle.core.data.autopilot.AutopilotCarStateInfo; -import com.mogo.eagle.core.data.autopilot.AutopilotStatusInfo; import com.mogo.eagle.core.data.constants.MogoServicePaths; -import com.mogo.eagle.core.network.utils.GsonUtil; -import com.mogo.eagle.core.utilcode.mogo.logger.Logger; -import com.mogo.module.adas.AdasProvider; -import com.mogo.module.adas.IAdasDataListener; import com.mogo.service.adas.IMogoADASController; -import com.mogo.service.adas.IMogoAdasCarDataCallback; import com.zhidao.autopilot.support.api.AutopilotServiceManage; -import java.util.List; -import java.util.concurrent.CopyOnWriteArrayList; - @Route(path = MogoServicePaths.PATH_ADAS_CONTROLLER) public class MogoADASController implements IMogoADASController { private static final String TAG = "MogoADASController"; - private AdasProvider adasProvider; - private IAdasDataListener mAdasDataListener; - - private IMogoAdasCarDataCallback mMogoAdasCarDataCallback; - private double mLastLon; private double mLastLat; - private String satelliteTime; + private String mSatelliteTime; @Override public double getLastLat() { return mLastLat; } + @Override + public void setLastLat(double lastLat) { + mLastLat = lastLat; + } + @Override public double getLastLon() { return mLastLon; } + @Override + public void setLastLon(double lastLon) { + mLastLon = lastLon; + } + @Override public String getSatelliteTime() { - return satelliteTime; + return mSatelliteTime; + } + + @Override + public void setSatelliteTime(String satelliteTime) { + mSatelliteTime = satelliteTime; } @Override public void init(Context context) { - adasProvider = ARouter.getInstance().navigation(AdasProvider.class); - } - @Override - public void showADAS() { - Logger.d(TAG, "showADAS()"); - init(AbsMogoApplication.getApp()); - if (mAdasDataListener == null) { - mAdasDataListener = new IAdasDataListener() { - - @Override - public void ownerCarStateInfo(String ownerCarStateInfo) { - // 接收 adas 定位数据线程 - AutopilotCarStateInfo stateInfo = GsonUtil.objectFromJson(ownerCarStateInfo, AutopilotCarStateInfo.class); - if (stateInfo == null || stateInfo.getValues() == null) { - return; - } - mLastLon = stateInfo.getValues().getLon(); - mLastLat = stateInfo.getValues().getLat(); - satelliteTime = stateInfo.getValues().getSatelliteTime(); - if (mMogoAdasCarDataCallback != null) { - mMogoAdasCarDataCallback.onAdasCarDataCallback(stateInfo); - } - } - - }; - adasProvider.addAdasEventListener(mAdasDataListener); - } } @Override public void release() { - adasProvider.removeAdasEventListener(mAdasDataListener); AutopilotServiceManage.getInstance().release(); } - @Override - public void setAdasCarDataCallback(IMogoAdasCarDataCallback carDataCallback) { - mMogoAdasCarDataCallback = carDataCallback; - } - } diff --git a/settings.gradle b/settings.gradle index b254e8898d..d06a6c0260 100644 --- a/settings.gradle +++ b/settings.gradle @@ -56,7 +56,6 @@ include ':libraries:mogo-map-api' include ':libraries:mogo-map' // OLD业务模块 -include ':modules:mogo-module-adas' include ':modules:mogo-module-common' include ':modules:mogo-module-main' include ':modules:mogo-module-service'