[Change]

完成mogo-module-adas合并到MoGoEagleEye.core.function-impl.mogo-core-function-autopilot

Signed-off-by: donghongyu <donghongyu@zhidaoauto.com>

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}",

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}",

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')

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

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){
+        if (info != null) {
-            Logger.d(TAG,"onUpgradeStateInfo "+
+            Logger.d(TAG, "onUpgradeStateInfo " +
-                    " upgrade mode="+info.getUpgradeMode()+
+                    " upgrade mode=" + info.getUpgradeMode() +
-                    " download status="+info.getDownloadStatus()+
+                    " download status=" + info.getDownloadStatus() +
-                    " download progress current="+info.getProgress().getCurrent()+
+                    " download progress current=" + info.getProgress().getCurrent() +
-                    " download progress total="+info.getProgress().getTotal()+
+                    " download progress total=" + info.getProgress().getTotal() +
-                    " download version="+info.getImages()+
+                    " download version=" + info.getImages() +
-                    " upgrade status="+info.getUpgradeStatus());
+                    " upgrade status=" + info.getUpgradeStatus());
-            CallerHmiManager.INSTANCE.showAdUpgradeStatus(info.getUpgradeMode(),info.getDownloadStatus(),info.getProgress().getCurrent(),
+            CallerHmiManager.INSTANCE.showAdUpgradeStatus(info.getUpgradeMode(), info.getDownloadStatus(), info.getProgress().getCurrent(),
-                    info.getProgress().getTotal(),info.getImages(),info.getUpgradeStatus());
+                    info.getProgress().getTotal(), info.getImages(), info.getUpgradeStatus());
-        }else{
+        } else {
-            Logger.d(TAG,"onUpgradeStateInfo : upgrade state info is null");
+            Logger.d(TAG, "onUpgradeStateInfo : upgrade state info is null");
         }
     }
 
 
-
     @Override
     public void onSSHResult(SSHResult info) {
 

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())

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;
 
-/**
+public class MoGoHandAdasMsgManager implements
- * Created by XuYong on 2021/4/25 14:43
- */
-public class AdasEventManager implements
         IMoGoAutopilotIdentifyListener,
         IMoGoAutopilotCarStateListener {
 
     private final String TAG = "AdasEventManager";
 
-    private static volatile AdasEventManager adasEventManager;
+    private static volatile MoGoHandAdasMsgManager moGoHandAdasMsgManager;
-    private static final byte[] obj = new byte[0];
 
-    private final ArrayList<IAdasDataListener> iAdasEventListeners = new ArrayList<>();
+    private MoGoHandAdasMsgManager() {
-
-    private AdasEventManager() {
         CallerAutopilotIdentifyListenerManager.INSTANCE.addListener(TAG, this);
         CallerAutopilotCarStatusListenerManager.INSTANCE.addListener(TAG, this);
     }
 
-    public static AdasEventManager getInstance() {
+    public static MoGoHandAdasMsgManager getInstance() {
-        if (adasEventManager == null) {
+        if (moGoHandAdasMsgManager == null) {
-            synchronized (obj) {
+            synchronized (MoGoHandAdasMsgManager.class) {
-                if (adasEventManager == null) {
+                if (moGoHandAdasMsgManager == null) {
-                    adasEventManager = new AdasEventManager();
+                    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) {
 
     }
-}
+}

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')

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

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
      */

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

modules/mogo-module-adas/.gitignore

@@ -1 +0,0 @@
-/build

modules/mogo-module-adas/build.gradle

@@ -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()

modules/mogo-module-adas/gradle.properties

@@ -1,3 +0,0 @@
-GROUP=com.mogo.module
-POM_ARTIFACT_ID=mogo-module-adas
-VERSION_CODE=1

modules/mogo-module-adas/proguard-rules.pro

@@ -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

modules/mogo-module-adas/src/main/AndroidManifest.xml

@@ -1,5 +0,0 @@
-<?xml version="1.0" encoding="utf-8"?>
-<manifest xmlns:android="http://schemas.android.com/apk/res/android"
-    package="com.mogo.module.adas">
-
-</manifest>

modules/mogo-module-adas/src/main/java/com/mogo/module/adas/AdasProvider.java

@@ -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);
-    }
-
-}

modules/mogo-module-adas/src/main/java/com/mogo/module/adas/IAdasDataListener.java

@@ -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) {
-    }
-
-}

modules/mogo-module-adas/src/main/res/values-xhdpi-2560x1440/dimens.xml

@@ -1,4 +0,0 @@
-<?xml version="1.0" encoding="utf-8"?>
-<resources>
-
-</resources>

modules/mogo-module-adas/src/main/res/values/colors.xml

@@ -1,4 +0,0 @@
-<?xml version="1.0" encoding="utf-8"?>
-<resources>
-
-</resources>

modules/mogo-module-adas/src/main/res/values/dimens.xml

@@ -1,4 +0,0 @@
-<?xml version="1.0" encoding="utf-8"?>
-<resources>
-
-</resources>

modules/mogo-module-adas/src/main/res/values/strings.xml

@@ -1,4 +0,0 @@
-<?xml version="1.0" encoding="utf-8"?>
-<resources>
-
-</resources>

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<CloudLocationInfo> mLocationList = new ArrayList<>();
-
     // adda 工控机数据缓存
     private final List<CloudLocationInfo> 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<CloudLocationInfo> getSendLocationData() {
-
-        List<CloudLocationInfo> 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;
     }

modules/mogo-module-main/src/main/java/com/mogo/module/main/MainActivity.java

@@ -268,7 +268,6 @@ public class MainActivity extends MvpActivity<MainView, MainPresenter> implement
     public void hideCoverUpLayout() {
         getWindow().setBackgroundDrawable(null);
         mCoverUpLayout.setVisibility(View.GONE);
-        mServiceApis.getAdasControllerApi().showADAS();
     }
 
     @Override

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();
-            }
-        }
-    }
 }

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);
+
 }

services/mogo-service-api/src/main/java/com/mogo/service/adas/IMogoAdasCarDataCallback.java

@@ -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 );
-}

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')

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;
-    }
-
 }
 
 

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'