Merge branch 'dev_robotaxi-d_240401_6.4.0' into dev_robotaxi-d_240401_6.4.0_work_order

core/mogo-core-function-call/src/main/java/com/mogo/eagle/core/function/call/autopilot/CallerAutoPilotControlManager.kt

@@ -2,6 +2,7 @@ package com.mogo.eagle.core.function.call.autopilot
 
 import android.os.SystemClock
 import chassis.SpecialVehicleTaskCmdOuterClass
+import com.mogo.commons.voice.AIAssist
 import com.mogo.eagle.core.data.autopilot.AutopilotControlParameters
 import com.mogo.eagle.core.data.deva.badcase.BagManagerEntity
 import com.mogo.eagle.core.data.config.FunctionBuildConfig
@@ -13,7 +14,11 @@ import com.mogo.eagle.core.data.biz.trafficlight.TrafficLightResult
 import com.mogo.eagle.core.data.deva.chain.ChainConstant.Companion.CHAIN_CODE_OCH_TAXI_START_AUTOPILOT_MOFANG
 import com.mogo.eagle.core.function.api.autopilot.IMoGoAutopilotControlProvider
 import com.mogo.eagle.core.function.call.base.CallerBase
+import com.mogo.eagle.core.function.call.devatools.CallerDevaToolsManager
 import com.mogo.eagle.core.utilcode.mogo.AppIdentityModeUtils
+import com.mogo.eagle.core.utilcode.mogo.logger.Logger
+import com.mogo.eagle.core.utilcode.util.AppStateManager
+import com.mogo.eagle.core.utilcode.util.ToastUtils
 import com.zhjt.mogo.adas.data.sweeper.bootable.SweeperBootable.IsBootable
 import com.zhjt.mogo.adas.data.sweeper.task.SweeperTask.GetTaskReq
 import com.zhjt.mogo.adas.data.sweeper.task.SweeperTask.StartTaskResp
@@ -25,6 +30,7 @@ import com.zhjt.mogo.adas.data.sweeper.task.cloud.s_r.SweeperTaskCloudSuspendRes
 import com.zhjt.service.chain.ChainLog
 import com.zhjt.service_biz.BizConfig
 import mogo.yycp.paralleldriving.protocol.ParallelDrivingRequest
+import java.lang.StringBuilder
 import kotlin.random.Random
 
 
@@ -64,6 +70,52 @@ object CallerAutoPilotControlManager {
      * @param controlParameters 开启自动驾驶的控制参数
      */
     fun startAutoPilot(controlParameters: AutopilotControlParameters?) {
+        /**
+         * 方向盘： 1<<0
+         * 油门 :  1<<1
+         * 刹车:   1<<2
+         * 双闪:   1<<3
+         * 档位:   1<<4
+         * 轨迹下载: (下载中) 1<<5； （下载失败）1<<6
+         */
+        val exceptionValue = CallerDevaToolsManager.getExceptionStatusBeforeLaunchAutopilot()
+        if (exceptionValue != 0) {
+            val sb = StringBuilder("请检查车辆")
+            if ((exceptionValue and 1) != 0) {
+                sb.append("方向盘$")
+            }
+            if (((exceptionValue and (1 shl 1)) != 0)) {
+                sb.append("油门$")
+            }
+            if ((exceptionValue and (1 shl 2)) != 0) {
+                sb.append("刹车$")
+            }
+            if ((exceptionValue and (1 shl 3)) != 0) {
+                sb.append("双闪$")
+            }
+            if ((exceptionValue and (1 shl 4)) != 0) {
+                sb.append("档位$")
+            }
+            if ((exceptionValue and (1 shl 5)) != 0 || ((exceptionValue and (1 shl 6)) != 0)) {
+                sb.setLength(0)
+                sb.append("轨迹未就绪，请稍后重试")
+            }
+            val voiceText = sb.toString().let { str ->
+                val count = str.count { it == '$' }
+                if (count == 1) {
+                    str.replace("$", "")
+                } else {
+                    str.removeSuffix("$").replace("$", "、")
+                }
+            }
+            Logger.d(TAG, "voiceText: $voiceText")
+            ToastUtils.showShort(voiceText)
+            AppStateManager.currentActivity()?.also {
+                AIAssist.getInstance(it).speakTTSVoice(voiceText)
+            }
+            return
+        }
+
         if (controlParameters == null) {
             //LogUtils.eTag(TAG, "自动驾驶控制参数异常，请检查参数信息")
             return
@@ -105,6 +157,7 @@ object CallerAutoPilotControlManager {
     fun sendTrajectoryDownloadReq(autoPilotLine: AutopilotControlParameters.AutoPilotLine) {
         if (AppIdentityModeUtils.isDriver(FunctionBuildConfig.appIdentityMode)) {
             providerApi?.sendTrajectoryDownloadReq(autoPilotLine)
+            CallerAutoPilotStatusListenerManager.invokeTrajectoryDownloadReq(autoPilotLine, 0)
         }
     }
 
@@ -115,6 +168,7 @@ object CallerAutoPilotControlManager {
     fun sendTrajectoryDownloadReq(autoPilotLine: AutopilotControlParameters.AutoPilotLine, downloadType: Int) {
         if (AppIdentityModeUtils.isDriver(FunctionBuildConfig.appIdentityMode)) {
             providerApi?.sendTrajectoryDownloadReq(autoPilotLine, downloadType)
+            CallerAutoPilotStatusListenerManager.invokeTrajectoryDownloadReq(autoPilotLine, downloadType)
         }
     }
 

core/mogo-core-function-call/src/main/java/com/mogo/eagle/core/function/call/autopilot/CallerAutoPilotStatusListenerManager.kt

@@ -1,6 +1,7 @@
 package com.mogo.eagle.core.function.call.autopilot
 
 import com.mogo.eagle.core.data.autopilot.AutopilotControlParameters
+import com.mogo.eagle.core.data.autopilot.AutopilotControlParameters.AutoPilotLine
 import com.mogo.eagle.core.data.autopilot.AutopilotStatusInfo
 import com.mogo.eagle.core.data.msgbox.MsgBoxBean
 import com.mogo.eagle.core.data.msgbox.MsgBoxType
@@ -268,4 +269,10 @@ object CallerAutoPilotStatusListenerManager : CallerBase<IMoGoAutopilotStatusLis
         lineId = autopilotControlParameters?.autoPilotLine?.lineId ?: 0
         invokeAutoPilotStatus(mAutopilotStatusInfo)
     }
+
+    fun invokeTrajectoryDownloadReq(autoPilotLine: AutoPilotLine, downloadType: Int) {
+        M_LISTENERS.forEach { itx ->
+            itx.value.onAutopilotTrajectoryDownloadReq(autoPilotLine, downloadType)
+        }
+    }
 }

core/mogo-core-function-call/src/main/java/com/mogo/eagle/core/function/call/devatools/CallerDevaToolsManager.kt

@@ -366,4 +366,20 @@ object CallerDevaToolsManager {
     fun setNetworkMode(isDebug: Boolean) {
         devaToolsProviderApi?.setNetworkMode(isDebug)
     }
+
+    fun attachAutopilotBeforeLaunchView(ctx: Context, group: ViewGroup) {
+        devaToolsProviderApi?.attachAutopilotStatusView(ctx, group)
+    }
+
+    fun registerRouteDownloadListener(tag: String, block:(state: Int) -> Unit) {
+        devaToolsProviderApi?.registerRouteDownloadListener(tag, block)
+    }
+
+    fun unRegisterRouteDownloadListener(tag: String) {
+        devaToolsProviderApi?.unRegisterRouteDownloadListener(tag)
+    }
+
+    fun getExceptionStatusBeforeLaunchAutopilot(): Int {
+        return devaToolsProviderApi?.getExceptionStatusBeforeLaunchAutopilot() ?: 0
+    }
 }

core/mogo-core-function-call/src/main/java/com/mogo/eagle/core/function/call/hmi/CallerHmiFloatViewManager.kt

@@ -4,10 +4,7 @@ import android.content.Context
 import android.view.View
 import android.widget.FrameLayout
 import com.alibaba.android.arouter.launcher.ARouter
-import com.mogo.commons.debug.DebugConfig
 import com.mogo.eagle.core.data.constants.MogoServicePaths.PATH_FLOAT_VIEW_MANAGER
-import com.mogo.eagle.core.data.constants.MogoServicePaths.PATH_STATUS_VIEW_MANAGER
-import com.mogo.eagle.core.function.api.hmi.view.IStatusViewLayout
 import com.mogo.eagle.core.function.api.hmi.view.IViewLayoutSet
 
 /**
@@ -18,9 +15,6 @@ object CallerHmiFloatViewManager {
     private val floatViewProviderApi
         get() = ARouter.getInstance().build(PATH_FLOAT_VIEW_MANAGER)
             .navigation() as? IViewLayoutSet
-    private val statusViewProviderApi
-        get() = ARouter.getInstance().build(PATH_STATUS_VIEW_MANAGER)
-            .navigation() as? IStatusViewLayout
 
     fun addView(view: View, params: FrameLayout.LayoutParams, movable: Boolean) {
         floatViewProviderApi?.addView(view, params, movable)
@@ -30,11 +24,4 @@ object CallerHmiFloatViewManager {
         floatViewProviderApi?.removeView(view)
     }
 
-    fun getView(context:Context):View?{
-        return if (DebugConfig.isReplaceStatusview()){
-            statusViewProviderApi?.getStatusView(context)
-        }else{
-            null
-        }
-    }
 }