[MapDataUpdate]高精地图数据采集代码提交

[MapDataUpdate]高精地图数据采集代码提交

[MapDataUpdate]移除Java接口

[MapDataUpdate]移除无用代码

config.gradle

@@ -147,6 +147,7 @@ ext {
             mogomap                      : "com.mogo.map:mogo-map:${MOGO_MAP_VERSION}",
             mogomapapi                   : "com.mogo.map:mogo-map-api:${MOGO_MAP_API_VERSION}",
             mogocustommap                : "com.zhidaoauto.machine:map:${MAP_SDK_VERSION}",
+            mogocustommapoperational     : "com.zhidaoauto.map:operational:${MAP_SDK_OPERATION_VERSION}",
 
             modulecommon                 : "com.mogo.module:module-common:${MOGO_MODULE_COMMON_VERSION}",
             modulemain                   : "com.mogo.module:module-main:${MOGO_MODULE_MAIN_VERSION}",

core/function-impl/mogo-core-function-autopilot/src/main/java/com/mogo/eagle/core/function/autopilot/MoGoAutopilotProvider.kt

@@ -10,10 +10,12 @@ import com.mogo.eagle.core.data.config.FunctionBuildConfig
 import com.mogo.eagle.core.data.constants.MoGoConfig
 import com.mogo.eagle.core.data.constants.MogoServicePaths
 import com.mogo.eagle.core.function.api.autopilot.IMoGoAutopilotProvider
+import com.mogo.eagle.core.function.api.map.collect.IMoGoMapDataCollectProvider
 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.function.call.map.CallerMapDataCollectorManager
 import com.mogo.eagle.core.utilcode.mogo.logger.Logger
 import com.mogo.eagle.core.utilcode.mogo.storage.SharedPrefsMgr
 import com.mogo.eagle.core.utilcode.util.GsonUtils
@@ -30,7 +32,7 @@ import java.util.concurrent.TimeUnit
  */
 @Route(path = MogoServicePaths.PATH_AUTO_PILOT)
 class MoGoAutopilotProvider :
-        IMoGoAutopilotProvider {
+    IMoGoAutopilotProvider, IMoGoMapDataCollectProvider.OnMapCollectCmdListener {
     private val TAG = "MoGoAutoPilotProvider"
     private var mContext: Context? = null
 
@@ -60,6 +62,7 @@ class MoGoAutopilotProvider :
         AdasManager.getInstance().setOnAdasListener(MoGoAdasListenerImpl())
         // 同步数据给工控机的服务
         AsyncDataToAutopilotServer.INSTANCE.initServer()
+        CallerMapDataCollectorManager.registerOnMapCollectTaskListener(this)
     }
 
     /**
@@ -89,6 +92,16 @@ class MoGoAutopilotProvider :
         }, 1000, TimeUnit.MILLISECONDS)
     }
 
+    override fun onMapCollectStart(cmdId: Int, cmdTime: Long) {
+        val result = recordPackage(2, cmdId)
+        Logger.d(TAG, "开始记录包: [$cmdId, $result]")
+    }
+
+    override fun onMapCollectEnd(cmdId: Int, cmdTime: Long) {
+        val result = stopRecord(2, cmdId)
+        Logger.d(TAG, "结束记录包: [$cmdId, $result]")
+    }
+
     override fun startAutoPilot(result: AutopilotControlParameters) {
         if (AdasManager.getInstance().isSocketConnect) {
             val parameter = AutopilotControlCmdParameter("aiCloudToStartAutopilot", result)
@@ -115,6 +128,18 @@ class MoGoAutopilotProvider :
                 .recordPackage(1, (System.currentTimeMillis() / 1000).toInt())
     }
 
+    override fun recordPackage(type: Int, id: Int): Boolean {
+        return AdasManager.getInstance().recordPackage(type, id)
+    }
+
+    override fun recordPackage(type: Int, id: Int, duration: Int): Boolean {
+        return AdasManager.getInstance().recordPackage(type, id, duration)
+    }
+
+    override fun stopRecord(type: Int, id: Int): Boolean {
+        return AdasManager.getInstance().stopRecord(type, id)
+    }
+
     override fun setEnableLog(isEnableLog: Boolean) {
         CupidLogUtils.setEnableLog(isEnableLog)
     }
@@ -124,7 +149,7 @@ class MoGoAutopilotProvider :
     }
 
     override fun onDestroy() {
-
+        CallerMapDataCollectorManager.unRegisterOnMapCollectTaskListener(this)
     }
 
     override fun setAutoPilotSpeed(speed: Int): Boolean {

core/function-impl/mogo-core-function-main/src/main/java/com/mogo/eagle/core/function/main/MainMoGoApplication.java

@@ -329,6 +329,9 @@ public abstract class MainMoGoApplication extends AbsMogoApplication {
         // 推送模块
         MogoModulePaths.addModule(new MogoModule(PushUIConstants.PATH, "PUSH_UI"));
 
+        // 地图数据收集模块
+        MogoModulePaths.addModuleFunctionServer(new MogoModule(MogoServicePaths.PATH_MAP_DATA_COLLECT_PROVIDER, "MoGoMapDataCollector"));
+
         if (!DebugConfig.isLauncher()) {
             PersistentManager
                     .getInstance().initManager(this);

core/function-impl/mogo-core-function-map/build.gradle

@@ -51,7 +51,7 @@ dependencies {
 
     kapt rootProject.ext.dependencies.aroutercompiler
     implementation rootProject.ext.dependencies.adasHigh
-
+    implementation rootProject.ext.dependencies.mogocustommapoperational
     if (Boolean.valueOf(USE_MAVEN_PACKAGE)) {
         implementation rootProject.ext.dependencies.mogoserviceapi
         implementation rootProject.ext.dependencies.modulecommon

core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/impl/collect/MoGoMapDataCollectProvider.kt

@@ -0,0 +1,175 @@
+package com.mogo.eagle.core.function.impl.collect
+
+import android.content.Context
+import android.text.TextUtils
+import com.alibaba.android.arouter.facade.annotation.Route
+import com.mogo.cloud.passport.IMoGoTokenCallback
+import com.mogo.cloud.passport.MoGoAiCloudClient
+import com.mogo.cloud.passport.MoGoAiCloudClientConfig
+import com.mogo.eagle.core.data.constants.MogoServicePaths
+import com.mogo.eagle.core.data.map.MogoLocation
+import com.mogo.eagle.core.function.api.map.collect.IMoGoMapDataCollectProvider
+import com.mogo.eagle.core.function.api.map.listener.IMoGoMapLocationListener
+import com.mogo.eagle.core.function.call.map.CallerMapLocationListenerManager
+import com.mogo.eagle.core.utilcode.mogo.logger.Logger
+import com.zhidaoauto.map.operational.MapCollectionTaskRecive
+import com.zhidaoauto.map.operational.abs.OnTaskListener
+import java.util.concurrent.ConcurrentHashMap
+import java.util.concurrent.CopyOnWriteArrayList
+import java.util.concurrent.atomic.AtomicReference
+
+@Route(path = MogoServicePaths.PATH_MAP_DATA_COLLECT_PROVIDER)
+class MoGoMapDataCollectProvider : IMoGoMapDataCollectProvider, OnTaskListener, IMoGoMapLocationListener, IMoGoTokenCallback {
+
+    companion object {
+        const val TAG = "MoGoMapDataCollect"
+    }
+
+    private val executor by lazy {
+        AtomicReference<MapCollectionTaskRecive?>(null)
+    }
+
+    private val listeners by lazy {
+        CopyOnWriteArrayList<IMoGoMapDataCollectProvider.OnMapCollectCmdListener>()
+    }
+
+    private val map: MutableMap<Int, Status> by lazy {
+        ConcurrentHashMap()
+    }
+
+    override val functionName: String = TAG
+
+    override fun init(context: Context?) {
+        CallerMapLocationListenerManager.addListener(functionName, this)
+        executor.set(context?.let { MapCollectionTaskRecive(it) })
+        executor.get()?.setOnTaskListener(this)
+        val carSn = MoGoAiCloudClientConfig.getInstance().sn
+        if (!TextUtils.isEmpty(carSn)) {
+            executor.get()?.setCarSn(carSn)
+        }
+        MoGoAiCloudClient.getInstance().addTokenCallbacks(this)
+        Logger.d(TAG, "--------- init --------")
+        Logger.d(TAG, "executor: ${ executor.get()?.hashCode() ?: 0 }")
+    }
+
+    override fun onDestroy() {
+        CallerMapLocationListenerManager.removeListener(TAG)
+        Logger.d(TAG, "--------- onDestroy --------")
+        executor.get()?.let {
+            it.setOnTaskListener(null)
+            it.destory()
+        }
+        listeners.clear()
+        map.clear()
+    }
+
+    override fun registerOnMapCollectTaskListener(listener: IMoGoMapDataCollectProvider.OnMapCollectCmdListener?) {
+        Logger.d(TAG, "--------- registerOnMapCollectTaskListener --------")
+        listener ?: return
+        if (listeners.contains(listener)) {
+            return
+        }
+        listeners += listener
+    }
+
+    override fun unRegisterOnMapCollectTaskListener(listener: IMoGoMapDataCollectProvider.OnMapCollectCmdListener?) {
+        Logger.d(TAG, "--------- unRegisterOnMapCollectTaskListener --------")
+        listener ?: return
+        if (!listeners.contains(listener)) {
+            return
+        }
+        listeners.remove(listener)
+    }
+
+    override fun finish(
+        id: Int,
+        state: Int,
+        gpsPath: String,
+        videoPath: String,
+        reason: String
+    ) {
+        Logger.d(TAG, "-- finish:[$id, $state, $gpsPath, $videoPath, $reason]")
+        try {
+            if (isInValidStatus()) {
+                Logger.w(TAG, "-- finish: 状态无效")
+                return
+            }
+            if (!map.containsKey(id)) {
+                Logger.w(TAG, "-- finish: 无相关指令")
+                return
+            }
+            Logger.d(TAG, "-- finish: 结束任务[$id]")
+            executor.get()?.finishTask(id, state, gpsPath, videoPath, reason)
+        } catch (e : Throwable) {
+            e.printStackTrace()
+            Logger.e(TAG, "-- finish:\n$e");
+        } finally {
+            map[id] = Status.FINISH
+        }
+    }
+
+    override fun onTaskFinish(id: Int, time: Long) {
+        Logger.d(TAG, "地图模块下发结束采集指令 -> [$id, $time]")
+        if (!map.containsKey(id) || map[id] == Status.FINISH) {
+            Logger.w(TAG, "地图模块下发结束采集指令 -> 任务[$id]已经提前完成,无需再次请求自动驾驶模块结束采集")
+            return
+        }
+        Logger.d(TAG, "地图模块下发结束采集指令 -> [$id, $time] -> 调用自动驾驶模块，结束数据采集")
+        listeners.forEach {
+            it.onMapCollectEnd(id, time)
+        }
+    }
+
+    override fun onTaskStart(id: Int, time: Long) {
+        Logger.d(TAG, "地图模块下发开始采集指令 -> [$id, $time]")
+        map[id] = Status.INIT
+        listeners.forEach {
+            it.onMapCollectStart(id, time)
+        }
+        map[id] = Status.START
+    }
+
+
+    override fun onLocationChanged(location: MogoLocation?) {
+        location ?: return
+        executor.get()?.onMapChange(
+            location.longitude,
+            location.latitude,
+            location.bearing,
+            location.speed,
+            location.provider == "GPS_SELF")
+    }
+
+
+    private fun isInValidStatus(): Boolean {
+        if (map.isEmpty()) {
+            return true
+        }
+        val iterator = map.iterator()
+        while (iterator.hasNext()) {
+            val next = iterator.next()
+            if (next.value == Status.FINISH) {
+                iterator.remove()
+            }
+        }
+        if (map.filter { it.value == Status.START }.isEmpty()) {
+            return true
+        }
+        return false
+    }
+
+    override fun onTokenGot(token: String?, sn: String?) {
+        Logger.d(TAG, "-- onTokenGot --> $sn")
+        sn?.let {
+            executor.get()?.setCarSn(it)
+        }
+    }
+
+    override fun onError(code: Int, msg: String?) = Unit
+
+    private sealed class Status {
+        object INIT : Status()   //初始状态
+        object START : Status()  //开始状态
+        object FINISH : Status() //完成状态
+    }
+}

core/mogo-core-data/src/main/java/com/mogo/eagle/core/data/constants/MogoServicePaths.java

@@ -268,4 +268,10 @@ public class MogoServicePaths {
     @Keep
     @Deprecated
     public static final String PATH_DEVA_TOOLS = "/deva/tools";
+
+    /**
+     * 地图数据更新输助类
+     */
+    @Keep
+    public static final String PATH_MAP_DATA_COLLECT_PROVIDER = "/map_x/collect";
 }

core/mogo-core-function-api/src/main/java/com/mogo/eagle/core/function/api/autopilot/IMoGoAutopilotProvider.kt

@@ -41,6 +41,33 @@ interface IMoGoAutopilotProvider : IMoGoFunctionServerProvider {
      */
     fun recordPackage(): Boolean
 
+    /**
+     * 开启域控制器录制bag包
+     *
+     * @return true-成功,false-失败
+     * @param type 录制类型  1: badcase 2:map 3:rests
+     * @param id   指令/任务 ID
+     */
+    fun recordPackage(type: Int, id: Int): Boolean
+
+    /**
+     * 开启域控制器录制bag包
+     *
+     * @return true-成功,false-失败
+     * @param type 录制类型 1: badcase 2:map 3:rests
+     * @param id   指令/任务 ID
+     * @param duration 录制时长
+     */
+    fun recordPackage(type: Int, id: Int, duration: Int): Boolean
+
+    /**
+     * 结束录制
+     * @param type 录制类型 1: badcase 2:map 3:rests
+     * @param id   指令/任务 ID
+     * @return true: 成功; false 失败
+     */
+    fun stopRecord(type: Int, id: Int): Boolean
+
     /**
      * Log 是否显示
      *

core/mogo-core-function-api/src/main/java/com/mogo/eagle/core/function/api/map/collect/IMoGoMapDataCollectProvider.kt

@@ -0,0 +1,43 @@
+package com.mogo.eagle.core.function.api.map.collect
+
+import com.mogo.eagle.core.function.api.base.IMoGoFunctionServerProvider
+
+/**
+ * @author renwj
+ * @date 2021/11/10 10:00 上午
+ * 此类主要用来同步自动驾驶定位信息给各业务方
+ */
+interface IMoGoMapDataCollectProvider: IMoGoFunctionServerProvider {
+
+    /**
+     * 注册地图组下发收集数据任务指令监听，通知自动驾驶模块开始数据采集
+     */
+    fun registerOnMapCollectTaskListener(listener: OnMapCollectCmdListener?)
+
+    /**
+     * 移除任务指令监听
+     */
+    fun unRegisterOnMapCollectTaskListener(listener: OnMapCollectCmdListener?)
+
+    /**
+     * 此接口是自动驾驶模块使用，用于把自动驾驶模块收集的数据给地图组
+     */
+    fun finish(id: Int, state: Int, gpsPath: String, videoPath: String, reason: String)
+
+    interface OnMapCollectCmdListener {
+
+        /**
+         * 地图组下发地图数据收集开始指令
+         * @param cmdId   指令ID
+         * @param cmdTime 指令下发时间
+         */
+        fun onMapCollectStart(cmdId: Int, cmdTime: Long)
+
+        /**
+         * 地图组下发地图数据收集结束指令
+         * @param cmdId   指令ID
+         * @param cmdTime 指令下发时间
+         */
+        fun onMapCollectEnd(cmdId: Int, cmdTime: Long)
+    }
+}

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

@@ -1,9 +1,12 @@
 package com.mogo.eagle.core.function.call.autopilot
 
+import android.os.SystemClock
 import com.mogo.eagle.core.data.autopilot.AutopilotControlParameters
 import com.mogo.eagle.core.data.constants.MogoServicePaths
 import com.mogo.eagle.core.function.api.autopilot.IMoGoAutopilotProvider
 import com.mogo.eagle.core.function.call.base.CallerBase
+import com.mogo.eagle.core.utilcode.util.LogUtils
+import kotlin.random.Random
 
 /**
  *@author        xiaoyuzhou
@@ -60,7 +63,15 @@ object CallerAutoPilotManager {
      * 开启域控制器录制bag包
      */
     fun recordPackage() {
-        providerApi?.recordPackage()
+        providerApi?.recordPackage(1, Random(SystemClock.elapsedRealtime()).nextInt())
+    }
+
+    fun recordPackage(type: Int, id: Int) {
+        providerApi?.recordPackage(type, id)
+    }
+
+    fun recordPackage(type: Int, id: Int, duration: Int) {
+        providerApi?.recordPackage(type, id, duration)
     }
 
     fun setEnableLog(isEnableLog: Boolean) {

core/mogo-core-function-call/src/main/java/com/mogo/eagle/core/function/call/map/CallerMapDataCollectorManager.kt

@@ -0,0 +1,29 @@
+package com.mogo.eagle.core.function.call.map
+
+import com.mogo.eagle.core.data.constants.MogoServicePaths.PATH_MAP_DATA_COLLECT_PROVIDER
+import com.mogo.eagle.core.function.api.map.collect.IMoGoMapDataCollectProvider
+import com.mogo.eagle.core.function.call.base.CallerBase
+
+/**
+ * @author renwj
+ * @date 2021/11/10 10:30 上午
+ * 此类主要提供给各业务方使用，便于业务层管理数据收集
+ */
+object CallerMapDataCollectorManager {
+
+    private val provider: IMoGoMapDataCollectProvider? by lazy {
+        CallerBase.getApiInstance(IMoGoMapDataCollectProvider::class.java, PATH_MAP_DATA_COLLECT_PROVIDER)
+    }
+
+    fun registerOnMapCollectTaskListener(listener: IMoGoMapDataCollectProvider.OnMapCollectCmdListener?) {
+        provider?.registerOnMapCollectTaskListener(listener)
+    }
+
+    fun unRegisterOnMapCollectTaskListener(listener: IMoGoMapDataCollectProvider.OnMapCollectCmdListener?) {
+        provider?.unRegisterOnMapCollectTaskListener(listener)
+    }
+
+    fun finish(id: Int, state: Int, gpsPath: String, videoPath: String, reason: String) {
+        provider?.finish(id, state, gpsPath, videoPath, reason)
+    }
+}

gradle.properties

@@ -81,6 +81,7 @@ MOGO_LOCATION_VERSION=1.3.18
 ######## MogoAiCloudSDK Version ########
 # 自研地图
 MAP_SDK_VERSION=2.0.0.24
+MAP_SDK_OPERATION_VERSION=1.0.11
 # websocket
 WEBSOCKET_VERSION=1.1.7
 ## 产品库必备配置，产品库自动对versionCode和versionName版本进行升级