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删除旧版本的功能代码 Signed-off-by: donghongyu <donghongyu@zhidaoauto.com>
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donghongyu
@@ -61,65 +61,71 @@ public class OnAdasListenerAdapter implements OnAdasListener {
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@Override
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public void onCarStateData(CarStateInfo carStateInfo) {
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if (HdMapBuildConfig.isMapLoaded) {
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// Logger.d(TAG, "--------carStateInfo.toString() = " + carStateInfo.toString());
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//can数据转发
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CarStateInfo.ValuesBean bean = carStateInfo.getValues();
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//can数据转发
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CarStateInfo.ValuesBean bean = carStateInfo.getValues();
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// Log.w("DHY-location", bean.getLon() + "," + bean.getLat() + " OnAdasListenerAdapter-onCarStateData：");
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if (bean != null) {
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int turnLight = bean.getTurn_light(); //转向灯状态 0是正常 1是左转 2是右转
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AmiClientManager.getInstance().setTurnLightState(turnLight);
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int brakeLight = bean.getBrake_light(); //TODO
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if (bean != null) {
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int turnLight = bean.getTurn_light(); //转向灯状态 0是正常 1是左转 2是右转
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AmiClientManager.getInstance().setTurnLightState(turnLight);
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int brakeLight = bean.getBrake_light(); //TODO
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// Logger.d(TAG, "onCarStateData ---- turnLight = " + turnLight + "---brakeLight = " + brakeLight);
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//设置转向灯
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CallerHmiManager.INSTANCE.showTurnLight(turnLight);
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//设置转向灯
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CallerHmiManager.INSTANCE.showTurnLight(turnLight);
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//设置刹车信息
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CallerHmiManager.INSTANCE.showBrakeLight(brakeLight);
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} else {
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Logger.e(TAG, "bean == null ");
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//设置刹车信息
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CallerHmiManager.INSTANCE.showBrakeLight(brakeLight);
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} else {
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Logger.e(TAG, "bean == null ");
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}
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AutopilotCarStateInfo autopilotCarStateInfo = AdasObjectUtils.INSTANCE.fromAdasCarStateInfoObject(carStateInfo);
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CallerAutopilotCarStatusListenerManager.INSTANCE.invokeAutopilotCarStateData(autopilotCarStateInfo);
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}
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AutopilotCarStateInfo autopilotCarStateInfo = AdasObjectUtils.INSTANCE.fromAdasCarStateInfoObject(carStateInfo);
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CallerAutopilotCarStatusListenerManager.INSTANCE.invokeAutopilotCarStateData(autopilotCarStateInfo);
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}
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@Override
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public void autopilotStatus(AutopilotStatus autopilotStatus) {
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AutopilotStatus.ValuesBean autopilotStatusValues = autopilotStatus.getValues();
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if (HdMapBuildConfig.isMapLoaded) {
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AutopilotStatus.ValuesBean autopilotStatusValues = autopilotStatus.getValues();
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if (autopilotStatusValues != null) {
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// 初始化自动驾驶状态信息
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AutopilotStatusInfo autopilotStatusInfo = CallerAutoPilotStatusListenerManager.INSTANCE.getAutoPilotStatusInfo();
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autopilotStatusInfo.setState(autopilotStatusValues.getState());
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autopilotStatusInfo.setPilotmode(autopilotStatusValues.getPilotmode());
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autopilotStatusInfo.setControl_pilotmode(autopilotStatusValues.getControl_pilotmode());
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autopilotStatusInfo.setReason(autopilotStatusValues.getReason());
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autopilotStatusInfo.setCamera(autopilotStatusValues.getCamera());
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autopilotStatusInfo.setRtk(autopilotStatusValues.getRtk());
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autopilotStatusInfo.setRadar(autopilotStatusValues.getRadar());
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autopilotStatusInfo.setSpeed(autopilotStatusValues.getSpeed());
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// 初始化自动驾驶状态信息
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autopilotStatusInfo.setVersion(AdasManager.getInstance().getAdasConfig().getVersion());
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autopilotStatusInfo.setConnectIP(AdasManager.getInstance().getAdasConfig().getAddress());
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autopilotStatusInfo.setDockVersion(AdasManager.getInstance().getAdasConfig().getDockVersion());
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if (autopilotStatusValues != null) {
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// 初始化自动驾驶状态信息
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AutopilotStatusInfo autopilotStatusInfo = CallerAutoPilotStatusListenerManager.INSTANCE.getAutoPilotStatusInfo();
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autopilotStatusInfo.setState(autopilotStatusValues.getState());
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autopilotStatusInfo.setPilotmode(autopilotStatusValues.getPilotmode());
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autopilotStatusInfo.setControl_pilotmode(autopilotStatusValues.getControl_pilotmode());
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autopilotStatusInfo.setReason(autopilotStatusValues.getReason());
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autopilotStatusInfo.setCamera(autopilotStatusValues.getCamera());
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autopilotStatusInfo.setRtk(autopilotStatusValues.getRtk());
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autopilotStatusInfo.setRadar(autopilotStatusValues.getRadar());
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autopilotStatusInfo.setSpeed(autopilotStatusValues.getSpeed());
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// 初始化自动驾驶状态信息
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autopilotStatusInfo.setVersion(AdasManager.getInstance().getAdasConfig().getVersion());
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autopilotStatusInfo.setConnectIP(AdasManager.getInstance().getAdasConfig().getAddress());
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autopilotStatusInfo.setDockVersion(AdasManager.getInstance().getAdasConfig().getDockVersion());
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CallerAutoPilotStatusListenerManager.INSTANCE.invokeAutoPilotStatus();
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CallerAutoPilotStatusListenerManager.INSTANCE.invokeAutoPilotStatus();
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}
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}
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}
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@Override
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public void autopilotArrive(AutopilotWayArrive autopilotWayArrive) {
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Logger.d(TAG, "autopilotArrive : " + autopilotWayArrive);
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if (autopilotWayArrive != null) {
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AutopilotWayArrive.ResultBean result = autopilotWayArrive.getResult();
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if (result != null) {
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AutopilotWayArrive.ResultBean.EndLatLonBean endLatLon = result.getEndLatLon();
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if (endLatLon != null) {
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AutopilotStationInfo stationInfo = new AutopilotStationInfo(result.getCarType(), endLatLon.getLon(), endLatLon.getLat());
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if (HdMapBuildConfig.isMapLoaded) {
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Logger.d(TAG, "autopilotArrive : " + autopilotWayArrive);
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if (autopilotWayArrive != null) {
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AutopilotWayArrive.ResultBean result = autopilotWayArrive.getResult();
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if (result != null) {
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AutopilotWayArrive.ResultBean.EndLatLonBean endLatLon = result.getEndLatLon();
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if (endLatLon != null) {
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AutopilotStationInfo stationInfo = new AutopilotStationInfo(result.getCarType(), endLatLon.getLon(), endLatLon.getLat());
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CallerAutoPilotStatusListenerManager.INSTANCE.invokeArriveAtStation(stationInfo);
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CallerAutoPilotStatusListenerManager.INSTANCE.invokeArriveAtStation(stationInfo);
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}
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}
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}
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}
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@@ -127,32 +133,36 @@ public class OnAdasListenerAdapter implements OnAdasListener {
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@Override
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public void onAutopilotRoute(AutopilotRoute route) {
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Logger.d(TAG, "onAutopilotRoute : " + route.toString());
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AutopilotRouteInfo autopilotRoute = AdasObjectUtils.INSTANCE.fromAdasAutopilotRoute(route);
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CallerAutopilotPlanningListenerManager.INSTANCE.invokeAutopilotRotting(autopilotRoute);
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if (HdMapBuildConfig.isMapLoaded) {
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Logger.d(TAG, "onAutopilotRoute : " + route.toString());
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AutopilotRouteInfo autopilotRoute = AdasObjectUtils.INSTANCE.fromAdasAutopilotRoute(route);
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CallerAutopilotPlanningListenerManager.INSTANCE.invokeAutopilotRotting(autopilotRoute);
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}
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}
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@Override
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public void onAutopilotTrajectory(List<TrajectoryInfo> trajectoryList) {
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Logger.d(TAG, "onAutopilotTrajectory : " + trajectoryList);
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ArrayList<ADASTrajectoryInfo> trajectoryInfoArrayList = new ArrayList<>();
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if (trajectoryList != null && trajectoryList.size() > 0) {
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for (TrajectoryInfo trajectory : trajectoryList) {
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ADASTrajectoryInfo adasTrajectoryInfo = new ADASTrajectoryInfo();
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adasTrajectoryInfo.setLat(trajectory.getLat());
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adasTrajectoryInfo.setLon(trajectory.getLon());
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adasTrajectoryInfo.setAcceleration(trajectory.getAcceleration());
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adasTrajectoryInfo.setAccumulatedDis(trajectory.getAccumulatedDis());
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adasTrajectoryInfo.setTime(trajectory.getTime());
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adasTrajectoryInfo.setVelocity(trajectory.getVelocity());
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adasTrajectoryInfo.setAlt(trajectory.getAlt());
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adasTrajectoryInfo.setKappa(trajectory.getKappa());
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adasTrajectoryInfo.setTheta(trajectory.getTheta());
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trajectoryInfoArrayList.add(adasTrajectoryInfo);
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if (HdMapBuildConfig.isMapLoaded) {
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Logger.d(TAG, "onAutopilotTrajectory : " + trajectoryList);
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ArrayList<ADASTrajectoryInfo> trajectoryInfoArrayList = new ArrayList<>();
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if (trajectoryList != null && trajectoryList.size() > 0) {
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for (TrajectoryInfo trajectory : trajectoryList) {
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ADASTrajectoryInfo adasTrajectoryInfo = new ADASTrajectoryInfo();
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adasTrajectoryInfo.setLat(trajectory.getLat());
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adasTrajectoryInfo.setLon(trajectory.getLon());
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adasTrajectoryInfo.setAcceleration(trajectory.getAcceleration());
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adasTrajectoryInfo.setAccumulatedDis(trajectory.getAccumulatedDis());
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adasTrajectoryInfo.setTime(trajectory.getTime());
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adasTrajectoryInfo.setVelocity(trajectory.getVelocity());
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adasTrajectoryInfo.setAlt(trajectory.getAlt());
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adasTrajectoryInfo.setKappa(trajectory.getKappa());
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adasTrajectoryInfo.setTheta(trajectory.getTheta());
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trajectoryInfoArrayList.add(adasTrajectoryInfo);
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}
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Log.e(TAG, "time:" + System.currentTimeMillis() + "trajectoryInfoArrayList:" + trajectoryInfoArrayList);
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}
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Log.e(TAG, "time:" + System.currentTimeMillis() + "trajectoryInfoArrayList:" + trajectoryInfoArrayList);
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CallerAutopilotPlanningListenerManager.INSTANCE.invokeAutopilotTrajectory(trajectoryInfoArrayList);
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}
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CallerAutopilotPlanningListenerManager.INSTANCE.invokeAutopilotTrajectory(trajectoryInfoArrayList);
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}
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@Override
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@@ -162,8 +172,10 @@ public class OnAdasListenerAdapter implements OnAdasListener {
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@Override
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public void onAutopilotGuardian(AutopilotGuardianInfo guardianInfo) {
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AutopilotGuardianStatusInfo autopilotRoute = AdasObjectUtils.INSTANCE.fromAutopilotGuardianInfo(guardianInfo);
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CallerAutoPilotStatusListenerManager.INSTANCE.invokeAutopilotGuardian(autopilotRoute);
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if (HdMapBuildConfig.isMapLoaded) {
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AutopilotGuardianStatusInfo autopilotRoute = AdasObjectUtils.INSTANCE.fromAutopilotGuardianInfo(guardianInfo);
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CallerAutoPilotStatusListenerManager.INSTANCE.invokeAutopilotGuardian(autopilotRoute);
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}
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}
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@Override
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