Cherry pick

Signed-off-by: 董宏宇 <martindhy@gmail.com>
2021-09-06 18:22:58 +08:00
parent d3845f2b4f
commit 5716dc1f4b
13 changed files with 284 additions and 62 deletions
--- a/modules/mogo-module-service/src/main/java/com/mogo/module/service/dispatch/DispatchAutoPilotManager.java
+++ b/modules/mogo-module-service/src/main/java/com/mogo/module/service/dispatch/DispatchAutoPilotManager.java
@@ -9,6 +9,7 @@ import android.location.Location;
 import android.os.Handler;
 import android.os.Message;

+import com.mogo.cloud.commons.utils.CoordinateUtils;
 import com.mogo.map.MogoLatLng;
 import com.mogo.map.location.MogoLocation;
 import com.mogo.map.navi.IMogoCarLocationChangedListener2;
@@ -16,16 +17,21 @@ import com.mogo.module.common.MogoApisHandler;
 import com.mogo.module.service.dispatch.bean.DispatchAdasAutoPilotLocReceiverBean;
 import com.mogo.module.service.dispatch.model.DispatchServiceModel;
 import com.mogo.module.service.dispatch.model.IDispatch;
+import com.mogo.service.IMogoServiceApis;
 import com.mogo.service.adas.IMogoAdasOCHCallback;
 import com.mogo.service.adas.RemoteControlAutoPilotParameters;
 import com.mogo.service.adas.entity.AdasOCHData;
-import com.mogo.service.cloud.socket.IMogoOnMessageListener;
+import com.mogo.service.connection.IMogoOnMessageListener;
+import com.mogo.service.entrance.IMogoEntranceAutopilotStatusClickListener;
 import com.mogo.utils.logger.Logger;

+import java.util.ArrayList;
+import java.util.List;
+
 //负责监听自动驾驶状态并进行状态上报，自动驾驶路线上报，接收调度指令展示指令弹窗
 public class DispatchAutoPilotManager implements IMogoOnMessageListener<DispatchAdasAutoPilotLocReceiverBean>
        , IDispatchRemindClickListener
-        , IMogoCarLocationChangedListener2, IMogoAdasOCHCallback {
+        , IMogoCarLocationChangedListener2, IMogoAdasOCHCallback, IMogoEntranceAutopilotStatusClickListener {

    private static final String TAG = "DispatchAutoPilotManager";
    private static volatile DispatchAutoPilotManager instance;
@@ -40,6 +46,10 @@ public class DispatchAutoPilotManager implements IMogoOnMessageListener<Dispatch
    private DispatchAdasAutoPilotLocReceiverBean receiverBean;
    private int autoPilotStatus = 0;
    private String reason = null;
+    private boolean isDispatch = false;
+    private boolean isArriveEnd = false;
+
+    private IMogoServiceApis mApis;

    private DispatchAutoPilotManager() {

@@ -65,6 +75,8 @@ public class DispatchAutoPilotManager implements IMogoOnMessageListener<Dispatch
                    Logger.d(TAG, "此时已经有调度，又收到调度信息");
                    return;
                }
+                isDispatch = true;
+                isArriveEnd = false;
                DispatchAdasAutoPilotLocReceiverBean msgData = (DispatchAdasAutoPilotLocReceiverBean) msg.obj;
                dispatchDialogManager.showDialog(msgData);
            } else if (msg.what == MSG_TYPE_UPLOAD_AUTOPILOT_STATUS) {
@@ -76,12 +88,14 @@ public class DispatchAutoPilotManager implements IMogoOnMessageListener<Dispatch

    public void initSocket(Context context) {
        mContext = context;
-        MogoApisHandler.getInstance().getApis()
-                .getSocketManagerApi(context).registerOnMessageListener(MSG_SOCKET_TYPE, this);
-        MogoApisHandler.getInstance().getApis().getRegisterCenterApi()
+        mApis = MogoApisHandler.getInstance().getApis();
+
+        mApis.getSocketManagerApi(context).registerOnMessageListener(MSG_SOCKET_TYPE, this);
+        mApis.getRegisterCenterApi()
                .registerCarLocationChangedListener(TAG, this);
-        MogoApisHandler.getInstance().getApis().getAdasControllerApi()
+        mApis.getAdasControllerApi()
                .addAdasOCHCallback(this);
+        mApis.getEntranceButtonController().addEntranceAutopilotStatusClickListener(this);
        dispatchDialogManager = DispatchDialogManager.getInstance(context);
        dispatchDialogManager.addIDispatchRemindListener(this);
        handler.sendEmptyMessageDelayed(MSG_TYPE_UPLOAD_AUTOPILOT_STATUS, 1000L);
@@ -111,13 +125,7 @@ public class DispatchAutoPilotManager implements IMogoOnMessageListener<Dispatch
        DispatchServiceModel.getInstance().dispatchResultUpload(DISPATCH_RESULT_AFFIRM, new IDispatch() {
            @Override
            public void onSuccess() {
-                RemoteControlAutoPilotParameters currentAutopilot = new RemoteControlAutoPilotParameters();
-                currentAutopilot.isSpeakVoice = false;
-                currentAutopilot.startLatLon = new RemoteControlAutoPilotParameters.AutoPilotLonLat(receiverBean.getStartLat(), receiverBean.getStartLon());
-                currentAutopilot.endLatLon = new RemoteControlAutoPilotParameters.AutoPilotLonLat(receiverBean.getEndLat(), receiverBean.getEndLon());
-                currentAutopilot.vehicleType = 10;
-                Logger.d(TAG, "开启自动驾驶====" + currentAutopilot);
-                MogoApisHandler.getInstance().getApis().getAdasControllerApi().aiCloudToAdasData(currentAutopilot);
+                startAutoPilot();
            }

            @Override
@@ -127,6 +135,21 @@ public class DispatchAutoPilotManager implements IMogoOnMessageListener<Dispatch
        });
    }

+    private void startAutoPilot() {
+        RemoteControlAutoPilotParameters currentAutopilot = new RemoteControlAutoPilotParameters();
+        currentAutopilot.isSpeakVoice = false;
+        List<RemoteControlAutoPilotParameters.AutoPilotLonLat> wayLatLon = new ArrayList<>();
+        for (MogoLatLng mogoLatLng : receiverBean.getStopsList()) {
+            wayLatLon.add(new RemoteControlAutoPilotParameters.AutoPilotLonLat(mogoLatLng.lat, mogoLatLng.lon));
+        }
+        currentAutopilot.wayLatLons = wayLatLon;
+        currentAutopilot.startLatLon = new RemoteControlAutoPilotParameters.AutoPilotLonLat(receiverBean.getStartLat(), receiverBean.getStartLon());
+        currentAutopilot.endLatLon = new RemoteControlAutoPilotParameters.AutoPilotLonLat(receiverBean.getEndLat(), receiverBean.getEndLon());
+        currentAutopilot.vehicleType = 10;
+        Logger.d(TAG, "开启自动驾驶====" + currentAutopilot);
+        mApis.getAdasControllerApi().aiCloudToAdasData(currentAutopilot);
+    }
+
    @Override
    public void cancel(boolean manualTrigger) {
        dispatchDialogManager.releaseDialog();
@@ -164,6 +187,40 @@ public class DispatchAutoPilotManager implements IMogoOnMessageListener<Dispatch

    }

+    @Override
+    public void onArriveAt(AdasOCHData data) {
+        double endLat = data.lat;
+        double endLon = data.lon;
+        // 计算是不是到了终点
+        float distanceFromSelf = CoordinateUtils.calculateLineDistance(receiverBean.getEndLon(), receiverBean.getEndLat()
+                , endLon, endLat);
+        Logger.d(TAG, "onArriveAt cal distance : " + distanceFromSelf);
+        if (distanceFromSelf < 10) {
+            Logger.d(TAG, "onArriveAt end location");
+            isDispatch = false;
+            isArriveEnd = true;
+        }
+    }
+
+    @Override
+    public void onStateChanged(int state, String reason) {
+        autoPilotStatus = state;
+        this.reason = reason;
+    }
+
+    @Override
+    public void click() {
+        // 确保到达终点后，再次点击，不会有回馈，并且在下次调开始时，才会重置
+        if (isArriveEnd) {
+            return;
+        }
+        //todo 确认是否要根据停靠时自动驾驶状态，再次开启自动驾驶
+        // 确保处于调度中并且返回的自动驾驶状态为1才开启自动驾驶
+        if (isDispatch ) {
+            startAutoPilot();
+        }
+    }
+
    public void testAutopilotStatus() {
        autoPilotStatus = 2;
    }
@@ -174,7 +231,7 @@ public class DispatchAutoPilotManager implements IMogoOnMessageListener<Dispatch
                DispatchAdasAutoPilotLocReceiverBean.DISPATCH_SOURCE_EZHOU, DispatchAdasAutoPilotLocReceiverBean.DISPATCH_TYPE_START, "1",
                26.825571122, 112.5762410415, "起点---5号跑道",
                26.825571122, 112.5762410415, "终点---鄂州机场",
-                "5分钟", "AR453航班", "你车需执行编号ca1098次航班的引导任务，从A区A1到B区B1", System.currentTimeMillis());
+                "5分钟", "AR453航班", "你车需执行编号ca1098次航班的引导任务，从A区A1到B区B1", System.currentTimeMillis(), new ArrayList<>());
        this.receiverBean = adasAutoPilotLocReceiverBean;
        DispatchDialogManager.getInstance(mContext).showDialog(adasAutoPilotLocReceiverBean);
    }
@@ -185,7 +242,7 @@ public class DispatchAutoPilotManager implements IMogoOnMessageListener<Dispatch
                DispatchAdasAutoPilotLocReceiverBean.DISPATCH_SOURCE_EZHOU, DispatchAdasAutoPilotLocReceiverBean.DISPATCH_TYPE_STOP, "1",
                0.0, 0.0, "",
                0.0, 0.0, "",
-                "", "", "", System.currentTimeMillis());
+                "", "", "", System.currentTimeMillis(), new ArrayList<>());
        this.receiverBean = adasAutoPilotLocReceiverBean;
        DispatchDialogManager.getInstance(mContext).showDialog(adasAutoPilotLocReceiverBean);
    }
@@ -196,7 +253,7 @@ public class DispatchAutoPilotManager implements IMogoOnMessageListener<Dispatch
                DispatchAdasAutoPilotLocReceiverBean.DISPATCH_SOURCE_HENGYANG, DispatchAdasAutoPilotLocReceiverBean.DISPATCH_TYPE_START, "2",
                26.825571122, 112.5762410415, "衡阳科学城",
                26.825571122, 112.5762410415, "衡阳首钢集团",
-                "", "", "", System.currentTimeMillis());
+                "", "", "", System.currentTimeMillis(), new ArrayList<>());
        this.receiverBean = adasAutoPilotLocReceiverBean;
        DispatchDialogManager.getInstance(mContext).showDialog(adasAutoPilotLocReceiverBean);
    }
@@ -214,15 +271,4 @@ public class DispatchAutoPilotManager implements IMogoOnMessageListener<Dispatch
            }
        });
    }
-
-    @Override
-    public void onArriveAt(AdasOCHData data) {
-
-    }
-
-    @Override
-    public void onStateChanged(int state, String reason) {
-        autoPilotStatus = state;
-        this.reason = reason;
-    }
 }
--- a/modules/mogo-module-service/src/main/java/com/mogo/module/service/dispatch/bean/DispatchAdasAutoPilotLocReceiverBean.java
+++ b/modules/mogo-module-service/src/main/java/com/mogo/module/service/dispatch/bean/DispatchAdasAutoPilotLocReceiverBean.java
@@ -1,5 +1,9 @@
 package com.mogo.module.service.dispatch.bean;

+import com.mogo.map.MogoLatLng;
+
+import java.util.List;
+
 public class DispatchAdasAutoPilotLocReceiverBean {

    public static final int DISPATCH_SOURCE_HENGYANG = 1;
@@ -23,8 +27,9 @@ public class DispatchAdasAutoPilotLocReceiverBean {
    private String flightInfo;
    private String taskInfo;
    private long systemTime;
+    private List<MogoLatLng> stopsList;

-    public DispatchAdasAutoPilotLocReceiverBean(int source, int type, String poiId, double startLat, double startLon, String startLocAddress, double endLat, double endLon, String endLocAddress, String taskTime, String flightInfo, String taskInfo, long systemTime) {
+    public DispatchAdasAutoPilotLocReceiverBean(int source, int type, String poiId, double startLat, double startLon, String startLocAddress, double endLat, double endLon, String endLocAddress, String taskTime, String flightInfo, String taskInfo, long systemTime, List<MogoLatLng> stopsList) {
        this.source = source;
        this.type = type;
        this.poiId = poiId;
@@ -38,6 +43,7 @@ public class DispatchAdasAutoPilotLocReceiverBean {
        this.flightInfo = flightInfo;
        this.taskInfo = taskInfo;
        this.systemTime = systemTime;
+        this.stopsList = stopsList;
    }

    public int getSource() {
@@ -144,6 +150,14 @@ public class DispatchAdasAutoPilotLocReceiverBean {
        this.systemTime = systemTime;
    }

+    public List<MogoLatLng> getStopsList() {
+        return stopsList;
+    }
+
+    public void setStopsList(List<MogoLatLng> stopsList) {
+        this.stopsList = stopsList;
+    }
+
    @Override
    public String toString() {
        return "DispatchAdasAutoPilotLocReceiverBean{" +
@@ -160,6 +174,7 @@ public class DispatchAdasAutoPilotLocReceiverBean {
                ", flightInfo='" + flightInfo + '\'' +
                ", taskInfo='" + taskInfo + '\'' +
                ", systemTime=" + systemTime +
+                ", stopsList=" + stopsList +
                '}';
    }
 }