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rebase

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This commit is contained in:
zhongchao
2022-03-11 20:04:11 +08:00
parent c804f5162d
commit 5886f4feb7
81 changed files with 1689 additions and 1095 deletions
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106
OCH/mogo-och-bus/src/main/java/com/mogo/och/bus/fragment/BaseOchBusTabFragment.java
View File

@@ -3,18 +3,15 @@ package com.mogo.och.bus.fragment;
import android.animation.ObjectAnimator;
import android.content.Intent;
import android.graphics.Color;
import android.os.Bundle;
import android.util.Log;
import android.view.LayoutInflater;
import android.view.View;
import android.view.animation.LinearInterpolator;
import android.widget.FrameLayout;
import android.widget.ImageView;
import android.widget.LinearLayout;
import android.widget.RelativeLayout;
import android.widget.TextView;
import androidx.annotation.NonNull;
import androidx.annotation.Nullable;
import androidx.constraintlayout.widget.Group;
@@ -24,10 +21,7 @@ import com.mogo.commons.mvp.IView;
import com.mogo.commons.mvp.MvpFragment;
import com.mogo.commons.mvp.Presenter;
import com.mogo.commons.voice.AIAssist;
import com.mogo.eagle.core.data.autopilot.AutoPilotRecordResult;
import com.mogo.eagle.core.data.autopilot.AutopilotWarnMessage;
import com.mogo.eagle.core.data.config.HmiBuildConfig;
import com.mogo.eagle.core.data.traffic.TrafficData;
import com.mogo.eagle.core.function.api.autopilot.IMoGoAutopilotIdentifyListener;
import com.mogo.eagle.core.function.api.autopilot.IMoGoAutopilotStatusListener;
import com.mogo.eagle.core.function.call.autopilot.CallerAutoPilotStatusListenerManager;
@@ -45,7 +39,8 @@ import com.mogo.och.bus.R;
import com.mogo.och.bus.view.BusArcView;
import com.mogo.och.bus.view.SlidePanelView;
import java.util.ArrayList;
import mogo.telematics.pad.MessagePad;
import record_cache.RecordPanelOuterClass;
/**
* 网约车基础Fragment，主要负责布局通用界面，处理站点面板和通话面板互斥情况
@@ -65,7 +60,7 @@ public abstract class BaseOchBusTabFragment<V extends IView, P extends Presenter
protected TextView tvOperationStatus;
protected RelativeLayout mSettingBtn;
protected ImageView mBadcaseBtn;
public boolean isOperationStatus;//false-收车，true-出车
public boolean isOperationStatus;//false-收车，true-出车
private FrameLayout flStationPanelContainer;
private Group groupTestPanel;
private FrameLayout flSpeed;
@@ -119,7 +114,7 @@ public abstract class BaseOchBusTabFragment<V extends IView, P extends Presenter
mSwitchMapModeImage = findViewById(R.id.bus_switch_model_icon);
mSwitchText = findViewById(R.id.bus_switch_model_text);
mSwitchMapModeLayout.setOnClickListener(new OnPreventFastClickListener(){
mSwitchMapModeLayout.setOnClickListener(new OnPreventFastClickListener() {
@Override
public void onClickImpl(View v) {
@@ -141,7 +136,7 @@ public abstract class BaseOchBusTabFragment<V extends IView, P extends Presenter
if (DebugConfig.isDebug()) {
mouduleArc.setLongClickable(true);
mouduleArc.setOnLongClickListener(v -> {
Log.d(TAG,"长按显示状态工具栏");
Log.d(TAG, "长按显示状态工具栏");
Intent intent = new Intent();
intent.putExtra("oper", 52);
MogoApisHandler.getInstance().getApis().getIntentManagerApi().invoke("com.mogo.mock", intent);
@@ -168,13 +163,13 @@ public abstract class BaseOchBusTabFragment<V extends IView, P extends Presenter
// return true;
// });
// }
onAutopilotStatusChanged(CallerAutoPilotStatusListenerManager.INSTANCE.getAutoPilotStatusInfo().getState(),false);
onAutopilotStatusChanged(CallerAutoPilotStatusListenerManager.INSTANCE.getAutoPilotStatusInfo().getState(), false);
// 模拟 不可自动驾驶，目前场景是刚开机，adas还未和工控机连接
findViewById(R.id.btnAutopilotDisable).setOnClickListener(view ->
// MogoApisHandler.getInstance().getApis()
// .getAdasControllerApi()
// .mockOchStatus(IMoGoAutopilotStatusListener.STATUS_AUTOPILOT_DISABLE, "不能使用")
debugAutoPilotStatus(IMoGoAutopilotStatusListener.STATUS_AUTOPILOT_DISABLE)
debugAutoPilotStatus(IMoGoAutopilotStatusListener.STATUS_AUTOPILOT_DISABLE)
);
// 模拟 可自动驾驶，工控机连接正常，且处于人工干预状态
@@ -182,7 +177,7 @@ public abstract class BaseOchBusTabFragment<V extends IView, P extends Presenter
// MogoApisHandler.getInstance().getApis()
// .getAdasControllerApi()
// .mockOchStatus(IMoGoAutopilotStatusListener.STATUS_AUTOPILOT_ENABLE, "能使用")
debugAutoPilotStatus(IMoGoAutopilotStatusListener.STATUS_AUTOPILOT_ENABLE)
debugAutoPilotStatus(IMoGoAutopilotStatusListener.STATUS_AUTOPILOT_ENABLE)
);
// 模拟 自动驾驶能力，自动驾驶中，可能是停车，可能是行进，但是是机器在处理车的前进后退，不是人
@@ -190,20 +185,20 @@ public abstract class BaseOchBusTabFragment<V extends IView, P extends Presenter
// MogoApisHandler.getInstance().getApis()
// .getAdasControllerApi()
// .mockOchStatus(IMoGoAutopilotStatusListener.STATUS_AUTOPILOT_RUNNING, "Running")
debugAutoPilotStatus(IMoGoAutopilotStatusListener.STATUS_AUTOPILOT_RUNNING)
debugAutoPilotStatus(IMoGoAutopilotStatusListener.STATUS_AUTOPILOT_RUNNING)
);
// 模拟 自动驾驶网约车回调数据
findViewById(R.id.btnAutopilotArrive).setOnClickListener(view ->
// MogoApisHandler.getInstance().getApis()
// .getAdasControllerApi().mockOchStatus(-1, "Arrived")
debugArrivedStation()
debugArrivedStation()
);
tvOperationStatus.setOnClickListener(view -> {
onChangeOperationStatus();
});
mSettingBtn = findViewById(R.id.module_mogo_och_setting_layout);
mSettingBtn.setOnClickListener(v -> {
// TODO: 2021/12/9
@@ -239,17 +234,15 @@ public abstract class BaseOchBusTabFragment<V extends IView, P extends Presenter
@Override
public void onAutopilotRecordResult(@Nullable AutoPilotRecordResult record) {
if (!HmiBuildConfig.isShowBadCaseView && record != null && record.getType() == 1 && record.getStat() == 100) {
CallerDevaToolsManager.INSTANCE.onReceiveBadCaseRecord(record);
public void onAutopilotRecordResult(@Nullable RecordPanelOuterClass.RecordPanel recordPanel) {
if (!HmiBuildConfig.isShowBadCaseView && recordPanel != null && recordPanel.getType() == 1 && recordPanel.getStat() == 100) {
CallerDevaToolsManager.INSTANCE.onReceiveBadCaseRecord(recordPanel);
}
}
@Override
public void onAutopilotIdentifyDataUpdate(@Nullable ArrayList<TrafficData> trafficData) { }
@Override
public void onAutopilotWarnMessage(@Nullable AutopilotWarnMessage autopilotWarnMessage) { }
public void onAutopilotWarnMessage(MessagePad.Warn warn) {
}
/**
* 测试到站
@@ -295,20 +288,21 @@ public abstract class BaseOchBusTabFragment<V extends IView, P extends Presenter
/**
* 改变自动驾驶状态
*
* @param autopilotStatus 0:不可用 1:可用状态 2:自动驾驶中
*/
public void onAutopilotStatusChanged(int autopilotStatus,boolean isAnimateRunning) {
public void onAutopilotStatusChanged(int autopilotStatus, boolean isAnimateRunning) {
getActivity().runOnUiThread(() -> {
// ctvAutopilotStatus.setChecked(isInAutopilot);
changeAutopilotBtnView(autopilotStatus,isAnimateRunning);
changeAutopilotBtnView(autopilotStatus, isAnimateRunning);
});
}
private void changeAutopilotBtnView(int autopilotStatus,boolean isAnimateRunning) {
Logger.d( TAG, "onStateChangeChangeAutopilotBtnView: " + autopilotStatus +"isAnimateRunning = "+isAnimateRunning);
private void changeAutopilotBtnView(int autopilotStatus, boolean isAnimateRunning) {
Logger.d(TAG, "onStateChangeChangeAutopilotBtnView: " + autopilotStatus + "isAnimateRunning = " + isAnimateRunning);
if (IMoGoAutopilotStatusListener.STATUS_AUTOPILOT_DISABLE
== autopilotStatus) {//0不可用
if (isAnimateRunning){
if (isAnimateRunning) {
stopAutopilotAnimation();
ctvAutopilotStatusIv.setImageResource(R.drawable.bus_wrong_autopilot_icon);
ctvAutopilotStatusTv.setTextColor(getResources().getColor(R.color.bus_autopilot_text_color_normal));
@@ -326,11 +320,11 @@ public abstract class BaseOchBusTabFragment<V extends IView, P extends Presenter
ctvAutopilotStatus.setFocusableInTouchMode(true);
// ctvAutopilotStatus.setPressed(false);
}
},1000);
}, 1000);
}else if (IMoGoAutopilotStatusListener.STATUS_AUTOPILOT_ENABLE
== autopilotStatus){//1可用
if (isAnimateRunning){
} else if (IMoGoAutopilotStatusListener.STATUS_AUTOPILOT_ENABLE
== autopilotStatus) {//1可用
if (isAnimateRunning) {
return;
}
ctvAutopilotStatusTv.setTextColor(getResources().getColor(R.color.bus_autopilot_text_color_normal));
@@ -339,9 +333,9 @@ public abstract class BaseOchBusTabFragment<V extends IView, P extends Presenter
ctvAutopilotStatus.setSelected(false);
ctvAutopilotStatus.setFocusableInTouchMode(true);
// ctvAutopilotStatus.setPressed(true);
}else if (IMoGoAutopilotStatusListener.STATUS_AUTOPILOT_RUNNING
== autopilotStatus){//2 running
if (isAnimateRunning){
} else if (IMoGoAutopilotStatusListener.STATUS_AUTOPILOT_RUNNING
== autopilotStatus) {//2 running
if (isAnimateRunning) {
stopAutopilotAnimation();
}
ctvAutopilotStatusIv.setImageResource(R.drawable.bus_right_autopilot_icon);
@@ -359,7 +353,7 @@ public abstract class BaseOchBusTabFragment<V extends IView, P extends Presenter
ctvAutopilotStatus.setFocusableInTouchMode(true);
// ctvAutopilotStatus.setPressed(false);
}
},1000);
}, 1000);
}
}
@@ -387,14 +381,14 @@ public abstract class BaseOchBusTabFragment<V extends IView, P extends Presenter
});
}
public void hidPanel(){
getActivity().runOnUiThread(()->{
public void hidPanel() {
getActivity().runOnUiThread(() -> {
flStationPanelContainer.setVisibility(View.GONE);
});
}
public void showPanel(){
getActivity().runOnUiThread(()->{
public void showPanel() {
getActivity().runOnUiThread(() -> {
flStationPanelContainer.setVisibility(View.VISIBLE);
});
}
@@ -421,6 +415,7 @@ public abstract class BaseOchBusTabFragment<V extends IView, P extends Presenter
/**
* 模拟自动驾驶返回状态
*
* @param status
*/
public abstract void debugAutoPilotStatus(int status);
@@ -430,18 +425,18 @@ public abstract class BaseOchBusTabFragment<V extends IView, P extends Presenter
*/
public void startAutopilotAnimation() {
// if (MogoApisHandler.getInstance().getApis().getAdasControllerApi().getAutopilotStatus() == IMoGoAutopilotStatusListener.STATUS_AUTOPILOT_ENABLE){
ctvAutopilotStatusTv.setText(getResources().getString(R.string.bus_loading_autopilot_tv));
ctvAutopilotStatusTv.setTextColor(getResources().getColor(R.color.bus_autopilot_text_color_normal));
ctvAutopilotStatus.setSelected(false);
ctvAutopilotStatus.setFocusableInTouchMode(true);
ctvAutopilotStatusIv.setImageResource(R.drawable.bus_loading_autopilot_icon);
if (autopilotLoadingAnimator == null){
autopilotLoadingAnimator = ObjectAnimator.ofFloat(ctvAutopilotStatusIv,"rotation", 0f,360f);
autopilotLoadingAnimator.setInterpolator(new LinearInterpolator());
autopilotLoadingAnimator.setRepeatCount(-1);//无限循环
autopilotLoadingAnimator.setDuration(1000);//设置持续时间
}
autopilotLoadingAnimator.start();//动画开始
ctvAutopilotStatusTv.setText(getResources().getString(R.string.bus_loading_autopilot_tv));
ctvAutopilotStatusTv.setTextColor(getResources().getColor(R.color.bus_autopilot_text_color_normal));
ctvAutopilotStatus.setSelected(false);
ctvAutopilotStatus.setFocusableInTouchMode(true);
ctvAutopilotStatusIv.setImageResource(R.drawable.bus_loading_autopilot_icon);
if (autopilotLoadingAnimator == null) {
autopilotLoadingAnimator = ObjectAnimator.ofFloat(ctvAutopilotStatusIv, "rotation", 0f, 360f);
autopilotLoadingAnimator.setInterpolator(new LinearInterpolator());
autopilotLoadingAnimator.setRepeatCount(-1);//无限循环
autopilotLoadingAnimator.setDuration(1000);//设置持续时间
}
autopilotLoadingAnimator.start();//动画开始
// }
}
@@ -449,7 +444,7 @@ public abstract class BaseOchBusTabFragment<V extends IView, P extends Presenter
* 停止自动驾驶中间动画
*/
public void stopAutopilotAnimation() {
if (autopilotLoadingAnimator != null){
if (autopilotLoadingAnimator != null) {
autopilotLoadingAnimator.end();
ctvAutopilotStatusIv.clearAnimation();
autopilotLoadingAnimator = null;
@@ -458,9 +453,10 @@ public abstract class BaseOchBusTabFragment<V extends IView, P extends Presenter
/**
* 迈速表实时更新
*
* @param newSpeed
*/
public void updateSpeedView(float newSpeed){
public void updateSpeedView(float newSpeed) {
int speed = (int) (Math.abs(newSpeed) * 3.6F); // 倒车时工控机反馈定位信息中speed为负值
mouduleArc.setArcColor(Color.parseColor(speed > 60 ? "#DB3137" : "#3E77F6"));
mouduleArc.setValues(speed);
@@ -487,7 +483,7 @@ public abstract class BaseOchBusTabFragment<V extends IView, P extends Presenter
/**
* bus调试面板打开关闭
*/
public void debugTestBar(){
public void debugTestBar() {
if (groupTestPanel.getVisibility() == View.VISIBLE) {
groupTestPanel.setVisibility(View.GONE);
} else {

177
OCH/mogo-och-bus/src/main/java/com/mogo/och/bus/fragment/OchBusFragment.java
View File

@@ -6,9 +6,9 @@ import android.graphics.BitmapFactory;
import android.util.Log;
import android.view.View;
import android.widget.TextView;
import android.widget.Toast;
import androidx.annotation.NonNull;
import androidx.annotation.Nullable;
import com.mogo.commons.AbsMogoApplication;
import com.mogo.commons.debug.DebugConfig;
@@ -26,17 +26,18 @@ import com.mogo.och.bus.presenter.OchBusPresenter;
import com.mogo.och.bus.ui.BusSwitchLineActivity;
import com.mogo.och.bus.view.SlidePanelView;
import org.w3c.dom.Text;
import java.util.ArrayList;
import java.util.List;
import mogo.telematics.pad.MessagePad;
/**
* 网约车小巴界面
*
* @author tongchenfei
*/
public class OchBusFragment extends BaseOchBusTabFragment< OchBusFragment, OchBusPresenter >
public class OchBusFragment extends BaseOchBusTabFragment<OchBusFragment, OchBusPresenter>
implements SlidePanelView.OnSlidePanelMoveToEndListener, View.OnClickListener {
private static final String TAG = "OchBusFragment";
@@ -44,7 +45,7 @@ public class OchBusFragment extends BaseOchBusTabFragment< OchBusFragment, OchBu
private TextView mStartStationFlag;
private TextView mNextStationName;
private TextView mEndStationFlag;
// private TextView mDebugArrive;
// private TextView mDebugArrive;
private TextView mSwitchLine; //切换路线
private int mCurrentStation = 0;
@@ -61,24 +62,24 @@ public class OchBusFragment extends BaseOchBusTabFragment< OchBusFragment, OchBu
@Override
protected void initViews() {
super.initViews();
mBus = findViewById( R.id.module_och_bus_tag );
mCurrentStationName = findViewById( R.id.module_och_bus_current_station );
mStartStationFlag = findViewById( R.id.module_och_bus_start_station_tag );
mNextStationName = findViewById( R.id.module_och_bus_order_end_station );
mEndStationFlag = findViewById( R.id.module_och_bus_end_station_tag );
mBus = findViewById(R.id.module_och_bus_tag);
mCurrentStationName = findViewById(R.id.module_och_bus_current_station);
mStartStationFlag = findViewById(R.id.module_och_bus_start_station_tag);
mNextStationName = findViewById(R.id.module_och_bus_order_end_station);
mEndStationFlag = findViewById(R.id.module_och_bus_end_station_tag);
mSwitchLine = findViewById(R.id.switch_line_btn);
// mDebugArrive = findViewById(R.id.module_och_bus_arrive_station);
if ( DebugConfig.isDebug() ) {
mBus.setOnClickListener( view -> {
TipToast.shortTip( "重置了车站状态" );
if (DebugConfig.isDebug()) {
mBus.setOnClickListener(view -> {
TipToast.shortTip("重置了车站状态");
mPresenter.queryBusRoutes();
} );
});
mBus.setOnLongClickListener( view -> {
mBus.setOnLongClickListener(view -> {
getActivity().finish();
return true;
} );
});
//debug下调用测试面板
mCurrentStationName.setOnLongClickListener(v -> {
debugTestBar();
@@ -86,19 +87,19 @@ public class OchBusFragment extends BaseOchBusTabFragment< OchBusFragment, OchBu
});
}
Logger.d( TAG, "initView: " + CallerAutoPilotStatusListenerManager.INSTANCE.getAutoPilotStatusInfo().getState());
Logger.d(TAG, "initView: " + CallerAutoPilotStatusListenerManager.INSTANCE.getAutoPilotStatusInfo().getState());
// 初始化的时候设置 UI 按钮状态
switch ( CallerAutoPilotStatusListenerManager.INSTANCE.getAutoPilotStatusInfo().getState() ) {
switch (CallerAutoPilotStatusListenerManager.INSTANCE.getAutoPilotStatusInfo().getState()) {
case IMoGoAutopilotStatusListener.STATUS_AUTOPILOT_DISABLE:
hideAutopilotBiz();
break;
case IMoGoAutopilotStatusListener.STATUS_AUTOPILOT_ENABLE:
showAutopilotBiz();
onAutopilotStatusChanged( IMoGoAutopilotStatusListener.STATUS_AUTOPILOT_ENABLE ,false);
onAutopilotStatusChanged(IMoGoAutopilotStatusListener.STATUS_AUTOPILOT_ENABLE, false);
break;
case IMoGoAutopilotStatusListener.STATUS_AUTOPILOT_RUNNING:
showAutopilotBiz();
onAutopilotStatusChanged( IMoGoAutopilotStatusListener.STATUS_AUTOPILOT_RUNNING ,false);
onAutopilotStatusChanged(IMoGoAutopilotStatusListener.STATUS_AUTOPILOT_RUNNING, false);
break;
default:
break;
@@ -114,7 +115,7 @@ public class OchBusFragment extends BaseOchBusTabFragment< OchBusFragment, OchBu
@NonNull
@Override
protected OchBusPresenter createPresenter() {
return new OchBusPresenter( this );
return new OchBusPresenter(this);
}
@Override
@@ -128,30 +129,30 @@ public class OchBusFragment extends BaseOchBusTabFragment< OchBusFragment, OchBu
* @param stationList 车站列表信息
* @param currentStation 当前站点
* @param nextStation 下个站点
* @param isArrived 是否都站
* @param isArrived 是否都站
*/
public void refreshBusStations( List< OchBusStation > stationList, int currentStation, int nextStation ,boolean isArrived) {
public void refreshBusStations(List<OchBusStation> stationList, int currentStation, int nextStation, boolean isArrived) {
mCurrentStation = currentStation;
if ( getActivity() == null ) {
if (getActivity() == null) {
return;
}
getActivity().runOnUiThread( () -> {
if ( stationList == null ) {
getActivity().runOnUiThread(() -> {
if (stationList == null) {
// 获取小巴数据失败
return;
}
// 渲染小巴路线数据
renderCurrentStationStatus( stationList, currentStation, nextStation ,isArrived);
} );
renderCurrentStationStatus(stationList, currentStation, nextStation, isArrived);
});
}
/**
* 重新刷新站点信息 isArrived 是否到站
*/
private void renderCurrentStationStatus( List< OchBusStation > stationList, int currentStation
, int nextStation ,boolean isArrived) {
Log.d("MapMaker= ","currentStation="+currentStation+",nextStation="+nextStation+"isArrived="+isArrived);
private void renderCurrentStationStatus(List<OchBusStation> stationList, int currentStation
, int nextStation, boolean isArrived) {
Log.d("MapMaker= ", "currentStation=" + currentStation + ",nextStation=" + nextStation + "isArrived=" + isArrived);
String currentStationName = null;
String nextStationName = null;
int startStationFlagVisibility = View.INVISIBLE;
@@ -162,70 +163,70 @@ public class OchBusFragment extends BaseOchBusTabFragment< OchBusFragment, OchBu
boolean isArriveAtStartStation = false;
// 获取当前站点的名称
currentStationName = stationList.get( currentStation ).getName();
currentStationName = stationList.get(currentStation).getName();
startStation = stationList.get(0);
endStation = stationList.get(stationList.size() - 1);
// 是否到达起点
if ( currentStation == 0 ) {
if (currentStation == 0) {
startStationFlagVisibility = View.VISIBLE;
isArriveAtStartStation = true;
mStartStationFlag.setText(getResources().getString(R.string.bus_arrive_to_end_start));
// Log.d("MapMaker= ","起点=");
setOrRemoveMapMaker(true, OchBusConst.BUS_START_MAP_MAKER,startStation.getLat()
,startStation.getLon(),R.drawable.icon_station_start_end);
setOrRemoveMapMaker(true, OchBusConst.BUS_END_MAP_MAKER,endStation.getLat()
,endStation.getLon(),R.drawable.icon_station_start_end);
} else if ( currentStation > 0 && currentStation < stationList.size() - 1 ) {// 是否到达站点
setOrRemoveMapMaker(true, OchBusConst.BUS_START_MAP_MAKER, startStation.getLat()
, startStation.getLon(), R.drawable.icon_station_start_end);
setOrRemoveMapMaker(true, OchBusConst.BUS_END_MAP_MAKER, endStation.getLat()
, endStation.getLon(), R.drawable.icon_station_start_end);
} else if (currentStation > 0 && currentStation < stationList.size() - 1) {// 是否到达站点
// Log.d("MapMaker= ","中间=");
isArriveAtStation = true;
// mStartStationFlag.setText(getResources().getString(R.string.bus_arrive_to_end_start1));
setOrRemoveMapMaker(false, OchBusConst.BUS_START_MAP_MAKER,startStation.getLat()
,startStation.getLon(),R.drawable.icon_station_start_end);
setOrRemoveMapMaker(true, OchBusConst.BUS_END_MAP_MAKER,endStation.getLat()
,endStation.getLon(),R.drawable.icon_station_start_end);
} else if ( currentStation == stationList.size() - 1 ) {// 是否到达终点
setOrRemoveMapMaker(false, OchBusConst.BUS_START_MAP_MAKER, startStation.getLat()
, startStation.getLon(), R.drawable.icon_station_start_end);
setOrRemoveMapMaker(true, OchBusConst.BUS_END_MAP_MAKER, endStation.getLat()
, endStation.getLon(), R.drawable.icon_station_start_end);
} else if (currentStation == stationList.size() - 1) {// 是否到达终点
// Log.d("MapMaker= ","终点=");
isArriveEndStation = true;
nextStationName = "--";
mStartStationFlag.setText(getResources().getString(R.string.bus_arrive_to_end_end));
startStationFlagVisibility = View.VISIBLE;
endStationFlagVisibility = View.INVISIBLE;
setOrRemoveMapMaker(false, OchBusConst.BUS_START_MAP_MAKER,startStation.getLat()
,startStation.getLon(),R.drawable.icon_station_start_end);
if (isArrived){
setOrRemoveMapMaker(false, OchBusConst.BUS_END_MAP_MAKER,endStation.getLat()
,endStation.getLon(),R.drawable.icon_station_start_end);
}else {
setOrRemoveMapMaker(true, OchBusConst.BUS_END_MAP_MAKER,endStation.getLat()
,endStation.getLon(),R.drawable.icon_station_start_end);
setOrRemoveMapMaker(false, OchBusConst.BUS_START_MAP_MAKER, startStation.getLat()
, startStation.getLon(), R.drawable.icon_station_start_end);
if (isArrived) {
setOrRemoveMapMaker(false, OchBusConst.BUS_END_MAP_MAKER, endStation.getLat()
, endStation.getLon(), R.drawable.icon_station_start_end);
} else {
setOrRemoveMapMaker(true, OchBusConst.BUS_END_MAP_MAKER, endStation.getLat()
, endStation.getLon(), R.drawable.icon_station_start_end);
}
}
// 获取下一站点名称
if ( nextStation > currentStation && nextStation <= stationList.size() - 1 ) {
nextStationName = stationList.get( nextStation ).getName();
if (nextStation > currentStation && nextStation <= stationList.size() - 1) {
nextStationName = stationList.get(nextStation).getName();
}
// 是否到达终点
if ( nextStation == stationList.size() - 1 ) {
if (nextStation == stationList.size() - 1) {
endStationFlagVisibility = View.VISIBLE;
}
// 重置滑动按钮文字
if ( isArriveEndStation ) {
showSlidePanle( "单程结束" );
} else if ( isArriveAtStartStation ) {
showSlidePanle( "滑动出发" );
} else if ( isArriveAtStation ) {
showSlidePanle( "滑动出发" );
if (isArriveEndStation) {
showSlidePanle("单程结束");
} else if (isArriveAtStartStation) {
showSlidePanle("滑动出发");
} else if (isArriveAtStation) {
showSlidePanle("滑动出发");
}
mCurrentStationName.setText( currentStationName );
mNextStationName.setText( nextStationName );
mStartStationFlag.setVisibility( startStationFlagVisibility );
mEndStationFlag.setVisibility( endStationFlagVisibility );
mCurrentStationName.setText(currentStationName);
mNextStationName.setText(nextStationName);
mStartStationFlag.setVisibility(startStationFlagVisibility);
mEndStationFlag.setVisibility(endStationFlagVisibility);
}
public void hideOchBus() {
@@ -256,8 +257,8 @@ public class OchBusFragment extends BaseOchBusTabFragment< OchBusFragment, OchBu
/**
* 设置自动驾驶可用状态
*/
public void onAutopilotEnableChange( boolean isEnable ) {
if ( isEnable ) {
public void onAutopilotEnableChange(boolean isEnable) {
if (isEnable) {
showAutopilotBiz();
} else {
hideAutopilotBiz();
@@ -272,14 +273,15 @@ public class OchBusFragment extends BaseOchBusTabFragment< OchBusFragment, OchBu
/**
* 修改经营状态
*
* @param launch true-收车，false-出车
*/
public void changeOperationStatus( boolean launch ) {
public void changeOperationStatus(boolean launch) {
isOperationStatus = launch;
if ( launch ) {
if (launch) {
// 出车的时候重制站点状态
mPresenter.queryBusRoutes();
tvOperationStatus.setText( "收车" );
tvOperationStatus.setText("收车");
showSlidePanle("滑动出发");
showPanel();
} else {
@@ -289,19 +291,20 @@ public class OchBusFragment extends BaseOchBusTabFragment< OchBusFragment, OchBu
hidPanel();
//移除起点终点
if (null != startStation){
setOrRemoveMapMaker(false, OchBusConst.BUS_START_MAP_MAKER,startStation.getLat()
,startStation.getLon(),R.drawable.icon_station_start_end);
if (null != startStation) {
setOrRemoveMapMaker(false, OchBusConst.BUS_START_MAP_MAKER, startStation.getLat()
, startStation.getLon(), R.drawable.icon_station_start_end);
}
if (null != endStation){
setOrRemoveMapMaker(false, OchBusConst.BUS_END_MAP_MAKER,endStation.getLat()
,endStation.getLon(),R.drawable.icon_station_start_end);
if (null != endStation) {
setOrRemoveMapMaker(false, OchBusConst.BUS_END_MAP_MAKER, endStation.getLat()
, endStation.getLon(), R.drawable.icon_station_start_end);
}
}
}
/**
* VR模式切换
*
* @param isVRMode
*/
public void onVRModeChanged(boolean isVRMode) {
@@ -312,13 +315,14 @@ public class OchBusFragment extends BaseOchBusTabFragment< OchBusFragment, OchBu
/**
* 绘制地图起点终点
*
* @param isAdd
* @param uuid
* @param iconId
*/
private void setOrRemoveMapMaker(boolean isAdd, String uuid,double lat,double longi, int iconId){
if (isAdd){
Log.d("setMapMaker= ",uuid+"=latitude="+lat+",longitude="+longi);
private void setOrRemoveMapMaker(boolean isAdd, String uuid, double lat, double longi, int iconId) {
if (isAdd) {
Log.d("setMapMaker= ", uuid + "=latitude=" + lat + ",longitude=" + longi);
MogoMarkerOptions options = new MogoMarkerOptions();
options.anchorColor("#000000");//不设置报错，暂时随便设置个
options.setGps(true);//使用wgs 必须设置true
@@ -329,27 +333,27 @@ public class OchBusFragment extends BaseOchBusTabFragment< OchBusFragment, OchBu
options.longitude(longi);
MogoApisHandler.getInstance().getApis().getMapServiceApi()
.getMarkerManager(AbsMogoApplication.getApp()).addMarker(uuid, options);
}else {
Log.d("RemoveMapMaker=",uuid+"=latitude="+lat+",longitude="+longi);
} else {
Log.d("RemoveMapMaker=", uuid + "=latitude=" + lat + ",longitude=" + longi);
MogoApisHandler.getInstance().getApis().getMapServiceApi()
.getMarkerManager(AbsMogoApplication.getApp()).removeMarkers(uuid);
}
}
public void debugAutoPilotStatus(int status){
public void debugAutoPilotStatus(int status) {
mPresenter.debugAutoPilotStatus(status);
}
@Override
public void onClick(View v) {
if (v.getId() == R.id.switch_line_btn ){//切换路线条件： 自动驾驶过程中，点击则toast提示：自动驾驶中，不可切换路线
if (v.getId() == R.id.switch_line_btn) {//切换路线条件： 自动驾驶过程中，点击则toast提示：自动驾驶中，不可切换路线
//本次行程未结束，不支持切换路线。点击则toast提示：当前行程未完成，不可切换路线
if (CallerAutoPilotStatusListenerManager.INSTANCE.getAutoPilotStatusInfo().getState()
== IMoGoAutopilotStatusListener.STATUS_AUTOPILOT_RUNNING){
== IMoGoAutopilotStatusListener.STATUS_AUTOPILOT_RUNNING) {
TipToast.longTip(getResources().getString(R.string.bus_switch_line_btn_warning1));
return;
}
if (mCurrentStation > 0){
if (mCurrentStation > 0) {
TipToast.longTip(getResources().getString(R.string.bus_switch_line_btn_warning2));
return;
}
@@ -357,4 +361,9 @@ public class OchBusFragment extends BaseOchBusTabFragment< OchBusFragment, OchBu
startActivity(intent);
}
}
@Override
public void onAutopilotIdentifyDataUpdate(@Nullable ArrayList<MessagePad.TrackedObject> trafficData) {
}
}

359
OCH/mogo-och-bus/src/main/java/com/mogo/och/bus/presenter/OchBusOrderModel.java
View File

@@ -57,11 +57,12 @@ import io.reactivex.exceptions.UndeliverableException;
import io.reactivex.functions.Consumer;
import io.reactivex.plugins.RxJavaPlugins;
import io.reactivex.schedulers.Schedulers;
import mogo.telematics.pad.MessagePad;
/**
* @author congtaowang
* @since 2021/3/23
*
* <p>
* 小巴订单管理
*/
public class OchBusOrderModel {
@@ -79,7 +80,7 @@ public class OchBusOrderModel {
private Context mContext;
private Disposable mBusOrdersDisposable; //定时轮询小巴车订单
private List<Long> prevBusOrderIds = new ArrayList<>();
private final List< OchBusStation > stationList = new ArrayList<>();
private final List<OchBusStation> stationList = new ArrayList<>();
private OchBusRoutesResult ochBusRoutesResult = null;
/**
* 用来表示是否正在开往下一站
@@ -100,7 +101,7 @@ public class OchBusOrderModel {
private final Handler handler = new Handler(new Handler.Callback() {
@Override
public boolean handleMessage(Message msg) {
if ( msg.what == MSG_QUERY_BUS_STATION ) {
if (msg.what == MSG_QUERY_BUS_STATION) {
OchBusOrderModel.getInstance().queryBusRoutes();
return true;
}
@@ -109,9 +110,9 @@ public class OchBusOrderModel {
});
public static OchBusOrderModel getInstance() {
if ( sInstance == null ) {
synchronized ( OchBusOrderModel.class ) {
if ( sInstance == null ) {
if (sInstance == null) {
synchronized (OchBusOrderModel.class) {
if (sInstance == null) {
sInstance = new OchBusOrderModel();
}
}
@@ -135,7 +136,7 @@ public class OchBusOrderModel {
MogoApisHandler.getInstance()
.getApis()
.getStatusManagerApi()
.registerStatusChangedListener( TAG, StatusDescriptor.VR_MODE, mMogoStatusChangedListener );
.registerStatusChangedListener(TAG, StatusDescriptor.VR_MODE, mMogoStatusChangedListener);
}
//2022.1.28
@@ -147,31 +148,31 @@ public class OchBusOrderModel {
public void accept(Throwable e) {
if (e instanceof UndeliverableException) {
e = e.getCause();
Log.d(TAG,"UndeliverableException");
Log.d(TAG, "UndeliverableException");
}
if ((e instanceof IOException)) {//
// fine, irrelevant network problem or API that throws on cancellation
Log.d(TAG,"IOException");
Log.d(TAG, "IOException");
return;
}
if (e instanceof InterruptedException) {
// fine, some blocking code was interrupted by a dispose call
Log.d(TAG,"InterruptedException");
Log.d(TAG, "InterruptedException");
return;
}
if ((e instanceof NullPointerException) || (e instanceof IllegalArgumentException)) {
// that's likely a bug in the application
Log.d(TAG,"NullPointerException or IllegalArgumentException");
Log.d(TAG, "NullPointerException or IllegalArgumentException");
Thread.currentThread().getUncaughtExceptionHandler().uncaughtException(Thread.currentThread(), e);
return;
}
if (e instanceof IllegalStateException) {
// that's a bug in RxJava or in a custom operator
Log.d(TAG,"IllegalStateException");
Log.d(TAG, "IllegalStateException");
Thread.currentThread().getUncaughtExceptionHandler().uncaughtException(Thread.currentThread(), e);
return;
}
Log.d(TAG,"Undeliverable exception");
Log.d(TAG, "Undeliverable exception");
}
});
@@ -179,15 +180,15 @@ public class OchBusOrderModel {
startLoopBusOrders();
}
public void setCarOperationStatusCallback(CarOperationStatusCallback callback){
public void setCarOperationStatusCallback(CarOperationStatusCallback callback) {
this.carOperationStatusCallback = callback;
}
public void setRefreshBusStationsCallback(RefreshBusStationsCallback callback){
public void setRefreshBusStationsCallback(RefreshBusStationsCallback callback) {
this.refreshBusStationsCallback = callback;
}
public void setSlidePannelHideCallback(SlidePannelHideCallback callback){
public void setSlidePannelHideCallback(SlidePannelHideCallback callback) {
this.slidePannelHideCallback = callback;
}
@@ -215,7 +216,7 @@ public class OchBusOrderModel {
@Override
public void onSuccess(OchBusOrdersResponse o) {
if (o.data != null && o.data.orders != null && o.data.orders.size() > 0) {
Logger.d( TAG, "获取到bus订单数据: " + o.data.orders.toString() );
Logger.d(TAG, "获取到bus订单数据: " + o.data.orders.toString());
List<OchBusOrder> busOrders = o.data.orders;
for (int i = 0; i < busOrders.size(); i++) {
OchBusOrder order = busOrders.get(i);
@@ -248,7 +249,7 @@ public class OchBusOrderModel {
});
}
public void release(){
public void release() {
if (mBusOrdersDisposable != null) {
mBusOrdersDisposable.dispose();
}
@@ -286,7 +287,7 @@ public class OchBusOrderModel {
private IMogoCarLocationChangedListener2 mCarLocationChangedListener2 = new IMogoCarLocationChangedListener2() {
@Override
public void onCarLocationChanged2( Location location ) {
public void onCarLocationChanged2(Location location) {
// Log.d(TAG,"location = "+location.getLongitude()+","+location.getLatitude());
IMogoServiceApis apis = MogoApisHandler.getInstance().getApis();
MogoLocation mogoLocation = new MogoLocation();
@@ -319,19 +320,20 @@ public class OchBusOrderModel {
* 查询小巴路线
*/
public void queryBusRoutes() {
Logger.d( TAG, "查询小巴路线");
Logger.d(TAG, "查询小巴路线");
OCHBusServiceManager.getInstance().queryBusRoutes(mContext, new OCHServiceCallback<OchBusRoutesResponse>() {
@Override
public void onSuccess(OchBusRoutesResponse data) {
if ( data == null
if (data == null
|| data.getResult() == null
|| data.getResult().getSites() == null
|| data.getResult().getSites().isEmpty() ) {
|| data.getResult().getSites().isEmpty()) {
return;
}
Logger.d( TAG, "获取到小巴路线数据: " + data );
renderBusStationsStatus( data.getResult());
Logger.d(TAG, "获取到小巴路线数据: " + data);
renderBusStationsStatus(data.getResult());
}
@Override
public void onFail(String failMsg) {
// 重复请求小巴路线，直至成功
@@ -345,60 +347,61 @@ public class OchBusOrderModel {
* 测试、重置站点状态
*/
public void debugResetStationStatus() {
Logger.d( TAG, "测试、重置站点状态");
Logger.d(TAG, "测试、重置站点状态");
OCHBusServiceManager.getInstance().resetStationStatus(mContext, currentLineId
, new OCHServiceCallback<OchBusRoutesResponse>() {
@Override
public void onSuccess(OchBusRoutesResponse o) {
Logger.d(TAG, "获取到小巴路线数据: " + o);
isGoingToNextStation = false;
if (o.getResult() == null || o.getResult().getSites() == null || o.getResult().getSites().isEmpty()) {
return;
}
renderBusStationsStatus(o.getResult());
}
@Override
public void onSuccess(OchBusRoutesResponse o) {
Logger.d(TAG, "获取到小巴路线数据: " + o);
isGoingToNextStation = false;
if (o.getResult() == null || o.getResult().getSites() == null || o.getResult().getSites().isEmpty()) {
return;
}
renderBusStationsStatus(o.getResult());
}
@Override
public void onFail(String failMsg) {
// 重复请求小巴路线，直至成功
queryBusStationDelay();
}
});
@Override
public void onFail(String failMsg) {
// 重复请求小巴路线，直至成功
queryBusStationDelay();
}
});
}
/**
* 离站上报
*/
public void leaveStation(boolean isOneWayOver,boolean isRestart){
Log.d(TAG,"leaveStation-backgroundCurrentStationIndex = "+backgroundCurrentStationIndex);
public void leaveStation(boolean isOneWayOver, boolean isRestart) {
Log.d(TAG, "leaveStation-backgroundCurrentStationIndex = " + backgroundCurrentStationIndex);
OCHBusServiceManager.getInstance().leaveStation(mContext, stationList.get(backgroundCurrentStationIndex).getSeq()
, stationList.get(backgroundCurrentStationIndex).getSiteId(), new OCHServiceCallback<OchBusRoutesResponse>() {
@Override
public void onSuccess(OchBusRoutesResponse o) {
if ( o.getResult() == null || o.getResult().getSites() == null || o.getResult().getSites().isEmpty() ) {
return;
}
if (!isOneWayOver){
Logger.d( TAG, "自动驾驶开启开往下一站====" );
//需要更改当前站和下一站的状态 然后渲染
RenderLeaveStationSuccess(o.getResult(),isRestart);
}else {
Logger.d( TAG, "单程真的结束了====" );
isGoingToNextStation = false;
currentStationIndex = 0;
backgroundCurrentStationIndex = 0;
CallerAutoPilotManager.INSTANCE.cancelAutoPilot();
queryBusRoutes();
}
}
@Override
public void onFail(String failMsg) {
if (!NetworkUtils.isConnected(mContext)) {
TipToast.shortTip("网络异常，请稍后重试");
}
}
});
@Override
public void onSuccess(OchBusRoutesResponse o) {
if (o.getResult() == null || o.getResult().getSites() == null || o.getResult().getSites().isEmpty()) {
return;
}
if (!isOneWayOver) {
Logger.d(TAG, "自动驾驶开启开往下一站====");
//需要更改当前站和下一站的状态 然后渲染
RenderLeaveStationSuccess(o.getResult(), isRestart);
} else {
Logger.d(TAG, "单程真的结束了====");
isGoingToNextStation = false;
currentStationIndex = 0;
backgroundCurrentStationIndex = 0;
CallerAutoPilotManager.INSTANCE.cancelAutoPilot();
queryBusRoutes();
}
}
@Override
public void onFail(String failMsg) {
if (!NetworkUtils.isConnected(mContext)) {
TipToast.shortTip("网络异常，请稍后重试");
}
}
});
}
/**
@@ -406,7 +409,7 @@ public class OchBusOrderModel {
* 服务端返回的OchBusRoutesResult逻辑， 离开站为当前站， 到达下一站后才会将下一站置为当前站，
* 车机端展示是离开当前站，下一站设置为当前站， 所以服务端数据回来要做处理，不能直接渲染
*/
private void RenderLeaveStationSuccess(OchBusRoutesResult result,boolean isRestart) {
private void RenderLeaveStationSuccess(OchBusRoutesResult result, boolean isRestart) {
renderBusStationsStatus(result);
if (slidePannelHideCallback != null) {
slidePannelHideCallback.hideSlidePanel();
@@ -418,16 +421,17 @@ public class OchBusOrderModel {
return;
}
isGoingToNextStation = true;
AIAssist.getInstance( mContext ).speakTTSVoice( "欢迎乘坐’蘑菇车联‘无人驾驶小巴车，请您坐好，注意乘车安全，行程即将开始" );
AIAssist.getInstance(mContext).speakTTSVoice("欢迎乘坐’蘑菇车联‘无人驾驶小巴车，请您坐好，注意乘车安全，行程即将开始");
}
/**
* 开启自动驾驶
*
* @param isRestart
*/
private void startAutopilot(boolean isRestart) {
OchBusStation currentStation = stationList.get( currentStationIndex -1);
OchBusStation nextStation = stationList.get( currentStationIndex);
OchBusStation currentStation = stationList.get(currentStationIndex - 1);
OchBusStation nextStation = stationList.get(currentStationIndex);
// if (IMoGoAutopilotStatusListener.STATUS_AUTOPILOT_DISABLE
// == Integer.parseInt(DebugConfig.getAutoPilotStatus())) {
@@ -438,12 +442,12 @@ public class OchBusOrderModel {
currentAutopilot.startName = PinYinUtil.getPinYinHeadChar(currentStation.getName());
currentAutopilot.endName = PinYinUtil.getPinYinHeadChar(nextStation.getName());
currentAutopilot.startLatLon = new AutopilotControlParameters
.AutoPilotLonLat( currentStation.getLat(), currentStation.getLon() );
.AutoPilotLonLat(currentStation.getLat(), currentStation.getLon());
currentAutopilot.endLatLon = new AutopilotControlParameters
.AutoPilotLonLat( nextStation.getLat(), nextStation.getLon() );
.AutoPilotLonLat(nextStation.getLat(), nextStation.getLon());
currentAutopilot.vehicleType = VEHICLE_TYPE;
Logger.d( TAG, "开启自动驾驶====" + currentAutopilot.toString()
+" startLatLon="+currentStation.getName()+"，endLatLon="+nextStation.getName());
Logger.d(TAG, "开启自动驾驶====" + currentAutopilot.toString()
+ " startLatLon=" + currentStation.getName() + "，endLatLon=" + nextStation.getName());
CallerAutoPilotManager.INSTANCE.startAutoPilot(currentAutopilot);
if (mControllerStatusCallback != null) {
mControllerStatusCallback.startOpenAutopilot();
@@ -454,14 +458,14 @@ public class OchBusOrderModel {
* 到站后重置站点状态
*/
private void arriveSiteStation(boolean isRestart) {
Log.d(TAG,"arriveSiteStation-currentStationIndex = "+currentStationIndex);
Log.d(TAG, "arriveSiteStation-currentStationIndex = " + currentStationIndex);
OCHBusServiceManager.getInstance().arriveSiteStation(mContext
, stationList.get(currentStationIndex).getSeq(), stationList.get(currentStationIndex).getSiteId()
, new OCHServiceCallback<BaseData>() {
@Override
public void onSuccess(BaseData o) {
Log.d(TAG,"arriveSiteStation success");
if (!isRestart){
Log.d(TAG, "arriveSiteStation success");
if (!isRestart) {
renderArriveBusStation();
}
}
@@ -476,12 +480,12 @@ public class OchBusOrderModel {
}
private void renderArriveBusStation() {
List< OchBusStation > site = ochBusRoutesResult.getSites();
if (site != null && site.size() > 0){
List<OchBusStation> site = ochBusRoutesResult.getSites();
if (site != null && site.size() > 0) {
backgroundCurrentStationIndex = currentStationIndex;
if (refreshBusStationsCallback != null){
if (refreshBusStationsCallback != null) {
refreshBusStationsCallback.refreshBusStations(stationList, currentStationIndex
, getNextStopStation(),true);
, getNextStopStation(), true);
}
}
}
@@ -490,7 +494,7 @@ public class OchBusOrderModel {
* 查询到站下车乘客
*/
private void queryStationLeaveAwayPassengers() {
Logger.d( TAG, "查询到站下车乘客");
Logger.d(TAG, "查询到站下车乘客");
OCHBusServiceManager.getInstance().queryStationLeaveAwayPassengers(mContext
, stationList.get(currentStationIndex).getSeq(), stationList.get(currentStationIndex).getSiteId()
@@ -499,7 +503,7 @@ public class OchBusOrderModel {
public void onSuccess(QueryLeaveAwayPassengersResponse o) {
hadQueryLeaveAwayPassager = true;
arriveSiteStation(false);
playLeavePassengersMsg( o );
playLeavePassengersMsg(o);
queryBusOrders();
}
@@ -514,7 +518,7 @@ public class OchBusOrderModel {
/**
* 收车
*/
public void stopTakeOrder(){
public void stopTakeOrder() {
OCHBusServiceManager.getInstance().stopTakeOrder(mContext, new OCHServiceCallback<BaseData>() {
@Override
public void onSuccess(BaseData o) {
@@ -522,11 +526,12 @@ public class OchBusOrderModel {
carOperationStatusCallback.changeOperationStatus(isWorking());
startOrStopOrderLoop(mIsWorking);
}
@Override
public void onFail(String failMsg) {
if (!NetworkUtils.isConnected(mContext)) {
TipToast.shortTip("网络异常，请稍后重试");
}else {
} else {
TipToast.shortTip(failMsg);
}
}
@@ -536,24 +541,25 @@ public class OchBusOrderModel {
/**
* 出车
*/
public void startTakeOrder(){
public void startTakeOrder() {
OCHBusServiceManager.getInstance().startTakeOrder(mContext, new OCHServiceCallback<BaseData>() {
@Override
public void onSuccess(BaseData o) {
mIsWorking = !mIsWorking;
startOrStopOrderLoop(mIsWorking);
if ( stationList != null && stationList.size() > 0 ) {
AIAssist.getInstance( mContext ).speakTTSVoice( "车辆已整备完毕，请前往"
+ stationList.get( currentStationIndex ).getName() + "站点" );
if (stationList != null && stationList.size() > 0) {
AIAssist.getInstance(mContext).speakTTSVoice("车辆已整备完毕，请前往"
+ stationList.get(currentStationIndex).getName() + "站点");
}
carOperationStatusCallback.changeOperationStatus(isWorking());
queryBusRoutes();
}
@Override
public void onFail(String failMsg) {
if (!NetworkUtils.isConnected(mContext)) {
TipToast.shortTip("网络异常，请稍后重试");
}else {
} else {
TipToast.shortTip(failMsg);
}
}
@@ -564,91 +570,93 @@ public class OchBusOrderModel {
* 查询运营状态
*/
public void queryOperationStatus() {
Logger.d( TAG, "查询运营状态");
Logger.d(TAG, "查询运营状态");
OCHBusServiceManager.getInstance().queryOperationStatus(mContext
, new OCHServiceCallback<OchBusOperationStatusResponse>() {
@Override
public void onSuccess(OchBusOperationStatusResponse o) {
if ( o.data != null ) {
mIsWorking = o.data.serviceStatus == 1;
Logger.d( TAG, "查询运营状态 result.status: " + o.data.serviceStatus);
startOrStopOrderLoop(mIsWorking);
}
carOperationStatusCallback.changeOperationStatus(isWorking());
}
@Override
public void onFail(String failMsg) {
if (!NetworkUtils.isConnected(mContext)) {
TipToast.shortTip("网络异常，请稍后重试");
}
}
});
@Override
public void onSuccess(OchBusOperationStatusResponse o) {
if (o.data != null) {
mIsWorking = o.data.serviceStatus == 1;
Logger.d(TAG, "查询运营状态 result.status: " + o.data.serviceStatus);
startOrStopOrderLoop(mIsWorking);
}
carOperationStatusCallback.changeOperationStatus(isWorking());
}
@Override
public void onFail(String failMsg) {
if (!NetworkUtils.isConnected(mContext)) {
TipToast.shortTip("网络异常，请稍后重试");
}
}
});
}
/**
* 开启自动驾驶到下一站
*/
public void autoDriveToNextStation( boolean isRestart ) {
if ( backgroundCurrentStationIndex >= stationList.size() - 1 ) {
public void autoDriveToNextStation(boolean isRestart) {
if (backgroundCurrentStationIndex >= stationList.size() - 1) {
// 当前站是最后一站，结束当前行程
travelOver();
return;
}
leaveStation(false,isRestart);
leaveStation(false, isRestart);
}
/**
* 渲染站点信息
* 服务端返回的OchBusRoutesResult逻辑， 离开站为当前站， 到达下一站后才会将下一站置为当前站，
* 车机端展示是离开当前站，下一站设置为当前站， 所以服务端数据回来要做处理current index，不能直接渲染
*
* @param result
*/
private void renderBusStationsStatus(OchBusRoutesResult result) {
if (result == null) return;
ochBusRoutesResult = result;
List< OchBusStation > site = result.getSites();
List<OchBusStation> site = result.getSites();
currentLineId = result.getLineId();
stationList.clear();
stationList.addAll( site );
for ( int i = 0; i < stationList.size(); i++ ) {
OchBusStation s = stationList.get( i );
stationList.addAll(site);
for (int i = 0; i < stationList.size(); i++) {
OchBusStation s = stationList.get(i);
// 是否正在开往下一站
if ( s.isLeaving()) {
if (s.isLeaving()) {
isGoingToNextStation = true;
}
// 当前站点信息
if (s.getDrivingStatus() == STATION_STATUS_STOPPED ) {
if (s.getDrivingStatus() == STATION_STATUS_STOPPED) {
currentStationIndex = i;
break;
}
}
backgroundCurrentStationIndex = currentStationIndex;
OchBusStation currentStation = stationList.get(currentStationIndex);
Logger.d( TAG, "渲染站点信息服务端currentStationIndex="+currentStationIndex
+" isLeaving()="+currentStation.isLeaving());
Logger.d(TAG, "渲染站点信息服务端currentStationIndex=" + currentStationIndex
+ " isLeaving()=" + currentStation.isLeaving());
//当前站点是始发站，告诉服务端到达始发站。 如果没有这个节点， 服务器不知道始发站到达状态
// ，订单开始站下在始发站的状态流转有问题
if (currentStationIndex == 0 && !currentStation.isLeaving()){
if (currentStationIndex == 0 && !currentStation.isLeaving()) {
arriveSiteStation(true);
}
// 美化是否开始
if (FunctionBuildConfig.isDemoMode && ((currentStationIndex > 0
&& currentStationIndex < stationList.size()-1)
|| (stationList.get(0).isLeaving() || stationList.get(stationList.size() -1).isLeaving()))){//行驶过程中设置美化
&& currentStationIndex < stationList.size() - 1)
|| (stationList.get(0).isLeaving() || stationList.get(stationList.size() - 1).isLeaving()))) {//行驶过程中设置美化
FunctionBuildConfig.isIgnoreConditionsDrawAutopilotTrajectoryData = true;
Logger.d(TAG, "美化模式-ignore：置为true（每次滑动出发）");
}
if (refreshBusStationsCallback != null){
if (currentStation.isLeaving()){//如果服务端的当前站是leaving状态，展示当前站需要+1
currentStationIndex ++;
if (refreshBusStationsCallback != null) {
if (currentStation.isLeaving()) {//如果服务端的当前站是leaving状态，展示当前站需要+1
currentStationIndex++;
refreshBusStationsCallback.refreshBusStations(stationList
, currentStationIndex, getNextStopStation(),false);
}else{
, currentStationIndex, getNextStopStation(), false);
} else {
refreshBusStationsCallback.refreshBusStations(stationList
, currentStationIndex, getNextStopStation(),true);
, currentStationIndex, getNextStopStation(), true);
}
}
if ( currentStation.isLeaving() && slidePannelHideCallback != null) {
if (currentStation.isLeaving() && slidePannelHideCallback != null) {
slidePannelHideCallback.hideSlidePanel();
}
}
@@ -658,19 +666,19 @@ public class OchBusOrderModel {
*
* @param lastStopStation
*/
private void resetNextStopStation( int lastStopStation ) {
Logger.d( TAG, "重置下一站");
private void resetNextStopStation(int lastStopStation) {
Logger.d(TAG, "重置下一站");
int nextStopStation = getNextStopStation();
if ( nextStopStation < 0 ) {
if (nextStopStation < 0) {
return;
}
if ( lastStopStation <= nextStopStation || nextStopStation <= currentStationIndex ) {
if (lastStopStation <= nextStopStation || nextStopStation <= currentStationIndex) {
return;
}
if ( CallerAutoPilotStatusListenerManager.INSTANCE.getAutoPilotStatusInfo().getState()
== IMoGoAutopilotStatusListener.STATUS_AUTOPILOT_RUNNING ) {
if (CallerAutoPilotStatusListenerManager.INSTANCE.getAutoPilotStatusInfo().getState()
== IMoGoAutopilotStatusListener.STATUS_AUTOPILOT_RUNNING) {
// 自动驾驶中动态设置下一个停靠站点/
autoDriveToNextStation( true );
autoDriveToNextStation(true);
}
}
@@ -680,12 +688,12 @@ public class OchBusOrderModel {
* @return -1 当前已是最后一个站点
*/
private int getNextStopStation() {
if ( currentStationIndex >= stationList.size() - 1 ) {
if (currentStationIndex >= stationList.size() - 1) {
return -1;
}
int nextStationIndex = currentStationIndex + 1;
for ( ; nextStationIndex < stationList.size() - 1; nextStationIndex++ ) {
if ( stationList.get( nextStationIndex ).getIfStop() == 1 ) {
for (; nextStationIndex < stationList.size() - 1; nextStationIndex++) {
if (stationList.get(nextStationIndex).getIfStop() == 1) {
break;
}
break;
@@ -697,16 +705,16 @@ public class OchBusOrderModel {
* 延时查询站点信心
*/
private void queryBusStationDelay() {
handler.sendEmptyMessageDelayed( MSG_QUERY_BUS_STATION, QUERY_BUS_STATION_DELAY );
handler.sendEmptyMessageDelayed(MSG_QUERY_BUS_STATION, QUERY_BUS_STATION_DELAY);
}
/**
* 在踩刹车、控制方向盘等操作后，会停止自动驾驶，重启自动驾驶的话相当于重新设置自动驾驶目的地
*/
public void restartAutopilot() {
Logger.d( TAG, "重启自动驾驶===" + isGoingToNextStation );
if ( isGoingToNextStation ) {
autoDriveToNextStation( true );
Logger.d(TAG, "重启自动驾驶===" + isGoingToNextStation);
if (isGoingToNextStation) {
autoDriveToNextStation(true);
}
}
@@ -715,25 +723,25 @@ public class OchBusOrderModel {
*
* @param awayPassengersResponse
*/
private void playLeavePassengersMsg( QueryLeaveAwayPassengersResponse awayPassengersResponse ) {
Logger.d( TAG, "播报下车乘客信息currentStationIndex="+currentStationIndex);
private void playLeavePassengersMsg(QueryLeaveAwayPassengersResponse awayPassengersResponse) {
Logger.d(TAG, "播报下车乘客信息currentStationIndex=" + currentStationIndex);
if ( currentStationIndex > stationList.size() - 1 ) {
if (currentStationIndex > stationList.size() - 1) {
return;
}
String station = stationList.get( currentStationIndex ).getName();
StringBuilder builder = new StringBuilder( "已到达" );
builder.append( station );
if ( !station.endsWith( "站" ) ) {
builder.append( "站" );
String station = stationList.get(currentStationIndex).getName();
StringBuilder builder = new StringBuilder("已到达");
builder.append(station);
if (!station.endsWith("站")) {
builder.append("站");
}
if ( awayPassengersResponse == null || awayPassengersResponse.data == null
|| awayPassengersResponse.data.orders == null || awayPassengersResponse.data.orders.isEmpty() ) {
Logger.d( TAG, "播报下车乘客信息为null");
if (awayPassengersResponse == null || awayPassengersResponse.data == null
|| awayPassengersResponse.data.orders == null || awayPassengersResponse.data.orders.isEmpty()) {
Logger.d(TAG, "播报下车乘客信息为null");
} else {
builder.append( ",请尾号为 " );
for ( QueryLeaveAwayPassengersResponse.LeaveAwayPassenger leaveAwayPassenger : awayPassengersResponse.data.orders ) {
if ( leaveAwayPassenger == null ) {
builder.append(",请尾号为 ");
for (QueryLeaveAwayPassengersResponse.LeaveAwayPassenger leaveAwayPassenger : awayPassengersResponse.data.orders) {
if (leaveAwayPassenger == null) {
continue;
}
String tailNum = null;
@@ -743,23 +751,23 @@ public class OchBusOrderModel {
e.printStackTrace();
tailNum = leaveAwayPassenger.passengerPhone;
}
builder.append( tailNum ).append( "。" );
builder.append(tailNum).append("。");
}
builder.append( "的乘客下车" );
builder.append("的乘客下车");
}
builder.append(",带好随身物品,下车请注意安全");
Logger.d(TAG, "TTS:" + builder.toString());
AIAssist.getInstance( mContext ).speakTTSVoice( builder.toString() );
AIAssist.getInstance(mContext).speakTTSVoice(builder.toString());
}
/**
* 修改小巴运营状态
*/
public void onChangeOperationStatus() {
Logger.d( TAG, "修改小巴运营状态");
if (isWorking()){//收车
Logger.d(TAG, "修改小巴运营状态");
if (isWorking()) {//收车
stopTakeOrder();
}else {//出车
} else {//出车
startTakeOrder();
}
}
@@ -770,14 +778,14 @@ public class OchBusOrderModel {
private void travelOver() {
// Logger.d( TAG, "行程结束");
if ( currentStationIndex >= stationList.size() ) {
Logger.e( TAG, "travel over index out of station list" );
if (currentStationIndex >= stationList.size()) {
Logger.e(TAG, "travel over index out of station list");
return;
}
Logger.d( TAG, "单程结束====" );
Logger.d(TAG, "单程结束====");
CallerAutoPilotManager.INSTANCE.cancelAutoPilot();
AIAssist.getInstance( mContext ).speakTTSVoice( "感谢您体验'蘑菇车联'无人驾驶小巴车，请您携带好随身物品，我们下次再见" );
leaveStation(true,true);
AIAssist.getInstance(mContext).speakTTSVoice("感谢您体验'蘑菇车联'无人驾驶小巴车，请您携带好随身物品，我们下次再见");
leaveStation(true, true);
}
public boolean isWorking() {
@@ -786,18 +794,19 @@ public class OchBusOrderModel {
/**
* 到站
*
* @param data
*/
public void onArriveAt( AutopilotStationInfo data){
if ( currentStationIndex > stationList.size() - 1 ) {
Logger.e( TAG, "到站异常，取消后续操作结束" );
public void onArriveAt(MessagePad.ArrivalNotification data) {
if (currentStationIndex > stationList.size() - 1) {
Logger.e(TAG, "到站异常，取消后续操作结束");
return;
}
if (FunctionBuildConfig.isDemoMode && currentStationIndex == stationList.size() - 1){//到达最后一站结束美化
if (FunctionBuildConfig.isDemoMode && currentStationIndex == stationList.size() - 1) {//到达最后一站结束美化
FunctionBuildConfig.isIgnoreConditionsDrawAutopilotTrajectoryData = false;
Logger.d(TAG, "美化模式-ignore：置为false（到最后一站）");
}
Logger.d( TAG, "到站====currentStationIndex=" + currentStationIndex);
Logger.d(TAG, "到站====currentStationIndex=" + currentStationIndex);
isGoingToNextStation = false;
// 到达站点后，更新站点状态
// currentStationIndex = getNextStopStation();
@@ -805,12 +814,12 @@ public class OchBusOrderModel {
UiThreadHandler.postDelayed(new Runnable() {// 先查询下车乘客，再上报到站，便于后台筛查下车订单
@Override
public void run() {
if (!hadQueryLeaveAwayPassager){
if (!hadQueryLeaveAwayPassager) {
arriveSiteStation(false);
}
hadQueryLeaveAwayPassager = false;
}
},1500);
}, 1500);
}
public boolean isGoingToNextStation() {

128
OCH/mogo-och-bus/src/main/java/com/mogo/och/bus/presenter/OchBusPresenter.java
View File

@@ -1,14 +1,13 @@
package com.mogo.och.bus.presenter;
import android.location.Location;
import android.os.Looper;
import android.util.Log;
import androidx.annotation.NonNull;
import androidx.lifecycle.LifecycleOwner;
import com.mogo.commons.mvp.Presenter;
import com.mogo.commons.voice.AIAssist;
import com.mogo.eagle.core.data.autopilot.AutopilotGuardianStatusInfo;
import com.mogo.eagle.core.data.autopilot.AutopilotStationInfo;
import com.mogo.eagle.core.data.autopilot.AutopilotStatusInfo;
import com.mogo.eagle.core.data.config.FunctionBuildConfig;
import com.mogo.eagle.core.function.api.autopilot.IMoGoAutopilotStatusListener;
@@ -23,17 +22,19 @@ import com.mogo.och.bus.callback.SlidePannelHideCallback;
import com.mogo.och.bus.fragment.OchBusFragment;
import org.jetbrains.annotations.NotNull;
import org.jetbrains.annotations.Nullable;
import java.util.ArrayList;
import java.util.List;
import mogo.telematics.pad.MessagePad;
import mogo_msg.MogoReportMsg;
/**
* 网约车小巴
*
* @author tongchenfei
*/
public class OchBusPresenter extends Presenter< OchBusFragment >
public class OchBusPresenter extends Presenter<OchBusFragment>
implements CarOperationStatusCallback, RefreshBusStationsCallback, SlidePannelHideCallback
, IMoGoAutopilotStatusListener, IOCHBusControllerStatusCallback {
@@ -44,16 +45,16 @@ public class OchBusPresenter extends Presenter< OchBusFragment >
private List<OchBusStation> mStationList = new ArrayList<>();
private int mCurrentStation = 0;
public OchBusPresenter( OchBusFragment view ) {
super( view );
public OchBusPresenter(OchBusFragment view) {
super(view);
//2021.11.1 鹰眼架构整合，由IMoGoAutopilotStatusListener逐步替代IMogoAdasOCHCallback接口
CallerAutoPilotStatusListenerManager.INSTANCE.addListener(TAG, this);
OchBusOrderModel.getInstance().init();
}
@Override
public void onCreate( @NonNull LifecycleOwner owner ) {
super.onCreate( owner );
public void onCreate(@NonNull LifecycleOwner owner) {
super.onCreate(owner);
OchBusOrderModel.getInstance().queryOperationStatus();
OchBusOrderModel.getInstance().queryBusRoutes();
initModelListener();
@@ -66,39 +67,39 @@ public class OchBusPresenter extends Presenter< OchBusFragment >
releaseListener();
}
public void initModelListener(){
public void initModelListener() {
OchBusOrderModel.getInstance().setCarOperationStatusCallback(this);
OchBusOrderModel.getInstance().setRefreshBusStationsCallback(this);
OchBusOrderModel.getInstance().setSlidePannelHideCallback(this);
OchBusOrderModel.getInstance().setControllerStatusCallback(this);
}
public void releaseListener(){
public void releaseListener() {
OchBusOrderModel.getInstance().setCarOperationStatusCallback(null);
OchBusOrderModel.getInstance().setRefreshBusStationsCallback(null);
OchBusOrderModel.getInstance().setSlidePannelHideCallback(null);
OchBusOrderModel.getInstance().setControllerStatusCallback(null);
}
public void queryBusRoutes(){
public void queryBusRoutes() {
OchBusOrderModel.getInstance().queryBusRoutes();
}
public void debugResetStationStatus(){
public void debugResetStationStatus() {
OchBusOrderModel.getInstance().debugResetStationStatus();
}
public void autoDriveToNextStation(boolean isRestart){
public void autoDriveToNextStation(boolean isRestart) {
currentAutopilotStatus = -1;
OchBusOrderModel.getInstance().autoDriveToNextStation(isRestart);
}
public void restartAutopilot(){
public void restartAutopilot() {
currentAutopilotStatus = -1;
OchBusOrderModel.getInstance().restartAutopilot();
}
public void onChangeOperationStatus(){
public void onChangeOperationStatus() {
OchBusOrderModel.getInstance().onChangeOperationStatus();
}
@@ -115,9 +116,9 @@ public class OchBusPresenter extends Presenter< OchBusFragment >
mStationList.addAll(stationList);
mCurrentStation = currentStation;
functionDemoModeChange();
Log.d("OchBusOrderModel ="," mCurrentStation ="+mCurrentStation);
if ( mView != null ) {
mView.refreshBusStations( stationList, currentStation, nextStation ,isArrived);
Log.d("OchBusOrderModel =", " mCurrentStation =" + mCurrentStation);
if (mView != null) {
mView.refreshBusStations(stationList, currentStation, nextStation, isArrived);
}
}
@@ -125,32 +126,27 @@ public class OchBusPresenter extends Presenter< OchBusFragment >
// Log.d("OchBusOrderModel ="," functionDemoModeChange ="+mCurrentStation);
if (FunctionBuildConfig.isDemoMode
&& (
(mCurrentStation > 0 && mCurrentStation < mStationList.size()-1)
(mCurrentStation > 0 && mCurrentStation < mStationList.size() - 1)
|| (
(mCurrentStation == 0 || mCurrentStation == mStationList.size() -1)
(mCurrentStation == 0 || mCurrentStation == mStationList.size() - 1)
&& OchBusOrderModel.getInstance().isGoingToNextStation()
)
)
){
mView.onAutopilotStatusChanged( IMoGoAutopilotStatusListener.STATUS_AUTOPILOT_RUNNING ,false);
) {
mView.onAutopilotStatusChanged(IMoGoAutopilotStatusListener.STATUS_AUTOPILOT_RUNNING, false);
}
}
@Override
public void hideSlidePanel() {
if (mView != null){
if (mView != null) {
mView.hideSlidePanel();
}
}
@Override
public void onAutopilotArriveAtStation(@Nullable AutopilotStationInfo autopilotStationInfo) {
OchBusOrderModel.getInstance().onArriveAt(autopilotStationInfo);
}
@Override
public void onAutopilotGuardian(@Nullable AutopilotGuardianStatusInfo autopilotGuardianStatusInfo) {
public void onAutopilotArriveAtStation(MessagePad.ArrivalNotification arrivalNotification) {
OchBusOrderModel.getInstance().onArriveAt(arrivalNotification);
}
@Override
@@ -162,69 +158,69 @@ public class OchBusPresenter extends Presenter< OchBusFragment >
public void onAutopilotStatusResponse(@NotNull AutopilotStatusInfo autopilotStatusInfo) {
if (autopilotStatusInfo == null) return;
int state = autopilotStatusInfo.getState();
Logger.d( TAG, "onStateChange: " + state +"currentAutopilotStatus = "+currentAutopilotStatus);
switch ( state ) {
Logger.d(TAG, "onStateChange: " + state + "currentAutopilotStatus = " + currentAutopilotStatus);
switch (state) {
case IMoGoAutopilotStatusListener.STATUS_AUTOPILOT_ENABLE:
if (currentAutopilotStatus != IMoGoAutopilotStatusListener.STATUS_AUTOPILOT_ENABLE){
if (currentAutopilotStatus == IMoGoAutopilotStatusListener.STATUS_AUTOPILOT_RUNNING){//2-->1语音提示
if (currentAutopilotStatus != IMoGoAutopilotStatusListener.STATUS_AUTOPILOT_ENABLE) {
if (currentAutopilotStatus == IMoGoAutopilotStatusListener.STATUS_AUTOPILOT_RUNNING) {//2-->1语音提示
// AIAssist.getInstance( getContext() ).speakTTSVoice( "已进入人工驾驶模式" );
}
currentAutopilotStatus = IMoGoAutopilotStatusListener.STATUS_AUTOPILOT_ENABLE;
// 设置UI【自动驾驶】按钮是否展示
mView.onAutopilotEnableChange( true );
if ( OchBusOrderModel.getInstance().isGoingToNextStation() ) {
mView.onAutopilotEnableChange(true);
if (OchBusOrderModel.getInstance().isGoingToNextStation()) {
mView.hideSlidePanel();
}
if (FunctionBuildConfig.isDemoMode
&& (
(mCurrentStation > 0 && mCurrentStation < mStationList.size()-1)
(mCurrentStation > 0 && mCurrentStation < mStationList.size() - 1)
|| (
(mCurrentStation == 0 || mCurrentStation == mStationList.size() -1)
(mCurrentStation == 0 || mCurrentStation == mStationList.size() - 1)
&& OchBusOrderModel.getInstance().isGoingToNextStation()
)
)
){
Log.d("OchBusOrderModel=","有美化功能");
)
)
) {
Log.d("OchBusOrderModel=", "有美化功能");
return;
}
// 改变UI自动驾驶状态
mView.onAutopilotStatusChanged( currentAutopilotStatus ,isAnimateRunning);
mView.onAutopilotStatusChanged(currentAutopilotStatus, isAnimateRunning);
}
break;
case IMoGoAutopilotStatusListener.STATUS_AUTOPILOT_RUNNING:
runOnUIThread(()->mView.stopAutopilotAnimation());
if (currentAutopilotStatus != IMoGoAutopilotStatusListener.STATUS_AUTOPILOT_RUNNING){
runOnUIThread(() -> mView.stopAutopilotAnimation());
if (currentAutopilotStatus != IMoGoAutopilotStatusListener.STATUS_AUTOPILOT_RUNNING) {
currentAutopilotStatus = IMoGoAutopilotStatusListener.STATUS_AUTOPILOT_RUNNING;
// 改变UI自动驾驶状态
mView.onAutopilotStatusChanged( currentAutopilotStatus ,isAnimateRunning);
mView.onAutopilotStatusChanged(currentAutopilotStatus, isAnimateRunning);
}
isAnimateRunning = false;
break;
case IMoGoAutopilotStatusListener.STATUS_AUTOPILOT_DISABLE:
if (currentAutopilotStatus != IMoGoAutopilotStatusListener.STATUS_AUTOPILOT_DISABLE){
if (currentAutopilotStatus == IMoGoAutopilotStatusListener.STATUS_AUTOPILOT_RUNNING){//2-->0语音提示
if (currentAutopilotStatus != IMoGoAutopilotStatusListener.STATUS_AUTOPILOT_DISABLE) {
if (currentAutopilotStatus == IMoGoAutopilotStatusListener.STATUS_AUTOPILOT_RUNNING) {//2-->0语音提示
// AIAssist.getInstance( getContext() ).speakTTSVoice( "自动驾驶已停止，请人工接管" );
}
currentAutopilotStatus = IMoGoAutopilotStatusListener.STATUS_AUTOPILOT_DISABLE;
if (FunctionBuildConfig.isDemoMode
&& (
(mCurrentStation > 0 && mCurrentStation < mStationList.size()-1)
(mCurrentStation > 0 && mCurrentStation < mStationList.size() - 1)
|| (
(mCurrentStation == 0 || mCurrentStation == mStationList.size() -1)
(mCurrentStation == 0 || mCurrentStation == mStationList.size() - 1)
&& OchBusOrderModel.getInstance().isGoingToNextStation()
)
)
){
Log.d("OchBusOrderModel=","有美化功能");
) {
Log.d("OchBusOrderModel=", "有美化功能");
return;
}
mView.onAutopilotEnableChange( false );
mView.onAutopilotStatusChanged( currentAutopilotStatus ,isAnimateRunning);
mView.onAutopilotEnableChange(false);
mView.onAutopilotStatusChanged(currentAutopilotStatus, isAnimateRunning);
}
isAnimateRunning = false;
break;
default:
mView.onAutopilotEnableChange( false );
mView.onAutopilotEnableChange(false);
break;
}
}
@@ -236,7 +232,7 @@ public class OchBusPresenter extends Presenter< OchBusFragment >
@Override
public void onCarLocationChanged(Location location) {
if (null != location){
if (null != location) {
runOnUIThread(() -> mView.updateSpeedView(location.getSpeed()));
}
}
@@ -244,7 +240,7 @@ public class OchBusPresenter extends Presenter< OchBusFragment >
@Override
public void startOpenAutopilot() {
isAnimateRunning = true;
runOnUIThread(()->mView.startAutopilotAnimation());
runOnUIThread(() -> mView.startAutopilotAnimation());
// TODO: 2021/8/20 无工控机环境， 手动调起自动驾驶开启返回结果,有工控机环境要删除
// UiThreadHandler.postDelayed(new Runnable() {
// @Override
@@ -254,12 +250,12 @@ public class OchBusPresenter extends Presenter< OchBusFragment >
// },2300);
}
private void runOnUIThread( Runnable executor ) {
if ( executor == null ) {
private void runOnUIThread(Runnable executor) {
if (executor == null) {
return;
}
if ( Looper.myLooper() != Looper.getMainLooper() ) {
UiThreadHandler.post( executor );
if (Looper.myLooper() != Looper.getMainLooper()) {
UiThreadHandler.post(executor);
} else {
executor.run();
}
@@ -267,11 +263,17 @@ public class OchBusPresenter extends Presenter< OchBusFragment >
/**
* 测试使用
*
* @param status
*/
public void debugAutoPilotStatus(int status){
public void debugAutoPilotStatus(int status) {
AutopilotStatusInfo info = new AutopilotStatusInfo();
info.setState(status);
onAutopilotStatusResponse(info);
}
@Override
public void onAutopilotGuardian(MogoReportMsg.MogoReportMessage guardianInfo) {
}
}

5
OCH/mogo-och-taxi-passenger/src/main/java/com/mogo/och/taxi/passenger/callback/IOCHTaxiAutopilotPlanningCallback.java
View File

@@ -1,13 +1,14 @@
package com.mogo.och.taxi.passenger.callback;
import com.mogo.eagle.core.data.autopilot.AutopilotRouteInfo;
import java.util.List;
import mogo.telematics.pad.MessagePad;
/**
* @author: wangmingjun
* @date: 2021/11/1
*/
public interface IOCHTaxiAutopilotPlanningCallback {
void routeResult(List<AutopilotRouteInfo.RouteModels> models);
void routeResult(List<MessagePad.Location> models);
}

112
OCH/mogo-och-taxi-passenger/src/main/java/com/mogo/och/taxi/passenger/model/MogoOCHTaxiModelNew.java
View File

@@ -13,8 +13,6 @@ import com.mogo.commons.debug.DebugConfig;
import com.mogo.eagle.core.data.BaseData;
import com.mogo.eagle.core.data.autopilot.ADASTrajectoryInfo;
import com.mogo.eagle.core.data.autopilot.AutopilotControlParameters;
import com.mogo.eagle.core.data.autopilot.AutopilotGuardianStatusInfo;
import com.mogo.eagle.core.data.autopilot.AutopilotRouteInfo;
import com.mogo.eagle.core.data.autopilot.AutopilotStationInfo;
import com.mogo.eagle.core.data.autopilot.AutopilotStatusInfo;
import com.mogo.eagle.core.data.config.FunctionBuildConfig;
@@ -64,9 +62,12 @@ import java.util.ArrayList;
import java.util.Collections;
import java.util.List;
import mogo.telematics.pad.MessagePad;
import mogo_msg.MogoReportMsg;
/**
* Created by pangfan on 2021/8/19
*
* <p>
* 网约车 - 出租车业务逻辑处理
*/
public class MogoOCHTaxiModelNew {
@@ -101,10 +102,12 @@ public class MogoOCHTaxiModelNew {
private MogoOCHTaxiModelNew() {
}
public void setMoGoAutopilotPlanningListener(IOCHTaxiAutopilotPlanningCallback
moGoAutopilotPlanningCallback) {
this.mAutopilotPlanningCallback = moGoAutopilotPlanningCallback;
}
public void setADASStatusCallback(IOCHTaxiADASStatusCallback callback) {
this.mADASStatusCallback = callback;
}
@@ -121,7 +124,7 @@ public class MogoOCHTaxiModelNew {
this.mOrderStatusCallback = callback;
}
public void init( Context context ) {
public void init(Context context) {
mContext = context.getApplicationContext();
initListeners();
@@ -141,7 +144,7 @@ public class MogoOCHTaxiModelNew {
}
}
public void startOrStopOrderLoop(){
public void startOrStopOrderLoop() {
startOrStopOrderLoop(mOCHCarStatus == 1);
}
@@ -154,26 +157,26 @@ public class MogoOCHTaxiModelNew {
MogoApisHandler.getInstance()
.getApis()
.getSocketManagerApi(mContext)
.registerLifecycleListener(10010,mSocketLifeCycleLisnter);
.registerLifecycleListener(10010, mSocketLifeCycleLisnter);
// 2021.11.1重构自动驾驶 实现接口 IMoGoAutopilotStatusListener 注册监听 替换IMogoAdasOCHCallback接口
CallerAutoPilotStatusListenerManager.INSTANCE.addListener(TAG, mGoAutopilotStatusListener);
MogoApisHandler.getInstance()
.getApis()
.getIntentManagerApi()
.registerIntentListener( ConnectivityManager.CONNECTIVITY_ACTION, mNetWorkIntentListener );
.registerIntentListener(ConnectivityManager.CONNECTIVITY_ACTION, mNetWorkIntentListener);
MogoApisHandler.getInstance()
.getApis()
.getStatusManagerApi()
.registerStatusChangedListener( TAG, StatusDescriptor.VR_MODE, mMogoStatusChangedListener );
.registerStatusChangedListener(TAG, StatusDescriptor.VR_MODE, mMogoStatusChangedListener);
// 达到起始站围栏监听
MogoApisHandler.getInstance()
.getApis()
.getRegisterCenterApi()
.registerCarLocationChangedListener( TAG, mCarLocationChangedListener2);
.registerCarLocationChangedListener(TAG, mCarLocationChangedListener2);
//2021.11.1 自动驾驶路线规划接口
CallerAutopilotPlanningListenerManager.INSTANCE.addListener(TAG,moGoAutopilotPlanningListener);
CallerAutopilotPlanningListenerManager.INSTANCE.addListener(TAG, moGoAutopilotPlanningListener);
}
private void releaseListeners() {
@@ -234,13 +237,14 @@ public class MogoOCHTaxiModelNew {
}
@Override
public void onFail(int code, String msg) { }
public void onFail(int code, String msg) {
}
});
}
//更新出车收车状态
public void updateCarStatus() {
if ( mOCHCarStatus == -1){
if (mOCHCarStatus == -1) {
queryCarStatus();
return;
}
@@ -275,7 +279,7 @@ public class MogoOCHTaxiModelNew {
/**
* 查询订单状态：进行中/待服务（轮询防止因crash导致应用重启、断网没收到推送等）
*
* <p>
* 注：只有在本地缓存mCurrentOCHOrder为null时（已完成or已取消有明确结果）或id相同且status不同时，
* 才更新最新进行中单到本地
*/
@@ -383,7 +387,7 @@ public class MogoOCHTaxiModelNew {
//更新当前订单状态
public void updateOCHOrderStatus(final OrderStatusEnum orderStatus) {
if ( mCurrentOCHOrder == null ) {
if (mCurrentOCHOrder == null) {
return;
}
final long orderId = mCurrentOCHOrder.orderId;
@@ -509,7 +513,7 @@ public class MogoOCHTaxiModelNew {
/**
* 查询新到预约单
*
* <p>
* 注：只有在本地缓存mNewBookingOrder为null时（执行完抢单or司机关闭改单），才更新新到待抢单
*/
public void queryNewBookingOrder() {
@@ -520,7 +524,7 @@ public class MogoOCHTaxiModelNew {
if (data != null && data.code == 0
&& data.data != null && data.data.orders.size() > 0) {
// 本地无新到单，且本次新到单id与上次收到的新单id不同时：显示本次新到单
if (mNewBookingOrder == null ) {
if (mNewBookingOrder == null) {
for (Long orderId : data.data.orders) {
if (mPrevOrderId != orderId.longValue()) {
queryNewBookingContent(orderId.longValue());
@@ -713,7 +717,7 @@ public class MogoOCHTaxiModelNew {
//检测当前订单
public boolean checkCurrentOCHOrder() {
if ( mCurrentOCHOrder != null
if (mCurrentOCHOrder != null
&& mCurrentOCHOrder.startSiteGcjPoint != null
&& mCurrentOCHOrder.endSiteGcjPoint != null) {
return true;
@@ -724,7 +728,7 @@ public class MogoOCHTaxiModelNew {
//以当前订单为基础，开启自动驾驶
public void startAutoPilot() {
if (!checkCurrentOCHOrder()) {
Logger.e( TAG, "no order or order is empty." );
Logger.e(TAG, "no order or order is empty.");
TipToast.shortTip("当前订单不存在或异常！");
return;
}
@@ -748,7 +752,7 @@ public class MogoOCHTaxiModelNew {
parameters.endLatLon = new AutopilotControlParameters.AutoPilotLonLat(endWgsLat, endWgsLon);
CallerAutoPilotManager.INSTANCE.startAutoPilot(parameters);
Logger.d(TAG, "start autopilot with parameter: %s", GsonUtil.jsonFromObject(parameters)
+" ,startSiteName="+ mCurrentOCHOrder.startSiteAddr+" ,endSiteName="+mCurrentOCHOrder.endSiteAddr);
+ " ,startSiteName=" + mCurrentOCHOrder.startSiteAddr + " ,endSiteName=" + mCurrentOCHOrder.endSiteAddr);
if (DebugConfig.isDebug()) {
// TipToast.shortTip("Start autopilot!");
}
@@ -762,7 +766,7 @@ public class MogoOCHTaxiModelNew {
try {
CallerAutoPilotManager.INSTANCE.cancelAutoPilot();
Logger.d(TAG, "结束自动驾驶");
} catch ( Exception e ) {
} catch (Exception e) {
e.printStackTrace();
}
}
@@ -777,7 +781,7 @@ public class MogoOCHTaxiModelNew {
double startLat = mCurrentOCHOrder.startSiteGcjPoint.get(1);
double distance = CoordinateUtils.calculateLineDistance(
startLon, startLat,
location.getLongitude(), location.getLatitude() );
location.getLongitude(), location.getLatitude());
if (DebugConfig.isDebug() && mCurrentOCHOrder.orderStatus == OrderStatusEnum.OnTheWayToStartStation.getCode()) {
// TipToast.shortTip("距离上车点：" + Double.valueOf(distance).intValue());
@@ -788,21 +792,21 @@ public class MogoOCHTaxiModelNew {
// mOrderStatusCallback.onCurrentOrderDistToStartChanged((long) distance, 0);
// }
if ( distance > OCHTaxiConst.ARRIVE_AT_START_STATION_DISTANCE ) {
if (distance > OCHTaxiConst.ARRIVE_AT_START_STATION_DISTANCE) {
distance = CoordinateUtils.calculateLineDistance(startLon, startLat,
MogoApisHandler.getInstance().getApis().getAdasControllerApi().getLastLon(),
MogoApisHandler.getInstance().getApis().getAdasControllerApi().getLastLat() );
MogoApisHandler.getInstance().getApis().getAdasControllerApi().getLastLat());
}
if ( distance <= OCHTaxiConst.ARRIVE_AT_START_STATION_DISTANCE ) {
updateOCHOrderStatus( OrderStatusEnum.ArriveAtStartStation);
if (distance <= OCHTaxiConst.ARRIVE_AT_START_STATION_DISTANCE) {
updateOCHOrderStatus(OrderStatusEnum.ArriveAtStartStation);
return;
}
}
// TODO: 2021/9/12
public void calculateTravelDistance(Location carLocation){
if (checkCurrentOCHOrder() && mCurrentOCHOrder.endSiteGcjPoint.size()>0) {
public void calculateTravelDistance(Location carLocation) {
if (checkCurrentOCHOrder() && mCurrentOCHOrder.endSiteGcjPoint.size() > 0) {
double endLon = mCurrentOCHOrder.endSiteGcjPoint.get(0);
double endLat = mCurrentOCHOrder.endSiteGcjPoint.get(1);
double distance = CoordinateUtils.calculateLineDistance(
@@ -818,10 +822,10 @@ public class MogoOCHTaxiModelNew {
//监听网络变化，避免启动机器时无网导致无法更新订单信息
private IMogoIntentListener mNetWorkIntentListener = new IMogoIntentListener() {
@Override
public void onIntentReceived( String intentStr, Intent intent ) {
Logger.d( TAG, "onIntentReceived = %s", intentStr );
if ( ConnectivityManager.CONNECTIVITY_ACTION.equals( intentStr ) ) {
if ( NetworkUtils.isConnected( mContext ) ) {
public void onIntentReceived(String intentStr, Intent intent) {
Logger.d(TAG, "onIntentReceived = %s", intentStr);
if (ConnectivityManager.CONNECTIVITY_ACTION.equals(intentStr)) {
if (NetworkUtils.isConnected(mContext)) {
if (AppIdentityModeUtils.isDriver(FunctionBuildConfig.appIdentityMode)) {
startOrStopOrderLoop(mOCHCarStatus == 1);
queryCarStatus();
@@ -845,20 +849,26 @@ public class MogoOCHTaxiModelNew {
private IMogoLifecycleListener mSocketLifeCycleLisnter = new IMogoLifecycleListener() {
@Override
public void onConnectFailure() { Logger.e(TAG,"socket onConnectFailure"); }
public void onConnectFailure() {
Logger.e(TAG, "socket onConnectFailure");
}
@Override
public void onConnectSuccess() { Logger.e(TAG,"socket onConnectSuccess"); }
public void onConnectSuccess() {
Logger.e(TAG, "socket onConnectSuccess");
}
@Override
public void onConnectLost() { Logger.e(TAG,"socket onConnectLost"); }
public void onConnectLost() {
Logger.e(TAG, "socket onConnectLost");
}
};
// 自车定位
private IMogoCarLocationChangedListener2 mCarLocationChangedListener2 = new IMogoCarLocationChangedListener2() {
@Override
public void onCarLocationChanged2( Location location ) {
public void onCarLocationChanged2(Location location) {
IMogoServiceApis apis = MogoApisHandler.getInstance().getApis();
MogoLocation mogoLocation = new MogoLocation();
mogoLocation.setAccuracy(location.getAccuracy());
@@ -920,7 +930,13 @@ public class MogoOCHTaxiModelNew {
}
updateOCHOrderStatus(OrderStatusEnum.OnTheWayToEndStation);
}
private IMoGoAutopilotStatusListener mGoAutopilotStatusListener = new IMoGoAutopilotStatusListener(){
private IMoGoAutopilotStatusListener mGoAutopilotStatusListener = new IMoGoAutopilotStatusListener() {
@Override
public void onAutopilotGuardian(@Nullable MogoReportMsg.MogoReportMessage guardianInfo) {
}
private boolean arriveAtEnd = false; //乘客app专用字段
@@ -928,7 +944,7 @@ public class MogoOCHTaxiModelNew {
public void onAutopilotStatusResponse(@NotNull AutopilotStatusInfo autopilotStatusInfo) {
if (autopilotStatusInfo == null) return;
int state = autopilotStatusInfo.getState();
Logger.d( TAG, "state = %s", state );
Logger.d(TAG, "state = %s", state);
if (state == IMoGoAutopilotStatusListener.STATUS_AUTOPILOT_RUNNING) {
if (mADASStatusCallback != null) mADASStatusCallback.onAutopilotRunning();
if (mCurrentOCHOrder != null
@@ -975,12 +991,7 @@ public class MogoOCHTaxiModelNew {
}
@Override
public void onAutopilotGuardian(@Nullable AutopilotGuardianStatusInfo autopilotGuardianStatusInfo) {
}
@Override
public void onAutopilotArriveAtStation(@Nullable AutopilotStationInfo data) {
public void onAutopilotArriveAtStation(MessagePad.ArrivalNotification data) {
if (FunctionBuildConfig.isDemoMode
&& AppIdentityModeUtils.isPassenger(FunctionBuildConfig.appIdentityMode)) {
arriveAtEnd = true;
@@ -996,19 +1007,20 @@ public class MogoOCHTaxiModelNew {
updateOCHOrderStatus(OrderStatusEnum.ArriveAtEndStation);
}
};
private IMoGoAutopilotPlanningListener moGoAutopilotPlanningListener = new IMoGoAutopilotPlanningListener(){
private final IMoGoAutopilotPlanningListener moGoAutopilotPlanningListener = new IMoGoAutopilotPlanningListener() {
@Override
public void onAutopilotRotting(@Nullable MessagePad.GlobalPathResp globalPathResp) {
if (null != globalPathResp && globalPathResp.getWayPointsList().size() > 0) {
mAutopilotPlanningCallback.routeResult(globalPathResp.getWayPointsList());
}
}
@Override
public void onAutopilotTrajectory(ArrayList<ADASTrajectoryInfo> trajectoryInfos) {
}
@Override
public void onAutopilotRotting(AutopilotRouteInfo routeList) {
if (null != routeList && routeList.getModels() != null){
mAutopilotPlanningCallback.routeResult(routeList.getModels());
}
}
};
/**
* END

5
OCH/mogo-och-taxi-passenger/src/main/java/com/mogo/och/taxi/passenger/presenter/OCHTaxiPresenter.java
View File

@@ -11,7 +11,6 @@ import androidx.lifecycle.LifecycleOwner;
import com.mogo.commons.AbsMogoApplication;
import com.mogo.commons.mvp.Presenter;
import com.mogo.eagle.core.data.autopilot.AutopilotRouteInfo;
import com.mogo.eagle.core.function.api.autopilot.IMoGoAutopilotStatusListener;
import com.mogo.eagle.core.utilcode.mogo.logger.Logger;
import com.mogo.eagle.core.utilcode.util.UiThreadHandler;
@@ -30,6 +29,8 @@ import org.jetbrains.annotations.NotNull;
import java.util.List;
import mogo.telematics.pad.MessagePad;
/**
* @author congtaowang
* @since 2021/1/18
@@ -253,7 +254,7 @@ public class OCHTaxiPresenter extends Presenter<OCHTaxiFragment> implements IOCH
}
}
@Override
public void routeResult(List<AutopilotRouteInfo.RouteModels> models) {
public void routeResult(List<MessagePad.Location> models) {
if (models != null && models.size() > 0) mView.routeResult(models);
}
}

5
OCH/mogo-och-taxi-passenger/src/main/java/com/mogo/och/taxi/passenger/ui/OCHTaxiFragment.java
View File

@@ -10,7 +10,6 @@ import androidx.annotation.RequiresApi;
import androidx.fragment.app.FragmentTransaction;
import com.mogo.commons.debug.DebugConfig;
import com.mogo.eagle.core.data.autopilot.AutopilotRouteInfo;
import com.mogo.eagle.core.data.config.FunctionBuildConfig;
import com.mogo.eagle.core.utilcode.mogo.AppIdentityModeUtils;
import com.mogo.eagle.core.utilcode.mogo.logger.Logger;
@@ -26,6 +25,8 @@ import com.mogo.och.taxi.passenger.utils.PinYinUtil;
import java.lang.ref.WeakReference;
import java.util.List;
import mogo.telematics.pad.MessagePad;
/**
* @author congtaowang
* @since 2021/1/18
@@ -174,7 +175,7 @@ public class OCHTaxiFragment extends BaseOchTaxiTabFragment<OCHTaxiFragment, OCH
personalDialogFragment.get().show(getActivity().getSupportFragmentManager(),"service_data");
}
public void routeResult(List<AutopilotRouteInfo.RouteModels> routeList) {
public void routeResult(List<MessagePad.Location> routeList) {
if (routeList == null ) return;
// double distance = calculateTravelDistance(mogoLocation,routeList);
// if ( MogoOCHTaxiModel.getInstance().checkCurrentOCHOrder() ) {

5
OCH/mogo-och-taxi/src/main/java/com/mogo/och/taxi/callback/IOCHTaxiAutopilotPlanningCallback.java
View File

@@ -1,13 +1,14 @@
package com.mogo.och.taxi.callback;
import com.mogo.eagle.core.data.autopilot.AutopilotRouteInfo;
import java.util.List;
import mogo.telematics.pad.MessagePad;
/**
* @author: wangmingjun
* @date: 2021/11/1
*/
public interface IOCHTaxiAutopilotPlanningCallback {
void routeResult(List<AutopilotRouteInfo.RouteModels> models);
void routeResult(List<MessagePad.Location> models);
}

125
OCH/mogo-och-taxi/src/main/java/com/mogo/och/taxi/model/MogoOCHTaxiModelNew.java
View File

@@ -68,10 +68,12 @@ import java.util.List;
import io.reactivex.exceptions.UndeliverableException;
import io.reactivex.functions.Consumer;
import io.reactivex.plugins.RxJavaPlugins;
import mogo.telematics.pad.MessagePad;
import mogo_msg.MogoReportMsg;
/**
* Created by pangfan on 2021/8/19
*
* <p>
* 网约车 - 出租车业务逻辑处理
*/
public class MogoOCHTaxiModelNew {
@@ -106,10 +108,12 @@ public class MogoOCHTaxiModelNew {
private MogoOCHTaxiModelNew() {
}
public void setMoGoAutopilotPlanningListener(IOCHTaxiAutopilotPlanningCallback
moGoAutopilotPlanningCallback) {
this.mAutopilotPlanningCallback = moGoAutopilotPlanningCallback;
}
public void setADASStatusCallback(IOCHTaxiADASStatusCallback callback) {
this.mADASStatusCallback = callback;
}
@@ -126,7 +130,7 @@ public class MogoOCHTaxiModelNew {
this.mOrderStatusCallback = callback;
}
public void init( Context context ) {
public void init(Context context) {
mContext = context.getApplicationContext();
initListeners();
@@ -146,31 +150,31 @@ public class MogoOCHTaxiModelNew {
public void accept(Throwable e) {
if (e instanceof UndeliverableException) {
e = e.getCause();
Log.d(TAG,"UndeliverableException");
Log.d(TAG, "UndeliverableException");
}
if ((e instanceof IOException)) {//
// fine, irrelevant network problem or API that throws on cancellation
Log.d(TAG,"IOException");
Log.d(TAG, "IOException");
return;
}
if (e instanceof InterruptedException) {
// fine, some blocking code was interrupted by a dispose call
Log.d(TAG,"InterruptedException");
Log.d(TAG, "InterruptedException");
return;
}
if ((e instanceof NullPointerException) || (e instanceof IllegalArgumentException)) {
// that's likely a bug in the application
Log.d(TAG,"NullPointerException or IllegalArgumentException");
Log.d(TAG, "NullPointerException or IllegalArgumentException");
Thread.currentThread().getUncaughtExceptionHandler().uncaughtException(Thread.currentThread(), e);
return;
}
if (e instanceof IllegalStateException) {
// that's a bug in RxJava or in a custom operator
Log.d(TAG,"IllegalStateException");
Log.d(TAG, "IllegalStateException");
Thread.currentThread().getUncaughtExceptionHandler().uncaughtException(Thread.currentThread(), e);
return;
}
Log.d(TAG,"Undeliverable exception");
Log.d(TAG, "Undeliverable exception");
}
});
@@ -180,7 +184,7 @@ public class MogoOCHTaxiModelNew {
}
}
public void startOrStopOrderLoop(){
public void startOrStopOrderLoop() {
if (NetworkUtils.isConnected(mContext)) {
startOrStopOrderLoop(mOCHCarStatus == 1);
}
@@ -195,26 +199,26 @@ public class MogoOCHTaxiModelNew {
MogoApisHandler.getInstance()
.getApis()
.getSocketManagerApi(mContext)
.registerLifecycleListener(10010,mSocketLifeCycleLisnter);
.registerLifecycleListener(10010, mSocketLifeCycleLisnter);
// 2021.11.1重构自动驾驶 实现接口 IMoGoAutopilotStatusListener 注册监听 替换IMogoAdasOCHCallback接口
CallerAutoPilotStatusListenerManager.INSTANCE.addListener(TAG, mGoAutopilotStatusListener);
MogoApisHandler.getInstance()
.getApis()
.getIntentManagerApi()
.registerIntentListener( ConnectivityManager.CONNECTIVITY_ACTION, mNetWorkIntentListener );
.registerIntentListener(ConnectivityManager.CONNECTIVITY_ACTION, mNetWorkIntentListener);
MogoApisHandler.getInstance()
.getApis()
.getStatusManagerApi()
.registerStatusChangedListener( TAG, StatusDescriptor.VR_MODE, mMogoStatusChangedListener );
.registerStatusChangedListener(TAG, StatusDescriptor.VR_MODE, mMogoStatusChangedListener);
// 达到起始站围栏监听
MogoApisHandler.getInstance()
.getApis()
.getRegisterCenterApi()
.registerCarLocationChangedListener( TAG, mCarLocationChangedListener2);
.registerCarLocationChangedListener(TAG, mCarLocationChangedListener2);
//2021.11.1 自动驾驶路线规划接口
CallerAutopilotPlanningListenerManager.INSTANCE.addListener(TAG,moGoAutopilotPlanningListener);
CallerAutopilotPlanningListenerManager.INSTANCE.addListener(TAG, moGoAutopilotPlanningListener);
}
private void releaseListeners() {
@@ -275,13 +279,14 @@ public class MogoOCHTaxiModelNew {
}
@Override
public void onFail(int code, String msg) { }
public void onFail(int code, String msg) {
}
});
}
//更新出车收车状态
public void updateCarStatus() {
if ( mOCHCarStatus == -1){
if (mOCHCarStatus == -1) {
queryCarStatus();
return;
}
@@ -316,7 +321,7 @@ public class MogoOCHTaxiModelNew {
/**
* 查询订单状态：进行中/待服务（轮询防止因crash导致应用重启、断网没收到推送等）
*
* <p>
* 注：只有在本地缓存mCurrentOCHOrder为null时（已完成or已取消有明确结果）或id相同且status不同时，
* 才更新最新进行中单到本地
*/
@@ -424,7 +429,7 @@ public class MogoOCHTaxiModelNew {
//更新当前订单状态
public void updateOCHOrderStatus(final OrderStatusEnum orderStatus) {
if ( mCurrentOCHOrder == null ) {
if (mCurrentOCHOrder == null) {
return;
}
final long orderId = mCurrentOCHOrder.orderId;
@@ -550,7 +555,7 @@ public class MogoOCHTaxiModelNew {
/**
* 查询新到预约单
*
* <p>
* 注：只有在本地缓存mNewBookingOrder为null时（执行完抢单or司机关闭改单），才更新新到待抢单
*/
public void queryNewBookingOrder() {
@@ -561,7 +566,7 @@ public class MogoOCHTaxiModelNew {
if (data != null && data.code == 0
&& data.data != null && data.data.orders.size() > 0) {
// 本地无新到单，且本次新到单id与上次收到的新单id不同时：显示本次新到单
if (mNewBookingOrder == null ) {
if (mNewBookingOrder == null) {
for (Long orderId : data.data.orders) {
if (mPrevOrderId != orderId.longValue()) {
queryNewBookingContent(orderId.longValue());
@@ -765,7 +770,7 @@ public class MogoOCHTaxiModelNew {
//检测当前订单
public boolean checkCurrentOCHOrder() {
if ( mCurrentOCHOrder != null
if (mCurrentOCHOrder != null
&& mCurrentOCHOrder.startSiteGcjPoint != null
&& mCurrentOCHOrder.endSiteGcjPoint != null) {
return true;
@@ -776,7 +781,7 @@ public class MogoOCHTaxiModelNew {
//以当前订单为基础，开启自动驾驶
public void startAutoPilot() {
if (!checkCurrentOCHOrder()) {
Logger.e( TAG, "no order or order is empty." );
Logger.e(TAG, "no order or order is empty.");
TipToast.shortTip("当前订单不存在或异常！");
return;
}
@@ -800,7 +805,7 @@ public class MogoOCHTaxiModelNew {
parameters.endLatLon = new AutopilotControlParameters.AutoPilotLonLat(endWgsLat, endWgsLon);
CallerAutoPilotManager.INSTANCE.startAutoPilot(parameters);
Logger.d(TAG, "start autopilot with parameter: %s", GsonUtil.jsonFromObject(parameters)
+" ,startSiteName="+ mCurrentOCHOrder.startSiteAddr+" ,endSiteName="+mCurrentOCHOrder.endSiteAddr);
+ " ,startSiteName=" + mCurrentOCHOrder.startSiteAddr + " ,endSiteName=" + mCurrentOCHOrder.endSiteAddr);
if (DebugConfig.isDebug()) {
// TipToast.shortTip("Start autopilot!");
}
@@ -814,7 +819,7 @@ public class MogoOCHTaxiModelNew {
try {
CallerAutoPilotManager.INSTANCE.cancelAutoPilot();
Logger.d(TAG, "结束自动驾驶");
} catch ( Exception e ) {
} catch (Exception e) {
e.printStackTrace();
}
}
@@ -829,7 +834,7 @@ public class MogoOCHTaxiModelNew {
double startLat = mCurrentOCHOrder.startSiteGcjPoint.get(1);
double distance = CoordinateUtils.calculateLineDistance(
startLon, startLat,
location.getLongitude(), location.getLatitude() );
location.getLongitude(), location.getLatitude());
if (DebugConfig.isDebug() && mCurrentOCHOrder.orderStatus == OrderStatusEnum.OnTheWayToStartStation.getCode()) {
// TipToast.shortTip("距离上车点：" + Double.valueOf(distance).intValue());
@@ -840,21 +845,21 @@ public class MogoOCHTaxiModelNew {
// mOrderStatusCallback.onCurrentOrderDistToStartChanged((long) distance, 0);
// }
if ( distance > OCHTaxiConst.ARRIVE_AT_START_STATION_DISTANCE ) {
if (distance > OCHTaxiConst.ARRIVE_AT_START_STATION_DISTANCE) {
distance = CoordinateUtils.calculateLineDistance(startLon, startLat,
MogoApisHandler.getInstance().getApis().getAdasControllerApi().getLastLon(),
MogoApisHandler.getInstance().getApis().getAdasControllerApi().getLastLat() );
MogoApisHandler.getInstance().getApis().getAdasControllerApi().getLastLat());
}
if ( distance <= OCHTaxiConst.ARRIVE_AT_START_STATION_DISTANCE ) {
updateOCHOrderStatus( OrderStatusEnum.ArriveAtStartStation);
if (distance <= OCHTaxiConst.ARRIVE_AT_START_STATION_DISTANCE) {
updateOCHOrderStatus(OrderStatusEnum.ArriveAtStartStation);
return;
}
}
// TODO: 2021/9/12
public void calculateTravelDistance(Location carLocation){
if (checkCurrentOCHOrder() && mCurrentOCHOrder.endSiteGcjPoint.size()>0) {
public void calculateTravelDistance(Location carLocation) {
if (checkCurrentOCHOrder() && mCurrentOCHOrder.endSiteGcjPoint.size() > 0) {
double endLon = mCurrentOCHOrder.endSiteGcjPoint.get(0);
double endLat = mCurrentOCHOrder.endSiteGcjPoint.get(1);
double distance = CoordinateUtils.calculateLineDistance(
@@ -870,10 +875,10 @@ public class MogoOCHTaxiModelNew {
//监听网络变化，避免启动机器时无网导致无法更新订单信息
private IMogoIntentListener mNetWorkIntentListener = new IMogoIntentListener() {
@Override
public void onIntentReceived( String intentStr, Intent intent ) {
Logger.d( TAG, "onIntentReceived = %s", intentStr );
if ( ConnectivityManager.CONNECTIVITY_ACTION.equals( intentStr ) ) {
if ( NetworkUtils.isConnected( mContext ) ) {
public void onIntentReceived(String intentStr, Intent intent) {
Logger.d(TAG, "onIntentReceived = %s", intentStr);
if (ConnectivityManager.CONNECTIVITY_ACTION.equals(intentStr)) {
if (NetworkUtils.isConnected(mContext)) {
startOrStopOrderLoop(mOCHCarStatus == 1);
queryCarStatus();
}
@@ -895,20 +900,26 @@ public class MogoOCHTaxiModelNew {
private IMogoLifecycleListener mSocketLifeCycleLisnter = new IMogoLifecycleListener() {
@Override
public void onConnectFailure() { Logger.e(TAG,"socket onConnectFailure"); }
public void onConnectFailure() {
Logger.e(TAG, "socket onConnectFailure");
}
@Override
public void onConnectSuccess() { Logger.e(TAG,"socket onConnectSuccess"); }
public void onConnectSuccess() {
Logger.e(TAG, "socket onConnectSuccess");
}
@Override
public void onConnectLost() { Logger.e(TAG,"socket onConnectLost"); }
public void onConnectLost() {
Logger.e(TAG, "socket onConnectLost");
}
};
// 自车定位
private IMogoCarLocationChangedListener2 mCarLocationChangedListener2 = new IMogoCarLocationChangedListener2() {
@Override
public void onCarLocationChanged2( Location location ) {
public void onCarLocationChanged2(Location location) {
IMogoServiceApis apis = MogoApisHandler.getInstance().getApis();
MogoLocation mogoLocation = new MogoLocation();
mogoLocation.setAccuracy(location.getAccuracy());
@@ -970,13 +981,19 @@ public class MogoOCHTaxiModelNew {
}
updateOCHOrderStatus(OrderStatusEnum.OnTheWayToEndStation);
}
private IMoGoAutopilotStatusListener mGoAutopilotStatusListener = new IMoGoAutopilotStatusListener(){
private final IMoGoAutopilotStatusListener mGoAutopilotStatusListener = new IMoGoAutopilotStatusListener() {
@Override
public void onAutopilotGuardian(@Nullable MogoReportMsg.MogoReportMessage guardianInfo) {
}
@Override
public void onAutopilotStatusResponse(@NotNull AutopilotStatusInfo autopilotStatusInfo) {
if (autopilotStatusInfo == null) return;
int state = autopilotStatusInfo.getState();
Logger.d( TAG, "state = %s", state );
Logger.d(TAG, "state = %s", state);
if (state == IMoGoAutopilotStatusListener.STATUS_AUTOPILOT_RUNNING) {
if (mADASStatusCallback != null) mADASStatusCallback.onAutopilotRunning();
if (mCurrentOCHOrder != null
@@ -1018,12 +1035,7 @@ public class MogoOCHTaxiModelNew {
}
@Override
public void onAutopilotGuardian(@Nullable AutopilotGuardianStatusInfo autopilotGuardianStatusInfo) {
}
@Override
public void onAutopilotArriveAtStation(@Nullable AutopilotStationInfo data) {
public void onAutopilotArriveAtStation(MessagePad.ArrivalNotification data) {
if (data == null || !checkCurrentOCHOrder()
|| (getCurOrderStatus() == OrderStatusEnum.ArriveAtEndStation)) {
return;
@@ -1034,21 +1046,20 @@ public class MogoOCHTaxiModelNew {
updateOCHOrderStatus(OrderStatusEnum.ArriveAtEndStation);
}
};
private IMoGoAutopilotPlanningListener moGoAutopilotPlanningListener = new IMoGoAutopilotPlanningListener(){
private final IMoGoAutopilotPlanningListener moGoAutopilotPlanningListener = new IMoGoAutopilotPlanningListener() {
@Override
public void onAutopilotRotting(MessagePad.GlobalPathResp globalPathResp) {
if (null != globalPathResp && globalPathResp.getWayPointsList().size() > 0) {
mAutopilotPlanningCallback.routeResult(globalPathResp.getWayPointsList());
}
}
@Override
public void onAutopilotTrajectory(ArrayList<ADASTrajectoryInfo> trajectoryInfos) {
}
@Override
public void onAutopilotRotting(AutopilotRouteInfo routeList) {
if (null != routeList && routeList.getModels() != null){
mAutopilotPlanningCallback.routeResult(routeList.getModels());
}
}
};
/**
* END
*/
}

5
OCH/mogo-och-taxi/src/main/java/com/mogo/och/taxi/presenter/OCHTaxiPresenter.java
View File

@@ -30,6 +30,8 @@ import org.jetbrains.annotations.NotNull;
import java.util.List;
import mogo.telematics.pad.MessagePad;
/**
* @author congtaowang
* @since 2021/1/18
@@ -252,8 +254,9 @@ public class OCHTaxiPresenter extends Presenter<OCHTaxiFragment> implements IOCH
mView.updateLocation(location.getLatitude(),location.getLongitude());
}
}
@Override
public void routeResult(List<AutopilotRouteInfo.RouteModels> models) {
public void routeResult(List<MessagePad.Location> models) {
if (models != null && models.size() > 0) mView.routeResult(models);
}
}

63
OCH/mogo-och-taxi/src/main/java/com/mogo/och/taxi/ui/BaseOchTaxiTabFragment.java
View File

@@ -3,7 +3,6 @@ package com.mogo.och.taxi.ui;
import android.animation.ObjectAnimator;
import android.content.Intent;
import android.graphics.drawable.AnimationDrawable;
import android.os.Bundle;
import android.os.Handler;
import android.os.Looper;
import android.util.Log;
@@ -16,7 +15,6 @@ import android.widget.LinearLayout;
import android.widget.RelativeLayout;
import android.widget.TextView;
import androidx.annotation.NonNull;
import androidx.annotation.Nullable;
import androidx.constraintlayout.widget.Group;
import androidx.fragment.app.FragmentTransaction;
@@ -27,11 +25,8 @@ import com.mogo.commons.mvp.IView;
import com.mogo.commons.mvp.MvpFragment;
import com.mogo.commons.mvp.Presenter;
import com.mogo.commons.voice.AIAssist;
import com.mogo.eagle.core.data.autopilot.AutoPilotRecordResult;
import com.mogo.eagle.core.data.autopilot.AutopilotControlParameters;
import com.mogo.eagle.core.data.autopilot.AutopilotWarnMessage;
import com.mogo.eagle.core.data.config.HmiBuildConfig;
import com.mogo.eagle.core.data.traffic.TrafficData;
import com.mogo.eagle.core.function.api.autopilot.IMoGoAutopilotIdentifyListener;
import com.mogo.eagle.core.function.api.autopilot.IMoGoAutopilotStatusListener;
import com.mogo.eagle.core.function.call.autopilot.CallerAutoPilotManager;
@@ -48,7 +43,8 @@ import com.mogo.module.common.constants.DataTypes;
import com.mogo.module.common.view.OnPreventFastClickListener;
import com.mogo.och.taxi.R;
import java.util.ArrayList;
import mogo.telematics.pad.MessagePad;
import record_cache.RecordPanelOuterClass;
/**
@@ -71,7 +67,7 @@ public abstract class BaseOchTaxiTabFragment<V extends IView, P extends Presente
private ImageView mAutopilotImage;
private TextView mAutopilotTv;
private LinearLayout mMapswitchBtn;
private ImageView mCloseNaviIcon;
private ImageView mCloseNaviIcon;
protected LinearLayout mPersonalBtn;
protected RelativeLayout mSettingBtn;
protected ImageView mBadcaseBtn;
@@ -106,7 +102,7 @@ public abstract class BaseOchTaxiTabFragment<V extends IView, P extends Presente
// onAutopilotStatusChanged(false);
// });
mSpeedView.setOnLongClickListener(v -> {
Log.d(TAG,"长按显示状态工具栏");
Log.d(TAG, "长按显示状态工具栏");
Intent intent = new Intent();
intent.putExtra("oper", 52);
MogoApisHandler.getInstance().getApis().getIntentManagerApi().invoke("com.mogo.mock", intent);
@@ -176,7 +172,7 @@ public abstract class BaseOchTaxiTabFragment<V extends IView, P extends Presente
// if (DebugConfig.isDebug()) {
// ctvAutopilotStatus.setOnLongClickListener(v -> {
// if (groupTestPanel.getVisibility() == View.VISIBLE) {
groupTestPanel.setVisibility(View.GONE);
groupTestPanel.setVisibility(View.GONE);
// } else {
// groupTestPanel.setVisibility(View.VISIBLE);
// }
@@ -234,9 +230,9 @@ public abstract class BaseOchTaxiTabFragment<V extends IView, P extends Presente
AutopilotControlParameters currentAutopilot = new AutopilotControlParameters();
currentAutopilot.isSpeakVoice = true;
// 万集东门站
currentAutopilot.startLatLon = new AutopilotControlParameters.AutoPilotLonLat(40.194795425,116.724476409);
currentAutopilot.startLatLon = new AutopilotControlParameters.AutoPilotLonLat(40.194795425, 116.724476409);
// 市政府前街18号
currentAutopilot.endLatLon = new AutopilotControlParameters.AutoPilotLonLat(40.1939540844,116.720067);
currentAutopilot.endLatLon = new AutopilotControlParameters.AutoPilotLonLat(40.1939540844, 116.720067);
// 订单运营类型 （9出租车，10小巴）
currentAutopilot.vehicleType = 10;
Logger.d(TAG, "模拟 订单站点下发：" + currentAutopilot);
@@ -251,11 +247,12 @@ public abstract class BaseOchTaxiTabFragment<V extends IView, P extends Presente
showNaviToStartStationFragment(false);
});
}
protected void onChangeOperationStatus() {
}
protected void onGoToTaxiOrders(){
protected void onGoToTaxiOrders() {
}
@@ -267,19 +264,16 @@ public abstract class BaseOchTaxiTabFragment<V extends IView, P extends Presente
}
}
@Override
public void onAutopilotIdentifyDataUpdate(@Nullable ArrayList<TrafficData> trafficData) { }
@Override
public void onAutopilotRecordResult(@Nullable AutoPilotRecordResult record) {
if (!HmiBuildConfig.isShowBadCaseView && record != null && record.getType() == 1 && record.getStat() == 100) {
CallerDevaToolsManager.INSTANCE.onReceiveBadCaseRecord(record);
public void onAutopilotRecordResult(@Nullable RecordPanelOuterClass.RecordPanel recordPanel) {
if (!HmiBuildConfig.isShowBadCaseView && recordPanel != null && recordPanel.getType() == 1 && recordPanel.getStat() == 100) {
CallerDevaToolsManager.INSTANCE.onReceiveBadCaseRecord(recordPanel);
}
}
@Override
public void onAutopilotWarnMessage(@Nullable AutopilotWarnMessage autopilotWarnMessage) { }
public void onAutopilotWarnMessage(MessagePad.Warn warn) {
}
public void showNotice(String notice) {
getActivity().runOnUiThread(() -> {
@@ -293,6 +287,7 @@ public abstract class BaseOchTaxiTabFragment<V extends IView, P extends Presente
* @param status 2 - running 1 - enable 2 - disable
*/
private int mPrevAPStatus = -1;
public void onAutopilotStatusChanged(int status) {
getActivity().runOnUiThread(() -> {
if (isStarting && IMoGoAutopilotStatusListener.STATUS_AUTOPILOT_RUNNING != status) {
@@ -321,7 +316,8 @@ public abstract class BaseOchTaxiTabFragment<V extends IView, P extends Presente
});
}
private AnimationDrawable animationDrawable;
private AnimationDrawable animationDrawable;
public void AutopilotStatusAnimchanged(int status) {
// mAutopilotTv.setText(isInAutopilot?"自动驾驶":"开启自动驾驶");
if (IMoGoAutopilotStatusListener.STATUS_AUTOPILOT_RUNNING == status) {
@@ -338,12 +334,12 @@ public abstract class BaseOchTaxiTabFragment<V extends IView, P extends Presente
}
animationDrawable.selectDrawable(0);
animationDrawable.start();
} else if (IMoGoAutopilotStatusListener.STATUS_AUTOPILOT_ENABLE == status){
} else if (IMoGoAutopilotStatusListener.STATUS_AUTOPILOT_ENABLE == status) {
ctvAutopilotStatus.setClickable(true);
mAutopilotTv.setText("自动驾驶");
mAutopilotTv.setTextColor(getResources().getColor(R.color.taxi_autopilot_text_color_normal));
mAutopilotImage.setImageResource(R.drawable.taxi_ic_autopilot);
if (animationDrawable != null){
if (animationDrawable != null) {
animationDrawable.selectDrawable(0);
animationDrawable.stop();
}
@@ -354,7 +350,7 @@ public abstract class BaseOchTaxiTabFragment<V extends IView, P extends Presente
mAutopilotTv.setText("自动驾驶");
mAutopilotTv.setTextColor(getResources().getColor(R.color.taxi_autopilot_text_color_disable));
mAutopilotImage.setImageResource(R.drawable.taxi_ic_autopilot_disable);
if (animationDrawable != null){
if (animationDrawable != null) {
animationDrawable.selectDrawable(0);
animationDrawable.stop();
}
@@ -390,6 +386,7 @@ public abstract class BaseOchTaxiTabFragment<V extends IView, P extends Presente
private boolean isStarting = false;
private ObjectAnimator autopilotLoadingAnimator;
public void startOrStopLoadingAnim(boolean start) {
if (start) {
isStarting = true;
@@ -463,14 +460,14 @@ public abstract class BaseOchTaxiTabFragment<V extends IView, P extends Presente
public abstract void restartAutopilot();
public void changeOperationViewVisible(int visible){
public void changeOperationViewVisible(int visible) {
getActivity().runOnUiThread(() -> {
if (tvOperationStatus == null) return;
tvOperationStatus.setVisibility(visible);
});
}
public void updateSpeedView(float newSpeed){
public void updateSpeedView(float newSpeed) {
int speed = (int) (Math.abs(newSpeed) * 3.6F); // 倒车时工控机反馈定位信息中speed为负值
mSpeedView.setText(String.valueOf(speed));
}
@@ -490,22 +487,22 @@ public abstract class BaseOchTaxiTabFragment<V extends IView, P extends Presente
// CallerHmiManager.INSTANCE.setCheckStatusViewVisibility(View.GONE);
// }
protected void showNaviToStartStationFragment(boolean isShow){
protected void showNaviToStartStationFragment(boolean isShow) {
FragmentTransaction transaction = getChildFragmentManager().beginTransaction();
if (isShow){
if (isShow) {
// if (ochNaviFragment == null){
ochNaviFragment = OCHNaviFragment.newInstance();
ochNaviFragment = OCHNaviFragment.newInstance();
// }
if (ochNaviFragment.isAdded()){
if (ochNaviFragment.isAdded()) {
return;
}
transaction.add(R.id.module_mogo_och_navi_panel_container,ochNaviFragment).show(ochNaviFragment);
transaction.add(R.id.module_mogo_och_navi_panel_container, ochNaviFragment).show(ochNaviFragment);
transaction.commitAllowingStateLoss();
mCloseNaviIcon.setVisibility(View.VISIBLE);
flNaviPanelContainer.setVisibility(View.VISIBLE);
CallerSmpManager.hidePanel();//隐藏小地图
}else {
if (ochNaviFragment != null){
} else {
if (ochNaviFragment != null) {
ochNaviFragment.onDestroy();
transaction.remove(ochNaviFragment);
transaction.commitAllowingStateLoss();

11
OCH/mogo-och-taxi/src/main/java/com/mogo/och/taxi/ui/OCHTaxiFragment.java
View File

@@ -6,6 +6,7 @@ import android.view.View;
import android.widget.TextView;
import androidx.annotation.NonNull;
import androidx.annotation.Nullable;
import androidx.annotation.RequiresApi;
import androidx.fragment.app.FragmentTransaction;
@@ -22,8 +23,11 @@ import com.mogo.och.taxi.presenter.OCHTaxiPresenter;
import com.mogo.och.taxi.utils.PinYinUtil;
import java.lang.ref.WeakReference;
import java.util.ArrayList;
import java.util.List;
import mogo.telematics.pad.MessagePad;
/**
* @author congtaowang
* @since 2021/1/18
@@ -168,7 +172,7 @@ public class OCHTaxiFragment extends BaseOchTaxiTabFragment<OCHTaxiFragment, OCH
personalDialogFragment.get().show(getActivity().getSupportFragmentManager(),"service_data");
}
public void routeResult(List<AutopilotRouteInfo.RouteModels> routeList) {
public void routeResult(List<MessagePad.Location> routeList) {
if (routeList == null ) return;
// double distance = calculateTravelDistance(mogoLocation,routeList);
// if ( MogoOCHTaxiModel.getInstance().checkCurrentOCHOrder() ) {
@@ -330,4 +334,9 @@ public class OCHTaxiFragment extends BaseOchTaxiTabFragment<OCHTaxiFragment, OCH
testBar.setVisibility(View.VISIBLE);
}
}
@Override
public void onAutopilotIdentifyDataUpdate(ArrayList<MessagePad.TrackedObject> trafficData) {
}
}

50
app/src/androidTest/java/com/mogo/functions/test/AutoPilotBadCaseTest.kt
View File

@@ -11,6 +11,7 @@ import kotlinx.coroutines.flow.*
import org.junit.Before
import org.junit.Test
import org.junit.runner.RunWith
import record_cache.RecordPanelOuterClass
import java.text.SimpleDateFormat
import java.util.*
import java.util.concurrent.TimeUnit
@@ -20,14 +21,15 @@ import kotlin.random.Random
@LargeTest
class AutoPilotBadCaseTest {
lateinit var launch: ActivityScenario<MainLauncherActivity>
private lateinit var launch: ActivityScenario<MainLauncherActivity>
@Before
fun launch() {
launch = ActivityScenario.launch(MainLauncherActivity::class.java)
}
@ExperimentalCoroutinesApi @Test
@ExperimentalCoroutinesApi
@Test
fun showBadCaseEntrance1(): Unit = runBlocking(Dispatchers.Main) {
delay(5000)
var index = 0
@@ -36,17 +38,19 @@ class AutoPilotBadCaseTest {
.asFlow()
.onEach {
delay(TimeUnit.SECONDS.toMillis(5))
CallerDevaToolsManager.onReceiveBadCaseRecord(AutoPilotRecordResult().also {
val builder = RecordPanelOuterClass.RecordPanel.newBuilder()
builder.also {
it.diskFree = (100 + index).toLong()
it.duration = 60.0
it.fileName = "/user/general/record_$index.log"
it.duration = 60.0.toFloat()
it.filename = "/user/general/record_$index.log"
it.id = 10 + index
it.key = "yyy_$index"
it.key = index.toLong()
it.stat = 100
it.type = 1
it.timestamp = SimpleDateFormat("yyyyMMddHHmmss").format(Date())
index++
})
}
CallerDevaToolsManager.onReceiveBadCaseRecord(builder.build())
}
.flowOn(Dispatchers.Default)
.collect()
@@ -54,8 +58,9 @@ class AutoPilotBadCaseTest {
}
@ExperimentalCoroutinesApi @Test
fun showBadCaseEntrance2():Unit = runBlocking(Dispatchers.Main) {
@ExperimentalCoroutinesApi
@Test
fun showBadCaseEntrance2(): Unit = runBlocking(Dispatchers.Main) {
delay(5000)
var index = 0
(1 until 50)
@@ -67,24 +72,27 @@ class AutoPilotBadCaseTest {
} else {
delay(Random(20).nextLong())
}
CallerDevaToolsManager.onReceiveBadCaseRecord(AutoPilotRecordResult().also {
val builder = RecordPanelOuterClass.RecordPanel.newBuilder()
builder.also {
it.diskFree = (100 + index).toLong()
it.duration = 60.0
it.fileName = "/user/general/record_$index.log"
it.duration = 60.0.toFloat()
it.filename = "/user/general/record_$index.log"
it.id = 10 + index
it.key = "yyy_$index"
it.key = index.toLong()
it.stat = 100
it.type = 1
it.timestamp = SimpleDateFormat("yyyyMMddHHmmss").format(Date())
index++
})
}
CallerDevaToolsManager.onReceiveBadCaseRecord(builder.build())
}
.flowOn(Dispatchers.Default)
.collect()
delay(TimeUnit.HOURS.toMillis(2))
}
@ExperimentalCoroutinesApi @Test
@ExperimentalCoroutinesApi
@Test
fun showBadCaseEntrance3(): Unit = runBlocking(Dispatchers.Main) {
var index = 0
(1 until 50)
@@ -92,17 +100,19 @@ class AutoPilotBadCaseTest {
.asFlow()
.onEach {
delay(TimeUnit.SECONDS.toMillis(20))
CallerDevaToolsManager.onReceiveBadCaseRecord(AutoPilotRecordResult().also {
val builder = RecordPanelOuterClass.RecordPanel.newBuilder()
builder.also {
it.diskFree = (100 + index).toLong()
it.duration = 60.0
it.fileName = "/user/general/record_$index.log"
it.duration = 60.0.toFloat()
it.filename = "/user/general/record_$index.log"
it.id = 10 + index
it.key = "yyy_$index"
it.key = index.toLong()
it.stat = 100
it.type = 1
it.timestamp = SimpleDateFormat("yyyyMMddHHmmss").format(Date())
index++
})
}
CallerDevaToolsManager.onReceiveBadCaseRecord(builder.build())
}
.flowOn(Dispatchers.Default)
.collect()

1
app/src/main/AndroidManifest.xml
View File

@@ -13,6 +13,7 @@
android:label="@string/app_shell_name"
android:largeHeap="true"
android:resizeableActivity="false"
android:usesCleartextTraffic="true"
android:supportsRtl="true"
android:theme="@style/AppTheme.App"
tools:replace="android:label">

2
app/src/main/java/com/mogo/launcher/MogoApplication.java
View File

@@ -38,7 +38,7 @@ public class MogoApplication extends MainMoGoApplication {
@Override
protected void initCloudClientConfig() {
// todo 使用旧Socket链路 true = 旧链路，false = 新链路
// 使用旧Socket链路 true = 旧链路，false = 新链路
if (DebugConfig.getProductFlavor().equals("fPadLenovoOchTaxi")
|| DebugConfig.getProductFlavor().equals("fPadLenovoOchBus")
|| DebugConfig.getProductFlavor().equals("fPadLenovoOchTaxiPassenger")

2
build.gradle
View File

@@ -1,8 +1,8 @@
// Top-level build file where you can add configuration options common to all sub-projects/modules.
apply from: "config.gradle"
apply from: "javadoc.gradle"
buildscript {
buildscript {
repositories {
maven { url 'https://maven.aliyun.com/nexus/content/groups/public/' }

59
core/function-impl/mogo-core-function-autopilot/src/main/java/com/mogo/eagle/core/function/autopilot/MoGoAutopilotProvider.kt
View File

@@ -20,7 +20,6 @@ import com.mogo.eagle.core.function.call.map.CallerMapDataCollectorManager
import com.mogo.eagle.core.utilcode.mogo.AppIdentityModeUtils
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
import com.mogo.eagle.core.utilcode.util.ThreadUtils
import com.mogo.eagle.core.utilcode.util.ToastUtils
import com.mogo.telematic.MogoProtocolMsg
@@ -35,7 +34,6 @@ import com.zhidao.support.adas.high.bean.IPCUpgradeInfo
import com.zhidao.support.adas.high.common.Constants
import com.zhidao.support.adas.high.common.CupidLogUtils
import io.netty.channel.Channel
import java.util.*
import java.util.concurrent.TimeUnit
@@ -59,17 +57,16 @@ class MoGoAutopilotProvider :
mContext = context
// 初始化ADAS 域控制器
CupidLogUtils.setEnableLog(false)
CupidLogUtils.setIsWriteLog(false)
// TODO 临时方案，根据不同的身份标识，连接不同的工控机IP
if (AppIdentityModeUtils.isDriver(FunctionBuildConfig.appIdentityMode)) {// 司机
// 注册地图采集功能
CallerMapDataCollectorManager.registerOnMapCollectTaskListener(this)
// "192.168.1.102"
val options = AdasOptions.Builder()
.setIpcConnectionMode(AdasOptions.IPC_CONNECTION_MODE.FIXATION)
.setIpcFixationIP(AdasManager.getInstance().getIPCFixationIPList(mContext))
.setClient(false)
.build()
.setIpcConnectionMode(AdasOptions.IPC_CONNECTION_MODE.FIXATION)
.setIpcFixationIP(AdasManager.getInstance().getIPCFixationIPList(mContext))
.setClient(false)
.build()
AdasManager.getInstance().create(options, MoGoAdasMsgConnectStatusListenerImpl())
NSDNettyManager.getInstance().startNSDNettyServerWithSN(context, object :
@@ -103,9 +100,9 @@ class MoGoAutopilotProvider :
//FunctionBuildConfig.isIgnoreConditionsDrawAutopilotTrajectoryData = true
// "192.168.1.103"
val options = AdasOptions
.Builder()
.setClient(true)
.build()
.Builder()
.setClient(true)
.build()
AdasManager.getInstance().create(options, MoGoAdasMsgConnectStatusListenerImpl())
NSDNettyManager.getInstance()
.searchAndConnectServer(context, MoGoAiCloudClientConfig.getInstance().sn, object :
@@ -175,8 +172,9 @@ class MoGoAutopilotProvider :
SharedPrefsMgr.getInstance(it).putString(MoGoConfig.AUTOPILOT_IP, autoPilotIp)
}
// 设置IP地址
AdasManager.getInstance().adasOptions.setIpcConnectionMode(AdasOptions.IPC_CONNECTION_MODE.ASSIGN)
AdasManager.getInstance().adasOptions.setIpcAssignIP(autoPilotIp)
AdasManager.getInstance().adasOptions.ipcConnectionMode =
AdasOptions.IPC_CONNECTION_MODE.ASSIGN
AdasManager.getInstance().adasOptions.ipcAssignIP = autoPilotIp
// 打开通讯连接
AdasManager.getInstance().connect()
return ""
@@ -201,7 +199,7 @@ class MoGoAutopilotProvider :
override fun startAutoPilot(result: AutopilotControlParameters) {
if (AdasManager.getInstance().ipcConnectionStatus == Constants.IPC_CONNECTION_STATUS.CONNECTED) {
val parameter = AutopilotControlCmdParameter("aiCloudToStartAutopilot", result)
AdasManager.getInstance().aiCloudToAdasData(GsonUtils.toJson(parameter))
// AdasManager.getInstance().aiCloudToAdasData(GsonUtils.toJson(parameter)) //todo pb : 需要指定来源
} else {
Logger.e(TAG, "车机与工控机链接失败，无法开启自动驾驶")
}
@@ -213,7 +211,7 @@ class MoGoAutopilotProvider :
override fun cancelAutoPilot() {
if (AdasManager.getInstance().ipcConnectionStatus == Constants.IPC_CONNECTION_STATUS.CONNECTED) {
AdasManager.getInstance().controlAutopilotCarHead()
// AdasManager.getInstance().controlAutopilotCarHead() //todo pb : 需要指定来源
} else {
Logger.e(TAG, "车机与工控机链接失败，无法断开自动驾驶")
}
@@ -221,35 +219,31 @@ class MoGoAutopilotProvider :
override fun recordPackage(): Boolean {
return AdasManager.getInstance()
.recordPackage(1, (System.currentTimeMillis() / 1000).toInt())
.startRecordPackage((System.currentTimeMillis() / 1000).toInt(), 1)
}
override fun recordPackage(type: Int, id: Int): Boolean {
return AdasManager.getInstance().recordPackage(type, id)
return AdasManager.getInstance().startRecordPackage(id, type)
}
override fun recordPackage(type: Int, id: Int, duration: Int): Boolean {
return AdasManager.getInstance().recordPackage(type, id, duration)
return AdasManager.getInstance().startRecordPackage(id, duration, type)
}
override fun stopRecord(type: Int, id: Int): Boolean {
return AdasManager.getInstance().stopRecord(type, id)
return AdasManager.getInstance().stopRecordPackage(id, type)
}
override fun setEnableLog(isEnableLog: Boolean) {
CupidLogUtils.setEnableLog(isEnableLog)
}
override fun setIsWriteLog(isWriteLog: Boolean) {
CupidLogUtils.setIsWriteLog(isWriteLog)
}
override fun onDestroy() {
CallerMapDataCollectorManager.unRegisterOnMapCollectTaskListener(this)
}
override fun setAutoPilotSpeed(speed: Int): Boolean {
return AdasManager.getInstance().setSpeed(speed)
return AdasManager.getInstance().sendAutopilotSpeedReq(speed.toDouble())
}
override fun setIPCShutDown() {
@@ -261,21 +255,24 @@ class MoGoAutopilotProvider :
}
override fun recordCause(key: String?, name: String?, id: String?, reason: String?) {
AdasManager.getInstance().recordCause(key, name, id, reason)
key?.let {
AdasManager.getInstance()
.sendRecordCause(it.toLong(), name ?: "", id ?: "", reason ?: "")
}
}
/**
* 工控机升级确认
*/
override fun setIPCUpgradeAffirm() {
AdasManager.getInstance().sendBaseInfo(IPCUpgradeInfo.affirm());
AdasManager.getInstance().sendBaseInfo(IPCUpgradeInfo.affirm())
}
/**
* 工控机升级取消
*/
override fun setIPCUpgradeCancel() {
AdasManager.getInstance().sendBaseInfo(IPCUpgradeInfo.cancel());
AdasManager.getInstance().sendBaseInfo(IPCUpgradeInfo.cancel())
}
/**
@@ -285,22 +282,22 @@ class MoGoAutopilotProvider :
*/
override fun setDemoMode(isEnable: Boolean) {
if (isEnable) {
AdasManager.getInstance().enableDemoMode()
AdasManager.getInstance().sendDemoModeReq(1)
} else {
AdasManager.getInstance().disableDemoMode()
AdasManager.getInstance().sendDemoModeReq(0)
}
}
/**
* 办公室调试使用，强制开启自动驾驶，将 status，pilotmode，control_pilotmode，强追设置为 1
* 办公室调试使用，强制开启自动驾驶，将 status，pilotMode，control_pilotMode，强追设置为 1
* isEnable = true 开启
* isEnable = false 关闭
*/
override fun setControlAutopilotCarAuto(isEnable: Boolean) {
if (isEnable) {
AdasManager.getInstance().controlAutopilotCarAuto()
// AdasManager.getInstance().sendAutoPilotModeReq() //todo pb : 需要指定来源
} else {
AdasManager.getInstance().controlAutopilotCarHead()
// AdasManager.getInstance().sendAutoPilotModeReq() //todo pb : 需要指定来源
}
}
}

310
core/function-impl/mogo-core-function-autopilot/src/main/java/com/mogo/eagle/core/function/autopilot/adapter/MoGoAdasListenerImpl.kt Normal file
View File

@@ -0,0 +1,310 @@
package com.mogo.eagle.core.function.autopilot.adapter
import chassis.VehicleStateOuterClass
import com.mogo.eagle.core.data.autopilot.ADASTrajectoryInfo
import com.mogo.eagle.core.data.config.FunctionBuildConfig
import com.mogo.eagle.core.data.config.HdMapBuildConfig
import com.mogo.eagle.core.data.deva.chain.ChainConstant.Companion.CHAIN_ALIAS_CODE_ADAS_MESSAGE_AUTOPILOT_ARRIVE
import com.mogo.eagle.core.data.deva.chain.ChainConstant.Companion.CHAIN_ALIAS_CODE_ADAS_MESSAGE_AUTOPILOT_GUARDIAN
import com.mogo.eagle.core.data.deva.chain.ChainConstant.Companion.CHAIN_ALIAS_CODE_ADAS_MESSAGE_AUTOPILOT_RECORD
import com.mogo.eagle.core.data.deva.chain.ChainConstant.Companion.CHAIN_ALIAS_CODE_ADAS_MESSAGE_AUTOPILOT_ROUTE
import com.mogo.eagle.core.data.deva.chain.ChainConstant.Companion.CHAIN_ALIAS_CODE_ADAS_MESSAGE_AUTOPILOT_STATUS
import com.mogo.eagle.core.data.deva.chain.ChainConstant.Companion.CHAIN_ALIAS_CODE_ADAS_MESSAGE_AUTOPILOT_TRAJECTORY
import com.mogo.eagle.core.data.deva.chain.ChainConstant.Companion.CHAIN_ALIAS_CODE_ADAS_MESSAGE_AUTOPILOT_WARN
import com.mogo.eagle.core.data.deva.chain.ChainConstant.Companion.CHAIN_ALIAS_CODE_ADAS_MESSAGE_CAR_STATE
import com.mogo.eagle.core.data.deva.chain.ChainConstant.Companion.CHAIN_ALIAS_CODE_ADAS_MESSAGE_RECT_DATA
import com.mogo.eagle.core.data.deva.chain.ChainConstant.Companion.CHAIN_LINK_ADAS
import com.mogo.eagle.core.data.deva.chain.ChainConstant.Companion.CHAIN_LINK_LOG_WEB_SOCKET_DATA
import com.mogo.eagle.core.function.call.autopilot.CallerAutoPilotStatusListenerManager.getAutoPilotStatusInfo
import com.mogo.eagle.core.function.call.autopilot.CallerAutoPilotStatusListenerManager.invokeArriveAtStation
import com.mogo.eagle.core.function.call.autopilot.CallerAutoPilotStatusListenerManager.invokeAutoPilotStatus
import com.mogo.eagle.core.function.call.autopilot.CallerAutoPilotStatusListenerManager.invokeAutopilotGuardian
import com.mogo.eagle.core.function.call.autopilot.CallerAutoPilotStatusListenerManager.invokeAutopilotSNRequest
import com.mogo.eagle.core.function.call.autopilot.CallerAutopilotCarConfigListenerManager.invokeAutopilotCarConfigData
import com.mogo.eagle.core.function.call.autopilot.CallerAutopilotCarStatusListenerManager.invokeAutopilotCarStateData
import com.mogo.eagle.core.function.call.autopilot.CallerAutopilotIdentifyListenerManager.invokeAutopilotIdentifyDataUpdate
import com.mogo.eagle.core.function.call.autopilot.CallerAutopilotIdentifyListenerManager.invokeAutopilotRecordResult
import com.mogo.eagle.core.function.call.autopilot.CallerAutopilotIdentifyListenerManager.invokeAutopilotWarnMessage
import com.mogo.eagle.core.function.call.autopilot.CallerAutopilotPlanningListenerManager.invokeAutopilotRotting
import com.mogo.eagle.core.function.call.autopilot.CallerAutopilotPlanningListenerManager.invokeAutopilotTrajectory
import com.mogo.eagle.core.function.call.autopilot.CallerAutopilotVehicleStateListenerManager
import com.mogo.eagle.core.function.call.hmi.CallerHmiManager
import com.mogo.eagle.core.function.call.hmi.CallerHmiManager.showAdUpgradeStatus
import com.mogo.eagle.core.function.call.hmi.CallerHmiManager.showDockerRebootResult
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.zhidao.support.adas.high.AdasManager
import com.zhidao.support.adas.high.OnAdasListener
import com.zhidao.support.adas.high.bean.IPCUpgradeStateInfo
import com.zhidao.support.adas.high.bean.SSHResult
import com.zhidao.support.adas.high.common.ProtocolStatus
import com.zhjt.service.chain.ChainLog
import com.zhjt.service.chain.TracingConstants.Endpoint.Companion.PAD
import mogo.telematics.pad.MessagePad
import mogo.telematics.pad.MessagePad.TrackedObject
import mogo_msg.MogoReportMsg
import record_cache.RecordPanelOuterClass
import java.util.*
/**
* @author emarrow
* @since 2022/3/11
*
*
* 适配ADAS 回调监听分发，这里不做业务，只做数据包装及分发处理
*/
class MoGoAdasListenerImpl : OnAdasListener {
companion object {
const val TAG = "OnAdasListenerAdapter"
}
@ChainLog(
linkCode = CHAIN_LINK_ADAS,
endpoint = PAD,
nodeAliasCode = CHAIN_ALIAS_CODE_ADAS_MESSAGE_AUTOPILOT_TRAJECTORY,
paramIndexes = [0, 1],
clientPkFileName = "sn"
)
override fun onTrajectory(header: MessagePad.Header, trajectory: MessagePad.Trajectory?) {
if (HdMapBuildConfig.isMapLoaded) {
val trajectoryInfoArrayList = ArrayList<ADASTrajectoryInfo>()
if (trajectory != null && trajectory.pointsList.size > 0) {
for (trajectory in trajectory.pointsList) {
val adasTrajectoryInfo = ADASTrajectoryInfo()
adasTrajectoryInfo.lat = trajectory.latitude
adasTrajectoryInfo.lon = trajectory.longitude
adasTrajectoryInfo.acceleration = trajectory.acceleration
adasTrajectoryInfo.accumulatedDis = trajectory.accumulatedDis
adasTrajectoryInfo.time = trajectory.time
adasTrajectoryInfo.velocity = trajectory.velocity
adasTrajectoryInfo.alt = trajectory.altitude
adasTrajectoryInfo.kappa = trajectory.kappa
adasTrajectoryInfo.theta = trajectory.theta
trajectoryInfoArrayList.add(adasTrajectoryInfo)
}
}
invokeAutopilotTrajectory(trajectoryInfoArrayList)
}
}
@ChainLog(
linkCode = CHAIN_LINK_ADAS,
linkChainLog = CHAIN_LINK_LOG_WEB_SOCKET_DATA,
endpoint = PAD,
nodeAliasCode = CHAIN_ALIAS_CODE_ADAS_MESSAGE_RECT_DATA,
paramIndexes = [0, 1],
clientPkFileName = "sn"
)
override fun onTrackedObjects(
header: MessagePad.Header,
trackedObjects: MessagePad.TrackedObjects
) {
if (HdMapBuildConfig.isMapLoaded) {
invokeAutopilotIdentifyDataUpdate(trackedObjects.objsList as ArrayList<TrackedObject>?)
}
}
@ChainLog(
linkCode = CHAIN_LINK_ADAS,
linkChainLog = CHAIN_LINK_LOG_WEB_SOCKET_DATA,
endpoint = PAD,
nodeAliasCode = CHAIN_ALIAS_CODE_ADAS_MESSAGE_CAR_STATE,
paramIndexes = [0, 1],
clientPkFileName = "sn"
)
override fun onGnssInfo(header: MessagePad.Header, gnssInfo: MessagePad.GnssInfo?) {
invokeAutopilotCarStateData(gnssInfo)
// 同步给MAP地图
if (gnssInfo != null) {
MogoApisHandler.getInstance().apis.adasControllerApi.lastLat = gnssInfo.latitude
MogoApisHandler.getInstance().apis.adasControllerApi.lastLon = gnssInfo.longitude
MogoApisHandler.getInstance().apis.adasControllerApi.satelliteTime =
java.lang.Double.valueOf(gnssInfo.satelliteTime).toLong()
if (1 == FunctionBuildConfig.gpsProvider) {
MarkerServiceHandler.getApis().mapServiceApi.mapUIController.syncLocation2Map(
gnssInfo
)
SnapshotLocationDataCenter.getInstance().syncAdasLocationInfo(gnssInfo)
}
}
}
override fun onVehicleState(
header: MessagePad.Header,
vehicleState: VehicleStateOuterClass.VehicleState?
) {
if (vehicleState != null) {
//转向灯数据
CallerAutopilotVehicleStateListenerManager.invokeAutopilotLightSwitchData(vehicleState.light)
//刹车灯数据
CallerAutopilotVehicleStateListenerManager.invokeAutopilotBrakeLightData(vehicleState.brakeLightStatus)
}
}
@ChainLog(
linkCode = CHAIN_LINK_ADAS,
linkChainLog = CHAIN_LINK_LOG_WEB_SOCKET_DATA,
endpoint = PAD,
nodeAliasCode = CHAIN_ALIAS_CODE_ADAS_MESSAGE_AUTOPILOT_STATUS,
paramIndexes = [0, 1],
clientPkFileName = "sn"
)
override fun onAutopilotState(
header: MessagePad.Header,
autopilotState: MessagePad.AutopilotState?
) {
if (autopilotState != null) {
if (HdMapBuildConfig.isMapLoaded) {
// 初始化自动驾驶状态信息
val autopilotStatusInfo = getAutoPilotStatusInfo()
autopilotStatusInfo.state = autopilotState.state
autopilotStatusInfo.pilotmode = autopilotState.autopilotMode
autopilotStatusInfo.reason = autopilotState.reason
autopilotStatusInfo.camera = autopilotState.camera
autopilotStatusInfo.rtk = autopilotState.rtk
autopilotStatusInfo.radar = autopilotState.radar
autopilotStatusInfo.speed = autopilotState.speed.toFloat()
autopilotStatusInfo.version = AdasManager.getInstance().apVersion
if (autopilotStatusInfo.connectIP == null) {
autopilotStatusInfo.connectIP = AdasManager.getInstance().ipcConnectedIp
}
if (autopilotStatusInfo.dockVersion == null) {
// autopilotStatusInfo.dockVersion =
// AdasManager.getInstance() //todo pb : get docker
}
invokeAutoPilotStatus()
}
}
}
@ChainLog(
linkCode = CHAIN_LINK_ADAS,
linkChainLog = CHAIN_LINK_LOG_WEB_SOCKET_DATA,
endpoint = PAD,
nodeAliasCode = CHAIN_ALIAS_CODE_ADAS_MESSAGE_AUTOPILOT_GUARDIAN,
paramIndexes = [0, 1],
clientPkFileName = "sn"
)
override fun onReportMessage(
header: MessagePad.Header,
mogoReportMessage: MogoReportMsg.MogoReportMessage?
) {
if (HdMapBuildConfig.isMapLoaded) {
invokeAutopilotGuardian(mogoReportMessage)
}
}
override fun onBasicInfoReq(
header: MessagePad.Header,
basicInfoReq: MessagePad.BasicInfoReq?
) {
invokeAutopilotSNRequest()
}
override fun onCarConfigResp(
header: MessagePad.Header,
carConfigResp: MessagePad.CarConfigResp?
) {
if (HdMapBuildConfig.isMapLoaded && carConfigResp != null) {
invokeAutopilotCarConfigData(carConfigResp)
}
}
@ChainLog(
linkCode = CHAIN_LINK_ADAS,
linkChainLog = CHAIN_LINK_LOG_WEB_SOCKET_DATA,
endpoint = PAD,
nodeAliasCode = CHAIN_ALIAS_CODE_ADAS_MESSAGE_AUTOPILOT_RECORD,
paramIndexes = [0, 1],
clientPkFileName = "sn"
)
override fun onRecordResult(
header: MessagePad.Header,
recordPanel: RecordPanelOuterClass.RecordPanel?
) {
if (recordPanel != null) {
invokeAutopilotRecordResult(recordPanel)
}
}
@ChainLog(
linkCode = CHAIN_LINK_ADAS,
linkChainLog = CHAIN_LINK_LOG_WEB_SOCKET_DATA,
endpoint = PAD,
nodeAliasCode = CHAIN_ALIAS_CODE_ADAS_MESSAGE_AUTOPILOT_ROUTE,
paramIndexes = [0, 1],
clientPkFileName = "sn"
)
override fun onGlobalPathResp(
header: MessagePad.Header,
globalPathResp: MessagePad.GlobalPathResp?
) {
if (HdMapBuildConfig.isMapLoaded) {
invokeAutopilotRotting(globalPathResp)
}
}
@ChainLog(
linkCode = CHAIN_LINK_ADAS,
linkChainLog = CHAIN_LINK_LOG_WEB_SOCKET_DATA,
endpoint = PAD,
nodeAliasCode = CHAIN_ALIAS_CODE_ADAS_MESSAGE_AUTOPILOT_WARN,
paramIndexes = [0, 1],
clientPkFileName = "sn"
)
override fun onWarn(header: MessagePad.Header, warn: MessagePad.Warn?) {
invokeAutopilotWarnMessage(warn)
}
@ChainLog(
linkCode = CHAIN_LINK_ADAS,
linkChainLog = CHAIN_LINK_LOG_WEB_SOCKET_DATA,
endpoint = PAD,
nodeAliasCode = CHAIN_ALIAS_CODE_ADAS_MESSAGE_AUTOPILOT_ARRIVE,
paramIndexes = [0, 1],
clientPkFileName = "sn"
)
override fun onArrivalNotification(
header: MessagePad.Header,
arrivalNotification: MessagePad.ArrivalNotification?
) {
if (HdMapBuildConfig.isMapLoaded) {
invokeArriveAtStation(arrivalNotification)
}
}
override fun onUpgradeStateInfo(info: IPCUpgradeStateInfo) {
if (info != null) {
Logger.d(
TAG, "onUpgradeStateInfo " +
" upgrade mode=" + info.upgradeMode +
" download status=" + info.downloadStatus +
" download progress current=" + info.progress.current +
" download progress total=" + info.progress.total +
" download version=" + info.images +
" upgrade status=" + info.upgradeStatus
)
showAdUpgradeStatus(
info.upgradeMode, info.downloadStatus, info.progress.current,
info.progress.total, info.images, info.upgradeStatus
)
} else {
Logger.d(TAG, "onUpgradeStateInfo : upgrade state info is null")
}
}
override fun onSSHResult(info: SSHResult?) {
if (info != null && "docker restart autocar_default_1" == info.cmd) {
showDockerRebootResult(info.code, info.msg)
} else {
Logger.d(TAG, "onSSHResult : result info is null")
}
}
override fun onError(status: ProtocolStatus, bytes: ByteArray) {
}
}

24
core/function-impl/mogo-core-function-autopilot/src/main/java/com/mogo/eagle/core/function/autopilot/adapter/MoGoAdasMsgConnectStatusListenerImpl.kt
View File

@@ -2,7 +2,6 @@ package com.mogo.eagle.core.function.autopilot.adapter
import com.mogo.cloud.passport.MoGoAiCloudClientConfig
import com.mogo.commons.debug.DebugConfig
import com.mogo.eagle.core.data.autopilot.AutopilotStationInfo
import com.mogo.eagle.core.data.autopilot.AutopilotStatusInfo
import com.mogo.eagle.core.function.api.autopilot.IMoGoAutopilotStatusListener
import com.mogo.eagle.core.function.autopilot.network.AdasServiceModel
@@ -10,11 +9,11 @@ import com.mogo.eagle.core.function.call.autopilot.CallerAutoPilotStatusListener
import com.mogo.eagle.core.utilcode.mogo.logger.Logger
import com.zhidao.support.adas.high.AdasManager
import com.zhidao.support.adas.high.OnAdasConnectStatusListener
import com.zhidao.support.adas.high.bean.BasicInfo
import com.zhidao.support.adas.high.common.Constants
import io.reactivex.Flowable
import io.reactivex.android.schedulers.AndroidSchedulers
import io.reactivex.schedulers.Schedulers
import mogo.telematics.pad.MessagePad
import java.util.concurrent.TimeUnit
/**
@@ -38,7 +37,7 @@ class MoGoAdasMsgConnectStatusListenerImpl : OnAdasConnectStatusListener,
Logger.d(TAG, "webSocket 连接成功")
// 初始化自动驾驶状态信息
CallerAutoPilotStatusListenerManager.getAutoPilotStatusInfo().connectIP =
AdasManager.getInstance().adasConfig.address
AdasManager.getInstance().ipcConnectedIp
CallerAutoPilotStatusListenerManager.getAutoPilotStatusInfo().connectStatus = true
CallerAutoPilotStatusListenerManager.invokeAutoPilotStatus()
@@ -50,7 +49,7 @@ class MoGoAdasMsgConnectStatusListenerImpl : OnAdasConnectStatusListener,
} else if (ipcConnectionStatus == Constants.IPC_CONNECTION_STATUS.DISCONNECTED) {
Logger.d(TAG, "webSocket 连接失败 reason:$reason")
CallerAutoPilotStatusListenerManager.getAutoPilotStatusInfo().connectIP =
AdasManager.getInstance().adasConfig.address
AdasManager.getInstance().ipcConnectedIp
CallerAutoPilotStatusListenerManager.getAutoPilotStatusInfo().connectStatus = false
CallerAutoPilotStatusListenerManager.invokeAutoPilotStatus()
} else if (ipcConnectionStatus == Constants.IPC_CONNECTION_STATUS.CONNECTING) {
@@ -70,10 +69,10 @@ class MoGoAdasMsgConnectStatusListenerImpl : OnAdasConnectStatusListener,
syncBasicInfoToAutopilot()
}
override fun onAutopilotArriveAtStation(autopilotWayArrive: AutopilotStationInfo?) {
if (autopilotWayArrive != null) {
val lon = autopilotWayArrive.lon
val lat = autopilotWayArrive.lat
override fun onAutopilotArriveAtStation(arrivalNotification: MessagePad.ArrivalNotification?) {
if (arrivalNotification != null && arrivalNotification.endLocation != null) {
val lon = arrivalNotification.endLocation.longitude
val lat = arrivalNotification.endLocation.latitude
AdasServiceModel.getInstance().reportSite(lon, lat)
}
}
@@ -90,12 +89,9 @@ class MoGoAdasMsgConnectStatusListenerImpl : OnAdasConnectStatusListener,
*/
private fun syncBasicInfoToAutopilot() {
Logger.d(TAG, "同步PAD的SN给工控机……")
val info = BasicInfo()
// 设置PAD-SN给工控
info.setSn(MoGoAiCloudClientConfig.getInstance().sn)
// 设置网络环境
info.setNetEnvironment(DebugConfig.getNetMode())
AdasManager.getInstance().setBasicInfo(info)
// 设置PAD-SN给工控,网络环境
AdasManager.getInstance()
.sendBasicInfoResp(MoGoAiCloudClientConfig.getInstance().sn, DebugConfig.getNetMode())
}
/**

59
core/function-impl/mogo-core-function-autopilot/src/main/java/com/mogo/eagle/core/function/autopilot/adapter/MoGoHandAdasMsgManager.java
View File

@@ -2,27 +2,25 @@ package com.mogo.eagle.core.function.autopilot.adapter;
import androidx.annotation.Nullable;
import com.mogo.eagle.core.data.autopilot.AutoPilotRecordResult;
import com.mogo.eagle.core.data.autopilot.AutopilotCarStateInfo;
import com.mogo.eagle.core.data.autopilot.AutopilotWarnMessage;
import com.mogo.eagle.core.data.config.FunctionBuildConfig;
import com.mogo.eagle.core.data.traffic.TrafficData;
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.api.autopilot.IMoGoAutopilotVehicleStateListener;
import com.mogo.eagle.core.function.call.autopilot.CallerAutopilotIdentifyListenerManager;
import com.mogo.eagle.core.function.call.autopilot.CallerAutopilotVehicleStateListenerManager;
import com.mogo.eagle.core.function.call.hmi.CallerHmiManager;
import com.mogo.eagle.core.utilcode.mogo.logger.Logger;
import com.mogo.eagle.core.utilcode.util.ThreadUtils;
import com.mogo.module.common.drawer.IdentifyDataDrawer;
import com.zhidao.support.adas.high.bean.CarStateInfo;
import com.zhidao.support.obu.ami.AmiClientManager;
import java.util.ArrayList;
import chassis.Chassis;
import mogo.telematics.pad.MessagePad;
import record_cache.RecordPanelOuterClass;
public class MoGoHandAdasMsgManager implements
IMoGoAutopilotIdentifyListener,
IMoGoAutopilotCarStateListener {
IMoGoAutopilotVehicleStateListener {
private final String TAG = "AdasEventManager";
@@ -30,7 +28,7 @@ public class MoGoHandAdasMsgManager implements
private MoGoHandAdasMsgManager() {
CallerAutopilotIdentifyListenerManager.INSTANCE.addListener(TAG, this);
CallerAutopilotCarStatusListenerManager.INSTANCE.addListener(TAG, this);
CallerAutopilotVehicleStateListenerManager.INSTANCE.addListener(TAG, this);
}
public static MoGoHandAdasMsgManager getInstance() {
@@ -44,34 +42,25 @@ public class MoGoHandAdasMsgManager implements
return moGoHandAdasMsgManager;
}
@Override
public void onAutopilotCarStateData(@Nullable AutopilotCarStateInfo 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
AutopilotCarStateInfo.ValuesBean bean = autoPilotCarStateInfo.getValues();
if (bean != null) {
//转向灯状态 0是正常 1是左转 2是右转
//turnLightOften 是sdk适配的字段，后期建议CarStateInfo和AutopilotCarStateInfo统一成一个
int turnLight = bean.getTurnLightOften();
AmiClientManager.getInstance().setTurnLightState(turnLight);
int brakeLight = bean.getBrake_light();
// Logger.d(TAG, "onCarStateData ---- turnLight = " + turnLight + "---brakeLight = " + brakeLight);
//设置转向灯
CallerHmiManager.INSTANCE.showTurnLight(turnLight);
//设置刹车信息
CallerHmiManager.INSTANCE.showBrakeLight(brakeLight);
} else {
Logger.e(TAG, "bean == null ");
}
public void onAutopilotLightSwitchData(Chassis.LightSwitch lightSwitch) {
//can数据转发 转向灯状态 0是正常 1是左转 2是右转
if (lightSwitch != null) {
int turnLightNum = lightSwitch.getNumber();
AmiClientManager.getInstance().setTurnLightState(turnLightNum);
//设置转向灯
CallerHmiManager.INSTANCE.showTurnLight(turnLightNum);
}
}
@Override
public void onAutopilotBrakeLightData(boolean brakeLight) {
//设置刹车信息
CallerHmiManager.INSTANCE.showBrakeLight(brakeLight ? 1 : 0);
}
@Override
public void onAutopilotIdentifyDataUpdate(@Nullable ArrayList<TrafficData> trafficData) {
public void onAutopilotIdentifyDataUpdate(@Nullable ArrayList<MessagePad.TrackedObject> trafficData) {
try {
if (FunctionBuildConfig.isDrawIdentifyData) {
ThreadUtils.getSinglePool().execute(() ->
@@ -86,13 +75,13 @@ public class MoGoHandAdasMsgManager implements
}
@Override
public void onAutopilotWarnMessage(@Nullable AutopilotWarnMessage autopilotWarnMessage) {
public void onAutopilotWarnMessage(MessagePad.Warn warn) {
}
@Override
public void onAutopilotRecordResult(AutoPilotRecordResult result) {
public void onAutopilotRecordResult(RecordPanelOuterClass.RecordPanel recordPanel) {
}
}

4
core/function-impl/mogo-core-function-devatools/src/main/java/com/zhjt/mogo_core_function_devatools/DevaToolsProvider.kt
View File

@@ -5,12 +5,12 @@ import android.content.Context
import android.view.View
import com.alibaba.android.arouter.facade.annotation.Route
import com.mogo.eagle.core.data.deva.chain.ChainLogParam
import com.mogo.eagle.core.data.autopilot.AutoPilotRecordResult
import com.mogo.eagle.core.data.constants.MogoServicePaths
import com.mogo.eagle.core.function.api.devatools.IDevaToolsProvider
import com.zhjt.mogo_core_function_devatools.badcase.BadCaseManager
import com.zhjt.mogo_core_function_devatools.logcatch.MogoLogCatchManager
import com.zhjt.mogo_core_function_devatools.trace.TraceManager.Companion.traceManager
import record_cache.RecordPanelOuterClass
@Route(path = MogoServicePaths.PATH_DEVA_TOOLS)
class DevaToolsProvider : IDevaToolsProvider {
@@ -52,7 +52,7 @@ class DevaToolsProvider : IDevaToolsProvider {
BadCaseManager.init(view, onShow, onHide)
}
override fun onReceiveBadCaseRecord(record: AutoPilotRecordResult) {
override fun onReceiveBadCaseRecord(record: RecordPanelOuterClass.RecordPanel) {
BadCaseManager.onReceiveBadCaseRecord(record)
}

14
core/function-impl/mogo-core-function-devatools/src/main/java/com/zhjt/mogo_core_function_devatools/badcase/BadCaseManager.kt
View File

@@ -12,7 +12,6 @@ import androidx.lifecycle.LifecycleEventObserver
import androidx.lifecycle.LifecycleOwner
import androidx.lifecycle.lifecycleScope
import com.mogo.cloud.passport.MoGoAiCloudClientConfig
import com.mogo.eagle.core.data.autopilot.AutoPilotRecordResult
import com.mogo.eagle.core.function.call.hmi.CallerHmiManager
import com.mogo.eagle.core.utilcode.kotlin.lifecycleOwner
import com.mogo.eagle.core.utilcode.kotlin.onClick
@@ -24,6 +23,7 @@ import com.zhjt.mogo_core_function_devatools.badcase.mvp.BadCaseView
import com.zhjt.mogo_core_function_devatools.badcase.repository.db.entity.AutoPilotRecord
import kotlinx.coroutines.*
import kotlinx.coroutines.channels.Channel
import record_cache.RecordPanelOuterClass
import java.lang.ref.WeakReference
import java.util.concurrent.TimeUnit
@@ -164,7 +164,7 @@ internal object BadCaseManager : LifecycleEventObserver {
return oldT == 0L || newT == 0L || (newT - oldT >= 0 && (newT - oldT) < CASE_EXPIRE_DURATION)
}
fun onReceiveBadCaseRecord(record: AutoPilotRecordResult) {
fun onReceiveBadCaseRecord(record: RecordPanelOuterClass.RecordPanel) {
scope?.launch {
val newRecord = record.toRecord()
withContext(Dispatchers.IO) {
@@ -267,15 +267,15 @@ fun <T: View> T.toggle(show: Boolean) {
}
}
internal fun AutoPilotRecordResult.toRecord(): AutoPilotRecord = AutoPilotRecord().also {
internal fun RecordPanelOuterClass.RecordPanel.toRecord(): AutoPilotRecord = AutoPilotRecord().also {
it.id = this.id
it.stat = this.stat
it.key = this.key
it.key = this.key.toString()
it.note = this.note
it.type = this.type
it.total = this.total
it.fileName = this.fileName
it.duration = this.duration
it.total = this.totalSize
it.fileName = this.filename
it.duration = this.duration.toDouble()
it.diskFree = this.diskFree
it.consumed = false
}

2
core/function-impl/mogo-core-function-devatools/src/main/java/com/zhjt/mogo_core_function_devatools/logcatch/MogoLogCatchManager.kt
View File

@@ -170,7 +170,6 @@ object MogoLogCatchManager : IMogoOnMessageListener<RemoteLogPushContent>, Handl
Logger.init(LogLevel.DEBUG)
MoGoAiCloudClient.getInstance().aiCloudClientConfig.isShowDebugLog = true
CallerAutoPilotManager.setEnableLog(true)
CallerAutoPilotManager.setIsWriteLog(true)
}
/**
@@ -181,7 +180,6 @@ object MogoLogCatchManager : IMogoOnMessageListener<RemoteLogPushContent>, Handl
Logger.init(if (DebugConfig.isDebug()) LogLevel.DEBUG else LogLevel.OFF)
MoGoAiCloudClient.getInstance().aiCloudClientConfig.isShowDebugLog = false
CallerAutoPilotManager.setEnableLog(false)
CallerAutoPilotManager.setIsWriteLog(false)
}
override fun onError(errorCount: Int) {

28
core/function-impl/mogo-core-function-dispatch/src/main/java/com/zhjt/dispatch/DispatchAutoPilotManager.java
View File

@@ -40,6 +40,9 @@ import static com.zhjt.dispatch.model.DispatchServiceModel.DISPATCH_RESULT_AFFIR
import static com.zhjt.dispatch.model.DispatchServiceModel.DISPATCH_RESULT_MANUAL_CANCEL;
import static com.zhjt.dispatch.model.DispatchServiceModel.DISPATCH_RESULT_TIMER_CANCEL;
import mogo.telematics.pad.MessagePad;
import mogo_msg.MogoReportMsg;
//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,
@@ -282,11 +285,18 @@ public class DispatchAutoPilotManager implements IMogoOnMessageListener<Dispatch
}
@Override
public void onAutopilotRotting(AutopilotRouteInfo autopilotRoute) {
if (autopilotRoute == null || autopilotRoute.getModels() == null || autopilotRoute.getModels().size() == 0) {
public void onAutopilotRotting(MessagePad.GlobalPathResp globalPathResp) {
if (globalPathResp == null || globalPathResp.getWayPointsList().size() == 0) {
return;
}
DispatchServiceModel.getInstance().uploadAutopilotRoute(autopilotRoute.getModels());
List<AutopilotRouteInfo.RouteModels> list = new ArrayList<>();
for (MessagePad.Location location : globalPathResp.getWayPointsList()) {
AutopilotRouteInfo.RouteModels routeModels = new AutopilotRouteInfo.RouteModels();
routeModels.setLat(location.getLatitude());
routeModels.setLon(location.getLongitude());
list.add(routeModels);
}
DispatchServiceModel.getInstance().uploadAutopilotRoute(list);
}
@Override
@@ -296,7 +306,7 @@ public class DispatchAutoPilotManager implements IMogoOnMessageListener<Dispatch
}
@Override
public void onAutopilotArriveAtStation(@Nullable AutopilotStationInfo autopilotWayArrive) {
public void onAutopilotArriveAtStation(MessagePad.ArrivalNotification autopilotWayArrive) {
if (!isDispatch) {
return;
}
@@ -304,8 +314,11 @@ public class DispatchAutoPilotManager implements IMogoOnMessageListener<Dispatch
return;
}
Logger.d(TAG, "onArriveAt data : " + autopilotWayArrive.toString());
double endLat = autopilotWayArrive.getLat();
double endLon = autopilotWayArrive.getLon();
if (autopilotWayArrive.getEndLocation() == null) {
return;
}
double endLat = autopilotWayArrive.getEndLocation().getLatitude();
double endLon = autopilotWayArrive.getEndLocation().getLongitude();
// 计算是不是到了终点
float distanceFromSelf = CoordinateUtils.calculateLineDistance(receiverBean.getEndLon(), receiverBean.getEndLat()
, endLon, endLat);
@@ -323,7 +336,8 @@ public class DispatchAutoPilotManager implements IMogoOnMessageListener<Dispatch
}
@Override
public void onAutopilotGuardian(@Nullable AutopilotGuardianStatusInfo guardianInfo) {
public void onAutopilotGuardian(MogoReportMsg.MogoReportMessage guardianInfo) {
}
}

6
core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/hmi/ui/MoGoHmiFragment.kt
View File

@@ -13,7 +13,6 @@ import com.alibaba.android.arouter.facade.annotation.Route
import com.mogo.commons.mvp.MvpFragment
import com.mogo.commons.voice.AIAssist
import com.mogo.eagle.core.data.autopilot.AdUpgradeStateHelper
import com.mogo.eagle.core.data.autopilot.AutoPilotRecordResult
import com.mogo.eagle.core.data.camera.CameraEntity
import com.mogo.eagle.core.data.config.HmiBuildConfig
import com.mogo.eagle.core.data.constants.MoGoFragmentPaths
@@ -46,6 +45,7 @@ import com.mogo.eagle.core.utilcode.util.Utils
import com.mogo.module.common.enums.EventTypeEnum
import kotlinx.android.synthetic.main.fragment_hmi.*
import kotlinx.coroutines.*
import record_cache.RecordPanelOuterClass
import java.util.*
/**
@@ -129,13 +129,13 @@ class MoGoHmiFragment : MvpFragment<MoGoWarningContract.View?, WaringPresenter?>
}
@OptIn(ExperimentalCoroutinesApi::class)
override fun onAutopilotRecordResult(record: AutoPilotRecordResult?) {
override fun onAutopilotRecordResult(record: RecordPanelOuterClass.RecordPanel) {
record ?: return
if (HmiBuildConfig.isShowBadCaseView && record.type == 1 && record.stat == 100) {
CallerDevaToolsManager.onReceiveBadCaseRecord(record)
}
if (record.type == 2 && (record.stat == 101 || record.stat == 100)) {
CallerMapDataCollectorManager.finish(record.id, record.stat, "", record.fileName ?: "", record.note ?: "")
CallerMapDataCollectorManager.finish(record.id, record.stat, "", record.filename ?: "", record.note ?: "")
}
}

145
core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/hmi/ui/setting/DebugSettingView.kt
View File

@@ -18,10 +18,7 @@ import com.mogo.eagle.core.data.enums.TrafficTypeEnum
import com.mogo.eagle.core.data.map.MogoLocation
import com.mogo.eagle.core.data.obu.ObuStatusInfo
import com.mogo.eagle.core.data.traffic.TrafficData
import com.mogo.eagle.core.function.api.autopilot.IMoGoAutopilotCarStateListener
import com.mogo.eagle.core.function.api.autopilot.IMoGoAutopilotIdentifyListener
import com.mogo.eagle.core.function.api.autopilot.IMoGoAutopilotPlanningListener
import com.mogo.eagle.core.function.api.autopilot.IMoGoAutopilotStatusListener
import com.mogo.eagle.core.function.api.autopilot.*
import com.mogo.eagle.core.function.api.devatools.IMoGoDevaToolsListener
import com.mogo.eagle.core.function.api.map.listener.IMoGoMapLocationListener
import com.mogo.eagle.core.function.api.obu.IMoGoObuStatusListener
@@ -53,6 +50,7 @@ import com.mogo.map.uicontroller.VisualAngleMode.MODE_LONG_SIGHT
import com.mogo.map.uicontroller.VisualAngleMode.*
import com.mogo.module.common.MogoApisHandler
import kotlinx.android.synthetic.main.view_debug_setting.view.*
import mogo.telematics.pad.MessagePad
import java.util.*
/**
@@ -62,13 +60,13 @@ import java.util.*
* 展示 本机、网络、工控机、OBU等状态信息，支持设置IP，等参数进行调试
*/
class DebugSettingView @JvmOverloads constructor(
context: Context,
attrs: AttributeSet? = null,
defStyleAttr: Int = 0
context: Context,
attrs: AttributeSet? = null,
defStyleAttr: Int = 0
) : ConstraintLayout(context, attrs, defStyleAttr), IMoGoObuStatusListener,
IMoGoAutopilotStatusListener, IMoGoAutopilotCarStateListener,
IMoGoMapLocationListener, IMoGoAutopilotIdentifyListener,
IMoGoAutopilotPlanningListener {
IMoGoAutopilotStatusListener, IMoGoAutopilotCarStateListener,
IMoGoMapLocationListener, IMoGoAutopilotIdentifyListener,
IMoGoAutopilotPlanningListener, IMoGoAutopilotCarConfigListener {
private val TAG = "DebugSettingView"
@@ -76,7 +74,7 @@ class DebugSettingView @JvmOverloads constructor(
private var logViewAttach = false
private var mAutoPilotStatusInfo: AutopilotStatusInfo? = null
private var mAutoPilotCarStateInfo: AutopilotCarStateInfo? = null
private var mGnssInfo: MessagePad.GnssInfo? = null
// 感知识别「已知类型」数据个数
private var mIdentifyDataSize = 0
@@ -127,6 +125,8 @@ class DebugSettingView @JvmOverloads constructor(
CallerAutopilotIdentifyListenerManager.addListener(TAG, this)
// 添加 规划路径相关回调 监听
CallerAutopilotPlanningListenerManager.addListener(TAG, this)
// 添加 工控机基础信息回调 监听
CallerAutopilotCarConfigListenerManager.addListener(TAG, this)
if (logInfoView != null) {
logInfoView!!.onEnterForeground()
}
@@ -251,14 +251,14 @@ class DebugSettingView @JvmOverloads constructor(
tvObuInfo.text = CallerObuListenerManager.getObuStatusInfoJsonString()
tvAutopilotInfo.text =
CallerAutoPilotStatusListenerManager.getAutoPilotStatusInfoJsonString()
CallerAutoPilotStatusListenerManager.getAutoPilotStatusInfoJsonString()
// 绘制应用基本信息
drawAppInfo()
// 初始化OBU IP信息
val ipAddress =
SharedPrefsMgr.getInstance(context).getString(MoGoConfig.OBU_IP, "192.168.1.199")
SharedPrefsMgr.getInstance(context).getString(MoGoConfig.OBU_IP, "192.168.1.199")
etObuIP.setText(ipAddress)
etObuIP.text?.let { etObuIP.setSelection(it.length) }
@@ -274,8 +274,8 @@ class DebugSettingView @JvmOverloads constructor(
// 初始化工控机 IP信息
val autoPilotIpAddress =
SharedPrefsMgr.getInstance(context)
.getString(MoGoConfig.AUTOPILOT_IP, FunctionBuildConfig.adasConnectIP)
SharedPrefsMgr.getInstance(context)
.getString(MoGoConfig.AUTOPILOT_IP, FunctionBuildConfig.adasConnectIP)
etAutopilotIP.setText(autoPilotIpAddress)
etAutopilotIP.text?.let { etAutopilotIP.setSelection(it.length) }
@@ -296,18 +296,18 @@ class DebugSettingView @JvmOverloads constructor(
// 初始化 GSP数据源 数据
rgGpsProvider.check(
when (FunctionBuildConfig.gpsProvider) {
0 -> {
R.id.rbGpsProviderAndroid
}
1 -> {
R.id.rbGpsProviderRTK
}
2 -> {
R.id.rbGpsProviderOBU
}
else -> R.id.rbGpsProviderAndroid
when (FunctionBuildConfig.gpsProvider) {
0 -> {
R.id.rbGpsProviderAndroid
}
1 -> {
R.id.rbGpsProviderRTK
}
2 -> {
R.id.rbGpsProviderOBU
}
else -> R.id.rbGpsProviderAndroid
}
)
rgGpsProvider.setOnCheckedChangeListener { group, checkedId ->
when (checkedId) {
@@ -380,10 +380,8 @@ class DebugSettingView @JvmOverloads constructor(
tbADASLog.setOnCheckedChangeListener { _, isChecked ->
if (isChecked) {
CallerAutoPilotManager.setEnableLog(true)
CallerAutoPilotManager.setIsWriteLog(true)
} else {
CallerAutoPilotManager.setEnableLog(false)
CallerAutoPilotManager.setIsWriteLog(false)
}
}
tbControlView.setOnCheckedChangeListener { _, isChecked ->
@@ -395,11 +393,11 @@ class DebugSettingView @JvmOverloads constructor(
}
tbLogCatch.isChecked =
SharedPrefsMgr.getInstance(context).getBoolean(MoGoConfig.CATCH_LOG, false)
SharedPrefsMgr.getInstance(context).getBoolean(MoGoConfig.CATCH_LOG, false)
tbLogCatch.setOnCheckedChangeListener { _, isChecked ->
if (isChecked) {
var logTimeStr = etLogCatch.text?.toString()
if(logTimeStr.isNullOrEmpty()){
if (logTimeStr.isNullOrEmpty()) {
logTimeStr = "10"
}
val logCatchTime = logTimeStr.toInt()
@@ -414,20 +412,20 @@ class DebugSettingView @JvmOverloads constructor(
}
}
CallerDevaToolsListenerManager.registerDevaToolsLogCatchListener(TAG,
object : IMoGoDevaToolsListener {
override fun onLogCatchClose() {
super.onLogCatchClose()
tbLogCatch.isChecked = false
}
object : IMoGoDevaToolsListener {
override fun onLogCatchClose() {
super.onLogCatchClose()
tbLogCatch.isChecked = false
}
override fun onLogCatch(lineLog: String) {
logInfoView?.let {
if (logViewAttach) {
it.onLogCatch(lineLog)
}
override fun onLogCatch(lineLog: String) {
logInfoView?.let {
if (logViewAttach) {
it.onLogCatch(lineLog)
}
}
})
}
})
tbLogDebugView.setOnCheckedChangeListener { _, isChecked ->
if (isChecked) {
logInfoView = LogInfoView()
@@ -486,7 +484,8 @@ class DebugSettingView @JvmOverloads constructor(
AppConfigInfo.uniqueDeviceId = DeviceIdUtils.getDeviceId(AbsMogoApplication.getApp())
}
if (AppConfigInfo.widevineIDMd5.isNullOrEmpty()) {
AppConfigInfo.widevineIDMd5 = DeviceIdUtils.getWidevineIDWithMd5(AbsMogoApplication.getApp())
AppConfigInfo.widevineIDMd5 =
DeviceIdUtils.getWidevineIDWithMd5(AbsMogoApplication.getApp())
}
AppConfigInfo.mogoSN = MoGoAiCloudClient.getInstance().aiCloudClientConfig.sn
AppConfigInfo.mogoToken = MoGoAiCloudClient.getInstance().aiCloudClientConfig.token
@@ -495,7 +494,7 @@ class DebugSettingView @JvmOverloads constructor(
AppConfigInfo.isConnectNet = NetworkUtils.isConnected(context)
AppConfigInfo.isConnectSocket = DebugConfig.isDownloadSnapshot()
when (FunctionBuildConfig.appIdentityMode) {
when (FunctionBuildConfig.appIdentityMode) {
0x00 -> {// 司机端
AppConfigInfo.isDriver = true
AppConfigInfo.isConnectedNetty = CallerTelematicManager.getServerStarted()
@@ -513,16 +512,16 @@ class DebugSettingView @JvmOverloads constructor(
tvAutopilotInfo.text = GsonUtils.toJson(mAutoPilotStatusInfo)
tvCarInfo.text =
"GPS时间：${mAutoPilotCarStateInfo?.values?.satelliteTime}\n" +
"自车经纬度：\n${mAutoPilotCarStateInfo?.values?.lon}\n${mAutoPilotCarStateInfo?.values?.lat}\n"
"GPS时间：${mGnssInfo?.satelliteTime}\n" +
"自车经纬度：\n${mGnssInfo?.longitude}\n${mGnssInfo?.latitude}\n"
tvIdentifyInfo.text =
"「有效类型」感知数据个数：${mIdentifyDataSize}\n" +
"「未知类型」感知数据个数：${mUnknownIdentifyDataSize}\n"
"「有效类型」感知数据个数：${mIdentifyDataSize}\n" +
"「未知类型」感知数据个数：${mUnknownIdentifyDataSize}\n"
tvTrajectoryInfoSize.text =
"引导线点个数：${mTrajectoryInfoSize}"
"引导线点个数：${mTrajectoryInfoSize}"
tvRouteInfoSize.text =
"全局路径规划点个数：${mRouteInfoSize}"
"全局路径规划点个数：${mRouteInfoSize}"
// 用完之后重制为0，防止节点回掉突然没数据，导致页面显示还是之前的数据情况
mIdentifyDataSize = 0
@@ -551,34 +550,17 @@ class DebugSettingView @JvmOverloads constructor(
AppConfigInfo.isConnectAutopilot = autoPilotStatusInfo.connectStatus
}
override fun onAutopilotArriveAtStation(autopilotWayArrive: AutopilotStationInfo?) {
override fun onAutopilotCarStateData(gnssInfo: MessagePad.GnssInfo?) {
mGnssInfo = gnssInfo
}
override fun onAutopilotCarStateData(autoPilotCarStateInfo: AutopilotCarStateInfo?) {
//Logger.d(TAG, "autoPilotCarStateInfo:$autoPilotCarStateInfo")
mAutoPilotCarStateInfo = autoPilotCarStateInfo
}
override fun onAutopilotSNRequest() {
}
override fun onAutopilotGuardian(guardianInfo: AutopilotGuardianStatusInfo?) {
}
override fun onLocationChanged(location: MogoLocation?) {
//Logger.d(TAG, "location:$location")
}
override fun onAutopilotIdentifyDataUpdate(trafficData: ArrayList<TrafficData>?) {
override fun onAutopilotIdentifyDataUpdate(trafficData: ArrayList<MessagePad.TrackedObject>?) {
// 重制数据
mIdentifyDataSize = 0
mUnknownIdentifyDataSize = 0
// 遍历计数
trafficData?.forEach {
if (it.type == TrafficTypeEnum.TYPE_TRAFFIC_ID_WEI_ZHI) {
if (it.type == TrafficTypeEnum.TYPE_TRAFFIC_ID_WEI_ZHI.type) {
mUnknownIdentifyDataSize++
} else {
mIdentifyDataSize++
@@ -586,19 +568,22 @@ class DebugSettingView @JvmOverloads constructor(
}
}
override fun onAutopilotWarnMessage(autopilotWarnMessage: AutopilotWarnMessage?) {
}
override fun onAutopilotRecordResult(record: AutoPilotRecordResult?) {
}
override fun onAutopilotTrajectory(trajectoryInfos: ArrayList<ADASTrajectoryInfo>) {
mTrajectoryInfoSize = trajectoryInfos.size
}
override fun onAutopilotRotting(routeList: AutopilotRouteInfo?) {
mRouteInfoSize = routeList?.models?.size ?: 0
override fun onAutopilotRotting(globalPathResp: MessagePad.GlobalPathResp?) {
mRouteInfoSize = globalPathResp?.wayPointsList?.size ?: 0
}
override fun onAutopilotCarConfig(carConfigResp: MessagePad.CarConfigResp) {
//todo pb : 工控机基础信息回调 详见 message CarConfigResp proto
}
override fun onLocationChanged(location: MogoLocation?) {
}
}

24
core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/hmi/ui/tools/AutoPilotAndCheckView.kt
View File

@@ -6,7 +6,6 @@ import android.util.AttributeSet
import android.view.LayoutInflater
import android.view.View
import android.widget.FrameLayout
import com.mogo.eagle.core.data.autopilot.AutopilotGuardianStatusInfo
import com.mogo.eagle.core.data.autopilot.AutopilotStatusInfo
import com.mogo.eagle.core.data.config.FunctionBuildConfig
import com.mogo.eagle.core.function.api.autopilot.IMoGoAutopilotStatusListener
@@ -140,9 +139,22 @@ class AutoPilotAndCheckView @JvmOverloads constructor(
* @param downloadVersion 下载版本
* @param upgradeStatus 升级状态
*/
fun showAdUpgradeStatus(upgradeMode: Int,downloadStatus : Int,currentProgress : Int,totalProgress : Int
,downloadVersion : String,upgradeStatus : Int){
systemVersionView?.showAdUpgradeStatus(upgradeMode,downloadStatus,currentProgress, totalProgress, downloadVersion, upgradeStatus)
fun showAdUpgradeStatus(
upgradeMode: Int,
downloadStatus: Int,
currentProgress: Int,
totalProgress: Int,
downloadVersion: String,
upgradeStatus: Int
) {
systemVersionView?.showAdUpgradeStatus(
upgradeMode,
downloadStatus,
currentProgress,
totalProgress,
downloadVersion,
upgradeStatus
)
checkSystemView?.setAdUpgradeStatus(downloadStatus, upgradeStatus)
}
@@ -160,10 +172,6 @@ class AutoPilotAndCheckView @JvmOverloads constructor(
connectStatus = autoPilotStatusInfo.connectStatus
}
override fun onAutopilotGuardian(guardianInfo: AutopilotGuardianStatusInfo?) {
}
interface ClickListener {
fun go2CheckPage()
fun onClose(v: View)

5
core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/hmi/ui/widget/AutoPilotStatusView.kt
View File

@@ -128,9 +128,4 @@ class AutoPilotStatusView @JvmOverloads constructor(
setAutoPilotStatus(autoPilotStatusInfo.state)
}
override fun onAutopilotGuardian(guardianInfo: AutopilotGuardianStatusInfo?) {
}
}

60
core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/smp/SmallMapFragment.java
View File

@@ -8,9 +8,6 @@ import android.view.View;
import com.alibaba.android.arouter.facade.annotation.Route;
import com.mogo.commons.mvp.BaseFragment;
import com.mogo.eagle.core.data.autopilot.ADASTrajectoryInfo;
import com.mogo.eagle.core.data.autopilot.AutopilotGuardianStatusInfo;
import com.mogo.eagle.core.data.autopilot.AutopilotRouteInfo;
import com.mogo.eagle.core.data.autopilot.AutopilotStationInfo;
import com.mogo.eagle.core.data.autopilot.AutopilotStatusInfo;
import com.mogo.eagle.core.data.constants.MoGoFragmentPaths;
import com.mogo.eagle.core.data.map.MogoLatLng;
@@ -22,11 +19,13 @@ import com.mogo.eagle.core.function.map.R;
import com.mogo.eagle.core.utilcode.util.UiThreadHandler;
import org.jetbrains.annotations.NotNull;
import org.jetbrains.annotations.Nullable;
import java.util.ArrayList;
import java.util.List;
import mogo.telematics.pad.MessagePad;
import mogo_msg.MogoReportMsg;
/**
* @author donghongyu
* @date 2021/5/19 10:50 上午
@@ -137,13 +136,35 @@ public class SmallMapFragment extends BaseFragment
}
@Override
public void onAutopilotRotting(AutopilotRouteInfo routeList) {
if (routeList.getModels() == null || routeList.getModels().size() == 0) {
public void onAutopilotStatusResponse(@NotNull AutopilotStatusInfo autoPilotStatusInfo) {
if (autoPilotStatusInfo.getPilotmode() != 1) {
clearPolyline();
}
}
@Override
public void onAutopilotArriveAtStation(MessagePad.ArrivalNotification arrivalNotification) {
}
@Override
public void onAutopilotSNRequest() {
}
@Override
public void onAutopilotGuardian(MogoReportMsg.MogoReportMessage guardianInfo) {
}
@Override
public void onAutopilotRotting(MessagePad.GlobalPathResp globalPathResp) {
if (globalPathResp == null || globalPathResp.getWayPointsList().size() == 0) {
return;
}
List<MogoLatLng> latLngList = new ArrayList<>();
for (AutopilotRouteInfo.RouteModels routeModel : routeList.getModels()) {
latLngList.add(new MogoLatLng(routeModel.getLat(), routeModel.getLon()));
for (MessagePad.Location routeModel : globalPathResp.getWayPointsList()) {
latLngList.add(new MogoLatLng(routeModel.getLatitude(), routeModel.getLongitude()));
}
Log.e(TAG, "routeResult:" + latLngList.size());
if (latLngList.size() > 0) {
@@ -152,27 +173,4 @@ public class SmallMapFragment extends BaseFragment
clearPolyline();
}
}
@Override
public void onAutopilotStatusResponse(@NotNull AutopilotStatusInfo autoPilotStatusInfo) {
if (autoPilotStatusInfo.getControl_pilotmode() != 1){
clearPolyline();
}
}
@Override
public void onAutopilotArriveAtStation(@Nullable AutopilotStationInfo autopilotWayArrive) {
}
@Override
public void onAutopilotGuardian(@Nullable AutopilotGuardianStatusInfo guardianInfo) {
}
@Override
public void onAutopilotSNRequest() {
}
}

2
core/function-impl/mogo-core-function-obu-mogo/src/main/java/com/mogo/eagle/core/function/obu/mogo/MogoPrivateObuManager.kt
View File

@@ -155,8 +155,6 @@ class MogoPrivateObuManager private constructor() {
data.putOpt("acceleration", info.acceleration_set.lateral)
data.putOpt("yawRate", info.acceleration_set.yaw_rate)
}
data.putOpt("gpsProvider", 2)
try {
data.putOpt("systemTime", System.currentTimeMillis())
} catch (e: Exception) {

26
core/mogo-core-data/build.gradle
View File

@@ -4,7 +4,6 @@ plugins {
id 'kotlin-android-extensions'
id 'kotlin-kapt'
id 'com.alibaba.arouter'
id 'com.google.protobuf'
}
android {
compileSdkVersion rootProject.ext.android.compileSdkVersion
@@ -39,30 +38,9 @@ android {
java {
srcDir 'src/main/java'
}
proto {
srcDir 'src/main/proto'
include '**/*.proto'
}
}
}
protobuf {
protoc {
artifact = rootProject.ext.dependencies.protoc
}
generateProtoTasks {
all().each { task ->
task.builtins {
remove java
}
task.builtins {
java {}
}
}
}
}
compileOptions {
sourceCompatibility JavaVersion.VERSION_1_8
targetCompatibility JavaVersion.VERSION_1_8
@@ -82,12 +60,12 @@ dependencies {
implementation rootProject.ext.dependencies.androidxroomruntime
implementation rootProject.ext.dependencies.androidxroomktx
kapt rootProject.ext.dependencies.androidxroomcompiler
api rootProject.ext.dependencies.protobuf_java
api rootProject.ext.dependencies.protobuf_java_util
if (Boolean.valueOf(USE_MAVEN_PACKAGE)) {
implementation rootProject.ext.dependencies.mogo_core_res
} else {
implementation project(':core:mogo-core-res')
api project(":libraries:mogo-adas-data")
}
}

4
core/mogo-core-data/src/main/java/com/mogo/eagle/core/data/autopilot/AutopilotStatusInfo.kt
View File

@@ -64,9 +64,5 @@ class AutopilotStatusInfo : Serializable {
*/
var pilotmode = 0
/**
* 底盘的自动驾驶状态 0非自动驾驶，1自动驾驶
*/
var control_pilotmode = 0
}

6
core/mogo-core-data/src/main/java/com/mogo/eagle/core/data/deva/chain/ChainConstant.kt
View File

@@ -13,11 +13,7 @@ class ChainConstant {
const val CHAIN_LINK_LOG_ADAS_INIT = "-adasInitStatus"
const val CHAIN_LINK_LOG_ADAS_MSG = "-adasWsMsg"
const val CHAIN_ALIAS_CODE_UDP_INIT = "PAD_ADAS_UDP_INIT"
const val CHAIN_ALIAS_CODE_UDP_CONNECT_ADDRESS = "PAD_ADAS_UDP_CONNECT_ADDRESS"
const val CHAIN_ALIAS_CODE_WEB_SOCKET_OPEN = "PAD_ADAS_WEB_SOCKET_OPEN"
const val CHAIN_ALIAS_CODE_WEB_SOCKET_MESSAGE_JSON = "PAD_ADAS_WEB_SOCKET_MESSAGE_JSON"
const val CHAIN_ALIAS_CODE_WEB_SOCKET_MESSAGE_BYTE = "PAD_ADAS_WEB_SOCKET_MESSAGE_BYTE"
const val CHAIN_ALIAS_CODE_ADAS_MESSAGE_RECT_DATA = "PAD_ADAS_MESSAGE_AUTOPILOT_RECT_DATA"
const val CHAIN_ALIAS_CODE_ADAS_MESSAGE_CAR_STATE = "PAD_ADAS_MESSAGE_AUTOPILOT_CAR_STATE"
const val CHAIN_ALIAS_CODE_ADAS_MESSAGE_AUTOPILOT_STATUS = "PAD_ADAS_MESSAGE_AUTOPILOT_STATUS"

9
core/mogo-core-data/src/main/proto/message_pad.proto
View File

@@ -174,10 +174,13 @@ message CarConfigReq
message CarConfigResp
{
string dockVersion = 1;
string plateNumber = 2;
string plateNumber = 2; //车牌
string macAddress = 3;
ProtocolVersion protocolVersion = 4; //通信协议版本
double speedLimit = 5; //自动驾驶限速
double speedLimit = 5; //自动驾驶限速, 单位：m/s
double maxSpeedLimit = 6; //最大自动驾驶限速, 单位：m/s
double minAcceleration = 7; //最小加速度, 单位：m/s²
double maxAcceleration = 8; //最大加速度, 单位：m/s²
}
// message definition for MsgTypeRecordCause
@@ -205,7 +208,7 @@ message RecordData
// message definition for MsgTypeSetAutopilotSpeedReq
message SetAutopilotSpeedReq
{
double speedLimit = 1; //最大车辆速度 m/s
double speedLimit = 1; //最大车辆速度, 单位：m/s
}
// message definition for MsgTypeGlobalPathReq

1
core/mogo-core-function-api/build.gradle
View File

@@ -44,7 +44,6 @@ dependencies {
implementation fileTree(dir: 'libs', include: ['*.jar'])
implementation rootProject.ext.dependencies.kotlinstdlibjdk7
implementation rootProject.ext.dependencies.arouter
implementation project(path: ':libraries:mogo-adas')
kapt rootProject.ext.dependencies.aroutercompiler
implementation rootProject.ext.dependencies.coroutinescore
implementation rootProject.ext.dependencies.coroutinesandroid

17
core/mogo-core-function-api/src/main/java/com/mogo/eagle/core/function/api/autopilot/IMoGoAutopilotCarConfigListener.kt Normal file
View File

@@ -0,0 +1,17 @@
package com.mogo.eagle.core.function.api.autopilot
import mogo.telematics.pad.MessagePad
/**
* 工控机基础信息
*/
interface IMoGoAutopilotCarConfigListener {
/**
* 工控机基础信息
*
* @param carConfigResp 包括docker版本，macAddress等基础信息，详见proto
*/
fun onAutopilotCarConfig(carConfigResp: MessagePad.CarConfigResp)
}

6
core/mogo-core-function-api/src/main/java/com/mogo/eagle/core/function/api/autopilot/IMoGoAutopilotCarStateListener.kt
View File

@@ -1,6 +1,6 @@
package com.mogo.eagle.core.function.api.autopilot
import com.mogo.eagle.core.data.autopilot.AutopilotCarStateInfo
import mogo.telematics.pad.MessagePad
/**
*@author xiaoyuzhou
@@ -12,7 +12,7 @@ interface IMoGoAutopilotCarStateListener {
/**
* 车辆状态&定位 数据
*
* @param autoPilotCarStateInfo
* @param gnssInfo
*/
fun onAutopilotCarStateData(autoPilotCarStateInfo: AutopilotCarStateInfo?)
fun onAutopilotCarStateData(gnssInfo: MessagePad.GnssInfo?)
}

15
core/mogo-core-function-api/src/main/java/com/mogo/eagle/core/function/api/autopilot/IMoGoAutopilotIdentifyListener.kt
View File

@@ -1,9 +1,7 @@
package com.mogo.eagle.core.function.api.autopilot
import com.mogo.eagle.core.data.autopilot.AutoPilotRecordResult
import com.mogo.eagle.core.data.autopilot.AutopilotWarnMessage
import com.mogo.eagle.core.data.traffic.TrafficData
import java.util.*
import mogo.telematics.pad.MessagePad
import record_cache.RecordPanelOuterClass
/**
* @author xiaoyuzhou
@@ -17,19 +15,18 @@ interface IMoGoAutopilotIdentifyListener {
*
* @param trafficData 交通元素信息列表
*/
fun onAutopilotIdentifyDataUpdate(trafficData: ArrayList<TrafficData>?) {}
fun onAutopilotIdentifyDataUpdate(trafficData: ArrayList<MessagePad.TrackedObject>?) {}
/**
* 报警信息
*
* @param autopilotWarnMessage 预警信息
* @param warn 预警信息
*/
fun onAutopilotWarnMessage(autopilotWarnMessage: AutopilotWarnMessage?) {}
fun onAutopilotWarnMessage(warn: MessagePad.Warn?) {}
/**
* 采集结果回调
*/
fun onAutopilotRecordResult(record: AutoPilotRecordResult?) {}
fun onAutopilotRecordResult(recordPanel: RecordPanelOuterClass.RecordPanel) {}
}

6
core/mogo-core-function-api/src/main/java/com/mogo/eagle/core/function/api/autopilot/IMoGoAutopilotPlanningListener.kt
View File

@@ -1,7 +1,7 @@
package com.mogo.eagle.core.function.api.autopilot
import com.mogo.eagle.core.data.autopilot.ADASTrajectoryInfo
import com.mogo.eagle.core.data.autopilot.AutopilotRouteInfo
import mogo.telematics.pad.MessagePad
import java.util.ArrayList
/**
@@ -18,7 +18,7 @@ interface IMoGoAutopilotPlanningListener {
/**
* 2021/6/23 工控机经纬度 绘制时转成高德经纬度
*
* @param routeList 工控机全局规划路径
* @param globalPathResp 工控机全局规划路径
*/
fun onAutopilotRotting(routeList: AutopilotRouteInfo?)
fun onAutopilotRotting(globalPathResp: MessagePad.GlobalPathResp?)
}

6
core/mogo-core-function-api/src/main/java/com/mogo/eagle/core/function/api/autopilot/IMoGoAutopilotProvider.kt
View File

@@ -75,12 +75,6 @@ interface IMoGoAutopilotProvider : IMoGoFunctionServerProvider {
*/
fun setEnableLog(isEnableLog: Boolean)
/**
* Log 是否写入
*
* @param isWriteLog true-打开,false-关闭
*/
fun setIsWriteLog(isWriteLog: Boolean)
fun setAutoPilotSpeed(speed: Int): Boolean
/**

14
core/mogo-core-function-api/src/main/java/com/mogo/eagle/core/function/api/autopilot/IMoGoAutopilotStatusListener.kt
View File

@@ -1,8 +1,8 @@
package com.mogo.eagle.core.function.api.autopilot
import com.mogo.eagle.core.data.autopilot.AutopilotGuardianStatusInfo
import com.mogo.eagle.core.data.autopilot.AutopilotStationInfo
import com.mogo.eagle.core.data.autopilot.AutopilotStatusInfo
import mogo.telematics.pad.MessagePad
import mogo_msg.MogoReportMsg
/**
* @author xiaoyuzhou
@@ -16,24 +16,24 @@ interface IMoGoAutopilotStatusListener {
*
* @param autoPilotStatusInfo 状态信息
*/
fun onAutopilotStatusResponse(autoPilotStatusInfo: AutopilotStatusInfo){}
fun onAutopilotStatusResponse(autoPilotStatusInfo: AutopilotStatusInfo) {}
/**
* 自动驾驶到站
*
* @param autopilotWayArrive 所到车站的简单信息
* @param arrivalNotification 所到车站的简单信息
*/
fun onAutopilotArriveAtStation(autopilotWayArrive: AutopilotStationInfo?){}
fun onAutopilotArriveAtStation(arrivalNotification: MessagePad.ArrivalNotification?) {}
/**
* 工控机获取SN
*/
fun onAutopilotSNRequest(){}
fun onAutopilotSNRequest() {}
/**
* 工控机监控节点
*/
fun onAutopilotGuardian(guardianInfo: AutopilotGuardianStatusInfo?){}
fun onAutopilotGuardian(guardianInfo: MogoReportMsg.MogoReportMessage?) {}
companion object {

21
core/mogo-core-function-api/src/main/java/com/mogo/eagle/core/function/api/autopilot/IMoGoAutopilotVehicleStateListener.kt Normal file
View File

@@ -0,0 +1,21 @@
package com.mogo.eagle.core.function.api.autopilot
import chassis.Chassis
/**
* 车辆底盘 数据 回调监听
*/
interface IMoGoAutopilotVehicleStateListener {
/**
* 车辆转向灯 数据
* @param lightSwitch
*/
fun onAutopilotLightSwitchData(lightSwitch: Chassis.LightSwitch?)
/**
* 车辆刹车灯 数据
* @param brakeLight
*/
fun onAutopilotBrakeLightData(brakeLight: Boolean)
}

4
core/mogo-core-function-api/src/main/java/com/mogo/eagle/core/function/api/devatools/IDevaToolsProvider.kt
View File

@@ -1,9 +1,9 @@
package com.mogo.eagle.core.function.api.devatools
import android.view.View
import com.mogo.eagle.core.data.autopilot.AutoPilotRecordResult
import com.mogo.eagle.core.data.deva.chain.ChainLogParam
import com.mogo.eagle.core.function.api.base.IMoGoFunctionServerProvider
import record_cache.RecordPanelOuterClass
/**
* 开发套件工具接口
@@ -32,5 +32,5 @@ interface IDevaToolsProvider : IMoGoFunctionServerProvider {
/**
* 当工控机回调时调用
*/
fun onReceiveBadCaseRecord(record: AutoPilotRecordResult)
fun onReceiveBadCaseRecord(record: RecordPanelOuterClass.RecordPanel)
}

4
core/mogo-core-function-call/src/main/java/com/mogo/eagle/core/function/call/autopilot/CallerAutoPilotManager.kt
View File

@@ -77,10 +77,6 @@ object CallerAutoPilotManager {
providerApi?.setEnableLog(isEnableLog)
}
fun setIsWriteLog(isWriteLog: Boolean) {
providerApi?.setIsWriteLog(isWriteLog)
}
fun setAutoPilotSpeed(speed: Int): Boolean {
return providerApi?.setAutoPilotSpeed(speed) ?: false
}

18
core/mogo-core-function-call/src/main/java/com/mogo/eagle/core/function/call/autopilot/CallerAutoPilotStatusListenerManager.kt
View File

@@ -1,14 +1,13 @@
package com.mogo.eagle.core.function.call.autopilot
import androidx.annotation.Nullable
import com.mogo.eagle.core.data.autopilot.AutopilotGuardianStatusInfo
import com.mogo.eagle.core.data.autopilot.AutopilotStationInfo
import com.mogo.eagle.core.data.autopilot.AutopilotStatusInfo
import com.mogo.eagle.core.function.api.autopilot.IMoGoAutopilotStatusListener
import com.mogo.eagle.core.function.call.base.CallerBase
import com.mogo.eagle.core.utilcode.mogo.logger.Logger
import com.mogo.eagle.core.utilcode.util.GsonUtils
import com.mogo.eagle.core.utilcode.util.LogUtils
import mogo.telematics.pad.MessagePad
import mogo_msg.MogoReportMsg
import java.util.concurrent.ConcurrentHashMap
/**
@@ -86,7 +85,6 @@ object CallerAutoPilotStatusListenerManager : CallerBase() {
*/
@Synchronized
fun invokeAutoPilotStatus() {
//LogUtils.dTag(TAG, "$mAutopilotStatusInfo")
invokeAutoPilotStatus(mAutopilotStatusInfo)
}
@@ -108,16 +106,14 @@ object CallerAutoPilotStatusListenerManager : CallerBase() {
/**
* 自动驾驶站点信息 回调
* @param autopilotStationInfo 自动驾驶网约车回调数据
* @param arrivalNotification 自动驾驶网约车回调数据
*/
@Synchronized
fun invokeArriveAtStation(autopilotStationInfo: AutopilotStationInfo) {
//LogUtils.dTag(TAG, "$autopilotStationInfo")
fun invokeArriveAtStation(arrivalNotification: MessagePad.ArrivalNotification?) {
M_AUTOPILOT_STATUS_LISTENERS.forEach {
val tag = it.key
val listener = it.value
//LogUtils.dTag(TAG, "tag:$tag listener:$listener")
listener.onAutopilotArriveAtStation(autopilotStationInfo)
listener.onAutopilotArriveAtStation(arrivalNotification)
}
}
@@ -139,12 +135,10 @@ object CallerAutoPilotStatusListenerManager : CallerBase() {
* 工控机监控节点 回调
*/
@Synchronized
fun invokeAutopilotGuardian(guardianInfo: AutopilotGuardianStatusInfo?) {
//LogUtils.dTag(TAG, "$guardianInfo")
fun invokeAutopilotGuardian(guardianInfo: MogoReportMsg.MogoReportMessage?) {
M_AUTOPILOT_STATUS_LISTENERS.forEach {
val tag = it.key
val listener = it.value
//LogUtils.dTag(TAG, "tag:$tag listener:$listener")
listener.onAutopilotGuardian(guardianInfo)
}
}

73
core/mogo-core-function-call/src/main/java/com/mogo/eagle/core/function/call/autopilot/CallerAutopilotCarConfigListenerManager.kt Normal file
View File

@@ -0,0 +1,73 @@
package com.mogo.eagle.core.function.call.autopilot
import androidx.annotation.Nullable
import com.mogo.eagle.core.function.api.autopilot.IMoGoAutopilotCarConfigListener
import com.mogo.eagle.core.function.call.base.CallerBase
import com.mogo.eagle.core.utilcode.util.LogUtils
import mogo.telematics.pad.MessagePad
import java.util.concurrent.ConcurrentHashMap
/**
* 车辆地盘数据 回调监听
*/
object CallerAutopilotCarConfigListenerManager : CallerBase() {
private val TAG = "CallerAutopilotCarConfigListenerManager"
// 存储所有注册了监听的对象，invokeXXXX进行遍历回调，将信息同步
private val M_AUTOPILOT_CAR_CONFIG_LISTENERS: ConcurrentHashMap<String, IMoGoAutopilotCarConfigListener> =
ConcurrentHashMap()
/**
* 添加 ADAS车辆状态&定位 监听
* @param tag 标记，用来注销监听使用
* @param listener 监听回调
*/
fun addListener(
@Nullable tag: String,
@Nullable listener: IMoGoAutopilotCarConfigListener
) {
if (M_AUTOPILOT_CAR_CONFIG_LISTENERS.containsKey(tag)) {
LogUtils.eTag(TAG, "Tag:$tag already exists,please use other tag")
return
}
M_AUTOPILOT_CAR_CONFIG_LISTENERS[tag] = listener
}
/**
* 删除监听
* @param tag 标记，用来注销监听使用
*/
fun removeListener(@Nullable tag: String) {
if (!M_AUTOPILOT_CAR_CONFIG_LISTENERS.containsKey(tag)) {
LogUtils.eTag(TAG, "Tag:$tag not exists")
return
}
M_AUTOPILOT_CAR_CONFIG_LISTENERS.remove(tag)
}
/**
* 删除自动驾驶按钮选中监听
* @param listener 要删除的监听对象
*/
fun removeListener(@Nullable listener: IMoGoAutopilotCarConfigListener) {
M_AUTOPILOT_CAR_CONFIG_LISTENERS.forEach {
if (it.value == listener) {
M_AUTOPILOT_CAR_CONFIG_LISTENERS.remove(it.key)
}
}
}
/**
* 工控机基础信息回调
* @param carConfigResp
*/
@Synchronized
fun invokeAutopilotCarConfigData(carConfigResp: MessagePad.CarConfigResp) {
M_AUTOPILOT_CAR_CONFIG_LISTENERS.forEach {
val listener = it.value
listener.onAutopilotCarConfig(carConfigResp)
}
}
}

10
core/mogo-core-function-call/src/main/java/com/mogo/eagle/core/function/call/autopilot/CallerAutopilotCarStatusListenerManager.kt
View File

@@ -5,6 +5,7 @@ import com.mogo.eagle.core.data.autopilot.AutopilotCarStateInfo
import com.mogo.eagle.core.function.api.autopilot.IMoGoAutopilotCarStateListener
import com.mogo.eagle.core.function.call.base.CallerBase
import com.mogo.eagle.core.utilcode.util.LogUtils
import mogo.telematics.pad.MessagePad
import java.util.concurrent.ConcurrentHashMap
/**
@@ -62,17 +63,14 @@ object CallerAutopilotCarStatusListenerManager : CallerBase() {
/**
* 车辆状态数据 回调
* @param autoPilotCarStateInfo
* @param gnssInfo
*/
@Synchronized
fun invokeAutopilotCarStateData(autoPilotCarStateInfo: AutopilotCarStateInfo?) {
//LogUtils.dTag(TAG, "$autoPilotCarStateInfo")
//Log.w("DHY-location", "${autoPilotCarStateInfo?.values?.lon},${autoPilotCarStateInfo?.values?.lat} CallerAutopilotCarStatusListenerManager-invokeAutopilotCarStateData")
fun invokeAutopilotCarStateData(gnssInfo: MessagePad.GnssInfo?) {
M_AUTOPILOT_STATUS_LISTENERS.forEach {
val tag = it.key
val listener = it.value
//LogUtils.dTag(TAG, "tag:$tag listener:$listener")
listener.onAutopilotCarStateData(autoPilotCarStateInfo)
listener.onAutopilotCarStateData(gnssInfo)
}
}

19
core/mogo-core-function-call/src/main/java/com/mogo/eagle/core/function/call/autopilot/CallerAutopilotIdentifyListenerManager.kt
View File

@@ -1,13 +1,12 @@
package com.mogo.eagle.core.function.call.autopilot
import androidx.annotation.Nullable
import com.mogo.eagle.core.data.autopilot.AutoPilotRecordResult
import com.mogo.eagle.core.data.autopilot.AutopilotWarnMessage
import com.mogo.eagle.core.data.traffic.TrafficData
import com.mogo.eagle.core.function.api.autopilot.IMoGoAutopilotIdentifyListener
import com.mogo.eagle.core.function.call.base.CallerBase
import com.mogo.eagle.core.utilcode.mogo.logger.Logger
import com.mogo.eagle.core.utilcode.util.LogUtils
import mogo.telematics.pad.MessagePad
import record_cache.RecordPanelOuterClass
import java.util.concurrent.ConcurrentHashMap
/**
@@ -66,12 +65,10 @@ object CallerAutopilotIdentifyListenerManager : CallerBase() {
* 识别交通元素数据发生更新 回调
*/
@Synchronized
fun invokeAutopilotIdentifyDataUpdate(trafficData: ArrayList<TrafficData>?) {
// Logger.d(TAG, "$trafficData")
fun invokeAutopilotIdentifyDataUpdate(trafficData: ArrayList<MessagePad.TrackedObject>?) {
M_AUTOPILOT_IDENTIFY_LISTENERS.forEach {
val tag = it.key
val listener = it.value
// Logger.d(TAG, "tag:$tag listener:$listener")
listener.onAutopilotIdentifyDataUpdate(trafficData)
}
}
@@ -80,25 +77,23 @@ object CallerAutopilotIdentifyListenerManager : CallerBase() {
* 报警信息 回调
*/
@Synchronized
fun invokeAutopilotWarnMessage(autopilotWarnMessage: AutopilotWarnMessage?) {
// Logger.d(TAG, "$autopilotWarnMessage")
fun invokeAutopilotWarnMessage(warn: MessagePad.Warn?) {
M_AUTOPILOT_IDENTIFY_LISTENERS.forEach {
val tag = it.key
val listener = it.value
// Logger.d(TAG, "tag:$tag listener:$listener")
listener.onAutopilotWarnMessage(autopilotWarnMessage)
listener.onAutopilotWarnMessage(warn)
}
}
/**
* 采集任务记录回调
*/
fun invokeAutopilotRecordResult(result: AutoPilotRecordResult) {
fun invokeAutopilotRecordResult(recordPanel: RecordPanelOuterClass.RecordPanel) {
M_AUTOPILOT_IDENTIFY_LISTENERS.forEach {
val tag = it.key
val listener = it.value
LogUtils.dTag(TAG, "tag:$tag listener:$listener")
listener.onAutopilotRecordResult(result)
listener.onAutopilotRecordResult(recordPanel)
}
}

10
core/mogo-core-function-call/src/main/java/com/mogo/eagle/core/function/call/autopilot/CallerAutopilotPlanningListenerManager.kt
View File

@@ -2,10 +2,10 @@ package com.mogo.eagle.core.function.call.autopilot
import androidx.annotation.Nullable
import com.mogo.eagle.core.data.autopilot.ADASTrajectoryInfo
import com.mogo.eagle.core.data.autopilot.AutopilotRouteInfo
import com.mogo.eagle.core.function.api.autopilot.IMoGoAutopilotPlanningListener
import com.mogo.eagle.core.function.call.base.CallerBase
import com.mogo.eagle.core.utilcode.util.LogUtils
import mogo.telematics.pad.MessagePad
import java.util.concurrent.ConcurrentHashMap
/**
@@ -78,16 +78,14 @@ object CallerAutopilotPlanningListenerManager : CallerBase() {
/**
* 路径规划 回调
* @param routeList 自动驾驶网约车回调数据
* @param globalPathResp 自动驾驶网约车回调数据
*/
@Synchronized
fun invokeAutopilotRotting(routeList: AutopilotRouteInfo) {
//LogUtils.dTag(TAG, "$routeList")
fun invokeAutopilotRotting(globalPathResp: MessagePad.GlobalPathResp?) {
M_AUTOPILOT_PLANNING_LISTENER.forEach {
val tag = it.key
val listener = it.value
//LogUtils.dTag(TAG, "tag:$tag listener:$listener")
listener.onAutopilotRotting(routeList)
listener.onAutopilotRotting(globalPathResp)
}
}

85
core/mogo-core-function-call/src/main/java/com/mogo/eagle/core/function/call/autopilot/CallerAutopilotVehicleStateListenerManager.kt Normal file
View File

@@ -0,0 +1,85 @@
package com.mogo.eagle.core.function.call.autopilot
import androidx.annotation.Nullable
import chassis.Chassis
import com.mogo.eagle.core.function.api.autopilot.IMoGoAutopilotVehicleStateListener
import com.mogo.eagle.core.function.call.base.CallerBase
import com.mogo.eagle.core.utilcode.util.LogUtils
import java.util.concurrent.ConcurrentHashMap
/**
* 车辆地盘数据 回调监听
*/
object CallerAutopilotVehicleStateListenerManager : CallerBase() {
private val TAG = "CallerAutopilotVehicleStateListenerManager"
// 存储所有注册了监听的对象，invokeXXXX进行遍历回调，将信息同步
private val M_AUTOPILOT_VEHICLE_LISTENERS: ConcurrentHashMap<String, IMoGoAutopilotVehicleStateListener> =
ConcurrentHashMap()
/**
* 添加 ADAS车辆状态&定位 监听
* @param tag 标记，用来注销监听使用
* @param listener 监听回调
*/
fun addListener(
@Nullable tag: String,
@Nullable listener: IMoGoAutopilotVehicleStateListener
) {
if (M_AUTOPILOT_VEHICLE_LISTENERS.containsKey(tag)) {
LogUtils.eTag(TAG, "Tag:$tag already exists,please use other tag")
return
}
M_AUTOPILOT_VEHICLE_LISTENERS[tag] = listener
}
/**
* 删除监听
* @param tag 标记，用来注销监听使用
*/
fun removeListener(@Nullable tag: String) {
if (!M_AUTOPILOT_VEHICLE_LISTENERS.containsKey(tag)) {
LogUtils.eTag(TAG, "Tag:$tag not exists")
return
}
M_AUTOPILOT_VEHICLE_LISTENERS.remove(tag)
}
/**
* 删除自动驾驶按钮选中监听
* @param listener 要删除的监听对象
*/
fun removeListener(@Nullable listener: IMoGoAutopilotVehicleStateListener) {
M_AUTOPILOT_VEHICLE_LISTENERS.forEach {
if (it.value == listener) {
M_AUTOPILOT_VEHICLE_LISTENERS.remove(it.key)
}
}
}
/**
* 车辆转向灯数据回调
* @param lightSwitch
*/
@Synchronized
fun invokeAutopilotLightSwitchData(lightSwitch: Chassis.LightSwitch?) {
M_AUTOPILOT_VEHICLE_LISTENERS.forEach {
val listener = it.value
listener.onAutopilotLightSwitchData(lightSwitch)
}
}
/**
* 车辆刹车灯数据回调
* @param brakeLight
*/
@Synchronized
fun invokeAutopilotBrakeLightData(brakeLight: Boolean) {
M_AUTOPILOT_VEHICLE_LISTENERS.forEach {
val listener = it.value
listener.onAutopilotBrakeLightData(brakeLight)
}
}
}

3
core/mogo-core-function-call/src/main/java/com/mogo/eagle/core/function/call/devatools/CallerDevaToolsManager.kt
View File

@@ -6,6 +6,7 @@ import com.mogo.eagle.core.data.constants.MogoServicePaths
import com.mogo.eagle.core.data.deva.chain.ChainLogParam
import com.mogo.eagle.core.function.api.devatools.IDevaToolsProvider
import com.mogo.eagle.core.function.call.base.CallerBase
import record_cache.RecordPanelOuterClass
object CallerDevaToolsManager {
@@ -61,7 +62,7 @@ object CallerDevaToolsManager {
/**
* 收到工控机回调时触发
*/
fun onReceiveBadCaseRecord(record: AutoPilotRecordResult) {
fun onReceiveBadCaseRecord(record: RecordPanelOuterClass.RecordPanel) {
devaToolsProviderApi?.onReceiveBadCaseRecord(record)
}
}

66
libraries/map-custom/src/main/java/com/mogo/map/impl/custom/AMapViewWrapper.java
View File

@@ -78,6 +78,8 @@ import java.util.List;
import java.util.Map;
import java.util.concurrent.ConcurrentHashMap;
import mogo.telematics.pad.MessagePad;
public class AMapViewWrapper implements IMogoMapView,
IMogoMapUIController,
LocationListener,
@@ -906,32 +908,48 @@ public class AMapViewWrapper implements IMogoMapView,
double speed = data.optDouble("speed", -1);
long systemTime = data.optLong("systemTime");
long satelliteTime = data.optLong("satelliteTime");
long receiverDataTime = data.optLong("receiverDataTime");
long adasSatelliteTime = data.optLong("adasSatelliteTime");
int gpsProvider = data.optInt("gpsProvider", 1);
// 使用与渠道配置一样的gps提供者提供的数据,app/productFlavors/fPadLenovo.gradle GPS_PROVIDER 0-Android系统，1-工控机，2-OBU
if (gpsProvider == FunctionBuildConfig.gpsProvider) {
if (lon == -1) {
return;
}
RTKAutopilotLocationBean bean = new RTKAutopilotLocationBean();
bean.setYaw_rate(yawRate);
bean.setHeading(heading);
bean.setAcceleration(acceleration);
bean.setAlt(alt);
bean.setSystemTime(systemTime);
bean.setSatelliteTime(satelliteTime);
bean.setReceiverDataTime(receiverDataTime);
bean.setAdasSatelliteTime(adasSatelliteTime);
bean.setLon(lon);
bean.setGnss_speed(((float) speed));
bean.setLat(lat);
// 使用外部定位数据修改自车位置
mMapView.getLocationClient().updateRTKAutoPilotLocation(bean);
CallerLocationUpdaterManager.INSTANCE.updateLocation(bean);
CallerMapDataCollectorManager.INSTANCE.setIsInit();
if (lon == -1) {
return;
}
RTKAutopilotLocationBean bean = new RTKAutopilotLocationBean();
bean.setYaw_rate(yawRate);
bean.setHeading(heading);
bean.setAcceleration(acceleration);
bean.setAlt(alt);
bean.setSystemTime(systemTime);
bean.setSatelliteTime(satelliteTime);
bean.setLon(lon);
bean.setGnss_speed(((float) speed));
bean.setLat(lat);
// 使用外部定位数据修改自车位置
mMapView.getLocationClient().updateRTKAutoPilotLocation(bean);
CallerLocationUpdaterManager.INSTANCE.updateLocation(bean);
CallerMapDataCollectorManager.INSTANCE.setIsInit();
}
@Override
public void syncLocation2Map(MessagePad.GnssInfo gnssInfo) {
if (!checkAMapView()) {
return;
}
if (gnssInfo.getLongitude() == -1) {
return;
}
RTKAutopilotLocationBean bean = new RTKAutopilotLocationBean();
bean.setYaw_rate(gnssInfo.getYawRate());
bean.setHeading(gnssInfo.getHeading());
bean.setAcceleration(gnssInfo.getAcceleration());
bean.setAlt(gnssInfo.getAltitude());
bean.setSystemTime(Double.valueOf(gnssInfo.getSystemTime()).longValue());
bean.setSatelliteTime(Double.valueOf(gnssInfo.getSatelliteTime()).longValue());
bean.setLon(gnssInfo.getLongitude());
bean.setLat(gnssInfo.getLatitude());
bean.setGnss_speed(((float) gnssInfo.getGnssSpeed()));
// 使用外部定位数据修改自车位置
mMapView.getLocationClient().updateRTKAutoPilotLocation(bean);
CallerLocationUpdaterManager.INSTANCE.updateLocation(bean);
CallerMapDataCollectorManager.INSTANCE.setIsInit();
}
@Override

6
libraries/map-custom/src/main/java/com/mogo/map/impl/custom/AMapWrapper.java
View File

@@ -36,6 +36,8 @@ import com.zhidaoauto.map.sdk.open.view.MapAutoViewHelper;
import java.util.ArrayList;
import java.util.List;
import mogo.telematics.pad.MessagePad;
/**
* @author congtaowang
* @since 2019-12-18
@@ -102,12 +104,12 @@ public class AMapWrapper implements IMogoMap {
}
@Override
public void updateBatchMarkerPositon(ArrayList<TrafficData> optionsArrayList) {
public void updateBatchMarkerPosition(ArrayList<MessagePad.TrackedObject> optionsArrayList) {
if (!checkAMap()) {
return;
}
ArrayList<MarkerSimpleData> markerOptionsArrayList = new ArrayList<>();
for (TrafficData mogoMarkerOptions : optionsArrayList) {
for (MessagePad.TrackedObject mogoMarkerOptions : optionsArrayList) {
MarkerSimpleData markerOptions = ObjectUtils.fromTrafficData(mogoMarkerOptions);
if (markerOptions == null) {
Logger.e(TAG, "marker参数为空");

9
libraries/map-custom/src/main/java/com/mogo/map/impl/custom/uicontroller/AMapUIController.java
View File

@@ -18,6 +18,8 @@ import org.json.JSONObject;
import java.util.List;
import mogo.telematics.pad.MessagePad;
/**
* @author congtaowang
* @since 2019-12-26
@@ -337,6 +339,13 @@ public class AMapUIController implements IMogoMapUIController {
}
}
@Override
public void syncLocation2Map(MessagePad.GnssInfo gnssInfo) {
if (mClient != null) {
mClient.syncLocation2Map(gnssInfo);
}
}
@Override
public void openVrMode(boolean zoomGestureEnable) {
if (mClient != null) {

12
libraries/map-custom/src/main/java/com/mogo/map/impl/custom/utils/ObjectUtils.java
View File

@@ -47,6 +47,8 @@ import com.zhidaoauto.map.sdk.open.query.Tip;
import java.util.ArrayList;
import java.util.List;
import mogo.telematics.pad.MessagePad;
/**
* @author congtaowang
* @since 2019-12-18
@@ -116,18 +118,18 @@ public class ObjectUtils {
return markerOptions;
}
public static MarkerSimpleData fromTrafficData(TrafficData trafficData) {
public static MarkerSimpleData fromTrafficData(MessagePad.TrackedObject trafficData) {
if (trafficData == null) {
return null;
}
MarkerSimpleData markerOptions = null;
try {
markerOptions = new MarkerSimpleData();
markerOptions.setId(Long.parseLong(trafficData.getUuid()));
markerOptions.setMarkerType(trafficData.getType().getType());
markerOptions.setId(trafficData.getUuid());
markerOptions.setMarkerType(trafficData.getType());
markerOptions.setRotateAngle((float) trafficData.getHeading());
markerOptions.setLat(trafficData.getLat());
markerOptions.setLon(trafficData.getLon());
markerOptions.setLat(trafficData.getLatitude());
markerOptions.setLon(trafficData.getLongitude());
} catch (Exception e) {
e.printStackTrace();
}

63
libraries/mogo-adas-data/build.gradle Normal file
View File

@@ -0,0 +1,63 @@
plugins {
id 'com.android.library'
id 'kotlin-android'
id 'com.google.protobuf'
}
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'
}
buildTypes {
release {
minifyEnabled false
proguardFiles getDefaultProguardFile('proguard-android-optimize.txt'), 'proguard-rules.pro'
}
}
sourceSets {
main {
proto {
srcDir 'src/main/proto'
include '**/*.proto'
}
}
}
protobuf {
protoc {
artifact = rootProject.ext.dependencies.protoc
}
generateProtoTasks {
all().each { task ->
task.builtins {
remove java
}
task.builtins {
java {}
}
}
}
}
compileOptions {
sourceCompatibility JavaVersion.VERSION_1_8
targetCompatibility JavaVersion.VERSION_1_8
}
}
dependencies {
api rootProject.ext.dependencies.protobuf_java
api rootProject.ext.dependencies.protobuf_java_util
}

3
libraries/mogo-adas-data/gradle.properties Normal file
View File

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

1
libraries/mogo-adas-data/src/main/AndroidManifest.xml Normal file
View File

@@ -0,0 +1 @@
<manifest package="com.zhjt.mogo.adas.data"></manifest>

12
libraries/mogo-adas/build.gradle
View File

@@ -11,17 +11,13 @@ 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)
def name = getValueFromRootProperties("${project.name.replace("-", "_").toUpperCase()}_VERSION")
versionName name
// buildConfigField "String", "VERSION_NAME", "\"${name}\""
versionName getValueFromRootProperties("${project.name.replace("-", "_").toUpperCase()}_VERSION")
buildConfigField "String", "AP_VERSION", "\"${AP_VERSION}\""
testInstrumentationRunner "androidx.test.runner.AndroidJUnitRunner"
consumerProguardFiles 'consumer-rules.pro'
}
@@ -84,9 +80,9 @@ dependencies {
api "com.zhidao.support.recorder:recorder:1.0.0.3"
if (Boolean.valueOf(USE_MAVEN_PACKAGE)) {
implementation rootProject.ext.dependencies.mogo_core_data
} else {
implementation project(':core:mogo-core-data')
implementation project(':libraries:mogo-adas-data')
}
}

64
libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/AdasChannel.java
View File

@@ -1,10 +1,10 @@
package com.zhidao.support.adas.high;
import static com.mogo.eagle.core.data.deva.chain.ChainConstant.CHAIN_ALIAS_CODE_UDP_CONNECT_ADDRESS;
import static com.mogo.eagle.core.data.deva.chain.ChainConstant.CHAIN_LINK_ADAS;
import static com.mogo.eagle.core.data.deva.chain.ChainConstant.CHAIN_LINK_LOG_CONNECT_STATUS;
import static com.zhidao.support.adas.high.common.ActionTypeReceive.ACTION_WS_AUTOPILOT_CONTROL;
import static com.zhidao.support.adas.high.udp.CupidUdpConstract.VIDEO_RENDER_IMAGE_UDP;
import static com.zhidao.support.adas.high.chain.AdasChain.CHAIN_ALIAS_CODE_CONNECT_ADDRESS;
import static com.zhidao.support.adas.high.chain.AdasChain.CHAIN_ALIAS_CODE_INIT;
import static com.zhidao.support.adas.high.chain.AdasChain.CHAIN_LINK_ADAS;
import static com.zhidao.support.adas.high.chain.AdasChain.CHAIN_LINK_LOG_CONNECT_STATUS;
import android.text.TextUtils;
@@ -170,6 +170,12 @@ public class AdasChannel implements IAdasNetCommApi, FpgaSocket.IWebSocketConnec
ipcFixationIPHelper.start(ips);
}
@ChainLog(linkCode = CHAIN_LINK_ADAS,
linkChainLog = CHAIN_LINK_LOG_CONNECT_STATUS,
endpoint = TracingConstants.Endpoint.PAD,
nodeAliasCode = CHAIN_ALIAS_CODE_INIT,
paramIndexes = {-1},
clientPkFileName = "sn")
private void initSocket() {
mSocket = new FpgaSocket();
mSocket.setWebSocketListener(this);
@@ -185,7 +191,7 @@ public class AdasChannel implements IAdasNetCommApi, FpgaSocket.IWebSocketConnec
@ChainLog(linkCode = CHAIN_LINK_ADAS,
linkChainLog = CHAIN_LINK_LOG_CONNECT_STATUS,
endpoint = TracingConstants.Endpoint.PAD,
nodeAliasCode = CHAIN_ALIAS_CODE_UDP_CONNECT_ADDRESS,
nodeAliasCode = CHAIN_ALIAS_CODE_CONNECT_ADDRESS,
paramIndexes = {0},
clientPkFileName = "sn")
private void connectSocket(String address, int port) {
@@ -194,7 +200,6 @@ public class AdasChannel implements IAdasNetCommApi, FpgaSocket.IWebSocketConnec
}
}
private void sendIPCCmd(final String cmd) {
if (ssh == null) {
if (TextUtils.isEmpty(ipcConnectedIp)) {
@@ -242,7 +247,6 @@ public class AdasChannel implements IAdasNetCommApi, FpgaSocket.IWebSocketConnec
sendIPCCmd("docker restart autocar_default_1");
}
@Override
public String getIpcConnectedIp() {
return ipcConnectedIp;
@@ -253,7 +257,6 @@ public class AdasChannel implements IAdasNetCommApi, FpgaSocket.IWebSocketConnec
return ipcConnectedPort;
}
/**
* 发送ws消息
*
@@ -263,13 +266,12 @@ public class AdasChannel implements IAdasNetCommApi, FpgaSocket.IWebSocketConnec
return mSocket != null && mSocket.sendDataWebSocket(msg);
}
/**
* 发送PB数据
*
* @param msgType 数据类型
* @param data 数据
* @return
* @return boolean
*/
private boolean sendWsMessage(MessagePad.MessageType msgType, byte[] data) {
if (mSocket != null && rawPack != null) {
@@ -282,9 +284,9 @@ public class AdasChannel implements IAdasNetCommApi, FpgaSocket.IWebSocketConnec
}
/**
* 处理webSocket text数据
* 处理webSocket
*
* @param text
* @param text text数据
*/
private void handlerWSMsg(String text) {
try {
@@ -306,7 +308,6 @@ public class AdasChannel implements IAdasNetCommApi, FpgaSocket.IWebSocketConnec
temp[0] = 0x01;
onMultiDeviceListener.onForwardingIPCMessage(temp);
}
}
/**
@@ -423,7 +424,6 @@ public class AdasChannel implements IAdasNetCommApi, FpgaSocket.IWebSocketConnec
}
}
@Override
public void onConnecting() {
ipcConnectionStatus = Constants.IPC_CONNECTION_STATUS.CONNECTING;
@@ -473,7 +473,7 @@ public class AdasChannel implements IAdasNetCommApi, FpgaSocket.IWebSocketConnec
/**
* 根据IP和端口进行连接
*
* @param address
* @param address 连接地址
*/
private void onConnectionAddress(String address) {
CupidLogUtils.e(TAG, "要连接的工控机地址=" + address);
@@ -522,7 +522,6 @@ public class AdasChannel implements IAdasNetCommApi, FpgaSocket.IWebSocketConnec
mAdasListener = adasListener;
}
@Override
public int getIpcConnectionStatus() {
return ipcConnectionStatus;
@@ -535,12 +534,10 @@ public class AdasChannel implements IAdasNetCommApi, FpgaSocket.IWebSocketConnec
// return sendWsMessage(Constants.QUERY_ROUTES);
// }
/**
* 接管原因
*/
/**
* log是否显示
*
@@ -550,11 +547,10 @@ public class AdasChannel implements IAdasNetCommApi, FpgaSocket.IWebSocketConnec
CupidLogUtils.setEnableLog(isEnableLog);
}
/**
* 向工控机发送数据
*
* @param info
* @param info 基础信息
*/
@Override
public void sendBaseInfo(BaseInfo info) {
@@ -571,7 +567,7 @@ public class AdasChannel implements IAdasNetCommApi, FpgaSocket.IWebSocketConnec
*
* @param sn SN
* @param environment 1: 研发环境, 2:测试环境, 3:生产环境 4:演示环境
* @return
* @return boolean
*/
@Override
public boolean sendBasicInfoResp(@NonNull String sn, int environment) {
@@ -592,7 +588,7 @@ public class AdasChannel implements IAdasNetCommApi, FpgaSocket.IWebSocketConnec
* @param mode 1: enter autopilot mode, 0: quit autopilot mode
* @param source 命令来源: 0: pad模拟(模拟时routeInfo传null), 1: AICloud业务
* @param routeInfo 自动驾驶路径信息
* @return
* @return boolean
*/
@Override
public boolean sendAutoPilotModeReq(int mode, int source, MessagePad.RouteInfo routeInfo) {
@@ -609,7 +605,7 @@ public class AdasChannel implements IAdasNetCommApi, FpgaSocket.IWebSocketConnec
* 设置演示模式
*
* @param enable 1: enable, 0: disable
* @return
* @return boolean
*/
@Override
public boolean sendDemoModeReq(int enable) {
@@ -623,7 +619,7 @@ public class AdasChannel implements IAdasNetCommApi, FpgaSocket.IWebSocketConnec
/**
* 车机基础信息请求
*
* @return
* @return boolean
*/
@Override
public boolean sendCarConfigReq() {
@@ -640,13 +636,10 @@ public class AdasChannel implements IAdasNetCommApi, FpgaSocket.IWebSocketConnec
* @param filename 文件路径
* @param reasonID 接管原因id
* @param reason 接管原因
* @return
* @return boolean
*/
@Override
public boolean sendRecordCause(long key, @NonNull String filename, @NonNull String reasonID, @NonNull String reason) {
if (filename == null) {
filename = "";
}
if (filename == null) {
filename = "";
}
@@ -687,10 +680,9 @@ public class AdasChannel implements IAdasNetCommApi, FpgaSocket.IWebSocketConnec
*
* @param id 采集id
* @param duration 采集时间长
* @param type 采集类型, 1:badcase, 2: map; 3: rests
* @param type 采集类型, 1:badCase, 2: map; 3: rests
* @param isRecord 采集指令, true: 采集, false: 停止采集
* @param sustain 是否持续采集
* @return
* @return boolean
*/
@Override
public boolean sendRecordData(int id, int duration, int type, boolean isRecord) {
@@ -716,7 +708,7 @@ public class AdasChannel implements IAdasNetCommApi, FpgaSocket.IWebSocketConnec
* 设置自动驾驶最大速度
*
* @param speedLimit 最大车辆速度 m/s
* @return
* @return boolean
*/
@Override
public boolean sendAutopilotSpeedReq(double speedLimit) {
@@ -730,7 +722,7 @@ public class AdasChannel implements IAdasNetCommApi, FpgaSocket.IWebSocketConnec
/**
* 自动驾驶路径请求
*
* @return
* @return boolean
*/
@Override
public boolean sendGlobalPathReq() {
@@ -744,8 +736,8 @@ public class AdasChannel implements IAdasNetCommApi, FpgaSocket.IWebSocketConnec
* 发送红绿灯数据到工控机
*
* @param crossID roadID
* @param latitude
* @param longitude
* @param latitude 纬度
* @param longitude 经度
* @param heading 红绿灯方向
* @param direction 路的航向角
* @param lightId 红绿灯ID

29
libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/IAdasNetCommApi.java
View File

@@ -58,7 +58,7 @@ public interface IAdasNetCommApi {
*
* @param sn SN
* @param environment 1: 研发环境, 2:测试环境, 3:生产环境 4:演示环境
* @return
* @return boolean
*/
boolean sendBasicInfoResp(@NonNull String sn, int environment);
@@ -68,7 +68,7 @@ public interface IAdasNetCommApi {
* @param mode 1: enter autopilot mode, 0: quit autopilot mode
* @param source 命令来源: 0: pad模拟(模拟时routeInfo传null), 1: AICloud业务
* @param routeInfo 自动驾驶路径信息
* @return
* @return boolean
*/
boolean sendAutoPilotModeReq(int mode, int source, MessagePad.RouteInfo routeInfo);
@@ -76,14 +76,14 @@ public interface IAdasNetCommApi {
* 设置演示模式
*
* @param enable 1: enable, 0: disable
* @return
* @return boolean
*/
boolean sendDemoModeReq(int enable);
/**
* 车机基础信息请求
*
* @return
* @return boolean
*/
boolean sendCarConfigReq();
@@ -94,7 +94,7 @@ public interface IAdasNetCommApi {
* @param filename 文件路径
* @param reasonID 接管原因id
* @param reason 接管原因
* @return
* @return boolean
*/
boolean sendRecordCause(long key, @NonNull String filename, @NonNull String reasonID, @NonNull String reason);
@@ -103,7 +103,7 @@ public interface IAdasNetCommApi {
*
* @param id
* @param type
* @return
* @return boolean
*/
boolean startRecordPackage(int id, int type);
@@ -112,7 +112,7 @@ public interface IAdasNetCommApi {
*
* @param id
* @param type
* @return
* @return boolean
*/
boolean startRecordPackage(int id, int duration, int type);
@@ -121,7 +121,7 @@ public interface IAdasNetCommApi {
*
* @param id
* @param type
* @return
* @return boolean
*/
boolean stopRecordPackage(int id, int type);
@@ -132,8 +132,7 @@ public interface IAdasNetCommApi {
* @param duration 采集时间长
* @param type 采集类型, 1:badcase, 2: map; 3: rests
* @param isRecord 采集指令, true: 采集, false: 停止采集
* @param sustain 是否持续采集
* @return
* @return boolean
*/
boolean sendRecordData(int id, int duration, int type, boolean isRecord);
@@ -141,7 +140,7 @@ public interface IAdasNetCommApi {
* 设置自动驾驶最大速度
*
* @param speedLimit 最大车辆速度 m/s
* @return
* @return boolean
*/
boolean sendAutopilotSpeedReq(double speedLimit);
@@ -149,8 +148,8 @@ public interface IAdasNetCommApi {
* 发送红绿灯数据到工控机
*
* @param crossID roadID
* @param latitude
* @param longitude
* @param latitude 纬度
* @param longitude 经度
* @param heading 红绿灯方向
* @param direction 路的航向角
* @param lightId 红绿灯ID
@@ -158,7 +157,7 @@ public interface IAdasNetCommApi {
* @param arrowNo 当前车道对应地面要素转向
* @param flashYellow 黄灯总时间
* @param laneDetail 灯态具体信息
* @return
* @return boolean
*/
boolean sendTrafficLightData(@NonNull String crossID, double latitude, double longitude,
@NonNull String heading, @NonNull String direction, int lightId, int laneNo,
@@ -167,7 +166,7 @@ public interface IAdasNetCommApi {
/**
* 自动驾驶路径请求
*
* @return
* @return boolean
*/
boolean sendGlobalPathReq();

15
libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/chain/AdasChain.java Normal file
View File

@@ -0,0 +1,15 @@
package com.zhidao.support.adas.high.chain;
public class AdasChain {
public static final int CHAIN_LINK_ADAS = 1;
public static final int CHAIN_LINK_LOG_CONNECT_STATUS = 0;
public static final int CHAIN_LINK_LOG_WEB_SOCKET_DATA = 1;
public static final String CHAIN_ALIAS_CODE_INIT = "PAD_ADAS_INIT";
public static final String CHAIN_ALIAS_CODE_CONNECT_ADDRESS = "PAD_ADAS_CONNECT_ADDRESS";
public static final String CHAIN_ALIAS_CODE_WEB_SOCKET_OPEN = "PAD_ADAS_WEB_SOCKET_OPEN";
public static final String CHAIN_ALIAS_CODE_WEB_SOCKET_MESSAGE_JSON = "PAD_ADAS_WEB_SOCKET_MESSAGE_JSON";
public static final String CHAIN_ALIAS_CODE_WEB_SOCKET_MESSAGE_BYTE = "PAD_ADAS_WEB_SOCKET_MESSAGE_BYTE";
}

13
libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/common/CupidLogUtils.java
View File

@@ -13,10 +13,6 @@ public class CupidLogUtils {
*/
// private static boolean mIsEnableLog = BuildConfig.DEBUG;
private static boolean mIsEnableLog = true;
/**
* 是否写日志
*/
private static boolean isWriteLog = true;
/**
* @param isEnableLog true开启 false关闭
@@ -25,15 +21,6 @@ public class CupidLogUtils {
mIsEnableLog = isEnableLog;
}
public static boolean isIsWriteLog() {
return isWriteLog;
}
public static void setIsWriteLog(boolean isWriteLog) {
CupidLogUtils.isWriteLog = isWriteLog;
}
public static void i(String tag, String msg) {
if (!mIsEnableLog) {
return;

15
libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/socket/FpgaSocket.java
View File

@@ -1,10 +1,12 @@
package com.zhidao.support.adas.high.socket;
import static com.mogo.eagle.core.data.deva.chain.ChainConstant.CHAIN_ALIAS_CODE_WEB_SOCKET_MESSAGE_BYTE;
import static com.mogo.eagle.core.data.deva.chain.ChainConstant.CHAIN_ALIAS_CODE_WEB_SOCKET_MESSAGE_JSON;
import static com.mogo.eagle.core.data.deva.chain.ChainConstant.CHAIN_ALIAS_CODE_WEB_SOCKET_OPEN;
import static com.mogo.eagle.core.data.deva.chain.ChainConstant.CHAIN_LINK_ADAS;
import static com.mogo.eagle.core.data.deva.chain.ChainConstant.CHAIN_LINK_LOG_CONNECT_STATUS;
import static com.mogo.eagle.core.data.deva.chain.ChainConstant.CHAIN_LINK_LOG_WEB_SOCKET_DATA;
import static com.zhidao.support.adas.high.chain.AdasChain.CHAIN_ALIAS_CODE_WEB_SOCKET_MESSAGE_BYTE;
import static com.zhidao.support.adas.high.chain.AdasChain.CHAIN_ALIAS_CODE_WEB_SOCKET_MESSAGE_JSON;
import static com.zhidao.support.adas.high.chain.AdasChain.CHAIN_ALIAS_CODE_WEB_SOCKET_OPEN;
import static com.zhidao.support.adas.high.chain.AdasChain.CHAIN_LINK_ADAS;
import static com.zhidao.support.adas.high.chain.AdasChain.CHAIN_LINK_LOG_CONNECT_STATUS;
import static com.zhidao.support.adas.high.chain.AdasChain.CHAIN_LINK_LOG_WEB_SOCKET_DATA;
import static com.zhidao.support.adas.high.common.Constants.RESOURCE_PATH;
import static com.zhidao.support.adas.high.common.Constants.WS_IP_HOST_HEAD;
import android.text.TextUtils;
@@ -242,7 +244,6 @@ public class FpgaSocket implements IWebSocket {
@Override
public void onMessage(@NonNull WebSocket webSocket, @NonNull ByteString bytes) {
super.onMessage(webSocket, bytes);
// CupidLogUtils.i(TAG, "WebSocket onMessage bytes= " + bytes.hex());
if (AdasChannel.isUseQueue) {
WSByteQueueManager.getInstance().addQueueData(bytes);
} else {

4
libraries/mogo-map-api/src/main/java/com/mogo/map/IMogoMap.java
View File

@@ -9,6 +9,8 @@ import com.mogo.map.uicontroller.IMogoMapUIController;
import java.util.ArrayList;
import mogo.telematics.pad.MessagePad;
/**
* @author congtaowang
* @since 2019-12-18
@@ -46,7 +48,7 @@ public interface IMogoMap {
*
* @param optionsArrayList 锚点集合
*/
void updateBatchMarkerPositon(ArrayList<TrafficData> optionsArrayList);
void updateBatchMarkerPosition(ArrayList<MessagePad.TrackedObject> optionsArrayList);
/**
* 添加感知使用到的3d模型

4
libraries/mogo-map-api/src/main/java/com/mogo/map/marker/IMogoMarkerManager.java
View File

@@ -9,6 +9,8 @@ import java.util.ArrayList;
import java.util.List;
import java.util.Map;
import mogo.telematics.pad.MessagePad;
/**
* @author congtaowang
* @since 2019-12-25
@@ -39,7 +41,7 @@ public interface IMogoMarkerManager {
* 批量更新锚点位置
* @param optionsArrayList 锚点集合
*/
void updateBatchMarkerPosition(ArrayList<TrafficData> optionsArrayList);
void updateBatchMarkerPosition(ArrayList<MessagePad.TrackedObject> optionsArrayList);
/**
* 添加感知使用到的3d模型

6
libraries/mogo-map-api/src/main/java/com/mogo/map/uicontroller/IMogoMapUIController.java
View File

@@ -14,6 +14,8 @@ import org.json.JSONObject;
import java.util.List;
import mogo.telematics.pad.MessagePad;
/**
* @author congtaowang
* @since 2019-12-26
@@ -298,6 +300,10 @@ public interface IMogoMapUIController {
}
default void syncLocation2Map(MessagePad.GnssInfo gnssInfo) {
}
/**
* 打开鹰眼模式
*

10
libraries/mogo-map/src/main/java/com/mogo/map/MogoMapUIController.java
View File

@@ -18,6 +18,8 @@ import org.json.JSONObject;
import java.util.List;
import mogo.telematics.pad.MessagePad;
/**
* @author congtaowang
* @since 2019-12-26
@@ -385,6 +387,14 @@ public class MogoMapUIController implements IMogoMapUIController {
}
}
@Override
public void syncLocation2Map(MessagePad.GnssInfo gnssInfo) {
initDelegate();
if (mDelegate != null) {
mDelegate.syncLocation2Map(gnssInfo);
}
}
@Override
public void destroy() {
mDelegate = null;

7
libraries/mogo-map/src/main/java/com/mogo/map/MogoMarkerManager.java
View File

@@ -3,7 +3,6 @@ package com.mogo.map;
import android.content.Context;
import com.mogo.eagle.core.data.map.MogoLatLng;
import com.mogo.eagle.core.data.traffic.TrafficData;
import com.mogo.map.marker.IMogoMarker;
import com.mogo.map.marker.IMogoMarkerManager;
import com.mogo.map.marker.MogoMarkerOptions;
@@ -13,6 +12,8 @@ import java.util.ArrayList;
import java.util.List;
import java.util.Map;
import mogo.telematics.pad.MessagePad;
/**
* @author congtaowang
* @since 2019-12-20
@@ -68,9 +69,9 @@ public class MogoMarkerManager implements IMogoMarkerManager {
}
@Override
public void updateBatchMarkerPosition(ArrayList<TrafficData> optionsArrayList) {
public void updateBatchMarkerPosition(ArrayList<MessagePad.TrackedObject> optionsArrayList) {
try {
MogoMap.getInstance().getMogoMap().updateBatchMarkerPositon(optionsArrayList);
MogoMap.getInstance().getMogoMap().updateBatchMarkerPosition(optionsArrayList);
} catch (Exception e) {
e.printStackTrace();
}

1
modules.txt
View File

@@ -13,6 +13,7 @@
:libraries:map-usbcamera
:libraries:map-custom
:libraries:mogo-map
:libraries:mogo-adas-data
:libraries:mogo-adas
:modules:mogo-module-common
:test:crashreport

12
modules/mogo-module-common/src/main/AndroidManifest.xml
View File

@@ -1,12 +1,4 @@
<manifest xmlns:android="http://schemas.android.com/apk/res/android"
package="com.mogo.module.common" >
<manifest package="com.mogo.module.common">
<application>
<receiver android:name=".datacenter.receiver.SnapShotMockTestPanelBroadCastReceiver">
<intent-filter>
<action android:name="com.loc.test_panel_control" />
<category android:name="android.intent.category.DEFAULT" />
</intent-filter>
</receiver>
</application>
</manifest>

52
modules/mogo-module-common/src/main/java/com/mogo/module/common/datacenter/SnapshotLocationDataCenter.java
View File

@@ -2,7 +2,6 @@ package com.mogo.module.common.datacenter;
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;
@@ -12,6 +11,8 @@ import org.json.JSONObject;
import java.util.ArrayList;
import java.util.List;
import mogo.telematics.pad.MessagePad;
/**
* 定位坐标同步数据中心
* 接收来自工控机实际定位数据
@@ -61,13 +62,27 @@ public class SnapshotLocationDataCenter {
double lat = data.optDouble("lat", -1);
double alt = data.optDouble("alt", -1);
double heading = data.optDouble("heading", -1);
double acceleration = data.optDouble("acceleration", -1);
double yawRate = data.optDouble("yawRate", -1);
double speed = data.optDouble("speed", -1);
long satelliteTime = data.optLong("satelliteTime");
long systemTime = data.optLong("systemTime");
int gpsProvider = data.optInt("gpsProvider", 1);
realSync(lon, lat, alt, heading, speed, satelliteTime, systemTime);
}
public void syncAdasLocationInfo(MessagePad.GnssInfo gnssInfo) {
//测试面板状态同步
DebugConfig.setStatus(DebugConfig.sLocation, true);
double lon = gnssInfo.getLongitude();
double lat = gnssInfo.getLatitude();
double alt = gnssInfo.getAltitude();
double heading = gnssInfo.getHeading();
double speed = gnssInfo.getGnssSpeed();
long satelliteTime = Double.valueOf(gnssInfo.getSatelliteTime()).longValue();
long systemTime = Double.valueOf(gnssInfo.getSystemTime()).longValue();
realSync(lon, lat, alt, heading, speed, satelliteTime, systemTime);
}
private void realSync(double lon, double lat, double alt, double heading, double speed, long satelliteTime, long systemTime) {
// 使用与渠道配置一样的gps提供者提供的数据,app/productFlavors/fPadLenovo.gradle GPS_PROVIDER 0-Android系统，1-工控机，2-OBU
AutopilotStatusInfo autopilotStatusInfo = CallerAutoPilotStatusListenerManager.INSTANCE.getAutoPilotStatusInfo();
autopilotStatusInfo.setLocationLat(lat);
@@ -80,22 +95,21 @@ public class SnapshotLocationDataCenter {
DebugConfig.setStatusData(DebugConfig.sLat, lat);
// 使用与渠道配置一样的gps提供者提供的数据
if (gpsProvider == FunctionBuildConfig.gpsProvider) {
CloudLocationInfo cloudLocationInfo = new CloudLocationInfo();
cloudLocationInfo.setAlt(alt);
cloudLocationInfo.setHeading(heading);
cloudLocationInfo.setLat(lat);
cloudLocationInfo.setLon(lon);
cloudLocationInfo.setSpeed(speed);
cloudLocationInfo.setSatelliteTime(satelliteTime);
cloudLocationInfo.setSystemTime(systemTime);
cloudLocationInfo.setTileId(String.valueOf(MogoApisHandler.getInstance().getApis().getMapServiceApi().getMapUIController().getTileId(lon, lat)));
mMachineCacheList.add(cloudLocationInfo);
CloudLocationInfo cloudLocationInfo = new CloudLocationInfo();
cloudLocationInfo.setAlt(alt);
cloudLocationInfo.setHeading(heading);
cloudLocationInfo.setLat(lat);
cloudLocationInfo.setLon(lon);
cloudLocationInfo.setSpeed(speed);
cloudLocationInfo.setSatelliteTime(satelliteTime);
cloudLocationInfo.setSystemTime(systemTime);
cloudLocationInfo.setTileId(String.valueOf(MogoApisHandler.getInstance().getApis().getMapServiceApi().getMapUIController().getTileId(lon, lat)));
//todo list数据暂时无人使用，增加后会导致数据量缓慢增加
// mMachineCacheList.add(cloudLocationInfo);
mCurLon = cloudLocationInfo.getLon();
mCurLat = cloudLocationInfo.getLat();
mSatelliteTime = cloudLocationInfo.getSatelliteTime();
}
mCurLon = cloudLocationInfo.getLon();
mCurLat = cloudLocationInfo.getLat();
mSatelliteTime = cloudLocationInfo.getSatelliteTime();
}
public double getCurLon() {

6
modules/mogo-module-common/src/main/java/com/mogo/module/common/drawer/BaseDrawer.java
View File

@@ -168,11 +168,11 @@ public class BaseDrawer {
* @return SNTP时间
*/
protected long getCurSatelliteTime() {
String satelliteTime = MogoApisHandler.getInstance().getApis().getAdasControllerApi().getSatelliteTime();
if (TextUtils.isEmpty(satelliteTime)) {
Long satelliteTime = MogoApisHandler.getInstance().getApis().getAdasControllerApi().getSatelliteTime();
if (satelliteTime == 0) {
return System.currentTimeMillis();
}
return Long.parseLong(satelliteTime);
return satelliteTime;
}
/**

18
modules/mogo-module-common/src/main/java/com/mogo/module/common/drawer/IdentifyDataDrawer.java
View File

@@ -13,6 +13,8 @@ import com.mogo.module.common.MogoApisHandler;
import java.util.ArrayList;
import java.util.concurrent.ConcurrentHashMap;
import mogo.telematics.pad.MessagePad;
/**
* @author xiaoyuzhou
* @date 2021/10/19 10:45 上午
@@ -40,7 +42,7 @@ public class IdentifyDataDrawer {
/**
* 过滤后的数据集合
*/
private final ArrayList<TrafficData> mFilterTrafficData = new ArrayList<>();
private final ArrayList<MessagePad.TrackedObject> mFilterTrafficData = new ArrayList<>();
private IdentifyDataDrawer() {
mContext = AbsMogoApplication.getApp();
@@ -67,7 +69,7 @@ public class IdentifyDataDrawer {
*
* @param resultList adas感知融合数据
*/
public void renderAdasRecognizedResult(ArrayList<TrafficData> resultList) {
public void renderAdasRecognizedResult(ArrayList<MessagePad.TrackedObject> resultList) {
if (resultList == null || resultList.isEmpty()) {
clearOldMarker();
Logger.w(TAG, "感知数据为空无需渲染……");
@@ -82,14 +84,14 @@ public class IdentifyDataDrawer {
// 循环将集合中的数据提取记录
for (TrafficData trafficData : resultList) {
for (MessagePad.TrackedObject trafficData : resultList) {
// 过滤掉未知感知数据
if (!FunctionBuildConfig.isDrawUnknownIdentifyData &&
trafficData.getType() == TrafficTypeEnum.TYPE_TRAFFIC_ID_WEI_ZHI) {
trafficData.getType() == TrafficTypeEnum.TYPE_TRAFFIC_ID_WEI_ZHI.getType()) {
//Logger.w(TAG, "未知感知类型数据，丢弃，不渲染");
continue;
}
trafficDataUuidList.add(trafficData.getUuid());
trafficDataUuidList.add("" + trafficData.getUuid());
}
// // 找出上一针数据中已经不在本次数据中存在的数据
// for (String uuid : mMarkersCaches.keySet()) {
@@ -118,11 +120,11 @@ public class IdentifyDataDrawer {
*
* @return 过滤后的数据集合
*/
private ArrayList<TrafficData> filterTrafficData(ArrayList<TrafficData> trafficData) {
private ArrayList<MessagePad.TrackedObject> filterTrafficData(ArrayList<MessagePad.TrackedObject> trafficData) {
mFilterTrafficData.clear();
for (TrafficData data : trafficData) {
for (MessagePad.TrackedObject data : trafficData) {
// 过滤掉未知感知数据
if (data.getType() == TrafficTypeEnum.TYPE_TRAFFIC_ID_WEI_ZHI) {
if (data.getType() == TrafficTypeEnum.TYPE_TRAFFIC_ID_WEI_ZHI.getType()) {
//Logger.w(TAG, "未知感知类型数据，丢弃，不渲染");
continue;
}

16
modules/mogo-module-common/src/main/java/com/mogo/module/common/drawer/SnapshotSetDataDrawer.java
View File

@@ -23,7 +23,6 @@ import com.mogo.module.common.MogoApisHandler;
import com.mogo.module.common.R;
import com.mogo.module.common.constants.DataTypes;
import com.mogo.module.common.utils.Trigonometric;
import com.mogo.service.adas.IMogoADASController;
import com.mogo.service.statusmanager.IMogoStatusChangedListener;
import com.mogo.service.statusmanager.StatusDescriptor;
@@ -90,7 +89,6 @@ public class SnapshotSetDataDrawer extends BaseDrawer implements IMogoMarkerClic
sendMessage(MSG_REMOVE_DIRTY_MARKERS, mMarkersCaches);
removeUselessMarker(mMarkersCaches);
mLastPositions.clear();
AdasRecognizedResultDrawer.getInstance().notifyVrModeChanged(); //清除ADAS old marker data
}
public boolean isChangeCarModeStatus() {
@@ -215,10 +213,6 @@ public class SnapshotSetDataDrawer extends BaseDrawer implements IMogoMarkerClic
if (mMarkersCaches.isEmpty()) {
return;
}
IMogoADASController adasControllerApi = MogoApisHandler.getInstance().getApis().getAdasControllerApi();
if (TextUtils.isEmpty(adasControllerApi.getSatelliteTime())) {
return;
}
Iterator<IMogoMarker> iterator = mMarkersCaches.values().iterator();
while (iterator.hasNext()) {
IMogoMarker result = iterator.next();
@@ -226,9 +220,9 @@ public class SnapshotSetDataDrawer extends BaseDrawer implements IMogoMarkerClic
if (proto == null) { // 后续有业务数据在操作，更新数据，不做处理
continue;
}
long internal = Long.parseLong(adasControllerApi.getSatelliteTime()) - proto.getSatelliteTime();
long internal = getCurSatelliteTime() - proto.getSatelliteTime();
Log.d("MogoArrow", "delayRemoveUselessMarker uuid : " + proto.getUuid()
+ " localTime : " + adasControllerApi.getSatelliteTime()
+ " localTime : " + getCurSatelliteTime()
+ " originTime : " + proto.getSatelliteTime()
+ " internal : " + internal);
if (internal > 5000) {
@@ -242,14 +236,10 @@ public class SnapshotSetDataDrawer extends BaseDrawer implements IMogoMarkerClic
if (mLastPositions.isEmpty()) {
return;
}
IMogoADASController adasControllerApi = MogoApisHandler.getInstance().getApis().getAdasControllerApi();
if (TextUtils.isEmpty(adasControllerApi.getSatelliteTime()) || adasControllerApi.getSatelliteTime().equals("0")) {
return;
}
Iterator<SocketDownData.CloudRoadDataProto> iterator = mLastPositions.values().iterator();
while (iterator.hasNext()) {
SocketDownData.CloudRoadDataProto result = iterator.next();
long internal = Long.parseLong(adasControllerApi.getSatelliteTime()) - result.getSatelliteTime();
long internal = getCurSatelliteTime() - result.getSatelliteTime();
if (internal > 3000) {
iterator.remove();
}

16
modules/mogo-module-service/src/main/java/com/mogo/module/service/intent/MockIntentHandler.java
View File

@@ -297,10 +297,6 @@ public class MockIntentHandler implements IntentHandler {
MogoApisHandler.getInstance().getApis().getMapServiceApi().getMapUIController()
.rtkEnable(false);
break;
case 39:// 使用自动驾驶车的定位数据
MogoApisHandler.getInstance().getApis().getMapServiceApi().getMapUIController()
.syncLocation2Map(null);
break;
case 40:
double[][] coors = new double[][]{{40.17511749267578, 116.74359130859375},
{40.20258331298828, 116.74071502685547},
@@ -789,9 +785,9 @@ public class MockIntentHandler implements IntentHandler {
try {
if (FunctionBuildConfig.isDrawIdentifyData) {
ThreadUtils.getSinglePool().execute(() ->
IdentifyDataDrawer.getInstance().renderAdasRecognizedResult(trafficData)
);
// ThreadUtils.getSinglePool().execute(() ->
// IdentifyDataDrawer.getInstance().renderAdasRecognizedResult(trafficData)
// );
} else {
IdentifyDataDrawer.getInstance().clearOldMarker();
}
@@ -825,9 +821,9 @@ public class MockIntentHandler implements IntentHandler {
try {
if (FunctionBuildConfig.isDrawIdentifyData) {
ThreadUtils.getSinglePool().execute(() ->
IdentifyDataDrawer.getInstance().renderAdasRecognizedResult(trafficData)
);
// ThreadUtils.getSinglePool().execute(() ->
// IdentifyDataDrawer.getInstance().renderAdasRecognizedResult(trafficData)
// );
} else {
IdentifyDataDrawer.getInstance().clearOldMarker();
}

48
modules/mogo-module-service/src/main/java/com/mogo/module/service/routeoverlay/MogoRouteOverlayManager.java
View File

@@ -4,9 +4,6 @@ import android.content.Context;
import android.util.Log;
import com.mogo.eagle.core.data.autopilot.ADASTrajectoryInfo;
import com.mogo.eagle.core.data.autopilot.AutopilotGuardianStatusInfo;
import com.mogo.eagle.core.data.autopilot.AutopilotRouteInfo;
import com.mogo.eagle.core.data.autopilot.AutopilotStationInfo;
import com.mogo.eagle.core.data.autopilot.AutopilotStatusInfo;
import com.mogo.eagle.core.data.config.FunctionBuildConfig;
import com.mogo.eagle.core.data.map.MogoLatLng;
@@ -18,7 +15,6 @@ import com.mogo.eagle.core.function.call.autopilot.CallerAutoPilotStatusListener
import com.mogo.eagle.core.function.call.autopilot.CallerAutopilotPlanningListenerManager;
import com.mogo.eagle.core.function.call.map.CallerMapLocationListenerManager;
import com.mogo.eagle.core.utilcode.mogo.logger.Logger;
import com.mogo.eagle.core.utilcode.util.GsonUtils;
import com.mogo.module.common.utils.DrivingDirectionUtils;
import org.jetbrains.annotations.NotNull;
@@ -27,6 +23,9 @@ import org.jetbrains.annotations.Nullable;
import java.util.ArrayList;
import java.util.List;
import mogo.telematics.pad.MessagePad;
import mogo_msg.MogoReportMsg;
public class MogoRouteOverlayManager implements
IMoGoAutopilotPlanningListener, IMoGoAutopilotStatusListener,
IMoGoMapLocationListener {
@@ -102,13 +101,13 @@ public class MogoRouteOverlayManager implements
}
@Override
public void onAutopilotRotting(AutopilotRouteInfo routeList) {
if (routeList.getModels() == null || routeList.getModels().size() == 0) {
public void onAutopilotRotting(MessagePad.GlobalPathResp globalPathResp) {
if (globalPathResp == null || globalPathResp.getWayPointsList().size() == 0) {
return;
}
List<MogoLatLng> latLngList = new ArrayList<>();
for (AutopilotRouteInfo.RouteModels routeModel : routeList.getModels()) {
latLngList.add(new MogoLatLng(routeModel.getLat(), routeModel.getLon()));
for (MessagePad.Location routeModel : globalPathResp.getWayPointsList()) {
latLngList.add(new MogoLatLng(routeModel.getLatitude(), routeModel.getLongitude()));
}
int listSize = latLngList.size();
mEnding = latLngList.get(listSize - 1);
@@ -120,7 +119,7 @@ public class MogoRouteOverlayManager implements
if (FunctionBuildConfig.isIgnoreConditionsDrawAutopilotTrajectoryData) {
return;
}
this.STATUS_AUTOPILOT = autoPilotStatusInfo.getControl_pilotmode();
this.STATUS_AUTOPILOT = autoPilotStatusInfo.getPilotmode();
//Log.d("lianglihui","onAutopilotStatusResponse:"+STATUS_AUTOPILOT);
// if (STATUS_AUTOPILOT == 1 ){
// if (mEnding != null){
@@ -128,7 +127,7 @@ public class MogoRouteOverlayManager implements
// }
// }else {
//
// }我
// }
if (STATUS_AUTOPILOT != 1) {
RouteOverlayDrawer.getInstance(mContext).clearEndingMarker();
RouteOverlayDrawer.getInstance(mContext).clearMogoRouteOverlay();
@@ -136,20 +135,16 @@ public class MogoRouteOverlayManager implements
}
@Override
public void onAutopilotArriveAtStation(@Nullable AutopilotStationInfo autopilotWayArrive) {
public void onAutopilotArriveAtStation(MessagePad.ArrivalNotification arrivalNotification) {
if (autopilotWayArrive == null) {
if (arrivalNotification == null) {
return;
}
Logger.d(TAG, "onArriveAt data : " + autopilotWayArrive.toString());
Logger.d(TAG, "onArriveAt data : " + arrivalNotification.toString());
// //演示模式下 到达终点将忽略 引导线绘制 选项关闭
// FunctionBuildConfig.isIgnoreConditionsDrawAutopilotTrajectoryData = false;
}
@Override
public void onAutopilotGuardian(@Nullable AutopilotGuardianStatusInfo guardianInfo) {
}
@Override
public void onAutopilotSNRequest() {
@@ -157,7 +152,7 @@ public class MogoRouteOverlayManager implements
}
@Override
public void onLocationChanged(@Nullable MogoLocation location) { //todo 拖尾
public void onLocationChanged(@Nullable MogoLocation location) {
// mLocation = location;
// if (mTrajectoryList.isEmpty()) {
// return;
@@ -184,18 +179,18 @@ public class MogoRouteOverlayManager implements
mLocation = location;
List<MogoLatLng> temp = mTrajectoryList;
if (temp.isEmpty()){
if (temp.isEmpty()) {
return;
}
// Log.e(TAG, "onLocationChanged: size = "+ mTrajectoryList.size()+" ----- "+mLocation.getLongitude()+"-"+mLocation.getLatitude());
ArrayList list = new ArrayList();
for (MogoLatLng latLng:temp) {
ArrayList list = new ArrayList();
for (MogoLatLng latLng : temp) {
// if(!isPointOnCarFront(mLocation,latLng)){
list.add(latLng);
list.add(latLng);
// }
}
Log.d(TAG,"TrajectoryData = " + FunctionBuildConfig.isIgnoreConditionsDrawAutopilotTrajectoryData + "---status = " + STATUS_AUTOPILOT + "----size = " + list.size());
if (FunctionBuildConfig.isIgnoreConditionsDrawAutopilotTrajectoryData || STATUS_AUTOPILOT == 1){
Log.d(TAG, "TrajectoryData = " + FunctionBuildConfig.isIgnoreConditionsDrawAutopilotTrajectoryData + "---status = " + STATUS_AUTOPILOT + "----size = " + list.size());
if (FunctionBuildConfig.isIgnoreConditionsDrawAutopilotTrajectoryData || STATUS_AUTOPILOT == 1) {
RouteOverlayDrawer.getInstance(mContext).drawTrajectoryList(list);
}
}
@@ -218,4 +213,9 @@ public class MogoRouteOverlayManager implements
}
}
@Override
public void onAutopilotGuardian(MogoReportMsg.MogoReportMessage guardianInfo) {
}
}

6
services/mogo-service-api/src/main/java/com/mogo/service/adas/IMogoADASController.java
View File

@@ -39,13 +39,13 @@ public interface IMogoADASController extends IProvider {
/**
* 获取由工控机传回的GPS星历时间
*
* @return
* @return Long
*/
String getSatelliteTime();
Long getSatelliteTime();
/**
* 设置自车的GPS星历时间
*/
void setSatelliteTime(String satelliteTime);
void setSatelliteTime(Long satelliteTime);
}

6
services/mogo-service/src/main/java/com/mogo/service/impl/adas/MogoADASController.java
View File

@@ -14,7 +14,7 @@ public class MogoADASController implements IMogoADASController {
private double mLastLon;
private double mLastLat;
private String mSatelliteTime;
private Long mSatelliteTime;
@Override
public double getLastLat() {
@@ -37,12 +37,12 @@ public class MogoADASController implements IMogoADASController {
}
@Override
public String getSatelliteTime() {
public Long getSatelliteTime() {
return mSatelliteTime;
}
@Override
public void setSatelliteTime(String satelliteTime) {
public void setSatelliteTime(Long satelliteTime) {
mSatelliteTime = satelliteTime;
}

4
settings.gradle
View File

@@ -62,13 +62,11 @@ include ':libraries:map-custom'
include ':libraries:mogo-map-api'
include ':libraries:mogo-map'
include ':libraries:mogo-adas'
include ':libraries:mogo-adas-data'
// OLD业务模块
include ':modules:mogo-module-common'
include ':modules:mogo-module-service'
//include ':modules:mogo-module-carchatting'
//include ':modules:mogo-module-carchattingprovider'
//include ':modules:mogo-module-chat'
// 语音
include ':tts:tts-base'