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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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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
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@@ -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) {