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修复PAD与工控机断开没有重连的bug
修复引导线车辆尾拖现象

Signed-off-by: donghongyu <donghongyu@zhidaoauto.com>
This commit is contained in:
donghongyu
2022-02-25 16:42:37 +08:00
parent 60622ef131
commit 618a8762ca
3 changed files with 29 additions and 9 deletions
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2
config.gradle
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@@ -114,7 +114,7 @@ ext {
obusdk : "com.zhidao.enterprise.smartv2x:smartv2x:1.0.0.3",
mogoobu : 'com.zhidao.support.obu:mogoobu:1.0.0.19',
mogoami : 'com.zhidao.support.obu.ami:mogoami:1.0.0.10',
adasHigh : 'com.zhidao.support.adas:high:1.2.1.2_bate21',
adasHigh : 'com.zhidao.support.adas:high:1.2.1.2_bate25',
// google
googlezxing : "com.google.zxing:core:3.3.3",

23
core/function-impl/mogo-core-function-autopilot/src/main/java/com/mogo/eagle/core/function/autopilot/MoGoAutopilotProvider.kt
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@@ -21,6 +21,7 @@ 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.zhidao.support.adas.high.AdasManager
import com.zhidao.support.adas.high.AdasOptions
import com.zhidao.support.adas.high.bean.IPCUpgradeInfo
import com.zhidao.support.adas.high.common.CupidLogUtils
import java.util.concurrent.TimeUnit
@@ -51,17 +52,33 @@ class MoGoAutopilotProvider :
0x00 -> // 司机
{
CallerMapDataCollectorManager.registerOnMapCollectTaskListener(this)
AdasManager.getInstance().create(context, FunctionBuildConfig.adasConnectIP)
// "192.168.1.102"
val options = AdasOptions.Builder()
.setIPCIp(FunctionBuildConfig.adasConnectIP)
.setClient(false)
.build()
AdasManager.getInstance().create(context, options)
}
0x01 -> // 乘客
{
// 乘客端默认接收绘制全局路径+引导线
//FunctionBuildConfig.isDemoMode = true
//FunctionBuildConfig.isIgnoreConditionsDrawAutopilotTrajectoryData = true
AdasManager.getInstance().create(context, FunctionBuildConfig.adasConnectIP)
// "192.168.1.103"
val options = AdasOptions.Builder()
.setIPCIp(FunctionBuildConfig.adasConnectIP)
.setClient(false)
.build()
AdasManager.getInstance().create(context, options)
}
else -> // 默认采用UDP寻址方式
AdasManager.getInstance().create(context)
{
val options = AdasOptions.Builder()
.setIPCIp(FunctionBuildConfig.adasConnectIP)
.setClient(false)
.build()
AdasManager.getInstance().create(context, options)
}
}
//////////////////////////////////注意先后顺序，AdasManager.getInstance().create后才可以设置监听/////////////////////////////////////////////
// 监听 adas 连接状态

13
modules/mogo-module-service/src/main/java/com/mogo/module/service/routeoverlay/MogoRouteOverlayManager.java
View File

@@ -83,11 +83,14 @@ public class MogoRouteOverlayManager implements
// Log.d(TAG, "trajectoryInfos:" + adasTrajectoryInfo.getLat()+":"+adasTrajectoryInfo.getLon());
// Log.d(TAG, "temp:"+temp+" location:" + lat+":"+lon);
List<MogoLatLng> mogoLatLngs = new ArrayList<>();
for (ADASTrajectoryInfo a : trajectoryInfos) {
// Log.d(TAG, "temp:"+temp+" trajectoryInfos:" + a.getLat()+":"+a.getLon());
builder.append(a.getLon()).append(",");
builder.append(a.getLat()).append(",");
mogoLatLngs.add(new MogoLatLng(a.getLat(), a.getLon()));
for (int i = 0; i < trajectoryInfos.size(); i++) {
// 临时解决车尾拖线问题，丢弃距离车最近的几个经纬度，原因是惯性导航的中心靠近车尾，会导致经纬度靠近尾部，且两个数据不同频
if (i > 5) {
ADASTrajectoryInfo a = trajectoryInfos.get(i);
builder.append(a.getLon()).append(",");
builder.append(a.getLat()).append(",");
mogoLatLngs.add(new MogoLatLng(a.getLat(), a.getLon()));
}
}
if (FunctionBuildConfig.isIgnoreConditionsDrawAutopilotTrajectoryData || STATUS_AUTOPILOT == 1){
RouteOverlayDrawer.getInstance(mContext).drawTrajectoryList(mogoLatLngs);