Merge branch 'dev_minibus-d_230425_3.2.0' into code_opt_3.3.0

core/function-impl/mogo-core-function-datacenter/src/main/java/com/mogo/eagle/core/function/datacenter/autopilot/MoGoAutopilotControlProvider.kt

@@ -281,6 +281,7 @@ class MoGoAutopilotControlProvider :
                     SharedPrefsMgr.getInstance(it).putString(MoGoConfig.AUTOPILOT_IP, autoPilotIp)
                 }
                 // 设置IP地址
+                AdasManager.getInstance().adasOptions.isClient = false
                 AdasManager.getInstance().adasOptions.ipcConnectionMode =
                     AdasOptions.IPC_CONNECTION_MODE.ASSIGN
                 AdasManager.getInstance().adasOptions.ipcAssignIP = autoPilotIp

core/function-impl/mogo-core-function-datacenter/src/main/java/com/mogo/eagle/core/function/datacenter/autopilot/adapter/MoGoAdasListenerImpl.kt

@@ -288,9 +288,6 @@ class MoGoAdasListenerImpl : OnAdasListener {
                 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.version = AdasManager.getInstance().adasVersion
                 if (autopilotStatusInfo.connectIP == null) {
                     autopilotStatusInfo.connectIP = AdasManager.getInstance().ipcConnectedIp

core/function-impl/mogo-core-function-datacenter/src/main/java/com/mogo/eagle/core/function/datacenter/autopilot/server/AsyncDataToAutopilotServer.kt

@@ -1,10 +1,24 @@
 package com.mogo.eagle.core.function.datacenter.autopilot.server
 
+import android.annotation.SuppressLint
+import com.mogo.eagle.core.data.autopilot.AutopilotStatusInfo
 import com.mogo.eagle.core.data.biz.trafficlight.TrafficLightResult
+import com.mogo.eagle.core.data.deva.chain.ChainConstant
+import com.mogo.eagle.core.function.api.autopilot.IMoGoAutopilotStatusListener
 import com.mogo.eagle.core.function.api.datacenter.union.IMoGoTrafficLightListener
 import com.mogo.eagle.core.function.call.autopilot.CallerAutoPilotControlManager
+import com.mogo.eagle.core.function.call.autopilot.CallerAutoPilotStatusListenerManager
 import com.mogo.eagle.core.function.call.v2x.CallerTrafficLightListenerManager
+import com.mogo.eagle.core.utilcode.mogo.logger.CallerLogger
+import com.mogo.eagle.core.utilcode.mogo.logger.scene.SceneConstant
 import com.zhidao.support.adas.high.AdasManager
+import com.zhjt.service.chain.ChainLog
+import com.zhjt.service.chain.TracingConstants.Endpoint.Companion.PAD
+import io.reactivex.Observable
+import io.reactivex.android.schedulers.AndroidSchedulers
+import io.reactivex.disposables.Disposable
+import java.util.concurrent.TimeUnit
+import java.util.concurrent.atomic.AtomicInteger
 
 /**
  * @author xiaoyuzhou
@@ -14,7 +28,8 @@ import com.zhidao.support.adas.high.AdasManager
  * 异步同步数据给 Autopilot 控制器
  * 数据源（不限于）：OBU、网络等
  */
-class AsyncDataToAutopilotServer private constructor() : IMoGoTrafficLightListener {
+class AsyncDataToAutopilotServer private constructor() : IMoGoTrafficLightListener,
+    IMoGoAutopilotStatusListener {
     companion object {
         const val TAG = "AsyncDataToAutopilotServer"
         val INSTANCE: AsyncDataToAutopilotServer by lazy(mode = LazyThreadSafetyMode.SYNCHRONIZED) {
@@ -22,10 +37,41 @@ class AsyncDataToAutopilotServer private constructor() : IMoGoTrafficLightListen
         }
     }
 
+    private var mPreAutoStatus = AtomicInteger(-1)
+    private var createSubscribe: Disposable? = null
+
     fun initServer() {
+        CallerAutoPilotStatusListenerManager.addListener(TAG, this)
         CallerTrafficLightListenerManager.addListener(TAG, this)
     }
 
+    @SuppressLint("CheckResult")
+    override fun onAutopilotStatusResponse(autoPilotStatusInfo: AutopilotStatusInfo) {
+        super.onAutopilotStatusResponse(autoPilotStatusInfo)
+        val state = autoPilotStatusInfo.state
+        if (mPreAutoStatus.get() != state) {
+            mPreAutoStatus.set(state)
+            createSubscribe?.let {
+                if (!it.isDisposed) {
+                    bizLog(SceneConstant.M_ADAS_IMPL + TAG, "自动驾驶状态变化，取消前置轨迹请求，间隔2s重新请求底盘轨迹")
+                    createSubscribe?.dispose()
+                }
+            }
+
+            when (state) {
+                IMoGoAutopilotStatusListener.STATUS_AUTOPILOT_RUNNING -> {
+                    createSubscribe = Observable.timer(2000L, TimeUnit.MILLISECONDS)
+                        .observeOn(AndroidSchedulers.mainThread())
+                        .subscribe {
+                            bizLog(SceneConstant.M_ADAS_IMPL + TAG, "请求底盘轨迹")
+                            CallerAutoPilotControlManager.getGlobalPath()
+                        }
+                }
+                else -> {}
+            }
+        }
+    }
+
     override fun onTrafficLightStatus(trafficLightResult: TrafficLightResult) {
         var version = -1
         if (AdasManager.getInstance().carConfig != null) {
@@ -34,4 +80,16 @@ class AsyncDataToAutopilotServer private constructor() : IMoGoTrafficLightListen
         if (version > -1 && version < 290)
             CallerAutoPilotControlManager.sendTrafficLightData(trafficLightResult)
     }
+
+    @ChainLog(
+        linkChainLog = ChainConstant.CHAIN_LINK_LOG_WEB_SOCKET_AUTOPILOT,
+        linkCode = ChainConstant.CHAIN_LINK_ADAS,
+        endpoint = PAD,
+        nodeAliasCode = ChainConstant.CHAIN_ALIAS_CODE_ADAS_MESSAGE_AUTOPILOT_BIZ,
+        paramIndexes = [0, 1],
+        clientPkFileName = "sn"
+    )
+    private fun bizLog(tag: String, msg: String) {
+        CallerLogger.d(tag, msg)
+    }
 }

core/function-impl/mogo-core-function-datacenter/src/main/java/com/mogo/eagle/core/function/datacenter/v2x/TrafficLightDispatcher.kt

@@ -1,6 +1,7 @@
 package com.mogo.eagle.core.function.datacenter.v2x
 
 import android.content.Context
+import android.os.CountDownTimer
 import android.os.Handler
 import com.mogo.eagle.core.data.biz.trafficlight.*
 import com.mogo.eagle.core.data.config.FunctionBuildConfig
@@ -63,6 +64,9 @@ class TrafficLightDispatcher : IMoGoAutopilotIdentifyListener, IMoGoTrafficLight
     @Volatile
     private var hasObuLightStatus: Boolean = false
 
+    private var lightCountDownTimer: CountDownTimer?= null
+    private var lastLightTime: Long = System.currentTimeMillis()
+
     fun initServer(context: Context) {
         mContext = context
         //注册监听AI云.OBU，路侧获取红绿灯状态
@@ -79,6 +83,28 @@ class TrafficLightDispatcher : IMoGoAutopilotIdentifyListener, IMoGoTrafficLight
         CallerLogger.d("${SceneConstant.M_OBU}${TAG}", "onAutopilotPerceptionTrafficLight ---- hasObuLightStatus = $hasObuLightStatus ----hasAiLightStatus = $hasAiLightStatus ")
         if (!hasObuLightStatus) {
             if (!hasAiLightStatus) {
+
+                lastLightTime = System.currentTimeMillis()
+                if(lightCountDownTimer==null){
+                    lightCountDownTimer = object: CountDownTimer(300000,1000){
+                        override fun onTick(millisUntilFinished: Long) {
+                            if((System.currentTimeMillis() - lastLightTime)>1000){
+                                //隐藏红绿灯显示
+                                CallerTrafficLightListenerManager.disableTrafficLight()
+                                lightCountDownTimer?.cancel()
+                                lightCountDownTimer = null
+                            }
+                        }
+
+                        override fun onFinish() {
+                            lightCountDownTimer?.cancel()
+                            lightCountDownTimer = null
+                        }
+
+                    }
+                    lightCountDownTimer?.start()
+                }
+
                 trafficLights?.let { it ->
                     var light: TrafficLight? = null
                     if (it.hasStraight()) {
@@ -205,7 +231,7 @@ class TrafficLightDispatcher : IMoGoAutopilotIdentifyListener, IMoGoTrafficLight
                 CallerTrafficLightListenerManager.changeCountdownYellow(remain)
             }
             TrafficLightEnum.BLACK -> {
-                CallerTrafficLightListenerManager.disableTrafficLightCountDown()
+                CallerTrafficLightListenerManager.disableTrafficLight()
             }
             else -> {
                 hide()