Merge branch 'master' into release_robosweeper-d_100-sweeper_220830_1.0.0.1_merge
# Conflicts: # app_ipc_monitoring/src/main/java/com/zhidao/adas/client/ui/MainActivity.java # core/function-impl/mogo-core-function-autopilot/src/main/java/com/mogo/eagle/core/function/autopilot/MoGoAutopilotProvider.kt # core/function-impl/mogo-core-function-autopilot/src/main/java/com/mogo/eagle/core/function/autopilot/adapter/MoGoAdasListenerImpl.kt # core/function-impl/mogo-core-function-autopilot/src/main/java/com/mogo/eagle/core/function/autopilot/adapter/MoGoAdasMsgConnectStatusListenerImpl.kt # core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/hmi/ui/widget/TrafficDataView.java # core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/map/MapPointCloudSubscriber.kt # core/mogo-core-function-api/src/main/java/com/mogo/eagle/core/function/api/autopilot/IMoGoAutopilotProvider.kt # gradle.properties # libraries/mogo-adas-data/src/main/proto/message_pad.proto # libraries/mogo-adas-data/src/main/proto/special_vehicle_task_cmd.proto # libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/AdasChannel.java # libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/AdasManager.java # libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/IAdasNetCommApi.java # libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/common/MessageType.java
This commit is contained in:
aibingbing
160
app/src/androidTest/java/com/mogo/functions/test/RoadAITest.kt
Normal file
160
app/src/androidTest/java/com/mogo/functions/test/RoadAITest.kt
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@@ -0,0 +1,160 @@
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package com.mogo.functions.test
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import android.os.*
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import androidx.test.core.app.*
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import androidx.test.ext.junit.runners.*
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import androidx.test.filters.*
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import com.mogo.eagle.core.function.hmi.ui.*
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import com.mogo.eagle.core.function.main.*
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import com.mogo.eagle.core.function.v2x.events.*
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import com.mogo.v2x.event.V2XEvent.RoadAI
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import kotlinx.coroutines.*
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import org.junit.*
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import org.junit.runner.*
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import roadwork.Road.*
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import java.util.concurrent.*
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import java.util.concurrent.TimeUnit.MILLISECONDS
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import java.util.concurrent.TimeUnit.SECONDS
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import kotlin.Result
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@RunWith(AndroidJUnit4::class)
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@LargeTest
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class RoadAITest {
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lateinit var launch: ActivityScenario<MainLauncherActivity>
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@Before
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fun before() {
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launch = ActivityScenario.launch(MainLauncherActivity::class.java)
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}
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@Test
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fun test() = runBlocking(Dispatchers.Default) {
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ensureMoGoHmiFragmentShow()
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val nanos = System.nanoTime()
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val child =
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RW_PB
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.newBuilder()
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.setHeader(
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Header
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.newBuilder()
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.setFrameId("rw")
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.setModuleName("ai_cloud")
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.setStamp(Time.newBuilder()
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.setSec(TimeUnit.NANOSECONDS.convert(nanos, SECONDS).toInt())
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.setNsec(180000000)
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.build())
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.build())
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.setRoadwork(
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Roadwork_PB
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.newBuilder()
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.setId("4e47e17d-4950-4c80-9b02-29a450e54b50")
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.setScore(95)
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.setDetectTime(nanos)
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.setPoiType(100061)
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.setType(1006)
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.setCenter(
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Center_PB
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.newBuilder()
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.setRoad(Road_PB
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.newBuilder()
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.setRoadId("200091")
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.setLaneNo("-2")
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.setTileId("556834853")
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.setBearing(156)
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.build())
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.setPoint(GPSPoint_PB
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.newBuilder()
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.setLat(26.819533419884188)
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.setLon(112.57506466334905)
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.build())
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.build())
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.addPolygon(0, GPSPoint_PB
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.newBuilder()
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.setLat(26.819544927961125)
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.setLon(112.57503948748804)
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.build())
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.addPolygon(1, GPSPoint_PB
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.newBuilder()
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.setLat(26.81953162903423)
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.setLon(112.57503758421541)
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.build())
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.addPolygon(2, GPSPoint_PB
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.newBuilder()
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.setLat(26.81952255026517)
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.setLon(112.5750496963295)
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.build())
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.addPolygon(3, GPSPoint_PB
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.newBuilder()
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.setLat(26.819517691652617)
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.setLon(112.57507582382465)
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.build())
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.addPolygon(4, GPSPoint_PB
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.newBuilder()
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.setLat(26.819521911807858)
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.setLon(112.57508983920647)
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.build())
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.addPolygon(5, GPSPoint_PB
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.newBuilder()
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.setLat(26.819535210732194)
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.setLon(112.57509174248064)
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.build())
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.addPolygon(6, GPSPoint_PB
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.newBuilder()
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.setLat(26.81954428950259)
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.setLon(112.5750796303722)
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.build())
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.addPolygon(7, GPSPoint_PB
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.newBuilder()
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.setLat(26.819549148117684)
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.setLon(112.57505350287552)
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.build())
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.addRoad(0, Road_PB
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.newBuilder()
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.setRoadId("200090")
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.setLaneNo("-2")
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.setTileId("556834853")
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.setBearing(154)
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.build())
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.addRoad(1, Road_PB
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.newBuilder()
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.setRoadId("200091")
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.setLaneNo("-2")
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.setTileId("556834853")
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.setBearing(156)
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.build())
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.build())
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.build()
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val event = RoadAI(data = child)
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while (true) {
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delay(1000)
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V2XEventManager.onAck(event)
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}
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}
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private suspend fun ensureMoGoHmiFragmentShow(): MoGoHmiFragment = suspendCancellableCoroutine {
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launch.onActivity { itx ->
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val executor = Executors.newSingleThreadScheduledExecutor()
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executor.scheduleAtFixedRate({
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var find =
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itx.supportFragmentManager.fragments.find { it is MoGoHmiFragment } as? MoGoHmiFragment
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while (find == null) {
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find =
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itx.supportFragmentManager.fragments.find { it is MoGoHmiFragment } as? MoGoHmiFragment
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}
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while (!find.isResumed) {
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Thread.sleep(500)
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}
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it.resumeWith(Result.success(find))
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try {
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Thread.sleep(500)
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executor.shutdownNow()
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} catch (e: Throwable) {
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e.printStackTrace()
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}
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}, 50, 500, MILLISECONDS)
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}
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}
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}
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@@ -31,6 +31,15 @@
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android:value="android.startup.provider.config" />
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</provider>
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<!-- <!– 暂不使用Shizuku-API –>-->
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<!-- <provider-->
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<!-- android:name="rikka.shizuku.ShizukuProvider"-->
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<!-- android:authorities="${applicationId}.shizuku"-->
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<!-- android:enabled="true"-->
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<!-- android:exported="true"-->
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<!-- android:multiprocess="false"-->
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<!-- android:permission="android.permission.INTERACT_ACROSS_USERS_FULL" />-->
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<!-- 配置APP ID -->
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<meta-data
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android:name="BUGLY_APPID"
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@@ -1,9 +1,16 @@
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package com.mogo.launcher;
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import com.mogo.eagle.core.function.main.MainMoGoApplication;
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import android.content.Context;
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import androidx.annotation.NonNull;
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import com.mogo.eagle.core.utilcode.mogo.logger.LogLevel;
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import com.mogo.eagle.core.utilcode.mogo.logger.Logger;
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import com.mogo.launcher.crash.CrashSystem;
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import com.mogo.thread.ext.core.ThreadManager;
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import com.mogo.thread.ext.core.config.ThreadConfig;
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import java.util.concurrent.ThreadPoolExecutor;
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/**
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* @author congtaowang
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@@ -13,6 +20,41 @@ import com.mogo.launcher.crash.CrashSystem;
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*/
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public class MogoApplication extends MainMoGoApplication {
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@Override
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protected void attachBaseContext(Context base) {
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super.attachBaseContext(base);
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ThreadConfig.Builder builder = new ThreadConfig.Builder().listener(new ThreadConfig.TaskExecuteListener() {
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@Override
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public boolean isEnabled() {
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return true; // 如果返回true，会有后续的回调；如果返回false, 不会有后续的回调
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}
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@Override
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public void onExecutorBefore(@NonNull Runnable runnable) {
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//每个任务执行前回调
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}
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@Override
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public void onExecutorAfter(@NonNull Runnable runnable) {
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//每个任务执行后回调
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}
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/**
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* @param core 线程池的核心数
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* @param max 线程池的最大线程数
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* @param active 线程池正在活跃的任务数
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* @param completed 线程池已完成的任务数
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*/
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@Override
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public void onExecutorStateChanged(@NonNull ThreadPoolExecutor pool, int core, int max, int active, long completed) {
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//线程池在执行过程，状态变化回调
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//Log.d("POOL", "core:" + core + ";max:" + max + ";active:" + active + ";completed:" + completed);
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}
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});
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builder.loggable(false);
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ThreadManager.INSTANCE.init(builder);
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}
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@Override
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protected void initCrashConfig() {
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CrashSystem crashSystem = CrashSystem.getInstance(this);
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@@ -24,6 +24,7 @@ import com.mogo.eagle.core.data.config.FunctionBuildConfig
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import com.mogo.eagle.core.data.deva.chain.ChainConstant.Companion.CHAIN_ALIAS_CODE_CLOUD_CONNECT_FAIL
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import com.mogo.eagle.core.data.deva.chain.ChainConstant.Companion.CHAIN_ALIAS_CODE_CLOUD_CONNECT_LOST
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import com.mogo.eagle.core.data.deva.chain.ChainConstant.Companion.CHAIN_ALIAS_CODE_CLOUD_CONNECT_SUCCESS
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import com.mogo.eagle.core.data.deva.chain.ChainConstant.Companion.CHAIN_ALIAS_CODE_HTTP_DNS_CHANGED
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import com.mogo.eagle.core.data.deva.chain.ChainConstant.Companion.CHAIN_LINK_CLOUD_SHOW
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import com.mogo.eagle.core.data.deva.chain.ChainConstant.Companion.CHAIN_LINK_LOG_CONNECT_STATUS
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import com.mogo.eagle.core.data.map.MogoLocation
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@@ -37,6 +38,7 @@ import com.mogo.eagle.core.utilcode.util.AppUtils
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import com.mogo.eagle.core.utilcode.util.ProcessUtils
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import com.mogo.eagle.core.utilcode.util.ThreadPoolService
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import com.mogo.eagle.core.utilcode.util.TimeUtils
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import com.mogo.map.location.GDLocationClient
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import com.mogo.module.common.constants.HostConst
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import com.rousetime.android_startup.AndroidStartup
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import com.zhjt.mogo_core_function_devatools.env.EnvChangeManager
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@@ -59,6 +61,8 @@ class HttpDnsStartUp : AndroidStartup<Boolean>() {
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private var context: Context? = null
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private var gotToken = false
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override fun callCreateOnMainThread() = true
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override fun waitOnMainThread() = false
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@@ -73,12 +77,17 @@ class HttpDnsStartUp : AndroidStartup<Boolean>() {
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override fun create(context: Context): Boolean {
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this.context = context
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if (ProcessUtils.isMainProcess(context)) {
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initGDLoc()
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initHttpDns()
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initCloudClientConfig()
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}
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return true
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}
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private fun initGDLoc() {
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GDLocationClient.getInstance(context).start()
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}
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/**
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* 初始化 HttpDNS ，这里会通过一个接口获取所有鹰眼中使用的微服务域名以及端口号
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* 后续的网络请求会通过 HttpDnsInterceptor 进行拦截替换
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@@ -125,10 +134,8 @@ class HttpDnsStartUp : AndroidStartup<Boolean>() {
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//设置长链接的secretKey //todo 通过SHA1和包名找中台服务生成，后续包名分渠道,需要做对应操作
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clientConfig.secretKey = "YMj2VFDFxJ3Q4gNoZceJ"
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// todo 使用旧链路
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// clientConfig.setUseOriginSocket(true);
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clientConfig.iHttpDnsCurrentLocation = object : IHttpDnsCurrentLocation {
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override fun getCurrentLocation(): HttpDnsSimpleLocation? {
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override fun getCurrentLocation(): HttpDnsSimpleLocation {
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val envConfig = EnvChangeManager.getEnvConfig()
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if (envConfig != null) {
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return HttpDnsSimpleLocation(envConfig.cityCode, envConfig.lat, envConfig.lon)
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@@ -140,13 +147,23 @@ class HttpDnsStartUp : AndroidStartup<Boolean>() {
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mogoLocation = locationClient.lastKnowLocation
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}
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val httpDnsSimpleLocation =
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if (mogoLocation != null && mogoLocation.latitude != 0.0 && mogoLocation.longitude != 0.0
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) {
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HttpDnsSimpleLocation(
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mogoLocation.cityCode,
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mogoLocation.latitude,
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mogoLocation.longitude
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)
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if (mogoLocation != null && mogoLocation.latitude != 0.0 && mogoLocation.longitude != 0.0) {
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if (mogoLocation.cityCode.isNullOrEmpty() && !GDLocationClient.getInstance(
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context
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).lastCityCode.isNullOrEmpty()
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) {
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HttpDnsSimpleLocation(
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GDLocationClient.getInstance(context).lastCityCode,
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mogoLocation.latitude,
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mogoLocation.longitude
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)
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} else {
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HttpDnsSimpleLocation(
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mogoLocation.cityCode,
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mogoLocation.latitude,
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mogoLocation.longitude
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)
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}
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} else {
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val ciyCode =
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SharedPrefsMgr.getInstance(
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@@ -171,7 +188,6 @@ class HttpDnsStartUp : AndroidStartup<Boolean>() {
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// e.printStackTrace();
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HttpDnsSimpleLocation("010", 1.0, 1.0)
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}
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//CallerLogger.INSTANCE.d(M_HMI + TAG, "使用缓存GPS信息：" + httpDnsSimpleLocation);
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}
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return httpDnsSimpleLocation
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}
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@@ -184,15 +200,19 @@ class HttpDnsStartUp : AndroidStartup<Boolean>() {
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MoGoAiCloudClient.getInstance().init(context, clientConfig).addTokenCallbacks(
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object : IMoGoTokenCallback {
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override fun onTokenGot(token: String, sn: String) {
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CallerLogger.d(SceneConstant.M_HMI + TAG, "onTokenGot ")
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clientConfig.token = token
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CallerCloudListenerManager.invokeCloudTokenGot(token)
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// 异步初始化NetConfig
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asyncInit()
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// HttpDns ttl回调 --- socketTTL
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registerSocketHttpDnsTTL(HostConst.SOCKET_CENTER_DOMAIN)
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// 开启每5s/次定位上报
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uploadLocPerFiveSecond()
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// 由于存在token过期问题，在更新后会回调至此处，增加二次判定
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if(!gotToken){
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CallerLogger.d(SceneConstant.M_MAP + TAG, "onTokenGot ")
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CallerCloudListenerManager.invokeCloudTokenGot(token)
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// 异步初始化NetConfig
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asyncInit()
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// HttpDns ttl回调 --- socketTTL
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registerSocketHttpDnsTTL(HostConst.SOCKET_CENTER_DOMAIN)
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// 开启每5s/次定位上报
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uploadLocPerFiveSecond()
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gotToken = true
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}
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}
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override fun onError(code: Int, msg: String) {
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@@ -236,7 +256,15 @@ class HttpDnsStartUp : AndroidStartup<Boolean>() {
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*/
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private fun registerSocketHttpDnsTTL(host: String?) {
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mogoHttpDns.addressChangedListener(object : OnAddressChangedListener {
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override fun onAddressChanged(address: Map<String, String>?) {
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@ChainLog(
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linkChainLog = CHAIN_LINK_LOG_CONNECT_STATUS,
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linkCode = CHAIN_LINK_CLOUD_SHOW,
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endpoint = PAD,
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nodeAliasCode = CHAIN_ALIAS_CODE_HTTP_DNS_CHANGED,
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paramIndexes = [0, 1],
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clientPkFileName = "sn"
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)
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override fun onAddressChanged(cityCode: String, address: Map<String, String>?) {
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val dnsCacheIp = mogoHttpDns.getCachedHttpDnsIps(
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host,
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HttpDnsConst.HTTP_DNS_ADDRESS_TYPE_HTTP
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@@ -314,6 +342,18 @@ class HttpDnsStartUp : AndroidStartup<Boolean>() {
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CallerLogger.d(SceneConstant.M_HMI + TAG, "socket-onConnectLost")
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DebugConfig.setDownloadSnapshot(false)
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}
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@ChainLog(
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linkChainLog = CHAIN_LINK_LOG_CONNECT_STATUS,
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linkCode = CHAIN_LINK_CLOUD_SHOW,
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endpoint = PAD,
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nodeAliasCode = CHAIN_ALIAS_CODE_CLOUD_CONNECT_LOST,
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paramIndexes = [0, 1],
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clientPkFileName = "sn"
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)
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override fun onError(code: String, msg: String?) {
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CallerLogger.d(SceneConstant.M_HMI + TAG, "socket-onConnectLost")
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}
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})
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// 开启Socket长链服务
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val lat = location.latitude
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||||
|
||||
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