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
2022-09-26 19:16:37 +08:00
parent bbb467b0b1 eba88750d8
commit 6a21e175b4
266 changed files with 9667 additions and 771 deletions
--- a/core/function-impl/mogo-core-function-autopilot/src/main/java/com/mogo/eagle/core/function/autopilot/MoGoAutopilotProvider.kt
+++ b/core/function-impl/mogo-core-function-autopilot/src/main/java/com/mogo/eagle/core/function/autopilot/MoGoAutopilotProvider.kt
@@ -52,9 +52,7 @@ import com.zhidao.support.adas.high.OnMultiDeviceListener
 import com.zhidao.support.adas.high.common.Constants
 import com.zhidao.support.adas.high.common.Constants.IPC_CONNECTION_STATUS
 import com.zhidao.support.adas.high.common.CupidLogUtils
-import com.zhidao.support.adas.high.common.MessageType
 import com.zhidao.support.adas.high.common.MogoReport
-import com.zhidao.support.adas.high.subscribe.SubscribeInterfaceOptions
 import com.zhjt.service.chain.ChainLog
 import com.zhjt.service.chain.TracingConstants
 import io.netty.channel.Channel
@@ -91,19 +89,19 @@ class MoGoAutopilotProvider :
            CallerMapDataCollectorManager.registerOnMapCollectTaskListener(this)

            // 配置默认关闭的连接topic
-            val messageTypes: MutableSet<MessageType> = HashSet()
-            messageTypes.add(MessageType.TYPE_RECEIVE_POINT_CLOUD)
-            val subscribeInterfaceOptions = SubscribeInterfaceOptions.newBuilder()
-                    .setRole(Constants.TERMINAL_ROLE.DRIVER)
-                    .setType(Constants.SUBSCRIBE_TYPE.UNSUBSCRIBE)
-                    .setMessageTypes(messageTypes).build()
+//            val messageTypes: MutableSet<MessageType> = HashSet()
+//            messageTypes.add(MessageType.TYPE_RECEIVE_POINT_CLOUD)
+//            val subscribeInterfaceOptions = SubscribeInterfaceOptions.newBuilder()
+//                    .setRole(Constants.TERMINAL_ROLE.DRIVER)
+//                    .setType(Constants.SUBSCRIBE_TYPE.UNSUBSCRIBE)
+//                    .setMessageTypes(messageTypes).build()

            // "192.168.1.102"
            val options = AdasOptions.Builder()
                    .setIpcConnectionMode(AdasOptions.IPC_CONNECTION_MODE.FIXATION)
                    .setIpcFixationIP(AdasManager.getInstance().getIPCFixationIPList(mContext))
                    .setClient(false)
-                    .setSubscribeInterfaceOptions(subscribeInterfaceOptions)
+//                    .setSubscribeInterfaceOptions(subscribeInterfaceOptions)//
                    .build()

            AdasManager.getInstance().create(options, MoGoAdasMsgConnectStatusListenerImpl())
@@ -380,7 +378,7 @@ class MoGoAutopilotProvider :
    override fun setDemoMode(isEnable: Boolean) {
        // 同步给乘客端
        if (AppIdentityModeUtils.isDriver(FunctionBuildConfig.appIdentityMode)) {
-            var byteArray = if (isEnable) byteArrayOf(1) else byteArrayOf(0)
+            val byteArray = if (isEnable) byteArrayOf(1) else byteArrayOf(0)
            if (NSDNettyManager.getInstance().isServerStart) {
                NSDNettyManager.getInstance()
                    .sendMsgToAllClients(
@@ -396,6 +394,25 @@ class MoGoAutopilotProvider :
        }
    }

+    override fun setIgnoreConditionDraw(isIgnore: Boolean) {
+        // 同步给乘客端
+        if (AppIdentityModeUtils.isDriver(FunctionBuildConfig.appIdentityMode)) {
+            val byteArray = if (isIgnore) byteArrayOf(1) else byteArrayOf(0)
+            if (NSDNettyManager.getInstance().isServerStart) {
+                NSDNettyManager.getInstance()
+                    .sendMsgToAllClients(
+                        MogoProtocolMsg(
+                            11,
+                            byteArray.size,
+                            byteArray
+                        )
+                    )
+            } else {
+                CallerLogger.d("$M_ADAS_IMPL$TAG", "同步美化模式状态时司机端Server未启动！")
+            }
+        }
+    }
+
    /**
     * 设置工控机演示模式（美化模式）开启、关闭
     * isEnable = true  开启
@@ -429,6 +446,38 @@ class MoGoAutopilotProvider :
        AdasManager.getInstance().sendRecordDataConfigReq()
    }

+    /**
+     * 向左变道
+     */
+    override fun sendOperatorChangeLaneLeft() {
+//        Log.d("liyz", "MoGoAutopilotProvider sendOperatorChangeLaneLeft -------> ")
+        AdasManager.getInstance().sendOperatorCmdChangeLaneLeft()
+    }
+
+    /**
+     * 向右变道
+     */
+    override fun sendOperatorChangeLaneRight() {
+//        Log.d("liyz", "MoGoAutopilotProvider sendOperatorChangeLaneRight -------> ")
+        AdasManager.getInstance().sendOperatorCmdChangeLaneRight()
+    }
+
+    /**
+     * 发送设置加速度 acc>0加速 acc<0减速 acc=0复位
+     */
+    override fun sendOperatorSetAcceleratedSpeed(cc: Double) {
+//        Log.d("liyz", "MoGoAutopilotProvider sendOperatorSetAcceleratedSpeed cc $cc ")
+        AdasManager.getInstance().sendOperatorCmdSetAcceleratedSpeed(cc)
+    }
+
+    /**
+     * 鸣笛  value 1: honk 2: stop honking
+     */
+    override fun sendOperatorSetHorn(value: Double) {
+//        Log.d("liyz", "MoGoAutopilotProvider sendOperatorSetHorn value $value ")
+        AdasManager.getInstance().sendOperatorCmdSetHorn(value)
+    }
+
    /**
     * 发送工控机所有节点重启命令
     */
--- a/core/function-impl/mogo-core-function-autopilot/src/main/java/com/mogo/eagle/core/function/autopilot/adapter/MoGoAdasListenerImpl.kt
+++ b/core/function-impl/mogo-core-function-autopilot/src/main/java/com/mogo/eagle/core/function/autopilot/adapter/MoGoAdasListenerImpl.kt
@@ -1,6 +1,7 @@
 package com.mogo.eagle.core.function.autopilot.adapter

 import chassis.VehicleStateOuterClass
+import com.mogo.eagle.core.data.app.AppConfigInfo
 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
@@ -13,6 +14,7 @@ import com.mogo.eagle.core.data.deva.chain.ChainConstant.Companion.CHAIN_ALIAS_C
 import com.mogo.eagle.core.data.deva.chain.ChainConstant.Companion.CHAIN_ALIAS_CODE_ADAS_MESSAGE_AUTOPILOT_VEHICLE
 import com.mogo.eagle.core.data.deva.chain.ChainConstant.Companion.CHAIN_ALIAS_CODE_ADAS_MESSAGE_CAR_CONFIG
 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_PLANNING_ACTIONS
 import com.mogo.eagle.core.data.deva.chain.ChainConstant.Companion.CHAIN_ALIAS_CODE_ADAS_MESSAGE_PLANNING_OBJECTS
 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_ALIAS_CODE_ADAS_STATUS_QUERY_RESP
@@ -21,6 +23,7 @@ import com.mogo.eagle.core.data.deva.chain.ChainConstant.Companion.CHAIN_LINK_LO
 import com.mogo.eagle.core.data.deva.chain.ChainConstant.Companion.CHAIN_LINK_LOG_WEB_SOCKET_AUTOPILOT
 import com.mogo.eagle.core.data.deva.chain.ChainConstant.Companion.CHAIN_LINK_LOG_WEB_SOCKET_DATA_TRACKED
 import com.mogo.eagle.core.data.deva.chain.ChainConstant.Companion.CHAIN_LINK_LOG_WEB_SOCKET_GNSSINFO
+import com.mogo.eagle.core.data.deva.chain.ChainConstant.Companion.CHAIN_LINK_LOG_WEB_SOCKET_PLANNING_ACTIONS
 import com.mogo.eagle.core.data.deva.chain.ChainConstant.Companion.CHAIN_LINK_LOG_WEB_SOCKET_PLANNING_OBJECTS
 import com.mogo.eagle.core.data.deva.chain.ChainConstant.Companion.CHAIN_LINK_LOG_WEB_SOCKET_TRAFFIC_LIGHT
 import com.mogo.eagle.core.data.deva.chain.ChainConstant.Companion.CHAIN_LINK_LOG_WEB_SOCKET_TRAJECTORY
@@ -38,6 +41,7 @@ import com.mogo.eagle.core.function.call.autopilot.CallerAutopilotIdentifyListen
 import com.mogo.eagle.core.function.call.autopilot.CallerAutopilotIdentifyListenerManager.invokeAutopilotIdentifyDataUpdate
 import com.mogo.eagle.core.function.call.autopilot.CallerAutopilotIdentifyListenerManager.invokeAutopilotIdentifyPlanningObj
 import com.mogo.eagle.core.function.call.autopilot.CallerAutopilotIdentifyListenerManager.invokeAutopilotWarnMessage
+import com.mogo.eagle.core.function.call.autopilot.CallerAutopilotPlanningActionsListenerManager.invokePNCActions
 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.CallerAutopilotPointCloudListenerManager
@@ -203,6 +207,7 @@ class MoGoAdasListenerImpl : OnAdasListener {
                }
                AdasManager.getInstance().carConfig?.let {
                    autopilotStatusInfo.dockVersion = it.dockVersion
+                    AppConfigInfo.dockerVersion = it.dockVersion
                }
                invokeAutoPilotStatus()
            }
@@ -404,7 +409,21 @@ class MoGoAdasListenerImpl : OnAdasListener {
    /**
     * planning决策状态, 透传
     */
-    override fun onPlanningActionMsg(header: MessagePad.Header?, planningActionMsg: MessagePad.PlanningActionMsg?) {
+    @ChainLog(
+        linkChainLog = CHAIN_LINK_LOG_WEB_SOCKET_PLANNING_ACTIONS,
+        linkCode = CHAIN_LINK_ADAS,
+        endpoint = PAD,
+        nodeAliasCode = CHAIN_ALIAS_CODE_ADAS_MESSAGE_PLANNING_ACTIONS,
+        paramIndexes = [0, 1],
+        clientPkFileName = "sn"
+    )
+    override fun onPlanningActionMsg(
+        header: MessagePad.Header?,
+        planningActionMsg: MessagePad.PlanningActionMsg?
+    ) {
+        planningActionMsg?.let {
+            invokePNCActions(it)
+        }
    }


--- a/core/function-impl/mogo-core-function-autopilot/src/main/java/com/mogo/eagle/core/function/autopilot/adapter/MoGoAdasMsgConnectStatusListenerImpl.kt
+++ b/core/function-impl/mogo-core-function-autopilot/src/main/java/com/mogo/eagle/core/function/autopilot/adapter/MoGoAdasMsgConnectStatusListenerImpl.kt
@@ -2,7 +2,6 @@ package com.mogo.eagle.core.function.autopilot.adapter

 import android.annotation.SuppressLint
 import com.mogo.cloud.passport.MoGoAiCloudClientConfig
-import com.mogo.commons.debug.DebugConfig
 import com.mogo.commons.debug.DebugConfig.*
 import com.mogo.eagle.core.data.autopilot.AutopilotStatusInfo
 import com.mogo.eagle.core.data.config.FunctionBuildConfig
@@ -23,11 +22,9 @@ import com.zhidao.support.adas.high.common.Constants
 import com.zhidao.support.adas.high.common.Constants.ENVIRONMENT.*
 import com.zhidao.support.adas.high.common.Constants.TERMINAL_ROLE.DRIVER
 import com.zhidao.support.adas.high.common.Constants.TERMINAL_ROLE.PASSENGER
-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
+import java.util.*
+import java.util.concurrent.atomic.AtomicBoolean

 /**
 * ADAS-SDK与工控机连接状态回调
@@ -44,6 +41,10 @@ class MoGoAdasMsgConnectStatusListenerImpl : OnAdasConnectStatusListener,

    private var connectStatus = false

+    private val hasUploadTaskLaunched by lazy { AtomicBoolean(false) }
+
+    private val timer = Timer()
+
    init {
        CallerCloudListenerManager.registerCloudListener(TAG, this)
    }
@@ -168,15 +169,16 @@ class MoGoAdasMsgConnectStatusListenerImpl : OnAdasConnectStatusListener,
     */
    @SuppressLint("CheckResult")
    private fun updateDriveStatusTask() {
-        CallerLogger.d("$M_ADAS_IMPL$TAG", "updateDriveStatusTask")
-        Flowable.interval(0, 5, TimeUnit.SECONDS)
-            .subscribeOn(Schedulers.io())
-            .unsubscribeOn(Schedulers.io())
-            .observeOn(AndroidSchedulers.mainThread())
-            .subscribe {
-                AdasServiceModel.getInstance()
-                    .updateDriveStatus(mCurrentAutopilotStatus, mCurrentAutopilotSpeed)
-            }
+        if (hasUploadTaskLaunched.compareAndSet(false, true)) {
+            timer.schedule(object : TimerTask() {
+                override fun run() {
+                    CallerLogger.d("$M_ADAS_IMPL$TAG", "updateDriveStatusTask")
+                    AdasServiceModel.getInstance()
+                        .updateDriveStatus(mCurrentAutopilotStatus, mCurrentAutopilotSpeed)
+                }
+            }, 0, 5000)
+        }
+
    }

    override fun tokenGot(sn: String) {
--- a/core/function-impl/mogo-core-function-autopilot/src/main/java/com/mogo/eagle/core/function/autopilot/server/AsyncDataToAutopilotServer.kt
+++ b/core/function-impl/mogo-core-function-autopilot/src/main/java/com/mogo/eagle/core/function/autopilot/server/AsyncDataToAutopilotServer.kt
@@ -3,7 +3,7 @@ package com.mogo.eagle.core.function.autopilot.server
 import com.mogo.eagle.core.data.trafficlight.TrafficLightResult
 import com.mogo.eagle.core.function.api.trafficlight.IMoGoTrafficLightListener
 import com.mogo.eagle.core.function.call.autopilot.CallerAutoPilotManager
-import com.mogo.eagle.core.function.call.trafficlight.CallTrafficLightListenerManager
+import com.mogo.eagle.core.function.call.trafficlight.CallerTrafficLightListenerManager

 /**
 * @author xiaoyuzhou
@@ -22,7 +22,7 @@ class AsyncDataToAutopilotServer private constructor() : IMoGoTrafficLightListen
    }

    fun initServer() {
-        CallTrafficLightListenerManager.registerTrafficLightListener(TAG, this)
+        CallerTrafficLightListenerManager.registerTrafficLightListener(TAG, this)
    }

    override fun onTrafficLightStatus(trafficLightResult: TrafficLightResult) {
--- a/core/function-impl/mogo-core-function-autopilot/src/main/java/com/mogo/eagle/core/function/autopilot/telematic/TeleMsgHandler.kt
+++ b/core/function-impl/mogo-core-function-autopilot/src/main/java/com/mogo/eagle/core/function/autopilot/telematic/TeleMsgHandler.kt
@@ -11,6 +11,7 @@ import com.mogo.eagle.core.data.deva.chain.ChainConstant
 import com.mogo.eagle.core.data.deva.chain.ChainConstant.Companion.CHAIN_LINK_LOG_CONNECT_STATUS
 import com.mogo.eagle.core.function.call.autopilot.CallerAutoPilotManager
 import com.mogo.eagle.core.function.call.autopilot.CallerAutoPilotManager.setDemoMode
+import com.mogo.eagle.core.function.call.autopilot.CallerAutoPilotManager.setIgnoreConditionDraw
 import com.mogo.eagle.core.function.call.bindingcar.CallerBindingcarManager
 import com.mogo.eagle.core.utilcode.mogo.logger.CallerLogger
 import com.mogo.eagle.core.utilcode.mogo.logger.scene.SceneConstant
@@ -60,12 +61,13 @@ class TeleMsgHandler : IMsgHandler {
                        1 -> true
                        else -> false
                    }
-                    setDemoMode(FunctionBuildConfig.isDemoMode)
+                    invokeNettyConnResult("乘客屏收到的美化模式DemoMode为：${FunctionBuildConfig.isDemoMode}")
                }
                MogoProtocolMsg.REQ_MAC_ADDRESS -> {
                    val carConfig = MessagePad.CarConfigResp.parseFrom(msg.body)
                    AppConfigInfo.plateNumber = carConfig.plateNumber
                    AppConfigInfo.iPCMacAddress = carConfig.macAddress
+                    AppConfigInfo.dockerVersion = carConfig.dockVersion
                    invokeNettyConnResult(
                        "司机屏发送给乘客屏配置信息为:${
                            TextFormat.printer().escapingNonAscii(false).printToString(carConfig)
@@ -77,11 +79,20 @@ class TeleMsgHandler : IMsgHandler {
                        MoGoAiCloudClientConfig.getInstance().sn
                    )
                }
+                // SN
                10 -> {
                    val sn = String(it.body)
                    isReceiveSN = true
                    NettyTcpClient.sSERVER_SN = sn
                }
+                // 美化模式是否忽略条件直接绘制
+                11 -> {
+                    FunctionBuildConfig.isIgnoreConditionsDrawAutopilotTrajectoryData = when (it.body[0].toInt()) {
+                        1 -> true
+                        else -> false
+                    }
+                    invokeNettyConnResult("乘客屏收到的美化模式isIgnore为：${FunctionBuildConfig.isIgnoreConditionsDrawAutopilotTrajectoryData}")
+                }
                else -> {
                }
            }
@@ -139,17 +150,8 @@ class TeleMsgHandler : IMsgHandler {
    override fun handleClientConn2Server(channel: Channel?) {
        val socketAddress = channel?.remoteAddress().toString()
        CallerLogger.d("${SceneConstant.M_ADAS_IMPL}$TAG", "Client ip is:${socketAddress}")
-        val byteArray =
-            if (FunctionBuildConfig.isDemoMode) byteArrayOf(1) else byteArrayOf(0)
-        NSDNettyManager.getInstance().sendMsgToSpecifiedClient(
-            MogoProtocolMsg(
-                MogoProtocolMsg.SYNC_MODE_STATUS,
-                byteArray.size,
-                byteArray
-            ), channel
-        ) {
-            CallerLogger.d("${SceneConstant.M_ADAS_IMPL}$TAG", "同步美化模式状态是否成功：${it.isSuccess}")
-        }
+        setDemoMode(FunctionBuildConfig.isDemoMode)
+        setIgnoreConditionDraw(FunctionBuildConfig.isIgnoreConditionsDrawAutopilotTrajectoryData)
    }

    override fun handleClientConnStatus(statusCode: Int, content: String?, channel: Channel) {
@@ -162,7 +164,7 @@ class TeleMsgHandler : IMsgHandler {
                if (isReceiveSN) {
                    isReceiveSN = false
                }
-                AdasManager.getInstance().startDispatchHandler()
+//                AdasManager.getInstance().startDispatchHandler()
                ToastUtils.showShort("连接司机屏成功!")
                invokeNettyConnResult("乘客屏连接司机屏成功")
                val byteArray = byteArrayOf(0)