Merge branch 'dev_robotaxi-d_230912_6.1.0' into dev_minibus-d_230919_6.1.0

2023-09-22 19:04:08 +08:00
parent 8128873855 ea51f63879
commit 6d5740a7f4
16 changed files with 100 additions and 183 deletions
--- a/OCH/mogo-och-common-module/src/main/java/com/mogo/och/common/module/manager/autopilotmanager/OCHAdasAbilityManager.java
+++ b/OCH/mogo-och-common-module/src/main/java/com/mogo/och/common/module/manager/autopilotmanager/OCHAdasAbilityManager.java
@@ -6,7 +6,6 @@ import androidx.annotation.Nullable;

 import com.mogo.eagle.core.function.api.autopilot.IMoGoAutopilotActionsListener;
 import com.mogo.eagle.core.function.api.autopilot.IMoGoAutopilotStatisticsListener;
-import com.mogo.eagle.core.function.api.autopilot.IMoGoParallelDrivingActionsListener;
 import com.mogo.eagle.core.function.call.autopilot.CallerAutoPilotStatusListenerManager;
 import com.mogo.eagle.core.function.call.autopilot.CallerAutopilotActionsListenerManager;
 import com.mogo.eagle.core.function.call.autopilot.CallerAutopilotStatisticsListenerManager;
@@ -24,7 +23,7 @@ import java.util.ArrayList;
 * 工控机状态信息回调（判断是否能否启动自动驾驶的回调）
 * 目前定的是3秒回调一次
 */
-public class OCHAdasAbilityManager implements IMoGoAutopilotActionsListener, IMoGoAutopilotStatisticsListener, IMoGoParallelDrivingActionsListener {
+public class OCHAdasAbilityManager implements IMoGoAutopilotActionsListener, IMoGoAutopilotStatisticsListener {

    private static final String TAG = OCHAdasAbilityManager.class.getSimpleName();

@@ -89,8 +88,6 @@ public class OCHAdasAbilityManager implements IMoGoAutopilotActionsListener, IMo
        //2022.10.9 工控机状态信息回调（判断是否能否启动自动驾驶的回调）， 目前定的是3秒回调一次
        CallerAutopilotActionsListenerManager.INSTANCE.addListener(TAG, this);
        CallerAutopilotStatisticsListenerManager.INSTANCE.addListener(TAG,this);
-        //map3.6.0且是东风或者红旗的时候返回
-        CallerParallelDrivingActionsListenerManager.INSTANCE.addListener(TAG,this);
    }

    private void releaseListeners() {
@@ -115,7 +112,6 @@ public class OCHAdasAbilityManager implements IMoGoAutopilotActionsListener, IMo

        }
    }
-
    @Override
    public void onAutopilotStatistics(@Nullable AutopilotStatistics statistics) {
        if (statistics == null) return;
@@ -129,20 +125,6 @@ public class OCHAdasAbilityManager implements IMoGoAutopilotActionsListener, IMo
        }
    }

-    @Override
-    public void onParallelDrivingAbility(boolean isParallelDrivingAbility, @Nullable ArrayList<UnableLaunchReason> unableParallelDrivingReasons) {
-        if (unableParallelDrivingReasons != null && getMapVersion() >= 30600) {
-            //刹车变化回调
-            Logger.d(TAG,"onParallelDrivingAbility = " + isParallelDrivingAbility +
-                    " unableParallelDrivingReasons =" +  unableParallelDrivingReasons.toString());
-            if (unableParallelDrivingReasons.toString().contains(UnableLaunchReason.SourceType.CHASSIS.name())
-                    && unableParallelDrivingReasons.toString().contains(UnableLaunchReason.UnableType.BRAKE.name())) {
-                failureCallback.brakeStatusChanged(isParallelDrivingAbility);
-            }
-
-        }
-    }
-
    private int getMapVersion(){
        return ParseVersionUtils.parseVersion(true, CallerAutoPilotStatusListenerManager.INSTANCE.getDockerVersion());
    }
--- a/OCH/taxi/unmanned-driver/src/main/java/com/mogo/och/taxi/ui/base/TaxiFragment.kt
+++ b/OCH/taxi/unmanned-driver/src/main/java/com/mogo/och/taxi/ui/base/TaxiFragment.kt
@@ -283,12 +283,12 @@ class TaxiFragment : BaseTaxiTabFragment<TaxiFragment, TaxiPresenter>(),
        findViewById<View>(R.id.test_bar_route)?.setOnClickListener {
            testRouteInfoUpload()
        }
-        findViewById<View>(R.id.test_brake)?.setOnClickListener {
-            TaxiTaskModel.handleBrakeStatusChange(false)
-        }
-        findViewById<View>(R.id.test_resume_brake)?.setOnClickListener {
-            TaxiTaskModel.handleBrakeStatusChange(true)
-        }
+//        findViewById<View>(R.id.test_brake)?.setOnClickListener {
+//            TaxiTaskModel.handleBrakeStatusChange(false)
+//        }
+//        findViewById<View>(R.id.test_resume_brake)?.setOnClickListener {
+//            TaxiTaskModel.handleBrakeStatusChange(true)
+//        }
        findViewById<View>(R.id.test_parallel_driver)?.setOnClickListener {
            stopAutoStartAutopilot()
        }
--- a/OCH/taxi/unmanned-driver/src/main/java/com/mogo/och/taxi/ui/task/TaxiCurrentTaskFragment.kt
+++ b/OCH/taxi/unmanned-driver/src/main/java/com/mogo/och/taxi/ui/task/TaxiCurrentTaskFragment.kt
@@ -117,18 +117,14 @@ class TaxiCurrentTaskFragment : BaseFragment(),
            TAG,
            "hasCurrentTask  = $hasCurrentTask"
        )
-        try {
-            if (hasCurrentTask) {
-                noTaskData.visibility = View.GONE
-                mCurrentTaskLayout.visibility = View.VISIBLE
-            } else {
-                noTaskData.visibility = View.VISIBLE
-                noOrderDataTv.text = "暂无进行中订单"
-                mCurrentTaskLayout.visibility = View.GONE
-                taskOtherInfo.text = "距离 -- 公里, 用时 -- 分钟"
-            }
-        } catch (e: NullPointerException) { //可能会出现订单信息已经轮询回来，但进行中页面控件还未初始化完成的情况
-            TaxiTaskModel.clearCurrentOCHOrder()
+        if (hasCurrentTask) {
+            noTaskData.visibility = View.GONE
+            mCurrentTaskLayout.visibility = View.VISIBLE
+        } else {
+            noTaskData.visibility = View.VISIBLE
+            noOrderDataTv.text = "暂无进行中订单"
+            mCurrentTaskLayout.visibility = View.GONE
+            taskOtherInfo.text = "距离 -- 公里, 用时 -- 分钟"
        }
    }

--- a/OCH/taxi/unmanned-driver/src/main/java/com/mogo/och/taxi/ui/task/TaxiTaskModel.kt
+++ b/OCH/taxi/unmanned-driver/src/main/java/com/mogo/och/taxi/ui/task/TaxiTaskModel.kt
@@ -88,6 +88,7 @@ import system_master.SsmInfo
 import system_master.SystemStatusInfo
 import java.util.concurrent.ConcurrentHashMap
 import java.util.concurrent.TimeUnit
+import kotlin.math.ceil

 /**
 * @author: wangmingjun
@@ -270,6 +271,7 @@ object TaxiTaskModel {

            override fun onAutopilotStatusResponse(autoPilotStatusInfo: AutopilotStatusInfo) {}
            override fun onAutopilotStatusResponse(state: Int) {
+                i(TAG, "onAutopilotStatusResponse autopilotsState= $state")
                if (state == IMoGoAutopilotStatusListener.STATUS_AUTOPILOT_RUNNING) {
                    DebugView.printInfoMsg("[自驾状态变化] afterValue=STATUS_AUTOPILOT_RUNNING，meaning=自动驾驶中")
                    mADASStatusCallback?.onAutopilotRunning()
@@ -442,8 +444,8 @@ object TaxiTaskModel {
            }

            override fun brakeStatusChanged(isBrakeAvailable: Boolean) {
-                //刹车: true 松开, false 踩下
-                handleBrakeStatusChange(isBrakeAvailable)
+                //刹车: true 松开, false 踩下 2020.9.23刹车需求暂时下掉
+//                handleBrakeStatusChange(isBrakeAvailable)
            }
        }

@@ -724,6 +726,7 @@ object TaxiTaskModel {
                                    listener.onTaskWithOrderDataChanged(null)
                                }
                            }
+                            clearCurrentOCHOrder()
                            return
                        }

@@ -856,7 +859,7 @@ object TaxiTaskModel {
                                val listener = it.value
                                listener.onOrderTripInfoChanged(
                                    data.data.mileage,
-                                    data.data.duration.toInt()
+                                    ceil(data.data.duration.toDouble()).toInt() //向上取整
                                )
                            }
                        }
@@ -1329,18 +1332,14 @@ object TaxiTaskModel {
     * 清除任务订单信息
     */
    fun clearCurrentOCHOrder() {
-        mCurrentTaskWithOrder = null
-        mDriveToNearestStationTask = null
        clearAutopilotControlParameters()
-        TaxiTrajectoryManager.getInstance().syncTrajectoryInfo()
-        SharedPrefsMgr.getInstance(mContext).remove(TaxiUnmannedConst.SP_KEY_OCH_TAXI_ORDER)
        isRestartAutopilot = false
        if (FunctionBuildConfig.isDemoMode) {
            // 当美化模式（演示模式）开启时: 取消或订单已完成时，置false
            FunctionBuildConfig.isIgnoreConditionsDrawAutopilotTrajectoryData = false
            CallerAutoPilotControlManager.setIgnoreConditionDraw(false)
            CallerAutoPilotControlManager.setIPCDemoMode(false)
-            d(TAG, "美化模式-ignore：置为false（已完成or清除当前订单）")
+            d(TAG, "美化模式-ignore：置为false（已完成or清除当前任务）")
        }
    }

--- a/OCH/taxi/unmanned-driver/src/main/java/com/mogo/och/taxi/utils/MapMakerManager.kt
+++ b/OCH/taxi/unmanned-driver/src/main/java/com/mogo/och/taxi/utils/MapMakerManager.kt
@@ -30,24 +30,24 @@ object MapMakerManager {
                    .anchor(0.5f, 0.5f)
                    .set3DMode(true)
                    .isUseGps(true)
-                    .controlAngle(true)
+                    .controlAngle(false)
                    .icon3DRes(resourceId)
                    .latitude(lat)
                    .longitude(lon)
-            val mapUIController =
-                CallerMapUIServiceManager.getMapUIController()
-            if (mapUIController != null) {
-                val centerLine =
-                    mapUIController.getCenterLineInfo(
-                        lon, lat, -1f
-                    )
-                if (null != centerLine) { // 有可能鹰眼map为空没有角度。判空使用后可能造成maker角度跟道路角度不一致
-                    val angle = centerLine.angle
-                    if (angle != null) {
-                        builder.rotate(angle.toFloat())
-                    }
-                }
-            }
+//            val mapUIController =
+//                CallerMapUIServiceManager.getMapUIController()
+//            if (mapUIController != null) {
+//                val centerLine =
+//                    mapUIController.getCenterLineInfo(
+//                        lon, lat, -1f
+//                    )
+//                if (null != centerLine) { // 有可能鹰眼map为空没有角度。判空使用后可能造成maker角度跟道路角度不一致
+//                    val angle = centerLine.angle
+//                    if (angle != null) {
+//                        builder.rotate(angle.toFloat())
+//                    }
+//                }
+//            }
            val overlayManager =
                CallerMapUIServiceManager.getOverlayManager()
            overlayManager?.showOrUpdatePoint(builder.build())
--- a/OCH/taxi/unmanned-driver/src/main/res/layout/taxi_debug_order.xml
+++ b/OCH/taxi/unmanned-driver/src/main/res/layout/taxi_debug_order.xml
@@ -57,6 +57,7 @@
                android:layout_width="wrap_content"
                android:layout_height="wrap_content"
                android:text="Mock刹车"
+                android:visibility="gone"
                android:textSize="12sp" />

            <Button
@@ -64,6 +65,7 @@
                android:layout_width="wrap_content"
                android:layout_height="wrap_content"
                android:text="Mock松开刹车"
+                android:visibility="gone"
                android:textSize="12sp" />

            <Button