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Merge branch 'master' into dev_robobus_d_3.2.0_4.14_local

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This commit is contained in:
wangmingjun
2023-04-23 19:33:04 +08:00
parent 3a68e1736c 38897b664f
commit 6ef77e4379
287 changed files with 8225 additions and 5573 deletions
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2
core/function-impl/mogo-core-function-biz/src/main/java/com/mogo/eagle/function/biz/v2x/v2n/scenario/impl/AbsV2XScenario.java
View File

@@ -9,6 +9,8 @@ import com.mogo.eagle.function.biz.v2x.v2n.scenario.view.IV2XMarker;
import java.util.concurrent.atomic.AtomicReference;
import java.util.concurrent.atomic.AtomicReference;
/**
* author : donghongyu
* e-mail : 1358506549@qq.com

11
core/function-impl/mogo-core-function-datacenter/src/main/java/com/mogo/eagle/core/function/datacenter/autopilot/adapter/MoGoAdasListenerImpl.kt
View File

@@ -592,7 +592,6 @@ class MoGoAdasListenerImpl : OnAdasListener {
) {
}
/**
* 清扫车后部摄像头视频 10Hz
*
@@ -609,11 +608,11 @@ class MoGoAdasListenerImpl : OnAdasListener {
* @param header 头
* @param roboSweeperTaskIndex 数据
*/
override fun onSweeperTaskIndexData(
header: MessagePad.Header?,
roboSweeperTaskIndex: RoboSweeperTaskIndexOuterClass.RoboSweeperTaskIndex?
) {
override fun onSweeperTaskIndexData(header: MessagePad.Header?, roboSweeperTaskIndex: RoboSweeperTaskIndexOuterClass.RoboSweeperTaskIndex?) {
roboSweeperTaskIndex?.let {
//清扫车（福田）清扫控制系统状态
CallerSweeperFutianCleanSystemListenerManager.invokeSweeperFutianCleanTaskIndexData(it)
}
}
/**

47
core/function-impl/mogo-core-function-devatools/src/main/java/com/zhjt/mogo_core_function_devatools/report/IPCReportManager.kt
View File

@@ -10,7 +10,6 @@ import com.mogo.eagle.core.function.api.autopilot.IMoGoAutopilotStatusListener
import com.mogo.eagle.core.function.call.autopilot.CallerAutoPilotStatusListenerManager
import com.mogo.eagle.core.function.call.msgbox.CallerMsgBoxManager
import com.mogo.eagle.core.utilcode.mogo.AppIdentityModeUtils
import com.mogo.eagle.core.utilcode.util.ThreadUtils
import com.mogo.eagle.core.utilcode.util.TimeUtils
import mogo_msg.MogoReportMsg
@@ -70,30 +69,29 @@ class IPCReportManager : IMoGoAutopilotStatusListener {
*工控机监控节点上报
*/
override fun onAutopilotGuardian(guardianInfo: MogoReportMsg.MogoReportMessage?) {
ThreadUtils.runOnUiThread {
guardianInfo?.let{
if(it.resultList.contains(RESULT_AUTOPILOT_DISABLE)
|| it.resultList.contains(RESULT_AUTOPILOT_SYSTEM_UNSTARTED)
|| it.resultList.contains(RESULT_REMOTEPILOT_DISABLE)
|| it.resultList.contains(RESULT_AUTOPILOT_INFERIOR)
|| it.resultList.contains(RESULT_SHOW_WARNING)
|| it.resultList.contains(RESULT_REMOTEPILOT_INFERIOR)){
val reportEntity = ReportEntity(TimeUtils.millis2String(System.currentTimeMillis()),
it.src,it.level,it.msg,it.code,it.resultList,it.actionsList,false)
CallerMsgBoxManager.saveMsgBox(MsgBoxBean(MsgBoxType.REPORT, reportEntity))
}
guardianInfo?.let{
if(it.resultList.contains(RESULT_AUTOPILOT_DISABLE)
|| it.resultList.contains(RESULT_AUTOPILOT_SYSTEM_UNSTARTED)
|| it.resultList.contains(RESULT_REMOTEPILOT_DISABLE)
|| it.resultList.contains(RESULT_AUTOPILOT_INFERIOR)
|| it.resultList.contains(RESULT_SHOW_WARNING)
|| it.resultList.contains(RESULT_REMOTEPILOT_INFERIOR)){
val reportEntity = ReportEntity(TimeUtils.millis2String(System.currentTimeMillis()),
it.src,it.level,it.msg,it.code,it.resultList,it.actionsList,false)
CallerMsgBoxManager.saveMsgBox(MsgBoxBean(MsgBoxType.REPORT, reportEntity))
}
if (reportList.size > 49) {
reportList.removeLast()
}
reportList.add(
0,
ReportEntity(
TimeUtils.millis2String(System.currentTimeMillis()),
it.src, it.level, it.msg, it.code, it.resultList, it.actionsList
,false)
)
reportListFloatWindow?.refreshData(reportList)
if (reportList.size > 49) {
reportList.removeLast()
}
reportList.add(
0,
ReportEntity(
TimeUtils.millis2String(System.currentTimeMillis()),
it.src, it.level, it.msg, it.code, it.resultList, it.actionsList
,false)
)
reportListFloatWindow?.refreshData(reportList)
// //Error 弹窗并有提示音
// if(it.resultList.contains(RESULT_AUTOPILOT_DISABLE)
@@ -130,7 +128,6 @@ class IPCReportManager : IMoGoAutopilotStatusListener {
// }
// }
// }
}
}
}

4
core/function-impl/mogo-core-function-devatools/src/main/java/com/zhjt/mogo_core_function_devatools/scene/SceneManager.kt
View File

@@ -58,8 +58,8 @@ class SceneManager {
sceneModuleTAG.map[DEVA] = SceneModule(false, M_DEVA)
sceneModuleTAG.map[HMI] = SceneModule(false, M_HMI)
sceneModuleTAG.map[OBU] = SceneModule(false, M_OBU)
sceneModuleTAG.map[V2X] = SceneModule(false, M_V2X)
sceneModuleTAG.map[MAP] = SceneModule(false, M_MAP)
sceneModuleTAG.map[V2X] = SceneModule(true, M_V2X)
sceneModuleTAG.map[MAP] = SceneModule(true, M_MAP)
sceneModuleTAG.map[ROUTE] = SceneModule(true, M_OLD_ROUTE)
sceneModuleTAG.map[NET] = SceneModule(true, M_NETWORK)
sceneModuleTAG.map[BUS] = SceneModule(true, M_BUS)

4
core/function-impl/mogo-core-function-devatools/src/main/java/com/zhjt/mogo_core_function_devatools/status/flow/can/CanImpl.kt
View File

@@ -12,6 +12,7 @@ import com.zhjt.mogo_core_function_devatools.status.entity.CanStatus
import com.zhjt.mogo_core_function_devatools.status.flow.IFlow
import kotlinx.coroutines.Job
import mogo_msg.MogoReportMsg.MogoReportMessage
import planning.RoboSweeperTaskIndexOuterClass
import system_master.SystemStatusInfo.StatusInfo
import java.util.concurrent.atomic.AtomicInteger
@@ -94,10 +95,13 @@ internal class CanImpl(ctx: Context) :
send(CanStatus(isCanEnabled()))
}
override fun onSweeperFutianCleanSystemState(cleanSystemState: ChassisStatesOuterClass.SweeperFuTianTaskSystemStates) {
send(CanStatus(isCanEnabled()))
}
override fun onSweeperFutianTaskIndexData(roboSweeperTaskIndex: RoboSweeperTaskIndexOuterClass.RoboSweeperTaskIndex) {
}
override fun onAutopilotGuardian(guardianInfo: MogoReportMessage?) {
super.onAutopilotGuardian(guardianInfo)
send(CanStatus(isCanEnabled()))

32
core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/hmi/ui/msgbox/DriverMsgBoxButtonView.kt
View File

@@ -4,12 +4,14 @@ import android.content.Context
import android.util.AttributeSet
import android.view.LayoutInflater
import android.view.View
import androidx.appcompat.content.res.AppCompatResources
import androidx.constraintlayout.widget.ConstraintLayout
import com.mogo.eagle.core.data.msgbox.MsgBoxBean
import com.mogo.eagle.core.function.api.datacenter.msgbox.IMsgBoxEventListener
import com.mogo.eagle.core.function.call.msgbox.CallerMsgBoxEventListenerManager
import com.mogo.eagle.core.function.hmi.R
import kotlinx.android.synthetic.main.view_driver_msg_box_button.view.*
import kotlinx.android.synthetic.main.view_driver_msg_box_button.view.cbMsgBoxDriver
import kotlinx.android.synthetic.main.view_driver_msg_box_button.view.msgBoxTipView
/**
* @author XuXinChao
@@ -20,7 +22,7 @@ class DriverMsgBoxButtonView @JvmOverloads constructor(
context: Context,
attrs: AttributeSet? = null,
defStyleAttr: Int = 0
):ConstraintLayout(context, attrs, defStyleAttr), IMsgBoxEventListener {
) : ConstraintLayout(context, attrs, defStyleAttr), IMsgBoxEventListener {
companion object {
const val TAG = "DriverMsgBoxButtonView"
@@ -28,21 +30,35 @@ class DriverMsgBoxButtonView @JvmOverloads constructor(
private var clickListener: ClickListener? = null
init{
private val bgResources: Int
init {
LayoutInflater.from(context).inflate(R.layout.view_driver_msg_box_button, this, true)
val a = context.obtainStyledAttributes(
attrs,
R.styleable.DriverMsgBoxButtonView,
defStyleAttr,
0
)
bgResources = a.getResourceId(
R.styleable.DriverMsgBoxButtonView_bgDrawable,
R.drawable.selector_msg_box
)
initView()
}
private fun initView(){
private fun initView() {
cbMsgBoxDriver.setOnCheckedChangeListener { _, isChecked ->
clickListener?.showMsgBoxList(isChecked)
msgBoxTipView.visibility = View.GONE
}
cbMsgBoxDriver.background = AppCompatResources.getDrawable(context, bgResources)
}
override fun onAttachedToWindow() {
super.onAttachedToWindow()
CallerMsgBoxEventListenerManager.addListener(TAG,this)
CallerMsgBoxEventListenerManager.addListener(TAG, this)
}
override fun onDetachedFromWindow() {
@@ -59,9 +75,9 @@ class DriverMsgBoxButtonView @JvmOverloads constructor(
* @param isShow true:展示；false:不展示
*/
override fun onUpdateTipEvent(isShow: Boolean) {
if(isShow){
if (isShow) {
msgBoxTipView.visibility = View.VISIBLE
}else{
} else {
msgBoxTipView.visibility = View.GONE
}
}
@@ -82,7 +98,7 @@ class DriverMsgBoxButtonView @JvmOverloads constructor(
this.clickListener = clickListener
}
interface ClickListener{
interface ClickListener {
fun showMsgBoxList(show: Boolean)
}

10
core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/hmi/ui/setting/DebugSettingView.kt
View File

@@ -27,7 +27,7 @@ import com.mogo.commons.constants.SharedPrefsConstants
import com.mogo.commons.debug.DebugConfig
import com.mogo.commons.module.status.MogoStatusManager
import com.mogo.eagle.core.data.app.AppConfigInfo
import com.mogo.eagle.core.data.autopilot.*
import com.mogo.eagle.core.data.autopilot.AutopilotStatusInfo
import com.mogo.eagle.core.data.config.FunctionBuildConfig
import com.mogo.eagle.core.data.config.HmiBuildConfig
import com.mogo.eagle.core.data.constants.MoGoConfig
@@ -83,8 +83,14 @@ import kotlinx.android.synthetic.main.view_sop_setting.view.*
import kotlinx.coroutines.*
import mogo.telematics.pad.MessagePad
import mogo_msg.MogoReportMsg
import planning.RoboSweeperTaskIndexOuterClass
import java.text.SimpleDateFormat
import java.util.*
import kotlin.collections.component1
import kotlin.collections.component2
import kotlin.collections.component3
import kotlin.collections.component4
import kotlin.collections.set
import kotlin.math.abs
@@ -1984,7 +1990,9 @@ internal class DebugSettingView @JvmOverloads constructor(
override fun onSweeperFutianCleanSystemState(cleanSystemState: ChassisStatesOuterClass.SweeperFuTianTaskSystemStates) {
}
override fun onSweeperFutianTaskIndexData(roboSweeperTaskIndex: RoboSweeperTaskIndexOuterClass.RoboSweeperTaskIndex) {
}
/**
* 吐司提示
*/

1
core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/hmi/ui/vehicle/SteeringBrakeView.kt
View File

@@ -12,7 +12,6 @@ import com.mogo.eagle.core.function.api.autopilot.IMoGoChassisLamplightListener
import com.mogo.eagle.core.function.api.autopilot.IMoGoChassisLocationWGS84Listener
import com.mogo.eagle.core.function.call.autopilot.CallerChassisLamplightListenerManager
import com.mogo.eagle.core.function.call.autopilot.CallerChassisLocationWGS84ListenerManager
import com.mogo.eagle.core.function.call.map.*
import com.mogo.eagle.core.function.hmi.R
import com.mogo.eagle.core.utilcode.mogo.logger.CallerLogger
import com.mogo.eagle.core.utilcode.mogo.logger.scene.SceneConstant.Companion.M_HMI

2
core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/hmi/ui/widget/TapPositionView.java
View File

@@ -39,7 +39,7 @@ public class TapPositionView extends ConstraintLayout {
tabN = findViewById(R.id.tap_n);
tabD = findViewById(R.id.tap_d);
typedArray = context.obtainStyledAttributes(attrs, R.styleable.TapPositionView);
if(AppIdentityModeUtils.isBus(FunctionBuildConfig.appIdentityMode)){
if(AppIdentityModeUtils.isBus(FunctionBuildConfig.appIdentityMode)||AppIdentityModeUtils.isSweeper(FunctionBuildConfig.appIdentityMode)){
tabP.setVisibility(View.GONE);
}
}

2
core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/hmi/ui/widget/TrafficDataView.java
View File

@@ -34,6 +34,8 @@ import org.jetbrains.annotations.NotNull;
import chassis.Chassis;
import mogo.telematics.pad.MessagePad;
import chassis.ChassisStatesOuterClass;
import planning.RoboSweeperTaskIndexOuterClass;
/**
* @author Jing

4
core/function-impl/mogo-core-function-hmi/src/main/res/values/attr.xml
View File

@@ -80,4 +80,8 @@
<attr name="pnc_size" format="dimension"/>
</declare-styleable>
<declare-styleable name="DriverMsgBoxButtonView">
<attr name="bgDrawable" format="reference"/>
</declare-styleable>
</resources>

4
core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/business/identify/IdentifyBeautifyDataDrawer.kt
View File

@@ -61,5 +61,9 @@ class IdentifyBeautifyDataDrawer : Identify {
TrackManager.getInstance().clearAll()
}
override fun getIdentifyObj(uuid: String): TrackedObject? {
return TrackManager.getInstance().getIdentifyObj(uuid)
}
}

9
core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/business/identify/TrackManager.java
View File

@@ -171,4 +171,13 @@ public class TrackManager {
mMarkersCaches.clear();
}
public MessagePad.TrackedObject getIdentifyObj(String uuid) {
TrackObj trackObj = mMarkersCaches.get(uuid);
if (trackObj != null && trackObj.getCache() != null) {
return trackObj.getCache();
} else {
return null;
}
}
}

6
core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/impl/marker/drawer/TrafficMarkerDrawer.kt
View File

@@ -101,7 +101,7 @@ object TrafficMarkerDrawer {
fun updateITrafficThreatLevelInfo(trafficData: TrafficData) {
CallerLogger.d(TAG,
"trafficData.type = " + trafficData.type + "---trafficData.threatLevel = " + trafficData.threatLevel + "----FunctionBuildConfig.debugTrackerProvider = " + FunctionBuildConfig.debugTrackerProvider)
if (FunctionBuildConfig.debugTrackerProvider != 1) {
if (FunctionBuildConfig.debugTrackerProvider != 1) {
return
}
if (trafficData != null && !TextUtils.isEmpty(trafficData.uuid)) {
@@ -128,6 +128,10 @@ object TrafficMarkerDrawer {
fun removeCvxRvInfoIndInfo(key: String) {
if (mTrafficMap.containsKey(key)) {
mTrafficMap.remove(key)
mMarkersCaches.get(key)?.let {
it.remove()
}
}
}

59
core/function-impl/mogo-core-function-v2x/src/main/proto/road.proto Normal file
View File

@@ -0,0 +1,59 @@
syntax = "proto2";
package roadwork;
message RW_PB {
required Roadwork_PB roadwork =1;
optional Header header = 2;
}
message Roadwork_PB{
optional string id = 1; // 对应id
required int32 score = 2; // 置信度
required int64 detect_time = 3; // 发送时间
required int32 poi_type = 4; // poi 类型
optional int32 type = 5; // 事件类型
required Center_PB center = 6; // 中心点坐标
repeated GPSPoint_PB polygon = 7; // 多边形范围
repeated Road_PB road = 8; // 车道集合信息
}
message GPSPoint_PB {
required double lat = 1; // 纬度
required double lon = 2; // 经度
optional double hgt = 3; // 高程
}
message Road_PB{
required string road_id = 1; // 路段id
required string lane_no = 2; // 车道号
required string tile_id = 3; // 瓦片id
required int32 bearing = 4; // 方向角，正北是0度 顺时针
}
message Center_PB{
required Road_PB road = 1; // 道路信息
required GPSPoint_PB point = 2; // 坐标
}
// header
message Time {
optional uint32 sec = 1; // 秒
optional uint32 nsec = 2; // 纳秒
}
message Header {
// Sequence number for each message. Each module maintains its own counter for
// sequence_num, always starting from 1 on boot.
optional uint32 seq = 1;
// Message publishing time in seconds.
optional Time stamp = 2;
// frame id
optional string frame_id = 3;
// Module name.
optional string module_name = 4;
}