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Merge remote-tracking branch 'origin/dev_robotaxi-d_230711_3.4.0' into dev_robotaxi-d_230711_3.4.0

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yangyakun
2023-07-13 09:33:21 +08:00
parent 1e8d69b1cf 8fbd54a8be
commit 70ac18f9af
33 changed files with 439 additions and 427 deletions
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299
app/src/androidTest/java/com/mogo/functions/test/RoadAITest.kt
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File diff suppressed because one or more lines are too long

4
core/function-impl/mogo-core-function-biz/src/main/java/com/mogo/eagle/function/biz/v2x/v2n/pnc/V2NIdentifyDrawer.kt
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@@ -81,7 +81,7 @@ internal object V2NIdentifyDrawer {
CallerHmiManager.warningV2X(poiType, alertContent, ttsContent, object : IMoGoWarningStatusListener {
override fun onShow() {
super.onShow()
CallerVisualAngleManager.changeAngle(RoadEvent)
CallerVisualAngleManager.changeAngle(RoadEvent(itx.longitude, itx.latitude, itx.angle))
}
override fun onDismiss() {
@@ -136,7 +136,7 @@ internal object V2NIdentifyDrawer {
CallerHmiManager.warningV2X(poiType, alertContent, ttsContent, object : IMoGoWarningStatusListener {
override fun onShow() {
super.onShow()
CallerVisualAngleManager.changeAngle(RoadEvent)
CallerVisualAngleManager.changeAngle(RoadEvent(lon, lat, car.heading))
}
override fun onDismiss() {

9
core/function-impl/mogo-core-function-biz/src/main/java/com/mogo/eagle/function/biz/v2x/v2n/scenario/scene/road/V2XRoadEventScenario.java
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@@ -153,13 +153,16 @@ public class V2XRoadEventScenario extends AbsV2XScenario<V2XRoadEventEntity> imp
@Override
public void onShow() {
if (isNeedChangeAngle()) {
CallerVisualAngleManager.INSTANCE.changeAngle(RoadEvent.INSTANCE);
}
V2XMessageEntity<V2XRoadEventEntity> entity = getV2XMessageEntity();
if (entity != null) {
V2XRoadEventEntity content = entity.getContent();
if (content != null) {
if (isNeedChangeAngle()) {
MarkerLocation location = content.getLocation();
if (location != null) {
CallerVisualAngleManager.INSTANCE.changeAngle(new RoadEvent(content.getLocation().getLon(), content.getLocation().getLat(), content.getLocation().getAngle()));
}
}
if (entity.isNeedAddLine() && !EventTypeEnumNew.TYPE_SOCKET_ROAD_CONGESTION.getPoiType().equals(content.getPoiType())) {
drawPOI();
}

24
core/function-impl/mogo-core-function-datacenter/src/main/java/com/mogo/eagle/core/function/datacenter/autopilot/MoGoAutopilotControlProvider.kt
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@@ -729,8 +729,20 @@ class MoGoAutopilotControlProvider :
}
/**
* 控制V2N数据给车端PnC
* @param switchCmd true为发给PnC，false为不发给PnC
* 控制V2I进PnC
*
* @param switchCmd true：发给Pnc和鹰眼，false：不发给PnC和鹰眼
* @return boolean
*/
override fun sendV2iToPncCmd(switchCmd: Boolean) {
AdasManager.getInstance().sendV2iToPncCmd(switchCmd)
}
/**
* 控制V2N进PnC
*
* @param switchCmd true：发给PnC，false：不发给PnC
* @return boolean
*/
override fun sendV2nToPncCmd(switchCmd: Boolean) {
AdasManager.getInstance().sendV2nToPncCmd(switchCmd)
@@ -1032,6 +1044,14 @@ class MoGoAutopilotControlProvider :
}
}
override fun setIsSubscribeBackCameraVideoVideo(role: Int, isSubscribe: Boolean) {
val type =
if (isSubscribe) Constants.SUBSCRIBE_TYPE.SUBSCRIBE else Constants.SUBSCRIBE_TYPE.UNSUBSCRIBE
AdasManager.getInstance().subscribeInterface(
role, type, MessageType.TYPE_RECEIVE_BACK_CAMERA_VIDEO
)
}
override fun sendRoboBusJinlvM1FrontDoorCmd(switchCmd: Int): Boolean {
return AdasManager.getInstance().sendRoboBusJinlvM1FrontDoorCmd(switchCmd)
}

2
core/function-impl/mogo-core-function-datacenter/src/main/java/com/mogo/eagle/core/function/datacenter/autopilot/adapter/MoGoAdasListenerImpl.kt
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@@ -534,7 +534,7 @@ class MoGoAdasListenerImpl : OnAdasListener {
* @param data 数据
*/
override fun onBackCameraVideo(header: MessagePad.Header, data: ByteArray) {
CallerSweeperFutianBackCameraVideoListenerManager.invokeSweeperFutianBackCameraVideo(data)
CallerBackCameraVideoListenerManager.invokeBackCameraVideo(data)
}
/**

17
core/function-impl/mogo-core-function-datacenter/src/main/java/com/mogo/eagle/core/function/datacenter/obu/MogoPrivateObuNewManager.kt
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@@ -7,8 +7,6 @@ import com.mogo.eagle.core.data.config.HmiBuildConfig
import com.mogo.eagle.core.data.enums.*
import com.mogo.eagle.core.data.obu.MogoObuConst
import com.mogo.eagle.core.function.api.hmi.warning.IMoGoWarningStatusListener
import com.mogo.eagle.core.function.api.map.angle.Default
import com.mogo.eagle.core.function.api.map.angle.TooClose
import com.mogo.eagle.core.function.call.autopilot.CallerAutoPilotStatusListenerManager
import com.mogo.eagle.core.function.call.autopilot.CallerChassisLocationGCJ02ListenerManager
import com.mogo.eagle.core.function.call.devatools.CallerDevaToolsManager
@@ -949,20 +947,7 @@ class MogoPrivateObuNewManager private constructor() : OnUpgradeListener {
CallerHmiManager.warningV2X(v2xType,
alertContent,
ttsContent,// 只有第一次才tts，防止更新的时候不断的提醒
object : IMoGoWarningStatusListener {
override fun onShow() {
super.onShow()
if (changeVisualAngle) {
CallerVisualAngleManager.changeAngle(TooClose)
}
}
override fun onDismiss() {
if (changeVisualAngle) {
CallerVisualAngleManager.changeAngle(Default())
}
}
},
null,
direction,
isFromObu = true
)

6
core/function-impl/mogo-core-function-devatools/src/main/java/com/zhjt/mogo_core_function_devatools/lookaround/MoGoLookAroundProviderImpl.kt
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@@ -21,7 +21,7 @@ import mogo.telematics.pad.MessagePad.SetParamReq
import java.util.concurrent.atomic.AtomicInteger
import kotlin.concurrent.*
internal class MoGoLookAroundProviderImpl: IMoGoLookAroundProvider, IMoGoSweeperFutianBackCameraVideoListener, IMoGoRoboBusJinlvM1StitchedVideoListener, IMoGoGetParamResponseListener {
internal class MoGoLookAroundProviderImpl: IMoGoLookAroundProvider, IMoGoBackCameraVideoListener, IMoGoRoboBusJinlvM1StitchedVideoListener, IMoGoGetParamResponseListener {
companion object {
private const val TAG = "MoGoLookAroundProvider"
@@ -58,7 +58,7 @@ internal class MoGoLookAroundProviderImpl: IMoGoLookAroundProvider, IMoGoSweeper
private var job: Job? = null
override fun init(ctx: Context) {
CallerSweeperFutianBackCameraVideoListenerManager.addListener(TAG, this)
CallerBackCameraVideoListenerManager.addListener(TAG, this)
CallerRoboBusJinlvM1StitchedVideoListenerManager.addListener(TAG, this)
CallerAutopilotGetParamResponseDispatcher.addListener(TAG, this)
if (AppIdentityModeUtils.isM1(FunctionBuildConfig.appIdentityMode)) {
@@ -116,7 +116,7 @@ internal class MoGoLookAroundProviderImpl: IMoGoLookAroundProvider, IMoGoSweeper
}
override fun onSweeperFutianBackCameraVideo(data: ByteArray) {
override fun onBackCameraVideo(data: ByteArray) {
if (bitmapWidth.get() == 0 || bitmapHeight.get() == 0) {
val options = BitmapFactory.Options()
options.inJustDecodeBounds = true

15
core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/hmi/ui/widget/MogoVideoView.java
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@@ -15,18 +15,17 @@ import com.bumptech.glide.load.engine.DiskCacheStrategy;
import com.bumptech.glide.request.RequestOptions;
import com.bumptech.glide.request.target.CustomTarget;
import com.bumptech.glide.request.transition.Transition;
import com.mogo.eagle.core.function.api.autopilot.IMoGoBackCameraVideoListener;
import com.mogo.eagle.core.function.api.autopilot.IMoGoRoboBusJinlvM1StitchedVideoListener;
import com.mogo.eagle.core.function.api.autopilot.IMoGoSweeperFutianBackCameraVideoListener;
import com.mogo.eagle.core.function.call.autopilot.CallerBackCameraVideoListenerManager;
import com.mogo.eagle.core.function.call.autopilot.CallerRoboBusJinlvM1StitchedVideoListenerManager;
import com.mogo.eagle.core.function.call.autopilot.CallerSweeperFutianBackCameraVideoListenerManager;
import com.mogo.eagle.core.utilcode.mogo.glide.GlideApp;
import com.mogo.eagle.core.utilcode.util.ThreadUtils;
/**
* 清扫车摄像头展示View 10Hz
* M1拼接视频展示View 10Hz 需要订阅（连接成功后订阅才生效）：CallerAutoPilotControlManager.setIsSubscribeM1StitchedVideo(isSubscribe)
* 图片帧展示View
*/
public class MogoVideoView extends AppCompatImageView implements IMoGoSweeperFutianBackCameraVideoListener, IMoGoRoboBusJinlvM1StitchedVideoListener {
public class MogoVideoView extends AppCompatImageView implements IMoGoBackCameraVideoListener, IMoGoRoboBusJinlvM1StitchedVideoListener {
private static final String TAG = MogoVideoView.class.getSimpleName();
private final RequestOptions requestOptions = new RequestOptions()
.priority(Priority.HIGH)
@@ -49,14 +48,14 @@ public class MogoVideoView extends AppCompatImageView implements IMoGoSweeperFut
@Override
protected void onAttachedToWindow() {
super.onAttachedToWindow();
CallerSweeperFutianBackCameraVideoListenerManager.INSTANCE.addListener(TAG, this);
CallerBackCameraVideoListenerManager.INSTANCE.addListener(TAG, this);
CallerRoboBusJinlvM1StitchedVideoListenerManager.INSTANCE.addListener(TAG, this);
}
@Override
protected void onDetachedFromWindow() {
super.onDetachedFromWindow();
CallerSweeperFutianBackCameraVideoListenerManager.INSTANCE.removeListener(this);
CallerBackCameraVideoListenerManager.INSTANCE.removeListener(this);
CallerRoboBusJinlvM1StitchedVideoListenerManager.INSTANCE.removeListener(this);
}
@@ -90,7 +89,7 @@ public class MogoVideoView extends AppCompatImageView implements IMoGoSweeperFut
}
@Override
public void onSweeperFutianBackCameraVideo(@NonNull byte[] data) {
public void onBackCameraVideo(@NonNull byte[] data) {
draw(data);
}

103
core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/angle/MoGoVisualAngleChangeProvider.kt
View File

@@ -10,12 +10,10 @@ import com.alibaba.android.arouter.facade.annotation.Route
import com.mogo.eagle.core.data.config.*
import com.mogo.eagle.core.data.constants.MogoServicePaths
import com.mogo.eagle.core.data.map.*
import com.mogo.eagle.core.data.map.MapRoadInfo.StopLine
import com.mogo.eagle.core.function.api.map.angle.*
import com.mogo.eagle.core.function.api.map.angle.Scene
import com.mogo.eagle.core.function.call.autopilot.*
import com.mogo.eagle.core.function.call.map.*
import com.mogo.eagle.core.function.call.map.CallerMapRoadListenerManager.OnRoadListener
import com.mogo.eagle.core.utilcode.kotlin.*
import com.mogo.eagle.core.utilcode.mogo.*
import com.mogo.eagle.core.utilcode.mogo.logger.*
@@ -32,11 +30,8 @@ class MoGoVisualAngleChangeProvider: IMoGoVisualAngleChangeProvider {
private const val TAG = "VisualAngleChange"
}
private val triggerLocation = AtomicReference<MogoLocation>()
private val distanceOfCarToStopLine = AtomicReference(0.0)
private val travelled by lazy { AtomicReference(0.0) }
@Volatile
private var roadEventFlag: Boolean = false
/**
* 业务实体，不对外暴露
@@ -55,52 +50,6 @@ class MoGoVisualAngleChangeProvider: IMoGoVisualAngleChangeProvider {
PriorityQueue<Record>()
}
private val listener = object : OnRoadListener {
private val roadId = AtomicReference<String>()
private val triggerRoadId = AtomicReference<String>()
override fun onRoadIdInfo(roadId: String) {
this.roadId.set(roadId)
Log.d(TAG, "-- onRoadIdInfo --: prev: ${this.triggerRoadId.get()} -> curr: $roadId")
val loc = CallerChassisLocationGCJ02ListenerManager.getChassisLocationGCJ02()
var triggerClose = false
val distance = distanceOfCarToStopLine.get() + 5
if (hasCrossRoad && distance > 0) {
val prev = triggerLocation.get()
if (prev != null) {
travelled.set(MapTools.distance(loc.longitude, loc.latitude, prev.longitude, prev.latitude) + travelled.get())
triggerLocation.set(loc)
}
val oldRoadId = triggerRoadId.get()
Log.d(TAG, "-- onRoadIdInfo --: travelled --: ${travelled.get()}")
if ((travelled.get() > distance) && oldRoadId != roadId) {
distanceOfCarToStopLine.set(0.0)
hasCrossRoad = false
triggerRoadId.set(null)
travelled.set(0.0)
triggerLocation.set(null)
Log.d(TAG, "-- onRoadIdInfo --: trigger close --")
triggerClose = true
}
}
if (triggerClose) {
changeAngle(CrossRoad(false))
}
}
override fun onStopLineInfo(info: StopLine) {
Log.d(TAG, "-- onStopLineInfo --: ${info.distanceOfCarToStopLine}")
if (!hasCrossRoad && info.distanceOfCarToStopLine <= 30.0) {
hasCrossRoad = true
triggerRoadId.set(this.roadId.get())
distanceOfCarToStopLine.set(info.distanceOfCarToStopLine)
triggerLocation.set(CallerChassisLocationGCJ02ListenerManager.getChassisLocationGCJ02())
changeAngle(CrossRoad(true))
}
}
}
override fun init(context: Context?) {
if (Thread.currentThread() != Looper.getMainLooper().thread) {
scope.launch {
@@ -120,13 +69,8 @@ class MoGoVisualAngleChangeProvider: IMoGoVisualAngleChangeProvider {
}
}
})
CallerMapRoadListenerManager.registerRoadListener("VisualAngleChange", listener)
}
@Volatile
private var hasCrossRoad = false
private var scope: CoroutineScope = acquireScope()
@Synchronized
get() {
@@ -161,12 +105,6 @@ class MoGoVisualAngleChangeProvider: IMoGoVisualAngleChangeProvider {
val displayed = getDisplayed()
if (displayed == null) {
Log.d(TAG, "--- 2 ---")
if (scene is Turning) {
if (!scene.open) {
changeAngle(Default())
return@launch
}
}
if (scene is CrossRoad) {
if (!scene.open) {
changeAngle(Default())
@@ -178,7 +116,7 @@ class MoGoVisualAngleChangeProvider: IMoGoVisualAngleChangeProvider {
val prev = displayed.target
Log.d(TAG, "--- 3 --- old: $prev -> cur: $scene")
val prevTriggerTime = displayed.triggerTime
if (scene !is Default && prev.priority > scene.priority && (prev is RoadEvent || prev is TooClose)) {
if (scene !is Default && prev.priority > scene.priority && (prev is RoadEvent)) {
val displayDuration = triggerTime - prevTriggerTime
Log.d(TAG, "--- 4 ---:场景[$prev], 已展示时长: duration: $displayDuration")
if (displayDuration < prev.displayThreshold) {
@@ -191,15 +129,6 @@ class MoGoVisualAngleChangeProvider: IMoGoVisualAngleChangeProvider {
return@launch
}
}
if (prev is Turning && scene is Turning) {
val isOpen = scene.open
if (!isOpen) {
Log.d(TAG, "--- 7 --- 场景[$scene], 收到关闭通知")
queue -= displayed
changeAngle(Default())
return@launch
}
}
if (prev is CrossRoad && scene is CrossRoad) {
val isOpen = scene.open
if (!isOpen) {
@@ -251,13 +180,6 @@ class MoGoVisualAngleChangeProvider: IMoGoVisualAngleChangeProvider {
displayed?.also {
queue -= it
}
if (target is Turning) {
if (!target.open) {
Log.d(TAG, "--- doRealVisualAngleChange --- 7 ---")
changeAngle(Default())
return
}
}
if (target is CrossRoad) {
if (!target.open) {
Log.d(TAG, "--- doRealVisualAngleChange --- 8 ---")
@@ -282,7 +204,24 @@ class MoGoVisualAngleChangeProvider: IMoGoVisualAngleChangeProvider {
queue += record
}
}
it.changeMapVisualAngle(angle, null)
if (record.target is Default && roadEventFlag) {
roadEventFlag = false
//it.setLockMode(true)
}
if (record.target is RoadEvent) {
it.setLockMode(false)
roadEventFlag = true
Log.d("TTTTTT", "scene:${record.target}")
// scope.launch {
// delay(500)
// it.changeMapVisualAngle(angle, null)
// }
it.animateTo(record.target.poi_lon, record.target.poi_lat, record.target.poi_angle.toFloat(), 1000, true)
// it.animateTo(record.target.poi_lon, record.target.poi_lat, 0f, 1000, true)
} else {
it.changeMapVisualAngle(angle, null)
}
}
}

3
core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/view/MapBizView.kt
View File

@@ -94,15 +94,12 @@ class MapBizView(context: Context?, attrs: AttributeSet?) : MogoMapView(context,
lightSwitch?.let {
when (it.number) {
Chassis.LightSwitch.LIGHT_LEFT_VALUE -> { //左转灯
CallerVisualAngleManager.showTurning(true)
turn(1)
}
Chassis.LightSwitch.LIGHT_RIGHT_VALUE -> { //右转灯
CallerVisualAngleManager.showTurning(true)
turn(2)
}
Chassis.LightSwitch.LIGHT_NONE_VALUE -> {
CallerVisualAngleManager.showTurning(false)
turn(0)
}
}

21
core/mogo-core-function-api/src/main/java/com/mogo/eagle/core/function/api/autopilot/IMoGoAutopilotControlProvider.kt
View File

@@ -234,8 +234,18 @@ interface IMoGoAutopilotControlProvider : IMoGoFunctionServerProvider {
fun sendBagManagerCmd(bagManagerEntity: BagManagerEntity): Boolean
/**
* 控制V2N数据给车端PnC
* @param switchCmd true为发给PnC，false为不发给PnC
* 控制V2I进PnC
*
* @param switchCmd true：发给Pnc和鹰眼，false：不发给PnC和鹰眼
* @return boolean
*/
fun sendV2iToPncCmd(switchCmd: Boolean)
/**
* 控制V2N进PnC
*
* @param switchCmd true：发给PnC，false：不发给PnC
* @return boolean
*/
fun sendV2nToPncCmd(switchCmd: Boolean)
@@ -412,6 +422,13 @@ interface IMoGoAutopilotControlProvider : IMoGoFunctionServerProvider {
*/
fun setIsSubscribeM1StitchedVideo(isSubscribe: Boolean)
/**
* 后摄像头接口订阅 目前用于清扫车后摄像头接口和Taxi右后摄像头接口
* @param role 角色 详情参见{@link Constants.TERMINAL_ROLE}
* @param isSubscribe 是否订阅
*/
fun setIsSubscribeBackCameraVideoVideo(role: Int,isSubscribe: Boolean)
fun sendRoboBusJinlvM1FrontDoorCmd(switchCmd: Int): Boolean
fun sendRoboBusJinlvM1AirConditionerCmd(

13
core/mogo-core-function-api/src/main/java/com/mogo/eagle/core/function/api/autopilot/IMoGoBackCameraVideoListener.kt Normal file
View File

@@ -0,0 +1,13 @@
package com.mogo.eagle.core.function.api.autopilot
/**
* 后摄像头视频数据
* 目前用于清扫车（福田）后摄像头和Taxi右后摄像头
* 需要进行接口订阅才能 CallerAutoPilotControlManager.setIsSubscribeBackCameraVideoVideo(role: Int, isSubscribe: Boolean)
*/
interface IMoGoBackCameraVideoListener {
/**
* 后摄像头视频数据 10Hz 每一帧为一张图片
*/
fun onBackCameraVideo(data: ByteArray)
}

11
core/mogo-core-function-api/src/main/java/com/mogo/eagle/core/function/api/autopilot/IMoGoSweeperFutianBackCameraVideoListener.kt
View File

@@ -1,11 +0,0 @@
package com.mogo.eagle.core.function.api.autopilot
/**
* 清扫车（福田）后摄像头视频数据
*/
interface IMoGoSweeperFutianBackCameraVideoListener {
/**
* 清扫车（福田）后摄像头视频数据 10Hz 每一帧为一张图片
*/
fun onSweeperFutianBackCameraVideo(data: ByteArray)
}

42
core/mogo-core-function-api/src/main/java/com/mogo/eagle/core/function/api/map/angle/Scenes.kt
View File

@@ -34,56 +34,20 @@ class Default(val delay: Long = 2, val unit: TimeUnit = SECONDS): Scene() {
}
/**
* 变道-接收到转向灯信息号
*/
class Turning(var open: Boolean = false): Scene() {
override val angle: VisualAngleMode = VisualAngleMode.MAP_STYLE_VR_ANGLE_TOP
override val priority: Int = 3
override val displayThreshold: Long
get() = -1
override fun toString(): String {
return "Turning(open: ${open}, priority=$priority, displayThreshold: $displayThreshold, priority=$priority)"
}
}
/**
* 后方车辆离自车过近
*/
object TooClose: Scene() {
override val angle: VisualAngleMode = VisualAngleMode.MAP_STYLE_VR_ANGLE_300
override val priority: Int = 2
override val displayThreshold: Long
get() = SECONDS.toMillis(8)
override fun toString(): String {
return "TooClose(priority=$priority, displayThreshold: $displayThreshold, priority=$priority)"
}
}
/**
* 道路事件
*/
object RoadEvent: Scene() {
class RoadEvent(val poi_lon: Double, val poi_lat: Double, val poi_angle: Double): Scene() {
override val angle: VisualAngleMode = VisualAngleMode.MODE_LONG_SIGHT
override val priority: Int = 5
override val displayThreshold: Long
get() = SECONDS.toMillis(8)
get() = SECONDS.toMillis(5)
override fun toString(): String {
return "RoadEvent(priority=${priority}, displayThreshold: ${displayThreshold}, priority=${priority})"
return "RoadEvent(priority=${priority}, displayThreshold: ${displayThreshold}, priority=${priority}, lon: $poi_lon, lat: $poi_lat, angle: $poi_angle)"
}
}

25
core/mogo-core-function-call/src/main/java/com/mogo/eagle/core/function/call/autopilot/CallerAutoPilotControlManager.kt
View File

@@ -329,8 +329,20 @@ object CallerAutoPilotControlManager {
}
/**
* 控制V2N数据给车端PnC
* @param switchCmd true为发给PnC，false为不发给PnC
* 控制V2I进PnC
*
* @param switchCmd true：发给Pnc和鹰眼，false：不发给PnC和鹰眼
* @return boolean
*/
fun sendV2iToPncCmd(switchCmd: Boolean){
providerApi?.sendV2iToPncCmd(switchCmd)
}
/**
* 控制V2N进PnC
*
* @param switchCmd true：发给PnC，false：不发给PnC
* @return boolean
*/
fun sendV2nToPncCmd(switchCmd: Boolean){
providerApi?.sendV2nToPncCmd(switchCmd)
@@ -566,6 +578,15 @@ object CallerAutoPilotControlManager {
providerApi?.setIsSubscribeM1StitchedVideo(isSubscribe)
}
/**
* 后摄像头接口订阅 目前用于清扫车后摄像头接口和Taxi右后摄像头接口
* @param role 角色 详情参见{@link Constants.TERMINAL_ROLE}
* @param isSubscribe 是否订阅
*/
fun setIsSubscribeBackCameraVideoVideo(role: Int, isSubscribe: Boolean) {
providerApi?.setIsSubscribeBackCameraVideoVideo(role, isSubscribe)
}
fun sendRoboBusJinlvM1FrontDoorCmd(switchCmd: Int): Boolean {
return providerApi?.sendRoboBusJinlvM1FrontDoorCmd(switchCmd) ?: false
}

20
core/mogo-core-function-call/src/main/java/com/mogo/eagle/core/function/call/autopilot/CallerBackCameraVideoListenerManager.kt Normal file
View File

@@ -0,0 +1,20 @@
package com.mogo.eagle.core.function.call.autopilot
import com.mogo.eagle.core.function.api.autopilot.IMoGoBackCameraVideoListener
import com.mogo.eagle.core.function.call.base.CallerBase
/**
* 后摄像头视频数据
*/
object CallerBackCameraVideoListenerManager : CallerBase<IMoGoBackCameraVideoListener>() {
/**
* 后摄像头视频数据
*/
fun invokeBackCameraVideo(data: ByteArray) {
M_LISTENERS.forEach {
val listener = it.value
listener.onBackCameraVideo(data)
}
}
}

20
core/mogo-core-function-call/src/main/java/com/mogo/eagle/core/function/call/autopilot/CallerSweeperFutianBackCameraVideoListenerManager.kt
View File

@@ -1,20 +0,0 @@
package com.mogo.eagle.core.function.call.autopilot
import com.mogo.eagle.core.function.api.autopilot.IMoGoSweeperFutianBackCameraVideoListener
import com.mogo.eagle.core.function.call.base.CallerBase
/**
* 清扫车（福田）后摄像头视频数据
*/
object CallerSweeperFutianBackCameraVideoListenerManager : CallerBase<IMoGoSweeperFutianBackCameraVideoListener>() {
/**
* 后摄像头视频数据
*/
fun invokeSweeperFutianBackCameraVideo(data: ByteArray) {
M_LISTENERS.forEach {
val listener = it.value
listener.onSweeperFutianBackCameraVideo(data)
}
}
}

17
core/mogo-core-function-call/src/main/java/com/mogo/eagle/core/function/call/map/CallerVisualAngleManager.kt
View File

@@ -15,9 +15,6 @@ object CallerVisualAngleManager {
.navigation() as? IMoGoVisualAngleChangeProvider
}
@Volatile
private var isVisualAngleChanged = false
fun init() {
provider?.let {
Log.d("CallerVisualAngle", "--- init ---")
@@ -32,18 +29,4 @@ object CallerVisualAngleManager {
fun updateLongSightLevel(level: Boolean) {
provider?.updateLongSightLevel(level)
}
fun showTurning(open: Boolean) {
if (open) {
if (!isVisualAngleChanged) {
isVisualAngleChanged = true
changeAngle(Turning(true))
}
} else {
if (isVisualAngleChanged) {
isVisualAngleChanged = false
changeAngle(Turning(false))
}
}
}
}

10
libraries/mogo-adas-data/src/main/proto/chassis.proto
View File

@@ -100,3 +100,13 @@ enum CleanSystemControlMode {
Clean_PureWash_Left_Work = 13;
Clean_PureWash_Right_Work = 14;
}
enum DoorNumber {
NONE = 0;
FRONT_LEFT = 1;
FRONT_RIGHT = 2;
REAR_LEFT = 3;
REAR_RIGHT = 4;
MIDDLE = 5;
}

3
libraries/mogo-adas-data/src/main/proto/param_set_cmd.proto
View File

@@ -1,11 +1,12 @@
syntax = "proto3";
package mogo.telematics;
enum ParamSetType
enum ParamSetType
{
ParamSetTypeNone = 0;
ParamSetTypeBlindArea = 1; //bool, 0:off 1:on
ParamSetTypeV2N = 2; //bool, 0:不发给PnC 1:发给Pnc
ParamSetTypeV2I = 3; //bool, 0:不发给PnC和鹰眼 1:发给Pnc和鹰眼，默认0
}
message ParamSetCmd

11
libraries/mogo-adas-data/src/main/proto/vehicle_state.proto
View File

@@ -74,6 +74,11 @@ message DoorState {
optional bool is_on = 1; //是否开启
}
message DoorStateV2 {
optional DoorNumber number = 1; // 车门编号
optional uint32 status = 2; // 车门开闭状态(0-关, 1-开)
}
message LightState {
optional bool is_on = 1; //是否开启
optional uint32 color = 2; //颜色
@@ -116,13 +121,13 @@ message VehicleState {
optional bool steer_inference = 23 [default = false]; //方向盘干预
optional bool brake_inference = 24 [default = false]; //制动踏板干预
optional bool accel_inference = 25 [default = false]; //加速踏板干预
optional bool gear_switch_inference = 26 [default = false]; //档位切换干预
optional bool gear_switch_inference = 26 [default = false]; //档位切换干预
optional bool location_missing = 27 [default = false]; //未收到定位
optional bool trajectory_missing = 28 [default = false]; //未收到轨迹
optional bool chassis_status_missing = 29 [default = false]; //未收到车辆底盘反馈信息
optional bool brake_light_status = 30 [default = false]; //自驾模式下制动灯状态
optional bool pilot_mode_condition_met = 31 [default = false];
optional float steeringSpd = 32 [default = 0]; // steering angle speed in degrees/s
optional float leftFrontWheelAngle = 33 [default = 0];//左前轮角度（deg）,左负右正
@@ -136,6 +141,8 @@ message VehicleState {
optional float bms_soc = 40 [default = 0]; // 电量百分比范围 0~100
optional float fuel_value = 41 [default = 0]; // 油车剩余油量
repeated DoorStateV2 door_state = 42; // 车门状态
optional SweeperFuTianCleanSystemState sweeper_futian_clean_system_state = 200; // 福田清扫车上装状态信息
optional RoboTaxiState robo_taxi_state = 201; // taxi状态
optional RoboBusState robo_bus_state = 202; // bus状态

56
libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/AdasChannel.java
View File

@@ -5,7 +5,6 @@ import static com.zhidao.support.adas.high.chain.AdasChain.CHAIN_CODE_ADAS_INIT;
import static com.zhidao.support.adas.high.chain.AdasChain.CHAIN_CODE_ADAS_SEND_GLOBAL_PATH;
import static com.zhidao.support.adas.high.chain.AdasChain.CHAIN_CODE_ADAS_SEND_SYSTEM_CMD;
import static com.zhidao.support.adas.high.chain.AdasChain.CHAIN_CODE_ADAS_SEND_TRAJECTORY_DOWNLOAD;
import static com.zhidao.support.adas.high.chain.AdasChain.CHAIN_CODE_ADAS_START_AUTOPILOT;
import static com.zhidao.support.adas.high.chain.AdasChain.CHAIN_CODE_CONNECT_ADDRESS;
import static com.zhidao.support.adas.high.chain.AdasChain.CHAIN_CODE_STATUS_CHANGE_REASON;
import static com.zhidao.support.adas.high.chain.AdasChain.CHAIN_SOURCE_ADAS;
@@ -16,13 +15,11 @@ import android.os.Handler;
import android.os.Message;
import android.os.SystemClock;
import android.text.TextUtils;
import android.util.Log;
import androidx.annotation.NonNull;
import androidx.annotation.Nullable;
import com.google.protobuf.InvalidProtocolBufferException;
import com.zhjt.mogo.adas.data.bean.AdasParam;
import com.zhidao.support.adas.high.bean.VersionCompatibility;
import com.zhidao.support.adas.high.common.AutopilotReview;
import com.zhidao.support.adas.high.common.ByteUtil;
@@ -47,6 +44,7 @@ import com.zhidao.support.adas.high.subscribe.SubscribeInterface;
import com.zhidao.support.adas.high.subscribe.SubscribeInterfaceOptions;
import com.zhidao.support.adas.high.thread.DispatchHandler;
import com.zhjt.mogo.adas.data.AdasConstants;
import com.zhjt.mogo.adas.data.bean.AdasParam;
import com.zhjt.mogo.adas.data.bean.AutopilotStatistics;
import com.zhjt.mogo.adas.data.sweeper.SweeperCloudTask;
import com.zhjt.mogo.adas.data.sweeper.bootable.SweeperBootable;
@@ -68,8 +66,8 @@ import java.util.concurrent.atomic.AtomicInteger;
import bag_manager.BagManagerOuterClass;
import chassis.SpecialVehicleTaskCmdOuterClass;
import common.HeaderOuterClass;
import mogo.telematics.ParamSetCmdOuterClass;
import function_state_management.FSMStatusReasonQueryOuterClass;
import mogo.telematics.ParamSetCmdOuterClass;
import mogo.telematics.pad.MessagePad;
import okio.ByteString;
@@ -1713,9 +1711,36 @@ public class AdasChannel implements IAdasNetCommApi, FpgaSocket.IWebSocketConnec
}
/**
* 控制V2N数据给车端PnC
* FSM状态原因查询
* 当FSMFunctionStates的类型是XXX_DRIVING_OFF时查询OFF的原因
* 当FSMFunctionStates的类型是PILOT_DRIVING_OFF时会自动调用
*
* @param switchCmd true为发给PnC，false为不发给PnC
* @param type 0:default, 1:请求反馈原因
* @return boolean
*/
@Override
public boolean sendFSMStatusReasonQuery(int type) {
FSMStatusReasonQueryOuterClass.FSMStatusReasonQuery query = FSMStatusReasonQueryOuterClass.FSMStatusReasonQuery.newBuilder()
.setType(type)
.build();
return sendPBMessage(MessageType.TYPE_SEND_FSM_STATUS_REASON_QUERY_REQ.typeCode, query.toByteArray());
}
/**
* 控制V2I进PnC
*
* @param switchCmd true：发给Pnc和鹰眼，false：不发给PnC和鹰眼
* @return boolean
*/
@Override
public boolean sendV2iToPncCmd(boolean switchCmd) {
return sendSetParamReqV2(ParamSetCmdOuterClass.ParamSetType.ParamSetTypeV2I, switchCmd);
}
/**
* 控制V2N进PnC
*
* @param switchCmd true：发给PnC，false：不发给PnC
* @return boolean
*/
@Override
@@ -1742,27 +1767,14 @@ public class AdasChannel implements IAdasNetCommApi, FpgaSocket.IWebSocketConnec
ParamSetCmdOuterClass.ParamSetCmd.Builder builder = ParamSetCmdOuterClass.ParamSetCmd.newBuilder()
.setSrc(1)
.setType(paramSetType);
if (paramSetType == ParamSetCmdOuterClass.ParamSetType.ParamSetTypeBlindArea || paramSetType == ParamSetCmdOuterClass.ParamSetType.ParamSetTypeV2N) {
if (paramSetType == ParamSetCmdOuterClass.ParamSetType.ParamSetTypeBlindArea
|| paramSetType == ParamSetCmdOuterClass.ParamSetType.ParamSetTypeV2N
|| paramSetType == ParamSetCmdOuterClass.ParamSetType.ParamSetTypeV2I) {
builder.setBoolValue((Boolean) value);
}
ParamSetCmdOuterClass.ParamSetCmd req = builder.build();
return sendPBMessage(MessageType.TYPE_SEND_SET_PARAM_REQ_V2.typeCode, req.toByteArray());
}
/**
* FSM状态原因查询
* 当FSMFunctionStates的类型是XXX_DRIVING_OFF时查询OFF的原因
* 当FSMFunctionStates的类型是PILOT_DRIVING_OFF时会自动调用
*
* @param type 0:default, 1:请求反馈原因
* @return boolean
*/
@Override
public boolean sendFSMStatusReasonQuery(int type) {
FSMStatusReasonQueryOuterClass.FSMStatusReasonQuery query = FSMStatusReasonQueryOuterClass.FSMStatusReasonQuery.newBuilder()
.setType(type)
.build();
return sendPBMessage(MessageType.TYPE_SEND_FSM_STATUS_REASON_QUERY_REQ.typeCode, query.toByteArray());
}
/**
* 发送清扫车指令到云控

47
libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/AdasManager.java
View File

@@ -5,7 +5,6 @@ import android.text.TextUtils;
import androidx.annotation.NonNull;
import com.zhjt.mogo.adas.data.bean.AdasParam;
import com.zhidao.support.adas.high.bean.VersionCompatibility;
import com.zhidao.support.adas.high.common.AppPreferenceHelper;
import com.zhidao.support.adas.high.common.Constants;
@@ -13,12 +12,13 @@ import com.zhidao.support.adas.high.common.CupidLogUtils;
import com.zhidao.support.adas.high.common.Define;
import com.zhidao.support.adas.high.common.MessageType;
import com.zhidao.support.adas.high.common.ReceiveTimeoutManager;
import com.zhjt.mogo.adas.data.AdasConstants;
import com.zhjt.mogo.adas.data.bean.AdasParam;
import com.zhjt.mogo.adas.data.sweeper.bootable.SweeperBootable;
import com.zhjt.mogo.adas.data.sweeper.task.SweeperTask;
import com.zhjt.mogo.adas.data.sweeper.task.SweeperTaskSuspendResume;
import com.zhjt.mogo.adas.data.sweeper.task.confirm.SweeperTaskConfirm;
import com.zhjt.mogo.adas.data.sweeper.task.stop.SweeperTaskStop;
import com.zhjt.mogo.adas.data.AdasConstants;
import java.util.HashSet;
import java.util.List;
@@ -929,7 +929,7 @@ public class AdasManager implements IAdasNetCommApi {
* 参数获取请求
* 结果回调{@link OnAdasListener#onGetParamResp(MessagePad.Header, MessagePad.SetParamReq, AdasParam)}
*
* @param paramType 参数类型:libraries/mogo-adas-data/src/main/proto/personal/adas_constants.proto
* @param paramType 参数类型:libraries/mogo-adas-data/src/main/proto/personal/adas_constants.proto
* @return boolean
*/
@Override
@@ -967,9 +967,33 @@ public class AdasManager implements IAdasNetCommApi {
}
/**
* 控制V2N数据给车端PnC
* FSM状态原因查询
* 当FSMFunctionStates的类型是XXX_DRIVING_OFF时查询OFF的原因
* 当FSMFunctionStates的类型是PILOT_DRIVING_OFF时会自动调用
*
* @param switchCmd true为发给PnC，false为不发给PnC
* @param type 0:default, 1:请求反馈原因
* @return boolean
*/
@Override
public boolean sendFSMStatusReasonQuery(int type) {
return mChannel != null && mChannel.sendFSMStatusReasonQuery(type);
}
/**
* 控制V2I进PnC
*
* @param switchCmd true：发给Pnc和鹰眼，false：不发给PnC和鹰眼
* @return boolean
*/
@Override
public boolean sendV2iToPncCmd(boolean switchCmd) {
return mChannel != null && mChannel.sendV2iToPncCmd(switchCmd);
}
/**
* 控制V2N进PnC
*
* @param switchCmd true：发给PnC，false：不发给PnC
* @return boolean
*/
@Override
@@ -988,19 +1012,6 @@ public class AdasManager implements IAdasNetCommApi {
return mChannel != null && mChannel.sendBlindAreaCmd(switchCmd);
}
/**
* FSM状态原因查询
* 当FSMFunctionStates的类型是XXX_DRIVING_OFF时查询OFF的原因
* 当FSMFunctionStates的类型是PILOT_DRIVING_OFF时会自动调用
*
* @param type 0:default, 1:请求反馈原因
* @return boolean
*/
@Override
public boolean sendFSMStatusReasonQuery(int type) {
return mChannel != null && mChannel.sendFSMStatusReasonQuery(type);
}
/**
* 开始大任务响应
* 1、云端下发大任务信息（type: 100001）-> sweeper_task.proto/StartTaskResp 响应信息

36
libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/IAdasNetCommApi.java
View File

@@ -6,12 +6,12 @@ import com.zhidao.support.adas.high.bean.VersionCompatibility;
import com.zhidao.support.adas.high.common.Constants;
import com.zhidao.support.adas.high.common.Define;
import com.zhidao.support.adas.high.common.MessageType;
import com.zhjt.mogo.adas.data.AdasConstants;
import com.zhjt.mogo.adas.data.sweeper.bootable.SweeperBootable;
import com.zhjt.mogo.adas.data.sweeper.task.SweeperTask;
import com.zhjt.mogo.adas.data.sweeper.task.SweeperTaskSuspendResume;
import com.zhjt.mogo.adas.data.sweeper.task.confirm.SweeperTaskConfirm;
import com.zhjt.mogo.adas.data.sweeper.task.stop.SweeperTaskStop;
import com.zhjt.mogo.adas.data.AdasConstants;
import java.util.List;
import java.util.Set;
@@ -572,7 +572,7 @@ public interface IAdasNetCommApi {
/**
* 参数获取请求
*
* @param paramType 参数类型:libraries/mogo-adas-data/src/main/proto/personal/adas_constants.proto
* @param paramType 参数类型:libraries/mogo-adas-data/src/main/proto/personal/adas_constants.proto
* @return boolean
*/
boolean sendGetParamReq(AdasConstants.MapSystemParamType paramType);
@@ -602,9 +602,27 @@ public interface IAdasNetCommApi {
boolean sendBagManagerCmd(BagManagerOuterClass.BagManager bagManager);
/**
* 控制V2N数据给车端PnC
* FSM状态原因查询
* 当FSMFunctionStates的类型是XXX_DRIVING_OFF时查询OFF的原因
* 当FSMFunctionStates的类型是PILOT_DRIVING_OFF时会自动调用
*
* @param switchCmd true为发给PnC，false为不发给PnC
* @param type 0:default, 1:请求反馈原因
* @return boolean
*/
boolean sendFSMStatusReasonQuery(int type);
/**
* 控制V2I进PnC
*
* @param switchCmd true：发给Pnc和鹰眼，false：不发给PnC和鹰眼 默认false
* @return boolean
*/
boolean sendV2iToPncCmd(boolean switchCmd);
/**
* 控制V2N进PnC
*
* @param switchCmd true：发给PnC，false：不发给PnC
* @return boolean
*/
boolean sendV2nToPncCmd(boolean switchCmd);
@@ -617,16 +635,6 @@ public interface IAdasNetCommApi {
*/
boolean sendBlindAreaCmd(boolean switchCmd);
/**
* FSM状态原因查询
* 当FSMFunctionStates的类型是XXX_DRIVING_OFF时查询OFF的原因
* 当FSMFunctionStates的类型是PILOT_DRIVING_OFF时会自动调用
*
* @param type 0:default, 1:请求反馈原因
* @return boolean
*/
boolean sendFSMStatusReasonQuery(int type);
/**
* 开始大任务响应
* 1、云端下发大任务信息（type: 100001）-> sweeper_task.proto/StartTaskResp 响应信息

4
libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/OnAdasListener.java
View File

@@ -261,8 +261,8 @@ public interface OnAdasListener {
// void onFSMStatusReasonRespond(@NonNull MessagePad.Header header, @NonNull FSMStatusReasonQueryOuterClass.FSMStatusReasonRespond respond);
/**
* 清扫车后部摄像头视频 10Hz
*
* 后部摄像头视频 10Hz
* 目前用于清扫车后摄像头和Taxi右右后摄像头
* @param header 头
* @param data 数据
*/

2
libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/common/MessageType.java
View File

@@ -28,7 +28,7 @@ public enum MessageType {
TYPE_RECEIVE_PLANNING_OBJECTS(MessagePad.MessageType.MsgTypePlanningObjects, "Planning障碍物"),
TYPE_RECEIVE_CHASSIS_STATES(MessagePad.MessageType.MsgTypeChassisStates, "底盘状态"),
TYPE_RECEIVE_FUNCTION_STATES(MessagePad.MessageType.MsgTypeFunctionStates, "重构后功能状态"),
TYPE_RECEIVE_BACK_CAMERA_VIDEO(MessagePad.MessageType.MsgTypeBackCameraVideo, "清扫车后摄像头"),
TYPE_RECEIVE_BACK_CAMERA_VIDEO(MessagePad.MessageType.MsgTypeBackCameraVideo, "后摄像头"),
TYPE_RECEIVE_M1_STITCHED_VIDEO(MessagePad.MessageType.MsgTypeM1StitchedVideo, "M1拼接视频"),
TYPE_RECEIVE_BASIC_INFO_REQ(MessagePad.MessageType.MsgTypeBasicInfoReq, "自动驾驶设备基础信息请求"),

7
libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/msg/BackCameraVideoMessage.java
View File

@@ -9,7 +9,8 @@ import com.zhidao.support.adas.high.common.CupidLogUtils;
import com.zhidao.support.adas.high.protocol.RawData;
/**
* 清扫车后摄像头 10Hz
* 清扫车和Taxi后摄像头
* 需要主动订阅，否则工控机不会发送此数据
*/
public class BackCameraVideoMessage extends MyAbstractMessageHandler {
@@ -21,13 +22,13 @@ public class BackCameraVideoMessage extends MyAbstractMessageHandler {
int len = raw.getPackageLengthValue() - raw.getOffsetValue();
byte[] data = new byte[len];
System.arraycopy(raw.originalData.toByteArray(), raw.getOffsetValue(), data, 0, len);
AdasChannel.calculateTimeConsumingOnDispatchRaw("清扫车后摄像头", raw.receiveTime);
AdasChannel.calculateTimeConsumingOnDispatchRaw("后摄像头", raw.receiveTime);
long nowTime = 0;
if (CupidLogUtils.isEnableLog())
nowTime = SystemClock.elapsedRealtime();
if (adasListener != null) {
adasListener.onBackCameraVideo(raw.getHeader(), data);
}
AdasChannel.calculateTimeConsumingBusiness("清扫车后摄像头", nowTime);
AdasChannel.calculateTimeConsumingBusiness("后摄像头", nowTime);
}
}

1
libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/msg/M1StitchedVideoMessage.java
View File

@@ -10,6 +10,7 @@ import com.zhidao.support.adas.high.protocol.RawData;
/**
* M1拼接视频 10Hz
* 需要主动订阅，否则工控机不会发送此数据
*/
public class M1StitchedVideoMessage extends MyAbstractMessageHandler {

4
libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/subscribe/SubscribeInterface.java
View File

@@ -139,8 +139,8 @@ public class SubscribeInterface {
if (types.length > 0) {
for (MessageType messageType : types) {
if (messageType.name().toLowerCase().contains("type_receive")) {
//连接成功后只有M1拼接视频接收接口默认不进行订阅，其他接收接口默认自动订阅
if (messageType == MessageType.TYPE_RECEIVE_M1_STITCHED_VIDEO) {
//连接成功后只有M1拼接视频接收接口和后摄像头接口默认不进行订阅，其他接收接口默认自动订阅
if (messageType == MessageType.TYPE_RECEIVE_M1_STITCHED_VIDEO || messageType == MessageType.TYPE_RECEIVE_BACK_CAMERA_VIDEO) {
unsubscribedInterface.put(messageType, messageType.typeCode.getNumber());
} else {
subscribedInterface.put(messageType, messageType.typeCode.getNumber());

11
libraries/mogo-map-api/src/main/java/com/mogo/map/uicontroller/IMogoMapUIController.java
View File

@@ -378,4 +378,15 @@ public interface IMogoMapUIController {
void cancelDownloadCacheData();
String getCityCode();
/**
* 自动切换视角到指定点，包含过渡动画，并持续指定duration毫秒
*
* @param lon 经度
* @param lat 纬度
* @param rotateAngle 旋转角度
* @param duration 持续时间
* @param isGps 是否是高精坐标
*/
void animateTo(double lon, double lat, float rotateAngle, int duration, boolean isGps);
}

9
libraries/mogo-map/src/main/java/com/mogo/map/AMapViewWrapper.java
View File

@@ -978,7 +978,8 @@ public class AMapViewWrapper implements IMogoMapView,
@Override
public void setLockMode(boolean isLock) {
if (checkAMapView()) {
mMapView.getMapAutoViewHelper().setLockMode(true);
Log.d("TTTTT", "setLockMode:" +isLock);
mMapView.getMapAutoViewHelper().setLockMode(isLock);
}
}
@@ -1154,4 +1155,10 @@ public class AMapViewWrapper implements IMogoMapView,
return GDLocationClient.getInstance(getContext()).getLastCityCode();
}
@Override
public void animateTo(double lon, double lat, float rotateAngle, int duration, boolean isGps) {
if (mMapView.getMapAutoViewHelper() != null) {
mMapView.getMapAutoViewHelper().animateTo(lon, lat, rotateAngle, duration, isGps);
}
}
}

7
libraries/mogo-map/src/main/java/com/mogo/map/MogoMapUIController.java
View File

@@ -505,4 +505,11 @@ public class MogoMapUIController implements IMogoMapUIController {
}
return null;
}
@Override
public void animateTo(double lon, double lat, float rotateAngle, int duration, boolean isGps) {
if (mDelegate != null) {
mDelegate.animateTo(lon, lat, rotateAngle, duration, isGps);
}
}
}

7
libraries/mogo-map/src/main/java/com/mogo/map/uicontroller/AMapUIController.java
View File

@@ -442,4 +442,11 @@ public class AMapUIController implements IMogoMapUIController {
}
return null;
}
@Override
public void animateTo(double lon, double lat, float rotateAngle, int duration, boolean isGps) {
if (mClient != null) {
mClient.animateTo(lon, lat, rotateAngle, duration, isGps);
}
}
}