diff --git a/app/src/androidTest/java/com/mogo/functions/test/RoadAITest.kt b/app/src/androidTest/java/com/mogo/functions/test/RoadAITest.kt index c098291281..28484dd9e8 100644 --- a/app/src/androidTest/java/com/mogo/functions/test/RoadAITest.kt +++ b/app/src/androidTest/java/com/mogo/functions/test/RoadAITest.kt @@ -1,141 +1,140 @@ -//package com.mogo.functions.test -// -//import android.os.* -//import androidx.test.core.app.* -//import androidx.test.ext.junit.runners.* -//import androidx.test.filters.* -//import com.mogo.eagle.core.data.v2x.V2XEvent -//import com.mogo.eagle.core.function.hmi.ui.* -//import com.mogo.eagle.core.function.main.* -//import com.mogo.eagle.core.function.v2x.events.* -//import com.mogo.eagle.core.data.v2x.V2XRoadXData -//import com.mogo.eagle.core.utilcode.util.GsonUtils -//import com.mogo.eagle.function.biz.v2x.v2n.V2XEventManager -//import kotlinx.coroutines.* -//import org.junit.* -//import org.junit.runner.* -//import roadwork.Road.* -//import java.util.concurrent.* -//import java.util.concurrent.TimeUnit.MILLISECONDS -//import java.util.concurrent.TimeUnit.SECONDS -//import kotlin.Result -// -//@RunWith(AndroidJUnit4::class) -//@LargeTest -//class RoadAITest { -// -// lateinit var launch: ActivityScenario -// -// @Before -// fun before() { -// launch = ActivityScenario.launch(MainLauncherActivity::class.java) -// } -// -// @Test -// fun test() = runBlocking(Dispatchers.Default) { -// ensureMoGoHmiFragmentShow() -// val nanos = System.nanoTime() -// val child = -// RW_PB -// .newBuilder() -// .setHeader( -// Header -// .newBuilder() -// .setFrameId("rw") -// .setModuleName("ai_cloud") -// .setStamp(Time.newBuilder() -// .setSec(TimeUnit.NANOSECONDS.convert(nanos, SECONDS).toInt()) -// .setNsec(180000000) -// .build()) -// .build()) -// .setRoadwork( -// Roadwork_PB -// .newBuilder() -// .setId("4e47e17d-4950-4c80-9b02-29a450e54b50") -// .setScore(95) -// .setDetectTime(nanos) -// .setPoiType(100061) -// .setType(1006) -// .setCenter( -// Center_PB -// .newBuilder() -// .setRoad(Road_PB -// .newBuilder() -// .setRoadId("200091") -// .setLaneNo("-2") -// .setTileId("556834853") -// .setBearing(90) -// .build()) -// .setPoint(GPSPoint_PB -// .newBuilder() -// .setLat(40.20313763799314) -// .setLon(116.72844402744953) -// .build()) -// .build()) -// .addPolygon(0, GPSPoint_PB +package com.mogo.functions.test + +import android.os.* +import androidx.test.core.app.* +import androidx.test.ext.junit.runners.* +import androidx.test.filters.* +import com.mogo.eagle.core.data.v2x.V2XEvent +import com.mogo.eagle.core.function.hmi.ui.* +import com.mogo.eagle.core.function.main.* +import com.mogo.eagle.core.data.v2x.V2XRoadXData +import com.mogo.eagle.core.utilcode.util.GsonUtils +import com.mogo.eagle.function.biz.v2x.v2n.V2XEventManager +import kotlinx.coroutines.* +import org.junit.* +import org.junit.runner.* +import roadwork.Road.* +import java.util.concurrent.* +import java.util.concurrent.TimeUnit.MILLISECONDS +import java.util.concurrent.TimeUnit.SECONDS +import kotlin.Result + +@RunWith(AndroidJUnit4::class) +@LargeTest +class RoadAITest { + + lateinit var launch: ActivityScenario + + @Before + fun before() { + launch = ActivityScenario.launch(MainLauncherActivity::class.java) + } + + @Test + fun test() = runBlocking(Dispatchers.Default) { + // ensureMoGoHmiFragmentShow() + val nanos = System.nanoTime() + val child = + RW_PB + .newBuilder() + .setHeader( + Header + .newBuilder() + .setFrameId("rw") + .setModuleName("ai_cloud") + .setStamp(Time.newBuilder() + .setSec(TimeUnit.NANOSECONDS.convert(nanos, SECONDS).toInt()) + .setNsec(180000000) + .build()) + .build()) + .setRoadwork( + Roadwork_PB + .newBuilder() + .setId("4e47e17d-4950-4c80-9b02-29a450e54b50") + .setScore(95) + .setDetectTime(nanos) + .setPoiType(100061) + .setType(1006) + .setCenter( + Center_PB + .newBuilder() + .setRoad(Road_PB + .newBuilder() + .setRoadId("200091") + .setLaneNo("-2") + .setTileId("556834853") + .setBearing(90) + .build()) + .setPoint(GPSPoint_PB + .newBuilder() + .setLat(40.20313763799314) + .setLon(116.72844402744953) + .build()) + .build()) + .addPolygon(0, GPSPoint_PB + .newBuilder() + .setLat(40.20314863899314) + .setLon(116.72844412744953) + .build()) + .addPolygon(1, GPSPoint_PB + .newBuilder() + .setLat(40.20314563819314) + .setLon(116.72844412744953) + .build()) + .addPolygon(2, GPSPoint_PB + .newBuilder() + .setLat(40.20312263869314) + .setLon(116.72844401744953) + .build()) + .addPolygon(3, GPSPoint_PB + .newBuilder() + .setLat(40.20322763889314) + .setLon(116.7284381644953) + .build()) +// .addPolygon(4, GPSPoint_PB // .newBuilder() -// .setLat(40.20314863899314) -// .setLon(116.72844412744953) +// .setLat(26.819521911807858) +// .setLon(112.57508983920647) // .build()) -// .addPolygon(1, GPSPoint_PB +// .addPolygon(5, GPSPoint_PB // .newBuilder() -// .setLat(40.20314563819314) -// .setLon(116.72844412744953) +// .setLat(26.819535210732194) +// .setLon(112.57509174248064) // .build()) -// .addPolygon(2, GPSPoint_PB +// .addPolygon(6, GPSPoint_PB // .newBuilder() -// .setLat(40.20312263869314) -// .setLon(116.72844401744953) +// .setLat(26.81954428950259) +// .setLon(112.5750796303722) // .build()) -// .addPolygon(3, GPSPoint_PB +// .addPolygon(7, GPSPoint_PB // .newBuilder() -// .setLat(40.20322763889314) -// .setLon(116.7284381644953) +// .setLat(26.819549148117684) +// .setLon(112.57505350287552) // .build()) -//// .addPolygon(4, GPSPoint_PB -//// .newBuilder() -//// .setLat(26.819521911807858) -//// .setLon(112.57508983920647) -//// .build()) -//// .addPolygon(5, GPSPoint_PB -//// .newBuilder() -//// .setLat(26.819535210732194) -//// .setLon(112.57509174248064) -//// .build()) -//// .addPolygon(6, GPSPoint_PB -//// .newBuilder() -//// .setLat(26.81954428950259) -//// .setLon(112.5750796303722) -//// .build()) -//// .addPolygon(7, GPSPoint_PB -//// .newBuilder() -//// .setLat(26.819549148117684) -//// .setLon(112.57505350287552) -//// .build()) -// .addRoad(0, Road_PB -// .newBuilder() -// .setRoadId("200090") -// .setLaneNo("-2") -// .setTileId("556834853") -// .setBearing(154) -// .build()) -// .addRoad(1, Road_PB -// .newBuilder() -// .setRoadId("200091") -// .setLaneNo("-2") -// .setTileId("556834853") -// .setBearing(156) -// .build()) -// .build()) -// .build() -// val event = V2XEvent.RoadAI(data = child) -// while (true) { -// delay(1000) -// V2XEventManager.onAck(event) -// } -// -// } -// + .addRoad(0, Road_PB + .newBuilder() + .setRoadId("200090") + .setLaneNo("-2") + .setTileId("556834853") + .setBearing(154) + .build()) + .addRoad(1, Road_PB + .newBuilder() + .setRoadId("200091") + .setLaneNo("-2") + .setTileId("556834853") + .setBearing(156) + .build()) + .build()) + .build() + val event = V2XEvent.RoadAI(data = child) + while (true) { + delay(1000) + V2XEventManager.onAck(event) + } + + } + // private suspend fun ensureMoGoHmiFragmentShow(): MoGoHmiProvider = suspendCancellableCoroutine { // launch.onActivity { itx -> // val executor = Executors.newSingleThreadScheduledExecutor() @@ -159,23 +158,23 @@ // }, 50, 500, MILLISECONDS) // } // } -// -// -// @Test -// fun testRoadAI() = runBlocking { -// ensureMoGoHmiFragmentShow() -// val shigu = 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"{\"poiType\":\"100061\",\"receiveTime\":1673509755649,\"detectTime\":1673509755637,\"id\":\"86447e30-2dfc-4a27-8d01-41ffe9a9a7fe\",\"index\":\"636136931493457343\",\"polygon\":[{\"lon\":112.57337137520945,\"lat\":26.822950000610152},{\"lon\":112.5733703998375,\"lat\":26.82294943400411},{\"lon\":112.57336923793872,\"lat\":26.82294944578748},{\"lon\":112.57336827709125,\"lat\":26.82295003202963},{\"lon\":112.57336786590433,\"lat\":26.822950822795498},{\"lon\":112.57332583348149,\"lat\":26.823144415135413},{\"lon\":112.57332583904886,\"lat\":26.823145130116597},{\"lon\":112.57332615359141,\"lat\":26.82314578706645},{\"lon\":112.57332672775591,\"lat\":26.823146282906478},{\"lon\":112.57332747145331,\"lat\":26.823146539837108},{\"lon\":112.57332807078356,\"lat\":26.823146549872188},{\"lon\":112.57332882464814,\"lat\":26.82314631801647},{\"lon\":112.57332941903356,\"lat\":26.823145841742402},{\"lon\":112.57332970267485,\"lat\":26.82314536795171},{\"lon\":112.57339652767452,\"lat\":26.82297757920771},{\"lon\":112.57339644737766,\"lat\":26.82297673161999},{\"lon\":112.57339607387638,\"lat\":26.822976136665098},{\"lon\":112.57337137520945,\"lat\":26.822950000610152}],\"polygonRoads\":[{\"tileId\":556834853,\"roadId\":\"130314\",\"laneNo\":-1,\"bearing\":330,\"roadName\":\"雁鸣路\"},{\"tileId\":556834853,\"roadId\":\"130314\",\"laneNo\":-2,\"bearing\":330,\"roadName\":\"雁鸣路\"},{\"tileId\":556834853,\"roadId\":\"130314\",\"laneNo\":-3,\"bearing\":330,\"roadName\":\"雁鸣路\"},{\"tileId\":556834853,\"roadId\":\"130583\",\"laneNo\":-1,\"bearing\":278}],\"center\":{\"lon\":112.57336404707121,\"lat\":26.823024407262803},\"centerRoad\":{\"tileId\":556834853,\"roadId\":\"130314\",\"laneNo\":-2,\"bearing\":330,\"roadName\":\"雁鸣路\"},\"obstacles\":[{\"id\":0,\"type\":1,\"score\":88,\"polygon\":[{\"lon\":112.57334137965555,\"lat\":26.82313245733589},{\"lon\":112.573329020958,\"lat\":26.823145531571242},{\"lon\":112.57332663570918,\"lat\":26.823144025991855},{\"lon\":112.57333875695714,\"lat\":26.823130823353114}],\"boundBox\":[{\"x\":1439.8624267578125,\"y\":893.4229736328125},{\"x\":1474.45361328125,\"y\":893.4229736328125},{\"x\":1474.45361328125,\"y\":966.433837890625},{\"x\":1439.8624267578125,\"y\":966.433837890625}],\"center\":{\"lon\":112.57332779256919,\"lat\":26.823144756804734}},{\"id\":1,\"type\":1,\"score\":87,\"polygon\":[{\"lon\":112.57339986657128,\"lat\":26.822898951544797},{\"lon\":112.5733716620538,\"lat\":26.822952992001163},{\"lon\":112.57336786188131,\"lat\":26.822949186370185},{\"lon\":112.57339561566401,\"lat\":26.822894141465785}],\"boundBox\":[{\"x\":2085.054443359375,\"y\":503.0662841796875},{\"x\":2116.11865234375,\"y\":503.0662841796875},{\"x\":2116.11865234375,\"y\":559.9113159179688},{\"x\":2085.054443359375,\"y\":559.9113159179688}],\"center\":{\"lon\":112.5733698249888,\"lat\":26.822951164464232}},{\"id\":2,\"type\":1,\"score\":71,\"polygon\":[{\"lon\":112.57342641528835,\"lat\":26.82293191667262},{\"lon\":112.57339610867105,\"lat\":26.82297860774548},{\"lon\":112.5733928192764,\"lat\":26.822975877911627},{\"lon\":112.57342270277888,\"lat\":26.822928610829003}],\"boundBox\":[{\"x\":1873.2490234375,\"y\":507.2391357421875},{\"x\":1900.5283203125,\"y\":507.2391357421875},{\"x\":1900.5283203125,\"y\":562.299560546875},{\"x\":1873.2490234375,\"y\":562.299560546875}],\"center\":{\"lon\":112.57339452365564,\"lat\":26.822977300519444}}],\"imgUrl\":\"http://petchfile-1255510688.cos.ap-beijing.myqcloud.com/roadwork_image/2023-01-12/86447e30-2dfc-4a27-8d01-41ffe9a9a7fe_172_18_24_62.jpg?sign=q-sign-algorithm%3Dsha1%26q-ak%3DAKIDCWfcNwD5PXVWLxwejccR3Tiz5zhIkx0T%26q-sign-time%3D1673509757%3B1673516957%26q-key-time%3D1673509757%3B1673516957%26q-header-list%3D%26q-url-param-list%3D%26q-signature%3D557de14ddfb999d35ddef9e23b3532d9d299c62f\",\"ip\":\"172.18.24.62\",\"score\":82,\"radius\":0,\"type\":1,\"createTime\":1673509757496,\"createTimeStr\":\"2023-01-12 15:49:17\"}" -// val road2 = "{\"poiType\":\"100061\",\"receiveTime\":1673509756306,\"detectTime\":1673509756290,\"id\":\"be6a2000-a96c-42c8-a7ef-f83388d84858\",\"index\":\"636136931493532287\",\"polygon\":[{\"lon\":112.5733515539896,\"lat\":26.823143145432386},{\"lon\":112.57335140084462,\"lat\":26.823142454672727},{\"lon\":112.57335096472467,\"lat\":26.823141869074952},{\"lon\":112.57335031202503,\"lat\":26.82314147779103},{\"lon\":112.57334954211333,\"lat\":26.82314134039038},{\"lon\":112.57334877220161,\"lat\":26.82314147779103},{\"lon\":112.573348119502,\"lat\":26.823141869074952},{\"lon\":112.57334768338202,\"lat\":26.823142454672727},{\"lon\":112.57334753023707,\"lat\":26.823143145432386},{\"lon\":112.57334768338202,\"lat\":26.82314383619207},{\"lon\":112.57334811950196,\"lat\":26.82314442178987},{\"lon\":112.5733487722016,\"lat\":26.823144813073792},{\"lon\":112.57334954211333,\"lat\":26.823144950474443},{\"lon\":112.57335031202504,\"lat\":26.823144813073792},{\"lon\":112.57335096472468,\"lat\":26.82314442178987},{\"lon\":112.57335140084464,\"lat\":26.82314383619207},{\"lon\":112.5733515539896,\"lat\":26.823143145432386}],\"polygonRoads\":[{\"tileId\":556834853,\"roadId\":\"130314\",\"laneNo\":-4,\"bearing\":332,\"roadName\":\"雁鸣路\"}],\"center\":{\"lon\":112.57334952644263,\"lat\":26.823143141971546},\"centerRoad\":{\"tileId\":556834853,\"roadId\":\"130314\",\"laneNo\":-4,\"bearing\":332,\"roadName\":\"雁鸣路\"},\"obstacles\":[{\"id\":0,\"type\":1,\"score\":72,\"polygon\":[{\"lon\":112.57341760772391,\"lat\":26.823104379136176},{\"lon\":112.57335121413183,\"lat\":26.82314367391432},{\"lon\":112.57334751791018,\"lat\":26.823142500693834},{\"lon\":112.57341321183773,\"lat\":26.82310322131963}],\"boundBox\":[{\"x\":1551.2252197265625,\"y\":352.58837890625},{\"x\":1562.4649658203125,\"y\":352.58837890625},{\"x\":1562.4649658203125,\"y\":376.17327880859375},{\"x\":1551.2252197265625,\"y\":376.17327880859375}],\"center\":{\"lon\":112.57334952644263,\"lat\":26.823143141971546}}],\"imgUrl\":\"http://petchfile-1255510688.cos.ap-beijing.myqcloud.com/roadwork_image/2023-01-12/be6a2000-a96c-42c8-a7ef-f83388d84858_172_18_24_42.jpg?sign=q-sign-algorithm%3Dsha1%26q-ak%3DAKIDCWfcNwD5PXVWLxwejccR3Tiz5zhIkx0T%26q-sign-time%3D1673509758%3B1673516958%26q-key-time%3D1673509758%3B1673516958%26q-header-list%3D%26q-url-param-list%3D%26q-signature%3Db2682464078ae53eae6e87f924abe17fa7c04ac8\",\"ip\":\"172.18.24.42\",\"score\":72,\"radius\":0,\"type\":1,\"createTime\":1673509758511,\"createTimeStr\":\"2023-01-12 15:49:18\"}" -// val jingzhi1 = "{\"poiType\":\"100321\",\"detectTime\":1673506266924,\"id\":\"f7b1df85-895a-41c1-b05d-7356955c1c91\",\"index\":\"636136931493454271\",\"polygon\":[],\"center\":{\"lon\":112.57320982521519,\"lat\":26.82306821019599},\"centerRoad\":{\"tileId\":556834853,\"laneNo\":-2,\"bearing\":152},\"score\":95,\"radius\":0,\"type\":2}" -// val jingzhi2 = "{\"poiType\":\"100321\",\"detectTime\":1673506266924,\"id\":\"f7b1df85-895a-41c1-b05d-7356955c1c91\",\"index\":\"636136931493454271\",\"polygon\":[],\"center\":{\"lon\":112.57320982521519,\"lat\":26.82306821019599},\"centerRoad\":{\"tileId\":556834853,\"laneNo\":-2,\"bearing\":152},\"score\":95,\"radius\":0,\"type\":2}" -// val jingzhi3 = "{\"poiType\":\"100321\",\"detectTime\":1673506266924,\"id\":\"f7b1df85-895a-41c1-b05d-7356955c1c91\",\"index\":\"636136931493454271\",\"polygon\":[],\"center\":{\"lon\":112.57320982521519,\"lat\":26.82306821019599},\"centerRoad\":{\"tileId\":556834853,\"laneNo\":-2,\"bearing\":152},\"score\":95,\"radius\":0,\"type\":2}" -// while (true) { -// delay(1000) -// V2XEventManager.onAck(V2XEvent.RoadEventX(data = GsonUtils.fromJson(shigu, V2XRoadXData::class.java))) -// V2XEventManager.onAck(V2XEvent.RoadEventX(data = GsonUtils.fromJson(road1, V2XRoadXData::class.java))) -// V2XEventManager.onAck(V2XEvent.RoadEventX(data = GsonUtils.fromJson(road2, V2XRoadXData::class.java))) -// } -// } -// -//} \ No newline at end of file + + + @Test + fun testRoadAI() = runBlocking { + //ensureMoGoHmiFragmentShow() + val shigu = 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2.573195517033,\"lat\":26.8230365227693},{\"lon\":112.573191536797,\"lat\":26.8230421150085},{\"lon\":112.573187548559,\"lat\":26.8230476745161},{\"lon\":112.57318546455338,\"lat\":26.823050549063097}]],\"obstaclePoint\":[{\"lon\":112.573443,\"lat\":26.822538},{\"lon\":112.573691,\"lat\":26.822676},{\"lon\":112.573021,\"lat\":26.823149},{\"lon\":112.572974,\"lat\":26.823199}],\"createTime\":1673506267760,\"createTimeStr\":\"2023-01-12 14:51:07\"}" + val road1 = "{\"poiType\":\"100061\",\"receiveTime\":1673509755649,\"detectTime\":1673509755637,\"id\":\"86447e30-2dfc-4a27-8d01-41ffe9a9a7fe\",\"index\":\"636136931493457343\",\"polygon\":[{\"lon\":112.57337137520945,\"lat\":26.822950000610152},{\"lon\":112.5733703998375,\"lat\":26.82294943400411},{\"lon\":112.57336923793872,\"lat\":26.82294944578748},{\"lon\":112.57336827709125,\"lat\":26.82295003202963},{\"lon\":112.57336786590433,\"lat\":26.822950822795498},{\"lon\":112.57332583348149,\"lat\":26.823144415135413},{\"lon\":112.57332583904886,\"lat\":26.823145130116597},{\"lon\":112.57332615359141,\"lat\":26.82314578706645},{\"lon\":112.57332672775591,\"lat\":26.823146282906478},{\"lon\":112.57332747145331,\"lat\":26.823146539837108},{\"lon\":112.57332807078356,\"lat\":26.823146549872188},{\"lon\":112.57332882464814,\"lat\":26.82314631801647},{\"lon\":112.57332941903356,\"lat\":26.823145841742402},{\"lon\":112.57332970267485,\"lat\":26.82314536795171},{\"lon\":112.57339652767452,\"lat\":26.82297757920771},{\"lon\":112.57339644737766,\"lat\":26.82297673161999},{\"lon\":112.57339607387638,\"lat\":26.822976136665098},{\"lon\":112.57337137520945,\"lat\":26.822950000610152}],\"polygonRoads\":[{\"tileId\":556834853,\"roadId\":\"130314\",\"laneNo\":-1,\"bearing\":330,\"roadName\":\"雁鸣路\"},{\"tileId\":556834853,\"roadId\":\"130314\",\"laneNo\":-2,\"bearing\":330,\"roadName\":\"雁鸣路\"},{\"tileId\":556834853,\"roadId\":\"130314\",\"laneNo\":-3,\"bearing\":330,\"roadName\":\"雁鸣路\"},{\"tileId\":556834853,\"roadId\":\"130583\",\"laneNo\":-1,\"bearing\":278}],\"center\":{\"lon\":112.57336404707121,\"lat\":26.823024407262803},\"centerRoad\":{\"tileId\":556834853,\"roadId\":\"130314\",\"laneNo\":-2,\"bearing\":330,\"roadName\":\"雁鸣路\"},\"obstacles\":[{\"id\":0,\"type\":1,\"score\":88,\"polygon\":[{\"lon\":112.57334137965555,\"lat\":26.82313245733589},{\"lon\":112.573329020958,\"lat\":26.823145531571242},{\"lon\":112.57332663570918,\"lat\":26.823144025991855},{\"lon\":112.57333875695714,\"lat\":26.823130823353114}],\"boundBox\":[{\"x\":1439.8624267578125,\"y\":893.4229736328125},{\"x\":1474.45361328125,\"y\":893.4229736328125},{\"x\":1474.45361328125,\"y\":966.433837890625},{\"x\":1439.8624267578125,\"y\":966.433837890625}],\"center\":{\"lon\":112.57332779256919,\"lat\":26.823144756804734}},{\"id\":1,\"type\":1,\"score\":87,\"polygon\":[{\"lon\":112.57339986657128,\"lat\":26.822898951544797},{\"lon\":112.5733716620538,\"lat\":26.822952992001163},{\"lon\":112.57336786188131,\"lat\":26.822949186370185},{\"lon\":112.57339561566401,\"lat\":26.822894141465785}],\"boundBox\":[{\"x\":2085.054443359375,\"y\":503.0662841796875},{\"x\":2116.11865234375,\"y\":503.0662841796875},{\"x\":2116.11865234375,\"y\":559.9113159179688},{\"x\":2085.054443359375,\"y\":559.9113159179688}],\"center\":{\"lon\":112.5733698249888,\"lat\":26.822951164464232}},{\"id\":2,\"type\":1,\"score\":71,\"polygon\":[{\"lon\":112.57342641528835,\"lat\":26.82293191667262},{\"lon\":112.57339610867105,\"lat\":26.82297860774548},{\"lon\":112.5733928192764,\"lat\":26.822975877911627},{\"lon\":112.57342270277888,\"lat\":26.822928610829003}],\"boundBox\":[{\"x\":1873.2490234375,\"y\":507.2391357421875},{\"x\":1900.5283203125,\"y\":507.2391357421875},{\"x\":1900.5283203125,\"y\":562.299560546875},{\"x\":1873.2490234375,\"y\":562.299560546875}],\"center\":{\"lon\":112.57339452365564,\"lat\":26.822977300519444}}],\"imgUrl\":\"http://petchfile-1255510688.cos.ap-beijing.myqcloud.com/roadwork_image/2023-01-12/86447e30-2dfc-4a27-8d01-41ffe9a9a7fe_172_18_24_62.jpg?sign=q-sign-algorithm%3Dsha1%26q-ak%3DAKIDCWfcNwD5PXVWLxwejccR3Tiz5zhIkx0T%26q-sign-time%3D1673509757%3B1673516957%26q-key-time%3D1673509757%3B1673516957%26q-header-list%3D%26q-url-param-list%3D%26q-signature%3D557de14ddfb999d35ddef9e23b3532d9d299c62f\",\"ip\":\"172.18.24.62\",\"score\":82,\"radius\":0,\"type\":1,\"createTime\":1673509757496,\"createTimeStr\":\"2023-01-12 15:49:17\"}" + //val road2 = "{\"poiType\":\"100061\",\"receiveTime\":1673509756306,\"detectTime\":1673509756290,\"id\":\"be6a2000-a96c-42c8-a7ef-f83388d84858\",\"index\":\"636136931493532287\",\"polygon\":[{\"lon\":112.5733515539896,\"lat\":26.823143145432386},{\"lon\":112.57335140084462,\"lat\":26.823142454672727},{\"lon\":112.57335096472467,\"lat\":26.823141869074952},{\"lon\":112.57335031202503,\"lat\":26.82314147779103},{\"lon\":112.57334954211333,\"lat\":26.82314134039038},{\"lon\":112.57334877220161,\"lat\":26.82314147779103},{\"lon\":112.573348119502,\"lat\":26.823141869074952},{\"lon\":112.57334768338202,\"lat\":26.823142454672727},{\"lon\":112.57334753023707,\"lat\":26.823143145432386},{\"lon\":112.57334768338202,\"lat\":26.82314383619207},{\"lon\":112.57334811950196,\"lat\":26.82314442178987},{\"lon\":112.5733487722016,\"lat\":26.823144813073792},{\"lon\":112.57334954211333,\"lat\":26.823144950474443},{\"lon\":112.57335031202504,\"lat\":26.823144813073792},{\"lon\":112.57335096472468,\"lat\":26.82314442178987},{\"lon\":112.57335140084464,\"lat\":26.82314383619207},{\"lon\":112.5733515539896,\"lat\":26.823143145432386}],\"polygonRoads\":[{\"tileId\":556834853,\"roadId\":\"130314\",\"laneNo\":-4,\"bearing\":332,\"roadName\":\"雁鸣路\"}],\"center\":{\"lon\":112.57334952644263,\"lat\":26.823143141971546},\"centerRoad\":{\"tileId\":556834853,\"roadId\":\"130314\",\"laneNo\":-4,\"bearing\":332,\"roadName\":\"雁鸣路\"},\"obstacles\":[{\"id\":0,\"type\":1,\"score\":72,\"polygon\":[{\"lon\":112.57341760772391,\"lat\":26.823104379136176},{\"lon\":112.57335121413183,\"lat\":26.82314367391432},{\"lon\":112.57334751791018,\"lat\":26.823142500693834},{\"lon\":112.57341321183773,\"lat\":26.82310322131963}],\"boundBox\":[{\"x\":1551.2252197265625,\"y\":352.58837890625},{\"x\":1562.4649658203125,\"y\":352.58837890625},{\"x\":1562.4649658203125,\"y\":376.17327880859375},{\"x\":1551.2252197265625,\"y\":376.17327880859375}],\"center\":{\"lon\":112.57334952644263,\"lat\":26.823143141971546}}],\"imgUrl\":\"http://petchfile-1255510688.cos.ap-beijing.myqcloud.com/roadwork_image/2023-01-12/be6a2000-a96c-42c8-a7ef-f83388d84858_172_18_24_42.jpg?sign=q-sign-algorithm%3Dsha1%26q-ak%3DAKIDCWfcNwD5PXVWLxwejccR3Tiz5zhIkx0T%26q-sign-time%3D1673509758%3B1673516958%26q-key-time%3D1673509758%3B1673516958%26q-header-list%3D%26q-url-param-list%3D%26q-signature%3Db2682464078ae53eae6e87f924abe17fa7c04ac8\",\"ip\":\"172.18.24.42\",\"score\":72,\"radius\":0,\"type\":1,\"createTime\":1673509758511,\"createTimeStr\":\"2023-01-12 15:49:18\"}" + val jingzhi1 = "{\"poiType\":\"100321\",\"detectTime\":1673506266924,\"id\":\"f7b1df85-895a-41c1-b05d-7356955c1c91\",\"index\":\"636136931493454271\",\"polygon\":[],\"center\":{\"lon\":112.57320982521519,\"lat\":26.82306821019599},\"centerRoad\":{\"tileId\":556834853,\"laneNo\":-2,\"bearing\":152},\"score\":95,\"radius\":0,\"type\":2}" + val jingzhi2 = "{\"poiType\":\"100321\",\"detectTime\":1673506266924,\"id\":\"f7b1df85-895a-41c1-b05d-7356955c1c91\",\"index\":\"636136931493454271\",\"polygon\":[],\"center\":{\"lon\":112.57320982521519,\"lat\":26.82306821019599},\"centerRoad\":{\"tileId\":556834853,\"laneNo\":-2,\"bearing\":152},\"score\":95,\"radius\":0,\"type\":2}" + val jingzhi3 = "{\"poiType\":\"100321\",\"detectTime\":1673506266924,\"id\":\"f7b1df85-895a-41c1-b05d-7356955c1c91\",\"index\":\"636136931493454271\",\"polygon\":[],\"center\":{\"lon\":112.57320982521519,\"lat\":26.82306821019599},\"centerRoad\":{\"tileId\":556834853,\"laneNo\":-2,\"bearing\":152},\"score\":95,\"radius\":0,\"type\":2}" + while (true) { + delay(1000) + //V2XEventManager.onAck(V2XEvent.RoadEventX(data = GsonUtils.fromJson(shigu, V2XRoadXData::class.java))) + V2XEventManager.onAck(V2XEvent.RoadEventX(data = GsonUtils.fromJson(road1, V2XRoadXData::class.java))) + // V2XEventManager.onAck(V2XEvent.RoadEventX(data = GsonUtils.fromJson(road2, V2XRoadXData::class.java))) + } + } + +} \ No newline at end of file diff --git a/core/function-impl/mogo-core-function-biz/src/main/java/com/mogo/eagle/function/biz/v2x/v2n/pnc/V2NIdentifyDrawer.kt b/core/function-impl/mogo-core-function-biz/src/main/java/com/mogo/eagle/function/biz/v2x/v2n/pnc/V2NIdentifyDrawer.kt index 1bfea7b0eb..7836101490 100644 --- a/core/function-impl/mogo-core-function-biz/src/main/java/com/mogo/eagle/function/biz/v2x/v2n/pnc/V2NIdentifyDrawer.kt +++ b/core/function-impl/mogo-core-function-biz/src/main/java/com/mogo/eagle/function/biz/v2x/v2n/pnc/V2NIdentifyDrawer.kt @@ -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() { diff --git a/core/function-impl/mogo-core-function-biz/src/main/java/com/mogo/eagle/function/biz/v2x/v2n/scenario/scene/road/V2XRoadEventScenario.java b/core/function-impl/mogo-core-function-biz/src/main/java/com/mogo/eagle/function/biz/v2x/v2n/scenario/scene/road/V2XRoadEventScenario.java index 0af5af6b95..7c8c9d13fc 100644 --- a/core/function-impl/mogo-core-function-biz/src/main/java/com/mogo/eagle/function/biz/v2x/v2n/scenario/scene/road/V2XRoadEventScenario.java +++ b/core/function-impl/mogo-core-function-biz/src/main/java/com/mogo/eagle/function/biz/v2x/v2n/scenario/scene/road/V2XRoadEventScenario.java @@ -153,13 +153,16 @@ public class V2XRoadEventScenario extends AbsV2XScenario imp @Override public void onShow() { - if (isNeedChangeAngle()) { - CallerVisualAngleManager.INSTANCE.changeAngle(RoadEvent.INSTANCE); - } V2XMessageEntity 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(); } diff --git a/core/function-impl/mogo-core-function-datacenter/src/main/java/com/mogo/eagle/core/function/datacenter/autopilot/MoGoAutopilotControlProvider.kt b/core/function-impl/mogo-core-function-datacenter/src/main/java/com/mogo/eagle/core/function/datacenter/autopilot/MoGoAutopilotControlProvider.kt index 876a5a4af2..d385b1513b 100644 --- a/core/function-impl/mogo-core-function-datacenter/src/main/java/com/mogo/eagle/core/function/datacenter/autopilot/MoGoAutopilotControlProvider.kt +++ b/core/function-impl/mogo-core-function-datacenter/src/main/java/com/mogo/eagle/core/function/datacenter/autopilot/MoGoAutopilotControlProvider.kt @@ -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) } diff --git a/core/function-impl/mogo-core-function-datacenter/src/main/java/com/mogo/eagle/core/function/datacenter/autopilot/adapter/MoGoAdasListenerImpl.kt b/core/function-impl/mogo-core-function-datacenter/src/main/java/com/mogo/eagle/core/function/datacenter/autopilot/adapter/MoGoAdasListenerImpl.kt index ca07517c0c..f7cc9e3ba4 100644 --- a/core/function-impl/mogo-core-function-datacenter/src/main/java/com/mogo/eagle/core/function/datacenter/autopilot/adapter/MoGoAdasListenerImpl.kt +++ b/core/function-impl/mogo-core-function-datacenter/src/main/java/com/mogo/eagle/core/function/datacenter/autopilot/adapter/MoGoAdasListenerImpl.kt @@ -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) } /** diff --git a/core/function-impl/mogo-core-function-datacenter/src/main/java/com/mogo/eagle/core/function/datacenter/obu/MogoPrivateObuNewManager.kt b/core/function-impl/mogo-core-function-datacenter/src/main/java/com/mogo/eagle/core/function/datacenter/obu/MogoPrivateObuNewManager.kt index 5029e4e954..9763e0e620 100644 --- a/core/function-impl/mogo-core-function-datacenter/src/main/java/com/mogo/eagle/core/function/datacenter/obu/MogoPrivateObuNewManager.kt +++ b/core/function-impl/mogo-core-function-datacenter/src/main/java/com/mogo/eagle/core/function/datacenter/obu/MogoPrivateObuNewManager.kt @@ -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 ) diff --git a/core/function-impl/mogo-core-function-devatools/src/main/java/com/zhjt/mogo_core_function_devatools/lookaround/MoGoLookAroundProviderImpl.kt b/core/function-impl/mogo-core-function-devatools/src/main/java/com/zhjt/mogo_core_function_devatools/lookaround/MoGoLookAroundProviderImpl.kt index da9114b729..fedd73722e 100644 --- a/core/function-impl/mogo-core-function-devatools/src/main/java/com/zhjt/mogo_core_function_devatools/lookaround/MoGoLookAroundProviderImpl.kt +++ b/core/function-impl/mogo-core-function-devatools/src/main/java/com/zhjt/mogo_core_function_devatools/lookaround/MoGoLookAroundProviderImpl.kt @@ -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 diff --git a/core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/hmi/ui/widget/MogoVideoView.java b/core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/hmi/ui/widget/MogoVideoView.java index 492a90e6a7..52f4c0c97d 100644 --- a/core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/hmi/ui/widget/MogoVideoView.java +++ b/core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/hmi/ui/widget/MogoVideoView.java @@ -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); } diff --git a/core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/angle/MoGoVisualAngleChangeProvider.kt b/core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/angle/MoGoVisualAngleChangeProvider.kt index 2bf5c39367..fc2b8cb89d 100644 --- a/core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/angle/MoGoVisualAngleChangeProvider.kt +++ b/core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/angle/MoGoVisualAngleChangeProvider.kt @@ -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() - - 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() } - private val listener = object : OnRoadListener { - private val roadId = AtomicReference() - private val triggerRoadId = AtomicReference() - - 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) + } } } diff --git a/core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/view/MapBizView.kt b/core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/view/MapBizView.kt index 7195f230e5..08b423cae0 100644 --- a/core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/view/MapBizView.kt +++ b/core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/view/MapBizView.kt @@ -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) } } diff --git a/core/mogo-core-function-api/src/main/java/com/mogo/eagle/core/function/api/autopilot/IMoGoAutopilotControlProvider.kt b/core/mogo-core-function-api/src/main/java/com/mogo/eagle/core/function/api/autopilot/IMoGoAutopilotControlProvider.kt index 88d8661d52..87f0b568b1 100644 --- a/core/mogo-core-function-api/src/main/java/com/mogo/eagle/core/function/api/autopilot/IMoGoAutopilotControlProvider.kt +++ b/core/mogo-core-function-api/src/main/java/com/mogo/eagle/core/function/api/autopilot/IMoGoAutopilotControlProvider.kt @@ -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( diff --git a/core/mogo-core-function-api/src/main/java/com/mogo/eagle/core/function/api/autopilot/IMoGoBackCameraVideoListener.kt b/core/mogo-core-function-api/src/main/java/com/mogo/eagle/core/function/api/autopilot/IMoGoBackCameraVideoListener.kt new file mode 100644 index 0000000000..474e1e4925 --- /dev/null +++ b/core/mogo-core-function-api/src/main/java/com/mogo/eagle/core/function/api/autopilot/IMoGoBackCameraVideoListener.kt @@ -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) +} \ No newline at end of file diff --git a/core/mogo-core-function-api/src/main/java/com/mogo/eagle/core/function/api/autopilot/IMoGoSweeperFutianBackCameraVideoListener.kt b/core/mogo-core-function-api/src/main/java/com/mogo/eagle/core/function/api/autopilot/IMoGoSweeperFutianBackCameraVideoListener.kt deleted file mode 100644 index 225832cf39..0000000000 --- a/core/mogo-core-function-api/src/main/java/com/mogo/eagle/core/function/api/autopilot/IMoGoSweeperFutianBackCameraVideoListener.kt +++ /dev/null @@ -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) -} \ No newline at end of file diff --git a/core/mogo-core-function-api/src/main/java/com/mogo/eagle/core/function/api/map/angle/Scenes.kt b/core/mogo-core-function-api/src/main/java/com/mogo/eagle/core/function/api/map/angle/Scenes.kt index 296f992b05..332cc68a34 100644 --- a/core/mogo-core-function-api/src/main/java/com/mogo/eagle/core/function/api/map/angle/Scenes.kt +++ b/core/mogo-core-function-api/src/main/java/com/mogo/eagle/core/function/api/map/angle/Scenes.kt @@ -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)" } } diff --git a/core/mogo-core-function-call/src/main/java/com/mogo/eagle/core/function/call/autopilot/CallerAutoPilotControlManager.kt b/core/mogo-core-function-call/src/main/java/com/mogo/eagle/core/function/call/autopilot/CallerAutoPilotControlManager.kt index b0e9ea0777..dc1ee97e06 100644 --- a/core/mogo-core-function-call/src/main/java/com/mogo/eagle/core/function/call/autopilot/CallerAutoPilotControlManager.kt +++ b/core/mogo-core-function-call/src/main/java/com/mogo/eagle/core/function/call/autopilot/CallerAutoPilotControlManager.kt @@ -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 } diff --git a/core/mogo-core-function-call/src/main/java/com/mogo/eagle/core/function/call/autopilot/CallerBackCameraVideoListenerManager.kt b/core/mogo-core-function-call/src/main/java/com/mogo/eagle/core/function/call/autopilot/CallerBackCameraVideoListenerManager.kt new file mode 100644 index 0000000000..ae551ddfe6 --- /dev/null +++ b/core/mogo-core-function-call/src/main/java/com/mogo/eagle/core/function/call/autopilot/CallerBackCameraVideoListenerManager.kt @@ -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() { + + /** + * 后摄像头视频数据 + */ + fun invokeBackCameraVideo(data: ByteArray) { + M_LISTENERS.forEach { + val listener = it.value + listener.onBackCameraVideo(data) + } + } +} \ No newline at end of file diff --git a/core/mogo-core-function-call/src/main/java/com/mogo/eagle/core/function/call/autopilot/CallerSweeperFutianBackCameraVideoListenerManager.kt b/core/mogo-core-function-call/src/main/java/com/mogo/eagle/core/function/call/autopilot/CallerSweeperFutianBackCameraVideoListenerManager.kt deleted file mode 100644 index ecf3d4dbff..0000000000 --- a/core/mogo-core-function-call/src/main/java/com/mogo/eagle/core/function/call/autopilot/CallerSweeperFutianBackCameraVideoListenerManager.kt +++ /dev/null @@ -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() { - - /** - * 后摄像头视频数据 - */ - fun invokeSweeperFutianBackCameraVideo(data: ByteArray) { - M_LISTENERS.forEach { - val listener = it.value - listener.onSweeperFutianBackCameraVideo(data) - } - } -} \ No newline at end of file diff --git a/core/mogo-core-function-call/src/main/java/com/mogo/eagle/core/function/call/map/CallerVisualAngleManager.kt b/core/mogo-core-function-call/src/main/java/com/mogo/eagle/core/function/call/map/CallerVisualAngleManager.kt index f306c91abd..ad19eda530 100644 --- a/core/mogo-core-function-call/src/main/java/com/mogo/eagle/core/function/call/map/CallerVisualAngleManager.kt +++ b/core/mogo-core-function-call/src/main/java/com/mogo/eagle/core/function/call/map/CallerVisualAngleManager.kt @@ -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)) - } - } - } } \ No newline at end of file diff --git a/libraries/mogo-adas-data/src/main/proto/chassis.proto b/libraries/mogo-adas-data/src/main/proto/chassis.proto index 015f089efb..a0e6270459 100644 --- a/libraries/mogo-adas-data/src/main/proto/chassis.proto +++ b/libraries/mogo-adas-data/src/main/proto/chassis.proto @@ -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; +} + diff --git a/libraries/mogo-adas-data/src/main/proto/param_set_cmd.proto b/libraries/mogo-adas-data/src/main/proto/param_set_cmd.proto index 155cf621d4..168b2f07ad 100644 --- a/libraries/mogo-adas-data/src/main/proto/param_set_cmd.proto +++ b/libraries/mogo-adas-data/src/main/proto/param_set_cmd.proto @@ -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 diff --git a/libraries/mogo-adas-data/src/main/proto/vehicle_state.proto b/libraries/mogo-adas-data/src/main/proto/vehicle_state.proto index de1b6f386b..d33fc8b26e 100644 --- a/libraries/mogo-adas-data/src/main/proto/vehicle_state.proto +++ b/libraries/mogo-adas-data/src/main/proto/vehicle_state.proto @@ -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 diff --git a/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/AdasChannel.java b/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/AdasChannel.java index 4b12882544..7e65f7ede2 100644 --- a/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/AdasChannel.java +++ b/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/AdasChannel.java @@ -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 diff --git a/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/AdasManager.java b/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/AdasManager.java index 53e041eb9f..2f8f243e19 100644 --- a/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/AdasManager.java +++ b/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/AdasManager.java @@ -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 diff --git a/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/IAdasNetCommApi.java b/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/IAdasNetCommApi.java index 16a2e8da3c..aa2f466ba1 100644 --- a/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/IAdasNetCommApi.java +++ b/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/IAdasNetCommApi.java @@ -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 diff --git a/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/OnAdasListener.java b/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/OnAdasListener.java index 8caa4165c7..1fc07d7672 100644 --- a/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/OnAdasListener.java +++ b/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/OnAdasListener.java @@ -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 */ diff --git a/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/common/MessageType.java b/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/common/MessageType.java index 28bcb8c74c..8b3d310d69 100644 --- a/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/common/MessageType.java +++ b/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/common/MessageType.java @@ -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"), diff --git a/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/msg/BackCameraVideoMessage.java b/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/msg/BackCameraVideoMessage.java index e14eaf9671..37615bd09c 100644 --- a/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/msg/BackCameraVideoMessage.java +++ b/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/msg/BackCameraVideoMessage.java @@ -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); } } diff --git a/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/msg/M1StitchedVideoMessage.java b/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/msg/M1StitchedVideoMessage.java index e6a66f39ea..612079f787 100644 --- a/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/msg/M1StitchedVideoMessage.java +++ b/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/msg/M1StitchedVideoMessage.java @@ -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 { diff --git a/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/subscribe/SubscribeInterface.java b/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/subscribe/SubscribeInterface.java index 4c23c3065d..2e7dca9179 100644 --- a/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/subscribe/SubscribeInterface.java +++ b/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/subscribe/SubscribeInterface.java @@ -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()); diff --git a/libraries/mogo-map-api/src/main/java/com/mogo/map/uicontroller/IMogoMapUIController.java b/libraries/mogo-map-api/src/main/java/com/mogo/map/uicontroller/IMogoMapUIController.java index 544524a623..c085db8d5d 100644 --- a/libraries/mogo-map-api/src/main/java/com/mogo/map/uicontroller/IMogoMapUIController.java +++ b/libraries/mogo-map-api/src/main/java/com/mogo/map/uicontroller/IMogoMapUIController.java @@ -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); } diff --git a/libraries/mogo-map/src/main/java/com/mogo/map/AMapViewWrapper.java b/libraries/mogo-map/src/main/java/com/mogo/map/AMapViewWrapper.java index 3216d4836e..894daf3877 100644 --- a/libraries/mogo-map/src/main/java/com/mogo/map/AMapViewWrapper.java +++ b/libraries/mogo-map/src/main/java/com/mogo/map/AMapViewWrapper.java @@ -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); + } + } } diff --git a/libraries/mogo-map/src/main/java/com/mogo/map/MogoMapUIController.java b/libraries/mogo-map/src/main/java/com/mogo/map/MogoMapUIController.java index 0a69e33827..81a63699ef 100644 --- a/libraries/mogo-map/src/main/java/com/mogo/map/MogoMapUIController.java +++ b/libraries/mogo-map/src/main/java/com/mogo/map/MogoMapUIController.java @@ -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); + } + } } diff --git a/libraries/mogo-map/src/main/java/com/mogo/map/uicontroller/AMapUIController.java b/libraries/mogo-map/src/main/java/com/mogo/map/uicontroller/AMapUIController.java index 92420346d5..048f3c50be 100644 --- a/libraries/mogo-map/src/main/java/com/mogo/map/uicontroller/AMapUIController.java +++ b/libraries/mogo-map/src/main/java/com/mogo/map/uicontroller/AMapUIController.java @@ -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); + } + } }