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Merge branch 'dev_robotaxi-d_240401_6.4.0' into dev_robotaxi-d_240401_6.4.0_work_order

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This commit is contained in:
xuxinchao
2024-04-19 17:56:21 +08:00
parent 4dc4e12acc 83d6aee695
commit 70c63b3478
54 changed files with 572 additions and 507 deletions
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53
OCH/bus/driver/src/main/java/com/mogo/och/bus/fragment/BaseBusTabFragment.java
View File

@@ -322,10 +322,13 @@ public abstract class BaseBusTabFragment<V extends IView, P extends Presenter<V>
* @param text 指定的文字
*/
public void showSlidePanel(String text) {
getActivity().runOnUiThread(() -> {
slidePanelView.setText(text);
slidePanelView.setVisibility(View.VISIBLE);
});
UiThreadHandler.post(new Runnable() {
@Override
public void run() {
slidePanelView.setText(text);
slidePanelView.setVisibility(View.VISIBLE);
}
},UiThreadHandler.MODE.QUEUE);
setArrivedClickable(false);
}
@@ -335,23 +338,29 @@ public abstract class BaseBusTabFragment<V extends IView, P extends Presenter<V>
* @param isClickable
*/
public void setArrivedClickable(boolean isClickable) {
getActivity().runOnUiThread(() -> {
tvArrived.setEnabled(isClickable);
if (isClickable) {
tvArrived.setTextColor(getResources().getColor(R.color.bus_white));
} else {
tvArrived.setTextColor(getResources().getColor(R.color.bus_arrived_btn_un_clickable_color));
UiThreadHandler.post(new Runnable() {
@Override
public void run() {
tvArrived.setEnabled(isClickable);
if (isClickable) {
tvArrived.setTextColor(getResources().getColor(R.color.bus_white));
} else {
tvArrived.setTextColor(getResources().getColor(R.color.bus_arrived_btn_un_clickable_color));
}
}
});
},UiThreadHandler.MODE.QUEUE);
}
/**
* 隐藏滑动按钮
*/
public void hideSlidePanel() {
getActivity().runOnUiThread(() -> {
slidePanelView.setVisibility(View.GONE);
});
UiThreadHandler.post(new Runnable() {
@Override
public void run() {
slidePanelView.setVisibility(View.GONE);
}
},UiThreadHandler.MODE.QUEUE);
}
public void playDI() {
@@ -364,9 +373,12 @@ public abstract class BaseBusTabFragment<V extends IView, P extends Presenter<V>
* @param autopilotStatus 0:不可用 1:可用状态 2:自动驾驶中
*/
public void onAutopilotStatusChanged(int autopilotStatus) {
getActivity().runOnUiThread(() -> {
changeAutopilotBtnView(autopilotStatus, isAnimateRunning);
});
UiThreadHandler.post(new Runnable() {
@Override
public void run() {
changeAutopilotBtnView(autopilotStatus, isAnimateRunning);
}
},UiThreadHandler.MODE.QUEUE);
}
public void setAutopilotBtnStatus(int autopilotStatus) {
@@ -443,19 +455,12 @@ public abstract class BaseBusTabFragment<V extends IView, P extends Presenter<V>
* 隐藏【自动驾驶】按钮
*/
public void hideAutopilotBiz() {
getActivity().runOnUiThread(() -> {
// ctvAutopilotStatus.setVisibility(View.GONE);
// slidePanelView.setVisibility(View.GONE);
});
}
/**
* 展示【自动驾驶】按钮
*/
public void showAutopilotBiz() {
// getActivity().runOnUiThread(() -> {
// ctvAutopilotStatus.setVisibility(View.VISIBLE);
// });
}
public SlidePanelView.OnSlidePanelMoveToEndListener getSlidePanelOnEndListener() {

30
OCH/bus/driver/src/main/java/com/mogo/och/bus/fragment/BusFragment.java
View File

@@ -25,6 +25,7 @@ import com.mogo.eagle.core.utilcode.mogo.logger.CallerLogger;
import com.mogo.eagle.core.utilcode.mogo.logger.scene.SceneConstant;
import com.mogo.eagle.core.utilcode.util.ActivityUtils;
import com.mogo.eagle.core.utilcode.util.ToastUtils;
import com.mogo.eagle.core.utilcode.util.UiThreadHandler;
import com.mogo.map.overlay.IMoGoOverlayManager;
import com.mogo.map.overlay.core.Level;
import com.mogo.map.overlay.point.Point;
@@ -191,20 +192,23 @@ public class BusFragment extends BaseBusTabFragment<BusFragment, BusPresenter>
return;
}
getActivity().runOnUiThread(() -> {
if (stationList == null) {
// 获取小巴数据失败
return;
UiThreadHandler.post(new Runnable() {
@Override
public void run() {
if (stationList == null) {
// 获取小巴数据失败
return;
}
showStationsPanel();
showOrHideSwitchLineBtn(false);
mLineName.setText(lineName);
mTaskTime.setText(getString(R.string.bus_line_time_tag)+ lineTime);
// 渲染小巴路线数据
updateBusStationStatus(stationList,arrivingOrArrivedIndex,isArrived);
}
showStationsPanel();
showOrHideSwitchLineBtn(false);
mLineName.setText(lineName);
mTaskTime.setText(getString(R.string.bus_line_time_tag)+ lineTime);
// 渲染小巴路线数据
updateBusStationStatus(stationList,arrivingOrArrivedIndex,isArrived);
});
},UiThreadHandler.MODE.QUEUE);
}
private void updateBusStationStatus(List<BusStationBean> stationList,

3
OCH/bus/driver/src/main/java/com/mogo/och/bus/model/OrderModel.java
View File

@@ -54,6 +54,7 @@ import com.mogo.och.bus.util.BusAnalyticsManager;
import com.mogo.och.bus.util.BusSendTripInfoManager;
import com.mogo.och.bus.util.BusTrajectoryManager;
import com.mogo.och.bus.util.BusVoiceManager;
import com.mogo.och.common.module.manager.autopilot.autopilot.OchAutoPilotManager;
import com.mogo.och.common.module.manager.socket.lan.LanSocketManager;
import com.mogo.och.common.module.manager.socket.lan.bean.AppConnectMsg;
import com.mogo.och.common.module.manager.socket.cloud.OCHSocketMessageManager;
@@ -661,7 +662,7 @@ public class OrderModel {
return;
}
CallerAutoPilotControlManager.INSTANCE.startAutoPilot(parameters);
OchAutoPilotManager.startAutoPilot(parameters);
CallerLogger.d(M_BUS + TAG, "行程日志-开启自动驾驶====" + GsonUtil.jsonFromObject(parameters)
+ " startLatLon=" + parameters.startName + "，endLatLon=" + parameters.endName +

30
OCH/bus/driver/src/main/java/com/mogo/och/bus/presenter/BusPresenter.java
View File

@@ -238,33 +238,12 @@ public class BusPresenter extends Presenter<BusFragment>
onAutopilotStatusResponse(status);
}
@Override
public void onAutopilotRouteLineId(long lineId) {
}
@Override
public void onAutopilotGuardian(MogoReportMsg.MogoReportMessage guardianInfo) {
BusTrajectoryManager.getInstance().onAutopilotGuardian(guardianInfo);
}
@Override
public void onAutopilotGuardian(@Nullable MogoReportMsg.MogoReportMessage guardianInfo, long lineId) {
BusTrajectoryManager.getInstance().onAutopilotGuardian(guardianInfo,lineId);
}
@Override
public void onAutopilotIpcConnectStatusChanged(@NonNull AdasConstants.IpcConnectionStatus status, @Nullable String reason) {
}
@Override
public void onAutopilotStatusRespByQuery(@NonNull SystemStatusInfo.StatusInfo status) {
}
@Override
public void onSystemStatus(@NonNull SsmInfo.SsmStatusInf statusInf) {
}
@Override
public void onStatusChange(LoginStatusEnum currentStatus) {
@@ -299,11 +278,4 @@ public class BusPresenter extends Presenter<BusFragment>
runOnUIThread(() -> mView.stopAnimAndUpdateBtnStatus());
}
@Override
public void onAutopilotDockerInfo(@NonNull String dockerVersion) {
}
@Override
public void onSsmReceiveTimeout(boolean isTimeout) {
}
}

4
OCH/bus/driver/src/main/java/com/mogo/och/bus/util/BusTrajectoryManager.java
View File

@@ -63,6 +63,10 @@ public class BusTrajectoryManager {
}
}
public void onAutopilotGuardian(@Nullable MogoReportMsg.MogoReportMessage guardianInfo,long lineId) {
onAutopilotGuardian(guardianInfo);
}
/**
* 接口MEC反馈的常规信息（MAP v2.5.0新增轨迹相关信息）
* @param guardianInfo

13
OCH/bus/passenger/src/main/java/jinlv/com/mogo/och/bus/passenger/model/BusPassengerModel.kt
View File

@@ -46,6 +46,9 @@ import com.mogo.och.common.module.manager.socket.lan.bean.DPMsgType
import com.mogo.och.common.module.manager.socket.cloud.OCHSocketMessageManager
import com.mogo.och.common.module.manager.socket.cloud.OCHSocketMessageManager.pushAppOperationalMsgBox
import com.mogo.och.common.module.constant.OchCommonConst
import com.mogo.och.common.module.manager.autopilot.autopilot.ArrivedStation
import com.mogo.och.common.module.manager.autopilot.autopilot.IOchAutopilotStatusListener
import com.mogo.och.common.module.manager.autopilot.autopilot.OchAutoPilotStatusListenerManager
import com.mogo.och.common.module.network.OchCommonServiceCallback
import com.mogo.och.common.module.manager.socket.cloud.AbnormalFactorsLoopManager.startLoopAbnormalFactors
import com.mogo.och.common.module.manager.socket.cloud.AbnormalFactorsLoopManager.stopLoopAbnormalFactors
@@ -331,7 +334,7 @@ object BusPassengerModel {
private fun initListeners() {
// 2021.11.1重构自动驾驶 实现接口 IMoGoAutopilotStatusListener 注册监听 替换IMogoAdasOCHCallback接口
CallerAutoPilotStatusListenerManager.addListener(TAG, mGoAutopilotStatusListener)
OchAutoPilotStatusListenerManager.addListener(TAG, mGoAutopilotStatusListener)
IntentManager.getInstance()
.registerIntentListener(ConnectivityManager.CONNECTIVITY_ACTION, mNetWorkIntentListener)
MogoStatusManager.getInstance().registerStatusChangedListener(
@@ -360,7 +363,7 @@ object BusPassengerModel {
CallerChassisLocationGCJ02ListenerManager.removeListener(TAG)
MogoAiCloudSocketManager.getInstance(mContext)
.unregisterLifecycleListener(10010)
CallerAutoPilotStatusListenerManager.removeListener(mGoAutopilotStatusListener)
OchAutoPilotStatusListenerManager.removeListener(mGoAutopilotStatusListener)
CallerTelematicListenerManager.removeListener(TAG)
stopLoopAbnormalFactors()
}
@@ -471,8 +474,8 @@ object BusPassengerModel {
}
}
}
private val mGoAutopilotStatusListener: IMoGoAutopilotStatusListener =
object : IMoGoAutopilotStatusListener {
private val mGoAutopilotStatusListener: IOchAutopilotStatusListener =
object : IOchAutopilotStatusListener {
private var arriveAtEnd = false //乘客app专用字段
override fun onAutopilotStatusResponse(state: Int) {
if (state == IMoGoAutopilotStatusListener.STATUS_AUTOPILOT_RUNNING) {
@@ -499,7 +502,7 @@ object BusPassengerModel {
}
}
override fun onAutopilotArriveAtStation(arrivalNotification: ArrivalNotification?) {
override fun onAutopilotArriveAtStation(arrivalNotification: ArrivedStation?) {
if (FunctionBuildConfig.isDemoMode
&& isPassenger(FunctionBuildConfig.appIdentityMode)
) {

13
OCH/bus/passenger/src/main/java/jinlv/com/mogo/och/bus/passenger/ui/BusPassengerRouteFragment.java
View File

@@ -427,12 +427,15 @@ public class BusPassengerRouteFragment extends
}
public void onAutopilotStatusChanged(int status) {
getActivity().runOnUiThread(() -> {
// 3. 其他过程直接更新
if (mPrevAPStatus != status){
AutopilotStatusChanged(status);
UiThreadHandler.post(new Runnable() {
@Override
public void run() {
// 3. 其他过程直接更新
if (mPrevAPStatus != status){
AutopilotStatusChanged(status);
}
mPrevAPStatus = status;
}
mPrevAPStatus = status;
});
}

8
OCH/bus/passenger/src/main/java/m2/com/mogo/och/bus/passenger/passenger/model/PM2DrivingModel.kt
View File

@@ -40,6 +40,8 @@ import com.mogo.och.data.bean.BusStationBean
import com.mogo.och.data.bean.BusTransferData
import com.mogo.och.bus.passenger.bean.PM2RoutesResponse
import com.mogo.och.bus.passenger.network.BusPassengerServiceManager
import com.mogo.och.common.module.manager.autopilot.autopilot.IOchAutopilotStatusListener
import com.mogo.och.common.module.manager.autopilot.autopilot.OchAutoPilotStatusListenerManager
import com.mogo.och.common.module.manager.distance.IDistanceListener
import com.mogo.och.common.module.manager.distance.TrajectoryAndDistanceManager
import com.mogo.och.common.module.manager.loop.BizLoopManager
@@ -109,7 +111,7 @@ class PM2DrivingModel private constructor() {
private fun initListener() {
//自动驾驶状态监听
CallerAutoPilotStatusListenerManager.addListener(TAG, mAutoPilotStatusListener)
OchAutoPilotStatusListenerManager.addListener(TAG, mAutoPilotStatusListener)
// 定位监听
CallerChassisLocationGCJ02ListenerManager.addListener(TAG, 3, mMapLocationListener)
@@ -267,8 +269,8 @@ class PM2DrivingModel private constructor() {
mDrivingInfoCallback?.updateSpeed(speedKM)
}
private val mAutoPilotStatusListener: IMoGoAutopilotStatusListener =
object : IMoGoAutopilotStatusListener {
private val mAutoPilotStatusListener: IOchAutopilotStatusListener =
object : IOchAutopilotStatusListener {
override fun onAutopilotStatusResponse(state: Int) {
super.onAutopilotStatusResponse(state)

58
OCH/charter/driver/src/main/java/com/magic/mogo/och/charter/manager/CharterTrajectoryManager.kt
View File

@@ -2,12 +2,12 @@ package com.magic.mogo.och.charter.manager
import com.magic.mogo.och.charter.R
import com.magic.mogo.och.charter.constant.CharterConst
import com.magic.mogo.och.charter.model.DriverM1Model.Companion.get
import com.magic.mogo.och.charter.model.DriverM1Model
import com.mogo.eagle.core.data.autopilot.AutopilotControlParameters.AutoPilotLine
import com.mogo.eagle.core.data.msgbox.MsgBoxBean
import com.mogo.eagle.core.data.msgbox.MsgBoxType
import com.mogo.eagle.core.data.msgbox.OperationMsg
import com.mogo.eagle.core.function.call.autopilot.CallerAutoPilotControlManager.sendTrajectoryDownloadReq
import com.mogo.eagle.core.function.call.autopilot.CallerAutoPilotControlManager
import com.mogo.eagle.core.function.call.msgbox.CallerMsgBoxManager
import com.mogo.eagle.core.utilcode.mogo.logger.CallerLogger.d
import com.mogo.eagle.core.utilcode.mogo.logger.CallerLogger.e
@@ -43,7 +43,7 @@ object CharterTrajectoryManager {
fun syncTrajectoryInfo(lineId: Int, lineName: String) {
mLineId = lineId
mLineName = lineName
val routesResult = get().getBusRoutesResult()
val routesResult = DriverM1Model.get().getBusRoutesResult()
if (LoginStatusManager.isLogin() && routesResult != null) {
d(SceneConstant.M_CHARTER_D + TAG, "syncTrajectoryInfo() start.")
startTrajReqLoop()
@@ -54,6 +54,10 @@ object CharterTrajectoryManager {
}
}
fun onAutopilotGuardian(guardianInfo: MogoReportMessage?, lineId: Long) {
onAutopilotGuardian(guardianInfo)
}
/**
* 接口MEC反馈的常规信息（MAP v2.5.0新增轨迹相关信息）
* @param guardianInfo
@@ -63,43 +67,33 @@ object CharterTrajectoryManager {
if ("ISYS_INIT_TRAJECTORY_START" == guardianInfo.code) {
// 1. 轨迹管理_轨迹开始下载（本地已有对应轨迹也触发）
d(SceneConstant.M_CHARTER_D + TAG, "onAutopilotGuardian() 轨迹开始下载")
// ToastUtils.showShort("轨迹开始下载");
OchChainLogManager.writeChainLog("轨迹监控","onAutopilotGuardian() 轨迹开始下载", eventID = OchChainLogManager.EVENT_KEY_INFE_WITH_TRAJECTORY)
stopTrajReqLoop()
} else if ("ISYS_INIT_TRAJECTORY_SUCCESS" == guardianInfo.code) {
// 2. 轨迹管理_轨迹下载成功（本地已有对应轨迹也触发）
d(SceneConstant.M_CHARTER_D + TAG, "onAutopilotGuardian() 轨迹下载成功")
// ToastUtils.showShort("轨迹下载成功");
OchChainLogManager.writeChainLog("轨迹监控","onAutopilotGuardian() 轨迹下载成功", eventID = OchChainLogManager.EVENT_KEY_INFE_WITH_TRAJECTORY)
stopTrajReqLoop()
} else if ("ISYS_INIT_TRAJECTORY_FAILURE" == guardianInfo.code) {
// 3. 轨迹管理_轨迹下载失败，本地无对应轨迹
d(
SceneConstant.M_CHARTER_D + TAG, "onAutopilotGuardian() " +
"轨迹下载失败，本地无对应轨迹"
)
d(SceneConstant.M_CHARTER_D + TAG, "onAutopilotGuardian() " + "轨迹下载失败，本地无对应轨迹")
OchChainLogManager.writeChainLog("轨迹监控","onAutopilotGuardian() 轨迹下载失败，本地无对应轨迹", eventID = OchChainLogManager.EVENT_KEY_INFE_WITH_TRAJECTORY)
// ToastUtils.showShort("轨迹下载失败，本地无对应轨迹");
} else if ("ISYS_INIT_TRAJECTORY_WARNING" == guardianInfo.code) {
// 4. 轨迹管理_轨迹下载失败，本地有对应轨迹，认为成功
d(
SceneConstant.M_CHARTER_D + TAG, "onAutopilotGuardian() " +
"轨迹下载失败，本地有对应轨迹，认为成功"
)
d(SceneConstant.M_CHARTER_D + TAG, "onAutopilotGuardian() " + "轨迹下载失败，本地有对应轨迹，认为成功")
OchChainLogManager.writeChainLog("轨迹监控","onAutopilotGuardian() 轨迹下载失败，本地有对应轨迹，认为成功", eventID = OchChainLogManager.EVENT_KEY_INFE_WITH_TRAJECTORY)
// ToastUtils.showShort("轨迹下载失败，本地有对应轨迹，认为成功");
} else if ("ISYS_INIT_TRAJECTORY_TIMEOUT" == guardianInfo.code) {
// 5. 轨迹管理_轨迹下载超时
d(SceneConstant.M_CHARTER_D + TAG, "onAutopilotGuardian() 轨迹下载超时")
OchChainLogManager.writeChainLog("轨迹监控","onAutopilotGuardian() 轨迹下载超时", eventID = OchChainLogManager.EVENT_KEY_INFE_WITH_TRAJECTORY)
// ToastUtils.showShort("轨迹下载超时");
} else if ("EMAP_ATTITUDE_INIT_FAILED" == guardianInfo.getCode()) {
// 收到ssm的自动驾驶变为ready，再次下发轨迹下载.解决：域控重启，或者102域控启动太早，107节点初始化未完成导致的轨迹未进行下载。
d(SceneConstant.M_CHARTER_D + TAG, "onAutopilotGuardian() ssm ready，再次发起下载")
OchChainLogManager.writeChainLog("轨迹监控","onAutopilotGuardian() 当前位置距离轨迹距离大于15m", eventID = OchChainLogManager.EVENT_KEY_INFE_WITH_TRAJECTORY)
get().getBusOrderResult()?.lineId?.let {
syncTrajectoryInfo(it,
get().getBusOrderResult()?.lineName!!)
DriverM1Model.get().getBusOrderResult()?.lineId?.let {
syncTrajectoryInfo(it, DriverM1Model.get().getBusOrderResult()?.lineName!!)
}
CallerMsgBoxManager.saveMsgBox(
MsgBoxBean(
@@ -114,7 +108,7 @@ object CharterTrajectoryManager {
}
private fun setupAutoPilotLine() {
val routesResult = get().getBusRoutesResult()
val routesResult = DriverM1Model.get().getBusRoutesResult()
if (routesResult == null) {
e(
SceneConstant.M_CHARTER_D + TAG,
@@ -177,7 +171,7 @@ object CharterTrajectoryManager {
CharterConst.LOOP_DELAY,
CharterConst.LOOP_PERIOD_10S, TimeUnit.MILLISECONDS
)
.map(Function { aLong: Long -> aLong + 1 })
.map { aLong: Long -> aLong + 1 }
.subscribeOn(Schedulers.io())
.observeOn(AndroidSchedulers.mainThread())
.subscribe { aLong: Long ->
@@ -208,24 +202,6 @@ object CharterTrajectoryManager {
return
}
// TODO: 2022/6/24
// test1
// mAutoPilotLine.setLineId(148);
// mAutoPilotLine.setTrajUrl("http://file-qa.zhidaozhixing.com/fileServer/upload/downloadFileStream?key=fileServer/online_car_hailing/e27c20c2da32481021d934c3ef084536/traj_148.csv");
// mAutoPilotLine.setTrajMd5("e27c20c2da32481021d934c3ef084536");
// mAutoPilotLine.setStopUrl("http://file-qa.zhidaozhixing.com/fileServer/upload/downloadFileStream?key=fileServer/online_car_hailing/6224c9dd2c0e2bd990c6482c0464de45/stop_148.txt");
// mAutoPilotLine.setStopMd5("6224c9dd2c0e2bd990c6482c0464de45");
// mAutoPilotLine.setTimestamp(1654596000000L); //20220607 18:00
// mAutoPilotLine.setVehicleModel("红旗H9");
// test2
// mAutoPilotLine.setLineId(148);
// mAutoPilotLine.setTrajUrl("http://file-qa.zhidaozhixing.com/fileServer/upload/downloadFileStream?key=fileServer/online_car_hailing/8654497cf918be461a59c7ad8e22920d/traj_148.csv");
// mAutoPilotLine.setTrajMd5("8654497cf918be461a59c7ad8e22920d");
// mAutoPilotLine.setStopUrl("http://file-qa.zhidaozhixing.com/fileServer/upload/downloadFileStream?key=fileServer/online_car_hailing/1bb098b244922649bf3e7bada0d3950f/stop_148.txt");
// mAutoPilotLine.setStopMd5("1bb098b244922649bf3e7bada0d3950f");
// mAutoPilotLine.setTimestamp(1654761600000L); //20220609 16:00
// mAutoPilotLine.setVehicleModel("红旗H9");
mAutoPilotLine?.let {
OchChainLogManager.writeChainLog("轨迹监控", "sendTrajectoryReq() 下发轨迹 轨迹id" + it.lineId,
true,
@@ -233,12 +209,8 @@ object CharterTrajectoryManager {
)
}
sendTrajectoryDownloadReq(mAutoPilotLine!!)
d(
SceneConstant.M_CHARTER_D + TAG,
"sendTrajectoryReq(): "
+ GsonUtils.toJson(mAutoPilotLine)
)
CallerAutoPilotControlManager.sendTrajectoryDownloadReq(mAutoPilotLine!!)
d(SceneConstant.M_CHARTER_D + TAG, "sendTrajectoryReq(): ${GsonUtils.toJson(mAutoPilotLine)}")
}
init {

4
OCH/charter/driver/src/main/java/com/magic/mogo/och/charter/model/DriverM1Model.kt
View File

@@ -27,7 +27,6 @@ import com.mogo.eagle.core.data.msgbox.OperationMsg
import com.mogo.eagle.core.function.api.autopilot.IMoGoChassisLocationGCJ02Listener
import com.mogo.eagle.core.function.api.telematic.IReceivedMsgListener
import com.mogo.eagle.core.function.call.autopilot.CallerAutoPilotControlManager
import com.mogo.eagle.core.function.call.autopilot.CallerAutoPilotControlManager.startAutoPilot
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.msgbox.CallerMsgBoxManager
@@ -52,6 +51,7 @@ import com.mogo.och.common.module.manager.CharterSendTripInfoManager.ARRIVE_STAT
import com.mogo.och.common.module.manager.CharterSendTripInfoManager.END_TRIP
import com.mogo.och.common.module.manager.CharterSendTripInfoManager.START_TRIP
import com.mogo.och.common.module.manager.autopilot.OCHAdasAbilityManager
import com.mogo.och.common.module.manager.autopilot.autopilot.OchAutoPilotManager
import com.mogo.och.common.module.manager.device.LightAirconditionDoorManager
import com.mogo.och.common.module.manager.device.LightAirconditionDoorStatusManager
import com.mogo.och.common.module.manager.socket.cloud.data.OperateDoorMsg
@@ -492,7 +492,7 @@ class DriverM1Model {
d(SceneConstant.M_CHARTER_D + TAG, "行程日志-AutopilotControlParameters is empty.")
return
}
startAutoPilot(parameters)
OchAutoPilotManager.startAutoPilot(parameters)
d(
SceneConstant.M_CHARTER_D + TAG, "行程日志-开启自动驾驶====" + GsonUtil.jsonFromObject(parameters)
+ " startLatLon=" + parameters.startName + "，endLatLon=" + parameters.endName

17
OCH/charter/driver/src/main/java/com/magic/mogo/och/charter/presenter/DriverM1Presenter.kt
View File

@@ -20,6 +20,9 @@ import com.mogo.och.common.module.biz.login.LoginStatusEnum
import com.mogo.och.common.module.biz.login.LoginStatusManager
import com.mogo.och.common.module.manager.socket.cloud.OCHSocketMessageManager.OPERATION_ROAD_SIDE_TYPE
import com.mogo.och.common.module.manager.autopilot.OCHAdasAbilityManager
import com.mogo.och.common.module.manager.autopilot.autopilot.ArrivedStation
import com.mogo.och.common.module.manager.autopilot.autopilot.IOchAutopilotStatusListener
import com.mogo.och.common.module.manager.autopilot.autopilot.OchAutoPilotStatusListenerManager
import com.mogo.och.common.module.manager.beautifymode.BeautifyManager
import com.mogo.och.common.module.manager.stopside.OCHPlanningActionsCallback
import com.mogo.och.common.module.manager.stopside.StopSideStatus
@@ -35,7 +38,7 @@ import mogo_msg.MogoReportMsg
class DriverM1Presenter(view: DriverM1Fragment?) :
Presenter<DriverM1Fragment?>(view),
ILoginCallback, DriverM1OrderCallback, ChangeDestCallback,
IMoGoAutopilotStatusListener, OCHPlanningActionsCallback{
IOchAutopilotStatusListener, OCHPlanningActionsCallback{
companion object{
private const val TAG = "DriverM1Presenter"
@@ -50,7 +53,7 @@ class DriverM1Presenter(view: DriverM1Fragment?) :
private fun registerListener() {
//2021.11.1 鹰眼架构整合，由IMoGoAutopilotStatusListener逐步替代IMogoAdasOCHCallback接口
CallerAutoPilotStatusListenerManager.addListener(TAG, this)
OchAutoPilotStatusListenerManager.addListener(TAG, this)
StopSideManager.addListener(TAG,this)
DriverM1Model.get().setDriverM1OrderCallback(this)
DriverM1Model.get().setChangeDestCallback(this)
@@ -58,7 +61,7 @@ class DriverM1Presenter(view: DriverM1Fragment?) :
private fun releaseListener() {
StopSideManager.removeListener(TAG)
CallerAutoPilotStatusListenerManager.removeListener(TAG)
OchAutoPilotStatusListenerManager.removeListener(TAG)
DriverM1Model.get().setDriverM1OrderCallback(null)
DriverM1Model.get().setChangeDestCallback(null)
}
@@ -122,12 +125,12 @@ class DriverM1Presenter(view: DriverM1Fragment?) :
DriverM1Model.get().pushOperationalToMsgBox(DateTimeUtil.getCurrentTimeStamp()
,context.getString(R.string.charter_last_15_minutes))
}
override fun onAutopilotGuardian(guardianInfo: MogoReportMsg.MogoReportMessage?) {
CharterTrajectoryManager.onAutopilotGuardian(guardianInfo)
override fun onAutopilotGuardian(guardianInfo: MogoReportMsg.MogoReportMessage?, lineId: Long) {
CharterTrajectoryManager.onAutopilotGuardian(guardianInfo,lineId)
}
override fun onAutopilotArriveAtStation(arrivalNotification: MessagePad.ArrivalNotification?) {
override fun onAutopilotArriveAtStation(arrivalNotification: ArrivedStation?) {
DriverM1Model.get().onAutopilotArriveAtStation()
}

6
OCH/charter/driver/src/main/java/com/magic/mogo/och/charter/view/autopilot/AutopilotStatusViewModel.kt
View File

@@ -13,6 +13,8 @@ import com.mogo.eagle.core.utilcode.mogo.logger.scene.SceneConstant.Companion.M_
import com.mogo.eagle.core.utilcode.util.ThreadUtils
import com.mogo.eagle.core.utilcode.util.ToastUtils
import com.mogo.eagle.core.utilcode.util.UiThreadHandler
import com.mogo.och.common.module.manager.autopilot.autopilot.IOchAutopilotStatusListener
import com.mogo.och.common.module.manager.autopilot.autopilot.OchAutoPilotStatusListenerManager
import com.mogo.och.common.module.manager.beautifymode.BeautifyManager
import com.mogo.och.common.module.manager.beautifymode.IBeautifyModeCallback
import com.mogo.och.common.module.manager.logchainanalytic.OchChainLogManager
@@ -22,7 +24,7 @@ import com.mogo.och.common.module.utils.RxUtils
import java.util.concurrent.atomic.AtomicBoolean
class AutopilotStatusViewModel: ViewModel(), IDriverM1ControllerStatusCallback,
IMoGoAutopilotStatusListener, IBeautifyModeCallback {
IOchAutopilotStatusListener, IBeautifyModeCallback {
private val TAG = AutopilotStatusViewModel::class.java.simpleName
@@ -43,7 +45,7 @@ class AutopilotStatusViewModel: ViewModel(), IDriverM1ControllerStatusCallback,
fun setAutopilotStatusCallback(viewCallback:IAutopilotStatusCallback){
this.viewCallback = viewCallback
CallerAutoPilotStatusListenerManager.addListener(TAG, this)
OchAutoPilotStatusListenerManager.addListener(TAG, this)
BeautifyManager.setStatusChangeListener(TAG,this)
this.setUIMode(CallerAutoPilotStatusListenerManager.getState())
}

19
OCH/charter/passenger/src/main/java/com/mogo/och/charter/passenger/model/CharterPassengerModel.kt
View File

@@ -11,12 +11,9 @@ import com.mogo.eagle.core.data.autopilot.AutopilotControlParameters
import com.mogo.eagle.core.data.autopilot.AutopilotControlParameters.AutoPilotLine
import com.mogo.eagle.core.data.autopilot.AutopilotControlParameters.AutoPilotLonLat
import com.mogo.eagle.core.data.map.MogoLocation
import com.mogo.eagle.core.function.api.autopilot.IMoGoAutopilotStatusListener
import com.mogo.eagle.core.function.api.autopilot.IMoGoPlanningRottingListener
import com.mogo.eagle.core.function.call.autopilot.*
import com.mogo.eagle.core.function.call.autopilot.CallerAutoPilotControlManager.startAutoPilot
import com.mogo.eagle.core.function.call.autopilot.CallerAutoPilotStatusListenerManager.updateAutopilotControlParameters
import com.mogo.eagle.core.function.call.telematic.CallerTelematicManager
import com.mogo.eagle.core.network.utils.GsonUtil
import com.mogo.eagle.core.utilcode.mogo.logger.CallerLogger.d
import com.mogo.eagle.core.utilcode.mogo.logger.CallerLogger.e
@@ -45,6 +42,10 @@ import com.mogo.och.common.module.network.OchCommonServiceCallback
import com.mogo.och.common.module.manager.CharterSendTripInfoManager
import com.mogo.och.common.module.manager.CharterSendTripInfoManager.LEAVE_STATION
import com.mogo.och.common.module.manager.autopilot.OCHAdasAbilityManager
import com.mogo.och.common.module.manager.autopilot.autopilot.ArrivedStation
import com.mogo.och.common.module.manager.autopilot.autopilot.IOchAutopilotStatusListener
import com.mogo.och.common.module.manager.autopilot.autopilot.OchAutoPilotManager
import com.mogo.och.common.module.manager.autopilot.autopilot.OchAutoPilotStatusListenerManager
import com.mogo.och.common.module.manager.beautifymode.BeautifyManager
import com.mogo.och.common.module.manager.logchainanalytic.OchChainLogManager
import com.mogo.och.common.module.manager.socket.lan.LanSocketManager
@@ -133,7 +134,7 @@ object CharterPassengerModel {
}
private fun releaseListeners() {
CallerAutoPilotStatusListenerManager.removeListener(mGoAutopilotStatusListener)
OchAutoPilotStatusListenerManager.removeListener(mGoAutopilotStatusListener)
CallerPlanningRottingListenerManager.removeListener(moGoAutopilotPlanningListener)
}
@@ -142,7 +143,7 @@ object CharterPassengerModel {
IntentManager.getInstance()
.registerIntentListener(ConnectivityManager.CONNECTIVITY_ACTION, mNetWorkIntentListener)
// 自动驾驶状态变化监听
CallerAutoPilotStatusListenerManager.addListener(TAG, mGoAutopilotStatusListener)
OchAutoPilotStatusListenerManager.addListener(TAG, mGoAutopilotStatusListener)
// 自动驾驶路线规划接口 返回自动驾驶轨迹
CallerPlanningRottingListenerManager.addListener(TAG, moGoAutopilotPlanningListener)
// 登录状态监听
@@ -189,15 +190,15 @@ object CharterPassengerModel {
// region 设置外部回调
// 自动驾驶状态监听
private val mGoAutopilotStatusListener: IMoGoAutopilotStatusListener =
object : IMoGoAutopilotStatusListener {
private val mGoAutopilotStatusListener: IOchAutopilotStatusListener =
object : IOchAutopilotStatusListener {
override fun onAutopilotStatusResponse(state: Int) {
mAutoStatusChnageListener.forEach {
it.value.onAutoStatusChange(state)
}
}
override fun onAutopilotArriveAtStation(arrivalNotification: MessagePad.ArrivalNotification?) {
override fun onAutopilotArriveAtStation(arrivalNotification: ArrivedStation?) {
d(M_BUS_P + TAG, "底盘给到站信息")
arriveDest()
}
@@ -1139,7 +1140,7 @@ object CharterPassengerModel {
}
ToastCharterUtils.showToastShort("启动自动驾驶中")
cleanRoutePoints()
startAutoPilot(parameters)
OchAutoPilotManager.startAutoPilot(parameters)
d(
SceneConstant.M_BUS + TAG,
"行程日志-开启自动驾驶====" + GsonUtil.jsonFromObject(parameters)

6
OCH/charter/passenger/src/main/java/com/mogo/och/charter/passenger/model/MusicModel.kt
View File

@@ -6,14 +6,16 @@ import com.mogo.eagle.core.function.call.autopilot.CallerAutoPilotStatusListener
import com.mogo.eagle.core.utilcode.util.TAG
import com.mogo.och.common.module.manager.audition.AuditionManager
import com.mogo.och.common.module.manager.audition.PlayState
import com.mogo.och.common.module.manager.autopilot.autopilot.IOchAutopilotStatusListener
import com.mogo.och.common.module.manager.autopilot.autopilot.OchAutoPilotStatusListenerManager
import com.mogo.och.common.module.utils.RxUtils
import io.reactivex.disposables.Disposable
object MusicModel : IMoGoAutopilotStatusListener, IOrderStatusChangeListener {
object MusicModel : IOchAutopilotStatusListener, IOrderStatusChangeListener {
init {
CharterPassengerModel.setStatusChangeListener(TAG,this)
//自动驾驶状态监听
CallerAutoPilotStatusListenerManager.addListener(TAG, this)
OchAutoPilotStatusListenerManager.addListener(TAG, this)
}
private var stopMusicDisposable: Disposable? = null

7
OCH/charter/passenger/src/main/java/com/mogo/och/charter/passenger/ui/statusbar/StatusBarView.kt
View File

@@ -25,6 +25,8 @@ import com.mogo.och.charter.passenger.bean.response.OrderInfoResponse
import com.mogo.och.charter.passenger.model.CharterPassengerModel
import com.mogo.och.charter.passenger.model.OrderStatusEnum
import com.mogo.och.charter.passenger.ui.debugview.DebugEvent
import com.mogo.och.common.module.manager.autopilot.autopilot.IOchAutopilotStatusListener
import com.mogo.och.common.module.manager.autopilot.autopilot.OchAutoPilotStatusListenerManager
import com.mogo.och.common.module.manager.beautifymode.BeautifyManager
import com.mogo.och.common.module.manager.beautifymode.IBeautifyModeCallback
import com.mogo.och.common.module.manager.loop.BizLoopManager
@@ -45,7 +47,8 @@ class StatusBarView @JvmOverloads constructor(
context: Context,
attrs: AttributeSet? = null,
defStyleAttr: Int = 0
) : ConstraintLayout(context, attrs, defStyleAttr), IMoGoBatteryManagementSystemListener, IMoGoAutopilotStatusListener,
) : ConstraintLayout(context, attrs, defStyleAttr), IMoGoBatteryManagementSystemListener,
IOchAutopilotStatusListener,
IBeautifyModeCallback {
companion object {
@@ -90,7 +93,7 @@ class StatusBarView @JvmOverloads constructor(
//电池电量监听
CallerBatteryManagementSystemListenerManager.addListener(TAG,this)
//自动驾驶状态监听
CallerAutoPilotStatusListenerManager.addListener(TAG, this)
OchAutoPilotStatusListenerManager.addListener(TAG, this)
BeautifyManager.setStatusChangeListener(TAG,this)

6
OCH/common/common/src/main/java/com/mogo/och/common/module/manager/autopilot/autopilot/ArrivedStation.java
View File

@@ -28,4 +28,10 @@ public class ArrivedStation {
return new ArrivedStation(mogoLocation);
}
@Override
public String toString() {
return "ArrivedStation{" +
"mogoLocation=" + mogoLocation +
'}';
}
}

95
OCH/common/common/src/main/java/com/mogo/och/common/module/manager/autopilot/autopilot/IOchAutopilotStatusListener.java Normal file
View File

@@ -0,0 +1,95 @@
package com.mogo.och.common.module.manager.autopilot.autopilot;
import com.mogo.eagle.core.data.autopilot.AutopilotControlParameters;
import com.mogo.och.common.module.manager.autopilot.autopilot.ArrivedStation;
import com.zhjt.mogo.adas.data.AdasConstants;
import mogo.telematics.pad.MessagePad;
import mogo_msg.MogoReportMsg;
import system_master.SsmInfo;
import system_master.SystemStatusInfo;
public interface IOchAutopilotStatusListener {
/**
* 自驾路线触发下载请求回调
*/
default void onAutopilotTrajectoryDownloadReq(AutopilotControlParameters.AutoPilotLine autoPilotLine, int downloadType) {
}
/**
* 自动驾驶状态信息
*
* @param state 状态信息
*/
default void onAutopilotStatusResponse(int state) {
}
/**
* 自动驾驶docker信息
*
* @param dockerVersion docker版本
*/
default void onAutopilotDockerInfo(String dockerVersion) {
}
/**
* 自动驾驶到站
*
* @param arrivalNotification 所到车站的简单信息
*/
default void onAutopilotArriveAtStation(ArrivedStation arrivalNotification) {
}
/**
* 工控机获取SN
*/
default void onAutopilotSNRequest(MessagePad.BasicInfoReq basicInfoReq) {
}
/**
* 监控事件报告
*/
default void onAutopilotGuardian(MogoReportMsg.MogoReportMessage guardianInfo) {
}
/**
* 监控事件报告
*/
default void onAutopilotGuardian(MogoReportMsg.MogoReportMessage guardianInfo, long lineId) {
}
/**
* 工控机连接状态回调
*/
default void onAutopilotIpcConnectStatusChanged(AdasConstants.IpcConnectionStatus status, String reason) {
}
/**
* 域控SSM接口接收超时
* 状态变动时才会回调，默认SSM状态正常
*
* @param isTimeout true：SSM接口接收超时 false：SSM接口恢复正常
*/
default void onSsmReceiveTimeout(boolean isTimeout) {
}
/**
* 工控机主动查询 AdasManager#sendStatusQueryReq()，后会收到如下回调
*/
default void onAutopilotStatusRespByQuery(SystemStatusInfo.StatusInfo status) {
}
/**
* 定频SSM
* 老版本 SSM（SystemStatusInfo.StatusInfo） HQ、M1 MAP350开始弃用，其他车型MAP360开始弃用
*/
default void onSystemStatus(SsmInfo.SsmStatusInf statusInf) {
}
/**
* 自动驾驶路线ID回调
*/
default void onAutopilotRouteLineId(long lineId) {
}
}

95
OCH/common/common/src/main/java/com/mogo/och/common/module/manager/autopilot/autopilot/IOchAutopilotStatusListener.kt
View File

@@ -1,95 +0,0 @@
package com.mogo.och.common.module.manager.autopilot.autopilot
import com.zhjt.mogo.adas.data.AdasConstants
import mogo.telematics.pad.MessagePad
import mogo_msg.MogoReportMsg
import system_master.SsmInfo
import system_master.SystemStatusInfo
interface IOchAutopilotStatusListener {
/**
* 自动驾驶状态信息
*
* @param state 状态信息
*/
fun onAutopilotStatusResponse(state: Int) {}
/**
* 自动驾驶docker信息
*
* @param dockerVersion docker版本
*/
fun onAutopilotDockerInfo(dockerVersion:String){}
/**
* 自动驾驶到站
*
* @param arrivalNotification 所到车站的简单信息
*/
fun onAutopilotArriveAtStation(arrivalNotification: ArrivedStation?) {}
/**
* 工控机获取SN
*/
fun onAutopilotSNRequest(basicInfoReq: MessagePad.BasicInfoReq) {}
/**
* 监控事件报告
*/
fun onAutopilotGuardian(guardianInfo: MogoReportMsg.MogoReportMessage?) {}
/**
* 监控事件报告
*/
fun onAutopilotGuardian(guardianInfo: MogoReportMsg.MogoReportMessage?,lineId: Long) {}
/**
* 工控机连接状态回调
*/
fun onAutopilotIpcConnectStatusChanged(status: AdasConstants.IpcConnectionStatus, reason: String?) {}
/**
* 域控SSM接口接收超时
* 状态变动时才会回调，默认SSM状态正常
* @param isTimeout true：SSM接口接收超时 false：SSM接口恢复正常
*/
fun onSsmReceiveTimeout(isTimeout: Boolean) {}
/**
* 工控机主动查询 AdasManager#sendStatusQueryReq()，后会收到如下回调
*/
fun onAutopilotStatusRespByQuery(status: SystemStatusInfo.StatusInfo) {}
/**
* 定频SSM
* 老版本 SSM（SystemStatusInfo.StatusInfo） HQ、M1 MAP350开始弃用，其他车型MAP360开始弃用
*/
fun onSystemStatus(statusInf: SsmInfo.SsmStatusInf) {}
/**
* 自动驾驶路线ID回调
*/
fun onAutopilotRouteLineId(lineId: Long){}
companion object {
/**
* 不可自动驾驶，目前场景是刚开机，adas还未和工控机连接
*/
const val STATUS_AUTOPILOT_DISABLE = 0
/**
* 可自动驾驶，工控机连接正常，且处于人工干预状态
*/
const val STATUS_AUTOPILOT_ENABLE = 1
/**
* 自动驾驶中，可能是停车，可能是行进，但是是机器在处理车的前进后退，不是人
*/
const val STATUS_AUTOPILOT_RUNNING = 2
/**
* 平行驾驶
*/
const val STATUS_PARALLEL_DRIVING = 7
}
}

18
OCH/common/common/src/main/java/com/mogo/och/common/module/manager/autopilot/autopilot/OchAutoPilotManager.kt Normal file
View File

@@ -0,0 +1,18 @@
package com.mogo.och.common.module.manager.autopilot.autopilot
import com.mogo.eagle.core.data.autopilot.AutopilotControlParameters
import com.mogo.eagle.core.function.call.autopilot.CallerAutoPilotControlManager
object OchAutoPilotManager {
const val TAG = "OchAutoPilotManager"
init {shoulong
}
@JvmStatic
fun startAutoPilot(controlParameters: AutopilotControlParameters?) {
CallerAutoPilotControlManager.startAutoPilot(controlParameters)
}
}

20
OCH/common/common/src/main/java/com/mogo/och/common/module/manager/autopilot/autopilot/OchAutoPilotStatusListenerManager.kt
View File

@@ -1,7 +1,9 @@
package com.mogo.och.common.module.manager.autopilot.autopilot
import com.mogo.eagle.core.data.autopilot.AutopilotControlParameters
import com.mogo.eagle.core.function.api.autopilot.IMoGoAutopilotStatusListener
import com.mogo.eagle.core.function.call.autopilot.CallerAutoPilotStatusListenerManager
import com.mogo.och.common.module.manager.autopilot.trajectory.TrajectoryManager
import com.mogo.och.common.module.utils.CallerBase
import com.zhjt.mogo.adas.data.AdasConstants
import com.zhjt.mogo.adas.data.bean.MogoReport
@@ -19,6 +21,17 @@ object OchAutoPilotStatusListenerManager : CallerBase<IOchAutopilotStatusListene
CallerAutoPilotStatusListenerManager.addListener(TAG, this)
}
override fun onAutopilotTrajectoryDownloadReq(
autoPilotLine: AutopilotControlParameters.AutoPilotLine,
downloadType: Int
) {
super.onAutopilotTrajectoryDownloadReq(autoPilotLine, downloadType)
M_LISTENERS.forEach {
val listener = it.value
listener.onAutopilotTrajectoryDownloadReq(autoPilotLine,downloadType)
}
}
override fun onAutopilotStatusResponse(state: Int) {
super.onAutopilotStatusResponse(state)
M_LISTENERS.forEach {
@@ -82,6 +95,13 @@ object OchAutoPilotStatusListenerManager : CallerBase<IOchAutopilotStatusListene
}
}
if (MogoReport.Code.Info.ISYS.INIT_TRAJECTORY_SUCCESS == guardianInfo?.code){
TrajectoryManager.addDownLoadSuccessLine(lineId)
}
if (MogoReport.Code.Info.ISYS.INIT_TRAJECTORY_FAILURE == guardianInfo?.code){
// 更新轨迹没有更新lineId 第二次下载失败 删除App成功缓存(概率很低)
TrajectoryManager.removeDownLoadSuccessLine(lineId)
}
}
M_LISTENERS.forEach {
val listener = it.value

13
OCH/common/common/src/main/java/com/mogo/och/common/module/manager/autopilot/trajectory/TrajectoryManager.kt
View File

@@ -17,6 +17,8 @@ object TrajectoryManager : IMoGoPlanningRottingListener {
private val distanceListeners: ConcurrentHashMap<String, ITrajectoryListListener> =
ConcurrentHashMap()
private val downLoadSuccessLineIds = mutableListOf<Long>()
/**
* 所有轨迹点
*/
@@ -99,4 +101,15 @@ object TrajectoryManager : IMoGoPlanningRottingListener {
distanceListeners[tag] = listener
}
fun addDownLoadSuccessLine(lineId:Long){
if(lineId>0){
downLoadSuccessLineIds.add(lineId)
}
}
fun removeDownLoadSuccessLine(lineId:Long){
if(lineId>0&& downLoadSuccessLineIds.contains(lineId)){
downLoadSuccessLineIds.remove(lineId)
}
}
}

53
OCH/shuttle/driver/src/main/java/com/mogo/och/shuttle/fragment/BaseShuttleTabFragment.java
View File

@@ -324,10 +324,13 @@ public abstract class BaseShuttleTabFragment<V extends IView, P extends Presente
* @param text 指定的文字
*/
public void showSlidePanel(String text) {
getActivity().runOnUiThread(() -> {
slidePanelView.setText(text);
slidePanelView.setVisibility(View.VISIBLE);
});
UiThreadHandler.post(new Runnable() {
@Override
public void run() {
slidePanelView.setText(text);
slidePanelView.setVisibility(View.VISIBLE);
}
}, UiThreadHandler.MODE.QUEUE);
setArrivedClikable(false);
}
@@ -337,23 +340,29 @@ public abstract class BaseShuttleTabFragment<V extends IView, P extends Presente
* @param isClickable
*/
public void setArrivedClikable(boolean isClickable) {
getActivity().runOnUiThread(() -> {
tvArrived.setEnabled(isClickable);
if (isClickable) {
tvArrived.setTextColor(getResources().getColor(R.color.bus_white));
} else {
tvArrived.setTextColor(getResources().getColor(R.color.bus_arrived_btn_un_clickable_color));
UiThreadHandler.post(new Runnable() {
@Override
public void run() {
tvArrived.setEnabled(isClickable);
if (isClickable) {
tvArrived.setTextColor(getResources().getColor(R.color.bus_white));
} else {
tvArrived.setTextColor(getResources().getColor(R.color.bus_arrived_btn_un_clickable_color));
}
}
});
}, UiThreadHandler.MODE.QUEUE);
}
/**
* 隐藏滑动按钮
*/
public void hideSlidePanel() {
getActivity().runOnUiThread(() -> {
slidePanelView.setVisibility(View.GONE);
});
UiThreadHandler.post(new Runnable() {
@Override
public void run() {
slidePanelView.setVisibility(View.GONE);
}
}, UiThreadHandler.MODE.QUEUE);
}
public void playDI() {
@@ -366,9 +375,12 @@ public abstract class BaseShuttleTabFragment<V extends IView, P extends Presente
* @param autopilotStatus 0:不可用 1:可用状态 2:自动驾驶中
*/
public void onAutopilotStatusChanged(int autopilotStatus) {
getActivity().runOnUiThread(() -> {
changeAutopilotBtnView(autopilotStatus, isAnimateRunning);
});
UiThreadHandler.post(new Runnable() {
@Override
public void run() {
changeAutopilotBtnView(autopilotStatus, isAnimateRunning);
}
}, UiThreadHandler.MODE.QUEUE);
}
public void setAutopilotBtnStatus(int autopilotStatus) {
@@ -450,19 +462,12 @@ public abstract class BaseShuttleTabFragment<V extends IView, P extends Presente
* 隐藏【自动驾驶】按钮
*/
public void hideAutopilotBiz() {
getActivity().runOnUiThread(() -> {
// ctvAutopilotStatus.setVisibility(View.GONE);
// slidePanelView.setVisibility(View.GONE);
});
}
/**
* 展示【自动驾驶】按钮
*/
public void showAutopilotBiz() {
// getActivity().runOnUiThread(() -> {
// ctvAutopilotStatus.setVisibility(View.VISIBLE);
// });
}
public SlidePanelView.OnSlidePanelMoveToEndListener getSlidePanelOnEndListener() {

30
OCH/shuttle/driver/src/main/java/com/mogo/och/shuttle/fragment/ShuttleFragment.java
View File

@@ -25,6 +25,7 @@ import com.mogo.eagle.core.utilcode.mogo.logger.CallerLogger;
import com.mogo.eagle.core.utilcode.mogo.logger.scene.SceneConstant;
import com.mogo.eagle.core.utilcode.util.ActivityUtils;
import com.mogo.eagle.core.utilcode.util.ToastUtils;
import com.mogo.eagle.core.utilcode.util.UiThreadHandler;
import com.mogo.map.overlay.IMoGoOverlayManager;
import com.mogo.map.overlay.core.Level;
import com.mogo.map.overlay.point.Point;
@@ -198,20 +199,23 @@ public class ShuttleFragment extends BaseShuttleTabFragment<ShuttleFragment, Bus
return;
}
getActivity().runOnUiThread(() -> {
if (stationList == null) {
// 获取小巴数据失败
return;
UiThreadHandler.post(new Runnable() {
@Override
public void run() {
if (stationList == null) {
// 获取小巴数据失败
return;
}
showStationsPanel();
showOrHideSwitchLineBtn(false);
mLineName.setText(lineName);
mTaskTime.setText(getString(R.string.bus_line_time_tag)+ lineTime);
// 渲染小巴路线数据
updateBusStationStatus(stationList,arrivingOrArrivedIndex,isArrived);
}
showStationsPanel();
showOrHideSwitchLineBtn(false);
mLineName.setText(lineName);
mTaskTime.setText(getString(R.string.bus_line_time_tag)+ lineTime);
// 渲染小巴路线数据
updateBusStationStatus(stationList,arrivingOrArrivedIndex,isArrived);
});
},UiThreadHandler.MODE.QUEUE);
}
private void updateBusStationStatus(List<BusStationBean> stationList,

3
OCH/shuttle/driver/src/main/java/com/mogo/och/shuttle/model/OrderModel.java
View File

@@ -20,6 +20,7 @@ import com.mogo.eagle.core.data.BaseData;
import com.mogo.eagle.core.data.autopilot.AutopilotControlParameters;
import com.mogo.eagle.core.data.config.FunctionBuildConfig;
import com.mogo.eagle.core.data.map.MogoLocation;
import com.mogo.och.common.module.manager.autopilot.autopilot.OchAutoPilotManager;
import com.mogo.och.common.module.manager.socket.lan.LanSocketManager;
import com.mogo.och.shuttle.bean.BusRoutesResponse;
import com.mogo.och.shuttle.util.ShuttleVoiceManager;
@@ -634,7 +635,7 @@ public class OrderModel {
return;
}
CallerAutoPilotControlManager.INSTANCE.startAutoPilot(parameters);
OchAutoPilotManager.startAutoPilot(parameters);
CallerLogger.d(M_BUS + TAG, "行程日志-开启自动驾驶====" + GsonUtil.jsonFromObject(parameters)
+ " startLatLon=" + parameters.startName + "，endLatLon=" + parameters.endName +

36
OCH/shuttle/driver/src/main/java/com/mogo/och/shuttle/presenter/BusPresenter.java
View File

@@ -161,10 +161,6 @@ public class BusPresenter extends Presenter<ShuttleFragment>
OrderModel.getInstance().onArriveAt(arrivedStation,type);
}
@Override
public void onAutopilotSNRequest(@NonNull MessagePad.BasicInfoReq basicInfoReq) {
}
@Override
public void onAutopilotStatusResponse(int state) {
switch (state) {
@@ -232,30 +228,10 @@ public class BusPresenter extends Presenter<ShuttleFragment>
onAutopilotStatusResponse(status);
}
@Override
public void onAutopilotRouteLineId(long lineId) {
}
@Override
public void onAutopilotGuardian(MogoReportMsg.MogoReportMessage guardianInfo) {
BusTrajectoryManager.getInstance().onAutopilotGuardian(guardianInfo);
}
@Override
public void onAutopilotGuardian(@Nullable MogoReportMsg.MogoReportMessage guardianInfo, long lineId) {
}
@Override
public void onAutopilotIpcConnectStatusChanged(@NonNull AdasConstants.IpcConnectionStatus status, @Nullable String reason) {
}
@Override
public void onAutopilotStatusRespByQuery(@NonNull SystemStatusInfo.StatusInfo status) {
}
@Override
public void onSystemStatus(@NonNull SsmInfo.SsmStatusInf statusInf) {
public void onAutopilotGuardian(MogoReportMsg.MogoReportMessage guardianInfo, long lineId) {
BusTrajectoryManager.getInstance().onAutopilotGuardian(guardianInfo,lineId);
}
@Override
@@ -279,12 +255,4 @@ public class BusPresenter extends Presenter<ShuttleFragment>
runOnUIThread(() -> mView.stopAnimAndUpdateBtnStatus());
}
@Override
public void onAutopilotDockerInfo(@NonNull String dockerVersion) {
}
@Override
public void onSsmReceiveTimeout(boolean isTimeout) {
}
}

4
OCH/shuttle/driver/src/main/java/com/mogo/och/shuttle/util/BusTrajectoryManager.java
View File

@@ -63,6 +63,10 @@ public class BusTrajectoryManager {
}
}
public void onAutopilotGuardian(@Nullable MogoReportMsg.MogoReportMessage guardianInfo,long lineId) {
onAutopilotGuardian(guardianInfo);
}
/**
* 接口MEC反馈的常规信息（MAP v2.5.0新增轨迹相关信息）
* @param guardianInfo

2
OCH/shuttle/driver/src/main/res/layout/shuttle_base_fragment.xml
View File

@@ -38,7 +38,7 @@
<FrameLayout
android:id="@+id/fl_speed"
android:layout_width="@dimen/dp_62"
android:layout_width="@dimen/dp_624"
android:layout_height="@dimen/dp_269"
android:layout_marginStart="@dimen/dp_10"
app:layout_constraintLeft_toLeftOf="parent"

13
OCH/shuttle/passenger/src/main/java/jinlv/com/mogo/och/shuttle/passenger/ui/BusPassengerRouteFragment.java
View File

@@ -339,12 +339,15 @@ public class BusPassengerRouteFragment extends
}
public void onAutopilotStatusChanged(int status) {
getActivity().runOnUiThread(() -> {
// 3. 其他过程直接更新
if (mPrevAPStatus != status){
AutopilotStatusChanged(status);
UiThreadHandler.post(new Runnable() {
@Override
public void run() {
// 3. 其他过程直接更新
if (mPrevAPStatus != status){
AutopilotStatusChanged(status);
}
mPrevAPStatus = status;
}
mPrevAPStatus = status;
});
}

8
OCH/shuttle/passenger/src/main/java/m2/com/mogo/och/shuttle/passenger/model/PM2DrivingModel.kt
View File

@@ -30,6 +30,8 @@ import com.mogo.eagle.core.utilcode.util.StringUtils
import com.mogo.eagle.core.utilcode.util.ToastUtils
import com.mogo.och.common.module.manager.socket.cloud.OCHSocketMessageManager.pushAppOperationalMsgBox
import com.mogo.och.common.module.constant.OchCommonConst
import com.mogo.och.common.module.manager.autopilot.autopilot.IOchAutopilotStatusListener
import com.mogo.och.common.module.manager.autopilot.autopilot.OchAutoPilotStatusListenerManager
import com.mogo.och.common.module.network.OchCommonServiceCallback
import com.mogo.och.common.module.manager.distance.IDistanceListener
import com.mogo.och.common.module.manager.distance.TrajectoryAndDistanceManager
@@ -107,7 +109,7 @@ class PM2DrivingModel private constructor() {
private fun initListener() {
//自动驾驶状态监听
CallerAutoPilotStatusListenerManager.addListener(TAG, mAutoPilotStatusListener)
OchAutoPilotStatusListenerManager.addListener(TAG, mAutoPilotStatusListener)
// 定位监听
CallerChassisLocationGCJ02ListenerManager.addListener(TAG, 3, mMapLocationListener)
@@ -273,8 +275,8 @@ class PM2DrivingModel private constructor() {
mDrivingInfoCallback?.updateSpeed(speedKM)
}
private val mAutoPilotStatusListener: IMoGoAutopilotStatusListener =
object : IMoGoAutopilotStatusListener {
private val mAutoPilotStatusListener: IOchAutopilotStatusListener =
object : IOchAutopilotStatusListener {
override fun onAutopilotStatusResponse(state: Int) {
super.onAutopilotStatusResponse(state)

3
OCH/sweeper/driver/src/main/java/com/mogo/och/sweeper/operate/model/SweeperOperateTaskModel.java
View File

@@ -33,6 +33,7 @@ import com.mogo.eagle.core.utilcode.mogo.logger.CallerLogger;
import com.mogo.eagle.core.utilcode.util.CoordinateUtils;
import com.mogo.eagle.core.utilcode.util.NetworkUtils;
import com.mogo.eagle.core.utilcode.util.ToastUtils;
import com.mogo.och.common.module.manager.autopilot.autopilot.OchAutoPilotManager;
import com.mogo.och.common.module.manager.socket.cloud.OCHSocketMessageManager;
import com.mogo.och.common.module.manager.socket.cloud.data.OCHOperationalMessage;
import com.mogo.och.common.module.network.OchCommonServiceCallback;
@@ -430,7 +431,7 @@ public class SweeperOperateTaskModel {
DebugView.Companion.printErrorMsg("[启自驾]行程日志-AutopilotControlParameters is empty");
return;
}
CallerAutoPilotControlManager.INSTANCE.startAutoPilot(parameters);
OchAutoPilotManager.startAutoPilot(parameters);
DebugView.Companion.printInfoMsg("[启自驾] 调用成功");
CallerLogger.d(M_SWEEPER + TAG, "行程日志-开启自动驾驶====" + GsonUtil.jsonFromObject(parameters)
+ " startLatLon=" + parameters.startName + "，endLatLon=" + parameters.endName +

55
OCH/taxi/driver/src/main/java/com/mogo/och/taxi/model/TaxiModel.java
View File

@@ -39,6 +39,10 @@ import com.mogo.eagle.core.utilcode.util.NetworkUtils;
import com.mogo.eagle.core.utilcode.util.StringUtils;
import com.mogo.eagle.core.utilcode.util.ToastUtils;
import com.mogo.eagle.core.utilcode.util.UiThreadHandler;
import com.mogo.och.common.module.manager.autopilot.autopilot.ArrivedStation;
import com.mogo.och.common.module.manager.autopilot.autopilot.IOchAutopilotStatusListener;
import com.mogo.och.common.module.manager.autopilot.autopilot.OchAutoPilotManager;
import com.mogo.och.common.module.manager.autopilot.autopilot.OchAutoPilotStatusListenerManager;
import com.mogo.och.common.module.manager.socket.cloud.OCHSocketMessageManager;
import com.mogo.och.common.module.manager.socket.cloud.data.OCHOperationalMessage;
import com.mogo.och.common.module.biz.login.LoginStatusManager;
@@ -211,7 +215,7 @@ public class TaxiModel {
private void initListeners() {
// 2021.11.1重构自动驾驶 实现接口 IMoGoAutopilotStatusListener 注册监听 替换IMogoAdasOCHCallback接口
CallerAutoPilotStatusListenerManager.INSTANCE.addListener(TAG, mGoAutopilotStatusListener);
OchAutoPilotStatusListenerManager.INSTANCE.addListener(TAG, mGoAutopilotStatusListener);
IntentManager.getInstance().registerIntentListener(ConnectivityManager.CONNECTIVITY_ACTION, mNetWorkIntentListener);
//定位监听， 传false是高德坐标系
@@ -260,7 +264,7 @@ public class TaxiModel {
OCHSocketMessageManager.INSTANCE.releaseSocketMessageListener(OCHSocketMessageManager.msgMonitorType);
CallerAutoPilotStatusListenerManager.INSTANCE.removeListener(mGoAutopilotStatusListener);
OchAutoPilotStatusListenerManager.INSTANCE.removeListener(mGoAutopilotStatusListener);
CallerPlanningRottingListenerManager.INSTANCE.removeListener(moGoAutopilotPlanningListener);
OCHAdasAbilityManager.getInstance().setAdasStartFailureCallback(null);
@@ -972,7 +976,8 @@ public class TaxiModel {
return;
}
CallerAutoPilotControlManager.INSTANCE.startAutoPilot(parameters);
OchAutoPilotManager.startAutoPilot(parameters);
CallerLogger.d(M_TAXI + TAG, "start autopilot with parameter: %s",
GsonUtil.jsonFromObject(parameters)
+ " ,startSiteName=" + mCurrentOCHOrder.startSiteAddr
@@ -1201,33 +1206,11 @@ public class TaxiModel {
startServicePilotDone();
}
private final IMoGoAutopilotStatusListener mGoAutopilotStatusListener = new IMoGoAutopilotStatusListener() {
private final IOchAutopilotStatusListener mGoAutopilotStatusListener = new IOchAutopilotStatusListener() {
@Override
public void onAutopilotTrajectoryDownloadReq(@NonNull AutopilotControlParameters.AutoPilotLine autoPilotLine, int downloadType) {
}
@Override
public void onSsmReceiveTimeout(boolean isTimeout) {
}
@Override
public void onAutopilotDockerInfo(@NonNull String dockerVersion) {
}
@Override
public void onAutopilotRouteLineId(long lineId) {
}
@Override
public void onAutopilotIpcConnectStatusChanged(@NonNull AdasConstants.IpcConnectionStatus status, @Nullable String reason) {
}
@Override
public void onAutopilotGuardian(@Nullable MogoReportMsg.MogoReportMessage guardianInfo) {
TaxiTrajectoryManager.getInstance().onAutopilotGuardian(guardianInfo);
public void onAutopilotGuardian(@Nullable MogoReportMsg.MogoReportMessage guardianInfo, long lineId) {
TaxiTrajectoryManager.getInstance().onAutopilotGuardian(guardianInfo,lineId);
}
@Override
@@ -1290,11 +1273,7 @@ public class TaxiModel {
}
@Override
public void onAutopilotSNRequest(@NonNull MessagePad.BasicInfoReq basicInfoReq) {
}
@Override
public void onAutopilotArriveAtStation(MessagePad.ArrivalNotification data) {
public void onAutopilotArriveAtStation(ArrivedStation data) {
CallerLogger.i(M_TAXI + TAG, "onAutopilotArriveAtStation = " + data.toString());
if (data == null || !checkCurrentOCHOrder()
@@ -1305,20 +1284,10 @@ public class TaxiModel {
if (FunctionBuildConfig.isDemoMode) {
// 当美化模式（演示模式）开启时: 到达目的地，置false
// 2022.10.08 到达目的地时候取消自动起自驾， 服务完成取消引导线和自动驾驶按钮状态
// FunctionBuildConfig.isIgnoreConditionsDrawAutopilotTrajectoryData = false;
// CallerAutoPilotManager.INSTANCE.setIgnoreConditionDraw(false);
CallerAutoPilotControlManager.INSTANCE.setIPCDemoMode(false);
CallerLogger.d(M_TAXI + TAG, "美化模式-ignore：置为false（到达目的地）");
}
}
@Override
public void onAutopilotStatusRespByQuery(@NonNull SystemStatusInfo.StatusInfo status) {
}
@Override
public void onSystemStatus(@NonNull SsmInfo.SsmStatusInf statusInf) {
}
};
private final IMoGoPlanningRottingListener moGoAutopilotPlanningListener = new IMoGoPlanningRottingListener() {

57
OCH/taxi/driver/src/main/java/com/mogo/och/taxi/ui/BaseTaxiTabFragment.java
View File

@@ -362,20 +362,23 @@ public abstract class BaseTaxiTabFragment<V extends IView, P extends Presenter<V
}
public void onAutopilotStatusChanged(int status) {
getActivity().runOnUiThread(() -> {
if (isStarting && IMoGoAutopilotStatusListener.STATUS_AUTOPILOT_RUNNING != status) {
// 1. 主动开启自动驾驶中，不为2（为0、1）则继续loading
return;
UiThreadHandler.post(new Runnable() {
@Override
public void run() {
if (isStarting && IMoGoAutopilotStatusListener.STATUS_AUTOPILOT_RUNNING != status) {
// 1. 主动开启自动驾驶中，不为2（为0、1）则继续loading
return;
}
if (isStarting && IMoGoAutopilotStatusListener.STATUS_AUTOPILOT_RUNNING == status) {
// 2. 主动开启自动驾驶中，为2则停止loading，并isStarting = false
startAutopilotDone(true);
return;
}
// 3. 其他过程直接更新
startOrStopLoadingAnim(false);
autopilotStatusAnimchanged(status);
}
if (isStarting && IMoGoAutopilotStatusListener.STATUS_AUTOPILOT_RUNNING == status) {
// 2. 主动开启自动驾驶中，为2则停止loading，并isStarting = false
startAutopilotDone(true);
return;
}
// 3. 其他过程直接更新
startOrStopLoadingAnim(false);
autopilotStatusAnimchanged(status);
});
},UiThreadHandler.MODE.QUEUE);
}
public void stopAnimAndUpdateBtnStatus() {
@@ -523,15 +526,20 @@ public abstract class BaseTaxiTabFragment<V extends IView, P extends Presenter<V
}
public void hidPanel() {
getActivity().runOnUiThread(() -> {
UiThreadHandler.post(new Runnable() {
@Override
public void run() {
flStationPanelContainer.setVisibility(View.GONE);
});
}},UiThreadHandler.MODE.QUEUE);
}
public void showPanel() {
getActivity().runOnUiThread(() -> {
flStationPanelContainer.setVisibility(View.VISIBLE);
});
UiThreadHandler.post(new Runnable() {
@Override
public void run() {
flStationPanelContainer.setVisibility(View.VISIBLE);
}
},UiThreadHandler.MODE.QUEUE);
}
public View getPanelView() {
@@ -552,12 +560,15 @@ public abstract class BaseTaxiTabFragment<V extends IView, P extends Presenter<V
public void changeOperationViewVisible(int visible) {
getActivity().runOnUiThread(() -> {
if (tvOperationStatus == null) {
return;
UiThreadHandler.post(new Runnable() {
@Override
public void run() {
if (tvOperationStatus == null) {
return;
}
tvOperationStatus.setVisibility(visible);
}
tvOperationStatus.setVisibility(visible);
});
},UiThreadHandler.MODE.QUEUE);
}
protected void showAmapNaviToStationFragment(boolean isShow) {

4
OCH/taxi/driver/src/main/java/com/mogo/och/taxi/utils/TaxiTrajectoryManager.java
View File

@@ -66,6 +66,10 @@ public class TaxiTrajectoryManager {
}
}
public void onAutopilotGuardian(@Nullable MogoReportMsg.MogoReportMessage guardianInfo, long lineId) {
onAutopilotGuardian(guardianInfo);
}
/**
* 接口MEC反馈的常规信息（MAP v2.5.0新增轨迹相关信息）
* @param guardianInfo

9
OCH/taxi/passenger/src/main/java/com/mogo/och/taxi/passenger/model/AutopilotManager.kt
View File

@@ -14,6 +14,9 @@ import com.mogo.eagle.core.utilcode.util.StringUtils
import com.mogo.eagle.core.utilcode.util.ToastUtils
import com.mogo.och.common.module.network.OchCommonServiceCallback
import com.mogo.och.common.module.manager.autopilot.OCHAdasAbilityManager
import com.mogo.och.common.module.manager.autopilot.autopilot.IOchAutopilotStatusListener
import com.mogo.och.common.module.manager.autopilot.autopilot.OchAutoPilotManager
import com.mogo.och.common.module.manager.autopilot.autopilot.OchAutoPilotStatusListenerManager
import com.mogo.och.common.module.manager.distance.TrajectoryAndDistanceManager
import com.mogo.och.common.module.utils.PinYinUtil
import com.mogo.och.common.module.voice.VoiceNotice
@@ -23,12 +26,12 @@ import com.mogo.och.taxi.passenger.ui.model.order.TaxiPassengerOrderStatusEnum
import com.mogo.och.taxi.passenger.network.TaxiPassengerServiceManager
import com.mogo.och.taxi.passenger.utils.TaxiPassengerAnalyticsManager
object AutopilotManager : IMoGoAutopilotStatusListener {
object AutopilotManager : IOchAutopilotStatusListener {
private const val TAG = "AutopilotManager"
init {
CallerAutoPilotStatusListenerManager.addListener(TAG, this)
OchAutoPilotStatusListenerManager.addListener(TAG, this)
}
//检测当前订单
private fun checkCurrentOCHOrder(): Boolean {
@@ -80,7 +83,7 @@ object AutopilotManager : IMoGoAutopilotStatusListener {
)
return "自动化驾驶参数异常"
}
CallerAutoPilotControlManager.startAutoPilot(parameters)
OchAutoPilotManager.startAutoPilot(parameters);
CallerLogger.d(
SceneConstant.M_TAXI_P + TAG,
"start autopilot with parameter: %s",

6
OCH/taxi/passenger/src/main/java/com/mogo/och/taxi/passenger/ui/statusview/StatusBarView.kt
View File

@@ -16,6 +16,8 @@ import com.mogo.eagle.core.function.call.setting.CallerSkinModeListenerManager
import com.mogo.eagle.core.function.hmi.ui.setting.ToggleDebugView
import com.mogo.eagle.core.utilcode.kotlin.onClick
import com.mogo.eagle.core.utilcode.util.ActivityUtils
import com.mogo.och.common.module.manager.autopilot.autopilot.IOchAutopilotStatusListener
import com.mogo.och.common.module.manager.autopilot.autopilot.OchAutoPilotStatusListenerManager
import com.mogo.och.common.module.manager.debug.DebugViewWatchDogFragment
import com.mogo.och.taxi.passenger.R
import com.mogo.och.taxi.passenger.ui.debug.DebugEvent
@@ -29,7 +31,7 @@ class StatusBarView @JvmOverloads constructor(
context: Context,
attrs: AttributeSet? = null,
defStyleAttr: Int = 0
) : ConstraintLayout(context, attrs, defStyleAttr), IMoGoAutopilotStatusListener {
) : ConstraintLayout(context, attrs, defStyleAttr), IOchAutopilotStatusListener {
companion object {
const val TAG = "StatusBarView"
@@ -73,7 +75,7 @@ class StatusBarView @JvmOverloads constructor(
layoutParams = params
}
CallerAutoPilotStatusListenerManager.addListener(TAG, this)
OchAutoPilotStatusListenerManager.addListener(TAG, this)
iv_biz_icon.setOnClickListener { continuousClick(debugView) }
vShowDebugView.setOnLongClickListener {

6
OCH/taxi/pcommon/src/main/java/com/mogo/och/taxi/passenger/ui/model/music/MusicModel.kt
View File

@@ -5,6 +5,8 @@ import com.mogo.eagle.core.function.api.autopilot.IMoGoAutopilotStatusListener
import com.mogo.eagle.core.function.call.autopilot.CallerAutoPilotStatusListenerManager
import com.mogo.eagle.core.utilcode.util.TAG
import com.mogo.och.common.module.manager.audition.AuditionManager
import com.mogo.och.common.module.manager.autopilot.autopilot.IOchAutopilotStatusListener
import com.mogo.och.common.module.manager.autopilot.autopilot.OchAutoPilotStatusListenerManager
import com.mogo.och.common.module.utils.RxUtils
import com.mogo.och.taxi.passenger.ui.model.order.BaseOrderBean
import com.mogo.och.taxi.passenger.ui.model.order.OrderListener
@@ -12,11 +14,11 @@ import com.mogo.och.taxi.passenger.ui.model.order.OrderModel
import com.mogo.och.taxi.passenger.ui.model.order.TaxiPassengerOrderStatusEnum
import io.reactivex.disposables.Disposable
object MusicModel : OrderListener, IMoGoAutopilotStatusListener {
object MusicModel : OrderListener, IOchAutopilotStatusListener {
init {
OrderModel.setOrderStatusCallback(TAG,this)
//自动驾驶状态监听
CallerAutoPilotStatusListenerManager.addListener(TAG, this)
OchAutoPilotStatusListenerManager.addListener(TAG, this)
}
private var stopMusicDisposable: Disposable? = null

30
OCH/taxi/unmanned-driver/src/main/java/com/mogo/och/taxi/ui/routing/TaxiRoutingModel.kt
View File

@@ -8,10 +8,8 @@ import com.mogo.eagle.core.data.BaseData
import com.mogo.eagle.core.data.autopilot.AutopilotControlParameters
import com.mogo.eagle.core.data.config.FunctionBuildConfig
import com.mogo.eagle.core.data.map.MogoLocation
import com.mogo.eagle.core.function.api.autopilot.IMoGoAutopilotStatusListener
import com.mogo.eagle.core.function.api.autopilot.IMoGoChassisLocationGCJ02Listener
import com.mogo.eagle.core.function.call.autopilot.CallerAutoPilotControlManager
import com.mogo.eagle.core.function.call.autopilot.CallerAutoPilotStatusListenerManager
import com.mogo.eagle.core.function.call.autopilot.CallerChassisLocationGCJ02ListenerManager
import com.mogo.eagle.core.network.utils.GsonUtil
import com.mogo.eagle.core.utilcode.mogo.logger.CallerLogger
@@ -23,6 +21,10 @@ import com.mogo.eagle.core.utilcode.util.NetworkUtils
import com.mogo.eagle.core.utilcode.util.ToastUtils
import com.mogo.och.common.module.network.OchCommonServiceCallback
import com.mogo.och.common.module.manager.autopilot.OCHAdasAbilityManager
import com.mogo.och.common.module.manager.autopilot.autopilot.ArrivedStation
import com.mogo.och.common.module.manager.autopilot.autopilot.IOchAutopilotStatusListener
import com.mogo.och.common.module.manager.autopilot.autopilot.OchAutoPilotManager
import com.mogo.och.common.module.manager.autopilot.autopilot.OchAutoPilotStatusListenerManager
import com.mogo.och.common.module.utils.OCHThreadPoolManager
import com.mogo.och.taxi.bean.ContrailBean
import com.mogo.och.taxi.bean.EndGrayContrailTaskReq
@@ -37,9 +39,6 @@ import com.mogo.och.taxi.callback.ITaxiRoutingCallback
import com.mogo.och.taxi.constant.TaxiUnmannedConst
import com.mogo.och.taxi.network.TaxiRoutingServiceManager
import com.mogo.och.taxi.ui.debug.DebugView
import com.zhjt.mogo.adas.data.AdasConstants
import mogo.telematics.pad.MessagePad
import mogo_msg.MogoReportMsg
import java.util.concurrent.ConcurrentHashMap
object TaxiRoutingModel {
@@ -82,26 +81,18 @@ object TaxiRoutingModel {
}
fun addAutoPilotStatusListener() {
CallerAutoPilotStatusListenerManager.addListener(TAG, mMogoAutopilotStatusListener)
OchAutoPilotStatusListenerManager.addListener(TAG, mMogoAutopilotStatusListener)
}
fun removeAutoPilotStatusListener() {
CallerAutoPilotStatusListenerManager.removeListener(TAG)
OchAutoPilotStatusListenerManager.removeListener(TAG)
}
//MAP到站监听
private val mMogoAutopilotStatusListener: IMoGoAutopilotStatusListener =
object : IMoGoAutopilotStatusListener {
override fun onAutopilotIpcConnectStatusChanged(status: AdasConstants.IpcConnectionStatus, reason: String?) {
}
private val mMogoAutopilotStatusListener: IOchAutopilotStatusListener =
object : IOchAutopilotStatusListener {
override fun onAutopilotGuardian(guardianInfo: MogoReportMsg.MogoReportMessage?) {
}
override fun onAutopilotStatusResponse(state: Int) {
}
override fun onAutopilotArriveAtStation(arrivalNotification: MessagePad.ArrivalNotification?) {
override fun onAutopilotArriveAtStation(arrivalNotification: ArrivedStation?) {
CallerLogger.i(
TAG,
"onAutopilotArriveAtStation = ${arrivalNotification.toString()}"
@@ -499,7 +490,8 @@ object TaxiRoutingModel {
return
}
CallerAutoPilotControlManager.startAutoPilot(parameters)
OchAutoPilotManager.startAutoPilot(parameters);
DebugView.printInfoMsg("[启自驾] 调用成功")
CallerLogger.d(
TAG, "start autopilot with parameter: %s",

21
OCH/taxi/unmanned-driver/src/main/java/com/mogo/och/taxi/ui/task/TaxiTaskModel.kt
View File

@@ -45,6 +45,10 @@ import com.mogo.och.common.module.biz.login.LoginService
import com.mogo.och.common.module.callback.OchAdasStartFailureCallback
import com.mogo.och.common.module.manager.socket.cloud.AbnormalFactorsLoopManager
import com.mogo.och.common.module.manager.autopilot.OCHAdasAbilityManager
import com.mogo.och.common.module.manager.autopilot.autopilot.ArrivedStation
import com.mogo.och.common.module.manager.autopilot.autopilot.IOchAutopilotStatusListener
import com.mogo.och.common.module.manager.autopilot.autopilot.OchAutoPilotManager
import com.mogo.och.common.module.manager.autopilot.autopilot.OchAutoPilotStatusListenerManager
import com.mogo.och.common.module.manager.distance.IDistanceListener
import com.mogo.och.common.module.manager.distance.ITrajectoryListener
import com.mogo.och.common.module.manager.distance.TrajectoryAndDistanceManager
@@ -80,7 +84,6 @@ import io.reactivex.Observable
import io.reactivex.android.schedulers.AndroidSchedulers
import io.reactivex.disposables.Disposable
import io.reactivex.schedulers.Schedulers
import mogo.telematics.pad.MessagePad.ArrivalNotification
import mogo.telematics.pad.MessagePad.GlobalPathResp
import mogo_msg.MogoReportMsg.MogoReportMessage
import java.util.concurrent.ConcurrentHashMap
@@ -208,7 +211,7 @@ object TaxiTaskModel {
private fun initListeners() {
// 2021.11.1重构自动驾驶 实现接口 IMoGoAutopilotStatusListener 注册监听 替换IMogoAdasOCHCallback接口
CallerAutoPilotStatusListenerManager.addListener(TAG, mMogoAutopilotStatusListener)
OchAutoPilotStatusListenerManager.addListener(TAG, mMogoAutopilotStatusListener)
//定位监听， 传false是高德坐标系 10 -> 100ms一次
CallerChassisLocationGCJ02ListenerManager.addListener(TAG, 5, mMapLocationListener)
//2021.11.1 自动驾驶路线规划接口
@@ -243,7 +246,7 @@ object TaxiTaskModel {
// 注销地图监听
CallerChassisLocationGCJ02ListenerManager.removeListener(TAG)
OCHSocketMessageManager.releaseSocketMessageListener(OCHSocketMessageManager.msgMonitorType)
CallerAutoPilotStatusListenerManager.removeListener(mMogoAutopilotStatusListener)
OchAutoPilotStatusListenerManager.removeListener(mMogoAutopilotStatusListener)
CallerPlanningRottingListenerManager.removeListener(mMogoAutopilotPlanningListener)
OCHAdasAbilityManager.getInstance().setAdasStartFailureCallback(null)
AbnormalFactorsLoopManager.stopLoopAbnormalFactors()
@@ -269,8 +272,8 @@ object TaxiTaskModel {
}
}
private val mMogoAutopilotStatusListener: IMoGoAutopilotStatusListener =
object : IMoGoAutopilotStatusListener {
private val mMogoAutopilotStatusListener: IOchAutopilotStatusListener =
object : IOchAutopilotStatusListener {
override fun onAutopilotIpcConnectStatusChanged(status: AdasConstants.IpcConnectionStatus, reason: String?) {
DebugView.printInfoMsg(
"[域控连接状态变化] status=$status, reason=${
@@ -282,8 +285,8 @@ object TaxiTaskModel {
)
}
override fun onAutopilotGuardian(guardianInfo: MogoReportMessage?) {
TaxiTrajectoryManager.getInstance().onAutopilotGuardian(guardianInfo)
override fun onAutopilotGuardian(guardianInfo: MogoReportMessage?, lineId: Long) {
TaxiTrajectoryManager.getInstance().onAutopilotGuardian(guardianInfo,lineId)
}
override fun onAutopilotStatusResponse(state: Int) {
@@ -343,7 +346,7 @@ object TaxiTaskModel {
}
}
override fun onAutopilotArriveAtStation(arrivalNotification: ArrivalNotification?) {
override fun onAutopilotArriveAtStation(arrivalNotification: ArrivedStation?) {
i(TAG, "onAutopilotArriveAtStation = ${arrivalNotification.toString()}")
DebugView.printInfoMsg("[MAP到站通知] 上报到站，location=${arrivalNotification?.endLocation}")
if (arrivalNotification == null || !checkCurrentTaskCondition() ||
@@ -1256,7 +1259,7 @@ object TaxiTaskModel {
return
}
CallerAutoPilotControlManager.startAutoPilot(parameters)
OchAutoPilotManager.startAutoPilot(parameters);
DebugView.printInfoMsg("[启自驾] 调用成功")
d(
TAG, "start autopilot with parameter: %s",

9
OCH/taxi/unmanned-driver/src/main/java/com/mogo/och/taxi/utils/TaxiTrajectoryManager.java
View File

@@ -85,6 +85,10 @@ public class TaxiTrajectoryManager {
}
}
public void onAutopilotGuardian(@Nullable MogoReportMsg.MogoReportMessage guardianInfo,long lineId) {
onAutopilotGuardian(guardianInfo);
}
/**
* 接口MEC反馈的常规信息（MAP v2.5.0新增轨迹相关信息）
* @param guardianInfo
@@ -95,31 +99,26 @@ public class TaxiTrajectoryManager {
// 1. 轨迹管理_轨迹开始下载（本地已有对应轨迹也触发）
CallerLogger.d(M_TAXI + TAG, "onAutopilotGuardian() 轨迹开始下载");
OchChainLogManager.writeChainLog("轨迹监控","onAutopilotGuardian() 轨迹开始下载", true, OchChainLogManager.EVENT_KEY_INFE_WITH_TRAJECTORY);
// ToastUtils.showShort("轨迹开始下载");
stopTrajReqLoop();
} else if ("ISYS_INIT_TRAJECTORY_SUCCESS".equals(guardianInfo.getCode())) {
// 2. 轨迹管理_轨迹下载成功（本地已有对应轨迹也触发）
CallerLogger.d(M_TAXI + TAG, "onAutopilotGuardian() 轨迹下载成功");
OchChainLogManager.writeChainLog("轨迹监控","onAutopilotGuardian() 轨迹下载成功", true, OchChainLogManager.EVENT_KEY_INFE_WITH_TRAJECTORY);
// ToastUtils.showShort("轨迹下载成功");
stopTrajReqLoop();
} else if ("ISYS_INIT_TRAJECTORY_FAILURE".equals(guardianInfo.getCode())) {
// 3. 轨迹管理_轨迹下载失败，本地无对应轨迹
CallerLogger.d(M_TAXI + TAG, "onAutopilotGuardian() " +
"轨迹下载失败，本地无对应轨迹");
OchChainLogManager.writeChainLog("轨迹监控","onAutopilotGuardian() 轨迹下载失败，本地无对应轨迹", true, OchChainLogManager.EVENT_KEY_INFE_WITH_TRAJECTORY);
// ToastUtils.showShort("轨迹下载失败，本地无对应轨迹");
} else if ("ISYS_INIT_TRAJECTORY_WARNING".equals(guardianInfo.getCode())) {
// 4. 轨迹管理_轨迹下载失败，本地有对应轨迹，认为成功
CallerLogger.d(M_TAXI + TAG, "onAutopilotGuardian() " +
"轨迹下载失败，本地有对应轨迹，认为成功");
OchChainLogManager.writeChainLog("轨迹监控","onAutopilotGuardian() 轨迹下载失败，本地有对应轨迹，认为成功", true, OchChainLogManager.EVENT_KEY_INFE_WITH_TRAJECTORY);
// ToastUtils.showShort("轨迹下载失败，本地有对应轨迹，认为成功");
} else if ("ISYS_INIT_TRAJECTORY_TIMEOUT".equals(guardianInfo.getCode())) {
// 5. 轨迹管理_轨迹下载超时
CallerLogger.d(M_TAXI + TAG, "onAutopilotGuardian() 轨迹下载超时");
OchChainLogManager.writeChainLog("轨迹监控","onAutopilotGuardian() 轨迹下载超时", true, OchChainLogManager.EVENT_KEY_INFE_WITH_TRAJECTORY);
// ToastUtils.showShort("轨迹下载超时");
}
}

10
OCH/taxi/unmanned-passenger/src/main/java/com/mogo/och/taxi/passenger/model/AutopilotManager.kt
View File

@@ -12,6 +12,9 @@ import com.mogo.eagle.core.utilcode.mogo.logger.scene.SceneConstant
import com.mogo.eagle.core.utilcode.util.ToastUtils
import com.mogo.och.common.module.network.OchCommonServiceCallback
import com.mogo.och.common.module.manager.autopilot.OCHAdasAbilityManager
import com.mogo.och.common.module.manager.autopilot.autopilot.IOchAutopilotStatusListener
import com.mogo.och.common.module.manager.autopilot.autopilot.OchAutoPilotManager
import com.mogo.och.common.module.manager.autopilot.autopilot.OchAutoPilotStatusListenerManager
import com.mogo.och.common.module.manager.logchainanalytic.OchChainLogManager
import com.mogo.och.common.module.voice.VoiceNotice
import com.mogo.och.taxi.passenger.bean.TaxiPassengerBaseRespBean
@@ -20,14 +23,14 @@ import com.mogo.och.taxi.passenger.ui.model.order.TaxiPassengerOrderStatusEnum
import com.mogo.och.taxi.passenger.network.TaxiPassengerServiceManager
import com.mogo.och.taxi.passenger.utils.TaxiPassengerAnalyticsManager
object AutopilotManager : IMoGoAutopilotStatusListener {
object AutopilotManager : IOchAutopilotStatusListener {
private const val TAG = "AutopilotManager"
private var needSpeakByStartAutopilot = false
init {
CallerAutoPilotStatusListenerManager.addListener(TAG, this)
OchAutoPilotStatusListenerManager.addListener(TAG, this)
}
//检测当前订单
@@ -76,7 +79,7 @@ object AutopilotManager : IMoGoAutopilotStatusListener {
)
return "自动化驾驶参数异常"
}
CallerAutoPilotControlManager.startAutoPilot(parameters)
OchAutoPilotManager.startAutoPilot(parameters);
CallerLogger.d(
SceneConstant.M_TAXI_P + TAG,
"start autopilot with parameter: %s",
@@ -199,7 +202,6 @@ object AutopilotManager : IMoGoAutopilotStatusListener {
*/
private fun startAutoPilotServiceByPassenger() {
if (TaxiPassengerModel.currentOCHOrder == null) return
//val currentLocation = CallerChassisLocationGCJ02ListenerManager.getChassisLocationGCJ02()
OchChainLogManager.writeChainLog(TaxiPassengerModel.currentOCHOrder.toString(),"action：启动自驾状态流转")
TaxiPassengerServiceManager.startAutoPilotServiceByPassenger(
TaxiPassengerModel.currentOCHOrder!!.orderNo,

6
OCH/taxi/unmanned-passenger/src/main/java/com/mogo/och/taxi/passenger/ui/statusview/StatusBarView.kt
View File

@@ -14,6 +14,8 @@ import com.mogo.eagle.core.function.call.hmi.CallerHmiViewControlListenerManager
import com.mogo.eagle.core.function.call.setting.CallerSkinModeListenerManager
import com.mogo.eagle.core.function.hmi.ui.setting.ToggleDebugView
import com.mogo.eagle.core.utilcode.util.ActivityUtils
import com.mogo.och.common.module.manager.autopilot.autopilot.IOchAutopilotStatusListener
import com.mogo.och.common.module.manager.autopilot.autopilot.OchAutoPilotStatusListenerManager
import com.mogo.och.common.module.manager.debug.DebugViewWatchDogFragment
import com.mogo.och.taxi.passenger.R
import com.mogo.och.taxi.passenger.ui.debug.DebugEvent
@@ -27,7 +29,7 @@ class StatusBarView @JvmOverloads constructor(
context: Context,
attrs: AttributeSet? = null,
defStyleAttr: Int = 0
) : ConstraintLayout(context, attrs, defStyleAttr), IMoGoAutopilotStatusListener {
) : ConstraintLayout(context, attrs, defStyleAttr), IOchAutopilotStatusListener {
companion object {
const val TAG = "StatusBarView"
@@ -69,7 +71,7 @@ class StatusBarView @JvmOverloads constructor(
layoutParams = params
}
CallerAutoPilotStatusListenerManager.addListener(TAG, this)
OchAutoPilotStatusListenerManager.addListener(TAG, this)
iv_biz_icon.setOnClickListener { continuousClick() }
vShowDebugView.setOnLongClickListener {

2
codequality/sonar.gradle
View File

@@ -11,7 +11,7 @@ sonarqube {
property "sonar.android.lint.report", false
property "sonar.scm.exclusions.disabled", false
property "sonar.scm.exclusions.file", "**/.gitignore"
property "sonar.exclusions", "**/AndroidManifest.xml, **/src/test/**, com/mogo/eagle/core/utilcode, **/*.jar, **/*.aar, **/*.war, **/*.ear, **/*.rar, **/*.tgz, **/*.zip, **/src/test/java/**/*.java, **/src/test/java/**/*.kt, **/test/**/*, **/*Test.java, **/*Tests.java, **/*Test.kt, **/*.xml,*.xml, **/target/**, **/src/main/java/proto/**, **/build/**, build, build/**, **/db/dao/*.java, **/build/intermediates/**/*"
property "sonar.exclusions", "**/AndroidManifest.xml, **/src/test/**, com/mogo/eagle/core/utilcode, **/*.jar, **/*.aar, **/*.war, **/*.ear, **/*.rar, **/*.tgz, **/*.zip, **/src/test/java/**/*.java, **/src/test/java/**/*.kt, **/test/**/*, **/*Test.java, **/*Tests.java, **/*Test.kt, **/*.xml,*.xml, **/raw/*.nt3d, ,**/target/**, **/src/main/java/proto/**, **/build/**, build, build/**, **/db/dao/*.java, **/build/intermediates/**/*"
// property "sonar.java.coveragePlugin", "jacoco"
// property("sonar.coverage.jacoco.xmlReportPaths", "../../build/reports/jacocoTestReport.xml,../build/reports/jacocoTestReport.xml")
}

31
core/function-impl/mogo-core-function-devatools/src/main/java/com/zhjt/mogo_core_function_devatools/DevaToolsProvider.kt
View File

@@ -40,7 +40,6 @@ import com.tencent.matrix.trace.config.TraceConfig
import com.zhjt.mogo_core_function_devatools.apm.*
import com.mogo.eagle.core.function.api.upgrade.*
import com.mogo.weak.network.SdtManager
import com.zhjt.mogo.adas.data.bean.ReceivedAck.Status
import com.zhjt.mogo_core_function_devatools.adas.PowerOffManager
import com.zhjt.mogo_core_function_devatools.badcase.BadCaseManager
import com.zhjt.mogo_core_function_devatools.badcase.consts.BadCaseConfig
@@ -61,6 +60,7 @@ import com.zhjt.mogo_core_function_devatools.perf.MoGoCpuUsageProviderImpl
import com.zhjt.mogo_core_function_devatools.report.IPCReportManager.Companion.iPCReportManager
import com.zhjt.mogo_core_function_devatools.scene.SceneManager.Companion.sceneManager
import com.zhjt.mogo_core_function_devatools.status.StatusManager
import com.zhjt.mogo_core_function_devatools.status.entity.IAutopilotPreLaunchStatus
import com.zhjt.mogo_core_function_devatools.status.entity.RouteDownloadStatus
import com.zhjt.mogo_core_function_devatools.status.ui.AutoPilotLaunchBeforeView
import com.zhjt.mogo_core_function_devatools.strict.*
@@ -72,7 +72,6 @@ import com.zhjt.mogo_core_function_devatools.weaknetwork.WeakNetworkStrategy
import com.zhjt.service.chain.ChainLog
import java.lang.ref.WeakReference
import java.util.concurrent.ConcurrentHashMap
import java.util.concurrent.CopyOnWriteArrayList
@Route(path = MogoServicePaths.PATH_DEVA_TOOLS)
class DevaToolsProvider : IDevaToolsProvider {
@@ -103,14 +102,28 @@ class DevaToolsProvider : IDevaToolsProvider {
private var container: WeakReference<ViewGroup>? = null
private val downloadCallbacks by lazy { ConcurrentHashMap<String, ArrayList<(Int) -> Unit>>() }
private val startAutopilotCallbacks by lazy { ConcurrentHashMap<String, ArrayList<(Boolean) -> Unit>>() }
private val statusListener by lazy {
object : StatusManager.IStatusListener {
override fun onStatusChanged(data: List<com.zhjt.mogo_core_function_devatools.status.entity.Status>, hasException: Boolean) {
data.filterIsInstance(RouteDownloadStatus::class.java).forEach { s ->
downloadCallbacks.values.flatten().forEach { listener ->
listener.invoke(s.state.ordinal)
var hasExceptionForAutopilotBefore = false
data.forEach { s ->
if (s is RouteDownloadStatus) {
runCatching {
downloadCallbacks.values.flatten().forEach { listener ->
listener.invoke(s.state.ordinal)
}
}
}
if (s is IAutopilotPreLaunchStatus && s.isException()) {
hasExceptionForAutopilotBefore = true
runCatching { startAutopilotCallbacks.values.flatten().forEach { it.invoke(false) } }
return@forEach
}
}
if (!hasExceptionForAutopilotBefore) {
runCatching { startAutopilotCallbacks.values.flatten().forEach { it.invoke(true) } }
}
}
}
@@ -530,4 +543,12 @@ class DevaToolsProvider : IDevaToolsProvider {
override fun unRegisterRouteDownloadListener(tag: String) {
downloadCallbacks.remove(tag)
}
override fun registerStartAutopilotStateListener(tag: String, block: (isCanStartAutopilot: Boolean) -> Unit) {
startAutopilotCallbacks.getOrPut(tag) { ArrayList() } += block
}
override fun unRegisterStartAutopilotStateListener(tag: String) {
startAutopilotCallbacks.remove(tag)
}
}

14
core/function-impl/mogo-core-function-devatools/src/main/java/com/zhjt/mogo_core_function_devatools/status/entity/Status.kt
View File

@@ -1,5 +1,7 @@
package com.zhjt.mogo_core_function_devatools.status.entity
import com.mogo.eagle.core.function.api.autopilot.IMoGoAutopilotStatusListener
import com.mogo.eagle.core.function.call.autopilot.CallerAutoPilotStatusListenerManager
import com.zhjt.mogo_core_function_devatools.status.entity.RouteState.RouteFailed
import com.zhjt.mogo_core_function_devatools.status.entity.RouteState.RouteNone
import com.zhjt.mogo_core_function_devatools.status.entity.RouteState.RouteStart
@@ -311,7 +313,7 @@ data class SteerStatus(val angle: Float, var isError: Boolean = false): Status()
override fun isException(): Boolean {
return isError
return isError && CallerAutoPilotStatusListenerManager.getAutoPilotStatusInfo().state != IMoGoAutopilotStatusListener.STATUS_AUTOPILOT_RUNNING
}
override fun equals(other: Any?): Boolean {
@@ -339,7 +341,7 @@ data class SteerStatus(val angle: Float, var isError: Boolean = false): Status()
data class AcceleratorStatus(val angle: Float, var isError: Boolean = false): Status(), IAutopilotPreLaunchStatus {
override fun isException(): Boolean {
return isError
return isError && CallerAutoPilotStatusListenerManager.getAutoPilotStatusInfo().state != IMoGoAutopilotStatusListener.STATUS_AUTOPILOT_RUNNING
}
override fun equals(other: Any?): Boolean {
@@ -369,7 +371,7 @@ data class AcceleratorStatus(val angle: Float, var isError: Boolean = false): St
data class BrakeStatus(val angle: Float, var isError: Boolean = false): Status(), IAutopilotPreLaunchStatus {
override fun isException(): Boolean {
return isError
return isError && CallerAutoPilotStatusListenerManager.getAutoPilotStatusInfo().state != IMoGoAutopilotStatusListener.STATUS_AUTOPILOT_RUNNING
}
override fun equals(other: Any?): Boolean {
@@ -398,7 +400,7 @@ data class BrakeStatus(val angle: Float, var isError: Boolean = false): Status()
data class DoubleFlashStatus(val type: Int, var isError: Boolean = false): Status(), IAutopilotPreLaunchStatus {
override fun isException(): Boolean {
return isError
return isError && CallerAutoPilotStatusListenerManager.getAutoPilotStatusInfo().state != IMoGoAutopilotStatusListener.STATUS_AUTOPILOT_RUNNING
}
override fun equals(other: Any?): Boolean {
@@ -426,7 +428,7 @@ data class DoubleFlashStatus(val type: Int, var isError: Boolean = false): Statu
data class GearStatus(val value: Int, var isError: Boolean = false): Status(), IAutopilotPreLaunchStatus {
override fun isException(): Boolean {
return isError
return isError && CallerAutoPilotStatusListenerManager.getAutoPilotStatusInfo().state != IMoGoAutopilotStatusListener.STATUS_AUTOPILOT_RUNNING
}
override fun equals(other: Any?): Boolean {
@@ -462,7 +464,7 @@ enum class RouteState {
data class RouteDownloadStatus(val lineId: Long = -1, val state: RouteState = RouteNone): Status(), IAutopilotPreLaunchStatus {
override fun isException(): Boolean {
return state == RouteStart || state == RouteFailed
return (state == RouteStart || state == RouteFailed) && CallerAutoPilotStatusListenerManager.getAutoPilotStatusInfo().state != IMoGoAutopilotStatusListener.STATUS_AUTOPILOT_RUNNING
}
override fun equals(other: Any?): Boolean {

2
core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/angle/MoGoVisualAngleChangeProvider.kt
View File

@@ -283,7 +283,7 @@ class MoGoVisualAngleChangeProvider: IMoGoVisualAngleChangeProvider {
val car = if (isGps) CallerChassisLocationWGS84ListenerManager.getChassisLocationWGS84() else CallerChassisLocationGCJ02ListenerManager.getChassisLocationGCJ02()
val rotateAngle = MapAutoApi.getAngle(car.longitude, car.latitude, target.target.poi_lon, target.target.poi_lat)
Log.d(TAG, "angle->:$rotateAngle")
it.animateTo(0.0 ,0.0,1f, -rotateAngle,11.5f,28f,3000,target.target.isGps)
it.animateTo(0.0 ,0.0,1f, -rotateAngle,11.5f,12f,3000,target.target.isGps)
}
} else {
if (target.target is Default && previous != null && (previous.target is RoadEvent)) {

4
core/mogo-core-function-api/src/main/java/com/mogo/eagle/core/function/api/devatools/IDevaToolsProvider.kt
View File

@@ -307,4 +307,8 @@ interface IDevaToolsProvider : IProvider {
fun registerRouteDownloadListener(tag: String, block:(state: Int) -> Unit)
fun unRegisterRouteDownloadListener(tag: String)
fun registerStartAutopilotStateListener(tag: String, block: (isCanStartAutopilot: Boolean) -> Unit)
fun unRegisterStartAutopilotStateListener(tag: String)
}

96
core/mogo-core-function-call/src/main/java/com/mogo/eagle/core/function/call/autopilot/CallerAutoPilotControlManager.kt
View File

@@ -70,6 +70,21 @@ object CallerAutoPilotControlManager {
* @param controlParameters 开启自动驾驶的控制参数
*/
fun startAutoPilot(controlParameters: AutopilotControlParameters?) {
if (controlParameters == null) {
//LogUtils.eTag(TAG, "自动驾驶控制参数异常，请检查参数信息")
return
}
providerApi?.startAutoPilot(controlParameters)
// 更新记录在全局的控制参数
CallerAutoPilotStatusListenerManager.updateAutopilotControlParameters(controlParameters)
}
/**
* 启自驾前，是否要拦截
* @param isShowTip true: 展示Toast+语音提示; false:不展示Toast+语音提示
*
*/
fun isCanStartAutopilot(isShowTip: Boolean): Boolean {
/**
* 方向盘： 1<<0
* 油门 : 1<<1
@@ -80,49 +95,52 @@ object CallerAutoPilotControlManager {
*/
val exceptionValue = CallerDevaToolsManager.getExceptionStatusBeforeLaunchAutopilot()
if (exceptionValue != 0) {
val sb = StringBuilder("请检查车辆")
if ((exceptionValue and 1) != 0) {
sb.append("方向盘$")
}
if (((exceptionValue and (1 shl 1)) != 0)) {
sb.append("油门$")
}
if ((exceptionValue and (1 shl 2)) != 0) {
sb.append("刹车$")
}
if ((exceptionValue and (1 shl 3)) != 0) {
sb.append("双闪$")
}
if ((exceptionValue and (1 shl 4)) != 0) {
sb.append("档位$")
}
if ((exceptionValue and (1 shl 5)) != 0 || ((exceptionValue and (1 shl 6)) != 0)) {
sb.setLength(0)
sb.append("轨迹未就绪，请稍后重试")
}
val voiceText = sb.toString().let { str ->
val count = str.count { it == '$' }
if (count == 1) {
str.replace("$", "")
} else {
str.removeSuffix("$").replace("$", "、")
if (isShowTip) {
val sb = StringBuilder("请检查车辆")
if ((exceptionValue and 1) != 0) {
sb.append("方向盘$")
}
if (((exceptionValue and (1 shl 1)) != 0)) {
sb.append("油门$")
}
if ((exceptionValue and (1 shl 2)) != 0) {
sb.append("刹车$")
}
if ((exceptionValue and (1 shl 3)) != 0) {
sb.append("双闪$")
}
if ((exceptionValue and (1 shl 4)) != 0) {
sb.append("档位$")
}
if ((exceptionValue and (1 shl 5)) != 0 || ((exceptionValue and (1 shl 6)) != 0)) {
sb.setLength(0)
sb.append("轨迹未就绪，请稍后重试")
}
val voiceText = sb.toString().let { str ->
val count = str.count { it == '$' }
if (count == 1) {
str.replace("$", "")
} else {
str.removeSuffix("$").replace("$", "、")
}
}
Logger.d(TAG, "voiceText: $voiceText")
ToastUtils.showShort(voiceText)
AppStateManager.currentActivity()?.also {
AIAssist.getInstance(it).speakTTSVoice(voiceText)
}
}
Logger.d(TAG, "voiceText: $voiceText")
ToastUtils.showShort(voiceText)
AppStateManager.currentActivity()?.also {
AIAssist.getInstance(it).speakTTSVoice(voiceText)
}
return
return false
}
return true
}
if (controlParameters == null) {
//LogUtils.eTag(TAG, "自动驾驶控制参数异常，请检查参数信息")
return
}
providerApi?.startAutoPilot(controlParameters)
// 更新记录在全局的控制参数
CallerAutoPilotStatusListenerManager.updateAutopilotControlParameters(controlParameters)
fun addStartAutopilotStateListener(tag: String, listener: (Boolean) -> Unit) {
CallerDevaToolsManager.registerStartAutopilotStateListener(tag, listener)
}
fun removeStartAutopilotStateListener(tag: String) {
CallerDevaToolsManager.unRegisterStartAutopilotStateListener(tag)
}
/**

8
core/mogo-core-function-call/src/main/java/com/mogo/eagle/core/function/call/devatools/CallerDevaToolsManager.kt
View File

@@ -382,4 +382,12 @@ object CallerDevaToolsManager {
fun getExceptionStatusBeforeLaunchAutopilot(): Int {
return devaToolsProviderApi?.getExceptionStatusBeforeLaunchAutopilot() ?: 0
}
fun registerStartAutopilotStateListener(tag: String, block: (isCanStartAutopilot: Boolean) -> Unit) {
devaToolsProviderApi?.registerStartAutopilotStateListener(tag, block)
}
fun unRegisterStartAutopilotStateListener(tag: String) {
devaToolsProviderApi?.unRegisterStartAutopilotStateListener(tag)
}
}

9
core/mogo-core-utils/src/main/java/com/mogo/eagle/core/utilcode/util/VLogUtils.kt
View File

@@ -4,6 +4,7 @@ import android.os.Handler
import android.os.HandlerThread
import android.util.Log
import com.apm.insight.log.VLog
import com.mogo.eagle.core.utilcode.mogo.logger.Logger
class VLogUtils {
@@ -22,7 +23,7 @@ class VLogUtils {
handler.post {
runCatching {
handleMsg("time:$time, msg:$msg", max).forEach {
VLog.d(tag, it)
Logger.d(tag, it)
}
}
}
@@ -34,7 +35,7 @@ class VLogUtils {
handler.post {
runCatching {
handleMsg("time:$time, msg:$msg", max).forEach {
VLog.v(tag, it)
Logger.v(tag, it)
}
}
}
@@ -46,7 +47,7 @@ class VLogUtils {
handler.post {
runCatching {
handleMsg("time:$time, msg:$msg", max).forEach {
VLog.w(tag, it)
Logger.w(tag, it)
}
}
}
@@ -58,7 +59,7 @@ class VLogUtils {
handler.post {
runCatching {
handleMsg("time:$time, msg:$msg", max).forEach {
VLog.e(tag, it)
Logger.e(tag, it)
}
}
}

22
gradle/bytex/bytex.gradle
View File

@@ -4,19 +4,19 @@ if (!isAndroidTest) {
apply plugin: 'bytex'
ByteX {
enable false
enable true
enableInDebug true
}
// apply from: rootProject.file('gradle/bytex/bytex_config.gradle')
// apply from: rootProject.file('gradle/bytex/bytex_router.gradle')
// apply from: rootProject.file('gradle/bytex/bytex_log_chain.gradle')
// apply from: rootProject.file('gradle/bytex/bytex_sticky_service.gradle')
// apply from: rootProject.file('gradle/bytex/bytex_thread_opt.gradle')
// apply from: rootProject.file('gradle/bytex/bytex_lancetx.gradle')
// apply from: rootProject.file('gradle/bytex/bytex_apm.gradle')
// apply from: rootProject.file('gradle/bytex/bytex_systrace.gradle')
// apply from: rootProject.file('gradle/bytex/bytex_matrix.gradle')
// apply from: rootProject.file('gradle/bytex/bytex_handler_proxy.gradle')
apply from: rootProject.file('gradle/bytex/bytex_config.gradle')
apply from: rootProject.file('gradle/bytex/bytex_router.gradle')
apply from: rootProject.file('gradle/bytex/bytex_log_chain.gradle')
apply from: rootProject.file('gradle/bytex/bytex_sticky_service.gradle')
apply from: rootProject.file('gradle/bytex/bytex_thread_opt.gradle')
apply from: rootProject.file('gradle/bytex/bytex_lancetx.gradle')
apply from: rootProject.file('gradle/bytex/bytex_apm.gradle')
apply from: rootProject.file('gradle/bytex/bytex_systrace.gradle')
apply from: rootProject.file('gradle/bytex/bytex_matrix.gradle')
apply from: rootProject.file('gradle/bytex/bytex_handler_proxy.gradle')
// apply from: rootProject.file('gradle/bytex/bytex_btrace.gradle')
}

2
gradle/bytex/bytex_handler_proxy.gradle
View File

@@ -1,6 +1,6 @@
apply plugin: 'bytex.handler_proxy'
handler_proxy {
enable rootProject.isJunkDetectEnable()
enable false
enableInDebug rootProject.isJunkDetectEnable()
}

2
gradle/bytex/bytex_lancetx.gradle
View File

@@ -1,6 +1,6 @@
apply plugin: 'LancetX'
LancetX {
enable false
enable true
enableInDebug true
blackList = [
"com.mogo.launcher.lancet.jank",

2
gradle/bytex/bytex_matrix.gradle
View File

@@ -2,7 +2,7 @@ if (!rootProject.isReleaseBuild()) {
apply plugin: 'bytex.matrix'
matrix {
trace {
enable = false //if you don't want to use trace canary, set false
enable = true //if you don't want to use trace canary, set false
baseMethodMapFile = "${project.buildDir}/matrix_output/customMethodMapping.txt"
blackListFile = "${project.projectDir}/matrixTrace/blackMethodList.txt"
}

2
gradle/bytex/bytex_thread_opt.gradle
View File

@@ -1,6 +1,6 @@
apply plugin: 'bytex.threadOpt'
thread_opt {
enable false
enable true
enableInDebug true
logLevel "DEBUG"
trace_enable !rootProject.isReleaseBuild()