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Merge branch 'release_robotaxi-d-app-module_266_220425_2.6.6.1' into 'master'

Browse Source 
Release robotaxi d app module 266 220425 2.6.6.1

See merge request zhjt/AndroidApp/MoGoEagleEye!15
This commit is contained in:
pangfan
2022-05-09 06:37:08 +00:00
parent 1c3c4a7fd7 6ab6caccc7
commit 753d244af6
123 changed files with 2933 additions and 581 deletions
Download Patch File Download Diff File Expand all files Collapse all files

26
OCH/mogo-och-bus-passenger/src/main/java/com/mogo/och/bus/passenger/adapter/BusPassengerLineStationsAdapter.java
View File

@@ -28,6 +28,7 @@ public class BusPassengerLineStationsAdapter extends RecyclerView.Adapter<Recycl
private static final int LINE_START_STATION_ITEM = 0;
private static final int LINE_END_STATION_ITEM = 1;
private static final int LINE_MIDDLE_STATION_ITEM = 2;
private String preArrivingStation = "";
public BusPassengerLineStationsAdapter(Context context, List<BusPassengerStation> stations){
this.mContext = context;
@@ -57,41 +58,58 @@ public class BusPassengerLineStationsAdapter extends RecyclerView.Adapter<Recycl
BusPassengerStation station = mStations.get(position);
if (holder instanceof StartStationViewHolder){
StartStationViewHolder viewHolder = (StartStationViewHolder)holder;
viewHolder.startStationName.setText(station.getName());
if (!preArrivingStation.equals(station.getName())){
viewHolder.startStationName.setText(station.getName());
}
if (station.getDrivingStatus() == STATION_STATUS_STOPPED && !station.isLeaving()){//到站
viewHolder.curStationBg.setVisibility(View.VISIBLE);
viewHolder.stationCircle.setVisibility(View.GONE);
viewHolder.startStationName.setTextColor(mContext.getResources().getColor(R.color.bus_p_current_station_txt_color));
viewHolder.startStationName.setSelected(true);
preArrivingStation = station.getName();
}else {
viewHolder.curStationBg.setVisibility(View.GONE);
viewHolder.stationCircle.setVisibility(View.VISIBLE);
viewHolder.startStationName.setTextColor(mContext.getResources().getColor(R.color.bus_p_station_txt_color));
viewHolder.startStationName.setSelected(false);
}
}else if (holder instanceof EndStationViewHolder){
EndStationViewHolder viewHolder = (EndStationViewHolder)holder;
viewHolder.endStationName.setText(station.getName());
if (!preArrivingStation.equals(station.getName())){
viewHolder.endStationName.setText(station.getName());
}
BusPassengerStation preStation = mStations.get(position -1);
if ((preStation.getDrivingStatus() == STATION_STATUS_STOPPED && preStation.isLeaving())
|| (station.getDrivingStatus() == STATION_STATUS_STOPPED && !station.isLeaving())){//到站
viewHolder.curStationBg.setVisibility(View.VISIBLE);
viewHolder.stationCircle.setVisibility(View.GONE);
viewHolder.endStationName.setTextColor(mContext.getResources().getColor(R.color.bus_p_current_station_txt_color));
viewHolder.endStationName.setSelected(true);
preArrivingStation = station.getName();
}else {
viewHolder.curStationBg.setVisibility(View.GONE);
viewHolder.stationCircle.setVisibility(View.VISIBLE);
viewHolder.endStationName.setTextColor(mContext.getResources().getColor(R.color.bus_p_station_txt_color));
viewHolder.endStationName.setSelected(false);
}
}else {
MiddleStationViewHolder viewHolder = (MiddleStationViewHolder)holder;
viewHolder.middleStationName.setText(station.getName());
if (!preArrivingStation.equals(station.getName())){
viewHolder.middleStationName.setText(station.getName());
}
BusPassengerStation preStation = mStations.get(position -1);
if ((preStation.getDrivingStatus() == STATION_STATUS_STOPPED && preStation.isLeaving())
|| (station.getDrivingStatus() == STATION_STATUS_STOPPED && !station.isLeaving())) {//到站
viewHolder.curStationBg.setVisibility(View.VISIBLE);
viewHolder.middleStationName.setTextColor(mContext.getResources().getColor(R.color.bus_p_current_station_txt_color));
viewHolder.stationCircle.setVisibility(View.GONE);
viewHolder.middleStationName.setSelected(true);
preArrivingStation = station.getName();
}else {
viewHolder.curStationBg.setVisibility(View.GONE);
viewHolder.middleStationName.setTextColor(mContext.getResources().getColor(R.color.bus_p_station_txt_color));
viewHolder.stationCircle.setVisibility(View.VISIBLE);
viewHolder.middleStationName.setSelected(false);
}
}
}
@@ -144,9 +162,11 @@ class MiddleStationViewHolder extends RecyclerView.ViewHolder{
public TextView middleStationName;
public ImageView curStationBg;
public ImageView stationCircle;
public MiddleStationViewHolder(@NonNull View itemView) {
super(itemView);
middleStationName = itemView.findViewById(R.id.bus_p_middle_station);
curStationBg = itemView.findViewById(R.id.bus_p_middle_tag);
stationCircle = itemView.findViewById(R.id.bus_p_middle_circle);
}
}

4
OCH/mogo-och-bus-passenger/src/main/java/com/mogo/och/bus/passenger/ui/BusPassengerMapDirectionView.java
View File

@@ -198,13 +198,13 @@ public class BusPassengerMapDirectionView
}
boundsBuilder.include(currentLatLng);
//第二个参数为四周留空宽度
mAMap.animateCamera(CameraUpdateFactory.newLatLngBoundsRect(boundsBuilder.build(),100,100,100,100));
mAMap.moveCamera(CameraUpdateFactory.newLatLngBoundsRect(boundsBuilder.build(),100,100,100,100));
}else {
//设置希望展示的地图缩放级别
CameraPosition cameraPosition = new CameraPosition.Builder()
.target(mCarMarker.getPosition()).tilt(0).bearing(location.getBearing()).zoom(zoomLevel).build();
mAMap.animateCamera(CameraUpdateFactory.newCameraPosition(cameraPosition));
mAMap.moveCamera(CameraUpdateFactory.newCameraPosition(cameraPosition));
}
}

14
OCH/mogo-och-bus-passenger/src/main/java/com/mogo/och/bus/passenger/ui/BusPassengerRouteFragment.java
View File

@@ -14,7 +14,6 @@ import androidx.recyclerview.widget.LinearLayoutManager;
import androidx.recyclerview.widget.RecyclerView;
import com.amap.api.maps.model.LatLng;
import com.mogo.eagle.core.data.app.AppConfigInfo;
import com.mogo.eagle.core.function.call.hmi.CallerHmiManager;
import com.mogo.eagle.core.utilcode.mogo.logger.CallerLogger;
import com.mogo.eagle.core.utilcode.util.UiThreadHandler;
@@ -36,7 +35,8 @@ import static com.mogo.eagle.core.utilcode.mogo.logger.scene.SceneConstant.M_BUS
* @date: 2022/4/12
*/
public class BusPassengerRouteFragment extends
BusPassengerBaseFragment<BusPassengerRouteFragment, BaseBusPassengerPresenter> implements IBusPassengerMapViewCallback {
BusPassengerBaseFragment<BusPassengerRouteFragment, BaseBusPassengerPresenter>
implements IBusPassengerMapViewCallback {
private final String TAG = "BusPassengerRouteFragment";
@@ -224,6 +224,10 @@ public class BusPassengerRouteFragment extends
mStationsList.addAll(stations);
mAdapter.notifyDataSetChanged();
if (currentStationIndex > -1){
updateCurrentStation(currentStationIndex);
}
if (currentStationIndex == 0 && isArrived){ //到达始发站且并未出发， 恢复站点marker 清楚路径 清空路径点
clearPolyline();
if (mMapDirectionView != null) mMapDirectionView.clearCoordinatesLatLng();
@@ -282,4 +286,10 @@ public class BusPassengerRouteFragment extends
int speedKM = (int) (Math.abs(speed) * 3.6F);
mSpeedTv.setText(String.valueOf(speedKM));
}
public void updateCurrentStation(int position) {
if (mStationsListRv != null){
mStationsListRv.smoothScrollToPosition(position);
}
}
}

6
OCH/mogo-och-bus-passenger/src/main/res/drawable/bg_bus_p_middle_station_circle.xml Normal file
View File

@@ -0,0 +1,6 @@
<?xml version="1.0" encoding="utf-8"?>
<shape xmlns:android="http://schemas.android.com/apk/res/android"
android:shape="rectangle">
<solid android:color="@color/bus_p_tag_line_color" />
<corners android:radius="@dimen/bus_p_station_circle_radius_size" />
</shape>

4
OCH/mogo-och-bus-passenger/src/main/res/layout/bus_p_base_fragment.xml
View File

@@ -53,13 +53,15 @@
<TextView
android:id="@+id/bus_p_cur_station_name"
android:layout_width="wrap_content"
android:layout_width="@dimen/bus_p_curent_station_txt_width"
android:layout_height="wrap_content"
android:layout_marginTop="@dimen/dp_10"
android:textColor="@color/bus_p_panel_cur_station_txt_color"
android:textSize="@dimen/bus_p_curent_station_txt_size1"
android:textStyle="bold"
android:text="-- --"
android:maxLines="1"
android:ellipsize="end"
android:elevation="@dimen/dp_10"
app:layout_constraintLeft_toLeftOf="@+id/bus_p_cur_station_title"
app:layout_constraintTop_toBottomOf="@+id/bus_p_cur_station_title" />

6
OCH/mogo-och-bus-passenger/src/main/res/layout/bus_p_route_fragment.xml
View File

@@ -145,10 +145,12 @@
<androidx.recyclerview.widget.RecyclerView
android:id="@+id/bus_p_line_stations_rl"
android:layout_width="match_parent"
android:layout_height="wrap_content"
android:layout_marginTop="@dimen/bus_p_driver_number_plate_margin_top"
android:layout_height="match_parent"
android:layout_marginTop="@dimen/dp_280"
android:paddingBottom="@dimen/dp_30"
android:paddingLeft="@dimen/bus_p_route_info_margin_left"
android:paddingRight="@dimen/bus_p_route_info_margin_right"
android:requiresFadingEdge="vertical"
app:layout_constraintLeft_toLeftOf="@+id/bus_p_driver_num_plate_tv"
app:layout_constraintTop_toBottomOf="@+id/dividing_line_2" />

19
OCH/mogo-och-bus-passenger/src/main/res/layout/bus_p_stations_end_item.xml
View File

@@ -1,12 +1,13 @@
<?xml version="1.0" encoding="utf-8"?>
<androidx.constraintlayout.widget.ConstraintLayout xmlns:android="http://schemas.android.com/apk/res/android"
android:layout_width="match_parent"
android:layout_height="@dimen/bus_p_station_item_height"
android:layout_height="wrap_content"
android:minHeight="@dimen/bus_p_station_item_height"
xmlns:app="http://schemas.android.com/apk/res-auto">
<ImageView
android:layout_width="@dimen/bus_p_station_tag_line_width"
android:layout_height="@dimen/bus_p_station_tag_line_height"
android:layout_height="@dimen/bus_p_station_tag_line_height1"
android:background="@color/bus_p_tag_line_color"
android:layout_marginLeft="@dimen/dp_7"
app:layout_constraintTop_toTopOf="parent"
@@ -14,17 +15,21 @@
<TextView
android:id="@+id/bus_p_end_station"
android:layout_width="wrap_content"
android:layout_width="match_parent"
android:layout_height="wrap_content"
android:text="--"
android:textSize="@dimen/bus_p_station_txt_size"
android:textStyle="bold"
android:includeFontPadding = "false"
android:singleLine="true"
android:ellipsize="marquee"
android:marqueeRepeatLimit="marquee_forever"
android:layout_marginRight="@dimen/dp_60"
android:textColor="@color/bus_p_station_txt_color"
android:layout_marginLeft="@dimen/dp_45"
app:layout_constraintLeft_toLeftOf="parent"
app:layout_constraintTop_toTopOf="@+id/bus_p_end_tag"
app:layout_constraintBottom_toBottomOf="@+id/bus_p_end_tag"/>
app:layout_constraintRight_toLeftOf="@+id/bus_p_end_tag"
app:layout_constraintBottom_toBottomOf="parent"/>
<ImageView
android:id="@+id/bus_p_end_circle"
@@ -38,9 +43,11 @@
android:id="@+id/bus_p_cur_end_station_tag"
android:layout_width="@dimen/bus_p_cur_station_circle_width"
android:layout_height="wrap_content"
android:scaleType="fitXY"
android:background="@drawable/bg_bus_p_arrived_station"
app:layout_constraintLeft_toLeftOf="parent"
app:layout_constraintBottom_toBottomOf="@+id/bus_p_end_station"/>
app:layout_constraintBottom_toBottomOf="@+id/bus_p_end_station"
app:layout_constraintTop_toTopOf="@+id/bus_p_end_station"/>
<ImageView
android:id="@+id/bus_p_end_tag"

25
OCH/mogo-och-bus-passenger/src/main/res/layout/bus_p_stations_middle_item.xml
View File

@@ -1,7 +1,8 @@
<?xml version="1.0" encoding="utf-8"?>
<androidx.constraintlayout.widget.ConstraintLayout xmlns:android="http://schemas.android.com/apk/res/android"
android:layout_width="match_parent"
android:layout_height="@dimen/bus_p_station_item_middle_height"
android:layout_height="wrap_content"
android:minHeight="@dimen/bus_p_station_item_middle_height"
xmlns:app="http://schemas.android.com/apk/res-auto">
<ImageView
@@ -20,11 +21,17 @@
app:layout_constraintLeft_toLeftOf="parent"/>
<TextView
android:id="@+id/bus_p_middle_station"
android:layout_width="wrap_content"
android:layout_width="@dimen/bus_p_station_txt_width"
android:layout_height="wrap_content"
android:text="--"
android:textSize="@dimen/bus_p_station_txt_size"
android:textStyle="bold"
android:layout_marginTop="@dimen/dp_20"
android:layout_marginBottom="@dimen/dp_20"
android:singleLine="true"
android:ellipsize="marquee"
android:marqueeRepeatLimit="marquee_forever"
android:layout_marginRight="@dimen/dp_60"
android:includeFontPadding = "false"
android:textColor="@color/bus_p_current_station_txt_color"
android:layout_marginLeft="@dimen/dp_45"
@@ -32,15 +39,23 @@
app:layout_constraintTop_toTopOf="parent"
app:layout_constraintBottom_toBottomOf="parent"/>
<ImageView
android:id="@+id/bus_p_middle_circle"
android:layout_width="@dimen/bus_p_station_circle_width_height"
android:layout_height="@dimen/bus_p_station_circle_width_height"
android:background="@drawable/bg_bus_p_middle_station_circle"
app:layout_constraintLeft_toLeftOf="parent"
app:layout_constraintTop_toTopOf="@+id/bus_p_middle_station"
app:layout_constraintBottom_toBottomOf="@+id/bus_p_middle_station"/>
<ImageView
android:id="@+id/bus_p_middle_tag"
android:layout_width="@dimen/bus_p_cur_station_circle_width"
android:layout_height="wrap_content"
android:scaleType="fitXY"
android:background="@drawable/bg_bus_p_arrived_station"
app:layout_constraintLeft_toLeftOf="parent"
app:layout_constraintTop_toTopOf="parent"
app:layout_constraintBottom_toBottomOf="parent"/>
app:layout_constraintTop_toTopOf="@+id/bus_p_middle_station"
app:layout_constraintBottom_toBottomOf="@+id/bus_p_middle_station"/>
</androidx.constraintlayout.widget.ConstraintLayout>

25
OCH/mogo-och-bus-passenger/src/main/res/layout/bus_p_stations_start_item.xml
View File

@@ -1,12 +1,13 @@
<?xml version="1.0" encoding="utf-8"?>
<androidx.constraintlayout.widget.ConstraintLayout xmlns:android="http://schemas.android.com/apk/res/android"
android:layout_width="match_parent"
android:layout_height="@dimen/bus_p_station_item_height"
android:layout_height="wrap_content"
android:minHeight="@dimen/bus_p_station_item_height"
xmlns:app="http://schemas.android.com/apk/res-auto">
<ImageView
android:layout_width="@dimen/bus_p_station_tag_line_width"
android:layout_height="@dimen/bus_p_station_tag_line_height"
android:layout_height="@dimen/bus_p_station_tag_line_height1"
android:background="@color/bus_p_tag_line_color"
android:layout_marginLeft="@dimen/dp_7"
app:layout_constraintBottom_toBottomOf="parent"
@@ -14,17 +15,21 @@
<TextView
android:id="@+id/bus_p_start_station"
android:layout_width="wrap_content"
android:layout_width="match_parent"
android:layout_height="wrap_content"
android:layout_marginLeft="@dimen/dp_45"
android:includeFontPadding="false"
android:text="--"
android:singleLine="true"
android:ellipsize="marquee"
android:marqueeRepeatLimit="marquee_forever"
android:textColor="@color/bus_p_station_txt_color"
android:textSize="@dimen/bus_p_station_txt_size"
android:textStyle="bold"
android:includeFontPadding = "false"
android:textColor="@color/bus_p_station_txt_color"
android:layout_marginLeft="@dimen/dp_45"
android:layout_marginRight="@dimen/dp_60"
app:layout_constraintRight_toLeftOf="@+id/bus_p_start_tag"
app:layout_constraintLeft_toLeftOf="parent"
app:layout_constraintTop_toTopOf="@+id/bus_p_start_tag"
app:layout_constraintBottom_toBottomOf="@+id/bus_p_start_tag"/>
app:layout_constraintTop_toTopOf="parent" />
<ImageView
android:id="@+id/bus_p_start_circle"
@@ -39,9 +44,11 @@
android:id="@+id/bus_p_cur_start_station_tag"
android:layout_width="@dimen/bus_p_cur_station_circle_width"
android:layout_height="wrap_content"
android:scaleType="fitXY"
android:background="@drawable/bg_bus_p_arrived_station"
app:layout_constraintLeft_toLeftOf="parent"
app:layout_constraintTop_toTopOf="@+id/bus_p_start_station"/>
app:layout_constraintTop_toTopOf="@+id/bus_p_start_station"
app:layout_constraintBottom_toBottomOf="@+id/bus_p_start_station"/>
<ImageView
android:id="@+id/bus_p_start_tag"

6
OCH/mogo-och-bus-passenger/src/main/res/values-sw320dp/dimens.xml
View File

@@ -43,7 +43,8 @@
<dimen name="bus_p_station_tag_txt_size">36px</dimen>
<dimen name="bus_p_station_item_height">80px</dimen>
<dimen name="bus_p_station_item_middle_height">100px</dimen>
<dimen name="bus_p_station_tag_line_height">50px</dimen>
<dimen name="bus_p_station_tag_line_height">80px</dimen>
<dimen name="bus_p_station_tag_line_height1">60px</dimen>
<dimen name="bus_p_station_tag_line_width">6px</dimen>
<dimen name="bus_p_curent_station_panel_width">638px</dimen>
@@ -52,4 +53,7 @@
<dimen name="bus_p_curent_station_txt_size">44px</dimen>
<dimen name="bus_p_curent_station_txt_size1">55px</dimen>
<dimen name="bus_p_curent_station_tip_size1">40px</dimen>
<dimen name="bus_p_curent_station_txt_width">584px</dimen>
<dimen name="bus_p_station_txt_width">550px</dimen>
</resources>

6
OCH/mogo-och-bus-passenger/src/main/res/values/dimens.xml
View File

@@ -44,7 +44,8 @@
<dimen name="bus_p_station_tag_txt_size">36px</dimen>
<dimen name="bus_p_station_item_height">80px</dimen>
<dimen name="bus_p_station_item_middle_height">100px</dimen>
<dimen name="bus_p_station_tag_line_height">50px</dimen>
<dimen name="bus_p_station_tag_line_height">80px</dimen>
<dimen name="bus_p_station_tag_line_height1">60px</dimen>
<dimen name="bus_p_station_tag_line_width">6px</dimen>
<dimen name="bus_p_curent_station_panel_width">638px</dimen>
@@ -53,4 +54,7 @@
<dimen name="bus_p_curent_station_txt_size">44px</dimen>
<dimen name="bus_p_curent_station_txt_size1">55px</dimen>
<dimen name="bus_p_curent_station_tip_size1">40px</dimen>
<dimen name="bus_p_curent_station_txt_width">584px</dimen>
<dimen name="bus_p_station_txt_width">550px</dimen>
</resources>

1
OCH/mogo-och-bus/build.gradle
View File

@@ -47,6 +47,7 @@ dependencies {
implementation rootProject.ext.dependencies.arouter
annotationProcessor rootProject.ext.dependencies.aroutercompiler
implementation rootProject.ext.dependencies.androidxconstraintlayout
implementation rootProject.ext.dependencies.amapnavi3dmap
implementation rootProject.ext.dependencies.rxjava
implementation rootProject.ext.dependencies.rxandroid

30
OCH/mogo-och-bus/src/main/java/com/mogo/och/bus/bean/BusRoutePlanningUpdateReqBean.java Normal file
View File

@@ -0,0 +1,30 @@
package com.mogo.och.bus.bean;
import java.util.List;
/**
* Created by pangfan on 2021/8/19
*
* 订单状态更新请求数据结构
*/
public class BusRoutePlanningUpdateReqBean {
public String sn;
public int lineId;
public int startSiteId;
public int endSiteId;
public List<Result> points;
public static class Result {
public Double latitude;
public Double longitude;
}
public BusRoutePlanningUpdateReqBean(String sn, int lineId, int startSiteId
, int endSiteId, List<Result> points) {
this.sn = sn;
this.lineId = lineId;
this.startSiteId = startSiteId;
this.endSiteId = endSiteId;
this.points = points;
}
}

7
OCH/mogo-och-bus/src/main/java/com/mogo/och/bus/fragment/BaseBusTabFragment.java
View File

@@ -41,6 +41,7 @@ import com.mogo.module.common.constants.DataTypes;
import com.mogo.module.common.view.OnPreventFastClickListener;
import com.mogo.och.bus.R;
import com.mogo.och.bus.ui.BusTrafficLightView;
import com.mogo.och.bus.util.BDRouteDataTestUtils;
import com.mogo.och.bus.view.BusArcView;
import com.mogo.och.bus.view.SlidePanelView;
@@ -198,6 +199,8 @@ public abstract class BaseBusTabFragment<V extends IView, P extends Presenter<V>
debugArrivedStation()
);
findViewById(R.id.btnAutopilotRoute).setOnClickListener(view -> debugArrivedRoute());
tvOperationStatus.setOnClickListener(view -> {
onChangeOperationStatus();
});
@@ -227,6 +230,10 @@ public abstract class BaseBusTabFragment<V extends IView, P extends Presenter<V>
CallerHmiManager.INSTANCE.registerUpgradeTipsCallback(() -> mUpgradeTipIv);
}
private void debugArrivedRoute() {
BDRouteDataTestUtils.converToRouteData();
}
@Override
public void onDestroyView() {
super.onDestroyView();

2
OCH/mogo-och-bus/src/main/java/com/mogo/och/bus/presenter/BusLineModel.java → OCH/mogo-och-bus/src/main/java/com/mogo/och/bus/model/BusLineModel.java
View File

@@ -1,4 +1,4 @@
package com.mogo.och.bus.presenter;
package com.mogo.och.bus.model;
import android.content.Context;

72
OCH/mogo-och-bus/src/main/java/com/mogo/och/bus/presenter/BusOrderModel.java → OCH/mogo-och-bus/src/main/java/com/mogo/och/bus/model/BusOrderModel.java
View File

@@ -1,4 +1,4 @@
package com.mogo.och.bus.presenter;
package com.mogo.och.bus.model;
import static com.mogo.eagle.core.utilcode.mogo.logger.scene.SceneConstant.M_BUS;
import static com.mogo.och.bus.constant.BusConst.STATION_STATUS_STOPPED;
@@ -9,15 +9,19 @@ import android.os.Handler;
import android.os.Message;
import android.text.TextUtils;
import androidx.annotation.NonNull;
import com.mogo.commons.AbsMogoApplication;
import com.mogo.commons.debug.DebugConfig;
import com.mogo.commons.voice.AIAssist;
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.function.api.autopilot.IMoGoAutopilotPlanningListener;
import com.mogo.eagle.core.function.api.autopilot.IMoGoAutopilotStatusListener;
import com.mogo.eagle.core.function.call.autopilot.CallerAutoPilotManager;
import com.mogo.eagle.core.function.call.autopilot.CallerAutoPilotStatusListenerManager;
import com.mogo.eagle.core.function.call.autopilot.CallerAutopilotPlanningListenerManager;
import com.mogo.eagle.core.utilcode.mogo.logger.CallerLogger;
import com.mogo.eagle.core.utilcode.mogo.toast.TipToast;
import com.mogo.eagle.core.utilcode.util.NetworkUtils;
@@ -27,6 +31,7 @@ import com.mogo.module.common.MogoApisHandler;
import com.mogo.och.bus.bean.BusOperationStatusResponse;
import com.mogo.och.bus.bean.BusOrderBean;
import com.mogo.och.bus.bean.BusOrdersResponse;
import com.mogo.och.bus.bean.BusRoutePlanningUpdateReqBean;
import com.mogo.och.bus.bean.BusRoutesResponse;
import com.mogo.och.bus.bean.BusRoutesResult;
import com.mogo.och.bus.bean.BusStationBean;
@@ -38,7 +43,9 @@ import com.mogo.och.bus.callback.ISlidePannelHideCallback;
import com.mogo.och.bus.constant.BusConst;
import com.mogo.och.bus.net.BusServiceManager;
import com.mogo.och.bus.net.IBusServiceCallback;
import com.mogo.och.bus.presenter.BusModelLoopManager;
import com.mogo.och.bus.util.BusAnalyticsUtil;
import com.mogo.och.bus.util.CoordinateCalculateRouteUtil;
import com.mogo.och.bus.util.PinYinUtil;
import com.mogo.service.statusmanager.IMogoStatusChangedListener;
import com.mogo.service.statusmanager.StatusDescriptor;
@@ -94,6 +101,8 @@ public class BusOrderModel {
private ISlidePannelHideCallback slidePannelHideCallback;
private IBusControllerStatusCallback mControllerStatusCallback; //Model->Presenter：VR mode等
List<BusRoutePlanningUpdateReqBean.Result> points = new ArrayList<>();//全路径信息
private boolean hadQueryLeaveAwayPassager = false;
private final Handler handler = new Handler(new Handler.Callback() {
@@ -135,6 +144,9 @@ public class BusOrderModel {
.getApis()
.getStatusManagerApi()
.registerStatusChangedListener( TAG, StatusDescriptor.VR_MODE, mMogoStatusChangedListener );
//自动驾驶路线规划接口
CallerAutopilotPlanningListenerManager.INSTANCE.addListener(TAG, moGoAutopilotPlanningListener);
}
//2022.1.28
@@ -194,6 +206,57 @@ public class BusOrderModel {
this.mControllerStatusCallback = callback;
}
private final IMoGoAutopilotPlanningListener moGoAutopilotPlanningListener = new IMoGoAutopilotPlanningListener() {
@Override
public void onAutopilotTrajectory(@NonNull List<MessagePad.TrajectoryPoint> trajectoryInfos) {
}
@Override
public void onAutopilotRotting(MessagePad.GlobalPathResp routeList) {
if (null != routeList && routeList.getWayPointsList().size() > 0){
points.clear();
points.addAll(CoordinateCalculateRouteUtil.coordinateConverterWgsToGcjList(mContext,routeList.getWayPointsList()));
updateOrderRoute();
}
}
};
/**
* 上报订单全路径规划数据
*/
public void updateOrderRoute() {
if (!isGoingToNextStation || currentStationIndex >= stationList.size() || currentStationIndex-1 < 0 || points.size() == 0){
return;
}
BusStationBean currentStation = stationList.get( currentStationIndex -1);
BusStationBean nextStation = stationList.get( currentStationIndex);
BusServiceManager.getInstance().updateOrderRoute(mContext, currentLineId, currentStation.getSiteId()
, nextStation.getSiteId(), points, new IBusServiceCallback<BaseData>() {
@Override
public void onSuccess(BaseData o) {
}
@Override
public void onFail(String failMsg) {
if (isGoingToNextStation){//重试
updateOrderRoute();
}
}
});
}
public void debugUpdateOrderRoute(List<MessagePad.Location> list){
points.clear();
points.addAll(CoordinateCalculateRouteUtil.coordinateConverterWgsToGcjList(mContext,list));
updateOrderRoute();
}
/**
* 轮询bus待服务订单
*/
@@ -262,6 +325,9 @@ public class BusOrderModel {
.getApis()
.getRegisterCenterApi()
.unregisterCarLocationChangedListener(TAG, mCarLocationChangedListener2);
//自动驾驶路线规划接口
CallerAutopilotPlanningListenerManager.INSTANCE.removeListener(moGoAutopilotPlanningListener);
}
private Object readResolve() {
@@ -415,6 +481,8 @@ public class BusOrderModel {
// }
AutopilotControlParameters currentAutopilot = new AutopilotControlParameters();
currentAutopilot.isSpeakVoice = !isRestart;
currentAutopilot.routeID = busRoutesResult.getLineId();
currentAutopilot.routeName = busRoutesResult.getName();
currentAutopilot.startName = PinYinUtil.getPinYinHeadChar(currentStation.getName());
currentAutopilot.endName = PinYinUtil.getPinYinHeadChar(nextStation.getName());
currentAutopilot.startLatLon = new AutopilotControlParameters
@@ -563,6 +631,8 @@ public class BusOrderModel {
public void onFail(String failMsg) {
if (!NetworkUtils.isConnected(mContext)) {
TipToast.shortTip("网络异常，请稍后重试");
}else {
TipToast.shortTip(failMsg);
}
}
});

17
OCH/mogo-och-bus/src/main/java/com/mogo/och/bus/net/BusServiceManager.java
View File

@@ -11,6 +11,7 @@ import com.mogo.eagle.core.network.RequestOptions;
import com.mogo.eagle.core.network.SubscribeImpl;
import com.mogo.eagle.core.utilcode.mogo.logger.CallerLogger;
import com.mogo.och.bus.bean.BusQueryLinesResponse;
import com.mogo.och.bus.bean.BusRoutePlanningUpdateReqBean;
import com.mogo.och.bus.bean.BusRoutesResponse;
import com.mogo.och.bus.bean.CarHeartbeatReqBean;
import com.mogo.och.bus.bean.BusOperationStatusRequest;
@@ -22,7 +23,9 @@ import com.mogo.och.bus.bean.BusUpdateSiteStatusRequest;
import com.mogo.och.bus.bean.QueryLeaveAwayPassengersRequest;
import com.mogo.och.bus.bean.QueryLeaveAwayPassengersResponse;
import com.mogo.och.bus.constant.BusConst;
import com.mogo.och.bus.presenter.BusOrderModel;
import com.mogo.och.bus.model.BusOrderModel;
import java.util.List;
import io.reactivex.android.schedulers.AndroidSchedulers;
import io.reactivex.schedulers.Schedulers;
@@ -192,6 +195,18 @@ public class BusServiceManager {
.subscribe(getSubscribeImpl(context,callback,"queryBusLines"));
}
public void updateOrderRoute(Context context,int lineId, int startSiteId, int endSiteId
, List< BusRoutePlanningUpdateReqBean.Result > points
, IBusServiceCallback<BaseData> callback){
mService.updateOrderRoute(MoGoAiCloudClientConfig.getInstance().getServiceAppId()
,MoGoAiCloudClientConfig.getInstance().getToken()
,new BusRoutePlanningUpdateReqBean(MoGoAiCloudClientConfig.getInstance().getSn()
,lineId,startSiteId,endSiteId, points))
.subscribeOn(Schedulers.io())
.observeOn(AndroidSchedulers.mainThread())
.subscribe(getSubscribeImpl(context,callback,"updateOrderRoute"));
}
/**
* 车机端上传心跳数据（只在出车状态时上传）：包含高德坐标系经纬度
* @param context

6
OCH/mogo-och-bus/src/main/java/com/mogo/och/bus/net/IBusApiService.java
View File

@@ -3,6 +3,7 @@ import com.mogo.eagle.core.data.BaseData;
import com.mogo.och.bus.bean.BusOperationStatusRequest;
import com.mogo.och.bus.bean.BusOrdersResponse;
import com.mogo.och.bus.bean.BusQueryLinesResponse;
import com.mogo.och.bus.bean.BusRoutePlanningUpdateReqBean;
import com.mogo.och.bus.bean.BusRoutesResponse;
import com.mogo.och.bus.bean.CarHeartbeatReqBean;
import com.mogo.och.bus.bean.BusQueryLineStationsRequest;
@@ -145,5 +146,10 @@ public interface IBusApiService {
// @GET("/autopilot-car-hailing/line/v2/driver/bindLine/query")
@GET("/autopilot-car-hailing/line/v2/driver/bus/bindLine/query")
Observable<BusQueryLinesResponse> queryBusLines(@Header ("appId") String appId, @Header("ticket") String ticket, @Query("sn") String sn);
@Headers( {"Content-type:application/json;charset=UTF-8"} )
// @POST( "/autopilot-car-hailing/location/v2/driver/heartbeat" )
@POST( "/autopilot-car-hailing/location/v2/driver/bus/heartbeat" )
Observable<BaseData> updateOrderRoute(@Header ("appId") String appId, @Header("ticket") String ticket, @Body BusRoutePlanningUpdateReqBean data);
}

2
OCH/mogo-och-bus/src/main/java/com/mogo/och/bus/presenter/BusLinePresenter.java
View File

@@ -9,6 +9,8 @@ import com.mogo.commons.mvp.Presenter;
import com.mogo.eagle.core.utilcode.util.UiThreadHandler;
import com.mogo.och.bus.bean.BusQueryLinesResponse;
import com.mogo.och.bus.callback.IBusLinesCallback;
import com.mogo.och.bus.model.BusLineModel;
import com.mogo.och.bus.model.BusOrderModel;
import com.mogo.och.bus.ui.BusSwitchLineView;
/**

1
OCH/mogo-och-bus/src/main/java/com/mogo/och/bus/presenter/BusModelLoopManager.java
View File

@@ -4,6 +4,7 @@ import static com.mogo.eagle.core.utilcode.mogo.logger.scene.SceneConstant.M_BUS
import com.mogo.eagle.core.utilcode.mogo.logger.CallerLogger;
import com.mogo.och.bus.constant.BusConst;
import com.mogo.och.bus.model.BusOrderModel;
import java.util.concurrent.TimeUnit;

1
OCH/mogo-och-bus/src/main/java/com/mogo/och/bus/presenter/BusPresenter.java
View File

@@ -21,6 +21,7 @@ import com.mogo.och.bus.callback.IBusControllerStatusCallback;
import com.mogo.och.bus.callback.IRefreshBusStationsCallback;
import com.mogo.och.bus.callback.ISlidePannelHideCallback;
import com.mogo.och.bus.fragment.BusFragment;
import com.mogo.och.bus.model.BusOrderModel;
import org.jetbrains.annotations.NotNull;

45
OCH/mogo-och-bus/src/main/java/com/mogo/och/bus/util/BDRouteDataTestUtils.java Normal file
View File

File diff suppressed because one or more lines are too long

177
OCH/mogo-och-bus/src/main/java/com/mogo/och/bus/util/CoordinateCalculateRouteUtil.java Normal file
View File

@@ -0,0 +1,177 @@
package com.mogo.och.bus.util;
import android.content.Context;
import com.amap.api.maps.CoordinateConverter;
import com.amap.api.maps.model.LatLng;
import com.mogo.cloud.commons.utils.CoordinateUtils;
import com.mogo.eagle.core.utilcode.mogo.logger.Logger;
import com.mogo.och.bus.bean.BusRoutePlanningUpdateReqBean;
import java.util.ArrayList;
import java.util.List;
import mogo.telematics.pad.MessagePad;
import static com.mogo.eagle.core.utilcode.mogo.logger.scene.SceneConstant.M_BUS;
/**
* @author: wangmingjun
* @date: 2022/3/28
*/
public class CoordinateCalculateRouteUtil {
public static float calculateRouteSumLength(List<LatLng> points){
if (null == points || points.size() == 0) return 0;
float sumLength = 0;
//计算全路径总距离
for (int i = 0;i + 1< points.size();i++){
double preLat = points.get(i).latitude;
double preLon = points.get(i).longitude;
double laLat = points.get(i+1).latitude;
double laLon = points.get(i+1).longitude;
float length = CoordinateUtils.calculateLineDistance(laLon,laLat,preLon,preLat);
sumLength += length;
}
return sumLength;
}
public static List<LatLng> coordinateConverterWgsToGcjListCommon(Context mContext, List<MessagePad.Location> models) {
//转成MogoLatLng集合
List<LatLng> list = new ArrayList<>();
for (MessagePad.Location m : models) {
LatLng mogoLatLng = coordinateConverterWgsToGcj(mContext, m);
list.add(mogoLatLng);
}
return list;
}
public static LatLng coordinateConverterWgsToGcj(Context mContext, MessagePad.Location mogoLatLng) {
CoordinateConverter mCoordinateConverter = new CoordinateConverter(mContext);
mCoordinateConverter.from(CoordinateConverter.CoordType.GPS);
mCoordinateConverter.coord(new LatLng(mogoLatLng.getLatitude(), mogoLatLng.getLongitude()));
LatLng latLng = mCoordinateConverter.convert();
return latLng;
}
public static List<BusRoutePlanningUpdateReqBean.Result> coordinateConverterWgsToGcjList(Context mContext, List<MessagePad.Location> mogoLatLngList) {
List<BusRoutePlanningUpdateReqBean.Result> points = new ArrayList<>();
for (MessagePad.Location m : mogoLatLngList) {
LatLng mogoLatLng = CoordinateCalculateRouteUtil.coordinateConverterWgsToGcj(mContext, m);
BusRoutePlanningUpdateReqBean.Result result = new BusRoutePlanningUpdateReqBean.Result();
result.latitude = mogoLatLng.latitude;
result.longitude = mogoLatLng.longitude;
points.add(result);
}
return points;
}
/**
* 根据实时定位的坐标确定出已行驶到那个坐标点 todo 有问题 暂不使用
* @param mRoutePoints
* @param realLon
* @param realLat
* @return 返回剩余路径集合
*/
@Deprecated
public static List<LatLng> getCurrentPoinByCompare(List<LatLng> mRoutePoints, double realLon, double realLat) {
// 疑似坐标 先以坐标中间1/2为第一个比对点
int currentIndex = Math.round(mRoutePoints.size()/2);
LatLng currentLatLng = mRoutePoints.get(currentIndex);
//差值初始化
float baseDiffDis = CoordinateUtils.calculateLineDistance(realLon,realLat
,currentLatLng.longitude,currentLatLng.latitude);// lon,lat, prelon, prelat
List<LatLng> latePoints = new ArrayList<>();
//与选中点左右比较
if (currentIndex -1 >= 0 && currentIndex+1<= mRoutePoints.size()-1){
LatLng leftCurrentLatLng = mRoutePoints.get(currentIndex -1);
LatLng rightCurentLatLng = mRoutePoints.get(currentIndex + 1);
float leftDiffDis = CoordinateUtils.calculateLineDistance(realLon,realLat
,leftCurrentLatLng.longitude,leftCurrentLatLng.latitude);
float rightDiffDis = CoordinateUtils.calculateLineDistance(realLon,realLat,rightCurentLatLng.longitude,rightCurentLatLng.latitude);
if (rightDiffDis < leftDiffDis){ //靠近了右半边
baseDiffDis = rightDiffDis;
for (int i = currentIndex +1; i+1 <mRoutePoints.size() ;i++){
float diff = CoordinateUtils.calculateLineDistance(realLon,realLat
,mRoutePoints.get(i).longitude,mRoutePoints.get(i).latitude);
Logger.d(M_BUS + "Compare右半边集合", "点："+i+"------------baseDiffDis = "+baseDiffDis+"---diff="+diff);
if (baseDiffDis >= diff){
baseDiffDis = diff;
currentIndex = i;
if (i == mRoutePoints.size()-1){
latePoints.addAll(mRoutePoints);
}
}else {
latePoints.addAll(mRoutePoints.subList(currentIndex,mRoutePoints.size()-1));
return latePoints;
}
}
}else if (rightDiffDis > leftDiffDis){ //靠近左半边
baseDiffDis = leftDiffDis;
for (int j = currentIndex-1; j -1 >=0 ;j++){
float diff = CoordinateUtils.calculateLineDistance(realLon,realLat,mRoutePoints.get(j).longitude,mRoutePoints.get(j).latitude);
Logger.d(M_BUS + "Compare左半边集合", "点："+j+"------------baseDiffDis = "+baseDiffDis+"---diff="+diff);
if (baseDiffDis >= diff){
baseDiffDis = diff;
currentIndex = j;
if (j == 0){
latePoints.addAll(mRoutePoints);
}
}else {
latePoints.addAll(mRoutePoints.subList(currentIndex,mRoutePoints.size()-1));
return latePoints;
}
}
}else {
Logger.d(M_BUS + "正好相等", "点："+currentIndex+"------------baseDiffDis = "+baseDiffDis+"---diff="+leftDiffDis);
latePoints.addAll(mRoutePoints.subList(currentIndex,currentIndex));
return latePoints;
}
}
return latePoints;
}
/**
* 简单粗暴 直接比较 todo 需要优化
* @param mRoutePoints
* @param realLon
* @param realLat
* @return
*/
public static List<LatLng> getRemainPointListByCompare(List<LatLng> mRoutePoints,double realLon,double realLat) {
List<LatLng> latePoints = new ArrayList<>();
int currentIndex = 0; //记录疑似点
if (mRoutePoints.size() > 0){
//基础点
LatLng baseLatLng = mRoutePoints.get(0);
float baseDiffDis = CoordinateUtils.calculateLineDistance(realLon,realLat
,baseLatLng.longitude,baseLatLng.latitude);// lon,lat, prelon, prelat
for (int i= 1; i < mRoutePoints.size(); i++){
LatLng latLng = mRoutePoints.get(i);
float diff = CoordinateUtils.calculateLineDistance(realLon,realLat
,latLng.longitude,latLng.latitude);
if (baseDiffDis > diff){
// Logger.d(M_TAXI + "calculateRouteSumLength", "点："+i+"-------先记录点----- ");
baseDiffDis = diff;
currentIndex = i;
}
}
Logger.d(M_BUS + "calculateRouteSumLength", "点："+currentIndex+"-------是最近的点------ ");
if (currentIndex == mRoutePoints.size()-1){
latePoints.add(mRoutePoints.get(currentIndex));
}else {
latePoints.addAll(mRoutePoints.subList(currentIndex,mRoutePoints.size()-1));
}
return latePoints;
}
return latePoints;
}
}

1
OCH/mogo-och-bus/src/main/res/layout/activity_bus_switch_line.xml
View File

@@ -48,6 +48,7 @@
android:fadingEdgeLength="40dp"
android:layout_marginTop="@dimen/dp_50"
android:layout_marginLeft="@dimen/dp_80"
android:layout_marginRight="@dimen/dp_80"
android:layout_marginBottom="@dimen/dp_30"/>
<TextView

12
OCH/mogo-och-bus/src/main/res/layout/bus_base_fragment.xml
View File

@@ -222,13 +222,23 @@
android:textSize="30sp"
app:layout_constraintRight_toRightOf="@id/btnAutopilotDisable"
app:layout_constraintTop_toBottomOf="@id/btnAutopilotRunning" />
<Button
android:id="@+id/btnAutopilotRoute"
android:layout_width="wrap_content"
android:layout_height="wrap_content"
android:background="#023D35"
android:text="上传全路径"
android:textSize="30sp"
app:layout_constraintRight_toRightOf="@id/btnAutopilotDisable"
app:layout_constraintTop_toBottomOf="@id/btnAutopilotArrive" />
<androidx.constraintlayout.widget.Group
android:id="@+id/groupTestPanel"
android:layout_width="wrap_content"
android:layout_height="wrap_content"
android:visibility="gone"
app:constraint_referenced_ids="btnAutopilotArrive,btnAutopilotDisable,btnAutopilotEnable,btnAutopilotRunning"
app:constraint_referenced_ids="btnAutopilotArrive,btnAutopilotDisable,btnAutopilotEnable
,btnAutopilotRunning,btnAutopilotRoute"
tools:visibility="visible" />
<!-- <com.mogo.och.bus.ui.BusTrafficLightView-->

14
OCH/mogo-och-bus/src/main/res/layout/bus_switch_line_list_item.xml
View File

@@ -2,7 +2,8 @@
<androidx.constraintlayout.widget.ConstraintLayout xmlns:android="http://schemas.android.com/apk/res/android"
xmlns:app="http://schemas.android.com/apk/res-auto"
android:layout_width="match_parent"
android:layout_height="282px">
android:layout_height="wrap_content"
android:paddingBottom="@dimen/dp_80">
<ImageView
android:id="@+id/switch_line_item_select_iv"
@@ -14,11 +15,14 @@
<TextView
android:id="@+id/switch_line_name"
android:layout_width="wrap_content"
android:layout_width="0dp"
android:layout_height="wrap_content"
app:layout_constraintRight_toRightOf="parent"
app:layout_constraintTop_toTopOf="parent"
app:layout_constraintLeft_toRightOf="@+id/switch_line_item_select_iv"
android:layout_marginLeft="@dimen/dp_33"
android:maxLines="2"
android:ellipsize="end"
android:textStyle="bold"
android:textColor="@android:color/white"
android:text="@string/bus_switch_line_name"
@@ -26,7 +30,7 @@
<TextView
android:id="@+id/switch_line_start_station"
android:layout_width="wrap_content"
android:layout_width="0dp"
android:layout_height="wrap_content"
android:layout_marginLeft="@dimen/dp_17"
android:layout_marginTop="@dimen/dp_30"
@@ -35,6 +39,7 @@
android:text="@string/bus_switch_line_start"
android:textColor="#B9C3E9"
android:textSize="@dimen/dp_36"
app:layout_constraintRight_toRightOf="parent"
app:layout_constraintTop_toBottomOf="@+id/switch_line_name"
app:layout_constraintLeft_toRightOf="@+id/switch_line_start_greenDot"/>
@@ -69,7 +74,7 @@
<TextView
android:id="@+id/switch_line_end_station"
android:layout_width="wrap_content"
android:layout_width="0dp"
android:layout_height="wrap_content"
android:layout_marginLeft="@dimen/dp_17"
android:layout_marginTop="@dimen/dp_30"
@@ -78,6 +83,7 @@
android:text="@string/bus_switch_line_end"
android:textColor="#B9C3E9"
android:textSize="@dimen/dp_36"
app:layout_constraintRight_toRightOf="parent"
app:layout_constraintLeft_toRightOf="@+id/switch_line_end_blueDot"
app:layout_constraintTop_toBottomOf="@+id/switch_line_start_station"/>
</androidx.constraintlayout.widget.ConstraintLayout>

13
app/build.gradle
View File

@@ -1,3 +1,5 @@
import java.text.SimpleDateFormat
apply plugin: 'com.android.application'
apply plugin: 'com.alibaba.arouter'
apply plugin: 'kotlin-android'
@@ -180,6 +182,7 @@ android {
buildConfigField 'String', 'SOCKET_APP_ID', '\"com.mogo.launcher\"'
buildConfigField 'String', 'WORKING_BRANCH_NAME', getWorkingBranchName()
buildConfigField 'String', 'WORKING_BRANCH_HASH', getWorkingBranchHash()
buildConfigField 'String', 'APP_BUILD_TIME', getBuildTime()
// 是否支持目的地导航策略
buildConfigField 'boolean', 'IS_SUPPORT_SCHEDULE_CALCULATE_NOT_HOME_COMPANY_DISTANCE_FOR_PUSH', 'false'
}
@@ -331,6 +334,16 @@ def getWorkingBranchHash() {
return "\"${workingBranchHash}\""
}
static def getBuildTime() {
def buildTimeFormat = "yyyy-MM-dd HH:mm:ss"
//设置时间格式
SimpleDateFormat formatter = new SimpleDateFormat(buildTimeFormat, Locale.getDefault())
//获取当前时间
Date curDate = new Date(System.currentTimeMillis())
def buildTime = formatter.format(curDate)
return "\"${buildTime}\""
}
boolean isAndroidTestBuild() {
for (String s : gradle.startParameter.taskNames) {

1
app/src/main/java/com/mogo/launcher/MogoApplication.java
View File

@@ -73,6 +73,7 @@ public class MogoApplication extends MainMoGoApplication {
// 初始化构建APP的时候的分支及提交HASH，用于辅助定位问题
AppConfigInfo.INSTANCE.setWorkingBranchName(BuildConfig.WORKING_BRANCH_NAME);
AppConfigInfo.INSTANCE.setWorkingBranchHash(BuildConfig.WORKING_BRANCH_HASH);
AppConfigInfo.INSTANCE.setAppBuildTime(BuildConfig.APP_BUILD_TIME);
// 使用与渠道配置一样的gps提供者提供的数据,app/productFlavors/fPadLenovo.gradle GPS_PROVIDER 0-Android系统，1-工控机，2-OBU
FunctionBuildConfig.gpsProvider = BuildConfig.GPS_PROVIDER;

19
app_ipc_monitoring/build.gradle
View File

@@ -1,3 +1,5 @@
import java.text.SimpleDateFormat
apply plugin: 'com.android.application'
android {
@@ -24,6 +26,15 @@ android {
proguardFiles getDefaultProguardFile('proguard-android-optimize.txt'), 'proguard-rules.pro'
}
}
//插入构建时间
buildTypes.each {
//设置时间格式
SimpleDateFormat formatter = new SimpleDateFormat("yyyyMMdd.HHmmss", Locale.getDefault())
//获取当前时间
Date curDate = new Date(System.currentTimeMillis())
String buildTime = formatter.format(curDate)
it.buildConfigField 'String', 'BUILD_TIME', "\"${buildTime}\""
}
compileOptions {
sourceCompatibility JavaVersion.VERSION_1_8
targetCompatibility JavaVersion.VERSION_1_8
@@ -44,17 +55,19 @@ android {
dependencies {
implementation fileTree(dir: 'libs', include: ['*.jar'])
implementation 'androidx.appcompat:appcompat:1.3.1'
implementation 'androidx.constraintlayout:constraintlayout:2.1.1'
implementation rootProject.ext.dependencies.material
implementation rootProject.ext.dependencies.androidxconstraintlayout
implementation rootProject.ext.dependencies.androidxappcompat
implementation 'androidx.recyclerview:recyclerview:1.2.0'
testImplementation 'junit:junit:4.13.2'
androidTestImplementation 'androidx.test.ext:junit:1.1.3'
androidTestImplementation 'androidx.test.espresso:espresso-core:3.4.0'
implementation "com.google.code.gson:gson:2.8.9"
implementation rootProject.ext.dependencies.gson
implementation project(':libraries:mogo-adas')
implementation project(':core:mogo-core-data')
implementation project(':core:mogo-core-utils')
implementation 'org.greenrobot:eventbus:3.2.0'
implementation 'com.android.support:multidex:1.0.3'
implementation 'com.mogo.cloud:telematic:1.3.55'
implementation 'com.jcraft:jsch:0.1.55'
}

0
libraries/mogo-adas/libs/arm64-v8a/libsshtool.so → app_ipc_monitoring/libs/arm64-v8a/libsshtool.so
View File

0
libraries/mogo-adas/libs/armeabi-v7a/libsshtool.so → app_ipc_monitoring/libs/armeabi-v7a/libsshtool.so
View File

6
app_ipc_monitoring/src/main/AndroidManifest.xml
View File

@@ -29,6 +29,7 @@
<uses-permission android:name="android.permission.ACCESS_COARSE_LOCATION" /> <!-- 用于访问GPS定位 -->
<uses-permission android:name="android.permission.ACCESS_FINE_LOCATION" />
<uses-permission android:name="android.permission.ACCESS_LOCATION_EXTRA_COMMANDS" />
<uses-permission android:name="android.permission.SYSTEM_ALERT_WINDOW" />
<application
android:allowBackup="true"
@@ -54,6 +55,11 @@
android:theme="@style/AppTheme.NoActionBar">
</activity>
<activity
android:name=".ui.HelpActivity"
android:theme="@style/AppTheme.NoActionBar">
</activity>
</application>
</manifest>

36
app_ipc_monitoring/src/main/java/com/zhidao/adas/client/DataDistribution.java
View File

@@ -9,7 +9,9 @@ import com.zhidao.adas.client.bean.ErrorData;
import com.zhidao.adas.client.bean.GlobalPathResp;
import com.zhidao.adas.client.bean.GnssInfo;
import com.zhidao.adas.client.bean.MogoReportMessage;
import com.zhidao.adas.client.bean.PerceptionObstacles;
import com.zhidao.adas.client.bean.PerceptionTrafficLight;
import com.zhidao.adas.client.bean.PredictionObstacleTrajectory;
import com.zhidao.adas.client.bean.RecordPanel;
import com.zhidao.adas.client.bean.TrackedObjects;
import com.zhidao.adas.client.bean.Trajectory;
@@ -56,6 +58,7 @@ public class DataDistribution {
}
public void registerOnAdasClientListener(OnAdasClientListener listener) {
this.listener = null;
this.listener = listener;
// if (!listeners.contains(listener)) {
// listeners.add(listener);
@@ -98,6 +101,8 @@ public class DataDistribution {
public final List<String> listAutopilotState = new ArrayList<>();
public final List<String> listMogoReportMessage = new ArrayList<>();
public final List<String> listPerceptionTrafficLight = new ArrayList<>();
public final List<String> listPredictionObstacleTrajectory = new ArrayList<>();
public final List<String> listPerceptionObstacles = new ArrayList<>();
public final List<String> listBasicInfoReq = new ArrayList<>();
public final List<String> listRecordPanel = new ArrayList<>();
public final List<String> listGlobalPathResp = new ArrayList<>();
@@ -114,7 +119,8 @@ public class DataDistribution {
}
private String onTransmit(String time, BaseInfo data) {
String str = cutDown(data.toString());
String temp = data.toString();
String str = cutDown(temp);
if (data instanceof Trajectory) {
listTrajectory.add(0, time + str);
if (listTrajectory.size() > LIST_SIZE) {
@@ -205,6 +211,32 @@ public class DataDistribution {
// for (OnAdasClientListener listener : listeners) {
// listener.onPerceptionTrafficLight((PerceptionTrafficLight) data);
// }
// }
} else if (data instanceof PredictionObstacleTrajectory) {
listPredictionObstacleTrajectory.add(0, time + str);
if (listPredictionObstacleTrajectory.size() > LIST_SIZE) {
listPredictionObstacleTrajectory.remove(listPredictionObstacleTrajectory.size() - 1);
}
if (listener != null) {
listener.onRefresh();
}
// if (!listeners.isEmpty()) {
// for (OnAdasClientListener listener : listeners) {
// listener.onRefresh();
// }
// }
} else if (data instanceof PerceptionObstacles) {
listPerceptionObstacles.add(0, time + str);
if (listPerceptionObstacles.size() > LIST_SIZE) {
listPerceptionObstacles.remove(listPerceptionObstacles.size() - 1);
}
if (listener != null) {
listener.onRefresh();
}
// if (!listeners.isEmpty()) {
// for (OnAdasClientListener listener : listeners) {
// listener.onRefresh();
// }
// }
} else if (data instanceof BasicInfoReq) {
listBasicInfoReq.add(0, time + str);
@@ -295,7 +327,7 @@ public class DataDistribution {
// }
}
return str;
return temp;
}
private class WriteThread implements Runnable {

75
app_ipc_monitoring/src/main/java/com/zhidao/adas/client/adapter/AutopilotConfigAdapter.java
View File

@@ -9,6 +9,8 @@ import android.view.View;
import android.view.ViewGroup;
import android.widget.EditText;
import android.widget.ImageView;
import android.widget.RadioButton;
import android.widget.RadioGroup;
import android.widget.TextView;
import android.widget.Toast;
@@ -113,6 +115,16 @@ public class AutopilotConfigAdapter extends RecyclerView.Adapter<AutopilotConfig
}
holder.setViaData();
holder.del.setVisibility(isShowDel ? View.VISIBLE : View.GONE);
if (mode.isBus) {
holder.bus.setChecked(true);
} else {
holder.taxi.setChecked(true);
}
if (!TextUtils.isEmpty(mode.routeName)) {
holder.route_name.setText(mode.routeName);
}
if (mode.routeID != -1)
holder.route_id.setText(String.valueOf(mode.routeID));
}
//返回Item的数量
@@ -132,14 +144,24 @@ public class AutopilotConfigAdapter extends RecyclerView.Adapter<AutopilotConfig
EditText start_lat;
EditText end_lon;
EditText end_lat;
EditText route_id;
EditText route_name;
TextView num;
TextView del;
ImageView add;
ImageView minus;
ViaPositionAdapter adapter;
RadioGroup car_type;
RadioButton taxi;
RadioButton bus;
MyViewHolder(View itemView) {
super(itemView);
route_id = itemView.findViewById(R.id.route_id);
route_name = itemView.findViewById(R.id.route_name);
car_type = itemView.findViewById(R.id.car_type);
taxi = itemView.findViewById(R.id.taxi);
bus = itemView.findViewById(R.id.bus);
recyclerView = itemView.findViewById(R.id.RecyclerView);
path_name = itemView.findViewById(R.id.path_name);
speed = itemView.findViewById(R.id.speed);
@@ -154,6 +176,12 @@ public class AutopilotConfigAdapter extends RecyclerView.Adapter<AutopilotConfig
add = itemView.findViewById(R.id.add);
minus = itemView.findViewById(R.id.minus);
initRecyclerView();
car_type.setOnCheckedChangeListener(new RadioGroup.OnCheckedChangeListener() {
@Override
public void onCheckedChanged(RadioGroup group, int checkedId) {
datas.get(getBindingAdapterPosition()).isBus = checkedId == R.id.bus;
}
});
minus.setOnClickListener(new View.OnClickListener() {
@Override
public void onClick(View v) {
@@ -366,6 +394,53 @@ public class AutopilotConfigAdapter extends RecyclerView.Adapter<AutopilotConfig
}
});
route_name.addTextChangedListener(new TextWatcher() {
@Override
public void beforeTextChanged(CharSequence s, int start, int count, int after) {
}
@Override
public void onTextChanged(CharSequence s, int start, int before, int count) {
}
@Override
public void afterTextChanged(Editable s) {
datas.get(getBindingAdapterPosition()).routeName = s.toString().trim();
}
});
route_id.addTextChangedListener(new TextWatcher() {
@Override
public void beforeTextChanged(CharSequence s, int start, int count, int after) {
}
@Override
public void onTextChanged(CharSequence s, int start, int before, int count) {
}
@Override
public void afterTextChanged(Editable s) {
if (!TextUtils.isEmpty(s)) {
try {
datas.get(getBindingAdapterPosition()).routeID = Integer.parseInt(s.toString().trim());
} catch (Exception e) {
e.printStackTrace();
speed.setText("");
Toast.makeText(mContext, "输入不合法", Toast.LENGTH_SHORT).show();
}
} else {
datas.get(getBindingAdapterPosition()).routeID = -1;
}
}
});
}
private void initRecyclerView() {

67
app_ipc_monitoring/src/main/java/com/zhidao/adas/client/adapter/ConnectStatusAdapter.java Normal file
View File

@@ -0,0 +1,67 @@
package com.zhidao.adas.client.adapter;
import android.annotation.SuppressLint;
import android.view.LayoutInflater;
import android.view.View;
import android.view.ViewGroup;
import android.widget.EditText;
import android.widget.TextView;
import com.zhidao.adas.client.R;
import com.zhidao.adas.client.base.BaseAdapter;
import com.zhidao.adas.client.base.BaseViewHolder;
import com.zhidao.adas.client.bean.IPCConnectState;
import java.text.SimpleDateFormat;
import java.util.Date;
import java.util.Locale;
/**
* 连接状态
*/
public class ConnectStatusAdapter extends BaseAdapter<IPCConnectState, ConnectStatusAdapter.ViewHolder> {
private final SimpleDateFormat sdf = new SimpleDateFormat("yyyy-MM-dd HH:mm:ss.SSS ", Locale.getDefault());
private static final String POS = "%03d. ";
public void refreshView() {
// notifyItemChanged(mDatas.size()-1,0);
notifyItemRangeChanged(0, getItemCount());
}
@Override
public long getItemId(int position) {
return position;
}
@SuppressLint("SetTextI18n")
@Override
protected void onBindDataToItem(ViewHolder viewHolder, IPCConnectState data, int position) {
viewHolder.id.setText(String.format(Locale.getDefault(), POS, getItemCount() - position));
viewHolder.editText.setText(sdf.format(new Date(data.time)) + "\n" + data.status);
viewHolder.editText.setTextColor(mContext.getResources().getColor(data.color));
}
@Override
protected View getItemViewResource(ViewGroup viewGroup) {
return LayoutInflater.from(mContext).inflate(R.layout.item_status, viewGroup, false);
}
@Override
protected ViewHolder getViewHolder(View view) {
return new ViewHolder(view, this);
}
class ViewHolder extends BaseViewHolder<ConnectStatusAdapter> {
EditText editText;
TextView id;
public ViewHolder(View itemView, ConnectStatusAdapter adapter) {
super(itemView, adapter);
editText = itemView.findViewById(R.id.log);
id = itemView.findViewById(R.id.id);
}
}
}

2
app_ipc_monitoring/src/main/java/com/zhidao/adas/client/adapter/LineAdapter.java
View File

@@ -31,7 +31,7 @@ public class LineAdapter extends BaseAdapter<AutoPilotMode, LineAdapter.ViewHold
@Override
protected void onBindDataToItem(ViewHolder viewHolder, AutoPilotMode data, int position) {
viewHolder.title.setText(data.name + " " + data.startName + "->" + data.endName);
viewHolder.title.setText("（" + (data.isBus ? "Bus" : "Taxi") + "）" + data.name + " " + data.startName + "->" + data.endName);
}
@Override

24
app_ipc_monitoring/src/main/java/com/zhidao/adas/client/base/BaseActivity.java
View File

@@ -2,14 +2,38 @@ package com.zhidao.adas.client.base;
import android.os.Handler;
import android.os.Message;
import android.view.Gravity;
import android.widget.Toast;
import androidx.appcompat.app.AppCompatActivity;
import com.zhidao.adas.client.ui.MainActivity;
import java.lang.ref.WeakReference;
public abstract class BaseActivity extends AppCompatActivity {
private BaseHandler mBaseHandler;
private Toast toast;
protected void showToastCenter(String msg) {
showToastCenter(msg, Toast.LENGTH_SHORT);
}
protected void showToastCenter(String msg, int duration) {
runOnUiThread(new Runnable() {
@Override
public void run() {
if (toast != null) {
toast.cancel();
toast = null;
}
toast = Toast.makeText(BaseActivity.this, "", duration); //如果有居中显示需求
toast.setGravity(Gravity.CENTER, 0, 0);
toast.setText(msg);
toast.show();
}
});
}
@Override
protected void onDestroy() {
super.onDestroy();

14
app_ipc_monitoring/src/main/java/com/zhidao/adas/client/bean/AutoPilotMode.java
View File

@@ -15,6 +15,9 @@ public class AutoPilotMode {
public Location endLatLon;
public double speedLimit;
public List<Location> wayLatLons;
public int routeID = -1;//道路ID
public String routeName;//道路名称
public boolean isBus = false;//true：bus false：taxi
public List<MessagePad.Location> getWayLatLons() {
if (wayLatLons == null || wayLatLons.isEmpty()) return null;
@@ -52,8 +55,13 @@ public class AutoPilotMode {
}
}
}
return TextUtils.isEmpty(name) || TextUtils.isEmpty(startName) || TextUtils.isEmpty(endName) ||
startLatLon == null || startLatLon.isNull() || endLatLon == null || endLatLon.isNull() ||
speedLimit == 0.0;
if (isBus) {
return TextUtils.isEmpty(name) || TextUtils.isEmpty(startName) || TextUtils.isEmpty(endName) ||
startLatLon == null || startLatLon.isNull() || endLatLon == null || endLatLon.isNull() ||
speedLimit == 0.0 || routeID == -1 || TextUtils.isEmpty(routeName);
} else
return TextUtils.isEmpty(name) || TextUtils.isEmpty(startName) || TextUtils.isEmpty(endName) ||
startLatLon == null || startLatLon.isNull() || endLatLon == null || endLatLon.isNull() ||
speedLimit == 0.0;
}
}

2
app_ipc_monitoring/src/main/java/com/zhidao/adas/client/bean/IPCConnectState.java
View File

@@ -3,6 +3,7 @@ package com.zhidao.adas.client.bean;
import androidx.annotation.ColorRes;
public class IPCConnectState {
public final long time;
public final String status;
@ColorRes
public final int color;
@@ -10,5 +11,6 @@ public class IPCConnectState {
public IPCConnectState(String status, @ColorRes int color) {
this.status = status;
this.color = color;
time = System.currentTimeMillis();
}
}

23
app_ipc_monitoring/src/main/java/com/zhidao/adas/client/bean/PerceptionObstacles.java Normal file
View File

@@ -0,0 +1,23 @@
package com.zhidao.adas.client.bean;
import com.google.protobuf.TextFormat;
import mogo.telematics.pad.MessagePad;
import perception.ObjectOuterClass;
import prediction.Prediction;
public class PerceptionObstacles extends BaseInfo {
public final ObjectOuterClass.TrackedObjects bean;
public PerceptionObstacles(MessagePad.Header header, ObjectOuterClass.TrackedObjects bean) {
super("接收", bean.getSerializedSize(), header);
this.bean = bean;
}
@Override
public String toString() {
return super.toString() + TextFormat.printer().escapingNonAscii(false).printToString(bean);
}
}

22
app_ipc_monitoring/src/main/java/com/zhidao/adas/client/bean/PredictionObstacleTrajectory.java Normal file
View File

@@ -0,0 +1,22 @@
package com.zhidao.adas.client.bean;
import com.google.protobuf.TextFormat;
import mogo.telematics.pad.MessagePad;
import prediction.Prediction;
public class PredictionObstacleTrajectory extends BaseInfo {
public final Prediction.mPredictionObjects bean;
public PredictionObstacleTrajectory(MessagePad.Header header, Prediction.mPredictionObjects bean) {
super("接收", bean.getSerializedSize(), header);
this.bean = bean;
}
@Override
public String toString() {
return super.toString() + TextFormat.printer().escapingNonAscii(false).printToString(bean);
}
}

2
libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/common/Base64.java → app_ipc_monitoring/src/main/java/com/zhidao/adas/client/ssh/Base64.java
View File

@@ -15,7 +15,7 @@
* limitations under the License.
*/
package com.zhidao.support.adas.high.common;
package com.zhidao.adas.client.ssh;
import java.math.BigInteger;

4
libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/common/RSATool.java → app_ipc_monitoring/src/main/java/com/zhidao/adas/client/ssh/RSATool.java
View File

@@ -1,8 +1,10 @@
package com.zhidao.support.adas.high.common;
package com.zhidao.adas.client.ssh;
import com.zhidao.support.adas.high.common.CupidLogUtils;
import java.nio.charset.StandardCharsets;
import java.security.Key;
import java.security.KeyFactory;

4
libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/common/SSH.java → app_ipc_monitoring/src/main/java/com/zhidao/adas/client/ssh/SSH.java
View File

@@ -1,4 +1,4 @@
package com.zhidao.support.adas.high.common;
package com.zhidao.adas.client.ssh;
import android.text.TextUtils;
@@ -6,7 +6,7 @@ import com.jcraft.jsch.ChannelExec;
import com.jcraft.jsch.JSch;
import com.jcraft.jsch.JSchException;
import com.jcraft.jsch.Session;
import com.zhidao.support.adas.high.bean.SSHResult;
import com.zhidao.support.adas.high.common.CupidLogUtils;
import java.io.ByteArrayOutputStream;
import java.io.IOException;

65
app_ipc_monitoring/src/main/java/com/zhidao/adas/client/ssh/SSHManager.java Normal file
View File

@@ -0,0 +1,65 @@
package com.zhidao.adas.client.ssh;
import android.text.TextUtils;
import com.zhidao.support.adas.high.common.ThreadPoolManager;
public class SSHManager {
private OnSShListener listener;
public interface OnSShListener {
/**
* 向IPC发送命令返回结果
*
* @param info
*/
void onSSHResult(SSHResult info);
}
private String ipcConnectedIp;
private SSH ssh;
public void shutdownIPC() {
sendIPCCmd("sudo -S shutdown -h now");
}
public void rebootIPC() {
sendIPCCmd("sudo -S reboot");
}
public void rebootAPDocker() {
sendIPCCmd("docker restart autocar_default_1");
}
private void sendIPCCmd(final String cmd) {
if (ssh == null) {
if (TextUtils.isEmpty(ipcConnectedIp)) {
if (listener != null) {
listener.onSSHResult(new SSHResult(SSHResult.RESULT_CODE.IP_UNKNOWN, cmd, "IPC IP未知"));
}
return;
}
ThreadPoolManager.getsInstance().execute(new Runnable() {
@Override
public void run() {
ssh = new SSH();
String encodePwd = SSHTool.getEncodePwd();
String privateKey = SSHTool.getPrivateKey();
try {
String pwd = RSATool.decodeByPrivateKey(encodePwd, Base64.decodeBase64(privateKey));
ssh.connect(ipcConnectedIp, 22, "reset", pwd);
SSHResult result = ssh.exec(cmd, pwd);
if (listener != null)
listener.onSSHResult(result);
} catch (Exception e) {
if (listener != null)
listener.onSSHResult(new SSHResult(SSHResult.RESULT_CODE.ERROR, cmd, e.getMessage()));
e.printStackTrace();
}
ssh.disConnect();
ssh = null;
}
});
}
}
}

14
libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/bean/SSHResult.java → app_ipc_monitoring/src/main/java/com/zhidao/adas/client/ssh/SSHResult.java
View File

@@ -1,10 +1,22 @@
package com.zhidao.support.adas.high.bean;
package com.zhidao.adas.client.ssh;
import com.zhidao.adas.client.DataDistribution;
import com.zhidao.adas.client.bean.MySSHResult;
import com.zhidao.support.adas.high.common.CupidLogUtils;
/**
* SSH返回结果
*/
public class SSHResult {
public void onSSHResult(final SSHResult info) {
MySSHResult result = new MySSHResult(info.toString(), 0);
DataDistribution.getInstance().addData(result);
// showToastCenter("IPC命令下发结果：" + info.code + " 命令：" + info.cmd + " 信息:" + info.msg);
// CupidLogUtils.w(TAG, "IPC命令下发结果：" + info.code + " 命令：" + info.cmd + " 信息:" + info.msg);
}
public interface RESULT_CODE {
/**
* 工控机IP未知

2
libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/common/SSHTool.java → app_ipc_monitoring/src/main/java/com/zhidao/adas/client/ssh/SSHTool.java
View File

@@ -1,4 +1,4 @@
package com.zhidao.support.adas.high.common;
package com.zhidao.adas.client.ssh;
public class SSHTool {
static {

6
app_ipc_monitoring/src/main/java/com/zhidao/adas/client/ui/AutoPilotModeDialog.java
View File

@@ -15,8 +15,8 @@ import androidx.recyclerview.widget.SimpleItemAnimator;
import com.zhidao.adas.client.R;
import com.zhidao.adas.client.adapter.LineAdapter;
import com.zhidao.adas.client.base.BaseAdapter;
import com.zhidao.adas.client.bean.UpdateDataEvent;
import com.zhidao.adas.client.bean.AutoPilotMode;
import com.zhidao.adas.client.bean.UpdateDataEvent;
import com.zhidao.adas.client.utils.Constants;
import com.zhidao.support.adas.high.AdasManager;
@@ -109,6 +109,10 @@ public class AutoPilotModeDialog extends Dialog {
builder.setSpeedLimit(data.speedLimit);
builder.setVehicleType(9);
builder.setIsSpeakVoice(true);
if (data.isBus) {
builder.setRouteID(data.routeID);
builder.setRouteName(data.routeName);
}
AdasManager.getInstance().sendAutoPilotModeReq(1, 0, builder.build());
AutoPilotModeDialog.this.dismiss();
}

2
app_ipc_monitoring/src/main/java/com/zhidao/adas/client/ui/AutopilotConfigActivity.java
View File

@@ -189,7 +189,7 @@ public class AutopilotConfigActivity extends BaseActivity {
});
} else {
builder.setTitle("保存失败")
.setMessage("请输入必填项\n所有输入框均必填\uD83E\uDD2A")
.setMessage("请输入必填项\n所有输入框均必填\uD83E\uDD2A\n(Bus必须输入道路名称和道路ID)")
.setPositiveButton("确认",
new DialogInterface.OnClickListener() {
public void onClick(DialogInterface dialog, int whichButton) {

181
app_ipc_monitoring/src/main/java/com/zhidao/adas/client/ui/FloatWindow.java Normal file
View File

@@ -0,0 +1,181 @@
package com.zhidao.adas.client.ui;
import android.app.Activity;
import android.content.Context;
import android.graphics.PixelFormat;
import android.util.DisplayMetrics;
import android.view.Gravity;
import android.view.LayoutInflater;
import android.view.MotionEvent;
import android.view.View;
import android.view.WindowManager;
import androidx.recyclerview.widget.RecyclerView;
import com.zhidao.adas.client.R;
import com.zhidao.adas.client.adapter.ConnectStatusAdapter;
import com.zhidao.adas.client.adapter.DataShowAdapter;
import com.zhidao.adas.client.bean.IPCConnectState;
import com.zhidao.adas.client.utils.MyLinearLayoutManager;
import java.lang.reflect.Field;
import java.util.List;
/**
* @author xuxinchao
* @description
* @since: 2022/4/20
*/
public class FloatWindow implements View.OnTouchListener {
private final Activity mContext;
private WindowManager.LayoutParams mWindowParams;
private WindowManager mWindowManager;
private View mFloatLayout;
private float mInViewX;
private float mInViewY;
private float mDownInScreenX;
private float mDownInScreenY;
private float mInScreenX;
private float mInScreenY;
private RecyclerView rv_status;
private ConnectStatusAdapter adapter;
private List<IPCConnectState> list;
public FloatWindow(Activity context, List<IPCConnectState> list) {
this.mContext = context;
this.list = list;
initFloatWindow();
}
public void refreshView(){
if (adapter!=null){
adapter.refreshView();
}
}
private void initRV() {
//创建默认的线性LayoutManager 横向的GridLayoutManager
MyLinearLayoutManager linearLayoutManager = new MyLinearLayoutManager(mContext);
// linearLayoutManager.setStackFromEnd(true);//列表再底部开始展示，反转后由上面开始展示
// linearLayoutManager.setReverseLayout(true);//列表翻转
rv_status.setLayoutManager(linearLayoutManager);
//如果可以确定每个item的高度是固定的，设置这个选项可以提高性能
rv_status.setHasFixedSize(false);
rv_status.setNestedScrollingEnabled(false);
adapter = new ConnectStatusAdapter();
adapter.setHasStableIds(true);
rv_status.setAdapter(adapter);
adapter.setData(list);
}
private void initFloatWindow() {
LayoutInflater inflater = LayoutInflater.from(mContext);
if (inflater == null)
return;
mFloatLayout = (View) inflater.inflate(R.layout.layout_float, null);
rv_status = mFloatLayout.findViewById(R.id.rv_status);
mFloatLayout.setOnTouchListener(this);
initRV();
mWindowParams = new WindowManager.LayoutParams();
// mWindowManager = (WindowManager) mContext.getSystemService(Context.WINDOW_SERVICE);
// if (Build.VERSION.SDK_INT >= 26) {//8.0新特性
// mWindowParams.type = WindowManager.LayoutParams.TYPE_APPLICATION_OVERLAY;
// }else{
// mWindowParams.type = WindowManager.LayoutParams.TYPE_SYSTEM_ALERT;
// }
mWindowManager = mContext.getWindowManager();
mWindowParams.format = PixelFormat.RGBA_8888;
mWindowParams.flags = WindowManager.LayoutParams.FLAG_NOT_FOCUSABLE;
mWindowParams.gravity = Gravity.START | Gravity.TOP;
mWindowParams.width = WindowManager.LayoutParams.WRAP_CONTENT;
mWindowParams.height = WindowManager.LayoutParams.WRAP_CONTENT;
mWindowParams.alpha = 0.9F;
}
@Override
public boolean onTouch(View view, MotionEvent motionEvent) {
return floatLayoutTouch(motionEvent);
}
private boolean floatLayoutTouch(MotionEvent motionEvent) {
switch (motionEvent.getAction()) {
case MotionEvent.ACTION_DOWN:
// 获取相对View的坐标，即以此View左上角为原点
mInViewX = motionEvent.getX();
mInViewY = motionEvent.getY();
// 获取相对屏幕的坐标，即以屏幕左上角为原点
mDownInScreenX = motionEvent.getRawX();
mDownInScreenY = motionEvent.getRawY() - getSysBarHeight(mContext);
mInScreenX = motionEvent.getRawX();
mInScreenY = motionEvent.getRawY() - getSysBarHeight(mContext);
break;
case MotionEvent.ACTION_MOVE:
// 更新浮动窗口位置参数
mInScreenX = motionEvent.getRawX();
mInScreenY = motionEvent.getRawY() - getSysBarHeight(mContext);
mWindowParams.x = (int) (mInScreenX - mInViewX);
mWindowParams.y = (int) (mInScreenY - mInViewY);
// 手指移动的时候更新小悬浮窗的位置
mWindowManager.updateViewLayout(mFloatLayout, mWindowParams);
break;
case MotionEvent.ACTION_UP:
// 如果手指离开屏幕时，xDownInScreen和xInScreen相等，且yDownInScreen和yInScreen相等，则视为触发了单击事件。
if (mDownInScreenX == mInScreenX && mDownInScreenY == mInScreenY) {
}
break;
}
return true;
}
public void showFloatWindow(float y) {
if (mFloatLayout.getParent() == null) {
DisplayMetrics metrics = new DisplayMetrics();
// 默认固定位置，靠屏幕右边缘的中间
mWindowManager.getDefaultDisplay().getMetrics(metrics);
mWindowParams.x = metrics.widthPixels;
mWindowParams.y = (int) (y);
mWindowManager.addView(mFloatLayout, mWindowParams);
}
}
public void hideFloatWindow() {
if (mFloatLayout.getParent() != null)
mWindowManager.removeView(mFloatLayout);
}
public void setFloatLayoutAlpha(boolean alpha) {
if (alpha)
mFloatLayout.setAlpha((float) 0.5);
else
mFloatLayout.setAlpha(1);
}
private int sbar = -1;
// 获取系统状态栏高度
public int getSysBarHeight(Context contex) {
if (sbar == -1) {
Class<?> c;
Object obj;
Field field;
int x;
sbar = 0;
try {
c = Class.forName("com.android.internal.R$dimen");
obj = c.newInstance();
field = c.getField("status_bar_height");
x = Integer.parseInt(field.get(obj).toString());
sbar = contex.getResources().getDimensionPixelSize(x);
} catch (Exception e1) {
e1.printStackTrace();
}
}
return sbar;
}
}

22
app_ipc_monitoring/src/main/java/com/zhidao/adas/client/ui/HelpActivity.java Normal file
View File

@@ -0,0 +1,22 @@
package com.zhidao.adas.client.ui;
import android.os.Bundle;
import android.view.View;
import androidx.annotation.Nullable;
import com.zhidao.adas.client.R;
import com.zhidao.adas.client.base.BaseActivity;
public class HelpActivity extends BaseActivity {
@Override
protected void onCreate(@Nullable Bundle savedInstanceState) {
super.onCreate(savedInstanceState);
setContentView(R.layout.activity_help);
showToastCenter("点击屏幕任意位置，退出帮助页面");
}
public void onBack(View view) {
finish();
}
}

6
app_ipc_monitoring/src/main/java/com/zhidao/adas/client/ui/InfoFragment.java
View File

@@ -146,6 +146,12 @@ public class InfoFragment extends BaseFragment {
case Constants.TITLE.RECEIVE_PERCEPTION_TRAFFIC_LIGHT:
adapter.setData(DataDistribution.getInstance().listPerceptionTrafficLight);
break;
case Constants.TITLE.RECEIVE_PREDICTION_OBSTACLE_TRAJECTORY:
adapter.setData(DataDistribution.getInstance().listPredictionObstacleTrajectory);
break;
case Constants.TITLE.RECEIVE_PERCEPTION_OBSTACLES:
adapter.setData(DataDistribution.getInstance().listPerceptionObstacles);
break;
case Constants.TITLE.RECEIVE_ERROR:
adapter.setData(DataDistribution.getInstance().listErrorData);
break;

216
app_ipc_monitoring/src/main/java/com/zhidao/adas/client/ui/MainActivity.java
View File

@@ -4,6 +4,7 @@ import static com.mogo.telematic.MogoProtocolMsg.NORMAL_DATA;
import android.content.Context;
import android.content.DialogInterface;
import android.content.Intent;
import android.content.res.Configuration;
import android.os.Bundle;
import android.os.Message;
@@ -11,7 +12,6 @@ import android.text.Editable;
import android.text.TextUtils;
import android.text.TextWatcher;
import android.util.Log;
import android.view.Gravity;
import android.view.View;
import android.view.WindowManager;
import android.widget.AdapterView;
@@ -56,7 +56,9 @@ import com.zhidao.adas.client.bean.GnssInfo;
import com.zhidao.adas.client.bean.IPCConnectState;
import com.zhidao.adas.client.bean.MogoReportMessage;
import com.zhidao.adas.client.bean.MySSHResult;
import com.zhidao.adas.client.bean.PerceptionObstacles;
import com.zhidao.adas.client.bean.PerceptionTrafficLight;
import com.zhidao.adas.client.bean.PredictionObstacleTrajectory;
import com.zhidao.adas.client.bean.RecordPanel;
import com.zhidao.adas.client.bean.TrackedObjects;
import com.zhidao.adas.client.bean.Trajectory;
@@ -71,12 +73,11 @@ import com.zhidao.support.adas.high.OnAdasConnectStatusListener;
import com.zhidao.support.adas.high.OnAdasListener;
import com.zhidao.support.adas.high.OnMultiDeviceListener;
import com.zhidao.support.adas.high.bean.IPCUpgradeStateInfo;
import com.zhidao.support.adas.high.bean.SSHResult;
import com.zhidao.adas.client.ssh.SSHResult;
import com.zhidao.support.adas.high.common.Constants.IPC_CONNECTION_STATUS;
import com.zhidao.support.adas.high.common.CupidLogUtils;
import com.zhidao.support.adas.high.common.ProtocolStatus;
import com.zhidao.support.adas.high.common.ReceiveTimeoutManager;
import com.zhidao.support.recorder.RecordDataManager;
import java.net.Inet4Address;
import java.net.InetAddress;
@@ -91,14 +92,16 @@ import chassis.VehicleStateOuterClass;
import io.netty.channel.Channel;
import mogo.telematics.pad.MessagePad;
import mogo_msg.MogoReportMsg;
import perception.ObjectOuterClass;
import perception.TrafficLightOuterClass;
import prediction.Prediction;
import record_cache.RecordPanelOuterClass;
public class MainActivity extends BaseActivity implements OnAdasListener, OnAdasConnectStatusListener, BaseAdapter.OnItemClickListener<String> {
private final static String TAG = MainActivity.class.getSimpleName();
private static final int WHAT_IPC_IP = 0x00;
private static final int WHAT_DRIVER_IP = 0x01;
private static final int WHATIPC_CONNECT_STATE = 0x02;
private static final int WHAT_IPC_CONNECT_STATE = 0x02;
private EditText etIp;
private ImageView role;
private ImageView tvIp;
@@ -124,7 +127,7 @@ public class MainActivity extends BaseActivity implements OnAdasListener, OnAdas
private final List<String> titleFragmentData = new ArrayList<>();
private final List<String> titleBtnData = new ArrayList<>();
private final List<IPCConnectState> connectStatusList = new ArrayList<>();
private InfoTitleAdapter btnAdapter;
private InfoTitleAdapter fragmentAdapter;
@@ -141,6 +144,8 @@ public class MainActivity extends BaseActivity implements OnAdasListener, OnAdas
private InfoFragment errorFragment;
private InfoFragment reportMessageFragment;
private InfoFragment perceptionTrafficLightFragment;
private InfoFragment predictionObstacleTrajectoryFragment;
private InfoFragment perceptionObstaclesFragment;
private VersionFragment versionFragment;
private FragmentManager manager;
private FragmentTransaction transaction;
@@ -151,7 +156,8 @@ public class MainActivity extends BaseActivity implements OnAdasListener, OnAdas
private int connectStatus;
private AutoPilotModeDialog autoPilotModeDialog;
private ListPopupWindow listPopupWindow;
private FloatWindow floatWindow;
private View include_title;
// @Override
// protected void onStart() {
// super.onStart();
@@ -207,6 +213,7 @@ public class MainActivity extends BaseActivity implements OnAdasListener, OnAdas
private void initView() {
include_title = findViewById(R.id.include_title);
etIp = findViewById(R.id.et_ip);
role = findViewById(R.id.role);
line = findViewById(R.id.line);
@@ -278,7 +285,6 @@ public class MainActivity extends BaseActivity implements OnAdasListener, OnAdas
etIp.setSelection(ip.length());
}
// infoTitleList.add("录音测试");
//初始化fragment
manager = getSupportFragmentManager();
transaction = manager.beginTransaction();
@@ -379,6 +385,13 @@ public class MainActivity extends BaseActivity implements OnAdasListener, OnAdas
showLocalIP();
}
});
title.setOnLongClickListener(new View.OnLongClickListener() {
@Override
public boolean onLongClick(View v) {
startActivity(new Intent(MainActivity.this, HelpActivity.class));
return true;
}
});
tvIp.setOnClickListener(new View.OnClickListener() {
@Override
@@ -393,6 +406,18 @@ public class MainActivity extends BaseActivity implements OnAdasListener, OnAdas
}
}
});
tvConnectState.setOnClickListener(new View.OnClickListener() {
@Override
public void onClick(View v) {
if (floatWindow == null) {
floatWindow = new FloatWindow(MainActivity.this, connectStatusList);
floatWindow.showFloatWindow(include_title.getY() + include_title.getHeight());
} else {
floatWindow.hideFloatWindow();
floatWindow = null;
}
}
});
}
private void showListPopupWindow() {
@@ -427,10 +452,12 @@ public class MainActivity extends BaseActivity implements OnAdasListener, OnAdas
titleFragmentData.add(Constants.TITLE.RECEIVE_GNSS_INFO);
titleFragmentData.add(Constants.TITLE.RECEIVE_TRAJECTORY);
titleFragmentData.add(Constants.TITLE.RECEIVE_TRACKED_OBJECTS);
titleFragmentData.add(Constants.TITLE.RECEIVE_PERCEPTION_OBSTACLES);
titleFragmentData.add(Constants.TITLE.RECEIVE_VEHICLE_STATE);
titleFragmentData.add(Constants.TITLE.RECEIVE_AUTOPILOT_STATE);
titleFragmentData.add(Constants.TITLE.RECEIVE_REPORT_MESSAGE);
titleFragmentData.add(Constants.TITLE.RECEIVE_PERCEPTION_TRAFFIC_LIGHT);
titleFragmentData.add(Constants.TITLE.RECEIVE_PREDICTION_OBSTACLE_TRAJECTORY);
titleFragmentData.add(Constants.TITLE.RECEIVE_CAR_CONFIG_RESP);
titleFragmentData.add(Constants.TITLE.RECEIVE_RECORD_RESULT);
titleFragmentData.add(Constants.TITLE.RECEIVE_GLOBAL_PATH_RESP);
@@ -446,12 +473,9 @@ public class MainActivity extends BaseActivity implements OnAdasListener, OnAdas
titleBtnData.add("数据采集5秒");
titleBtnData.add("数据采集start");
titleBtnData.add("数据采集end");
titleBtnData.add("录音测试");
titleBtnData.add("发送信号灯");
titleBtnData.add("自动驾驶限速");
titleBtnData.add("重启Docker");
titleBtnData.add("重启IPC");
titleBtnData.add("关机");
titleBtnData.add("重启所有节点");
titleBtnData.add("采集类型");
titleBtnData.add("打开演示模式");
titleBtnData.add("关闭演示模式");
@@ -474,6 +498,22 @@ public class MainActivity extends BaseActivity implements OnAdasListener, OnAdas
btnAdapter.setOnItemClickListener(this);
}
/**
* 感知接口 提示
*
* @param isSeriaNet 是否是透传接口
*/
private void hintTrackedObjects(boolean isSeriaNet) {
int value = 0;
MessagePad.CarConfigResp carConfigResp = AdasManager.getInstance().getCarConfig();
if (carConfigResp != null) {
value = carConfigResp.getProtocolVersionValue();
}
if (isSeriaNet && value < 3 && value > 0 || value > 2) {
showToastCenter("当前工控机协议版本：" + value + "，此接口不受支持");
}
}
private void initFragmentRecyclerView() {
//创建默认的线性LayoutManager 横向的GridLayoutManager
LinearLayoutManager linearLayoutManager = new LinearLayoutManager(this);
@@ -508,6 +548,7 @@ public class MainActivity extends BaseActivity implements OnAdasListener, OnAdas
}
break;
case Constants.TITLE.RECEIVE_TRACKED_OBJECTS:
hintTrackedObjects(false);
if (viewFragment == null)
viewFragment = new InfoFragment(data);
if (!viewFragment.isVisible()) {
@@ -588,6 +629,23 @@ public class MainActivity extends BaseActivity implements OnAdasListener, OnAdas
transaction.commit();
}
break;
case Constants.TITLE.RECEIVE_PREDICTION_OBSTACLE_TRAJECTORY:
if (predictionObstacleTrajectoryFragment == null)
predictionObstacleTrajectoryFragment = new InfoFragment(data);
if (!predictionObstacleTrajectoryFragment.isVisible()) {
transaction.replace(R.id.fl_info, predictionObstacleTrajectoryFragment);
transaction.commit();
}
break;
case Constants.TITLE.RECEIVE_PERCEPTION_OBSTACLES:
hintTrackedObjects(true);
if (perceptionObstaclesFragment == null)
perceptionObstaclesFragment = new InfoFragment(data);
if (!perceptionObstaclesFragment.isVisible()) {
transaction.replace(R.id.fl_info, perceptionObstaclesFragment);
transaction.commit();
}
break;
case Constants.TITLE.RECEIVE_CAR_CONFIG_RESP:
AdasManager.getInstance().sendCarConfigReq();
if (versionFragment == null)
@@ -630,47 +688,56 @@ public class MainActivity extends BaseActivity implements OnAdasListener, OnAdas
}
}
private String onUpdateConnectStateView() {
String status;
private int getStatusColor(int connectStatus) {
int color;
switch (connectStatus) {
case IPC_CONNECTION_STATUS.CONNECTED:
status = "已连接";
color = R.color.connect_status_connected;
break;
default:
case IPC_CONNECTION_STATUS.DISCONNECTED:
status = "未连接";
color = R.color.connect_status_disconnected;
break;
case IPC_CONNECTION_STATUS.CONNECTING:
status = "连接中";
color = R.color.connect_status_connecting;
break;
case IPC_CONNECTION_STATUS.SEARCH_ADDRESS:
status = "搜索IP";
color = R.color.connect_status_search_address;
break;
case IPC_CONNECTION_STATUS.NOT_FOUND_ADDRESS:
status = "未找到";
color = R.color.connect_status_disconnecting;
break;
}
return color;
}
private String onUpdateConnectStateView() {
String status;
switch (connectStatus) {
case IPC_CONNECTION_STATUS.CONNECTED:
status = "已连接";
break;
default:
case IPC_CONNECTION_STATUS.DISCONNECTED:
status = "未连接";
break;
case IPC_CONNECTION_STATUS.CONNECTING:
status = "连接中";
break;
case IPC_CONNECTION_STATUS.SEARCH_ADDRESS:
status = "搜索IP";
break;
case IPC_CONNECTION_STATUS.NOT_FOUND_ADDRESS:
status = "未找到";
break;
}
Message msg = Message.obtain();
msg.obj = new IPCConnectState(status, color);
msg.what = WHATIPC_CONNECT_STATE;
msg.obj = new IPCConnectState(status, getStatusColor(connectStatus));
msg.what = WHAT_IPC_CONNECT_STATE;
getHandler().sendMessage(msg);
return status;
}
@Override
public void onSSHResult(final SSHResult info) {
MySSHResult result = new MySSHResult(info.toString(), 0);
DataDistribution.getInstance().addData(result);
showToastCenter("IPC命令下发结果：" + info.code + " 命令：" + info.cmd + " 信息:" + info.msg);
CupidLogUtils.w(TAG, "IPC命令下发结果：" + info.code + " 命令：" + info.cmd + " 信息:" + info.msg);
}
@Override
public void onError(ProtocolStatus status, byte[] bytes) {
@@ -720,6 +787,18 @@ public class MainActivity extends BaseActivity implements OnAdasListener, OnAdas
DataDistribution.getInstance().addData(base);
}
@Override
public void onPredictionObstacleTrajectory(MessagePad.Header header, Prediction.mPredictionObjects predictionObjects) {
PredictionObstacleTrajectory base = new PredictionObstacleTrajectory(header, predictionObjects);
DataDistribution.getInstance().addData(base);
}
@Override
public void onTrackedObjects(MessagePad.Header header, ObjectOuterClass.TrackedObjects trackedObjects) {
PerceptionObstacles base = new PerceptionObstacles(header, trackedObjects);
DataDistribution.getInstance().addData(base);
}
@Override
public void onBasicInfoReq(MessagePad.Header header, MessagePad.BasicInfoReq basicInfoReq) {
BasicInfoReq info = new BasicInfoReq(header, basicInfoReq);
@@ -766,29 +845,6 @@ public class MainActivity extends BaseActivity implements OnAdasListener, OnAdas
}
private Toast toast;
public void showToastCenter(String msg) {
showToastCenter(msg, Toast.LENGTH_SHORT);
}
public void showToastCenter(String msg, int duration) {
runOnUiThread(new Runnable() {
@Override
public void run() {
if (toast != null) {
toast.cancel();
toast = null;
}
toast = Toast.makeText(MainActivity.this, "", duration); //如果有居中显示需求
toast.setGravity(Gravity.CENTER, 0, 0);
toast.setText(msg);
toast.show();
}
});
}
private void initAdas() {
CupidLogUtils.e(TAG, "--->初始化");
AdasOptions options;
@@ -857,7 +913,6 @@ public class MainActivity extends BaseActivity implements OnAdasListener, OnAdas
AdasManager.getInstance().create(options, this);
AdasManager.getInstance().setOnAdasListener(this);
// AdasManager.getInstance().setOnAdasConnectStatusListener(this);
if (BuildConfig.IS_CLIENT) {
/*—————————————作为乘客端———————————*/
@@ -881,18 +936,6 @@ public class MainActivity extends BaseActivity implements OnAdasListener, OnAdas
}
@Override
protected void onPause() {
super.onPause();
// AdasManager.getInstance().pause();
}
@Override
protected void onResume() {
super.onResume();
// AdasManager.getInstance().resume();
}
@Override
protected void onDestroy() {
super.onDestroy();
@@ -906,7 +949,12 @@ public class MainActivity extends BaseActivity implements OnAdasListener, OnAdas
@Override
public void onConnectionIPCStatus(int ipcConnectionStatus, String failedMsg) {
public void onConnectionIPCStatus(int ipcConnectionStatus, String reason) {
Log.i(TAG, "连接状态=" + (reason == null ? "主动断开连接" : reason));
connectStatusList.add(0, new IPCConnectState(reason == null ? "主动断开连接" : reason, getStatusColor(ipcConnectionStatus)));
if (connectStatusList.size() > 100) {
connectStatusList.remove(connectStatusList.size() - 1);
}
connectStatus = ipcConnectionStatus;
String status = onUpdateConnectStateView();
if (connectStatus == IPC_CONNECTION_STATUS.CONNECTED) {
@@ -917,10 +965,6 @@ public class MainActivity extends BaseActivity implements OnAdasListener, OnAdas
Constants.addIpcUsedIps(this, ips, tem);
}
} else if (connectStatus == IPC_CONNECTION_STATUS.DISCONNECTED) {
if (!TextUtils.isEmpty(failedMsg)) {
status += " failedMsg=" + failedMsg;
showToastCenter("连接失败：" + failedMsg);
}
getHandler().sendEmptyMessage(WHAT_IPC_IP);
}
// LogSave.getInstance().saveLog("连接状态", status);
@@ -1012,12 +1056,6 @@ public class MainActivity extends BaseActivity implements OnAdasListener, OnAdas
CupidLogUtils.w(TAG, "AutopilotRecord===>send:" + bEnd);
break;
case 6:
//录音测试
CupidLogUtils.w(TAG, "录音测试");
RecordDataManager.getInstance().init(MainActivity.this, "1234567", "", 22, "", "");
RecordDataManager.getInstance().record();
break;
case 7:
//发送信号灯
MessagePad.TrafficLightStatus left = MessagePad.TrafficLightStatus.newBuilder()
.setPhaseNo("1")
@@ -1041,7 +1079,7 @@ public class MainActivity extends BaseActivity implements OnAdasListener, OnAdas
.build();
AdasManager.getInstance().sendTrafficLightData("10038", 26.848153, 112.574883, "180.0", "SN", 100413, -4, 201, 0, detail);
break;
case 8:
case 7:
//速度设置
AlertDialog.Builder builder = new AlertDialog.Builder(this);
builder.setTitle("自动驾驶限速");
@@ -1068,27 +1106,20 @@ public class MainActivity extends BaseActivity implements OnAdasListener, OnAdas
builder.show();//显示Dialog对话框
break;
case 8:
//重启所有节点
AdasManager.getInstance().sendSystemCmdReq(MessagePad.SystemCmdType.SYSTEMCMD_REBOOT);
break;
case 9:
//重启Docker
AdasManager.getInstance().rebootAPDocker();
break;
case 10:
//重启IPC
AdasManager.getInstance().rebootIPC();
break;
case 11:
//关机
AdasManager.getInstance().shutdownIPC();
break;
case 12:
//采集类型
AdasManager.getInstance().sendRecordCause(recordKey, recordFileName, "1", "变道有干扰");
break;
case 13:
case 10:
//打开演示模式
AdasManager.getInstance().sendDemoModeReq(1);
break;
case 14:
case 11:
//关闭演示模式
AdasManager.getInstance().sendDemoModeReq(0);
break;
@@ -1107,7 +1138,10 @@ public class MainActivity extends BaseActivity implements OnAdasListener, OnAdas
ipcIp.setVisibility(View.VISIBLE);
ipcIp.setText("司机IP：" + NSDNettyManager.getInstance().getConnServerIp());
break;
case WHATIPC_CONNECT_STATE:
case WHAT_IPC_CONNECT_STATE:
if (floatWindow != null) {
floatWindow.refreshView();
}
IPCConnectState status = (IPCConnectState) msg.obj;
tvConnectState.setText(status.status);
tvConnectState.setTextColor(getResources().getColor(status.color));

3
app_ipc_monitoring/src/main/java/com/zhidao/adas/client/ui/VersionFragment.java
View File

@@ -167,10 +167,11 @@ public class VersionFragment extends BaseFragment {
list.add(new Config("最大自动驾驶限速:", adasConfig == null ? null : adasConfig.getMaxSpeedLimit() + "m/s"));
list.add(new Config("最小加速度:", adasConfig == null ? null : adasConfig.getMinAcceleration() + "m/s²"));
list.add(new Config("最大加速度:", adasConfig == null ? null : adasConfig.getMaxAcceleration() + "m/s²"));
list.add(new Config("IPC通信协议版本:", adasConfig == null ? null : String.valueOf(adasConfig.getProtocolVersion().getNumber())));
list.add(new Config("IPC通信协议版本:", adasConfig == null ? null : String.valueOf(adasConfig.getProtocolVersionValue())));
list.add(new Config("APP通信协议版本:", String.valueOf(AdasManager.getInstance().getProtocolVersion())));
}
list.add(new Config("ADAS LIB版本:", AdasManager.getInstance().getAdasVersion()));
list.add(new Config("APP构建时间:", BuildConfig.BUILD_TIME));
adapter.setData(list);
}

2
app_ipc_monitoring/src/main/java/com/zhidao/adas/client/utils/Constants.java
View File

@@ -150,6 +150,8 @@ public class Constants {
String RECEIVE_AUTOPILOT_STATE = "自动驾驶状态";
String RECEIVE_REPORT_MESSAGE = "监控事件";
String RECEIVE_PERCEPTION_TRAFFIC_LIGHT = "感知红绿灯";
String RECEIVE_PREDICTION_OBSTACLE_TRAJECTORY = "他车轨迹预测";
String RECEIVE_PERCEPTION_OBSTACLES = "透传障碍物";
// String RECEIVE_BASIC_INFO_REQ = "自动驾驶设备基础信息请求";
String RECEIVE_CAR_CONFIG_RESP = "信息与配置";

9
app_ipc_monitoring/src/main/res/drawable/bg_float.xml Normal file
View File

@@ -0,0 +1,9 @@
<?xml version="1.0" encoding="utf-8"?>
<shape xmlns:android="http://schemas.android.com/apk/res/android">
<solid android:color="#FAFFFFFF" />
<stroke
android:width="0.8dp"
android:color="#A140E0D0" />
<!-- 圆角 -->
<corners android:radius="6dp" />
</shape>

BIN
app_ipc_monitoring/src/main/res/drawable/help.png Normal file
View File

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Side by Side

After

Width:  |  Height:  |  Size: 370 KiB

10
app_ipc_monitoring/src/main/res/layout/activity_help.xml Normal file
View File

@@ -0,0 +1,10 @@
<?xml version="1.0" encoding="utf-8"?>
<ImageView xmlns:android="http://schemas.android.com/apk/res/android"
xmlns:tools="http://schemas.android.com/tools"
android:layout_width="match_parent"
android:layout_height="match_parent"
android:onClick="onBack"
android:scaleType="fitXY"
android:src="@drawable/help"
tools:context=".ui.HelpActivity" />

73
app_ipc_monitoring/src/main/res/layout/item_autopilot_config.xml
View File

@@ -20,6 +20,79 @@
android:layout_height="wrap_content"
android:orientation="vertical">
<LinearLayout
android:layout_width="wrap_content"
android:layout_height="wrap_content"
android:gravity="center_vertical"
android:orientation="horizontal">
<RadioGroup
android:id="@+id/car_type"
android:layout_width="wrap_content"
android:layout_height="wrap_content"
android:orientation="vertical">
<RadioButton
android:id="@+id/taxi"
android:layout_width="wrap_content"
android:layout_height="wrap_content"
android:text="Taxi" />
<RadioButton
android:id="@+id/bus"
android:layout_width="wrap_content"
android:layout_height="wrap_content"
android:text="Bus" />
</RadioGroup>
<TextView
android:layout_width="wrap_content"
android:layout_height="wrap_content"
android:layout_centerVertical="true"
android:layout_marginStart="10dp"
android:layout_toStartOf="@id/speed"
android:text="道路名称："
android:textColor="#000"
android:textSize="16sp" />
<EditText
android:id="@+id/route_name"
android:layout_width="match_parent"
android:layout_height="wrap_content"
android:layout_centerVertical="true"
android:layout_toStartOf="@id/hint_speed"
android:hint="路线名称"
android:inputType="text"
android:maxLines="1"
android:textColor="#000"
android:textSize="25sp" />
<TextView
android:layout_width="wrap_content"
android:layout_height="wrap_content"
android:layout_centerVertical="true"
android:layout_marginStart="5dp"
android:layout_toStartOf="@id/speed"
android:text="道路ID："
android:textColor="#000"
android:textSize="16sp" />
<EditText
android:id="@+id/route_id"
android:layout_width="match_parent"
android:layout_height="wrap_content"
android:layout_centerVertical="true"
android:layout_toStartOf="@id/hint_speed"
android:hint="路线名称"
android:inputType="number"
android:maxLines="1"
android:textColor="#000"
android:textSize="25sp" />
</LinearLayout>
<RelativeLayout
android:layout_width="match_parent"
android:layout_height="wrap_content">

2
app_ipc_monitoring/src/main/res/layout/item_info.xml
View File

@@ -16,6 +16,6 @@
android:gravity="center"
android:text="INFO"
android:textColor="@drawable/item_text_color"
android:textSize="16sp" />
android:textSize="14sp" />
</LinearLayout>

31
app_ipc_monitoring/src/main/res/layout/item_status.xml Normal file
View File

@@ -0,0 +1,31 @@
<?xml version="1.0" encoding="utf-8"?><!--测试列表Item-->
<LinearLayout xmlns:android="http://schemas.android.com/apk/res/android"
android:layout_width="match_parent"
android:layout_height="wrap_content"
android:layout_marginLeft="5dp"
android:layout_marginTop="3dp"
android:layout_marginRight="5dp"
android:layout_marginBottom="3dp"
android:background="?android:attr/selectableItemBackground"
android:orientation="horizontal">
<TextView
android:id="@+id/id"
android:layout_width="wrap_content"
android:layout_height="wrap_content"
android:textColor="#999999"
android:textSize="12sp" />
<EditText
android:id="@+id/log"
android:layout_width="match_parent"
android:layout_height="wrap_content"
android:background="@android:color/transparent"
android:cursorVisible="false"
android:focusable="false"
android:textColor="#ff0000"
android:textSize="12sp" />
</LinearLayout>

17
app_ipc_monitoring/src/main/res/layout/layout_float.xml Normal file
View File

@@ -0,0 +1,17 @@
<?xml version="1.0" encoding="utf-8"?>
<LinearLayout xmlns:android="http://schemas.android.com/apk/res/android"
android:layout_width="wrap_content"
android:layout_height="wrap_content"
android:background="@drawable/bg_float"
android:orientation="vertical">
<androidx.recyclerview.widget.RecyclerView
android:id="@+id/rv_status"
android:layout_width="260dp"
android:layout_height="280dp"
android:layout_marginTop="2dp"
android:layout_marginBottom="2dp" />
</LinearLayout>

3
app_ipc_monitoring/src/main/res/values/styles.xml
View File

@@ -28,4 +28,7 @@
<!--是否模糊-->
<item name="android:backgroundDimEnabled">true</item>
</style>
<style name="AppTheme.AppBarOverlay" parent="ThemeOverlay.AppCompat.Dark.ActionBar" />
<style name="AppTheme.PopupOverlay" parent="ThemeOverlay.AppCompat.Light" />
</resources>

4
core/function-impl/mogo-core-function-autopilot/src/main/java/com/mogo/eagle/core/function/autopilot/MoGoAutopilotProvider.kt
View File

@@ -310,11 +310,11 @@ class MoGoAutopilotProvider :
}
override fun setIPCShutDown() {
AdasManager.getInstance().shutdownIPC()
// AdasManager.getInstance().shutdownIPC()
}
override fun setIPCReboot() {
AdasManager.getInstance().rebootAPDocker()
// AdasManager.getInstance().rebootAPDocker()
}
override fun recordCause(key: String?, name: String?, id: String?, reason: String?) {

39
core/function-impl/mogo-core-function-autopilot/src/main/java/com/mogo/eagle/core/function/autopilot/adapter/MoGoAdasListenerImpl.kt
View File

@@ -39,14 +39,15 @@ import com.mogo.eagle.core.utilcode.mogo.logger.scene.SceneConstant.Companion.M_
import com.zhidao.support.adas.high.AdasManager
import com.zhidao.support.adas.high.OnAdasListener
import com.zhidao.support.adas.high.bean.IPCUpgradeStateInfo
import com.zhidao.support.adas.high.bean.SSHResult
import com.zhidao.support.adas.high.common.ProtocolStatus
import com.zhjt.service.chain.ChainLog
import com.zhjt.service.chain.TracingConstants.Endpoint.Companion.PAD
import mogo.telematics.pad.MessagePad
import mogo.telematics.pad.MessagePad.TrackedObject
import mogo_msg.MogoReportMsg
import perception.ObjectOuterClass
import perception.TrafficLightOuterClass
import prediction.Prediction
import record_cache.RecordPanelOuterClass
/**
@@ -97,6 +98,19 @@ class MoGoAdasListenerImpl : OnAdasListener {
}
}
/**
* 透传的融合障碍物 他车数据
* 当 MessagePad.CarConfigResp.getProtocolVersionValue() >=3 时此回调有数据，老接口“MessagePad.TrackedObjects”不会回调任何数据
*
* @param header 头
* @param trackedObjects 数据
*/
override fun onTrackedObjects(
header: MessagePad.Header?,
trackedObjects: ObjectOuterClass.TrackedObjects?
) {
}
//自车定位信息
@ChainLog(
linkChainLog = CHAIN_LINK_LOG_WEB_SOCKET_AUTOPILOT,
@@ -175,7 +189,7 @@ class MoGoAdasListenerImpl : OnAdasListener {
if (autopilotStatusInfo.connectIP == null) {
autopilotStatusInfo.connectIP = AdasManager.getInstance().ipcConnectedIp
}
if(autopilotStatusInfo.connectPort == null){
if (autopilotStatusInfo.connectPort == null) {
autopilotStatusInfo.connectPort = AdasManager.getInstance().ipcConnectedPort
}
if (autopilotStatusInfo.dockVersion == null) {
@@ -214,6 +228,13 @@ class MoGoAdasListenerImpl : OnAdasListener {
}
override fun onPredictionObstacleTrajectory(
header: MessagePad.Header?,
predictionObjects: Prediction.mPredictionObjects?
) {
//他车轨迹预测
}
override fun onBasicInfoReq(
header: MessagePad.Header,
basicInfoReq: MessagePad.BasicInfoReq?
@@ -318,13 +339,13 @@ class MoGoAdasListenerImpl : OnAdasListener {
}
}
override fun onSSHResult(info: SSHResult?) {
if (info != null && "docker restart autocar_default_1" == info.cmd) {
showDockerRebootResult(info.code, info.msg)
} else {
CallerLogger.w("$M_ADAS_IMPL$TAG", "onSSHResult : result info is null")
}
}
// override fun onSSHResult(info: com.zhidao.adas.client.ssh.SSHResult?) {
// if (info != null && "docker restart autocar_default_1" == info.cmd) {
// showDockerRebootResult(info.code, info.msg)
// } else {
// CallerLogger.w("$M_ADAS_IMPL$TAG", "onSSHResult : result info is null")
// }
// }
override fun onError(status: ProtocolStatus, bytes: ByteArray) {

9
core/function-impl/mogo-core-function-autopilot/src/main/java/com/mogo/eagle/core/function/autopilot/adapter/MoGoAdasMsgConnectStatusListenerImpl.kt
View File

@@ -9,7 +9,7 @@ import com.mogo.eagle.core.function.autopilot.network.AdasServiceModel
import com.mogo.eagle.core.function.call.autopilot.CallerAutoPilotStatusListenerManager
import com.mogo.eagle.core.utilcode.mogo.logger.CallerLogger
import com.mogo.eagle.core.utilcode.mogo.logger.scene.SceneConstant.Companion.M_ADAS_IMPL
import com.mogo.eagle.core.utilcode.mogo.toast.TipToast
import com.mogo.eagle.core.utilcode.util.ToastUtils
import com.zhidao.support.adas.high.AdasManager
import com.zhidao.support.adas.high.OnAdasConnectStatusListener
import com.zhidao.support.adas.high.common.Constants
@@ -44,8 +44,6 @@ class MoGoAdasMsgConnectStatusListenerImpl : OnAdasConnectStatusListener,
CallerAutoPilotStatusListenerManager.getAutoPilotStatusInfo().connectPort =
AdasManager.getInstance().ipcConnectedPort
CallerAutoPilotStatusListenerManager.getAutoPilotStatusInfo().connectStatus = true
CallerAutoPilotStatusListenerManager.invokeAutoPilotStatus()
// 同步SN给工控机
syncBasicInfoToAutopilot()
// 开启轮询上传自动驾驶状态
@@ -55,7 +53,7 @@ class MoGoAdasMsgConnectStatusListenerImpl : OnAdasConnectStatusListener,
CallerLogger.d("$M_ADAS_IMPL$TAG", "webSocket 连接失败 reason:$reason")
if (connectStatus) {
reason?.let {
TipToast.shortTip("工控机连接断开，原因:$it , 等待重连")
ToastUtils.showLong("工控机连接断开，原因:$it , 等待重连")
}
connectStatus = false
}
@@ -69,7 +67,6 @@ class MoGoAdasMsgConnectStatusListenerImpl : OnAdasConnectStatusListener,
mCurrentAutopilotSpeed = 0.0f
CallerAutoPilotStatusListenerManager.getAutoPilotStatusInfo().state = 0
CallerAutoPilotStatusListenerManager.getAutoPilotStatusInfo().pilotmode = 0
CallerAutoPilotStatusListenerManager.invokeAutoPilotStatus()
} else if (ipcConnectionStatus == Constants.IPC_CONNECTION_STATUS.CONNECTING) {
CallerLogger.d("$M_ADAS_IMPL$TAG", "webSocket 正在连接")
} else if (ipcConnectionStatus == Constants.IPC_CONNECTION_STATUS.SEARCH_ADDRESS) {
@@ -77,6 +74,8 @@ class MoGoAdasMsgConnectStatusListenerImpl : OnAdasConnectStatusListener,
} else if (ipcConnectionStatus == Constants.IPC_CONNECTION_STATUS.NOT_FOUND_ADDRESS) {
CallerLogger.d("$M_ADAS_IMPL$TAG", "webSocket 找不到可用IP 传入的IP不可用或固定IP列表中所有IP不可用")
}
CallerAutoPilotStatusListenerManager.getAutoPilotStatusInfo().connectStatusDescribe=reason
CallerAutoPilotStatusListenerManager.invokeAutoPilotStatus()
}
/**

2
core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/hmi/receiver/V2XWarningBroadcastReceiver.kt
View File

@@ -73,6 +73,6 @@ class V2XWarningBroadcastReceiver : BroadcastReceiver() {
if (EventTypeEnum.TYPE_USECASE_ID_IVP.poiType == v2xType.toString()) {
CallerHmiManager.showLimitingVelocity(1)
}
CallerHmiManager.showWarningV2X(v2xType, alertContent, ttsContent, tag, null, true, 5000L)
CallerHmiManager.showWarningV2X(v2xType.toString(), alertContent, ttsContent, tag, null, true, 5000L)
}
}

55
core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/hmi/ui/MoGoHmiFragment.kt
View File

@@ -22,13 +22,16 @@ import com.mogo.eagle.core.data.enums.SidePattern
import com.mogo.eagle.core.data.enums.WarningDirectionEnum
import com.mogo.eagle.core.data.notice.NoticeNormalData
import com.mogo.eagle.core.data.notice.NoticeTrafficStylePushData
import com.mogo.eagle.core.data.report.ReportEntity
import com.mogo.eagle.core.function.api.autopilot.IMoGoAutopilotRecordListener
import com.mogo.eagle.core.function.api.autopilot.IMoGoAutopilotStatusListener
import com.mogo.eagle.core.function.api.hmi.IMoGoHmiViewProxy
import com.mogo.eagle.core.function.api.hmi.view.IViewLimitingVelocity
import com.mogo.eagle.core.function.api.hmi.view.IViewNotification
import com.mogo.eagle.core.function.api.hmi.view.IViewTrafficLight
import com.mogo.eagle.core.function.api.hmi.warning.IMoGoWaringProvider
import com.mogo.eagle.core.function.api.hmi.warning.IMoGoWarningStatusListener
import com.mogo.eagle.core.function.call.autopilot.CallerAutoPilotStatusListenerManager
import com.mogo.eagle.core.function.call.autopilot.CallerAutopilotRecordListenerManager
import com.mogo.eagle.core.function.call.check.CallerCheckManager
import com.mogo.eagle.core.function.call.devatools.CallerDevaToolsManager
@@ -44,16 +47,19 @@ import com.mogo.eagle.core.function.hmi.ui.camera.CameraListView
import com.mogo.eagle.core.function.hmi.ui.notice.NoticeBannerView
import com.mogo.eagle.core.function.hmi.ui.notice.NoticeNormalBannerView
import com.mogo.eagle.core.function.hmi.ui.setting.DebugSettingView
import com.mogo.eagle.core.function.hmi.ui.setting.ReportListFloatWindow
import com.mogo.eagle.core.function.hmi.ui.tools.AutoPilotAndCheckView
import com.mogo.eagle.core.function.hmi.ui.widget.V2XNotificationView
import com.mogo.eagle.core.utilcode.mogo.AppIdentityModeUtils
import com.mogo.eagle.core.utilcode.mogo.logger.CallerLogger
import com.mogo.eagle.core.utilcode.mogo.logger.scene.SceneConstant.Companion.M_HMI
import com.mogo.eagle.core.utilcode.util.ThreadUtils
import com.mogo.eagle.core.utilcode.util.TimeUtils
import com.mogo.eagle.core.utilcode.util.ToastUtils
import com.mogo.module.common.enums.EventTypeEnum
import kotlinx.android.synthetic.main.fragment_hmi.*
import kotlinx.coroutines.*
import mogo_msg.MogoReportMsg
import record_cache.RecordPanelOuterClass
import java.util.*
@@ -68,7 +74,8 @@ class MoGoHmiFragment : MvpFragment<MoGoHmiContract.View?, HmiPresenter?>(),
IMoGoWaringProvider,
IMoGoHmiViewProxy,
MoGoHmiContract.View,
IMoGoAutopilotRecordListener {
IMoGoAutopilotRecordListener,
IMoGoAutopilotStatusListener {
private val TAG = "MoGoHmiFragment"
// DebugSettingView
@@ -101,6 +108,10 @@ class MoGoHmiFragment : MvpFragment<MoGoHmiContract.View?, HmiPresenter?>(),
// V2X预警弹窗 View 代理
private var mViewNotification: IViewNotification? = null
//工控机节点上报列表
private var reportList = arrayListOf<ReportEntity>()
//工控机上报列表悬浮窗
private var reportListFloatWindow: ReportListFloatWindow?=null
override fun vipIdentification(visible: Boolean) {
ThreadUtils.runOnUiThread {
@@ -143,6 +154,7 @@ class MoGoHmiFragment : MvpFragment<MoGoHmiContract.View?, HmiPresenter?>(),
override fun onViewCreated(view: View, savedInstanceState: Bundle?) {
super.onViewCreated(view, savedInstanceState)
CallerAutopilotRecordListenerManager.addListener(TAG, this)
CallerAutoPilotStatusListenerManager.addListener(TAG, this)
/*// TODO 这里后面需要改成独立进程通讯后台获取YUV
view.postDelayed({
@@ -174,6 +186,7 @@ class MoGoHmiFragment : MvpFragment<MoGoHmiContract.View?, HmiPresenter?>(),
override fun onDestroyView() {
super.onDestroyView()
CallerAutopilotRecordListenerManager.removeListener(TAG)
CallerAutoPilotStatusListenerManager.removeListener(TAG)
}
@@ -386,7 +399,7 @@ class MoGoHmiFragment : MvpFragment<MoGoHmiContract.View?, HmiPresenter?>(),
*/
override fun toggleDebugView() {
CallerLogger.d("$M_HMI$TAG", "长按显示状态工具栏")
context?.let {
activity?.let {
if (mDebugSettingViewFloat != null) {
WarningFloat.dismiss(mDebugSettingViewFloat!!.config.floatTag, false)
mDebugSettingViewFloat = null
@@ -394,6 +407,19 @@ class MoGoHmiFragment : MvpFragment<MoGoHmiContract.View?, HmiPresenter?>(),
} else {
if (mDebugSettingView == null) {
mDebugSettingView = DebugSettingView(it)
mDebugSettingView?.setClickListener(object: DebugSettingView.ClickListener{
override fun showReportListWindow(show: Boolean) {
if(show){
//打开工控机上报列表
reportListFloatWindow = ReportListFloatWindow(it)
reportListFloatWindow?.showFloatWindow()
reportListFloatWindow?.refreshData(reportList)
}else{
//关闭工控机上报列表
reportListFloatWindow?.hideFloatWindow()
}
}
})
}
var side = SidePattern.RIGHT
var gravity = Gravity.RIGHT
@@ -438,14 +464,14 @@ class MoGoHmiFragment : MvpFragment<MoGoHmiContract.View?, HmiPresenter?>(),
/**
* 展示VR下V2X预警
*
* @param v2xType V2X类型
* @param poiType V2X类型
* @param alertContent 提醒文本
* @param ttsContent tts语音播报消息
* @param tag tag绑定弹窗的标志
*/
@Synchronized
override fun showWarningV2X(
v2xType: Int,
v2xType: String,
alertContent: CharSequence?,
ttsContent: String?,
tag: String?,
@@ -461,9 +487,9 @@ class MoGoHmiFragment : MvpFragment<MoGoHmiContract.View?, HmiPresenter?>(),
if (floatWindow == null || TextUtils.isEmpty(showTag) || !floatWindow.isShow() || floatWindow.config.floatTag != tag) {
// 代理View初始化了才可以弹窗
mViewNotification?.let { notificationView ->
notificationView.setWarningIcon(EventTypeEnum.getWarningIcon(v2xType.toString()))
notificationView.setWarningIcon(EventTypeEnum.getWarningIcon(v2xType))
val warningContent = alertContent
?: EventTypeEnum.getWarningContent(v2xType.toString())
?: EventTypeEnum.getWarningContent(v2xType)
if (warningContent.isEmpty()) {
CallerLogger.e("$M_HMI$TAG", "Show warningContent is null or empty!")
return@launchWhenResumed
@@ -979,6 +1005,23 @@ class MoGoHmiFragment : MvpFragment<MoGoHmiContract.View?, HmiPresenter?>(),
}
/**
* 工控机监控节点上报
*/
override fun onAutopilotGuardian(guardianInfo: MogoReportMsg.MogoReportMessage?) {
ThreadUtils.runOnUiThread{
guardianInfo?.let {
if(reportList.size>20){
reportList.removeLast()
}
reportList.add(0,
ReportEntity(TimeUtils.millis2String(System.currentTimeMillis()),
it.src,it.level,it.msg,it.code,it.resultList,it.actionsList))
reportListFloatWindow?.refreshData(reportList)
}
}
}
override fun onDestroy() {
super.onDestroy()
CallerLogger.d("$M_HMI$TAG", "onDestroy")

133
core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/hmi/ui/setting/AccelerationFloatWindow.kt Normal file
View File

@@ -0,0 +1,133 @@
package com.mogo.eagle.core.function.hmi.ui.setting
import android.app.Activity
import android.graphics.PixelFormat
import android.util.DisplayMetrics
import android.view.*
import androidx.recyclerview.widget.LinearLayoutManager
import androidx.recyclerview.widget.RecyclerView
import com.mogo.eagle.core.data.gnss.AccelerationEntity
import com.mogo.eagle.core.function.hmi.R
import java.lang.reflect.Field
/**
* @author XuXinChao
* @description 可拖拽实时加速度面板
* @since: 2022/4/21
*/
class AccelerationFloatWindow constructor(activity: Activity) : View.OnTouchListener{
private var mActivity: Activity = activity
private var mWindowParams: WindowManager.LayoutParams? = null
private var mWindowManager: WindowManager? = null
private lateinit var rvAccelerationList: RecyclerView
private var accelerationListAdapter: AccelerationListAdapter?=null
private lateinit var mFloatLayout: View
private var mInViewX = 0f
private var mInViewY = 0f
private var mDownInScreenX = 0f
private var mDownInScreenY = 0f
private var mInScreenX = 0f
private var mInScreenY = 0f
init {
initFloatWindow();
}
private fun initFloatWindow() {
mFloatLayout = LayoutInflater.from(mActivity).inflate(R.layout.view_acceleration_float, null) as View
mFloatLayout.setOnTouchListener(this)
rvAccelerationList= mFloatLayout.findViewById(R.id.rvAccelerationList)
mWindowParams = WindowManager.LayoutParams()
// mWindowManager = (WindowManager) mContext.getSystemService(Context.WINDOW_SERVICE);
// if (Build.VERSION.SDK_INT >= 26) {//8.0新特性
// mWindowParams.type = WindowManager.LayoutParams.TYPE_APPLICATION_OVERLAY;
// }else{
// mWindowParams.type = WindowManager.LayoutParams.TYPE_SYSTEM_ALERT;
// }
mWindowManager = mActivity.windowManager
mWindowParams?.let {
it.format = PixelFormat.RGBA_8888
it.flags = WindowManager.LayoutParams.FLAG_NOT_FOCUSABLE
it.gravity = Gravity.START or Gravity.TOP
it.width = 600
it.height = WindowManager.LayoutParams.WRAP_CONTENT
it.alpha = 0.8f
}
accelerationListAdapter= AccelerationListAdapter(mActivity)
rvAccelerationList.layoutManager = LinearLayoutManager(mActivity,
LinearLayoutManager.VERTICAL,false)
rvAccelerationList.adapter = accelerationListAdapter
rvAccelerationList.isNestedScrollingEnabled = false
}
fun refreshData(data:List<AccelerationEntity>){
accelerationListAdapter?.setDada(data)
accelerationListAdapter?.notifyDataSetChanged()
}
override fun onTouch(v: View?, motionEvent: MotionEvent?): Boolean {
when (motionEvent?.action) {
MotionEvent.ACTION_DOWN -> {
// 获取相对View的坐标，即以此View左上角为原点
mInViewX = motionEvent.x
mInViewY = motionEvent.y
// 获取相对屏幕的坐标，即以屏幕左上角为原点
mDownInScreenX = motionEvent.rawX
mDownInScreenY = motionEvent.rawY - getSysBarHeight(mActivity)
mInScreenX = motionEvent.rawX
mInScreenY = motionEvent.rawY - getSysBarHeight(mActivity)
}
MotionEvent.ACTION_MOVE -> {
// 更新浮动窗口位置参数
mInScreenX = motionEvent.rawX
mInScreenY = motionEvent.rawY - getSysBarHeight(mActivity)
mWindowParams!!.x = (mInScreenX - mInViewX).toInt()
mWindowParams!!.y = (mInScreenY - mInViewY).toInt()
// 手指移动的时候更新小悬浮窗的位置
mWindowManager!!.updateViewLayout(mFloatLayout, mWindowParams)
}
// MotionEvent.ACTION_UP -> // 如果手指离开屏幕时，xDownInScreen和xInScreen相等，且yDownInScreen和yInScreen相等，则视为触发了单击事件。
// if (mDownInScreenX === mInScreenX && mDownInScreenY === mInScreenY) {
// }
}
return true
}
fun showFloatWindow() {
if (mFloatLayout.parent == null) {
val metrics = DisplayMetrics()
// 默认固定位置，靠屏幕右边缘的中间
mWindowManager!!.defaultDisplay.getMetrics(metrics)
mWindowParams!!.x = metrics.widthPixels
mWindowParams!!.y = metrics.heightPixels / 2 - getSysBarHeight(mActivity)
mWindowManager!!.addView(mFloatLayout, mWindowParams)
}
}
fun hideFloatWindow() {
if (mFloatLayout.parent != null) mWindowManager!!.removeView(mFloatLayout)
}
// 获取系统状态栏高度
private fun getSysBarHeight(activity: Activity): Int {
val c: Class<*>
val obj: Any
val field: Field
val x: Int
var sbar = 0
try {
c = Class.forName("com.android.internal.R\$dimen")
obj = c.newInstance()
field = c.getField("status_bar_height")
x = field.get(obj).toString().toInt()
sbar = activity.resources.getDimensionPixelSize(x)
} catch (e1: Exception) {
e1.printStackTrace()
}
return sbar
}
}

48
core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/hmi/ui/setting/AccelerationListAdapter.kt Normal file
View File

@@ -0,0 +1,48 @@
package com.mogo.eagle.core.function.hmi.ui.setting
import android.content.Context
import android.view.LayoutInflater
import android.view.View
import android.view.ViewGroup
import android.widget.TextView
import androidx.recyclerview.widget.RecyclerView
import com.mogo.eagle.core.data.gnss.AccelerationEntity
import com.mogo.eagle.core.function.hmi.R
/**
* @author XuXinChao
* @description 实时加速度列表适配器
* @since: 2022/4/20
*/
class AccelerationListAdapter(context: Context) :
RecyclerView.Adapter<AccelerationListAdapter.AccelerationListHolder>() {
private var context: Context? = context
private var data:List<AccelerationEntity>? = null
fun setDada( data: List<AccelerationEntity>?){
this.data = data
}
override fun onCreateViewHolder(parent: ViewGroup, viewType: Int): AccelerationListHolder {
val view = LayoutInflater.from(parent.context)
.inflate(R.layout.item_acceleration_detail, parent, false)
return AccelerationListHolder(view)
}
override fun onBindViewHolder(holder: AccelerationListHolder, position: Int) {
data?.let { it ->
val accelerationEntity = it[position]
holder.tvMoment.text = accelerationEntity.moment
holder.tvAcceleration.text = accelerationEntity.acceleration
}
}
override fun getItemCount() = data?.size ?: 0
class AccelerationListHolder(itemView: View) : RecyclerView.ViewHolder(itemView){
var tvMoment: TextView = itemView.findViewById(R.id.tvMoment)
var tvAcceleration: TextView = itemView.findViewById(R.id.tvAcceleration)
}
}

129
core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/hmi/ui/setting/DebugSettingView.kt
View File

@@ -1,6 +1,7 @@
package com.mogo.eagle.core.function.hmi.ui.setting
import android.annotation.SuppressLint
import android.app.Activity
import android.content.Context
import android.graphics.Color
import android.os.Build
@@ -24,6 +25,7 @@ import com.mogo.eagle.core.data.constants.MoGoConfig
import com.mogo.eagle.core.data.deva.chain.ChainConstant
import com.mogo.eagle.core.data.deva.scene.SceneModule
import com.mogo.eagle.core.data.enums.TrafficTypeEnum
import com.mogo.eagle.core.data.gnss.AccelerationEntity
import com.mogo.eagle.core.data.map.MogoLocation
import com.mogo.eagle.core.data.obu.ObuStatusInfo
import com.mogo.eagle.core.data.upgrade.UpgradeVersionEntity
@@ -60,11 +62,13 @@ import com.mogo.eagle.core.utilcode.util.*
import com.mogo.map.MogoMap
import com.mogo.map.uicontroller.VisualAngleMode
import com.mogo.map.uicontroller.VisualAngleMode.*
import com.zhidao.easysocket.utils.L
import kotlinx.android.synthetic.main.view_debug_setting.view.*
import mogo.telematics.pad.MessagePad
import mogo_msg.MogoReportMsg
import java.util.*
import kotlin.collections.ArrayList
import kotlin.math.abs
/**
* @author xiaoyuzhou
@@ -90,6 +94,11 @@ class DebugSettingView @JvmOverloads constructor(
private var mAutoPilotStatusInfo: AutopilotStatusInfo? = null
private var mGnssInfo: MessagePad.GnssInfo? = null
private var accelerationFloatWindow: AccelerationFloatWindow?=null
private var accelerationList = arrayListOf<AccelerationEntity>()
private var accelerationIsShow: Boolean = false //实时加速度面板是否展示
private var accelerationThresholdNum: Double = 0.0
// 感知识别「已知类型」数据个数
private var mIdentifyDataSize = 0
@@ -102,9 +111,6 @@ class DebugSettingView @JvmOverloads constructor(
// 全局路径规划点个数
private var mRouteInfoSize = 0
//当前PAD支持的CPU架构
private var cpuList = "CPU架构："
//日志过滤标签集合
private val sceneMap = mutableMapOf<String, SceneModule>()
@@ -140,6 +146,8 @@ class DebugSettingView @JvmOverloads constructor(
private var lastVisualAngleMode: VisualAngleMode? = null
private var clickListener: ClickListener? = null
init {
LayoutInflater.from(context).inflate(R.layout.view_debug_setting, this, true)
initView()
@@ -265,12 +273,6 @@ class DebugSettingView @JvmOverloads constructor(
}
}
for (element in DeviceUtils.getABIs()) {
cpuList = "$cpuList$element "
}
tvCPUFrameworkInfo.text = cpuList
/**
* 控制中心
*/
@@ -603,6 +605,11 @@ class DebugSettingView @JvmOverloads constructor(
//初始化ADAS日志开关状态
tbADASLog.isChecked = CallerAutoPilotManager.isEnableLog()
//查看上报历史列表
tbReportMore.setOnCheckedChangeListener { _, isChecked ->
clickListener?.showReportListWindow(isChecked)
}
}
/**
@@ -965,6 +972,33 @@ class DebugSettingView @JvmOverloads constructor(
}
}
/**
* 实时加速度面板控制
*/
tbOpenAcceleration.setOnCheckedChangeListener { _, isChecked ->
if(isChecked){
//打开实时加速度面板
accelerationFloatWindow = context?.let { AccelerationFloatWindow(it as Activity) }
accelerationFloatWindow?.showFloatWindow()
etThreshold.visibility = View.VISIBLE
btnThresholdDefine.visibility = View.VISIBLE
}else{
//关闭实时加速度面板
accelerationFloatWindow?.hideFloatWindow()
etThreshold.visibility = View.GONE
btnThresholdDefine.visibility = View.GONE
}
accelerationIsShow = isChecked
}
btnThresholdDefine.setOnClickListener {
try{
accelerationThresholdNum = etThreshold.text.toString().toDouble()
}catch(e:java.lang.Exception){
ToastUtils.showShort("请输入正确的阈值")
}
}
}
/**
@@ -1039,6 +1073,13 @@ class DebugSettingView @JvmOverloads constructor(
MoGoAiCloudClientConfig.getInstance().isShowNetDebugLog = isChecked
}
/**
* 设置是否输出OBU日志 true-打印日志，false-不打印日志
*/
tbObuLog.setOnCheckedChangeListener { _, isChecked ->
L.setEnableLog(isChecked)
}
cbTraceLog.isChecked = CallerDevaToolsManager.getTraceLogStatus()
//链路Log输出日志
cbTraceLog.setOnCheckedChangeListener { _, isChecked ->
@@ -1169,8 +1210,9 @@ class DebugSettingView @JvmOverloads constructor(
it.iterator().forEach {map ->
val name = if(map.key.contains("{")) map.key.replace("{","") else map.key
val url = if(map.value.contains("}")) map.value.replace("}","") else map.value
upgradeVersionList.add(UpgradeVersionEntity(name,url))
upgradeVersionList.add(UpgradeVersionEntity(name.trim(),url))
}
upgradeVersionList.sortByDescending { upgradeVersionEntity ->upgradeVersionEntity.name }
upgradeListAdapter?.setDada(dataFilter(upgradeVersionList))
upgradeListAdapter?.notifyDataSetChanged()
}
@@ -1404,15 +1446,16 @@ class DebugSettingView @JvmOverloads constructor(
* 版本信息
*/
tvAppVersionName.text = "鹰眼版本名：${AppUtils.getAppVersionName()}"
tvAppVersionCode.text = "鹰眼版本号：${AppUtils.getAppVersionCode()}"
tvObuSdkVersion.text = "OBU-SDK版本：${AppConfigInfo.obuSdkVersion}"
tvAutopilotProtocolVersionInfo.text =
"Autopilot协议版本：${CallerAutoPilotManager.getProtocolVersion()}"
tvIpcProtocolVersionInfo.text = "工控机协议版本：${AppConfigInfo.protocolVersionNumber}"
if(AppConfigInfo.protocolVersionNumber==0){
tvIpcProtocolVersionInfo.text="工控机协议版本：未知"
}else{
tvIpcProtocolVersionInfo.text = "工控机协议版本：${AppConfigInfo.protocolVersionNumber}"
}
tvMoGoMapVersion.text = "HD-Map版本：${MogoMap.getInstance().mogoMap.mapVersion}"
tvGitBranchInfo.text = "Git分支：${AppConfigInfo.workingBranchName}"
tvGitHashInfo.text = "Git-Hash：${AppConfigInfo.workingBranchHash}"
tvAndroidSystemVersion.text = "Android系统版本：" + DeviceUtils.getSDKVersionName()
tvAppBuildTimeInfo.text = "版本构建时间：${AppConfigInfo.appBuildTime}"
/**
* 状态中心
@@ -1464,11 +1507,17 @@ class DebugSettingView @JvmOverloads constructor(
)
tvAutopilotConnectStatus.text = Html.fromHtml(
"Autopilot系统连接状态：${
"工控机连接状态：${
if (AppConfigInfo.isConnectAutopilot) {
"<font color='blue'>正常"
} else {
"<font color='red'>异常"
"<font color='red'>异常 原因：${
if(AppConfigInfo.connectStatusDescribe.isNullOrEmpty()){
"主动断开连接"
}else{
AppConfigInfo.connectStatusDescribe
}
}"
}
}"
)
@@ -1565,18 +1614,40 @@ class DebugSettingView @JvmOverloads constructor(
override fun onAutopilotStatusResponse(autoPilotStatusInfo: AutopilotStatusInfo) {
mAutoPilotStatusInfo = autoPilotStatusInfo
AppConfigInfo.isConnectAutopilot = autoPilotStatusInfo.connectStatus
if (autoPilotStatusInfo.connectStatus) {
adasConnectStatus = true
}
AppConfigInfo.connectStatusDescribe = autoPilotStatusInfo.connectStatusDescribe
// if (autoPilotStatusInfo.connectStatus) {
// adasConnectStatus = true
// }
//ADAS断开连接，提示异常
if (adasConnectStatus && !autoPilotStatusInfo.connectStatus) {
adasConnectStatus = false
toastMsg("Autopilot系统连接状态异常")
}
// if (adasConnectStatus && !autoPilotStatusInfo.connectStatus) {
// adasConnectStatus = false
// toastMsg("工控机连接断开")
// }
}
override fun onAutopilotCarStateData(gnssInfo: MessagePad.GnssInfo?) {
mGnssInfo = gnssInfo
//实时加速度列表
ThreadUtils.runOnUiThread{
if(accelerationIsShow){
if(accelerationList.size > 9){
accelerationList.removeLast()
}
gnssInfo?.acceleration?.let {
if(accelerationList.isEmpty()){
accelerationList.add(AccelerationEntity(TimeUtils.millis2String(System.currentTimeMillis(),TimeUtils.getHourMinSecondFormat()),it.toString()))
}
if(abs(it.minus(accelerationList.first().acceleration.toDouble())) > abs(accelerationThresholdNum)){
accelerationList.add(0, AccelerationEntity(TimeUtils.millis2String(System.currentTimeMillis(),TimeUtils.getHourMinSecondFormat()),it.toString()))
}
accelerationFloatWindow?.refreshData(accelerationList)
}
}
}
}
@RequiresApi(Build.VERSION_CODES.N)
@@ -1609,7 +1680,7 @@ class DebugSettingView @JvmOverloads constructor(
carConfigResp.let {
AppConfigInfo.plateNumber = it.plateNumber//车牌号
AppConfigInfo.iPCMacAddress = it.macAddress//工控机MAC地址
AppConfigInfo.protocolVersionNumber = it.protocolVersion.number//工控机协议版本
AppConfigInfo.protocolVersionNumber = it.protocolVersionValue//工控机协议版本
}
}
@@ -1724,4 +1795,12 @@ class DebugSettingView @JvmOverloads constructor(
}
}
fun setClickListener(clickListener: ClickListener) {
this.clickListener = clickListener
}
interface ClickListener{
fun showReportListWindow(show: Boolean)
}
}

90
core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/hmi/ui/setting/ReportListAdapter.kt Normal file
View File

@@ -0,0 +1,90 @@
package com.mogo.eagle.core.function.hmi.ui.setting
import android.annotation.SuppressLint
import android.content.Context
import android.graphics.Color
import android.view.LayoutInflater
import android.view.View
import android.view.ViewGroup
import android.widget.TextView
import androidx.recyclerview.widget.RecyclerView
import com.mogo.eagle.core.data.report.ReportEntity
import com.mogo.eagle.core.function.call.autopilot.CallerAutoPilotManager
import com.mogo.eagle.core.function.hmi.R
/**
* @author XuXinChao
* @description 工控机上报列表适配器
* @since: 2022/4/13
*/
class ReportListAdapter(context: Context) :
RecyclerView.Adapter<ReportListAdapter.ReportListHolder>() {
private var context: Context? = context
private var data:List<ReportEntity>? = null
public fun setDada( data: List<ReportEntity>?){
this.data = data
}
override fun onCreateViewHolder(parent: ViewGroup, viewType: Int): ReportListHolder {
val view = LayoutInflater.from(parent.context)
.inflate(R.layout.item_report_detail, parent, false)
return ReportListHolder(view)
}
@SuppressLint("SetTextI18n")
override fun onBindViewHolder(holder: ReportListHolder, position: Int) {
data?.let { it ->
val reportEntity = it[position]
reportEntity.let {
holder.tvReportTime.text = it.time
holder.tvReportSrc.text = "src:${it.src}"
holder.tvReportLevel.text = "level:${it.level}"
holder.tvReportMsg.text = "msg:${it.msg}"
holder.tvReportCode.text = "code:${it.code}"
var resultStr = "result:"
for (result in it.resultList) {
resultStr = "$resultStr$result${CallerAutoPilotManager.getReportResultDesc(result)} "
}
holder.tvReportResult.text = resultStr
var actionStr = "action:"
for (action in it.actionsList) {
actionStr = "$actionStr$action${CallerAutoPilotManager.getReportActionDesc(action)} "
}
holder.tvReportActions.text = actionStr
if ("error" == it.level) {
//字体为红色,吐司提示
holder.tvReportSrc.setTextColor(Color.RED)
holder.tvReportLevel.setTextColor(Color.RED)
holder.tvReportMsg.setTextColor(Color.RED)
holder.tvReportCode.setTextColor(Color.RED)
holder.tvReportResult.setTextColor(Color.RED)
holder.tvReportActions.setTextColor(Color.RED)
} else {
holder.tvReportSrc.setTextColor(Color.WHITE)
holder.tvReportLevel.setTextColor(Color.WHITE)
holder.tvReportMsg.setTextColor(Color.WHITE)
holder.tvReportCode.setTextColor(Color.WHITE)
holder.tvReportResult.setTextColor(Color.WHITE)
holder.tvReportActions.setTextColor(Color.WHITE)
}
}
}
}
override fun getItemCount() = data?.size ?: 0
class ReportListHolder(itemView: View) : RecyclerView.ViewHolder(itemView){
var tvReportTime: TextView = itemView.findViewById(R.id.tvReportTime)
var tvReportSrc: TextView = itemView.findViewById(R.id.tvReportSrc)
var tvReportLevel: TextView = itemView.findViewById(R.id.tvReportLevel)
var tvReportMsg: TextView = itemView.findViewById(R.id.tvReportMsg)
var tvReportCode: TextView = itemView.findViewById(R.id.tvReportCode)
var tvReportResult: TextView = itemView.findViewById(R.id.tvReportResult)
var tvReportActions: TextView = itemView.findViewById(R.id.tvReportActions)
}
}

125
core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/hmi/ui/setting/ReportListFloatWindow.kt Normal file
View File

@@ -0,0 +1,125 @@
package com.mogo.eagle.core.function.hmi.ui.setting
import android.app.Activity
import android.graphics.PixelFormat
import android.util.DisplayMetrics
import android.view.*
import androidx.recyclerview.widget.LinearLayoutManager
import androidx.recyclerview.widget.RecyclerView
import com.mogo.eagle.core.data.report.ReportEntity
import com.mogo.eagle.core.function.hmi.R
import java.lang.reflect.Field
/**
* @author XuXinChao
* @description 工控机上报列表面板
* @since: 2022/4/13
*/
class ReportListFloatWindow constructor(activity: Activity) : View.OnTouchListener{
private var mActivity: Activity = activity
private var mWindowParams: WindowManager.LayoutParams? = null
private var mWindowManager: WindowManager? = null
private lateinit var rvReportList: RecyclerView
private var reportListAdapter: ReportListAdapter?=null
private lateinit var mFloatLayout: View
private var mInViewX = 0f
private var mInViewY = 0f
private var mDownInScreenX = 0f
private var mDownInScreenY = 0f
private var mInScreenX = 0f
private var mInScreenY = 0f
init {
initFloatWindow();
}
private fun initFloatWindow() {
mFloatLayout = LayoutInflater.from(mActivity).inflate(R.layout.view_report_list, null) as View
mFloatLayout.setOnTouchListener(this)
rvReportList= mFloatLayout.findViewById(R.id.rv_report_list)
mWindowParams = WindowManager.LayoutParams()
mWindowManager = mActivity.windowManager
mWindowParams?.let {
it.format = PixelFormat.RGBA_8888
it.flags = WindowManager.LayoutParams.FLAG_NOT_FOCUSABLE
it.gravity = Gravity.START or Gravity.TOP
it.width = 800
it.height = 1000
it.alpha = 0.9f
}
reportListAdapter= ReportListAdapter(mActivity)
rvReportList.layoutManager = LinearLayoutManager(mActivity,
LinearLayoutManager.VERTICAL,false)
rvReportList.adapter = reportListAdapter
}
fun refreshData(data:List<ReportEntity>){
reportListAdapter?.setDada(data)
reportListAdapter?.notifyDataSetChanged()
}
override fun onTouch(v: View?, motionEvent: MotionEvent?): Boolean {
when (motionEvent?.action) {
MotionEvent.ACTION_DOWN -> {
// 获取相对View的坐标，即以此View左上角为原点
mInViewX = motionEvent.x
mInViewY = motionEvent.y
// 获取相对屏幕的坐标，即以屏幕左上角为原点
mDownInScreenX = motionEvent.rawX
mDownInScreenY = motionEvent.rawY - getSysBarHeight(mActivity)
mInScreenX = motionEvent.rawX
mInScreenY = motionEvent.rawY - getSysBarHeight(mActivity)
}
MotionEvent.ACTION_MOVE -> {
// 更新浮动窗口位置参数
mInScreenX = motionEvent.rawX
mInScreenY = motionEvent.rawY - getSysBarHeight(mActivity)
mWindowParams!!.x = (mInScreenX - mInViewX).toInt()
mWindowParams!!.y = (mInScreenY - mInViewY).toInt()
// 手指移动的时候更新小悬浮窗的位置
mWindowManager!!.updateViewLayout(mFloatLayout, mWindowParams)
}
// MotionEvent.ACTION_UP -> // 如果手指离开屏幕时，xDownInScreen和xInScreen相等，且yDownInScreen和yInScreen相等，则视为触发了单击事件。
// if (mDownInScreenX === mInScreenX && mDownInScreenY === mInScreenY) {
// }
}
return true
}
fun showFloatWindow() {
if (mFloatLayout.parent == null) {
val metrics = DisplayMetrics()
// 默认固定位置，靠屏幕右边缘的中间
mWindowManager!!.defaultDisplay.getMetrics(metrics)
mWindowParams!!.x = metrics.widthPixels
mWindowParams!!.y = metrics.heightPixels / 2 - getSysBarHeight(mActivity)
mWindowManager!!.addView(mFloatLayout, mWindowParams)
}
}
fun hideFloatWindow() {
if (mFloatLayout.parent != null) mWindowManager!!.removeView(mFloatLayout)
}
// 获取系统状态栏高度
private fun getSysBarHeight(activity: Activity): Int {
val c: Class<*>
val obj: Any
val field: Field
val x: Int
var sbar = 0
try {
c = Class.forName("com.android.internal.R\$dimen")
obj = c.newInstance()
field = c.getField("status_bar_height")
x = field.get(obj).toString().toInt()
sbar = activity.resources.getDimensionPixelSize(x)
} catch (e1: Exception) {
e1.printStackTrace()
}
return sbar
}
}

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core/function-impl/mogo-core-function-hmi/src/main/res/drawable-xxhdpi/icon_drag.png Normal file
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25
core/function-impl/mogo-core-function-hmi/src/main/res/layout/item_acceleration_detail.xml Normal file
View File

@@ -0,0 +1,25 @@
<?xml version="1.0" encoding="utf-8"?>
<LinearLayout xmlns:android="http://schemas.android.com/apk/res/android"
android:layout_width="match_parent"
android:layout_height="wrap_content"
android:orientation="horizontal">
<TextView
android:id="@+id/tvMoment"
android:layout_width="wrap_content"
android:layout_height="wrap_content"
android:textColor="@color/foreground_wtf"
android:gravity="center_horizontal"
/>
<TextView
android:id="@+id/tvAcceleration"
android:layout_width="match_parent"
android:layout_height="wrap_content"
android:layout_marginStart="10dp"
android:textColor="@color/foreground_wtf"
android:gravity="center_horizontal"
/>
</LinearLayout>

55
core/function-impl/mogo-core-function-hmi/src/main/res/layout/item_report_detail.xml Normal file
View File

@@ -0,0 +1,55 @@
<?xml version="1.0" encoding="utf-8"?>
<LinearLayout xmlns:android="http://schemas.android.com/apk/res/android"
android:layout_width="match_parent"
android:layout_height="wrap_content"
android:orientation="vertical">
<TextView
android:id="@+id/tvReportTime"
style="@style/DebugSettingText"
android:layout_width="match_parent"
android:layout_height="wrap_content"/>
<TextView
android:id="@+id/tvReportSrc"
style="@style/DebugSettingText"
android:layout_width="match_parent"
android:layout_height="wrap_content"
/>
<TextView
android:id="@+id/tvReportLevel"
style="@style/DebugSettingText"
android:layout_width="match_parent"
android:layout_height="wrap_content" />
<TextView
android:id="@+id/tvReportMsg"
style="@style/DebugSettingText"
android:layout_width="match_parent"
android:layout_height="wrap_content" />
<TextView
android:id="@+id/tvReportCode"
style="@style/DebugSettingText"
android:layout_width="match_parent"
android:layout_height="wrap_content" />
<TextView
android:id="@+id/tvReportResult"
style="@style/DebugSettingText"
android:layout_width="match_parent"
android:layout_height="wrap_content" />
<TextView
android:id="@+id/tvReportActions"
style="@style/DebugSettingText"
android:layout_width="match_parent"
android:layout_height="wrap_content" />
<View
android:layout_width="match_parent"
android:layout_height="1dp"
android:background="#F0F0F0" />
</LinearLayout>

31
core/function-impl/mogo-core-function-hmi/src/main/res/layout/view_acceleration_float.xml Normal file
View File

@@ -0,0 +1,31 @@
<?xml version="1.0" encoding="utf-8"?>
<LinearLayout xmlns:android="http://schemas.android.com/apk/res/android"
android:layout_width="500dp"
android:layout_height="wrap_content"
xmlns:app="http://schemas.android.com/apk/res-auto"
android:orientation="vertical">
<ImageView
android:layout_width="match_parent"
android:layout_height="wrap_content"
android:src="@drawable/icon_drag"
android:padding="15dp"
android:layout_gravity="center_horizontal"
/>
<com.mogo.eagle.core.widget.RoundConstraintLayout
android:layout_width="match_parent"
android:layout_height="wrap_content"
android:background="@color/dialog_bg_color"
app:roundLayoutRadius="10dp">
<androidx.recyclerview.widget.RecyclerView
android:id="@+id/rvAccelerationList"
android:layout_width="match_parent"
android:layout_height="wrap_content"
android:layout_margin="5dp"
/>
</com.mogo.eagle.core.widget.RoundConstraintLayout>
</LinearLayout>

243
core/function-impl/mogo-core-function-hmi/src/main/res/layout/view_debug_setting.xml
View File

@@ -12,109 +12,145 @@
android:layout_width="match_parent"
android:layout_height="@dimen/dp_350"
android:visibility="gone"
app:layout_constraintBottom_toBottomOf="parent">
app:layout_constraintBottom_toBottomOf="parent"
tools:visibility="visible">
<LinearLayout
<androidx.constraintlayout.widget.ConstraintLayout
android:layout_width="match_parent"
android:layout_height="match_parent"
android:orientation="vertical">
android:layout_height="match_parent">
<View
android:id="@+id/vReportLine"
android:layout_width="match_parent"
android:layout_height="6dp"
android:background="#F0F0F0" />
android:background="#F0F0F0"
app:layout_constraintTop_toTopOf="parent" />
<ToggleButton
android:id="@+id/tbReportMore"
android:layout_width="wrap_content"
android:layout_height="wrap_content"
android:background="@null"
android:drawableEnd="@drawable/icon_right"
android:drawablePadding="5dp"
android:gravity="center"
android:padding="10dp"
android:textOff="打开历史"
android:textOn="关闭历史"
android:textSize="@dimen/dp_24"
app:layout_constraintRight_toRightOf="parent"
app:layout_constraintTop_toBottomOf="@id/vReportLine" />
<TextView
android:id="@+id/tvReportSrc"
style="@style/DebugSettingText"
android:layout_width="match_parent"
android:layout_height="wrap_content" />
android:layout_width="0dp"
android:layout_height="0dp"
app:layout_constraintBottom_toBottomOf="@id/tbReportMore"
app:layout_constraintLeft_toLeftOf="parent"
app:layout_constraintRight_toLeftOf="@id/tbReportMore"
app:layout_constraintTop_toBottomOf="@id/vReportLine"
app:layout_constraintTop_toTopOf="@id/tbReportMore" />
<View
android:id="@+id/vReportSrcLine"
android:layout_width="match_parent"
android:layout_height="1dp"
android:background="#F0F0F0" />
android:background="#F0F0F0"
app:layout_constraintTop_toBottomOf="@id/tbReportMore" />
<TextView
android:id="@+id/tvReportLevel"
style="@style/DebugSettingText"
android:layout_width="match_parent"
android:layout_height="wrap_content" />
android:layout_height="wrap_content"
app:layout_constraintTop_toBottomOf="@id/vReportSrcLine" />
<View
android:id="@+id/vReportLevelLine"
android:layout_width="match_parent"
android:layout_height="1dp"
android:background="#F0F0F0" />
android:background="#F0F0F0"
app:layout_constraintTop_toBottomOf="@id/tvReportLevel" />
<TextView
android:id="@+id/tvReportMsg"
style="@style/DebugSettingText"
android:layout_width="match_parent"
android:layout_height="wrap_content" />
android:layout_height="wrap_content"
app:layout_constraintTop_toBottomOf="@id/vReportLevelLine" />
<View
android:id="@+id/vReportMsgLine"
android:layout_width="match_parent"
android:layout_height="1dp"
android:background="#F0F0F0" />
android:background="#F0F0F0"
app:layout_constraintTop_toBottomOf="@id/tvReportMsg" />
<TextView
android:id="@+id/tvReportCode"
style="@style/DebugSettingText"
android:layout_width="match_parent"
android:layout_height="wrap_content" />
android:layout_height="wrap_content"
app:layout_constraintTop_toBottomOf="@id/vReportMsgLine" />
<View
android:id="@+id/vReportCodeLine"
android:layout_width="match_parent"
android:layout_height="1dp"
android:background="#F0F0F0" />
android:background="#F0F0F0"
app:layout_constraintTop_toBottomOf="@id/tvReportCode" />
<TextView
android:id="@+id/tvReportResult"
style="@style/DebugSettingText"
android:layout_width="match_parent"
android:layout_height="wrap_content" />
android:layout_height="wrap_content"
app:layout_constraintTop_toBottomOf="@id/vReportCodeLine" />
<View
android:id="@+id/vReportResultLine"
android:layout_width="match_parent"
android:layout_height="1dp"
android:background="#F0F0F0" />
android:background="#F0F0F0"
app:layout_constraintTop_toBottomOf="@id/tvReportResult" />
<TextView
android:id="@+id/tvReportActions"
style="@style/DebugSettingText"
android:layout_width="match_parent"
android:layout_height="wrap_content" />
android:layout_height="wrap_content"
app:layout_constraintTop_toBottomOf="@id/vReportResultLine" />
<View
android:id="@+id/vReportActionsLine"
android:layout_width="match_parent"
android:layout_height="1dp"
android:background="#F0F0F0" />
android:background="#F0F0F0"
app:layout_constraintTop_toBottomOf="@id/tvReportActions" />
<TextView
android:id="@+id/tvReportSec"
style="@style/DebugSettingText"
android:layout_width="match_parent"
android:layout_height="wrap_content" />
android:layout_height="wrap_content"
app:layout_constraintTop_toBottomOf="@id/vReportActionsLine" />
<View
android:id="@+id/vReportSecLine"
android:layout_width="match_parent"
android:layout_height="1dp"
android:background="#F0F0F0" />
android:background="#F0F0F0"
app:layout_constraintTop_toBottomOf="@id/tvReportSec" />
<TextView
android:id="@+id/tvReportNSec"
style="@style/DebugSettingText"
android:layout_width="match_parent"
android:layout_height="wrap_content" />
<View
android:layout_width="match_parent"
android:layout_height="1dp"
android:background="#F0F0F0" />
</LinearLayout>
android:layout_height="wrap_content"
app:layout_constraintTop_toBottomOf="@id/vReportSecLine" />
</androidx.constraintlayout.widget.ConstraintLayout>
</ScrollView>
@@ -221,7 +257,8 @@
android:layout_width="match_parent"
android:layout_height="wrap_content"
android:orientation="vertical"
android:visibility="gone">
android:visibility="gone"
tools:visibility="visible">
<TextView
android:id="@+id/tvAppVersionName"
@@ -234,28 +271,6 @@
android:layout_height="1dp"
android:background="#F0F0F0" />
<TextView
android:id="@+id/tvAppVersionCode"
style="@style/DebugSettingText"
android:layout_width="match_parent"
android:layout_height="wrap_content" />
<View
android:layout_width="match_parent"
android:layout_height="1dp"
android:background="#F0F0F0" />
<TextView
android:id="@+id/tvObuSdkVersion"
style="@style/DebugSettingText"
android:layout_width="match_parent"
android:layout_height="wrap_content" />
<View
android:layout_width="match_parent"
android:layout_height="1dp"
android:background="#F0F0F0" />
<TextView
android:id="@+id/tvAutopilotProtocolVersionInfo"
style="@style/DebugSettingText"
@@ -301,29 +316,7 @@
android:background="#F0F0F0" />
<TextView
android:id="@+id/tvGitHashInfo"
style="@style/DebugSettingText"
android:layout_width="match_parent"
android:layout_height="wrap_content" />
<View
android:layout_width="match_parent"
android:layout_height="1dp"
android:background="#F0F0F0" />
<TextView
android:id="@+id/tvAndroidSystemVersion"
style="@style/DebugSettingText"
android:layout_width="match_parent"
android:layout_height="wrap_content" />
<View
android:layout_width="match_parent"
android:layout_height="1dp"
android:background="#F0F0F0" />
<TextView
android:id="@+id/tvCPUFrameworkInfo"
android:id="@+id/tvAppBuildTimeInfo"
style="@style/DebugSettingText"
android:layout_width="match_parent"
android:layout_height="wrap_content" />
@@ -351,7 +344,8 @@
android:layout_width="match_parent"
android:layout_height="wrap_content"
android:orientation="vertical"
android:visibility="gone">
android:visibility="gone"
tools:visibility="visible">
<TextView
android:id="@+id/tvServerEnvironment"
@@ -448,7 +442,8 @@
android:layout_width="match_parent"
android:layout_height="wrap_content"
android:orientation="vertical"
android:visibility="gone">
android:visibility="gone"
tools:visibility="visible">
<ToggleButton
android:id="@+id/tbDomainController"
@@ -465,7 +460,8 @@
android:id="@+id/domainControllerLayout"
android:layout_width="match_parent"
android:layout_height="wrap_content"
android:visibility="gone">
android:visibility="gone"
tools:visibility="visible">
<TextView
android:id="@+id/tvAutopilotInfo"
@@ -649,7 +645,8 @@
android:visibility="gone"
app:layout_constraintLeft_toLeftOf="parent"
app:layout_constraintRight_toLeftOf="@id/btnSystemRestart"
app:layout_constraintTop_toBottomOf="@id/recordPackageDivider" />
app:layout_constraintTop_toBottomOf="@id/recordPackageDivider"
tools:visibility="visible" />
<Button
android:id="@+id/btnSystemRestart"
@@ -659,7 +656,8 @@
android:visibility="gone"
app:layout_constraintLeft_toRightOf="@id/btnSystemUpgrade"
app:layout_constraintRight_toRightOf="parent"
app:layout_constraintTop_toBottomOf="@id/recordPackageDivider" />
app:layout_constraintTop_toBottomOf="@id/recordPackageDivider"
tools:visibility="visible" />
<TextView
@@ -708,7 +706,8 @@
android:layout_width="match_parent"
android:layout_height="wrap_content"
android:orientation="vertical"
android:visibility="gone">
android:visibility="gone"
tools:visibility="visible">
<TextView
android:id="@+id/tvSteeringInfo"
@@ -751,7 +750,8 @@
android:id="@+id/obuControllerLayout"
android:layout_width="match_parent"
android:layout_height="wrap_content"
android:visibility="gone">
android:visibility="gone"
tools:visibility="visible">
<Button
android:id="@+id/btnSetObuIP"
@@ -833,7 +833,8 @@
android:id="@+id/eagleEyeControllerLayout"
android:layout_width="match_parent"
android:layout_height="wrap_content"
android:visibility="gone">
android:visibility="gone"
tools:visibility="visible">
<Button
android:id="@+id/btnBrakeThreshold"
@@ -941,7 +942,8 @@
android:layout_width="match_parent"
android:layout_height="wrap_content"
android:columnCount="2"
android:visibility="gone">
android:visibility="gone"
tools:visibility="visible">
<ToggleButton
android:id="@+id/tbChangeCurrentSkinMode"
@@ -1043,6 +1045,46 @@
android:textOff="关闭「SN绑定控制」"
android:textOn="打开「SN绑定控制」"
android:textSize="@dimen/dp_24" />
<ToggleButton
android:id="@+id/tbOpenAcceleration"
android:layout_width="wrap_content"
android:layout_height="wrap_content"
android:layout_columnWeight="1"
android:layout_margin="2dp"
android:gravity="center"
android:textOff="打开「加速度面板」"
android:textOn="关闭「加速度面板」"
android:textSize="@dimen/dp_24" />
<androidx.appcompat.widget.AppCompatEditText
android:id="@+id/etThreshold"
android:layout_width="wrap_content"
android:layout_height="wrap_content"
android:layout_columnWeight="1"
android:layout_margin="2dp"
android:background="@drawable/debug_setting_edit_bg"
android:gravity="center"
android:hint="过滤阈值"
android:paddingTop="5dp"
android:paddingBottom="5dp"
android:textSize="14sp"
android:visibility="gone"
tools:visibility="visible" />
<Button
android:id="@+id/btnThresholdDefine"
android:layout_width="wrap_content"
android:layout_height="wrap_content"
android:layout_columnWeight="1"
android:layout_margin="2dp"
android:gravity="center"
android:text="设置加速度变化幅度过滤阈值"
android:textSize="@dimen/dp_24"
android:visibility="gone"
tools:visibility="visible" />
</GridLayout>
<ToggleButton
@@ -1060,7 +1102,8 @@
android:id="@+id/hdMapControllerLayout"
android:layout_width="match_parent"
android:layout_height="wrap_content"
android:visibility="gone">
android:visibility="gone"
tools:visibility="visible">
<Button
android:id="@+id/changesight_top_btn"
@@ -1265,6 +1308,7 @@
android:id="@+id/tbIsDemoMode"
android:layout_width="0dp"
android:layout_height="wrap_content"
android:layout_margin="2dp"
android:padding="@dimen/dp_10"
android:textColor="#000"
android:textOff="开启美化模式"
@@ -1278,6 +1322,7 @@
android:id="@+id/tbIsDrawAutopilotTrajectoryData"
android:layout_width="0dp"
android:layout_height="wrap_content"
android:layout_margin="2dp"
android:padding="@dimen/dp_10"
android:textColor="#000"
android:textOff="强制绘制引导线"
@@ -1285,14 +1330,12 @@
android:textSize="@dimen/dp_24"
app:layout_constraintLeft_toRightOf="@id/tbIsDemoMode"
app:layout_constraintRight_toRightOf="parent"
app:layout_constraintTop_toBottomOf="@id/btnOpenObuFusion"
/>
app:layout_constraintTop_toTopOf="@id/tbIsDemoMode" />
<ToggleButton
android:layout_width="0dp"
android:layout_height="wrap_content"
android:layout_margin="2dp"
android:padding="@dimen/dp_10"
android:textColor="#000"
android:textOff="强制绘制路径规划"
@@ -1377,7 +1420,8 @@
android:layout_width="match_parent"
android:layout_height="wrap_content"
android:orientation="vertical"
android:visibility="gone">
android:visibility="gone"
tools:visibility="visible">
<com.google.android.flexbox.FlexboxLayout
android:id="@+id/flLogControl"
@@ -1429,8 +1473,18 @@
android:gravity="center"
android:textOff="打开「网络」Log"
android:textOn="关闭「网络」Log"
android:textSize="@dimen/dp_24"
/>
android:textSize="@dimen/dp_24" />
<ToggleButton
android:id="@+id/tbObuLog"
android:layout_width="wrap_content"
android:layout_height="wrap_content"
android:layout_margin="2dp"
android:gravity="center"
android:textOff="打开「OBU」Log"
android:textOn="关闭「OBU」Log"
android:textSize="@dimen/dp_24" />
</com.google.android.flexbox.FlexboxLayout>
@@ -1467,7 +1521,7 @@
android:layout_width="wrap_content"
android:layout_height="wrap_content"
android:checked="false"
android:text="OBU日志" />
android:text="OBU-MOGO日志" />
<CheckBox
android:id="@+id/cbHmiLog"
@@ -1655,7 +1709,8 @@
android:id="@+id/apkCenterLayout"
android:layout_width="match_parent"
android:layout_height="wrap_content"
android:visibility="gone">
android:visibility="gone"
tools:visibility="visible">
<ImageView
android:id="@+id/ivApkSearch"

31
core/function-impl/mogo-core-function-hmi/src/main/res/layout/view_report_list.xml Normal file
View File

@@ -0,0 +1,31 @@
<?xml version="1.0" encoding="utf-8"?>
<LinearLayout
xmlns:android="http://schemas.android.com/apk/res/android"
xmlns:app="http://schemas.android.com/apk/res-auto"
android:layout_width="840px"
android:layout_height="584px"
android:orientation="vertical"
>
<ImageView
android:layout_width="match_parent"
android:layout_height="wrap_content"
android:src="@drawable/icon_drag"
android:padding="15dp"
android:layout_gravity="center_horizontal"
/>
<com.mogo.eagle.core.widget.RoundConstraintLayout
android:layout_width="match_parent"
android:layout_height="match_parent"
android:background="@color/dialog_bg_color"
app:roundLayoutRadius="10dp">
<androidx.recyclerview.widget.RecyclerView
android:id="@+id/rv_report_list"
android:layout_width="match_parent"
android:layout_height="match_parent"/>
</com.mogo.eagle.core.widget.RoundConstraintLayout>
</LinearLayout>

42
core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/map/IdentifyDataDrawer.java
View File

@@ -36,6 +36,9 @@ public class IdentifyDataDrawer {
*/
private static final ConcurrentHashMap<String, MessagePad.TrackedObject> mMarkersCaches = new ConcurrentHashMap<>();
/**
* kalman缓存数据
*/
private static final ConcurrentHashMap<String, KalmanFilter> algoCache = new ConcurrentHashMap<>();
/**
@@ -85,7 +88,6 @@ public class IdentifyDataDrawer {
return;
}
long start = System.currentTimeMillis();
//清除缓存
for (MessagePad.TrackedObject data : resultList) {
if (trafficDataUuidList.size() > 0 && trafficDataUuidList.contains("" + data.getUuid())) {
@@ -97,18 +99,13 @@ public class IdentifyDataDrawer {
algoCache.remove(uuid);
});
CallerLogger.INSTANCE.d(M_HMI + "arrow48", "origin data size : " + resultList.size());
ArrayList<MessagePad.TrackedObject> filterList = filterTrafficData(resultList);
long cost = System.currentTimeMillis() - start;
CallerLogger.INSTANCE.d(M_HMI + "arrow48", "cost : " + cost);
if (filterList.size() > 0) {
// 绘制新数据
MogoMarkerManager.getInstance(mContext)
.updateBatchMarkerPosition(filterList);
}
CallerLogger.INSTANCE.d(M_HMI + "arrow48", "mMarkersCaches : " + mMarkersCaches.size());
}
/**
@@ -129,48 +126,40 @@ public class IdentifyDataDrawer {
//首次过来的数据不添加,首次未添加的感知物在调用完绘制方法后再塞入cache map
MessagePad.TrackedObject cacheData = mMarkersCaches.get(uuid);
if (cacheData != null) {
MessagePad.TrackedObject correctData;
//todo 进行修正
double correctHeading = kalmanCorrect(data);
if(correctHeading != cacheData.getHeading()){
CallerLogger.INSTANCE.d(M_HMI + "arrow48", "uuid: " + uuid + " , kalmanCorrect : " + correctHeading + " , 修正 上一帧 : " + cacheData.getHeading() + " , 当前帧 : " + data.getHeading());
if (data.getSpeed() < 0.5) {
data.toBuilder().setHeading(cacheData.getHeading()).setLongitude(cacheData.getLongitude()).setLatitude(cacheData.getLatitude()).build();
}
correctData = data.toBuilder().setHeading(correctHeading).build();
mFilterTrafficData.add(correctData);
mFilterTrafficData.add(data);
//更新已存在的感知物体数据
mMarkersCaches.put(uuid, correctData);
}else{
mMarkersCaches.put(uuid, data);
}
mMarkersCaches.put(uuid, data);
trafficDataUuidList.add(uuid);
}
return mFilterTrafficData;
}
private double kalmanCorrect(MessagePad.TrackedObject data) {
//todo 相信滤波的定位点做验证，将原始data修改经纬度和航向角返回
private MessagePad.TrackedObject kalmanCorrectData(MessagePad.TrackedObject data) {
String uuid = "" + data.getUuid();
if (algoCache.containsKey(uuid)) {
Object o = algoCache.get(uuid);
KalmanFilter kf = (KalmanFilter) o;
assert kf != null;
double[] lonLat = kf.filter(data.getLongitude(), data.getLatitude());
algoCache.put(uuid, kf);
MessagePad.TrackedObject cacheTrackObj = mMarkersCaches.get(uuid);
assert cacheTrackObj != null;
if (data.getSpeed() >= 1.5) {
double heading = MogoMap.getInstance().getMogoMap().getUIController().getAngle(cacheTrackObj.getLongitude(), cacheTrackObj.getLatitude(), lonLat[0], lonLat[1]);
CallerLogger.INSTANCE.d(M_HMI + "arrow48", " uuid : " + uuid + " , origin heading : " + data.getHeading() + " , correct heading : " + heading + " ---- " + (data.getHeading() - heading));
return heading;
if (data.getSpeed() < 0.5) {
return data.toBuilder().setHeading(cacheTrackObj.getHeading()).setLongitude(cacheTrackObj.getLongitude()).setLatitude(cacheTrackObj.getLatitude()).build();
} else {
return data.getHeading();
return data;
}
} else {
double r = 0.00005;
double r = 0.000005;
if (AdasRecognizedType.valueFrom(data.getType()) == AdasRecognizedType.classIdTrafficBus || AdasRecognizedType.valueFrom(data.getType()) == AdasRecognizedType.classIdTrafficTruck) {
r = 0.0001;
r = 0.00001;
}
algoCache.put(uuid, new KalmanFilter(data.getLongitude(), data.getLatitude(), r));
return data.getHeading();
return data;
}
}
@@ -185,3 +174,4 @@ public class IdentifyDataDrawer {
trafficDataUuidList.clear();
}
}

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

@@ -17,7 +17,7 @@ public class KalmanFilter {
}
public double[] filter(double lon, double lat) {
for(int i = 0; i < 2; ++i) {
for (int i = 0; i < 2; ++i) {
this.xhatminus[this.idx][i] = this.xhat[1 - this.idx][i];
this.pMinus[this.idx][i] = this.p[1 - this.idx][i] + 1.0E-6D;
this.k[this.idx][i] = this.pMinus[this.idx][i] / (this.pMinus[this.idx][i] + this.r);
@@ -31,4 +31,5 @@ public class KalmanFilter {
this.idx = 1 - this.idx;
return new double[]{lon1, lat1};
}
}

12
core/function-impl/mogo-core-function-obu-mogo/src/main/java/com/mogo/eagle/core/function/obu/mogo/MogoPrivateObuManager.kt
View File

@@ -1,8 +1,6 @@
package com.mogo.eagle.core.function.obu.mogo
import android.content.Context
import android.telecom.Call
import android.util.Log
import com.alibaba.android.arouter.launcher.ARouter
import com.mogo.cloud.passport.MoGoAiCloudClientConfig
import com.mogo.eagle.core.data.app.AppConfigInfo
@@ -346,7 +344,7 @@ class MogoPrivateObuManager private constructor() {
// CallerHmiManager.showWarning(direction)
//显示弹框，语音提示
CallerHmiManager.showWarningV2X(appId.toInt(),
CallerHmiManager.showWarningV2X(appId,
alertContent,
ttsContent,// 只有第一次才tts，防止更新的时候不断的提醒
(appId + direction.direction).toString(),//使用当前事件类型+方向记录tag，当发生变化的时候关闭当前弹出新的
@@ -456,7 +454,7 @@ class MogoPrivateObuManager private constructor() {
// if (level == 2 || level == 3) { //不考虑level
//显示警告红边
CallerHmiManager.showWarning(direction)
CallerHmiManager.showWarningV2X(v2xType.toInt(),
CallerHmiManager.showWarningV2X(v2xType,
alertContent,
ttsContent,// 只有第一次才tts，防止更新的时候不断的提醒
(v2xType + direction.direction).toString(),//使用当前事件类型+方向记录tag，当发生变化的时候关闭当前弹出新的
@@ -655,7 +653,7 @@ class MogoPrivateObuManager private constructor() {
ttsContent = EventTypeEnum.getWarningTts(appId.toString())
alertContent = EventTypeEnum.getWarningContent(appId.toString())
CallerHmiManager.showWarningV2X(
appId, alertContent, ttsContent,// 只有第一次才tts，防止更新的时候不断的提醒
appId.toString(), alertContent, ttsContent,// 只有第一次才tts，防止更新的时候不断的提醒
appId.toString(), null, true, 5000L
)
}
@@ -722,7 +720,7 @@ class MogoPrivateObuManager private constructor() {
val maxSpeed = currentLight.glosa_suggested_speed_max.toInt()
if (maxSpeed > 0) {
CallerHmiManager.showWarningV2X(
EventTypeEnum.TYPE_USECASE_ID_IVP_GREEN.poiType.toInt(),
EventTypeEnum.TYPE_USECASE_ID_IVP_GREEN.poiType,
alertContent,
ttsContent,// 只有第一次才tts，防止更新的时候不断的提醒
appId.toString(),
@@ -855,7 +853,7 @@ class MogoPrivateObuManager private constructor() {
)
if (level == 2 || level == 3) {
//显示弹框，语音提示
CallerHmiManager.showWarningV2X(appId,
CallerHmiManager.showWarningV2X(appId.toString(),
alertContent,
ttsContent,// 只有第一次才tts，防止更新的时候不断的提醒
(appId + direction.direction).toString(),//使用当前事件类型+方向记录tag，当发生变化的时候关闭当前弹出新的

1
core/function-impl/mogo-core-function-v2x/build.gradle
View File

@@ -45,6 +45,7 @@ dependencies {
implementation rootProject.ext.dependencies.androidxccorektx
implementation rootProject.ext.dependencies.androidxappcompat
implementation rootProject.ext.dependencies.androidxconstraintlayout
implementation rootProject.ext.dependencies.localbroadcastmanager
implementation rootProject.ext.dependencies.arouter
implementation rootProject.ext.dependencies.rxandroid
implementation rootProject.ext.dependencies.flexbox

28
core/function-impl/mogo-core-function-v2x/src/main/java/com/mogo/eagle/core/function/v2x/events/V2XEventManager.kt
View File

@@ -11,7 +11,6 @@ import com.mogo.cloud.passport.IMoGoTokenCallback
import com.mogo.cloud.passport.MoGoAiCloudClient
import com.mogo.cloud.passport.MoGoAiCloudClientConfig
import com.mogo.commons.network.ParamsUtil
import com.mogo.eagle.core.utilcode.mogo.logger.scene.SceneConstant.Companion.M_V2X
import com.mogo.eagle.core.data.enums.TrafficTypeEnum
import com.mogo.eagle.core.data.map.MogoLatLng
import com.mogo.eagle.core.data.map.MogoLocation
@@ -19,7 +18,6 @@ import com.mogo.eagle.core.data.traffic.TrafficData
import com.mogo.eagle.core.function.api.hmi.warning.IMoGoWarningStatusListener
import com.mogo.eagle.core.function.api.map.listener.IMoGoMapLocationListener
import com.mogo.eagle.core.function.call.hmi.CallerHmiManager
import com.mogo.eagle.core.utilcode.mogo.logger.CallerLogger
import com.mogo.eagle.core.function.call.map.CallerMapLocationListenerManager
import com.mogo.eagle.core.function.call.map.CallerMapUIServiceManager
import com.mogo.eagle.core.function.call.map.CallerVisualAngleManager
@@ -44,6 +42,9 @@ import com.mogo.eagle.core.function.v2x.events.scenario.impl.V2XScenarioManager
import com.mogo.eagle.core.function.v2x.events.utils.*
import com.mogo.eagle.core.function.v2x.events.voice.V2XVoiceManager
import com.mogo.eagle.core.network.utils.GsonUtil
import com.mogo.eagle.core.utilcode.mogo.logger.CallerLogger
import com.mogo.eagle.core.utilcode.mogo.logger.scene.SceneConstant.Companion.M_V2X
import com.mogo.eagle.core.utilcode.mogo.storage.SharedPrefsMgr
import com.mogo.eagle.core.utilcode.util.ThreadUtils
import com.mogo.eagle.core.utilcode.util.TimeUtils
import com.mogo.eagle.core.utilcode.util.Utils
@@ -60,13 +61,13 @@ import com.mogo.service.statusmanager.IMogoStatusChangedListener
import com.mogo.service.statusmanager.StatusDescriptor
import com.mogo.service.statusmanager.StatusDescriptor.ACC_STATUS
import com.mogo.service.statusmanager.StatusDescriptor.SEEK_HELPING
import com.mogo.eagle.core.utilcode.mogo.storage.SharedPrefsMgr
import com.mogo.v2x.V2XManager
import com.mogo.v2x.callback.IV2XCallback
import com.mogo.v2x.config.V2XConfig
import com.mogo.v2x.data.V2XAdvanceWarning
import com.mogo.v2x.data.V2XMarkerCardResult
import com.mogo.v2x.data.V2XOptimalRoute
import com.mogo.v2x.data.V2XWarningTarget
import com.mogo.v2x.event.V2XEvent
import com.shuyu.gsyvideoplayer.GSYVideoManager
import com.shuyu.gsyvideoplayer.cache.CacheFactory
@@ -78,11 +79,10 @@ import com.shuyu.gsyvideoplayer.utils.GSYVideoType
import kotlinx.coroutines.*
import kotlinx.coroutines.android.asCoroutineDispatcher
import tv.danmaku.ijk.media.player.IjkMediaPlayer
import java.lang.Exception
import java.lang.IllegalStateException
import java.util.concurrent.TimeUnit
import java.util.concurrent.atomic.AtomicBoolean
object V2XEventManager : IMoGoMapLocationListener, IMoGoTokenCallback, IV2XCallback,
IMogoMapListener, IMogoStatusChangedListener {
@@ -433,7 +433,7 @@ object V2XEventManager : IMoGoMapLocationListener, IMoGoTokenCallback, IV2XCallb
* V2XEvent事件回调
*/
override fun onAck(event: V2XEvent) {
CallerLogger.d("$M_V2X$TAG", "OK->: ${event.javaClass.name}")
CallerLogger.d("$M_V2X$TAG", "OK->: $event")
when (event) {
is V2XEvent.ForwardsWarning -> {
handleAdvanceWarningEvent(event)
@@ -449,10 +449,22 @@ object V2XEventManager : IMoGoMapLocationListener, IMoGoTokenCallback, IV2XCallb
is V2XEvent.Road -> {
handleRoadMarkerEvent(event.data)
}
else -> throw IllegalStateException("invalid event type for $event")
is V2XEvent.Warning -> {
handleWarningTargetEvent(event.data)
}
}
}
private fun handleWarningTargetEvent(data: V2XWarningTarget) {
val v2xMessageEntity = V2XMessageEntity<V2XWarningTarget>()
v2xMessageEntity.type = V2XTypeEnum.ALERT_THE_FRONT_WEAKNESS
// 设置数据
v2xMessageEntity.content = data
val intent = Intent(BROADCAST_SCENE_HANDLER_ACTION)
intent.putExtra(BROADCAST_SCENE_EXTRA_KEY, v2xMessageEntity)
LocalBroadcastManager.getInstance(Utils.getApp()).sendBroadcast(intent)
}
private fun handleRoadMarkerEvent(data: V2XMarkerCardResult) {
try {
BridgeApi.v2xStatus()?.let {
@@ -546,7 +558,7 @@ object V2XEventManager : IMoGoMapLocationListener, IMoGoTokenCallback, IV2XCallb
}
// 显示弹框，语音提示
CallerHmiManager.showWarningV2X(
appId,
appId.toString(),
content,
tts,
"$appId",

10
core/function-impl/mogo-core-function-v2x/src/main/java/com/mogo/eagle/core/function/v2x/events/alarm/V2XAlarmServer.java
View File

@@ -8,6 +8,8 @@ import com.mogo.eagle.core.utilcode.util.TimeUtils;
import com.mogo.module.common.entity.MarkerExploreWay;
import com.mogo.module.common.entity.MarkerLocation;
import com.mogo.module.common.entity.V2XRoadEventEntity;
import com.mogo.module.common.enums.EventTypeEnum;
import java.util.HashMap;
import java.util.concurrent.ConcurrentHashMap;
import java.util.concurrent.CopyOnWriteArrayList;
@@ -50,7 +52,13 @@ public class V2XAlarmServer {
// 计算车辆距离指定气泡的距离
MarkerLocation eventLocation = v2XRoadEventEntity.getLocation();
// 1、判断是否到达了触发距离,20 ~ 500,
if (v2XRoadEventEntity.getDistance() <= 500) {
double distance = v2XRoadEventEntity.getDistance();
if (distance <= 500) {
if (EventTypeEnum.GHOST_PROBE.getPoiType().equals(v2XRoadEventEntity.getPoiType())) {
if (distance > 25) {
continue;
}
}
// 2、道路事件方向与当前行驶方向角度偏差《20度以内
double carBearing = currentLocation.getBearing();
double eventBearing = eventLocation.getAngle();

19
core/function-impl/mogo-core-function-v2x/src/main/java/com/mogo/eagle/core/function/v2x/events/scenario/scene/road/V2XRoadEventScenario.java
View File

@@ -98,7 +98,7 @@ public class V2XRoadEventScenario extends AbsV2XScenario<V2XRoadEventEntity> imp
V2XRoadEventEntity content = entity != null ? entity.getContent() : null;
if (content != null) {
//显示警告红边
CallerHmiManager.INSTANCE.showWarningV2X(entity.getType(), content.getAlarmContent(), content.getTts(), TAG, this, !entity.isOnlyShow(), TimeUnit.SECONDS.toMillis(5));
CallerHmiManager.INSTANCE.showWarningV2X(content.getPoiType(), content.getAlarmContent(), content.getTts(), TAG, this, !entity.isOnlyShow(), TimeUnit.SECONDS.toMillis(5));
}
}
@@ -122,7 +122,9 @@ public class V2XRoadEventScenario extends AbsV2XScenario<V2XRoadEventEntity> imp
@Override
public void onShow() {
CallerVisualAngleManager.INSTANCE.changeVisualAngle(CallerVisualAngleManager.Scene.RoadEvent.INSTANCE);
if (isNeedChangeAngle()) {
CallerVisualAngleManager.INSTANCE.changeVisualAngle(CallerVisualAngleManager.Scene.RoadEvent.INSTANCE);
}
CallerHmiManager.INSTANCE.showWarning(WarningDirectionEnum.ALERT_WARNING_TOP, TimeUnit.HOURS.toMillis(1));
V2XMessageEntity<V2XRoadEventEntity> entity = getV2XMessageEntity();
if (entity != null) {
@@ -140,10 +142,21 @@ public class V2XRoadEventScenario extends AbsV2XScenario<V2XRoadEventEntity> imp
}
}
private boolean isNeedChangeAngle() {
V2XMessageEntity<V2XRoadEventEntity> entity = getV2XMessageEntity();
V2XRoadEventEntity content = entity != null ? entity.getContent() : null;
if (content == null) {
return true;
}
return !EventTypeEnum.GHOST_PROBE.getPoiType().equals(content.getPoiType());
}
@Override
public void onDismiss() {
CallerHmiManager.INSTANCE.dismissWarning(WarningDirectionEnum.ALERT_WARNING_TOP);
CallerVisualAngleManager.INSTANCE.changeVisualAngle(new CallerVisualAngleManager.Scene.Default(3, TimeUnit.SECONDS));
if (isNeedChangeAngle()) {
CallerVisualAngleManager.INSTANCE.changeVisualAngle(new CallerVisualAngleManager.Scene.Default(3, TimeUnit.SECONDS));
}
clearPOI();
release();
}

2
core/function-impl/mogo-core-function-v2x/src/main/java/com/mogo/eagle/core/function/v2x/events/scenario/scene/route/V2XOptimalRouteVREventScenario.java
View File

@@ -53,7 +53,7 @@ public class V2XOptimalRouteVREventScenario
if (entity != null) {
V2XOptimalRouteDataRes content = entity.getContent();
if (content != null) {
CallerHmiManager.INSTANCE.showWarningV2X(entity.getType(), "为您推荐最优路线", "已为您选择最优路线", TAG, this, !entity.isOnlyShow(), TimeUnit.SECONDS.toMillis(30));
CallerHmiManager.INSTANCE.showWarningV2X(entity.getType() + "", "为您推荐最优路线", "已为您选择最优路线", TAG, this, !entity.isOnlyShow(), TimeUnit.SECONDS.toMillis(30));
}
}
}

20
core/function-impl/mogo-core-function-v2x/src/main/java/com/mogo/eagle/core/function/v2x/events/scenario/scene/warning/V2XFrontWarningScenario.java
View File

@@ -6,9 +6,7 @@ import android.graphics.Color;
import android.text.Spannable;
import android.text.SpannableStringBuilder;
import android.text.style.ForegroundColorSpan;
import androidx.annotation.Nullable;
import com.mogo.eagle.core.data.enums.WarningDirectionEnum;
import com.mogo.eagle.core.data.map.MogoLocation;
import com.mogo.eagle.core.function.api.hmi.warning.IMoGoWarningStatusListener;
@@ -18,8 +16,7 @@ import com.mogo.eagle.core.utilcode.mogo.logger.CallerLogger;
import com.mogo.eagle.core.function.v2x.events.scenario.impl.AbsV2XScenario;
import com.mogo.eagle.core.function.v2x.events.scenario.view.IV2XMarker;
import com.mogo.module.common.entity.V2XMessageEntity;
import com.mogo.module.common.entity.V2XWarningEntity;
import com.mogo.v2x.data.V2XWarningTarget;
import java.math.BigDecimal;
import java.util.Locale;
import java.util.concurrent.TimeUnit;
@@ -32,7 +29,7 @@ import java.util.concurrent.TimeUnit;
public class V2XFrontWarningScenario extends AbsV2XScenario implements IMoGoMapLocationListener, IMoGoWarningStatusListener {
private static final String TAG = "V2XWarningMarker";
private static final V2XWarningMarker sV2XWarningMarker = new V2XWarningMarker();
private V2XWarningEntity mMarkerEntity;
private V2XWarningTarget mMarkerEntity;
private WarningDirectionEnum mDirection;
@@ -45,8 +42,8 @@ public class V2XFrontWarningScenario extends AbsV2XScenario implements IMoGoMapL
CallerLogger.INSTANCE.d(M_V2X + TAG, "----- init -----:\n" + (v2XMessageEntity == null ? "null" : v2XMessageEntity.toString()));
try {
setV2XMessageEntity(v2XMessageEntity);
if (v2XMessageEntity != null && v2XMessageEntity.getContent() instanceof V2XWarningEntity) {
mMarkerEntity = (V2XWarningEntity) v2XMessageEntity.getContent();
if (v2XMessageEntity != null && v2XMessageEntity.getContent() instanceof V2XWarningTarget) {
mMarkerEntity = (V2XWarningTarget) v2XMessageEntity.getContent();
show();
}
} catch (Exception e) {
@@ -62,24 +59,27 @@ public class V2XFrontWarningScenario extends AbsV2XScenario implements IMoGoMapL
int v2xType = getV2XTypeForFrontWarning(mMarkerEntity);
V2XMessageEntity entity = getV2XMessageEntity();
if (v2xType != 0) {
CallerHmiManager.INSTANCE.showWarningV2X(v2xType, getAlertContentForFrontWarning(mMarkerEntity), mMarkerEntity.getTts(), TAG, this, !entity.isOnlyShow(), TimeUnit.SECONDS.toMillis(3));
CallerHmiManager.INSTANCE.showWarningV2X(v2xType + "", getAlertContentForFrontWarning(mMarkerEntity), mMarkerEntity.getTts(), TAG, this, !entity.isOnlyShow(), TimeUnit.SECONDS.toMillis(3));
}
}
}
private int getV2XTypeForFrontWarning(V2XWarningEntity entity) {
private int getV2XTypeForFrontWarning(V2XWarningTarget entity) {
switch (entity.getType()) {
case 1:
case 11:
entity.setTts("注意行人");
return 0X2B0201;
case 2:
entity.setTts("注意自行车");
case 4:
entity.setTts("注意摩托车");
return 0X2B0202;
}
return 0;
}
private CharSequence getAlertContentForFrontWarning(V2XWarningEntity entity) {
private CharSequence getAlertContentForFrontWarning(V2XWarningTarget entity) {
double dis = entity.getDistance();
//距离四舍五入保留整数
BigDecimal bg = new BigDecimal(dis);

4
core/function-impl/mogo-core-function-v2x/src/main/java/com/mogo/eagle/core/function/v2x/redlightwarning/RedLightWarningManager.kt
View File

@@ -169,7 +169,7 @@ class RedLightWarningManager : IMoGoTrafficLightListener, IMoGoVipSetListener,
private fun redLightWarning() {
CallerLogger.d("$M_V2X$TAG", "=====闯红灯预警=====")
ThreadUtils.runOnUiThread {
CallerHmiManager.showWarningV2X(EventTypeEnum.TYPE_USECASE_ID_IVP.poiType.toInt(), EventTypeEnum.TYPE_USECASE_ID_IVP.content, EventTypeEnum.TYPE_USECASE_ID_IVP.tts, EventTypeEnum.TYPE_USECASE_ID_IVP.poiType, null, true, 5000L)
CallerHmiManager.showWarningV2X(EventTypeEnum.TYPE_USECASE_ID_IVP.poiType, EventTypeEnum.TYPE_USECASE_ID_IVP.content, EventTypeEnum.TYPE_USECASE_ID_IVP.tts, EventTypeEnum.TYPE_USECASE_ID_IVP.poiType, null, true, 5000L)
}
}
@@ -187,7 +187,7 @@ class RedLightWarningManager : IMoGoTrafficLightListener, IMoGoVipSetListener,
EventTypeEnum.getWarningTts(EventTypeEnum.TYPE_USECASE_ID_IVP_GREEN.poiType),
speed
)
CallerHmiManager.showWarningV2X(EventTypeEnum.TYPE_USECASE_ID_IVP_GREEN.poiType.toInt(), content, tts, EventTypeEnum.TYPE_USECASE_ID_IVP_GREEN.poiType, null, true, 5000L)
CallerHmiManager.showWarningV2X(EventTypeEnum.TYPE_USECASE_ID_IVP_GREEN.poiType, content, tts, EventTypeEnum.TYPE_USECASE_ID_IVP_GREEN.poiType, null, true, 5000L)
}
}

2
core/function-impl/mogo-core-function-v2x/src/main/java/com/mogo/eagle/core/function/v2x/vip/VipCarManager.kt
View File

@@ -131,7 +131,7 @@ class VipCarManager : IMogoOnMessageListener<VipMessage>, IMoGoTrafficLightListe
if (abs(currentResult!!.remain - it.remain) > 5 && currentResult.isGreen()) {
CallerLogger.d("$M_V2X$TAG", "调用showWarningV2X to show")
CallerHmiManager.showWarningV2X(
EventTypeEnum.TYPE_VIP_IDENTIFICATION.poiType.toInt(),
EventTypeEnum.TYPE_VIP_IDENTIFICATION.poiType,
EventTypeEnum.TYPE_VIP_IDENTIFICATION.content,
EventTypeEnum.TYPE_VIP_IDENTIFICATION.tts,
EventTypeEnum.TYPE_VIP_IDENTIFICATION.poiType,

4
core/function-impl/mogo-core-function-v2x/src/main/res/raw/scenario_road_event_data.json
View File

@@ -30,7 +30,7 @@
"lat":39.969055,
"lon":116.410811
},
"poiType":"10011",
"poiType":"10024",
"type":"CARD_TYPE_ROAD_CONDITION",
"uploadType":"2",
"userInfo":{
@@ -41,5 +41,5 @@
"userName":"零下的雨"
}
},
"poiType":"10011"
"poiType":"10024"
}

4
core/mogo-core-data/src/main/java/com/mogo/eagle/core/data/app/AppConfigInfo.kt
View File

@@ -9,6 +9,7 @@ object AppConfigInfo {
/*应用构建基本信息*/
var workingBranchName: String? = null
var workingBranchHash: String? = null
var appBuildTime: String? = null
/*应用基本信息*/
var appName: String? = null
@@ -50,6 +51,9 @@ object AppConfigInfo {
// 是否连接工控机
var isConnectAutopilot: Boolean = false
//连接工控机状态文字描述
var connectStatusDescribe: String? = null
// 是否OBU
var isConnectObu: Boolean = false

8
core/mogo-core-data/src/main/java/com/mogo/eagle/core/data/autopilot/AutopilotControlParameters.kt
View File

@@ -50,6 +50,10 @@ fun AutopilotControlParameters.toRouteInfo(): MessagePad.RouteInfo{
locBuilder.longitude = it.lon
routeInfo.addWayPoints(locBuilder.build())
}
if (this.routeID > 0) {
routeInfo.routeID = this.routeID
}
routeInfo.routeName = this.routeName
routeInfo.startName = this.startName
routeInfo.endName = this.endName
routeInfo.vehicleType = this.vehicleType
@@ -76,6 +80,10 @@ class AutopilotControlParameters {
@JvmField
var vehicleType // 运营类型
= 0
@JvmField
var routeID = 0 //线路id（bus用）
@JvmField
var routeName = "" //线路名称（bus用）
/**
* 是否播放adas的 开始自动驾驶 语音

4
core/mogo-core-data/src/main/java/com/mogo/eagle/core/data/autopilot/AutopilotStatusInfo.kt
View File

@@ -20,6 +20,10 @@ class AutopilotStatusInfo : Serializable {
*/
var connectPort: Int = 4110
var connectStatus = false
/**
* 工控机连接状态文字描述
*/
var connectStatusDescribe: String? = null
var version: String? = null
/**

12
core/mogo-core-data/src/main/java/com/mogo/eagle/core/data/gnss/AccelerationEntity.kt Normal file
View File

@@ -0,0 +1,12 @@
package com.mogo.eagle.core.data.gnss
/**
* @author XuXinChao
* @description 实时加速度实例
* @since: 2022/4/20
*/
data class AccelerationEntity(
var moment: String,//时刻
var acceleration: String//加速度
) {
}

20
core/mogo-core-data/src/main/java/com/mogo/eagle/core/data/report/ReportEntity.kt Normal file
View File

@@ -0,0 +1,20 @@
package com.mogo.eagle.core.data.report
/**
* @author XuXinChao
* @description 工控机上报实例
* @since: 2022/4/13
*/
data class ReportEntity(
var time: String,//上报时间
var src: String,//消息来源
var level: String,//消息等级 error info
var msg: String,//研发自己看的信息；对标准日志来说就是日志内容
var code: String, //error日志中的错误原因，这是一个类似宏的受约束字段，用字符串的目的是便于排查问题时查看
var resultList: List<String>,//带来的后果；例如pad无法启动驾驶，远程驾驶无法启动等；可供监控后台做错误分类；pad无法理解code时也可参考此字段
var actionsList: List<String>,//试验性字段。消息发出者希望触发的动作，例如：触发短信报警，自动创建工单，要求pad弹框等
// var sec: Int,//秒
// var nsec: Int//纳秒 sec和nsec拼接起来是消息发送事件
) {
}

5
core/mogo-core-function-api/src/main/java/com/mogo/eagle/core/function/api/hmi/warning/IMoGoWaringProvider.kt
View File

@@ -1,7 +1,6 @@
package com.mogo.eagle.core.function.api.hmi.warning
import android.view.View
import android.view.WindowManager.LayoutParams
import com.mogo.eagle.core.data.enums.WarningDirectionEnum
import com.mogo.eagle.core.data.notice.NoticeNormalData
import com.mogo.eagle.core.data.notice.NoticeTrafficStylePushData
@@ -68,12 +67,12 @@ interface IMoGoWaringProvider : IMoGoHmiViewProxy {
/**
* 展示VR下V2X预警
*
* @param v2xType V2X类型
* @param poiType V2X类型
* @param alertContent 提醒文本
* @param ttsContent tts语音播报消息
* @param tag tag绑定弹窗的标志
*/
fun showWarningV2X(v2xType: Int, alertContent: CharSequence?, ttsContent: String?, tag: String?, listenerIMoGo: IMoGoWarningStatusListener?, playTts: Boolean, expireTime: Long)
fun showWarningV2X(v2xType: String, alertContent: CharSequence?, ttsContent: String?, tag: String?, listenerIMoGo: IMoGoWarningStatusListener?, playTts: Boolean, expireTime: Long)
/**
* 关闭指定floatTag 的 VR下V2X预警弹窗

5
core/mogo-core-function-call/src/main/java/com/mogo/eagle/core/function/call/hmi/CallerHmiManager.kt
View File

@@ -1,7 +1,6 @@
package com.mogo.eagle.core.function.call.hmi
import android.view.View
import android.view.WindowManager.LayoutParams
import com.alibaba.android.arouter.launcher.ARouter
import com.mogo.eagle.core.data.constants.MoGoFragmentPaths
import com.mogo.eagle.core.data.enums.WarningDirectionEnum
@@ -92,12 +91,12 @@ object CallerHmiManager : CallerBase() {
/**
* 展示VR下V2X预警
*
* @param v2xType V2X类型
* @param poiType V2X类型
* @param alertContent 提醒文本
* @param ttsContent tts语音播报消息
* @param tag tag绑定弹窗的标志
*/
fun showWarningV2X(v2xType: Int, alertContent: CharSequence?, ttsContent: String?, tag: String?, listenerIMoGo: IMoGoWarningStatusListener?, playTts: Boolean, expireTime: Long = 5000L) {
fun showWarningV2X(v2xType: String, alertContent: CharSequence?, ttsContent: String?, tag: String?, listenerIMoGo: IMoGoWarningStatusListener?, playTts: Boolean, expireTime: Long = 5000L) {
waringProviderApi?.showWarningV2X(v2xType, alertContent, ttsContent, tag, listenerIMoGo, playTts, expireTime)
}

4
core/mogo-core-utils/src/main/java/com/mogo/eagle/core/utilcode/util/TimeUtils.java
View File

@@ -39,6 +39,10 @@ public final class TimeUtils {
return getSafeDateFormat("yyyy-MM-dd HH:mm:ss");
}
public static SimpleDateFormat getHourMinSecondFormat(){
return getSafeDateFormat("HH:mm:ss");
}
@SuppressLint("SimpleDateFormat")
public static SimpleDateFormat getSafeDateFormat(String pattern) {
Map<String, SimpleDateFormat> sdfMap = SDF_THREAD_LOCAL.get();

6
gradle.properties
View File

@@ -82,7 +82,7 @@ MOGO_LOCATION_VERSION=1.3.55
MOGO_TELEMATIC_VERSION=1.3.55
######## MogoAiCloudSDK Version ########
# 自研地图
MAP_SDK_VERSION=2.1.0.6
MAP_SDK_VERSION=2.1.0.6-2
MAP_SDK_OPERATION_VERSION=1.0.12
# websocket
WEBSOCKET_VERSION=1.1.7
@@ -90,8 +90,8 @@ WEBSOCKET_VERSION=1.1.7
applicationId=com.mogo.launcer
applicationName=IntelligentPilot
# RoboBus司机端：2.5.1；RoboTaxi司机端：2.5.1；RoboTaxi乘客端：1.0.0
versionCode=2060500
versionName=2.6.5
versionCode=2060600
versionName=2.6.6
################# 新架构模块Maven版本管理 #################
MOGO_CORE_FUNCTION_AUTOPILOT_VERSION=0.0.58.10

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