yangyakun921/MoGoEagleEye
1
0
Fork 0
Code Issues Pull Requests Actions Packages Projects Releases Wiki Activity

[dev_robobus-d_230322_3.0.0]云调度增加重启自驾功能

Browse Source
This commit is contained in:
xuxinchao
2023-04-02 00:34:19 +08:00
parent 2b584b3985
commit 75536bda37
10 changed files with 173 additions and 6 deletions
Download Patch File Download Diff File Expand all files Collapse all files

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

@@ -74,6 +74,10 @@ class FuncBizProvider : IMoGoFuncBizProvider {
dispatchAutoPilotManager.stopCancel(manualTrigger)
}
override fun restartDispatchAffirm() {
dispatchAutoPilotManager.restartDispatch()
}
override fun testDispatch(sceneType: Int) {
dispatchAutoPilotManager.testDispatch(sceneType)
}

44
core/function-impl/mogo-core-function-biz/src/main/java/com/mogo/eagle/function/biz/dispatch/DispatchAutoPilotManager.kt
View File

@@ -32,6 +32,7 @@ import com.mogo.eagle.function.biz.dispatch.network.DispatchServiceModel.Compani
import com.mogo.eagle.function.biz.dispatch.network.DispatchServiceModel.Companion.DISPATCH_STOP_MANUAL_CANCEL
import com.mogo.eagle.function.biz.dispatch.network.DispatchServiceModel.Companion.DISPATCH_STOP_TIMER_CANCEL
import com.mogo.eagle.function.biz.dispatch.network.DispatchServiceModel.Companion.dispatchServiceModel
import com.zhjt.mogo.adas.data.bean.MogoReport
import mogo.telematics.pad.MessagePad
import mogo_msg.MogoReportMsg
@@ -251,6 +252,15 @@ class DispatchAutoPilotManager private constructor() :
}
}
/**
* 重启自驾
*/
fun restartDispatch(){
CallerHmiManager.dismissDispatchDialog()
//启动自动驾驶
startAutoPilot()
}
override fun onCheck(isChecked: Boolean) {
if (isChecked) {
// 确保到达终点后，再次点击，不会有回馈，并且在下次调开始时，才会重置
@@ -329,18 +339,40 @@ class DispatchAutoPilotManager private constructor() :
*/
override fun onAutopilotGuardian(guardianInfo: MogoReportMsg.MogoReportMessage?) {
if (guardianInfo == null || !guardianInfo.hasCode()) return
if ("ISYS_INIT_TRAJECTORY_START".equals(guardianInfo.getCode())){
Log.i(TAG,"onAutopilotGuardian "+guardianInfo.code)
//掉自驾
when(guardianInfo.code){
MogoReport.Code.Error.EMAP.EXIT_AUTOPILOT_FOR_PLANNING,
MogoReport.Code.Error.EMAP.EXIT_AUTOPILOT_FOR_LOCATION,
MogoReport.Code.Error.EMAP.EXIT_AUTOPILOT_FOR_CHASSIS,
MogoReport.Code.Error.EMAP.EXIT_AUTOPILOT_FOR_DISTANCE,
MogoReport.Code.Error.EMAP.EXIT_AUTOPILOT_FOR_BRAKE,
MogoReport.Code.Error.EMAP.EXIT_AUTOPILOT_FOR_ACCEL,
MogoReport.Code.Error.EMAP.EXIT_AUTOPILOT_FOR_STEER,
MogoReport.Code.Error.EMAP.EXIT_AUTOPILOT_FOR_GEAR_SWITCH,
MogoReport.Code.Error.EMAP.EXIT_AUTOPILOT_FOR_CHASSIS_NO_RESPONSE,
MogoReport.Code.Error.EMAP.EXIT_AUTOPILOT_FOR_CHASSIS_UNKNOWN->{
//如果到达终点，则不处理
if(isArriveEnd){
return
}
//处于云调度任务中且调度实体类不为空，弹出重启自驾弹窗
if(isDispatch){
receiverBean?.let { CallerHmiManager.showDispatchRestartDialog(it) }
}
}
}
if ("ISYS_INIT_TRAJECTORY_START".equals(guardianInfo.code)){
Log.i(TAG,"onAutopilotGuardian ISYS_INIT_TRAJECTORY_START 轨迹管理_轨迹开始下载（本地已有对应轨迹也触发）")
}else if ("ISYS_INIT_TRAJECTORY_SUCCESS".equals(guardianInfo.getCode())){
}else if ("ISYS_INIT_TRAJECTORY_SUCCESS".equals(guardianInfo.code)){
Log.i(TAG,"onAutopilotGuardian ISYS_INIT_TRAJECTORY_SUCCESS 轨迹管理_轨迹下载成功（本地已有对应轨迹也触发）")
}else if ("ISYS_INIT_TRAJECTORY_FAILURE".equals(guardianInfo.getCode())){
}else if ("ISYS_INIT_TRAJECTORY_FAILURE".equals(guardianInfo.code)){
Log.i(TAG,"onAutopilotGuardian ISYS_INIT_TRAJECTORY_FAILURE 轨迹管理_轨迹下载失败，本地无对应轨迹")
}else if ("ISYS_INIT_TRAJECTORY_WARNING".equals(guardianInfo.getCode())){
}else if ("ISYS_INIT_TRAJECTORY_WARNING".equals(guardianInfo.code)){
Log.i(TAG,"onAutopilotGuardian ISYS_INIT_TRAJECTORY_WARNING 轨迹管理_轨迹下载失败，本地有对应轨迹，认为成功")
}else if ("ISYS_INIT_TRAJECTORY_TIMEOUT".equals(guardianInfo.getCode())){
}else if ("ISYS_INIT_TRAJECTORY_TIMEOUT".equals(guardianInfo.code)){
Log.i(TAG,"onAutopilotGuardian ISYS_INIT_TRAJECTORY_TIMEOUT 轨迹管理_轨迹下载超时")
}
}
fun testDispatch(sceneType: Int) {