diff --git a/core/function-impl/mogo-core-function-autopilot/src/main/java/com/mogo/eagle/core/function/autopilot/adapter/MoGoAdasListenerImpl.kt b/core/function-impl/mogo-core-function-autopilot/src/main/java/com/mogo/eagle/core/function/autopilot/adapter/MoGoAdasListenerImpl.kt index 133eddb235..1a1d52ec09 100644 --- a/core/function-impl/mogo-core-function-autopilot/src/main/java/com/mogo/eagle/core/function/autopilot/adapter/MoGoAdasListenerImpl.kt +++ b/core/function-impl/mogo-core-function-autopilot/src/main/java/com/mogo/eagle/core/function/autopilot/adapter/MoGoAdasListenerImpl.kt @@ -1,6 +1,7 @@ package com.mogo.eagle.core.function.autopilot.adapter import chassis.VehicleStateOuterClass +import com.mogo.eagle.core.data.app.AppConfigInfo import com.mogo.eagle.core.data.config.FunctionBuildConfig import com.mogo.eagle.core.data.config.HdMapBuildConfig import com.mogo.eagle.core.data.deva.chain.ChainConstant.Companion.CHAIN_ALIAS_CODE_ADAS_MESSAGE_AUTOPILOT_ARRIVE @@ -203,6 +204,7 @@ class MoGoAdasListenerImpl : OnAdasListener { } AdasManager.getInstance().carConfig?.let { autopilotStatusInfo.dockVersion = it.dockVersion + AppConfigInfo.dockerVersion = it.dockVersion } invokeAutoPilotStatus() } diff --git a/core/function-impl/mogo-core-function-autopilot/src/main/java/com/mogo/eagle/core/function/autopilot/telematic/TeleMsgHandler.kt b/core/function-impl/mogo-core-function-autopilot/src/main/java/com/mogo/eagle/core/function/autopilot/telematic/TeleMsgHandler.kt index 392c350bd2..758f6e6cd6 100644 --- a/core/function-impl/mogo-core-function-autopilot/src/main/java/com/mogo/eagle/core/function/autopilot/telematic/TeleMsgHandler.kt +++ b/core/function-impl/mogo-core-function-autopilot/src/main/java/com/mogo/eagle/core/function/autopilot/telematic/TeleMsgHandler.kt @@ -66,6 +66,7 @@ class TeleMsgHandler : IMsgHandler { val carConfig = MessagePad.CarConfigResp.parseFrom(msg.body) AppConfigInfo.plateNumber = carConfig.plateNumber AppConfigInfo.iPCMacAddress = carConfig.macAddress + AppConfigInfo.dockerVersion = carConfig.dockVersion invokeNettyConnResult( "司机屏发送给乘客屏配置信息为:${ TextFormat.printer().escapingNonAscii(false).printToString(carConfig) diff --git a/core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/map/MapPointCloudSubscriber.kt b/core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/map/MapPointCloudSubscriber.kt index 0066ee8c2a..7617da5cc4 100644 --- a/core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/map/MapPointCloudSubscriber.kt +++ b/core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/map/MapPointCloudSubscriber.kt @@ -1,11 +1,9 @@ package com.mogo.eagle.core.function.map -import com.mogo.eagle.core.data.autopilot.AutopilotStatusInfo +import com.mogo.eagle.core.data.app.AppConfigInfo import com.mogo.eagle.core.data.config.FunctionBuildConfig import com.mogo.eagle.core.function.api.autopilot.IMoGoAutopilotPointCloudListener -import com.mogo.eagle.core.function.api.autopilot.IMoGoAutopilotStatusListener import com.mogo.eagle.core.function.api.base.IMoGoSubscriber -import com.mogo.eagle.core.function.call.autopilot.CallerAutoPilotStatusListenerManager import com.mogo.eagle.core.function.call.autopilot.CallerAutopilotPointCloudListenerManager import com.mogo.eagle.core.utilcode.mogo.logger.Logger import com.zhidaoauto.map.sdk.open.business.PointCloudHelper @@ -18,14 +16,12 @@ import java.math.BigDecimal * @author donghongyu */ class MapPointCloudSubscriber private constructor() - : IMoGoSubscriber, IMoGoAutopilotPointCloudListener, IMoGoAutopilotStatusListener { + : IMoGoSubscriber, IMoGoAutopilotPointCloudListener { private val TAG = "MapPointCloudSubscriber" private var isDrawPointCloud = false - private var mAutoPilotStatusInfo: AutopilotStatusInfo? = null - init { onCrate() } @@ -38,13 +34,10 @@ class MapPointCloudSubscriber private constructor() override fun onCrate() { CallerAutopilotPointCloudListenerManager.addListener(TAG, this) - // 添加 ADAS状态 监听 - CallerAutoPilotStatusListenerManager.addListener(TAG, this) } override fun onDestroy() { CallerAutopilotPointCloudListenerManager.removeListener(TAG) - CallerAutoPilotStatusListenerManager.removeListener(TAG) } override fun onAutopilotPointCloudDataUpdate(pointCloud: ByteArray?) { @@ -80,17 +73,13 @@ class MapPointCloudSubscriber private constructor() } } - override fun onAutopilotStatusResponse(autoPilotStatusInfo: AutopilotStatusInfo) { - mAutoPilotStatusInfo = autoPilotStatusInfo - } - /** * 判断是否是260之后但版本 */ fun isDrawCloudPointDockerVersion(): Boolean { // 由于Docker命名规则不统一，但核心版本是统一但，采用"."分割，如下 // MAP-taxi_RoboTaxi_Default_2.2.0_badcasetest_20220215_dev - val dockerVersionName = mAutoPilotStatusInfo?.dockVersion + val dockerVersionName = AppConfigInfo.dockerVersion // "." 分割，取前两位 val dockerVersionNameArray = dockerVersionName?.split(".") diff --git a/core/mogo-core-data/src/main/java/com/mogo/eagle/core/data/app/AppConfigInfo.kt b/core/mogo-core-data/src/main/java/com/mogo/eagle/core/data/app/AppConfigInfo.kt index 67ca33e189..0f7c242877 100644 --- a/core/mogo-core-data/src/main/java/com/mogo/eagle/core/data/app/AppConfigInfo.kt +++ b/core/mogo-core-data/src/main/java/com/mogo/eagle/core/data/app/AppConfigInfo.kt @@ -33,6 +33,9 @@ object AppConfigInfo { //工控机MAC地址 @Volatile var iPCMacAddress: String? = null + //工控机DockerVersion + @Volatile + var dockerVersion: String? = null //工控机协议版本 var protocolVersionNumber: Int = 0 diff --git a/core/mogo-core-data/src/main/java/com/mogo/eagle/core/data/autopilot/pnc/PncActionsHelper.kt b/core/mogo-core-data/src/main/java/com/mogo/eagle/core/data/autopilot/pnc/PncActionsHelper.kt index 8d8591d7ba..753b04d1ce 100644 --- a/core/mogo-core-data/src/main/java/com/mogo/eagle/core/data/autopilot/pnc/PncActionsHelper.kt +++ b/core/mogo-core-data/src/main/java/com/mogo/eagle/core/data/autopilot/pnc/PncActionsHelper.kt @@ -11,9 +11,9 @@ class PncActionsHelper { NO_AUTODRIVING_VALUE -> { "" } - // 车道保持 + // 车道保持 driving_action： 1:车道保持状态，2:跟车状态 LANKE_KEEP_VALUE -> { - "正在跟随车辆行驶" + if(driveAction == 2) "正在跟随车辆行驶" else "" } // 红绿灯通行状态 driving_action：1 表示停止动作；driving_action:2 表示通行动作 TRAFFIC_LIGHT_VALUE -> {