[Sweeper-Cloud] refactor: 清扫车适配魔方，启动自驾接口时source传递魔方，以便telematics区分并处理；

2023-06-14 19:10:23 +08:00
parent e476c3b0ce
commit 7c9f78f7c8
5 changed files with 77 additions and 10 deletions
--- a/core/function-impl/mogo-core-function-datacenter/src/main/java/com/mogo/eagle/core/function/datacenter/autopilot/MoGoAutopilotControlProvider.kt
+++ b/core/function-impl/mogo-core-function-datacenter/src/main/java/com/mogo/eagle/core/function/datacenter/autopilot/MoGoAutopilotControlProvider.kt
@@ -10,30 +10,29 @@ import com.mogo.cloud.passport.MoGoAiCloudClientConfig
 import com.mogo.eagle.core.data.autopilot.AutopilotControlParameters
 import com.mogo.eagle.core.data.autopilot.toAutoPilotLine
 import com.mogo.eagle.core.data.autopilot.toRouteInfo
-import com.mogo.eagle.core.data.deva.badcase.BagManagerEntity
+import com.mogo.eagle.core.data.biz.trafficlight.TrafficLightResult
+import com.mogo.eagle.core.data.biz.trafficlight.toTrafficLightDetail
 import com.mogo.eagle.core.data.config.FunctionBuildConfig
 import com.mogo.eagle.core.data.constants.MoGoConfig
 import com.mogo.eagle.core.data.constants.MogoServicePaths
+import com.mogo.eagle.core.data.deva.badcase.BagManagerEntity
 import com.mogo.eagle.core.data.deva.chain.ChainConstant
 import com.mogo.eagle.core.data.deva.chain.ChainConstant.Companion.CHAIN_ALIAS_CODE_MULTI_CONNECT
 import com.mogo.eagle.core.data.deva.chain.ChainConstant.Companion.CHAIN_LINK_ADAS
 import com.mogo.eagle.core.data.deva.chain.ChainConstant.Companion.CHAIN_LINK_LOG_CONNECT_STATUS
 import com.mogo.eagle.core.data.deva.chain.ChainConstant.Companion.CHAIN_LINK_LOG_WEB_SOCKET_AUTOPILOT
-import com.mogo.eagle.core.data.biz.trafficlight.TrafficLightResult
-import com.mogo.eagle.core.data.biz.trafficlight.toTrafficLightDetail
 import com.mogo.eagle.core.function.api.autopilot.IMoGoAutopilotCarConfigListener
 import com.mogo.eagle.core.function.api.autopilot.IMoGoAutopilotControlProvider
 import com.mogo.eagle.core.function.api.map.collect.IMoGoMapDataCollectProvider
-import com.mogo.eagle.core.function.call.autopilot.CallerAutoPilotControlManager
+import com.mogo.eagle.core.function.call.autopilot.CallerAutopilotCarConfigListenerManager
+import com.mogo.eagle.core.function.call.devatools.CallerDevaToolsManager
+import com.mogo.eagle.core.function.call.map.CallerMapDataCollectorManager
 import com.mogo.eagle.core.function.datacenter.autopilot.adapter.MoGoAdasListenerImpl
 import com.mogo.eagle.core.function.datacenter.autopilot.adapter.MoGoAdasMsgConnectStatusListenerImpl
 import com.mogo.eagle.core.function.datacenter.autopilot.server.AsyncDataToAutopilotServer
 import com.mogo.eagle.core.function.datacenter.autopilot.telematic.EventListener
 import com.mogo.eagle.core.function.datacenter.autopilot.telematic.IMsgHandler
 import com.mogo.eagle.core.function.datacenter.autopilot.telematic.TeleMsgHandler
-import com.mogo.eagle.core.function.call.autopilot.CallerAutopilotCarConfigListenerManager
-import com.mogo.eagle.core.function.call.devatools.CallerDevaToolsManager
-import com.mogo.eagle.core.function.call.map.CallerMapDataCollectorManager
 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_ADAS_IMPL
@@ -320,14 +319,22 @@ class MoGoAutopilotControlProvider :
    }

    override fun startAutoPilot(controlParameters: AutopilotControlParameters) {
+        startAutoPilot(controlParameters, AdasOptions.AUTOPILOT_SOURCE.PAD)
+    }
+
+    override fun startAutoPilotByMoFang(controlParameters: AutopilotControlParameters) {
+        startAutoPilot(controlParameters, AdasOptions.AUTOPILOT_SOURCE.MO_FANG)
+    }
+
+    private fun startAutoPilot(controlParameters: AutopilotControlParameters, source: Int) {
        if (AppIdentityModeUtils.isPassenger(FunctionBuildConfig.appIdentityMode)) {
            val invokeResult = AdasManager.getInstance()
-                .sendAutoPilotModeReq(1, 1, controlParameters.toRouteInfo())
+                .sendAutoPilotModeReq(1, source, controlParameters.toRouteInfo())
            invokeAutoPilotResult(if (invokeResult) "自动驾驶调用成功" else "自动驾驶调用失败, socket 或者 rawPack 可能为空")
        } else {
            if (AdasManager.getInstance().ipcConnectionStatus == IPC_CONNECTION_STATUS.CONNECTED) {
                val invokeResult = AdasManager.getInstance()
-                    .sendAutoPilotModeReq(1, 1, controlParameters.toRouteInfo())
+                    .sendAutoPilotModeReq(1, source, controlParameters.toRouteInfo())
                invokeAutoPilotResult(if (invokeResult) "自动驾驶调用成功" else "自动驾驶调用失败, socket 或者 rawPack 可能为空")
            } else {
                invokeAutoPilotResult("车机与工控机链接失败，无法开启自动驾驶")
--- a/core/function-impl/mogo-core-function-devatools/src/main/java/com/zhjt/mogo_core_function_devatools/mofang/MoFangManager.kt
+++ b/core/function-impl/mogo-core-function-devatools/src/main/java/com/zhjt/mogo_core_function_devatools/mofang/MoFangManager.kt
@@ -9,6 +9,7 @@ import android.content.Intent
 import android.content.IntentFilter
 import android.view.KeyEvent
 import com.mogo.commons.context.ContextHolderUtil
+import com.mogo.eagle.core.data.config.FunctionBuildConfig
 import com.mogo.eagle.core.data.config.HmiBuildConfig
 import com.mogo.eagle.core.data.deva.mofang.MfConstants
 import com.mogo.eagle.core.function.api.devatools.mofang.IMoGoMoFangListener
@@ -17,9 +18,11 @@ import com.mogo.eagle.core.function.call.autopilot.CallerAutoPilotControlManager
 import com.mogo.eagle.core.function.call.autopilot.CallerAutoPilotControlManager.sendOperatorSetAcceleratedSpeed
 import com.mogo.eagle.core.function.call.autopilot.CallerAutoPilotControlManager.sendOperatorSetHorn
 import com.mogo.eagle.core.function.call.autopilot.CallerAutoPilotControlManager.startAutoPilot
+import com.mogo.eagle.core.function.call.autopilot.CallerAutoPilotControlManager.startAutoPilotByMoFang
 import com.mogo.eagle.core.function.call.autopilot.CallerAutoPilotStatusListenerManager.getAutoPilotStatusInfo
 import com.mogo.eagle.core.function.call.devatools.CallerDevaToolsListenerManager.invokeMoFangStatus
 import com.mogo.eagle.core.function.call.mofang.CallerMofangListenerManager
+import com.mogo.eagle.core.utilcode.mogo.AppIdentityModeUtils
 import com.mogo.eagle.core.utilcode.mogo.logger.CallerLogger.d
 import com.mogo.eagle.core.utilcode.mogo.logger.CallerLogger.e
 import com.mogo.eagle.core.utilcode.mogo.logger.scene.SceneConstant.Companion.M_F
@@ -319,7 +322,12 @@ class MoFangManager private constructor() : IMoGoMoFangListener {
                        if (HmiBuildConfig.isShowMfToastView) {
                            ToastUtils.showShort("方块 单击E 开启自动驾驶 timeInterval: ${pressEUpTime - startPressTime}ms")
                        }
-                        startAutoPilot(getAutoPilotStatusInfo().autopilotControlParameters)
+                        //清扫车有FSM模块，魔方启动自驾时需要将Source修改为魔方，以便telamatics做区分并在转发时增加flag标记
+                        if (AppIdentityModeUtils.isSweeper(FunctionBuildConfig.appIdentityMode)) {
+                            startAutoPilotByMoFang(getAutoPilotStatusInfo().autopilotControlParameters)
+                        } else{
+                            startAutoPilot(getAutoPilotStatusInfo().autopilotControlParameters)
+                        }
                    }
                }
            }
--- a/core/mogo-core-function-api/src/main/java/com/mogo/eagle/core/function/api/autopilot/IMoGoAutopilotControlProvider.kt
+++ b/core/mogo-core-function-api/src/main/java/com/mogo/eagle/core/function/api/autopilot/IMoGoAutopilotControlProvider.kt
@@ -37,6 +37,13 @@ interface IMoGoAutopilotControlProvider : IMoGoFunctionServerProvider {
     */
    fun startAutoPilot(controlParameters: AutopilotControlParameters)

+    /**
+     * 开启自动驾驶(魔方)
+     *
+     * @param controlParameters 开启自动驾驶的控制参数
+     */
+    fun startAutoPilotByMoFang(controlParameters: AutopilotControlParameters)
+
    /**
     * 给工控机透出路口红绿灯信息
     */
--- a/core/mogo-core-function-call/src/main/java/com/mogo/eagle/core/function/call/autopilot/CallerAutoPilotControlManager.kt
+++ b/core/mogo-core-function-call/src/main/java/com/mogo/eagle/core/function/call/autopilot/CallerAutoPilotControlManager.kt
@@ -79,6 +79,29 @@ object CallerAutoPilotControlManager {
        CallerAutoPilotStatusListenerManager.updateAutopilotControlParameters(controlParameters)
    }

+    /**
+     * 开启自动驾驶
+     *
+     * @param controlParameters 开启自动驾驶的控制参数
+     */
+    @ChainLog(
+        linkChainLog = CHAIN_LINK_LOG_WEB_SOCKET_AUTOPILOT,
+        linkCode = CHAIN_LINK_ADAS,
+        endpoint = TracingConstants.Endpoint.PAD,
+        nodeAliasCode = CHAIN_ALIAS_CODE_EAGLE_START_AUTOPILOT,
+        paramIndexes = [0],
+        clientPkFileName = "sn"
+    )
+    fun startAutoPilotByMoFang(controlParameters: AutopilotControlParameters?) {
+        if (controlParameters == null) {
+            //LogUtils.eTag(TAG, "自动驾驶控制参数异常，请检查参数信息")
+            return
+        }
+        providerApi?.startAutoPilotByMoFang(controlParameters)
+        // 更新记录在全局的控制参数
+        CallerAutoPilotStatusListenerManager.updateAutopilotControlParameters(controlParameters)
+    }
+
    /**
     * 发送红绿灯数据至工控机
     */
--- a/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/AdasOptions.java
+++ b/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/AdasOptions.java
@@ -29,6 +29,28 @@ public class AdasOptions {
        int ASSIGN = 1;
    }

+    /**
+     * 启动自动驾驶-Source类型
+     */
+    public interface AUTOPILOT_SOURCE {
+        /**
+         * pad模拟
+         */
+        int PAD_SIMULATE = 0;
+        /**
+         * pad业务
+         */
+        int PAD = 1;
+        /**
+         * AICloud
+         */
+        int AI_CLOUD = 2;
+        /**
+         * 魔方
+         */
+        int MO_FANG = 3;
+    }
+
    /**
     * 是否是客户端 true：客户度（乘客屏）  false：服务端（司机屏）
     * 当是乘客端的情况下 ipcConnectionMode ipcAssignIP ipcFixationIPSet 均无效