diff --git 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 index 3eda2762f8..af9db50ee0 100644 --- 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") diff --git 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 index cf28e98458..1923955f1c 100644 --- 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) + } } } } diff --git 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 index 28df0f814d..3df523e14b 100644 --- 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 */ diff --git 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 index c5eb0d1821..c03f05bc0a 100644 --- 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 */ diff --git 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 index dcdc047c72..d3aef40686 100644 --- 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