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准备抽离AutoPilot调用逻辑，有些多，放在10月份进行

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Signed-off-by: 董宏宇 <martindhy@gmail.com>
This commit is contained in:
董宏宇
2021-09-22 21:14:08 +08:00
parent 9e80448071
commit 808e772cce
27 changed files with 257 additions and 72 deletions
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1
.idea/gradle.xml generated
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@@ -18,6 +18,7 @@
<option value="$PROJECT_DIR$/app" />
<option value="$PROJECT_DIR$/core" />
<option value="$PROJECT_DIR$/core/function-impl" />
<option value="$PROJECT_DIR$/core/function-impl/mogo-core-function-autopilot" />
<option value="$PROJECT_DIR$/core/function-impl/mogo-core-function-check" />
<option value="$PROJECT_DIR$/core/function-impl/mogo-core-function-hmi" />
<option value="$PROJECT_DIR$/core/function-impl/mogo-core-function-notice" />

6
OCH/mogo-och-bus/src/main/java/com/mogo/och/bus/presenter/OchBusPresenter.java
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@@ -12,7 +12,6 @@ import com.mogo.cloud.passport.MoGoAiCloudClientConfig;
import com.mogo.commons.data.BaseData;
import com.mogo.commons.mvp.Presenter;
import com.mogo.commons.network.SubscribeImpl;
import com.mogo.commons.network.Utils;
import com.mogo.commons.voice.AIAssist;
import com.mogo.module.common.MogoApisHandler;
import com.mogo.module.common.constants.HostConst;
@@ -31,12 +30,11 @@ import com.mogo.och.bus.bean.UpdateSiteStatusRequest;
import com.mogo.och.bus.fragment.OchBusFragment;
import com.mogo.och.bus.net.IOchBusApiService;
import com.mogo.service.adas.IMogoAdasOCHCallback;
import com.mogo.service.adas.RemoteControlAutoPilotParameters;
import com.mogo.service.adas.entity.AdasOCHData;
import com.mogo.eagle.core.data.autopilot.RemoteControlAutoPilotParameters;
import com.mogo.eagle.core.data.autopilot.AdasOCHData;
import com.mogo.utils.logger.Logger;
import com.mogo.utils.network.RequestOptions;
import com.mogo.utils.network.utils.GsonUtil;
import com.mogo.utils.storage.SharedPrefsMgr;
import java.util.ArrayList;
import java.util.List;

4
OCH/mogo-och-taxi/src/main/java/com/mogo/och/taxi/MogoOCHTaxiModel.java
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@@ -15,8 +15,8 @@ import com.mogo.module.common.MogoApisHandler;
import com.mogo.module.common.constants.HostConst;
import com.mogo.och.taxi.ui.OCHTaxiUiController;
import com.mogo.service.adas.IMogoAdasOCHCallback;
import com.mogo.service.adas.RemoteControlAutoPilotParameters;
import com.mogo.service.adas.entity.AdasOCHData;
import com.mogo.eagle.core.data.autopilot.RemoteControlAutoPilotParameters;
import com.mogo.eagle.core.data.autopilot.AdasOCHData;
import com.mogo.service.cloud.socket.IMogoLifecycleListener;
import com.mogo.service.cloud.socket.IMogoOnMessageListener;
import com.mogo.service.intent.IMogoIntentListener;

2
OCH/mogo-och-taxi/src/main/java/com/mogo/och/taxi/ui/OCHTaxiFragment.java
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@@ -26,7 +26,7 @@ import com.mogo.och.taxi.R;
import com.mogo.och.view.SlidePanelView;
import com.mogo.service.adas.IMogoAdasOCHCallback;
import com.mogo.service.adas.IMogoAdasRouteCallBack;
import com.mogo.service.adas.entity.AdasOCHData;
import com.mogo.eagle.core.data.autopilot.AdasOCHData;
import com.mogo.service.statusmanager.IMogoStatusChangedListener;
import com.mogo.service.statusmanager.StatusDescriptor;
import com.mogo.utils.logger.Logger;

2
OCH/mogo-och/src/main/java/com/mogo/och/BaseOchFragment.java
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@@ -17,7 +17,7 @@ import com.mogo.module.common.MogoApisHandler;
import com.mogo.module.common.view.OnPreventFastClickListener;
import com.mogo.och.view.SlidePanelView;
import com.mogo.service.adas.IMogoAdasOCHCallback;
import com.mogo.service.adas.RemoteControlAutoPilotParameters;
import com.mogo.eagle.core.data.autopilot.RemoteControlAutoPilotParameters;
import com.mogo.utils.logger.Logger;
/**

1
core/function-impl/mogo-core-function-autopilot/.gitignore vendored Normal file
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@@ -0,0 +1 @@
/build

67
core/function-impl/mogo-core-function-autopilot/build.gradle Normal file
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@@ -0,0 +1,67 @@
plugins {
id 'com.android.library'
id 'kotlin-android'
id 'kotlin-android-extensions'
id 'kotlin-kapt'
id 'com.alibaba.arouter'
}
android {
compileSdkVersion rootProject.ext.android.compileSdkVersion
// buildToolsVersion rootProject.ext.android.buildToolsVersion
defaultConfig {
minSdkVersion rootProject.ext.android.minSdkVersion
targetSdkVersion rootProject.ext.android.targetSdkVersion
versionCode Integer.valueOf(VERSION_CODE)
versionName getValueFromRootProperties("${project.name.replace("-", "_").toUpperCase()}_VERSION")
testInstrumentationRunner "androidx.test.runner.AndroidJUnitRunner"
consumerProguardFiles 'consumer-rules.pro'
//ARouter apt 参数
kapt {
useBuildCache = false
arguments {
arg("AROUTER_MODULE_NAME", project.getName())
}
}
}
buildTypes {
release {
minifyEnabled false
proguardFiles getDefaultProguardFile('proguard-android-optimize.txt'), 'proguard-rules.pro'
}
}
compileOptions {
sourceCompatibility JavaVersion.VERSION_1_8
targetCompatibility JavaVersion.VERSION_1_8
}
}
dependencies {
implementation fileTree(dir: 'libs', include: ['*.jar'])
implementation rootProject.ext.dependencies.kotlinstdlibjdk7
implementation rootProject.ext.dependencies.androidxccorektx
implementation rootProject.ext.dependencies.androidxappcompat
implementation rootProject.ext.dependencies.androidxconstraintlayout
implementation rootProject.ext.dependencies.arouter
implementation rootProject.ext.dependencies.rxandroid
kapt rootProject.ext.dependencies.aroutercompiler
implementation "com.zhidao.support.adas:high:1.2.0.2"
if (Boolean.valueOf(RELEASE)) {
} else {
implementation project(':core:mogo-core-data')
implementation project(':core:mogo-core-utils')
implementation project(':core:mogo-core-function-api')
implementation project(':core:mogo-core-function-call')
}
}
apply from: new File(rootProject.rootDir, "gradle/upload.gradle").toString()

0
core/function-impl/mogo-core-function-autopilot/consumer-rules.pro Normal file
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3
core/function-impl/mogo-core-function-autopilot/gradle.properties Normal file
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@@ -0,0 +1,3 @@
GROUP=com.mogo.eagle.core
POM_ARTIFACT_ID=function-autopilot
VERSION_CODE=1

21
core/function-impl/mogo-core-function-autopilot/proguard-rules.pro vendored Normal file
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@@ -0,0 +1,21 @@
# Add project specific ProGuard rules here.
# You can control the set of applied configuration files using the
# proguardFiles setting in build.gradle.
#
# For more details, see
# http://developer.android.com/guide/developing/tools/proguard.html
# If your project uses WebView with JS, uncomment the following
# and specify the fully qualified class name to the JavaScript interface
# class:
#-keepclassmembers class fqcn.of.javascript.interface.for.webview {
# public *;
#}
# Uncomment this to preserve the line number information for
# debugging stack traces.
#-keepattributes SourceFile,LineNumberTable
# If you keep the line number information, uncomment this to
# hide the original source file name.
#-renamesourcefileattribute SourceFile

5
core/function-impl/mogo-core-function-autopilot/src/main/AndroidManifest.xml Normal file
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@@ -0,0 +1,5 @@
<?xml version="1.0" encoding="utf-8"?>
<manifest xmlns:android="http://schemas.android.com/apk/res/android"
package="com.mogo.eagle.core.function.hmi">
</manifest>

56
core/function-impl/mogo-core-function-autopilot/src/main/java/com/mogo/eagle/core/function/autopilot/MoGoAutoPilotProvider.java Normal file
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@@ -0,0 +1,56 @@
package com.mogo.eagle.core.function.autopilot;
import android.content.Context;
import com.mogo.eagle.core.data.autopilot.AdasControlCommandParameter;
import com.mogo.eagle.core.data.autopilot.RemoteControlAutoPilotParameters;
import com.mogo.eagle.core.function.api.autopilot.IMoGoAutoPilotProvider;
import com.mogo.eagle.core.function.api.autopilot.IMoGoAutoPilotStatusListener;
import com.mogo.eagle.core.utilcode.util.GsonUtils;
import com.mogo.eagle.core.utilcode.util.LogUtils;
import com.zhidao.support.adas.high.AdasManager;
/**
* @author xiaoyuzhou
* @date 2021/9/22 8:43 下午
*/
public class MoGoAutoPilotProvider implements IMoGoAutoPilotProvider {
private static final String TAG = "MogoAutoPilotProvider";
@Override
public void init(Context context) {
}
@Override
public void startAutoPilot(RemoteControlAutoPilotParameters result) {
if (AdasManager.getInstance().isSocketConnect()) {
AdasControlCommandParameter parameter = new AdasControlCommandParameter(TAG, result);
AdasManager.getInstance().aiCloudToAdasData(GsonUtils.toJson(parameter));
} else {
LogUtils.eTag(TAG, "车机与工控机链接失败，无法开启自动驾驶");
}
}
@Override
public void cancelAutoPilot() {
if (AdasManager.getInstance().isSocketConnect()) {
AdasManager.getInstance().controlAutopilotCarHead();
} else {
LogUtils.eTag(TAG, "车机与工控机链接失败，无法断开自动驾驶");
}
}
@Override
public int getAutopilotStatus() {
// int status = IMoGoAutoPilotStatusListener.STATUS_AUTOPILOT_DISABLE;
// try {
// status = adasProvider.autopilotStateCall().getState();
// } catch (Exception e) {
// e.printStackTrace();
// }
return 0;
}
}

2
services/mogo-service/src/main/java/com/mogo/service/impl/adas/AdasControlCommandParameter.java → core/mogo-core-data/src/main/java/com/mogo/eagle/core/data/autopilot/AdasControlCommandParameter.java
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@@ -1,4 +1,4 @@
package com.mogo.service.impl.adas;
package com.mogo.eagle.core.data.autopilot;
public
/**

2
services/mogo-service-api/src/main/java/com/mogo/service/adas/entity/AdasOCHData.java → core/mogo-core-data/src/main/java/com/mogo/eagle/core/data/autopilot/AdasOCHData.java
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@@ -1,4 +1,4 @@
package com.mogo.service.adas.entity;
package com.mogo.eagle.core.data.autopilot;
public
/**

17
services/mogo-service-api/src/main/java/com/mogo/service/adas/RemoteControlAutoPilotParameters.java → core/mogo-core-data/src/main/java/com/mogo/eagle/core/data/autopilot/RemoteControlAutoPilotParameters.java
View File

@@ -1,18 +1,17 @@
package com.mogo.service.adas;
package com.mogo.eagle.core.data.autopilot;
import java.util.List;
public
/**
* @author congtaowang
* @since 2020/10/16
*
* 自动驾驶参数
* @author donghongyu
* @since 2021/09/22
* <p>
* 启动自动驾驶参数
*/
class RemoteControlAutoPilotParameters {
public class RemoteControlAutoPilotParameters {
public AutoPilotLonLat startLatLon;
public List< AutoPilotLonLat > wayLatLons;
public List<AutoPilotLonLat> wayLatLons;
public AutoPilotLonLat endLatLon;
public float speedLimit;
public int vehicleType;// 运营类型
@@ -28,7 +27,7 @@ class RemoteControlAutoPilotParameters {
public AutoPilotLonLat() {
}
public AutoPilotLonLat( double lat, double lon ) {
public AutoPilotLonLat(double lat, double lon) {
this.lat = lat;
this.lon = lon;
}

44
core/mogo-core-data/src/main/java/com/mogo/eagle/core/data/model/V2XThreatIndInfo.kt
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@@ -1,44 +0,0 @@
package com.mogo.eagle.core.data.model
/**
*@author xiaoyuzhou
*@date 2021/9/14 3:51 下午
*/
class V2XThreatIndInfo {
// /**
// * RV temperary vehicle ID
// */
// private val vehicle_id: String? = null
// /**
// * V2V threat status 0: update 1: add 2: delete
// * range(0..2)
// * [com.zhidao.support.obu.constants.ObuConstants.STATUS]
// */
// private val status = 0
//
// /**
// * RV threat information 目前判断RV方向使用的是 ext_info 中的 target_classification 变量
// */
// private val threat_info: V2vThreat? = null
//
// /**
// * 目前判断RV方向使用的是 ext_info 中的 target_classification 变量
// * The extension information of V2V threat
// */
// private val ext_info: V2vThreatExt? = null
//
// /**
// * RV basic information
// */
// private val basic_info: MovingObjectInfo? = null
// /**
// * Wgs84坐标系，线性经纬度轨迹列表
// */
// private val locus_list: List<com.mogo.eagle.core.data.map.MogoLatLng>? = null
//
// /**
// * 高德坐标系Gcj，线性经纬度轨迹列表
// */
// private val gd_locus_list: List<com.mogo.eagle.core.data.map.MogoLatLng>? = null
}

5
core/mogo-core-function-api/README.md
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@@ -1,5 +1,10 @@
### 模块说明
本模块定义业务层具备那些功能，不提供具体业务实现；所有具体业务实现均在mogo-core-function-impl模块中
base
IMoGoFunctionProvider--------带界面的功能模块
IMoGoFunctionServerProvider--服务类型的功能模块
adas--域控制器相关
chat--车聊聊相关
check--车辆检测相关

32
core/mogo-core-function-api/src/main/java/com/mogo/eagle/core/function/api/autopilot/IMoGoAutoPilotProvider.java Normal file
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@@ -0,0 +1,32 @@
package com.mogo.eagle.core.function.api.autopilot;
import com.mogo.eagle.core.data.autopilot.RemoteControlAutoPilotParameters;
import com.mogo.eagle.core.function.api.base.IMoGoFunctionServerProvider;
/**
* @author xiaoyuzhou
* @date 2021/9/22 8:27 下午
* 自动驾驶节点
*/
public interface IMoGoAutoPilotProvider extends IMoGoFunctionServerProvider {
/**
* 开启自动驾驶
*
* @param result
*/
void startAutoPilot(RemoteControlAutoPilotParameters result);
/**
* 结束自动驾驶
*/
void cancelAutoPilot();
/**
* 获取车辆自动驾驶状态
*
* @return
*/
int getAutopilotStatus();
}

38
core/mogo-core-function-api/src/main/java/com/mogo/eagle/core/function/api/autopilot/IMoGoAutoPilotStatusListener.java Normal file
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@@ -0,0 +1,38 @@
package com.mogo.eagle.core.function.api.autopilot;
import com.mogo.eagle.core.data.autopilot.AdasOCHData;
/**
* @author xiaoyuzhou
* @date 2021/9/22 8:59 下午
* 自动驾驶状态回调监听
*/
public interface IMoGoAutoPilotStatusListener {
/**
* 不可自动驾驶，目前场景是刚开机，adas还未和工控机连接
*/
int STATUS_AUTOPILOT_DISABLE = 0;
/**
* 可自动驾驶，工控机连接正常，且处于人工干预状态
*/
int STATUS_AUTOPILOT_ENABLE = 1;
/**
* 自动驾驶中，可能是停车，可能是行进，但是是机器在处理车的前进后退，不是人
*/
int STATUS_AUTOPILOT_RUNNING = 2;
/**
* 到站
* @param data 所到车站的简单信息
*/
void onArriveAt( AdasOCHData data );
/**
* 自动驾驶状态发生改变
* @param state {@link #STATUS_AUTOPILOT_DISABLE}
* @param reason 不能自动驾驶的原因
*/
void onStateChanged(int state, String reason);
}

3
modules/mogo-module-extensions/src/main/java/com/mogo/module/extensions/entrance/EntranceFragment.java
View File

@@ -14,7 +14,6 @@ import android.view.MotionEvent;
import android.view.View;
import android.view.ViewGroup;
import android.widget.Button;
import android.widget.CheckedTextView;
import android.widget.EditText;
import android.widget.FrameLayout;
import android.widget.ImageButton;
@@ -73,7 +72,7 @@ import com.mogo.module.service.receiver.MogoReceiver;
import com.mogo.module.share.manager.ServiceApisManager;
import com.mogo.service.IMogoServiceApis;
import com.mogo.service.adas.IMogoAdasOCHCallback;
import com.mogo.service.adas.entity.AdasOCHData;
import com.mogo.eagle.core.data.autopilot.AdasOCHData;
import com.mogo.service.analytics.IMogoAnalytics;
import com.mogo.service.cloud.socket.IMogoOnMessageListener;
import com.mogo.service.entrance.ButtonIndex;

2
modules/mogo-module-service/src/main/java/com/mogo/module/service/autopilot/AutoPilotRemoteController.java
View File

@@ -2,7 +2,7 @@ package com.mogo.module.service.autopilot;
import com.mogo.commons.AbsMogoApplication;
import com.mogo.module.common.MogoApisHandler;
import com.mogo.service.adas.RemoteControlAutoPilotParameters;
import com.mogo.eagle.core.data.autopilot.RemoteControlAutoPilotParameters;
import com.mogo.service.cloud.socket.IMogoOnMessageListener;
import com.mogo.service.cloud.socket.IMogoSocketManager;
import com.mogo.utils.logger.Logger;

4
modules/mogo-module-service/src/main/java/com/mogo/module/service/dispatch/DispatchAutoPilotManager.java
View File

@@ -19,8 +19,8 @@ import com.mogo.module.service.dispatch.model.DispatchServiceModel;
import com.mogo.module.service.dispatch.model.IDispatch;
import com.mogo.service.IMogoServiceApis;
import com.mogo.service.adas.IMogoAdasOCHCallback;
import com.mogo.service.adas.RemoteControlAutoPilotParameters;
import com.mogo.service.adas.entity.AdasOCHData;
import com.mogo.eagle.core.data.autopilot.RemoteControlAutoPilotParameters;
import com.mogo.eagle.core.data.autopilot.AdasOCHData;
import com.mogo.service.cloud.socket.IMogoOnMessageListener;
import com.mogo.service.entrance.IMogoEntranceAutopilotStatusClickListener;
import com.mogo.utils.logger.Logger;

2
modules/mogo-module-service/src/main/java/com/mogo/module/service/intent/MockIntentHandler.java
View File

@@ -38,7 +38,7 @@ import com.mogo.module.service.MarkerServiceHandler;
import com.mogo.module.service.R;
import com.mogo.module.service.status.EnvStatusManager;
import com.mogo.module.service.timedelay.TimeDelayUploadManager;
import com.mogo.service.adas.RemoteControlAutoPilotParameters;
import com.mogo.eagle.core.data.autopilot.RemoteControlAutoPilotParameters;
import com.mogo.service.adas.entity.ADASCarStateInfo;
import com.mogo.service.adas.entity.ADASRecognizedResult;
import com.mogo.service.entrance.ButtonIndex;

1
services/mogo-service-api/src/main/java/com/mogo/service/adas/IMogoADASController.java
View File

@@ -1,6 +1,7 @@
package com.mogo.service.adas;
import com.alibaba.android.arouter.facade.template.IProvider;
import com.mogo.eagle.core.data.autopilot.RemoteControlAutoPilotParameters;
import com.mogo.map.uicontroller.EnumMapUI;
import com.mogo.service.adas.entity.ADASRecognizedResult;

2
services/mogo-service-api/src/main/java/com/mogo/service/adas/IMogoAdasOCHCallback.java
View File

@@ -1,6 +1,6 @@
package com.mogo.service.adas;
import com.mogo.service.adas.entity.AdasOCHData;
import com.mogo.eagle.core.data.autopilot.AdasOCHData;
public
/**

5
services/mogo-service/src/main/java/com/mogo/service/impl/adas/MogoADASController.java
View File

@@ -13,6 +13,7 @@ import com.alibaba.android.arouter.launcher.ARouter;
import com.mogo.cloud.passport.MoGoAiCloudClientConfig;
import com.mogo.commons.AbsMogoApplication;
import com.mogo.commons.debug.DebugConfig;
import com.mogo.eagle.core.data.autopilot.AdasControlCommandParameter;
import com.mogo.eagle.core.data.map.MogoLatLng;
import com.mogo.map.uicontroller.EnumMapUI;
import com.mogo.module.adas.AdasProvider;
@@ -26,11 +27,11 @@ import com.mogo.service.adas.IMogoAdasOCHCallback;
import com.mogo.service.adas.IMogoAdasRecognizedDataCallback;
import com.mogo.service.adas.IMogoAdasRouteCallBack;
import com.mogo.service.adas.IMogoAdasWarnMessageCallback;
import com.mogo.service.adas.RemoteControlAutoPilotParameters;
import com.mogo.eagle.core.data.autopilot.RemoteControlAutoPilotParameters;
import com.mogo.service.adas.entity.ADASCarStateInfo;
import com.mogo.service.adas.entity.ADASRecognizedResult;
import com.mogo.service.adas.entity.ADASWarnMessage;
import com.mogo.service.adas.entity.AdasOCHData;
import com.mogo.eagle.core.data.autopilot.AdasOCHData;
import com.mogo.service.adas.entity.CarModelListResponse;
import com.mogo.service.datamanager.IMogoDataManager;
import com.mogo.service.impl.singleton.SingletonsHolder;

2
settings.gradle
View File

@@ -27,6 +27,8 @@ include ':core:function-impl:mogo-core-function-obu-mogo'
include ':core:function-impl:mogo-core-function-check'
// 云公告相关的业务，UI写到HMI，这里只处理数据及功能逻辑
include ':core:function-impl:mogo-core-function-notice'
// 自动驾驶相关能力，控制自动驾驶，获取自动驾驶识别信息，自车感知预警等
include ':core:function-impl:mogo-core-function-autopilot'
// 服务