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[指挥底盘下载轨迹 变更]
This commit is contained in:
yangyakun
2024-11-27 10:51:11 +08:00
parent 6f280af8fe
commit 82a57c10f9
3 changed files with 13 additions and 63 deletions
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19
OCH/offline/driver/src/main/java/com/mogo/och/offline/util/BusTrajectoryManager.java
View File

@@ -75,37 +75,18 @@ public class BusTrajectoryManager {
if (guardianInfo == null || !guardianInfo.hasCode()) return;
if ("ISYS_INIT_TRAJECTORY_START".equals(guardianInfo.getCode())) {
// 1. 轨迹管理_轨迹开始下载（本地已有对应轨迹也触发）
CallerLogger.d(M_BUS + TAG, "onAutopilotGuardian() 轨迹开始下载");
OchChainLogManager.writeChainLog("轨迹监控","onAutopilotGuardian() 轨迹开始下载", true, OchChainLogManager.EVENT_KEY_INFE_WITH_TRAJECTORY);
// ToastUtils.showShort("轨迹开始下载");
stopTrajReqLoop();
} else if ("ISYS_INIT_TRAJECTORY_SUCCESS".equals(guardianInfo.getCode())) {
// 2. 轨迹管理_轨迹下载成功（本地已有对应轨迹也触发）
CallerLogger.d(M_BUS + TAG, "onAutopilotGuardian() 轨迹下载成功");
OchChainLogManager.writeChainLog("轨迹监控","onAutopilotGuardian() 轨迹下载成功", true, OchChainLogManager.EVENT_KEY_INFE_WITH_TRAJECTORY);
// ToastUtils.showShort("轨迹下载成功");
stopTrajReqLoop();
} else if ("ISYS_INIT_TRAJECTORY_FAILURE".equals(guardianInfo.getCode())) {
// 3. 轨迹管理_轨迹下载失败，本地无对应轨迹
CallerLogger.d(M_BUS + TAG, "onAutopilotGuardian() " +
"轨迹下载失败，本地无对应轨迹");
OchChainLogManager.writeChainLog("轨迹监控","onAutopilotGuardian() 轨迹下载失败，本地无对应轨迹", true, OchChainLogManager.EVENT_KEY_INFE_WITH_TRAJECTORY);
// ToastUtils.showShort("轨迹下载失败，本地无对应轨迹");
} else if ("ISYS_INIT_TRAJECTORY_WARNING".equals(guardianInfo.getCode())) {
// 4. 轨迹管理_轨迹下载失败，本地有对应轨迹，认为成功
CallerLogger.d(M_BUS + TAG, "onAutopilotGuardian() " +
"轨迹下载失败，本地有对应轨迹，认为成功");
OchChainLogManager.writeChainLog("轨迹监控","onAutopilotGuardian() 轨迹下载失败，本地有对应轨迹，认为成功", true, OchChainLogManager.EVENT_KEY_INFE_WITH_TRAJECTORY);
// ToastUtils.showShort("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())) {
// 5. 轨迹管理_轨迹下载超时
CallerLogger.d(M_BUS + TAG, "onAutopilotGuardian() 轨迹下载超时");
OchChainLogManager.writeChainLog("轨迹监控","onAutopilotGuardian() 轨迹下载超时", true, OchChainLogManager.EVENT_KEY_INFE_WITH_TRAJECTORY);
// ToastUtils.showShort("轨迹下载超时");
} else if ("ISSM_FUNC_AUTO_PILOT_READY".equals(guardianInfo.getCode())) {
// 收到ssm的自动驾驶变为ready，再次下发轨迹下载.解决：域控重启，或者102域控启动太早，107节点初始化未完成导致的轨迹未进行下载。
CallerLogger.d(M_BUS + TAG, "onAutopilotGuardian() ssm ready，再次发起下载");
OchChainLogManager.writeChainLog("轨迹监控","onAutopilotGuardian() 再次发起下载", true, OchChainLogManager.EVENT_KEY_INFE_WITH_TRAJECTORY);
syncTrajectoryInfo();
}
}

51
OCH/shuttle/driver_weaknet/src/main/java/com/mogo/och/weaknet/util/BusTrajectoryManager.java
View File

@@ -41,20 +41,18 @@ public class BusTrajectoryManager {
return SingletonHolder.INSTANCE;
}
private AutopilotControlParameters.AutoPilotLine mAutoPilotLine = null;
private AutopilotControlParameters mAutoPilotLine = null;
private Disposable mSendReqDisposable = null;
public BusTrajectoryManager() {
mAutoPilotLine = new AutopilotControlParameters.AutoPilotLine(-1, "",
"", "", "", "", 0, "",
"", "", "", "", 0);
mAutoPilotLine = new AutopilotControlParameters();
}
/**
* 同步Bus路线信息
*/
public void syncTrajectoryInfo() {
OchChainLogManager.writeChainLog("轨迹监控","开始或者结束下发轨迹 轨迹id"+mAutoPilotLine.getLineId(), true, OchChainLogManager.EVENT_KEY_INFE_WITH_TRAJECTORY);
OchChainLogManager.writeChainLog("轨迹监控","开始或者结束下发轨迹 轨迹id"+mAutoPilotLine.autoPilotLine.getLineId(), true, OchChainLogManager.EVENT_KEY_INFE_WITH_TRAJECTORY);
if (LoginStatusManager.isLogin() && LineModel.INSTANCE.getCurrentTask() != null
&& LineModel.getStartStationIndex() == 0
&& !OrderModel.isGoingToNextStation()) {
@@ -94,46 +92,17 @@ public class BusTrajectoryManager {
"setupAutoPilotLine(): routesResult is null.");
return;
} else {
if (mAutoPilotLine == null) {
mAutoPilotLine = new AutopilotControlParameters.AutoPilotLine(
lineInfos.getLineId(), lineInfos.getLineName(),
contraiInfo.getCsvFileUrl(), contraiInfo.getCsvFileMd5(),
contraiInfo.getTxtFileUrl(), contraiInfo.getTxtFileMd5(),
contraiInfo.getContrailSaveTime(), "",
"", "",
"", "",
0);
} else {
mAutoPilotLine.setLineId(lineInfos.getLineId());
mAutoPilotLine.setLineName(lineInfos.getLineName());
mAutoPilotLine.setTrajUrl(contraiInfo.getCsvFileUrl());
mAutoPilotLine.setTrajMd5(contraiInfo.getCsvFileMd5());
mAutoPilotLine.setStopUrl(contraiInfo.getTxtFileUrl());
mAutoPilotLine.setStopMd5(contraiInfo.getTxtFileMd5());
mAutoPilotLine.setTimestamp(contraiInfo.getContrailSaveTime());
}
mAutoPilotLine = LineManager.INSTANCE.initAutopilotControlParameters();
}
}
private void clearAutoPilotLine() {
if (mAutoPilotLine == null) return;
mAutoPilotLine.setLineId(-1);
mAutoPilotLine.setLineName("");
mAutoPilotLine.setTrajUrl("");
mAutoPilotLine.setTrajMd5("");
mAutoPilotLine.setStopUrl("");
mAutoPilotLine.setStopMd5("");
mAutoPilotLine.setTimestamp(0);
mAutoPilotLine.setVehicleModel("");
mAutoPilotLine.setTrajUrl_dpqp("");
mAutoPilotLine.setTrajMd5_dpqp("");
mAutoPilotLine.setStopUrl_dpqp("");
mAutoPilotLine.setStopMd5_dpqp("");
mAutoPilotLine.setTimestamp_dpqp(0);
mAutoPilotLine = null;
}
private void startTrajReqLoop() {
OchChainLogManager.writeChainLog("轨迹监控","开始下发轨迹 轨迹id"+mAutoPilotLine.getLineId(), true, OchChainLogManager.EVENT_KEY_INFE_WITH_TRAJECTORY);
OchChainLogManager.writeChainLog("轨迹监控","开始下发轨迹 轨迹id"+mAutoPilotLine.autoPilotLine.getLineId(), true, OchChainLogManager.EVENT_KEY_INFE_WITH_TRAJECTORY);
if (mSendReqDisposable != null && !mSendReqDisposable.isDisposed()) {
return;
}
@@ -155,7 +124,7 @@ public class BusTrajectoryManager {
}
public void stopTrajReqLoop() {
OchChainLogManager.writeChainLog("轨迹监控","结束下发轨迹 轨迹id"+mAutoPilotLine.getLineId(), true, OchChainLogManager.EVENT_KEY_INFE_WITH_TRAJECTORY);
OchChainLogManager.writeChainLog("轨迹监控","结束下发轨迹 轨迹id"+mAutoPilotLine.autoPilotLine.getLineId(), true, OchChainLogManager.EVENT_KEY_INFE_WITH_TRAJECTORY);
if (mSendReqDisposable != null) {
CallerLogger.d(M_BUS + TAG, "stopTrajReqLoop()");
mSendReqDisposable.dispose();
@@ -165,12 +134,12 @@ public class BusTrajectoryManager {
}
private void sendTrajectoryReq() {
if (mAutoPilotLine == null||mAutoPilotLine.getLineId()==-1) {
if (mAutoPilotLine == null||mAutoPilotLine.autoPilotLine.getLineId()==-1) {
CallerLogger.e(M_BUS + TAG, "sendTrajectoryReq(): mAutoPilotLine is null!!!");
return;
}
OchChainLogManager.writeChainLog("轨迹监控","sendTrajectoryReq() 下发轨迹 轨迹id"+mAutoPilotLine.getLineId(), true, OchChainLogManager.EVENT_KEY_INFE_WITH_TRAJECTORY);
CallerAutoPilotControlManager.INSTANCE.sendTrajectoryDownloadReq(mAutoPilotLine);
OchChainLogManager.writeChainLog("轨迹监控","sendTrajectoryReq() 下发轨迹 轨迹id"+mAutoPilotLine.autoPilotLine.getLineId(), true, OchChainLogManager.EVENT_KEY_INFE_WITH_TRAJECTORY);
CallerAutoPilotControlManager.INSTANCE.sendTrajectoryDownloadReq(mAutoPilotLine,0);
CallerLogger.d(M_BUS + TAG, "sendTrajectoryReq(): "
+ GsonUtils.toJson(mAutoPilotLine));
}

6
OCH/taxi/unmanned-driver/src/main/java/com/mogo/och/unmanned/taxi/utils/TaxiTrajectoryManager.kt
View File

@@ -2,7 +2,7 @@ package com.mogo.och.unmanned.taxi.utils
import com.mogo.eagle.core.data.autopilot.AutopilotControlParameters
import com.mogo.eagle.core.data.autopilot.AutopilotControlParameters.AutoPilotLine
import com.mogo.eagle.core.function.call.autopilot.CallerAutoPilotControlManager.sendTrajectoryDownloadReq
import com.mogo.eagle.core.function.call.autopilot.CallerAutoPilotControlManager
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
@@ -250,14 +250,14 @@ object TaxiTrajectoryManager {
true,
OchChainLogManager.EVENT_KEY_INFE_WITH_TRAJECTORY
)
sendTrajectoryDownloadReq(mAutoPilotLine!!, COMMON_LOADING)
CallerAutoPilotControlManager.sendTrajectoryDownloadReq(mAutoPilotLine!!, COMMON_LOADING)
} else {
e(SceneConstant.M_TAXI + TAG, "sendTrajectoryReq(): mAutoPilotLine is null!!!")
}
if (mPreAutoPilotLine != null) {
printInfoMsg("[下发预加载轨迹] sendTrajectoryDownloadReq, lindId=" + mPreAutoPilotLine?.autoPilotLine?.lineId + ", lineName=" + mPreAutoPilotLine?.autoPilotLine?.lineName)
sendTrajectoryDownloadReq(mPreAutoPilotLine!!, PRE_LOADING)
CallerAutoPilotControlManager.sendTrajectoryDownloadReq(mPreAutoPilotLine!!, PRE_LOADING)
} else {
e(SceneConstant.M_TAXI + TAG, "sendTrajectoryReq(): mPreAutoPilotLine is null!!!")
}