diff --git a/OCH/bus/driver/src/main/java/com/mogo/och/bus/model/OrderModel.java b/OCH/bus/driver/src/main/java/com/mogo/och/bus/model/OrderModel.java index 561d9e8fd3..5746f097a2 100644 --- a/OCH/bus/driver/src/main/java/com/mogo/och/bus/model/OrderModel.java +++ b/OCH/bus/driver/src/main/java/com/mogo/och/bus/model/OrderModel.java @@ -13,7 +13,6 @@ import androidx.annotation.NonNull; import androidx.annotation.Nullable; import com.alibaba.android.arouter.launcher.ARouter; -import com.amap.api.maps.model.LatLng; import com.elegant.network.utils.GsonUtil; import com.mogo.aicloud.services.socket.IMogoOnMessageListener; import com.mogo.commons.AbsMogoApplication; @@ -26,11 +25,9 @@ import com.mogo.eagle.core.data.config.FunctionBuildConfig; import com.mogo.eagle.core.data.map.MogoLocation; import com.mogo.eagle.core.function.api.autopilot.IMoGoAutopilotStatusListener; import com.mogo.eagle.core.function.api.autopilot.IMoGoChassisLocationGCJ02Listener; -import com.mogo.eagle.core.function.api.autopilot.IMoGoPlanningRottingListener; import com.mogo.eagle.core.function.call.autopilot.CallerAutoPilotControlManager; import com.mogo.eagle.core.function.call.autopilot.CallerAutoPilotStatusListenerManager; import com.mogo.eagle.core.function.call.autopilot.CallerChassisLocationGCJ02ListenerManager; -import com.mogo.eagle.core.function.call.autopilot.CallerPlanningRottingListenerManager; import com.mogo.eagle.core.function.call.telematic.CallerTelematicManager; import com.mogo.eagle.core.utilcode.mogo.logger.CallerLogger; import com.mogo.eagle.core.utilcode.mogo.logger.Logger; @@ -42,7 +39,6 @@ import com.mogo.eagle.core.utilcode.util.StringUtils; import com.mogo.eagle.core.utilcode.util.ToastUtils; import com.mogo.eagle.core.utilcode.util.UiThreadHandler; import com.mogo.och.bus.R; -import com.mogo.och.bus.bean.BusRoutePlanningUpdateReqBean; import com.mogo.och.bus.bean.BusRoutesResponse; import com.mogo.och.bus.bean.BusRoutesResult; import com.mogo.och.bus.bean.BusStationBean; @@ -68,9 +64,11 @@ import com.mogo.och.common.module.biz.provider.LoginService; import com.mogo.och.common.module.callback.OchAdasStartFailureCallback; import com.mogo.och.common.module.manager.AbnormalFactorsLoopManager; import com.mogo.och.common.module.manager.autopilotmanager.OCHAdasAbilityManager; +import com.mogo.och.common.module.manager.autopilotmanager.autopilot.ArrivedStation; +import com.mogo.och.common.module.manager.autopilotmanager.trajectory.ITrajectoryListListener; +import com.mogo.och.common.module.manager.autopilotmanager.trajectory.TrajectoryManager; import com.mogo.och.common.module.manager.distancemamager.ITrajectoryListener; import com.mogo.och.common.module.manager.distancemamager.TrajectoryAndDistanceManager; -import com.mogo.och.common.module.utils.CoordinateCalculateRouteUtil; import com.mogo.och.common.module.utils.DateTimeUtil; import com.mogo.och.common.module.utils.MultiRequestLimitChecker; import com.mogo.och.common.module.utils.NumberFormatUtil; @@ -86,7 +84,6 @@ import java.util.List; import io.reactivex.exceptions.UndeliverableException; import io.reactivex.plugins.RxJavaPlugins; -import mogo.telematics.pad.MessagePad; /** * @author congtaowang @@ -120,8 +117,6 @@ public class OrderModel { private IPassengerCallback mPassengerCallback; //乘客核销回调 private IBusADASStatusCallback mADASStatusCallback; - List points = new ArrayList<>();//全路径信息 - private volatile boolean isArrivedStation = false; //0: 代表没有启动过 1代表是启动第一次，当>=1 代表是重试 每次到站/路线结束清空置为0 @@ -159,8 +154,7 @@ public class OrderModel { MogoStatusManager.getInstance().registerStatusChangedListener(TAG, StatusDescriptor.VR_MODE, mMogoStatusChangedListener); - //自动驾驶路线规划接口 - CallerPlanningRottingListenerManager.INSTANCE.addListener(TAG, moGoAutopilotPlanningListener); + TrajectoryManager.INSTANCE.addTrajectoryListListenerr(TAG,iTrajectoryListener); //开启自驾后 异常信息返回 OCHAdasAbilityManager.getInstance().setAdasStartFailureCallback(mAdasStartFailureListener); @@ -272,36 +266,22 @@ public class OrderModel { private final ITrajectoryListener trajectoryListener = (routeArrivied, routeArriving, location) -> { }; - private final IMoGoPlanningRottingListener moGoAutopilotPlanningListener = new IMoGoPlanningRottingListener() { + + + private final ITrajectoryListListener iTrajectoryListener = new ITrajectoryListListener() { @Override - public void onAutopilotRotting(MessagePad.GlobalPathResp routeList) { - if (null != routeList && routeList.getWayPointsList().size() > 0) { - points.clear(); - points.addAll(coordinateConverterWgsToGcjList(mContext, routeList.getWayPointsList())); - updateOrderRoute(); - } + public void trajectoryCallback(@NonNull List trajectoryList) { + updateOrderRoute(trajectoryList); } - }; - public static List coordinateConverterWgsToGcjList(Context mContext, List mogoLatLngList) { - List points = new ArrayList<>(); - for (MessagePad.Location m : mogoLatLngList) { - LatLng mogoLatLng = CoordinateCalculateRouteUtil.coordinateConverterWgsToGcj(mContext, m); - BusRoutePlanningUpdateReqBean.Result result = new BusRoutePlanningUpdateReqBean.Result(); - result.latitude = mogoLatLng.latitude; - result.longitude = mogoLatLng.longitude; - points.add(result); - } - return points; - } /** * 上报订单全路径规划数据 */ - public void updateOrderRoute() { - if (!isGoingToNextStation || backgroundCurrentStationIndex + 1 >= stationList.size() || points.size() == 0) { + public void updateOrderRoute(List trajectoryList) { + if (!isGoingToNextStation || backgroundCurrentStationIndex + 1 >= stationList.size() || trajectoryList.size() == 0) { return; } @@ -309,7 +289,7 @@ public class OrderModel { BusStationBean nextStation = stationList.get(backgroundCurrentStationIndex + 1); OrderServiceManager.updateOrderRoute(mContext, currentLineId, currentStation.getSiteId() - , nextStation.getSiteId(), points, new OchCommonServiceCallback() { + , nextStation.getSiteId(), trajectoryList, new OchCommonServiceCallback() { @Override public void onSuccess(BaseData o) { @@ -318,18 +298,12 @@ public class OrderModel { @Override public void onFail(int code, String failMsg) { if (isGoingToNextStation) {//重试 - updateOrderRoute(); + updateOrderRoute(trajectoryList); } } }); } - public void debugUpdateOrderRoute(List list) { - points.clear(); - points.addAll(coordinateConverterWgsToGcjList(mContext, list)); - updateOrderRoute(); - } - public void release() { startOrStopOrderLoop(false); @@ -339,8 +313,7 @@ public class OrderModel { // 注销定位监听 CallerChassisLocationGCJ02ListenerManager.INSTANCE.removeListener(TAG); - //自动驾驶路线规划接口 - CallerPlanningRottingListenerManager.INSTANCE.removeListener(moGoAutopilotPlanningListener); + TrajectoryManager.INSTANCE.addTrajectoryListListenerr(TAG,null); loginService = null; OCHAdasAbilityManager.getInstance().setAdasStartFailureCallback(null); @@ -1112,7 +1085,7 @@ public class OrderModel { * * @param data */ - public void onArriveAt(MessagePad.ArrivalNotification data) { + public void onArriveAt(ArrivedStation data) { if (backgroundCurrentStationIndex + 1 > stationList.size() - 1) { CallerLogger.e(M_BUS + TAG, "行程日志-到站异常，取消后续操作结束"); return; diff --git a/OCH/bus/driver/src/main/java/com/mogo/och/bus/net/OrderServiceManager.kt b/OCH/bus/driver/src/main/java/com/mogo/och/bus/net/OrderServiceManager.kt index bc6fc62a01..2cd34d2b6f 100644 --- a/OCH/bus/driver/src/main/java/com/mogo/och/bus/net/OrderServiceManager.kt +++ b/OCH/bus/driver/src/main/java/com/mogo/och/bus/net/OrderServiceManager.kt @@ -6,6 +6,7 @@ import com.mogo.commons.debug.DebugConfig import com.mogo.eagle.core.data.BaseData import com.mogo.eagle.core.network.MoGoRetrofitFactory import com.mogo.commons.storage.SharedPrefsMgr +import com.mogo.eagle.core.data.map.MogoLocation import com.mogo.och.bus.bean.* import com.mogo.och.common.module.biz.constant.OchCommonConst import com.mogo.och.common.module.biz.network.OchCommonServiceCallback @@ -330,15 +331,22 @@ object OrderServiceManager { lineId: Int, startSiteId: Int, endSiteId: Int, - points: List?, + points: List, callback: OchCommonServiceCallback? ) { + val pointsResult = mutableListOf() + points.forEach { + val result = BusRoutePlanningUpdateReqBean.Result() + result.latitude = it.latitude; + result.longitude = it.longitude; + pointsResult.add(result); + } if (DebugConfig.getProjectFlavor().contains("saas")){ M_SAAS_SERVICE.updateOrderRoute( MoGoAiCloudClientConfig.getInstance().serviceAppId, SharedPrefsMgr.getInstance().token, BusRoutePlanningUpdateReqBean( - SharedPrefsMgr.getInstance().sn, lineId, startSiteId, endSiteId, points + SharedPrefsMgr.getInstance().sn, lineId, startSiteId, endSiteId, pointsResult ) ) .transformTry() @@ -348,7 +356,7 @@ object OrderServiceManager { MoGoAiCloudClientConfig.getInstance().serviceAppId, SharedPrefsMgr.getInstance().token, BusRoutePlanningUpdateReqBean( - SharedPrefsMgr.getInstance().sn, lineId, startSiteId, endSiteId, points + SharedPrefsMgr.getInstance().sn, lineId, startSiteId, endSiteId, pointsResult ) ) .transformTry() diff --git a/OCH/bus/driver/src/main/java/com/mogo/och/bus/presenter/BusPresenter.java b/OCH/bus/driver/src/main/java/com/mogo/och/bus/presenter/BusPresenter.java index 4b1aa8e26a..a2df30bebc 100644 --- a/OCH/bus/driver/src/main/java/com/mogo/och/bus/presenter/BusPresenter.java +++ b/OCH/bus/driver/src/main/java/com/mogo/och/bus/presenter/BusPresenter.java @@ -10,7 +10,6 @@ import androidx.lifecycle.LifecycleOwner; import com.mogo.commons.AbsMogoApplication; import com.mogo.commons.mvp.Presenter; -import com.mogo.commons.voice.AIAssist; import com.mogo.eagle.core.data.config.FunctionBuildConfig; import com.mogo.eagle.core.data.map.MogoLocation; import com.mogo.eagle.core.function.api.autopilot.IMoGoAutopilotStatusListener; @@ -32,6 +31,9 @@ import com.mogo.och.common.module.biz.bean.DriverStatusQueryRespBean; import com.mogo.och.common.module.biz.callback.ILoginCallback; import com.mogo.och.common.module.biz.constant.LoginStatusManager; import com.mogo.och.common.module.manager.autopilotmanager.OCHAdasAbilityManager; +import com.mogo.och.common.module.manager.autopilotmanager.autopilot.ArrivedStation; +import com.mogo.och.common.module.manager.autopilotmanager.autopilot.IOchAutopilotStatusListener; +import com.mogo.och.common.module.manager.autopilotmanager.autopilot.OchAutoPilotStatusListenerManager; import com.zhjt.mogo.adas.data.AdasConstants; import java.util.ArrayList; @@ -47,7 +49,7 @@ import system_master.SystemStatusInfo; */ public class BusPresenter extends Presenter implements IRefreshBusStationsCallback, ISlidePannelHideCallback - , IMoGoAutopilotStatusListener, IBusControllerStatusCallback, ILoginCallback, IPassengerCallback, IBusADASStatusCallback { + , IBusControllerStatusCallback, ILoginCallback, IPassengerCallback, IBusADASStatusCallback, IOchAutopilotStatusListener { private static final String TAG = "BusPresenter"; @@ -57,7 +59,7 @@ public class BusPresenter extends Presenter public BusPresenter(BusFragment view) { super(view); //2021.11.1 鹰眼架构整合，由IMoGoAutopilotStatusListener逐步替代IMogoAdasOCHCallback接口 - CallerAutoPilotStatusListenerManager.INSTANCE.addListener(TAG, this); + OchAutoPilotStatusListenerManager.INSTANCE.addListener(TAG,this); OrderModel.getInstance().init(); OCHAdasAbilityManager.getInstance().init(AbsMogoApplication.getApp()); } @@ -149,9 +151,9 @@ public class BusPresenter extends Presenter } @Override - public void onAutopilotArriveAtStation(MessagePad.ArrivalNotification arrivalNotification) { + public void onAutopilotArriveAtStation(ArrivedStation arrivedStation) { CallerLogger.e( M_BUS + TAG, "行程日志-onAutopilotArriveAtStation arrive"); - OrderModel.getInstance().onArriveAt(arrivalNotification); + OrderModel.getInstance().onArriveAt(arrivedStation); } @Override diff --git a/OCH/bus/driver/src/main/java/com/mogo/och/bus/util/BDRouteDataTestUtils.java b/OCH/bus/driver/src/main/java/com/mogo/och/bus/util/BDRouteDataTestUtils.java index a9ff4aad99..51e2992206 100644 --- a/OCH/bus/driver/src/main/java/com/mogo/och/bus/util/BDRouteDataTestUtils.java +++ b/OCH/bus/driver/src/main/java/com/mogo/och/bus/util/BDRouteDataTestUtils.java @@ -37,7 +37,6 @@ public class BDRouteDataTestUtils { builder.setLongitude(s.getDouble("lon")); list.add(builder.build()); } - OrderModel.getInstance().debugUpdateOrderRoute(list); } catch (JSONException e) { e.printStackTrace(); } diff --git a/OCH/common/common/src/main/java/com/mogo/och/common/module/manager/autopilotmanager/autopilot/ArrivedStation.java b/OCH/common/common/src/main/java/com/mogo/och/common/module/manager/autopilotmanager/autopilot/ArrivedStation.java new file mode 100644 index 0000000000..e07c77c4eb --- /dev/null +++ b/OCH/common/common/src/main/java/com/mogo/och/common/module/manager/autopilotmanager/autopilot/ArrivedStation.java @@ -0,0 +1,31 @@ +package com.mogo.och.common.module.manager.autopilotmanager.autopilot; + +import com.mogo.eagle.core.data.map.MogoLocation; + +import mogo.telematics.pad.MessagePad; + +public class ArrivedStation { + + public ArrivedStation(MogoLocation mogoLocation) { + this.mogoLocation = mogoLocation; + } + + private MogoLocation mogoLocation; + + public MogoLocation getEndLocation(){ + return mogoLocation; + } + + public static ArrivedStation trasform(MessagePad.ArrivalNotification arrivalNotification){ + MogoLocation mogoLocation = new MogoLocation(); + MessagePad.Location endLocation = arrivalNotification.getEndLocation(); + if(endLocation==null){ + return null; + } + mogoLocation.setLongitude(endLocation.getLongitude()); + mogoLocation.setLatitude(endLocation.getLatitude()); + + return new ArrivedStation(mogoLocation); + } + +} diff --git a/OCH/common/common/src/main/java/com/mogo/och/common/module/manager/autopilotmanager/autopilot/IOchAutopilotStatusListener.kt b/OCH/common/common/src/main/java/com/mogo/och/common/module/manager/autopilotmanager/autopilot/IOchAutopilotStatusListener.kt new file mode 100644 index 0000000000..6d895c2268 --- /dev/null +++ b/OCH/common/common/src/main/java/com/mogo/och/common/module/manager/autopilotmanager/autopilot/IOchAutopilotStatusListener.kt @@ -0,0 +1,90 @@ +package com.mogo.och.common.module.manager.autopilotmanager.autopilot + +import com.zhjt.mogo.adas.data.AdasConstants +import mogo.telematics.pad.MessagePad +import mogo_msg.MogoReportMsg +import system_master.SsmInfo +import system_master.SystemStatusInfo + +interface IOchAutopilotStatusListener { + /** + * 自动驾驶状态信息 + * + * @param state 状态信息 + */ + fun onAutopilotStatusResponse(state: Int) {} + + /** + * 自动驾驶docker信息 + * + * @param dockerVersion docker版本 + */ + fun onAutopilotDockerInfo(dockerVersion:String){} + + /** + * 自动驾驶到站 + * + * @param arrivalNotification 所到车站的简单信息 + */ + fun onAutopilotArriveAtStation(arrivalNotification: ArrivedStation?) {} + + /** + * 工控机获取SN + */ + fun onAutopilotSNRequest(basicInfoReq: MessagePad.BasicInfoReq) {} + + /** + * 工控机监控节点 + */ + fun onAutopilotGuardian(guardianInfo: MogoReportMsg.MogoReportMessage?) {} + + /** + * 工控机连接状态回调 + */ + fun onAutopilotIpcConnectStatusChanged(status: AdasConstants.IpcConnectionStatus, reason: String?) {} + + /** + * 域控SSM接口接收超时 + * 状态变动时才会回调，默认SSM状态正常 + * @param isTimeout true：SSM接口接收超时 false：SSM接口恢复正常 + */ + fun onSsmReceiveTimeout(isTimeout: Boolean) {} + + /** + * 工控机主动查询 AdasManager#sendStatusQueryReq()，后会收到如下回调 + */ + fun onAutopilotStatusRespByQuery(status: SystemStatusInfo.StatusInfo) {} + + /** + * 定频SSM + * 老版本 SSM（SystemStatusInfo.StatusInfo） HQ、M1 MAP350开始弃用，其他车型MAP360开始弃用 + */ + fun onSystemStatus(statusInf: SsmInfo.SsmStatusInf) {} + + /** + * 自动驾驶路线ID回调 + */ + fun onAutopilotRouteLineId(lineId: Long){} + + companion object { + /** + * 不可自动驾驶，目前场景是刚开机，adas还未和工控机连接 + */ + const val 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 + */ + const val 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 + */ + const val STATUS_AUTOPILOT_RUNNING = 2 + + /** + * 平行驾驶 + */ + const val STATUS_PARALLEL_DRIVING = 7 + } +} \ No newline at end of file diff --git a/OCH/common/common/src/main/java/com/mogo/och/common/module/manager/autopilotmanager/autopilot/OchAutoPilotStatusListenerManager.kt b/OCH/common/common/src/main/java/com/mogo/och/common/module/manager/autopilotmanager/autopilot/OchAutoPilotStatusListenerManager.kt new file mode 100644 index 0000000000..8b7a23f68c --- /dev/null +++ b/OCH/common/common/src/main/java/com/mogo/och/common/module/manager/autopilotmanager/autopilot/OchAutoPilotStatusListenerManager.kt @@ -0,0 +1,103 @@ +package com.mogo.och.common.module.manager.autopilotmanager.autopilot + +import com.mogo.eagle.core.function.api.autopilot.IMoGoAutopilotStatusListener +import com.mogo.eagle.core.function.call.autopilot.CallerAutoPilotStatusListenerManager +import com.mogo.och.common.module.utils.CallerBase +import com.zhjt.mogo.adas.data.AdasConstants +import mogo.telematics.pad.MessagePad +import mogo_msg.MogoReportMsg +import system_master.SsmInfo +import system_master.SystemStatusInfo + +object OchAutoPilotStatusListenerManager : CallerBase(),IMoGoAutopilotStatusListener { + + const val TAG = "OCHAutoPilotStatusListenerManager" + init { + //2021.11.1 鹰眼架构整合，由IMoGoAutopilotStatusListener逐步替代IMogoAdasOCHCallback接口 + CallerAutoPilotStatusListenerManager.addListener(TAG, this) + } + + override fun onAutopilotStatusResponse(state: Int) { + super.onAutopilotStatusResponse(state) + M_LISTENERS.forEach { + val listener = it.value + listener.onAutopilotStatusResponse(state) + } + } + + override fun onAutopilotDockerInfo(dockerVersion: String) { + super.onAutopilotDockerInfo(dockerVersion) + M_LISTENERS.forEach { + val listener = it.value + listener.onAutopilotDockerInfo(dockerVersion) + } + } + + override fun onAutopilotArriveAtStation(arrivalNotification: MessagePad.ArrivalNotification?) { + super.onAutopilotArriveAtStation(arrivalNotification) + val trasform = ArrivedStation.trasform(arrivalNotification) + M_LISTENERS.forEach { + val listener = it.value + listener.onAutopilotArriveAtStation(trasform) + } + } + + override fun onAutopilotSNRequest(basicInfoReq: MessagePad.BasicInfoReq) { + super.onAutopilotSNRequest(basicInfoReq) + M_LISTENERS.forEach { + val listener = it.value + listener.onAutopilotSNRequest(basicInfoReq) + } + } + + override fun onAutopilotGuardian(guardianInfo: MogoReportMsg.MogoReportMessage?) { + super.onAutopilotGuardian(guardianInfo) + M_LISTENERS.forEach { + val listener = it.value + listener.onAutopilotGuardian(guardianInfo) + } + } + + override fun onAutopilotIpcConnectStatusChanged( + status: AdasConstants.IpcConnectionStatus, + reason: String? + ) { + super.onAutopilotIpcConnectStatusChanged(status, reason) + M_LISTENERS.forEach { + val listener = it.value + listener.onAutopilotIpcConnectStatusChanged(status,reason) + } + } + + override fun onSsmReceiveTimeout(isTimeout: Boolean) { + super.onSsmReceiveTimeout(isTimeout) + M_LISTENERS.forEach { + val listener = it.value + listener.onSsmReceiveTimeout(isTimeout) + } + } + + override fun onAutopilotStatusRespByQuery(status: SystemStatusInfo.StatusInfo) { + super.onAutopilotStatusRespByQuery(status) + M_LISTENERS.forEach { + val listener = it.value + listener.onAutopilotStatusRespByQuery(status) + } + } + + override fun onSystemStatus(statusInf: SsmInfo.SsmStatusInf) { + super.onSystemStatus(statusInf) + M_LISTENERS.forEach { + val listener = it.value + listener.onSystemStatus(statusInf) + } + } + + override fun onAutopilotRouteLineId(lineId: Long) { + super.onAutopilotRouteLineId(lineId) + M_LISTENERS.forEach { + val listener = it.value + listener.onAutopilotRouteLineId(lineId) + } + } +} \ No newline at end of file diff --git a/OCH/common/common/src/main/java/com/mogo/och/common/module/manager/autopilotmanager/trajectory/ITrajectoryListListener.kt b/OCH/common/common/src/main/java/com/mogo/och/common/module/manager/autopilotmanager/trajectory/ITrajectoryListListener.kt new file mode 100644 index 0000000000..eaa911e425 --- /dev/null +++ b/OCH/common/common/src/main/java/com/mogo/och/common/module/manager/autopilotmanager/trajectory/ITrajectoryListListener.kt @@ -0,0 +1,15 @@ +package com.mogo.och.common.module.manager.autopilotmanager.trajectory + +import com.mogo.eagle.core.data.map.MogoLocation + +interface ITrajectoryListListener{ + /** + * @param routeArrivied 已经走过的坐标 + * @param routeArriving 没有走过的坐标 + * @param location 车的坐标 + * @return + */ + fun trajectoryCallback( + trajectoryList: MutableList, + ) +} \ No newline at end of file diff --git a/OCH/common/common/src/main/java/com/mogo/och/common/module/manager/distancemamager/TrajectoryCache.kt b/OCH/common/common/src/main/java/com/mogo/och/common/module/manager/autopilotmanager/trajectory/TrajectoryCache.kt similarity index 96% rename from OCH/common/common/src/main/java/com/mogo/och/common/module/manager/distancemamager/TrajectoryCache.kt rename to OCH/common/common/src/main/java/com/mogo/och/common/module/manager/autopilotmanager/trajectory/TrajectoryCache.kt index b8a57b24c3..fd78e2c1ca 100644 --- a/OCH/common/common/src/main/java/com/mogo/och/common/module/manager/distancemamager/TrajectoryCache.kt +++ b/OCH/common/common/src/main/java/com/mogo/och/common/module/manager/autopilotmanager/trajectory/TrajectoryCache.kt @@ -1,4 +1,4 @@ -package com.mogo.och.common.module.manager.distancemamager +package com.mogo.och.common.module.manager.autopilotmanager.trajectory import com.elegant.network.utils.GsonUtil import com.mogo.commons.AbsMogoApplication diff --git a/OCH/common/common/src/main/java/com/mogo/och/common/module/manager/autopilotmanager/trajectory/TrajectoryManager.kt b/OCH/common/common/src/main/java/com/mogo/och/common/module/manager/autopilotmanager/trajectory/TrajectoryManager.kt new file mode 100644 index 0000000000..2d25aeb728 --- /dev/null +++ b/OCH/common/common/src/main/java/com/mogo/och/common/module/manager/autopilotmanager/trajectory/TrajectoryManager.kt @@ -0,0 +1,98 @@ +package com.mogo.och.common.module.manager.autopilotmanager.trajectory + +import com.mogo.commons.AbsMogoApplication +import com.mogo.eagle.core.data.map.MogoLocation +import com.mogo.eagle.core.function.api.autopilot.IMoGoPlanningRottingListener +import com.mogo.eagle.core.function.call.autopilot.CallerPlanningRottingListenerManager +import com.mogo.eagle.core.utilcode.mogo.logger.CallerLogger +import com.mogo.eagle.core.utilcode.mogo.logger.scene.SceneConstant +import com.mogo.eagle.core.utilcode.util.CoordinateUtils +import com.mogo.och.common.module.utils.CoordinateCalculateRouteUtil +import mogo.telematics.pad.MessagePad +import java.util.concurrent.ConcurrentHashMap + +object TrajectoryManager : IMoGoPlanningRottingListener { + const val TAG = "TrajectoryManager" + + private val distanceListeners: ConcurrentHashMap = + ConcurrentHashMap() + + /** + * 所有轨迹点 + */ + @Volatile + var mRoutePoints = mutableListOf() + + /** + * 0-1 1-2 2-3 各个轨迹点的距离 + */ + @Volatile + private var mRoutePointsDistance: MutableList? = ArrayList() + + /** + * 所有轨迹点距离的和 + */ + @Volatile + private var maxDistanceAllPoint: Double = 0.0 + + init { + CallerPlanningRottingListenerManager.addListener(TAG, this) + } + + private var lineId:Long?=0 + + override fun onAutopilotRotting(globalPathResp: MessagePad.GlobalPathResp?) { + CallerLogger.d(SceneConstant.M_OCHCOMMON + TAG, "onAutopilotRotting: 收到轨迹") + globalPathResp?.wayPointsList?.let { + if (it.size > 0) { + CallerLogger.d( + SceneConstant.M_OCHCOMMON + TAG, + "收到轨迹:轨迹个数${it.size}第一个点${it[0]}最后一个点:${it.last()} 轨迹id:${globalPathResp.lineId}" + ) + @Suppress("SENSELESS_COMPARISON") + if (globalPathResp.lineId != null) {// 适配低版本不传递lineId + if (globalPathResp.lineId == lineId) { + CallerLogger.d(SceneConstant.M_OCHCOMMON + TAG, "重复轨迹") + return + } + this.lineId = globalPathResp.lineId + } + updateRoutePoints(it) + } + } + } + + private fun updateRoutePoints(routePoints: List?) { + mRoutePointsDistance = null + val latLngModels = CoordinateCalculateRouteUtil + .coordinateConverterWgsToGcjLocations(AbsMogoApplication.getApp(), routePoints!!) + mRoutePoints = latLngModels + + mRoutePointsDistance = ArrayList() + maxDistanceAllPoint = 0.0 + mRoutePoints.forEachIndexed { index, current -> + if (mRoutePoints.last() != current) { + val next = mRoutePoints[index + 1] + val distanceItem = CoordinateUtils.calculateLineDistance( + current.longitude, + current.latitude, + next.longitude, + next.latitude + ) + mRoutePointsDistance?.add(distanceItem) + maxDistanceAllPoint += distanceItem + } + } + distanceListeners.forEach { + it.value.trajectoryCallback(mRoutePoints) + } + } + + fun addTrajectoryListListenerr(tag: String, listener: ITrajectoryListListener) { + if (distanceListeners.containsKey(tag)) { + return + } + distanceListeners[tag] = listener + } + +} \ No newline at end of file diff --git a/OCH/common/common/src/main/java/com/mogo/och/common/module/manager/distancemamager/TrajectoryAndDistanceManager.kt b/OCH/common/common/src/main/java/com/mogo/och/common/module/manager/distancemamager/TrajectoryAndDistanceManager.kt index fb6b7234e0..fc6427d6bd 100644 --- a/OCH/common/common/src/main/java/com/mogo/och/common/module/manager/distancemamager/TrajectoryAndDistanceManager.kt +++ b/OCH/common/common/src/main/java/com/mogo/och/common/module/manager/distancemamager/TrajectoryAndDistanceManager.kt @@ -12,6 +12,7 @@ import com.mogo.eagle.core.utilcode.mogo.logger.scene.SceneConstant.Companion.M_ import com.mogo.eagle.core.utilcode.util.CoordinateUtils import com.mogo.eagle.core.utilcode.util.LocationUtils import com.mogo.och.common.module.biz.constant.OchCommonConst +import com.mogo.och.common.module.manager.autopilotmanager.trajectory.TrajectoryCache import com.mogo.och.common.module.manager.loopmanager.BizLoopManager import com.mogo.och.common.module.manager.loopmanager.LoopInfo import com.mogo.och.common.module.utils.CoordinateCalculateRouteUtil diff --git a/OCH/common/common/src/main/java/com/mogo/och/common/module/manager/orderlogmanager/OrderChainLogManager.kt b/OCH/common/common/src/main/java/com/mogo/och/common/module/manager/orderlogmanager/OrderChainLogManager.kt deleted file mode 100644 index 92ca20a6ef..0000000000 --- a/OCH/common/common/src/main/java/com/mogo/och/common/module/manager/orderlogmanager/OrderChainLogManager.kt +++ /dev/null @@ -1,27 +0,0 @@ -package com.mogo.och.common.module.manager.orderlogmanager - -import com.mogo.eagle.core.data.deva.chain.ChainConstant -import com.mogo.eagle.core.utilcode.mogo.logger.CallerLogger.d -import com.mogo.eagle.core.utilcode.mogo.logger.scene.SceneConstant -import com.zhjt.service.chain.ChainLog - -object OrderChainLogManager { - - private val TAG = OrderChainLogManager::class.java.simpleName - - /** - * @param orderInfo 订单详细信息 - * @param changeInfo 变化信息 - */ - @ChainLog( - linkChainLog = ChainConstant.CHAIN_TYPE_OCH, - linkCode = ChainConstant.CHAIN_SOURCE_OCH, - nodeAliasCode = ChainConstant.CHAIN_CODE_OCH_COMMON_DISTANCE, - paramIndexes = [0,1] - ) - fun writeChainLog(orderInfo: String, changeInfo: String) { - d(SceneConstant.M_OCHCOMMON + TAG, orderInfo) - d(SceneConstant.M_OCHCOMMON + TAG, changeInfo) - } - -} \ No newline at end of file diff --git a/OCH/common/common/src/main/java/com/mogo/och/common/module/utils/CallerBase.kt b/OCH/common/common/src/main/java/com/mogo/och/common/module/utils/CallerBase.kt new file mode 100644 index 0000000000..412b684d85 --- /dev/null +++ b/OCH/common/common/src/main/java/com/mogo/och/common/module/utils/CallerBase.kt @@ -0,0 +1,136 @@ +package com.mogo.och.common.module.utils + +import com.alibaba.android.arouter.facade.template.IProvider +import com.alibaba.android.arouter.launcher.ARouter +import com.mogo.eagle.core.function.call.CallerBusManager +import com.mogo.eagle.core.utilcode.mogo.logger.CallerLogger.d +import java.util.concurrent.ConcurrentHashMap + +/** + * @author xiaoyuzhou + * @date 2023/01/04 4:02 下午 + */ +open class CallerBase { + + /** + * 存储所有注册了监听的对象，invokeXXXX进行遍历回调，将信息同步 + */ + protected val M_LISTENERS: ConcurrentHashMap = ConcurrentHashMap() + + /** + * 存储所有注册了监听的对象,并设定监听频率，invokeXXXX进行遍历回调，将信息同步, + */ + protected val M_LISTENERS_HZ: ConcurrentHashMap = ConcurrentHashMap() + + /** + * HZ发送，记录最后一次发送时间 + */ + protected val M_LISTENERS_HZ_LAST_SEND_TIME: ConcurrentHashMap = + ConcurrentHashMap() + + /** + * 设置对应监听，指定Hz频率 + * @param tag 订阅者标记 + * @param callBackHz 订阅者想要接受的回调的hz频率 + */ + fun setListenerHz(tag: String, callBackHz: Int) { + if (M_LISTENERS_HZ.containsKey(tag)) { + return + } + M_LISTENERS_HZ[tag] = callBackHz + } + + /** + * 添加 监听 + * @param tag 标记，用来注销监听使用 + * @param listener 监听回调 + */ + fun addListener( + tag: String, + listener: T + ) { + if (M_LISTENERS.containsKey(tag)) { + return + } + M_LISTENERS[tag] = listener + doSomeAfterAddListener(tag, listener) + } + + /** + * 在添加了监听后执行 + */ + open fun doSomeAfterAddListener(tag: String, listener: T) {} + + /** + * 删除监听 + * @param tag 标记，用来注销监听使用 + */ + fun removeListener(tag: String) { + if (!M_LISTENERS.containsKey(tag)) { + return + } + M_LISTENERS.remove(tag) + + if (!M_LISTENERS_HZ.containsKey(tag)) { + return + } + M_LISTENERS_HZ.remove(tag) + + if (!M_LISTENERS_HZ_LAST_SEND_TIME.containsKey(tag)) { + return + } + M_LISTENERS_HZ_LAST_SEND_TIME.remove(tag) + } + + /** + * 删除监听 + * @param listener 要删除的监听对象 + */ + fun removeListener(listener: T) { + if (!M_LISTENERS.containsValue(listener)) { + return + } + M_LISTENERS.forEach { + if (it.value == listener) { + M_LISTENERS.remove(it.key) + + if (!M_LISTENERS_HZ.containsKey(it.key)) { + return + } + M_LISTENERS_HZ.remove(it.key) + + if (!M_LISTENERS_HZ_LAST_SEND_TIME.containsKey(it.key)) { + return + } + M_LISTENERS_HZ_LAST_SEND_TIME.remove(it.key) + } + } + } + + + companion object { + private const val TAG = "CallerBase" + + @JvmStatic + fun getApiInstance(clazz: Class?, path: String): T { + var inst = CallerBusManager.get(clazz) + if (inst == null) { + synchronized(CallerBase::class.java) { + inst = CallerBusManager.get(clazz) + if (inst != null) { + return inst + } + val newInst = ARouter.getInstance().build(path).navigation() as T + try { + CallerBusManager.registerApi(clazz, newInst) + d(TAG, "keep IProvider instance to SingletonHolder: path :$path") + } catch (e: Exception) { + e.printStackTrace() + } + return newInst + } + } + return inst + } + } +} \ No newline at end of file