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[Routing dev]

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1、开发启动Routing自动驾驶的逻辑
This commit is contained in:
donghongyu
2024-05-24 18:29:41 +08:00
parent 2278c848e0
commit 86e6e4483a
5 changed files with 34 additions and 20 deletions
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1
OCH/taxi/unmanned-driver/src/main/java/com/mogo/och/taxi/ui/routing/TaxiRoutingModel.kt
View File

@@ -492,6 +492,7 @@ object TaxiRoutingModel {
CallerLogger.e(TAG, "AutopilotControlParameters is empty.")
return
}
parameters.isAutoRouting = true
OchAutoPilotManager.startAutoPilot(parameters);

14
core/function-impl/mogo-core-function-datacenter/src/main/java/com/mogo/eagle/core/function/datacenter/autopilot/MoGoAutopilotControlProvider.kt
View File

@@ -380,6 +380,11 @@ class MoGoAutopilotControlProvider :
startAutoPilot(controlParameters, Constants.AUTOPILOT_SOURCE.MO_FANG)
}
}
/**
* 无参数启动自动驾驶，现在的调用方有：魔方
* @param source 数据来源
*/
private fun startAutoPilotWithNoParameter(source: Int) {
if (AppIdentityModeUtils.isPassenger(FunctionBuildConfig.appIdentityMode)) {
val invokeResult = AdasManager.getInstance()
@@ -396,15 +401,16 @@ class MoGoAutopilotControlProvider :
}
}
}
private fun startAutoPilot(controlParameters: AutopilotControlParameters, source: Int) {
if (AppIdentityModeUtils.isPassenger(FunctionBuildConfig.appIdentityMode)) {
val invokeResult = AdasManager.getInstance()
.sendAutoPilotModeReq(1, source, controlParameters.toRouteInfo(), false)
.sendAutoPilotModeReq(1, source, controlParameters.toRouteInfo(), controlParameters.isAutoRouting)
invokeAutoPilotResult(if (invokeResult > -1) "自动驾驶调用成功：${invokeResult}" else "自动驾驶调用失败, socket 或者 rawPack 可能为空")
} else {
if (AdasManager.getInstance().ipcConnectionStatus == AdasConstants.IpcConnectionStatus.CONNECTED) {
val invokeResult = AdasManager.getInstance()
.sendAutoPilotModeReq(1, source, controlParameters.toRouteInfo(), false)
.sendAutoPilotModeReq(1, source, controlParameters.toRouteInfo(), controlParameters.isAutoRouting)
invokeAutoPilotResult(if (invokeResult > -1) "自动驾驶调用成功：${invokeResult}" 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")
@@ -440,11 +446,11 @@ class MoGoAutopilotControlProvider :
)
}
override fun sendTrajectoryDownloadReq(autoPilotLine: AutopilotControlParameters.AutoPilotLine, isAutoRouting: Boolean, routeInfo: MessagePad.RouteInfo) {
override fun sendTrajectoryDownloadReq(autoPilotLine: AutopilotControlParameters.AutoPilotLine, isAutoRouting: Boolean, routeInfo: MessagePad.RouteInfo?) {
AdasManager.getInstance().sendTrajectoryDownloadReq(autoPilotLine.toAutoPilotLine(),isAutoRouting,routeInfo)
}
override fun sendTrajectoryDownloadReq(autoPilotLine: AutopilotControlParameters.AutoPilotLine, downloadType: Int, isAutoRouting: Boolean, routeInfo: MessagePad.RouteInfo) {
override fun sendTrajectoryDownloadReq(autoPilotLine: AutopilotControlParameters.AutoPilotLine, downloadType: Int, isAutoRouting: Boolean, routeInfo: MessagePad.RouteInfo?) {
AdasManager.getInstance().sendTrajectoryDownloadReq(
autoPilotLine.toAutoPilotLine(),
downloadType,

27
core/mogo-core-data/src/main/java/com/mogo/eagle/core/data/autopilot/AutopilotControlParameters.kt
View File

@@ -139,6 +139,8 @@ class AutopilotControlParameters {
@JvmField
var autoPilotLine: AutoPilotLine? = null // 自动驾驶路线
var isAutoRouting = false//是否进行自动算路,true--使用车端自动算路，false--不使用自动算路，使用轨迹循迹
class AutoPilotLine {
var lineId = 0L
var lineName = ""
@@ -216,15 +218,20 @@ class AutopilotControlParameters {
}
override fun toString(): String {
return "AutopilotControlParameters{" +
"startName='" + startName + '\'' +
", endName='" + endName + '\'' +
", startLatLon=" + startLatLon +
", wayLatLons=" + wayLatLons +
", endLatLon=" + endLatLon +
", speedLimit=" + speedLimit +
", vehicleType=" + vehicleType +
", isSpeakVoice=" + isSpeakVoice +
'}'
return "AutopilotControlParameters(" +
"startName='$startName', " +
"endName='$endName', " +
"startLatLon=$startLatLon, " +
"wayLatLons=$wayLatLons," +
"endLatLon=$endLatLon," +
"speedLimit=$speedLimit, " +
"vehicleType=$vehicleType, " +
"routeID=$routeID, " +
"routeName='$routeName', " +
"isSpeakVoice=$isSpeakVoice, " +
"autoPilotLine=$autoPilotLine, " +
"isAutoRouting=$isAutoRouting)"
}
}

4
core/mogo-core-function-api/src/main/java/com/mogo/eagle/core/function/api/autopilot/IMoGoAutopilotControlProvider.kt
View File

@@ -56,7 +56,7 @@ interface IMoGoAutopilotControlProvider : IMoGoFunctionServerProvider {
/**
* 发送 轨迹下载请求
*/
fun sendTrajectoryDownloadReq(autoPilotLine: AutopilotControlParameters.AutoPilotLine, isAutoRouting: Boolean, routeInfo: MessagePad.RouteInfo)
fun sendTrajectoryDownloadReq(autoPilotLine: AutopilotControlParameters.AutoPilotLine, isAutoRouting: Boolean, routeInfo: MessagePad.RouteInfo?)
/**
* 发送 轨迹下载请求
@@ -66,7 +66,7 @@ interface IMoGoAutopilotControlProvider : IMoGoFunctionServerProvider {
* @param isAutoRouting 20240523 是否进行自动算路
* @param routeInfo 20240523 进行自动算路，务必下单时候携带自动驾驶路径信息，否则可不填！
*/
fun sendTrajectoryDownloadReq(autoPilotLine: AutopilotControlParameters.AutoPilotLine, downloadType: Int, isAutoRouting: Boolean, routeInfo: MessagePad.RouteInfo)
fun sendTrajectoryDownloadReq(autoPilotLine: AutopilotControlParameters.AutoPilotLine, downloadType: Int, isAutoRouting: Boolean, routeInfo: MessagePad.RouteInfo?)
/**
* 结束自动驾驶
*/

8
core/mogo-core-function-call/src/main/java/com/mogo/eagle/core/function/call/autopilot/CallerAutoPilotControlManager.kt
View File

@@ -182,8 +182,8 @@ object CallerAutoPilotControlManager {
*/
fun sendTrajectoryDownloadReq(autoPilotLine: AutopilotControlParameters.AutoPilotLine) {
if (AppIdentityModeUtils.isDriver(FunctionBuildConfig.appIdentityMode)) {
//TODO 需要传参 isAutoRouting, routeInfo
// providerApi?.sendTrajectoryDownloadReq(autoPilotLine, isAutoRouting, routeInfo)
//TODO Routing 需要传参 isAutoRouting, routeInfo
providerApi?.sendTrajectoryDownloadReq(autoPilotLine, false, null)
CallerAutoPilotStatusListenerManager.invokeTrajectoryDownloadReq(autoPilotLine, 0)
}
}
@@ -194,8 +194,8 @@ object CallerAutoPilotControlManager {
*/
fun sendTrajectoryDownloadReq(autoPilotLine: AutopilotControlParameters.AutoPilotLine, downloadType: Int) {
if (AppIdentityModeUtils.isDriver(FunctionBuildConfig.appIdentityMode)) {
//TODO 需要传参 isAutoRouting, routeInfo
// providerApi?.sendTrajectoryDownloadReq(autoPilotLine, downloadType, isAutoRouting, routeInfo)
//TODO Routing 需要传参 isAutoRouting, routeInfo
providerApi?.sendTrajectoryDownloadReq(autoPilotLine, downloadType, false, null)
CallerAutoPilotStatusListenerManager.invokeTrajectoryDownloadReq(autoPilotLine, downloadType)
}
}