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[change]添加乘客屏发送自动驾驶命令转发到司机屏，司机屏发送到工控机

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This commit is contained in:
xinfengkun
2022-06-17 17:08:14 +08:00
parent 78637a6a62
commit 88583b71a3
8 changed files with 137 additions and 61 deletions
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38
core/function-impl/mogo-core-function-autopilot/src/main/java/com/mogo/eagle/core/function/autopilot/MoGoAutopilotProvider.kt
View File

@@ -47,6 +47,7 @@ import com.mogo.telematic.server.netty.NettyServerListener
import com.mogo.telematic.server.netty.NettyTcpServer
import com.zhidao.support.adas.high.AdasManager
import com.zhidao.support.adas.high.AdasOptions
import com.zhidao.support.adas.high.OnMultiDeviceListener
import com.zhidao.support.adas.high.common.Constants
import com.zhidao.support.adas.high.common.Constants.IPC_CONNECTION_STATUS
import com.zhidao.support.adas.high.common.CupidLogUtils
@@ -155,9 +156,14 @@ class MoGoAutopilotProvider :
// 监听ADAS-SDK获取到的工控机数据(乘客也需注册)
AdasManager.getInstance().setOnAdasListener(MoGoAdasListenerImpl())
// 司机端监听
if (AppIdentityModeUtils.isDriver(FunctionBuildConfig.appIdentityMode)) {
AdasManager.getInstance().setOnMultiDeviceListener { bytes ->
// 乘客屏监听工控机基础信息回调
if (!AppIdentityModeUtils.isDriver(FunctionBuildConfig.appIdentityMode)) {
CallerAutopilotCarConfigListenerManager.addListener(TAG, this)
}
AdasManager.getInstance().setOnMultiDeviceListener(object : OnMultiDeviceListener {
override fun onForwardingDriverIPCMessage(bytes: ByteArray?) {
if (bytes == null)
return
// 发送数据给乘客端
if (NSDNettyManager.getInstance().isServerStart) {
msgHandler.synWriteTime()
@@ -167,9 +173,19 @@ class MoGoAutopilotProvider :
CallerLogger.d("$M_ADAS_IMPL$TAG", "司机端Server未启动！")
}
}
} else {// 乘客屏监听工控机基础信息回调
CallerAutopilotCarConfigListenerManager.addListener(TAG, this)
}
override fun onForwardingPassengerIPCMessage(bytes: ByteArray?) {
if (bytes == null)
return
NSDNettyManager.getInstance()
.sendMogoProtocolMsgToServer(
MogoProtocolMsg(NORMAL_DATA, bytes.size, bytes),
null
)
}
});
CallerLogger.i("$M_ADAS_IMPL$TAG", "initServer……")
// 同步数据给工控机的服务
@@ -230,7 +246,8 @@ class MoGoAutopilotProvider :
override fun startAutoPilot(controlParameters: AutopilotControlParameters) {
if (AdasManager.getInstance().ipcConnectionStatus == IPC_CONNECTION_STATUS.CONNECTED) {
val invokeResult = AdasManager.getInstance().sendAutoPilotModeReq(1, 1, controlParameters.toRouteInfo())
val invokeResult = AdasManager.getInstance()
.sendAutoPilotModeReq(1, 1, 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")
@@ -364,9 +381,9 @@ class MoGoAutopilotProvider :
* isEnable = false 关闭
*/
override fun setRainMode(isEnable: Boolean) {
if(isEnable){
if (isEnable) {
AdasManager.getInstance().sendRainModeReq(1)
}else{
} else {
AdasManager.getInstance().sendRainModeReq(0)
}
}
@@ -464,7 +481,8 @@ class MoGoAutopilotProvider :
// 乘客屏才监听
AppConfigInfo.plateNumber = carConfigResp.plateNumber
Log.d("liyz", "onAutopilotCarConfig 乘客屏Mac地址为 = ${carConfigResp.macAddress}")
CallerBindingcarManager.getBindingcarProvider().getBindingcarInfo(carConfigResp.macAddress, MoGoAiCloudClientConfig.getInstance().sn)
CallerBindingcarManager.getBindingcarProvider()
.getBindingcarInfo(carConfigResp.macAddress, MoGoAiCloudClientConfig.getInstance().sn)
invokeNettyConnResult("乘客屏车牌号:${carConfigResp.plateNumber},Mac地址为：${carConfigResp.macAddress}")
}

16
core/function-impl/mogo-core-function-autopilot/src/main/java/com/mogo/eagle/core/function/autopilot/telematic/TeleMsgHandler.kt
View File

@@ -17,7 +17,6 @@ import com.mogo.telematic.MogoProtocolMsg
import com.mogo.telematic.NSDNettyManager
import com.mogo.telematic.client.status.ConnectState
import com.zhidao.support.adas.high.AdasManager
import com.zhidao.support.adas.high.chain.AdasChain
import com.zhjt.service.chain.ChainLog
import com.zhjt.service.chain.TracingConstants
import io.netty.channel.Channel
@@ -59,9 +58,16 @@ class TeleMsgHandler : IMsgHandler {
val carConfig = MessagePad.CarConfigResp.parseFrom(msg.body)
AppConfigInfo.plateNumber = carConfig.plateNumber
AppConfigInfo.iPCMacAddress = carConfig.macAddress
invokeNettyConnResult("司机屏发送给乘客屏配置信息为:${TextFormat.printer().escapingNonAscii(false).printToString(carConfig)}")
invokeNettyConnResult(
"司机屏发送给乘客屏配置信息为:${
TextFormat.printer().escapingNonAscii(false).printToString(carConfig)
}"
)
Log.d("liyz", "TeleMsgHandler macAddress = " + carConfig.macAddress)
CallerBindingcarManager.getBindingcarProvider().getBindingcarInfo(carConfig.macAddress, MoGoAiCloudClientConfig.getInstance().sn)
CallerBindingcarManager.getBindingcarProvider().getBindingcarInfo(
carConfig.macAddress,
MoGoAiCloudClientConfig.getInstance().sn
)
}
else -> {
}
@@ -89,6 +95,10 @@ class TeleMsgHandler : IMsgHandler {
queryCarConfig()
}
}
//乘客端发送过来的工控机数据交给司机端adas转发到工控机
MogoProtocolMsg.NORMAL_DATA -> {
AdasManager.getInstance().sendWsMessage(it.body)
}
else -> {
}
}