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[code_opt_3.3.0] fix ui

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This commit is contained in:
zhongchao
2023-06-07 17:50:48 +08:00
parent 65abe76e7d
commit 94d41eb26b
24 changed files with 116 additions and 125 deletions
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2
core/function-impl/mogo-core-function-biz/src/main/java/com/mogo/eagle/function/biz/dispatch/DispatchAutoPilotManager.kt
View File

@@ -36,7 +36,7 @@ import com.zhjt.mogo.adas.data.bean.MogoReport
import mogo.telematics.pad.MessagePad
import mogo_msg.MogoReportMsg
//todo emArrow 添加biz链路日志
//负责监听自动驾驶状态并进行状态上报，自动驾驶路线上报，接收调度指令展示指令弹窗
class DispatchAutoPilotManager private constructor() :
IMogoOnMessageListener<DispatchAdasAutoPilotLocReceiverBean>,

76
core/function-impl/mogo-core-function-datacenter/src/main/java/com/mogo/eagle/core/function/datacenter/autopilot/MoGoAutopilotControlProvider.kt
View File

@@ -10,29 +10,29 @@ import com.mogo.cloud.passport.MoGoAiCloudClientConfig
import com.mogo.eagle.core.data.autopilot.AutopilotControlParameters
import com.mogo.eagle.core.data.autopilot.toAutoPilotLine
import com.mogo.eagle.core.data.autopilot.toRouteInfo
import com.mogo.eagle.core.data.deva.badcase.BagManagerEntity
import com.mogo.eagle.core.data.biz.trafficlight.TrafficLightResult
import com.mogo.eagle.core.data.biz.trafficlight.toTrafficLightDetail
import com.mogo.eagle.core.data.config.FunctionBuildConfig
import com.mogo.eagle.core.data.constants.MoGoConfig
import com.mogo.eagle.core.data.constants.MogoServicePaths
import com.mogo.eagle.core.data.deva.badcase.BagManagerEntity
import com.mogo.eagle.core.data.deva.chain.ChainConstant
import com.mogo.eagle.core.data.deva.chain.ChainConstant.Companion.CHAIN_CODE_MULTI_CONNECT
import com.mogo.eagle.core.data.deva.chain.ChainConstant.Companion.CHAIN_SOURCE_ADAS
import com.mogo.eagle.core.data.deva.chain.ChainConstant.Companion.CHAIN_TYPE_INIT_STATUS
import com.mogo.eagle.core.data.deva.chain.ChainConstant.Companion.CHAIN_TYPE_SOCKET_AUTOPILOT
import com.mogo.eagle.core.data.biz.trafficlight.TrafficLightResult
import com.mogo.eagle.core.data.biz.trafficlight.toTrafficLightDetail
import com.mogo.eagle.core.function.api.autopilot.IMoGoAutopilotCarConfigListener
import com.mogo.eagle.core.function.api.autopilot.IMoGoAutopilotControlProvider
import com.mogo.eagle.core.function.api.map.collect.IMoGoMapDataCollectProvider
import com.mogo.eagle.core.function.call.autopilot.CallerAutopilotCarConfigListenerManager
import com.mogo.eagle.core.function.call.devatools.CallerDevaToolsManager
import com.mogo.eagle.core.function.call.map.CallerMapDataCollectorManager
import com.mogo.eagle.core.function.datacenter.autopilot.adapter.MoGoAdasListenerImpl
import com.mogo.eagle.core.function.datacenter.autopilot.adapter.MoGoAdasMsgConnectStatusListenerImpl
import com.mogo.eagle.core.function.datacenter.autopilot.server.AsyncDataToAutopilotServer
import com.mogo.eagle.core.function.datacenter.autopilot.telematic.EventListener
import com.mogo.eagle.core.function.datacenter.autopilot.telematic.IMsgHandler
import com.mogo.eagle.core.function.datacenter.autopilot.telematic.TeleMsgHandler
import com.mogo.eagle.core.function.call.autopilot.CallerAutopilotCarConfigListenerManager
import com.mogo.eagle.core.function.call.devatools.CallerDevaToolsManager
import com.mogo.eagle.core.function.call.map.CallerMapDataCollectorManager
import com.mogo.eagle.core.utilcode.mogo.AppIdentityModeUtils
import com.mogo.eagle.core.utilcode.mogo.logger.CallerLogger
import com.mogo.eagle.core.utilcode.mogo.logger.scene.SceneConstant.Companion.M_ADAS_IMPL
@@ -332,8 +332,10 @@ class MoGoAutopilotControlProvider :
@ChainLog(
linkChainLog = CHAIN_TYPE_SOCKET_AUTOPILOT,
linkCode = CHAIN_SOURCE_ADAS,
parentNodeAliasCode = ChainConstant.CHAIN_CODE_EAGLE_START_AUTOPILOT,
nodeAliasCode = ChainConstant.CHAIN_CODE_EAGLE_START_AUTOPILOT_RESULT,
paramIndexes = [0]
)
private fun invokeAutoPilotResult(status: String) {
CallerLogger.e("$M_ADAS_IMPL$TAG", status)
@@ -518,9 +520,9 @@ class MoGoAutopilotControlProvider :
* @return boolean
*/
override fun sendDetouring(isEnable: Boolean): Boolean {
return if(isEnable){
return if (isEnable) {
AdasManager.getInstance().sendDetouring(1)
}else{
} else {
AdasManager.getInstance().sendDetouring(0)
}
}
@@ -541,9 +543,9 @@ class MoGoAutopilotControlProvider :
* @return boolean
*/
override fun sendWeakNetSlowDown(isEnable: Boolean): Boolean {
return if(isEnable){
return if (isEnable) {
AdasManager.getInstance().sendWeakNetSlowDown(1)
}else{
} else {
AdasManager.getInstance().sendWeakNetSlowDown(0)
}
}
@@ -555,7 +557,7 @@ class MoGoAutopilotControlProvider :
* @return boolean
*/
override fun sendGetAllParamReq(): Boolean {
return AdasManager.getInstance().sendGetAllParamReq()
return AdasManager.getInstance().sendGetAllParamReq()
}
/**
@@ -576,8 +578,13 @@ class MoGoAutopilotControlProvider :
* @param topicsNeedToCache
* @return boolean
*/
override fun getBadCaseConfig(reqType: Int,recordType: Int,topicsNeedToCache: List<String>): Boolean{
return AdasManager.getInstance().sendRecordDataConfigReq(reqType, recordType, topicsNeedToCache)
override fun getBadCaseConfig(
reqType: Int,
recordType: Int,
topicsNeedToCache: List<String>
): Boolean {
return AdasManager.getInstance()
.sendRecordDataConfigReq(reqType, recordType, topicsNeedToCache)
}
/**
@@ -605,7 +612,7 @@ class MoGoAutopilotControlProvider :
bagManager.descReq = descReq.build()
// 空间使用信息,获取响应且reqType=1时有效
for(diskSpaceInfoEntity in bagManagerEntity.spaceInfoResp){
for (diskSpaceInfoEntity in bagManagerEntity.spaceInfoResp) {
val spaceInfoResp = BagManagerOuterClass.BagSpaceInfo
.newBuilder()
val diskSpaceInfo = BagManagerOuterClass.SpaceInfo
@@ -617,7 +624,7 @@ class MoGoAutopilotControlProvider :
.build()
spaceInfoResp
.setHost(diskSpaceInfoEntity.host).diskSpaceInfo = diskSpaceInfo
for(entity in diskSpaceInfoEntity.BagDirsSpaceInfo){
for (entity in diskSpaceInfoEntity.BagDirsSpaceInfo) {
val bagDirsSpaceInfo = BagManagerOuterClass.SpaceInfo
.newBuilder()
.setDirectory(entity.directory)
@@ -631,8 +638,8 @@ class MoGoAutopilotControlProvider :
}
// 包信息列表,获取响应且reqType=2时有效
for(bagsInfoRespEntity in bagManagerEntity.bagsInfoResp){
if(bagsInfoRespEntity.itemType == 0){
for (bagsInfoRespEntity in bagManagerEntity.bagsInfoResp) {
if (bagsInfoRespEntity.itemType == 0) {
// 包描述信息
val bagDescription = BagManagerOuterClass.BagDescription
.newBuilder()
@@ -654,7 +661,7 @@ class MoGoAutopilotControlProvider :
.setDescription(bagDescription.build())
// 子包信息
for(subBagEntity in bagsInfoRespEntity.subBags){
for (subBagEntity in bagsInfoRespEntity.subBags) {
val subBag = BagManagerOuterClass.SubBag
.newBuilder()
.setKey(subBagEntity.key)
@@ -731,8 +738,15 @@ class MoGoAutopilotControlProvider :
* @param isLastStop 是否最终站
* @return boolean
*/
override fun sendTripInfo(type: Int, lineName: String, departureStopName: String,arrivalStopName: String, isLastStop: Boolean) {
AdasManager.getInstance().sendTripInfoReq(type, lineName, departureStopName,arrivalStopName, isLastStop)
override fun sendTripInfo(
type: Int,
lineName: String,
departureStopName: String,
arrivalStopName: String,
isLastStop: Boolean
) {
AdasManager.getInstance()
.sendTripInfoReq(type, lineName, departureStopName, arrivalStopName, isLastStop)
}
/**
@@ -840,15 +854,18 @@ class MoGoAutopilotControlProvider :
}
msgHandler.synMsgToAllClients()
} else {// 乘客屏
CallerDevaToolsManager.getBindingCarInfo( carConfigResp.macAddress, MoGoAiCloudClientConfig.getInstance().sn)
CallerDevaToolsManager.getBindingCarInfo(
carConfigResp.macAddress,
MoGoAiCloudClientConfig.getInstance().sn
)
invokeNettyConnResult("乘客屏车牌号:${carConfigResp.plateNumber},Mac地址为：${carConfigResp.macAddress}")
}
if(carConfigResp.dockVersion.isNotEmpty()){
if(carConfigResp.dockVersion.contains("taxi")){
if (carConfigResp.dockVersion.isNotEmpty()) {
if (carConfigResp.dockVersion.contains("taxi")) {
//修改雨天模式开关默认状态为开启（仅针对taxi320及以上的版本）-sop 215
val num = ParseVersionUtils.parseVersion(true,carConfigResp.dockVersion)
if(num >= 30200){
val num = ParseVersionUtils.parseVersion(true, carConfigResp.dockVersion)
if (num >= 30200) {
FunctionBuildConfig.isRainMode = true
}
}
@@ -884,12 +901,14 @@ class MoGoAutopilotControlProvider :
AdasManager.getInstance().subscribeInterface(
Constants.TERMINAL_ROLE.DRIVER,
Constants.SUBSCRIBE_TYPE.SUBSCRIBE,
MessageType.TYPE_RECEIVE_POINT_CLOUD)
MessageType.TYPE_RECEIVE_POINT_CLOUD
)
} else {
AdasManager.getInstance().subscribeInterface(
Constants.TERMINAL_ROLE.DRIVER,
Constants.SUBSCRIBE_TYPE.UNSUBSCRIBE,
MessageType.TYPE_RECEIVE_POINT_CLOUD)
MessageType.TYPE_RECEIVE_POINT_CLOUD
)
}
}
@@ -903,7 +922,8 @@ class MoGoAutopilotControlProvider :
windSpeedCmd: Int,
temperatureCmd: Int
): Boolean {
return AdasManager.getInstance().sendRoboBusJinlvM1AirConditionerCmd(switchCmd, modeCmd, windSpeedCmd, temperatureCmd)
return AdasManager.getInstance()
.sendRoboBusJinlvM1AirConditionerCmd(switchCmd, modeCmd, windSpeedCmd, temperatureCmd)
}
override fun sendRoboBusJinlvM1HeaderCmd(switchCmd: Int, windSpeedCmd: Int): Boolean {

4
core/function-impl/mogo-core-function-datacenter/src/main/java/com/mogo/eagle/core/function/datacenter/location/MoGoLocationDispatcher.kt
View File

@@ -1,5 +1,6 @@
package com.mogo.eagle.core.function.datacenter.location
import android.util.Log
import com.mogo.eagle.core.data.config.FunctionBuildConfig
import com.mogo.eagle.core.data.enums.DataSourceType
import com.mogo.eagle.core.data.map.MogoLocation
@@ -52,6 +53,7 @@ object MoGoLocationDispatcher :
override fun onChassisGnss(gnssInfo: MessagePad.GnssInfo) {
// 更新GNSS 信息
Log.d("emArrow","高精 heading:${gnssInfo.heading}")
lastGnssLocation.gnssInfo = gnssInfo
lastGnssLocation.lastReceiveTime = TimeUtils.getNowMills()
// 将高德中的一些用于业务的数据进行融合，例如：CityCode、address等
@@ -102,7 +104,7 @@ object MoGoLocationDispatcher :
override fun onMoGoLocationChanged(mogoLocation: MogoLocation) {
// 更新GaoDe 信息
lastGaoDeLocation = mogoLocation
Log.d("emArrow","高德 heading:${mogoLocation.heading}")
// 计算最后一次工控机同步的定位是否超时，如果超时则切换为高德地图定位,暂定超过30秒需要切换
if (1 == FunctionBuildConfig.gpsProvider) {
if (TimeUtils.getNowMills() - lastGnssLocation.lastReceiveTime > 10000) {

35
core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/hmi/ui/setting/DebugSettingView.kt
View File

@@ -241,7 +241,7 @@ internal class DebugSettingView @JvmOverloads constructor(
}
// 开启定时查询速度
isRunCheck = true
Timer().schedule(timerTaskRefresh, Date(), 300)
Timer().schedule(timerTaskRefresh, Date(), 500)
if (AppConfigInfo.isConnectAutopilot && (AppConfigInfo.plateNumber.isNullOrEmpty() || AppConfigInfo.iPCMacAddress.isNullOrEmpty())) {
//查询工控机基础配置信息
CallerAutoPilotControlManager.getCarConfig()
@@ -1909,7 +1909,7 @@ internal class DebugSettingView @JvmOverloads constructor(
if (accelerationList.size > 9) {
accelerationList.removeLast()
}
gnssInfo?.acceleration?.let {
gnssInfo.acceleration.let {
if (accelerationList.isEmpty()) {
accelerationList.add(
AccelerationEntity(
@@ -2011,7 +2011,6 @@ internal class DebugSettingView @JvmOverloads constructor(
}
}
/**
* 车辆方向盘转向角回调
* @param steering 方向盘转向角
@@ -2032,36 +2031,6 @@ internal class DebugSettingView @JvmOverloads constructor(
}
}
/**
* 车辆加速度
*/
override fun onAutopilotAcc(carAcc: Float) {
}
/**
* 油门
*/
override fun onAutopilotThrottle(throttle: Float) {
}
/**
* 刹车
*/
override fun onAutopilotBrake(brake: Float) {
}
/**
* 清扫车（福田）清扫控制系统状态
*/
override fun onSweeperFutianCleanSystemState(cleanSystemState: ChassisStatesOuterClass.SweeperFuTianTaskSystemStates) {
}
override fun onSweeperFutianTaskIndexData(roboSweeperTaskIndex: RoboSweeperTaskIndexOuterClass.RoboSweeperTaskIndex) {
}
/**
* 吐司提示
*/

11
core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/hmi/ui/widget/TrafficDataView.java
View File

@@ -1,6 +1,7 @@
package com.mogo.eagle.core.function.hmi.ui.widget;
import static com.mogo.eagle.core.function.api.autopilot.IMoGoAutopilotStatusListener.STATUS_AUTOPILOT_RUNNING;
import static com.mogo.eagle.core.utilcode.mogo.logger.scene.SceneConstant.M_HMI;
import android.annotation.SuppressLint;
import android.content.Context;
@@ -152,11 +153,11 @@ public class TrafficDataView extends ConstraintLayout implements
*/
@Override
public void onAutopilotSteeringData(float steering) {
CallerLogger.INSTANCE.d(TAG, "steering原始值====" + steering);
CallerLogger.INSTANCE.d(M_HMI +TAG, "steering原始值====" + steering);
if (Math.abs(steering) < 1) {
steering = 0;
}
CallerLogger.INSTANCE.d(TAG, "steering忽略小数点后====" + (int) steering);
CallerLogger.INSTANCE.d(M_HMI +TAG, "steering忽略小数点后====" + (int) steering);
}
/**
@@ -165,7 +166,7 @@ public class TrafficDataView extends ConstraintLayout implements
*/
@Override
public void onAutopilotGearData(@NotNull Chassis.GearPosition gear) {
CallerLogger.INSTANCE.d(TAG, "司机屏档位" + gear.toString());
CallerLogger.INSTANCE.d(M_HMI +TAG, "司机屏档位" + gear);
ThreadUtils.runOnUiThread(() -> {
if (tapPositionView != null) {
tapPositionView.updateWithGear(gear);
@@ -175,13 +176,13 @@ public class TrafficDataView extends ConstraintLayout implements
@Override
public void onAutopilotBrake(float brake) {
CallerLogger.INSTANCE.d(TAG, "刹车:" + brake);
CallerLogger.INSTANCE.d(M_HMI +TAG, "刹车:" + brake);
mBrake = brake;
}
@Override
public void onAutopilotThrottle(float throttle) {
CallerLogger.INSTANCE.d(TAG, "油门:" + throttle);
CallerLogger.INSTANCE.d(M_HMI +TAG, "油门:" + throttle);
mThrottle = throttle;
}
/**

30
core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/business/collect/MoGoMapDataCollectProvider.kt
View File

@@ -10,11 +10,11 @@ import com.mogo.eagle.core.data.config.FunctionBuildConfig
import com.mogo.eagle.core.data.constants.MogoServicePaths
import com.mogo.eagle.core.data.map.MogoLocation
import com.mogo.eagle.core.function.api.autopilot.IMoGoAutopilotRecordListener
import com.mogo.eagle.core.function.api.autopilot.IMoGoChassisLocationGCJ02Listener
import com.mogo.eagle.core.function.api.autopilot.IMoGoChassisLocationWGS84Listener
import com.mogo.eagle.core.function.api.map.collect.IMoGoMapDataCollectProvider
import com.mogo.eagle.core.function.business.cachemap.CacheHDMapManager
import com.mogo.eagle.core.function.call.autopilot.CallerAutopilotRecordListenerManager
import com.mogo.eagle.core.function.call.autopilot.CallerChassisLocationGCJ02ListenerManager
import com.mogo.eagle.core.function.call.autopilot.CallerChassisLocationWGS84ListenerManager
import com.mogo.eagle.core.utilcode.mogo.logger.CallerLogger
import com.mogo.eagle.core.utilcode.mogo.logger.scene.SceneConstant.Companion.M_MAP
import com.zhidaoauto.map.operational.open.GatherApi
@@ -27,7 +27,7 @@ import java.util.concurrent.atomic.AtomicReference
@Route(path = MogoServicePaths.PATH_MAP_DATA_COLLECT_PROVIDER)
class MoGoMapDataCollectProvider : IMoGoMapDataCollectProvider, OnTaskListener,
IMoGoChassisLocationGCJ02Listener, IMoGoTokenCallback,
IMoGoChassisLocationWGS84Listener, IMoGoTokenCallback,
IMoGoAutopilotRecordListener {
companion object {
@@ -53,7 +53,7 @@ class MoGoMapDataCollectProvider : IMoGoMapDataCollectProvider, OnTaskListener,
override fun init(context: Context?) {
CallerChassisLocationGCJ02ListenerManager.addListener(TAG, this)
CallerChassisLocationWGS84ListenerManager.addListener(TAG, this)
CallerAutopilotRecordListenerManager.addListener(TAG, this)
executor.set(context?.let {
@@ -79,7 +79,7 @@ class MoGoMapDataCollectProvider : IMoGoMapDataCollectProvider, OnTaskListener,
override fun onDestroy() {
CallerLogger.d("$M_MAP$TAG", "--------- onDestroy --------")
CallerChassisLocationGCJ02ListenerManager.removeListener(TAG)
CallerChassisLocationWGS84ListenerManager.removeListener(TAG)
CallerAutopilotRecordListenerManager.removeListener(TAG)
executor.get()?.setOnTaskListener(null)
listeners.clear()
@@ -181,15 +181,18 @@ class MoGoMapDataCollectProvider : IMoGoMapDataCollectProvider, OnTaskListener,
}
}
override fun onChassisLocationGCJ02(gnssInfo: MogoLocation?) {
if (gnssInfo != null) {
override fun onChassisLocationWGS84(gnssInfo: MogoLocation) {
if (gnssInfo.gnssInfo != null
&& gnssInfo.gnssInfo.longitude != 0.0
&& gnssInfo.gnssInfo.latitude != 0.0
) {
executor.get()?.updateLocation(
gnssInfo.longitude,
gnssInfo.latitude,
gnssInfo.altitude,
gnssInfo.heading.toFloat(),
gnssInfo.gnssSpeed,
false
gnssInfo.gnssInfo.longitude,
gnssInfo.gnssInfo.latitude,
gnssInfo.gnssInfo.altitude,
gnssInfo.gnssInfo.heading.toFloat(),
gnssInfo.gnssInfo.gnssSpeed.toFloat(),
true
)
}
}
@@ -225,4 +228,5 @@ class MoGoMapDataCollectProvider : IMoGoMapDataCollectProvider, OnTaskListener,
object START : Status() //开始状态
object FINISH : Status() //完成状态
}
}