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fix of pb files due to rebase problem

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zhongchao
2022-03-11 20:21:29 +08:00
parent 5886f4feb7
commit 981020b9b8
45 changed files with 1 additions and 522 deletions
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2
core/function-impl/mogo-core-function-autopilot/src/main/java/com/mogo/eagle/core/function/autopilot/MoGoAutopilotProvider.kt
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@@ -206,7 +206,7 @@ class MoGoAutopilotProvider :
}
override fun sendMessageToAutopilot(jsonString: String) {
AdasManager.getInstance().sendMessage(jsonString)
// AdasManager.getInstance().sendMessage(jsonString) //todo pb : 红绿灯
}
override fun cancelAutoPilot() {

365
core/function-impl/mogo-core-function-autopilot/src/main/java/com/mogo/eagle/core/function/autopilot/adapter/MoGoAdasListenerImpl.java
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@@ -1,365 +0,0 @@
package com.mogo.eagle.core.function.autopilot.adapter;
import static com.mogo.eagle.core.data.deva.chain.ChainConstant.CHAIN_ALIAS_CODE_ADAS_MESSAGE_AUTOPILOT_ARRIVE;
import static com.mogo.eagle.core.data.deva.chain.ChainConstant.CHAIN_ALIAS_CODE_ADAS_MESSAGE_AUTOPILOT_GUARDIAN;
import static com.mogo.eagle.core.data.deva.chain.ChainConstant.CHAIN_ALIAS_CODE_ADAS_MESSAGE_AUTOPILOT_RECORD;
import static com.mogo.eagle.core.data.deva.chain.ChainConstant.CHAIN_ALIAS_CODE_ADAS_MESSAGE_AUTOPILOT_ROUTE;
import static com.mogo.eagle.core.data.deva.chain.ChainConstant.CHAIN_ALIAS_CODE_ADAS_MESSAGE_AUTOPILOT_STATUS;
import static com.mogo.eagle.core.data.deva.chain.ChainConstant.CHAIN_ALIAS_CODE_ADAS_MESSAGE_AUTOPILOT_WARN;
import static com.mogo.eagle.core.data.deva.chain.ChainConstant.CHAIN_ALIAS_CODE_ADAS_MESSAGE_CAR_STATE;
import static com.mogo.eagle.core.data.deva.chain.ChainConstant.CHAIN_ALIAS_CODE_ADAS_MESSAGE_RECT_DATA;
import static com.mogo.eagle.core.data.deva.chain.ChainConstant.CHAIN_LINK_ADAS;
import static com.mogo.eagle.core.data.deva.chain.ChainConstant.CHAIN_LINK_LOG_WEB_SOCKET_DATA;
import androidx.annotation.Nullable;
import com.mogo.eagle.core.data.autopilot.ADASTrajectoryInfo;
import com.mogo.eagle.core.data.autopilot.AutoPilotRecordResult;
import com.mogo.eagle.core.data.autopilot.AutopilotCarStateInfo;
import com.mogo.eagle.core.data.autopilot.AutopilotGuardianStatusInfo;
import com.mogo.eagle.core.data.autopilot.AutopilotRouteInfo;
import com.mogo.eagle.core.data.autopilot.AutopilotStationInfo;
import com.mogo.eagle.core.data.autopilot.AutopilotStatusInfo;
import com.mogo.eagle.core.data.autopilot.AutopilotWarnMessage;
import com.mogo.eagle.core.data.config.HdMapBuildConfig;
import com.mogo.eagle.core.data.traffic.TrafficData;
import com.mogo.eagle.core.function.autopilot.utils.AdasObjectConvertUtils;
import com.mogo.eagle.core.function.call.autopilot.CallerAutoPilotStatusListenerManager;
import com.mogo.eagle.core.function.call.autopilot.CallerAutopilotCarStatusListenerManager;
import com.mogo.eagle.core.function.call.autopilot.CallerAutopilotIdentifyListenerManager;
import com.mogo.eagle.core.function.call.autopilot.CallerAutopilotPlanningListenerManager;
import com.mogo.eagle.core.function.call.hmi.CallerHmiManager;
import com.mogo.eagle.core.utilcode.mogo.logger.Logger;
import com.mogo.module.common.MogoApisHandler;
import com.mogo.module.common.datacenter.SnapshotLocationDataCenter;
import com.mogo.module.service.MarkerServiceHandler;
import com.zhidao.support.adas.high.AdasManager;
import com.zhidao.support.adas.high.OnAdasListener;
import com.zhidao.support.adas.high.bean.AutopilotRoute;
import com.zhidao.support.adas.high.bean.AutopilotStatus;
import com.zhidao.support.adas.high.bean.AutopilotWayArrive;
import com.zhidao.support.adas.high.bean.CarLaneInfo;
import com.zhidao.support.adas.high.bean.CarStateInfo;
import com.zhidao.support.adas.high.bean.IPCUpgradeStateInfo;
import com.zhidao.support.adas.high.bean.LightStatueInfo;
import com.zhidao.support.adas.high.bean.ObstaclesInfo;
import com.zhidao.support.adas.high.bean.RectInfo;
import com.zhidao.support.adas.high.bean.SSHResult;
import com.zhidao.support.adas.high.bean.TrajectoryInfo;
import com.zhidao.support.adas.high.bean.WarnMessageInfo;
import com.zhidao.support.adas.high.bean.guardian.AutopilotGuardianInfo;
import com.zhidao.support.adas.high.bean.record.AutopilotRecordResult;
import com.zhjt.service.chain.ChainLog;
import com.zhjt.service.chain.TracingConstants;
import org.json.JSONObject;
import java.util.ArrayList;
import java.util.List;
/**
* @author congtaowang
* @since 2020/10/22
* <p>
* 适配ADAS 回调监听分发，这里不做业务，只做数据包装及分发处理
*/
public class MoGoAdasListenerImpl implements OnAdasListener {
private final String TAG = "OnAdasListenerAdapter";
@ChainLog(linkCode = CHAIN_LINK_ADAS,
linkChainLog = CHAIN_LINK_LOG_WEB_SOCKET_DATA,
endpoint = TracingConstants.Endpoint.PAD,
nodeAliasCode = CHAIN_ALIAS_CODE_ADAS_MESSAGE_RECT_DATA,
paramIndexes = {0},
clientPkFileName = "sn")
@Override
public void onRectData(RectInfo rectInfo) {
if (HdMapBuildConfig.isMapLoaded) {
ArrayList<TrafficData> recognizedListResults = AdasObjectConvertUtils.INSTANCE.regroupTrafficDataData(rectInfo.getModels());
CallerAutopilotIdentifyListenerManager.INSTANCE.invokeAutopilotIdentifyDataUpdate(recognizedListResults);
}
}
@ChainLog(linkCode = CHAIN_LINK_ADAS,
linkChainLog = CHAIN_LINK_LOG_WEB_SOCKET_DATA,
endpoint = TracingConstants.Endpoint.PAD,
nodeAliasCode = CHAIN_ALIAS_CODE_ADAS_MESSAGE_CAR_STATE,
paramIndexes = {0},
clientPkFileName = "sn")
@Override
public void onCarStateData(CarStateInfo carStateInfo) {
if (HdMapBuildConfig.isMapLoaded) {
// Logger.d(TAG, "--------carStateInfo.toString() = " + carStateInfo.toString());
AutopilotCarStateInfo autopilotCarStateInfo = AdasObjectConvertUtils.INSTANCE.fromAdasCarStateInfoObject(carStateInfo);
// 将数据通过数据中心分发出去
CallerAutopilotCarStatusListenerManager.INSTANCE.invokeAutopilotCarStateData(autopilotCarStateInfo);
// 同步给MAP地图
adasCarDataCallback(autopilotCarStateInfo);
}
}
public void adasCarDataCallback(@Nullable AutopilotCarStateInfo stateInfo) {
if (stateInfo != null && stateInfo.getValues() != null) {
//Logger.d(TAG,"同步自车数据给地图……");
MogoApisHandler.getInstance().getApis().getAdasControllerApi().setLastLat(stateInfo.getValues().getLat());
MogoApisHandler.getInstance().getApis().getAdasControllerApi().setLastLon(stateInfo.getValues().getLon());
MogoApisHandler.getInstance().getApis().getAdasControllerApi().setSatelliteTime(stateInfo.getValues().getSatelliteTime());
JSONObject data = new JSONObject();
try {
data.putOpt("lon", stateInfo.getValues().getLon());
data.putOpt("lat", stateInfo.getValues().getLat());
data.putOpt("alt", stateInfo.getValues().getAlt());
data.putOpt("speed", stateInfo.getValues().getGnss_speed());
data.putOpt("heading", stateInfo.getValues().getHeading());
data.putOpt("acceleration", stateInfo.getValues().getAcceleration());
data.putOpt("yawRate", stateInfo.getValues().getYaw_rate());
data.putOpt("gpsProvider", 1);
try {
data.putOpt("systemTime", Long.parseLong(stateInfo.getValues().getSystemTime()));
} catch (Exception e) {
// e.printStackTrace();
}
try {
data.putOpt("satelliteTime", Long.parseLong(stateInfo.getValues().getSatelliteTime()));
} catch (Exception e) {
e.printStackTrace();
}
try {
data.putOpt("receiverDataTime", Long.parseLong(stateInfo.getValues().getReceiverDataTime()));
} catch (Exception e) {
// e.printStackTrace();
}
try {
data.putOpt("adasSatelliteTime", Long.parseLong(stateInfo.getValues().getAdasSatelliteTime()));
} catch (Exception e) {
// e.printStackTrace();
}
MarkerServiceHandler.getApis().getMapServiceApi().getMapUIController().syncLocation2Map(data);
SnapshotLocationDataCenter.getInstance().syncAdasLocationInfo(data);
} catch (Exception e) {
e.printStackTrace();
}
}
}
@ChainLog(linkCode = CHAIN_LINK_ADAS,
linkChainLog = CHAIN_LINK_LOG_WEB_SOCKET_DATA,
endpoint = TracingConstants.Endpoint.PAD,
nodeAliasCode = CHAIN_ALIAS_CODE_ADAS_MESSAGE_AUTOPILOT_STATUS,
paramIndexes = {0},
clientPkFileName = "sn")
@Override
public void autopilotStatus(AutopilotStatus autopilotStatus) {
if (HdMapBuildConfig.isMapLoaded) {
AutopilotStatus.ValuesBean autopilotStatusValues = autopilotStatus.getValues();
if (autopilotStatusValues != null) {
// 初始化自动驾驶状态信息
AutopilotStatusInfo autopilotStatusInfo = CallerAutoPilotStatusListenerManager.INSTANCE.getAutoPilotStatusInfo();
autopilotStatusInfo.setState(autopilotStatusValues.getState());
autopilotStatusInfo.setPilotmode(autopilotStatusValues.getPilotmode());
autopilotStatusInfo.setControl_pilotmode(autopilotStatusValues.getControl_pilotmode());
autopilotStatusInfo.setReason(autopilotStatusValues.getReason());
autopilotStatusInfo.setCamera(autopilotStatusValues.getCamera());
autopilotStatusInfo.setRtk(autopilotStatusValues.getRtk());
autopilotStatusInfo.setRadar(autopilotStatusValues.getRadar());
autopilotStatusInfo.setSpeed(autopilotStatusValues.getSpeed());
// 初始化自动驾驶状态信息
if (autopilotStatusInfo.getVersion() == null) {
autopilotStatusInfo.setVersion(AdasManager.getInstance().getAdasConfig().getVersion());
}
if (autopilotStatusInfo.getConnectIP() == null) {
autopilotStatusInfo.setConnectIP(AdasManager.getInstance().getAdasConfig().getAddress());
}
if (autopilotStatusInfo.getDockVersion() == null) {
autopilotStatusInfo.setDockVersion(AdasManager.getInstance().getAdasConfig().getDockVersion());
}
CallerAutoPilotStatusListenerManager.INSTANCE.invokeAutoPilotStatus();
}
}
}
@ChainLog(linkCode = CHAIN_LINK_ADAS,
linkChainLog = CHAIN_LINK_LOG_WEB_SOCKET_DATA,
endpoint = TracingConstants.Endpoint.PAD,
nodeAliasCode = CHAIN_ALIAS_CODE_ADAS_MESSAGE_AUTOPILOT_ARRIVE,
paramIndexes = {0},
clientPkFileName = "sn")
@Override
public void autopilotArrive(AutopilotWayArrive autopilotWayArrive) {
if (HdMapBuildConfig.isMapLoaded) {
// Logger.d(TAG, "autopilotArrive : " + autopilotWayArrive);
if (autopilotWayArrive != null) {
AutopilotWayArrive.ResultBean result = autopilotWayArrive.getResult();
if (result != null) {
AutopilotWayArrive.ResultBean.EndLatLonBean endLatLon = result.getEndLatLon();
if (endLatLon != null) {
AutopilotStationInfo stationInfo = new AutopilotStationInfo(result.getCarType(), endLatLon.getLon(), endLatLon.getLat());
CallerAutoPilotStatusListenerManager.INSTANCE.invokeArriveAtStation(stationInfo);
}
}
}
}
}
@ChainLog(linkCode = CHAIN_LINK_ADAS,
linkChainLog = CHAIN_LINK_LOG_WEB_SOCKET_DATA,
endpoint = TracingConstants.Endpoint.PAD,
nodeAliasCode = CHAIN_ALIAS_CODE_ADAS_MESSAGE_AUTOPILOT_ROUTE,
paramIndexes = {0},
clientPkFileName = "sn")
@Override
public void onAutopilotRoute(AutopilotRoute route) {
if (HdMapBuildConfig.isMapLoaded) {
// Logger.d(TAG, "onAutopilotRoute : " + route.toString());
AutopilotRouteInfo autopilotRoute = AdasObjectConvertUtils.INSTANCE.fromAdasAutopilotRoute(route);
CallerAutopilotPlanningListenerManager.INSTANCE.invokeAutopilotRotting(autopilotRoute);
}
}
// @ChainLog(linkCode = CHAIN_LINK_ADAS,
// endpoint = TracingConstants.Endpoint.PAD,
// nodeAliasCode = CHAIN_ALIAS_CODE_ADAS_MESSAGE_AUTOPILOT_TRAJECTORY,
// paramIndexes = {0},
// clientPkFileName = "sn")
@Override
public void onAutopilotTrajectory(List<TrajectoryInfo> trajectoryList) {
if (HdMapBuildConfig.isMapLoaded) {
// Logger.d(TAG, "onAutopilotTrajectory : " + trajectoryList);
ArrayList<ADASTrajectoryInfo> trajectoryInfoArrayList = new ArrayList<>();
if (trajectoryList != null && trajectoryList.size() > 0) {
for (TrajectoryInfo trajectory : trajectoryList) {
ADASTrajectoryInfo adasTrajectoryInfo = new ADASTrajectoryInfo();
adasTrajectoryInfo.setLat(trajectory.getLat());
adasTrajectoryInfo.setLon(trajectory.getLon());
adasTrajectoryInfo.setAcceleration(trajectory.getAcceleration());
adasTrajectoryInfo.setAccumulatedDis(trajectory.getAccumulatedDis());
adasTrajectoryInfo.setTime(trajectory.getTime());
adasTrajectoryInfo.setVelocity(trajectory.getVelocity());
adasTrajectoryInfo.setAlt(trajectory.getAlt());
adasTrajectoryInfo.setKappa(trajectory.getKappa());
adasTrajectoryInfo.setTheta(trajectory.getTheta());
trajectoryInfoArrayList.add(adasTrajectoryInfo);
}
// Log.e(TAG, "time:" + System.currentTimeMillis() + "trajectoryInfoArrayList:" + trajectoryInfoArrayList);
}
CallerAutopilotPlanningListenerManager.INSTANCE.invokeAutopilotTrajectory(trajectoryInfoArrayList);
}
}
@Override
public void onAutopilotSNRequest() {
CallerAutoPilotStatusListenerManager.INSTANCE.invokeAutopilotSNRequest();
}
@ChainLog(linkCode = CHAIN_LINK_ADAS,
linkChainLog = CHAIN_LINK_LOG_WEB_SOCKET_DATA,
endpoint = TracingConstants.Endpoint.PAD,
nodeAliasCode = CHAIN_ALIAS_CODE_ADAS_MESSAGE_AUTOPILOT_GUARDIAN,
paramIndexes = {0},
clientPkFileName = "sn")
@Override
public void onAutopilotGuardian(AutopilotGuardianInfo guardianInfo) {
if (HdMapBuildConfig.isMapLoaded) {
AutopilotGuardianStatusInfo autopilotRoute = AdasObjectConvertUtils.INSTANCE.fromAutopilotGuardianInfo(guardianInfo);
CallerAutoPilotStatusListenerManager.INSTANCE.invokeAutopilotGuardian(autopilotRoute);
}
}
@ChainLog(linkCode = CHAIN_LINK_ADAS,
linkChainLog = CHAIN_LINK_LOG_WEB_SOCKET_DATA,
endpoint = TracingConstants.Endpoint.PAD,
nodeAliasCode = CHAIN_ALIAS_CODE_ADAS_MESSAGE_AUTOPILOT_RECORD,
paramIndexes = {0},
clientPkFileName = "sn")
@Override
public void onAutopilotRecord(AutopilotRecordResult result) {
if (result != null) {
AutoPilotRecordResult real = new AutoPilotRecordResult();
real.setDiskFree(result.getDiskFree());
real.setId(result.getId());
real.setDuration(result.getDuration());
real.setNote(result.getNote());
real.setTotal(result.getTotalSize());
real.setType(result.getType());
real.setFileName(result.getFilename());
real.setKey(result.getKey());
real.setStat(result.getStat());
real.setTimestamp(result.getTimestamp());
CallerAutopilotIdentifyListenerManager.INSTANCE.invokeAutopilotRecordResult(real);
}
}
@Override
public void onLightStateData(LightStatueInfo lightStatueInfo) {
}
@Override
public void onObstaclesInfo(ObstaclesInfo obstaclesInfo) {
}
@Override
public void onCarLaneInfo(CarLaneInfo carLaneInfo) {
}
@ChainLog(linkCode = CHAIN_LINK_ADAS,
linkChainLog = CHAIN_LINK_LOG_WEB_SOCKET_DATA,
endpoint = TracingConstants.Endpoint.PAD,
nodeAliasCode = CHAIN_ALIAS_CODE_ADAS_MESSAGE_AUTOPILOT_WARN,
paramIndexes = {0},
clientPkFileName = "sn")
@Override
public void onWarnMessage(WarnMessageInfo warnMessageInfo) {
final AutopilotWarnMessage warnMessage = AdasObjectConvertUtils.INSTANCE.fromAdasObject(warnMessageInfo);
CallerAutopilotIdentifyListenerManager.INSTANCE.invokeAutopilotWarnMessage(warnMessage);
}
@Override
public void onVideoSize(int width, int height) {
}
/**
* 工控机升级状态
*
* @param info 工控机升级状态
*/
@Override
public void onUpgradeStateInfo(IPCUpgradeStateInfo info) {
if (info != null) {
Logger.d(TAG, "onUpgradeStateInfo " +
" upgrade mode=" + info.getUpgradeMode() +
" download status=" + info.getDownloadStatus() +
" download progress current=" + info.getProgress().getCurrent() +
" download progress total=" + info.getProgress().getTotal() +
" download version=" + info.getImages() +
" upgrade status=" + info.getUpgradeStatus());
CallerHmiManager.INSTANCE.showAdUpgradeStatus(info.getUpgradeMode(), info.getDownloadStatus(), info.getProgress().getCurrent(),
info.getProgress().getTotal(), info.getImages(), info.getUpgradeStatus());
} else {
Logger.d(TAG, "onUpgradeStateInfo : upgrade state info is null");
}
}
/**
* 命令返回结果
* @param info 结果返回实体
*/
@Override
public void onSSHResult(SSHResult info) {
if(info!=null && "docker restart autocar_default_1".equals(info.cmd)){
CallerHmiManager.INSTANCE.showDockerRebootResult(info.code, info.msg);
}else{
Logger.d(TAG,"onSSHResult : result info is null");
}
}
}

102
core/function-impl/mogo-core-function-autopilot/src/main/java/com/mogo/eagle/core/function/autopilot/utils/AdasObjectConvertUtils.kt
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@@ -1,102 +0,0 @@
package com.mogo.eagle.core.function.autopilot.utils
import com.mogo.eagle.core.data.autopilot.AutopilotCarStateInfo
import com.mogo.eagle.core.data.autopilot.AutopilotGuardianStatusInfo
import com.mogo.eagle.core.data.autopilot.AutopilotRouteInfo
import com.mogo.eagle.core.data.autopilot.AutopilotWarnMessage
import com.mogo.eagle.core.data.enums.TrafficTypeEnum
import com.mogo.eagle.core.data.traffic.TrafficData
import com.zhidao.support.adas.high.bean.AutopilotRoute
import com.zhidao.support.adas.high.bean.CarStateInfo
import com.zhidao.support.adas.high.bean.RectInfo
import com.zhidao.support.adas.high.bean.WarnMessageInfo
import com.zhidao.support.adas.high.bean.guardian.AutopilotGuardianInfo
import com.zhidao.utils.common.GsonUtil
/**
* @author xiaoyuzhou
* @date 2021/10/18 1:32 下午
*/
object AdasObjectConvertUtils {
val TAG = "AdasObjectConvertUtils"
fun fromAutopilotGuardianInfo(autopilotGuardianInfo: AutopilotGuardianInfo): AutopilotGuardianStatusInfo? {
return GsonUtil.objectFromJson(
GsonUtil.jsonFromObject(autopilotGuardianInfo),
AutopilotGuardianStatusInfo::class.java
)
}
fun fromAdasAutopilotRoute(carStateInfo: AutopilotRoute): AutopilotRouteInfo? {
return GsonUtil.objectFromJson(
GsonUtil.jsonFromObject(carStateInfo),
AutopilotRouteInfo::class.java
)
}
fun fromAdasCarStateInfoObject(carStateInfo: CarStateInfo): AutopilotCarStateInfo? {
return GsonUtil.objectFromJson(
GsonUtil.jsonFromObject(carStateInfo),
AutopilotCarStateInfo::class.java
)
}
fun fromAdasObject(info: WarnMessageInfo?): AutopilotWarnMessage? {
if (info == null) {
return null
}
val warnMessage = AutopilotWarnMessage()
warnMessage.content = info.content
warnMessage.level = info.level
try {
warnMessage.type = info.type.toInt()
} catch (e: NumberFormatException) {
return null
}
warnMessage.value = info.value
return warnMessage
}
fun regroupTrafficDataData(datums: List<RectInfo.RectBean?>?): ArrayList<TrafficData>? {
if (datums == null || datums.isEmpty()) {
return null
}
val recognizedListResults: ArrayList<TrafficData> = ArrayList()
for (model in datums) {
if (model == null) {
continue
}
val recognizedListResult = fromAdasTrafficDataObject(model)
if (recognizedListResult != null) {
recognizedListResults.add(recognizedListResult)
}
}
return recognizedListResults
}
fun fromAdasTrafficDataObject(model: RectInfo.RectBean?): TrafficData? {
if (model == null) {
return null
}
val result = TrafficData()
result.uuid = model.uuid
result.lat = model.lat
result.lon = model.lon
result.type = TrafficTypeEnum.getType(model.type.toInt())
result.heading = model.heading
result.systemTime = model.systemTime.toLong()
result.satelliteTime = model.satelliteTime.toLong()
result.alt = model.alt
result.speed = model.speed
result.carId = model.carId
result.dataAccuracy = model.dataAccuracy
result.distance = model.distance
result.threatLevel = model.drawlevel
//Log.d(TAG, "TrafficData = $result")
return result
}
}