From 2c5264fd3ce027a53a7a92909a4303334b0314f4 Mon Sep 17 00:00:00 2001 From: renwj Date: Mon, 14 Feb 2022 11:38:24 +0800 Subject: [PATCH 1/9] =?UTF-8?q?[AndroidTest]=E6=B7=BB=E5=8A=A0RxJava?= =?UTF-8?q?=E8=83=8C=E5=8E=8B=E6=B5=8B=E8=AF=95?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- .../com/mogo/functions/test/ReminderTest.kt | 84 +++++++++---------- .../functions/test/RxJavaBackPressureTest.kt | 57 +++++++++++++ 2 files changed, 99 insertions(+), 42 deletions(-) create mode 100644 app/src/androidTest/java/com/mogo/functions/test/RxJavaBackPressureTest.kt diff --git a/app/src/androidTest/java/com/mogo/functions/test/ReminderTest.kt b/app/src/androidTest/java/com/mogo/functions/test/ReminderTest.kt index 725ffc4de2..5cc40a03cc 100644 --- a/app/src/androidTest/java/com/mogo/functions/test/ReminderTest.kt +++ b/app/src/androidTest/java/com/mogo/functions/test/ReminderTest.kt @@ -206,48 +206,48 @@ class ReminderTest { @Test fun testWarningFloatForProject() = runBlocking { - launch.onActivity { - it.lifecycleScope.launchWhenResumed { - for (i in 1..10) { - val notificationView = V2XNotificationView(it) - notificationView.setWarningIcon(EventTypeEnum.getWarningIcon("10003")) - notificationView.setWarningContent("XXXXXX${i}") - WarningFloat.with(it) - .setTag("tag") - .setLayout(notificationView) - .setSidePattern(SidePattern.RESULT_TOP) - .setCountDownTime(5000) - .setGravity(Gravity.CENTER_HORIZONTAL, offsetY = 110) - .setImmersionStatusBar(true) - .addWarningStatusListener(object : IMoGoWarningStatusListener { - override fun onShow() { - } - }) - .setAnimator(object : DefaultAnimator() { - override fun enterAnim( - view: View, - params: WindowManager.LayoutParams, - windowManager: WindowManager, - sidePattern: SidePattern - ): Animator? = - super.enterAnim(view, params, windowManager, sidePattern)?.apply { - interpolator = OvershootInterpolator() - } - - override fun exitAnim( - view: View, - params: WindowManager.LayoutParams, - windowManager: WindowManager, - sidePattern: SidePattern - ): Animator? = - super.exitAnim(view, params, windowManager, sidePattern)?.setDuration(200) - }) - .show() - delay(2000) - } - } - } - delay(TimeUnit.SECONDS.toMillis(100)) +// launch.onActivity { +// it.lifecycleScope.launchWhenResumed { +// for (i in 1..10) { +// val notificationView = V2XNotificationView(it) +// notificationView.setWarningIcon(EventTypeEnum.getWarningIcon("10003")) +// notificationView.setWarningContent("XXXXXX${i}") +// WarningFloat.with(it) +// .setTag("tag") +// .setLayout(notificationView) +// .setSidePattern(SidePattern.RESULT_TOP) +// .setCountDownTime(5000) +// .setGravity(Gravity.CENTER_HORIZONTAL, offsetY = 110) +// .setImmersionStatusBar(true) +// .addWarningStatusListener(object : IMoGoWarningStatusListener { +// override fun onShow() { +// } +// }) +// .setAnimator(object : DefaultAnimator() { +// override fun enterAnim( +// view: View, +// params: WindowManager.LayoutParams, +// windowManager: WindowManager, +// sidePattern: SidePattern +// ): Animator? = +// super.enterAnim(view, params, windowManager, sidePattern)?.apply { +// interpolator = OvershootInterpolator() +// } +// +// override fun exitAnim( +// view: View, +// params: WindowManager.LayoutParams, +// windowManager: WindowManager, +// sidePattern: SidePattern +// ): Animator? = +// super.exitAnim(view, params, windowManager, sidePattern)?.setDuration(200) +// }) +// .show() +// delay(2000) +// } +// } +// } +// delay(TimeUnit.SECONDS.toMillis(100)) } diff --git a/app/src/androidTest/java/com/mogo/functions/test/RxJavaBackPressureTest.kt b/app/src/androidTest/java/com/mogo/functions/test/RxJavaBackPressureTest.kt new file mode 100644 index 0000000000..679ebda8ab --- /dev/null +++ b/app/src/androidTest/java/com/mogo/functions/test/RxJavaBackPressureTest.kt @@ -0,0 +1,57 @@ +package com.mogo.functions.test + +import android.os.Debug +import android.util.Log +import androidx.test.core.app.ActivityScenario +import androidx.test.ext.junit.runners.AndroidJUnit4 +import androidx.test.filters.LargeTest +import com.mogo.eagle.core.function.main.MainLauncherActivity +import io.reactivex.Flowable +import io.reactivex.plugins.RxJavaPlugins +import io.reactivex.schedulers.Schedulers +import kotlinx.coroutines.Dispatchers +import kotlinx.coroutines.delay +import kotlinx.coroutines.runBlocking +import org.junit.Before +import org.junit.Test +import org.junit.runner.RunWith +import java.text.SimpleDateFormat +import java.util.* +import java.util.concurrent.TimeUnit +import java.util.concurrent.TimeUnit.MILLISECONDS + +@RunWith(AndroidJUnit4::class) +@LargeTest +class RxJavaBackPressureTest { + + lateinit var launch: ActivityScenario + + @Before + fun before() { + launch = ActivityScenario.launch(MainLauncherActivity::class.java) + RxJavaPlugins.setErrorHandler { + Log.e("RxJava2", it.message, it) + } + } + + @Test + fun testIntervalBackPressure() = runBlocking(Dispatchers.Default) { + val subscription = Flowable.interval(50, MILLISECONDS).doOnNext { + Log.d("RxJava2", "-- do action --") + }.subscribeOn(Schedulers.computation()).observeOn(Schedulers.io()).subscribe { + Thread.sleep(2000) + } + repeat(10) { + delay(TimeUnit.SECONDS.toMillis(5)) + try { + Debug.dumpHprofData(Date().toFileName()) + } catch (t: Throwable) { + t.printStackTrace() + } + } + delay(TimeUnit.HOURS.toMillis(1)) + subscription.dispose() + } + + private fun Date.toFileName(): String = SimpleDateFormat("yyyyMMdd_HH_mm_ss", Locale.getDefault()).format(this) + ".hprof" +} \ No newline at end of file From 86f5c2e212fa90804f6df6ab075040657faf1a72 Mon Sep 17 00:00:00 2001 From: donghongyu Date: Tue, 15 Feb 2022 17:11:00 +0800 Subject: [PATCH 2/9] =?UTF-8?q?[Change]=20=E4=BF=AE=E5=A4=8D=E7=BC=A9?= =?UTF-8?q?=E6=94=BE=E4=B8=BA2D=E6=A8=A1=E5=BC=8F=E7=9A=84bug?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit Signed-off-by: donghongyu --- .../mogo/map/impl/custom/AMapViewWrapper.java | 19 +------------------ .../service/intent/MockIntentHandler.java | 3 --- 2 files changed, 1 insertion(+), 21 deletions(-) diff --git a/libraries/map-custom/src/main/java/com/mogo/map/impl/custom/AMapViewWrapper.java b/libraries/map-custom/src/main/java/com/mogo/map/impl/custom/AMapViewWrapper.java index 246a295648..978fcc335f 100644 --- a/libraries/map-custom/src/main/java/com/mogo/map/impl/custom/AMapViewWrapper.java +++ b/libraries/map-custom/src/main/java/com/mogo/map/impl/custom/AMapViewWrapper.java @@ -130,6 +130,7 @@ public class AMapViewWrapper implements IMogoMapView, if (options != null) { //设置手势是否可以缩放 isCanZoom true 可缩放 false 不可缩放 options.setZoomGesturesEnabled(true); + options.setScaleVRMode(true); // 设置自车的图片对象 //options.setMyLocationStyle(options.getMyLocationStyle().myLocationIcon(DEFAULT_OPTION.getCarCursorRes())); } @@ -335,24 +336,6 @@ public class AMapViewWrapper implements IMogoMapView, moveToCenter(latLng, true); } - private void setUIMode(EnumMapUI ui) { - this.mCurrentCarUIMode = ui; - if (mMapView.getMapAutoViewHelper() != null) { - switch (ui) { - case CarUp_2D: - case CarUp_3D: - mMapView.getMapAutoViewHelper().setMapViewPerspective(MapAutoApi.MAP_PERSPECTIVE_UP_CAR); - break; - case NorthUP_2D: - if (mCurrentUI == EnumMapUI.Type_VR) { - return; - } - mMapView.getMapAutoViewHelper().setMapViewPerspective(MapAutoApi.MAP_PERSPECTIVE_UP_NORTH); - break; - } - } - } - private boolean checkAMapView() { if (mMapView == null || mMapView.getMapAutoViewHelper() == null) { Logger.e(TAG, "自研mapView实例为空，请检查"); diff --git a/modules/mogo-module-service/src/main/java/com/mogo/module/service/intent/MockIntentHandler.java b/modules/mogo-module-service/src/main/java/com/mogo/module/service/intent/MockIntentHandler.java index 26ba340c36..b4dffd4d1e 100644 --- a/modules/mogo-module-service/src/main/java/com/mogo/module/service/intent/MockIntentHandler.java +++ b/modules/mogo-module-service/src/main/java/com/mogo/module/service/intent/MockIntentHandler.java @@ -15,7 +15,6 @@ import com.mogo.commons.AbsMogoApplication; import com.mogo.commons.debug.DebugConfig; import com.mogo.commons.voice.AIAssist; import com.mogo.eagle.core.data.autopilot.AutopilotCarStateInfo; -import com.mogo.eagle.core.data.autopilot.AutopilotControlParameters; import com.mogo.eagle.core.data.config.FunctionBuildConfig; import com.mogo.eagle.core.data.map.MogoLatLng; import com.mogo.eagle.core.data.traffic.TrafficData; @@ -28,8 +27,6 @@ import com.mogo.eagle.core.utilcode.util.ThreadUtils; import com.mogo.eagle.core.utilcode.util.ToastUtils; import com.mogo.map.marker.IMogoMarker; import com.mogo.map.marker.MogoMarkerOptions; -import com.mogo.map.navi.IMogoNaviListener; -import com.mogo.map.navi.MogoNaviInfo; import com.mogo.map.search.geo.IMogoGeoSearch; import com.mogo.map.search.geo.IMogoGeoSearchListener; import com.mogo.map.search.geo.MogoGeocodeResult; From 5294dc9c8bd1f817993c4ed183b0bb528ca39113 Mon Sep 17 00:00:00 2001 From: renwj Date: Tue, 15 Feb 2022 17:11:40 +0800 Subject: [PATCH 3/9] =?UTF-8?q?[MapDataUpdate]=E9=AB=98=E7=B2=BE=E5=9C=B0?= =?UTF-8?q?=E5=9B=BE=E6=95=B0=E6=8D=AE=E9=87=87=E9=9B=86=E4=BB=A3=E7=A0=81?= =?UTF-8?q?=E6=8F=90=E4=BA=A4?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit [MapDataUpdate]高精地图数据采集代码提交 [MapDataUpdate]移除Java接口 [MapDataUpdate]移除无用代码 --- config.gradle | 1 + .../autopilot/MoGoAutopilotProvider.kt | 29 ++- .../function/main/MainMoGoApplication.java | 3 + .../mogo-core-function-map/build.gradle | 2 +- .../collect/MoGoMapDataCollectProvider.kt | 175 ++++++++++++++++++ .../core/data/constants/MogoServicePaths.java | 6 + .../api/autopilot/IMoGoAutopilotProvider.kt | 27 +++ .../collect/IMoGoMapDataCollectProvider.kt | 43 +++++ .../call/autopilot/CallerAutoPilotManager.kt | 13 +- .../call/map/CallerMapDataCollectorManager.kt | 29 +++ gradle.properties | 1 + 11 files changed, 325 insertions(+), 4 deletions(-) create mode 100644 core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/impl/collect/MoGoMapDataCollectProvider.kt create mode 100644 core/mogo-core-function-api/src/main/java/com/mogo/eagle/core/function/api/map/collect/IMoGoMapDataCollectProvider.kt create mode 100644 core/mogo-core-function-call/src/main/java/com/mogo/eagle/core/function/call/map/CallerMapDataCollectorManager.kt diff --git a/config.gradle b/config.gradle index 0908e296e0..aa5f3deb9a 100644 --- a/config.gradle +++ b/config.gradle @@ -147,6 +147,7 @@ ext { mogomap : "com.mogo.map:mogo-map:${MOGO_MAP_VERSION}", mogomapapi : "com.mogo.map:mogo-map-api:${MOGO_MAP_API_VERSION}", mogocustommap : "com.zhidaoauto.machine:map:${MAP_SDK_VERSION}", + mogocustommapoperational : "com.zhidaoauto.map:operational:${MAP_SDK_OPERATION_VERSION}", modulecommon : "com.mogo.module:module-common:${MOGO_MODULE_COMMON_VERSION}", modulemain : "com.mogo.module:module-main:${MOGO_MODULE_MAIN_VERSION}", diff --git a/core/function-impl/mogo-core-function-autopilot/src/main/java/com/mogo/eagle/core/function/autopilot/MoGoAutopilotProvider.kt b/core/function-impl/mogo-core-function-autopilot/src/main/java/com/mogo/eagle/core/function/autopilot/MoGoAutopilotProvider.kt index 5374aba1d1..03c696fb01 100644 --- a/core/function-impl/mogo-core-function-autopilot/src/main/java/com/mogo/eagle/core/function/autopilot/MoGoAutopilotProvider.kt +++ b/core/function-impl/mogo-core-function-autopilot/src/main/java/com/mogo/eagle/core/function/autopilot/MoGoAutopilotProvider.kt @@ -10,10 +10,12 @@ 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.function.api.autopilot.IMoGoAutopilotProvider +import com.mogo.eagle.core.function.api.map.collect.IMoGoMapDataCollectProvider import com.mogo.eagle.core.function.autopilot.adapter.MoGoAdasListenerImpl import com.mogo.eagle.core.function.autopilot.adapter.MoGoAdasMsgConnectStatusListenerImpl import com.mogo.eagle.core.function.autopilot.adapter.MoGoHandAdasMsgManager import com.mogo.eagle.core.function.autopilot.server.AsyncDataToAutopilotServer +import com.mogo.eagle.core.function.call.map.CallerMapDataCollectorManager import com.mogo.eagle.core.utilcode.mogo.logger.Logger import com.mogo.eagle.core.utilcode.mogo.storage.SharedPrefsMgr import com.mogo.eagle.core.utilcode.util.GsonUtils @@ -30,7 +32,7 @@ import java.util.concurrent.TimeUnit */ @Route(path = MogoServicePaths.PATH_AUTO_PILOT) class MoGoAutopilotProvider : - IMoGoAutopilotProvider { + IMoGoAutopilotProvider, IMoGoMapDataCollectProvider.OnMapCollectCmdListener { private val TAG = "MoGoAutoPilotProvider" private var mContext: Context? = null @@ -60,6 +62,7 @@ class MoGoAutopilotProvider : AdasManager.getInstance().setOnAdasListener(MoGoAdasListenerImpl()) // 同步数据给工控机的服务 AsyncDataToAutopilotServer.INSTANCE.initServer() + CallerMapDataCollectorManager.registerOnMapCollectTaskListener(this) } /** @@ -89,6 +92,16 @@ class MoGoAutopilotProvider : }, 1000, TimeUnit.MILLISECONDS) } + override fun onMapCollectStart(cmdId: Int, cmdTime: Long) { + val result = recordPackage(2, cmdId) + Logger.d(TAG, "开始记录包: [$cmdId, $result]") + } + + override fun onMapCollectEnd(cmdId: Int, cmdTime: Long) { + val result = stopRecord(2, cmdId) + Logger.d(TAG, "结束记录包: [$cmdId, $result]") + } + override fun startAutoPilot(result: AutopilotControlParameters) { if (AdasManager.getInstance().isSocketConnect) { val parameter = AutopilotControlCmdParameter("aiCloudToStartAutopilot", result) @@ -115,6 +128,18 @@ class MoGoAutopilotProvider : .recordPackage(1, (System.currentTimeMillis() / 1000).toInt()) } + override fun recordPackage(type: Int, id: Int): Boolean { + return AdasManager.getInstance().recordPackage(type, id) + } + + override fun recordPackage(type: Int, id: Int, duration: Int): Boolean { + return AdasManager.getInstance().recordPackage(type, id, duration) + } + + override fun stopRecord(type: Int, id: Int): Boolean { + return AdasManager.getInstance().stopRecord(type, id) + } + override fun setEnableLog(isEnableLog: Boolean) { CupidLogUtils.setEnableLog(isEnableLog) } @@ -124,7 +149,7 @@ class MoGoAutopilotProvider : } override fun onDestroy() { - + CallerMapDataCollectorManager.unRegisterOnMapCollectTaskListener(this) } override fun setAutoPilotSpeed(speed: Int): Boolean { diff --git a/core/function-impl/mogo-core-function-main/src/main/java/com/mogo/eagle/core/function/main/MainMoGoApplication.java b/core/function-impl/mogo-core-function-main/src/main/java/com/mogo/eagle/core/function/main/MainMoGoApplication.java index 5c3941ac6d..1cc069f33e 100644 --- a/core/function-impl/mogo-core-function-main/src/main/java/com/mogo/eagle/core/function/main/MainMoGoApplication.java +++ b/core/function-impl/mogo-core-function-main/src/main/java/com/mogo/eagle/core/function/main/MainMoGoApplication.java @@ -329,6 +329,9 @@ public abstract class MainMoGoApplication extends AbsMogoApplication { // 推送模块 MogoModulePaths.addModule(new MogoModule(PushUIConstants.PATH, "PUSH_UI")); + // 地图数据收集模块 + MogoModulePaths.addModuleFunctionServer(new MogoModule(MogoServicePaths.PATH_MAP_DATA_COLLECT_PROVIDER, "MoGoMapDataCollector")); + if (!DebugConfig.isLauncher()) { PersistentManager .getInstance().initManager(this); diff --git a/core/function-impl/mogo-core-function-map/build.gradle b/core/function-impl/mogo-core-function-map/build.gradle index cc7eeed20f..7600662cfe 100644 --- a/core/function-impl/mogo-core-function-map/build.gradle +++ b/core/function-impl/mogo-core-function-map/build.gradle @@ -51,7 +51,7 @@ dependencies { kapt rootProject.ext.dependencies.aroutercompiler implementation rootProject.ext.dependencies.adasHigh - + implementation rootProject.ext.dependencies.mogocustommapoperational if (Boolean.valueOf(USE_MAVEN_PACKAGE)) { implementation rootProject.ext.dependencies.mogoserviceapi implementation rootProject.ext.dependencies.modulecommon diff --git a/core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/impl/collect/MoGoMapDataCollectProvider.kt b/core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/impl/collect/MoGoMapDataCollectProvider.kt new file mode 100644 index 0000000000..6d1604610a --- /dev/null +++ b/core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/impl/collect/MoGoMapDataCollectProvider.kt @@ -0,0 +1,175 @@ +package com.mogo.eagle.core.function.impl.collect + +import android.content.Context +import android.text.TextUtils +import com.alibaba.android.arouter.facade.annotation.Route +import com.mogo.cloud.passport.IMoGoTokenCallback +import com.mogo.cloud.passport.MoGoAiCloudClient +import com.mogo.cloud.passport.MoGoAiCloudClientConfig +import com.mogo.eagle.core.data.constants.MogoServicePaths +import com.mogo.eagle.core.data.map.MogoLocation +import com.mogo.eagle.core.function.api.map.collect.IMoGoMapDataCollectProvider +import com.mogo.eagle.core.function.api.map.listener.IMoGoMapLocationListener +import com.mogo.eagle.core.function.call.map.CallerMapLocationListenerManager +import com.mogo.eagle.core.utilcode.mogo.logger.Logger +import com.zhidaoauto.map.operational.MapCollectionTaskRecive +import com.zhidaoauto.map.operational.abs.OnTaskListener +import java.util.concurrent.ConcurrentHashMap +import java.util.concurrent.CopyOnWriteArrayList +import java.util.concurrent.atomic.AtomicReference + +@Route(path = MogoServicePaths.PATH_MAP_DATA_COLLECT_PROVIDER) +class MoGoMapDataCollectProvider : IMoGoMapDataCollectProvider, OnTaskListener, IMoGoMapLocationListener, IMoGoTokenCallback { + + companion object { + const val TAG = "MoGoMapDataCollect" + } + + private val executor by lazy { + AtomicReference(null) + } + + private val listeners by lazy { + CopyOnWriteArrayList() + } + + private val map: MutableMap by lazy { + ConcurrentHashMap() + } + + override val functionName: String = TAG + + override fun init(context: Context?) { + CallerMapLocationListenerManager.addListener(functionName, this) + executor.set(context?.let { MapCollectionTaskRecive(it) }) + executor.get()?.setOnTaskListener(this) + val carSn = MoGoAiCloudClientConfig.getInstance().sn + if (!TextUtils.isEmpty(carSn)) { + executor.get()?.setCarSn(carSn) + } + MoGoAiCloudClient.getInstance().addTokenCallbacks(this) + Logger.d(TAG, "--------- init --------") + Logger.d(TAG, "executor: ${ executor.get()?.hashCode() ?: 0 }") + } + + override fun onDestroy() { + CallerMapLocationListenerManager.removeListener(TAG) + Logger.d(TAG, "--------- onDestroy --------") + executor.get()?.let { + it.setOnTaskListener(null) + it.destory() + } + listeners.clear() + map.clear() + } + + override fun registerOnMapCollectTaskListener(listener: IMoGoMapDataCollectProvider.OnMapCollectCmdListener?) { + Logger.d(TAG, "--------- registerOnMapCollectTaskListener --------") + listener ?: return + if (listeners.contains(listener)) { + return + } + listeners += listener + } + + override fun unRegisterOnMapCollectTaskListener(listener: IMoGoMapDataCollectProvider.OnMapCollectCmdListener?) { + Logger.d(TAG, "--------- unRegisterOnMapCollectTaskListener --------") + listener ?: return + if (!listeners.contains(listener)) { + return + } + listeners.remove(listener) + } + + override fun finish( + id: Int, + state: Int, + gpsPath: String, + videoPath: String, + reason: String + ) { + Logger.d(TAG, "-- finish:[$id, $state, $gpsPath, $videoPath, $reason]") + try { + if (isInValidStatus()) { + Logger.w(TAG, "-- finish: 状态无效") + return + } + if (!map.containsKey(id)) { + Logger.w(TAG, "-- finish: 无相关指令") + return + } + Logger.d(TAG, "-- finish: 结束任务[$id]") + executor.get()?.finishTask(id, state, gpsPath, videoPath, reason) + } catch (e : Throwable) { + e.printStackTrace() + Logger.e(TAG, "-- finish:\n$e"); + } finally { + map[id] = Status.FINISH + } + } + + override fun onTaskFinish(id: Int, time: Long) { + Logger.d(TAG, "地图模块下发结束采集指令 -> [$id, $time]") + if (!map.containsKey(id) || map[id] == Status.FINISH) { + Logger.w(TAG, "地图模块下发结束采集指令 -> 任务[$id]已经提前完成,无需再次请求自动驾驶模块结束采集") + return + } + Logger.d(TAG, "地图模块下发结束采集指令 -> [$id, $time] -> 调用自动驾驶模块，结束数据采集") + listeners.forEach { + it.onMapCollectEnd(id, time) + } + } + + override fun onTaskStart(id: Int, time: Long) { + Logger.d(TAG, "地图模块下发开始采集指令 -> [$id, $time]") + map[id] = Status.INIT + listeners.forEach { + it.onMapCollectStart(id, time) + } + map[id] = Status.START + } + + + override fun onLocationChanged(location: MogoLocation?) { + location ?: return + executor.get()?.onMapChange( + location.longitude, + location.latitude, + location.bearing, + location.speed, + location.provider == "GPS_SELF") + } + + + private fun isInValidStatus(): Boolean { + if (map.isEmpty()) { + return true + } + val iterator = map.iterator() + while (iterator.hasNext()) { + val next = iterator.next() + if (next.value == Status.FINISH) { + iterator.remove() + } + } + if (map.filter { it.value == Status.START }.isEmpty()) { + return true + } + return false + } + + override fun onTokenGot(token: String?, sn: String?) { + Logger.d(TAG, "-- onTokenGot --> $sn") + sn?.let { + executor.get()?.setCarSn(it) + } + } + + override fun onError(code: Int, msg: String?) = Unit + + private sealed class Status { + object INIT : Status() //初始状态 + object START : Status() //开始状态 + object FINISH : Status() //完成状态 + } +} \ No newline at end of file diff --git a/core/mogo-core-data/src/main/java/com/mogo/eagle/core/data/constants/MogoServicePaths.java b/core/mogo-core-data/src/main/java/com/mogo/eagle/core/data/constants/MogoServicePaths.java index aee937489f..9e910c1789 100644 --- a/core/mogo-core-data/src/main/java/com/mogo/eagle/core/data/constants/MogoServicePaths.java +++ b/core/mogo-core-data/src/main/java/com/mogo/eagle/core/data/constants/MogoServicePaths.java @@ -268,4 +268,10 @@ public class MogoServicePaths { @Keep @Deprecated public static final String PATH_DEVA_TOOLS = "/deva/tools"; + + /** + * 地图数据更新输助类 + */ + @Keep + public static final String PATH_MAP_DATA_COLLECT_PROVIDER = "/map_x/collect"; } diff --git a/core/mogo-core-function-api/src/main/java/com/mogo/eagle/core/function/api/autopilot/IMoGoAutopilotProvider.kt b/core/mogo-core-function-api/src/main/java/com/mogo/eagle/core/function/api/autopilot/IMoGoAutopilotProvider.kt index 34f2103554..b3d0d87a23 100644 --- a/core/mogo-core-function-api/src/main/java/com/mogo/eagle/core/function/api/autopilot/IMoGoAutopilotProvider.kt +++ b/core/mogo-core-function-api/src/main/java/com/mogo/eagle/core/function/api/autopilot/IMoGoAutopilotProvider.kt @@ -41,6 +41,33 @@ interface IMoGoAutopilotProvider : IMoGoFunctionServerProvider { */ fun recordPackage(): Boolean + /** + * 开启域控制器录制bag包 + * + * @return true-成功,false-失败 + * @param type 录制类型 1: badcase 2:map 3:rests + * @param id 指令/任务 ID + */ + fun recordPackage(type: Int, id: Int): Boolean + + /** + * 开启域控制器录制bag包 + * + * @return true-成功,false-失败 + * @param type 录制类型 1: badcase 2:map 3:rests + * @param id 指令/任务 ID + * @param duration 录制时长 + */ + fun recordPackage(type: Int, id: Int, duration: Int): Boolean + + /** + * 结束录制 + * @param type 录制类型 1: badcase 2:map 3:rests + * @param id 指令/任务 ID + * @return true: 成功; false 失败 + */ + fun stopRecord(type: Int, id: Int): Boolean + /** * Log 是否显示 * diff --git a/core/mogo-core-function-api/src/main/java/com/mogo/eagle/core/function/api/map/collect/IMoGoMapDataCollectProvider.kt b/core/mogo-core-function-api/src/main/java/com/mogo/eagle/core/function/api/map/collect/IMoGoMapDataCollectProvider.kt new file mode 100644 index 0000000000..8172294b0c --- /dev/null +++ b/core/mogo-core-function-api/src/main/java/com/mogo/eagle/core/function/api/map/collect/IMoGoMapDataCollectProvider.kt @@ -0,0 +1,43 @@ +package com.mogo.eagle.core.function.api.map.collect + +import com.mogo.eagle.core.function.api.base.IMoGoFunctionServerProvider + +/** + * @author renwj + * @date 2021/11/10 10:00 上午 + * 此类主要用来同步自动驾驶定位信息给各业务方 + */ +interface IMoGoMapDataCollectProvider: IMoGoFunctionServerProvider { + + /** + * 注册地图组下发收集数据任务指令监听，通知自动驾驶模块开始数据采集 + */ + fun registerOnMapCollectTaskListener(listener: OnMapCollectCmdListener?) + + /** + * 移除任务指令监听 + */ + fun unRegisterOnMapCollectTaskListener(listener: OnMapCollectCmdListener?) + + /** + * 此接口是自动驾驶模块使用，用于把自动驾驶模块收集的数据给地图组 + */ + fun finish(id: Int, state: Int, gpsPath: String, videoPath: String, reason: String) + + interface OnMapCollectCmdListener { + + /** + * 地图组下发地图数据收集开始指令 + * @param cmdId 指令ID + * @param cmdTime 指令下发时间 + */ + fun onMapCollectStart(cmdId: Int, cmdTime: Long) + + /** + * 地图组下发地图数据收集结束指令 + * @param cmdId 指令ID + * @param cmdTime 指令下发时间 + */ + fun onMapCollectEnd(cmdId: Int, cmdTime: Long) + } +} \ No newline at end of file diff --git a/core/mogo-core-function-call/src/main/java/com/mogo/eagle/core/function/call/autopilot/CallerAutoPilotManager.kt b/core/mogo-core-function-call/src/main/java/com/mogo/eagle/core/function/call/autopilot/CallerAutoPilotManager.kt index 0279c39f2f..901c127c52 100644 --- a/core/mogo-core-function-call/src/main/java/com/mogo/eagle/core/function/call/autopilot/CallerAutoPilotManager.kt +++ b/core/mogo-core-function-call/src/main/java/com/mogo/eagle/core/function/call/autopilot/CallerAutoPilotManager.kt @@ -1,9 +1,12 @@ package com.mogo.eagle.core.function.call.autopilot +import android.os.SystemClock import com.mogo.eagle.core.data.autopilot.AutopilotControlParameters import com.mogo.eagle.core.data.constants.MogoServicePaths import com.mogo.eagle.core.function.api.autopilot.IMoGoAutopilotProvider import com.mogo.eagle.core.function.call.base.CallerBase +import com.mogo.eagle.core.utilcode.util.LogUtils +import kotlin.random.Random /** *@author xiaoyuzhou @@ -60,7 +63,15 @@ object CallerAutoPilotManager { * 开启域控制器录制bag包 */ fun recordPackage() { - providerApi?.recordPackage() + providerApi?.recordPackage(1, Random(SystemClock.elapsedRealtime()).nextInt()) + } + + fun recordPackage(type: Int, id: Int) { + providerApi?.recordPackage(type, id) + } + + fun recordPackage(type: Int, id: Int, duration: Int) { + providerApi?.recordPackage(type, id, duration) } fun setEnableLog(isEnableLog: Boolean) { diff --git a/core/mogo-core-function-call/src/main/java/com/mogo/eagle/core/function/call/map/CallerMapDataCollectorManager.kt b/core/mogo-core-function-call/src/main/java/com/mogo/eagle/core/function/call/map/CallerMapDataCollectorManager.kt new file mode 100644 index 0000000000..86cb4dc777 --- /dev/null +++ b/core/mogo-core-function-call/src/main/java/com/mogo/eagle/core/function/call/map/CallerMapDataCollectorManager.kt @@ -0,0 +1,29 @@ +package com.mogo.eagle.core.function.call.map + +import com.mogo.eagle.core.data.constants.MogoServicePaths.PATH_MAP_DATA_COLLECT_PROVIDER +import com.mogo.eagle.core.function.api.map.collect.IMoGoMapDataCollectProvider +import com.mogo.eagle.core.function.call.base.CallerBase + +/** + * @author renwj + * @date 2021/11/10 10:30 上午 + * 此类主要提供给各业务方使用，便于业务层管理数据收集 + */ +object CallerMapDataCollectorManager { + + private val provider: IMoGoMapDataCollectProvider? by lazy { + CallerBase.getApiInstance(IMoGoMapDataCollectProvider::class.java, PATH_MAP_DATA_COLLECT_PROVIDER) + } + + fun registerOnMapCollectTaskListener(listener: IMoGoMapDataCollectProvider.OnMapCollectCmdListener?) { + provider?.registerOnMapCollectTaskListener(listener) + } + + fun unRegisterOnMapCollectTaskListener(listener: IMoGoMapDataCollectProvider.OnMapCollectCmdListener?) { + provider?.unRegisterOnMapCollectTaskListener(listener) + } + + fun finish(id: Int, state: Int, gpsPath: String, videoPath: String, reason: String) { + provider?.finish(id, state, gpsPath, videoPath, reason) + } +} \ No newline at end of file diff --git a/gradle.properties b/gradle.properties index 1f55a98e33..797e015c01 100644 --- a/gradle.properties +++ b/gradle.properties @@ -81,6 +81,7 @@ MOGO_LOCATION_VERSION=1.3.18 ######## MogoAiCloudSDK Version ######## # 自研地图 MAP_SDK_VERSION=2.0.0.24 +MAP_SDK_OPERATION_VERSION=1.0.11 # websocket WEBSOCKET_VERSION=1.1.7 ## 产品库必备配置，产品库自动对versionCode和versionName版本进行升级 From 7f9869565261a19385fad96a6de337d4c0257cdc Mon Sep 17 00:00:00 2001 From: lianglihui Date: Tue, 15 Feb 2022 18:26:42 +0800 Subject: [PATCH 4/9] =?UTF-8?q?2.5.1=20=E4=BF=AE=E5=A4=8D=E7=BE=8E?= =?UTF-8?q?=E5=8C=96=E6=A8=A1=E5=BC=8F=E5=88=9D=E5=A7=8B=E5=80=BC=E5=BC=82?= =?UTF-8?q?=E5=B8=B8=20=E5=AF=BC=E8=87=B4=E7=9A=84=E8=BD=A6=E5=89=8D?= =?UTF-8?q?=E5=BC=95=E5=AF=BC=E7=BA=BF=E5=BC=82=E5=B8=B8?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- .../java/com/mogo/eagle/core/data/config/FunctionBuildConfig.kt | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/core/mogo-core-data/src/main/java/com/mogo/eagle/core/data/config/FunctionBuildConfig.kt b/core/mogo-core-data/src/main/java/com/mogo/eagle/core/data/config/FunctionBuildConfig.kt index 3c9f81e04c..479edcb282 100644 --- a/core/mogo-core-data/src/main/java/com/mogo/eagle/core/data/config/FunctionBuildConfig.kt +++ b/core/mogo-core-data/src/main/java/com/mogo/eagle/core/data/config/FunctionBuildConfig.kt @@ -57,5 +57,5 @@ object FunctionBuildConfig { * false - 不忽略 */ @JvmField - var isIgnoreConditionsDrawAutopilotTrajectoryData = true + var isIgnoreConditionsDrawAutopilotTrajectoryData = false } \ No newline at end of file From 0fc80349381478f035e5b1e0e9d18a608da39b4c Mon Sep 17 00:00:00 2001 From: renwj Date: Tue, 15 Feb 2022 18:31:27 +0800 Subject: [PATCH 5/9] =?UTF-8?q?Revert=20"[MapDataUpdate]=E9=AB=98=E7=B2=BE?= =?UTF-8?q?=E5=9C=B0=E5=9B=BE=E6=95=B0=E6=8D=AE=E9=87=87=E9=9B=86=E4=BB=A3?= =?UTF-8?q?=E7=A0=81=E6=8F=90=E4=BA=A4"?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit This reverts commit 5294dc9c --- config.gradle | 1 - .../autopilot/MoGoAutopilotProvider.kt | 29 +-- .../function/main/MainMoGoApplication.java | 3 - .../mogo-core-function-map/build.gradle | 2 +- .../collect/MoGoMapDataCollectProvider.kt | 175 ------------------ .../core/data/constants/MogoServicePaths.java | 6 - .../api/autopilot/IMoGoAutopilotProvider.kt | 27 --- .../collect/IMoGoMapDataCollectProvider.kt | 43 ----- .../call/autopilot/CallerAutoPilotManager.kt | 13 +- .../call/map/CallerMapDataCollectorManager.kt | 29 --- gradle.properties | 1 - 11 files changed, 4 insertions(+), 325 deletions(-) delete mode 100644 core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/impl/collect/MoGoMapDataCollectProvider.kt delete mode 100644 core/mogo-core-function-api/src/main/java/com/mogo/eagle/core/function/api/map/collect/IMoGoMapDataCollectProvider.kt delete mode 100644 core/mogo-core-function-call/src/main/java/com/mogo/eagle/core/function/call/map/CallerMapDataCollectorManager.kt diff --git a/config.gradle b/config.gradle index aa5f3deb9a..0908e296e0 100644 --- a/config.gradle +++ b/config.gradle @@ -147,7 +147,6 @@ ext { mogomap : "com.mogo.map:mogo-map:${MOGO_MAP_VERSION}", mogomapapi : "com.mogo.map:mogo-map-api:${MOGO_MAP_API_VERSION}", mogocustommap : "com.zhidaoauto.machine:map:${MAP_SDK_VERSION}", - mogocustommapoperational : "com.zhidaoauto.map:operational:${MAP_SDK_OPERATION_VERSION}", modulecommon : "com.mogo.module:module-common:${MOGO_MODULE_COMMON_VERSION}", modulemain : "com.mogo.module:module-main:${MOGO_MODULE_MAIN_VERSION}", diff --git a/core/function-impl/mogo-core-function-autopilot/src/main/java/com/mogo/eagle/core/function/autopilot/MoGoAutopilotProvider.kt b/core/function-impl/mogo-core-function-autopilot/src/main/java/com/mogo/eagle/core/function/autopilot/MoGoAutopilotProvider.kt index 03c696fb01..5374aba1d1 100644 --- a/core/function-impl/mogo-core-function-autopilot/src/main/java/com/mogo/eagle/core/function/autopilot/MoGoAutopilotProvider.kt +++ b/core/function-impl/mogo-core-function-autopilot/src/main/java/com/mogo/eagle/core/function/autopilot/MoGoAutopilotProvider.kt @@ -10,12 +10,10 @@ 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.function.api.autopilot.IMoGoAutopilotProvider -import com.mogo.eagle.core.function.api.map.collect.IMoGoMapDataCollectProvider import com.mogo.eagle.core.function.autopilot.adapter.MoGoAdasListenerImpl import com.mogo.eagle.core.function.autopilot.adapter.MoGoAdasMsgConnectStatusListenerImpl import com.mogo.eagle.core.function.autopilot.adapter.MoGoHandAdasMsgManager import com.mogo.eagle.core.function.autopilot.server.AsyncDataToAutopilotServer -import com.mogo.eagle.core.function.call.map.CallerMapDataCollectorManager import com.mogo.eagle.core.utilcode.mogo.logger.Logger import com.mogo.eagle.core.utilcode.mogo.storage.SharedPrefsMgr import com.mogo.eagle.core.utilcode.util.GsonUtils @@ -32,7 +30,7 @@ import java.util.concurrent.TimeUnit */ @Route(path = MogoServicePaths.PATH_AUTO_PILOT) class MoGoAutopilotProvider : - IMoGoAutopilotProvider, IMoGoMapDataCollectProvider.OnMapCollectCmdListener { + IMoGoAutopilotProvider { private val TAG = "MoGoAutoPilotProvider" private var mContext: Context? = null @@ -62,7 +60,6 @@ class MoGoAutopilotProvider : AdasManager.getInstance().setOnAdasListener(MoGoAdasListenerImpl()) // 同步数据给工控机的服务 AsyncDataToAutopilotServer.INSTANCE.initServer() - CallerMapDataCollectorManager.registerOnMapCollectTaskListener(this) } /** @@ -92,16 +89,6 @@ class MoGoAutopilotProvider : }, 1000, TimeUnit.MILLISECONDS) } - override fun onMapCollectStart(cmdId: Int, cmdTime: Long) { - val result = recordPackage(2, cmdId) - Logger.d(TAG, "开始记录包: [$cmdId, $result]") - } - - override fun onMapCollectEnd(cmdId: Int, cmdTime: Long) { - val result = stopRecord(2, cmdId) - Logger.d(TAG, "结束记录包: [$cmdId, $result]") - } - override fun startAutoPilot(result: AutopilotControlParameters) { if (AdasManager.getInstance().isSocketConnect) { val parameter = AutopilotControlCmdParameter("aiCloudToStartAutopilot", result) @@ -128,18 +115,6 @@ class MoGoAutopilotProvider : .recordPackage(1, (System.currentTimeMillis() / 1000).toInt()) } - override fun recordPackage(type: Int, id: Int): Boolean { - return AdasManager.getInstance().recordPackage(type, id) - } - - override fun recordPackage(type: Int, id: Int, duration: Int): Boolean { - return AdasManager.getInstance().recordPackage(type, id, duration) - } - - override fun stopRecord(type: Int, id: Int): Boolean { - return AdasManager.getInstance().stopRecord(type, id) - } - override fun setEnableLog(isEnableLog: Boolean) { CupidLogUtils.setEnableLog(isEnableLog) } @@ -149,7 +124,7 @@ class MoGoAutopilotProvider : } override fun onDestroy() { - CallerMapDataCollectorManager.unRegisterOnMapCollectTaskListener(this) + } override fun setAutoPilotSpeed(speed: Int): Boolean { diff --git a/core/function-impl/mogo-core-function-main/src/main/java/com/mogo/eagle/core/function/main/MainMoGoApplication.java b/core/function-impl/mogo-core-function-main/src/main/java/com/mogo/eagle/core/function/main/MainMoGoApplication.java index 1cc069f33e..5c3941ac6d 100644 --- a/core/function-impl/mogo-core-function-main/src/main/java/com/mogo/eagle/core/function/main/MainMoGoApplication.java +++ b/core/function-impl/mogo-core-function-main/src/main/java/com/mogo/eagle/core/function/main/MainMoGoApplication.java @@ -329,9 +329,6 @@ public abstract class MainMoGoApplication extends AbsMogoApplication { // 推送模块 MogoModulePaths.addModule(new MogoModule(PushUIConstants.PATH, "PUSH_UI")); - // 地图数据收集模块 - MogoModulePaths.addModuleFunctionServer(new MogoModule(MogoServicePaths.PATH_MAP_DATA_COLLECT_PROVIDER, "MoGoMapDataCollector")); - if (!DebugConfig.isLauncher()) { PersistentManager .getInstance().initManager(this); diff --git a/core/function-impl/mogo-core-function-map/build.gradle b/core/function-impl/mogo-core-function-map/build.gradle index 7600662cfe..cc7eeed20f 100644 --- a/core/function-impl/mogo-core-function-map/build.gradle +++ b/core/function-impl/mogo-core-function-map/build.gradle @@ -51,7 +51,7 @@ dependencies { kapt rootProject.ext.dependencies.aroutercompiler implementation rootProject.ext.dependencies.adasHigh - implementation rootProject.ext.dependencies.mogocustommapoperational + if (Boolean.valueOf(USE_MAVEN_PACKAGE)) { implementation rootProject.ext.dependencies.mogoserviceapi implementation rootProject.ext.dependencies.modulecommon diff --git a/core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/impl/collect/MoGoMapDataCollectProvider.kt b/core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/impl/collect/MoGoMapDataCollectProvider.kt deleted file mode 100644 index 6d1604610a..0000000000 --- a/core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/impl/collect/MoGoMapDataCollectProvider.kt +++ /dev/null @@ -1,175 +0,0 @@ -package com.mogo.eagle.core.function.impl.collect - -import android.content.Context -import android.text.TextUtils -import com.alibaba.android.arouter.facade.annotation.Route -import com.mogo.cloud.passport.IMoGoTokenCallback -import com.mogo.cloud.passport.MoGoAiCloudClient -import com.mogo.cloud.passport.MoGoAiCloudClientConfig -import com.mogo.eagle.core.data.constants.MogoServicePaths -import com.mogo.eagle.core.data.map.MogoLocation -import com.mogo.eagle.core.function.api.map.collect.IMoGoMapDataCollectProvider -import com.mogo.eagle.core.function.api.map.listener.IMoGoMapLocationListener -import com.mogo.eagle.core.function.call.map.CallerMapLocationListenerManager -import com.mogo.eagle.core.utilcode.mogo.logger.Logger -import com.zhidaoauto.map.operational.MapCollectionTaskRecive -import com.zhidaoauto.map.operational.abs.OnTaskListener -import java.util.concurrent.ConcurrentHashMap -import java.util.concurrent.CopyOnWriteArrayList -import java.util.concurrent.atomic.AtomicReference - -@Route(path = MogoServicePaths.PATH_MAP_DATA_COLLECT_PROVIDER) -class MoGoMapDataCollectProvider : IMoGoMapDataCollectProvider, OnTaskListener, IMoGoMapLocationListener, IMoGoTokenCallback { - - companion object { - const val TAG = "MoGoMapDataCollect" - } - - private val executor by lazy { - AtomicReference(null) - } - - private val listeners by lazy { - CopyOnWriteArrayList() - } - - private val map: MutableMap by lazy { - ConcurrentHashMap() - } - - override val functionName: String = TAG - - override fun init(context: Context?) { - CallerMapLocationListenerManager.addListener(functionName, this) - executor.set(context?.let { MapCollectionTaskRecive(it) }) - executor.get()?.setOnTaskListener(this) - val carSn = MoGoAiCloudClientConfig.getInstance().sn - if (!TextUtils.isEmpty(carSn)) { - executor.get()?.setCarSn(carSn) - } - MoGoAiCloudClient.getInstance().addTokenCallbacks(this) - Logger.d(TAG, "--------- init --------") - Logger.d(TAG, "executor: ${ executor.get()?.hashCode() ?: 0 }") - } - - override fun onDestroy() { - CallerMapLocationListenerManager.removeListener(TAG) - Logger.d(TAG, "--------- onDestroy --------") - executor.get()?.let { - it.setOnTaskListener(null) - it.destory() - } - listeners.clear() - map.clear() - } - - override fun registerOnMapCollectTaskListener(listener: IMoGoMapDataCollectProvider.OnMapCollectCmdListener?) { - Logger.d(TAG, "--------- registerOnMapCollectTaskListener --------") - listener ?: return - if (listeners.contains(listener)) { - return - } - listeners += listener - } - - override fun unRegisterOnMapCollectTaskListener(listener: IMoGoMapDataCollectProvider.OnMapCollectCmdListener?) { - Logger.d(TAG, "--------- unRegisterOnMapCollectTaskListener --------") - listener ?: return - if (!listeners.contains(listener)) { - return - } - listeners.remove(listener) - } - - override fun finish( - id: Int, - state: Int, - gpsPath: String, - videoPath: String, - reason: String - ) { - Logger.d(TAG, "-- finish:[$id, $state, $gpsPath, $videoPath, $reason]") - try { - if (isInValidStatus()) { - Logger.w(TAG, "-- finish: 状态无效") - return - } - if (!map.containsKey(id)) { - Logger.w(TAG, "-- finish: 无相关指令") - return - } - Logger.d(TAG, "-- finish: 结束任务[$id]") - executor.get()?.finishTask(id, state, gpsPath, videoPath, reason) - } catch (e : Throwable) { - e.printStackTrace() - Logger.e(TAG, "-- finish:\n$e"); - } finally { - map[id] = Status.FINISH - } - } - - override fun onTaskFinish(id: Int, time: Long) { - Logger.d(TAG, "地图模块下发结束采集指令 -> [$id, $time]") - if (!map.containsKey(id) || map[id] == Status.FINISH) { - Logger.w(TAG, "地图模块下发结束采集指令 -> 任务[$id]已经提前完成,无需再次请求自动驾驶模块结束采集") - return - } - Logger.d(TAG, "地图模块下发结束采集指令 -> [$id, $time] -> 调用自动驾驶模块，结束数据采集") - listeners.forEach { - it.onMapCollectEnd(id, time) - } - } - - override fun onTaskStart(id: Int, time: Long) { - Logger.d(TAG, "地图模块下发开始采集指令 -> [$id, $time]") - map[id] = Status.INIT - listeners.forEach { - it.onMapCollectStart(id, time) - } - map[id] = Status.START - } - - - override fun onLocationChanged(location: MogoLocation?) { - location ?: return - executor.get()?.onMapChange( - location.longitude, - location.latitude, - location.bearing, - location.speed, - location.provider == "GPS_SELF") - } - - - private fun isInValidStatus(): Boolean { - if (map.isEmpty()) { - return true - } - val iterator = map.iterator() - while (iterator.hasNext()) { - val next = iterator.next() - if (next.value == Status.FINISH) { - iterator.remove() - } - } - if (map.filter { it.value == Status.START }.isEmpty()) { - return true - } - return false - } - - override fun onTokenGot(token: String?, sn: String?) { - Logger.d(TAG, "-- onTokenGot --> $sn") - sn?.let { - executor.get()?.setCarSn(it) - } - } - - override fun onError(code: Int, msg: String?) = Unit - - private sealed class Status { - object INIT : Status() //初始状态 - object START : Status() //开始状态 - object FINISH : Status() //完成状态 - } -} \ No newline at end of file diff --git a/core/mogo-core-data/src/main/java/com/mogo/eagle/core/data/constants/MogoServicePaths.java b/core/mogo-core-data/src/main/java/com/mogo/eagle/core/data/constants/MogoServicePaths.java index 9e910c1789..aee937489f 100644 --- a/core/mogo-core-data/src/main/java/com/mogo/eagle/core/data/constants/MogoServicePaths.java +++ b/core/mogo-core-data/src/main/java/com/mogo/eagle/core/data/constants/MogoServicePaths.java @@ -268,10 +268,4 @@ public class MogoServicePaths { @Keep @Deprecated public static final String PATH_DEVA_TOOLS = "/deva/tools"; - - /** - * 地图数据更新输助类 - */ - @Keep - public static final String PATH_MAP_DATA_COLLECT_PROVIDER = "/map_x/collect"; } diff --git a/core/mogo-core-function-api/src/main/java/com/mogo/eagle/core/function/api/autopilot/IMoGoAutopilotProvider.kt b/core/mogo-core-function-api/src/main/java/com/mogo/eagle/core/function/api/autopilot/IMoGoAutopilotProvider.kt index b3d0d87a23..34f2103554 100644 --- a/core/mogo-core-function-api/src/main/java/com/mogo/eagle/core/function/api/autopilot/IMoGoAutopilotProvider.kt +++ b/core/mogo-core-function-api/src/main/java/com/mogo/eagle/core/function/api/autopilot/IMoGoAutopilotProvider.kt @@ -41,33 +41,6 @@ interface IMoGoAutopilotProvider : IMoGoFunctionServerProvider { */ fun recordPackage(): Boolean - /** - * 开启域控制器录制bag包 - * - * @return true-成功,false-失败 - * @param type 录制类型 1: badcase 2:map 3:rests - * @param id 指令/任务 ID - */ - fun recordPackage(type: Int, id: Int): Boolean - - /** - * 开启域控制器录制bag包 - * - * @return true-成功,false-失败 - * @param type 录制类型 1: badcase 2:map 3:rests - * @param id 指令/任务 ID - * @param duration 录制时长 - */ - fun recordPackage(type: Int, id: Int, duration: Int): Boolean - - /** - * 结束录制 - * @param type 录制类型 1: badcase 2:map 3:rests - * @param id 指令/任务 ID - * @return true: 成功; false 失败 - */ - fun stopRecord(type: Int, id: Int): Boolean - /** * Log 是否显示 * diff --git a/core/mogo-core-function-api/src/main/java/com/mogo/eagle/core/function/api/map/collect/IMoGoMapDataCollectProvider.kt b/core/mogo-core-function-api/src/main/java/com/mogo/eagle/core/function/api/map/collect/IMoGoMapDataCollectProvider.kt deleted file mode 100644 index 8172294b0c..0000000000 --- a/core/mogo-core-function-api/src/main/java/com/mogo/eagle/core/function/api/map/collect/IMoGoMapDataCollectProvider.kt +++ /dev/null @@ -1,43 +0,0 @@ -package com.mogo.eagle.core.function.api.map.collect - -import com.mogo.eagle.core.function.api.base.IMoGoFunctionServerProvider - -/** - * @author renwj - * @date 2021/11/10 10:00 上午 - * 此类主要用来同步自动驾驶定位信息给各业务方 - */ -interface IMoGoMapDataCollectProvider: IMoGoFunctionServerProvider { - - /** - * 注册地图组下发收集数据任务指令监听，通知自动驾驶模块开始数据采集 - */ - fun registerOnMapCollectTaskListener(listener: OnMapCollectCmdListener?) - - /** - * 移除任务指令监听 - */ - fun unRegisterOnMapCollectTaskListener(listener: OnMapCollectCmdListener?) - - /** - * 此接口是自动驾驶模块使用，用于把自动驾驶模块收集的数据给地图组 - */ - fun finish(id: Int, state: Int, gpsPath: String, videoPath: String, reason: String) - - interface OnMapCollectCmdListener { - - /** - * 地图组下发地图数据收集开始指令 - * @param cmdId 指令ID - * @param cmdTime 指令下发时间 - */ - fun onMapCollectStart(cmdId: Int, cmdTime: Long) - - /** - * 地图组下发地图数据收集结束指令 - * @param cmdId 指令ID - * @param cmdTime 指令下发时间 - */ - fun onMapCollectEnd(cmdId: Int, cmdTime: Long) - } -} \ No newline at end of file diff --git a/core/mogo-core-function-call/src/main/java/com/mogo/eagle/core/function/call/autopilot/CallerAutoPilotManager.kt b/core/mogo-core-function-call/src/main/java/com/mogo/eagle/core/function/call/autopilot/CallerAutoPilotManager.kt index 901c127c52..0279c39f2f 100644 --- a/core/mogo-core-function-call/src/main/java/com/mogo/eagle/core/function/call/autopilot/CallerAutoPilotManager.kt +++ b/core/mogo-core-function-call/src/main/java/com/mogo/eagle/core/function/call/autopilot/CallerAutoPilotManager.kt @@ -1,12 +1,9 @@ package com.mogo.eagle.core.function.call.autopilot -import android.os.SystemClock import com.mogo.eagle.core.data.autopilot.AutopilotControlParameters import com.mogo.eagle.core.data.constants.MogoServicePaths import com.mogo.eagle.core.function.api.autopilot.IMoGoAutopilotProvider import com.mogo.eagle.core.function.call.base.CallerBase -import com.mogo.eagle.core.utilcode.util.LogUtils -import kotlin.random.Random /** *@author xiaoyuzhou @@ -63,15 +60,7 @@ object CallerAutoPilotManager { * 开启域控制器录制bag包 */ fun recordPackage() { - providerApi?.recordPackage(1, Random(SystemClock.elapsedRealtime()).nextInt()) - } - - fun recordPackage(type: Int, id: Int) { - providerApi?.recordPackage(type, id) - } - - fun recordPackage(type: Int, id: Int, duration: Int) { - providerApi?.recordPackage(type, id, duration) + providerApi?.recordPackage() } fun setEnableLog(isEnableLog: Boolean) { diff --git a/core/mogo-core-function-call/src/main/java/com/mogo/eagle/core/function/call/map/CallerMapDataCollectorManager.kt b/core/mogo-core-function-call/src/main/java/com/mogo/eagle/core/function/call/map/CallerMapDataCollectorManager.kt deleted file mode 100644 index 86cb4dc777..0000000000 --- a/core/mogo-core-function-call/src/main/java/com/mogo/eagle/core/function/call/map/CallerMapDataCollectorManager.kt +++ /dev/null @@ -1,29 +0,0 @@ -package com.mogo.eagle.core.function.call.map - -import com.mogo.eagle.core.data.constants.MogoServicePaths.PATH_MAP_DATA_COLLECT_PROVIDER -import com.mogo.eagle.core.function.api.map.collect.IMoGoMapDataCollectProvider -import com.mogo.eagle.core.function.call.base.CallerBase - -/** - * @author renwj - * @date 2021/11/10 10:30 上午 - * 此类主要提供给各业务方使用，便于业务层管理数据收集 - */ -object CallerMapDataCollectorManager { - - private val provider: IMoGoMapDataCollectProvider? by lazy { - CallerBase.getApiInstance(IMoGoMapDataCollectProvider::class.java, PATH_MAP_DATA_COLLECT_PROVIDER) - } - - fun registerOnMapCollectTaskListener(listener: IMoGoMapDataCollectProvider.OnMapCollectCmdListener?) { - provider?.registerOnMapCollectTaskListener(listener) - } - - fun unRegisterOnMapCollectTaskListener(listener: IMoGoMapDataCollectProvider.OnMapCollectCmdListener?) { - provider?.unRegisterOnMapCollectTaskListener(listener) - } - - fun finish(id: Int, state: Int, gpsPath: String, videoPath: String, reason: String) { - provider?.finish(id, state, gpsPath, videoPath, reason) - } -} \ No newline at end of file diff --git a/gradle.properties b/gradle.properties index 797e015c01..1f55a98e33 100644 --- a/gradle.properties +++ b/gradle.properties @@ -81,7 +81,6 @@ MOGO_LOCATION_VERSION=1.3.18 ######## MogoAiCloudSDK Version ######## # 自研地图 MAP_SDK_VERSION=2.0.0.24 -MAP_SDK_OPERATION_VERSION=1.0.11 # websocket WEBSOCKET_VERSION=1.1.7 ## 产品库必备配置，产品库自动对versionCode和versionName版本进行升级 From e53be1817b2d65a97cd7ea1f5cd0adf5aa21a688 Mon Sep 17 00:00:00 2001 From: renwj Date: Tue, 15 Feb 2022 19:37:01 +0800 Subject: [PATCH 6/9] =?UTF-8?q?[Fix][Kotlin=E5=8D=8F=E7=A8=8B]=E4=BF=AE?= =?UTF-8?q?=E6=AD=A3StackOverFlow-[https://github.com/Kotlin/kotlinx.corou?= =?UTF-8?q?tines/issues/2371]?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- config.gradle | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/config.gradle b/config.gradle index 0908e296e0..5af81c5047 100644 --- a/config.gradle +++ b/config.gradle @@ -99,8 +99,8 @@ ext { videoprocessor : "com.zhidao.video:video-processor:1.0.2.1", livesdk : "com.tencent.liteavsdk:LiteAVSDK_Smart:7.4.9211", - coroutinescore : "org.jetbrains.kotlinx:kotlinx-coroutines-core:1.3.3", - coroutinesandroid : "org.jetbrains.kotlinx:kotlinx-coroutines-android:1.3.3", + coroutinescore : "org.jetbrains.kotlinx:kotlinx-coroutines-core:1.4.2", + coroutinesandroid : "org.jetbrains.kotlinx:kotlinx-coroutines-android:1.4.2", aspectj : "org.aspectj:aspectjrt:1.8.9", From 3dbdb6cddbe3b6d8832c4fc2cca82b57ba4afcb7 Mon Sep 17 00:00:00 2001 From: renwj Date: Tue, 15 Feb 2022 19:38:10 +0800 Subject: [PATCH 7/9] =?UTF-8?q?[MapDataUpdate]=E9=AB=98=E7=B2=BE=E5=9C=B0?= =?UTF-8?q?=E5=9B=BE=E6=95=B0=E6=8D=AE=E9=87=87=E9=9B=86=E4=BB=A3=E7=A0=81?= =?UTF-8?q?=E6=8F=90=E4=BA=A4?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- config.gradle | 1 + .../autopilot/MoGoAutopilotProvider.kt | 29 ++- .../function/main/MainMoGoApplication.java | 3 + .../mogo-core-function-map/build.gradle | 2 +- .../collect/MoGoMapDataCollectProvider.kt | 175 ++++++++++++++++++ .../core/data/constants/MogoServicePaths.java | 6 + .../api/autopilot/IMoGoAutopilotProvider.kt | 27 +++ .../collect/IMoGoMapDataCollectProvider.kt | 43 +++++ .../call/autopilot/CallerAutoPilotManager.kt | 13 +- .../call/map/CallerMapDataCollectorManager.kt | 29 +++ gradle.properties | 1 + 11 files changed, 325 insertions(+), 4 deletions(-) create mode 100644 core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/impl/collect/MoGoMapDataCollectProvider.kt create mode 100644 core/mogo-core-function-api/src/main/java/com/mogo/eagle/core/function/api/map/collect/IMoGoMapDataCollectProvider.kt create mode 100644 core/mogo-core-function-call/src/main/java/com/mogo/eagle/core/function/call/map/CallerMapDataCollectorManager.kt diff --git a/config.gradle b/config.gradle index 5af81c5047..fd0958357f 100644 --- a/config.gradle +++ b/config.gradle @@ -147,6 +147,7 @@ ext { mogomap : "com.mogo.map:mogo-map:${MOGO_MAP_VERSION}", mogomapapi : "com.mogo.map:mogo-map-api:${MOGO_MAP_API_VERSION}", mogocustommap : "com.zhidaoauto.machine:map:${MAP_SDK_VERSION}", + mogocustommapoperational : "com.zhidaoauto.map:operational:${MAP_SDK_OPERATION_VERSION}", modulecommon : "com.mogo.module:module-common:${MOGO_MODULE_COMMON_VERSION}", modulemain : "com.mogo.module:module-main:${MOGO_MODULE_MAIN_VERSION}", diff --git a/core/function-impl/mogo-core-function-autopilot/src/main/java/com/mogo/eagle/core/function/autopilot/MoGoAutopilotProvider.kt b/core/function-impl/mogo-core-function-autopilot/src/main/java/com/mogo/eagle/core/function/autopilot/MoGoAutopilotProvider.kt index 5374aba1d1..03c696fb01 100644 --- a/core/function-impl/mogo-core-function-autopilot/src/main/java/com/mogo/eagle/core/function/autopilot/MoGoAutopilotProvider.kt +++ b/core/function-impl/mogo-core-function-autopilot/src/main/java/com/mogo/eagle/core/function/autopilot/MoGoAutopilotProvider.kt @@ -10,10 +10,12 @@ 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.function.api.autopilot.IMoGoAutopilotProvider +import com.mogo.eagle.core.function.api.map.collect.IMoGoMapDataCollectProvider import com.mogo.eagle.core.function.autopilot.adapter.MoGoAdasListenerImpl import com.mogo.eagle.core.function.autopilot.adapter.MoGoAdasMsgConnectStatusListenerImpl import com.mogo.eagle.core.function.autopilot.adapter.MoGoHandAdasMsgManager import com.mogo.eagle.core.function.autopilot.server.AsyncDataToAutopilotServer +import com.mogo.eagle.core.function.call.map.CallerMapDataCollectorManager import com.mogo.eagle.core.utilcode.mogo.logger.Logger import com.mogo.eagle.core.utilcode.mogo.storage.SharedPrefsMgr import com.mogo.eagle.core.utilcode.util.GsonUtils @@ -30,7 +32,7 @@ import java.util.concurrent.TimeUnit */ @Route(path = MogoServicePaths.PATH_AUTO_PILOT) class MoGoAutopilotProvider : - IMoGoAutopilotProvider { + IMoGoAutopilotProvider, IMoGoMapDataCollectProvider.OnMapCollectCmdListener { private val TAG = "MoGoAutoPilotProvider" private var mContext: Context? = null @@ -60,6 +62,7 @@ class MoGoAutopilotProvider : AdasManager.getInstance().setOnAdasListener(MoGoAdasListenerImpl()) // 同步数据给工控机的服务 AsyncDataToAutopilotServer.INSTANCE.initServer() + CallerMapDataCollectorManager.registerOnMapCollectTaskListener(this) } /** @@ -89,6 +92,16 @@ class MoGoAutopilotProvider : }, 1000, TimeUnit.MILLISECONDS) } + override fun onMapCollectStart(cmdId: Int, cmdTime: Long) { + val result = recordPackage(2, cmdId) + Logger.d(TAG, "开始记录包: [$cmdId, $result]") + } + + override fun onMapCollectEnd(cmdId: Int, cmdTime: Long) { + val result = stopRecord(2, cmdId) + Logger.d(TAG, "结束记录包: [$cmdId, $result]") + } + override fun startAutoPilot(result: AutopilotControlParameters) { if (AdasManager.getInstance().isSocketConnect) { val parameter = AutopilotControlCmdParameter("aiCloudToStartAutopilot", result) @@ -115,6 +128,18 @@ class MoGoAutopilotProvider : .recordPackage(1, (System.currentTimeMillis() / 1000).toInt()) } + override fun recordPackage(type: Int, id: Int): Boolean { + return AdasManager.getInstance().recordPackage(type, id) + } + + override fun recordPackage(type: Int, id: Int, duration: Int): Boolean { + return AdasManager.getInstance().recordPackage(type, id, duration) + } + + override fun stopRecord(type: Int, id: Int): Boolean { + return AdasManager.getInstance().stopRecord(type, id) + } + override fun setEnableLog(isEnableLog: Boolean) { CupidLogUtils.setEnableLog(isEnableLog) } @@ -124,7 +149,7 @@ class MoGoAutopilotProvider : } override fun onDestroy() { - + CallerMapDataCollectorManager.unRegisterOnMapCollectTaskListener(this) } override fun setAutoPilotSpeed(speed: Int): Boolean { diff --git a/core/function-impl/mogo-core-function-main/src/main/java/com/mogo/eagle/core/function/main/MainMoGoApplication.java b/core/function-impl/mogo-core-function-main/src/main/java/com/mogo/eagle/core/function/main/MainMoGoApplication.java index 5c3941ac6d..1cc069f33e 100644 --- a/core/function-impl/mogo-core-function-main/src/main/java/com/mogo/eagle/core/function/main/MainMoGoApplication.java +++ b/core/function-impl/mogo-core-function-main/src/main/java/com/mogo/eagle/core/function/main/MainMoGoApplication.java @@ -329,6 +329,9 @@ public abstract class MainMoGoApplication extends AbsMogoApplication { // 推送模块 MogoModulePaths.addModule(new MogoModule(PushUIConstants.PATH, "PUSH_UI")); + // 地图数据收集模块 + MogoModulePaths.addModuleFunctionServer(new MogoModule(MogoServicePaths.PATH_MAP_DATA_COLLECT_PROVIDER, "MoGoMapDataCollector")); + if (!DebugConfig.isLauncher()) { PersistentManager .getInstance().initManager(this); diff --git a/core/function-impl/mogo-core-function-map/build.gradle b/core/function-impl/mogo-core-function-map/build.gradle index cc7eeed20f..7600662cfe 100644 --- a/core/function-impl/mogo-core-function-map/build.gradle +++ b/core/function-impl/mogo-core-function-map/build.gradle @@ -51,7 +51,7 @@ dependencies { kapt rootProject.ext.dependencies.aroutercompiler implementation rootProject.ext.dependencies.adasHigh - + implementation rootProject.ext.dependencies.mogocustommapoperational if (Boolean.valueOf(USE_MAVEN_PACKAGE)) { implementation rootProject.ext.dependencies.mogoserviceapi implementation rootProject.ext.dependencies.modulecommon diff --git a/core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/impl/collect/MoGoMapDataCollectProvider.kt b/core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/impl/collect/MoGoMapDataCollectProvider.kt new file mode 100644 index 0000000000..6d1604610a --- /dev/null +++ b/core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/impl/collect/MoGoMapDataCollectProvider.kt @@ -0,0 +1,175 @@ +package com.mogo.eagle.core.function.impl.collect + +import android.content.Context +import android.text.TextUtils +import com.alibaba.android.arouter.facade.annotation.Route +import com.mogo.cloud.passport.IMoGoTokenCallback +import com.mogo.cloud.passport.MoGoAiCloudClient +import com.mogo.cloud.passport.MoGoAiCloudClientConfig +import com.mogo.eagle.core.data.constants.MogoServicePaths +import com.mogo.eagle.core.data.map.MogoLocation +import com.mogo.eagle.core.function.api.map.collect.IMoGoMapDataCollectProvider +import com.mogo.eagle.core.function.api.map.listener.IMoGoMapLocationListener +import com.mogo.eagle.core.function.call.map.CallerMapLocationListenerManager +import com.mogo.eagle.core.utilcode.mogo.logger.Logger +import com.zhidaoauto.map.operational.MapCollectionTaskRecive +import com.zhidaoauto.map.operational.abs.OnTaskListener +import java.util.concurrent.ConcurrentHashMap +import java.util.concurrent.CopyOnWriteArrayList +import java.util.concurrent.atomic.AtomicReference + +@Route(path = MogoServicePaths.PATH_MAP_DATA_COLLECT_PROVIDER) +class MoGoMapDataCollectProvider : IMoGoMapDataCollectProvider, OnTaskListener, IMoGoMapLocationListener, IMoGoTokenCallback { + + companion object { + const val TAG = "MoGoMapDataCollect" + } + + private val executor by lazy { + AtomicReference(null) + } + + private val listeners by lazy { + CopyOnWriteArrayList() + } + + private val map: MutableMap by lazy { + ConcurrentHashMap() + } + + override val functionName: String = TAG + + override fun init(context: Context?) { + CallerMapLocationListenerManager.addListener(functionName, this) + executor.set(context?.let { MapCollectionTaskRecive(it) }) + executor.get()?.setOnTaskListener(this) + val carSn = MoGoAiCloudClientConfig.getInstance().sn + if (!TextUtils.isEmpty(carSn)) { + executor.get()?.setCarSn(carSn) + } + MoGoAiCloudClient.getInstance().addTokenCallbacks(this) + Logger.d(TAG, "--------- init --------") + Logger.d(TAG, "executor: ${ executor.get()?.hashCode() ?: 0 }") + } + + override fun onDestroy() { + CallerMapLocationListenerManager.removeListener(TAG) + Logger.d(TAG, "--------- onDestroy --------") + executor.get()?.let { + it.setOnTaskListener(null) + it.destory() + } + listeners.clear() + map.clear() + } + + override fun registerOnMapCollectTaskListener(listener: IMoGoMapDataCollectProvider.OnMapCollectCmdListener?) { + Logger.d(TAG, "--------- registerOnMapCollectTaskListener --------") + listener ?: return + if (listeners.contains(listener)) { + return + } + listeners += listener + } + + override fun unRegisterOnMapCollectTaskListener(listener: IMoGoMapDataCollectProvider.OnMapCollectCmdListener?) { + Logger.d(TAG, "--------- unRegisterOnMapCollectTaskListener --------") + listener ?: return + if (!listeners.contains(listener)) { + return + } + listeners.remove(listener) + } + + override fun finish( + id: Int, + state: Int, + gpsPath: String, + videoPath: String, + reason: String + ) { + Logger.d(TAG, "-- finish:[$id, $state, $gpsPath, $videoPath, $reason]") + try { + if (isInValidStatus()) { + Logger.w(TAG, "-- finish: 状态无效") + return + } + if (!map.containsKey(id)) { + Logger.w(TAG, "-- finish: 无相关指令") + return + } + Logger.d(TAG, "-- finish: 结束任务[$id]") + executor.get()?.finishTask(id, state, gpsPath, videoPath, reason) + } catch (e : Throwable) { + e.printStackTrace() + Logger.e(TAG, "-- finish:\n$e"); + } finally { + map[id] = Status.FINISH + } + } + + override fun onTaskFinish(id: Int, time: Long) { + Logger.d(TAG, "地图模块下发结束采集指令 -> [$id, $time]") + if (!map.containsKey(id) || map[id] == Status.FINISH) { + Logger.w(TAG, "地图模块下发结束采集指令 -> 任务[$id]已经提前完成,无需再次请求自动驾驶模块结束采集") + return + } + Logger.d(TAG, "地图模块下发结束采集指令 -> [$id, $time] -> 调用自动驾驶模块，结束数据采集") + listeners.forEach { + it.onMapCollectEnd(id, time) + } + } + + override fun onTaskStart(id: Int, time: Long) { + Logger.d(TAG, "地图模块下发开始采集指令 -> [$id, $time]") + map[id] = Status.INIT + listeners.forEach { + it.onMapCollectStart(id, time) + } + map[id] = Status.START + } + + + override fun onLocationChanged(location: MogoLocation?) { + location ?: return + executor.get()?.onMapChange( + location.longitude, + location.latitude, + location.bearing, + location.speed, + location.provider == "GPS_SELF") + } + + + private fun isInValidStatus(): Boolean { + if (map.isEmpty()) { + return true + } + val iterator = map.iterator() + while (iterator.hasNext()) { + val next = iterator.next() + if (next.value == Status.FINISH) { + iterator.remove() + } + } + if (map.filter { it.value == Status.START }.isEmpty()) { + return true + } + return false + } + + override fun onTokenGot(token: String?, sn: String?) { + Logger.d(TAG, "-- onTokenGot --> $sn") + sn?.let { + executor.get()?.setCarSn(it) + } + } + + override fun onError(code: Int, msg: String?) = Unit + + private sealed class Status { + object INIT : Status() //初始状态 + object START : Status() //开始状态 + object FINISH : Status() //完成状态 + } +} \ No newline at end of file diff --git a/core/mogo-core-data/src/main/java/com/mogo/eagle/core/data/constants/MogoServicePaths.java b/core/mogo-core-data/src/main/java/com/mogo/eagle/core/data/constants/MogoServicePaths.java index aee937489f..9e910c1789 100644 --- a/core/mogo-core-data/src/main/java/com/mogo/eagle/core/data/constants/MogoServicePaths.java +++ b/core/mogo-core-data/src/main/java/com/mogo/eagle/core/data/constants/MogoServicePaths.java @@ -268,4 +268,10 @@ public class MogoServicePaths { @Keep @Deprecated public static final String PATH_DEVA_TOOLS = "/deva/tools"; + + /** + * 地图数据更新输助类 + */ + @Keep + public static final String PATH_MAP_DATA_COLLECT_PROVIDER = "/map_x/collect"; } diff --git a/core/mogo-core-function-api/src/main/java/com/mogo/eagle/core/function/api/autopilot/IMoGoAutopilotProvider.kt b/core/mogo-core-function-api/src/main/java/com/mogo/eagle/core/function/api/autopilot/IMoGoAutopilotProvider.kt index 34f2103554..b3d0d87a23 100644 --- a/core/mogo-core-function-api/src/main/java/com/mogo/eagle/core/function/api/autopilot/IMoGoAutopilotProvider.kt +++ b/core/mogo-core-function-api/src/main/java/com/mogo/eagle/core/function/api/autopilot/IMoGoAutopilotProvider.kt @@ -41,6 +41,33 @@ interface IMoGoAutopilotProvider : IMoGoFunctionServerProvider { */ fun recordPackage(): Boolean + /** + * 开启域控制器录制bag包 + * + * @return true-成功,false-失败 + * @param type 录制类型 1: badcase 2:map 3:rests + * @param id 指令/任务 ID + */ + fun recordPackage(type: Int, id: Int): Boolean + + /** + * 开启域控制器录制bag包 + * + * @return true-成功,false-失败 + * @param type 录制类型 1: badcase 2:map 3:rests + * @param id 指令/任务 ID + * @param duration 录制时长 + */ + fun recordPackage(type: Int, id: Int, duration: Int): Boolean + + /** + * 结束录制 + * @param type 录制类型 1: badcase 2:map 3:rests + * @param id 指令/任务 ID + * @return true: 成功; false 失败 + */ + fun stopRecord(type: Int, id: Int): Boolean + /** * Log 是否显示 * diff --git a/core/mogo-core-function-api/src/main/java/com/mogo/eagle/core/function/api/map/collect/IMoGoMapDataCollectProvider.kt b/core/mogo-core-function-api/src/main/java/com/mogo/eagle/core/function/api/map/collect/IMoGoMapDataCollectProvider.kt new file mode 100644 index 0000000000..8172294b0c --- /dev/null +++ b/core/mogo-core-function-api/src/main/java/com/mogo/eagle/core/function/api/map/collect/IMoGoMapDataCollectProvider.kt @@ -0,0 +1,43 @@ +package com.mogo.eagle.core.function.api.map.collect + +import com.mogo.eagle.core.function.api.base.IMoGoFunctionServerProvider + +/** + * @author renwj + * @date 2021/11/10 10:00 上午 + * 此类主要用来同步自动驾驶定位信息给各业务方 + */ +interface IMoGoMapDataCollectProvider: IMoGoFunctionServerProvider { + + /** + * 注册地图组下发收集数据任务指令监听，通知自动驾驶模块开始数据采集 + */ + fun registerOnMapCollectTaskListener(listener: OnMapCollectCmdListener?) + + /** + * 移除任务指令监听 + */ + fun unRegisterOnMapCollectTaskListener(listener: OnMapCollectCmdListener?) + + /** + * 此接口是自动驾驶模块使用，用于把自动驾驶模块收集的数据给地图组 + */ + fun finish(id: Int, state: Int, gpsPath: String, videoPath: String, reason: String) + + interface OnMapCollectCmdListener { + + /** + * 地图组下发地图数据收集开始指令 + * @param cmdId 指令ID + * @param cmdTime 指令下发时间 + */ + fun onMapCollectStart(cmdId: Int, cmdTime: Long) + + /** + * 地图组下发地图数据收集结束指令 + * @param cmdId 指令ID + * @param cmdTime 指令下发时间 + */ + fun onMapCollectEnd(cmdId: Int, cmdTime: Long) + } +} \ No newline at end of file diff --git a/core/mogo-core-function-call/src/main/java/com/mogo/eagle/core/function/call/autopilot/CallerAutoPilotManager.kt b/core/mogo-core-function-call/src/main/java/com/mogo/eagle/core/function/call/autopilot/CallerAutoPilotManager.kt index 0279c39f2f..901c127c52 100644 --- a/core/mogo-core-function-call/src/main/java/com/mogo/eagle/core/function/call/autopilot/CallerAutoPilotManager.kt +++ b/core/mogo-core-function-call/src/main/java/com/mogo/eagle/core/function/call/autopilot/CallerAutoPilotManager.kt @@ -1,9 +1,12 @@ package com.mogo.eagle.core.function.call.autopilot +import android.os.SystemClock import com.mogo.eagle.core.data.autopilot.AutopilotControlParameters import com.mogo.eagle.core.data.constants.MogoServicePaths import com.mogo.eagle.core.function.api.autopilot.IMoGoAutopilotProvider import com.mogo.eagle.core.function.call.base.CallerBase +import com.mogo.eagle.core.utilcode.util.LogUtils +import kotlin.random.Random /** *@author xiaoyuzhou @@ -60,7 +63,15 @@ object CallerAutoPilotManager { * 开启域控制器录制bag包 */ fun recordPackage() { - providerApi?.recordPackage() + providerApi?.recordPackage(1, Random(SystemClock.elapsedRealtime()).nextInt()) + } + + fun recordPackage(type: Int, id: Int) { + providerApi?.recordPackage(type, id) + } + + fun recordPackage(type: Int, id: Int, duration: Int) { + providerApi?.recordPackage(type, id, duration) } fun setEnableLog(isEnableLog: Boolean) { diff --git a/core/mogo-core-function-call/src/main/java/com/mogo/eagle/core/function/call/map/CallerMapDataCollectorManager.kt b/core/mogo-core-function-call/src/main/java/com/mogo/eagle/core/function/call/map/CallerMapDataCollectorManager.kt new file mode 100644 index 0000000000..86cb4dc777 --- /dev/null +++ b/core/mogo-core-function-call/src/main/java/com/mogo/eagle/core/function/call/map/CallerMapDataCollectorManager.kt @@ -0,0 +1,29 @@ +package com.mogo.eagle.core.function.call.map + +import com.mogo.eagle.core.data.constants.MogoServicePaths.PATH_MAP_DATA_COLLECT_PROVIDER +import com.mogo.eagle.core.function.api.map.collect.IMoGoMapDataCollectProvider +import com.mogo.eagle.core.function.call.base.CallerBase + +/** + * @author renwj + * @date 2021/11/10 10:30 上午 + * 此类主要提供给各业务方使用，便于业务层管理数据收集 + */ +object CallerMapDataCollectorManager { + + private val provider: IMoGoMapDataCollectProvider? by lazy { + CallerBase.getApiInstance(IMoGoMapDataCollectProvider::class.java, PATH_MAP_DATA_COLLECT_PROVIDER) + } + + fun registerOnMapCollectTaskListener(listener: IMoGoMapDataCollectProvider.OnMapCollectCmdListener?) { + provider?.registerOnMapCollectTaskListener(listener) + } + + fun unRegisterOnMapCollectTaskListener(listener: IMoGoMapDataCollectProvider.OnMapCollectCmdListener?) { + provider?.unRegisterOnMapCollectTaskListener(listener) + } + + fun finish(id: Int, state: Int, gpsPath: String, videoPath: String, reason: String) { + provider?.finish(id, state, gpsPath, videoPath, reason) + } +} \ No newline at end of file diff --git a/gradle.properties b/gradle.properties index 1f55a98e33..797e015c01 100644 --- a/gradle.properties +++ b/gradle.properties @@ -81,6 +81,7 @@ MOGO_LOCATION_VERSION=1.3.18 ######## MogoAiCloudSDK Version ######## # 自研地图 MAP_SDK_VERSION=2.0.0.24 +MAP_SDK_OPERATION_VERSION=1.0.11 # websocket WEBSOCKET_VERSION=1.1.7 ## 产品库必备配置，产品库自动对versionCode和versionName版本进行升级 From 6069bd7c2d6b58994fc20ca3eee7cdef20b42c43 Mon Sep 17 00:00:00 2001 From: donghongyu Date: Tue, 15 Feb 2022 19:57:11 +0800 Subject: [PATCH 8/9] =?UTF-8?q?[Change]=20=E5=85=B3=E9=97=ADadas=E6=97=A5?= =?UTF-8?q?=E5=BF=97?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit Signed-off-by: donghongyu --- .../eagle/core/function/autopilot/MoGoAutopilotProvider.kt | 4 ++-- .../main/java/com/mogo/map/impl/custom/AMapViewWrapper.java | 3 +++ 2 files changed, 5 insertions(+), 2 deletions(-) diff --git a/core/function-impl/mogo-core-function-autopilot/src/main/java/com/mogo/eagle/core/function/autopilot/MoGoAutopilotProvider.kt b/core/function-impl/mogo-core-function-autopilot/src/main/java/com/mogo/eagle/core/function/autopilot/MoGoAutopilotProvider.kt index 5374aba1d1..d5c0ac877e 100644 --- a/core/function-impl/mogo-core-function-autopilot/src/main/java/com/mogo/eagle/core/function/autopilot/MoGoAutopilotProvider.kt +++ b/core/function-impl/mogo-core-function-autopilot/src/main/java/com/mogo/eagle/core/function/autopilot/MoGoAutopilotProvider.kt @@ -42,8 +42,8 @@ class MoGoAutopilotProvider : Logger.d(TAG, "初始化工控机连接……") mContext = context // 初始化ADAS 域控制器 - //CupidLogUtils.setEnableLog(false) - //CupidLogUtils.setIsWriteLog(false) + CupidLogUtils.setEnableLog(false) + CupidLogUtils.setIsWriteLog(false) // TODO 临时方案，根据不同的身份标识，连接不同的工控机IP when (FunctionBuildConfig.appIdentityMode) { 0 -> // 司机 diff --git a/libraries/map-custom/src/main/java/com/mogo/map/impl/custom/AMapViewWrapper.java b/libraries/map-custom/src/main/java/com/mogo/map/impl/custom/AMapViewWrapper.java index 978fcc335f..a6e0ea23b6 100644 --- a/libraries/map-custom/src/main/java/com/mogo/map/impl/custom/AMapViewWrapper.java +++ b/libraries/map-custom/src/main/java/com/mogo/map/impl/custom/AMapViewWrapper.java @@ -131,6 +131,9 @@ public class AMapViewWrapper implements IMogoMapView, //设置手势是否可以缩放 isCanZoom true 可缩放 false 不可缩放 options.setZoomGesturesEnabled(true); options.setScaleVRMode(true); +// if (options.getMyLocationStyle() != null) { +// options.getMyLocationStyle().setDisplayAnimEnable(false); +// } // 设置自车的图片对象 //options.setMyLocationStyle(options.getMyLocationStyle().myLocationIcon(DEFAULT_OPTION.getCarCursorRes())); } From 183edda70ef2bd19d749bd1e53b5a1f460c6b33d Mon Sep 17 00:00:00 2001 From: donghongyu Date: Tue, 15 Feb 2022 20:08:22 +0800 Subject: [PATCH 9/9] =?UTF-8?q?[Change]=20=E5=8D=87=E7=BA=A7=E9=AB=98?= =?UTF-8?q?=E7=B2=BE=E5=9C=B0=E5=9B=BE=E7=89=88=E6=9C=AC=EF=BC=8C=E5=8E=BB?= =?UTF-8?q?=E6=8E=89=E5=85=89=E6=B3=A2=E6=95=88=E6=9E=9C=EF=BC=8C=E5=8D=A0?= =?UTF-8?q?=E7=94=A8=E5=86=85=E5=AD=98=E8=BF=87=E5=A4=A7?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit Signed-off-by: donghongyu --- gradle.properties | 2 +- .../main/java/com/mogo/map/impl/custom/AMapViewWrapper.java | 6 +++--- 2 files changed, 4 insertions(+), 4 deletions(-) diff --git a/gradle.properties b/gradle.properties index 797e015c01..f60602ebe5 100644 --- a/gradle.properties +++ b/gradle.properties @@ -80,7 +80,7 @@ MOGO_TRAFFICLIVE_VERSION=1.3.18 MOGO_LOCATION_VERSION=1.3.18 ######## MogoAiCloudSDK Version ######## # 自研地图 -MAP_SDK_VERSION=2.0.0.24 +MAP_SDK_VERSION=2.0.1 MAP_SDK_OPERATION_VERSION=1.0.11 # websocket WEBSOCKET_VERSION=1.1.7 diff --git a/libraries/map-custom/src/main/java/com/mogo/map/impl/custom/AMapViewWrapper.java b/libraries/map-custom/src/main/java/com/mogo/map/impl/custom/AMapViewWrapper.java index a6e0ea23b6..ba15a9157a 100644 --- a/libraries/map-custom/src/main/java/com/mogo/map/impl/custom/AMapViewWrapper.java +++ b/libraries/map-custom/src/main/java/com/mogo/map/impl/custom/AMapViewWrapper.java @@ -131,9 +131,9 @@ public class AMapViewWrapper implements IMogoMapView, //设置手势是否可以缩放 isCanZoom true 可缩放 false 不可缩放 options.setZoomGesturesEnabled(true); options.setScaleVRMode(true); -// if (options.getMyLocationStyle() != null) { -// options.getMyLocationStyle().setDisplayAnimEnable(false); -// } + if (options.getMyLocationStyle() != null) { + options.getMyLocationStyle().setDisplayAnimEnable(false); + } // 设置自车的图片对象 //options.setMyLocationStyle(options.getMyLocationStyle().myLocationIcon(DEFAULT_OPTION.getCarCursorRes())); }