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Merge branch 'dev_robotaxi-d-app-module_251_220125_2.5.1' into dev_MogoAP_eagle-220_211207_8.0.17_merge

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# Conflicts:
#	core/function-impl/mogo-core-function-map/build.gradle
This commit is contained in:
donghongyu
2022-02-15 20:12:39 +08:00
parent fc732d72e5 183edda70e
commit 99a7436b07
16 changed files with 435 additions and 74 deletions
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33
core/function-impl/mogo-core-function-autopilot/src/main/java/com/mogo/eagle/core/function/autopilot/MoGoAutopilotProvider.kt
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@@ -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
@@ -41,7 +43,7 @@ import java.util.*
*/
@Route(path = MogoServicePaths.PATH_AUTO_PILOT)
class MoGoAutopilotProvider :
IMoGoAutopilotProvider {
IMoGoAutopilotProvider, IMoGoMapDataCollectProvider.OnMapCollectCmdListener {
private val TAG = "MoGoAutoPilotProvider"
private var mContext: Context? = null
@@ -53,8 +55,8 @@ 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
@@ -158,6 +160,7 @@ class MoGoAutopilotProvider :
}
// 同步数据给工控机的服务
AsyncDataToAutopilotServer.INSTANCE.initServer()
CallerMapDataCollectorManager.registerOnMapCollectTaskListener(this)
}
/**
@@ -187,6 +190,16 @@ 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)
@@ -213,6 +226,18 @@ 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)
}
@@ -222,7 +247,7 @@ class MoGoAutopilotProvider :
}
override fun onDestroy() {
CallerMapDataCollectorManager.unRegisterOnMapCollectTaskListener(this)
}
override fun setAutoPilotSpeed(speed: Int): Boolean {