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Merge branch 'dev_robotaxi-d_240807_6.6.0' into tmp_6.7.0_arrow

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This commit is contained in:
EmArrow
2024-09-05 09:43:13 +08:00
parent cbfcf6f77a 430fbe900c
commit 9d472c47d1
88 changed files with 1261 additions and 533 deletions
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19
OCH/bus/driver/src/main/java/com/mogo/och/bus/model/OrderModel.java
View File

@@ -7,6 +7,7 @@ import static com.mogo.och.bus.constant.BusConst.STATION_STATUS_STOPPED;
import android.content.Context;
import android.text.TextUtils;
import android.util.ArrayMap;
import androidx.annotation.NonNull;
import androidx.annotation.Nullable;
@@ -742,7 +743,7 @@ public class OrderModel {
if(CallerAutoPilotStatusListenerManager.INSTANCE.getState() != IMoGoAutopilotStatusListener.STATUS_AUTOPILOT_RUNNING){
// 预写日志
triggerStartServiceEvent(isRestart, false);
triggerStartServiceEvent(isRestart, false,0);
}
AutopilotControlParameters parameters = initAutopilotControlParameters(leaveIndex);
@@ -956,7 +957,17 @@ public class OrderModel {
currentTaskId = result.getTaskId();
currentLineId = result.getLineId();
String lineName = result.getName();
LineManager.setLineInfo(new LineInfo(currentLineId,lineName));
ArrayMap<String, String> objectObjectArrayMap = new ArrayMap<>();
try{
String lineTime = DateTimeUtil.formatLongToString(
busRoutesResult.getTaskTime(),
DateTimeUtil.HH_mm);
objectObjectArrayMap.put("taskInfo",lineTime);
}catch (Exception e){
OchChainLogManager.writeChainLog("设置任务名称","设置任务名称报错"+e.getStackTrace());
}
LineManager.setLineInfo(new LineInfo(currentLineId,lineName,objectObjectArrayMap));
stationList.clear();
stationList.addAll(site);
@@ -1255,14 +1266,14 @@ public class OrderModel {
LoginStatusManager.loginOut();
}
public void triggerStartServiceEvent(boolean isRestart, boolean send) {
public void triggerStartServiceEvent(boolean isRestart, boolean send,int source) {
if (backgroundCurrentStationIndex >= stationList.size() - 1) {
return;
}
BusStationBean currentStation = stationList.get(backgroundCurrentStationIndex);
BusStationBean nextStation = stationList.get(backgroundCurrentStationIndex + 1);
OchAutopilotAnalytics.INSTANCE.triggerStartAutopilotEvent(isRestart, send,
currentStation.getName(), nextStation.getName(), currentLineId,"",System.currentTimeMillis());
currentStation.getName(), nextStation.getName(), currentLineId,"",System.currentTimeMillis(),source);
}
public void triggerUpdateStartAutoPilotSessionId(long sessionId) {

10
OCH/bus/driver/src/main/java/com/mogo/och/bus/presenter/BusPresenter.java
View File

@@ -212,7 +212,7 @@ public class BusPresenter extends Presenter<BusFragment>
break;
case IMoGoAutopilotStatusListener.STATUS_AUTOPILOT_RUNNING:
OrderModel.getInstance().triggerStartServiceEvent(
OrderModel.getInstance().isRestartAutopilot(), true);
OrderModel.getInstance().isRestartAutopilot(), true,0);
// 改变UI自动驾驶状态
UiThreadHandler.post(new Runnable() {
@Override
@@ -236,6 +236,14 @@ public class BusPresenter extends Presenter<BusFragment>
}
}
@Override
public void onAutopilotStatusResponseFromCan(int state) {
if (state == IMoGoAutopilotStatusListener.STATUS_AUTOPILOT_RUNNING) {
OrderModel.getInstance().triggerStartServiceEvent(
OrderModel.getInstance().isRestartAutopilot(), true,1);
}
}
@Override
public void startOpenAutopilot() {
//非美化模式下启动动画

7
OCH/charter/driver/src/main/java/com/magic/mogo/och/charter/model/DriverM1Model.kt
View File

@@ -488,7 +488,7 @@ class DriverM1Model {
return;
}
triggerStartServiceEvent(false, false)
triggerStartServiceEvent(false, false,0)
val parameters = initAutopilotControlParameters()
if (null == parameters) {
@@ -526,7 +526,7 @@ class DriverM1Model {
LoginStatusManager.loginOut()
}
fun triggerStartServiceEvent(isRestart: Boolean, send: Boolean) {
fun triggerStartServiceEvent(isRestart: Boolean, send: Boolean,source:Int) {
if (mCurrentOrder == null) {
return
}
@@ -538,7 +538,8 @@ class DriverM1Model {
OchAutopilotAnalytics.triggerStartAutopilotEvent(
isRestart, send,
startSiteName, endSiteName, it, orderNo?:"", System.currentTimeMillis()
startSiteName, endSiteName, it, orderNo?:"", System.currentTimeMillis(),
source
)
}
}

11
OCH/charter/driver/src/main/java/com/magic/mogo/och/charter/presenter/DriverM1Presenter.kt
View File

@@ -139,7 +139,7 @@ class DriverM1Presenter(view: DriverM1Fragment?) :
//
// }
IMoGoAutopilotStatusListener.STATUS_AUTOPILOT_RUNNING ->{
DriverM1Model.get().triggerStartServiceEvent(false,true)
DriverM1Model.get().triggerStartServiceEvent(false,true,0)
}
// IMoGoAutopilotStatusListener.STATUS_AUTOPILOT_DISABLE ->{
//
@@ -150,6 +150,15 @@ class DriverM1Presenter(view: DriverM1Fragment?) :
}
}
override fun onAutopilotStatusResponseFromCan(state: Int) {
super.onAutopilotStatusResponseFromCan(state)
when(state) {
IMoGoAutopilotStatusListener.STATUS_AUTOPILOT_RUNNING -> {
DriverM1Model.get().triggerStartServiceEvent(false, true,1)
}
}
}
override fun onStartAutopilotFailure(
actionStatus: StopSideStatus,
stopSideStatus: Boolean?,

8
OCH/common/biz/src/main/java/com/mogo/och/biz/login/ui/LoginFragment.kt
View File

@@ -15,12 +15,14 @@ import com.mogo.eagle.core.utilcode.kotlin.onClick
import com.mogo.eagle.core.utilcode.mogo.logger.CallerLogger
import com.mogo.eagle.core.utilcode.mogo.logger.scene.SceneConstant
import com.mogo.eagle.core.utilcode.util.ActivityUtils
import com.mogo.eagle.core.utilcode.util.BarUtils
import com.mogo.eagle.core.utilcode.util.KeyboardUtils
import com.mogo.eagle.core.utilcode.util.ToastUtils
import com.mogo.och.biz.BuildConfig
import com.mogo.och.biz.R
import com.mogo.och.biz.login.callback.ILoginViewCallback
import com.mogo.och.biz.login.presenter.LoginPresenter
import kotlinx.android.synthetic.main.biz_login_view.bg_start_bar
import kotlinx.android.synthetic.main.biz_login_view.biz_acbtn_login
import kotlinx.android.synthetic.main.biz_login_view.biz_ace_login_phone_value
import kotlinx.android.synthetic.main.biz_login_view.biz_acet_phone_code_value
@@ -77,7 +79,11 @@ class LoginFragment : MvpFragment<LoginFragment?, LoginPresenter?>(), ILoginView
}
private fun initBg() {
bg_start_bar.post {
val params: ViewGroup.LayoutParams = bg_start_bar.getLayoutParams()
params.height = BarUtils.getStatusBarHeight()
bg_start_bar.layoutParams = params
}
}
private fun initListener() {

7
OCH/common/biz/src/main/res/layout/biz_login_view.xml
View File

@@ -23,6 +23,13 @@
android:layout_width="1071dp"
android:layout_height="wrap_content"/>
<View
android:id="@+id/bg_start_bar"
app:layout_constraintTop_toTopOf="parent"
android:background="@color/biz_login_171D2B"
android:layout_width="match_parent"
android:layout_height="@dimen/dp_72"/>
<androidx.appcompat.widget.AppCompatTextView
android:id="@+id/biz_actv_welcome_login_title"

1
OCH/common/biz/src/main/res/values/colors.xml
View File

@@ -4,5 +4,6 @@
<color name="biz_login_5F6582">#5F6582</color>
<color name="biz_login_72A7FF">#72A7FF</color>
<color name="biz_login_A0B3DA">#A0B3DA</color>
<color name="biz_login_171D2B">#171D2B</color>
</resources>

12
OCH/common/common/src/main/java/com/mogo/och/common/module/biz/login/LoginInfo.java
View File

@@ -19,6 +19,7 @@ public class LoginInfo {
private String carModel;//E70 型号
private String photos;//车身照片:
private long tenantId;//租户id:
private long driverId;
public int getDriverStatus() {
return driverStatus;
@@ -148,6 +149,14 @@ public class LoginInfo {
this.tenantId = tenantId;
}
public long getDriverId() {
return driverId;
}
public void setDriverId(long driverId) {
this.driverId = driverId;
}
@Override
public String toString() {
return "LoginInfo{" +
@@ -167,6 +176,7 @@ public class LoginInfo {
", carModel='" + carModel + '\'' +
", photos='" + photos + '\'' +
", tenantId='" + tenantId + '\'' +
", driverId='" + driverId + '\'' +
'}';
}
@@ -182,6 +192,7 @@ public class LoginInfo {
if (businessType != loginInfo.businessType) return false;
if (purpose != loginInfo.purpose) return false;
if (tenantId != loginInfo.tenantId) return false;
if (driverId != loginInfo.driverId) return false;
if (!Objects.equals(orderNo, loginInfo.orderNo))
return false;
if (!Objects.equals(sn, loginInfo.sn)) return false;
@@ -207,6 +218,7 @@ public class LoginInfo {
result = 31 * result + servingStatus;
result = 31 * result + businessType;
result = 31 * result + (int)tenantId;
result = 31 * result + (int)driverId;
result = 31 * result + (orderNo != null ? orderNo.hashCode() : 0);
result = 31 * result + purpose;
result = 31 * result + (sn != null ? sn.hashCode() : 0);

7
OCH/common/common/src/main/java/com/mogo/och/common/module/manager/autopilot/autopilot/IOchAutopilotStatusListener.java
View File

@@ -89,4 +89,11 @@ public interface IOchAutopilotStatusListener {
default void canStartAutopilot(boolean canStart) {
}
/**
* 自动驾驶状态信息 数据源来自底盘 不管是否存在FSM 都将进行底盘自驾状态的转发
*
* @param state 状态信息
*/
default void onAutopilotStatusResponseFromCan(int state) {}
}

12
OCH/common/common/src/main/java/com/mogo/och/common/module/manager/autopilot/autopilot/OchAutoPilotManager.kt
View File

@@ -54,11 +54,17 @@ object OchAutoPilotManager : IMoGoReceiveReceivedAckListener, IMoGoFsm2024Listen
fun canStartAutopilotBySessionId():Boolean{
return (globalSessionId.get()==-1L).apply {
if(!this) {
OchAutopilotAnalytics.triggerDistance2LineorStation(globalSessionId.get())
ToastUtils.showLong("自驾启动中，请勿重复点击")
OchAutopilotAnalytics.triggerCanStartAutopilotBySessionId(globalSessionId.get())
}
}
}
@JvmStatic
fun canStartAutopilotBySessionIdInner():Boolean{
return (globalSessionId.get()==-1L)
}
@JvmStatic
fun canStartAutoPilotSSM(): Boolean {
if (!FunctionBuildConfig.isDemoMode && !OCHAdasAbilityManager.getInstance().autopilotAbilityStatus) {
@@ -113,9 +119,9 @@ object OchAutoPilotManager : IMoGoReceiveReceivedAckListener, IMoGoFsm2024Listen
/**
* 启动自驾失败切 FSM返回的Session和启动SessionId 不同
*/
fun checkStartSeesionAndFailSessionId(){
fun checkStartSessionAndFailSessionId(){
if(globalSessionId.get() != fsmBackSessionId.get()){
OchAutopilotAnalytics.triggerStartAutopilotFailCheckSeesiongDiff(globalSessionId.get(),
OchAutopilotAnalytics.triggerStartAutopilotFailCheckSessionDiff(globalSessionId.get(),
fsmBackSessionId.get())
}
}

5
OCH/common/common/src/main/java/com/mogo/och/common/module/manager/autopilot/autopilot/OchAutoPilotStatusListenerManager.kt
View File

@@ -180,6 +180,9 @@ object OchAutoPilotStatusListenerManager : CallerBase<IOchAutopilotStatusListene
override fun onAutopilotStatusResponseFromCan(state: Int) {
super.onAutopilotStatusResponseFromCan(state)
M_LISTENERS.forEach {
val listener = it.value
listener.onAutopilotStatusResponseFromCan(state)
}
}
}

40
OCH/common/common/src/main/java/com/mogo/och/common/module/manager/autopilot/autopilot/OchAutopilotAnalytics.kt
View File

@@ -29,6 +29,7 @@ object OchAutopilotAnalytics {
private const val EVENT_PARAM_MAP_ORIGINAL_DATA = "map_original_data" // 域控原始状态信息
private const val EVENT_PARAM_AUTOPILOT_STATE = "autopilot_state" //原始的自动驾驶状态
private const val EVENT_PARAM_START_RESULT = "start_autopilot" // true/false
private const val EVENT_PARAM_START_RESULT_SOURCE = "start_autopilot_source" // true/false
private const val EVENT_PARAM_START_FAILURE_CODE = "start_autopilot_failure_code" // 启动自驾失败code
private const val EVENT_PARAM_START_FAILURE_MSG = "start_autopilot_failure_msg" // 启动自驾失败原因
private const val EVENT_PARAM_START_AUTOPILOT_SESSION_ID = "start_autopilot_cmd_session_id" //启动自驾命令请求的sessionId
@@ -41,7 +42,11 @@ object OchAutopilotAnalytics {
private const val EVENT_PARAM_START_AUTOPILOT_ACK_SUCCESS= "start_autopilot_parameters_ack_isSuccess" // 启动自驾参数
private const val EVENT_KEY_INFO_AUTOPILOT_DISTANCE = "event_key_vehicle_start_autopilot_state_distance_15"
private const val EVENT_KEY_INFO_AUTOPILOT_SESSION = "event_key_vehicle_start_autopilot_state_sessiong"
private const val EVENT_KEY_VEHICLE_START_AUTOPILOT_CMD_SESSION_DUPLICATED = "event_key_vehicle_start_autopilot_cmd_session_duplicated"
private const val EVENT_KEY_VEHICLE_START_AUTOPILOT_CMD_SESSION_DIFF = "event_key_vehicle_start_autopilot_cmd_session_diff"
private const val EVENT_PARAM_VEHICLE_START_AUTOPILOT_CMD_SESSION_ID_START = "cmd_session_id_start"
private const val EVENT_PARAM_VEHICLE_START_AUTOPILOT_CMD_SESSION_ID_FSM_RETURN = "cmd_session_id_fsm_return"
private val LOOP_PERIOD_15S = 15 * 1000L
@@ -89,23 +94,25 @@ object OchAutopilotAnalytics {
/**
* 等待底盘返回的间隙 重复启动自驾
*/
fun triggerDistance2LineorStation(globalSessionId : Long){
fun triggerCanStartAutopilotBySessionId(globalSessionId : Long){
val map = hashMapOf<String, Any>()
map[EVENT_PARAM_AUTOPILOTANALYTICS_GROUP] = EVENT_PARAM_AUTOPILOTANALYTICS_GROUP
OchChainLogManager.writeChainLog("启动自驾Sessiong判断","已有globalSessionId:${globalSessionId}", eventID = EVENT_KEY_INFO_AUTOPILOT_SESSION, patch = map)
OchChainLogManager.writeChainLog("启动自驾Session判断","已有globalSessionId:${globalSessionId}", eventID = EVENT_KEY_VEHICLE_START_AUTOPILOT_CMD_SESSION_DUPLICATED, patch = map)
}
/**
* 等待底盘返回的间隙 重复启动自驾
* 启动失败后 对比两个session是否相同
*/
fun triggerStartAutopilotFailCheckSeesiongDiff(globalSessionId: Long, fsmBackSessionId: Long){
fun triggerStartAutopilotFailCheckSessionDiff(globalSessionId: Long, fsmBackSessionId: Long){
val map = hashMapOf<String, Any>()
map[EVENT_PARAM_AUTOPILOTANALYTICS_GROUP] = EVENT_PARAM_AUTOPILOTANALYTICS_GROUP
OchChainLogManager.writeChainLog("启动自驾失败且SessionId不同","globalSessionId:${globalSessionId}——————fsmBackSessionId:${fsmBackSessionId}", eventID = EVENT_KEY_INFO_AUTOPILOT_SESSION, patch = map)
map[EVENT_PARAM_VEHICLE_START_AUTOPILOT_CMD_SESSION_ID_START] = globalSessionId
map[EVENT_PARAM_VEHICLE_START_AUTOPILOT_CMD_SESSION_ID_FSM_RETURN] = fsmBackSessionId
OchChainLogManager.writeChainLog("启动自驾失败且SessionId不同","globalSessionId:${globalSessionId}——————fsmBackSessionId:${fsmBackSessionId}", eventID = EVENT_KEY_VEHICLE_START_AUTOPILOT_CMD_SESSION_DIFF, patch = map)
}
private val timeOutRunnable = Runnable {
private val timeOutRunnable = Runnable {
// 15s内未开启，上报失败埋点
triggerStartAutopilotFailureEvent("", "15s后app等待超时", System.currentTimeMillis())
}
@@ -116,16 +123,20 @@ object OchAutopilotAnalytics {
fun triggerStartAutopilotFailureEventByAdas(failCode: String, failMsg: String, startFailDate: Long) {
BizLoopManager.removeCallback(timeOutRunnable)
// 判断Session 是否相同
OchAutoPilotManager.checkStartSeesionAndFailSessionId()
OchAutoPilotManager.checkStartSessionAndFailSessionId()
triggerStartAutopilotFailureEvent(failCode, failMsg, startFailDate)
}
private fun clearStartAutopilotParams() {
mStartAutopilotParams.clear()
OchAutoPilotManager.clearGlobalSessionId()
}
private fun triggerStartAutopilotFailureEvent(failCode: String, failMsg: String, startFailDate: Long) {
if(OchAutoPilotManager.canStartAutopilotBySessionIdInner()){
CallerLogger.e(SceneConstant.M_OCHCOMMON + "triggerStartAutopilotFailureEvent canStartAutopilotBySessionIdInner == false")
return
}
OchAutoPilotManager.clearGlobalSessionId()
if (mStartAutopilotParams.isEmpty()) return
CallerLogger.e(SceneConstant.M_OCHCOMMON + "triggerStartAutopilotFailureEvent", failMsg)
if (CallerAutoPilotStatusListenerManager.getState() != IMoGoAutopilotStatusListener.STATUS_AUTOPILOT_RUNNING) {
@@ -156,16 +167,23 @@ object OchAutopilotAnalytics {
endName: String,
lineId: Int,
orderId:String?,
triggerDate: Long
triggerDate: Long,
source:Int = 0
) {
mStartAutopilotKey = if (restart) getEventKeyRestartService() else getEventKeyStartService()
if (send) {
if (mStartAutopilotParams.isEmpty()) return
if(OchAutoPilotManager.canStartAutopilotBySessionIdInner()){
CallerLogger.e(SceneConstant.M_OCHCOMMON + "triggerStartAutopilotEvent canStartAutopilotBySessionIdInner == false")
return
}
OchAutoPilotManager.clearGlobalSessionId()
BizLoopManager.removeCallback(timeOutRunnable)
if (mStartAutopilotParams.isEmpty()) return
// 开启成功，上报埋点
mStartAutopilotParams[EVENT_PARAM_START_FAILURE_CODE] = ""
mStartAutopilotParams[EVENT_PARAM_START_FAILURE_MSG] = ""
mStartAutopilotParams[EVENT_PARAM_START_RESULT] = true
mStartAutopilotParams[EVENT_PARAM_START_RESULT_SOURCE] = source
// 自动驾驶状态变更时间
mStartAutopilotParams[EVENT_PARAM_START_SUCCESS_TIME] = DateTimeUtils.getTimeText(triggerDate,DateTimeUtils.yyyy_MM_dd_HH_mm_ss_SSS)
mStartAutopilotParams[EVENT_PARAM_AUTOPILOTANALYTICS_GROUP] = EVENT_PARAM_AUTOPILOTANALYTICS_GROUP

67
OCH/common/common/src/main/java/com/mogo/och/common/module/manager/autopilot/line/LineManager.kt
View File

@@ -1,6 +1,9 @@
package com.mogo.och.common.module.manager.autopilot.line
import com.mogo.commons.env.ProjectUtils
import com.mogo.eagle.core.function.call.map.CallerMapGlobalTrajectoryDrawManager
import com.mogo.eagle.core.function.call.order.CallerOrderListenerManager
import com.mogo.och.common.module.manager.logchainanalytic.OchChainLogManager
import com.mogo.och.common.module.utils.CallerBase
import com.mogo.och.data.bean.BusStationBean
import com.mogo.och.data.bean.ContraiInfo
@@ -32,12 +35,76 @@ object LineManager : CallerBase<ILineCallback>() {
*/
var endStation: BusStationBean? = null
/**
* 设置站点信息
*/
fun setStartAndEndStation(startStation: BusStationBean?,endStation: BusStationBean?){
this.startStation = startStation
this.endStation = endStation
OchChainLogManager.writeChainLogAutopilot("自驾参数","${startStation}---${endStation}")
}
fun getStations(function: (start:BusStationBean,end:BusStationBean) -> Unit){
startStation?.let { start->
endStation?.let { end ->
function.invoke(start,end)
}
}
}
fun getStationsWithContrai(function: (start:BusStationBean,end:BusStationBean,contrai: ContraiInfo) -> Unit){
startStation?.let { start->
endStation?.let { end ->
contraiInfo?.let {contrai->
function.invoke(start,end,contrai)
}
}
}
}
fun getStationsWithLine(function: (start:BusStationBean,end:BusStationBean,lineInfo: LineInfo) -> Unit){
startStation?.let { start->
endStation?.let { end ->
lineInfos?.let {line->
function.invoke(start,end, line)
}
}
}
}
fun getStationsWithLineAndContrai(function: (start:BusStationBean,end:BusStationBean,lineInfo: LineInfo,contrai: ContraiInfo) -> Unit){
startStation?.let { start->
endStation?.let { end ->
lineInfos?.let {line->
contraiInfo?.let { contrai ->
function.invoke(start,end, line,contrai)
}
}
}
}
}
fun getStartStation(function: (start:BusStationBean) -> Unit){
startStation?.let { start ->
function.invoke(start)
}
}
@JvmStatic
fun setLineInfo(lineInfo: LineInfo?){
if(lineInfo==null){
clearGlobalTrajectory(true)
CallerOrderListenerManager.invokeOrderLineUpdate("")
}
this.lineInfos = lineInfo
this.lineInfos?.let { line ->
if(ProjectUtils.isSaas()) {
val sb = StringBuilder()
sb.append(line.lineName)
line.multiMap?.forEach {
sb.append(it.value)
}
CallerOrderListenerManager.invokeOrderLineUpdate(sb.toString())
}
}
}

9
OCH/common/common/src/main/java/com/mogo/och/common/module/manager/logchainanalytic/OchChainLogManager.kt
View File

@@ -43,7 +43,7 @@ object OchChainLogManager {
// 局域网内socket 连接状态流转
const val EVENT_KEY_INFO_SCANNER = "analytics_event_och_scanner"
// 局域网内socket 连接状态流转
// 自动驾驶日志群
const val EVENT_KEY_INFO_AUTOPILOT = "analytics_event_och_autopilot"
const val EVENT_KEY_INFO_VOICE_TTS = "analytics_event_och_voice_tts"
@@ -124,13 +124,6 @@ object OchChainLogManager {
fun addCommonParams(params:MutableMap<String,Any>){
val plateNum = AppConfigInfo.plateNumber
params["sn"] = SharedPrefsMgr.getInstance().sn
params["env"] = DebugConfig.getNetMode()
params["product"] = AppIdentityModeUtils.getProduct(FunctionBuildConfig.appIdentityMode).name
params["role"] = AppIdentityModeUtils.getRole(FunctionBuildConfig.appIdentityMode).name
params["cartype"] = AppIdentityModeUtils.getCarType(FunctionBuildConfig.appIdentityMode).name
params["plate_number"] = if (TextUtils.isEmpty(plateNum)) "" else plateNum
params["time"] = DateTimeUtils.getTimeText(DateTimeUtils.yyyy_MM_dd_HH_mm_ss_SSS)
}

2
OCH/common/common/src/main/java/com/mogo/och/common/module/wigets/CommonLoadingView.kt
View File

@@ -8,6 +8,7 @@ import android.view.animation.LinearInterpolator
import androidx.constraintlayout.widget.ConstraintLayout
import com.mogo.commons.module.status.MogoStatusManager
import com.mogo.eagle.core.data.config.HdMapBuildConfig
import com.mogo.eagle.core.function.call.map.CallerMapUIServiceManager
import com.mogo.eagle.core.utilcode.mogo.logger.CallerLogger
import com.mogo.eagle.core.utilcode.util.UiThreadHandler
import com.mogo.map.listener.IMogoMapListener
@@ -55,6 +56,7 @@ class CommonLoadingView @JvmOverloads constructor(
HdMapBuildConfig.isMapLoaded = true
// 设置地图样式
MogoMapListenerHandler.mogoMapListenerHandler.onMapModeChanged(EnumMapUI.MAP_STYLE_DAY_VR)
CallerMapUIServiceManager.getMapUIController()?.changeCurrentIcon(HdMapBuildConfig.currentCarVrIconRes)
UiThreadHandler.postDelayed({ visibility = GONE },2_000,UiThreadHandler.MODE.QUEUE)
}

5
OCH/common/data/src/main/java/com/mogo/och/data/bean/BusStationBean.java
View File

@@ -144,6 +144,7 @@ public class BusStationBean {
return "BusStationBean{" +
"siteId=" + siteId +
", name='" + name + '\'' +
", nameKr='" + nameKr + '\'' +
", seq=" + seq +
", gcjLon=" + gcjLon +
", gcjLat=" + gcjLat +
@@ -151,8 +152,8 @@ public class BusStationBean {
", lat=" + lat +
", drivingStatus=" + drivingStatus +
", leaving=" + leaving +
", introduction='" + introduction + '\'' +
", isPlayTts=" + isPlayTts +
'}';
}
}

5
OCH/common/data/src/main/java/com/mogo/och/data/bean/LineInfo.kt
View File

@@ -11,4 +11,9 @@ data class LineInfo(
*/
val lineName: String,
/**
* 附加信息
*/
var multiMap: MutableMap<String,String>? = mutableMapOf()
)

9
OCH/facade/src/main/java/com/mogo/och/facade/route/FacadeProvider.kt
View File

@@ -58,13 +58,12 @@ abstract class FacadeProvider : IMoGoFunctionProvider, ILoginCallback {
private fun showFragment() {
val supportFragmentManager: FragmentManager? = activity?.supportFragmentManager
injectStatusBar()
val fragment = if (LoginStatusManager.isLogin()) {
val fragment = getFragment()
injectStatusBar()
LoginStatusManager.resetFragment()
fragment
} else {
removeStatusBar()
CallerHmiManager.hideToolsView()
ToggleDebugView.toggleDebugView.dismiss()
SopView.sopView.dismiss()
@@ -200,8 +199,8 @@ abstract class FacadeProvider : IMoGoFunctionProvider, ILoginCallback {
}
override fun onBusinessChangeDebug(businessEnum: BusinessEnum) {
injectStatusBar()
if (businessEnum == BusinessEnum.None) {
removeStatusBar()
CallerHmiManager.hideToolsView()
ToggleDebugView.toggleDebugView.dismiss()
SopView.sopView.dismiss()
@@ -217,7 +216,6 @@ abstract class FacadeProvider : IMoGoFunctionProvider, ILoginCallback {
onBusinessChange(businessEnum)
val supportFragmentManager: FragmentManager? = activity?.supportFragmentManager
val fragment = getFragment()
injectStatusBar()
d(TAG, "切换 fragment:${fragment}")
LoginStatusManager.resetFragment()
if (supportFragmentManager != null) {
@@ -237,6 +235,9 @@ abstract class FacadeProvider : IMoGoFunctionProvider, ILoginCallback {
contentView.fitsSystemWindows = false
decorView.clipToPadding = false
var statusBarView = decorView.findViewWithTag<View>("status_bar")
if(statusBarView!=null){
return
}
val statusBar = commonService?.getStatusBarView(it)
statusBarView = statusBar ?: StatusBarView(it)
statusBarView.tag = "status_bar"

6
OCH/offline/driver/src/main/java/com/mogo/och/offline/model/OrderModel.java
View File

@@ -561,7 +561,7 @@ public class OrderModel {
firstStartAutopilot++;
triggerStartServiceEvent(isRestart, false);
triggerStartServiceEvent(isRestart, false,0);
AutopilotControlParameters parameters = initAutopilotControlParameters(leaveIndex);
if (null == parameters) {
@@ -994,14 +994,14 @@ public class OrderModel {
LoginStatusManager.loginOut();
}
public void triggerStartServiceEvent(boolean isRestart, boolean send) {
public void triggerStartServiceEvent(boolean isRestart, boolean send,int source) {
if (stationList == null || backgroundCurrentStationIndex >= stationList.size() - 1) {
return;
}
BusStationBean currentStation = stationList.get(backgroundCurrentStationIndex);
BusStationBean nextStation = stationList.get(backgroundCurrentStationIndex + 1);
OchAutopilotAnalytics.INSTANCE.triggerStartAutopilotEvent(isRestart, send,
currentStation.getName(), nextStation.getName(), busRoutesResult.getLineId(), "", System.currentTimeMillis());
currentStation.getName(), nextStation.getName(), busRoutesResult.getLineId(), "", System.currentTimeMillis(),source);
}
public void triggerUpdateStartAutoPilotSessionId(long sessionId) {

10
OCH/offline/driver/src/main/java/com/mogo/och/offline/presenter/BusPresenter.java
View File

@@ -208,7 +208,7 @@ public class BusPresenter extends Presenter<ShuttleFragment>
break;
case IMoGoAutopilotStatusListener.STATUS_AUTOPILOT_RUNNING:
OrderModel.getInstance().triggerStartServiceEvent(
OrderModel.getInstance().isRestartAutopilot(), true);
OrderModel.getInstance().isRestartAutopilot(), true,0);
// 改变UI自动驾驶状态
UiThreadHandler.post(new Runnable() {
@Override
@@ -232,6 +232,14 @@ public class BusPresenter extends Presenter<ShuttleFragment>
}
}
@Override
public void onAutopilotStatusResponseFromCan(int state) {
if (state == IMoGoAutopilotStatusListener.STATUS_AUTOPILOT_RUNNING) {
OrderModel.getInstance().triggerStartServiceEvent(
OrderModel.getInstance().isRestartAutopilot(), true,1);
}
}
@Override
public void onCarLocationChanged(MogoLocation location) {
// if (null != location) {

2
OCH/offline/passenger/src/main/res/jinlv/layout/shuttle_p_jl_view_status_bar.xml
View File

@@ -43,7 +43,7 @@
android:layout_gravity="center"
android:layout_marginStart="@dimen/dp_40" />
<com.mogo.och.shuttle.passenger.manager.scnner.ScannerStateView
<com.mogo.och.common.module.manager.scnner.ScannerStateView
android:id="@+id/scannerStateView"
app:layout_constraintTop_toTopOf="parent"
app:layout_constraintBottom_toBottomOf="parent"

2
OCH/offline/passenger/src/main/res/m2/layout/shuttle_p_m2_view_status_bar.xml
View File

@@ -31,7 +31,7 @@
android:layout_gravity="center"
android:layout_marginStart="@dimen/dp_32" />
<com.mogo.och.shuttle.passenger.manager.scnner.ScannerStateView
<com.mogo.och.common.module.manager.scnner.ScannerStateView
android:id="@+id/scannerStateView"
app:layout_constraintTop_toTopOf="parent"
app:layout_constraintBottom_toBottomOf="parent"

19
OCH/shuttle/driver/src/main/java/com/mogo/och/shuttle/model/OrderModel.java
View File

@@ -4,6 +4,7 @@ import static com.mogo.eagle.core.utilcode.mogo.logger.scene.SceneConstant.M_BUS
import android.content.Context;
import android.text.TextUtils;
import android.util.ArrayMap;
import androidx.annotation.NonNull;
import androidx.annotation.Nullable;
@@ -652,7 +653,7 @@ public class OrderModel {
firstStartAutopilot++;
triggerStartServiceEvent(isRestart, false);
triggerStartServiceEvent(isRestart, false,0);
AutopilotControlParameters parameters = initAutopilotControlParameters(leaveIndex);
if (null == parameters) {
@@ -870,7 +871,17 @@ public class OrderModel {
return;
}
busRoutesResult = result;
LineManager.setLineInfo(new LineInfo(busRoutesResult.getLineId(),busRoutesResult.getName()));
ArrayMap<String, String> attach = new ArrayMap<>();
try {
String lineTime = DateTimeUtil.formatLongToString(
busRoutesResult.getTaskTime(),
DateTimeUtil.HH_mm);
attach.put("taskInfo",lineTime);
}catch (Exception e){
OchChainLogManager.writeChainLog("设置任务名称","设置任务名称报错"+e.getStackTrace());
}
LineInfo lineInfo = new LineInfo(busRoutesResult.getLineId(), busRoutesResult.getName(),attach);
LineManager.setLineInfo(lineInfo);
stationList.clear();
stationList.addAll(result.getSites());
for (int i = 0; i < stationList.size(); i++) {
@@ -1136,14 +1147,14 @@ public class OrderModel {
LoginStatusManager.loginOut();
}
public void triggerStartServiceEvent(boolean isRestart, boolean send) {
public void triggerStartServiceEvent(boolean isRestart, boolean send,int source) {
if (stationList == null || backgroundCurrentStationIndex >= stationList.size() - 1) {
return;
}
BusStationBean currentStation = stationList.get(backgroundCurrentStationIndex);
BusStationBean nextStation = stationList.get(backgroundCurrentStationIndex + 1);
OchAutopilotAnalytics.INSTANCE.triggerStartAutopilotEvent(isRestart, send,
currentStation.getName(), nextStation.getName(), busRoutesResult.getLineId(),"",System.currentTimeMillis());
currentStation.getName(), nextStation.getName(), busRoutesResult.getLineId(),"",System.currentTimeMillis(),source);
}
public void triggerUpdateStartAutoPilotSessionId(long sessionId) {

10
OCH/shuttle/driver/src/main/java/com/mogo/och/shuttle/presenter/BusPresenter.java
View File

@@ -207,7 +207,7 @@ public class BusPresenter extends Presenter<ShuttleFragment>
break;
case IMoGoAutopilotStatusListener.STATUS_AUTOPILOT_RUNNING:
OrderModel.getInstance().triggerStartServiceEvent(
OrderModel.getInstance().isRestartAutopilot(), true);
OrderModel.getInstance().isRestartAutopilot(), true,0);
// 改变UI自动驾驶状态
UiThreadHandler.post(new Runnable() {
@Override
@@ -231,6 +231,14 @@ public class BusPresenter extends Presenter<ShuttleFragment>
}
}
@Override
public void onAutopilotStatusResponseFromCan(int state) {
if (state == IMoGoAutopilotStatusListener.STATUS_AUTOPILOT_RUNNING) {
OrderModel.getInstance().triggerStartServiceEvent(
OrderModel.getInstance().isRestartAutopilot(), true,1);
}
}
@Override
public void onCarLocationChanged(MogoLocation location) {
// if (null != location) {

2
OCH/shuttle/driver_weaknet/src/main/java/com/mogo/och/weaknet/bean/BusRoutesResponse.kt
View File

@@ -7,6 +7,7 @@ import com.mogo.och.data.bean.BusStationBean
import com.mogo.och.data.bean.LineInfo
import com.mogo.och.weaknet.database.bean.TaskSiteDataBean
import com.mogo.och.weaknet.database.repository.TaskSiteRepository
import com.mogo.och.weaknet.model.BusLineModel
import java.lang.Boolean
import kotlin.String
@@ -60,6 +61,7 @@ class BusRoutesResponse : BaseData() {
if (lineInfo == null && taskAndsite.lineId != null && taskAndsite.lineName != null) {
lineInfo = LineInfo(taskAndsite.lineId!!, taskAndsite.lineName!!)
}
lineInfo?.multiMap?.put("taskInfo",BusLineModel.getTaskTime())
}
LineManager.setLineInfo(lineInfo)

12
OCH/shuttle/driver_weaknet/src/main/java/com/mogo/och/weaknet/bean/ShuttleEventRequest.kt
View File

@@ -2,6 +2,7 @@ package com.mogo.och.weaknet.bean
import com.mogo.commons.storage.SharedPrefsMgr
import com.mogo.eagle.core.network.utils.digest.DigestUtils
import com.mogo.och.common.module.biz.login.LoginStatusManager
import com.mogo.och.weaknet.database.bean.EventDataBean
/**
@@ -17,9 +18,15 @@ data class ShuttleEventRequest(val requestId: String, val sn: String, val busine
val md5Hex = DigestUtils.md5Hex(waitUpdateEvent.toString())
val eventList4Request = mutableListOf<Event>()
var tempEvent:Event?=null
var driverId = 0L
LoginStatusManager.getLoginInfo()?.let {
if(it.driverId>0){
driverId = it.driverId
}
}
waitUpdateEvent.forEach {
tempEvent = Event(it.eventType,
EventData(it.taskId,it.businessTime,it.writeVersion,it.siteId,it.seq)
EventData(it.taskId,it.businessTime,it.writeVersion,it.siteId,it.seq,driverId)
)
eventList4Request.add(tempEvent!!)
}
@@ -35,5 +42,6 @@ data class EventData(
var businessTime: Long?,
var writeVersion: Long?,
var siteId: Long?,
var seq: Int?
var seq: Int?,
var driverId:Long?
)

3
OCH/shuttle/driver_weaknet/src/main/java/com/mogo/och/weaknet/database/repository/TaskRepository.kt
View File

@@ -81,10 +81,12 @@ object TaskRepository {
it.status = TaskDataBean.useing
// 更新任务状态
taskDataDao?.insert(it)
OchChainLogManager.writeChainLogDb("开始任务", "变更线路:${lineId}_${lineName}_task:${taskId} 为正在使用的状态")
}
CallerLogger.d(TAG,"更新任务状态用时:${System.currentTimeMillis()-startTime}")
startTime = System.currentTimeMillis()
updateCount = TaskSiteRepository.startTask(taskId, lineId, lineName)
OchChainLogManager.writeChainLogDb("开始任务", "把正在使用的数据更新到RunningTask表格一共${updateCount}行数据")
CallerLogger.d(TAG,"插入正在运行的线路用时:${System.currentTimeMillis()-startTime}")
} catch (e: Exception) {
if (e is DataException) {
@@ -95,6 +97,7 @@ object TaskRepository {
it.status = TaskDataBean.unUse
// 更新任务状态
taskDataDao?.insert(it)
OchChainLogManager.writeChainLogDb("开始任务", "异常情况${lineId}_${lineName}_task:${taskId} 为未使用的状态 原因:${e.message}")
}
}
updateCount = null

62
OCH/shuttle/driver_weaknet/src/main/java/com/mogo/och/weaknet/model/BusLineModel.kt
View File

@@ -254,8 +254,6 @@ object BusLineModel {
.putLong(BusSwitchLineActivity.LASTCOMMITLINEID, line.lineId)
EventRepository.saveEventTaskStart(task.id,line.lineId,task.taskStartTime,line.name)
mBusLinesCallback?.onChangeLineIdSuccess()
val taskTime = DateTimeUtil.formatLongToString(task.taskStartTime, DateTimeUtil.HH_mm)
CallerOrderListenerManager.invokeOrderLineUpdate("${line.name} ${taskTime}")
}
override fun startFail(msg: String) {
@@ -288,16 +286,17 @@ object BusLineModel {
// 获取正在进行中的具体信息
val runnintTaskAndSites = TaskSiteRepository.queryRunningTask(it)
if(runnintTaskAndSites.isNullOrEmpty()||runnintTaskAndSites.size<2){
// TODO: 错误数据需要上报一下 有进行中的任务 在正在跑的任务重没有数据
OchChainLogManager.writeChainLogDb("加载任务", "异常情况:有任务:${runningTaskInfo} runningTask 表格没有对应的数据:${runnintTaskAndSites}")
return
}
val db2Beans = BusRoutesResponse.db2Beans(runnintTaskAndSites)
stationList = db2Beans.first
startStationIndex = db2Beans.second
stationList?.let {stationlist->
LineManager.startStation = stationlist[startStationIndex]
val startStation = stationlist[startStationIndex]
if (startStationIndex < stationlist.size-1) {
LineManager.endStation = stationlist[startStationIndex + 1]
val endStation = stationlist[startStationIndex + 1]
LineManager.setStartAndEndStation(startStation,endStation)
}
}
@@ -326,6 +325,7 @@ object BusLineModel {
}
TaskRepository.addOrUpdate(*tempList.toTypedArray())
OrderModel.queryBusRoutes()
OchChainLogManager.writeChainLogDb("加载任务", "异常情况:多个正在进行的任务 task:${runningTaskInfo} event:${queryLastData.taskId}有一个和event表对应使用相同的一个 另一个置为已使用")
return
}
}
@@ -333,6 +333,7 @@ object BusLineModel {
runningTaskInfo.forEach {
it.status = TaskDataBean.used
}
OchChainLogManager.writeChainLogDb("加载任务", "异常情况:多个正在进行的任务 task:${runningTaskInfo} 全部置为已使用 从后台加载正在使用的任务")
TaskRepository.addOrUpdate(*runningTaskInfo.toTypedArray())
loadServerRuningTask()
}
@@ -347,7 +348,7 @@ object BusLineModel {
if(queryTaskById==null||queryTaskById.status!=TaskDataBean.used) {
OchChainLogManager.writeChainLogDb(
"业务数据",
"本地没有正在运行的数据，服务器端有"
"本地没有正在运行的数据，服务器端有${it}"
)
LineRepository.saveRunningInfo(
it.lineId,
@@ -397,27 +398,26 @@ object BusLineModel {
// 滑动出发
fun leaveStation(){
//开始站点: leaving false->true
LineManager.startStation?.let { startStation ->
startStation.drivingStatus = TaskSiteDataBean.drivingStatusCurrent
startStation.isLeaving = true
LineManager.getStartStation {
it.drivingStatus = TaskSiteDataBean.drivingStatusCurrent
it.isLeaving = true
if (currentTask != null && currentTask!!.taskId != null) {
currentTask?.let { task ->
if (task.taskId!=null&&task.lineId!=null) {
TaskSiteRepository.updateLeave(task.taskId!!, startStation.siteId.toLong(), true)
TaskSiteRepository.updateLeave(task.taskId!!, it.siteId.toLong(), true)
OchChainLogManager.writeChainLogDb("滑动出发", "task:${currentTask}__taskId:${currentTask?.taskId}")
// 设置滑动出发任务
LineManager.lineInfos?.lineName?.let { lineName->
EventRepository.saveEventTaskLeaveSite(
task.taskId!!,
task.lineId!!,
startStation.siteId.toLong(),
startStation.seq,
it.siteId.toLong(),
it.seq,
task.taskStartTime,
lineName
)
}
}
}
} else {
OchChainLogManager.writeChainLog(
@@ -432,41 +432,43 @@ object BusLineModel {
}
// 到站
fun arrivedStation() {
// 开始站点：leaving true->false drivingStatus 2->1
LineManager.startStation?.let {
it.drivingStatus = TaskSiteDataBean.drivingStatusPassed
it.isLeaving = false
LineManager.getStations { start, end ->
// 开始站点：leaving true->false drivingStatus 2->1
start.drivingStatus = TaskSiteDataBean.drivingStatusPassed
start.isLeaving = false
if(currentTask!=null&& currentTask!!.taskId!=null){
currentTask?.let { task->
if (task.taskId!=null&&task.lineId!=null) {
TaskSiteRepository.updateDrivingStatusAndLeave(task.taskId!!,it.siteId.toLong(),TaskSiteDataBean.drivingStatusPassed,false)
TaskSiteRepository.updateDrivingStatusAndLeave(task.taskId!!,start.siteId.toLong(),TaskSiteDataBean.drivingStatusPassed,false)
// 设置到站任务
LineManager.lineInfos?.let {lineInfo ->
EventRepository.saveEventTaskArriveSite(task.taskId!!,task.lineId!!,it.siteId.toLong(),it.seq,task.taskStartTime,lineInfo.lineName)
EventRepository.saveEventTaskArriveSite(task.taskId!!,task.lineId!!,start.siteId.toLong(),start.seq,task.taskStartTime,lineInfo.lineName)
}
}
}
}else{
OchChainLogManager.writeChainLog("到站_数据更新_error","task:${currentTask}__taskId:${currentTask?.taskId}")
}
}
// 结束站点： drivingStatus 3-2
LineManager.endStation?.let {
it.drivingStatus = TaskSiteDataBean.drivingStatusCurrent
// 结束站点： drivingStatus 3-2
end.drivingStatus = TaskSiteDataBean.drivingStatusCurrent
if(currentTask!=null&& currentTask!!.taskId!=null){
currentTask?.taskId?.let { taskId->
TaskSiteRepository.updateDrivingStatus(taskId,it.siteId.toLong(),TaskSiteDataBean.drivingStatusCurrent)
TaskSiteRepository.updateDrivingStatus(taskId,end.siteId.toLong(),TaskSiteDataBean.drivingStatusCurrent)
}
}else{
OchChainLogManager.writeChainLog("到站_数据更新_error","task:${currentTask}__taskId:${currentTask?.taskId}")
}
val changeInfo =
"taskId:${currentTask?.taskId}--lineId:${currentTask?.lineId}--currentStationName:${start.name}--finalNextStationName:${end.name}"
OchChainLogManager.writeChainLog("到站", changeInfo)
}
stationList?.let {
startStationIndex+=1
LineManager.startStation = LineManager.endStation
val startStation = LineManager.endStation
if(startStationIndex+1< it.size){
LineManager.endStation = it[startStationIndex+1]
val endStation = it[startStationIndex+1]
LineManager.setStartAndEndStation(startStation,endStation)
}
}
}
@@ -488,7 +490,6 @@ object BusLineModel {
}
fun endTask() {
CallerOrderListenerManager.invokeOrderLineUpdate("")
currentTask?.let {task->
if (task.taskId!=null&&task.lineId!=null) {
TaskRepository.endTask(task.taskId!!)
@@ -497,11 +498,12 @@ object BusLineModel {
}
}
}
val changeInfo = "taskId:${currentTask?.taskId}--lineInfo:${LineManager.lineInfos}"
OchChainLogManager.writeChainLog("结束任务", changeInfo)
currentTask = null
LineManager.lineInfos = null
LineManager.startStation = null
LineManager.endStation = null
LineManager.setStartAndEndStation(null,null)
stationList = mutableListOf()
startStationIndex = 0
}

1
OCH/shuttle/driver_weaknet/src/main/java/com/mogo/och/weaknet/model/EventModel.kt
View File

@@ -3,6 +3,7 @@ package com.mogo.och.weaknet.model
import com.mogo.commons.AbsMogoApplication
import com.mogo.eagle.core.data.BaseData
import com.mogo.eagle.core.utilcode.util.ThreadUtils
import com.mogo.och.common.module.biz.login.LoginStatusManager
import com.mogo.och.common.module.manager.logchainanalytic.OchChainLogManager
import com.mogo.och.common.module.manager.loop.BizLoopManager
import com.mogo.och.common.module.network.OchCommonServiceCallback

183
OCH/shuttle/driver_weaknet/src/main/java/com/mogo/och/weaknet/model/OrderModel.kt
View File

@@ -327,27 +327,18 @@ object OrderModel {
*/
private fun leaveStationSuccess() {
onStartAutopilot()
if(LineManager.startStation!=null&&LineManager.endStation!=null&&LineManager.lineInfos!=null){
LineManager.startStation?.let {startStation->
LineManager.endStation?.let {endStation->
leaveTTSTips(endStation.name, startStation.nameKr)
//给bus外屏发送
LedScreenManager.sendTripInfo2Led(
LedScreenManager.LEAVE_STATION,
LineManager.lineInfos!!.lineName,
startStation.name,
endStation.name,
BusLineModel.isLastStation()==true
)
}
}
}else{
ToastUtils.showShort("未设置起始或终点站点")
LineManager.getStations { start, end ->
leaveTTSTips(end.name, end.nameKr)
//给bus外屏发送
LedScreenManager.sendTripInfo2Led(
LedScreenManager.LEAVE_STATION,
LineManager.lineInfos!!.lineName,
start.name,
end.name,
BusLineModel.isLastStation()==true
)
}
BusLineModel.leaveStation()
updateBusStatus()
@@ -423,7 +414,7 @@ object OrderModel {
firstStartAutopilot++
triggerStartServiceEvent(isRestart, false)
triggerStartServiceEvent(isRestart, false,0)
val parameters = initAutopilotControlParameters()
if (null == parameters) {
@@ -461,22 +452,16 @@ object OrderModel {
}
private fun arriveStationSuccess() {
if(LineManager.startStation!=null&&LineManager.endStation!=null&&LineManager.lineInfos!=null){
LineManager.startStation?.let {startStation->
LineManager.endStation?.let {endStation->
ShuttleVoiceManager.arrivedStationBus(endStation.name, endStation.nameKr)
//给bus外屏发送
LedScreenManager.sendTripInfo2Led(
LedScreenManager.ARRIVE_STATION,
LineManager.lineInfos!!.lineName,
startStation.name,
endStation.name,
BusLineModel.isLastStation()==true
)
}
}
}else{
ToastUtils.showShort("未设置起始或终点站点")
LineManager.getStations { start, end ->
ShuttleVoiceManager.arrivedStationBus(end.name, end.nameKr)
//给bus外屏发送
LedScreenManager.sendTripInfo2Led(
LedScreenManager.ARRIVE_STATION,
LineManager.lineInfos!!.lineName,
start.name,
end.name,
BusLineModel.isLastStation()==true
)
}
BusLineModel.arrivedStation()
updateBusStatus()
@@ -560,8 +545,8 @@ object OrderModel {
BusLineModel.setDemoMode()
LineManager.startStation?.let {startStation ->
if (startStation.isLeaving) {
LineManager.getStartStation {
if (it.isLeaving) {
mADASStatusCallback?.hideSlidePanel()
isGoingToNextStation = true
}else{
@@ -703,21 +688,19 @@ object OrderModel {
}
@JvmStatic
fun triggerStartServiceEvent(isRestart: Boolean, send: Boolean) {
LineManager.startStation?.let {startStation->
LineManager.endStation?.let {endStation->
OchAutopilotAnalytics.triggerStartAutopilotEvent(
isRestart,
send,
startStation.name,
endStation.name,
LineManager.lineInfos!!.lineId.toInt(),
"",
System.currentTimeMillis()
)
}
fun triggerStartServiceEvent(isRestart: Boolean, send: Boolean,source:Int) {
LineManager.getStations { start, end ->
OchAutopilotAnalytics.triggerStartAutopilotEvent(
isRestart,
send,
start.name,
end.name,
LineManager.lineInfos!!.lineId.toInt(),
"",
System.currentTimeMillis(),
source
)
}
}
fun triggerUpdateStartAutoPilotSessionId(sessionId: Long) {
@@ -725,15 +708,11 @@ object OrderModel {
}
fun triggerUnableStartAPReasonEvent() {
LineManager.startStation?.let {startStation->
LineManager.endStation?.let {endStation->
if(LineManager.lineInfos!=null){
OchAutopilotAnalytics.triggerUnableStartAPReasonEvent(
startStation.name, endStation.name,LineManager.lineInfos!!.lineId.toString() , "",
OCHAdasAbilityManager.getInstance().autopilotUnAbilityReason
)
}
}
LineManager.getStationsWithLine { start, end, line ->
OchAutopilotAnalytics.triggerUnableStartAPReasonEvent(
start.name, end.name,line.lineId.toString() , "",
OCHAdasAbilityManager.getInstance().autopilotUnAbilityReason
)
}
}
@@ -756,40 +735,36 @@ object OrderModel {
}
private fun initAutopilotControlParameters(): AutopilotControlParameters? {
if(LineManager.startStation!=null&&LineManager.endStation!=null&&LineManager.lineInfos!=null&&LineManager.contraiInfo!=null){
LineManager.startStation?.let {startStation->
LineManager.endStation?.let {endStation->
val parameters = AutopilotControlParameters()
parameters.routeID = LineManager.lineInfos!!.lineId.toInt()
parameters.routeName = LineManager.lineInfos!!.lineName
parameters.startName = startStation.name
parameters.endName = endStation.name
parameters.startLatLon = AutoPilotLonLat(startStation.lat, startStation.lon)
parameters.endLatLon = AutoPilotLonLat(endStation.lat, endStation.lon)
parameters.vehicleType = VEHICLE_TYPE
var parameters:AutopilotControlParameters? = null
LineManager.getStationsWithLineAndContrai { start, end, lineInfo, contrai ->
parameters = AutopilotControlParameters()
parameters?.routeID = lineInfo.lineId.toInt()
parameters?.routeName = lineInfo.lineName
parameters?.startName = start.name
parameters?.endName = end.name
parameters?.startLatLon = AutoPilotLonLat(start.lat, start.lon)
parameters?.endLatLon = AutoPilotLonLat(end.lat, end.lon)
parameters?.vehicleType = VEHICLE_TYPE
if (parameters.autoPilotLine == null) {
parameters.autoPilotLine = AutoPilotLine(
LineManager.lineInfos!!.lineId,
LineManager.lineInfos!!.lineName,
LineManager.contraiInfo!!.csvFileUrl,
LineManager.contraiInfo!!.csvFileMd5,
LineManager.contraiInfo!!.txtFileUrl,
LineManager.contraiInfo!!.txtFileMd5,
LineManager.contraiInfo!!.contrailSaveTime,
"",
"",
"",
"",
"",
0L
)
}
return parameters
}
if (parameters?.autoPilotLine == null) {
parameters?.autoPilotLine = AutoPilotLine(
lineInfo.lineId,
lineInfo.lineName,
contrai.csvFileUrl,
contrai.csvFileMd5,
contrai.txtFileUrl,
contrai.txtFileMd5,
contrai.contrailSaveTime,
"",
"",
"",
"",
"",
0L
)
}
}else{
}
if(parameters==null){
ToastUtils.showShort("未设置起始或终点站点")
}
return null
@@ -800,21 +775,15 @@ object OrderModel {
TrajectoryAndDistanceManager.setStationPoint(null, null, null)
return
}
if(LineManager.startStation!=null&&LineManager.endStation!=null&&LineManager.lineInfos!=null){
LineManager.startStation?.let {startStation->
LineManager.endStation?.let {endStation->
val startStationLocation = MogoLocation()
startStationLocation.latitude = startStation.gcjLat
startStationLocation.longitude = startStation.gcjLon
LineManager.getStationsWithLine { start, end, lineInfo ->
val startStationLocation = MogoLocation()
startStationLocation.latitude = start.gcjLat
startStationLocation.longitude = start.gcjLon
val endStationLocation = MogoLocation()
endStationLocation.latitude = endStation.gcjLat
endStationLocation.longitude = endStation.gcjLon
TrajectoryAndDistanceManager.setStationPoint(startStationLocation, endStationLocation, LineManager.lineInfos!!.lineId)
}
}
}else{
ToastUtils.showShort("未设置起始或终点站点")
val endStationLocation = MogoLocation()
endStationLocation.latitude = end.gcjLat
endStationLocation.longitude = end.gcjLon
TrajectoryAndDistanceManager.setStationPoint(startStationLocation, endStationLocation, lineInfo.lineId)
}
}
}

10
OCH/shuttle/driver_weaknet/src/main/java/com/mogo/och/weaknet/presenter/BusPresenter.kt
View File

@@ -155,7 +155,7 @@ class BusPresenter(view: ShuttleFragment?) : Presenter<ShuttleFragment?>(view),
}
IMoGoAutopilotStatusListener.STATUS_AUTOPILOT_RUNNING -> {
OrderModel.triggerStartServiceEvent(OrderModel.isRestartAutopilot, true)
OrderModel.triggerStartServiceEvent(OrderModel.isRestartAutopilot, true,0)
// 改变UI自动驾驶状态
UiThreadHandler.post({
if (mView != null) {
@@ -172,6 +172,14 @@ class BusPresenter(view: ShuttleFragment?) : Presenter<ShuttleFragment?>(view),
}
}
override fun onAutopilotStatusResponseFromCan(state: Int) {
when (state) {
IMoGoAutopilotStatusListener.STATUS_AUTOPILOT_RUNNING -> {
OrderModel.triggerStartServiceEvent(OrderModel.isRestartAutopilot, true,1)
}
}
}
override fun startOpenAutopilot() {
//非美化模式下启动动画
UiThreadHandler.post({

2
OCH/shuttle/driver_weaknet/src/main/java/com/mogo/och/weaknet/ui/taskrunning/RunningTaskManager.kt
View File

@@ -127,7 +127,7 @@ object RunningTaskManager : LifecycleEventObserver{
}
override fun show() {
pop.showAtLocation(activity.window.decorView, gravity, startX, if (isImmersiveMode) 0 else BarUtils.getStatusBarHeight() + startY)
pop.showAtLocation(activity.window.decorView, gravity, startX, startY)
}
override fun isOverride(): Boolean = isOverride
}

1
OCH/shuttle/driver_weaknet/src/main/java/com/mogo/och/weaknet/ui/taskrunning/RunningTaskManagerView.kt
View File

@@ -54,7 +54,6 @@ class RunningTaskManagerView: WindowRelativeLayout, RunningTastViewModel.Running
}
private fun initView(){
background = ColorDrawable(Color.parseColor("#F0151D41"))
clLayout.setOnClickListener {
}
//关闭BadCase管理窗口

2
OCH/shuttle/driver_weaknet/src/main/res/layout/shuttle_wadk_task_running.xml
View File

@@ -4,7 +4,7 @@
android:layout_width="960dp"
android:layout_height="match_parent"
android:background="#F0151D41"
android:paddingBottom="@dimen/dp_72"
android:layout_marginTop="@dimen/dp_72"
android:id="@+id/clLayout"
>

2
OCH/shuttle/passenger/src/main/res/jinlv/layout/shuttle_p_jl_view_status_bar.xml
View File

@@ -43,7 +43,7 @@
android:layout_gravity="center"
android:layout_marginStart="@dimen/dp_40" />
<com.mogo.och.shuttle.passenger.manager.scnner.ScannerStateView
<com.mogo.och.common.module.manager.scnner.ScannerStateView
android:id="@+id/scannerStateView"
app:layout_constraintTop_toTopOf="parent"
app:layout_constraintBottom_toBottomOf="parent"

13
OCH/taxi/driver/src/main/java/com/mogo/och/taxi/model/TaxiModel.java
View File

@@ -983,7 +983,7 @@ public class TaxiModel {
OchAutopilotAnalytics.INSTANCE.triggerStartAutopilotEvent(isRestartAutopilot, false,
mCurrentOCHOrder.startSiteAddr, mCurrentOCHOrder.endSiteAddr,
(int) mCurrentOCHOrder.lineId,
mCurrentOCHOrder.orderNo,System.currentTimeMillis());
mCurrentOCHOrder.orderNo,System.currentTimeMillis(),0);
OchAutopilotAnalytics.INSTANCE.triggerUpdateStartAutoPilotSessionId(sessionId);
if (mControllerStatusCallback != null) {
@@ -1208,6 +1208,15 @@ public class TaxiModel {
TaxiTrajectoryManager.getInstance().onAutopilotGuardian(guardianInfo,lineId);
}
@Override
public void onAutopilotStatusResponseFromCan(int state) {
if (state == IMoGoAutopilotStatusListener.STATUS_AUTOPILOT_RUNNING) {
OchAutopilotAnalytics.INSTANCE.triggerStartAutopilotEvent(isRestartAutopilot, true,
mCurrentOCHOrder.startSiteAddr, mCurrentOCHOrder.endSiteAddr,
(int) mCurrentOCHOrder.lineId, mCurrentOCHOrder.orderNo,System.currentTimeMillis(),1);
}
}
@Override
public void onAutopilotStatusResponse(int state) {
if (state == IMoGoAutopilotStatusListener.STATUS_AUTOPILOT_RUNNING) {
@@ -1218,7 +1227,7 @@ public class TaxiModel {
&& TaxiOrderStatusEnum.OnTheWayToEnd.getCode() == mCurrentOCHOrder.orderStatus) {
OchAutopilotAnalytics.INSTANCE.triggerStartAutopilotEvent(isRestartAutopilot, true,
mCurrentOCHOrder.startSiteAddr, mCurrentOCHOrder.endSiteAddr,
(int) mCurrentOCHOrder.lineId, mCurrentOCHOrder.orderNo,System.currentTimeMillis());
(int) mCurrentOCHOrder.lineId, mCurrentOCHOrder.orderNo,System.currentTimeMillis(),0);
if (FunctionBuildConfig.isDemoMode) {
// 当美化模式（演示模式）开启时: 订单对应自动驾驶开启后，置true
FunctionBuildConfig.isIgnoreConditionsDrawAutopilotTrajectoryData = true;

3
OCH/taxi/driver/src/main/java/com/mogo/och/taxi/presenter/TaxiPresenter.java
View File

@@ -4,6 +4,7 @@ import static com.mogo.eagle.core.utilcode.mogo.logger.scene.SceneConstant.M_TAX
import android.os.Build;
import android.os.Looper;
import android.util.ArrayMap;
import androidx.annotation.NonNull;
import androidx.annotation.RequiresApi;
@@ -290,7 +291,7 @@ public class TaxiPresenter extends Presenter<TaxiFragment> implements ITaxiADASS
OchChainLogManager.writeChainLog("订单信息变化",order.toString());
OrderModel.INSTANCE.invokeListener(order);
CallerLogger.d(M_TAXI + TAG, "order = " + order.toString());
LineManager.setLineInfo(new LineInfo(order.lineId,order.lineName));
LineManager.setLineInfo(new LineInfo(order.lineId,order.lineName,new ArrayMap<>()));
if (TaxiOrderStatusEnum.UserArriveAtStart.getCode() == order.orderStatus) {
TaxiModel.getInstance().queryAutopilotStatus(true);
TaxiModel.getInstance().setStation();

24
OCH/taxi/passenger/src/main/java/com/mogo/och/taxi/passenger/model/AutopilotManager.kt
View File

@@ -133,7 +133,7 @@ object AutopilotManager : IOchAutopilotStatusListener {
TaxiPassengerModel.currentOCHOrder!!.endSiteAddr,
TaxiPassengerModel.currentOCHOrder!!.lineId.toInt(),
TaxiPassengerModel.currentOCHOrder!!.orderNo,
System.currentTimeMillis()
System.currentTimeMillis(),0
)
OchAutopilotAnalytics.triggerUpdateStartAutoPilotSessionId(sessionId)
return ""
@@ -220,7 +220,7 @@ object AutopilotManager : IOchAutopilotStatusListener {
TaxiPassengerModel.currentOCHOrder!!.endSiteAddr,
TaxiPassengerModel.currentOCHOrder!!.lineId.toInt(),
TaxiPassengerModel.currentOCHOrder!!.orderNo,
System.currentTimeMillis()
System.currentTimeMillis(),0
)
//startServicePilotDone()
}
@@ -229,6 +229,26 @@ object AutopilotManager : IOchAutopilotStatusListener {
}
}
override fun onAutopilotStatusResponseFromCan(state: Int) {
super.onAutopilotStatusResponseFromCan(state)
when (state) {
IMoGoAutopilotStatusListener.STATUS_AUTOPILOT_RUNNING -> {
if (TaxiPassengerModel.currentOCHOrder != null && TaxiPassengerModel.curOrderStatus === TaxiOrderStatusEnum.UserArriveAtStart) {
OchAutopilotAnalytics.triggerStartAutopilotEvent(
false,
true,
TaxiPassengerModel.currentOCHOrder!!.startSiteAddr,
TaxiPassengerModel.currentOCHOrder!!.endSiteAddr,
TaxiPassengerModel.currentOCHOrder!!.lineId.toInt(),
TaxiPassengerModel.currentOCHOrder!!.orderNo,
System.currentTimeMillis(),1
)
//startServicePilotDone()
}
}
}
}
/**
* 乘客屏启动自动驾驶成功
*/

21
OCH/taxi/unmanned-driver/src/main/java/com/mogo/och/unmanned/taxi/ui/task/TaxiTaskModel.kt
View File

@@ -300,6 +300,23 @@ object TaxiTaskModel {
TaxiTrajectoryManager.getInstance().onAutopilotGuardian(guardianInfo,lineId)
}
override fun onAutopilotStatusResponseFromCan(state: Int) {
super.onAutopilotStatusResponseFromCan(state)
if (state == IMoGoAutopilotStatusListener.STATUS_AUTOPILOT_RUNNING) {
if ((QueryCurrentTaskRespBean.isTaskStartTaskType(mCurrentTaskWithOrder))) {
OchAutopilotAnalytics.triggerStartAutopilotEvent(
isRestartAutopilot,
true,
mCurrentTaskWithOrder!!.order!!.orderStartSite!!.siteName,
mCurrentTaskWithOrder!!.order!!.orderEndSite!!.siteName,
mCurrentTaskWithOrder!!.lineId.toInt(),
mCurrentTaskWithOrder!!.order!!.orderNo,
System.currentTimeMillis(),1
)
}
}
}
override fun onAutopilotStatusResponse(state: Int) {
i(TAG, "onAutopilotStatusResponse autopilotsState= $state")
if (state == IMoGoAutopilotStatusListener.STATUS_AUTOPILOT_RUNNING) {
@@ -313,7 +330,7 @@ object TaxiTaskModel {
mCurrentTaskWithOrder!!.order!!.orderEndSite!!.siteName,
mCurrentTaskWithOrder!!.lineId.toInt(),
mCurrentTaskWithOrder!!.order!!.orderNo,
System.currentTimeMillis()
System.currentTimeMillis(),0
)
setBeautificationMode(true)
}
@@ -1342,7 +1359,7 @@ object TaxiTaskModel {
mCurrentTaskWithOrder!!.endSite!!.siteName,
mCurrentTaskWithOrder!!.lineId.toInt(),
if (mCurrentTaskWithOrder!!.order != null) mCurrentTaskWithOrder!!.order!!.orderNo else "",
System.currentTimeMillis()
System.currentTimeMillis(),0
)
OchAutopilotAnalytics.triggerUpdateStartAutoPilotSessionId(sessionId)
mControllerStatusCallback?.startOpenAutopilot()

26
OCH/taxi/unmanned-passenger/src/main/java/com/mogo/och/unmanned/passenger/model/AutopilotManager.kt
View File

@@ -123,7 +123,8 @@ object AutopilotManager : IOchAutopilotStatusListener {
TaxiPassengerModel.currentOCHOrder!!.orderEndSite.siteName,
lineId.toInt(),
TaxiPassengerModel.currentOCHOrder!!.orderNo,
System.currentTimeMillis()
System.currentTimeMillis(),
0
)
OchAutopilotAnalytics.triggerUpdateStartAutoPilotSessionId(sessionId)
needSpeakByStartAutopilot = true
@@ -203,6 +204,26 @@ object AutopilotManager : IOchAutopilotStatusListener {
CallerAutoPilotStatusListenerManager.updateAutopilotControlParameters(null)
}
override fun onAutopilotStatusResponseFromCan(state: Int) {
super.onAutopilotStatusResponseFromCan(state)
when (state) {
IMoGoAutopilotStatusListener.STATUS_AUTOPILOT_RUNNING -> {
if (TaxiPassengerModel.currentOCHOrder != null && TaxiPassengerModel.curOrderStatus === TaxiOrderStatusEnum.UserArriveAtStart) {
OchAutopilotAnalytics.triggerStartAutopilotEvent(
false,
true,
TaxiPassengerModel.currentOCHOrder!!.orderStartSite.siteName,
TaxiPassengerModel.currentOCHOrder!!.orderEndSite.siteName,
TaxiPassengerModel.currentOCHOrder!!.orderNo.toInt(),
TaxiPassengerModel.currentLineId.toString(),
System.currentTimeMillis(),
1
)
}
}
}
}
override fun onAutopilotStatusResponse(state: Int) {
// 启动自驾成功
when (state) {
@@ -215,7 +236,8 @@ object AutopilotManager : IOchAutopilotStatusListener {
TaxiPassengerModel.currentOCHOrder!!.orderEndSite.siteName,
TaxiPassengerModel.currentOCHOrder!!.orderNo.toInt(),
TaxiPassengerModel.currentLineId.toString(),
System.currentTimeMillis()
System.currentTimeMillis(),
0
)
if(needSpeakByStartAutopilot) {
VoiceNotice.showNotice("坐稳扶好，我们出发咯！", AIAssist.LEVEL2)

32
app_mogo_magic_ring/build.gradle
View File

@@ -9,8 +9,8 @@ android {
minSdkVersion rootProject.ext.android.minSdkVersion
targetSdkVersion rootProject.ext.android.targetSdkVersion
multiDexEnabled true
versionCode 1
versionName "1.0"
versionCode 2
versionName "2.0"
testInstrumentationRunner "androidx.test.runner.AndroidJUnitRunner"
@@ -20,10 +20,34 @@ android {
}
}
buildTypes {
signingConfigs {
release {
keyAlias = 'CarLauncher'
storeFile file('../keystore/car_launcher.jks')
storePassword 'ZDauto123456'
keyPassword 'ZDauto123456'
}
releaseEB5 {
keyAlias = 'android_platform'
storeFile file('../keystore/EB5/car_launcher.jks')
storePassword 'ZDauto123456'
keyPassword 'ZDauto123456'
}
}
buildTypes {
debug {
debuggable true
minifyEnabled false
zipAlignEnabled false
shrinkResources false
signingConfig signingConfigs.release
}
release {
debuggable false
minifyEnabled false
zipAlignEnabled false
shrinkResources false
signingConfig signingConfigs.release
proguardFiles getDefaultProguardFile('proguard-android-optimize.txt'), 'proguard-rules.pro'
}
}

2
app_mogo_magic_ring/src/main/java/com/zhidao/adas/magic/App.java
View File

@@ -3,11 +3,13 @@ package com.zhidao.adas.magic;
import android.app.Application;
import com.zhidao.adas.magic.utils.CrashHandler;
import com.zhidao.support.adas.high.AdasManager;
public class App extends Application {
@Override
public void onCreate() {
super.onCreate();
CrashHandler.getInstance().init(this);
AdasManager.getInstance().init(this);
}
}

340
app_mogo_magic_ring/src/main/java/com/zhidao/adas/magic/ui/MainActivity.java
View File

@@ -48,18 +48,21 @@ import com.zhidao.support.adas.high.AdasOptions;
import com.zhidao.support.adas.high.OnAdasConnectStatusListener;
import com.zhidao.support.adas.high.OnAdasListener;
import com.zhidao.support.adas.high.bean.VersionCompatibility;
import com.zhidao.support.adas.high.common.Constants.IPC_CONNECTION_STATUS;
import com.zhidao.support.adas.high.common.CupidLogUtils;
import com.zhidao.support.adas.high.common.ProtocolStatus;
import com.zhjt.mogo.adas.data.AdasConstants;
import com.zhjt.mogo.adas.data.AiCloudTask;
import com.zhjt.mogo.adas.data.bean.AdasParam;
import com.zhjt.mogo.adas.data.bean.AutopilotStatistics;
import com.zhjt.mogo.adas.data.bean.UnableAutopilotReason;
import com.zhjt.mogo.adas.data.sweeper.SweeperCloudTask;
import com.zhjt.mogo.adas.data.bean.LaunchConditionData;
import com.zhjt.mogo.adas.data.bean.ReceivedAck;
import com.zhjt.mogo.adas.data.bean.UnableLaunchReason;
import com.zhjt.mogo.adas.data.sweeper.bootable.SweeperBootable;
import com.zhjt.mogo.adas.data.sweeper.task.SweeperTask;
import com.zhjt.mogo.adas.data.sweeper.task.s_r.SweeperTaskSuspendResume;
import com.zhjt.mogo.adas.data.sweeper.task.big.SweeperBigTaskStatus;
import com.zhjt.mogo.adas.data.sweeper.task.cloud.s_r.SweeperTaskCloudSuspendResume;
import com.zhjt.mogo.adas.data.sweeper.task.confirm.SweeperTaskConfirm;
import com.zhjt.mogo.adas.data.sweeper.task.s_r.SweeperTaskSuspendResume;
import com.zhjt.mogo.adas.data.sweeper.task.status.SweeperTaskStatus;
import com.zhjt.mogo.adas.data.sweeper.task.stop.SweeperTaskStop;
@@ -77,17 +80,24 @@ import java.util.Timer;
import java.util.TimerTask;
import bag_manager.BagManagerOuterClass;
import chassis.Chassis;
import chassis.ChassisStatesOuterClass;
import chassis.VehicleStateOuterClass;
import fault_management.FmInfo;
import fsm.Fsm2024;
import function_state_management.FunctionStates;
import localization.LocState;
import mogo.telematics.pad.MessagePad;
import mogo.v2x.MogoV2X;
import mogo.v2x.RoadOverviewEvents;
import mogo.yycp.paralleldriving.protocol.ParallelTaskProcessNoticeOuterClass;
import mogo_msg.MogoReportMsg;
import perception.TrafficLightOuterClass;
import perception.FusionTrafficLightOuterClass;
import perception.LaneMarkOuterClass;
import planning.RoboSweeperTaskIndexOuterClass;
import prediction.Prediction;
import record_cache.RecordPanelOuterClass;
import system_master.SsmInfo;
import system_master.SystemStatusInfo;
public class MainActivity extends BaseActivity implements OnAdasListener, OnAdasConnectStatusListener, BaseAdapter.OnItemClickListener<TitleBean> {
@@ -106,8 +116,8 @@ public class MainActivity extends BaseActivity implements OnAdasListener, OnAdas
private RadioGroup connectionType;
private AppCompatButton connect;
private AppCompatButton disconnect;
private RadioButton fixation;
private RadioButton assign;
private RadioButton specified;
private RadioButton ping;
private RecyclerView infoBtn;
private TextView tvConnectState;
private TextView gnss_hint;
@@ -116,7 +126,8 @@ public class MainActivity extends BaseActivity implements OnAdasListener, OnAdas
private Timer timerAcc;
private final List<TitleBean> titleBtnData = new ArrayList<>();
private final List<IPCConnectState> connectStatusList = new ArrayList<>();
private int connectStatus;
private AdasConstants.IpcConnectionStatus connectStatus;
private String certificationResult = "未开启认证";
private ListPopupWindow listPopupWindow;
private FloatWindow floatWindow;
private View include_title;
@@ -130,7 +141,7 @@ public class MainActivity extends BaseActivity implements OnAdasListener, OnAdas
initView();
initAdas();
connectStatus = AdasManager.getInstance().getIpcConnectionStatus();
onUpdateConnectStateView();
onUpdateConnectStateView("未连接");
showIPCIP();
AdasManager.getInstance().setEnableLog(false);
vibrator = (Vibrator) getSystemService(Context.VIBRATOR_SERVICE);
@@ -168,21 +179,29 @@ public class MainActivity extends BaseActivity implements OnAdasListener, OnAdas
private void connect(boolean isConnect) {
AdasOptions options = AdasManager.getInstance().getAdasOptions();
AdasOptions.Builder builder;
if (options == null) {
builder = AdasOptions.newBuilder().setPassenger(false);
} else {
builder = options.toBuilder();
}
if (isConnect) {
switch (Constants.getIpcConnectionMode(this)) {
case AdasOptions.IPC_CONNECTION_MODE.FIXATION:
AdasManager.getInstance().getAdasOptions().setIpcFixationIP(AdasManager.getInstance().getIPCFixationIPList(this));
case AdasOptions.IPC_CONNECTION_MODE.PING:
builder.setPingAddressList(AdasManager.getInstance().getPingAddressList());
break;
case AdasOptions.IPC_CONNECTION_MODE.ASSIGN:
case AdasOptions.IPC_CONNECTION_MODE.SPECIFIED:
String ip = etIp.getText().toString().trim();
if (TextUtils.isEmpty(ip)) {
Toast.makeText(this, "请输入指定IP", Toast.LENGTH_SHORT).show();
return;
}
AdasManager.getInstance().getAdasOptions().setIpcAssignIP(ip);
builder.setSpecifiedAddress(ip);
break;
}
AdasManager.getInstance().getAdasOptions().setIpcConnectionMode(Constants.getIpcConnectionMode(this));
builder.setConnectionMode(Constants.getIpcConnectionMode(this));
AdasManager.getInstance().setAdasOptions(builder.build());
AdasManager.getInstance().connect();
} else
AdasManager.getInstance().disconnect();
@@ -197,8 +216,8 @@ public class MainActivity extends BaseActivity implements OnAdasListener, OnAdas
tvIp = findViewById(R.id.tv_ip);
connect = findViewById(R.id.connect);
disconnect = findViewById(R.id.disconnect);
fixation = findViewById(R.id.fixation);
assign = findViewById(R.id.assign);
specified = findViewById(R.id.specified);
ping = findViewById(R.id.ping);
title = findViewById(R.id.title);
infoBtn = findViewById(R.id.info_btn);
@@ -221,11 +240,11 @@ public class MainActivity extends BaseActivity implements OnAdasListener, OnAdas
initListData();
initBtnRecyclerView();
switch (Constants.getIpcConnectionMode(this)) {
case 0:
fixation.setChecked(true);
break;
case 1:
assign.setChecked(true);
specified.setChecked(true);
break;
case 0:
ping.setChecked(true);
break;
}
@@ -241,14 +260,10 @@ public class MainActivity extends BaseActivity implements OnAdasListener, OnAdas
public void onCheckedChanged(RadioGroup group, int checkedId) {
AdasManager.getInstance().disconnect();
int type;
switch (checkedId) {
default:
case R.id.assign:
type = AdasOptions.IPC_CONNECTION_MODE.ASSIGN;
break;
case R.id.fixation:
type = AdasOptions.IPC_CONNECTION_MODE.FIXATION;
break;
if (checkedId == R.id.specified) {
type = AdasOptions.IPC_CONNECTION_MODE.SPECIFIED;
} else {
type = AdasOptions.IPC_CONNECTION_MODE.PING;
}
Constants.setIpcConnectionMode(MainActivity.this, type);
}
@@ -407,56 +422,6 @@ public class MainActivity extends BaseActivity implements OnAdasListener, OnAdas
}
private int getStatusColor(int connectStatus) {
int color;
switch (connectStatus) {
case IPC_CONNECTION_STATUS.CONNECTED:
color = R.color.connect_status_connected;
break;
default:
case IPC_CONNECTION_STATUS.DISCONNECTED:
color = R.color.connect_status_disconnected;
break;
case IPC_CONNECTION_STATUS.CONNECTING:
color = R.color.connect_status_connecting;
break;
case IPC_CONNECTION_STATUS.SEARCH_ADDRESS:
color = R.color.connect_status_search_address;
break;
case IPC_CONNECTION_STATUS.NOT_FOUND_ADDRESS:
color = R.color.connect_status_disconnecting;
break;
}
return color;
}
private String onUpdateConnectStateView() {
String status;
switch (connectStatus) {
case IPC_CONNECTION_STATUS.CONNECTED:
status = "已连接";
break;
default:
case IPC_CONNECTION_STATUS.DISCONNECTED:
status = "未连接";
break;
case IPC_CONNECTION_STATUS.CONNECTING:
status = "连接中";
break;
case IPC_CONNECTION_STATUS.SEARCH_ADDRESS:
status = "搜索IP";
break;
case IPC_CONNECTION_STATUS.NOT_FOUND_ADDRESS:
status = "未找到";
break;
}
Message msg = Message.obtain();
msg.obj = new IPCConnectState(status, getStatusColor(connectStatus));
msg.what = WHAT_IPC_CONNECT_STATE;
getHandler().sendMessage(msg);
return status;
}
@Override
public void onError(ProtocolStatus status, byte[] bytes) {
@@ -491,6 +456,11 @@ public class MainActivity extends BaseActivity implements OnAdasListener, OnAdas
}
@Override
public void onLightSwitch(@NonNull Chassis.LightSwitch light) {
}
@Override
public void onAutopilotState(MessagePad.Header header, MessagePad.AutopilotState autopilotState) {
}
@@ -500,7 +470,8 @@ public class MainActivity extends BaseActivity implements OnAdasListener, OnAdas
}
@Override
public void onPerceptionTrafficLight(MessagePad.Header header, TrafficLightOuterClass.TrafficLights trafficLights) {
public void onPerceptionTrafficLight(MessagePad.Header header, FusionTrafficLightOuterClass.FusionTrafficLights trafficLights) {
}
@Override
@@ -546,6 +517,26 @@ public class MainActivity extends BaseActivity implements OnAdasListener, OnAdas
public void onStatusQueryResp(MessagePad.Header header, SystemStatusInfo.StatusInfo statusInfo) {
}
@Override
public void onSystemStatus(MessagePad.Header header, SsmInfo.SsmStatusInf statusInf) {
}
@Override
public void onFaultManagementState(MessagePad.Header header, @NonNull FmInfo.FaultResultMsg fmInfo) {
}
@Override
public void onFSM2024State(@NonNull MessagePad.Header header, @NonNull Fsm2024.FSMStateMsg fsmState) {
}
@Override
public void onLocalizationState(MessagePad.Header header, @NonNull LocState.loc_state locState) {
}
@Override
public void onRecordDataConfigResp(MessagePad.Header header, MessagePad.RecordDataConfig config) {
@@ -593,45 +584,57 @@ public class MainActivity extends BaseActivity implements OnAdasListener, OnAdas
}
@Override
public void onSweeperFutianCloudTask(@NonNull MessagePad.Header header, @NonNull SweeperCloudTask.MessageType messageType, @Nullable String reqNo, long sysTime, @Nullable SweeperTask.TaskInfo taskInfo) {
public void onSweeperFutianCloudTask(@NonNull MessagePad.Header header, @NonNull AiCloudTask.MessageType messageType, @Nullable String reqNo, long sysTime, @Nullable SweeperTask.TaskInfo taskInfo) {
}
@Override
public void onSweeperFutianCloudTaskConfirm(@NonNull MessagePad.Header header, @NonNull SweeperCloudTask.MessageType messageType, @Nullable String reqNo, long sysTime, @Nullable SweeperTaskConfirm.TaskConfirm taskConfirm) {
public void onSweeperFutianCloudTaskConfirm(@NonNull MessagePad.Header header, @NonNull AiCloudTask.MessageType messageType, @Nullable String reqNo, long sysTime, @Nullable SweeperTaskConfirm.TaskConfirm taskConfirm) {
}
@Override
public void onSweeperFutianCloudTaskStatus(@NonNull MessagePad.Header header, @NonNull SweeperCloudTask.MessageType messageType, @Nullable String reqNo, long sysTime, @Nullable SweeperTaskStatus.TaskStatusPush taskStatusPush) {
public void onSweeperFutianCloudTaskStatus(@NonNull MessagePad.Header header, @NonNull AiCloudTask.MessageType messageType, @Nullable String reqNo, long sysTime, @Nullable SweeperTaskStatus.TaskStatusPush taskStatusPush) {
}
@Override
public void onSweeperFutianCloudTaskStop(@NonNull MessagePad.Header header, @NonNull SweeperCloudTask.MessageType messageType, @Nullable String reqNo, long sysTime, @Nullable SweeperTaskStop.StopTaskReq stopTaskReq) {
public void onSweeperFutianCloudTaskStop(@NonNull MessagePad.Header header, @NonNull AiCloudTask.MessageType messageType, @Nullable String reqNo, long sysTime, @Nullable SweeperTaskStop.StopTaskReq stopTaskReq) {
}
@Override
public void onSweeperFutianCloudTaskSuspendResume(@NonNull MessagePad.Header header, @NonNull SweeperCloudTask.MessageType messageType, @Nullable String reqNo, long sysTime, @Nullable SweeperTaskSuspendResume.SuspendResumeTaskResp suspendResumeTaskResp) {
public void onSweeperFutianCloudTaskSuspendResume(@NonNull MessagePad.Header header, @NonNull AiCloudTask.MessageType messageType, @Nullable String reqNo, long sysTime, @Nullable SweeperTaskSuspendResume.SuspendResumeTaskResp suspendResumeTaskResp) {
}
@Override
public void onSweeperFutianCloudBootable(@NonNull MessagePad.Header header, @NonNull SweeperCloudTask.MessageType messageType, @Nullable String reqNo, long sysTime, @Nullable SweeperBootable.IsBootableResp isBootableResp) {
public void onSweeperFutianCloudBootable(@NonNull MessagePad.Header header, @NonNull AiCloudTask.MessageType messageType, @Nullable String reqNo, long sysTime, @Nullable SweeperBootable.IsBootableResp isBootableResp) {
}
@Override
public void onSweeperFutianCloudBigTaskStatus(@NonNull MessagePad.Header header, @NonNull SweeperCloudTask.MessageType messageType, @Nullable String reqNo, long sysTime, @Nullable SweeperBigTaskStatus.BigTaskStatusPush bigTaskStatusPush) {
public void onSweeperFutianCloudBigTaskStatus(@NonNull MessagePad.Header header, @NonNull AiCloudTask.MessageType messageType, @Nullable String reqNo, long sysTime, @Nullable SweeperBigTaskStatus.BigTaskStatusPush bigTaskStatusPush) {
}
@Override
public void onSweeperFutianCloudTaskCloudSuspendResume(@NonNull MessagePad.Header header, @NonNull AiCloudTask.MessageType messageType, @Nullable String reqNo, long sysTime, @Nullable SweeperTaskCloudSuspendResume.BigTaskActionPush bigTaskActionPush) {
}
@Override
public void onSweeperFutianCloudTaskUnknown(@NonNull MessagePad.Header header, @NonNull byte[] bytes) {
public void onParallelDrivingResp(@NonNull MessagePad.Header header, @NonNull AiCloudTask.MessageType messageType, @Nullable String reqNo, long sysTime, @Nullable ParallelTaskProcessNoticeOuterClass.ParallelTaskProcessNotice parallelTaskProcessNotice) {
}
@Override
public void onAiCloudTaskUnknown(@NonNull MessagePad.Header header, @NonNull byte[] bytes) {
}
@Override
public void onBagManagerCmd(MessagePad.Header header, BagManagerOuterClass.BagManager bagManager) {
@@ -658,7 +661,52 @@ public class MainActivity extends BaseActivity implements OnAdasListener, OnAdas
}
@Override
public void onAutopilotAbility(boolean isAutopilotAbility, @Nullable List<UnableAutopilotReason> unableAutopilotReasons) {
public void onV2nNioGreenWavePassageEvent(@NonNull MessagePad.Header header, @NonNull MessagePad.V2nCrossSpeed crossSpeed) {
}
@Override
public void onV2nNioCrossoverEvent(@NonNull MessagePad.Header header, @NonNull MessagePad.Event event) {
}
@Override
public void onV2nNioOtherRetrogradeEvent(@NonNull MessagePad.Header header, @NonNull MessagePad.Event event) {
}
@Override
public void onV2nNioCongestionEvent(@NonNull MessagePad.Header header, @NonNull MessagePad.V2nCongestion congestion) {
}
@Override
public void onLaneMarksTran(@NonNull MessagePad.Header header, @NonNull LaneMarkOuterClass.LaneMarks laneMarks) {
}
@Override
public void onSsmReceiveTimeout(boolean isTimeout) {
}
@Override
public void onFsm2024ReceiveTimeout(boolean isTimeout) {
}
@Override
public void onAutopilotAbility(boolean isAutopilotAbility, @NonNull LaunchConditionData launchConditionData, @Nullable ArrayList<UnableLaunchReason> unableAutopilotReasons) {
}
@Override
public void onParallelDrivingAbility(boolean isParallelDrivingAbility) {
}
@Override
public void onReceiveReceivedAck(@NonNull ReceivedAck receivedAck) {
}
@@ -670,41 +718,133 @@ public class MainActivity extends BaseActivity implements OnAdasListener, OnAdas
int mode = Constants.getIpcConnectionMode(this);
switch (mode) {
default:
case AdasOptions.IPC_CONNECTION_MODE.FIXATION:
options = new AdasOptions.Builder().setClient(false).setIpcFixationIP(AdasManager.getInstance().getIPCFixationIPList(this)).setIpcConnectionMode(mode).build();
case AdasOptions.IPC_CONNECTION_MODE.PING:
options = AdasOptions.newBuilder().setPassenger(false).setPingAddressList(AdasManager.getInstance().getPingAddressList()).setConnectionMode(mode).build();
break;
case AdasOptions.IPC_CONNECTION_MODE.ASSIGN:
options = new AdasOptions.Builder().setClient(false).setIpcAssignIP(Constants.getIPCIp(this)).setIpcConnectionMode(mode).build();
case AdasOptions.IPC_CONNECTION_MODE.SPECIFIED:
options = AdasOptions.newBuilder().setPassenger(false).setSpecifiedAddress(Constants.getIPCIp(this)).setConnectionMode(mode).build();
break;
}
AdasManager.getInstance().create(options, this);
AdasManager.getInstance().create(this, options, this);
AdasManager.getInstance().setOnAdasListener(this);
}
private int getStatusColor(AdasConstants.IpcConnectionStatus connectStatus) {
int color;
if (connectStatus == AdasConstants.IpcConnectionStatus.CONNECTED) {
color = R.color.connect_status_connected;
} else if (connectStatus == AdasConstants.IpcConnectionStatus.CONNECTING) {
color = R.color.connect_status_connecting;
} else if (connectStatus == AdasConstants.IpcConnectionStatus.RECONNECTING_TIMER) {
color = R.color.connect_status_reconnecting_timer;
} else if (connectStatus == AdasConstants.IpcConnectionStatus.RECONNECTING_NETWORK) {
color = R.color.connect_status_reconnecting_network;
} else if (connectStatus == AdasConstants.IpcConnectionStatus.CONNECT_EXCEPTION) {
color = R.color.connect_status_connect_failed;
} else if (connectStatus == AdasConstants.IpcConnectionStatus.ILLEGAL_ADDRESS) {
color = R.color.connect_status_illegal_address;
} else if (connectStatus == AdasConstants.IpcConnectionStatus.SEARCH_ADDRESS) {
color = R.color.connect_status_search_address;
} else if (connectStatus == AdasConstants.IpcConnectionStatus.NOT_FOUND_ADDRESS) {
color = R.color.connect_status_not_found_address;
} else if (connectStatus == AdasConstants.IpcConnectionStatus.CERTIFICATION_FAILED) {
color = R.color.connect_status_certification_failed;
} else if (connectStatus == AdasConstants.IpcConnectionStatus.HEARTBEAT_TIMEOUT) {
color = R.color.connect_status_heartbeat_timeout;
} else if (connectStatus == AdasConstants.IpcConnectionStatus.PROTOCOL_MISMATCH) {
color = R.color.connect_status_protocol_mismatch;
} else if (connectStatus == AdasConstants.IpcConnectionStatus.SERVER_DISCONNECTED) {
color = R.color.connect_status_server_disconnect;
} else {
color = R.color.connect_status_disconnected;
}
return color;
}
private void onUpdateConnectStateView(String status) {
Message msg = Message.obtain();
msg.obj = new IPCConnectState(status, getStatusColor(connectStatus));
msg.what = WHAT_IPC_CONNECT_STATE;
getHandler().sendMessage(msg);
}
@Override
public void onConnectionIPCStatus(int ipcConnectionStatus, String reason) {
String time = sdf.format(new Date());
connectStatusList.add(0, new IPCConnectState(reason == null ? "主动断开连接" : reason, getStatusColor(ipcConnectionStatus)));
public void onConnectionIPCStatus(AdasConstants.IpcConnectionStatus ipcConnectionStatus, @Nullable String reason) {
String connectStatusDescribe = "未连接";
if (ipcConnectionStatus == AdasConstants.IpcConnectionStatus.DISCONNECTED) {
connectStatusDescribe = "主动断开连接\n未连接或主动断开连接（未连接：鹰眼首次启动时未调用连接函数【目前鹰眼默认启动就会调用连接函数】；主动断开连接：主动调用断开连接函数；";
} else if (ipcConnectionStatus == AdasConstants.IpcConnectionStatus.CONNECTED) {
connectStatusDescribe = "已连接";
} else if (ipcConnectionStatus == AdasConstants.IpcConnectionStatus.CONNECTING) {
connectStatusDescribe = "连接中";
} else if (ipcConnectionStatus == AdasConstants.IpcConnectionStatus.RECONNECTING_TIMER) {
connectStatusDescribe = "重连中\n类型：定时器";
} else if (ipcConnectionStatus == AdasConstants.IpcConnectionStatus.RECONNECTING_NETWORK) {
connectStatusDescribe = "重连中\n类型：网络监听";
} else if (ipcConnectionStatus == AdasConstants.IpcConnectionStatus.CONNECT_EXCEPTION) {
connectStatusDescribe = "连接异常\n鹰眼与域控连接失败、无法连接、非正常断开等，原因：" + reason;
} else if (ipcConnectionStatus == AdasConstants.IpcConnectionStatus.ILLEGAL_ADDRESS) {
connectStatusDescribe = "非法地址\n连接模式为指定地址时：表示当前鹰眼调用连接时传入的域控地址错误或不符合规则【不修改默认配置不会出现此问题】；连接模式为PING模式时：表示传入的PING地址列表存在问题";
} else if (ipcConnectionStatus == AdasConstants.IpcConnectionStatus.SEARCH_ADDRESS) {
connectStatusDescribe = "正在搜索域控地址";
} else if (ipcConnectionStatus == AdasConstants.IpcConnectionStatus.NOT_FOUND_ADDRESS) {
connectStatusDescribe = "找不到可用地址\n域控地址列表中的全部地址均无法连通【不修改默认配置的情况下需要排查PAD是否连接车载路由器、工控机是否连接车载路由器、工控机是否开机等】";
} else if (ipcConnectionStatus == AdasConstants.IpcConnectionStatus.CERTIFICATION_FAILED) {
connectStatusDescribe = "域控证书认证异常\n鹰眼端或鹰眼端和域控端启用认证后出现异常，原因：" + certificationResult;
} else if (ipcConnectionStatus == AdasConstants.IpcConnectionStatus.HEARTBEAT_TIMEOUT) {
connectStatusDescribe = "心跳超时\n连接域控成功后在一段时间内未收到域控任何数据），超时时间：" + reason + "秒";
} else if (ipcConnectionStatus == AdasConstants.IpcConnectionStatus.PROTOCOL_MISMATCH) {
connectStatusDescribe = "協議不匹配\n被连接的域控端非WebSocket协议【可能性非常低】";
} else if (ipcConnectionStatus == AdasConstants.IpcConnectionStatus.SERVER_DISCONNECTED) {
connectStatusDescribe = "域控主动断开连接\n域控主动发起断开WebSocket连接，目前主要原因有：1.证书认证失败；2.老版本MAP不支持多连接的情况下会踢掉客户端；域控断开发送的消息：" + reason;
}
connectStatusList.add(0, new IPCConnectState(connectStatusDescribe, getStatusColor(ipcConnectionStatus)));
if (connectStatusList.size() > 100) {
connectStatusList.remove(connectStatusList.size() - 1);
}
connectStatus = ipcConnectionStatus;
String status = onUpdateConnectStateView();
if (connectStatus == IPC_CONNECTION_STATUS.CONNECTED) {
if (connectStatusDescribe.contains("\n")) {
connectStatusDescribe = connectStatusDescribe.substring(0, connectStatusDescribe.indexOf("\n"));
}
onUpdateConnectStateView(connectStatusDescribe);
if (connectStatus == AdasConstants.IpcConnectionStatus.CONNECTED) {
getHandler().sendEmptyMessage(WHAT_IPC_IP);
String tem = getIPCIP();
if (!TextUtils.isEmpty(tem)) {
List<String> ips = Constants.getIpcUsedIps(this);
Constants.addIpcUsedIps(this, ips, tem);
}
} else if (connectStatus == IPC_CONNECTION_STATUS.DISCONNECTED) {
} else if (connectStatus == AdasConstants.IpcConnectionStatus.DISCONNECTED) {
getHandler().sendEmptyMessage(WHAT_IPC_IP);
}
// LogSave.getInstance().saveLog("连接状态", status);
// CupidLogUtils.i(TAG, "connectStatus=" + status);
}
@Override
public void onCertification(@NonNull AdasConstants.CertificationStatus status) {
if (status == AdasConstants.CertificationStatus.TIMEOUT) {
certificationResult = "证书认证超时（表示域控未发送BasicInfoReq接口的数据【这种情况可能是连接出现了问题】）";
} else {
if (status != AdasConstants.CertificationStatus.NOT_ENABLED) {
if (status == AdasConstants.CertificationStatus.CERTIFICATE_CHAIN_SUCCESS) {
certificationResult = "成功校验域控证书";
} else if (status == AdasConstants.CertificationStatus.ROOT_CRT_ERROR) {
certificationResult = "获取ROOT证书异常（表示未传递证书，没有拿到ROOT证书）";
} else if (status == AdasConstants.CertificationStatus.IPC_CRT_ERROR) {
certificationResult = "获取域控证书异常（表示域控发送了BasicInfoReq接口的数据但是未传递证书或证书解码失败【失败的可能性很低】）";
} else if (status == AdasConstants.CertificationStatus.CERTIFICATE_CHAIN_FAILED) {
certificationResult = "域控证书校验失败（表示证书链未验证通过。证书不匹配、证书格式不正确）";
}
}
}
}
@Override
public void onCompatibility(VersionCompatibility versionCompatibility) {
showToastCenter("所连工控机：\n" + (versionCompatibility == null ? "未连接" : versionCompatibility.toString()), Toast.LENGTH_LONG);
@@ -746,7 +886,7 @@ public class MainActivity extends BaseActivity implements OnAdasListener, OnAdas
}
}
if (connectStatus != IPC_CONNECTION_STATUS.CONNECTED) {
if (connectStatus != AdasConstants.IpcConnectionStatus.CONNECTED) {
String msg = "未连接工控机";
showToastCenter(msg);
return;

2
app_mogo_magic_ring/src/main/java/com/zhidao/adas/magic/utils/Constants.java
View File

@@ -23,7 +23,7 @@ public class Constants {
/***********************是否使用固定IP******************/
// 0:固定IP 1:指定 2：UDP
// 0:Ping 1:指定
private static final String IPC_CONNECTION_MODE = "ipc_connection_mode";
public static void setIpcConnectionMode(Context context, int type) {

9
app_mogo_magic_ring/src/main/res/layout/item_main.xml
View File

@@ -36,8 +36,7 @@
android:layout_height="wrap_content"
android:layout_gravity="center_vertical"
android:layout_marginStart="5dp"
android:gravity="center"
android:layoutDirection="ltr"
android:gravity="center|start"
android:text="未连接"
android:textColor="@color/colorWhile"
android:textSize="16dp"
@@ -128,17 +127,17 @@
android:orientation="horizontal">
<RadioButton
android:id="@+id/assign"
android:id="@+id/specified"
android:layout_width="wrap_content"
android:layout_height="wrap_content"
android:text="指定"
android:textColor="#ffffff" />
<RadioButton
android:id="@+id/fixation"
android:id="@+id/ping"
android:layout_width="wrap_content"
android:layout_height="wrap_content"
android:text="固定"
android:text="PING"
android:textColor="#ffffff" />
</RadioGroup>

18
app_mogo_magic_ring/src/main/res/values/colors.xml
View File

@@ -12,9 +12,17 @@
<color name="colorCrimson">#DC143C</color>
<color name="colorLimeGreen">#32CD32</color>
<color name="colorSlateGray">#708090</color>
<color name="connect_status_connected">#32CD32</color>
<color name="connect_status_disconnected">#DC143C</color>
<color name="connect_status_connecting">#FF00FF</color>
<color name="connect_status_disconnecting">#DAA520</color>
<color name="connect_status_search_address">#1E90FF</color>
<color name="connect_status_disconnected">#FF0000</color>
<color name="connect_status_connected">#00FF00</color>
<color name="connect_status_connecting">#800080</color>
<color name="connect_status_reconnecting_timer">#BF9548</color>
<color name="connect_status_reconnecting_network">#FFA500</color>
<color name="connect_status_connect_failed">#FF6347</color>
<color name="connect_status_illegal_address">#b408aa</color>
<color name="connect_status_search_address">#00FFFF</color>
<color name="connect_status_not_found_address">#FFC0CB</color>
<color name="connect_status_certification_failed">#800000</color>
<color name="connect_status_heartbeat_timeout">#FFD700</color>
<color name="connect_status_protocol_mismatch">#01014F</color>
<color name="connect_status_server_disconnect">#4d0303</color>
</resources>

2
config.gradle
View File

@@ -30,7 +30,7 @@ ext {
amapsearch : "com.amap.api:search:9.7.0",
amaplocation : "com.amap.api:location:6.3.0",
downloader : "com.mogo.core.net:downloader:1.0.6.3",
downloader : "com.mogo.core.net:downloader:1.0.6.6",
// json 转换
gson : "com.google.code.gson:gson:2.8.4",

46
core/function-impl/mogo-core-function-biz/src/main/java/com/mogo/eagle/function/biz/v2x/v2n/pnc/V2NIdentifyDrawer.kt
View File

@@ -140,52 +140,6 @@ internal object V2NIdentifyDrawer: IEventDismissListener {
car.longitude,
car.latitude
)
// if (polygon.isNotEmpty()) {
// val decision = V2NUtils.computeOccupyLanesInfo(Triple(car.longitude, car.latitude, car.heading.toFloat()), Triple(itx.longitude, itx.latitude, itx.heading.toFloat()), polygon.map { kotlin.Pair(it.first, it.second) })
// if (decision != null) {
// val isDriver = AppIdentityModeUtils.isDriver(FunctionBuildConfig.appIdentityMode)
// val total = decision.total
// val occupy = decision.occupy
// val laneId = decision.laneId
// val sb = StringBuilder()
// V2XBizTrace.onAck(decision, "计算出道路事件占道决策数据1")
// if (laneId != null) {
// val isOccupy = occupy.find { it.id == laneId } != null
// if (isOccupy) {
// if (isDriver) {
// val bestLane = V2NUtils.computeBestLane(laneId, occupy, total)
// V2XBizTrace.onAck(bestLane, "计算出最优车道")
// sb.append("发现前方${distance.toInt()}米${ if (poiType == EventTypeEnumNew.TYPE_SOCKET_ROAD_SHIGONG.poiType) "车道施工" else "车道事故" }@@, 蘑菇建议您尽快${bestLane.second}")
// } else {
// sb.append("发现前方${distance.toInt()}米${ if (poiType == EventTypeEnumNew.TYPE_SOCKET_ROAD_SHIGONG.poiType) "车道施工" else "车道事故" }@@, 蘑菇时刻为您守护")
// }
// } else {
// if (isDriver) {
// sb.append("发现前方${distance.toInt()}米${ if (poiType == EventTypeEnumNew.TYPE_SOCKET_ROAD_SHIGONG.poiType) "车道施工" else "车道事故" }@@, 蘑菇提醒您小心${ if (computeDirection(laneId, occupy) > 0) "右侧" else "左侧" }行人及来车")
// } else {
// sb.append("发现前方${distance.toInt()}米${ if (poiType == EventTypeEnumNew.TYPE_SOCKET_ROAD_SHIGONG.poiType) "车道施工" else "车道事故" }@@, 蘑菇时刻为您守护")
// }
// }
// } else {
// sb.append("发现前方${distance.toInt()}米${ if (poiType == EventTypeEnumNew.TYPE_SOCKET_ROAD_SHIGONG.poiType) "车道施工" else "车道事故" }@@, 蘑菇时刻为您守护")
// }
// if (AppIdentityModeUtils.isPassenger(FunctionBuildConfig.appIdentityMode)) {
// runCatching {
// CallerHmiManager.notifyXiaoZhiStatusChanged(V2N(EventTypeEnumNew.getEnumType(poiType)), START)
// }
// scope.launch {
// delay(5000)
// runCatching {
// CallerHmiManager.notifyXiaoZhiStatusChanged(V2N(EventTypeEnumNew.getEnumType(poiType)), STOP)
// }
// }
// }
// val ss = sb.toString()
// val content = ss.substring(0, ss.indexOf("@@"))
// val tts = ss.replace("@@", "")
// CallerRoadV2NEventWindowListenerManager.showLiveVideo(id, itx.detectStartTime.takeIf { it > 0 } ?: System.currentTimeMillis(), EventTypeEnumNew.getUpdateIconRes(poiType), content, isDriver, tts, itx.cameraIp, itx.longitude, itx.latitude)
// }
// }
val isDriver = AppIdentityModeUtils.isDriver(FunctionBuildConfig.appIdentityMode)
if (!isDriver) {
runCatching {

2
core/function-impl/mogo-core-function-biz/src/main/java/com/mogo/eagle/function/biz/v2x/v2n/scenario/scene/airoad/AiRoadMarker.kt
View File

@@ -46,7 +46,7 @@ class AiRoadMarker {
val aiMakers = ConcurrentHashMap<String, AiRoadMarker>()
private const val TAG = "AiRoadMarker"
private val COLOR_START = Color.parseColor("#002ABAD9")
private val COLOR_START = Color.parseColor("#0030A3FF")
private val COLOR_END = Color.parseColor("#66FF7A30")
private val builders by lazy { ConcurrentHashMap<String, Point.Options.Builder>() }

4
core/function-impl/mogo-core-function-biz/src/main/java/com/mogo/eagle/function/biz/v2x/v2n/scenario/scene/road/V2XAiRoadEventMarker.kt
View File

@@ -38,12 +38,12 @@ class V2XAiRoadEventMarker {
if (AppIdentityModeUtils.isDriver(FunctionBuildConfig.appIdentityMode)) {
val colors = ArrayList<Int>()
colors.add(Color.argb(204, 237, 172, 21))
colors.add(Color.argb(0, 255, 255, 255))
colors.add(Color.argb(0, 48, 163, 255))
builder.colors(colors)
} else {
val colors = ArrayList<Int>()
colors.add(Color.parseColor("#99FF8F2A"))
colors.add(Color.argb(0, 255, 255, 255))
colors.add(Color.argb(0, 48, 163, 255))
builder.colors(colors)
}
val dispersedPoints = getDispersedPoints(polygon.map { Pair<Double, Double>(it.first, it.second) }, 3)

14
core/function-impl/mogo-core-function-datacenter/src/main/java/com/mogo/eagle/core/function/datacenter/autopilot/adapter/MoGoAdasListenerImpl.kt
View File

@@ -117,6 +117,7 @@ import mogo.v2x.RoadOverviewEvents
import mogo.yycp.paralleldriving.protocol.ParallelTaskProcessNoticeOuterClass
import mogo_msg.MogoReportMsg
import perception.FusionTrafficLightOuterClass
import perception.LaneMarkOuterClass
import planning.RoboSweeperTaskIndexOuterClass
import prediction.Prediction
import record_cache.RecordPanelOuterClass
@@ -1030,6 +1031,19 @@ class MoGoAdasListenerImpl : OnAdasListener {
CallerV2nNioEventListenerManager.invokeV2nNioCongestionEvent(congestion)
}
/**
* 车道线
*
* @param header 头
* @param laneMarks 数据
*/
override fun onLaneMarksTran(
header: MessagePad.Header,
laneMarks: LaneMarkOuterClass.LaneMarks
) {
}
/**
* 所连接的域控的节点状态信息
* 目前包含状态 节点是否存在；节点是否超时；

28
core/function-impl/mogo-core-function-devatools/src/main/java/com/zhjt/mogo_core_function_devatools/DevaToolsProvider.kt
View File

@@ -5,7 +5,6 @@ package com.zhjt.mogo_core_function_devatools
import android.app.Activity
import android.app.Application
import android.content.Context
import android.util.Log
import android.view.View
import android.view.ViewGroup
import com.alibaba.android.arouter.facade.annotation.Route
@@ -13,7 +12,6 @@ import com.alibaba.android.arouter.launcher.ARouter
import com.mogo.commons.AbsMogoApplication
import com.mogo.commons.debug.DebugConfig
import com.mogo.eagle.core.data.EnvConfig
import com.mogo.eagle.core.data.app.AppConfigInfo
import com.mogo.eagle.core.data.config.FunctionBuildConfig
import com.mogo.eagle.core.data.config.HmiBuildConfig.isShowRouteStrategy
import com.mogo.eagle.core.data.constants.MogoServicePaths
@@ -60,10 +58,8 @@ import com.zhjt.mogo_core_function_devatools.binding.BindingCarManager
import com.zhjt.mogo_core_function_devatools.block.MoGoBlockProviderImpl
import com.zhjt.mogo_core_function_devatools.env.EnvChangeManager
import com.zhjt.mogo_core_function_devatools.exam.ExamControlManager
import com.zhjt.mogo_core_function_devatools.exam.ExamControlWindow
import com.zhjt.mogo_core_function_devatools.funcconfig.FuncConfigCenter.Companion.bizConfigCenter
import com.zhjt.mogo_core_function_devatools.funcconfig.FuncConfigImpl
import com.zhjt.mogo_core_function_devatools.logcat.CrashLogAnalyticsManager
import com.zhjt.mogo_core_function_devatools.logcat.MoGoLogRecordProviderImpl
import com.zhjt.mogo_core_function_devatools.logcatch.MogoLogCatchManager
import com.zhjt.mogo_core_function_devatools.lookaround.MoGoLookAroundProviderImpl
@@ -91,11 +87,7 @@ import com.zhjt.service.chain.ChainLog
import kotlinx.coroutines.Dispatchers
import kotlinx.coroutines.delay
import kotlinx.coroutines.launch
import java.io.BufferedReader
import java.io.File
import java.io.FileReader
import java.io.IOException
import java.lang.StringBuilder
import java.lang.ref.WeakReference
import java.util.concurrent.ConcurrentHashMap
@@ -250,26 +242,6 @@ class DevaToolsProvider : IDevaToolsProvider, IAppStateListener {
val crashDir = File(it.getExternalFilesDir(null), "crash")
if(crashDir.exists() && crashDir.canExecute() && crashDir.listFiles()?.isNotEmpty() == true){
it.lifeCycleScope.launch(Dispatchers.IO){
crashDir.listFiles()?.forEach {crash->
val file = File(crash.absolutePath)
try {
BufferedReader(FileReader(file)).use { reader ->
var line: String?
//读取读取文件内容并打印
while (reader.readLine().also { line = it } != null) {
line?.let { content->
if(content.contains("Crash type")){
CrashLogAnalyticsManager.crashLogAnalytics(content)
return@use
}
}
}
}
} catch (e: IOException) {
e.printStackTrace()
}
}
val startTime = crashDir.lastModified() - 60*1000
val endTime = if(System.currentTimeMillis() - crashDir.lastModified()>60*1000){
crashDir.lastModified() + 60*1000

124
core/function-impl/mogo-core-function-devatools/src/main/java/com/zhjt/mogo_core_function_devatools/badcase/BadCaseManager.kt
View File

@@ -246,32 +246,21 @@ internal object BadCaseManager : LifecycleEventObserver, IMoGoAutopilotRecordLis
if (ClickUtils.isFastClick()){
if (NetworkUtils.isConnected()){
if (BadCaseConfig.dockerVersion != null){
if(ProjectUtils.isSaas()){
//660版本数据闭环增加统一上报问题入口（仅限于saas渠道）
if(reportTypeWindow == null){
reportTypeWindow = ReportTypeWindow(activity)
reportTypeWindow?.setClickListener(object: ReportTypeWindow.ClickListener{
override fun closeWindow() {
reportTypeWindow?.hideFloatWindow()
reportTypeWindow = null
}
})
}
if(reportTypeWindow?.getWindowShowStatus() == true){
reportTypeWindow?.hideFloatWindow()
reportTypeWindow = null
}else{
reportTypeWindow?.showFloatWindow(xPosition,yPosition)
}
}else{
//展示工单上报弹窗
val workOrderWindow = WorkOrderWindow(activity)
workOrderWindow.setClickListener(object: WorkOrderWindow.ClickListener{
//660版本数据闭环增加统一上报问题入口（仅限于saas渠道）
if(reportTypeWindow == null){
reportTypeWindow = ReportTypeWindow(activity)
reportTypeWindow?.setClickListener(object: ReportTypeWindow.ClickListener{
override fun closeWindow() {
workOrderWindow.hideFloatWindow()
reportTypeWindow?.hideFloatWindow()
reportTypeWindow = null
}
})
workOrderWindow.showFloatWindow()
}
if(reportTypeWindow?.getWindowShowStatus() == true){
reportTypeWindow?.hideFloatWindow()
reportTypeWindow = null
}else{
reportTypeWindow?.showFloatWindow(xPosition,yPosition)
}
}else{
ToastUtils.showShort("工控机连接状态异常")
@@ -373,29 +362,31 @@ internal object BadCaseManager : LifecycleEventObserver, IMoGoAutopilotRecordLis
fun onReceiveBadCaseRecord(msgBoxBean: MsgBoxBean, activity: Activity, countdown: Boolean) {
CallerLogger.d("$M_DEVA$TAG", "收到录包结果回调${record}")
CallerLogger.d("$M_DEVA$TAG", "开始创建被动录包弹窗,window num=${BadCaseConfig.windowNum}")
ThreadUtils.runOnUiThread {
val passiveBadCaseWindow = PassiveBadCaseWindow(activity)
passiveBadCaseWindow.setRecord(msgBoxBean)
passiveBadCaseWindow.setClickListener(object : PassiveBadCaseWindow.ClickListener {
override fun closeWindow() {
passiveBadCaseWindow.hideFloatWindow()
}
})
passiveBadCaseWindow.showFloatWindow()
if (countdown) {
val countDownTimer = object : CountDownTimer(10000, 10000) {
override fun onTick(p0: Long) {
if(!ProjectUtils.isSaas()){
ThreadUtils.runOnUiThread {
val passiveBadCaseWindow = PassiveBadCaseWindow(activity)
passiveBadCaseWindow.setRecord(msgBoxBean)
passiveBadCaseWindow.setClickListener(object : PassiveBadCaseWindow.ClickListener {
override fun closeWindow() {
passiveBadCaseWindow.hideFloatWindow()
}
})
passiveBadCaseWindow.showFloatWindow()
if (countdown) {
val countDownTimer = object : CountDownTimer(10000, 10000) {
override fun onTick(p0: Long) {
}
override fun onFinish() {
//如果有页面操作，则不自动关闭窗口
if(!passiveBadCaseWindow.isOperated()){
passiveBadCaseWindow.hideFloatWindow()
BadCaseConfig.windowNum--
override fun onFinish() {
//如果有页面操作，则不自动关闭窗口
if(!passiveBadCaseWindow.isOperated()){
passiveBadCaseWindow.hideFloatWindow()
BadCaseConfig.windowNum--
}
}
}
countDownTimer.start()
}
countDownTimer.start()
}
}
}
@@ -579,26 +570,35 @@ internal object BadCaseManager : LifecycleEventObserver, IMoGoAutopilotRecordLis
*/
override fun onFSM2024State(fsmState: Fsm2024.FSMStateMsg) {
Log.i(TAG,"onFSM2024State fsmState.pilotStandbyFlag="+fsmState.pilotStandbyFlag+" pilotNotStandbyReason="+ fsmState.pilotNotStandbyReason)
if(!fsmState.pilotStandbyFlag){
//pilotStandbyFlag == false代表自动驾驶无法启动
if(!BadCaseConfig.alreadyShowOneReport){
//触发一键上报
ThreadUtils.runOnUiThread {
if(reportTypeWindow == null){
reportTypeWindow = ReportTypeWindow(activity)
reportTypeWindow?.setClickListener(object: ReportTypeWindow.ClickListener{
override fun closeWindow() {
reportTypeWindow?.hideFloatWindow()
reportTypeWindow = null
}
})
if(fsmState.pilotStandbyFlag){
BadCaseConfig.fsmAlreadyStandby = true
}
if(BadCaseConfig.fsmAlreadyStandby){
if(!fsmState.pilotStandbyFlag){
//pilotStandbyFlag == false代表自动驾驶无法启动
if(!BadCaseConfig.alreadyShowOneReport){
//触发一键上报
ThreadUtils.runOnUiThread {
val activity = AppStateManager.currentActivity()
if (activity !is AppCompatActivity) {
return@runOnUiThread
}
if(reportTypeWindow == null){
reportTypeWindow = ReportTypeWindow(activity)
reportTypeWindow?.setClickListener(object: ReportTypeWindow.ClickListener{
override fun closeWindow() {
reportTypeWindow?.hideFloatWindow()
reportTypeWindow = null
}
})
}
reportTypeWindow?.showOneClickReportWindow(xPosition,yPosition)
BadCaseConfig.alreadyShowOneReport = true
}
reportTypeWindow?.showOneClickReportWindow(xPosition,yPosition)
BadCaseConfig.alreadyShowOneReport = true
}
}else{
BadCaseConfig.alreadyShowOneReport = false
}
}else{
BadCaseConfig.alreadyShowOneReport = false
}
}
@@ -614,6 +614,10 @@ internal object BadCaseManager : LifecycleEventObserver, IMoGoAutopilotRecordLis
if(it.status == AutopilotStatistics.AUTOPILOT_START_STATUS.FAILED){
//触发一键上报
ThreadUtils.runOnUiThread{
val activity = AppStateManager.currentActivity()
if (activity !is AppCompatActivity) {
return@runOnUiThread
}
if(reportTypeWindow == null){
reportTypeWindow = ReportTypeWindow(activity)
reportTypeWindow?.setClickListener(object: ReportTypeWindow.ClickListener{
@@ -655,6 +659,10 @@ internal object BadCaseManager : LifecycleEventObserver, IMoGoAutopilotRecordLis
}else if(state == IMoGoAutopilotStatusListener.STATUS_AUTOPILOT_DISABLE ||
state == IMoGoAutopilotStatusListener.STATUS_AUTOPILOT_ENABLE){
if(shouldRecord){
val activity = AppStateManager.currentActivity()
if (activity !is AppCompatActivity) {
return
}
val geocodeSearch = GeocodeSearch(activity)
geocodeSearch.setOnGeocodeSearchListener(object: GeocodeSearch.OnGeocodeSearchListener {
override fun onRegeocodeSearched(regeocodeResult: RegeocodeResult?, p1: Int) {

2
core/function-impl/mogo-core-function-devatools/src/main/java/com/zhjt/mogo_core_function_devatools/badcase/Extentions.kt
View File

@@ -130,7 +130,7 @@ fun Context.enqueuePop(content: View, width: Int, height: Int, key: String = "",
}
override fun show() {
pop.showAtLocation(activity.window.decorView, gravity, startX, if (isImmersiveMode) 0 else BarUtils.getStatusBarHeight() + startY)
pop.showAtLocation(activity.window.decorView, gravity, startX, startY)
}
override fun isOverride(): Boolean = isOverride
}

3
core/function-impl/mogo-core-function-devatools/src/main/java/com/zhjt/mogo_core_function_devatools/badcase/biz/InitiativeBadCaseWindow.kt
View File

@@ -507,9 +507,6 @@ class InitiativeBadCaseWindow constructor(activity: Activity) : View.OnTouchList
// 更新浮动窗口位置参数
mInScreenX = motionEvent.rawX
mInScreenY = motionEvent.rawY
if(((mInScreenX - mInViewX)-mWindowParams!!.x).absoluteValue>150 || ((mInScreenY - mInViewY)-mWindowParams!!.y).absoluteValue>150){
return true
}
mWindowParams!!.x = (mInScreenX - mInViewX).toInt()
mWindowParams!!.y = (mInScreenY - mInViewY).toInt()
// 手指移动的时候更新小悬浮窗的位置

3
core/function-impl/mogo-core-function-devatools/src/main/java/com/zhjt/mogo_core_function_devatools/badcase/biz/PassiveBadCaseWindow.kt
View File

@@ -505,9 +505,6 @@ class PassiveBadCaseWindow constructor(activity: Activity) : View.OnTouchListene
// 更新浮动窗口位置参数
mInScreenX = motionEvent.rawX
mInScreenY = motionEvent.rawY
if(((mInScreenX - mInViewX)-mWindowParams!!.x).absoluteValue>150 || ((mInScreenY - mInViewY)-mWindowParams!!.y).absoluteValue>150){
return true
}
mWindowParams!!.x = (mInScreenX - mInViewX).toInt()
mWindowParams!!.y = (mInScreenY - mInViewY).toInt()
// 手指移动的时候更新小悬浮窗的位置

3
core/function-impl/mogo-core-function-devatools/src/main/java/com/zhjt/mogo_core_function_devatools/badcase/consts/BadCaseConfig.kt
View File

@@ -62,6 +62,9 @@ object BadCaseConfig {
//本次问题是否已经触发一键上报
@JvmField
var alreadyShowOneReport: Boolean = false
//FSM是否已经变为可以启自驾
@JvmField
var fsmAlreadyStandby: Boolean = false
//租户ID
@JvmField
var tenantId: Long = 0

3
core/function-impl/mogo-core-function-devatools/src/main/java/com/zhjt/mogo_core_function_devatools/exam/ExamControlWindow.kt
View File

@@ -240,9 +240,6 @@ class ExamControlWindow constructor(activity: Activity): View.OnTouchListener{
// 更新浮动窗口位置参数
mInScreenX = motionEvent.rawX
mInScreenY = motionEvent.rawY
if(((mInScreenX - mInViewX)-mWindowParams!!.x).absoluteValue>150 || ((mInScreenY - mInViewY)-mWindowParams!!.y).absoluteValue>150){
return true
}
mWindowParams!!.x = (mInScreenX - mInViewX).toInt()
mWindowParams!!.y = (mInScreenY - mInViewY).toInt()
// 手指移动的时候更新小悬浮窗的位置

13
core/function-impl/mogo-core-function-devatools/src/main/java/com/zhjt/mogo_core_function_devatools/logcat/CrashLogAnalyticsManager.kt
View File

@@ -24,6 +24,8 @@ object CrashLogAnalyticsManager {
private const val crashEyeVersion = "eyeVersion" //鹰眼版本
private const val crashAppFlavor = "appFlavor" //渠道信息
private const val crashBranchHash = "branchHash" //Git Hash
private const val crashKeyMessage = "keyMessage" //崩溃核心信息
private const val crashIsDriver = "isDriver" //是否是司机屏
/**
* 崩溃统计
@@ -37,7 +39,7 @@ object CrashLogAnalyticsManager {
* @param branchHash Git Hash
*/
private fun realCrashLogAnalytics(cosPath: String,type: String,plateNumber: String,carSn: String,mapVersion: String,eyeVersion: String,
appFlavor: String,branchHash: String){
appFlavor: String,branchHash: String,keyMessage: String,isDriver: Boolean){
val crashLogParams = HashMap<String,Any>()
crashLogParams[crashCosPath] = cosPath
crashLogParams[crashType] = type
@@ -47,14 +49,17 @@ object CrashLogAnalyticsManager {
crashLogParams[crashEyeVersion] = eyeVersion
crashLogParams[crashAppFlavor] = appFlavor
crashLogParams[crashBranchHash] = branchHash
crashLogParams[crashKeyMessage] = keyMessage
crashLogParams[crashIsDriver] = isDriver
MogoAnalyticUtils.track(crashLogRecord,crashLogParams)
}
/**
* 崩溃统计
* @param crashType 崩溃类型
* @param keyMessage 崩溃关键信息
*/
fun crashLogAnalytics(crashType: String){
fun crashLogAnalytics(crashType: String,keyMessage: String){
val crashCosPath = StringBuilder()
crashCosPath.append("CarPad/")
if(DebugConfig.isDebug()){
@@ -66,10 +71,10 @@ object CrashLogAnalyticsManager {
crashCosPath.append("/")
crashCosPath.append(millis2String(System.currentTimeMillis(), TimeUtils.getMdFormat()))
crashCosPath.append("/")
realCrashLogAnalytics(crashCosPath.toString(),crashType.replace("Crash type:","").trim(), AppConfigInfo.plateNumber,
realCrashLogAnalytics(crashCosPath.toString(),crashType, AppConfigInfo.plateNumber,
SharedPrefsMgr.getInstance().sn,
CallerAutoPilotStatusListenerManager.getDockerVersion() ?: "",
AppUtils.getAppVersionName(),AppConfigInfo.flavor,AppConfigInfo.workingBranchHash)
AppUtils.getAppVersionName(),AppConfigInfo.flavor,AppConfigInfo.workingBranchHash,keyMessage,AppConfigInfo.isDriver)
}
}

36
core/function-impl/mogo-core-function-devatools/src/main/java/com/zhjt/mogo_core_function_devatools/logcat/MoGoLogRecordProviderImpl.kt
View File

@@ -14,7 +14,12 @@ import com.mogo.aicloud.services.socket.MogoAiCloudSocketManager
import com.mogo.commons.AbsMogoApplication
import com.mogo.core.log.record.*
import com.mogo.core.log.record.config.*
import com.mogo.core.log.record.config.crash.ANRCrash
import com.mogo.core.log.record.config.crash.CrashConfig
import com.mogo.core.log.record.config.crash.CrashType
import com.mogo.core.log.record.config.crash.JavaCrash
import com.mogo.core.log.record.config.crash.NativeCrash
import com.mogo.core.log.record.config.crash.upload.ICrashFileUploader
import com.mogo.core.log.record.config.extra.IExtraFileToUpload
import com.mogo.core.log.record.config.extra.ToUploadFile
import com.mogo.core.log.record.config.state.IStateProvider
@@ -137,6 +142,7 @@ internal class MoGoLogRecordProviderImpl: IMoGoLogRecordProvider,
builder.crashConfig(
CrashConfig.Builder()
.enabled(true)
.uploader(CrashLogUploader(context))
.crashDir(File(context.getExternalFilesDir(null), "crash"))
.expireDuration(TimeUnit.DAYS.toMillis(3))
.javaCrash(true)
@@ -156,6 +162,7 @@ internal class MoGoLogRecordProviderImpl: IMoGoLogRecordProvider,
}
})
LogcatManager.init(builder)
LogcatManager.uploadForCrashIfNeed()
}
override fun target(): Class<RemoteLogPushContent> {
@@ -235,4 +242,33 @@ internal class MoGoLogRecordProviderImpl: IMoGoLogRecordProvider,
override fun testAnrCrash() {
SystemClock.sleep(15000)
}
private class CrashLogUploader(private val mContext: Context): ICrashFileUploader {
override suspend fun upload(
type: CrashType,
crashTime: String,
file: File,
extra: Map<String, String>?
): Boolean {
try {
val keyMessage = when(type) {
JavaCrash -> extra?.get("java stacktrace") ?: extra?.get("backtrace") ?: "#"
NativeCrash -> extra?.get("backtrace") ?: "#"
ANRCrash -> extra?.get("backtrace") ?: "#"
}
val typeStr = when(type){
JavaCrash -> "JavaCrash"
NativeCrash -> "NativeCrash"
ANRCrash -> "ANRCrash"
}
CrashLogAnalyticsManager.crashLogAnalytics(typeStr,keyMessage)
return true
} catch (t: Throwable) {
return false
}
}
}
}

4
core/function-impl/mogo-core-function-devatools/src/main/java/com/zhjt/mogo_core_function_devatools/status/StatusManager.kt
View File

@@ -94,7 +94,6 @@ object StatusManager {
is GpsStatus -> GpsImpl(ctx)
is TracingStatus -> TracingImpl(ctx)
is RTKStatus -> RTKImpl(ctx)
is FSMStatus -> FSMImpl(ctx)
is OverViewStatus -> OverViewImpl(ctx)
is SteerStatus -> SteerImpl(ctx)
is AcceleratorStatus -> AcceleratorImpl(ctx)
@@ -102,6 +101,7 @@ object StatusManager {
is DoubleFlashStatus -> DoubleFlashImpl(ctx)
is GearStatus -> GearImpl(ctx)
is SpeedStatus -> SpeedImpl(ctx)
is FSMStatus -> FSMImpl(ctx)
is RouteDownloadStatus -> RouteDownloadImpl(ctx)
}
}.also { flows += it }
@@ -214,6 +214,7 @@ object StatusManager {
is DoubleFlashStatus -> "双闪"
is GearStatus -> "档位"
is RouteDownloadStatus -> if (item.state == RouteStart) "轨迹下载中" else "轨迹下载失败"
is FSMStatus -> "FSM"
else -> "其它"
}
}
@@ -239,7 +240,6 @@ object StatusManager {
} else {
ret or shl
}
}
}
return ret

2
core/function-impl/mogo-core-function-devatools/src/main/java/com/zhjt/mogo_core_function_devatools/status/entity/Status.kt
View File

@@ -141,7 +141,7 @@ enum class FSMStateCode {
/**
* FSM模块状态
*/
class FSMStatus(var state: FSMStateCode, var desc: String = ""): Status() {
class FSMStatus(var state: FSMStateCode, var desc: String = ""): Status(), IAutopilotPreLaunchStatus {
override fun equals(other: Any?): Boolean {
if (javaClass != other?.javaClass) return false

5
core/function-impl/mogo-core-function-devatools/src/main/java/com/zhjt/mogo_core_function_devatools/status/ui/StatusView.kt
View File

@@ -9,6 +9,7 @@ import androidx.recyclerview.widget.*
import com.mogo.eagle.core.utilcode.kotlin.*
import com.mogo.eagle.core.utilcode.rv.divider.*
import com.zhjt.mogo_core_function_devatools.R
import com.zhjt.mogo_core_function_devatools.status.entity.FSMStatus
import com.zhjt.mogo_core_function_devatools.status.entity.IAutopilotPreLaunchStatus
import com.zhjt.mogo_core_function_devatools.status.entity.Status
import com.zhjt.mogo_core_function_devatools.status.model.StatusModel
@@ -48,11 +49,11 @@ internal class StatusView(private val model: StatusModel, ctx: Context): Constra
.horizontalInnerSpace(10.PX)
.build()
)
val adapter = model.status.value?.let { data -> StatusAdapter(context, data.second.filter { it !is IAutopilotPreLaunchStatus }) }?.also { adapter -> itx.adapter = adapter }
val adapter = model.status.value?.let { data -> StatusAdapter(context, data.second.filter { (it !is IAutopilotPreLaunchStatus) || (it is FSMStatus)}) }?.also { adapter -> itx.adapter = adapter }
adapter?.let { _ ->
model.status.observeForever(Observer<Pair<Status?, ArrayList<Status>>> { data ->
val old = adapter.data
val update = data.second.filter { it !is IAutopilotPreLaunchStatus }
val update = data.second.filter { (it !is IAutopilotPreLaunchStatus) || (it is FSMStatus) }
val result = DiffUtil.calculateDiff(StatusDiffCallback(old, update))
adapter.data = update
result.dispatchUpdatesTo(adapter)

12
core/function-impl/mogo-core-function-devatools/src/main/java/com/zhjt/mogo_core_function_devatools/workorder/FaultReasonWindow.kt
View File

@@ -22,7 +22,6 @@ import android.view.animation.ScaleAnimation
import android.widget.EditText
import android.widget.ImageView
import android.widget.TextView
import android.widget.ToggleButton
import androidx.appcompat.widget.AppCompatEditText
import androidx.appcompat.widget.AppCompatTextView
import androidx.constraintlayout.widget.ConstraintLayout
@@ -62,7 +61,6 @@ import com.mogo.tts.base.SpeechUtils
import com.zhjt.mogo_core_function_devatools.R
import com.zhjt.mogo_core_function_devatools.badcase.consts.BadCaseConfig
import com.zhjt.mogo_core_function_devatools.workorder.adapter.OrderReasonAdapter
import kotlin.math.absoluteValue
/**
* 故障原因编辑窗口
@@ -192,12 +190,15 @@ class FaultReasonWindow constructor(activity: Activity) : View.OnTouchListener,
//故障类型选择没有变化
reasonList?.let { orderReasonAdapter.setData(it,2) }
}else{
//故障类型发生了变化
level2Id = reason.id
level2Name = reason.name
source = 2
//获取故障三级分类即故障原因
CallerDevaToolsManager.getCategories(BadCaseConfig.tenantId,3,level2Id,type,0)
tvFaultReason.text = ""
level3Id = 0
level3Name = ""
}
}else{
//原因
@@ -347,6 +348,7 @@ class FaultReasonWindow constructor(activity: Activity) : View.OnTouchListener,
ToastUtils.showShort("请完整填写再上报")
return@setOnClickListener
}
reportNote = etNoteInput.text.toString()
//故障码列表赋值
BadCaseConfig.newFMInfoMsg?.fmInfoList?.forEach {
faultCodeList.add(it.faultId)
@@ -507,9 +509,6 @@ class FaultReasonWindow constructor(activity: Activity) : View.OnTouchListener,
// 更新浮动窗口位置参数
mInScreenX = motionEvent.rawX
mInScreenY = motionEvent.rawY
if(((mInScreenX - mInViewX)-mWindowParams!!.x).absoluteValue>150 || ((mInScreenY - mInViewY)-mWindowParams!!.y).absoluteValue>150){
return true
}
mWindowParams!!.x = (mInScreenX - mInViewX).toInt()
mWindowParams!!.y = (mInScreenY - mInViewY).toInt()
// 手指移动的时候更新小悬浮窗的位置
@@ -533,6 +532,7 @@ class FaultReasonWindow constructor(activity: Activity) : View.OnTouchListener,
}
fun hideFloatWindow() {
etNoteInput.clearFocus()
CallerDevaToolsListenerManager.removeListener(TAG)
CallerOrderListenerManager.removeListener(TAG)
if (mFloatLayout.parent != null){

18
core/function-impl/mogo-core-function-devatools/src/main/java/com/zhjt/mogo_core_function_devatools/workorder/ReportTypeWindow.kt
View File

@@ -21,6 +21,7 @@ import com.amap.api.services.geocoder.GeocodeResult
import com.amap.api.services.geocoder.GeocodeSearch
import com.amap.api.services.geocoder.RegeocodeQuery
import com.amap.api.services.geocoder.RegeocodeResult
import com.mogo.commons.env.ProjectUtils
import com.mogo.commons.storage.SharedPrefsMgr
import com.mogo.eagle.core.data.app.AppConfigInfo
import com.mogo.eagle.core.data.deva.report.CategoryInfo
@@ -77,8 +78,6 @@ class ReportTypeWindow constructor(activity: Activity): IMoGoDevaToolsListener {
private var level1Name: String = ""
private var level2Name: String = ""
private var level3Name: String = ""
private var lineName: String = "" //行驶路线
private var reportNote: String = "" //上报描述
private val reportType: Int = 1 //上报方式：0：小程序 1：司机屏 2：云端上报
private var level: Int = 1
@@ -143,7 +142,7 @@ class ReportTypeWindow constructor(activity: Activity): IMoGoDevaToolsListener {
}
val padProblemList= ArrayList<PadProblemInfo>()
val padProblemInfo = PadProblemInfo(address,faultCodeList,millis2String(System.currentTimeMillis()),level1Id,
level2Id,level3Id,lineName,reportNote,reportType,
level2Id,level3Id,BadCaseConfig.lineName,"${level1Name}-${level2Name}-${level3Name}",reportType,
SharedPrefsMgr.getInstance().getString("och_account",""))
padProblemList.add(padProblemInfo)
val padAddProblemReq = PadAddProblemReq(padProblemList, AppConfigInfo.plateNumber)
@@ -160,8 +159,14 @@ class ReportTypeWindow constructor(activity: Activity): IMoGoDevaToolsListener {
}
//故障类
tvReportTypeFault.setOnClickListener {
val faultReasonWindow = FaultReasonWindow(mActivity)
faultReasonWindow.showFloatWindow()
if(ProjectUtils.isSaas()){
val faultReasonWindow = FaultReasonWindow(mActivity)
faultReasonWindow.showFloatWindow()
}else{
//展示工单上报弹窗
val workOrderWindow = WorkOrderWindow(mActivity)
workOrderWindow.showFloatWindow()
}
clickListener?.closeWindow()
}
//主动录包
@@ -287,7 +292,7 @@ class ReportTypeWindow constructor(activity: Activity): IMoGoDevaToolsListener {
/**
* 设置弹窗展示状态
*/
fun setWindowShowStatus(isShow: Boolean){
private fun setWindowShowStatus(isShow: Boolean){
isShowing = isShow
}
@@ -312,6 +317,7 @@ class ReportTypeWindow constructor(activity: Activity): IMoGoDevaToolsListener {
override fun problemPadAddError(msg: String) {
super.problemPadAddError(msg)
ToastUtils.showShort("故障原因上报失败$msg")
clickListener?.closeWindow()
}
override fun getCategoriesSuccess(list: List<CategoryInfo>) {

35
core/function-impl/mogo-core-function-devatools/src/main/java/com/zhjt/mogo_core_function_devatools/workorder/TakeOverReasonWindow.kt
View File

@@ -109,6 +109,8 @@ class TakeOverReasonWindow constructor(activity: Activity) : View.OnTouchListene
private var level2Name: String = ""
private var level3Name: String = ""
private var isShowing: Boolean = false //弹窗是否是展示状态
init {
initFloatWindow()
}
@@ -156,14 +158,19 @@ class TakeOverReasonWindow constructor(activity: Activity) : View.OnTouchListene
//选择了接管类型
tvTakeOverType.performClick()
if(level2Id != 0 && level2Id == reason.id){
//故障类型选择没有变化
//接管类型选择没有变化
reasonList?.let { orderReasonAdapter.setData(it,2) }
}else{
//接管类型发生变化
level2Id = reason.id
level2Name = reason.name
source = 2
//获取故障三级分类即故障原因
//获取接管三级分类即接管原因
CallerDevaToolsManager.getCategories(BadCaseConfig.tenantId,3,level2Id,type,0)
//将接管原因置空
tvTakeOverReason.text = ""
level3Name = ""
level3Id = 0
}
}else{
//原因
@@ -299,10 +306,12 @@ class TakeOverReasonWindow constructor(activity: Activity) : View.OnTouchListene
mTakeOverRecordInfo.level3Name = level3Name
CallerTakeOverManager.updateRecord(mActivity,mTakeOverRecordInfo)
clickListener?.onSaveReason(mTakeOverRecordInfo)
clickListener?.closeWindow()
hideFloatWindow()
}
//取消
tvTakeOverCancel.setOnClickListener {
clickListener?.closeWindow()
hideFloatWindow()
}
}
@@ -421,9 +430,6 @@ class TakeOverReasonWindow constructor(activity: Activity) : View.OnTouchListene
// 更新浮动窗口位置参数
mInScreenX = motionEvent.rawX
mInScreenY = motionEvent.rawY
if(((mInScreenX - mInViewX)-mWindowParams!!.x).absoluteValue>150 || ((mInScreenY - mInViewY)-mWindowParams!!.y).absoluteValue>150){
return true
}
mWindowParams!!.x = (mInScreenX - mInViewX).toInt()
mWindowParams!!.y = (mInScreenY - mInViewY).toInt()
// 手指移动的时候更新小悬浮窗的位置
@@ -451,21 +457,40 @@ class TakeOverReasonWindow constructor(activity: Activity) : View.OnTouchListene
tvTakeOverTime.text = mActivity.resources.getString(R.string.take_over_time) +
millis2String(mTakeOverRecordInfo.faultStartTime, TimeUtils.getHourMinSecondFormat())
}
setWindowShowStatus(true)
}
fun hideFloatWindow() {
etNoteInput.clearFocus()
if (mFloatLayout.parent != null){
mWindowManager!!.removeView(mFloatLayout)
}
setWindowShowStatus(false)
CallerDevaToolsListenerManager.removeListener(TAG)
}
/**
* 获取弹窗展示状态
*/
fun getWindowShowStatus(): Boolean{
return isShowing
}
/**
* 设置弹窗展示状态
*/
private fun setWindowShowStatus(isShow: Boolean){
isShowing = isShow
}
fun setClickListener(clickListener: ClickListener) {
this.clickListener = clickListener
}
interface ClickListener {
fun onSaveReason(info: TakeOverRecordInfo)
fun closeWindow()
}
override fun getCategoriesSuccess(list: List<CategoryInfo>) {

52
core/function-impl/mogo-core-function-devatools/src/main/java/com/zhjt/mogo_core_function_devatools/workorder/TakeOverRecordView.kt
View File

@@ -58,6 +58,7 @@ class TakeOverRecordView @JvmOverloads constructor(
private var clickListener: ClickListener? = null
private val selectedUploadRecord = ArrayList<TakeOverRecordInfo>()
private var recordList: MutableList<TakeOverRecordInfo> ?= null
private var takeOverReasonWindow: TakeOverReasonWindow ?= null
init {
LayoutInflater.from(context).inflate(R.layout.view_take_over_record, this, true)
@@ -80,13 +81,23 @@ class TakeOverRecordView @JvmOverloads constructor(
//展示接管原因窗口
val activity = context as? FragmentActivity
?: throw IllegalStateException("please ensure context is FragmentActivity.")
val takeOverReasonWindow = TakeOverReasonWindow(activity)
takeOverReasonWindow.setClickListener(object: TakeOverReasonWindow.ClickListener{
override fun onSaveReason(info: TakeOverRecordInfo) {
takeOverListAdapter?.notifyRecordItemChanged(info)
}
})
takeOverReasonWindow.showFloatWindow(takeOverRecordInfo)
if(takeOverReasonWindow == null){
takeOverReasonWindow = TakeOverReasonWindow(activity)
takeOverReasonWindow?.setClickListener(object: TakeOverReasonWindow.ClickListener{
override fun onSaveReason(info: TakeOverRecordInfo) {
takeOverListAdapter?.notifyRecordItemChanged(info)
}
override fun closeWindow() {
takeOverReasonWindow = null
}
})
}
if(takeOverReasonWindow?.getWindowShowStatus() == true){
ToastUtils.showShort("接管原因弹窗已存在，请先编辑现有接管原因")
}else{
takeOverReasonWindow?.showFloatWindow(takeOverRecordInfo)
}
}
override fun onSelectRecord(
@@ -143,14 +154,28 @@ class TakeOverRecordView @JvmOverloads constructor(
if(selectedUploadRecord.isEmpty()){
ToastUtils.showShort("请选择需要删除的接管记录")
}else{
val iterator = selectedUploadRecord.iterator()
while (iterator.hasNext()){
val removeRecord = iterator.next()
CallerTakeOverManager.deleteRecord(context,removeRecord)
scope.launch(Dispatchers.IO){
val iterator = selectedUploadRecord.iterator()
while (iterator.hasNext()){
val removeRecord = iterator.next()
CallerTakeOverManager.deleteRecord(context,removeRecord)
// takeOverListAdapter?.notifyRecordItemRemoved(removeRecord)
iterator.remove()
iterator.remove()
}
recordList = CallerTakeOverManager.getAllRecord(context)
ThreadUtils.runOnUiThread {
if(recordList.isNullOrEmpty()){
tvRecordNoData.visibility = View.VISIBLE
recordGroup.visibility = View.GONE
}else{
tvRecordNoData.visibility = View.GONE
recordGroup.visibility = View.VISIBLE
//更新列表
takeOverListAdapter?.setData(recordList!!)
}
}
}
refreshList()
}
}
//获取接管记录列表
@@ -198,6 +223,7 @@ class TakeOverRecordView @JvmOverloads constructor(
CallerTakeOverManager.updateRecord(context,it)
takeOverListAdapter?.notifyRecordItemChanged(it)
}
selectedUploadRecord.clear()
}
}

5
core/function-impl/mogo-core-function-devatools/src/main/java/com/zhjt/mogo_core_function_devatools/workorder/WorkOrderWindow.kt
View File

@@ -239,7 +239,7 @@ class WorkOrderWindow constructor(activity: Activity) : View.OnTouchListener,
}
//取消
tvWorkOrderCancel.setOnClickListener {
clickListener?.closeWindow()
hideFloatWindow()
}
}
@@ -356,9 +356,6 @@ class WorkOrderWindow constructor(activity: Activity) : View.OnTouchListener,
// 更新浮动窗口位置参数
mInScreenX = motionEvent.rawX
mInScreenY = motionEvent.rawY
if(((mInScreenX - mInViewX)-mWindowParams!!.x).absoluteValue>150 || ((mInScreenY - mInViewY)-mWindowParams!!.y).absoluteValue>150){
return true
}
mWindowParams!!.x = (mInScreenX - mInViewX).toInt()
mWindowParams!!.y = (mInScreenY - mInViewY).toInt()
// 手指移动的时候更新小悬浮窗的位置

1
core/function-impl/mogo-core-function-devatools/src/main/res/layout/view_take_over_record.xml
View File

@@ -2,6 +2,7 @@
<androidx.constraintlayout.widget.ConstraintLayout xmlns:android="http://schemas.android.com/apk/res/android"
android:layout_width="@dimen/dp_960"
android:layout_height="match_parent"
android:layout_marginTop="@dimen/dp_72"
xmlns:app="http://schemas.android.com/apk/res-auto"
android:background="@drawable/bg_take_over_record">

2
core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/hmi/ui/setting/FSMStatusDetailView.kt
View File

@@ -2,6 +2,7 @@ package com.mogo.eagle.core.function.hmi.ui.setting
import android.content.Context
import android.graphics.Color
import android.text.method.ScrollingMovementMethod
import android.util.AttributeSet
import android.view.LayoutInflater
import android.widget.FrameLayout
@@ -35,6 +36,7 @@ class FSMStatusDetailView @JvmOverloads constructor(
private fun initView() {
tvTitle = findViewById(R.id.tvTitle)
tvContent = findViewById(R.id.tvContent)
tvContent?.movementMethod = ScrollingMovementMethod.getInstance()
}
fun setFsmMsg(title: String, titleColor: String , content: String) {

14
core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/main/MainActivity.kt
View File

@@ -6,7 +6,6 @@ import android.content.pm.PackageManager
import android.net.Uri
import android.os.Bundle
import android.provider.Settings
import android.view.Gravity
import android.view.View
import android.view.ViewGroup
import android.widget.FrameLayout
@@ -26,19 +25,16 @@ import com.mogo.commons.module.status.MogoStatusManager
import com.mogo.commons.mvp.MvpActivity
import com.mogo.commons.utils.MogoAnalyticUtils
import com.mogo.eagle.core.data.autopilot.AutopilotStatusInfo
import com.mogo.eagle.core.data.config.HdMapBuildConfig
import com.mogo.eagle.core.data.deva.chain.ChainConstant
import com.mogo.eagle.core.function.api.autopilot.IMoGoAutopilotStatusListener
import com.mogo.eagle.core.function.api.setting.IMoGoRequestActivityHandler
import com.mogo.eagle.core.function.call.autopilot.CallerAutoPilotStatusListenerManager
import com.mogo.eagle.core.function.call.devatools.CallerDevaToolsManager
import com.mogo.eagle.core.function.call.hmi.CallerHmiFloatViewManager
import com.mogo.eagle.core.function.call.hmi.CallerHmiManager
import com.mogo.eagle.core.function.call.map.CallerMapUIServiceManager
import com.mogo.eagle.core.function.call.setting.CallerRequestActivityHandleManager
import com.mogo.eagle.core.function.call.startup.CallerStartUpManager.initStageTwo
import com.mogo.eagle.core.function.hmi.R
import com.mogo.eagle.core.function.hmi.ui.widget.StatusBarView
import com.mogo.eagle.core.function.main.modules.MogoModulesManager
import com.mogo.eagle.core.function.main.windowview.FloatingViewHandler
import com.mogo.eagle.core.utilcode.mogo.AppLaunchTimeUtils
@@ -49,9 +45,6 @@ import com.mogo.eagle.core.utilcode.mogo.permissions.PermissionsDialogUtils
import com.mogo.eagle.core.utilcode.util.NetworkUtils
import com.mogo.eagle.core.utilcode.util.ProcessUtils
import com.mogo.eagle.core.utilcode.util.UiThreadHandler
import com.mogo.map.listener.IMogoMapListener
import com.mogo.map.listener.MogoMapListenerHandler.Companion.mogoMapListenerHandler
import com.mogo.map.uicontroller.EnumMapUI
import com.zhjt.mogo.adas.data.AdasConstants
import com.zhjt.service.chain.ChainLog
import kotlinx.android.synthetic.main.module_main_activity_main.module_main_id_cover_up
@@ -73,7 +66,8 @@ open class MainActivity : MvpActivity<MainView?, MainPresenter?>(), MainView,
private var isFirst = false
private var mConnAdapter: ConnInfoAdapter? = null
private val dataList: List<AutopilotStatusInfo> = ArrayList()
// private var mLastStatus = AdasConstants.IpcConnectionStatus.CONNECTED
// private var mLastStatus = AdasConstants.IpcConnectionStatus.CONNECTED
private var mLastStatus = AdasConstants.IpcConnectionStatus.DISCONNECTED
private var isFloatingLayerHidden = false
@@ -326,6 +320,10 @@ open class MainActivity : MvpActivity<MainView?, MainPresenter?>(), MainView,
override fun onDestroy() {
super.onDestroy()
val properties = java.util.HashMap<String, Any>()
properties["app_destroy_time"] = System.currentTimeMillis()
MogoAnalyticUtils.track("app_lifecycle_destroy", properties)
CallerAutoPilotStatusListenerManager.removeListener(TAG)
CallerRequestActivityHandleManager.removeListener(TAG)
//mogoMapListenerHandler.unregisterHostMapListener(TAG)

16
core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/main/MainMoGoApplication.java
View File

@@ -20,6 +20,8 @@ import com.mogo.eagle.core.utilcode.mogo.AppIdentityModeUtils;
import com.mogo.eagle.core.utilcode.mogo.AppLaunchTimeUtils;
import com.mogo.eagle.core.utilcode.mogo.logger.CallerLogger;
import java.util.HashMap;
/**
* 默认初始化一些基础服务配置
*/
@@ -45,6 +47,15 @@ public abstract class MainMoGoApplication extends AbsMogoApplication {
initModules();
}
@Override
public void onTerminate() {
super.onTerminate();
HashMap<String, Object> properties = new HashMap<>();
properties.put("app_destroy_time", System.currentTimeMillis());
MogoAnalyticUtils.INSTANCE.track("app_lifecycle_destroy", properties);
}
/**
* 初始化异常采集配置
*/
@@ -56,6 +67,11 @@ public abstract class MainMoGoApplication extends AbsMogoApplication {
protected void initLogConfig() {
// 初始化埋点
MogoAnalyticUtils.INSTANCE.init(this, DebugConfig.isDebug());
HashMap<String, Object> properties = new HashMap<>();
properties.put("app_start_time", System.currentTimeMillis());
MogoAnalyticUtils.INSTANCE.track("app_lifecycle_start", properties);
// 初始化DevaTools,开始链路记录
CallerDevaToolsManager.INSTANCE.init();
}

2
core/function-impl/mogo-core-function-hmi/src/main/res/layout/view_status_fsm_layout.xml
View File

@@ -33,6 +33,8 @@
android:ellipsize="end"
android:gravity="left|center_vertical"
android:text=""
android:maxLines="5"
android:scrollbars="vertical"
android:textColor="#D5D5D5"
android:textSize="@dimen/dp_28"
app:layout_constraintLeft_toLeftOf="parent"

4
core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/business/routeoverlay/RouteOverlayDrawer.java
View File

@@ -73,7 +73,7 @@ public class RouteOverlayDrawer {
List<Integer> alphas = MapTools.INSTANCE.getColorAlpha(temps);
if (alphas != null && !alphas.isEmpty()) {
for (int i : alphas) {
greenWaveColors.add(Color.argb(i, 109,254,208));
greenWaveColors.add(Color.argb(i, 48, 163, 255));
}
}
}
@@ -151,7 +151,7 @@ public class RouteOverlayDrawer {
if (alphas != null && !alphas.isEmpty()) {
colors = new CopyOnWriteArrayList<>();
for (int i : alphas) {
colors.add(Color.argb(i, 48,203,251));
colors.add(Color.argb(i, 48,163,255));
}
}
}

26
core/mogo-core-function-call/src/main/java/com/mogo/eagle/core/function/call/autopilot/CallerAutoPilotControlManager.kt
View File

@@ -93,33 +93,37 @@ object CallerAutoPilotControlManager {
*/
fun isCanStartAutopilot(isShowTip: Boolean, source: Int = 0): Boolean {
/**
* 方向盘： 1<<0
* 油门 : 1<<1
* 刹车: 1<<2
* 双闪: 1<<3
* 档位: 1<<4
* 轨迹下载: (下载中) 1<<5； （下载失败）1<<6
* FSM: 1<<0
* 方向盘： 1<<1
* 油门 : 1<<2
* 刹车: 1<<3
* 双闪: 1<<4
* 档位: 1<<5
* 轨迹下载: (下载中) 1<<6； （下载失败）1<<7
*/
val exceptionValue = CallerDevaToolsManager.getExceptionStatusBeforeLaunchAutopilot(source)
if (exceptionValue != 0) {
if (isShowTip) {
val sb = StringBuilder("请检查车辆")
if ((exceptionValue and 1) != 0) {
sb.append("FSM$")
}
if ((exceptionValue and (1 shl 1)) != 0) {
sb.append("方向盘$")
}
if (((exceptionValue and (1 shl 1)) != 0)) {
if (((exceptionValue and (1 shl 2)) != 0)) {
sb.append("油门$")
}
if ((exceptionValue and (1 shl 2)) != 0) {
if ((exceptionValue and (1 shl 3)) != 0) {
sb.append("刹车$")
}
if ((exceptionValue and (1 shl 3)) != 0) {
if ((exceptionValue and (1 shl 4)) != 0) {
sb.append("双闪$")
}
if ((exceptionValue and (1 shl 4)) != 0) {
if ((exceptionValue and (1 shl 5)) != 0) {
sb.append("档位$")
}
if ((exceptionValue and (1 shl 5)) != 0 || ((exceptionValue and (1 shl 6)) != 0)) {
if ((exceptionValue and (1 shl 6)) != 0 || ((exceptionValue and (1 shl 7)) != 0)) {
if (!sb.contains("$")) {
sb.setLength(0)
sb.append("轨迹未就绪，请稍后重试")

10
foudations/mogo-commons/src/main/AndroidManifest.xml
View File

@@ -3,5 +3,15 @@
<uses-permission android:name="android.permission.ACCESS_FINE_LOCATION" />
<uses-permission android:name="android.permission.ACCESS_COARSE_LOCATION" />
<uses-permission android:name="android.permission.ACCESS_NETWORK_STATE" />
<uses-permission android:name="android.permission.ACCESS_WIFI_STATE" />
<uses-permission android:name="android.permission.INTERNET" />
<application>
<meta-data android:name="com.elegant.analytics.AnalyticsConfig.BulkUploadLimit" android:value="100"/>
<meta-data android:name="com.elegant.analytics.AnalyticsConfig.FlushInterval" android:value="50000"/>
</application>
</manifest>

62
foudations/mogo-commons/src/main/java/com/mogo/commons/utils/MogoAnalyticUtils.kt
View File

@@ -8,8 +8,14 @@ import com.elegant.analytics.AnalyticsConfig
import com.elegant.analytics.IAnalyticsParamsProvider
import com.elegant.analytics.UploadMode
import com.mogo.commons.storage.SharedPrefsMgr
import com.mogo.eagle.core.data.app.AppConfigInfo
import com.mogo.eagle.core.data.autopilot.AutopilotStatusInfo
import com.mogo.eagle.core.data.config.FunctionBuildConfig
import com.mogo.eagle.core.utilcode.mogo.AppIdentityModeUtils
import com.mogo.eagle.core.utilcode.util.AppUtils
import com.mogo.eagle.core.utilcode.util.DateTimeUtils
import com.mogo.eagle.core.utilcode.util.NetworkUtils
import org.json.JSONObject
/**
* 埋点&数据统计 管理
@@ -22,18 +28,19 @@ object MogoAnalyticUtils {
// 1 - debug 近实时上报，积累一条埋点上报，或者积累3秒上报一次。
// 2 - 本地缓存，聚合上报，积累30条埋点上报，或者积累60秒上报一次。
AnalyticsConfig.getInstance(context).appKey = "0915430e5fdcbb553391f2a35cb8489f"
AnalyticsConfig.getInstance(context).uploadMode = if (isDebug) UploadMode.instant else UploadMode.cache
AnalyticsConfig.getInstance(context).uploadMode =
if (isDebug) UploadMode.instant else UploadMode.cache
AnalyticsConfig.getInstance(context).setShouldLog(isDebug)
// 设置参数提供者
AnalyticsConfig.getInstance(context).paramsProvider = object : IAnalyticsParamsProvider {
// 静态参数
override fun staticParams(): Map<String, Any> {
return getAnalyticsCustomParams(isDebug)
override fun staticParams(): Map<String, Any>? {
return null
}
//动态参数
override fun dynamicParams(): Map<String, Any>? {
return null
return getAnalyticsCustomParams(isDebug)
}
}
Analytics.getInstance().start(context)
@@ -46,6 +53,25 @@ object MogoAnalyticUtils {
* @param properties 事件参数
*/
fun track(event: String?, properties: MutableMap<String, Any>) {
try {
properties["network_type"] = NetworkUtils.getNetworkType()
properties["network_ssid"] = NetworkUtils.getSSID()
properties["network_wifi_enabled "] = NetworkUtils.getWifiEnabled()
properties["network_is_available"] = NetworkUtils.isAvailable()
properties["network_is_available_by_ping"] = NetworkUtils.isAvailableByPing("49.233.99.26")
} catch (e: Exception) {
properties["network_type"] = "获取设备网络状态错误"
}
Analytics.getInstance().track(event, properties)
}
/**
* 埋点
*
* @param event 事件名称
* @param properties json事件参数
*/
fun track(event: String?, properties: JSONObject) {
Analytics.getInstance().track(event, properties)
}
@@ -58,7 +84,35 @@ object MogoAnalyticUtils {
map["debug"] = if (isDebug) 1 else 0
map["sn"] = SharedPrefsMgr.getInstance().sn
map["app_version"] = AppUtils.getAppVersionName()
map["app_version_code"] = AppUtils.getAppVersionCode()
map["app_identity_mode"] = FunctionBuildConfig.appIdentityMode
map["app_build_time"] = AppConfigInfo.appBuildTime
map["app_working_branch_hash"] = AppConfigInfo.workingBranchHash
map["app_working_branch_name"] = AppConfigInfo.workingBranchName
map["app_flavor"] = AppConfigInfo.flavor
map["app_net_mode"] = AppConfigInfo.netMode
map["app_net_mode_name"] = when (AppConfigInfo.netMode) {
2 -> "测试环境"
3 -> "生产环境"
4 -> "演示环境"
else -> {
AppConfigInfo.netMode
}
}
map["app_support_business"] = FunctionBuildConfig.supportBusiness
map["product_type"] =
AppIdentityModeUtils.getProduct(FunctionBuildConfig.appIdentityMode).name
map["time"] = DateTimeUtils.getTimeText(DateTimeUtils.yyyy_MM_dd_HH_mm_ss_SSS)
// 自动驾驶工控机相关信息
map["plate_number"] = AppConfigInfo.plateNumber
map["docker_version"] = AppConfigInfo.dockerVersion
map["ipc_mac_address"] = AppConfigInfo.iPCMacAddress
map["protocol_version_number"] = AppConfigInfo.protocolVersionNumber
map["ad_hd_map_version"] = AppConfigInfo.adHdMapVersion
map["car_type"] = AppIdentityModeUtils.getCarType(FunctionBuildConfig.appIdentityMode).name
return map
}

4
libraries/mapmodule/src/main/java/com/autonavi/nge/map/MapView.kt
View File

@@ -695,13 +695,15 @@ class MapView(context: Context, private val mMapStyleParams: IMapStyleParams, pr
if (DEBUG) {
Log.i(TAG, "destroyop--MapEngine.unload-start")
}
mMapEngine.unload()
if (DEBUG) {
Log.i(TAG, "destroyop-mapop-surfaceop----onDetachedFromWindow-over:")
}
}
fun unloadEngine() {
mMapEngine.unload()
}
override fun onSurfaceCreated(gl: GL10, config: EGLConfig) {
if (DEBUG) {

1
libraries/mapmodule/src/main/java/com/zhidaoauto/map/sdk/open/view/MapAutoView.kt
View File

@@ -647,6 +647,7 @@ open class MapAutoView : FrameLayout, LonLatPointListener, ITraffic,ILockLocatio
mTrafficHelper = null
mEventController?.exit()
mPanelManager = null
mMapView?.unloadEngine()
mMapView = null
if (CompileConfig.DEBUG) {
Log.i(TAG, "destroyop--autoop--onDestroy--removeAllViews-start")

1
libraries/mogo-adas-data/src/main/java/com/zhjt/mogo/adas/common/MessageType.java
View File

@@ -87,6 +87,7 @@ public enum MessageType {
TYPE_RECEIVE_V2N_NIO_CROSSOVER_EVENT(MessagePad.MessageType.MsgTypeV2nNioCrossoverEvent, "V2N NIO行人横穿（路侧）"),
TYPE_RECEIVE_V2N_NIO_OTHER_RETROGRADE_EVENT(MessagePad.MessageType.MsgTypeV2nNioOtherRetrogradeEvent, "V2N NIO他车逆行（路侧）"),
TYPE_RECEIVE_V2N_NIO_CONGESTION_EVENT(MessagePad.MessageType.MsgTypeV2nNioCongestionEvent, "V2N NIO拥堵事件"),
TYPE_RECEIVE_LANE_MARKS_TRAN(MessagePad.MessageType.MsgTypeLaneMarksTran, "车道线"),
//TODO 透传原始pb文件中不存在以下type。由于Java中无法强转,所以在mogo-adas-data/message_pad.proto中放开注释
TYPE_RECEIVE_PLANNING_DECISION_STATE(MessagePad.MessageType.MsgTypePlanningDecisionState, "Planning决策状态"),
TYPE_RECEIVE_SWEEPER_TASK_INDEX_DATA(MessagePad.MessageType.MsgTypeSweeperTaskIndexData, "清扫车指标数据"),

81
libraries/mogo-adas-data/src/main/proto/lane_mark.proto Normal file
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@@ -0,0 +1,81 @@
syntax = "proto2";
package perception;
import "header.proto";
import "geometry.proto";
enum LaneMarkColor {
COLOR_WHITE = 0;
COLOR_YELLOW = 1;
}
enum LaneMarkType {
LANE_MARK_NONE = 0;
LANE_MARK_SOLID = 1;
LANE_MARK_BROKEN = 2;
}
message LaneLineCubicCurve
{
optional double x_start = 1;
optional double x_end = 2;
optional double a = 3;
optional double b = 4;
optional double c = 5;
optional double d = 6;
} // add by qianlei
message LaneMark {
optional LaneMarkColor color = 1;
optional LaneMarkType type = 2;
optional float confidence = 3; // valid length / 60.0 meters
repeated geometry.Point2D points = 4;
optional LaneLineCubicCurve curve_car_coord = 5; // add by qianlei
repeated geometry.Point2D curve_image_coord_point_set = 6; // add by qianlei
repeated geometry.Point3D curve_car_coord_point_set = 7; // add by qianlei
optional int32 track_id = 8;
optional int32 frame_lane_line_id = 9;
optional int32 color_telematics = 10;
optional int32 type_telematics = 11;
}
message LaneCenter {
repeated geometry.Point2D points = 1;
}
message RoadSide {
optional int32 type = 1;
optional int32 frame_roadside_id = 2;
repeated geometry.Point2D img_point_set = 3;
repeated geometry.Point3D car_coord_point_set = 4;
}
message RoadArrow {
optional int32 x = 1;
optional int32 y = 2;
optional int32 w = 3;
optional int32 h = 4;
optional int32 type = 5;
}
message LaneMarks {
optional common.Header header = 1;
optional LaneMark left = 2;
optional LaneMark right = 3;
optional LaneMark left2 = 4;
optional LaneMark right2 = 5;
repeated LaneMark lanemarks = 6; // add by qianlei
optional common.Header header_ros_time_start = 7;
optional common.Header header_ros_time_end = 8;
repeated RoadSide roadsides = 9;
repeated RoadArrow arrows = 10;
optional bytes lane_arrow_stopline_crossing_seg = 11;
optional bytes fs_rs_seg = 12;
optional bytes laneline_inst_seg = 13;
optional bool laneline_exist_flag = 14;
optional bool arrow_exist_flag = 15;
optional bool stopline_exist_flag = 16;
optional bool crossing_exist_flag = 17;
}

3
libraries/mogo-adas-data/src/main/proto/message_pad.proto
View File

@@ -92,6 +92,7 @@ enum MessageType
MsgTypeV2nNioCrossoverEvent = 0x10129; //行人横穿（路侧）事件推送, 透传
MsgTypeV2nNioOtherRetrogradeEvent = 0x1012a; //他车逆行（路侧）事件推送, 透传
MsgTypeV2nNioCongestionEvent = 0x1012b; //拥堵事件推送, 透传
MsgTypeLaneMarksTran = 0x1012c;//车道线上传
}
message Header
@@ -678,6 +679,7 @@ enum OperatorCmdType
OPERATOR_CMD_CHANGE_LANE = 1;
OPERATOR_CMD_SET_ACCELERATED_SPEED = 2;
OPERATOR_CMD_SET_HORN = 3;
OPERATOR_CMD_SEND_LANE_MARKS = 4;
}
message OperatorCmdReq
@@ -686,6 +688,7 @@ message OperatorCmdReq
double value = 2; //OPERATOR_CMD_CHANGE_LANE: 1: left 2: right
//OPERATOR_CMD_SET_ACCELERATED_SPEED: accelerated speed
//OPERATOR_CMD_SET_HORN: 1: honk 2: stop honking
//OPERATOR_CMD_SEND_LANE_MARKS 0: 开始发送车道线 1:结束发送车道线
}
//message definition for MsgTypePlanningDecisionState

20
libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/AdasChannel.java
View File

@@ -2177,6 +2177,26 @@ public class AdasChannel implements IAdasNetCommApi, FpgaSocket.IWebSocketConnec
return sendOperatorCmdSetHorn(2);
}
/**
* 车道线
* 此方法存在域控回执，监听{@link OnAdasListener#onReceiveReceivedAck(ReceivedAck)}回调.使用方法：将此方法的返回值与{@link ReceivedAck#getMsgId()}进行比较，如果相同判断{@link ReceivedAck#getStatus()}是否等于{@link ReceivedAck.Status#NORMAL}，详情参见CheckSystemView中的onReceiveReceivedAck
*
* @param value 0: 开始发送车道线 1:结束发送车道线
* @return 消息是否添加到WS消息发送队列，返回值为非0的正整数时表示下发消息的消息ID
* * >=0：表示添加到WS发送消息队列
* * =0：表示乘客屏模式添加到WS发送消息队列
* * -1L：添加到WS发送消息队列失败
*/
@Override
public long sendOperatorCmdSendLaneMarks(double value) {
MessagePad.OperatorCmdReq req = MessagePad.OperatorCmdReq
.newBuilder()
.setCmdType(MessagePad.OperatorCmdType.OPERATOR_CMD_SEND_LANE_MARKS)
.setValue(value)
.build();
return sendPBMessage(MessageType.TYPE_SEND_OPERATOR_CMD_REQ, req.toByteArray());
}
/**
* 设置参数命令
* 此方法存在域控回执，监听{@link OnAdasListener#onReceiveReceivedAck(ReceivedAck)}回调.使用方法：将此方法的返回值与{@link ReceivedAck#getMsgId()}进行比较，如果相同判断{@link ReceivedAck#getStatus()}是否等于{@link ReceivedAck.Status#NORMAL}，详情参见CheckSystemView中的onReceiveReceivedAck

15
libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/AdasManager.java
View File

@@ -1218,6 +1218,21 @@ public class AdasManager implements IAdasNetCommApi {
return mChannel == null ? -1L : mChannel.sendOperatorCmdStopHonking();
}
/**
* 车道线
* 此方法存在域控回执，监听{@link OnAdasListener#onReceiveReceivedAck(ReceivedAck)}回调.使用方法：将此方法的返回值与{@link ReceivedAck#getMsgId()}进行比较，如果相同判断{@link ReceivedAck#getStatus()}是否等于{@link ReceivedAck.Status#NORMAL}，详情参见CheckSystemView中的onReceiveReceivedAck
*
* @param value 0: 开始发送车道线 1:结束发送车道线
* @return 消息是否添加到WS消息发送队列，返回值为非0的正整数时表示下发消息的消息ID
* * >=0：表示添加到WS发送消息队列
* * =0：表示乘客屏模式添加到WS发送消息队列
* * -1L：添加到WS发送消息队列失败
*/
@Override
public long sendOperatorCmdSendLaneMarks(double value) {
return mChannel == null ? -1L : mChannel.sendOperatorCmdSendLaneMarks(value);
}
/**
* 绕障类功能开关
* 此方法存在域控回执，监听{@link OnAdasListener#onReceiveReceivedAck(ReceivedAck)}回调.使用方法：将此方法的返回值与{@link ReceivedAck#getMsgId()}进行比较，如果相同判断{@link ReceivedAck#getStatus()}是否等于{@link ReceivedAck.Status#NORMAL}，详情参见CheckSystemView中的onReceiveReceivedAck

12
libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/IAdasNetCommApi.java
View File

@@ -800,6 +800,18 @@ public interface IAdasNetCommApi {
*/
long sendOperatorCmdStopHonking();
/**
* 车道线
* 此方法存在域控回执，监听{@link OnAdasListener#onReceiveReceivedAck(ReceivedAck)}回调.使用方法：将此方法的返回值与{@link ReceivedAck#getMsgId()}进行比较，如果相同判断{@link ReceivedAck#getStatus()}是否等于{@link ReceivedAck.Status#NORMAL}，详情参见CheckSystemView中的onReceiveReceivedAck
*
* @param value 0: 开始发送车道线 1:结束发送车道线
* @return 消息是否添加到WS消息发送队列，返回值为非0的正整数时表示下发消息的消息ID
* * >=0：表示添加到WS发送消息队列
* * =0：表示乘客屏模式添加到WS发送消息队列
* * -1L：添加到WS发送消息队列失败
*/
long sendOperatorCmdSendLaneMarks(double value);
/*******************************设置参数命令 包括V1************************************/
/**
* 绕障类功能开关

9
libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/OnAdasListener.java
View File

@@ -40,6 +40,7 @@ import mogo.v2x.RoadOverviewEvents;
import mogo.yycp.paralleldriving.protocol.ParallelTaskProcessNoticeOuterClass;
import mogo_msg.MogoReportMsg;
import perception.FusionTrafficLightOuterClass;
import perception.LaneMarkOuterClass;
import planning.RoboSweeperTaskIndexOuterClass;
import prediction.Prediction;
import record_cache.RecordPanelOuterClass;
@@ -534,6 +535,14 @@ public interface OnAdasListener {
*/
void onV2nNioCongestionEvent(@NonNull MessagePad.Header header, @NonNull MessagePad.V2nCongestion congestion);
/**
* 车道线
*
* @param header 头
* @param laneMarks 数据
*/
void onLaneMarksTran(@NonNull MessagePad.Header header, @NonNull LaneMarkOuterClass.LaneMarks laneMarks);
/**
* 所连接的域控的节点状态信息
* 目前包含状态 节点是否存在；节点是否超时；

33
libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/msg/LaneMarksTranMessage.java Normal file
View File

@@ -0,0 +1,33 @@
package com.zhidao.support.adas.high.msg;
import android.os.SystemClock;
import com.google.protobuf.InvalidProtocolBufferException;
import com.zhidao.support.adas.high.AdasChannel;
import com.zhidao.support.adas.high.OnAdasListener;
import com.zhidao.support.adas.high.common.CupidLogUtils;
import com.zhidao.support.adas.high.protocol.RawData;
import perception.LaneMarkOuterClass;
/**
* 车道线
*/
public class LaneMarksTranMessage extends MyAbstractMessageHandler {
public LaneMarksTranMessage() {
}
@Override
public void handlerMsg(RawData raw, OnAdasListener adasListener) throws InvalidProtocolBufferException {
LaneMarkOuterClass.LaneMarks laneMarks = LaneMarkOuterClass.LaneMarks.parser().parseFrom(raw.originalData.toByteArray(), raw.getOffsetValue(), raw.getPackageLengthValue() - raw.getOffsetValue());
AdasChannel.calculateTimeConsumingOnDispatchRaw("车道线", raw.receiveTime);
long nowTime = 0;
if (CupidLogUtils.isEnableLog())
nowTime = SystemClock.elapsedRealtime();
if (adasListener != null) {
adasListener.onLaneMarksTran(raw.getHeader(), laneMarks);
}
AdasChannel.calculateTimeConsumingBusiness("车道线", nowTime);
}
}

7
libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/msg/MyMessageFactory.java
View File

@@ -52,6 +52,7 @@ public class MyMessageFactory implements IMyMessageFactory {
private IMsg v2nNioCrossoverEventMessage;//V2N NIO行人横穿（路侧）
private IMsg v2nNioOtherRetrogradeEventMessage;//V2N NIO他车逆行（路侧）
private IMsg v2nNioCongestionEventMessage;//V2N NIO拥堵事件
private IMsg laneMarksTranMessage;//车道线
private final AutopilotReview autopilotReview;
private final TurnLightState lightLeft = new TurnLightState();
@@ -296,6 +297,12 @@ public class MyMessageFactory implements IMyMessageFactory {
v2nNioCongestionEventMessage = new V2nNioCongestionEventMessage();
}
return v2nNioCongestionEventMessage;
} else if (messageType == MessageType.TYPE_RECEIVE_LANE_MARKS_TRAN.typeCode) {
//车道线
if (laneMarksTranMessage == null) {
laneMarksTranMessage = new LaneMarksTranMessage();
}
return laneMarksTranMessage;
} else {
//MessageType.TYPE_DEFAULT.typeCode
return null;