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Merge branch 'dev/dev_eagle_architecture_upgrade' into dev/dev_eagle_check

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# Conflicts:
#	app/build.gradle
#	app/src/main/java/com/mogo/launcher/MogoApplication.java
#	gradle.properties
#	modules/mogo-module-extensions/src/main/java/com/mogo/module/extensions/entrance/EntranceFragment.java
#	modules/mogo-module-service/src/main/java/com/mogo/module/service/status/EnvStatusManager.java
#	services/mogo-service-api/src/main/java/com/mogo/service/IMogoServiceApis.java
#	services/mogo-service-api/src/main/java/com/mogo/service/MogoServicePaths.java
#	services/mogo-service/src/main/java/com/mogo/service/impl/MogoServiceApis.java
This commit is contained in:
liujing
2021-09-15 18:09:27 +08:00
parent a246aa956b 1d00537cbd
commit a4631f7880
1270 changed files with 23741 additions and 379701 deletions
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70
modules/mogo-module-adas/src/main/java/com/mogo/module/adas/AdasAutoPilotManager.java
View File

@@ -1,5 +1,12 @@
package com.mogo.module.adas;
import static com.mogo.module.adas.AdasConstant.MODULE_TAG;
import static com.mogo.module.adas.entity.DispatchAdasAutoPilotLocReceiverBean.DISPATCH_SOURCE_HENGYANG;
import static com.mogo.module.adas.entity.DispatchAdasAutoPilotLocReceiverBean.DISPATCH_TYPE_START;
import static com.mogo.module.adas.model.AdasServiceModel.DISPATCH_RESULT_AFFIRM;
import static com.mogo.module.adas.model.AdasServiceModel.DISPATCH_RESULT_MANUAL_CANCEL;
import static com.mogo.module.adas.model.AdasServiceModel.DISPATCH_RESULT_TIMER_CANCEL;
import android.content.Context;
import android.location.Location;
import android.os.Handler;
@@ -8,7 +15,7 @@ import android.os.Message;
import com.mogo.map.MogoLatLng;
import com.mogo.map.location.MogoLocation;
import com.mogo.map.navi.IMogoCarLocationChangedListener2;
import com.mogo.module.adas.entity.AdasAutoPilotLocReceiverBean;
import com.mogo.module.adas.entity.DispatchAdasAutoPilotLocReceiverBean;
import com.mogo.module.adas.entity.DispatchData;
import com.mogo.module.adas.entity.DispatchResult;
import com.mogo.module.adas.entity.EndLatLon;
@@ -18,7 +25,7 @@ import com.mogo.module.adas.model.IDispatch;
import com.mogo.module.adas.overlay.LineOverlayManager;
import com.mogo.module.adas.view.DispatchRemindDialog;
import com.mogo.module.common.MogoApisHandler;
import com.mogo.service.connection.IMogoOnMessageListener;
import com.mogo.service.cloud.socket.IMogoOnMessageListener;
import com.mogo.utils.logger.Logger;
import com.mogo.utils.network.utils.GsonUtil;
import com.zhidao.support.adas.high.bean.AutopilotRoute;
@@ -27,14 +34,9 @@ import com.zhidao.support.adas.high.bean.AutopilotStatus;
import java.util.ArrayList;
import java.util.List;
import static com.mogo.module.adas.AdasConstant.MODULE_TAG;
import static com.mogo.module.adas.model.AdasServiceModel.DISPATCH_RESULT_AFFIRM;
import static com.mogo.module.adas.model.AdasServiceModel.DISPATCH_RESULT_MANUAL_CANCEL;
import static com.mogo.module.adas.model.AdasServiceModel.DISPATCH_RESULT_TIMER_CANCEL;
//todo 后续拆解是否放到网约车模块,画线部分已与产品沟通，放入后续迭代需求
//负责监听自动驾驶状态并进行状态上报，自动驾驶路线上报，接收调度指令展示指令弹窗
public class AdasAutoPilotManager implements IMogoOnMessageListener<AdasAutoPilotLocReceiverBean>
public class AdasAutoPilotManager implements IMogoOnMessageListener<DispatchAdasAutoPilotLocReceiverBean>
, IAdasDataListener
, DispatchRemindDialog.IDispatchRemindClickListener
, IMogoCarLocationChangedListener2 {
@@ -50,7 +52,7 @@ public class AdasAutoPilotManager implements IMogoOnMessageListener<AdasAutoPilo
private LineOverlayManager lineOverlayManager;
private MogoLocation mogoLocation;
private IDispatchResultListener dispatchResultListener;
private AdasAutoPilotLocReceiverBean receiverBean;
private DispatchAdasAutoPilotLocReceiverBean receiverBean;
private List<MogoLatLng> latLngList;
private boolean drawLine;
@@ -74,8 +76,8 @@ public class AdasAutoPilotManager implements IMogoOnMessageListener<AdasAutoPilo
public void handleMessage(Message msg) {
super.handleMessage(msg);
if (msg.what == MSG_TYPE_SHOW_DIALOG) {
AdasAutoPilotLocReceiverBean msgData = (AdasAutoPilotLocReceiverBean) msg.obj;
dispatchRemindDialog.showDialog(msgData.getPoiAddress());
DispatchAdasAutoPilotLocReceiverBean msgData = (DispatchAdasAutoPilotLocReceiverBean) msg.obj;
dispatchRemindDialog.showDialog(msgData.getEndLocAddress());
}
}
};
@@ -101,26 +103,29 @@ public class AdasAutoPilotManager implements IMogoOnMessageListener<AdasAutoPilo
}
@Override
public Class<AdasAutoPilotLocReceiverBean> target() {
return AdasAutoPilotLocReceiverBean.class;
public Class<DispatchAdasAutoPilotLocReceiverBean> target() {
return DispatchAdasAutoPilotLocReceiverBean.class;
}
@Override
public void onMsgReceived(AdasAutoPilotLocReceiverBean adasAutoPilotLocReceiverBean) {
public void onMsgReceived(DispatchAdasAutoPilotLocReceiverBean adasAutoPilotLocReceiverBean) {
if (adasAutoPilotLocReceiverBean != null
&& adasAutoPilotLocReceiverBean.getLat() != 0.0
&& adasAutoPilotLocReceiverBean.getLon() != 0.0
&& adasAutoPilotLocReceiverBean.getPoiAddress() != null) {
if (AdasEventManager.getInstance().getAutopilotValuesStatus() != null &&
AdasEventManager.getInstance().getAutopilotValuesStatus().getPilotmode() == 1) {
Logger.d(TAG, "onMsgReceived 接收到服务端调度信息，但现在已经在自动驾驶状态，下发重复 略过");
return;
&& adasAutoPilotLocReceiverBean.getEndLat() != 0.0
&& adasAutoPilotLocReceiverBean.getEndLon() != 0.0
&& adasAutoPilotLocReceiverBean.getEndLocAddress() != null) {
// if (AdasEventManager.getInstance().getAutopilotValuesStatus() != null &&
// AdasEventManager.getInstance().getAutopilotValuesStatus().getPilotmode() == 1) {
// Logger.d(TAG, "onMsgReceived 接收到服务端调度信息，但现在已经在自动驾驶状态，下发重复 略过");
// return;
// }
if (adasAutoPilotLocReceiverBean.getSource() == DISPATCH_SOURCE_HENGYANG
&& adasAutoPilotLocReceiverBean.getType() == DISPATCH_TYPE_START) {
this.receiverBean = adasAutoPilotLocReceiverBean;
Message message = new Message();
message.what = MSG_TYPE_SHOW_DIALOG;
message.obj = adasAutoPilotLocReceiverBean;
handler.sendMessage(message);
}
this.receiverBean = adasAutoPilotLocReceiverBean;
Message message = new Message();
message.what = MSG_TYPE_SHOW_DIALOG;
message.obj = adasAutoPilotLocReceiverBean;
handler.sendMessage(message);
}
}
@@ -150,8 +155,8 @@ public class AdasAutoPilotManager implements IMogoOnMessageListener<AdasAutoPilo
Logger.d(TAG, "");
if (dispatchResultListener != null) {
DispatchResult dispatchResult = new DispatchResult(
new StartLatLon(mogoLocation.getLatitude(), mogoLocation.getLongitude()),
new EndLatLon(receiverBean.getLat(), receiverBean.getLon()));
new StartLatLon(receiverBean.getStartLat(), receiverBean.getStartLon()),
new EndLatLon(receiverBean.getEndLat(), receiverBean.getEndLon()));
DispatchData dispatchData = new DispatchData("aiCloudToStartAutopilot", dispatchResult);
dispatchResultListener.dispatchAffirm(GsonUtil.jsonFromObject(dispatchData));
}
@@ -213,10 +218,13 @@ public class AdasAutoPilotManager implements IMogoOnMessageListener<AdasAutoPilo
public void test() {
Logger.d(TAG, "test to trigger mock autopilot");
AdasAutoPilotLocReceiverBean adasAutoPilotLocReceiverBean = new AdasAutoPilotLocReceiverBean(
"1", 26.825571122, 112.5762410415, "测试数据", System.currentTimeMillis());
DispatchAdasAutoPilotLocReceiverBean adasAutoPilotLocReceiverBean = new DispatchAdasAutoPilotLocReceiverBean(
DISPATCH_SOURCE_HENGYANG, DISPATCH_TYPE_START, "1",
26.825571122, 112.5762410415, "测试数据",
26.825571122, 112.5762410415, "调度至衡阳首钢",
"", "", "开始调度", System.currentTimeMillis());
this.receiverBean = adasAutoPilotLocReceiverBean;
dispatchRemindDialog.showDialog(adasAutoPilotLocReceiverBean.getPoiAddress());
dispatchRemindDialog.showDialog(adasAutoPilotLocReceiverBean.getEndLocAddress());
}
public void testNotifyAutopilotState() {

29
modules/mogo-module-adas/src/main/java/com/mogo/module/adas/AdasEventManager.java
View File

@@ -21,6 +21,7 @@ import com.zhidao.support.adas.high.bean.ObstaclesInfo;
import com.zhidao.support.adas.high.bean.RectInfo;
import com.zhidao.support.adas.high.bean.WarnMessageInfo;
import com.zhidao.support.adas.high.common.MsgActionType;
import com.zhidao.support.obu.ami.AmiClientManager;
import java.util.ArrayList;
import java.util.concurrent.TimeUnit;
@@ -138,12 +139,38 @@ public class AdasEventManager implements OnAdasListener, OnAdasMsgConnectStatusL
@Override
public void onCarStateData(CarStateInfo carStateInfo) {
Logger.d(TAG, "onCarStateData " + carStateInfo);
//Logger.d(TAG, "onCarStateData " + carStateInfo);
for (IAdasDataListener listener : iAdasEventListeners) {
if (listener != null) {
listener.ownerCarStateInfo(gson.toJson(carStateInfo));
}
}
//can数据转发
CarStateInfo.ValuesBean bean = carStateInfo.getValues();
if (bean != null) {
int turn_light = bean.getTurn_light(); //转向灯状态 0是正常 1是左转 2是右转
if (turn_light == 0) {
AmiClientManager.getInstance().setLeft_turn_signal(1);
AmiClientManager.getInstance().setRight_turn_signal(1);
} else if (turn_light == 1) {
AmiClientManager.getInstance().setLeft_turn_signal(2);
AmiClientManager.getInstance().setRight_turn_signal(1);
} else if (turn_light == 2) {
AmiClientManager.getInstance().setLeft_turn_signal(1);
AmiClientManager.getInstance().setRight_turn_signal(2);
}
// int flash_light = bean.getFlash_light(); //双闪灯状态
//
// if (flash_light == 0) {
// AmiClientManager.getInstance().setHazard_signal(1);
// } else {
// AmiClientManager.getInstance().setHazard_signal(2);
// }
int brake_light = bean.getBrake_light(); //刹车灯状态
}
}
@Override

69
modules/mogo-module-adas/src/main/java/com/mogo/module/adas/entity/AdasAutoPilotLocReceiverBean.java
View File

@@ -1,69 +0,0 @@
package com.mogo.module.adas.entity;
public class AdasAutoPilotLocReceiverBean {
private String poiId;
private double lat;
private double lon;
private String poiAddress;
private long systemTime;
public AdasAutoPilotLocReceiverBean(String poiId, double lat, double lon, String poiAddress, long systemTime) {
this.poiId = poiId;
this.lat = lat;
this.lon = lon;
this.poiAddress = poiAddress;
this.systemTime = systemTime;
}
public String getPoiId() {
return poiId;
}
public void setPoiId(String poiId) {
this.poiId = poiId;
}
public double getLat() {
return lat;
}
public void setLat(double lat) {
this.lat = lat;
}
public double getLon() {
return lon;
}
public void setLon(double lon) {
this.lon = lon;
}
public String getPoiAddress() {
return poiAddress;
}
public void setPoiAddress(String poiAddress) {
this.poiAddress = poiAddress;
}
public long getSystemTime() {
return systemTime;
}
public void setSystemTime(long systemTime) {
this.systemTime = systemTime;
}
@Override
public String toString() {
return "AdasAutoPilotLocReceiverBean{" +
"poiId=" + poiId +
", lat=" + lat +
", lon=" + lon +
", poiAddress='" + poiAddress + '\'' +
", systemTime=" + systemTime +
'}';
}
}

165
modules/mogo-module-adas/src/main/java/com/mogo/module/adas/entity/DispatchAdasAutoPilotLocReceiverBean.java Normal file
View File

@@ -0,0 +1,165 @@
package com.mogo.module.adas.entity;
public class DispatchAdasAutoPilotLocReceiverBean {
public static final int DISPATCH_SOURCE_HENGYANG = 1;
public static final int DISPATCH_SOURCE_EZHOU = 2;
public static final int DISPATCH_TYPE_START = 1;
public static final int DISPATCH_TYPE_STOP = 2;
private int source; // 1：衡阳 2：鄂州
private int type; // 1：启动 2：停止
private String poiId;
private double startLat;
private double startLon;
private String startLocAddress;
private double endLat;
private double endLon;
private String endLocAddress;
private String taskTime;
private String flightInfo;
private String taskInfo;
private long systemTime;
public DispatchAdasAutoPilotLocReceiverBean(int source, int type, String poiId, double startLat, double startLon, String startLocAddress, double endLat, double endLon, String endLocAddress, String taskTime, String flightInfo, String taskInfo, long systemTime) {
this.source = source;
this.type = type;
this.poiId = poiId;
this.startLat = startLat;
this.startLon = startLon;
this.startLocAddress = startLocAddress;
this.endLat = endLat;
this.endLon = endLon;
this.endLocAddress = endLocAddress;
this.taskTime = taskTime;
this.flightInfo = flightInfo;
this.taskInfo = taskInfo;
this.systemTime = systemTime;
}
public int getSource() {
return source;
}
public void setSource(int source) {
this.source = source;
}
public int getType() {
return type;
}
public void setType(int type) {
this.type = type;
}
public String getPoiId() {
return poiId;
}
public void setPoiId(String poiId) {
this.poiId = poiId;
}
public double getStartLat() {
return startLat;
}
public void setStartLat(double startLat) {
this.startLat = startLat;
}
public double getStartLon() {
return startLon;
}
public void setStartLon(double startLon) {
this.startLon = startLon;
}
public String getStartLocAddress() {
return startLocAddress;
}
public void setStartLocAddress(String startLocAddress) {
this.startLocAddress = startLocAddress;
}
public double getEndLat() {
return endLat;
}
public void setEndLat(double endLat) {
this.endLat = endLat;
}
public double getEndLon() {
return endLon;
}
public void setEndLon(double endLon) {
this.endLon = endLon;
}
public String getEndLocAddress() {
return endLocAddress;
}
public void setEndLocAddress(String endLocAddress) {
this.endLocAddress = endLocAddress;
}
public String getTaskTime() {
return taskTime;
}
public void setTaskTime(String taskTime) {
this.taskTime = taskTime;
}
public String getFlightInfo() {
return flightInfo;
}
public void setFlightInfo(String flightInfo) {
this.flightInfo = flightInfo;
}
public String getTaskInfo() {
return taskInfo;
}
public void setTaskInfo(String taskInfo) {
this.taskInfo = taskInfo;
}
public long getSystemTime() {
return systemTime;
}
public void setSystemTime(long systemTime) {
this.systemTime = systemTime;
}
@Override
public String toString() {
return "DispatchAdasAutoPilotLocReceiverBean{" +
"source=" + source +
", type=" + type +
", poiId='" + poiId + '\'' +
", startLat=" + startLat +
", startLon=" + startLon +
", startLocAddress='" + startLocAddress + '\'' +
", endLat=" + endLat +
", endLon=" + endLon +
", endLocAddress='" + endLocAddress + '\'' +
", taskTime='" + taskTime + '\'' +
", flightInfo='" + flightInfo + '\'' +
", taskInfo='" + taskInfo + '\'' +
", systemTime=" + systemTime +
'}';
}
}