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合并dev_MogoAP_eagle-930_210926_8.0.12分支，并将规划全局路径以及引导线按照新架构中的监听合并，测试可用，在工控机上执行sh roadPlanning.sh 使用带有引导线的数据包

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Signed-off-by: 董宏宇 <martindhy@gmail.com>
This commit is contained in:
董宏宇
2021-10-28 15:25:26 +08:00
parent 02f5f7cbee
commit a70eed4475
20 changed files with 377 additions and 471 deletions
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49
core/function-impl/mogo-core-function-smp/src/main/java/com/mogo/eagle/core/function/smp/SmallMapProvider.java
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@@ -10,14 +10,18 @@ import androidx.fragment.app.Fragment;
import androidx.fragment.app.FragmentActivity;
import com.alibaba.android.arouter.facade.annotation.Route;
import com.mogo.eagle.core.data.map.MogoLatLng;
import com.mogo.eagle.core.function.api.map.smp.IMogoSmallMapProvider;
import com.mogo.module.common.MogoApisHandler;
import com.mogo.eagle.core.data.autopilot.ADASTrajectoryInfo;
import com.mogo.eagle.core.data.autopilot.AutopilotRouteInfo;
import com.mogo.eagle.core.data.constants.MogoServicePaths;
import com.mogo.service.adas.IMogoAdasRouteCallBack;
import com.mogo.eagle.core.data.map.MogoLatLng;
import com.mogo.eagle.core.function.api.autopilot.IMoGoAutopilotPlanningListener;
import com.mogo.eagle.core.function.api.map.smp.IMogoSmallMapProvider;
import com.mogo.eagle.core.function.call.autopilot.CallerAutopilotPlanningListenerManager;
import com.mogo.module.common.MogoApisHandler;
import com.mogo.service.statusmanager.IMogoStatusChangedListener;
import com.mogo.service.statusmanager.StatusDescriptor;
import java.util.ArrayList;
import java.util.List;
/**
@@ -25,7 +29,7 @@ import java.util.List;
* @date 12/10/20 1:34 PM
*/
@Route(path = MogoServicePaths.PATH_SMALL_MAP)
public class SmallMapProvider implements IMogoSmallMapProvider, IMogoStatusChangedListener, IMogoAdasRouteCallBack {
public class SmallMapProvider implements IMogoSmallMapProvider, IMogoStatusChangedListener, IMoGoAutopilotPlanningListener {
private final String TAG = "SmallMapProvider";
private Context mContext;
@@ -40,7 +44,7 @@ public class SmallMapProvider implements IMogoSmallMapProvider, IMogoStatusChang
mActivity = activity;
mContainerId = containerId;
SmpServiceManager.init(mActivity);
MogoApisHandler.getInstance().getApis().getAdasControllerApi().addAdasAutopilotRouteCallBack(this);
CallerAutopilotPlanningListenerManager.INSTANCE.addListener(TAG, this);
}
@Override
@@ -85,7 +89,7 @@ public class SmallMapProvider implements IMogoSmallMapProvider, IMogoStatusChang
Log.d(TAG, "准备show fragment");
mActivity.getSupportFragmentManager().beginTransaction().show(mSmallMapFragment).commitAllowingStateLoss();
} catch (Exception e) {
Log.d(TAG, "add fragment 失败 ======"+e.getMessage());
Log.d(TAG, "add fragment 失败 ======" + e.getMessage());
e.printStackTrace();
}
}
@@ -130,15 +134,6 @@ public class SmallMapProvider implements IMogoSmallMapProvider, IMogoStatusChang
}
}
@Override
public void routeResult(List<MogoLatLng> routeList) {
Log.e("lianglihui","SmallMapProvider");
if (routeList != null && routeList.size() > 0) {
drawablePolyline(routeList);
} else {
clearPolyline();
}
}
@Nullable
@Override
@@ -154,6 +149,28 @@ public class SmallMapProvider implements IMogoSmallMapProvider, IMogoStatusChang
@Override
public void onDestroy() {
CallerAutopilotPlanningListenerManager.INSTANCE.removeListener(TAG);
}
@Override
public void onAutopilotTrajectory(ArrayList<ADASTrajectoryInfo> trajectoryInfos) {
}
@Override
public void onAutopilotRotting(AutopilotRouteInfo routeList) {
if (routeList.getModels() == null || routeList.getModels().size() == 0) {
return;
}
List<MogoLatLng> latLngList = new ArrayList<>();
for (AutopilotRouteInfo.RouteModels routeModel : routeList.getModels()) {
latLngList.add(new MogoLatLng(routeModel.getLat(), routeModel.getLon()));
}
Log.e(TAG, "routeResult:" + latLngList.size());
if (latLngList.size() > 0) {
drawablePolyline(latLngList);
} else {
clearPolyline();
}
}
}