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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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17
core/mogo-core-function-call/src/main/java/com/mogo/eagle/core/function/call/autopilot/CallerAutoPilotStatusListenerManager.kt
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@@ -6,7 +6,6 @@ import com.mogo.eagle.core.data.traffic.TrafficData
import com.mogo.eagle.core.function.api.autopilot.IMoGoAutopilotStatusListener
import com.mogo.eagle.core.function.api.obu.IMoGoObuStatusListener
import com.mogo.eagle.core.function.call.base.CallerBase
import com.mogo.eagle.core.utilcode.mogo.logger.Logger
import com.mogo.eagle.core.utilcode.util.GsonUtils
/**
@@ -126,20 +125,6 @@ object CallerAutoPilotStatusListenerManager : CallerBase() {
}
}
/**
* 自动驾驶路径 回调
* @param routeInfo
*/
@Synchronized
fun invokeAutopilotRoute(routeInfo: AutopilotRouteInfo?) {
//Logger.d(TAG, "$routeInfo")
M_AUTOPILOT_STATUS_LISTENERS.forEach {
val tag = it.key
val listener = it.value
//Logger.d(TAG, "tag:$tag listener:$listener")
listener.onAutopilotRoute(routeInfo)
}
}
/**
* 工控机获取SN 回调
@@ -173,7 +158,7 @@ object CallerAutoPilotStatusListenerManager : CallerBase() {
* 识别交通元素数据发生更新 回调
*/
@Synchronized
fun invokeAutopilotIdentifyDataUpdate(trafficData: List<TrafficData>?) {
fun invokeAutopilotIdentifyDataUpdate(trafficData: ArrayList<TrafficData>?) {
//Logger.d(TAG, "$trafficData")
M_AUTOPILOT_STATUS_LISTENERS.forEach {
val tag = it.key

86
core/mogo-core-function-call/src/main/java/com/mogo/eagle/core/function/call/autopilot/CallerAutopilotPlanningListenerManager.kt Normal file
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@@ -0,0 +1,86 @@
package com.mogo.eagle.core.function.call.autopilot
import androidx.annotation.Nullable
import com.mogo.eagle.core.data.autopilot.ADASTrajectoryInfo
import com.mogo.eagle.core.data.autopilot.AutopilotRouteInfo
import com.mogo.eagle.core.function.api.autopilot.IMoGoAutopilotPlanningListener
import com.mogo.eagle.core.function.api.obu.IMoGoObuStatusListener
import com.mogo.eagle.core.function.call.base.CallerBase
/**
* @author xiaoyuzhou
* @date 2021/9/30 5:48 下午
* 规划路径相关回调
*/
object CallerAutopilotPlanningListenerManager : CallerBase() {
private val TAG = "CallerAutopilotPlanningListenerManager"
// 存储所有注册了监听的对象，invokeXXXX进行遍历回调，将信息同步
private val M_AUTOPILOT_PLANNING_LISTENER: HashMap<String, IMoGoAutopilotPlanningListener> =
HashMap()
/**
* 添加监听
* @param tag 标记，用来注销监听使用
* @param listener 监听回调
*/
fun addListener(
@Nullable tag: String,
@Nullable listener: IMoGoAutopilotPlanningListener
) {
M_AUTOPILOT_PLANNING_LISTENER[tag] = listener
}
/**
* 删除监听
* @param tag 标记，用来注销监听使用
*/
fun removeListener(@Nullable tag: String) {
M_AUTOPILOT_PLANNING_LISTENER.remove(tag)
}
/**
* 删除自动驾驶按钮选中监听
* @param listener 要删除的监听对象
*/
fun removeListener(@Nullable listener: IMoGoObuStatusListener) {
M_AUTOPILOT_PLANNING_LISTENER.forEach {
if (it.value == listener) {
M_AUTOPILOT_PLANNING_LISTENER.remove(it.key)
}
}
}
/**
* 车前引导线 回调
* @param trajectoryInfo 自动驾驶状态信息
*/
@Synchronized
fun invokeAutopilotTrajectory(trajectoryInfo: ArrayList<ADASTrajectoryInfo>) {
//Logger.d(TAG, "$trajectoryInfo")
M_AUTOPILOT_PLANNING_LISTENER.forEach {
val tag = it.key
val listener = it.value
//Logger.d(TAG, "tag:$tag listener:$listener")
listener.onAutopilotTrajectory(trajectoryInfo)
}
}
/**
* 路径规划 回调
* @param routeList 自动驾驶网约车回调数据
*/
@Synchronized
fun invokeAutopilotRotting(routeList: AutopilotRouteInfo) {
//Logger.d(TAG, "$routeList")
M_AUTOPILOT_PLANNING_LISTENER.forEach {
val tag = it.key
val listener = it.value
//Logger.d(TAG, "tag:$tag listener:$listener")
listener.onAutopilotRotting(routeList)
}
}
}