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

Signed-off-by: 董宏宇 <martindhy@gmail.com>
2021-10-28 15:25:26 +08:00
parent 02f5f7cbee
commit a70eed4475
20 changed files with 377 additions and 471 deletions
--- a/modules/mogo-module-adas/src/main/java/com/mogo/module/adas/AdasEventManager.java
+++ b/modules/mogo-module-adas/src/main/java/com/mogo/module/adas/AdasEventManager.java
@@ -3,9 +3,8 @@ package com.mogo.module.adas;
 import androidx.annotation.NonNull;
 import androidx.annotation.Nullable;

-import android.util.Log;
-
 import com.google.gson.Gson;
+import com.mogo.eagle.core.data.autopilot.ADASTrajectoryInfo;
 import com.mogo.eagle.core.data.autopilot.AutopilotCarStateInfo;
 import com.mogo.eagle.core.data.autopilot.AutopilotGuardianStatusInfo;
 import com.mogo.eagle.core.data.autopilot.AutopilotRouteInfo;
@@ -14,8 +13,10 @@ import com.mogo.eagle.core.data.autopilot.AutopilotStatusInfo;
 import com.mogo.eagle.core.data.autopilot.AutopilotWarnMessage;
 import com.mogo.eagle.core.data.config.FunctionBuildConfig;
 import com.mogo.eagle.core.data.traffic.TrafficData;
+import com.mogo.eagle.core.function.api.autopilot.IMoGoAutopilotPlanningListener;
 import com.mogo.eagle.core.function.api.autopilot.IMoGoAutopilotStatusListener;
 import com.mogo.eagle.core.function.call.autopilot.CallerAutoPilotStatusListenerManager;
+import com.mogo.eagle.core.function.call.autopilot.CallerAutopilotPlanningListenerManager;
 import com.mogo.eagle.core.utilcode.util.ThreadUtils;
 import com.mogo.module.adas.model.AdasServiceModel;
 import com.mogo.module.common.drawer.IdentifyDataDrawer;
@@ -24,22 +25,9 @@ import com.mogo.utils.network.utils.GsonUtil;
 import com.zhidao.autopilotservice.model.AdasAIDLAutopilotStateModel;
 import com.zhidao.support.adas.high.AdasManager;
 import com.zhidao.support.adas.high.OnAdasMsgConnectStatusListener;
-import com.zhidao.support.adas.high.bean.AutopilotRoute;
-import com.zhidao.support.adas.high.bean.AutopilotStatus;
-import com.zhidao.support.adas.high.bean.AutopilotWayArrive;
-import com.zhidao.support.adas.high.bean.CarLaneInfo;
-import com.zhidao.support.adas.high.bean.CarStateInfo;
-import com.zhidao.support.adas.high.bean.LightStatueInfo;
-import com.zhidao.support.adas.high.bean.ObstaclesInfo;
-import com.zhidao.support.adas.high.bean.RectInfo;
-import com.zhidao.support.adas.high.bean.TrajectoryInfo;
-import com.zhidao.support.adas.high.bean.WarnMessageInfo;
-import com.zhidao.support.adas.high.bean.guardian.AutopilotGuardianInfo;
-import com.zhidao.support.adas.high.common.MsgActionType;
 import com.zhidao.support.obu.ami.AmiClientManager;

 import java.util.ArrayList;
-import java.util.List;
 import java.util.concurrent.TimeUnit;

 import io.reactivex.Flowable;
@@ -51,7 +39,8 @@ import io.reactivex.schedulers.Schedulers;
 */
 public class AdasEventManager implements
        OnAdasMsgConnectStatusListener,
-        IMoGoAutopilotStatusListener {
+        IMoGoAutopilotStatusListener,
+        IMoGoAutopilotPlanningListener {

    private final String TAG = "AdasEventManager";

@@ -73,6 +62,7 @@ public class AdasEventManager implements
    private AdasEventManager() {
        gson = GsonUtil.getGson();
        CallerAutoPilotStatusListenerManager.INSTANCE.addListener(TAG, this);
+        CallerAutopilotPlanningListenerManager.INSTANCE.addListener(TAG, this);
    }

    public static AdasEventManager getInstance() {
@@ -118,18 +108,6 @@ public class AdasEventManager implements
    }


-    @Override
-    public void onAutopilotTrajectory(List<TrajectoryInfo> trajectoryList) {
-//        Log.e("lianglihui","adas onAutopilotTrajectory");
-        if(trajectoryList != null && trajectoryList.size() >0){
-            for (IAdasDataListener listener : iAdasEventListeners) {
-                if (listener != null) {
-                    listener.onAutopilotTrajectory(trajectoryList);
-                }
-            }
-        }
-    }
-
    @Override
    public void onAutopilotSNRequest() {
        if (providerBizListener != null) {
@@ -139,11 +117,6 @@ public class AdasEventManager implements
        }
    }

-    @Override
-    public void onAutopilotGuardian(AutopilotGuardianInfo guardianInfo) {
-
-    }
-
    @Override
    public void onWebSocketConnectSuccess() {
        Logger.d(TAG, "webSocket 连接成功");
@@ -237,7 +210,6 @@ public class AdasEventManager implements
        }


-
        //can数据转发
        AutopilotCarStateInfo.ValuesBean bean = autoPilotCarStateInfo.getValues();
        if (bean != null) {
@@ -246,18 +218,6 @@ public class AdasEventManager implements
        }
    }

-    @Override
-    public void onAutopilotRoute(@Nullable AutopilotRouteInfo autopilotRoute) {
-        if (autopilotRoute.getModels() == null || autopilotRoute.getModels().size() == 0) {
-            Logger.d(TAG, "onAutopilotRoute is null !");
-            return;
-        }
-        for (IAdasDataListener listener : iAdasEventListeners) {
-            if (listener != null) {
-                listener.autopilotRoute(autopilotRoute);
-            }
-        }
-    }

    @Override
    public void onAutopilotGuardian(@Nullable AutopilotGuardianStatusInfo guardianInfo) {
@@ -265,7 +225,7 @@ public class AdasEventManager implements
    }

    @Override
-    public void onAutopilotIdentifyDataUpdate(@Nullable List<TrafficData> trafficData) {
+    public void onAutopilotIdentifyDataUpdate(@Nullable ArrayList<TrafficData> trafficData) {
        try {
            if (trafficData == null) {
                IdentifyDataDrawer.getInstance().clearOldMarker();
@@ -294,4 +254,30 @@ public class AdasEventManager implements
            }
        }
    }
+
+    @Override
+    public void onAutopilotTrajectory(ArrayList<ADASTrajectoryInfo> trajectoryInfo) {
+        if (trajectoryInfo != null && trajectoryInfo.size() > 0) {
+            for (IAdasDataListener listener : iAdasEventListeners) {
+                if (listener != null) {
+                    listener.onAutopilotTrajectory(trajectoryInfo);
+                }
+            }
+        }
+    }
+
+
+    @Override
+    public void onAutopilotRotting(@Nullable AutopilotRouteInfo autopilotRoute) {
+        if (autopilotRoute.getModels() == null || autopilotRoute.getModels().size() == 0) {
+            Logger.d(TAG, "onAutopilotRoute is null !");
+            return;
+        }
+        for (IAdasDataListener listener : iAdasEventListeners) {
+            if (listener != null) {
+                listener.autopilotRoute(autopilotRoute);
+            }
+        }
+    }
+
 }
--- a/modules/mogo-module-adas/src/main/java/com/mogo/module/adas/AdasObjectUtils.kt
+++ b/modules/mogo-module-adas/src/main/java/com/mogo/module/adas/AdasObjectUtils.kt
@@ -1,6 +1,5 @@
 package com.mogo.module.adas

-import android.util.Log
 import com.mogo.eagle.core.data.autopilot.AutopilotCarStateInfo
 import com.mogo.eagle.core.data.autopilot.AutopilotGuardianStatusInfo
 import com.mogo.eagle.core.data.autopilot.AutopilotRouteInfo
@@ -13,7 +12,6 @@ import com.zhidao.support.adas.high.bean.CarStateInfo
 import com.zhidao.support.adas.high.bean.RectInfo.RectBean
 import com.zhidao.support.adas.high.bean.WarnMessageInfo
 import com.zhidao.support.adas.high.bean.guardian.AutopilotGuardianInfo
-import java.util.*

 /**
 * @author congtaowang
@@ -62,11 +60,11 @@ object AdasObjectUtils {
        return warnMessage
    }

-    fun regroupTrafficDataData(datums: List<RectBean?>?): List<TrafficData>? {
+    fun regroupTrafficDataData(datums: List<RectBean?>?): ArrayList<TrafficData>? {
        if (datums == null || datums.isEmpty()) {
            return null
        }
-        val recognizedListResults: MutableList<TrafficData> = ArrayList()
+        val recognizedListResults: ArrayList<TrafficData> = ArrayList()
        for (model in datums) {
            if (model == null) {
                continue
--- a/modules/mogo-module-adas/src/main/java/com/mogo/module/adas/IAdasDataListener.java
+++ b/modules/mogo-module-adas/src/main/java/com/mogo/module/adas/IAdasDataListener.java
@@ -1,19 +1,12 @@
 package com.mogo.module.adas;

+import com.mogo.eagle.core.data.autopilot.ADASTrajectoryInfo;
 import com.mogo.eagle.core.data.autopilot.AutopilotRouteInfo;
 import com.mogo.eagle.core.data.autopilot.AutopilotStationInfo;
 import com.mogo.eagle.core.data.autopilot.AutopilotStatusInfo;
 import com.mogo.eagle.core.data.autopilot.AutopilotWarnMessage;
-import com.mogo.module.adas.entity.WarnMessageModel;
-import com.zhidao.autopilotservice.model.AdasAIDLAutopilotArriveModel;
-import com.zhidao.autopilotservice.model.AdasAIDLOwnerCarRectModel;
-import com.zhidao.autopilotservice.model.AdasAIDLOwnerCarStateModel;
-import com.zhidao.support.adas.high.bean.AutopilotRoute;
-import com.zhidao.support.adas.high.bean.AutopilotStatus;
-import com.zhidao.support.adas.high.bean.RectInfo;
-import com.zhidao.support.adas.high.bean.TrajectoryInfo;
-import com.zhidao.support.adas.high.bean.WarnMessageInfo;

+import java.util.ArrayList;
 import java.util.List;


@@ -65,8 +58,7 @@ public interface IAdasDataListener {
     * 车前引导路径回调
     * @param trajectory
     */
-
-    default void onAutopilotTrajectory(List<TrajectoryInfo> trajectory) {
+    default void onAutopilotTrajectory(ArrayList<ADASTrajectoryInfo> trajectory) {

    }

--- a/modules/mogo-module-adas/src/main/java/com/mogo/module/adas/OnAdasListenerAdapter.java
+++ b/modules/mogo-module-adas/src/main/java/com/mogo/module/adas/OnAdasListenerAdapter.java
@@ -1,5 +1,8 @@
 package com.mogo.module.adas;

+import android.util.Log;
+
+import com.mogo.eagle.core.data.autopilot.ADASTrajectoryInfo;
 import com.mogo.eagle.core.data.autopilot.AutopilotCarStateInfo;
 import com.mogo.eagle.core.data.autopilot.AutopilotGuardianStatusInfo;
 import com.mogo.eagle.core.data.autopilot.AutopilotRouteInfo;
@@ -8,6 +11,7 @@ import com.mogo.eagle.core.data.autopilot.AutopilotStatusInfo;
 import com.mogo.eagle.core.data.autopilot.AutopilotWarnMessage;
 import com.mogo.eagle.core.data.traffic.TrafficData;
 import com.mogo.eagle.core.function.call.autopilot.CallerAutoPilotStatusListenerManager;
+import com.mogo.eagle.core.function.call.autopilot.CallerAutopilotPlanningListenerManager;
 import com.mogo.utils.logger.Logger;
 import com.zhidao.support.adas.high.AdasManager;
 import com.zhidao.support.adas.high.OnAdasListener;
@@ -24,6 +28,7 @@ import com.zhidao.support.adas.high.bean.WarnMessageInfo;
 import com.zhidao.support.adas.high.bean.guardian.AutopilotGuardianInfo;
 import com.zhidao.support.obu.ami.AmiClientManager;

+import java.util.ArrayList;
 import java.util.List;

 /**
@@ -37,7 +42,7 @@ public class OnAdasListenerAdapter implements OnAdasListener {

    @Override
    public void onRectData(RectInfo rectInfo) {
-        List<TrafficData> recognizedListResults = AdasObjectUtils.INSTANCE.regroupTrafficDataData(rectInfo.getModels());
+        ArrayList<TrafficData> recognizedListResults = AdasObjectUtils.INSTANCE.regroupTrafficDataData(rectInfo.getModels());
        CallerAutoPilotStatusListenerManager.INSTANCE.invokeAutopilotIdentifyDataUpdate(recognizedListResults);
    }

@@ -95,12 +100,29 @@ public class OnAdasListenerAdapter implements OnAdasListener {
    public void onAutopilotRoute(AutopilotRoute route) {
        Logger.d(TAG, "onAutopilotRoute : " + route.toString());
        AutopilotRouteInfo autopilotRoute = AdasObjectUtils.INSTANCE.fromAdasAutopilotRoute(route);
-        CallerAutoPilotStatusListenerManager.INSTANCE.invokeAutopilotRoute(autopilotRoute);
+        CallerAutopilotPlanningListenerManager.INSTANCE.invokeAutopilotRotting(autopilotRoute);
    }

    @Override
    public void onAutopilotTrajectory(List<TrajectoryInfo> trajectoryList) {
-
+        ArrayList<ADASTrajectoryInfo> trajectoryInfoArrayList = new ArrayList<>();
+        if (trajectoryList != null && trajectoryList.size() > 0) {
+            for (TrajectoryInfo trajectory : trajectoryList) {
+                ADASTrajectoryInfo adasTrajectoryInfo = new ADASTrajectoryInfo();
+                adasTrajectoryInfo.setLat(trajectory.getLat());
+                adasTrajectoryInfo.setLon(trajectory.getLon());
+                adasTrajectoryInfo.setAcceleration(trajectory.getAcceleration());
+                adasTrajectoryInfo.setAccumulatedDis(trajectory.getAccumulatedDis());
+                adasTrajectoryInfo.setTime(trajectory.getTime());
+                adasTrajectoryInfo.setVelocity(trajectory.getVelocity());
+                adasTrajectoryInfo.setAlt(trajectory.getAlt());
+                adasTrajectoryInfo.setKappa(trajectory.getKappa());
+                adasTrajectoryInfo.setTheta(trajectory.getTheta());
+                trajectoryInfoArrayList.add(adasTrajectoryInfo);
+            }
+            Log.e(TAG, "time:" + System.currentTimeMillis() + "trajectoryInfoArrayList:" + trajectoryInfoArrayList);
+        }
+        CallerAutopilotPlanningListenerManager.INSTANCE.invokeAutopilotTrajectory(trajectoryInfoArrayList);
    }

    @Override