Merge branch 'test_robotaxi-d-app-module_2110_220915_2.11.0.1' into dev_robotaxi-d-app-module_2120_221017_2.12.0

# Conflicts: # OCH/mogo-och-bus/src/main/java/com/mogo/och/bus/model/BusOrderModel.java
2022-10-25 14:51:01 +08:00
parent 0e8cf29171 dc1216ab66
commit a718188b99
19 changed files with 219 additions and 111 deletions
--- a/core/function-impl/mogo-core-function-autopilot/src/main/java/com/mogo/eagle/core/function/autopilot/MoGoAutopilotProvider.kt
+++ b/core/function-impl/mogo-core-function-autopilot/src/main/java/com/mogo/eagle/core/function/autopilot/MoGoAutopilotProvider.kt
@@ -197,6 +197,8 @@ class MoGoAutopilotProvider :
                                    .build()
                                AdasManager.getInstance()
                                    .create(options, MoGoAdasMsgConnectStatusListenerImpl())
+                                // 监听ADAS-SDK获取到的工控机数据
+                                AdasManager.getInstance().setOnAdasListener(MoGoAdasListenerImpl())
                                // 接收司机屏发过来的感知、定位等数据
                                listenDeviceData()
                            }
--- a/core/function-impl/mogo-core-function-autopilot/src/main/java/com/mogo/eagle/core/function/autopilot/telematic/TeleMsgHandler.kt
+++ b/core/function-impl/mogo-core-function-autopilot/src/main/java/com/mogo/eagle/core/function/autopilot/telematic/TeleMsgHandler.kt
@@ -1,6 +1,5 @@
 package com.mogo.eagle.core.function.autopilot.telematic

-import android.util.Log
 import androidx.lifecycle.ProcessLifecycleOwner
 import androidx.lifecycle.lifecycleScope
 import com.google.protobuf.TextFormat
@@ -118,10 +117,6 @@ class TeleMsgHandler : IMsgHandler {
                                        "1" -> true
                                        else -> false
                                    }
-                                Logger.d(
-                                    "Route",
-                                    "TeleMsgHandler -> handleMsgFromServer ==> isDemoMode:" + FunctionBuildConfig.isDemoMode + ",isIgnore:" + FunctionBuildConfig.isIgnoreConditionsDrawAutopilotTrajectoryData
-                                )
                                timestamp = currTime
                                invokeNettyConnResult("乘客屏收到的美化模式isIgnore为：${FunctionBuildConfig.isIgnoreConditionsDrawAutopilotTrajectoryData}")
                            } else {
--- a/core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/hmi/ui/MoGoHmiFragment.kt
+++ b/core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/hmi/ui/MoGoHmiFragment.kt
@@ -9,7 +9,6 @@ import android.os.Build.VERSION_CODES
 import android.os.Bundle
 import android.text.TextUtils
 import android.transition.*
-import android.util.Log
 import android.view.Gravity
 import android.view.View
 import android.view.WindowManager
@@ -866,7 +865,7 @@ class MoGoHmiFragment : MvpFragment<MoGoHmiContract.View?, HmiPresenter?>(),
            AIAssist.getInstance(ctx).speakTTSVoice(text, voiceCallback)
        } catch (t: Throwable) {
            it.resumeWith(Result.success(Unit))
-            Logger.e(TAG, t.message)
+            CallerLogger.d("$M_HMI$TAG", t.message)
        }
    }

@@ -1458,7 +1457,6 @@ class MoGoHmiFragment : MvpFragment<MoGoHmiContract.View?, HmiPresenter?>(),
     * 工控机监控节点上报
     */
    override fun onAutopilotGuardian(guardianInfo: MogoReportMsg.MogoReportMessage?) {
-        Log.d("EmArrow-1013", "onAutopilotGuardian : $guardianInfo , takeOver : $takeOver")
        ThreadUtils.runOnUiThread {
            guardianInfo?.let {
                if (reportList.size > 49) {
@@ -1484,10 +1482,6 @@ class MoGoHmiFragment : MvpFragment<MoGoHmiContract.View?, HmiPresenter?>(),
                    EXIT_AUTOPILOT_FOR_LOCATION,
                    EXIT_AUTOPILOT_FOR_CHASSIS,
                    EXIT_AUTOPILOT_FOR_DISTANCE -> {
-                        Log.d(
-                            "EmArrow-1013",
-                            "it code : ${it.code} ,  state : ${getAutoPilotStatusInfo().state}"
-                        )
                        showWarningV2X(
                            EventTypeEnum.TAKE_OVER_EVENT.poiType,
                            EventTypeEnum.TAKE_OVER_EVENT.content,
@@ -1495,13 +1489,11 @@ class MoGoHmiFragment : MvpFragment<MoGoHmiContract.View?, HmiPresenter?>(),
                            EventTypeEnum.TAKE_OVER_EVENT.poiType,
                            object : IMoGoWarningStatusListener {
                                override fun onShow() {
-                                    Log.d("EmArrow-1013", "onShow")
                                    takeOver = true
                                    clTakeOverView.visibility = View.VISIBLE
                                }

                                override fun onDismiss() {
-                                    Log.d("EmArrow-1013", "onDismiss")
                                    takeOver = false
                                    clTakeOverView.visibility = View.GONE
                                }
--- a/core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/hmi/ui/setting/DebugSettingView.kt
+++ b/core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/hmi/ui/setting/DebugSettingView.kt
@@ -623,7 +623,6 @@ class DebugSettingView @JvmOverloads constructor(

        // 强制绘制引导线
        tbIsDrawAutopilotTrajectoryData.setOnCheckedChangeListener { _, isChecked ->
-            Logger.d("Route", "DebugSettingView -> initView2 ==> isDemoMode:" + FunctionBuildConfig.isDemoMode + ",isIgnore: $isChecked")
            FunctionBuildConfig.isIgnoreConditionsDrawAutopilotTrajectoryData = isChecked
        }

--- a/core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/hmi/ui/widget/SpeedPanelView.kt
+++ b/core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/hmi/ui/widget/SpeedPanelView.kt
@@ -1,17 +1,17 @@
 package com.mogo.eagle.core.function.hmi.ui.widget

 import android.content.Context
-import android.graphics.Color
+import android.graphics.*
 import android.location.Location
-import android.util.AttributeSet
+import android.util.*
 import android.view.Gravity
 import android.widget.FrameLayout
 import com.alibaba.android.arouter.launcher.ARouter
 import com.mogo.eagle.core.data.constants.MogoServicePaths
 import com.mogo.eagle.core.function.call.hmi.CallerHmiManager
 import com.mogo.eagle.core.function.hmi.R
-import com.mogo.eagle.core.utilcode.util.UiThreadHandler
-import com.mogo.map.MogoMapUIController
+import com.mogo.eagle.core.utilcode.util.*
+import com.mogo.map.*
 import com.mogo.map.navi.IMogoCarLocationChangedListener2
 import com.mogo.service.IMogoServiceApis
 import java.util.*
@@ -38,6 +38,11 @@ class SpeedPanelView @JvmOverloads constructor(

    var mSpeedLimmit = 60;

+
+    private val timer by lazy {
+        Timer()
+    }
+
    init {
        initEvent(context)

@@ -61,29 +66,30 @@ class SpeedPanelView @JvmOverloads constructor(
        }
    }

-    private val timerTask = object : TimerTask() {
-        override fun run() {
-            if (mLatLng != null) {
-                mSpeedLimmit = MogoMapUIController.getInstance()
-                    .getLimitSpeed(mLatLng!!.longitude, mLatLng!!.latitude, mLatLng!!.bearing)
-                UiThreadHandler.post {
-                    val speed = (mLatLng!!.speed * 3.6f).toInt()
-                    mSpeedChartView.setArcColor(Color.parseColor(if (speed > mSpeedLimmit) "#DB3137" else "#3E77F6"))
-                    mSpeedChartView.setValues(speed)
-                    setBackgroundResource(if (speed > mSpeedLimmit) R.drawable.yi_biao_pan_bg_speeding else R.drawable.yi_biao_pan_bg_nor)
+    private var timerTask : TimerTask? = null
+
+    override fun onAttachedToWindow() {
+        super.onAttachedToWindow() // 注册位置回调
+        mMogoServiceApis.registerCenterApi.registerCarLocationChangedListener(TAG, this)
+        // 开启定时查询速度
+        timerTask?.cancel()
+        val task = object : TimerTask() {
+            override fun run() {
+                if (mLatLng != null) {
+
+                    mSpeedLimmit = MogoMapUIController.getInstance()
+                        .getLimitSpeed(mLatLng!!.longitude, mLatLng!!.latitude, mLatLng!!.bearing)
+                    UiThreadHandler.post {
+                        val speed = (mLatLng!!.speed * 3.6f).toInt()
+                        mSpeedChartView.setArcColor(Color.parseColor(if (speed > mSpeedLimmit) "#DB3137" else "#3E77F6"))
+                        mSpeedChartView.setValues(speed)
+                        setBackgroundResource(if (speed > mSpeedLimmit) R.drawable.yi_biao_pan_bg_speeding else R.drawable.yi_biao_pan_bg_nor)
+                    }
                }
            }
        }
-    }
-
-    override fun onAttachedToWindow() {
-        super.onAttachedToWindow()
-        // 注册位置回调
-        mMogoServiceApis.registerCenterApi
-            .registerCarLocationChangedListener(TAG, this)
-
-        // 开启定时查询速度
-        Timer().schedule(timerTask, Date(), 100)
+        this.timerTask = task
+        timer.schedule(task, Date(), 100)
    }

    override fun onDetachedFromWindow() {
@@ -92,7 +98,7 @@ class SpeedPanelView @JvmOverloads constructor(
        mMogoServiceApis.registerCenterApi
            .unregisterMogoLocationListener(TAG)
        try {
-            timerTask.cancel()
+            timerTask?.cancel()
        } catch (e: Exception) {
            e.printStackTrace()
        }
--- a/core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/hmi/ui/widget/SystemVersionView.kt
+++ b/core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/hmi/ui/widget/SystemVersionView.kt
@@ -16,7 +16,6 @@ import com.mogo.eagle.core.function.call.bindingcar.CallerBindingCarListenerMana
 import com.mogo.eagle.core.function.call.bindingcar.CallerBindingcarManager
 import com.mogo.eagle.core.function.hmi.R
 import com.mogo.eagle.core.utilcode.mogo.logger.CallerLogger
-import com.mogo.eagle.core.utilcode.mogo.logger.Logger
 import com.mogo.eagle.core.utilcode.mogo.logger.scene.SceneConstant.Companion.M_HMI
 import com.mogo.eagle.core.utilcode.util.AppUtils
 import com.mogo.eagle.core.utilcode.util.ThreadUtils
--- a/core/function-impl/mogo-core-function-v2x/src/main/java/com/mogo/eagle/core/function/v2x/events/scenario/impl/V2XScenarioManager.java
+++ b/core/function-impl/mogo-core-function-v2x/src/main/java/com/mogo/eagle/core/function/v2x/events/scenario/impl/V2XScenarioManager.java
@@ -63,7 +63,6 @@ public class V2XScenarioManager implements IV2XScenarioManager {
                        Intent intent = new Intent(V2XConst.BROADCAST_SCENE_ACTION);
                        intent.putExtra(V2XConst.BROADCAST_SCENE_EXTRA_KEY, v2XMessageEntity);
                        LocalBroadcastManager.getInstance(Utils.getApp()).sendBroadcast(intent);
-                        AiRoadMarker.INSTANCE.clear();
                        // 如果没有拿到之前的，根据类型分发
                        switch (v2XMessageEntity.getType()) {
                            case V2XMessageEntity.V2XTypeEnum.ALERT_ROAD_WARNING:
--- a/core/function-impl/mogo-core-function-v2x/src/main/java/com/mogo/eagle/core/function/v2x/events/scenario/scene/airoad/AiRoadMarker.kt
+++ b/core/function-impl/mogo-core-function-v2x/src/main/java/com/mogo/eagle/core/function/v2x/events/scenario/scene/airoad/AiRoadMarker.kt
@@ -13,8 +13,10 @@ import androidx.lifecycle.Lifecycle.Event.ON_DESTROY
 import com.mogo.eagle.core.data.map.*
 import com.mogo.eagle.core.data.map.MapRoadInfo.StopLine
 import com.mogo.eagle.core.function.api.map.listener.*
+import com.mogo.eagle.core.function.api.v2x.*
 import com.mogo.eagle.core.function.call.map.*
 import com.mogo.eagle.core.function.call.map.CallerMapRoadListenerManager.OnRoadListener
+import com.mogo.eagle.core.function.call.v2x.*
 import com.mogo.eagle.core.function.v2x.events.scenario.scene.road.*
 import com.mogo.eagle.core.utilcode.kotlin.*
 import com.mogo.eagle.core.utilcode.mogo.logger.*
@@ -62,6 +64,27 @@ object AiRoadMarker {
        }
    }

+    private val onClearAllMarker = object : OnClearAllMarker  {
+
+        override fun onClearAllMarkers() {
+            Logger.d(TAG, "--- onClearAllMarkers ----")
+            val marker = this@AiRoadMarker.marker.get()
+            if (marker != null) {
+                Logger.d(TAG, "--- onClearAllMarkers ----2")
+                unMarker(marker)
+            }
+        }
+
+        override fun onClearAllMarkers(tag: String) {
+            Logger.d(TAG, "--- onClearAllMarkers ----: tag: $tag")
+            val marker = this@AiRoadMarker.marker.get()
+            if (marker != null) {
+                Logger.d(TAG, "--- onClearAllMarkers ----: tag: -- 1: $tag")
+                unMarker(marker)
+            }
+        }
+    }
+
    private val markers = ConcurrentSet<Marker>()

    private val options by lazy {
@@ -160,12 +183,12 @@ object AiRoadMarker {
            try {
                val loc = arrayOf(location.longitude, location.latitude)
                carLocation.set(Triple(loc[0], loc[1], location.bearing.toDouble()))
-                val marker = marker.get() ?: return
-                val isOutOfRange = isOutOfRange(marker.poi_lon, marker.poi_lat, carLocation.get().first, carLocation.get().second, carLocation.get().third)
-                if (isOutOfRange) {
-                    Logger.d(TAG, "--- onLocationChanged: isOutOfRange --- ")
-                    unMarker(marker)
-                }
+//                val marker = marker.get() ?: return
+//                val isOutOfRange = isOutOfRange(marker.poi_lon, marker.poi_lat, carLocation.get().first, carLocation.get().second, carLocation.get().third)
+//                if (isOutOfRange) {
+//                    Logger.d(TAG, "--- onLocationChanged: isOutOfRange --- ")
+//                    unMarker(marker)
+//                }
            } catch (t: Throwable) {
               Logger.e(TAG, "error: ${t.message}")
            }
@@ -174,11 +197,13 @@ object AiRoadMarker {

    private fun onCreate() {
        CallerMapRoadListenerManager.registerRoadListener(TAG, onRoadListener)
+        CallMarkersClearManager.addAllMarkersClearListener(TAG, onClearAllMarker)
        CallerMapLocationListenerManager.addListener(TAG, onLocationListener, true)
    }

    private fun onDestroy() {
        CallerMapRoadListenerManager.unRegisterRoadListener(TAG)
+        CallMarkersClearManager.removeAllMarkersClearListener(TAG)
        CallerMapLocationListenerManager.removeListener(TAG, true)
        pool.shutdownNow()
        removeLine()
@@ -201,7 +226,15 @@ object AiRoadMarker {
    }

    fun marker(marker: Marker, drawMarker: Boolean) {
+        handler.removeCallbacks(checkExpiredTask)
        val location = carLocation.get() ?: return
+        if (markers.contains(marker)) {
+            Logger.d(TAG, "--- enqueue --- cache hit ---")
+            return
+        }
+        synchronized(markers) {
+            markers += marker
+        }
        this.marker.set(marker)
        //施工中心点前方的自车行驶方向上300米距离
        val l1 = MogoMap.getInstance().mogoMap.getCenterLineRangeInfo(marker.poi_lon, marker.poi_lat, location.third.toFloat(), 300f)
@@ -295,33 +328,7 @@ object AiRoadMarker {
        markers -= marker
        removeLine()
        V2XAiRoadEventMarker.removeMarkers(null)
-    }
-
-    fun clear() {
-        hideLine()
-        V2XAiRoadEventMarker.removeMarkers(null)
-    }
-
-    fun restore() {
-        showLine()
-        val marker = marker.get()
-        if (marker != null) {
-            marker(marker, false)
-        }
-    }
-
-    private fun hideLine() {
-        val old = line.get()
-        if (old != null && !old.isDestroyed) {
-            old.isVisible = false
-        }
-    }
-
-    private fun showLine() {
-        val old = line.get()
-        if (old != null && !old.isDestroyed) {
-            old.isVisible = true
-        }
+        handler.removeCallbacks(checkExpiredTask)
    }

    private fun isOutOfRange(markerLon: Double, markerLat: Double, carLon: Double, carLat: Double, carAngle: Double): Boolean {
@@ -335,13 +342,18 @@ object AiRoadMarker {

    fun receive(marker: Marker) {
        val cur = this.marker.get()
+        Logger.d(TAG, "receive --- 1 ---")
        if (cur == marker) {
+            Logger.d(TAG, "receive --- 2 ---")
            val poi = this.marker.get()
            val car = this.carLocation.get()
            if (poi != null && car != null) {
-                val distance = DrivingDirectionUtils.distance(car.first, car.second, marker.poi_lon, marker.poi_lat)
-                if (distance < 300) {
+                val distance = DrivingDirectionUtils.distance(car.first, car.second, marker.poi_lon, marker.poi_lat) * 10000
+                Logger.d(TAG, "receive --- 3 ---:car:[${car.first}, ${car.second}] -> poi:[${marker.poi_lon}, ${marker.poi_lat}] --> distance:$distance")
+                if (distance < 200) {
                    checkExpired()
+                } else {
+                    handler.removeCallbacks(checkExpiredTask)
                }
            }
        }
@@ -349,7 +361,7 @@ object AiRoadMarker {

    private fun checkExpired() {
        handler.removeCallbacks(checkExpiredTask)
-        handler.postDelayed(checkExpiredTask, 5000)
+        handler.postDelayed(checkExpiredTask, 60_000)
    }

    data class Marker(