add pnc actions func

2022-08-16 11:06:36 +08:00
parent e70223dcdc
commit a97f7f870a
18 changed files with 335 additions and 39 deletions
--- a/core/function-impl/mogo-core-function-autopilot/src/main/java/com/mogo/eagle/core/function/autopilot/adapter/MoGoAdasListenerImpl.kt
+++ b/core/function-impl/mogo-core-function-autopilot/src/main/java/com/mogo/eagle/core/function/autopilot/adapter/MoGoAdasListenerImpl.kt
@@ -13,6 +13,7 @@ import com.mogo.eagle.core.data.deva.chain.ChainConstant.Companion.CHAIN_ALIAS_C
 import com.mogo.eagle.core.data.deva.chain.ChainConstant.Companion.CHAIN_ALIAS_CODE_ADAS_MESSAGE_AUTOPILOT_VEHICLE
 import com.mogo.eagle.core.data.deva.chain.ChainConstant.Companion.CHAIN_ALIAS_CODE_ADAS_MESSAGE_CAR_CONFIG
 import com.mogo.eagle.core.data.deva.chain.ChainConstant.Companion.CHAIN_ALIAS_CODE_ADAS_MESSAGE_CAR_STATE
+import com.mogo.eagle.core.data.deva.chain.ChainConstant.Companion.CHAIN_ALIAS_CODE_ADAS_MESSAGE_PLANNING_ACTIONS
 import com.mogo.eagle.core.data.deva.chain.ChainConstant.Companion.CHAIN_ALIAS_CODE_ADAS_MESSAGE_PLANNING_OBJECTS
 import com.mogo.eagle.core.data.deva.chain.ChainConstant.Companion.CHAIN_ALIAS_CODE_ADAS_MESSAGE_RECT_DATA
 import com.mogo.eagle.core.data.deva.chain.ChainConstant.Companion.CHAIN_ALIAS_CODE_ADAS_STATUS_QUERY_RESP
@@ -21,6 +22,7 @@ import com.mogo.eagle.core.data.deva.chain.ChainConstant.Companion.CHAIN_LINK_LO
 import com.mogo.eagle.core.data.deva.chain.ChainConstant.Companion.CHAIN_LINK_LOG_WEB_SOCKET_AUTOPILOT
 import com.mogo.eagle.core.data.deva.chain.ChainConstant.Companion.CHAIN_LINK_LOG_WEB_SOCKET_DATA_TRACKED
 import com.mogo.eagle.core.data.deva.chain.ChainConstant.Companion.CHAIN_LINK_LOG_WEB_SOCKET_GNSSINFO
+import com.mogo.eagle.core.data.deva.chain.ChainConstant.Companion.CHAIN_LINK_LOG_WEB_SOCKET_PLANNING_ACTIONS
 import com.mogo.eagle.core.data.deva.chain.ChainConstant.Companion.CHAIN_LINK_LOG_WEB_SOCKET_PLANNING_OBJECTS
 import com.mogo.eagle.core.data.deva.chain.ChainConstant.Companion.CHAIN_LINK_LOG_WEB_SOCKET_TRAFFIC_LIGHT
 import com.mogo.eagle.core.data.deva.chain.ChainConstant.Companion.CHAIN_LINK_LOG_WEB_SOCKET_TRAJECTORY
@@ -38,6 +40,7 @@ import com.mogo.eagle.core.function.call.autopilot.CallerAutopilotIdentifyListen
 import com.mogo.eagle.core.function.call.autopilot.CallerAutopilotIdentifyListenerManager.invokeAutopilotIdentifyDataUpdate
 import com.mogo.eagle.core.function.call.autopilot.CallerAutopilotIdentifyListenerManager.invokeAutopilotIdentifyPlanningObj
 import com.mogo.eagle.core.function.call.autopilot.CallerAutopilotIdentifyListenerManager.invokeAutopilotWarnMessage
+import com.mogo.eagle.core.function.call.autopilot.CallerAutopilotPlanningActionsListenerManager.invokePNCActions
 import com.mogo.eagle.core.function.call.autopilot.CallerAutopilotPlanningListenerManager.invokeAutopilotRotting
 import com.mogo.eagle.core.function.call.autopilot.CallerAutopilotPlanningListenerManager.invokeAutopilotTrajectory
 import com.mogo.eagle.core.function.call.autopilot.CallerAutopilotPointCloudListenerManager
@@ -401,10 +404,21 @@ class MoGoAdasListenerImpl : OnAdasListener {
    /**
     * planning决策状态, 透传
     */
+    @ChainLog(
+        linkChainLog = CHAIN_LINK_LOG_WEB_SOCKET_PLANNING_ACTIONS,
+        linkCode = CHAIN_LINK_ADAS,
+        endpoint = PAD,
+        nodeAliasCode = CHAIN_ALIAS_CODE_ADAS_MESSAGE_PLANNING_ACTIONS,
+        paramIndexes = [0, 1],
+        clientPkFileName = "sn"
+    )
    override fun onPlanningActionMsg(
        header: MessagePad.Header?,
        planningActionMsg: MessagePad.PlanningActionMsg?
    ) {
+        planningActionMsg?.let {
+            invokePNCActions(it)
+        }
    }


--- a/core/function-impl/mogo-core-function-autopilot/src/main/java/com/mogo/eagle/core/function/autopilot/adapter/MoGoAdasMsgConnectStatusListenerImpl.kt
+++ b/core/function-impl/mogo-core-function-autopilot/src/main/java/com/mogo/eagle/core/function/autopilot/adapter/MoGoAdasMsgConnectStatusListenerImpl.kt
@@ -2,7 +2,7 @@ package com.mogo.eagle.core.function.autopilot.adapter

 import android.annotation.SuppressLint
 import com.mogo.cloud.passport.MoGoAiCloudClientConfig
-import com.mogo.commons.debug.DebugConfig
+import com.mogo.commons.debug.DebugConfig.*
 import com.mogo.eagle.core.data.autopilot.AutopilotStatusInfo
 import com.mogo.eagle.core.data.config.FunctionBuildConfig
 import com.mogo.eagle.core.function.api.autopilot.IMoGoAutopilotStatusListener
@@ -11,6 +11,7 @@ import com.mogo.eagle.core.function.autopilot.network.AdasServiceModel
 import com.mogo.eagle.core.function.call.autopilot.CallerAutoPilotManager
 import com.mogo.eagle.core.function.call.autopilot.CallerAutoPilotStatusListenerManager
 import com.mogo.eagle.core.function.call.cloud.CallerCloudListenerManager
+import com.mogo.eagle.core.utilcode.mogo.AppIdentityModeUtils
 import com.mogo.eagle.core.utilcode.mogo.logger.CallerLogger
 import com.mogo.eagle.core.utilcode.mogo.logger.scene.SceneConstant.Companion.M_ADAS_IMPL
 import com.mogo.eagle.core.utilcode.util.ToastUtils
@@ -18,6 +19,9 @@ import com.zhidao.support.adas.high.AdasManager
 import com.zhidao.support.adas.high.OnAdasConnectStatusListener
 import com.zhidao.support.adas.high.bean.VersionCompatibility
 import com.zhidao.support.adas.high.common.Constants
+import com.zhidao.support.adas.high.common.Constants.ENVIRONMENT.*
+import com.zhidao.support.adas.high.common.Constants.TERMINAL_ROLE.DRIVER
+import com.zhidao.support.adas.high.common.Constants.TERMINAL_ROLE.PASSENGER
 import io.reactivex.Flowable
 import io.reactivex.android.schedulers.AndroidSchedulers
 import io.reactivex.schedulers.Schedulers
@@ -133,7 +137,29 @@ class MoGoAdasMsgConnectStatusListenerImpl : OnAdasConnectStatusListener,
        CallerLogger.d("$M_ADAS_IMPL$TAG", "同步PAD的SN给工控机……")
        // 设置PAD-SN给工控,网络环境
        AdasManager.getInstance()
-            .sendBasicInfoResp(MoGoAiCloudClientConfig.getInstance().sn, DebugConfig.getNetMode())
+            .sendBasicInfoResp(
+                MoGoAiCloudClientConfig.getInstance().sn,
+                getEnvironment(),
+                getTerminalRole()
+            )
+    }
+
+    private fun getEnvironment(): Int {
+        return when (getNetMode()) {
+            NET_MODE_DEV -> DEVELOP
+            NET_MODE_QA -> TEST
+            NET_MODE_RELEASE -> PRODUCTION
+            NET_MODE_DEMO -> DEMO
+            else -> PRODUCTION
+        }
+    }
+
+    private fun getTerminalRole(): Int {
+        return when {
+            AppIdentityModeUtils.isDriver(FunctionBuildConfig.appIdentityMode) -> DRIVER
+            AppIdentityModeUtils.isPassenger(FunctionBuildConfig.appIdentityMode) -> PASSENGER
+            else -> DRIVER
+        }
    }

    /**
--- a/core/function-impl/mogo-core-function-autopilot/src/main/java/com/mogo/eagle/core/function/autopilot/server/AsyncDataToAutopilotServer.kt
+++ b/core/function-impl/mogo-core-function-autopilot/src/main/java/com/mogo/eagle/core/function/autopilot/server/AsyncDataToAutopilotServer.kt
@@ -3,7 +3,7 @@ package com.mogo.eagle.core.function.autopilot.server
 import com.mogo.eagle.core.data.trafficlight.TrafficLightResult
 import com.mogo.eagle.core.function.api.trafficlight.IMoGoTrafficLightListener
 import com.mogo.eagle.core.function.call.autopilot.CallerAutoPilotManager
-import com.mogo.eagle.core.function.call.trafficlight.CallTrafficLightListenerManager
+import com.mogo.eagle.core.function.call.trafficlight.CallerTrafficLightListenerManager

 /**
 * @author xiaoyuzhou
@@ -22,7 +22,7 @@ class AsyncDataToAutopilotServer private constructor() : IMoGoTrafficLightListen
    }

    fun initServer() {
-        CallTrafficLightListenerManager.registerTrafficLightListener(TAG, this)
+        CallerTrafficLightListenerManager.registerTrafficLightListener(TAG, this)
    }

    override fun onTrafficLightStatus(trafficLightResult: TrafficLightResult) {