From ad73ccf81914d59c014a384304de0069654581a2 Mon Sep 17 00:00:00 2001 From: zhongchao Date: Fri, 9 Jun 2023 11:05:53 +0800 Subject: [PATCH] [code_opt_3.3.0] code opt --- .../com/mogo/och/bus/model/OrderModel.java | 2 +- .../och/bus/fragment/BaseBusTabFragment.java | 9 +- .../mogo/och/bus/fragment/BusFragment.java | 5 +- .../och/bus/util/BusAnalyticsManager.java | 4 +- .../com/mogo/och/bus/view/SlidePanelView.java | 3 +- .../BusPassengerFunctionOrderPresenter.kt | 15 +- .../presenter/BusPassengerPresenter.kt | 2 +- .../ui/dialogfragment/M1ContainFragment.kt | 2 +- .../ui/view/bottom/impl/GoViewWithArrive.kt | 4 +- .../ui/view/bottom/impl/StopSiteView.kt | 2 +- .../passenger/view/statusbar/StatusBarView.kt | 2 +- .../manager/CharterAnalyticsManager.java | 4 +- .../och/charter/base/CharterBaseFragment.kt | 8 +- .../bus/passenger/model/PM2DrivingModel.kt | 4 - .../och/bus/fragment/BaseBusTabFragment.java | 9 +- .../mogo/och/bus/fragment/BusFragment.java | 4 +- .../com/mogo/och/bus/model/OrderModel.java | 2 +- .../och/bus/util/BusAnalyticsManager.java | 4 +- .../ui/TaxiPassengerBaseFragment.java | 9 +- .../utils/TaxiPassengerAnalyticsManager.java | 4 +- .../com/mogo/och/taxi/model/TaxiModel.java | 2 +- .../mogo/och/taxi/ui/BaseTaxiTabFragment.java | 11 +- .../ui/TaxiBeingServerdOrdersFragment.java | 2 +- .../och/taxi/utils/TaxiAnalyticsManager.java | 4 +- .../sweeper/util/SweeperAnalyticsManager.java | 4 +- app/1 | 12 -- .../biz/dispatch/DispatchAutoPilotManager.kt | 7 +- .../biz/monitoring/CronTaskManager.kt | 64 +----- .../biz/v2x/overview/OverViewDataManager.kt | 18 +- .../function/biz/v2x/v2n/V2XPoiLoader.kt | 23 +-- .../autopilot/adapter/MoGoAdasListenerImpl.kt | 71 +++---- .../MoGoAdasMsgConnectStatusListenerImpl.kt | 41 ++-- .../location/MoGoLocationDispatcher.kt | 4 - .../obu/MogoPrivateObuNewManager.kt | 3 +- .../datacenter/v2x/TrafficLightDispatcher.kt | 91 ++++++--- .../badcase/BadCaseManager.kt | 62 +++--- .../badcase/biz/AIDataCollectWindow.kt | 17 +- .../binding/BindingCarManager.kt | 8 +- .../mofang/MoFangManager.kt | 6 +- .../trace/TraceManager.kt | 4 +- .../hmi/ui/tools/AutoPilotAndCheckView.kt | 2 +- .../function/hmi/ui/widget/CheckSystemView.kt | 2 +- .../function/hmi/ui/widget/SpeedPanelView.kt | 28 +-- .../hmi/ui/widget/SystemVersionView.kt | 11 +- .../hmi/ui/widget/TrafficDataView.java | 2 +- .../main/PassengerLauncherActivity.java | 189 ------------------ .../collect/MoGoMapDataCollectProvider.kt | 16 +- .../routeoverlay/MogoRouteOverlayManager.java | 8 +- .../core/function/smp/view/SmallMapView.kt | 4 +- .../data/autopilot/AutopilotStatusInfo.kt | 12 +- .../core/data/deva/chain/ChainConstant.kt | 1 + .../autopilot/IMoGoAutopilotStatusListener.kt | 7 + .../CallerAutoPilotStatusListenerManager.kt | 47 +++-- ...llerChassisSteeringStateListenerManager.kt | 1 - .../CallerPlanningRottingListenerManager.kt | 8 + .../com/mogo/commons/constants/HostConst.java | 18 -- .../com/mogo/commons/utils/LocationUtils.java | 44 ---- .../com/mogo/commons/utils/Trigonometric.java | 53 ----- 58 files changed, 293 insertions(+), 712 deletions(-) delete mode 100644 foudations/mogo-commons/src/main/java/com/mogo/commons/utils/LocationUtils.java delete mode 100644 foudations/mogo-commons/src/main/java/com/mogo/commons/utils/Trigonometric.java diff --git a/OCH/mogo-och-bus/src/jinlvvan/java/com/mogo/och/bus/model/OrderModel.java b/OCH/mogo-och-bus/src/jinlvvan/java/com/mogo/och/bus/model/OrderModel.java index d6f905edbc..d15d629105 100644 --- a/OCH/mogo-och-bus/src/jinlvvan/java/com/mogo/och/bus/model/OrderModel.java +++ b/OCH/mogo-och-bus/src/jinlvvan/java/com/mogo/och/bus/model/OrderModel.java @@ -602,7 +602,7 @@ public class OrderModel { private void onStartAutopilot(int leaveIndex) { //开启自动驾驶 2.10.0: 如果自动驾驶状态下开启， 非自动驾驶状态下不开启，需手动点击自动驾驶按钮开启 isGoingToNextStation = true; - if (CallerAutoPilotStatusListenerManager.INSTANCE.getAutoPilotStatusInfo().getState() + if (CallerAutoPilotStatusListenerManager.INSTANCE.getState() == IMoGoAutopilotStatusListener.STATUS_AUTOPILOT_RUNNING) { startAutopilot(false, leaveIndex); } else { diff --git a/OCH/mogo-och-bus/src/main/java/com/mogo/och/bus/fragment/BaseBusTabFragment.java b/OCH/mogo-och-bus/src/main/java/com/mogo/och/bus/fragment/BaseBusTabFragment.java index 7b70977f1b..7a584acfbb 100644 --- a/OCH/mogo-och-bus/src/main/java/com/mogo/och/bus/fragment/BaseBusTabFragment.java +++ b/OCH/mogo-och-bus/src/main/java/com/mogo/och/bus/fragment/BaseBusTabFragment.java @@ -158,7 +158,7 @@ public abstract class BaseBusTabFragment }); initListener(); - setAutopilotBtnStatus(CallerAutoPilotStatusListenerManager.INSTANCE.getAutoPilotStatusInfo().getState()); + setAutopilotBtnStatus(CallerAutoPilotStatusListenerManager.INSTANCE.getState()); ctvAutopilotStatus.setOnClickListener(new OnPreventFastClickListener() { @Override @@ -301,9 +301,6 @@ public abstract class BaseBusTabFragment @Override public void onAutopilotRecordResult(@Nullable RecordPanelOuterClass.RecordPanel recordPanel) { -// if (!HmiBuildConfig.isShowBadCaseView && recordPanel != null && recordPanel.getType() == 1 && recordPanel.getStat() == 100) { -// CallerDevaToolsManager.INSTANCE.onReceiveBadCaseRecord(recordPanel); -// } } @Override @@ -448,7 +445,7 @@ public abstract class BaseBusTabFragment public void stopAnimAndUpdateBtnStatus() { stopAutopilotAnimation(); - updateAutopilotStatus(CallerAutoPilotStatusListenerManager.INSTANCE.getAutoPilotStatusInfo().getState()); + updateAutopilotStatus(CallerAutoPilotStatusListenerManager.INSTANCE.getState()); } /** @@ -522,7 +519,7 @@ public abstract class BaseBusTabFragment public void run() { //未启动成功做处理 if (isAnimateRunning) {// 只判断动画是否在进行，根据自动驾驶当前状态去设置自动驾驶状态 stopAutopilotAnimation(); - updateAutopilotStatus(CallerAutoPilotStatusListenerManager.INSTANCE.getAutoPilotStatusInfo().getState()); + updateAutopilotStatus(CallerAutoPilotStatusListenerManager.INSTANCE.getState()); } } }, TIMER_START_AUTOPILOT_INTERVAL); diff --git a/OCH/mogo-och-bus/src/main/java/com/mogo/och/bus/fragment/BusFragment.java b/OCH/mogo-och-bus/src/main/java/com/mogo/och/bus/fragment/BusFragment.java index bcb1422d46..422cf97d38 100644 --- a/OCH/mogo-och-bus/src/main/java/com/mogo/och/bus/fragment/BusFragment.java +++ b/OCH/mogo-och-bus/src/main/java/com/mogo/och/bus/fragment/BusFragment.java @@ -13,7 +13,6 @@ import androidx.constraintlayout.widget.Group; import androidx.annotation.Nullable; import com.alibaba.android.arouter.launcher.ARouter; import com.mogo.cloud.passport.MoGoAiCloudClientConfig; -import com.mogo.commons.AbsMogoApplication; import com.mogo.eagle.core.data.config.FunctionBuildConfig; import com.mogo.eagle.core.data.map.CenterLine; import com.mogo.eagle.core.data.temp.EventLogout; @@ -108,7 +107,7 @@ public class BusFragment extends BaseBusTabFragment groupStationsPanel = findViewById(R.id.group_stations_panel); noDataView = findViewById(R.id.no_line_data_view); - CallerLogger.INSTANCE.d(M_BUS + TAG, "initView: " + CallerAutoPilotStatusListenerManager.INSTANCE.getAutoPilotStatusInfo().getState()); + CallerLogger.INSTANCE.d(M_BUS + TAG, "initView: " + CallerAutoPilotStatusListenerManager.INSTANCE.getState()); // 初始化的时候设置 UI 按钮状态 showAutopilotBiz(); @@ -532,7 +531,7 @@ public class BusFragment extends BaseBusTabFragment public void onClick(View v) { if (v.getId() == R.id.switch_line_btn) {//切换路线条件： 自动驾驶过程中，点击则toast提示：自动驾驶中，不可切换路线 //本次行程未结束，不支持切换路线。点击则toast提示：当前行程未完成，不可切换路线 - if (CallerAutoPilotStatusListenerManager.INSTANCE.getAutoPilotStatusInfo().getState() + if (CallerAutoPilotStatusListenerManager.INSTANCE.getState() == IMoGoAutopilotStatusListener.STATUS_AUTOPILOT_RUNNING) { ToastUtils.showLong(getResources().getString(R.string.bus_switch_line_btn_warning1)); return; diff --git a/OCH/mogo-och-bus/src/main/java/com/mogo/och/bus/util/BusAnalyticsManager.java b/OCH/mogo-och-bus/src/main/java/com/mogo/och/bus/util/BusAnalyticsManager.java index b37e399e18..947adbfc0c 100644 --- a/OCH/mogo-och-bus/src/main/java/com/mogo/och/bus/util/BusAnalyticsManager.java +++ b/OCH/mogo-och-bus/src/main/java/com/mogo/och/bus/util/BusAnalyticsManager.java @@ -50,13 +50,13 @@ public class BusAnalyticsManager { CallerLogger.INSTANCE.e( M_BUS + "triggerStartAutopilotFailureEvent", failMsg ); - if (CallerAutoPilotStatusListenerManager.INSTANCE.getAutoPilotStatusInfo().getState() != + if (CallerAutoPilotStatusListenerManager.INSTANCE.getState() != IMoGoAutopilotStatusListener.STATUS_AUTOPILOT_RUNNING){ mStartAutopilotParams.put(BusConst.EVENT_PARAM_START_FAILURE_CODE, failCode); mStartAutopilotParams.put(BusConst.EVENT_PARAM_START_FAILURE_MSG, failMsg); } mStartAutopilotParams.put(BusConst.EVENT_PARAM_START_RESULT - , CallerAutoPilotStatusListenerManager.INSTANCE.getAutoPilotStatusInfo().getState() == + , CallerAutoPilotStatusListenerManager.INSTANCE.getState() == IMoGoAutopilotStatusListener.STATUS_AUTOPILOT_RUNNING); MogoAnalyticUtils.INSTANCE.track(mStartAutopilotKey, mStartAutopilotParams); diff --git a/OCH/mogo-och-bus/src/main/java/com/mogo/och/bus/view/SlidePanelView.java b/OCH/mogo-och-bus/src/main/java/com/mogo/och/bus/view/SlidePanelView.java index f04edddbdb..e010f37a76 100644 --- a/OCH/mogo-och-bus/src/main/java/com/mogo/och/bus/view/SlidePanelView.java +++ b/OCH/mogo-och-bus/src/main/java/com/mogo/och/bus/view/SlidePanelView.java @@ -54,6 +54,7 @@ public class SlidePanelView extends View { NORMAL_TEXT_MARGIN_RIGHT = (int) mTypedArray.getDimension(R.styleable.SlidePanelView_NORMAL_TEXT_MARGIN_RIGHT, NORMAL_TEXT_MARGIN_RIGHT); SHORT_TEXT_MARGIN_LEFT = (int) mTypedArray.getDimension(R.styleable.SlidePanelView_SHORT_TEXT_MARGIN_LEFT, SHORT_TEXT_MARGIN_LEFT); SHORT_TEXT_MARGIN_RIGHT = (int) mTypedArray.getDimension(R.styleable.SlidePanelView_SHORT_TEXT_MARGIN_RIGHT, SHORT_TEXT_MARGIN_RIGHT); + mTypedArray.recycle(); init(); } @@ -129,7 +130,7 @@ public class SlidePanelView extends View { textPaint.setShader(textGradient); textPaint.getFontMetrics(blockTextMetrics); int size = AutoSizeUtils.dp2px(getContext(), 120); - BitmapFactory.Options opts = new BitmapFactory.Options(); + BitmapFactory.Options opts = new BitmapFactory.Options(); //todo yakun 优化 opts.inDensity = (int) AutoSizeConfig.getInstance().getInitDensity(); bmBlock = BitmapFactory.decodeResource(getResources(), R.drawable.bus_base_slide_block,opts); bmBlock = Bitmap.createScaledBitmap(bmBlock, size, size, true); diff --git a/OCH/mogo-och-charter-passenger/src/main/java/com/mogo/och/bus/passenger/presenter/BusPassengerFunctionOrderPresenter.kt b/OCH/mogo-och-charter-passenger/src/main/java/com/mogo/och/bus/passenger/presenter/BusPassengerFunctionOrderPresenter.kt index 1e2a850544..d7bd2cb1ac 100644 --- a/OCH/mogo-och-charter-passenger/src/main/java/com/mogo/och/bus/passenger/presenter/BusPassengerFunctionOrderPresenter.kt +++ b/OCH/mogo-och-charter-passenger/src/main/java/com/mogo/och/bus/passenger/presenter/BusPassengerFunctionOrderPresenter.kt @@ -9,7 +9,6 @@ import com.mogo.eagle.core.function.call.autopilot.CallerChassisLocationGCJ02Lis import com.mogo.eagle.core.function.call.telematic.CallerTelematicListenerManager import com.mogo.eagle.core.function.call.telematic.CallerTelematicManager import com.mogo.eagle.core.utilcode.mogo.logger.CallerLogger -import com.mogo.eagle.core.utilcode.mogo.logger.scene.SceneConstant import com.mogo.eagle.core.utilcode.mogo.logger.scene.SceneConstant.Companion.M_BUS_P import com.mogo.eagle.core.utilcode.util.GsonUtils import com.mogo.och.bus.passenger.utils.ToastCharterUtils @@ -185,7 +184,7 @@ class BusPassengerFunctionOrderPresenter(view: M1OrderLineFragment?) : override fun onDestroy(owner: LifecycleOwner) { super.onDestroy(owner) - CallerLogger.d(SceneConstant.M_BUS_P + TAG, "onDestroy") + CallerLogger.d(M_BUS_P + TAG, "onDestroy") RxUtils.disposeSubscribe(subscribeSelectLine) RxUtils.disposeSubscribe(subscribeSelectSite) BusPassengerModelLoopManager.removeLoopFunction(TAGLINELOOP) @@ -196,7 +195,7 @@ class BusPassengerFunctionOrderPresenter(view: M1OrderLineFragment?) : /** * 接收司机屏反馈信息 */ - val msgReceived = object : IReceivedMsgListener { + private val msgReceived = object : IReceivedMsgListener { override fun onReceivedMsg(type: Int, byteArray: ByteArray) { UiThreadHandler.post { if (type == OchCommonConst.BUSINESS_STRING) { @@ -287,7 +286,7 @@ class BusPassengerFunctionOrderPresenter(view: M1OrderLineFragment?) : ToastCharterUtils.showShort("断开和司机端连接、请联系安全员") BusPassengerModelLoopManager.removeLoopFunction(TAGLINELOOP) mView?.hideDataDriverRefuse() - CallerLogger.d(SceneConstant.M_BUS_P + TAG, "endAni666") + CallerLogger.d(M_BUS_P + TAG, "endAni666") } } @@ -316,7 +315,7 @@ class BusPassengerFunctionOrderPresenter(view: M1OrderLineFragment?) : val gnssSpeed = CallerChassisLocationGCJ02ListenerManager.getChassisLocationGCJ02().gnssSpeed if (gnssSpeed < 0.5) { - when (CallerAutoPilotStatusListenerManager.getAutoPilotStatusInfo().state) { + when (CallerAutoPilotStatusListenerManager.getState()) { IMoGoAutopilotStatusListener.STATUS_AUTOPILOT_DISABLE -> {// 不可自动驾驶 return true } @@ -325,13 +324,13 @@ class BusPassengerFunctionOrderPresenter(view: M1OrderLineFragment?) : } IMoGoAutopilotStatusListener.STATUS_AUTOPILOT_RUNNING -> { // 自动驾驶中 - when (StopSideStatusManager.stopSiteStatus) { + return when (StopSideStatusManager.stopSiteStatus) { StopSideStatusManager.Status.EndingSuccess -> { - return true + true } else ->{ ToastCharterUtils.showShort("自动驾驶中无法切换线路") - return false + false } } } diff --git a/OCH/mogo-och-charter-passenger/src/main/java/com/mogo/och/bus/passenger/presenter/BusPassengerPresenter.kt b/OCH/mogo-och-charter-passenger/src/main/java/com/mogo/och/bus/passenger/presenter/BusPassengerPresenter.kt index be25f6b913..a06052e277 100644 --- a/OCH/mogo-och-charter-passenger/src/main/java/com/mogo/och/bus/passenger/presenter/BusPassengerPresenter.kt +++ b/OCH/mogo-och-charter-passenger/src/main/java/com/mogo/och/bus/passenger/presenter/BusPassengerPresenter.kt @@ -163,7 +163,7 @@ class BusPassengerPresenter(view: MainFragment?) : } OrderStatusEnum.OrdersWithLine -> {} OrderStatusEnum.NoOrderUse -> { - when (CallerAutoPilotStatusListenerManager.getAutoPilotStatusInfo().state) { + when (CallerAutoPilotStatusListenerManager.getState()) { IMoGoAutopilotStatusListener.STATUS_AUTOPILOT_DISABLE -> {// 不可自动驾驶 ToastCharterUtils.showShort("设备未就绪请稍等，请安全员主动停止车辆") } diff --git a/OCH/mogo-och-charter-passenger/src/main/java/com/mogo/och/bus/passenger/ui/dialogfragment/M1ContainFragment.kt b/OCH/mogo-och-charter-passenger/src/main/java/com/mogo/och/bus/passenger/ui/dialogfragment/M1ContainFragment.kt index 1409785af6..a3d1cde613 100644 --- a/OCH/mogo-och-charter-passenger/src/main/java/com/mogo/och/bus/passenger/ui/dialogfragment/M1ContainFragment.kt +++ b/OCH/mogo-och-charter-passenger/src/main/java/com/mogo/och/bus/passenger/ui/dialogfragment/M1ContainFragment.kt @@ -57,7 +57,7 @@ class M1ContainFragment : setStyle(STYLE_NO_TITLE, R.style.DialogFullScreen) //dialog全屏 } - private fun setCheckView() { + private fun setCheckView() { //todo yakun 优化 CallerLogger.d(M_BUS_P+ TAG, "setCheckView") when (tab) { VIDEOTAB -> { diff --git a/OCH/mogo-och-charter-passenger/src/main/java/com/mogo/och/bus/passenger/ui/view/bottom/impl/GoViewWithArrive.kt b/OCH/mogo-och-charter-passenger/src/main/java/com/mogo/och/bus/passenger/ui/view/bottom/impl/GoViewWithArrive.kt index a7ad0f56cd..bd02492dd7 100644 --- a/OCH/mogo-och-charter-passenger/src/main/java/com/mogo/och/bus/passenger/ui/view/bottom/impl/GoViewWithArrive.kt +++ b/OCH/mogo-och-charter-passenger/src/main/java/com/mogo/och/bus/passenger/ui/view/bottom/impl/GoViewWithArrive.kt @@ -82,7 +82,7 @@ class GoViewWithArrive @JvmOverloads constructor( ToastCharterUtils.showShort(string) return } - when (CallerAutoPilotStatusListenerManager.getAutoPilotStatusInfo().state) { + when (CallerAutoPilotStatusListenerManager.getState()) { IMoGoAutopilotStatusListener.STATUS_AUTOPILOT_DISABLE -> {// 不可自动驾驶 ToastCharterUtils.showShort("设备未就绪请稍等") } @@ -122,7 +122,7 @@ class GoViewWithArrive @JvmOverloads constructor( }) RxUtils.disposeSubscribe(startAutoTimeOut) startAutoTimeOut = RxUtils.createSubscribe(20_000) { - if (CallerAutoPilotStatusListenerManager.getAutoPilotStatusInfo().state != IMoGoAutopilotStatusListener.STATUS_AUTOPILOT_RUNNING) { + if (CallerAutoPilotStatusListenerManager.getState() != IMoGoAutopilotStatusListener.STATUS_AUTOPILOT_RUNNING) { val string = AbsMogoApplication.getApp().getString(R.string.m1_start_auto_fail) ToastCharterUtils.showLong(string) } diff --git a/OCH/mogo-och-charter-passenger/src/main/java/com/mogo/och/bus/passenger/ui/view/bottom/impl/StopSiteView.kt b/OCH/mogo-och-charter-passenger/src/main/java/com/mogo/och/bus/passenger/ui/view/bottom/impl/StopSiteView.kt index 444c35b3da..8266b48292 100644 --- a/OCH/mogo-och-charter-passenger/src/main/java/com/mogo/och/bus/passenger/ui/view/bottom/impl/StopSiteView.kt +++ b/OCH/mogo-och-charter-passenger/src/main/java/com/mogo/och/bus/passenger/ui/view/bottom/impl/StopSiteView.kt @@ -29,7 +29,7 @@ class StopSiteView @JvmOverloads constructor( } private fun stopSite(){ - when (CallerAutoPilotStatusListenerManager.getAutoPilotStatusInfo().state) { + when (CallerAutoPilotStatusListenerManager.getState()) { IMoGoAutopilotStatusListener.STATUS_AUTOPILOT_DISABLE -> {// 不可自动驾驶 ToastCharterUtils.showShort("设备未就绪请稍等，请稍后再试") } diff --git a/OCH/mogo-och-charter-passenger/src/main/java/com/mogo/och/bus/passenger/view/statusbar/StatusBarView.kt b/OCH/mogo-och-charter-passenger/src/main/java/com/mogo/och/bus/passenger/view/statusbar/StatusBarView.kt index df793fbdf9..65ba8385e8 100644 --- a/OCH/mogo-och-charter-passenger/src/main/java/com/mogo/och/bus/passenger/view/statusbar/StatusBarView.kt +++ b/OCH/mogo-och-charter-passenger/src/main/java/com/mogo/och/bus/passenger/view/statusbar/StatusBarView.kt @@ -93,7 +93,7 @@ class StatusBarView @JvmOverloads constructor( progress.progress = 50 tv_power_cos.text = "50%" - val state = CallerAutoPilotStatusListenerManager.getAutoPilotStatusInfo().state + val state = CallerAutoPilotStatusListenerManager.getState() setAutoPilotSatusInfo(state) } diff --git a/OCH/mogo-och-charter/src/driverm1/java/com/magic/mogo/och/charter/manager/CharterAnalyticsManager.java b/OCH/mogo-och-charter/src/driverm1/java/com/magic/mogo/och/charter/manager/CharterAnalyticsManager.java index 7418517a4d..0338c6f393 100644 --- a/OCH/mogo-och-charter/src/driverm1/java/com/magic/mogo/och/charter/manager/CharterAnalyticsManager.java +++ b/OCH/mogo-och-charter/src/driverm1/java/com/magic/mogo/och/charter/manager/CharterAnalyticsManager.java @@ -49,13 +49,13 @@ public class CharterAnalyticsManager { CallerLogger.INSTANCE.e( M_BUS + "triggerStartAutopilotFailureEvent", failMsg ); - if (CallerAutoPilotStatusListenerManager.INSTANCE.getAutoPilotStatusInfo().getState() != + if (CallerAutoPilotStatusListenerManager.INSTANCE.getState() != IMoGoAutopilotStatusListener.STATUS_AUTOPILOT_RUNNING){ mStartAutopilotParams.put(CharterConst.EVENT_PARAM_START_FAILURE_CODE, failCode); mStartAutopilotParams.put(CharterConst.EVENT_PARAM_START_FAILURE_MSG, failMsg); } mStartAutopilotParams.put(CharterConst.EVENT_PARAM_START_RESULT - , CallerAutoPilotStatusListenerManager.INSTANCE.getAutoPilotStatusInfo().getState() == + , CallerAutoPilotStatusListenerManager.INSTANCE.getState() == IMoGoAutopilotStatusListener.STATUS_AUTOPILOT_RUNNING); MogoAnalyticUtils.INSTANCE.track(mStartAutopilotKey, mStartAutopilotParams); diff --git a/OCH/mogo-och-charter/src/main/java/com/magic/mogo/och/charter/base/CharterBaseFragment.kt b/OCH/mogo-och-charter/src/main/java/com/magic/mogo/och/charter/base/CharterBaseFragment.kt index 0527ff1675..96bc9a4150 100644 --- a/OCH/mogo-och-charter/src/main/java/com/magic/mogo/och/charter/base/CharterBaseFragment.kt +++ b/OCH/mogo-och-charter/src/main/java/com/magic/mogo/och/charter/base/CharterBaseFragment.kt @@ -17,7 +17,7 @@ import com.mogo.commons.mvp.MvpFragment import com.mogo.commons.mvp.Presenter import com.mogo.eagle.core.function.api.autopilot.IMoGoAutopilotRecordListener import com.mogo.eagle.core.function.api.autopilot.IMoGoAutopilotStatusListener -import com.mogo.eagle.core.function.call.autopilot.CallerAutoPilotStatusListenerManager.getAutoPilotStatusInfo +import com.mogo.eagle.core.function.call.autopilot.CallerAutoPilotStatusListenerManager.getState import com.mogo.eagle.core.function.call.autopilot.CallerAutopilotRecordListenerManager import com.mogo.eagle.core.function.call.devatools.CallerDevaToolsManager.initAiCollect import com.mogo.eagle.core.function.call.devatools.CallerDevaToolsManager.initBadCase @@ -126,7 +126,7 @@ abstract class CharterBaseFragment?>() : } }) initListener() - setAutopilotBtnStatus(getAutoPilotStatusInfo().state) + setAutopilotBtnStatus(getState()) ctvAutopilotStatus!!.setOnClickListener(object : OnPreventFastClickListener() { override fun onClickImpl(v: View) { restartAutopilot() @@ -394,7 +394,7 @@ abstract class CharterBaseFragment?>() : open fun stopAnimAndUpdateBtnStatus() { stopAutopilotAnimation() - updateAutopilotStatus(getAutoPilotStatusInfo().state) + updateAutopilotStatus(getState()) } @@ -453,7 +453,7 @@ abstract class CharterBaseFragment?>() : //未启动成功做处理 if (isAnimateRunning) { // 只判断动画是否在进行，根据自动驾驶当前状态去设置自动驾驶状态 stopAutopilotAnimation() - updateAutopilotStatus(getAutoPilotStatusInfo().state) + updateAutopilotStatus(getState()) } }, CharterConst.TIMER_START_AUTOPILOT_INTERVAL) } diff --git a/OCH/mogo-och-shuttle-passenger/src/m2/java/com/mogo/och/bus/passenger/model/PM2DrivingModel.kt b/OCH/mogo-och-shuttle-passenger/src/m2/java/com/mogo/och/bus/passenger/model/PM2DrivingModel.kt index b2a8521731..b5f9fffc80 100644 --- a/OCH/mogo-och-shuttle-passenger/src/m2/java/com/mogo/och/bus/passenger/model/PM2DrivingModel.kt +++ b/OCH/mogo-och-shuttle-passenger/src/m2/java/com/mogo/och/bus/passenger/model/PM2DrivingModel.kt @@ -300,10 +300,6 @@ class PM2DrivingModel private constructor() { private val mAutoPilotStatusListener: IMoGoAutopilotStatusListener = object : IMoGoAutopilotStatusListener { - override fun onAutopilotArriveAtStation(arrivalNotification: MessagePad.ArrivalNotification?) { - super.onAutopilotArriveAtStation(arrivalNotification) - } - override fun onAutopilotStatusResponse(autoPilotStatusInfo: AutopilotStatusInfo) { super.onAutopilotStatusResponse(autoPilotStatusInfo) val status = autoPilotStatusInfo.state diff --git a/OCH/mogo-och-shuttle/src/main/java/com/mogo/och/bus/fragment/BaseBusTabFragment.java b/OCH/mogo-och-shuttle/src/main/java/com/mogo/och/bus/fragment/BaseBusTabFragment.java index 2afd1c117d..fcaa20a6ad 100644 --- a/OCH/mogo-och-shuttle/src/main/java/com/mogo/och/bus/fragment/BaseBusTabFragment.java +++ b/OCH/mogo-och-shuttle/src/main/java/com/mogo/och/bus/fragment/BaseBusTabFragment.java @@ -161,7 +161,7 @@ public abstract class BaseBusTabFragment }); initListener(); - setAutopilotBtnStatus(CallerAutoPilotStatusListenerManager.INSTANCE.getAutoPilotStatusInfo().getState()); + setAutopilotBtnStatus(CallerAutoPilotStatusListenerManager.INSTANCE.getState()); ctvAutopilotStatus.setOnClickListener(new OnPreventFastClickListener() { @Override @@ -308,9 +308,6 @@ public abstract class BaseBusTabFragment @Override public void onAutopilotRecordResult(@Nullable RecordPanelOuterClass.RecordPanel recordPanel) { -// if (!HmiBuildConfig.isShowBadCaseView && recordPanel != null && recordPanel.getType() == 1 && recordPanel.getStat() == 100) { -// CallerDevaToolsManager.INSTANCE.onReceiveBadCaseRecord(recordPanel); -// } } @Override @@ -455,7 +452,7 @@ public abstract class BaseBusTabFragment public void stopAnimAndUpdateBtnStatus() { stopAutopilotAnimation(); - updateAutopilotStatus(CallerAutoPilotStatusListenerManager.INSTANCE.getAutoPilotStatusInfo().getState()); + updateAutopilotStatus(CallerAutoPilotStatusListenerManager.INSTANCE.getState()); } /** @@ -529,7 +526,7 @@ public abstract class BaseBusTabFragment public void run() { //未启动成功做处理 if (isAnimateRunning) {// 只判断动画是否在进行，根据自动驾驶当前状态去设置自动驾驶状态 stopAutopilotAnimation(); - updateAutopilotStatus(CallerAutoPilotStatusListenerManager.INSTANCE.getAutoPilotStatusInfo().getState()); + updateAutopilotStatus(CallerAutoPilotStatusListenerManager.INSTANCE.getState()); } } }, TIMER_START_AUTOPILOT_INTERVAL); diff --git a/OCH/mogo-och-shuttle/src/main/java/com/mogo/och/bus/fragment/BusFragment.java b/OCH/mogo-och-shuttle/src/main/java/com/mogo/och/bus/fragment/BusFragment.java index 737a96683a..50263c9d06 100644 --- a/OCH/mogo-och-shuttle/src/main/java/com/mogo/och/bus/fragment/BusFragment.java +++ b/OCH/mogo-och-shuttle/src/main/java/com/mogo/och/bus/fragment/BusFragment.java @@ -113,7 +113,7 @@ public class BusFragment extends BaseBusTabFragment groupStationsPanel = findViewById(R.id.group_stations_panel); noDataView = findViewById(R.id.no_line_data_view); - CallerLogger.INSTANCE.d(M_BUS + TAG, "initView: " + CallerAutoPilotStatusListenerManager.INSTANCE.getAutoPilotStatusInfo().getState()); + CallerLogger.INSTANCE.d(M_BUS + TAG, "initView: " + CallerAutoPilotStatusListenerManager.INSTANCE.getState()); // 初始化的时候设置 UI 按钮状态 showAutopilotBiz(); @@ -535,7 +535,7 @@ public class BusFragment extends BaseBusTabFragment public void onClick(View v) { if (v.getId() == R.id.switch_line_btn) {//切换路线条件： 自动驾驶过程中，点击则toast提示：自动驾驶中，不可切换路线 //本次行程未结束，不支持切换路线。点击则toast提示：当前行程未完成，不可切换路线 - if (CallerAutoPilotStatusListenerManager.INSTANCE.getAutoPilotStatusInfo().getState() + if (CallerAutoPilotStatusListenerManager.INSTANCE.getState() == IMoGoAutopilotStatusListener.STATUS_AUTOPILOT_RUNNING) { ToastUtils.showLong(getResources().getString(R.string.bus_switch_line_btn_warning1)); return; diff --git a/OCH/mogo-och-shuttle/src/main/java/com/mogo/och/bus/model/OrderModel.java b/OCH/mogo-och-shuttle/src/main/java/com/mogo/och/bus/model/OrderModel.java index 8fcb504746..787429540c 100644 --- a/OCH/mogo-och-shuttle/src/main/java/com/mogo/och/bus/model/OrderModel.java +++ b/OCH/mogo-och-shuttle/src/main/java/com/mogo/och/bus/model/OrderModel.java @@ -699,7 +699,7 @@ public class OrderModel { private void onStartAutopilot(int leaveIndex) { //开启自动驾驶 2.10.0: 如果自动驾驶状态下开启， 非自动驾驶状态下不开启，需手动点击自动驾驶按钮开启 isGoingToNextStation = true; - if (CallerAutoPilotStatusListenerManager.INSTANCE.getAutoPilotStatusInfo().getState() + if (CallerAutoPilotStatusListenerManager.INSTANCE.getState() == IMoGoAutopilotStatusListener.STATUS_AUTOPILOT_RUNNING) { startAutopilot(false, leaveIndex); } else { diff --git a/OCH/mogo-och-shuttle/src/main/java/com/mogo/och/bus/util/BusAnalyticsManager.java b/OCH/mogo-och-shuttle/src/main/java/com/mogo/och/bus/util/BusAnalyticsManager.java index b37e399e18..947adbfc0c 100644 --- a/OCH/mogo-och-shuttle/src/main/java/com/mogo/och/bus/util/BusAnalyticsManager.java +++ b/OCH/mogo-och-shuttle/src/main/java/com/mogo/och/bus/util/BusAnalyticsManager.java @@ -50,13 +50,13 @@ public class BusAnalyticsManager { CallerLogger.INSTANCE.e( M_BUS + "triggerStartAutopilotFailureEvent", failMsg ); - if (CallerAutoPilotStatusListenerManager.INSTANCE.getAutoPilotStatusInfo().getState() != + if (CallerAutoPilotStatusListenerManager.INSTANCE.getState() != IMoGoAutopilotStatusListener.STATUS_AUTOPILOT_RUNNING){ mStartAutopilotParams.put(BusConst.EVENT_PARAM_START_FAILURE_CODE, failCode); mStartAutopilotParams.put(BusConst.EVENT_PARAM_START_FAILURE_MSG, failMsg); } mStartAutopilotParams.put(BusConst.EVENT_PARAM_START_RESULT - , CallerAutoPilotStatusListenerManager.INSTANCE.getAutoPilotStatusInfo().getState() == + , CallerAutoPilotStatusListenerManager.INSTANCE.getState() == IMoGoAutopilotStatusListener.STATUS_AUTOPILOT_RUNNING); MogoAnalyticUtils.INSTANCE.track(mStartAutopilotKey, mStartAutopilotParams); diff --git a/OCH/mogo-och-taxi-passenger/src/main/java/com/mogo/och/taxi/passenger/ui/TaxiPassengerBaseFragment.java b/OCH/mogo-och-taxi-passenger/src/main/java/com/mogo/och/taxi/passenger/ui/TaxiPassengerBaseFragment.java index 3254104ca0..05a1063d44 100644 --- a/OCH/mogo-och-taxi-passenger/src/main/java/com/mogo/och/taxi/passenger/ui/TaxiPassengerBaseFragment.java +++ b/OCH/mogo-och-taxi-passenger/src/main/java/com/mogo/och/taxi/passenger/ui/TaxiPassengerBaseFragment.java @@ -97,7 +97,7 @@ public class TaxiPassengerBaseFragment extends MvpFragment onAutopilotStatusChanged(CallerAutoPilotStatusListenerManager.INSTANCE.getState()), 1000L); } @NonNull diff --git a/OCH/mogo-och-taxi-passenger/src/main/java/com/mogo/och/taxi/passenger/utils/TaxiPassengerAnalyticsManager.java b/OCH/mogo-och-taxi-passenger/src/main/java/com/mogo/och/taxi/passenger/utils/TaxiPassengerAnalyticsManager.java index 21ff9ef517..a3b8d863a1 100644 --- a/OCH/mogo-och-taxi-passenger/src/main/java/com/mogo/och/taxi/passenger/utils/TaxiPassengerAnalyticsManager.java +++ b/OCH/mogo-och-taxi-passenger/src/main/java/com/mogo/och/taxi/passenger/utils/TaxiPassengerAnalyticsManager.java @@ -52,7 +52,7 @@ public class TaxiPassengerAnalyticsManager { CallerLogger.INSTANCE.e( M_BUS + "triggerStartAutopilotFailureEvent", failMsg ); - if (CallerAutoPilotStatusListenerManager.INSTANCE.getAutoPilotStatusInfo().getState() != + if (CallerAutoPilotStatusListenerManager.INSTANCE.getState() != IMoGoAutopilotStatusListener.STATUS_AUTOPILOT_RUNNING){ mStartAutopilotParams.put(TaxiPassengerConst.EVENT_PARAM_START_FAILURE_CODE, failCode); mStartAutopilotParams.put(TaxiPassengerConst.EVENT_PARAM_START_FAILURE_MSG, @@ -60,7 +60,7 @@ public class TaxiPassengerAnalyticsManager { } mStartAutopilotParams.put(TaxiPassengerConst.EVENT_PARAM_START_RESULT - , CallerAutoPilotStatusListenerManager.INSTANCE.getAutoPilotStatusInfo().getState() == + , CallerAutoPilotStatusListenerManager.INSTANCE.getState() == IMoGoAutopilotStatusListener.STATUS_AUTOPILOT_RUNNING); MogoAnalyticUtils.INSTANCE.track(mStartAutopilotKey, mStartAutopilotParams); diff --git a/OCH/mogo-och-taxi/src/main/java/com/mogo/och/taxi/model/TaxiModel.java b/OCH/mogo-och-taxi/src/main/java/com/mogo/och/taxi/model/TaxiModel.java index c6289741f1..a5525aa653 100644 --- a/OCH/mogo-och-taxi/src/main/java/com/mogo/och/taxi/model/TaxiModel.java +++ b/OCH/mogo-och-taxi/src/main/java/com/mogo/och/taxi/model/TaxiModel.java @@ -927,7 +927,7 @@ public class TaxiModel { } if (IMoGoAutopilotStatusListener.STATUS_AUTOPILOT_DISABLE - == CallerAutoPilotStatusListenerManager.INSTANCE.getAutoPilotStatusInfo().getState()) { + == CallerAutoPilotStatusListenerManager.INSTANCE.getState()) { // TODO: 2021/11/28 工控机存在刚开始状态为0，但是可以开启变为2，工控机解决前不显示此toast // ToastUtils.showShort("自动驾驶状态为不可用！"); } diff --git a/OCH/mogo-och-taxi/src/main/java/com/mogo/och/taxi/ui/BaseTaxiTabFragment.java b/OCH/mogo-och-taxi/src/main/java/com/mogo/och/taxi/ui/BaseTaxiTabFragment.java index 2bd1fc7c0d..8b928582cb 100644 --- a/OCH/mogo-och-taxi/src/main/java/com/mogo/och/taxi/ui/BaseTaxiTabFragment.java +++ b/OCH/mogo-och-taxi/src/main/java/com/mogo/och/taxi/ui/BaseTaxiTabFragment.java @@ -228,7 +228,7 @@ public abstract class BaseTaxiTabFragment @@ -363,9 +363,6 @@ public abstract class BaseTaxiTabFragment { removeMessages(CRON_TASK_TYPE) // 路测和车侧摄像头列表分开调用 -// requestCameraList() requestDeviceList() requestCarCameraList() sendEmptyMessageDelayed(CRON_TASK_TYPE, 10000) @@ -57,35 +56,6 @@ class CronTaskManager { } } - @Deprecated("已废弃", ReplaceWith("requestDeviceList()"), DeprecationLevel.WARNING) - private fun requestCameraList() { - // 衡阳可直播的摄像头有限，先写死roadId便于调试 - disposable = MoGoRetrofitFactory.getInstance(HostConst.CAMERA_STREAM_HOST) - .create(ICameraListServices::class.java) - .getCameraList("10849") - .subscribeOn(Schedulers.io()) - .map { cameraListInfo -> - cameraListInfo.result?.crossings?.flatMap { crossing -> - crossing.cameras.filter { camera -> - !camera.flvUrl.isNullOrEmpty() - }.map { - CameraEntity( - it.flvUrl, "", it.roadName, - it.crossingName, it.getHeadingStr(), it.ip - ) - } - } ?: ArrayList() - } - .observeOn(AndroidSchedulers.mainThread()) - .subscribe({ - cameraList = it - CallerLogger.d("$M_MONITOR$TAG", "requestCameraList返回结果为：$it") - }, { - it.printStackTrace() - CallerLogger.e("$M_MONITOR$TAG", "message is:${it.message}, cause is:${it.cause}") - }) - } - /** * 请求路口一定范围内的设备信息(包含：摄像头、灯) */ @@ -124,7 +94,7 @@ class CronTaskManager { } private fun requestCarCameraList() { - CallerChassisLocationGCJ02ListenerManager.getChassisLocationGCJ02()?.let { location -> + CallerChassisLocationGCJ02ListenerManager.getChassisLocationGCJ02().let { location -> carDisposable = MoGoRetrofitFactory.getInstance(HostConst.getEagleHost()) .create(ICameraListServices::class.java) .getCarCameraList(ReqLiveCarBean(location.longitude, location.latitude)) @@ -151,41 +121,9 @@ class CronTaskManager { ) it.printStackTrace() }) - } ?: run { - CallerLogger.e("$M_MONITOR$TAG", "CurrentLocation is null!") } } - /** - * 开启从摄像头拉流 - */ - @Deprecated("已废弃", ReplaceWith("requestDeviceList()"), DeprecationLevel.WARNING) - fun requestOpenCamera(cameraIp: String) { - streamDisposable?.let { - if (!it.isDisposed) it.dispose() - } - streamDisposable = MoGoRetrofitFactory.getInstance(HostConst.OPEN_CAMERA_STREAM_HOST) - .create(ICameraListServices::class.java) - .openCameraStream(cameraIp) - .subscribeOn(Schedulers.io()) - .observeOn(AndroidSchedulers.mainThread()) - .subscribe({ - CallerLogger.d("$M_MONITOR$TAG", "openCameraStream返回结果为：$it") - it.result?.let { streamResult -> - if (!streamResult.flvUrl.isNullOrEmpty()) CallerHmiManager.startRoadCameraLive( - streamResult.flvUrl!! - ) - } - }, { - CallerLogger.e( - "$M_MONITOR$TAG", - "openCameraStream&message is:${it.message}, cause is:${it.cause}" - ) - CallerHmiManager.showNoSignalView() - it.printStackTrace() - }) - } - /** * 打开单个视频推流 */ diff --git a/core/function-impl/mogo-core-function-biz/src/main/java/com/mogo/eagle/function/biz/v2x/overview/OverViewDataManager.kt b/core/function-impl/mogo-core-function-biz/src/main/java/com/mogo/eagle/function/biz/v2x/overview/OverViewDataManager.kt index 1f0f568a4d..6685379ae7 100644 --- a/core/function-impl/mogo-core-function-biz/src/main/java/com/mogo/eagle/function/biz/v2x/overview/OverViewDataManager.kt +++ b/core/function-impl/mogo-core-function-biz/src/main/java/com/mogo/eagle/function/biz/v2x/overview/OverViewDataManager.kt @@ -85,7 +85,7 @@ object OverViewDataManager { // 1分钟查询一次 disposable = Observable.interval(2000, 60000, TimeUnit.MILLISECONDS) .flatMap { - val lineId = getLineId() + val lineId = CallerAutoPilotStatusListenerManager.getLineId() if (lineId > 0) { MoGoRetrofitFactory.getInstance(HostConst.getHost()) .create(OverViewServiceApi::class.java) @@ -119,20 +119,4 @@ object OverViewDataManager { disposable?.dispose() } - private fun getLineId(): Long { - var lineId: Long = -1 - val parameter = CallerAutoPilotStatusListenerManager.getAutoPilotStatusInfo() - .autopilotControlParameters - if (parameter != null) { - if (parameter.autoPilotLine != null) { - lineId = parameter.autoPilotLine!!.lineId - CallerLogger.d(SceneConstant.M_MAP + TAG, "lineId为:$lineId") - } else { - CallerLogger.d(SceneConstant.M_MAP + TAG, "parameter.autoPilotLine为null") - } - } else { - CallerLogger.d(SceneConstant.M_MAP + TAG, "parameter为null") - } - return lineId - } } \ No newline at end of file diff --git a/core/function-impl/mogo-core-function-biz/src/main/java/com/mogo/eagle/function/biz/v2x/v2n/V2XPoiLoader.kt b/core/function-impl/mogo-core-function-biz/src/main/java/com/mogo/eagle/function/biz/v2x/v2n/V2XPoiLoader.kt index 9fa780cba4..ffe57a4287 100644 --- a/core/function-impl/mogo-core-function-biz/src/main/java/com/mogo/eagle/function/biz/v2x/v2n/V2XPoiLoader.kt +++ b/core/function-impl/mogo-core-function-biz/src/main/java/com/mogo/eagle/function/biz/v2x/v2n/V2XPoiLoader.kt @@ -11,8 +11,6 @@ import com.mogo.eagle.core.data.v2x.V2XEvent import com.mogo.eagle.core.data.v2x.V2XMarkerResponse import com.mogo.eagle.core.function.call.autopilot.CallerAutoPilotStatusListenerManager import com.mogo.eagle.core.function.call.msgbox.CallerMsgBoxManager -import com.mogo.eagle.core.utilcode.mogo.logger.CallerLogger -import com.mogo.eagle.core.utilcode.mogo.logger.scene.SceneConstant import com.mogo.eagle.core.utilcode.util.UiThreadHandler import com.mogo.eagle.function.biz.v2x.v2n.network.V2XRefreshModel import com.mogo.eagle.function.biz.v2x.v2n.network.callback.IV2XCallback @@ -143,33 +141,16 @@ class V2XPoiLoader private constructor() { fun queryWholeRoadEvents() { V2XRefreshModel.roadEventDispose() val sn = MoGoAiCloudClientConfig.getInstance().sn - val lineId = getLineId() + val lineId = CallerAutoPilotStatusListenerManager.getLineId() if (lineId > 0) { realQueryV2xEvents(lineId.toString(), sn) } else { UiThreadHandler.postDelayed({ - realQueryV2xEvents(getLineId().toString(), sn) + realQueryV2xEvents(CallerAutoPilotStatusListenerManager.getLineId().toString(), sn) }, 500) } } - private fun getLineId(): Long { - var lineId: Long = -1 - val parameter = CallerAutoPilotStatusListenerManager.getAutoPilotStatusInfo() - .autopilotControlParameters - if (parameter != null) { - if (parameter.autoPilotLine != null) { - lineId = parameter.autoPilotLine!!.lineId - CallerLogger.d(SceneConstant.M_V2X + TAG, "lineId为:$lineId") - } else { - CallerLogger.d(SceneConstant.M_V2X + TAG, "parameter.autoPilotLine为null") - } - } else { - CallerLogger.d(SceneConstant.M_V2X + TAG, "parameter为null") - } - return lineId - } - private fun realQueryV2xEvents(lineId: String, sn: String) { V2XRefreshModel.getRoadEvents(lineId, sn) { val size = it?.size ?: 0 diff --git a/core/function-impl/mogo-core-function-datacenter/src/main/java/com/mogo/eagle/core/function/datacenter/autopilot/adapter/MoGoAdasListenerImpl.kt b/core/function-impl/mogo-core-function-datacenter/src/main/java/com/mogo/eagle/core/function/datacenter/autopilot/adapter/MoGoAdasListenerImpl.kt index d0231c934d..192e6c24ce 100644 --- a/core/function-impl/mogo-core-function-datacenter/src/main/java/com/mogo/eagle/core/function/datacenter/autopilot/adapter/MoGoAdasListenerImpl.kt +++ b/core/function-impl/mogo-core-function-datacenter/src/main/java/com/mogo/eagle/core/function/datacenter/autopilot/adapter/MoGoAdasListenerImpl.kt @@ -12,7 +12,6 @@ import com.mogo.eagle.core.data.deva.chain.ChainConstant.Companion.CHAIN_CODE_AD import com.mogo.eagle.core.data.deva.chain.ChainConstant.Companion.CHAIN_CODE_ADAS_AUTOPILOT_RECORD import com.mogo.eagle.core.data.deva.chain.ChainConstant.Companion.CHAIN_CODE_ADAS_AUTOPILOT_ROUTE import com.mogo.eagle.core.data.deva.chain.ChainConstant.Companion.CHAIN_CODE_ADAS_AUTOPILOT_STATUS -import com.mogo.eagle.core.data.deva.chain.ChainConstant.Companion.CHAIN_CODE_ADAS_AUTOPILOT_TRAFFIC_LIGHT import com.mogo.eagle.core.data.deva.chain.ChainConstant.Companion.CHAIN_CODE_ADAS_AUTOPILOT_TRAJECTORY import com.mogo.eagle.core.data.deva.chain.ChainConstant.Companion.CHAIN_CODE_ADAS_AUTOPILOT_VEHICLE import com.mogo.eagle.core.data.deva.chain.ChainConstant.Companion.CHAIN_CODE_ADAS_CAR_CONFIG @@ -21,21 +20,20 @@ import com.mogo.eagle.core.data.deva.chain.ChainConstant.Companion.CHAIN_CODE_AD import com.mogo.eagle.core.data.deva.chain.ChainConstant.Companion.CHAIN_CODE_ADAS_P_OBJECTS import com.mogo.eagle.core.data.deva.chain.ChainConstant.Companion.CHAIN_CODE_ADAS_STATUS_QUERY_RESP import com.mogo.eagle.core.data.deva.chain.ChainConstant.Companion.CHAIN_SOURCE_ADAS +import com.mogo.eagle.core.data.deva.chain.ChainConstant.Companion.CHAIN_TYPE_GNSS import com.mogo.eagle.core.data.deva.chain.ChainConstant.Companion.CHAIN_TYPE_INIT_STATUS import com.mogo.eagle.core.data.deva.chain.ChainConstant.Companion.CHAIN_TYPE_SOCKET_AUTOPILOT -import com.mogo.eagle.core.data.deva.chain.ChainConstant.Companion.CHAIN_TYPE_GNSS import com.mogo.eagle.core.data.deva.chain.ChainConstant.Companion.CHAIN_TYPE_SOCKET_P_ACTIONS import com.mogo.eagle.core.data.deva.chain.ChainConstant.Companion.CHAIN_TYPE_SOCKET_P_OBJECTS -import com.mogo.eagle.core.data.deva.chain.ChainConstant.Companion.CHAIN_TYPE_SOCKET_TRAFFIC_LIGHT import com.mogo.eagle.core.data.deva.chain.ChainConstant.Companion.CHAIN_TYPE_SOCKET_TRAJECTORY import com.mogo.eagle.core.data.deva.chain.ChainConstant.Companion.CHAIN_TYPE_SOCKET_VEHICLE import com.mogo.eagle.core.function.call.autopilot.* import com.mogo.eagle.core.function.call.autopilot.CallerAutoPilotStatusListenerManager.getAutoPilotStatusInfo import com.mogo.eagle.core.function.call.autopilot.CallerAutoPilotStatusListenerManager.invokeArriveAtStation -import com.mogo.eagle.core.function.call.autopilot.CallerAutoPilotStatusListenerManager.invokeAutoPilotStatus import com.mogo.eagle.core.function.call.autopilot.CallerAutoPilotStatusListenerManager.invokeAutopilotGuardian import com.mogo.eagle.core.function.call.autopilot.CallerAutoPilotStatusListenerManager.invokeAutopilotSNRequest import com.mogo.eagle.core.function.call.autopilot.CallerAutoPilotStatusListenerManager.invokeAutopilotStatusRespByQuery +import com.mogo.eagle.core.function.call.autopilot.CallerAutoPilotStatusListenerManager.updateAutoPilotStatus import com.mogo.eagle.core.function.call.autopilot.CallerAutopilotActionsListenerManager.invokeAutopilotAbility import com.mogo.eagle.core.function.call.autopilot.CallerAutopilotCarConfigListenerManager.invokeAutopilotCarConfigData import com.mogo.eagle.core.function.call.autopilot.CallerAutopilotIdentifyListenerManager.invokeAutopilotIdentifyDataUpdate @@ -53,10 +51,8 @@ import com.mogo.eagle.core.function.call.obu.CallerObuWarningRsiListenerManager import com.mogo.eagle.core.function.call.obu.CallerObuWarningRsmListenerManager import com.mogo.eagle.core.function.call.obu.CallerObuWarningSpatListenerManager import com.mogo.eagle.core.function.call.v2x.* -import com.mogo.eagle.core.utilcode.mogo.logger.CallerLogger import com.mogo.eagle.core.utilcode.mogo.logger.Logger import com.mogo.support.obu.ObuScene -import com.zhidao.support.adas.high.AdasManager import com.zhidao.support.adas.high.OnAdasListener import com.zhjt.mogo.adas.data.bean.AdasParam import com.zhidao.support.adas.high.common.ProtocolStatus @@ -83,10 +79,6 @@ import record_cache.RecordPanelOuterClass import system_master.SystemStatusInfo /** - * @author emArrow - * @since 2022/3/11 - * - * * 适配ADAS 回调监听分发，这里不做业务，只做数据包装及分发处理 */ class MoGoAdasListenerImpl : OnAdasListener { @@ -139,7 +131,7 @@ class MoGoAdasListenerImpl : OnAdasListener { if (gnssInfo != null) { if (1 == FunctionBuildConfig.gpsProvider) { // 同步更新经纬度和系统时间至 AutoPilotStatusListener - CallerAutoPilotStatusListenerManager.updateAutoPilotLatLon( + CallerAutoPilotStatusListenerManager.updateAutoPilotLocAndTime( gnssInfo.satelliteTime, gnssInfo.longitude, gnssInfo.latitude @@ -288,29 +280,8 @@ class MoGoAdasListenerImpl : OnAdasListener { if (autopilotState != null) { //工控机模拟时间 CallerAutopilotVehicleStateListenerManager.invokeAutopilotTime(header.timestamp.toLong()) - if (HdMapBuildConfig.isMapLoaded) { - // 初始化自动驾驶状态信息 - val autopilotStatusInfo = getAutoPilotStatusInfo() - autopilotStatusInfo.state = autopilotState.state - autopilotStatusInfo.pilotmode = autopilotState.autopilotMode - autopilotStatusInfo.reason = autopilotState.reason - autopilotStatusInfo.version = AdasManager.getInstance().adasVersion - if (autopilotStatusInfo.connectIP == null) { - autopilotStatusInfo.connectIP = AdasManager.getInstance().ipcConnectedIp - } - if (autopilotStatusInfo.connectPort == null) { - autopilotStatusInfo.connectPort = AdasManager.getInstance().ipcConnectedPort - } - AdasManager.getInstance().carConfig?.let { - autopilotStatusInfo.dockVersion = it.dockVersion - } - CallerLogger.d( - "Upgrade", - "origin = ${autopilotStatusInfo.connectStatus} -----now = ${AppConfigInfo.isConnectAutopilot} " - ) - AppConfigInfo.isConnectAutopilot = autopilotStatusInfo.connectStatus - AppConfigInfo.connectStatusDescribe = autopilotStatusInfo.connectStatusDescribe - invokeAutoPilotStatus() + if (HdMapBuildConfig.isMapLoaded) { //todo check + updateAutoPilotStatus(autopilotState.state, autopilotState.autopilotMode) } } } @@ -332,12 +303,6 @@ class MoGoAdasListenerImpl : OnAdasListener { } //感知红绿灯 - @ChainLog( - linkChainLog = CHAIN_TYPE_SOCKET_TRAFFIC_LIGHT, - linkCode = CHAIN_SOURCE_ADAS, - nodeAliasCode = CHAIN_CODE_ADAS_AUTOPILOT_TRAFFIC_LIGHT, - paramIndexes = [0, 1] - ) override fun onPerceptionTrafficLight( header: MessagePad.Header?, trafficLights: TrafficLightOuterClass.TrafficLights? @@ -398,6 +363,8 @@ class MoGoAdasListenerImpl : OnAdasListener { carConfigResp: MessagePad.CarConfigResp? ) { if (carConfigResp != null) { + val autopilotStatusInfo = getAutoPilotStatusInfo() + autopilotStatusInfo.dockVersion = carConfigResp.dockVersion AppConfigInfo.dockerVersion = carConfigResp.dockVersion AppConfigInfo.plateNumber = carConfigResp.plateNumber//车牌号 AppConfigInfo.iPCMacAddress = carConfigResp.macAddress//工控机MAC地址 @@ -584,7 +551,10 @@ class MoGoAdasListenerImpl : OnAdasListener { * @param header 头 * @param roboSweeperTaskIndex 数据 */ - override fun onSweeperTaskIndexData(header: MessagePad.Header?, roboSweeperTaskIndex: RoboSweeperTaskIndexOuterClass.RoboSweeperTaskIndex?) { + override fun onSweeperTaskIndexData( + header: MessagePad.Header?, + roboSweeperTaskIndex: RoboSweeperTaskIndexOuterClass.RoboSweeperTaskIndex? + ) { roboSweeperTaskIndex?.let { //清扫车（福田）清扫控制系统状态 CallerSweeperFutianCleanSystemListenerManager.invokeSweeperFutianCleanTaskIndexData(it) @@ -719,7 +689,7 @@ class MoGoAdasListenerImpl : OnAdasListener { linkChainLog = ChainConstant.CHAIN_TYPE_CLOUD_V2N, linkCode = ChainConstant.CHAIN_SOURCE_CLOUD, nodeAliasCode = ChainConstant.CHAIN_CODE_CLOUD_V2N, - paramIndexes = [0,1] + paramIndexes = [0, 1] ) override fun onV2nCongestionEvent(header: MessagePad.Header, rsi: MogoV2X.RSI_PB) { CallerAutopilotIdentifyListenerManager.invokeAutopilotV2nCongestionEvent(header, rsi) @@ -741,8 +711,21 @@ class MoGoAdasListenerImpl : OnAdasListener { nodeAliasCode = ChainConstant.CHAIN_CODE_CLOUD_V2N, paramIndexes = [0] ) - override fun onV2nGlobalPathEvents(header: MessagePad.Header, roadOverview: RoadOverviewEvents.RoadOverviewData, construct: MogoV2X.RSI_PB?, triangle: MogoV2X.RSI_PB?, congestion: MogoV2X.RSI_PB?, parkingViolation: MogoV2X.RSM_PB?) { - CallerV2XListenerManager.dispatchV2nGlobalPathEvents(roadOverview.eventCount, construct, triangle, congestion, parkingViolation) + override fun onV2nGlobalPathEvents( + header: MessagePad.Header, + roadOverview: RoadOverviewEvents.RoadOverviewData, + construct: MogoV2X.RSI_PB?, + triangle: MogoV2X.RSI_PB?, + congestion: MogoV2X.RSI_PB?, + parkingViolation: MogoV2X.RSM_PB? + ) { + CallerV2XListenerManager.dispatchV2nGlobalPathEvents( + roadOverview.eventCount, + construct, + triangle, + congestion, + parkingViolation + ) } /** diff --git a/core/function-impl/mogo-core-function-datacenter/src/main/java/com/mogo/eagle/core/function/datacenter/autopilot/adapter/MoGoAdasMsgConnectStatusListenerImpl.kt b/core/function-impl/mogo-core-function-datacenter/src/main/java/com/mogo/eagle/core/function/datacenter/autopilot/adapter/MoGoAdasMsgConnectStatusListenerImpl.kt index 89a2909fb4..359c794e57 100644 --- a/core/function-impl/mogo-core-function-datacenter/src/main/java/com/mogo/eagle/core/function/datacenter/autopilot/adapter/MoGoAdasMsgConnectStatusListenerImpl.kt +++ b/core/function-impl/mogo-core-function-datacenter/src/main/java/com/mogo/eagle/core/function/datacenter/autopilot/adapter/MoGoAdasMsgConnectStatusListenerImpl.kt @@ -2,6 +2,7 @@ package com.mogo.eagle.core.function.datacenter.autopilot.adapter import com.mogo.cloud.passport.MoGoAiCloudClientConfig import com.mogo.commons.debug.DebugConfig.* +import com.mogo.eagle.core.data.app.AppConfigInfo import com.mogo.eagle.core.data.config.FunctionBuildConfig import com.mogo.eagle.core.function.api.autopilot.IMoGoAutopilotStatusListener import com.mogo.eagle.core.function.api.cloud.IMoGoCloudListener @@ -24,11 +25,11 @@ import com.zhidao.support.adas.high.common.Constants.TERMINAL_ROLE.PASSENGER * ADAS-SDK与工控机连接状态回调 */ class MoGoAdasMsgConnectStatusListenerImpl : - OnAdasConnectStatusListener, - IMoGoAutopilotStatusListener, - IMoGoCloudListener { + OnAdasConnectStatusListener, + IMoGoAutopilotStatusListener, + IMoGoCloudListener { - companion object{ + companion object { private const val TAG = "ConnectStatus" } @@ -40,9 +41,10 @@ class MoGoAdasMsgConnectStatusListenerImpl : override fun onConnectionIPCStatus(ipcConnectionStatus: Int, reason: String?) { CallerAutoPilotStatusListenerManager.invokeAutoPilotIPCStatusChanged( - ipcConnectionStatus, - reason + ipcConnectionStatus, + reason ) + AppConfigInfo.connectStatusDescribe = reason when (ipcConnectionStatus) { Constants.IPC_CONNECTION_STATUS.CONNECTED -> { CallerLogger.d("$M_ADAS_IMPL$TAG", "webSocket 连接成功") @@ -52,7 +54,10 @@ class MoGoAdasMsgConnectStatusListenerImpl : AdasManager.getInstance().ipcConnectedIp CallerAutoPilotStatusListenerManager.getAutoPilotStatusInfo().connectPort = AdasManager.getInstance().ipcConnectedPort + CallerAutoPilotStatusListenerManager.getAutoPilotStatusInfo().version = + AdasManager.getInstance().adasVersion CallerAutoPilotStatusListenerManager.getAutoPilotStatusInfo().connectStatus = true + AppConfigInfo.isConnectAutopilot = true // 同步SN给工控机 syncBasicInfoToAutopilot() //每次工控机连接成功后，需同步当前设置的美化模式状态 @@ -77,6 +82,7 @@ class MoGoAdasMsgConnectStatusListenerImpl : CallerAutoPilotStatusListenerManager.getAutoPilotStatusInfo().connectPort = AdasManager.getInstance().ipcConnectedPort CallerAutoPilotStatusListenerManager.getAutoPilotStatusInfo().connectStatus = false + AppConfigInfo.isConnectAutopilot = false //与工控机断开连接，需要重置自动驾驶状态(包括上传至云平台缓存信息)，等待连接成功后同步状态信息 CallerAutoPilotStatusListenerManager.getAutoPilotStatusInfo().state = 0 CallerAutoPilotStatusListenerManager.getAutoPilotStatusInfo().pilotmode = 0 @@ -91,8 +97,7 @@ class MoGoAdasMsgConnectStatusListenerImpl : CallerLogger.d("$M_ADAS_IMPL$TAG", "webSocket 找不到可用IP 传入的IP不可用或固定IP列表中所有IP不可用") } } - CallerAutoPilotStatusListenerManager.getAutoPilotStatusInfo().ipcConnStatus = - ipcConnectionStatus + CallerAutoPilotStatusListenerManager.getAutoPilotStatusInfo().ipcConnStatus = ipcConnectionStatus CallerAutoPilotStatusListenerManager.getAutoPilotStatusInfo().connectStatusDescribe = reason CallerAutoPilotStatusListenerManager.invokeAutoPilotStatus() } @@ -116,19 +121,19 @@ class MoGoAdasMsgConnectStatusListenerImpl : if (AppIdentityModeUtils.isDriver(FunctionBuildConfig.appIdentityMode)) { // 设置PAD-SN给工控,网络环境 AdasManager.getInstance() - .sendBasicInfoResp( - MoGoAiCloudClientConfig.getInstance().sn, - getEnvironment(), - getTerminalRole() - ) + .sendBasicInfoResp( + MoGoAiCloudClientConfig.getInstance().sn, + getEnvironment(), + getTerminalRole() + ) } else { // 乘客屏先不传sn AdasManager.getInstance() - .sendBasicInfoResp( - "", - getEnvironment(), - getTerminalRole() - ) + .sendBasicInfoResp( + "", + getEnvironment(), + getTerminalRole() + ) } } diff --git a/core/function-impl/mogo-core-function-datacenter/src/main/java/com/mogo/eagle/core/function/datacenter/location/MoGoLocationDispatcher.kt b/core/function-impl/mogo-core-function-datacenter/src/main/java/com/mogo/eagle/core/function/datacenter/location/MoGoLocationDispatcher.kt index bc6420dbd0..31160ae060 100644 --- a/core/function-impl/mogo-core-function-datacenter/src/main/java/com/mogo/eagle/core/function/datacenter/location/MoGoLocationDispatcher.kt +++ b/core/function-impl/mogo-core-function-datacenter/src/main/java/com/mogo/eagle/core/function/datacenter/location/MoGoLocationDispatcher.kt @@ -1,6 +1,5 @@ package com.mogo.eagle.core.function.datacenter.location -import android.util.Log import com.mogo.eagle.core.data.config.FunctionBuildConfig import com.mogo.eagle.core.data.enums.DataSourceType import com.mogo.eagle.core.data.map.MogoLocation @@ -53,7 +52,6 @@ object MoGoLocationDispatcher : override fun onChassisGnss(gnssInfo: MessagePad.GnssInfo) { // 更新GNSS 信息 - Log.d("emArrow","高精 heading:${gnssInfo.heading}") lastGnssLocation.gnssInfo = gnssInfo lastGnssLocation.lastReceiveTime = TimeUtils.getNowMills() // 将高德中的一些用于业务的数据进行融合，例如：CityCode、address等 @@ -81,7 +79,6 @@ object MoGoLocationDispatcher : lastGnssLocation.errorCode = it.errorCode lastGnssLocation.errorInfo = it.errorInfo } - //FileUtils.writeToFile("/sdcard/Download/", "location_wgs84.txt", "${gnssInfo.longitude},${gnssInfo.latitude}\n") if (1 == FunctionBuildConfig.gpsProvider) { // WGS84坐标系高精度位置信息 CallerChassisLocationWGS84ListenerManager.invokeChassisLocationWGS84( @@ -104,7 +101,6 @@ object MoGoLocationDispatcher : override fun onMoGoLocationChanged(mogoLocation: MogoLocation) { // 更新GaoDe 信息 lastGaoDeLocation = mogoLocation - Log.d("emArrow","高德 heading:${mogoLocation.heading}") // 计算最后一次工控机同步的定位是否超时，如果超时则切换为高德地图定位,暂定超过30秒需要切换 if (1 == FunctionBuildConfig.gpsProvider) { if (TimeUtils.getNowMills() - lastGnssLocation.lastReceiveTime > 10000) { diff --git a/core/function-impl/mogo-core-function-datacenter/src/main/java/com/mogo/eagle/core/function/datacenter/obu/MogoPrivateObuNewManager.kt b/core/function-impl/mogo-core-function-datacenter/src/main/java/com/mogo/eagle/core/function/datacenter/obu/MogoPrivateObuNewManager.kt index 0f146c3a9f..13fda04e05 100644 --- a/core/function-impl/mogo-core-function-datacenter/src/main/java/com/mogo/eagle/core/function/datacenter/obu/MogoPrivateObuNewManager.kt +++ b/core/function-impl/mogo-core-function-datacenter/src/main/java/com/mogo/eagle/core/function/datacenter/obu/MogoPrivateObuNewManager.kt @@ -1,7 +1,6 @@ package com.mogo.eagle.core.function.datacenter.obu import android.content.Context -import android.util.Log import com.mogo.eagle.core.data.app.AppConfigInfo import com.mogo.eagle.core.data.config.FunctionBuildConfig import com.mogo.eagle.core.data.config.HmiBuildConfig @@ -289,7 +288,7 @@ class MogoPrivateObuNewManager private constructor() : OnUpgradeListener { // 同步给MAP地图 CallerObuLocationWGS84ListenerManager.invokeObuLocationWGS84(gnssInfo) // 同步更新经纬度和系统时间至 AutoPilotStatusListener - CallerAutoPilotStatusListenerManager.updateAutoPilotLatLon( + CallerAutoPilotStatusListenerManager.updateAutoPilotLocAndTime( System.currentTimeMillis() / 1000.0, gnssInfo.longitude, gnssInfo.latitude diff --git a/core/function-impl/mogo-core-function-datacenter/src/main/java/com/mogo/eagle/core/function/datacenter/v2x/TrafficLightDispatcher.kt b/core/function-impl/mogo-core-function-datacenter/src/main/java/com/mogo/eagle/core/function/datacenter/v2x/TrafficLightDispatcher.kt index c5794a901e..38a78fa933 100644 --- a/core/function-impl/mogo-core-function-datacenter/src/main/java/com/mogo/eagle/core/function/datacenter/v2x/TrafficLightDispatcher.kt +++ b/core/function-impl/mogo-core-function-datacenter/src/main/java/com/mogo/eagle/core/function/datacenter/v2x/TrafficLightDispatcher.kt @@ -5,6 +5,7 @@ import android.os.CountDownTimer import android.os.Handler import com.mogo.eagle.core.data.biz.trafficlight.* import com.mogo.eagle.core.data.config.FunctionBuildConfig +import com.mogo.eagle.core.data.deva.chain.ChainConstant import com.mogo.eagle.core.data.enums.DataSourceType import com.mogo.eagle.core.data.enums.TrafficLightEnum import com.mogo.eagle.core.data.multidisplay.TelematicConstant @@ -17,6 +18,7 @@ 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 import com.mogo.eagle.core.utilcode.util.GsonUtils +import com.zhjt.service.chain.ChainLog import perception.TrafficLightOuterClass import perception.TrafficLightOuterClass.TrafficLight @@ -64,7 +66,7 @@ class TrafficLightDispatcher : IMoGoAutopilotIdentifyListener, IMoGoTrafficLight @Volatile private var hasObuLightStatus: Boolean = false - private var lightCountDownTimer: CountDownTimer?= null + private var lightCountDownTimer: CountDownTimer? = null private var lastLightTime: Long = System.currentTimeMillis() fun initServer(context: Context) { @@ -80,16 +82,17 @@ class TrafficLightDispatcher : IMoGoAutopilotIdentifyListener, IMoGoTrafficLight * @param trafficLights 感知红绿灯 */ override fun onAutopilotPerceptionTrafficLight(trafficLights: TrafficLightOuterClass.TrafficLights?) { + CallerLogger.d("${SceneConstant.M_OBU}${TAG}", "onAutopilotPerceptionTrafficLight ---- hasObuLightStatus = $hasObuLightStatus ----hasAiLightStatus = $hasAiLightStatus ") if (!hasObuLightStatus) { if (!hasAiLightStatus) { lastLightTime = System.currentTimeMillis() - if(lightCountDownTimer==null){ - lightCountDownTimer = object: CountDownTimer(300000,1000){ + if (lightCountDownTimer == null) { + lightCountDownTimer = object : CountDownTimer(300000, 1000) { override fun onTick(millisUntilFinished: Long) { - if((System.currentTimeMillis() - lastLightTime)>1000){ + if ((System.currentTimeMillis() - lastLightTime) > 1000) { //隐藏红绿灯显示 - CallerTrafficLightListenerManager.disableTrafficLight() + hide("感知倒计时结束隐藏", DataSourceType.TELEMATIC) lightCountDownTimer?.cancel() lightCountDownTimer = null } @@ -115,9 +118,13 @@ class TrafficLightDispatcher : IMoGoAutopilotIdentifyListener, IMoGoTrafficLight } else if (it.hasUTurn()) { light = it.uTurn } + CallerLogger.d( + "${SceneConstant.M_OBU}${TAG}", + "onAutopilotPerceptionTrafficLight light = $light " + ) if (light == null) { //隐藏红绿灯显示 - hide() + hide("感知light为null隐藏", DataSourceType.TELEMATIC) } else { onTrafficLightPlusSource(light.convert(), 0, DataSourceType.TELEMATIC) } @@ -131,10 +138,17 @@ class TrafficLightDispatcher : IMoGoAutopilotIdentifyListener, IMoGoTrafficLight */ override fun onTrafficLightStatus(trafficLightResult: TrafficLightResult) { if (AppIdentityModeUtils.isDriver(FunctionBuildConfig.appIdentityMode)) { - CallerTelematicManager.sendMsgToAllClients(TelematicConstant.SHOW_TRAFFIC_LIGHT, GsonUtils.toJson(trafficLightResult).toByteArray()) + CallerTelematicManager.sendMsgToAllClients( + TelematicConstant.SHOW_TRAFFIC_LIGHT, + GsonUtils.toJson(trafficLightResult).toByteArray() + ) } if (!hasObuLightStatus) { hasAiLightStatus = true + CallerLogger.d( + "${SceneConstant.M_OBU}${TAG}", + "onTrafficLightStatus trafficLightResult = $trafficLightResult " + ) updateTrafficLight(trafficLightResult) } } @@ -144,18 +158,22 @@ class TrafficLightDispatcher : IMoGoAutopilotIdentifyListener, IMoGoTrafficLight * @param enter true:进入路口；false:离开路口 */ override fun onEnterCrossRoad(enter: Boolean) { + CallerLogger.d("${SceneConstant.M_OBU}${TAG}", "onEnterCrossRoad enter = $enter ") if (!enter) { Handler().postDelayed({ hasAiLightStatus = false hasObuLightStatus = false }, 5000) if (AppIdentityModeUtils.isDriver(FunctionBuildConfig.appIdentityMode)) { - CallerTelematicManager.sendMsgToAllClients(TelematicConstant.HIDE_TRAFFIC_LIGHT, "0".toByteArray()) + CallerTelematicManager.sendMsgToAllClients( + TelematicConstant.HIDE_TRAFFIC_LIGHT, + "0".toByteArray() + ) } //如果没有OBU灯态则进行隐藏，如果有OBU灯态，则交由OBU管理 - if(!hasObuLightStatus){ + if (!hasObuLightStatus) { CallerTrafficLightListenerManager.resetTrafficLightStatus(!hasObuLightStatus) - hide() + hide("云端离开路口隐藏", DataSourceType.AICLOUD) } } } @@ -165,9 +183,13 @@ class TrafficLightDispatcher : IMoGoAutopilotIdentifyListener, IMoGoTrafficLight */ override fun onTrafficRequestError() { hasAiLightStatus = false + CallerLogger.d( + "${SceneConstant.M_OBU}${TAG}", + "onTrafficRequestError hasObuLightStatus = $hasObuLightStatus ------> " + ) CallerTrafficLightListenerManager.resetTrafficLightStatus(!hasObuLightStatus) - if(!hasObuLightStatus){ - hide() + if (!hasObuLightStatus) { + hide("云端红绿灯接口请求失败隐藏", DataSourceType.AICLOUD) } } @@ -175,30 +197,46 @@ class TrafficLightDispatcher : IMoGoAutopilotIdentifyListener, IMoGoTrafficLight * obu数据消失 */ override fun onObuTrafficLightDisapper() { + CallerLogger.d("${SceneConstant.M_OBU}${TAG}", "onObuTrafficLightDisapper ------> ") hasObuLightStatus = false - hide() + hide("OBU红绿灯消息关闭隐藏", DataSourceType.OBU) } /** * 是否重置红绿灯数据,需要确保，在obu的红绿灯显示的时候，不执行。否则会闪屏 */ override fun resetTrafficLight(isReset: Boolean) { - CallerLogger.d("${SceneConstant.M_OBU}${TAG}", "resetTrafficLight ------> isReset = $isReset ---hasObuLightStatus = $hasObuLightStatus") + CallerLogger.d( + "${SceneConstant.M_OBU}${TAG}", + "resetTrafficLight ------> isReset = $isReset ---hasObuLightStatus = $hasObuLightStatus" + ) if (!hasObuLightStatus) { - if(isReset){ - hide() + if (isReset) { + hide("云端重置红绿灯数据", DataSourceType.AICLOUD) } } } - private fun hide(){ - CallerLogger.d("${SceneConstant.M_OBU}${TAG}", "hide() ---------> ") + @ChainLog( + linkChainLog = ChainConstant.CHAIN_TYPE_SOCKET_TRAFFIC_LIGHT, + linkCode = ChainConstant.CHAIN_SOURCE_ADAS, + nodeAliasCode = ChainConstant.CHAIN_CODE_ADAS_AUTOPILOT_TRAFFIC_LIGHT_HIDE, + paramIndexes = [0, 1] + ) + private fun hide(msg: String, sourceType: DataSourceType) { + CallerLogger.d("${SceneConstant.M_OBU}${TAG}", "hide() :$msg type :$sourceType") CallerTrafficLightListenerManager.disableTrafficLight() } /** - * obu 红绿灯数据 + * 红绿灯数据 */ + @ChainLog( + linkChainLog = ChainConstant.CHAIN_TYPE_SOCKET_TRAFFIC_LIGHT, + linkCode = ChainConstant.CHAIN_SOURCE_ADAS, + nodeAliasCode = ChainConstant.CHAIN_CODE_ADAS_AUTOPILOT_TRAFFIC_LIGHT, + paramIndexes = [0, 1, 2] + ) override fun onTrafficLightPlusSource( light: TrafficLightEnum, remain: Int, @@ -208,7 +246,10 @@ class TrafficLightDispatcher : IMoGoAutopilotIdentifyListener, IMoGoTrafficLight if (lightSource == DataSourceType.OBU) { hasObuLightStatus = true } - + CallerLogger.d( + "${SceneConstant.M_OBU}${TAG}", + "onTrafficLightPlusSource ----- light = $light ---remain = $remain ---lightSource = $lightSource ---hasObuLightStatus = $hasObuLightStatus ---hasAiLightStatus = $hasAiLightStatus" + ) CallerTrafficLightListenerManager.showTrafficLight(light, lightSource) if (remain == -1) { CallerTrafficLightListenerManager.disableTrafficLightCountDown() @@ -226,10 +267,10 @@ class TrafficLightDispatcher : IMoGoAutopilotIdentifyListener, IMoGoTrafficLight CallerTrafficLightListenerManager.changeCountdownYellow(remain) } TrafficLightEnum.BLACK -> { - CallerTrafficLightListenerManager.disableTrafficLight() + hide("感知数据BLACK隐藏", lightSource) } else -> { - hide() + hide("未知红绿灯类型隐藏", lightSource) } } @@ -237,6 +278,10 @@ class TrafficLightDispatcher : IMoGoAutopilotIdentifyListener, IMoGoTrafficLight private fun updateTrafficLight(trafficLightResult: TrafficLightResult) { val currentTrafficLight = trafficLightResult.currentRoadTrafficLight() + CallerLogger.d( + "${SceneConstant.M_OBU}${TAG}", + "updateTrafficLight ----- currentTrafficLight = $currentTrafficLight" + ) currentTrafficLight?.let { val remain = if (it.remain > 99) { 99 @@ -245,9 +290,9 @@ class TrafficLightDispatcher : IMoGoAutopilotIdentifyListener, IMoGoTrafficLight } onTrafficLightPlusSource(it.convert(), remain, DataSourceType.AICLOUD) } - } + fun destroy() { //取消注册监听AI云.OBU,路侧获取红绿灯状态 CallerTrafficLightListenerManager.removeListener(TAG) diff --git a/core/function-impl/mogo-core-function-devatools/src/main/java/com/zhjt/mogo_core_function_devatools/badcase/BadCaseManager.kt b/core/function-impl/mogo-core-function-devatools/src/main/java/com/zhjt/mogo_core_function_devatools/badcase/BadCaseManager.kt index cedb44ffac..22bc2a120b 100644 --- a/core/function-impl/mogo-core-function-devatools/src/main/java/com/zhjt/mogo_core_function_devatools/badcase/BadCaseManager.kt +++ b/core/function-impl/mogo-core-function-devatools/src/main/java/com/zhjt/mogo_core_function_devatools/badcase/BadCaseManager.kt @@ -7,23 +7,18 @@ import android.view.View import android.view.WindowManager import androidx.fragment.app.FragmentActivity import androidx.lifecycle.Lifecycle.Event -import androidx.lifecycle.LifecycleCoroutineScope import androidx.lifecycle.LifecycleEventObserver import androidx.lifecycle.LifecycleOwner -import androidx.lifecycle.lifecycleScope import com.mogo.cloud.passport.MoGoAiCloudClientConfig import com.mogo.eagle.core.data.app.AppConfigInfo import com.mogo.eagle.core.data.config.FunctionBuildConfig -import com.mogo.eagle.core.data.map.MogoLocation import com.mogo.eagle.core.data.msgbox.MsgBoxBean import com.mogo.eagle.core.data.msgbox.MsgBoxType import com.mogo.eagle.core.data.msgbox.RecordBagMsg import com.mogo.eagle.core.function.api.autopilot.IMoGoAutopilotRecordListener -import com.mogo.eagle.core.function.api.autopilot.IMoGoChassisLocationWGS84Listener import com.mogo.eagle.core.function.call.autopilot.CallerAutopilotRecordListenerManager import com.mogo.eagle.core.function.call.autopilot.CallerChassisLocationWGS84ListenerManager import com.mogo.eagle.core.function.call.msgbox.CallerMsgBoxManager -import com.mogo.eagle.core.utilcode.kotlin.lifecycleOwner 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_DEVA @@ -34,14 +29,10 @@ import com.zhjt.mogo_core_function_devatools.badcase.consts.BadCaseConfig import com.zhjt.mogo_core_function_devatools.badcase.repository.db.entity.AutoPilotRecord import com.zhjt.mogo_core_function_devatools.ext.enqueuePop import kotlinx.coroutines.* -import kotlinx.coroutines.channels.Channel import me.jessyan.autosize.utils.AutoSizeUtils import record_cache.RecordPanelOuterClass -import java.lang.ref.WeakReference -import java.util.concurrent.TimeUnit -internal object BadCaseManager : LifecycleEventObserver, IMoGoAutopilotRecordListener, - IMoGoChassisLocationWGS84Listener { +internal object BadCaseManager : LifecycleEventObserver, IMoGoAutopilotRecordListener { const val TAG = "BadCase" @@ -50,13 +41,8 @@ internal object BadCaseManager : LifecycleEventObserver, IMoGoAutopilotRecordLis @Volatile private var record: AutoPilotRecord? = null - private var longitude: Double = 0.0 - private var latitude: Double?= 0.0 - - fun init(){ + fun init() { CallerAutopilotRecordListenerManager.addListener(TAG, this) - // 添加 ADAS车辆状态&定位 监听 - CallerChassisLocationWGS84ListenerManager.addListener(TAG, this) } /** @@ -83,15 +69,20 @@ internal object BadCaseManager : LifecycleEventObserver, IMoGoAutopilotRecordLis /** * 展示BadCase录包管理页面 */ - fun showBadCaseManagerWindow(context: Context){ + fun showBadCaseManagerWindow(context: Context) { val badCaseManagerView = BadCaseManagerView(context) - badCaseManagerView.setOnClickListener(object: BadCaseManagerView.ClickListener{ + badCaseManagerView.setOnClickListener(object : BadCaseManagerView.ClickListener { override fun onClose() { hideFloat?.invoke() hideFloat = null } }) - context.enqueuePop(badCaseManagerView,AutoSizeUtils.dp2px(context,960f), WindowManager.LayoutParams.MATCH_PARENT, key = "BadCaseManagerView").also { + context.enqueuePop( + badCaseManagerView, + AutoSizeUtils.dp2px(context, 960f), + WindowManager.LayoutParams.MATCH_PARENT, + key = "BadCaseManagerView" + ).also { hideFloat = it } } @@ -246,29 +237,32 @@ internal object BadCaseManager : LifecycleEventObserver, IMoGoAutopilotRecordLis ) ) ) + val lat = + CallerChassisLocationWGS84ListenerManager.getChassisLocationWGS84().latitude + val lon = + CallerChassisLocationWGS84ListenerManager.getChassisLocationWGS84().longitude //埋点统计 - BadCaseAnalyticsManager.bagRecordReceive(recordPanel.key.toString(),recordPanel.filename, - System.currentTimeMillis().toString(),recordPanel.stat.toString(), - AppConfigInfo.plateNumber,recordPanel.duration.toString(), - MoGoAiCloudClientConfig.getInstance().sn,BadCaseConfig.dockerVersion ?:"", - AppUtils.getAppVersionName(),latitude.toString(),longitude.toString()) + BadCaseAnalyticsManager.bagRecordReceive( + recordPanel.key.toString(), recordPanel.filename, + System.currentTimeMillis().toString(), recordPanel.stat.toString(), + AppConfigInfo.plateNumber, recordPanel.duration.toString(), + MoGoAiCloudClientConfig.getInstance().sn, BadCaseConfig.dockerVersion ?: "", + AppUtils.getAppVersionName(), lat.toString(), lon.toString() + ) //日志埋点 - CallerLogger.i("$M_DEVA$TAG", "BadCase Receive Analytics="+"key="+recordPanel.key+" filename="+recordPanel.filename+ - " receiveTime="+System.currentTimeMillis()+" stat="+recordPanel.stat+" plateNumber="+AppConfigInfo.plateNumber+ - " totalDuration="+recordPanel.duration+" carSn="+MoGoAiCloudClientConfig.getInstance().sn+" mapVersion="+BadCaseConfig.dockerVersion+ - " eyeVersion="+AppUtils.getAppVersionName()+" latitude="+latitude+" longitude="+longitude) + CallerLogger.i( + "$M_DEVA$TAG", + "BadCase Receive Analytics=" + "key=" + recordPanel.key + " filename=" + recordPanel.filename + + " receiveTime=" + System.currentTimeMillis() + " stat=" + recordPanel.stat + " plateNumber=" + AppConfigInfo.plateNumber + + " totalDuration=" + recordPanel.duration + " carSn=" + MoGoAiCloudClientConfig.getInstance().sn + " mapVersion=" + BadCaseConfig.dockerVersion + + " eyeVersion=" + AppUtils.getAppVersionName() + " latitude=" + lat + " longitude=" + lon + ) } } } - override fun onStateChanged(source: LifecycleOwner, event: Event) { } - override fun onChassisLocationWGS84(gnssInfo: MogoLocation) { - latitude = gnssInfo.latitude - longitude = gnssInfo.longitude - } - } diff --git a/core/function-impl/mogo-core-function-devatools/src/main/java/com/zhjt/mogo_core_function_devatools/badcase/biz/AIDataCollectWindow.kt b/core/function-impl/mogo-core-function-devatools/src/main/java/com/zhjt/mogo_core_function_devatools/badcase/biz/AIDataCollectWindow.kt index 13becfbf20..ad824820f9 100644 --- a/core/function-impl/mogo-core-function-devatools/src/main/java/com/zhjt/mogo_core_function_devatools/badcase/biz/AIDataCollectWindow.kt +++ b/core/function-impl/mogo-core-function-devatools/src/main/java/com/zhjt/mogo_core_function_devatools/badcase/biz/AIDataCollectWindow.kt @@ -12,7 +12,6 @@ import com.mogo.cloud.passport.MoGoAiCloudClientConfig import com.mogo.eagle.core.data.app.AppConfigInfo import com.mogo.eagle.core.data.map.MogoLocation import com.mogo.eagle.core.function.api.autopilot.IMoGoAutopilotRecordListener -import com.mogo.eagle.core.function.api.autopilot.IMoGoChassisLocationWGS84Listener import com.mogo.eagle.core.function.call.autopilot.CallerAutoPilotControlManager import com.mogo.eagle.core.function.call.autopilot.CallerAutopilotRecordListenerManager import com.mogo.eagle.core.function.call.autopilot.CallerChassisLocationWGS84ListenerManager @@ -37,7 +36,7 @@ import java.util.* * @since: 2022/7/12 */ class AIDataCollectWindow constructor(activity: Activity) : View.OnTouchListener, - IMoGoAutopilotRecordListener, IMoGoChassisLocationWGS84Listener { + IMoGoAutopilotRecordListener { companion object { const val TAG = "AIDataCollectWindow" @@ -68,8 +67,6 @@ class AIDataCollectWindow constructor(activity: Activity) : View.OnTouchListener @Volatile private var recordFileName: String? = null //录制文件包名 - private var longitude: Double? = null - private var latitude: Double? = null private lateinit var mFloatLayout: View private var mInViewX = 0f @@ -116,8 +113,6 @@ class AIDataCollectWindow constructor(activity: Activity) : View.OnTouchListener "时间：${millis2String(System.currentTimeMillis(), TimeUtils.getHourMinSecondFormat())}" //采集结果回调监听 CallerAutopilotRecordListenerManager.addListener(this.hashCode().toString(), this) - // 添加 ADAS车辆状态&定位 监听 - CallerChassisLocationWGS84ListenerManager.addListener(this.hashCode().toString(), this) //开始录制AI数据采集Bag包 CallerAutoPilotControlManager.recordPackage( 99, @@ -234,7 +229,8 @@ class AIDataCollectWindow constructor(activity: Activity) : View.OnTouchListener itx["audioUrl"] = "" //音频COS地址 itx["mapVersion"] = BadCaseConfig.dockerVersion ?: "" //工控机版本 itx["eyeVersion"] = AppUtils.getAppVersionName() //鹰眼版本 - itx["coordinate"] = "latitude:${latitude};longitude:${longitude}" //坐标 + itx["coordinate"] = + "latitude:${CallerChassisLocationWGS84ListenerManager.getChassisLocationWGS84().latitude};longitude:${CallerChassisLocationWGS84ListenerManager.getChassisLocationWGS84().longitude}" //坐标 }) if (uploadResult == null || uploadResult.code != 200) { @@ -332,7 +328,7 @@ class AIDataCollectWindow constructor(activity: Activity) : View.OnTouchListener // 默认固定位置，靠屏幕右边缘的中间 mWindowManager!!.defaultDisplay.getMetrics(metrics) mWindowParams!!.x = metrics.widthPixels - mWindowParams!!.y = metrics.heightPixels - BarUtils.getStatusBarHeight()-950 + mWindowParams!!.y = metrics.heightPixels - BarUtils.getStatusBarHeight() - 950 mWindowManager!!.addView(mFloatLayout, mWindowParams) } } @@ -353,9 +349,4 @@ class AIDataCollectWindow constructor(activity: Activity) : View.OnTouchListener fun closeWindow() } - override fun onChassisLocationWGS84(gnssInfo: MogoLocation) { - latitude = gnssInfo.latitude - longitude = gnssInfo.longitude - } - } \ No newline at end of file diff --git a/core/function-impl/mogo-core-function-devatools/src/main/java/com/zhjt/mogo_core_function_devatools/binding/BindingCarManager.kt b/core/function-impl/mogo-core-function-devatools/src/main/java/com/zhjt/mogo_core_function_devatools/binding/BindingCarManager.kt index ba4bb5357a..4fda72eabd 100644 --- a/core/function-impl/mogo-core-function-devatools/src/main/java/com/zhjt/mogo_core_function_devatools/binding/BindingCarManager.kt +++ b/core/function-impl/mogo-core-function-devatools/src/main/java/com/zhjt/mogo_core_function_devatools/binding/BindingCarManager.kt @@ -27,6 +27,7 @@ import com.zhjt.mogo_core_function_devatools.upgrade.UpgradeAppNetWorkManager import mogo.telematics.pad.MessagePad /** + * //todo emArrow 链路biz * 车辆绑定 */ @SuppressLint("StaticFieldLeak") @@ -61,9 +62,9 @@ object BindingCarManager : IMoGoAutopilotCarConfigListener { } override fun onAutopilotCarConfig(carConfigResp: MessagePad.CarConfigResp) { - Logger.d("${SceneConstant.M_BINDING}${TAG}", "onAutopilotCarConfig ----------> ") + CallerLogger.d("${SceneConstant.M_BINDING}${TAG}", "onAutopilotCarConfig ----------> ") if (!TextUtils.isEmpty(carConfigResp.macAddress)) { - Logger.d("${SceneConstant.M_BINDING}${TAG}", + CallerLogger.d("${SceneConstant.M_BINDING}${TAG}", "onAutopilotCarConfig carConfigResp.macAddress = ${carConfigResp.macAddress} ") getBindingCarInfo(carConfigResp.macAddress, MoGoAiCloudClientConfig.getInstance().sn) } @@ -75,17 +76,14 @@ object BindingCarManager : IMoGoAutopilotCarConfigListener { * @param macAddress */ fun getBindingCarInfo(macAddress: String, widevineIDWithMd5: String) { - Log.d("UPGRADE", "-- getBindingCarInfo -- 1 -- : [mac: $macAddress, md5: $widevineIDWithMd5]") var flag = false if (!TextUtils.isEmpty(macAddress) && TextUtils.isEmpty(mAddress)) { - Log.d("UPGRADE", "-- getBindingCarInfo -- 2 -- : [mac: $macAddress, md5: $widevineIDWithMd5]") flag = true } if (!TextUtils.isEmpty(macAddress) && !TextUtils.equals(macAddress, mAddress)) { mAddress = macAddress } if (flag) { - Log.d("UPGRADE", "-- getBindingCarInfo -- 3 -- : [mac: $macAddress, md5: $widevineIDWithMd5]") queryAppUpgrade() val obuVersion = mObuVersion if (obuVersion != null && !TextUtils.isEmpty(obuVersion)) { diff --git a/core/function-impl/mogo-core-function-devatools/src/main/java/com/zhjt/mogo_core_function_devatools/mofang/MoFangManager.kt b/core/function-impl/mogo-core-function-devatools/src/main/java/com/zhjt/mogo_core_function_devatools/mofang/MoFangManager.kt index cf28e98458..c7fe0f0639 100644 --- a/core/function-impl/mogo-core-function-devatools/src/main/java/com/zhjt/mogo_core_function_devatools/mofang/MoFangManager.kt +++ b/core/function-impl/mogo-core-function-devatools/src/main/java/com/zhjt/mogo_core_function_devatools/mofang/MoFangManager.kt @@ -8,7 +8,6 @@ import android.content.Context import android.content.Intent import android.content.IntentFilter import android.view.KeyEvent -import com.mogo.commons.context.ContextHolderUtil import com.mogo.eagle.core.data.config.HmiBuildConfig import com.mogo.eagle.core.data.deva.mofang.MfConstants import com.mogo.eagle.core.function.api.devatools.mofang.IMoGoMoFangListener @@ -165,7 +164,10 @@ class MoFangManager private constructor() : IMoGoMoFangListener { * 魔方按键处理 */ override fun onMofangHandle(keyCode: Int, action: Int): Boolean { - val bluetoothName = SharedPrefsMgr.getInstance(ContextHolderUtil.getContext()).getString( + if(mContext == null){ + return false + } + val bluetoothName = SharedPrefsMgr.getInstance(mContext!!).getString( MfConstants.BLUETOOTH_NAME) if (bluetoothName == "MINI_KEYBOARD") { if (!isPressEnd) { diff --git a/core/function-impl/mogo-core-function-devatools/src/main/java/com/zhjt/mogo_core_function_devatools/trace/TraceManager.kt b/core/function-impl/mogo-core-function-devatools/src/main/java/com/zhjt/mogo_core_function_devatools/trace/TraceManager.kt index 53de7a845e..a1392f0591 100644 --- a/core/function-impl/mogo-core-function-devatools/src/main/java/com/zhjt/mogo_core_function_devatools/trace/TraceManager.kt +++ b/core/function-impl/mogo-core-function-devatools/src/main/java/com/zhjt/mogo_core_function_devatools/trace/TraceManager.kt @@ -57,7 +57,7 @@ class TraceManager : IMoGoCloudListener, IMoGoAutopilotCarConfigListener { fwBuildMap[ChainConstant.CHAIN_TYPE_SOCKET_VEHICLE] = FwBuild(false, 30, pkgName + ChainConstant.CHAIN_LINK_LOG_ADAS_VEHICLE) fwBuildMap[ChainConstant.CHAIN_TYPE_SOCKET_TRAFFIC_LIGHT] = - FwBuild(false, 30, pkgName + ChainConstant.CHAIN_LINK_LOG_ADAS_TRAFFIC_LIGHT) + FwBuild(true, -1, pkgName + ChainConstant.CHAIN_LINK_LOG_ADAS_TRAFFIC_LIGHT) fwBuildMap[ChainConstant.CHAIN_TYPE_SOCKET_P_OBJECTS] = FwBuild(false, 30, pkgName + ChainConstant.CHAIN_LINK_LOG_ADAS_PLANNING_OBJECTS) fwBuildMap[ChainConstant.CHAIN_TYPE_SOCKET_P_ACTIONS] = @@ -87,7 +87,7 @@ class TraceManager : IMoGoCloudListener, IMoGoAutopilotCarConfigListener { traceInfoCache[ChainConstant.CHAIN_TYPE_SOCKET_VEHICLE] = ChainLogParam(false, "ADAS车辆底盘数据") traceInfoCache[ChainConstant.CHAIN_TYPE_SOCKET_TRAFFIC_LIGHT] = - ChainLogParam(false, "ADAS红绿灯数据") + ChainLogParam(true, "ADAS红绿灯数据") traceInfoCache[ChainConstant.CHAIN_TYPE_SOCKET_P_OBJECTS] = ChainLogParam(false, "ADAS PLANNING 感知障碍物") traceInfoCache[ChainConstant.CHAIN_TYPE_SOCKET_P_ACTIONS] = diff --git a/core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/hmi/ui/tools/AutoPilotAndCheckView.kt b/core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/hmi/ui/tools/AutoPilotAndCheckView.kt index ed0847361d..d9698509fa 100644 --- a/core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/hmi/ui/tools/AutoPilotAndCheckView.kt +++ b/core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/hmi/ui/tools/AutoPilotAndCheckView.kt @@ -174,7 +174,7 @@ internal class AutoPilotAndCheckView @JvmOverloads constructor( svLayout.post { svLayout.fullScroll(View.FOCUS_DOWN) } - if (!connectStatus) { + if (!connectStatus) { //todo 单次获取 ToastUtils.showShort("设置车速失败，请启动域控制器") keyBoardUtil?.hideKeyboard() return@setOnTouchListener true diff --git a/core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/hmi/ui/widget/CheckSystemView.kt b/core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/hmi/ui/widget/CheckSystemView.kt index f6a1f0bd87..99b3367b46 100644 --- a/core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/hmi/ui/widget/CheckSystemView.kt +++ b/core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/hmi/ui/widget/CheckSystemView.kt @@ -107,7 +107,7 @@ class CheckSystemView @JvmOverloads constructor( } override fun onAutopilotStatusResponse(autoPilotStatusInfo: AutopilotStatusInfo) { - connectStatus = autoPilotStatusInfo.connectStatus + connectStatus = autoPilotStatusInfo.connectStatus //单次 autopilotStatus = autoPilotStatusInfo.state ThreadUtils.runOnUiThread { setViewStatus() diff --git 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 index 325c33de50..7105770856 100644 --- 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 @@ -6,8 +6,6 @@ import android.util.AttributeSet import android.view.Gravity import android.widget.FrameLayout import com.mogo.eagle.core.data.enums.DataSourceType -import com.mogo.eagle.core.data.map.MogoLocation -import com.mogo.eagle.core.function.api.autopilot.IMoGoChassisLocationGCJ02Listener import com.mogo.eagle.core.function.api.datacenter.union.ILimitingVelocityListener import com.mogo.eagle.core.function.call.autopilot.CallerChassisLocationGCJ02ListenerManager import com.mogo.eagle.core.function.call.v2x.CallerLimitingVelocityListenerManager @@ -18,8 +16,7 @@ class SpeedPanelView @JvmOverloads constructor( context: Context, attrs: AttributeSet? = null, defStyleAttr: Int = 0 -) : FrameLayout(context, attrs, defStyleAttr), IMoGoChassisLocationGCJ02Listener, - ILimitingVelocityListener { +) : FrameLayout(context, attrs, defStyleAttr), ILimitingVelocityListener { companion object { const val TAG = "SpeedPanelView" @@ -27,8 +24,6 @@ class SpeedPanelView @JvmOverloads constructor( var mContext: Context var mSpeedChartView: SpeedChartView - @Volatile - var mLatLng: MogoLocation? = null init { setBackgroundResource(R.drawable.yi_biao_pan_bg_nor) @@ -47,31 +42,22 @@ class SpeedPanelView @JvmOverloads constructor( override fun onAttachedToWindow() { super.onAttachedToWindow() CallerLimitingVelocityListenerManager.addListener(TAG, this) - CallerChassisLocationGCJ02ListenerManager.addListener(TAG, this) - } - - override fun onChassisLocationGCJ02(mogoLocation: MogoLocation?) { - mogoLocation?.let { - mLatLng = mogoLocation - } } override fun onLimitingVelocityChange(limitingVelocity: Int, sourceType: DataSourceType) { super.onLimitingVelocityChange(limitingVelocity, sourceType) - mLatLng?.let { - UiThreadHandler.post { - val speed = (it.gnssSpeed * 3.6f).toInt() - mSpeedChartView.setArcColor(Color.parseColor(if (speed > limitingVelocity) "#DB3137" else "#3E77F6")) - mSpeedChartView.setValues(speed) - setBackgroundResource(if (speed > limitingVelocity) R.drawable.yi_biao_pan_bg_speeding else R.drawable.yi_biao_pan_bg_nor) - } + UiThreadHandler.post { + val speed = + (CallerChassisLocationGCJ02ListenerManager.getChassisLocationGCJ02().gnssSpeed * 3.6f).toInt() + mSpeedChartView.setArcColor(Color.parseColor(if (speed > limitingVelocity) "#DB3137" else "#3E77F6")) + mSpeedChartView.setValues(speed) + setBackgroundResource(if (speed > limitingVelocity) R.drawable.yi_biao_pan_bg_speeding else R.drawable.yi_biao_pan_bg_nor) } } override fun onDetachedFromWindow() { super.onDetachedFromWindow() CallerLimitingVelocityListenerManager.removeListener(TAG) - CallerChassisLocationGCJ02ListenerManager.removeListener(TAG) } } \ No newline at end of file diff --git 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 index e7706741cc..44cbd07239 100644 --- 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 @@ -43,7 +43,6 @@ class SystemVersionView @JvmOverloads constructor( const val TAG = "SystemVersionView" } - private var connectStatus = false private var dockerVersion: String? = null //工控机版本 private var autopilotStatus: Int? = null //自动驾驶状态 0代表不可自动驾驶,1代表可自动驾驶,2代表自动驾驶中 @@ -322,20 +321,12 @@ class SystemVersionView @JvmOverloads constructor( } override fun onAutopilotStatusResponse(autoPilotStatusInfo: AutopilotStatusInfo) { - connectStatus = autoPilotStatusInfo.connectStatus dockerVersion = autoPilotStatusInfo.dockVersion autopilotStatus = autoPilotStatusInfo.state CallerLogger.i( "$M_HMI$TAG", - "onAutopilotStatusResponse connectStatus=$connectStatus , dockerVersion=$dockerVersion , autopilotStatus=$autopilotStatus" + "onAutopilotStatusResponse dockerVersion=$dockerVersion , autopilotStatus=$autopilotStatus" ) -// if(needQueryContainers && !AdUpgradeStateHelper.isUpgradeableStatus()){ -// dockerVersion?.let { -// //查询是否有新的工控机docker版本 -// CallerBindingcarManager.getBindingcarProvider().queryContainers(MoGoAiCloudClient.getInstance().aiCloudClientConfig.sn,dockerVersion) -// needQueryContainers = false -// } -// } setViewStatus() } diff --git a/core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/hmi/ui/widget/TrafficDataView.java b/core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/hmi/ui/widget/TrafficDataView.java index 6dd1b01dba..096d4690b3 100644 --- a/core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/hmi/ui/widget/TrafficDataView.java +++ b/core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/hmi/ui/widget/TrafficDataView.java @@ -77,7 +77,7 @@ public class TrafficDataView extends ConstraintLayout implements } else { accTextView.setText("- " + accStr); } - int state = CallerAutoPilotStatusListenerManager.INSTANCE.getAutoPilotStatusInfo().getState(); + int state = CallerAutoPilotStatusListenerManager.INSTANCE.getState(); if (state < STATUS_AUTOPILOT_RUNNING) { if (mBrake > 0) { brakeStatus.setImageResource(R.drawable.traffic_data_brake); diff --git a/core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/main/PassengerLauncherActivity.java b/core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/main/PassengerLauncherActivity.java index 25a11413a7..8eb7f3d55d 100644 --- a/core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/main/PassengerLauncherActivity.java +++ b/core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/main/PassengerLauncherActivity.java @@ -176,200 +176,11 @@ public class PassengerLauncherActivity extends MainActivity implements IMogoInte } } - @Override - public boolean onKeyDown(int keyCode, KeyEvent event) { - return super.onKeyDown(keyCode, event); - } - - private long startPressTime = 0; //开始按减时间 - private boolean isPressEnd = false; //按键是否结束 - private boolean isCombinationKey = false; //是否是组合按键 - - private long pressADownTime = 0; - private long pressAUpTime = 0; - private long pressBDownTime = 0; - private long pressBUpTime = 0; - private long pressCDownTime = 0; - private long pressCUpTime = 0; - private long pressDDownTime = 0; - private long pressDUpTime = 0; - private long pressEDownTime = 0; - private long pressEUpTime = 0; - - - /** - * 魔方按键分发 提测前注释 ToastUtils TODO - * - * @param event - * @return - */ - @Override - public boolean dispatchKeyEvent(KeyEvent event) { -// Log.d(TAG, "dispatchKeyEvent code = " + event.getKeyCode() + "--action = " + event.getAction() + "----" + event); - String bluetoothName = SharedPrefsMgr.getInstance(getContext()).getString("BLUETOOTH"); - if (!isPressEnd) { - Log.e(TAG, "dispatchKeyEvent bluetoothName = " + bluetoothName); - } - if (bluetoothName.equals("MINI_KEYBOARD")) { - if (!isPressEnd) { - isPressEnd = true; - startPressTime = System.currentTimeMillis(); - } - - if (event.getKeyCode() == KeyEvent.KEYCODE_A) { //单击 -1，长按无操作，AB组合-2 - if (event.getAction() == KeyEvent.ACTION_DOWN) { - pressADownTime = System.currentTimeMillis(); - Log.d(TAG, "dispatchKeyEvent A down pressADownTime = " + pressADownTime + "---" + (pressADownTime - startPressTime) + "----isCombinationKey = " + isCombinationKey + "--pressBDownTime = " + pressBDownTime); - if ((pressADownTime - startPressTime) > 350 && (pressADownTime - startPressTime) < 1800 && pressBDownTime > 0) { - ToastUtils.showShort("方块 A 按AB组合 -2 "); - sendAcc(true, -2); - isCombinationKey = true; - } - if (!isCombinationKey) { - if ((pressADownTime - startPressTime) > 1900) { - ToastUtils.showShort("方块 长按A 无 操作 "); - } - } - } else if (event.getAction() == KeyEvent.ACTION_UP) { - pressAUpTime = System.currentTimeMillis(); - isPressEnd = false; - isCombinationKey = false; - Log.e(TAG, "dispatchKeyEvent A up pressAUpTime = " + pressAUpTime + "---" + (pressAUpTime - startPressTime) + "--pressBDownTime = " + pressBDownTime); - if ((pressAUpTime - startPressTime) < 300) { - ToastUtils.showShort("方块 单击A -1 "); - sendAcc(true, -1); - } - pressAUpTime = 0; - } - - return true; - } else if (event.getKeyCode() == KeyEvent.KEYCODE_B) {//单击复原，长按+1，AB组合-2 - if (event.getAction() == KeyEvent.ACTION_DOWN) { - pressBDownTime = System.currentTimeMillis(); - Log.d(TAG, "dispatchKeyEvent B down pressBDownTime = " + pressBDownTime + "--差-" + (pressBDownTime - startPressTime) + "---isCombinationKey = " + isCombinationKey + "--pressADownTime = " + pressADownTime); - if ((pressBDownTime - startPressTime) > 350 && (pressBDownTime - startPressTime) < 1800 && pressADownTime > 0) { - ToastUtils.showShort("方块 B 按AB组合 "); - sendAcc(true, -2); - isCombinationKey = true; - } - if (!isCombinationKey) { - if ((pressBDownTime - startPressTime) > 1900) { - ToastUtils.showShort("方块 长按B =1 "); - sendAcc(true, +1); - } - } - } else if (event.getAction() == KeyEvent.ACTION_UP) { - pressBUpTime = System.currentTimeMillis(); - isPressEnd = false; - isCombinationKey = false; - Log.e(TAG, "dispatchKeyEvent B up pressBUpTime = " + pressBUpTime + "--差-" + (pressBUpTime - startPressTime) + "--pressADownTime = " + pressADownTime); - if ((pressBUpTime - startPressTime) < 300) { - ToastUtils.showShort("方块 单击B 0 "); - sendAcc(false, 0.0); - } - pressBDownTime = 0; - } - - return true; - } else if (event.getKeyCode() == KeyEvent.KEYCODE_C) { //单击左变道，长按无操作 - if (event.getAction() == KeyEvent.ACTION_DOWN) { - pressCDownTime = System.currentTimeMillis(); - if (!isCombinationKey) { - if ((pressCDownTime - startPressTime) > 1900) { - ToastUtils.showShort("方块 长按C 无操作 "); - } - } - } else if (event.getAction() == KeyEvent.ACTION_UP) { - pressCUpTime = System.currentTimeMillis(); - isPressEnd = false; - isCombinationKey = false; - if ((pressCUpTime - startPressTime) < 300) { - ToastUtils.showShort("方块 单击C ← 向左变道 "); - CallerAutoPilotControlManager.INSTANCE.sendOperatorChangeLaneLeft(); - } - } - return true; - } else if (event.getKeyCode() == KeyEvent.KEYCODE_D) { //单击向右变道，双击无操作 - if (event.getAction() == KeyEvent.ACTION_DOWN) { - pressDDownTime = System.currentTimeMillis(); - if (!isCombinationKey) { - if ((pressDDownTime - startPressTime) > 1900) { - ToastUtils.showShort("方块 长按D 无操作 "); - } - } - } else if (event.getAction() == KeyEvent.ACTION_UP) { - pressDUpTime = System.currentTimeMillis(); - isPressEnd = false; - isCombinationKey = false; - if ((pressDUpTime - startPressTime) < 300) { - ToastUtils.showShort("方块 单击D → 向右变道 "); - CallerAutoPilotControlManager.INSTANCE.sendOperatorChangeLaneRight(); - } - } - - return true; - } else if (event.getKeyCode() == KeyEvent.KEYCODE_E) { //单击启动自驾，长按鸣笛 - if (event.getAction() == KeyEvent.ACTION_DOWN) { - pressEDownTime = System.currentTimeMillis(); - if (!isCombinationKey) { - if ((pressEDownTime - startPressTime) > 1900) { - ToastUtils.showShort("方块 长按E 鸣笛 "); - CallerAutoPilotControlManager.INSTANCE.sendOperatorSetHorn(1); - if (timerHorn == null) { - timerHorn = new Timer(); - } - timerHorn.schedule(new TimerTask() { - @Override - public void run() { - CallerAutoPilotControlManager.INSTANCE.sendOperatorSetHorn(2); - timerHorn = null; - } - }, 500); - } - } - } else if (event.getAction() == KeyEvent.ACTION_UP) { - pressEUpTime = System.currentTimeMillis(); - isPressEnd = false; - isCombinationKey = false; - if ((pressEUpTime - startPressTime) < 300) { - ToastUtils.showShort("方块 单击E 开启自动驾驶 "); - CallerAutoPilotControlManager.INSTANCE.startAutoPilot(CallerAutoPilotStatusListenerManager.INSTANCE.getAutoPilotStatusInfo().getAutopilotControlParameters()); - } - } - - return true; - } - } - - return super.dispatchKeyEvent(event); - } - @Override public void onSkinModeChange(int skinMode) { } - private synchronized void sendAcc(boolean isSend, double acc) { - if (isSend) { - accelerated = acc; - if (timerAcc == null) { - timerAcc = new Timer(); - timerAcc.schedule(new TimerTask() { - @Override - public void run() { - CallerAutoPilotControlManager.INSTANCE.sendOperatorSetAcceleratedSpeed(accelerated); - } - }, 0, 500); - } - } else { - if (timerAcc != null) { - timerAcc.cancel(); - timerAcc = null; - } - CallerAutoPilotControlManager.INSTANCE.sendOperatorSetAcceleratedSpeed(acc); - } - } - /** * 初始化蓝牙广播 */ diff --git a/core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/business/collect/MoGoMapDataCollectProvider.kt b/core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/business/collect/MoGoMapDataCollectProvider.kt index fcc3480549..272239f445 100644 --- a/core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/business/collect/MoGoMapDataCollectProvider.kt +++ b/core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/business/collect/MoGoMapDataCollectProvider.kt @@ -182,16 +182,16 @@ class MoGoMapDataCollectProvider : IMoGoMapDataCollectProvider, OnTaskListener, } override fun onChassisLocationWGS84(gnssInfo: MogoLocation) { - if (gnssInfo.gnssInfo != null - && gnssInfo.gnssInfo.longitude != 0.0 - && gnssInfo.gnssInfo.latitude != 0.0 + if (gnssInfo != null + && gnssInfo.longitude != 0.0 + && gnssInfo.latitude != 0.0 ) { executor.get()?.updateLocation( - gnssInfo.gnssInfo.longitude, - gnssInfo.gnssInfo.latitude, - gnssInfo.gnssInfo.altitude, - gnssInfo.gnssInfo.heading.toFloat(), - gnssInfo.gnssInfo.gnssSpeed.toFloat(), + gnssInfo.longitude, + gnssInfo.latitude, + gnssInfo.altitude, + gnssInfo.heading.toFloat(), + gnssInfo.gnssSpeed, true ) } diff --git a/core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/business/routeoverlay/MogoRouteOverlayManager.java b/core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/business/routeoverlay/MogoRouteOverlayManager.java index 1d275b58ef..d348d6f898 100644 --- a/core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/business/routeoverlay/MogoRouteOverlayManager.java +++ b/core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/business/routeoverlay/MogoRouteOverlayManager.java @@ -71,12 +71,12 @@ public class MogoRouteOverlayManager implements if (gnssInfo == null) { return; } - if (isArriveAtStation.get() && autopilotMode.get() != 1) { + if (isArriveAtStation.get() && autopilotMode.get() != 2) { RouteOverlayDrawer.getInstance().clearMogoRouteOverlay(); return; } boolean force = FunctionBuildConfig.isIgnoreConditionsDrawAutopilotTrajectoryData; - if (!force && autopilotMode.get() != 1) { + if (!force && autopilotMode.get() != 2) { RouteOverlayDrawer.getInstance().clearMogoRouteOverlay(); return; } @@ -92,8 +92,8 @@ public class MogoRouteOverlayManager implements @Override public void onAutopilotStatusResponse(@NotNull AutopilotStatusInfo autoPilotStatusInfo) { - int mode = autoPilotStatusInfo.getPilotmode(); - if (mode == 1) { + int mode = autoPilotStatusInfo.getState(); + if (mode == 2) { isArriveAtStation.set(false); } this.autopilotMode.set(mode); diff --git a/core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/smp/view/SmallMapView.kt b/core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/smp/view/SmallMapView.kt index b96081473a..9752011274 100644 --- a/core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/smp/view/SmallMapView.kt +++ b/core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/smp/view/SmallMapView.kt @@ -319,8 +319,8 @@ class SmallMapView @JvmOverloads constructor( } override fun onAutopilotStatusResponse(autoPilotStatusInfo: AutopilotStatusInfo) { - val tempStatus = autoPilotStatusInfo.pilotmode - if (tempStatus != 1) { + val tempStatus = autoPilotStatusInfo.state + if (tempStatus != 2) { UiThreadHandler.post { clearPolyline() } diff --git a/core/mogo-core-data/src/main/java/com/mogo/eagle/core/data/autopilot/AutopilotStatusInfo.kt b/core/mogo-core-data/src/main/java/com/mogo/eagle/core/data/autopilot/AutopilotStatusInfo.kt index 2dd8130231..030332407f 100644 --- a/core/mogo-core-data/src/main/java/com/mogo/eagle/core/data/autopilot/AutopilotStatusInfo.kt +++ b/core/mogo-core-data/src/main/java/com/mogo/eagle/core/data/autopilot/AutopilotStatusInfo.kt @@ -30,11 +30,13 @@ open class AutopilotStatusInfo : Serializable, Cloneable { /** * 工控机镜像版本 */ + @Volatile var dockVersion: String? = null /** * 定位是否可用 */ + @Volatile var locationStatus = false @Volatile @@ -49,13 +51,9 @@ open class AutopilotStatusInfo : Serializable, Cloneable { /** * 自动驾驶状态 0是不可用 1是ready 2是自动驾驶start 7:平行驾驶中 */ + @Volatile var state = 0 - /** - * 不可用原因 - */ - var reason: String? = null - /** * 底盘的自动驾驶状态 0非自动驾驶，1自动驾驶 */ @@ -63,18 +61,20 @@ open class AutopilotStatusInfo : Serializable, Cloneable { var pilotmode = 0 // 默认未连接 + @Volatile var ipcConnStatus = 0x01 /** * 记录最后一次启动自动驾驶需要的参数，结束自动驾驶后设置为null */ + @Volatile var autopilotControlParameters: AutopilotControlParameters? = null override fun toString(): String { return "connectIP=$connectIP, connectPort=$connectPort, " + "connectStatus=$connectStatus, connectDescribe=$connectStatusDescribe, version=$version, dockVersion=$dockVersion," + " locationStatus=$locationStatus), locationLat=$locationLat, locationLon=$locationLon," + - " satelliteTime=$satelliteTime, state=$state, reason=$reason, " + + " satelliteTime=$satelliteTime, state=$state, " + " pilotmode=$pilotmode, ipcConnStatus=$ipcConnStatus, autopilotControlParameters=$autopilotControlParameters" } diff --git a/core/mogo-core-data/src/main/java/com/mogo/eagle/core/data/deva/chain/ChainConstant.kt b/core/mogo-core-data/src/main/java/com/mogo/eagle/core/data/deva/chain/ChainConstant.kt index 62d07e90f7..9ad7dc0416 100644 --- a/core/mogo-core-data/src/main/java/com/mogo/eagle/core/data/deva/chain/ChainConstant.kt +++ b/core/mogo-core-data/src/main/java/com/mogo/eagle/core/data/deva/chain/ChainConstant.kt @@ -62,6 +62,7 @@ class ChainConstant { const val CHAIN_CODE_ADAS_AUTOPILOT_RECORD = "CHAIN_CODE_ADAS_AUTOPILOT_RECORD" const val CHAIN_CODE_ADAS_AUTOPILOT_VEHICLE = "CHAIN_CODE_ADAS_AUTOPILOT_VEHICLE" const val CHAIN_CODE_ADAS_AUTOPILOT_TRAFFIC_LIGHT = "CHAIN_CODE_ADAS_AUTOPILOT_TRAFFIC_LIGHT" + const val CHAIN_CODE_ADAS_AUTOPILOT_TRAFFIC_LIGHT_HIDE = "CHAIN_CODE_ADAS_AUTOPILOT_TRAFFIC_LIGHT_HIDE" const val CHAIN_CODE_ADAS_P_OBJECTS = "CHAIN_CODE_ADAS_P_OBJECTS" const val CHAIN_CODE_ADAS_P_ACTIONS = "CHAIN_CODE_ADAS_P_ACTIONS" const val CHAIN_CODE_ADAS_STATUS_QUERY_RESP = "CHAIN_CODE_ADAS_STATUS_QUERY_RESP" diff --git a/core/mogo-core-function-api/src/main/java/com/mogo/eagle/core/function/api/autopilot/IMoGoAutopilotStatusListener.kt b/core/mogo-core-function-api/src/main/java/com/mogo/eagle/core/function/api/autopilot/IMoGoAutopilotStatusListener.kt index d13d406c6e..56869e1a99 100644 --- a/core/mogo-core-function-api/src/main/java/com/mogo/eagle/core/function/api/autopilot/IMoGoAutopilotStatusListener.kt +++ b/core/mogo-core-function-api/src/main/java/com/mogo/eagle/core/function/api/autopilot/IMoGoAutopilotStatusListener.kt @@ -19,6 +19,13 @@ interface IMoGoAutopilotStatusListener { */ fun onAutopilotStatusResponse(autoPilotStatusInfo: AutopilotStatusInfo) {} + /** + * 自动驾驶状态信息 + * + * @param status 状态信息 + */ + fun onAutopilotStatusResponse(status: Int) {} + /** * 自动驾驶到站 * diff --git a/core/mogo-core-function-call/src/main/java/com/mogo/eagle/core/function/call/autopilot/CallerAutoPilotStatusListenerManager.kt b/core/mogo-core-function-call/src/main/java/com/mogo/eagle/core/function/call/autopilot/CallerAutoPilotStatusListenerManager.kt index e86ce263b1..db4badb8df 100644 --- a/core/mogo-core-function-call/src/main/java/com/mogo/eagle/core/function/call/autopilot/CallerAutoPilotStatusListenerManager.kt +++ b/core/mogo-core-function-call/src/main/java/com/mogo/eagle/core/function/call/autopilot/CallerAutoPilotStatusListenerManager.kt @@ -7,10 +7,8 @@ import com.mogo.eagle.core.function.call.base.CallerBase import com.mogo.eagle.core.utilcode.util.GsonUtils import mogo.telematics.pad.MessagePad import mogo_msg.MogoReportMsg -import system_master.* -import java.util.concurrent.ConcurrentHashMap -import kotlin.properties.Delegates import system_master.SystemStatusInfo +import kotlin.properties.Delegates /** * 域控制器相关的回调监听 @@ -24,7 +22,7 @@ object CallerAutoPilotStatusListenerManager : CallerBase - if(newValue == null){ + if (newValue == null) { return@observable } M_LISTENERS.forEach { @@ -33,6 +31,15 @@ object CallerAutoPilotStatusListenerManager : CallerBase + if(oldValue != newValue){ + M_LISTENERS.forEach { + val listener = it.value + listener.onAutopilotStatusResponse(newValue) + } + } + } + @Volatile private var autoPilotMessageCode: String = "" @@ -46,6 +53,18 @@ object CallerAutoPilotStatusListenerManager : CallerBase() { - //todo emArrow 总结 private var steering: Float? by Delegates.observable(0.0f) { _, oldValue, newValue -> if (newValue == null) { return@observable diff --git a/core/mogo-core-function-call/src/main/java/com/mogo/eagle/core/function/call/autopilot/CallerPlanningRottingListenerManager.kt b/core/mogo-core-function-call/src/main/java/com/mogo/eagle/core/function/call/autopilot/CallerPlanningRottingListenerManager.kt index ddf3d98072..94a7432b64 100644 --- a/core/mogo-core-function-call/src/main/java/com/mogo/eagle/core/function/call/autopilot/CallerPlanningRottingListenerManager.kt +++ b/core/mogo-core-function-call/src/main/java/com/mogo/eagle/core/function/call/autopilot/CallerPlanningRottingListenerManager.kt @@ -19,6 +19,13 @@ object CallerPlanningRottingListenerManager : CallerBase= 0) { - return degree; - } else { - return 360 + degree; - } - } - - /** - * 根据角度获取指定距离点的经纬度 - */ - public static MogoLatLng getNewLocation(double lon, double lat, double distance, double angle) { - mRadLo = lon * Math.PI / 180.; - mRadLa = lat * Math.PI / 180.; - Ec = radius_s + (radius_b - radius_s) * (90. - lat) / 90; - Ed = Ec * Math.cos(mRadLa); - - double dx = distance * Math.sin(Math.toRadians(angle)); - double dy = distance * Math.cos(Math.toRadians(angle)); - double lon_new = (dx / Ed + mRadLo) * 180. / Math.PI; - double lat_new = (dy / Ec + mRadLa) * 180. / Math.PI; - return new MogoLatLng(lat_new, lon_new); - } - -}