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[code_opt_3.3.0] code opt

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This commit is contained in:
zhongchao
2023-06-09 11:05:53 +08:00
parent 00a999c777
commit ad73ccf819
58 changed files with 293 additions and 712 deletions
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7
core/function-impl/mogo-core-function-biz/src/main/java/com/mogo/eagle/function/biz/dispatch/DispatchAutoPilotManager.kt
View File

@@ -16,7 +16,7 @@ import com.mogo.eagle.core.function.api.autopilot.IMoGoPlanningRottingListener
import com.mogo.eagle.core.function.api.hmi.autopilot.IMoGoCheckAutoPilotBtnListener
import com.mogo.eagle.core.function.call.autopilot.CallerAutoPilotControlManager
import com.mogo.eagle.core.function.call.autopilot.CallerAutoPilotStatusListenerManager
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.CallerPlanningRottingListenerManager
import com.mogo.eagle.core.function.call.hmi.CallerHmiListenerManager
import com.mogo.eagle.core.function.call.hmi.CallerHmiManager
@@ -73,10 +73,7 @@ class DispatchAutoPilotManager private constructor() :
msg.obj as DispatchAdasAutoPilotLocReceiverBean
CallerHmiManager.showDispatchDialog(msgData)
} else if (msg.what == MSG_TYPE_UPLOAD_AUTOPILOT_STATUS) {
dispatchServiceModel.uploadAutopilotStatus(
getAutoPilotStatusInfo().state,
getAutoPilotStatusInfo().reason
)
dispatchServiceModel.uploadAutopilotStatus(getState(), "")
sendEmptyMessageDelayed(MSG_TYPE_UPLOAD_AUTOPILOT_STATUS, 1000L)
} else if(msg.what == MSG_TYPE_UPLOAD_AUTOPILOT_ROTTING){
val data = msg.obj as MessagePad.GlobalPathResp

64
core/function-impl/mogo-core-function-biz/src/main/java/com/mogo/eagle/function/biz/monitoring/CronTaskManager.kt
View File

@@ -48,7 +48,6 @@ class CronTaskManager {
CRON_TASK_TYPE -> {
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
*/

18
core/function-impl/mogo-core-function-biz/src/main/java/com/mogo/eagle/function/biz/v2x/overview/OverViewDataManager.kt
View File

@@ -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
}
}

23
core/function-impl/mogo-core-function-biz/src/main/java/com/mogo/eagle/function/biz/v2x/v2n/V2XPoiLoader.kt
View File

@@ -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

71
core/function-impl/mogo-core-function-datacenter/src/main/java/com/mogo/eagle/core/function/datacenter/autopilot/adapter/MoGoAdasListenerImpl.kt
View File

@@ -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
)
}
/**

41
core/function-impl/mogo-core-function-datacenter/src/main/java/com/mogo/eagle/core/function/datacenter/autopilot/adapter/MoGoAdasMsgConnectStatusListenerImpl.kt
View File

@@ -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()
)
}
}

4
core/function-impl/mogo-core-function-datacenter/src/main/java/com/mogo/eagle/core/function/datacenter/location/MoGoLocationDispatcher.kt
View File

@@ -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) {

3
core/function-impl/mogo-core-function-datacenter/src/main/java/com/mogo/eagle/core/function/datacenter/obu/MogoPrivateObuNewManager.kt
View File

@@ -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

91
core/function-impl/mogo-core-function-datacenter/src/main/java/com/mogo/eagle/core/function/datacenter/v2x/TrafficLightDispatcher.kt
View File

@@ -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)

62
core/function-impl/mogo-core-function-devatools/src/main/java/com/zhjt/mogo_core_function_devatools/badcase/BadCaseManager.kt
View File

@@ -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
}
}

17
core/function-impl/mogo-core-function-devatools/src/main/java/com/zhjt/mogo_core_function_devatools/badcase/biz/AIDataCollectWindow.kt
View File

@@ -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
}
}

8
core/function-impl/mogo-core-function-devatools/src/main/java/com/zhjt/mogo_core_function_devatools/binding/BindingCarManager.kt
View File

@@ -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)) {

6
core/function-impl/mogo-core-function-devatools/src/main/java/com/zhjt/mogo_core_function_devatools/mofang/MoFangManager.kt
View File

@@ -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) {

4
core/function-impl/mogo-core-function-devatools/src/main/java/com/zhjt/mogo_core_function_devatools/trace/TraceManager.kt
View File

@@ -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] =

2
core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/hmi/ui/tools/AutoPilotAndCheckView.kt
View File

@@ -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

2
core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/hmi/ui/widget/CheckSystemView.kt
View File

@@ -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()

28
core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/hmi/ui/widget/SpeedPanelView.kt
View File

@@ -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)
}
}

11
core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/hmi/ui/widget/SystemVersionView.kt
View File

@@ -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()
}

2
core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/hmi/ui/widget/TrafficDataView.java
View File

@@ -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);

189
core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/main/PassengerLauncherActivity.java
View File

@@ -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
*/

16
core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/business/collect/MoGoMapDataCollectProvider.kt
View File

@@ -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
)
}

8
core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/business/routeoverlay/MogoRouteOverlayManager.java
View File

@@ -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);

4
core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/smp/view/SmallMapView.kt
View File

@@ -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()
}