[code_opt_3.3.0] code opt

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<IMoGoAutopilotStatusLis
     private var mAutopilotStatusInfo: AutopilotStatusInfo = AutopilotStatusInfo()
 
     private var lineId: Long? by Delegates.observable(0) { _, _, newValue ->
-        if(newValue == null){
+        if (newValue == null) {
             return@observable
         }
         M_LISTENERS.forEach {
@@ -33,6 +31,15 @@ object CallerAutoPilotStatusListenerManager : CallerBase<IMoGoAutopilotStatusLis
         }
     }
 
+    private var status: Int by Delegates.observable(0){_, oldValue, newValue ->
+        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<IMoGoAutopilotStatusLis
         return mAutopilotStatusInfo
     }
 
+    fun getState(): Int {
+        return mAutopilotStatusInfo.state
+    }
+
+    fun getLineId(): Long {
+        return lineId ?: 0L
+    }
+
+    fun getDockerInfo(): String? {
+        return mAutopilotStatusInfo.dockVersion
+    }
+
     /**
      * 查询AutoPilot状态
      */
@@ -60,7 +79,7 @@ object CallerAutoPilotStatusListenerManager : CallerBase<IMoGoAutopilotStatusLis
     /**
      * 通过Gnss定位更新来同步更新自动驾驶状态
      */
-    fun updateAutoPilotLatLon(satelliteTime: Double, lon: Double, lat: Double) {
+    fun updateAutoPilotLocAndTime(satelliteTime: Double, lon: Double, lat: Double) {
         mAutopilotStatusInfo.locationLat = lat
         mAutopilotStatusInfo.locationLon = lon
         mAutopilotStatusInfo.satelliteTime = satelliteTime
@@ -68,18 +87,10 @@ object CallerAutoPilotStatusListenerManager : CallerBase<IMoGoAutopilotStatusLis
         invokeAutoPilotStatus()
     }
 
-    /**
-     * 获取当前时刻WGS84 lat
-     */
-    fun getCurWgs84Lat(): Double {
-        return mAutopilotStatusInfo.locationLat
-    }
-
-    /**
-     * 获取当前时刻WGS84 lon
-     */
-    fun getCurWgs84Lon(): Double {
-        return mAutopilotStatusInfo.locationLon
+    fun updateAutoPilotStatus(state: Int, autopilotMode: Int) {
+        mAutopilotStatusInfo.state = state
+        mAutopilotStatusInfo.pilotmode = autopilotMode
+        invokeAutoPilotStatus()
     }
 
     /**
@@ -180,7 +191,7 @@ object CallerAutoPilotStatusListenerManager : CallerBase<IMoGoAutopilotStatusLis
      */
     fun updateAutopilotControlParameters(autopilotControlParameters: AutopilotControlParameters? = null) {
         mAutopilotStatusInfo.autopilotControlParameters = autopilotControlParameters
-        lineId = autopilotControlParameters?.autoPilotLine?.lineId?:0
+        lineId = autopilotControlParameters?.autoPilotLine?.lineId ?: 0
         invokeAutoPilotStatus(mAutopilotStatusInfo)
     }
 }

core/mogo-core-function-call/src/main/java/com/mogo/eagle/core/function/call/autopilot/CallerChassisSteeringStateListenerManager.kt

@@ -9,7 +9,6 @@ import kotlin.properties.Delegates
  */
 object CallerChassisSteeringStateListenerManager : CallerBase<IMoGoChassisSteeringStateListener>() {
 
-    //todo emArrow 总结
     private var steering: Float? by Delegates.observable(0.0f) { _, oldValue, newValue ->
         if (newValue == null) {
             return@observable

core/mogo-core-function-call/src/main/java/com/mogo/eagle/core/function/call/autopilot/CallerPlanningRottingListenerManager.kt

@@ -19,6 +19,13 @@ object CallerPlanningRottingListenerManager : CallerBase<IMoGoPlanningRottingLis
         }
     }
 
+    /**
+     * 获取global path cache
+     */
+    fun getGlobalPathCache(): MessagePad.GlobalPathResp? {
+        return globalPathResp
+    }
+
     /**
      * 路径规划  回调
      * @param globalPathResp 自动驾驶网约车回调数据
@@ -33,4 +40,5 @@ object CallerPlanningRottingListenerManager : CallerBase<IMoGoPlanningRottingLis
         }
     }
 
+
 }