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将工控机感知数据回调与状态信息回调分离

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CallerAutoPilotManager增加开启、停止自动驾驶方法

Signed-off-by: 董宏宇 <martindhy@gmail.com>
This commit is contained in:
董宏宇
2021-11-01 18:49:13 +08:00
parent 2561a5d38b
commit adc973bbfc
14 changed files with 213 additions and 115 deletions
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17
core/function-impl/mogo-core-function-autopilot/src/main/java/com/mogo/eagle/core/function/autopilot/MoGoAutopilotProvider.kt
View File

@@ -40,11 +40,7 @@ class MoGoAutopilotProvider :
override fun startAutoPilot(result: AutopilotControlParameters) {
if (AdasManager.getInstance().isSocketConnect) {
val parameter =
AutopilotControlCmdParameter(
TAG,
result
)
val parameter = AutopilotControlCmdParameter(TAG, result)
AdasManager.getInstance().aiCloudToAdasData(GsonUtils.toJson(parameter))
} else {
LogUtils.eTag(TAG, "车机与工控机链接失败，无法开启自动驾驶")
@@ -59,17 +55,6 @@ class MoGoAutopilotProvider :
}
}
override fun getAutopilotStatus(): Int {
// int status = IMoGoAutoPilotStatusListener.STATUS_AUTOPILOT_DISABLE;
// try {
// status = adasProvider.autopilotStateCall().getState();
// } catch (Exception e) {
// e.printStackTrace();
// }
return 0
}
override fun recordPackage(): Boolean {
return AdasManager.getInstance().recordPackage()
}

10
core/function-impl/mogo-core-function-autopilot/src/main/java/com/mogo/eagle/core/function/autopilot/adapter/MoGoAutopilotStatusListenerImpl.java
View File

@@ -44,14 +44,4 @@ public class MoGoAutopilotStatusListenerImpl implements IMoGoAutopilotStatusList
}
@Override
public void onAutopilotIdentifyDataUpdate(@Nullable ArrayList<TrafficData> trafficData) {
}
@Override
public void onAutopilotWarnMessage(@Nullable AutopilotWarnMessage autopilotWarnMessage) {
}
}

16
core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/hmi/ui/setting/DebugSettingView.kt
View File

@@ -7,11 +7,13 @@ import androidx.constraintlayout.widget.ConstraintLayout
import com.mogo.cloud.passport.MoGoAiCloudClient
import com.mogo.commons.AbsMogoApplication
import com.mogo.eagle.core.data.app.AppConfigInfo
import com.mogo.eagle.core.data.autopilot.*
import com.mogo.eagle.core.data.autopilot.AutopilotCarStateInfo
import com.mogo.eagle.core.data.autopilot.AutopilotGuardianStatusInfo
import com.mogo.eagle.core.data.autopilot.AutopilotStationInfo
import com.mogo.eagle.core.data.autopilot.AutopilotStatusInfo
import com.mogo.eagle.core.data.config.FunctionBuildConfig
import com.mogo.eagle.core.data.constants.MoGoConfig
import com.mogo.eagle.core.data.obu.ObuStatusInfo
import com.mogo.eagle.core.data.traffic.TrafficData
import com.mogo.eagle.core.function.api.autopilot.IMoGoAutopilotStatusListener
import com.mogo.eagle.core.function.api.obu.IMoGoObuStatusListener
import com.mogo.eagle.core.function.call.autopilot.CallerAutoPilotManager
@@ -28,7 +30,6 @@ import com.mogo.utils.UiThreadHandler
import com.mogo.utils.network.utils.GsonUtil
import com.mogo.utils.storage.SharedPrefsMgr
import kotlinx.android.synthetic.main.view_debug_setting.view.*
import java.util.*
/**
* @author xiaoyuzhou
@@ -192,13 +193,4 @@ class DebugSettingView @JvmOverloads constructor(
}
override fun onAutopilotIdentifyDataUpdate(trafficData: ArrayList<TrafficData>?) {
}
override fun onAutopilotWarnMessage(autopilotWarnMessage: AutopilotWarnMessage?) {
}
}

50
core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/hmi/ui/widget/AutoPilotStatusView.kt
View File

@@ -5,13 +5,14 @@ import android.util.AttributeSet
import android.view.LayoutInflater
import android.view.View
import androidx.constraintlayout.widget.ConstraintLayout
import com.mogo.eagle.core.data.autopilot.AutopilotControlParameters
import com.mogo.eagle.core.data.autopilot.AutopilotStationInfo
import com.mogo.eagle.core.data.autopilot.*
import com.mogo.eagle.core.function.api.autopilot.IMoGoAutopilotStatusListener
import com.mogo.eagle.core.function.call.autopilot.CallerAutoPilotManager
import com.mogo.eagle.core.function.call.autopilot.CallerAutoPilotStatusListenerManager
import com.mogo.eagle.core.function.call.hmi.CallerHmiListenerManager
import com.mogo.eagle.core.function.hmi.R
import com.mogo.eagle.core.utilcode.util.LogUtils
import com.mogo.module.common.MogoApisHandler
import com.mogo.service.adas.IMogoAdasOCHCallback
import com.mogo.eagle.core.utilcode.util.ToastUtils
import com.mogo.utils.UiThreadHandler
import kotlinx.android.synthetic.main.view_autopilot_status.view.*
@@ -23,7 +24,9 @@ import kotlinx.android.synthetic.main.view_autopilot_status.view.*
class AutoPilotStatusView @JvmOverloads constructor(
context: Context,
attrs: AttributeSet
) : ConstraintLayout(context, attrs), View.OnClickListener, IMogoAdasOCHCallback {
) : ConstraintLayout(context, attrs),
View.OnClickListener,
IMoGoAutopilotStatusListener {
private val TAG = "AutopilotStatusView"
@@ -41,10 +44,8 @@ class AutoPilotStatusView @JvmOverloads constructor(
// 设置点击监听
setOnClickListener(this)
// 首次查询自动驾驶状态
mAutopilotStatus = MogoApisHandler.getInstance().apis.adasControllerApi.autopilotStatus
// 自动驾驶状态监听
MogoApisHandler.getInstance().apis.adasControllerApi.addAdasOCHCallback(this)
CallerAutoPilotStatusListenerManager.addListener(TAG, this)
LogUtils.dTag(TAG, "autopilotStatus: $mAutopilotStatus")
setAutoPilotStatus(mAutopilotStatus)
@@ -54,9 +55,9 @@ class AutoPilotStatusView @JvmOverloads constructor(
when (mAutopilotStatus) {
0 -> {// 不可自动驾驶，adas与工控机没有链接，或工控机异常
LogUtils.eTag(TAG, "不可自动驾驶，adas与工控机没有链接，或工控机异常，请检查")
// ToastUtils.showShort("不可自动驾驶，adas与工控机没有链接，或工控机异常，请检查")
ToastUtils.showShort("不可自动驾驶，adas与工控机没有链接，或工控机异常，请检查")
// TODO 这里临时触发自动驾驶能力,测试功过这里删除
CallerHmiListenerManager.invokeCheckAutoPilotBtnListener(true)
//CallerHmiListenerManager.invokeCheckAutoPilotBtnListener(true)
}
1 -> {// 可自动驾驶，目前处于人工干预状态
CallerHmiListenerManager.invokeCheckAutoPilotBtnListener(true)
@@ -65,10 +66,14 @@ class AutoPilotStatusView @JvmOverloads constructor(
CallerHmiListenerManager.invokeCheckAutoPilotBtnListener(false)
}
}
startAutoPilot();
startAutoPilot()
}
/**
* 开启自动驾驶
*/
private fun startAutoPilot() {
// TODO 测试数据，真实情况需要业务自己传入控制数据
val currentAutopilot =
AutopilotControlParameters()
currentAutopilot.isSpeakVoice = false
@@ -77,7 +82,8 @@ class AutoPilotStatusView @JvmOverloads constructor(
currentAutopilot.endLatLon =
AutopilotControlParameters.AutoPilotLonLat(40.199255159538758, 116.73274535677977);
currentAutopilot.vehicleType = 10
MogoApisHandler.getInstance().apis.adasControllerApi.aiCloudToAdasData(currentAutopilot)
CallerAutoPilotManager.startAutoPilot(currentAutopilot)
}
/**
@@ -90,17 +96,17 @@ class AutoPilotStatusView @JvmOverloads constructor(
UiThreadHandler.post {
mAutopilotStatus = autopilotStatus
when (autopilotStatus) {
0 -> {// 不可自动驾驶，adas与工控机没有链接，或工控机异常
IMoGoAutopilotStatusListener.STATUS_AUTOPILOT_DISABLE -> {// 不可自动驾驶，adas与工控机没有链接，或工控机异常
clAutopilotStatus.setBackgroundResource(R.drawable.module_hmi_autopilot_status_disabled_bg)
tvStatusDes.setTextColor(resources.getColor(R.color.module_mogo_autopilot_status_disable))
ivStatusIcon.setImageResource(R.drawable.icon_autopilot_status_disabled)
}
1 -> {// 可自动驾驶，目前处于人工干预状态
IMoGoAutopilotStatusListener.STATUS_AUTOPILOT_ENABLE -> {// 可自动驾驶，目前处于人工干预状态
clAutopilotStatus.setBackgroundResource(R.drawable.module_hmi_autopilot_status_enable_bg)
tvStatusDes.setTextColor(resources.getColor(R.color.module_mogo_autopilot_status_enable))
ivStatusIcon.setImageResource(R.drawable.icon_autopilot_status)
}
2 -> {// 自动驾驶中
IMoGoAutopilotStatusListener.STATUS_AUTOPILOT_RUNNING -> {// 自动驾驶中
clAutopilotStatus.setBackgroundResource(R.drawable.module_hmi_autopilot_status_checked_bg)
tvStatusDes.setTextColor(resources.getColor(R.color.module_mogo_autopilot_status_enable))
ivStatusIcon.setImageResource(R.drawable.icon_autopilot_status)
@@ -109,12 +115,20 @@ class AutoPilotStatusView @JvmOverloads constructor(
}
}
override fun onArriveAt(data: AutopilotStationInfo?) {
override fun onAutopilotStatusResponse(autoPilotStatusInfo: AutopilotStatusInfo) {
setAutoPilotStatus(autoPilotStatusInfo.state)
}
override fun onAutopilotArriveAtStation(autopilotWayArrive: AutopilotStationInfo?) {
}
override fun onStateChanged(state: Int, reason: String?) {
setAutoPilotStatus(state)
override fun onAutopilotCarStateData(autoPilotCarStateInfo: AutopilotCarStateInfo?) {
}
override fun onAutopilotGuardian(guardianInfo: AutopilotGuardianStatusInfo?) {
}

2
core/function-impl/mogo-core-function-hmi/src/main/res/layout/fragment_hmi.xml
View File

@@ -74,7 +74,7 @@
<com.mogo.eagle.core.function.hmi.ui.widget.CheckStatusView
android:layout_width="wrap_content"
android:layout_height="wrap_content"
android:layout_marginLeft="31dp"
android:layout_marginLeft="25dp"
app:layout_constraintBottom_toBottomOf="@+id/viewPerspectiveSwitch"
app:layout_constraintStart_toEndOf="@+id/viewPerspectiveSwitch"
app:layout_constraintTop_toTopOf="@+id/viewPerspectiveSwitch" />

28
core/mogo-core-function-api/src/main/java/com/mogo/eagle/core/function/api/autopilot/IMoGoAutopilotIdentifyListener.kt Normal file
View File

@@ -0,0 +1,28 @@
package com.mogo.eagle.core.function.api.autopilot
import com.mogo.eagle.core.data.autopilot.AutopilotWarnMessage
import com.mogo.eagle.core.data.traffic.TrafficData
import java.util.*
/**
* @author xiaoyuzhou
* @date 2021/11/1 5:57 下午
* 感知识别回调
*/
interface IMoGoAutopilotIdentifyListener {
/**
* 识别交通元素数据发生更新
*
* @param trafficData 交通元素信息列表
*/
fun onAutopilotIdentifyDataUpdate(trafficData: ArrayList<TrafficData>?)
/**
* 报警信息
*
* @param autopilotWarnMessage 预警信息
*/
fun onAutopilotWarnMessage(autopilotWarnMessage: AutopilotWarnMessage?)
}

12
core/mogo-core-function-api/src/main/java/com/mogo/eagle/core/function/api/autopilot/IMoGoAutopilotProvider.java
View File

@@ -7,7 +7,6 @@ import com.mogo.eagle.core.function.api.base.IMoGoFunctionServerProvider;
* @author xiaoyuzhou
* @date 2021/9/22 8:27 下午
* 自动驾驶节点
*
*/
public interface IMoGoAutopilotProvider extends IMoGoFunctionServerProvider {
@@ -19,22 +18,15 @@ public interface IMoGoAutopilotProvider extends IMoGoFunctionServerProvider {
/**
* 开启自动驾驶
*
* @param result
* @param controlParameters 开启自动驾驶的控制参数
*/
void startAutoPilot(AutopilotControlParameters result);
void startAutoPilot(AutopilotControlParameters controlParameters);
/**
* 结束自动驾驶
*/
void cancelAutoPilot();
/**
* 获取车辆自动驾驶状态
*
* @return
*/
int getAutopilotStatus();
/**
* 开启域控制器录制bag包
*

15
core/mogo-core-function-api/src/main/java/com/mogo/eagle/core/function/api/autopilot/IMoGoAutopilotStatusListener.kt
View File

@@ -25,7 +25,6 @@ interface IMoGoAutopilotStatusListener {
*/
fun onAutopilotArriveAtStation(autopilotWayArrive: AutopilotStationInfo?)
/**
* 车辆状态数据
*
@@ -43,20 +42,6 @@ interface IMoGoAutopilotStatusListener {
*/
fun onAutopilotGuardian(guardianInfo: AutopilotGuardianStatusInfo?)
/**
* 识别交通元素数据发生更新
*
* @param trafficData 交通元素信息列表
*/
fun onAutopilotIdentifyDataUpdate(trafficData: ArrayList<TrafficData>?)
/**
* 报警信息
*
* @param autopilotWarnMessage 预警信息
*/
fun onAutopilotWarnMessage(autopilotWarnMessage: AutopilotWarnMessage?)
companion object {
/**

25
core/mogo-core-function-call/src/main/java/com/mogo/eagle/core/function/call/autopilot/CallerAutoPilotManager.kt
View File

@@ -1,8 +1,10 @@
package com.mogo.eagle.core.function.call.autopilot
import com.mogo.eagle.core.data.autopilot.AutopilotControlParameters
import com.mogo.eagle.core.data.constants.MogoServicePaths
import com.mogo.eagle.core.function.api.autopilot.IMoGoAutopilotProvider
import com.mogo.eagle.core.function.call.base.CallerBase
import com.mogo.eagle.core.utilcode.mogo.logger.Logger
/**
*@author xiaoyuzhou
@@ -10,14 +12,37 @@ import com.mogo.eagle.core.function.call.base.CallerBase
* 域控制器管理
*/
object CallerAutoPilotManager {
private val TAG = "CallerAutoPilotManager"
private val providerApi: IMoGoAutopilotProvider
get() = CallerBase.getApiInstance(
IMoGoAutopilotProvider::class.java,
MogoServicePaths.PATH_AUTO_PILOT
)
/**
* 开启自动驾驶
*
* @param controlParameters 开启自动驾驶的控制参数
*/
fun startAutoPilot(controlParameters: AutopilotControlParameters?) {
if (controlParameters == null) {
Logger.e(TAG, "自动驾驶控制参数异常，请检查参数信息")
return
}
providerApi.startAutoPilot(controlParameters)
}
/**
* 结束自动驾驶
*/
fun cancelAutoPilot() {
providerApi.cancelAutoPilot()
}
fun recordPackage() {
providerApi.recordPackage()
}
}

43
core/mogo-core-function-call/src/main/java/com/mogo/eagle/core/function/call/autopilot/CallerAutoPilotStatusListenerManager.kt
View File

@@ -1,11 +1,14 @@
package com.mogo.eagle.core.function.call.autopilot
import androidx.annotation.Nullable
import com.mogo.eagle.core.data.autopilot.*
import com.mogo.eagle.core.data.traffic.TrafficData
import com.mogo.eagle.core.data.autopilot.AutopilotCarStateInfo
import com.mogo.eagle.core.data.autopilot.AutopilotGuardianStatusInfo
import com.mogo.eagle.core.data.autopilot.AutopilotStationInfo
import com.mogo.eagle.core.data.autopilot.AutopilotStatusInfo
import com.mogo.eagle.core.function.api.autopilot.IMoGoAutopilotStatusListener
import com.mogo.eagle.core.function.api.obu.IMoGoObuStatusListener
import com.mogo.eagle.core.function.call.base.CallerBase
import com.mogo.eagle.core.utilcode.mogo.logger.Logger
import com.mogo.eagle.core.utilcode.util.GsonUtils
/**
@@ -46,6 +49,10 @@ object CallerAutoPilotStatusListenerManager : CallerBase() {
@Nullable tag: String,
@Nullable listener: IMoGoAutopilotStatusListener
) {
if (M_AUTOPILOT_STATUS_LISTENERS.containsKey(tag)) {
Logger.e(TAG, "Tag:$tag already exists,please use other tag")
return
}
M_AUTOPILOT_STATUS_LISTENERS[tag] = listener
listener.onAutopilotStatusResponse(mAutopilotStatusInfo)
}
@@ -55,6 +62,10 @@ object CallerAutoPilotStatusListenerManager : CallerBase() {
* @param tag 标记，用来注销监听使用
*/
fun removeListener(@Nullable tag: String) {
if (!M_AUTOPILOT_STATUS_LISTENERS.containsKey(tag)) {
Logger.e(TAG, "Tag:$tag not exists")
return
}
M_AUTOPILOT_STATUS_LISTENERS.remove(tag)
}
@@ -154,32 +165,4 @@ object CallerAutoPilotStatusListenerManager : CallerBase() {
}
}
/**
* 识别交通元素数据发生更新 回调
*/
@Synchronized
fun invokeAutopilotIdentifyDataUpdate(trafficData: ArrayList<TrafficData>?) {
//Logger.d(TAG, "$trafficData")
M_AUTOPILOT_STATUS_LISTENERS.forEach {
val tag = it.key
val listener = it.value
//Logger.d(TAG, "tag:$tag listener:$listener")
listener.onAutopilotIdentifyDataUpdate(trafficData)
}
}
/**
* 报警信息 回调
*/
@Synchronized
fun invokeAutopilotWarnMessage(autopilotWarnMessage: AutopilotWarnMessage?) {
//Logger.d(TAG, "$autopilotWarnMessage")
M_AUTOPILOT_STATUS_LISTENERS.forEach {
val tag = it.key
val listener = it.value
//Logger.d(TAG, "tag:$tag listener:$listener")
listener.onAutopilotWarnMessage(autopilotWarnMessage)
}
}
}

90
core/mogo-core-function-call/src/main/java/com/mogo/eagle/core/function/call/autopilot/CallerAutopilotIdentifyListenerManager.kt Normal file
View File

@@ -0,0 +1,90 @@
package com.mogo.eagle.core.function.call.autopilot
import androidx.annotation.Nullable
import com.mogo.eagle.core.data.autopilot.AutopilotWarnMessage
import com.mogo.eagle.core.data.traffic.TrafficData
import com.mogo.eagle.core.function.api.autopilot.IMoGoAutopilotIdentifyListener
import com.mogo.eagle.core.function.call.base.CallerBase
import com.mogo.eagle.core.utilcode.mogo.logger.Logger
/**
* @author xiaoyuzhou
* @date 2021/9/30 5:48 下午
* 域控制器感知数据
*/
object CallerAutopilotIdentifyListenerManager : CallerBase() {
private val TAG = "CallerAutopilotIdentifyListenerManager"
// 存储所有注册了监听的对象，invokeXXXX进行遍历回调，将信息同步
private val M_AUTOPILOT_IDENTIFY_LISTENERS: HashMap<String, IMoGoAutopilotIdentifyListener> =
HashMap()
/**
* 添加监听
* @param tag 标记，用来注销监听使用
* @param listener 监听回调
*/
fun addListener(
@Nullable tag: String,
@Nullable listener: IMoGoAutopilotIdentifyListener
) {
if (M_AUTOPILOT_IDENTIFY_LISTENERS.containsKey(tag)) {
Logger.e(TAG, "Tag:$tag already exists,please use other tag")
return
}
M_AUTOPILOT_IDENTIFY_LISTENERS[tag] = listener
}
/**
* 删除监听
* @param tag 标记，用来注销监听使用
*/
fun removeListener(@Nullable tag: String) {
if (!M_AUTOPILOT_IDENTIFY_LISTENERS.containsKey(tag)) {
Logger.e(TAG, "Tag:$tag not exists")
return
}
M_AUTOPILOT_IDENTIFY_LISTENERS.remove(tag)
}
/**
* 删除自动驾驶按钮选中监听
* @param listener 要删除的监听对象
*/
fun removeListener(@Nullable listener: IMoGoAutopilotIdentifyListener) {
M_AUTOPILOT_IDENTIFY_LISTENERS.forEach {
if (it.value == listener) {
M_AUTOPILOT_IDENTIFY_LISTENERS.remove(it.key)
}
}
}
/**
* 识别交通元素数据发生更新 回调
*/
@Synchronized
fun invokeAutopilotIdentifyDataUpdate(trafficData: ArrayList<TrafficData>?) {
//Logger.d(TAG, "$trafficData")
M_AUTOPILOT_IDENTIFY_LISTENERS.forEach {
val tag = it.key
val listener = it.value
//Logger.d(TAG, "tag:$tag listener:$listener")
listener.onAutopilotIdentifyDataUpdate(trafficData)
}
}
/**
* 报警信息 回调
*/
@Synchronized
fun invokeAutopilotWarnMessage(autopilotWarnMessage: AutopilotWarnMessage?) {
//Logger.d(TAG, "$autopilotWarnMessage")
M_AUTOPILOT_IDENTIFY_LISTENERS.forEach {
val tag = it.key
val listener = it.value
//Logger.d(TAG, "tag:$tag listener:$listener")
listener.onAutopilotWarnMessage(autopilotWarnMessage)
}
}
}

9
core/mogo-core-function-call/src/main/java/com/mogo/eagle/core/function/call/autopilot/CallerAutopilotPlanningListenerManager.kt
View File

@@ -6,6 +6,7 @@ import com.mogo.eagle.core.data.autopilot.AutopilotRouteInfo
import com.mogo.eagle.core.function.api.autopilot.IMoGoAutopilotPlanningListener
import com.mogo.eagle.core.function.api.obu.IMoGoObuStatusListener
import com.mogo.eagle.core.function.call.base.CallerBase
import com.mogo.eagle.core.utilcode.mogo.logger.Logger
/**
* @author xiaoyuzhou
@@ -29,6 +30,10 @@ object CallerAutopilotPlanningListenerManager : CallerBase() {
@Nullable tag: String,
@Nullable listener: IMoGoAutopilotPlanningListener
) {
if (M_AUTOPILOT_PLANNING_LISTENER.containsKey(tag)) {
Logger.e(TAG, "Tag:$tag already exists,please use other tag")
return
}
M_AUTOPILOT_PLANNING_LISTENER[tag] = listener
}
@@ -37,6 +42,10 @@ object CallerAutopilotPlanningListenerManager : CallerBase() {
* @param tag 标记，用来注销监听使用
*/
fun removeListener(@Nullable tag: String) {
if (!M_AUTOPILOT_PLANNING_LISTENER.containsKey(tag)) {
Logger.e(TAG, "Tag:$tag not exists")
return
}
M_AUTOPILOT_PLANNING_LISTENER.remove(tag)
}

6
modules/mogo-module-adas/src/main/java/com/mogo/module/adas/AdasEventManager.java
View File

@@ -13,9 +13,11 @@ import com.mogo.eagle.core.data.autopilot.AutopilotStatusInfo;
import com.mogo.eagle.core.data.autopilot.AutopilotWarnMessage;
import com.mogo.eagle.core.data.config.FunctionBuildConfig;
import com.mogo.eagle.core.data.traffic.TrafficData;
import com.mogo.eagle.core.function.api.autopilot.IMoGoAutopilotIdentifyListener;
import com.mogo.eagle.core.function.api.autopilot.IMoGoAutopilotPlanningListener;
import com.mogo.eagle.core.function.api.autopilot.IMoGoAutopilotStatusListener;
import com.mogo.eagle.core.function.call.autopilot.CallerAutoPilotStatusListenerManager;
import com.mogo.eagle.core.function.call.autopilot.CallerAutopilotIdentifyListenerManager;
import com.mogo.eagle.core.function.call.autopilot.CallerAutopilotPlanningListenerManager;
import com.mogo.eagle.core.utilcode.util.ThreadUtils;
import com.mogo.module.adas.model.AdasServiceModel;
@@ -40,7 +42,8 @@ import io.reactivex.schedulers.Schedulers;
public class AdasEventManager implements
OnAdasMsgConnectStatusListener,
IMoGoAutopilotStatusListener,
IMoGoAutopilotPlanningListener {
IMoGoAutopilotPlanningListener,
IMoGoAutopilotIdentifyListener {
private final String TAG = "AdasEventManager";
@@ -63,6 +66,7 @@ public class AdasEventManager implements
gson = GsonUtil.getGson();
CallerAutoPilotStatusListenerManager.INSTANCE.addListener(TAG, this);
CallerAutopilotPlanningListenerManager.INSTANCE.addListener(TAG, this);
CallerAutopilotIdentifyListenerManager.INSTANCE.addListener(TAG, this);
}
public static AdasEventManager getInstance() {

5
modules/mogo-module-adas/src/main/java/com/mogo/module/adas/OnAdasListenerAdapter.java
View File

@@ -11,6 +11,7 @@ import com.mogo.eagle.core.data.autopilot.AutopilotStatusInfo;
import com.mogo.eagle.core.data.autopilot.AutopilotWarnMessage;
import com.mogo.eagle.core.data.traffic.TrafficData;
import com.mogo.eagle.core.function.call.autopilot.CallerAutoPilotStatusListenerManager;
import com.mogo.eagle.core.function.call.autopilot.CallerAutopilotIdentifyListenerManager;
import com.mogo.eagle.core.function.call.autopilot.CallerAutopilotPlanningListenerManager;
import com.mogo.utils.logger.Logger;
import com.zhidao.support.adas.high.AdasManager;
@@ -43,7 +44,7 @@ public class OnAdasListenerAdapter implements OnAdasListener {
@Override
public void onRectData(RectInfo rectInfo) {
ArrayList<TrafficData> recognizedListResults = AdasObjectUtils.INSTANCE.regroupTrafficDataData(rectInfo.getModels());
CallerAutoPilotStatusListenerManager.INSTANCE.invokeAutopilotIdentifyDataUpdate(recognizedListResults);
CallerAutopilotIdentifyListenerManager.INSTANCE.invokeAutopilotIdentifyDataUpdate(recognizedListResults);
}
@Override
@@ -156,7 +157,7 @@ public class OnAdasListenerAdapter implements OnAdasListener {
@Override
public void onWarnMessage(WarnMessageInfo warnMessageInfo) {
final AutopilotWarnMessage warnMessage = AdasObjectUtils.INSTANCE.fromAdasObject(warnMessageInfo);
CallerAutoPilotStatusListenerManager.INSTANCE.invokeAutopilotWarnMessage(warnMessage);
CallerAutopilotIdentifyListenerManager.INSTANCE.invokeAutopilotWarnMessage(warnMessage);
}