diff --git a/core/function-impl/mogo-core-function-autopilot/src/main/java/com/mogo/eagle/core/function/autopilot/MoGoAutopilotProvider.kt b/core/function-impl/mogo-core-function-autopilot/src/main/java/com/mogo/eagle/core/function/autopilot/MoGoAutopilotProvider.kt index c053647723..9afb6537b2 100644 --- a/core/function-impl/mogo-core-function-autopilot/src/main/java/com/mogo/eagle/core/function/autopilot/MoGoAutopilotProvider.kt +++ b/core/function-impl/mogo-core-function-autopilot/src/main/java/com/mogo/eagle/core/function/autopilot/MoGoAutopilotProvider.kt @@ -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() } diff --git a/core/function-impl/mogo-core-function-autopilot/src/main/java/com/mogo/eagle/core/function/autopilot/adapter/MoGoAutopilotStatusListenerImpl.java b/core/function-impl/mogo-core-function-autopilot/src/main/java/com/mogo/eagle/core/function/autopilot/adapter/MoGoAutopilotStatusListenerImpl.java index def85b93d9..5850e18a69 100644 --- a/core/function-impl/mogo-core-function-autopilot/src/main/java/com/mogo/eagle/core/function/autopilot/adapter/MoGoAutopilotStatusListenerImpl.java +++ b/core/function-impl/mogo-core-function-autopilot/src/main/java/com/mogo/eagle/core/function/autopilot/adapter/MoGoAutopilotStatusListenerImpl.java @@ -44,14 +44,4 @@ public class MoGoAutopilotStatusListenerImpl implements IMoGoAutopilotStatusList } - @Override - public void onAutopilotIdentifyDataUpdate(@Nullable ArrayList trafficData) { - - } - - @Override - public void onAutopilotWarnMessage(@Nullable AutopilotWarnMessage autopilotWarnMessage) { - - } - } diff --git a/core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/hmi/ui/setting/DebugSettingView.kt b/core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/hmi/ui/setting/DebugSettingView.kt index 06469471be..86eb923cb0 100644 --- a/core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/hmi/ui/setting/DebugSettingView.kt +++ b/core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/hmi/ui/setting/DebugSettingView.kt @@ -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?) { - - } - - override fun onAutopilotWarnMessage(autopilotWarnMessage: AutopilotWarnMessage?) { - - } - - } \ 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/AutoPilotStatusView.kt b/core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/hmi/ui/widget/AutoPilotStatusView.kt index aa5786c3da..357a06e5a3 100644 --- a/core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/hmi/ui/widget/AutoPilotStatusView.kt +++ b/core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/hmi/ui/widget/AutoPilotStatusView.kt @@ -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?) { + } diff --git a/core/function-impl/mogo-core-function-hmi/src/main/res/layout/fragment_hmi.xml b/core/function-impl/mogo-core-function-hmi/src/main/res/layout/fragment_hmi.xml index 082742fd44..232ea0f425 100644 --- a/core/function-impl/mogo-core-function-hmi/src/main/res/layout/fragment_hmi.xml +++ b/core/function-impl/mogo-core-function-hmi/src/main/res/layout/fragment_hmi.xml @@ -74,7 +74,7 @@ diff --git a/core/mogo-core-function-api/src/main/java/com/mogo/eagle/core/function/api/autopilot/IMoGoAutopilotIdentifyListener.kt b/core/mogo-core-function-api/src/main/java/com/mogo/eagle/core/function/api/autopilot/IMoGoAutopilotIdentifyListener.kt new file mode 100644 index 0000000000..2b9c19a019 --- /dev/null +++ b/core/mogo-core-function-api/src/main/java/com/mogo/eagle/core/function/api/autopilot/IMoGoAutopilotIdentifyListener.kt @@ -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?) + + /** + * 报警信息 + * + * @param autopilotWarnMessage 预警信息 + */ + fun onAutopilotWarnMessage(autopilotWarnMessage: AutopilotWarnMessage?) + +} \ No newline at end of file diff --git a/core/mogo-core-function-api/src/main/java/com/mogo/eagle/core/function/api/autopilot/IMoGoAutopilotProvider.java b/core/mogo-core-function-api/src/main/java/com/mogo/eagle/core/function/api/autopilot/IMoGoAutopilotProvider.java index 033591ddb7..3265d2fdfa 100644 --- a/core/mogo-core-function-api/src/main/java/com/mogo/eagle/core/function/api/autopilot/IMoGoAutopilotProvider.java +++ b/core/mogo-core-function-api/src/main/java/com/mogo/eagle/core/function/api/autopilot/IMoGoAutopilotProvider.java @@ -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 * 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 7fea12ae7f..195c001fd9 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 @@ -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?) - - /** - * 报警信息 - * - * @param autopilotWarnMessage 预警信息 - */ - fun onAutopilotWarnMessage(autopilotWarnMessage: AutopilotWarnMessage?) - companion object { /** diff --git a/core/mogo-core-function-call/src/main/java/com/mogo/eagle/core/function/call/autopilot/CallerAutoPilotManager.kt b/core/mogo-core-function-call/src/main/java/com/mogo/eagle/core/function/call/autopilot/CallerAutoPilotManager.kt index 16c059c7ea..7e17c20cd2 100644 --- a/core/mogo-core-function-call/src/main/java/com/mogo/eagle/core/function/call/autopilot/CallerAutoPilotManager.kt +++ b/core/mogo-core-function-call/src/main/java/com/mogo/eagle/core/function/call/autopilot/CallerAutoPilotManager.kt @@ -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() } + } \ No newline at end of file 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 967a3c6ad5..3e6c9a6d45 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 @@ -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:$tag not exists") + return + } M_AUTOPILOT_STATUS_LISTENERS.remove(tag) } @@ -154,32 +165,4 @@ object CallerAutoPilotStatusListenerManager : CallerBase() { } } - /** - * 识别交通元素数据发生更新 回调 - */ - @Synchronized - fun invokeAutopilotIdentifyDataUpdate(trafficData: ArrayList?) { - //Logger.d(TAG, "$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:$listener") - listener.onAutopilotWarnMessage(autopilotWarnMessage) - } - } - } \ No newline at end of file diff --git a/core/mogo-core-function-call/src/main/java/com/mogo/eagle/core/function/call/autopilot/CallerAutopilotIdentifyListenerManager.kt b/core/mogo-core-function-call/src/main/java/com/mogo/eagle/core/function/call/autopilot/CallerAutopilotIdentifyListenerManager.kt new file mode 100644 index 0000000000..07f8c78e38 --- /dev/null +++ b/core/mogo-core-function-call/src/main/java/com/mogo/eagle/core/function/call/autopilot/CallerAutopilotIdentifyListenerManager.kt @@ -0,0 +1,90 @@ +package com.mogo.eagle.core.function.call.autopilot + +import androidx.annotation.Nullable +import com.mogo.eagle.core.data.autopilot.AutopilotWarnMessage +import com.mogo.eagle.core.data.traffic.TrafficData +import com.mogo.eagle.core.function.api.autopilot.IMoGoAutopilotIdentifyListener +import com.mogo.eagle.core.function.call.base.CallerBase +import com.mogo.eagle.core.utilcode.mogo.logger.Logger + +/** + * @author xiaoyuzhou + * @date 2021/9/30 5:48 下午 + * 域控制器感知数据 + */ +object CallerAutopilotIdentifyListenerManager : CallerBase() { + private val TAG = "CallerAutopilotIdentifyListenerManager" + + // 存储所有注册了监听的对象，invokeXXXX进行遍历回调，将信息同步 + private val M_AUTOPILOT_IDENTIFY_LISTENERS: HashMap = + HashMap() + + /** + * 添加监听 + * @param tag 标记，用来注销监听使用 + * @param listener 监听回调 + */ + fun addListener( + @Nullable tag: String, + @Nullable listener: IMoGoAutopilotIdentifyListener + ) { + if (M_AUTOPILOT_IDENTIFY_LISTENERS.containsKey(tag)) { + Logger.e(TAG, "Tag:$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:$tag not exists") + return + } + M_AUTOPILOT_IDENTIFY_LISTENERS.remove(tag) + } + + /** + * 删除自动驾驶按钮选中监听 + * @param listener 要删除的监听对象 + */ + fun removeListener(@Nullable listener: IMoGoAutopilotIdentifyListener) { + M_AUTOPILOT_IDENTIFY_LISTENERS.forEach { + if (it.value == listener) { + M_AUTOPILOT_IDENTIFY_LISTENERS.remove(it.key) + } + } + } + + /** + * 识别交通元素数据发生更新 回调 + */ + @Synchronized + fun invokeAutopilotIdentifyDataUpdate(trafficData: ArrayList?) { + //Logger.d(TAG, "$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:$listener") + listener.onAutopilotWarnMessage(autopilotWarnMessage) + } + } + +} \ No newline at end of file diff --git a/core/mogo-core-function-call/src/main/java/com/mogo/eagle/core/function/call/autopilot/CallerAutopilotPlanningListenerManager.kt b/core/mogo-core-function-call/src/main/java/com/mogo/eagle/core/function/call/autopilot/CallerAutopilotPlanningListenerManager.kt index 1bb7b7e414..fc6379ed8b 100644 --- a/core/mogo-core-function-call/src/main/java/com/mogo/eagle/core/function/call/autopilot/CallerAutopilotPlanningListenerManager.kt +++ b/core/mogo-core-function-call/src/main/java/com/mogo/eagle/core/function/call/autopilot/CallerAutopilotPlanningListenerManager.kt @@ -6,6 +6,7 @@ import com.mogo.eagle.core.data.autopilot.AutopilotRouteInfo import com.mogo.eagle.core.function.api.autopilot.IMoGoAutopilotPlanningListener import com.mogo.eagle.core.function.api.obu.IMoGoObuStatusListener import com.mogo.eagle.core.function.call.base.CallerBase +import com.mogo.eagle.core.utilcode.mogo.logger.Logger /** * @author xiaoyuzhou @@ -29,6 +30,10 @@ object CallerAutopilotPlanningListenerManager : CallerBase() { @Nullable tag: String, @Nullable listener: IMoGoAutopilotPlanningListener ) { + if (M_AUTOPILOT_PLANNING_LISTENER.containsKey(tag)) { + Logger.e(TAG, "Tag:$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) } diff --git a/modules/mogo-module-adas/src/main/java/com/mogo/module/adas/AdasEventManager.java b/modules/mogo-module-adas/src/main/java/com/mogo/module/adas/AdasEventManager.java index 3170a1eee7..4934dac714 100644 --- a/modules/mogo-module-adas/src/main/java/com/mogo/module/adas/AdasEventManager.java +++ b/modules/mogo-module-adas/src/main/java/com/mogo/module/adas/AdasEventManager.java @@ -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() { diff --git a/modules/mogo-module-adas/src/main/java/com/mogo/module/adas/OnAdasListenerAdapter.java b/modules/mogo-module-adas/src/main/java/com/mogo/module/adas/OnAdasListenerAdapter.java index 601e227293..41bb783d11 100644 --- a/modules/mogo-module-adas/src/main/java/com/mogo/module/adas/OnAdasListenerAdapter.java +++ b/modules/mogo-module-adas/src/main/java/com/mogo/module/adas/OnAdasListenerAdapter.java @@ -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 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); }