将工控机感知数据回调与状态信息回调分离

CallerAutoPilotManager增加开启、停止自动驾驶方法 Signed-off-by: 董宏宇 <martindhy@gmail.com>
2021-11-01 18:49:13 +08:00
parent 2561a5d38b
commit adc973bbfc
14 changed files with 213 additions and 115 deletions
--- 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<TrafficData>?) {
-
-    }
-
-    override fun onAutopilotWarnMessage(autopilotWarnMessage: AutopilotWarnMessage?) {
-
-    }
-
-
 }
--- 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?) {
+
    }


--- 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 @@
    <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" />