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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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25
core/mogo-core-function-call/src/main/java/com/mogo/eagle/core/function/call/autopilot/CallerAutoPilotManager.kt
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@@ -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)
}