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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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6
modules/mogo-module-adas/src/main/java/com/mogo/module/adas/AdasEventManager.java
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@@ -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
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@@ -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);
}