[Routing dev]

1、灰度列表增加RoutingRequest关键信息，以及透传给MAP
2024-06-12 17:25:38 +08:00
parent 71139f9c9a
commit ade4b8a9a8
7 changed files with 172 additions and 18 deletions
--- a/OCH/taxi/unmanned-driver/src/main/java/com/mogo/och/taxi/bean/TaxiRoutingBean.kt
+++ b/OCH/taxi/unmanned-driver/src/main/java/com/mogo/och/taxi/bean/TaxiRoutingBean.kt
@@ -2,6 +2,9 @@ package com.mogo.och.taxi.bean

 import com.mogo.eagle.core.data.BaseData

+/**
+ * 灰度路线信息
+ */
 data class GrayLineBean(
    var lineId: Long?, //线路id
    var lineName: String?, //线路名称
@@ -11,18 +14,30 @@ data class GrayLineBean(
    var lineFailCount: Int?, //线路累计反馈不可用次数
    var isChoosed: Boolean = false, //当前是否选中
    var startSite: RoutingSite?,
-    var endSite: RoutingSite?
+    var endSite: RoutingSite?,
+    var hdMapDBVersionCode: String?,// Routing 运营平台通过算路引擎算这条路时候使用的对应高精地图版本号
+    var hdMapDBVersionName: String?,// Routing 运营平台通过算路引擎算这条路时候使用的对应高精地图版本名
+    var routingEnginVersionCode: String?,// Routing 运营平台当前的算路引擎版本号码
+    var routingEnginVersionName: String?,// Routing 运营平台当前的算路引擎版本名称
+    var wayPoints: MutableList<RoutingSite>?,// Routing 给算路引擎使用的经停点列表，不是真正的要停车
+    var blackPoints: MutableList<RoutingSite>?// Routing 给算路引擎使用的黑名单点，目的是不参与算路
 )

+/**
+ * 站点信息
+ */
 data class RoutingSite(
-    var siteId: Long,
-    var siteName: String,
-    var gcjLat: Double,
-    var gcjLon: Double,
-    var wgs84Lon: Double,
-    var wgs84Lat: Double
+    var siteId: Long,// 站点ID
+    var siteName: String,// 站点名称
+    var gcjLat: Double,// 高德坐标
+    var gcjLon: Double,// 高德坐标
+    var wgs84Lon: Double,//高精坐标
+    var wgs84Lat: Double//高精坐标
 )

+/**
+ * 轨迹信息
+ */
 data class ContrailBean(
    var lineId: Long = -1L,
    var lineName: String = "",
@@ -40,29 +55,70 @@ data class ContrailBean(
    var version: Long = -1L
 )

+/**
+ * 查询灰度线路列表
+ */
 data class QueryGrayContrailListRsp(var data: MutableList<GrayLineBean>?) : BaseData()
+
+/**
+ * 通过id查询轨迹详情
+ */
 data class StartGrayContrailTaskReq(var sn: String, var contrailId: Long)
+
+/**
+ * 开始一个路线的灰度任务，对服务端的路线标记
+ */
 data class StartGrayContrailTaskRsp(var data: Long?) : BaseData()
+
+/**
+ * 根据id查询灰度轨迹详情
+ */
 data class QueryRoutingContrailByIdRsp(var data: ContrailBean?) : BaseData()
+
+/**
+ * 上报路线打点
+ */
 data class SubmitGrayLineIssueLocationReq(var grayId: Long, var gcjLon: Double, var gcjLat: Double)
-data class EndGrayContrailTaskReq(var grayId: Long, var feedback: Int,var occurrenceTime:Long) //feedback 1:成功 2:失败
+
+/**
+ * 结束一个路线的灰度任务
+ */
+data class EndGrayContrailTaskReq(
+    var grayId: Long,
+    var feedback: Int,
+    var occurrenceTime: Long
+) //feedback 1:成功 2:失败
+
+
+/**
+ * 灰度任务&查询轨迹详情
+ */
 data class StartGrayAndQueryContrailRsp(
    var taskId: Long?,
    var contrail: ContrailBean?,
    var grayLineBean: GrayLineBean
 ) : BaseData()
-data class PointError(var code:String,var name:String,var isCheck:Boolean = false)

+data class PointError(var code: String, var name: String, var isCheck: Boolean = false)
+
+/**
+ * 获取打点问题字典
+ */
 data class QueryPointErrorReasonsRsp(var data: MutableList<PointError>?) : BaseData()
+
+/**
+ * 结束一个路线的灰度任务，并上报灰度路线测试情况
+ */
 data class SaveGrayContrailErrorReasons(
    var grayId: Long,
    var gcjLon: Double,
    var gcjLat: Double,
    var wgs84Lon: Double,
    var wgs84Lat: Double,
-    var occurrenceTime:Long,
+    var occurrenceTime: Long,
    var noteCodes: MutableList<String>,
 ) //feedback 1:成功 2:失败
+
 enum class EndGrayTaskFeedbackType(var type: Int) {
    USABLE_YES(1),
    USABLE_NO(2)
--- a/OCH/taxi/unmanned-driver/src/main/java/com/mogo/och/taxi/ui/routing/TaxiRoutingChooseLineActivity.kt
+++ b/OCH/taxi/unmanned-driver/src/main/java/com/mogo/och/taxi/ui/routing/TaxiRoutingChooseLineActivity.kt
@@ -107,6 +107,9 @@ class TaxiRoutingChooseLineActivity : AppCompatActivity() {
        }
    }

+    /**
+     * 初始化UI观察者
+     */
    private fun initViewModelObserver() {
        lifecycleScope.launchWhenStarted {
            mViewModel.uiStateFlow.map { it.routingUiState }.collect { routingUiState ->
@@ -114,6 +117,7 @@ class TaxiRoutingChooseLineActivity : AppCompatActivity() {
                    TAG,
                    "uiStateFlow-initViewModelObserver: $routingUiState"
                )
+                // 分发处理具体UI更新
                when (routingUiState) {
                    is RoutingUIState.Init -> {
                        showEmptyView()
@@ -131,6 +135,7 @@ class TaxiRoutingChooseLineActivity : AppCompatActivity() {
                        }
                    }

+                    // 将结果同步更新到UI
                    is RoutingUIState.PostRoutingTaskResult -> {
                        FlowBus.with<RoutingUIState.RoutingTask>(TaxiDriverEventConst.RoutingActivityEvent.EVENT_TYPE_GET_CHOSEN_LINE_TASK)
                            .post(this, RoutingUIState.RoutingTask(
--- a/OCH/taxi/unmanned-driver/src/main/java/com/mogo/och/taxi/ui/routing/TaxiRoutingChooseLineViewModel.kt
+++ b/OCH/taxi/unmanned-driver/src/main/java/com/mogo/och/taxi/ui/routing/TaxiRoutingChooseLineViewModel.kt
@@ -56,6 +56,9 @@ class TaxiRoutingChooseLineViewModel : BaseViewModel<TaxiRoutingUiState, TaxiRou
        }
    }

+    /**
+     * 查询轨迹详情成功的回调
+     */
    override fun onStartGrayTaskAndQueryContrailSuccess(data: StartGrayAndQueryContrailRsp) {
        if (data.taskId == -1L) {
            onStartGrayTaskAndQueryContrailFailed("开始任务失败, 请稍后重试")
--- a/OCH/taxi/unmanned-driver/src/main/java/com/mogo/och/taxi/ui/routing/TaxiRoutingModel.kt
+++ b/OCH/taxi/unmanned-driver/src/main/java/com/mogo/och/taxi/ui/routing/TaxiRoutingModel.kt
@@ -19,12 +19,14 @@ import com.mogo.eagle.core.utilcode.util.DrivingDirectionUtils
 import com.mogo.eagle.core.utilcode.util.GsonUtils
 import com.mogo.eagle.core.utilcode.util.NetworkUtils
 import com.mogo.eagle.core.utilcode.util.ToastUtils
-import com.mogo.och.common.module.network.OchCommonServiceCallback
 import com.mogo.och.common.module.manager.autopilot.OCHAdasAbilityManager
 import com.mogo.och.common.module.manager.autopilot.autopilot.ArrivedStation
 import com.mogo.och.common.module.manager.autopilot.autopilot.IOchAutopilotStatusListener
 import com.mogo.och.common.module.manager.autopilot.autopilot.OchAutoPilotManager
 import com.mogo.och.common.module.manager.autopilot.autopilot.OchAutoPilotStatusListenerManager
+import com.mogo.och.common.module.manager.logchainanalytic.OchChainLogManager
+import com.mogo.och.common.module.manager.logchainanalytic.OchChainLogManager.writeChainLog
+import com.mogo.och.common.module.network.OchCommonServiceCallback
 import com.mogo.och.common.module.utils.OCHThreadPoolManager
 import com.mogo.och.taxi.bean.ContrailBean
 import com.mogo.och.taxi.bean.EndGrayContrailTaskReq
@@ -285,8 +287,10 @@ object TaxiRoutingModel {
                    DebugView.printInfoMsg("[开始灰度任务&查询轨迹详情] 请求success，taskId=${data.taskId}, contrailId=${contrailId}, lineId=${grayLineBean.lineId}")
                    mTaxiRoutingCallbackMap.forEach {
                        val listener = it.value
-                        //TODO Routing 从这里解析出经停信息，并和订单一样调用下载轨迹接口
                        listener.onStartGrayTaskAndQueryContrailSuccess(data)
+
+                        // Routing 从这里解析出经停信息，轨迹信息，并调用下载轨迹接口
+                        sendTrajectoryReq(data)
                    }
                }

@@ -391,9 +395,9 @@ object TaxiRoutingModel {
    /**
     * 结束灰度任务
     */
-    fun endGrayTask(grayId: Long, type: EndGrayTaskFeedbackType, occurrenceTime:Long,) {
+    fun endGrayTask(grayId: Long, type: EndGrayTaskFeedbackType, occurrenceTime: Long) {
        DebugView.printInfoMsg("[结束灰度任务] 准备发送请求，grayId=$grayId， type=${type.type}, typeName=${type.name}")
-        val submit = EndGrayContrailTaskReq(grayId, type.type,occurrenceTime)
+        val submit = EndGrayContrailTaskReq(grayId, type.type, occurrenceTime)
        TaxiRoutingServiceManager.endGrayTask(
            mContext,
            submit,
@@ -449,6 +453,39 @@ object TaxiRoutingModel {
            })
    }

+    /**
+     * 下载路线请求
+     */
+    fun sendTrajectoryReq(startGrayAndQueryContrailRsp: StartGrayAndQueryContrailRsp) {
+        startGrayAndQueryContrailRsp.contrail?.let { contrail ->
+            // 初始化自动驾驶需要的参数
+            val parameters = initAutopilotControlParameters(
+                startGrayAndQueryContrailRsp.grayLineBean,
+                contrail
+            )
+
+            if (parameters!!.autoPilotLine == null) {
+                CallerLogger.e(
+                    SceneConstant.M_BUS + TAG,
+                    "sendTrajectoryReq(): mAutoPilotLine is null!!!"
+                )
+                return
+            }
+            writeChainLog(
+                "轨迹监控",
+                "sendTrajectoryReq() 下发轨迹 轨迹id" + parameters.autoPilotLine!!.lineId,
+                true,
+                OchChainLogManager.EVENT_KEY_INFE_WITH_TRAJECTORY
+            )
+            CallerAutoPilotControlManager.sendTrajectoryDownloadReq(parameters)
+            CallerLogger.d(
+                SceneConstant.M_BUS + TAG,
+                "sendTrajectoryReq(): "
+                        + GsonUtils.toJson(parameters)
+            )
+        }
+    }
+
    /**
     * 更新灰度路线信息
     */
@@ -521,7 +558,7 @@ object TaxiRoutingModel {
        }

        // 开启自动驾驶
-        OchAutoPilotManager.startAutoPilot(parameters);
+        OchAutoPilotManager.startAutoPilot(parameters)

        DebugView.printInfoMsg("[启自驾] 调用成功")
        CallerLogger.d(
@@ -531,6 +568,9 @@ object TaxiRoutingModel {
        mControllerStatusCallback?.startOpenAutopilot()
    }

+    /**
+     * 初始化自动驾驶控制参数
+     */
    private fun initAutopilotControlParameters(
        grayLineBean: GrayLineBean,
        contrailBean: ContrailBean
@@ -548,6 +588,36 @@ object TaxiRoutingModel {
        parameters.startLatLon =
            AutopilotControlParameters.AutoPilotLonLat(startWgsLat, startWgsLon)
        parameters.endLatLon = AutopilotControlParameters.AutoPilotLonLat(endWgsLat, endWgsLon)
+
+        // Routing 给算路引擎使用的:经停点列表、黑名单
+        val wayLatLons: MutableList<AutopilotControlParameters.AutoPilotLonLat> = ArrayList()
+        val blackLatLons: MutableList<AutopilotControlParameters.AutoPilotLonLat> = ArrayList()
+
+        if (!grayLineBean.wayPoints.isNullOrEmpty()) {
+            for (mogoLatLng in grayLineBean.wayPoints!!) {
+                wayLatLons.add(
+                    AutopilotControlParameters.AutoPilotLonLat(
+                        mogoLatLng.wgs84Lat,
+                        mogoLatLng.wgs84Lon
+                    )
+                )
+            }
+        }
+
+        if (!grayLineBean.blackPoints.isNullOrEmpty()) {
+            for (mogoLatLng in grayLineBean.blackPoints!!) {
+                wayLatLons.add(
+                    AutopilotControlParameters.AutoPilotLonLat(
+                        mogoLatLng.wgs84Lat,
+                        mogoLatLng.wgs84Lon
+                    )
+                )
+            }
+        }
+
+        parameters.wayLatLons = wayLatLons
+        parameters.blackLatLons = blackLatLons
+
        if (parameters.autoPilotLine == null) {
            parameters.autoPilotLine = AutopilotControlParameters.AutoPilotLine(
                contrailBean.lineId,
--- a/OCH/taxi/unmanned-driver/src/main/java/com/mogo/och/taxi/ui/routing/TaxiRoutingUiState.kt
+++ b/OCH/taxi/unmanned-driver/src/main/java/com/mogo/och/taxi/ui/routing/TaxiRoutingUiState.kt
@@ -6,6 +6,9 @@ import com.mogo.och.taxi.bean.GrayLineBean

 data class TaxiRoutingUiState(val routingUiState: RoutingUIState) : IUiState

+/**
+ * 算路UI状态
+ */
 sealed class RoutingUIState {
    object Init : RoutingUIState()

--- a/core/mogo-core-data/src/main/java/com/mogo/eagle/core/data/autopilot/AutopilotControlParameters.kt
+++ b/core/mogo-core-data/src/main/java/com/mogo/eagle/core/data/autopilot/AutopilotControlParameters.kt
@@ -113,7 +113,10 @@ class AutopilotControlParameters {
    var startLatLon: AutoPilotLonLat? = null

    @JvmField
-    var wayLatLons: List<AutoPilotLonLat>? = null
+    var wayLatLons: List<AutoPilotLonLat>? = null // Routing 给算路引擎使用的经停点列表，不是真正的要停车
+
+    @JvmField
+    var blackLatLons: List<AutoPilotLonLat>? = null // Routing 给算路引擎使用的黑名单点，目的是不参与算路

    @JvmField
    var endLatLon: AutoPilotLonLat? = null
@@ -222,6 +225,7 @@ class AutopilotControlParameters {
                "endName='$endName', " +
                "startLatLon=$startLatLon, " +
                "wayLatLons=$wayLatLons," +
+                "blackLatLons=$blackLatLons," +
                "endLatLon=$endLatLon," +
                "speedLimit=$speedLimit, " +
                "vehicleType=$vehicleType, " +
--- a/core/mogo-core-function-call/src/main/java/com/mogo/eagle/core/function/call/autopilot/CallerAutoPilotControlManager.kt
+++ b/core/mogo-core-function-call/src/main/java/com/mogo/eagle/core/function/call/autopilot/CallerAutoPilotControlManager.kt
@@ -4,6 +4,8 @@ import android.os.SystemClock
 import chassis.SpecialVehicleTaskCmdOuterClass
 import com.mogo.commons.voice.AIAssist
 import com.mogo.eagle.core.data.autopilot.AutopilotControlParameters
+import com.mogo.eagle.core.data.autopilot.toAutoPilotLine
+import com.mogo.eagle.core.data.autopilot.toRouteInfo
 import com.mogo.eagle.core.data.deva.badcase.BagManagerEntity
 import com.mogo.eagle.core.data.config.FunctionBuildConfig
 import com.mogo.eagle.core.data.constants.MogoServicePaths
@@ -177,12 +179,23 @@ object CallerAutoPilotControlManager {
        }
    }

+    /**
+     * 发送 轨迹下载请求
+     */
+    fun sendTrajectoryDownloadReq(autopilotControlParameters: AutopilotControlParameters) {
+        if (AppIdentityModeUtils.isDriver(FunctionBuildConfig.appIdentityMode)) {
+            // Routing 需要传参  routeInfo
+            providerApi?.sendTrajectoryDownloadReq(autopilotControlParameters.autoPilotLine!!, autopilotControlParameters.toRouteInfo())
+            CallerAutoPilotStatusListenerManager.invokeTrajectoryDownloadReq(autopilotControlParameters.autoPilotLine!!, 0)
+        }
+    }
+
    /**
     * 发送 轨迹下载请求
     */
    fun sendTrajectoryDownloadReq(autoPilotLine: AutopilotControlParameters.AutoPilotLine) {
        if (AppIdentityModeUtils.isDriver(FunctionBuildConfig.appIdentityMode)) {
-            //TODO Routing 需要传参  routeInfo
+            //TODO Routing 需要传参  routeInfo，这里建议业务侧重新整合到同一个数据实体内传入
            providerApi?.sendTrajectoryDownloadReq(autoPilotLine, null)
            CallerAutoPilotStatusListenerManager.invokeTrajectoryDownloadReq(autoPilotLine, 0)
        }
@@ -194,7 +207,7 @@ object CallerAutoPilotControlManager {
     */
    fun sendTrajectoryDownloadReq(autoPilotLine: AutopilotControlParameters.AutoPilotLine, downloadType: Int) {
        if (AppIdentityModeUtils.isDriver(FunctionBuildConfig.appIdentityMode)) {
-            //TODO Routing 需要传参  routeInfo
+            //TODO Routing 需要传参  routeInfo，这里建议业务侧重新整合到同一个数据实体内传入
            providerApi?.sendTrajectoryDownloadReq(autoPilotLine, downloadType, null)
            CallerAutoPilotStatusListenerManager.invokeTrajectoryDownloadReq(autoPilotLine, downloadType)
        }