Merge branch 'dev_robotaxi-p-app_110_220304_1.1.0' of gitlab.zhidaoauto.com:zhjt/AndroidApp/MoGoEagleEye into dev_robotaxi-p-app_110_220304_1.1.0

core/function-impl/mogo-core-function-autopilot/src/main/java/com/mogo/eagle/core/function/autopilot/MoGoAutopilotProvider.kt

@@ -142,10 +142,6 @@ class MoGoAutopilotProvider :
         // 司机端监听
         if (FunctionBuildConfig.appIdentityMode == 0) {
             AdasManager.getInstance().setOnMultiDeviceListener { bytes ->
-                Logger.d(
-                    TAG,
-                    "司机端接收到工控机吐出来的数据为:${Arrays.toString(bytes)}"
-                )
                 // 发送数据给乘客端
                 if (NSDNettyManager.getInstance().isServerStart) {
                     Logger.d(

core/function-impl/mogo-core-function-autopilot/src/main/java/com/mogo/eagle/core/function/autopilot/adapter/MoGoHandAdasMsgManager.java

@@ -15,6 +15,7 @@ import com.mogo.eagle.core.function.call.hmi.CallerHmiManager;
 import com.mogo.eagle.core.utilcode.mogo.logger.Logger;
 import com.mogo.eagle.core.utilcode.util.ThreadUtils;
 import com.mogo.module.common.drawer.IdentifyDataDrawer;
+import com.zhidao.support.adas.high.bean.CarStateInfo;
 import com.zhidao.support.obu.ami.AmiClientManager;
 
 import java.util.ArrayList;
@@ -50,9 +51,11 @@ public class MoGoHandAdasMsgManager implements
         if (autoPilotCarStateInfo != null) {
             //can数据转发
             AutopilotCarStateInfo.ValuesBean bean = autoPilotCarStateInfo.getValues();
+
             if (bean != null) {
                 //转向灯状态 0是正常 1是左转 2是右转
-                int turnLight = bean.getTurn_light();
+                //turnLightOften 是sdk适配的字段，后期建议CarStateInfo和AutopilotCarStateInfo统一成一个
+                int turnLight = bean.getTurnLightOften();
                 AmiClientManager.getInstance().setTurnLightState(turnLight);
                 int brakeLight = bean.getBrake_light();
 //            Logger.d(TAG, "onCarStateData ---- turnLight = " + turnLight + "---brakeLight = " + brakeLight);

core/mogo-core-data/src/main/java/com/mogo/eagle/core/data/autopilot/AutopilotCarStateInfo.java

@@ -81,6 +81,22 @@ public class AutopilotCarStateInfo implements Serializable {
         private int brake_light; //刹车灯状态
         private int frame_num;//统计发包个数
 
+        /**
+         * 常开 常关 转向灯
+         * 0 --关
+         * 1 --左转
+         * 2 --右转
+         */
+        private int turnLightOften = 0;
+
+        public int getTurnLightOften() {
+            return turnLightOften;
+        }
+
+        public void setTurnLightOften(int turnLightOften) {
+            this.turnLightOften = turnLightOften;
+        }
+
         public int getFrame_num() {
             return frame_num;
         }

gradle.properties

@@ -82,7 +82,7 @@ MOGO_LOCATION_VERSION=1.3.31
 MOGO_TELEMATIC_VERSION=1.3.31
 ######## MogoAiCloudSDK Version ########
 # 自研地图
-MAP_SDK_VERSION=2.0.5.1
+MAP_SDK_VERSION=2.0.5.2
 MAP_SDK_OPERATION_VERSION=1.0.12
 # websocket
 WEBSOCKET_VERSION=1.1.7

modules/mogo-module-service/src/main/java/com/mogo/module/service/routeoverlay/MogoRouteOverlayManager.java

@@ -1,6 +1,7 @@
 package com.mogo.module.service.routeoverlay;
 
 import android.content.Context;
+import android.util.Log;
 
 import com.mogo.eagle.core.data.autopilot.ADASTrajectoryInfo;
 import com.mogo.eagle.core.data.autopilot.AutopilotGuardianStatusInfo;
@@ -17,7 +18,7 @@ import com.mogo.eagle.core.function.call.autopilot.CallerAutoPilotStatusListener
 import com.mogo.eagle.core.function.call.autopilot.CallerAutopilotPlanningListenerManager;
 import com.mogo.eagle.core.function.call.map.CallerMapLocationListenerManager;
 import com.mogo.eagle.core.utilcode.mogo.logger.Logger;
-import com.mogo.module.common.MogoApisHandler;
+import com.mogo.eagle.core.utilcode.util.GsonUtils;
 import com.mogo.module.common.utils.DrivingDirectionUtils;
 
 import org.jetbrains.annotations.NotNull;
@@ -45,7 +46,7 @@ public class MogoRouteOverlayManager implements
     public void init() {
         CallerAutopilotPlanningListenerManager.INSTANCE.addListener(TAG, this);
         CallerAutoPilotStatusListenerManager.INSTANCE.addListener(TAG, this);
-        CallerMapLocationListenerManager.INSTANCE.addListener(TAG,this);
+        CallerMapLocationListenerManager.INSTANCE.addListener(TAG, this);
 //        intiDrawer();
     }
 
@@ -60,7 +61,7 @@ public class MogoRouteOverlayManager implements
         return sInstance;
     }
 
-    private void intiDrawer(){
+    private void intiDrawer() {
         RouteOverlayDrawer.getInstance(mContext).initdraw();
     }
 
@@ -97,7 +98,7 @@ public class MogoRouteOverlayManager implements
 
         mTrajectoryList = mogoLatLngs;
         builder.append("}");
-        //Log.d(TAG,builder.toString());
+        Log.d(TAG, builder.toString());
     }
 
     @Override
@@ -110,13 +111,13 @@ public class MogoRouteOverlayManager implements
             latLngList.add(new MogoLatLng(routeModel.getLat(), routeModel.getLon()));
         }
         int listSize = latLngList.size();
-        mEnding = latLngList.get(listSize-1);
+        mEnding = latLngList.get(listSize - 1);
 //        RouteOverlayDrawer.getInstance(mContext).addEndingMarker(latLngList.get(listSize - 1).lat,latLngList.get(listSize - 1).lon);
     }
 
     @Override
     public void onAutopilotStatusResponse(@NotNull AutopilotStatusInfo autoPilotStatusInfo) {
-        if (FunctionBuildConfig.isIgnoreConditionsDrawAutopilotTrajectoryData ){
+        if (FunctionBuildConfig.isIgnoreConditionsDrawAutopilotTrajectoryData) {
             return;
         }
         this.STATUS_AUTOPILOT = autoPilotStatusInfo.getControl_pilotmode();
@@ -128,7 +129,7 @@ public class MogoRouteOverlayManager implements
 //        }else {
 //
 //        }我
-        if ( STATUS_AUTOPILOT != 1){
+        if (STATUS_AUTOPILOT != 1) {
             RouteOverlayDrawer.getInstance(mContext).clearEndingMarker();
             RouteOverlayDrawer.getInstance(mContext).clearMogoRouteOverlay();
         }
@@ -137,7 +138,7 @@ public class MogoRouteOverlayManager implements
     @Override
     public void onAutopilotArriveAtStation(@Nullable AutopilotStationInfo autopilotWayArrive) {
 
-        if(autopilotWayArrive == null){
+        if (autopilotWayArrive == null) {
             return;
         }
         Logger.d(TAG, "onArriveAt data : " + autopilotWayArrive.toString());
@@ -156,18 +157,28 @@ public class MogoRouteOverlayManager implements
     }
 
     @Override
-    public void onLocationChanged(@Nullable MogoLocation location) {
+    public void onLocationChanged(@Nullable MogoLocation location) {  //todo 拖尾
         mLocation = location;
-        if (mTrajectoryList.isEmpty()){
+        if (mTrajectoryList.isEmpty()) {
             return;
         }
-        ArrayList  list = new ArrayList();
-        for (MogoLatLng latLng:mTrajectoryList) {
-            if(!isPointOnCarFront(mLocation,latLng)){
+        Log.d(TAG, "onLocationChanged : " + mTrajectoryList.size());
+        ArrayList list = new ArrayList();
+        for (MogoLatLng latLng : mTrajectoryList) {
+            if (!isPointOnCarFront(mLocation, latLng)) {
                 list.add(latLng);
             }
         }
-        if (FunctionBuildConfig.isIgnoreConditionsDrawAutopilotTrajectoryData || STATUS_AUTOPILOT == 1){
+
+        StringBuilder builder = new StringBuilder();
+        for (int i = 0; i < list.size(); i++) {
+            MogoLatLng latLng = (MogoLatLng) list.get(i);
+            builder.append(latLng.getLon()).append(",");
+            builder.append(latLng.getLat()).append(",");
+        }
+        Log.d(TAG, "onLocationChanged : " + GsonUtils.toJson(builder.toString()));
+        Log.d(TAG,"onLocationChanged size = " + list.size() + "---TrajectoryData = " + FunctionBuildConfig.isIgnoreConditionsDrawAutopilotTrajectoryData + "----" + STATUS_AUTOPILOT);
+        if (FunctionBuildConfig.isIgnoreConditionsDrawAutopilotTrajectoryData || STATUS_AUTOPILOT == 1) {
             RouteOverlayDrawer.getInstance(mContext).drawTrajectoryList(list);
         }
     }