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升级ADAS版本,控制台输出adas版本信息

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开始重构ADAS的相关内容

Signed-off-by: 董宏宇 <martindhy@gmail.com>
This commit is contained in:
董宏宇
2021-10-14 14:51:05 +08:00
parent 8f9bcb9098
commit b1bb68d57b
22 changed files with 196 additions and 123 deletions
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2
modules/mogo-module-adas/build.gradle
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@@ -45,7 +45,7 @@ dependencies {
// 现有的ADAS的通讯SDK，需要将里面的东西融合到我们项目中
compileOnly rootProject.ext.dependencies.adasapi
api "com.zhidao.support.adas:high:1.2.0.2"
api rootProject.ext.dependencies.adasHigh
implementation rootProject.ext.dependencies.mogoami
annotationProcessor rootProject.ext.dependencies.aroutercompiler

2
modules/mogo-module-adas/src/main/java/com/mogo/module/adas/AdasAutoPilotManager.java
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@@ -50,7 +50,6 @@ public class AdasAutoPilotManager implements IMogoOnMessageListener<DispatchAdas
private DispatchRemindDialog dispatchRemindDialog;
private LineOverlayManager lineOverlayManager;
private MogoLocation mogoLocation;
private IDispatchResultListener dispatchResultListener;
private DispatchAdasAutoPilotLocReceiverBean receiverBean;
private List<MogoLatLng> latLngList;
@@ -197,7 +196,6 @@ public class AdasAutoPilotManager implements IMogoOnMessageListener<DispatchAdas
loc.setAltitude(location.getAltitude());
loc.setBearing(location.getBearing());
loc.setProvider(location.getProvider());
mogoLocation = loc;
// if (drawLine) {
// lineOverlayManager.draw(mogoLocation, latLngList);
// }

27
modules/mogo-module-adas/src/main/java/com/mogo/module/adas/AdasEventManager.java
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@@ -8,6 +8,7 @@ import com.mogo.utils.logger.Logger;
import com.mogo.utils.network.utils.GsonUtil;
import com.zhidao.autopilotservice.model.AdasAIDLAutopilotArriveModel;
import com.zhidao.autopilotservice.model.AdasAIDLAutopilotStateModel;
import com.zhidao.support.adas.high.AdasManager;
import com.zhidao.support.adas.high.OnAdasListener;
import com.zhidao.support.adas.high.OnAdasMsgConnectStatusListener;
import com.zhidao.support.adas.high.bean.AutopilotRoute;
@@ -19,6 +20,7 @@ import com.zhidao.support.adas.high.bean.LightStatueInfo;
import com.zhidao.support.adas.high.bean.ObstaclesInfo;
import com.zhidao.support.adas.high.bean.RectInfo;
import com.zhidao.support.adas.high.bean.WarnMessageInfo;
import com.zhidao.support.adas.high.bean.guardian.AutopilotGuardianInfo;
import com.zhidao.support.obu.ami.AmiClientManager;
import java.util.ArrayList;
@@ -26,7 +28,6 @@ import java.util.concurrent.TimeUnit;
import io.reactivex.Flowable;
import io.reactivex.android.schedulers.AndroidSchedulers;
import io.reactivex.disposables.Disposable;
import io.reactivex.schedulers.Schedulers;
/**
@@ -42,12 +43,10 @@ public class AdasEventManager implements OnAdasListener, OnAdasMsgConnectStatusL
private final Gson gson;
private final ArrayList<IAdasDataListener> iAdasEventListeners = new ArrayList<>();
private final ArrayList<IAdasStatusListener> iAdasStatusListeners = new ArrayList<>();
private Disposable uploadAutopilotStatus;
//自动驾驶状态
private int mCurrentAutopilotStatus = -1;
//自动驾驶车速度
private float mCurrentAutopilotSpeed = 0;
private Disposable mdDisposable;
//自动驾驶状态
private AutopilotStatus.ValuesBean mAutopilotValuesStatus = null;
@@ -192,6 +191,9 @@ public class AdasEventManager implements OnAdasListener, OnAdasMsgConnectStatusL
autopilotStatusInfo.setRtk(autopilotStatusValues.getRtk());
autopilotStatusInfo.setRadar(autopilotStatusValues.getRadar());
autopilotStatusInfo.setSpeed(autopilotStatusValues.getSpeed());
// 初始化自动驾驶状态信息
autopilotStatusInfo.setVersion(AdasManager.getInstance().getAdasConfig().getVersion());
autopilotStatusInfo.setConnectIP(AdasManager.getInstance().getAdasConfig().getAddress());
CallerAutoPilotStatusListenerManager.INSTANCE.invokeAutoPilotStatusListener();
@@ -257,10 +259,18 @@ public class AdasEventManager implements OnAdasListener, OnAdasMsgConnectStatusL
}
}
@Override
public void onAutopilotGuardian(AutopilotGuardianInfo guardianInfo) {
}
@Override
public void onWebSocketConnectSuccess() {
Logger.d(TAG, "webSocket 连接成功");
// 初始化自动驾驶状态信息
CallerAutoPilotStatusListenerManager.INSTANCE.getAutoPilotStatusInfo().setConnectIP(AdasManager.getInstance().getAdasConfig().getAddress());
CallerAutoPilotStatusListenerManager.INSTANCE.getAutoPilotStatusInfo().setConnectStatus(true);
CallerAutoPilotStatusListenerManager.INSTANCE.invokeAutoPilotStatusListener();
for (IAdasStatusListener listener : iAdasStatusListeners) {
listener.onServiceConnected();
@@ -269,8 +279,9 @@ public class AdasEventManager implements OnAdasListener, OnAdasMsgConnectStatusL
}
@Override
public void onWebSocketConnectFailed() {
Logger.d(TAG, "webSocket 连接失败");
public void onWebSocketConnectFailed(String reason) {
Logger.d(TAG, "webSocket 连接失败 reason:" + reason);
CallerAutoPilotStatusListenerManager.INSTANCE.getAutoPilotStatusInfo().setConnectIP(AdasManager.getInstance().getAdasConfig().getAddress());
CallerAutoPilotStatusListenerManager.INSTANCE.getAutoPilotStatusInfo().setConnectStatus(false);
CallerAutoPilotStatusListenerManager.INSTANCE.invokeAutoPilotStatusListener();
for (IAdasStatusListener listener : iAdasStatusListeners) {
@@ -280,7 +291,7 @@ public class AdasEventManager implements OnAdasListener, OnAdasMsgConnectStatusL
public void updateDriveStatusTask() {
Logger.d(TAG, "updateDriveStatusTask");
mdDisposable = Flowable.interval(0, 5, TimeUnit.SECONDS)
Flowable.interval(0, 5, TimeUnit.SECONDS)
.subscribeOn(Schedulers.io())
.unsubscribeOn(Schedulers.io())
.observeOn(AndroidSchedulers.mainThread())
@@ -295,10 +306,6 @@ public class AdasEventManager implements OnAdasListener, OnAdasMsgConnectStatusL
AdasServiceModel.getInstance().reportSite(lon, lat);
}
public AutopilotStatus.ValuesBean getAutopilotValuesStatus() {
return mAutopilotValuesStatus;
}
public AdasAIDLAutopilotStateModel autopilotStateCall() {
AdasAIDLAutopilotStateModel adasAIDLAutopilotStateModel = new AdasAIDLAutopilotStateModel();
if (mAutopilotValuesStatus != null) {

16
modules/mogo-module-adas/src/main/java/com/mogo/module/adas/AdasProvider.java
View File

@@ -29,8 +29,6 @@ public class AdasProvider implements IProvider {
Logger.d(TAG, "初始化 AdasProvider 模块");
adasEventManager = AdasEventManager.getInstance();
initAdas(context, adasEventManager);
// initAutoPilotBusiness(context);
addAdasStatusListener(new IAdasStatusListener() {
@Override
public void onServiceConnected() {
@@ -52,15 +50,7 @@ public class AdasProvider implements IProvider {
adasEventManager.setProviderBizListener(this::setBasicInfo);
}
private void initAutoPilotBusiness(Context context) {
AdasAutoPilotManager.getInstance().initSocket(context);
AdasAutoPilotManager.getInstance().addIDispatchResult(json -> {
Logger.d(TAG,"aiCloudToAdasData json : " + json);
AdasManager.getInstance().aiCloudToAdasData(json);
});
}
public void setBasicInfo(){
public void setBasicInfo() {
BasicInfo info = new BasicInfo();
info.setSn(MoGoAiCloudClientConfig.getInstance().getSn());
AdasManager.getInstance().setBasicInfo(info);
@@ -78,10 +68,6 @@ public class AdasProvider implements IProvider {
adasEventManager.addStatusListener(listener);
}
public void removeAdasStatusListener(IAdasStatusListener listener) {
adasEventManager.removeStatusListener(listener);
}
public void removeAdasStatusListener() {
adasEventManager.removeStatusListener();
}

57
modules/mogo-module-common/src/main/java/com/mogo/module/common/MogoModulePaths.java
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@@ -15,10 +15,12 @@ import java.util.List;
*/
public class MogoModulePaths {
private static final List< MogoModule > mMogoModules = new ArrayList<>();
private static final List<MogoModule> mMogoModules = new ArrayList<>();
// 不需要启动APP也能运行的模块
private static final List< MogoModule > mMogoBaseModules = new ArrayList<>();
private static final List<MogoModule> mMogoBaseModules = new ArrayList<>();
private static final List<MogoModule> mModuleFunctions = new ArrayList<>();
/**
* 地图模块 fragment 路径
@@ -36,15 +38,6 @@ public class MogoModulePaths {
*/
public static final String PATH_ENTRANCE = "/extension/entrance";
/**
* 音乐播放入口
*/
public static final String PATH_MEDIA = "/media/ui";
/**
* 引导页面
*/
public static final String PATH_GUIDE = "/guide/showFragment";
/**
* 添加卡片模块
@@ -52,8 +45,8 @@ public class MogoModulePaths {
* @param path
*/
@Deprecated
public static void addModule( String path ) {
throw new IllegalArgumentException( "this method can't be invoked." );
public static void addModule(String path) {
throw new IllegalArgumentException("this method can't be invoked.");
}
/**
@@ -61,30 +54,46 @@ public class MogoModulePaths {
*
* @param module
*/
public static void addModule( MogoModule module ) {
if ( module == null || TextUtils.isEmpty( module.getPath().replace( " ", "" ) ) ) {
throw new IllegalArgumentException( "module path can't be empty or null or blank" );
public static void addModule(MogoModule module) {
if (module == null || TextUtils.isEmpty(module.getPath().replace(" ", ""))) {
throw new IllegalArgumentException("module path can't be empty or null or blank");
}
mMogoModules.add( module );
mMogoModules.add(module);
}
/**
* 添加卡片模块
* 添加模块功能
*
* @param module 功能模块
*/
public static void addModuleFunction(MogoModule module) {
if (module == null || TextUtils.isEmpty(module.getPath().replace(" ", ""))) {
throw new IllegalArgumentException("module path can't be empty or null or blank");
}
mModuleFunctions.add(module);
}
/**
* 添加基础模块
*
* @param module
*/
public static void addBaseModule( MogoModule module ) {
if ( module == null || TextUtils.isEmpty( module.getPath().replace( " ", "" ) ) ) {
throw new IllegalArgumentException( "module path can't be empty or null or blank" );
public static void addBaseModule(MogoModule module) {
if (module == null || TextUtils.isEmpty(module.getPath().replace(" ", ""))) {
throw new IllegalArgumentException("module path can't be empty or null or blank");
}
mMogoBaseModules.add( module );
mMogoBaseModules.add(module);
}
public static List< MogoModule > getModules() {
public static List<MogoModule> getModules() {
return mMogoModules;
}
public static List< MogoModule > getBaseModules() {
public static List<MogoModule> getBaseModules() {
return mMogoBaseModules;
}
public static List<MogoModule> getModuleFunctions() {
return mModuleFunctions;
}
}

2
modules/mogo-module-main/src/main/java/com/mogo/module/main/cards/MogoModulesManager.java
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@@ -108,7 +108,7 @@ public class MogoModulesManager implements MogoModulesHandler {
@Override
public void loadFunctionModules() {
final List< MogoModule > modules = MogoModulePaths.getModules();
final List< MogoModule > modules = MogoModulePaths.getModuleFunctions();
if ( modules != null && !modules.isEmpty() ) {
for ( MogoModule module : modules ) {
Logger.d( TAG, "module.getPath():" + module.getPath() + " name: " + module.getName() );