升级ADAS版本,控制台输出adas版本信息

开始重构ADAS的相关内容

Signed-off-by: 董宏宇 <martindhy@gmail.com>

modules/mogo-module-adas/src/main/java/com/mogo/module/adas/AdasAutoPilotManager.java

@@ -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);
 //        }

modules/mogo-module-adas/src/main/java/com/mogo/module/adas/AdasEventManager.java

@@ -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) {

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

@@ -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();
     }