From 2278c848e0330f1760eeeb4a5a2e83209b122259 Mon Sep 17 00:00:00 2001 From: xinfengkun Date: Fri, 24 May 2024 13:20:08 +0800 Subject: [PATCH 01/43] =?UTF-8?q?[adas]=20=E5=90=AF=E5=8A=A8=E8=87=AA?= =?UTF-8?q?=E9=A9=BE=E4=B8=8E=E4=B8=8B=E8=BD=BD=E8=BD=A8=E8=BF=B9=E8=AF=B7?= =?UTF-8?q?=E6=B1=82=E6=8E=A5=E5=8F=A3=E6=96=B0=E5=A2=9E=E7=AE=97=E8=B7=AF?= =?UTF-8?q?=E7=9B=B8=E5=85=B3=E5=8F=82=E6=95=B0?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- .../autopilot/MoGoAutopilotControlProvider.kt | 26 ++++++++++------- .../IMoGoAutopilotControlProvider.kt | 11 +++++-- .../CallerAutoPilotControlManager.kt | 6 ++-- .../src/main/proto/message_pad.proto | 11 +++++++ .../zhidao/support/adas/high/AdasChannel.java | 26 ++++++++++++----- .../zhidao/support/adas/high/AdasManager.java | 29 +++++++++++-------- .../support/adas/high/IAdasNetCommApi.java | 17 ++++++----- 7 files changed, 83 insertions(+), 43 deletions(-) diff --git a/core/function-impl/mogo-core-function-datacenter/src/main/java/com/mogo/eagle/core/function/datacenter/autopilot/MoGoAutopilotControlProvider.kt b/core/function-impl/mogo-core-function-datacenter/src/main/java/com/mogo/eagle/core/function/datacenter/autopilot/MoGoAutopilotControlProvider.kt index b932142efa..f1f21e1750 100644 --- a/core/function-impl/mogo-core-function-datacenter/src/main/java/com/mogo/eagle/core/function/datacenter/autopilot/MoGoAutopilotControlProvider.kt +++ b/core/function-impl/mogo-core-function-datacenter/src/main/java/com/mogo/eagle/core/function/datacenter/autopilot/MoGoAutopilotControlProvider.kt @@ -383,12 +383,12 @@ class MoGoAutopilotControlProvider : private fun startAutoPilotWithNoParameter(source: Int) { if (AppIdentityModeUtils.isPassenger(FunctionBuildConfig.appIdentityMode)) { val invokeResult = AdasManager.getInstance() - .sendAutoPilotModeReq(1, source, null) + .sendAutoPilotModeReq(1, source, null, false) invokeAutoPilotResult(if (invokeResult > -1) "无参自动驾驶调用成功：${invokeResult}" else "自动驾驶调用失败, socket 或者 rawPack 可能为空") } else { if (AdasManager.getInstance().ipcConnectionStatus == AdasConstants.IpcConnectionStatus.CONNECTED) { val invokeResult = AdasManager.getInstance() - .sendAutoPilotModeReq(1, source, null) + .sendAutoPilotModeReq(1, source, null, false) invokeAutoPilotResult(if (invokeResult > -1) "无参自动驾驶调用成功：${invokeResult}" else "自动驾驶调用失败, socket 或者 rawPack 可能为空") } else { invokeAutoPilotResult("车机与工控机链接失败，无法开启自动驾驶 无参") @@ -399,12 +399,12 @@ class MoGoAutopilotControlProvider : private fun startAutoPilot(controlParameters: AutopilotControlParameters, source: Int) { if (AppIdentityModeUtils.isPassenger(FunctionBuildConfig.appIdentityMode)) { val invokeResult = AdasManager.getInstance() - .sendAutoPilotModeReq(1, source, controlParameters.toRouteInfo()) + .sendAutoPilotModeReq(1, source, controlParameters.toRouteInfo(), false) invokeAutoPilotResult(if (invokeResult > -1) "自动驾驶调用成功：${invokeResult}" else "自动驾驶调用失败, socket 或者 rawPack 可能为空") } else { if (AdasManager.getInstance().ipcConnectionStatus == AdasConstants.IpcConnectionStatus.CONNECTED) { val invokeResult = AdasManager.getInstance() - .sendAutoPilotModeReq(1, source, controlParameters.toRouteInfo()) + .sendAutoPilotModeReq(1, source, controlParameters.toRouteInfo(), false) invokeAutoPilotResult(if (invokeResult > -1) "自动驾驶调用成功：${invokeResult}" else "自动驾驶调用失败, socket 或者 rawPack 可能为空") } else { invokeAutoPilotResult("车机与工控机链接失败，无法开启自动驾驶") @@ -440,17 +440,21 @@ class MoGoAutopilotControlProvider : ) } - override fun sendTrajectoryDownloadReq(autoPilotLine: AutopilotControlParameters.AutoPilotLine) { - AdasManager.getInstance().sendTrajectoryDownloadReq(autoPilotLine.toAutoPilotLine()) + override fun sendTrajectoryDownloadReq(autoPilotLine: AutopilotControlParameters.AutoPilotLine, isAutoRouting: Boolean, routeInfo: MessagePad.RouteInfo) { + AdasManager.getInstance().sendTrajectoryDownloadReq(autoPilotLine.toAutoPilotLine(),isAutoRouting,routeInfo) } - override fun sendTrajectoryDownloadReq(autoPilotLine: AutopilotControlParameters.AutoPilotLine, downloadType: Int) { - AdasManager.getInstance().sendTrajectoryDownloadReq(autoPilotLine.toAutoPilotLine(), downloadType) + override fun sendTrajectoryDownloadReq(autoPilotLine: AutopilotControlParameters.AutoPilotLine, downloadType: Int, isAutoRouting: Boolean, routeInfo: MessagePad.RouteInfo) { + AdasManager.getInstance().sendTrajectoryDownloadReq( + autoPilotLine.toAutoPilotLine(), + downloadType, + isAutoRouting, + routeInfo) } override fun cancelAutoPilot() { if (AdasManager.getInstance().ipcConnectionStatus == AdasConstants.IpcConnectionStatus.CONNECTED) { - AdasManager.getInstance().sendAutoPilotModeReq(0, 1, null) + AdasManager.getInstance().sendAutoPilotModeReq(0, 1, null, false) } else { CallerLogger.e("$M_D_C$TAG", "车机与工控机链接失败，无法断开自动驾驶") } @@ -920,11 +924,11 @@ class MoGoAutopilotControlProvider : */ override fun setControlAutopilotCarAuto(isEnable: Boolean) { if (isEnable) { - AdasManager.getInstance().sendAutoPilotModeReq(1, 0, null) + AdasManager.getInstance().sendAutoPilotModeReq(1, 0, null, false) } else { // 司机屏才可关闭自动驾驶 if (AppIdentityModeUtils.isDriver(FunctionBuildConfig.appIdentityMode)) { - AdasManager.getInstance().sendAutoPilotModeReq(0, 0, null) + AdasManager.getInstance().sendAutoPilotModeReq(0, 0, null, false) } } } diff --git a/core/mogo-core-function-api/src/main/java/com/mogo/eagle/core/function/api/autopilot/IMoGoAutopilotControlProvider.kt b/core/mogo-core-function-api/src/main/java/com/mogo/eagle/core/function/api/autopilot/IMoGoAutopilotControlProvider.kt index 805b79c7e9..5d8d0f4ff6 100644 --- a/core/mogo-core-function-api/src/main/java/com/mogo/eagle/core/function/api/autopilot/IMoGoAutopilotControlProvider.kt +++ b/core/mogo-core-function-api/src/main/java/com/mogo/eagle/core/function/api/autopilot/IMoGoAutopilotControlProvider.kt @@ -13,6 +13,7 @@ import com.zhjt.mogo.adas.data.sweeper.task.confirm.SweeperTaskConfirm.TaskConfi import com.zhjt.mogo.adas.data.sweeper.task.stop.SweeperTaskStop.StopTaskResp import com.zhjt.mogo.adas.data.AdasConstants import com.zhjt.mogo.adas.data.sweeper.task.cloud.s_r.SweeperTaskCloudSuspendResume.BigTaskActionResp +import mogo.telematics.pad.MessagePad import mogo.yycp.paralleldriving.protocol.ParallelDrivingRequest /** @@ -55,13 +56,17 @@ interface IMoGoAutopilotControlProvider : IMoGoFunctionServerProvider { /** * 发送 轨迹下载请求 */ - fun sendTrajectoryDownloadReq(autoPilotLine: AutopilotControlParameters.AutoPilotLine) + fun sendTrajectoryDownloadReq(autoPilotLine: AutopilotControlParameters.AutoPilotLine, isAutoRouting: Boolean, routeInfo: MessagePad.RouteInfo) /** * 发送 轨迹下载请求 - * @param downloadType 下载类型: 0:正常下载 1:预下载 + * + * @param autoPilotLine 线路相关参数详情见PB message_pad.proto -> Line + * @param downloadType 下载类型: 0:正常下载 1:预下载 + * @param isAutoRouting 20240523 是否进行自动算路 + * @param routeInfo 20240523 进行自动算路，务必下单时候携带自动驾驶路径信息，否则可不填！ */ - fun sendTrajectoryDownloadReq(autoPilotLine: AutopilotControlParameters.AutoPilotLine, downloadType: Int) + fun sendTrajectoryDownloadReq(autoPilotLine: AutopilotControlParameters.AutoPilotLine, downloadType: Int, isAutoRouting: Boolean, routeInfo: MessagePad.RouteInfo) /** * 结束自动驾驶 */ diff --git 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 index 2abbfb75b6..945ced2c4a 100644 --- 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 @@ -182,7 +182,8 @@ object CallerAutoPilotControlManager { */ fun sendTrajectoryDownloadReq(autoPilotLine: AutopilotControlParameters.AutoPilotLine) { if (AppIdentityModeUtils.isDriver(FunctionBuildConfig.appIdentityMode)) { - providerApi?.sendTrajectoryDownloadReq(autoPilotLine) + //TODO 需要传参 isAutoRouting, routeInfo +// providerApi?.sendTrajectoryDownloadReq(autoPilotLine, isAutoRouting, routeInfo) CallerAutoPilotStatusListenerManager.invokeTrajectoryDownloadReq(autoPilotLine, 0) } } @@ -193,7 +194,8 @@ object CallerAutoPilotControlManager { */ fun sendTrajectoryDownloadReq(autoPilotLine: AutopilotControlParameters.AutoPilotLine, downloadType: Int) { if (AppIdentityModeUtils.isDriver(FunctionBuildConfig.appIdentityMode)) { - providerApi?.sendTrajectoryDownloadReq(autoPilotLine, downloadType) + //TODO 需要传参 isAutoRouting, routeInfo +// providerApi?.sendTrajectoryDownloadReq(autoPilotLine, downloadType, isAutoRouting, routeInfo) CallerAutoPilotStatusListenerManager.invokeTrajectoryDownloadReq(autoPilotLine, downloadType) } } diff --git a/libraries/mogo-adas-data/src/main/proto/message_pad.proto b/libraries/mogo-adas-data/src/main/proto/message_pad.proto index 962820c486..bbb60baffe 100644 --- a/libraries/mogo-adas-data/src/main/proto/message_pad.proto +++ b/libraries/mogo-adas-data/src/main/proto/message_pad.proto @@ -272,6 +272,9 @@ message TrajectoryDownloadReq Line line = 1; //路线 uint32 source = 2; //指令来源: 0: default, 1:pad, 2:aicloud uint32 downloadType = 3; //下载类型: 0:正常下载 1:预下载 + + bool isAutoRouting = 4; //20240523 是否进行自动算路 + RouteInfo routeInfo = 5; //20240523 进行自动算路，务必下单时候携带自动驾驶路径信息，否则可不填！ } // message definition for MessageType: MsgTypeBasicInfoReq @@ -297,6 +300,8 @@ message Location double latitude = 2; double altitude = 3; double heading = 4; + + bool station = 5; //20240523， 判断此点是中间站点还是途径点 ------- true：站点， false：简单的途径点 } message RouteInfo @@ -312,6 +317,10 @@ message RouteInfo uint32 routeID = 9; string routeName = 10; Line line = 11; //路线信息 + + string newRoutingMd5 = 12; //20240523 默认空值""：原有轨迹线路；若存在有效MD5值，新算路信息 + repeated Location blackPoints = 13; //20240523 不让走的道路，异常线路点 + bool isRestart = 14; //20240523 用于表示判断是否是起点下单。默认false：起点下单， true: 中间站点下单 或者接管后重新启动 } message SetAutopilotModeReq @@ -319,6 +328,8 @@ message SetAutopilotModeReq uint32 mode = 1; //1: enter autopilot mode, 0: quit autopilot mode uint32 source = 2; //命令来源: 0: pad模拟, 1: pad业务, 2:aicloud, 3:魔方(清扫车MAP Version==332以及MAP Version>=350，其他车型目前未上线) RouteInfo routeInfo = 3; //自动驾驶路径信息 + + bool isAutoRouting = 4; //20240523 是否进行自动算路 } // message definition for MsgTypeSetDemoModeReq diff --git a/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/AdasChannel.java b/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/AdasChannel.java index 6460ecf0bf..f3d0c82a56 100644 --- a/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/AdasChannel.java +++ b/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/AdasChannel.java @@ -1189,21 +1189,23 @@ public class AdasChannel implements IAdasNetCommApi, FpgaSocket.IWebSocketConnec * 设置自动驾驶模式 启动自动驾驶 * 此方法存在域控回执，监听{@link OnAdasListener#onReceiveReceivedAck(ReceivedAck)}回调.使用方法：将此方法的返回值与{@link ReceivedAck#getMsgId()}进行比较，如果相同判断{@link ReceivedAck#getStatus()}是否等于{@link ReceivedAck.Status#NORMAL}，详情参见CheckSystemView中的onReceiveReceivedAck * - * @param mode 1: enter autopilot mode, 0: quit autopilot mode - * @param source 命令来源: 0: pad模拟, 1: pad业务, 2:aicloud, 3:魔方(清扫车MAP Version==332以及MAP Version>=350，其他车型目前未上线) - * @param routeInfo 自动驾驶路径信息 + * @param mode 1: enter autopilot mode, 0: quit autopilot mode + * @param source 命令来源: 0: pad模拟, 1: pad业务, 2:aicloud, 3:魔方(清扫车MAP Version==332以及MAP Version>=350，其他车型目前未上线) + * @param routeInfo 自动驾驶路径信息 + * @param isAutoRouting 20240523 是否进行自动算路 * @return 消息是否添加到WS消息发送队列，返回值为非0的正整数时表示下发消息的消息ID * * >=0：表示添加到WS发送消息队列 * * =0：表示乘客屏模式添加到WS发送消息队列 * * -1L：添加到WS发送消息队列失败 */ @Override - public long sendAutoPilotModeReq(int mode, int source, MessagePad.RouteInfo routeInfo) { + public long sendAutoPilotModeReq(int mode, int source, MessagePad.RouteInfo routeInfo, boolean isAutoRouting) { MessagePad.SetAutopilotModeReq.Builder builder = MessagePad.SetAutopilotModeReq.newBuilder(); builder.setMode(mode); builder.setSource(source); if (routeInfo != null) builder.setRouteInfo(routeInfo); + builder.setIsAutoRouting(isAutoRouting); MessagePad.SetAutopilotModeReq req = builder.build(); if (autopilotReview != null) autopilotReview.onAutopilotCommandTrigger(req); return sendPBMessage(MessageType.TYPE_SEND_SET_AUTOPILOT_MODE_REQ, req.toByteArray()); @@ -1655,8 +1657,10 @@ public class AdasChannel implements IAdasNetCommApi, FpgaSocket.IWebSocketConnec * 发送 轨迹下载请求 * 此方法存在域控回执，监听{@link OnAdasListener#onReceiveReceivedAck(ReceivedAck)}回调.使用方法：将此方法的返回值与{@link ReceivedAck#getMsgId()}进行比较，如果相同判断{@link ReceivedAck#getStatus()}是否等于{@link ReceivedAck.Status#NORMAL}，详情参见CheckSystemView中的onReceiveReceivedAck * - * @param line 线路相关参数详情见PB message_pad.proto -> Line - * @param downloadType 下载类型: 0:正常下载 1:预下载 + * @param line 线路相关参数详情见PB message_pad.proto -> Line + * @param downloadType 下载类型: 0:正常下载 1:预下载 + * @param isAutoRouting 20240523 是否进行自动算路 + * @param routeInfo 20240523 进行自动算路，务必下单时候携带自动驾驶路径信息，否则可不填！ * @return 消息是否添加到WS消息发送队列，返回值为非0的正整数时表示下发消息的消息ID * * >=0：表示添加到WS发送消息队列 * * =0：表示乘客屏模式添加到WS发送消息队列 @@ -1669,13 +1673,19 @@ public class AdasChannel implements IAdasNetCommApi, FpgaSocket.IWebSocketConnec paramIndexes = {0} ) @Override - public long sendTrajectoryDownloadReq(MessagePad.Line line, int downloadType) { + public long sendTrajectoryDownloadReq(MessagePad.Line line, int downloadType, boolean isAutoRouting, MessagePad.RouteInfo routeInfo) { MessagePad.TrajectoryDownloadReq.Builder builder = MessagePad.TrajectoryDownloadReq.newBuilder(); builder.setSource(1);//指令来源: 0: default, 1:pad, 2:aicloud - builder.setLine(line); + if (line != null) { + builder.setLine(line); + } if (downloadType > -1) { builder.setDownloadType(downloadType); } + builder.setIsAutoRouting(isAutoRouting); + if (routeInfo != null) { + builder.setRouteInfo(routeInfo); + } MessagePad.TrajectoryDownloadReq req = builder.build(); return sendPBMessage(MessageType.TYPE_SEND_TRAJECTORY_DOWNLOAD_REQ, req.toByteArray()); } diff --git a/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/AdasManager.java b/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/AdasManager.java index f29f121e3c..7f9669cdf3 100644 --- a/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/AdasManager.java +++ b/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/AdasManager.java @@ -393,17 +393,18 @@ public class AdasManager implements IAdasNetCommApi { * 设置自动驾驶模式 启动自动驾驶 * 此方法存在域控回执，监听{@link OnAdasListener#onReceiveReceivedAck(ReceivedAck)}回调.使用方法：将此方法的返回值与{@link ReceivedAck#getMsgId()}进行比较，如果相同判断{@link ReceivedAck#getStatus()}是否等于{@link ReceivedAck.Status#NORMAL}，详情参见CheckSystemView中的onReceiveReceivedAck * - * @param mode 1: enter autopilot mode, 0: quit autopilot mode - * @param source 命令来源: 0: pad模拟, 1: pad业务, 2:aicloud, 3:魔方(清扫车MAP Version==332以及MAP Version>=350，其他车型目前未上线) - * @param routeInfo 自动驾驶路径信息 + * @param mode 1: enter autopilot mode, 0: quit autopilot mode + * @param source 命令来源: 0: pad模拟, 1: pad业务, 2:aicloud, 3:魔方(清扫车MAP Version==332以及MAP Version>=350，其他车型目前未上线) + * @param routeInfo 自动驾驶路径信息 + * @param isAutoRouting 20240523 是否进行自动算路 * @return 消息是否添加到WS消息发送队列，返回值为非0的正整数时表示下发消息的消息ID * * >=0：表示添加到WS发送消息队列 * * =0：表示乘客屏模式添加到WS发送消息队列 * * -1L：添加到WS发送消息队列失败 */ @Override - public long sendAutoPilotModeReq(int mode, int source, MessagePad.RouteInfo routeInfo) { - return mChannel == null ? -1L : mChannel.sendAutoPilotModeReq(mode, source, routeInfo); + public long sendAutoPilotModeReq(int mode, int source, MessagePad.RouteInfo routeInfo, boolean isAutoRouting) { + return mChannel == null ? -1L : mChannel.sendAutoPilotModeReq(mode, source, routeInfo, isAutoRouting); } /** @@ -758,30 +759,34 @@ public class AdasManager implements IAdasNetCommApi { * 发送 轨迹下载请求 * 此方法存在域控回执，监听{@link OnAdasListener#onReceiveReceivedAck(ReceivedAck)}回调.使用方法：将此方法的返回值与{@link ReceivedAck#getMsgId()}进行比较，如果相同判断{@link ReceivedAck#getStatus()}是否等于{@link ReceivedAck.Status#NORMAL}，详情参见CheckSystemView中的onReceiveReceivedAck * - * @param line 线路相关参数详情见PB message_pad.proto -> Line + * @param line 线路相关参数详情见PB message_pad.proto -> Line + * @param isAutoRouting 20240523 是否进行自动算路 + * @param routeInfo 20240523 进行自动算路，务必下单时候携带自动驾驶路径信息，否则可不填！ * @return 消息是否添加到WS消息发送队列，返回值为非0的正整数时表示下发消息的消息ID * * >=0：表示添加到WS发送消息队列 * * =0：表示乘客屏模式添加到WS发送消息队列 * * -1L：添加到WS发送消息队列失败 */ - public long sendTrajectoryDownloadReq(MessagePad.Line line) { - return mChannel == null ? -1L : mChannel.sendTrajectoryDownloadReq(line, -1); + public long sendTrajectoryDownloadReq(MessagePad.Line line, boolean isAutoRouting, MessagePad.RouteInfo routeInfo) { + return mChannel == null ? -1L : mChannel.sendTrajectoryDownloadReq(line, -1, isAutoRouting, routeInfo); } /** * 发送 轨迹下载请求 * 此方法存在域控回执，监听{@link OnAdasListener#onReceiveReceivedAck(ReceivedAck)}回调.使用方法：将此方法的返回值与{@link ReceivedAck#getMsgId()}进行比较，如果相同判断{@link ReceivedAck#getStatus()}是否等于{@link ReceivedAck.Status#NORMAL}，详情参见CheckSystemView中的onReceiveReceivedAck * - * @param line 线路相关参数详情见PB message_pad.proto -> Line - * @param downloadType 下载类型: 0:正常下载 1:预下载 + * @param line 线路相关参数详情见PB message_pad.proto -> Line + * @param downloadType 下载类型: 0:正常下载 1:预下载 + * @param isAutoRouting 20240523 是否进行自动算路 + * @param routeInfo 20240523 进行自动算路，务必下单时候携带自动驾驶路径信息，否则可不填！ * @return 消息是否添加到WS消息发送队列，返回值为非0的正整数时表示下发消息的消息ID * * >=0：表示添加到WS发送消息队列 * * =0：表示乘客屏模式添加到WS发送消息队列 * * -1L：添加到WS发送消息队列失败 */ @Override - public long sendTrajectoryDownloadReq(MessagePad.Line line, int downloadType) { - return mChannel == null ? -1L : mChannel.sendTrajectoryDownloadReq(line, downloadType); + public long sendTrajectoryDownloadReq(MessagePad.Line line, int downloadType, boolean isAutoRouting, MessagePad.RouteInfo routeInfo) { + return mChannel == null ? -1L : mChannel.sendTrajectoryDownloadReq(line, downloadType, isAutoRouting, routeInfo); } /** diff --git a/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/IAdasNetCommApi.java b/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/IAdasNetCommApi.java index 5ba39f8bf5..557e3f4447 100644 --- a/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/IAdasNetCommApi.java +++ b/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/IAdasNetCommApi.java @@ -173,15 +173,16 @@ public interface IAdasNetCommApi { * 设置自动驾驶模式 启动自动驾驶 * 此方法存在域控回执，监听{@link OnAdasListener#onReceiveReceivedAck(ReceivedAck)}回调.使用方法：将此方法的返回值与{@link ReceivedAck#getMsgId()}进行比较，如果相同判断{@link ReceivedAck#getStatus()}是否等于{@link ReceivedAck.Status#NORMAL}，详情参见CheckSystemView中的onReceiveReceivedAck * - * @param mode 1: enter autopilot mode, 0: quit autopilot mode - * @param source 命令来源: 0: pad模拟, 1: pad业务, 2:aicloud, 3:魔方(清扫车MAP Version==332以及MAP Version>=350，其他车型目前未上线) - * @param routeInfo 自动驾驶路径信息 + * @param mode 1: enter autopilot mode, 0: quit autopilot mode + * @param source 命令来源: 0: pad模拟, 1: pad业务, 2:aicloud, 3:魔方(清扫车MAP Version==332以及MAP Version>=350，其他车型目前未上线) + * @param routeInfo 自动驾驶路径信息 + * @param isAutoRouting 20240523 是否进行自动算路 * @return 消息是否添加到WS消息发送队列，返回值为非0的正整数时表示下发消息的消息ID * * >=0：表示添加到WS发送消息队列 * * =0：表示乘客屏模式添加到WS发送消息队列 * * -1L：添加到WS发送消息队列失败 */ - long sendAutoPilotModeReq(int mode, int source, MessagePad.RouteInfo routeInfo); + long sendAutoPilotModeReq(int mode, int source, MessagePad.RouteInfo routeInfo, boolean isAutoRouting); /** @@ -475,14 +476,16 @@ public interface IAdasNetCommApi { * 发送 轨迹下载请求 * 此方法存在域控回执，监听{@link OnAdasListener#onReceiveReceivedAck(ReceivedAck)}回调.使用方法：将此方法的返回值与{@link ReceivedAck#getMsgId()}进行比较，如果相同判断{@link ReceivedAck#getStatus()}是否等于{@link ReceivedAck.Status#NORMAL}，详情参见CheckSystemView中的onReceiveReceivedAck * - * @param line 线路相关参数详情见PB message_pad.proto -> Line - * @param downloadType 下载类型: 0:正常下载 1:预下载 + * @param line 线路相关参数详情见PB message_pad.proto -> Line + * @param downloadType 下载类型: 0:正常下载 1:预下载 + * @param isAutoRouting 20240523 是否进行自动算路 + * @param routeInfo 20240523 进行自动算路，务必下单时候携带自动驾驶路径信息，否则可不填！ * @return 消息是否添加到WS消息发送队列，返回值为非0的正整数时表示下发消息的消息ID * * >=0：表示添加到WS发送消息队列 * * =0：表示乘客屏模式添加到WS发送消息队列 * * -1L：添加到WS发送消息队列失败 */ - long sendTrajectoryDownloadReq(MessagePad.Line line, int downloadType); + long sendTrajectoryDownloadReq(MessagePad.Line line, int downloadType, boolean isAutoRouting, MessagePad.RouteInfo routeInfo); /** * 发送 状态查询请求 From 86e6e4483a060207534c4021067279db397b5ee6 Mon Sep 17 00:00:00 2001 From: donghongyu Date: Fri, 24 May 2024 18:29:41 +0800 Subject: [PATCH 02/43] =?UTF-8?q?[Routing=20dev]=201=E3=80=81=E5=BC=80?= =?UTF-8?q?=E5=8F=91=E5=90=AF=E5=8A=A8Routing=E8=87=AA=E5=8A=A8=E9=A9=BE?= =?UTF-8?q?=E9=A9=B6=E7=9A=84=E9=80=BB=E8=BE=91?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- .../och/taxi/ui/routing/TaxiRoutingModel.kt | 1 + .../autopilot/MoGoAutopilotControlProvider.kt | 14 +++++++--- .../autopilot/AutopilotControlParameters.kt | 27 ++++++++++++------- .../IMoGoAutopilotControlProvider.kt | 4 +-- .../CallerAutoPilotControlManager.kt | 8 +++--- 5 files changed, 34 insertions(+), 20 deletions(-) diff --git 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 index 2392b26090..6db672f5ea 100644 --- 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 @@ -492,6 +492,7 @@ object TaxiRoutingModel { CallerLogger.e(TAG, "AutopilotControlParameters is empty.") return } + parameters.isAutoRouting = true OchAutoPilotManager.startAutoPilot(parameters); diff --git a/core/function-impl/mogo-core-function-datacenter/src/main/java/com/mogo/eagle/core/function/datacenter/autopilot/MoGoAutopilotControlProvider.kt b/core/function-impl/mogo-core-function-datacenter/src/main/java/com/mogo/eagle/core/function/datacenter/autopilot/MoGoAutopilotControlProvider.kt index f1f21e1750..95bfb3c1e0 100644 --- a/core/function-impl/mogo-core-function-datacenter/src/main/java/com/mogo/eagle/core/function/datacenter/autopilot/MoGoAutopilotControlProvider.kt +++ b/core/function-impl/mogo-core-function-datacenter/src/main/java/com/mogo/eagle/core/function/datacenter/autopilot/MoGoAutopilotControlProvider.kt @@ -380,6 +380,11 @@ class MoGoAutopilotControlProvider : startAutoPilot(controlParameters, Constants.AUTOPILOT_SOURCE.MO_FANG) } } + + /** + * 无参数启动自动驾驶，现在的调用方有：魔方 + * @param source 数据来源 + */ private fun startAutoPilotWithNoParameter(source: Int) { if (AppIdentityModeUtils.isPassenger(FunctionBuildConfig.appIdentityMode)) { val invokeResult = AdasManager.getInstance() @@ -396,15 +401,16 @@ class MoGoAutopilotControlProvider : } } } + private fun startAutoPilot(controlParameters: AutopilotControlParameters, source: Int) { if (AppIdentityModeUtils.isPassenger(FunctionBuildConfig.appIdentityMode)) { val invokeResult = AdasManager.getInstance() - .sendAutoPilotModeReq(1, source, controlParameters.toRouteInfo(), false) + .sendAutoPilotModeReq(1, source, controlParameters.toRouteInfo(), controlParameters.isAutoRouting) invokeAutoPilotResult(if (invokeResult > -1) "自动驾驶调用成功：${invokeResult}" else "自动驾驶调用失败, socket 或者 rawPack 可能为空") } else { if (AdasManager.getInstance().ipcConnectionStatus == AdasConstants.IpcConnectionStatus.CONNECTED) { val invokeResult = AdasManager.getInstance() - .sendAutoPilotModeReq(1, source, controlParameters.toRouteInfo(), false) + .sendAutoPilotModeReq(1, source, controlParameters.toRouteInfo(), controlParameters.isAutoRouting) invokeAutoPilotResult(if (invokeResult > -1) "自动驾驶调用成功：${invokeResult}" else "自动驾驶调用失败, socket 或者 rawPack 可能为空") } else { invokeAutoPilotResult("车机与工控机链接失败，无法开启自动驾驶") @@ -440,11 +446,11 @@ class MoGoAutopilotControlProvider : ) } - override fun sendTrajectoryDownloadReq(autoPilotLine: AutopilotControlParameters.AutoPilotLine, isAutoRouting: Boolean, routeInfo: MessagePad.RouteInfo) { + override fun sendTrajectoryDownloadReq(autoPilotLine: AutopilotControlParameters.AutoPilotLine, isAutoRouting: Boolean, routeInfo: MessagePad.RouteInfo?) { AdasManager.getInstance().sendTrajectoryDownloadReq(autoPilotLine.toAutoPilotLine(),isAutoRouting,routeInfo) } - override fun sendTrajectoryDownloadReq(autoPilotLine: AutopilotControlParameters.AutoPilotLine, downloadType: Int, isAutoRouting: Boolean, routeInfo: MessagePad.RouteInfo) { + override fun sendTrajectoryDownloadReq(autoPilotLine: AutopilotControlParameters.AutoPilotLine, downloadType: Int, isAutoRouting: Boolean, routeInfo: MessagePad.RouteInfo?) { AdasManager.getInstance().sendTrajectoryDownloadReq( autoPilotLine.toAutoPilotLine(), downloadType, diff --git 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 index 4daa8cb771..ac94b2a76c 100644 --- 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 @@ -139,6 +139,8 @@ class AutopilotControlParameters { @JvmField var autoPilotLine: AutoPilotLine? = null // 自动驾驶路线 + var isAutoRouting = false//是否进行自动算路,true--使用车端自动算路，false--不使用自动算路，使用轨迹循迹 + class AutoPilotLine { var lineId = 0L var lineName = "" @@ -216,15 +218,20 @@ class AutopilotControlParameters { } override fun toString(): String { - return "AutopilotControlParameters{" + - "startName='" + startName + '\'' + - ", endName='" + endName + '\'' + - ", startLatLon=" + startLatLon + - ", wayLatLons=" + wayLatLons + - ", endLatLon=" + endLatLon + - ", speedLimit=" + speedLimit + - ", vehicleType=" + vehicleType + - ", isSpeakVoice=" + isSpeakVoice + - '}' + return "AutopilotControlParameters(" + + "startName='$startName', " + + "endName='$endName', " + + "startLatLon=$startLatLon, " + + "wayLatLons=$wayLatLons," + + "endLatLon=$endLatLon," + + "speedLimit=$speedLimit, " + + "vehicleType=$vehicleType, " + + "routeID=$routeID, " + + "routeName='$routeName', " + + "isSpeakVoice=$isSpeakVoice, " + + "autoPilotLine=$autoPilotLine, " + + "isAutoRouting=$isAutoRouting)" } + + } \ No newline at end of file diff --git a/core/mogo-core-function-api/src/main/java/com/mogo/eagle/core/function/api/autopilot/IMoGoAutopilotControlProvider.kt b/core/mogo-core-function-api/src/main/java/com/mogo/eagle/core/function/api/autopilot/IMoGoAutopilotControlProvider.kt index 5d8d0f4ff6..5b6755b01e 100644 --- a/core/mogo-core-function-api/src/main/java/com/mogo/eagle/core/function/api/autopilot/IMoGoAutopilotControlProvider.kt +++ b/core/mogo-core-function-api/src/main/java/com/mogo/eagle/core/function/api/autopilot/IMoGoAutopilotControlProvider.kt @@ -56,7 +56,7 @@ interface IMoGoAutopilotControlProvider : IMoGoFunctionServerProvider { /** * 发送 轨迹下载请求 */ - fun sendTrajectoryDownloadReq(autoPilotLine: AutopilotControlParameters.AutoPilotLine, isAutoRouting: Boolean, routeInfo: MessagePad.RouteInfo) + fun sendTrajectoryDownloadReq(autoPilotLine: AutopilotControlParameters.AutoPilotLine, isAutoRouting: Boolean, routeInfo: MessagePad.RouteInfo?) /** * 发送 轨迹下载请求 @@ -66,7 +66,7 @@ interface IMoGoAutopilotControlProvider : IMoGoFunctionServerProvider { * @param isAutoRouting 20240523 是否进行自动算路 * @param routeInfo 20240523 进行自动算路，务必下单时候携带自动驾驶路径信息，否则可不填！ */ - fun sendTrajectoryDownloadReq(autoPilotLine: AutopilotControlParameters.AutoPilotLine, downloadType: Int, isAutoRouting: Boolean, routeInfo: MessagePad.RouteInfo) + fun sendTrajectoryDownloadReq(autoPilotLine: AutopilotControlParameters.AutoPilotLine, downloadType: Int, isAutoRouting: Boolean, routeInfo: MessagePad.RouteInfo?) /** * 结束自动驾驶 */ diff --git 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 index 945ced2c4a..96befaeb27 100644 --- 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 @@ -182,8 +182,8 @@ object CallerAutoPilotControlManager { */ fun sendTrajectoryDownloadReq(autoPilotLine: AutopilotControlParameters.AutoPilotLine) { if (AppIdentityModeUtils.isDriver(FunctionBuildConfig.appIdentityMode)) { - //TODO 需要传参 isAutoRouting, routeInfo -// providerApi?.sendTrajectoryDownloadReq(autoPilotLine, isAutoRouting, routeInfo) + //TODO Routing 需要传参 isAutoRouting, routeInfo + providerApi?.sendTrajectoryDownloadReq(autoPilotLine, false, null) CallerAutoPilotStatusListenerManager.invokeTrajectoryDownloadReq(autoPilotLine, 0) } } @@ -194,8 +194,8 @@ object CallerAutoPilotControlManager { */ fun sendTrajectoryDownloadReq(autoPilotLine: AutopilotControlParameters.AutoPilotLine, downloadType: Int) { if (AppIdentityModeUtils.isDriver(FunctionBuildConfig.appIdentityMode)) { - //TODO 需要传参 isAutoRouting, routeInfo -// providerApi?.sendTrajectoryDownloadReq(autoPilotLine, downloadType, isAutoRouting, routeInfo) + //TODO Routing 需要传参 isAutoRouting, routeInfo + providerApi?.sendTrajectoryDownloadReq(autoPilotLine, downloadType, false, null) CallerAutoPilotStatusListenerManager.invokeTrajectoryDownloadReq(autoPilotLine, downloadType) } } From a007bbf1303df6579a23159a597b0a4aee9cbbb1 Mon Sep 17 00:00:00 2001 From: donghongyu Date: Fri, 24 May 2024 19:14:24 +0800 Subject: [PATCH 03/43] =?UTF-8?q?[Routing=20dev]=201=E3=80=81=E5=BC=80?= =?UTF-8?q?=E5=8F=91=E5=90=AF=E5=8A=A8Routing=E8=87=AA=E5=8A=A8=E9=A9=BE?= =?UTF-8?q?=E9=A9=B6=E7=9A=84=E9=80=BB=E8=BE=91?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- .../main/java/com/mogo/och/taxi/bean/TaxiRoutingBean.kt | 3 ++- .../och/taxi/ui/routing/TaxiRoutingChooseLineAdapter.kt | 7 ++++++- .../java/com/mogo/och/taxi/ui/routing/TaxiRoutingModel.kt | 3 ++- 3 files changed, 10 insertions(+), 3 deletions(-) diff --git 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 index aa5fd325a5..d0ece766dd 100644 --- 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 @@ -11,7 +11,8 @@ 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 isAutoRouting: Boolean = true, //是否进行自动算路,true--使用车端自动算路，false--不使用自动算路，使用轨迹循迹 ) data class RoutingSite( diff --git a/OCH/taxi/unmanned-driver/src/main/java/com/mogo/och/taxi/ui/routing/TaxiRoutingChooseLineAdapter.kt b/OCH/taxi/unmanned-driver/src/main/java/com/mogo/och/taxi/ui/routing/TaxiRoutingChooseLineAdapter.kt index 501cc62945..807cdeafcd 100644 --- a/OCH/taxi/unmanned-driver/src/main/java/com/mogo/och/taxi/ui/routing/TaxiRoutingChooseLineAdapter.kt +++ b/OCH/taxi/unmanned-driver/src/main/java/com/mogo/och/taxi/ui/routing/TaxiRoutingChooseLineAdapter.kt @@ -32,7 +32,12 @@ class TaxiRoutingChooseLineAdapter( override fun onBindViewHolder(holder: SwitchLineViewHolder, position: Int) { val currentPosition = holder.bindingAdapterPosition val data = mData[currentPosition] - holder.lineNameTextView.text = data.lineName + // 区分Routing和循迹 + holder.lineNameTextView.text = if (data.isAutoRouting) { + "Routing-" + data.lineName + } else { + data.lineName + } holder.todayVerifyNumTextView.text = "本车今日已验证：${data.carVerificationCount}次" holder.historyVerifyNumTextView.text = "路线累计反馈${data.lineSuccessCount}可用，${data.lineFailCount}不可用" diff --git 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 index 6db672f5ea..90cbe7943b 100644 --- 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 @@ -492,7 +492,8 @@ object TaxiRoutingModel { CallerLogger.e(TAG, "AutopilotControlParameters is empty.") return } - parameters.isAutoRouting = true + // 使用云端配置的Routing灰度路线 + parameters.isAutoRouting = grayLineBean.isAutoRouting OchAutoPilotManager.startAutoPilot(parameters); From 06c0366b4282380717a76b6aa32223af4b6b5764 Mon Sep 17 00:00:00 2001 From: donghongyu Date: Mon, 27 May 2024 14:16:33 +0800 Subject: [PATCH 04/43] =?UTF-8?q?[Routing=20dev]=201=E3=80=81=E6=9B=BF?= =?UTF-8?q?=E6=8D=A2gradle=EF=BC=8Cmaven=E4=BB=A3=E7=90=86=E6=9C=8D?= =?UTF-8?q?=E5=8A=A1https\://mirrors.tencent.com/gradle/?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- gradle/wrapper/gradle-wrapper.properties | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/gradle/wrapper/gradle-wrapper.properties b/gradle/wrapper/gradle-wrapper.properties index 55e1a2591e..27fa064374 100644 --- a/gradle/wrapper/gradle-wrapper.properties +++ b/gradle/wrapper/gradle-wrapper.properties @@ -1,6 +1,6 @@ #Fri Sep 22 11:53:55 CST 2023 distributionBase=GRADLE_USER_HOME -distributionUrl=https\://services.gradle.org/distributions/gradle-6.1.1-all.zip +distributionUrl=https\://mirrors.tencent.com/gradle/gradle-6.1.1-all.zip distributionPath=wrapper/dists zipStorePath=wrapper/dists zipStoreBase=GRADLE_USER_HOME From 1267d23bc1dbd0c6ff4a20a43907ad257ecce634 Mon Sep 17 00:00:00 2001 From: donghongyu Date: Mon, 27 May 2024 18:02:00 +0800 Subject: [PATCH 05/43] =?UTF-8?q?[Routing=20dev]=201=E3=80=81=E4=BF=AE?= =?UTF-8?q?=E6=94=B9=E7=81=B0=E5=BA=A6=E8=B7=AF=E7=BA=BF=E9=BB=98=E8=AE=A4?= =?UTF-8?q?=E5=80=BC=EF=BC=8C=E6=B3=A8=E6=84=8F=20//TODO=20Routing=20?= =?UTF-8?q?=E5=90=8E=E9=9D=A2=E9=9C=80=E8=A6=81=E7=BB=9F=E4=B8=80=E4=BF=AE?= =?UTF-8?q?=E6=94=B9=E4=B8=BA=E7=9C=9F=E5=AE=9E=E6=95=B0=E6=8D=AE?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- .../src/main/java/com/mogo/och/taxi/bean/TaxiRoutingBean.kt | 2 +- .../java/com/mogo/och/taxi/ui/routing/TaxiRoutingModel.kt | 4 ++++ 2 files changed, 5 insertions(+), 1 deletion(-) diff --git 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 index d0ece766dd..4f8514afb5 100644 --- 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 @@ -12,7 +12,7 @@ data class GrayLineBean( var isChoosed: Boolean = false, //当前是否选中 var startSite: RoutingSite?, var endSite: RoutingSite?, - var isAutoRouting: Boolean = true, //是否进行自动算路,true--使用车端自动算路，false--不使用自动算路，使用轨迹循迹 + var isAutoRouting: Boolean = true //是否进行自动算路,true--使用车端自动算路，false--不使用自动算路，使用轨迹循迹 ) data class RoutingSite( diff --git 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 index 90cbe7943b..97d3992f19 100644 --- 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 @@ -211,6 +211,10 @@ object TaxiRoutingModel { DebugView.printInfoMsg("[查询灰度路线] 请求success，dataSize=${data?.data?.size}") val result = mutableListOf() data.data?.also { + //TODO Routing 临时修改，这里后面从接口数据直接获取，需要配合运营平台一起修改灰度路线数据 + it.forEach { + it.isAutoRouting = true + } result.addAll(it) } mTaxiRoutingCallbackMap.forEach { From c51e4aa6b9b1d59fcbfd1dc491462c41c9630409 Mon Sep 17 00:00:00 2001 From: xinfengkun Date: Thu, 30 May 2024 17:54:25 +0800 Subject: [PATCH 06/43] =?UTF-8?q?[adas]=20routing=E9=9C=80=E6=B1=82?= =?UTF-8?q?=EF=BC=8C=E5=85=BC=E5=AE=B9=E8=87=AA=E5=8A=A8=E7=AE=97=E8=B7=AF?= =?UTF-8?q?=E5=92=8C=E8=BD=A8=E8=BF=B9=E7=AE=97=E8=B7=AF=20=E5=90=8C?= =?UTF-8?q?=E6=AD=A5PB?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- .../mogo-adas-data/src/main/proto/message_pad.proto | 11 ++++------- 1 file changed, 4 insertions(+), 7 deletions(-) diff --git a/libraries/mogo-adas-data/src/main/proto/message_pad.proto b/libraries/mogo-adas-data/src/main/proto/message_pad.proto index bbb60baffe..8ef978bc44 100644 --- a/libraries/mogo-adas-data/src/main/proto/message_pad.proto +++ b/libraries/mogo-adas-data/src/main/proto/message_pad.proto @@ -273,8 +273,7 @@ message TrajectoryDownloadReq uint32 source = 2; //指令来源: 0: default, 1:pad, 2:aicloud uint32 downloadType = 3; //下载类型: 0:正常下载 1:预下载 - bool isAutoRouting = 4; //20240523 是否进行自动算路 - RouteInfo routeInfo = 5; //20240523 进行自动算路，务必下单时候携带自动驾驶路径信息，否则可不填！ + RouteInfo routeInfo = 4; //20240523 进行自动算路，务必下单时候携带自动驾驶路径信息，否则可不填！（Line信息重复） } // message definition for MessageType: MsgTypeBasicInfoReq @@ -316,11 +315,10 @@ message RouteInfo bool isSpeakVoice = 8; //abandoned uint32 routeID = 9; string routeName = 10; - Line line = 11; //路线信息 + Line line = 11; //路线信息，原有轨迹线路信息 - string newRoutingMd5 = 12; //20240523 默认空值""：原有轨迹线路；若存在有效MD5值，新算路信息 - repeated Location blackPoints = 13; //20240523 不让走的道路，异常线路点 - bool isRestart = 14; //20240523 用于表示判断是否是起点下单。默认false：起点下单， true: 中间站点下单 或者接管后重新启动 + repeated Location blackPoints = 12; //20240523 不让走的道路，异常线路点 + bool isStation = 13; //20240523 用于表示判断是否是站点下单。默认false：起点下单，接管下单； true: 中间站点下单 } message SetAutopilotModeReq @@ -329,7 +327,6 @@ message SetAutopilotModeReq uint32 source = 2; //命令来源: 0: pad模拟, 1: pad业务, 2:aicloud, 3:魔方(清扫车MAP Version==332以及MAP Version>=350，其他车型目前未上线) RouteInfo routeInfo = 3; //自动驾驶路径信息 - bool isAutoRouting = 4; //20240523 是否进行自动算路 } // message definition for MsgTypeSetDemoModeReq From 03c922249af75142dd422e61dad10a5eff2da58e Mon Sep 17 00:00:00 2001 From: donghongyu Date: Fri, 31 May 2024 14:17:23 +0800 Subject: [PATCH 07/43] =?UTF-8?q?[Routing=20dev]=201=E3=80=81=E5=88=A0?= =?UTF-8?q?=E9=99=A4isAutoRouting?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- .../com/mogo/och/taxi/bean/TaxiRoutingBean.kt | 3 +-- .../routing/TaxiRoutingChooseLineAdapter.kt | 6 +----- .../och/taxi/ui/routing/TaxiRoutingModel.kt | 6 ------ .../autopilot/MoGoAutopilotControlProvider.kt | 21 +++++++++---------- .../autopilot/AutopilotControlParameters.kt | 4 +--- .../IMoGoAutopilotControlProvider.kt | 5 ++--- .../CallerAutoPilotControlManager.kt | 8 +++---- .../zhidao/support/adas/high/AdasChannel.java | 8 ++----- .../zhidao/support/adas/high/AdasManager.java | 15 ++++++------- .../support/adas/high/IAdasNetCommApi.java | 6 ++---- 10 files changed, 29 insertions(+), 53 deletions(-) diff --git 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 index 4f8514afb5..aa5fd325a5 100644 --- 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 @@ -11,8 +11,7 @@ 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 isAutoRouting: Boolean = true //是否进行自动算路,true--使用车端自动算路，false--不使用自动算路，使用轨迹循迹 + var endSite: RoutingSite? ) data class RoutingSite( diff --git a/OCH/taxi/unmanned-driver/src/main/java/com/mogo/och/taxi/ui/routing/TaxiRoutingChooseLineAdapter.kt b/OCH/taxi/unmanned-driver/src/main/java/com/mogo/och/taxi/ui/routing/TaxiRoutingChooseLineAdapter.kt index 807cdeafcd..828a8e4416 100644 --- a/OCH/taxi/unmanned-driver/src/main/java/com/mogo/och/taxi/ui/routing/TaxiRoutingChooseLineAdapter.kt +++ b/OCH/taxi/unmanned-driver/src/main/java/com/mogo/och/taxi/ui/routing/TaxiRoutingChooseLineAdapter.kt @@ -33,11 +33,7 @@ class TaxiRoutingChooseLineAdapter( val currentPosition = holder.bindingAdapterPosition val data = mData[currentPosition] // 区分Routing和循迹 - holder.lineNameTextView.text = if (data.isAutoRouting) { - "Routing-" + data.lineName - } else { - data.lineName - } + holder.lineNameTextView.text = data.lineName holder.todayVerifyNumTextView.text = "本车今日已验证：${data.carVerificationCount}次" holder.historyVerifyNumTextView.text = "路线累计反馈${data.lineSuccessCount}可用，${data.lineFailCount}不可用" diff --git a/OCH/taxi/unmanned-driver/src/main/java/com/mogo/och/taxi/ui/routing/TaxiRoutingModel.kt b/OCH/taxi/unmanned-driver/src/main/java/com/mogo/och/taxi/ui/routing/TaxiRoutingModel.kt index 97d3992f19..2392b26090 100644 --- a/OCH/taxi/unmanned-driver/src/main/java/com/mogo/och/taxi/ui/routing/TaxiRoutingModel.kt +++ b/OCH/taxi/unmanned-driver/src/main/java/com/mogo/och/taxi/ui/routing/TaxiRoutingModel.kt @@ -211,10 +211,6 @@ object TaxiRoutingModel { DebugView.printInfoMsg("[查询灰度路线] 请求success，dataSize=${data?.data?.size}") val result = mutableListOf() data.data?.also { - //TODO Routing 临时修改，这里后面从接口数据直接获取，需要配合运营平台一起修改灰度路线数据 - it.forEach { - it.isAutoRouting = true - } result.addAll(it) } mTaxiRoutingCallbackMap.forEach { @@ -496,8 +492,6 @@ object TaxiRoutingModel { CallerLogger.e(TAG, "AutopilotControlParameters is empty.") return } - // 使用云端配置的Routing灰度路线 - parameters.isAutoRouting = grayLineBean.isAutoRouting OchAutoPilotManager.startAutoPilot(parameters); diff --git a/core/function-impl/mogo-core-function-datacenter/src/main/java/com/mogo/eagle/core/function/datacenter/autopilot/MoGoAutopilotControlProvider.kt b/core/function-impl/mogo-core-function-datacenter/src/main/java/com/mogo/eagle/core/function/datacenter/autopilot/MoGoAutopilotControlProvider.kt index 95bfb3c1e0..2f333858e5 100644 --- a/core/function-impl/mogo-core-function-datacenter/src/main/java/com/mogo/eagle/core/function/datacenter/autopilot/MoGoAutopilotControlProvider.kt +++ b/core/function-impl/mogo-core-function-datacenter/src/main/java/com/mogo/eagle/core/function/datacenter/autopilot/MoGoAutopilotControlProvider.kt @@ -388,12 +388,12 @@ class MoGoAutopilotControlProvider : private fun startAutoPilotWithNoParameter(source: Int) { if (AppIdentityModeUtils.isPassenger(FunctionBuildConfig.appIdentityMode)) { val invokeResult = AdasManager.getInstance() - .sendAutoPilotModeReq(1, source, null, false) + .sendAutoPilotModeReq(1, source, null) invokeAutoPilotResult(if (invokeResult > -1) "无参自动驾驶调用成功：${invokeResult}" else "自动驾驶调用失败, socket 或者 rawPack 可能为空") } else { if (AdasManager.getInstance().ipcConnectionStatus == AdasConstants.IpcConnectionStatus.CONNECTED) { val invokeResult = AdasManager.getInstance() - .sendAutoPilotModeReq(1, source, null, false) + .sendAutoPilotModeReq(1, source, null) invokeAutoPilotResult(if (invokeResult > -1) "无参自动驾驶调用成功：${invokeResult}" else "自动驾驶调用失败, socket 或者 rawPack 可能为空") } else { invokeAutoPilotResult("车机与工控机链接失败，无法开启自动驾驶 无参") @@ -405,12 +405,12 @@ class MoGoAutopilotControlProvider : private fun startAutoPilot(controlParameters: AutopilotControlParameters, source: Int) { if (AppIdentityModeUtils.isPassenger(FunctionBuildConfig.appIdentityMode)) { val invokeResult = AdasManager.getInstance() - .sendAutoPilotModeReq(1, source, controlParameters.toRouteInfo(), controlParameters.isAutoRouting) + .sendAutoPilotModeReq(1, source, controlParameters.toRouteInfo()) invokeAutoPilotResult(if (invokeResult > -1) "自动驾驶调用成功：${invokeResult}" else "自动驾驶调用失败, socket 或者 rawPack 可能为空") } else { if (AdasManager.getInstance().ipcConnectionStatus == AdasConstants.IpcConnectionStatus.CONNECTED) { val invokeResult = AdasManager.getInstance() - .sendAutoPilotModeReq(1, source, controlParameters.toRouteInfo(), controlParameters.isAutoRouting) + .sendAutoPilotModeReq(1, source, controlParameters.toRouteInfo()) invokeAutoPilotResult(if (invokeResult > -1) "自动驾驶调用成功：${invokeResult}" else "自动驾驶调用失败, socket 或者 rawPack 可能为空") } else { invokeAutoPilotResult("车机与工控机链接失败，无法开启自动驾驶") @@ -446,21 +446,20 @@ class MoGoAutopilotControlProvider : ) } - override fun sendTrajectoryDownloadReq(autoPilotLine: AutopilotControlParameters.AutoPilotLine, isAutoRouting: Boolean, routeInfo: MessagePad.RouteInfo?) { - AdasManager.getInstance().sendTrajectoryDownloadReq(autoPilotLine.toAutoPilotLine(),isAutoRouting,routeInfo) + override fun sendTrajectoryDownloadReq(autoPilotLine: AutopilotControlParameters.AutoPilotLine, routeInfo: MessagePad.RouteInfo?) { + AdasManager.getInstance().sendTrajectoryDownloadReq(autoPilotLine.toAutoPilotLine(),routeInfo) } - override fun sendTrajectoryDownloadReq(autoPilotLine: AutopilotControlParameters.AutoPilotLine, downloadType: Int, isAutoRouting: Boolean, routeInfo: MessagePad.RouteInfo?) { + override fun sendTrajectoryDownloadReq(autoPilotLine: AutopilotControlParameters.AutoPilotLine, downloadType: Int, routeInfo: MessagePad.RouteInfo?) { AdasManager.getInstance().sendTrajectoryDownloadReq( autoPilotLine.toAutoPilotLine(), downloadType, - isAutoRouting, routeInfo) } override fun cancelAutoPilot() { if (AdasManager.getInstance().ipcConnectionStatus == AdasConstants.IpcConnectionStatus.CONNECTED) { - AdasManager.getInstance().sendAutoPilotModeReq(0, 1, null, false) + AdasManager.getInstance().sendAutoPilotModeReq(0, 1, null) } else { CallerLogger.e("$M_D_C$TAG", "车机与工控机链接失败，无法断开自动驾驶") } @@ -930,11 +929,11 @@ class MoGoAutopilotControlProvider : */ override fun setControlAutopilotCarAuto(isEnable: Boolean) { if (isEnable) { - AdasManager.getInstance().sendAutoPilotModeReq(1, 0, null, false) + AdasManager.getInstance().sendAutoPilotModeReq(1, 0, null) } else { // 司机屏才可关闭自动驾驶 if (AppIdentityModeUtils.isDriver(FunctionBuildConfig.appIdentityMode)) { - AdasManager.getInstance().sendAutoPilotModeReq(0, 0, null, false) + AdasManager.getInstance().sendAutoPilotModeReq(0, 0, null) } } } diff --git 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 index ac94b2a76c..58f9e37cf3 100644 --- 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 @@ -139,7 +139,6 @@ class AutopilotControlParameters { @JvmField var autoPilotLine: AutoPilotLine? = null // 自动驾驶路线 - var isAutoRouting = false//是否进行自动算路,true--使用车端自动算路，false--不使用自动算路，使用轨迹循迹 class AutoPilotLine { var lineId = 0L @@ -229,8 +228,7 @@ class AutopilotControlParameters { "routeID=$routeID, " + "routeName='$routeName', " + "isSpeakVoice=$isSpeakVoice, " + - "autoPilotLine=$autoPilotLine, " + - "isAutoRouting=$isAutoRouting)" + "autoPilotLine=$autoPilotLine)" } diff --git a/core/mogo-core-function-api/src/main/java/com/mogo/eagle/core/function/api/autopilot/IMoGoAutopilotControlProvider.kt b/core/mogo-core-function-api/src/main/java/com/mogo/eagle/core/function/api/autopilot/IMoGoAutopilotControlProvider.kt index 5b6755b01e..121840c7d7 100644 --- a/core/mogo-core-function-api/src/main/java/com/mogo/eagle/core/function/api/autopilot/IMoGoAutopilotControlProvider.kt +++ b/core/mogo-core-function-api/src/main/java/com/mogo/eagle/core/function/api/autopilot/IMoGoAutopilotControlProvider.kt @@ -56,17 +56,16 @@ interface IMoGoAutopilotControlProvider : IMoGoFunctionServerProvider { /** * 发送 轨迹下载请求 */ - fun sendTrajectoryDownloadReq(autoPilotLine: AutopilotControlParameters.AutoPilotLine, isAutoRouting: Boolean, routeInfo: MessagePad.RouteInfo?) + fun sendTrajectoryDownloadReq(autoPilotLine: AutopilotControlParameters.AutoPilotLine, routeInfo: MessagePad.RouteInfo?) /** * 发送 轨迹下载请求 * * @param autoPilotLine 线路相关参数详情见PB message_pad.proto -> Line * @param downloadType 下载类型: 0:正常下载 1:预下载 - * @param isAutoRouting 20240523 是否进行自动算路 * @param routeInfo 20240523 进行自动算路，务必下单时候携带自动驾驶路径信息，否则可不填！ */ - fun sendTrajectoryDownloadReq(autoPilotLine: AutopilotControlParameters.AutoPilotLine, downloadType: Int, isAutoRouting: Boolean, routeInfo: MessagePad.RouteInfo?) + fun sendTrajectoryDownloadReq(autoPilotLine: AutopilotControlParameters.AutoPilotLine, downloadType: Int, routeInfo: MessagePad.RouteInfo?) /** * 结束自动驾驶 */ diff --git 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 index 96befaeb27..627f2e4fad 100644 --- 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 @@ -182,8 +182,8 @@ object CallerAutoPilotControlManager { */ fun sendTrajectoryDownloadReq(autoPilotLine: AutopilotControlParameters.AutoPilotLine) { if (AppIdentityModeUtils.isDriver(FunctionBuildConfig.appIdentityMode)) { - //TODO Routing 需要传参 isAutoRouting, routeInfo - providerApi?.sendTrajectoryDownloadReq(autoPilotLine, false, null) + //TODO Routing 需要传参 routeInfo + providerApi?.sendTrajectoryDownloadReq(autoPilotLine, null) CallerAutoPilotStatusListenerManager.invokeTrajectoryDownloadReq(autoPilotLine, 0) } } @@ -194,8 +194,8 @@ object CallerAutoPilotControlManager { */ fun sendTrajectoryDownloadReq(autoPilotLine: AutopilotControlParameters.AutoPilotLine, downloadType: Int) { if (AppIdentityModeUtils.isDriver(FunctionBuildConfig.appIdentityMode)) { - //TODO Routing 需要传参 isAutoRouting, routeInfo - providerApi?.sendTrajectoryDownloadReq(autoPilotLine, downloadType, false, null) + //TODO Routing 需要传参 routeInfo + providerApi?.sendTrajectoryDownloadReq(autoPilotLine, downloadType, null) CallerAutoPilotStatusListenerManager.invokeTrajectoryDownloadReq(autoPilotLine, downloadType) } } diff --git a/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/AdasChannel.java b/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/AdasChannel.java index f3d0c82a56..b57759ce9a 100644 --- a/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/AdasChannel.java +++ b/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/AdasChannel.java @@ -1192,20 +1192,18 @@ public class AdasChannel implements IAdasNetCommApi, FpgaSocket.IWebSocketConnec * @param mode 1: enter autopilot mode, 0: quit autopilot mode * @param source 命令来源: 0: pad模拟, 1: pad业务, 2:aicloud, 3:魔方(清扫车MAP Version==332以及MAP Version>=350，其他车型目前未上线) * @param routeInfo 自动驾驶路径信息 - * @param isAutoRouting 20240523 是否进行自动算路 * @return 消息是否添加到WS消息发送队列，返回值为非0的正整数时表示下发消息的消息ID * * >=0：表示添加到WS发送消息队列 * * =0：表示乘客屏模式添加到WS发送消息队列 * * -1L：添加到WS发送消息队列失败 */ @Override - public long sendAutoPilotModeReq(int mode, int source, MessagePad.RouteInfo routeInfo, boolean isAutoRouting) { + public long sendAutoPilotModeReq(int mode, int source, MessagePad.RouteInfo routeInfo) { MessagePad.SetAutopilotModeReq.Builder builder = MessagePad.SetAutopilotModeReq.newBuilder(); builder.setMode(mode); builder.setSource(source); if (routeInfo != null) builder.setRouteInfo(routeInfo); - builder.setIsAutoRouting(isAutoRouting); MessagePad.SetAutopilotModeReq req = builder.build(); if (autopilotReview != null) autopilotReview.onAutopilotCommandTrigger(req); return sendPBMessage(MessageType.TYPE_SEND_SET_AUTOPILOT_MODE_REQ, req.toByteArray()); @@ -1659,7 +1657,6 @@ public class AdasChannel implements IAdasNetCommApi, FpgaSocket.IWebSocketConnec * * @param line 线路相关参数详情见PB message_pad.proto -> Line * @param downloadType 下载类型: 0:正常下载 1:预下载 - * @param isAutoRouting 20240523 是否进行自动算路 * @param routeInfo 20240523 进行自动算路，务必下单时候携带自动驾驶路径信息，否则可不填！ * @return 消息是否添加到WS消息发送队列，返回值为非0的正整数时表示下发消息的消息ID * * >=0：表示添加到WS发送消息队列 @@ -1673,7 +1670,7 @@ public class AdasChannel implements IAdasNetCommApi, FpgaSocket.IWebSocketConnec paramIndexes = {0} ) @Override - public long sendTrajectoryDownloadReq(MessagePad.Line line, int downloadType, boolean isAutoRouting, MessagePad.RouteInfo routeInfo) { + public long sendTrajectoryDownloadReq(MessagePad.Line line, int downloadType, MessagePad.RouteInfo routeInfo) { MessagePad.TrajectoryDownloadReq.Builder builder = MessagePad.TrajectoryDownloadReq.newBuilder(); builder.setSource(1);//指令来源: 0: default, 1:pad, 2:aicloud if (line != null) { @@ -1682,7 +1679,6 @@ public class AdasChannel implements IAdasNetCommApi, FpgaSocket.IWebSocketConnec if (downloadType > -1) { builder.setDownloadType(downloadType); } - builder.setIsAutoRouting(isAutoRouting); if (routeInfo != null) { builder.setRouteInfo(routeInfo); } diff --git a/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/AdasManager.java b/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/AdasManager.java index 7f9669cdf3..8ac84e549d 100644 --- a/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/AdasManager.java +++ b/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/AdasManager.java @@ -396,15 +396,14 @@ public class AdasManager implements IAdasNetCommApi { * @param mode 1: enter autopilot mode, 0: quit autopilot mode * @param source 命令来源: 0: pad模拟, 1: pad业务, 2:aicloud, 3:魔方(清扫车MAP Version==332以及MAP Version>=350，其他车型目前未上线) * @param routeInfo 自动驾驶路径信息 - * @param isAutoRouting 20240523 是否进行自动算路 * @return 消息是否添加到WS消息发送队列，返回值为非0的正整数时表示下发消息的消息ID * * >=0：表示添加到WS发送消息队列 * * =0：表示乘客屏模式添加到WS发送消息队列 * * -1L：添加到WS发送消息队列失败 */ @Override - public long sendAutoPilotModeReq(int mode, int source, MessagePad.RouteInfo routeInfo, boolean isAutoRouting) { - return mChannel == null ? -1L : mChannel.sendAutoPilotModeReq(mode, source, routeInfo, isAutoRouting); + public long sendAutoPilotModeReq(int mode, int source, MessagePad.RouteInfo routeInfo) { + return mChannel == null ? -1L : mChannel.sendAutoPilotModeReq(mode, source, routeInfo); } /** @@ -760,15 +759,14 @@ public class AdasManager implements IAdasNetCommApi { * 此方法存在域控回执，监听{@link OnAdasListener#onReceiveReceivedAck(ReceivedAck)}回调.使用方法：将此方法的返回值与{@link ReceivedAck#getMsgId()}进行比较，如果相同判断{@link ReceivedAck#getStatus()}是否等于{@link ReceivedAck.Status#NORMAL}，详情参见CheckSystemView中的onReceiveReceivedAck * * @param line 线路相关参数详情见PB message_pad.proto -> Line - * @param isAutoRouting 20240523 是否进行自动算路 * @param routeInfo 20240523 进行自动算路，务必下单时候携带自动驾驶路径信息，否则可不填！ * @return 消息是否添加到WS消息发送队列，返回值为非0的正整数时表示下发消息的消息ID * * >=0：表示添加到WS发送消息队列 * * =0：表示乘客屏模式添加到WS发送消息队列 * * -1L：添加到WS发送消息队列失败 */ - public long sendTrajectoryDownloadReq(MessagePad.Line line, boolean isAutoRouting, MessagePad.RouteInfo routeInfo) { - return mChannel == null ? -1L : mChannel.sendTrajectoryDownloadReq(line, -1, isAutoRouting, routeInfo); + public long sendTrajectoryDownloadReq(MessagePad.Line line, MessagePad.RouteInfo routeInfo) { + return mChannel == null ? -1L : mChannel.sendTrajectoryDownloadReq(line, -1, routeInfo); } /** @@ -777,7 +775,6 @@ public class AdasManager implements IAdasNetCommApi { * * @param line 线路相关参数详情见PB message_pad.proto -> Line * @param downloadType 下载类型: 0:正常下载 1:预下载 - * @param isAutoRouting 20240523 是否进行自动算路 * @param routeInfo 20240523 进行自动算路，务必下单时候携带自动驾驶路径信息，否则可不填！ * @return 消息是否添加到WS消息发送队列，返回值为非0的正整数时表示下发消息的消息ID * * >=0：表示添加到WS发送消息队列 @@ -785,8 +782,8 @@ public class AdasManager implements IAdasNetCommApi { * * -1L：添加到WS发送消息队列失败 */ @Override - public long sendTrajectoryDownloadReq(MessagePad.Line line, int downloadType, boolean isAutoRouting, MessagePad.RouteInfo routeInfo) { - return mChannel == null ? -1L : mChannel.sendTrajectoryDownloadReq(line, downloadType, isAutoRouting, routeInfo); + public long sendTrajectoryDownloadReq(MessagePad.Line line, int downloadType, MessagePad.RouteInfo routeInfo) { + return mChannel == null ? -1L : mChannel.sendTrajectoryDownloadReq(line, downloadType, routeInfo); } /** diff --git a/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/IAdasNetCommApi.java b/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/IAdasNetCommApi.java index 557e3f4447..ed05195d5c 100644 --- a/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/IAdasNetCommApi.java +++ b/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/IAdasNetCommApi.java @@ -176,13 +176,12 @@ public interface IAdasNetCommApi { * @param mode 1: enter autopilot mode, 0: quit autopilot mode * @param source 命令来源: 0: pad模拟, 1: pad业务, 2:aicloud, 3:魔方(清扫车MAP Version==332以及MAP Version>=350，其他车型目前未上线) * @param routeInfo 自动驾驶路径信息 - * @param isAutoRouting 20240523 是否进行自动算路 * @return 消息是否添加到WS消息发送队列，返回值为非0的正整数时表示下发消息的消息ID * * >=0：表示添加到WS发送消息队列 * * =0：表示乘客屏模式添加到WS发送消息队列 * * -1L：添加到WS发送消息队列失败 */ - long sendAutoPilotModeReq(int mode, int source, MessagePad.RouteInfo routeInfo, boolean isAutoRouting); + long sendAutoPilotModeReq(int mode, int source, MessagePad.RouteInfo routeInfo); /** @@ -478,14 +477,13 @@ public interface IAdasNetCommApi { * * @param line 线路相关参数详情见PB message_pad.proto -> Line * @param downloadType 下载类型: 0:正常下载 1:预下载 - * @param isAutoRouting 20240523 是否进行自动算路 * @param routeInfo 20240523 进行自动算路，务必下单时候携带自动驾驶路径信息，否则可不填！ * @return 消息是否添加到WS消息发送队列，返回值为非0的正整数时表示下发消息的消息ID * * >=0：表示添加到WS发送消息队列 * * =0：表示乘客屏模式添加到WS发送消息队列 * * -1L：添加到WS发送消息队列失败 */ - long sendTrajectoryDownloadReq(MessagePad.Line line, int downloadType, boolean isAutoRouting, MessagePad.RouteInfo routeInfo); + long sendTrajectoryDownloadReq(MessagePad.Line line, int downloadType, MessagePad.RouteInfo routeInfo); /** * 发送 状态查询请求 From 71139f9c9ab88644af014be7c14f1c6b04bb6816 Mon Sep 17 00:00:00 2001 From: donghongyu Date: Mon, 3 Jun 2024 19:30:05 +0800 Subject: [PATCH 08/43] =?UTF-8?q?[Routing=20dev]=201=E3=80=81=E5=A2=9E?= =?UTF-8?q?=E5=8A=A0=E4=BB=A3=E7=A0=81=E6=B3=A8=E9=87=8A?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- .../och/taxi/callback/ITaxiRoutingCallback.kt | 45 +++++++++++++++++++ .../taxi/network/TaxiRoutingServiceManager.kt | 3 ++ .../mogo/och/taxi/ui/base/TaxiPresenter.java | 3 ++ .../routing/TaxiRoutingChooseLineActivity.kt | 3 ++ .../routing/TaxiRoutingChooseLineAdapter.kt | 2 +- .../taxi/ui/routing/TaxiRoutingFragment.kt | 7 +++ .../routing/TaxiRoutingFragmentViewModel.kt | 1 + .../och/taxi/ui/routing/TaxiRoutingModel.kt | 32 ++++++++++++- 8 files changed, 93 insertions(+), 3 deletions(-) diff --git a/OCH/taxi/unmanned-driver/src/main/java/com/mogo/och/taxi/callback/ITaxiRoutingCallback.kt b/OCH/taxi/unmanned-driver/src/main/java/com/mogo/och/taxi/callback/ITaxiRoutingCallback.kt index 22fcb34e93..df310b978f 100644 --- a/OCH/taxi/unmanned-driver/src/main/java/com/mogo/och/taxi/callback/ITaxiRoutingCallback.kt +++ b/OCH/taxi/unmanned-driver/src/main/java/com/mogo/och/taxi/callback/ITaxiRoutingCallback.kt @@ -4,14 +4,59 @@ import com.mogo.och.taxi.bean.GrayLineBean import com.mogo.och.taxi.bean.StartGrayAndQueryContrailRsp interface ITaxiRoutingCallback { + /** + * 查询灰度路线列表--成功✅ + */ fun onQueryRoutingGrayLineListSuccess(data: MutableList) + + /** + * 查询灰度路线列表--失败❌ + * @param errorStr 错误信息 + */ fun onQueryRoutingGrayLineListFailed(errorStr: String) + + /** + * 灰度任务&查询轨迹详情--成功✅ + */ fun onStartGrayTaskAndQueryContrailSuccess(data: StartGrayAndQueryContrailRsp) + + /** + * 灰度任务&查询轨迹详情--失败❌ + * @param errorStr 错误信息 + */ fun onStartGrayTaskAndQueryContrailFailed(errorStr: String) + + /** + * 灰度任务过程中，上报问题打点--成功✅ + */ fun onSubmitGrayLineIssueLocationSuccess() + + /** + * 灰度任务过程中，上报问题打点--失败❌ + * @param errorStr 错误信息 + */ fun onSubmitGrayLineIssueLocationFailed(errorStr: String) + + /** + * 结束灰度任务--成功✅ + */ fun onSubmitEndTaskSuccess() + + /** + * 结束灰度任务--成功❌ + * @param errorStr 错误信息 + */ fun onSubmitEndTaskFailed(errorStr: String) + + /** + * MAP到站通知 + * @param grayId 灰度路线ID + */ fun onAutoPilotArriveAtEndStation(grayId: Long?) + + /** + * 自车定位围栏 + * @param grayId 灰度路线ID + */ fun onGDMapArriveAtEndStation(grayId: Long?) } diff --git a/OCH/taxi/unmanned-driver/src/main/java/com/mogo/och/taxi/network/TaxiRoutingServiceManager.kt b/OCH/taxi/unmanned-driver/src/main/java/com/mogo/och/taxi/network/TaxiRoutingServiceManager.kt index 0d1377a6cf..fe8caf97af 100644 --- a/OCH/taxi/unmanned-driver/src/main/java/com/mogo/och/taxi/network/TaxiRoutingServiceManager.kt +++ b/OCH/taxi/unmanned-driver/src/main/java/com/mogo/och/taxi/network/TaxiRoutingServiceManager.kt @@ -105,6 +105,9 @@ object TaxiRoutingServiceManager { .subscribe(OchCommonSubscribeImpl(context, callback, "dot/list")) } + /** + * 标记灰度任务被启动验证 + */ fun startGrayTaskAndQueryRoutingContrail( context: Context, sn: String, diff --git a/OCH/taxi/unmanned-driver/src/main/java/com/mogo/och/taxi/ui/base/TaxiPresenter.java b/OCH/taxi/unmanned-driver/src/main/java/com/mogo/och/taxi/ui/base/TaxiPresenter.java index 3f0c3169f4..8cf65e5a50 100644 --- a/OCH/taxi/unmanned-driver/src/main/java/com/mogo/och/taxi/ui/base/TaxiPresenter.java +++ b/OCH/taxi/unmanned-driver/src/main/java/com/mogo/och/taxi/ui/base/TaxiPresenter.java @@ -73,9 +73,12 @@ public class TaxiPresenter extends Presenter implements ITaxiADASS * 开启自动驾驶 自驾模式 */ public void startAutoPilot() { + // 这里区分是订单还是灰度测试 if (MogoStatusManager.getInstance().isTaxiUnmanedDriverLineRoutingVerifyMode()) { + // 灰度测试 TaxiRoutingModel.INSTANCE.startAutoPilotByClick(); } else { + // 订单 TaxiTaskModel.INSTANCE.startAutopilotByClick(); } } diff --git 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 index e9c72c0f2a..4514f3b265 100644 --- 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 @@ -90,6 +90,8 @@ class TaxiRoutingChooseLineActivity : AppCompatActivity() { btnClose.setOnClickListener { finish() } + + // 选择路线后，「确认」按钮 btnChooseLineSubmit.setOnClickListener { if (mCurrentChosenPosition == -1) { ToastUtils.showLong("请先选择任务") @@ -99,6 +101,7 @@ class TaxiRoutingChooseLineActivity : AppCompatActivity() { mLoadingDialog.showLoading() val chosenItem = mRoutingLineList[mCurrentChosenPosition] mViewModel.sendUiIntent( + // 调用查询接口获取路线详情 TaxiRoutingUiIntent.StartTaskAndQueryContrail(chosenItem) ) } diff --git a/OCH/taxi/unmanned-driver/src/main/java/com/mogo/och/taxi/ui/routing/TaxiRoutingChooseLineAdapter.kt b/OCH/taxi/unmanned-driver/src/main/java/com/mogo/och/taxi/ui/routing/TaxiRoutingChooseLineAdapter.kt index 828a8e4416..8c0813955b 100644 --- a/OCH/taxi/unmanned-driver/src/main/java/com/mogo/och/taxi/ui/routing/TaxiRoutingChooseLineAdapter.kt +++ b/OCH/taxi/unmanned-driver/src/main/java/com/mogo/och/taxi/ui/routing/TaxiRoutingChooseLineAdapter.kt @@ -32,7 +32,7 @@ class TaxiRoutingChooseLineAdapter( override fun onBindViewHolder(holder: SwitchLineViewHolder, position: Int) { val currentPosition = holder.bindingAdapterPosition val data = mData[currentPosition] - // 区分Routing和循迹 + holder.lineNameTextView.text = data.lineName holder.todayVerifyNumTextView.text = "本车今日已验证：${data.carVerificationCount}次" holder.historyVerifyNumTextView.text = diff --git a/OCH/taxi/unmanned-driver/src/main/java/com/mogo/och/taxi/ui/routing/TaxiRoutingFragment.kt b/OCH/taxi/unmanned-driver/src/main/java/com/mogo/och/taxi/ui/routing/TaxiRoutingFragment.kt index da83878c81..9f95ea75b7 100644 --- a/OCH/taxi/unmanned-driver/src/main/java/com/mogo/och/taxi/ui/routing/TaxiRoutingFragment.kt +++ b/OCH/taxi/unmanned-driver/src/main/java/com/mogo/och/taxi/ui/routing/TaxiRoutingFragment.kt @@ -122,6 +122,9 @@ class TaxiRoutingFragment : BaseFragment(), ICommonNaviChangedCallback { } } + /** + * 展示选择任务视图 + */ private fun showChooseTaskView() { noDataContainer.visibility = View.VISIBLE mCurrentTaskLayout.visibility = View.GONE @@ -134,6 +137,9 @@ class TaxiRoutingFragment : BaseFragment(), ICommonNaviChangedCallback { removeAllMapMarker() } + /** + * 展示当前路线任务信息 + */ private fun showCurrentLineTaskContentView(data: RoutingUIState.RoutingTask) { noDataContainer.visibility = View.GONE mCurrentTaskLayout.visibility = View.VISIBLE @@ -143,6 +149,7 @@ class TaxiRoutingFragment : BaseFragment(), ICommonNaviChangedCallback { btnChooseTask.visibility = View.GONE btnStartTask.visibility = View.VISIBLE + // 开始任务，按钮 btnStartTask.setOnClickListener { mViewModel.sendUiIntent(TaxiRoutingUiIntent.StartTaskAction(data)) } diff --git a/OCH/taxi/unmanned-driver/src/main/java/com/mogo/och/taxi/ui/routing/TaxiRoutingFragmentViewModel.kt b/OCH/taxi/unmanned-driver/src/main/java/com/mogo/och/taxi/ui/routing/TaxiRoutingFragmentViewModel.kt index b8436acf82..292c3eca79 100644 --- a/OCH/taxi/unmanned-driver/src/main/java/com/mogo/och/taxi/ui/routing/TaxiRoutingFragmentViewModel.kt +++ b/OCH/taxi/unmanned-driver/src/main/java/com/mogo/och/taxi/ui/routing/TaxiRoutingFragmentViewModel.kt @@ -59,6 +59,7 @@ class TaxiRoutingFragmentViewModel : BaseViewModel { DebugView.printInfoMsg("[开始任务] 准备开始任务") val grayLineBean = intent.routingTask.grayLineBean diff --git 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 index 2392b26090..41421c3cbe 100644 --- 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 @@ -88,7 +88,9 @@ object TaxiRoutingModel { OchAutoPilotStatusListenerManager.removeListener(TAG) } - //MAP到站监听 + /** + * MAP到站监听 + */ private val mMogoAutopilotStatusListener: IOchAutopilotStatusListener = object : IOchAutopilotStatusListener { @@ -128,7 +130,9 @@ object TaxiRoutingModel { } } - // 自车定位监听 + /** + * 自车定位监听 + */ private val mMapLocationListener: IMoGoChassisLocationGCJ02Listener = object : IMoGoChassisLocationGCJ02Listener { override fun onChassisLocationGCJ02(currentLocation: MogoLocation?) { @@ -199,6 +203,9 @@ object TaxiRoutingModel { CallerChassisLocationGCJ02ListenerManager.removeListener(TAG) } + /** + * 查询灰度路线 + */ fun queryRoutingGrayLineList() { DebugView.printInfoMsg("[查询灰度路线] 准备发送请求，sn=${SharedPrefsMgr.getInstance().sn}") TaxiRoutingServiceManager.queryRoutingGrayLineList(mContext, @@ -255,6 +262,9 @@ object TaxiRoutingModel { }) } + /** + * 开始灰度任务&查询轨迹详情 + */ fun startGrayTaskAndQueryRoutingContrail(contrailId: Long, grayLineBean: GrayLineBean) { DebugView.printInfoMsg("[开始灰度任务&查询轨迹详情] 准备发送请求，contrailId=${contrailId}, lineId=${grayLineBean.lineId}") TaxiRoutingServiceManager.startGrayTaskAndQueryRoutingContrail( @@ -275,6 +285,7 @@ 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=${grayLineBean.lineId}") mTaxiRoutingCallbackMap.forEach { val listener = it.value + //TODO Routing 从这里解析出经停信息，并和订单一样调用下载轨迹接口 listener.onStartGrayTaskAndQueryContrailSuccess(data) } } @@ -315,6 +326,9 @@ object TaxiRoutingModel { ) } + /** + * 灰度任务过程中，上报问题打点 + */ fun submitGrayLineIssueLocation(grayId: Long, gcjLon: Double, gcjLat: Double) { DebugView.printInfoMsg("[上报打点] 准备发送请求，grayId=$grayId, gcjLon=$gcjLon, gcjLat=$gcjLat") val submit = SubmitGrayLineIssueLocationReq(grayId, gcjLon, gcjLat) @@ -374,6 +388,9 @@ object TaxiRoutingModel { ) } + /** + * 结束灰度任务 + */ 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) @@ -432,6 +449,9 @@ object TaxiRoutingModel { }) } + /** + * 更新灰度路线信息 + */ fun updateCurrentGrayLineAndContrail( grayLineBean: GrayLineBean?, contrailBean: ContrailBean?, @@ -442,6 +462,9 @@ object TaxiRoutingModel { currentGrayId = grayId } + /** + * 灰度测试路线，启动自动驾驶 + */ fun startAutoPilotByClick() { if (currentGrayLineBean == null || currentContrailBean == null) { CallerLogger.e( @@ -454,6 +477,9 @@ object TaxiRoutingModel { startAutoPilot(currentGrayLineBean!!, currentContrailBean!!) } + /** + * 启动自动驾驶 + */ fun startAutoPilot(grayLineBean: GrayLineBean, contrailBean: ContrailBean) { if (grayLineBean.startSite == null || grayLineBean.endSite == null) { CallerLogger.e(TAG, "start site or end site is null") @@ -487,12 +513,14 @@ object TaxiRoutingModel { return } + // 初始化自动驾驶需要的参数 val parameters = initAutopilotControlParameters(grayLineBean, contrailBean) if (null == parameters) { CallerLogger.e(TAG, "AutopilotControlParameters is empty.") return } + // 开启自动驾驶 OchAutoPilotManager.startAutoPilot(parameters); DebugView.printInfoMsg("[启自驾] 调用成功") From ade4b8a9a83c8bec3967018e06bb017a71bd922c Mon Sep 17 00:00:00 2001 From: donghongyu Date: Wed, 12 Jun 2024 17:25:38 +0800 Subject: [PATCH 09/43] =?UTF-8?q?[Routing=20dev]=201=E3=80=81=E7=81=B0?= =?UTF-8?q?=E5=BA=A6=E5=88=97=E8=A1=A8=E5=A2=9E=E5=8A=A0RoutingRequest?= =?UTF-8?q?=E5=85=B3=E9=94=AE=E4=BF=A1=E6=81=AF=EF=BC=8C=E4=BB=A5=E5=8F=8A?= =?UTF-8?q?=E9=80=8F=E4=BC=A0=E7=BB=99MAP?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- .../com/mogo/och/taxi/bean/TaxiRoutingBean.kt | 76 +++++++++++++++--- .../routing/TaxiRoutingChooseLineActivity.kt | 5 ++ .../routing/TaxiRoutingChooseLineViewModel.kt | 3 + .../och/taxi/ui/routing/TaxiRoutingModel.kt | 80 +++++++++++++++++-- .../och/taxi/ui/routing/TaxiRoutingUiState.kt | 3 + .../autopilot/AutopilotControlParameters.kt | 6 +- .../CallerAutoPilotControlManager.kt | 17 +++- 7 files changed, 172 insertions(+), 18 deletions(-) diff --git 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 index aa5fd325a5..fe4b2a391b 100644 --- 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?,// 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?// 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?) : 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?) : 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, ) //feedback 1:成功 2:失败 + enum class EndGrayTaskFeedbackType(var type: Int) { USABLE_YES(1), USABLE_NO(2) diff --git 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 index 4514f3b265..b9e8894048 100644 --- 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(TaxiDriverEventConst.RoutingActivityEvent.EVENT_TYPE_GET_CHOSEN_LINE_TASK) .post(this, RoutingUIState.RoutingTask( diff --git 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 index f6f733248e..f69a3b5f2b 100644 --- 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 + // 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 = ArrayList() + val blackLatLons: MutableList = 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, diff --git 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 index 9aef55856b..8be6e8e374 100644 --- 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() diff --git 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 index 58f9e37cf3..7fcc66a5f9 100644 --- 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? = null + var wayLatLons: List? = 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? = 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, " + diff --git 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 index 627f2e4fad..227630c0c2 100644 --- 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) } From 1851593eab765b4a5128d8af00e7ac1403645163 Mon Sep 17 00:00:00 2001 From: xuxinchao Date: Mon, 17 Jun 2024 15:17:45 +0800 Subject: [PATCH 10/43] =?UTF-8?q?[6.4.4]=E4=BF=AE=E5=A4=8D=E5=86=B7?= =?UTF-8?q?=E5=90=AF=E5=8A=A8=E8=BF=9B=E5=BA=A6=E5=BC=82=E5=B8=B8=E8=A7=86?= =?UTF-8?q?=E5=9B=BE=E6=81=A2=E5=A4=8D?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- .../eagle/core/function/hmi/ui/widget/ConnectionProcessView.kt | 2 ++ 1 file changed, 2 insertions(+) diff --git a/core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/hmi/ui/widget/ConnectionProcessView.kt b/core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/hmi/ui/widget/ConnectionProcessView.kt index ba45156c35..c8d9d7023c 100644 --- a/core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/hmi/ui/widget/ConnectionProcessView.kt +++ b/core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/hmi/ui/widget/ConnectionProcessView.kt @@ -365,6 +365,7 @@ class ConnectionProcessView @JvmOverloads constructor( override fun onFinish() { //将SSM连接状态置为false ssmConnectStatus = false + autopilotReadyStatus = false //展示连接SSM失败视图 showSSMConnectFailView() } @@ -386,6 +387,7 @@ class ConnectionProcessView @JvmOverloads constructor( override fun onFinish() { //将冷启动状态置为false + ssmConnectStatus = false autopilotReadyStatus = false if(CallerAutoPilotStatusListenerManager.getAutoPilotStatusInfo().ssmAutoPilotReady){ //冷启动成功 From 352ed82c2f9347a82e622f4eac888ec48841e5e2 Mon Sep 17 00:00:00 2001 From: yakunyang Date: Mon, 17 Jun 2024 16:12:19 +0800 Subject: [PATCH 11/43] =?UTF-8?q?[6.4.4]=20[fix]=20=E7=BA=BF=E8=B7=AF?= =?UTF-8?q?=E4=B8=BA=E7=A9=BA?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- .../och/shuttle/passenger/ui/BusPassengerRouteFragment.java | 2 ++ 1 file changed, 2 insertions(+) diff --git a/OCH/shuttle/passenger/src/main/java/jinlv/com/mogo/och/shuttle/passenger/ui/BusPassengerRouteFragment.java b/OCH/shuttle/passenger/src/main/java/jinlv/com/mogo/och/shuttle/passenger/ui/BusPassengerRouteFragment.java index 502cbd4bdd..0009a3b75a 100644 --- a/OCH/shuttle/passenger/src/main/java/jinlv/com/mogo/och/shuttle/passenger/ui/BusPassengerRouteFragment.java +++ b/OCH/shuttle/passenger/src/main/java/jinlv/com/mogo/och/shuttle/passenger/ui/BusPassengerRouteFragment.java @@ -211,6 +211,8 @@ public class BusPassengerRouteFragment extends public void hideNoTaskView(){ if (mNoLineInfoView.getVisibility() == View.VISIBLE){ mNoLineInfoView.setVisibility(View.GONE); + } + if (mRouteInfoView.getVisibility() == View.GONE){ mRouteInfoView.setVisibility(View.VISIBLE); } } From f0a7901658ec066cef06f3f5e939fe1591edf21e Mon Sep 17 00:00:00 2001 From: renwj Date: Fri, 21 Jun 2024 09:54:44 +0800 Subject: [PATCH 12/43] =?UTF-8?q?[6.4.4][=E5=BA=94=E7=94=A8=E5=8D=87?= =?UTF-8?q?=E7=BA=A7][bugfix]=20=E9=85=8D=E7=BD=AE=E5=8A=A8=E6=80=81?= =?UTF-8?q?=E6=9B=B4=E6=96=B0=E5=AF=BC=E8=87=B4=E5=8D=87=E7=BA=A7=E8=AF=B7?= =?UTF-8?q?=E6=B1=82=E5=A4=B1=E8=B4=A5?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- .../binding/BindingCarManager.kt | 4 +++ .../upgrade/UpgradeAppNetWorkManager.kt | 29 +++++++++++++++---- 2 files changed, 28 insertions(+), 5 deletions(-) diff --git a/core/function-impl/mogo-core-function-devatools/src/main/java/com/zhjt/mogo_core_function_devatools/binding/BindingCarManager.kt b/core/function-impl/mogo-core-function-devatools/src/main/java/com/zhjt/mogo_core_function_devatools/binding/BindingCarManager.kt index e448a75ea4..892b3dd8b7 100644 --- a/core/function-impl/mogo-core-function-devatools/src/main/java/com/zhjt/mogo_core_function_devatools/binding/BindingCarManager.kt +++ b/core/function-impl/mogo-core-function-devatools/src/main/java/com/zhjt/mogo_core_function_devatools/binding/BindingCarManager.kt @@ -252,5 +252,9 @@ object BindingCarManager : IMoGoAutopilotCarConfigListener, IMoGoCloudListener { ) } } + + fun getMacAddress(): String? { + return mAddress + } } diff --git a/core/function-impl/mogo-core-function-devatools/src/main/java/com/zhjt/mogo_core_function_devatools/upgrade/UpgradeAppNetWorkManager.kt b/core/function-impl/mogo-core-function-devatools/src/main/java/com/zhjt/mogo_core_function_devatools/upgrade/UpgradeAppNetWorkManager.kt index 660526fd19..72db69103d 100644 --- a/core/function-impl/mogo-core-function-devatools/src/main/java/com/zhjt/mogo_core_function_devatools/upgrade/UpgradeAppNetWorkManager.kt +++ b/core/function-impl/mogo-core-function-devatools/src/main/java/com/zhjt/mogo_core_function_devatools/upgrade/UpgradeAppNetWorkManager.kt @@ -1,6 +1,7 @@ package com.zhjt.mogo_core_function_devatools.upgrade import android.content.* +import android.text.TextUtils import android.util.* import android.widget.Toast import com.mogo.commons.constants.* @@ -22,8 +23,10 @@ import com.mogo.eagle.core.utilcode.mogo.AppIdentityModeUtils import com.mogo.eagle.core.utilcode.mogo.getMisChannelCode import com.mogo.eagle.core.utilcode.mogo.logger.scene.* import com.mogo.commons.storage.SharedPrefsMgr +import com.mogo.eagle.core.utilcode.mogo.logger.Logger import com.mogo.eagle.core.utilcode.util.* import com.mogo.eagle.core.utilcode.util.FileUtils +import com.zhjt.mogo_core_function_devatools.binding.BindingCarManager import kotlinx.coroutines.* import okhttp3.* import java.util.TreeMap @@ -55,9 +58,25 @@ class UpgradeAppNetWorkManager private constructor() { fun getAppUpgradeInfo(context: Context?, mac: String, screenType: String) { upgradeJob?.safeCancel() scope.launch { - val sn = SharedPrefsMgr.getInstance().sn - val macAddress = mac //"48:b0:2d:4d:31:7f" - val type = screenType //"10" + var sn = SharedPrefsMgr.getInstance().sn + var macAddress = mac //"48:b0:2d:4d:31:7f" + var type = screenType //"10" + while (sn == null || TextUtils.isEmpty(sn)) { + Logger.d(TAG, "sn is null or empty.") + delay(TimeUnit.MINUTES.toMillis(1)) + sn = SharedPrefsMgr.getInstance().sn + } + while (TextUtils.isEmpty(macAddress)) { + Logger.d(TAG, "mac address is null or empty.") + delay(TimeUnit.MINUTES.toMillis(1)) + macAddress = BindingCarManager.getMacAddress() ?: "" + } + while (type == "0") { + Logger.d(TAG, "type is 0") + delay((TimeUnit.MINUTES.toMillis(1))) + type = AppIdentityModeUtils.getMisChannelCode(FunctionBuildConfig.appIdentityMode).toString() + } + Logger.d(TAG, "start upgrade request ...") SharedPrefsMgr.getInstance().putString(SharedPrefsConstants.HOST_ADDRESS, HostConst.getHost()) try { val records = provider?.getUpgradeRecords()?.also { @@ -67,7 +86,7 @@ class UpgradeAppNetWorkManager private constructor() { "${ it.first } -> ${ it.second }" } } - itx["role"] = AppIdentityModeUtils.getMisChannelCode(FunctionBuildConfig.appIdentityMode) + itx["role"] = type }) } Log.d(TAG, "getAppUpgradeInfo: -> records:" + records?.entries?.joinToString(",") { itx -> "key:${itx.key} -> value:[${itx.value.joinToString(",") { "${it.first},${it.second}" } }]"}) @@ -98,7 +117,7 @@ class UpgradeAppNetWorkManager private constructor() { if (mDownloadRequested) { mDownloadRequested = false } - getAppUpgradeInfo(context, mac, screenType) + getAppUpgradeInfo(context, macAddress, type) }.also { upgradeJob = it } From 7de4388820d478d67b293482ea199887488c6c43 Mon Sep 17 00:00:00 2001 From: renwj Date: Fri, 21 Jun 2024 11:35:12 +0800 Subject: [PATCH 13/43] =?UTF-8?q?[6.4.4][=E5=BA=94=E7=94=A8=E5=8D=87?= =?UTF-8?q?=E7=BA=A7][bugfix]=20=E6=B7=BB=E5=8A=A0=E5=9F=8B=E7=82=B9?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- .../upgrade/UpgradeAppNetWorkManager.kt | 3 +++ 1 file changed, 3 insertions(+) diff --git a/core/function-impl/mogo-core-function-devatools/src/main/java/com/zhjt/mogo_core_function_devatools/upgrade/UpgradeAppNetWorkManager.kt b/core/function-impl/mogo-core-function-devatools/src/main/java/com/zhjt/mogo_core_function_devatools/upgrade/UpgradeAppNetWorkManager.kt index 72db69103d..3cf59615e9 100644 --- a/core/function-impl/mogo-core-function-devatools/src/main/java/com/zhjt/mogo_core_function_devatools/upgrade/UpgradeAppNetWorkManager.kt +++ b/core/function-impl/mogo-core-function-devatools/src/main/java/com/zhjt/mogo_core_function_devatools/upgrade/UpgradeAppNetWorkManager.kt @@ -63,17 +63,20 @@ class UpgradeAppNetWorkManager private constructor() { var type = screenType //"10" while (sn == null || TextUtils.isEmpty(sn)) { Logger.d(TAG, "sn is null or empty.") + MogoAnalyticUtils.track("AppUpgradeParams", HashMap().also { it["sn"] = sn }) delay(TimeUnit.MINUTES.toMillis(1)) sn = SharedPrefsMgr.getInstance().sn } while (TextUtils.isEmpty(macAddress)) { Logger.d(TAG, "mac address is null or empty.") + MogoAnalyticUtils.track("AppUpgradeParams", HashMap().also { it["mac_address"] = macAddress }) delay(TimeUnit.MINUTES.toMillis(1)) macAddress = BindingCarManager.getMacAddress() ?: "" } while (type == "0") { Logger.d(TAG, "type is 0") delay((TimeUnit.MINUTES.toMillis(1))) + MogoAnalyticUtils.track("AppUpgradeParams", HashMap().also { it["type"] = type }) type = AppIdentityModeUtils.getMisChannelCode(FunctionBuildConfig.appIdentityMode).toString() } Logger.d(TAG, "start upgrade request ...") From 88f73c5fd7f75335ee968e5bf965c07867606be5 Mon Sep 17 00:00:00 2001 From: donghongyu Date: Fri, 21 Jun 2024 20:17:47 +0800 Subject: [PATCH 14/43] =?UTF-8?q?[Routing=20dev]=201=E3=80=81=E8=B7=AF?= =?UTF-8?q?=E7=BA=BF=E6=8E=A5=E5=8F=A3=E5=A2=9E=E5=8A=A0=E7=99=BD=E5=90=8D?= =?UTF-8?q?=E5=8D=95=E7=BB=8F=E5=81=9C=E7=82=B9=E5=88=97=E8=A1=A8?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- .../src/main/java/com/mogo/och/taxi/bean/TaxiRoutingBean.kt | 3 ++- 1 file changed, 2 insertions(+), 1 deletion(-) diff --git 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 index fe4b2a391b..80f5543b0d 100644 --- 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 @@ -52,7 +52,8 @@ data class ContrailBean( var txtFileUrlDPQP: String = "", var txtFileMd5DPQP: String = "", var contrailSaveTimeDPQP: Long = -1L, - var version: Long = -1L + var version: Long = -1L, + var passPoints: MutableList?, // 用于算路的经停点 ) /** From 9ecedbc17a8f8475e0749d2e93a55bf09bbbfe86 Mon Sep 17 00:00:00 2001 From: xuxinchao Date: Mon, 24 Jun 2024 11:02:30 +0800 Subject: [PATCH 15/43] =?UTF-8?q?[6.4.6]=E6=B6=88=E6=81=AF=E7=9B=92?= =?UTF-8?q?=E5=AD=90=E9=80=9A=E7=9F=A5=E6=B6=88=E6=81=AF=E5=86=85=E5=AE=B9?= =?UTF-8?q?=E6=94=AF=E6=8C=81=E5=A4=A7=E4=BA=8E2=E8=A1=8C=E5=B1=95?= =?UTF-8?q?=E7=A4=BA?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- .../main/res/drawable-xhdpi/bg_msg_box_v2x.png | Bin 29866 -> 0 bytes .../src/main/res/drawable/bg_msg_box_v2x.9.png | Bin 0 -> 30194 bytes .../main/res/layout/item_msg_box_autopilot.xml | 13 +++++++------ .../src/main/res/layout/item_msg_box_fsm.xml | 13 +++++++------ .../src/main/res/layout/item_msg_box_ssm.xml | 13 +++++++------ .../src/main/res/layout/item_msg_box_v2x.xml | 13 +++++++------ .../res/layout/item_msg_bubble_autopilot.xml | 13 +++++++------ .../src/main/res/layout/item_msg_bubble_fsm.xml | 13 +++++++------ .../src/main/res/layout/item_msg_bubble_ssm.xml | 13 +++++++------ .../src/main/res/layout/item_msg_bubble_v2x.xml | 13 +++++++------ 10 files changed, 56 insertions(+), 48 deletions(-) delete mode 100644 core/function-impl/mogo-core-function-hmi/src/main/res/drawable-xhdpi/bg_msg_box_v2x.png create mode 100644 core/function-impl/mogo-core-function-hmi/src/main/res/drawable/bg_msg_box_v2x.9.png diff --git a/core/function-impl/mogo-core-function-hmi/src/main/res/drawable-xhdpi/bg_msg_box_v2x.png b/core/function-impl/mogo-core-function-hmi/src/main/res/drawable-xhdpi/bg_msg_box_v2x.png deleted file mode 100644 index d41c75bc33019166f8f2414fb1848df07def69f7..0000000000000000000000000000000000000000 GIT binary patch literal 0 HcmV?d00001 literal 29866 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b/core/function-impl/mogo-core-function-hmi/src/main/res/layout/item_msg_box_autopilot.xml @@ -1,7 +1,8 @@ \ No newline at end of file diff --git a/core/function-impl/mogo-core-function-hmi/src/main/res/layout/item_msg_box_fsm.xml b/core/function-impl/mogo-core-function-hmi/src/main/res/layout/item_msg_box_fsm.xml index 9b2403e515..595b2d7b71 100644 --- a/core/function-impl/mogo-core-function-hmi/src/main/res/layout/item_msg_box_fsm.xml +++ b/core/function-impl/mogo-core-function-hmi/src/main/res/layout/item_msg_box_fsm.xml @@ -1,7 +1,8 @@ \ No newline at end of file diff --git a/core/function-impl/mogo-core-function-hmi/src/main/res/layout/item_msg_box_ssm.xml b/core/function-impl/mogo-core-function-hmi/src/main/res/layout/item_msg_box_ssm.xml index fb4d2d14fc..74e6a820fb 100644 --- a/core/function-impl/mogo-core-function-hmi/src/main/res/layout/item_msg_box_ssm.xml +++ b/core/function-impl/mogo-core-function-hmi/src/main/res/layout/item_msg_box_ssm.xml @@ -1,7 +1,8 @@ \ No newline at end of file diff --git a/core/function-impl/mogo-core-function-hmi/src/main/res/layout/item_msg_box_v2x.xml b/core/function-impl/mogo-core-function-hmi/src/main/res/layout/item_msg_box_v2x.xml index 95f88716a2..aa7368475e 100644 --- a/core/function-impl/mogo-core-function-hmi/src/main/res/layout/item_msg_box_v2x.xml +++ b/core/function-impl/mogo-core-function-hmi/src/main/res/layout/item_msg_box_v2x.xml @@ -1,7 +1,8 @@ \ No newline at end of file diff --git a/core/function-impl/mogo-core-function-hmi/src/main/res/layout/item_msg_bubble_autopilot.xml b/core/function-impl/mogo-core-function-hmi/src/main/res/layout/item_msg_bubble_autopilot.xml index 9f0199eb80..58cb07451a 100644 --- a/core/function-impl/mogo-core-function-hmi/src/main/res/layout/item_msg_bubble_autopilot.xml +++ b/core/function-impl/mogo-core-function-hmi/src/main/res/layout/item_msg_bubble_autopilot.xml @@ -2,7 +2,8 @@ \ No newline at end of file diff --git a/core/function-impl/mogo-core-function-hmi/src/main/res/layout/item_msg_bubble_fsm.xml b/core/function-impl/mogo-core-function-hmi/src/main/res/layout/item_msg_bubble_fsm.xml index ed2245fa1f..8ec3709076 100644 --- a/core/function-impl/mogo-core-function-hmi/src/main/res/layout/item_msg_bubble_fsm.xml +++ b/core/function-impl/mogo-core-function-hmi/src/main/res/layout/item_msg_bubble_fsm.xml @@ -2,7 +2,8 @@ \ No newline at end of file diff --git a/core/function-impl/mogo-core-function-hmi/src/main/res/layout/item_msg_bubble_ssm.xml b/core/function-impl/mogo-core-function-hmi/src/main/res/layout/item_msg_bubble_ssm.xml index 5aa40ef9ba..7b0030c91b 100644 --- a/core/function-impl/mogo-core-function-hmi/src/main/res/layout/item_msg_bubble_ssm.xml +++ b/core/function-impl/mogo-core-function-hmi/src/main/res/layout/item_msg_bubble_ssm.xml @@ -2,7 +2,8 @@ \ No newline at end of file diff --git a/core/function-impl/mogo-core-function-hmi/src/main/res/layout/item_msg_bubble_v2x.xml b/core/function-impl/mogo-core-function-hmi/src/main/res/layout/item_msg_bubble_v2x.xml index 55ac93d864..37e21f8a77 100644 --- a/core/function-impl/mogo-core-function-hmi/src/main/res/layout/item_msg_bubble_v2x.xml +++ b/core/function-impl/mogo-core-function-hmi/src/main/res/layout/item_msg_bubble_v2x.xml @@ -2,7 +2,8 @@ \ No newline at end of file From 59de8cd5b2de7ece1fb0d5d834b1920cbb9ea1ee Mon Sep 17 00:00:00 2001 From: xuxinchao Date: Mon, 24 Jun 2024 11:28:07 +0800 Subject: [PATCH 16/43] =?UTF-8?q?[6.4.6]=E8=B0=83=E6=95=B4=E6=B6=88?= =?UTF-8?q?=E6=81=AF=E7=9B=92=E5=AD=90=E9=80=9A=E7=9F=A5=E6=B6=88=E6=81=AF?= =?UTF-8?q?=E5=86=85=E5=AE=B9margin?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- .../src/main/res/layout/item_msg_box_autopilot.xml | 6 ++++-- .../src/main/res/layout/item_msg_box_fsm.xml | 6 ++++-- .../src/main/res/layout/item_msg_box_ssm.xml | 6 ++++-- .../src/main/res/layout/item_msg_box_v2x.xml | 6 ++++-- .../src/main/res/layout/item_msg_bubble_autopilot.xml | 6 ++++-- .../src/main/res/layout/item_msg_bubble_fsm.xml | 6 ++++-- .../src/main/res/layout/item_msg_bubble_ssm.xml | 6 ++++-- .../src/main/res/layout/item_msg_bubble_v2x.xml | 6 ++++-- 8 files changed, 32 insertions(+), 16 deletions(-) diff --git a/core/function-impl/mogo-core-function-hmi/src/main/res/layout/item_msg_box_autopilot.xml b/core/function-impl/mogo-core-function-hmi/src/main/res/layout/item_msg_box_autopilot.xml index c81b4277fb..af6c0e91af 100644 --- a/core/function-impl/mogo-core-function-hmi/src/main/res/layout/item_msg_box_autopilot.xml +++ b/core/function-impl/mogo-core-function-hmi/src/main/res/layout/item_msg_box_autopilot.xml @@ -32,7 +32,8 @@ android:layout_marginStart="@dimen/dp_15" android:textColor="#FFFFFFFF" android:textSize="@dimen/sp_32" - android:layout_marginTop="@dimen/dp_10" + android:layout_marginTop="@dimen/dp_5" + android:layout_marginBottom="@dimen/dp_5" /> \ No newline at end of file diff --git a/core/function-impl/mogo-core-function-hmi/src/main/res/layout/item_msg_box_fsm.xml b/core/function-impl/mogo-core-function-hmi/src/main/res/layout/item_msg_box_fsm.xml index 595b2d7b71..59c58fdb9d 100644 --- a/core/function-impl/mogo-core-function-hmi/src/main/res/layout/item_msg_box_fsm.xml +++ b/core/function-impl/mogo-core-function-hmi/src/main/res/layout/item_msg_box_fsm.xml @@ -32,7 +32,8 @@ android:layout_marginStart="@dimen/dp_15" android:textColor="#FFFFFFFF" android:textSize="@dimen/sp_32" - android:layout_marginTop="@dimen/dp_10" + android:layout_marginTop="@dimen/dp_5" + android:layout_marginBottom="@dimen/dp_5" /> \ No newline at end of file diff --git a/core/function-impl/mogo-core-function-hmi/src/main/res/layout/item_msg_box_ssm.xml b/core/function-impl/mogo-core-function-hmi/src/main/res/layout/item_msg_box_ssm.xml index 74e6a820fb..9cfb6b9827 100644 --- a/core/function-impl/mogo-core-function-hmi/src/main/res/layout/item_msg_box_ssm.xml +++ b/core/function-impl/mogo-core-function-hmi/src/main/res/layout/item_msg_box_ssm.xml @@ -32,7 +32,8 @@ android:layout_marginStart="@dimen/dp_15" android:textColor="#FFFFFFFF" android:textSize="@dimen/sp_32" - android:layout_marginTop="@dimen/dp_10" + android:layout_marginTop="@dimen/dp_5" + android:layout_marginBottom="@dimen/dp_5" /> \ No newline at end of file diff --git a/core/function-impl/mogo-core-function-hmi/src/main/res/layout/item_msg_box_v2x.xml b/core/function-impl/mogo-core-function-hmi/src/main/res/layout/item_msg_box_v2x.xml index aa7368475e..dd60fb62ea 100644 --- a/core/function-impl/mogo-core-function-hmi/src/main/res/layout/item_msg_box_v2x.xml +++ b/core/function-impl/mogo-core-function-hmi/src/main/res/layout/item_msg_box_v2x.xml @@ -30,7 +30,8 @@ android:layout_marginStart="@dimen/dp_15" android:textColor="#FFFFFFFF" android:textSize="@dimen/sp_32" - android:layout_marginTop="@dimen/dp_10" + android:layout_marginTop="@dimen/dp_5" + android:layout_marginBottom="@dimen/dp_5" /> \ No newline at end of file diff --git a/core/function-impl/mogo-core-function-hmi/src/main/res/layout/item_msg_bubble_autopilot.xml b/core/function-impl/mogo-core-function-hmi/src/main/res/layout/item_msg_bubble_autopilot.xml index 58cb07451a..8f23c77a4a 100644 --- a/core/function-impl/mogo-core-function-hmi/src/main/res/layout/item_msg_bubble_autopilot.xml +++ b/core/function-impl/mogo-core-function-hmi/src/main/res/layout/item_msg_bubble_autopilot.xml @@ -32,7 +32,8 @@ android:layout_marginStart="@dimen/dp_15" android:textColor="#FFFFFFFF" android:textSize="@dimen/sp_32" - android:layout_marginTop="@dimen/dp_10" + android:layout_marginTop="@dimen/dp_5" + android:layout_marginBottom="@dimen/dp_5" /> \ No newline at end of file diff --git a/core/function-impl/mogo-core-function-hmi/src/main/res/layout/item_msg_bubble_fsm.xml b/core/function-impl/mogo-core-function-hmi/src/main/res/layout/item_msg_bubble_fsm.xml index 8ec3709076..468e6fd76d 100644 --- a/core/function-impl/mogo-core-function-hmi/src/main/res/layout/item_msg_bubble_fsm.xml +++ b/core/function-impl/mogo-core-function-hmi/src/main/res/layout/item_msg_bubble_fsm.xml @@ -32,7 +32,8 @@ android:layout_marginStart="@dimen/dp_15" android:textColor="#FFFFFFFF" android:textSize="@dimen/sp_32" - android:layout_marginTop="@dimen/dp_10" + android:layout_marginTop="@dimen/dp_5" + android:layout_marginBottom="@dimen/dp_5" /> \ No newline at end of file diff --git a/core/function-impl/mogo-core-function-hmi/src/main/res/layout/item_msg_bubble_ssm.xml b/core/function-impl/mogo-core-function-hmi/src/main/res/layout/item_msg_bubble_ssm.xml index 7b0030c91b..884c218e64 100644 --- a/core/function-impl/mogo-core-function-hmi/src/main/res/layout/item_msg_bubble_ssm.xml +++ b/core/function-impl/mogo-core-function-hmi/src/main/res/layout/item_msg_bubble_ssm.xml @@ -32,7 +32,8 @@ android:layout_marginStart="@dimen/dp_15" android:textColor="#FFFFFFFF" android:textSize="@dimen/sp_32" - android:layout_marginTop="@dimen/dp_10" + android:layout_marginTop="@dimen/dp_5" + android:layout_marginBottom="@dimen/dp_5" /> \ No newline at end of file diff --git a/core/function-impl/mogo-core-function-hmi/src/main/res/layout/item_msg_bubble_v2x.xml b/core/function-impl/mogo-core-function-hmi/src/main/res/layout/item_msg_bubble_v2x.xml index 37e21f8a77..3239c78652 100644 --- a/core/function-impl/mogo-core-function-hmi/src/main/res/layout/item_msg_bubble_v2x.xml +++ b/core/function-impl/mogo-core-function-hmi/src/main/res/layout/item_msg_bubble_v2x.xml @@ -30,7 +30,8 @@ android:layout_marginStart="@dimen/dp_15" android:textColor="#FFFFFFFF" android:textSize="@dimen/sp_32" - android:layout_marginTop="@dimen/dp_10" + android:layout_marginTop="@dimen/dp_5" + android:layout_marginBottom="@dimen/dp_5" /> \ No newline at end of file From e528da6fc9aaeebe4811384ba5ff84fa74cb7619 Mon Sep 17 00:00:00 2001 From: donghongyu Date: Mon, 24 Jun 2024 19:18:21 +0800 Subject: [PATCH 17/43] =?UTF-8?q?[Routing=20dev]=201=E3=80=81=E4=BF=AE?= =?UTF-8?q?=E5=A4=8Ddpqp=E6=95=B0=E6=8D=AE=E5=AD=97=E6=AE=B5=E6=B2=A1?= =?UTF-8?q?=E5=88=9D=E5=A7=8B=E5=8C=96=E5=AF=BC=E8=87=B4=E7=9A=84bug?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- .../unmanned/taxi/ui/routing/TaxiRoutingModel.kt | 14 +++++++------- 1 file changed, 7 insertions(+), 7 deletions(-) diff --git a/OCH/taxi/unmanned-driver/src/main/java/com/mogo/och/unmanned/taxi/ui/routing/TaxiRoutingModel.kt b/OCH/taxi/unmanned-driver/src/main/java/com/mogo/och/unmanned/taxi/ui/routing/TaxiRoutingModel.kt index eebe7d71aa..e09092349d 100644 --- a/OCH/taxi/unmanned-driver/src/main/java/com/mogo/och/unmanned/taxi/ui/routing/TaxiRoutingModel.kt +++ b/OCH/taxi/unmanned-driver/src/main/java/com/mogo/och/unmanned/taxi/ui/routing/TaxiRoutingModel.kt @@ -593,8 +593,8 @@ object TaxiRoutingModel { val wayLatLons: MutableList = ArrayList() val blackLatLons: MutableList = ArrayList() - if (!grayLineBean.wayPoints.isNullOrEmpty()) { - for (mogoLatLng in grayLineBean.wayPoints!!) { + if (!contrailBean.passPoints.isNullOrEmpty()) { + for (mogoLatLng in contrailBean.passPoints!!) { wayLatLons.add( AutopilotControlParameters.AutoPilotLonLat( mogoLatLng.wgs84Lat, @@ -628,11 +628,11 @@ object TaxiRoutingModel { contrailBean.txtFileMd5, contrailBean.contrailSaveTime, TaxiUnmannedConst.BUSINESSTYPE.toString(), - contrailBean.csvFileUrlDPQP, - contrailBean.csvFileMd5DPQP, - contrailBean.txtFileUrlDPQP, - contrailBean.txtFileMd5DPQP, - contrailBean.contrailSaveTimeDPQP + "", + "", + "", + "", + -1L ) } return parameters From 1ffcee57f2afd0805bb78e8206e0f0be8e8863db Mon Sep 17 00:00:00 2001 From: aibingbing Date: Fri, 21 Jun 2024 18:59:28 +0800 Subject: [PATCH 18/43] =?UTF-8?q?[646]feat:=E5=A2=9E=E5=8A=A0=E5=85=A8?= =?UTF-8?q?=E5=B1=80=E8=BD=A8=E8=BF=B9=E7=BB=98=E5=88=B6=EF=BC=9B?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- .../eagle/core/function/MapBizProvider.kt | 2 + .../MogoTrajectoryOverlayManager.java | 85 +++++ .../TrajectoryOverlayDrawer.java | 301 ++++++++++++++++++ .../trajectoryoverlay/TrajectoryStrategy.kt | 169 ++++++++++ .../java/com/mogo/map/overlay/core/Level.kt | 5 + 5 files changed, 562 insertions(+) create mode 100644 core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/business/trajectoryoverlay/MogoTrajectoryOverlayManager.java create mode 100644 core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/business/trajectoryoverlay/TrajectoryOverlayDrawer.java create mode 100644 core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/business/trajectoryoverlay/TrajectoryStrategy.kt diff --git a/core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/MapBizProvider.kt b/core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/MapBizProvider.kt index aa9311d344..4c03580f0c 100644 --- a/core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/MapBizProvider.kt +++ b/core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/MapBizProvider.kt @@ -11,6 +11,7 @@ import com.mogo.eagle.core.function.business.SpeedLimitDataManager import com.mogo.eagle.core.function.business.ai.AiCloudIdentifyDataManager.Companion.aiCloudIdentifyDataManager import com.mogo.eagle.core.function.business.identify.MapIdentifySubscriber import com.mogo.eagle.core.function.business.routeoverlay.MogoRouteOverlayManager +import com.mogo.eagle.core.function.business.trajectoryoverlay.MogoTrajectoryOverlayManager import com.mogo.eagle.core.function.call.map.CallerVisualAngleManager import com.mogo.eagle.core.utilcode.util.DeviceUtils import com.mogo.map.MapDataWrapper @@ -25,6 +26,7 @@ class MapBizProvider :IMoGoFunctionServerProvider, IMogoRoma { MapDataWrapper.init() MapIdentifySubscriber.instance MogoRouteOverlayManager.getInstance().init() + MogoTrajectoryOverlayManager.getInstance().init() MapPointCloudSubscriber.instance SpeedLimitDataManager.getInstance().start() if(DeviceUtils.isLenovoModel() || DeviceUtils.isEB5Model()){ //todo 新增稳定设备类型需要添加，目的避免在nuc设备上使用此类功能 diff --git a/core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/business/trajectoryoverlay/MogoTrajectoryOverlayManager.java b/core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/business/trajectoryoverlay/MogoTrajectoryOverlayManager.java new file mode 100644 index 0000000000..be09ee92a8 --- /dev/null +++ b/core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/business/trajectoryoverlay/MogoTrajectoryOverlayManager.java @@ -0,0 +1,85 @@ +package com.mogo.eagle.core.function.business.trajectoryoverlay; + +import androidx.annotation.Nullable; + +import com.mogo.eagle.core.data.map.MogoLocation; +import com.mogo.eagle.core.function.api.autopilot.IMoGoChassisLocationGCJ02Listener; +import com.mogo.eagle.core.function.api.autopilot.IMoGoPlanningRottingListener; +import com.mogo.eagle.core.function.call.autopilot.CallerAutoPilotStatusListenerManager; +import com.mogo.eagle.core.function.call.autopilot.CallerChassisLocationGCJ02ListenerManager; +import com.mogo.eagle.core.function.call.autopilot.CallerPlanningRottingListenerManager; +import com.mogo.eagle.core.utilcode.mogo.logger.CallerLogger; + +import java.util.LinkedList; +import java.util.List; + +import mogo.telematics.pad.MessagePad; + +public class MogoTrajectoryOverlayManager implements + IMoGoPlanningRottingListener, + IMoGoChassisLocationGCJ02Listener { + private static volatile MogoTrajectoryOverlayManager sInstance; + private static final String TAG = "MogoTrajectoryOverlayManager"; + + private final LinkedList> queue = new LinkedList<>(); + + private MogoTrajectoryOverlayManager() { + } + + + public void init() { + CallerPlanningRottingListenerManager.INSTANCE.addListener(TAG, this); + CallerChassisLocationGCJ02ListenerManager.INSTANCE.addListener(TAG, 1,this); + } + + public static MogoTrajectoryOverlayManager getInstance() { + if (sInstance == null) { + synchronized (MogoTrajectoryOverlayManager.class) { + if (sInstance == null) { + sInstance = new MogoTrajectoryOverlayManager(); + } + } + } + return sInstance; + } + + @Override + public void onAutopilotRotting(@Nullable MessagePad.GlobalPathResp globalPathResp) { + CallerLogger.i(TAG, "onAutopilotRotting size="+globalPathResp.getWayPointsList().size()); + if (globalPathResp != null) { + synchronized (queue) { + queue.clear(); + queue.offer(globalPathResp.getWayPointsList()); + } + } + } + + @Override + public void onChassisLocationGCJ02(@Nullable MogoLocation gnssInfo) { + if (gnssInfo == null) { + return; + } + int autoPilotState = CallerAutoPilotStatusListenerManager.INSTANCE.getState(); + boolean isArriveAtStation = CallerAutoPilotStatusListenerManager.INSTANCE.isArriveAtStation(); +// Log.d(TAG, "-- onChassisLocationGCJ02 -- 1 ---" + ":auto-mode:" + autoPilotState + ", isArriveAtStation: " + isArriveAtStation); +// if (isArriveAtStation && autoPilotState != 2) { +// RouteOverlayDrawer.getInstance().clearMogoRouteOverlay(); +// return; +// } +// Log.d(TAG, "-- onChassisLocationGCJ02 -- 2 ---" + "auto-mode:" + autoPilotState + ", isDemoMode:" + FunctionBuildConfig.isDemoMode + ", force:" + FunctionBuildConfig.isForceDrawAutopilotTrajectoryByDebugSettingView); +// boolean force = FunctionBuildConfig.isForceDrawAutopilotTrajectoryByDebugSettingView || FunctionBuildConfig.isDemoMode && FunctionBuildConfig.isIgnoreConditionsDrawAutopilotTrajectoryData; +// if (!force && autoPilotState != 2) { +// RouteOverlayDrawer.getInstance().clearMogoRouteOverlay(); +// return; +// } +// Log.d(TAG, "-- onChassisLocationGCJ02 -- 3 ---"); + synchronized (queue) { + if (!queue.isEmpty()) { + List items = queue.pollLast(); + if (items != null && !items.isEmpty()) { + TrajectoryOverlayDrawer.getInstance().drawTrajectoryList(items, gnssInfo.getHeading()); + } + } + } + } +} diff --git a/core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/business/trajectoryoverlay/TrajectoryOverlayDrawer.java b/core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/business/trajectoryoverlay/TrajectoryOverlayDrawer.java new file mode 100644 index 0000000000..7ba5a7beb7 --- /dev/null +++ b/core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/business/trajectoryoverlay/TrajectoryOverlayDrawer.java @@ -0,0 +1,301 @@ +package com.mogo.eagle.core.function.business.trajectoryoverlay; + +import static com.mogo.map.MogoMap.DEFAULT; + +import android.annotation.SuppressLint; +import android.graphics.Color; +import android.os.Handler; +import android.os.HandlerThread; +import android.util.Log; + +import androidx.core.util.Pools; + +import com.mogo.eagle.core.data.map.MogoLatLng; +import com.mogo.eagle.core.function.call.autopilot.CallerChassisLocationWGS84ListenerManager; +import com.mogo.eagle.core.function.call.map.CallerMapUIServiceManager; +import com.mogo.eagle.core.utilcode.util.DrivingDirectionUtils; +import com.mogo.map.overlay.IMoGoOverlayManager; +import com.mogo.map.overlay.core.Level; +import com.mogo.map.overlay.line.Polyline; +import com.zhidaoauto.map.sdk.open.common.tools.MapTools; + +import java.util.ArrayList; +import java.util.LinkedList; +import java.util.List; + +import kotlin.Pair; +import mogo.telematics.pad.MessagePad; + +public class TrajectoryOverlayDrawer { + + private static final String TAG = "TrajectoryOverlayDrawer"; + + // 连接线参数 + private Handler mRenderHandler; + private final IMoGoOverlayManager mogoOverlayManager; + private static volatile TrajectoryOverlayDrawer sInstance; + private static final byte[] obj = new byte[0]; + private Polyline.Options mPolylineOptions; + private static final int COLOR_LIGHT = Color.parseColor("#BAEBF5"); + + + //用于taxi乘客屏渐变颜色集合 + private static List colors = null; + + private TrajectoryOverlayDrawer() { + // 渐变色 + mogoOverlayManager = CallerMapUIServiceManager.INSTANCE.getOverlayManager(); + if (mogoOverlayManager != null) { + mPolylineOptions = new Polyline.Options.Builder("trajectory_overlay", Level.TRAJECTORY_LINE) + .setUseGps(true) + .setWidth(30) + .setIsGradient(true) + .build(); + + // 线条粗细，渐变，渐变色值 + HandlerThread renderTask = new HandlerThread("trajectory_render") { + @Override + protected void onLooperPrepared() { + super.onLooperPrepared(); + mRenderHandler = new Handler(getLooper()); + } + }; + renderTask.start(); + } + } + + public static TrajectoryOverlayDrawer getInstance() { + if (sInstance == null) { + synchronized (obj) { + if (sInstance == null) { + sInstance = new TrajectoryOverlayDrawer(); + } + } + } + return sInstance; + } + + public void clearMogoTrajectoryOverlay() { + if (mogoOverlayManager != null) { + if (mRenderTask != null) { + mRenderHandler.removeCallbacks(mRenderTask); + } + mogoOverlayManager.removeAllLinesInLevel(Level.TRAJECTORY_LINE); + } + } + + private class RenderTask implements Runnable { + private volatile List routeList; + + private final Pools.Pool pools; + private final LinkedList points; + + private double bearing; + + public RenderTask() { + this.pools = new Pools.SimplePool<>(500); + this.points = new LinkedList<>(); + } + + public void setData(List routeList, double bearing) { + this.routeList = routeList; + this.bearing = bearing; + } + + @SuppressLint("LongLogTag") + @Override + public void run() { + IMoGoOverlayManager overlayManager = mogoOverlayManager; + if (overlayManager == null) { + return; + } + LinkedList pps = this.points; + boolean isExcept = false; + int total; + + try { + pps.clear(); + List routes = this.routeList; + if (routes == null || (total = routes.size()) < 2) { + isExcept = true; + return; + } +// boolean isColorfulStrategy = !AppIdentityModeUtils.isTaxi(FunctionBuildConfig.appIdentityMode) || !AppIdentityModeUtils.isPassenger(FunctionBuildConfig.appIdentityMode); + //TODO + boolean isColorfulStrategy = false; + if (isColorfulStrategy) { + TrajectoryStrategy.INSTANCE.start(); + } else { + if (colors == null) { + ArrayList> temps = new ArrayList<>(); +// temps.add(new Pair<>(0, 51)); +// temps.add(new Pair<>(10, 102)); +// temps.add(new Pair<>(30, 51)); +// temps.add(new Pair<>(100, 0)); + temps.add(new Pair<>(0, 51)); + temps.add(new Pair<>(10, 51)); + temps.add(new Pair<>(30, 51)); + temps.add(new Pair<>(100, 51)); + List alphas = MapTools.INSTANCE.getColorAlpha(temps); + if (alphas != null && !alphas.isEmpty()) { + colors = new ArrayList<>(); + for (int i : alphas) { + colors.add(Color.argb(i, 48,203,251)); + } + } + } + } + for (int i = 0; i < total; i++) { + MessagePad.Location route = null; + try { + route = routes.get(i); + if (route == null) { + continue; + } + } catch (Throwable t) { + Log.d("Trajectory", "render-error:" + t.getMessage()); + } + if (route == null) { + //数组越界了，结束循环 + break; + } + MogoLatLng acquire = pools.acquire(); + double latitude = route.getLatitude(); + double longitude = route.getLongitude(); + if (acquire == null) { + acquire = new MogoLatLng(latitude, longitude); + } else { + acquire.lon = longitude; + acquire.lat = latitude; + } +// acquire.acc = route.getAcceleration(); +// acquire.speed = route.getVelocity(); + pps.add(acquire); +// if (isColorfulStrategy) { +//// RouteStrategy.INSTANCE.check(route.getVelocity(), route.getAcceleration(), routeList.size()); +// } + } + double lon = CallerChassisLocationWGS84ListenerManager.INSTANCE.getChassisLocationWGS84().getLongitude(); + double lat = CallerChassisLocationWGS84ListenerManager.INSTANCE.getChassisLocationWGS84().getLatitude(); + if (points.size() > 0) { + MogoLatLng top = null; + while (points.size() != 0) { + MogoLatLng first = points.peek(); + if (first == null) { + continue; + } + if (first == top) { + break; + } + lon = CallerChassisLocationWGS84ListenerManager.INSTANCE.getChassisLocationWGS84().getLongitude(); + lat = CallerChassisLocationWGS84ListenerManager.INSTANCE.getChassisLocationWGS84().getLatitude(); + long angle = isPointOnCarFront(lon, lat, bearing, first.lon, first.lat); + if (angle >= 90) { + if (isColorfulStrategy) { + TrajectoryStrategy.INSTANCE.remove(first.acc); + } + pools.release(first); + points.poll(); + } + top = first; + } + if (points.size() == 0) { + isExcept = true; + return; + } +// MogoLatLng self = pools.acquire(); +// if (self == null) { +// self = new MogoLatLng(lat, lon); +// } else { +// self.lat = lat; +// self.lon = lon; +// } +// points.addFirst(self); + + Polyline.Options.Builder builder; + if (mPolylineOptions == null) { + builder = new Polyline.Options.Builder("trajectory_overlay", Level.TRAJECTORY_LINE) + .setUseGps(true) + .setWidth(20) + .setIsGradient(true); + } else { + builder = mPolylineOptions.builder(); + } + + if (isColorfulStrategy) { + TrajectoryStrategy.INSTANCE.end(); + Strategy strategy = TrajectoryStrategy.INSTANCE.getStrategy(); + List colors = strategy.getColors(); + boolean isLightOn = strategy instanceof ColorfulStrategy && ((ColorfulStrategy) strategy).isLightOn(); + builder.colors(colors); + builder.setLightOn(isLightOn); + builder.setLightColor(COLOR_LIGHT); + builder.setLightSpeed(0.3f); + } else { + if (colors != null && !colors.isEmpty()) { + builder.colors(colors); + builder.setIsGradient(true); +// builder.setLightOn(true); + builder.setLightOn(false); + builder.setLightColor(COLOR_LIGHT); + builder.setLightSpeed(0.3f); + } + } + builder.points(points); + builder.setVisible(true); + Polyline.Options options = builder.build(); + if (mPolylineOptions == null) { + mPolylineOptions = options; + } + overlayManager.showOrUpdateLine(options,DEFAULT); + } else { + isExcept = true; + } + } catch (Throwable t) { + t.printStackTrace(); + } finally { + if (isExcept) { + setVisible(false); + } + if (points.size() > 0) { + for (int i = 0; i < points.size(); i++) { + MogoLatLng latLng = points.get(i); + if (latLng == null) { + continue; + } + pools.release(latLng); + } + } + } + } + + private long isPointOnCarFront(double car_lon, double car_lat, double car_head, double lon, double lat) { + return DrivingDirectionUtils.getDegreeOfCar2Poi2(car_lon, car_lat, lon, lat, car_head); + } + } + + private volatile RenderTask mRenderTask; + + public void drawTrajectoryList(List routeList, double bearing) { + if (mogoOverlayManager != null) { + if (mRenderTask == null) { + mRenderTask = new RenderTask(); + } + mRenderTask.setData(routeList, bearing); + if (mRenderHandler != null) { + mRenderHandler.removeCallbacks(mRenderTask); + mRenderHandler.post(mRenderTask); + } + } + } + + public void setVisible(boolean isVisible) { + if (mogoOverlayManager != null) { + if (isVisible) { + mogoOverlayManager.showAllLinesInLevel(Level.TRAJECTORY_LINE); + } else { + mogoOverlayManager.hideAllLinesInLevel(Level.TRAJECTORY_LINE); + } + } + } +} diff --git a/core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/business/trajectoryoverlay/TrajectoryStrategy.kt b/core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/business/trajectoryoverlay/TrajectoryStrategy.kt new file mode 100644 index 0000000000..5891babd2e --- /dev/null +++ b/core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/business/trajectoryoverlay/TrajectoryStrategy.kt @@ -0,0 +1,169 @@ +package com.mogo.eagle.core.function.business.trajectoryoverlay + +import android.animation.ArgbEvaluator +import android.graphics.Color +import android.view.animation.AccelerateInterpolator +import com.mogo.eagle.core.data.config.HmiBuildConfig +import com.mogo.eagle.core.function.business.routeoverlay.Colors.Companion.COLOR_BLUE +import com.mogo.eagle.core.function.business.routeoverlay.Colors.Companion.COLOR_BLUE_DARK +import com.mogo.eagle.core.function.business.routeoverlay.Colors.Companion.COLOR_RED_DARK +import com.mogo.eagle.core.function.business.routeoverlay.Colors.Companion.COLOR_TRANSPARENT +import java.util.* +import kotlin.properties.Delegates + + +interface IStrategy { + fun getColors(): List +} + +class Colors { + + companion object { + val COLOR_BLUE = Color.parseColor("#FF2ABAD9") + val COLOR_BLUE_DARK = Color.parseColor("#FF074EFF") + val COLOR_RED_DARK = Color.parseColor("#FFFF5F00") + val COLOR_TRANSPARENT = Color.parseColor("#002ABAD9") + } +} + +sealed class Strategy : IStrategy + +class DefaultStrategy(private val colors: List? = null) : Strategy() { + + override fun getColors(): List = colors ?: listOf(COLOR_BLUE, COLOR_TRANSPARENT) +} + +class ColorfulStrategy(private val colors: List = emptyList(), var isLightOn: Boolean) : + Strategy() { + override fun getColors(): List = colors +} + +object TrajectoryStrategy { + + private var isEnable by Delegates.observable(HmiBuildConfig.isShowRouteStrategy) { _, _, newValue -> + if (!newValue) { + strategy = null + colors.clear() + } + } + + private var strategy: Strategy? = null + + private val colors: ArrayList = ArrayList() + + private var index = 0 + + private val sorted: NavigableMap by lazy { TreeMap() } + + private var endEvaluator: ArgbEvaluator? = null + + private var startColor = Int.MAX_VALUE + + private var hasLessThan0 = false + + fun start() { + if (sorted.isEmpty()) { + fill() + } + strategy = null + index = 0 + startColor = Int.MAX_VALUE + colors.clear() + endEvaluator = null + hasLessThan0 = false + } + + fun end() { + if (isEnable) { + if (colors.isEmpty()) { + return + } + val first = colors[0] + colors.add(0, first) + strategy = ColorfulStrategy(colors, true) + } + } + + fun check(speed: Double, acc: Double, total: Int) { + if (!isEnable) { + return + } + if (sorted.isEmpty()) { + return + } + if (acc < 0) { + hasLessThan0 = true + } + val delta = (total * 0.35).toInt() + val last = total - delta + val entry = sorted.floorEntry(acc) + if (entry != null) { + if (index >= last - 1) { + if (startColor == Int.MAX_VALUE) { + startColor = entry.value + if (endEvaluator == null) { + endEvaluator = ArgbEvaluator() + } + colors += entry.value + } else { + if (endEvaluator != null) { + val fraction = (index - last) * 1.0f / delta + colors += endEvaluator!!.evaluate( + fraction, + startColor, + COLOR_TRANSPARENT + ) as Int + } + } + } else { + colors += entry.value + } + } + index++ + } + + fun remove(acc: Double): List { + if (!isEnable) { + return emptyList() + } + if (sorted.isEmpty()) { + throw AssertionError("sorted map must not be null.") + } + val entry = sorted.floorEntry(acc) + if (entry != null) { + colors.remove(entry.value) + } + return ArrayList(colors) + } + + private fun fill() { + var startValue = -4.0 + var endValue = 0.0 + val step = 0.01 + var current = startValue + val evaluator = ArgbEvaluator() + val interceptor = AccelerateInterpolator() + var total = endValue - startValue + while (current <= endValue) { + val fraction = interceptor.getInterpolation(((current - startValue) / total).toFloat()) + val colorValue = evaluator.evaluate(fraction, COLOR_RED_DARK, COLOR_BLUE) as Int + sorted[current] = colorValue + current += step + } + startValue = 0.01 + endValue = 3.0 + current = startValue + total = endValue - startValue + while (current <= endValue) { + val fraction = (current - startValue) / total + val colorValue = + evaluator.evaluate(fraction.toFloat(), COLOR_BLUE, COLOR_BLUE_DARK) as Int + sorted[current] = colorValue + current += step + } + } + + fun getStrategy(): Strategy = if (isEnable) { + (strategy ?: DefaultStrategy()) + } else DefaultStrategy() +} \ No newline at end of file diff --git a/libraries/mogo-map-api/src/main/java/com/mogo/map/overlay/core/Level.kt b/libraries/mogo-map-api/src/main/java/com/mogo/map/overlay/core/Level.kt index 620cd25678..a1e56e7edd 100644 --- a/libraries/mogo-map-api/src/main/java/com/mogo/map/overlay/core/Level.kt +++ b/libraries/mogo-map-api/src/main/java/com/mogo/map/overlay/core/Level.kt @@ -15,6 +15,11 @@ enum class Level(val zIndex: Int) { */ ROAD_CENTER_LINE(40000), + /** + * 全局轨迹线 + */ + TRAJECTORY_LINE(74000), + /** * 前车引导线 */ From cb9df531293bce9de767e66fa4f9bc3670dc2ec6 Mon Sep 17 00:00:00 2001 From: aibingbing Date: Tue, 25 Jun 2024 17:38:33 +0800 Subject: [PATCH 19/43] =?UTF-8?q?[646]=20feat:=20=E4=BF=AE=E6=94=B9?= =?UTF-8?q?=E5=85=A8=E5=B1=80=E8=BD=A8=E8=BF=B9=E5=B1=95=E7=A4=BA=E9=80=BB?= =?UTF-8?q?=E8=BE=91=EF=BC=8C=E6=8F=90=E4=BE=9B=E5=AF=B9=E5=A4=96=E8=B0=83?= =?UTF-8?q?=E7=94=A8=E6=8E=A5=E5=8F=A3=EF=BC=9B?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- .../MogoTrajectoryOverlayManager.java | 27 ++++-- .../MogoTrajectoryOverlayProvider.kt | 37 ++++++++ .../TrajectoryOverlayDrawer.java | 95 +++++++++---------- .../trajectoryoverlay/TrajectoryStrategy.kt | 13 +-- .../core/data/constants/MogoServicePaths.java | 3 + .../IMoGoGlobalTrajectoryDrawListener.kt | 22 +++++ .../CallerMapGlobalTrajectoryDrawManager.kt | 44 +++++++++ .../java/com/mogo/map/overlay/core/Level.kt | 2 +- 8 files changed, 177 insertions(+), 66 deletions(-) create mode 100644 core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/business/trajectoryoverlay/MogoTrajectoryOverlayProvider.kt create mode 100644 core/mogo-core-function-api/src/main/java/com/mogo/eagle/core/function/api/map/trajectory/IMoGoGlobalTrajectoryDrawListener.kt create mode 100644 core/mogo-core-function-call/src/main/java/com/mogo/eagle/core/function/call/map/CallerMapGlobalTrajectoryDrawManager.kt diff --git a/core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/business/trajectoryoverlay/MogoTrajectoryOverlayManager.java b/core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/business/trajectoryoverlay/MogoTrajectoryOverlayManager.java index be09ee92a8..932d8a5a26 100644 --- a/core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/business/trajectoryoverlay/MogoTrajectoryOverlayManager.java +++ b/core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/business/trajectoryoverlay/MogoTrajectoryOverlayManager.java @@ -1,12 +1,14 @@ package com.mogo.eagle.core.function.business.trajectoryoverlay; +import android.util.Pair; + import androidx.annotation.Nullable; import com.mogo.eagle.core.data.map.MogoLocation; import com.mogo.eagle.core.function.api.autopilot.IMoGoChassisLocationGCJ02Listener; import com.mogo.eagle.core.function.api.autopilot.IMoGoPlanningRottingListener; -import com.mogo.eagle.core.function.call.autopilot.CallerAutoPilotStatusListenerManager; import com.mogo.eagle.core.function.call.autopilot.CallerChassisLocationGCJ02ListenerManager; +import com.mogo.eagle.core.function.call.autopilot.CallerChassisLocationWGS84ListenerManager; import com.mogo.eagle.core.function.call.autopilot.CallerPlanningRottingListenerManager; import com.mogo.eagle.core.utilcode.mogo.logger.CallerLogger; @@ -26,10 +28,9 @@ public class MogoTrajectoryOverlayManager implements private MogoTrajectoryOverlayManager() { } - public void init() { CallerPlanningRottingListenerManager.INSTANCE.addListener(TAG, this); - CallerChassisLocationGCJ02ListenerManager.INSTANCE.addListener(TAG, 1,this); + CallerChassisLocationGCJ02ListenerManager.INSTANCE.addListener(TAG, 1, this); } public static MogoTrajectoryOverlayManager getInstance() { @@ -45,7 +46,7 @@ public class MogoTrajectoryOverlayManager implements @Override public void onAutopilotRotting(@Nullable MessagePad.GlobalPathResp globalPathResp) { - CallerLogger.i(TAG, "onAutopilotRotting size="+globalPathResp.getWayPointsList().size()); + CallerLogger.i(TAG, "onAutopilotRotting size=" + globalPathResp.getWayPointsList().size()); if (globalPathResp != null) { synchronized (queue) { queue.clear(); @@ -59,8 +60,8 @@ public class MogoTrajectoryOverlayManager implements if (gnssInfo == null) { return; } - int autoPilotState = CallerAutoPilotStatusListenerManager.INSTANCE.getState(); - boolean isArriveAtStation = CallerAutoPilotStatusListenerManager.INSTANCE.isArriveAtStation(); +// int autoPilotState = CallerAutoPilotStatusListenerManager.INSTANCE.getState(); +// boolean isArriveAtStation = CallerAutoPilotStatusListenerManager.INSTANCE.isArriveAtStation(); // Log.d(TAG, "-- onChassisLocationGCJ02 -- 1 ---" + ":auto-mode:" + autoPilotState + ", isArriveAtStation: " + isArriveAtStation); // if (isArriveAtStation && autoPilotState != 2) { // RouteOverlayDrawer.getInstance().clearMogoRouteOverlay(); @@ -73,13 +74,25 @@ public class MogoTrajectoryOverlayManager implements // return; // } // Log.d(TAG, "-- onChassisLocationGCJ02 -- 3 ---"); + + } + + public Pair drawTrajectoryOverlayOnce() { + Pair result = new Pair(false, "全局轨迹未就绪或为空"); synchronized (queue) { if (!queue.isEmpty()) { List items = queue.pollLast(); if (items != null && !items.isEmpty()) { - TrajectoryOverlayDrawer.getInstance().drawTrajectoryList(items, gnssInfo.getHeading()); + double heading = CallerChassisLocationWGS84ListenerManager.INSTANCE.getChassisLocationWGS84().getHeading(); + TrajectoryOverlayDrawer.getInstance().drawTrajectoryList(items, heading); + return new Pair(true, "success"); } } + return result; } } + + public void clearTrajectoryOverlay() { + TrajectoryOverlayDrawer.getInstance().clearMogoTrajectoryOverlay(); + } } diff --git a/core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/business/trajectoryoverlay/MogoTrajectoryOverlayProvider.kt b/core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/business/trajectoryoverlay/MogoTrajectoryOverlayProvider.kt new file mode 100644 index 0000000000..b57ec0b25c --- /dev/null +++ b/core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/business/trajectoryoverlay/MogoTrajectoryOverlayProvider.kt @@ -0,0 +1,37 @@ +package com.mogo.eagle.core.function.business.trajectoryoverlay + +import android.content.Context +import com.alibaba.android.arouter.facade.annotation.Route +import com.mogo.eagle.core.data.constants.MogoServicePaths +import com.mogo.eagle.core.function.api.map.trajectory.IMoGoGlobalTrajectoryDrawListener +import com.mogo.eagle.core.utilcode.mogo.logger.CallerLogger +import java.util.concurrent.atomic.AtomicReference + +@Route(path = MogoServicePaths.PATH_MAP_GLOBAL_TRAJECTORY) +class MogoTrajectoryOverlayProvider : IMoGoGlobalTrajectoryDrawListener { + + companion object { + private const val TAG = "MogoTrajectoryOverlayProvider" + } + + private var hasDrawn = AtomicReference(false) + + override fun init(context: Context?) { + CallerLogger.i(TAG, "---init---") + } + + override fun hasDrawnGlobalTrajectory(): Boolean { + return hasDrawn.get() + } + + override fun drawGlobalTrajectory(): Pair { + val result = MogoTrajectoryOverlayManager.getInstance().drawTrajectoryOverlayOnce() + hasDrawn.set(result.first) + return Pair(result.first, result.second) + } + + override fun clearGlobalTrajectory() { + MogoTrajectoryOverlayManager.getInstance().clearTrajectoryOverlay() + hasDrawn.set(false) + } +} \ No newline at end of file diff --git a/core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/business/trajectoryoverlay/TrajectoryOverlayDrawer.java b/core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/business/trajectoryoverlay/TrajectoryOverlayDrawer.java index 7ba5a7beb7..f0ea3d89dc 100644 --- a/core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/business/trajectoryoverlay/TrajectoryOverlayDrawer.java +++ b/core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/business/trajectoryoverlay/TrajectoryOverlayDrawer.java @@ -11,7 +11,6 @@ import android.util.Log; import androidx.core.util.Pools; import com.mogo.eagle.core.data.map.MogoLatLng; -import com.mogo.eagle.core.function.call.autopilot.CallerChassisLocationWGS84ListenerManager; import com.mogo.eagle.core.function.call.map.CallerMapUIServiceManager; import com.mogo.eagle.core.utilcode.util.DrivingDirectionUtils; import com.mogo.map.overlay.IMoGoOverlayManager; @@ -37,7 +36,7 @@ public class TrajectoryOverlayDrawer { private static final byte[] obj = new byte[0]; private Polyline.Options mPolylineOptions; private static final int COLOR_LIGHT = Color.parseColor("#BAEBF5"); - + private static final int mPolylineWidth = 50; //用于taxi乘客屏渐变颜色集合 private static List colors = null; @@ -48,7 +47,7 @@ public class TrajectoryOverlayDrawer { if (mogoOverlayManager != null) { mPolylineOptions = new Polyline.Options.Builder("trajectory_overlay", Level.TRAJECTORY_LINE) .setUseGps(true) - .setWidth(30) + .setWidth(mPolylineWidth) .setIsGradient(true) .build(); @@ -86,10 +85,8 @@ public class TrajectoryOverlayDrawer { private class RenderTask implements Runnable { private volatile List routeList; - private final Pools.Pool pools; private final LinkedList points; - private double bearing; public RenderTask() { @@ -120,8 +117,8 @@ public class TrajectoryOverlayDrawer { isExcept = true; return; } -// boolean isColorfulStrategy = !AppIdentityModeUtils.isTaxi(FunctionBuildConfig.appIdentityMode) || !AppIdentityModeUtils.isPassenger(FunctionBuildConfig.appIdentityMode); - //TODO + //boolean isColorfulStrategy = !AppIdentityModeUtils.isTaxi(FunctionBuildConfig.appIdentityMode) || !AppIdentityModeUtils.isPassenger(FunctionBuildConfig.appIdentityMode); + //全局轨迹线 没有颜色策略，使用固定颜色 boolean isColorfulStrategy = false; if (isColorfulStrategy) { TrajectoryStrategy.INSTANCE.start(); @@ -132,15 +129,15 @@ public class TrajectoryOverlayDrawer { // temps.add(new Pair<>(10, 102)); // temps.add(new Pair<>(30, 51)); // temps.add(new Pair<>(100, 0)); - temps.add(new Pair<>(0, 51)); - temps.add(new Pair<>(10, 51)); - temps.add(new Pair<>(30, 51)); - temps.add(new Pair<>(100, 51)); + temps.add(new Pair<>(0, 100)); + temps.add(new Pair<>(10, 100)); + temps.add(new Pair<>(30, 100)); + temps.add(new Pair<>(100, 100)); List alphas = MapTools.INSTANCE.getColorAlpha(temps); if (alphas != null && !alphas.isEmpty()) { colors = new ArrayList<>(); for (int i : alphas) { - colors.add(Color.argb(i, 48,203,251)); + colors.add(Color.argb(i, 78,121,173)); } } } @@ -168,41 +165,36 @@ public class TrajectoryOverlayDrawer { acquire.lon = longitude; acquire.lat = latitude; } -// acquire.acc = route.getAcceleration(); -// acquire.speed = route.getVelocity(); pps.add(acquire); -// if (isColorfulStrategy) { -//// RouteStrategy.INSTANCE.check(route.getVelocity(), route.getAcceleration(), routeList.size()); -// } } - double lon = CallerChassisLocationWGS84ListenerManager.INSTANCE.getChassisLocationWGS84().getLongitude(); - double lat = CallerChassisLocationWGS84ListenerManager.INSTANCE.getChassisLocationWGS84().getLatitude(); +// double lon = CallerChassisLocationWGS84ListenerManager.INSTANCE.getChassisLocationWGS84().getLongitude(); +// double lat = CallerChassisLocationWGS84ListenerManager.INSTANCE.getChassisLocationWGS84().getLatitude(); if (points.size() > 0) { - MogoLatLng top = null; - while (points.size() != 0) { - MogoLatLng first = points.peek(); - if (first == null) { - continue; - } - if (first == top) { - break; - } - lon = CallerChassisLocationWGS84ListenerManager.INSTANCE.getChassisLocationWGS84().getLongitude(); - lat = CallerChassisLocationWGS84ListenerManager.INSTANCE.getChassisLocationWGS84().getLatitude(); - long angle = isPointOnCarFront(lon, lat, bearing, first.lon, first.lat); - if (angle >= 90) { - if (isColorfulStrategy) { - TrajectoryStrategy.INSTANCE.remove(first.acc); - } - pools.release(first); - points.poll(); - } - top = first; - } - if (points.size() == 0) { - isExcept = true; - return; - } +// MogoLatLng top = null; +// while (points.size() != 0) { +// MogoLatLng first = points.peek(); +// if (first == null) { +// continue; +// } +// if (first == top) { +// break; +// } +// lon = CallerChassisLocationWGS84ListenerManager.INSTANCE.getChassisLocationWGS84().getLongitude(); +// lat = CallerChassisLocationWGS84ListenerManager.INSTANCE.getChassisLocationWGS84().getLatitude(); +// long angle = isPointOnCarFront(lon, lat, bearing, first.lon, first.lat); +// if (angle >= 90) { +// if (isColorfulStrategy) { +// TrajectoryStrategy.INSTANCE.remove(first.acc); +// } +// pools.release(first); +// points.poll(); +// } +// top = first; +// } +// if (points.size() == 0) { +// isExcept = true; +// return; +// } // MogoLatLng self = pools.acquire(); // if (self == null) { // self = new MogoLatLng(lat, lon); @@ -216,8 +208,8 @@ public class TrajectoryOverlayDrawer { if (mPolylineOptions == null) { builder = new Polyline.Options.Builder("trajectory_overlay", Level.TRAJECTORY_LINE) .setUseGps(true) - .setWidth(20) - .setIsGradient(true); + .setWidth(mPolylineWidth) + .setIsGradient(false); } else { builder = mPolylineOptions.builder(); } @@ -229,16 +221,15 @@ public class TrajectoryOverlayDrawer { boolean isLightOn = strategy instanceof ColorfulStrategy && ((ColorfulStrategy) strategy).isLightOn(); builder.colors(colors); builder.setLightOn(isLightOn); - builder.setLightColor(COLOR_LIGHT); - builder.setLightSpeed(0.3f); + //builder.setLightColor(COLOR_LIGHT); + //builder.setLightSpeed(0.3f); } else { if (colors != null && !colors.isEmpty()) { builder.colors(colors); builder.setIsGradient(true); -// builder.setLightOn(true); builder.setLightOn(false); - builder.setLightColor(COLOR_LIGHT); - builder.setLightSpeed(0.3f); + //builder.setLightColor(COLOR_LIGHT); + //builder.setLightSpeed(0.3f); } } builder.points(points); @@ -289,7 +280,7 @@ public class TrajectoryOverlayDrawer { } } - public void setVisible(boolean isVisible) { + private void setVisible(boolean isVisible) { if (mogoOverlayManager != null) { if (isVisible) { mogoOverlayManager.showAllLinesInLevel(Level.TRAJECTORY_LINE); diff --git a/core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/business/trajectoryoverlay/TrajectoryStrategy.kt b/core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/business/trajectoryoverlay/TrajectoryStrategy.kt index 5891babd2e..690c56abd2 100644 --- a/core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/business/trajectoryoverlay/TrajectoryStrategy.kt +++ b/core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/business/trajectoryoverlay/TrajectoryStrategy.kt @@ -4,11 +4,12 @@ import android.animation.ArgbEvaluator import android.graphics.Color import android.view.animation.AccelerateInterpolator import com.mogo.eagle.core.data.config.HmiBuildConfig -import com.mogo.eagle.core.function.business.routeoverlay.Colors.Companion.COLOR_BLUE -import com.mogo.eagle.core.function.business.routeoverlay.Colors.Companion.COLOR_BLUE_DARK -import com.mogo.eagle.core.function.business.routeoverlay.Colors.Companion.COLOR_RED_DARK -import com.mogo.eagle.core.function.business.routeoverlay.Colors.Companion.COLOR_TRANSPARENT -import java.util.* +import com.mogo.eagle.core.function.business.trajectoryoverlay.Colors.Companion.COLOR_BLUE +import com.mogo.eagle.core.function.business.trajectoryoverlay.Colors.Companion.COLOR_BLUE_DARK +import com.mogo.eagle.core.function.business.trajectoryoverlay.Colors.Companion.COLOR_RED_DARK +import com.mogo.eagle.core.function.business.trajectoryoverlay.Colors.Companion.COLOR_TRANSPARENT +import java.util.NavigableMap +import java.util.TreeMap import kotlin.properties.Delegates @@ -21,7 +22,7 @@ class Colors { companion object { val COLOR_BLUE = Color.parseColor("#FF2ABAD9") val COLOR_BLUE_DARK = Color.parseColor("#FF074EFF") - val COLOR_RED_DARK = Color.parseColor("#FFFF5F00") + val COLOR_RED_DARK = Color.parseColor("#FF0FF5F0") val COLOR_TRANSPARENT = Color.parseColor("#002ABAD9") } } diff --git a/core/mogo-core-data/src/main/java/com/mogo/eagle/core/data/constants/MogoServicePaths.java b/core/mogo-core-data/src/main/java/com/mogo/eagle/core/data/constants/MogoServicePaths.java index b1460e7ea7..126a82ee37 100644 --- a/core/mogo-core-data/src/main/java/com/mogo/eagle/core/data/constants/MogoServicePaths.java +++ b/core/mogo-core-data/src/main/java/com/mogo/eagle/core/data/constants/MogoServicePaths.java @@ -103,6 +103,9 @@ public class MogoServicePaths { @Keep public static final String PATH_VISUAL_ANGLE = "/map/angle_change"; + @Keep + public static final String PATH_MAP_GLOBAL_TRAJECTORY = "/map/global_trajectory"; + @Keep public static final String PATH_PATCH_UPGRADE = "/patch/api"; diff --git a/core/mogo-core-function-api/src/main/java/com/mogo/eagle/core/function/api/map/trajectory/IMoGoGlobalTrajectoryDrawListener.kt b/core/mogo-core-function-api/src/main/java/com/mogo/eagle/core/function/api/map/trajectory/IMoGoGlobalTrajectoryDrawListener.kt new file mode 100644 index 0000000000..6f86e76437 --- /dev/null +++ b/core/mogo-core-function-api/src/main/java/com/mogo/eagle/core/function/api/map/trajectory/IMoGoGlobalTrajectoryDrawListener.kt @@ -0,0 +1,22 @@ +package com.mogo.eagle.core.function.api.map.trajectory + +import com.alibaba.android.arouter.facade.template.IProvider + +interface IMoGoGlobalTrajectoryDrawListener : IProvider { + + /** + * 是否已经在高精地图绘制了全局轨迹 + */ + fun hasDrawnGlobalTrajectory(): Boolean + + /** + * 在高精地图绘制全局规划 + * @return boolean-是否绘制成功, string-绘制结果原因 + */ + fun drawGlobalTrajectory(): Pair + + /** + * 清除高精地图中的全局轨迹 + */ + fun clearGlobalTrajectory() +} \ No newline at end of file diff --git a/core/mogo-core-function-call/src/main/java/com/mogo/eagle/core/function/call/map/CallerMapGlobalTrajectoryDrawManager.kt b/core/mogo-core-function-call/src/main/java/com/mogo/eagle/core/function/call/map/CallerMapGlobalTrajectoryDrawManager.kt new file mode 100644 index 0000000000..41c29ee859 --- /dev/null +++ b/core/mogo-core-function-call/src/main/java/com/mogo/eagle/core/function/call/map/CallerMapGlobalTrajectoryDrawManager.kt @@ -0,0 +1,44 @@ +package com.mogo.eagle.core.function.call.map + +import com.alibaba.android.arouter.launcher.ARouter +import com.mogo.eagle.core.data.constants.MogoServicePaths +import com.mogo.eagle.core.function.api.map.trajectory.IMoGoGlobalTrajectoryDrawListener +import com.mogo.eagle.core.utilcode.mogo.logger.CallerLogger + + +object CallerMapGlobalTrajectoryDrawManager { + + private val provider by lazy { + ARouter.getInstance().build(MogoServicePaths.PATH_MAP_GLOBAL_TRAJECTORY) + .navigation() as? IMoGoGlobalTrajectoryDrawListener + } + + fun init() { + provider?.let { + CallerLogger.i("CallerMapGlobalTrajectoryDrawManager", "--- init ---") + } + } + + /** + * 是否已经在高精地图绘制了全局轨迹 + */ + fun hasDrawnGlobalTrajectory(): Boolean { + return provider?.hasDrawnGlobalTrajectory() ?: false + } + + /** + * 在高精地图绘制全局规划 + * @return boolean-是否绘制成功, string-未绘制原因 + */ + fun drawGlobalTrajectory(): Pair { + return provider?.drawGlobalTrajectory() ?: Pair(false, "provider=null") + } + + /** + * 清除高精地图中的全局轨迹 + */ + fun clearGlobalTrajectory() { + provider?.clearGlobalTrajectory() + } + +} \ No newline at end of file diff --git a/libraries/mogo-map-api/src/main/java/com/mogo/map/overlay/core/Level.kt b/libraries/mogo-map-api/src/main/java/com/mogo/map/overlay/core/Level.kt index a1e56e7edd..f997dceb1c 100644 --- a/libraries/mogo-map-api/src/main/java/com/mogo/map/overlay/core/Level.kt +++ b/libraries/mogo-map-api/src/main/java/com/mogo/map/overlay/core/Level.kt @@ -18,7 +18,7 @@ enum class Level(val zIndex: Int) { /** * 全局轨迹线 */ - TRAJECTORY_LINE(74000), + TRAJECTORY_LINE(65000), /** * 前车引导线 From 75d18a6ea7ecc028e990216a429b85f3f39c3c6a Mon Sep 17 00:00:00 2001 From: xinfengkun Date: Thu, 13 Jun 2024 19:13:26 +0800 Subject: [PATCH 20/43] =?UTF-8?q?[650][adas]=20=E5=90=8C=E6=AD=A5=E5=9F=9F?= =?UTF-8?q?=E6=8E=A7=E6=9B=B4=E6=96=B0=E5=90=AF=E5=8A=A8=E8=87=AA=E9=A9=BE?= =?UTF-8?q?=E5=A4=B1=E8=B4=A5=E4=BA=8B=E4=BB=B6=EF=BC=9B=E7=9B=91=E6=8E=A7?= =?UTF-8?q?=E4=BA=8B=E4=BB=B6Code=20=E5=90=8C=E6=AD=A5=E6=9B=B4=E6=96=B0?= =?UTF-8?q?=E8=AF=8A=E6=96=AD=E4=BA=8B=E4=BB=B6=E5=AE=9A=E4=B9=89=E8=A1=A8?= =?UTF-8?q?=20=E7=AC=AC143=E7=89=88=EF=BC=9B?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- .../com/zhjt/mogo/adas/data/bean/MogoReport.java | 15 ++++++++++++++- .../support/adas/high/msg/ReportMessage.java | 5 +++++ 2 files changed, 19 insertions(+), 1 deletion(-) diff --git a/libraries/mogo-adas-data/src/main/java/com/zhjt/mogo/adas/data/bean/MogoReport.java b/libraries/mogo-adas-data/src/main/java/com/zhjt/mogo/adas/data/bean/MogoReport.java index 7ce0bae69e..91e01db97e 100644 --- a/libraries/mogo-adas-data/src/main/java/com/zhjt/mogo/adas/data/bean/MogoReport.java +++ b/libraries/mogo-adas-data/src/main/java/com/zhjt/mogo/adas/data/bean/MogoReport.java @@ -7,7 +7,8 @@ import java.util.Map; /** * 监控事件报告中定义的事件以及解释 - * 根据MAP4.2.0事件定义编写 最后修改于2024-04-07 + * 根据诊断事件定义表 第143版 编写 最后修改于2024-06-13 + * 由于 MAP420及以后版本 诊断事件定义表 中不会标记 新增版本以及弃用版本，所以将不再使用 @ReportState进行版本注解 */ public class MogoReport { public interface Result { @@ -341,6 +342,8 @@ public class MogoReport { @ReportState("4.2.0") String HOST_MEMORY_EXCEED = "EMAP_HOST_MEMORY_EXCEED";//系统内存占用过高 + String ENTRY_AUTOPILOT_FOR_GEAR_NOT_READY = "EMAP_ENTRY_AUTOPILOT_FOR_GEAR_NOT_READY";//档位不正确未进自驾 + } /** @@ -583,6 +586,14 @@ public class MogoReport { @ReportState("4.1.0") String RADAR_CHECK_FAILED = "ECLB_RADAR_CHECK_FAILED";//radar标定自检算法失败，无法判定外参是否正常，建议重试 } + + /** + * EFSM(功能状态管理) + */ + interface EFSM { + @ReportState("4.4.0") + String ENTRY_AUTOPILOT = "EFSM_ENTRY_AUTOPILOT";//FSM因为某些原因未进自驾 + } } /** @@ -973,6 +984,8 @@ public class MogoReport { String REMOTE_PILOT_STATE_CHANGED = "IFSM_REMOTE_PILOT_STATE_CHANGED";//平行驾驶状态机变化 @ReportState("3.5.0") String TELECTRL_PILOT_STATE_CHANGED = "IFSM_TELECTRL_PILOT_STATE_CHANGED";//遥感驾驶状态机变化 + @ReportState("4.4.0") + String RECEIVE_AP_REQUEST = "IFSM_RECEIVE_AP_REQUEST";//FSM收到自驾或平行驾驶或手动驾驶请求信号 } /** diff --git a/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/msg/ReportMessage.java b/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/msg/ReportMessage.java index 4c62c50bb4..614c0854a6 100644 --- a/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/msg/ReportMessage.java +++ b/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/msg/ReportMessage.java @@ -61,6 +61,11 @@ public class ReportMessage extends MyAbstractMessageHandler { startAutopilotFailCode.add(MogoReport.Code.Error.EMAP.ENTRY_AUTOPILOT_FOR_CHASSIS_FAULT);//控制判断底盘异常，需要重启车辆 //不知道确切的失败原因，需要联系控制进一步排查 startAutopilotFailCode.add(MogoReport.Code.Error.EMAP.ENTRY_AUTOPILOT_FOR_UNKNOWN);//不知道确切的失败原因，需要联系控制进一步排查 + + + startAutopilotFailCode.add(MogoReport.Code.Error.ESYS.ROUTING_RESPONSE_FAIL);//算路异常，拒绝自动驾驶 + startAutopilotFailCode.add(MogoReport.Code.Error.ESYS.TRAJECTORY_AGENT_NOT_READY);//轨迹下载客户端未就绪拒绝轨迹下载请求 + startAutopilotFailCode.add(MogoReport.Code.Error.EFSM.ENTRY_AUTOPILOT);//FSM因为某些原因未进自驾 } @Override From 39f6f085fc9ac3f76b00bbaad4df2a7429daa0a3 Mon Sep 17 00:00:00 2001 From: xinfengkun Date: Fri, 14 Jun 2024 15:15:40 +0800 Subject: [PATCH 21/43] =?UTF-8?q?[650][adas]=20=E6=96=B0=E5=A2=9EFSM2024?= =?UTF-8?q?=E6=8E=A5=E5=8F=A3;=E6=96=B0=E5=A2=9EFSM2024=E8=B6=85=E6=97=B6?= =?UTF-8?q?=E6=8E=A5=E5=8F=A3=EF=BC=8CFSM=E6=95=B0=E6=8D=AE=E6=8E=A5?= =?UTF-8?q?=E5=85=A5=E6=96=B0=E5=A2=9E=E6=A3=80=E6=B5=8B=E8=83=BD=E5=90=A6?= =?UTF-8?q?=E5=90=AF=E5=8A=A8=E8=87=AA=E9=A9=BE440=E5=85=BC=E5=AE=B9?= =?UTF-8?q?=E7=89=88=E6=9C=AC=EF=BC=9B?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- .../autopilot/adapter/MoGoAdasListenerImpl.kt | 27 ++++++ .../autopilot/IMoGoAutopilotStatusListener.kt | 8 ++ .../api/autopilot/IMoGoFsm2024Listener.kt | 18 ++++ .../CallerAutoPilotStatusListenerManager.kt | 13 +++ .../autopilot/CallerFsm2024ListenerManager.kt | 24 +++++ .../zhjt/mogo/adas/common/MessageType.java | 1 + .../adas/data/bean/LaunchConditionData.java | 40 +++++++-- .../adas/data/bean/UnableLaunchReason.java | 5 +- .../src/main/proto/fsm2024.proto | 53 +++++++++++ .../src/main/proto/message_pad.proto | 4 + .../support/adas/high/OnAdasListener.java | 17 ++++ .../ability/AutopilotAbility440.java | 62 +++++++++++++ .../ability/AutopilotAbilityManager.java | 89 +++++++++++++++---- .../adas/high/msg/FSM2024StateMessage.java | 33 +++++++ .../adas/high/msg/MyMessageFactory.java | 7 ++ 15 files changed, 377 insertions(+), 24 deletions(-) create mode 100644 core/mogo-core-function-api/src/main/java/com/mogo/eagle/core/function/api/autopilot/IMoGoFsm2024Listener.kt create mode 100644 core/mogo-core-function-call/src/main/java/com/mogo/eagle/core/function/call/autopilot/CallerFsm2024ListenerManager.kt create mode 100644 libraries/mogo-adas-data/src/main/proto/fsm2024.proto create mode 100644 libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/common/autopilot/ability/AutopilotAbility440.java create mode 100644 libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/msg/FSM2024StateMessage.java diff --git a/core/function-impl/mogo-core-function-datacenter/src/main/java/com/mogo/eagle/core/function/datacenter/autopilot/adapter/MoGoAdasListenerImpl.kt b/core/function-impl/mogo-core-function-datacenter/src/main/java/com/mogo/eagle/core/function/datacenter/autopilot/adapter/MoGoAdasListenerImpl.kt index c165e1244d..7df0e654c3 100644 --- a/core/function-impl/mogo-core-function-datacenter/src/main/java/com/mogo/eagle/core/function/datacenter/autopilot/adapter/MoGoAdasListenerImpl.kt +++ b/core/function-impl/mogo-core-function-datacenter/src/main/java/com/mogo/eagle/core/function/datacenter/autopilot/adapter/MoGoAdasListenerImpl.kt @@ -74,6 +74,7 @@ import com.zhjt.mogo.adas.data.sweeper.task.status.SweeperTaskStatus import com.zhjt.mogo.adas.data.sweeper.task.stop.SweeperTaskStop import com.zhjt.service.chain.ChainLog import fault_management.FmInfo +import fsm.Fsm2024 import function_state_management.FunctionStates import mogo.telematics.pad.MessagePad import mogo.telematics.pad.MessagePad.TrackedObject @@ -491,6 +492,16 @@ class MoGoAdasListenerImpl : OnAdasListener { CallerFaultManagementStateListenerManager.invokeFaultManagementState(fmInfo) } + /** + * FSM状态 + * 目前在启动自驾前置条件检测440版本中使用 + * @param header 头 + * @param fsmState 数据 + */ + override fun onFSM2024State(header: MessagePad.Header, fsmState: Fsm2024.FSMStateMsg) { + CallerFsm2024ListenerManager.invokeFSM2024State(fsmState) + } + /** * 数据采集配置应答 */ @@ -938,10 +949,26 @@ class MoGoAdasListenerImpl : OnAdasListener { CallerRoboBusJinlvM1StitchedVideoListenerManager.invokeRoboBusJinlvM1StitchedVideo(data) } + /** + * 域控SSM接口接收超时 + * 状态变动时才会回调，默认SSM状态正常 + * + * @param isTimeout true：SSM接口接收超时 false：SSM接口恢复正常 + */ override fun onSsmReceiveTimeout(isTimeout: Boolean) { CallerAutoPilotStatusListenerManager.invokeSsmReceiveTimeout(isTimeout) } + /** + * 域控FSM接口接收超时 + * 状态变动时才会回调，默认FSM状态正常 前提是存在FSM接口 + * + * @param isTimeout true：FSM接口接收超时 false：FSM接口恢复正常 + */ + override fun onFsm2024ReceiveTimeout(isTimeout: Boolean) { + CallerAutoPilotStatusListenerManager.invokeFsmReceiveTimeout(isTimeout) + } + /** * 是否可以启动自动驾驶 * 使用方法查看：app_ipc_monitoring/uiMainActivity/onAutopilotAbility diff --git a/core/mogo-core-function-api/src/main/java/com/mogo/eagle/core/function/api/autopilot/IMoGoAutopilotStatusListener.kt b/core/mogo-core-function-api/src/main/java/com/mogo/eagle/core/function/api/autopilot/IMoGoAutopilotStatusListener.kt index e8cba74ab1..b51a0ad17e 100644 --- a/core/mogo-core-function-api/src/main/java/com/mogo/eagle/core/function/api/autopilot/IMoGoAutopilotStatusListener.kt +++ b/core/mogo-core-function-api/src/main/java/com/mogo/eagle/core/function/api/autopilot/IMoGoAutopilotStatusListener.kt @@ -56,6 +56,14 @@ interface IMoGoAutopilotStatusListener { */ fun onSsmReceiveTimeout(isTimeout: Boolean) {} + /** + * 域控FSM接口接收超时 + * 状态变动时才会回调，默认FSM状态正常 前提是存在FSM接口 + * + * @param isTimeout true：FSM接口接收超时 false：FSM接口恢复正常 + */ + fun onFsmReceiveTimeout(isTimeout: Boolean) {} + /** * 工控机主动查询 AdasManager#sendStatusQueryReq()，后会收到如下回调 */ diff --git a/core/mogo-core-function-api/src/main/java/com/mogo/eagle/core/function/api/autopilot/IMoGoFsm2024Listener.kt b/core/mogo-core-function-api/src/main/java/com/mogo/eagle/core/function/api/autopilot/IMoGoFsm2024Listener.kt new file mode 100644 index 0000000000..3da37890b7 --- /dev/null +++ b/core/mogo-core-function-api/src/main/java/com/mogo/eagle/core/function/api/autopilot/IMoGoFsm2024Listener.kt @@ -0,0 +1,18 @@ +package com.mogo.eagle.core.function.api.autopilot + +import fsm.Fsm2024 + +/** + * 新版FSM状态 + */ +interface IMoGoFsm2024Listener { + + /** + * FSM状态 + * 目前在启动自驾前置条件检测440版本中使用 + * @param header 头 + * @param fsmState 数据 + */ + fun onFSM2024State(fsmState: Fsm2024.FSMStateMsg) + +} \ No newline at end of file diff --git a/core/mogo-core-function-call/src/main/java/com/mogo/eagle/core/function/call/autopilot/CallerAutoPilotStatusListenerManager.kt b/core/mogo-core-function-call/src/main/java/com/mogo/eagle/core/function/call/autopilot/CallerAutoPilotStatusListenerManager.kt index 95df93ec34..d2bf8ec4f0 100644 --- a/core/mogo-core-function-call/src/main/java/com/mogo/eagle/core/function/call/autopilot/CallerAutoPilotStatusListenerManager.kt +++ b/core/mogo-core-function-call/src/main/java/com/mogo/eagle/core/function/call/autopilot/CallerAutoPilotStatusListenerManager.kt @@ -236,6 +236,19 @@ object CallerAutoPilotStatusListenerManager : CallerBase() { + + /** + * 绿波通行（单路口）事件推送, 透传 + */ + fun invokeFSM2024State(fsmState: Fsm2024.FSMStateMsg) { + M_LISTENERS.forEach { + val listener = it.value + listener.onFSM2024State(fsmState) + } + } + + +} \ No newline at end of file diff --git a/libraries/mogo-adas-data/src/main/java/com/zhjt/mogo/adas/common/MessageType.java b/libraries/mogo-adas-data/src/main/java/com/zhjt/mogo/adas/common/MessageType.java index f51b9037b6..90bda6b466 100644 --- a/libraries/mogo-adas-data/src/main/java/com/zhjt/mogo/adas/common/MessageType.java +++ b/libraries/mogo-adas-data/src/main/java/com/zhjt/mogo/adas/common/MessageType.java @@ -30,6 +30,7 @@ public enum MessageType { TYPE_RECEIVE_M1_STITCHED_VIDEO(MessagePad.MessageType.MsgTypeM1StitchedVideo, "M1拼接视频"), TYPE_RECEIVE_SSM(MessagePad.MessageType.MsgTypeSSMState, "SSM系统状态"), TYPE_RECEIVE_FM_STATE(MessagePad.MessageType.MsgTypeFMState, "FM状态"), + TYPE_RECEIVE_FSM2024_STATE(MessagePad.MessageType.MsgTypeFSM2024State, "FSM状态"), TYPE_RECEIVE_BASIC_INFO_REQ(MessagePad.MessageType.MsgTypeBasicInfoReq, "自动驾驶设备基础信息请求"), TYPE_SEND_BASIC_INFO_RESP(MessagePad.MessageType.MsgTypeBasicInfoResp, "自动驾驶设备基础信息应答"), diff --git a/libraries/mogo-adas-data/src/main/java/com/zhjt/mogo/adas/data/bean/LaunchConditionData.java b/libraries/mogo-adas-data/src/main/java/com/zhjt/mogo/adas/data/bean/LaunchConditionData.java index e906c4f36b..5cb6b0df08 100644 --- a/libraries/mogo-adas-data/src/main/java/com/zhjt/mogo/adas/data/bean/LaunchConditionData.java +++ b/libraries/mogo-adas-data/src/main/java/com/zhjt/mogo/adas/data/bean/LaunchConditionData.java @@ -11,6 +11,7 @@ import org.json.JSONObject; import chassis.Chassis; import chassis.ChassisStatesOuterClass; +import fsm.Fsm2024; import function_state_management.FSMStatusReasonQueryOuterClass; import system_master.SsmInfo; import system_master.SystemStatusInfo; @@ -45,14 +46,19 @@ public class LaunchConditionData { */ public final SsmInfo.SsmStatusInf ssmInfo; public final FSMStatusReasonQueryOuterClass.FSMStatusReasonRespond fsmStatusReasonRespond;//FSM数据 + public final Fsm2024.FSMStateMsg fsmState;//FSM数据 public final long createTime; + public LaunchConditionData(String abilityVersion, Fsm2024.FSMStateMsg fsmState) { + this(abilityVersion, null, Float.MAX_VALUE, null, null, null, null, fsmState); + } + public LaunchConditionData(String abilityVersion, SystemStatusInfo.StatusInfo statusInfo, SsmInfo.SsmStatusInf ssmInfo, FSMStatusReasonQueryOuterClass.FSMStatusReasonRespond fsmStatusReasonRespond) { - this(abilityVersion, null, Float.MAX_VALUE, null, statusInfo, ssmInfo, fsmStatusReasonRespond); + this(abilityVersion, null, Float.MAX_VALUE, null, statusInfo, ssmInfo, fsmStatusReasonRespond, null); } public LaunchConditionData(String abilityVersion, @@ -62,6 +68,17 @@ public class LaunchConditionData { SystemStatusInfo.StatusInfo statusInfo, SsmInfo.SsmStatusInf ssmInfo, FSMStatusReasonQueryOuterClass.FSMStatusReasonRespond fsmStatusReasonRespond) { + this(abilityVersion, chassisStates, oldSteering, light, statusInfo, ssmInfo, fsmStatusReasonRespond, null); + } + + public LaunchConditionData(String abilityVersion, + ChassisStatesOuterClass.ChassisStates chassisStates, + float oldSteering, + Chassis.LightSwitch light, + SystemStatusInfo.StatusInfo statusInfo, + SsmInfo.SsmStatusInf ssmInfo, + FSMStatusReasonQueryOuterClass.FSMStatusReasonRespond fsmStatusReasonRespond, + Fsm2024.FSMStateMsg fsmState) { this.abilityVersion = abilityVersion; this.chassisStates = chassisStates; this.oldSteering = oldSteering; @@ -69,6 +86,7 @@ public class LaunchConditionData { this.statusInfo = statusInfo; this.ssmInfo = ssmInfo; this.fsmStatusReasonRespond = fsmStatusReasonRespond; + this.fsmState = fsmState; createTime = System.currentTimeMillis(); } @@ -78,9 +96,10 @@ public class LaunchConditionData { jsonObject.put("ability_version", abilityVersion); jsonObject.put("create_object_time", createTime); JSONArray array = new JSONArray(); - JSONObject chassisStatesObject = new JSONObject(); - chassisStatesObject.put("name", "ChassisStates"); + JSONObject chassisStatesObject = null; if (chassisStates != null) { + chassisStatesObject = new JSONObject(); + chassisStatesObject.put("name", "ChassisStates"); if (chassisStates.hasHeader()) { chassisStatesObject.put("data_header", TextFormat.printer().escapingNonAscii(false).printToString(chassisStates.getHeader())); } @@ -120,18 +139,27 @@ public class LaunchConditionData { } //车灯 if (light != null) { + if (chassisStatesObject == null) { + chassisStatesObject = new JSONObject(); + chassisStatesObject.put("name", "ChassisStates"); + } chassisStatesObject.put("light", light.name()); } - array.put(chassisStatesObject); + if (chassisStatesObject != null) { + array.put(chassisStatesObject); + } if (statusInfo != null) { - arrayPut(array, statusInfo.getClass().getName(), statusInfo.getAutoPilotReady(), statusInfo.getAutoPilotUnreadyReason()); + arrayPut(array, statusInfo); } if (ssmInfo != null) { - arrayPut(array, ssmInfo.getClass().getName(), ssmInfo.getAutoPilotReady(), ssmInfo.getAutoPilotUnreadyReason()); + arrayPut(array, ssmInfo); } if (fsmStatusReasonRespond != null) { arrayPut(array, fsmStatusReasonRespond); } + if (fsmState != null) { + arrayPut(array, fsmState); + } if (array.length() > 0) { jsonObject.put("data", array); } diff --git a/libraries/mogo-adas-data/src/main/java/com/zhjt/mogo/adas/data/bean/UnableLaunchReason.java b/libraries/mogo-adas-data/src/main/java/com/zhjt/mogo/adas/data/bean/UnableLaunchReason.java index e0b11d41ed..f966ea314e 100644 --- a/libraries/mogo-adas-data/src/main/java/com/zhjt/mogo/adas/data/bean/UnableLaunchReason.java +++ b/libraries/mogo-adas-data/src/main/java/com/zhjt/mogo/adas/data/bean/UnableLaunchReason.java @@ -14,6 +14,7 @@ public class UnableLaunchReason { CHASSIS,//底盤 SSM, FSM, + FSM2024, } /** @@ -31,7 +32,9 @@ public class UnableLaunchReason { CHASSIS_HAZARD_LIGHTS,//危险报警灯 SSM_OFFER,//SSM提供的原因 FSM_OFFER,//FSM提供的原因 - SSM_TIMEOUT//SSM超时 + FSM2024_OFFER,//FSM2024提供的原因 + SSM_TIMEOUT,//SSM超时 + FSM2024_TIMEOUT//FSM2024超时 } /** diff --git a/libraries/mogo-adas-data/src/main/proto/fsm2024.proto b/libraries/mogo-adas-data/src/main/proto/fsm2024.proto new file mode 100644 index 0000000000..ec22d1cc38 --- /dev/null +++ b/libraries/mogo-adas-data/src/main/proto/fsm2024.proto @@ -0,0 +1,53 @@ +syntax = "proto2"; +package fsm; + +import "header.proto"; + +enum State { + OFF = 0; + STANDBY = 1; //Standby 未来会弃用, 并入OFF + ACTIVATING = 2; + PILOT_DRIVING_ACTIVE = 3; //未来会被弃用，所有激活状态统一在Active状态下作为子状态管理 + PARALLEL_DRIVING_ACTIVE = 4; //未来会被弃用，所有激活状态统一在Active状态下作为子状态管理 + SAFETY_STOP = 5; + ACTIVE = 6; +} + +enum SafetyStopMode { + NOT_NEEDED = 0; + PLANNER_STOP = 1; + CONTROLLER_COMFORT_STOP = 2; + CONTROLLER_EMERGENCY_STOP = 3; +} + +enum ActiveMode { + NOT_ACTIVE= 0; + PILOT_ACTIVE= 1; + PARALLEL_ACTIVE= 2; + SIMULATOR_ACTIVE= 3; //模拟器驾驶， M1上专用 +} + +message FSMStateMsg { + required common.Header header = 1; + required State function_state = 2; + required SafetyStopMode fsm_safety_stop_mode = 4; //FSM如果进入safety stop，是planning 进行停车，还是control进行舒适停车，还是control进行紧急停车 + + required ActiveMode active_mode = 6; + + required bool new_msg_flag = 10; + + required bool pilot_standby_flag = 11; + required bool parallel_standby_flag = 12; + required bool simulator_standby_flag = 13; + + optional string pilot_not_standby_reason= 21; //FSM 无法自驾无法就绪的原因。 + optional string parallel_not_standby_reason= 22; //FSM 无法平行即使就绪原因 + optional string simulator_not_standby_reason= 23; //FSM 无法模拟器驾驶原因 + + optional uint64 fail_to_pilot_session_id= 36; + optional uint64 fail_to_parallel_session_id= 37; + optional uint64 fail_to_simulator_session_id= 38; + + optional string abnormal_state_trans_reason= 41; //FSM 异常退出ACTIVATING/自驾/平行驾驶/模拟器驾驶原因 （包括接管） + +} \ No newline at end of file diff --git a/libraries/mogo-adas-data/src/main/proto/message_pad.proto b/libraries/mogo-adas-data/src/main/proto/message_pad.proto index c6db5a9b33..f19766f18f 100644 --- a/libraries/mogo-adas-data/src/main/proto/message_pad.proto +++ b/libraries/mogo-adas-data/src/main/proto/message_pad.proto @@ -35,6 +35,7 @@ enum MessageType MsgTypeM1StitchedVideo = 0x1000e; //m1拼接视频 定频10hz MsgTypeSSMState = 0x1000f; //ssm 系统状态 定频1hz hq m1 MAP350开始支持，其他车型MAP360开始支持 MsgTypeFMState = 0x10010; //FM状态 定频1hz bus和清扫车是MAP370开始支持，其他车型MAP360开始支持 + MsgTypeFSM2024State = 0x10011; //20240531 FSM状态 定频10hz （telematics做状态变化判断，无变化10hz上报，有变化立即上报） BUS MAP440开始支持，其他车型暂未支持 //### 以下消息全部不定频 ### MsgTypeBasicInfoReq = 0x10100; //自动驾驶设备基础信息请求 @@ -755,3 +756,6 @@ message SessionInfo //message definition for MsgTypeFMState //refer to fm_info.proto for details + +//message definition for MsgTypeFSM2024State +//refer to fsm2024.proto diff --git a/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/OnAdasListener.java b/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/OnAdasListener.java index 90afedde94..0503a47d30 100644 --- a/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/OnAdasListener.java +++ b/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/OnAdasListener.java @@ -30,6 +30,7 @@ import chassis.Chassis; import chassis.ChassisStatesOuterClass; import chassis.VehicleStateOuterClass; import fault_management.FmInfo; +import fsm.Fsm2024; import function_state_management.FunctionStates; import mogo.telematics.pad.MessagePad; import mogo.v2x.MogoV2X; @@ -237,6 +238,14 @@ public interface OnAdasListener { */ void onFaultManagementState(MessagePad.Header header, @NonNull FmInfo.FaultResultMsg fmInfo); + /** + * FSM状态 + * + * @param header 头 + * @param fsmState 数据 + */ + void onFSM2024State(@NonNull MessagePad.Header header, @NonNull Fsm2024.FSMStateMsg fsmState); + /** * 数据采集配置应答 * @@ -488,6 +497,14 @@ public interface OnAdasListener { */ void onSsmReceiveTimeout(boolean isTimeout); + /** + * 域控FSM接口接收超时 + * 状态变动时才会回调，默认FSM状态正常 前提是存在FSM接口 + * + * @param isTimeout true：FSM接口接收超时 false：FSM接口恢复正常 + */ + void onFsm2024ReceiveTimeout(boolean isTimeout); + /** * 是否有能力启动自动驾驶 * diff --git a/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/common/autopilot/ability/AutopilotAbility440.java b/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/common/autopilot/ability/AutopilotAbility440.java new file mode 100644 index 0000000000..b3de145659 --- /dev/null +++ b/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/common/autopilot/ability/AutopilotAbility440.java @@ -0,0 +1,62 @@ +package com.zhidao.support.adas.high.common.autopilot.ability; + +import androidx.annotation.NonNull; + +import com.zhjt.mogo.adas.data.bean.LaunchConditionData; +import com.zhjt.mogo.adas.data.bean.UnableLaunchReason; + +import java.util.ArrayList; + +import fsm.Fsm2024; + +/** + * 是否可以启动自动驾驶能力检测 工控机版本>=4400&&(isJinlv||isJinlvM1||isJinlvM) 使用此类 + * 目前监控了FSM2024状态 + */ +public class AutopilotAbility440 { + private final String TAG = this.getClass().getSimpleName(); + + @NonNull + private final AutopilotAbilityManager manager; + private OnAutopilotAbilityListener listener; + + + public AutopilotAbility440(@NonNull AutopilotAbilityManager manager) { + this.manager = manager; + } + + + public void setFSMState(Fsm2024.FSMStateMsg fsmState) { + onCallbackFsm(fsmState); + } + + protected void onCallFsmTimeout() { + onCallbackFsm(null); + } + + protected void onCallbackFsm(Fsm2024.FSMStateMsg fsmState) { + ArrayList unableAutopilotReasons = null;//不能启动自动驾驶原因 + if (fsmState == null) { + unableAutopilotReasons = manager.addUnableAutopilotReason(unableAutopilotReasons, UnableLaunchReason.SourceType.LIB, UnableLaunchReason.UnableType.FSM2024_TIMEOUT, "FSM超时无响应"); + } else { + if (!fsmState.getPilotStandbyFlag()) { + unableAutopilotReasons = manager.addUnableAutopilotReason(unableAutopilotReasons, UnableLaunchReason.SourceType.FSM2024, UnableLaunchReason.UnableType.FSM2024_OFFER, fsmState.getPilotNotStandbyReason()); + } + } + if (listener != null) { + boolean isAutopilotAbility = unableAutopilotReasons == null || unableAutopilotReasons.isEmpty();//是否能启动自动驾驶 + listener.onAutopilotAbility(isAutopilotAbility, new LaunchConditionData(this.getClass().getSimpleName(), fsmState), unableAutopilotReasons); + } + } + + + public synchronized void start(OnAutopilotAbilityListener listener) { + this.listener = listener; + + } + + public synchronized void stop() { + this.listener = null; + } + +} diff --git a/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/common/autopilot/ability/AutopilotAbilityManager.java b/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/common/autopilot/ability/AutopilotAbilityManager.java index cf32f031a1..8cf5651d40 100644 --- a/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/common/autopilot/ability/AutopilotAbilityManager.java +++ b/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/common/autopilot/ability/AutopilotAbilityManager.java @@ -18,6 +18,7 @@ import java.util.concurrent.atomic.AtomicBoolean; import chassis.Chassis; import chassis.ChassisStatesOuterClass; +import fsm.Fsm2024; import function_state_management.FSMStatusReasonQueryOuterClass; import mogo.telematics.pad.MessagePad; import system_master.SsmInfo; @@ -32,7 +33,7 @@ import system_master.SystemStatusInfo; */ public class AutopilotAbilityManager implements OnAutopilotAbilityListener { private static final String TAG = AutopilotAbilityManager.class.getSimpleName(); - protected static final long DEFAULT_SSM_TIMEOUT = 5000L;//SSM超时时间 + protected static final long DEFAULT_TIMEOUT = 5000L;//SSM和FSM超时时间 protected static final long DEFAULT_DETECTION_TIME = 3 * 1000L;//默认检测周期 protected static final String[] NODE_INFO_STATE = {"未知状态", "依赖未就绪", "启动中", "运行", "停止", "无法启动状态", "人为启动状态", "人为关闭状态"}; protected static final String[] NODE_INFO_STATE_FIXED_FREQUENCY = {"未知状态", "依赖未就绪", "启动中", "运行", "停止", "无法启动状态", "非自动启动状态", "非自动关闭状态"}; @@ -41,24 +42,29 @@ public class AutopilotAbilityManager implements OnAutopilotAbilityListener { private OnAdasListener listener; private int mapVersion = -1;//工控机版本 private boolean isFutianSweeper = false;//是否是福田清扫车 + private boolean isJinlv = false;//是否是小巴 private boolean isJinlvM1 = false;//是否是M1 + private boolean isJinlvM2 = false;//是否是M2 private boolean isHQ = false;//是否是HQ private AutopilotAbility230 autopilotAbility230; private AutopilotAbility250 autopilotAbility250; private AutopilotAbility330 autopilotAbility330; private AutopilotAbility350And360 autopilotAbility350And360; private AutopilotAbility360 autopilotAbility360; + private AutopilotAbility440 autopilotAbility440; private Timer startTimer; - private Timer ssmTimeoutTimer;//SSM超时计时器 + private Timer timeoutTimer;//SSM和FSM超时计时器 private long ssmReceiveTime;//SSM接收时间 + private long fsmReceiveTime;//FSM接收时间 private final AtomicBoolean isOldSsmTimeout = new AtomicBoolean(false);//SSM是否超时 老状态 + private final AtomicBoolean isOldFsmTimeout = new AtomicBoolean(false);//FSM是否超时 老状态 private final AtomicBoolean isInitCarConfig = new AtomicBoolean(false);//车辆信息是否初始化 /** * 能启动自动驾驶的档位 */ private Set launchAutopilotGear; - + private boolean isSupportFSM2024 = false; private AutopilotAbilityManager() { } @@ -109,7 +115,9 @@ public class AutopilotAbilityManager implements OnAutopilotAbilityListener { isInitCarConfig.set(true); mapVersion = version; isFutianSweeper = carConfig.getIsFutianSweeper(); + isJinlv = carConfig.getIsJinlv(); isJinlvM1 = carConfig.getIsJinlvM1(); + isJinlvM2 = carConfig.getIsJinlvM2(); isHQ = carConfig.getIsHQ(); initAutopilotAbility(); if (autopilotAbility230 != null) { @@ -165,6 +173,14 @@ public class AutopilotAbilityManager implements OnAutopilotAbilityListener { } } + public void setFSM2024State(Fsm2024.FSMStateMsg fsmState) { + fsmReceiveTime = System.currentTimeMillis(); + onCallFSMTimeout(false); + if (autopilotAbility440 != null) { + autopilotAbility440.setFSMState(fsmState); + } + } + /** * 底盘状态更新 * @@ -197,13 +213,20 @@ public class AutopilotAbilityManager implements OnAutopilotAbilityListener { private void initAutopilotAbility() { stopAllTimer(); - if (mapVersion >= 30600 && isFutianSweeper) { + isSupportFSM2024 = false; + if (mapVersion >= 40400 && (isJinlv || isJinlvM1 || isJinlvM2)) { + isSupportFSM2024 = true; + CupidLogUtils.log(TAG, "能否启动自驾能力检测使用版本：440"); + if (autopilotAbility440 == null) { + autopilotAbility440 = new AutopilotAbility440(this); + autopilotAbility440.start(this); + } + } else if (mapVersion >= 30600 && isFutianSweeper) { CupidLogUtils.log(TAG, "能否启动自驾能力检测使用版本：360清扫车专用"); if (autopilotAbility360 == null) { autopilotAbility360 = new AutopilotAbility360(this); autopilotAbility360.start(this); } - } else if ((mapVersion >= 30500 && (isJinlvM1 || isHQ)) || mapVersion >= 30600) { CupidLogUtils.log(TAG, "能否启动自驾能力检测使用版本：350和360共用"); if (autopilotAbility350And360 == null) { @@ -231,7 +254,7 @@ public class AutopilotAbilityManager implements OnAutopilotAbilityListener { } } if (autopilotAbility230 == null) { - startSsmTimeoutTimer();//MAP230及以下没有SSM所以不需要超时 + startTimeoutTimer();//MAP230及以下没有SSM和FSM所以不需要超时 } } @@ -270,6 +293,13 @@ public class AutopilotAbilityManager implements OnAutopilotAbilityListener { } } + private void stop440() { + if (autopilotAbility440 != null) { + autopilotAbility440.stop(); + autopilotAbility440 = null; + } + } + private void stopTimer() { if (startTimer != null) { startTimer.cancel(); @@ -298,12 +328,14 @@ public class AutopilotAbilityManager implements OnAutopilotAbilityListener { } - private void stopSsmTimeoutTimer() { - if (ssmTimeoutTimer != null) { + private void stopTimeoutTimer() { + if (timeoutTimer != null) { isOldSsmTimeout.set(false); + isOldFsmTimeout.set(false); ssmReceiveTime = 0; - ssmTimeoutTimer.cancel(); - ssmTimeoutTimer = null; + fsmReceiveTime = 0; + timeoutTimer.cancel(); + timeoutTimer = null; } } @@ -311,15 +343,17 @@ public class AutopilotAbilityManager implements OnAutopilotAbilityListener { * 连接工控机成功调用此函数，如果dockerVersion还未获取到将启动最低版本的启动自动驾驶能力检测 * 此函数为保险措施 以防无法获取工控机版本时 也能 正常执行逻辑 */ - public synchronized void startSsmTimeoutTimer() { - if (ssmTimeoutTimer == null) { + public synchronized void startTimeoutTimer() { + if (timeoutTimer == null) { ssmReceiveTime = System.currentTimeMillis(); - ssmTimeoutTimer = new Timer(); - ssmTimeoutTimer.schedule(new TimerTask() { + fsmReceiveTime = System.currentTimeMillis(); + timeoutTimer = new Timer(); + timeoutTimer.schedule(new TimerTask() { @Override public void run() { + //SSM超时检测 long timeDifference = System.currentTimeMillis() - ssmReceiveTime; - if (timeDifference >= DEFAULT_SSM_TIMEOUT) { + if (timeDifference >= DEFAULT_TIMEOUT) { onCallSSMTimeout(true); //超时 if (autopilotAbility250 != null) { @@ -335,8 +369,18 @@ public class AutopilotAbilityManager implements OnAutopilotAbilityListener { autopilotAbility360.onCallTimeout(); } } + //FSM超时检测 + if (isSupportFSM2024) { + timeDifference = System.currentTimeMillis() - fsmReceiveTime; + if (timeDifference >= DEFAULT_TIMEOUT) { + onCallFSMTimeout(true); + if (autopilotAbility440 != null) { + autopilotAbility440.onCallFsmTimeout(); + } + } + } } - }, 1000L, DEFAULT_SSM_TIMEOUT); + }, 1000L, DEFAULT_TIMEOUT); } } @@ -347,14 +391,22 @@ public class AutopilotAbilityManager implements OnAutopilotAbilityListener { } } + private synchronized void onCallFSMTimeout(boolean isTimeout) { + if (isTimeout != isOldFsmTimeout.get()) { + isOldFsmTimeout.set(isTimeout); + listener.onFsm2024ReceiveTimeout(isTimeout); + } + } + private void stopAllTimer() { - stopSsmTimeoutTimer(); + stopTimeoutTimer(); stopTimer(); stop230(); stop250(); stop330(); stop350And360(); stop360(); + stop440(); } public synchronized void stop() { @@ -363,7 +415,10 @@ public class AutopilotAbilityManager implements OnAutopilotAbilityListener { mapVersion = -1; isFutianSweeper = false; isHQ = false; + isJinlv = false; isJinlvM1 = false; + isJinlvM2 = false; + isSupportFSM2024 = false; } } diff --git a/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/msg/FSM2024StateMessage.java b/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/msg/FSM2024StateMessage.java new file mode 100644 index 0000000000..82821b0bfb --- /dev/null +++ b/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/msg/FSM2024StateMessage.java @@ -0,0 +1,33 @@ +package com.zhidao.support.adas.high.msg; + +import android.os.SystemClock; + +import com.google.protobuf.InvalidProtocolBufferException; +import com.zhidao.support.adas.high.AdasChannel; +import com.zhidao.support.adas.high.OnAdasListener; +import com.zhidao.support.adas.high.common.CupidLogUtils; +import com.zhidao.support.adas.high.common.autopilot.ability.AutopilotAbilityManager; +import com.zhidao.support.adas.high.protocol.RawData; + +import fsm.Fsm2024; + +/** + * FSM状态 + */ +public class FSM2024StateMessage extends MyAbstractMessageHandler { + + @Override + public void handlerMsg(RawData raw, OnAdasListener adasListener) throws InvalidProtocolBufferException { + Fsm2024.FSMStateMsg fsmState = Fsm2024.FSMStateMsg.parser().parseFrom(raw.originalData.toByteArray(), raw.getOffsetValue(), raw.getPackageLengthValue() - raw.getOffsetValue()); + AdasChannel.calculateTimeConsumingOnDispatchRaw("FSM状态", raw.receiveTime); + AutopilotAbilityManager.getInstance().setFSM2024State(fsmState); + long nowTime = 0; + if (CupidLogUtils.isEnableLog()) + nowTime = SystemClock.elapsedRealtime(); + if (adasListener != null) { + adasListener.onFSM2024State(raw.getHeader(), fsmState); + } + AdasChannel.calculateTimeConsumingBusiness("FSM状态", nowTime); + } + +} diff --git a/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/msg/MyMessageFactory.java b/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/msg/MyMessageFactory.java index cf77bff8e7..b32de8d39d 100644 --- a/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/msg/MyMessageFactory.java +++ b/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/msg/MyMessageFactory.java @@ -32,6 +32,7 @@ public class MyMessageFactory implements IMyMessageFactory { private IMsg statusQueryRespMessage;//状态查询应答 private IMsg systemStatusMessage;//定频SSM private IMsg faultManagementMessage;//FM状态 + private IMsg fSM2024StateMessage;//FSM状态 private IMsg recordDataConfigRespMessage;//数据采集配置应答 private IMsg planningDecisionStateMessage;//planning决策状态 private IMsg obuWarningDataMessage;//工控机透传OBU V2I数据 @@ -176,6 +177,12 @@ public class MyMessageFactory implements IMyMessageFactory { faultManagementMessage = new FaultManagementMessage(); } return faultManagementMessage; + } else if (messageType == MessageType.TYPE_RECEIVE_FSM2024_STATE.typeCode) { + //FSM状态 + if (fSM2024StateMessage == null) { + fSM2024StateMessage = new FSM2024StateMessage(); + } + return fSM2024StateMessage; } else if (messageType == MessageType.TYPE_RECEIVE_RECORD_DATA_CONFIG_RESP.typeCode) { //数据采集配置应答 if (recordDataConfigRespMessage == null) { From b92b2745e6aacead9f13a332196e59035834cb4f Mon Sep 17 00:00:00 2001 From: aibingbing Date: Wed, 26 Jun 2024 10:26:26 +0800 Subject: [PATCH 22/43] =?UTF-8?q?[646]refactor:=20=E8=B0=83=E6=95=B4?= =?UTF-8?q?=E5=85=A8=E5=B1=80=E8=BD=A8=E8=BF=B9=E5=B1=82=E7=BA=A7&?= =?UTF-8?q?=E9=A2=9C=E8=89=B2=EF=BC=9B?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- .../trajectoryoverlay/TrajectoryOverlayDrawer.java | 2 +- .../src/main/java/com/mogo/map/overlay/core/Level.kt | 10 +++++----- 2 files changed, 6 insertions(+), 6 deletions(-) diff --git a/core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/business/trajectoryoverlay/TrajectoryOverlayDrawer.java b/core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/business/trajectoryoverlay/TrajectoryOverlayDrawer.java index f0ea3d89dc..2c06361935 100644 --- a/core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/business/trajectoryoverlay/TrajectoryOverlayDrawer.java +++ b/core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/business/trajectoryoverlay/TrajectoryOverlayDrawer.java @@ -137,7 +137,7 @@ public class TrajectoryOverlayDrawer { if (alphas != null && !alphas.isEmpty()) { colors = new ArrayList<>(); for (int i : alphas) { - colors.add(Color.argb(i, 78,121,173)); + colors.add(Color.argb(i, 48,163,255)); } } } diff --git a/libraries/mogo-map-api/src/main/java/com/mogo/map/overlay/core/Level.kt b/libraries/mogo-map-api/src/main/java/com/mogo/map/overlay/core/Level.kt index f997dceb1c..bed00cfa76 100644 --- a/libraries/mogo-map-api/src/main/java/com/mogo/map/overlay/core/Level.kt +++ b/libraries/mogo-map-api/src/main/java/com/mogo/map/overlay/core/Level.kt @@ -10,16 +10,16 @@ enum class Level(val zIndex: Int) { */ MAP_MARKER(100), + /** + * 全局轨迹线 + */ + TRAJECTORY_LINE(35000), + /** * 车道中心线 */ ROAD_CENTER_LINE(40000), - /** - * 全局轨迹线 - */ - TRAJECTORY_LINE(65000), - /** * 前车引导线 */ From 2effcae75d84814f8de50a380c76589cdc23a1b3 Mon Sep 17 00:00:00 2001 From: yangyakun Date: Wed, 26 Jun 2024 10:46:58 +0800 Subject: [PATCH 23/43] =?UTF-8?q?[6.4.6]=20[fea]=20[15m+ssm=20=E6=B7=BB?= =?UTF-8?q?=E5=8A=A0=E6=8B=A6=E6=88=AA=E6=94=B6=E6=8B=A2]?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- .../autopilot/OchAutoPilotManager.kt | 23 +++++++++++++++++++ 1 file changed, 23 insertions(+) diff --git a/OCH/common/common/src/main/java/com/mogo/och/common/module/manager/autopilot/autopilot/OchAutoPilotManager.kt b/OCH/common/common/src/main/java/com/mogo/och/common/module/manager/autopilot/autopilot/OchAutoPilotManager.kt index b7769f9dd3..7e99e340a2 100644 --- a/OCH/common/common/src/main/java/com/mogo/och/common/module/manager/autopilot/autopilot/OchAutoPilotManager.kt +++ b/OCH/common/common/src/main/java/com/mogo/och/common/module/manager/autopilot/autopilot/OchAutoPilotManager.kt @@ -1,9 +1,13 @@ package com.mogo.och.common.module.manager.autopilot.autopilot import com.mogo.eagle.core.data.autopilot.AutopilotControlParameters +import com.mogo.eagle.core.data.config.FunctionBuildConfig import com.mogo.eagle.core.function.api.autopilot.IMoGoReceiveReceivedAckListener import com.mogo.eagle.core.function.call.autopilot.CallerAutoPilotControlManager import com.mogo.eagle.core.function.call.autopilot.CallerReceiveReceivedAckListenerManager +import com.mogo.eagle.core.utilcode.util.ToastUtils +import com.mogo.och.common.module.manager.autopilot.OCHAdasAbilityManager +import com.mogo.och.common.module.manager.distance.TrajectoryAndDistanceManager import com.zhjt.mogo.adas.common.MessageType import com.zhjt.mogo.adas.data.bean.ReceivedAck import com.zhjt.mogo.adas.data.bean.ReceivedAck.Status @@ -15,6 +19,25 @@ object OchAutoPilotManager : IMoGoReceiveReceivedAckListener { CallerReceiveReceivedAckListenerManager.addListener(TAG,this) } + @JvmStatic + fun canStartAutoPilot(lineId: Number?): String { + return TrajectoryAndDistanceManager.canStartAutopilot(lineId).apply { + if(!isNullOrBlank()){ + // 去启动绘制高精地图上的轨迹 + } + } + } + + @JvmStatic + fun canStartAutoPilotSSM():Boolean{ + if (!FunctionBuildConfig.isDemoMode && !OCHAdasAbilityManager.getInstance().getAutopilotAbilityStatus()) { + ToastUtils.showLong(OCHAdasAbilityManager.getInstance().getAutopilotUnAbilityReason() + + ", 请稍候重试"); + return false + } + return true + } + @JvmStatic fun startAutoPilot(controlParameters: AutopilotControlParameters?) { OchAutopilotAnalytics.triggerStartAutopilotParameters(controlParameters) From 8748712e906a27f89f0321145ac6088fdbc95f2a Mon Sep 17 00:00:00 2001 From: xinfengkun Date: Wed, 26 Jun 2024 11:28:09 +0800 Subject: [PATCH 24/43] =?UTF-8?q?[650][adas]=20=E6=A0=B9=E6=8D=AE=E4=BA=A7?= =?UTF-8?q?=E5=93=81=E9=9C=80=E6=B1=82=EF=BC=8C=E5=BD=93=E4=B8=8D=E8=83=BD?= =?UTF-8?q?=E5=90=AF=E5=8A=A8=E8=87=AA=E9=A9=BE=E6=97=B6=E7=9A=84=E6=B6=88?= =?UTF-8?q?=E6=81=AF=E5=A6=82=E6=9E=9C=E6=95=B0=E6=8D=AE=E6=98=AFfsm?= =?UTF-8?q?=E5=B0=86=E6=8F=92=E5=85=A5=E6=B6=88=E6=81=AF=E7=9B=92=E5=AD=90?= =?UTF-8?q?=EF=BC=8C=E5=85=B6=E4=BB=96=E6=95=B0=E6=8D=AE=E6=BA=90=E6=8C=89?= =?UTF-8?q?=E7=85=A7=E5=8E=9F=E6=9C=89=E6=96=B9=E5=BC=8F=E5=B1=95=E7=A4=BA?= =?UTF-8?q?=EF=BC=9B?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- .../autopilot/OCHAdasAbilityManager.java | 9 +++++++ .../autopilot/OchAutoPilotManager.kt | 25 ++++++++++++++++--- 2 files changed, 30 insertions(+), 4 deletions(-) diff --git a/OCH/common/common/src/main/java/com/mogo/och/common/module/manager/autopilot/OCHAdasAbilityManager.java b/OCH/common/common/src/main/java/com/mogo/och/common/module/manager/autopilot/OCHAdasAbilityManager.java index cb43850345..0335b46428 100644 --- a/OCH/common/common/src/main/java/com/mogo/och/common/module/manager/autopilot/OCHAdasAbilityManager.java +++ b/OCH/common/common/src/main/java/com/mogo/och/common/module/manager/autopilot/OCHAdasAbilityManager.java @@ -59,9 +59,18 @@ public class OCHAdasAbilityManager implements IMoGoAutopilotActionsListener, IMo return isAutopilotAbility; } + public String getAbilityVersion() { + return launchConditionData == null ? "" : launchConditionData.abilityVersion; + } + public String getOriginalData() { return launchConditionData == null ? "" : launchConditionData.getJson(); } + + public ArrayList getUnableAutopilotReasons() { + return unableAutopilotReasons; + } + public String getAutopilotUnAbilityReason(){ try { if(unableAutopilotReasons==null||unableAutopilotReasons.isEmpty()){ diff --git a/OCH/common/common/src/main/java/com/mogo/och/common/module/manager/autopilot/autopilot/OchAutoPilotManager.kt b/OCH/common/common/src/main/java/com/mogo/och/common/module/manager/autopilot/autopilot/OchAutoPilotManager.kt index 7e99e340a2..ce201d7def 100644 --- a/OCH/common/common/src/main/java/com/mogo/och/common/module/manager/autopilot/autopilot/OchAutoPilotManager.kt +++ b/OCH/common/common/src/main/java/com/mogo/och/common/module/manager/autopilot/autopilot/OchAutoPilotManager.kt @@ -2,9 +2,13 @@ package com.mogo.och.common.module.manager.autopilot.autopilot import com.mogo.eagle.core.data.autopilot.AutopilotControlParameters import com.mogo.eagle.core.data.config.FunctionBuildConfig +import com.mogo.eagle.core.data.msgbox.AutopilotMsg +import com.mogo.eagle.core.data.msgbox.MsgBoxBean +import com.mogo.eagle.core.data.msgbox.MsgBoxType import com.mogo.eagle.core.function.api.autopilot.IMoGoReceiveReceivedAckListener import com.mogo.eagle.core.function.call.autopilot.CallerAutoPilotControlManager import com.mogo.eagle.core.function.call.autopilot.CallerReceiveReceivedAckListenerManager +import com.mogo.eagle.core.function.call.msgbox.CallerMsgBoxManager import com.mogo.eagle.core.utilcode.util.ToastUtils import com.mogo.och.common.module.manager.autopilot.OCHAdasAbilityManager import com.mogo.och.common.module.manager.distance.TrajectoryAndDistanceManager @@ -29,10 +33,23 @@ object OchAutoPilotManager : IMoGoReceiveReceivedAckListener { } @JvmStatic - fun canStartAutoPilotSSM():Boolean{ - if (!FunctionBuildConfig.isDemoMode && !OCHAdasAbilityManager.getInstance().getAutopilotAbilityStatus()) { - ToastUtils.showLong(OCHAdasAbilityManager.getInstance().getAutopilotUnAbilityReason() + - ", 请稍候重试"); + fun canStartAutoPilotSSM(): Boolean { + if (!FunctionBuildConfig.isDemoMode && !OCHAdasAbilityManager.getInstance().autopilotAbilityStatus) { + val reasons = OCHAdasAbilityManager.getInstance().unableAutopilotReasons + if ("AutopilotAbility440" == OCHAdasAbilityManager.getInstance().abilityVersion && !reasons.isNullOrEmpty()) { + val msg = reasons[0].unableLaunchReason + " 来源：" + reasons[0].source + CallerMsgBoxManager.saveMsgBox( + MsgBoxBean( + MsgBoxType.AUTOPILOT, + AutopilotMsg(0, "自动驾驶启动失败", msg, System.currentTimeMillis()) + ) + ) + } else { + ToastUtils.showLong( + OCHAdasAbilityManager.getInstance().autopilotUnAbilityReason + + ", 请稍候重试" + ); + } return false } return true From e04b18daccb4e86f183aabbb1a1c9aac3adfd36c Mon Sep 17 00:00:00 2001 From: yangyakun Date: Wed, 26 Jun 2024 11:41:18 +0800 Subject: [PATCH 25/43] =?UTF-8?q?[6.4.6]=20[fix]=20[=E7=B1=BB=E5=9E=8B?= =?UTF-8?q?=E4=BF=AE=E6=94=B9]?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- .../module/manager/distance/TrajectoryAndDistanceManager.kt | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/OCH/common/common/src/main/java/com/mogo/och/common/module/manager/distance/TrajectoryAndDistanceManager.kt b/OCH/common/common/src/main/java/com/mogo/och/common/module/manager/distance/TrajectoryAndDistanceManager.kt index d5b067bbab..0b94e6c161 100644 --- a/OCH/common/common/src/main/java/com/mogo/och/common/module/manager/distance/TrajectoryAndDistanceManager.kt +++ b/OCH/common/common/src/main/java/com/mogo/och/common/module/manager/distance/TrajectoryAndDistanceManager.kt @@ -660,7 +660,7 @@ object TrajectoryAndDistanceManager : IMoGoPlanningRottingListener { * 返回空为可启动自驾 * 返回其他不可启动自驾 返回为原因 */ - fun canStartAutopilot(lineId: Long?): String { + fun canStartAutopilot(lineId: Number?): String { if (lineId == null) { OchAutopilotAnalytics.triggerDistance2LineorStation("未传轨迹ID") return "请确认线路ID" From ae1a678ee80d8581e8e8e7cb4142bfffcfe62655 Mon Sep 17 00:00:00 2001 From: yangyakun Date: Wed, 26 Jun 2024 12:04:02 +0800 Subject: [PATCH 26/43] =?UTF-8?q?[6.4.6]=20[fea]=20[=E6=98=AF=E5=90=A6?= =?UTF-8?q?=E5=B1=95=E7=A4=BA=E9=AB=98=E7=B2=BE=E5=9C=B0=E5=9B=BE=E8=BD=A8?= =?UTF-8?q?=E8=BF=B9]?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- .../com/mogo/och/bus/model/OrderModel.java | 17 +++-- .../src/main/res/layout/bus_base_fragment.xml | 11 +++- .../mogo/och/charter/model/DriverM1Model.kt | 24 ++++--- .../main/res/layout/charter_base_fragment.xml | 10 ++- .../passenger/model/CharterPassengerModel.kt | 10 +-- .../manager/autopilot/line/LineManager.kt | 31 +++++++++ .../module/wigets/map/drawline/LineView.kt | 60 ++++++++++++++++++ .../wigets/map/orderstatus/OrderStatusView.kt | 2 +- .../drawable-nodpi/common_map_line_close.png | Bin 0 -> 20341 bytes .../drawable-nodpi/common_map_line_open.png | Bin 0 -> 24632 bytes .../mogo/och/shuttle/model/OrderModel.java | 15 +++-- .../main/res/layout/shuttle_base_fragment.xml | 10 ++- .../com/mogo/och/taxi/model/TaxiModel.java | 8 +-- .../och/taxi/presenter/TaxiPresenter.java | 4 +- .../main/res/layout/taxi_base_fragment.xml | 11 +++- .../taxi/passenger/model/AutopilotManager.kt | 10 +-- .../taxi/ui/routing/TaxiRoutingModel.kt | 7 +- .../taxi/ui/task/TaxiCurrentTaskViewModel.kt | 2 + .../unmanned/taxi/ui/task/TaxiTaskModel.kt | 16 ++--- .../layout/unmanned_taxi_base_fragment.xml | 11 +++- .../passenger/model/AutopilotManager.kt | 7 +- 21 files changed, 201 insertions(+), 65 deletions(-) create mode 100644 OCH/common/common/src/main/java/com/mogo/och/common/module/manager/autopilot/line/LineManager.kt create mode 100644 OCH/common/common/src/main/java/com/mogo/och/common/module/wigets/map/drawline/LineView.kt create mode 100644 OCH/common/common/src/main/res/drawable-nodpi/common_map_line_close.png create mode 100644 OCH/common/common/src/main/res/drawable-nodpi/common_map_line_open.png diff --git a/OCH/bus/driver/src/main/java/com/mogo/och/bus/model/OrderModel.java b/OCH/bus/driver/src/main/java/com/mogo/och/bus/model/OrderModel.java index 41484f0972..19b8786a6a 100644 --- a/OCH/bus/driver/src/main/java/com/mogo/och/bus/model/OrderModel.java +++ b/OCH/bus/driver/src/main/java/com/mogo/och/bus/model/OrderModel.java @@ -48,6 +48,7 @@ import com.mogo.och.bus.util.BusSendTripInfoManager; import com.mogo.och.bus.util.BusTrajectoryManager; import com.mogo.och.bus.util.BusVoiceManager; import com.mogo.och.common.module.manager.autopilot.autopilot.OchAutoPilotManager; +import com.mogo.och.common.module.manager.autopilot.line.LineManager; import com.mogo.och.common.module.manager.socket.lan.ILanMessageListener; import com.mogo.och.common.module.manager.socket.lan.LanSocketManager; import com.mogo.och.common.module.manager.socket.lan.bean.AppConnectMsg; @@ -197,6 +198,8 @@ public class OrderModel { }); } + // 初始化调用 + // 登录状态发生变化调用 public void queryBusCacheRoutes(){ String loginStr = CacheDataManager.Companion.getInstance().getCacheData( @@ -720,7 +723,7 @@ public class OrderModel { FunctionBuildConfig.isPassStartAutopilotCommand); //3、距离轨迹15m计算 - String resion = TrajectoryAndDistanceManager.INSTANCE.canStartAutopilot((long)busRoutesResult.getLineId()); + String resion = OchAutoPilotManager.canStartAutoPilot(busRoutesResult.getLineId()); if(TrajectoryAndDistanceManager.errorTypeNoneLineId.equals(resion)){ MogoLocation nextStationPoint = new MogoLocation(); if (backgroundCurrentStationIndex < stationList.size() - 1) { @@ -733,7 +736,7 @@ public class OrderModel { currentStationPoint.setLongitude(busStationBean.getGcjLon()); currentStationPoint.setLatitude(busStationBean.getGcjLat()); setTrajectoryStation(currentStationPoint,nextStationPoint, (long)busRoutesResult.getLineId()); - resion = TrajectoryAndDistanceManager.INSTANCE.canStartAutopilot((long)busRoutesResult.getLineId()); + resion = OchAutoPilotManager.canStartAutoPilot(busRoutesResult.getLineId()); } if(!StringUtils.isEmpty(resion)){ ToastUtils.showShort(resion); @@ -742,9 +745,7 @@ public class OrderModel { } //4、ssm 给出数据 - if (!FunctionBuildConfig.isDemoMode && !OCHAdasAbilityManager.getInstance().getAutopilotAbilityStatus()) { - ToastUtils.showLong(OCHAdasAbilityManager.getInstance().getAutopilotUnAbilityReason() + - ", 请稍候重试"); + if (!OchAutoPilotManager.canStartAutoPilotSSM()) { triggerUnableStartAPReasonEvent(); return; } @@ -962,11 +963,15 @@ public class OrderModel { * @param result */ private void updateBusStatus(BusRoutesResult result) { - if (result == null) return; + if (result == null) { + LineManager.setLineId(-1); + return; + } busRoutesResult = result; List site = result.getSites(); currentTaskId = result.getTaskId(); currentLineId = result.getLineId(); + LineManager.setLineId(currentLineId); stationList.clear(); stationList.addAll(site); diff --git a/OCH/bus/driver/src/main/res/layout/bus_base_fragment.xml b/OCH/bus/driver/src/main/res/layout/bus_base_fragment.xml index a32dea82da..8e2b52baa1 100644 --- a/OCH/bus/driver/src/main/res/layout/bus_base_fragment.xml +++ b/OCH/bus/driver/src/main/res/layout/bus_base_fragment.xml @@ -258,6 +258,7 @@ android:layout_height="@dimen/dp_142"/> + + + +