[Change]

DebugSettingView.kt增加引导线全局路径规划的等数据统计 Signed-off-by: donghongyu <donghongyu@zhidaoauto.com>
2022-02-18 15:56:59 +08:00
parent 025a965be3
commit b8d16c1325
5 changed files with 59 additions and 15 deletions
--- a/core/function-impl/mogo-core-function-autopilot/src/main/java/com/mogo/eagle/core/function/autopilot/MoGoAutopilotProvider.kt
+++ b/core/function-impl/mogo-core-function-autopilot/src/main/java/com/mogo/eagle/core/function/autopilot/MoGoAutopilotProvider.kt
@@ -51,7 +51,7 @@ class MoGoAutopilotProvider :
            0x00 -> // 司机
            {
                CallerMapDataCollectorManager.registerOnMapCollectTaskListener(this)
-                AdasManager.getInstance().create(context, "192.168.1.102")
+                AdasManager.getInstance().create(context, "192.168.1.141")
            }
            0x01 -> // 乘客
            {
--- a/core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/hmi/ui/setting/DebugSettingView.kt
+++ b/core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/hmi/ui/setting/DebugSettingView.kt
@@ -18,14 +18,12 @@ import com.mogo.eagle.core.data.obu.ObuStatusInfo
 import com.mogo.eagle.core.data.traffic.TrafficData
 import com.mogo.eagle.core.function.api.autopilot.IMoGoAutopilotCarStateListener
 import com.mogo.eagle.core.function.api.autopilot.IMoGoAutopilotIdentifyListener
+import com.mogo.eagle.core.function.api.autopilot.IMoGoAutopilotPlanningListener
 import com.mogo.eagle.core.function.api.autopilot.IMoGoAutopilotStatusListener
 import com.mogo.eagle.core.function.api.devatools.IMoGoDevaToolsListener
 import com.mogo.eagle.core.function.api.map.listener.IMoGoMapLocationListener
 import com.mogo.eagle.core.function.api.obu.IMoGoObuStatusListener
-import com.mogo.eagle.core.function.call.autopilot.CallerAutoPilotManager
-import com.mogo.eagle.core.function.call.autopilot.CallerAutoPilotStatusListenerManager
-import com.mogo.eagle.core.function.call.autopilot.CallerAutopilotCarStatusListenerManager
-import com.mogo.eagle.core.function.call.autopilot.CallerAutopilotIdentifyListenerManager
+import com.mogo.eagle.core.function.call.autopilot.*
 import com.mogo.eagle.core.function.call.devatools.CallerDevaToolsListenerManager
 import com.mogo.eagle.core.function.call.devatools.CallerDevaToolsManager
 import com.mogo.eagle.core.function.call.hmi.CallerHmiManager
@@ -57,7 +55,8 @@ class DebugSettingView @JvmOverloads constructor(
        defStyleAttr: Int = 0
 ) : ConstraintLayout(context, attrs, defStyleAttr), IMoGoObuStatusListener,
        IMoGoAutopilotStatusListener, IMoGoAutopilotCarStateListener,
-        IMoGoMapLocationListener, IMoGoAutopilotIdentifyListener {
+        IMoGoMapLocationListener, IMoGoAutopilotIdentifyListener,
+        IMoGoAutopilotPlanningListener {

    private val TAG = "DebugSettingView"

@@ -67,6 +66,15 @@ class DebugSettingView @JvmOverloads constructor(
    private var mAutoPilotStatusInfo: AutopilotStatusInfo? = null
    private var mAutoPilotCarStateInfo: AutopilotCarStateInfo? = null

+    // 感知识别数据个数
+    private var mIdentifyDataSize = 0
+
+    // 引导线点个数
+    private var mTrajectoryInfoSize = 0
+
+    // 全局路径规划点个数
+    private var mRouteInfoSize = 0
+
    init {
        LayoutInflater.from(context).inflate(R.layout.view_debug_setting, this, true)
        initView()
@@ -96,6 +104,8 @@ class DebugSettingView @JvmOverloads constructor(
        CallerMapLocationListenerManager.addListener(TAG, this)
        // 添加 域控制器感知数据 监听
        CallerAutopilotIdentifyListenerManager.addListener(TAG, this)
+        // 添加 规划路径相关回调 监听
+        CallerAutopilotPlanningListenerManager.addListener(TAG, this)
        if (logInfoView != null) {
            logInfoView!!.onEnterForeground()
        }
@@ -115,6 +125,8 @@ class DebugSettingView @JvmOverloads constructor(
        CallerMapLocationListenerManager.removeListener(TAG)
        // 移除 域控制器感知数据 监听
        CallerAutopilotIdentifyListenerManager.removeListener(TAG)
+        // 移除 规划路径相关回调 监听
+        CallerAutopilotPlanningListenerManager.removeListener(TAG)
        if (logInfoView != null) {
            logInfoView!!.onEnterBackground()
        }
@@ -403,6 +415,18 @@ class DebugSettingView @JvmOverloads constructor(
        tvCarInfo.text =
                "GPS时间：${mAutoPilotCarStateInfo?.values?.satelliteTime}\n" +
                        "自车经纬度：\n${mAutoPilotCarStateInfo?.values?.lon}\n${mAutoPilotCarStateInfo?.values?.lat}\n"
+
+        tvIdentifyInfo.text =
+                "感知数据个数：${mIdentifyDataSize}"
+        tvTrajectoryInfoSize.text =
+                "引导线点个数：${mTrajectoryInfoSize}"
+        tvRouteInfoSize.text =
+                "全局路径规划点个数：${mRouteInfoSize}"
+
+        // 用完之后重制为0，防止节点回掉突然没数据，导致页面显示还是之前的数据情况
+        mIdentifyDataSize = 0
+        mTrajectoryInfoSize = 0
+        mRouteInfoSize = 0
    }

    /**
@@ -447,12 +471,7 @@ class DebugSettingView @JvmOverloads constructor(
    }

    override fun onAutopilotIdentifyDataUpdate(trafficData: ArrayList<TrafficData>?) {
-        UiThreadHandler.post {
-            tvAutopilotInfo.post {
-                tvIdentifyInfo.text =
-                        "感知数据个数：${trafficData?.size}\n"
-            }
-        }
+        mIdentifyDataSize = trafficData?.size ?: 0
    }

    override fun onAutopilotWarnMessage(autopilotWarnMessage: AutopilotWarnMessage?) {
@@ -462,4 +481,12 @@ class DebugSettingView @JvmOverloads constructor(
    override fun onAutopilotRecordResult(record: AutoPilotRecordResult?) {

    }
+
+    override fun onAutopilotTrajectory(trajectoryInfos: ArrayList<ADASTrajectoryInfo>) {
+        mTrajectoryInfoSize = trajectoryInfos.size
+    }
+
+    override fun onAutopilotRotting(routeList: AutopilotRouteInfo?) {
+        mRouteInfoSize = routeList?.models?.size ?: 0
+    }
 }
--- a/core/function-impl/mogo-core-function-hmi/src/main/res/layout/view_debug_setting.xml
+++ b/core/function-impl/mogo-core-function-hmi/src/main/res/layout/view_debug_setting.xml
@@ -35,8 +35,8 @@
                    android:id="@+id/tvAppInfo"
                    android:layout_width="match_parent"
                    android:layout_height="wrap_content"
-                    android:textColor="#000"
                    android:lineSpacingExtra="3dp"
+                    android:textColor="#000"
                    android:textSize="@dimen/dp_30"
                    tools:text="应用基础信息" />

@@ -56,6 +56,22 @@
                    android:textSize="@dimen/dp_30"
                    tools:text="感知信息" />

+                <TextView
+                    android:id="@+id/tvTrajectoryInfoSize"
+                    android:layout_width="match_parent"
+                    android:layout_height="wrap_content"
+                    android:textColor="#000"
+                    android:textSize="@dimen/dp_30"
+                    tools:text="引导线数据个数" />
+
+                <TextView
+                    android:id="@+id/tvRouteInfoSize"
+                    android:layout_width="match_parent"
+                    android:layout_height="wrap_content"
+                    android:textColor="#000"
+                    android:textSize="@dimen/dp_30"
+                    tools:text="全局路径规划数据个数" />
+
            </LinearLayout>

            <!--鹰眼UI控制-->