Merge branch 'dev_robotaxi-d-app-module_290_220715_2.9.0' into 'test_robotaxi-d-app-module_290_220715_2.9.0.1'

Dev robotaxi d app module 290 220715 2.9.0

See merge request zhjt/AndroidApp/MoGoEagleEye!73

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

@@ -155,6 +155,13 @@ class MoGoAdasListenerImpl : OnAdasListener {
             CallerAutopilotVehicleStateListenerManager.invokeAutopilotSteeringData(vehicleState.steering)
             //挂挡档位数据
             CallerAutopilotVehicleStateListenerManager.invokeAutopilotGearData(vehicleState.gear)
+            //加速度
+            CallerAutopilotVehicleStateListenerManager.invokeAutopilotAcc(vehicleState.accel)
+            //油门
+            CallerAutopilotVehicleStateListenerManager.invokeAutopilotThrottle(vehicleState.throttle)
+            //刹车
+            CallerAutopilotVehicleStateListenerManager.invokeAutopilotThrottle(vehicleState.brake)
+
         } else {
             CallerAutopilotVehicleStateListenerManager.invokeAutopilotDataException(header.timestamp.toLong())
         }

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

@@ -118,7 +118,7 @@ public class MoGoHandAdasMsgManager implements
         if (!AppIdentityModeUtils.isBus(FunctionBuildConfig.appIdentityMode)) { //小巴不展示
             if (gnssInfo != null) {
                 //设置刹车信息
-                if (gnssInfo.getAcceleration() < SharedPrefsMgr.getInstance(mContext).getFloat(MoGoConfig.BRAKE_ACCELERATION_THRESHOLD,-2.5F)) {
+                if (gnssInfo.getAcceleration() < SharedPrefsMgr.getInstance(mContext).getFloat(MoGoConfig.BRAKE_ACCELERATION_THRESHOLD, -2.5F)) {
                     brakeLight = 1;
                 } else {
                     brakeLight = 0;
@@ -132,6 +132,7 @@ public class MoGoHandAdasMsgManager implements
 
     /**
      * 车辆方向盘转向角回调
+     *
      * @param steering 方向盘转向角
      */
     @Override
@@ -141,6 +142,7 @@ public class MoGoHandAdasMsgManager implements
 
     /**
      * 车辆挂挡档位
+     *
      * @param gear 档位
      */
     @Override
@@ -156,4 +158,14 @@ public class MoGoHandAdasMsgManager implements
     public void onAutopilotAcc(float carAcc) {
 
     }
+
+    @Override
+    public void onAutopilotThrottle(float throttle) {
+
+    }
+
+    @Override
+    public void onAutopilotBrake(float brake) {
+
+    }
 }

core/function-impl/mogo-core-function-devatools/src/main/java/com/zhjt/mogo_core_function_devatools/status/flow/can/CanImpl.kt

@@ -71,6 +71,16 @@ internal class CanImpl(ctx: Context): IFlow<CanStatus>(ctx), IMoGoAutopilotVehic
         timeOutCheck()
     }
 
+    override fun onAutopilotThrottle(throttle: Float) {
+        send(CanStatus(isCanEnabled()))
+        timeOutCheck()
+    }
+
+    override fun onAutopilotBrake(brake: Float) {
+        send(CanStatus(isCanEnabled()))
+        timeOutCheck()
+    }
+
     override fun onAutopilotGuardian(guardianInfo: MogoReportMessage?) {
         super.onAutopilotGuardian(guardianInfo)
         send(CanStatus(isCanEnabled()))

core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/hmi/ui/MoGoHmiFragment.kt

@@ -228,6 +228,15 @@ import java.util.*
             }
             return
         }
+        //在工控机taxi2.3.0版本和Bus2.4.0版本上不支持被动录包，不进行被动录包的弹窗
+        BadCaseConfig.dockerVersion?.let {
+            if(it.contains("taxi") && it.contains("2.3.0")){
+                return
+            }
+            if(it.contains("bus") && it.contains("2.4.0")){
+                return
+            }
+        }
         //处于非美化模式下弹窗
         if (!FunctionBuildConfig.isDemoMode && (recordPanel.stat == 100 || recordPanel.stat == 101)) {
             //只在司机屏生效，乘客屏不生效

core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/hmi/ui/setting/DebugSettingView.kt

@@ -1959,7 +1959,21 @@ class DebugSettingView @JvmOverloads constructor(
      * 车辆加速度
      */
     override fun onAutopilotAcc(carAcc: Float) {
-        TODO("Not yet implemented")
+
+    }
+
+    /**
+     * 油门
+     */
+    override fun onAutopilotThrottle(throttle: Float) {
+
+    }
+
+    /**
+     * 刹车
+     */
+    override fun onAutopilotBrake(brake: Float) {
+
     }
 
     /**

core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/hmi/ui/widget/SteeringWheelView.java

@@ -158,6 +158,22 @@ public class SteeringWheelView extends ConstraintLayout {
 
     private final IMoGoAutopilotVehicleStateListener mIMoGoAutopilotVehicleStateListener = new IMoGoAutopilotVehicleStateListener() {
 
+        /**
+         * @param brake 刹车
+         */
+        @Override
+        public void onAutopilotBrake(float brake) {
+
+        }
+
+        /**
+         * @param throttle 油门
+         */
+        @Override
+        public void onAutopilotThrottle(float throttle) {
+
+        }
+
         /**
          * 车辆转向灯
          * @param lightSwitch

core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/hmi/ui/widget/TrafficDataView.java

@@ -36,6 +36,8 @@ public class TrafficDataView extends ConstraintLayout {
     private TextView speedTextView;
     private TextView accTextView;
     private ImageView speedImage;
+    private ImageView brakeStatus;
+
     //圆弧颜色
     private int mArcColor;
 
@@ -67,6 +69,7 @@ public class TrafficDataView extends ConstraintLayout {
         speedImage = findViewById(R.id.speedImage);
         speedTextView = findViewById(R.id.speedTextView);
         accTextView = findViewById(R.id.speedAccTextView);
+        brakeStatus = findViewById(R.id.brakeStatus);
     }
 
     private final IMoGoAutopilotVehicleStateListener mIMoGoAutopilotVehicleStateListener = new IMoGoAutopilotVehicleStateListener() {
@@ -138,6 +141,18 @@ public class TrafficDataView extends ConstraintLayout {
             String accStr = myformat.format(carAcc);
             accTextView.setText("a: " + accStr);
         }
+
+        @Override
+        public void onAutopilotBrake(float brake) {
+            Log.d(TAG, "刹车:" + String.valueOf(brake));
+            brakeStatus.setImageResource(R.drawable.traffic_data_brake);
+        }
+
+        @Override
+        public void onAutopilotThrottle(float throttle) {
+            Log.d(TAG, "油门:" + String.valueOf(throttle));
+            brakeStatus.setImageResource(R.drawable.traffic_data_accelerator);
+        }
     };
 
     /**

core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/map/MapPointCloudSubscriber.kt

@@ -60,9 +60,9 @@ class MapPointCloudSubscriber private constructor() : IMoGoSubscriber, IMoGoAuto
              * @param isStrong 是否加粗显示
              * @return 是否执行
              */
-            //Logger.d(TAG, "====开始传入地图点云数据====")
-            val result = PointCloudHelper.updatePointCloudDataByPb(pointCloud, false, true, true)
-            //Logger.d(TAG, "====结束传入地图点云数据=====$result")
+            Logger.d(TAG, "====开始传入地图点云数据====")
+            val result = PointCloudHelper.updatePointCloudDataByPb(pointCloud, true, false, false)
+            Logger.d(TAG, "====结束传入地图点云数据=====$result")
         } else {
             if (isDrawPointCloud) {
                 Logger.d(TAG, "====停止点云绘制====")

core/mogo-core-function-api/src/main/java/com/mogo/eagle/core/function/api/autopilot/IMoGoAutopilotVehicleStateListener.kt

@@ -42,4 +42,14 @@ interface IMoGoAutopilotVehicleStateListener {
      * 车辆加速度
      */
     fun onAutopilotAcc(carAcc: Float)
+
+    /**
+     * 油门
+     */
+    fun onAutopilotThrottle(throttle: Float)
+
+    /**
+     * 刹车
+     */
+    fun onAutopilotBrake(brake: Float)
 }

core/mogo-core-function-call/src/main/java/com/mogo/eagle/core/function/call/autopilot/CallerAutopilotVehicleStateListenerManager.kt

@@ -112,6 +112,26 @@ object CallerAutopilotVehicleStateListenerManager : CallerBase() {
         }
     }
 
+    /**
+     * throttle 油门
+     */
+    fun invokeAutopilotThrottle(throttle: Float){
+        M_AUTOPILOT_VEHICLE_LISTENERS.forEach{
+            val listener = it.value
+            listener.onAutopilotThrottle(throttle)
+        }
+    }
+
+    /**
+     * brake 刹车
+     */
+    fun invokeAutopilotBrake(brake: Float){
+        M_AUTOPILOT_VEHICLE_LISTENERS.forEach{
+            val listener = it.value
+            listener.onAutopilotBrake(brake)
+        }
+    }
+
 
     /**
      * 工控机时间回调

gradle.properties

@@ -63,23 +63,23 @@ SERVICE_CHAIN_VERSION=1.1.0
 LOGLIB_VERSION=1.3.31
 ######## MogoAiCloudSDK Version ########
 # 网络请求LOGLIB_VERSION
-MOGO_NETWORK_VERSION=1.4.3.7
+MOGO_NETWORK_VERSION=1.4.3.8
 # 鉴权
-MOGO_PASSPORT_VERSION=1.4.3.7
+MOGO_PASSPORT_VERSION=1.4.3.8
 # 常链接
-MOGO_SOCKET_VERSION=1.4.3.7
+MOGO_SOCKET_VERSION=1.4.3.8
 # 数据采集
-MOGO_REALTIME_VERSION=1.4.3.7
+MOGO_REALTIME_VERSION=1.4.3.8
 # 探路，道路事件发布，获取
-MOGO_TANLU_VERSION=1.4.3.7
+MOGO_TANLU_VERSION=1.4.3.8
 # 直播推流
-MOGO_LIVE_VERSION=1.4.3.7
+MOGO_LIVE_VERSION=1.4.3.8
 # 直播拉流
-MOGO_TRAFFICLIVE_VERSION=1.4.3.7
+MOGO_TRAFFICLIVE_VERSION=1.4.3.8
 # 定位服务
-MOGO_LOCATION_VERSION=1.4.3.7
+MOGO_LOCATION_VERSION=1.4.3.8
 # 远程通讯模块
-MOGO_TELEMATIC_VERSION=1.4.3.7
+MOGO_TELEMATIC_VERSION=1.4.3.8
 ######## MogoAiCloudSDK Version ########
 # 自研地图
 MAP_SDK_VERSION=2.3.1.1
@@ -155,7 +155,7 @@ MOGO_OCH_TAXI_VERSION=2.0.66
 # mogoAiCloud sdk services
 MOGO_AICLOUD_SERVICES_SDK_VERSION=2.1.16.10
 # v2x-sdk
-MOGO_V2X_SDK_VERSION=1.4.3.7
+MOGO_V2X_SDK_VERSION=1.4.3.8
 ################# 旧版本架构模块版本 #################