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Merge branch 'dev_robotaxi-d-app-module_251_220125_2.5.1' into test_robobus-d-app-module_252_220215_2.5.2.1

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This commit is contained in:
donghongyu
2022-02-25 17:02:58 +08:00
parent 899b826b5b 0c1690afd6
commit bee463ba0f
18 changed files with 137 additions and 61 deletions
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2
config.gradle
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@@ -114,7 +114,7 @@ ext {
obusdk : "com.zhidao.enterprise.smartv2x:smartv2x:1.0.0.3",
mogoobu : 'com.zhidao.support.obu:mogoobu:1.0.0.19',
mogoami : 'com.zhidao.support.obu.ami:mogoami:1.0.0.10',
adasHigh : 'com.zhidao.support.adas:high:1.2.1.2_bate21',
adasHigh : 'com.zhidao.support.adas:high:1.2.1.2_bate25',
// google
googlezxing : "com.google.zxing:core:3.3.3",

23
core/function-impl/mogo-core-function-autopilot/src/main/java/com/mogo/eagle/core/function/autopilot/MoGoAutopilotProvider.kt
View File

@@ -21,6 +21,7 @@ import com.mogo.eagle.core.utilcode.mogo.storage.SharedPrefsMgr
import com.mogo.eagle.core.utilcode.util.GsonUtils
import com.mogo.eagle.core.utilcode.util.ThreadUtils
import com.zhidao.support.adas.high.AdasManager
import com.zhidao.support.adas.high.AdasOptions
import com.zhidao.support.adas.high.bean.IPCUpgradeInfo
import com.zhidao.support.adas.high.common.CupidLogUtils
import java.util.concurrent.TimeUnit
@@ -51,17 +52,33 @@ class MoGoAutopilotProvider :
0x00 -> // 司机
{
CallerMapDataCollectorManager.registerOnMapCollectTaskListener(this)
AdasManager.getInstance().create(context, FunctionBuildConfig.adasConnectIP)
// "192.168.1.102"
val options = AdasOptions.Builder()
.setIPCIp(FunctionBuildConfig.adasConnectIP)
.setClient(false)
.build()
AdasManager.getInstance().create(context, options)
}
0x01 -> // 乘客
{
// 乘客端默认接收绘制全局路径+引导线
//FunctionBuildConfig.isDemoMode = true
//FunctionBuildConfig.isIgnoreConditionsDrawAutopilotTrajectoryData = true
AdasManager.getInstance().create(context, FunctionBuildConfig.adasConnectIP)
// "192.168.1.103"
val options = AdasOptions.Builder()
.setIPCIp(FunctionBuildConfig.adasConnectIP)
.setClient(false)
.build()
AdasManager.getInstance().create(context, options)
}
else -> // 默认采用UDP寻址方式
AdasManager.getInstance().create(context)
{
val options = AdasOptions.Builder()
.setIPCIp(FunctionBuildConfig.adasConnectIP)
.setClient(false)
.build()
AdasManager.getInstance().create(context, options)
}
}
//////////////////////////////////注意先后顺序，AdasManager.getInstance().create后才可以设置监听/////////////////////////////////////////////
// 监听 adas 连接状态

8
core/function-impl/mogo-core-function-autopilot/src/main/java/com/mogo/eagle/core/function/autopilot/adapter/MoGoAdasListenerImpl.java
View File

@@ -180,7 +180,7 @@ public class MoGoAdasListenerImpl implements OnAdasListener {
@Override
public void autopilotArrive(AutopilotWayArrive autopilotWayArrive) {
if (HdMapBuildConfig.isMapLoaded) {
Logger.d(TAG, "autopilotArrive : " + autopilotWayArrive);
// Logger.d(TAG, "autopilotArrive : " + autopilotWayArrive);
if (autopilotWayArrive != null) {
AutopilotWayArrive.ResultBean result = autopilotWayArrive.getResult();
if (result != null) {
@@ -198,7 +198,7 @@ public class MoGoAdasListenerImpl implements OnAdasListener {
@Override
public void onAutopilotRoute(AutopilotRoute route) {
if (HdMapBuildConfig.isMapLoaded) {
Logger.d(TAG, "onAutopilotRoute : " + route.toString());
// Logger.d(TAG, "onAutopilotRoute : " + route.toString());
AutopilotRouteInfo autopilotRoute = AdasObjectConvertUtils.INSTANCE.fromAdasAutopilotRoute(route);
CallerAutopilotPlanningListenerManager.INSTANCE.invokeAutopilotRotting(autopilotRoute);
}
@@ -207,7 +207,7 @@ public class MoGoAdasListenerImpl implements OnAdasListener {
@Override
public void onAutopilotTrajectory(List<TrajectoryInfo> trajectoryList) {
if (HdMapBuildConfig.isMapLoaded) {
Logger.d(TAG, "onAutopilotTrajectory : " + trajectoryList);
// Logger.d(TAG, "onAutopilotTrajectory : " + trajectoryList);
ArrayList<ADASTrajectoryInfo> trajectoryInfoArrayList = new ArrayList<>();
if (trajectoryList != null && trajectoryList.size() > 0) {
for (TrajectoryInfo trajectory : trajectoryList) {
@@ -223,7 +223,7 @@ public class MoGoAdasListenerImpl implements OnAdasListener {
adasTrajectoryInfo.setTheta(trajectory.getTheta());
trajectoryInfoArrayList.add(adasTrajectoryInfo);
}
Log.e(TAG, "time:" + System.currentTimeMillis() + "trajectoryInfoArrayList:" + trajectoryInfoArrayList);
// Log.e(TAG, "time:" + System.currentTimeMillis() + "trajectoryInfoArrayList:" + trajectoryInfoArrayList);
}
CallerAutopilotPlanningListenerManager.INSTANCE.invokeAutopilotTrajectory(trajectoryInfoArrayList);
}

4
core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/hmi/ui/MoGoHmiFragment.kt
View File

@@ -29,6 +29,7 @@ import com.mogo.eagle.core.function.api.hmi.warning.IMoGoWarningStatusListener
import com.mogo.eagle.core.function.call.autopilot.CallerAutoPilotManager
import com.mogo.eagle.core.function.call.autopilot.CallerAutopilotIdentifyListenerManager
import com.mogo.eagle.core.function.call.check.CallerCheckManager
import com.mogo.eagle.core.function.call.map.CallerMapDataCollectorManager
import com.mogo.eagle.core.function.call.monitor.CallerMonitorManager
import com.mogo.eagle.core.function.hmi.R
import com.mogo.eagle.core.function.hmi.WaringConst
@@ -279,6 +280,9 @@ class MoGoHmiFragment : MvpFragment<MoGoWarningContract.View?, WaringPresenter?>
}
}
}
if (record.type == 2 && (record.stat == 101 || record.stat == 100)) {
CallerMapDataCollectorManager.finish(record.id, record.stat, "", record.fileName ?: "", record.note ?: "")
}
}
override fun onDestroyView() {

14
core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/hmi/ui/widget/SpeedPanelView.kt
View File

@@ -64,12 +64,14 @@ class SpeedPanelView @JvmOverloads constructor(
private val timerTask = object : TimerTask() {
override fun run() {
if (mLatLng != null) {
mSpeedLimmit = mMogoServiceApis.mapServiceApi.mapUIController.getSpeedLimmit(mLatLng!!.longitude, mLatLng!!.latitude, mLatLng!!.bearing)
UiThreadHandler.post {
val speed = (mLatLng!!.speed * 3.6f).toInt()
mSpeedChartView.setArcColor(Color.parseColor(if (speed > mSpeedLimmit) "#DB3137" else "#3E77F6"))
mSpeedChartView.setValues(speed)
setBackgroundResource(if (speed > mSpeedLimmit) R.drawable.yi_biao_pan_bg_speeding else R.drawable.yi_biao_pan_bg_nor)
if (mMogoServiceApis.mapServiceApi != null && mMogoServiceApis.mapServiceApi.mapUIController != null) {
mSpeedLimmit = mMogoServiceApis.mapServiceApi.mapUIController.getSpeedLimmit(mLatLng!!.longitude, mLatLng!!.latitude, mLatLng!!.bearing)
UiThreadHandler.post {
val speed = (mLatLng!!.speed * 3.6f).toInt()
mSpeedChartView.setArcColor(Color.parseColor(if (speed > mSpeedLimmit) "#DB3137" else "#3E77F6"))
mSpeedChartView.setValues(speed)
setBackgroundResource(if (speed > mSpeedLimmit) R.drawable.yi_biao_pan_bg_speeding else R.drawable.yi_biao_pan_bg_nor)
}
}
}
}

2
core/function-impl/mogo-core-function-main/src/main/java/com/mogo/eagle/core/function/main/MainMoGoApplication.java
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@@ -249,7 +249,7 @@ public abstract class MainMoGoApplication extends AbsMogoApplication {
*/
private void connectAmiIp() {
String ipAddress = SharedPrefsMgr.getInstance(AbsMogoApplication.getApp().getBaseContext()).getString(MoGoConfig.OBU_IP, "192.168.1.199");
Logger.d("OnAdasListenerAdapter", "application --ipAddress = " + ipAddress);
//Logger.d("OnAdasListenerAdapter", "application --ipAddress = " + ipAddress);
AmiClientManager.getInstance().setObuIp(ipAddress);
}

36
core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/impl/collect/MoGoMapDataCollectProvider.kt
View File

@@ -6,14 +6,17 @@ import com.alibaba.android.arouter.facade.annotation.Route
import com.mogo.cloud.passport.IMoGoTokenCallback
import com.mogo.cloud.passport.MoGoAiCloudClient
import com.mogo.cloud.passport.MoGoAiCloudClientConfig
import com.mogo.commons.debug.DebugConfig
import com.mogo.eagle.core.data.constants.MogoServicePaths
import com.mogo.eagle.core.data.map.MogoLocation
import com.mogo.eagle.core.function.api.map.collect.IMoGoMapDataCollectProvider
import com.mogo.eagle.core.function.api.map.listener.IMoGoMapLocationListener
import com.mogo.eagle.core.function.call.map.CallerMapLocationListenerManager
import com.mogo.eagle.core.utilcode.mogo.logger.Logger
import com.zhidaoauto.map.operational.MapCollectionTaskRecive
import com.zhidaoauto.map.operational.abs.OnTaskListener
import com.zhidaoauto.map.operational.open.GatherApi
import com.zhidaoauto.map.operational.open.GatherParams
import com.zhidaoauto.map.operational.open.GatherParams.Companion
import com.zhidaoauto.map.operational.open.abs.OnTaskListener
import java.util.concurrent.ConcurrentHashMap
import java.util.concurrent.CopyOnWriteArrayList
import java.util.concurrent.atomic.AtomicReference
@@ -26,7 +29,7 @@ class MoGoMapDataCollectProvider : IMoGoMapDataCollectProvider, OnTaskListener,
}
private val executor by lazy {
AtomicReference<MapCollectionTaskRecive?>(null)
AtomicReference<GatherApi>(null)
}
private val listeners by lazy {
@@ -39,9 +42,18 @@ class MoGoMapDataCollectProvider : IMoGoMapDataCollectProvider, OnTaskListener,
override val functionName: String = TAG
@Volatile
private var hasInit = false
override fun init(context: Context?) {
CallerMapLocationListenerManager.addListener(functionName, this)
executor.set(context?.let { MapCollectionTaskRecive(it) })
executor.set(context?.let {
GatherApi.also { itx ->
itx.init(it,
GatherParams.init()
.setDebugMode(DebugConfig.isDebug())
.setCoordinateType(GatherParams.COORDINATETYPE_GCJ02))
} })
executor.get()?.setOnTaskListener(this)
val carSn = MoGoAiCloudClientConfig.getInstance().sn
if (!TextUtils.isEmpty(carSn)) {
@@ -55,10 +67,7 @@ class MoGoMapDataCollectProvider : IMoGoMapDataCollectProvider, OnTaskListener,
override fun onDestroy() {
CallerMapLocationListenerManager.removeListener(TAG)
Logger.d(TAG, "--------- onDestroy --------")
executor.get()?.let {
it.setOnTaskListener(null)
it.destory()
}
executor.get()?.setOnTaskListener(null)
listeners.clear()
map.clear()
}
@@ -129,10 +138,19 @@ class MoGoMapDataCollectProvider : IMoGoMapDataCollectProvider, OnTaskListener,
map[id] = Status.START
}
override fun setIsInit() {
if (!hasInit) {
executor.get()?.also {
hasInit = true
Logger.d(TAG, "告之地图sdk，定义数据可以用了")
it.setIsInit()
}
}
}
override fun onLocationChanged(location: MogoLocation?) {
location ?: return
executor.get()?.onMapChange(
executor.get()?.updateLocation(
location.longitude,
location.latitude,
location.bearing,

20
core/function-impl/mogo-core-function-smp/src/main/java/com/mogo/eagle/core/function/smp/SmallMapFragment.java
View File

@@ -67,12 +67,16 @@ public class SmallMapFragment extends BaseFragment
@Override
public void showPanel() {
mSmallMapDirectionView.setVisibility(View.VISIBLE);
if (mSmallMapDirectionView != null) {
mSmallMapDirectionView.setVisibility(View.VISIBLE);
}
}
@Override
public void hidePanel() {
mSmallMapDirectionView.setVisibility(View.GONE);
if (mSmallMapDirectionView != null) {
mSmallMapDirectionView.setVisibility(View.GONE);
}
}
@Override
@@ -103,20 +107,26 @@ public class SmallMapFragment extends BaseFragment
@Override
public void onResume() {
super.onResume();
mSmallMapDirectionView.onResume();
if (mSmallMapDirectionView != null) {
mSmallMapDirectionView.onResume();
}
}
@Override
public void onPause() {
super.onPause();
mSmallMapDirectionView.onPause();
if (mSmallMapDirectionView != null) {
mSmallMapDirectionView.onPause();
}
}
@Override
public void onDestroy() {
super.onDestroy();
mSmallMapDirectionView.onDestroy();
if (mSmallMapDirectionView != null) {
mSmallMapDirectionView.onDestroy();
}
CallerAutopilotPlanningListenerManager.INSTANCE.removeListener(TAG);
}

18
core/function-impl/mogo-core-function-v2x/src/main/java/com/mogo/eagle/core/function/v2x/speedlimit/SpeedLimitDataManager.java
View File

@@ -32,15 +32,17 @@ public class SpeedLimitDataManager implements IMogoCarLocationChangedListener2 {
@Override
public void run() {
if (mLocation != null){
int speedLimmit = MogoApisHandler.getInstance().getApis().getMapServiceApi().getMapUIController().getSpeedLimmit(mLocation.getLongitude(),mLocation.getLatitude(),mLocation.getBearing());
UiThreadHandler.post(new Runnable() {
@Override
public void run() {
if (speedLimmit > 0){
CallerHmiManager.INSTANCE.showLimitingVelocity(speedLimmit);
if (MogoApisHandler.getInstance().getApis().getMapServiceApi() != null && MogoApisHandler.getInstance().getApis().getMapServiceApi().getMapUIController() != null) {
int speedLimmit = MogoApisHandler.getInstance().getApis().getMapServiceApi().getMapUIController().getSpeedLimmit(mLocation.getLongitude(), mLocation.getLatitude(), mLocation.getBearing());
UiThreadHandler.post(new Runnable() {
@Override
public void run() {
if (speedLimmit > 0) {
CallerHmiManager.INSTANCE.showLimitingVelocity(speedLimmit);
}
}
}
});
});
}
}
}
};

5
core/mogo-core-function-api/src/main/java/com/mogo/eagle/core/function/api/map/collect/IMoGoMapDataCollectProvider.kt
View File

@@ -19,6 +19,11 @@ interface IMoGoMapDataCollectProvider: IMoGoFunctionServerProvider {
*/
fun unRegisterOnMapCollectTaskListener(listener: OnMapCollectCmdListener?)
/**
* 此接口用于定位准确的时候回调
*/
fun setIsInit()
/**
* 此接口是自动驾驶模块使用，用于把自动驾驶模块收集的数据给地图组
*/

4
core/mogo-core-function-call/src/main/java/com/mogo/eagle/core/function/call/map/CallerMapDataCollectorManager.kt
View File

@@ -26,4 +26,8 @@ object CallerMapDataCollectorManager {
fun finish(id: Int, state: Int, gpsPath: String, videoPath: String, reason: String) {
provider?.finish(id, state, gpsPath, videoPath, reason)
}
fun setIsInit() {
provider?.setIsInit()
}
}

2
gradle.properties
View File

@@ -81,7 +81,7 @@ MOGO_LOCATION_VERSION=1.3.18
######## MogoAiCloudSDK Version ########
# 自研地图
MAP_SDK_VERSION=2.0.5.1
MAP_SDK_OPERATION_VERSION=1.0.11
MAP_SDK_OPERATION_VERSION=1.0.12
# websocket
WEBSOCKET_VERSION=1.1.7
## 产品库必备配置，产品库自动对versionCode和versionName版本进行升级

2
libraries/map-custom/src/main/java/com/mogo/map/impl/custom/AMapViewWrapper.java
View File

@@ -21,6 +21,7 @@ import com.mogo.eagle.core.data.config.HdMapBuildConfig;
import com.mogo.eagle.core.data.map.MogoLatLng;
import com.mogo.eagle.core.data.map.MogoLocation;
import com.mogo.eagle.core.function.call.map.CallerLocationUpdaterManager;
import com.mogo.eagle.core.function.call.map.CallerMapDataCollectorManager;
import com.mogo.eagle.core.function.call.map.CallerMapLocationListenerManager;
import com.mogo.eagle.core.function.call.map.CallerMapStyleListenerManager;
import com.mogo.eagle.core.utilcode.mogo.logger.Logger;
@@ -920,6 +921,7 @@ public class AMapViewWrapper implements IMogoMapView,
// 使用外部定位数据修改自车位置
mMapView.getLocationClient().updateRTKAutoPilotLocation(bean);
CallerLocationUpdaterManager.INSTANCE.updateLocation(bean);
CallerMapDataCollectorManager.INSTANCE.setIsInit();
}
}

10
libraries/mogo-map/src/main/java/com/mogo/map/MogoMapUIController.java
View File

@@ -355,12 +355,18 @@ public class MogoMapUIController implements IMogoMapUIController {
@Override
public long getTileId(double lon, double lat) {
return mDelegate.getTileId(lon, lat);
if (mDelegate != null) {
return mDelegate.getTileId(lon, lat);
}
return 0;
}
@Override
public int getSpeedLimmit(double lon, double lat, float angle) {
return mDelegate.getSpeedLimmit(lon,lat,angle);
if (mDelegate != null) {
return mDelegate.getSpeedLimmit(lon,lat,angle);
}
return 0;
}
@Override

22
modules/mogo-module-extensions/src/main/java/com/mogo/module/extensions/utils/TopViewAnimHelper.java
View File

@@ -422,18 +422,20 @@ public class TopViewAnimHelper {
public void removeAllViewExceptVrNav() {
Logger.d(TAG, "remove all view except vr nav");
isTopViewOut = true;
int lastCount = topContainer.getChildCount();
for (int i = 0; i < lastCount; i++) {
View child = topContainer.getChildAt(i);
viewCaches.remove(child);
IMogoTopViewStatusListener listener = statusListenerMap.remove(child);
if (listener != null) {
listener.beforeViewRemoveAnim(child);
listener.onViewRemoved(child);
if(topContainer != null) {
int lastCount = topContainer.getChildCount();
for (int i = 0; i < lastCount; i++) {
View child = topContainer.getChildAt(i);
viewCaches.remove(child);
IMogoTopViewStatusListener listener = statusListenerMap.remove(child);
if (listener != null) {
listener.beforeViewRemoveAnim(child);
listener.onViewRemoved(child);
}
}
topContainer.setTranslationY(0);
topContainer.removeAllViews();
}
topContainer.setTranslationY(0);
topContainer.removeAllViews();
hideNaviView();
}

13
modules/mogo-module-service/src/main/java/com/mogo/module/service/routeoverlay/MogoRouteOverlayManager.java
View File

@@ -83,11 +83,14 @@ public class MogoRouteOverlayManager implements
// Log.d(TAG, "trajectoryInfos:" + adasTrajectoryInfo.getLat()+":"+adasTrajectoryInfo.getLon());
// Log.d(TAG, "temp:"+temp+" location:" + lat+":"+lon);
List<MogoLatLng> mogoLatLngs = new ArrayList<>();
for (ADASTrajectoryInfo a : trajectoryInfos) {
// Log.d(TAG, "temp:"+temp+" trajectoryInfos:" + a.getLat()+":"+a.getLon());
builder.append(a.getLon()).append(",");
builder.append(a.getLat()).append(",");
mogoLatLngs.add(new MogoLatLng(a.getLat(), a.getLon()));
for (int i = 0; i < trajectoryInfos.size(); i++) {
// 临时解决车尾拖线问题，丢弃距离车最近的几个经纬度，原因是惯性导航的中心靠近车尾，会导致经纬度靠近尾部，且两个数据不同频
if (i > 5) {
ADASTrajectoryInfo a = trajectoryInfos.get(i);
builder.append(a.getLon()).append(",");
builder.append(a.getLat()).append(",");
mogoLatLngs.add(new MogoLatLng(a.getLat(), a.getLon()));
}
}
if (FunctionBuildConfig.isIgnoreConditionsDrawAutopilotTrajectoryData || STATUS_AUTOPILOT == 1){
RouteOverlayDrawer.getInstance(mContext).drawTrajectoryList(mogoLatLngs);

2
modules/mogo-module-service/src/main/java/com/mogo/module/service/routeoverlay/RouteOverlayDrawer.java
View File

@@ -124,7 +124,7 @@ public class RouteOverlayDrawer {
long start = System.currentTimeMillis();
List<Integer> list = new ArrayList<>();
// list = ColorUtils.gradientAlpha("#FF2AAFFD", "#002965ED", mPolylinePointList.size());
int[] startColor = ColorUtils.hexToArgb("#FF64C3EA");
int[] startColor = ColorUtils.hexToArgb("#CC64C3EA");
int[] endColor = ColorUtils.hexToArgb("#0064C3EA");
list.add(Color.argb(startColor[0],startColor[1],startColor[2],startColor[3]));
list.add(Color.argb(endColor[0],endColor[1],endColor[2],endColor[3]));

11
tts/tts-pad/src/main/java/com/mogo/tts/pad/PadTTS.java
View File

@@ -74,6 +74,7 @@ public class PadTTS implements IMogoTTS, VoiceClient.VoiceCmdCallBack, OnTtsList
mVoiceClient.release();
if (mEngine != null) {
mEngine.destroy();
mEngine = null;
}
mHasAuth = false;
mSpeakVoiceMap.clear();
@@ -95,11 +96,11 @@ public class PadTTS implements IMogoTTS, VoiceClient.VoiceCmdCallBack, OnTtsList
private static final String TTS_BACK_RES_ZHILING = "zhilingf_common_back_ce_local.v2.1.0.bin";
private int audioRecorderType = DUILiteConfig.TYPE_COMMON_MIC;
//echo module res
private static final String ECHO_RES = "echo/sspe_aec_ch2_mic1_ref1_asr_v2.0.0.95.bin";
private static final String ECHO_RES = "echo/AEC_ch4-2-ch2_2ref_chezai_v2_outgain1_20200407_dw_gain_0.1.bin";
//local tts module res
private static final String TTS_DICT_RES = "aitts_sent_dict_local.db";
private static final String TTS_FRONT_RES = "local_front.bin";
public static final String TTS_BACK_RES_GUODGM = "tts/guodgm_common_back_ce_local.v2.1.0.bin";
public static final String TTS_BACK_RES_GUODGM = "guodgm_common_back_ce_local.v2.1.0.bin";
private AILocalTTSEngine mEngine;
private AILocalTTSIntent mAILocalTTSIntent;
private String[] mBackResBinArray = new String[]{TTS_BACK_RES_ZHILING, TTS_BACK_RES_GUODGM};
@@ -123,9 +124,9 @@ public class PadTTS implements IMogoTTS, VoiceClient.VoiceCmdCallBack, OnTtsList
//echo 配置
EchoConfig echoConfig = new EchoConfig.Builder()
.setAecResource(ECHO_RES)// 2mic AEC资源
.setChannels(2)//设置音频通道数
.setMicNumber(1)//设置mic数
.setSavedDirPath("/sdcard/aispeech/aecPcmFile/")//设置echo前后音频保存路径
.setChannels(4)//设置音频通道数
.setMicNumber(2)//设置mic数
.setSavedDirPath("/sdcard/aispeech/echo")//设置echo前后音频保存路径
.create();
if (BuildConfig.DEBUG) {