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配合修改收不到can数据问题

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lixiaopeng
2021-11-25 15:38:03 +08:00
parent 93c647a198
commit bfd14106e0
5 changed files with 30 additions and 3 deletions
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4
config.gradle
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@@ -112,8 +112,8 @@ ext {
// obu sdk
obusdk : "com.zhidao.enterprise.smartv2x:smartv2x:1.0.0.3",
mogoobu : 'com.zhidao.support.obu:mogoobu:1.0.0.17',
mogoami : 'com.zhidao.support.obu.ami:mogoami:1.0.0.4',
mogoobu : 'com.zhidao.support.obu:mogoobu:1.0.0.18',
mogoami : 'com.zhidao.support.obu.ami:mogoami:1.0.0.9',
adasHigh : 'com.zhidao.support.adas:high:1.2.0.14',
// google

2
core/function-impl/mogo-core-function-main/build.gradle
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@@ -60,6 +60,8 @@ dependencies {
implementation rootProject.ext.dependencies.arouter
kapt rootProject.ext.dependencies.aroutercompiler
implementation rootProject.ext.dependencies.mogoami
if (Boolean.valueOf(USE_MAVEN_PACKAGE)) {
implementation rootProject.ext.dependencies.mogoaicloudservicesdk
implementation rootProject.ext.dependencies.mogocommons

15
core/function-impl/mogo-core-function-main/src/main/java/com/mogo/eagle/core/function/main/MainMoGoApplication.java
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@@ -17,6 +17,7 @@ import com.mogo.commons.AbsMogoApplication;
import com.mogo.commons.constants.SharedPrefsConstants;
import com.mogo.commons.debug.DebugConfig;
import com.mogo.commons.network.Utils;
import com.mogo.eagle.core.data.constants.MoGoConfig;
import com.mogo.eagle.core.data.constants.MogoServicePaths;
import com.mogo.eagle.core.data.map.MogoLocation;
import com.mogo.map.MapApiPath;
@@ -38,6 +39,7 @@ import com.mogo.utils.ProcessUtils;
import com.mogo.utils.logger.Logger;
import com.mogo.utils.storage.SharedPrefsMgr;
import com.zhidao.boot.persistent.lib.PersistentManager;
import com.zhidao.support.obu.ami.AmiClientManager;
/**
* 默认初始化一些基础服务配置
@@ -160,7 +162,11 @@ public abstract class MainMoGoApplication extends AbsMogoApplication {
clientConfig.setThirdPartyDeviceId(Utils.getDevicesId());
// 设置循环检测间隔时间
clientConfig.setLoopCheckDelay(5 * 1000);
//连接ami
connectAmiIp();
// todo 使用旧链路
// clientConfig.setUseOriginSocket(true);
clientConfig.setIHttpDnsCurrentLocation(() -> {
MogoLocation mogoLocation =
@@ -220,6 +226,15 @@ public abstract class MainMoGoApplication extends AbsMogoApplication {
);
}
/**
* 连接ami
*/
private void connectAmiIp() {
String ipAddress = SharedPrefsMgr.getInstance(AbsMogoApplication.getApp().getBaseContext()).getString(MoGoConfig.OBU_IP, "192.168.1.199");
Logger.d("OnAdasListenerAdapter", "application --ipAddress = " + ipAddress);
AmiClientManager.getInstance().setObuIp(ipAddress);
}
/**
* 上传自车位置信息到云端
*/

1
core/function-impl/mogo-core-function-obu-mogo/src/main/java/com/mogo/eagle/core/function/obu/mogo/MogoPrivateObuManager.kt
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@@ -55,6 +55,7 @@ class MogoPrivateObuManager private constructor() {
fun connectObu(context: Context, ipAddress: String) {
//自研obu初始化
mObuStatusInfo.connectIP = ipAddress
if (!MogoObuManager.getInstance().isConnected) {
MogoObuManager.getInstance().connect(context, mObuStatusInfo.connectIP)
} else {

11
modules/mogo-module-adas/src/main/java/com/mogo/module/adas/OnAdasListenerAdapter.java
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@@ -2,6 +2,7 @@ package com.mogo.module.adas;
import android.util.Log;
import com.mogo.commons.AbsMogoApplication;
import com.mogo.eagle.core.data.autopilot.ADASTrajectoryInfo;
import com.mogo.eagle.core.data.autopilot.AutopilotCarStateInfo;
import com.mogo.eagle.core.data.autopilot.AutopilotGuardianStatusInfo;
@@ -9,12 +10,14 @@ import com.mogo.eagle.core.data.autopilot.AutopilotRouteInfo;
import com.mogo.eagle.core.data.autopilot.AutopilotStationInfo;
import com.mogo.eagle.core.data.autopilot.AutopilotStatusInfo;
import com.mogo.eagle.core.data.autopilot.AutopilotWarnMessage;
import com.mogo.eagle.core.data.constants.MoGoConfig;
import com.mogo.eagle.core.data.traffic.TrafficData;
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.CallerAutopilotPlanningListenerManager;
import com.mogo.utils.logger.Logger;
import com.mogo.utils.storage.SharedPrefsMgr;
import com.zhidao.support.adas.high.AdasManager;
import com.zhidao.support.adas.high.OnAdasListener;
import com.zhidao.support.adas.high.bean.AutopilotRoute;
@@ -42,22 +45,28 @@ import java.util.List;
public class OnAdasListenerAdapter implements OnAdasListener {
private final String TAG = "OnAdasListenerAdapter";
@Override
public void onRectData(RectInfo rectInfo) {
ArrayList<TrafficData> recognizedListResults = AdasObjectUtils.INSTANCE.regroupTrafficDataData(rectInfo.getModels());
CallerAutopilotIdentifyListenerManager.INSTANCE.invokeAutopilotIdentifyDataUpdate(recognizedListResults);
}
@Override
public void onCarStateData(CarStateInfo carStateInfo) {
Logger.d(TAG, "----1----carStateInfo.toString() = " + carStateInfo.toString());
AutopilotCarStateInfo autopilotCarStateInfo = AdasObjectUtils.INSTANCE.fromAdasCarStateInfoObject(carStateInfo);
CallerAutopilotCarStatusListenerManager.INSTANCE.invokeAutopilotCarStateData(autopilotCarStateInfo);
Logger.d(TAG, "----2----carStateInfo.toString() = " + carStateInfo.toString());
//can数据转发
CarStateInfo.ValuesBean bean = carStateInfo.getValues();
if (bean != null) {
int turn_light = bean.getTurn_light(); //转向灯状态 0是正常 1是左转 2是右转
Logger.d(TAG, "onCarStateData ---- turn_light = " + turn_light);
AmiClientManager.getInstance().setTurnLightState(turn_light);
} else {
Logger.e(TAG, "bean == null ");
}
}