diff --git a/core/function-impl/mogo-core-function-autopilot/src/main/java/com/mogo/eagle/core/function/autopilot/adapter/MoGoAdasListenerImpl.kt b/core/function-impl/mogo-core-function-autopilot/src/main/java/com/mogo/eagle/core/function/autopilot/adapter/MoGoAdasListenerImpl.kt index 9174f7da53..d43b686d7e 100644 --- a/core/function-impl/mogo-core-function-autopilot/src/main/java/com/mogo/eagle/core/function/autopilot/adapter/MoGoAdasListenerImpl.kt +++ b/core/function-impl/mogo-core-function-autopilot/src/main/java/com/mogo/eagle/core/function/autopilot/adapter/MoGoAdasListenerImpl.kt @@ -1,5 +1,6 @@ package com.mogo.eagle.core.function.autopilot.adapter +import android.location.Location import chassis.VehicleStateOuterClass import com.mogo.eagle.core.data.app.AppConfigInfo import com.mogo.eagle.core.data.config.FunctionBuildConfig @@ -48,6 +49,7 @@ import com.mogo.eagle.core.function.call.autopilot.CallerAutopilotPointCloudList import com.mogo.eagle.core.function.call.autopilot.CallerAutopilotRecordListenerManager.invokeAutopilotRecordResult import com.mogo.eagle.core.function.call.autopilot.CallerAutopilotVehicleStateListenerManager import com.mogo.eagle.core.function.call.map.CallerMapUIServiceManager +import com.mogo.map.navi.MogoCarLocationChangedListenerRegister import com.zhidao.support.adas.high.AdasManager import com.zhidao.support.adas.high.OnAdasListener import com.zhidao.support.adas.high.bean.AutopilotAbility @@ -77,12 +79,12 @@ class MoGoAdasListenerImpl : OnAdasListener { //车前引导线 @ChainLog( - linkChainLog = CHAIN_LINK_LOG_WEB_SOCKET_TRAJECTORY, - linkCode = CHAIN_LINK_ADAS, - endpoint = PAD, - nodeAliasCode = CHAIN_ALIAS_CODE_ADAS_MESSAGE_AUTOPILOT_TRAJECTORY, - paramIndexes = [0, 1], - clientPkFileName = "sn" + linkChainLog = CHAIN_LINK_LOG_WEB_SOCKET_TRAJECTORY, + linkCode = CHAIN_LINK_ADAS, + endpoint = PAD, + nodeAliasCode = CHAIN_ALIAS_CODE_ADAS_MESSAGE_AUTOPILOT_TRAJECTORY, + paramIndexes = [0, 1], + clientPkFileName = "sn" ) override fun onTrajectory(header: MessagePad.Header, trajectory: MessagePad.Trajectory?) { if (HdMapBuildConfig.isMapLoaded) { @@ -94,16 +96,16 @@ class MoGoAdasListenerImpl : OnAdasListener { //感知物体 @ChainLog( - linkChainLog = CHAIN_LINK_LOG_WEB_SOCKET_DATA_TRACKED, - linkCode = CHAIN_LINK_ADAS, - endpoint = PAD, - nodeAliasCode = CHAIN_ALIAS_CODE_ADAS_MESSAGE_RECT_DATA, - paramIndexes = [0, 1], - clientPkFileName = "sn" + linkChainLog = CHAIN_LINK_LOG_WEB_SOCKET_DATA_TRACKED, + linkCode = CHAIN_LINK_ADAS, + endpoint = PAD, + nodeAliasCode = CHAIN_ALIAS_CODE_ADAS_MESSAGE_RECT_DATA, + paramIndexes = [0, 1], + clientPkFileName = "sn" ) override fun onTrackedObjects( - header: MessagePad.Header, - trackedObjects: MessagePad.TrackedObjects + header: MessagePad.Header, + trackedObjects: MessagePad.TrackedObjects ) { if (HdMapBuildConfig.isMapLoaded) { invokeAutopilotIdentifyDataUpdate(trackedObjects.objsList as List?) @@ -112,12 +114,12 @@ class MoGoAdasListenerImpl : OnAdasListener { //自车定位信息 @ChainLog( - linkChainLog = CHAIN_LINK_LOG_WEB_SOCKET_GNSSINFO, - linkCode = CHAIN_LINK_ADAS, - endpoint = PAD, - nodeAliasCode = CHAIN_ALIAS_CODE_ADAS_MESSAGE_CAR_STATE, - paramIndexes = [0, 1], - clientPkFileName = "sn" + linkChainLog = CHAIN_LINK_LOG_WEB_SOCKET_GNSSINFO, + linkCode = CHAIN_LINK_ADAS, + endpoint = PAD, + nodeAliasCode = CHAIN_ALIAS_CODE_ADAS_MESSAGE_CAR_STATE, + paramIndexes = [0, 1], + clientPkFileName = "sn" ) override fun onGnssInfo(header: MessagePad.Header, gnssInfo: MessagePad.GnssInfo?) { invokeAutopilotCarStateData(gnssInfo) @@ -127,26 +129,41 @@ class MoGoAdasListenerImpl : OnAdasListener { CallerMapUIServiceManager.getMapUIController()?.syncLocation2Map(gnssInfo) // 同步更新经纬度和系统时间至 AutoPilotStatusListener CallerAutoPilotStatusListenerManager.updateAutoPilotLatLon( - gnssInfo.satelliteTime, - gnssInfo.longitude, - gnssInfo.latitude + gnssInfo.satelliteTime, + gnssInfo.longitude, + gnssInfo.latitude ) + + // 直接将工控机惯导数据同步给各个模块 + val sysLocation = Location("GNSS") + sysLocation.altitude = gnssInfo.altitude + sysLocation.latitude = gnssInfo.latitude + sysLocation.longitude = gnssInfo.longitude + sysLocation.provider = "GNSS" + sysLocation.accuracy = gnssInfo.acceleration.toFloat() + sysLocation.time = gnssInfo.satelliteTime.toLong() + sysLocation.bearing = gnssInfo.heading.toFloat() + sysLocation.speed = gnssInfo.gnssSpeed.toFloat() + + if (MogoCarLocationChangedListenerRegister.getInstance().listener != null) { + MogoCarLocationChangedListenerRegister.getInstance().listener.onCarLocationChanged2(sysLocation) + } } } } //自车状态(底盘)，车灯等。 @ChainLog( - linkChainLog = CHAIN_LINK_LOG_WEB_SOCKET_VEHICLE, - linkCode = CHAIN_LINK_ADAS, - endpoint = PAD, - nodeAliasCode = CHAIN_ALIAS_CODE_ADAS_MESSAGE_AUTOPILOT_VEHICLE, - paramIndexes = [0, 1], - clientPkFileName = "sn" + linkChainLog = CHAIN_LINK_LOG_WEB_SOCKET_VEHICLE, + linkCode = CHAIN_LINK_ADAS, + endpoint = PAD, + nodeAliasCode = CHAIN_ALIAS_CODE_ADAS_MESSAGE_AUTOPILOT_VEHICLE, + paramIndexes = [0, 1], + clientPkFileName = "sn" ) override fun onVehicleState( - header: MessagePad.Header, - vehicleState: VehicleStateOuterClass.VehicleState? + header: MessagePad.Header, + vehicleState: VehicleStateOuterClass.VehicleState? ) { if (vehicleState != null) { @@ -172,16 +189,16 @@ class MoGoAdasListenerImpl : OnAdasListener { //自动驾驶状态 @ChainLog( - linkChainLog = CHAIN_LINK_LOG_WEB_SOCKET_AUTOPILOT, - linkCode = CHAIN_LINK_ADAS, - endpoint = PAD, - nodeAliasCode = CHAIN_ALIAS_CODE_ADAS_MESSAGE_AUTOPILOT_STATUS, - paramIndexes = [0, 1], - clientPkFileName = "sn" + linkChainLog = CHAIN_LINK_LOG_WEB_SOCKET_AUTOPILOT, + linkCode = CHAIN_LINK_ADAS, + endpoint = PAD, + nodeAliasCode = CHAIN_ALIAS_CODE_ADAS_MESSAGE_AUTOPILOT_STATUS, + paramIndexes = [0, 1], + clientPkFileName = "sn" ) override fun onAutopilotState( - header: MessagePad.Header, - autopilotState: MessagePad.AutopilotState? + header: MessagePad.Header, + autopilotState: MessagePad.AutopilotState? ) { if (autopilotState != null) { //工控机模拟时间 @@ -216,16 +233,16 @@ class MoGoAdasListenerImpl : OnAdasListener { //监控 @ChainLog( - linkChainLog = CHAIN_LINK_LOG_WEB_SOCKET_AUTOPILOT, - linkCode = CHAIN_LINK_ADAS, - endpoint = PAD, - nodeAliasCode = CHAIN_ALIAS_CODE_ADAS_MESSAGE_AUTOPILOT_GUARDIAN, - paramIndexes = [0, 1], - clientPkFileName = "sn" + linkChainLog = CHAIN_LINK_LOG_WEB_SOCKET_AUTOPILOT, + linkCode = CHAIN_LINK_ADAS, + endpoint = PAD, + nodeAliasCode = CHAIN_ALIAS_CODE_ADAS_MESSAGE_AUTOPILOT_GUARDIAN, + paramIndexes = [0, 1], + clientPkFileName = "sn" ) override fun onReportMessage( - header: MessagePad.Header, - mogoReportMessage: MogoReportMsg.MogoReportMessage? + header: MessagePad.Header, + mogoReportMessage: MogoReportMsg.MogoReportMessage? ) { if (HdMapBuildConfig.isMapLoaded) { invokeAutopilotGuardian(mogoReportMessage) @@ -234,27 +251,27 @@ class MoGoAdasListenerImpl : OnAdasListener { //感知红绿灯 @ChainLog( - linkChainLog = CHAIN_LINK_LOG_WEB_SOCKET_TRAFFIC_LIGHT, - linkCode = CHAIN_LINK_ADAS, - endpoint = PAD, - nodeAliasCode = CHAIN_ALIAS_CODE_ADAS_MESSAGE_AUTOPILOT_TRAFFIC_LIGHT, - paramIndexes = [0, 1], - clientPkFileName = "sn" + linkChainLog = CHAIN_LINK_LOG_WEB_SOCKET_TRAFFIC_LIGHT, + linkCode = CHAIN_LINK_ADAS, + endpoint = PAD, + nodeAliasCode = CHAIN_ALIAS_CODE_ADAS_MESSAGE_AUTOPILOT_TRAFFIC_LIGHT, + paramIndexes = [0, 1], + clientPkFileName = "sn" ) override fun onPerceptionTrafficLight( - header: MessagePad.Header?, - trafficLights: TrafficLightOuterClass.TrafficLights? + header: MessagePad.Header?, + trafficLights: TrafficLightOuterClass.TrafficLights? ) { if (trafficLights != null) { CallerAutopilotIdentifyListenerManager.invokeAutopilotPerceptionTrafficLight( - trafficLights + trafficLights ) } } override fun onPredictionObstacleTrajectory( - header: MessagePad.Header?, - predictionObjects: Prediction.mPredictionObjects? + header: MessagePad.Header?, + predictionObjects: Prediction.mPredictionObjects? ) { //他车轨迹预测 } @@ -272,16 +289,16 @@ class MoGoAdasListenerImpl : OnAdasListener { //planning障碍物 @ChainLog( - linkChainLog = CHAIN_LINK_LOG_WEB_SOCKET_PLANNING_OBJECTS, - linkCode = CHAIN_LINK_ADAS, - endpoint = PAD, - nodeAliasCode = CHAIN_ALIAS_CODE_ADAS_MESSAGE_PLANNING_OBJECTS, - paramIndexes = [0, 1], - clientPkFileName = "sn" + linkChainLog = CHAIN_LINK_LOG_WEB_SOCKET_PLANNING_OBJECTS, + linkCode = CHAIN_LINK_ADAS, + endpoint = PAD, + nodeAliasCode = CHAIN_ALIAS_CODE_ADAS_MESSAGE_PLANNING_OBJECTS, + paramIndexes = [0, 1], + clientPkFileName = "sn" ) override fun onPlanningObjects( - header: MessagePad.Header?, - planningObjects: MessagePad.PlanningObjects + header: MessagePad.Header?, + planningObjects: MessagePad.PlanningObjects ) { if (HdMapBuildConfig.isMapLoaded) { invokeAutopilotIdentifyPlanningObj(planningObjects.objsList as List) @@ -289,24 +306,24 @@ class MoGoAdasListenerImpl : OnAdasListener { } override fun onBasicInfoReq( - header: MessagePad.Header, - basicInfoReq: MessagePad.BasicInfoReq? + header: MessagePad.Header, + basicInfoReq: MessagePad.BasicInfoReq? ) { invokeAutopilotSNRequest() } //工控机基础配置信息 @ChainLog( - linkChainLog = CHAIN_LINK_LOG_CONNECT_STATUS, - linkCode = CHAIN_LINK_ADAS, - endpoint = PAD, - nodeAliasCode = CHAIN_ALIAS_CODE_ADAS_MESSAGE_CAR_CONFIG, - paramIndexes = [0, 1], - clientPkFileName = "sn" + linkChainLog = CHAIN_LINK_LOG_CONNECT_STATUS, + linkCode = CHAIN_LINK_ADAS, + endpoint = PAD, + nodeAliasCode = CHAIN_ALIAS_CODE_ADAS_MESSAGE_CAR_CONFIG, + paramIndexes = [0, 1], + clientPkFileName = "sn" ) override fun onCarConfigResp( - header: MessagePad.Header, - carConfigResp: MessagePad.CarConfigResp? + header: MessagePad.Header, + carConfigResp: MessagePad.CarConfigResp? ) { if (HdMapBuildConfig.isMapLoaded && carConfigResp != null) { AppConfigInfo.plateNumber = carConfigResp.plateNumber//车牌号 @@ -318,16 +335,16 @@ class MoGoAdasListenerImpl : OnAdasListener { //全局路径规划 @ChainLog( - linkChainLog = CHAIN_LINK_LOG_WEB_SOCKET_AUTOPILOT, - linkCode = CHAIN_LINK_ADAS, - endpoint = PAD, - nodeAliasCode = CHAIN_ALIAS_CODE_ADAS_MESSAGE_AUTOPILOT_ROUTE, - paramIndexes = [0, 1], - clientPkFileName = "sn" + linkChainLog = CHAIN_LINK_LOG_WEB_SOCKET_AUTOPILOT, + linkCode = CHAIN_LINK_ADAS, + endpoint = PAD, + nodeAliasCode = CHAIN_ALIAS_CODE_ADAS_MESSAGE_AUTOPILOT_ROUTE, + paramIndexes = [0, 1], + clientPkFileName = "sn" ) override fun onGlobalPathResp( - header: MessagePad.Header, - globalPathResp: MessagePad.GlobalPathResp? + header: MessagePad.Header, + globalPathResp: MessagePad.GlobalPathResp? ) { if (HdMapBuildConfig.isMapLoaded) { invokeAutopilotRotting(globalPathResp) @@ -336,16 +353,16 @@ class MoGoAdasListenerImpl : OnAdasListener { //数据采集，badCase @ChainLog( - linkChainLog = CHAIN_LINK_LOG_WEB_SOCKET_AUTOPILOT, - linkCode = CHAIN_LINK_ADAS, - endpoint = PAD, - nodeAliasCode = CHAIN_ALIAS_CODE_ADAS_MESSAGE_AUTOPILOT_RECORD, - paramIndexes = [0, 1], - clientPkFileName = "sn" + linkChainLog = CHAIN_LINK_LOG_WEB_SOCKET_AUTOPILOT, + linkCode = CHAIN_LINK_ADAS, + endpoint = PAD, + nodeAliasCode = CHAIN_ALIAS_CODE_ADAS_MESSAGE_AUTOPILOT_RECORD, + paramIndexes = [0, 1], + clientPkFileName = "sn" ) override fun onRecordResult( - header: MessagePad.Header, - recordPanel: RecordPanelOuterClass.RecordPanel? + header: MessagePad.Header, + recordPanel: RecordPanelOuterClass.RecordPanel? ) { if (recordPanel != null) { invokeAutopilotRecordResult(recordPanel) @@ -367,16 +384,16 @@ class MoGoAdasListenerImpl : OnAdasListener { //到站回调 @ChainLog( - linkChainLog = CHAIN_LINK_LOG_WEB_SOCKET_AUTOPILOT, - linkCode = CHAIN_LINK_ADAS, - endpoint = PAD, - nodeAliasCode = CHAIN_ALIAS_CODE_ADAS_MESSAGE_AUTOPILOT_ARRIVE, - paramIndexes = [0, 1], - clientPkFileName = "sn" + linkChainLog = CHAIN_LINK_LOG_WEB_SOCKET_AUTOPILOT, + linkCode = CHAIN_LINK_ADAS, + endpoint = PAD, + nodeAliasCode = CHAIN_ALIAS_CODE_ADAS_MESSAGE_AUTOPILOT_ARRIVE, + paramIndexes = [0, 1], + clientPkFileName = "sn" ) override fun onArrivalNotification( - header: MessagePad.Header, - arrivalNotification: MessagePad.ArrivalNotification? + header: MessagePad.Header, + arrivalNotification: MessagePad.ArrivalNotification? ) { if (HdMapBuildConfig.isMapLoaded) { invokeArriveAtStation(arrivalNotification) @@ -385,16 +402,16 @@ class MoGoAdasListenerImpl : OnAdasListener { //状态查询应答 @ChainLog( - linkChainLog = CHAIN_LINK_LOG_WEB_SOCKET_AUTOPILOT, - linkCode = CHAIN_LINK_ADAS, - endpoint = PAD, - nodeAliasCode = CHAIN_ALIAS_CODE_ADAS_STATUS_QUERY_RESP, - paramIndexes = [0, 1], - clientPkFileName = "sn" + linkChainLog = CHAIN_LINK_LOG_WEB_SOCKET_AUTOPILOT, + linkCode = CHAIN_LINK_ADAS, + endpoint = PAD, + nodeAliasCode = CHAIN_ALIAS_CODE_ADAS_STATUS_QUERY_RESP, + paramIndexes = [0, 1], + clientPkFileName = "sn" ) override fun onStatusQueryResp( - header: MessagePad.Header?, - statusInfo: SystemStatusInfo.StatusInfo? + header: MessagePad.Header?, + statusInfo: SystemStatusInfo.StatusInfo? ) { invokeAutopilotStatusRespByQuery(statusInfo) } @@ -403,8 +420,8 @@ class MoGoAdasListenerImpl : OnAdasListener { * 数据采集配置应答 */ override fun onRecordDataConfigResp( - header: MessagePad.Header?, - config: MessagePad.RecordDataConfig? + header: MessagePad.Header?, + config: MessagePad.RecordDataConfig? ) { } @@ -413,16 +430,16 @@ class MoGoAdasListenerImpl : OnAdasListener { * planning决策状态, 透传 */ @ChainLog( - linkChainLog = CHAIN_LINK_LOG_WEB_SOCKET_PLANNING_ACTIONS, - linkCode = CHAIN_LINK_ADAS, - endpoint = PAD, - nodeAliasCode = CHAIN_ALIAS_CODE_ADAS_MESSAGE_PLANNING_ACTIONS, - paramIndexes = [0, 1], - clientPkFileName = "sn" + linkChainLog = CHAIN_LINK_LOG_WEB_SOCKET_PLANNING_ACTIONS, + linkCode = CHAIN_LINK_ADAS, + endpoint = PAD, + nodeAliasCode = CHAIN_ALIAS_CODE_ADAS_MESSAGE_PLANNING_ACTIONS, + paramIndexes = [0, 1], + clientPkFileName = "sn" ) override fun onPlanningActionMsg( - header: MessagePad.Header?, - planningActionMsg: MessagePad.PlanningActionMsg? + header: MessagePad.Header?, + planningActionMsg: MessagePad.PlanningActionMsg? ) { planningActionMsg?.let { invokePNCActions(it) diff --git a/libraries/mogo-map/src/main/java/com/mogo/map/AMapViewWrapper.java b/libraries/mogo-map/src/main/java/com/mogo/map/AMapViewWrapper.java index fa71aec7a7..8c47f680c6 100644 --- a/libraries/mogo-map/src/main/java/com/mogo/map/AMapViewWrapper.java +++ b/libraries/mogo-map/src/main/java/com/mogo/map/AMapViewWrapper.java @@ -744,15 +744,6 @@ public class AMapViewWrapper implements IMogoMapView, mainHandler.removeCallbacks(mLocationTask); mainHandler.post(mLocationTask); } - Location sysLocation = new Location(location.getProvider()); - sysLocation.setAltitude(location.getAltitude()); - sysLocation.setLatitude(location.getLat()); - sysLocation.setLongitude(location.getLon()); - sysLocation.setProvider(location.getProvider()); - sysLocation.setAccuracy(location.getAcceleration()); - sysLocation.setTime(location.duration); - sysLocation.setBearing((float) location.getHeading()); - sysLocation.setSpeed(location.getSpeed()); // 将有效经纬度暂存本地，提供给下一次的Http-DNS使用，防止首次请求位置获取不到 if (location.getLat() > 0 && location.getLon() > 0) { @@ -766,9 +757,7 @@ public class AMapViewWrapper implements IMogoMapView, .putString(SharedPrefsConstants.LOCATION_LONGITUDE, String.valueOf(location.getLon())); } - if (MogoCarLocationChangedListenerRegister.getInstance().getListener() != null) { - MogoCarLocationChangedListenerRegister.getInstance().getListener().onCarLocationChanged2(sysLocation); - } + if (checkAMapView() && mMapLoaded) { // 地图初始化完成后，每隔5s自动判断当前地图的模式 if (mIsFirstLocated) {