From 981d2e7f24dfe00e4354c33fa6dca073a634be49 Mon Sep 17 00:00:00 2001 From: yangyakun Date: Fri, 20 Jun 2025 11:24:27 +0800 Subject: [PATCH 1/4] =?UTF-8?q?[8.1.0]=20[fea]=20[Vlm=20=E6=8E=A5=E5=85=A5?= =?UTF-8?q?]?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- .../com/mogo/och/bridge/BridgeProvider.kt | 27 ++++++- .../mogo/och/bridge/BridgeServiceManager.kt | 62 ++++----------- .../java/com/mogo/och/bridge/bridge/Data.kt | 42 ++++++++++ .../och/bridge/bridge/OchBridgeManager.kt | 55 +++++++++++-- .../mogo/och/bridge/bridge/OchNdeManager.kt} | 33 ++++---- .../mogo/och/bridge/bridge/OchVlmManager.kt | 58 ++++++++++++++ .../common/module/debug/DebugDataDispatch.kt | 35 ++++++++- .../src/debug/res/drawable/common_debug.webp | Bin 0 -> 186858 bytes .../module/biz/birdge/BridgeListener.kt | 7 ++ .../common/module/biz/birdge/data/RoadMsg.kt | 8 ++ .../common/module/biz/birdge/data/VlmData.kt | 28 +++++++ .../och/common/module/manager/EnvManager.kt | 45 +++++++++++ .../weaknet/passenger/ui/PM2BaseFragment.kt | 9 ++- .../ui/mind/adapter/AINDERoadAdapter.kt | 6 +- .../ui/mind/bean/AssistantMessage.kt | 14 ++-- .../passenger/ui/mind/data/NDEViewModel.kt | 74 +++--------------- .../unmanned/passenger/ui/aiview/AiView.kt | 14 ++-- .../ui/aiview/adapter/AIMessageAdapter.kt | 2 + .../ui/aiview/adapter/AIMessageViewHolder.kt | 38 ++++++++- .../ui/aiview/adapter/AINDERoadAdapter.kt | 6 +- .../ui/aiview/bean/AssistantMessage.kt | 15 ++-- .../AutomaticExplorationViewModel.kt | 4 +- .../passenger/ui/aiview/data/NDEViewModel.kt | 39 +++++++++ .../aiview/{ => data}/PNCActionsViewModel.kt | 5 +- .../{ => data}/RoadCrossRoamViewModel.kt | 6 +- .../{ => data}/RoadV2NEventViewModel.kt | 3 +- .../main/res/layout/item_ai_vlm_action.xml | 51 ++++++++++++ .../hmi/ui/setting/DebugSettingView.kt | 5 +- .../constants/SharedPrefsConstants.java | 2 + 29 files changed, 514 insertions(+), 179 deletions(-) create mode 100644 OCH/common/bridge/src/main/java/com/mogo/och/bridge/bridge/Data.kt rename OCH/{taxi/unmanned-passenger/src/main/java/com/mogo/och/unmanned/passenger/ui/aiview/NDEViewModel.kt => common/bridge/src/main/java/com/mogo/och/bridge/bridge/OchNdeManager.kt} (81%) create mode 100644 OCH/common/bridge/src/main/java/com/mogo/och/bridge/bridge/OchVlmManager.kt create mode 100644 OCH/common/common/src/debug/res/drawable/common_debug.webp create mode 100644 OCH/common/common/src/main/java/com/mogo/och/common/module/biz/birdge/data/RoadMsg.kt create mode 100644 OCH/common/common/src/main/java/com/mogo/och/common/module/biz/birdge/data/VlmData.kt create mode 100644 OCH/common/common/src/main/java/com/mogo/och/common/module/manager/EnvManager.kt rename OCH/taxi/unmanned-passenger/src/main/java/com/mogo/och/unmanned/passenger/ui/aiview/{ => data}/AutomaticExplorationViewModel.kt (97%) create mode 100644 OCH/taxi/unmanned-passenger/src/main/java/com/mogo/och/unmanned/passenger/ui/aiview/data/NDEViewModel.kt rename OCH/taxi/unmanned-passenger/src/main/java/com/mogo/och/unmanned/passenger/ui/aiview/{ => data}/PNCActionsViewModel.kt (98%) rename OCH/taxi/unmanned-passenger/src/main/java/com/mogo/och/unmanned/passenger/ui/aiview/{ => data}/RoadCrossRoamViewModel.kt (94%) rename OCH/taxi/unmanned-passenger/src/main/java/com/mogo/och/unmanned/passenger/ui/aiview/{ => data}/RoadV2NEventViewModel.kt (95%) create mode 100644 OCH/taxi/unmanned-passenger/src/main/res/layout/item_ai_vlm_action.xml diff --git a/OCH/common/bridge/src/main/java/com/mogo/och/bridge/BridgeProvider.kt b/OCH/common/bridge/src/main/java/com/mogo/och/bridge/BridgeProvider.kt index 54f444b221..2d796baca7 100644 --- a/OCH/common/bridge/src/main/java/com/mogo/och/bridge/BridgeProvider.kt +++ b/OCH/common/bridge/src/main/java/com/mogo/och/bridge/BridgeProvider.kt @@ -10,10 +10,14 @@ import com.mogo.eagle.core.utilcode.util.CoordinateUtils import com.mogo.och.bridge.autopilot.location.OchLocationManager import com.mogo.och.bridge.distance.TrajectoryAndDistanceManager import com.mogo.och.bridge.bridge.OchBridgeManager +import com.mogo.och.bridge.bridge.OchVlmManager import com.mogo.och.bridge.trajectory.TrajectoryManager import com.mogo.och.common.module.biz.birdge.BridgeService import com.mogo.och.common.module.biz.birdge.BridgeListener +import com.mogo.och.common.module.biz.birdge.data.RoadMsg +import com.mogo.och.common.module.biz.birdge.data.VlmData import com.mogo.och.common.module.constant.OchCommonConst +import com.mogo.och.common.module.manager.EnvManager /** @@ -29,7 +33,16 @@ class BridgeProvider : BridgeService, CallerBase() { override fun init(context: Context?) { this.context = context - OchBridgeManager.load() + + // 车前引导线+预测数据 + if(EnvManager.isB2Passenger()||EnvManager.isT1T2Passenger()){ + OchBridgeManager.load() + } + +// if(EnvManager.isT1T2Passenger()){ + OchVlmManager.load() +// } + TrajectoryManager.load() } @@ -92,5 +105,17 @@ class BridgeProvider : BridgeService, CallerBase() { } } + fun invokeVlmDataDispatch(vlmData:VlmData){ + M_LISTENERS.forEach { + it.value.onVlmDataListener(vlmData) + } + } + + fun inVokeNdeData(title: String, desc: String, sortedList: List) { + M_LISTENERS.forEach { + it.value.onNdeDataListener(title,desc,sortedList) + } + } + } \ No newline at end of file diff --git a/OCH/common/bridge/src/main/java/com/mogo/och/bridge/BridgeServiceManager.kt b/OCH/common/bridge/src/main/java/com/mogo/och/bridge/BridgeServiceManager.kt index e600572140..048b82028f 100644 --- a/OCH/common/bridge/src/main/java/com/mogo/och/bridge/BridgeServiceManager.kt +++ b/OCH/common/bridge/src/main/java/com/mogo/och/bridge/BridgeServiceManager.kt @@ -3,13 +3,10 @@ package com.mogo.och.bridge import android.annotation.SuppressLint import com.alibaba.android.arouter.launcher.ARouter import com.mogo.eagle.core.data.map.MogoLocation -import com.mogo.eagle.core.utilcode.mogo.logger.CallerLogger import com.mogo.eagle.core.utilcode.mogo.logger.scene.SceneConstant.Companion.M_OCHCOMMON +import com.mogo.och.common.module.biz.birdge.data.RoadMsg +import com.mogo.och.common.module.biz.birdge.data.VlmData import com.mogo.och.common.module.constant.OchCommonConst -import com.mogo.och.common.module.manager.loop.BizLoopManager -import com.mogo.och.common.module.manager.loop.LoopInfo -import io.reactivex.schedulers.Schedulers -import kotlin.properties.Delegates object BridgeServiceManager { @@ -19,52 +16,12 @@ object BridgeServiceManager { private var bridgeService: BridgeProvider? = ARouter.getInstance().build(OchCommonConst.BIZ_Bridge).navigation() as BridgeProvider - private var trajectoryTime = 0L - private var predictionTime = 0L - - init { - BizLoopManager.setLoopFunction(TAG, - LoopInfo(2, ::checkTimeout, immediately = false, scheduler = Schedulers.io()) - ) - } - - // 是否有车前引导线 - private var haveTrajectoryInfo: Boolean by Delegates.observable(false) { _, oldValue, newValue -> - if (oldValue != newValue) { - bridgeService?.invokeTrajectoryHaveDataListener(newValue) - CallerLogger.d(TAG,"haveTrajectoryInfo 发生变化：${newValue}") - } - trajectoryTime = System.currentTimeMillis() - - } - - // 是否有预测数据 - private var havePredictionInfo: Boolean by Delegates.observable(false) { _, oldValue, newValue -> - if (oldValue != newValue) { - bridgeService?.invokePredictionHavaData(newValue) - CallerLogger.d(TAG,"havePredictionInfo 发生变化：${newValue}") - } - predictionTime = System.currentTimeMillis() - } - - fun checkTimeout(){ - if(System.currentTimeMillis() - trajectoryTime>2_000){ - haveTrajectoryInfo = false - CallerLogger.d(TAG,"超时设置为false：haveTrajectoryInfo ${haveTrajectoryInfo}") - } - if(System.currentTimeMillis() - predictionTime>2_000){ - havePredictionInfo = false - CallerLogger.d(TAG,"超时设置为false：havePredictionInfo ${havePredictionInfo}") - } - } - - fun invokePlanningListener(haveTrajectoryInfos:Boolean){ - this.haveTrajectoryInfo = haveTrajectoryInfos + bridgeService?.invokeTrajectoryHaveDataListener(haveTrajectoryInfos) } fun invokePredictionHaveData(havePredictionInfos:Boolean){ - this.havePredictionInfo = havePredictionInfos + bridgeService?.invokePredictionHavaData(havePredictionInfos) } fun invokeTrajectoryPoints(trajectoryList: MutableList){ @@ -78,4 +35,15 @@ object BridgeServiceManager { this.bridgeService?.invokeTrajectoryPointAndDistance(trajectoryList, distance) } + /** + * 分发vmData + */ + fun invokeVlmData(vlmData: VlmData){ + this.bridgeService?.invokeVlmDataDispatch(vlmData) + } + + fun invokeNdeData(title: String, desc: String, sortedList: List) { + this.bridgeService?.inVokeNdeData(title,desc,sortedList) + } + } \ No newline at end of file diff --git a/OCH/common/bridge/src/main/java/com/mogo/och/bridge/bridge/Data.kt b/OCH/common/bridge/src/main/java/com/mogo/och/bridge/bridge/Data.kt new file mode 100644 index 0000000000..834a40af21 --- /dev/null +++ b/OCH/common/bridge/src/main/java/com/mogo/och/bridge/bridge/Data.kt @@ -0,0 +1,42 @@ +package com.mogo.och.bridge.bridge + +data class VlmImageData(val imageSourceTimestamp: Double ,var image: ByteArray?) { + override fun equals(other: Any?): Boolean { + if (this === other) return true + if (javaClass != other?.javaClass) return false + + other as VlmImageData + + return imageSourceTimestamp == other.imageSourceTimestamp + } + + override fun hashCode(): Int { + return imageSourceTimestamp.hashCode() + } + + override fun toString(): String { + return "VlmImageData(imageSourceTimestamp=$imageSourceTimestamp)" + } + + +} + +data class VlmMessageData(val messageSourceTimestamp: Double ,val id:Int?,val message:String?){ + override fun equals(other: Any?): Boolean { + if (this === other) return true + if (javaClass != other?.javaClass) return false + + other as VlmMessageData + +// if (messageSourceTimestamp != other.messageSourceTimestamp) return false + if (id != other.id) return false + + return true + } + + override fun hashCode(): Int { + var result = messageSourceTimestamp.hashCode() + result = 31 * result + (id ?: 0) + return result + } +} diff --git a/OCH/common/bridge/src/main/java/com/mogo/och/bridge/bridge/OchBridgeManager.kt b/OCH/common/bridge/src/main/java/com/mogo/och/bridge/bridge/OchBridgeManager.kt index 9009316cb3..8955f6fcd7 100644 --- a/OCH/common/bridge/src/main/java/com/mogo/och/bridge/bridge/OchBridgeManager.kt +++ b/OCH/common/bridge/src/main/java/com/mogo/och/bridge/bridge/OchBridgeManager.kt @@ -4,24 +4,62 @@ import com.mogo.eagle.core.function.api.autopilot.IMoGoAutopilotIdentifyListener import com.mogo.eagle.core.function.api.autopilot.IMoGoPlanningTrajectoryListener import com.mogo.eagle.core.function.call.autopilot.CallerAutopilotIdentifyListenerManager import com.mogo.eagle.core.function.call.autopilot.CallerPlanningTrajectoryListenerManager -import com.mogo.eagle.core.function.call.base.CallerBase import com.mogo.eagle.core.utilcode.mogo.logger.CallerLogger import com.mogo.eagle.core.utilcode.mogo.logger.scene.SceneConstant.Companion.M_OCHCOMMON import com.mogo.och.bridge.BridgeServiceManager +import com.mogo.och.common.module.manager.loop.BizLoopManager +import com.mogo.och.common.module.manager.loop.LoopInfo +import io.reactivex.schedulers.Schedulers import prediction2025.Prediction2025 import mogo.telematics.pad.MessagePad +import kotlin.properties.Delegates -object OchBridgeManager: CallerBase(), - IMoGoPlanningTrajectoryListener, IMoGoAutopilotIdentifyListener { +object OchBridgeManager: IMoGoPlanningTrajectoryListener, IMoGoAutopilotIdentifyListener { private val TAG = "${M_OCHCOMMON}OchPlanningListenerManager" + + private var trajectoryTime = 0L + private var predictionTime = 0L + fun load(){ CallerPlanningTrajectoryListenerManager.addListener(TAG,this) CallerAutopilotIdentifyListenerManager.addListener(TAG,this) + BizLoopManager.setLoopFunction(TAG, LoopInfo(2, ::checkTimeout, immediately = false, scheduler = Schedulers.io())) } fun release(){ CallerPlanningTrajectoryListenerManager.removeListener(TAG) + CallerAutopilotIdentifyListenerManager.removeListener(TAG) + } + + // 是否有车前引导线 + private var haveTrajectoryInfo: Boolean by Delegates.observable(false) { _, oldValue, newValue -> + if (oldValue != newValue) { + BridgeServiceManager.invokePlanningListener(newValue) + CallerLogger.d(TAG,"haveTrajectoryInfo 发生变化：${newValue}") + } + trajectoryTime = System.currentTimeMillis() + + } + + // 是否有预测数据 + private var havePredictionInfo: Boolean by Delegates.observable(false) { _, oldValue, newValue -> + if (oldValue != newValue) { + BridgeServiceManager.invokePredictionHaveData(newValue) + CallerLogger.d(TAG,"havePredictionInfo 发生变化：${newValue}") + } + predictionTime = System.currentTimeMillis() + } + + fun checkTimeout(){ + if(System.currentTimeMillis() - trajectoryTime>2_000){ + haveTrajectoryInfo = false + CallerLogger.d(TAG,"超时设置为false：haveTrajectoryInfo $haveTrajectoryInfo") + } + if(System.currentTimeMillis() - predictionTime>2_000){ + havePredictionInfo = false + CallerLogger.d(TAG,"超时设置为false：havePredictionInfo $havePredictionInfo") + } } /** @@ -29,17 +67,20 @@ object OchBridgeManager: CallerBase(), */ override fun onAutopilotTrajectory(trajectoryInfos: MutableList) { if(trajectoryInfos.isEmpty()){ - BridgeServiceManager.invokePlanningListener(false) + haveTrajectoryInfo = false }else{ - BridgeServiceManager.invokePlanningListener(true) + haveTrajectoryInfo = true } } + /** + * 预测信息 + */ override fun onPredictionObstacleTrajectory(predictionObjects: Prediction2025.mPredictionObjects) { if (predictionObjects.objsAppList==null) { - BridgeServiceManager.invokePredictionHaveData(false) + havePredictionInfo = false }else{ - BridgeServiceManager.invokePredictionHaveData(true) + havePredictionInfo = true } } diff --git a/OCH/taxi/unmanned-passenger/src/main/java/com/mogo/och/unmanned/passenger/ui/aiview/NDEViewModel.kt b/OCH/common/bridge/src/main/java/com/mogo/och/bridge/bridge/OchNdeManager.kt similarity index 81% rename from OCH/taxi/unmanned-passenger/src/main/java/com/mogo/och/unmanned/passenger/ui/aiview/NDEViewModel.kt rename to OCH/common/bridge/src/main/java/com/mogo/och/bridge/bridge/OchNdeManager.kt index 66c3fc90a0..674401607c 100644 --- a/OCH/taxi/unmanned-passenger/src/main/java/com/mogo/och/unmanned/passenger/ui/aiview/NDEViewModel.kt +++ b/OCH/common/bridge/src/main/java/com/mogo/och/bridge/bridge/OchNdeManager.kt @@ -1,24 +1,28 @@ -package com.mogo.och.unmanned.passenger.ui.aiview +package com.mogo.och.bridge.bridge -import androidx.lifecycle.ViewModel import com.mogo.eagle.core.function.api.autopilot.IMoGoAutopilotIdentifyListener import com.mogo.eagle.core.function.call.autopilot.CallerAutopilotIdentifyListenerManager -import com.mogo.och.unmanned.passenger.ui.aiview.bean.AIMessage +import com.mogo.eagle.core.function.call.autopilot.CallerVlmManager +import com.mogo.eagle.core.utilcode.mogo.logger.scene.SceneConstant.Companion.M_OCHCOMMON +import com.mogo.och.bridge.BridgeServiceManager +import com.mogo.och.common.module.biz.birdge.data.RoadMsg + import mogo.telematics.pad.MessagePad.TrackedObject -class NDEViewModel: ViewModel(), IMoGoAutopilotIdentifyListener { +object OchNdeManager : IMoGoAutopilotIdentifyListener { + private val TAG = "${M_OCHCOMMON}OchVlmManager" - companion object{ - private const val TAG = "NDEViewModel" + fun load(){ + CallerAutopilotIdentifyListenerManager.addListener(TAG, this) + } + + fun release(){ + CallerVlmManager.removeListener(TAG) } private var lastMap2 = HashMap() private var lastTime = 0L - fun init(){ - CallerAutopilotIdentifyListenerManager.addListener(TAG, this) - } - override fun onAutopilotIdentifyDataUpdate(trafficData: List?){ super.onAutopilotIdentifyDataUpdate(trafficData) handleCheLong(trafficData) @@ -27,7 +31,7 @@ class NDEViewModel: ViewModel(), IMoGoAutopilotIdentifyListener { private fun handleCheLong(trafficData: List?) { var hasCheLong = false var isNewData = false - val roadMsgList = ArrayList() + val roadMsgList = ArrayList() val curMap = HashMap() if (lastTime > 0 && System.currentTimeMillis() - lastTime > 60000) { lastMap2.clear()// 清除上次车龙事件的缓存 @@ -55,8 +59,7 @@ class NDEViewModel: ViewModel(), IMoGoAutopilotIdentifyListener { curMap[obj.laneNum] = "0" } // 保存所有车道信息 - roadMsgList.add( - AIMessage.RoadMsg( + roadMsgList.add(RoadMsg( obj.arrowType, laneNum = obj.laneNum, isRecommend = obj.suggestedLanes, @@ -74,10 +77,8 @@ class NDEViewModel: ViewModel(), IMoGoAutopilotIdentifyListener { lastTime = System.currentTimeMillis() val sortedList = roadMsgList.sortedWith(compareByDescending { it.laneNum }) - val ndeEvent = AIMessage.NDEData(System.currentTimeMillis().toString(),"路口车龙","前方路口有车龙",sortedList) - AIMessageManager.post(ndeEvent) + BridgeServiceManager.invokeNdeData("路口车龙","前方路口有车龙",sortedList) } } } - } \ No newline at end of file diff --git a/OCH/common/bridge/src/main/java/com/mogo/och/bridge/bridge/OchVlmManager.kt b/OCH/common/bridge/src/main/java/com/mogo/och/bridge/bridge/OchVlmManager.kt new file mode 100644 index 0000000000..d70f8cccff --- /dev/null +++ b/OCH/common/bridge/src/main/java/com/mogo/och/bridge/bridge/OchVlmManager.kt @@ -0,0 +1,58 @@ +package com.mogo.och.bridge.bridge + +import com.mogo.eagle.core.function.api.autopilot.IVlmListener +import com.mogo.eagle.core.function.call.autopilot.CallerVlmManager +import com.mogo.eagle.core.utilcode.mogo.logger.CallerLogger +import com.mogo.eagle.core.utilcode.mogo.logger.scene.SceneConstant.Companion.M_OCHCOMMON +import com.mogo.och.bridge.BridgeServiceManager +import com.mogo.och.common.module.biz.birdge.data.VlmData +import vllm.Vlm +import kotlin.properties.Delegates + +object OchVlmManager : IVlmListener { + private val TAG = "${M_OCHCOMMON}OchVlmManager" + + fun load(){ + CallerVlmManager.addListener(TAG,this) + } + + fun release(){ + CallerVlmManager.removeListener(TAG) + } + + // + private var vllmImageData: VlmImageData by Delegates.observable(VlmImageData(0.0,null)) { _, oldValue, newValue -> + if (oldValue != newValue) { + if(newValue.imageSourceTimestamp == vllmData.messageSourceTimestamp){ + CallerLogger.d(TAG," message先来 图片后来 发送message和图片 ${newValue.imageSourceTimestamp}---${vllmData.messageSourceTimestamp}") + BridgeServiceManager.invokeVlmData(VlmData(vllmData.id,vllmData.message,newValue.image)) + } + } + } + private var vllmData: VlmMessageData by Delegates.observable(VlmMessageData(0.0,0,"")) { _, oldValue, newValue -> + if (oldValue != newValue) { + if(newValue.messageSourceTimestamp== vllmImageData.imageSourceTimestamp){ + // 图片先来 发送message和图片 + BridgeServiceManager.invokeVlmData(VlmData(newValue.id,newValue.message, + vllmImageData.image) + ) + CallerLogger.d(TAG,"messsage后来 图片先来 发送message和图片 ${newValue.message}----${newValue.messageSourceTimestamp}---${newValue.id}") + }else{ + // message 先来 单独发送message 图片来了后 再次发送出去 + BridgeServiceManager.invokeVlmData(VlmData(newValue.id,newValue.message,null)) + CallerLogger.d(TAG,"message先来 图片后来 发送message ${newValue.message}---${newValue.messageSourceTimestamp}---${newValue.id}") + } + } + } + + + override fun onVllm(sourceTimestamp: Double, vllm: Vlm.VLLMObject) { + if(this.vllmData.id!=vllm.workZone.id){ + this.vllmData = VlmMessageData(sourceTimestamp,vllm.workZone.id,vllm.workZone.sceneExplantion) + } + } + + override fun onVllmImage(sourceTimestamp: Double, image: ByteArray) { + this.vllmImageData = VlmImageData(sourceTimestamp,image) + } +} \ No newline at end of file diff --git a/OCH/common/common/src/debug/java/com/mogo/och/common/module/debug/DebugDataDispatch.kt b/OCH/common/common/src/debug/java/com/mogo/och/common/module/debug/DebugDataDispatch.kt index 0d0219dd1d..51d39aca43 100644 --- a/OCH/common/common/src/debug/java/com/mogo/och/common/module/debug/DebugDataDispatch.kt +++ b/OCH/common/common/src/debug/java/com/mogo/och/common/module/debug/DebugDataDispatch.kt @@ -1,6 +1,8 @@ package com.mogo.och.common.module.debug import android.content.Intent +import android.graphics.Bitmap +import android.graphics.BitmapFactory import android.os.Environment import android.os.SystemClock import chassis.Chassis @@ -8,6 +10,7 @@ import chassis.Chassis.DoorNumber import chassis.VehicleStateOuterClass import com.amap.api.maps.model.LatLng import com.google.gson.reflect.TypeToken +import com.mogo.commons.AbsMogoApplication import com.mogo.eagle.core.data.enums.DataSourceType import com.mogo.eagle.core.data.enums.EventTypeEnumNew import com.mogo.eagle.core.data.map.MogoLocation @@ -24,6 +27,7 @@ import com.mogo.eagle.core.function.call.autopilot.CallerChassisLocationGCJ02Lis import com.mogo.eagle.core.function.call.autopilot.CallerChassisStatesListenerManager import com.mogo.eagle.core.function.call.autopilot.CallerPlanningActionsListenerManager import com.mogo.eagle.core.function.call.autopilot.CallerPlanningRottingListenerManager +import com.mogo.eagle.core.function.call.autopilot.CallerVlmManager import com.mogo.eagle.core.function.call.devatools.CallerDevaToolsManager import com.mogo.eagle.core.function.call.hmi.CallerHmiManager import com.mogo.eagle.core.function.call.map.CallerMapRomaListener @@ -34,24 +38,25 @@ import com.mogo.eagle.core.utilcode.mogo.logger.scene.SceneConstant import com.mogo.eagle.core.utilcode.util.ActivityUtils import com.mogo.eagle.core.utilcode.util.GsonUtils import com.mogo.eagle.core.utilcode.util.ThreadUtils +import com.mogo.och.common.module.R import com.mogo.och.common.module.biz.birdge.BridgeManager import com.mogo.och.common.module.biz.order.OrderManager import com.mogo.och.common.module.debug.location.MogoLocationExit import com.mogo.och.common.module.manager.loop.BizLoopManager -//import com.mogo.och.bridge.distance.TrajectoryAndDistanceManager -//import com.mogo.och.bridge.utils.CoordinateCalculateRouteUtil -//import com.mogo.och.bridge.utils.CoordinateCalculateRouteUtil import com.mogo.och.common.module.view.DebugFloatWindow import com.mogo.och.common.module.wigets.media.MediaBeanManager import com.zhjt.mogo.adas.data.bean.AutopilotStatistics import mogo.telematics.pad.MessagePad import mogo_msg.MogoReportMsg +import vllm.Vlm import java.io.BufferedReader +import java.io.ByteArrayOutputStream import java.io.File import java.io.FileInputStream import java.io.IOException import java.io.InputStreamReader + object DebugDataDispatch { const val TAG = "DebugDataDispatch" @@ -73,6 +78,8 @@ object DebugDataDispatch { const val ota = "ota" const val video = "video" const val mediaMusic = "mediaAndMusic" + const val vlmMessage = "vlmMessage" + const val vlmImage = "vlmImage" // adb shell am broadcast -a com.mogo.launcher.debug -f 0x011000000 --es type "location" --es path "1111/11111" // adb shell am broadcast -a com.mogo.launcher.debug -f 0x011000000 --es type "globalPath" --es path "sy73.json" @@ -89,7 +96,8 @@ object DebugDataDispatch { // adb shell am broadcast -a com.mogo.launcher.debug -f 0x011000000 --es type "showDebugView" // adb shell am broadcast -a com.mogo.launcher.debug -f 0x011000000 --es type "scanner" --es qrInfo "" // adb shell am broadcast -a com.mogo.launcher.debug -f 0x011000000 --es type "ota" --ei "ota" 1 -// adb shell am broadcast -a com.mogo.launcher.debug -f 0x011000000 --es type "video" --ei "video" 1 --es url "rtmp://video.zhidaozhixing.com/live/861130041693196C_2" +// adb shell am broadcast -a com.mogo.launcher.debug -f 0x011000000 --es type "vlmMessage" --es message "前方100米有道路施工，施工长度100米，影响第1、2车道通行。" --ei id 128 --ef time 1880.0 +// adb shell am broadcast -a com.mogo.launcher.debug -f 0x011000000 --es type "vlmImage" --ef time 1880.0 val ROOT_PATH = @@ -102,6 +110,25 @@ object DebugDataDispatch { } when (type) { + vlmMessage -> { + val time = intent.getFloatExtra("time",0f) + val id = intent.getIntExtra("id",0) + val message = intent.getStringExtra("message") + val newBuilder = Vlm.VLLMObject.newBuilder() + val build = newBuilder.workZoneBuilder.setId(id).setSceneExplantion(message).build() + newBuilder.workZone = build + CallerVlmManager.invokeVllm(time.toDouble(),newBuilder.build()) + } + vlmImage -> { + val time = intent.getFloatExtra("time",0f) + BizLoopManager.runInIoThread{ + val bitmap = BitmapFactory.decodeResource(AbsMogoApplication.getApp().resources, R.drawable.common_debug) + val stream = ByteArrayOutputStream() + bitmap.compress(Bitmap.CompressFormat.PNG, 100, stream) + val byteArray = stream.toByteArray() + CallerVlmManager.invokeVllmImage(time.toDouble(),byteArray) + } + } mediaMusic -> { val musicList = MediaBeanManager.getMusicList() val mediaList = MediaBeanManager.getMediaList() diff --git a/OCH/common/common/src/debug/res/drawable/common_debug.webp b/OCH/common/common/src/debug/res/drawable/common_debug.webp new file mode 100644 index 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z0>S?`Goz~B)y|!PyFqF`*ANezz~hiz z>;Sv;eItzQku!M5K@lHD98scRX*Wl)c*|69WRybYt6sRB6p{%y@j^0x74#!S)0U3| z#|0(JX8k6t`i&-6;`4We_Hq^9qQcfzQf~-W_xldPD;4$M&42`gfB*`gi?tvGxN(HG pgvun823>C~l3{KZOoFUF6T5snV6ViMa`Caor{dKQfgYPc0033zB_;p> literal 0 HcmV?d00001 diff --git a/OCH/common/common/src/main/java/com/mogo/och/common/module/biz/birdge/BridgeListener.kt b/OCH/common/common/src/main/java/com/mogo/och/common/module/biz/birdge/BridgeListener.kt index 14b452a186..8d378f1ce0 100644 --- a/OCH/common/common/src/main/java/com/mogo/och/common/module/biz/birdge/BridgeListener.kt +++ b/OCH/common/common/src/main/java/com/mogo/och/common/module/biz/birdge/BridgeListener.kt @@ -1,6 +1,8 @@ package com.mogo.och.common.module.biz.birdge import com.mogo.eagle.core.data.map.MogoLocation +import com.mogo.och.common.module.biz.birdge.data.RoadMsg +import com.mogo.och.common.module.biz.birdge.data.VlmData interface BridgeListener { /** @@ -15,4 +17,9 @@ interface BridgeListener { fun onTrajectoryDistanceListener(distance: Double){} fun onTrajectoryPointsAndDistanceListener(trajectoryList: MutableList,distance: Double){} + + + fun onVlmDataListener(vlmData: VlmData){} + + fun onNdeDataListener(title: String, desc: String, sortedList: List) {} } \ No newline at end of file diff --git a/OCH/common/common/src/main/java/com/mogo/och/common/module/biz/birdge/data/RoadMsg.kt b/OCH/common/common/src/main/java/com/mogo/och/common/module/biz/birdge/data/RoadMsg.kt new file mode 100644 index 0000000000..5551bc498f --- /dev/null +++ b/OCH/common/common/src/main/java/com/mogo/och/common/module/biz/birdge/data/RoadMsg.kt @@ -0,0 +1,8 @@ +package com.mogo.och.common.module.biz.birdge.data + +data class RoadMsg( + var arrowType: Int, // 车道类型，如直行201(详情参考文件：message_pad.proto) + var laneNum: Int,// 车道号 + var isRecommend: Boolean,// 是否是推荐车道 + var isCheLong: Boolean// 是否有车龙，代表拥堵、行驶缓慢 +) \ No newline at end of file diff --git a/OCH/common/common/src/main/java/com/mogo/och/common/module/biz/birdge/data/VlmData.kt b/OCH/common/common/src/main/java/com/mogo/och/common/module/biz/birdge/data/VlmData.kt new file mode 100644 index 0000000000..5c8b1e4fa7 --- /dev/null +++ b/OCH/common/common/src/main/java/com/mogo/och/common/module/biz/birdge/data/VlmData.kt @@ -0,0 +1,28 @@ +package com.mogo.och.common.module.biz.birdge.data + +data class VlmData(val id:Int?,val message:String?,var image: ByteArray?) { + override fun equals(other: Any?): Boolean { + if (this === other) return true + if (javaClass != other?.javaClass) return false + + other as VlmData + + if (id != other.id) return false + if (message != other.message) return false + if (image != null) { + if (other.image == null) return false + if (!image.contentEquals(other.image)) return false + } else if (other.image != null) return false + + return true + } + + override fun hashCode(): Int { + return id ?: 0 + } + + override fun toString(): String { + return "VlmData(id=$id, message=$message)" + } + +} diff --git a/OCH/common/common/src/main/java/com/mogo/och/common/module/manager/EnvManager.kt b/OCH/common/common/src/main/java/com/mogo/och/common/module/manager/EnvManager.kt new file mode 100644 index 0000000000..89089e568a --- /dev/null +++ b/OCH/common/common/src/main/java/com/mogo/och/common/module/manager/EnvManager.kt @@ -0,0 +1,45 @@ +package com.mogo.och.common.module.manager + +import com.mogo.eagle.core.data.config.FunctionBuildConfig +import com.mogo.eagle.core.utilcode.mogo.AppIdentityModeUtils + +object EnvManager { + fun isB1(): Boolean { + return AppIdentityModeUtils.isB1(FunctionBuildConfig.appIdentityMode) + } + + fun isB1Driver(): Boolean { + return isB1() && AppIdentityModeUtils.isDriver(FunctionBuildConfig.appIdentityMode) + } + + fun isB1Passenger(): Boolean { + return isB1() && AppIdentityModeUtils.isPassenger(FunctionBuildConfig.appIdentityMode) + } + + fun isB2(): Boolean { + return AppIdentityModeUtils.isB1(FunctionBuildConfig.appIdentityMode) + } + + fun isB2Driver(): Boolean { + return isB2() && AppIdentityModeUtils.isDriver(FunctionBuildConfig.appIdentityMode) + } + + fun isB2Passenger(): Boolean { + return isB2() && AppIdentityModeUtils.isPassenger(FunctionBuildConfig.appIdentityMode) + } + + fun isT1T2(): Boolean { + return AppIdentityModeUtils.isB1(FunctionBuildConfig.appIdentityMode) + } + + fun isT1T2Driver(): Boolean { + return isT1T2() && AppIdentityModeUtils.isDriver(FunctionBuildConfig.appIdentityMode) + } + + fun isT1T2Passenger(): Boolean { + return isT1T2() && AppIdentityModeUtils.isPassenger(FunctionBuildConfig.appIdentityMode) + } + + + +} \ No newline at end of file diff --git a/OCH/shuttle/passenger_weaknet/src/main/java/b2/com/mogo/och/shuttle/weaknet/passenger/ui/PM2BaseFragment.kt b/OCH/shuttle/passenger_weaknet/src/main/java/b2/com/mogo/och/shuttle/weaknet/passenger/ui/PM2BaseFragment.kt index 7285f1811c..039c33d7c3 100644 --- a/OCH/shuttle/passenger_weaknet/src/main/java/b2/com/mogo/och/shuttle/weaknet/passenger/ui/PM2BaseFragment.kt +++ b/OCH/shuttle/passenger_weaknet/src/main/java/b2/com/mogo/och/shuttle/weaknet/passenger/ui/PM2BaseFragment.kt @@ -10,6 +10,7 @@ import com.mogo.eagle.core.function.call.map.CallerMapRoadListenerManager import com.mogo.eagle.core.utilcode.kotlin.onClick import com.mogo.eagle.core.utilcode.util.AppUtils import com.mogo.eagle.core.utilcode.util.UriUtils +import com.mogo.och.common.module.biz.birdge.data.RoadMsg import com.mogo.och.common.module.biz.media.MediaManager import com.mogo.och.common.module.manager.loop.BizLoopManager import com.mogo.och.common.module.manager.transform.OchTransform @@ -126,11 +127,11 @@ class PM2BaseFragment : CallerMapRoadListenerManager.invokeCrossDevice(true) } test3.onClick { - val one = AIMessage.RoadMsg(201,1,true,false) - val two = AIMessage.RoadMsg(202,2,false,false) - val three = AIMessage.RoadMsg(203,3,false,true) + val one = RoadMsg(201,1,true,false) + val two = RoadMsg(202,2,false,false) + val three = RoadMsg(203,3,false,true) - val sortedList = ArrayList() + val sortedList = ArrayList() sortedList.add(one) sortedList.add(two) sortedList.add(three) diff --git a/OCH/shuttle/passenger_weaknet/src/main/java/b2/com/mogo/och/shuttle/weaknet/passenger/ui/mind/adapter/AINDERoadAdapter.kt b/OCH/shuttle/passenger_weaknet/src/main/java/b2/com/mogo/och/shuttle/weaknet/passenger/ui/mind/adapter/AINDERoadAdapter.kt index 51893534b4..9492b7f358 100644 --- a/OCH/shuttle/passenger_weaknet/src/main/java/b2/com/mogo/och/shuttle/weaknet/passenger/ui/mind/adapter/AINDERoadAdapter.kt +++ b/OCH/shuttle/passenger_weaknet/src/main/java/b2/com/mogo/och/shuttle/weaknet/passenger/ui/mind/adapter/AINDERoadAdapter.kt @@ -10,14 +10,14 @@ import android.widget.TextView import androidx.constraintlayout.widget.ConstraintLayout import androidx.core.content.ContextCompat import androidx.recyclerview.widget.RecyclerView +import com.mogo.och.common.module.biz.birdge.data.RoadMsg import com.mogo.och.shuttle.weaknet.passenger.R -import com.mogo.och.shuttle.weaknet.passenger.ui.mind.bean.AIMessage class AINDERoadAdapter(private val context: Context): RecyclerView.Adapter() { - private var roadList: List?= null + private var roadList: List?= null - fun setData(list: List){ + fun setData(list: List){ roadList = list notifyDataSetChanged() } diff --git a/OCH/shuttle/passenger_weaknet/src/main/java/b2/com/mogo/och/shuttle/weaknet/passenger/ui/mind/bean/AssistantMessage.kt b/OCH/shuttle/passenger_weaknet/src/main/java/b2/com/mogo/och/shuttle/weaknet/passenger/ui/mind/bean/AssistantMessage.kt index bdbaaa8155..ab2dcb2585 100644 --- a/OCH/shuttle/passenger_weaknet/src/main/java/b2/com/mogo/och/shuttle/weaknet/passenger/ui/mind/bean/AssistantMessage.kt +++ b/OCH/shuttle/passenger_weaknet/src/main/java/b2/com/mogo/och/shuttle/weaknet/passenger/ui/mind/bean/AssistantMessage.kt @@ -3,6 +3,8 @@ package com.mogo.och.shuttle.weaknet.passenger.ui.mind.bean import android.os.CountDownTimer import android.util.Log import com.mogo.eagle.core.data.v2x.RoadV2NEventType +import com.mogo.och.common.module.biz.birdge.data.RoadMsg +import com.mogo.och.common.module.biz.birdge.data.VlmData import kotlin.math.floor @@ -175,11 +177,11 @@ sealed class AIMessage( var roadList: List ): AIMessage(id,title) - data class RoadMsg( - var arrowType: Int, // 车道类型，如直行201(详情参考文件：message_pad.proto) - var laneNum: Int,// 车道号 - var isRecommend: Boolean,// 是否是推荐车道 - var isCheLong: Boolean// 是否有车龙，代表拥堵、行驶缓慢 - ) + data class AiVlmData( + override val id: String, + override val title: String, + var desc: String, + var vlmData: VlmData + ):AIMessage(id,title) } \ No newline at end of file diff --git a/OCH/shuttle/passenger_weaknet/src/main/java/b2/com/mogo/och/shuttle/weaknet/passenger/ui/mind/data/NDEViewModel.kt b/OCH/shuttle/passenger_weaknet/src/main/java/b2/com/mogo/och/shuttle/weaknet/passenger/ui/mind/data/NDEViewModel.kt index a0f18dd3ea..bb77504f17 100644 --- a/OCH/shuttle/passenger_weaknet/src/main/java/b2/com/mogo/och/shuttle/weaknet/passenger/ui/mind/data/NDEViewModel.kt +++ b/OCH/shuttle/passenger_weaknet/src/main/java/b2/com/mogo/och/shuttle/weaknet/passenger/ui/mind/data/NDEViewModel.kt @@ -3,85 +3,33 @@ package com.mogo.och.shuttle.weaknet.passenger.ui.mind.data import androidx.lifecycle.ViewModel import com.mogo.eagle.core.function.api.autopilot.IMoGoAutopilotIdentifyListener import com.mogo.eagle.core.function.call.autopilot.CallerAutopilotIdentifyListenerManager +import com.mogo.och.common.module.biz.birdge.BridgeListener +import com.mogo.och.common.module.biz.birdge.BridgeManager +import com.mogo.och.common.module.biz.birdge.data.RoadMsg import com.mogo.och.shuttle.weaknet.passenger.ui.mind.AIMessageManager import com.mogo.och.shuttle.weaknet.passenger.ui.mind.bean.AIMessage -import mogo.telematics.pad.MessagePad.TrackedObject /** * 车龙信息 */ -class NDEViewModel: ViewModel(), IMoGoAutopilotIdentifyListener { +class NDEViewModel: ViewModel(), BridgeListener { companion object{ private const val TAG = "NDEViewModel" } - private var lastMap2 = HashMap() - private var lastTime = 0L - fun init(){ - CallerAutopilotIdentifyListenerManager.addListener(TAG, this) + BridgeManager.addBridgeListener(TAG,this) } - override fun onAutopilotIdentifyDataUpdate(trafficData: List?){ - super.onAutopilotIdentifyDataUpdate(trafficData) - handleCheLong(trafficData) + override fun onCleared() { + super.onCleared() + BridgeManager.removeBridgeListener(TAG) } - private fun handleCheLong(trafficData: List?) { - var hasCheLong = false - var isNewData = false - val roadMsgList = ArrayList() - val curMap = HashMap() - if (lastTime > 0 && System.currentTimeMillis() - lastTime > 60000) { - lastMap2.clear()// 清除上次车龙事件的缓存 - } - var lastLocStr: String? = "" - trafficData?.forEach { obj -> - if (obj.type == 707) {// 当前方向所有车道 - if (obj.polygonCount > 1) {// 当次数据有车龙事件 - lastLocStr = lastMap2[obj.laneNum] - // 1. 上次无车龙但此次有车龙，认为是新车龙事件 - // 2. 两次都有车龙，则判断车龙的长度是否相同 - if (lastLocStr == null || lastLocStr == "0" || lastLocStr != "${obj.polygonList[0]}-${obj.polygonList[obj.polygonCount - 1]}") { - isNewData = true - } - hasCheLong = true - - // key: 车道号，value: 非0代表有车龙且首、尾两个点可计算车龙长度 - curMap[obj.laneNum] = - "${obj.polygonList[0]}-${obj.polygonList[obj.polygonCount - 1]}" - } else {// 当次没有车龙 - if (lastMap2[obj.laneNum] != null && lastMap2[obj.laneNum] != "0") {// 3. 上次有车龙，这次无车龙 - isNewData = true - } - // key: 车道号，value: 0代表无车龙 - curMap[obj.laneNum] = "0" - } - // 保存所有车道信息 - roadMsgList.add( - AIMessage.RoadMsg( - obj.arrowType, - laneNum = obj.laneNum, - isRecommend = obj.suggestedLanes, - isCheLong = obj.polygonCount > 1 - ) - ) - } - } - if (isNewData) { - // 清除上次车道信息 - lastMap2.clear() - if (hasCheLong) { - // 缓存当次车龙事件所有车道信息 - lastMap2.putAll(curMap) - lastTime = System.currentTimeMillis() - - val sortedList = roadMsgList.sortedWith(compareByDescending { it.laneNum }) - val ndeEvent = AIMessage.NDEData(System.currentTimeMillis().toString(),"路口车龙","前方路口有车龙",sortedList) - AIMessageManager.post(ndeEvent) - } - } + override fun onNdeDataListener(title: String, desc: String, sortedList: List) { + val ndeEvent = AIMessage.NDEData(System.currentTimeMillis().toString(),title,desc,sortedList) + AIMessageManager.post(ndeEvent) } } \ No newline at end of file diff --git a/OCH/taxi/unmanned-passenger/src/main/java/com/mogo/och/unmanned/passenger/ui/aiview/AiView.kt b/OCH/taxi/unmanned-passenger/src/main/java/com/mogo/och/unmanned/passenger/ui/aiview/AiView.kt index 50d8d9a1a6..5b1e8c33da 100644 --- a/OCH/taxi/unmanned-passenger/src/main/java/com/mogo/och/unmanned/passenger/ui/aiview/AiView.kt +++ b/OCH/taxi/unmanned-passenger/src/main/java/com/mogo/och/unmanned/passenger/ui/aiview/AiView.kt @@ -26,6 +26,10 @@ import com.mogo.och.unmanned.passenger.ui.aiview.adapter.AIMessageAdapter import com.mogo.och.unmanned.passenger.ui.aiview.adapter.OnItemClickListener import com.mogo.och.unmanned.passenger.ui.aiview.adapter.PaddingItemDecoration import com.mogo.och.unmanned.passenger.ui.aiview.bean.AIMessage +import com.mogo.och.unmanned.passenger.ui.aiview.data.AutomaticExplorationViewModel +import com.mogo.och.unmanned.passenger.ui.aiview.data.NDEViewModel +import com.mogo.och.unmanned.passenger.ui.aiview.data.RoadCrossRoamViewModel +import com.mogo.och.unmanned.passenger.ui.aiview.data.RoadV2NEventViewModel import com.mogo.och.unmanned.taxi.passenger.R import kotlinx.android.synthetic.main.taxt_p_ai.view.aiMotionLayout import kotlinx.android.synthetic.main.taxt_p_ai.view.ivIcon @@ -47,11 +51,10 @@ class AiView @JvmOverloads constructor( private var viewModel:AIViewModel?=null -// private var pncActionsModel:PNCActionsViewModel ?= null - private var roadV2NEventModel:RoadV2NEventViewModel ?= null - private var roadCrossRoamModel:RoadCrossRoamViewModel ?= null - private var automaticExplorationModel:AutomaticExplorationViewModel ?= null - private var ndeViewModel: NDEViewModel ?= null + private var roadV2NEventModel: RoadV2NEventViewModel?= null + private var roadCrossRoamModel: RoadCrossRoamViewModel?= null + private var automaticExplorationModel: AutomaticExplorationViewModel?= null + private var ndeViewModel: NDEViewModel?= null private var aiAnimator: BigFrameAnimatorContainer?=null private var aiAnimatorBg: BigFrameAnimatorContainer?=null @@ -105,7 +108,6 @@ class AiView @JvmOverloads constructor( if(aiAnimator==null) { aiAnimator = BigFrameAnimatorContainer(R.array.ai_animator, 31, ivIcon) } -// aiAnimator?.start() ivIcon.onClick { viewModel?.onWakeUp() diff --git a/OCH/taxi/unmanned-passenger/src/main/java/com/mogo/och/unmanned/passenger/ui/aiview/adapter/AIMessageAdapter.kt b/OCH/taxi/unmanned-passenger/src/main/java/com/mogo/och/unmanned/passenger/ui/aiview/adapter/AIMessageAdapter.kt index 665e2f7b04..1e833e1987 100644 --- a/OCH/taxi/unmanned-passenger/src/main/java/com/mogo/och/unmanned/passenger/ui/aiview/adapter/AIMessageAdapter.kt +++ b/OCH/taxi/unmanned-passenger/src/main/java/com/mogo/och/unmanned/passenger/ui/aiview/adapter/AIMessageAdapter.kt @@ -26,6 +26,7 @@ class AIMessageAdapter : ListAdapter(MessageDiffCa AIMessage.TYPE_AUTOMATIC_EXPLORATION -> AutomaticExplorationViewHolder(inflater.inflate(R.layout.item_ai_automatic_exploration,parent,false)) AIMessage.TYPE_EVALUATE -> EvaluateViewViewHolder(inflater.inflate(R.layout.taxi_p_evaluate,parent,false)) AIMessage.TYPE_NDE -> NDEViewHolder(inflater.inflate(R.layout.item_ai_nde_event,parent,false)) + AIMessage.TYPE_VLM -> VlmViewHolder(inflater.inflate(R.layout.item_ai_vlm_action,parent,false)) else -> throw IllegalArgumentException("Invalid view type") } } @@ -44,6 +45,7 @@ class AIMessageAdapter : ListAdapter(MessageDiffCa is AIMessage.AutomaticExploration -> AIMessage.TYPE_AUTOMATIC_EXPLORATION is AIMessage.EvaluateData -> AIMessage.TYPE_EVALUATE is AIMessage.NDEData -> AIMessage.TYPE_NDE + is AIMessage.AiVlmData -> AIMessage.TYPE_VLM else -> AIMessage.TYPE_EVENT } } diff --git a/OCH/taxi/unmanned-passenger/src/main/java/com/mogo/och/unmanned/passenger/ui/aiview/adapter/AIMessageViewHolder.kt b/OCH/taxi/unmanned-passenger/src/main/java/com/mogo/och/unmanned/passenger/ui/aiview/adapter/AIMessageViewHolder.kt index c248534484..1adf8c3853 100644 --- a/OCH/taxi/unmanned-passenger/src/main/java/com/mogo/och/unmanned/passenger/ui/aiview/adapter/AIMessageViewHolder.kt +++ b/OCH/taxi/unmanned-passenger/src/main/java/com/mogo/och/unmanned/passenger/ui/aiview/adapter/AIMessageViewHolder.kt @@ -6,7 +6,6 @@ import android.animation.ObjectAnimator import android.animation.ValueAnimator import android.content.Context import android.graphics.Rect -import android.text.TextUtils import android.util.Log import android.view.View import android.view.animation.LinearInterpolator @@ -14,6 +13,7 @@ import android.widget.FrameLayout import android.widget.ImageView import android.widget.LinearLayout import android.widget.TextView +import androidx.appcompat.widget.AppCompatImageView import androidx.core.content.ContextCompat import androidx.core.graphics.toColorInt import androidx.recyclerview.widget.LinearLayoutManager @@ -28,7 +28,9 @@ import com.mogo.eagle.core.function.hmi.ui.v2n.RoadV2NEventLivePlayView import com.mogo.eagle.core.function.view.MapRoamView import com.mogo.eagle.core.function.view.RoadCrossRoamListAdapter import com.mogo.eagle.core.utilcode.kotlin.onClick +import com.mogo.eagle.core.utilcode.mogo.glide.GlideApp import com.mogo.eagle.core.utilcode.mogo.glide.GlideImageLoader +import com.mogo.eagle.core.utilcode.mogo.glide.transform.GlideRoundedCornersTransform import com.mogo.eagle.core.utilcode.mogo.imageloader.MogoImageView import com.mogo.eagle.core.utilcode.util.DateTimeUtils import com.mogo.och.common.module.utils.FrameAnimatorContainer @@ -38,8 +40,6 @@ import com.mogo.och.unmanned.taxi.passenger.R import com.youth.banner.Banner import com.youth.banner.indicator.CircleIndicator import com.youth.banner.transformer.ScaleInTransformer -import kotlinx.android.synthetic.main.taxi_p_evaluate.view.iv_evaluate_great -import kotlinx.android.synthetic.main.taxi_p_evaluate.view.iv_evaluate_low import java.text.SimpleDateFormat import java.util.Date import java.util.Locale @@ -85,6 +85,23 @@ abstract class MessageViewHolder(view: View) : RecyclerView.ViewHolder(view) { .placeholder(R.drawable.icon_pic_holder) .error(R.drawable.icon_pic_error) // .error(R.drawable.icon_marker_window_place_holder) +// .placeholder(R.drawable.icon_marker_window_place_holder) + .into(this) + + } + } + fun ImageView.showOrHideWithByteArray(image: ByteArray?) { + if (image==null) { + visibility = View.GONE + } else { + visibility = View.VISIBLE + //optionalTransform(new GlideRoundedCornersTransform(30f, GlideRoundedCornersTransform.CornerType.LEFT)) + Glide.with(this) + .load(image) + .optionalTransform(GlideRoundedCornersTransform(18f, GlideRoundedCornersTransform.CornerType.ALL)) + .placeholder(R.drawable.icon_pic_holder) + .error(R.drawable.icon_pic_error) +// .error(R.drawable.icon_marker_window_place_holder) // .placeholder(R.drawable.icon_marker_window_place_holder) .into(this) @@ -434,6 +451,21 @@ class NDEViewHolder(binding: View) : MessageViewHolder(binding){ } +class VlmViewHolder(binding: View) : MessageViewHolder(binding){ + + private var tvNdeTitle: TextView = binding.findViewById(R.id.tvVlmMessage) + private var acivVlmImage: AppCompatImageView = binding.findViewById(R.id.acivVlmImage) + + + override fun bind(item: AIMessage, onItemClickListener: OnItemClickListener?) { + if(item is AIMessage.AiVlmData){ + tvNdeTitle.text = item.vlmData.message + acivVlmImage.showOrHideWithByteArray(item.vlmData.image) + } + } + +} + private class NoScrollLayoutManager(context: Context?) : LinearLayoutManager(context) { override fun canScrollVertically(): Boolean { return false diff --git a/OCH/taxi/unmanned-passenger/src/main/java/com/mogo/och/unmanned/passenger/ui/aiview/adapter/AINDERoadAdapter.kt b/OCH/taxi/unmanned-passenger/src/main/java/com/mogo/och/unmanned/passenger/ui/aiview/adapter/AINDERoadAdapter.kt index 0d2ec97ca1..dbb8050c2d 100644 --- a/OCH/taxi/unmanned-passenger/src/main/java/com/mogo/och/unmanned/passenger/ui/aiview/adapter/AINDERoadAdapter.kt +++ b/OCH/taxi/unmanned-passenger/src/main/java/com/mogo/och/unmanned/passenger/ui/aiview/adapter/AINDERoadAdapter.kt @@ -10,14 +10,14 @@ import android.widget.TextView import androidx.constraintlayout.widget.ConstraintLayout import androidx.core.content.ContextCompat import androidx.recyclerview.widget.RecyclerView -import com.mogo.och.unmanned.passenger.ui.aiview.bean.AIMessage +import com.mogo.och.common.module.biz.birdge.data.RoadMsg import com.mogo.och.unmanned.taxi.passenger.R class AINDERoadAdapter(private val context: Context): RecyclerView.Adapter() { - private var roadList: List?= null + private var roadList: List?= null - fun setData(list: List){ + fun setData(list: List){ roadList = list notifyDataSetChanged() } diff --git a/OCH/taxi/unmanned-passenger/src/main/java/com/mogo/och/unmanned/passenger/ui/aiview/bean/AssistantMessage.kt b/OCH/taxi/unmanned-passenger/src/main/java/com/mogo/och/unmanned/passenger/ui/aiview/bean/AssistantMessage.kt index 2b7ca9a3e4..b6038b0efe 100644 --- a/OCH/taxi/unmanned-passenger/src/main/java/com/mogo/och/unmanned/passenger/ui/aiview/bean/AssistantMessage.kt +++ b/OCH/taxi/unmanned-passenger/src/main/java/com/mogo/och/unmanned/passenger/ui/aiview/bean/AssistantMessage.kt @@ -3,6 +3,8 @@ package com.mogo.och.unmanned.passenger.ui.aiview.bean import android.os.CountDownTimer import android.util.Log import com.mogo.eagle.core.data.v2x.RoadV2NEventType +import com.mogo.och.common.module.biz.birdge.data.RoadMsg +import com.mogo.och.common.module.biz.birdge.data.VlmData import kotlin.math.floor @@ -27,6 +29,7 @@ sealed class AIMessage( const val TYPE_AUTOMATIC_EXPLORATION = 9 const val TYPE_EVALUATE = 10 const val TYPE_NDE = 11 + const val TYPE_VLM = 12 } data class Scan( @@ -177,11 +180,11 @@ sealed class AIMessage( var roadList: List ):AIMessage(id,title) - data class RoadMsg( - var arrowType: Int, // 车道类型，如直行201(详情参考文件：message_pad.proto) - var laneNum: Int,// 车道号 - var isRecommend: Boolean,// 是否是推荐车道 - var isCheLong: Boolean// 是否有车龙，代表拥堵、行驶缓慢 - ) + data class AiVlmData( + override val id: String, + override val title: String, + var desc: String, + var vlmData: VlmData + ):AIMessage(id,title) } \ No newline at end of file diff --git a/OCH/taxi/unmanned-passenger/src/main/java/com/mogo/och/unmanned/passenger/ui/aiview/AutomaticExplorationViewModel.kt b/OCH/taxi/unmanned-passenger/src/main/java/com/mogo/och/unmanned/passenger/ui/aiview/data/AutomaticExplorationViewModel.kt similarity index 97% rename from OCH/taxi/unmanned-passenger/src/main/java/com/mogo/och/unmanned/passenger/ui/aiview/AutomaticExplorationViewModel.kt rename to OCH/taxi/unmanned-passenger/src/main/java/com/mogo/och/unmanned/passenger/ui/aiview/data/AutomaticExplorationViewModel.kt index 153b91e0d2..89b41098df 100644 --- a/OCH/taxi/unmanned-passenger/src/main/java/com/mogo/och/unmanned/passenger/ui/aiview/AutomaticExplorationViewModel.kt +++ b/OCH/taxi/unmanned-passenger/src/main/java/com/mogo/och/unmanned/passenger/ui/aiview/data/AutomaticExplorationViewModel.kt @@ -1,4 +1,4 @@ -package com.mogo.och.unmanned.passenger.ui.aiview +package com.mogo.och.unmanned.passenger.ui.aiview.data import android.os.CountDownTimer import androidx.lifecycle.ViewModel @@ -10,11 +10,11 @@ import com.mogo.eagle.core.function.api.datacenter.msgbox.IMsgBoxListener import com.mogo.eagle.core.function.call.msgbox.CallerMsgBoxListenerManager import com.mogo.eagle.core.utilcode.util.StringUtils import com.mogo.eagle.core.utilcode.util.ThreadUtils -import com.mogo.eagle.core.utilcode.util.UiThreadHandler import com.mogo.och.bridge.distance.IDistanceListener import com.mogo.och.bridge.distance.TrajectoryAndDistanceManager import com.mogo.och.data.taxi.BaseOrderBean import com.mogo.och.data.taxi.TaxiOrderStatusEnum +import com.mogo.och.unmanned.passenger.ui.aiview.AIMessageManager import com.mogo.och.unmanned.passenger.ui.aiview.bean.AIMessage import com.mogo.och.unmanned.taxi.utils.order.OrderListener import com.mogo.och.unmanned.taxi.utils.order.OrderModel diff --git a/OCH/taxi/unmanned-passenger/src/main/java/com/mogo/och/unmanned/passenger/ui/aiview/data/NDEViewModel.kt b/OCH/taxi/unmanned-passenger/src/main/java/com/mogo/och/unmanned/passenger/ui/aiview/data/NDEViewModel.kt new file mode 100644 index 0000000000..ee6bf64d4d --- /dev/null +++ b/OCH/taxi/unmanned-passenger/src/main/java/com/mogo/och/unmanned/passenger/ui/aiview/data/NDEViewModel.kt @@ -0,0 +1,39 @@ +package com.mogo.och.unmanned.passenger.ui.aiview.data + +import androidx.lifecycle.ViewModel +import com.mogo.eagle.core.function.api.autopilot.IMoGoAutopilotIdentifyListener +import com.mogo.eagle.core.function.call.autopilot.CallerAutopilotIdentifyListenerManager +import com.mogo.och.common.module.biz.birdge.BridgeListener +import com.mogo.och.common.module.biz.birdge.BridgeManager +import com.mogo.och.common.module.biz.birdge.data.RoadMsg +import com.mogo.och.common.module.biz.birdge.data.VlmData +import com.mogo.och.unmanned.passenger.ui.aiview.AIMessageManager +import com.mogo.och.unmanned.passenger.ui.aiview.bean.AIMessage + +class NDEViewModel: ViewModel(), BridgeListener { + + companion object{ + private const val TAG = "NDEViewModel" + } + + fun init(){ + BridgeManager.addBridgeListener(TAG,this) + } + + override fun onCleared() { + super.onCleared() + BridgeManager.removeBridgeListener(TAG) + } + + + override fun onVlmDataListener(vlmData: VlmData){ + val ndeEvent = AIMessage.AiVlmData(vlmData.id.toString(),"","",vlmData) + AIMessageManager.post(ndeEvent) + } + + override fun onNdeDataListener(title: String, desc: String, sortedList: List) { + val ndeEvent = AIMessage.NDEData(System.currentTimeMillis().toString(),title,desc,sortedList) + AIMessageManager.post(ndeEvent) + } + +} \ No newline at end of file diff --git a/OCH/taxi/unmanned-passenger/src/main/java/com/mogo/och/unmanned/passenger/ui/aiview/PNCActionsViewModel.kt b/OCH/taxi/unmanned-passenger/src/main/java/com/mogo/och/unmanned/passenger/ui/aiview/data/PNCActionsViewModel.kt similarity index 98% rename from OCH/taxi/unmanned-passenger/src/main/java/com/mogo/och/unmanned/passenger/ui/aiview/PNCActionsViewModel.kt rename to OCH/taxi/unmanned-passenger/src/main/java/com/mogo/och/unmanned/passenger/ui/aiview/data/PNCActionsViewModel.kt index c3875ae4f7..33fc356fed 100644 --- a/OCH/taxi/unmanned-passenger/src/main/java/com/mogo/och/unmanned/passenger/ui/aiview/PNCActionsViewModel.kt +++ b/OCH/taxi/unmanned-passenger/src/main/java/com/mogo/och/unmanned/passenger/ui/aiview/data/PNCActionsViewModel.kt @@ -1,4 +1,4 @@ -package com.mogo.och.unmanned.passenger.ui.aiview +package com.mogo.och.unmanned.passenger.ui.aiview.data import androidx.lifecycle.ViewModel import com.mogo.eagle.core.data.autopilot.pnc.PncActionsHelper @@ -6,10 +6,9 @@ import com.mogo.eagle.core.function.api.autopilot.IMoGoAutopilotPlanningActionsL import com.mogo.eagle.core.function.api.autopilot.IMoGoAutopilotStatusListener import com.mogo.eagle.core.function.call.autopilot.CallerAutoPilotStatusListenerManager import com.mogo.eagle.core.function.call.autopilot.CallerPlanningActionsListenerManager -import com.mogo.eagle.core.utilcode.mogo.logger.CallerLogger -import com.mogo.eagle.core.utilcode.util.UiThreadHandler import com.mogo.och.common.module.manager.loop.BizLoopManager import com.mogo.och.unmanned.passenger.model.TaxiPassengerModel +import com.mogo.och.unmanned.passenger.ui.aiview.AIMessageManager import com.mogo.och.unmanned.passenger.ui.aiview.bean.AIMessage import mogo.telematics.pad.MessagePad diff --git a/OCH/taxi/unmanned-passenger/src/main/java/com/mogo/och/unmanned/passenger/ui/aiview/RoadCrossRoamViewModel.kt b/OCH/taxi/unmanned-passenger/src/main/java/com/mogo/och/unmanned/passenger/ui/aiview/data/RoadCrossRoamViewModel.kt similarity index 94% rename from OCH/taxi/unmanned-passenger/src/main/java/com/mogo/och/unmanned/passenger/ui/aiview/RoadCrossRoamViewModel.kt rename to OCH/taxi/unmanned-passenger/src/main/java/com/mogo/och/unmanned/passenger/ui/aiview/data/RoadCrossRoamViewModel.kt index c7f836ed4d..fd6eb8a2f4 100644 --- a/OCH/taxi/unmanned-passenger/src/main/java/com/mogo/och/unmanned/passenger/ui/aiview/RoadCrossRoamViewModel.kt +++ b/OCH/taxi/unmanned-passenger/src/main/java/com/mogo/och/unmanned/passenger/ui/aiview/data/RoadCrossRoamViewModel.kt @@ -1,7 +1,6 @@ -package com.mogo.och.unmanned.passenger.ui.aiview +package com.mogo.och.unmanned.passenger.ui.aiview.data import android.content.Context -import android.view.View import androidx.lifecycle.ViewModel import com.mogo.commons.voice.AIAssist import com.mogo.eagle.core.data.config.FunctionBuildConfig @@ -14,6 +13,7 @@ import com.mogo.eagle.core.function.call.map.CallerMapRoadListenerManager import com.mogo.eagle.core.utilcode.mogo.AppIdentityModeUtils import com.mogo.eagle.core.utilcode.mogo.logger.CallerLogger import com.mogo.eagle.core.utilcode.util.ToastUtils +import com.mogo.och.unmanned.passenger.ui.aiview.AIMessageManager import com.mogo.och.unmanned.passenger.ui.aiview.bean.AIMessage class RoadCrossRoamViewModel: ViewModel(), IMoGoMapRoadListener { @@ -67,7 +67,7 @@ class RoadCrossRoamViewModel: ViewModel(), IMoGoMapRoadListener { AIAssist.getInstance(mContext).speakTTSVoiceWithLevel(disStr, AIAssist.NEW_LEVEL_2) } CallerServicesEventManager.updateServicesNum(CallerServicesEventManager.ServiceType.ROAD) - AIMessageManager.post(AIMessage.RoadCrossRoam(System.currentTimeMillis().toString(),"")) + AIMessageManager.post(AIMessage.RoadCrossRoam(System.currentTimeMillis().toString(), "")) } } \ No newline at end of file diff --git a/OCH/taxi/unmanned-passenger/src/main/java/com/mogo/och/unmanned/passenger/ui/aiview/RoadV2NEventViewModel.kt b/OCH/taxi/unmanned-passenger/src/main/java/com/mogo/och/unmanned/passenger/ui/aiview/data/RoadV2NEventViewModel.kt similarity index 95% rename from OCH/taxi/unmanned-passenger/src/main/java/com/mogo/och/unmanned/passenger/ui/aiview/RoadV2NEventViewModel.kt rename to OCH/taxi/unmanned-passenger/src/main/java/com/mogo/och/unmanned/passenger/ui/aiview/data/RoadV2NEventViewModel.kt index b850341ea7..bc7fc909fd 100644 --- a/OCH/taxi/unmanned-passenger/src/main/java/com/mogo/och/unmanned/passenger/ui/aiview/RoadV2NEventViewModel.kt +++ b/OCH/taxi/unmanned-passenger/src/main/java/com/mogo/och/unmanned/passenger/ui/aiview/data/RoadV2NEventViewModel.kt @@ -1,4 +1,4 @@ -package com.mogo.och.unmanned.passenger.ui.aiview +package com.mogo.och.unmanned.passenger.ui.aiview.data import androidx.lifecycle.ProcessLifecycleOwner import androidx.lifecycle.ViewModel @@ -11,6 +11,7 @@ import com.mogo.eagle.core.function.call.hmi.CallerHmiViewControlListenerManager import com.mogo.eagle.core.function.call.hmi.CallerRoadV2NEventWindowListenerManager import com.mogo.eagle.core.function.hmi.ui.utils.HmiActionLog import com.mogo.eagle.core.utilcode.mogo.logger.CallerLogger +import com.mogo.och.unmanned.passenger.ui.aiview.AIMessageManager import com.mogo.och.unmanned.passenger.ui.aiview.bean.AIMessage import kotlinx.coroutines.Dispatchers import kotlinx.coroutines.launch diff --git a/OCH/taxi/unmanned-passenger/src/main/res/layout/item_ai_vlm_action.xml b/OCH/taxi/unmanned-passenger/src/main/res/layout/item_ai_vlm_action.xml new file mode 100644 index 0000000000..a38c470646 --- /dev/null +++ b/OCH/taxi/unmanned-passenger/src/main/res/layout/item_ai_vlm_action.xml @@ -0,0 +1,51 @@ + + + + + + + + + + + + \ No newline at end of file diff --git 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 index cd3b86f98f..e168fd8aac 100644 --- 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 @@ -1567,7 +1567,9 @@ internal class DebugSettingView @JvmOverloads constructor( */ @SuppressLint("SetTextI18n") private fun setDomainControllerCheckedChangeListener() { - etAutopilotIP.setText("192.168.1.") + val string = SharedPrefsMgr.getInstance() + .getString(SharedPrefsConstants.inputIpDomainController, "192.168.1.") + etAutopilotIP.setText(string) etAutopilotIP.text?.let { etAutopilotIP.setSelection(it.length) } //设置工控机IP btnSetAutopilotIP.setOnClickListener { @@ -1575,6 +1577,7 @@ internal class DebugSettingView @JvmOverloads constructor( if (autoPilotIp.isNotEmpty()) { SSHAccountConfig.setRosMasterIp(autoPilotIp.split(":", "：").first()) CallerAutoPilotControlManager.resetIpAddress(autoPilotIp) + SharedPrefsMgr.getInstance().putString(SharedPrefsConstants.inputIpDomainController,autoPilotIp) } else { ToastUtils.showShort("请输入正确的IP地址") } diff --git a/foudations/mogo-commons/src/main/java/com/mogo/commons/constants/SharedPrefsConstants.java b/foudations/mogo-commons/src/main/java/com/mogo/commons/constants/SharedPrefsConstants.java index 6d020bb170..dba632fe8d 100644 --- a/foudations/mogo-commons/src/main/java/com/mogo/commons/constants/SharedPrefsConstants.java +++ b/foudations/mogo-commons/src/main/java/com/mogo/commons/constants/SharedPrefsConstants.java @@ -18,4 +18,6 @@ public class SharedPrefsConstants { public static final String APP_UPGRADE_CONTENT = "app_upgrade_content"; public static final String APP_MAC = "app_mac"; + + public static final String inputIpDomainController = "InputIpDomainController"; } From d749b996289d1c473b0b4c61ed82a363f567e2d7 Mon Sep 17 00:00:00 2001 From: yangyakun Date: Fri, 20 Jun 2025 11:30:30 +0800 Subject: [PATCH 2/4] =?UTF-8?q?[8.1.0]=20[fea]=20[=E5=85=AC=E4=BA=A4?= =?UTF-8?q?=E7=AB=99=E6=8F=90=E9=86=92]?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- .../res/b1/layout/shuttle_p_weak_jl_base_fragment.xml | 11 +++++++++++ .../function/hmi/ui/v2n/RoadV2NEventWindowView.kt | 6 +++--- 2 files changed, 14 insertions(+), 3 deletions(-) diff --git a/OCH/shuttle/passenger_weaknet/src/main/res/b1/layout/shuttle_p_weak_jl_base_fragment.xml b/OCH/shuttle/passenger_weaknet/src/main/res/b1/layout/shuttle_p_weak_jl_base_fragment.xml index 7d8eee6561..a4491c052c 100644 --- a/OCH/shuttle/passenger_weaknet/src/main/res/b1/layout/shuttle_p_weak_jl_base_fragment.xml +++ b/OCH/shuttle/passenger_weaknet/src/main/res/b1/layout/shuttle_p_weak_jl_base_fragment.xml @@ -45,6 +45,7 @@ app:layout_constraintTop_toTopOf="parent" /> + + diff --git a/core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/hmi/ui/v2n/RoadV2NEventWindowView.kt b/core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/hmi/ui/v2n/RoadV2NEventWindowView.kt index 7451c5eb3c..7b4c7cf9dd 100644 --- a/core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/hmi/ui/v2n/RoadV2NEventWindowView.kt +++ b/core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/hmi/ui/v2n/RoadV2NEventWindowView.kt @@ -75,8 +75,8 @@ class RoadV2NEventWindowView @JvmOverloads constructor( AppIdentityModeUtils.isPassenger(FunctionBuildConfig.appIdentityMode) } - private val isB2 by lazy { - AppIdentityModeUtils.isB2(FunctionBuildConfig.appIdentityMode) + private val isB1 by lazy { + AppIdentityModeUtils.isB1(FunctionBuildConfig.appIdentityMode) } private var currentEventUUID: String = "" @@ -93,7 +93,7 @@ class RoadV2NEventWindowView @JvmOverloads constructor( private fun initView() { if (isPassengerScreen) { - if (isB2) { + if (isB1) { setB2PassengerScreenView() } else { setTaxiPassengerScreenView() From 58debcb7310e1f8a87da15ab33101b3c5716dfc9 Mon Sep 17 00:00:00 2001 From: xinfengkun Date: Fri, 20 Jun 2025 14:40:24 +0800 Subject: [PATCH 3/4] =?UTF-8?q?[8.1.0][fmd]=20=E4=BF=AE=E5=A4=8Dbug?= =?UTF-8?q?=EF=BC=8C=E7=8A=B6=E6=80=81=E6=A0=8F=E5=A2=9E=E5=8A=A0SSH?= =?UTF-8?q?=E8=BF=9E=E6=8E=A5=E7=8A=B6=E6=80=81?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- .../rviz/common/base/BaseAdapter.java | 2 +- .../rviz/common/utils/NetworkUtilsExtend.kt | 1 - .../FaultManagementDiagnosisService.kt | 202 +++++------------- .../rviz/ui/activity/FmdAct.kt | 7 +- .../fragments/resource/SystemResourceFrag.kt | 18 +- .../rviz/ui/views/StateBarView.java | 98 +++++++-- .../rviz/widgets/ros/host/RosHostView.java | 2 - .../res/layout/rviz_fmd_view_state_bar.xml | 32 +-- .../src/main/res/values/strings.xml | 13 +- 9 files changed, 175 insertions(+), 200 deletions(-) diff --git a/core/function-impl/mogo-core-function-devatools-rviz/src/main/java/com/zhjt/mogo_core_function_devatools/rviz/common/base/BaseAdapter.java b/core/function-impl/mogo-core-function-devatools-rviz/src/main/java/com/zhjt/mogo_core_function_devatools/rviz/common/base/BaseAdapter.java index b8b9b9f8f6..d2e46e8aed 100644 --- a/core/function-impl/mogo-core-function-devatools-rviz/src/main/java/com/zhjt/mogo_core_function_devatools/rviz/common/base/BaseAdapter.java +++ b/core/function-impl/mogo-core-function-devatools-rviz/src/main/java/com/zhjt/mogo_core_function_devatools/rviz/common/base/BaseAdapter.java @@ -44,7 +44,7 @@ public abstract class BaseAdapter extends Recycler public void setData(List mDatas) { this.mDatas = mDatas; - if (!mDatas.isEmpty()) + if (mDatas != null && !mDatas.isEmpty()) notifyDataSetChanged(); } diff --git a/core/function-impl/mogo-core-function-devatools-rviz/src/main/java/com/zhjt/mogo_core_function_devatools/rviz/common/utils/NetworkUtilsExtend.kt b/core/function-impl/mogo-core-function-devatools-rviz/src/main/java/com/zhjt/mogo_core_function_devatools/rviz/common/utils/NetworkUtilsExtend.kt index 1a8fe74cc1..34203653ea 100644 --- a/core/function-impl/mogo-core-function-devatools-rviz/src/main/java/com/zhjt/mogo_core_function_devatools/rviz/common/utils/NetworkUtilsExtend.kt +++ b/core/function-impl/mogo-core-function-devatools-rviz/src/main/java/com/zhjt/mogo_core_function_devatools/rviz/common/utils/NetworkUtilsExtend.kt @@ -26,7 +26,6 @@ class NetworkUtilsExtend { fun onLinkChanged(network: Network?, linkProperties: LinkProperties?) } - @RequiresApi(api = Build.VERSION_CODES.LOLLIPOP) class NetworkCallbackImpl : NetworkCallback() { private val TAG = "NetworkCallbackImpl" diff --git a/core/function-impl/mogo-core-function-devatools-rviz/src/main/java/com/zhjt/mogo_core_function_devatools/rviz/service/FaultManagementDiagnosisService.kt b/core/function-impl/mogo-core-function-devatools-rviz/src/main/java/com/zhjt/mogo_core_function_devatools/rviz/service/FaultManagementDiagnosisService.kt index 4c63f82bc0..3b3b973b92 100644 --- a/core/function-impl/mogo-core-function-devatools-rviz/src/main/java/com/zhjt/mogo_core_function_devatools/rviz/service/FaultManagementDiagnosisService.kt +++ b/core/function-impl/mogo-core-function-devatools-rviz/src/main/java/com/zhjt/mogo_core_function_devatools/rviz/service/FaultManagementDiagnosisService.kt @@ -21,12 +21,12 @@ import com.mogo.eagle.core.function.call.autopilot.CallerAutopilotCarConfigListe import com.mogo.eagle.core.function.call.autopilot.CallerFaultManagementStateListenerManager import com.mogo.eagle.core.utilcode.util.GsonUtils import com.mogo.eagle.core.utilcode.util.ToastUtils +import com.zhidao.support.adas.high.AdasManager import com.zhjt.mogo.adas.data.AdasConstants import com.zhjt.mogo_core_function_devatools.rviz.R import com.zhjt.mogo_core_function_devatools.rviz.common.config.SSHAccountConfig import com.zhjt.mogo_core_function_devatools.rviz.common.coroutines.FlowBus import com.zhjt.mogo_core_function_devatools.rviz.constant.AppConfigInfo -import com.zhjt.mogo_core_function_devatools.rviz.constant.DiagnoseType import com.zhjt.mogo_core_function_devatools.rviz.constant.EventKey import com.zhjt.mogo_core_function_devatools.rviz.constant.FaultLevel import com.zhjt.mogo_core_function_devatools.rviz.constant.FaultModuleId @@ -68,6 +68,7 @@ import java.util.Locale import java.util.Timer import java.util.TimerTask import java.util.concurrent.ConcurrentHashMap +import java.util.concurrent.atomic.AtomicBoolean import java.util.concurrent.atomic.AtomicReference /** @@ -93,6 +94,7 @@ class FaultManagementDiagnosisService : Service(), OnSshConnectionListener, private val dockerInfoMap = mutableMapOf>() private var cloudMapVersion = "未知"//云端MAP版本 private var hdMapVersion = HdMapVersion()//高精度版本 + private val isReceiveFMData = AtomicBoolean(false)//是否接收到了FM数据 private val queryRosHostArgumentMap = ConcurrentHashMap()//当前参与查询主机参数的主机 @@ -132,9 +134,12 @@ class FaultManagementDiagnosisService : Service(), OnSshConnectionListener, override fun onCreate() { super.onCreate() initFMData() - CallerAutoPilotStatusListenerManager.addListener(TAG, adasConnectionStatuslistener) + CallerAutoPilotStatusListenerManager.addListener(TAG, adasConnectionStatusListener) CallerAutopilotCarConfigListenerManager.addListener(TAG, this) CallerFaultManagementStateListenerManager.addListener(TAG, this) + AdasManager.getInstance().carConfig?.let { + onAutopilotCarConfig(it) + } Log.i(TAG, "故障管理诊断服务已启动") } @@ -186,16 +191,8 @@ class FaultManagementDiagnosisService : Service(), OnSshConnectionListener, FmEntity("功能状态机&其他(FSM&OTH)") } - - /** - * 启动诊断 - */ - - fun startDiagnose() { - connectSSH() - } - - private val adasConnectionStatuslistener = object : IMoGoAutopilotStatusListener { + @OptIn(DelicateCoroutinesApi::class) + private val adasConnectionStatusListener = object : IMoGoAutopilotStatusListener { override fun onAutopilotIpcConnectStatusChanged( status: AdasConstants.IpcConnectionStatus, @@ -204,28 +201,19 @@ class FaultManagementDiagnosisService : Service(), OnSshConnectionListener, super.onAutopilotIpcConnectStatusChanged(status, reason) val adasConnectStatus = AdasConnectionStatus(status, reason) when (status) { - AdasConstants.IpcConnectionStatus.DISCONNECTED -> { - - } - AdasConstants.IpcConnectionStatus.CONNECTED -> { - + if (AdasManager.getInstance().carConfig == null) { + AdasManager.getInstance().sendCarConfigReq() + } GlobalScope.launch(Dispatchers.IO) { delay(6000) updateFaultManagementStop(FMInfoMsg(null, null, null)) } } - AdasConstants.IpcConnectionStatus.CONNECTING -> { - + else -> { + isReceiveFMData.set(false) } - - AdasConstants.IpcConnectionStatus.CONNECT_EXCEPTION -> { - } - - AdasConstants.IpcConnectionStatus.SEARCH_ADDRESS -> {} - AdasConstants.IpcConnectionStatus.NOT_FOUND_ADDRESS -> {} - else -> {} } FlowBus.with(EventKey.UPDATE_ADAS_CONNECT_STATE) .post(scopeSubscriber, adasConnectStatus) @@ -235,7 +223,7 @@ class FaultManagementDiagnosisService : Service(), OnSshConnectionListener, //连接SSH - private fun connectSSH() { + fun connectSSH() { openConnection( SSH.createHost( SSHAccountConfig.getUserName(), @@ -258,35 +246,15 @@ class FaultManagementDiagnosisService : Service(), OnSshConnectionListener, private fun updateFaultManagementStop(fmInfo: FMInfoMsg) { - //TODO -// if (isReceiveFMData.get()) { -// return -// } -// isReceiveFMData.set(true) - val msg: String - val type: DiagnoseType - if (fmInfo.fmInfoList != null) { - msg = "FM数据获取成功……" - type = DiagnoseType.SUCCEED - } else { + if (isReceiveFMData.get()) { + return + } + isReceiveFMData.set(true) + if (fmInfo.fmInfoList == null) { //证明未收到FM数据，存在两种情况，一个是没有发数据，一个是版本不支持 FlowBus.with(EventKey.SEND_IS_SUPPORT_FM) .post(scopeSubscriber, AppConfigInfo.isSupportFM) - if (AppConfigInfo.isSupportFM) { - msg = "FM数据获取成功……" - type = DiagnoseType.SUCCEED - } else { - msg = "获取FM数据失败，此MAP不支持FM相关功能" - type = DiagnoseType.FAILED - } } - //TODO -// updateDiagnoseUIStateInUIThread( -// DiagnoseSource.ADAS, -// msg, -// type -// ) -// executeProcessConnectSSHStart() } @@ -491,44 +459,37 @@ class FaultManagementDiagnosisService : Service(), OnSshConnectionListener, rosHostArgumentPosition: Int, isInserted: Boolean ) { - - GlobalScope.launch(Dispatchers.Main) { - //TODO -// updateDiagnoseUIState( -// DiagnoseSource.SSH, -// "正在连接${Utils.getIPLastSegment(host.hostname)}……" -// ) - synchronized(rosHostArguments) { - val p = getRosHostArgument(host) - val argument = p.second - val isInsert = p.first < 0 - if (isInsert) {//不存在 - rosHostArguments.add(argument) - //根据IP排序，主动连接的主机（一般是rosMaster）置顶 - rosHostArguments.sortWith(Comparator { rosHostArgument1, rosHostArgument2 -> - if (defaultSSH != null) { - if (rosHostArgument1.host == defaultSSH!!.host) { - return@Comparator -1 - } - if (rosHostArgument2.host == defaultSSH!!.host) { - return@Comparator 1 - } + synchronized(rosHostArguments) { + val p = getRosHostArgument(host) + val argument = p.second + val isInsert = p.first < 0 + if (isInsert) {//不存在 + rosHostArguments.add(argument) + //根据IP排序，主动连接的主机（一般是rosMaster）置顶 + rosHostArguments.sortWith(Comparator { rosHostArgument1, rosHostArgument2 -> + if (defaultSSH != null) { + if (rosHostArgument1.host == defaultSSH!!.host) { + return@Comparator -1 } - rosHostArgument1.host.hostname - .compareTo(rosHostArgument2.host.hostname) - }) - } else { - //已存在 - argument.resetConnectFailureCode() - } - if (TextUtils.equals(SSHAccountConfig.getRosMasterIp(), argument.host.hostname)) { - argument.isRosMaster = true; - } - - val index = rosHostArguments.indexOf(argument) + if (rosHostArgument2.host == defaultSSH!!.host) { + return@Comparator 1 + } + } + rosHostArgument1.host.hostname + .compareTo(rosHostArgument2.host.hostname) + }) + } else { + //已存在 + argument.resetConnectFailureCode() + } + if (TextUtils.equals(SSHAccountConfig.getRosMasterIp(), argument.host.hostname)) { + argument.isRosMaster = true; + } + val index = rosHostArguments.indexOf(argument) + GlobalScope.launch(Dispatchers.Main) { CallerSshConnectionListenerManager.invokeConnecting( argument.host, index, isInsert - ) //正在连接 在此的 -1和true不使用 + ) } } Log.i(TAG, "${host.toString()} 连接中") @@ -540,12 +501,6 @@ class FaultManagementDiagnosisService : Service(), OnSshConnectionListener, sshMap.put(ssh.host, ssh) } GlobalScope.launch(Dispatchers.Main) { - //TODO -// updateDiagnoseUIState( -// DiagnoseSource.SSH, -// "连接${Utils.getIPLastSegment(ssh.host.hostname)}成功……", -// DiagnoseType.SUCCEED -// ) CallerSshConnectionListenerManager.invokeConnected(ssh) } getRosMasterConfig(ssh) @@ -587,15 +542,8 @@ class FaultManagementDiagnosisService : Service(), OnSshConnectionListener, defaultSSH = null } GlobalScope.launch(Dispatchers.Main) { - //TODO -// updateDiagnoseUIState( -// DiagnoseSource.SSH, -// "连接${Utils.getIPLastSegment(host.hostname)}失败，原因：$msg……", -// DiagnoseType.FAILED -// ) CallerSshConnectionListenerManager.invokeConnectFailure(host, msg) } - updateDiagnoseFinish(host) Log.i(TAG, "${host.toString()} 连接失败=${msg}") } @@ -607,11 +555,6 @@ class FaultManagementDiagnosisService : Service(), OnSshConnectionListener, ) { if (list.isNotEmpty()) { dockerInfoMap[host] = list - //TODO -// updateDiagnoseUIStateInUIThread( -// DiagnoseSource.SSH, -// "${Utils.getIPLastSegment(host.hostname)} Docker信息获取成功……" -// ) val mapDocker: DockerInfo? = list.find { it.names == "autocar_default_1" || it.names == "autocar-default-1" } if (mapDocker != null) { @@ -629,7 +572,6 @@ class FaultManagementDiagnosisService : Service(), OnSshConnectionListener, } } } - updateDiagnoseFinish(host) } else { if (dockerInfoMap.containsKey(host)) dockerInfoMap.remove(host) @@ -765,7 +707,6 @@ class FaultManagementDiagnosisService : Service(), OnSshConnectionListener, } } else if (MogoCommand.QUERY_VEHICLE_CONFIG == cmd) { vehicleConfig = VehicleConfig(result) - //TODO // updateDiagnoseUIStateInUIThread( // DiagnoseSource.SSH, // "车辆信息，车牌：${vehicleConfig!!.plate} 品牌：${vehicleConfig!!.brand} 类型：${vehicleConfig!!.model}", @@ -1086,54 +1027,7 @@ class FaultManagementDiagnosisService : Service(), OnSshConnectionListener, ssh.execCommand(MogoCommand.QUERY_VEHICLE_CONFIG, false) //获取车牌等信息 ssh.execCommand(MogoCommand.QUERY_ROS_SLAVE, false) //获取从ros主机 } - //TODO -// updateDiagnoseUIStateInUIThread( -// DiagnoseSource.SSH, -// "正在获取${Utils.getIPLastSegment(ssh.host.hostname)} Docker信息……" -// ) ssh.execCommand(MogoCommand.QUERY_DOCKER_PS_A, false) - //等待获取Docker信息是否成功 - GlobalScope.launch(Dispatchers.IO) { - delay(6000) - if (!dockerInfoMap.containsKey(ssh.host)) { - //TODO -// withContext(Dispatchers.Main) { -// updateDiagnoseUIState( -// DiagnoseSource.SSH, -// "${Utils.getIPLastSegment(ssh.host.hostname)} Docker信息获取失败……", -// DiagnoseType.FAILED -// ) -// } - updateDiagnoseFinish(ssh.host) - } - } - } - - //检查诊断是否完成,并更新状态 - private fun updateDiagnoseFinish(host: SSHHostBean) { - //TODO -// if (!isDiagnoseFinish.get()) { -// synchronized(diagnoseFinishState) { -// if (diagnoseFinishState.containsKey(host)) { -// diagnoseFinishState[host] = true -// } -// } -// val count = diagnoseFinishState.count { it.value } -// if (count == diagnoseFinishState.size) { -// isDiagnoseFinish.set(true) -// val msg = -// if (CallerAutopilotActionsListenerManager.isAutopilotAbility()) "可自动驾驶，请打开「鹰眼」进入运营状态" else "不可自动驾驶，详细信息请关闭《诊断弹窗》查看" -// updateDiagnoseUIStateInUIThread(DiagnoseSource.MC, "诊断完成，当前环境${msg}") -// val vib = if (Build.VERSION.SDK_INT >= Build.VERSION_CODES.S) { -// val vibratorManager = -// getSystemService(Context.VIBRATOR_MANAGER_SERVICE) as VibratorManager -// vibratorManager.defaultVibrator -// } else { -// getSystemService(VIBRATOR_SERVICE) as Vibrator -// } -// vib.vibrate(VibrationEffect.createOneShot(500, 255)) -// } -// } } private fun queryRosHostArgument(ssh: SSH) { diff --git a/core/function-impl/mogo-core-function-devatools-rviz/src/main/java/com/zhjt/mogo_core_function_devatools/rviz/ui/activity/FmdAct.kt b/core/function-impl/mogo-core-function-devatools-rviz/src/main/java/com/zhjt/mogo_core_function_devatools/rviz/ui/activity/FmdAct.kt index e042bea6b6..8e7edc4e91 100644 --- a/core/function-impl/mogo-core-function-devatools-rviz/src/main/java/com/zhjt/mogo_core_function_devatools/rviz/ui/activity/FmdAct.kt +++ b/core/function-impl/mogo-core-function-devatools-rviz/src/main/java/com/zhjt/mogo_core_function_devatools/rviz/ui/activity/FmdAct.kt @@ -49,6 +49,7 @@ class FmdAct : BaseActivity() { arrayOf("车况概览", "系统资源", "故障码") private lateinit var overviewFrag: OverviewFrag + private lateinit var systemResourceFrag: SystemResourceFrag private lateinit var faultCodeFrag: FaultCodeFrag private val mIconUnselectIds = intArrayOf( R.drawable.rviz_fmd_tab_car_status_unselect, @@ -86,9 +87,10 @@ class FmdAct : BaseActivity() { Utils.getApp().startService(Intent(Utils.getApp(), FmCodeUpdateService::class.java)) registerForContextMenu(clConnectStatusBarView.vehicleNumberView) overviewFrag = OverviewFrag() + systemResourceFrag = SystemResourceFrag() faultCodeFrag = FaultCodeFrag() mFragments.add(overviewFrag) - mFragments.add(SystemResourceFrag()) + mFragments.add(systemResourceFrag) mFragments.add(faultCodeFrag) for (i in mTitles.indices) { @@ -201,8 +203,9 @@ class FmdAct : BaseActivity() { fmdBound = (service as FaultManagementDiagnosisService.FaultManagementDiagnosisBinder).service faultCodeFrag.setData(fmdBound!!.fmDataMap) + systemResourceFrag.initData() overviewFrag.setData(fmdBound!!.fmDataMap) - fmdBound!!.startDiagnose() + fmdBound!!.connectSSH() } override fun onServiceDisconnected(className: ComponentName) { diff --git a/core/function-impl/mogo-core-function-devatools-rviz/src/main/java/com/zhjt/mogo_core_function_devatools/rviz/ui/fragments/resource/SystemResourceFrag.kt b/core/function-impl/mogo-core-function-devatools-rviz/src/main/java/com/zhjt/mogo_core_function_devatools/rviz/ui/fragments/resource/SystemResourceFrag.kt index 8209f64ea4..5e87b122b1 100644 --- a/core/function-impl/mogo-core-function-devatools-rviz/src/main/java/com/zhjt/mogo_core_function_devatools/rviz/ui/fragments/resource/SystemResourceFrag.kt +++ b/core/function-impl/mogo-core-function-devatools-rviz/src/main/java/com/zhjt/mogo_core_function_devatools/rviz/ui/fragments/resource/SystemResourceFrag.kt @@ -39,13 +39,17 @@ class SystemResourceFrag : FmdBaseFragment(), OnRosHostClickListener, override fun onHiddenChanged(hidden: Boolean) { super.onHiddenChanged(hidden) if (!hidden) { - if (!isInit) { - isInit = true - rosHostsView.setDatas( - fmdAct.getRosHostArguments(), - fmdAct.getCloudMapVersion() - ) - } + initData() + } + } + + fun initData() { + if (!isInit) { + isInit = true + rosHostsView.setDatas( + fmdAct.getRosHostArguments(), + fmdAct.getCloudMapVersion() + ) } } diff --git a/core/function-impl/mogo-core-function-devatools-rviz/src/main/java/com/zhjt/mogo_core_function_devatools/rviz/ui/views/StateBarView.java b/core/function-impl/mogo-core-function-devatools-rviz/src/main/java/com/zhjt/mogo_core_function_devatools/rviz/ui/views/StateBarView.java index 69caeff9fe..983afc9b45 100644 --- a/core/function-impl/mogo-core-function-devatools-rviz/src/main/java/com/zhjt/mogo_core_function_devatools/rviz/ui/views/StateBarView.java +++ b/core/function-impl/mogo-core-function-devatools-rviz/src/main/java/com/zhjt/mogo_core_function_devatools/rviz/ui/views/StateBarView.java @@ -27,12 +27,17 @@ import androidx.lifecycle.LifecycleRegistry; import com.mogo.eagle.core.utilcode.util.NetworkUtils; import com.zhjt.mogo.adas.data.AdasConstants; import com.zhjt.mogo_core_function_devatools.rviz.R; +import com.zhjt.mogo_core_function_devatools.rviz.common.config.SSHAccountConfig; import com.zhjt.mogo_core_function_devatools.rviz.common.coroutines.FlowBus; import com.zhjt.mogo_core_function_devatools.rviz.common.utils.DetectHtml; import com.zhjt.mogo_core_function_devatools.rviz.common.utils.NetworkUtilsExtend; import com.zhjt.mogo_core_function_devatools.rviz.constant.AppConfigInfo; import com.zhjt.mogo_core_function_devatools.rviz.constant.EventKey; import com.zhjt.mogo_core_function_devatools.rviz.model.entities.AdasConnectionStatus; +import com.zhjt.mogo_core_function_devatools.rviz.ssh.SSH; +import com.zhjt.mogo_core_function_devatools.rviz.ssh.function.call.CallerSshConnectionListenerManager; +import com.zhjt.mogo_core_function_devatools.rviz.ssh.function.listener.OnSshConnectionListener; +import com.zhjt.mogo_core_function_devatools.rviz.ssh.module.SSHHostBean; import java.net.Inet4Address; import java.net.InetAddress; @@ -47,7 +52,7 @@ import mogo.telematics.pad.MessagePad; /** * 连接以及状态展示 */ -public class StateBarView extends LinearLayout implements LifecycleOwner, NetworkUtilsExtend.NetworkCallbackListener { +public class StateBarView extends LinearLayout implements LifecycleOwner, NetworkUtilsExtend.NetworkCallbackListener, OnSshConnectionListener { private static final String TAG = StateBarView.class.getSimpleName(); private final CoroutineScope scopeSubscriber = CoroutineScopeKt.CoroutineScope(MainScope().getCoroutineContext()); private final LifecycleRegistry lifecycle = new LifecycleRegistry(this); @@ -55,6 +60,7 @@ public class StateBarView extends LinearLayout implements LifecycleOwner, Networ private TextView ipView; private TextView vehicleNumberView; private TextView adasStateView; + private TextView sshStateView; @NonNull @Override @@ -101,7 +107,6 @@ public class StateBarView extends LinearLayout implements LifecycleOwner, Networ setListener(); initView(); getNetWorkType(); -// FlowBus.INSTANCE.with(EventKey.GET_VEHICLE_CONFIG).post(scopeSubscriber, EventKey.GET_VEHICLE_CONFIG); FlowBus.INSTANCE.with(EventKey.UPDATE_CAR_CONFIG_STATE).register(this, it -> { setHintTextView(vehicleNumberView, it.getPlateNumber()); }); @@ -109,20 +114,35 @@ public class StateBarView extends LinearLayout implements LifecycleOwner, Networ String msg = getResources().getString(R.string.rviz_fmd_disconnected); AdasConstants.IpcConnectionStatus ipcConnectionStatus = it.getIpcConnectionStatus(); String reason = it.getReason(); - if (ipcConnectionStatus == AdasConstants.IpcConnectionStatus.CONNECTED) { + if (ipcConnectionStatus == AdasConstants.IpcConnectionStatus.DISCONNECTED) { + msg = getResources().getString(R.string.rviz_fmd_disconnected); + } else if (ipcConnectionStatus == AdasConstants.IpcConnectionStatus.CONNECTED) { msg = getResources().getString(R.string.rviz_fmd_connected); - } else if (ipcConnectionStatus == AdasConstants.IpcConnectionStatus.DISCONNECTED) { - msg = "连接失败"; } else if (ipcConnectionStatus == AdasConstants.IpcConnectionStatus.CONNECTING) { - msg = "连接中"; - if (!TextUtils.isEmpty(reason)) { - if (reason.contains("（")) { - String[] str = reason.split("（"); - msg = str[0]; - } else { - msg = reason; - } - } + msg = getResources().getString(R.string.rviz_fmd_connecting); + setHintTextView(netNameView, getNetWorkType()); + setHintTextView(ipView, getIpAddressString()); + } else if (ipcConnectionStatus == AdasConstants.IpcConnectionStatus.RECONNECTING_TIMER || + ipcConnectionStatus == AdasConstants.IpcConnectionStatus.RECONNECTING_NETWORK) { + msg = getResources().getString(R.string.rviz_fmd_reconnecting); + setHintTextView(netNameView, getNetWorkType()); + setHintTextView(ipView, getIpAddressString()); + } else if (ipcConnectionStatus == AdasConstants.IpcConnectionStatus.CONNECT_EXCEPTION) { + msg = getResources().getString(R.string.rviz_fmd_connect_exception); + } else if (ipcConnectionStatus == AdasConstants.IpcConnectionStatus.ILLEGAL_ADDRESS) { + msg = getResources().getString(R.string.rviz_fmd_illegal_address); + } else if (ipcConnectionStatus == AdasConstants.IpcConnectionStatus.SEARCH_ADDRESS) { + msg = getResources().getString(R.string.rviz_fmd_search_address); + } else if (ipcConnectionStatus == AdasConstants.IpcConnectionStatus.NOT_FOUND_ADDRESS) { + msg = getResources().getString(R.string.rviz_fmd_not_found_address); + } else if (ipcConnectionStatus == AdasConstants.IpcConnectionStatus.CERTIFICATION_FAILED) { + msg = getResources().getString(R.string.rviz_fmd_certification_failed); + } else if (ipcConnectionStatus == AdasConstants.IpcConnectionStatus.HEARTBEAT_TIMEOUT) { + msg = getResources().getString(R.string.rviz_fmd_heartbeat_timeout); + } else if (ipcConnectionStatus == AdasConstants.IpcConnectionStatus.PROTOCOL_MISMATCH) { + msg = getResources().getString(R.string.rviz_fmd_protocol_mismatch); + } else if (ipcConnectionStatus == AdasConstants.IpcConnectionStatus.SERVER_DISCONNECTED) { + msg = getResources().getString(R.string.rviz_fmd_server_disconnected); } setHintTextView(adasStateView, msg); if (ipcConnectionStatus != AdasConstants.IpcConnectionStatus.CONNECTED) { @@ -150,10 +170,12 @@ public class StateBarView extends LinearLayout implements LifecycleOwner, Networ ipView = findViewById(R.id.ip_view); vehicleNumberView = findViewById(R.id.vehicle_number_view); adasStateView = findViewById(R.id.adas_state_view); + sshStateView = findViewById(R.id.ssh_state_view); setHintTextView(netNameView, getNetWorkType()); setHintTextView(ipView, getIpAddressString()); setHintTextView(vehicleNumberView, TextUtils.isEmpty(AppConfigInfo.INSTANCE.getPlateNumber()) ? getResources().getString(R.string.rviz_fmd_disconnected) : AppConfigInfo.INSTANCE.getPlateNumber()); setHintTextView(adasStateView, getResources().getString(R.string.rviz_fmd_disconnected)); + setHintTextView(sshStateView, getResources().getString(R.string.rviz_fmd_disconnected)); } /** @@ -218,9 +240,20 @@ public class StateBarView extends LinearLayout implements LifecycleOwner, Networ textView.setText(Html.fromHtml(text)); } } else { - if (getResources().getString(R.string.rviz_fmd_disconnected).equals(text) || getResources().getString(R.string.rviz_fmd_unknown).equals(text) || "连接失败".equals(text)) { + if (getResources().getString(R.string.rviz_fmd_disconnected).equals(text) || + getResources().getString(R.string.rviz_fmd_unknown).equals(text) || + getResources().getString(R.string.rviz_fmd_connect_exception).equals(text) || + getResources().getString(R.string.rviz_fmd_illegal_address).equals(text) || + getResources().getString(R.string.rviz_fmd_not_found_address).equals(text) || + getResources().getString(R.string.rviz_fmd_certification_failed).equals(text) || + getResources().getString(R.string.rviz_fmd_heartbeat_timeout).equals(text) || + getResources().getString(R.string.rviz_fmd_protocol_mismatch).equals(text) || + getResources().getString(R.string.rviz_fmd_server_disconnected).equals(text)) { textView.setTextColor(getResources().getColor(R.color.rviz_fmd_status_error)); - } else if (getResources().getString(R.string.rviz_fmd_gain).equals(text) || "连接中".equals(text) || "重连中".equals(text)) { + } else if (getResources().getString(R.string.rviz_fmd_gain).equals(text) || + getResources().getString(R.string.rviz_fmd_connecting).equals(text) || + getResources().getString(R.string.rviz_fmd_reconnecting).equals(text) || + getResources().getString(R.string.rviz_fmd_search_address).equals(text)) { textView.setTextColor(Color.YELLOW); } else { textView.setTextColor(getResources().getColor(R.color.rviz_fmd_status_normal)); @@ -233,6 +266,8 @@ public class StateBarView extends LinearLayout implements LifecycleOwner, Networ protected void onAttachedToWindow() { super.onAttachedToWindow(); lifecycle.setCurrentState(Lifecycle.State.STARTED); + NetworkUtilsExtend.Companion.addNetworkCallback(this); + CallerSshConnectionListenerManager.INSTANCE.addListener(TAG, this); } @Override @@ -240,9 +275,40 @@ public class StateBarView extends LinearLayout implements LifecycleOwner, Networ super.onDetachedFromWindow(); lifecycle.setCurrentState(Lifecycle.State.DESTROYED); NetworkUtilsExtend.Companion.removeNetworkCallback(this); + CallerSshConnectionListenerManager.INSTANCE.removeListener(TAG); } public View getVehicleNumberView() { return vehicleNumberView; } + + @Override + public void onSshConnecting(@NonNull SSHHostBean host, int rosHostArgumentPosition, boolean isInserted) { + if (TextUtils.equals(host.getHostname(), SSHAccountConfig.INSTANCE.getRosMasterIp())) { + setHintTextView(sshStateView, "连接中"); + } + } + + @Override + public void onSshConnected(@NonNull SSH ssh) { + if (TextUtils.equals(ssh.host.getHostname(), SSHAccountConfig.INSTANCE.getRosMasterIp())) { + setHintTextView(sshStateView, getResources().getString(R.string.rviz_fmd_connected)); + } + } + + @Override + public void onSshDisconnected(@NonNull SSHHostBean host) { + if (TextUtils.equals(host.getHostname(), SSHAccountConfig.INSTANCE.getRosMasterIp())) { + setHintTextView(sshStateView, "已断开"); + } + } + + @Override + public void onSshConnectFailure(@NonNull SSHHostBean host, @NonNull String msg) { + if (TextUtils.equals(host.getHostname(), SSHAccountConfig.INSTANCE.getRosMasterIp())) { + setHintTextView(sshStateView, "连接失败"); + setHintTextView(netNameView, getNetWorkType()); + setHintTextView(ipView, getIpAddressString()); + } + } } diff --git a/core/function-impl/mogo-core-function-devatools-rviz/src/main/java/com/zhjt/mogo_core_function_devatools/rviz/widgets/ros/host/RosHostView.java b/core/function-impl/mogo-core-function-devatools-rviz/src/main/java/com/zhjt/mogo_core_function_devatools/rviz/widgets/ros/host/RosHostView.java index 2aa39eed13..6960383bac 100644 --- a/core/function-impl/mogo-core-function-devatools-rviz/src/main/java/com/zhjt/mogo_core_function_devatools/rviz/widgets/ros/host/RosHostView.java +++ b/core/function-impl/mogo-core-function-devatools-rviz/src/main/java/com/zhjt/mogo_core_function_devatools/rviz/widgets/ros/host/RosHostView.java @@ -2,9 +2,7 @@ package com.zhjt.mogo_core_function_devatools.rviz.widgets.ros.host; import android.content.Context; import android.graphics.Rect; -import android.text.TextUtils; import android.util.AttributeSet; -import android.util.Pair; import android.view.LayoutInflater; import android.view.View; diff --git a/core/function-impl/mogo-core-function-devatools-rviz/src/main/res/layout/rviz_fmd_view_state_bar.xml b/core/function-impl/mogo-core-function-devatools-rviz/src/main/res/layout/rviz_fmd_view_state_bar.xml index 9389d6b4c1..0f4aceff32 100644 --- a/core/function-impl/mogo-core-function-devatools-rviz/src/main/res/layout/rviz_fmd_view_state_bar.xml +++ b/core/function-impl/mogo-core-function-devatools-rviz/src/main/res/layout/rviz_fmd_view_state_bar.xml @@ -11,7 +11,7 @@ + android:layout_weight="1"> + android:layout_weight=".7"> - - - - - - - + android:layout_weight="0.9"> + + + + + + + \ No newline at end of file diff --git a/core/function-impl/mogo-core-function-devatools-rviz/src/main/res/values/strings.xml b/core/function-impl/mogo-core-function-devatools-rviz/src/main/res/values/strings.xml index 52d329d71e..d1372ccbef 100644 --- a/core/function-impl/mogo-core-function-devatools-rviz/src/main/res/values/strings.xml +++ b/core/function-impl/mogo-core-function-devatools-rviz/src/main/res/values/strings.xml @@ -1,8 +1,19 @@ 未知 - 已连接 未连接 + 已连接 + 连接中 + 重连中 + 连接失败 + 地址非法 + 搜索域控 + 找不到域控 + 认证异常 + 心跳超时 + 协议不匹配 + 域控断开 + 获取中 (WiFi) 移动网络 From d1c934b216bb0290ea931af39c01fbab02ed9e1c Mon Sep 17 00:00:00 2001 From: xinfengkun Date: Fri, 20 Jun 2025 14:50:23 +0800 Subject: [PATCH 4/4] =?UTF-8?q?[8.1.0][data-center]=20SSM=E8=B6=85?= =?UTF-8?q?=E6=97=B6/=E6=81=A2=E5=A4=8D=E6=B6=88=E6=81=AF=E7=9B=92?= =?UTF-8?q?=E5=AD=90=E6=8F=90=E7=A4=BA=E5=8A=9F=E8=83=BD=E6=B3=A8=E9=87=8A?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- .../autopilot/adapter/MoGoAdasListenerImpl.kt | 46 +++++++++---------- 1 file changed, 23 insertions(+), 23 deletions(-) diff --git a/core/function-impl/mogo-core-function-datacenter/src/main/java/com/mogo/eagle/core/function/datacenter/autopilot/adapter/MoGoAdasListenerImpl.kt b/core/function-impl/mogo-core-function-datacenter/src/main/java/com/mogo/eagle/core/function/datacenter/autopilot/adapter/MoGoAdasListenerImpl.kt index 60b686678b..0b0315c04a 100644 --- a/core/function-impl/mogo-core-function-datacenter/src/main/java/com/mogo/eagle/core/function/datacenter/autopilot/adapter/MoGoAdasListenerImpl.kt +++ b/core/function-impl/mogo-core-function-datacenter/src/main/java/com/mogo/eagle/core/function/datacenter/autopilot/adapter/MoGoAdasListenerImpl.kt @@ -1456,29 +1456,29 @@ class MoGoAdasListenerImpl : OnAdasListener { */ override fun onNodeStateInfo(stateInfo: NodeStateInfo) { CallerNodeStateListenerManager.invokeNodeState(stateInfo) - if (stateInfo.existState != null) { - if (stateInfo.nodeName == AdasConstants.NodeName.SSM) { - //域控SSM接口接收是否超时 - if (stateInfo.existState == NodeExistState.NODE_EXIST_TIMEOUT) { - CallerMsgBoxManager.saveMsgBox( - MsgBoxBean( - MsgBoxType.SSMINFO, - SSMMsg(0, "连接超时", "SSM超时无响应", System.currentTimeMillis()) - ) - ) - } else { - CallerMsgBoxManager.saveMsgBox( - MsgBoxBean( - MsgBoxType.SSMINFO, - SSMMsg(0, "连接恢复", "SSM连接恢复", System.currentTimeMillis()) - ) - ) - } - } else if (stateInfo.nodeName == AdasConstants.NodeName.FSM2024) { - //域控FSM接口接收是否超时 -// (stateInfo.existState == NodeExistState.NODE_EXIST_TIMEOUT) - } - } +// if (stateInfo.existState != null) { +// if (stateInfo.nodeName == AdasConstants.NodeName.SSM) { +// //域控SSM接口接收是否超时 +// if (stateInfo.existState == NodeExistState.NODE_EXIST_TIMEOUT) { +// CallerMsgBoxManager.saveMsgBox( +// MsgBoxBean( +// MsgBoxType.SSMINFO, +// SSMMsg(0, "连接超时", "SSM超时无响应", System.currentTimeMillis()) +// ) +// ) +// } else { +// CallerMsgBoxManager.saveMsgBox( +// MsgBoxBean( +// MsgBoxType.SSMINFO, +// SSMMsg(0, "连接恢复", "SSM连接恢复", System.currentTimeMillis()) +// ) +// ) +// } +// } else if (stateInfo.nodeName == AdasConstants.NodeName.FSM2024) { +// //域控FSM接口接收是否超时 +//// (stateInfo.existState == NodeExistState.NODE_EXIST_TIMEOUT) +// } +// } } /**