Merge branch 'dev_robotaxi-d-app-module_255_220303_2.5.5' into dev_robotaxi-d-app-module_260_220304_2.6.0

2022-03-09 17:42:37 +08:00
parent a6267114d4 6f6da8d6f3
commit c840d992a7
6 changed files with 71 additions and 29 deletions
--- a/core/function-impl/mogo-core-function-autopilot/src/main/java/com/mogo/eagle/core/function/autopilot/MoGoAutopilotProvider.kt
+++ b/core/function-impl/mogo-core-function-autopilot/src/main/java/com/mogo/eagle/core/function/autopilot/MoGoAutopilotProvider.kt
@@ -66,10 +66,10 @@ class MoGoAutopilotProvider :
            CallerMapDataCollectorManager.registerOnMapCollectTaskListener(this)
            // "192.168.1.102"
            val options = AdasOptions.Builder()
-                .setIpcConnectionMode(AdasOptions.IPC_CONNECTION_MODE.ASSIGN)
-                .setIpcAssignIP(FunctionBuildConfig.adasConnectIP)
-                .setClient(false)
-                .build()
+                    .setIpcConnectionMode(AdasOptions.IPC_CONNECTION_MODE.FIXATION)
+                    .setIpcFixationIP(AdasManager.getInstance().getIPCFixationIPList(mContext))
+                    .setClient(false)
+                    .build()

            AdasManager.getInstance().create(context, options)
            NSDNettyManager.getInstance().startNSDNettyServerWithSN(context, object :
@@ -102,11 +102,10 @@ class MoGoAutopilotProvider :
            //FunctionBuildConfig.isDemoMode = true
            //FunctionBuildConfig.isIgnoreConditionsDrawAutopilotTrajectoryData = true
            // "192.168.1.103"
-            val options = AdasOptions.Builder()
-                .setIpcConnectionMode(AdasOptions.IPC_CONNECTION_MODE.ASSIGN)
-                .setIpcAssignIP(FunctionBuildConfig.adasConnectIP)
-                .setClient(true)
-                .build()
+            val options = AdasOptions
+                    .Builder()
+                    .setClient(true)
+                    .build()
            AdasManager.getInstance().create(context, options)
            NSDNettyManager.getInstance()
                .searchAndConnectServer(context, MoGoAiCloudClientConfig.getInstance().sn, object :
@@ -142,10 +141,6 @@ class MoGoAutopilotProvider :
        // 司机端监听
        if (FunctionBuildConfig.appIdentityMode == 0) {
            AdasManager.getInstance().setOnMultiDeviceListener { bytes ->
-                Logger.d(
-                    TAG,
-                    "司机端接收到工控机吐出来的数据为:${Arrays.toString(bytes)}"
-                )
                // 发送数据给乘客端
                if (NSDNettyManager.getInstance().isServerStart) {
                    Logger.d(
--- a/core/function-impl/mogo-core-function-autopilot/src/main/java/com/mogo/eagle/core/function/autopilot/adapter/MoGoHandAdasMsgManager.java
+++ b/core/function-impl/mogo-core-function-autopilot/src/main/java/com/mogo/eagle/core/function/autopilot/adapter/MoGoHandAdasMsgManager.java
@@ -15,6 +15,7 @@ import com.mogo.eagle.core.function.call.hmi.CallerHmiManager;
 import com.mogo.eagle.core.utilcode.mogo.logger.Logger;
 import com.mogo.eagle.core.utilcode.util.ThreadUtils;
 import com.mogo.module.common.drawer.IdentifyDataDrawer;
+import com.zhidao.support.adas.high.bean.CarStateInfo;
 import com.zhidao.support.obu.ami.AmiClientManager;

 import java.util.ArrayList;
@@ -50,9 +51,11 @@ public class MoGoHandAdasMsgManager implements
        if (autoPilotCarStateInfo != null) {
            //can数据转发
            AutopilotCarStateInfo.ValuesBean bean = autoPilotCarStateInfo.getValues();
+
            if (bean != null) {
                //转向灯状态 0是正常 1是左转 2是右转
-                int turnLight = bean.getTurn_light();
+                //turnLightOften 是sdk适配的字段，后期建议CarStateInfo和AutopilotCarStateInfo统一成一个
+                int turnLight = bean.getTurnLightOften();
                AmiClientManager.getInstance().setTurnLightState(turnLight);
                int brakeLight = bean.getBrake_light();
 //            Logger.d(TAG, "onCarStateData ---- turnLight = " + turnLight + "---brakeLight = " + brakeLight);
--- a/core/mogo-core-data/src/main/java/com/mogo/eagle/core/data/autopilot/AutopilotCarStateInfo.java
+++ b/core/mogo-core-data/src/main/java/com/mogo/eagle/core/data/autopilot/AutopilotCarStateInfo.java
@@ -81,6 +81,22 @@ public class AutopilotCarStateInfo implements Serializable {
        private int brake_light; //刹车灯状态
        private int frame_num;//统计发包个数

+        /**
+         * 常开 常关 转向灯
+         * 0 --关
+         * 1 --左转
+         * 2 --右转
+         */
+        private int turnLightOften = 0;
+
+        public int getTurnLightOften() {
+            return turnLightOften;
+        }
+
+        public void setTurnLightOften(int turnLightOften) {
+            this.turnLightOften = turnLightOften;
+        }
+
        public int getFrame_num() {
            return frame_num;
        }
--- a/gradle.properties
+++ b/gradle.properties
@@ -82,7 +82,7 @@ MOGO_LOCATION_VERSION=1.3.31
 MOGO_TELEMATIC_VERSION=1.3.31
 ######## MogoAiCloudSDK Version ########
 # 自研地图
-MAP_SDK_VERSION=2.0.5.1
+MAP_SDK_VERSION=2.0.5.3
 MAP_SDK_OPERATION_VERSION=1.0.12
 # websocket
 WEBSOCKET_VERSION=1.1.7
--- a/modules/mogo-module-service/src/main/java/com/mogo/module/service/routeoverlay/MogoRouteOverlayManager.java
+++ b/modules/mogo-module-service/src/main/java/com/mogo/module/service/routeoverlay/MogoRouteOverlayManager.java
@@ -1,6 +1,7 @@
 package com.mogo.module.service.routeoverlay;

 import android.content.Context;
+import android.util.Log;

 import com.mogo.eagle.core.data.autopilot.ADASTrajectoryInfo;
 import com.mogo.eagle.core.data.autopilot.AutopilotGuardianStatusInfo;
@@ -17,7 +18,7 @@ import com.mogo.eagle.core.function.call.autopilot.CallerAutoPilotStatusListener
 import com.mogo.eagle.core.function.call.autopilot.CallerAutopilotPlanningListenerManager;
 import com.mogo.eagle.core.function.call.map.CallerMapLocationListenerManager;
 import com.mogo.eagle.core.utilcode.mogo.logger.Logger;
-import com.mogo.module.common.MogoApisHandler;
+import com.mogo.eagle.core.utilcode.util.GsonUtils;
 import com.mogo.module.common.utils.DrivingDirectionUtils;

 import org.jetbrains.annotations.NotNull;
@@ -45,7 +46,7 @@ public class MogoRouteOverlayManager implements
    public void init() {
        CallerAutopilotPlanningListenerManager.INSTANCE.addListener(TAG, this);
        CallerAutoPilotStatusListenerManager.INSTANCE.addListener(TAG, this);
-        CallerMapLocationListenerManager.INSTANCE.addListener(TAG,this);
+        CallerMapLocationListenerManager.INSTANCE.addListener(TAG, this);
 //        intiDrawer();
    }

@@ -60,7 +61,7 @@ public class MogoRouteOverlayManager implements
        return sInstance;
    }

-    private void intiDrawer(){
+    private void intiDrawer() {
        RouteOverlayDrawer.getInstance(mContext).initdraw();
    }

@@ -97,7 +98,7 @@ public class MogoRouteOverlayManager implements

        mTrajectoryList = mogoLatLngs;
        builder.append("}");
-        //Log.d(TAG,builder.toString());
+        Log.d(TAG, builder.toString());
    }

    @Override
@@ -110,13 +111,13 @@ public class MogoRouteOverlayManager implements
            latLngList.add(new MogoLatLng(routeModel.getLat(), routeModel.getLon()));
        }
        int listSize = latLngList.size();
-        mEnding = latLngList.get(listSize-1);
+        mEnding = latLngList.get(listSize - 1);
 //        RouteOverlayDrawer.getInstance(mContext).addEndingMarker(latLngList.get(listSize - 1).lat,latLngList.get(listSize - 1).lon);
    }

    @Override
    public void onAutopilotStatusResponse(@NotNull AutopilotStatusInfo autoPilotStatusInfo) {
-        if (FunctionBuildConfig.isIgnoreConditionsDrawAutopilotTrajectoryData ){
+        if (FunctionBuildConfig.isIgnoreConditionsDrawAutopilotTrajectoryData) {
            return;
        }
        this.STATUS_AUTOPILOT = autoPilotStatusInfo.getControl_pilotmode();
@@ -128,7 +129,7 @@ public class MogoRouteOverlayManager implements
 //        }else {
 //
 //        }我
-        if ( STATUS_AUTOPILOT != 1){
+        if (STATUS_AUTOPILOT != 1) {
            RouteOverlayDrawer.getInstance(mContext).clearEndingMarker();
            RouteOverlayDrawer.getInstance(mContext).clearMogoRouteOverlay();
        }
@@ -137,7 +138,7 @@ public class MogoRouteOverlayManager implements
    @Override
    public void onAutopilotArriveAtStation(@Nullable AutopilotStationInfo autopilotWayArrive) {

-        if(autopilotWayArrive == null){
+        if (autopilotWayArrive == null) {
            return;
        }
        Logger.d(TAG, "onArriveAt data : " + autopilotWayArrive.toString());
@@ -156,17 +157,44 @@ public class MogoRouteOverlayManager implements
    }

    @Override
-    public void onLocationChanged(@Nullable MogoLocation location) {
+    public void onLocationChanged(@Nullable MogoLocation location) {  //todo 拖尾
+//        mLocation = location;
+//        if (mTrajectoryList.isEmpty()) {
+//            return;
+//        }
+//        Log.d(TAG, "onLocationChanged : " + mTrajectoryList.size());
+//        ArrayList list = new ArrayList();
+//        for (MogoLatLng latLng : mTrajectoryList) {
+//            if (!isPointOnCarFront(mLocation, latLng)) {
+//                list.add(latLng);
+//            }
+//        }
+//
+//        StringBuilder builder = new StringBuilder();
+//        for (int i = 0; i < list.size(); i++) {
+//            MogoLatLng latLng = (MogoLatLng) list.get(i);
+//            builder.append(latLng.getLon()).append(",");
+//            builder.append(latLng.getLat()).append(",");
+//        }
+//        Log.d(TAG, "onLocationChanged : " + GsonUtils.toJson(builder.toString()));
+//        Log.d(TAG,"onLocationChanged size = " + list.size() + "---TrajectoryData = " + FunctionBuildConfig.isIgnoreConditionsDrawAutopilotTrajectoryData + "----" + STATUS_AUTOPILOT);
+//        if (FunctionBuildConfig.isIgnoreConditionsDrawAutopilotTrajectoryData || STATUS_AUTOPILOT == 1) {
+//            RouteOverlayDrawer.getInstance(mContext).drawTrajectoryList(list);
+//        }
+
        mLocation = location;
-        if (mTrajectoryList.isEmpty()){
+        List<MogoLatLng> temp = mTrajectoryList;
+        if (temp.isEmpty()){
            return;
        }
+//        Log.e(TAG, "onLocationChanged: size = "+ mTrajectoryList.size()+" ----- "+mLocation.getLongitude()+"-"+mLocation.getLatitude());
        ArrayList  list = new ArrayList();
-        for (MogoLatLng latLng:mTrajectoryList) {
-            if(!isPointOnCarFront(mLocation,latLng)){
+        for (MogoLatLng latLng:temp) {
+//            if(!isPointOnCarFront(mLocation,latLng)){
                list.add(latLng);
-            }
+//            }
        }
+        Log.d(TAG,"TrajectoryData = " + FunctionBuildConfig.isIgnoreConditionsDrawAutopilotTrajectoryData + "---status = " + STATUS_AUTOPILOT + "----size = " + list.size());
        if (FunctionBuildConfig.isIgnoreConditionsDrawAutopilotTrajectoryData || STATUS_AUTOPILOT == 1){
            RouteOverlayDrawer.getInstance(mContext).drawTrajectoryList(list);
        }
--- a/modules/mogo-module-service/src/main/java/com/mogo/module/service/routeoverlay/RouteOverlayDrawer.java
+++ b/modules/mogo-module-service/src/main/java/com/mogo/module/service/routeoverlay/RouteOverlayDrawer.java
@@ -115,7 +115,7 @@ public class RouteOverlayDrawer {
        long drawstart = System.currentTimeMillis();

        mPolylinePointList.clear();
-        if (routeList != null) {
+        if (routeList != null && routeList.size() > 0) {
            for (MogoLatLng latLng : routeList) {
                mPolylinePointList.add(latLng);
            }