diff --git 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 index bfe1427450..aa8d61c29d 100644 --- 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( diff --git 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 index 12ee0d18fb..3de8df06cd 100644 --- 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); diff --git 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 index f9997eb058..9252adcd22 100644 --- 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; } diff --git a/gradle.properties b/gradle.properties index b789054ec5..03a242a8e1 100644 --- 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 diff --git 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 index cfe28af1b8..7e33f9f63d 100644 --- 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 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); } diff --git 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 index c7a023eebb..575c0cd808 100644 --- 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); }