From ea62d0eae318a20e21c411a8c3fc4d99f853f718 Mon Sep 17 00:00:00 2001 From: lixiaopeng Date: Mon, 7 Mar 2022 11:12:32 +0800 Subject: [PATCH 1/9] fixed bug --- .../adapter/MoGoHandAdasMsgManager.java | 5 ++++- .../data/autopilot/AutopilotCarStateInfo.java | 16 ++++++++++++++++ 2 files changed, 20 insertions(+), 1 deletion(-) 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; } From 2754dda02f4c72c24dd1a47c69d9b069458f11fb Mon Sep 17 00:00:00 2001 From: chenfufeng Date: Mon, 7 Mar 2022 17:07:37 +0800 Subject: [PATCH 2/9] =?UTF-8?q?[Fix]=E5=85=B3=E9=97=AD=E5=B7=A5=E6=8E=A7?= =?UTF-8?q?=E6=9C=BA=E4=BC=A0=E8=BE=93=E8=BF=87=E6=9D=A5=E7=9A=84=E6=95=B0?= =?UTF-8?q?=E6=8D=AE=E7=9A=84=E6=97=A5=E5=BF=97=E8=BE=93=E5=87=BA?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- .../eagle/core/function/autopilot/MoGoAutopilotProvider.kt | 4 ---- 1 file changed, 4 deletions(-) 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..01a5c37a46 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 @@ -142,10 +142,6 @@ 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( From 339a33bdff87e312d80118f94085f1de6d25546a Mon Sep 17 00:00:00 2001 From: zhongchao Date: Mon, 7 Mar 2022 17:24:01 +0800 Subject: [PATCH 3/9] add log --- .../routeoverlay/MogoRouteOverlayManager.java | 37 ++++++++++++------- 1 file changed, 23 insertions(+), 14 deletions(-) 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..4ddfc19fb9 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()); @@ -156,18 +157,26 @@ 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()){ + if (mTrajectoryList.isEmpty()) { return; } - ArrayList list = new ArrayList(); - for (MogoLatLng latLng:mTrajectoryList) { - if(!isPointOnCarFront(mLocation,latLng)){ + ArrayList list = new ArrayList(); + for (MogoLatLng latLng : mTrajectoryList) { + if (!isPointOnCarFront(mLocation, latLng)) { list.add(latLng); } } - if (FunctionBuildConfig.isIgnoreConditionsDrawAutopilotTrajectoryData || STATUS_AUTOPILOT == 1){ + + 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())); + if (FunctionBuildConfig.isIgnoreConditionsDrawAutopilotTrajectoryData || STATUS_AUTOPILOT == 1) { RouteOverlayDrawer.getInstance(mContext).drawTrajectoryList(list); } } From 44c7599c6a21b859915177f1789c445dad08a412 Mon Sep 17 00:00:00 2001 From: wangmingjun Date: Mon, 7 Mar 2022 19:43:54 +0800 Subject: [PATCH 4/9] =?UTF-8?q?[Taxi=20-d=20v2.5.5]=20MAP=5FSDK=5FVERSION?= =?UTF-8?q?=20=E5=8D=87=E7=BA=A7=E5=88=B0=202.0.5.2?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- gradle.properties | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/gradle.properties b/gradle.properties index 02525e9642..eacb31f175 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=2.0.5.2 MAP_SDK_OPERATION_VERSION=1.0.12 # websocket WEBSOCKET_VERSION=1.1.7 From 2d13c1e1f8a0785aaf8a5554ccdde9125dfdda5c Mon Sep 17 00:00:00 2001 From: lixiaopeng Date: Tue, 8 Mar 2022 13:57:20 +0800 Subject: [PATCH 5/9] opt --- .../module/service/routeoverlay/MogoRouteOverlayManager.java | 2 ++ 1 file changed, 2 insertions(+) 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 4ddfc19fb9..003d29e48e 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 @@ -162,6 +162,7 @@ public class MogoRouteOverlayManager implements if (mTrajectoryList.isEmpty()) { return; } + Log.d(TAG, "onLocationChanged : " + mTrajectoryList.size()); ArrayList list = new ArrayList(); for (MogoLatLng latLng : mTrajectoryList) { if (!isPointOnCarFront(mLocation, latLng)) { @@ -176,6 +177,7 @@ public class MogoRouteOverlayManager implements 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); } From eae15c21e8abf939a501258fc91eb274084b6464 Mon Sep 17 00:00:00 2001 From: lixiaopeng Date: Tue, 8 Mar 2022 15:40:25 +0800 Subject: [PATCH 6/9] opt draw line --- .../routeoverlay/MogoRouteOverlayManager.java | 47 +++++++++++++------ .../routeoverlay/RouteOverlayDrawer.java | 2 +- 2 files changed, 33 insertions(+), 16 deletions(-) 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 003d29e48e..3fd74804eb 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 @@ -158,27 +158,44 @@ public class MogoRouteOverlayManager implements @Override 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.d(TAG, "onLocationChanged : " + mTrajectoryList.size()); - ArrayList list = new ArrayList(); - for (MogoLatLng latLng : mTrajectoryList) { - if (!isPointOnCarFront(mLocation, latLng)) { + Log.e(TAG, "onLocationChanged: size = "+ mTrajectoryList.size()+" ----- "+mLocation.getLongitude()+"-"+mLocation.getLatitude()); + ArrayList list = new ArrayList(); + for (MogoLatLng latLng:temp) { + 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) { + 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); } From 8a6a72bc1324c9aab9db7e4a82353d5be20ac618 Mon Sep 17 00:00:00 2001 From: lixiaopeng Date: Tue, 8 Mar 2022 17:19:53 +0800 Subject: [PATCH 7/9] opt --- .../service/routeoverlay/MogoRouteOverlayManager.java | 6 +++--- 1 file changed, 3 insertions(+), 3 deletions(-) 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 3fd74804eb..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 @@ -187,12 +187,12 @@ public class MogoRouteOverlayManager implements if (temp.isEmpty()){ return; } - Log.e(TAG, "onLocationChanged: size = "+ mTrajectoryList.size()+" ----- "+mLocation.getLongitude()+"-"+mLocation.getLatitude()); +// Log.e(TAG, "onLocationChanged: size = "+ mTrajectoryList.size()+" ----- "+mLocation.getLongitude()+"-"+mLocation.getLatitude()); ArrayList list = new ArrayList(); for (MogoLatLng latLng:temp) { - if(!isPointOnCarFront(mLocation,latLng)){ +// 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){ From 33f804c7058255b0f97e00b811692e7592b19a7a Mon Sep 17 00:00:00 2001 From: wangmingjun Date: Wed, 9 Mar 2022 16:09:28 +0800 Subject: [PATCH 8/9] =?UTF-8?q?[Taxi=20-d=20v2.5.5]=20MAP=5FSDK=5FVERSION?= =?UTF-8?q?=20=E5=8D=87=E7=BA=A7=E5=88=B0=202.0.5.3=EF=BC=8C=E8=A7=A3?= =?UTF-8?q?=E5=86=B3=E7=BB=98=E5=88=B6=E8=B5=B7=E7=BB=88=E7=82=B9=E9=97=AE?= =?UTF-8?q?=E9=A2=98?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- gradle.properties | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/gradle.properties b/gradle.properties index eacb31f175..13e0ee1f9e 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=2.0.5.2 +MAP_SDK_VERSION=2.0.5.3 MAP_SDK_OPERATION_VERSION=1.0.12 # websocket WEBSOCKET_VERSION=1.1.7 From 6f6da8d6f3ce010f46afb5d5b8220ef3a7e05976 Mon Sep 17 00:00:00 2001 From: donghongyu Date: Wed, 9 Mar 2022 17:22:12 +0800 Subject: [PATCH 9/9] =?UTF-8?q?[Change]=20=E5=85=BC=E5=AE=B9=E5=B0=8F?= =?UTF-8?q?=E5=B7=B4=E8=BD=A6=E6=9B=B4=E6=8D=A2=20192.168.1.102=20192.168.?= =?UTF-8?q?8.102?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit Signed-off-by: donghongyu --- .../function/autopilot/MoGoAutopilotProvider.kt | 17 ++++++++--------- 1 file changed, 8 insertions(+), 9 deletions(-) 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 01a5c37a46..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 :