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

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This commit is contained in:
donghongyu
2022-03-09 17:42:37 +08:00
parent a6267114d4 6f6da8d6f3
commit c840d992a7
6 changed files with 71 additions and 29 deletions
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21
core/function-impl/mogo-core-function-autopilot/src/main/java/com/mogo/eagle/core/function/autopilot/MoGoAutopilotProvider.kt
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@@ -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(

5
core/function-impl/mogo-core-function-autopilot/src/main/java/com/mogo/eagle/core/function/autopilot/adapter/MoGoHandAdasMsgManager.java
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@@ -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);