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Merge remote-tracking branch 'origin/dev_robotaxi-d_240227_6.3.0' into dev_robotaxi-d_240227_6.3.0

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This commit is contained in:
jiaguofeng
2024-03-06 10:35:51 +08:00
parent aec4f5eae5 b40b9115cf
commit c9036b05eb
18 changed files with 155 additions and 78 deletions
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12
OCH/bus/driver/src/main/java/com/mogo/och/bus/model/OrderModel.java
View File

@@ -32,6 +32,7 @@ import com.mogo.eagle.core.function.call.autopilot.CallerAutoPilotStatusListener
import com.mogo.eagle.core.function.call.autopilot.CallerChassisLocationGCJ02ListenerManager;
import com.mogo.eagle.core.function.call.autopilot.CallerPlanningRottingListenerManager;
import com.mogo.eagle.core.utilcode.mogo.logger.CallerLogger;
import com.mogo.eagle.core.utilcode.mogo.logger.Logger;
import com.mogo.eagle.core.utilcode.util.CoordinateUtils;
import com.mogo.eagle.core.utilcode.util.DrivingDirectionUtils;
import com.mogo.eagle.core.utilcode.util.NetworkUtils;
@@ -69,6 +70,7 @@ import com.mogo.och.common.module.utils.CoordinateCalculateRouteUtil;
import com.mogo.och.common.module.utils.DateTimeUtil;
import com.mogo.och.common.module.utils.MultiRequestLimitChecker;
import com.mogo.och.common.module.utils.NumberFormatUtil;
import com.mogo.och.common.module.utils.OCHThreadPoolManager;
import com.mogo.och.common.module.utils.PinYinUtil;
import com.mogo.och.common.module.utils.ToastUtilsOch;
import com.mogo.och.common.module.voice.VoiceManager;
@@ -151,7 +153,7 @@ public class OrderModel {
mContext = AbsMogoApplication.getApp();
loginService = (LoginService) ARouter.getInstance().build(OchCommonConst.LOGINSERVICE).navigation();
// 定位监听
CallerChassisLocationGCJ02ListenerManager.INSTANCE.addListener(TAG,10, mMapLocationListener);
CallerChassisLocationGCJ02ListenerManager.INSTANCE.addListener(TAG,5, mMapLocationListener);
MogoStatusManager.getInstance().registerStatusChangedListener(TAG, StatusDescriptor.VR_MODE, mMogoStatusChangedListener);
@@ -384,13 +386,19 @@ public class OrderModel {
@Override
public void onChassisLocationGCJ02(@Nullable MogoLocation gnssInfo) {
if (null == gnssInfo) return;
Logger.d(TAG, "onChassisLocationGCJ02");
if (mControllerStatusCallback != null) {
mControllerStatusCallback.onCarLocationChanged(gnssInfo);
}
//是否到站的围栏判断 离站状态并且自动驾驶还未触发到站
if (isGoingToNextStation && !isArrivedStation) {
judgeArrivedStation(gnssInfo);
OCHThreadPoolManager.getsInstance().locationExecute(new Runnable() {
@Override
public void run() {
judgeArrivedStation(gnssInfo);
}
});
}
}
};

9
OCH/bus/passenger/src/main/java/jinlv/com/mogo/och/bus/passenger/model/BusPassengerModel.kt
View File

@@ -61,6 +61,7 @@ import com.mogo.och.common.module.manager.distancemamager.TrajectoryAndDistanceM
import com.mogo.och.common.module.manager.loopmanager.BizLoopManager
import com.mogo.och.common.module.manager.loopmanager.LoopInfo
import com.mogo.och.common.module.utils.DateTimeUtil
import com.mogo.och.common.module.utils.OCHThreadPoolManager
import com.mogo.och.common.module.utils.PinYinUtil
import com.mogo.och.data.bean.BusRoutesResult
import com.mogo.och.data.bean.BusStationBean
@@ -342,7 +343,7 @@ object BusPassengerModel {
mMogoStatusChangedListener
)
// 定位监听
addListener(TAG, 10, mMapLocationListener)
addListener(TAG, 3, mMapLocationListener)
//监听司机端消息
CallerTelematicListenerManager.addListener(TAG, mReceivedMsgListener)
@@ -466,8 +467,10 @@ object BusPassengerModel {
override fun onChassisLocationGCJ02(mogoLocation: MogoLocation?) {
if (null == mogoLocation) return
mLocation = mogoLocation
for (callback in mControllerStatusCallbackMap.values) {
callback.onCarLocationChanged(mogoLocation)
OCHThreadPoolManager.getsInstance().locationExecute {
for (callback in mControllerStatusCallbackMap.values) {
callback.onCarLocationChanged(mogoLocation)
}
}
}
}

7
OCH/bus/passenger/src/main/java/m2/com/mogo/och/bus/passenger/passenger/model/PM2DrivingModel.kt
View File

@@ -46,6 +46,7 @@ import com.mogo.och.common.module.manager.distancemamager.IDistanceListener
import com.mogo.och.common.module.manager.distancemamager.TrajectoryAndDistanceManager
import com.mogo.och.common.module.manager.loopmanager.BizLoopManager
import com.mogo.och.common.module.manager.loopmanager.LoopInfo
import com.mogo.och.common.module.utils.OCHThreadPoolManager
import kotlin.math.abs
/**
@@ -108,7 +109,7 @@ class PM2DrivingModel private constructor() {
CallerAutoPilotStatusListenerManager.addListener(TAG, mAutoPilotStatusListener)
// 定位监听
CallerChassisLocationGCJ02ListenerManager.addListener(TAG, 10, mMapLocationListener)
CallerChassisLocationGCJ02ListenerManager.addListener(TAG, 3, mMapLocationListener)
//司乘屏通信监听
CallerTelematicListenerManager.addListener(TAG, mReceivedMsgListener)
@@ -257,7 +258,9 @@ class PM2DrivingModel private constructor() {
override fun onChassisLocationGCJ02(mogoLocation: MogoLocation?) {
if (null == mogoLocation) return
mLocation = mogoLocation
updateSpeed(mogoLocation)
OCHThreadPoolManager.getsInstance().locationExecute {
updateSpeed(mogoLocation)
}
}
}

6
OCH/charter/driver/src/main/java/com/magic/mogo/och/charter/model/DriverM1Model.kt
View File

@@ -112,7 +112,7 @@ class DriverM1Model {
fun init(context: Context) {
mContext = context
// 定位监听
CallerChassisLocationGCJ02ListenerManager.addListener(TAG, 10, mMapLocationListener)
CallerChassisLocationGCJ02ListenerManager.addListener(TAG, 5, mMapLocationListener)
//开启自驾后 异常信息返回
OCHAdasAbilityManager.getInstance().setAdasStartFailureCallback(mAdasStartFailureListener)
@@ -365,7 +365,9 @@ class DriverM1Model {
//是否到站的围栏判断 自动驾驶还未触发到站
if (!isArrivedStation) {
judgeArrivedStation(gnssInfo)
OCHThreadPoolManager.getsInstance().locationExecute {
judgeArrivedStation(gnssInfo)
}
}
}
}

2
OCH/charter/driver/src/main/java/com/magic/mogo/och/charter/view/carstatus/CarStatusViewModel.kt
View File

@@ -29,7 +29,7 @@ class CarStatusViewModel: ViewModel(), IMoGoAutopilotStatusListener,
fun setAutopilotStatusCallback(viewCallback:ICarStatusCallback){
this.viewCallback = viewCallback
CallerChassisLocationGCJ02ListenerManager.addListener(DriverM1Model.TAG, 10, this)
CallerChassisLocationGCJ02ListenerManager.addListener(DriverM1Model.TAG, 3, this)
}
interface ICarStatusCallback{

2
OCH/charter/passenger/src/main/java/com/mogo/och/charter/passenger/ui/itinerary/ItineraryViewModel.kt
View File

@@ -24,7 +24,7 @@ class ItineraryViewModel : ViewModel(), IMoGoChassisLocationGCJ02Listener, IDist
private var viewCallback: ItineraryViewCallback? = null
init {
CallerChassisLocationGCJ02ListenerManager.addListener(TAG, 4, this)
CallerChassisLocationGCJ02ListenerManager.addListener(TAG, 3, this)
CharterPassengerModel.setStationDistanceListener(TAG, this)
CharterPassengerModel.setStatusChangeListener(TAG, this)
}

43
OCH/common/common/src/main/java/com/mogo/och/common/module/utils/OCHThreadPoolManager.java
View File

@@ -134,6 +134,49 @@ public class OCHThreadPoolManager<T> {
}
}
//======================================================================================
//=============== 位置坐标回调处理线程池 ==========
//======================================================================================
/**
* 线程池的对象(高频坐标处理, keepAliveTime=30s, 等待队列容量=200, 异常处理机制=丢弃队列最前面的任务)
*/
private ThreadPoolExecutor locationExecutor;
/**
* 开启一个无返回结果的线程
*/
public void locationExecute(Runnable r) {
if (locationExecutor == null) {
/*
* corePoolSize:核心线程数
* maximumPoolSize：线程池所容纳最大线程数(workQueue队列满了之后才开启)
* keepAliveTime：非核心线程闲置时间超时时长
* unit：keepAliveTime的单位
* workQueue：等待队列，存储还未执行的任务
* threadFactory：线程创建的工厂
* handler：异常处理机制
*
*/
locationExecutor = new ThreadPoolExecutor(CPU_COUNT + 1, CPU_COUNT * 2 + 1,
30, TimeUnit.SECONDS, new ArrayBlockingQueue<>(200),
Executors.defaultThreadFactory(), new ThreadPoolExecutor.DiscardOldestPolicy());
}
// 把一个任务丢到了线程池中
try {
locationExecutor.execute(r);
} catch (Exception e) {
e.printStackTrace();
}
}
/**
* 把任务移除等待队列
*/
public void locationCancel(Runnable r) {
if (r != null) {
locationExecutor.getQueue().remove(r);
}
}
}

10
OCH/shuttle/driver/src/main/java/com/mogo/och/bus/model/OrderModel.java
View File

@@ -29,6 +29,7 @@ import com.mogo.och.common.module.bean.dpmsg.LoginCacheStatus;
import com.mogo.och.common.module.bean.dpmsg.TaskDetailsMsg;
import com.mogo.och.common.module.biz.constant.LoginStatusManager;
import com.mogo.och.common.module.utils.MultiRequestLimitChecker;
import com.mogo.och.common.module.utils.OCHThreadPoolManager;
import com.mogo.och.data.bean.BusStationBean;
import com.mogo.och.common.module.biz.common.socketmessage.data.SystemMsg;
import com.mogo.och.common.module.biz.constant.OchCommonConst;
@@ -131,7 +132,7 @@ public class OrderModel {
mContext = AbsMogoApplication.getApp();
loginService = (LoginService) ARouter.getInstance().build(OchCommonConst.LOGINSERVICE).navigation();
// 定位监听
CallerChassisLocationGCJ02ListenerManager.INSTANCE.addListener(TAG,10,mMapLocationListener);
CallerChassisLocationGCJ02ListenerManager.INSTANCE.addListener(TAG,5,mMapLocationListener);
//开启自驾后 异常信息返回
OCHAdasAbilityManager.getInstance().setAdasStartFailureCallback(mAdasStartFailureListener);
@@ -310,7 +311,12 @@ public class OrderModel {
//是否到站的围栏判断 离站状态并且自动驾驶还未触发到站
if (isGoingToNextStation && !isArrivedStation) {
judgeArrivedStation(mogoLocation);
OCHThreadPoolManager.getsInstance().locationExecute(new Runnable() {
@Override
public void run() {
judgeArrivedStation(mogoLocation);
}
});
}
}
};

2
OCH/shuttle/passenger/src/main/java/jinlv/com/mogo/och/shuttle/passenger/model/BusPassengerModel.java
View File

@@ -342,7 +342,7 @@ public class BusPassengerModel {
IntentManager.getInstance().registerIntentListener(ConnectivityManager.CONNECTIVITY_ACTION, mNetWorkIntentListener );
MogoStatusManager.getInstance().registerStatusChangedListener(TAG, StatusDescriptor.VR_MODE, mMogoStatusChangedListener );
// 定位监听
CallerChassisLocationGCJ02ListenerManager.INSTANCE.addListener(TAG, 10,mMapLocationListener);
CallerChassisLocationGCJ02ListenerManager.INSTANCE.addListener(TAG, 3,mMapLocationListener);
//2021.11.1 自动驾驶路线规划接口
CallerPlanningRottingListenerManager.INSTANCE.addListener(TAG,moGoAutopilotPlanningListener);

2
OCH/shuttle/passenger/src/main/java/m2/com/mogo/och/shuttle/passenger/model/PM2DrivingModel.kt
View File

@@ -107,7 +107,7 @@ class PM2DrivingModel private constructor() {
CallerAutoPilotStatusListenerManager.addListener(TAG, mAutoPilotStatusListener)
// 定位监听
CallerChassisLocationGCJ02ListenerManager.addListener(TAG, 10, mMapLocationListener)
CallerChassisLocationGCJ02ListenerManager.addListener(TAG, 3, mMapLocationListener)
//司乘屏通信监听
CallerTelematicListenerManager.addListener(TAG, mReceivedMsgListener)

30
OCH/taxi/driver/src/main/java/com/mogo/och/taxi/model/TaxiModel.java
View File

@@ -54,6 +54,7 @@ import com.mogo.och.common.module.manager.distancemamager.ITrajectoryListener;
import com.mogo.och.common.module.manager.distancemamager.TrajectoryAndDistanceManager;
import com.mogo.och.common.module.map.AmapNaviToDestinationModel;
import com.mogo.och.common.module.utils.CoordinateCalculateRouteUtil;
import com.mogo.och.common.module.utils.OCHThreadPoolManager;
import com.mogo.och.common.module.utils.PinYinUtil;
import com.mogo.och.common.module.utils.ToastUtilsOch;
import com.mogo.och.common.module.voice.VoiceNotice;
@@ -222,7 +223,7 @@ public class TaxiModel {
IntentManager.getInstance().registerIntentListener(ConnectivityManager.CONNECTIVITY_ACTION, mNetWorkIntentListener);
//定位监听， 传false是高德坐标系
CallerChassisLocationGCJ02ListenerManager.INSTANCE.addListener(TAG,10, mMapLocationListener);
CallerChassisLocationGCJ02ListenerManager.INSTANCE.addListener(TAG,5, mMapLocationListener);
//2021.11.1 自动驾驶路线规划接口
CallerPlanningRottingListenerManager.INSTANCE.addListener(TAG, moGoAutopilotPlanningListener);
@@ -1093,18 +1094,23 @@ public class TaxiModel {
public void onChassisLocationGCJ02(@Nullable MogoLocation gnssInfo) {
//位置变化时，通过围栏判断是否到达x点
if (null == gnssInfo) return;
if (checkCurrentOCHOrder()) {
if (getCurOrderStatus() == TaxiOrderStatusEnum.OnTheWayToStart) {
judgeStartStation(gnssInfo);
}
if (getCurOrderStatus() == TaxiOrderStatusEnum.OnTheWayToEnd) {
judgeEndStation(gnssInfo);
}
}
OCHThreadPoolManager.getsInstance().locationExecute(new Runnable() {
@Override
public void run() {
if (checkCurrentOCHOrder()) {
if (getCurOrderStatus() == TaxiOrderStatusEnum.OnTheWayToStart) {
judgeStartStation(gnssInfo);
}
if (getCurOrderStatus() == TaxiOrderStatusEnum.OnTheWayToEnd) {
judgeEndStation(gnssInfo);
}
}
mLongitude = gnssInfo.getLongitude();
mLatitude = gnssInfo.getLatitude();
mLocation = gnssInfo;
mLongitude = gnssInfo.getLongitude();
mLatitude = gnssInfo.getLatitude();
mLocation = gnssInfo;
}
});
}
};

2
OCH/taxi/driver/src/main/java/com/mogo/och/taxi/ui/TaxiMapDirectionView.kt
View File

@@ -68,7 +68,7 @@ class TaxiMapDirectionView @JvmOverloads constructor(
initAMapView()
// 注册定位监听
CallerChassisLocationGCJ02ListenerManager.addListener(TAG, 10, this)
CallerChassisLocationGCJ02ListenerManager.addListener(TAG, 3, this)
}
override fun onDetachedFromWindow() {

2
OCH/taxi/driver/src/main/java/com/mogo/och/taxi/ui/speed/SpeedViewModel.kt
View File

@@ -23,7 +23,7 @@ class SpeedViewModel: ViewModel(), IMoGoChassisLocationGCJ02Listener {
fun setAutopilotStatusCallback(viewCallback: ISpeedCallback){
this.viewCallback = viewCallback
//定位监听， 传false是高德坐标系
CallerChassisLocationGCJ02ListenerManager.addListener(TAG, 10, this)
CallerChassisLocationGCJ02ListenerManager.addListener(TAG, 3, this)
}

2
OCH/taxi/passenger/src/main/java/com/mogo/och/taxi/passenger/ui/speed/SpeedView.kt
View File

@@ -32,7 +32,7 @@ class SpeedView : ConstraintLayout, IMoGoChassisLocationGCJ02Listener {
override fun onVisibilityAggregated(isVisible: Boolean) {
super.onVisibilityAggregated(isVisible)
if(isVisible){
CallerChassisLocationGCJ02ListenerManager.addListener(TAG, 4, this)
CallerChassisLocationGCJ02ListenerManager.addListener(TAG, 3, this)
}else{
CallerChassisLocationGCJ02ListenerManager.removeListener(TAG)
}

2
OCH/taxi/unmanned-driver/src/main/java/com/mogo/och/taxi/ui/navi/auto/TaxiMapDirectionView.kt
View File

@@ -68,7 +68,7 @@ class TaxiMapDirectionView @JvmOverloads constructor(
initAMapView()
// 注册定位监听
CallerChassisLocationGCJ02ListenerManager.addListener(TAG, 10, this)
CallerChassisLocationGCJ02ListenerManager.addListener(TAG, 3, this)
}
override fun onDetachedFromWindow() {

75
OCH/taxi/unmanned-driver/src/main/java/com/mogo/och/taxi/ui/routing/TaxiRoutingModel.kt
View File

@@ -23,6 +23,7 @@ import com.mogo.eagle.core.utilcode.util.NetworkUtils
import com.mogo.eagle.core.utilcode.util.ToastUtils
import com.mogo.och.common.module.biz.network.OchCommonServiceCallback
import com.mogo.och.common.module.manager.autopilotmanager.OCHAdasAbilityManager
import com.mogo.och.common.module.utils.OCHThreadPoolManager
import com.mogo.och.taxi.bean.ContrailBean
import com.mogo.och.taxi.bean.EndGrayContrailTaskReq
import com.mogo.och.taxi.bean.EndGrayTaskFeedbackType
@@ -144,52 +145,54 @@ object TaxiRoutingModel {
if (null == currentLocation) return
val endSite = currentGrayLineBean?.endSite ?: return
val endLon = endSite.gcjLon
val endLat = endSite.gcjLat
OCHThreadPoolManager.getsInstance().locationExecute {
val endLon = endSite.gcjLon
val endLat = endSite.gcjLat
val distance = CoordinateUtils.calculateLineDistance(
endLon,
endLat,
currentLocation.longitude,
currentLocation.latitude
).toDouble()
CallerLogger.i(TAG, "judgeEndStation() distance = $distance")
//1、当前位置和站点围栏15m内
if (distance <= TaxiUnmannedConst.ARRIVE_AT_START_STATION_DISTANCE) {
//2、开始计算当前位置和站点的向量角度 < 90度 未经过 >90度 经过
val stationAngle = DrivingDirectionUtils.getDegreeOfCar2Poi(
currentLocation.longitude,
currentLocation.latitude,
val distance = CoordinateUtils.calculateLineDistance(
endLon,
endLat,
currentLocation.heading.toInt()
currentLocation.longitude,
currentLocation.latitude
).toDouble()
CallerLogger.i(TAG, "judgeEndStation() stationAngle = $stationAngle")
CallerLogger.i(TAG, "judgeEndStation() distance = $distance")
//1、当前位置和站点围栏15m内
if (distance <= TaxiUnmannedConst.ARRIVE_AT_START_STATION_DISTANCE) {
//2、开始计算当前位置和站点的向量角度 < 90度 未经过 >90度 经过
val stationAngle = DrivingDirectionUtils.getDegreeOfCar2Poi(
currentLocation.longitude,
currentLocation.latitude,
endLon,
endLat,
currentLocation.heading.toInt()
).toDouble()
CallerLogger.i(TAG, "judgeEndStation() stationAngle = $stationAngle")
//3、刚过站且过站距离在15m内， 提交到站
if (stationAngle > 90) {
CallerLogger.i(TAG, "judgeEndStation() = 刚过站且在15m内")
DebugView.printInfoMsg(
"[自车定位围栏] 触发围栏, endSiteId=${currentGrayLineBean?.endSite?.siteId}, endSiteName=${currentGrayLineBean?.endSite?.siteName}, lineId=${currentGrayLineBean?.lineId}，围栏范围：${TaxiUnmannedConst.ARRIVE_AT_START_STATION_DISTANCE}米 刚过站且在15m内"
)
mTaxiRoutingCallbackMap.forEach {
val listener = it.value
listener.onGDMapArriveAtEndStation(currentGrayId)
}
} else {
// 4、 没有过站距离小于15m 速度小于0.3(根据M1来的模数 可能要调)
if (currentLocation.gnssSpeed < 0.3) {
CallerLogger.i(
TAG,
"judgeEndStation() = 没有过站、速度基本为零且在15m内"
)
//3、刚过站且过站距离在15m内， 提交到站
if (stationAngle > 90) {
CallerLogger.i(TAG, "judgeEndStation() = 刚过站且在15m内")
DebugView.printInfoMsg(
"[自车定位围栏] 触发围栏, endSiteId=${currentGrayLineBean?.endSite?.siteId}, endSiteName=${currentGrayLineBean?.endSite?.siteName}, lineId=${currentGrayLineBean?.lineId}，围栏范围：${TaxiUnmannedConst.ARRIVE_AT_START_STATION_DISTANCE}米 没有过站、速度基本为零且在15m内"
"[自车定位围栏] 触发围栏, endSiteId=${currentGrayLineBean?.endSite?.siteId}, endSiteName=${currentGrayLineBean?.endSite?.siteName}, lineId=${currentGrayLineBean?.lineId}，围栏范围：${TaxiUnmannedConst.ARRIVE_AT_START_STATION_DISTANCE}米 刚过站且在15m内"
)
mTaxiRoutingCallbackMap.forEach {
val listener = it.value
listener.onGDMapArriveAtEndStation(currentGrayId)
}
} else {
// 4、 没有过站距离小于15m 速度小于0.3(根据M1来的模数 可能要调)
if (currentLocation.gnssSpeed < 0.3) {
CallerLogger.i(
TAG,
"judgeEndStation() = 没有过站、速度基本为零且在15m内"
)
DebugView.printInfoMsg(
"[自车定位围栏] 触发围栏, endSiteId=${currentGrayLineBean?.endSite?.siteId}, endSiteName=${currentGrayLineBean?.endSite?.siteName}, lineId=${currentGrayLineBean?.lineId}，围栏范围：${TaxiUnmannedConst.ARRIVE_AT_START_STATION_DISTANCE}米 没有过站、速度基本为零且在15m内"
)
mTaxiRoutingCallbackMap.forEach {
val listener = it.value
listener.onGDMapArriveAtEndStation(currentGrayId)
}
}
}
}
}
@@ -198,7 +201,7 @@ object TaxiRoutingModel {
fun addGDMapCurrentLocationListener() {
//定位监听， 传false是高德坐标系 10 -> 100ms一次
CallerChassisLocationGCJ02ListenerManager.addListener(TAG, 10, mMapLocationListener)
CallerChassisLocationGCJ02ListenerManager.addListener(TAG, 5, mMapLocationListener)
}
fun removeGDMapCurrentLocationListener() {

23
OCH/taxi/unmanned-driver/src/main/java/com/mogo/och/taxi/ui/task/TaxiTaskModel.kt
View File

@@ -53,6 +53,7 @@ import com.mogo.och.common.module.manager.distancemamager.TrajectoryAndDistanceM
import com.mogo.och.common.module.manager.distancemamager.TrajectoryAndDistanceManager.setStationPoint
import com.mogo.och.common.module.map.AmapNaviToDestinationModel
import com.mogo.och.common.module.utils.CoordinateCalculateRouteUtil.coordinateConverterWgsToGcjLocations
import com.mogo.och.common.module.utils.OCHThreadPoolManager
import com.mogo.och.common.module.voice.VoiceNotice
import com.mogo.och.taxi.bean.PrepareTaskRespBean
import com.mogo.och.taxi.bean.QueryCarOrderByNoRespBean
@@ -215,7 +216,7 @@ object TaxiTaskModel {
// 2021.11.1重构自动驾驶 实现接口 IMoGoAutopilotStatusListener 注册监听 替换IMogoAdasOCHCallback接口
CallerAutoPilotStatusListenerManager.addListener(TAG, mMogoAutopilotStatusListener)
//定位监听， 传false是高德坐标系 10 -> 100ms一次
CallerChassisLocationGCJ02ListenerManager.addListener(TAG, 10, mMapLocationListener)
CallerChassisLocationGCJ02ListenerManager.addListener(TAG, 5, mMapLocationListener)
//2021.11.1 自动驾驶路线规划接口
CallerPlanningRottingListenerManager.addListener(TAG, mMogoAutopilotPlanningListener)
//开启自驾后 异常信息返回
@@ -416,17 +417,19 @@ object TaxiTaskModel {
//位置变化时，通过围栏判断是否到达x点
if (null == mogoLocation) return
if (mDriveToNearestStationTask != null) {
judgeDriveToNearestStationTaskStation(mDriveToNearestStationTask, mogoLocation)
}
OCHThreadPoolManager.getsInstance().locationExecute {
if (mDriveToNearestStationTask != null) {
judgeDriveToNearestStationTaskStation(mDriveToNearestStationTask, mogoLocation)
}
if (checkCurrentTaskCondition()
&& QueryCurrentTaskRespBean.isTaskStartTaskType(mCurrentTaskWithOrder)
) {
judgeTaskEndSiteStation(mogoLocation)
}
if (checkCurrentTaskCondition()
&& QueryCurrentTaskRespBean.isTaskStartTaskType(mCurrentTaskWithOrder)
) {
judgeTaskEndSiteStation(mogoLocation)
}
mControllerStatusCallback?.onCarLocationChanged(mogoLocation)
mControllerStatusCallback?.onCarLocationChanged(mogoLocation)
}
}
}

2
OCH/taxi/unmanned-passenger/src/main/java/com/mogo/och/taxi/passenger/ui/speed/SpeedView.kt
View File

@@ -32,7 +32,7 @@ class SpeedView : ConstraintLayout, IMoGoChassisLocationGCJ02Listener {
override fun onVisibilityAggregated(isVisible: Boolean) {
super.onVisibilityAggregated(isVisible)
if(isVisible){
CallerChassisLocationGCJ02ListenerManager.addListener(TAG, 4, this)
CallerChassisLocationGCJ02ListenerManager.addListener(TAG, 3, this)
}else{
CallerChassisLocationGCJ02ListenerManager.removeListener(TAG)
}