更新ADAS连接方式，更新连接工控机回调

core/function-impl/mogo-core-function-autopilot/src/main/java/com/mogo/eagle/core/function/autopilot/MoGoAutopilotProvider.kt

@@ -24,6 +24,7 @@ import com.mogo.eagle.core.utilcode.util.ThreadUtils
 import com.zhidao.support.adas.high.AdasManager
 import com.zhidao.support.adas.high.AdasOptions
 import com.zhidao.support.adas.high.bean.IPCUpgradeInfo
+import com.zhidao.support.adas.high.common.Constants
 import com.zhidao.support.adas.high.common.CupidLogUtils
 import java.util.concurrent.TimeUnit
 
@@ -57,7 +58,8 @@ class MoGoAutopilotProvider :
                 CallerMapDataCollectorManager.registerOnMapCollectTaskListener(this)
                 // "192.168.1.102"
                 val options = AdasOptions.Builder()
-                    .setIPCIp(FunctionBuildConfig.adasConnectIP)
+                    .setIpcConnectionMode(AdasOptions.IPC_CONNECTION_MODE.FIXATION)
+                    .setIpcFixationIP(AdasManager.getInstance().getIPCFixationIPList(mContext))
                     .setClient(false)
                     .build()
 
@@ -124,8 +126,9 @@ class MoGoAutopilotProvider :
             else -> // 默认采用UDP寻址方式
             {
                 val options = AdasOptions.Builder()
+                    .setIpcConnectionMode(AdasOptions.IPC_CONNECTION_MODE.FIXATION)
+                    .setIpcFixationIP(AdasManager.getInstance().getIPCFixationIPList(mContext))
                     .setClient(false)
-                    .setIPCIp(FunctionBuildConfig.adasConnectIP)
                     .build()
                 AdasManager.getInstance().create(context, options)
             }
@@ -181,7 +184,7 @@ class MoGoAutopilotProvider :
      */
     override fun resetIpAddress(autoPilotIp: String) {
         // 关闭通信
-        AdasManager.getInstance().closeAllMsg()
+        AdasManager.getInstance().disConnect()
         // 延时执行连接指定IP地址
         ThreadUtils.executeBySingleWithDelay(object : ThreadUtils.SimpleTask<String>() {
             @RequiresPermission(permission.INTERNET)
@@ -191,9 +194,10 @@ class MoGoAutopilotProvider :
                     SharedPrefsMgr.getInstance(it).putString(MoGoConfig.AUTOPILOT_IP, autoPilotIp)
                 }
                 // 设置IP地址
-                AdasManager.getInstance().setIPCIp(autoPilotIp)
+                AdasManager.getInstance().adasOptions.setIpcConnectionMode(AdasOptions.IPC_CONNECTION_MODE.ASSIGN)
+                AdasManager.getInstance().adasOptions.setIpcAssignIP(autoPilotIp)
                 // 打开通讯连接
-                AdasManager.getInstance().startAllMsg()
+                AdasManager.getInstance().connect()
                 return ""
             }
 
@@ -214,7 +218,7 @@ class MoGoAutopilotProvider :
     }
 
     override fun startAutoPilot(result: AutopilotControlParameters) {
-        if (AdasManager.getInstance().isSocketConnect) {
+        if (AdasManager.getInstance().ipcConnectionStatus == Constants.IPC_CONNECTION_STATUS.CONNECTED) {
             val parameter = AutopilotControlCmdParameter("aiCloudToStartAutopilot", result)
             AdasManager.getInstance().aiCloudToAdasData(GsonUtils.toJson(parameter))
         } else {
@@ -227,7 +231,7 @@ class MoGoAutopilotProvider :
     }
 
     override fun cancelAutoPilot() {
-        if (AdasManager.getInstance().isSocketConnect) {
+        if (AdasManager.getInstance().ipcConnectionStatus == Constants.IPC_CONNECTION_STATUS.CONNECTED) {
             AdasManager.getInstance().controlAutopilotCarHead()
         } else {
             Logger.e(TAG, "车机与工控机链接失败，无法断开自动驾驶")

core/function-impl/mogo-core-function-autopilot/src/main/java/com/mogo/eagle/core/function/autopilot/adapter/MoGoAdasMsgConnectStatusListenerImpl.kt

@@ -2,17 +2,16 @@ package com.mogo.eagle.core.function.autopilot.adapter
 
 import com.mogo.cloud.passport.MoGoAiCloudClientConfig
 import com.mogo.commons.debug.DebugConfig
-import com.mogo.eagle.core.data.app.AppConfigInfo
 import com.mogo.eagle.core.data.autopilot.AutopilotStationInfo
 import com.mogo.eagle.core.data.autopilot.AutopilotStatusInfo
-import com.mogo.eagle.core.data.constants.MoGoConfig
 import com.mogo.eagle.core.function.api.autopilot.IMoGoAutopilotStatusListener
 import com.mogo.eagle.core.function.autopilot.network.AdasServiceModel
 import com.mogo.eagle.core.function.call.autopilot.CallerAutoPilotStatusListenerManager
 import com.mogo.eagle.core.utilcode.mogo.logger.Logger
 import com.zhidao.support.adas.high.AdasManager
-import com.zhidao.support.adas.high.OnAdasMsgConnectStatusListener
+import com.zhidao.support.adas.high.OnAdasConnectStatusListener
 import com.zhidao.support.adas.high.bean.BasicInfo
+import com.zhidao.support.adas.high.common.Constants
 import io.reactivex.Flowable
 import io.reactivex.android.schedulers.AndroidSchedulers
 import io.reactivex.schedulers.Schedulers
@@ -23,7 +22,8 @@ import java.util.concurrent.TimeUnit
  *
  * @author donghongyu
  */
-class MoGoAdasMsgConnectStatusListenerImpl : OnAdasMsgConnectStatusListener, IMoGoAutopilotStatusListener {
+class MoGoAdasMsgConnectStatusListenerImpl : OnAdasConnectStatusListener,
+    IMoGoAutopilotStatusListener {
     private val TAG = "MoGoAdasMsgConnectStatusListenerImpl"
 
     //自动驾驶状态
@@ -32,27 +32,35 @@ class MoGoAdasMsgConnectStatusListenerImpl : OnAdasMsgConnectStatusListener, IMo
     //自动驾驶车速度
     private var mCurrentAutopilotSpeed = 0f
 
-    override fun onWebSocketConnectSuccess() {
-        Logger.d(TAG, "webSocket 连接成功")
-        // 初始化自动驾驶状态信息
-        CallerAutoPilotStatusListenerManager.getAutoPilotStatusInfo().connectIP = AdasManager.getInstance().adasConfig.address
-        CallerAutoPilotStatusListenerManager.getAutoPilotStatusInfo().connectStatus = true
-        CallerAutoPilotStatusListenerManager.invokeAutoPilotStatus()
 
-        // 同步SN给工控机
+    override fun onAddressDisabled() {
-        syncBasicInfoToAutopilot()
 
-        // 开启轮训上传自动驾驶状态
-        updateDriveStatusTask()
     }
 
-    override fun onWebSocketConnectFailed(reason: String) {
+    override fun onConnectionIPCStatus(ipcConnectionStatus: Int, reason: String?) {
-        Logger.d(TAG, "webSocket 连接失败 reason:$reason")
+        if (ipcConnectionStatus == Constants.IPC_CONNECTION_STATUS.CONNECTED) {
-        CallerAutoPilotStatusListenerManager.getAutoPilotStatusInfo().connectIP = AdasManager.getInstance().adasConfig.address
+            Logger.d(TAG, "webSocket 连接成功")
-        CallerAutoPilotStatusListenerManager.getAutoPilotStatusInfo().connectStatus = false
+            // 初始化自动驾驶状态信息
-        CallerAutoPilotStatusListenerManager.invokeAutoPilotStatus()
+            CallerAutoPilotStatusListenerManager.getAutoPilotStatusInfo().connectIP =
+                AdasManager.getInstance().adasConfig.address
+            CallerAutoPilotStatusListenerManager.getAutoPilotStatusInfo().connectStatus = true
+            CallerAutoPilotStatusListenerManager.invokeAutoPilotStatus()
+
+            // 同步SN给工控机
+            syncBasicInfoToAutopilot()
+
+            // 开启轮训上传自动驾驶状态
+            updateDriveStatusTask()
+        } else if (ipcConnectionStatus == Constants.IPC_CONNECTION_STATUS.DISCONNECTED) {
+            Logger.d(TAG, "webSocket 连接失败 reason:$reason")
+            CallerAutoPilotStatusListenerManager.getAutoPilotStatusInfo().connectIP =
+                AdasManager.getInstance().adasConfig.address
+            CallerAutoPilotStatusListenerManager.getAutoPilotStatusInfo().connectStatus = false
+            CallerAutoPilotStatusListenerManager.invokeAutoPilotStatus()
+        }
     }
 
+
     /**
      * 工控机获取SN
      */
@@ -94,12 +102,13 @@ class MoGoAdasMsgConnectStatusListenerImpl : OnAdasMsgConnectStatusListener, IMo
     private fun updateDriveStatusTask() {
         Logger.d(TAG, "updateDriveStatusTask")
         Flowable.interval(0, 5, TimeUnit.SECONDS)
-                .subscribeOn(Schedulers.io())
+            .subscribeOn(Schedulers.io())
-                .unsubscribeOn(Schedulers.io())
+            .unsubscribeOn(Schedulers.io())
-                .observeOn(AndroidSchedulers.mainThread())
+            .observeOn(AndroidSchedulers.mainThread())
-                .subscribe { aLong: Long? ->
+            .subscribe { aLong: Long? ->
-                    AdasServiceModel.getInstance().updateDriveStatus(mCurrentAutopilotStatus, mCurrentAutopilotSpeed)
+                AdasServiceModel.getInstance()
-                }
+                    .updateDriveStatus(mCurrentAutopilotStatus, mCurrentAutopilotSpeed)
+            }
     }
 
 

libraries/mogo-adas/build.gradle

@@ -70,7 +70,7 @@ dependencies {
 
     implementation rootProject.ext.dependencies.mogochainbase
     //okhttp3的依赖
-    implementation 'com.squareup.okhttp3:okhttp:3.14.9'
+    implementation 'com.squareup.okhttp3:okhttp:3.12.3'
     // parser
     implementation rootProject.ext.dependencies.gson
     // logger