[6.6.0] union the chassis state in one caller

core/mogo-core-function-call/src/main/java/com/mogo/eagle/core/function/call/autopilot/CallerAutopilotVehicleStateListenerManager.kt

@@ -1,37 +0,0 @@
-package com.mogo.eagle.core.function.call.autopilot
-
-import com.mogo.eagle.core.function.api.autopilot.IMoGoAutopilotVehicleStateListener
-import com.mogo.eagle.core.function.call.base.CallerBase
-import planning.RoboSweeperTaskIndexOuterClass
-import java.util.concurrent.ConcurrentHashMap
-
-/**
- * 车辆底盘数据 回调监听
- */
-object CallerAutopilotVehicleStateListenerManager : CallerBase<IMoGoAutopilotVehicleStateListener>() {
-
-    @Volatile
-    private var timeStamp: Long = 0L
-
-    /**
-     * 工控机时间回调
-     */
-    fun invokeAutopilotTime(time: Long) {
-        this.timeStamp = time
-    }
-
-    /**
-     * 获取工控机的时间, 单位是秒
-     */
-    fun getAutopilotTimeStamp(): Long {
-        return this.timeStamp
-    }
-
-    fun invokeAutopilotDataException(timestamp: Long) {
-        M_LISTENERS.forEach{
-            val listener = it.value
-            listener.onAutopilotDataException(timestamp)
-        }
-    }
-
-}

core/mogo-core-function-call/src/main/java/com/mogo/eagle/core/function/call/autopilot/CallerBatteryManagementSystemListenerManager.kt

@@ -1,21 +0,0 @@
-package com.mogo.eagle.core.function.call.autopilot
-
-import chassis.ChassisStatesOuterClass
-import com.mogo.eagle.core.function.api.autopilot.IMoGoBatteryManagementSystemListener
-import com.mogo.eagle.core.function.call.base.CallerBase
-
-/**
- * 电池管理系统 包含 电量剩余百分比 电压 电流等
- */
-object CallerBatteryManagementSystemListenerManager : CallerBase<IMoGoBatteryManagementSystemListener>() {
-
-    /**
-     * 电池管理系统
-     */
-    fun invokeBatteryManagementSystemStates(states: ChassisStatesOuterClass.BMSSystemStates) {
-        M_LISTENERS.forEach {
-            val listener = it.value
-            listener.onBatteryManagementSystemStates(states)
-        }
-    }
-}

core/mogo-core-function-call/src/main/java/com/mogo/eagle/core/function/call/autopilot/CallerChassisAccStateListenerManager.kt

@@ -1,21 +0,0 @@
-package com.mogo.eagle.core.function.call.autopilot
-
-import com.mogo.eagle.core.function.api.autopilot.IMoGoChassisAccStateListener
-import com.mogo.eagle.core.function.call.base.CallerBase
-
-/**
- * 车辆加速度 回调监听
- */
-object CallerChassisAccStateListenerManager : CallerBase<IMoGoChassisAccStateListener>() {
-
-    /**
-     * 车辆加速度
-     * acc 加速度
-     */
-    fun invokeAutopilotAcc(carAcc: Float) {
-        M_LISTENERS.forEach {
-            val listener = it.value
-            listener.onAutopilotAcc(carAcc)
-        }
-    }
-}

core/mogo-core-function-call/src/main/java/com/mogo/eagle/core/function/call/autopilot/CallerChassisBrakeStateListenerManager.kt

@@ -1,20 +0,0 @@
-package com.mogo.eagle.core.function.call.autopilot
-
-import com.mogo.eagle.core.function.api.autopilot.IMoGoChassisBrakeStateListener
-import com.mogo.eagle.core.function.call.base.CallerBase
-
-/**
- * 车辆刹车 回调监听
- */
-object CallerChassisBrakeStateListenerManager : CallerBase<IMoGoChassisBrakeStateListener>() {
-
-    /**
-     * brake 刹车
-     */
-    fun invokeAutopilotBrake(brake: Float){
-        M_LISTENERS.forEach{
-            val listener = it.value
-            listener.onAutopilotBrake(brake)
-        }
-    }
-}

core/mogo-core-function-call/src/main/java/com/mogo/eagle/core/function/call/autopilot/CallerChassisGearStateListenerManager.kt

@@ -1,22 +0,0 @@
-package com.mogo.eagle.core.function.call.autopilot
-
-import chassis.Chassis
-import com.mogo.eagle.core.function.api.autopilot.IMoGoChassisGearStateListener
-import com.mogo.eagle.core.function.call.base.CallerBase
-
-/**
- * 车辆挂档档位 回调监听
- */
-object CallerChassisGearStateListenerManager : CallerBase<IMoGoChassisGearStateListener>() {
-
-    /**
-     * 车辆挂档档位
-     * @param gear 档位
-     */
-    fun invokeAutopilotGearData(gear: Chassis.GearPosition) {
-        M_LISTENERS.forEach {
-            val listener = it.value
-            listener.onAutopilotGearData(gear)
-        }
-    }
-}

core/mogo-core-function-call/src/main/java/com/mogo/eagle/core/function/call/autopilot/CallerChassisLamplightListenerManager.kt

@@ -1,34 +0,0 @@
-package com.mogo.eagle.core.function.call.autopilot
-
-import chassis.Chassis
-import com.mogo.eagle.core.function.api.autopilot.IMoGoChassisLamplightListener
-import com.mogo.eagle.core.function.call.base.CallerBase
-
-/**
- * 车辆底盘灯光数据 回调监听
- */
-object CallerChassisLamplightListenerManager : CallerBase<IMoGoChassisLamplightListener>() {
-
-    /**
-     * 车辆转向灯数据回调
-     * @param lightSwitch
-     */
-    fun invokeAutopilotLightSwitchData(lightSwitch: Chassis.LightSwitch) {
-        M_LISTENERS.forEach {
-            val listener = it.value
-            listener.onAutopilotLightSwitchData(lightSwitch)
-        }
-    }
-
-    /**
-     * 车辆刹车灯数据回调
-     * @param brakeLight
-     */
-    fun invokeAutopilotBrakeLightData(brakeLight: Boolean) {
-        M_LISTENERS.forEach {
-            val listener = it.value
-            listener.onAutopilotBrakeLightData(brakeLight)
-        }
-    }
-
-}

core/mogo-core-function-call/src/main/java/com/mogo/eagle/core/function/call/autopilot/CallerChassisStatesListenerManager.kt

@@ -0,0 +1,172 @@
+package com.mogo.eagle.core.function.call.autopilot
+
+import chassis.Chassis
+import chassis.ChassisStatesOuterClass
+import chassis.VehicleStateOuterClass
+import com.mogo.eagle.core.function.api.autopilot.IMoGoChassisStatesListener
+import com.mogo.eagle.core.function.call.base.CallerBase
+import kotlin.properties.Delegates
+
+object CallerChassisStatesListenerManager: CallerBase<IMoGoChassisStatesListener>() {
+
+    fun invokeStates(vehicleState: VehicleStateOuterClass.VehicleState){
+        //刹车灯数据
+        invokeAutopilotBrakeLightData(vehicleState.brakeLightStatus)
+        //方向盘转向角数据
+        invokeAutopilotSteeringData(vehicleState.steering)
+        //挂档档位数据
+        invokeAutopilotGearData(vehicleState.gear)
+        //加速度
+        invokeAutopilotAcc(vehicleState.accel)
+        //油门
+        invokeAutopilotThrottle(vehicleState.throttle)
+        //刹车
+        invokeAutopilotBrake(vehicleState.brake)
+        //电量
+        if (vehicleState.hasBmsSoc()) {
+            invokeBatteryManagementSystemStates(
+                ChassisStatesOuterClass.BMSSystemStates.newBuilder()
+                    .setBmsSoc(vehicleState.bmsSoc).build()
+            )
+        }
+    }
+
+    fun invokeNewStates(chassisStates: ChassisStatesOuterClass.ChassisStates){
+        //刹车灯数据
+        chassisStates.bcmSystemStates?.let { bcmSystemStates ->
+            invokeAutopilotBrakeLightData(bcmSystemStates.brakeLightState != 0)
+        }
+        //方向盘转向角数据
+        chassisStates.steerSystemStates?.let {
+            invokeAutopilotSteeringData(it.steeringWheelAngle)
+        }
+        //挂档档位数据
+        chassisStates.gearSystemStates?.let { gearSystemStates ->
+            gearSystemStates.gearPosition?.let {
+                //挂档档位数据
+                invokeAutopilotGearData(it)
+            }
+        }
+        //加速度
+        chassisStates.vehicleMotionStates?.let {
+            //加速度
+            invokeAutopilotAcc(it.acceleration)
+        }
+        //油门
+        chassisStates.drivingSystemStates?.let {
+            invokeAutopilotThrottle(it.throttleResponsePosition)
+        }
+        //刹车
+        chassisStates.brakeSystemStates?.let {
+            //刹车
+            invokeAutopilotBrake(it.brakePedalResponsePosition)
+        }
+        //电量
+        chassisStates.bmsSystemStates?.let {
+            //电量
+            invokeBatteryManagementSystemStates(it)
+        }
+    }
+
+    private var steering: Float? by Delegates.observable(0.0f) { _, oldValue, newValue ->
+        if (newValue == null) {
+            return@observable
+        }
+        if (oldValue == newValue) {
+            return@observable
+        }
+        M_LISTENERS.forEach {
+            val listener = it.value
+            listener.onAutopilotSteeringData(newValue)
+        }
+    }
+
+    /**
+     * 车辆转向灯数据回调
+     * @param lightSwitch
+     */
+    fun invokeAutopilotLightSwitchData(lightSwitch: Chassis.LightSwitch) {
+        M_LISTENERS.forEach {
+            val listener = it.value
+            listener.onAutopilotLightSwitchData(lightSwitch)
+        }
+    }
+
+    /**
+     * 车辆刹车灯数据回调
+     * @param brakeLight
+     */
+    private fun invokeAutopilotBrakeLightData(brakeLight: Boolean) {
+        M_LISTENERS.forEach {
+            val listener = it.value
+            listener.onAutopilotBrakeLightData(brakeLight)
+        }
+    }
+
+    /**
+     * 车辆方向盘转向角回调
+     * @param steering 方向盘转向角
+     */
+    private fun invokeAutopilotSteeringData(steering: Float) {
+        this.steering = steering
+    }
+
+    /**
+     * 车辆挂档档位
+     * @param gear 档位
+     */
+    fun invokeAutopilotGearData(gear: Chassis.GearPosition) {
+        M_LISTENERS.forEach {
+            val listener = it.value
+            listener.onAutopilotGearData(gear)
+        }
+    }
+
+    /**
+     * 车辆加速度
+     * acc 加速度
+     */
+    private fun invokeAutopilotAcc(carAcc: Float) {
+        M_LISTENERS.forEach {
+            val listener = it.value
+            listener.onAutopilotAcc(carAcc)
+        }
+    }
+
+    /**
+     * throttle 油门
+     */
+    fun invokeAutopilotThrottle(throttle: Float) {
+        M_LISTENERS.forEach {
+            val listener = it.value
+            listener.onAutopilotThrottle(throttle)
+        }
+    }
+
+    /**
+     * brake 刹车
+     */
+    fun invokeAutopilotBrake(brake: Float){
+        M_LISTENERS.forEach{
+            val listener = it.value
+            listener.onAutopilotBrake(brake)
+        }
+    }
+
+    /**
+     * 电池管理系统
+     */
+    private fun invokeBatteryManagementSystemStates(states: ChassisStatesOuterClass.BMSSystemStates) {
+        M_LISTENERS.forEach {
+            val listener = it.value
+            listener.onBatteryManagementSystemStates(states)
+        }
+    }
+
+    fun invokeStatesDataException(timestamp: Long) {
+        M_LISTENERS.forEach{
+            val listener = it.value
+            listener.onAutopilotDataException(timestamp)
+        }
+    }
+}

core/mogo-core-function-call/src/main/java/com/mogo/eagle/core/function/call/autopilot/CallerChassisSteeringStateListenerManager.kt

@@ -1,32 +0,0 @@
-package com.mogo.eagle.core.function.call.autopilot
-
-import com.mogo.eagle.core.function.api.autopilot.IMoGoChassisSteeringStateListener
-import com.mogo.eagle.core.function.call.base.CallerBase
-import kotlin.properties.Delegates
-
-/**
- * 车辆方向盘转向角 回调监听
- */
-object CallerChassisSteeringStateListenerManager : CallerBase<IMoGoChassisSteeringStateListener>() {
-
-    private var steering: Float? by Delegates.observable(0.0f) { _, oldValue, newValue ->
-        if (newValue == null) {
-            return@observable
-        }
-        if (oldValue == newValue) {
-            return@observable
-        }
-        M_LISTENERS.forEach {
-            val listener = it.value
-            listener.onAutopilotSteeringData(newValue)
-        }
-    }
-
-    /**
-     * 车辆方向盘转向角回调
-     * @param steering 方向盘转向角
-     */
-    fun invokeAutopilotSteeringData(steering: Float) {
-        this.steering = steering
-    }
-}

core/mogo-core-function-call/src/main/java/com/mogo/eagle/core/function/call/autopilot/CallerChassisThrottleStateListenerManager.kt

@@ -1,20 +0,0 @@
-package com.mogo.eagle.core.function.call.autopilot
-
-import com.mogo.eagle.core.function.api.autopilot.IMoGoChassisThrottleStateListener
-import com.mogo.eagle.core.function.call.base.CallerBase
-
-/**
- * throttle 油门 回调监听
- */
-object CallerChassisThrottleStateListenerManager : CallerBase<IMoGoChassisThrottleStateListener>() {
-
-    /**
-     * throttle 油门
-     */
-    fun invokeAutopilotThrottle(throttle: Float) {
-        M_LISTENERS.forEach {
-            val listener = it.value
-            listener.onAutopilotThrottle(throttle)
-        }
-    }
-}

core/mogo-core-function-call/src/main/java/com/mogo/eagle/core/function/call/autopilot/REEADME.md

@@ -37,16 +37,8 @@ CallerAutopilotPointCloudListenerManager
 CallerAutopilotRecordListenerManager
 CallerAutopilotStatisticsListenerManager
 CallerAutoPilotStatusListenerManager
-CallerAutopilotVehicleStateListenerManager
-CallerBatteryManagementSystemListenerManager
-CallerChassisAccStateListenerManager
-CallerChassisBrakeStateListenerManager
-CallerChassisGearStateListenerManager
-CallerChassisLamplightListenerManager
 CallerChassisLocationGCJ20ListenerManager
 CallerChassisLocationWGS84ListenerManager
-CallerChassisSteeringStateListenerManager
-CallerChassisThrottleStateListenerManager
 CallerPlanningActionsListenerManager
 CallerPlanningRottingListenerManager
 CallerPlanningTrajectoryListenerManager