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整理adas控制接口

Signed-off-by: donghongyu <donghongyu@zhidaoauto.com>
This commit is contained in:
donghongyu
2022-02-07 15:41:57 +08:00
parent a27476ffbe
commit ceee1d9c9a
26 changed files with 332 additions and 797 deletions
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8
modules/mogo-module-adas/src/main/java/com/mogo/module/adas/AdasConstant.java
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@@ -1,8 +0,0 @@
package com.mogo.module.adas;
/**
* Created by XuYong on 2021/5/28 15:24
*/
public class AdasConstant {
public static final String MODULE_TAG = "AdasConstant";
}

89
modules/mogo-module-adas/src/main/java/com/mogo/module/adas/AdasEventManager.java
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@@ -4,6 +4,7 @@ import androidx.annotation.NonNull;
import androidx.annotation.Nullable;
import com.google.gson.Gson;
import com.mogo.cloud.passport.MoGoAiCloudClientConfig;
import com.mogo.eagle.core.data.autopilot.ADASTrajectoryInfo;
import com.mogo.eagle.core.data.autopilot.AutoPilotRecordResult;
import com.mogo.eagle.core.data.autopilot.AutopilotCarStateInfo;
@@ -30,6 +31,7 @@ import com.mogo.module.common.drawer.IdentifyDataDrawer;
import com.zhidao.autopilotservice.model.AdasAIDLAutopilotStateModel;
import com.zhidao.support.adas.high.AdasManager;
import com.zhidao.support.adas.high.OnAdasMsgConnectStatusListener;
import com.zhidao.support.adas.high.bean.BasicInfo;
import com.zhidao.support.obu.ami.AmiClientManager;
import java.util.ArrayList;
@@ -56,7 +58,6 @@ public class AdasEventManager implements
private final Gson gson;
private final ArrayList<IAdasDataListener> iAdasEventListeners = new ArrayList<>();
private final ArrayList<IAdasStatusListener> iAdasStatusListeners = new ArrayList<>();
//自动驾驶状态
private int mCurrentAutopilotStatus = -1;
//自动驾驶车速度
@@ -64,7 +65,6 @@ public class AdasEventManager implements
//自动驾驶状态
private AutopilotStatusInfo mAutopilotValuesStatus = null;
private IAdasProviderBizListener providerBizListener;
private AdasEventManager() {
gson = GsonUtil.getGson();
@@ -98,32 +98,19 @@ public class AdasEventManager implements
iAdasEventListeners.remove(listener);
}
public void addStatusListener(IAdasStatusListener listener) {
Logger.d(TAG, "添加adas状态事件监听");
if (iAdasStatusListeners.contains(listener)) {
return;
}
iAdasStatusListeners.add(listener);
/**
* 同步SN信息给工控机
*/
public void syncBasicInfoToAutopilot() {
Logger.d(TAG, "同步PAD的SN给工控机……");
BasicInfo info = new BasicInfo();
info.setSn(MoGoAiCloudClientConfig.getInstance().getSn());
AdasManager.getInstance().setBasicInfo(info);
}
public void removeStatusListener(IAdasStatusListener listener) {
Logger.d(TAG, "注销adas状态事件监听");
iAdasStatusListeners.remove(listener);
}
public void removeStatusListener() {
Logger.d(TAG, "注销adas状态事件监听");
iAdasStatusListeners.clear();
}
@Override
public void onAutopilotSNRequest() {
if (providerBizListener != null) {
providerBizListener.getDeviceSn();
} else {
Logger.e(TAG, "onAutopilotSNRequest providerBizListener is null");
}
syncBasicInfoToAutopilot();
}
@Override
@@ -134,9 +121,11 @@ public class AdasEventManager implements
CallerAutoPilotStatusListenerManager.INSTANCE.getAutoPilotStatusInfo().setConnectStatus(true);
CallerAutoPilotStatusListenerManager.INSTANCE.invokeAutoPilotStatus();
for (IAdasStatusListener listener : iAdasStatusListeners) {
listener.onServiceConnected();
}
// 同步SN给工控机
syncBasicInfoToAutopilot();
// 开启轮训上传自动驾驶状态
updateDriveStatusTask();
}
@@ -146,9 +135,6 @@ public class AdasEventManager implements
CallerAutoPilotStatusListenerManager.INSTANCE.getAutoPilotStatusInfo().setConnectIP(AdasManager.getInstance().getAdasConfig().getAddress());
CallerAutoPilotStatusListenerManager.INSTANCE.getAutoPilotStatusInfo().setConnectStatus(false);
CallerAutoPilotStatusListenerManager.INSTANCE.invokeAutoPilotStatus();
for (IAdasStatusListener listener : iAdasStatusListeners) {
listener.onServiceDisconnected();
}
}
public void updateDriveStatusTask() {
@@ -178,10 +164,6 @@ public class AdasEventManager implements
return adasAIDLAutopilotStateModel;
}
public void setProviderBizListener(IAdasProviderBizListener listener) {
providerBizListener = listener;
}
@Override
public void onAutopilotStatusResponse(@NonNull AutopilotStatusInfo autoPilotStatusInfo) {
int state = autoPilotStatusInfo.getState();
@@ -218,12 +200,15 @@ public class AdasEventManager implements
}
}
//can数据转发
AutopilotCarStateInfo.ValuesBean bean = autoPilotCarStateInfo.getValues();
if (bean != null) {
int turn_light = bean.getTurn_light(); //转向灯状态 0是正常 1是左转 2是右转
AmiClientManager.getInstance().setTurnLightState(turn_light);
// 获取的自动驾驶车辆信息不是空的时候
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();
AmiClientManager.getInstance().setTurnLightState(turnLight);
}
}
}
@@ -248,24 +233,12 @@ public class AdasEventManager implements
@Override
public void onAutopilotWarnMessage(@Nullable AutopilotWarnMessage autopilotWarnMessage) {
Logger.d(TAG, "onWarnMessage " + autopilotWarnMessage);
//报警model
for (IAdasDataListener listener : iAdasEventListeners) {
if (listener != null) {
listener.onWarnMessage(autopilotWarnMessage);
}
}
}
@Override
public void onAutopilotTrajectory(ArrayList<ADASTrajectoryInfo> trajectoryInfo) {
if (trajectoryInfo != null && trajectoryInfo.size() > 0) {
for (IAdasDataListener listener : iAdasEventListeners) {
if (listener != null) {
listener.onAutopilotTrajectory(trajectoryInfo);
}
}
}
}
@@ -276,12 +249,6 @@ public class AdasEventManager implements
@Override
public void onAutopilotRecordResult(AutoPilotRecordResult result) {
if (result != null) {
for (IAdasDataListener listener : iAdasEventListeners) {
if (listener != null) {
listener.onAutopilotRecordResult(result);
}
}
}
}
}

15
modules/mogo-module-adas/src/main/java/com/mogo/module/adas/AdasObjectUtils.kt
View File

@@ -24,22 +24,22 @@ object AdasObjectUtils {
fun fromAutopilotGuardianInfo(autopilotGuardianInfo: AutopilotGuardianInfo): AutopilotGuardianStatusInfo? {
return GsonUtil.objectFromJson(
GsonUtil.jsonFromObject(autopilotGuardianInfo),
AutopilotGuardianStatusInfo::class.java
GsonUtil.jsonFromObject(autopilotGuardianInfo),
AutopilotGuardianStatusInfo::class.java
)
}
fun fromAdasAutopilotRoute(carStateInfo: AutopilotRoute): AutopilotRouteInfo? {
return GsonUtil.objectFromJson(
GsonUtil.jsonFromObject(carStateInfo),
AutopilotRouteInfo::class.java
GsonUtil.jsonFromObject(carStateInfo),
AutopilotRouteInfo::class.java
)
}
fun fromAdasCarStateInfoObject(carStateInfo: CarStateInfo): AutopilotCarStateInfo? {
return GsonUtil.objectFromJson(
GsonUtil.jsonFromObject(carStateInfo),
AutopilotCarStateInfo::class.java
GsonUtil.jsonFromObject(carStateInfo),
AutopilotCarStateInfo::class.java
)
}
@@ -47,8 +47,7 @@ object AdasObjectUtils {
if (info == null) {
return null
}
val warnMessage =
AutopilotWarnMessage()
val warnMessage = AutopilotWarnMessage()
warnMessage.content = info.content
warnMessage.level = info.level
try {

29
modules/mogo-module-adas/src/main/java/com/mogo/module/adas/AdasProvider.java
View File

@@ -4,13 +4,11 @@ import android.content.Context;
import com.alibaba.android.arouter.facade.annotation.Route;
import com.alibaba.android.arouter.facade.template.IProvider;
import com.mogo.cloud.passport.MoGoAiCloudClientConfig;
import com.mogo.eagle.core.data.config.FunctionBuildConfig;
import com.mogo.eagle.core.data.constants.MogoServicePaths;
import com.mogo.eagle.core.utilcode.mogo.logger.Logger;
import com.zhidao.autopilotservice.model.AdasAIDLAutopilotStateModel;
import com.zhidao.support.adas.high.AdasManager;
import com.zhidao.support.adas.high.bean.BasicInfo;
import com.zhidao.support.adas.high.common.CupidLogUtils;
@@ -31,18 +29,6 @@ public class AdasProvider implements IProvider {
Logger.d(TAG, "初始化 AdasProvider 模块");
adasEventManager = AdasEventManager.getInstance();
initAdas(context, adasEventManager);
addAdasStatusListener(new IAdasStatusListener() {
@Override
public void onServiceConnected() {
Logger.d(TAG, "adas statusListener connected & send sn");
setBasicInfo();
}
@Override
public void onServiceDisconnected() {
Logger.d(TAG, "adas statuslistener disconnected");
}
});
}
private void initAdas(Context context, AdasEventManager adasEventManager) {
@@ -65,13 +51,6 @@ public class AdasProvider implements IProvider {
}
AdasManager.getInstance().setOnAdasListener(new OnAdasListenerAdapter());
AdasManager.getInstance().setOnAdasConnectStatusListener(adasEventManager);
adasEventManager.setProviderBizListener(this::setBasicInfo);
}
public void setBasicInfo() {
BasicInfo info = new BasicInfo();
info.setSn(MoGoAiCloudClientConfig.getInstance().getSn());
AdasManager.getInstance().setBasicInfo(info);
}
public void addAdasEventListener(IAdasDataListener listener) {
@@ -82,14 +61,6 @@ public class AdasProvider implements IProvider {
adasEventManager.removeEventListener(listener);
}
public void addAdasStatusListener(IAdasStatusListener listener) {
adasEventManager.addStatusListener(listener);
}
public void removeAdasStatusListener() {
adasEventManager.removeStatusListener();
}
public void sendWsMessage(String msg) {
AdasManager.getInstance().aiCloudToAdasData(msg);
}

30
modules/mogo-module-adas/src/main/java/com/mogo/module/adas/IAdasDataListener.java
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@@ -1,27 +1,11 @@
package com.mogo.module.adas;
import com.mogo.eagle.core.data.autopilot.ADASTrajectoryInfo;
import com.mogo.eagle.core.data.autopilot.AutoPilotRecordResult;
import com.mogo.eagle.core.data.autopilot.AutopilotRouteInfo;
import com.mogo.eagle.core.data.autopilot.AutopilotStationInfo;
import com.mogo.eagle.core.data.autopilot.AutopilotStatusInfo;
import com.mogo.eagle.core.data.autopilot.AutopilotWarnMessage;
import java.util.ArrayList;
import java.util.List;
public interface IAdasDataListener {
default void sendMsg(String msg) {
}
default void onWarnMessage(AutopilotWarnMessage autopilotWarnMessage) {
}
/**
* 自动驾驶到达站点回调接口
*
@@ -46,18 +30,4 @@ public interface IAdasDataListener {
default void notifyAutopilotState(AutopilotStatusInfo autopilotStatus) {
}
/**
* 车前引导路径回调
* @param trajectory
*/
default void onAutopilotTrajectory(ArrayList<ADASTrajectoryInfo> trajectory) {
}
/**
* 采集任务结果回调
* @param record 结果数据
*/
default void onAutopilotRecordResult(AutoPilotRecordResult record) {}
}

6
modules/mogo-module-adas/src/main/java/com/mogo/module/adas/IAdasProviderBizListener.java
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@@ -1,6 +0,0 @@
package com.mogo.module.adas;
public interface IAdasProviderBizListener {
void getDeviceSn();
}

11
modules/mogo-module-adas/src/main/java/com/mogo/module/adas/IAdasStatusListener.java
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@@ -1,11 +0,0 @@
package com.mogo.module.adas;
/**
* Created by XuYong on 4/28/21 16:19
*/
public interface IAdasStatusListener {
void onServiceConnected();
void onServiceDisconnected();
}

47
modules/mogo-module-adas/src/main/java/com/mogo/module/adas/receiver/AdasTestPanelBroadCastReceiver.java
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@@ -1,47 +0,0 @@
package com.mogo.module.adas.receiver;
import android.content.BroadcastReceiver;
import android.content.Context;
import android.content.Intent;
import com.alibaba.android.arouter.launcher.ARouter;
import com.mogo.eagle.core.utilcode.mogo.logger.Logger;
import com.mogo.module.adas.AdasProvider;
public class AdasTestPanelBroadCastReceiver extends BroadcastReceiver {
private static final String TAG = "AdasTestPanelBroadCastReceiver";
/**
* Adas测试控制面板广播Action
*/
public static final String BROADCAST_TEST_PANEL_CONTROL_TYPE_EXTRA_KEY = "sceneType";
private Context mContext;
@Override
public void onReceive(Context context, Intent intent) {
try {
this.mContext = context;
int sceneType = intent.getIntExtra(BROADCAST_TEST_PANEL_CONTROL_TYPE_EXTRA_KEY, 0);
Logger.d(TAG, "textPanelOpenType:" + sceneType);
// 分发场景
dispatchSceneTest(sceneType);
} catch (Exception e) {
e.printStackTrace();
}
}
/**
* 分发处理场景
*
* @param sceneType 场景类型
*/
private void dispatchSceneTest(int sceneType) {
Logger.d(TAG, "sceneType=" + sceneType);
if(sceneType == 6){ //测试发送sn
AdasProvider adasProvider = ARouter.getInstance().navigation(AdasProvider.class);
adasProvider.setBasicInfo();
}
}
}