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Merge branch 'dev_robotaxi-d_240401_6.4.0' into dev_robotaxi-d_240401_6.4.0_bailing

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yangyakun
2024-05-07 09:57:46 +08:00
parent 74d451828c 79d73095cd
commit d05d1f258e
122 changed files with 1406 additions and 706 deletions
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29
core/function-impl/mogo-core-function-devatools/src/main/java/com/zhjt/mogo_core_function_devatools/DevaToolsProvider.kt
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@@ -39,6 +39,9 @@ import com.tencent.matrix.trace.config.SharePluginInfo
import com.tencent.matrix.trace.config.TraceConfig
import com.zhjt.mogo_core_function_devatools.apm.*
import com.mogo.eagle.core.function.api.upgrade.*
import com.mogo.eagle.core.utilcode.kotlin.lifeCycleScope
import com.mogo.eagle.core.utilcode.util.AppStateManager
import com.mogo.eagle.core.utilcode.util.IAppStateListener
import com.mogo.weak.network.SdtManager
import com.zhjt.mogo_core_function_devatools.adas.PowerOffManager
import com.zhjt.mogo_core_function_devatools.badcase.BadCaseManager
@@ -70,11 +73,13 @@ import com.zhjt.mogo_core_function_devatools.upgrade.UpgradeManager.Companion.up
import com.zhjt.mogo_core_function_devatools.weaknetwork.DetectResultImpl
import com.zhjt.mogo_core_function_devatools.weaknetwork.WeakNetworkStrategy
import com.zhjt.service.chain.ChainLog
import kotlinx.coroutines.delay
import kotlinx.coroutines.launch
import java.lang.ref.WeakReference
import java.util.concurrent.ConcurrentHashMap
@Route(path = MogoServicePaths.PATH_DEVA_TOOLS)
class DevaToolsProvider : IDevaToolsProvider {
class DevaToolsProvider : IDevaToolsProvider, IAppStateListener {
companion object {
const val TAG = "DevaToolsProvider"
@@ -169,7 +174,23 @@ class DevaToolsProvider : IDevaToolsProvider {
block.init(it)
block.start()
}
StatusManager.addListener(TAG, statusListener)
AppStateManager.registerAppStateListener(this)
}
override fun onAppStateChanged(isForeground: Boolean) {
if (isForeground && !StatusManager.hasInit()) {
mContext?.lifeCycleScope?.launch {
while (!StatusManager.hasInit()) {
val activity = AppStateManager.currentActivity()
if (activity == null) {
delay(500)
continue
}
StatusManager.init(activity)
StatusManager.addListener(TAG, statusListener)
}
}
}
}
override fun checkMonitorDb() {
@@ -532,8 +553,8 @@ class DevaToolsProvider : IDevaToolsProvider {
group.addView(child, ViewGroup.LayoutParams(ViewGroup.LayoutParams.MATCH_PARENT, ViewGroup.LayoutParams.MATCH_PARENT))
}
override fun getExceptionStatusBeforeLaunchAutopilot(): Int {
return StatusManager.getExceptionStatusBeforeLaunchAutopilot()
override fun getExceptionStatusBeforeLaunchAutopilot(source: Int): Int {
return StatusManager.getExceptionStatusBeforeLaunchAutopilot(source)
}
override fun registerRouteDownloadListener(tag: String, block: (state: Int) -> Unit) {

8
core/function-impl/mogo-core-function-devatools/src/main/java/com/zhjt/mogo_core_function_devatools/mofang/MoFangCommandExecutor.kt
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@@ -245,10 +245,10 @@ internal class MoFangCommandExecutor {
linkedLog?.record(mapOf("执行:${System.currentTimeMillis()}" to "$message, $json"))
Log.d(TAG, "--- 启动自驾 ----入参:$json")
//清扫车有FSM模块，魔方启动自驾时需要将Source修改为魔方，以便telamatics做区分并在转发时增加flag标记
if (CallerAutoPilotControlManager.isCanStartAutopilot(true)) {
if (AppIdentityModeUtils.isSweeper(FunctionBuildConfig.appIdentityMode)) {
CallerAutoPilotControlManager.startAutoPilotByMoFang(parameters)
} else{
if (AppIdentityModeUtils.isSweeper(FunctionBuildConfig.appIdentityMode)) {
CallerAutoPilotControlManager.startAutoPilotByMoFang(parameters)
} else {
if (CallerAutoPilotControlManager.isCanStartAutopilot(true, -1)) {
CallerAutoPilotControlManager.startAutoPilot(parameters)
}
}

45
core/function-impl/mogo-core-function-devatools/src/main/java/com/zhjt/mogo_core_function_devatools/status/StatusManager.kt
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@@ -184,23 +184,42 @@ object StatusManager {
listeners.remove(tag)
}
fun getExceptionStatusBeforeLaunchAutopilot(): Int {
fun getExceptionStatusBeforeLaunchAutopilot(source: Int): Int {
if (!hasInit) {
return 0
}
var ret = 0
model.status.value?.second?.filter {
it is IAutopilotPreLaunchStatus
}?.takeIf {
it.isNotEmpty()
}?.also { l ->
l.filter { it.isException() }.takeIf { it.isNotEmpty() }?.also { ll ->
val result = runCatching {
MogoAnalyticUtils.track(
"vehicle_state_exp",
HashMap<String, Any>().also { itx ->
itx["data"] = ll.joinToString(",") { it.toString() }
})
}
if (result.isFailure) {
Logger.w(TAG, "error => ${result.exceptionOrNull()?.stackTraceToString() }")
l.filter { it.isException() }.also { ll ->
val time = System.currentTimeMillis()
ThreadUtils.getIoPool().execute {
val result = runCatching {
MogoAnalyticUtils.track(
"vehicle_start_autopilot_state_check",
HashMap<String, Any>().also { itx ->
itx["time"] = time
itx["src"] = source
itx["desc"] = ll.joinToString(",") { item ->
when (item) {
is SteerStatus -> "方向盘"
is AcceleratorStatus -> "油门"
is BrakeStatus -> "刹车"
is DoubleFlashStatus -> "双闪"
is GearStatus -> "档位"
is RouteDownloadStatus -> if (item.state == RouteStart) "轨迹下载中" else "轨迹下载失败"
else -> "其它"
}
}
itx["data"] = GsonUtils.toJson(ll)
})
}
if (result.isFailure) {
Logger.w(TAG, "error => ${result.exceptionOrNull()?.stackTraceToString() }")
}
}
}
}?.forEachIndexed { index, status ->
@@ -221,6 +240,10 @@ object StatusManager {
return ret
}
fun hasInit(): Boolean {
return hasInit
}
interface IStatusListener {
fun onStatusChanged(data: List<Status>, hasException: Boolean)
}

22
core/function-impl/mogo-core-function-devatools/src/main/java/com/zhjt/mogo_core_function_devatools/status/entity/Status.kt
View File

@@ -297,7 +297,7 @@ interface IAutopilotPreLaunchStatus
/**
* 速度
*/
data class SpeedStatus(val speed: Float, var acc: Float): Status(), IAutopilotPreLaunchStatus {
data class SpeedStatus(val speed: Int): Status(), IAutopilotPreLaunchStatus {
override fun isException(): Boolean {
return false
@@ -306,22 +306,13 @@ data class SpeedStatus(val speed: Float, var acc: Float): Status(), IAutopilotPr
override fun equals(other: Any?): Boolean {
if (this === other) return true
if (javaClass != other?.javaClass) return false
other as SpeedStatus
if (speed != other.speed) return false
if (acc != other.acc) return false
return true
return speed == other.speed
}
override fun hashCode(): Int {
var result = speed.hashCode()
result = 31 * result + acc.hashCode()
return result
return speed.hashCode()
}
}
/**
@@ -337,12 +328,9 @@ data class SteerStatus(val angle: Float, var isError: Boolean = false): Status()
override fun equals(other: Any?): Boolean {
if (this === other) return true
if (javaClass != other?.javaClass) return false
other as SteerStatus
if (angle != other.angle) return false
if (isError != other.isError) return false
return true
}
@@ -362,7 +350,7 @@ data class SteerStatus(val angle: Float, var isError: Boolean = false): Status()
/**
* 油门
*/
data class AcceleratorStatus(val angle: Float, var isError: Boolean = false): Status(), IAutopilotPreLaunchStatus {
data class AcceleratorStatus(val angle: Int, var isError: Boolean = false): Status(), IAutopilotPreLaunchStatus {
override fun isException(): Boolean {
return isError && CallerAutoPilotStatusListenerManager.getAutoPilotStatusInfo().state != IMoGoAutopilotStatusListener.STATUS_AUTOPILOT_RUNNING
@@ -394,7 +382,7 @@ data class AcceleratorStatus(val angle: Float, var isError: Boolean = false): St
/**
* 刹车
*/
data class BrakeStatus(val angle: Float, var isError: Boolean = false): Status(), IAutopilotPreLaunchStatus {
data class BrakeStatus(val angle: Int, var isError: Boolean = false): Status(), IAutopilotPreLaunchStatus {
override fun isException(): Boolean {
return isError && CallerAutoPilotStatusListenerManager.getAutoPilotStatusInfo().state != IMoGoAutopilotStatusListener.STATUS_AUTOPILOT_RUNNING

15
core/function-impl/mogo-core-function-devatools/src/main/java/com/zhjt/mogo_core_function_devatools/status/flow/autopilot/AcceleratorImpl.kt
View File

@@ -19,7 +19,7 @@ internal class AcceleratorImpl(ctx: Context): IFlow<AcceleratorStatus>(ctx), IMo
}
@Volatile
private var last: Float? = null
private var last: Int? = null
@Volatile
private var isError: Boolean = false
@@ -40,9 +40,10 @@ internal class AcceleratorImpl(ctx: Context): IFlow<AcceleratorStatus>(ctx), IMo
override fun onAutopilotThrottle(throttle: Float) {
super.onAutopilotThrottle(throttle)
if (last != throttle) {
send(AcceleratorStatus(throttle, isError).also { it.rawData = extra })
last = throttle
val current = throttle.toInt()
if (last != current) {
send(AcceleratorStatus(current, isError).also { it.rawData = extra })
last = current
}
}
@@ -50,17 +51,17 @@ internal class AcceleratorImpl(ctx: Context): IFlow<AcceleratorStatus>(ctx), IMo
if (!isAutopilotAbility) {
val target = unableAutopilotReasons?.find { it.unableType == CHASSIS_THROTTLE }?.also { itx ->
isError = true
send(AcceleratorStatus(last ?: 0.0f, true).also { extra = itx; it.rawData = itx })
send(AcceleratorStatus(last ?: 0, true).also { extra = itx; it.rawData = itx })
}
if (target == null) {
isError = false
extra = null
send(AcceleratorStatus(last ?: 0.0f, false))
send(AcceleratorStatus(last ?: 0, false))
}
} else {
isError = false
extra = null
send(AcceleratorStatus(last ?: 0.0f, false))
send(AcceleratorStatus(last ?: 0, false))
}
}
}

13
core/function-impl/mogo-core-function-devatools/src/main/java/com/zhjt/mogo_core_function_devatools/status/flow/autopilot/BrakeImpl.kt
View File

@@ -5,15 +5,11 @@ import com.mogo.eagle.core.function.api.autopilot.IMoGoAutopilotActionsListener
import com.mogo.eagle.core.function.api.autopilot.IMoGoChassisBrakeStateListener
import com.mogo.eagle.core.function.call.autopilot.CallerAutopilotActionsListenerManager
import com.mogo.eagle.core.function.call.autopilot.CallerChassisBrakeStateListenerManager
import com.mogo.eagle.core.utilcode.mogo.logger.Logger
import com.zhjt.mogo.adas.data.bean.UnableLaunchData
import com.zhjt.mogo.adas.data.bean.UnableLaunchReason
import com.zhjt.mogo.adas.data.bean.UnableLaunchReason.UnableType.CHASSIS_BRAKE
import com.zhjt.mogo.adas.data.bean.UnableLaunchReason.UnableType.CHASSIS_THROTTLE
import com.zhjt.mogo_core_function_devatools.status.entity.AcceleratorStatus
import com.zhjt.mogo_core_function_devatools.status.entity.BrakeStatus
import com.zhjt.mogo_core_function_devatools.status.flow.IFlow
import com.zhjt.mogo_core_function_devatools.status.flow.autopilot.AcceleratorImpl.Companion
internal class BrakeImpl(ctx: Context): IFlow<BrakeStatus>(ctx), IMoGoChassisBrakeStateListener, IMoGoAutopilotActionsListener {
@@ -22,7 +18,7 @@ internal class BrakeImpl(ctx: Context): IFlow<BrakeStatus>(ctx), IMoGoChassisBra
}
@Volatile
private var last: Float = 0.0f
private var last: Int = 0
@Volatile
private var isError: Boolean = false
@@ -43,9 +39,10 @@ internal class BrakeImpl(ctx: Context): IFlow<BrakeStatus>(ctx), IMoGoChassisBra
override fun onAutopilotBrake(brake: Float) {
super.onAutopilotBrake(brake)
if (last != brake) {
send(BrakeStatus(brake, isError).also { it.rawData = extra })
last = brake
val current = brake.toInt()
if (last != current) {
send(BrakeStatus(current, isError).also { it.rawData = extra })
last = current
}
}

26
core/function-impl/mogo-core-function-devatools/src/main/java/com/zhjt/mogo_core_function_devatools/status/flow/autopilot/SpeedImpl.kt
View File

@@ -2,19 +2,11 @@ package com.zhjt.mogo_core_function_devatools.status.flow.autopilot
import android.content.Context
import com.mogo.eagle.core.data.map.MogoLocation
import com.mogo.eagle.core.function.api.autopilot.IMoGoAutopilotActionsListener
import com.mogo.eagle.core.function.api.autopilot.IMoGoChassisLocationGCJ02Listener
import com.mogo.eagle.core.function.api.autopilot.IMoGoChassisThrottleStateListener
import com.mogo.eagle.core.function.call.autopilot.CallerAutopilotActionsListenerManager
import com.mogo.eagle.core.function.call.autopilot.CallerChassisLocationGCJ02ListenerManager
import com.mogo.eagle.core.function.call.autopilot.CallerChassisThrottleStateListenerManager
import com.mogo.eagle.core.utilcode.mogo.logger.Logger
import com.zhjt.mogo.adas.data.bean.UnableLaunchData
import com.zhjt.mogo.adas.data.bean.UnableLaunchReason
import com.zhjt.mogo.adas.data.bean.UnableLaunchReason.UnableType.CHASSIS_THROTTLE
import com.zhjt.mogo_core_function_devatools.status.entity.AcceleratorStatus
import com.zhjt.mogo_core_function_devatools.status.entity.SpeedStatus
import com.zhjt.mogo_core_function_devatools.status.flow.IFlow
import kotlin.math.abs
internal class SpeedImpl(ctx: Context): IFlow<SpeedStatus>(ctx), IMoGoChassisLocationGCJ02Listener {
@@ -24,10 +16,7 @@ internal class SpeedImpl(ctx: Context): IFlow<SpeedStatus>(ctx), IMoGoChassisLoc
}
@Volatile
private var lastSpeed: Float? = null
@Volatile
private var lastAcc: Float? = null
private var lastSpeed: Int? = null
override fun onCreate() {
CallerChassisLocationGCJ02ListenerManager.addListener(TAG, 5, this)
@@ -40,16 +29,13 @@ internal class SpeedImpl(ctx: Context): IFlow<SpeedStatus>(ctx), IMoGoChassisLoc
override fun onChassisLocationGCJ02(mogoLocation: MogoLocation?) {
var isChanged = false
if (lastSpeed != mogoLocation?.gnssSpeed) {
val speed = (abs(mogoLocation?.gnssSpeed ?: 0f) * 3.6f).toInt()
if (lastSpeed != speed) {
isChanged = true
lastSpeed = mogoLocation?.gnssSpeed
}
if (!isChanged && lastAcc != mogoLocation?.acceleration) {
isChanged = true
lastAcc = mogoLocation?.acceleration
lastSpeed = speed
}
if (isChanged) {
send(SpeedStatus(mogoLocation?.gnssSpeed ?: 0f, mogoLocation?.acceleration ?: 0f))
send(SpeedStatus(speed))
}
}
}

8
core/function-impl/mogo-core-function-devatools/src/main/java/com/zhjt/mogo_core_function_devatools/status/model/StatusModel.kt
View File

@@ -20,13 +20,13 @@ internal class StatusModel : ViewModel() {
it += RTKStatus("", -1)
// it += NetStatus(false)
// it += GpsStatus(enabled = false, isGranted = false)
it += SteerStatus(0.0f)
it += AcceleratorStatus(0.0f)
it += BrakeStatus(0.0f)
it += SteerStatus(0f)
it += AcceleratorStatus(0)
it += BrakeStatus(0)
it += DoubleFlashStatus(0)
it += GearStatus(0)
it += RouteDownloadStatus()
it += SpeedStatus(0f, 0f)
it += SpeedStatus(0)
})
}

9
core/function-impl/mogo-core-function-devatools/src/main/java/com/zhjt/mogo_core_function_devatools/status/ui/AutoPilotLaunchBeforeView.kt
View File

@@ -1,5 +1,6 @@
package com.zhjt.mogo_core_function_devatools.status.ui
import android.annotation.SuppressLint
import android.content.Context
import android.util.AttributeSet
import android.view.LayoutInflater
@@ -63,6 +64,7 @@ class AutoPilotLaunchBeforeView: LinearLayout, IStatusListener {
StatusManager.removeListener(TAG)
}
@SuppressLint("SetTextI18n")
override fun onStatusChanged(data: List<Status>, hasException: Boolean) {
data.filter { it is IAutopilotPreLaunchStatus }.forEach { status ->
val isError = status.isException() && CallerAutoPilotStatusListenerManager.getAutoPilotStatusInfo().state != IMoGoAutopilotStatusListener.STATUS_AUTOPILOT_RUNNING
@@ -89,11 +91,11 @@ class AutoPilotLaunchBeforeView: LinearLayout, IStatusListener {
}
is AcceleratorStatus -> {
iv_brake_or_accelerator?.isSelected = isError
tv_brake_or_accelerator?.text = "${abs(status.angle)}%"
}
is BrakeStatus -> {
val angle = status.angle
iv_brake_or_accelerator?.isSelected = isError
tv_brake_or_accelerator?.text = "a:-${angle.toInt()}"
tv_brake_or_accelerator?.text = "${-abs(status.angle)}%"
}
is DoubleFlashStatus -> {
iv_double_flash?.isSelected = isError
@@ -102,8 +104,7 @@ class AutoPilotLaunchBeforeView: LinearLayout, IStatusListener {
iv_steer?.isSelected = isError
}
is SpeedStatus -> {
speed?.text = "${(abs(status.speed) * 3.6f).toInt()}"
tv_brake_or_accelerator?.text = String.format("%.1f", status.acc)
speed?.text = "${status.speed}"
}
else -> {
Logger.d(TAG, "other state: $status")

7
core/function-impl/mogo-core-function-devatools/src/main/res/layout/layout_autopilot_launch_before.xml
View File

@@ -134,14 +134,15 @@
<TextView
android:id="@+id/tv_brake_or_accelerator"
android:layout_width="wrap_content"
android:layout_width="@dimen/dp_85"
android:layout_height="wrap_content"
android:textSize="@dimen/dp_30"
android:gravity="end"
android:layout_marginTop="-1dp"
android:maxLines="1"
android:textColor="@color/white"
tools:text="a:-100"
android:text="a:0"/>
tools:text="-100%"
android:text="0%"/>
</LinearLayout>
</LinearLayout>
</merge>

1
core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/hmi/ui/widget/StatusBarView.kt
View File

@@ -63,7 +63,6 @@ class StatusBarView @JvmOverloads constructor(
updateStatusBarLeftView(true, FUNC_MODE_DEMO, DemoModeView(this.context))
updateStatusBarLeftView(true, FUNC_MODE_RAIN, RainModeView(this.context))
CallerDevaToolsManager.registerRouteDownloadListener(TAG) { state ->
routeDownloadStatusRoot?.visibility = View.VISIBLE
when(state) {
0 -> {
routeDownloadStatusRoot?.visibility = View.GONE

16
core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/main/MainPresenter.java
View File

@@ -27,13 +27,15 @@ public class MainPresenter extends Presenter<MainView> {
@Override
public void handleMessage(Message msg) {
super.handleMessage(msg);
switch (msg.what) {
case MainConstants.MSG_HIDE_MAP_COVER_FRAME:
mView.hideCoverUpLayout();
break;
case MainConstants.MSG_LOAD_MODULES:
mView.loadModules();
break;
if(mView!=null) {
switch (msg.what) {
case MainConstants.MSG_HIDE_MAP_COVER_FRAME:
mView.hideCoverUpLayout();
break;
case MainConstants.MSG_LOAD_MODULES:
mView.loadModules();
break;
}
}
}
};