Merge branch 'release_sweeper-d_230614_3.1.4.1' into 'master'

[Publish]Sweeper driver 230614 V3.1.4

See merge request SCA/L4HA/AndroidApp/MoGoEagleEye!796

OCH/sweeper/sweeper-cloud/src/main/java/com/mogo/och/sweepercloud/fragment/SweeperFragment.kt

@@ -122,6 +122,11 @@ class SweeperFragment : BaseSweeperTabFragment<SweeperFragment?, SweeperPresente
         }
     }
 
+    override fun setAutoState(state: Int) {
+        super.setAutoState(state)
+        getCurrentView().updateStartAutoPilotBtnState(state)
+    }
+
     fun onSweeperFutianCleanSystemState(cleanSystemState: ChassisStatesOuterClass.SweeperFuTianTaskSystemStates) {
         mCleanSystemState = cleanSystemState
         sweeper_cl_work_mode.setSweeperFutianCleanSystemState(mSubTaskType, cleanSystemState)

OCH/sweeper/sweeper-cloud/src/main/java/com/mogo/och/sweepercloud/view/SweeperCurrentTaskInfoView.kt

@@ -1,11 +1,13 @@
 package com.mogo.och.sweepercloud.view
 
 import android.content.Context
+import android.graphics.Color
 import android.util.AttributeSet
 import android.view.LayoutInflater
 import android.view.View
 import android.widget.TextView
 import androidx.constraintlayout.widget.ConstraintLayout
+import com.mogo.eagle.core.function.api.autopilot.IMoGoAutopilotStatusListener
 import com.mogo.och.common.module.utils.DateTimeUtil
 import com.mogo.och.sweepercloud.R
 import com.zhjt.mogo.adas.data.sweeper.common.SweeperCommon.TaskStatus
@@ -27,8 +29,20 @@ class SweeperCurrentTaskInfoView : ConstraintLayout {
         initView(context)
     }
 
-    constructor(context: Context, attrs: AttributeSet?, defStyleAttr: Int) : super(context, attrs, defStyleAttr) {}
-    constructor(context: Context, attrs: AttributeSet?, defStyleAttr: Int, defStyleRes: Int) : super(context, attrs, defStyleAttr, defStyleRes) {}
+    constructor(context: Context, attrs: AttributeSet?, defStyleAttr: Int) : super(
+        context,
+        attrs,
+        defStyleAttr
+    ) {
+    }
+
+    constructor(
+        context: Context,
+        attrs: AttributeSet?,
+        defStyleAttr: Int,
+        defStyleRes: Int
+    ) : super(context, attrs, defStyleAttr, defStyleRes) {
+    }
 
     private fun initView(context: Context) {
         LayoutInflater.from(context).inflate(R.layout.sweeper_current_task_info, this)
@@ -39,6 +53,34 @@ class SweeperCurrentTaskInfoView : ConstraintLayout {
         return tvStartAuto
     }
 
+    /**
+     * 根据当前自动驾驶状态，更新【请求进入自动驾驶】按钮样式
+     */
+    fun updateStartAutoPilotBtnState(autopilotState: Int) {
+        when (autopilotState) {
+            //不可自动驾驶
+            IMoGoAutopilotStatusListener.STATUS_AUTOPILOT_DISABLE -> {
+                tvStartAuto.setTextColor(Color.parseColor("#66FFFFFF"))
+                tvStartAuto.isSelected = false
+            }
+            //人工驾驶
+            IMoGoAutopilotStatusListener.STATUS_AUTOPILOT_ENABLE -> {
+                tvStartAuto.setTextColor(Color.parseColor("#FFFFFFFF"))
+                tvStartAuto.isSelected = true
+            }
+            //自动驾驶中
+            IMoGoAutopilotStatusListener.STATUS_AUTOPILOT_RUNNING -> {
+                tvStartAuto.setTextColor(Color.parseColor("#66FFFFFF"))
+                tvStartAuto.isSelected = false
+            }
+            //平行驾驶
+            IMoGoAutopilotStatusListener.STATUS_PARALLEL_DRIVING -> {
+                tvStartAuto.setTextColor(Color.parseColor("#66FFFFFF"))
+                tvStartAuto.isSelected = false
+            }
+        }
+    }
+
     /**
      * 设置当前任务数据
      */
@@ -51,12 +93,13 @@ class SweeperCurrentTaskInfoView : ConstraintLayout {
             tvTaskName.text = taskName
             val calendarStart = DateTimeUtil.formatLongToCalendar(taskStartTime)
             val calendarEnd = DateTimeUtil.formatLongToCalendar(taskEndTime)
-            tvTaskTime.text = "${DateTimeUtil.formatCalendarToString(calendarStart, DateTimeUtil.HH_mm)}-${
-                DateTimeUtil.formatCalendarToString(
-                    calendarEnd,
-                    DateTimeUtil.HH_mm
-                )
-            }"
+            tvTaskTime.text =
+                "${DateTimeUtil.formatCalendarToString(calendarStart, DateTimeUtil.HH_mm)}-${
+                    DateTimeUtil.formatCalendarToString(
+                        calendarEnd,
+                        DateTimeUtil.HH_mm
+                    )
+                }"
         }
         listTask?.let {
             //特殊处理当前暂无执行中任务的情况
@@ -75,10 +118,10 @@ class SweeperCurrentTaskInfoView : ConstraintLayout {
      */
     private fun setSubTaskState(isWorking: Boolean) {
         if (isWorking) {
-            tvTaskState.text = "正在作业"
+            tvTaskState.text = "任务执行中"
             tvTaskState.setBackgroundResource(R.drawable.bg_shape_task_state_working)
         } else {
-            tvTaskState.text = "暂未准备"
+            tvTaskState.text = "任务待开始"
             tvTaskState.setBackgroundResource(R.drawable.bg_shape_task_state_not_ready)
         }
     }

OCH/sweeper/sweeper-cloud/src/main/res/drawable/sweeper_upload_autopoiltstate.xml

@@ -1,10 +1,15 @@
 <?xml version="1.0" encoding="utf-8"?>
 <selector xmlns:android="http://schemas.android.com/apk/res/android">
-    <item>
+    <item android:state_selected="true">
         <shape android:shape="rectangle">
-
-            <corners android:bottomRightRadius="30dp" android:bottomLeftRadius="@dimen/dp_30"/>
+            <corners android:bottomLeftRadius="@dimen/dp_30" android:bottomRightRadius="@dimen/dp_30" />
             <gradient android:angle="180" android:endColor="#2F6EFF" android:startColor="#20AAFF" />
         </shape>
     </item>
+    <item android:state_selected="false">
+        <shape>
+            <solid android:color="#4D2F6EFF" />
+            <corners android:bottomLeftRadius="@dimen/dp_30" android:bottomRightRadius="@dimen/dp_30" />
+        </shape>
+    </item>
 </selector>

OCH/sweeper/sweeper-cloud/src/main/res/layout/sweeper_work_mode.xml

@@ -26,7 +26,7 @@
             android:layout_height="wrap_content"
             android:layout_marginStart="@dimen/dp_36"
             android:layout_marginTop="@dimen/dp_20"
-            android:text="当前作业模式："
+            android:text="当前上装模式："
             android:textColor="@color/white"
             android:textSize="@dimen/dp_32"
             app:layout_constraintStart_toStartOf="parent"

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

@@ -10,30 +10,29 @@ import com.mogo.cloud.passport.MoGoAiCloudClientConfig
 import com.mogo.eagle.core.data.autopilot.AutopilotControlParameters
 import com.mogo.eagle.core.data.autopilot.toAutoPilotLine
 import com.mogo.eagle.core.data.autopilot.toRouteInfo
-import com.mogo.eagle.core.data.deva.badcase.BagManagerEntity
+import com.mogo.eagle.core.data.biz.trafficlight.TrafficLightResult
+import com.mogo.eagle.core.data.biz.trafficlight.toTrafficLightDetail
 import com.mogo.eagle.core.data.config.FunctionBuildConfig
 import com.mogo.eagle.core.data.constants.MoGoConfig
 import com.mogo.eagle.core.data.constants.MogoServicePaths
+import com.mogo.eagle.core.data.deva.badcase.BagManagerEntity
 import com.mogo.eagle.core.data.deva.chain.ChainConstant
 import com.mogo.eagle.core.data.deva.chain.ChainConstant.Companion.CHAIN_ALIAS_CODE_MULTI_CONNECT
 import com.mogo.eagle.core.data.deva.chain.ChainConstant.Companion.CHAIN_LINK_ADAS
 import com.mogo.eagle.core.data.deva.chain.ChainConstant.Companion.CHAIN_LINK_LOG_CONNECT_STATUS
 import com.mogo.eagle.core.data.deva.chain.ChainConstant.Companion.CHAIN_LINK_LOG_WEB_SOCKET_AUTOPILOT
-import com.mogo.eagle.core.data.biz.trafficlight.TrafficLightResult
-import com.mogo.eagle.core.data.biz.trafficlight.toTrafficLightDetail
 import com.mogo.eagle.core.function.api.autopilot.IMoGoAutopilotCarConfigListener
 import com.mogo.eagle.core.function.api.autopilot.IMoGoAutopilotControlProvider
 import com.mogo.eagle.core.function.api.map.collect.IMoGoMapDataCollectProvider
-import com.mogo.eagle.core.function.call.autopilot.CallerAutoPilotControlManager
+import com.mogo.eagle.core.function.call.autopilot.CallerAutopilotCarConfigListenerManager
+import com.mogo.eagle.core.function.call.devatools.CallerDevaToolsManager
+import com.mogo.eagle.core.function.call.map.CallerMapDataCollectorManager
 import com.mogo.eagle.core.function.datacenter.autopilot.adapter.MoGoAdasListenerImpl
 import com.mogo.eagle.core.function.datacenter.autopilot.adapter.MoGoAdasMsgConnectStatusListenerImpl
 import com.mogo.eagle.core.function.datacenter.autopilot.server.AsyncDataToAutopilotServer
 import com.mogo.eagle.core.function.datacenter.autopilot.telematic.EventListener
 import com.mogo.eagle.core.function.datacenter.autopilot.telematic.IMsgHandler
 import com.mogo.eagle.core.function.datacenter.autopilot.telematic.TeleMsgHandler
-import com.mogo.eagle.core.function.call.autopilot.CallerAutopilotCarConfigListenerManager
-import com.mogo.eagle.core.function.call.devatools.CallerDevaToolsManager
-import com.mogo.eagle.core.function.call.map.CallerMapDataCollectorManager
 import com.mogo.eagle.core.utilcode.mogo.AppIdentityModeUtils
 import com.mogo.eagle.core.utilcode.mogo.logger.CallerLogger
 import com.mogo.eagle.core.utilcode.mogo.logger.scene.SceneConstant.Companion.M_ADAS_IMPL
@@ -320,14 +319,41 @@ class MoGoAutopilotControlProvider :
     }
 
     override fun startAutoPilot(controlParameters: AutopilotControlParameters) {
+        startAutoPilot(controlParameters, Constants.AUTOPILOT_SOURCE.PAD)
+    }
+
+    override fun startAutoPilotByMoFang(controlParameters: AutopilotControlParameters?) {
+        if (controlParameters==null){
+            startAutoPilotWithNoParameter(Constants.AUTOPILOT_SOURCE.MO_FANG)
+        }else{
+            startAutoPilot(controlParameters, Constants.AUTOPILOT_SOURCE.MO_FANG)
+        }
+    }
+    private fun startAutoPilotWithNoParameter(source: Int) {
         if (AppIdentityModeUtils.isPassenger(FunctionBuildConfig.appIdentityMode)) {
             val invokeResult = AdasManager.getInstance()
-                .sendAutoPilotModeReq(1, 1, controlParameters.toRouteInfo())
+                .sendAutoPilotModeReq(1, source, null)
+            invokeAutoPilotResult(if (invokeResult) "无参自动驾驶调用成功" else "自动驾驶调用失败, socket 或者 rawPack 可能为空")
+        } else {
+            if (AdasManager.getInstance().ipcConnectionStatus == IPC_CONNECTION_STATUS.CONNECTED) {
+                val invokeResult = AdasManager.getInstance()
+                    .sendAutoPilotModeReq(1, source, null)
+                invokeAutoPilotResult(if (invokeResult) "无参自动驾驶调用成功" else "自动驾驶调用失败, socket 或者 rawPack 可能为空")
+            } else {
+                invokeAutoPilotResult("车机与工控机链接失败，无法开启自动驾驶 无参")
+                CallerLogger.e("$M_ADAS_IMPL$TAG", "车机与工控机链接失败，无法开启自动驾驶")
+            }
+        }
+    }
+    private fun startAutoPilot(controlParameters: AutopilotControlParameters, source: Int) {
+        if (AppIdentityModeUtils.isPassenger(FunctionBuildConfig.appIdentityMode)) {
+            val invokeResult = AdasManager.getInstance()
+                .sendAutoPilotModeReq(1, source, controlParameters.toRouteInfo())
             invokeAutoPilotResult(if (invokeResult) "自动驾驶调用成功" else "自动驾驶调用失败, socket 或者 rawPack 可能为空")
         } else {
             if (AdasManager.getInstance().ipcConnectionStatus == IPC_CONNECTION_STATUS.CONNECTED) {
                 val invokeResult = AdasManager.getInstance()
-                    .sendAutoPilotModeReq(1, 1, controlParameters.toRouteInfo())
+                    .sendAutoPilotModeReq(1, source, controlParameters.toRouteInfo())
                 invokeAutoPilotResult(if (invokeResult) "自动驾驶调用成功" else "自动驾驶调用失败, socket 或者 rawPack 可能为空")
             } else {
                 invokeAutoPilotResult("车机与工控机链接失败，无法开启自动驾驶")

core/function-impl/mogo-core-function-devatools/src/main/java/com/zhjt/mogo_core_function_devatools/mofang/MoFangManager.kt

@@ -9,6 +9,7 @@ import android.content.Intent
 import android.content.IntentFilter
 import android.view.KeyEvent
 import com.mogo.commons.context.ContextHolderUtil
+import com.mogo.eagle.core.data.config.FunctionBuildConfig
 import com.mogo.eagle.core.data.config.HmiBuildConfig
 import com.mogo.eagle.core.data.deva.mofang.MfConstants
 import com.mogo.eagle.core.function.api.devatools.mofang.IMoGoMoFangListener
@@ -17,9 +18,11 @@ import com.mogo.eagle.core.function.call.autopilot.CallerAutoPilotControlManager
 import com.mogo.eagle.core.function.call.autopilot.CallerAutoPilotControlManager.sendOperatorSetAcceleratedSpeed
 import com.mogo.eagle.core.function.call.autopilot.CallerAutoPilotControlManager.sendOperatorSetHorn
 import com.mogo.eagle.core.function.call.autopilot.CallerAutoPilotControlManager.startAutoPilot
+import com.mogo.eagle.core.function.call.autopilot.CallerAutoPilotControlManager.startAutoPilotByMoFang
 import com.mogo.eagle.core.function.call.autopilot.CallerAutoPilotStatusListenerManager.getAutoPilotStatusInfo
 import com.mogo.eagle.core.function.call.devatools.CallerDevaToolsListenerManager.invokeMoFangStatus
 import com.mogo.eagle.core.function.call.mofang.CallerMofangListenerManager
+import com.mogo.eagle.core.utilcode.mogo.AppIdentityModeUtils
 import com.mogo.eagle.core.utilcode.mogo.logger.CallerLogger.d
 import com.mogo.eagle.core.utilcode.mogo.logger.CallerLogger.e
 import com.mogo.eagle.core.utilcode.mogo.logger.scene.SceneConstant.Companion.M_F
@@ -319,7 +322,12 @@ class MoFangManager private constructor() : IMoGoMoFangListener {
                         if (HmiBuildConfig.isShowMfToastView) {
                             ToastUtils.showShort("方块 单击E 开启自动驾驶 timeInterval: ${pressEUpTime - startPressTime}ms")
                         }
-                        startAutoPilot(getAutoPilotStatusInfo().autopilotControlParameters)
+                        //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 (AppIdentityModeUtils.isSweeper(FunctionBuildConfig.appIdentityMode)) {
+                            startAutoPilotByMoFang(getAutoPilotStatusInfo().autopilotControlParameters)
+                        } else{
+                            startAutoPilot(getAutoPilotStatusInfo().autopilotControlParameters)
+                        }
                     }
                 }
             }

core/mogo-core-function-api/src/main/java/com/mogo/eagle/core/function/api/autopilot/IMoGoAutopilotControlProvider.kt

@@ -37,6 +37,13 @@ interface IMoGoAutopilotControlProvider : IMoGoFunctionServerProvider {
      */
     fun startAutoPilot(controlParameters: AutopilotControlParameters)
 
+    /**
+     * 开启自动驾驶(魔方)
+     *
+     * @param controlParameters 开启自动驾驶的控制参数
+     */
+    fun startAutoPilotByMoFang(controlParameters: AutopilotControlParameters?)
+
     /**
      * 给工控机透出路口红绿灯信息
      */

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

@@ -79,6 +79,25 @@ object CallerAutoPilotControlManager {
         CallerAutoPilotStatusListenerManager.updateAutopilotControlParameters(controlParameters)
     }
 
+    /**
+     * 开启自动驾驶
+     *
+     * @param controlParameters 开启自动驾驶的控制参数
+     */
+    @ChainLog(
+        linkChainLog = CHAIN_LINK_LOG_WEB_SOCKET_AUTOPILOT,
+        linkCode = CHAIN_LINK_ADAS,
+        endpoint = TracingConstants.Endpoint.PAD,
+        nodeAliasCode = CHAIN_ALIAS_CODE_EAGLE_START_AUTOPILOT,
+        paramIndexes = [0],
+        clientPkFileName = "sn"
+    )
+    fun startAutoPilotByMoFang(controlParameters: AutopilotControlParameters?) {
+        providerApi?.startAutoPilotByMoFang(controlParameters)
+        // 更新记录在全局的控制参数
+        CallerAutoPilotStatusListenerManager.updateAutopilotControlParameters(controlParameters)
+    }
+
     /**
      * 发送红绿灯数据至工控机
      */

gradle.properties

@@ -171,6 +171,6 @@ CHARTER_DRIVER_VERSION=3.1.0
 # 包车模式乘客端端版本号
 CHARTER_PASSENGER_VERSION=2.2.0
 # 支持云控清扫车模式司机端版本号
-SWEEPERCLOUD_DRIVER_VERSION=3.1.2
+SWEEPERCLOUD_DRIVER_VERSION=3.1.4
 # 清扫车模式司机端版本号
 SWEEPEROPERATE_DRIVER_VERSION=3.1.0

libraries/mogo-adas-data/src/main/proto/message_pad.proto

@@ -296,7 +296,7 @@ message RouteInfo
 message SetAutopilotModeReq
 {
     uint32 mode = 1; //1: enter autopilot mode, 0: quit autopilot mode
-    uint32 source = 2; //命令来源: 0: pad模拟, 1: pad业务, 2:aicloud
+    uint32 source = 2; //命令来源: 0: pad模拟, 1: pad业务, 2:aicloud, 3:魔方(清扫车MAP Version==332以及MAP Version>=350，其他车型目前未上线)
     RouteInfo routeInfo = 3; //自动驾驶路径信息
 }
 
@@ -597,13 +597,13 @@ message PlanningActionMsg
 //message definition for MsgTypeSetParamReq
 message SetOneParam
 {
-    uint32 type = 1; // 0:default 1:绕障类功能开关(bool) 2:变道绕障的目标障碍物速度阈值(double, m/s)
+    uint32 type = 1; // 0:default 1:绕障类功能开关(bool) 2:变道绕障的目标障碍物速度阈值(double, m/s) 
                      // 3:AEB开关(bool)  0:关闭自动紧急制动功能 1:启用自动紧急制动功能
                      // 4:限制绕障开关(bool) 0:正常绕障 1：限制绕障  默认0
                      // 5:停车让行线前避让等待开关(bool) 0:停车让行线前无需等待 1:停车让行线前需要等待 默认0
                      // 6:地图限速功能开关(bool) 0:不使用地图限速功能 1:使用地图限速功能 默认0
                      // 7:环岛模式开关(bool) 0:普通模式 1:环岛模式  默认0
-                     // 8:弱网减速停车策略开关(bool) 0:关闭弱网减速停车策略 1:使用弱网减速停车策略
+                     // 8:弱网减速停车策略开关(bool) 0:关闭弱网减速停车策略 1:使用弱网减速停车策略 
                      // 9:m1拼接视频自车位置参数(string), 格式:x,y,width,height
     string value = 2; // 转成字符串的值
 }
@@ -700,6 +700,3 @@ message SessionInfo
     uint64 connectedTimeStamp = 4;
     string version = 5;
 }
-
-
-

libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/AdasChannel.java

@@ -836,7 +836,7 @@ public class AdasChannel implements IAdasNetCommApi, FpgaSocket.IWebSocketConnec
      * 设置自动驾驶模式 启动自动驾驶
      *
      * @param mode      1: enter autopilot mode, 0: quit autopilot mode
-     * @param source    命令来源: 0: pad模拟(模拟时routeInfo传null), 1: AICloud业务
+     * @param source    命令来源: 0: pad模拟, 1: pad业务, 2:aicloud, 3:魔方(清扫车MAP Version==332以及MAP Version>=350，其他车型目前未上线)
      * @param routeInfo 自动驾驶路径信息
      * @return boolean
      */

libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/AdasManager.java

@@ -297,7 +297,7 @@ public class AdasManager implements IAdasNetCommApi {
      * 设置自动驾驶模式 启动自动驾驶
      *
      * @param mode      1: enter autopilot mode, 0: quit autopilot mode
-     * @param source    命令来源: 0: pad模拟(模拟时routeInfo传null), 1: AICloud业务
+     * @param source    命令来源: 0: pad模拟, 1: pad业务, 2:aicloud, 3:魔方(清扫车MAP Version==332以及MAP Version>=350，其他车型目前未上线)
      * @param routeInfo 自动驾驶路径信息
      * @return
      */

libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/IAdasNetCommApi.java

@@ -86,7 +86,7 @@ public interface IAdasNetCommApi {
      * 设置自动驾驶模式 启动自动驾驶
      *
      * @param mode      1: enter autopilot mode, 0: quit autopilot mode
-     * @param source    命令来源: 0: pad模拟(模拟时routeInfo传null), 1: AICloud业务
+     * @param source    命令来源: 0: pad模拟, 1: pad业务, 2:aicloud, 3:魔方(清扫车MAP Version==332以及MAP Version>=350，其他车型目前未上线)
      * @param routeInfo 自动驾驶路径信息
      * @return 加入WS发送消息队列是否成功
      */

libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/common/Constants.java

@@ -134,4 +134,26 @@ public class Constants {
         int RAMP_THETA_VALID = 7;//环岛模式开关
         int WEAK_NET_SLOW_DOWN = 8;//弱网减速停车策略开关
     }
+
+    /**
+     * 启动自动驾驶-Source类型
+     */
+    public interface AUTOPILOT_SOURCE {
+        /**
+         * pad模拟
+         */
+        int PAD_SIMULATE = 0;
+        /**
+         * pad业务
+         */
+        int PAD = 1;
+        /**
+         * AICloud
+         */
+        int AI_CLOUD = 2;
+        /**
+         * 魔方
+         */
+        int MO_FANG = 3;
+    }
 }