From e476c3b0ce70eee1fc967d690a3dbadf91092f95 Mon Sep 17 00:00:00 2001 From: aibingbing Date: Wed, 14 Jun 2023 17:18:53 +0800 Subject: [PATCH 1/7] =?UTF-8?q?[Sweeper-Cloud]=20feat:=20=E6=B8=85?= =?UTF-8?q?=E6=89=AB=E8=BD=A6=E4=BA=91=E6=8E=A7=E7=89=88=E6=9C=AC=20V3.1.4?= =?UTF-8?q?=20=EF=BC=9B?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- gradle.properties | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/gradle.properties b/gradle.properties index 419c2c2f3d..f56a887c77 100644 --- a/gradle.properties +++ b/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 From 7c9f78f7c802e2925e0585352f3080d6e1fb537d Mon Sep 17 00:00:00 2001 From: aibingbing Date: Wed, 14 Jun 2023 19:10:23 +0800 Subject: [PATCH 2/7] =?UTF-8?q?[Sweeper-Cloud]=20refactor:=20=E6=B8=85?= =?UTF-8?q?=E6=89=AB=E8=BD=A6=E9=80=82=E9=85=8D=E9=AD=94=E6=96=B9=EF=BC=8C?= =?UTF-8?q?=E5=90=AF=E5=8A=A8=E8=87=AA=E9=A9=BE=E6=8E=A5=E5=8F=A3=E6=97=B6?= =?UTF-8?q?source=E4=BC=A0=E9=80=92=E9=AD=94=E6=96=B9=EF=BC=8C=E4=BB=A5?= =?UTF-8?q?=E4=BE=BFtelematics=E5=8C=BA=E5=88=86=E5=B9=B6=E5=A4=84?= =?UTF-8?q?=E7=90=86=EF=BC=9B?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- .../autopilot/MoGoAutopilotControlProvider.kt | 25 ++++++++++++------- .../mofang/MoFangManager.kt | 10 +++++++- .../IMoGoAutopilotControlProvider.kt | 7 ++++++ .../CallerAutoPilotControlManager.kt | 23 +++++++++++++++++ .../zhidao/support/adas/high/AdasOptions.java | 22 ++++++++++++++++ 5 files changed, 77 insertions(+), 10 deletions(-) diff --git a/core/function-impl/mogo-core-function-datacenter/src/main/java/com/mogo/eagle/core/function/datacenter/autopilot/MoGoAutopilotControlProvider.kt b/core/function-impl/mogo-core-function-datacenter/src/main/java/com/mogo/eagle/core/function/datacenter/autopilot/MoGoAutopilotControlProvider.kt index 3eda2762f8..af9db50ee0 100644 --- a/core/function-impl/mogo-core-function-datacenter/src/main/java/com/mogo/eagle/core/function/datacenter/autopilot/MoGoAutopilotControlProvider.kt +++ b/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 +319,22 @@ class MoGoAutopilotControlProvider : } override fun startAutoPilot(controlParameters: AutopilotControlParameters) { + startAutoPilot(controlParameters, AdasOptions.AUTOPILOT_SOURCE.PAD) + } + + override fun startAutoPilotByMoFang(controlParameters: AutopilotControlParameters) { + startAutoPilot(controlParameters, AdasOptions.AUTOPILOT_SOURCE.MO_FANG) + } + + private fun startAutoPilot(controlParameters: AutopilotControlParameters, source: Int) { if (AppIdentityModeUtils.isPassenger(FunctionBuildConfig.appIdentityMode)) { 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 { 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") diff --git a/core/function-impl/mogo-core-function-devatools/src/main/java/com/zhjt/mogo_core_function_devatools/mofang/MoFangManager.kt b/core/function-impl/mogo-core-function-devatools/src/main/java/com/zhjt/mogo_core_function_devatools/mofang/MoFangManager.kt index cf28e98458..1923955f1c 100644 --- a/core/function-impl/mogo-core-function-devatools/src/main/java/com/zhjt/mogo_core_function_devatools/mofang/MoFangManager.kt +++ b/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) + } } } } diff --git a/core/mogo-core-function-api/src/main/java/com/mogo/eagle/core/function/api/autopilot/IMoGoAutopilotControlProvider.kt b/core/mogo-core-function-api/src/main/java/com/mogo/eagle/core/function/api/autopilot/IMoGoAutopilotControlProvider.kt index 28df0f814d..3df523e14b 100644 --- a/core/mogo-core-function-api/src/main/java/com/mogo/eagle/core/function/api/autopilot/IMoGoAutopilotControlProvider.kt +++ b/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 */ diff --git a/core/mogo-core-function-call/src/main/java/com/mogo/eagle/core/function/call/autopilot/CallerAutoPilotControlManager.kt b/core/mogo-core-function-call/src/main/java/com/mogo/eagle/core/function/call/autopilot/CallerAutoPilotControlManager.kt index c5eb0d1821..c03f05bc0a 100644 --- a/core/mogo-core-function-call/src/main/java/com/mogo/eagle/core/function/call/autopilot/CallerAutoPilotControlManager.kt +++ b/core/mogo-core-function-call/src/main/java/com/mogo/eagle/core/function/call/autopilot/CallerAutoPilotControlManager.kt @@ -79,6 +79,29 @@ 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?) { + if (controlParameters == null) { + //LogUtils.eTag(TAG, "自动驾驶控制参数异常，请检查参数信息") + return + } + 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 */ diff --git a/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/AdasOptions.java b/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/AdasOptions.java index dcdc047c72..d3aef40686 100644 --- a/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/AdasOptions.java +++ b/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/AdasOptions.java @@ -29,6 +29,28 @@ public class AdasOptions { int ASSIGN = 1; } + /** + * 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; + } + /** * 是否是客户端 true：客户度（乘客屏） false：服务端（司机屏） * 当是乘客端的情况下 ipcConnectionMode ipcAssignIP ipcFixationIPSet 均无效 From 0cbfcafadf77c841148d7ad7fd1cb41a161fd206 Mon Sep 17 00:00:00 2001 From: xinfengkun Date: Wed, 14 Jun 2023 19:21:48 +0800 Subject: [PATCH 3/7] =?UTF-8?q?[sweeper314][adas-data]=20=E6=9B=B4?= =?UTF-8?q?=E6=96=B0=E9=AD=94=E6=96=B9=E5=90=AF=E5=8A=A8=E8=87=AA=E9=A9=BE?= =?UTF-8?q?=E5=80=BC=EF=BC=88=E6=B8=85=E6=89=AB=E8=BD=A6=EF=BC=89?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- .../mogo-adas-data/src/main/proto/message_pad.proto | 9 +++------ 1 file changed, 3 insertions(+), 6 deletions(-) diff --git a/libraries/mogo-adas-data/src/main/proto/message_pad.proto b/libraries/mogo-adas-data/src/main/proto/message_pad.proto index 4868e38df6..7d5882a353 100644 --- a/libraries/mogo-adas-data/src/main/proto/message_pad.proto +++ b/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; } - - - From 0a2fa1224434545673977c7ad0b320e56ebdc94c Mon Sep 17 00:00:00 2001 From: aibingbing Date: Wed, 14 Jun 2023 19:40:55 +0800 Subject: [PATCH 4/7] =?UTF-8?q?[Sweeper-Cloud]=20refactor:=20=E5=B8=B8?= =?UTF-8?q?=E9=87=8F=20AdasOptions=20->=20Constants=20;?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- .../autopilot/MoGoAutopilotControlProvider.kt | 4 ++-- .../zhidao/support/adas/high/AdasOptions.java | 22 ------------------- .../support/adas/high/common/Constants.java | 22 +++++++++++++++++++ 3 files changed, 24 insertions(+), 24 deletions(-) diff --git a/core/function-impl/mogo-core-function-datacenter/src/main/java/com/mogo/eagle/core/function/datacenter/autopilot/MoGoAutopilotControlProvider.kt b/core/function-impl/mogo-core-function-datacenter/src/main/java/com/mogo/eagle/core/function/datacenter/autopilot/MoGoAutopilotControlProvider.kt index af9db50ee0..1c3b6cfcd4 100644 --- a/core/function-impl/mogo-core-function-datacenter/src/main/java/com/mogo/eagle/core/function/datacenter/autopilot/MoGoAutopilotControlProvider.kt +++ b/core/function-impl/mogo-core-function-datacenter/src/main/java/com/mogo/eagle/core/function/datacenter/autopilot/MoGoAutopilotControlProvider.kt @@ -319,11 +319,11 @@ class MoGoAutopilotControlProvider : } override fun startAutoPilot(controlParameters: AutopilotControlParameters) { - startAutoPilot(controlParameters, AdasOptions.AUTOPILOT_SOURCE.PAD) + startAutoPilot(controlParameters, Constants.AUTOPILOT_SOURCE.PAD) } override fun startAutoPilotByMoFang(controlParameters: AutopilotControlParameters) { - startAutoPilot(controlParameters, AdasOptions.AUTOPILOT_SOURCE.MO_FANG) + startAutoPilot(controlParameters, Constants.AUTOPILOT_SOURCE.MO_FANG) } private fun startAutoPilot(controlParameters: AutopilotControlParameters, source: Int) { diff --git a/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/AdasOptions.java b/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/AdasOptions.java index d3aef40686..dcdc047c72 100644 --- a/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/AdasOptions.java +++ b/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/AdasOptions.java @@ -29,28 +29,6 @@ public class AdasOptions { int ASSIGN = 1; } - /** - * 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; - } - /** * 是否是客户端 true：客户度（乘客屏） false：服务端（司机屏） * 当是乘客端的情况下 ipcConnectionMode ipcAssignIP ipcFixationIPSet 均无效 diff --git a/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/common/Constants.java b/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/common/Constants.java index 08670c2d31..0d914fa7f0 100644 --- a/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/common/Constants.java +++ b/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; + } } From 932dbb4f7cd31994c2512eaa43c9957a67a487ef Mon Sep 17 00:00:00 2001 From: xinfengkun Date: Fri, 16 Jun 2023 10:06:41 +0800 Subject: [PATCH 5/7] =?UTF-8?q?[sweeper314][adas-data]=20=E4=BF=AE?= =?UTF-8?q?=E6=94=B9=E5=90=AF=E5=8A=A8=E8=87=AA=E9=A9=BE=E5=8F=82=E6=95=B0?= =?UTF-8?q?=E6=B3=A8=E9=87=8A?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- .../src/main/java/com/zhidao/support/adas/high/AdasChannel.java | 2 +- .../src/main/java/com/zhidao/support/adas/high/AdasManager.java | 2 +- .../main/java/com/zhidao/support/adas/high/IAdasNetCommApi.java | 2 +- 3 files changed, 3 insertions(+), 3 deletions(-) diff --git a/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/AdasChannel.java b/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/AdasChannel.java index d665729ac1..62be98f40b 100644 --- a/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/AdasChannel.java +++ b/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 */ diff --git a/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/AdasManager.java b/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/AdasManager.java index cd5094aebc..7390609693 100644 --- a/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/AdasManager.java +++ b/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 */ diff --git a/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/IAdasNetCommApi.java b/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/IAdasNetCommApi.java index 08e5cb088d..8362541ce7 100644 --- a/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/IAdasNetCommApi.java +++ b/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 */ From 3b467a517e212991bf8bfe05e27b2419fa102483 Mon Sep 17 00:00:00 2001 From: aibingbing Date: Fri, 16 Jun 2023 15:52:15 +0800 Subject: [PATCH 6/7] =?UTF-8?q?[Sweeper-Cloud]=20feat:=20=E2=80=9C?= =?UTF-8?q?=E8=AF=B7=E6=B1=82=E8=BF=9B=E5=85=A5=E8=87=AA=E5=8A=A8=E9=A9=BE?= =?UTF-8?q?=E9=A9=B6=E2=80=9D=E6=8C=89=E9=92=AE=E6=A0=B9=E6=8D=AE=E8=87=AA?= =?UTF-8?q?=E9=A9=BE=E7=8A=B6=E6=80=81=E5=88=87=E6=8D=A2=E8=83=8C=E6=99=AF?= =?UTF-8?q?=E5=92=8C=E5=AD=97=E4=BD=93=E9=A2=9C=E8=89=B2=EF=BC=9B=20feat:?= =?UTF-8?q?=20=E4=BF=AE=E6=94=B9=E6=96=87=E6=A1=88=20=E6=AD=A3=E5=9C=A8?= =?UTF-8?q?=E4=BD=9C=E4=B8=9A->=E4=BB=BB=E5=8A=A1=E6=89=A7=E8=A1=8C?= =?UTF-8?q?=E4=B8=AD=EF=BC=8C=E6=9A=82=E6=9C=AA=E5=87=86=E5=A4=87->?= =?UTF-8?q?=E4=BB=BB=E5=8A=A1=E5=BE=85=E5=BC=80=E5=A7=8B=EF=BC=8C=E5=BD=93?= =?UTF-8?q?=E5=89=8D=E4=BD=9C=E4=B8=9A=E6=A8=A1=E5=BC=8F->=E5=BD=93?= =?UTF-8?q?=E5=89=8D=E4=B8=8A=E8=A3=85=E4=BD=9C=E4=B8=9A=EF=BC=9B?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- .../sweepercloud/fragment/SweeperFragment.kt | 5 ++ .../view/SweeperCurrentTaskInfoView.kt | 63 ++++++++++++++++--- .../sweeper_upload_autopoiltstate.xml | 11 +++- .../src/main/res/layout/sweeper_work_mode.xml | 2 +- 4 files changed, 67 insertions(+), 14 deletions(-) diff --git a/OCH/sweeper/sweeper-cloud/src/main/java/com/mogo/och/sweepercloud/fragment/SweeperFragment.kt b/OCH/sweeper/sweeper-cloud/src/main/java/com/mogo/och/sweepercloud/fragment/SweeperFragment.kt index 1dc67cae43..0714e5ddc3 100644 --- a/OCH/sweeper/sweeper-cloud/src/main/java/com/mogo/och/sweepercloud/fragment/SweeperFragment.kt +++ b/OCH/sweeper/sweeper-cloud/src/main/java/com/mogo/och/sweepercloud/fragment/SweeperFragment.kt @@ -122,6 +122,11 @@ class SweeperFragment : BaseSweeperTabFragment { + 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) } } diff --git a/OCH/sweeper/sweeper-cloud/src/main/res/drawable/sweeper_upload_autopoiltstate.xml b/OCH/sweeper/sweeper-cloud/src/main/res/drawable/sweeper_upload_autopoiltstate.xml index 6d189929bc..ea710c45e4 100644 --- a/OCH/sweeper/sweeper-cloud/src/main/res/drawable/sweeper_upload_autopoiltstate.xml +++ b/OCH/sweeper/sweeper-cloud/src/main/res/drawable/sweeper_upload_autopoiltstate.xml @@ -1,10 +1,15 @@ - + - - + + + + + + + \ No newline at end of file diff --git a/OCH/sweeper/sweeper-cloud/src/main/res/layout/sweeper_work_mode.xml b/OCH/sweeper/sweeper-cloud/src/main/res/layout/sweeper_work_mode.xml index f2e743be58..34be95b606 100644 --- a/OCH/sweeper/sweeper-cloud/src/main/res/layout/sweeper_work_mode.xml +++ b/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" From 93d5e4396325487159c59c1439a9f35636d75268 Mon Sep 17 00:00:00 2001 From: xinfengkun Date: Wed, 21 Jun 2023 14:03:50 +0800 Subject: [PATCH 7/7] =?UTF-8?q?[sweeper314]=E6=B7=BB=E5=8A=A0=E6=97=A0?= =?UTF-8?q?=E5=8F=82=E6=95=B0=E5=90=AF=E5=8A=A8=E8=87=AA=E9=A9=BE=E6=96=B9?= =?UTF-8?q?=E6=B3=95?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- .../autopilot/MoGoAutopilotControlProvider.kt | 25 ++++++++++++++++--- .../IMoGoAutopilotControlProvider.kt | 2 +- .../CallerAutoPilotControlManager.kt | 4 --- 3 files changed, 23 insertions(+), 8 deletions(-) diff --git a/core/function-impl/mogo-core-function-datacenter/src/main/java/com/mogo/eagle/core/function/datacenter/autopilot/MoGoAutopilotControlProvider.kt b/core/function-impl/mogo-core-function-datacenter/src/main/java/com/mogo/eagle/core/function/datacenter/autopilot/MoGoAutopilotControlProvider.kt index 1c3b6cfcd4..f538aa58b0 100644 --- a/core/function-impl/mogo-core-function-datacenter/src/main/java/com/mogo/eagle/core/function/datacenter/autopilot/MoGoAutopilotControlProvider.kt +++ b/core/function-impl/mogo-core-function-datacenter/src/main/java/com/mogo/eagle/core/function/datacenter/autopilot/MoGoAutopilotControlProvider.kt @@ -322,10 +322,29 @@ class MoGoAutopilotControlProvider : startAutoPilot(controlParameters, Constants.AUTOPILOT_SOURCE.PAD) } - override fun startAutoPilotByMoFang(controlParameters: AutopilotControlParameters) { - startAutoPilot(controlParameters, Constants.AUTOPILOT_SOURCE.MO_FANG) + 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, 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() diff --git a/core/mogo-core-function-api/src/main/java/com/mogo/eagle/core/function/api/autopilot/IMoGoAutopilotControlProvider.kt b/core/mogo-core-function-api/src/main/java/com/mogo/eagle/core/function/api/autopilot/IMoGoAutopilotControlProvider.kt index 3df523e14b..d4f979dc59 100644 --- a/core/mogo-core-function-api/src/main/java/com/mogo/eagle/core/function/api/autopilot/IMoGoAutopilotControlProvider.kt +++ b/core/mogo-core-function-api/src/main/java/com/mogo/eagle/core/function/api/autopilot/IMoGoAutopilotControlProvider.kt @@ -42,7 +42,7 @@ interface IMoGoAutopilotControlProvider : IMoGoFunctionServerProvider { * * @param controlParameters 开启自动驾驶的控制参数 */ - fun startAutoPilotByMoFang(controlParameters: AutopilotControlParameters) + fun startAutoPilotByMoFang(controlParameters: AutopilotControlParameters?) /** * 给工控机透出路口红绿灯信息 diff --git a/core/mogo-core-function-call/src/main/java/com/mogo/eagle/core/function/call/autopilot/CallerAutoPilotControlManager.kt b/core/mogo-core-function-call/src/main/java/com/mogo/eagle/core/function/call/autopilot/CallerAutoPilotControlManager.kt index c03f05bc0a..5bbca5918b 100644 --- a/core/mogo-core-function-call/src/main/java/com/mogo/eagle/core/function/call/autopilot/CallerAutoPilotControlManager.kt +++ b/core/mogo-core-function-call/src/main/java/com/mogo/eagle/core/function/call/autopilot/CallerAutoPilotControlManager.kt @@ -93,10 +93,6 @@ object CallerAutoPilotControlManager { clientPkFileName = "sn" ) fun startAutoPilotByMoFang(controlParameters: AutopilotControlParameters?) { - if (controlParameters == null) { - //LogUtils.eTag(TAG, "自动驾驶控制参数异常，请检查参数信息") - return - } providerApi?.startAutoPilotByMoFang(controlParameters) // 更新记录在全局的控制参数 CallerAutoPilotStatusListenerManager.updateAutopilotControlParameters(controlParameters)