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Merge branch 'release_robobus-d_230413_3.1.0.1'

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# Conflicts:
#	OCH/mogo-och-bus/src/main/java/com/mogo/och/bus/fragment/BusFragment.java
#	OCH/mogo-och-sweeper/src/main/java/com/mogo/och/sweeper/SweeperProvider.java
#	OCH/mogo-och-sweeper/src/main/java/com/mogo/och/sweeper/fragment/SweeperFragment.java
#	core/mogo-core-utils/src/main/java/com/mogo/eagle/core/utilcode/mogo/AppIdentityModeUtils.kt
#	gradle.properties
This commit is contained in:
yangyakun
2023-04-23 14:28:19 +08:00
parent 4cc8a10f3d 0c4d329626
commit d32d904239
732 changed files with 15968 additions and 23238 deletions
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4
core/function-impl/mogo-core-function-biz/build.gradle
View File

@@ -42,6 +42,10 @@ android {
targetCompatibility JavaVersion.VERSION_1_8
}
lintOptions {
abortOnError false
}
kotlinOptions {
jvmTarget = '1.8'
}

12
core/function-impl/mogo-core-function-biz/src/main/java/com/mogo/eagle/function/biz/FuncBizProvider.kt
View File

@@ -62,10 +62,22 @@ class FuncBizProvider : IMoGoFuncBizProvider {
dispatchAutoPilotManager.affirm()
}
override fun stopDispatchAffirm() {
dispatchAutoPilotManager.stopAffirm()
}
override fun dispatchCancel(manualTrigger: Boolean) {
dispatchAutoPilotManager.cancel(manualTrigger)
}
override fun stopDispatchCancel(manualTrigger: Boolean) {
dispatchAutoPilotManager.stopCancel(manualTrigger)
}
override fun restartDispatchAffirm() {
dispatchAutoPilotManager.restartDispatch()
}
override fun testDispatch(sceneType: Int) {
dispatchAutoPilotManager.testDispatch(sceneType)
}

198
core/function-impl/mogo-core-function-biz/src/main/java/com/mogo/eagle/function/biz/dispatch/DispatchAutoPilotManager.kt
View File

@@ -3,8 +3,10 @@ package com.mogo.eagle.function.biz.dispatch
import android.content.Context
import android.os.Handler
import android.os.Message
import android.util.Log
import com.mogo.aicloud.services.socket.IMogoOnMessageListener
import com.mogo.aicloud.services.socket.MogoAiCloudSocketManager
import com.mogo.commons.voice.AIAssist
import com.mogo.eagle.core.data.autopilot.AutopilotControlParameters
import com.mogo.eagle.core.data.autopilot.AutopilotRouteInfo
import com.mogo.eagle.core.data.biz.dispatch.DispatchAdasAutoPilotLocReceiverBean
@@ -21,19 +23,26 @@ import com.mogo.eagle.core.function.call.hmi.CallerHmiManager
import com.mogo.eagle.core.utilcode.mogo.logger.CallerLogger
import com.mogo.eagle.core.utilcode.mogo.logger.scene.SceneConstant
import com.mogo.eagle.core.utilcode.util.CoordinateUtils
import com.mogo.eagle.core.utilcode.util.ToastUtils
import com.mogo.eagle.function.biz.dispatch.network.DispatchServiceModel.Companion.DISPATCH_COMPLETED
import com.mogo.eagle.function.biz.dispatch.network.DispatchServiceModel.Companion.DISPATCH_RESULT_AFFIRM
import com.mogo.eagle.function.biz.dispatch.network.DispatchServiceModel.Companion.DISPATCH_RESULT_MANUAL_CANCEL
import com.mogo.eagle.function.biz.dispatch.network.DispatchServiceModel.Companion.DISPATCH_RESULT_TIMER_CANCEL
import com.mogo.eagle.function.biz.dispatch.network.DispatchServiceModel.Companion.DISPATCH_STOP_AFFIRM
import com.mogo.eagle.function.biz.dispatch.network.DispatchServiceModel.Companion.DISPATCH_STOP_MANUAL_CANCEL
import com.mogo.eagle.function.biz.dispatch.network.DispatchServiceModel.Companion.DISPATCH_STOP_TIMER_CANCEL
import com.mogo.eagle.function.biz.dispatch.network.DispatchServiceModel.Companion.dispatchServiceModel
import com.zhjt.mogo.adas.data.bean.MogoReport
import mogo.telematics.pad.MessagePad
import mogo_msg.MogoReportMsg
//负责监听自动驾驶状态并进行状态上报，自动驾驶路线上报，接收调度指令展示指令弹窗
class DispatchAutoPilotManager private constructor() :
IMogoOnMessageListener<DispatchAdasAutoPilotLocReceiverBean>,
IMoGoCheckAutoPilotBtnListener,
IMoGoPlanningRottingListener,
IMoGoAutopilotStatusListener {
IMogoOnMessageListener<DispatchAdasAutoPilotLocReceiverBean>,
IMoGoCheckAutoPilotBtnListener,
IMoGoPlanningRottingListener,
IMoGoAutopilotStatusListener {
companion object {
private const val TAG = "DispatchAutoPilotManager"
@@ -110,6 +119,7 @@ class DispatchAutoPilotManager private constructor() :
}
override fun onMsgReceived(adasAutoPilotLocReceiverBean: DispatchAdasAutoPilotLocReceiverBean?) {
Log.i(TAG,"onMsgReceived 收到云调度长链接")
if (adasAutoPilotLocReceiverBean != null && adasAutoPilotLocReceiverBean.startLat != 0.0 && adasAutoPilotLocReceiverBean.startLon != 0.0) {
receiverBean = adasAutoPilotLocReceiverBean
val message = Message()
@@ -117,11 +127,52 @@ class DispatchAutoPilotManager private constructor() :
message.obj = adasAutoPilotLocReceiverBean
handler.sendMessage(message)
}
//同步调用路线下载逻辑
adasAutoPilotLocReceiverBean?.let {
if(it.type == 1){
val mAutoPilotLine = AutopilotControlParameters.AutoPilotLine(it.lineId.toLong(),it.trajUrl,it.trajMd5,it.stopUrl,it.stopMd5,it.timestamp,
it.vehicleModel,it.trajUrl_dpqp,it.trajMd5_dpqp,it.stopUrl_dpqp,it.stopMd5_dpqp,it.timestamp_dpqp)
CallerAutoPilotControlManager.sendTrajectoryDownloadReq(mAutoPilotLine)
Log.i(TAG,"调用路线下载逻辑")
}
}
adasAutoPilotLocReceiverBean?.let {
Log.i(TAG,"taskId="+it.taskId)
Log.i(TAG,"type="+it.type)
Log.i(TAG,"source="+it.source)
Log.i(TAG,"lineName="+it.lineName)
Log.i(TAG,"stopMd5_dpqp="+it.stopMd5_dpqp)
Log.i(TAG,"stopUrl_dpqp="+it.stopUrl_dpqp)
Log.i(TAG,"trajMd5_dpqp="+it.trajMd5_dpqp)
Log.i(TAG,"trajUrl_dpqp="+it.trajUrl_dpqp)
Log.i(TAG,"stopMd5_dpqp="+it.stopMd5_dpqp)
Log.i(TAG,"stopMd5="+it.stopMd5)
Log.i(TAG,"stopUrl="+it.stopUrl)
Log.i(TAG,"trajUrl="+it.trajUrl)
Log.i(TAG,"trajMd5="+it.trajMd5)
Log.i(TAG,"endLocAddress="+it.endLocAddress)
Log.i(TAG,"flightInfo="+it.flightInfo)
Log.i(TAG,"poiId="+it.poiId)
Log.i(TAG,"startLocAddress="+it.startLocAddress)
Log.i(TAG,"taskInfo="+it.taskInfo)
Log.i(TAG,"taskTime="+it.taskTime)
Log.i(TAG,"vehicleModel="+it.vehicleModel)
Log.i(TAG,"endLat="+it.endLat)
Log.i(TAG,"endLon="+it.endLon)
Log.i(TAG,"lineId="+it.lineId)
Log.i(TAG,"startLat="+it.startLat)
Log.i(TAG,"startLon="+it.startLon)
Log.i(TAG,"stopsList="+it.stopsList)
Log.i(TAG,"timestamp="+it.timestamp)
Log.i(TAG,"systemTime="+it.systemTime)
Log.i(TAG,"timestamp_dpqp="+it.timestamp_dpqp)
}
}
private fun startAutoPilot() {
val currentAutopilot = AutopilotControlParameters()
currentAutopilot.isSpeakVoice = false
// currentAutopilot.isSpeakVoice = false
val wayLatLon: MutableList<AutopilotControlParameters.AutoPilotLonLat> = ArrayList()
receiverBean?.let {
if (it.stopsList != null) {
@@ -134,6 +185,14 @@ class DispatchAutoPilotManager private constructor() :
)
}
}
val currentAutoPilotLine = AutopilotControlParameters.AutoPilotLine(it.lineId.toLong(),it.trajUrl,it.trajMd5,
it.stopUrl,it.stopMd5,it.timestamp,it.vehicleModel,it.trajUrl_dpqp,it.trajMd5_dpqp,it.stopUrl_dpqp,
it.stopMd5_dpqp,it.timestamp_dpqp)
currentAutopilot.autoPilotLine = currentAutoPilotLine
currentAutopilot.routeID = it.lineId
currentAutopilot.routeName = it.lineName
currentAutopilot.startName = it.startLocAddress
currentAutopilot.endName = it.endLocAddress
currentAutopilot.wayLatLons = wayLatLon
currentAutopilot.startLatLon =
AutopilotControlParameters.AutoPilotLonLat(it.startLat, it.startLon)
@@ -141,20 +200,65 @@ class DispatchAutoPilotManager private constructor() :
AutopilotControlParameters.AutoPilotLonLat(it.endLat, it.endLon)
currentAutopilot.vehicleType = 10
CallerLogger.d(SceneConstant.Companion.M_DISPATCH + TAG, "开启自动驾驶====$currentAutopilot")
Log.i(TAG,"开启自动驾驶====$currentAutopilot")
CallerAutoPilotControlManager.startAutoPilot(currentAutopilot)
}
}
fun affirm() {
CallerHmiManager.dismissDispatchDialog()
dispatchServiceModel.dispatchResultUpload(DISPATCH_RESULT_AFFIRM)
receiverBean?.taskId?.let { it ->
dispatchServiceModel.dispatchResultUpload(DISPATCH_RESULT_AFFIRM, it,
onSuccess = {
//调用工控机开启自动驾驶
startAutoPilot()
},onError = { error->
ToastUtils.showShort("上报调度失败${error}")
})
}
}
/**
* 停止调度确认
*/
fun stopAffirm(){
CallerHmiManager.dismissDispatchDialog()
receiverBean?.taskId?.let{
dispatchServiceModel.dispatchResultUpload(DISPATCH_STOP_AFFIRM, it,
onSuccess = {
//取消自动驾驶
CallerAutoPilotControlManager.cancelAutoPilot()
Log.i(TAG,"stopAffirm 取消自动驾驶")
}, onError = {})
}
}
fun cancel(manualTrigger: Boolean) {
CallerHmiManager.dismissDispatchDialog()
dispatchServiceModel.dispatchResultUpload(
if (manualTrigger) DISPATCH_RESULT_MANUAL_CANCEL else DISPATCH_RESULT_TIMER_CANCEL
)
receiverBean?.taskId?.let {
dispatchServiceModel.dispatchResultUpload(
if (manualTrigger) DISPATCH_RESULT_MANUAL_CANCEL else DISPATCH_RESULT_TIMER_CANCEL, it)
}
}
/**
* 停止调度取消
*/
fun stopCancel(manualTrigger: Boolean){
CallerHmiManager.dismissDispatchDialog()
receiverBean?.taskId?.let{
dispatchServiceModel.dispatchResultUpload(
if (manualTrigger) DISPATCH_STOP_MANUAL_CANCEL else DISPATCH_STOP_TIMER_CANCEL, it)
}
}
/**
* 重启自驾
*/
fun restartDispatch(){
CallerHmiManager.dismissDispatchDialog()
//启动自动驾驶
startAutoPilot()
}
override fun onCheck(isChecked: Boolean) {
@@ -197,7 +301,7 @@ class DispatchAutoPilotManager private constructor() :
SceneConstant.Companion.M_DISPATCH + TAG,
"onArriveAt data : $arrivalNotification"
)
Log.i(TAG,"onArriveAt data : $arrivalNotification")
if (arrivalNotification.endLocation == null) {
return
}
@@ -211,10 +315,65 @@ class DispatchAutoPilotManager private constructor() :
SceneConstant.Companion.M_DISPATCH + TAG,
"onArriveAt cal distance : $distanceFromSelf"
)
Log.i(TAG,"onArriveAt cal distance : $distanceFromSelf")
if (distanceFromSelf < 10) {
CallerLogger.d(SceneConstant.Companion.M_DISPATCH + TAG, "onArriveAt end location")
isDispatch = false
isArriveEnd = true
//到站，调度完成
receiverBean?.let {
//调度完成，同步云端，并且吐司提示
dispatchServiceModel.dispatchResultUpload(DISPATCH_COMPLETED, it.taskId)
ToastUtils.showLong("云调度完成，车辆已到达${it.endLocAddress}")
//取消自动驾驶
CallerAutoPilotControlManager.cancelAutoPilot()
//语音提示到站
AIAssist.getInstance(mContext).speakTTSVoice("云调度完成，车辆已到达${it.endLocAddress}")
}
}
}
/**
* 接口MEC反馈的常规信息（MAP v2.5.0新增轨迹相关信息）
* @param guardianInfo
*/
override fun onAutopilotGuardian(guardianInfo: MogoReportMsg.MogoReportMessage?) {
if (guardianInfo == null || !guardianInfo.hasCode()) return
Log.i(TAG,"onAutopilotGuardian "+guardianInfo.code)
//掉自驾
when(guardianInfo.code){
MogoReport.Code.Error.EMAP.EXIT_AUTOPILOT_FOR_PLANNING,
MogoReport.Code.Error.EMAP.EXIT_AUTOPILOT_FOR_LOCATION,
MogoReport.Code.Error.EMAP.EXIT_AUTOPILOT_FOR_CHASSIS,
MogoReport.Code.Error.EMAP.EXIT_AUTOPILOT_FOR_DISTANCE,
MogoReport.Code.Error.EMAP.EXIT_AUTOPILOT_FOR_BRAKE,
MogoReport.Code.Error.EMAP.EXIT_AUTOPILOT_FOR_ACCEL,
MogoReport.Code.Error.EMAP.EXIT_AUTOPILOT_FOR_STEER,
MogoReport.Code.Error.EMAP.EXIT_AUTOPILOT_FOR_GEAR_SWITCH,
MogoReport.Code.Error.EMAP.EXIT_AUTOPILOT_FOR_CHASSIS_NO_RESPONSE,
MogoReport.Code.Error.EMAP.EXIT_AUTOPILOT_FOR_CHASSIS_UNKNOWN,
"IRECORDER_TASK_AUTO"//自动录包任务创建
->{
//如果到达终点，则不处理
if(isArriveEnd){
return
}
//处于云调度任务中且调度实体类不为空，弹出重启自驾弹窗
if(isDispatch){
receiverBean?.let { CallerHmiManager.showDispatchRestartDialog(it) }
}
}
}
if ("ISYS_INIT_TRAJECTORY_START".equals(guardianInfo.code)){
Log.i(TAG,"onAutopilotGuardian ISYS_INIT_TRAJECTORY_START 轨迹管理_轨迹开始下载（本地已有对应轨迹也触发）")
}else if ("ISYS_INIT_TRAJECTORY_SUCCESS".equals(guardianInfo.code)){
Log.i(TAG,"onAutopilotGuardian ISYS_INIT_TRAJECTORY_SUCCESS 轨迹管理_轨迹下载成功（本地已有对应轨迹也触发）")
}else if ("ISYS_INIT_TRAJECTORY_FAILURE".equals(guardianInfo.code)){
Log.i(TAG,"onAutopilotGuardian ISYS_INIT_TRAJECTORY_FAILURE 轨迹管理_轨迹下载失败，本地无对应轨迹")
}else if ("ISYS_INIT_TRAJECTORY_WARNING".equals(guardianInfo.code)){
Log.i(TAG,"onAutopilotGuardian ISYS_INIT_TRAJECTORY_WARNING 轨迹管理_轨迹下载失败，本地有对应轨迹，认为成功")
}else if ("ISYS_INIT_TRAJECTORY_TIMEOUT".equals(guardianInfo.code)){
Log.i(TAG,"onAutopilotGuardian ISYS_INIT_TRAJECTORY_TIMEOUT 轨迹管理_轨迹下载超时")
}
}
@@ -243,7 +402,10 @@ class DispatchAutoPilotManager private constructor() :
"AR453航班",
"你车需执行编号ca1098次航班的引导任务，从A区A1到B区B1",
System.currentTimeMillis(),
ArrayList<MogoLatLng>()
ArrayList<MogoLatLng>(),
10,
1,
""
)
receiverBean = adasAutoPilotLocReceiverBean
CallerHmiManager.showDispatchDialog(adasAutoPilotLocReceiverBean)
@@ -265,7 +427,10 @@ class DispatchAutoPilotManager private constructor() :
"",
"",
System.currentTimeMillis(),
ArrayList<MogoLatLng>()
ArrayList<MogoLatLng>(),
10,
1,
""
)
receiverBean = adasAutoPilotLocReceiverBean
CallerHmiManager.showDispatchDialog(adasAutoPilotLocReceiverBean)
@@ -287,14 +452,19 @@ class DispatchAutoPilotManager private constructor() :
"",
"",
System.currentTimeMillis(),
ArrayList<MogoLatLng>()
ArrayList<MogoLatLng>(),
10,
1,
""
)
receiverBean = adasAutoPilotLocReceiverBean
CallerHmiManager.showDispatchDialog(adasAutoPilotLocReceiverBean)
}
private fun testDispatchResultUpload() {
dispatchServiceModel.dispatchResultUpload(DISPATCH_RESULT_AFFIRM)
receiverBean?.taskId?.let {
dispatchServiceModel.dispatchResultUpload(DISPATCH_RESULT_AFFIRM, it)
}
}
}

8
core/function-impl/mogo-core-function-biz/src/main/java/com/mogo/eagle/function/biz/dispatch/network/DispatchServiceModel.kt
View File

@@ -23,6 +23,10 @@ class DispatchServiceModel private constructor() {
const val DISPATCH_RESULT_AFFIRM = 0
const val DISPATCH_RESULT_MANUAL_CANCEL = 1
const val DISPATCH_RESULT_TIMER_CANCEL = 2
const val DISPATCH_STOP_AFFIRM = 3 //云端终止指令-确认
const val DISPATCH_STOP_TIMER_CANCEL = 4 //云端终止指令-超时拒绝
const val DISPATCH_STOP_MANUAL_CANCEL = 5 //云端终止指令-手动拒绝
const val DISPATCH_COMPLETED = 6 //调度完成
val dispatchServiceModel by lazy(LazyThreadSafetyMode.SYNCHRONIZED) {
DispatchServiceModel()
@@ -111,6 +115,7 @@ class DispatchServiceModel private constructor() {
*/
fun dispatchResultUpload(
dispatchResultType: Int,
taskId: Long,
onSuccess: ((BaseData) -> Unit)? = null,
onError: ((String) -> Unit)? = null
) {
@@ -118,7 +123,8 @@ class DispatchServiceModel private constructor() {
val reportDispatchResult =
ReportDispatchResult(
sn,
dispatchResultType
dispatchResultType,
taskId
)
val map: MutableMap<String, Any> = HashMap()
map["sn"] = sn