diff --git a/core/function-impl/mogo-core-function-autopilot/src/main/java/com/mogo/eagle/core/function/autopilot/MoGoAutopilotProvider.kt b/core/function-impl/mogo-core-function-autopilot/src/main/java/com/mogo/eagle/core/function/autopilot/MoGoAutopilotProvider.kt index 0e7d380a28..037bcb6bd5 100644 --- a/core/function-impl/mogo-core-function-autopilot/src/main/java/com/mogo/eagle/core/function/autopilot/MoGoAutopilotProvider.kt +++ b/core/function-impl/mogo-core-function-autopilot/src/main/java/com/mogo/eagle/core/function/autopilot/MoGoAutopilotProvider.kt @@ -80,7 +80,6 @@ class MoGoAutopilotProvider : // 初始化ADAS 域控制器 CupidLogUtils.setEnableLog(false) msgHandler = TeleMsgHandler() - // TODO 临时方案，根据不同的身份标识，连接不同的工控机IP if (AppIdentityModeUtils.isDriver(FunctionBuildConfig.appIdentityMode)) {// 司机 // 注册地图采集功能 CallerMapDataCollectorManager.registerOnMapCollectTaskListener(this) @@ -95,11 +94,11 @@ class MoGoAutopilotProvider : // "192.168.1.102" val options = AdasOptions.Builder() - .setIpcConnectionMode(AdasOptions.IPC_CONNECTION_MODE.FIXATION) - .setIpcFixationIP(AdasManager.getInstance().getIPCFixationIPList(mContext)) - .setClient(false) + .setIpcConnectionMode(AdasOptions.IPC_CONNECTION_MODE.FIXATION) + .setIpcFixationIP(AdasManager.getInstance().getIPCFixationIPList(mContext)) + .setClient(false) // .setSubscribeInterfaceOptions(subscribeInterfaceOptions)// - .build() + .build() AdasManager.getInstance().create(options, MoGoAdasMsgConnectStatusListenerImpl()) NSDNettyManager.getInstance().startNSDNettyServerWithSN(context, object : @@ -130,36 +129,34 @@ class MoGoAutopilotProvider : } }, MoGoAiCloudClientConfig.getInstance().sn) } else { - // 乘客端默认接收绘制全局路径+引导线 - //FunctionBuildConfig.isDemoMode = true - //FunctionBuildConfig.isIgnoreConditionsDrawAutopilotTrajectoryData = true - // "192.168.1.103" val options = AdasOptions .Builder() - .setClient(true) + .setIpcConnectionMode(AdasOptions.IPC_CONNECTION_MODE.FIXATION) + .setIpcFixationIP(AdasManager.getInstance().getIPCFixationIPList(mContext)) + .setClient(false)// 乘客端直连工控机改为false .build() AdasManager.getInstance().create(options, MoGoAdasMsgConnectStatusListenerImpl()) NSDNettyManager.getInstance() - .searchAndConnectServer(context, MoGoAiCloudClientConfig.getInstance().sn, - AppIdentityModeUtils.isTaxi(FunctionBuildConfig.appIdentityMode), - object : NettyClientListener { - override fun onMessageResponseClient( - msg: MogoProtocolMsg?, - sign: String?, - channel: Channel - ) { - // 乘客端收到adas数据直接解析，后续分发解析后的数据流程同司机端 - msgHandler.handleMsgFromServer(msg, channel) - } + .searchAndConnectServer(context, MoGoAiCloudClientConfig.getInstance().sn, + AppIdentityModeUtils.isTaxi(FunctionBuildConfig.appIdentityMode), + object : NettyClientListener { + override fun onMessageResponseClient( + msg: MogoProtocolMsg?, + sign: String?, + channel: Channel + ) { + // 乘客端收到adas数据直接解析，后续分发解析后的数据流程同司机端 + msgHandler.handleMsgFromServer(msg, channel) + } - override fun onClientStatusConnectChanged( - statusCode: Int, - sign: String?, - channel: Channel - ) { - msgHandler.handleClientConnStatus(statusCode, sign, channel) - } - }) + override fun onClientStatusConnectChanged( + statusCode: Int, + sign: String?, + channel: Channel + ) { + msgHandler.handleClientConnStatus(statusCode, sign, channel) + } + }) } //////////////////////////////////注意先后顺序，AdasManager.getInstance().create后才可以设置监听///////////////////////////////////////////// @@ -169,33 +166,6 @@ class MoGoAutopilotProvider : if (!AppIdentityModeUtils.isDriver(FunctionBuildConfig.appIdentityMode)) { CallerAutopilotCarConfigListenerManager.addListener(TAG, this) } - AdasManager.getInstance().setOnMultiDeviceListener(object : OnMultiDeviceListener { - override fun onForwardingDriverIPCMessage(bytes: ByteArray?) { - if (bytes == null) - return - // 发送数据给乘客端 - if (NSDNettyManager.getInstance().isServerStart) { - msgHandler.synWriteTime() - NSDNettyManager.getInstance() - .sendMsgToAllClients(MogoProtocolMsg(NORMAL_DATA, bytes.size, bytes)) - } else { - CallerLogger.d("$M_ADAS_IMPL$TAG", "司机端Server未启动！") - } - } - - override fun onForwardingPassengerIPCMessage(bytes: ByteArray?) { - if (bytes == null) - return - NSDNettyManager.getInstance() - .sendMogoProtocolMsgToServer( - MogoProtocolMsg(NORMAL_DATA, bytes.size, bytes), - null - ) - - } - - }); - CallerLogger.i("$M_ADAS_IMPL$TAG", "initServer……") // 同步数据给工控机的服务 AsyncDataToAutopilotServer.INSTANCE.initServer() @@ -324,7 +294,7 @@ class MoGoAutopilotProvider : } override fun recordPackage(type: Int, id: Int, duration: Int, bduration: Int): Boolean { - return AdasManager.getInstance().startRecordPackage(id,duration, type, bduration) + return AdasManager.getInstance().startRecordPackage(id, duration, type, bduration) } override fun stopRecord(type: Int, id: Int): Boolean { @@ -366,7 +336,6 @@ class MoGoAutopilotProvider : } - /** * 演示模式（美化模式）设置只限定于鹰眼 * isEnable = true 开启 @@ -492,7 +461,10 @@ class MoGoAutopilotProvider : if (isEnable) { AdasManager.getInstance().sendAutoPilotModeReq(1, 0, null) } else { - AdasManager.getInstance().sendAutoPilotModeReq(0, 0, null) + // 司机屏才可关闭自动驾驶 + if (AppIdentityModeUtils.isDriver(FunctionBuildConfig.appIdentityMode)) { + AdasManager.getInstance().sendAutoPilotModeReq(0, 0, null) + } } } diff --git a/core/mogo-core-function-call/src/main/java/com/mogo/eagle/core/function/call/autopilot/CallerAutoPilotManager.kt b/core/mogo-core-function-call/src/main/java/com/mogo/eagle/core/function/call/autopilot/CallerAutoPilotManager.kt index a9d63a6b1b..85e8eb1663 100644 --- a/core/mogo-core-function-call/src/main/java/com/mogo/eagle/core/function/call/autopilot/CallerAutoPilotManager.kt +++ b/core/mogo-core-function-call/src/main/java/com/mogo/eagle/core/function/call/autopilot/CallerAutoPilotManager.kt @@ -2,6 +2,7 @@ package com.mogo.eagle.core.function.call.autopilot import android.os.SystemClock import com.mogo.eagle.core.data.autopilot.AutopilotControlParameters +import com.mogo.eagle.core.data.config.FunctionBuildConfig import com.mogo.eagle.core.data.constants.MogoServicePaths import com.mogo.eagle.core.data.deva.chain.ChainConstant import com.mogo.eagle.core.data.deva.chain.ChainConstant.Companion.CHAIN_ALIAS_CODE_EAGLE_START_AUTOPILOT @@ -10,6 +11,7 @@ import com.mogo.eagle.core.data.deva.chain.ChainConstant.Companion.CHAIN_LINK_LO import com.mogo.eagle.core.data.trafficlight.TrafficLightResult import com.mogo.eagle.core.function.api.autopilot.IMoGoAutopilotProvider import com.mogo.eagle.core.function.call.base.CallerBase +import com.mogo.eagle.core.utilcode.mogo.AppIdentityModeUtils import com.zhjt.service.chain.ChainLog import com.zhjt.service.chain.TracingConstants import kotlin.random.Random @@ -40,7 +42,7 @@ object CallerAutoPilotManager { /** * 断开与工控机的连接 */ - fun disconnectIpc(){ + fun disconnectIpc() { providerApi?.disconnectIpc() } @@ -69,51 +71,70 @@ object CallerAutoPilotManager { * 发送红绿灯数据至工控机 */ fun sendTrafficLightData(trafficLightResult: TrafficLightResult) { - providerApi?.sendTrafficLightData(trafficLightResult) + if (AppIdentityModeUtils.isDriver(FunctionBuildConfig.appIdentityMode)) { + providerApi?.sendTrafficLightData(trafficLightResult) + } } /** * 发送 轨迹下载请求 */ fun sendTrajectoryDownloadReq(autoPilotLine: AutopilotControlParameters.AutoPilotLine) { - providerApi?.sendTrajectoryDownloadReq(autoPilotLine) + if (AppIdentityModeUtils.isDriver(FunctionBuildConfig.appIdentityMode)) { + providerApi?.sendTrajectoryDownloadReq(autoPilotLine) + } } /** * 结束自动驾驶 */ fun cancelAutoPilot() { - providerApi?.cancelAutoPilot() + // 司机屏才能取消自动驾驶 + if (AppIdentityModeUtils.isDriver(FunctionBuildConfig.appIdentityMode)) { + providerApi?.cancelAutoPilot() + } } /** * 开启域控制器录制bag包 */ fun recordPackage() { - providerApi?.recordPackage(1, Random(SystemClock.elapsedRealtime()).nextInt()) + if (AppIdentityModeUtils.isDriver(FunctionBuildConfig.appIdentityMode)) { + providerApi?.recordPackage(1, Random(SystemClock.elapsedRealtime()).nextInt()) + } } - fun recordPackage(duration: Int){ - providerApi?.recordPackage(1, Random(SystemClock.elapsedRealtime()).nextInt(),duration) + fun recordPackage(duration: Int) { + if (AppIdentityModeUtils.isDriver(FunctionBuildConfig.appIdentityMode)) { + providerApi?.recordPackage(1, Random(SystemClock.elapsedRealtime()).nextInt(), duration) + } } fun recordPackage(type: Int, id: Int) { - providerApi?.recordPackage(type, id) + if (AppIdentityModeUtils.isDriver(FunctionBuildConfig.appIdentityMode)) { + providerApi?.recordPackage(type, id) + } } fun recordPackage(type: Int, id: Int, duration: Int) { - providerApi?.recordPackage(type, id, duration) + if (AppIdentityModeUtils.isDriver(FunctionBuildConfig.appIdentityMode)) { + providerApi?.recordPackage(type, id, duration) + } } - fun recordPackage(type: Int, id: Int, duration: Int,bduration: Int){ - providerApi?.recordPackage(type, id, duration, bduration) + fun recordPackage(type: Int, id: Int, duration: Int, bduration: Int) { + if (AppIdentityModeUtils.isDriver(FunctionBuildConfig.appIdentityMode)) { + providerApi?.recordPackage(type, id, duration, bduration) + } } /** * 停止录制bag包 */ fun stopRecord(type: Int, id: Int) { - providerApi?.stopRecord(type, id) + if (AppIdentityModeUtils.isDriver(FunctionBuildConfig.appIdentityMode)) { + providerApi?.stopRecord(type, id) + } } /** @@ -127,8 +148,8 @@ object CallerAutoPilotManager { /** * ADAS日志开启状态 */ - fun isEnableLog(): Boolean{ - return providerApi?.isEnableLog()?:false + fun isEnableLog(): Boolean { + return providerApi?.isEnableLog() ?: false } @@ -136,11 +157,19 @@ object CallerAutoPilotManager { * speed单位：km/h */ fun setAutoPilotSpeed(speed: Int): Boolean { - return providerApi?.setAutoPilotSpeed(speed) ?: false + // 司机屏才可以设置最大速度 + return if (AppIdentityModeUtils.isDriver(FunctionBuildConfig.appIdentityMode)) { + providerApi?.setAutoPilotSpeed(speed) ?: false + } else { + false + } } fun recordCause(key: String?, name: String?, id: String?, reason: String?) { - providerApi?.recordCause(key, name, id, reason) + // 乘客屏不需要记录人工接管原因 + if (AppIdentityModeUtils.isDriver(FunctionBuildConfig.appIdentityMode)) { + providerApi?.recordCause(key, name, id, reason) + } } fun setIPCShutDown() { @@ -157,7 +186,9 @@ object CallerAutoPilotManager { * isEnable = false 关闭 */ fun setDemoMode(isEnable: Boolean) { - providerApi?.setDemoMode(isEnable) + if (AppIdentityModeUtils.isDriver(FunctionBuildConfig.appIdentityMode)) { + providerApi?.setDemoMode(isEnable) + } } /** @@ -173,8 +204,11 @@ object CallerAutoPilotManager { * isEnable = true 开启 * isEnable = false 关闭 */ - fun setIPCDemoMode(isEnable: Boolean){ - providerApi?.setIPCDemoMode(isEnable) + fun setIPCDemoMode(isEnable: Boolean) { + // 司机屏才能控制美化模式(状态是在客户端维护、管理的) + if (AppIdentityModeUtils.isDriver(FunctionBuildConfig.appIdentityMode)) { + providerApi?.setIPCDemoMode(isEnable) + } } /** @@ -182,15 +216,18 @@ object CallerAutoPilotManager { * isEnable = true 开启 * isEnable = false 关闭 */ - fun setRainMode(isEnable: Boolean){ + fun setRainMode(isEnable: Boolean) { providerApi?.setRainMode(isEnable) } /** * 获取数据采集录制模式配置列表 */ - fun getBadCaseConfig(){ - providerApi?.getBadCaseConfig() + fun getBadCaseConfig() { + // 司机屏才能查询数据采集的配置 + if (AppIdentityModeUtils.isDriver(FunctionBuildConfig.appIdentityMode)) { + providerApi?.getBadCaseConfig() + } } /** @@ -224,8 +261,10 @@ object CallerAutoPilotManager { /** * 发送工控机所有节点重启命令 */ - fun sendIpcReboot(){ - providerApi?.sendIpcReboot() + fun sendIpcReboot() { + if (AppIdentityModeUtils.isDriver(FunctionBuildConfig.appIdentityMode)) { + providerApi?.sendIpcReboot() + } } /** @@ -247,22 +286,22 @@ object CallerAutoPilotManager { /** * 查询工控机基础配置信息 */ - fun getCarConfig(){ + fun getCarConfig() { providerApi?.getCarConfig() } /** * 获取全局路径 */ - fun getGlobalPath(){ + fun getGlobalPath() { providerApi?.getGlobalPath() } /** *获取协议版本 */ - fun getProtocolVersion(): Int{ - return providerApi?.getProtocolVersion() ?:0 + fun getProtocolVersion(): Int { + return providerApi?.getProtocolVersion() ?: 0 } fun connectSpecifiedServer(ip: String) {