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[Feat]乘客屏直连工控机

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chenfufeng
2022-09-19 18:19:03 +08:00
parent 4e123c5f6d
commit d4937769f9
2 changed files with 98 additions and 87 deletions
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90
core/function-impl/mogo-core-function-autopilot/src/main/java/com/mogo/eagle/core/function/autopilot/MoGoAutopilotProvider.kt
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@@ -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<MogoProtocolMsg> {
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<MogoProtocolMsg> {
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)
}
}
}