diff --git a/app/bugly/BuglySymtabLog.txt b/app/bugly/BuglySymtabLog.txt new file mode 100644 index 0000000000..e69de29bb2 diff --git a/app/bugly/BuglyUploadLog.txt b/app/bugly/BuglyUploadLog.txt new file mode 100644 index 0000000000..e69de29bb2 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..e52a613b6a 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 @@ -56,6 +56,7 @@ import com.zhidao.support.adas.high.common.Constants import com.zhidao.support.adas.high.common.Constants.IPC_CONNECTION_STATUS import com.zhidao.support.adas.high.common.CupidLogUtils import com.zhidao.support.adas.high.common.MessageType +import com.zhjt.mogo.adas.data.AdasConstants import com.zhjt.mogo.adas.data.bean.MogoReport import com.zhjt.mogo.adas.data.sweeper.bootable.SweeperBootable import com.zhjt.mogo.adas.data.sweeper.task.SweeperTask @@ -559,7 +560,7 @@ class MoGoAutopilotControlProvider : /** * 获取全部参数 - * 结果回调{@link OnAdasListener#onGetParamResp(MessagePad.Header, MessagePad.SetParamReq)} + * 结果回调{@link OnAdasListener#onGetParamResp(MessagePad.Header, MessagePad.SetParamReq, AdasParam)} * * @return boolean */ @@ -569,12 +570,12 @@ class MoGoAutopilotControlProvider : /** * 参数获取请求 - * 结果回调{@link OnAdasListener#onGetParamResp(MessagePad.Header, MessagePad.SetParamReq)} + * 结果回调{@link OnAdasListener#onGetParamResp(MessagePad.Header, MessagePad.SetParamReq, AdasParam)} * - * @param paramType 参数类型{@link com.zhidao.support.adas.high.common.Constants.PARAM_TYPE} + * @param paramType 参数类型:libraries/mogo-adas-data/src/main/proto/personal/adas_constants.proto * @return boolean */ - override fun sendGetParamReq(paramType: Int): Boolean { + override fun sendGetParamReq(paramType: AdasConstants.MapSystemParamType): Boolean { return AdasManager.getInstance().sendGetParamReq(paramType) } diff --git a/core/function-impl/mogo-core-function-datacenter/src/main/java/com/mogo/eagle/core/function/datacenter/autopilot/adapter/MoGoAdasListenerImpl.kt b/core/function-impl/mogo-core-function-datacenter/src/main/java/com/mogo/eagle/core/function/datacenter/autopilot/adapter/MoGoAdasListenerImpl.kt index 2766475f6f..bfe783e3f3 100644 --- a/core/function-impl/mogo-core-function-datacenter/src/main/java/com/mogo/eagle/core/function/datacenter/autopilot/adapter/MoGoAdasListenerImpl.kt +++ b/core/function-impl/mogo-core-function-datacenter/src/main/java/com/mogo/eagle/core/function/datacenter/autopilot/adapter/MoGoAdasListenerImpl.kt @@ -60,7 +60,7 @@ import com.mogo.eagle.core.utilcode.mogo.logger.Logger import com.mogo.support.obu.ObuScene import com.zhidao.support.adas.high.AdasManager import com.zhidao.support.adas.high.OnAdasListener -import com.zhidao.support.adas.high.bean.AdasParam +import com.zhjt.mogo.adas.data.bean.AdasParam import com.zhidao.support.adas.high.common.ProtocolStatus import com.zhjt.mogo.adas.data.bean.AutopilotStatistics import com.zhjt.mogo.adas.data.sweeper.SweeperCloudTask @@ -796,6 +796,7 @@ class MoGoAdasListenerImpl : OnAdasListener { * @param adasParam 解析后的配置参数 */ override fun onGetParamResp(header: MessagePad.Header, getParamResp: MessagePad.SetParamReq, adasParam: AdasParam) { + CallerAutopilotGetParamResponseDispatcher.dispatchResponse(header, getParamResp, adasParam) } /** diff --git a/core/function-impl/mogo-core-function-devatools/src/main/java/com/zhjt/mogo_core_function_devatools/DevaToolsProvider.kt b/core/function-impl/mogo-core-function-devatools/src/main/java/com/zhjt/mogo_core_function_devatools/DevaToolsProvider.kt index c1e8cb829f..6532faf55b 100644 --- a/core/function-impl/mogo-core-function-devatools/src/main/java/com/zhjt/mogo_core_function_devatools/DevaToolsProvider.kt +++ b/core/function-impl/mogo-core-function-devatools/src/main/java/com/zhjt/mogo_core_function_devatools/DevaToolsProvider.kt @@ -20,6 +20,7 @@ import com.mogo.eagle.core.function.api.devatools.apm.* import com.mogo.eagle.core.function.api.devatools.strict.* import com.mogo.eagle.core.function.call.map.* import com.mogo.eagle.core.function.api.devatools.download.* +import com.mogo.eagle.core.function.api.lookaround.* import com.mogo.eagle.core.utilcode.mogo.logger.CallerLogger import com.mogo.eagle.core.utilcode.mogo.logger.CallerLogger.w import com.tencent.matrix.Matrix @@ -42,6 +43,7 @@ import com.zhjt.mogo_core_function_devatools.funcconfig.FuncConfigCenter.Compani import com.zhjt.mogo_core_function_devatools.funcconfig.FuncConfigImpl import com.zhjt.mogo_core_function_devatools.koom.KoomInitTask import com.zhjt.mogo_core_function_devatools.logcatch.MogoLogCatchManager +import com.zhjt.mogo_core_function_devatools.lookaround.* import com.zhjt.mogo_core_function_devatools.matrix.DynamicConfigImpl import com.zhjt.mogo_core_function_devatools.mofang.MoFangManager.Companion.moFangManager import com.zhjt.mogo_core_function_devatools.monitor.MonitorManager @@ -72,6 +74,9 @@ class DevaToolsProvider : IDevaToolsProvider { private val strictModeProvider by lazy { StrictModeProviderImpl() } + + private val lookAroundDataProvider by lazy { MoGoLookAroundProviderImpl() } + @Volatile private var mDockerVersion: String? = null @@ -105,6 +110,7 @@ class DevaToolsProvider : IDevaToolsProvider { // 监听弱网 WeakNetworkStrategy.startListen() } + lookAroundDataProvider.init(mContext!!) } override fun checkMonitorDb() { @@ -356,4 +362,6 @@ class DevaToolsProvider : IDevaToolsProvider { return upgradeManager.upgradeProvider() } override fun strict(): IStrictModeProvider = strictModeProvider + + override fun lookAroundDataProvider(): IMoGoLookAroundProvider = lookAroundDataProvider } \ No newline at end of file diff --git a/core/function-impl/mogo-core-function-devatools/src/main/java/com/zhjt/mogo_core_function_devatools/lookaround/MoGoLookAroundProviderImpl.kt b/core/function-impl/mogo-core-function-devatools/src/main/java/com/zhjt/mogo_core_function_devatools/lookaround/MoGoLookAroundProviderImpl.kt new file mode 100644 index 0000000000..da9114b729 --- /dev/null +++ b/core/function-impl/mogo-core-function-devatools/src/main/java/com/zhjt/mogo_core_function_devatools/lookaround/MoGoLookAroundProviderImpl.kt @@ -0,0 +1,160 @@ +package com.zhjt.mogo_core_function_devatools.lookaround + +import android.content.* +import android.graphics.BitmapFactory +import android.util.* +import androidx.core.util.Pools +import com.mogo.eagle.core.data.config.* +import com.mogo.eagle.core.function.api.autopilot.* +import com.mogo.eagle.core.function.api.lookaround.* +import com.mogo.eagle.core.function.api.lookaround.data.* +import com.mogo.eagle.core.function.call.autopilot.* +import com.mogo.eagle.core.utilcode.mogo.* +import com.zhjt.mogo.adas.data.* +import com.zhjt.mogo.adas.data.bean.* +import kotlinx.coroutines.* +import kotlinx.coroutines.channels.* +import kotlinx.coroutines.channels.Channel.Factory.CONFLATED +import kotlinx.coroutines.flow.* +import mogo.telematics.pad.MessagePad.Header +import mogo.telematics.pad.MessagePad.SetParamReq +import java.util.concurrent.atomic.AtomicInteger +import kotlin.concurrent.* + +internal class MoGoLookAroundProviderImpl: IMoGoLookAroundProvider, IMoGoSweeperFutianBackCameraVideoListener, IMoGoRoboBusJinlvM1StitchedVideoListener, IMoGoGetParamResponseListener { + + companion object { + private const val TAG = "MoGoLookAroundProvider" + } + + @OptIn(ExperimentalCoroutinesApi::class) + private var channel: Channel = Channel(CONFLATED) + get() { + return if (field.isClosedForReceive || field.isClosedForSend) { + Channel(CONFLATED) + } else { + field + } + } + + private val pool by lazy { Pools.SynchronizedPool(10) } + + private val bitmapWidth by lazy { AtomicInteger(0) } + + private val bitmapHeight by lazy { AtomicInteger(0) } + + //276,319,147,366 + private val targetX by lazy { AtomicInteger(0) } + + private val targetY by lazy { AtomicInteger(0) } + + private val targetWidth by lazy { AtomicInteger(0) } + + private val targetHeight by lazy { AtomicInteger(0) } + + private val scope by lazy { CoroutineScope(Dispatchers.IO + SupervisorJob()) } + + @Volatile + private var job: Job? = null + + override fun init(ctx: Context) { + CallerSweeperFutianBackCameraVideoListenerManager.addListener(TAG, this) + CallerRoboBusJinlvM1StitchedVideoListenerManager.addListener(TAG, this) + CallerAutopilotGetParamResponseDispatcher.addListener(TAG, this) + if (AppIdentityModeUtils.isM1(FunctionBuildConfig.appIdentityMode)) { + sendReqForParamPeriod() + } + } + + private fun sendReqForParamPeriod() { + scope.launch { + while (targetX.get() == 0 || targetY.get() == 0) { + CallerAutoPilotControlManager.sendGetParamReq(AdasConstants.MapSystemParamType.M1_STITCHED_VIDEO_SELF_VEHICLE_PARAM) + delay(2000) + } + }.also { + job = it + } + } + + @OptIn(ExperimentalCoroutinesApi::class) + override fun flow(): Flow = channelFlow { + val iterator = this@MoGoLookAroundProviderImpl.channel.iterator() + while (iterator.hasNext()) { + send(iterator.next()) + } + }.flowOn(Dispatchers.IO) + + override fun onRoboBusJinlvM1StitchedVideo(data: ByteArray) { + if (bitmapWidth.get() == 0 || bitmapHeight.get() == 0) { + val options = BitmapFactory.Options() + options.inJustDecodeBounds = true + BitmapFactory.decodeByteArray(data,0 , data.size, options) + bitmapWidth.set(options.outWidth) + bitmapHeight.set(options.outHeight) + } + Log.d(TAG, "-- onRoboBusJinlvM1StitchedVideo -- bitmap:[${bitmapWidth.get()}, ${bitmapHeight.get()}] -- data: ${data.size}") + var old = pool.acquire() + try { + if (old == null) { + old = LookAroundData(data, bitmapWidth.get(), bitmapHeight.get(), targetX.get(), targetY.get(), targetWidth.get(), targetHeight.get()) + } else { + old.data = data + old.bitmapWidth = bitmapWidth.get() + old.bitmapHeight = bitmapHeight.get() + old.targetX = targetX.get() + old.targetY = targetY.get() + old.targetWidth = targetWidth.get() + old.targetHeight = targetHeight.get() + } + channel.trySend(old) + } finally { + if (old != null) { + pool.release(old) + } + } + + } + + override fun onSweeperFutianBackCameraVideo(data: ByteArray) { + if (bitmapWidth.get() == 0 || bitmapHeight.get() == 0) { + val options = BitmapFactory.Options() + options.inJustDecodeBounds = true + BitmapFactory.decodeByteArray(data,0 , data.size, options) + bitmapWidth.set(options.outWidth) + bitmapHeight.set(options.outHeight) + } + Log.d(TAG, "-- onSweeperFutianBackCameraVideo -- bitmap:[${bitmapWidth.get()}, ${bitmapHeight.get()}] -- data: ${data.size}") + var old = pool.acquire() + try { + if (old == null) { + old = LookAroundData(data, bitmapWidth.get(), bitmapHeight.get(), targetX.get(), targetY.get(), targetWidth.get(), targetHeight.get()) + } else { + old.data = data + old.bitmapWidth = bitmapWidth.get() + old.bitmapHeight = bitmapHeight.get() + old.targetX = targetX.get() + old.targetY = targetY.get() + old.targetWidth = targetWidth.get() + old.targetHeight = targetHeight.get() + } + channel.trySend(old) + } finally { + if (old != null) { + pool.release(old) + } + } + } + + override fun onGetParamResp(header: Header, getParamResp: SetParamReq, adasParam: AdasParam) { + Log.d(TAG, "-- onGetParamResp -- 1 --") + val parse = adasParam.m1StitchedVideoSelfVehicleParamParse + if (parse != null) { + targetX.set(parse.x) + targetY.set(parse.y) + targetWidth.set(parse.width) + targetHeight.set(parse.height) + Log.d(TAG, "-- onGetParamResp -- 2 --:[x: ${parse.x}, y: ${parse.y}, width: ${parse.width}, height: ${parse.height}]") + } + } +} \ No newline at end of file diff --git a/core/function-impl/mogo-core-function-devatools/src/main/java/com/zhjt/mogo_core_function_devatools/status/StatusManager.kt b/core/function-impl/mogo-core-function-devatools/src/main/java/com/zhjt/mogo_core_function_devatools/status/StatusManager.kt index 98bffc7f57..b66f66a17e 100644 --- a/core/function-impl/mogo-core-function-devatools/src/main/java/com/zhjt/mogo_core_function_devatools/status/StatusManager.kt +++ b/core/function-impl/mogo-core-function-devatools/src/main/java/com/zhjt/mogo_core_function_devatools/status/StatusManager.kt @@ -8,16 +8,13 @@ import androidx.lifecycle.* import androidx.lifecycle.Lifecycle.Event import androidx.lifecycle.Lifecycle.Event.ON_CREATE import androidx.lifecycle.Lifecycle.Event.ON_DESTROY -import com.mogo.eagle.core.function.api.autopilot.IMoGoAutopilotStatusListener import com.mogo.eagle.core.function.call.autopilot.* import com.mogo.eagle.core.utilcode.kotlin.* import com.mogo.eagle.core.utilcode.mogo.logger.* -import com.mogo.eagle.core.utilcode.mogo.logger.scene.SceneConstant.Companion.M_DEVA import com.mogo.eagle.core.utilcode.util.* import com.zhjt.mogo_core_function_devatools.status.entity.CanStatus import com.zhjt.mogo_core_function_devatools.status.entity.GpsStatus import com.zhjt.mogo_core_function_devatools.status.entity.IpcStatus -//import com.zhjt.mogo_core_function_devatools.status.entity.NetStatus import com.zhjt.mogo_core_function_devatools.status.entity.RTKStatus import com.zhjt.mogo_core_function_devatools.status.entity.Status import com.zhjt.mogo_core_function_devatools.status.entity.TracingStatus @@ -26,13 +23,11 @@ import com.zhjt.mogo_core_function_devatools.status.flow.IFlow import com.zhjt.mogo_core_function_devatools.status.flow.can.CanImpl import com.zhjt.mogo_core_function_devatools.status.flow.gps.GpsImpl import com.zhjt.mogo_core_function_devatools.status.flow.ipc.IpcImpl -//import com.zhjt.mogo_core_function_devatools.status.flow.nets.NetsImpl import com.zhjt.mogo_core_function_devatools.status.flow.rtk.RTKImpl import com.zhjt.mogo_core_function_devatools.status.flow.trace.TracingImpl import com.zhjt.mogo_core_function_devatools.status.ui.StatusView import kotlinx.coroutines.* import kotlinx.coroutines.flow.* -import mogo_msg.MogoReportMsg import java.lang.ref.* import java.util.concurrent.* @@ -42,52 +37,14 @@ object StatusManager { private const val TAG = "StatusManager" private lateinit var model: StatusModel -// private var timer: Job? = null private var hasInit = false private val listeners by lazy { CopyOnWriteArrayList() } private var container: WeakReference? = null -// private val listener = object : IMoGoAutopilotStatusListener { -// override fun onAutopilotGuardian(guardianInfo: MogoReportMsg.MogoReportMessage?) { -// super.onAutopilotGuardian(guardianInfo) -// guardianInfo?.code?.takeIf { -// CallerLogger.d("$M_DEVA$TAG", "-- onAutopilotGuardian ---: code: $it") -// it.contains("RTK_STATUS", true) || it.contains("CAN", true) || it == "ILCT_RTK_OR_SLAM_CHANGE" -// }?.run { -// CallerLogger.d("$M_DEVA$TAG", "-- onAutopilotGuardian trigger req ---: code: $this") -// req() -// } -// } -// } - -// private val appStateListener = object : IAppStateListener { -// -// override fun onAppStateChanged(isForeground: Boolean) { -// if (isForeground) { -// req() -// } else { -// timer?.cancel() -// } -// } -// } - private val flows: ArrayList> by lazy { ArrayList() } -// private fun req() { -// timer?.cancel() -// model.viewModelScope.launch(Dispatchers.IO) { -// CallerAutoPilotManager.sendStatusQueryReq() -// while (true) { -// delay(60000) //一分钟主动请求一次 -// CallerAutoPilotManager.sendStatusQueryReq() -// } -// }.also { -// timer = it -// } -// } - fun init(ctx: Context) { if (hasInit) { return @@ -109,14 +66,10 @@ object StatusManager { private fun onCreate(ctx: Context) { val values = model.status.value?.second ?: throw IllegalStateException("state is not right.") -// CallerAutoPilotStatusListenerManager.addListener(TAG, listener) -// AppStateManager.registerAppStateListener(appStateListener) -// req() values.map { when (it) { is CanStatus -> CanImpl(ctx) is IpcStatus -> IpcImpl(ctx) -// is NetStatus -> NetsImpl(ctx) is GpsStatus -> GpsImpl(ctx) is TracingStatus -> TracingImpl(ctx) is RTKStatus -> RTKImpl(ctx) @@ -138,16 +91,6 @@ object StatusManager { } } - - fun registerListener(listener: IStatusListener) { - listeners.add(listener) - } - - - fun unRegisterListener(listener: IStatusListener) { - listeners.remove(listener) - } - fun show(container: ViewGroup) { if (container.childCount > 0) { if (container.visibility != View.VISIBLE) { @@ -166,9 +109,6 @@ object StatusManager { private fun onDestroy(ctx: Context) { hasInit = false -// CallerAutoPilotStatusListenerManager.removeListener(TAG) -// AppStateManager.unRegisterAppStateListener(appStateListener) -// timer?.cancel() flows.forEach { it.onDestroy() } diff --git a/core/function-impl/mogo-core-function-devatools/src/main/java/com/zhjt/mogo_core_function_devatools/status/model/StatusModel.kt b/core/function-impl/mogo-core-function-devatools/src/main/java/com/zhjt/mogo_core_function_devatools/status/model/StatusModel.kt index 18d353881f..b67983666b 100644 --- a/core/function-impl/mogo-core-function-devatools/src/main/java/com/zhjt/mogo_core_function_devatools/status/model/StatusModel.kt +++ b/core/function-impl/mogo-core-function-devatools/src/main/java/com/zhjt/mogo_core_function_devatools/status/model/StatusModel.kt @@ -23,7 +23,6 @@ internal class StatusModel : ViewModel() { it += CanStatus(false) it += TracingStatus(UNKNOWN) it += RTKStatus("", -1) - // it += NetStatus(false) it += GpsStatus(enabled = false, isGranted = false) }) } diff --git a/core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/hmi/ui/MoGoHmiProvider.kt b/core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/hmi/ui/MoGoHmiProvider.kt index 74b91eeb29..0075ac6e66 100644 --- a/core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/hmi/ui/MoGoHmiProvider.kt +++ b/core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/hmi/ui/MoGoHmiProvider.kt @@ -3,7 +3,10 @@ package com.mogo.eagle.core.function.hmi.ui import android.content.Context import android.text.TextUtils import android.util.* -import android.view.ViewGroup +import android.view.* +import android.view.ViewGroup.LayoutParams +import android.widget.FrameLayout +import androidx.core.view.* import androidx.lifecycle.ProcessLifecycleOwner import androidx.lifecycle.lifecycleScope import com.alibaba.android.arouter.facade.annotation.Route @@ -22,9 +25,10 @@ import com.mogo.eagle.core.data.biz.notice.NoticeNormalData import com.mogo.eagle.core.data.biz.notice.NoticeTrafficStylePushData import com.mogo.eagle.core.function.api.hmi.warning.IMoGoHmiProvider import com.mogo.eagle.core.function.api.hmi.warning.IMoGoWarningStatusListener -import com.mogo.eagle.core.function.call.hmi.CallerHmiViewControlListenerManager +import com.mogo.eagle.core.function.call.hmi.* import com.mogo.eagle.core.function.call.v2x.CallerV2XWarningListenerManager import com.mogo.eagle.core.function.hmi.ui.camera.RoadVideoDialog +import com.mogo.eagle.core.function.hmi.ui.lookaround.* import com.mogo.eagle.core.function.hmi.ui.notice.DispatchDialogManager import com.mogo.eagle.core.function.hmi.ui.notice.NoticeCheckDialog import com.mogo.eagle.core.function.hmi.ui.notice.traffic.NoticeTrafficDialog @@ -35,15 +39,17 @@ import com.mogo.eagle.core.function.hmi.ui.tools.ModifyBindingCarDialog import com.mogo.eagle.core.function.hmi.ui.tools.ToBindingCarDialog import com.mogo.eagle.core.function.hmi.ui.tools.UpgradeAppDialog import com.mogo.eagle.core.function.hmi.ui.widget.StatusBarView +import com.mogo.eagle.core.utilcode.floating.* import com.mogo.eagle.core.utilcode.kotlin.safeCancel 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 import com.mogo.eagle.core.utilcode.mogo.logger.scene.SceneConstant.Companion.M_HMI -import com.mogo.eagle.core.utilcode.util.ThreadUtils +import com.mogo.eagle.core.utilcode.util.* import com.zhjt.service_biz.BizConfig import kotlinx.coroutines.* import kotlinx.coroutines.selects.* +import java.lang.ref.WeakReference import java.util.concurrent.atomic.AtomicReference /** @@ -62,6 +68,11 @@ class MoGoHmiProvider : IMoGoHmiProvider { private var lastShowV2XJob: Job? = null private var context: Context? = null + /** + * 360环视窗口引用 + */ + private val lookAround by lazy { AtomicReference() } + private val scope by lazy { CoroutineScope(Dispatchers.Default + SupervisorJob()) } override fun init(context: Context?) { @@ -312,4 +323,38 @@ class MoGoHmiProvider : IMoGoHmiProvider { } } + override fun show360LookAround() { + val activity = AppStateManager.currentActivity() ?: return + val old = lookAround.get() + if (old != null && old.isShowing()) { + return + } + old?.hide() + MoGoPopWindow.Builder() + .attachToActivity(activity) + .contentView(M1LookAroundView(activity)) + .draggable(true) + .isDismissOnTouchOutside(false) + .gravityInActivity(Gravity.CENTER) + .width(700) + .height(1400) + .onDismissed { + lookAround.set(null) + } + .build().also { + lookAround.set(it) + }.show() + } + + override fun hide360LookAround() { + val old = lookAround.get() + if (old == null || !old.isShowing()) { + return + } + old.hide() + } + + override fun is360LookAroundShowing(): Boolean { + return lookAround.get()?.isShowing() ?: false + } } \ No newline at end of file diff --git a/core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/hmi/ui/lookaround/M1LookAroundView.kt b/core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/hmi/ui/lookaround/M1LookAroundView.kt new file mode 100644 index 0000000000..00e478655b --- /dev/null +++ b/core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/hmi/ui/lookaround/M1LookAroundView.kt @@ -0,0 +1,347 @@ +package com.mogo.eagle.core.function.hmi.ui.lookaround + +import android.content.* +import android.graphics.* +import android.graphics.Paint.Style.STROKE +import android.os.Handler +import android.os.HandlerThread +import android.os.SystemClock +import android.util.* +import android.view.SurfaceHolder +import android.view.SurfaceView +import android.widget.Toast +import com.mogo.eagle.core.function.api.autopilot.* +import com.mogo.eagle.core.function.api.lookaround.data.* +import com.mogo.eagle.core.function.call.autopilot.* +import com.mogo.eagle.core.function.call.devatools.* +import com.mogo.eagle.core.utilcode.kotlin.* +import com.mogo.eagle.core.utilcode.util.ThreadUtils +import com.mogo.eagle.core.utilcode.util.Utils +import kotlinx.coroutines.* +import kotlinx.coroutines.Runnable +import kotlinx.coroutines.flow.* +import java.util.concurrent.atomic.AtomicReference +import kotlin.math.* + +class M1LookAroundView: SurfaceView, SurfaceHolder.Callback, Runnable, IMoGoChassisSteeringStateListener { + + constructor(context: Context?) : super(context) + constructor(context: Context?, attrs: AttributeSet?) : super(context, attrs) + constructor(context: Context?, attrs: AttributeSet?, defStyleAttr: Int) : super(context, attrs, defStyleAttr) + + companion object { + private const val TAG = "M1LookAroundView" + + private const val BROKE_LINE_LENGTH = 40f + + private const val VEHICLE_STEERING_RATIO = 21 + } + + init { + holder.addCallback(this) + } + + private val handler by lazy { AtomicReference() } + + private val bitmapPaint by lazy { Paint(Paint.ANTI_ALIAS_FLAG or Paint.FILTER_BITMAP_FLAG).also { it.xfermode = null } } + + private val routerPaint = Paint().also { + it.color = Color.RED + it.isAntiAlias = true + it.style = STROKE + it.strokeWidth = 5f + } + + private val brokePaint = Paint().also { + it.color = Color.RED + it.isAntiAlias = true + it.style = STROKE + it.strokeJoin = Paint.Join.ROUND + it.strokeWidth = 5f + } + + private val brokePath by lazy { Path() } + + private val routerPath = Path() + + private val innerRect by lazy { RectF() } + + private val outerRect by lazy { RectF() } + + /** + * 方向盘转角 + */ + @Volatile + private var steering: Float = 0f + + @Volatile + private var surfaceWidth = 0 + + @Volatile + private var surfaceHeight = 0 + + @Volatile + private var isSurfaceValid = false + + @Volatile + private var data: LookAroundData? = null + + override fun surfaceCreated(holder: SurfaceHolder?) { + val old = handler.get() + if (old == null) { + handler.set(HandlerThread("look-around-drawer").let { it.start(); Handler(it.looper) }) + } else { + old.looper.quitSafely() + handler.set(HandlerThread("look-around-drawer").let { it.start(); Handler(it.looper) }) + } + handler.get()?.removeCallbacks(this) + handler.get()?.post(this) + isSurfaceValid = true + } + + override fun surfaceChanged(holder: SurfaceHolder?, format: Int, width: Int, height: Int) { + this.surfaceWidth = width + this.surfaceHeight = height + } + + override fun surfaceDestroyed(holder: SurfaceHolder?) { + isSurfaceValid = false + } + + override fun run() { + var isTimedBlock = false + try { + Log.d(TAG, "--- 1 ---") + if (!isSurfaceValid) { + isTimedBlock = true + return + } + if (this.surfaceWidth <= 0 || this.surfaceHeight <= 0) { + Log.d(TAG, "--- 2 ---") + isTimedBlock = true + return + } + Log.d(TAG, "--- 3 ---") + val data = this.data ?: return + val targetX = data.targetX + val targetY = data.targetY + val targetWidth = data.targetWidth + val targetHeight = data.targetHeight + val bitmapWidth = data.bitmapWidth + val bitmapHeight = data.bitmapHeight + val scaleX = this.surfaceWidth * 1.0f / bitmapWidth + val scaleY = this.surfaceHeight * 1.0f / bitmapHeight + val bytes = data.data + if (bytes == null) { + isTimedBlock = true + Log.d(TAG, "--- 4 ---") + return + } + Log.d(TAG, "--- 5 ---") + val canvas = holder.lockCanvas() + try { + if (canvas == null) { + Log.d(TAG, "--- 6 ---") + isTimedBlock = true + return + } + //1. 绘制图片 + var startTime = SystemClock.elapsedRealtime() + val bitmap = BitmapFactory.decodeByteArray(bytes, 0, bytes.size) + Log.d(TAG, "--- cost for decode bitmap: ${SystemClock.elapsedRealtime() - startTime}ms.") + if (bitmap == null) { + Log.d(TAG, "--- 7 ---") + isTimedBlock = true + return + } + try { + startTime = SystemClock.elapsedRealtime() + canvas.save() + canvas.scale(scaleX, scaleY) + canvas.drawBitmap(bitmap, 0f, 0f, bitmapPaint) + } finally { + canvas.restore() + if (!bitmap.isRecycled) { + bitmap.recycle() + } + Log.d(TAG, "--- draw decoded bitmap cost: ${SystemClock.elapsedRealtime() - startTime}ms.") + } + //2. 绘制车的信息 + Log.d(TAG, "--- 8 ---") + val newTargetX = targetX * scaleX + val newTargetY = targetY * scaleY + val newTargetWidth = targetWidth * scaleX + val newTargetHeight = targetHeight * scaleY + try { + //2.1 绘制车前的转向角 + canvas.save() + var steering = this.steering + if (abs(steering) < 1) { + steering = 0f + } + if (steering == 0f) { + canvas.translate(newTargetX + newTargetWidth * 0.5f, newTargetY) + routerPath.reset() + val halfX = newTargetWidth * 0.5f + var startX = - halfX + val startY= 0f + routerPath.moveTo(startX, startY) + var endX = startX + val endY = - newTargetY + routerPath.lineTo(endX, endY) + canvas.drawPath(routerPath, routerPaint) + startX += newTargetWidth + endX += newTargetWidth + routerPath.reset() + routerPath.moveTo(startX, startY) + routerPath.lineTo(endX, endY) + canvas.drawPath(routerPath, routerPaint) + } else { + val outerAngle = abs(steering * 1.0 / VEHICLE_STEERING_RATIO) + val radians = Math.toRadians(outerAngle) + val d = (newTargetHeight / tan(radians)).toFloat() + if (steering < 0) { + // 左打轮 + // 将坐标原点平移到圆心 + canvas.translate(newTargetX - (d - newTargetWidth), newTargetY + newTargetHeight) + //外圆半径 + val outerR = (newTargetHeight / sin(radians)).toFloat() + //内圆半径 + val innerR = sqrt((newTargetHeight * 1.0).pow(2.0) + ((d - newTargetWidth) * 1.0).pow(2.0)).toFloat() + val innerAngle = Math.toDegrees(asin(newTargetHeight / innerR) * 1.0) + outerRect.set(-outerR, -outerR, outerR, outerR) + innerRect.set(-innerR, -innerR, innerR, innerR) + canvas.drawArc(outerRect, -outerAngle.toFloat(), -60f, false, routerPaint) + canvas.drawArc(innerRect, -innerAngle.toFloat(), -60f, false, routerPaint) + } + + if (steering > 0) { + //右打轮 + // 将坐标原点平移到圆心 + canvas.translate(newTargetX + d, newTargetY + newTargetHeight) + //外圆半径 + val outerR = (newTargetHeight / sin(radians)).toFloat() + //内圆半径 + val innerR = sqrt((newTargetHeight * 1.0).pow(2.0) + ((d - newTargetWidth) * 1.0).pow(2.0)).toFloat() + val innerAngle = Math.toDegrees(asin(newTargetHeight / innerR) * 1.0) + outerRect.set(-outerR, -outerR, outerR, outerR) + innerRect.set(-innerR, -innerR, innerR, innerR) + canvas.drawArc(outerRect, 180f + outerAngle.toFloat(), 60f, false, routerPaint) + canvas.drawArc(innerRect, 180f + innerAngle.toFloat(), 60f, false, routerPaint) + } + } + } finally { + canvas.restore() + } + + try { + //2.2 绘制车周围盲区标定 + canvas.save() + canvas.translate(newTargetX + newTargetWidth * 0.5f, newTargetY) + Log.d(TAG, "--- 9 ---:[$targetX:$newTargetX, $targetY:$newTargetY, $targetWidth:$newTargetWidth, $targetHeight:$newTargetHeight]") + val halfTargetWidth = newTargetWidth * 0.5f + var startX = -halfTargetWidth + var startY = BROKE_LINE_LENGTH + var endX = startX + var endY = 0f + // 绘制左上角 + brokePath.reset() + brokePath.moveTo(startX, startY) + brokePath.lineTo(endX, endY) + endX += BROKE_LINE_LENGTH + brokePath.lineTo(endX, endY) + canvas.drawPath(brokePath, brokePaint) + + // 绘制右上角 + startX = halfTargetWidth - BROKE_LINE_LENGTH + startY = 0f + + endX = halfTargetWidth + endY = 0f + brokePath.reset() + brokePath.moveTo(startX, startY) + brokePath.lineTo(endX, endY) + endY += BROKE_LINE_LENGTH + brokePath.lineTo(endX, endY) + canvas.drawPath(brokePath, brokePaint) + + //绘制左下角 + startX = -halfTargetWidth + startY = newTargetHeight - BROKE_LINE_LENGTH + endX = startX + endY = newTargetHeight + brokePath.reset() + brokePath.moveTo(startX, startY) + brokePath.lineTo(endX, endY) + endX += BROKE_LINE_LENGTH + brokePath.lineTo(endX, endY) + canvas.drawPath(brokePath, brokePaint) + + //绘制右下角 + startX = halfTargetWidth - BROKE_LINE_LENGTH + startY = newTargetHeight + endX = halfTargetWidth + endY = startY + brokePath.reset() + brokePath.moveTo(startX, startY) + brokePath.lineTo(endX, endY) + endY -= BROKE_LINE_LENGTH + brokePath.lineTo(endX, endY) + canvas.drawPath(brokePath, brokePaint) + } finally { + canvas.restore() + } + } finally { + if (canvas != null) { + holder.unlockCanvasAndPost(canvas) + } + } + } finally { + if (isTimedBlock) { + try { + Thread.sleep(2000) + } catch (ignore: Exception) { } + } + handler.get().post(this) + } + } + + override fun onAttachedToWindow() { + super.onAttachedToWindow() + CallerChassisSteeringStateListenerManager.addListener(TAG, this) + Log.d(TAG, "--- 发起订阅 ---") + CallerAutoPilotControlManager.setIsSubscribeM1StitchedVideo(true) + scope.launch(ThreadUtils.getCpuPool().asCoroutineDispatcher()) { + CallerDevaToolsManager.lookAroundProvider()?.flow()?.also { flow -> + flow.onEach { + Log.d(TAG, "-- onEach ---:$it") + if (it.isValid()) { + data = it + } + }.collect() + } + } + + // 订阅后，5秒内未收到有效数据, 提示用户当前MAP版本不支持 + scope.launch { + delay(5000) + val d = data + if (d == null || !d.isValid()) { + Toast.makeText(Utils.getApp(), "当前MAP版本不支持360环视，请升级MAP版本", Toast.LENGTH_SHORT).show() + } + } + } + + override fun onDetachedFromWindow() { + super.onDetachedFromWindow() + CallerChassisSteeringStateListenerManager.removeListener(TAG) + Log.d(TAG, "--- 取消订阅 ---") + CallerAutoPilotControlManager.setIsSubscribeM1StitchedVideo(false) + handler.get()?.looper?.quitSafely() + } + + override fun onAutopilotSteeringData(steering: Float) { + Log.d(TAG, "--- onAutopilotSteeringData --: steering: $steering") + this.steering = steering + } +} \ No newline at end of file diff --git a/core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/hmi/ui/setting/SOPSettingView.kt b/core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/hmi/ui/setting/SOPSettingView.kt index e7447f1384..dc7dac329e 100644 --- a/core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/hmi/ui/setting/SOPSettingView.kt +++ b/core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/hmi/ui/setting/SOPSettingView.kt @@ -223,6 +223,23 @@ internal class SOPSettingView @JvmOverloads constructor( FunctionBuildConfig.isNewV2NData = isChecked } + // M1 360度环视 + tbNew360LookAround?.also { + if (!AppIdentityModeUtils.isM1(FunctionBuildConfig.appIdentityMode)) { + it.isEnabled = false + } else { + it.isEnabled = true + it.setOnCheckedChangeListener { _, isChecked -> + if (isChecked) { + CallerHmiManager.showM1360LookAround() + } else { + CallerHmiManager.hidM1360LookAround() + } + } + it.isChecked = CallerHmiManager.isM1360LookAroundShowing() + } + } + //变道绕障的目标障碍物速度阈值 tvSpeed.text = "${FunctionBuildConfig.detouringSpeed} m/s" ivSpeedReduce.setOnClickListener { diff --git a/core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/hmi/ui/widget/SweeperVideoView.java b/core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/hmi/ui/widget/SweeperVideoView.java deleted file mode 100644 index ce038d1457..0000000000 --- a/core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/hmi/ui/widget/SweeperVideoView.java +++ /dev/null @@ -1,87 +0,0 @@ -package com.mogo.eagle.core.function.hmi.ui.widget; - - -import android.content.Context; -import android.graphics.Bitmap; -import android.graphics.drawable.Drawable; -import android.util.AttributeSet; - -import androidx.annotation.NonNull; -import androidx.annotation.Nullable; -import androidx.appcompat.widget.AppCompatImageView; - -import com.bumptech.glide.Priority; -import com.bumptech.glide.load.engine.DiskCacheStrategy; -import com.bumptech.glide.request.RequestOptions; -import com.bumptech.glide.request.target.CustomTarget; -import com.bumptech.glide.request.transition.Transition; -import com.mogo.eagle.core.function.api.autopilot.IMoGoSweeperFutianBackCameraVideoListener; -import com.mogo.eagle.core.function.call.autopilot.CallerSweeperFutianBackCameraVideoListenerManager; -import com.mogo.eagle.core.utilcode.mogo.glide.GlideApp; -import com.mogo.eagle.core.utilcode.util.ThreadUtils; - -/** - * 清扫车摄像头展示View - */ -public class SweeperVideoView extends AppCompatImageView implements IMoGoSweeperFutianBackCameraVideoListener { - private static final String TAG = SweeperVideoView.class.getSimpleName(); - private final RequestOptions requestOptions = new RequestOptions() - .priority(Priority.HIGH) - .skipMemoryCache(true) - .diskCacheStrategy(DiskCacheStrategy.NONE) - .dontAnimate(); - - public SweeperVideoView(@NonNull Context context) { - super(context); - } - - public SweeperVideoView(@NonNull Context context, @Nullable AttributeSet attrs) { - super(context, attrs); - } - - public SweeperVideoView(@NonNull Context context, @Nullable AttributeSet attrs, int defStyleAttr) { - super(context, attrs, defStyleAttr); - } - - @Override - protected void onAttachedToWindow() { - super.onAttachedToWindow(); - CallerSweeperFutianBackCameraVideoListenerManager.INSTANCE.addListener(TAG, this); - } - - @Override - protected void onDetachedFromWindow() { - super.onDetachedFromWindow(); - CallerSweeperFutianBackCameraVideoListenerManager.INSTANCE.removeListener(this); - } - - private final CustomTarget target = new CustomTarget() { - @Override - public void onResourceReady(@NonNull Bitmap resource, @Nullable Transition transition) { - //回调内容 - if (!resource.isRecycled()) { - SweeperVideoView.this.setImageBitmap(resource); - } - } - - @Override - public void onLoadCleared(@Nullable Drawable placeholder) { - //这个方法在target被回收时调用，如果在除了imageView以外的地方引用了imageView中的bitmap，在这里清除引用以避免崩溃 - } - }; - - @Override - public void onSweeperFutianBackCameraVideo(@NonNull byte[] data) { - ThreadUtils.runOnUiThread(new Runnable() { - @Override - public void run() { - GlideApp.with(SweeperVideoView.this) - .asBitmap() - .load(data) - .placeholder(SweeperVideoView.this.getDrawable()) - .apply(requestOptions) - .into(target); - } - }); - } -} diff --git a/core/function-impl/mogo-core-function-hmi/src/main/res/layout/view_m1_look_around.xml b/core/function-impl/mogo-core-function-hmi/src/main/res/layout/view_m1_look_around.xml new file mode 100644 index 0000000000..12ecfebcde --- /dev/null +++ b/core/function-impl/mogo-core-function-hmi/src/main/res/layout/view_m1_look_around.xml @@ -0,0 +1,25 @@ + + + + + + + \ No newline at end of file diff --git a/core/function-impl/mogo-core-function-hmi/src/main/res/layout/view_sop_setting.xml b/core/function-impl/mogo-core-function-hmi/src/main/res/layout/view_sop_setting.xml index fbd9d9277f..85ba676893 100644 --- a/core/function-impl/mogo-core-function-hmi/src/main/res/layout/view_sop_setting.xml +++ b/core/function-impl/mogo-core-function-hmi/src/main/res/layout/view_sop_setting.xml @@ -261,6 +261,19 @@ app:layout_constraintRight_toLeftOf="@id/verticalGuideLine" /> + + + * 调用{@link AdasManager#sendGetAllParamReq()}或{@link AdasManager#sendGetParamReq(int)} + * 如果对应的value是空串，说明没有这个param或者get失败了。重启后值还是在redis里 + * + * @param header 头 + * @param getParamResp 配置参数 + * @param adasParam 解析后的配置参数 + */ + fun onGetParamResp(header: MessagePad.Header, getParamResp: MessagePad.SetParamReq, adasParam: AdasParam) +} \ No newline at end of file diff --git a/core/mogo-core-function-api/src/main/java/com/mogo/eagle/core/function/api/devatools/IDevaToolsProvider.kt b/core/mogo-core-function-api/src/main/java/com/mogo/eagle/core/function/api/devatools/IDevaToolsProvider.kt index 0c1ea710e4..81d5a422b6 100644 --- a/core/mogo-core-function-api/src/main/java/com/mogo/eagle/core/function/api/devatools/IDevaToolsProvider.kt +++ b/core/mogo-core-function-api/src/main/java/com/mogo/eagle/core/function/api/devatools/IDevaToolsProvider.kt @@ -14,6 +14,7 @@ import com.mogo.eagle.core.data.msgbox.MsgBoxBean import com.mogo.eagle.core.function.api.devatools.apm.* import com.mogo.eagle.core.function.api.devatools.strict.* import com.mogo.eagle.core.function.api.devatools.download.* +import com.mogo.eagle.core.function.api.lookaround.* import com.mogo.eagle.core.function.api.upgrade.* /** @@ -205,4 +206,10 @@ interface IDevaToolsProvider : IProvider { fun upgradeProvider(): IMoGoUpgradeProvider? fun strict(): IStrictModeProvider + + + /** + * 360环视数据提供者 + */ + fun lookAroundDataProvider(): IMoGoLookAroundProvider } \ No newline at end of file diff --git a/core/mogo-core-function-api/src/main/java/com/mogo/eagle/core/function/api/hmi/warning/IMoGoHmiProvider.kt b/core/mogo-core-function-api/src/main/java/com/mogo/eagle/core/function/api/hmi/warning/IMoGoHmiProvider.kt index ab2d634ec4..d6d37017a1 100644 --- a/core/mogo-core-function-api/src/main/java/com/mogo/eagle/core/function/api/hmi/warning/IMoGoHmiProvider.kt +++ b/core/mogo-core-function-api/src/main/java/com/mogo/eagle/core/function/api/hmi/warning/IMoGoHmiProvider.kt @@ -133,4 +133,19 @@ interface IMoGoHmiProvider :IProvider{ fun updateStatusBarDownloadView(insert: Boolean, tag: String, progress: Int) + /** + * 展示360环视弹窗，主要用于M1车型 + */ + fun show360LookAround() + + /** + * 隐藏360环视弹窗，主要用于M1车型 + */ + fun hide360LookAround() + + + /** + * 360环视弹窗是否正在展示 + */ + fun is360LookAroundShowing(): Boolean } \ No newline at end of file diff --git a/core/mogo-core-function-api/src/main/java/com/mogo/eagle/core/function/api/lookaround/IMoGoLookAroundProvider.kt b/core/mogo-core-function-api/src/main/java/com/mogo/eagle/core/function/api/lookaround/IMoGoLookAroundProvider.kt new file mode 100644 index 0000000000..dde5dbb760 --- /dev/null +++ b/core/mogo-core-function-api/src/main/java/com/mogo/eagle/core/function/api/lookaround/IMoGoLookAroundProvider.kt @@ -0,0 +1,12 @@ +package com.mogo.eagle.core.function.api.lookaround + +import android.content.Context +import com.mogo.eagle.core.function.api.lookaround.data.* +import kotlinx.coroutines.flow.* + +interface IMoGoLookAroundProvider { + + fun init(ctx: Context) + + fun flow(): Flow +} \ No newline at end of file diff --git a/core/mogo-core-function-api/src/main/java/com/mogo/eagle/core/function/api/lookaround/data/LookAroundData.kt b/core/mogo-core-function-api/src/main/java/com/mogo/eagle/core/function/api/lookaround/data/LookAroundData.kt new file mode 100644 index 0000000000..3e556f3614 --- /dev/null +++ b/core/mogo-core-function-api/src/main/java/com/mogo/eagle/core/function/api/lookaround/data/LookAroundData.kt @@ -0,0 +1,13 @@ +package com.mogo.eagle.core.function.api.lookaround.data + +data class LookAroundData(var data: ByteArray?, var bitmapWidth: Int, var bitmapHeight: Int, var targetX: Int = 0, var targetY: Int = 0, var targetWidth: Int = 0, var targetHeight: Int = 0) { + + override fun toString(): String { + return "LookAroundData(data=${data?.size}, bitmapWidth=$bitmapWidth, bitmapHeight=$bitmapHeight, targetX=$targetX, targetY=$targetY, targetWidth=$targetWidth, targetHeight=$targetHeight)" + } +} + + +fun LookAroundData.isValid(): Boolean { + return this.data != null && this.bitmapWidth > 0 && this.bitmapHeight > 0 && targetX > 0 && targetY > 0 && targetWidth > 0 && targetHeight > 0 +} \ No newline at end of file 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..8bff7513cf 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 @@ -20,6 +20,7 @@ import com.zhjt.mogo.adas.data.sweeper.task.SweeperTask.StartTaskResp import com.zhjt.mogo.adas.data.sweeper.task.SweeperTaskSuspendResume.SuspendResumeTaskReq import com.zhjt.mogo.adas.data.sweeper.task.confirm.SweeperTaskConfirm.TaskConfirmResp import com.zhjt.mogo.adas.data.sweeper.task.stop.SweeperTaskStop.StopTaskResp +import com.zhjt.mogo.adas.data.AdasConstants import com.zhjt.service.chain.ChainLog import com.zhjt.service.chain.TracingConstants import com.zhjt.service_biz.BizConfig @@ -273,7 +274,7 @@ object CallerAutoPilotControlManager { /** * 获取全部参数 - * 结果回调{@link OnAdasListener#onGetParamResp(MessagePad.Header, MessagePad.SetParamReq)} + * 结果回调{@link OnAdasListener#onGetParamResp(MessagePad.Header, MessagePad.SetParamReq, AdasParam)} * * @return boolean */ @@ -283,12 +284,12 @@ object CallerAutoPilotControlManager { /** * 参数获取请求 - * 结果回调{@link OnAdasListener#onGetParamResp(MessagePad.Header, MessagePad.SetParamReq)} + * 结果回调{@link OnAdasListener#onGetParamResp(MessagePad.Header, MessagePad.SetParamReq, AdasParam)} * - * @param paramType 参数类型{@link com.zhidao.support.adas.high.common.Constants.PARAM_TYPE} + * @param paramType 参数类型:libraries/mogo-adas-data/src/main/proto/personal/adas_constants.proto * @return boolean */ - fun sendGetParamReq(paramType: Int): Boolean? { + fun sendGetParamReq(paramType: AdasConstants.MapSystemParamType): Boolean? { return providerApi?.sendGetParamReq(paramType) } /** diff --git a/core/mogo-core-function-call/src/main/java/com/mogo/eagle/core/function/call/autopilot/CallerAutopilotGetParamResponseDispatcher.kt b/core/mogo-core-function-call/src/main/java/com/mogo/eagle/core/function/call/autopilot/CallerAutopilotGetParamResponseDispatcher.kt new file mode 100644 index 0000000000..61129beb94 --- /dev/null +++ b/core/mogo-core-function-call/src/main/java/com/mogo/eagle/core/function/call/autopilot/CallerAutopilotGetParamResponseDispatcher.kt @@ -0,0 +1,17 @@ +package com.mogo.eagle.core.function.call.autopilot + +import com.mogo.eagle.core.function.api.autopilot.* +import com.mogo.eagle.core.function.call.base.* +import com.zhjt.mogo.adas.data.bean.* +import mogo.telematics.pad.* + +object CallerAutopilotGetParamResponseDispatcher: CallerBase() { + + + fun dispatchResponse(header: MessagePad.Header, getParamResp: MessagePad.SetParamReq, adasParam: AdasParam) { + M_LISTENERS.forEach { + val listener = it.value + listener.onGetParamResp(header, getParamResp, adasParam) + } + } +} \ No newline at end of file diff --git a/core/mogo-core-function-call/src/main/java/com/mogo/eagle/core/function/call/devatools/CallerDevaToolsManager.kt b/core/mogo-core-function-call/src/main/java/com/mogo/eagle/core/function/call/devatools/CallerDevaToolsManager.kt index 46b1be52b2..7be92c3a7c 100644 --- a/core/mogo-core-function-call/src/main/java/com/mogo/eagle/core/function/call/devatools/CallerDevaToolsManager.kt +++ b/core/mogo-core-function-call/src/main/java/com/mogo/eagle/core/function/call/devatools/CallerDevaToolsManager.kt @@ -17,6 +17,7 @@ import com.mogo.eagle.core.function.api.devatools.apm.* import com.mogo.eagle.core.function.api.devatools.download.* import com.mogo.eagle.core.function.api.upgrade.* import com.mogo.eagle.core.function.api.devatools.strict.* +import com.mogo.eagle.core.function.api.lookaround.* import com.mogo.eagle.core.function.call.base.CallerBase import com.mogo.eagle.core.utilcode.mogo.AppIdentityModeUtils @@ -255,4 +256,6 @@ object CallerDevaToolsManager { fun upgradeProvider(): IMoGoUpgradeProvider? = devaToolsProviderApi?.upgradeProvider() fun strict(): IStrictModeProvider? = devaToolsProviderApi?.strict() + + fun lookAroundProvider(): IMoGoLookAroundProvider? = devaToolsProviderApi?.lookAroundDataProvider() } \ No newline at end of file diff --git a/core/mogo-core-function-call/src/main/java/com/mogo/eagle/core/function/call/hmi/CallerHmiManager.kt b/core/mogo-core-function-call/src/main/java/com/mogo/eagle/core/function/call/hmi/CallerHmiManager.kt index eb9d33cdbe..253f70b69a 100644 --- a/core/mogo-core-function-call/src/main/java/com/mogo/eagle/core/function/call/hmi/CallerHmiManager.kt +++ b/core/mogo-core-function-call/src/main/java/com/mogo/eagle/core/function/call/hmi/CallerHmiManager.kt @@ -198,4 +198,25 @@ object CallerHmiManager { fun updateStatusBarDownloadView(insert: Boolean, tag: String, progress: Int) { hmiProviderApi?.updateStatusBarDownloadView(insert, tag, progress) } + + /** + * 展示M1车型的360环视控件 + */ + fun showM1360LookAround() { + hmiProviderApi?.show360LookAround() + } + + /** + * 隐藏M1车型的360环视控件 + */ + fun hidM1360LookAround() { + hmiProviderApi?.hide360LookAround() + } + + /** + * 返回M1车型的360环视弹窗是否正在展示 + */ + fun isM1360LookAroundShowing(): Boolean { + return hmiProviderApi?.is360LookAroundShowing() ?: false + } } \ No newline at end of file diff --git a/core/mogo-core-utils/src/main/java/com/mogo/eagle/core/utilcode/floating/MoGoPopWindow.kt b/core/mogo-core-utils/src/main/java/com/mogo/eagle/core/utilcode/floating/MoGoPopWindow.kt new file mode 100644 index 0000000000..195909129a --- /dev/null +++ b/core/mogo-core-utils/src/main/java/com/mogo/eagle/core/utilcode/floating/MoGoPopWindow.kt @@ -0,0 +1,307 @@ +package com.mogo.eagle.core.utilcode.floating + +import android.annotation.* +import android.app.Activity +import android.graphics.Rect +import android.graphics.drawable.ColorDrawable +import android.util.Log +import android.view.Gravity +import android.view.LayoutInflater +import android.view.MotionEvent +import android.view.View +import android.view.ViewGroup +import android.view.WindowManager +import android.widget.PopupWindow +import androidx.annotation.LayoutRes +import androidx.core.view.doOnAttach +import com.mogo.eagle.core.utilcode.kotlin.lifeCycleScope +import com.mogo.eagle.core.utilcode.util.* +import java.util.concurrent.atomic.AtomicBoolean + +class MoGoPopWindow private constructor(builder: Builder){ + + + private val content: View = builder.content ?: throw AssertionError("要填充的View不能为空") + + private val pop: PopupWindow by lazy { PopupWindow(builder.width, builder.height) } + + private val offsetX: Int = builder.offsetX + + private var offsetY: Int = builder.offsetY + + private var gravityInActivity: Int = builder.gravityInActivity + + private val activity: Activity = builder.attachToActivity ?: throw AssertionError("要依附Activity实例不能为空") + + private val isDraggable: Boolean = builder.isDraggable + + private val isDismissOnTouchOutside: Boolean = builder.isDismissOnTouchOutside + + private val isPendingShow by lazy { AtomicBoolean(false) } + + private val onDismissed: (() -> Unit)? = builder.onDismissed + + private val onShowed: (() -> Unit)? = builder.onShowed + + private val onTouchInterceptorInDrag: ((child: View, event: MotionEvent) -> Boolean)? = builder.onTouchInterceptorInDrag + + private val onViewAttachedToWindow: ((content: View) -> Unit)? = builder.onViewAttachedToWindow + + @SuppressLint("ClickableViewAccessibility") fun show() { + if (isPendingShow.get() || pop.isShowing) { + return + } + isPendingShow.set(true) + activity.lifeCycleScope.launchWhenResumed { + val parent = activity.findViewById(android.R.id.content) ?: throw AssertionError("附着的Activity上的ID为[android.R.id.content]的控件不存在.") + pop.contentView = content + pop.isAttachedInDecor = true + pop.setBackgroundDrawable(ColorDrawable()) + content.doOnAttach { + onViewAttachedToWindow?.invoke(content) + onShowed?.invoke() + } + pop.setOnDismissListener { + onDismissed?.invoke() + } + pop.isTouchable = true + if (isDismissOnTouchOutside) { + pop.isFocusable = true + pop.isOutsideTouchable = true + } else { + pop.isFocusable= false + pop.isOutsideTouchable = false + } + if (isDraggable) { + val outer = Rect() + var oldRawX = 0f + var oldRawY = 0f + var isDownConsumed = false + pop.setTouchInterceptor { _, event -> + if (event == null) { + return@setTouchInterceptor false + } + val rawX = event.rawX + val rawY = event.rawY + if (event.actionMasked == MotionEvent.ACTION_DOWN) { + val child = findChildInContent(content.parent as? ViewGroup, event.x, event.y) ?: content + Log.d(TAG, "child -> : ${child.javaClass.simpleName}") + if (onTouchInterceptorInDrag?.invoke(child, event) == true) { + isDownConsumed = true + return@setTouchInterceptor false + } + if (outer.isEmpty) { + val location = IntArray(2) + parent.getLocationOnScreen(location) + val left = location[0] + val top = location[1] + val right = left + parent.width + val bottom = top + parent.height + outer.set(left,top, right, bottom) + } + oldRawX = rawX + oldRawY = rawY + } + if (event.actionMasked == MotionEvent.ACTION_MOVE) { + if (!isDownConsumed) { + val dx = (rawX - oldRawX).toInt() + val dy = (rawY - oldRawY).toInt() + val params = content.rootView.layoutParams as WindowManager.LayoutParams + val oldX = params.x + val oldY = params.y + val newX = oldX + dx + val newY = oldY + dy + if (outer.contains(rawX.toInt(), rawY.toInt())) { + pop.update(newX, newY, content.width, content.height) + } + oldRawX = rawX + oldRawY = rawY + } + } + + if (event.actionMasked == MotionEvent.ACTION_UP || event.actionMasked == MotionEvent.ACTION_CANCEL) { + if (isDownConsumed) { + isDownConsumed = false + } + } + false + } + } + pop.showAtLocation(parent, gravityInActivity, offsetX, offsetY) + } + } + + private tailrec fun findChildInContent(group: ViewGroup?, x: Float, y: Float): View? { + if (group == null) { + return null + } + val count = group.childCount + if (count == 0) { + return null + } + for (i in (count - 1) downTo 0) { + val child = group.getChildAt(i) + val location = IntArray(2) + child.getLocationInWindow(location) + val rect = Rect(location[0], location[1], location[0] + child.width, location[1] + child.height) + val intX = x.toInt() + val intY = y.toInt() + if (child is ViewGroup) { + if (rect.contains(intX, intY)) { + return findChildInContent(child, x, y) + } + continue + } + if (rect.contains(intX, intY)) { + return child + } + } + return null + } + + fun hide() { + if (!pop.isShowing) { + return + } + activity.lifeCycleScope.launchWhenResumed { + pop.dismiss() + } + } + + fun isShowing(): Boolean = isPendingShow.get() || pop.isShowing + + class Builder { + + /** + * 内容控件实例，设置了此字段，不能再设置[layoutId] + */ + internal var content: View? = null + + /** + * 内容控件的布局ID，设置了此字段，不能再设置[content] + */ + internal var layoutId: Int? = null + + /** + * 当前窗口是否可拖拽 + */ + internal var isDraggable: Boolean = false + + /** + * 点击弹窗外部区域，是否消失 + */ + internal var isDismissOnTouchOutside: Boolean = false + + /** + * 依附的Activity实例 + */ + internal var attachToActivity: Activity? = null + + /** + * 相对于父控件X方向上的偏移量 + */ + internal var offsetX: Int = 0 + + /** + * 相对于父控件Y方向上的偏移量 + */ + internal var offsetY: Int = 0 + + /** + * 相对于父控件的布局位置 + */ + internal var gravityInActivity: Int = Gravity.NO_GRAVITY + + internal var width: Int = WindowManager.LayoutParams.WRAP_CONTENT + + internal var height: Int = WindowManager.LayoutParams.WRAP_CONTENT + + internal var onShowed:(()-> Unit)? = null + + internal var onDismissed: (()-> Unit)? = null + + /** + * 当处于拖拽状态时，是响应拖拽还是当前窗口自己的事件 + */ + internal var onTouchInterceptorInDrag: ((childInContent: View, event: MotionEvent) -> Boolean)? = null + + + /** + * 当控件被attach到窗口的时候，回调 + */ + internal var onViewAttachedToWindow: ((content: View) -> Unit)? = null + + fun contentView(content: View) = apply { + this.content = content + } + + fun layoutId(@LayoutRes id: Int) = apply { + this.layoutId = id + } + + fun draggable(draggable: Boolean) = apply { + this.isDraggable = draggable + } + + fun isDismissOnTouchOutside(flag: Boolean) = apply { + this.isDismissOnTouchOutside = flag + } + + fun attachToActivity(activity: Activity) = apply { + this.attachToActivity = activity + } + + fun offsetX(x: Int) = apply { + this.offsetY = x + } + + fun offsetY(y: Int) = apply { + this.offsetY = y + } + + fun width(w: Int) = apply { + this.width = w + } + + fun height(h: Int) = apply { + this.height = h + } + + fun gravityInActivity(gravity: Int) = apply { + this.gravityInActivity = gravity + } + + fun onTouchInterceptorInDrag(block: (childInContent: View, event: MotionEvent) -> Boolean) = apply { + this.onTouchInterceptorInDrag = block + } + + fun onShowed(block: () -> Unit) = apply { + this.onShowed = block + } + + fun onDismissed(block: () -> Unit) = apply { + this.onDismissed = block + } + + fun onViewAttachedToWindow(block: (content: View) -> Unit) = apply { + this.onViewAttachedToWindow = block + } + + fun build() : MoGoPopWindow { + val activity = attachToActivity ?: throw AssertionError("依附的activity不能为空") + if (content != null && layoutId != null) { + throw AssertionError("两者不能同时设置") + } + if (content == null && layoutId == null) { + throw AssertionError("两者不能都不设置，至少设置一个") + } + if (content == null) { + content = LayoutInflater.from(activity).inflate(layoutId!!, null) + } + if (content != null && content?.parent != null) { + throw AssertionError("内容控件不允许包含父控件.") + } + return MoGoPopWindow(this) + } + } +} \ No newline at end of file diff --git a/core/mogo-core-utils/src/main/java/com/mogo/eagle/core/utilcode/mogo/floating/AbsFloatingView.kt b/core/mogo-core-utils/src/main/java/com/mogo/eagle/core/utilcode/mogo/floating/AbsFloatingView.kt new file mode 100644 index 0000000000..f53fa48bb2 --- /dev/null +++ b/core/mogo-core-utils/src/main/java/com/mogo/eagle/core/utilcode/mogo/floating/AbsFloatingView.kt @@ -0,0 +1,223 @@ +package com.mogo.eagle.core.utilcode.mogo.floating + +import android.annotation.* +import android.content.* +import android.content.res.* +import android.os.* +import android.util.* +import android.view.* +import android.widget.* +import androidx.annotation.* + +abstract class AbsFloatingView: FrameLayout { + + private var mPortraitY = 0f + + private var mWindowWidth: Int = 0 + + private var mWindowHeight: Int = 0 + + private var mAnimator: AutoMoveEdgeAnimator? = null + + /** + * 系统状态栏的高度 + */ + private var mStatusBarHeight: Int = 0 + + private var mOldX: Float = 0f + + private var mOldY: Float = 0f + + private var mOldRawX: Float = 0f + + private var mOldRawY: Float = 0f + + companion object { + private const val MARGIN_EDGE = 13 + } + + + constructor(context: Context) : this(context, null) + constructor(context: Context, attrs: AttributeSet?) : this(context, attrs, 0) + constructor(context: Context, attrs: AttributeSet?, defStyleAttr: Int) : this(context, attrs, defStyleAttr, 0) + constructor(context: Context, attrs: AttributeSet?, defStyleAttr: Int, defStyleRes: Int) : super(context, attrs, defStyleAttr, defStyleRes) { + isClickable = true + isFocusable = true + mStatusBarHeight = getStatusBarHeight() + } + + @SuppressLint("InternalInsetResource") + private fun getStatusBarHeight(): Int { + val resourceId = context.resources.getIdentifier("status_bar_height", "dimen", "android") + if (resourceId > 0) { + return context.resources.getDimensionPixelSize(resourceId) + } + return 0 + } + + + @CallSuper + override fun onAttachedToWindow() { + super.onAttachedToWindow() + val layoutId = getLayoutId() + if (layoutId == 0) { + throw AssertionError("view: ${this::class.java.simpleName}'s getLayoutId() return a invalid resID: 0") + } + val child = LayoutInflater.from(context).inflate(layoutId, this, true) + onChildInflated(child) + if (autoMoveToEdge()) { + mAnimator = AutoMoveEdgeAnimator() + } + } + + @CallSuper + override fun onDetachedFromWindow() { + if (autoMoveToEdge()) { + mAnimator?.stop() + } + super.onDetachedFromWindow() + } + + @SuppressLint("ClickableViewAccessibility") + final override fun onTouchEvent(event: MotionEvent?): Boolean { + if (!isDragEnabled()) { + return super.onTouchEvent(event) + } + if (event == null) { + return false + } + when(event.actionMasked) { + MotionEvent.ACTION_DOWN -> { + mOldX = x + mOldY = y + mOldRawX = event.rawX + mOldRawY = event.rawY + updateSize() + if (autoMoveToEdge()) { + mAnimator?.stop() + } + } + MotionEvent.ACTION_MOVE -> { + updateViewPosition(event) + } + MotionEvent.ACTION_UP -> { + mPortraitY = 0f + if (autoMoveToEdge()) { + moveToEdge() + } + } + } + return true + } + + private fun updateViewPosition(event: MotionEvent) { + var destX = mOldX + event.rawX - mOldRawX + if (!autoMoveToEdge()) { + if (destX < 0f) { + destX = 0f + } else { + val widthLeft = mWindowWidth - width + if (destX > widthLeft) { + destX = widthLeft.toFloat() + } + } + } + x = destX + var destY = mOldY + event.rawY - mOldRawY + if (destY < mStatusBarHeight) { + destY = mStatusBarHeight.toFloat() + } + val heightLeft = mWindowHeight - height + if (destY > heightLeft) { + destY = heightLeft.toFloat() + } + y = destY + } + + private fun moveToEdge() { + moveToEdge(isNearestLeft(), context.resources.configuration.orientation == Configuration.ORIENTATION_LANDSCAPE) + } + + private fun moveToEdge(isLeft: Boolean, isLandscape: Boolean) { + val moveDistance = if (isLeft) MARGIN_EDGE else mWindowWidth - MARGIN_EDGE + if (!isLandscape && mPortraitY != 0f) { + y = mPortraitY + mPortraitY = 0f + } + mAnimator?.start(moveDistance.toFloat(), 0f.coerceAtLeast(y).coerceAtMost((mWindowHeight - height).toFloat())) + } + + private fun isNearestLeft(): Boolean { + val middle = mWindowWidth / 2 + return x < middle + } + + private fun updateSize() { + val group = parent as? ViewGroup ?: return + mWindowWidth = group.width + mWindowHeight = group.height + } + + override fun onConfigurationChanged(newConfig: Configuration?) { + super.onConfigurationChanged(newConfig) + if (parent != null) { + val isLandscape = newConfig?.orientation == Configuration.ORIENTATION_LANDSCAPE + if (isLandscape) { + mPortraitY = y + } + post { + updateSize() + moveToEdge(isNearestLeft(), isLandscape) + } + } + } + + @LayoutRes + abstract fun getLayoutId(): Int + + protected open fun isDragEnabled(): Boolean = true + + protected open fun autoMoveToEdge(): Boolean = false + + protected open fun onChildInflated(child: View) { } + + private fun move(deltaX: Float, deltaY: Float) { + x += deltaX + y += deltaY + } + + private inner class AutoMoveEdgeAnimator: Runnable { + + private val handler by lazy { Handler(Looper.getMainLooper()) } + + private var destX: Float = 0f + + private var destY: Float = 0f + + private var startTime: Long = 0L + + override fun run() { + if (rootView == null || rootView.parent == null) { + return + } + val progress = 1f.coerceAtMost((SystemClock.elapsedRealtime() - startTime) / 400f) + val deltaX = (destX - x) * progress + val deltaY = (destY - y) * progress + move(deltaX, deltaY) + if (progress < 1) { + handler.post(this) + } + } + + fun start(x: Float, y: Float) { + this.destX = x + this.destY = y + startTime = SystemClock.elapsedRealtime() + handler.post(this) + } + + fun stop() { + handler.removeCallbacks(this) + } + } +} \ No newline at end of file diff --git a/core/mogo-core-utils/src/main/res/values/ids.xml b/core/mogo-core-utils/src/main/res/values/ids.xml index 09d8b4a229..93f9bb39b1 100644 --- a/core/mogo-core-utils/src/main/res/values/ids.xml +++ b/core/mogo-core-utils/src/main/res/values/ids.xml @@ -2,4 +2,5 @@ + \ No newline at end of file diff --git a/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/bean/AdasParam.java b/libraries/mogo-adas-data/src/main/java/com/zhjt/mogo/adas/data/bean/AdasParam.java similarity index 62% rename from libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/bean/AdasParam.java rename to libraries/mogo-adas-data/src/main/java/com/zhjt/mogo/adas/data/bean/AdasParam.java index b6e763271d..8da891c65f 100644 --- a/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/bean/AdasParam.java +++ b/libraries/mogo-adas-data/src/main/java/com/zhjt/mogo/adas/data/bean/AdasParam.java @@ -1,8 +1,9 @@ -package com.zhidao.support.adas.high.bean; +package com.zhjt.mogo.adas.data.bean; import android.text.TextUtils; +import android.util.Log; -import com.zhidao.support.adas.high.common.Constants; +import com.zhjt.mogo.adas.data.AdasConstants; import mogo.telematics.pad.MessagePad; @@ -52,6 +53,19 @@ public class AdasParam { */ public final int weakNetSlowDown; + /** + * m1拼接视频自车位置参数(string),格式:x,y,width,height + * MAP发出的原始数据 + */ + public final String m1StitchedVideoSelfVehicleParam; + + /** + * m1拼接视频自车位置参数 + * 解析后的数据 + * 为空的原因：未查询此数据、工控机不存在此数据、解析失败 + */ + public final M1StitchedVideoSelfVehicleParam m1StitchedVideoSelfVehicleParamParse; + public AdasParam(MessagePad.SetParamReq param) { int detouringCmd = -1; double detouringSpeed = -1.0; @@ -61,6 +75,8 @@ public class AdasParam { int hadmapSpeedLimitValid = -1; int rampThetaValid = -1; int weakNetSlowDown = -1; + String m1StitchedVideoSelfVehicleParam = null; + M1StitchedVideoSelfVehicleParam m1StitchedVideoSelfVehicleParamParse = null; if (param != null) { int size = param.getReqsCount(); if (size > 0) { @@ -68,38 +84,49 @@ public class AdasParam { MessagePad.SetOneParam oneParam = param.getReqs(i); int type = oneParam.getType(); String value = oneParam.getValue(); - if (type == Constants.PARAM_TYPE.DETOURING) { + if (type == AdasConstants.MapSystemParamType.DETOURING_VALUE) { if (!TextUtils.isEmpty(value)) { detouringCmd = Integer.parseInt(value); } - } else if (type == Constants.PARAM_TYPE.DETOURING_SPEED) { + } else if (type == AdasConstants.MapSystemParamType.DETOURING_SPEED_VALUE) { if (!TextUtils.isEmpty(value)) { detouringSpeed = Double.parseDouble(value); } - } else if (type == Constants.PARAM_TYPE.AEB) { + } else if (type == AdasConstants.MapSystemParamType.AEB_VALUE) { if (!TextUtils.isEmpty(value)) { aebCmd = Integer.parseInt(value); } - } else if (type == Constants.PARAM_TYPE.LANE_CHANGE_RESTRAIN_VALID) { + } else if (type == AdasConstants.MapSystemParamType.LANE_CHANGE_RESTRAIN_VALID_VALUE) { if (!TextUtils.isEmpty(value)) { laneChangeRestrainValid = Integer.parseInt(value); } - } else if (type == Constants.PARAM_TYPE.STOP_YIELD_VALID) { + } else if (type == AdasConstants.MapSystemParamType.STOP_YIELD_VALID_VALUE) { if (!TextUtils.isEmpty(value)) { stopYieldValid = Integer.parseInt(value); } - } else if (type == Constants.PARAM_TYPE.HADMAP_SPEED_LIMIT_VALID) { + } else if (type == AdasConstants.MapSystemParamType.HADMAP_SPEED_LIMIT_VALID_VALUE) { if (!TextUtils.isEmpty(value)) { hadmapSpeedLimitValid = Integer.parseInt(value); } - } else if (type == Constants.PARAM_TYPE.RAMP_THETA_VALID) { + } else if (type == AdasConstants.MapSystemParamType.RAMP_THETA_VALID_VALUE) { if (!TextUtils.isEmpty(value)) { rampThetaValid = Integer.parseInt(value); } - } else if (type == Constants.PARAM_TYPE.WEAK_NET_SLOW_DOWN) { + } else if (type == AdasConstants.MapSystemParamType.WEAK_NET_SLOW_DOWN_VALUE) { if (!TextUtils.isEmpty(value)) { weakNetSlowDown = Integer.parseInt(value); } + } else if (type == AdasConstants.MapSystemParamType.M1_STITCHED_VIDEO_SELF_VEHICLE_PARAM_VALUE) { + if (!TextUtils.isEmpty(value)) { + m1StitchedVideoSelfVehicleParam = value; + try { + String[] s = value.split(","); + m1StitchedVideoSelfVehicleParamParse = new M1StitchedVideoSelfVehicleParam(Integer.parseInt(s[0]), Integer.parseInt(s[1]), Integer.parseInt(s[2]), Integer.parseInt(s[3])); + } catch (Exception e) { + Log.e("AdasParam", "M1拼接视频自车位置参数解析失败", e); + e.printStackTrace(); + } + } } } } @@ -112,6 +139,8 @@ public class AdasParam { this.hadmapSpeedLimitValid = hadmapSpeedLimitValid; this.rampThetaValid = rampThetaValid; this.weakNetSlowDown = weakNetSlowDown; + this.m1StitchedVideoSelfVehicleParam = m1StitchedVideoSelfVehicleParam; + this.m1StitchedVideoSelfVehicleParamParse = m1StitchedVideoSelfVehicleParamParse; } @Override @@ -123,6 +152,21 @@ public class AdasParam { "\n停车让行线前避让等待开关=" + (stopYieldValid == -1 ? "未知" : stopYieldValid == 0 ? "无需等待" : "等待") + "\n地图限速功能开关=" + (hadmapSpeedLimitValid == -1 ? "未知" : hadmapSpeedLimitValid == 0 ? "不使用" : "使用") + "\n环岛模式开关=" + (rampThetaValid == -1 ? "未知" : rampThetaValid == 0 ? "普通模式" : "环岛模式") + - "\n弱网减速停车策略开关=" + (weakNetSlowDown == -1 ? "未知" : weakNetSlowDown == 0 ? "关闭" : "使用"); + "\n弱网减速停车策略开关=" + (weakNetSlowDown == -1 ? "未知" : weakNetSlowDown == 0 ? "关闭" : "使用") + + "\nm1拼接视频自车位置参数=" + (m1StitchedVideoSelfVehicleParam == null ? "未知" : m1StitchedVideoSelfVehicleParam); + } + + public static class M1StitchedVideoSelfVehicleParam { + public final int x; + public final int y; + public final int width; + public final int height; + + public M1StitchedVideoSelfVehicleParam(int x, int y, int width, int height) { + this.x = x; + this.y = y; + this.width = width; + this.height = height; + } } } 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..b40fc9d438 100644 --- a/libraries/mogo-adas-data/src/main/proto/message_pad.proto +++ b/libraries/mogo-adas-data/src/main/proto/message_pad.proto @@ -6,7 +6,7 @@ import "geometry.proto"; enum ProtocolVersion { Defaultver = 0; - CurrentVersion = 12; //每次修改proto文件增加1 + CurrentVersion = 10; //每次修改proto文件增加1 } enum MessageType diff --git a/libraries/mogo-adas-data/src/main/proto/personal/adas_constants.proto b/libraries/mogo-adas-data/src/main/proto/personal/adas_constants.proto new file mode 100644 index 0000000000..d946df6068 --- /dev/null +++ b/libraries/mogo-adas-data/src/main/proto/personal/adas_constants.proto @@ -0,0 +1,18 @@ +syntax = "proto3"; +package com.zhjt.mogo.adas.data; + + +//MAP系统参数类型 +enum MapSystemParamType{ + DEFAULT_TYPE = 0; + DETOURING = 1;//绕障类功能开关 + DETOURING_SPEED = 2;//变道绕障的目标障碍物速度阈值 + AEB = 3;//AEB开关 + LANE_CHANGE_RESTRAIN_VALID = 4;//限制绕障开关 + STOP_YIELD_VALID = 5;//停车让行线前避让等待开关 + HADMAP_SPEED_LIMIT_VALID = 6;//地图限速功能开关 + RAMP_THETA_VALID = 7;//环岛模式开关 + WEAK_NET_SLOW_DOWN = 8;//弱网减速停车策略开关 + M1_STITCHED_VIDEO_SELF_VEHICLE_PARAM = 9;//m1拼接视频自车位置参数(string), 格式:x,y,width,height +} + 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..a7f2f6f0d4 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 @@ -21,6 +21,7 @@ import androidx.annotation.NonNull; import androidx.annotation.Nullable; import com.google.protobuf.InvalidProtocolBufferException; +import com.zhjt.mogo.adas.data.bean.AdasParam; import com.zhidao.support.adas.high.bean.VersionCompatibility; import com.zhidao.support.adas.high.common.AutopilotReview; import com.zhidao.support.adas.high.common.ByteUtil; @@ -44,6 +45,7 @@ import com.zhidao.support.adas.high.socket.FpgaSocket; import com.zhidao.support.adas.high.subscribe.SubscribeInterface; import com.zhidao.support.adas.high.subscribe.SubscribeInterfaceOptions; import com.zhidao.support.adas.high.thread.DispatchHandler; +import com.zhjt.mogo.adas.data.AdasConstants; import com.zhjt.mogo.adas.data.bean.AutopilotStatistics; import com.zhjt.mogo.adas.data.sweeper.SweeperCloudTask; import com.zhjt.mogo.adas.data.sweeper.bootable.SweeperBootable; @@ -1552,7 +1554,7 @@ public class AdasChannel implements IAdasNetCommApi, FpgaSocket.IWebSocketConnec */ @Override public boolean sendDetouring(int enable) { - return sendSetParamReq(Constants.PARAM_TYPE.DETOURING, String.valueOf(enable)); + return sendSetParamReq(AdasConstants.MapSystemParamType.DETOURING_VALUE, String.valueOf(enable)); } /** @@ -1563,7 +1565,7 @@ public class AdasChannel implements IAdasNetCommApi, FpgaSocket.IWebSocketConnec */ @Override public boolean sendDetouringSpeed(double speed) { - return sendSetParamReq(Constants.PARAM_TYPE.DETOURING_SPEED, String.valueOf(speed)); + return sendSetParamReq(AdasConstants.MapSystemParamType.DETOURING_SPEED_VALUE, String.valueOf(speed)); } /** @@ -1575,7 +1577,7 @@ public class AdasChannel implements IAdasNetCommApi, FpgaSocket.IWebSocketConnec */ @Override public boolean sendAebCmd(int enable) { - return sendSetParamReq(Constants.PARAM_TYPE.AEB, String.valueOf(enable)); + return sendSetParamReq(AdasConstants.MapSystemParamType.AEB_VALUE, String.valueOf(enable)); } /** @@ -1587,7 +1589,7 @@ public class AdasChannel implements IAdasNetCommApi, FpgaSocket.IWebSocketConnec */ @Override public boolean sendLaneChangeRestrainValid(int enable) { - return sendSetParamReq(Constants.PARAM_TYPE.LANE_CHANGE_RESTRAIN_VALID, String.valueOf(enable)); + return sendSetParamReq(AdasConstants.MapSystemParamType.LANE_CHANGE_RESTRAIN_VALID_VALUE, String.valueOf(enable)); } /** @@ -1599,7 +1601,7 @@ public class AdasChannel implements IAdasNetCommApi, FpgaSocket.IWebSocketConnec */ @Override public boolean sendStopYieldValid(int enable) { - return sendSetParamReq(Constants.PARAM_TYPE.STOP_YIELD_VALID, String.valueOf(enable)); + return sendSetParamReq(AdasConstants.MapSystemParamType.STOP_YIELD_VALID_VALUE, String.valueOf(enable)); } @@ -1612,7 +1614,7 @@ public class AdasChannel implements IAdasNetCommApi, FpgaSocket.IWebSocketConnec */ @Override public boolean sendHadmapSpeedLimitValid(int enable) { - return sendSetParamReq(Constants.PARAM_TYPE.HADMAP_SPEED_LIMIT_VALID, String.valueOf(enable)); + return sendSetParamReq(AdasConstants.MapSystemParamType.HADMAP_SPEED_LIMIT_VALID_VALUE, String.valueOf(enable)); } /** @@ -1624,7 +1626,7 @@ public class AdasChannel implements IAdasNetCommApi, FpgaSocket.IWebSocketConnec */ @Override public boolean sendRampThetaValid(int enable) { - return sendSetParamReq(Constants.PARAM_TYPE.RAMP_THETA_VALID, String.valueOf(enable)); + return sendSetParamReq(AdasConstants.MapSystemParamType.RAMP_THETA_VALID_VALUE, String.valueOf(enable)); } /** @@ -1635,46 +1637,47 @@ public class AdasChannel implements IAdasNetCommApi, FpgaSocket.IWebSocketConnec */ @Override public boolean sendWeakNetSlowDown(int enable) { - return sendSetParamReq(Constants.PARAM_TYPE.WEAK_NET_SLOW_DOWN, String.valueOf(enable)); + return sendSetParamReq(AdasConstants.MapSystemParamType.WEAK_NET_SLOW_DOWN_VALUE, String.valueOf(enable)); } /** * 获取全部参数 - * 结果回调{@link OnAdasListener#onGetParamResp(MessagePad.Header, MessagePad.SetParamReq)} + * 结果回调{@link OnAdasListener#onGetParamResp(MessagePad.Header, MessagePad.SetParamReq, AdasParam)} * * @return boolean */ @Override public boolean sendGetAllParamReq() { - return sendGetParamReq(Constants.PARAM_TYPE.UNKNOWN); + return sendGetParamReq(null); } /** * 参数获取请求 - * 结果回调{@link OnAdasListener#onGetParamResp(MessagePad.Header, MessagePad.SetParamReq)} + * 结果回调{@link OnAdasListener#onGetParamResp(MessagePad.Header, MessagePad.SetParamReq, AdasParam)} * - * @param paramType 参数类型{@link Constants.PARAM_TYPE} + * @param paramType 参数类型:libraries/mogo-adas-data/src/main/proto/personal/adas_constants.proto * @return boolean */ @Override - public boolean sendGetParamReq(@Define.ParamType int paramType) { + public boolean sendGetParamReq(AdasConstants.MapSystemParamType paramType) { MessagePad.SetParamReq req; - if (paramType == Constants.PARAM_TYPE.UNKNOWN) { + if (paramType == null || paramType == AdasConstants.MapSystemParamType.DEFAULT_TYPE) { req = MessagePad.SetParamReq .newBuilder() - .addReqs(MessagePad.SetOneParam.newBuilder().setType(Constants.PARAM_TYPE.DETOURING)) - .addReqs(MessagePad.SetOneParam.newBuilder().setType(Constants.PARAM_TYPE.DETOURING_SPEED)) - .addReqs(MessagePad.SetOneParam.newBuilder().setType(Constants.PARAM_TYPE.AEB)) - .addReqs(MessagePad.SetOneParam.newBuilder().setType(Constants.PARAM_TYPE.LANE_CHANGE_RESTRAIN_VALID)) - .addReqs(MessagePad.SetOneParam.newBuilder().setType(Constants.PARAM_TYPE.STOP_YIELD_VALID)) - .addReqs(MessagePad.SetOneParam.newBuilder().setType(Constants.PARAM_TYPE.HADMAP_SPEED_LIMIT_VALID)) - .addReqs(MessagePad.SetOneParam.newBuilder().setType(Constants.PARAM_TYPE.RAMP_THETA_VALID)) - .addReqs(MessagePad.SetOneParam.newBuilder().setType(Constants.PARAM_TYPE.WEAK_NET_SLOW_DOWN)) + .addReqs(MessagePad.SetOneParam.newBuilder().setType(AdasConstants.MapSystemParamType.DETOURING_VALUE)) + .addReqs(MessagePad.SetOneParam.newBuilder().setType(AdasConstants.MapSystemParamType.DETOURING_SPEED_VALUE)) + .addReqs(MessagePad.SetOneParam.newBuilder().setType(AdasConstants.MapSystemParamType.AEB_VALUE)) + .addReqs(MessagePad.SetOneParam.newBuilder().setType(AdasConstants.MapSystemParamType.LANE_CHANGE_RESTRAIN_VALID_VALUE)) + .addReqs(MessagePad.SetOneParam.newBuilder().setType(AdasConstants.MapSystemParamType.STOP_YIELD_VALID_VALUE)) + .addReqs(MessagePad.SetOneParam.newBuilder().setType(AdasConstants.MapSystemParamType.HADMAP_SPEED_LIMIT_VALID_VALUE)) + .addReqs(MessagePad.SetOneParam.newBuilder().setType(AdasConstants.MapSystemParamType.RAMP_THETA_VALID_VALUE)) + .addReqs(MessagePad.SetOneParam.newBuilder().setType(AdasConstants.MapSystemParamType.WEAK_NET_SLOW_DOWN_VALUE)) + .addReqs(MessagePad.SetOneParam.newBuilder().setType(AdasConstants.MapSystemParamType.M1_STITCHED_VIDEO_SELF_VEHICLE_PARAM_VALUE)) .build(); } else { req = MessagePad.SetParamReq .newBuilder() - .addReqs(MessagePad.SetOneParam.newBuilder().setType(paramType)) + .addReqs(MessagePad.SetOneParam.newBuilder().setType(paramType.getNumber())) .build(); } return sendPBMessage(MessageType.TYPE_SEND_GET_PARAM_REQ.typeCode, req.toByteArray()); 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..b1cb6f3947 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 @@ -5,6 +5,7 @@ import android.text.TextUtils; import androidx.annotation.NonNull; +import com.zhjt.mogo.adas.data.bean.AdasParam; import com.zhidao.support.adas.high.bean.VersionCompatibility; import com.zhidao.support.adas.high.common.AppPreferenceHelper; import com.zhidao.support.adas.high.common.Constants; @@ -17,6 +18,7 @@ import com.zhjt.mogo.adas.data.sweeper.task.SweeperTask; import com.zhjt.mogo.adas.data.sweeper.task.SweeperTaskSuspendResume; import com.zhjt.mogo.adas.data.sweeper.task.confirm.SweeperTaskConfirm; import com.zhjt.mogo.adas.data.sweeper.task.stop.SweeperTaskStop; +import com.zhjt.mogo.adas.data.AdasConstants; import java.util.HashSet; import java.util.List; @@ -914,7 +916,7 @@ public class AdasManager implements IAdasNetCommApi { /** * 获取全部参数 - * 结果回调{@link OnAdasListener#onGetParamResp(MessagePad.Header, MessagePad.SetParamReq)} + * 结果回调{@link OnAdasListener#onGetParamResp(MessagePad.Header, MessagePad.SetParamReq, AdasParam)} * * @return boolean */ @@ -925,13 +927,13 @@ public class AdasManager implements IAdasNetCommApi { /** * 参数获取请求 - * 结果回调{@link OnAdasListener#onGetParamResp(MessagePad.Header, MessagePad.SetParamReq)} + * 结果回调{@link OnAdasListener#onGetParamResp(MessagePad.Header, MessagePad.SetParamReq, AdasParam)} * - * @param paramType 参数类型{@link Constants.PARAM_TYPE} + * @param paramType 参数类型:libraries/mogo-adas-data/src/main/proto/personal/adas_constants.proto * @return boolean */ @Override - public boolean sendGetParamReq(@Define.ParamType int paramType) { + public boolean sendGetParamReq(AdasConstants.MapSystemParamType paramType) { return mChannel != null && mChannel.sendGetParamReq(paramType); } 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..3ebd863523 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 @@ -11,6 +11,7 @@ import com.zhjt.mogo.adas.data.sweeper.task.SweeperTask; import com.zhjt.mogo.adas.data.sweeper.task.SweeperTaskSuspendResume; import com.zhjt.mogo.adas.data.sweeper.task.confirm.SweeperTaskConfirm; import com.zhjt.mogo.adas.data.sweeper.task.stop.SweeperTaskStop; +import com.zhjt.mogo.adas.data.AdasConstants; import java.util.List; import java.util.Set; @@ -571,10 +572,10 @@ public interface IAdasNetCommApi { /** * 参数获取请求 * - * @param paramType + * @param paramType 参数类型:libraries/mogo-adas-data/src/main/proto/personal/adas_constants.proto * @return boolean */ - boolean sendGetParamReq(@Define.ParamType int paramType); + boolean sendGetParamReq(AdasConstants.MapSystemParamType paramType); /** diff --git a/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/OnAdasListener.java b/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/OnAdasListener.java index 9926947079..8caa4165c7 100644 --- a/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/OnAdasListener.java +++ b/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/OnAdasListener.java @@ -4,12 +4,12 @@ import androidx.annotation.NonNull; import androidx.annotation.Nullable; import com.mogo.support.obu.ObuScene; -import com.zhidao.support.adas.high.bean.AdasParam; +import com.zhjt.mogo.adas.data.AdasConstants; import com.zhidao.support.adas.high.common.MessageType; import com.zhidao.support.adas.high.common.ProtocolStatus; +import com.zhjt.mogo.adas.data.bean.AdasParam; import com.zhjt.mogo.adas.data.bean.AutopilotStatistics; -import org.jetbrains.annotations.NotNull; import com.zhjt.mogo.adas.data.sweeper.SweeperCloudTask; import com.zhjt.mogo.adas.data.sweeper.bootable.SweeperBootable; import com.zhjt.mogo.adas.data.sweeper.task.SweeperTask; @@ -377,7 +377,7 @@ public interface OnAdasListener { * @param header 头 * @param rsi 数据 */ - void onV2nCongestionEvent(@NotNull MessagePad.Header header, @NotNull MogoV2X.RSI_PB rsi); + void onV2nCongestionEvent(@NonNull MessagePad.Header header, @NonNull MogoV2X.RSI_PB rsi); /** * 主车路径全局事件推送 @@ -389,19 +389,19 @@ public interface OnAdasListener { * @param congestion 拥堵 * @param parkingViolation 违停 ---包含 静态障碍车 */ - void onV2nGlobalPathEvents(@NotNull MessagePad.Header header, @NotNull RoadOverviewEvents.RoadOverviewData roadOverview, @Nullable MogoV2X.RSI_PB construct, @Nullable MogoV2X.RSI_PB triangle, @Nullable MogoV2X.RSI_PB congestion, @Nullable MogoV2X.RSM_PB parkingViolation); + void onV2nGlobalPathEvents(@NonNull MessagePad.Header header, @NonNull RoadOverviewEvents.RoadOverviewData roadOverview, @Nullable MogoV2X.RSI_PB construct, @Nullable MogoV2X.RSI_PB triangle, @Nullable MogoV2X.RSI_PB congestion, @Nullable MogoV2X.RSM_PB parkingViolation); /** * 参数获取应答 *

- * 调用{@link AdasManager#sendGetAllParamReq()}或{@link AdasManager#sendGetParamReq(int)} + * 调用{@link AdasManager#sendGetAllParamReq()}或{@link AdasManager#sendGetParamReq(AdasConstants.MapSystemParamType)} * 如果对应的value是空串，说明没有这个param或者get失败了。重启后值还是在redis里 * * @param header 头 * @param getParamResp 配置参数 - * @param adasParam 解析后的配置参数 + * @param adasParam 解析后的配置参数 */ - void onGetParamResp(@NotNull MessagePad.Header header, @NotNull MessagePad.SetParamReq getParamResp, @NotNull AdasParam adasParam); + void onGetParamResp(@NonNull MessagePad.Header header, @NonNull MessagePad.SetParamReq getParamResp, @NonNull AdasParam adasParam); /** * M1拼接视频 10Hz 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..503d7f8eb2 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 @@ -120,18 +120,4 @@ public class Constants { int OLD_CHASSIS = 1;//老底盘 } - /** - * 参数类型 - */ - public interface PARAM_TYPE { - int UNKNOWN = -1; - int DETOURING = 1;//绕障类功能开关 - int DETOURING_SPEED = 2;//变道绕障的目标障碍物速度阈值 - int AEB = 3;//AEB开关 - int LANE_CHANGE_RESTRAIN_VALID = 4;//限制绕障开关 - int STOP_YIELD_VALID = 5;//停车让行线前避让等待开关 - int HADMAP_SPEED_LIMIT_VALID = 6;//地图限速功能开关 - 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 - } } diff --git a/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/common/Define.java b/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/common/Define.java index fe3064ddfa..c714a935a5 100644 --- a/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/common/Define.java +++ b/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/common/Define.java @@ -55,11 +55,4 @@ public final class Define { public @interface AutopilotStartStatus { } - @IntDef(flag = true, value = {Constants.PARAM_TYPE.DETOURING, Constants.PARAM_TYPE.DETOURING_SPEED, - Constants.PARAM_TYPE.AEB, Constants.PARAM_TYPE.LANE_CHANGE_RESTRAIN_VALID, - Constants.PARAM_TYPE.STOP_YIELD_VALID, Constants.PARAM_TYPE.HADMAP_SPEED_LIMIT_VALID, - Constants.PARAM_TYPE.RAMP_THETA_VALID, Constants.PARAM_TYPE.WEAK_NET_SLOW_DOWN}) - @Retention(RetentionPolicy.SOURCE) - public @interface ParamType { - } } diff --git a/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/msg/GetParamRespMessage.java b/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/msg/GetParamRespMessage.java index 465262b385..d636975386 100644 --- a/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/msg/GetParamRespMessage.java +++ b/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/msg/GetParamRespMessage.java @@ -5,7 +5,7 @@ import android.os.SystemClock; import com.google.protobuf.InvalidProtocolBufferException; import com.zhidao.support.adas.high.AdasChannel; import com.zhidao.support.adas.high.OnAdasListener; -import com.zhidao.support.adas.high.bean.AdasParam; +import com.zhjt.mogo.adas.data.bean.AdasParam; import com.zhidao.support.adas.high.common.CupidLogUtils; import com.zhidao.support.adas.high.protocol.RawData;