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close route overlay log and fix draw data of route to pb style

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zhongchao
2022-04-06 18:56:03 +08:00
parent 4f7cf8608e
commit e1508a3f0f
14 changed files with 49 additions and 187 deletions
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27
core/function-impl/mogo-core-function-autopilot/src/main/java/com/mogo/eagle/core/function/autopilot/adapter/MoGoAdasListenerImpl.kt
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@@ -1,7 +1,6 @@
package com.mogo.eagle.core.function.autopilot.adapter
import chassis.VehicleStateOuterClass
import com.mogo.eagle.core.data.autopilot.ADASTrajectoryInfo
import com.mogo.eagle.core.data.config.FunctionBuildConfig
import com.mogo.eagle.core.data.config.HdMapBuildConfig
import com.mogo.eagle.core.data.deva.chain.ChainConstant.Companion.CHAIN_ALIAS_CODE_ADAS_MESSAGE_AUTOPILOT_ARRIVE
@@ -19,7 +18,6 @@ import com.mogo.eagle.core.data.deva.chain.ChainConstant.Companion.CHAIN_LINK_LO
import com.mogo.eagle.core.data.deva.chain.ChainConstant.Companion.CHAIN_LINK_LOG_WEB_SOCKET_TRAJECTORY
import com.mogo.eagle.core.data.deva.chain.ChainConstant.Companion.CHAIN_LINK_LOG_WEB_SOCKET_VEHICLE
import com.mogo.eagle.core.function.call.autopilot.CallerAutoPilotStatusListenerManager
import com.mogo.eagle.core.utilcode.mogo.logger.scene.SceneConstant.Companion.M_ADAS_IMPL
import com.mogo.eagle.core.function.call.autopilot.CallerAutoPilotStatusListenerManager.getAutoPilotStatusInfo
import com.mogo.eagle.core.function.call.autopilot.CallerAutoPilotStatusListenerManager.invokeArriveAtStation
import com.mogo.eagle.core.function.call.autopilot.CallerAutoPilotStatusListenerManager.invokeAutoPilotStatus
@@ -37,6 +35,7 @@ import com.mogo.eagle.core.function.call.hmi.CallerHmiManager.showAdUpgradeStatu
import com.mogo.eagle.core.function.call.hmi.CallerHmiManager.showDockerRebootResult
import com.mogo.eagle.core.function.call.map.CallerMapUIServiceManager
import com.mogo.eagle.core.utilcode.mogo.logger.CallerLogger
import com.mogo.eagle.core.utilcode.mogo.logger.scene.SceneConstant.Companion.M_ADAS_IMPL
import com.zhidao.support.adas.high.AdasManager
import com.zhidao.support.adas.high.OnAdasListener
import com.zhidao.support.adas.high.bean.IPCUpgradeStateInfo
@@ -49,7 +48,6 @@ import mogo.telematics.pad.MessagePad.TrackedObject
import mogo_msg.MogoReportMsg
import perception.TrafficLightOuterClass
import record_cache.RecordPanelOuterClass
import java.util.*
/**
* @author emArrow
@@ -75,23 +73,9 @@ class MoGoAdasListenerImpl : OnAdasListener {
)
override fun onTrajectory(header: MessagePad.Header, trajectory: MessagePad.Trajectory?) {
if (HdMapBuildConfig.isMapLoaded) {
val trajectoryInfoArrayList = ArrayList<ADASTrajectoryInfo>()
if (trajectory != null && trajectory.pointsList.size > 0) {
for (trajectory in trajectory.pointsList) {
val adasTrajectoryInfo = ADASTrajectoryInfo()
adasTrajectoryInfo.lat = trajectory.latitude
adasTrajectoryInfo.lon = trajectory.longitude
adasTrajectoryInfo.acceleration = trajectory.acceleration
adasTrajectoryInfo.accumulatedDis = trajectory.accumulatedDis
adasTrajectoryInfo.time = trajectory.time
adasTrajectoryInfo.velocity = trajectory.velocity
adasTrajectoryInfo.alt = trajectory.altitude
adasTrajectoryInfo.kappa = trajectory.kappa
adasTrajectoryInfo.theta = trajectory.theta
trajectoryInfoArrayList.add(adasTrajectoryInfo)
}
invokeAutopilotTrajectory(trajectory.pointsList)
}
invokeAutopilotTrajectory(trajectoryInfoArrayList)
}
}
@@ -129,7 +113,11 @@ class MoGoAdasListenerImpl : OnAdasListener {
// 同步给MAP地图
CallerMapUIServiceManager.getMapUIController()?.syncLocation2Map(gnssInfo)
// 同步更新经纬度和系统时间至 AutoPilotStatusListener
CallerAutoPilotStatusListenerManager.updateAutoPilotLatLon(gnssInfo.satelliteTime.toLong(),gnssInfo.longitude, gnssInfo.latitude)
CallerAutoPilotStatusListenerManager.updateAutoPilotLatLon(
gnssInfo.satelliteTime.toLong(),
gnssInfo.longitude,
gnssInfo.latitude
)
}
}
}
@@ -217,6 +205,7 @@ class MoGoAdasListenerImpl : OnAdasListener {
invokeAutopilotGuardian(mogoReportMessage)
}
}
//感知红绿灯
override fun onPerceptionTrafficLight(
header: MessagePad.Header?,