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Merge branch 'dev_robotaxi-d_230809_6.0.0' of gitlab.zhidaoauto.com:SCA/L4HA/AndroidApp/MoGoEagleEye into dev_robotaxi-d_230809_6.0.0

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aibingbing
2023-08-31 18:47:59 +08:00
parent a1aafe158a d8f2b30fdd
commit e404fd2164
8 changed files with 159 additions and 124 deletions
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3
OCH/taxi/unmanned-driver/src/main/java/com/mogo/och/taxi/bean/TaxiDriverCarServiceBean.kt
View File

@@ -20,5 +20,6 @@ data class UnmannedLogoutReqBean(var sn: String, var loc: GcjLatLon?)
data class StartServiceReqBean(var sn: String, var gcjLat: Double, var gcjLon: Double)
data class StartServiceRespBean(var data: Result?): BaseData(){
data class Result(var siteId: Long,var siteName: String,var gcjLat: Double, var gcjLon: Double)
data class Result(var siteId: Long,var siteName: String,var gcjLat: Double, var gcjLon: Double,
var wgs84Lon: Double, var wgs84Lat: Double )
}

13
OCH/taxi/unmanned-driver/src/main/java/com/mogo/och/taxi/ui/task/TaxiCurrentTaskFragment.kt
View File

@@ -24,6 +24,7 @@ import com.mogo.eagle.core.utilcode.util.ToastUtils
import com.mogo.eagle.core.utilcode.util.UiThreadHandler
import com.mogo.och.common.module.map.AmapNaviToDestinationModel
import com.mogo.och.common.module.map.ICommonNaviChangedCallback
import com.mogo.och.common.module.voice.VoiceNotice
import com.mogo.och.common.module.wigets.OCHCommitDialog
import com.mogo.och.taxi.R
import com.mogo.och.taxi.bean.OrderDetail
@@ -207,6 +208,14 @@ class TaxiCurrentTaskFragment : BaseFragment(),
endStationName.text = driveToNearestStationTask.siteName
updateStartAndEndStationPointByStatus(true)
setOrRemoveMapMaker(
true,
TAXI_END_MAP_MAKER,
driveToNearestStationTask.wgs84Lat,
driveToNearestStationTask.wgs84Lon,
R.raw.end_marker
)
// 使用高德获取导航数据
startNaviToStation(
false,
@@ -325,6 +334,7 @@ class TaxiCurrentTaskFragment : BaseFragment(),
TaskTypeEnum.VirtualTask.code -> {// 演练任务
if (order != null && currentStatus == TaskStatusEnum.CompleteTask.code) {
updateOrderUI(order)
VoiceNotice.showNotice("已为您接到订单")
return
}
if (startSite == null || endSite == null) return
@@ -344,8 +354,9 @@ class TaxiCurrentTaskFragment : BaseFragment(),
}
TaskTypeEnum.None.code -> {
if (order != null) {
if (order != null && currentStatus == TaskStatusEnum.CompleteTask.code) {
updateOrderUI(order)
VoiceNotice.showNotice("已为您接到订单")
}
}
}

2
OCH/taxi/unmanned-driver/src/main/java/com/mogo/och/taxi/ui/task/TaxiCurrentTaskViewModel.kt
View File

@@ -218,7 +218,7 @@ class TaxiCurrentTaskViewModel : BaseViewModel<UnmannedState, TaskUiIntent>(),
}
override fun onOrderCancel() {
VoiceNotice.showNotice("订单已经取消")
VoiceNotice.showNotice("已取消行程")
// updateTaskAndOrderUi(null)
}

10
OCH/taxi/unmanned-driver/src/main/java/com/mogo/och/taxi/ui/task/TaxiTaskModel.kt
View File

@@ -53,6 +53,7 @@ import com.mogo.och.common.module.manager.distancemamager.TrajectoryAndDistanceM
import com.mogo.och.common.module.manager.distancemamager.TrajectoryAndDistanceManager.setStationPoint
import com.mogo.och.common.module.map.AmapNaviToDestinationModel
import com.mogo.och.common.module.utils.CoordinateCalculateRouteUtil.coordinateConverterWgsToGcjLocations
import com.mogo.och.common.module.voice.VoiceNotice
import com.mogo.och.taxi.bean.PrepareTaskRespBean
import com.mogo.och.taxi.bean.QueryCarOrderByNoRespBean
import com.mogo.och.taxi.bean.QueryCurrentTaskRespBean
@@ -528,7 +529,7 @@ object TaxiTaskModel {
)
if (distance <= TaxiUnmannedConst.ARRIVE_AT_START_STATION_DISTANCE) { // 15米内到站
DebugView.printInfoMsg("[高德定位围栏] 触发围栏，任务类型：DriveToNearestStationTask，围栏范围：${TaxiUnmannedConst.ARRIVE_AT_START_STATION_DISTANCE}米")
submitArriveSite(virtualTask.siteId, true)
submitArriveSite(virtualTask.siteId, true, isArrivedNearestStation = true)
}
}
@@ -565,7 +566,8 @@ object TaxiTaskModel {
* @siteId : 站点id
* @isArriveAtEndSite: true 终点, false 起点
*/
fun submitArriveSite(siteId: Long, isArriveAtEndSite: Boolean) {
fun submitArriveSite(siteId: Long, isArriveAtEndSite: Boolean,
isArrivedNearestStation : Boolean = false) {
DebugView.printInfoMsg("[上报ArriveSite] siteId=$siteId, isArriveAtEndSite=$isArriveAtEndSite")
i(TAG, message = "submitArriveSite: siteId=$siteId isArriveAtEndSite=$isArriveAtEndSite")
TaxiTaskWithOrderServiceManager.arriveSite(
@@ -577,6 +579,10 @@ object TaxiTaskModel {
DebugView.printInfoMsg("[上报ArriveSite] success siteId=$siteId, isArriveAtEndSite=$isArriveAtEndSite")
d(TAG, "submitArriveSite-onSuccess data=" + GsonUtil.jsonFromObject(data))
mDriveToNearestStationTask = null
if (isArrivedNearestStation){// 播报提醒
VoiceNotice.showNotice("已到达出车点")
}
if (isArriveAtEndSite) {
updateLocalCalculateStation()
//到站后不再调用取消自驾. 原因是取消自驾,D档位会溜车

12
OCH/taxi/unmanned-driver/src/main/res/layout/taxi_no_data_common_view.xml
View File

@@ -25,4 +25,16 @@
app:layout_constraintRight_toRightOf="parent"
app:layout_constraintTop_toBottomOf="@+id/no_order_data_iv"
android:text="暂无服务订单"/>
<TextView
android:id="@+id/getTaskCountdownTv"
android:layout_width="wrap_content"
android:layout_height="wrap_content"
android:textColor="#91A1EA"
android:textSize="@dimen/dp_30"
android:layout_marginTop="50dp"
app:layout_constraintLeft_toLeftOf="parent"
app:layout_constraintRight_toRightOf="parent"
app:layout_constraintTop_toBottomOf="@+id/noOrderDataTv"
android:text="距离任务获取还有"/>
</androidx.constraintlayout.widget.ConstraintLayout>

2
config.gradle
View File

@@ -215,7 +215,7 @@ ext {
btrace : "com.bytedance.btrace:rhea-core:2.0.0",
mofang_runtime : "com.mogo.eagle.core.mofang:runtime:2.0.6",
log_runtime : "com.mogo.eagle.core.log.record:runtime:1.0.12",
log_runtime : "com.mogo.eagle.core.log.record:runtime:1.0.15",
// 安全证书
passport_secret : "com.zhidaoauto:sdk-java:1.0.5-SNAPSHOT",

236
core/function-impl/mogo-core-function-datacenter/src/main/java/com/mogo/eagle/core/function/datacenter/autopilot/MoGoAutopilotControlProvider.kt
View File

@@ -7,6 +7,7 @@ import bag_manager.BagManagerOuterClass
import chassis.SpecialVehicleTaskCmdOuterClass
import com.alibaba.android.arouter.facade.annotation.Route
import com.mogo.cloud.passport.MoGoAiCloudClientConfig
import com.mogo.commons.debug.DebugConfig
import com.mogo.eagle.core.data.autopilot.AutopilotControlParameters
import com.mogo.eagle.core.data.autopilot.toAutoPilotLine
import com.mogo.eagle.core.data.autopilot.toRouteInfo
@@ -96,14 +97,15 @@ class MoGoAutopilotControlProvider :
override fun init(context: Context) {
CallerLogger.i("$M_D_C$TAG", "初始化工控机连接……")
mContext = context
// 初始化ADAS 域控制器
CupidLogUtils.setEnableLog(false)
msgHandler = TeleMsgHandler()
if (AppIdentityModeUtils.isDriver(FunctionBuildConfig.appIdentityMode)) {// 司机
// 注册地图采集功能
CallerMapDataCollectorManager.registerOnMapCollectTaskListener(this)
runCatching {
// 初始化ADAS 域控制器
CupidLogUtils.setEnableLog(false)
msgHandler = TeleMsgHandler()
if (AppIdentityModeUtils.isDriver(FunctionBuildConfig.appIdentityMode)) {// 司机
// 注册地图采集功能
CallerMapDataCollectorManager.registerOnMapCollectTaskListener(this)
// 配置默认关闭的连接topic
// 配置默认关闭的连接topic
// val messageTypes: MutableSet<MessageType> = HashSet()
// messageTypes.add(MessageType.TYPE_RECEIVE_POINT_CLOUD)
// val subscribeInterfaceOptions = SubscribeInterfaceOptions.newBuilder()
@@ -111,125 +113,131 @@ class MoGoAutopilotControlProvider :
// .setType(Constants.SUBSCRIBE_TYPE.UNSUBSCRIBE)
// .setMessageTypes(messageTypes).build()
// "192.168.1.102"
val options = AdasOptions.Builder()
.setIpcConnectionMode(AdasOptions.IPC_CONNECTION_MODE.FIXATION)
.setIpcFixationIP(AdasManager.getInstance().getIPCFixationIPList(mContext))
.setClient(false)
.setUnableLaunchAutopilotGear(FunctionBuildConfig.unableLaunchAutopilotGear)
// "192.168.1.102"
val options = AdasOptions.Builder()
.setIpcConnectionMode(AdasOptions.IPC_CONNECTION_MODE.FIXATION)
.setIpcFixationIP(AdasManager.getInstance().getIPCFixationIPList(mContext))
.setClient(false)
.setUnableLaunchAutopilotGear(FunctionBuildConfig.unableLaunchAutopilotGear)
// .setSubscribeInterfaceOptions(subscribeInterfaceOptions)//
.build()
.build()
AdasManager.getInstance().create(options, MoGoAdasMsgConnectStatusListenerImpl())
//////////////////////////////////注意先后顺序，AdasManager.getInstance().create后才可以设置监听/////////////////////////////////////////////
// 监听ADAS-SDK获取到的工控机数据
AdasManager.getInstance().setOnAdasListener(MoGoAdasListenerImpl())
NSDNettyManager.getInstance().startNSDNettyServerWithSN(context, object :
NettyServerListener<MogoProtocolMsg> {
override fun onMessageResponseServer(msg: MogoProtocolMsg?, channel: Channel?) {
msgHandler.handleMsgFromClient(msg, channel)
}
override fun onStartServer() {
ToastUtils.showShort("司机端服务启动成功!")
if (timer == null) {
timer = Timer()
AdasManager.getInstance().create(options, MoGoAdasMsgConnectStatusListenerImpl())
//////////////////////////////////注意先后顺序，AdasManager.getInstance().create后才可以设置监听/////////////////////////////////////////////
// 监听ADAS-SDK获取到的工控机数据
AdasManager.getInstance().setOnAdasListener(MoGoAdasListenerImpl())
NSDNettyManager.getInstance().startNSDNettyServerWithSN(context, object :
NettyServerListener<MogoProtocolMsg> {
override fun onMessageResponseServer(msg: MogoProtocolMsg?, channel: Channel?) {
msgHandler.handleMsgFromClient(msg, channel)
}
// 10s同步一次数据到乘客屏
timer!!.schedule(object : TimerTask() {
override fun run() {
// 同步是否开启美化模式
setDemoMode(FunctionBuildConfig.isDemoMode)
setIgnoreConditionDraw(FunctionBuildConfig.isIgnoreConditionsDrawAutopilotTrajectoryData)
msgHandler.synMsgToAllClients()
override fun onStartServer() {
ToastUtils.showShort("司机端服务启动成功!")
if (timer == null) {
timer = Timer()
}
}, 1000, 10000)
invokeNettyConnResult("司机端服务启动成功!")
CallerTelematicStatusListenerManager.invokeServerStatusChanged(true)
}
override fun onStopServer() {
ToastUtils.showLong("司机端服务停止!")
timer?.cancel()
timer = null
invokeNettyConnResult("司机端服务停止!")
CallerTelematicStatusListenerManager.invokeServerStatusChanged(false)
}
override fun onChannelConnect(channel: Channel?) {
msgHandler.handleClientConn2Server(channel)
}
override fun onChannelDisConnect(channel: Channel?) {
CallerLogger.d("$M_D_C$TAG", "onChannelDisConnect")
}
override fun onReceiveClientSign(channel: Channel?, sn: String?) {
sn?.let {
invokeNettyConnResult("连接成功的乘客屏sn为:$it")
// 10s同步一次数据到乘客屏
timer!!.schedule(object : TimerTask() {
override fun run() {
// 同步是否开启美化模式
setDemoMode(FunctionBuildConfig.isDemoMode)
setIgnoreConditionDraw(FunctionBuildConfig.isIgnoreConditionsDrawAutopilotTrajectoryData)
msgHandler.synMsgToAllClients()
}
}, 1000, 10000)
invokeNettyConnResult("司机端服务启动成功!")
CallerTelematicStatusListenerManager.invokeServerStatusChanged(true)
}
}
}, MoGoAiCloudClientConfig.getInstance().sn)
} else {
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)
}
override fun onClientStatusConnectChanged(
statusCode: Int,
sign: String?,
channel: Channel
) {
msgHandler.handleClientConnStatus(statusCode, sign, channel)
}
})
}
msgHandler.setListener(object : EventListener {
override fun connectDevice(isSupportMulti: Boolean) {
if (AppIdentityModeUtils.isDriver(FunctionBuildConfig.appIdentityMode)) {
if (!isInit) {
isInit = true
// 转发工控机数据给乘客屏
listenDeviceData()
override fun onStopServer() {
ToastUtils.showLong("司机端服务停止!")
timer?.cancel()
timer = null
invokeNettyConnResult("司机端服务停止!")
CallerTelematicStatusListenerManager.invokeServerStatusChanged(false)
}
} else {
if (!isInit) {
isInit = true
UiThreadHandler.post {
if (isSupportMulti) {
// 直连工控机
directConnect()
} else {
val options = AdasOptions
.Builder()
.setClient(true)
.setUnableLaunchAutopilotGear(FunctionBuildConfig.unableLaunchAutopilotGear)
.build()
AdasManager.getInstance()
.create(options, MoGoAdasMsgConnectStatusListenerImpl())
// 监听ADAS-SDK获取到的工控机数据
AdasManager.getInstance().setOnAdasListener(MoGoAdasListenerImpl())
// 接收司机屏发过来的感知、定位等数据
listenDeviceData()
override fun onChannelConnect(channel: Channel?) {
msgHandler.handleClientConn2Server(channel)
}
override fun onChannelDisConnect(channel: Channel?) {
CallerLogger.d("$M_D_C$TAG", "onChannelDisConnect")
}
override fun onReceiveClientSign(channel: Channel?, sn: String?) {
sn?.let {
invokeNettyConnResult("连接成功的乘客屏sn为:$it")
}
}
}, MoGoAiCloudClientConfig.getInstance().sn)
} else {
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)
}
override fun onClientStatusConnectChanged(
statusCode: Int,
sign: String?,
channel: Channel
) {
msgHandler.handleClientConnStatus(statusCode, sign, channel)
}
})
}
msgHandler.setListener(object : EventListener {
override fun connectDevice(isSupportMulti: Boolean) {
if (AppIdentityModeUtils.isDriver(FunctionBuildConfig.appIdentityMode)) {
if (!isInit) {
isInit = true
// 转发工控机数据给乘客屏
listenDeviceData()
}
} else {
if (!isInit) {
isInit = true
UiThreadHandler.post {
if (isSupportMulti) {
// 直连工控机
directConnect()
} else {
val options = AdasOptions
.Builder()
.setClient(true)
.setUnableLaunchAutopilotGear(FunctionBuildConfig.unableLaunchAutopilotGear)
.build()
AdasManager.getInstance()
.create(options, MoGoAdasMsgConnectStatusListenerImpl())
// 监听ADAS-SDK获取到的工控机数据
AdasManager.getInstance().setOnAdasListener(MoGoAdasListenerImpl())
// 接收司机屏发过来的感知、定位等数据
listenDeviceData()
}
}
}
}
}
})
CallerAutopilotCarConfigListenerManager.addListener(TAG, this)
CallerLogger.i("$M_D_C$TAG", "initServer……")
// 同步数据给工控机的服务
AsyncDataToAutopilotServer.INSTANCE.initServer()
}.onFailure { throwable ->
if (DebugConfig.isDebug()) {
ToastUtils.showLong("AutoPilot出现异常，请立即处理!")
}
})
CallerAutopilotCarConfigListenerManager.addListener(TAG, this)
CallerLogger.i("$M_D_C$TAG", "initServer……")
// 同步数据给工控机的服务
AsyncDataToAutopilotServer.INSTANCE.initServer()
throwable.printStackTrace()
}
}
private fun directConnect() {

5
core/function-impl/mogo-core-function-datacenter/src/main/java/com/mogo/eagle/core/function/datacenter/autopilot/adapter/MoGoAdasMsgConnectStatusListenerImpl.kt
View File

@@ -43,10 +43,6 @@ class MoGoAdasMsgConnectStatusListenerImpl :
override fun onConnectionIPCStatus(ipcConnectionStatus: Int, reason: String?) {
CallerAutopilotActionsListenerManager.setConnected(ipcConnectionStatus == Constants.IPC_CONNECTION_STATUS.CONNECTED)
CallerAutoPilotStatusListenerManager.invokeAutoPilotIPCStatusChanged(
ipcConnectionStatus,
reason
)
AppConfigInfo.connectStatusDescribe = reason
when (ipcConnectionStatus) {
Constants.IPC_CONNECTION_STATUS.CONNECTED -> {
@@ -103,6 +99,7 @@ class MoGoAdasMsgConnectStatusListenerImpl :
CallerAutoPilotStatusListenerManager.getAutoPilotStatusInfo().ipcConnStatus = ipcConnectionStatus
CallerAutoPilotStatusListenerManager.getAutoPilotStatusInfo().connectStatusDescribe = reason
CallerAutoPilotStatusListenerManager.invokeAutoPilotStatus()
CallerAutoPilotStatusListenerManager.invokeAutoPilotIPCStatusChanged(ipcConnectionStatus, reason)
}
override fun onCompatibility(versionCompatibility: VersionCompatibility?) {