yangyakun921/MoGoEagleEye
1
0
Fork 0
Code Issues Pull Requests Actions Packages Projects Releases Wiki Activity

[Change]

Browse Source 
增加未知类型绘制开关按钮
增加未知类型计数

Signed-off-by: donghongyu <donghongyu@zhidaoauto.com>
This commit is contained in:
donghongyu
2022-03-01 18:46:47 +08:00
parent 193f7f4c4b
commit e447fb1a3e
6 changed files with 107 additions and 83 deletions
Download Patch File Download Diff File Expand all files Collapse all files

56
core/function-impl/mogo-core-function-autopilot/src/main/java/com/mogo/eagle/core/function/autopilot/MoGoAutopilotProvider.kt
View File

@@ -4,7 +4,6 @@ import android.Manifest.permission
import android.content.Context
import androidx.annotation.RequiresPermission
import com.alibaba.android.arouter.facade.annotation.Route
import com.mogo.cloud.passport.MoGoAiCloudClientConfig
import com.mogo.eagle.core.data.autopilot.AutopilotControlCmdParameter
import com.mogo.eagle.core.data.autopilot.AutopilotControlParameters
import com.mogo.eagle.core.data.config.FunctionBuildConfig
@@ -17,6 +16,7 @@ import com.mogo.eagle.core.function.autopilot.adapter.MoGoAdasMsgConnectStatusLi
import com.mogo.eagle.core.function.autopilot.adapter.MoGoHandAdasMsgManager
import com.mogo.eagle.core.function.autopilot.server.AsyncDataToAutopilotServer
import com.mogo.eagle.core.function.call.map.CallerMapDataCollectorManager
import com.mogo.eagle.core.utilcode.mogo.AppIdentityModeUtils
import com.mogo.eagle.core.utilcode.mogo.logger.Logger
import com.mogo.eagle.core.utilcode.mogo.storage.SharedPrefsMgr
import com.mogo.eagle.core.utilcode.util.GsonUtils
@@ -36,7 +36,7 @@ import java.util.concurrent.TimeUnit
*/
@Route(path = MogoServicePaths.PATH_AUTO_PILOT)
class MoGoAutopilotProvider :
IMoGoAutopilotProvider, IMoGoMapDataCollectProvider.OnMapCollectCmdListener {
IMoGoAutopilotProvider, IMoGoMapDataCollectProvider.OnMapCollectCmdListener {
private val TAG = "MoGoAutoPilotProvider"
private var mContext: Context? = null
@@ -51,19 +51,17 @@ class MoGoAutopilotProvider :
CupidLogUtils.setEnableLog(false)
CupidLogUtils.setIsWriteLog(false)
// TODO 临时方案，根据不同的身份标识，连接不同的工控机IP
when (FunctionBuildConfig.appIdentityMode) {
0x00 -> // 司机
{
// 注册地图采集功能
CallerMapDataCollectorManager.registerOnMapCollectTaskListener(this)
// "192.168.1.102"
val options = AdasOptions.Builder()
.setIpcConnectionMode(AdasOptions.IPC_CONNECTION_MODE.FIXATION)
.setIpcFixationIP(AdasManager.getInstance().getIPCFixationIPList(mContext))
if (AppIdentityModeUtils.isDriver(FunctionBuildConfig.appIdentityMode)) {// 司机
// 注册地图采集功能
CallerMapDataCollectorManager.registerOnMapCollectTaskListener(this)
// "192.168.1.102"
val options = AdasOptions.Builder()
.setIpcConnectionMode(AdasOptions.IPC_CONNECTION_MODE.ASSIGN)
.setIpcAssignIP(FunctionBuildConfig.adasConnectIP)
.setClient(false)
.build()
AdasManager.getInstance().create(context, options)
AdasManager.getInstance().create(context, options)
// NSDNettyManager.getInstance().startNSDNettyServer(context, object : NettyServerListener<MogoProtocolMsg> {
// override fun onMessageResponseServer(msg: MogoProtocolMsg?, channel: Channel?) {
// Logger.d(TAG, "Receive client data is:${msg?.toString()}")
@@ -89,18 +87,17 @@ class MoGoAutopilotProvider :
// Logger.d(TAG, "onChannelDisConnect")
// }
// })
}
0x01 -> // 乘客
{
// 乘客端默认接收绘制全局路径+引导线
//FunctionBuildConfig.isDemoMode = true
//FunctionBuildConfig.isIgnoreConditionsDrawAutopilotTrajectoryData = true
// "192.168.1.102"
val options = AdasOptions
.Builder()
} else {// 乘客
// 乘客端默认接收绘制全局路径+引导线
//FunctionBuildConfig.isDemoMode = true
//FunctionBuildConfig.isIgnoreConditionsDrawAutopilotTrajectoryData = true
// "192.168.1.103"
val options = AdasOptions.Builder()
.setIpcConnectionMode(AdasOptions.IPC_CONNECTION_MODE.ASSIGN)
.setIpcAssignIP(FunctionBuildConfig.adasConnectIP)
.setClient(true)
.build()
AdasManager.getInstance().create(context, options)
AdasManager.getInstance().create(context, options)
// NSDNettyManager.getInstance().searchAndConnectServer(context, MoGoAiCloudClientConfig.getInstance().sn, object : NettyClientListener<MogoProtocolMsg> {
// override fun onMessageResponseClient(msg: MogoProtocolMsg?, sign: String?) {
// Logger.d(TAG, "收到司机端的数据!")
@@ -121,22 +118,11 @@ class MoGoAutopilotProvider :
// }
// }
// })
}
//
else -> // 默认采用UDP寻址方式
{
val options = AdasOptions.Builder()
.setIpcConnectionMode(AdasOptions.IPC_CONNECTION_MODE.FIXATION)
.setIpcFixationIP(AdasManager.getInstance().getIPCFixationIPList(mContext))
.setClient(false)
.build()
AdasManager.getInstance().create(context, options)
}
}
//////////////////////////////////注意先后顺序，AdasManager.getInstance().create后才可以设置监听/////////////////////////////////////////////
// 监听 adas 连接状态
AdasManager.getInstance()
.setOnAdasConnectStatusListener(MoGoAdasMsgConnectStatusListenerImpl())
.setOnAdasConnectStatusListener(MoGoAdasMsgConnectStatusListenerImpl())
// 监听ADAS-SDK获取到的工控机数据(乘客也需注册)
AdasManager.getInstance().setOnAdasListener(MoGoAdasListenerImpl())
// // 司机端监听
@@ -240,7 +226,7 @@ class MoGoAutopilotProvider :
override fun recordPackage(): Boolean {
return AdasManager.getInstance()
.recordPackage(1, (System.currentTimeMillis() / 1000).toInt())
.recordPackage(1, (System.currentTimeMillis() / 1000).toInt())
}
override fun recordPackage(type: Int, id: Int): Boolean {