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Merge branch 'dev_robotaxi-d_230809_6.0.0' into 6.0.0merge2master

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# Conflicts:
#	OCH/sweeper/sweeper-cloud/src/main/java/com/mogo/och/sweepercloud/model/SweeperTaskModel.java
#	libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/AdasChannel.java
#	libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/OnAdasListener.java
This commit is contained in:
yangyakun
2023-09-11 17:43:17 +08:00
parent ea468d9eb1 1e0c42d15a
commit e53ee5e6ca
3672 changed files with 38961 additions and 14144 deletions
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4
core/mogo-core-function-api/build.gradle
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@@ -46,11 +46,13 @@ android {
dependencies {
implementation fileTree(dir: 'libs', include: ['*.jar'])
implementation rootProject.ext.dependencies.kotlinstdlibjdk7
implementation rootProject.ext.dependencies.kotlinstdlib
implementation rootProject.ext.dependencies.arouter
kapt rootProject.ext.dependencies.aroutercompiler
compileOnly rootProject.ext.dependencies.block_detector
if (Boolean.valueOf(USE_MAVEN_PACKAGE)) {
compileOnly rootProject.ext.dependencies.mogo_core_data
compileOnly rootProject.ext.dependencies.mogomapapi

6
core/mogo-core-function-api/src/main/java/com/mogo/eagle/core/function/api/autopilot/IMoGoAutopilotActionsListener.kt
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@@ -1,13 +1,15 @@
package com.mogo.eagle.core.function.api.autopilot
import com.zhjt.mogo.adas.data.bean.UnableAutopilotReason
/**
* pnc actions 决策 驾驶的意图
* 自动驾驶能力 能否启动自动驾驶
*/
interface IMoGoAutopilotActionsListener {
/**
* pnc actions 决策 驾驶的意图
*/
fun onAutopilotAbility(isAutopilotAbility: Boolean, unableAutopilotReason: String?)
fun onAutopilotAbility(isAutopilotAbility: Boolean, unableAutopilotReasons: ArrayList<UnableAutopilotReason>?)
}

66
core/mogo-core-function-api/src/main/java/com/mogo/eagle/core/function/api/autopilot/IMoGoAutopilotControlProvider.kt
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@@ -56,6 +56,11 @@ interface IMoGoAutopilotControlProvider : IMoGoFunctionServerProvider {
*/
fun sendTrajectoryDownloadReq(autoPilotLine: AutopilotControlParameters.AutoPilotLine)
/**
* 发送 轨迹下载请求
* @param downloadType 下载类型: 0:正常下载 1:预下载
*/
fun sendTrajectoryDownloadReq(autoPilotLine: AutopilotControlParameters.AutoPilotLine, downloadType: Int)
/**
* 结束自动驾驶
*/
@@ -202,6 +207,41 @@ interface IMoGoAutopilotControlProvider : IMoGoFunctionServerProvider {
*/
fun sendWeakNetSlowDown(isEnable: Boolean): Boolean
/**
* 故障减速停车策路开关
* isEnable = true 使用故障减速停车策略
* isEnable = false 关闭故障减速停车策略
* @return boolean
*/
fun sendBreakdownSlowDown(isEnable: Boolean): Boolean
/**
* 融合模式
*
* @param cmd 1:全融合模式 2:盲区模式 3:超视距模式 4:透传模式 5:纯路侧模式，默认1
* @return boolean
*/
fun sendFusionMode(cmd: Int): Boolean
/**
* 批量设置参数命令
*
* @param param {@link AdasConstants.MapSystemParamType#DETOURING Value类型：int或int类型String}
* {@link AdasConstants.MapSystemParamType#DETOURING_SPEED Value类型：double或double类型String}
* {@link AdasConstants.MapSystemParamType#AEB Value类型：int或int类型String}
* {@link AdasConstants.MapSystemParamType#LANE_CHANGE_RESTRAIN_VALID Value类型：int或int类型String}
* {@link AdasConstants.MapSystemParamType#STOP_YIELD_VALID Value类型：int或int类型String}
* {@link AdasConstants.MapSystemParamType#HADMAP_SPEED_LIMIT_VALID Value类型：int或int类型String}
* {@link AdasConstants.MapSystemParamType#RAMP_THETA_VALID Value类型：int或int类型String}
* {@link AdasConstants.MapSystemParamType#WEAK_NET_SLOW_DOWN Value类型：int或int类型String}
* {@link AdasConstants.MapSystemParamType#BREAKDOWN_SLOW_DOWN Value类型：int或int类型String}
* {@link AdasConstants.MapSystemParamType#BLIND_AREA Value类型：boolean或boolean类型String}
* {@link AdasConstants.MapSystemParamType#V2N_TO_PNC Value类型：boolean或boolean类型String}
* {@link AdasConstants.MapSystemParamType#V2I_TO_PNC Value类型：boolean或boolean类型String}
* {@link AdasConstants.MapSystemParamType#FUSION_MODE Value类型：int或int类型String}
* @return boolean
*/
fun sendSetParamReq(param: Map<AdasConstants.MapSystemParamType, Any>): Boolean
/**
* 获取全部参数
* 结果回调{@link OnAdasListener#onGetParamResp(MessagePad.Header, MessagePad.SetParamReq)}
@@ -214,10 +254,10 @@ interface IMoGoAutopilotControlProvider : IMoGoFunctionServerProvider {
* 参数获取请求
* 结果回调{@link OnAdasListener#onGetParamResp(MessagePad.Header, MessagePad.SetParamReq)}
*
* @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: AdasConstants.MapSystemParamType): Boolean
fun sendGetParamReq(vararg paramType: AdasConstants.MapSystemParamType): Boolean
/**
* 获取数据采集录制模式配置列表
@@ -235,11 +275,29 @@ interface IMoGoAutopilotControlProvider : IMoGoFunctionServerProvider {
fun sendBagManagerCmd(bagManagerEntity: BagManagerEntity): Boolean
/**
* 控制V2N数据给车端PnC
* @param switchCmd true为发给PnC，false为不发给PnC
* 控制V2I进PnC
*
* @param switchCmd true：发给Pnc和鹰眼，false：不发给PnC和鹰眼
* @return boolean
*/
fun sendV2iToPncCmd(switchCmd: Boolean)
/**
* 控制V2N进PnC
*
* @param switchCmd true：发给PnC，false：不发给PnC
* @return boolean
*/
fun sendV2nToPncCmd(switchCmd: Boolean)
/**
* 盲区数据开关
*
* @param switchCmd 数据开关
* @return boolean
*/
fun sendBlindAreaCmd(switchCmd: Boolean)
/**
* 发送工控机所有节点重启命令
*/

6
core/mogo-core-function-api/src/main/java/com/mogo/eagle/core/function/api/autopilot/IMoGoAutopilotStatusListener.kt
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@@ -61,6 +61,12 @@ interface IMoGoAutopilotStatusListener {
*/
fun onAutopilotStatusRespByQuery(status: SystemStatusInfo.StatusInfo) {}
/**
* 定频SSM
* 老版本 SSM（SystemStatusInfo.StatusInfo） HQ、M1 MAP350开始弃用，其他车型MAP360开始弃用
*/
fun onSystemStatus(statusInf: SsmInfo.SsmStatusInf) {}
/**
* 自动驾驶路线ID回调
*/

22
core/mogo-core-function-api/src/main/java/com/mogo/eagle/core/function/api/autopilot/IMoGoChassisDoorStateListener.kt Normal file
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@@ -0,0 +1,22 @@
package com.mogo.eagle.core.function.api.autopilot
import chassis.Chassis.DoorNumber
import chassis.VehicleStateOuterClass
/**
* 车门数据 回调监听,二者回调选其一即可
*/
interface IMoGoChassisDoorStateListener {
/**
* 车门状态集合 底盘HZ
*/
fun onAutopilotDoorState(doorList: MutableList<VehicleStateOuterClass.DoorStateV2>) {}
/**
* 单个车门状态回调(变化回调)
* @param num 枚举 taxi(前左/右，后左/右) / bus(中)
* @param open true:开门(1), false:关门(0)
*/
fun onAutopilotSingleDoorState(num:DoorNumber, open:Boolean){}
}

7
core/mogo-core-function-api/src/main/java/com/mogo/eagle/core/function/api/biz/IFuncBizProvider.kt
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@@ -12,5 +12,10 @@ interface IFuncBizProvider {
/**
* 根据lineId获取整条道路的V2X事件
*/
fun onV2XEvents(v2XEventData: List<V2XEventData>?) {}
fun onV2XEvents(v2XEventData: List<V2XEventData>?) {}
/**
* 僵尸车埋点统计事件
*/
fun onAttrZombieAnalyticsEvent(){}
}

10
core/mogo-core-function-api/src/main/java/com/mogo/eagle/core/function/api/datacenter/msgbox/IMsgBoxEventListener.kt
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@@ -9,17 +9,17 @@ import com.mogo.eagle.core.data.msgbox.MsgBoxBean
*/
interface IMsgBoxEventListener {
//汇总事件点击监听
fun onSummaryClickEvent()
fun onSummaryClickEvent(){}
//更新提示红点视图
fun onUpdateTipEvent(isShow: Boolean)
fun onUpdateTipEvent(isShow: Boolean){}
//气泡态运营平台事件点击监听
fun onBubbleOperationClickEvent(msgBoxBean: MsgBoxBean)
fun onBubbleOperationClickEvent(msgBoxBean: MsgBoxBean){}
//气泡态V2X消息事件点击监听
fun onBubbleV2XClickEvent(msgBoxBean: MsgBoxBean)
fun onBubbleV2XClickEvent(msgBoxBean: MsgBoxBean){}
//气泡态上报消息事件点击监听
fun onBubbleReportClickEvent(msgBoxBean: MsgBoxBean)
fun onBubbleReportClickEvent(msgBoxBean: MsgBoxBean){}
}

3
core/mogo-core-function-api/src/main/java/com/mogo/eagle/core/function/api/datacenter/obu/IMoGoObuSaveMessageListener.kt
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@@ -1,5 +1,6 @@
package com.mogo.eagle.core.function.api.datacenter.obu
import com.mogo.eagle.core.data.enums.CommunicationType
import com.mogo.eagle.core.data.enums.DataSourceType
/**
@@ -15,6 +16,6 @@ interface IMoGoObuSaveMessageListener {
* @param tts 事件语音播报
* @param sourceType 来源
*/
fun onMoGoObuSaveMessage(type: String, content: String, tts: String, sourceType: DataSourceType)
fun onMoGoObuSaveMessage(type: String, content: String, tts: String, sourceType: DataSourceType, communicationType: CommunicationType)
}

4
core/mogo-core-function-api/src/main/java/com/mogo/eagle/core/function/api/datacenter/union/IMoGoTrafficLightListener.kt
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@@ -49,11 +49,11 @@ interface IMoGoTrafficLightListener {
fun showTrafficLight(checkLightId: TrafficLightEnum, lightSource: DataSourceType) {}
/**
* @param readNum 红灯倒计时
* @param redNum 红灯倒计时
* @param yellowNum 黄灯倒计时
* @param greenNum 绿灯倒计时
*/
fun changeCountdownTrafficLightNum(readNum: Int, yellowNum: Int, greenNum: Int) {}
fun changeCountdownTrafficLightNum(redNum: Int, yellowNum: Int, greenNum: Int) {}
fun changeCountdownGreen(greenNum: Int) {}

9
core/mogo-core-function-api/src/main/java/com/mogo/eagle/core/function/api/datacenter/union/IMoGoTurnLightListener.kt Normal file
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@@ -0,0 +1,9 @@
package com.mogo.eagle.core.function.api.datacenter.union
/**
* 转向灯监听接口
*/
interface IMoGoTurnLightListener {
fun hideTurnLightView(){}
}

8
core/mogo-core-function-api/src/main/java/com/mogo/eagle/core/function/api/devatools/IDevaToolsProvider.kt
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@@ -12,6 +12,7 @@ import com.mogo.eagle.core.data.deva.scene.SceneModule
import com.mogo.eagle.core.data.deva.scene.SceneTAG
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.block.*
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.devatools.logcat.*
@@ -121,6 +122,8 @@ interface IDevaToolsProvider : IProvider {
*/
fun showReportListWindow(context: Context,isShow: Boolean)
fun getReportWindowStatus(): Boolean
/**
* 下载指定包
*/
@@ -225,4 +228,9 @@ interface IDevaToolsProvider : IProvider {
* 日志记录功能
*/
fun logRecord(): IMoGoLogRecordProvider
/**
* 主线程卡顿监控
*/
fun block(): IMoGoBlockProvider?
}

28
core/mogo-core-function-api/src/main/java/com/mogo/eagle/core/function/api/devatools/block/IMoGoBlockProvider.kt Normal file
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@@ -0,0 +1,28 @@
package com.mogo.eagle.core.function.api.devatools.block
import android.content.Context
import android.view.Window
import com.mogo.eagle.core.block.runtime.config.recorder.*
interface IMoGoBlockProvider {
fun init(ctx: Context)
fun hasInit(): Boolean
fun start()
fun monitor(window: Window)
fun pause(window: Window)
fun resume(window: Window)
fun pop(window: Window)
fun addState(window: Window, key: String, status: String)
fun stop()
fun recorder(): IMessageRecorder
}

10
core/mogo-core-function-api/src/main/java/com/mogo/eagle/core/function/api/devatools/logcat/IMoGoLogRecordProvider.kt
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@@ -11,7 +11,13 @@ interface IMoGoLogRecordProvider {
fun stop()
fun upload(startTime: Long, endTime: Long)
fun export(): File?
fun upload()
fun testJavaCrash(runOnNewThread: Boolean)
fun testNativeCrash(runOnNewThread: Boolean)
fun testAnrCrash()
}

20
core/mogo-core-function-api/src/main/java/com/mogo/eagle/core/function/api/hmi/warning/IMoGoHmiProvider.kt
View File

@@ -149,4 +149,24 @@ interface IMoGoHmiProvider :IProvider{
*/
fun is360LookAroundShowing(): Boolean
fun showStatusSummaryDialog()
/**
* 展示红绿灯
*/
fun showTrafficLightView()
/**
* 隐藏红绿灯
*/
fun hideTrafficLightView()
/**
* 展示转向灯
*/
fun showTurnLightView()
/**
* 隐藏转向灯
*/
fun hideTurnLightView()
}

40
core/mogo-core-function-api/src/main/java/com/mogo/eagle/core/function/api/map/angle/Scenes.kt
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@@ -34,46 +34,10 @@ class Default(val delay: Long = 2, val unit: TimeUnit = SECONDS): Scene() {
}
/**
* 变道-接收到转向灯信息号
*/
class Turning(var open: Boolean = false): Scene() {
override val angle: VisualAngleMode = VisualAngleMode.MAP_STYLE_VR_ANGLE_TOP
override val priority: Int = 3
override val displayThreshold: Long
get() = -1
override fun toString(): String {
return "Turning(open: ${open}, priority=$priority, displayThreshold: $displayThreshold, priority=$priority)"
}
}
/**
* 后方车辆离自车过近
*/
object TooClose: Scene() {
override val angle: VisualAngleMode = VisualAngleMode.MAP_STYLE_VR_ANGLE_300
override val priority: Int = 2
override val displayThreshold: Long
get() = SECONDS.toMillis(8)
override fun toString(): String {
return "TooClose(priority=$priority, displayThreshold: $displayThreshold, priority=$priority)"
}
}
/**
* 道路事件
*/
object RoadEvent: Scene() {
class RoadEvent(val poi_lon: Double, val poi_lat: Double, val poi_angle: Double, val isGps: Boolean = true): Scene() {
override val angle: VisualAngleMode = VisualAngleMode.MODE_LONG_SIGHT
@@ -83,7 +47,7 @@ object RoadEvent: Scene() {
get() = SECONDS.toMillis(8)
override fun toString(): String {
return "RoadEvent(priority=${priority}, displayThreshold: ${displayThreshold}, priority=${priority})"
return "RoadEvent(priority=${priority}, displayThreshold: ${displayThreshold}, priority=${priority}, lon: $poi_lon, lat: $poi_lat, angle: $poi_angle)"
}
}

5
core/mogo-core-function-api/src/main/java/com/mogo/eagle/core/function/api/map/roma/IMoGoRomaListener.kt
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@@ -11,4 +11,9 @@ interface IMoGoRomaListener {
* 漫游状态回调
*/
fun romaStatus(status:Boolean){}
/**
* 漫游距自车的距离
*/
fun romaDistance(distance:String){}
}

18
core/mogo-core-function-api/src/main/java/com/mogo/eagle/core/function/api/setting/IMoGoRequestActivityHandler.kt Normal file
View File

@@ -0,0 +1,18 @@
package com.mogo.eagle.core.function.api.setting
interface IMoGoRequestActivityHandler {
/**
* 向activity申请权限
*/
fun handleRequestPermission(tag: String, permission: String) {
}
/**
* 请求修改亮度
*/
fun handleRequestLight(percent:Float){
}
}