Merge branch 'dev_arch_opt_3.0' into dev_robosweeper-d_app-module_221230_1.1.0
# Conflicts: # OCH/mogo-och-sweeper/src/main/java/com/mogo/och/sweeper/fragment/BaseSweeperTabFragment.java # OCH/mogo-och-sweeper/src/main/java/com/mogo/och/sweeper/fragment/SweeperFragment.java # OCH/mogo-och-sweeper/src/main/java/com/mogo/och/sweeper/presenter/SweeperPresenter.java # OCH/mogo-och-sweeper/src/main/java/com/mogo/och/sweeper/ui/SweeperOperatePanelView.java # app_ipc_monitoring/src/main/java/com/zhidao/adas/client/DataDistribution.java # app_ipc_monitoring/src/main/java/com/zhidao/adas/client/ui/MainActivity.java # app_mogo_magic_ring/src/main/java/com/zhidao/adas/magic/ui/MainActivity.java # core/function-impl/mogo-core-function-autopilot/src/main/java/com/mogo/eagle/core/function/autopilot/adapter/MoGoHandAdasMsgManager.java # core/function-impl/mogo-core-function-bindingcar/src/main/java/com/mogo/eagle/core/function/bindingcar/BindingcarProvider.java # core/function-impl/mogo-core-function-datacenter/src/main/java/com/mogo/eagle/core/function/datacenter/autopilot/adapter/MoGoAdasListenerImpl.kt # core/function-impl/mogo-core-function-devatools/src/main/java/com/zhjt/mogo_core_function_devatools/status/flow/can/CanImpl.kt # core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/hmi/ui/setting/DebugSettingView.kt # core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/hmi/ui/widget/SteeringWheelView.java # core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/hmi/ui/widget/TrafficDataView.java # core/mogo-core-function-api/src/main/java/com/mogo/eagle/core/function/api/autopilot/IMoGoAutopilotVehicleStateListener.kt # core/mogo-core-function-call/src/main/java/com/mogo/eagle/core/function/call/autopilot/CallerAutopilotVehicleStateListenerManager.kt # libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/OnAdasListener.java # libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/msg/MyMessageFactory.java # libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/msg/VehicleStateMessage.java
This commit is contained in:
donghongyu
1
core/function-impl/mogo-core-function-datacenter/.gitignore
vendored
Normal file
1
core/function-impl/mogo-core-function-datacenter/.gitignore
vendored
Normal file
@@ -0,0 +1 @@
|
||||
/build
|
||||
@@ -0,0 +1,79 @@
|
||||
plugins {
|
||||
id 'com.android.library'
|
||||
id 'kotlin-android'
|
||||
id 'kotlin-android-extensions'
|
||||
id 'kotlin-kapt'
|
||||
id 'com.alibaba.arouter'
|
||||
}
|
||||
android {
|
||||
compileSdkVersion rootProject.ext.android.compileSdkVersion
|
||||
defaultConfig {
|
||||
minSdkVersion rootProject.ext.android.minSdkVersion
|
||||
targetSdkVersion rootProject.ext.android.targetSdkVersion
|
||||
versionCode Integer.valueOf(VERSION_CODE)
|
||||
versionName getValueFromRootProperties("${project.name.replace("-", "_").toUpperCase()}_VERSION")
|
||||
testInstrumentationRunner "androidx.test.runner.AndroidJUnitRunner"
|
||||
consumerProguardFiles 'consumer-rules.pro'
|
||||
//ARouter apt 参数
|
||||
kapt {
|
||||
useBuildCache = false
|
||||
arguments {
|
||||
arg("AROUTER_MODULE_NAME", project.getName())
|
||||
}
|
||||
}
|
||||
|
||||
javaCompileOptions {
|
||||
annotationProcessorOptions {
|
||||
arguments = ["room.schemaLocation": "$projectDir/schemas".toString()]
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
buildTypes {
|
||||
release {
|
||||
minifyEnabled false
|
||||
proguardFiles getDefaultProguardFile('proguard-android-optimize.txt'), 'proguard-rules.pro'
|
||||
}
|
||||
}
|
||||
|
||||
compileOptions {
|
||||
sourceCompatibility JavaVersion.VERSION_1_8
|
||||
targetCompatibility JavaVersion.VERSION_1_8
|
||||
}
|
||||
|
||||
}
|
||||
|
||||
dependencies {
|
||||
implementation fileTree(dir: 'libs', include: ['*.jar'])
|
||||
implementation rootProject.ext.dependencies.androidxccorektx
|
||||
implementation rootProject.ext.dependencies.androidxappcompat
|
||||
implementation rootProject.ext.dependencies.arouter
|
||||
implementation rootProject.ext.dependencies.rxandroid
|
||||
kapt rootProject.ext.dependencies.aroutercompiler
|
||||
implementation rootProject.ext.dependencies.androidxroomruntime
|
||||
kapt rootProject.ext.dependencies.androidxroomcompiler
|
||||
implementation rootProject.ext.dependencies.androidxroomktx
|
||||
|
||||
implementation rootProject.ext.dependencies.mogoami
|
||||
implementation rootProject.ext.dependencies.mogoaicloudtelematic
|
||||
|
||||
if (Boolean.valueOf(USE_MAVEN_PACKAGE)) {
|
||||
implementation rootProject.ext.dependencies.mogo_core_data
|
||||
implementation rootProject.ext.dependencies.mogo_core_utils
|
||||
implementation rootProject.ext.dependencies.mogo_core_function_call
|
||||
|
||||
implementation project(':libraries:mogo-adas')
|
||||
|
||||
} else {
|
||||
implementation project(':core:mogo-core-data')
|
||||
implementation project(':core:mogo-core-utils')
|
||||
implementation project(':core:mogo-core-function-call')
|
||||
|
||||
implementation project(':libraries:mogo-adas')
|
||||
implementation project(':foudations:mogo-commons')
|
||||
|
||||
|
||||
}
|
||||
}
|
||||
|
||||
apply from: new File(rootProject.rootDir, "gradle/upload.gradle").toString()
|
||||
@@ -0,0 +1,3 @@
|
||||
GROUP=com.mogo.eagle.core.function.impl
|
||||
POM_ARTIFACT_ID=msgbox
|
||||
VERSION_CODE=1
|
||||
21
core/function-impl/mogo-core-function-datacenter/proguard-rules.pro
vendored
Normal file
21
core/function-impl/mogo-core-function-datacenter/proguard-rules.pro
vendored
Normal file
@@ -0,0 +1,21 @@
|
||||
# Add project specific ProGuard rules here.
|
||||
# You can control the set of applied configuration files using the
|
||||
# proguardFiles setting in build.gradle.
|
||||
#
|
||||
# For more details, see
|
||||
# http://developer.android.com/guide/developing/tools/proguard.html
|
||||
|
||||
# If your project uses WebView with JS, uncomment the following
|
||||
# and specify the fully qualified class name to the JavaScript interface
|
||||
# class:
|
||||
#-keepclassmembers class fqcn.of.javascript.interface.for.webview {
|
||||
# public *;
|
||||
#}
|
||||
|
||||
# Uncomment this to preserve the line number information for
|
||||
# debugging stack traces.
|
||||
#-keepattributes SourceFile,LineNumberTable
|
||||
|
||||
# If you keep the line number information, uncomment this to
|
||||
# hide the original source file name.
|
||||
#-renamesourcefileattribute SourceFile
|
||||
@@ -0,0 +1,6 @@
|
||||
<?xml version="1.0" encoding="utf-8"?>
|
||||
<manifest xmlns:android="http://schemas.android.com/apk/res/android"
|
||||
package="com.mogo.eagle.core.function.datacenter">
|
||||
<application>
|
||||
</application>
|
||||
</manifest>
|
||||
@@ -0,0 +1,722 @@
|
||||
package com.mogo.eagle.core.function.datacenter.autopilot
|
||||
|
||||
import android.Manifest.permission
|
||||
import android.content.Context
|
||||
import android.util.Log
|
||||
import androidx.annotation.RequiresPermission
|
||||
import chassis.SpecialVehicleTaskCmdOuterClass
|
||||
import com.alibaba.android.arouter.facade.annotation.Route
|
||||
import com.mogo.cloud.passport.MoGoAiCloudClientConfig
|
||||
import com.mogo.eagle.core.data.autopilot.AutopilotControlParameters
|
||||
import com.mogo.eagle.core.data.autopilot.toAutoPilotLine
|
||||
import com.mogo.eagle.core.data.autopilot.toRouteInfo
|
||||
import com.mogo.eagle.core.data.config.FunctionBuildConfig
|
||||
import com.mogo.eagle.core.data.constants.MoGoConfig
|
||||
import com.mogo.eagle.core.data.constants.MogoServicePaths
|
||||
import com.mogo.eagle.core.data.deva.chain.ChainConstant
|
||||
import com.mogo.eagle.core.data.deva.chain.ChainConstant.Companion.CHAIN_ALIAS_CODE_MULTI_CONNECT
|
||||
import com.mogo.eagle.core.data.deva.chain.ChainConstant.Companion.CHAIN_LINK_ADAS
|
||||
import com.mogo.eagle.core.data.deva.chain.ChainConstant.Companion.CHAIN_LINK_LOG_CONNECT_STATUS
|
||||
import com.mogo.eagle.core.data.deva.chain.ChainConstant.Companion.CHAIN_LINK_LOG_WEB_SOCKET_AUTOPILOT
|
||||
import com.mogo.eagle.core.data.trafficlight.TrafficLightResult
|
||||
import com.mogo.eagle.core.data.trafficlight.toTrafficLightDetail
|
||||
import com.mogo.eagle.core.function.api.autopilot.IMoGoAutopilotCarConfigListener
|
||||
import com.mogo.eagle.core.function.api.autopilot.IMoGoAutopilotProvider
|
||||
import com.mogo.eagle.core.function.api.map.collect.IMoGoMapDataCollectProvider
|
||||
import com.mogo.eagle.core.function.datacenter.autopilot.adapter.MoGoAdasListenerImpl
|
||||
import com.mogo.eagle.core.function.datacenter.autopilot.adapter.MoGoAdasMsgConnectStatusListenerImpl
|
||||
import com.mogo.eagle.core.function.datacenter.autopilot.server.AsyncDataToAutopilotServer
|
||||
import com.mogo.eagle.core.function.datacenter.autopilot.telematic.EventListener
|
||||
import com.mogo.eagle.core.function.datacenter.autopilot.telematic.IMsgHandler
|
||||
import com.mogo.eagle.core.function.datacenter.autopilot.telematic.TeleMsgHandler
|
||||
import com.mogo.eagle.core.function.call.autopilot.CallerAutopilotCarConfigListenerManager
|
||||
import com.mogo.eagle.core.function.call.devatools.CallerDevaToolsManager
|
||||
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.CallerLogger
|
||||
import com.mogo.eagle.core.utilcode.mogo.logger.scene.SceneConstant.Companion.M_ADAS_IMPL
|
||||
import com.mogo.eagle.core.utilcode.mogo.storage.SharedPrefsMgr
|
||||
import com.mogo.eagle.core.utilcode.util.ThreadUtils
|
||||
import com.mogo.eagle.core.utilcode.util.ToastUtils
|
||||
import com.mogo.eagle.core.utilcode.util.UiThreadHandler
|
||||
import com.mogo.telematic.MogoProtocolMsg
|
||||
import com.mogo.telematic.MogoProtocolMsg.NORMAL_DATA
|
||||
import com.mogo.telematic.MogoProtocolMsg.SYNC_MODE_STATUS
|
||||
import com.mogo.telematic.NSDNettyManager
|
||||
import com.mogo.telematic.client.listener.NettyClientListener
|
||||
import com.mogo.telematic.server.netty.NettyServerListener
|
||||
import com.mogo.telematic.server.netty.NettyTcpServer
|
||||
import com.zhidao.support.adas.high.AdasManager
|
||||
import com.zhidao.support.adas.high.AdasOptions
|
||||
import com.zhidao.support.adas.high.OnMultiDeviceListener
|
||||
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.MogoReport
|
||||
import com.zhjt.service.chain.ChainLog
|
||||
import com.zhjt.service.chain.TracingConstants
|
||||
import io.netty.channel.Channel
|
||||
import mogo.telematics.pad.MessagePad
|
||||
import java.util.*
|
||||
import java.util.concurrent.TimeUnit
|
||||
|
||||
|
||||
/**
|
||||
* @author xiaoyuzhou
|
||||
* @date 2021/9/22 8:43 下午
|
||||
* 域控制器
|
||||
*/
|
||||
@Route(path = MogoServicePaths.PATH_AUTO_PILOT)
|
||||
class MoGoAutopilotProvider :
|
||||
IMoGoAutopilotProvider, IMoGoMapDataCollectProvider.OnMapCollectCmdListener,
|
||||
IMoGoAutopilotCarConfigListener {
|
||||
private val TAG = "MoGoAutoPilotProvider"
|
||||
private var mContext: Context? = null
|
||||
private lateinit var msgHandler: IMsgHandler
|
||||
private var timer: Timer? = null
|
||||
|
||||
@Volatile
|
||||
private var isInit = false
|
||||
|
||||
override val functionName: String
|
||||
get() = TAG
|
||||
|
||||
override fun init(context: Context) {
|
||||
CallerLogger.i("$M_ADAS_IMPL$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)
|
||||
|
||||
// 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()
|
||||
// .setRole(Constants.TERMINAL_ROLE.DRIVER)
|
||||
// .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)
|
||||
// .setSubscribeInterfaceOptions(subscribeInterfaceOptions)//
|
||||
.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()
|
||||
}
|
||||
// 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!")
|
||||
}
|
||||
|
||||
override fun onStopServer() {
|
||||
ToastUtils.showLong("司机端服务停止!")
|
||||
timer?.cancel()
|
||||
timer = null
|
||||
invokeNettyConnResult("司机端服务停止!")
|
||||
}
|
||||
|
||||
override fun onChannelConnect(channel: Channel?) {
|
||||
msgHandler.handleClientConn2Server(channel)
|
||||
}
|
||||
|
||||
override fun onChannelDisConnect(channel: Channel?) {
|
||||
CallerLogger.d("$M_ADAS_IMPL$TAG", "onChannelDisConnect")
|
||||
}
|
||||
|
||||
override fun onReceiveClientSign(channel: Channel?, sn: String?) {
|
||||
}
|
||||
}, 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)
|
||||
.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("$M_ADAS_IMPL$TAG", "initServer……")
|
||||
// 同步数据给工控机的服务
|
||||
AsyncDataToAutopilotServer.INSTANCE.initServer()
|
||||
// 同步是否开启雨天模式
|
||||
setRainMode(FunctionBuildConfig.isRainMode)
|
||||
}
|
||||
|
||||
private fun directConnect() {
|
||||
val options = AdasOptions
|
||||
.Builder()
|
||||
.setIpcConnectionMode(AdasOptions.IPC_CONNECTION_MODE.FIXATION)
|
||||
.setIpcFixationIP(AdasManager.getInstance().getIPCFixationIPList(mContext))
|
||||
.setClient(false)// 乘客端直连工控机改为false
|
||||
.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())
|
||||
}
|
||||
|
||||
/**
|
||||
* 司机屏转发工控机发过来的数据，乘客屏接收解析后的数据保持原流程不变
|
||||
*/
|
||||
private fun listenDeviceData() {
|
||||
AdasManager.getInstance().setOnMultiDeviceListener(object : OnMultiDeviceListener {
|
||||
override fun onForwardingDriverIPCMessage(bytes: ByteArray?) {
|
||||
if (bytes == null)
|
||||
return
|
||||
// 发送数据给乘客端
|
||||
if (NSDNettyManager.getInstance().isServerStart) {
|
||||
msgHandler.synWriteTime()
|
||||
NSDNettyManager.getInstance()
|
||||
.sendMsgToAllClients(MogoProtocolMsg(NORMAL_DATA, bytes.size, bytes))
|
||||
} else {
|
||||
CallerLogger.d("$M_ADAS_IMPL$TAG", "司机端Server未启动！")
|
||||
}
|
||||
}
|
||||
|
||||
override fun onForwardingPassengerIPCMessage(bytes: ByteArray?) {
|
||||
if (bytes == null)
|
||||
return
|
||||
NSDNettyManager.getInstance()
|
||||
.sendMogoProtocolMsgToServer(
|
||||
MogoProtocolMsg(NORMAL_DATA, bytes.size, bytes),
|
||||
null
|
||||
)
|
||||
}
|
||||
|
||||
})
|
||||
}
|
||||
|
||||
/**
|
||||
* 连接自动驾驶域控制器
|
||||
*
|
||||
* @param autoPilotIp 指定与控制器IP
|
||||
*/
|
||||
override fun resetIpAddress(autoPilotIp: String) {
|
||||
// 关闭通信
|
||||
AdasManager.getInstance().disconnect()
|
||||
// 延时执行连接指定IP地址
|
||||
ThreadUtils.executeBySingleWithDelay(object : ThreadUtils.SimpleTask<String>() {
|
||||
@RequiresPermission(permission.INTERNET)
|
||||
override fun doInBackground(): String {
|
||||
// 保存本地 AutoPilot IP地址
|
||||
mContext?.let {
|
||||
SharedPrefsMgr.getInstance(it).putString(MoGoConfig.AUTOPILOT_IP, autoPilotIp)
|
||||
}
|
||||
// 设置IP地址
|
||||
AdasManager.getInstance().adasOptions.ipcConnectionMode =
|
||||
AdasOptions.IPC_CONNECTION_MODE.ASSIGN
|
||||
AdasManager.getInstance().adasOptions.ipcAssignIP = autoPilotIp
|
||||
// 打开通讯连接
|
||||
AdasManager.getInstance().connect()
|
||||
return ""
|
||||
}
|
||||
|
||||
override fun onSuccess(result: String?) {
|
||||
|
||||
}
|
||||
}, 1000, TimeUnit.MILLISECONDS)
|
||||
}
|
||||
|
||||
/**
|
||||
* 断开与工控机的连接
|
||||
*/
|
||||
override fun disconnectIpc() {
|
||||
AdasManager.getInstance().disconnect()
|
||||
}
|
||||
|
||||
override fun onMapCollectStart(cmdId: Int, cmdTime: Long) {
|
||||
val result = recordPackage(2, cmdId)
|
||||
CallerLogger.d("$M_ADAS_IMPL$TAG", "开始记录包: [$cmdId, $result]")
|
||||
}
|
||||
|
||||
override fun onMapCollectEnd(cmdId: Int, cmdTime: Long) {
|
||||
val result = stopRecord(2, cmdId)
|
||||
CallerLogger.d("$M_ADAS_IMPL$TAG", "结束记录包: [$cmdId, $result]")
|
||||
}
|
||||
|
||||
override fun startAutoPilot(controlParameters: AutopilotControlParameters) {
|
||||
if (AppIdentityModeUtils.isPassenger(FunctionBuildConfig.appIdentityMode)) {
|
||||
val invokeResult = AdasManager.getInstance()
|
||||
.sendAutoPilotModeReq(1, 1, controlParameters.toRouteInfo())
|
||||
invokeAutoPilotResult(if (invokeResult) "自动驾驶调用成功" else "自动驾驶调用失败, socket 或者 rawPack 可能为空")
|
||||
} else {
|
||||
if (AdasManager.getInstance().ipcConnectionStatus == IPC_CONNECTION_STATUS.CONNECTED) {
|
||||
val invokeResult = AdasManager.getInstance()
|
||||
.sendAutoPilotModeReq(1, 1, controlParameters.toRouteInfo())
|
||||
invokeAutoPilotResult(if (invokeResult) "自动驾驶调用成功" else "自动驾驶调用失败, socket 或者 rawPack 可能为空")
|
||||
} else {
|
||||
invokeAutoPilotResult("车机与工控机链接失败，无法开启自动驾驶")
|
||||
CallerLogger.e("$M_ADAS_IMPL$TAG", "车机与工控机链接失败，无法开启自动驾驶")
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
@ChainLog(
|
||||
linkChainLog = CHAIN_LINK_LOG_WEB_SOCKET_AUTOPILOT,
|
||||
linkCode = CHAIN_LINK_ADAS,
|
||||
endpoint = TracingConstants.Endpoint.PAD,
|
||||
nodeAliasCode = ChainConstant.CHAIN_ALIAS_CODE_EAGLE_START_AUTOPILOT_RESULT,
|
||||
paramIndexes = [0],
|
||||
clientPkFileName = "sn"
|
||||
)
|
||||
private fun invokeAutoPilotResult(status: String) {
|
||||
CallerLogger.e("$M_ADAS_IMPL$TAG", status)
|
||||
}
|
||||
|
||||
override fun sendTrafficLightData(trafficLightResult: TrafficLightResult) {
|
||||
AdasManager.getInstance().sendTrafficLightData(
|
||||
trafficLightResult.crossId,
|
||||
trafficLightResult.lat,
|
||||
trafficLightResult.lon,
|
||||
trafficLightResult.heading,
|
||||
trafficLightResult.direction,
|
||||
trafficLightResult.lightId,
|
||||
trafficLightResult.laneNo,
|
||||
trafficLightResult.arrowNo,
|
||||
trafficLightResult.flashYellow,
|
||||
trafficLightResult.toTrafficLightDetail(),
|
||||
trafficLightResult.timeStamp
|
||||
)
|
||||
}
|
||||
|
||||
override fun sendTrajectoryDownloadReq(autoPilotLine: AutopilotControlParameters.AutoPilotLine) {
|
||||
AdasManager.getInstance().sendTrajectoryDownloadReq(autoPilotLine.toAutoPilotLine())
|
||||
}
|
||||
|
||||
override fun cancelAutoPilot() {
|
||||
if (AdasManager.getInstance().ipcConnectionStatus == Constants.IPC_CONNECTION_STATUS.CONNECTED) {
|
||||
AdasManager.getInstance().sendAutoPilotModeReq(0, 1, null)
|
||||
} else {
|
||||
CallerLogger.e("$M_ADAS_IMPL$TAG", "车机与工控机链接失败，无法断开自动驾驶")
|
||||
}
|
||||
}
|
||||
|
||||
override fun recordPackage(): Boolean {
|
||||
return AdasManager.getInstance()
|
||||
.startRecordPackage((System.currentTimeMillis() / 1000).toInt(), 1)
|
||||
}
|
||||
|
||||
override fun recordPackage(type: Int, id: Int): Boolean {
|
||||
return AdasManager.getInstance().startRecordPackage(id, type)
|
||||
}
|
||||
|
||||
override fun recordPackage(type: Int, id: Int, duration: Int): Boolean {
|
||||
return AdasManager.getInstance().startRecordPackage(id, duration, type)
|
||||
}
|
||||
|
||||
override fun recordPackage(type: Int, id: Int, duration: Int, bduration: Int): Boolean {
|
||||
return AdasManager.getInstance().startRecordPackage(id, duration, type, bduration)
|
||||
}
|
||||
|
||||
override fun recordPackage(
|
||||
type: Int,
|
||||
id: Int,
|
||||
duration: Int,
|
||||
bduration: Int,
|
||||
topics: List<String>
|
||||
): Boolean {
|
||||
return AdasManager.getInstance().startRecordPackage(id, duration, type, bduration, topics)
|
||||
}
|
||||
|
||||
override fun stopRecord(type: Int, id: Int): Boolean {
|
||||
return AdasManager.getInstance().stopRecordPackage(id, type)
|
||||
}
|
||||
|
||||
override fun setEnableLog(isEnableLog: Boolean) {
|
||||
CupidLogUtils.setEnableLog(isEnableLog)
|
||||
}
|
||||
|
||||
/**
|
||||
* ADAS日志开启状态
|
||||
*/
|
||||
override fun isEnableLog(): Boolean {
|
||||
return CupidLogUtils.isEnableLog()
|
||||
}
|
||||
|
||||
override fun onDestroy() {
|
||||
CallerMapDataCollectorManager.unRegisterOnMapCollectTaskListener(this)
|
||||
}
|
||||
|
||||
override fun setAutoPilotSpeed(speed: Int): Boolean {
|
||||
return AdasManager.getInstance().sendAutopilotSpeedReq(speed / 3.6)
|
||||
}
|
||||
|
||||
override fun setIPCShutDown() {
|
||||
// AdasManager.getInstance().shutdownIPC()
|
||||
}
|
||||
|
||||
override fun setIPCReboot() {
|
||||
// AdasManager.getInstance().rebootAPDocker()
|
||||
}
|
||||
|
||||
override fun recordCause(key: String?, name: String?, id: String?, reason: String?) {
|
||||
key?.let {
|
||||
AdasManager.getInstance()
|
||||
.sendRecordCause(it.toLong(), name ?: "", id ?: "", reason ?: "")
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
/**
|
||||
* 演示模式（美化模式）设置只限定于鹰眼
|
||||
* isEnable = true 开启
|
||||
* isEnable = false 关闭
|
||||
*/
|
||||
override fun setDemoMode(isEnable: Boolean) {
|
||||
// 同步给乘客端
|
||||
if (AppIdentityModeUtils.isDriver(FunctionBuildConfig.appIdentityMode)) {
|
||||
val byteArray = if (isEnable) {
|
||||
"1;${System.currentTimeMillis()}".toByteArray()
|
||||
} else {
|
||||
"0;${System.currentTimeMillis()}".toByteArray()
|
||||
}
|
||||
// val byteArray = if (isEnable) byteArrayOf(1) else byteArrayOf(0)
|
||||
if (NSDNettyManager.getInstance().isServerStart) {
|
||||
NSDNettyManager.getInstance()
|
||||
.sendMsgToAllClients(
|
||||
MogoProtocolMsg(
|
||||
SYNC_MODE_STATUS,
|
||||
byteArray.size,
|
||||
byteArray
|
||||
)
|
||||
)
|
||||
} else {
|
||||
CallerLogger.d("$M_ADAS_IMPL$TAG", "同步美化模式状态时司机端Server未启动！")
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
override fun setIgnoreConditionDraw(isIgnore: Boolean) {
|
||||
// 同步给乘客端
|
||||
if (AppIdentityModeUtils.isDriver(FunctionBuildConfig.appIdentityMode)) {
|
||||
val byteArray = if (isIgnore) {
|
||||
"1;${System.currentTimeMillis()}".toByteArray()
|
||||
} else {
|
||||
"0;${System.currentTimeMillis()}".toByteArray()
|
||||
}
|
||||
if (NSDNettyManager.getInstance().isServerStart) {
|
||||
NSDNettyManager.getInstance()
|
||||
.sendMsgToAllClients(
|
||||
MogoProtocolMsg(
|
||||
11,
|
||||
byteArray.size,
|
||||
byteArray
|
||||
)
|
||||
)
|
||||
} else {
|
||||
CallerLogger.d("$M_ADAS_IMPL$TAG", "同步美化模式状态时司机端Server未启动！")
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
/**
|
||||
* 设置工控机演示模式（美化模式）开启、关闭
|
||||
* isEnable = true 开启
|
||||
* isEnable = false 关闭
|
||||
*/
|
||||
override fun setIPCDemoMode(isEnable: Boolean) {
|
||||
if (isEnable) {
|
||||
AdasManager.getInstance().sendDemoModeReq(1)
|
||||
} else {
|
||||
AdasManager.getInstance().sendDemoModeReq(0)
|
||||
}
|
||||
}
|
||||
|
||||
/**
|
||||
* 雨天模式
|
||||
* isEnable = true 开启
|
||||
* isEnable = false 关闭
|
||||
*/
|
||||
override fun setRainMode(isEnable: Boolean) {
|
||||
if (isEnable) {
|
||||
AdasManager.getInstance().sendRainModeReq(1)
|
||||
} else {
|
||||
AdasManager.getInstance().sendRainModeReq(0)
|
||||
}
|
||||
}
|
||||
|
||||
/**
|
||||
* 绕障类功能开关
|
||||
* isEnable = true 开启
|
||||
* isEnable = false 关闭
|
||||
* @return boolean
|
||||
*/
|
||||
override fun sendDetouring(isEnable: Boolean): Boolean {
|
||||
return if(isEnable){
|
||||
AdasManager.getInstance().sendDetouring(1)
|
||||
}else{
|
||||
AdasManager.getInstance().sendDetouring(0)
|
||||
}
|
||||
}
|
||||
|
||||
/**
|
||||
* 变道绕障的目标障碍物速度阈值
|
||||
* @param speed 速度阈值 m/s
|
||||
* @return boolean
|
||||
*/
|
||||
override fun sendDetouringSpeed(speed: Double): Boolean {
|
||||
return AdasManager.getInstance().sendDetouringSpeed(speed)
|
||||
}
|
||||
|
||||
/**
|
||||
* 获取数据采集录制模式配置列表
|
||||
* @param reqType 0: all, 1:获取当前所有topic列表, 2:配置需要预加载的topic组合
|
||||
* @param recordType 0:不需要修改内置类型的topic组合, 1:需要修改内置类型的topic组合
|
||||
* @param topicsNeedToCache
|
||||
* @return boolean
|
||||
*/
|
||||
override fun getBadCaseConfig(reqType: Int,recordType: Int,topicsNeedToCache: List<String>): Boolean{
|
||||
return AdasManager.getInstance().sendRecordDataConfigReq(reqType, recordType, topicsNeedToCache)
|
||||
}
|
||||
|
||||
/**
|
||||
* 向左变道
|
||||
*/
|
||||
override fun sendOperatorChangeLaneLeft() {
|
||||
AdasManager.getInstance().sendOperatorCmdChangeLaneLeft()
|
||||
}
|
||||
|
||||
/**
|
||||
* 向右变道
|
||||
*/
|
||||
override fun sendOperatorChangeLaneRight() {
|
||||
AdasManager.getInstance().sendOperatorCmdChangeLaneRight()
|
||||
}
|
||||
|
||||
/**
|
||||
* 发送设置加速度 acc>0加速 acc<0减速 acc=0复位
|
||||
*/
|
||||
override fun sendOperatorSetAcceleratedSpeed(cc: Double) {
|
||||
AdasManager.getInstance().sendOperatorCmdSetAcceleratedSpeed(cc)
|
||||
}
|
||||
|
||||
/**
|
||||
* 鸣笛 value 1: honk 2: stop honking
|
||||
*/
|
||||
override fun sendOperatorSetHorn(value: Double) {
|
||||
AdasManager.getInstance().sendOperatorCmdSetHorn(value)
|
||||
}
|
||||
|
||||
/**
|
||||
* 发生行程相关
|
||||
* type=1或2的时 需要参数 lineName
|
||||
* type=3或4的时 需要参数 lineName departureStopName arrivalStopName isLastStop
|
||||
* type=5时 不需要任何参数
|
||||
*
|
||||
* @param type 事件类型, 1:行程开始, 2:行程结束, 3:出站, 4:进站, 5:城市占道施工预警
|
||||
* @param lineName 路线名
|
||||
* @param departureStopName 出站站点名
|
||||
* @param arrivalStopName 下一站到达站点名
|
||||
* @param isLastStop 是否最终站
|
||||
* @return boolean
|
||||
*/
|
||||
override fun sendTripInfo(type: Int, lineName: String, departureStopName: String,arrivalStopName: String, isLastStop: Boolean) {
|
||||
AdasManager.getInstance().sendTripInfoReq(type, lineName, departureStopName,arrivalStopName, isLastStop)
|
||||
}
|
||||
|
||||
/**
|
||||
* 发送工控机所有节点重启命令
|
||||
*/
|
||||
override fun sendIpcReboot() {
|
||||
//重启所有节点
|
||||
AdasManager.getInstance().sendSystemCmdReq(MessagePad.SystemCmdType.SYSTEMCMD_REBOOT)
|
||||
}
|
||||
|
||||
/**
|
||||
* 办公室调试使用，强制开启自动驾驶，将 status，pilotMode，control_pilotMode，强追设置为 1
|
||||
* isEnable = true 开启
|
||||
* isEnable = false 关闭
|
||||
*/
|
||||
override fun setControlAutopilotCarAuto(isEnable: Boolean) {
|
||||
if (isEnable) {
|
||||
AdasManager.getInstance().sendAutoPilotModeReq(1, 0, null)
|
||||
} else {
|
||||
// 司机屏才可关闭自动驾驶
|
||||
if (AppIdentityModeUtils.isDriver(FunctionBuildConfig.appIdentityMode)) {
|
||||
AdasManager.getInstance().sendAutoPilotModeReq(0, 0, null)
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
/**
|
||||
* 请求工控机基础配置信息
|
||||
*/
|
||||
override fun getCarConfig() {
|
||||
AdasManager.getInstance().sendCarConfigReq()
|
||||
}
|
||||
|
||||
/**
|
||||
* 获取全局路径
|
||||
*/
|
||||
override fun getGlobalPath() {
|
||||
AdasManager.getInstance().sendGlobalPathReq()
|
||||
}
|
||||
|
||||
/**
|
||||
* 车机与工控机是否连上了
|
||||
*/
|
||||
override fun isConnected(): Boolean {
|
||||
return AdasManager.getInstance().ipcConnectionStatus == IPC_CONNECTION_STATUS.CONNECTED
|
||||
}
|
||||
|
||||
/**
|
||||
* 获取协议版本
|
||||
*/
|
||||
override fun getProtocolVersion(): Int {
|
||||
return AdasManager.getInstance().protocolVersion
|
||||
}
|
||||
|
||||
override fun connectSpecifiedServer(ip: String) {
|
||||
NSDNettyManager.getInstance().connectSpecifiedServer(
|
||||
ip,
|
||||
NettyTcpServer.SERVER_PORT,
|
||||
MoGoAiCloudClientConfig.getInstance().sn,
|
||||
object : NettyClientListener<MogoProtocolMsg> {
|
||||
override fun onMessageResponseClient(
|
||||
msg: MogoProtocolMsg?,
|
||||
sign: String?,
|
||||
channel: Channel
|
||||
) {
|
||||
msgHandler.handleMsgFromServer(msg, channel)
|
||||
}
|
||||
|
||||
override fun onClientStatusConnectChanged(
|
||||
statusCode: Int,
|
||||
sign: String?,
|
||||
channel: Channel
|
||||
) {
|
||||
msgHandler.handleClientConnStatus(statusCode, sign, channel)
|
||||
}
|
||||
})
|
||||
}
|
||||
|
||||
/**
|
||||
* 获取工控机上报数据result code说明
|
||||
* @param resultCode 上报字段code
|
||||
*/
|
||||
override fun getReportResultDesc(resultCode: String): String {
|
||||
return MogoReport.Result.getDesc(resultCode)
|
||||
}
|
||||
|
||||
/**
|
||||
* 获取工控机上报数据action code说明
|
||||
* @param actionCode 上报字段code
|
||||
*/
|
||||
override fun getReportActionDesc(actionCode: String): String {
|
||||
return MogoReport.Action.getDesc(actionCode)
|
||||
}
|
||||
|
||||
override fun onAutopilotCarConfig(carConfigResp: MessagePad.CarConfigResp) {
|
||||
if (AppIdentityModeUtils.isDriver(FunctionBuildConfig.appIdentityMode)) {
|
||||
if (!isInit) {
|
||||
isInit = true
|
||||
if (carConfigResp.dockVersion.contains("2.3.0")) {// 不支持多连接
|
||||
// 司机屏转发工控机发过来的数据
|
||||
listenDeviceData()
|
||||
}
|
||||
}
|
||||
msgHandler.synMsgToAllClients()
|
||||
} else {// 乘客屏
|
||||
CallerDevaToolsManager.getBindingCarInfo( carConfigResp.macAddress, MoGoAiCloudClientConfig.getInstance().sn)
|
||||
invokeNettyConnResult("乘客屏车牌号:${carConfigResp.plateNumber},Mac地址为：${carConfigResp.macAddress}")
|
||||
}
|
||||
}
|
||||
|
||||
@ChainLog(
|
||||
linkChainLog = CHAIN_LINK_LOG_CONNECT_STATUS,
|
||||
linkCode = CHAIN_LINK_ADAS,
|
||||
endpoint = TracingConstants.Endpoint.PAD,
|
||||
nodeAliasCode = CHAIN_ALIAS_CODE_MULTI_CONNECT,
|
||||
paramIndexes = [0],
|
||||
clientPkFileName = "sn"
|
||||
)
|
||||
private fun invokeNettyConnResult(status: String) {
|
||||
CallerLogger.d("$M_ADAS_IMPL$TAG", status)
|
||||
}
|
||||
|
||||
override fun getTeleTimeStamp(): Long {
|
||||
return msgHandler.getTeleTimeStamp()
|
||||
}
|
||||
|
||||
override fun sendStatusQueryReq() {
|
||||
AdasManager.getInstance().sendStatusQueryReq()
|
||||
}
|
||||
|
||||
override fun sendSweeperFuTianTaskCmd(fuTianTaskCmd: SpecialVehicleTaskCmdOuterClass.RoboSweeperFuTianTaskCmd) {
|
||||
Log.d(TAG, "---- sendSweeperFuTianTaskCmd ----")
|
||||
AdasManager.getInstance().sendRoboSweeperFuTianTaskCmd(fuTianTaskCmd)
|
||||
}
|
||||
}
|
||||
@@ -0,0 +1,29 @@
|
||||
package com.mogo.eagle.core.function.datacenter.autopilot
|
||||
|
||||
import android.content.Context
|
||||
import com.alibaba.android.arouter.facade.annotation.Route
|
||||
import com.mogo.eagle.core.data.constants.MogoServicePaths
|
||||
import com.mogo.eagle.core.function.api.telematic.IMogoTelematicProvider
|
||||
import com.mogo.telematic.NSDNettyManager
|
||||
|
||||
@Route(path = MogoServicePaths.PATH_TELEMATIC_PROVIDER)
|
||||
class MoGoTelematicProvider: IMogoTelematicProvider {
|
||||
|
||||
override fun init(context: Context?) {}
|
||||
|
||||
override fun getServerStarted(): Boolean {
|
||||
return NSDNettyManager.getInstance().isServerStart
|
||||
}
|
||||
|
||||
override fun getClientConnStatus(): Boolean {
|
||||
return NSDNettyManager.getInstance().connectStatus
|
||||
}
|
||||
|
||||
override fun getServerIp(): String {
|
||||
return NSDNettyManager.getInstance().connServerIp
|
||||
}
|
||||
|
||||
override fun getServerToken(): String {
|
||||
return NSDNettyManager.getInstance().serverSn
|
||||
}
|
||||
}
|
||||
@@ -0,0 +1,612 @@
|
||||
package com.mogo.eagle.core.function.datacenter.autopilot.adapter
|
||||
|
||||
import bag_manager.BagManagerOuterClass
|
||||
import chassis.ChassisStatesOuterClass
|
||||
import chassis.VehicleStateOuterClass
|
||||
import com.mogo.eagle.core.data.app.AppConfigInfo
|
||||
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
|
||||
import com.mogo.eagle.core.data.deva.chain.ChainConstant.Companion.CHAIN_ALIAS_CODE_ADAS_MESSAGE_AUTOPILOT_GUARDIAN
|
||||
import com.mogo.eagle.core.data.deva.chain.ChainConstant.Companion.CHAIN_ALIAS_CODE_ADAS_MESSAGE_AUTOPILOT_RECORD
|
||||
import com.mogo.eagle.core.data.deva.chain.ChainConstant.Companion.CHAIN_ALIAS_CODE_ADAS_MESSAGE_AUTOPILOT_ROUTE
|
||||
import com.mogo.eagle.core.data.deva.chain.ChainConstant.Companion.CHAIN_ALIAS_CODE_ADAS_MESSAGE_AUTOPILOT_STATUS
|
||||
import com.mogo.eagle.core.data.deva.chain.ChainConstant.Companion.CHAIN_ALIAS_CODE_ADAS_MESSAGE_AUTOPILOT_TRAFFIC_LIGHT
|
||||
import com.mogo.eagle.core.data.deva.chain.ChainConstant.Companion.CHAIN_ALIAS_CODE_ADAS_MESSAGE_AUTOPILOT_TRAJECTORY
|
||||
import com.mogo.eagle.core.data.deva.chain.ChainConstant.Companion.CHAIN_ALIAS_CODE_ADAS_MESSAGE_AUTOPILOT_VEHICLE
|
||||
import com.mogo.eagle.core.data.deva.chain.ChainConstant.Companion.CHAIN_ALIAS_CODE_ADAS_MESSAGE_CAR_CONFIG
|
||||
import com.mogo.eagle.core.data.deva.chain.ChainConstant.Companion.CHAIN_ALIAS_CODE_ADAS_MESSAGE_CAR_STATE
|
||||
import com.mogo.eagle.core.data.deva.chain.ChainConstant.Companion.CHAIN_ALIAS_CODE_ADAS_MESSAGE_PLANNING_ACTIONS
|
||||
import com.mogo.eagle.core.data.deva.chain.ChainConstant.Companion.CHAIN_ALIAS_CODE_ADAS_MESSAGE_PLANNING_OBJECTS
|
||||
import com.mogo.eagle.core.data.deva.chain.ChainConstant.Companion.CHAIN_ALIAS_CODE_ADAS_MESSAGE_RECT_DATA
|
||||
import com.mogo.eagle.core.data.deva.chain.ChainConstant.Companion.CHAIN_ALIAS_CODE_ADAS_STATUS_QUERY_RESP
|
||||
import com.mogo.eagle.core.data.deva.chain.ChainConstant.Companion.CHAIN_LINK_ADAS
|
||||
import com.mogo.eagle.core.data.deva.chain.ChainConstant.Companion.CHAIN_LINK_LOG_CONNECT_STATUS
|
||||
import com.mogo.eagle.core.data.deva.chain.ChainConstant.Companion.CHAIN_LINK_LOG_WEB_SOCKET_AUTOPILOT
|
||||
import com.mogo.eagle.core.data.deva.chain.ChainConstant.Companion.CHAIN_LINK_LOG_WEB_SOCKET_DATA_TRACKED
|
||||
import com.mogo.eagle.core.data.deva.chain.ChainConstant.Companion.CHAIN_LINK_LOG_WEB_SOCKET_GNSSINFO
|
||||
import com.mogo.eagle.core.data.deva.chain.ChainConstant.Companion.CHAIN_LINK_LOG_WEB_SOCKET_PLANNING_ACTIONS
|
||||
import com.mogo.eagle.core.data.deva.chain.ChainConstant.Companion.CHAIN_LINK_LOG_WEB_SOCKET_PLANNING_OBJECTS
|
||||
import com.mogo.eagle.core.data.deva.chain.ChainConstant.Companion.CHAIN_LINK_LOG_WEB_SOCKET_TRAFFIC_LIGHT
|
||||
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.*
|
||||
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
|
||||
import com.mogo.eagle.core.function.call.autopilot.CallerAutoPilotStatusListenerManager.invokeAutopilotGuardian
|
||||
import com.mogo.eagle.core.function.call.autopilot.CallerAutoPilotStatusListenerManager.invokeAutopilotSNRequest
|
||||
import com.mogo.eagle.core.function.call.autopilot.CallerAutoPilotStatusListenerManager.invokeAutopilotStatusRespByQuery
|
||||
import com.mogo.eagle.core.function.call.autopilot.CallerAutopilotActionsListenerManager.invokeAutopilotAbility
|
||||
import com.mogo.eagle.core.function.call.autopilot.CallerAutopilotCarConfigListenerManager.invokeAutopilotCarConfigData
|
||||
import com.mogo.eagle.core.function.call.autopilot.CallerAutopilotIdentifyListenerManager.invokeAutopilotIdentifyDataUpdate
|
||||
import com.mogo.eagle.core.function.call.autopilot.CallerAutopilotIdentifyListenerManager.invokeAutopilotIdentifyPlanningObj
|
||||
import com.mogo.eagle.core.function.call.autopilot.CallerAutopilotIdentifyListenerManager.invokeAutopilotWarnMessage
|
||||
import com.mogo.eagle.core.function.call.autopilot.CallerAutopilotRecordListenerManager.invokeAutopilotRecordConfig
|
||||
import com.mogo.eagle.core.function.call.autopilot.CallerAutopilotRecordListenerManager.invokeAutopilotRecordResult
|
||||
import com.mogo.eagle.core.function.call.autopilot.CallerAutopilotStatisticsListenerManager.invokeAutopilotStatistics
|
||||
import com.mogo.eagle.core.function.call.autopilot.CallerChassisLocationGCJ20ListenerManager.invokeChassisLocationGCJ02
|
||||
import com.mogo.eagle.core.function.call.autopilot.CallerChassisLocationWGS84ListenerManager.invokeChassisLocationWGS84
|
||||
import com.mogo.eagle.core.function.call.autopilot.CallerPlanningActionsListenerManager.invokePNCActions
|
||||
import com.mogo.eagle.core.function.call.autopilot.CallerPlanningRottingListenerManager.invokeAutopilotRotting
|
||||
import com.mogo.eagle.core.function.call.autopilot.CallerPlanningTrajectoryListenerManager.invokeAutopilotTrajectory
|
||||
import com.mogo.eagle.core.function.call.autopilot.CallerStartAutopilotFailedListenerManager.invokeStartAutopilotFailed
|
||||
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.Logger
|
||||
import com.zhidao.support.adas.high.AdasManager
|
||||
import com.zhidao.support.adas.high.OnAdasListener
|
||||
import com.zhidao.support.adas.high.bean.AutopilotAbility
|
||||
import com.zhidao.support.adas.high.bean.AutopilotStatistics
|
||||
import com.zhidao.support.adas.high.common.ProtocolStatus
|
||||
import com.zhjt.service.chain.ChainLog
|
||||
import com.zhjt.service.chain.TracingConstants.Endpoint.Companion.PAD
|
||||
import function_state_management.FunctionStates
|
||||
import mogo.telematics.pad.MessagePad
|
||||
import mogo.telematics.pad.MessagePad.TrackedObject
|
||||
import mogo_msg.MogoReportMsg
|
||||
import perception.TrafficLightOuterClass
|
||||
import planning.RoboSweeperTaskIndexOuterClass
|
||||
import prediction.Prediction
|
||||
import record_cache.RecordPanelOuterClass
|
||||
import system_master.SystemStatusInfo
|
||||
|
||||
/**
|
||||
* @author emArrow
|
||||
* @since 2022/3/11
|
||||
*
|
||||
*
|
||||
* 适配ADAS 回调监听分发，这里不做业务，只做数据包装及分发处理
|
||||
*/
|
||||
class MoGoAdasListenerImpl : OnAdasListener {
|
||||
|
||||
companion object {
|
||||
const val TAG = "MoGoAdasListenerImpl"
|
||||
}
|
||||
|
||||
//车前引导线
|
||||
@ChainLog(
|
||||
linkChainLog = CHAIN_LINK_LOG_WEB_SOCKET_TRAJECTORY,
|
||||
linkCode = CHAIN_LINK_ADAS,
|
||||
endpoint = PAD,
|
||||
nodeAliasCode = CHAIN_ALIAS_CODE_ADAS_MESSAGE_AUTOPILOT_TRAJECTORY,
|
||||
paramIndexes = [0, 1],
|
||||
clientPkFileName = "sn"
|
||||
)
|
||||
override fun onTrajectory(header: MessagePad.Header, trajectory: MessagePad.Trajectory?) {
|
||||
if (HdMapBuildConfig.isMapLoaded) {
|
||||
if (trajectory != null && trajectory.pointsList.size > 0) {
|
||||
invokeAutopilotTrajectory(trajectory.pointsList)
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
//感知物体
|
||||
@ChainLog(
|
||||
linkChainLog = CHAIN_LINK_LOG_WEB_SOCKET_DATA_TRACKED,
|
||||
linkCode = CHAIN_LINK_ADAS,
|
||||
endpoint = PAD,
|
||||
nodeAliasCode = CHAIN_ALIAS_CODE_ADAS_MESSAGE_RECT_DATA,
|
||||
paramIndexes = [0, 1],
|
||||
clientPkFileName = "sn"
|
||||
)
|
||||
override fun onTrackedObjects(
|
||||
header: MessagePad.Header,
|
||||
trackedObjects: MessagePad.TrackedObjects
|
||||
) {
|
||||
if (HdMapBuildConfig.isMapLoaded) {
|
||||
invokeAutopilotIdentifyDataUpdate(trackedObjects.objsList as List<TrackedObject>?)
|
||||
}
|
||||
}
|
||||
|
||||
//自车定位信息
|
||||
@ChainLog(
|
||||
linkChainLog = CHAIN_LINK_LOG_WEB_SOCKET_GNSSINFO,
|
||||
linkCode = CHAIN_LINK_ADAS,
|
||||
endpoint = PAD,
|
||||
nodeAliasCode = CHAIN_ALIAS_CODE_ADAS_MESSAGE_CAR_STATE,
|
||||
paramIndexes = [0, 1],
|
||||
clientPkFileName = "sn"
|
||||
)
|
||||
override fun onGnssInfo(header: MessagePad.Header, gnssInfo: MessagePad.GnssInfo?) {
|
||||
// WGS84坐标系高精度位置信息
|
||||
invokeChassisLocationWGS84(gnssInfo)
|
||||
// GCJ02高德坐标系位置信息
|
||||
invokeChassisLocationGCJ02(gnssInfo)
|
||||
if (gnssInfo != null) {
|
||||
if (1 == FunctionBuildConfig.gpsProvider) {
|
||||
// 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,
|
||||
gnssInfo.longitude,
|
||||
gnssInfo.latitude
|
||||
)
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
/**
|
||||
* 老底盘信息,透传底盘状态，pb参考底盘
|
||||
* TODO 目前由于M1车型不会在新底盘PB添加新的字段 所以临时保留
|
||||
* TODO 后期会优化掉，具体时间未知，需要工控机端新老底盘PB字段对齐
|
||||
*
|
||||
* @param header 头
|
||||
* @param vehicleState 数据
|
||||
*/
|
||||
@ChainLog(
|
||||
linkChainLog = CHAIN_LINK_LOG_WEB_SOCKET_VEHICLE,
|
||||
linkCode = CHAIN_LINK_ADAS,
|
||||
endpoint = PAD,
|
||||
nodeAliasCode = CHAIN_ALIAS_CODE_ADAS_MESSAGE_AUTOPILOT_VEHICLE,
|
||||
paramIndexes = [0, 1],
|
||||
clientPkFileName = "sn"
|
||||
)
|
||||
override fun onVehicleState(header: MessagePad.Header, vehicleState: VehicleStateOuterClass.VehicleState?) {
|
||||
if (vehicleState != null) {
|
||||
//转向灯数据
|
||||
CallerChassisLamplightListenerManager.invokeAutopilotLightSwitchData(vehicleState.light)
|
||||
//刹车灯数据
|
||||
CallerChassisLamplightListenerManager.invokeAutopilotBrakeLightData(vehicleState.brakeLightStatus)
|
||||
//方向盘转向角数据
|
||||
CallerChassisSteeringStateListenerManager.invokeAutopilotSteeringData(vehicleState.steering)
|
||||
//挂挡档位数据
|
||||
CallerChassisGearStateListenerManager.invokeAutopilotGearData(vehicleState.gear)
|
||||
//加速度
|
||||
CallerChassisAccStateListenerManager.invokeAutopilotAcc(vehicleState.accel)
|
||||
//油门
|
||||
CallerChassisThrottleStateListenerManager.invokeAutopilotThrottle(vehicleState.throttle)
|
||||
//刹车
|
||||
CallerChassisBrakeStateListenerManager.invokeAutopilotBrake(vehicleState.brake)
|
||||
//电量
|
||||
if (vehicleState.hasBmsSoc()) {
|
||||
CallerBatteryManagementSystemListenerManager.invokeBatteryManagementSystemStates(
|
||||
ChassisStatesOuterClass.BMSSystemStates.newBuilder()
|
||||
.setBmsSoc(vehicleState.bmsSoc).build()
|
||||
)
|
||||
}
|
||||
//清扫车（福田）清扫控制系统状态
|
||||
vehicleState.sweeperFutianCleanSystemState?.also { sweeperState ->
|
||||
val bytes: ByteArray = sweeperState.toByteArray()
|
||||
val cleanSystemState: ChassisStatesOuterClass.SweeperFuTianTaskSystemStates? = ChassisStatesOuterClass.SweeperFuTianTaskSystemStates.parseFrom(bytes)
|
||||
cleanSystemState?.let {
|
||||
CallerSweeperFutianCleanSystemListenerManager.invokeSweeperFutianCleanSystemState(it)
|
||||
}
|
||||
}
|
||||
//金旅M1
|
||||
vehicleState.roboBusJinlvM1State?.also {
|
||||
if (vehicleState.hasRoboBusJinlvM1State()) {
|
||||
CallerRoboBusJinlvM1StatesListenerManager.invokeRoboBusJinlvM1States(it)
|
||||
}
|
||||
}
|
||||
} else {
|
||||
CallerAutopilotVehicleStateListenerManager.invokeAutopilotDataException(header.timestamp.toLong())
|
||||
}
|
||||
}
|
||||
|
||||
/**
|
||||
* 底盘数据
|
||||
*
|
||||
* @param header 头
|
||||
* @param vehicleState 数据
|
||||
*/
|
||||
@ChainLog(
|
||||
linkChainLog = CHAIN_LINK_LOG_WEB_SOCKET_VEHICLE,
|
||||
linkCode = CHAIN_LINK_ADAS,
|
||||
endpoint = PAD,
|
||||
nodeAliasCode = CHAIN_ALIAS_CODE_ADAS_MESSAGE_AUTOPILOT_VEHICLE,
|
||||
paramIndexes = [0, 1],
|
||||
clientPkFileName = "sn"
|
||||
)
|
||||
override fun onChassisStates(header: MessagePad.Header, chassisStates: ChassisStatesOuterClass.ChassisStates?) {
|
||||
if (chassisStates != null) {
|
||||
chassisStates.bcmSystemStates?.let { bcmSystemStates ->
|
||||
bcmSystemStates.turnLightState?.let {
|
||||
//转向灯数据
|
||||
CallerChassisLamplightListenerManager.invokeAutopilotLightSwitchData(it)
|
||||
}
|
||||
//刹车灯数据
|
||||
CallerChassisLamplightListenerManager.invokeAutopilotBrakeLightData(bcmSystemStates.brakeLightState != 0)
|
||||
}
|
||||
chassisStates.steerSystemStates?.let {
|
||||
//方向盘转向角数据
|
||||
CallerChassisSteeringStateListenerManager.invokeAutopilotSteeringData(it.steeringWheelAngle)
|
||||
}
|
||||
chassisStates.gearSystemStates?.let { gearSystemStates ->
|
||||
gearSystemStates.gearPosition?.let {
|
||||
//挂挡档位数据
|
||||
CallerChassisGearStateListenerManager.invokeAutopilotGearData(it)
|
||||
}
|
||||
}
|
||||
chassisStates.vehicleMotionStates?.let {
|
||||
//加速度
|
||||
CallerChassisAccStateListenerManager.invokeAutopilotAcc(it.acceleration)
|
||||
}
|
||||
chassisStates.drivingSystemStates?.let {
|
||||
//油门
|
||||
CallerChassisThrottleStateListenerManager.invokeAutopilotThrottle(it.throttleResponsePosition)
|
||||
}
|
||||
chassisStates.brakeSystemStates?.let {
|
||||
//刹车
|
||||
CallerChassisBrakeStateListenerManager.invokeAutopilotBrake(it.brakePedalResponsePosition)
|
||||
}
|
||||
chassisStates.bmsSystemStates?.let {
|
||||
//电量
|
||||
CallerBatteryManagementSystemListenerManager.invokeBatteryManagementSystemStates(it)
|
||||
}
|
||||
chassisStates.bmsSystemStates?.let {
|
||||
//电池管理系统
|
||||
CallerAutopilotVehicleStateListenerManager.invokeBMSSystemStates(it)
|
||||
}
|
||||
chassisStates.taskSystemStates?.let { taskSystemStates ->
|
||||
taskSystemStates.sweeperFutianTaskSystemStates?.let {
|
||||
//清扫车（福田）清扫控制系统状态
|
||||
CallerSweeperFutianCleanSystemListenerManager.invokeSweeperFutianCleanSystemState(it)
|
||||
}
|
||||
}
|
||||
} else {
|
||||
CallerAutopilotVehicleStateListenerManager.invokeAutopilotDataException(header.timestamp.toLong())
|
||||
}
|
||||
}
|
||||
|
||||
//自动驾驶状态
|
||||
@ChainLog(
|
||||
linkChainLog = CHAIN_LINK_LOG_WEB_SOCKET_AUTOPILOT,
|
||||
linkCode = CHAIN_LINK_ADAS,
|
||||
endpoint = PAD,
|
||||
nodeAliasCode = CHAIN_ALIAS_CODE_ADAS_MESSAGE_AUTOPILOT_STATUS,
|
||||
paramIndexes = [0, 1],
|
||||
clientPkFileName = "sn"
|
||||
)
|
||||
override fun onAutopilotState(
|
||||
header: MessagePad.Header,
|
||||
autopilotState: MessagePad.AutopilotState?
|
||||
) {
|
||||
if (autopilotState != null) {
|
||||
//工控机模拟时间
|
||||
CallerAutopilotVehicleStateListenerManager.invokeAutopilotTime(header.timestamp.toLong())
|
||||
if (HdMapBuildConfig.isMapLoaded) {
|
||||
// 初始化自动驾驶状态信息
|
||||
val autopilotStatusInfo = getAutoPilotStatusInfo()
|
||||
autopilotStatusInfo.state = autopilotState.state
|
||||
autopilotStatusInfo.pilotmode = autopilotState.autopilotMode
|
||||
autopilotStatusInfo.reason = autopilotState.reason
|
||||
autopilotStatusInfo.camera = autopilotState.camera
|
||||
autopilotStatusInfo.rtk = autopilotState.rtk
|
||||
autopilotStatusInfo.radar = autopilotState.radar
|
||||
autopilotStatusInfo.version = AdasManager.getInstance().adasVersion
|
||||
if (autopilotStatusInfo.connectIP == null) {
|
||||
autopilotStatusInfo.connectIP = AdasManager.getInstance().ipcConnectedIp
|
||||
}
|
||||
if (autopilotStatusInfo.connectPort == null) {
|
||||
autopilotStatusInfo.connectPort = AdasManager.getInstance().ipcConnectedPort
|
||||
}
|
||||
AdasManager.getInstance().carConfig?.let {
|
||||
autopilotStatusInfo.dockVersion = it.dockVersion
|
||||
}
|
||||
CallerLogger.d("Upgrade", "origin = ${autopilotStatusInfo.connectStatus} -----now = ${AppConfigInfo.isConnectAutopilot} ")
|
||||
AppConfigInfo.isConnectAutopilot = autopilotStatusInfo.connectStatus
|
||||
AppConfigInfo.connectStatusDescribe = autopilotStatusInfo.connectStatusDescribe
|
||||
invokeAutoPilotStatus()
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
//监控
|
||||
@ChainLog(
|
||||
linkChainLog = CHAIN_LINK_LOG_WEB_SOCKET_AUTOPILOT,
|
||||
linkCode = CHAIN_LINK_ADAS,
|
||||
endpoint = PAD,
|
||||
nodeAliasCode = CHAIN_ALIAS_CODE_ADAS_MESSAGE_AUTOPILOT_GUARDIAN,
|
||||
paramIndexes = [0, 1],
|
||||
clientPkFileName = "sn"
|
||||
)
|
||||
override fun onReportMessage(
|
||||
header: MessagePad.Header,
|
||||
mogoReportMessage: MogoReportMsg.MogoReportMessage?
|
||||
) {
|
||||
if (HdMapBuildConfig.isMapLoaded) {
|
||||
invokeAutopilotGuardian(mogoReportMessage)
|
||||
}
|
||||
}
|
||||
|
||||
//感知红绿灯
|
||||
@ChainLog(
|
||||
linkChainLog = CHAIN_LINK_LOG_WEB_SOCKET_TRAFFIC_LIGHT,
|
||||
linkCode = CHAIN_LINK_ADAS,
|
||||
endpoint = PAD,
|
||||
nodeAliasCode = CHAIN_ALIAS_CODE_ADAS_MESSAGE_AUTOPILOT_TRAFFIC_LIGHT,
|
||||
paramIndexes = [0, 1],
|
||||
clientPkFileName = "sn"
|
||||
)
|
||||
override fun onPerceptionTrafficLight(
|
||||
header: MessagePad.Header?,
|
||||
trafficLights: TrafficLightOuterClass.TrafficLights?
|
||||
) {
|
||||
if (trafficLights != null) {
|
||||
CallerAutopilotIdentifyListenerManager.invokeAutopilotPerceptionTrafficLight(
|
||||
trafficLights
|
||||
)
|
||||
}
|
||||
}
|
||||
|
||||
//他车轨迹预测
|
||||
override fun onPredictionObstacleTrajectory(
|
||||
header: MessagePad.Header?,
|
||||
predictionObjects: Prediction.mPredictionObjects?
|
||||
) {
|
||||
//他车轨迹预测
|
||||
}
|
||||
|
||||
override fun onPointCloud(pointCloud: ByteArray?) {
|
||||
//点云数据透传
|
||||
CallerAutopilotPointCloudListenerManager.invokeAutopilotPointCloudDataUpdate(pointCloud)
|
||||
}
|
||||
|
||||
//planning障碍物
|
||||
@ChainLog(
|
||||
linkChainLog = CHAIN_LINK_LOG_WEB_SOCKET_PLANNING_OBJECTS,
|
||||
linkCode = CHAIN_LINK_ADAS,
|
||||
endpoint = PAD,
|
||||
nodeAliasCode = CHAIN_ALIAS_CODE_ADAS_MESSAGE_PLANNING_OBJECTS,
|
||||
paramIndexes = [0, 1],
|
||||
clientPkFileName = "sn"
|
||||
)
|
||||
override fun onPlanningObjects(
|
||||
header: MessagePad.Header?,
|
||||
planningObjects: MessagePad.PlanningObjects
|
||||
) {
|
||||
if (HdMapBuildConfig.isMapLoaded) {
|
||||
invokeAutopilotIdentifyPlanningObj(planningObjects.objsList as List<MessagePad.PlanningObject>)
|
||||
}
|
||||
}
|
||||
|
||||
// 自动驾驶设备基础信息请求
|
||||
override fun onBasicInfoReq(
|
||||
header: MessagePad.Header,
|
||||
basicInfoReq: MessagePad.BasicInfoReq?
|
||||
) {
|
||||
invokeAutopilotSNRequest()
|
||||
}
|
||||
|
||||
//工控机基础配置信息
|
||||
@ChainLog(
|
||||
linkChainLog = CHAIN_LINK_LOG_CONNECT_STATUS,
|
||||
linkCode = CHAIN_LINK_ADAS,
|
||||
endpoint = PAD,
|
||||
nodeAliasCode = CHAIN_ALIAS_CODE_ADAS_MESSAGE_CAR_CONFIG,
|
||||
paramIndexes = [0, 1],
|
||||
clientPkFileName = "sn"
|
||||
)
|
||||
override fun onCarConfigResp(
|
||||
header: MessagePad.Header,
|
||||
carConfigResp: MessagePad.CarConfigResp?
|
||||
) {
|
||||
if (carConfigResp != null) {
|
||||
AppConfigInfo.dockerVersion = carConfigResp.dockVersion
|
||||
AppConfigInfo.plateNumber = carConfigResp.plateNumber//车牌号
|
||||
AppConfigInfo.iPCMacAddress = carConfigResp.macAddress//工控机MAC地址
|
||||
AppConfigInfo.protocolVersionNumber = carConfigResp.protocolVersionValue//工控机协议版本
|
||||
AppConfigInfo.isConnectAutopilot = true
|
||||
invokeAutopilotCarConfigData(carConfigResp)
|
||||
}
|
||||
}
|
||||
|
||||
//全局路径规划
|
||||
@ChainLog(
|
||||
linkChainLog = CHAIN_LINK_LOG_WEB_SOCKET_AUTOPILOT,
|
||||
linkCode = CHAIN_LINK_ADAS,
|
||||
endpoint = PAD,
|
||||
nodeAliasCode = CHAIN_ALIAS_CODE_ADAS_MESSAGE_AUTOPILOT_ROUTE,
|
||||
paramIndexes = [0, 1],
|
||||
clientPkFileName = "sn"
|
||||
)
|
||||
override fun onGlobalPathResp(
|
||||
header: MessagePad.Header,
|
||||
globalPathResp: MessagePad.GlobalPathResp?
|
||||
) {
|
||||
if (HdMapBuildConfig.isMapLoaded) {
|
||||
invokeAutopilotRotting(globalPathResp)
|
||||
}
|
||||
}
|
||||
|
||||
//数据采集，badCase
|
||||
@ChainLog(
|
||||
linkChainLog = CHAIN_LINK_LOG_WEB_SOCKET_AUTOPILOT,
|
||||
linkCode = CHAIN_LINK_ADAS,
|
||||
endpoint = PAD,
|
||||
nodeAliasCode = CHAIN_ALIAS_CODE_ADAS_MESSAGE_AUTOPILOT_RECORD,
|
||||
paramIndexes = [0, 1],
|
||||
clientPkFileName = "sn"
|
||||
)
|
||||
override fun onRecordResult(
|
||||
header: MessagePad.Header,
|
||||
recordPanel: RecordPanelOuterClass.RecordPanel?
|
||||
) {
|
||||
if (recordPanel != null) {
|
||||
invokeAutopilotRecordResult(recordPanel)
|
||||
}
|
||||
}
|
||||
|
||||
//预警信息
|
||||
// @ChainLog(
|
||||
// linkChainLog = CHAIN_LINK_LOG_WEB_SOCKET_AUTOPILOT,
|
||||
// linkCode = CHAIN_LINK_ADAS,
|
||||
// endpoint = PAD,
|
||||
// nodeAliasCode = CHAIN_ALIAS_CODE_ADAS_MESSAGE_AUTOPILOT_WARN,
|
||||
// paramIndexes = [0, 1],
|
||||
// clientPkFileName = "sn"
|
||||
// )
|
||||
override fun onWarn(header: MessagePad.Header, warn: MessagePad.Warn?) {
|
||||
invokeAutopilotWarnMessage(warn)
|
||||
}
|
||||
|
||||
//到站回调
|
||||
@ChainLog(
|
||||
linkChainLog = CHAIN_LINK_LOG_WEB_SOCKET_AUTOPILOT,
|
||||
linkCode = CHAIN_LINK_ADAS,
|
||||
endpoint = PAD,
|
||||
nodeAliasCode = CHAIN_ALIAS_CODE_ADAS_MESSAGE_AUTOPILOT_ARRIVE,
|
||||
paramIndexes = [0, 1],
|
||||
clientPkFileName = "sn"
|
||||
)
|
||||
override fun onArrivalNotification(
|
||||
header: MessagePad.Header,
|
||||
arrivalNotification: MessagePad.ArrivalNotification?
|
||||
) {
|
||||
if (HdMapBuildConfig.isMapLoaded) {
|
||||
invokeArriveAtStation(arrivalNotification)
|
||||
}
|
||||
}
|
||||
|
||||
//状态查询应答
|
||||
@ChainLog(
|
||||
linkChainLog = CHAIN_LINK_LOG_WEB_SOCKET_AUTOPILOT,
|
||||
linkCode = CHAIN_LINK_ADAS,
|
||||
endpoint = PAD,
|
||||
nodeAliasCode = CHAIN_ALIAS_CODE_ADAS_STATUS_QUERY_RESP,
|
||||
paramIndexes = [0, 1],
|
||||
clientPkFileName = "sn"
|
||||
)
|
||||
override fun onStatusQueryResp(
|
||||
header: MessagePad.Header?,
|
||||
statusInfo: SystemStatusInfo.StatusInfo?
|
||||
) {
|
||||
invokeAutopilotStatusRespByQuery(statusInfo)
|
||||
}
|
||||
|
||||
/**
|
||||
* 数据采集配置应答
|
||||
*/
|
||||
override fun onRecordDataConfigResp(
|
||||
header: MessagePad.Header?,
|
||||
config: MessagePad.RecordDataConfig?
|
||||
) {
|
||||
if (config != null) {
|
||||
invokeAutopilotRecordConfig(config)
|
||||
}
|
||||
}
|
||||
|
||||
/**
|
||||
* planning决策状态, 透传
|
||||
*/
|
||||
@ChainLog(
|
||||
linkChainLog = CHAIN_LINK_LOG_WEB_SOCKET_PLANNING_ACTIONS,
|
||||
linkCode = CHAIN_LINK_ADAS,
|
||||
endpoint = PAD,
|
||||
nodeAliasCode = CHAIN_ALIAS_CODE_ADAS_MESSAGE_PLANNING_ACTIONS,
|
||||
paramIndexes = [0, 1],
|
||||
clientPkFileName = "sn"
|
||||
)
|
||||
override fun onPlanningActionMsg(
|
||||
header: MessagePad.Header?,
|
||||
planningActionMsg: MessagePad.PlanningActionMsg?
|
||||
) {
|
||||
planningActionMsg?.let {
|
||||
invokePNCActions(it)
|
||||
}
|
||||
}
|
||||
|
||||
/**
|
||||
* 重构后的功能状态
|
||||
*
|
||||
* @param header 头
|
||||
* @param functionStates 头
|
||||
*/
|
||||
override fun onFunctionStates(header: MessagePad.Header?, functionStates: FunctionStates.FSMFunctionStates?) {
|
||||
|
||||
}
|
||||
/**
|
||||
* 清扫车指标数据
|
||||
*
|
||||
* @param header 头
|
||||
* @param roboSweeperTaskIndex 数据
|
||||
*/
|
||||
override fun onSweeperTaskIndexData(header: MessagePad.Header?, roboSweeperTaskIndex: RoboSweeperTaskIndexOuterClass.RoboSweeperTaskIndex?) {
|
||||
roboSweeperTaskIndex?.let {
|
||||
//清扫车（福田）清扫控制系统状态
|
||||
CallerAutopilotVehicleStateListenerManager.invokeSweeperFutianCleanTaskIndexData(it)
|
||||
}
|
||||
}
|
||||
|
||||
/**
|
||||
* 清扫车指标数据
|
||||
*
|
||||
* @param header 头
|
||||
* @param roboSweeperTaskIndex 数据
|
||||
*/
|
||||
override fun onSweeperTaskIndexData(header: MessagePad.Header?, roboSweeperTaskIndex: RoboSweeperTaskIndexOuterClass.RoboSweeperTaskIndex?) {
|
||||
|
||||
}
|
||||
|
||||
/**
|
||||
* Bag管理应答
|
||||
*
|
||||
* @param header 头
|
||||
* @param bagManager 数据
|
||||
*/
|
||||
override fun onBagManagerCmd(header: MessagePad.Header?, bagManager: BagManagerOuterClass.BagManager?) {
|
||||
}
|
||||
|
||||
/**
|
||||
* 是否可以启动自动驾驶
|
||||
* 使用方法查看：app_ipc_monitoring/uiMainActivity/onAutopilotAbility
|
||||
*/
|
||||
override fun onAutopilotAbility(ability: AutopilotAbility?) {
|
||||
invokeAutopilotAbility(ability)
|
||||
}
|
||||
|
||||
/**
|
||||
* 启动自动驾驶失败回调
|
||||
* 根据MAP 系统监控状态返回过滤
|
||||
* message.getMsg() 获取详细错误说明
|
||||
* message.getCode() 可用于判断属于什么类型
|
||||
*
|
||||
* @param message 数据
|
||||
*/
|
||||
override fun onStartAutopilotFailed(message: MogoReportMsg.MogoReportMessage?) {
|
||||
invokeStartAutopilotFailed(message);
|
||||
}
|
||||
|
||||
/**
|
||||
* 启动自动驾驶状态统计
|
||||
* 触发机制：下发启动自动驾驶命令，根据MAP返回状态判断成功或失败
|
||||
* 统计四种状态：成功 失败 取消 超时
|
||||
*
|
||||
* @param statistics 统计数据
|
||||
*/
|
||||
override fun onAutopilotStatistics(statistics: AutopilotStatistics?) {
|
||||
invokeAutopilotStatistics(statistics);
|
||||
}
|
||||
|
||||
/**
|
||||
* 数据解析失败、数据异常回调
|
||||
* @param status 错误原因
|
||||
* @param bytes 原始数据
|
||||
*/
|
||||
override fun onError(status: ProtocolStatus, bytes: ByteArray) {
|
||||
Logger.e(TAG, "status===$status")
|
||||
}
|
||||
}
|
||||
@@ -0,0 +1,148 @@
|
||||
package com.mogo.eagle.core.function.datacenter.autopilot.adapter
|
||||
|
||||
import com.mogo.cloud.passport.MoGoAiCloudClientConfig
|
||||
import com.mogo.commons.debug.DebugConfig.*
|
||||
import com.mogo.eagle.core.data.config.FunctionBuildConfig
|
||||
import com.mogo.eagle.core.function.api.autopilot.IMoGoAutopilotStatusListener
|
||||
import com.mogo.eagle.core.function.api.cloud.IMoGoCloudListener
|
||||
import com.mogo.eagle.core.function.call.autopilot.CallerAutoPilotManager
|
||||
import com.mogo.eagle.core.function.call.autopilot.CallerAutoPilotStatusListenerManager
|
||||
import com.mogo.eagle.core.function.call.cloud.CallerCloudListenerManager
|
||||
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.Companion.M_ADAS_IMPL
|
||||
import com.mogo.eagle.core.utilcode.util.ToastUtils
|
||||
import com.zhidao.support.adas.high.AdasManager
|
||||
import com.zhidao.support.adas.high.OnAdasConnectStatusListener
|
||||
import com.zhidao.support.adas.high.bean.VersionCompatibility
|
||||
import com.zhidao.support.adas.high.common.Constants
|
||||
import com.zhidao.support.adas.high.common.Constants.ENVIRONMENT.*
|
||||
import com.zhidao.support.adas.high.common.Constants.TERMINAL_ROLE.DRIVER
|
||||
import com.zhidao.support.adas.high.common.Constants.TERMINAL_ROLE.PASSENGER
|
||||
|
||||
/**
|
||||
* ADAS-SDK与工控机连接状态回调
|
||||
*/
|
||||
class MoGoAdasMsgConnectStatusListenerImpl :
|
||||
OnAdasConnectStatusListener,
|
||||
IMoGoAutopilotStatusListener,
|
||||
IMoGoCloudListener {
|
||||
private val TAG = "ConnectStatus"
|
||||
|
||||
private var connectStatus = false
|
||||
|
||||
init {
|
||||
CallerCloudListenerManager.registerCloudListener(TAG, this)
|
||||
}
|
||||
|
||||
override fun onConnectionIPCStatus(ipcConnectionStatus: Int, reason: String?) {
|
||||
CallerAutoPilotStatusListenerManager.invokeAutoPilotIPCStatusChanged(
|
||||
ipcConnectionStatus,
|
||||
reason
|
||||
)
|
||||
if (ipcConnectionStatus == Constants.IPC_CONNECTION_STATUS.CONNECTED) {
|
||||
CallerLogger.d("$M_ADAS_IMPL$TAG", "webSocket 连接成功")
|
||||
connectStatus = true
|
||||
// 初始化自动驾驶状态信息
|
||||
CallerAutoPilotStatusListenerManager.getAutoPilotStatusInfo().connectIP =
|
||||
AdasManager.getInstance().ipcConnectedIp
|
||||
CallerAutoPilotStatusListenerManager.getAutoPilotStatusInfo().connectPort =
|
||||
AdasManager.getInstance().ipcConnectedPort
|
||||
CallerAutoPilotStatusListenerManager.getAutoPilotStatusInfo().connectStatus = true
|
||||
// 同步SN给工控机
|
||||
syncBasicInfoToAutopilot()
|
||||
//每次工控机连接成功后，需同步当前设置的美化模式状态
|
||||
CallerAutoPilotManager.setDemoMode(FunctionBuildConfig.isDemoMode)
|
||||
//当连接状态是关闭美化模式时，同步给工控机
|
||||
if (!FunctionBuildConfig.isDemoMode) {
|
||||
CallerAutoPilotManager.setIPCDemoMode(FunctionBuildConfig.isDemoMode)
|
||||
}
|
||||
//每次工控机连接成功后，需同步当前设置的雨天模式状态
|
||||
CallerAutoPilotManager.setRainMode(FunctionBuildConfig.isRainMode)
|
||||
} else if (ipcConnectionStatus == Constants.IPC_CONNECTION_STATUS.DISCONNECTED) {
|
||||
CallerLogger.d("$M_ADAS_IMPL$TAG", "webSocket 连接失败 reason:$reason")
|
||||
if (connectStatus) {
|
||||
reason?.let {
|
||||
ToastUtils.showLong("工控机连接断开，原因:$it , 等待重连")
|
||||
}
|
||||
connectStatus = false
|
||||
}
|
||||
CallerAutoPilotStatusListenerManager.getAutoPilotStatusInfo().connectIP =
|
||||
AdasManager.getInstance().ipcConnectedIp
|
||||
CallerAutoPilotStatusListenerManager.getAutoPilotStatusInfo().connectPort =
|
||||
AdasManager.getInstance().ipcConnectedPort
|
||||
CallerAutoPilotStatusListenerManager.getAutoPilotStatusInfo().connectStatus = false
|
||||
//与工控机断开连接，需要重置自动驾驶状态(包括上传至云平台缓存信息)，等待连接成功后同步状态信息
|
||||
CallerAutoPilotStatusListenerManager.getAutoPilotStatusInfo().state = 0
|
||||
CallerAutoPilotStatusListenerManager.getAutoPilotStatusInfo().pilotmode = 0
|
||||
} else if (ipcConnectionStatus == Constants.IPC_CONNECTION_STATUS.CONNECTING) {
|
||||
CallerLogger.d("$M_ADAS_IMPL$TAG", "webSocket 正在连接")
|
||||
} else if (ipcConnectionStatus == Constants.IPC_CONNECTION_STATUS.SEARCH_ADDRESS) {
|
||||
CallerLogger.d("$M_ADAS_IMPL$TAG", "webSocket 正在搜索工控机IP")
|
||||
} else if (ipcConnectionStatus == Constants.IPC_CONNECTION_STATUS.NOT_FOUND_ADDRESS) {
|
||||
CallerLogger.d("$M_ADAS_IMPL$TAG", "webSocket 找不到可用IP 传入的IP不可用或固定IP列表中所有IP不可用")
|
||||
}
|
||||
CallerAutoPilotStatusListenerManager.getAutoPilotStatusInfo().ipcConnStatus =
|
||||
ipcConnectionStatus
|
||||
CallerAutoPilotStatusListenerManager.getAutoPilotStatusInfo().connectStatusDescribe = reason
|
||||
CallerAutoPilotStatusListenerManager.invokeAutoPilotStatus()
|
||||
}
|
||||
|
||||
override fun onCompatibility(versionCompatibility: VersionCompatibility?) {
|
||||
// 与所连接工控机版本兼容性检查通知
|
||||
}
|
||||
|
||||
/**
|
||||
* 工控机获取SN
|
||||
*/
|
||||
override fun onAutopilotSNRequest() {
|
||||
syncBasicInfoToAutopilot()
|
||||
}
|
||||
|
||||
/**
|
||||
* 同步SN信息给工控机
|
||||
*/
|
||||
private fun syncBasicInfoToAutopilot(sn: String? = null) {
|
||||
CallerLogger.d("$M_ADAS_IMPL$TAG", "同步PAD的SN给工控机……")
|
||||
if (AppIdentityModeUtils.isDriver(FunctionBuildConfig.appIdentityMode)) {
|
||||
// 设置PAD-SN给工控,网络环境
|
||||
AdasManager.getInstance()
|
||||
.sendBasicInfoResp(
|
||||
MoGoAiCloudClientConfig.getInstance().sn,
|
||||
getEnvironment(),
|
||||
getTerminalRole()
|
||||
)
|
||||
} else {
|
||||
// 乘客屏先不传sn
|
||||
AdasManager.getInstance()
|
||||
.sendBasicInfoResp(
|
||||
"",
|
||||
getEnvironment(),
|
||||
getTerminalRole()
|
||||
)
|
||||
}
|
||||
}
|
||||
|
||||
private fun getEnvironment(): Int {
|
||||
return when (getNetMode()) {
|
||||
NET_MODE_DEV -> DEVELOP
|
||||
NET_MODE_QA -> TEST
|
||||
NET_MODE_RELEASE -> PRODUCTION
|
||||
NET_MODE_DEMO -> DEMO
|
||||
else -> PRODUCTION
|
||||
}
|
||||
}
|
||||
|
||||
private fun getTerminalRole(): Int {
|
||||
return when {
|
||||
AppIdentityModeUtils.isDriver(FunctionBuildConfig.appIdentityMode) -> DRIVER
|
||||
AppIdentityModeUtils.isPassenger(FunctionBuildConfig.appIdentityMode) -> PASSENGER
|
||||
else -> DRIVER
|
||||
}
|
||||
}
|
||||
|
||||
override fun tokenGot(token: String, sn: String) {
|
||||
syncBasicInfoToAutopilot(sn)
|
||||
}
|
||||
|
||||
}
|
||||
@@ -0,0 +1,31 @@
|
||||
package com.mogo.eagle.core.function.datacenter.autopilot.server
|
||||
|
||||
import com.mogo.eagle.core.data.trafficlight.TrafficLightResult
|
||||
import com.mogo.eagle.core.function.api.trafficlight.IMoGoTrafficLightListener
|
||||
import com.mogo.eagle.core.function.call.autopilot.CallerAutoPilotManager
|
||||
import com.mogo.eagle.core.function.call.trafficlight.CallerTrafficLightListenerManager
|
||||
|
||||
/**
|
||||
* @author xiaoyuzhou
|
||||
* @date 2021/11/08 8:43 下午
|
||||
*
|
||||
*
|
||||
* 异步同步数据给 Autopilot 控制器
|
||||
* 数据源（不限于）：OBU、网络等
|
||||
*/
|
||||
class AsyncDataToAutopilotServer private constructor() : IMoGoTrafficLightListener {
|
||||
companion object {
|
||||
const val TAG = "AsyncDataToAutopilotServer"
|
||||
val INSTANCE: AsyncDataToAutopilotServer by lazy(mode = LazyThreadSafetyMode.SYNCHRONIZED) {
|
||||
AsyncDataToAutopilotServer()
|
||||
}
|
||||
}
|
||||
|
||||
fun initServer() {
|
||||
CallerTrafficLightListenerManager.addListener(TAG, this)
|
||||
}
|
||||
|
||||
override fun onTrafficLightStatus(trafficLightResult: TrafficLightResult) {
|
||||
CallerAutoPilotManager.sendTrafficLightData(trafficLightResult)
|
||||
}
|
||||
}
|
||||
@@ -0,0 +1,5 @@
|
||||
package com.mogo.eagle.core.function.datacenter.autopilot.telematic
|
||||
|
||||
interface EventListener {
|
||||
fun connectDevice(isSupportMulti: Boolean)
|
||||
}
|
||||
@@ -0,0 +1,24 @@
|
||||
package com.mogo.eagle.core.function.datacenter.autopilot.telematic
|
||||
|
||||
import com.mogo.telematic.MogoProtocolMsg
|
||||
import io.netty.channel.Channel
|
||||
|
||||
interface IMsgHandler {
|
||||
fun handleMsgFromServer(msg: MogoProtocolMsg?, channel: Channel?)
|
||||
|
||||
fun handleMsgFromClient(msg: MogoProtocolMsg?, channel: Channel?)
|
||||
|
||||
fun handleClientConn2Server(channel: Channel?)
|
||||
|
||||
fun handleClientConnStatus(statusCode: Int, content: String?, channel: Channel)
|
||||
|
||||
fun handleServerConnStatus(statusCode: Int, content: String?, channel: Channel)
|
||||
|
||||
fun synWriteTime()
|
||||
|
||||
fun getTeleTimeStamp(): Long
|
||||
|
||||
fun synMsgToAllClients()
|
||||
|
||||
fun setListener(eventListener: EventListener?)
|
||||
}
|
||||
@@ -0,0 +1,297 @@
|
||||
package com.mogo.eagle.core.function.datacenter.autopilot.telematic
|
||||
|
||||
import androidx.lifecycle.ProcessLifecycleOwner
|
||||
import androidx.lifecycle.lifecycleScope
|
||||
import com.google.protobuf.TextFormat
|
||||
import com.mogo.cloud.passport.MoGoAiCloudClientConfig
|
||||
import com.mogo.eagle.core.data.app.AppConfigInfo
|
||||
import com.mogo.eagle.core.data.config.FunctionBuildConfig
|
||||
import com.mogo.eagle.core.data.deva.chain.ChainConstant
|
||||
import com.mogo.eagle.core.data.deva.chain.ChainConstant.Companion.CHAIN_LINK_LOG_CONNECT_STATUS
|
||||
import com.mogo.eagle.core.function.call.autopilot.CallerAutoPilotManager
|
||||
import com.mogo.eagle.core.function.call.autopilot.CallerAutoPilotManager.setDemoMode
|
||||
import com.mogo.eagle.core.function.call.autopilot.CallerAutoPilotManager.setIgnoreConditionDraw
|
||||
import com.mogo.eagle.core.function.call.devatools.CallerDevaToolsManager
|
||||
import com.mogo.eagle.core.utilcode.mogo.logger.*
|
||||
import com.mogo.eagle.core.utilcode.mogo.logger.scene.SceneConstant
|
||||
import com.mogo.eagle.core.utilcode.util.ToastUtils
|
||||
import com.mogo.telematic.MogoProtocolMsg
|
||||
import com.mogo.telematic.NSDNettyManager
|
||||
import com.mogo.telematic.client.NettyTcpClient
|
||||
import com.mogo.telematic.client.status.ConnectState
|
||||
import com.zhidao.support.adas.high.AdasManager
|
||||
import com.zhjt.service.chain.ChainLog
|
||||
import com.zhjt.service.chain.TracingConstants
|
||||
import io.netty.channel.Channel
|
||||
import kotlinx.coroutines.delay
|
||||
import kotlinx.coroutines.launch
|
||||
import mogo.telematics.pad.MessagePad
|
||||
|
||||
class TeleMsgHandler : IMsgHandler {
|
||||
|
||||
private val TAG = "TeleMsgHandler"
|
||||
|
||||
@Volatile
|
||||
private var isFirstDisc = true
|
||||
|
||||
@Volatile
|
||||
private var wrTimeStamp = 0L
|
||||
|
||||
@Volatile
|
||||
private var isReceiveSN = false
|
||||
|
||||
@Volatile
|
||||
private var demoModeTime = 0L
|
||||
|
||||
@Volatile
|
||||
private var timestamp = 0L
|
||||
|
||||
private var listener: EventListener? = null
|
||||
|
||||
override fun handleMsgFromServer(msg: MogoProtocolMsg?, channel: Channel?) {
|
||||
msg?.let {
|
||||
when (it.protocolType) {
|
||||
MogoProtocolMsg.NORMAL_DATA -> {
|
||||
try {
|
||||
synWriteTime()
|
||||
AdasManager.getInstance().decoderRaw(it.body)
|
||||
} catch (e: Exception) {
|
||||
e.printStackTrace()
|
||||
CallerLogger.e(
|
||||
"${SceneConstant.M_ADAS_IMPL}$TAG",
|
||||
"乘客屏解析数据过程中出现异常：${e.message}"
|
||||
)
|
||||
}
|
||||
}
|
||||
MogoProtocolMsg.SYNC_MODE_STATUS -> {
|
||||
val content = String(it.body)
|
||||
if (content.contains(";")) {
|
||||
val strArr = content.split(";")
|
||||
if (strArr.size == 2) {
|
||||
val currTime = strArr[1].toLong()
|
||||
if (currTime > demoModeTime) {
|
||||
FunctionBuildConfig.isDemoMode = when (strArr[0]) {
|
||||
"1" -> true
|
||||
else -> false
|
||||
}
|
||||
demoModeTime = currTime
|
||||
invokeNettyConnResult("乘客屏收到的美化模式DemoMode为：${FunctionBuildConfig.isDemoMode}")
|
||||
} else {
|
||||
invokeNettyConnResult("乘客屏收到过时的美化模式DemoMode为：${FunctionBuildConfig.isDemoMode}")
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
MogoProtocolMsg.REQ_MAC_ADDRESS -> {
|
||||
val carConfig = MessagePad.CarConfigResp.parseFrom(msg.body)
|
||||
AppConfigInfo.plateNumber = carConfig.plateNumber
|
||||
AppConfigInfo.iPCMacAddress = carConfig.macAddress
|
||||
AppConfigInfo.dockerVersion = carConfig.dockVersion
|
||||
listener?.connectDevice(!carConfig.dockVersion.contains("2.3.0"))
|
||||
invokeNettyConnResult(
|
||||
"司机屏发送给乘客屏配置信息为:${
|
||||
TextFormat.printer().escapingNonAscii(false).printToString(carConfig)
|
||||
}"
|
||||
)
|
||||
CallerDevaToolsManager.getBindingCarInfo(carConfig.macAddress, MoGoAiCloudClientConfig.getInstance().sn)
|
||||
}
|
||||
// SN
|
||||
10 -> {
|
||||
val sn = String(it.body)
|
||||
isReceiveSN = true
|
||||
NettyTcpClient.sSERVER_SN = sn
|
||||
}
|
||||
// 美化模式是否忽略条件直接绘制
|
||||
11 -> {
|
||||
val content = String(it.body)
|
||||
if (content.contains(";")) {
|
||||
val strArr = content.split(";")
|
||||
if (strArr.size == 2) {
|
||||
val currTime = strArr[1].toLong()
|
||||
if (currTime > timestamp) {
|
||||
FunctionBuildConfig.isIgnoreConditionsDrawAutopilotTrajectoryData =
|
||||
when (strArr[0]) {
|
||||
"1" -> true
|
||||
else -> false
|
||||
}
|
||||
timestamp = currTime
|
||||
invokeNettyConnResult("乘客屏收到的美化模式isIgnore为：${FunctionBuildConfig.isIgnoreConditionsDrawAutopilotTrajectoryData}")
|
||||
} else {
|
||||
invokeNettyConnResult("乘客屏收到过时的美化模式isIgnore为：${FunctionBuildConfig.isIgnoreConditionsDrawAutopilotTrajectoryData}")
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
else -> {
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
override fun handleMsgFromClient(msg: MogoProtocolMsg?, channel: Channel?) {
|
||||
msg?.let {
|
||||
when (it.protocolType) {
|
||||
MogoProtocolMsg.REQ_MAC_ADDRESS -> {
|
||||
val carConfig = AdasManager.getInstance().carConfig
|
||||
if (carConfig != null) {
|
||||
listener?.connectDevice(!carConfig.dockVersion.contains("2.3.0"))
|
||||
val configArray = carConfig.toByteArray()
|
||||
|
||||
NSDNettyManager.getInstance().sendMsgToSpecifiedClient(
|
||||
MogoProtocolMsg(
|
||||
MogoProtocolMsg.REQ_MAC_ADDRESS,
|
||||
configArray.size, configArray
|
||||
), channel
|
||||
) {
|
||||
invokeNettyConnResult("司机屏发送配置信息到乘客屏是否成功：${it.isSuccess}")
|
||||
}
|
||||
} else {
|
||||
queryCarConfig()
|
||||
}
|
||||
}
|
||||
//乘客端发送过来的工控机数据交给司机端adas转发到工控机
|
||||
MogoProtocolMsg.NORMAL_DATA -> {
|
||||
AdasManager.getInstance().sendWsMessage(it.body)
|
||||
}
|
||||
10 -> {
|
||||
val sn = MoGoAiCloudClientConfig.getInstance().sn
|
||||
if (!sn.isNullOrEmpty()) {
|
||||
val snArray = sn.toByteArray()
|
||||
NSDNettyManager.getInstance().sendMsgToSpecifiedClient(
|
||||
MogoProtocolMsg(10, snArray.size, snArray), channel
|
||||
) {
|
||||
invokeNettyConnResult("司机屏发送SN(${sn})到乘客屏是否成功：${it.isSuccess}")
|
||||
}
|
||||
} else {
|
||||
invokeNettyConnResult("司机屏SN未获取到，不发送给乘客屏")
|
||||
}
|
||||
}
|
||||
else -> {
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
private fun queryCarConfig() {
|
||||
invokeNettyConnResult("乘客屏请求司机屏向工控机查询配置信息")
|
||||
CallerAutoPilotManager.getCarConfig()
|
||||
}
|
||||
|
||||
override fun handleClientConn2Server(channel: Channel?) {
|
||||
val socketAddress = channel?.remoteAddress().toString()
|
||||
CallerLogger.d("${SceneConstant.M_ADAS_IMPL}$TAG", "Client ip is:${socketAddress}")
|
||||
setDemoMode(FunctionBuildConfig.isDemoMode)
|
||||
setIgnoreConditionDraw(FunctionBuildConfig.isIgnoreConditionsDrawAutopilotTrajectoryData)
|
||||
}
|
||||
|
||||
override fun handleClientConnStatus(statusCode: Int, content: String?, channel: Channel) {
|
||||
when (statusCode) {
|
||||
ConnectState.STATUS_CONNECT_SUCCESS -> {
|
||||
if (!isFirstDisc) {
|
||||
isFirstDisc = true
|
||||
}
|
||||
// 重置状态
|
||||
if (isReceiveSN) {
|
||||
isReceiveSN = false
|
||||
}
|
||||
// AdasManager.getInstance().startDispatchHandler()
|
||||
ToastUtils.showShort("连接司机屏成功!")
|
||||
invokeNettyConnResult("乘客屏连接司机屏成功")
|
||||
val byteArray = byteArrayOf(0)
|
||||
NSDNettyManager.getInstance().sendMogoProtocolMsgToServer(
|
||||
MogoProtocolMsg(MogoProtocolMsg.REQ_MAC_ADDRESS, byteArray.size, byteArray)
|
||||
) {
|
||||
invokeNettyConnResult("乘客屏请求配置信息的数据发送是否成功：${it}")
|
||||
}
|
||||
// 请求司机屏SN
|
||||
reqServerSN()
|
||||
}
|
||||
ConnectState.STATUS_CONNECT_CLOSED -> {// 由于重连机制会回调多次
|
||||
if (isFirstDisc) {
|
||||
isFirstDisc = false
|
||||
AppConfigInfo.plateNumber = ""
|
||||
AppConfigInfo.iPCMacAddress = ""
|
||||
ToastUtils.showLong("断开和司机屏的连接!")
|
||||
invokeNettyConnResult("断开和司机屏的连接!")
|
||||
AdasManager.getInstance().stopDispatchHandler()
|
||||
}
|
||||
}
|
||||
ConnectState.STATUS_CONNECT_ERROR -> {
|
||||
AppConfigInfo.plateNumber = ""
|
||||
ToastUtils.showLong("和司机端连接异常!")
|
||||
invokeNettyConnResult("乘客屏和司机屏连接异常，错误为：$content")
|
||||
AdasManager.getInstance().stopDispatchHandler()
|
||||
}
|
||||
else -> {
|
||||
AdasManager.getInstance().stopDispatchHandler()
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
override fun handleServerConnStatus(statusCode: Int, content: String?, channel: Channel) {}
|
||||
|
||||
@ChainLog(
|
||||
linkChainLog = CHAIN_LINK_LOG_CONNECT_STATUS,
|
||||
linkCode = ChainConstant.CHAIN_LINK_ADAS,
|
||||
endpoint = TracingConstants.Endpoint.PAD,
|
||||
nodeAliasCode = ChainConstant.CHAIN_ALIAS_CODE_MULTI_CONNECT,
|
||||
paramIndexes = [0],
|
||||
clientPkFileName = "sn"
|
||||
)
|
||||
private fun invokeNettyConnResult(status: String) {
|
||||
CallerLogger.d("${SceneConstant.M_ADAS_IMPL}$TAG", status)
|
||||
}
|
||||
|
||||
/**
|
||||
* 记录最新的司机屏发送数据的时间戳
|
||||
* 或乘客屏解析数据的时间戳
|
||||
*/
|
||||
@Synchronized
|
||||
override fun synWriteTime() {
|
||||
wrTimeStamp = System.currentTimeMillis()
|
||||
}
|
||||
|
||||
override fun getTeleTimeStamp(): Long {
|
||||
return wrTimeStamp
|
||||
}
|
||||
|
||||
override fun setListener(eventListener: EventListener?) {
|
||||
listener = eventListener
|
||||
}
|
||||
|
||||
private fun reqServerSN() {
|
||||
if (NettyTcpClient.sSERVER_SN.isNullOrEmpty()) {
|
||||
ProcessLifecycleOwner.get().lifecycleScope.launch {
|
||||
for (i in 1..10) {
|
||||
if (isReceiveSN) {
|
||||
break
|
||||
} else {
|
||||
val byteArray = "SN".toByteArray()
|
||||
NSDNettyManager.getInstance().sendMogoProtocolMsgToServer(
|
||||
MogoProtocolMsg(10, byteArray.size, byteArray)
|
||||
) {
|
||||
invokeNettyConnResult("乘客屏请求司机屏SN的数据发送是否成功：${it}")
|
||||
}
|
||||
delay(700)
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
override fun synMsgToAllClients() {
|
||||
if (NSDNettyManager.getInstance().isServerStart) {
|
||||
val carConfig = AdasManager.getInstance().carConfig
|
||||
if (carConfig != null) {
|
||||
val configArray = carConfig.toByteArray()
|
||||
|
||||
NSDNettyManager.getInstance().sendMsgToAllClients(
|
||||
MogoProtocolMsg(
|
||||
MogoProtocolMsg.REQ_MAC_ADDRESS,
|
||||
configArray.size, configArray
|
||||
)
|
||||
)
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
@@ -0,0 +1,299 @@
|
||||
package com.mogo.eagle.core.function.msgbox
|
||||
|
||||
import android.content.Context
|
||||
import android.os.Looper
|
||||
import com.mogo.eagle.core.data.msgbox.*
|
||||
import com.mogo.eagle.core.data.notice.NoticeNormalData
|
||||
import com.mogo.eagle.core.data.report.ReportEntity
|
||||
import com.mogo.eagle.core.function.call.msgbox.CallerMsgBoxListenerManager
|
||||
import com.mogo.eagle.core.function.msgbox.db.MsgBoxDb
|
||||
import com.mogo.eagle.core.function.msgbox.db.MsgBoxInfo
|
||||
import com.mogo.eagle.core.utilcode.kotlin.lifeCycleScope
|
||||
import com.mogo.eagle.core.utilcode.mogo.logger.CallerLogger
|
||||
import com.mogo.eagle.core.utilcode.util.GsonUtils
|
||||
import com.mogo.eagle.core.utilcode.util.Utils
|
||||
import kotlinx.coroutines.Dispatchers
|
||||
import kotlinx.coroutines.delay
|
||||
import kotlinx.coroutines.launch
|
||||
import kotlinx.coroutines.withContext
|
||||
|
||||
object DataManager {
|
||||
|
||||
// private val msgBoxMap: EnumMap<MsgBoxType, MutableList<MsgBoxBean>> = EnumMap(MsgBoxType::class.java)
|
||||
|
||||
// 消失时间5000ms
|
||||
const val DISMISS_TIME = 5000L
|
||||
|
||||
private val notifyList by lazy {
|
||||
mutableListOf<MsgBoxBean>()
|
||||
}
|
||||
|
||||
/**
|
||||
* 当天缓存的通知消息
|
||||
*/
|
||||
private val cacheNotifyList by lazy {
|
||||
mutableListOf<MsgBoxBean>()
|
||||
}
|
||||
|
||||
private val sysInfoList by lazy {
|
||||
mutableListOf<MsgBoxBean>()
|
||||
}
|
||||
|
||||
/**
|
||||
* 当天缓存的系统消息
|
||||
*/
|
||||
private val cacheSysInfoList by lazy {
|
||||
mutableListOf<MsgBoxBean>()
|
||||
}
|
||||
|
||||
private val recordBagList by lazy {
|
||||
mutableListOf<MsgBoxBean>()
|
||||
}
|
||||
|
||||
/**
|
||||
* 当天缓存的录包消息
|
||||
*/
|
||||
private val cacheRecordList by lazy {
|
||||
mutableListOf<MsgBoxBean>()
|
||||
}
|
||||
|
||||
private val scope by lazy {
|
||||
Utils.getApp().lifeCycleScope
|
||||
}
|
||||
|
||||
/**
|
||||
* 用户取消给录制的Bag包打标签
|
||||
*/
|
||||
private val removedRecordMap by lazy {
|
||||
HashMap<String, Any>()
|
||||
}
|
||||
|
||||
/**
|
||||
* 存储时保证按时序排列
|
||||
*/
|
||||
fun saveMsg(bean: MsgBoxBean) {
|
||||
if (Thread.currentThread() == Looper.getMainLooper().thread) {
|
||||
scope.launch {
|
||||
withContext(Dispatchers.Default) {
|
||||
realSaveMsg(bean)
|
||||
}
|
||||
}
|
||||
} else {
|
||||
realSaveMsg(bean)
|
||||
}
|
||||
}
|
||||
|
||||
private fun realSaveMsg(msg: MsgBoxBean) {
|
||||
val type = msg.type
|
||||
msg.timestamp = System.currentTimeMillis()
|
||||
msg.bean2Json = GsonUtils.toJson(msg.bean)
|
||||
when (type) {
|
||||
MsgBoxType.V2X, MsgBoxType.OBU, MsgBoxType.NOTICE, MsgBoxType.OPERATION -> {
|
||||
synchronized(this) {
|
||||
notifyList.add(msg)
|
||||
}
|
||||
CallerMsgBoxListenerManager.invokeListener(MsgCategory.NOTICE, msg)
|
||||
}
|
||||
MsgBoxType.REPORT -> {
|
||||
synchronized(this) {
|
||||
sysInfoList.add(msg)
|
||||
}
|
||||
CallerMsgBoxListenerManager.invokeListener(MsgCategory.SYS_INFO, msg)
|
||||
}
|
||||
MsgBoxType.RECORD -> {
|
||||
synchronized(this) {
|
||||
recordBagList.add(msg)
|
||||
}
|
||||
CallerMsgBoxListenerManager.invokeListener(MsgCategory.RECORD_BAG, msg)
|
||||
}
|
||||
else -> {}
|
||||
}
|
||||
}
|
||||
|
||||
/**
|
||||
* 通知消息：V2X、云公告、运营信息
|
||||
*/
|
||||
fun getNotifyData(): List<MsgBoxBean> {
|
||||
return cacheNotifyList
|
||||
}
|
||||
|
||||
/**
|
||||
* 工控机Report信息
|
||||
*/
|
||||
fun getSysInfoData(): List<MsgBoxBean> {
|
||||
return cacheSysInfoList
|
||||
}
|
||||
|
||||
/**
|
||||
* 录包信息
|
||||
*/
|
||||
fun getRecordBagData(): List<MsgBoxBean> {
|
||||
return cacheRecordList
|
||||
}
|
||||
|
||||
fun removeRecordInfo(key: String, value: Any) {
|
||||
removedRecordMap[key] = value
|
||||
}
|
||||
|
||||
/**
|
||||
* 从本地数据库中查询数据
|
||||
*/
|
||||
fun queryAllMessages(context: Context) {
|
||||
scope.launch {
|
||||
initCache()
|
||||
try {
|
||||
getCacheMessages(context)
|
||||
} catch (e: Exception) {
|
||||
CallerLogger.e("DataManager", e.message)
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
private fun initCache() {
|
||||
if (cacheNotifyList.isNotEmpty()) {
|
||||
cacheNotifyList.clear()
|
||||
}
|
||||
if (cacheRecordList.isNotEmpty()) {
|
||||
cacheRecordList.clear()
|
||||
}
|
||||
if (cacheSysInfoList.isNotEmpty()) {
|
||||
cacheSysInfoList.clear()
|
||||
}
|
||||
}
|
||||
|
||||
private suspend fun getCacheMessages(context: Context): List<MsgBoxBean> = withContext(Dispatchers.IO) {
|
||||
delay(2000)
|
||||
return@withContext MsgBoxDb.getDb(context)
|
||||
.monitorDao()
|
||||
.getAllCachedMessages()
|
||||
.map { msgInfo ->
|
||||
val json = msgInfo.bean2Json
|
||||
when (msgInfo.obj2JsonType) {
|
||||
MsgBoxType.V2X.ordinal -> {
|
||||
return@map MsgBoxBean(
|
||||
MsgBoxType.V2X,
|
||||
GsonUtils.fromJson(json, V2XMsg::class.java)
|
||||
).apply {
|
||||
this.timestamp = msgInfo.timeStamp
|
||||
withContext(Dispatchers.Main) {
|
||||
cacheNotifyList.add(this@apply)
|
||||
}
|
||||
}
|
||||
}
|
||||
MsgBoxType.OBU.ordinal -> {
|
||||
return@map MsgBoxBean(
|
||||
MsgBoxType.OBU,
|
||||
GsonUtils.fromJson(json, V2XMsg::class.java)
|
||||
).apply {
|
||||
this.timestamp = msgInfo.timeStamp
|
||||
withContext(Dispatchers.Main) {
|
||||
cacheNotifyList.add(this@apply)
|
||||
}
|
||||
}
|
||||
}
|
||||
MsgBoxType.OPERATION.ordinal -> {
|
||||
return@map MsgBoxBean(
|
||||
MsgBoxType.OPERATION,
|
||||
GsonUtils.fromJson(json, OperationMsg::class.java)
|
||||
).apply {
|
||||
this.timestamp = msgInfo.timeStamp
|
||||
withContext(Dispatchers.Main) {
|
||||
cacheNotifyList.add(this@apply)
|
||||
}
|
||||
}
|
||||
}
|
||||
MsgBoxType.REPORT.ordinal -> {
|
||||
return@map MsgBoxBean(
|
||||
MsgBoxType.REPORT,
|
||||
GsonUtils.fromJson(json, ReportEntity::class.java)
|
||||
).apply {
|
||||
this.timestamp = msgInfo.timeStamp
|
||||
withContext(Dispatchers.Main) {
|
||||
cacheSysInfoList.add(this@apply)
|
||||
}
|
||||
}
|
||||
}
|
||||
MsgBoxType.RECORD.ordinal -> {
|
||||
return@map MsgBoxBean(
|
||||
MsgBoxType.RECORD,
|
||||
GsonUtils.fromJson(json, RecordBagMsg::class.java)
|
||||
).apply {
|
||||
this.timestamp = msgInfo.timeStamp
|
||||
withContext(Dispatchers.Main) {
|
||||
cacheRecordList.add(this@apply)
|
||||
}
|
||||
}
|
||||
}
|
||||
MsgBoxType.NOTICE.ordinal -> {
|
||||
return@map MsgBoxBean(
|
||||
MsgBoxType.NOTICE,
|
||||
GsonUtils.fromJson(json, NoticeFrCloudMsg::class.java)
|
||||
).apply {
|
||||
this.timestamp = msgInfo.timeStamp
|
||||
withContext(Dispatchers.Main) {
|
||||
cacheNotifyList.add(this@apply)
|
||||
}
|
||||
}
|
||||
}
|
||||
else -> {
|
||||
return@map MsgBoxBean(MsgBoxType.V2X, V2XMsg())
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
/**
|
||||
* 存储到本地数据库
|
||||
*/
|
||||
fun saveAllMessages2Disk(context: Context) {
|
||||
synchronized(this) {
|
||||
val msgInfoList = ArrayList<MsgBoxInfo>()
|
||||
if (notifyList.isNotEmpty()) {
|
||||
notifyList.forEach {
|
||||
msgInfoList.add(MsgBoxInfo(it.bean2Json, it.type.ordinal, it.timestamp))
|
||||
}
|
||||
notifyList.clear()
|
||||
}
|
||||
|
||||
if (sysInfoList.isNotEmpty()) {
|
||||
sysInfoList.forEach {
|
||||
msgInfoList.add(MsgBoxInfo(it.bean2Json, it.type.ordinal, it.timestamp))
|
||||
}
|
||||
sysInfoList.clear()
|
||||
}
|
||||
|
||||
if (recordBagList.isNotEmpty()) {
|
||||
recordBagList.forEach {
|
||||
var recordKey = ""
|
||||
if (it.bean is RecordBagMsg) {
|
||||
recordKey = (it.bean as RecordBagMsg).key.toString()
|
||||
}
|
||||
// 用户未处理的Bag包才存本地
|
||||
if (!removedRecordMap.contains(recordKey)) {
|
||||
msgInfoList.add(MsgBoxInfo(it.bean2Json, it.type.ordinal, it.timestamp))
|
||||
} else {// 用户已处理的Bag包
|
||||
removedRecordMap.remove(recordKey)
|
||||
}
|
||||
}
|
||||
recordBagList.clear()
|
||||
}
|
||||
|
||||
if (msgInfoList.isNotEmpty()) {
|
||||
MsgBoxDb.getDb(context)
|
||||
.monitorDao()
|
||||
.insertMessages(*msgInfoList.toTypedArray())
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
fun delMsgBoxBean(context: Context, msgBoxBean: MsgBoxBean) {
|
||||
scope.launch {
|
||||
withContext(Dispatchers.Default) {
|
||||
val msgBoxInfo = MsgBoxInfo(msgBoxBean.bean2Json, msgBoxBean.type.ordinal, msgBoxBean.timestamp)
|
||||
MsgBoxDb.getDb(context)
|
||||
.monitorDao()
|
||||
.deleteMsg(msgBoxInfo)
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
@@ -0,0 +1,42 @@
|
||||
package com.mogo.eagle.core.function.msgbox
|
||||
|
||||
import com.mogo.eagle.core.data.msgbox.MsgBoxBean
|
||||
import com.mogo.eagle.core.utilcode.util.SPUtils
|
||||
|
||||
/**
|
||||
* @author XuXinChao
|
||||
* @description 消息盒子配置
|
||||
* @since: 2022/12/1
|
||||
*/
|
||||
class MsgBoxConfig {
|
||||
|
||||
companion object{
|
||||
//当前用户的Tab选择记录
|
||||
private const val userRecord = "USER_RECORD"
|
||||
|
||||
/**
|
||||
* 获取当前用户Tab选择记录
|
||||
*/
|
||||
fun getUserRecord(): Int{
|
||||
return SPUtils.getInstance().getInt(userRecord,0)
|
||||
}
|
||||
|
||||
/**
|
||||
* 设置当前用户Tab选择记录
|
||||
*/
|
||||
fun setUserRecord(record: Int){
|
||||
SPUtils.getInstance().put(userRecord,record)
|
||||
}
|
||||
|
||||
//通知消息缓存列表
|
||||
@JvmField
|
||||
var noticeList: ArrayList<MsgBoxBean> = ArrayList()
|
||||
//车辆系统信息缓存列表
|
||||
@JvmField
|
||||
var systemInfoList: ArrayList<MsgBoxBean> = ArrayList()
|
||||
//录包信息缓存列表
|
||||
@JvmField
|
||||
var recordBagList: ArrayList<MsgBoxBean> = ArrayList()
|
||||
}
|
||||
|
||||
}
|
||||
@@ -0,0 +1,61 @@
|
||||
package com.mogo.eagle.core.function.msgbox
|
||||
|
||||
import android.content.Context
|
||||
import com.alibaba.android.arouter.facade.annotation.Route
|
||||
import com.mogo.eagle.core.data.constants.MogoServicePaths.PATH_MSG_BOX_MODULE
|
||||
import com.mogo.eagle.core.data.msgbox.MsgBoxBean
|
||||
import com.mogo.eagle.core.function.api.msgbox.IMsgBoxProvider
|
||||
import com.mogo.eagle.core.function.msgbox.DataManager.saveAllMessages2Disk
|
||||
|
||||
@Route(path = PATH_MSG_BOX_MODULE)
|
||||
class MsgBoxProvider : IMsgBoxProvider {
|
||||
|
||||
override val functionName: String
|
||||
get() = "MsgBoxProvider"
|
||||
|
||||
override fun init(context: Context) {
|
||||
Thread {
|
||||
while (true) {
|
||||
try {
|
||||
saveAllMessages2Disk(context)
|
||||
Thread.sleep(3000)
|
||||
} catch (e: Exception) {
|
||||
e.printStackTrace()
|
||||
}
|
||||
}
|
||||
}.start()
|
||||
}
|
||||
|
||||
override fun queryAllMessages(context: Context) {
|
||||
DataManager.queryAllMessages(context)
|
||||
}
|
||||
|
||||
override fun saveMsg(bean: MsgBoxBean) {
|
||||
DataManager.saveMsg(bean)
|
||||
}
|
||||
|
||||
override fun getCachedNotifyData(): List<MsgBoxBean> {
|
||||
return DataManager.getNotifyData()
|
||||
}
|
||||
|
||||
override fun getCachedSysInfoData(): List<MsgBoxBean> {
|
||||
return DataManager.getSysInfoData()
|
||||
}
|
||||
|
||||
override fun getCachedRecordBagData(): List<MsgBoxBean> {
|
||||
return DataManager.getRecordBagData()
|
||||
}
|
||||
|
||||
override fun removeRecordInfo(context: Context, msgBoxBean: MsgBoxBean, key: String) {
|
||||
DataManager.removeRecordInfo(key, key)
|
||||
DataManager.delMsgBoxBean(context, msgBoxBean)
|
||||
}
|
||||
|
||||
override fun getDismissTime(): Long {
|
||||
return DataManager.DISMISS_TIME
|
||||
}
|
||||
|
||||
override fun onDestroy() {
|
||||
|
||||
}
|
||||
}
|
||||
@@ -0,0 +1,18 @@
|
||||
package com.mogo.eagle.core.function.msgbox.db
|
||||
|
||||
import androidx.room.*
|
||||
|
||||
@Dao
|
||||
interface MsgBoxDao {
|
||||
@Insert(onConflict = OnConflictStrategy.REPLACE)
|
||||
fun insertMessage(info: MsgBoxInfo)
|
||||
|
||||
@Insert(onConflict = OnConflictStrategy.REPLACE)
|
||||
fun insertMessages(vararg info: MsgBoxInfo)
|
||||
|
||||
@Delete
|
||||
suspend fun deleteMsg(info: MsgBoxInfo)
|
||||
|
||||
@Query("SELECT * FROM t_msg_box")
|
||||
fun getAllCachedMessages(): List<MsgBoxInfo>
|
||||
}
|
||||
@@ -0,0 +1,27 @@
|
||||
package com.mogo.eagle.core.function.msgbox.db
|
||||
|
||||
import android.content.Context
|
||||
import androidx.room.Database
|
||||
import androidx.room.Room
|
||||
import androidx.room.RoomDatabase
|
||||
|
||||
@Database(entities = [MsgBoxInfo::class], version = 1, exportSchema = false)
|
||||
abstract class MsgBoxDb: RoomDatabase() {
|
||||
abstract fun monitorDao(): MsgBoxDao
|
||||
|
||||
companion object {
|
||||
const val INTERNAL_DB_NAME = "msg_box.db"
|
||||
|
||||
private var db: MsgBoxDb? = null
|
||||
|
||||
@JvmStatic
|
||||
fun getDb(context: Context): MsgBoxDb {
|
||||
if (db == null) {
|
||||
db = Room.databaseBuilder(context.applicationContext, MsgBoxDb::class.java, INTERNAL_DB_NAME)
|
||||
.fallbackToDestructiveMigration()
|
||||
.build()
|
||||
}
|
||||
return db!!
|
||||
}
|
||||
}
|
||||
}
|
||||
@@ -0,0 +1,18 @@
|
||||
package com.mogo.eagle.core.function.msgbox.db
|
||||
|
||||
import androidx.room.ColumnInfo
|
||||
import androidx.room.Entity
|
||||
import androidx.room.PrimaryKey
|
||||
|
||||
@Entity(tableName = "t_msg_box")
|
||||
data class MsgBoxInfo(
|
||||
@PrimaryKey
|
||||
@ColumnInfo(name = "obj_json")
|
||||
val bean2Json: String,
|
||||
|
||||
@ColumnInfo(name = "json_obj_type")
|
||||
val obj2JsonType: Int = 0,
|
||||
|
||||
@ColumnInfo(name = "time_stamp")
|
||||
val timeStamp: Long = 0
|
||||
)
|
||||
Reference in New Issue
Block a user