Merge branch 'refs/heads/dev_robotaxi-d_240912_6.7.0' into dev_robotaxi-d_240912_6.7.2_local

# Conflicts: # gradle.properties
2024-10-12 13:31:47 +08:00
parent c1080232b7 6e485fe4ea
commit ec2e22f2e4
7 changed files with 82 additions and 44 deletions
--- a/OCH/common/common/src/main/java/com/mogo/och/common/module/manager/autopilot/autopilot/OchAutoPilotManager.kt
+++ b/OCH/common/common/src/main/java/com/mogo/och/common/module/manager/autopilot/autopilot/OchAutoPilotManager.kt
@@ -14,19 +14,22 @@ import com.mogo.eagle.core.function.call.msgbox.CallerMsgBoxManager
 import com.mogo.eagle.core.utilcode.mogo.logger.CallerLogger
 import com.mogo.eagle.core.utilcode.util.ToastUtils
 import com.mogo.och.common.module.manager.autopilot.OCHAdasAbilityManager
+import com.mogo.och.common.module.manager.autopilot.autopilot.bean.SessionWithTime
 import com.mogo.och.common.module.manager.autopilot.line.LineManager
 import com.mogo.och.common.module.manager.distance.TrajectoryAndDistanceManager
+import com.mogo.och.common.module.manager.logchainanalytic.OchChainLogManager
 import com.zhjt.mogo.adas.common.MessageType
 import com.zhjt.mogo.adas.data.bean.ReceivedAck
 import com.zhjt.mogo.adas.data.bean.ReceivedAck.Status
 import fsm.Fsm2024
 import java.util.concurrent.atomic.AtomicLong
+import java.util.concurrent.atomic.AtomicReference

 object OchAutoPilotManager : IMoGoReceiveReceivedAckListener, IMoGoFsm2024Listener {

    const val TAG = "OchAutoPilotManager"

-    private val globalSessionId = AtomicLong(-1)
+    private val globalSessionId = AtomicReference<SessionWithTime>()
    private val fsmBackSessionId = AtomicLong(-1L)

    init {
@@ -51,18 +54,27 @@ object OchAutoPilotManager : IMoGoReceiveReceivedAckListener, IMoGoFsm2024Listen
     * 启动自驾中禁止再次启动自驾
     */
    @JvmStatic
-    fun canStartAutopilotBySessionId():Boolean{
-        return (globalSessionId.get()==-1L).apply {
-            if(!this) {
+    fun canStartAutopilotBySessionId(): Boolean {
+        val sessionInfo = globalSessionId.get()
+        val currentTimeMillis = System.currentTimeMillis()
+        if(sessionInfo==null){
+            return true
+        }else{
+            if(currentTimeMillis-sessionInfo.setTime>=OchAutopilotAnalytics.LOOP_PERIOD_16S){
+                clearGlobalSessionId("检测session 自带的时间 ${currentTimeMillis}_${sessionInfo.setTime}_${sessionInfo.sessionId}")
+                return true
+            }else{
                ToastUtils.showLong("自驾启动中，请勿重复点击")
                OchAutopilotAnalytics.triggerCanStartAutopilotBySessionId(globalSessionId.get())
+                return false
            }
        }
    }

    @JvmStatic
    fun canStartAutopilotBySessionIdInner():Boolean{
-        return (globalSessionId.get()==-1L)
+        OchChainLogManager.writeChainLogAutopilot("自驾流程","清理SessiongId")
+        return (globalSessionId.get()==null)
    }

    @JvmStatic
@@ -88,14 +100,15 @@ object OchAutoPilotManager : IMoGoReceiveReceivedAckListener, IMoGoFsm2024Listen
        return true
    }

-    fun clearGlobalSessionId(){
-        globalSessionId.set(-1)
+    fun clearGlobalSessionId(log:String){
+        OchChainLogManager.writeChainLogAutopilot("自驾流程","清理SessiongId${globalSessionId}_${fsmBackSessionId}_${log}")
+        globalSessionId.set(null)
    }

    @JvmStatic
    fun startAutoPilot(controlParameters: AutopilotControlParameters?): Long {
        val sessionId = CallerAutoPilotControlManager.startAutoPilot(controlParameters)
-        globalSessionId.set(sessionId)
+        globalSessionId.set(SessionWithTime(sessionId,System.currentTimeMillis()))
        fsmBackSessionId.set(-1L)
        OchAutopilotAnalytics.triggerStartAutopilotParameters(controlParameters, sessionId)
        return sessionId
@@ -120,9 +133,14 @@ object OchAutoPilotManager : IMoGoReceiveReceivedAckListener, IMoGoFsm2024Listen
     * 启动自驾失败切 FSM返回的Session和启动SessionId 不同
     */
    fun checkStartSessionAndFailSessionId(){
-        if(globalSessionId.get() != fsmBackSessionId.get()){
-            OchAutopilotAnalytics.triggerStartAutopilotFailCheckSessionDiff(globalSessionId.get(),
-                fsmBackSessionId.get())
+        val sessionInfo = globalSessionId.get()
+        if(sessionInfo!=null) {
+            if (sessionInfo.sessionId != fsmBackSessionId.get()) {
+                OchAutopilotAnalytics.triggerStartAutopilotFailCheckSessionDiff(
+                    sessionInfo,
+                    fsmBackSessionId.get()
+                )
+            }
        }
    }
 }
--- a/OCH/common/common/src/main/java/com/mogo/och/common/module/manager/autopilot/autopilot/OchAutopilotAnalytics.kt
+++ b/OCH/common/common/src/main/java/com/mogo/och/common/module/manager/autopilot/autopilot/OchAutopilotAnalytics.kt
@@ -11,9 +11,11 @@ import com.mogo.eagle.core.utilcode.mogo.logger.CallerLogger
 import com.mogo.eagle.core.utilcode.mogo.logger.scene.SceneConstant
 import com.mogo.eagle.core.utilcode.util.DateTimeUtils
 import com.mogo.och.common.module.manager.autopilot.OCHAdasAbilityManager
-import com.mogo.och.common.module.manager.autopilot.line.LineManager
+import com.mogo.och.common.module.manager.autopilot.autopilot.bean.SessionWithTime
 import com.mogo.och.common.module.manager.logchainanalytic.OchChainLogManager
 import com.mogo.och.common.module.manager.loop.BizLoopManager
+import com.mogo.och.common.module.utils.RxUtils
+import io.reactivex.disposables.Disposable

 object OchAutopilotAnalytics {

@@ -50,6 +52,7 @@ object OchAutopilotAnalytics {
    private const val EVENT_PARAM_VEHICLE_START_AUTOPILOT_CMD_SESSION_ID_FSM_RETURN = "cmd_session_id_fsm_return"

    private val LOOP_PERIOD_15S = 15 * 1000L
+    val LOOP_PERIOD_16S = 16 * 1000L


    private var mStartAutopilotKey: String? = null
@@ -95,35 +98,36 @@ object OchAutopilotAnalytics {
    /**
     * 等待底盘返回的间隙 重复启动自驾
     */
-    fun triggerCanStartAutopilotBySessionId(globalSessionId : Long){
+    fun triggerCanStartAutopilotBySessionId(globalSessionId : SessionWithTime){
        val map = hashMapOf<String, Any>()
        map[EVENT_PARAM_AUTOPILOTANALYTICS_GROUP] = EVENT_PARAM_AUTOPILOTANALYTICS_GROUP
-        OchChainLogManager.writeChainLog("启动自驾Session判断","已有globalSessionId:${globalSessionId}", eventID = EVENT_KEY_VEHICLE_START_AUTOPILOT_CMD_SESSION_DUPLICATED, patch = map)
+        OchChainLogManager.writeChainLog("启动自驾Session判断","已有globalSessionId:${globalSessionId.sessionId}_创建时间：${globalSessionId.setTime}", eventID = EVENT_KEY_VEHICLE_START_AUTOPILOT_CMD_SESSION_DUPLICATED, patch = map)
    }

    /**
     * 启动失败后 对比两个session是否相同
     */
-    fun triggerStartAutopilotFailCheckSessionDiff(globalSessionId: Long, fsmBackSessionId: Long){
+    fun triggerStartAutopilotFailCheckSessionDiff(globalSessionId: SessionWithTime, fsmBackSessionId: Long){
        val map = hashMapOf<String, Any>()
        map[EVENT_PARAM_AUTOPILOTANALYTICS_GROUP] = EVENT_PARAM_AUTOPILOTANALYTICS_GROUP
-        map[EVENT_PARAM_VEHICLE_START_AUTOPILOT_CMD_SESSION_ID_START] = globalSessionId
+        map[EVENT_PARAM_VEHICLE_START_AUTOPILOT_CMD_SESSION_ID_START] = "${globalSessionId.sessionId}_${globalSessionId.setTime}"
        map[EVENT_PARAM_VEHICLE_START_AUTOPILOT_CMD_SESSION_ID_FSM_RETURN] = fsmBackSessionId
        OchChainLogManager.writeChainLog("启动自驾失败且SessionId不同","globalSessionId:${globalSessionId}——————fsmBackSessionId:${fsmBackSessionId}", eventID = EVENT_KEY_VEHICLE_START_AUTOPILOT_CMD_SESSION_DIFF, patch = map)
    }

-
-    private val timeOutRunnable = Runnable {
-        // 15s内未开启，上报失败埋点
-        triggerStartAutopilotFailureEvent("", "15s后app等待超时", System.currentTimeMillis())
-        LineManager.invokeStartAutopilotTimeOut()
-    }
+    private var timeOutDisposable: Disposable?=null

    /**
     *  底盘明确告知启动自驾失败
     */
    fun triggerStartAutopilotFailureEventByAdas(failCode: String, failMsg: String, startFailDate: Long) {
-        BizLoopManager.removeCallback(timeOutRunnable)
+        OchChainLogManager.writeChainLogAutopilot("自驾流程","启动自驾失败回调${failCode}_${failMsg}")
+        if(OchAutoPilotManager.canStartAutopilotBySessionIdInner()){
+            CallerLogger.e(SceneConstant.M_OCHCOMMON + "triggerStartAutopilotFailureEvent canStartAutopilotBySessionIdInner == false")
+            OchChainLogManager.writeChainLogAutopilot("自驾流程","异常情况 启动自驾失败回调${failCode}_${failMsg}_sessiong为空")
+            return
+        }
+        RxUtils.disposeSubscribe(timeOutDisposable)
        // 判断Session 是否相同
        OchAutoPilotManager.checkStartSessionAndFailSessionId()
        triggerStartAutopilotFailureEvent(failCode, failMsg, startFailDate)
@@ -134,12 +138,10 @@ object OchAutopilotAnalytics {
    }

    private fun triggerStartAutopilotFailureEvent(failCode: String, failMsg: String, startFailDate: Long) {
-        if(OchAutoPilotManager.canStartAutopilotBySessionIdInner()){
-            CallerLogger.e(SceneConstant.M_OCHCOMMON + "triggerStartAutopilotFailureEvent canStartAutopilotBySessionIdInner == false")
+        OchAutoPilotManager.clearGlobalSessionId("$failMsg _ ${failCode}")
+        if (mStartAutopilotParams.isEmpty()) {
            return
        }
-        OchAutoPilotManager.clearGlobalSessionId()
-        if (mStartAutopilotParams.isEmpty()) return
        CallerLogger.e(SceneConstant.M_OCHCOMMON + "triggerStartAutopilotFailureEvent", failMsg)
        if (CallerAutoPilotStatusListenerManager.getState() != IMoGoAutopilotStatusListener.STATUS_AUTOPILOT_RUNNING) {
            mStartAutopilotParams[EVENT_PARAM_START_FAILURE_CODE] = failCode
@@ -172,15 +174,19 @@ object OchAutopilotAnalytics {
        triggerDate: Long,
        source:Int = 0
    ) {
+        OchChainLogManager.writeChainLogAutopilot("自驾流程","send:${send}_${restart}_${startName}_${endName}_${lineId}_${orderId}_${source}_${triggerDate}")
        mStartAutopilotKey = if (restart) getEventKeyRestartService() else getEventKeyStartService()
        if (send) {
            if(OchAutoPilotManager.canStartAutopilotBySessionIdInner()){
                CallerLogger.e(SceneConstant.M_OCHCOMMON + "triggerStartAutopilotEvent canStartAutopilotBySessionIdInner == false")
+                OchChainLogManager.writeChainLogAutopilot("自驾流程","异常情况 启动自驾成功_sessiong为空")
+                return
+            }
+            OchAutoPilotManager.clearGlobalSessionId("启动自驾成功")
+            RxUtils.disposeSubscribe(timeOutDisposable)
+            if (mStartAutopilotParams.isEmpty()) {
                return
            }
-            OchAutoPilotManager.clearGlobalSessionId()
-            BizLoopManager.removeCallback(timeOutRunnable)
-            if (mStartAutopilotParams.isEmpty()) return
            // 开启成功，上报埋点
            mStartAutopilotParams[EVENT_PARAM_START_FAILURE_CODE] = ""
            mStartAutopilotParams[EVENT_PARAM_START_FAILURE_MSG] = ""
@@ -200,8 +206,10 @@ object OchAutopilotAnalytics {
            mStartAutopilotParams[EVENT_PARAM_END_NAME] = endName
            mStartAutopilotParams[EVENT_PARAM_LINE_ID] = lineId
            mStartAutopilotParams[EVENT_PARAM_ORDER_NUMBER] = orderId?:""
-            BizLoopManager.removeCallback(timeOutRunnable)
-            BizLoopManager.postDelayed(timeOutRunnable,LOOP_PERIOD_15S)
+            RxUtils.disposeSubscribe(timeOutDisposable)
+            timeOutDisposable = RxUtils.createSubscribe(LOOP_PERIOD_15S) {
+                triggerStartAutopilotFailureEvent("", "15s后app等待超时", System.currentTimeMillis())
+            }
        }
    }

--- a/OCH/common/common/src/main/java/com/mogo/och/common/module/manager/autopilot/autopilot/bean/SessionWithTime.kt
+++ b/OCH/common/common/src/main/java/com/mogo/och/common/module/manager/autopilot/autopilot/bean/SessionWithTime.kt
@@ -0,0 +1,3 @@
+package com.mogo.och.common.module.manager.autopilot.autopilot.bean
+
+data class SessionWithTime(val sessionId:Long,val setTime:Long)
--- a/core/function-impl/mogo-core-function-biz/src/main/java/com/mogo/eagle/function/biz/v2x/trafficlight/core/MogoTrafficLightManager.kt
+++ b/core/function-impl/mogo-core-function-biz/src/main/java/com/mogo/eagle/function/biz/v2x/trafficlight/core/MogoTrafficLightManager.kt
@@ -23,6 +23,7 @@ import com.mogo.eagle.function.biz.v2x.trafficlight.core.TrafficLightThreadHandl
 import com.mogo.eagle.function.biz.v2x.trafficlight.core.TrafficLightThreadHandler.Companion.MSG_WHAT_STOP_SEARCH_TRAFFIC_LIGHT
 import com.mogo.eagle.function.biz.v2x.trafficlight.network.TrafficLightNetWorkModel
 import com.zhidaoauto.map.data.road.RoadCross
+import java.lang.Exception

 class MogoTrafficLightManager : IMoGoChassisLocationGCJ02Listener,
    IMoGoMapRoadListener {
@@ -70,15 +71,17 @@ class MogoTrafficLightManager : IMoGoChassisLocationGCJ02Listener,
                }
 //                CallerLogger.i("$M_BIZ$TAG", "红绿灯路口请求 : $stopLineDis")
                mLocation?.let { it ->
-                    trafficLightNetWorkModel.requestRoadID(
-                        it.latitude, it.longitude, it.heading,
-                        {
-                            mThreadHandler?.sendEmptyMessage(MSG_WHAT_STOP_SEARCH_CROSS_ROAD)
-                            roadIDResult = it
-                        },
-                        {
-                            //CallerLogger.w(M_V2X + TAG, "request road id error : $it")
-                        })
+                    try {
+                        trafficLightNetWorkModel.requestRoadID(
+                            it.latitude, it.longitude, it.heading,
+                            {
+                                mThreadHandler?.sendEmptyMessage(MSG_WHAT_STOP_SEARCH_CROSS_ROAD)
+                                roadIDResult = it
+                            },
+                            {
+                                //CallerLogger.w(M_V2X + TAG, "request road id error : $it")
+                            })
+                    }catch (_: Exception){}
                }
            }, {
                //stop loop search road id
--- a/core/function-impl/mogo-core-function-devatools/src/main/java/com/zhjt/mogo_core_function_devatools/workorder/adapter/TakeOverListAdapter.kt
+++ b/core/function-impl/mogo-core-function-devatools/src/main/java/com/zhjt/mogo_core_function_devatools/workorder/adapter/TakeOverListAdapter.kt
@@ -47,7 +47,7 @@ class TakeOverListAdapter(private val context: Context): RecyclerView.Adapter<Ta
    fun notifyRecordItemChanged(info: TakeOverRecordInfo){
        val pos = data?.indexOf(info)
        pos?.let {
-            data!![pos] = info
+            data?.set(pos, info)
            notifyItemChanged(pos)
        }
    }
--- a/core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/view/TravelRealityView.kt
+++ b/core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/view/TravelRealityView.kt
@@ -1420,9 +1420,15 @@ class TravelRealityView @JvmOverloads constructor(
            if (isSmallMap) {
                if (globalPath.wayPointsList.size > 0) {
                    this.globalPathResp = globalPath
+                    val pointCloneList = ArrayList<Point>()
+                    globalPath.wayPointsList.forEach { loc ->
+                        pointCloneList.add(Point(loc.longitude, loc.latitude))
+                    }
+                    reqData = pointCloneList
                    drawRotting()
                }
            } else {
+                this.globalPathResp = globalPath
                val pointList = ArrayList<Point>()
                val pointCloneList = ArrayList<Point>()
                globalPath.wayPointsList.forEach { loc ->
--- a/gradle.properties
+++ b/gradle.properties
@@ -92,8 +92,8 @@ WEBSOCKET_VERSION=1.1.7
 applicationId=com.mogo.launcer
 applicationName=IntelligentPilot
 # RoboBus司机端：2.5.1；RoboTaxi司机端：2.5.1；RoboTaxi乘客端：1.0.0
-versionCode=6006000
-versionName=6.6.0
+versionCode=6007000
+versionName=6.7.0

 ################# 新架构模块Maven版本管理 #################
 MOGO_CORE_FUNCTION_HMI_VERSION=0.0.58.10