From ee85b6f51d8c7e056a468ebc21498e2a6ee9a4a7 Mon Sep 17 00:00:00 2001 From: xinfengkun Date: Tue, 11 Jun 2024 17:55:46 +0800 Subject: [PATCH] =?UTF-8?q?[644][data-center]=20=E8=83=BD=E5=90=A6?= =?UTF-8?q?=E5=90=AF=E5=8A=A8=E8=87=AA=E9=A9=BE=E6=8E=A5=E5=8F=A3=E4=BC=98?= =?UTF-8?q?=E5=8C=96=EF=BC=8C=E7=A7=BB=E9=99=A4=E7=BC=93=E5=AD=98?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- .../autopilot/OCHAdasAbilityManager.java | 4 -- .../status/flow/autopilot/AcceleratorImpl.kt | 2 +- .../status/flow/autopilot/BrakeImpl.kt | 2 +- .../status/flow/autopilot/DoubleFlashImpl.kt | 2 +- .../status/flow/autopilot/GearImpl.kt | 2 +- .../status/flow/autopilot/SteerImpl.kt | 2 +- .../IMoGoAutopilotActionsListener.kt | 12 +---- .../CallerAutopilotActionsListenerManager.kt | 51 ++++++++----------- 8 files changed, 27 insertions(+), 50 deletions(-) diff --git a/OCH/common/common/src/main/java/com/mogo/och/common/module/manager/autopilot/OCHAdasAbilityManager.java b/OCH/common/common/src/main/java/com/mogo/och/common/module/manager/autopilot/OCHAdasAbilityManager.java index c54ba736fc..cb43850345 100644 --- a/OCH/common/common/src/main/java/com/mogo/och/common/module/manager/autopilot/OCHAdasAbilityManager.java +++ b/OCH/common/common/src/main/java/com/mogo/och/common/module/manager/autopilot/OCHAdasAbilityManager.java @@ -102,10 +102,6 @@ public class OCHAdasAbilityManager implements IMoGoAutopilotActionsListener, IMo CallerParallelDrivingActionsListenerManager.INSTANCE.removeListener(TAG); } - @Override - public void onAutopilotAbilityHighFrequency(boolean isAutopilotAbility, @Nullable LaunchConditionData launchConditionData, @Nullable ArrayList unableAutopilotReasons) { - - } @Override public void onAutopilotAbility(boolean isAutopilotAbility, @Nullable LaunchConditionData launchConditionData, @Nullable ArrayList unableAutopilotReasons) { this.isAutopilotAbility = isAutopilotAbility; diff --git a/core/function-impl/mogo-core-function-devatools/src/main/java/com/zhjt/mogo_core_function_devatools/status/flow/autopilot/AcceleratorImpl.kt b/core/function-impl/mogo-core-function-devatools/src/main/java/com/zhjt/mogo_core_function_devatools/status/flow/autopilot/AcceleratorImpl.kt index b55c9cdc31..2fa136ef90 100644 --- a/core/function-impl/mogo-core-function-devatools/src/main/java/com/zhjt/mogo_core_function_devatools/status/flow/autopilot/AcceleratorImpl.kt +++ b/core/function-impl/mogo-core-function-devatools/src/main/java/com/zhjt/mogo_core_function_devatools/status/flow/autopilot/AcceleratorImpl.kt @@ -47,7 +47,7 @@ internal class AcceleratorImpl(ctx: Context): IFlow(ctx), IMo } } - override fun onAutopilotAbilityHighFrequency(isAutopilotAbility: Boolean, launchConditionData: LaunchConditionData?, unableAutopilotReasons: ArrayList?) { + override fun onAutopilotAbility(isAutopilotAbility: Boolean, launchConditionData: LaunchConditionData?, unableAutopilotReasons: ArrayList?) { if (!isAutopilotAbility) { val target = unableAutopilotReasons?.find { it.unableType == CHASSIS_THROTTLE }?.also { itx -> isError = true diff --git a/core/function-impl/mogo-core-function-devatools/src/main/java/com/zhjt/mogo_core_function_devatools/status/flow/autopilot/BrakeImpl.kt b/core/function-impl/mogo-core-function-devatools/src/main/java/com/zhjt/mogo_core_function_devatools/status/flow/autopilot/BrakeImpl.kt index 2ccd958427..33f90890c9 100644 --- a/core/function-impl/mogo-core-function-devatools/src/main/java/com/zhjt/mogo_core_function_devatools/status/flow/autopilot/BrakeImpl.kt +++ b/core/function-impl/mogo-core-function-devatools/src/main/java/com/zhjt/mogo_core_function_devatools/status/flow/autopilot/BrakeImpl.kt @@ -46,7 +46,7 @@ internal class BrakeImpl(ctx: Context): IFlow(ctx), IMoGoChassisBra } } - override fun onAutopilotAbilityHighFrequency(isAutopilotAbility: Boolean, launchConditionData: LaunchConditionData?, unableAutopilotReasons: ArrayList?) { + override fun onAutopilotAbility(isAutopilotAbility: Boolean, launchConditionData: LaunchConditionData?, unableAutopilotReasons: ArrayList?) { if (!isAutopilotAbility) { val target = unableAutopilotReasons?.find { it.unableType == CHASSIS_BRAKE }?.also { itx -> isError = true diff --git a/core/function-impl/mogo-core-function-devatools/src/main/java/com/zhjt/mogo_core_function_devatools/status/flow/autopilot/DoubleFlashImpl.kt b/core/function-impl/mogo-core-function-devatools/src/main/java/com/zhjt/mogo_core_function_devatools/status/flow/autopilot/DoubleFlashImpl.kt index b2d89dd5ec..b3ae5fca5d 100644 --- a/core/function-impl/mogo-core-function-devatools/src/main/java/com/zhjt/mogo_core_function_devatools/status/flow/autopilot/DoubleFlashImpl.kt +++ b/core/function-impl/mogo-core-function-devatools/src/main/java/com/zhjt/mogo_core_function_devatools/status/flow/autopilot/DoubleFlashImpl.kt @@ -52,7 +52,7 @@ internal class DoubleFlashImpl(ctx: Context): IFlow(ctx), IMo } - override fun onAutopilotAbilityHighFrequency(isAutopilotAbility: Boolean, launchConditionData: LaunchConditionData?, unableAutopilotReasons: ArrayList?) { + override fun onAutopilotAbility(isAutopilotAbility: Boolean, launchConditionData: LaunchConditionData?, unableAutopilotReasons: ArrayList?) { if (!isAutopilotAbility) { val target = unableAutopilotReasons?.find { it.unableType == CHASSIS_HAZARD_LIGHTS }?.also { itx -> isError = true diff --git a/core/function-impl/mogo-core-function-devatools/src/main/java/com/zhjt/mogo_core_function_devatools/status/flow/autopilot/GearImpl.kt b/core/function-impl/mogo-core-function-devatools/src/main/java/com/zhjt/mogo_core_function_devatools/status/flow/autopilot/GearImpl.kt index bd9e7d0205..90d4d632ee 100644 --- a/core/function-impl/mogo-core-function-devatools/src/main/java/com/zhjt/mogo_core_function_devatools/status/flow/autopilot/GearImpl.kt +++ b/core/function-impl/mogo-core-function-devatools/src/main/java/com/zhjt/mogo_core_function_devatools/status/flow/autopilot/GearImpl.kt @@ -46,7 +46,7 @@ internal class GearImpl(ctx: Context): IFlow(ctx), IMoGoChassisGearS } } - override fun onAutopilotAbilityHighFrequency(isAutopilotAbility: Boolean, launchConditionData: LaunchConditionData?, unableAutopilotReasons: ArrayList?) { + override fun onAutopilotAbility(isAutopilotAbility: Boolean, launchConditionData: LaunchConditionData?, unableAutopilotReasons: ArrayList?) { if (!isAutopilotAbility) { val target = unableAutopilotReasons?.find { it.unableType == CHASSIS_GEAR }?.also { itx -> isError = true diff --git a/core/function-impl/mogo-core-function-devatools/src/main/java/com/zhjt/mogo_core_function_devatools/status/flow/autopilot/SteerImpl.kt b/core/function-impl/mogo-core-function-devatools/src/main/java/com/zhjt/mogo_core_function_devatools/status/flow/autopilot/SteerImpl.kt index 206f5da959..7db90a24ba 100644 --- a/core/function-impl/mogo-core-function-devatools/src/main/java/com/zhjt/mogo_core_function_devatools/status/flow/autopilot/SteerImpl.kt +++ b/core/function-impl/mogo-core-function-devatools/src/main/java/com/zhjt/mogo_core_function_devatools/status/flow/autopilot/SteerImpl.kt @@ -45,7 +45,7 @@ internal class SteerImpl(ctx: Context): IFlow(ctx), IMoGoChassisSte } } - override fun onAutopilotAbilityHighFrequency(isAutopilotAbility: Boolean, launchConditionData: LaunchConditionData?, unableAutopilotReasons: ArrayList?) { + override fun onAutopilotAbility(isAutopilotAbility: Boolean, launchConditionData: LaunchConditionData?, unableAutopilotReasons: ArrayList?) { Logger.d(TAG, "onAutopilotAbility->($isAutopilotAbility, $launchConditionData, ${unableAutopilotReasons?.joinToString(",")}") if (!isAutopilotAbility) { val target = unableAutopilotReasons?.find { it.unableType == CHASSIS_STEERING }?.also { itx -> diff --git a/core/mogo-core-function-api/src/main/java/com/mogo/eagle/core/function/api/autopilot/IMoGoAutopilotActionsListener.kt b/core/mogo-core-function-api/src/main/java/com/mogo/eagle/core/function/api/autopilot/IMoGoAutopilotActionsListener.kt index 52c8f6c42e..25261a9d34 100644 --- a/core/mogo-core-function-api/src/main/java/com/mogo/eagle/core/function/api/autopilot/IMoGoAutopilotActionsListener.kt +++ b/core/mogo-core-function-api/src/main/java/com/mogo/eagle/core/function/api/autopilot/IMoGoAutopilotActionsListener.kt @@ -12,18 +12,10 @@ interface IMoGoAutopilotActionsListener { /** * 高频 */ - fun onAutopilotAbilityHighFrequency( - isAutopilotAbility: Boolean, - launchConditionData: LaunchConditionData?, - unableAutopilotReasons: ArrayList? - ){} - - /** - * 数据变动才会调用 - */ fun onAutopilotAbility( isAutopilotAbility: Boolean, launchConditionData: LaunchConditionData?, unableAutopilotReasons: ArrayList? - ){} + ) + } \ No newline at end of file diff --git a/core/mogo-core-function-call/src/main/java/com/mogo/eagle/core/function/call/autopilot/CallerAutopilotActionsListenerManager.kt b/core/mogo-core-function-call/src/main/java/com/mogo/eagle/core/function/call/autopilot/CallerAutopilotActionsListenerManager.kt index 4b57197f5b..d883dd49f7 100644 --- a/core/mogo-core-function-call/src/main/java/com/mogo/eagle/core/function/call/autopilot/CallerAutopilotActionsListenerManager.kt +++ b/core/mogo-core-function-call/src/main/java/com/mogo/eagle/core/function/call/autopilot/CallerAutopilotActionsListenerManager.kt @@ -220,47 +220,36 @@ object CallerAutopilotActionsListenerManager : CallerBase? ) { - this.launchConditionData = launchCondition this.isAutopilotAbility = isAutopilotAbility + this.launchConditionData = launchConditionData this.unableAutopilotReasons = unableAutopilotReasons - Logger.d( - "CallerAutopilotActionsListenerManager", - "高频 是否可以启动自动驾驶=" + isAutopilotAbility + " 原因=" + (unableAutopilotReasons?.toString()) + " 原始数据=" + launchConditionData?.json - ) - M_LISTENERS.forEach { - val listener = it.value - listener.onAutopilotAbilityHighFrequency( - CallerAutopilotActionsListenerManager.isAutopilotAbility, - launchConditionData, - CallerAutopilotActionsListenerManager.unableAutopilotReasons - ) - } + notification(); - if (isConnected) { - var isEquals = true - if (unableAutopilotReasons != null && this.unableAutopilotReasons != null) { - unableAutopilotReasons.let { onw -> - onw.sortWith(compareBy(UnableLaunchReason::hashCode)); - this.unableAutopilotReasons?.let { old -> - old.sortWith(compareBy(UnableLaunchReason::hashCode)); - isEquals = onw.toTypedArray() contentEquals old.toTypedArray() - } - } - } else isEquals = - !(unableAutopilotReasons != null || this.unableAutopilotReasons != null) - if (this.isAutopilotAbility != isAutopilotAbility || !isEquals) { - notification() - } - } +// if (isConnected) { +// var isEquals = true +// if (unableAutopilotReasons != null && this.unableAutopilotReasons != null) { +// unableAutopilotReasons.let { onw -> +// onw.sortWith(compareBy(UnableLaunchReason::hashCode)); +// this.unableAutopilotReasons?.let { old -> +// old.sortWith(compareBy(UnableLaunchReason::hashCode)); +// isEquals = onw.toTypedArray() contentEquals old.toTypedArray() +// } +// } +// } else isEquals = +// !(unableAutopilotReasons != null || this.unableAutopilotReasons != null) +// if (this.isAutopilotAbility != isAutopilotAbility || !isEquals) { +// notification() +// } +// } } private fun notification() { Logger.d( "CallerAutopilotActionsListenerManager", - "低频 是否可以启动自动驾驶=" + isAutopilotAbility + " 原因=" + (unableAutopilotReasons?.toString()) + " 原始数据=" + launchConditionData?.json + "是否可以启动自动驾驶=" + isAutopilotAbility + " 原因=" + (unableAutopilotReasons?.toString()) + " 原始数据=" + launchConditionData?.json ) M_LISTENERS.forEach { val listener = it.value