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Merge branch 'dev_robotaxi-d-app-module_251_220125_2.5.1' into dev_MogoAP_eagle-220_211207_8.0.17_merge

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# Conflicts:
#	config.gradle
#	core/function-impl/mogo-core-function-autopilot/src/main/java/com/mogo/eagle/core/function/autopilot/MoGoAutopilotProvider.kt
#	core/function-impl/mogo-core-function-autopilot/src/main/java/com/mogo/eagle/core/function/autopilot/adapter/MoGoAdasListenerImpl.java
This commit is contained in:
donghongyu
2022-02-25 17:28:47 +08:00
parent 9c1222577d 0c1690afd6
commit eeaa016393
6 changed files with 16 additions and 12 deletions
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2
config.gradle
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@@ -114,7 +114,7 @@ ext {
obusdk : "com.zhidao.enterprise.smartv2x:smartv2x:1.0.0.3",
mogoobu : 'com.zhidao.support.obu:mogoobu:1.0.0.19',
mogoami : 'com.zhidao.support.obu.ami:mogoami:1.0.0.10',
adasHigh : 'com.zhidao.support.adas:high:1.2.1.2_bate23',
adasHigh : 'com.zhidao.support.adas:high:1.2.1.2_bate25',
// google
googlezxing : "com.google.zxing:core:3.3.3",

1
core/function-impl/mogo-core-function-autopilot/src/main/java/com/mogo/eagle/core/function/autopilot/MoGoAutopilotProvider.kt
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@@ -29,6 +29,7 @@ import com.mogo.telematic.client.listener.NettyClientListener
import com.mogo.telematic.client.status.ConnectState
import com.mogo.telematic.server.netty.NettyServerListener
import com.zhidao.support.adas.high.AdasManager
import com.zhidao.support.adas.high.AdasOptions
import com.zhidao.support.adas.high.bean.IPCUpgradeInfo
import com.zhidao.support.adas.high.common.CupidLogUtils
import io.netty.channel.Channel

8
core/function-impl/mogo-core-function-autopilot/src/main/java/com/mogo/eagle/core/function/autopilot/adapter/MoGoAdasListenerImpl.java
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@@ -217,7 +217,7 @@ public class MoGoAdasListenerImpl implements OnAdasListener {
@Override
public void autopilotArrive(AutopilotWayArrive autopilotWayArrive) {
if (HdMapBuildConfig.isMapLoaded) {
Logger.d(TAG, "autopilotArrive : " + autopilotWayArrive);
// Logger.d(TAG, "autopilotArrive : " + autopilotWayArrive);
if (autopilotWayArrive != null) {
AutopilotWayArrive.ResultBean result = autopilotWayArrive.getResult();
if (result != null) {
@@ -241,7 +241,7 @@ public class MoGoAdasListenerImpl implements OnAdasListener {
@Override
public void onAutopilotRoute(AutopilotRoute route) {
if (HdMapBuildConfig.isMapLoaded) {
Logger.d(TAG, "onAutopilotRoute : " + route.toString());
// Logger.d(TAG, "onAutopilotRoute : " + route.toString());
AutopilotRouteInfo autopilotRoute = AdasObjectConvertUtils.INSTANCE.fromAdasAutopilotRoute(route);
CallerAutopilotPlanningListenerManager.INSTANCE.invokeAutopilotRotting(autopilotRoute);
}
@@ -255,7 +255,7 @@ public class MoGoAdasListenerImpl implements OnAdasListener {
@Override
public void onAutopilotTrajectory(List<TrajectoryInfo> trajectoryList) {
if (HdMapBuildConfig.isMapLoaded) {
//Logger.d(TAG, "onAutopilotTrajectory : " + trajectoryList);
// Logger.d(TAG, "onAutopilotTrajectory : " + trajectoryList);
ArrayList<ADASTrajectoryInfo> trajectoryInfoArrayList = new ArrayList<>();
if (trajectoryList != null && trajectoryList.size() > 0) {
for (TrajectoryInfo trajectory : trajectoryList) {
@@ -271,7 +271,7 @@ public class MoGoAdasListenerImpl implements OnAdasListener {
adasTrajectoryInfo.setTheta(trajectory.getTheta());
trajectoryInfoArrayList.add(adasTrajectoryInfo);
}
//Log.e(TAG, "time:" + System.currentTimeMillis() + "trajectoryInfoArrayList:" + trajectoryInfoArrayList);
// Log.e(TAG, "time:" + System.currentTimeMillis() + "trajectoryInfoArrayList:" + trajectoryInfoArrayList);
}
CallerAutopilotPlanningListenerManager.INSTANCE.invokeAutopilotTrajectory(trajectoryInfoArrayList);
}

2
core/function-impl/mogo-core-function-main/src/main/java/com/mogo/eagle/core/function/main/MainMoGoApplication.java
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@@ -248,7 +248,7 @@ public abstract class MainMoGoApplication extends AbsMogoApplication {
*/
private void connectAmiIp() {
String ipAddress = SharedPrefsMgr.getInstance(AbsMogoApplication.getApp().getBaseContext()).getString(MoGoConfig.OBU_IP, "192.168.1.199");
Logger.d("OnAdasListenerAdapter", "application --ipAddress = " + ipAddress);
//Logger.d("OnAdasListenerAdapter", "application --ipAddress = " + ipAddress);
AmiClientManager.getInstance().setObuIp(ipAddress);
}

13
modules/mogo-module-service/src/main/java/com/mogo/module/service/routeoverlay/MogoRouteOverlayManager.java
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@@ -83,11 +83,14 @@ public class MogoRouteOverlayManager implements
// Log.d(TAG, "trajectoryInfos:" + adasTrajectoryInfo.getLat()+":"+adasTrajectoryInfo.getLon());
// Log.d(TAG, "temp:"+temp+" location:" + lat+":"+lon);
List<MogoLatLng> mogoLatLngs = new ArrayList<>();
for (ADASTrajectoryInfo a : trajectoryInfos) {
// Log.d(TAG, "temp:"+temp+" trajectoryInfos:" + a.getLat()+":"+a.getLon());
builder.append(a.getLon()).append(",");
builder.append(a.getLat()).append(",");
mogoLatLngs.add(new MogoLatLng(a.getLat(), a.getLon()));
for (int i = 0; i < trajectoryInfos.size(); i++) {
// 临时解决车尾拖线问题，丢弃距离车最近的几个经纬度，原因是惯性导航的中心靠近车尾，会导致经纬度靠近尾部，且两个数据不同频
if (i > 5) {
ADASTrajectoryInfo a = trajectoryInfos.get(i);
builder.append(a.getLon()).append(",");
builder.append(a.getLat()).append(",");
mogoLatLngs.add(new MogoLatLng(a.getLat(), a.getLon()));
}
}
if (FunctionBuildConfig.isIgnoreConditionsDrawAutopilotTrajectoryData || STATUS_AUTOPILOT == 1){
RouteOverlayDrawer.getInstance(mContext).drawTrajectoryList(mogoLatLngs);

2
modules/mogo-module-service/src/main/java/com/mogo/module/service/routeoverlay/RouteOverlayDrawer.java
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@@ -124,7 +124,7 @@ public class RouteOverlayDrawer {
long start = System.currentTimeMillis();
List<Integer> list = new ArrayList<>();
// list = ColorUtils.gradientAlpha("#FF2AAFFD", "#002965ED", mPolylinePointList.size());
int[] startColor = ColorUtils.hexToArgb("#FF64C3EA");
int[] startColor = ColorUtils.hexToArgb("#CC64C3EA");
int[] endColor = ColorUtils.hexToArgb("#0064C3EA");
list.add(Color.argb(startColor[0],startColor[1],startColor[2],startColor[3]));
list.add(Color.argb(endColor[0],endColor[1],endColor[2],endColor[3]));