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[code_opt_3.3.0] split autopilot status and param

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This commit is contained in:
zhongchao
2023-06-12 14:08:23 +08:00
parent df55cd543b
commit ef689a9685
36 changed files with 742 additions and 783 deletions
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4
core/function-impl/mogo-core-function-biz/src/main/java/com/mogo/eagle/function/biz/v2x/V2XBizTrace.kt
View File

@@ -11,9 +11,9 @@ class V2XBizTrace {
companion object {
@ChainLog(
linkChainLog = ChainConstant.CHAIN_TYPE_CLOUD_V2N,
linkChainLog = ChainConstant.CHAIN_TYPE_V2X,
linkCode = ChainConstant.CHAIN_SOURCE_CLOUD,
nodeAliasCode = ChainConstant.CHAIN_CODE_CLOUD_V2N,
nodeAliasCode = ChainConstant.CHAIN_CODE_V2X_MSG,
paramIndexes = [0, 1]
)
fun onAck(data: Any, data1: Any) {

12
core/function-impl/mogo-core-function-biz/src/main/java/com/mogo/eagle/function/biz/v2x/v2n/V2XEventManager.kt
View File

@@ -6,9 +6,9 @@ import android.util.*
import androidx.annotation.*
import androidx.localbroadcastmanager.content.*
import com.mogo.eagle.core.data.config.*
import com.mogo.eagle.core.data.deva.chain.ChainConstant.Companion.CHAIN_CODE_CLOUD_V2N
import com.mogo.eagle.core.data.deva.chain.ChainConstant.Companion.CHAIN_CODE_V2X_MSG
import com.mogo.eagle.core.data.deva.chain.ChainConstant.Companion.CHAIN_SOURCE_CLOUD
import com.mogo.eagle.core.data.deva.chain.ChainConstant.Companion.CHAIN_TYPE_CLOUD_V2N
import com.mogo.eagle.core.data.deva.chain.ChainConstant.Companion.CHAIN_TYPE_V2X
import com.mogo.eagle.core.data.enums.*
import com.mogo.eagle.core.data.enums.DataSourceType
import com.mogo.eagle.core.data.enums.EventTypeEnumNew.Companion.isRoadEvent
@@ -144,9 +144,9 @@ object V2XEventManager : IMoGoChassisLocationGCJ02Listener, IV2XCallback,
* V2XEvent事件回调
*/
@ChainLog(
linkChainLog = CHAIN_TYPE_CLOUD_V2N,
linkChainLog = CHAIN_TYPE_V2X,
linkCode = CHAIN_SOURCE_CLOUD,
nodeAliasCode = CHAIN_CODE_CLOUD_V2N,
nodeAliasCode = CHAIN_CODE_V2X_MSG,
paramIndexes = [0]
)
override fun onAck(event: V2XEvent) {
@@ -179,9 +179,9 @@ object V2XEventManager : IMoGoChassisLocationGCJ02Listener, IV2XCallback,
@RequiresApi(Build.VERSION_CODES.N)
@ChainLog(
linkChainLog = CHAIN_TYPE_CLOUD_V2N,
linkChainLog = CHAIN_TYPE_V2X,
linkCode = CHAIN_SOURCE_CLOUD,
nodeAliasCode = CHAIN_CODE_CLOUD_V2N,
nodeAliasCode = CHAIN_CODE_V2X_MSG,
paramIndexes = [0]
)
override fun onAutopilotIdentifyPlanningObj(planningObjects: List<PlanningObject>?) {

14
core/function-impl/mogo-core-function-datacenter/src/main/java/com/mogo/eagle/core/function/datacenter/autopilot/adapter/MoGoAdasListenerImpl.kt
View File

@@ -28,11 +28,11 @@ import com.mogo.eagle.core.data.deva.chain.ChainConstant.Companion.CHAIN_TYPE_SO
import com.mogo.eagle.core.data.deva.chain.ChainConstant.Companion.CHAIN_TYPE_SOCKET_TRAJECTORY
import com.mogo.eagle.core.data.deva.chain.ChainConstant.Companion.CHAIN_TYPE_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.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.CallerAutoPilotStatusListenerManager.updateAutoPilotDockerInfo
import com.mogo.eagle.core.function.call.autopilot.CallerAutoPilotStatusListenerManager.updateAutoPilotStatus
import com.mogo.eagle.core.function.call.autopilot.CallerAutopilotActionsListenerManager.invokeAutopilotAbility
import com.mogo.eagle.core.function.call.autopilot.CallerAutopilotCarConfigListenerManager.invokeAutopilotCarConfigData
@@ -119,7 +119,6 @@ class MoGoAdasListenerImpl : OnAdasListener {
)
override fun onGnssInfo(header: MessagePad.Header, gnssInfo: MessagePad.GnssInfo) {
CallerChassisGnssListenerManager.invokeChassisGnssListener(gnssInfo)
if (gnssInfo != null) {
if (1 == FunctionBuildConfig.gpsProvider) {
// 同步更新经纬度和系统时间至 AutoPilotStatusListener
@@ -356,8 +355,7 @@ class MoGoAdasListenerImpl : OnAdasListener {
carConfigResp: MessagePad.CarConfigResp?
) {
if (carConfigResp != null) {
val autopilotStatusInfo = getAutoPilotStatusInfo()
autopilotStatusInfo.dockVersion = carConfigResp.dockVersion
updateAutoPilotDockerInfo(carConfigResp.dockVersion)
AppConfigInfo.dockerVersion = carConfigResp.dockVersion
AppConfigInfo.plateNumber = carConfigResp.plateNumber//车牌号
AppConfigInfo.iPCMacAddress = carConfigResp.macAddress//工控机MAC地址
@@ -576,9 +574,9 @@ class MoGoAdasListenerImpl : OnAdasListener {
* @param rsi 数据
*/
@ChainLog(
linkChainLog = ChainConstant.CHAIN_TYPE_CLOUD_V2N,
linkChainLog = ChainConstant.CHAIN_TYPE_V2X,
linkCode = ChainConstant.CHAIN_SOURCE_CLOUD,
nodeAliasCode = ChainConstant.CHAIN_CODE_CLOUD_V2N,
nodeAliasCode = ChainConstant.CHAIN_CODE_V2X_MSG,
paramIndexes = [0, 1]
)
override fun onV2nCongestionEvent(header: MessagePad.Header, rsi: MogoV2X.RSI_PB) {
@@ -596,9 +594,9 @@ class MoGoAdasListenerImpl : OnAdasListener {
* @param parkingViolation 违停 ---包含 静态障碍车
*/
@ChainLog(
linkChainLog = ChainConstant.CHAIN_TYPE_CLOUD_V2N,
linkChainLog = ChainConstant.CHAIN_TYPE_V2X,
linkCode = ChainConstant.CHAIN_SOURCE_CLOUD,
nodeAliasCode = ChainConstant.CHAIN_CODE_CLOUD_V2N,
nodeAliasCode = ChainConstant.CHAIN_CODE_V2X_MSG,
paramIndexes = [0]
)
override fun onV2nGlobalPathEvents(

17
core/function-impl/mogo-core-function-datacenter/src/main/java/com/mogo/eagle/core/function/datacenter/autopilot/server/AsyncDataToAutopilotServer.kt
View File

@@ -1,7 +1,6 @@
package com.mogo.eagle.core.function.datacenter.autopilot.server
import android.annotation.SuppressLint
import com.mogo.eagle.core.data.autopilot.AutopilotStatusInfo
import com.mogo.eagle.core.data.biz.trafficlight.TrafficLightResult
import com.mogo.eagle.core.data.deva.chain.ChainConstant
import com.mogo.eagle.core.function.api.autopilot.IMoGoAutopilotStatusListener
@@ -36,7 +35,6 @@ class AsyncDataToAutopilotServer private constructor() : IMoGoTrafficLightListen
}
}
private var mPreAutoStatus = AtomicInteger(-1)
private var createSubscribe: Disposable? = null
fun initServer() {
@@ -45,16 +43,11 @@ class AsyncDataToAutopilotServer private constructor() : IMoGoTrafficLightListen
}
@SuppressLint("CheckResult")
override fun onAutopilotStatusResponse(autoPilotStatusInfo: AutopilotStatusInfo) {
super.onAutopilotStatusResponse(autoPilotStatusInfo)
val state = autoPilotStatusInfo.state
if (mPreAutoStatus.get() != state) {
mPreAutoStatus.set(state)
createSubscribe?.let {
if (!it.isDisposed) {
bizLog(SceneConstant.M_ADAS_IMPL + TAG, "自动驾驶状态变化，取消前置轨迹请求，间隔2s重新请求底盘轨迹")
createSubscribe?.dispose()
}
override fun onAutopilotStatusResponse(state: Int) {
createSubscribe?.let {
if (!it.isDisposed) {
bizLog(SceneConstant.M_ADAS_IMPL + TAG, "自动驾驶状态变化，取消前置轨迹请求，间隔2s重新请求底盘轨迹")
createSubscribe?.dispose()
}
when (state) {

15
core/function-impl/mogo-core-function-datacenter/src/main/java/com/mogo/eagle/core/function/datacenter/autopilot/telematic/TeleMsgHandler.kt
View File

@@ -65,10 +65,7 @@ class TeleMsgHandler : IMsgHandler {
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：${e.message}"
)
invokeNettyConnResult("乘客屏解析数据过程中出现异常：${e.message}")
}
}
MogoProtocolMsg.SYNC_MODE_STATUS -> {
@@ -144,11 +141,6 @@ class TeleMsgHandler : IMsgHandler {
CallerTrafficLightListenerManager.invokeEnterCrossRoad(false)
}
}
TelematicConstant.OPEN_ROMA_STATUS -> {
ThreadUtils.runOnUiThread {
CallerTelematicListenerManager.invokeReceivedMsg(TelematicConstant.OPEN_ROMA_STATUS,it.body)
}
}
TelematicConstant.CONTROL_PASSENGER_DRIVER_MONITOR -> {
ThreadUtils.runOnUiThread {
CallerTelematicListenerManager.invokeReceivedMsg(TelematicConstant.CONTROL_PASSENGER_DRIVER_MONITOR,it.body)
@@ -223,11 +215,6 @@ class TeleMsgHandler : IMsgHandler {
TelematicConstant.BUSINESS_STRING -> {
CallerTelematicListenerManager.invokeReceivedMsg(TelematicConstant.BUSINESS_STRING, it.body)
}
TelematicConstant.OPEN_ROMA_STATUS -> {
ThreadUtils.runOnUiThread {
CallerTelematicListenerManager.invokeReceivedMsg(TelematicConstant.OPEN_ROMA_STATUS,it.body)
}
}
else -> {
}
}

6
core/function-impl/mogo-core-function-devatools/src/main/java/com/zhjt/mogo_core_function_devatools/status/flow/trace/TracingImpl.kt
View File

@@ -1,7 +1,6 @@
package com.zhjt.mogo_core_function_devatools.status.flow.trace
import android.content.*
import com.mogo.eagle.core.data.autopilot.*
import com.mogo.eagle.core.function.api.autopilot.*
import com.mogo.eagle.core.function.api.autopilot.IMoGoAutopilotStatusListener.Companion.STATUS_AUTOPILOT_RUNNING
import com.mogo.eagle.core.function.call.autopilot.*
@@ -37,7 +36,6 @@ internal class TracingImpl(ctx: Context): IFlow<TracingStatus>(ctx), IMoGoAutopi
CallerAutoPilotStatusListenerManager.addListener(TAG, this)
}
override fun onAutopilotGuardian(guardianInfo: MogoReportMessage?) {
super.onAutopilotGuardian(guardianInfo)
val code = guardianInfo?.code
@@ -70,9 +68,7 @@ internal class TracingImpl(ctx: Context): IFlow<TracingStatus>(ctx), IMoGoAutopi
}
}
override fun onAutopilotStatusResponse(autoPilotStatusInfo: AutopilotStatusInfo) {
super.onAutopilotStatusResponse(autoPilotStatusInfo)
val state = autoPilotStatusInfo.state
override fun onAutopilotStatusResponse(state: Int) {
try {
if (ipcStatus.get() != state) {
if (state != STATUS_AUTOPILOT_RUNNING) {

6
core/function-impl/mogo-core-function-devatools/src/main/java/com/zhjt/mogo_core_function_devatools/trace/TraceManager.kt
View File

@@ -66,8 +66,8 @@ class TraceManager : IMoGoCloudListener, IMoGoAutopilotCarConfigListener {
FwBuild(true, -1, pkgName + ChainConstant.CHAIN_LINK_LOG_RECORD_NATIVE_LEAK)
fwBuildMap[ChainConstant.CHAIN_TYPE_ANR] =
FwBuild(true, -1, pkgName + ChainConstant.CHAIN_LINK_LOG_RECORD_ANR)
fwBuildMap[ChainConstant.CHAIN_TYPE_CLOUD_V2N] =
FwBuild(true, -1, pkgName + ChainConstant.CHAIN_LINK_LOG_CLOUD_WEB_SOCKET_V2N)
fwBuildMap[ChainConstant.CHAIN_TYPE_V2X] =
FwBuild(true, -1, pkgName + ChainConstant.CHAIN_LINK_LOG_V2X)
fwBuildMap[ChainConstant.CHAIN_TYPE_HD_MAP] =
FwBuild(true, -1, pkgName + ChainConstant.CHAIN_LINK_LOG_HD_MAP_BIZ)
@@ -94,7 +94,7 @@ class TraceManager : IMoGoCloudListener, IMoGoAutopilotCarConfigListener {
ChainLogParam(true, "Native Leak Record")
traceInfoCache[ChainConstant.CHAIN_TYPE_ANR] =
ChainLogParam(true, "ANR Record")
traceInfoCache[ChainConstant.CHAIN_TYPE_CLOUD_V2N] =
traceInfoCache[ChainConstant.CHAIN_TYPE_V2X] =
ChainLogParam(true, "Cloud WebSocket V2N")
traceInfoCache[ChainConstant.CHAIN_TYPE_HD_MAP] =
ChainLogParam(true, "HD Map Caller")

8
core/function-impl/mogo-core-function-devatools/src/main/java/com/zhjt/mogo_core_function_devatools/upgrade/IPCUpgradeManager.kt
View File

@@ -4,7 +4,6 @@ import android.content.Context
import com.mogo.aicloud.services.socket.IMogoOnMessageListener
import com.mogo.aicloud.services.socket.MogoAiCloudSocketManager
import com.mogo.cloud.passport.MoGoAiCloudClient
import com.mogo.eagle.core.data.autopilot.AutopilotStatusInfo
import com.mogo.eagle.core.data.deva.bindingcar.IPCUpgradeStateInfo
import com.mogo.eagle.core.function.api.autopilot.IMoGoAutopilotStatusListener
import com.mogo.eagle.core.function.call.autopilot.CallerAutoPilotStatusListenerManager
@@ -72,18 +71,15 @@ class IPCUpgradeManager: IMogoOnMessageListener<IPCUpgradeStateInfo> ,
//更新下载or升级状态
CallerHmiManager.showAdUpgradeStatus(it)
}
}
}
/**
* 自动驾驶状态信息
* @param autoPilotStatusInfo 状态信息
*/
override fun onAutopilotStatusResponse(autoPilotStatusInfo: AutopilotStatusInfo) {
autopilotStatus = autoPilotStatusInfo.state
override fun onAutopilotStatusResponse(state: Int) {
//有升级任务，且不处于自动驾驶状态，进行升级提示
autopilotStatus = state
if(hasIPCUpgradeTask && autopilotStatus!=2){
ipcUpgradeStateInfoTask?.let {
var releaseId=""

38
core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/hmi/ui/setting/DebugSettingView.kt
View File

@@ -19,14 +19,12 @@ import androidx.core.content.ContextCompat
import androidx.core.view.*
import androidx.lifecycle.lifecycleScope
import chassis.Chassis
import chassis.ChassisStatesOuterClass
import com.mogo.cloud.passport.MoGoAiCloudClient
import com.mogo.cloud.passport.MoGoAiCloudClientConfig
import com.mogo.commons.constants.SharedPrefsConstants
import com.mogo.commons.debug.DebugConfig
import com.mogo.commons.module.status.MogoStatusManager
import com.mogo.eagle.core.data.app.AppConfigInfo
import com.mogo.eagle.core.data.autopilot.AutopilotStatusInfo
import com.mogo.eagle.core.data.config.FunctionBuildConfig
import com.mogo.eagle.core.data.config.HmiBuildConfig
import com.mogo.eagle.core.data.constants.MoGoConfig
@@ -82,7 +80,6 @@ import kotlinx.android.synthetic.main.view_debug_setting.view.tbRouteDynamicEffe
import kotlinx.coroutines.*
import mogo.telematics.pad.MessagePad
import mogo_msg.MogoReportMsg
import planning.RoboSweeperTaskIndexOuterClass
import java.text.SimpleDateFormat
import java.util.*
import kotlin.collections.component1
@@ -126,8 +123,6 @@ internal class DebugSettingView @JvmOverloads constructor(
private var logInfoView: LogInfoView? = null
private var logViewAttach = false
@Volatile
private var mAutoPilotStatusInfo: AutopilotStatusInfo? = null
private var mGnssInfo: MogoLocation? = null
private var accelerationFloatWindow: AccelerationFloatWindow? = null
@@ -932,7 +927,7 @@ internal class DebugSettingView @JvmOverloads constructor(
clipboardManager?.setPrimaryClip(
ClipData.newPlainText(
"DockVersion",
mAutoPilotStatusInfo?.dockVersion
CallerAutoPilotStatusListenerManager.getDockerVersion()?:""
)
)
ToastUtils.showLong("docker版本复制成功")
@@ -1090,13 +1085,8 @@ internal class DebugSettingView @JvmOverloads constructor(
/**
* 设置域控制器点击监听
*/
@SuppressLint("SetTextI18n")
private fun setDomainControllerCheckedChangeListener() {
// 初始化工控机 IP信息
val autoPilotIpAddress =
SharedPrefsMgr.getInstance(context)
.getString(MoGoConfig.AUTOPILOT_IP, FunctionBuildConfig.adasConnectIP)
etAutopilotIP.setText("192.168.1.")
etAutopilotIP.text?.let { etAutopilotIP.setSelection(it.length) }
//设置工控机IP
@@ -1586,8 +1576,9 @@ internal class DebugSettingView @JvmOverloads constructor(
} else {
tvIpcProtocolVersionInfo.text = "工控机协议版本：${AppConfigInfo.protocolVersionNumber}"
}
tvIpcVersionInfo.text = "MAP：${mAutoPilotStatusInfo?.dockVersion}"
tvIpcVersionInfoKey.text = "MAP：${mAutoPilotStatusInfo?.dockVersion}"
val dockerVersion = CallerAutoPilotStatusListenerManager.getDockerVersion()
tvIpcVersionInfo.text = "MAP：$dockerVersion"
tvIpcVersionInfoKey.text = "MAP：$dockerVersion"
tvMoGoMapVersion.text = "HD-Map版本：${DebugConfig.getMapVersion()}"
tvMoGoMapVersionKey.text = "HD-Map版本：${DebugConfig.getMapVersion()}"
tvGitBranchInfo.text = "Git分支：${AppConfigInfo.workingBranchName}"
@@ -1658,12 +1649,7 @@ internal class DebugSettingView @JvmOverloads constructor(
"司机端Server启动"
}
else -> {
"乘客端${
when {
!AppConfigInfo.serverSn.isNullOrEmpty() -> "(司机屏SN是:${AppConfigInfo.serverSn?:""})"
else -> ""
}
}连接"
"乘客端${"(司机屏SN是:${AppConfigInfo.serverSn})"}连接"
}
}
}是否正常：${
@@ -1696,11 +1682,10 @@ internal class DebugSettingView @JvmOverloads constructor(
}"
)
mAutoPilotStatusInfo?.let {
val autopilotJson = GsonUtils.toJson(it)
tvAutopilotInfo.text = autopilotJson
tvIpcInfo.text = autopilotJson
tvIpcInfoKey.text = autopilotJson
CallerAutoPilotStatusListenerManager.getAutoPilotStatusInfoJsonString().let {
tvAutopilotInfo.text = it
tvIpcInfo.text = it
tvIpcInfoKey.text = it
}
tvCmdbCarInfoContent.text = SharedPrefsMgr.getInstance(context).getString(SharedPrefsConstants.CAR_INFO)?:""
@@ -1780,8 +1765,7 @@ internal class DebugSettingView @JvmOverloads constructor(
/**
* 自动驾驶状态回调
*/
override fun onAutopilotStatusResponse(autoPilotStatusInfo: AutopilotStatusInfo) {
mAutoPilotStatusInfo = autoPilotStatusInfo
override fun onAutopilotStatusResponse(state: Int) {
setAutopilotConnectStatus()
}

14
core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/hmi/ui/tools/AutoPilotAndCheckView.kt
View File

@@ -11,11 +11,9 @@ import android.view.LayoutInflater
import android.view.View
import android.widget.FrameLayout
import com.mogo.eagle.core.data.app.AppConfigInfo
import com.mogo.eagle.core.data.autopilot.AutopilotStatusInfo
import com.mogo.eagle.core.data.deva.bindingcar.IPCUpgradeStateInfo
import com.mogo.eagle.core.data.temp.EventLogout
import com.mogo.eagle.core.function.api.autopilot.IMoGoAutopilotCarConfigListener
import com.mogo.eagle.core.function.api.autopilot.IMoGoAutopilotStatusListener
import com.mogo.eagle.core.function.call.autopilot.CallerAutoPilotControlManager
import com.mogo.eagle.core.function.call.autopilot.CallerAutoPilotStatusListenerManager
import com.mogo.eagle.core.function.call.autopilot.CallerAutopilotCarConfigListenerManager
@@ -44,7 +42,7 @@ internal class AutoPilotAndCheckView @JvmOverloads constructor(
context,
attrs,
defStyleAttr
), IMoGoAutopilotStatusListener {
) {
companion object{
private const val TAG = "AutoPilotAndCheckView"
@@ -52,8 +50,6 @@ internal class AutoPilotAndCheckView @JvmOverloads constructor(
private var clickListener: ClickListener? = null
private var keyBoardUtil: KeyBoardUtil? = null
@Volatile
private var connectStatus = false
private var lastTime = 0L
init {
@@ -174,7 +170,7 @@ internal class AutoPilotAndCheckView @JvmOverloads constructor(
svLayout.post {
svLayout.fullScroll(View.FOCUS_DOWN)
}
if (!connectStatus) { //todo 单次获取
if (!CallerAutoPilotStatusListenerManager.getConnectStates()) {
ToastUtils.showShort("设置车速失败，请启动域控制器")
keyBoardUtil?.hideKeyboard()
return@setOnTouchListener true
@@ -267,20 +263,14 @@ internal class AutoPilotAndCheckView @JvmOverloads constructor(
override fun onAttachedToWindow() {
super.onAttachedToWindow()
CallerAutoPilotStatusListenerManager.addListener(TAG, this)
CallerAutopilotCarConfigListenerManager.addListener(TAG, this)
}
override fun onDetachedFromWindow() {
super.onDetachedFromWindow()
CallerAutoPilotStatusListenerManager.removeListener(TAG)
CallerAutopilotCarConfigListenerManager.removeListener(TAG)
}
override fun onAutopilotStatusResponse(autoPilotStatusInfo: AutopilotStatusInfo) {
connectStatus = autoPilotStatusInfo.connectStatus
}
interface ClickListener {
fun onClose(v: View)
fun showDebugPanelView()

80
core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/hmi/ui/vehicle/PncActionsView.kt
View File

@@ -6,13 +6,12 @@ import android.util.TypedValue.COMPLEX_UNIT_PX
import android.view.LayoutInflater
import androidx.appcompat.content.res.AppCompatResources
import androidx.constraintlayout.widget.ConstraintLayout
import com.mogo.eagle.core.data.autopilot.AutopilotStatusInfo
import com.mogo.eagle.core.data.autopilot.pnc.PncActionsHelper
import com.mogo.eagle.core.data.deva.bizconfig.FuncBizConfig.Companion.BIZ_PNC_ACTIONS
import com.mogo.eagle.core.data.deva.bizconfig.FuncBizConfig.Companion.FOUNDATION
import com.mogo.eagle.core.data.biz.trafficlight.TrafficLightResult
import com.mogo.eagle.core.data.biz.trafficlight.currentRoadTrafficLight
import com.mogo.eagle.core.data.biz.trafficlight.isRed
import com.mogo.eagle.core.data.deva.bizconfig.FuncBizConfig.Companion.BIZ_PNC_ACTIONS
import com.mogo.eagle.core.data.deva.bizconfig.FuncBizConfig.Companion.FOUNDATION
import com.mogo.eagle.core.function.api.autopilot.IMoGoAutopilotPlanningActionsListener
import com.mogo.eagle.core.function.api.autopilot.IMoGoAutopilotStatusListener
import com.mogo.eagle.core.function.api.autopilot.IMoGoAutopilotStatusListener.Companion.STATUS_AUTOPILOT_RUNNING
@@ -40,9 +39,6 @@ class PncActionsView @JvmOverloads constructor(
@Volatile
private var mTrafficLightResult: TrafficLightResult? = null
@Volatile
private var mAutoPilotStatusInfo: AutopilotStatusInfo? = null
private val bgResources: Int
private val topMargin: Float
private val txtSize: Float
@@ -68,7 +64,7 @@ class PncActionsView @JvmOverloads constructor(
override fun onAttachedToWindow() {
super.onAttachedToWindow()
(tvHmiPncActions.layoutParams as MarginLayoutParams).topMargin = topMargin.toInt()
tvHmiPncActions.setTextSize(COMPLEX_UNIT_PX, txtSize.toFloat())
tvHmiPncActions.setTextSize(COMPLEX_UNIT_PX, txtSize)
CallerAutoPilotStatusListenerManager.addListener(TAG, this)
CallerPlanningActionsListenerManager.addListener(TAG, this)
@@ -82,10 +78,8 @@ class PncActionsView @JvmOverloads constructor(
CallerTrafficLightListenerManager.removeListener(TAG)
}
override fun onAutopilotStatusResponse(autoPilotStatusInfo: AutopilotStatusInfo) {
super.onAutopilotStatusResponse(autoPilotStatusInfo)
mAutoPilotStatusInfo = autoPilotStatusInfo
if (mAutoPilotStatusInfo!!.state != STATUS_AUTOPILOT_RUNNING) {
override fun onAutopilotStatusResponse(state: Int) {
if (state != STATUS_AUTOPILOT_RUNNING) {
UiThreadHandler.post {
this.background = null
tvHmiPncActions.text = ""
@@ -96,45 +90,43 @@ class PncActionsView @JvmOverloads constructor(
@BizConfig(FOUNDATION, "", BIZ_PNC_ACTIONS)
override fun pncActions(planningActionMsg: MessagePad.PlanningActionMsg) {
try {
mAutoPilotStatusInfo?.let {
UiThreadHandler.post {
if (it.state == STATUS_AUTOPILOT_RUNNING) {
var actions: String? = null
planningActionMsg.actionMsg?.let { it ->
try {
actions = PncActionsHelper.getAction(
it.drivingState.number,
it.drivingAction.number
)
} catch (e: Exception) {
e.printStackTrace()
}
//如果是存在云端红绿灯数据条件下，设置云端数据
if (PncActionsHelper.isWaitingTrafficlight(
it.drivingState.number,
it.drivingAction.number
)
&& mTrafficLightResult != null
&& getWaitTrafficLightTime().isNotBlank()
) {
actions += ",预计${getWaitTrafficLightTime()}秒后通过"
} else {
mTrafficLightResult = null
}
UiThreadHandler.post {
if (CallerAutoPilotStatusListenerManager.getState() == STATUS_AUTOPILOT_RUNNING) {
var actions: String? = null
planningActionMsg.actionMsg?.let { it ->
try {
actions = PncActionsHelper.getAction(
it.drivingState.number,
it.drivingAction.number
)
} catch (e: Exception) {
e.printStackTrace()
}
// update view
if (actions.isNullOrEmpty()) {
this.background = null
tvHmiPncActions.text = ""
//如果是存在云端红绿灯数据条件下，设置云端数据
if (PncActionsHelper.isWaitingTrafficlight(
it.drivingState.number,
it.drivingAction.number
)
&& mTrafficLightResult != null
&& getWaitTrafficLightTime().isNotBlank()
) {
actions += ",预计${getWaitTrafficLightTime()}秒后通过"
} else {
this.background =
AppCompatResources.getDrawable(context, bgResources)
tvHmiPncActions.text = actions
mTrafficLightResult = null
}
} else {
}
// update view
if (actions.isNullOrEmpty()) {
this.background = null
tvHmiPncActions.text = ""
} else {
this.background =
AppCompatResources.getDrawable(context, bgResources)
tvHmiPncActions.text = actions
}
} else {
this.background = null
tvHmiPncActions.text = ""
}
}
} catch (e: Exception) {

19
core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/hmi/ui/vehicle/TakeOverView.kt
View File

@@ -6,7 +6,6 @@ import android.util.Log
import android.view.LayoutInflater
import android.view.View
import androidx.constraintlayout.widget.ConstraintLayout
import com.mogo.eagle.core.data.autopilot.AutopilotStatusInfo
import com.mogo.eagle.core.data.config.FunctionBuildConfig
import com.mogo.eagle.core.data.enums.EventTypeEnumNew
import com.mogo.eagle.core.data.msgbox.MsgBoxBean
@@ -16,7 +15,6 @@ import com.mogo.eagle.core.function.api.autopilot.IMoGoAutopilotStatusListener
import com.mogo.eagle.core.function.api.hmi.warning.IMoGoWarningStatusListener
import com.mogo.eagle.core.function.call.autopilot.CallerAutoPilotStatusListenerManager
import com.mogo.eagle.core.function.call.hmi.CallerHmiManager
import com.mogo.eagle.core.function.call.msgbox.CallerMsgBoxManager
import com.mogo.eagle.core.function.call.msgbox.CallerMsgBoxManager.saveMsgBox
import com.mogo.eagle.core.function.hmi.R
import com.mogo.eagle.core.utilcode.util.ThreadUtils
@@ -33,31 +31,22 @@ class TakeOverView @JvmOverloads constructor(
const val TAG = "TakeOverView"
}
private var autopilotStatus: Int = 0 //自动驾驶状态 0代表不可自动驾驶,1代表可自动驾驶,2代表自动驾驶中,7:平行驾驶中
private var isParallel: Boolean = false //是否是平行驾驶
init {
LayoutInflater.from(context).inflate(R.layout.view_take_over, this, true)
}
private var takeOver = false
private var isParallel: Boolean = false //是否是平行驾驶
override fun onAttachedToWindow() {
super.onAttachedToWindow()
CallerAutoPilotStatusListenerManager.addListener(TAG, this)
}
/**
* 自动驾驶状态信息
*
* @param autoPilotStatusInfo 状态信息
*/
override fun onAutopilotStatusResponse(autoPilotStatusInfo: AutopilotStatusInfo) {
autopilotStatus = autoPilotStatusInfo.state
if(autoPilotStatusInfo.state == 7){
override fun onAutopilotStatusResponse(state: Int) {
if(state == 7){
isParallel = true
}else if(autoPilotStatusInfo.state == 0 || autoPilotStatusInfo.state == 1){
}else if(state == 0 || state == 1){
isParallel = false
}
}

7
core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/hmi/ui/widget/AutoPilotStatusView.kt
View File

@@ -6,7 +6,6 @@ import android.view.LayoutInflater
import android.view.View
import androidx.constraintlayout.widget.ConstraintLayout
import com.mogo.eagle.core.data.autopilot.AutopilotControlParameters
import com.mogo.eagle.core.data.autopilot.AutopilotStatusInfo
import com.mogo.eagle.core.function.api.autopilot.IMoGoAutopilotStatusListener
import com.mogo.eagle.core.function.call.autopilot.CallerAutoPilotControlManager
import com.mogo.eagle.core.function.call.autopilot.CallerAutoPilotStatusListenerManager
@@ -37,7 +36,7 @@ class AutoPilotStatusView constructor(
private var mAutopilotStatus: Int = 0
init{
init {
initView(context)
}
@@ -119,8 +118,8 @@ class AutoPilotStatusView constructor(
}
}
override fun onAutopilotStatusResponse(autoPilotStatusInfo: AutopilotStatusInfo) {
setAutoPilotStatus(autoPilotStatusInfo.state)
override fun onAutopilotStatusResponse(state: Int) {
setAutoPilotStatus(state)
}
override fun onDetachedFromWindow() {

20
core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/hmi/ui/widget/CheckSystemView.kt
View File

@@ -6,7 +6,6 @@ import android.view.Gravity
import android.view.LayoutInflater
import android.view.View
import androidx.constraintlayout.widget.ConstraintLayout
import com.mogo.eagle.core.data.autopilot.AutopilotStatusInfo
import com.mogo.eagle.core.utilcode.mogo.logger.scene.SceneConstant.Companion.M_HMI
import com.mogo.eagle.core.function.api.autopilot.IMoGoAutopilotStatusListener
import com.mogo.eagle.core.function.call.autopilot.CallerAutoPilotControlManager
@@ -29,12 +28,7 @@ class CheckSystemView @JvmOverloads constructor(
const val TAG = "CheckSystemView"
}
@Volatile
private var connectStatus = false //是否连接工控机
@Volatile
private var autopilotStatus: Int? = null //自动驾驶状态 0代表不可自动驾驶,1代表可自动驾驶,2代表自动驾驶中
private var dockerRebootDialog: DockerRebootDialog? = null
private var downloadStatus: String = "" //下载状态
private var upgradeStatus: String = "" //升级状态
@@ -54,7 +48,7 @@ class CheckSystemView @JvmOverloads constructor(
dockerRebootDialog = DockerRebootDialog(context)
dockerRebootDialog?.setClickListener(object : DockerRebootDialog.ClickListener {
override fun confirm() {
if (autopilotStatus == 2) {
if (CallerAutoPilotStatusListenerManager.getState() == 2) {
//当前处于自动驾驶状态，不可进行重启，Toast提示
ToastUtils.showShort("请先退出自动驾驶状态")
}
@@ -106,16 +100,15 @@ class CheckSystemView @JvmOverloads constructor(
CallerAutoPilotStatusListenerManager.removeListener(TAG)
}
override fun onAutopilotStatusResponse(autoPilotStatusInfo: AutopilotStatusInfo) {
connectStatus = autoPilotStatusInfo.connectStatus //单次
autopilotStatus = autoPilotStatusInfo.state
override fun onAutopilotConnectInfo(connectInfo: Boolean) {
super.onAutopilotConnectInfo(connectInfo)
ThreadUtils.runOnUiThread {
setViewStatus()
setViewStatus(connectInfo)
}
}
private fun setViewStatus() {
if (connectStatus) {
private fun setViewStatus(connectInfo:Boolean) {
if (connectInfo) {
viewCheckShutDown.requestFocus()
viewCheckShutDown.isClickable = true
viewCheckReboot.requestFocus()
@@ -124,7 +117,6 @@ class CheckSystemView @JvmOverloads constructor(
viewCheckShutDown.isClickable = false
viewCheckReboot.isClickable = false
}
}
}

3
core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/hmi/ui/widget/SteeringWheelView.kt
View File

@@ -94,9 +94,8 @@ class SteeringWheelView : ConstraintLayout, IMoGoChassisSteeringStateListener,
private val mGoAutopilotStatusListener: IMoGoAutopilotStatusListener =
object : IMoGoAutopilotStatusListener {
override fun onAutopilotStatusResponse(autoPilotStatusInfo: AutopilotStatusInfo) {
override fun onAutopilotStatusResponse(state: Int) {
ThreadUtils.runOnUiThread {
val state = autoPilotStatusInfo.state
d("$M_BUS_P$TAG", "state = %s", state)
if (autopilotIV != null) {
if (state == IMoGoAutopilotStatusListener.STATUS_AUTOPILOT_RUNNING) {

17
core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/hmi/ui/widget/SystemVersionView.kt
View File

@@ -5,7 +5,6 @@ import android.util.AttributeSet
import android.view.LayoutInflater
import android.view.View
import androidx.constraintlayout.widget.ConstraintLayout
import com.mogo.eagle.core.data.autopilot.AutopilotStatusInfo
import com.mogo.eagle.core.data.deva.bindingcar.AdUpgradeStateHelper
import com.mogo.eagle.core.data.deva.bindingcar.IPCUpgradeStateInfo
import com.mogo.eagle.core.data.map.MogoLocation
@@ -44,8 +43,6 @@ class SystemVersionView @JvmOverloads constructor(
}
private var dockerVersion: String? = null //工控机版本
private var autopilotStatus: Int? = null //自动驾驶状态 0代表不可自动驾驶,1代表可自动驾驶,2代表自动驾驶中
private var ipcUpgradeStateInfo: IPCUpgradeStateInfo?=null
private var needQueryContainers: Boolean = false
@@ -320,17 +317,9 @@ class SystemVersionView @JvmOverloads constructor(
needQueryContainers = false
}
override fun onAutopilotStatusResponse(autoPilotStatusInfo: AutopilotStatusInfo) {
dockerVersion = autoPilotStatusInfo.dockVersion
autopilotStatus = autoPilotStatusInfo.state
CallerLogger.i(
"$M_HMI$TAG",
"onAutopilotStatusResponse dockerVersion=$dockerVersion , autopilotStatus=$autopilotStatus"
)
setViewStatus()
}
private fun setViewStatus() {
override fun onAutopilotDockerInfo(dockerVersion: String) {
super.onAutopilotDockerInfo(dockerVersion)
this.dockerVersion = dockerVersion
showCurrentAdVersion()
}

11
core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/hmi/ui/widget/VersionNameView.kt
View File

@@ -5,16 +5,12 @@ import android.content.Context
import android.util.AttributeSet
import android.view.LayoutInflater
import android.widget.LinearLayout
import com.mogo.eagle.core.data.autopilot.AutopilotStatusInfo
import com.mogo.eagle.core.function.api.autopilot.IMoGoAutopilotStatusListener
import com.mogo.eagle.core.function.call.autopilot.CallerAutoPilotStatusListenerManager
import com.mogo.eagle.core.function.call.devatools.CallerDevaToolsManager
import com.mogo.eagle.core.function.hmi.R
import com.mogo.eagle.core.function.main.AppListActivity
import com.mogo.eagle.core.utilcode.kotlin.*
import com.mogo.eagle.core.utilcode.util.ActivityUtils
import com.mogo.eagle.core.utilcode.util.AppUtils
import com.mogo.eagle.core.utilcode.util.UiThreadHandler
import kotlinx.android.synthetic.main.view_version_name.view.*
import kotlinx.coroutines.*
@@ -89,11 +85,12 @@ class VersionNameView @JvmOverloads constructor(
CallerAutoPilotStatusListenerManager.removeListener(TAG)
}
override fun onAutopilotStatusResponse(autoPilotStatusInfo: AutopilotStatusInfo) {
dockerVersion = autoPilotStatusInfo.dockVersion
override fun onAutopilotDockerInfo(dockerVersion: String) {
super.onAutopilotDockerInfo(dockerVersion)
this.dockerVersion = dockerVersion
showCurrentMapVersion()
//将工控机版本赋值给BadCase配置常量
CallerDevaToolsManager.dockerVersion(autoPilotStatusInfo.dockVersion)
CallerDevaToolsManager.dockerVersion(dockerVersion)
}
}

19
core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/business/routeoverlay/MogoRouteOverlayManager.java
View File

@@ -91,12 +91,15 @@ public class MogoRouteOverlayManager implements
}
@Override
public void onAutopilotStatusResponse(@NotNull AutopilotStatusInfo autoPilotStatusInfo) {
int mode = autoPilotStatusInfo.getState();
if (mode == 2) {
public void onAutopilotStatusResponse(int state) {
if (state == 2) {
isArriveAtStation.set(false);
}
this.autopilotMode.set(mode);
this.autopilotMode.set(state);
}
@Override
public void onAutopilotStatusResponse(@NotNull AutopilotStatusInfo autoPilotStatusInfo) {
}
@Override
@@ -135,4 +138,12 @@ public class MogoRouteOverlayManager implements
public void onAutopilotRouteLineId(long lineId) {
}
@Override
public void onAutopilotDockerInfo(@NonNull String dockerVersion) {
}
@Override
public void onAutopilotConnectInfo(boolean connectInfo) {
}
}

10
core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/smp/view/SmallMapView.kt
View File

@@ -10,7 +10,6 @@ import android.widget.RelativeLayout
import androidx.annotation.UiThread
import com.amap.api.maps.*
import com.amap.api.maps.model.*
import com.mogo.eagle.core.data.autopilot.AutopilotStatusInfo
import com.mogo.eagle.core.data.config.FunctionBuildConfig
import com.mogo.eagle.core.data.map.MogoLatLng
import com.mogo.eagle.core.data.map.MogoLocation
@@ -50,9 +49,6 @@ class SmallMapView @JvmOverloads constructor(
private var mContext: Context? = null
private var mLocation: MogoLocation? = null
@Volatile
private var autoPilotStatus = 0
companion object {
const val TAG = "SmallMapView"
}
@@ -318,14 +314,12 @@ class SmallMapView @JvmOverloads constructor(
}
override fun onAutopilotStatusResponse(autoPilotStatusInfo: AutopilotStatusInfo) {
val tempStatus = autoPilotStatusInfo.state
if (tempStatus != 2) {
override fun onAutopilotStatusResponse(state: Int) {
if (state != 2) {
UiThreadHandler.post {
clearPolyline()
}
}
autoPilotStatus = tempStatus
}
override fun onAutopilotRotting(globalPathResp: MessagePad.GlobalPathResp?) {