Merge branch 'dev_robotaxi-d-app-module_2130_221116_2.13.0' into mutidev_robotaxi-d-app-module_2130_221116_2.13.0_multi_display

# Conflicts: # gradle.properties
2022-12-13 10:52:37 +08:00
parent c950c46303 e90cd53b29
commit f124493b72
5 changed files with 39 additions and 49 deletions
--- a/OCH/mogo-och-bus-passenger/src/main/java/com/mogo/och/bus/passenger/model/BusPassengerModel.java
+++ b/OCH/mogo-och-bus-passenger/src/main/java/com/mogo/och/bus/passenger/model/BusPassengerModel.java
@@ -47,6 +47,7 @@ import com.mogo.och.bus.passenger.constant.BusPassengerConst;
 import com.mogo.och.bus.passenger.network.BusPassengerModelLoopManager;
 import com.mogo.och.bus.passenger.network.BusPassengerServiceManager;
 import com.mogo.och.common.module.biz.network.OchCommonServiceCallback;
+import com.mogo.och.common.module.manager.AbnormalFactorsLoopManager;
 import com.mogo.och.common.module.utils.CoordinateCalculateRouteUtil;
 import com.mogo.och.common.module.utils.ToastUtilsOch;
 import org.jetbrains.annotations.NotNull;
@@ -188,14 +189,7 @@ public class BusPassengerModel {

                    @Override
                    public void onError() {
-                        if (ToastUtilsOch.isCustomFastClick(5000)){
-                            if (!NetworkUtils.isConnected(mContext)) {
-                                ToastUtils.showShort(mContext.getString(R.string.network_error_tip));
-                            } else {
-                                ToastUtils.showShort(mContext.getString(R.string.request_error_tip));
-                            }
-                            queryDriverSiteByCoordinate();
-                        }
+
                    }

                    @Override
@@ -206,11 +200,7 @@ public class BusPassengerModel {
                            queryDriverOperationDelay();
                            return;
                        }
-                        if (ToastUtilsOch.isCustomFastClick(10000)){
-                            //code = 1003; message = bus车辆已收车或未出车;bus driver shadow,not exists
-                            ToastUtils.showShort(msg);
-                            queryDriverSiteByCoordinate();
-                        }
+                        CallerLogger.INSTANCE.d( M_BUS_P + TAG, "queryDriverSiteByCoordinate = %s", msg );
                    }
                });
    }
@@ -286,6 +276,8 @@ public class BusPassengerModel {

        //2021.11.1 自动驾驶路线规划接口
        CallerAutopilotPlanningListenerManager.INSTANCE.addListener(TAG,moGoAutopilotPlanningListener);
+
+        AbnormalFactorsLoopManager.INSTANCE.startLoopAbnormalFactors(mContext);
    }

    private void releaseListeners() {
@@ -299,6 +291,8 @@ public class BusPassengerModel {

        CallerAutoPilotStatusListenerManager.INSTANCE.removeListener(mGoAutopilotStatusListener);
        CallerAutopilotPlanningListenerManager.INSTANCE.removeListener(moGoAutopilotPlanningListener);
+
+        AbnormalFactorsLoopManager.INSTANCE.stopLoopAbnormalFactors();
    }

    //监听网络变化，避免启动机器时无网导致无法更新订单信息
--- a/OCH/mogo-och-common-module/src/main/java/com/mogo/och/common/module/manager/AbnormalFactorsLoopManager.kt
+++ b/OCH/mogo-och-common-module/src/main/java/com/mogo/och/common/module/manager/AbnormalFactorsLoopManager.kt
@@ -2,6 +2,7 @@ package com.mogo.och.common.module.manager

 import android.Manifest
 import android.content.Context
+import com.mogo.commons.debug.DebugConfig
 import com.mogo.commons.module.status.IMogoStatusChangedListener
 import com.mogo.commons.module.status.MogoStatusManager
 import com.mogo.commons.module.status.StatusDescriptor
@@ -66,7 +67,8 @@ object AbnormalFactorsLoopManager : IMogoStatusChangedListener {
        var toastStr = ""
        if (!locationStatusPermsStatus) toastStr += "定位服务异常 "
        if (!networkStatus) toastStr += " 网络异常 "
-        if (!socketStatus) toastStr += " 长链接异常 "
+
+        if (!socketStatus && !DebugConfig.getProductFlavor().contains("Passenger")) toastStr += " 长链接异常 "

        i(TAG, "abnormal_factors_Str = $toastStr")

--- a/OCH/mogo-och-taxi-passenger/src/main/java/com/mogo/och/taxi/passenger/model/TaxiPassengerModel.java
+++ b/OCH/mogo-och-taxi-passenger/src/main/java/com/mogo/och/taxi/passenger/model/TaxiPassengerModel.java
@@ -38,6 +38,7 @@ import com.mogo.eagle.core.utilcode.mogo.storage.SharedPrefsMgr;
 import com.mogo.eagle.core.utilcode.util.NetworkUtils;
 import com.mogo.eagle.core.utilcode.util.ToastUtils;
 import com.mogo.eagle.core.utilcode.util.UiThreadHandler;
+import com.mogo.och.common.module.manager.AbnormalFactorsLoopManager;
 import com.mogo.och.common.module.manager.OCHAdasAbilityManager;
 import com.mogo.och.common.module.map.AmapNaviToDestinationModel;
 import com.mogo.och.common.module.biz.network.OchCommonServiceCallback;
@@ -241,6 +242,8 @@ public class TaxiPassengerModel implements IOCHTaxiPassengerNaviChangedCallback

        //增加限速监听
        CallLimitingVelocityListenerManager.INSTANCE.addListener(TAG,limitingVelocityListener);
+
+        AbnormalFactorsLoopManager.INSTANCE.startLoopAbnormalFactors(mContext);
    }

    private void releaseListeners() {
@@ -255,6 +258,8 @@ public class TaxiPassengerModel implements IOCHTaxiPassengerNaviChangedCallback
        CallerAutoPilotStatusListenerManager.INSTANCE.removeListener(mGoAutopilotStatusListener);
        CallerAutopilotPlanningListenerManager.INSTANCE.removeListener(moGoAutopilotPlanningListener);
        CallLimitingVelocityListenerManager.INSTANCE.removeListener(limitingVelocityListener);
+
+        AbnormalFactorsLoopManager.INSTANCE.stopLoopAbnormalFactors();
    }

    /**
@@ -324,9 +329,14 @@ public class TaxiPassengerModel implements IOCHTaxiPassengerNaviChangedCallback
                    }

                    @Override
-                    public void onFail(int code, String msg) {
+                    public void onError() {

                    }
+
+                    @Override
+                    public void onFail(int code, String msg) {
+                        CallerLogger.INSTANCE.e(M_TAXI_P + TAG,"queryInAndWaitOrders"+code+msg);
+                    }
                });
    }

--- a/core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/business/identify/TrackObj.java
+++ b/core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/business/identify/TrackObj.java
@@ -20,21 +20,17 @@ import mogo.telematics.pad.MessagePad;
 public class TrackObj {

    private final CircleQueue circleQueue = new CircleQueue(6);
-    //    private final KalmanFilter kalmanFilter; //卡尔曼结果
    private S2CellId s2CellId; //s2 id权重
    private S2LatLng s2LatLng; //s2 经纬度
    private double recentlyTime;  //用于缓存帧数判断，暂定缓存1秒数据，中间如果有物体未出现，1秒后删除
    private double roadAngle;   //道路航向
-    //    private double headingDelta; //航向角德尔塔
    private int[] typeArray = new int[3];
    private int typeWeight;   //类型权重
    private double lat;
    private double lon;
    private double speedAverage;
-//    private CenterLine centerLineInfo = null;

    public TrackObj(MessagePad.TrackedObject data) {
-//        kalmanFilter = new KalmanFilter(data.getLongitude(), data.getLatitude(), 0.0000005);
        circleQueue.addQueue(new ObjQueue(data.getHeading(), data.getSpeed(), data.getLatitude(), data.getLongitude(), data.getType()));
        recentlyTime = data.getSatelliteTime();
        lat = data.getLatitude();
@@ -61,15 +57,13 @@ public class TrackObj {
    private void correct() {
        calAverageSpeedAndType();
        calLoc();
-        calHeading();
+//        calHeading();
    }

    @SuppressLint("NewApi")
    private void calAverageSpeedAndType() {
        if (circleQueue.size() >= 3) {
            List<ObjQueue> objQueueList = circleQueue.getLastThreeFrame();
-            // 计算平均速度
-//            speedAverage = (objQueueList.get(0).getSpeed() + objQueueList.get(1).getSpeed() + objQueueList.get(2).getSpeed()) / 3;
            // 使用中值滤波
            objQueueList.sort(Comparator.comparing(ObjQueue::getSpeed));
            speedAverage = objQueueList.get(1).getSpeed();
@@ -101,38 +95,13 @@ public class TrackObj {
    private void calLoc() {
        //距离计算,位置修正
        if (relativeStatic()) {
-//            double angle = roadAngle != 0 ? roadAngle : cacheData.getHeading();
-//            if (centerLineInfo == null && isFourWheelType()) {
-//                try {
-//                    centerLineInfo = CallerHDMapManager.INSTANCE.getCenterLineInfo(lon, lat, (float) angle);
-//                } catch (Exception e) {
-//                    Log.d("hy uuid : " + cacheData.getUuid(), "道路获取异常");
-//                }
-//                if (centerLineInfo != null && centerLineInfo.getPoints() != null && !centerLineInfo.getPoints().isEmpty()) {
-//                    double[] matchedPoint = PointInterpolatorUtil.mergeToRoad(cacheData.getLongitude(), cacheData.getLatitude(), centerLineInfo.getPoints());
-//                    if (matchedPoint[0] > 0 || matchedPoint[1] > 0) {
-//                        lon = matchedPoint[0];
-//                        lat = matchedPoint[1];
-//                        s2LatLng = S2LatLng.fromDegrees(cacheData.getLatitude(), cacheData.getLongitude());
-//                        s2CellId = S2CellId.fromLatLng(s2LatLng).parent(22);
-//                    } else {
-//                        centerLineInfo = null;
-//                    }
-//                } else {
-//                    centerLineInfo = null;
-//                }
-//            }
            cacheData = cacheData.toBuilder().setLongitude(lon).setLatitude(lat).build();
        } else {
-//            centerLineInfo = null;
            //不在阈值内则更新，代表物体移动，使用卡尔曼滤波经纬度数据
-            //double[] lonLat = kalmanFilter.filter(cacheData.getLongitude(), cacheData.getLatitude());
            lat = cacheData.getLatitude();
            lon = cacheData.getLongitude();
            s2LatLng = S2LatLng.fromDegrees(cacheData.getLatitude(), cacheData.getLongitude());
            s2CellId = S2CellId.fromLatLng(s2LatLng).parent(22);
-//            Log.d("hy uuid : " + cacheData.getUuid(), " 开始移动 lon : " + lon + " , lat : " + lat);
-//            cacheData = cacheData.toBuilder().setLongitude(lonLat[0]).setLatitude(lonLat[1]).build();
        }
    }

@@ -175,7 +144,6 @@ public class TrackObj {

    public boolean relativeStatic() {
        if (speedAverage < LIMIT_SPEED) {
-//            Log.d("emArrow-Track", "relativeStatic return" + " , uuid : " + cacheData.getUuid());
            return true;
        } else {
            return isInRange();
@@ -192,7 +160,6 @@ public class TrackObj {
            return false;
        }
        double dis = CoordinateUtils.calculateLineDistance(center[0], center[1], cacheData.getLongitude(), cacheData.getLatitude());
-//        Log.d("emArrow-Track", "uuid : " + cacheData.getUuid() + " , type : " + cacheData.getType() + " , list size : " + objQueueList.size() + " , dis : " + dis);
        if (cacheData.getType() == TrafficTypeEnum.TYPE_TRAFFIC_ID_BUS.getType() || cacheData.getType() == TrafficTypeEnum.TYPE_TRAFFIC_ID_TRUCK.getType()) {
            return dis <= 0.6;
        } else {
--- a/core/mogo-core-function-call/src/main/java/com/mogo/eagle/core/function/call/map/CallerVisualAngleManager.kt
+++ b/core/mogo-core-function-call/src/main/java/com/mogo/eagle/core/function/call/map/CallerVisualAngleManager.kt
@@ -9,6 +9,7 @@ import androidx.lifecycle.Lifecycle.Event.ON_DESTROY
 import androidx.lifecycle.LifecycleEventObserver
 import androidx.lifecycle.LifecycleOwner
 import com.mogo.eagle.core.data.config.FunctionBuildConfig
+import com.mogo.eagle.core.data.map.*
 import com.mogo.eagle.core.data.map.MapRoadInfo.StopLine
 import com.mogo.eagle.core.function.call.map.CallerMapRoadListenerManager.OnRoadListener
 import com.mogo.eagle.core.function.call.map.CallerVisualAngleManager.Scene.*
@@ -24,6 +25,8 @@ import kotlinx.coroutines.internal.synchronized
 import java.util.*
 import java.util.concurrent.TimeUnit
 import java.util.concurrent.TimeUnit.SECONDS
+import java.util.concurrent.atomic.*
+import kotlin.math.*

 /**
 * 高精地图视角管理类
@@ -59,6 +62,9 @@ object CallerVisualAngleManager {
        val displayThreshold: Long  //最大展示时长 > 0; 表示最长展示多长时间， -1 表示，一直展示，直到触发默认视角, 0: 默认视角专用值，
    }

+    private val beginLocation = AtomicReference<MogoLocation>()
+
+
    private val listener = object : OnRoadListener {
        private var roadId = ""
        override fun onRoadIdInfo(roadId: String) {
@@ -68,13 +74,24 @@ object CallerVisualAngleManager {
                    hasCrossRoad = false
                    changeVisualAngle(CrossRoad(false))
                }
+            } else {
+                if (hasCrossRoad) {
+                    val beginLoc = beginLocation.get()
+                    val endLoc = CallerMapLocationListenerManager.getCurrentLocation()
+                    if (beginLoc != null && endLoc != null && abs(beginLoc.bearing - endLoc.bearing) >= 170) {
+                        hasCrossRoad = false
+                        changeVisualAngle(CrossRoad(false))
+                    }
+                }
            }
            this.roadId = roadId
        }

+
        override fun onStopLineInfo(info: StopLine) {
            if (!hasCrossRoad && info.distanceOfCarToStopLine <= 30.0) {
                hasCrossRoad = true
+                beginLocation.set(CallerMapLocationListenerManager.getCurrentLocation())
                changeVisualAngle(CrossRoad(true))
            }
        }