From f5e0399c5bda38914965fbd69d3bc28b981faa3b Mon Sep 17 00:00:00 2001 From: zhongchao Date: Thu, 15 Jun 2023 16:38:09 +0800 Subject: [PATCH] [3.3.0]merge --- .../passenger/model/BusPassengerModel.java | 15 +++---- .../com/mogo/och/bus/model/OrderModel.java | 2 +- .../mogo/och/charter/model/DriverM1Model.kt | 2 +- .../bus/passenger/model/PM2DrivingModel.kt | 2 +- .../com/mogo/och/bus/model/OrderModel.java | 2 +- .../passenger/model/TaxiPassengerModel.java | 2 +- .../com/mogo/och/taxi/model/TaxiModel.java | 2 +- .../ui/TaxiBeingServerdOrdersFragment.java | 2 +- .../biz/dispatch/DispatchAutoPilotManager.kt | 2 +- .../autopilot/MoGoAutopilotControlProvider.kt | 44 +++++++++++-------- .../location/MoGoLocationDispatcher.kt | 4 +- .../hmi/ui/setting/DebugSettingView.kt | 35 +-------------- .../hmi/ui/widget/TrafficDataView.java | 11 ++--- .../collect/MoGoMapDataCollectProvider.kt | 30 +++++++------ .../autopilot/IMoGoChassisAccStateListener.kt | 2 +- .../IMoGoChassisBrakeStateListener.kt | 2 +- .../IMoGoChassisThrottleStateListener.kt | 2 +- .../IMoGoSweeperFutianCleanSystemListener.kt | 5 +-- .../CallerAutoPilotControlManager.kt | 3 +- ...llerChassisLocationGCJ02ListenerManager.kt | 6 --- ...llerChassisLocationWGS84ListenerManager.kt | 5 --- ...llerChassisSteeringStateListenerManager.kt | 22 +++++++--- .../commons/module/receiver/MogoReceiver.java | 3 -- 23 files changed, 92 insertions(+), 113 deletions(-) diff --git a/OCH/mogo-och-bus-passenger/src/jinlvvan/java/com/mogo/och/bus/passenger/model/BusPassengerModel.java b/OCH/mogo-och-bus-passenger/src/jinlvvan/java/com/mogo/och/bus/passenger/model/BusPassengerModel.java index 3967989855..f355dba55e 100644 --- a/OCH/mogo-och-bus-passenger/src/jinlvvan/java/com/mogo/och/bus/passenger/model/BusPassengerModel.java +++ b/OCH/mogo-och-bus-passenger/src/jinlvvan/java/com/mogo/och/bus/passenger/model/BusPassengerModel.java @@ -351,7 +351,7 @@ public class BusPassengerModel { IntentManager.getInstance().registerIntentListener(ConnectivityManager.CONNECTIVITY_ACTION, mNetWorkIntentListener ); MogoStatusManager.getInstance().registerStatusChangedListener(TAG, StatusDescriptor.VR_MODE, mMogoStatusChangedListener ); // 定位监听 - CallerChassisLocationGCJ02ListenerManager.INSTANCE.addListener(TAG, mMapLocationListener); + CallerChassisLocationGCJ02ListenerManager.INSTANCE.addListener(TAG, mMapLocationListener); //todo yakun 优化 //2021.11.1 自动驾驶路线规划接口 CallerPlanningRottingListenerManager.INSTANCE.addListener(TAG,moGoAutopilotPlanningListener); @@ -430,14 +430,11 @@ public class BusPassengerModel { } }; - private final IMoGoChassisLocationGCJ02Listener mMapLocationListener = new IMoGoChassisLocationGCJ02Listener() { - @Override - public void onChassisLocationGCJ02(@Nullable MogoLocation gnssInfo) { - if (null == gnssInfo) return; - mLocation = gnssInfo; - for (IBusPassengerControllerStatusCallback callback :mControllerStatusCallbackMap.values()){ - callback.onCarLocationChanged(gnssInfo); - } + private final IMoGoChassisLocationGCJ02Listener mMapLocationListener = gnssInfo -> { + if (null == gnssInfo) return; + mLocation = gnssInfo; + for (IBusPassengerControllerStatusCallback callback :mControllerStatusCallbackMap.values()){ + callback.onCarLocationChanged(gnssInfo); } }; diff --git a/OCH/mogo-och-bus/src/jinlvvan/java/com/mogo/och/bus/model/OrderModel.java b/OCH/mogo-och-bus/src/jinlvvan/java/com/mogo/och/bus/model/OrderModel.java index aa43036428..52d82e20b7 100644 --- a/OCH/mogo-och-bus/src/jinlvvan/java/com/mogo/och/bus/model/OrderModel.java +++ b/OCH/mogo-och-bus/src/jinlvvan/java/com/mogo/och/bus/model/OrderModel.java @@ -385,7 +385,7 @@ public class OrderModel { mLongitude = gnssInfo.getLongitude(); mLatitude = gnssInfo.getLatitude(); if (mControllerStatusCallback != null) { - mControllerStatusCallback.onCarLocationChanged(gnssInfo); + mControllerStatusCallback.onCarLocationChanged(gnssInfo); //todo mingjun 优化 } //是否到站的围栏判断 离站状态并且自动驾驶还未触发到站 diff --git a/OCH/mogo-och-charter/src/driverm1/java/com/magic/mogo/och/charter/model/DriverM1Model.kt b/OCH/mogo-och-charter/src/driverm1/java/com/magic/mogo/och/charter/model/DriverM1Model.kt index 65ca0483fa..ad35d4f193 100644 --- a/OCH/mogo-och-charter/src/driverm1/java/com/magic/mogo/och/charter/model/DriverM1Model.kt +++ b/OCH/mogo-och-charter/src/driverm1/java/com/magic/mogo/och/charter/model/DriverM1Model.kt @@ -110,7 +110,7 @@ class DriverM1Model { fun init(context: Context) { mContext = context // 定位监听 - CallerChassisLocationGCJ02ListenerManager.addListener(TAG, mMapLocationListener) + CallerChassisLocationGCJ02ListenerManager.addListener(TAG, mMapLocationListener) //todo mingjun 优化 // CallerChassisLocationGCJ02ListenerManager.setListenerHz(TAG,2) //开启自驾后 异常信息返回 diff --git a/OCH/mogo-och-shuttle-passenger/src/m2/java/com/mogo/och/bus/passenger/model/PM2DrivingModel.kt b/OCH/mogo-och-shuttle-passenger/src/m2/java/com/mogo/och/bus/passenger/model/PM2DrivingModel.kt index 214f37bbf2..37a687ca21 100644 --- a/OCH/mogo-och-shuttle-passenger/src/m2/java/com/mogo/och/bus/passenger/model/PM2DrivingModel.kt +++ b/OCH/mogo-och-shuttle-passenger/src/m2/java/com/mogo/och/bus/passenger/model/PM2DrivingModel.kt @@ -118,7 +118,7 @@ class PM2DrivingModel private constructor() { //自动驾驶状态监听 CallerAutoPilotStatusListenerManager.addListener(TAG, mAutoPilotStatusListener) - // 定位监听 + // 定位监听 //todo yakun 优化 CallerChassisLocationGCJ02ListenerManager.addListener(TAG, mMapLocationListener) // CallerChassisLocationGCJ02ListenerManager.setListenerHz(TAG,2)//设置2hz, 1s返回2次 diff --git a/OCH/mogo-och-shuttle/src/main/java/com/mogo/och/bus/model/OrderModel.java b/OCH/mogo-och-shuttle/src/main/java/com/mogo/och/bus/model/OrderModel.java index 1b008172e8..89e39d193d 100644 --- a/OCH/mogo-och-shuttle/src/main/java/com/mogo/och/bus/model/OrderModel.java +++ b/OCH/mogo-och-shuttle/src/main/java/com/mogo/och/bus/model/OrderModel.java @@ -163,7 +163,7 @@ public class OrderModel { mContext = AbsMogoApplication.getApp(); loginService = (LoginService) ARouter.getInstance().build(OchCommonConst.LOGINSERVICE).navigation(); // 定位监听 - CallerChassisLocationGCJ02ListenerManager.INSTANCE.addListener(TAG,mMapLocationListener); + CallerChassisLocationGCJ02ListenerManager.INSTANCE.addListener(TAG,mMapLocationListener); //todo yakun 优化 // CallerChassisLocationGCJ02ListenerManager.INSTANCE.setListenerHz(TAG,2);//设置5hz, 1s返回一次 MogoStatusManager.getInstance().registerStatusChangedListener(TAG, StatusDescriptor.VR_MODE, mMogoStatusChangedListener); diff --git 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 index daaf6b231c..5817a01eaf 100644 --- 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 @@ -477,7 +477,7 @@ public class TaxiPassengerModel implements IOCHTaxiPassengerNaviChangedCallback // 自车定位 private final IMoGoChassisLocationGCJ02Listener mMapLocationListener = new IMoGoChassisLocationGCJ02Listener() { @Override - public void onChassisLocationGCJ02(@Nullable MogoLocation gnssInfo) { + public void onChassisLocationGCJ02(@Nullable MogoLocation gnssInfo) { //todo mingjun 优化 //位置变化时，通过围栏判断是否到达x点 if (null == gnssInfo) return; if (checkCurrentOCHOrder()) { diff --git a/OCH/mogo-och-taxi/src/main/java/com/mogo/och/taxi/model/TaxiModel.java b/OCH/mogo-och-taxi/src/main/java/com/mogo/och/taxi/model/TaxiModel.java index fe521b87c3..6696444bc9 100644 --- a/OCH/mogo-och-taxi/src/main/java/com/mogo/och/taxi/model/TaxiModel.java +++ b/OCH/mogo-och-taxi/src/main/java/com/mogo/och/taxi/model/TaxiModel.java @@ -223,7 +223,7 @@ public class TaxiModel { MogoStatusManager.getInstance().registerStatusChangedListener(TAG, StatusDescriptor.VR_MODE, mMogoStatusChangedListener); //定位监听， 传false是高德坐标系 - CallerChassisLocationGCJ02ListenerManager.INSTANCE.addListener(TAG,mMapLocationLIstener); + CallerChassisLocationGCJ02ListenerManager.INSTANCE.addListener(TAG,mMapLocationLIstener); //todo mingjun 优化 //2021.11.1 自动驾驶路线规划接口 CallerPlanningRottingListenerManager.INSTANCE.addListener(TAG, moGoAutopilotPlanningListener); diff --git a/OCH/mogo-och-taxi/src/main/java/com/mogo/och/taxi/ui/TaxiBeingServerdOrdersFragment.java b/OCH/mogo-och-taxi/src/main/java/com/mogo/och/taxi/ui/TaxiBeingServerdOrdersFragment.java index 793bb24cb6..6df610ffe6 100644 --- a/OCH/mogo-och-taxi/src/main/java/com/mogo/och/taxi/ui/TaxiBeingServerdOrdersFragment.java +++ b/OCH/mogo-och-taxi/src/main/java/com/mogo/och/taxi/ui/TaxiBeingServerdOrdersFragment.java @@ -345,7 +345,7 @@ public class TaxiBeingServerdOrdersFragment extends BaseTaxiUIFragment private void startNaviToStation(boolean isVoicePlay, double stationLat, double stationLng) { AmapNaviToDestinationModel.getInstance(getContext()).destroyAmaNavi(); CallerLogger.INSTANCE.d(M_TAXI + TAG, "currentLatLng=" + mTaxiFragment.mCurLatitude + " " + mTaxiFragment.mCurLongitude); - NaviLatLng startNaviLatLng = new NaviLatLng(mTaxiFragment.mCurLatitude, mTaxiFragment.mCurLongitude); + NaviLatLng startNaviLatLng = new NaviLatLng(mTaxiFragment.mCurLatitude, mTaxiFragment.mCurLongitude); //todo mingjun 优化 NaviLatLng endNaviLatLng = new NaviLatLng(stationLat, stationLng); AmapNaviToDestinationModel.getInstance(getContext()).initAMapNavi(startNaviLatLng, endNaviLatLng); AmapNaviToDestinationModel.getInstance(getContext()).setVoiceIsMute(isVoicePlay); diff --git a/core/function-impl/mogo-core-function-biz/src/main/java/com/mogo/eagle/function/biz/dispatch/DispatchAutoPilotManager.kt b/core/function-impl/mogo-core-function-biz/src/main/java/com/mogo/eagle/function/biz/dispatch/DispatchAutoPilotManager.kt index b8bc49e6b7..75e85a7b27 100644 --- a/core/function-impl/mogo-core-function-biz/src/main/java/com/mogo/eagle/function/biz/dispatch/DispatchAutoPilotManager.kt +++ b/core/function-impl/mogo-core-function-biz/src/main/java/com/mogo/eagle/function/biz/dispatch/DispatchAutoPilotManager.kt @@ -36,7 +36,7 @@ import com.zhjt.mogo.adas.data.bean.MogoReport import mogo.telematics.pad.MessagePad import mogo_msg.MogoReportMsg - +//todo emArrow 添加biz链路日志 //负责监听自动驾驶状态并进行状态上报，自动驾驶路线上报，接收调度指令展示指令弹窗 class DispatchAutoPilotManager private constructor() : IMogoOnMessageListener, diff --git a/core/function-impl/mogo-core-function-datacenter/src/main/java/com/mogo/eagle/core/function/datacenter/autopilot/MoGoAutopilotControlProvider.kt b/core/function-impl/mogo-core-function-datacenter/src/main/java/com/mogo/eagle/core/function/datacenter/autopilot/MoGoAutopilotControlProvider.kt index 96416261ca..92fdb1e1d5 100644 --- a/core/function-impl/mogo-core-function-datacenter/src/main/java/com/mogo/eagle/core/function/datacenter/autopilot/MoGoAutopilotControlProvider.kt +++ b/core/function-impl/mogo-core-function-datacenter/src/main/java/com/mogo/eagle/core/function/datacenter/autopilot/MoGoAutopilotControlProvider.kt @@ -10,20 +10,23 @@ import com.mogo.cloud.passport.MoGoAiCloudClientConfig import com.mogo.eagle.core.data.autopilot.AutopilotControlParameters import com.mogo.eagle.core.data.autopilot.toAutoPilotLine import com.mogo.eagle.core.data.autopilot.toRouteInfo -import com.mogo.eagle.core.data.deva.badcase.BagManagerEntity +import com.mogo.eagle.core.data.biz.trafficlight.TrafficLightResult +import com.mogo.eagle.core.data.biz.trafficlight.toTrafficLightDetail import com.mogo.eagle.core.data.config.FunctionBuildConfig import com.mogo.eagle.core.data.constants.MoGoConfig import com.mogo.eagle.core.data.constants.MogoServicePaths +import com.mogo.eagle.core.data.deva.badcase.BagManagerEntity import com.mogo.eagle.core.data.deva.chain.ChainConstant import com.mogo.eagle.core.data.deva.chain.ChainConstant.Companion.CHAIN_CODE_MULTI_CONNECT import com.mogo.eagle.core.data.deva.chain.ChainConstant.Companion.CHAIN_SOURCE_ADAS import com.mogo.eagle.core.data.deva.chain.ChainConstant.Companion.CHAIN_TYPE_INIT_STATUS import com.mogo.eagle.core.data.deva.chain.ChainConstant.Companion.CHAIN_TYPE_SOCKET_AUTOPILOT -import com.mogo.eagle.core.data.biz.trafficlight.TrafficLightResult -import com.mogo.eagle.core.data.biz.trafficlight.toTrafficLightDetail import com.mogo.eagle.core.function.api.autopilot.IMoGoAutopilotCarConfigListener import com.mogo.eagle.core.function.api.autopilot.IMoGoAutopilotControlProvider import com.mogo.eagle.core.function.api.map.collect.IMoGoMapDataCollectProvider +import com.mogo.eagle.core.function.call.autopilot.CallerAutopilotCarConfigListenerManager +import com.mogo.eagle.core.function.call.devatools.CallerDevaToolsManager +import com.mogo.eagle.core.function.call.map.CallerMapDataCollectorManager import com.mogo.eagle.core.function.datacenter.autopilot.adapter.MoGoAdasListenerImpl import com.mogo.eagle.core.function.datacenter.autopilot.adapter.MoGoAdasMsgConnectStatusListenerImpl import com.mogo.eagle.core.function.datacenter.autopilot.server.AsyncDataToAutopilotServer @@ -342,8 +345,10 @@ class MoGoAutopilotControlProvider : @ChainLog( linkChainLog = CHAIN_TYPE_SOCKET_AUTOPILOT, linkCode = CHAIN_SOURCE_ADAS, + parentNodeAliasCode = ChainConstant.CHAIN_CODE_EAGLE_START_AUTOPILOT, nodeAliasCode = ChainConstant.CHAIN_CODE_EAGLE_START_AUTOPILOT_RESULT, paramIndexes = [0] + ) private fun invokeAutoPilotResult(status: String) { CallerLogger.e("$M_ADAS_IMPL$TAG", status) @@ -528,9 +533,9 @@ class MoGoAutopilotControlProvider : * @return boolean */ override fun sendDetouring(isEnable: Boolean): Boolean { - return if(isEnable){ + return if (isEnable) { AdasManager.getInstance().sendDetouring(1) - }else{ + } else { AdasManager.getInstance().sendDetouring(0) } } @@ -551,9 +556,9 @@ class MoGoAutopilotControlProvider : * @return boolean */ override fun sendWeakNetSlowDown(isEnable: Boolean): Boolean { - return if(isEnable){ + return if (isEnable) { AdasManager.getInstance().sendWeakNetSlowDown(1) - }else{ + } else { AdasManager.getInstance().sendWeakNetSlowDown(0) } } @@ -565,7 +570,7 @@ class MoGoAutopilotControlProvider : * @return boolean */ override fun sendGetAllParamReq(): Boolean { - return AdasManager.getInstance().sendGetAllParamReq() + return AdasManager.getInstance().sendGetAllParamReq() } /** @@ -615,7 +620,7 @@ class MoGoAutopilotControlProvider : bagManager.descReq = descReq.build() // 空间使用信息,获取响应且reqType=1时有效 - for(diskSpaceInfoEntity in bagManagerEntity.spaceInfoResp){ + for (diskSpaceInfoEntity in bagManagerEntity.spaceInfoResp) { val spaceInfoResp = BagManagerOuterClass.BagSpaceInfo .newBuilder() val diskSpaceInfo = BagManagerOuterClass.SpaceInfo @@ -627,7 +632,7 @@ class MoGoAutopilotControlProvider : .build() spaceInfoResp .setHost(diskSpaceInfoEntity.host).diskSpaceInfo = diskSpaceInfo - for(entity in diskSpaceInfoEntity.BagDirsSpaceInfo){ + for (entity in diskSpaceInfoEntity.BagDirsSpaceInfo) { val bagDirsSpaceInfo = BagManagerOuterClass.SpaceInfo .newBuilder() .setDirectory(entity.directory) @@ -641,8 +646,8 @@ class MoGoAutopilotControlProvider : } // 包信息列表,获取响应且reqType=2时有效 - for(bagsInfoRespEntity in bagManagerEntity.bagsInfoResp){ - if(bagsInfoRespEntity.itemType == 0){ + for (bagsInfoRespEntity in bagManagerEntity.bagsInfoResp) { + if (bagsInfoRespEntity.itemType == 0) { // 包描述信息 val bagDescription = BagManagerOuterClass.BagDescription .newBuilder() @@ -664,7 +669,7 @@ class MoGoAutopilotControlProvider : .setDescription(bagDescription.build()) // 子包信息 - for(subBagEntity in bagsInfoRespEntity.subBags){ + for (subBagEntity in bagsInfoRespEntity.subBags) { val subBag = BagManagerOuterClass.SubBag .newBuilder() .setKey(subBagEntity.key) @@ -850,15 +855,18 @@ class MoGoAutopilotControlProvider : } msgHandler.synMsgToAllClients() } else {// 乘客屏 - CallerDevaToolsManager.getBindingCarInfo( carConfigResp.macAddress, MoGoAiCloudClientConfig.getInstance().sn) + CallerDevaToolsManager.getBindingCarInfo( + carConfigResp.macAddress, + MoGoAiCloudClientConfig.getInstance().sn + ) invokeNettyConnResult("乘客屏车牌号:${carConfigResp.plateNumber},Mac地址为：${carConfigResp.macAddress}") } - if(carConfigResp.dockVersion.isNotEmpty()){ - if(carConfigResp.dockVersion.contains("taxi")){ + if (carConfigResp.dockVersion.isNotEmpty()) { + if (carConfigResp.dockVersion.contains("taxi")) { //修改雨天模式开关默认状态为开启（仅针对taxi320及以上的版本）-sop 215 - val num = ParseVersionUtils.parseVersion(true,carConfigResp.dockVersion) - if(num >= 30200){ + val num = ParseVersionUtils.parseVersion(true, carConfigResp.dockVersion) + if (num >= 30200) { FunctionBuildConfig.isRainMode = true } } diff --git a/core/function-impl/mogo-core-function-datacenter/src/main/java/com/mogo/eagle/core/function/datacenter/location/MoGoLocationDispatcher.kt b/core/function-impl/mogo-core-function-datacenter/src/main/java/com/mogo/eagle/core/function/datacenter/location/MoGoLocationDispatcher.kt index 422fe23fb5..bc6420dbd0 100644 --- a/core/function-impl/mogo-core-function-datacenter/src/main/java/com/mogo/eagle/core/function/datacenter/location/MoGoLocationDispatcher.kt +++ b/core/function-impl/mogo-core-function-datacenter/src/main/java/com/mogo/eagle/core/function/datacenter/location/MoGoLocationDispatcher.kt @@ -1,5 +1,6 @@ package com.mogo.eagle.core.function.datacenter.location +import android.util.Log import com.mogo.eagle.core.data.config.FunctionBuildConfig import com.mogo.eagle.core.data.enums.DataSourceType import com.mogo.eagle.core.data.map.MogoLocation @@ -52,6 +53,7 @@ object MoGoLocationDispatcher : override fun onChassisGnss(gnssInfo: MessagePad.GnssInfo) { // 更新GNSS 信息 + Log.d("emArrow","高精 heading:${gnssInfo.heading}") lastGnssLocation.gnssInfo = gnssInfo lastGnssLocation.lastReceiveTime = TimeUtils.getNowMills() // 将高德中的一些用于业务的数据进行融合，例如：CityCode、address等 @@ -102,7 +104,7 @@ object MoGoLocationDispatcher : override fun onMoGoLocationChanged(mogoLocation: MogoLocation) { // 更新GaoDe 信息 lastGaoDeLocation = mogoLocation - + Log.d("emArrow","高德 heading:${mogoLocation.heading}") // 计算最后一次工控机同步的定位是否超时，如果超时则切换为高德地图定位,暂定超过30秒需要切换 if (1 == FunctionBuildConfig.gpsProvider) { if (TimeUtils.getNowMills() - lastGnssLocation.lastReceiveTime > 10000) { diff --git a/core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/hmi/ui/setting/DebugSettingView.kt b/core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/hmi/ui/setting/DebugSettingView.kt index f9a17726e2..e5220ad5a8 100644 --- a/core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/hmi/ui/setting/DebugSettingView.kt +++ b/core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/hmi/ui/setting/DebugSettingView.kt @@ -241,7 +241,7 @@ internal class DebugSettingView @JvmOverloads constructor( } // 开启定时查询速度 isRunCheck = true - Timer().schedule(timerTaskRefresh, Date(), 300) + Timer().schedule(timerTaskRefresh, Date(), 500) if (AppConfigInfo.isConnectAutopilot && (AppConfigInfo.plateNumber.isNullOrEmpty() || AppConfigInfo.iPCMacAddress.isNullOrEmpty())) { //查询工控机基础配置信息 CallerAutoPilotControlManager.getCarConfig() @@ -1909,7 +1909,7 @@ internal class DebugSettingView @JvmOverloads constructor( if (accelerationList.size > 9) { accelerationList.removeLast() } - gnssInfo?.acceleration?.let { + gnssInfo.acceleration.let { if (accelerationList.isEmpty()) { accelerationList.add( AccelerationEntity( @@ -2011,7 +2011,6 @@ internal class DebugSettingView @JvmOverloads constructor( } } - /** * 车辆方向盘转向角回调 * @param steering 方向盘转向角 @@ -2032,36 +2031,6 @@ internal class DebugSettingView @JvmOverloads constructor( } } - /** - * 车辆加速度 - */ - override fun onAutopilotAcc(carAcc: Float) { - - } - - /** - * 油门 - */ - override fun onAutopilotThrottle(throttle: Float) { - - } - - /** - * 刹车 - */ - override fun onAutopilotBrake(brake: Float) { - - } - - /** - * 清扫车（福田）清扫控制系统状态 - */ - override fun onSweeperFutianCleanSystemState(cleanSystemState: ChassisStatesOuterClass.SweeperFuTianTaskSystemStates) { - - } - override fun onSweeperFutianTaskIndexData(roboSweeperTaskIndex: RoboSweeperTaskIndexOuterClass.RoboSweeperTaskIndex) { - - } /** * 吐司提示 */ diff --git a/core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/hmi/ui/widget/TrafficDataView.java b/core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/hmi/ui/widget/TrafficDataView.java index b667807e4c..6dd1b01dba 100644 --- a/core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/hmi/ui/widget/TrafficDataView.java +++ b/core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/hmi/ui/widget/TrafficDataView.java @@ -1,6 +1,7 @@ package com.mogo.eagle.core.function.hmi.ui.widget; import static com.mogo.eagle.core.function.api.autopilot.IMoGoAutopilotStatusListener.STATUS_AUTOPILOT_RUNNING; +import static com.mogo.eagle.core.utilcode.mogo.logger.scene.SceneConstant.M_HMI; import android.annotation.SuppressLint; import android.content.Context; @@ -152,11 +153,11 @@ public class TrafficDataView extends ConstraintLayout implements */ @Override public void onAutopilotSteeringData(float steering) { - CallerLogger.INSTANCE.d(TAG, "steering原始值====" + steering); + CallerLogger.INSTANCE.d(M_HMI +TAG, "steering原始值====" + steering); if (Math.abs(steering) < 1) { steering = 0; } - CallerLogger.INSTANCE.d(TAG, "steering忽略小数点后====" + (int) steering); + CallerLogger.INSTANCE.d(M_HMI +TAG, "steering忽略小数点后====" + (int) steering); } /** @@ -165,7 +166,7 @@ public class TrafficDataView extends ConstraintLayout implements */ @Override public void onAutopilotGearData(@NotNull Chassis.GearPosition gear) { - CallerLogger.INSTANCE.d(TAG, "司机屏档位" + gear.toString()); + CallerLogger.INSTANCE.d(M_HMI +TAG, "司机屏档位" + gear); ThreadUtils.runOnUiThread(() -> { if (tapPositionView != null) { tapPositionView.updateWithGear(gear); @@ -175,13 +176,13 @@ public class TrafficDataView extends ConstraintLayout implements @Override public void onAutopilotBrake(float brake) { - CallerLogger.INSTANCE.d(TAG, "刹车:" + brake); + CallerLogger.INSTANCE.d(M_HMI +TAG, "刹车:" + brake); mBrake = brake; } @Override public void onAutopilotThrottle(float throttle) { - CallerLogger.INSTANCE.d(TAG, "油门:" + throttle); + CallerLogger.INSTANCE.d(M_HMI +TAG, "油门:" + throttle); mThrottle = throttle; } /** diff --git a/core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/business/collect/MoGoMapDataCollectProvider.kt b/core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/business/collect/MoGoMapDataCollectProvider.kt index 054faa08f8..fcc3480549 100644 --- a/core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/business/collect/MoGoMapDataCollectProvider.kt +++ b/core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/business/collect/MoGoMapDataCollectProvider.kt @@ -10,11 +10,11 @@ import com.mogo.eagle.core.data.config.FunctionBuildConfig import com.mogo.eagle.core.data.constants.MogoServicePaths import com.mogo.eagle.core.data.map.MogoLocation import com.mogo.eagle.core.function.api.autopilot.IMoGoAutopilotRecordListener -import com.mogo.eagle.core.function.api.autopilot.IMoGoChassisLocationGCJ02Listener +import com.mogo.eagle.core.function.api.autopilot.IMoGoChassisLocationWGS84Listener import com.mogo.eagle.core.function.api.map.collect.IMoGoMapDataCollectProvider import com.mogo.eagle.core.function.business.cachemap.CacheHDMapManager import com.mogo.eagle.core.function.call.autopilot.CallerAutopilotRecordListenerManager -import com.mogo.eagle.core.function.call.autopilot.CallerChassisLocationGCJ02ListenerManager +import com.mogo.eagle.core.function.call.autopilot.CallerChassisLocationWGS84ListenerManager import com.mogo.eagle.core.utilcode.mogo.logger.CallerLogger import com.mogo.eagle.core.utilcode.mogo.logger.scene.SceneConstant.Companion.M_MAP import com.zhidaoauto.map.operational.open.GatherApi @@ -27,7 +27,7 @@ import java.util.concurrent.atomic.AtomicReference @Route(path = MogoServicePaths.PATH_MAP_DATA_COLLECT_PROVIDER) class MoGoMapDataCollectProvider : IMoGoMapDataCollectProvider, OnTaskListener, - IMoGoChassisLocationGCJ02Listener, IMoGoTokenCallback, + IMoGoChassisLocationWGS84Listener, IMoGoTokenCallback, IMoGoAutopilotRecordListener { companion object { @@ -53,7 +53,7 @@ class MoGoMapDataCollectProvider : IMoGoMapDataCollectProvider, OnTaskListener, override fun init(context: Context?) { - CallerChassisLocationGCJ02ListenerManager.addListener(TAG, this) + CallerChassisLocationWGS84ListenerManager.addListener(TAG, this) CallerAutopilotRecordListenerManager.addListener(TAG, this) executor.set(context?.let { @@ -79,7 +79,7 @@ class MoGoMapDataCollectProvider : IMoGoMapDataCollectProvider, OnTaskListener, override fun onDestroy() { CallerLogger.d("$M_MAP$TAG", "--------- onDestroy --------") - CallerChassisLocationGCJ02ListenerManager.removeListener(TAG) + CallerChassisLocationWGS84ListenerManager.removeListener(TAG) CallerAutopilotRecordListenerManager.removeListener(TAG) executor.get()?.setOnTaskListener(null) listeners.clear() @@ -181,15 +181,18 @@ class MoGoMapDataCollectProvider : IMoGoMapDataCollectProvider, OnTaskListener, } } - override fun onChassisLocationGCJ02(gnssInfo: MogoLocation?) { - if (gnssInfo != null) { + override fun onChassisLocationWGS84(gnssInfo: MogoLocation) { + if (gnssInfo.gnssInfo != null + && gnssInfo.gnssInfo.longitude != 0.0 + && gnssInfo.gnssInfo.latitude != 0.0 + ) { executor.get()?.updateLocation( - gnssInfo.longitude, - gnssInfo.latitude, - gnssInfo.altitude, - gnssInfo.heading.toFloat(), - gnssInfo.gnssSpeed, - false + gnssInfo.gnssInfo.longitude, + gnssInfo.gnssInfo.latitude, + gnssInfo.gnssInfo.altitude, + gnssInfo.gnssInfo.heading.toFloat(), + gnssInfo.gnssInfo.gnssSpeed.toFloat(), + true ) } } @@ -225,4 +228,5 @@ class MoGoMapDataCollectProvider : IMoGoMapDataCollectProvider, OnTaskListener, object START : Status() //开始状态 object FINISH : Status() //完成状态 } + } \ No newline at end of file diff --git a/core/mogo-core-function-api/src/main/java/com/mogo/eagle/core/function/api/autopilot/IMoGoChassisAccStateListener.kt b/core/mogo-core-function-api/src/main/java/com/mogo/eagle/core/function/api/autopilot/IMoGoChassisAccStateListener.kt index 452ce2de4c..c26af4825e 100644 --- a/core/mogo-core-function-api/src/main/java/com/mogo/eagle/core/function/api/autopilot/IMoGoChassisAccStateListener.kt +++ b/core/mogo-core-function-api/src/main/java/com/mogo/eagle/core/function/api/autopilot/IMoGoChassisAccStateListener.kt @@ -8,6 +8,6 @@ interface IMoGoChassisAccStateListener { /** * 车辆加速度 */ - fun onAutopilotAcc(carAcc: Float) + fun onAutopilotAcc(carAcc: Float){} } \ No newline at end of file diff --git a/core/mogo-core-function-api/src/main/java/com/mogo/eagle/core/function/api/autopilot/IMoGoChassisBrakeStateListener.kt b/core/mogo-core-function-api/src/main/java/com/mogo/eagle/core/function/api/autopilot/IMoGoChassisBrakeStateListener.kt index 45e6e2702d..89e837926f 100644 --- a/core/mogo-core-function-api/src/main/java/com/mogo/eagle/core/function/api/autopilot/IMoGoChassisBrakeStateListener.kt +++ b/core/mogo-core-function-api/src/main/java/com/mogo/eagle/core/function/api/autopilot/IMoGoChassisBrakeStateListener.kt @@ -8,5 +8,5 @@ interface IMoGoChassisBrakeStateListener { /** * 刹车 */ - fun onAutopilotBrake(brake: Float) + fun onAutopilotBrake(brake: Float){} } \ No newline at end of file diff --git a/core/mogo-core-function-api/src/main/java/com/mogo/eagle/core/function/api/autopilot/IMoGoChassisThrottleStateListener.kt b/core/mogo-core-function-api/src/main/java/com/mogo/eagle/core/function/api/autopilot/IMoGoChassisThrottleStateListener.kt index 639f778597..71018db6d0 100644 --- a/core/mogo-core-function-api/src/main/java/com/mogo/eagle/core/function/api/autopilot/IMoGoChassisThrottleStateListener.kt +++ b/core/mogo-core-function-api/src/main/java/com/mogo/eagle/core/function/api/autopilot/IMoGoChassisThrottleStateListener.kt @@ -8,5 +8,5 @@ interface IMoGoChassisThrottleStateListener { /** * 油门 */ - fun onAutopilotThrottle(throttle: Float) + fun onAutopilotThrottle(throttle: Float){} } \ No newline at end of file diff --git a/core/mogo-core-function-api/src/main/java/com/mogo/eagle/core/function/api/autopilot/IMoGoSweeperFutianCleanSystemListener.kt b/core/mogo-core-function-api/src/main/java/com/mogo/eagle/core/function/api/autopilot/IMoGoSweeperFutianCleanSystemListener.kt index b4a3bf9093..b83a2d530a 100644 --- a/core/mogo-core-function-api/src/main/java/com/mogo/eagle/core/function/api/autopilot/IMoGoSweeperFutianCleanSystemListener.kt +++ b/core/mogo-core-function-api/src/main/java/com/mogo/eagle/core/function/api/autopilot/IMoGoSweeperFutianCleanSystemListener.kt @@ -10,11 +10,10 @@ interface IMoGoSweeperFutianCleanSystemListener { /** * 清扫车（福田）清扫控制系统状态 */ - fun onSweeperFutianCleanSystemState(cleanSystemState: ChassisStatesOuterClass.SweeperFuTianTaskSystemStates) - + fun onSweeperFutianCleanSystemState(cleanSystemState: ChassisStatesOuterClass.SweeperFuTianTaskSystemStates){} /** * 清扫车（福田）指标数据 贴边数据 */ - fun onSweeperFutianTaskIndexData(roboSweeperTaskIndex: RoboSweeperTaskIndexOuterClass.RoboSweeperTaskIndex) + fun onSweeperFutianTaskIndexData(roboSweeperTaskIndex: RoboSweeperTaskIndexOuterClass.RoboSweeperTaskIndex){} } \ No newline at end of file diff --git a/core/mogo-core-function-call/src/main/java/com/mogo/eagle/core/function/call/autopilot/CallerAutoPilotControlManager.kt b/core/mogo-core-function-call/src/main/java/com/mogo/eagle/core/function/call/autopilot/CallerAutoPilotControlManager.kt index 46d104f87d..f1a7e7112a 100644 --- a/core/mogo-core-function-call/src/main/java/com/mogo/eagle/core/function/call/autopilot/CallerAutoPilotControlManager.kt +++ b/core/mogo-core-function-call/src/main/java/com/mogo/eagle/core/function/call/autopilot/CallerAutoPilotControlManager.kt @@ -69,7 +69,8 @@ object CallerAutoPilotControlManager { linkChainLog = CHAIN_TYPE_SOCKET_AUTOPILOT, linkCode = CHAIN_SOURCE_ADAS, nodeAliasCode = CHAIN_CODE_EAGLE_START_AUTOPILOT, - paramIndexes = [0] + paramIndexes = [0], + endPoint = false ) fun startAutoPilot(controlParameters: AutopilotControlParameters?) { if (controlParameters == null) { diff --git a/core/mogo-core-function-call/src/main/java/com/mogo/eagle/core/function/call/autopilot/CallerChassisLocationGCJ02ListenerManager.kt b/core/mogo-core-function-call/src/main/java/com/mogo/eagle/core/function/call/autopilot/CallerChassisLocationGCJ02ListenerManager.kt index 00240c86bf..0973f96623 100644 --- a/core/mogo-core-function-call/src/main/java/com/mogo/eagle/core/function/call/autopilot/CallerChassisLocationGCJ02ListenerManager.kt +++ b/core/mogo-core-function-call/src/main/java/com/mogo/eagle/core/function/call/autopilot/CallerChassisLocationGCJ02ListenerManager.kt @@ -1,6 +1,5 @@ package com.mogo.eagle.core.function.call.autopilot -import com.mogo.commons.debug.DebugConfig import com.mogo.eagle.core.data.enums.DataSourceType import com.mogo.eagle.core.data.map.MogoLocation import com.mogo.eagle.core.function.api.autopilot.IMoGoChassisLocationGCJ02Listener @@ -109,11 +108,6 @@ object CallerChassisLocationGCJ02ListenerManager : CallerBase() { + //todo emArrow 总结 + private var steering: Float? by Delegates.observable(0.0f) { _, oldValue, newValue -> + if (newValue == null) { + return@observable + } + if (oldValue == newValue) { + return@observable + } + M_LISTENERS.forEach { + val listener = it.value + listener.onAutopilotSteeringData(newValue) + } + } + /** * 车辆方向盘转向角回调 * @param steering 方向盘转向角 */ - fun invokeAutopilotSteeringData(steering: Float){ - M_LISTENERS.forEach{ - val listener = it.value - listener.onAutopilotSteeringData(steering) - } + fun invokeAutopilotSteeringData(steering: Float) { + this.steering = steering } } \ No newline at end of file diff --git a/foudations/mogo-commons/src/main/java/com/mogo/commons/module/receiver/MogoReceiver.java b/foudations/mogo-commons/src/main/java/com/mogo/commons/module/receiver/MogoReceiver.java index b7f570e8c1..96670ceb43 100644 --- a/foudations/mogo-commons/src/main/java/com/mogo/commons/module/receiver/MogoReceiver.java +++ b/foudations/mogo-commons/src/main/java/com/mogo/commons/module/receiver/MogoReceiver.java @@ -4,7 +4,6 @@ import android.content.BroadcastReceiver; import android.content.Context; import android.content.Intent; import android.text.TextUtils; -import android.util.Log; import com.mogo.commons.module.intent.IntentManager; @@ -46,11 +45,9 @@ public class MogoReceiver extends BroadcastReceiver { if (TextUtils.equals(VOICE_ACTION, action)) { String cmd = intent.getStringExtra(PARAM_COMMAND); if (!TextUtils.isEmpty(cmd)) { - Log.i("emArrow","MogoReceiver cmd:" + cmd); mMogoIntentManager.invoke(cmd, intent); } } else { - Log.i("emArrow","MogoReceiver action:" + action); mMogoIntentManager.invoke(action, intent); } }