[3.3.0]merge

2023-06-15 16:38:09 +08:00
parent 08f2e210ae
commit f5e0399c5b
23 changed files with 92 additions and 113 deletions
--- 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
                }
            }
--- 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) {