diff --git a/OCH/common/bridge/src/main/java/com/mogo/och/bridge/bridge/OchBridgeManager.kt b/OCH/common/bridge/src/main/java/com/mogo/och/bridge/bridge/OchBridgeManager.kt index 765f217795..6bb2c82b88 100644 --- a/OCH/common/bridge/src/main/java/com/mogo/och/bridge/bridge/OchBridgeManager.kt +++ b/OCH/common/bridge/src/main/java/com/mogo/och/bridge/bridge/OchBridgeManager.kt @@ -99,8 +99,8 @@ object OchBridgeManager: IMoGoPlanningTrajectoryListener, IMoGoAutopilotIdentify /** * 引导线轨迹 */ - override fun onAutopilotTrajectory(trajectoryInfos: MutableList) { - if(trajectoryInfos.isEmpty()){ + override fun onAutopilotTrajectory(trajectory: MessagePad.Trajectory) { + if(trajectory.pointsList.isEmpty()){ haveTrajectoryInfo = false }else{ haveTrajectoryInfo = true diff --git a/core/function-impl/mogo-core-function-datacenter/src/main/java/com/mogo/eagle/core/function/datacenter/autopilot/adapter/MoGoAdasListenerImpl.kt b/core/function-impl/mogo-core-function-datacenter/src/main/java/com/mogo/eagle/core/function/datacenter/autopilot/adapter/MoGoAdasListenerImpl.kt index 011bd4775e..6f9ae857d3 100644 --- a/core/function-impl/mogo-core-function-datacenter/src/main/java/com/mogo/eagle/core/function/datacenter/autopilot/adapter/MoGoAdasListenerImpl.kt +++ b/core/function-impl/mogo-core-function-datacenter/src/main/java/com/mogo/eagle/core/function/datacenter/autopilot/adapter/MoGoAdasListenerImpl.kt @@ -7,16 +7,15 @@ import chassis.VehicleStateOuterClass import com.mogo.commons.constants.SharedPrefsConstants import com.mogo.commons.storage.SharedPrefsMgr import com.mogo.eagle.core.data.app.AppConfigInfo -import com.mogo.eagle.core.data.config.FunctionBuildConfig import com.mogo.eagle.core.data.config.HdMapBuildConfig import com.mogo.eagle.core.data.deva.chain.ChainConstant +import com.mogo.eagle.core.data.deva.chain.ChainConstant.Companion.CHAIN_CODE_ADAS_ALL_ERROR import com.mogo.eagle.core.data.deva.chain.ChainConstant.Companion.CHAIN_CODE_ADAS_ARRIVE import com.mogo.eagle.core.data.deva.chain.ChainConstant.Companion.CHAIN_CODE_ADAS_ARRIVE_QUERY import com.mogo.eagle.core.data.deva.chain.ChainConstant.Companion.CHAIN_CODE_ADAS_AUTOPILOT_INFO import com.mogo.eagle.core.data.deva.chain.ChainConstant.Companion.CHAIN_CODE_ADAS_CAR_CONFIG import com.mogo.eagle.core.data.deva.chain.ChainConstant.Companion.CHAIN_CODE_ADAS_CAR_LOC import com.mogo.eagle.core.data.deva.chain.ChainConstant.Companion.CHAIN_CODE_ADAS_COLD_START_STATE -import com.mogo.eagle.core.data.deva.chain.ChainConstant.Companion.CHAIN_CODE_ADAS_ALL_ERROR import com.mogo.eagle.core.data.deva.chain.ChainConstant.Companion.CHAIN_CODE_ADAS_FM_MSG import com.mogo.eagle.core.data.deva.chain.ChainConstant.Companion.CHAIN_CODE_ADAS_FSM_MSG import com.mogo.eagle.core.data.deva.chain.ChainConstant.Companion.CHAIN_CODE_ADAS_GUARDIAN @@ -37,9 +36,6 @@ 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.data.deva.chain.ChainConstant.Companion.CHAIN_TYPE_STATUS -import com.mogo.eagle.core.data.msgbox.MsgBoxBean -import com.mogo.eagle.core.data.msgbox.MsgBoxType -import com.mogo.eagle.core.data.msgbox.SSMMsg import com.mogo.eagle.core.function.call.autopilot.CallerAutoPilotStatusListenerManager import com.mogo.eagle.core.function.call.autopilot.CallerAutoPilotStatusListenerManager.invokeArriveAtStation import com.mogo.eagle.core.function.call.autopilot.CallerAutoPilotStatusListenerManager.invokeAutoPilotInfo @@ -92,9 +88,8 @@ import com.mogo.eagle.core.function.call.autopilot.CallerVlmManager import com.mogo.eagle.core.function.call.devatools.CallerCaptureImgManager import com.mogo.eagle.core.function.call.devatools.CallerDiskCopyManager import com.mogo.eagle.core.function.call.devatools.CallerNDECloudManager -import com.mogo.eagle.core.function.call.devatools.CallerV2XManager import com.mogo.eagle.core.function.call.devatools.CallerOTAManager -import com.mogo.eagle.core.function.call.msgbox.CallerMsgBoxManager +import com.mogo.eagle.core.function.call.devatools.CallerV2XManager import com.mogo.eagle.core.function.call.obu.CallerObuMapMathListenerManager import com.mogo.eagle.core.function.call.obu.CallerObuWarningRsiListenerManager import com.mogo.eagle.core.function.call.obu.CallerObuWarningRsmListenerManager @@ -169,19 +164,27 @@ class MoGoAdasListenerImpl : OnAdasListener { const val TAG = "MoGoAdasListenerImpl" } + + override fun onTrajectory(header: MessagePad.Header, trajectory: MessagePad.Trajectory?) { + if (trajectory!=null){ + onTrajectory(header, trajectory.isAIPTrajectory, trajectory.pointsList) + } + + if (HdMapBuildConfig.isMapLoaded) { + if (trajectory != null && trajectory.pointsList.size > 0) { + invokeAutopilotTrajectory(trajectory) + } + } + } + //车前引导线 @ChainLog( linkChainLog = CHAIN_TYPE_SOCKET_TRAJECTORY, linkCode = CHAIN_SOURCE_ADAS, nodeAliasCode = CHAIN_CODE_ADAS_TRAJECTORY, - paramIndexes = [0, 1] + paramIndexes = [0, 1, 2] ) - override fun onTrajectory(header: MessagePad.Header, trajectory: MessagePad.Trajectory?) { - if (HdMapBuildConfig.isMapLoaded) { - if (trajectory != null && trajectory.pointsList.size > 0) { - invokeAutopilotTrajectory(trajectory.pointsList) - } - } + private fun onTrajectory(header: MessagePad.Header, isAIPTrajectory: Boolean, points: List) { } override fun onTrackedObjects( diff --git a/core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/hmi/ui/operate/OperatePanelLayout.kt b/core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/hmi/ui/operate/OperatePanelLayout.kt index 47801fb002..ab92a6600b 100644 --- a/core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/hmi/ui/operate/OperatePanelLayout.kt +++ b/core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/hmi/ui/operate/OperatePanelLayout.kt @@ -1851,10 +1851,10 @@ class OperatePanelLayout : LinearLayout { val isEnable = CallerAutoPilotStatusListenerManager.getAutoPilotStatusInfo().state != IMoGoAutopilotStatusListener.STATUS_AUTOPILOT_RUNNING CallerLogger.i(TAG, "isEnable=$isEnable 自驾状态=${CallerAutoPilotStatusListenerManager.getAutoPilotStatusInfo().state}") //AIP功能 - preferenceScreen.findPreferenceReal(KEY_AIP_FUNCTION)?.let { - it.shouldDisableView = isEnable - it.isEnabled = isEnable - } +// preferenceScreen.findPreferenceReal(KEY_AIP_FUNCTION)?.let { +// it.shouldDisableView = isEnable +// it.isEnabled = isEnable +// } //驾驶模式 - 正常模式 preferenceScreen.findPreferenceReal(KEY_DRIVING_STYLE_NORMAL)?.let { it.shouldDisableView = isEnable 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 afc347be17..32b358bf6e 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 @@ -402,6 +402,10 @@ internal class DebugSettingView @JvmOverloads constructor( @Volatile private var mTrajectoryInfoSize = 0 + // 引导线是否是AIP数据 + @Volatile + private var mTrajectoryIsAIPTrajectory = false + // 全局路径规划点个数 @Volatile private var mRouteInfoSize = 0 @@ -2339,9 +2343,9 @@ internal class DebugSettingView @JvmOverloads constructor( "「未知类型」感知数据个数：${mUnknownIdentifyDataSize}\n" tvTrajectoryInfoSize.text = - "引导线点个数：${mTrajectoryInfoSize}" + "引导线点个数：${mTrajectoryInfoSize} 当前轨迹输出：${if (mTrajectoryIsAIPTrajectory) "AIP" else "RBP"}" tvTrajectoryInfoSizeCopy.text = - "引导线点个数：${mTrajectoryInfoSize}" + "引导线点个数：${mTrajectoryInfoSize} 当前轨迹输出：${if (mTrajectoryIsAIPTrajectory) "AIP" else "RBP"}" tvRouteInfoSize.text = "全局路径规划点个数：${mRouteInfoSize}" @@ -2352,6 +2356,7 @@ internal class DebugSettingView @JvmOverloads constructor( mIdentifyDataSize = 0 mUnknownIdentifyDataSize = 0 mTrajectoryInfoSize = 0 + mTrajectoryIsAIPTrajectory = false mRouteInfoSize = 0 if (FunctionBuildConfig.isDemoMode) { @@ -2570,8 +2575,9 @@ internal class DebugSettingView @JvmOverloads constructor( } } - override fun onAutopilotTrajectory(trajectoryInfos: MutableList) { - mTrajectoryInfoSize = trajectoryInfos.size + override fun onAutopilotTrajectory(trajectory: MessagePad.Trajectory) { + mTrajectoryIsAIPTrajectory = trajectory.isAIPTrajectory + mTrajectoryInfoSize = trajectory.pointsList.size } override fun onAutopilotRotting(globalPathResp: MessagePad.GlobalPathResp?) { diff --git a/core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/business/routeoverlay/DecisionDataManager.kt b/core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/business/routeoverlay/DecisionDataManager.kt index 27b8107886..f61dfdbabc 100644 --- a/core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/business/routeoverlay/DecisionDataManager.kt +++ b/core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/business/routeoverlay/DecisionDataManager.kt @@ -93,12 +93,12 @@ class DecisionDataManager private constructor() : IMoGoPlanningTrajectoryListene } } - override fun onAutopilotTrajectory(trajectoryInfos: MutableList) { + override fun onAutopilotTrajectory(trajectory: MessagePad.Trajectory) { ThreadUtils.getCpuPool().execute { val mogoMap = mapInstance.getMogoMap(MogoMap.DEFAULT) mogoMap?.let { map -> val lonLatList = ArrayList() - trajectoryInfos.forEach { + trajectory.pointsList.forEach { map.toScreenLocation(it.longitude, it.latitude)?.let { point -> lonLatList.add(point) Log.d(TAG, "转换后的屏幕坐标为:(${point.x},${point.y})") diff --git a/core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/business/routeoverlay/MogoRouteOverlayManager.java b/core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/business/routeoverlay/MogoRouteOverlayManager.java index c2cf7d5664..07ad65fc2e 100644 --- a/core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/business/routeoverlay/MogoRouteOverlayManager.java +++ b/core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/business/routeoverlay/MogoRouteOverlayManager.java @@ -28,7 +28,7 @@ public class MogoRouteOverlayManager implements private static volatile MogoRouteOverlayManager sInstance; private static final String TAG = "Route"; - private final LinkedList> queue = new LinkedList<>(); + private final LinkedList queue = new LinkedList<>(); private final AtomicBoolean hasGreenWave = new AtomicBoolean(false); @@ -118,11 +118,11 @@ public class MogoRouteOverlayManager implements } @Override - public void onAutopilotTrajectory(@NonNull List items) { + public void onAutopilotTrajectory(@NonNull MessagePad.Trajectory trajectory) { // Log.d(TAG, "-- onAutopilotTrajectory --: " + (items != null ? items.size() : "0")); synchronized (queue) { queue.clear(); - queue.offer(items); + queue.offer(trajectory); } } @@ -147,8 +147,8 @@ public class MogoRouteOverlayManager implements // Log.d(TAG, "-- onChassisLocationGCJ02 -- 3 ---"); synchronized (queue) { if (!queue.isEmpty()) { - List items = queue.pollLast(); - if (items != null && !items.isEmpty()) { + MessagePad.Trajectory items = queue.pollLast(); + if (items != null && !items.getPointsList().isEmpty()) { RouteOverlayDrawer.getInstance().drawTrajectoryList(items, gnssInfo.getHeading(), hasGreenWave.get()); } } diff --git a/core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/business/routeoverlay/RouteOverlayDrawer.java b/core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/business/routeoverlay/RouteOverlayDrawer.java index 29983c3fd9..5a5dc130e0 100644 --- a/core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/business/routeoverlay/RouteOverlayDrawer.java +++ b/core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/business/routeoverlay/RouteOverlayDrawer.java @@ -101,6 +101,7 @@ public class RouteOverlayDrawer { private class RenderTask implements Runnable { private volatile List routeList; + private volatile boolean isAIPTrajectory; private final Pools.Pool pools; private final LinkedList points; @@ -113,8 +114,9 @@ public class RouteOverlayDrawer { this.points = new LinkedList<>(); } - public void setData(List routeList, double bearing, boolean hasGreenWave) { - this.routeList = routeList; + public void setData(MessagePad.Trajectory trajectory, double bearing, boolean hasGreenWave) { + this.routeList = trajectory.getPointsList(); + this.isAIPTrajectory = trajectory.getIsAIPTrajectory(); this.bearing = bearing; this.hasGreenWave = hasGreenWave; } @@ -139,7 +141,8 @@ public class RouteOverlayDrawer { } boolean isColorfulStrategy = !hasGreenWave && !AppIdentityModeUtils.isTaxi(FunctionBuildConfig.appIdentityMode) || !AppIdentityModeUtils.isPassenger(FunctionBuildConfig.appIdentityMode); if (isColorfulStrategy) { - RouteStrategy.INSTANCE.start(); + RouteStrategy.INSTANCE.start(isAIPTrajectory); +// RouteStrategy.INSTANCE.start(FunctionBuildConfig.isActivateAip); } else { if (colors == null || colors.isEmpty()) { ArrayList> temps = new ArrayList<>(); @@ -294,12 +297,12 @@ public class RouteOverlayDrawer { private volatile RenderTask mRenderTask; - public void drawTrajectoryList(List routeList, double bearing, boolean hasGreenWave) { + public void drawTrajectoryList(MessagePad.Trajectory trajectory, double bearing, boolean hasGreenWave) { if (mogoOverlayManager != null) { if (mRenderTask == null) { mRenderTask = new RenderTask(); } - mRenderTask.setData(routeList, bearing, hasGreenWave); + mRenderTask.setData(trajectory, bearing, hasGreenWave); if (mRenderHandler != null) { mRenderHandler.removeCallbacks(mRenderTask); mRenderHandler.post(mRenderTask); diff --git a/core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/business/routeoverlay/RouteStrategy.kt b/core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/business/routeoverlay/RouteStrategy.kt index 08628ef723..90d4bc2e95 100644 --- a/core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/business/routeoverlay/RouteStrategy.kt +++ b/core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/business/routeoverlay/RouteStrategy.kt @@ -23,6 +23,12 @@ class Colors { val COLOR_BLUE_DARK = Color.parseColor("#FF074EFF") val COLOR_RED_DARK = Color.parseColor("#FFFF5F00") val COLOR_TRANSPARENT = Color.parseColor("#0030A3FF") + + // 新增：AIP 模式颜色定义 + val COLOR_AIP_GREEN = Color.parseColor("#FFA428E1") + val COLOR_AIP_GREEN_DARK = Color.parseColor("#FFB948F8") + val COLOR_AIP_ORANGE = Color.parseColor("#FFFFF938") + val COLOR_AIP_TRANSPARENT = Color.parseColor("#00EA49FF") } } @@ -53,7 +59,10 @@ object RouteStrategy { private var index = 0 + // 默认颜色映射表 private val sorted: NavigableMap by lazy { TreeMap() } + // 新增：AIP 颜色映射表 + private val aipSorted: NavigableMap by lazy { TreeMap() } private var endEvaluator: ArgbEvaluator? = null @@ -61,10 +70,18 @@ object RouteStrategy { private var hasLessThan0 = false + // 新增：当前是否为 AIP 模式 + private var isAipMode = false + + // 修改：增加 isAip 参数，默认为 false fun start() { - if (sorted.isEmpty()) { + start(false) + } + fun start(isAip: Boolean = false) { + if (sorted.isEmpty() || aipSorted.isEmpty()) { fill() } + isAipMode = isAip // 记录当前模式 strategy = null index = 0 startColor = Int.MAX_VALUE @@ -88,7 +105,9 @@ object RouteStrategy { if (!isEnable) { return } - if (sorted.isEmpty()) { + // 根据模式选择对应的 Map + val currentMap = if (isAipMode) aipSorted else sorted + if (currentMap.isEmpty()) { return } if (acc < 0) { @@ -96,7 +115,8 @@ object RouteStrategy { } val delta = (total * 0.35).toInt() val last = total - delta - val entry = sorted.floorEntry(acc) + + val entry = currentMap.floorEntry(acc) if (entry != null) { if (index >= last - 1) { if (startColor == Int.MAX_VALUE) { @@ -108,10 +128,12 @@ object RouteStrategy { } else { if (endEvaluator != null) { val fraction = (index - last) * 1.0f / delta + // 根据模式选择对应的透明尾色 + val targetTransparent = if (isAipMode) Colors.COLOR_AIP_TRANSPARENT else COLOR_TRANSPARENT colors += endEvaluator!!.evaluate( fraction, startColor, - COLOR_TRANSPARENT + targetTransparent ) as Int } } @@ -126,10 +148,12 @@ object RouteStrategy { if (!isEnable) { return emptyList() } - if (sorted.isEmpty()) { + // 根据模式选择对应的 Map 进行移除操作 + val currentMap = if (isAipMode) aipSorted else sorted + if (currentMap.isEmpty()) { throw AssertionError("sorted map must not be null.") } - val entry = sorted.floorEntry(acc) + val entry = currentMap.floorEntry(acc) if (entry != null) { colors.remove(entry.value) } @@ -137,12 +161,15 @@ object RouteStrategy { } private fun fill() { - var startValue = -4.0 - var endValue = 0.0 - val step = 0.01 - var current = startValue val evaluator = ArgbEvaluator() val interceptor = AccelerateInterpolator() + val step = 0.01 + + // 1. 填充默认颜色 (sorted) + // 减速段 (-4.0 ~ 0.0): 红 -> 蓝 + var startValue = -4.0 + var endValue = 0.0 + var current = startValue var total = endValue - startValue while (current <= endValue) { val fraction = interceptor.getInterpolation(((current - startValue) / total).toFloat()) @@ -150,17 +177,44 @@ object RouteStrategy { sorted[current] = colorValue current += step } + // 加速段 (0.01 ~ 3.0): 蓝 -> 深蓝 startValue = 0.01 endValue = 3.0 current = startValue total = endValue - startValue while (current <= endValue) { val fraction = (current - startValue) / total - val colorValue = - evaluator.evaluate(fraction.toFloat(), COLOR_BLUE, COLOR_BLUE_DARK) as Int + val colorValue = evaluator.evaluate(fraction.toFloat(), COLOR_BLUE, COLOR_BLUE_DARK) as Int sorted[current] = colorValue current += step } + + // 2. 填充 AIP 颜色 (aipSorted) + // 逻辑仿照上方：减速用 橙->绿，加速用 绿->深绿 + + // AIP 减速段 (-4.0 ~ 0.0): 橙色 -> 绿色 + startValue = -4.0 + endValue = 0.0 + current = startValue + total = endValue - startValue + while (current <= endValue) { + val fraction = interceptor.getInterpolation(((current - startValue) / total).toFloat()) + val colorValue = evaluator.evaluate(fraction, Colors.COLOR_AIP_ORANGE, Colors.COLOR_AIP_GREEN) as Int + aipSorted[current] = colorValue + current += step + } + + // AIP 加速段 (0.01 ~ 3.0): 绿色 -> 深绿色 + startValue = 0.01 + endValue = 3.0 + current = startValue + total = endValue - startValue + while (current <= endValue) { + val fraction = (current - startValue) / total + val colorValue = evaluator.evaluate(fraction.toFloat(), Colors.COLOR_AIP_GREEN, Colors.COLOR_AIP_GREEN_DARK) as Int + aipSorted[current] = colorValue + current += step + } } fun getStrategy(): Strategy = if (isEnable) { diff --git a/core/mogo-core-function-api/src/main/java/com/mogo/eagle/core/function/api/autopilot/IMoGoPlanningTrajectoryListener.kt b/core/mogo-core-function-api/src/main/java/com/mogo/eagle/core/function/api/autopilot/IMoGoPlanningTrajectoryListener.kt index 547cadabeb..a4066d6ead 100644 --- a/core/mogo-core-function-api/src/main/java/com/mogo/eagle/core/function/api/autopilot/IMoGoPlanningTrajectoryListener.kt +++ b/core/mogo-core-function-api/src/main/java/com/mogo/eagle/core/function/api/autopilot/IMoGoPlanningTrajectoryListener.kt @@ -10,8 +10,8 @@ interface IMoGoPlanningTrajectoryListener { /** * 工控机引导线数据 * - * @param trajectoryInfos 引导线数据经纬度 + * @param trajectory.points 引导线数据经纬度 */ - fun onAutopilotTrajectory(trajectoryInfos: MutableList) + fun onAutopilotTrajectory(trajectory: MessagePad.Trajectory) } \ No newline at end of file diff --git a/core/mogo-core-function-call/src/main/java/com/mogo/eagle/core/function/call/autopilot/CallerPlanningTrajectoryListenerManager.kt b/core/mogo-core-function-call/src/main/java/com/mogo/eagle/core/function/call/autopilot/CallerPlanningTrajectoryListenerManager.kt index f6747c53ac..bf72f99c17 100644 --- a/core/mogo-core-function-call/src/main/java/com/mogo/eagle/core/function/call/autopilot/CallerPlanningTrajectoryListenerManager.kt +++ b/core/mogo-core-function-call/src/main/java/com/mogo/eagle/core/function/call/autopilot/CallerPlanningTrajectoryListenerManager.kt @@ -13,13 +13,13 @@ object CallerPlanningTrajectoryListenerManager : CallerBase) { + fun invokeAutopilotTrajectory(trajectory: MessagePad.Trajectory) { M_LISTENERS.forEach { val listener = it.value - listener.onAutopilotTrajectory(trajectoryInfo) + listener.onAutopilotTrajectory(trajectory) } } diff --git a/libraries/mogo-adas-data/src/main/proto/message_pad.proto b/libraries/mogo-adas-data/src/main/proto/message_pad.proto index f45721f86c..354ca0df3d 100644 --- a/libraries/mogo-adas-data/src/main/proto/message_pad.proto +++ b/libraries/mogo-adas-data/src/main/proto/message_pad.proto @@ -283,6 +283,7 @@ message CloudRegulatoryWarningInner message Trajectory { repeated TrajectoryPoint points = 1; + bool is_AIP_trajectory = 2; //true：当前轨迹为AIP输出；false：当前轨迹为RBP输出 } enum AdditionalAttribute