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Merge branch 'feature/feature_show_dispatch' into feature/feature_mogo_obu

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# Conflicts:
#	.idea/gradle.xml
#	.idea/misc.xml
#	OCH/mogo-och-bus/src/main/java/com/mogo/och/bus/presenter/OchBusPresenter.java
#	OCH/mogo-och-taxi/src/main/res/values/strings.xml
#	app/src/main/java/com/mogo/launcher/MogoApplication.java
#	config.gradle
#	foudations/httpdns-mogo/src/main/java/com/mogo/httpdns/mogo/MogoHttpDns.java
#	foudations/mogo-aicloud-services-apk/src/main/java/com/mogo/aicloud/services/socket/MogoAiCloudSocketManager.java
#	foudations/mogo-aicloud-services-sdk/src/main/java/com/mogo/aicloud/services/socket/MogoAiCloudSocketManager.java
#	foudations/mogo-commons/src/main/java/com/mogo/commons/constants/SharedPrefsConstants.java
#	gradle.properties
#	libraries/map-custom/build.gradle
#	libraries/map-custom/src/main/java/com/mogo/map/impl/custom/AMapViewWrapper.java
#	libraries/map-custom/src/main/java/com/mogo/map/impl/custom/uicontroller/AMapUIController.java
#	modules/mogo-module-common/src/main/java/com/mogo/module/common/datacenter/SnapshotLocationDataCenter.java
#	modules/mogo-module-common/src/main/java/com/mogo/module/common/drawer/AdasRecognizedResultDrawer.java
#	modules/mogo-module-common/src/main/java/com/mogo/module/common/drawer/BaseDrawer.java
#	modules/mogo-module-extensions/src/main/java/com/mogo/module/extensions/entrance/EntranceFragment.java
#	modules/mogo-module-service/src/main/java/com/mogo/module/service/intent/MockIntentHandler.java
#	modules/mogo-module-service/src/main/java/com/mogo/module/service/marker/MapMarkerManager.java
#	modules/mogo-module-service/src/main/java/com/mogo/module/service/spi/SPIRealTimeUpload.java
#	modules/mogo-module-service/src/main/java/com/mogo/module/service/status/EnvStatusManager.java
#	modules/mogo-module-smp/src/main/java/com/mogo/module/small/map/SmallMapDirectionView.java
#	modules/mogo-module-smp/src/main/java/com/mogo/module/small/map/SmallMapProvider.java
#	modules/mogo-module-v2x/src/main/java/com/mogo/module/v2x/scenario/scene/warning/V2XWarningMarker.java
#	services/mogo-service-api/src/main/java/com/mogo/service/adas/IMogoADASController.java
#	services/mogo-service-api/src/main/java/com/mogo/service/connection/IMogoSocketManager.java
#	services/mogo-service/src/main/java/com/mogo/service/impl/adas/MogoADASController.java
#	services/mogo-service/src/main/java/com/mogo/service/impl/connection/MogoSocketManager.java
This commit is contained in:
董宏宇
2021-08-30 11:59:44 +08:00
parent d8916d12a8 c9bd2644ab
commit ff017d4adf
77 changed files with 2068 additions and 151534 deletions
Download Patch File Download Diff File Expand all files Collapse all files

2
modules/mogo-module-service/src/main/java/com/mogo/module/service/MogoServiceProvider.java
View File

@@ -16,6 +16,7 @@ import com.mogo.map.location.IMogoLocationListener;
import com.mogo.map.marker.IMogoMarkerClickListener;
import com.mogo.map.navi.IMogoNaviListener;
import com.mogo.module.common.utils.CarSeries;
import com.mogo.module.service.dispatch.DispatchAutoPilotManager;
import com.mogo.module.service.location.MogoRTKLocation;
import com.mogo.service.module.IMogoModuleLifecycle;
import com.mogo.service.module.IMogoModuleProvider;
@@ -104,6 +105,7 @@ public class MogoServiceProvider implements IMogoModuleProvider {
// MogoRTKLocation.getInstance().init(); //todo RTK LOCATION Close
MogoServices.getInstance().preInit( context );
MogoServices.getInstance().init( AbsMogoApplication.getApp() );
DispatchAutoPilotManager.getInstance().initSocket(context);
UiThreadHandler.postDelayed( () -> {
}, 5_000L );
}

78
modules/mogo-module-service/src/main/java/com/mogo/module/service/dispatch/DispatchAirportDialog.java Normal file
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@@ -0,0 +1,78 @@
package com.mogo.module.service.dispatch;
import android.content.Context;
import android.text.TextUtils;
import android.widget.Button;
import android.widget.TextView;
import androidx.annotation.NonNull;
import com.mogo.module.service.R;
import com.mogo.module.service.dispatch.bean.DispatchAdasAutoPilotLocReceiverBean;
import com.mogo.utils.logger.Logger;
public class DispatchAirportDialog extends DispatchBaseDialog {
private static final String TAG = "DispatchAirportDialog";
private IDispatchRemindClickListener mListener;
private final TextView tvStartLoc;
private final TextView tvEndLoc;
private final TextView tvTaskTime;
private final TextView tvFlightInfo;
private final TextView tvTaskContent;
public DispatchAirportDialog(@NonNull Context context) {
super(context);
setContentView(R.layout.module_dialog_adas_dispatch_airport);
setCanceledOnTouchOutside(false);
tvStartLoc = findViewById(R.id.module_services_dispatch_dialog_start_content);
tvEndLoc = findViewById(R.id.module_services_dispatch_dialog_end_content);
tvTaskTime = findViewById(R.id.module_services_dispatch_dialog_task_time);
tvFlightInfo = findViewById(R.id.module_services_dispatch_dialog_flight_time);
tvTaskContent = findViewById(R.id.module_services_dispatch_dialog_task_content);
Button btnAffirm = (Button) findViewById(R.id.module_services_dispatch_dialog_confirm);
btnAffirm.setOnClickListener(v -> {
if (mListener != null) {
mListener.affirm();
dismissDialog();
}
});
}
@Override
public void showDialog(DispatchAdasAutoPilotLocReceiverBean dispatchContent) {
show();
if (!TextUtils.isEmpty(dispatchContent.getStartLocAddress())) {
tvStartLoc.setText(dispatchContent.getStartLocAddress());
}
if (!TextUtils.isEmpty(dispatchContent.getEndLocAddress())) {
tvEndLoc.setText(dispatchContent.getEndLocAddress());
}
if (!TextUtils.isEmpty(dispatchContent.getTaskTime())) {
tvTaskTime.setText(dispatchContent.getTaskTime());
}
if (!TextUtils.isEmpty(dispatchContent.getFlightInfo())) {
tvFlightInfo.setText(dispatchContent.getFlightInfo());
}
if (!TextUtils.isEmpty(dispatchContent.getTaskInfo())) {
tvTaskContent.setText(dispatchContent.getTaskInfo());
}
}
private void dismissDialog() {
dismiss();
}
@Override
public void addIDispatchRemindListener(IDispatchRemindClickListener listener) {
if (listener == null) {
Logger.d(TAG, "addIDispatchRemindListener listener is null");
return;
}
this.mListener = listener;
}
}

228
modules/mogo-module-service/src/main/java/com/mogo/module/service/dispatch/DispatchAutoPilotManager.java Normal file
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@@ -0,0 +1,228 @@
package com.mogo.module.service.dispatch;
import static com.mogo.module.service.dispatch.model.DispatchServiceModel.DISPATCH_RESULT_AFFIRM;
import static com.mogo.module.service.dispatch.model.DispatchServiceModel.DISPATCH_RESULT_MANUAL_CANCEL;
import static com.mogo.module.service.dispatch.model.DispatchServiceModel.DISPATCH_RESULT_TIMER_CANCEL;
import android.content.Context;
import android.location.Location;
import android.os.Handler;
import android.os.Message;
import com.mogo.map.MogoLatLng;
import com.mogo.map.location.MogoLocation;
import com.mogo.map.navi.IMogoCarLocationChangedListener2;
import com.mogo.module.common.MogoApisHandler;
import com.mogo.module.service.dispatch.bean.DispatchAdasAutoPilotLocReceiverBean;
import com.mogo.module.service.dispatch.model.DispatchServiceModel;
import com.mogo.module.service.dispatch.model.IDispatch;
import com.mogo.service.adas.IMogoAdasOCHCallback;
import com.mogo.service.adas.RemoteControlAutoPilotParameters;
import com.mogo.service.adas.entity.AdasOCHData;
import com.mogo.service.connection.IMogoOnMessageListener;
import com.mogo.utils.logger.Logger;
//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
public class DispatchAutoPilotManager implements IMogoOnMessageListener<DispatchAdasAutoPilotLocReceiverBean>
, IDispatchRemindClickListener
, IMogoCarLocationChangedListener2, IMogoAdasOCHCallback {
private static final String TAG = "DispatchAutoPilotManager";
private static volatile DispatchAutoPilotManager instance;
private static final byte[] obj = new byte[0];
private Context mContext;
private static final int MSG_SOCKET_TYPE = 501000;
private static final int MSG_TYPE_SHOW_DIALOG = 0;
private static final int MSG_TYPE_UPLOAD_AUTOPILOT_STATUS = 1;
private DispatchDialogManager dispatchDialogManager;
private MogoLocation mogoLocation;
private DispatchAdasAutoPilotLocReceiverBean receiverBean;
private int autoPilotStatus = 0;
private String reason = null;
private DispatchAutoPilotManager() {
}
public static DispatchAutoPilotManager getInstance() {
if (instance == null) {
synchronized (obj) {
if (instance == null) {
instance = new DispatchAutoPilotManager();
}
}
}
return instance;
}
private final Handler handler = new Handler() {
@Override
public void handleMessage(Message msg) {
super.handleMessage(msg);
if (msg.what == MSG_TYPE_SHOW_DIALOG) {
if (dispatchDialogManager.isShowing()) {
Logger.d(TAG, "此时已经有调度，又收到调度信息");
return;
}
DispatchAdasAutoPilotLocReceiverBean msgData = (DispatchAdasAutoPilotLocReceiverBean) msg.obj;
dispatchDialogManager.showDialog(msgData);
} else if (msg.what == MSG_TYPE_UPLOAD_AUTOPILOT_STATUS) {
DispatchServiceModel.getInstance().uploadAutopilotStatus(autoPilotStatus, reason);
handler.sendEmptyMessageDelayed(MSG_TYPE_UPLOAD_AUTOPILOT_STATUS, 1000L);
}
}
};
public void initSocket(Context context) {
mContext = context;
MogoApisHandler.getInstance().getApis()
.getSocketManagerApi(context).registerOnMessageListener(MSG_SOCKET_TYPE, this);
MogoApisHandler.getInstance().getApis().getRegisterCenterApi()
.registerCarLocationChangedListener(TAG, this);
MogoApisHandler.getInstance().getApis().getAdasControllerApi()
.addAdasOCHCallback(this);
dispatchDialogManager = DispatchDialogManager.getInstance(context);
dispatchDialogManager.addIDispatchRemindListener(this);
handler.sendEmptyMessageDelayed(MSG_TYPE_UPLOAD_AUTOPILOT_STATUS, 1000L);
}
@Override
public Class<DispatchAdasAutoPilotLocReceiverBean> target() {
return DispatchAdasAutoPilotLocReceiverBean.class;
}
@Override
public void onMsgReceived(DispatchAdasAutoPilotLocReceiverBean adasAutoPilotLocReceiverBean) {
if (adasAutoPilotLocReceiverBean != null
&& adasAutoPilotLocReceiverBean.getStartLat() != 0.0
&& adasAutoPilotLocReceiverBean.getStartLon() != 0.0) {
this.receiverBean = adasAutoPilotLocReceiverBean;
Message message = new Message();
message.what = MSG_TYPE_SHOW_DIALOG;
message.obj = adasAutoPilotLocReceiverBean;
handler.sendMessage(message);
}
}
@Override
public void affirm() {
dispatchDialogManager.releaseDialog();
DispatchServiceModel.getInstance().dispatchResultUpload(DISPATCH_RESULT_AFFIRM, new IDispatch() {
@Override
public void onSuccess() {
RemoteControlAutoPilotParameters currentAutopilot = new RemoteControlAutoPilotParameters();
currentAutopilot.isSpeakVoice = false;
currentAutopilot.startLatLon = new RemoteControlAutoPilotParameters.AutoPilotLonLat(receiverBean.getStartLat(), receiverBean.getStartLon());
currentAutopilot.endLatLon = new RemoteControlAutoPilotParameters.AutoPilotLonLat(receiverBean.getEndLat(), receiverBean.getEndLon());
currentAutopilot.vehicleType = 10;
Logger.d(TAG, "开启自动驾驶====" + currentAutopilot);
MogoApisHandler.getInstance().getApis().getAdasControllerApi().aiCloudToAdasData(currentAutopilot);
}
@Override
public void onError(String msg) {
}
});
}
@Override
public void cancel(boolean manualTrigger) {
dispatchDialogManager.releaseDialog();
DispatchServiceModel.getInstance().dispatchResultUpload(manualTrigger ? DISPATCH_RESULT_MANUAL_CANCEL
: DISPATCH_RESULT_TIMER_CANCEL, new IDispatch() {
@Override
public void onSuccess() {
}
@Override
public void onError(String msg) {
}
});
}
@Override
public void onCarLocationChanged2(Location location) {
//坐标转换
MogoLocation loc = new MogoLocation();
loc.setTime(loc.getTime());
loc.setAccuracy(location.getAccuracy());
loc.setSpeed(location.getSpeed());
loc.setLongitude(location.getLongitude());
loc.setLatitude(location.getLatitude());
loc.setAltitude(location.getAltitude());
loc.setBearing(location.getBearing());
loc.setProvider(location.getProvider());
mogoLocation = loc;
}
@Override
public void onCarLocationChanged(MogoLatLng mogoLatLng) {
}
public void testAutopilotStatus() {
autoPilotStatus = 2;
}
public void testEZhouStart() {
Logger.d(TAG, "test to trigger mock testEZhouStart");
DispatchAdasAutoPilotLocReceiverBean adasAutoPilotLocReceiverBean = new DispatchAdasAutoPilotLocReceiverBean(
DispatchAdasAutoPilotLocReceiverBean.DISPATCH_SOURCE_EZHOU, DispatchAdasAutoPilotLocReceiverBean.DISPATCH_TYPE_START, "1",
26.825571122, 112.5762410415, "起点---5号跑道",
26.825571122, 112.5762410415, "终点---鄂州机场",
"5分钟", "AR453航班", "你车需执行编号ca1098次航班的引导任务，从A区A1到B区B1", System.currentTimeMillis());
this.receiverBean = adasAutoPilotLocReceiverBean;
DispatchDialogManager.getInstance(mContext).showDialog(adasAutoPilotLocReceiverBean);
}
public void testEZhouStop() {
Logger.d(TAG, "test to trigger mock testEZhouStop");
DispatchAdasAutoPilotLocReceiverBean adasAutoPilotLocReceiverBean = new DispatchAdasAutoPilotLocReceiverBean(
DispatchAdasAutoPilotLocReceiverBean.DISPATCH_SOURCE_EZHOU, DispatchAdasAutoPilotLocReceiverBean.DISPATCH_TYPE_STOP, "1",
0.0, 0.0, "",
0.0, 0.0, "",
"", "", "", System.currentTimeMillis());
this.receiverBean = adasAutoPilotLocReceiverBean;
DispatchDialogManager.getInstance(mContext).showDialog(adasAutoPilotLocReceiverBean);
}
public void testHengYangStart() {
Logger.d(TAG, "test to trigger mock testHengYangStart");
DispatchAdasAutoPilotLocReceiverBean adasAutoPilotLocReceiverBean = new DispatchAdasAutoPilotLocReceiverBean(
DispatchAdasAutoPilotLocReceiverBean.DISPATCH_SOURCE_HENGYANG, DispatchAdasAutoPilotLocReceiverBean.DISPATCH_TYPE_START, "2",
26.825571122, 112.5762410415, "衡阳科学城",
26.825571122, 112.5762410415, "衡阳首钢集团",
"", "", "", System.currentTimeMillis());
this.receiverBean = adasAutoPilotLocReceiverBean;
DispatchDialogManager.getInstance(mContext).showDialog(adasAutoPilotLocReceiverBean);
}
public void testDispatchResultUpload() {
DispatchServiceModel.getInstance().dispatchResultUpload(DISPATCH_RESULT_AFFIRM, new IDispatch() {
@Override
public void onSuccess() {
}
@Override
public void onError(String msg) {
}
});
}
@Override
public void onArriveAt(AdasOCHData data) {
}
@Override
public void onStateChanged(int state, String reason) {
autoPilotStatus = state;
this.reason = reason;
}
}

20
modules/mogo-module-service/src/main/java/com/mogo/module/service/dispatch/DispatchBaseDialog.java Normal file
View File

@@ -0,0 +1,20 @@
package com.mogo.module.service.dispatch;
import android.content.Context;
import androidx.annotation.NonNull;
import com.mogo.module.common.dialog.BaseFloatDialog;
import com.mogo.module.service.dispatch.bean.DispatchAdasAutoPilotLocReceiverBean;
public abstract class DispatchBaseDialog extends BaseFloatDialog {
public DispatchBaseDialog(@NonNull Context context) {
super(context);
}
public abstract void addIDispatchRemindListener(IDispatchRemindClickListener listener);
public abstract void showDialog(DispatchAdasAutoPilotLocReceiverBean dispatchContent);
}

97
modules/mogo-module-service/src/main/java/com/mogo/module/service/dispatch/DispatchCarsDialog.java Normal file
View File

@@ -0,0 +1,97 @@
package com.mogo.module.service.dispatch;
import android.content.Context;
import android.os.Handler;
import android.os.Message;
import android.text.TextUtils;
import android.widget.Button;
import android.widget.TextView;
import androidx.annotation.NonNull;
import com.mogo.module.service.R;
import com.mogo.module.service.dispatch.bean.DispatchAdasAutoPilotLocReceiverBean;
import com.mogo.utils.logger.Logger;
public class DispatchCarsDialog extends DispatchBaseDialog{
private static final String TAG = "DispatchCarsDialog";
private static final int MSG_TYPE_TIMER = 0;
private static int TIMER = 10;
private IDispatchRemindClickListener mListener;
private final TextView tvTimer;
private final TextView tvLoc;
private final Handler handler = new Handler() {
@Override
public void handleMessage(Message msg) {
super.handleMessage(msg);
if (msg.what == MSG_TYPE_TIMER) {
if (TIMER > 0) {
TIMER--;
Logger.d(TAG,"timer : " + TIMER);
tvTimer.setText(String.valueOf(TIMER));
handler.sendEmptyMessageDelayed(MSG_TYPE_TIMER,1000L);
} else {
hideDialog();
}
}
}
};
public DispatchCarsDialog(@NonNull Context context) {
super(context);
setContentView(R.layout.module_dialog_adas_dispatch_cars);
setCanceledOnTouchOutside(false);
tvTimer = findViewById(R.id.module_adas_dispatch_remind_timer);
tvLoc = findViewById(R.id.module_adas_dispatch_remind_loc);
Button btnAffirm = (Button) findViewById(R.id.module_adas_dispatch_remind_affirm);
Button btnCancel = (Button) findViewById(R.id.module_adas_dispatch_remind_cancel);
tvTimer.setText(String.valueOf(TIMER));
btnAffirm.setOnClickListener(v -> {
if (mListener != null) {
mListener.affirm();
dismissDialog();
}
});
btnCancel.setOnClickListener(v -> {
if (mListener != null) {
mListener.cancel(true);
dismissDialog();
}
});
}
private void hideDialog() {
if (mListener != null) {
mListener.cancel(false);
}
dismissDialog();
}
private void dismissDialog(){
handler.removeMessages(MSG_TYPE_TIMER);
TIMER = 10;
dismiss();
}
@Override
public void addIDispatchRemindListener(IDispatchRemindClickListener listener) {
if (listener == null) {
Logger.d(TAG, "addIDispatchRemindListener listener is null");
return;
}
this.mListener = listener;
}
@Override
public void showDialog(DispatchAdasAutoPilotLocReceiverBean dispatchContent) {
if(TextUtils.isEmpty(dispatchContent.getEndLocAddress())){
return;
}
show();
handler.sendEmptyMessage(MSG_TYPE_TIMER);
tvLoc.setText(dispatchContent.getEndLocAddress());
}
}

109
modules/mogo-module-service/src/main/java/com/mogo/module/service/dispatch/DispatchDialogManager.java Normal file
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@@ -0,0 +1,109 @@
package com.mogo.module.service.dispatch;
import static com.mogo.module.service.dispatch.bean.DispatchAdasAutoPilotLocReceiverBean.DISPATCH_SOURCE_EZHOU;
import static com.mogo.module.service.dispatch.bean.DispatchAdasAutoPilotLocReceiverBean.DISPATCH_SOURCE_HENGYANG;
import static com.mogo.module.service.dispatch.bean.DispatchAdasAutoPilotLocReceiverBean.DISPATCH_TYPE_START;
import static com.mogo.module.service.dispatch.bean.DispatchAdasAutoPilotLocReceiverBean.DISPATCH_TYPE_STOP;
import android.content.Context;
import com.mogo.commons.voice.AIAssist;
import com.mogo.module.service.dispatch.bean.DispatchAdasAutoPilotLocReceiverBean;
import com.mogo.utils.logger.Logger;
public class DispatchDialogManager {
private static final String TAG = "DispatchDialogManager";
private static volatile DispatchDialogManager manager;
private static final byte[] obj = new byte[0];
private Context mContext;
private IDispatchRemindClickListener mListener;
private DispatchBaseDialog dialog;
private DispatchDialogManager(Context context) {
mContext = context;
}
public static DispatchDialogManager getInstance(Context context) {
if (manager == null) {
synchronized (obj) {
if (manager == null) {
manager = new DispatchDialogManager(context);
}
}
}
return manager;
}
public void addIDispatchRemindListener(IDispatchRemindClickListener listener) {
if (listener == null) {
Logger.d(TAG, "addIDispatchRemindListener listener is null");
return;
}
this.mListener = listener;
}
public boolean isShowing() {
return dialog != null && dialog.isShowing();
}
public void showDialog(DispatchAdasAutoPilotLocReceiverBean msgData) {
if (msgData == null) {
return;
}
switch (msgData.getSource()) {
case DISPATCH_SOURCE_HENGYANG:
dispatchHengYang(msgData);
break;
case DISPATCH_SOURCE_EZHOU:
dispatchEZhou(msgData);
break;
}
}
private void dispatchHengYang(DispatchAdasAutoPilotLocReceiverBean msgData) {
if (msgData.getType() == DISPATCH_TYPE_START) { //衡阳只有开始调度
if (dialog != null && dialog.isShowing()) { //避免下发两次
return;
}
if (dialog == null) {
dialog = new DispatchCarsDialog(mContext);
}
dialog.addIDispatchRemindListener(mListener);
dialog.showDialog(msgData);
}
}
private void dispatchEZhou(DispatchAdasAutoPilotLocReceiverBean msgData) {
switch (msgData.getType()) {
case DISPATCH_TYPE_START:
if (dialog != null && dialog.isShowing()) { //避免下发两次
return;
}
if (dialog == null) {
dialog = new DispatchAirportDialog(mContext);
}
dialog.addIDispatchRemindListener(mListener);
dialog.showDialog(msgData);
break;
case DISPATCH_TYPE_STOP:
//语音播报
voice();
break;
}
}
private void voice() {
AIAssist.getInstance(mContext).speakTTSVoice("请立即停车!请立即停车!");
}
public void releaseDialog() {
if (dialog != null) {
if (dialog.isShowing()) {
dialog.dismiss();
}
dialog = null;
}
}
}

50
modules/mogo-module-service/src/main/java/com/mogo/module/service/dispatch/DispatchTestPanelBroadCastReceiver.java Normal file
View File

@@ -0,0 +1,50 @@
package com.mogo.module.service.dispatch;
import android.content.BroadcastReceiver;
import android.content.Context;
import android.content.Intent;
import com.mogo.utils.logger.Logger;
public class DispatchTestPanelBroadCastReceiver extends BroadcastReceiver {
private static final String TAG = "DispatchTestPanelBroadCastReceiver";
/**
* Adas测试控制面板广播Action
*/
public static final String BROADCAST_TEST_PANEL_CONTROL_TYPE_EXTRA_KEY = "sceneType";
@Override
public void onReceive(Context context, Intent intent) {
try {
int sceneType = intent.getIntExtra(BROADCAST_TEST_PANEL_CONTROL_TYPE_EXTRA_KEY, 0);
Logger.d(TAG, "textPanelOpenType:" + sceneType);
// 分发场景
dispatchSceneTest(sceneType);
} catch (Exception e) {
e.printStackTrace();
}
}
/**
* 分发处理场景
*
* @param sceneType 场景类型
*/
private void dispatchSceneTest(int sceneType) {
Logger.d(TAG, "sceneType=" + sceneType);
if (sceneType == 0) {
DispatchAutoPilotManager.getInstance().testEZhouStart();
} else if (sceneType == 1) {
DispatchAutoPilotManager.getInstance().testEZhouStop();
} else if (sceneType == 2) {
DispatchAutoPilotManager.getInstance().testHengYangStart();
} else if (sceneType == 3) { //验证自动驾驶调度上报接口
DispatchAutoPilotManager.getInstance().testDispatchResultUpload();
} else if (sceneType == 4) { //更改自动驾驶状态上报
DispatchAutoPilotManager.getInstance().testAutopilotStatus();
}
}
}

8
modules/mogo-module-service/src/main/java/com/mogo/module/service/dispatch/IDispatchRemindClickListener.java Normal file
View File

@@ -0,0 +1,8 @@
package com.mogo.module.service.dispatch;
public interface IDispatchRemindClickListener {
void affirm();
void cancel(boolean manualTrigger);
}

41
modules/mogo-module-service/src/main/java/com/mogo/module/service/dispatch/bean/AutonomousDriveStatusBean.java Normal file
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@@ -0,0 +1,41 @@
package com.mogo.module.service.dispatch.bean;
/**
* Created by XuYong on 2021/5/28 16:12
*/
public class AutonomousDriveStatusBean {
private String sn;
private int status;
private float vehicleSpeed;
public AutonomousDriveStatusBean(String sn, int status, float vehicleSpeed) {
this.sn = sn;
this.status = status;
this.vehicleSpeed = vehicleSpeed;
}
public String getSn() {
return sn;
}
public void setSn(String sn) {
this.sn = sn;
}
public int getStatus() {
return status;
}
public void setStatus(int status) {
this.status = status;
}
public float getVehicleSpeed() {
return vehicleSpeed;
}
public void setVehicleSpeed(float vehicleSpeed) {
this.vehicleSpeed = vehicleSpeed;
}
}

75
modules/mogo-module-service/src/main/java/com/mogo/module/service/dispatch/bean/AutopilotRoute.java Normal file
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@@ -0,0 +1,75 @@
package com.mogo.module.service.dispatch.bean;
import com.google.gson.annotations.SerializedName;
import java.util.List;
/**
* @author song kenan
* @des
* @date 2021/6/21
*/
public class AutopilotRoute {
@SerializedName("action")
private String action;
@SerializedName("models")
private List<RouteModels> models;
public static class RouteModels {
@SerializedName("lat")
private Double lat;
@SerializedName("lon")
private Double lon;
public Double getLat() {
return lat;
}
public void setLat(Double lat) {
this.lat = lat;
}
public Double getLon() {
return lon;
}
public void setLon(Double lon) {
this.lon = lon;
}
@Override
public String toString() {
return "RouteModels{" +
"lat=" + lat +
", lon=" + lon +
'}';
}
}
public String getAction() {
return action;
}
public void setAction(String action) {
this.action = action;
}
public List<RouteModels> getModels() {
return models;
}
public void setModels(List<RouteModels> models) {
this.models = models;
}
@Override
public String toString() {
return "AutopilotRoute{" +
"action='" + action + '\'' +
", models=" + models +
'}';
}
}

108
modules/mogo-module-service/src/main/java/com/mogo/module/service/dispatch/bean/AutopilotStatus.java Normal file
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@@ -0,0 +1,108 @@
package com.mogo.module.service.dispatch.bean;
import java.io.Serializable;
/**
* @author nie yunlong
* @des
* @date 2020/7/14
*/
public class AutopilotStatus implements Serializable {
/**
* action : autopilotstate
* values : {"state":0,"reason":""}
*/
private String action;
private ValuesBean values;
public String getAction() {
return action;
}
public void setAction(String action) {
this.action = action;
}
public ValuesBean getValues() {
return values;
}
public void setValues(ValuesBean values) {
this.values = values;
}
public static class ValuesBean {
/**
* 0是不可用 1是ready 2是自动驾驶start
*
* @return
*/
private int state;
/**
* 车速 m/s
*/
private float speed;
/**
* 不可用原因
*/
private String reason;
/**
* 摄像头状态 1代表开启，0代表关闭
*/
private int camera;
/**
* 雷达状态 1代表开启，0代表关闭
*/
private int radar;
/**
* RTK状态 1代表开启，0代表关闭
*/
private int rtk;
/**
* 自动驾驶状态 0非自动驾驶，1自动驾驶
*/
private int pilotmode;
public int getState() {
return state;
}
public void setState(int state) {
this.state = state;
}
public String getReason() {
return reason;
}
public void setReason(String reason) {
this.reason = reason;
}
public float getSpeed() {
return speed;
}
public void setSpeed(float speed) {
this.speed = speed;
}
public int getCamera() {
return camera;
}
public int getRadar() {
return radar;
}
public int getRtk() {
return rtk;
}
public int getPilotmode() {
return pilotmode;
}
}
}

165
modules/mogo-module-service/src/main/java/com/mogo/module/service/dispatch/bean/DispatchAdasAutoPilotLocReceiverBean.java Normal file
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@@ -0,0 +1,165 @@
package com.mogo.module.service.dispatch.bean;
public class DispatchAdasAutoPilotLocReceiverBean {
public static final int DISPATCH_SOURCE_HENGYANG = 1;
public static final int DISPATCH_SOURCE_EZHOU = 2;
public static final int DISPATCH_TYPE_START = 1;
public static final int DISPATCH_TYPE_STOP = 2;
private int source; // 1：衡阳 2：鄂州
private int type; // 1：启动 2：停止
private String poiId;
private double startLat;
private double startLon;
private String startLocAddress;
private double endLat;
private double endLon;
private String endLocAddress;
private String taskTime;
private String flightInfo;
private String taskInfo;
private long systemTime;
public DispatchAdasAutoPilotLocReceiverBean(int source, int type, String poiId, double startLat, double startLon, String startLocAddress, double endLat, double endLon, String endLocAddress, String taskTime, String flightInfo, String taskInfo, long systemTime) {
this.source = source;
this.type = type;
this.poiId = poiId;
this.startLat = startLat;
this.startLon = startLon;
this.startLocAddress = startLocAddress;
this.endLat = endLat;
this.endLon = endLon;
this.endLocAddress = endLocAddress;
this.taskTime = taskTime;
this.flightInfo = flightInfo;
this.taskInfo = taskInfo;
this.systemTime = systemTime;
}
public int getSource() {
return source;
}
public void setSource(int source) {
this.source = source;
}
public int getType() {
return type;
}
public void setType(int type) {
this.type = type;
}
public String getPoiId() {
return poiId;
}
public void setPoiId(String poiId) {
this.poiId = poiId;
}
public double getStartLat() {
return startLat;
}
public void setStartLat(double startLat) {
this.startLat = startLat;
}
public double getStartLon() {
return startLon;
}
public void setStartLon(double startLon) {
this.startLon = startLon;
}
public String getStartLocAddress() {
return startLocAddress;
}
public void setStartLocAddress(String startLocAddress) {
this.startLocAddress = startLocAddress;
}
public double getEndLat() {
return endLat;
}
public void setEndLat(double endLat) {
this.endLat = endLat;
}
public double getEndLon() {
return endLon;
}
public void setEndLon(double endLon) {
this.endLon = endLon;
}
public String getEndLocAddress() {
return endLocAddress;
}
public void setEndLocAddress(String endLocAddress) {
this.endLocAddress = endLocAddress;
}
public String getTaskTime() {
return taskTime;
}
public void setTaskTime(String taskTime) {
this.taskTime = taskTime;
}
public String getFlightInfo() {
return flightInfo;
}
public void setFlightInfo(String flightInfo) {
this.flightInfo = flightInfo;
}
public String getTaskInfo() {
return taskInfo;
}
public void setTaskInfo(String taskInfo) {
this.taskInfo = taskInfo;
}
public long getSystemTime() {
return systemTime;
}
public void setSystemTime(long systemTime) {
this.systemTime = systemTime;
}
@Override
public String toString() {
return "DispatchAdasAutoPilotLocReceiverBean{" +
"source=" + source +
", type=" + type +
", poiId='" + poiId + '\'' +
", startLat=" + startLat +
", startLon=" + startLon +
", startLocAddress='" + startLocAddress + '\'' +
", endLat=" + endLat +
", endLon=" + endLon +
", endLocAddress='" + endLocAddress + '\'' +
", taskTime='" + taskTime + '\'' +
", flightInfo='" + flightInfo + '\'' +
", taskInfo='" + taskInfo + '\'' +
", systemTime=" + systemTime +
'}';
}
}

38
modules/mogo-module-service/src/main/java/com/mogo/module/service/dispatch/bean/DispatchData.java Normal file
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@@ -0,0 +1,38 @@
package com.mogo.module.service.dispatch.bean;
import com.mogo.module.service.dispatch.model.DispatchResult;
public class DispatchData {
private String action;
private DispatchResult result;
public DispatchData(String action, DispatchResult result) {
this.action = action;
this.result = result;
}
public String getAction() {
return action;
}
public void setAction(String action) {
this.action = action;
}
public DispatchResult getResult() {
return result;
}
public void setResult(DispatchResult result) {
this.result = result;
}
@Override
public String toString() {
return "DispatchData{" +
"action='" + action + '\'' +
", result=" + result +
'}';
}
}

36
modules/mogo-module-service/src/main/java/com/mogo/module/service/dispatch/bean/EndLatLon.java Normal file
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@@ -0,0 +1,36 @@
package com.mogo.module.service.dispatch.bean;
public class EndLatLon {
private double lat;
private double lon;
public EndLatLon(double lat, double lon) {
this.lat = lat;
this.lon = lon;
}
public double getLat() {
return lat;
}
public void setLat(double lat) {
this.lat = lat;
}
public double getLon() {
return lon;
}
public void setLon(double lon) {
this.lon = lon;
}
@Override
public String toString() {
return "EndLatLon{" +
"lat=" + lat +
", lon=" + lon +
'}';
}
}

36
modules/mogo-module-service/src/main/java/com/mogo/module/service/dispatch/bean/ReportDispatchResult.java Normal file
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@@ -0,0 +1,36 @@
package com.mogo.module.service.dispatch.bean;
public class ReportDispatchResult {
private String sn;
private int dispatchResult;
public ReportDispatchResult(String sn, int dispatchResult) {
this.sn = sn;
this.dispatchResult = dispatchResult;
}
public String getSn() {
return sn;
}
public void setSn(String sn) {
this.sn = sn;
}
public int getDispatchResult() {
return dispatchResult;
}
public void setDispatchResult(int dispatchResult) {
this.dispatchResult = dispatchResult;
}
@Override
public String toString() {
return "ReportDispatchResult{" +
"sn='" + sn + '\'' +
", dispatchResult=" + dispatchResult +
'}';
}
}

40
modules/mogo-module-service/src/main/java/com/mogo/module/service/dispatch/bean/ReportSiteBean.java Normal file
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@@ -0,0 +1,40 @@
package com.mogo.module.service.dispatch.bean;
/**
* Created by XuYong on 2021/5/31 16:24
*/
public class ReportSiteBean {
private String sn;
private double lon;
private double lat;
public ReportSiteBean(String sn, double lon, double lat) {
this.sn = sn;
this.lon = lon;
this.lat = lat;
}
public String getSn() {
return sn;
}
public void setSn(String sn) {
this.sn = sn;
}
public double getLon() {
return lon;
}
public void setLon(double lon) {
this.lon = lon;
}
public double getLat() {
return lat;
}
public void setLat(double lat) {
this.lat = lat;
}
}

36
modules/mogo-module-service/src/main/java/com/mogo/module/service/dispatch/bean/ReportedRoute.java Normal file
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@@ -0,0 +1,36 @@
package com.mogo.module.service.dispatch.bean;
/**
* 上报自动驾驶规划的路径
*/
public class ReportedRoute {
private String sn;
private AutopilotStatus.ValuesBean bean;
private String siteList;
public ReportedRoute(String sn, AutopilotStatus.ValuesBean bean) {
this.sn = sn;
this.bean = bean;
}
public ReportedRoute(String sn, String siteList) {
this.sn = sn;
this.siteList = siteList;
}
public String getSiteList() {
return siteList;
}
public String getState() {
return "{\"sn\":\"" + sn + "\",\"state\":" + bean.getState() + ",\"speed\":" + bean.getSpeed() + ",\"reason\":\"" + bean.getReason() + "\",\"camera\":" + bean.getCamera() + ",\"radar\":" + bean.getRadar() + ",\"rtk\":" + bean.getRtk() + "}";
}
public String getRoute() {
return "{\"sn\":\"" + sn + "\",\"siteList\":" + siteList + "}";
}
}

36
modules/mogo-module-service/src/main/java/com/mogo/module/service/dispatch/bean/StartLatLon.java Normal file
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@@ -0,0 +1,36 @@
package com.mogo.module.service.dispatch.bean;
public class StartLatLon {
private double lat;
private double lon;
public StartLatLon(double lat, double lon) {
this.lat = lat;
this.lon = lon;
}
public double getLat() {
return lat;
}
public void setLat(double lat) {
this.lat = lat;
}
public double getLon() {
return lon;
}
public void setLon(double lon) {
this.lon = lon;
}
@Override
public String toString() {
return "StartLatLon{" +
"lat=" + lat +
", lon=" + lon +
'}';
}
}

39
modules/mogo-module-service/src/main/java/com/mogo/module/service/dispatch/model/DispatchResult.java Normal file
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@@ -0,0 +1,39 @@
package com.mogo.module.service.dispatch.model;
import com.mogo.module.service.dispatch.bean.EndLatLon;
import com.mogo.module.service.dispatch.bean.StartLatLon;
public class DispatchResult {
private StartLatLon startLatLon;
private EndLatLon endLatLon;
public DispatchResult(StartLatLon startLatLon, EndLatLon endLatLon) {
this.startLatLon = startLatLon;
this.endLatLon = endLatLon;
}
public StartLatLon getStartLatLon() {
return startLatLon;
}
public void setStartLatLon(StartLatLon startLatLon) {
this.startLatLon = startLatLon;
}
public EndLatLon getEndLatLon() {
return endLatLon;
}
public void setEndLatLon(EndLatLon endLatLon) {
this.endLatLon = endLatLon;
}
@Override
public String toString() {
return "DispatchResult{" +
"startLatLon=" + startLatLon +
", endLatLon=" + endLatLon +
'}';
}
}

161
modules/mogo-module-service/src/main/java/com/mogo/module/service/dispatch/model/DispatchServiceModel.java Normal file
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@@ -0,0 +1,161 @@
package com.mogo.module.service.dispatch.model;
import static com.mogo.commons.context.ContextHolderUtil.getContext;
import static com.mogo.module.common.constants.HostConst.DATA_SERVICE_HOST;
import com.mogo.cloud.passport.MoGoAiCloudClientConfig;
import com.mogo.commons.data.BaseData;
import com.mogo.commons.network.SubscribeImpl;
import com.mogo.module.common.MogoApisHandler;
import com.mogo.module.service.dispatch.bean.AutopilotRoute;
import com.mogo.module.service.dispatch.bean.AutopilotStatus;
import com.mogo.module.service.dispatch.bean.ReportDispatchResult;
import com.mogo.module.service.dispatch.bean.ReportedRoute;
import com.mogo.utils.logger.Logger;
import com.mogo.utils.network.RequestOptions;
import com.mogo.utils.network.utils.GsonUtil;
import java.util.HashMap;
import java.util.List;
import java.util.Map;
import io.reactivex.android.schedulers.AndroidSchedulers;
import io.reactivex.schedulers.Schedulers;
public class DispatchServiceModel {
private static final String TAG = "DispatchServiceModel";
private static volatile DispatchServiceModel instance;
private static final byte[] obj = new byte[0];
public static final int DISPATCH_RESULT_AFFIRM = 0;
public static final int DISPATCH_RESULT_MANUAL_CANCEL = 1;
public static final int DISPATCH_RESULT_TIMER_CANCEL = 2;
private final IDispatchAdasApiService mAdasApiService;
private DispatchServiceModel() {
this.mAdasApiService = MogoApisHandler.getInstance().getApis().getNetworkApi().create(IDispatchAdasApiService.class, DATA_SERVICE_HOST);
}
public static DispatchServiceModel getInstance() {
if (instance == null) {
synchronized (obj) {
if (instance == null) {
instance = new DispatchServiceModel();
}
}
}
return instance;
}
/**
* 上报自动驾驶状态
*/
public void uploadAutopilotStatus(int state, String reason) {
AutopilotStatus autopilotStatus = new AutopilotStatus();
autopilotStatus.setAction("autopilotstate");
AutopilotStatus.ValuesBean valuesBean = new AutopilotStatus.ValuesBean();
valuesBean.setState(state);
valuesBean.setReason(reason);
autopilotStatus.setValues(valuesBean);
String sn = MoGoAiCloudClientConfig.getInstance().getSn();
ReportedRoute reportedRoute = new ReportedRoute(sn, autopilotStatus.getValues());
Map<String, Object> map = new HashMap<>();
map.put("sn", sn);
map.put("data", GsonUtil.jsonFromObject(reportedRoute));
mAdasApiService.uploadAutopilotState(map)
.subscribeOn(Schedulers.io())
.observeOn(AndroidSchedulers.mainThread())
.subscribe(new SubscribeImpl<BaseData>(RequestOptions.create(getContext())) {
@Override
public void onNext(BaseData o) {
super.onNext(o);
Logger.d(TAG, "uploadAutopilotStatus success");
}
@Override
public void onError(Throwable e) {
super.onError(e);
Logger.d(TAG, "uploadAutopilotStatus error : " + e.getMessage());
}
@Override
public void onSuccess(BaseData o) {
super.onSuccess(o);
}
});
}
/**
* 上报自动驾驶路线
*
* @param list 路线集合
*/
public void uploadAutopilotRoute(List<AutopilotRoute.RouteModels> list) {
String sn = MoGoAiCloudClientConfig.getInstance().getSn();
ReportedRoute reportedRoute = new ReportedRoute(sn, GsonUtil.jsonFromObject(list));
Map<String, Object> map = new HashMap<>();
map.put("sn", sn);
map.put("data", GsonUtil.jsonFromObject(reportedRoute));
mAdasApiService.uploadAutopilotRoute(map)
.subscribeOn(Schedulers.io())
.observeOn(AndroidSchedulers.mainThread())
.subscribe(new SubscribeImpl<BaseData>(RequestOptions.create(getContext())) {
@Override
public void onNext(BaseData o) {
super.onNext(o);
Logger.d(TAG, "uploadAutopilotRoute success");
}
@Override
public void onError(Throwable e) {
super.onError(e);
Logger.d(TAG, "uploadAutopilotRoute error : " + e.getMessage());
}
@Override
public void onSuccess(BaseData o) {
super.onSuccess(o);
}
});
}
/**
* 上报调度处理结果
*
* @param dispatchResultType int
*/
public void dispatchResultUpload(int dispatchResultType, IDispatch dispatch) {
String sn = MoGoAiCloudClientConfig.getInstance().getSn();
ReportDispatchResult reportDispatchResult = new ReportDispatchResult(sn, dispatchResultType);
Map<String, Object> map = new HashMap<>();
map.put("sn", sn);
map.put("data", GsonUtil.jsonFromObject(reportDispatchResult));
mAdasApiService.uploadDispatchResult(map)
.subscribeOn(Schedulers.io())
.observeOn(AndroidSchedulers.mainThread())
.subscribe(new SubscribeImpl<BaseData>(RequestOptions.create(getContext())) {
@Override
public void onNext(BaseData o) {
super.onNext(o);
Logger.d(TAG, "dispatchResultUpload success");
dispatch.onSuccess();
}
@Override
public void onError(Throwable e) {
super.onError(e);
Logger.d(TAG, "dispatchResultUpload error : " + e.getMessage());
dispatch.onError(e.getMessage());
}
@Override
public void onSuccess(BaseData o) {
super.onSuccess(o);
}
});
}
}

8
modules/mogo-module-service/src/main/java/com/mogo/module/service/dispatch/model/IDispatch.java Normal file
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@@ -0,0 +1,8 @@
package com.mogo.module.service.dispatch.model;
public interface IDispatch {
void onSuccess();
void onError(String msg);
}

43
modules/mogo-module-service/src/main/java/com/mogo/module/service/dispatch/model/IDispatchAdasApiService.java Normal file
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@@ -0,0 +1,43 @@
package com.mogo.module.service.dispatch.model;
import com.mogo.commons.data.BaseData;
import java.util.Map;
import io.reactivex.Observable;
import retrofit2.http.FieldMap;
import retrofit2.http.FormUrlEncoded;
import retrofit2.http.POST;
public interface IDispatchAdasApiService {
/**
* 上报自动驾驶路径 服务于业务调度
*
* @param parameters map
* @return {@link BaseData}
*/
@FormUrlEncoded
@POST("/dataService/autoDriver/receiveCarPreSetPath")
Observable<BaseData> uploadAutopilotRoute(@FieldMap Map<String, Object> parameters);
/**
* 上报自动驾驶调度处理结果 服务于业务调度
*
* @param parameters map
* @return {@link BaseData}
*/
@FormUrlEncoded
@POST("/dataService/autoDriver/receiverDestSiteResult")
Observable<BaseData> uploadDispatchResult(@FieldMap Map<String, Object> parameters);
/**
* 上报自动驾驶状态 服务于业务调度
*
* @param parameters map
* @return {@link BaseData}
*/
@FormUrlEncoded
@POST("/dataService/autoDriver/receiveAutopilotState")
Observable<BaseData> uploadAutopilotState(@FieldMap Map<String, Object> parameters);
}

4
modules/mogo-module-service/src/main/java/com/mogo/module/service/intent/MockIntentHandler.java
View File

@@ -599,8 +599,8 @@ public class MockIntentHandler implements IntentHandler {
DebugConfig.setSelfCarSpeedYOffset(intent.getIntExtra("yOffset", 20));
break;
case 51:// 模拟路口车辆移动
mLocationMockHandler.sendEmptyMessageDelayed(100, 0L);
mLocationMockHandler.sendEmptyMessageDelayed(101, 1000L);
// mLocationMockHandler.sendEmptyMessageDelayed(100, 0L);
// mLocationMockHandler.sendEmptyMessageDelayed(101, 1000L);
break;
case 52:
// 打开连调工控机、ADAS的控制面板

4
modules/mogo-module-service/src/main/java/com/mogo/module/service/location/MogoRTKLocation.java
View File

@@ -1,5 +1,6 @@
package com.mogo.module.service.location;
import android.annotation.SuppressLint;
import android.content.Context;
import android.location.Criteria;
import android.location.Location;
@@ -29,6 +30,7 @@ public class MogoRTKLocation {
private MogoRTKLocation() {
}
@SuppressLint("MissingPermission")
public void init() {
locationManager = (LocationManager) AbsMogoApplication.getApp().getApplicationContext().getSystemService(Context.LOCATION_SERVICE);
String provider = locationManager.getBestProvider(getCriteria(), true);
@@ -102,7 +104,7 @@ public class MogoRTKLocation {
if (locationManager != null && locationListener != null) {
locationManager.removeUpdates(locationListener);
} else {
Logger.d(TAG, "stop failed , reason : loc" + locationManager + " , or loc listener: " + locationListener + " is null");
Logger.d(TAG, "stop failed , listener: " + locationListener + " is null");
}
}
}

1
modules/mogo-module-service/src/main/java/com/mogo/module/service/marker/MapMarkerManager.java
View File

@@ -39,6 +39,7 @@ import com.mogo.realtime.api.MoGoAiCloudRealTime;
import com.mogo.realtime.socket.IMogoCloudOnMsgListener;
import com.mogo.service.adas.IMogoADASControlStatusChangedListener;
import com.mogo.service.connection.IMogoLifecycleListener;
import com.mogo.service.adas.entity.ADASRecognizedResult;
import com.mogo.service.module.IMogoBizActionDoneListener;
import com.mogo.utils.ResourcesHelper;
import com.mogo.utils.ThreadPoolService;

16
modules/mogo-module-service/src/main/java/com/mogo/module/service/spi/SPIRealTimeUpload.java Normal file
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@@ -0,0 +1,16 @@
package com.mogo.module.service.spi;
import com.elegant.spi.annotations.Service;
import com.mogo.module.common.datacenter.SnapshotLocationDataCenter;
import com.mogo.realtime.api.IRealTimeProvider;
import com.mogo.realtime.entity.SocketReceiveDataProto3;
@Service(value = IRealTimeProvider.class)
public class SPIRealTimeUpload implements IRealTimeProvider {
@Override
public SocketReceiveDataProto3.SocketReceiveDataProto getLocationMsg() {
return null;
}
}