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Merge branch 'dev_robotaxi-d-app-module_251_220125_2.5.1' into dev_MogoAP_eagle-220_211207_8.0.17_merge

Browse Source 
# Conflicts:
#	app/build.gradle
#	core/function-impl/mogo-core-function-autopilot/build.gradle
#	core/function-impl/mogo-core-function-autopilot/src/main/java/com/mogo/eagle/core/function/autopilot/adapter/MoGoAdasListenerImpl.java
#	modules/mogo-module-adas/build.gradle
This commit is contained in:
donghongyu
2022-02-09 10:59:31 +08:00
parent e8e375f5ae 4dc06e5817
commit ff1a06268b
57 changed files with 604 additions and 1613 deletions
Download Patch File Download Diff File Expand all files Collapse all files

2
OCH/mogo-och-bus/src/main/java/com/mogo/och/bus/presenter/OchBusModelLoopManager.java
View File

@@ -35,7 +35,7 @@ public class OchBusModelLoopManager {
}
Logger.i(TAG, "startHeartbeatLoop()");
mHeartbeatDisposable = Observable.interval(OchBusConst.LOOP_DELAY,
OchBusConst.LOOP_PERIOD_60S, TimeUnit.MILLISECONDS,Schedulers.trampoline())
OchBusConst.LOOP_PERIOD_60S, TimeUnit.MILLISECONDS)
.map((aLong -> aLong + 1))
.subscribeOn(Schedulers.io())
.observeOn(AndroidSchedulers.mainThread())

2
OCH/mogo-och-bus/src/main/java/com/mogo/och/bus/presenter/OchBusOrderModel.java
View File

@@ -196,7 +196,7 @@ public class OchBusOrderModel {
return;
}
mBusOrdersDisposable = Observable.interval(OchBusConst.LOOP_DELAY,
OchBusConst.LOOP_PERIOD_1S, TimeUnit.MILLISECONDS,Schedulers.trampoline())
OchBusConst.LOOP_PERIOD_1S, TimeUnit.MILLISECONDS)
.map((aLong -> aLong + 1))
.subscribeOn(Schedulers.io())
.observeOn(AndroidSchedulers.mainThread())

8
OCH/mogo-och-taxi-passenger/src/main/java/com/mogo/och/taxi/passenger/model/OCHTaxiModelLoopManager.java
View File

@@ -38,7 +38,7 @@ public class OCHTaxiModelLoopManager {
}
Logger.i(TAG, "startInAndWaitOrdersLoop()");
mInAndWaitServiceDisposable = Observable.interval(OCHTaxiConst.LOOP_DELAY,
OCHTaxiConst.LOOP_PERIOD_2S, TimeUnit.MILLISECONDS,Schedulers.trampoline())
OCHTaxiConst.LOOP_PERIOD_2S, TimeUnit.MILLISECONDS)
.map((aLong -> aLong + 1))
.subscribeOn(Schedulers.io())
.observeOn(AndroidSchedulers.mainThread())
@@ -59,7 +59,7 @@ public class OCHTaxiModelLoopManager {
}
Logger.i(TAG, "startNewBookingOrderLoop()");
mNewBookingOrderDisposable = Observable.interval(OCHTaxiConst.LOOP_DELAY,
OCHTaxiConst.LOOP_PERIOD_1S, TimeUnit.MILLISECONDS,Schedulers.trampoline())
OCHTaxiConst.LOOP_PERIOD_1S, TimeUnit.MILLISECONDS)
.map((aLong -> aLong + 1))
.subscribeOn(Schedulers.io())
.observeOn(AndroidSchedulers.mainThread())
@@ -80,7 +80,7 @@ public class OCHTaxiModelLoopManager {
}
Logger.i(TAG, "startGrabResultLoop()");
mGrabResultDisposable = Observable.interval(OCHTaxiConst.LOOP_DELAY,
OCHTaxiConst.LOOP_PERIOD_1S, TimeUnit.MILLISECONDS,Schedulers.trampoline())
OCHTaxiConst.LOOP_PERIOD_1S, TimeUnit.MILLISECONDS)
.map((aLong -> aLong + 1))
.subscribeOn(Schedulers.io())
.observeOn(AndroidSchedulers.mainThread())
@@ -101,7 +101,7 @@ public class OCHTaxiModelLoopManager {
}
Logger.i(TAG, "startHeartbeatLoop()");
mHeartbeatDisposable = Observable.interval(OCHTaxiConst.LOOP_DELAY,
OCHTaxiConst.LOOP_PERIOD_60S, TimeUnit.MILLISECONDS,Schedulers.trampoline())
OCHTaxiConst.LOOP_PERIOD_60S, TimeUnit.MILLISECONDS)
.map((aLong -> aLong + 1))
.subscribeOn(Schedulers.io())
.observeOn(AndroidSchedulers.mainThread())

8
OCH/mogo-och-taxi/src/main/java/com/mogo/och/taxi/model/OCHTaxiModelLoopManager.java
View File

@@ -38,7 +38,7 @@ public class OCHTaxiModelLoopManager {
}
Logger.i(TAG, "startInAndWaitOrdersLoop()");
mInAndWaitServiceDisposable = Observable.interval(OCHTaxiConst.LOOP_DELAY,
OCHTaxiConst.LOOP_PERIOD_2S, TimeUnit.MILLISECONDS,Schedulers.trampoline())
OCHTaxiConst.LOOP_PERIOD_2S, TimeUnit.MILLISECONDS)
.map((aLong -> aLong + 1))
.subscribeOn(Schedulers.io())
.observeOn(AndroidSchedulers.mainThread())
@@ -59,7 +59,7 @@ public class OCHTaxiModelLoopManager {
}
Logger.i(TAG, "startNewBookingOrderLoop()");
mNewBookingOrderDisposable = Observable.interval(OCHTaxiConst.LOOP_DELAY,
OCHTaxiConst.LOOP_PERIOD_1S, TimeUnit.MILLISECONDS,Schedulers.trampoline())
OCHTaxiConst.LOOP_PERIOD_1S, TimeUnit.MILLISECONDS)
.map((aLong -> aLong + 1))
.subscribeOn(Schedulers.io())
.observeOn(AndroidSchedulers.mainThread())
@@ -80,7 +80,7 @@ public class OCHTaxiModelLoopManager {
}
Logger.i(TAG, "startGrabResultLoop()");
mGrabResultDisposable = Observable.interval(OCHTaxiConst.LOOP_DELAY,
OCHTaxiConst.LOOP_PERIOD_1S, TimeUnit.MILLISECONDS,Schedulers.trampoline())
OCHTaxiConst.LOOP_PERIOD_1S, TimeUnit.MILLISECONDS)
.map((aLong -> aLong + 1))
.subscribeOn(Schedulers.io())
.observeOn(AndroidSchedulers.mainThread())
@@ -101,7 +101,7 @@ public class OCHTaxiModelLoopManager {
}
Logger.i(TAG, "startHeartbeatLoop()");
mHeartbeatDisposable = Observable.interval(OCHTaxiConst.LOOP_DELAY,
OCHTaxiConst.LOOP_PERIOD_60S, TimeUnit.MILLISECONDS,Schedulers.trampoline())
OCHTaxiConst.LOOP_PERIOD_60S, TimeUnit.MILLISECONDS)
.map((aLong -> aLong + 1))
.subscribeOn(Schedulers.io())
.observeOn(AndroidSchedulers.mainThread())

1
ZD_README/README_VersionHistory.md
View File

@@ -63,7 +63,6 @@ callchatprovider : "com.mogo.module.carchatout:module-carchatting-pr
// V2X
moduleV2x : "com.mogo.module:module-v2x:${MOGO_COMMONS_VERSION}",
moduleADAS : "com.mogo.module:mogo-module-adas:${MOGO_COMMONS_VERSION}",
modulesearch : "com.mogo.module:module-search:${MOGO_COMMONS_VERSION}",
// push
modulepush : "com.mogo.module:module-push:${MOGO_COMMONS_VERSION}",

1
app/build.gradle
View File

@@ -7,7 +7,6 @@ apply plugin: 'bugly'
//apply ByteX宿主
if (!isAndroidTestBuild()) {
apply plugin: 'bytex'
ByteX {

57
app/src/androidTest/java/com/mogo/functions/test/KotlinCoroutineSchedulersTest.kt Normal file
View File

@@ -0,0 +1,57 @@
package com.mogo.functions.test
import androidx.lifecycle.coroutineScope
import androidx.test.core.app.ActivityScenario
import androidx.test.ext.junit.runners.AndroidJUnit4
import androidx.test.filters.LargeTest
import com.mogo.eagle.core.function.main.MainLauncherActivity
import kotlinx.coroutines.Dispatchers
import kotlinx.coroutines.delay
import kotlinx.coroutines.runBlocking
import kotlinx.coroutines.withContext
import org.junit.Before
import org.junit.Test
import org.junit.runner.RunWith
import java.util.concurrent.TimeUnit
@RunWith(AndroidJUnit4::class)
@LargeTest
class KotlinCoroutineSchedulersTest {
lateinit var launch: ActivityScenario<MainLauncherActivity>
@Before
fun before() {
launch = ActivityScenario.launch(MainLauncherActivity::class.java)
}
@Test
fun testKotlinCoroutineSchedulersIo() = runBlocking {
launch.onActivity {
it.lifecycle.coroutineScope.launchWhenCreated {
repeat(10) {
withContext(Dispatchers.IO) {
assert(Thread.currentThread().name.startsWith("io-pool-"))
}
delay(TimeUnit.SECONDS.toMillis(1))
}
}
}
delay(TimeUnit.SECONDS.toMillis(20))
}
@Test
fun testKotlinCoroutineSchedulersCpu() = runBlocking {
launch.onActivity {
it.lifecycle.coroutineScope.launchWhenCreated {
repeat(10) {
withContext(Dispatchers.Default) {
assert(Thread.currentThread().name.startsWith("cpu-pool-"))
}
delay(TimeUnit.SECONDS.toMillis(1))
}
}
}
delay(TimeUnit.SECONDS.toMillis(20))
}
}

76
app/src/androidTest/java/com/mogo/functions/test/RxJavaSchedulersTest.kt Normal file
View File

@@ -0,0 +1,76 @@
package com.mogo.functions.test
import androidx.test.core.app.ActivityScenario
import androidx.test.ext.junit.runners.AndroidJUnit4
import androidx.test.filters.LargeTest
import com.mogo.eagle.core.function.main.MainLauncherActivity
import io.reactivex.Observable
import io.reactivex.ObservableOnSubscribe
import io.reactivex.schedulers.Schedulers
import kotlinx.coroutines.delay
import kotlinx.coroutines.runBlocking
import org.junit.Before
import org.junit.Test
import org.junit.runner.RunWith
import java.util.concurrent.TimeUnit.SECONDS
@RunWith(AndroidJUnit4::class)
@LargeTest
class RxJavaSchedulersTest {
lateinit var launch: ActivityScenario<MainLauncherActivity>
@Before
fun before() {
launch = ActivityScenario.launch(MainLauncherActivity::class.java)
}
@Test
fun testRxJavaIoSchedulers() = runBlocking {
val list = mutableListOf<Int>()
for (i in 1..10) {
list += i
}
val result = Observable.fromIterable(list)
.doOnNext {
assert(Thread.currentThread().name.startsWith("io-pool-"))
}
.subscribeOn(Schedulers.io())
.reduce(0) { adder, toAdd ->
val sum = adder + toAdd
sum
}
.blockingGet()
assert(result == 55)
delay(SECONDS.toMillis(20))
}
@Test
fun testRxJavaCpuSchedulers() = runBlocking {
val result = Observable.create(ObservableOnSubscribe<Int> { emitter ->
for (i in 1..10) {
emitter.onNext(i)
}
assert(Thread.currentThread().name.startsWith("cpu-pool-"))
emitter.onComplete()
}).reduce(0) { adder, toAdd ->
adder + toAdd
}.subscribeOn(Schedulers.computation()).blockingGet()
assert(result == 55)
delay(SECONDS.toMillis(20))
}
@Test
fun testRxJavaIntervalSchedulers() = runBlocking {
var counter = 0
Observable.intervalRange(0, 10, 1, 1 ,SECONDS)
.doOnNext {
counter ++
}
.subscribe()
delay(SECONDS.toMillis(20))
assert(counter == 10)
}
}

2
build.gradle
View File

@@ -33,7 +33,7 @@ buildscript {
classpath "com.bytedance.android.byteX:base-plugin:0.3.0"
classpath "com.mogo.cloud:hook:${HOOK_LOG_VERSION}"
classpath 'com.volcengine:apm_insight_plugin:1.4.1'
classpath 'com.mogo.cloud:thread_opt:1.0.0'
classpath 'com.mogo.cloud:thread_opt:1.0.1'
classpath 'com.mogo.cloud:systrace:1.0.1'
classpath 'com.google.protobuf:protobuf-gradle-plugin:0.8.8'

1
config.gradle
View File

@@ -162,7 +162,6 @@ ext {
// V2X
moduleV2x : "com.mogo.module:module-v2x:${MOGO_MODULE_V2X_VERSION}",
moduleADAS : "com.mogo.module:mogo-module-adas:${MOGO_MODULE_ADAS_VERSION}",
modulesearch : "com.mogo.module:module-search:${MOGO_MODULE_SEARCH_VERSION}",
// push
modulepush : "com.mogo.module:module-push:${MOGO_MODULE_PUSH_VERSION}",

11
core/function-impl/mogo-core-function-autopilot/build.gradle
View File

@@ -51,16 +51,25 @@ dependencies {
kapt rootProject.ext.dependencies.aroutercompiler
// implementation rootProject.ext.dependencies.adasHigh
implementation rootProject.ext.dependencies.mogoami
if (Boolean.valueOf(USE_MAVEN_PACKAGE)) {
implementation rootProject.ext.dependencies.mogo_core_data
implementation rootProject.ext.dependencies.modulecommon
implementation rootProject.ext.dependencies.moduleservice
implementation rootProject.ext.dependencies.mogo_core_utils
implementation rootProject.ext.dependencies.mogo_core_network
implementation rootProject.ext.dependencies.mogo_core_function_api
implementation rootProject.ext.dependencies.mogo_core_function_call
implementation rootProject.ext.dependencies.adasHigh
} else {
implementation project(':modules:mogo-module-common')
implementation project(':modules:mogo-module-service')
implementation project(':core:mogo-core-data')
implementation project(':core:mogo-core-utils')
implementation project(':core:mogo-core-network')
implementation project(':core:mogo-core-function-api')
implementation project(':core:mogo-core-function-call')
implementation project(':libraries:mogo-adas')

30
core/function-impl/mogo-core-function-autopilot/src/main/java/com/mogo/eagle/core/function/autopilot/MoGoAutopilotProvider.kt
View File

@@ -6,13 +6,17 @@ import androidx.annotation.RequiresPermission
import com.alibaba.android.arouter.facade.annotation.Route
import com.mogo.eagle.core.data.autopilot.AutopilotControlCmdParameter
import com.mogo.eagle.core.data.autopilot.AutopilotControlParameters
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.function.api.autopilot.IMoGoAutopilotProvider
import com.mogo.eagle.core.function.autopilot.adapter.MoGoAdasListenerImpl
import com.mogo.eagle.core.function.autopilot.adapter.MoGoAdasMsgConnectStatusListenerImpl
import com.mogo.eagle.core.function.autopilot.adapter.MoGoHandAdasMsgManager
import com.mogo.eagle.core.function.autopilot.server.AsyncDataToAutopilotServer
import com.mogo.eagle.core.utilcode.mogo.logger.Logger
import com.mogo.eagle.core.utilcode.mogo.storage.SharedPrefsMgr
import com.mogo.eagle.core.utilcode.util.GsonUtils
import com.mogo.eagle.core.utilcode.util.LogUtils
import com.mogo.eagle.core.utilcode.util.ThreadUtils
import com.zhidao.support.adas.high.AdasManager
import com.zhidao.support.adas.high.bean.IPCUpgradeInfo
@@ -34,9 +38,27 @@ class MoGoAutopilotProvider :
get() = TAG
override fun init(context: Context) {
MoGoHandAdasMsgManager.getInstance();
Logger.d(TAG, "初始化工控机连接……")
mContext = context
// 初始化ADAS 域控制器
//AdasManager.getInstance().create(context)
CupidLogUtils.setEnableLog(false)
CupidLogUtils.setIsWriteLog(false)
// TODO 临时方案，根据不同的身份标识，连接不同的工控机IP
when (FunctionBuildConfig.appIdentityMode) {
0 -> // 司机
AdasManager.getInstance().create(context, "192.168.1.102")
1 -> // 乘客
AdasManager.getInstance().create(context, "192.168.1.103")
else -> // 默认采用UDP寻址方式
AdasManager.getInstance().create(context)
}
//////////////////////////////////注意先后顺序，AdasManager.getInstance().create后才可以设置监听/////////////////////////////////////////////
// 监听 adas 连接状态
AdasManager.getInstance().setOnAdasConnectStatusListener(MoGoAdasMsgConnectStatusListenerImpl())
// 监听ADAS-SDK获取到的工控机数据
AdasManager.getInstance().setOnAdasListener(MoGoAdasListenerImpl())
// 同步数据给工控机的服务
AsyncDataToAutopilotServer.INSTANCE.initServer()
}
@@ -72,7 +94,7 @@ class MoGoAutopilotProvider :
val parameter = AutopilotControlCmdParameter("aiCloudToStartAutopilot", result)
AdasManager.getInstance().aiCloudToAdasData(GsonUtils.toJson(parameter))
} else {
LogUtils.eTag(TAG, "车机与工控机链接失败，无法开启自动驾驶")
Logger.e(TAG, "车机与工控机链接失败，无法开启自动驾驶")
}
}
@@ -84,7 +106,7 @@ class MoGoAutopilotProvider :
if (AdasManager.getInstance().isSocketConnect) {
AdasManager.getInstance().controlAutopilotCarHead()
} else {
LogUtils.eTag(TAG, "车机与工控机链接失败，无法断开自动驾驶")
Logger.e(TAG, "车机与工控机链接失败，无法断开自动驾驶")
}
}

106
modules/mogo-module-adas/src/main/java/com/mogo/module/adas/OnAdasListenerAdapter.java → core/function-impl/mogo-core-function-autopilot/src/main/java/com/mogo/eagle/core/function/autopilot/adapter/MoGoAdasListenerImpl.java
View File

@@ -1,4 +1,4 @@
package com.mogo.module.adas;
package com.mogo.eagle.core.function.autopilot.adapter;
import static com.mogo.eagle.core.data.chain.ChainConstant.CHAIN_ALIAS_CODE_ADAS_MESSAGE_AUTOPILOT_ARRIVE;
import static com.mogo.eagle.core.data.chain.ChainConstant.CHAIN_ALIAS_CODE_ADAS_MESSAGE_AUTOPILOT_GUARDIAN;
@@ -13,6 +13,8 @@ import static com.mogo.eagle.core.data.chain.ChainConstant.CHAIN_LINK_ADAS;
import android.util.Log;
import androidx.annotation.Nullable;
import com.mogo.eagle.core.data.autopilot.ADASTrajectoryInfo;
import com.mogo.eagle.core.data.autopilot.AutoPilotRecordResult;
import com.mogo.eagle.core.data.autopilot.AutopilotCarStateInfo;
@@ -23,12 +25,17 @@ import com.mogo.eagle.core.data.autopilot.AutopilotStatusInfo;
import com.mogo.eagle.core.data.autopilot.AutopilotWarnMessage;
import com.mogo.eagle.core.data.config.HdMapBuildConfig;
import com.mogo.eagle.core.data.traffic.TrafficData;
import com.mogo.eagle.core.function.autopilot.utils.AdasObjectConvertUtils;
import com.mogo.eagle.core.function.call.autopilot.CallerAutoPilotStatusListenerManager;
import com.mogo.eagle.core.function.call.autopilot.CallerAutopilotCarStatusListenerManager;
import com.mogo.eagle.core.function.call.autopilot.CallerAutopilotIdentifyListenerManager;
import com.mogo.eagle.core.function.call.autopilot.CallerAutopilotPlanningListenerManager;
import com.mogo.eagle.core.function.call.hmi.CallerHmiManager;
import com.mogo.eagle.core.utilcode.mogo.logger.Logger;
import com.mogo.module.common.MogoApisHandler;
import com.mogo.module.common.datacenter.SnapshotLocationDataCenter;
import com.mogo.module.service.MarkerServiceHandler;
import com.mogo.module.service.timedelay.TimeDelayUploadManager;
import com.zhidao.support.adas.high.AdasManager;
import com.zhidao.support.adas.high.OnAdasListener;
import com.zhidao.support.adas.high.bean.AutopilotRoute;
@@ -49,6 +56,8 @@ import com.zhidao.support.obu.ami.AmiClientManager;
import com.zhjt.service.chain.ChainLog;
import com.zhjt.service.chain.TracingConstants;
import org.json.JSONObject;
import java.util.ArrayList;
import java.util.List;
@@ -58,7 +67,7 @@ import java.util.List;
* <p>
* 适配ADAS 回调监听分发
*/
public class OnAdasListenerAdapter implements OnAdasListener {
public class MoGoAdasListenerImpl implements OnAdasListener {
private final String TAG = "OnAdasListenerAdapter";
@ChainLog(linkCode = CHAIN_LINK_ADAS,
@@ -69,7 +78,7 @@ public class OnAdasListenerAdapter implements OnAdasListener {
@Override
public void onRectData(RectInfo rectInfo) {
if (HdMapBuildConfig.isMapLoaded) {
ArrayList<TrafficData> recognizedListResults = AdasObjectUtils.INSTANCE.regroupTrafficDataData(rectInfo.getModels());
ArrayList<TrafficData> recognizedListResults = AdasObjectConvertUtils.INSTANCE.regroupTrafficDataData(rectInfo.getModels());
CallerAutopilotIdentifyListenerManager.INSTANCE.invokeAutopilotIdentifyDataUpdate(recognizedListResults);
}
}
@@ -86,24 +95,75 @@ public class OnAdasListenerAdapter implements OnAdasListener {
//can数据转发
CarStateInfo.ValuesBean bean = carStateInfo.getValues();
// Log.w("DHY-location", bean.getLon() + "," + bean.getLat() + " OnAdasListenerAdapter-onCarStateData：");
if (bean != null) {
int turnLight = bean.getTurnLightOften(); //转向灯状态 0是正常 1是左转 2是右转
AmiClientManager.getInstance().setTurnLightState(turnLight);
int brakeLight = bean.getBrake_light(); //TODO
// Logger.d(TAG, "onCarStateData ---- turnLight = " + turnLight + "---brakeLight = " + brakeLight);
//设置转向灯
CallerHmiManager.INSTANCE.showTurnLight(turnLight);
//设置刹车信息
CallerHmiManager.INSTANCE.showBrakeLight(brakeLight);
} else {
Logger.e(TAG, "bean == null ");
}
AutopilotCarStateInfo autopilotCarStateInfo = AdasObjectUtils.INSTANCE.fromAdasCarStateInfoObject(carStateInfo);
AutopilotCarStateInfo autopilotCarStateInfo = AdasObjectConvertUtils.INSTANCE.fromAdasCarStateInfoObject(carStateInfo);
// 将数据通过数据中心分发出去
CallerAutopilotCarStatusListenerManager.INSTANCE.invokeAutopilotCarStateData(autopilotCarStateInfo);
// 同步给MAP地图
adasCarDataCallback(autopilotCarStateInfo);
}
}
public void adasCarDataCallback(@Nullable AutopilotCarStateInfo stateInfo) {
//模拟数据时，不更新由工控机传输的自车位置
if (TimeDelayUploadManager.getInstance().isMock()) {
return;
}
if (stateInfo != null && stateInfo.getValues() != null) {
//Logger.d(TAG,"同步自车数据给地图……");
MogoApisHandler.getInstance().getApis().getAdasControllerApi().setLastLat(stateInfo.getValues().getLat());
MogoApisHandler.getInstance().getApis().getAdasControllerApi().setLastLon(stateInfo.getValues().getLon());
MogoApisHandler.getInstance().getApis().getAdasControllerApi().setSatelliteTime(stateInfo.getValues().getSatelliteTime());
JSONObject data = new JSONObject();
try {
data.putOpt("lon", stateInfo.getValues().getLon());
data.putOpt("lat", stateInfo.getValues().getLat());
data.putOpt("alt", stateInfo.getValues().getAlt());
data.putOpt("speed", stateInfo.getValues().getGnss_speed());
data.putOpt("heading", stateInfo.getValues().getHeading());
data.putOpt("acceleration", stateInfo.getValues().getAcceleration());
data.putOpt("yawRate", stateInfo.getValues().getYaw_rate());
data.putOpt("gpsProvider", 1);
try {
data.putOpt("systemTime", Long.parseLong(stateInfo.getValues().getSystemTime()));
} catch (Exception e) {
// e.printStackTrace();
}
try {
data.putOpt("satelliteTime", Long.parseLong(stateInfo.getValues().getSatelliteTime()));
} catch (Exception e) {
e.printStackTrace();
}
try {
data.putOpt("receiverDataTime", Long.parseLong(stateInfo.getValues().getReceiverDataTime()));
} catch (Exception e) {
// e.printStackTrace();
}
try {
data.putOpt("adasSatelliteTime", Long.parseLong(stateInfo.getValues().getAdasSatelliteTime()));
} catch (Exception e) {
// e.printStackTrace();
}
MarkerServiceHandler.getApis().getMapServiceApi().getMapUIController().syncLocation2Map(data);
SnapshotLocationDataCenter.getInstance().syncAdasLocationInfo(data);
} catch (Exception e) {
e.printStackTrace();
}
}
}
@@ -170,7 +230,7 @@ public class OnAdasListenerAdapter implements OnAdasListener {
public void onAutopilotRoute(AutopilotRoute route) {
if (HdMapBuildConfig.isMapLoaded) {
Logger.d(TAG, "onAutopilotRoute : " + route.toString());
AutopilotRouteInfo autopilotRoute = AdasObjectUtils.INSTANCE.fromAdasAutopilotRoute(route);
AutopilotRouteInfo autopilotRoute = AdasObjectConvertUtils.INSTANCE.fromAdasAutopilotRoute(route);
CallerAutopilotPlanningListenerManager.INSTANCE.invokeAutopilotRotting(autopilotRoute);
}
}
@@ -218,7 +278,7 @@ public class OnAdasListenerAdapter implements OnAdasListener {
@Override
public void onAutopilotGuardian(AutopilotGuardianInfo guardianInfo) {
if (HdMapBuildConfig.isMapLoaded) {
AutopilotGuardianStatusInfo autopilotRoute = AdasObjectUtils.INSTANCE.fromAutopilotGuardianInfo(guardianInfo);
AutopilotGuardianStatusInfo autopilotRoute = AdasObjectConvertUtils.INSTANCE.fromAutopilotGuardianInfo(guardianInfo);
CallerAutoPilotStatusListenerManager.INSTANCE.invokeAutopilotGuardian(autopilotRoute);
}
}
@@ -269,7 +329,7 @@ public class OnAdasListenerAdapter implements OnAdasListener {
clientPkFileName = "sn")
@Override
public void onWarnMessage(WarnMessageInfo warnMessageInfo) {
final AutopilotWarnMessage warnMessage = AdasObjectUtils.INSTANCE.fromAdasObject(warnMessageInfo);
final AutopilotWarnMessage warnMessage = AdasObjectConvertUtils.INSTANCE.fromAdasObject(warnMessageInfo);
CallerAutopilotIdentifyListenerManager.INSTANCE.invokeAutopilotWarnMessage(warnMessage);
}
@@ -285,18 +345,18 @@ public class OnAdasListenerAdapter implements OnAdasListener {
*/
@Override
public void onUpgradeStateInfo(IPCUpgradeStateInfo info) {
if(info != null){
Logger.d(TAG,"onUpgradeStateInfo "+
" upgrade mode="+info.getUpgradeMode()+
" download status="+info.getDownloadStatus()+
" download progress current="+info.getProgress().getCurrent()+
" download progress total="+info.getProgress().getTotal()+
" download version="+info.getImages()+
" upgrade status="+info.getUpgradeStatus());
CallerHmiManager.INSTANCE.showAdUpgradeStatus(info.getUpgradeMode(),info.getDownloadStatus(),info.getProgress().getCurrent(),
info.getProgress().getTotal(),info.getImages(),info.getUpgradeStatus());
}else{
Logger.d(TAG,"onUpgradeStateInfo : upgrade state info is null");
if (info != null) {
Logger.d(TAG, "onUpgradeStateInfo " +
" upgrade mode=" + info.getUpgradeMode() +
" download status=" + info.getDownloadStatus() +
" download progress current=" + info.getProgress().getCurrent() +
" download progress total=" + info.getProgress().getTotal() +
" download version=" + info.getImages() +
" upgrade status=" + info.getUpgradeStatus());
CallerHmiManager.INSTANCE.showAdUpgradeStatus(info.getUpgradeMode(), info.getDownloadStatus(), info.getProgress().getCurrent(),
info.getProgress().getTotal(), info.getImages(), info.getUpgradeStatus());
} else {
Logger.d(TAG, "onUpgradeStateInfo : upgrade state info is null");
}
}

100
core/function-impl/mogo-core-function-autopilot/src/main/java/com/mogo/eagle/core/function/autopilot/adapter/MoGoAdasMsgConnectStatusListenerImpl.kt Normal file
View File

@@ -0,0 +1,100 @@
package com.mogo.eagle.core.function.autopilot.adapter
import com.mogo.cloud.passport.MoGoAiCloudClientConfig
import com.mogo.eagle.core.data.autopilot.AutopilotStationInfo
import com.mogo.eagle.core.data.autopilot.AutopilotStatusInfo
import com.mogo.eagle.core.function.api.autopilot.IMoGoAutopilotStatusListener
import com.mogo.eagle.core.function.autopilot.network.AdasServiceModel
import com.mogo.eagle.core.function.call.autopilot.CallerAutoPilotStatusListenerManager
import com.mogo.eagle.core.utilcode.mogo.logger.Logger
import com.zhidao.support.adas.high.AdasManager
import com.zhidao.support.adas.high.OnAdasMsgConnectStatusListener
import com.zhidao.support.adas.high.bean.BasicInfo
import io.reactivex.Flowable
import io.reactivex.android.schedulers.AndroidSchedulers
import io.reactivex.schedulers.Schedulers
import java.util.concurrent.TimeUnit
/**
* ADAS-SDK与工控机连接状态回调
*
* @author donghongyu
*/
class MoGoAdasMsgConnectStatusListenerImpl : OnAdasMsgConnectStatusListener, IMoGoAutopilotStatusListener {
private val TAG = "MoGoAdasMsgConnectStatusListenerImpl"
//自动驾驶状态
private var mCurrentAutopilotStatus = -1
//自动驾驶车速度
private var mCurrentAutopilotSpeed = 0f
override fun onWebSocketConnectSuccess() {
Logger.d(TAG, "webSocket 连接成功")
// 初始化自动驾驶状态信息
CallerAutoPilotStatusListenerManager.getAutoPilotStatusInfo().connectIP = AdasManager.getInstance().adasConfig.address
CallerAutoPilotStatusListenerManager.getAutoPilotStatusInfo().connectStatus = true
CallerAutoPilotStatusListenerManager.invokeAutoPilotStatus()
// 同步SN给工控机
syncBasicInfoToAutopilot()
// 开启轮训上传自动驾驶状态
updateDriveStatusTask()
}
override fun onWebSocketConnectFailed(reason: String) {
Logger.d(TAG, "webSocket 连接失败 reason:$reason")
CallerAutoPilotStatusListenerManager.getAutoPilotStatusInfo().connectIP = AdasManager.getInstance().adasConfig.address
CallerAutoPilotStatusListenerManager.getAutoPilotStatusInfo().connectStatus = false
CallerAutoPilotStatusListenerManager.invokeAutoPilotStatus()
}
/**
* 工控机获取SN
*/
override fun onAutopilotSNRequest() {
syncBasicInfoToAutopilot()
}
override fun onAutopilotArriveAtStation(autopilotWayArrive: AutopilotStationInfo?) {
if (autopilotWayArrive != null) {
val lon = autopilotWayArrive.lon
val lat = autopilotWayArrive.lat
AdasServiceModel.getInstance().reportSite(lon, lat)
}
}
override fun onAutopilotStatusResponse(autoPilotStatusInfo: AutopilotStatusInfo) {
val state = autoPilotStatusInfo.state
val speed = autoPilotStatusInfo.speed
mCurrentAutopilotStatus = state
mCurrentAutopilotSpeed = speed
}
/**
* 同步SN信息给工控机
*/
private fun syncBasicInfoToAutopilot() {
Logger.d(TAG, "同步PAD的SN给工控机……")
val info = BasicInfo()
info.setSn(MoGoAiCloudClientConfig.getInstance().sn)
AdasManager.getInstance().setBasicInfo(info)
}
/**
* 上传自动驾驶状态任务
*/
private fun updateDriveStatusTask() {
Logger.d(TAG, "updateDriveStatusTask")
Flowable.interval(0, 5, TimeUnit.SECONDS)
.subscribeOn(Schedulers.io())
.unsubscribeOn(Schedulers.io())
.observeOn(AndroidSchedulers.mainThread())
.subscribe { aLong: Long? ->
AdasServiceModel.getInstance().updateDriveStatus(mCurrentAutopilotStatus, mCurrentAutopilotSpeed)
}
}
}

38
core/function-impl/mogo-core-function-autopilot/src/main/java/com/mogo/eagle/core/function/autopilot/adapter/MoGoAutopilotStatusListenerImpl.java
View File

@@ -1,38 +0,0 @@
package com.mogo.eagle.core.function.autopilot.adapter;
import androidx.annotation.NonNull;
import androidx.annotation.Nullable;
import com.mogo.eagle.core.data.autopilot.AutopilotGuardianStatusInfo;
import com.mogo.eagle.core.data.autopilot.AutopilotStationInfo;
import com.mogo.eagle.core.data.autopilot.AutopilotStatusInfo;
import com.mogo.eagle.core.function.api.autopilot.IMoGoAutopilotStatusListener;
/**
* @author xiaoyuzhou
* @date 2021/10/20 1:02 下午
* 自动驾驶状态回调用
*/
public class MoGoAutopilotStatusListenerImpl implements IMoGoAutopilotStatusListener {
@Override
public void onAutopilotStatusResponse(@NonNull AutopilotStatusInfo autoPilotStatusInfo) {
}
@Override
public void onAutopilotArriveAtStation(@Nullable AutopilotStationInfo autopilotWayArrive) {
}
@Override
public void onAutopilotSNRequest() {
}
@Override
public void onAutopilotGuardian(@Nullable AutopilotGuardianStatusInfo guardianInfo) {
}
}

83
core/function-impl/mogo-core-function-autopilot/src/main/java/com/mogo/eagle/core/function/autopilot/adapter/MoGoHandAdasMsgManager.java Normal file
View File

@@ -0,0 +1,83 @@
package com.mogo.eagle.core.function.autopilot.adapter;
import androidx.annotation.Nullable;
import com.mogo.eagle.core.data.autopilot.AutoPilotRecordResult;
import com.mogo.eagle.core.data.autopilot.AutopilotCarStateInfo;
import com.mogo.eagle.core.data.autopilot.AutopilotWarnMessage;
import com.mogo.eagle.core.data.config.FunctionBuildConfig;
import com.mogo.eagle.core.data.traffic.TrafficData;
import com.mogo.eagle.core.function.api.autopilot.IMoGoAutopilotCarStateListener;
import com.mogo.eagle.core.function.api.autopilot.IMoGoAutopilotIdentifyListener;
import com.mogo.eagle.core.function.call.autopilot.CallerAutopilotCarStatusListenerManager;
import com.mogo.eagle.core.function.call.autopilot.CallerAutopilotIdentifyListenerManager;
import com.mogo.eagle.core.utilcode.util.ThreadUtils;
import com.mogo.module.common.drawer.IdentifyDataDrawer;
import com.zhidao.support.obu.ami.AmiClientManager;
import java.util.ArrayList;
public class MoGoHandAdasMsgManager implements
IMoGoAutopilotIdentifyListener,
IMoGoAutopilotCarStateListener {
private final String TAG = "AdasEventManager";
private static volatile MoGoHandAdasMsgManager moGoHandAdasMsgManager;
private MoGoHandAdasMsgManager() {
CallerAutopilotIdentifyListenerManager.INSTANCE.addListener(TAG, this);
CallerAutopilotCarStatusListenerManager.INSTANCE.addListener(TAG, this);
}
public static MoGoHandAdasMsgManager getInstance() {
if (moGoHandAdasMsgManager == null) {
synchronized (MoGoHandAdasMsgManager.class) {
if (moGoHandAdasMsgManager == null) {
moGoHandAdasMsgManager = new MoGoHandAdasMsgManager();
}
}
}
return moGoHandAdasMsgManager;
}
@Override
public void onAutopilotCarStateData(@Nullable AutopilotCarStateInfo autoPilotCarStateInfo) {
// 获取的自动驾驶车辆信息不是空的时候
if (autoPilotCarStateInfo != null) {
//can数据转发
AutopilotCarStateInfo.ValuesBean bean = autoPilotCarStateInfo.getValues();
if (bean != null) {
//转向灯状态 0是正常 1是左转 2是右转
int turnLight = bean.getTurn_light();
AmiClientManager.getInstance().setTurnLightState(turnLight);
}
}
}
@Override
public void onAutopilotIdentifyDataUpdate(@Nullable ArrayList<TrafficData> trafficData) {
try {
if (FunctionBuildConfig.isDrawIdentifyData) {
ThreadUtils.getSinglePool().execute(() ->
IdentifyDataDrawer.getInstance().renderAdasRecognizedResult(trafficData)
);
}
} catch (Exception e) {
e.printStackTrace();
}
}
@Override
public void onAutopilotWarnMessage(@Nullable AutopilotWarnMessage autopilotWarnMessage) {
}
@Override
public void onAutopilotRecordResult(AutoPilotRecordResult result) {
}
}

2
modules/mogo-module-adas/src/main/java/com/mogo/module/adas/entity/AutonomousDriveStatusBean.java → core/function-impl/mogo-core-function-autopilot/src/main/java/com/mogo/eagle/core/function/autopilot/entity/AutonomousDriveStatusBean.java
View File

@@ -1,4 +1,4 @@
package com.mogo.module.adas.entity;
package com.mogo.eagle.core.function.autopilot.entity;
/**
* Created by XuYong on 2021/5/28 16:12

2
modules/mogo-module-adas/src/main/java/com/mogo/module/adas/entity/ReportSiteBean.java → core/function-impl/mogo-core-function-autopilot/src/main/java/com/mogo/eagle/core/function/autopilot/entity/ReportSiteBean.java
View File

@@ -1,4 +1,4 @@
package com.mogo.module.adas.entity;
package com.mogo.eagle.core.function.autopilot.entity;
/**
* Created by XuYong on 2021/5/31 16:24

23
modules/mogo-module-adas/src/main/java/com/mogo/module/adas/model/AdasServiceModel.java → core/function-impl/mogo-core-function-autopilot/src/main/java/com/mogo/eagle/core/function/autopilot/network/AdasServiceModel.java
View File

@@ -1,24 +1,27 @@
package com.mogo.module.adas.model;
package com.mogo.eagle.core.function.autopilot.network;
import com.mogo.cloud.passport.MoGoAiCloudClientConfig;
import com.mogo.commons.context.ContextHolderUtil;
import com.mogo.eagle.core.data.BaseData;
import com.mogo.eagle.core.function.autopilot.entity.AutonomousDriveStatusBean;
import com.mogo.eagle.core.function.autopilot.entity.ReportSiteBean;
import com.mogo.eagle.core.network.RequestOptions;
import com.mogo.eagle.core.network.SubscribeImpl;
import com.mogo.eagle.core.network.utils.GsonUtil;
import com.mogo.eagle.core.utilcode.mogo.logger.Logger;
import com.mogo.module.adas.entity.AutonomousDriveStatusBean;
import com.mogo.module.adas.entity.ReportSiteBean;
import com.mogo.module.adas.network.IAdasApiService;
import com.mogo.module.common.MogoApisHandler;
import com.mogo.module.common.constants.HostConst;
import io.reactivex.android.schedulers.AndroidSchedulers;
import io.reactivex.schedulers.Schedulers;
import okhttp3.MediaType;
import okhttp3.RequestBody;
import static com.mogo.commons.context.ContextHolderUtil.getContext;
import static com.mogo.module.common.constants.HostConst.DATA_SERVICE_HOST;
/**
* 将自动驾驶状态及站点信息上传给云平台，云平台会根据此数据做路线的绘制
*
* @author dongghongyu
*/
public class AdasServiceModel {
private static final String TAG = "AdasServiceModel";
@@ -28,7 +31,7 @@ public class AdasServiceModel {
private final IAdasApiService mAdasApiService;
private AdasServiceModel() {
this.mAdasApiService = MogoApisHandler.getInstance().getApis().getNetworkApi().create(IAdasApiService.class, DATA_SERVICE_HOST);
this.mAdasApiService = MogoApisHandler.getInstance().getApis().getNetworkApi().create(IAdasApiService.class, HostConst.DATA_SERVICE_HOST);
}
public static AdasServiceModel getInstance() {
@@ -48,7 +51,7 @@ public class AdasServiceModel {
RequestBody requestBody = RequestBody.create(MediaType.get("application/json;charset=UTF-8"), GsonUtil.jsonFromObject(request));
mAdasApiService.updateAutonomousDriveStatus(requestBody).
subscribeOn(Schedulers.io()).observeOn(AndroidSchedulers.mainThread())
.subscribe(new SubscribeImpl<BaseData>(RequestOptions.create(getContext())) {
.subscribe(new SubscribeImpl<BaseData>(RequestOptions.create(ContextHolderUtil.getContext())) {
@Override
public void onError(String message, int code) {
super.onError(message, code);
@@ -73,7 +76,7 @@ public class AdasServiceModel {
RequestBody requestBody = RequestBody.create(MediaType.get("application/json;charset=UTF-8"), GsonUtil.jsonFromObject(reportSiteBean));
mAdasApiService.updateReportSite(requestBody).
subscribeOn(Schedulers.io()).observeOn(AndroidSchedulers.mainThread())
.subscribe(new SubscribeImpl<BaseData>(RequestOptions.create(getContext())) {
.subscribe(new SubscribeImpl<BaseData>(RequestOptions.create(ContextHolderUtil.getContext())) {
@Override
public void onError(String message, int code) {
super.onError(message, code);

2
modules/mogo-module-adas/src/main/java/com/mogo/module/adas/network/IAdasApiService.java → core/function-impl/mogo-core-function-autopilot/src/main/java/com/mogo/eagle/core/function/autopilot/network/IAdasApiService.java
View File

@@ -1,4 +1,4 @@
package com.mogo.module.adas.network;
package com.mogo.eagle.core.function.autopilot.network;
import com.mogo.eagle.core.data.BaseData;

94
core/function-impl/mogo-core-function-autopilot/src/main/java/com/mogo/eagle/core/function/autopilot/utils/AdasObjectConvertUtils.kt
View File

@@ -1,10 +1,102 @@
package com.mogo.eagle.core.function.autopilot.utils
import com.mogo.eagle.core.data.autopilot.AutopilotCarStateInfo
import com.mogo.eagle.core.data.autopilot.AutopilotGuardianStatusInfo
import com.mogo.eagle.core.data.autopilot.AutopilotRouteInfo
import com.mogo.eagle.core.data.autopilot.AutopilotWarnMessage
import com.mogo.eagle.core.data.enums.TrafficTypeEnum
import com.mogo.eagle.core.data.traffic.TrafficData
import com.zhidao.support.adas.high.bean.AutopilotRoute
import com.zhidao.support.adas.high.bean.CarStateInfo
import com.zhidao.support.adas.high.bean.RectInfo
import com.zhidao.support.adas.high.bean.WarnMessageInfo
import com.zhidao.support.adas.high.bean.guardian.AutopilotGuardianInfo
import com.zhidao.utils.common.GsonUtil
/**
* @author xiaoyuzhou
* @date 2021/10/18 1:32 下午
*/
class AdasObjectConvertUtils {
object AdasObjectConvertUtils {
val TAG = "AdasObjectConvertUtils"
fun fromAutopilotGuardianInfo(autopilotGuardianInfo: AutopilotGuardianInfo): AutopilotGuardianStatusInfo? {
return GsonUtil.objectFromJson(
GsonUtil.jsonFromObject(autopilotGuardianInfo),
AutopilotGuardianStatusInfo::class.java
)
}
fun fromAdasAutopilotRoute(carStateInfo: AutopilotRoute): AutopilotRouteInfo? {
return GsonUtil.objectFromJson(
GsonUtil.jsonFromObject(carStateInfo),
AutopilotRouteInfo::class.java
)
}
fun fromAdasCarStateInfoObject(carStateInfo: CarStateInfo): AutopilotCarStateInfo? {
return GsonUtil.objectFromJson(
GsonUtil.jsonFromObject(carStateInfo),
AutopilotCarStateInfo::class.java
)
}
fun fromAdasObject(info: WarnMessageInfo?): AutopilotWarnMessage? {
if (info == null) {
return null
}
val warnMessage = AutopilotWarnMessage()
warnMessage.content = info.content
warnMessage.level = info.level
try {
warnMessage.type = info.type.toInt()
} catch (e: NumberFormatException) {
return null
}
warnMessage.value = info.value
return warnMessage
}
fun regroupTrafficDataData(datums: List<RectInfo.RectBean?>?): ArrayList<TrafficData>? {
if (datums == null || datums.isEmpty()) {
return null
}
val recognizedListResults: ArrayList<TrafficData> = ArrayList()
for (model in datums) {
if (model == null) {
continue
}
val recognizedListResult = fromAdasTrafficDataObject(model)
if (recognizedListResult != null) {
recognizedListResults.add(recognizedListResult)
}
}
return recognizedListResults
}
fun fromAdasTrafficDataObject(model: RectInfo.RectBean?): TrafficData? {
if (model == null) {
return null
}
val result = TrafficData()
result.uuid = model.uuid
result.lat = model.lat
result.lon = model.lon
result.type = TrafficTypeEnum.getType(model.type.toInt())
result.heading = model.heading
result.systemTime = model.systemTime.toLong()
result.satelliteTime = model.satelliteTime.toLong()
result.alt = model.alt
result.speed = model.speed
result.carId = model.carId
result.dataAccuracy = model.dataAccuracy
result.distance = model.distance
result.threatLevel = model.drawlevel
//Log.d(TAG, "TrafficData = $result")
return result
}
}

2
core/function-impl/mogo-core-function-main/build.gradle
View File

@@ -70,7 +70,6 @@ dependencies {
api rootProject.ext.dependencies.mogoservice
api rootProject.ext.dependencies.moduleshare
api rootProject.ext.dependencies.moduleextensions
api rootProject.ext.dependencies.moduleADAS
api rootProject.ext.dependencies.callchat
api rootProject.ext.dependencies.callchatprovider
api rootProject.ext.dependencies.mapcustom
@@ -98,7 +97,6 @@ dependencies {
api project(':modules:mogo-module-common')
api project(':modules:mogo-module-service')
api project(':modules:mogo-module-extensions')
api project(':modules:mogo-module-adas')
api project(':modules:mogo-module-carchatting')
api project(':modules:mogo-module-carchattingprovider')
api project(':libraries:map-custom')

2
core/function-impl/mogo-core-function-main/src/main/java/com/mogo/eagle/core/function/main/MainMoGoApplication.java
View File

@@ -328,8 +328,6 @@ public abstract class MainMoGoApplication extends AbsMogoApplication {
MogoModulePaths.addBaseModule(new MogoModule(MogoServicePaths.PATH_CHECK, "CheckProvider"));
// 推送模块
MogoModulePaths.addModule(new MogoModule(PushUIConstants.PATH, "PUSH_UI"));
// ADAS模块（旧，慢慢被 域控制器模块 替换掉）
MogoModulePaths.addBaseModule(new MogoModule(MogoServicePaths.PATH_ADAS, "AdasProvider"));
if (!DebugConfig.isLauncher()) {
PersistentManager

69
core/function-impl/mogo-core-function-v2x/src/main/java/com/mogo/eagle/core/function/v2x/events/manager/IMoGoV2XMarkerManager.java
View File

@@ -43,75 +43,6 @@ public interface IMoGoV2XMarkerManager extends IProvider {
*/
void analysisV2XRoadEvent(V2XMarkerCardResult markerCardResult);
/**
* 绘制V2X 地图点事件
*
* @param markerCardResult 大而全中过滤出来的点事件
*/
void drawableV2XMarker(MarkerCardResult markerCardResult);
/**
* 绘制 在线车辆 POI
*
* @param markerOnlineCars
* @param clickListener
*/
void drawableOnlineCarPOI(List<MarkerOnlineCar> markerOnlineCars, IMogoMarkerClickListener clickListener);
/**
* 清除 在线车辆 POI
*/
void clearOnlineCarPOI();
/**
* 绘制可以直播的在线车辆
*
* @param markerOnlineCars
* @param clickListener
*/
void drawableLiveCarPOI(List<MarkerOnlineCar> markerOnlineCars, IMogoMarkerClickListener clickListener);
/**
* 清除 可以直播的在线车辆 POI
*/
void clearLiveCarPOI();
/**
* 绘制 探路
*
* @param exploreWayList
* @param clickListener
*/
void drawableExplorePOI(List<MarkerExploreWay> exploreWayList, IMogoMarkerClickListener clickListener);
/**
* 清除 探路 POI
*/
void clearExplorePOI();
/**
* 绘制 新鲜事儿
*
* @param noveltyInfoList
* @param clickListener
*/
void drawableNoveltyPOI(List<MarkerNoveltyInfo> noveltyInfoList, IMogoMarkerClickListener clickListener);
/**
* 清除 新鲜事儿 POI
*/
void clearNoveltyPOI();
/**
* 绘制Marker，上面调用的都是这个方法
*
* @param context
* @param markerShowEntity
* @param clickListener
*/
void drawableMarker(Context context, MarkerShowEntity markerShowEntity, IMogoMarkerClickListener clickListener);
/**
* 展开气泡

84
core/function-impl/mogo-core-function-v2x/src/main/java/com/mogo/eagle/core/function/v2x/events/manager/IMoGoV2XStatusManager.java
View File

@@ -25,58 +25,16 @@ public interface IMoGoV2XStatusManager extends IProvider {
*/
boolean isRoadEventWindowShow();
/**
* 头部 V2X的道路直播 UI 是否在展示
*/
boolean isRoadLiveCarWindowShow();
/**
* 头部 他人车辆故障求助 UI 是否在展示
*/
boolean isOtherSeekHelpWindowShow();
/**
* 地图区域 自身的道路求助按钮 是否在展示
*/
boolean isMeSeekHelpButtonShow();
/**
* 地图区域 他人车辆故障求助POI 是否在展示
*/
boolean isOtherSeekHelpPOIShow();
/**
* 前瞻需求
* 右侧2/3 V2X 场景动画 UI 是否在展示
*/
boolean isV2XAnimationShow();
/**
* 前瞻需求
* 右侧2/3 左下角 模拟直播车机 UI 是否在展示
*/
boolean isLeftLiveVideoShow();
/**
* 推送弹窗的状态
*/
boolean isPushWindowShow();
/**
* 推送的 POI 状态
*/
boolean isPushPOIShow();
/**
* 疲劳驾驶 状态
*/
boolean isFatigueDrivingWindowShow();
/**
* 事件面板状态 状态
*/
boolean isEventPanelWindowShow();
/**
* 设置 V2X道路预警POI 是否在展示
*
@@ -117,22 +75,6 @@ public interface IMoGoV2XStatusManager extends IProvider {
*/
void setOtherSeekHelpWindowShow(String tag, boolean show);
/**
* 地图区域 自身的道路求助按钮 是否在展示
*
* @param tag
* @param show
*/
void setMeSeekHelpButtonShow(String tag, boolean show);
/**
* 地图区域 他人车辆故障求助POI 是否在展示
*
* @param tag
* @param show
*/
void setOtherSeekHelpPOIShow(String tag, boolean show);
/**
* 设置 右侧2/3 全屏 V2X 场景动画 是否在展示
*
@@ -177,30 +119,4 @@ public interface IMoGoV2XStatusManager extends IProvider {
* @param show
*/
void setFatigueDrivingWindowShow(String tag, boolean show);
/**
* 事件面板状态 是否在展示
*
* @param tag
* @param show
*/
void setEventPanelWindowShow(String tag, boolean show);
/**
* 注册监听
*
* @param tag 业务类型
* @param descriptor 监听类型
* @param listener 监听回调
*/
void registerStatusChangedListener(String tag, V2XStatusDescriptor descriptor, IMoGoV2XStatusChangedListener listener);
/**
* 注销
*
* @param tag 业务类型
* @param descriptor 注销类型
* @param listener 注销回调
*/
void unregisterStatusChangedListener(String tag, V2XStatusDescriptor descriptor, IMoGoV2XStatusChangedListener listener);
}

12
core/function-impl/mogo-core-function-v2x/src/main/java/com/mogo/eagle/core/function/v2x/events/manager/V2XStatusDescriptor.java
View File

@@ -38,11 +38,6 @@ public enum V2XStatusDescriptor {
*/
OtherSeekHelpWindow_UI,
/**
* 头部 自身的道路求助按钮 UI 是否在展示
*/
MeSeekHelpButton_UI,
/**
* 右侧2/3 V2X 场景动画 UI 是否在展示
*/
@@ -71,10 +66,5 @@ public enum V2XStatusDescriptor {
/**
* 疲劳驾驶弹窗
*/
FatigueDrivingWindow_UI,
/**
* 事件面板状态
*/
EventPanelWindow_UI,
FatigueDrivingWindow_UI
}

264
core/function-impl/mogo-core-function-v2x/src/main/java/com/mogo/eagle/core/function/v2x/events/manager/impl/MoGoV2XMarkerManager.java
View File

@@ -12,7 +12,6 @@ import com.mogo.eagle.core.data.map.MogoLocation;
import com.mogo.eagle.core.function.v2x.events.bridge.BridgeApi;
import com.mogo.eagle.core.function.v2x.events.consts.MoGoV2XServicePaths;
import com.mogo.eagle.core.function.v2x.events.consts.V2XConst;
import com.mogo.eagle.core.function.v2x.events.listener.V2XMarkerClickListener;
import com.mogo.eagle.core.function.v2x.events.manager.IMoGoV2XMarkerManager;
import com.mogo.eagle.core.function.v2x.events.manager.IMoGoV2XPolylineManager;
import com.mogo.eagle.core.function.v2x.events.manager.IMoGoV2XStatusManager;
@@ -31,11 +30,8 @@ import com.mogo.map.uicontroller.IMogoMapUIController;
import com.mogo.module.common.drawer.MarkerDrawer;
import com.mogo.module.common.drawer.marker.IMarkerView;
import com.mogo.module.common.drawer.marker.MapMarkerAdapter;
import com.mogo.module.common.entity.MarkerCardResult;
import com.mogo.module.common.entity.MarkerExploreWay;
import com.mogo.module.common.entity.MarkerLocation;
import com.mogo.module.common.entity.MarkerNoveltyInfo;
import com.mogo.module.common.entity.MarkerOnlineCar;
import com.mogo.module.common.entity.MarkerShowEntity;
import com.mogo.module.common.entity.V2XRoadEventEntity;
import com.mogo.module.common.enums.EventTypeEnum;
@@ -173,266 +169,6 @@ public class MoGoV2XMarkerManager implements IMoGoV2XMarkerManager {
}
}
@Override
public void drawableV2XMarker(MarkerCardResult markerCardResult) {
boolean isShowEventWindow = false;
boolean isShowEventButton = false;
boolean isOtherSeekHelpWindowShow = false;
IMoGoV2XStatusManager v2xStatus = BridgeApi.INSTANCE.v2xStatus();
if (v2xStatus != null) {
//预警Window状态
isShowEventWindow = v2xStatus.isRoadEventWindowShow();
//预警按钮状态
isShowEventButton = v2xStatus.isRoadEventButtonShow();
//道路求助的window
isOtherSeekHelpWindowShow = v2xStatus.isOtherSeekHelpWindowShow();
}
try {
//当没有预警提示的时候重新绘制地图POI点
if (!isShowEventWindow && !isShowEventButton && !isOtherSeekHelpWindowShow) {
// 清除上次的道路事件，TODO 这里注意，道路事件的触发和这里是异步操作会触发异常
//mV2XRoadEventEntityArrayList.clear();
// 清除原来的大而全的新鲜事儿
try {
clearALLPOI();
} catch (Exception e) {
e.printStackTrace();
}
// 清除连接线
IMoGoV2XPolylineManager polylineManager = BridgeApi.INSTANCE.v2xPolyline();
if (polylineManager != null) {
polylineManager.clearLine();
}
if (markerCardResult != null) {
// 绘制新的地图气泡
List<MarkerOnlineCar> onlineCarList = markerCardResult.getOnlineCar();
List<MarkerExploreWay> exploreWayList = markerCardResult.getExploreWay();
List<MarkerNoveltyInfo> noveltyInfoList = markerCardResult.getNoveltyInfo();
drawableOnlineCarPOI(onlineCarList, V2XMarkerClickListener.getInstance());
drawableExplorePOI(exploreWayList, V2XMarkerClickListener.getInstance());
drawableNoveltyPOI(noveltyInfoList, V2XMarkerClickListener.getInstance());
}
}
} catch (Exception e) {
e.printStackTrace();
}
}
@Override
public void drawableOnlineCarPOI(List<MarkerOnlineCar> markerOnlineCars, IMogoMarkerClickListener clickListener) {
try {
if (markerOnlineCars != null) {
for (MarkerOnlineCar markerOnlineCar : markerOnlineCars) {
MarkerLocation markerLocation = markerOnlineCar.getLocation();
MarkerShowEntity markerShowEntity = new MarkerShowEntity();
markerShowEntity.setBindObj(markerOnlineCar);
markerShowEntity.setMarkerLocation(markerLocation);
markerShowEntity.setMarkerType(markerOnlineCar.getType());
markerShowEntity.setTextContent(markerOnlineCar.getUserInfo().getSafeLabel());
markerShowEntity.setIconUrl(markerOnlineCar.getUserInfo().getUserHead());
drawableMarker(BridgeApi.INSTANCE.context(), markerShowEntity, clickListener);
}
}
} catch (Exception e) {
e.printStackTrace();
}
}
@Override
public void clearOnlineCarPOI() {
IMogoMarkerManager marker = BridgeApi.INSTANCE.marker();
if (marker != null) {
marker.removeMarkers(V2XConst.V2X_CARD_TYPE_USER_DATA);
}
}
@Override
public void drawableLiveCarPOI(List<MarkerOnlineCar> markerOnlineCars, IMogoMarkerClickListener clickListener) {
try {
Logger.w(MODULE_NAME, "V2X===事件周边的直播车机：" + markerOnlineCars);
if (markerOnlineCars != null) {
for (MarkerOnlineCar markerOnlineCar : markerOnlineCars) {
// 设置车类型
markerOnlineCar.getUserInfo().setSafeLabelType(4);
markerOnlineCar.getCarInfo().setVehicleType(0);
MarkerLocation markerLocation = markerOnlineCar.getLocation();
MarkerShowEntity markerShowEntity = new MarkerShowEntity();
markerShowEntity.setBindObj(markerOnlineCar);
markerShowEntity.setMarkerLocation(markerLocation);
markerShowEntity.setMarkerType(V2XConst.V2X_MARKER_LIVE_CAR);
markerShowEntity.setTextContent(markerOnlineCar.getUserInfo().getSafeLabel());
markerShowEntity.setIconUrl(markerOnlineCar.getUserInfo().getUserHead());
drawableMarker(
BridgeApi.INSTANCE.context(),
markerShowEntity,
clickListener);
}
}
} catch (Exception e) {
e.printStackTrace();
}
}
@Override
public void clearLiveCarPOI() {
IMogoMarkerManager marker = BridgeApi.INSTANCE.marker();
if (marker != null) {
marker.removeMarkers(V2XConst.V2X_MARKER_LIVE_CAR);
}
}
@Override
public void drawableExplorePOI(List<MarkerExploreWay> exploreWayList, IMogoMarkerClickListener clickListener) {
try {
if (exploreWayList != null) {
for (MarkerExploreWay markerExploreWay : exploreWayList) {
// 因为目前探路卡片不支持直播，所以这里做了过滤 @李小鹏
if (!markerExploreWay.getCanLive()) {
MarkerLocation markerLocation = markerExploreWay.getLocation();
MarkerShowEntity markerShowEntity = new MarkerShowEntity();
markerShowEntity.setBindObj(markerExploreWay);
markerShowEntity.setMarkerLocation(markerLocation);
markerShowEntity.setMarkerType(markerExploreWay.getType());
markerShowEntity.setTextContent(markerExploreWay.getAddr());
drawableMarker(
BridgeApi.INSTANCE.context(),
markerShowEntity,
clickListener);
}
}
}
} catch (Exception e) {
e.printStackTrace();
}
}
@Override
public void clearExplorePOI() {
IMogoMarkerManager marker = BridgeApi.INSTANCE.marker();
if (marker != null) {
marker.removeMarkers(V2XConst.V2X_CARD_TYPE_ROAD_CONDITION);
}
}
@Override
public void drawableNoveltyPOI(List<MarkerNoveltyInfo> noveltyInfoList, IMogoMarkerClickListener clickListener) {
try {
if (noveltyInfoList != null) {
for (MarkerNoveltyInfo noveltyInfo : noveltyInfoList) {
MarkerLocation markerLocation = noveltyInfo.getLocation();
MarkerShowEntity markerShowEntity = new MarkerShowEntity();
markerShowEntity.setBindObj(noveltyInfo);
markerShowEntity.setMarkerLocation(markerLocation);
markerShowEntity.setMarkerType(noveltyInfo.getType());
markerShowEntity.setTextContent(noveltyInfo.getLocation().getAddress());
// 这里只绘制道路事件相关
if (EventTypeEnum.TRAFFIC_CHECK.getPoiType().equals(noveltyInfo.getPoiType())
|| EventTypeEnum.ROAD_CLOSED.getPoiType().equals(noveltyInfo.getPoiType())
|| EventTypeEnum.FOURS_ROAD_WORK.getPoiType().equals(noveltyInfo.getPoiType())
|| EventTypeEnum.FOURS_BLOCK_UP.getPoiType().equals(noveltyInfo.getPoiType())
|| EventTypeEnum.FOURS_PONDING.getPoiType().equals(noveltyInfo.getPoiType())
|| EventTypeEnum.FOURS_PARKING.getPoiType().equals(noveltyInfo.getPoiType())
|| EventTypeEnum.FOURS_ICE.getPoiType().equals(noveltyInfo.getPoiType())
|| EventTypeEnum.FOURS_FOG.getPoiType().equals(noveltyInfo.getPoiType())
|| EventTypeEnum.FOURS_ACCIDENT.getPoiType().equals(noveltyInfo.getPoiType())
|| EventTypeEnum.FOURS_ACCIDENT_01.getPoiType().equals(noveltyInfo.getPoiType())
|| EventTypeEnum.FOURS_ACCIDENT_02.getPoiType().equals(noveltyInfo.getPoiType())
|| EventTypeEnum.FOURS_ACCIDENT_03.getPoiType().equals(noveltyInfo.getPoiType())
|| EventTypeEnum.FOURS_ACCIDENT_04.getPoiType().equals(noveltyInfo.getPoiType())
|| EventTypeEnum.FOURS_ACCIDENT_05.getPoiType().equals(noveltyInfo.getPoiType())) {
drawableMarker(BridgeApi.INSTANCE.context(), markerShowEntity, clickListener);
}
}
}
} catch (Exception e) {
e.printStackTrace();
}
}
@Override
public void clearNoveltyPOI() {
IMogoMarkerManager marker = BridgeApi.INSTANCE.marker();
if (marker != null) {
marker.removeMarkers(V2XConst.V2X_CARD_TYPE_NOVELTY);
}
}
@Override
public void drawableMarker(Context context, MarkerShowEntity markerShowEntity, IMogoMarkerClickListener clickListener) {
// Logger.i(MODULE_NAME, "绘制Marker====drawMapMarker：" + markerShowEntity);
try {
if (markerShowEntity.getMarkerLocation() != null) {
MogoMarkerOptions options = new MogoMarkerOptions()
.data(markerShowEntity)
.latitude(markerShowEntity.getMarkerLocation().getLat())
.longitude(markerShowEntity.getMarkerLocation().getLon());
// 这里对Marker做下持有者转换，与大而全的区分开，由于绘制的时候用到了低层能力所以不去修改markerShowEntity中的type
switch (markerShowEntity.getMarkerType()) {
case ServiceConst.CARD_TYPE_USER_DATA:
options.owner(V2XConst.V2X_CARD_TYPE_USER_DATA);
break;
case ServiceConst.CARD_TYPE_NOVELTY:
options.owner(V2XConst.V2X_CARD_TYPE_NOVELTY);
break;
case ServiceConst.CARD_TYPE_ROAD_CONDITION:
options.owner(V2XConst.V2X_CARD_TYPE_ROAD_CONDITION);
break;
case V2XConst.V2X_MARKER_SPECIAL_CAR:
options.owner(V2XConst.V2X_MARKER_SPECIAL_CAR);
break;
case V2XConst.V2X_MARKER_LIVE_CAR:
options.owner(V2XConst.V2X_MARKER_LIVE_CAR);
break;
default:
options.owner(markerShowEntity.getMarkerType());
break;
}
IMogoMarker marker = null;
Bitmap bitmap;
if (markerShowEntity.getMarkerType().equals(ServiceConst.CARD_TYPE_USER_DATA)
|| markerShowEntity.getMarkerType().equals(V2XConst.V2X_MARKER_SPECIAL_CAR)
|| markerShowEntity.getMarkerType().equals(V2XConst.V2X_MARKER_LIVE_CAR)
|| markerShowEntity.getMarkerType().equals(V2XConst.V2X_MARKER_EXPRESS)
) {
bitmap = V2XMarkerAdapter.getV2XCarMarkerView(context, markerShowEntity);
options.icon(bitmap);
IMogoMarkerManager markerManager = BridgeApi.INSTANCE.marker();
if (markerManager != null) {
marker = markerManager.addMarker(markerShowEntity.getMarkerType(), options);
}
} else {
IMarkerView iMarkerView = MapMarkerAdapter.getMarkerView(context, markerShowEntity, options);
bitmap = ViewUtils.fromView(iMarkerView.getView());
options.icon(bitmap);
IMogoMarkerManager markerManager = BridgeApi.INSTANCE.marker();
if (markerManager != null) {
marker = markerManager.addMarker(markerShowEntity.getMarkerType(), options);
}
iMarkerView.setMarker(marker);
}
//marker.setOnMarkerClickListener(clickListener);
} else {
Logger.e(MODULE_NAME, "Location 必须进行初始化！！！！！");
}
} catch (Exception e) {
e.printStackTrace();
}
}
@Override
public IMogoMarker openMarker(Context context, IMogoMarker currentMarker) {

93
core/function-impl/mogo-core-function-v2x/src/main/java/com/mogo/eagle/core/function/v2x/events/manager/impl/MoGoV2XStatusManager.java
View File

@@ -63,56 +63,16 @@ public class MoGoV2XStatusManager implements IMoGoV2XStatusManager {
return get_bool_val(V2XStatusDescriptor.RoadEventWindow_UI);
}
@Override
public boolean isRoadLiveCarWindowShow() {
return get_bool_val(V2XStatusDescriptor.RoadLiveCarWindow_UI);
}
@Override
public boolean isOtherSeekHelpWindowShow() {
return get_bool_val(V2XStatusDescriptor.OtherSeekHelpWindow_UI);
}
@Override
public boolean isMeSeekHelpButtonShow() {
return get_bool_val(V2XStatusDescriptor.MeSeekHelpButton_UI);
}
@Override
public boolean isOtherSeekHelpPOIShow() {
return get_bool_val(V2XStatusDescriptor.OtherSeekHelpPOI_UI);
}
@Override
public boolean isV2XAnimationShow() {
return get_bool_val(V2XStatusDescriptor.V2XAnimationWindow_UI);
}
@Override
public boolean isLeftLiveVideoShow() {
return get_bool_val(V2XStatusDescriptor.LiveCarWindow_UI);
}
@Override
public boolean isPushWindowShow() {
return get_bool_val(V2XStatusDescriptor.PushWindow_UI);
}
@Override
public boolean isPushPOIShow() {
return get_bool_val(V2XStatusDescriptor.PushWindowPOI_UI);
}
@Override
public boolean isFatigueDrivingWindowShow() {
return get_bool_val(V2XStatusDescriptor.FatigueDrivingWindow_UI);
}
@Override
public boolean isEventPanelWindowShow() {
return get_bool_val(V2XStatusDescriptor.EventPanelWindow_UI);
}
@Override
public void setRoadEventPOIShow(String tag, boolean show) {
IMogoStatusManager statusManager = BridgeApi.INSTANCE.statusManager();
@@ -152,24 +112,6 @@ public class MoGoV2XStatusManager implements IMoGoV2XStatusManager {
recordStatusModifier(tag, V2XStatusDescriptor.OtherSeekHelpWindow_UI);
}
@Override
public void setMeSeekHelpButtonShow(String tag, boolean show) {
mStatus.put(V2XStatusDescriptor.MeSeekHelpButton_UI, show);
invokeStatusChangedListener(V2XStatusDescriptor.MeSeekHelpButton_UI, show);
recordStatusModifier(tag, V2XStatusDescriptor.MeSeekHelpButton_UI);
}
@Override
public void setOtherSeekHelpPOIShow(String tag, boolean show) {
IMogoStatusManager statusManager = BridgeApi.INSTANCE.statusManager();
if (statusManager != null) {
statusManager.setV2XUIShow(V2XConst.MODULE_NAME, show);
}
mStatus.put(V2XStatusDescriptor.OtherSeekHelpPOI_UI, show);
invokeStatusChangedListener(V2XStatusDescriptor.OtherSeekHelpPOI_UI, show);
recordStatusModifier(tag, V2XStatusDescriptor.OtherSeekHelpPOI_UI);
}
@Override
public void setV2XAnimationWindowShow(String tag, boolean show) {
mStatus.put(V2XStatusDescriptor.V2XAnimationWindow_UI, show);
@@ -213,40 +155,7 @@ public class MoGoV2XStatusManager implements IMoGoV2XStatusManager {
recordStatusModifier(tag, V2XStatusDescriptor.FatigueDrivingWindow_UI);
}
@Override
public void setEventPanelWindowShow(String tag, boolean show) {
mStatus.put(V2XStatusDescriptor.EventPanelWindow_UI, show);
invokeStatusChangedListener(V2XStatusDescriptor.EventPanelWindow_UI, show);
recordStatusModifier(tag, V2XStatusDescriptor.EventPanelWindow_UI);
}
@Override
public void registerStatusChangedListener(String tag, V2XStatusDescriptor descriptor, IMoGoV2XStatusChangedListener listener) {
if (listener == null || descriptor == null) {
return;
}
if (!mListeners.containsKey(descriptor)) {
mListeners.put(descriptor, new ArrayList<>());
}
if (mListeners.get(descriptor) == null) {
mListeners.put(descriptor, new ArrayList<>());
}
List<IMoGoV2XStatusChangedListener> listeners = mListeners.get(descriptor);
if (listeners != null) {
listeners.add(listener);
}
}
@Override
public void unregisterStatusChangedListener(String tag, V2XStatusDescriptor descriptor, IMoGoV2XStatusChangedListener listener) {
List<IMoGoV2XStatusChangedListener> listeners = mListeners.get(descriptor);
if (listeners != null) {
listeners.remove(listener);
}
}
/**
/**
* 调用所有存储的监听
*
* @param descriptor

7
core/mogo-core-data/src/main/java/com/mogo/eagle/core/data/constants/MogoServicePaths.java
View File

@@ -208,13 +208,6 @@ public class MogoServicePaths {
@Deprecated
public static final String PATH_SMALL_MAP = "/small_map/api";
/**
* ADAS 模块
*/
@Keep
@Deprecated
public static final String PATH_ADAS = "/adas/api";
/**
* 车辆检测 模块
*/

10
core/mogo-core-function-api/src/main/java/com/mogo/eagle/core/function/api/autopilot/IMoGoAutopilotStatusListener.kt
View File

@@ -16,16 +16,14 @@ interface IMoGoAutopilotStatusListener {
*
* @param autoPilotStatusInfo 状态信息
*/
fun onAutopilotStatusResponse(autoPilotStatusInfo: AutopilotStatusInfo)
fun onAutopilotStatusResponse(autoPilotStatusInfo: AutopilotStatusInfo){}
/**
* 自动驾驶到站
*
* @param autopilotWayArrive 所到车站的简单信息
*/
fun onAutopilotArriveAtStation(autopilotWayArrive: AutopilotStationInfo?){
}
fun onAutopilotArriveAtStation(autopilotWayArrive: AutopilotStationInfo?){}
/**
* 工控机获取SN
@@ -35,9 +33,7 @@ interface IMoGoAutopilotStatusListener {
/**
* 工控机监控节点
*/
fun onAutopilotGuardian(guardianInfo: AutopilotGuardianStatusInfo?){
}
fun onAutopilotGuardian(guardianInfo: AutopilotGuardianStatusInfo?){}
companion object {

20
foudations/mogo-commons/src/main/java/com/mogo/commons/crash/FinalizeCrashFixer.java
View File

@@ -37,19 +37,15 @@ public class FinalizeCrashFixer {
* 只有线程在运行状态才会关闭线程
*/
public static void fix() {
AppStateManager.INSTANCE.registerAppStateListener(new IAppStateListener() {
@Override
public void onAppStateChanged(boolean isForeground) {
if (isForeground) {
//前后台则重新反射关闭一遍，避免线程被再次开启
Logger.d("FinalizeCrashFixer", "--- 切换到前台 ---");
realFix();
} else {
//前后台则重新反射关闭一遍，避免线程被再次开启
Logger.d("FinalizeCrashFixer", "--- 切换到后台 ---");
realFix();
}
AppStateManager.INSTANCE.registerAppStateListener(isForeground -> {
if (isForeground) {
//前后台则重新反射关闭一遍，避免线程被再次开启
Logger.d("FinalizeCrashFixer", "--- 切换到前台 ---");
} else {
//前后台则重新反射关闭一遍，避免线程被再次开启
Logger.d("FinalizeCrashFixer", "--- 切换到后台 ---");
}
realFix();
});
}

1
modules.txt
View File

@@ -24,7 +24,6 @@
:test:crashreport-noop
:test:crashreport-upgrade
:core:function-impl:mogo-core-function-obu-mogo
:modules:mogo-module-adas
:modules:mogo-module-service
:core:function-impl:mogo-core-function-check
:services:mogo-service

1
modules/mogo-module-adas/.gitignore vendored
View File

@@ -1 +0,0 @@
/build

82
modules/mogo-module-adas/build.gradle
View File

@@ -1,82 +0,0 @@
plugins {
id 'com.android.library'
id 'kotlin-android'
id 'kotlin-android-extensions'
id 'kotlin-kapt'
id 'com.alibaba.arouter'
}
android {
compileSdkVersion rootProject.ext.android.compileSdkVersion
// buildToolsVersion rootProject.ext.android.buildToolsVersion
defaultConfig {
minSdkVersion rootProject.ext.android.minSdkVersion
targetSdkVersion rootProject.ext.android.targetSdkVersion
versionCode Integer.valueOf(VERSION_CODE)
versionName getValueFromRootProperties("${project.name.replace("-", "_").toUpperCase()}_VERSION")
testInstrumentationRunner "androidx.test.runner.AndroidJUnitRunner"
consumerProguardFiles 'consumer-rules.pro'
//ARouter apt 参数
kapt {
useBuildCache = false
arguments {
arg("AROUTER_MODULE_NAME", project.getName())
}
}
}
buildTypes {
release {
minifyEnabled false
proguardFiles getDefaultProguardFile('proguard-android-optimize.txt'), 'proguard-rules.pro'
}
}
compileOptions {
sourceCompatibility JavaVersion.VERSION_1_8
targetCompatibility JavaVersion.VERSION_1_8
}
}
dependencies {
implementation rootProject.ext.dependencies.androidxappcompat
implementation rootProject.ext.dependencies.androidxconstraintlayout
implementation rootProject.ext.dependencies.rxandroid
implementation rootProject.ext.dependencies.arouter
kapt rootProject.ext.dependencies.aroutercompiler
implementation rootProject.ext.dependencies.mogochainbase
// 现有的ADAS的通讯SDK，需要将里面的东西融合到我们项目中
compileOnly rootProject.ext.dependencies.adasapi
// api rootProject.ext.dependencies.adasHigh
implementation rootProject.ext.dependencies.mogoami
annotationProcessor rootProject.ext.dependencies.aroutercompiler
if (Boolean.valueOf(USE_MAVEN_PACKAGE)) {
api rootProject.ext.dependencies.mogo_core_utils
api rootProject.ext.dependencies.mogocommons
api rootProject.ext.dependencies.mogoserviceapi
implementation rootProject.ext.dependencies.modulecommon
implementation rootProject.ext.dependencies.mogo_core_data
implementation rootProject.ext.dependencies.mogo_core_utils
implementation rootProject.ext.dependencies.mogo_core_function_api
implementation rootProject.ext.dependencies.mogo_core_function_call
} else {
api project(':core:mogo-core-utils')
api project(":foudations:mogo-commons")
api project(':services:mogo-service-api')
implementation project(':modules:mogo-module-common')
implementation project(':core:mogo-core-data')
implementation project(':core:mogo-core-utils')
implementation project(':core:mogo-core-function-api')
implementation project(':core:mogo-core-function-call')
implementation project(':libraries:mogo-adas')
}
}
apply from: new File(rootProject.rootDir, "gradle/upload.gradle").toString()

0
modules/mogo-module-adas/consumer-rules.pro
View File

3
modules/mogo-module-adas/gradle.properties
View File

@@ -1,3 +0,0 @@
GROUP=com.mogo.module
POM_ARTIFACT_ID=mogo-module-adas
VERSION_CODE=1

21
modules/mogo-module-adas/proguard-rules.pro vendored
View File

@@ -1,21 +0,0 @@
# Add project specific ProGuard rules here.
# You can control the set of applied configuration files using the
# proguardFiles setting in build.gradle.
#
# For more details, see
# http://developer.android.com/guide/developing/tools/proguard.html
# If your project uses WebView with JS, uncomment the following
# and specify the fully qualified class name to the JavaScript interface
# class:
#-keepclassmembers class fqcn.of.javascript.interface.for.webview {
# public *;
#}
# Uncomment this to preserve the line number information for
# debugging stack traces.
#-keepattributes SourceFile,LineNumberTable
# If you keep the line number information, uncomment this to
# hide the original source file name.
#-renamesourcefileattribute SourceFile

5
modules/mogo-module-adas/src/main/AndroidManifest.xml
View File

@@ -1,5 +0,0 @@
<?xml version="1.0" encoding="utf-8"?>
<manifest xmlns:android="http://schemas.android.com/apk/res/android"
package="com.mogo.module.adas">
</manifest>

102
modules/mogo-module-adas/src/main/assets/testFile.txt
View File

@@ -1,102 +0,0 @@
{lat=26.820175208327566,lon=112.57748204198309},
{lat=26.82009891465042,lon=112.57735739748664},
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{lat=26.8255763298452,lon=112.57624421893341},

235
modules/mogo-module-adas/src/main/java/com/mogo/module/adas/AdasEventManager.java
View File

@@ -1,235 +0,0 @@
package com.mogo.module.adas;
import androidx.annotation.NonNull;
import androidx.annotation.Nullable;
import com.google.gson.Gson;
import com.mogo.cloud.passport.MoGoAiCloudClientConfig;
import com.mogo.eagle.core.data.autopilot.ADASTrajectoryInfo;
import com.mogo.eagle.core.data.autopilot.AutoPilotRecordResult;
import com.mogo.eagle.core.data.autopilot.AutopilotCarStateInfo;
import com.mogo.eagle.core.data.autopilot.AutopilotGuardianStatusInfo;
import com.mogo.eagle.core.data.autopilot.AutopilotRouteInfo;
import com.mogo.eagle.core.data.autopilot.AutopilotStationInfo;
import com.mogo.eagle.core.data.autopilot.AutopilotStatusInfo;
import com.mogo.eagle.core.data.autopilot.AutopilotWarnMessage;
import com.mogo.eagle.core.data.config.FunctionBuildConfig;
import com.mogo.eagle.core.data.traffic.TrafficData;
import com.mogo.eagle.core.function.api.autopilot.IMoGoAutopilotCarStateListener;
import com.mogo.eagle.core.function.api.autopilot.IMoGoAutopilotIdentifyListener;
import com.mogo.eagle.core.function.api.autopilot.IMoGoAutopilotPlanningListener;
import com.mogo.eagle.core.function.api.autopilot.IMoGoAutopilotStatusListener;
import com.mogo.eagle.core.function.call.autopilot.CallerAutoPilotStatusListenerManager;
import com.mogo.eagle.core.function.call.autopilot.CallerAutopilotCarStatusListenerManager;
import com.mogo.eagle.core.function.call.autopilot.CallerAutopilotIdentifyListenerManager;
import com.mogo.eagle.core.function.call.autopilot.CallerAutopilotPlanningListenerManager;
import com.mogo.eagle.core.network.utils.GsonUtil;
import com.mogo.eagle.core.utilcode.mogo.logger.Logger;
import com.mogo.eagle.core.utilcode.util.ThreadUtils;
import com.mogo.module.adas.model.AdasServiceModel;
import com.mogo.module.common.drawer.IdentifyDataDrawer;
import com.zhidao.support.adas.high.AdasManager;
import com.zhidao.support.adas.high.OnAdasMsgConnectStatusListener;
import com.zhidao.support.adas.high.bean.BasicInfo;
import com.zhidao.support.obu.ami.AmiClientManager;
import java.util.ArrayList;
import java.util.concurrent.TimeUnit;
import io.reactivex.Flowable;
import io.reactivex.android.schedulers.AndroidSchedulers;
import io.reactivex.schedulers.Schedulers;
/**
* Created by XuYong on 2021/4/25 14:43
*/
public class AdasEventManager implements
OnAdasMsgConnectStatusListener,
IMoGoAutopilotStatusListener,
IMoGoAutopilotPlanningListener,
IMoGoAutopilotIdentifyListener,
IMoGoAutopilotCarStateListener {
private final String TAG = "AdasEventManager";
private static volatile AdasEventManager adasEventManager;
private static final byte[] obj = new byte[0];
private final Gson gson;
private final ArrayList<IAdasDataListener> iAdasEventListeners = new ArrayList<>();
//自动驾驶状态
private int mCurrentAutopilotStatus = -1;
//自动驾驶车速度
private float mCurrentAutopilotSpeed = 0;
private AdasEventManager() {
gson = GsonUtil.getGson();
CallerAutoPilotStatusListenerManager.INSTANCE.addListener(TAG, this);
CallerAutopilotPlanningListenerManager.INSTANCE.addListener(TAG, this);
CallerAutopilotIdentifyListenerManager.INSTANCE.addListener(TAG, this);
CallerAutopilotCarStatusListenerManager.INSTANCE.addListener(TAG, this);
}
public static AdasEventManager getInstance() {
if (adasEventManager == null) {
synchronized (obj) {
if (adasEventManager == null) {
adasEventManager = new AdasEventManager();
}
}
}
return adasEventManager;
}
public void addEventListener(IAdasDataListener listener) {
Logger.d(TAG, "添加adas事件监听");
if (iAdasEventListeners.contains(listener)) {
return;
}
iAdasEventListeners.add(listener);
}
public void removeEventListener(IAdasDataListener listener) {
Logger.d(TAG, "注销adas事件监听");
iAdasEventListeners.remove(listener);
}
/**
* 同步SN信息给工控机
*/
public void syncBasicInfoToAutopilot() {
Logger.d(TAG, "同步PAD的SN给工控机……");
BasicInfo info = new BasicInfo();
info.setSn(MoGoAiCloudClientConfig.getInstance().getSn());
AdasManager.getInstance().setBasicInfo(info);
}
@Override
public void onAutopilotSNRequest() {
syncBasicInfoToAutopilot();
}
@Override
public void onWebSocketConnectSuccess() {
Logger.d(TAG, "webSocket 连接成功");
// 初始化自动驾驶状态信息
CallerAutoPilotStatusListenerManager.INSTANCE.getAutoPilotStatusInfo().setConnectIP(AdasManager.getInstance().getAdasConfig().getAddress());
CallerAutoPilotStatusListenerManager.INSTANCE.getAutoPilotStatusInfo().setConnectStatus(true);
CallerAutoPilotStatusListenerManager.INSTANCE.invokeAutoPilotStatus();
// 同步SN给工控机
syncBasicInfoToAutopilot();
// 开启轮训上传自动驾驶状态
updateDriveStatusTask();
}
@Override
public void onWebSocketConnectFailed(String reason) {
Logger.d(TAG, "webSocket 连接失败 reason:" + reason);
CallerAutoPilotStatusListenerManager.INSTANCE.getAutoPilotStatusInfo().setConnectIP(AdasManager.getInstance().getAdasConfig().getAddress());
CallerAutoPilotStatusListenerManager.INSTANCE.getAutoPilotStatusInfo().setConnectStatus(false);
CallerAutoPilotStatusListenerManager.INSTANCE.invokeAutoPilotStatus();
}
public void updateDriveStatusTask() {
Logger.d(TAG, "updateDriveStatusTask");
Flowable.interval(0, 5, TimeUnit.SECONDS)
.subscribeOn(Schedulers.io())
.unsubscribeOn(Schedulers.io())
.observeOn(AndroidSchedulers.mainThread())
.subscribe(aLong -> updateDriveStatus());
}
private void updateDriveStatus() {
AdasServiceModel.getInstance().updateDriveStatus(mCurrentAutopilotStatus, mCurrentAutopilotSpeed);
}
private void reportSite(double lon, double lat) {
AdasServiceModel.getInstance().reportSite(lon, lat);
}
@Override
public void onAutopilotStatusResponse(@NonNull AutopilotStatusInfo autoPilotStatusInfo) {
int state = autoPilotStatusInfo.getState();
float speed = autoPilotStatusInfo.getSpeed();
mCurrentAutopilotStatus = state;
mCurrentAutopilotSpeed = speed;
for (IAdasDataListener listener : iAdasEventListeners) {
if (listener != null) {
listener.notifyAutopilotState(autoPilotStatusInfo);
}
}
}
@Override
public void onAutopilotArriveAtStation(AutopilotStationInfo autopilotWayArrive) {
if (autopilotWayArrive != null) {
double lon = autopilotWayArrive.getLon();
double lat = autopilotWayArrive.getLat();
reportSite(lon, lat);
}
}
@Override
public void onAutopilotCarStateData(@Nullable AutopilotCarStateInfo autoPilotCarStateInfo) {
for (IAdasDataListener listener : iAdasEventListeners) {
if (listener != null) {
listener.ownerCarStateInfo(gson.toJson(autoPilotCarStateInfo));
}
}
// 获取的自动驾驶车辆信息不是空的时候
if (autoPilotCarStateInfo != null) {
//can数据转发
AutopilotCarStateInfo.ValuesBean bean = autoPilotCarStateInfo.getValues();
if (bean != null) {
//转向灯状态 0是正常 1是左转 2是右转
int turnLight = bean.getTurn_light();
AmiClientManager.getInstance().setTurnLightState(turnLight);
}
}
}
@Override
public void onAutopilotGuardian(@Nullable AutopilotGuardianStatusInfo guardianInfo) {
}
@Override
public void onAutopilotIdentifyDataUpdate(@Nullable ArrayList<TrafficData> trafficData) {
try {
if (FunctionBuildConfig.isDrawIdentifyData) {
ThreadUtils.getSinglePool().execute(() ->
IdentifyDataDrawer.getInstance().renderAdasRecognizedResult(trafficData)
);
}
} catch (Exception e) {
e.printStackTrace();
}
}
@Override
public void onAutopilotWarnMessage(@Nullable AutopilotWarnMessage autopilotWarnMessage) {
}
@Override
public void onAutopilotTrajectory(ArrayList<ADASTrajectoryInfo> trajectoryInfo) {
}
@Override
public void onAutopilotRotting(@Nullable AutopilotRouteInfo autopilotRoute) {
}
@Override
public void onAutopilotRecordResult(AutoPilotRecordResult result) {
}
}

103
modules/mogo-module-adas/src/main/java/com/mogo/module/adas/AdasObjectUtils.kt
View File

@@ -1,103 +0,0 @@
package com.mogo.module.adas
import com.mogo.eagle.core.data.autopilot.AutopilotCarStateInfo
import com.mogo.eagle.core.data.autopilot.AutopilotGuardianStatusInfo
import com.mogo.eagle.core.data.autopilot.AutopilotRouteInfo
import com.mogo.eagle.core.data.autopilot.AutopilotWarnMessage
import com.mogo.eagle.core.data.enums.TrafficTypeEnum
import com.mogo.eagle.core.data.traffic.TrafficData
import com.mogo.eagle.core.network.utils.GsonUtil
import com.zhidao.support.adas.high.bean.AutopilotRoute
import com.zhidao.support.adas.high.bean.CarStateInfo
import com.zhidao.support.adas.high.bean.RectInfo.RectBean
import com.zhidao.support.adas.high.bean.WarnMessageInfo
import com.zhidao.support.adas.high.bean.guardian.AutopilotGuardianInfo
/**
* @author congtaowang
* @since 2020/10/25
*
* 对象转换类
*/
object AdasObjectUtils {
val TAG = "AdasObjectUtils"
fun fromAutopilotGuardianInfo(autopilotGuardianInfo: AutopilotGuardianInfo): AutopilotGuardianStatusInfo? {
return GsonUtil.objectFromJson(
GsonUtil.jsonFromObject(autopilotGuardianInfo),
AutopilotGuardianStatusInfo::class.java
)
}
fun fromAdasAutopilotRoute(carStateInfo: AutopilotRoute): AutopilotRouteInfo? {
return GsonUtil.objectFromJson(
GsonUtil.jsonFromObject(carStateInfo),
AutopilotRouteInfo::class.java
)
}
fun fromAdasCarStateInfoObject(carStateInfo: CarStateInfo): AutopilotCarStateInfo? {
return GsonUtil.objectFromJson(
GsonUtil.jsonFromObject(carStateInfo),
AutopilotCarStateInfo::class.java
)
}
fun fromAdasObject(info: WarnMessageInfo?): AutopilotWarnMessage? {
if (info == null) {
return null
}
val warnMessage = AutopilotWarnMessage()
warnMessage.content = info.content
warnMessage.level = info.level
try {
warnMessage.type = info.type.toInt()
} catch (e: NumberFormatException) {
return null
}
warnMessage.value = info.value
return warnMessage
}
fun regroupTrafficDataData(datums: List<RectBean?>?): ArrayList<TrafficData>? {
if (datums == null || datums.isEmpty()) {
return null
}
val recognizedListResults: ArrayList<TrafficData> = ArrayList()
for (model in datums) {
if (model == null) {
continue
}
val recognizedListResult = fromAdasTrafficDataObject(model)
if (recognizedListResult != null) {
recognizedListResults.add(recognizedListResult)
}
}
return recognizedListResults
}
fun fromAdasTrafficDataObject(model: RectBean?): TrafficData? {
if (model == null) {
return null
}
val result = TrafficData()
result.uuid = model.uuid
result.lat = model.lat
result.lon = model.lon
result.type = TrafficTypeEnum.getType(model.type.toInt())
result.heading = model.heading
result.systemTime = model.systemTime.toLong()
result.satelliteTime = model.satelliteTime.toLong()
result.alt = model.alt
result.speed = model.speed
result.carId = model.carId
result.dataAccuracy = model.dataAccuracy
result.distance = model.distance
result.threatLevel = model.drawlevel
//Log.d(TAG, "TrafficData = $result")
return result
}
}

67
modules/mogo-module-adas/src/main/java/com/mogo/module/adas/AdasProvider.java
View File

@@ -1,67 +0,0 @@
package com.mogo.module.adas;
import android.content.Context;
import com.alibaba.android.arouter.facade.annotation.Route;
import com.alibaba.android.arouter.facade.template.IProvider;
import com.mogo.eagle.core.data.config.FunctionBuildConfig;
import com.mogo.eagle.core.data.constants.MogoServicePaths;
import com.mogo.eagle.core.utilcode.mogo.logger.Logger;
import com.zhidao.support.adas.high.AdasManager;
import com.zhidao.support.adas.high.common.CupidLogUtils;
/**
* ADAS 模块
*
* @author
* @date 4/21/21 3:39 PM
* wiki：http://wiki.zhidaohulian.com/pages/viewpage.action?pageId=52840459
*/
@Route(path = MogoServicePaths.PATH_ADAS)
public class AdasProvider implements IProvider {
private static final String TAG = "AdasProvider";
private AdasEventManager adasEventManager;
@Override
public void init(Context context) {
Logger.d(TAG, "初始化 AdasProvider 模块");
adasEventManager = AdasEventManager.getInstance();
initAdas(context, adasEventManager);
}
private void initAdas(Context context, AdasEventManager adasEventManager) {
CupidLogUtils.setEnableLog(false);
CupidLogUtils.setIsWriteLog(false);
// TODO 临时方案，根据不同的身份标识，连接不同的工控机IP
switch (FunctionBuildConfig.appIdentityMode) {
case 0:
// 司机
AdasManager.getInstance().create(context, "192.168.1.102");
break;
case 1:
// 乘客
AdasManager.getInstance().create(context, "192.168.1.103");
break;
default:
// 默认采用UDP寻址方式
AdasManager.getInstance().create(context);
break;
}
AdasManager.getInstance().setOnAdasListener(new OnAdasListenerAdapter());
AdasManager.getInstance().setOnAdasConnectStatusListener(adasEventManager);
}
public void addAdasEventListener(IAdasDataListener listener) {
adasEventManager.addEventListener(listener);
}
public void removeAdasEventListener(IAdasDataListener listener) {
adasEventManager.removeEventListener(listener);
}
public void sendWsMessage(String msg) {
AdasManager.getInstance().aiCloudToAdasData(msg);
}
}

24
modules/mogo-module-adas/src/main/java/com/mogo/module/adas/IAdasDataListener.java
View File

@@ -1,24 +0,0 @@
package com.mogo.module.adas;
import com.mogo.eagle.core.data.autopilot.AutopilotStatusInfo;
public interface IAdasDataListener {
/**
* 自车定位信息
*
* @param ownerCarStateInfo
*/
default void ownerCarStateInfo(String ownerCarStateInfo) {
}
/**
* 自动驾驶状态信息
*
* @param autopilotStatus {@link AutopilotStatusInfo}
*/
default void notifyAutopilotState(AutopilotStatusInfo autopilotStatus) {
}
}

4
modules/mogo-module-adas/src/main/res/values-xhdpi-2560x1440/dimens.xml
View File

@@ -1,4 +0,0 @@
<?xml version="1.0" encoding="utf-8"?>
<resources>
</resources>

4
modules/mogo-module-adas/src/main/res/values/colors.xml
View File

@@ -1,4 +0,0 @@
<?xml version="1.0" encoding="utf-8"?>
<resources>
</resources>

4
modules/mogo-module-adas/src/main/res/values/dimens.xml
View File

@@ -1,4 +0,0 @@
<?xml version="1.0" encoding="utf-8"?>
<resources>
</resources>

4
modules/mogo-module-adas/src/main/res/values/strings.xml
View File

@@ -1,4 +0,0 @@
<?xml version="1.0" encoding="utf-8"?>
<resources>
</resources>

73
modules/mogo-module-common/src/main/java/com/mogo/module/common/datacenter/SnapshotLocationDataCenter.java
View File

@@ -1,8 +1,8 @@
package com.mogo.module.common.datacenter;
import com.mogo.eagle.core.data.config.FunctionBuildConfig;
import com.mogo.commons.debug.DebugConfig;
import com.mogo.eagle.core.data.autopilot.AutopilotStatusInfo;
import com.mogo.eagle.core.data.config.FunctionBuildConfig;
import com.mogo.eagle.core.function.call.autopilot.CallerAutoPilotStatusListenerManager;
import com.mogo.module.common.MogoApisHandler;
import com.mogo.service.cloud.location.CloudLocationInfo;
@@ -38,36 +38,13 @@ public class SnapshotLocationDataCenter {
sInstance = null;
}
private CloudLocationInfo mLastLocationInfo = null;
// GPS(1s1次) RTK(OS侧)缓存数据，
private final List<CloudLocationInfo> mLocationList = new ArrayList<>();
// adda 工控机数据缓存
private final List<CloudLocationInfo> mMachineCacheList = new ArrayList<>();
private int mDataAccuracy = 0;
private double mCurSpeed;
private double mCurLon;
private double mCurLat;
private long mSatelliteTime = 0;
/**
* 同步从定位来的数据（也可能是rtk）
*
* @param cli {@link CloudLocationInfo}
*/
public void syncLocationInfo(CloudLocationInfo cli) {
if (cli == null) {
return;
}
mLastLocationInfo = cli;
mCurSpeed = cli.getSpeed();
mCurLon = cli.getLon();
mCurLat = cli.getLat();
mLocationList.add(cli);
}
/**
* 同步从工控机来的数据
*
@@ -113,62 +90,14 @@ public class SnapshotLocationDataCenter {
cloudLocationInfo.setSatelliteTime(satelliteTime);
cloudLocationInfo.setSystemTime(systemTime);
cloudLocationInfo.setTileId(String.valueOf(MogoApisHandler.getInstance().getApis().getMapServiceApi().getMapUIController().getTileId(lon, lat)));
mLastLocationInfo = cloudLocationInfo;
mMachineCacheList.add(cloudLocationInfo);
mCurSpeed = cloudLocationInfo.getSpeed();
mCurLon = cloudLocationInfo.getLon();
mCurLat = cloudLocationInfo.getLat();
mSatelliteTime = cloudLocationInfo.getSatelliteTime();
}
}
/**
* 获取某一段时间内的坐标集合
*
* @return 坐标合集
*/
public List<CloudLocationInfo> getSendLocationData() {
List<CloudLocationInfo> list = null;
if (mMachineCacheList != null) {
mDataAccuracy = 1;
list = new ArrayList<>(mMachineCacheList);
mMachineCacheList.clear();
}
if (list == null || list.isEmpty()) {
mDataAccuracy = 0;
if (mLocationList != null) {
list = new ArrayList<>(mLocationList);
mLocationList.clear();
}
}
if (list == null || list.isEmpty()) {
if (mLastLocationInfo != null) {
list = new ArrayList();
list.add(mLastLocationInfo);
mLastLocationInfo = null;
}
}
if (list.size() == 0) {
return null;
}
return list;
}
/**
* 数据精度类型，目前按照数据来源标志
*
* @return 精度
*/
public int getDataAccuracy() {
return mDataAccuracy;
}
public double getCurSpeed() {
return mCurSpeed;
}
public double getCurLon() {
return mCurLon;
}

1
modules/mogo-module-main/src/main/java/com/mogo/module/main/MainActivity.java
View File

@@ -268,7 +268,6 @@ public class MainActivity extends MvpActivity<MainView, MainPresenter> implement
public void hideCoverUpLayout() {
getWindow().setBackgroundDrawable(null);
mCoverUpLayout.setVisibility(View.GONE);
mServiceApis.getAdasControllerApi().showADAS();
}
@Override

64
modules/mogo-module-service/src/main/java/com/mogo/module/service/MogoServices.java
View File

@@ -15,7 +15,6 @@ import android.view.MotionEvent;
import com.mogo.commons.debug.DebugConfig;
import com.mogo.commons.voice.AIAssist;
import com.mogo.commons.voice.IMogoVoiceCmdCallBack;
import com.mogo.eagle.core.data.autopilot.AutopilotCarStateInfo;
import com.mogo.eagle.core.data.map.MogoLatLng;
import com.mogo.eagle.core.data.map.MogoLocation;
import com.mogo.eagle.core.utilcode.mogo.logger.Logger;
@@ -31,7 +30,6 @@ import com.mogo.map.uicontroller.IMogoMapUIController;
import com.mogo.module.common.MogoApisHandler;
import com.mogo.module.common.MogoModule;
import com.mogo.module.common.MogoModulePaths;
import com.mogo.module.common.datacenter.SnapshotLocationDataCenter;
import com.mogo.module.common.entity.MarkerResponse;
import com.mogo.module.service.handler.MainLooperHandler;
import com.mogo.module.service.handler.RefreshWorkThreadHandler;
@@ -46,7 +44,6 @@ import com.mogo.module.service.refresh.RefreshObject;
import com.mogo.module.service.timedelay.TimeDelayUploadManager;
import com.mogo.realtime.api.MoGoAiCloudRealTime;
import com.mogo.service.adas.IMogoADASController;
import com.mogo.service.adas.IMogoAdasCarDataCallback;
import com.mogo.service.fragmentmanager.FragmentStackTransactionListener;
import com.mogo.service.fragmentmanager.IMogoFragmentManager;
import com.mogo.service.intent.IMogoIntentListener;
@@ -59,8 +56,6 @@ import com.mogo.service.statusmanager.IMogoStatusChangedListener;
import com.mogo.service.statusmanager.IMogoStatusManager;
import com.mogo.service.statusmanager.StatusDescriptor;
import org.json.JSONObject;
import java.util.List;
/**
@@ -81,12 +76,10 @@ public class MogoServices implements IMogoMapListener,
IMogoVoiceCmdCallBack,
FragmentStackTransactionListener,
IMogoCarLocationChangedListener2,
IMogoAdasCarDataCallback,
IDestroyable {
private boolean mInternalUnWakeupRegisterStatus = false;
private Location mLastCarLocation;
private MogoServices() {
// private constructor
@@ -201,7 +194,6 @@ public class MogoServices implements IMogoMapListener,
}
mStatusManager.setUserInteractionStatus( ServiceConst.TYPE, true, false );
mUiController.changeZoom( ServiceConst.DEFAULT_LOCK_CAR_ZOOM_LEVEL );
// mUiController.setLockZoom( ServiceConst.DEFAULT_LOCK_CAR_ZOOM_LEVEL );
mStatusManager.setUserInteractionStatus( TAG, true, false );
mUiController.recoverLockMode();
notifyRefreshData( mLastAutoRefreshLocation, ServiceConst.DEFAULT_AUTO_REFRESH_DATA_RADIUS, mAutoRefreshCallback );
@@ -265,11 +257,6 @@ public class MogoServices implements IMogoMapListener,
private Handler mThreadHandler;
/**
* 当前限速
*/
private int mCurrentLimit = -1;
private final IMogoStatusChangedListener statusChangedListener = new StatusChangedAdapter() {
@Override
@@ -339,7 +326,6 @@ public class MogoServices implements IMogoMapListener,
mIntentManager.registerIntentListener( ConnectivityManager.CONNECTIVITY_ACTION, this );
mADASController = MarkerServiceHandler.getADASController();
mADASController.setAdasCarDataCallback( this );
mFragmentManager = MarkerServiceHandler.getFragmentManager();
mFragmentManager.addMainFragmentStackTransactionListener( this );
@@ -646,7 +632,6 @@ public class MogoServices implements IMogoMapListener,
if ( latLng == null ) {
return;
}
mLastCarLocation = latLng;
// poi 定位无法获取时，使用该定位
if ( mLastAutoRefreshLocation == null ) {
MogoLatLng point = new MogoLatLng( latLng.getLatitude(), latLng.getLongitude() );
@@ -834,10 +819,6 @@ public class MogoServices implements IMogoMapListener,
MoGoAiCloudRealTime.stopRealTime();
}
public Location getLastCarLocation() {
return mLastCarLocation;
}
private boolean mLastStatusIsVr = false;
public boolean isLastStatusIsVr() {
@@ -873,49 +854,4 @@ public class MogoServices implements IMogoMapListener,
}
}
@Override
public void onAdasCarDataCallback( AutopilotCarStateInfo stateInfo ) {
if(TimeDelayUploadManager.getInstance().isMock()){ //模拟数据时，不更新由工控机传输的自车位置
return;
}
if ( stateInfo != null && stateInfo.getValues() != null ) {
JSONObject data = new JSONObject();
try {
data.putOpt( "lon", stateInfo.getValues().getLon() );
data.putOpt( "lat", stateInfo.getValues().getLat() );
data.putOpt( "alt", stateInfo.getValues().getAlt() );
data.putOpt( "speed", stateInfo.getValues().getGnss_speed() );
data.putOpt( "heading", stateInfo.getValues().getHeading() );
data.putOpt( "acceleration", stateInfo.getValues().getAcceleration() );
data.putOpt( "yawRate", stateInfo.getValues().getYaw_rate() );
data.putOpt( "gpsProvider", 1 );
try {
data.putOpt( "systemTime", Long.parseLong( stateInfo.getValues().getSystemTime() ) );
} catch ( Exception e ) {
// e.printStackTrace();
}
try {
data.putOpt( "satelliteTime", Long.parseLong( stateInfo.getValues().getSatelliteTime() ) );
} catch ( Exception e ) {
e.printStackTrace();
}
try {
data.putOpt( "receiverDataTime", Long.parseLong( stateInfo.getValues().getReceiverDataTime() ) );
} catch ( Exception e ) {
// e.printStackTrace();
}
try {
data.putOpt( "adasSatelliteTime", Long.parseLong( stateInfo.getValues().getAdasSatelliteTime() ) );
} catch ( Exception e ) {
// e.printStackTrace();
}
MarkerServiceHandler.getApis().getMapServiceApi().getMapUIController().syncLocation2Map( data );
SnapshotLocationDataCenter.getInstance().syncAdasLocationInfo( data );
} catch ( Exception e ) {
e.printStackTrace();
}
}
}
}

3
modules/mogo-module-service/src/main/java/com/mogo/module/service/dispatch/DispatchAutoPilotManager.java
View File

@@ -17,6 +17,7 @@ import com.mogo.eagle.core.data.map.MogoLocation;
import com.mogo.eagle.core.function.api.autopilot.IMoGoAutopilotPlanningListener;
import com.mogo.eagle.core.function.api.autopilot.IMoGoAutopilotStatusListener;
import com.mogo.eagle.core.function.api.hmi.autopilot.IMoGoCheckAutoPilotBtnListener;
import com.mogo.eagle.core.function.call.autopilot.CallerAutoPilotManager;
import com.mogo.eagle.core.function.call.autopilot.CallerAutoPilotStatusListenerManager;
import com.mogo.eagle.core.function.call.autopilot.CallerAutopilotPlanningListenerManager;
import com.mogo.eagle.core.function.call.hmi.CallerHmiListenerManager;
@@ -172,7 +173,7 @@ public class DispatchAutoPilotManager implements IMogoOnMessageListener<Dispatch
currentAutopilot.endLatLon = new AutopilotControlParameters.AutoPilotLonLat(receiverBean.getEndLat(), receiverBean.getEndLon());
currentAutopilot.vehicleType = 10;
Logger.d(TAG, "开启自动驾驶====" + currentAutopilot);
mApis.getAdasControllerApi().aiCloudToAdasData(currentAutopilot);
CallerAutoPilotManager.INSTANCE.startAutoPilot(currentAutopilot);
}
@Override

36
services/mogo-service-api/src/main/java/com/mogo/service/adas/IMogoADASController.java
View File

@@ -1,7 +1,6 @@
package com.mogo.service.adas;
import com.alibaba.android.arouter.facade.template.IProvider;
import com.mogo.eagle.core.data.autopilot.AutopilotControlParameters;
/**
* @author congtaowang
@@ -11,28 +10,8 @@ import com.mogo.eagle.core.data.autopilot.AutopilotControlParameters;
*/
public interface IMogoADASController extends IProvider {
/**
* 显示
*/
void showADAS();
void release();
/**
* 给adas传递数据
*
* @param result
*/
void aiCloudToAdasData(AutopilotControlParameters result);
/**
* 自车定位数据
*
* @param carDataCallback
*/
void setAdasCarDataCallback(IMogoAdasCarDataCallback carDataCallback);
/**
* 获取车身的定位纬度
*
@@ -40,6 +19,11 @@ public interface IMogoADASController extends IProvider {
*/
double getLastLat();
/**
* 设置自车的定位纬度
*/
void setLastLat(double lastLat);
/**
* 获取车身定位经度
*
@@ -47,6 +31,11 @@ public interface IMogoADASController extends IProvider {
*/
double getLastLon();
/**
* 设置自车的定位经度
*/
void setLastLon(double lastLon);
/**
* 获取由工控机传回的GPS星历时间
*
@@ -54,4 +43,9 @@ public interface IMogoADASController extends IProvider {
*/
String getSatelliteTime();
/**
* 设置自车的GPS星历时间
*/
void setSatelliteTime(String satelliteTime);
}

17
services/mogo-service-api/src/main/java/com/mogo/service/adas/IMogoAdasCarDataCallback.java
View File

@@ -1,17 +0,0 @@
package com.mogo.service.adas;
import com.mogo.eagle.core.data.autopilot.AutopilotCarStateInfo;
/**
* adas 自车位置数据回调
*
* @author tongchenfei
*/
public interface IMogoAdasCarDataCallback {
/**
* adas 数据回调
*
* @param msg 具体数据
*/
void onAdasCarDataCallback( AutopilotCarStateInfo msg );
}

45
services/mogo-service-api/src/main/java/com/mogo/service/adas/IMogoAdasOCHCallback.java
View File

@@ -1,45 +0,0 @@
package com.mogo.service.adas;
import com.mogo.eagle.core.data.autopilot.AutopilotStationInfo;
/**
* @author congtaowang
* @since 2021/1/18
* <p>
* 自动驾驶到站回调
*/
public interface IMogoAdasOCHCallback {
/**
* 不可自动驾驶，目前场景是刚开机，adas还未和工控机连接
*/
int STATUS_AUTOPILOT_DISABLE = 0;
/**
* 可自动驾驶，工控机连接正常，且处于人工干预状态
*/
int STATUS_AUTOPILOT_ENABLE = 1;
/**
* 自动驾驶中，可能是停车，可能是行进，但是是机器在处理车的前进后退，不是人
*/
int STATUS_AUTOPILOT_RUNNING = 2;
/**
* 到站
*
* @param data 所到车站的简单信息
* @see com.mogo.eagle.core.function.api.autopilot.IMoGoAutopilotStatusListener#onAutopilotArriveAtStation
*/
@Deprecated
void onArriveAt(AutopilotStationInfo data);
/**
* 自动驾驶状态发生改变
*
* @param state {@link #STATUS_AUTOPILOT_DISABLE}
* @param reason 不能自动驾驶的原因
* @see com.mogo.eagle.core.function.api.autopilot.IMoGoAutopilotStatusListener#onAutopilotStatusResponse
*/
@Deprecated
void onStateChanged(int state, String reason);
}

3
services/mogo-service/build.gradle
View File

@@ -57,18 +57,15 @@ dependencies {
implementation rootProject.ext.dependencies.mogo_core_utils
implementation rootProject.ext.dependencies.mogocommons
implementation rootProject.ext.dependencies.mogoserviceapi
implementation rootProject.ext.dependencies.moduleADAS
implementation rootProject.ext.dependencies.mogo_core_data
implementation rootProject.ext.dependencies.mogo_core_function_check
} else {
implementation project(':modules:mogo-module-adas')
api project(":libraries:mogo-map")
implementation project(":libraries:mogo-map-api")
implementation project(':core:mogo-core-utils')
implementation project(":foudations:mogo-commons")
implementation project(":services:mogo-service-api")
implementation project(':modules:mogo-module-adas')
implementation project(':core:function-impl:mogo-core-function-check')
implementation project(':core:mogo-core-data')

102
services/mogo-service/src/main/java/com/mogo/service/impl/adas/MogoADASController.java
View File

@@ -3,125 +3,59 @@ package com.mogo.service.impl.adas;
import android.content.Context;
import com.alibaba.android.arouter.facade.annotation.Route;
import com.alibaba.android.arouter.launcher.ARouter;
import com.mogo.commons.AbsMogoApplication;
import com.mogo.commons.debug.DebugConfig;
import com.mogo.eagle.core.data.autopilot.AutopilotCarStateInfo;
import com.mogo.eagle.core.data.autopilot.AutopilotControlCmdParameter;
import com.mogo.eagle.core.data.autopilot.AutopilotControlParameters;
import com.mogo.eagle.core.data.autopilot.AutopilotStatusInfo;
import com.mogo.eagle.core.data.constants.MogoServicePaths;
import com.mogo.eagle.core.network.utils.GsonUtil;
import com.mogo.eagle.core.utilcode.mogo.logger.Logger;
import com.mogo.module.adas.AdasProvider;
import com.mogo.module.adas.IAdasDataListener;
import com.mogo.service.adas.IMogoADASController;
import com.mogo.service.adas.IMogoAdasCarDataCallback;
import com.mogo.service.adas.IMogoAdasOCHCallback;
import com.zhidao.autopilot.support.api.AutopilotServiceManage;
import java.util.List;
import java.util.concurrent.CopyOnWriteArrayList;
@Route(path = MogoServicePaths.PATH_ADAS_CONTROLLER)
public class MogoADASController implements IMogoADASController {
private static final String TAG = "MogoADASController";
private AdasProvider adasProvider;
private IAdasDataListener mAdasDataListener;
private IMogoAdasCarDataCallback mMogoAdasCarDataCallback;
private double mLastLon;
private double mLastLat;
private String satelliteTime;
private String mSatelliteTime;
@Override
public double getLastLat() {
return mLastLat;
}
@Override
public void setLastLat(double lastLat) {
mLastLat = lastLat;
}
@Override
public double getLastLon() {
return mLastLon;
}
@Override
public String getSatelliteTime() {
return satelliteTime;
public void setLastLon(double lastLon) {
mLastLon = lastLon;
}
private final List<IMogoAdasOCHCallback> mAdasOCHCallback = new CopyOnWriteArrayList<>();
@Override
public String getSatelliteTime() {
return mSatelliteTime;
}
@Override
public void setSatelliteTime(String satelliteTime) {
mSatelliteTime = satelliteTime;
}
@Override
public void init(Context context) {
adasProvider = ARouter.getInstance().navigation(AdasProvider.class);
}
@Override
public void showADAS() {
Logger.d(TAG, "showADAS()");
init(AbsMogoApplication.getApp());
if (mAdasDataListener == null) {
mAdasDataListener = new IAdasDataListener() {
@Override
public void ownerCarStateInfo(String ownerCarStateInfo) {
// 接收 adas 定位数据线程
AutopilotCarStateInfo stateInfo = GsonUtil.objectFromJson(ownerCarStateInfo, AutopilotCarStateInfo.class);
if (stateInfo == null || stateInfo.getValues() == null) {
return;
}
mLastLon = stateInfo.getValues().getLon();
mLastLat = stateInfo.getValues().getLat();
satelliteTime = stateInfo.getValues().getSatelliteTime();
if (mMogoAdasCarDataCallback != null) {
mMogoAdasCarDataCallback.onAdasCarDataCallback(stateInfo);
}
}
@Override
public void notifyAutopilotState(AutopilotStatusInfo autopilotStatus) {
DebugConfig.setAutoPilotStatus(autopilotStatus.getState() + "");
if (!mAdasOCHCallback.isEmpty()) {
for (IMogoAdasOCHCallback cb : mAdasOCHCallback) {
cb.onStateChanged(autopilotStatus.getState(), autopilotStatus.getReason());
}
}
}
};
adasProvider.addAdasEventListener(mAdasDataListener);
}
}
@Override
public void aiCloudToAdasData(AutopilotControlParameters result) {
try {
AutopilotControlCmdParameter parameter = new AutopilotControlCmdParameter("aiCloudToStartAutopilot", result);
//位置信息 action是aiCloudToStartAutopilot
try {
adasProvider.sendWsMessage(GsonUtil.jsonFromObject(parameter));
} catch (Exception e) {
e.printStackTrace();
}
} catch (Exception e) {
Logger.e(TAG, e, "aiCloudToAdasData");
}
}
@Override
public void release() {
adasProvider.removeAdasEventListener(mAdasDataListener);
AutopilotServiceManage.getInstance().release();
}
@Override
public void setAdasCarDataCallback(IMogoAdasCarDataCallback carDataCallback) {
mMogoAdasCarDataCallback = carDataCallback;
}
}

1
settings.gradle
View File

@@ -57,7 +57,6 @@ include ':libraries:mogo-map'
include ':libraries:mogo-adas'
// OLD业务模块
include ':modules:mogo-module-adas'
include ':modules:mogo-module-common'
include ':modules:mogo-module-main'
include ':modules:mogo-module-service'