Merge branch 'dev_robotaxi-d_230912_6.1.0' into base_3.4.0-map-sdk

core/function-impl/mogo-core-function-datacenter/src/main/java/com/mogo/eagle/core/function/datacenter/autopilot/adapter/MoGoAdasListenerImpl.kt

@@ -894,13 +894,9 @@ class MoGoAdasListenerImpl : OnAdasListener {
     }
 
     override fun onParallelDrivingAbility(
-        isParallelDrivingAbility: Boolean,
+        isParallelDrivingAbility: Boolean
-        unableParallelDrivingReasons: java.util.ArrayList<UnableLaunchReason>?
     ) {
-        CallerParallelDrivingActionsListenerManager.invokeParallelDrivingAbility(
+        CallerParallelDrivingActionsListenerManager.invokeParallelDrivingAbility(isParallelDrivingAbility)
-            isParallelDrivingAbility,
-            unableParallelDrivingReasons
-        )
     }
 
     @ChainLog(

core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/hmi/ui/widget/ParallelDriveView.kt

@@ -152,8 +152,7 @@ class ParallelDriveView @JvmOverloads constructor(
     }
 
     override fun onParallelDrivingAbility(
-        isParallelDrivingAbility: Boolean,
+        isParallelDrivingAbility: Boolean
-        unableParallelDrivingReasons: ArrayList<UnableLaunchReason>?
     ) {
         if (!isParallelDrivingAbility) {
             Log.d(TAG, "onParallelDrivingAbility-UNAVAILABLE")

core/mogo-core-function-api/src/main/java/com/mogo/eagle/core/function/api/autopilot/IMoGoAutopilotActionsListener.kt

@@ -8,8 +8,5 @@ import com.zhjt.mogo.adas.data.bean.UnableLaunchReason
  */
 interface IMoGoAutopilotActionsListener {
 
-    /**
-     * pnc actions 决策 驾驶的意图
-     */
     fun onAutopilotAbility(isAutopilotAbility: Boolean, unableAutopilotReasons: ArrayList<UnableLaunchReason>?)
 }

core/mogo-core-function-api/src/main/java/com/mogo/eagle/core/function/api/autopilot/IMoGoParallelDrivingActionsListener.kt

@@ -1,13 +1,10 @@
 package com.mogo.eagle.core.function.api.autopilot
 
-import com.zhjt.mogo.adas.data.bean.UnableLaunchReason
-
 
 /**
  * 平行驾驶能力 能否启动平行驾驶
  */
 interface IMoGoParallelDrivingActionsListener {
 
-
+    fun onParallelDrivingAbility(isParallelDrivingAbility: Boolean)
-    fun onParallelDrivingAbility(isParallelDrivingAbility: Boolean, unableParallelDrivingReasons: ArrayList<UnableLaunchReason>?)
 }

core/mogo-core-function-call/src/main/java/com/mogo/eagle/core/function/call/autopilot/CallerParallelDrivingActionsListenerManager.kt

@@ -3,7 +3,6 @@ package com.mogo.eagle.core.function.call.autopilot
 import android.util.Log
 import com.mogo.eagle.core.function.api.autopilot.IMoGoParallelDrivingActionsListener
 import com.mogo.eagle.core.function.call.base.CallerBase
-import com.zhjt.mogo.adas.data.bean.UnableLaunchReason
 
 
 /**
@@ -14,23 +13,9 @@ object CallerParallelDrivingActionsListenerManager :
     @Volatile
     private var isConnected = false
     private var isParallelDrivingAbility: Boolean = false
-    private var unableParallelDrivingReasons: ArrayList<UnableLaunchReason>? = null
 
     init {
         isParallelDrivingAbility = false
-        unableParallelDrivingReasons = disconnectedReason()
-    }
-
-    private fun disconnectedReason(): ArrayList<UnableLaunchReason> {
-        val list = ArrayList<UnableLaunchReason>()
-        list.add(
-            UnableLaunchReason(
-                UnableLaunchReason.SourceType.LIB,
-                UnableLaunchReason.UnableType.DISCONNECTED,
-                "未连接自动驾驶系统"
-            )
-        )
-        return list
     }
 
     /**
@@ -40,44 +25,19 @@ object CallerParallelDrivingActionsListenerManager :
         return isParallelDrivingAbility
     }
 
-    /**
-     * 获取不能启动平行驾驶的原因
-     *  null：表示没有任何原因证，证明isParallelDrivingAbility为true
-     */
-    fun getUnableParallelDrivingReasons(): ArrayList<UnableLaunchReason>? {
-        return unableParallelDrivingReasons
-    }
-
     fun setConnected(isConnected: Boolean) {
         if (this.isConnected != isConnected) {
             this.isConnected = isConnected
             this.isParallelDrivingAbility = isConnected
-            unableParallelDrivingReasons = if (isConnected) null else disconnectedReason()
             notification()
         }
     }
 
     @Synchronized
-    fun invokeParallelDrivingAbility(
+    fun invokeParallelDrivingAbility(isAutopilotAbility: Boolean) {
-        isAutopilotAbility: Boolean, unableAutopilotReasons: ArrayList<UnableLaunchReason>?
-    ) {
         if (isConnected) {
-            var isEquals: Boolean = true
+            if (this.isParallelDrivingAbility != isAutopilotAbility) {
-            if (unableAutopilotReasons != null && this.unableParallelDrivingReasons != null) {
-                unableAutopilotReasons.let { onw ->
-                    onw.sortWith(compareBy(UnableLaunchReason::hashCode));
-                    this.unableParallelDrivingReasons?.let { old ->
-                        old.sortWith(compareBy(UnableLaunchReason::hashCode));
-                        isEquals = onw.toTypedArray() contentEquals old.toTypedArray()
-
-                    }
-                }
-            } else isEquals =
-                !(unableAutopilotReasons != null || this.unableParallelDrivingReasons != null)
-
-            if (this.isParallelDrivingAbility != isAutopilotAbility || !isEquals) {
                 this.isParallelDrivingAbility = isAutopilotAbility
-                this.unableParallelDrivingReasons = unableAutopilotReasons
                 notification()
             }
         }
@@ -86,13 +46,12 @@ object CallerParallelDrivingActionsListenerManager :
     private fun notification() {
         Log.i(
             "xfk",
-            "是否可以启动平行驾驶=" + isParallelDrivingAbility + if (unableParallelDrivingReasons == null) "" else unableParallelDrivingReasons.toString()
+            "是否可以启动平行驾驶=$isParallelDrivingAbility"
         )
         M_LISTENERS.forEach {
             val listener = it.value
             listener.onParallelDrivingAbility(
-                isParallelDrivingAbility,
+                isParallelDrivingAbility
-                unableParallelDrivingReasons
             )
         }
     }

core/mogo-core-function-call/src/main/java/com/mogo/eagle/core/function/call/map/CallerMapRoadListenerManager.kt

@@ -51,11 +51,14 @@ object CallerMapRoadListenerManager {
         }
     }
 
-    private var mCross: Boolean by Delegates.observable(false) { _, oldValue, newValue ->
+    private var mCross: Int by Delegates.observable(-1) { _, oldValue, newValue ->
         if (oldValue != newValue) {
             CallerLogger.d("$M_MAP onRoadChange", newValue)
             listeners.forEach { entry ->
-                entry.value.onRoadChange(newValue)
+                when(newValue){
+                    1,2 ->  entry.value.onRoadChange(false)
+                    else ->  entry.value.onRoadChange(true)
+                }
             }
         }
     }
@@ -66,7 +69,7 @@ object CallerMapRoadListenerManager {
         nodeAliasCode = ChainConstant.CHAIN_CODE_HD_MAP_ROAD_CROSS,
         paramIndexes = [0, 1]
     )
-    fun invokeRoadChange(cross: Boolean, roadCross: RoadCross) {
+    fun invokeRoadChange(cross: Int, roadCross: RoadCross) {
         mCross = cross
 
     }

libraries/mogo-adas-data/src/main/java/com/zhjt/mogo/adas/data/bean/UnableLaunchReason.java

@@ -5,7 +5,7 @@ import android.text.TextUtils;
 import java.util.Objects;
 
 /**
- * 不能启动自动驾驶或不能启动平行驾驶的原因
+ * 不能启动自动驾驶的原因
  */
 public class UnableLaunchReason {
 
@@ -17,7 +17,7 @@ public class UnableLaunchReason {
     }
 
     /**
-     * 影响启动自驾或启动平行驾驶的具体类型
+     * 影响启动自驾的具体类型
      */
     public enum UnableType {
         DISCONNECTED,//未连接

libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/AdasOptions.java

@@ -1,6 +1,5 @@
 package com.zhidao.support.adas.high;
 
-import com.zhidao.support.adas.high.common.ParallelDrivingManager;
 import com.zhidao.support.adas.high.common.autopilot.ability.AutopilotAbilityManager;
 import com.zhidao.support.adas.high.subscribe.SubscribeInterfaceOptions;
 
@@ -203,6 +202,5 @@ public class AdasOptions {
 
     public void setUnableLaunchAutopilotGear(Set<Chassis.GearPosition> unableLaunchAutopilotGear) {
         AutopilotAbilityManager.getInstance().setUnableLaunchAutopilotGear(unableLaunchAutopilotGear);
-        ParallelDrivingManager.getInstance().setUnableLaunchParallelDrivingGear(unableLaunchAutopilotGear);
     }
 }

libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/OnAdasListener.java

@@ -478,9 +478,8 @@ public interface OnAdasListener {
      * 是否有能力启动平行驾驶
      *
      * @param isParallelDrivingAbility     是否能启动平行驾驶
-     * @param unableParallelDrivingReasons 不能启动平行驾驶原因
      */
-    void onParallelDrivingAbility(boolean isParallelDrivingAbility, @Nullable ArrayList<UnableLaunchReason> unableParallelDrivingReasons);
+    void onParallelDrivingAbility(boolean isParallelDrivingAbility);
 
     /**
      * 启动自动驾驶失败回调

libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/common/ParallelDrivingManager.java

@@ -3,11 +3,7 @@ package com.zhidao.support.adas.high.common;
 
 import com.zhidao.support.adas.high.AdasManager;
 import com.zhidao.support.adas.high.OnAdasListener;
-import com.zhjt.mogo.adas.data.bean.UnableLaunchReason;
 
-import java.util.ArrayList;
-import java.util.HashSet;
-import java.util.Set;
 import java.util.Timer;
 import java.util.TimerTask;
 
@@ -28,10 +24,10 @@ public class ParallelDrivingManager {
     private OnAdasListener listener;
     private ChassisStatesOuterClass.ChassisStates chassisStates;
     private VehicleStateOuterClass.VehicleState vehicleState;
+    private int autopilotState;
     /**
      * 不能启动平行驾驶的档位
      */
-    private Set<Chassis.GearPosition> unableLaunchParallelDrivingGear;
     private int mapVersion = -1;//工控机版本
     private boolean isHQ = false;//是否是HQ
     private boolean isDF = false;//是否是DF
@@ -73,80 +69,60 @@ public class ParallelDrivingManager {
         this.vehicleState = vehicleState;
     }
 
-    public void setUnableLaunchParallelDrivingGear(Set<Chassis.GearPosition> unableLaunchParallelDrivingGear) {
-        if (unableLaunchParallelDrivingGear != null) {
-            this.unableLaunchParallelDrivingGear = new HashSet<>(unableLaunchParallelDrivingGear);
-        }
-    }
-
     /**
-     * 获取当前档位是否能启动自动驾驶 如果不传递默认可以启动
+     * 只使用老的自动驾驶状态接口原因：新的状态接口（FunctionStatesMessage）同时会上线FSM自有的检测更能，所以不需要在鹰眼中检测
-     * 不能启动自驾档位规则：app/README.md/不能启动自动驾驶的档位
      *
-     * @param currentGear 当前档位
+     * @param autopilotState
-     * @return 是否能启动自驾
      */
-    private boolean isLaunchAutopilot(Chassis.GearPosition currentGear) {
+    public void setAutopilotState(int autopilotState) {
-        if (unableLaunchParallelDrivingGear != null && !unableLaunchParallelDrivingGear.isEmpty()) {
+        this.autopilotState = autopilotState;
-            return !unableLaunchParallelDrivingGear.contains(currentGear);
-        }
-        return true;
-    }
-
-    /**
-     * 添加不能启动平行驾驶的原因
-     *
-     * @param unableParallelDrivingReasons 原因列表
-     * @param source                       来源
-     * @param unableParallelDrivingReason  云隐
-     * @return 原因列表
-     */
-    public static ArrayList<UnableLaunchReason> addUnableParallelDrivingReason(ArrayList<UnableLaunchReason> unableParallelDrivingReasons, UnableLaunchReason.SourceType source, UnableLaunchReason.UnableType unableType, String unableParallelDrivingReason) {
-        if (unableParallelDrivingReasons == null) {
-            unableParallelDrivingReasons = new ArrayList<>();
-        }
-        unableParallelDrivingReasons.add(new UnableLaunchReason(source, unableType, unableParallelDrivingReason));
-        return unableParallelDrivingReasons;
     }
 
     private void onCallback() {
-        boolean isParallelDrivingAbility = true;//是否能启动平行驾驶
+        float brake = 0;
-        ArrayList<UnableLaunchReason> unableParallelDrivingReasons = null;//不能启动平行驾驶原因
+        Chassis.GearPosition gear = null;
+        float throttle = 0;
+        boolean isBrake = false;
         //检测底盘相关
         if (chassisStates != null) {
             if (chassisStates.hasBrakeSystemStates()) {
-                float brake = chassisStates.getBrakeSystemStates().getBrakePedalResponsePosition();
+                brake = chassisStates.getBrakeSystemStates().getBrakePedalResponsePosition();
-                if (brake > 0) {
+                CupidLogUtils.i(TAG, "刹车=" + brake);
-                    isParallelDrivingAbility = false;
+            } else {
-                    unableParallelDrivingReasons = addUnableParallelDrivingReason(unableParallelDrivingReasons, UnableLaunchReason.SourceType.CHASSIS, UnableLaunchReason.UnableType.BRAKE, "制动踏板被踩下");
+                CupidLogUtils.i(TAG, "刹车=未赋值");
-                }
             }
             if (chassisStates.hasGearSystemStates()) {
-                Chassis.GearPosition gear = chassisStates.getGearSystemStates().getGearPosition();
+                gear = chassisStates.getGearSystemStates().getGearPosition();
-                if (!isLaunchAutopilot(gear)) {
+                CupidLogUtils.i(TAG, "档位=" + gear);
-                    isParallelDrivingAbility = false;
+            } else {
-                    unableParallelDrivingReasons = addUnableParallelDrivingReason(unableParallelDrivingReasons, UnableLaunchReason.SourceType.CHASSIS, UnableLaunchReason.UnableType.GEAR, "档位异常");
+                CupidLogUtils.i(TAG, "档位=未赋值");
-                }
+            }
+            if (chassisStates.hasDrivingSystemStates()) {
+                throttle = chassisStates.getDrivingSystemStates().getThrottleResponsePosition();
+                CupidLogUtils.i(TAG, "油门=" + throttle);
+            } else {
+                CupidLogUtils.i(TAG, "油门=未赋值");
             }
         }
         if (vehicleState != null) {
             //TODO 关于手刹：目前只有老底盘中存在这个字段，df360开始，其他车型未知
             //电子驻车制动系统
             if (vehicleState.hasParkingBrake()) {
-                boolean isBrake = vehicleState.getParkingBrake();
+                isBrake = vehicleState.getParkingBrake();
-                if (isBrake) {
+                CupidLogUtils.i(TAG, " 手刹=" + isBrake);
-                    isParallelDrivingAbility = false;
+            } else {
-                    unableParallelDrivingReasons = addUnableParallelDrivingReason(unableParallelDrivingReasons, UnableLaunchReason.SourceType.CHASSIS, UnableLaunchReason.UnableType.PARKING_BRAKE, "施加驻车");
+                CupidLogUtils.i(TAG, " 手刹=未赋值");
-                }
             }
         }
-        callListener(isParallelDrivingAbility, unableParallelDrivingReasons);
+        CupidLogUtils.i(TAG, "自动驾驶状态=" + autopilotState + " 刹车=" + brake + " 档位=" + gear + " 油门=" + throttle + " 手刹=" + isBrake);
+        //是否能启动平行驾驶 满足p档驻车+松开油门刹车或满足n档+电子手刹+松开油门刹车或非人工驾驶状态
+        boolean isParallelDrivingAbility = autopilotState > 1 || (gear == Chassis.GearPosition.GEAR_P && brake <= 5 && throttle <= 5) || (gear == Chassis.GearPosition.GEAR_N && isBrake && brake <= 5 && throttle <= 5);
+        callListener(isParallelDrivingAbility);
     }
 
-    private void callListener(boolean isParallelDrivingAbility, ArrayList<UnableLaunchReason> unableParallelDrivingReasons) {
+    private void callListener(boolean isParallelDrivingAbility) {
-
         if (listener != null) {
-            listener.onParallelDrivingAbility(isParallelDrivingAbility, unableParallelDrivingReasons);
+            listener.onParallelDrivingAbility(isParallelDrivingAbility);
         }
     }
 
@@ -166,7 +142,8 @@ public class ParallelDrivingManager {
                 }, 2000L, 1000L);//延迟执行，避免刚连接成功后底盘信息无法及时同步
             }
         } else {
-            callListener(false, addUnableParallelDrivingReason(null, UnableLaunchReason.SourceType.LIB, UnableLaunchReason.UnableType.INCOMPATIBLE, "当前域控版本无法通过鹰眼启动平行驾驶"));
+            CupidLogUtils.e(TAG, "当前域控版本无法通过鹰眼启动平行驾驶 MAP版本=" + mapVersion);
+            callListener(false);
         }
     }
 

libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/msg/AutopilotStateMessage.java

@@ -8,6 +8,7 @@ import com.zhidao.support.adas.high.AdasManager;
 import com.zhidao.support.adas.high.OnAdasListener;
 import com.zhidao.support.adas.high.common.AutopilotReview;
 import com.zhidao.support.adas.high.common.CupidLogUtils;
+import com.zhidao.support.adas.high.common.ParallelDrivingManager;
 import com.zhidao.support.adas.high.protocol.RawData;
 
 import mogo.telematics.pad.MessagePad;
@@ -28,6 +29,7 @@ public class AutopilotStateMessage extends MyAbstractMessageHandler {
         if (AdasManager.getInstance().getCarConfig() == null || !(AdasManager.getInstance().getCarConfig().getMapVersion() >= 330 && AdasManager.getInstance().getCarConfig().getIsFutianSweeper())) {
             MessagePad.AutopilotState autopilotState = MessagePad.AutopilotState.parser().parseFrom(raw.originalData.toByteArray(), raw.getOffsetValue(), raw.getPackageLengthValue() - raw.getOffsetValue());
             AdasChannel.calculateTimeConsumingOnDispatchRaw("自动驾驶状态", raw.receiveTime);
+            ParallelDrivingManager.getInstance().setAutopilotState(autopilotState.getState());
             long nowTime = 0;
             if (CupidLogUtils.isEnableLog())
                 nowTime = SystemClock.elapsedRealtime();

libraries/mogo-map/src/main/java/com/mogo/map/AMapViewWrapper.kt

@@ -211,14 +211,20 @@ class AMapViewWrapper(mMapView: MapAutoView) : IMogoMapView, IMogoMapUIControlle
         oldValue?.let {
             //对驶入驶出路口做二次过滤，防止多次回调
             if (it.status == 0 && newValue!!.status == 1) {
-                //进入路口
+                //径直进入路口
                 i("$M_MAP$TAG", "进入路口 :${newValue.cross_id}")
-                invokeRoadChange(true, newValue)
+                invokeRoadChange(0, newValue)
             }
-            if ((it.status == 1 && newValue!!.status == 0) || (newValue!!.cross_id_end.isNotEmpty() && oldValue.cross_id_end != newValue.cross_id_end)) {
+            if ((it.status == 1 && newValue!!.status == 0)) {
-                //驶出路口
+                //径直驶出路口
                 i("$M_MAP$TAG", "驶出路口 上个:${oldValue.cross_id_end} , 下个:${newValue.cross_id_end}")
-                invokeRoadChange(false, newValue)
+                invokeRoadChange(1, newValue)
+                return@let
+            }
+            if((newValue!!.cross_id_end.isNotEmpty() && oldValue.cross_id_end != newValue.cross_id_end)){
+                //路口发生变化
+                i("$M_MAP$TAG", "路段发生变化 上个:${oldValue.cross_id_end} , 下个:${newValue.cross_id_end}")
+                invokeRoadChange(2, newValue)
             }
         }
     }