[Fix]解决司机屏连接工控机失败的问题

2022-10-12 20:05:09 +08:00
parent a7ca4752b1
commit 0169a68d1e
4 changed files with 107 additions and 166 deletions
--- a/OCH/mogo-och-common-module/src/main/java/com/mogo/och/common/module/manager/OCHAdasAbilityManager.java
+++ b/OCH/mogo-och-common-module/src/main/java/com/mogo/och/common/module/manager/OCHAdasAbilityManager.java
@@ -2,19 +2,14 @@ package com.mogo.och.common.module.manager;

 import android.content.Context;

+import androidx.annotation.Nullable;
+
+import com.mogo.eagle.core.function.api.autopilot.IMoGoAutopilotActionsListener;
+import com.mogo.eagle.core.function.call.autopilot.CallerAutopilotActionsListenerManager;
 import com.mogo.eagle.core.utilcode.mogo.logger.Logger;
-import com.zhidao.support.adas.high.AdasManager;
-import com.zhidao.support.adas.high.OnAdasListener;
 import com.zhidao.support.adas.high.bean.AutopilotAbility;
-import com.zhidao.support.adas.high.common.ProtocolStatus;

 import chassis.Chassis;
-import chassis.VehicleStateOuterClass;
-import mogo.telematics.pad.MessagePad;
-import mogo_msg.MogoReportMsg;
-import perception.TrafficLightOuterClass;
-import prediction.Prediction;
-import record_cache.RecordPanelOuterClass;
 import system_master.SystemStatusInfo;

 /**
@@ -22,11 +17,10 @@ import system_master.SystemStatusInfo;
 * 工控机状态信息回调（判断是否能否启动自动驾驶的回调）
 * 目前定的是3秒回调一次
 */
-public class OCHAdasAbilityManager {
+public class OCHAdasAbilityManager implements IMoGoAutopilotActionsListener {

    private static final String TAG = OCHAdasAbilityManager.class.getSimpleName();

-
    private boolean isAutopilotAbility = true;
    private String autopilotAbilityReason = "";

@@ -52,164 +46,40 @@ public class OCHAdasAbilityManager {

    private void initListeners() {
        //2022.10.9 工控机状态信息回调（判断是否能否启动自动驾驶的回调）， 目前定的是3秒回调一次
-        AdasManager.getInstance().setOnAdasListener(adasListener);
+        CallerAutopilotActionsListenerManager.INSTANCE.addListener(TAG, this);
    }

    private void releaseListeners() {
-        AdasManager.getInstance().setOnAdasListener(null);
+        CallerAutopilotActionsListenerManager.INSTANCE.removeListener(this);
+    }
+
+    @Override
+    public void onAutopilotAbility(@Nullable AutopilotAbility ability) {
+        isAutopilotAbility = true;
+        autopilotAbilityReason = null;
+        if (ability.gear == null || ability.gear == Chassis.GearPosition.GEAR_P || ability.gear == Chassis.GearPosition.GEAR_R) {
+            isAutopilotAbility = false;
+            autopilotAbilityReason = "挡位不正常";
+        }
+        if (isAutopilotAbility)
+            if (ability.brake > 0) {
+                isAutopilotAbility = false;
+                autopilotAbilityReason = "制动踏板被踩下";
+            }
+        if (isAutopilotAbility)
+            if (ability.statusInfo.getSysState() == SystemStatusInfo.SystemState.SYS_STARTING) {
+                isAutopilotAbility = false;
+                autopilotAbilityReason = "系统正在启动";
+            }
+        if (isAutopilotAbility)
+            if (ability.statusInfo.getSysState() == SystemStatusInfo.SystemState.SYS_EXITING) {
+                isAutopilotAbility = false;
+                autopilotAbilityReason = "系统正在关闭";
+            }
+        Logger.d(TAG, "是否可以启动自动驾驶=" + isAutopilotAbility + " 原因=" + autopilotAbilityReason);
    }

    public void release() {
        releaseListeners();
    }
-
-    private final OnAdasListener adasListener = new OnAdasListener() {
-        @Override
-        public void onTrajectory(MessagePad.Header header, MessagePad.Trajectory trajectory) {
-
-        }
-
-        @Override
-        public void onTrackedObjects(MessagePad.Header header, MessagePad.TrackedObjects trackedObjects) {
-
-        }
-
-        @Override
-        public void onGnssInfo(MessagePad.Header header, MessagePad.GnssInfo gnssInfo) {
-
-        }
-
-        @Override
-        public void onVehicleState(MessagePad.Header header, VehicleStateOuterClass.VehicleState vehicleState) {
-
-        }
-
-        @Override
-        public void onAutopilotState(MessagePad.Header header, MessagePad.AutopilotState autopilotState) {
-
-        }
-
-        @Override
-        public void onReportMessage(MessagePad.Header header, MogoReportMsg.MogoReportMessage mogoReportMessage) {
-
-        }
-
-        @Override
-        public void onPerceptionTrafficLight(MessagePad.Header header, TrafficLightOuterClass.TrafficLights trafficLights) {
-
-        }
-
-        @Override
-        public void onPredictionObstacleTrajectory(MessagePad.Header header, Prediction.mPredictionObjects predictionObjects) {
-
-        }
-
-        @Override
-        public void onPointCloud(byte[] pointCloud) {
-
-        }
-
-        @Override
-        public void onPlanningObjects(MessagePad.Header header, MessagePad.PlanningObjects planningObjects) {
-
-        }
-
-        @Override
-        public void onBasicInfoReq(MessagePad.Header header, MessagePad.BasicInfoReq basicInfoReq) {
-
-        }
-
-        @Override
-        public void onCarConfigResp(MessagePad.Header header, MessagePad.CarConfigResp carConfigResp) {
-
-        }
-
-        @Override
-        public void onRecordResult(MessagePad.Header header, RecordPanelOuterClass.RecordPanel recordPanel) {
-
-        }
-
-        @Override
-        public void onGlobalPathResp(MessagePad.Header header, MessagePad.GlobalPathResp globalPathResp) {
-
-        }
-
-        @Override
-        public void onWarn(MessagePad.Header header, MessagePad.Warn warn) {
-
-        }
-
-        @Override
-        public void onArrivalNotification(MessagePad.Header header, MessagePad.ArrivalNotification arrivalNotification) {
-
-        }
-
-        @Override
-        public void onStatusQueryResp(MessagePad.Header header, SystemStatusInfo.StatusInfo statusInfo) {
-
-        }
-
-        @Override
-        public void onRecordDataConfigResp(MessagePad.Header header, MessagePad.RecordDataConfig config) {
-
-        }
-
-        @Override
-        public void onPlanningActionMsg(MessagePad.Header header, MessagePad.PlanningActionMsg planningActionMsg) {
-
-        }
-
-        @Override
-        public void onError(ProtocolStatus status, byte[] bytes) {
-
-        }
-
-        @Override
-        public void onAutopilotAbility(AutopilotAbility ability) {
-            isAutopilotAbility = true;
-            autopilotAbilityReason = null;
-            if (ability.gear == null || ability.gear == Chassis.GearPosition.GEAR_P || ability.gear == Chassis.GearPosition.GEAR_R) {
-                isAutopilotAbility = false;
-                autopilotAbilityReason = "挡位不正常";
-            }
-            if (isAutopilotAbility)
-                if (ability.brake > 0) {
-                    isAutopilotAbility = false;
-                    autopilotAbilityReason = "制动踏板被踩下";
-                }
-
-            if (isAutopilotAbility)
-                if (ability.statusInfo.getSysState() == SystemStatusInfo.SystemState.SYS_STARTING) {
-                    isAutopilotAbility = false;
-                    autopilotAbilityReason = "系统正在启动";
-                }
-            if (isAutopilotAbility)
-                if (ability.statusInfo.getSysState() == SystemStatusInfo.SystemState.SYS_EXITING) {
-                    isAutopilotAbility = false;
-                    autopilotAbilityReason = "系统正在关闭";
-                }
-            // 暂时先拦截及提示以上4种异常情况
-//            if (isAutopilotAbility)
-//                if (ability.statusInfo == null) {
-//                    isAutopilotAbility = false;
-//                    autopilotAbilityReason = "系统Topic不正常";
-//                }
-//            if (isAutopilotAbility)
-//                if (ability.statusInfo.getSysState() == SystemStatusInfo.SystemState.SYS_FAULT) {
-//                    isAutopilotAbility = false;
-//                    autopilotAbilityReason = "系统异常";
-//                }
-//
-//            if (isAutopilotAbility)
-//                for (SystemStatusInfo.HealthInfo healthInfo : ability.statusInfo.getHealthInfoList()) {
-//                    if (healthInfo.getState() == SystemStatusInfo.HealthState.FAULT) {
-//                        isAutopilotAbility = false;
-//                        autopilotAbilityReason = healthInfo.getName() + " Topic异常";
-//                        break;
-//                    }
-//                }
-
-            Logger.d(TAG, "是否可以启动自动驾驶=" + isAutopilotAbility + " 原因=" + autopilotAbilityReason);
-        }
-    };
 }
--- a/core/function-impl/mogo-core-function-autopilot/src/main/java/com/mogo/eagle/core/function/autopilot/adapter/MoGoAdasListenerImpl.kt
+++ b/core/function-impl/mogo-core-function-autopilot/src/main/java/com/mogo/eagle/core/function/autopilot/adapter/MoGoAdasListenerImpl.kt
@@ -1,7 +1,5 @@
 package com.mogo.eagle.core.function.autopilot.adapter

-import android.location.Location
-import android.util.Log
 import chassis.VehicleStateOuterClass
 import com.mogo.eagle.core.data.app.AppConfigInfo
 import com.mogo.eagle.core.data.config.FunctionBuildConfig
@@ -37,6 +35,7 @@ import com.mogo.eagle.core.function.call.autopilot.CallerAutoPilotStatusListener
 import com.mogo.eagle.core.function.call.autopilot.CallerAutoPilotStatusListenerManager.invokeAutopilotGuardian
 import com.mogo.eagle.core.function.call.autopilot.CallerAutoPilotStatusListenerManager.invokeAutopilotSNRequest
 import com.mogo.eagle.core.function.call.autopilot.CallerAutoPilotStatusListenerManager.invokeAutopilotStatusRespByQuery
+import com.mogo.eagle.core.function.call.autopilot.CallerAutopilotActionsListenerManager.invokeAutopilotAbility
 import com.mogo.eagle.core.function.call.autopilot.CallerAutopilotCarConfigListenerManager.invokeAutopilotCarConfigData
 import com.mogo.eagle.core.function.call.autopilot.CallerAutopilotCarStatusListenerManager.invokeAutopilotCarStateData
 import com.mogo.eagle.core.function.call.autopilot.CallerAutopilotIdentifyListenerManager
@@ -51,7 +50,6 @@ import com.mogo.eagle.core.function.call.autopilot.CallerAutopilotRecordListener
 import com.mogo.eagle.core.function.call.autopilot.CallerAutopilotVehicleStateListenerManager
 import com.mogo.eagle.core.function.call.map.CallerMapUIServiceManager
 import com.mogo.eagle.core.utilcode.mogo.logger.CallerLogger
-import com.mogo.map.navi.MogoCarLocationChangedListenerRegister
 import com.zhidao.support.adas.high.AdasManager
 import com.zhidao.support.adas.high.OnAdasListener
 import com.zhidao.support.adas.high.bean.AutopilotAbility
@@ -444,5 +442,6 @@ class MoGoAdasListenerImpl : OnAdasListener {
     * 使用方法查看：app_ipc_monitoring/uiMainActivity/onAutopilotAbility
     */
    override fun onAutopilotAbility(ability: AutopilotAbility?) {
+        invokeAutopilotAbility(ability)
    }
 }
--- a/core/mogo-core-function-api/src/main/java/com/mogo/eagle/core/function/api/autopilot/IMoGoAutopilotActionsListener.kt
+++ b/core/mogo-core-function-api/src/main/java/com/mogo/eagle/core/function/api/autopilot/IMoGoAutopilotActionsListener.kt
@@ -0,0 +1,12 @@
+package com.mogo.eagle.core.function.api.autopilot
+
+import com.zhidao.support.adas.high.bean.AutopilotAbility
+
+
+interface IMoGoAutopilotActionsListener {
+
+    /**
+     * pnc actions 决策 驾驶的意图
+     */
+    fun onAutopilotAbility(ability: AutopilotAbility?)
+}
--- a/core/mogo-core-function-call/src/main/java/com/mogo/eagle/core/function/call/autopilot/CallerAutopilotActionsListenerManager.kt
+++ b/core/mogo-core-function-call/src/main/java/com/mogo/eagle/core/function/call/autopilot/CallerAutopilotActionsListenerManager.kt
@@ -0,0 +1,60 @@
+package com.mogo.eagle.core.function.call.autopilot
+
+import androidx.annotation.Nullable
+import com.mogo.eagle.core.function.api.autopilot.IMoGoAutopilotActionsListener
+import com.mogo.eagle.core.function.call.base.CallerBase
+import com.zhidao.support.adas.high.bean.AutopilotAbility
+import java.util.concurrent.ConcurrentHashMap
+
+
+object CallerAutopilotActionsListenerManager : CallerBase() {
+
+    private val M_AUTOPILOT_ACTIONS_LISTENER: ConcurrentHashMap<String, IMoGoAutopilotActionsListener> =
+        ConcurrentHashMap()
+
+    /**
+     * 添加监听
+     * @param tag 标记，用来注销监听使用
+     * @param listener 监听回调
+     */
+    fun addListener(
+        @Nullable tag: String,
+        @Nullable listener: IMoGoAutopilotActionsListener
+    ) {
+        if (M_AUTOPILOT_ACTIONS_LISTENER.containsKey(tag)) {
+            return
+        }
+        M_AUTOPILOT_ACTIONS_LISTENER[tag] = listener
+    }
+
+    /**
+     * 删除监听
+     * @param tag 标记，用来注销监听使用
+     */
+    fun removeListener(@Nullable tag: String) {
+        if (!M_AUTOPILOT_ACTIONS_LISTENER.containsKey(tag)) {
+            return
+        }
+        M_AUTOPILOT_ACTIONS_LISTENER.remove(tag)
+    }
+
+    /**
+     * 删除自动驾驶按钮选中监听
+     * @param listener 要删除的监听对象
+     */
+    fun removeListener(@Nullable listener: IMoGoAutopilotActionsListener) {
+        M_AUTOPILOT_ACTIONS_LISTENER.forEach {
+            if (it.value == listener) {
+                M_AUTOPILOT_ACTIONS_LISTENER.remove(it.key)
+            }
+        }
+    }
+
+    @Synchronized
+    fun invokeAutopilotAbility(ability: AutopilotAbility?) {
+        M_AUTOPILOT_ACTIONS_LISTENER.forEach {
+            val listener = it.value
+            listener.onAutopilotAbility(ability)
+        }
+    }
+}