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[Fix]解决司机屏连接工控机失败的问题

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This commit is contained in:
chenfufeng
2022-10-12 20:05:09 +08:00
parent a7ca4752b1
commit 0169a68d1e
4 changed files with 107 additions and 166 deletions
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196
OCH/mogo-och-common-module/src/main/java/com/mogo/och/common/module/manager/OCHAdasAbilityManager.java
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@@ -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);
}
};
}