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[pb12][重构后的功能状态] 清扫车分支 添加重构后的功能状态接口

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This commit is contained in:
xinfengkun
2023-01-09 17:47:59 +08:00
parent 23b96286ee
commit 019f50705d
10 changed files with 103 additions and 1 deletions
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10
app_ipc_monitoring/src/main/java/com/zhidao/adas/client/DataDistribution.java
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@@ -9,6 +9,7 @@ import com.zhidao.adas.client.bean.BasicInfoReq;
import com.zhidao.adas.client.bean.CarConfigResp;
import com.zhidao.adas.client.bean.ChassisStates;
import com.zhidao.adas.client.bean.ErrorData;
import com.zhidao.adas.client.bean.FSMFunctionStates;
import com.zhidao.adas.client.bean.GlobalPathResp;
import com.zhidao.adas.client.bean.GnssInfo;
import com.zhidao.adas.client.bean.MogoReportMessage;
@@ -119,6 +120,7 @@ public class DataDistribution {
public final List<String> listPlanningObjects = new ArrayList<>();
public final List<String> listPlanningDecisionState = new ArrayList<>();
public final List<String> listChassisStates = new ArrayList<>();
public final List<String> listFSMFunctionStates = new ArrayList<>();
public String cutDown(String str) {
if (isCutDown && str.length() > 650) {
@@ -280,6 +282,14 @@ public class DataDistribution {
if (listener != null && Constants.TITLE.RECEIVE_RECORD_DATA_CONFIG_RESP.equals(listener.first)) {
listener.second.onRefresh();
}
} else if (data instanceof FSMFunctionStates) {
listFSMFunctionStates.add(0, time + str);
if (listFSMFunctionStates.size() > LIST_SIZE) {
listFSMFunctionStates.remove(listFSMFunctionStates.size() - 1);
}
if (listener != null && Constants.TITLE.RECEIVE_FUNCTION_STATES.equals(listener.first)) {
listener.second.onRefresh();
}
} else if (data instanceof ErrorData) {
listErrorData.add(0, time + str);
if (listErrorData.size() > 100) {

24
app_ipc_monitoring/src/main/java/com/zhidao/adas/client/bean/FSMFunctionStates.java Normal file
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@@ -0,0 +1,24 @@
package com.zhidao.adas.client.bean;
import com.google.protobuf.TextFormat;
import java.text.SimpleDateFormat;
import function_state_management.FunctionStates;
import mogo.telematics.pad.MessagePad;
public class FSMFunctionStates extends BaseInfo {
public final FunctionStates.FSMFunctionStates bean;
public FSMFunctionStates(MessagePad.Header header, FunctionStates.FSMFunctionStates bean, SimpleDateFormat sdf) {
super("接收", bean.getSerializedSize(), header, sdf);
this.bean = bean;
}
@Override
public String toString() {
return super.toString() + TextFormat.printer().escapingNonAscii(false).printToString(bean);
}
}

4
app_ipc_monitoring/src/main/java/com/zhidao/adas/client/ui/InfoFragment.java
View File

@@ -107,7 +107,7 @@ public class InfoFragment extends BaseFragment {
adapter.setData(DataDistribution.getInstance().listVehicleState);
} else if (Constants.TITLE.RECEIVE_CHASSIS_STATES.equals(title)) {
adapter.setData(DataDistribution.getInstance().listChassisStates);
}else if (Constants.TITLE.RECEIVE_TRACKED_OBJECTS.equals(title)) {
} else if (Constants.TITLE.RECEIVE_TRACKED_OBJECTS.equals(title)) {
adapter.setData(DataDistribution.getInstance().listTrackedObjects);
} else if (Constants.TITLE.RECEIVE_AUTOPILOT_STATE.equals(title)) {
adapter.setData(DataDistribution.getInstance().listAutopilotState);
@@ -137,6 +137,8 @@ public class InfoFragment extends BaseFragment {
adapter.setData(DataDistribution.getInstance().listPlanningObjects);
} else if (Constants.TITLE.RECEIVE_PLANNING_DECISION_STATE.equals(title)) {
adapter.setData(DataDistribution.getInstance().listPlanningDecisionState);
} else if (Constants.TITLE.RECEIVE_FUNCTION_STATES.equals(title)) {
adapter.setData(DataDistribution.getInstance().listFSMFunctionStates);
} else {
adapter.setData(DataDistribution.getInstance().listErrorData);
}

9
app_ipc_monitoring/src/main/java/com/zhidao/adas/client/ui/MainActivity.java
View File

@@ -61,6 +61,7 @@ import com.zhidao.adas.client.bean.BasicInfoReq;
import com.zhidao.adas.client.bean.CarConfigResp;
import com.zhidao.adas.client.bean.ChassisStates;
import com.zhidao.adas.client.bean.ErrorData;
import com.zhidao.adas.client.bean.FSMFunctionStates;
import com.zhidao.adas.client.bean.GlobalPathResp;
import com.zhidao.adas.client.bean.GnssInfo;
import com.zhidao.adas.client.bean.IPCConnectState;
@@ -116,6 +117,7 @@ import java.util.concurrent.ScheduledExecutorService;
import chassis.Chassis;
import chassis.ChassisStatesOuterClass;
import chassis.VehicleStateOuterClass;
import function_state_management.FunctionStates;
import io.netty.channel.Channel;
import mogo.telematics.pad.MessagePad;
import mogo_msg.MogoReportMsg;
@@ -633,6 +635,7 @@ public class MainActivity extends BaseActivity implements OnAdasListener, OnAdas
titleFragmentData.add(Constants.TITLE.RECEIVE_VEHICLE_STATE);
titleFragmentData.add(Constants.TITLE.RECEIVE_CHASSIS_STATES);
titleFragmentData.add(Constants.TITLE.RECEIVE_AUTOPILOT_STATE);
titleFragmentData.add(Constants.TITLE.RECEIVE_FUNCTION_STATES);
titleFragmentData.add(Constants.TITLE.RECEIVE_REPORT_MESSAGE);
titleFragmentData.add(Constants.TITLE.RECEIVE_PERCEPTION_TRAFFIC_LIGHT);
titleFragmentData.add(Constants.TITLE.RECEIVE_PREDICTION_OBSTACLE_TRAJECTORY);
@@ -1025,6 +1028,12 @@ public class MainActivity extends BaseActivity implements OnAdasListener, OnAdas
DataDistribution.getInstance().addData(base);
}
@Override
public void onFunctionStates(MessagePad.Header header, FunctionStates.FSMFunctionStates functionStates) {
FSMFunctionStates base = new FSMFunctionStates(header, functionStates, sdf);
DataDistribution.getInstance().addData(base);
}
private void initAdas() {
CupidLogUtils.e(TAG, "--->初始化");

1
app_ipc_monitoring/src/main/java/com/zhidao/adas/client/utils/Constants.java
View File

@@ -153,6 +153,7 @@ public class Constants {
String RECEIVE_VEHICLE_STATE = MessageType.TYPE_RECEIVE_VEHICLE_STATE.desc;
String RECEIVE_CHASSIS_STATES = MessageType.TYPE_RECEIVE_CHASSIS_STATES.desc;
String RECEIVE_AUTOPILOT_STATE = MessageType.TYPE_RECEIVE_AUTOPILOT_STATE.desc;
String RECEIVE_FUNCTION_STATES = MessageType.TYPE_RECEIVE_FUNCTION_STATES.desc;
String RECEIVE_REPORT_MESSAGE = MessageType.TYPE_RECEIVE_REPORT_MESSAGE.desc;
String RECEIVE_PERCEPTION_TRAFFIC_LIGHT = MessageType.TYPE_RECEIVE_PERCEPTION_TRAFFIC_LIGHT.desc;
String RECEIVE_PREDICTION_OBSTACLE_TRAJECTORY = MessageType.TYPE_RECEIVE_PREDICTION_OBSTACLE_TRAJECTORY.desc;

9
core/function-impl/mogo-core-function-autopilot/src/main/java/com/mogo/eagle/core/function/autopilot/adapter/MoGoAdasListenerImpl.kt
View File

@@ -61,6 +61,7 @@ import com.zhidao.support.adas.high.bean.AutopilotStatistics
import com.zhidao.support.adas.high.common.ProtocolStatus
import com.zhjt.service.chain.ChainLog
import com.zhjt.service.chain.TracingConstants.Endpoint.Companion.PAD
import function_state_management.FunctionStates
import mogo.telematics.pad.MessagePad
import mogo.telematics.pad.MessagePad.TrackedObject
import mogo_msg.MogoReportMsg
@@ -469,7 +470,15 @@ class MoGoAdasListenerImpl : OnAdasListener {
invokePNCActions(it)
}
}
/**
* 重构后的功能状态
*
* @param header 头
* @param functionStates 头
*/
override fun onFunctionStates(header: MessagePad.Header?, functionStates: FunctionStates.FSMFunctionStates?) {
}
/**

8
libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/OnAdasListener.java
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@@ -6,6 +6,7 @@ import com.zhidao.support.adas.high.common.ProtocolStatus;
import chassis.ChassisStatesOuterClass;
import chassis.VehicleStateOuterClass;
import function_state_management.FunctionStates;
import mogo.telematics.pad.MessagePad;
import mogo_msg.MogoReportMsg;
import perception.TrafficLightOuterClass;
@@ -192,6 +193,13 @@ public interface OnAdasListener {
*/
void onPlanningActionMsg(MessagePad.Header header, MessagePad.PlanningActionMsg planningActionMsg);
/**
* 重构后的功能状态
*
* @param header 头
* @param functionStates 头
*/
void onFunctionStates(MessagePad.Header header, FunctionStates.FSMFunctionStates functionStates);
/**
* 是否有能力启动自动驾驶

1
libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/common/MessageType.java
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@@ -24,6 +24,7 @@ public enum MessageType {
TYPE_RECEIVE_POINT_CLOUD(MessagePad.MessageType.MsgTypePointCloud, "点云透传"),
TYPE_RECEIVE_PLANNING_OBJECTS(MessagePad.MessageType.MsgTypePlanningObjects, "Planning障碍物"),
TYPE_RECEIVE_CHASSIS_STATES(MessagePad.MessageType.MsgTypeChassisStates, "底盘状态"),
TYPE_RECEIVE_FUNCTION_STATES(MessagePad.MessageType.MsgTypeFunctionStates, "重构后功能状态"),
TYPE_RECEIVE_BASIC_INFO_REQ(MessagePad.MessageType.MsgTypeBasicInfoReq, "自动驾驶设备基础信息请求"),
TYPE_SEND_BASIC_INFO_RESP(MessagePad.MessageType.MsgTypeBasicInfoResp, "自动驾驶设备基础信息应答"),

31
libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/msg/FunctionStatesMessage.java Normal file
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@@ -0,0 +1,31 @@
package com.zhidao.support.adas.high.msg;
import android.os.SystemClock;
import com.google.protobuf.InvalidProtocolBufferException;
import com.zhidao.support.adas.high.AdasChannel;
import com.zhidao.support.adas.high.OnAdasListener;
import com.zhidao.support.adas.high.common.CupidLogUtils;
import com.zhidao.support.adas.high.protocol.RawData;
import function_state_management.FunctionStates;
/**
* 重构后的功能状态
*/
public class FunctionStatesMessage extends MyAbstractMessageHandler {
@Override
public void handlerMsg(RawData raw, OnAdasListener adasListener) throws InvalidProtocolBufferException {
FunctionStates.FSMFunctionStates functionStates = FunctionStates.FSMFunctionStates.parser().parseFrom(raw.originalData.toByteArray(), raw.getOffsetValue(), raw.getPackageLengthValue() - raw.getOffsetValue());
AdasChannel.calculateTimeConsumingOnDispatchRaw("重构后的功能状态", raw.receiveTime);
long nowTime = 0;
if (CupidLogUtils.isEnableLog())
nowTime = SystemClock.elapsedRealtime();
if (adasListener != null) {
adasListener.onFunctionStates(raw.getHeader(), functionStates);
}
AdasChannel.calculateTimeConsumingBusiness("重构后的功能状态", nowTime);
}
}

7
libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/msg/MyMessageFactory.java
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@@ -32,6 +32,7 @@ public class MyMessageFactory implements IMyMessageFactory {
private IMsg statusQueryRespMessage;//状态查询应答
private IMsg recordDataConfigRespMessage;//数据采集配置应答
private IMsg planningDecisionStateMessage;//planning决策状态
private IMsg functionStatesMessage;//重构后的功能状态
private final AutopilotReview autopilotReview;
@@ -155,6 +156,12 @@ public class MyMessageFactory implements IMyMessageFactory {
planningDecisionStateMessage = new PlanningDecisionStateMessage();
}
return planningDecisionStateMessage;
} else if (messageType == MessageType.TYPE_RECEIVE_FUNCTION_STATES.typeCode) {
//重构后的功能状态
if (functionStatesMessage == null) {
functionStatesMessage = new FunctionStatesMessage();
}
return functionStatesMessage;
} else {
//MessageType.TYPE_DEFAULT.typeCode
return null;