[6.4.0][启自驾指引] 添加下载状态ui

2024-04-18 16:37:58 +08:00
parent dfd4a016f7
commit 033df02a24
20 changed files with 337 additions and 6 deletions
--- a/core/function-impl/mogo-core-function-devatools/src/main/java/com/zhjt/mogo_core_function_devatools/DevaToolsProvider.kt
+++ b/core/function-impl/mogo-core-function-devatools/src/main/java/com/zhjt/mogo_core_function_devatools/DevaToolsProvider.kt
@@ -39,6 +39,7 @@ import com.tencent.matrix.trace.config.TraceConfig
 import com.zhjt.mogo_core_function_devatools.apm.*
 import com.mogo.eagle.core.function.api.upgrade.*
 import com.mogo.weak.network.SdtManager
+import com.zhjt.mogo.adas.data.bean.ReceivedAck.Status
 import com.zhjt.mogo_core_function_devatools.adas.PowerOffManager
 import com.zhjt.mogo_core_function_devatools.badcase.BadCaseManager
 import com.zhjt.mogo_core_function_devatools.badcase.consts.BadCaseConfig
@@ -59,8 +60,8 @@ import com.zhjt.mogo_core_function_devatools.perf.MoGoCpuUsageProviderImpl
 import com.zhjt.mogo_core_function_devatools.report.IPCReportManager.Companion.iPCReportManager
 import com.zhjt.mogo_core_function_devatools.scene.SceneManager.Companion.sceneManager
 import com.zhjt.mogo_core_function_devatools.status.StatusManager
+import com.zhjt.mogo_core_function_devatools.status.entity.RouteDownloadStatus
 import com.zhjt.mogo_core_function_devatools.status.ui.AutoPilotLaunchBeforeView
-import com.zhjt.mogo_core_function_devatools.status.ui.StatusView
 import com.zhjt.mogo_core_function_devatools.strict.*
 import com.zhjt.mogo_core_function_devatools.trace.TraceManager.Companion.traceManager
 import com.zhjt.mogo_core_function_devatools.tts.TtsManager.Companion.ttsManager
@@ -69,6 +70,8 @@ import com.zhjt.mogo_core_function_devatools.weaknetwork.DetectResultImpl
 import com.zhjt.mogo_core_function_devatools.weaknetwork.WeakNetworkStrategy
 import com.zhjt.service.chain.ChainLog
 import java.lang.ref.WeakReference
+import java.util.concurrent.ConcurrentHashMap
+import java.util.concurrent.CopyOnWriteArrayList

@Route(path = MogoServicePaths.PATH_DEVA_TOOLS)
 class DevaToolsProvider : IDevaToolsProvider {
@@ -98,6 +101,20 @@ class DevaToolsProvider : IDevaToolsProvider {

    private var container: WeakReference<ViewGroup>? = null

+    private val downloadCallbacks by lazy { ConcurrentHashMap<String, ArrayList<(Int) -> Unit>>() }
+
+    private val statusListener by lazy {
+        object : StatusManager.IStatusListener {
+            override fun onStatusChanged(data: List<com.zhjt.mogo_core_function_devatools.status.entity.Status>, hasException: Boolean) {
+                data.filterIsInstance(RouteDownloadStatus::class.java).forEach { s ->
+                    downloadCallbacks.values.flatten().forEach { listener ->
+                        listener.invoke(s.state.ordinal)
+                    }
+                }
+            }
+        }
+    }
+
    override fun init(context: Context) {
        mContext = context
    }
@@ -138,6 +155,7 @@ class DevaToolsProvider : IDevaToolsProvider {
            block.init(it)
            block.start()
        }
+        StatusManager.addListener(TAG, statusListener)
    }

    override fun checkMonitorDb() {
@@ -492,4 +510,12 @@ class DevaToolsProvider : IDevaToolsProvider {
    override fun getExceptionStatusBeforeLaunchAutopilot(): Int {
        return StatusManager.getExceptionStatusBeforeLaunchAutopilot()
    }
+
+    override fun registerRouteDownloadListener(tag: String, block: (state: Int) -> Unit) {
+        downloadCallbacks.getOrPut(tag) { ArrayList() }.add(block)
+    }
+
+    override fun unRegisterRouteDownloadListener(tag: String) {
+        downloadCallbacks.remove(tag)
+    }
 }
--- a/core/function-impl/mogo-core-function-devatools/src/main/java/com/zhjt/mogo_core_function_devatools/status/StatusManager.kt
+++ b/core/function-impl/mogo-core-function-devatools/src/main/java/com/zhjt/mogo_core_function_devatools/status/StatusManager.kt
@@ -27,6 +27,7 @@ import com.zhjt.mogo_core_function_devatools.status.flow.autopilot.AcceleratorIm
 import com.zhjt.mogo_core_function_devatools.status.flow.autopilot.BrakeImpl
 import com.zhjt.mogo_core_function_devatools.status.flow.autopilot.DoubleFlashImpl
 import com.zhjt.mogo_core_function_devatools.status.flow.autopilot.GearImpl
+import com.zhjt.mogo_core_function_devatools.status.flow.autopilot.RouteDownloadImpl
 import com.zhjt.mogo_core_function_devatools.status.flow.autopilot.SpeedImpl
 import com.zhjt.mogo_core_function_devatools.status.flow.autopilot.SteerImpl
 import com.zhjt.mogo_core_function_devatools.status.flow.can.CanImpl
@@ -40,6 +41,7 @@ import kotlinx.coroutines.flow.*
 import java.lang.ref.*
 import java.util.concurrent.*
 import java.util.concurrent.ThreadPoolExecutor.DiscardOldestPolicy
+import java.util.concurrent.atomic.AtomicReference


 object StatusManager {
@@ -50,6 +52,8 @@ object StatusManager {
    private val listeners by lazy { ConcurrentHashMap<String, IStatusListener>() }
    private var container: WeakReference<ViewGroup>? = null

+    private val last by lazy { AtomicReference<List<Status>>() }
+
    private val dispatcher by lazy {
        ThreadPoolExecutor(1, 2, 1, TimeUnit.MINUTES, LinkedBlockingQueue(128), Executors.defaultThreadFactory(), DiscardOldestPolicy()).asCoroutineDispatcher() + CoroutineName("stats-manager-impl")
    }
@@ -93,6 +97,7 @@ object StatusManager {
                is DoubleFlashStatus -> DoubleFlashImpl(ctx)
                is GearStatus -> GearImpl(ctx)
                is SpeedStatus -> SpeedImpl(ctx)
+                is RouteDownloadStatus -> RouteDownloadImpl(ctx)
            }
        }.also { flows += it }
        for (f in flows) {
@@ -103,10 +108,37 @@ object StatusManager {
            }
            f.onCreate()
        }
-
-        model.status.observe(ctx.lifeCycleOwner) {
-            listeners.values.forEach { itx ->
-                itx.onStatusChanged(it.second, it.first != null)
+        ctx.lifeCycleScope.launch(dispatcher) {
+            model.status.asFlow().collect {
+                listeners.values.forEach { itx ->
+                    val current = it.second
+                    val previous = last.get()
+                    val changed = ArrayList<Status>()
+                    if (previous == null) {
+                        changed.addAll(current)
+                    } else {
+                        val l1 = current.size
+                        val l2 = previous.size
+                        var index = 0
+                        while (index < l1 && index < l2) {
+                            val d1 = current[index]
+                            val d2 = previous[index]
+                            if (d1 != d2) {
+                                changed += d1
+                            }
+                            index++
+                        }
+                        while (index < l1) {
+                            changed += current[index++]
+                        }
+                    }
+                    if (changed.isNotEmpty()) {
+                        withContext(Dispatchers.Main) {
+                            itx.onStatusChanged(changed, it.first != null)
+                        }
+                    }
+                    last.set(current)
+                }
            }
        }
    }
--- a/core/function-impl/mogo-core-function-devatools/src/main/java/com/zhjt/mogo_core_function_devatools/status/entity/Status.kt
+++ b/core/function-impl/mogo-core-function-devatools/src/main/java/com/zhjt/mogo_core_function_devatools/status/entity/Status.kt
@@ -1,5 +1,7 @@
 package com.zhjt.mogo_core_function_devatools.status.entity

+import com.zhjt.mogo_core_function_devatools.status.entity.RouteState.RouteFailed
+import com.zhjt.mogo_core_function_devatools.status.entity.RouteState.RouteNone
 import com.zhjt.mogo_core_function_devatools.status.entity.TracingStatus.Tracing
 import com.zhjt.mogo_core_function_devatools.status.entity.TracingStatus.Tracing.*

@@ -445,4 +447,41 @@ data class GearStatus(val value: Int, var isError: Boolean = false): Status(), I
    }
 }

+enum class RouteState {
+    RouteNone,
+    RouteStart,
+    RouteComplete,
+    RouteFailed
+}
+
+
+/**
+ * 轨迹下载状态
+ */
+data class RouteDownloadStatus(val lineId: Long = -1, val state: RouteState = RouteNone): Status(), IAutopilotPreLaunchStatus {
+
+    override fun isException(): Boolean {
+        return state == RouteFailed
+    }
+
+    override fun equals(other: Any?): Boolean {
+        if (this === other) return true
+        if (javaClass != other?.javaClass) return false
+
+        other as RouteDownloadStatus
+
+        if (lineId != other.lineId) return false
+        if (state != other.state) return false
+
+        return true
+    }
+
+    override fun hashCode(): Int {
+        var result = lineId.hashCode()
+        result = 31 * result + state.hashCode()
+        return result
+    }
+}
+
+

--- a/core/function-impl/mogo-core-function-devatools/src/main/java/com/zhjt/mogo_core_function_devatools/status/flow/autopilot/RouteDownloadImpl.kt
+++ b/core/function-impl/mogo-core-function-devatools/src/main/java/com/zhjt/mogo_core_function_devatools/status/flow/autopilot/RouteDownloadImpl.kt
@@ -0,0 +1,90 @@
+package com.zhjt.mogo_core_function_devatools.status.flow.autopilot
+
+import android.content.Context
+import com.mogo.eagle.core.data.autopilot.AutopilotControlParameters.AutoPilotLine
+import com.mogo.eagle.core.function.api.autopilot.IMoGoAutopilotStatusListener
+import com.mogo.eagle.core.function.call.autopilot.CallerAutoPilotStatusListenerManager
+import com.zhjt.mogo.adas.data.bean.MogoReport
+import com.zhjt.mogo_core_function_devatools.status.entity.RouteDownloadStatus
+import com.zhjt.mogo_core_function_devatools.status.entity.RouteState.RouteComplete
+import com.zhjt.mogo_core_function_devatools.status.entity.RouteState.RouteFailed
+import com.zhjt.mogo_core_function_devatools.status.entity.RouteState.RouteStart
+import com.zhjt.mogo_core_function_devatools.status.flow.IFlow
+import mogo_msg.MogoReportMsg.MogoReportMessage
+import java.lang.Exception
+
+
+internal class RouteDownloadImpl(ctx: Context): IFlow<RouteDownloadStatus>(ctx), IMoGoAutopilotStatusListener {
+
+    companion object {
+        private const val TAG = "RouteDownloadImpl"
+    }
+
+    @Volatile
+    private var toDownloadLineId: Long = Long.MIN_VALUE
+
+    override fun onCreate() {
+        CallerAutoPilotStatusListenerManager.addListener(TAG, this)
+    }
+
+    override fun onDestroy() {
+        super.onDestroy()
+        CallerAutoPilotStatusListenerManager.removeListener(TAG)
+    }
+
+    override fun onAutopilotTrajectoryDownloadReq(autoPilotLine: AutoPilotLine, downloadType: Int) {
+        super.onAutopilotTrajectoryDownloadReq(autoPilotLine, downloadType)
+        if (downloadType == 0) {
+            toDownloadLineId = autoPilotLine.lineId
+        }
+    }
+
+    override fun onAutopilotGuardian(guardianInfo: MogoReportMessage?) {
+        super.onAutopilotGuardian(guardianInfo)
+        var lineId = -1L
+        if (MogoReport.Code.Info.ISYS.INIT_TRAJECTORY_START == guardianInfo?.code ||
+            MogoReport.Code.Info.ISYS.INIT_TRAJECTORY_SUCCESS == guardianInfo?.code ||
+            MogoReport.Code.Info.ISYS.INIT_TRAJECTORY_FAILURE == guardianInfo?.code ||
+            MogoReport.Code.Info.ISYS.INIT_TRAJECTORY_WARNING == guardianInfo?.code ||
+            MogoReport.Code.Info.ISYS.INIT_TRAJECTORY_TIMEOUT == guardianInfo?.code
+        ) {
+            val msg = guardianInfo.msg
+            try {
+                val regex = Regex("lineid:(\\d+)")
+                val matchResult = regex.find(msg)
+                if (matchResult != null) {
+                    lineId = matchResult.groupValues[1].toLong()
+                }
+            } catch (ignore: Exception) { }
+            if (lineId == -1L) {
+                try {
+                    val regex = Regex("lineID=(\\d+)")
+                    val matchResult = regex.find(msg)
+                    if (matchResult != null) {
+                        lineId = matchResult.groupValues[1].toLong()
+                    }
+                } catch (ignore: Exception) { }
+            }
+        }
+
+        if (toDownloadLineId != lineId) {
+            return
+        }
+        CallerAutoPilotStatusListenerManager.updateAutopilotControlParameters()
+        if (guardianInfo == null || !guardianInfo.hasCode())
+            return
+        when (guardianInfo.code) {
+            "ISYS_INIT_TRAJECTORY_START" -> { // 1. 轨迹管理_轨迹开始下载（本地已有对应轨迹也触发）
+                send(RouteDownloadStatus(lineId, RouteStart))
+            }
+            "ISYS_INIT_TRAJECTORY_SUCCESS" -> { // 2. 轨迹管理_轨迹下载成功（本地已有对应轨迹也触发）
+                send(RouteDownloadStatus(lineId, RouteComplete))
+                toDownloadLineId = Long.MIN_VALUE
+            }
+            "ISYS_INIT_TRAJECTORY_FAILURE" -> { // 3. 轨迹管理_轨迹下载失败，本地无对应轨迹
+                send(RouteDownloadStatus(lineId, RouteFailed))
+                toDownloadLineId = Long.MIN_VALUE
+            }
+        }
+    }
+}
--- a/core/function-impl/mogo-core-function-devatools/src/main/java/com/zhjt/mogo_core_function_devatools/status/model/StatusModel.kt
+++ b/core/function-impl/mogo-core-function-devatools/src/main/java/com/zhjt/mogo_core_function_devatools/status/model/StatusModel.kt
@@ -26,6 +26,7 @@ internal class StatusModel : ViewModel() {
            it += DoubleFlashStatus(0)
            it += GearStatus(0)
            it += SpeedStatus(0f)
+            it += RouteDownloadStatus()
        })
    }

--- a/core/function-impl/mogo-core-function-devatools/src/main/java/com/zhjt/mogo_core_function_devatools/status/ui/AutoPilotLaunchBeforeView.kt
+++ b/core/function-impl/mogo-core-function-devatools/src/main/java/com/zhjt/mogo_core_function_devatools/status/ui/AutoPilotLaunchBeforeView.kt
@@ -11,6 +11,7 @@ import chassis.Chassis.GearPosition.GEAR_N
 import chassis.Chassis.GearPosition.GEAR_NONE
 import chassis.Chassis.GearPosition.GEAR_P
 import chassis.Chassis.GearPosition.GEAR_R
+import com.mogo.eagle.core.utilcode.mogo.logger.Logger
 import com.zhjt.mogo_core_function_devatools.R
 import com.zhjt.mogo_core_function_devatools.status.StatusManager
 import com.zhjt.mogo_core_function_devatools.status.StatusManager.IStatusListener
@@ -106,7 +107,7 @@ class AutoPilotLaunchBeforeView: LinearLayout, IStatusListener {
                    speed?.text = "${status.speed.toInt()}"
                }
                else -> {
-                    throw IllegalStateException()
+                    Logger.d(TAG, "other state: $status")
                }
            }
        }