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Merge branch 'dev_robotaxi-d_240401_6.4.0' into dev_robotaxi-d_240401_6.4.0_yyk

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# Conflicts:
#	app/script/vehicleFlavors/C1.gradle
This commit is contained in:
yangyakun
2024-04-15 14:54:13 +08:00
parent f8210c5915 e2967a2c04
commit 03cfb628bf
82 changed files with 1803 additions and 968 deletions
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2
OCH/bus/passenger/src/main/res/jinlv/layout/p_bus_view_status_bar.xml
View File

@@ -22,7 +22,7 @@
<!--Wifi状态-->
<com.mogo.eagle.core.function.hmi.ui.widget.WifiStateView
android:id="@+id/wifiStateView"
android:layout_width="@dimen/dp_28"
android:layout_width="wrap_content"
android:layout_height="@dimen/dp_28"
android:layout_gravity="center"
android:layout_marginStart="@dimen/dp_40"

2
OCH/bus/passenger/src/main/res/m2/layout/bus_p_m2_view_status_bar.xml
View File

@@ -10,7 +10,7 @@
<!--Wifi状态-->
<com.mogo.eagle.core.function.hmi.ui.widget.WifiStateView
android:id="@+id/wifiStateView"
android:layout_width="@dimen/dp_28"
android:layout_width="wrap_content"
android:layout_height="@dimen/dp_28"
app:layout_constraintTop_toTopOf="parent"
app:layout_constraintBottom_toBottomOf="parent"

2
OCH/charter/passenger/src/main/res/layout/charter_p_statusview_datetime.xml
View File

@@ -54,7 +54,7 @@
<!--Wifi状态-->
<com.mogo.eagle.core.function.hmi.ui.widget.WifiStateView
android:id="@+id/wifiStateView"
android:layout_width="@dimen/dp_34"
android:layout_width="wrap_content"
android:layout_height="@dimen/dp_34"
app:layout_constraintTop_toTopOf="parent"
app:layout_constraintBottom_toBottomOf="parent"

2
OCH/shuttle/passenger/src/main/res/jinlv/layout/shuttle_p_jl_view_status_bar.xml
View File

@@ -22,7 +22,7 @@
<!--Wifi状态-->
<com.mogo.eagle.core.function.hmi.ui.widget.WifiStateView
android:id="@+id/wifiStateView"
android:layout_width="@dimen/dp_28"
android:layout_width="wrap_content"
android:layout_height="@dimen/dp_28"
app:layout_constraintTop_toTopOf="parent"
app:layout_constraintBottom_toBottomOf="parent"

2
OCH/shuttle/passenger/src/main/res/m2/layout/shuttle_p_m2_view_status_bar.xml
View File

@@ -10,7 +10,7 @@
<!--Wifi状态-->
<com.mogo.eagle.core.function.hmi.ui.widget.WifiStateView
android:id="@+id/wifiStateView"
android:layout_width="@dimen/dp_28"
android:layout_width="wrap_content"
android:layout_height="@dimen/dp_28"
app:layout_constraintTop_toTopOf="parent"
app:layout_constraintBottom_toBottomOf="parent"

2
OCH/taxi/passenger/src/main/res/layout/taxi_p_statusview.xml
View File

@@ -20,7 +20,7 @@
<!--Wifi状态-->
<com.mogo.eagle.core.function.hmi.ui.widget.WifiStateView
android:id="@+id/wifiStateView"
android:layout_width="@dimen/dp_54"
android:layout_width="wrap_content"
android:layout_height="@dimen/dp_54"
app:layout_constraintTop_toTopOf="parent"
app:layout_constraintBottom_toBottomOf="@+id/gl_horizontal"

2
OCH/taxi/unmanned-passenger/src/main/res/layout/taxt_u_p_statusview.xml
View File

@@ -20,7 +20,7 @@
<!--Wifi状态-->
<com.mogo.eagle.core.function.hmi.ui.widget.WifiStateView
android:id="@+id/wifiStateView"
android:layout_width="@dimen/dp_54"
android:layout_width="wrap_content"
android:layout_height="@dimen/dp_54"
app:layout_constraintTop_toTopOf="parent"
app:layout_constraintBottom_toBottomOf="@+id/gl_horizontal"

4
app/script/vehicleFlavors/B1.gradle
View File

@@ -16,7 +16,7 @@ project.android.productFlavors {
// ②构建的是否要动态更换模型
buildConfigField 'boolean', 'IS_CAR_MODEL_CHANGE', 'true'
// ③不能启动自驾的档位
buildConfigField 'java.util.Set<chassis.Chassis.GearPosition>', 'UNABLE_LAUNCH_AUTOPILOT_GEAR', 'new java.util.HashSet<chassis.Chassis.GearPosition>(){{add(chassis.Chassis.GearPosition.GEAR_N);add(chassis.Chassis.GearPosition.GEAR_R);}}'
// ③能启动自驾的档位
buildConfigField 'java.util.Set<chassis.Chassis.GearPosition>', 'LAUNCH_AUTOPILOT_GEAR', 'new java.util.HashSet<chassis.Chassis.GearPosition>(){{add(chassis.Chassis.GearPosition.GEAR_D);}}'
}
}

4
app/script/vehicleFlavors/B2.gradle
View File

@@ -23,7 +23,7 @@ project.android.productFlavors {
// ②构建的是否要动态更换模型
buildConfigField 'boolean', 'IS_CAR_MODEL_CHANGE', 'false'
// ③M2不能启动自驾的档位
buildConfigField 'java.util.Set<chassis.Chassis.GearPosition>', 'UNABLE_LAUNCH_AUTOPILOT_GEAR', 'new java.util.HashSet<chassis.Chassis.GearPosition>(){{add(chassis.Chassis.GearPosition.GEAR_N);add(chassis.Chassis.GearPosition.GEAR_P);add(chassis.Chassis.GearPosition.GEAR_R);}}'
// ③M2能启动自驾的档位
buildConfigField 'java.util.Set<chassis.Chassis.GearPosition>', 'LAUNCH_AUTOPILOT_GEAR', 'new java.util.HashSet<chassis.Chassis.GearPosition>(){{add(chassis.Chassis.GearPosition.GEAR_D);}}'
}
}

5
app/script/vehicleFlavors/C1.gradle
View File

@@ -16,9 +16,8 @@ project.android.productFlavors {
// ②构建的是否要动态更换模型
buildConfigField 'boolean', 'IS_CAR_MODEL_CHANGE', 'true'
// ③不能启动自驾的档位
buildConfigField 'java.util.Set<chassis.Chassis.GearPosition>', 'UNABLE_LAUNCH_AUTOPILOT_GEAR', 'null'
// ③能启动自驾的档位
buildConfigField 'java.util.Set<chassis.Chassis.GearPosition>', 'LAUNCH_AUTOPILOT_GEAR', 'null'
// ⑤清扫车 默认模式（运营/云控）
buildConfigField 'String', 'SWEEPER_DEFAULT_MODE', '\"Cloud\"'

5
app/script/vehicleFlavors/M1.gradle
View File

@@ -13,9 +13,8 @@ project.android.productFlavors {
// ①标识构建的应用身份类型，具体查看 README.md APP_IDENTITY_MODE规则
buildConfigField 'String', 'APP_IDENTITY_MODE_TAIL', "\"M1\""
// ②构建的是否要动态更换模型
buildConfigField 'java.util.Set<chassis.Chassis.GearPosition>', 'UNABLE_LAUNCH_AUTOPILOT_GEAR', 'null'
// ②M1能启动自驾的档位
buildConfigField 'java.util.Set<chassis.Chassis.GearPosition>', 'LAUNCH_AUTOPILOT_GEAR', 'new java.util.HashSet<chassis.Chassis.GearPosition>(){{add(chassis.Chassis.GearPosition.GEAR_D);}}'
// ③不能启动自驾的档位
buildConfigField 'boolean', 'IS_CAR_MODEL_CHANGE', 'false'

4
app/script/vehicleFlavors/T1T2.gradle
View File

@@ -17,8 +17,8 @@ project.android.productFlavors {
// ②构建的是否要动态更换模型
buildConfigField 'boolean', 'IS_CAR_MODEL_CHANGE', 'true'
// ③不能启动自驾的档位
buildConfigField 'java.util.Set<chassis.Chassis.GearPosition>', 'UNABLE_LAUNCH_AUTOPILOT_GEAR', 'new java.util.HashSet<chassis.Chassis.GearPosition>(){{add(chassis.Chassis.GearPosition.GEAR_P);add(chassis.Chassis.GearPosition.GEAR_R);}}'
// ③能启动自驾的档位 MAP<360代码中会移除P档
buildConfigField 'java.util.Set<chassis.Chassis.GearPosition>', 'LAUNCH_AUTOPILOT_GEAR', 'new java.util.HashSet<chassis.Chassis.GearPosition>(){{add(chassis.Chassis.GearPosition.GEAR_D);add(chassis.Chassis.GearPosition.GEAR_N);add(chassis.Chassis.GearPosition.GEAR_P);}}'
}

144
app/src/main/java/com/mogo/launcher/lancet/ViewPressedStateLancet.java
View File

@@ -481,69 +481,119 @@ public class ViewPressedStateLancet {
text.setPadding(paddingLeft, paddingTop, paddingRight, paddingBottom);
return true;
}
ColorStateList textColor = text.getTextColors();
if (textColor != null) {
int current = text.getCurrentTextColor();
int pressed = textColor.getColorForState(new int[]{ android.R.attr.state_pressed }, Integer.MIN_VALUE);
if (pressed != Integer.MIN_VALUE && pressed != current) {
int defaultColor = textColor.getDefaultColor();
int pressedColor = Color.argb((int)(Color.alpha(defaultColor) * alpha), Color.red(defaultColor), Color.green(defaultColor), Color.blue(defaultColor));
if (!textColor.isStateful()) {
/*if (text.getId() != View.NO_ID) {
Log.d("ViewPressedStateLancet", "---- isStateful() => false hit ---" + "["+text+"->"+text.getResources().getResourceName(text.getId())+"]");
} else {
Log.d("ViewPressedStateLancet", "---- isStateful() => false hit ---" + "["+text+"]");
}*/
int[][] states = new int[2][1];
int[] colors = new int[2];
states[0] = new int[] { android.R.attr.state_pressed, -android.R.attr.state_focused, -android.R.attr.state_active };
colors[0] = pressedColor;
states[1] = StateSet.WILD_CARD;
colors[1] = defaultColor;
ColorStateList newColor = new ColorStateList(states, colors);
text.setTag(R.id.click_pressed_attr_replaced_color, textColor);
text.setTextColor(newColor);
return true;
}
int pressed = textColor.getColorForState(new int[] { android.R.attr.state_pressed }, Integer.MIN_VALUE);
if (pressed != Integer.MIN_VALUE && pressed != defaultColor) {
/*if (text.getId() != View.NO_ID) {
Log.d("ViewPressedStateLancet", "---- pressed hit ---" + "["+text+"->"+text.getResources().getResourceName(text.getId())+"]");
} else {
Log.d("ViewPressedStateLancet", "---- pressed hit ---" + "["+text+"]");
}*/
return false;
}
int enableColor = textColor.getColorForState(new int[] { android.R.attr.state_enabled }, Integer.MIN_VALUE);
int defaultColor = current;
if (enableColor == Integer.MIN_VALUE && enableColor != current) {
defaultColor = textColor.getDefaultColor();
}
int pressedColor = Color.argb((int)(Color.alpha(defaultColor) * alpha), Color.red(defaultColor), Color.green(defaultColor), Color.blue(defaultColor));
int disableColor = textColor.getColorForState(new int[] { -android.R.attr.state_enabled }, Integer.MIN_VALUE);
int size = 2;
if (disableColor != Integer.MIN_VALUE && disableColor != current) {
size += 1;
}
boolean hasChecked = false;
int disabledColor = textColor.getColorForState(new int[] { -android.R.attr.state_enabled }, Integer.MIN_VALUE);
int checkedColor = textColor.getColorForState(new int[] { android.R.attr.state_checked }, Integer.MIN_VALUE);
if (checkedColor != Integer.MIN_VALUE && checkedColor != current) {
hasChecked = true;
size += 1;
int unCheckedColor = textColor.getColorForState(new int[] { -android.R.attr.state_checked }, Integer.MIN_VALUE);
int selectedColor = textColor.getColorForState(new int[] { android.R.attr.state_enabled }, Integer.MIN_VALUE);
int unSelectedColor = textColor.getColorForState(new int[] { -android.R.attr.state_selected }, Integer.MIN_VALUE);
int size = 2;
if (disabledColor != Integer.MIN_VALUE && disabledColor != defaultColor) {
/*if (text.getId() != View.NO_ID) {
Log.d("ViewPressedStateLancet", "---- disabled hit ---" + "["+text+"->"+text.getResources().getResourceName(text.getId())+"]");
} else {
Log.d("ViewPressedStateLancet", "---- disabled hit ---" + "["+text+"]");
}*/
size++;
}
boolean hasUnChecked = false;
int unCheckedColor = textColor.getColorForState(new int[]{ -android.R.attr.state_checked }, Integer.MIN_VALUE);
if (unCheckedColor != Integer.MIN_VALUE && unCheckedColor != current) {
hasUnChecked = true;
size += 1;
if (checkedColor != Integer.MIN_VALUE && checkedColor != defaultColor) {
/*if (text.getId() != View.NO_ID) {
Log.d("ViewPressedStateLancet", "---- checked hit ---" + "["+text+"->"+text.getResources().getResourceName(text.getId())+"]");
} else {
Log.d("ViewPressedStateLancet", "---- checked hit ---" + "["+text+"]");
}*/
size++;
}
if (unCheckedColor != Integer.MIN_VALUE && unCheckedColor != defaultColor) {
/*if (text.getId() != View.NO_ID) {
Log.d("ViewPressedStateLancet", "---- unchecked hit ---" + "["+text+"->"+text.getResources().getResourceName(text.getId())+"]");
} else {
Log.d("ViewPressedStateLancet", "---- unchecked hit ---" + "["+text+"]");
}*/
size++;
}
if (selectedColor != Integer.MIN_VALUE && selectedColor != defaultColor) {
/*if (text.getId() != View.NO_ID) {
Log.d("ViewPressedStateLancet", "---- selected hit ---" + "["+text+"->"+text.getResources().getResourceName(text.getId())+"]");
} else {
Log.d("ViewPressedStateLancet", "---- selected hit ---" + "["+text+"]");
}*/
size++;
}
if (unSelectedColor != Integer.MIN_VALUE && unSelectedColor != defaultColor) {
/*if (text.getId() != View.NO_ID) {
Log.d("ViewPressedStateLancet", "---- unselected hit ---" + "["+text+"->"+text.getResources().getResourceName(text.getId())+"]");
} else {
Log.d("ViewPressedStateLancet", "---- unselected hit ---" + "["+text+"]");
}*/
size++;
}
int[][] states = new int[size][1];
int[] colors = new int[size];
states[0] = new int[] { android.R.attr.state_pressed, -android.R.attr.state_focused, -android.R.attr.state_active };
states[0] = new int[] { android.R.attr.state_pressed };
colors[0] = pressedColor;
if (size > 2) {
states[1] = new int[] { -android.R.attr.state_enabled };
colors[1] = disableColor;
states[2] = new int[] { android.R.attr.state_enabled };
colors[2] = defaultColor;
if (hasChecked) {
states[3] = new int[] { android.R.attr.state_checked };
colors[3] = checkedColor;
}
if (hasUnChecked) {
if (size > 4) {
states[4] = new int[] { -android.R.attr.state_checked };
colors[4] = unCheckedColor;
} else {
states[3] = new int[] { -android.R.attr.state_checked };
colors[3] = unCheckedColor;
}
}
} else {
states[1] = StateSet.WILD_CARD;
colors[1] = defaultColor;
int index = 1;
if (disabledColor != Integer.MIN_VALUE && disabledColor != defaultColor) {
states[index] = new int[] { -android.R.attr.state_enabled };
colors[index] = disabledColor;
index++;
}
if (checkedColor != Integer.MIN_VALUE && checkedColor != defaultColor) {
states[index] = new int[] { android.R.attr.state_checked };
colors[index] = checkedColor;
index++;
}
if (unCheckedColor != Integer.MIN_VALUE && unCheckedColor != defaultColor) {
states[index] = new int[] { -android.R.attr.state_checked };
colors[index] = unCheckedColor;
index++;
}
if (selectedColor != Integer.MIN_VALUE && selectedColor != defaultColor) {
states[index] = new int[] { android.R.attr.state_selected };
colors[index] = selectedColor;
index++;
}
if (unSelectedColor != Integer.MIN_VALUE && unSelectedColor != defaultColor) {
states[index] = new int[] { -android.R.attr.state_selected };
colors[index] = unSelectedColor;
index++;
}
states[index] = StateSet.WILD_CARD;
colors[index] = defaultColor;
ColorStateList newColor = new ColorStateList(states, colors);
text.setTag(R.id.click_pressed_attr_replaced_color, textColor);
text.setTextColor(newColor);
return true;
}
return false;
}
if (view != null) {

2
app/src/main/java/com/mogo/launcher/startup/ConfigStartUp.kt
View File

@@ -51,7 +51,7 @@ object ConfigStartUp {
// 各个module需要的url
FunctionBuildConfig.urlJson = GsonUtils.fromJson(BuildConfig.URLs, UrlConfig::class.java)
//不能启动自动驾驶的档位
FunctionBuildConfig.unableLaunchAutopilotGear = BuildConfig.UNABLE_LAUNCH_AUTOPILOT_GEAR
FunctionBuildConfig.launchAutopilotGear = BuildConfig.LAUNCH_AUTOPILOT_GEAR
// 各车型宣传视频本地配置json
FunctionBuildConfig.mediaUrlConfig = BuildConfig.mediaUrlConfig
FunctionBuildConfig.musicUrlConfig = BuildConfig.musicUrlConfig

2
config.gradle
View File

@@ -225,7 +225,7 @@ ext {
btrace : "com.bytedance.btrace:rhea-core:2.0.0",
mofang_runtime : "com.mogo.eagle.core.mofang:runtime:2.0.11",
log_runtime : "com.mogo.eagle.core.log.record:runtime:1.0.50",
log_runtime : "com.mogo.eagle.core.log.record:runtime:1.0.80",
// 安全证书
passport_secret : "com.zhidaoauto:sdk-java:1.0.6-SNAPSHOT",

28
core/function-impl/mogo-core-function-datacenter/src/main/java/com/mogo/eagle/core/function/datacenter/autopilot/MoGoAutopilotControlProvider.kt
View File

@@ -129,10 +129,10 @@ class MoGoAutopilotControlProvider :
.setConnectionMode(AdasOptions.IPC_CONNECTION_MODE.PING)
.setPingAddressList(AdasManager.getInstance().pingAddressList)
.setPassenger(false)
.setEnableCertification(SharedPrefsMgr.getInstance().getBoolean(MoGoConfig.AUTOPILOT_CERTIFICATION, MoGoConfig.AUTOPILOT_CERTIFICATION_DEFAULT_VALUE))
.setRootCrt(CallerCloudCertManager.getRootCrtF())
.setDeviceCrt(CallerCloudCertManager.getDeviceCrtF())
.setUnableLaunchAutopilotGear(FunctionBuildConfig.unableLaunchAutopilotGear)
.setEnableCertification(SharedPrefsMgr.getInstance().getBoolean("${MoGoConfig.AUTOPILOT_CERTIFICATION}-${DebugConfig.getNetMode()}", MoGoConfig.AUTOPILOT_CERTIFICATION_DEFAULT_VALUE))
.setRootCrt(CallerCloudCertManager.getRootCrtFDecode())
.setDeviceCrt(CallerCloudCertManager.getDeviceCrtFDecode())
.setLaunchAutopilotGear(FunctionBuildConfig.launchAutopilotGear)
// .setSubscribeInterfaceOptions(subscribeInterfaceOptions)//
.build()
@@ -228,7 +228,7 @@ class MoGoAutopilotControlProvider :
val options = AdasOptions
.newBuilder()
.setPassenger(true)
.setUnableLaunchAutopilotGear(FunctionBuildConfig.unableLaunchAutopilotGear)
.setLaunchAutopilotGear(FunctionBuildConfig.launchAutopilotGear)
.build()
AdasManager.getInstance()
.create(mContext, options, MoGoAdasMsgConnectStatusListenerImpl())
@@ -260,10 +260,10 @@ class MoGoAutopilotControlProvider :
.setConnectionMode(AdasOptions.IPC_CONNECTION_MODE.PING)
.setPingAddressList(AdasManager.getInstance().pingAddressList)
.setPassenger(false)// 乘客端直连工控机改为false
.setEnableCertification(SharedPrefsMgr.getInstance().getBoolean(MoGoConfig.AUTOPILOT_CERTIFICATION, MoGoConfig.AUTOPILOT_CERTIFICATION_DEFAULT_VALUE))
.setRootCrt(CallerCloudCertManager.getRootCrtF())
.setDeviceCrt(CallerCloudCertManager.getDeviceCrtF())
.setUnableLaunchAutopilotGear(FunctionBuildConfig.unableLaunchAutopilotGear)
.setEnableCertification(SharedPrefsMgr.getInstance().getBoolean("${MoGoConfig.AUTOPILOT_CERTIFICATION}-${DebugConfig.getNetMode()}", MoGoConfig.AUTOPILOT_CERTIFICATION_DEFAULT_VALUE))
.setRootCrt(CallerCloudCertManager.getRootCrtFDecode())
.setDeviceCrt(CallerCloudCertManager.getDeviceCrtFDecode())
.setLaunchAutopilotGear(FunctionBuildConfig.launchAutopilotGear)
.build()
AdasManager.getInstance().create(mContext, options, MoGoAdasMsgConnectStatusListenerImpl())
//////////////////////////////////注意先后顺序，AdasManager.getInstance().create后才可以设置监听/////////////////////////////////////////////
@@ -321,9 +321,9 @@ class MoGoAutopilotControlProvider :
// 设置IP地址
val options = AdasOptions.newBuilder()
.setPassenger(false)
.setEnableCertification(SharedPrefsMgr.getInstance().getBoolean(MoGoConfig.AUTOPILOT_CERTIFICATION, MoGoConfig.AUTOPILOT_CERTIFICATION_DEFAULT_VALUE))
.setRootCrt(CallerCloudCertManager.getRootCrtF())
.setDeviceCrt(CallerCloudCertManager.getDeviceCrtF())
.setEnableCertification(SharedPrefsMgr.getInstance().getBoolean("${MoGoConfig.AUTOPILOT_CERTIFICATION}-${DebugConfig.getNetMode()}", MoGoConfig.AUTOPILOT_CERTIFICATION_DEFAULT_VALUE))
.setRootCrt(CallerCloudCertManager.getRootCrtFDecode())
.setDeviceCrt(CallerCloudCertManager.getDeviceCrtFDecode())
.setConnectionMode(AdasOptions.IPC_CONNECTION_MODE.SPECIFIED)
.setSpecifiedAddress(autoPilotIp)
.build()
@@ -988,7 +988,7 @@ class MoGoAutopilotControlProvider :
* @param resultCode 上报字段code
*/
override fun getReportResultDesc(resultCode: String): String {
return MogoReport.Result.getDesc(resultCode)
return MogoReport.ResultDesc.getDesc(resultCode)
}
/**
@@ -996,7 +996,7 @@ class MoGoAutopilotControlProvider :
* @param actionCode 上报字段code
*/
override fun getReportActionDesc(actionCode: String): String {
return MogoReport.Action.getDesc(actionCode)
return MogoReport.ActionDesc.getDesc(actionCode)
}
override fun onAutopilotCarConfig(carConfigResp: MessagePad.CarConfigResp) {

24
core/function-impl/mogo-core-function-datacenter/src/main/java/com/mogo/eagle/core/function/datacenter/autopilot/adapter/MoGoAdasListenerImpl.kt
View File

@@ -1,6 +1,7 @@
package com.mogo.eagle.core.function.datacenter.autopilot.adapter
import bag_manager.BagManagerOuterClass
import chassis.Chassis
import chassis.ChassisStatesOuterClass
import chassis.VehicleStateOuterClass
import com.mogo.eagle.core.data.app.AppConfigInfo
@@ -169,7 +170,7 @@ class MoGoAdasListenerImpl : OnAdasListener {
) {
if (vehicleState != null) {
//转向灯数据
CallerChassisLamplightListenerManager.invokeAutopilotLightSwitchData(vehicleState.light)
// CallerChassisLamplightListenerManager.invokeAutopilotLightSwitchData(vehicleState.light)
//刹车灯数据
CallerChassisLamplightListenerManager.invokeAutopilotBrakeLightData(vehicleState.brakeLightStatus)
//方向盘转向角数据
@@ -231,10 +232,10 @@ class MoGoAdasListenerImpl : OnAdasListener {
) {
if (chassisStates != null) {
chassisStates.bcmSystemStates?.let { bcmSystemStates ->
bcmSystemStates.turnLightState?.let {
//转向灯数据
CallerChassisLamplightListenerManager.invokeAutopilotLightSwitchData(it)
}
// bcmSystemStates.turnLightState?.let {
// //转向灯数据
// CallerChassisLamplightListenerManager.invokeAutopilotLightSwitchData(it)
// }
//刹车灯数据
CallerChassisLamplightListenerManager.invokeAutopilotBrakeLightData(bcmSystemStates.brakeLightState != 0)
}
@@ -277,6 +278,19 @@ class MoGoAdasListenerImpl : OnAdasListener {
}
}
/**
* 底盘车灯状态 转换过的可以直接使用
* 例如：
* 原始右转数据： 0 2 0 2 0 2。。。
* 转换之后数据： 2 2 2 2 2 2。。。
*
* @param light 车灯 目前域控发送车灯有 左传{@link Chassis.LightSwitch#LIGHT_LEFT} 右转{@link Chassis.LightSwitch#LIGHT_RIGHT} 危险报警灯{@link Chassis.LightSwitch#LIGHT_FLASH}
*/
override fun onLightSwitch(light: Chassis.LightSwitch) {
//转向灯数据
CallerChassisLamplightListenerManager.invokeAutopilotLightSwitchData(light)
}
//自动驾驶状态
@ChainLog(
linkChainLog = CHAIN_TYPE_SOCKET_AUTOPILOT,

20
core/function-impl/mogo-core-function-datacenter/src/main/java/com/mogo/eagle/core/function/datacenter/autopilot/adapter/MoGoAdasMsgConnectStatusListenerImpl.kt
View File

@@ -17,6 +17,7 @@ import com.mogo.eagle.core.function.api.cloud.IMoGoCloudListener
import com.mogo.eagle.core.function.call.autopilot.CallerAutoPilotControlManager
import com.mogo.eagle.core.function.call.autopilot.CallerAutoPilotStatusListenerManager
import com.mogo.eagle.core.function.call.autopilot.CallerAutopilotActionsListenerManager
import com.mogo.eagle.core.function.call.autopilot.CallerAutopilotCarConfigListenerManager
import com.mogo.eagle.core.function.call.autopilot.CallerParallelDrivingActionsListenerManager
import com.mogo.eagle.core.function.call.cloud.CallerCloudListenerManager
import com.mogo.eagle.core.function.call.msgbox.CallerMsgBoxManager
@@ -59,13 +60,14 @@ class MoGoAdasMsgConnectStatusListenerImpl :
private val isSentBasicInfoReq = AtomicBoolean(false)//是否已回复域控基础信息请求
@Volatile
private var certificationResult = ""
private var certificationResult = "未开启认证"
init {
CallerCloudListenerManager.addListener(TAG, this)
CallerAutoPilotStatusListenerManager.addListener(TAG, this)
CallerAutopilotActionsListenerManager.setConnected(AdasManager.getInstance().ipcConnectionStatus == AdasConstants.IpcConnectionStatus.CONNECTED)
CallerParallelDrivingActionsListenerManager.setConnected(AdasManager.getInstance().ipcConnectionStatus == AdasConstants.IpcConnectionStatus.CONNECTED)
CallerAutopilotCarConfigListenerManager.invokeAutopilotCertFileResult(certificationResult)
}
private fun connectToast(reason: String) {
@@ -249,7 +251,7 @@ class MoGoAdasMsgConnectStatusListenerImpl :
*/
override fun onCertification(status: AdasConstants.CertificationStatus) {
if (status == AdasConstants.CertificationStatus.TIMEOUT) {
certificationResult = "：认证超时";
certificationResult = "：证书认证超时"
CallerLogger.d(
"$M_D_C$TAG",
"域控证书认证超时（表示域控未发送BasicInfoReq接口的数据【这种情况可能是连接出现了问题】）"
@@ -257,24 +259,25 @@ class MoGoAdasMsgConnectStatusListenerImpl :
} else {
if (status != AdasConstants.CertificationStatus.NOT_ENABLED) {
if (status == AdasConstants.CertificationStatus.CERTIFICATE_CHAIN_SUCCESS) {
certificationResult = "：成功校验域控证书"
CallerLogger.d(
"$M_D_C$TAG",
"域控证书链校验成功"
"成功校验域控证书"
)
} else if (status == AdasConstants.CertificationStatus.ROOT_CRT_ERROR) {
certificationResult = "：ROOT证书异常";
certificationResult = "：获取ROOT证书异常"
CallerLogger.d(
"$M_D_C$TAG",
"ROOT证书异常（表示未传递证书，没有拿到ROOT证书）"
)
} else if (status == AdasConstants.CertificationStatus.IPC_CRT_ERROR) {
certificationResult = "：域控证书异常";
certificationResult = "：获取域控证书异常"
CallerLogger.d(
"$M_D_C$TAG",
"域控证书异常（表示域控发送了BasicInfoReq接口的数据但是未传递证书或证书解码失败【失败的可能性很低】）"
)
} else if (status == AdasConstants.CertificationStatus.CERTIFICATE_CHAIN_FAILED) {
certificationResult = "：证书链校验失败";
certificationResult = "：域控证书校验失败"
CallerLogger.d(
"$M_D_C$TAG",
"域控证书链校验失败（表示证书链未验证通过。证书不匹配、证书格式不正确）"
@@ -282,6 +285,7 @@ class MoGoAdasMsgConnectStatusListenerImpl :
}
}
}
CallerAutopilotCarConfigListenerManager.invokeAutopilotCertFileResult(certificationResult)
}
private fun saveIntoMsgBox(
@@ -341,7 +345,7 @@ class MoGoAdasMsgConnectStatusListenerImpl :
* 工控机获取SN
*/
override fun onAutopilotSNRequest(basicInfoReq: MessagePad.BasicInfoReq) {
CallerLogger.d("$M_D_C$TAG", "收到域控基础信息请求");
CallerLogger.d("$M_D_C$TAG", "收到域控基础信息请求")
isReceivedBasicInfoReq.set(true)
if (!TextUtils.isEmpty(SharedPrefsMgr.getInstance().sn)) {
syncBasicInfoToAutopilot()
@@ -396,7 +400,7 @@ class MoGoAdasMsgConnectStatusListenerImpl :
}
override fun tokenGot(token: String, sn: String) {
CallerLogger.d("$M_D_C$TAG", "SN获取成功=$sn");
CallerLogger.d("$M_D_C$TAG", "SN获取成功=$sn")
if (isReceivedBasicInfoReq.get() && !isSentBasicInfoReq.get()) {//已收到域控基础信息请求，但是之前SN没有所以还未回复，现在获取到SN后再进行回复
syncBasicInfoToAutopilot()
}

24
core/function-impl/mogo-core-function-datacenter/src/main/java/com/mogo/eagle/core/function/msgbox/DataManager.kt
View File

@@ -130,6 +130,9 @@ object DataManager {
CallerMsgBoxListenerManager.invokeListener(MsgCategory.NOTICE, msg)
}
MsgBoxType.FMINFO -> {
synchronized(this) {
fmInfoList.add(msg)
}
CallerMsgBoxListenerManager.invokeListener(MsgCategory.FM_INFO, msg)
}
MsgBoxType.VOICE -> {
@@ -250,7 +253,7 @@ object DataManager {
}
}
private suspend fun getCacheMessages(context: Context): List<MsgBoxBean> =
private suspend fun getCacheMessages(context: Context): List<MsgBoxBean?> =
withContext(Dispatchers.IO) {
delay(2000)
return@withContext MsgBoxDb.getDb(context)
@@ -326,7 +329,7 @@ object DataManager {
}
}
else -> {
return@map MsgBoxBean(MsgBoxType.V2X, V2XMsg())
return@map null
}
}
}
@@ -368,6 +371,13 @@ object DataManager {
recordBagList.clear()
}
if (fmInfoList.isNotEmpty()) {
fmInfoList.forEach {
msgInfoList.add(MsgBoxInfo(it.bean2Json, it.type.ordinal, it.timestamp))
}
fmInfoList.clear()
}
if (msgInfoList.isNotEmpty()) {
MsgBoxDb.getDb(context)
.monitorDao()
@@ -387,4 +397,14 @@ object DataManager {
}
}
}
fun queryFMInfoList(context: Context, startTime: Long, endTime: Long): List<MsgBoxBean> {
return MsgBoxDb.getDb(context).monitorDao()
.getFMInfoList(MsgBoxType.FMINFO.ordinal, startTime, endTime)
.map { boxInfo ->
MsgBoxBean(MsgBoxType.FMINFO, GsonUtils.fromJson(boxInfo.bean2Json, FMInfoMsg::class.java)).apply {
timestamp = boxInfo.timeStamp
}
}
}
}

8
core/function-impl/mogo-core-function-datacenter/src/main/java/com/mogo/eagle/core/function/msgbox/MsgBoxProvider.kt
View File

@@ -50,6 +50,14 @@ class MsgBoxProvider : IMsgBoxProvider {
return DataManager.getRecordBagData()
}
override fun queryFMInfoList(
context: Context,
startTime: Long,
endTime: Long
): List<MsgBoxBean> {
return DataManager.queryFMInfoList(context, startTime, endTime)
}
override fun removeRecordInfo(context: Context, msgBoxBean: MsgBoxBean, key: String) {
DataManager.removeRecordInfo(key, key)
DataManager.delMsgBoxBean(context, msgBoxBean)

3
core/function-impl/mogo-core-function-datacenter/src/main/java/com/mogo/eagle/core/function/msgbox/db/MsgBoxDao.kt
View File

@@ -16,6 +16,9 @@ interface MsgBoxDao {
@Query("SELECT * FROM t_msg_box")
fun getAllCachedMessages(): List<MsgBoxInfo>
@Query("SELECT * FROM t_msg_box WHERE json_obj_type == (:fmType) AND time_stamp >= (:startTime) AND time_stamp <= (:endTime)")
fun getFMInfoList(fmType: Int, startTime: Long, endTime: Long): List<MsgBoxInfo>
@Query("DELETE FROM t_msg_box")
fun deleteMsgTable()
}

62
core/function-impl/mogo-core-function-devatools/src/main/java/com/zhjt/mogo_core_function_devatools/logcat/MoGoLogRecordProviderImpl.kt
View File

@@ -4,6 +4,7 @@ import android.Manifest
import android.content.*
import android.content.pm.PackageManager.PERMISSION_GRANTED
import android.os.Build
import android.os.Environment
import android.os.Process
import android.os.SystemClock
import android.util.Log
@@ -14,10 +15,13 @@ import com.mogo.commons.AbsMogoApplication
import com.mogo.core.log.record.*
import com.mogo.core.log.record.config.*
import com.mogo.core.log.record.config.crash.CrashConfig
import com.mogo.core.log.record.config.extra.IExtraFileToUpload
import com.mogo.core.log.record.config.extra.ToUploadFile
import com.mogo.core.log.record.config.state.IStateProvider
import com.mogo.core.log.record.model.UploadError
import com.mogo.eagle.core.data.app.AppConfigInfo
import com.mogo.eagle.core.function.api.devatools.logcat.*
import com.mogo.eagle.core.utilcode.download.DownloadUtils
import com.zhidao.loglib.bean.RemoteLogPushContent
import com.zhjt.mogo_core_function_devatools.BuildConfig
import com.zhjt.mogo_core_function_devatools.logcat.checker.AnrLogChecker
@@ -25,6 +29,7 @@ import com.zhjt.mogo_core_function_devatools.logcat.config.LogRecordConfig
import com.zhjt.mogo_core_function_devatools.logcat.uploader.*
import kotlinx.coroutines.*
import java.io.*
import java.util.concurrent.TimeUnit
import java.util.concurrent.TimeUnit.MINUTES
import java.util.concurrent.atomic.AtomicBoolean
import java.util.concurrent.atomic.AtomicLong
@@ -45,13 +50,12 @@ internal class MoGoLogRecordProviderImpl: IMoGoLogRecordProvider,
private val lastUploadTime by lazy { AtomicLong(0) }
override fun init(context: Context) {
val zip = File(context.getExternalFilesDir(null), "logcat/zip")
val builder = LogcatConfig.Builder().context(context)
.recordPeriod(MINUTES.toMillis(5)) // 5分钟一个文件
.maxSizeInLogDir((512 * 1024 * 1024).toLong()) // 512M最大容量
.recordDir(File(context.getExternalFilesDir(null), "logcat"))
.pid(Process.myPid())
.generateZipDir(zip.absolutePath)
.generateZipDir(File(context.getExternalFilesDir(null), "logcat/zip").absolutePath)
.stateProvider(object : IStateProvider {
override fun provide(divider: String?): Map<String, Any?> {
return mutableMapOf<String, Any?>().also { itx ->
@@ -104,6 +108,18 @@ internal class MoGoLogRecordProviderImpl: IMoGoLogRecordProvider,
itx["协议版本号"] = AppConfigInfo.protocolVersionNumber
itx["${divider}-7"] = divider
itx["角色"] = AppConfigInfo.role
val downloads = try {
DownloadUtils.getAllDownloadRecords()
} catch (t: Throwable) {
emptyList()
}
if (downloads.isNotEmpty()) {
itx["${divider}-8"] = divider
itx["下载汇总"] = "(${downloads.size})"
downloads.forEach {
itx[it.first] = "\n\r----------------------------------------------------------${it.second}\n\r"
}
}
}
}
})
@@ -114,26 +130,26 @@ internal class MoGoLogRecordProviderImpl: IMoGoLogRecordProvider,
.systemTags("ActivityManager")
.checker(AnrLogChecker())
}
// if (BuildConfig.DEBUG) {
// builder.crashConfig(
// CrashConfig.Builder()
// .enabled(true)
// .crashDir(File(context.getExternalFilesDir(null), "logcat/crash"))
// .nativeCrash(true)
// .anr(true)
// .javaCrash(true)
// .build()
// )
// }
LogcatManager.init(builder)
scope.launch {
try {
zip.takeIf { it.exists() }?.deleteRecursively()
} catch (t: Throwable) {
t.printStackTrace()
}
if (BuildConfig.DEBUG) {
builder.crashConfig(
CrashConfig.Builder()
.enabled(true)
.crashDir(File(context.getExternalFilesDir(null), "crash"))
.expireDuration(TimeUnit.DAYS.toMillis(3))
.javaCrash(true)
.nativeCrash(true)
.anr(true)
.build()
)
}
builder.extraFilesToUpload(object : IExtraFileToUpload {
override fun filesToUpload(): List<ToUploadFile> {
return ArrayList<ToUploadFile>().also {
it.add(ToUploadFile(File(Environment.getExternalStorageDirectory(), "MLog")))
}
}
})
LogcatManager.init(builder)
}
override fun target(): Class<RemoteLogPushContent> {
@@ -195,8 +211,8 @@ internal class MoGoLogRecordProviderImpl: IMoGoLogRecordProvider,
return LogcatManager.export()
}
override fun upload(): Unit = runBlocking {
val state = LogcatManager.upload(0, System.currentTimeMillis())
override fun upload(startTime: Long, endTime: Long): Unit = runBlocking {
val state = LogcatManager.upload(startTime, endTime)
if (state is UploadError) {
throw AssertionError(state.toString())
}

50
core/function-impl/mogo-core-function-devatools/src/main/java/com/zhjt/mogo_core_function_devatools/status/flow/OverViewImpl.kt
View File

@@ -8,13 +8,20 @@ import android.content.IntentFilter
import android.location.LocationManager
import android.util.Log
import androidx.core.location.LocationManagerCompat
import com.mogo.commons.debug.DebugConfig
import com.mogo.commons.module.status.IMogoStatusChangedListener
import com.mogo.commons.module.status.MogoStatusManager
import com.mogo.commons.module.status.StatusDescriptor
import com.mogo.commons.storage.SharedPrefsMgr
import com.mogo.eagle.core.data.constants.MoGoConfig
import com.mogo.eagle.core.function.api.autopilot.IMoGoAutopilotCarConfigListener
import com.mogo.eagle.core.function.api.autopilot.IMoGoAutopilotStatusListener
import com.mogo.eagle.core.function.api.cloud.IMoGoCloudListener
import com.mogo.eagle.core.function.api.devatools.IMoGoDevaToolsListener
import com.mogo.eagle.core.function.api.telematic.IConnectStatusListener
import com.mogo.eagle.core.function.call.autopilot.CallerAutoPilotStatusListenerManager
import com.mogo.eagle.core.function.call.autopilot.CallerAutopilotCarConfigListenerManager
import com.mogo.eagle.core.function.call.cloud.CallerCloudListenerManager
import com.mogo.eagle.core.function.call.devatools.CallerDevaToolsListenerManager
import com.mogo.eagle.core.function.call.telematic.CallerTelematicStatusListenerManager
import com.mogo.eagle.core.utilcode.util.AppStateManager
@@ -30,7 +37,8 @@ import java.util.concurrent.atomic.AtomicBoolean
internal class OverViewImpl(ctx: Context) : IFlow<OverViewStatus>(ctx),
IMoGoDevaToolsListener, IMoGoAutopilotStatusListener,
IConnectStatusListener, IMogoStatusChangedListener {
IConnectStatusListener, IMogoStatusChangedListener, IMoGoAutopilotCarConfigListener,
IMoGoCloudListener {
companion object {
const val TAG = "OverViewImpl"
@@ -56,6 +64,9 @@ internal class OverViewImpl(ctx: Context) : IFlow<OverViewStatus>(ctx),
@Volatile
private var isAutopilotException = false
@Volatile
private var isAuthCrtException = false
@Volatile
private var isFirst = true
@@ -125,6 +136,8 @@ internal class OverViewImpl(ctx: Context) : IFlow<OverViewStatus>(ctx),
MogoStatusManager.getInstance()
.registerStatusChangedListener(TAG, StatusDescriptor.CLOUD_SOCKET, this)
CallerAutoPilotStatusListenerManager.addListener(TAG, this)
CallerAutopilotCarConfigListenerManager.addListener(TAG, this)
CallerCloudListenerManager.addListener(TAG, this)
val isGranted = checkIsGpsException()
if (!isGranted) {
@@ -268,11 +281,41 @@ internal class OverViewImpl(ctx: Context) : IFlow<OverViewStatus>(ctx),
}
private fun checkIfNotException() {
if (!isServerException && !isCloudSocketException && !isTracingException && !isGpsException && !isAutopilotException) {
if (!isServerException && !isCloudSocketException && !isTracingException && !isGpsException && !isAutopilotException && !isAuthCrtException) {
send(OverViewStatus(false))
}
}
override fun authCrtFile(device: String, root: String) {
super.authCrtFile(device, root)
isAuthCrtException = false
checkIfNotException()
}
override fun authCrtError(errorMsg: String) {
super.authCrtError(errorMsg)
isAuthCrtException = true
send(OverViewStatus(true))
}
override fun onCertificationResult(msg: String) {
super.onCertificationResult(msg)
if (!SharedPrefsMgr.getInstance().getBoolean(
"${MoGoConfig.AUTOPILOT_CERTIFICATION}-${DebugConfig.getNetMode()}",
MoGoConfig.AUTOPILOT_CERTIFICATION_DEFAULT_VALUE
)
) {
return
}
if(msg.contains("成功校验")){
isAuthCrtException = false
checkIfNotException()
}else{
isAuthCrtException = true
send(OverViewStatus(true))
}
}
override fun onDestroy() {
super.onDestroy()
// CallerDevaToolsListenerManager.removeListener(TAG)
@@ -280,6 +323,9 @@ internal class OverViewImpl(ctx: Context) : IFlow<OverViewStatus>(ctx),
MogoStatusManager.getInstance()
.unregisterStatusChangedListener(TAG, StatusDescriptor.CLOUD_SOCKET, this)
CallerAutoPilotStatusListenerManager.removeListener(TAG)
CallerAutopilotCarConfigListenerManager.removeListener(TAG)
CallerCloudListenerManager.removeListener(TAG)
try {
if (registered.compareAndSet(true, false) && receiver != null) {
ctx.unregisterReceiver(receiver)

34
core/function-impl/mogo-core-function-devatools/src/main/java/com/zhjt/mogo_core_function_devatools/status/ui/StatusSummaryView.kt
View File

@@ -1,34 +0,0 @@
package com.zhjt.mogo_core_function_devatools.status.ui
import android.content.Context
import android.util.AttributeSet
import android.view.LayoutInflater
import android.widget.FrameLayout
import com.mogo.eagle.core.function.api.autopilot.IMoGoAutopilotStatusListener
import com.zhjt.mogo_core_function_devatools.R
/**
* 状态汇总View控件
*/
class StatusSummaryView@JvmOverloads constructor(
context: Context,
attrs: AttributeSet? = null,
defStyleAttr: Int = 0
) : FrameLayout(
context,
attrs,
defStyleAttr
), IMoGoAutopilotStatusListener {
companion object{
private const val TAG = "SummaryStatusView"
}
init {
LayoutInflater.from(context).inflate(R.layout.view_initiative_bad_case, this, true)
initView()
}
private fun initView() {
}
}

56
core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/hmi/ui/msgbox/DriverMsgBoxBubbleView.kt
View File

@@ -8,13 +8,17 @@ import android.view.View
import androidx.constraintlayout.widget.ConstraintLayout
import androidx.recyclerview.widget.LinearLayoutManager
import com.mogo.eagle.core.data.config.FunctionBuildConfig
import com.mogo.eagle.core.data.deva.report.ReportEntity
import com.mogo.eagle.core.data.enums.DataSourceType
import com.mogo.eagle.core.data.msgbox.FMInfoMsg
import com.mogo.eagle.core.data.msgbox.MsgBoxBean
import com.mogo.eagle.core.data.msgbox.MsgBoxCountDownBean
import com.mogo.eagle.core.data.msgbox.MsgBoxType
import com.mogo.eagle.core.data.msgbox.MsgCategory
import com.mogo.eagle.core.data.msgbox.MsgFmData
import com.mogo.eagle.core.function.api.datacenter.msgbox.IMsgBoxListener
import com.mogo.eagle.core.function.api.order.IOrderListener
import com.mogo.eagle.core.function.call.autopilot.CallerAutoPilotStatusListenerManager
import com.mogo.eagle.core.function.call.devatools.CallerDevaToolsManager
import com.mogo.eagle.core.function.call.msgbox.CallerMsgBoxEventListenerManager
import com.mogo.eagle.core.function.call.msgbox.CallerMsgBoxListenerManager
@@ -97,23 +101,53 @@ class DriverMsgBoxBubbleView @JvmOverloads constructor(
}
} else if(category == MsgCategory.SYS_INFO){
CallerMsgBoxEventListenerManager.invokeUpdateTipListener(true)
if(msgBoxBean.type == MsgBoxType.REPORT){
val reportMsg = msgBoxBean.bean as ReportEntity
//P8-P1均只收在消息盒子里，P0消息盒子弹出，其中P0弹出时需要判断驾驶状态，非自动驾驶、非平行驾驶状态不弹出，其余状态弹出
var isShowReport = false
for(action in reportMsg.actionsList){
if("ACTION_MANUAL_HANDLE_IMMEDIATELY" == action){
if(CallerAutoPilotStatusListenerManager.getState() == 2
|| CallerAutoPilotStatusListenerManager.getState() == 7){
isShowReport = true
}
}
}
if(isShowReport){
//展示消息
showData(msgBoxBean)
}
}
} else if(category == MsgCategory.FM_INFO){
CallerMsgBoxEventListenerManager.invokeUpdateTipListener(true)
if(FunctionBuildConfig.isTakeoverRemind){
//属于停车警示（包括择机靠边停车、立即舒适停车、就地紧急停车）时，需要弹出消息气泡并伴有提示音
val fmInfoMsg = msgBoxBean.bean as FMInfoMsg
if(fmInfoMsg.policyCode == "FM_DP_PNC_CHOOSE_STOP" //择机靠边停车
|| fmInfoMsg.policyCode == "FM_DP_COMFORTABLE_STOP" //立刻舒适停车
|| fmInfoMsg.policyCode == "FM_DP_EMERGENCY_STOP" //就地紧急停车
){
//语音提示
try {
SoundPoolUtils.getSoundPool().playSoundWithRedId(context,R.raw.weak_net_tips)
}catch (e: Exception){
e.printStackTrace()
var curFaultLevel = 5 //默认级别，遍历数组找出级别最高的（level数越小，级别越高）
fmInfoMsg.fmInfoList?.forEach { faultInfo ->
if(faultInfo.faultActionCount>0){
faultInfo.faultActionList.forEach {actionCode ->
//获取建议操作级别，得到建议操作级别最高的操作
if(MsgFmData.FaultAction.getFaultLevel(actionCode) < curFaultLevel){
curFaultLevel = MsgFmData.FaultAction.getFaultLevel(actionCode)
}
}
}
}
//P0级消息弹出时需要判断驾驶状态，非自动驾驶、非平行驾驶状态不弹出，其余状态弹出
if(curFaultLevel == 0){
//自动驾驶状态 0是不可用 1是ready 2是自动驾驶中 7:平行驾驶中
if(CallerAutoPilotStatusListenerManager.getState() == 2
|| CallerAutoPilotStatusListenerManager.getState() == 7){
//语音提示
try {
SoundPoolUtils.getSoundPool().playSoundWithRedId(context,R.raw.weak_net_tips)
}catch (e: Exception){
e.printStackTrace()
}
//展示消息
showData(msgBoxBean)
}
//展示消息
showData(msgBoxBean)
}
}
} else{

26
core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/hmi/ui/msgbox/adapter/DriverMsgBoxBubbleAdapter.kt
View File

@@ -21,6 +21,7 @@ import com.mogo.eagle.core.function.call.msgbox.CallerMsgBoxManager
import com.mogo.eagle.core.function.hmi.R
import com.mogo.eagle.core.utilcode.mogo.glide.GlideApp
import com.mogo.eagle.core.utilcode.mogo.glide.transform.GlideRoundedCornersTransform
import com.mogo.eagle.core.utilcode.util.ResourceUtils.getDrawable
import com.mogo.eagle.core.utilcode.util.TimeUtils
import com.mogo.eagle.core.utilcode.util.TimeUtils.getHourMinFormat
import com.mogo.eagle.core.widget.RoundCanClickConstraintLayout
@@ -242,7 +243,6 @@ class DriverMsgBoxBubbleAdapter(private val activity: Activity) : RecyclerView.A
is BubbleFmHolder ->{
data?.let {
val fmMsg = it[position].msgBoxBean.bean as FMInfoMsg
holder.tvBubbleFmFault.text = MsgFmData.getFmPolicyName(fmMsg.policyCode)
if(fmMsg.policyTime == null){
holder.tvBubbleFmTime.text = TimeUtils.millis2String(it[position].msgBoxBean.timestamp,getHourMinFormat())
}else{
@@ -250,26 +250,43 @@ class DriverMsgBoxBubbleAdapter(private val activity: Activity) : RecyclerView.A
}
if(fmMsg.fmInfoList?.size == 0){
holder.tvBubbleFmFaultAction.text = "建议操作：暂无"
holder.tvBubbleFmFault.text = MsgFmData.getFmPolicyName(fmMsg.policyCode)
}else{
var curFaultLevel = 0 //默认级别，遍历数组找出级别最高的（level数越小大，级别越高）
var curFaultLevel = 5 //默认级别，遍历数组找出级别最高的（level数越小，级别越高）
fmMsg.fmInfoList?.forEach { faultInfo ->
if(faultInfo.faultActionCount>0){
faultInfo.faultActionList.forEach {actionCode ->
//获取建议操作级别，得到建议操作级别最高的操作
if(MsgFmData.FaultAction.getFaultLevel(actionCode) > curFaultLevel){
if(MsgFmData.FaultAction.getFaultLevel(actionCode) < curFaultLevel){
curFaultLevel = MsgFmData.FaultAction.getFaultLevel(actionCode)
}
}
}
}
val faultAction = MsgFmData.FaultAction.getFaultAction(curFaultLevel)
holder.tvBubbleFmFault.text = faultAction
//当出现多个建议操作时，按照整车下电重启、请求人工驾驶接管、请求平行驾驶接管、系统重启、联系硬件工程师、
// 联系运维工程师、联系软件工程师优先级递减的顺序，只展示最高优先级的内容
if(curFaultLevel == 0){
if(curFaultLevel == 5){
holder.tvBubbleFmFaultAction.text = "建议操作：暂无"
}else{
holder.tvBubbleFmFaultAction.text = "${faultAction}(${MsgFmData.FaultAction.getFaultActionCode(curFaultLevel)})"
}
//不同级别的Icon显示
when(curFaultLevel){
0->{
//重度预警样式
holder.ivBubbleFmImage.setImageDrawable(getDrawable(R.drawable.icon_fm_stop_normal))
}
1,2,3->{
//中度预警样式
holder.ivBubbleFmImage.setImageDrawable(getDrawable(R.drawable.icon_fm_reduce_normal))
}
4,5->{
//轻度预警样式
holder.ivBubbleFmImage.setImageDrawable(getDrawable(R.drawable.icon_fm_warning_normal))
}
}
}
}
}
@@ -409,6 +426,7 @@ class DriverMsgBoxBubbleAdapter(private val activity: Activity) : RecyclerView.A
var tvBubbleFmFault: TextView = itemView.findViewById(R.id.tvBubbleFmFault)
var tvBubbleFmFaultAction: TextView = itemView.findViewById(R.id.tvBubbleFmFaultAction)
var tvBubbleFmTime: TextView = itemView.findViewById(R.id.tvBubbleFmTime)
var ivBubbleFmImage: ImageView = itemView.findViewById(R.id.ivBubbleFmImage)
}
//SSM连接消息

56
core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/hmi/ui/msgbox/adapter/DriverMsgBoxListAdapter.kt
View File

@@ -173,39 +173,21 @@ class DriverMsgBoxListAdapter(private val activity: Activity) :
"时间：${fmInfoMsg.policyTime?.let { it1 -> TimeUtils.millis2String(it1) }}"
holder.tvFmTime.text =
fmInfoMsg.policyTime?.let { it1 -> TimeUtils.millis2String(it1,getHourMinFormat()) }
//不同级别的Icon显示
if(fmInfoMsg.policyCode == "FM_DP_ONLY_WARNING"){
//警示
holder.ivFmImageNormal.setImageDrawable(getDrawable(R.drawable.icon_fm_warning_normal))
holder.ivFmImageOpen.setImageDrawable(getDrawable(R.drawable.icon_fm_warning_open))
}else if(fmInfoMsg.policyCode == "FM_DP_SPEED_LIMIT1"
|| fmInfoMsg.policyCode == "FM_DP_SPEED_LIMIT2"
|| fmInfoMsg.policyCode == "FM_DP_SPEED_LIMIT3"){
//降速行驶
holder.ivFmImageNormal.setImageDrawable(getDrawable(R.drawable.icon_fm_reduce_normal))
holder.ivFmImageOpen.setImageDrawable(getDrawable(R.drawable.icon_fm_reduce_open))
}else if(fmInfoMsg.policyCode == "FM_DP_PNC_CHOOSE_STOP"
|| fmInfoMsg.policyCode == "FM_DP_COMFORTABLE_STOP"
|| fmInfoMsg.policyCode == "FM_DP_EMERGENCY_STOP"){
//安全停车
holder.ivFmImageNormal.setImageDrawable(getDrawable(R.drawable.icon_fm_stop_normal))
holder.ivFmImageOpen.setImageDrawable(getDrawable(R.drawable.icon_fm_stop_open))
}
//Title
holder.tvFmTitleNormal.text = MsgFmData.getFmPolicyName(fmInfoMsg.policyCode)
holder.tvFmTitleOpen.text = MsgFmData.getFmPolicyName(fmInfoMsg.policyCode)
//建议操作
if(fmInfoMsg.fmInfoList.isNullOrEmpty()){
//建议操作暂无
holder.tvFmActionOpen.text = "建议操作：暂无"
holder.tvFmActionNormal.text = "建议操作：暂无"
//Title
holder.tvFmTitleNormal.text = MsgFmData.getFmPolicyName(fmInfoMsg.policyCode)
holder.tvFmTitleOpen.text = MsgFmData.getFmPolicyName(fmInfoMsg.policyCode)
}else{
val receiveFaultLevel = ArrayList<Int>()
fmInfoMsg.fmInfoList!!.forEach { info ->
if(info.faultActionCount != 0){
info.faultActionList.forEach { action ->
//如果不包含此故障Level，则进行添加
if(!receiveFaultLevel.contains(MsgFmData.FaultAction.getFaultLevel(action)) && MsgFmData.FaultAction.getFaultLevel(action)!=0){
if(!receiveFaultLevel.contains(MsgFmData.FaultAction.getFaultLevel(action))){
receiveFaultLevel.add(MsgFmData.FaultAction.getFaultLevel(action))
}
}
@@ -216,7 +198,28 @@ class DriverMsgBoxListAdapter(private val activity: Activity) :
val faultActionStr: StringBuilder = StringBuilder()
faultActionStr.append("建议操作：")
receiveFaultLevel.sort()
receiveFaultLevel.reverse()
// receiveFaultLevel.reverse()
//Title
holder.tvFmTitleNormal.text = MsgFmData.FaultAction.getFaultAction(receiveFaultLevel[0])
holder.tvFmTitleOpen.text = MsgFmData.FaultAction.getFaultAction(receiveFaultLevel[0])
//不同级别的Icon显示
when(receiveFaultLevel[0]){
0->{
//重度预警样式
holder.ivFmImageNormal.setImageDrawable(getDrawable(R.drawable.icon_fm_stop_normal))
holder.ivFmImageOpen.setImageDrawable(getDrawable(R.drawable.icon_fm_stop_open))
}
1,2,3->{
//中度预警样式
holder.ivFmImageNormal.setImageDrawable(getDrawable(R.drawable.icon_fm_reduce_normal))
holder.ivFmImageOpen.setImageDrawable(getDrawable(R.drawable.icon_fm_reduce_open))
}
4,5->{
//轻度预警样式
holder.ivFmImageNormal.setImageDrawable(getDrawable(R.drawable.icon_fm_warning_normal))
holder.ivFmImageOpen.setImageDrawable(getDrawable(R.drawable.icon_fm_warning_open))
}
}
receiveFaultLevel.forEach {level->
if(MsgFmData.FaultAction.getFaultAction(level).isNotBlank()){
faultActionStr.append(MsgFmData.FaultAction.getFaultAction(level))
@@ -227,11 +230,11 @@ class DriverMsgBoxListAdapter(private val activity: Activity) :
faultActionStr.append(")")
}
if(MsgFmData.FaultAction.getFaultAction(level).isNotBlank() || MsgFmData.FaultAction.getFaultActionCode(level).isNotBlank()){
faultActionStr.append("/")
faultActionStr.append(";")
}
}
if(faultActionStr.length > 5){
if(faultActionStr.endsWith("/")){
if(faultActionStr.endsWith(";")){
faultActionStr.deleteCharAt(faultActionStr.lastIndex)
}
holder.tvFmActionOpen.text = faultActionStr.toString()
@@ -243,6 +246,9 @@ class DriverMsgBoxListAdapter(private val activity: Activity) :
}else{
holder.tvFmActionOpen.text = "建议操作：暂无"
holder.tvFmActionNormal.text = "建议操作：暂无"
//轻度预警样式
holder.ivFmImageNormal.setImageDrawable(getDrawable(R.drawable.icon_fm_warning_normal))
holder.ivFmImageOpen.setImageDrawable(getDrawable(R.drawable.icon_fm_warning_open))
}
}
//故障策略

138
core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/hmi/ui/setting/DebugSettingView.kt
View File

@@ -12,7 +12,6 @@ import android.os.Build
import android.os.Process
import android.text.Html
import android.util.AttributeSet
import android.util.Log
import android.view.LayoutInflater
import android.view.View
import android.view.ViewGroup
@@ -89,6 +88,7 @@ import com.mogo.eagle.core.utilcode.kotlin.lifecycleOwner
import com.mogo.eagle.core.utilcode.kotlin.onClick
import com.mogo.eagle.core.utilcode.kotlin.scope
import com.mogo.eagle.core.utilcode.mogo.AppIdentityModeUtils
import com.mogo.eagle.core.utilcode.mogo.logger.CallerLogger
import com.mogo.eagle.core.utilcode.mogo.logger.LogLevel
import com.mogo.eagle.core.utilcode.mogo.logger.Logger
import com.mogo.eagle.core.utilcode.mogo.logger.scene.SceneConstant
@@ -204,7 +204,8 @@ internal class DebugSettingView @JvmOverloads constructor(
// 高精地图是否已缓存
private var isHDCached = false
private var isClickCheckedCbSsl = false//是否已经点击且选中证书认证按钮
//是否已经点击且选中证书认证按钮
private var isCertCheck = false
private var isFirstDownLoadCertHint = false
init {
@@ -1293,14 +1294,13 @@ internal class DebugSettingView @JvmOverloads constructor(
}
}
//是否启用证书认证
cbSsl.isChecked =
SharedPrefsMgr.getInstance().getBoolean(
MoGoConfig.AUTOPILOT_CERTIFICATION,
MoGoConfig.AUTOPILOT_CERTIFICATION_DEFAULT_VALUE
)
val check = SharedPrefsMgr.getInstance().getBoolean(
"${MoGoConfig.AUTOPILOT_CERTIFICATION}-${DebugConfig.getNetMode()}",
MoGoConfig.AUTOPILOT_CERTIFICATION_DEFAULT_VALUE
)
isCertCheck = check
cbSsl.isChecked = check
cbSsl.setOnCheckedChangeListener { _, isChecked ->
isClickCheckedCbSsl = isChecked
// 下载证书
if (isChecked) {
if (CallerCloudCertManager.getRootCrtF().isNullOrEmpty()) {
if (!isFirstDownLoadCertHint) {
@@ -1308,25 +1308,31 @@ internal class DebugSettingView @JvmOverloads constructor(
ToastUtils.showShort("证书文件不存在，正在下载")
}
cbSsl.isChecked = false
//下载证书
CallerCloudCertManager.certFileDownLoad { errorMsg ->
ThreadUtils.runOnUiThread {
isCertCheck = false
ToastUtils.showShort(errorMsg)
}
}
}else{
isCertCheck = true
}
}else{
isCertCheck = false
}
SharedPrefsMgr.getInstance()
.putBoolean(MoGoConfig.AUTOPILOT_CERTIFICATION, cbSsl.isChecked)
.putBoolean("${MoGoConfig.AUTOPILOT_CERTIFICATION}-${DebugConfig.getNetMode()}", cbSsl.isChecked)
}
}
override fun authCrtFile(device: String, root: String) {
super.authCrtFile(device, root)
ThreadUtils.runOnUiThread {
if (isClickCheckedCbSsl) {
if (isCertCheck) {
cbSsl.isChecked = true
SharedPrefsMgr.getInstance()
.putBoolean(MoGoConfig.AUTOPILOT_CERTIFICATION, true)
.putBoolean("${MoGoConfig.AUTOPILOT_CERTIFICATION}-${DebugConfig.getNetMode()}", true)
}
if (Build.VERSION.SDK_INT >= Build.VERSION_CODES.N) {
tvCertFile.text = Html.fromHtml(
@@ -1576,26 +1582,48 @@ internal class DebugSettingView @JvmOverloads constructor(
//上传全量日志
exportAllLogs?.onClick { v ->
v.visibility = View.INVISIBLE
logLoadingView?.visibility = View.VISIBLE
v.scope.launch(Dispatchers.IO) {
var isUploadSuccess = false
try {
CallerDevaToolsManager.logcat()?.upload()
isUploadSuccess = true
} catch (t: Throwable) {
t.printStackTrace()
}
withContext(Dispatchers.Main) {
if (isUploadSuccess) {
ToastUtils.showShort("上传成功")
} else {
ToastUtils.showShort("上传失败")
ListPopupWindow(v.context).also { p ->
val items = LogcatUploadDuration.values()
p.setAdapter(LogcatUploadAdapter(v.context, items))
p.anchorView = v
p.isModal = true
p.setBackgroundDrawable(ColorDrawable(Color.WHITE))
p.setOnItemClickListener { _, _, position, _ ->
val item = items[position]
v.visibility = View.INVISIBLE
logLoadingView?.visibility = View.VISIBLE
p.dismiss()
v.scope.launch(Dispatchers.IO) {
val endTime = System.currentTimeMillis()
val startTime = when(item) {
LogcatUploadDuration.IN_15M -> endTime - TimeUnit.MINUTES.toMillis(15)
LogcatUploadDuration.IN_45M -> endTime - TimeUnit.MINUTES.toMillis(45)
LogcatUploadDuration.IN_1H -> endTime - TimeUnit.HOURS.toMillis(1)
LogcatUploadDuration.IN_2H -> endTime - TimeUnit.HOURS.toMillis(2)
LogcatUploadDuration.IN_3H -> endTime - TimeUnit.HOURS.toMillis(3)
LogcatUploadDuration.IN_6H -> endTime - TimeUnit.HOURS.toMillis(6)
LogcatUploadDuration.IN_1D -> endTime - TimeUnit.DAYS.toMillis(1)
LogcatUploadDuration.ALL -> 0
}
var isUploadSuccess = false
try {
CallerDevaToolsManager.logcat()?.upload(startTime, endTime)
isUploadSuccess = true
} catch (t: Throwable) {
t.printStackTrace()
}
withContext(Dispatchers.Main) {
if (isUploadSuccess) {
ToastUtils.showShort("上传成功")
} else {
ToastUtils.showShort("上传失败")
}
logLoadingView?.visibility = View.INVISIBLE
exportAllLogs?.visibility = View.VISIBLE
}
}
logLoadingView?.visibility = View.INVISIBLE
exportAllLogs?.visibility = View.VISIBLE
}
}
}.show()
}
if (JunkConfig.isSupportJunkDetect) {
@@ -1731,6 +1759,54 @@ internal class DebugSettingView @JvmOverloads constructor(
}
}
private enum class LogcatUploadDuration(val text: String) {
IN_15M("15分钟内"),
IN_45M("45分钟内"),
IN_1H("1小时内"),
IN_2H("2小时内"),
IN_3H("3小时内"),
IN_6H("6小时内"),
IN_1D("一天内"),
ALL("上传所有")
}
private class LogcatUploadAdapter(private val ctx: Context, private val items: Array<LogcatUploadDuration>): BaseAdapter() {
override fun getCount(): Int {
return items.size
}
override fun getItem(position: Int): Any {
return items[position]
}
override fun getItemId(position: Int): Long {
return items[position].ordinal.toLong()
}
override fun getView(position: Int, convertView: View?, parent: ViewGroup?): View {
var result = convertView
val duration = items[position]
if (result == null) {
val temp = View.inflate(ctx, android.R.layout.simple_list_item_1, null)
temp.tag = Holder(temp.findViewById(android.R.id.text1))
result = temp
}
val holder = result?.tag as? Holder
if (holder != null) {
holder.text?.setTextColor(Color.BLACK)
holder.text?.text = duration.text
} else {
val text = result?.findViewById<TextView>(android.R.id.text1)
text?.setTextColor(Color.BLACK)
text?.text = duration.text
result?.tag = Holder(text)
}
return result!!
}
private inner class Holder(val text: TextView? = null)
}
private enum class ApmVLogUploadDuration(val text: String) {
IN_15M("15分钟内"),
IN_45M("45分钟内"),
@@ -2504,6 +2580,6 @@ internal class DebugSettingView @JvmOverloads constructor(
paramIndexes = [0]
)
private fun invokeCronetResult(json: String) {
Log.d("CronetNetwork", json)
CallerLogger.d(SceneConstant.M_HMI + "CronetNetwork", json)
}
}

3
core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/hmi/ui/setting/StatusSummaryAdapter.kt
View File

@@ -48,6 +48,9 @@ class StatusSummaryAdapter(private val ctx: Context, var data: ArrayList<StatusS
4 -> {
ivFuncView.setImageResource(R.drawable.controller)
}
5 -> {
ivFuncView.setImageResource(R.drawable.ssl_check)
}
}
if (entity.isException) {
tvStatusDesc.setTextColor(Color.parseColor("#FF4444"))

80
core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/hmi/ui/setting/StatusSummaryView.kt
View File

@@ -2,19 +2,26 @@ package com.mogo.eagle.core.function.hmi.ui.setting
import android.content.Context
import android.util.AttributeSet
import android.util.Log
import android.view.LayoutInflater
import android.widget.FrameLayout
import androidx.recyclerview.widget.LinearLayoutManager
import androidx.recyclerview.widget.RecyclerView
import com.mogo.commons.debug.DebugConfig
import com.mogo.commons.module.status.IMogoStatusChangedListener
import com.mogo.commons.module.status.MogoStatusManager
import com.mogo.commons.module.status.StatusDescriptor
import com.mogo.commons.storage.SharedPrefsMgr
import com.mogo.eagle.core.data.constants.MoGoConfig
import com.mogo.eagle.core.data.status.StatusSummaryEntity
import com.mogo.eagle.core.function.api.autopilot.IMoGoAutopilotCarConfigListener
import com.mogo.eagle.core.function.api.autopilot.IMoGoAutopilotStatusListener
import com.mogo.eagle.core.function.api.cloud.IMoGoCloudListener
import com.mogo.eagle.core.function.api.devatools.IMoGoDevaToolsListener
import com.mogo.eagle.core.function.api.telematic.IConnectStatusListener
import com.mogo.eagle.core.function.call.autopilot.CallerAutoPilotStatusListenerManager
import com.mogo.eagle.core.function.call.autopilot.CallerAutopilotCarConfigListenerManager
import com.mogo.eagle.core.function.call.cloud.CallerCloudCertManager
import com.mogo.eagle.core.function.call.cloud.CallerCloudListenerManager
import com.mogo.eagle.core.function.call.devatools.CallerDevaToolsListenerManager
import com.mogo.eagle.core.function.call.telematic.CallerTelematicStatusListenerManager
import com.mogo.eagle.core.function.hmi.R
@@ -26,7 +33,7 @@ import com.zhjt.mogo.adas.data.AdasConstants
/**
* 状态汇总View控件
*/
class StatusSummaryView@JvmOverloads constructor(
class StatusSummaryView @JvmOverloads constructor(
context: Context,
attrs: AttributeSet? = null,
defStyleAttr: Int = 0
@@ -35,8 +42,9 @@ class StatusSummaryView@JvmOverloads constructor(
attrs,
defStyleAttr
), IConnectStatusListener, IMogoStatusChangedListener,
IMoGoDevaToolsListener, IMoGoAutopilotStatusListener {
companion object{
IMoGoDevaToolsListener, IMoGoAutopilotStatusListener, IMoGoAutopilotCarConfigListener,
IMoGoCloudListener {
companion object {
private const val TAG = "SummaryStatusView"
}
@@ -50,6 +58,13 @@ class StatusSummaryView@JvmOverloads constructor(
it.add(StatusSummaryEntity(2))
it.add(StatusSummaryEntity(3))
it.add(StatusSummaryEntity(4, "域控未连接", true))
it.add(
StatusSummaryEntity(
5,
CallerAutopilotCarConfigListenerManager.getCertFileResult(),
CallerCloudCertManager.getRootCrtF().isNullOrEmpty()
)
)
}
}
@@ -67,6 +82,8 @@ class StatusSummaryView@JvmOverloads constructor(
MogoStatusManager.getInstance()
.registerStatusChangedListener(TAG, StatusDescriptor.CLOUD_SOCKET, this)
CallerAutoPilotStatusListenerManager.addListener(TAG, this)
CallerAutopilotCarConfigListenerManager.addListener(TAG, this)
CallerCloudListenerManager.addListener(TAG, this)
}
private fun initView() {
@@ -81,9 +98,10 @@ class StatusSummaryView@JvmOverloads constructor(
it.layoutManager = LinearLayoutManager(context, LinearLayoutManager.VERTICAL, false)
it.addItemDecoration(
CommonDividerItemDecoration.Builder()
.spanCountTBCare(false)
.horizontalInnerSpace(10.PX)
.build())
.spanCountTBCare(false)
.horizontalInnerSpace(10.PX)
.build()
)
StatusSummaryAdapter(context, data).apply {
adapter = this
it.adapter = this
@@ -108,6 +126,8 @@ class StatusSummaryView@JvmOverloads constructor(
MogoStatusManager.getInstance()
.unregisterStatusChangedListener(TAG, StatusDescriptor.CLOUD_SOCKET, this)
CallerAutoPilotStatusListenerManager.removeListener(TAG)
CallerAutopilotCarConfigListenerManager.removeListener(TAG)
CallerCloudListenerManager.removeListener(TAG)
}
/**
@@ -168,30 +188,39 @@ class StatusSummaryView@JvmOverloads constructor(
AdasConstants.IpcConnectionStatus.DISCONNECTED -> {
pair = Pair("域控未连接", true)
}
AdasConstants.IpcConnectionStatus.CONNECTED -> {
pair = Pair("域控已连接", false)
}
AdasConstants.IpcConnectionStatus.CONNECTING -> {
pair = Pair("域控连接中", true)
}
AdasConstants.IpcConnectionStatus.RECONNECTING_TIMER, AdasConstants.IpcConnectionStatus.RECONNECTING_NETWORK -> {
pair = Pair("域控重连中", true)
}
AdasConstants.IpcConnectionStatus.CONNECT_EXCEPTION -> {
pair = Pair("域控连接异常", true)
}
AdasConstants.IpcConnectionStatus.ILLEGAL_ADDRESS -> {
pair = Pair("非法域控地址", true)
}
AdasConstants.IpcConnectionStatus.SEARCH_ADDRESS -> {
pair = Pair("正在搜索域控地址", true)
}
AdasConstants.IpcConnectionStatus.NOT_FOUND_ADDRESS -> {
pair = Pair("找不到可用的域控地址", true)
}
AdasConstants.IpcConnectionStatus.HEARTBEAT_TIMEOUT -> {
pair = Pair("域控心跳超时", true)
}
AdasConstants.IpcConnectionStatus.SERVER_DISCONNECTED -> {
pair = Pair("域控主动断开连接", true)
}
@@ -203,4 +232,41 @@ class StatusSummaryView@JvmOverloads constructor(
adapter?.notifyItemChanged(4)
}
}
override fun authCrtFile(device: String, root: String) {
super.authCrtFile(device, root)
UiThreadHandler.post {
if (data.size < 6) return@post
data[5].desc = "本机证书已下载"
data[5].isException = false
adapter?.notifyItemChanged(5)
}
}
override fun authCrtError(errorMsg: String) {
super.authCrtError(errorMsg)
UiThreadHandler.post {
if (data.size < 6) return@post
data[5].desc = "本机证书下载异常:$errorMsg"
data[5].isException = true
adapter?.notifyItemChanged(5)
}
}
override fun onCertificationResult(msg: String) {
super.onCertificationResult(msg)
if (!SharedPrefsMgr.getInstance().getBoolean(
"${MoGoConfig.AUTOPILOT_CERTIFICATION}-${DebugConfig.getNetMode()}",
MoGoConfig.AUTOPILOT_CERTIFICATION_DEFAULT_VALUE
)
) {
return
}
UiThreadHandler.post {
if (data.size < 6) return@post
data[5].desc = msg
data[5].isException = !msg.contains("成功校验")
adapter?.notifyItemChanged(5)
}
}
}

1
core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/hmi/ui/widget/StatusBarView.kt
View File

@@ -119,7 +119,6 @@ class StatusBarView @JvmOverloads constructor(
private fun setTextColor(color: Int) {
viewTextClock.setTextColor(color)
viewStatusBarTag.setTextColor(color)
}
override fun onDetachedFromWindow() {

77
core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/hmi/ui/widget/WifiStateView.kt
View File

@@ -8,19 +8,27 @@ import android.net.wifi.WifiManager
import android.os.Handler
import android.os.Message
import android.util.AttributeSet
import androidx.appcompat.widget.AppCompatImageView
import android.util.Log
import android.util.TypedValue
import android.view.LayoutInflater
import android.widget.ImageView
import androidx.constraintlayout.widget.ConstraintLayout
import com.mogo.eagle.core.data.config.FunctionBuildConfig
import com.mogo.eagle.core.function.api.setting.IMoGoSkinModeChangeListener
import com.mogo.eagle.core.function.call.setting.CallerSkinModeListenerManager
import com.mogo.eagle.core.function.hmi.R
import com.mogo.eagle.core.utilcode.util.ThreadUtils
import com.mogo.eagle.core.utilcode.util.UiThreadHandler
import kotlinx.android.synthetic.main.view_wifi_state.view.viewStatusBarTag
import kotlinx.android.synthetic.main.view_wifi_state.view.viewWifiStateBg
import me.jessyan.autosize.utils.AutoSizeUtils
import java.lang.ref.WeakReference
import kotlin.properties.Delegates
class WifiStateView @JvmOverloads constructor(
context: Context,
attrs: AttributeSet? = null,
defStyleAttr: Int = 0
) : AppCompatImageView(context, attrs, defStyleAttr), IMoGoSkinModeChangeListener {
context: Context, attrs: AttributeSet? = null,defStyleAttr: Int = 0
) : ConstraintLayout(context, attrs), IMoGoSkinModeChangeListener {
companion object {
const val TAG = "WifiStateView"
@@ -37,20 +45,46 @@ class WifiStateView @JvmOverloads constructor(
override fun handleMessage(msg: Message) {
super.handleMessage(msg)
val view = stateViewWeakReference?.get()
view?.updateView(msg.what) {
view.setImageResource(it)
view?.updateLevel(msg.what)
}
}
}
private var wifiManager: WifiManager? = null
private var wifiHandler: WifiHandler? = null
private var level: Int by Delegates.observable(0) { _, o, n ->
if (o != n) {
UiThreadHandler.post {
updateView(n){
viewWifiStateBg.setImageResource(it)
}
}
}
}
private var wifiManager: WifiManager? = null
private var wifiHandler: WifiHandler? = null
private var wifiName: String by Delegates.observable("") { _, o, n ->
if (o != n) {
UiThreadHandler.post {
if(n.contains("unknow")){
viewStatusBarTag.text = ""
}else{
viewStatusBarTag.text = n
}
}
}
}
@Volatile
private var level: Int = 0
private val txtSize: Float
init {
LayoutInflater.from(context).inflate(R.layout.view_wifi_state, this, true)
val a = context.obtainStyledAttributes(attrs, R.styleable.WifiStateView, defStyleAttr, 0)
txtSize = a.getDimension(
R.styleable.WifiStateView_wifi_size,
resources.getDimension(R.dimen.dp_35)
)
a.recycle()
viewStatusBarTag.setTextSize(TypedValue.COMPLEX_UNIT_PX,AutoSizeUtils.dp2px(context,txtSize).toFloat())
wifiManager =
context.applicationContext.getSystemService(Context.WIFI_SERVICE) as WifiManager?
wifiHandler = WifiHandler(this)
@@ -67,6 +101,8 @@ class WifiStateView @JvmOverloads constructor(
return
}
val wifiInfo = wifiManager!!.connectionInfo
wifiName = wifiInfo.ssid.replace("\"","")
Log.i("emArrow", "wifiName: $wifiName")
level = WifiManager.calculateSignalLevel(wifiInfo.rssi, 5)
wifiHandler?.sendEmptyMessage(level)
}
@@ -95,9 +131,25 @@ class WifiStateView @JvmOverloads constructor(
override fun onSkinModeChange(skinMode: Int) {
wifiHandler?.sendEmptyMessage(level)
UiThreadHandler.post {
when (skinMode) {
0 -> setStatusBarDarkOrLight(false)
1 -> setStatusBarDarkOrLight(true)
}
}
}
fun updateView(wifiState: Int, resId: ((Int) -> Unit)) {
private fun setStatusBarDarkOrLight(light: Boolean) = if (light) {
viewStatusBarTag.setTextColor(resources.getColor(R.color.color_2C2E30))
} else {
viewStatusBarTag.setTextColor(resources.getColor(R.color.color_FFFFFF))
}
fun updateLevel(wifiState: Int){
level = wifiState
}
private fun updateView(wifiState: Int, resId: ((Int) -> Unit)) {
when (FunctionBuildConfig.skinMode) {
0 -> {
when (wifiState) {
@@ -109,6 +161,7 @@ class WifiStateView @JvmOverloads constructor(
4 -> resId.invoke(R.drawable.wifi_light_state_five)
}
}
1 -> {
when (wifiState) {
-1 -> resId.invoke(R.drawable.wifi_dark_state_one)

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core/function-impl/mogo-core-function-hmi/src/main/res/drawable-xhdpi/ssl_check.png Normal file
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13
core/function-impl/mogo-core-function-hmi/src/main/res/layout/view_status_bar.xml
View File

@@ -18,20 +18,9 @@
android:textSize="@dimen/dp_45"
android:textStyle="bold" />
<TextView
android:id="@+id/viewStatusBarTag"
android:layout_width="wrap_content"
android:layout_height="wrap_content"
android:layout_gravity="center"
android:layout_marginStart="@dimen/dp_27"
android:gravity="center"
android:text="@string/status_bar_tag"
android:textColor="@color/color_2C2E30"
android:textSize="@dimen/dp_35" />
<!--Wifi状态-->
<com.mogo.eagle.core.function.hmi.ui.widget.WifiStateView
android:layout_width="@dimen/dp_54"
android:layout_width="wrap_content"
android:layout_height="@dimen/dp_54"
android:layout_gravity="center"
android:layout_marginStart="@dimen/dp_18" />

28
core/function-impl/mogo-core-function-hmi/src/main/res/layout/view_wifi_state.xml Normal file
View File

@@ -0,0 +1,28 @@
<?xml version="1.0" encoding="utf-8"?>
<androidx.constraintlayout.widget.ConstraintLayout xmlns:android="http://schemas.android.com/apk/res/android"
xmlns:app="http://schemas.android.com/apk/res-auto"
xmlns:tools="http://schemas.android.com/tools"
android:layout_width="match_parent"
android:layout_height="match_parent">
<TextView
android:id="@+id/viewStatusBarTag"
android:layout_width="wrap_content"
android:layout_height="wrap_content"
android:layout_marginStart="@dimen/dp_27"
android:gravity="center_vertical"
android:maxLength="15"
android:textColor="@color/color_2C2E30"
app:layout_constraintBottom_toBottomOf="parent"
app:layout_constraintLeft_toLeftOf="parent"
app:layout_constraintTop_toTopOf="parent" />
<ImageView
android:id="@+id/viewWifiStateBg"
android:layout_width="wrap_content"
android:layout_height="wrap_content"
app:layout_constraintBottom_toBottomOf="parent"
app:layout_constraintLeft_toRightOf="@+id/viewStatusBarTag"
app:layout_constraintTop_toTopOf="parent"
tools:ignore="MissingConstraints" />
</androidx.constraintlayout.widget.ConstraintLayout>

4
core/function-impl/mogo-core-function-hmi/src/main/res/values/attr.xml
View File

@@ -89,6 +89,10 @@
<attr name="pnc_txt_style" format="reference"/>
</declare-styleable>
<declare-styleable name="WifiStateView">
<attr name="wifi_size" format="dimension"/>
</declare-styleable>
<style name="AudioFileInfoOverlayText">
<item name="android:shadowColor">#80000000</item>
<item name="android:shadowRadius">11</item>

3
core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/business/identify/TrackManager.java
View File

@@ -8,6 +8,7 @@ import androidx.annotation.RequiresApi;
import com.google.common.collect.BiMap;
import com.google.common.collect.HashBiMap;
import com.mogo.eagle.core.data.enums.TrafficTypeEnum;
import com.mogo.eagle.core.data.traffic.TrafficData;
import com.mogo.eagle.core.utilcode.geometry.S2CellId;
import com.mogo.eagle.core.utilcode.geometry.S2LatLng;
@@ -103,7 +104,7 @@ public class TrackManager {
MessagePad.TrackedObject cache = cacheTrack.getCache();
if (cache != null) {
//相对静止物体 感知融合同位置物体，使用缓存数据做覆盖
if (cacheTrack.relativeStatic()) {
if (cacheTrack.relativeStatic() && data.getType() != TrafficTypeEnum.TYPE_TRAFFIC_ID_CONE.getType()) {
if (data.getColor() != null && !data.getColor().isEmpty()) {
cache = cache.toBuilder().setColor(data.getColor()).build();
}

6
core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/business/identify/TrackerSourceFilterHelper.kt
View File

@@ -13,7 +13,7 @@ object TrackerSourceFilterHelper {
@SuppressLint("NewApi")
fun filterData(data: TrackedObject): Boolean {
if (!FunctionBuildConfig.isDrawUnknownIdentifyData && (data.type == TrafficTypeEnum.TYPE_TRAFFIC_ID_WEI_ZHI.type
|| data.type == TrafficTypeEnum.TYPE_TRAFFIC_ID_501.type || data.type == TrafficTypeEnum.TYPE_TRAFFIC_ID_502.type)
|| data.type == TrafficTypeEnum.TYPE_TRAFFIC_ID_DAO_LU_SHI_GONG.type || data.type == TrafficTypeEnum.TYPE_TRAFFIC_ID_DAO_LU_SHI_GU.type)
) {
return true
}
@@ -55,6 +55,10 @@ object TrackerSourceFilterHelper {
return ""
}
if(data.type == TrafficTypeEnum.TYPE_TRAFFIC_ID_CONE.type){
return ""
}
if(FunctionBuildConfig.isFusionColor){
if(isFusion(data)){
color = "#982FFFFF"

10
core/function-impl/mogo-core-function-startup/src/main/java/com/mogo/eagle/core/function/startup/stageone/secret/CertFileManager.kt
View File

@@ -30,6 +30,9 @@ class CertFileManager : IMoGoCertProvider {
@Volatile
private var rootCrtFile: String? = null
@Volatile
private var crtFileErrorMsg: String? = null
companion object {
private const val TAG = "CertFileManager"
}
@@ -72,6 +75,7 @@ class CertFileManager : IMoGoCertProvider {
"onSuccess securityKey:$securityKey , thread:${Thread.currentThread().name}"
)
certStatus.set(false)
crtFileErrorMsg = null
deviceCrtFile = securityKey
rootCrtFile = rootKey
SharedPrefsMgr.getInstance().putString(securityKeyTAG, securityKey)
@@ -92,6 +96,8 @@ class CertFileManager : IMoGoCertProvider {
override fun onFailed(errorCode: Int, errorMsg: String) {
CallerLogger.d("${SceneConstant.M_D_C}$TAG", "onFailed code:$errorCode, msg:$errorMsg")
certStatus.set(false)
crtFileErrorMsg = "$errorCode - $errorMsg"
CallerCloudListenerManager.invokeCloudCrtError(errorMsg)
onError?.invoke("证书下载失败, code:$errorCode, msg:$errorMsg")
}
})
@@ -112,4 +118,8 @@ class CertFileManager : IMoGoCertProvider {
override fun getRootCrtF(): String? {
return rootCrtFile?:SharedPrefsMgr.getInstance().getString(securityRootTAG, null)
}
override fun getCrtFileErrorMsg(): String? {
return crtFileErrorMsg
}
}

5
core/function-impl/mogo-core-function-startup/src/main/java/com/mogo/eagle/core/function/startup/stageone/secret/PassPortSecret.java
View File

@@ -32,10 +32,9 @@ public class PassPortSecret {
private IPassportSecret secretCB;
public void init(String deviceId, String path, IPassportSecret secretCB) {
if (this.secretCB != null) {
return;
if (this.secretCB == null) {
this.secretCB = secretCB;
}
this.secretCB = secretCB;
PassportService passportService = new PassportService();
passportService.setEnableLog(DebugConfig.isDebug());
domain.R<Passport> r = initLow(passportService, deviceId, path);

2
core/mogo-core-data/src/main/java/com/mogo/eagle/core/data/config/FunctionBuildConfig.kt
View File

@@ -308,7 +308,7 @@ object FunctionBuildConfig {
*/
@Volatile
@JvmField
var unableLaunchAutopilotGear: Set<Chassis.GearPosition>? = null
var launchAutopilotGear: Set<Chassis.GearPosition>? = null
/**
* 当前应用是否支持patch升级

4
core/mogo-core-data/src/main/java/com/mogo/eagle/core/data/enums/DataSourceType.kt
View File

@@ -8,7 +8,8 @@ enum class DataSourceType(name: String) {
MAP("HDMAP"),
TELEMATIC("TELEMATIC"),
AICLOUD("AI云"),
SUMMARY("汇总");// V2X事件汇总
SUMMARY("汇总"),// V2X事件汇总
WORKORDER("工单建议");
companion object{
@@ -19,6 +20,7 @@ enum class DataSourceType(name: String) {
TELEMATIC -> "TELEMATIC"
AICLOUD -> "AI云"
SUMMARY -> "汇总"
WORKORDER -> "工单建议"
else -> "defalut"
}
}

44
core/mogo-core-data/src/main/java/com/mogo/eagle/core/data/enums/TrafficTypeEnum.kt
View File

@@ -17,21 +17,6 @@ enum class TrafficTypeEnum(
var traffic3DIconId: Int,
var traffic3DNightIconId: Int
) {
TYPE_TRAFFIC_ID_501(
501,
"未知数据",
R.raw.traffic_xiankuang,
R.raw.traffic_xiankuang,
R.raw.traffic_xiankuang
),
TYPE_TRAFFIC_ID_502(
502,
"未知数据",
R.raw.traffic_xiankuang,
R.raw.traffic_xiankuang,
R.raw.traffic_xiankuang
),
TYPE_TRAFFIC_ID_WEI_ZHI(
100,
"未知数据",
@@ -95,12 +80,12 @@ enum class TrafficTypeEnum(
R.raw.special_vehicle,
R.raw.special_vehicle
),
TYPE_TRAFFIC_ID_DAO_LU_SHI_GONG(
TYPE_TRAFFIC_ID_CONE(
12,
"道路施工",
R.raw.v2x_shigong_warning,
R.raw.v2x_shigong_warning,
R.raw.v2x_shigong_warning
"三角锥",
R.raw.sanjiaozhui,
R.raw.sanjiaozhui,
R.raw.sanjiaozhui
),
TYPE_TRAFFIC_ID_LUCE_TA_CHE(
103,
@@ -122,6 +107,20 @@ enum class TrafficTypeEnum(
R.raw.lucedaba,
R.raw.lucedaba,
R.raw.lucedaba
),
TYPE_TRAFFIC_ID_DAO_LU_SHI_GONG(
501,
"道路施工",
R.raw.v2x_shigong_warning,
R.raw.v2x_shigong_warning,
R.raw.v2x_shigong_warning
),
TYPE_TRAFFIC_ID_DAO_LU_SHI_GU(
502,
"道路事故",
R.raw.v2x_shigu_sanjiaopai,
R.raw.v2x_shigu_sanjiaopai,
R.raw.v2x_shigu_sanjiaopai
);
companion object {
@@ -134,6 +133,7 @@ enum class TrafficTypeEnum(
TYPE_TRAFFIC_ID_TA_CHE.type -> TYPE_TRAFFIC_ID_TA_CHE
TYPE_TRAFFIC_ID_MOTO.type -> TYPE_TRAFFIC_ID_MOTO
TYPE_TRAFFIC_ID_BUS.type -> TYPE_TRAFFIC_ID_BUS
TYPE_TRAFFIC_ID_CONE.type -> TYPE_TRAFFIC_ID_CONE
TYPE_TRAFFIC_ID_TRUCK.type -> TYPE_TRAFFIC_ID_TRUCK
TYPE_TRAFFIC_ID_CAMERA.type -> TYPE_TRAFFIC_ID_CAMERA
TYPE_TRAFFIC_ID_SPECIAL_VEHICLE.type -> TYPE_TRAFFIC_ID_SPECIAL_VEHICLE
@@ -153,6 +153,7 @@ enum class TrafficTypeEnum(
TYPE_TRAFFIC_ID_TA_CHE.type -> R.raw.taxi_traffic_tachexiaoche
TYPE_TRAFFIC_ID_MOTO.type -> R.raw.taxi_traffic_motuoche
TYPE_TRAFFIC_ID_BUS.type -> R.raw.taxi_traffic_daba
TYPE_TRAFFIC_ID_CONE.type -> R.raw.sanjiaozhui
TYPE_TRAFFIC_ID_TRUCK.type -> R.raw.taxi_traffic_daba
TYPE_TRAFFIC_ID_CAMERA.type -> R.raw.shexiangtou
TYPE_TRAFFIC_ID_SPECIAL_VEHICLE.type -> R.raw.special_vehicle
@@ -170,6 +171,7 @@ enum class TrafficTypeEnum(
TYPE_TRAFFIC_ID_TA_CHE.type -> R.raw.traffic_tachexiaoche_day
TYPE_TRAFFIC_ID_MOTO.type -> R.raw.traffic_motuoche_day
TYPE_TRAFFIC_ID_BUS.type -> R.raw.traffic_daba_day
TYPE_TRAFFIC_ID_CONE.type -> R.raw.sanjiaozhui
TYPE_TRAFFIC_ID_TRUCK.type -> R.raw.traffic_daba_day
TYPE_TRAFFIC_ID_CAMERA.type -> R.raw.shexiangtou
TYPE_TRAFFIC_ID_SPECIAL_VEHICLE.type -> R.raw.special_vehicle
@@ -190,6 +192,7 @@ enum class TrafficTypeEnum(
TYPE_TRAFFIC_ID_TA_CHE.type -> R.raw.taxi_traffic_tachexiaoche
TYPE_TRAFFIC_ID_MOTO.type -> R.raw.taxi_traffic_motuoche
TYPE_TRAFFIC_ID_BUS.type -> R.raw.taxi_traffic_daba
TYPE_TRAFFIC_ID_CONE.type -> R.raw.sanjiaozhui
TYPE_TRAFFIC_ID_TRUCK.type -> R.raw.taxi_traffic_daba
TYPE_TRAFFIC_ID_CAMERA.type -> R.raw.shexiangtou
TYPE_TRAFFIC_ID_SPECIAL_VEHICLE.type -> R.raw.special_vehicle
@@ -207,6 +210,7 @@ enum class TrafficTypeEnum(
TYPE_TRAFFIC_ID_TA_CHE.type -> R.raw.traffic_tachexiaoche
TYPE_TRAFFIC_ID_MOTO.type -> R.raw.traffic_motuoche
TYPE_TRAFFIC_ID_BUS.type -> R.raw.traffic_daba
TYPE_TRAFFIC_ID_CONE.type -> R.raw.sanjiaozhui
TYPE_TRAFFIC_ID_TRUCK.type -> R.raw.traffic_daba
TYPE_TRAFFIC_ID_CAMERA.type -> R.raw.shexiangtou
TYPE_TRAFFIC_ID_SPECIAL_VEHICLE.type -> R.raw.special_vehicle

3
core/mogo-core-data/src/main/java/com/mogo/eagle/core/data/msgbox/FMInfoMsg.kt
View File

@@ -19,5 +19,6 @@ data class FMInfoMsg(
data class FMFilterInfoMsg(
var fmInfoList: List<FmInfo.FaultInfo>?,
var policyCode: String?,
var cacheFilterList: MutableList<String>?
var cacheFilterList: MutableList<String>?,
var receiveTime: Long
)

14
core/mogo-core-data/src/main/java/com/mogo/eagle/core/data/msgbox/MsgFmData.kt
View File

@@ -15,19 +15,19 @@ class MsgFmData{
val faultLevel: Int//故障处理级别
){
//请求平行驾驶接管
FM_ACT_NEED_PARALLEL_DERVING_TAKEOVER("恢复策略","请求平行驾驶接管","FM_ACT_NEED_PARALLEL_DERVING_TAKEOVER","如planing出站时，规划失败",5),
FM_ACT_NEED_PARALLEL_DERVING_TAKEOVER("恢复策略","请求平行驾驶接管","FM_ACT_NEED_PARALLEL_DERVING_TAKEOVER","如planing出站时，规划失败",3),
//请求人工驾驶接管
FM_ACT_NEED_MANNUAL_DERVING("恢复策略","请求人工驾驶接管","FM_ACT_NEED_MANNUAL_DERVING","如planing规划失败，且存在弱网判断",6),
FM_ACT_NEED_MANNUAL_DERVING("恢复策略","请求人工驾驶接管","FM_ACT_NEED_MANNUAL_DERVING","如planing规划失败，且存在弱网判断",0),
//系统重启
FM_ACT_NEED_RESTART_SYSTEM("恢复策略","系统重启","FM_ACT_NEED_RESTART_SYSTEM","如检测到出现多个节点奔溃",4),
FM_ACT_NEED_RESTART_SYSTEM("恢复策略","系统重启","FM_ACT_NEED_RESTART_SYSTEM","如检测到出现多个节点奔溃",2),
//整车下电重启
FM_ACT_MUST_VEHICLE_POWER_RESET("恢复策略","整车下电重启","FM_ACT_MUST_VEHICLE_POWER_RESET","如底盘无数据，需要下电重启",7),
FM_ACT_MUST_VEHICLE_POWER_RESET("恢复策略","整车下电重启","FM_ACT_MUST_VEHICLE_POWER_RESET","如底盘无数据，需要下电重启",1),
//请联系硬件工程师
FM_ACT_CONTACT_HARDWARE_ENGINEER("人工处理","请联系硬件工程师","FM_ACT_CONTACT_HARDWARE_ENGINEER","硬件接线，域控启动等故障",3),
FM_ACT_CONTACT_HARDWARE_ENGINEER("人工处理","请联系硬件工程师","FM_ACT_CONTACT_HARDWARE_ENGINEER","硬件接线，域控启动等故障",4),
//请联系运维工程师
FM_ACT_CONTACT_OPERATIONS_ENGINEER("人工处理","请联系运维工程师","FM_ACT_CONTACT_OPERATIONS_ENGINEER","系统配置不对，网络等故障",2),
FM_ACT_CONTACT_OPERATIONS_ENGINEER("人工处理","请联系运维工程师","FM_ACT_CONTACT_OPERATIONS_ENGINEER","系统配置不对，网络等故障",4),
//请联系软件工程师
FM_ACT_CONTACT_SOFTWARE_ENGINEER("人工处理","请联系软件工程师","FM_ACT_CONTACT_SOFTWARE_ENGINEER","节点挂掉，无法启动等故障",1);
FM_ACT_CONTACT_SOFTWARE_ENGINEER("人工处理","请联系软件工程师","FM_ACT_CONTACT_SOFTWARE_ENGINEER","节点挂掉，无法启动等故障",4);
companion object{

7
core/mogo-core-function-api/src/main/java/com/mogo/eagle/core/function/api/autopilot/IMoGoAutopilotCarConfigListener.kt
View File

@@ -12,6 +12,11 @@ interface IMoGoAutopilotCarConfigListener {
*
* @param carConfigResp 包括docker版本，macAddress等基础信息，详见proto
*/
fun onAutopilotCarConfig(carConfigResp: MessagePad.CarConfigResp)
fun onAutopilotCarConfig(carConfigResp: MessagePad.CarConfigResp){}
/**
* 与工控证书验证结果
*/
fun onCertificationResult(msg: String){}
}

2
core/mogo-core-function-api/src/main/java/com/mogo/eagle/core/function/api/cloud/IMoGoCertProvider.kt
View File

@@ -8,4 +8,6 @@ interface IMoGoCertProvider:IProvider {
fun getDeviceCrtF():String?
fun getRootCrtF(): String?
fun getCrtFileErrorMsg(): String?
}

5
core/mogo-core-function-api/src/main/java/com/mogo/eagle/core/function/api/cloud/IMoGoCloudListener.kt
View File

@@ -6,6 +6,11 @@ interface IMoGoCloudListener{
//单独线程
fun authCrtFile(device:String, root:String){}
/**
* 下载证书文件异常
*/
fun authCrtError(errorMsg: String){}
fun tokenGot(token: String, sn: String){}
/**

2
core/mogo-core-function-api/src/main/java/com/mogo/eagle/core/function/api/datacenter/msgbox/IMsgBoxProvider.kt
View File

@@ -26,6 +26,8 @@ interface IMsgBoxProvider: IMoGoFunctionServerProvider {
*/
fun getCachedRecordBagData(): List<MsgBoxBean>
fun queryFMInfoList(context: Context, startTime: Long, endTime: Long): List<MsgBoxBean>
fun removeRecordInfo(context: Context, msgBoxBean: MsgBoxBean, key: String)
fun getDismissTime(): Long

2
core/mogo-core-function-api/src/main/java/com/mogo/eagle/core/function/api/devatools/logcat/IMoGoLogRecordProvider.kt
View File

@@ -13,7 +13,7 @@ interface IMoGoLogRecordProvider {
fun export(): File?
fun upload()
fun upload(startTime: Long, endTime: Long)
fun testJavaCrash(runOnNewThread: Boolean)

17
core/mogo-core-function-call/src/main/java/com/mogo/eagle/core/function/call/autopilot/CallerAutopilotCarConfigListenerManager.kt
View File

@@ -11,11 +11,16 @@ object CallerAutopilotCarConfigListenerManager : CallerBase<IMoGoAutopilotCarCon
private var mCarConfigResp: MessagePad.CarConfigResp? = null
@Volatile
private var certFileMsg = "未开启认证"
override fun doSomeAfterAddListener(tag: String, listener: IMoGoAutopilotCarConfigListener) {
mCarConfigResp?.let {
listener.onAutopilotCarConfig(it)
}
listener.onCertificationResult(certFileMsg)
}
/**
* 工控机基础信息回调
* @param carConfigResp
@@ -33,5 +38,17 @@ object CallerAutopilotCarConfigListenerManager : CallerBase<IMoGoAutopilotCarCon
}
}
@Synchronized
fun invokeAutopilotCertFileResult(msg: String) {
certFileMsg = msg
M_LISTENERS.forEach {
val listener = it.value
listener.onCertificationResult(msg)
}
}
fun getCertFileResult(): String {
return certFileMsg
}
}

4
core/mogo-core-function-call/src/main/java/com/mogo/eagle/core/function/call/autopilot/CallerChassisLamplightListenerManager.kt
View File

@@ -17,10 +17,10 @@ object CallerChassisLamplightListenerManager : CallerBase<IMoGoChassisLamplightL
* @param lightSwitch
*/
fun invokeAutopilotLightSwitchData(lightSwitch: Chassis.LightSwitch) {
val switch = getTurnLightState(lightSwitch)
// val switch = getTurnLightState(lightSwitch)
M_LISTENERS.forEach {
val listener = it.value
listener.onAutopilotLightSwitchData(switch)
listener.onAutopilotLightSwitchData(lightSwitch)
}
}

10
core/mogo-core-function-call/src/main/java/com/mogo/eagle/core/function/call/autopilot/CallerFaultManagementStateListenerManager.kt
View File

@@ -4,6 +4,7 @@ import com.mogo.eagle.core.data.msgbox.FMFilterInfoMsg
import com.mogo.eagle.core.data.msgbox.FMInfoMsg
import com.mogo.eagle.core.data.msgbox.MsgBoxBean
import com.mogo.eagle.core.data.msgbox.MsgBoxType
import com.mogo.eagle.core.data.msgbox.MsgFmData
import com.mogo.eagle.core.function.api.autopilot.IMoGoFaultManagementStateListener
import com.mogo.eagle.core.function.call.base.CallerBase
import com.mogo.eagle.core.function.call.msgbox.CallerMsgBoxManager
@@ -39,7 +40,11 @@ object CallerFaultManagementStateListenerManager : CallerBase<IMoGoFaultManageme
//判断两个集合重复 true:return
var sameResult = false
list.forEach {
sameResult = fmFilterInfoMsg.cacheFilterList?.contains(it.faultId) == true
if(fmFilterInfoMsg.cacheFilterList?.contains(it.faultId) == true){
if(System.currentTimeMillis()-fmFilterInfoMsg.receiveTime < 10*60*1000){
sameResult = true
}
}
}
if (sameResult) {
return
@@ -52,6 +57,7 @@ object CallerFaultManagementStateListenerManager : CallerBase<IMoGoFaultManageme
fmFilterInfoMsg.cacheFilterList?.clear()
fmFilterInfoMsg.cacheFilterList = cacheFaultList
fmFilterInfoMsg.fmInfoList = list
fmFilterInfoMsg.receiveTime = System.currentTimeMillis()
cachePolicyMap[policyCode] = fmFilterInfoMsg
CallerTrace.write("FaultMsg",fmInfo)
CallerMsgBoxManager.saveMsgBoxHasPB(
@@ -66,7 +72,7 @@ object CallerFaultManagementStateListenerManager : CallerBase<IMoGoFaultManageme
list.forEach {
cacheFaultList.add(it.faultId)
}
cachePolicyMap[policyCode] = FMFilterInfoMsg(list, policyCode, cacheFaultList)
cachePolicyMap[policyCode] = FMFilterInfoMsg(list, policyCode, cacheFaultList,System.currentTimeMillis())
CallerTrace.write("FaultMsg",fmInfo)
CallerMsgBoxManager.saveMsgBoxHasPB(
MsgBoxBean(

14
core/mogo-core-function-call/src/main/java/com/mogo/eagle/core/function/call/cloud/CallerCloudCertManager.kt
View File

@@ -27,6 +27,14 @@ object CallerCloudCertManager {
}
fun getDeviceCrtF(): String? {
return certProviderApi.getDeviceCrtF()
}
fun getRootCrtF(): String? {
return certProviderApi.getRootCrtF()
}
fun getDeviceCrtFDecode(): String? {
var crt = certProviderApi.getDeviceCrtF()
if (!crt.isNullOrEmpty()) {
crt = String(Base64.decode(crt, Base64.NO_WRAP), StandardCharsets.UTF_8)
@@ -34,11 +42,15 @@ object CallerCloudCertManager {
return crt
}
fun getRootCrtF(): String? {
fun getRootCrtFDecode(): String? {
var crt = certProviderApi.getRootCrtF()
if (!crt.isNullOrEmpty()) {
crt = String(Base64.decode(crt, Base64.NO_WRAP), StandardCharsets.UTF_8)
}
return crt
}
fun getCrtFileErrorMsg(): String? {
return certProviderApi.getCrtFileErrorMsg()
}
}

13
core/mogo-core-function-call/src/main/java/com/mogo/eagle/core/function/call/cloud/CallerCloudListenerManager.kt
View File

@@ -17,6 +17,12 @@ object CallerCloudListenerManager : CallerBase<IMoGoCloudListener>() {
if (!token.isNullOrEmpty() && !sn.isNullOrEmpty()) {
listener.tokenGot(token!!, sn!!)
}
if(CallerCloudCertManager.getDeviceCrtF()!= null && CallerCloudCertManager.getRootCrtF()!= null){
listener.authCrtFile(CallerCloudCertManager.getDeviceCrtF()!!, CallerCloudCertManager.getRootCrtF()!!)
}
if(CallerCloudCertManager.getCrtFileErrorMsg()!= null){
listener.authCrtError(CallerCloudCertManager.getCrtFileErrorMsg()!!)
}
}
fun invokeCloudCrtFile(deviceCrtFile: String, rootCrtFile: String) {
@@ -26,6 +32,13 @@ object CallerCloudListenerManager : CallerBase<IMoGoCloudListener>() {
}
}
fun invokeCloudCrtError(errorMsg: String){
M_LISTENERS.forEach {
val listener = it.value
listener.authCrtError(errorMsg)
}
}
/**
* 分发获取到的设备sn
*/

7
core/mogo-core-function-call/src/main/java/com/mogo/eagle/core/function/call/msgbox/CallerMsgBoxManager.kt
View File

@@ -64,6 +64,13 @@ object CallerMsgBoxManager {
return providerApi?.getCachedRecordBagData()
}
/**
* 查询一段时间范围内的FM数据集合
*/
fun queryFMInfoList(context: Context, startTime: Long, endTime: Long): List<MsgBoxBean>? {
return providerApi?.queryFMInfoList(context, startTime, endTime)
}
/**
* 用户已处理的Bag包需要删除(上传或取消都包含)
* key: Bag包的唯一标识key, msgBoxBean: UI展示的那个对象而不是重新new的

BIN
core/mogo-core-res/src/main/res/raw/sanjiaozhui.nt3d
View File

Binary file not shown.

9
core/mogo-core-utils/src/main/java/com/mogo/eagle/core/utilcode/download/DownloadUtils.kt
View File

@@ -84,4 +84,13 @@ object DownloadUtils {
}
.launchIn(scope)
}
fun getAllDownloadRecords(): List<Pair<String, String>> {
if (Downloader.hasInit()) {
return runBlocking {
Downloader.getAllDownloadRecords() ?: emptyList()
}
}
return emptyList()
}
}

2
gradle/bytex/bytex_lancetx.gradle
View File

@@ -1,6 +1,6 @@
apply plugin: 'LancetX'
LancetX {
enable true
enable false
enableInDebug true
blackList = [
"com.mogo.launcher.lancet.jank",

2
gradle/bytex/bytex_matrix.gradle
View File

@@ -2,7 +2,7 @@ if (!rootProject.isReleaseBuild()) {
apply plugin: 'bytex.matrix'
matrix {
trace {
enable = true //if you don't want to use trace canary, set false
enable = false //if you don't want to use trace canary, set false
baseMethodMapFile = "${project.buildDir}/matrix_output/customMethodMapping.txt"
blackListFile = "${project.projectDir}/matrixTrace/blackMethodList.txt"
}

2
gradle/bytex/bytex_thread_opt.gradle
View File

@@ -1,6 +1,6 @@
apply plugin: 'bytex.threadOpt'
thread_opt {
enable true
enable false
enableInDebug true
logLevel "DEBUG"
trace_enable !rootProject.isReleaseBuild()

876
libraries/mogo-adas-data/src/main/java/com/zhjt/mogo/adas/data/bean/MogoReport.java
View File

File diff suppressed because it is too large Load Diff

15
libraries/mogo-adas-data/src/main/java/com/zhjt/mogo/adas/data/bean/ReportCodeInfo.java → libraries/mogo-adas-data/src/main/java/com/zhjt/mogo/adas/data/bean/ReportInfo.java
View File

@@ -1,7 +1,9 @@
package com.zhjt.mogo.adas.data.bean;
public class ReportCodeInfo {
public final String code;
import android.text.TextUtils;
public class ReportInfo {
public final String name;
/**
* 开始支持的版本（包含）
*/
@@ -12,17 +14,14 @@ public class ReportCodeInfo {
*/
public final String deprecatedVersion;
public ReportCodeInfo(String code, String sinceVersion, String deprecatedVersion) {
this.code = code;
public ReportInfo(String name, String sinceVersion, String deprecatedVersion) {
this.name = name;
this.sinceVersion = sinceVersion;
this.deprecatedVersion = deprecatedVersion;
}
@Override
public String toString() {
return code +
" sinceVersion='" + sinceVersion + '\'' +
", deprecatedVersion='" + deprecatedVersion + '\'' +
'}';
return name + " 开始支持版本（包含）=" + sinceVersion + (TextUtils.isEmpty(deprecatedVersion) ? "" : ", 弃用版本（不包含）='" + deprecatedVersion);
}
}

8
libraries/mogo-adas-data/src/main/java/com/zhjt/mogo/adas/data/bean/CodeInfo.java → libraries/mogo-adas-data/src/main/java/com/zhjt/mogo/adas/data/bean/ReportState.java
View File

@@ -7,13 +7,13 @@ import java.lang.annotation.Target;
/**
* MAP系统消息报告版本管理
* 主要用于标记新增Code的版本，以及标记弃用的的Code
* 主要用于标记新增Result、Action、Code的版本，以及标记弃用的Result、Action、Code
*/
@Retention(RetentionPolicy.RUNTIME)
@Target(ElementType.FIELD)
public @interface CodeInfo {
String value();//Code新增版本
public @interface ReportState {
String value();//新增版本
String deprecated() default "";//Code弃用版本
String deprecated() default "";//弃用版本
}

1
libraries/mogo-adas-data/src/main/java/com/zhjt/mogo/adas/data/bean/UnableLaunchReason.java
View File

@@ -29,7 +29,6 @@ public class UnableLaunchReason {
CHASSIS_THROTTLE,//油门
CHASSIS_STEERING,//方向盘
CHASSIS_HAZARD_LIGHTS,//危险报警灯
PARKING_BRAKE,//制动系统，手刹，电子驻车制动系统
SSM_OFFER,//SSM提供的原因
FSM_OFFER,//FSM提供的原因
SSM_TIMEOUT//SSM超时

12
libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/AdasChannel.java
View File

@@ -207,7 +207,7 @@ public class AdasChannel implements IAdasNetCommApi, FpgaSocket.IWebSocketConnec
this.adasOptions = options;
}
ReceiveTimeoutManager.getInstance().setEnable(adasOptions.isEnableTimeoutDetection(), getIpcConnectionStatus());
setUnableLaunchAutopilotGear(adasOptions.getUnableLaunchAutopilotGear());
setLaunchAutopilotGear(adasOptions.getLaunchAutopilotGear());
}
/**
@@ -850,6 +850,7 @@ public class AdasChannel implements IAdasNetCommApi, FpgaSocket.IWebSocketConnec
ipcConnectedIp = (String) args[0];
ipcConnectedPort = (int) args[1];
}
myMessageFactory.initTurnLightState();
seqSpecialVehicle = 0;
AutopilotAbilityManager.getInstance().start();
ParallelDrivingManager.getInstance().start();
@@ -1119,9 +1120,14 @@ public class AdasChannel implements IAdasNetCommApi, FpgaSocket.IWebSocketConnec
adasOptionsBuild(adasOptionsToBuilder().setAutoConnect(enable));
}
/**
* 设置可以启动自动驾驶的档位
*
* @param launchAutopilotGear 能起自驾档位 null表示所有档位都可启动
*/
@Override
public void setUnableLaunchAutopilotGear(Set<Chassis.GearPosition> unableLaunchAutopilotGear) {
AutopilotAbilityManager.getInstance().setUnableLaunchAutopilotGear(unableLaunchAutopilotGear);
public void setLaunchAutopilotGear(@Nullable Set<Chassis.GearPosition> launchAutopilotGear) {
AutopilotAbilityManager.getInstance().setLaunchAutopilotGear(launchAutopilotGear);
}
/**

9
libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/AdasManager.java
View File

@@ -4,6 +4,7 @@ import android.content.Context;
import android.text.TextUtils;
import androidx.annotation.NonNull;
import androidx.annotation.Nullable;
import com.google.protobuf.ByteString;
import com.zhidao.support.adas.high.bean.VersionCompatibility;
@@ -1794,13 +1795,13 @@ public class AdasManager implements IAdasNetCommApi {
}
/**
* 设置不能启动自动驾驶的档位
* 设置可以启动自动驾驶的档位
*
* @param unableLaunchAutopilotGear 不能起自驾档位
* @param launchAutopilotGear 能起自驾档位 null表示所有档位都可启动
*/
@Override
public void setUnableLaunchAutopilotGear(Set<Chassis.GearPosition> unableLaunchAutopilotGear) {
AutopilotAbilityManager.getInstance().setUnableLaunchAutopilotGear(unableLaunchAutopilotGear);
public void setLaunchAutopilotGear(@Nullable Set<Chassis.GearPosition> launchAutopilotGear) {
AutopilotAbilityManager.getInstance().setLaunchAutopilotGear(launchAutopilotGear);
}
/**

24
libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/AdasOptions.java
View File

@@ -51,7 +51,7 @@ public class AdasOptions {
private final String deviceCrt;
private final boolean isAutoConnect;
private final Set<SubscribeInterfaceOption> subscribeInterfaceOptions;
private final Set<Chassis.GearPosition> unableLaunchAutopilotGear;
private final Set<Chassis.GearPosition> launchAutopilotGear;
private AdasOptions(Builder builder) {
@@ -66,7 +66,7 @@ public class AdasOptions {
this.deviceCrt = builder.deviceCrt;
this.isAutoConnect = builder.isAutoConnect;
this.subscribeInterfaceOptions = builder.subscribeInterfaceOptions;
this.unableLaunchAutopilotGear = builder.unableLaunchAutopilotGear;
this.launchAutopilotGear = builder.launchAutopilotGear;
}
public boolean isPassenger() {
@@ -113,8 +113,8 @@ public class AdasOptions {
return subscribeInterfaceOptions;
}
public Set<Chassis.GearPosition> getUnableLaunchAutopilotGear() {
return unableLaunchAutopilotGear;
public Set<Chassis.GearPosition> getLaunchAutopilotGear() {
return launchAutopilotGear;
}
public static Builder newBuilder() {
@@ -141,7 +141,7 @@ public class AdasOptions {
private String deviceCrt;
private boolean isAutoConnect = DEFAULT.IS_AUTO_CONNECT;
private Set<SubscribeInterfaceOption> subscribeInterfaceOptions;
private Set<Chassis.GearPosition> unableLaunchAutopilotGear;
private Set<Chassis.GearPosition> launchAutopilotGear;
private Builder() {
@@ -159,7 +159,7 @@ public class AdasOptions {
this.deviceCrt = options.deviceCrt;
this.isAutoConnect = options.isAutoConnect;
this.subscribeInterfaceOptions = options.subscribeInterfaceOptions;
this.unableLaunchAutopilotGear = options.unableLaunchAutopilotGear;
this.launchAutopilotGear = options.launchAutopilotGear;
}
@@ -276,8 +276,8 @@ public class AdasOptions {
/**
* 设备证书
* 启用认证后如果不传递，必须在调用以下方法时传递
* {@link AdasManager#sendBasicInfoResp(String, AdasConstants.Environment, AdasConstants.TerminalRole, String)}
* {@link AdasManager#sendBasicInfoResp(String, AdasConstants.Environment, AdasConstants.TerminalRole, int, String, String)}
* {@link AdasManager#sendBasicInfoResp(String, int, int, String)}
* {@link AdasManager#sendBasicInfoResp(String, int, int, int, String, String)}
*
* @param deviceCrt root证书
* @return Builder
@@ -325,13 +325,13 @@ public class AdasOptions {
}
/**
* 不能启动自驾的档位
* 能启动自驾的档位
*
* @param unableLaunchAutopilotGear 档位
* @param launchAutopilotGear 能起自驾档位 null表示所有档位都可启动
* @return Builder
*/
public Builder setUnableLaunchAutopilotGear(Set<Chassis.GearPosition> unableLaunchAutopilotGear) {
this.unableLaunchAutopilotGear = unableLaunchAutopilotGear;
public Builder setLaunchAutopilotGear(Set<Chassis.GearPosition> launchAutopilotGear) {
this.launchAutopilotGear = launchAutopilotGear;
return this;
}

7
libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/IAdasNetCommApi.java
View File

@@ -1,6 +1,7 @@
package com.zhidao.support.adas.high;
import androidx.annotation.NonNull;
import androidx.annotation.Nullable;
import com.zhidao.support.adas.high.bean.VersionCompatibility;
import com.zhidao.support.adas.high.common.Constants;
@@ -145,11 +146,11 @@ public interface IAdasNetCommApi {
void setAutoConnect(boolean enable);
/**
* 设置不能启动自动驾驶的档位
* 设置可以启动自动驾驶的档位
*
* @param unableLaunchAutopilotGear 不能起自驾档位
* @param launchAutopilotGear 能起自驾档位 null表示所有档位都可启动
*/
void setUnableLaunchAutopilotGear(Set<Chassis.GearPosition> unableLaunchAutopilotGear);
void setLaunchAutopilotGear(@Nullable Set<Chassis.GearPosition> launchAutopilotGear);
/**
* 自动驾驶设备基础信息应答

11
libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/OnAdasListener.java
View File

@@ -26,6 +26,7 @@ import com.zhjt.mogo.adas.data.sweeper.task.stop.SweeperTaskStop;
import java.util.ArrayList;
import bag_manager.BagManagerOuterClass;
import chassis.Chassis;
import chassis.ChassisStatesOuterClass;
import chassis.VehicleStateOuterClass;
import fault_management.FmInfo;
@@ -98,6 +99,16 @@ public interface OnAdasListener {
*/
void onChassisStates(MessagePad.Header header, ChassisStatesOuterClass.ChassisStates chassisStates);
/**
* 底盘车灯状态 转换过的可以直接使用
* 例如：
* 原始右转数据： 0 2 0 2 0 2。。。
* 转换之后数据： 2 2 2 2 2 2。。。
*
* @param light 车灯 目前域控发送车灯有 左传{@link Chassis.LightSwitch#LIGHT_LEFT} 右转{@link Chassis.LightSwitch#LIGHT_RIGHT} 危险报警灯{@link Chassis.LightSwitch#LIGHT_FLASH}
*/
void onLightSwitch(@NonNull Chassis.LightSwitch light);
/**
* 自动驾驶状态
*

34
libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/common/TurnLightState.java Normal file
View File

@@ -0,0 +1,34 @@
package com.zhidao.support.adas.high.common;
public class TurnLightState {
private boolean m_state;
private double m_lastOnTime;
public TurnLightState() {
init();
}
public void init() {
this.m_state = false;
this.m_lastOnTime = 0.0;
}
public boolean update(boolean state) {
long t = System.currentTimeMillis();
if (state) {
// on!
m_state = true;
m_lastOnTime = t;
} else {
// off?
if (m_state && (t - m_lastOnTime > 500)) {
m_state = false;
}
}
return m_state;
}
public boolean getState() {
return m_state;
}
}

59
libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/common/autopilot/ability/AutopilotAbility230.java
View File

@@ -1,5 +1,7 @@
package com.zhidao.support.adas.high.common.autopilot.ability;
import androidx.annotation.NonNull;
import com.zhjt.mogo.adas.data.bean.UnableLaunchData;
import com.zhjt.mogo.adas.data.bean.UnableLaunchReason;
@@ -7,9 +9,6 @@ import java.util.ArrayList;
import java.util.Timer;
import java.util.TimerTask;
import chassis.Chassis;
import chassis.ChassisStatesOuterClass;
/**
* 是否可以启动自动驾驶能力检测 工控机版本>=230&& <250 使用此类
* 目前监控了底盘的一些状态和查询节点状态应答的数据
@@ -17,58 +16,27 @@ import chassis.ChassisStatesOuterClass;
* <p>
* 此定时器不能停止 鹰眼中存在UI更新依赖循环查询系统状态
*/
public class AutopilotAbility230 {
private static final String TAG = AutopilotAbility230.class.getSimpleName();
public class AutopilotAbility230 extends BaseAutopilotAbilityChassis {
private volatile Timer timer;
private ChassisStatesOuterClass.ChassisStates chassisStates;
private OnAutopilotAbilityListener listener;
protected AutopilotAbility230() {
}
protected void setChassisStates(ChassisStatesOuterClass.ChassisStates chassisStates) {
this.chassisStates = chassisStates;
public AutopilotAbility230(@NonNull AutopilotAbilityManager manager) {
super(manager);
}
private void onCallback() {
boolean isAutopilotAbility = true;//是否能启动自动驾驶
ArrayList<UnableLaunchReason> unableAutopilotReasons = null;//不能启动自动驾驶原因
//检测底盘相关
if (chassisStates != null) {
if (chassisStates.hasBrakeSystemStates()) {
float brake = chassisStates.getBrakeSystemStates().getBrakePedalResponsePosition();
if (brake > 0) {
isAutopilotAbility = false;
unableAutopilotReasons = AutopilotAbilityManager.getInstance().addUnableAutopilotReason(unableAutopilotReasons, UnableLaunchReason.SourceType.CHASSIS, UnableLaunchReason.UnableType.CHASSIS_BRAKE, AutopilotAbilityManager.REASON_CHASSIS_BRAKE);
}
}
if (chassisStates.hasGearSystemStates()) {
Chassis.GearPosition gear = chassisStates.getGearSystemStates().getGearPosition();
if (!AutopilotAbilityManager.getInstance().isLaunchAutopilot(gear)) {
isAutopilotAbility = false;
unableAutopilotReasons = AutopilotAbilityManager.getInstance().addUnableAutopilotReason(unableAutopilotReasons, UnableLaunchReason.SourceType.CHASSIS, UnableLaunchReason.UnableType.CHASSIS_GEAR, AutopilotAbilityManager.REASON_CHASSIS_GEAR);
}
}
//TODO 关于手刹：不同车型的实现不同所以目前没法使用此字段
// //电子驻车制动系统
// if (chassisStates.hasEpbSystemStates()) {
// ChassisStatesOuterClass.EPBSystemStates epb = chassisStates.getEpbSystemStates();
// if (epb.hasEpbEnableState()){
// epb.getEpbWorkState();
// }
// }
}
unableAutopilotReasons = onCallbackChassis(unableAutopilotReasons);
if (listener != null) {
boolean isAutopilotAbility = unableAutopilotReasons == null || unableAutopilotReasons.isEmpty();//是否能启动自动驾驶
listener.onAutopilotAbility(isAutopilotAbility, new UnableLaunchData(this.getClass().getSimpleName(), null, null, null), unableAutopilotReasons);
}
}
protected synchronized void start(OnAutopilotAbilityListener listener) {
this.listener = listener;
@Override
public synchronized void start(OnAutopilotAbilityListener listener) {
super.start(listener);
if (timer == null) {
timer = new Timer();
timer.schedule(new TimerTask() {
@@ -80,12 +48,13 @@ public class AutopilotAbility230 {
}
}
@Override
protected synchronized void stop() {
if (timer != null) {
timer.cancel();
timer = null;
}
this.chassisStates = null;
this.listener = null;
super.stop();
}
}

97
libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/common/autopilot/ability/AutopilotAbility250.java
View File

@@ -1,5 +1,7 @@
package com.zhidao.support.adas.high.common.autopilot.ability;
import androidx.annotation.NonNull;
import com.zhidao.support.adas.high.AdasManager;
import com.zhidao.support.adas.high.common.CupidLogUtils;
import com.zhjt.mogo.adas.data.bean.UnableLaunchData;
@@ -10,9 +12,6 @@ import java.util.List;
import java.util.Timer;
import java.util.TimerTask;
import chassis.Chassis;
import chassis.ChassisStatesOuterClass;
import chassis.VehicleStateOuterClass;
import system_master.SystemStatusInfo;
/**
@@ -22,24 +21,13 @@ import system_master.SystemStatusInfo;
* <p>
* 此定时器不能停止 鹰眼中存在UI更新依赖循环查询系统状态
*/
public class AutopilotAbility250 {
private static final String TAG = AutopilotAbility250.class.getSimpleName();
public class AutopilotAbility250 extends BaseAutopilotAbilityChassis {
private volatile Timer timer;
private ChassisStatesOuterClass.ChassisStates chassisStates;
private VehicleStateOuterClass.VehicleState vehicleState;
private int mapVersion = -1;//MAP版本
private int masterVersion = -1;//Master版本
private boolean isHQ = false;//是否是HQ
private boolean isDF = false;//是否是DF
private boolean isM1 = false;//是否是M1
private OnAutopilotAbilityListener listener;
protected AutopilotAbility250(int mapVersion, boolean isHQ, boolean isDF, boolean isM1) {
this.mapVersion = mapVersion;
this.isHQ = isHQ;
this.isDF = isDF;
this.isM1 = isM1;
this.masterVersion = -1;
public AutopilotAbility250(@NonNull AutopilotAbilityManager manager) {
super(manager);
}
@@ -47,16 +35,8 @@ public class AutopilotAbility250 {
onCallback(statusInfo);
}
protected void setChassisStates(ChassisStatesOuterClass.ChassisStates chassisStates) {
this.chassisStates = chassisStates;
}
protected void setVehicleState(VehicleStateOuterClass.VehicleState vehicleState) {
this.vehicleState = vehicleState;
}
private void onCallback(SystemStatusInfo.StatusInfo statusInfo) {
boolean isAutopilotAbility = true;//是否能启动自动驾驶
ArrayList<UnableLaunchReason> unableAutopilotReasons = null;//不能启动自动驾驶原因
//检测节点状态相关
if (statusInfo != null) {
@@ -67,13 +47,11 @@ public class AutopilotAbility250 {
CupidLogUtils.i(TAG, "MasterVersion=" + masterVersion);
//SSM 3版本兼容
if (mapVersion >= 30400 && masterVersion > 2 && statusInfo.hasAutoPilotReady() && statusInfo.hasAutoPilotUnreadyReason()) {
isAutopilotAbility = statusInfo.getAutoPilotReady();
if (!isAutopilotAbility) {
unableAutopilotReasons = AutopilotAbilityManager.getInstance().addUnableAutopilotReason(unableAutopilotReasons, UnableLaunchReason.SourceType.SSM, UnableLaunchReason.UnableType.SSM_OFFER, statusInfo.getAutoPilotUnreadyReason());
if (!statusInfo.getAutoPilotReady()) {
unableAutopilotReasons = manager.addUnableAutopilotReason(unableAutopilotReasons, UnableLaunchReason.SourceType.SSM, UnableLaunchReason.UnableType.SSM_OFFER, statusInfo.getAutoPilotUnreadyReason());
}
} else if (mapVersion >= 21000 && masterVersion > 1 && statusInfo.hasAutoPilotReady()) {//如果 maser version 大于1，还需要判断AutoPilotReady字段是否存在，以确保MAP版本和SSM Maser版本不陪配情况逻辑能正常执行
isAutopilotAbility = statusInfo.getAutoPilotReady();
if (!isAutopilotAbility) {
if (!statusInfo.getAutoPilotReady()) {
SystemStatusInfo.NodeFaultList nodeFaultList = statusInfo.getAutoPilotUnreadyList();
if (nodeFaultList.getSum() > 0) {
List<SystemStatusInfo.NodeInfo> list = nodeFaultList.getNodeList();
@@ -81,20 +59,20 @@ public class AutopilotAbility250 {
String nodeName = info.getNodeName();
int state = info.getState();
if (state < AutopilotAbilityManager.NODE_INFO_STATE.length) {
unableAutopilotReasons = AutopilotAbilityManager.getInstance().addUnableAutopilotReason(unableAutopilotReasons, UnableLaunchReason.SourceType.SSM, UnableLaunchReason.UnableType.SSM_OFFER, nodeName + AutopilotAbilityManager.NODE_INFO_STATE[state]);
unableAutopilotReasons = manager.addUnableAutopilotReason(unableAutopilotReasons, UnableLaunchReason.SourceType.SSM, UnableLaunchReason.UnableType.SSM_OFFER, nodeName + AutopilotAbilityManager.NODE_INFO_STATE[state]);
} else {
unableAutopilotReasons = AutopilotAbilityManager.getInstance().addUnableAutopilotReason(unableAutopilotReasons, UnableLaunchReason.SourceType.SSM, UnableLaunchReason.UnableType.SSM_ERROR, nodeName + "未知异常");
unableAutopilotReasons = manager.addUnableAutopilotReason(unableAutopilotReasons, UnableLaunchReason.SourceType.SSM, UnableLaunchReason.UnableType.SSM_ERROR, nodeName + "未知异常");
}
}
} else {
unableAutopilotReasons = AutopilotAbilityManager.getInstance().addUnableAutopilotReason(unableAutopilotReasons, UnableLaunchReason.SourceType.SSM, UnableLaunchReason.UnableType.SSM_ERROR, "未知异常节点");
unableAutopilotReasons = manager.addUnableAutopilotReason(unableAutopilotReasons, UnableLaunchReason.SourceType.SSM, UnableLaunchReason.UnableType.SSM_ERROR, "未知异常节点");
}
}
} else {
SystemStatusInfo.SystemState systemState = statusInfo.getSysState();
// 目前已知可以下发启动自驾命令的状态： SystemState.SYS_RUNNING、SystemState.PILOT_READY、SystemState.AUTO_PILOT_STARTING、SystemState.AUTO_PILOT_RUNNING
if (systemState != SystemStatusInfo.SystemState.SYS_RUNNING && systemState != SystemStatusInfo.SystemState.PILOT_READY) {
isAutopilotAbility = false;
boolean isAutopilotAbility = false;
String unableAutopilotReason = null;
if (systemState == SystemStatusInfo.SystemState.SYS_STARTING) {
unableAutopilotReason = "系统正在启动";
@@ -118,51 +96,24 @@ public class AutopilotAbility250 {
unableAutopilotReason = "未知系统状态";
}
if (!isAutopilotAbility) {
unableAutopilotReasons = AutopilotAbilityManager.getInstance().addUnableAutopilotReason(unableAutopilotReasons, UnableLaunchReason.SourceType.SSM, UnableLaunchReason.UnableType.SSM_OFFER, unableAutopilotReason);
unableAutopilotReasons = manager.addUnableAutopilotReason(unableAutopilotReasons, UnableLaunchReason.SourceType.SSM, UnableLaunchReason.UnableType.SSM_OFFER, unableAutopilotReason);
}
}
}
} else {
isAutopilotAbility = false;//是否能启动自动驾驶
unableAutopilotReasons = AutopilotAbilityManager.getInstance().addUnableAutopilotReason(unableAutopilotReasons, UnableLaunchReason.SourceType.LIB, UnableLaunchReason.UnableType.SSM_TIMEOUT, "SSM查询超时无响应");
unableAutopilotReasons = manager.addUnableAutopilotReason(unableAutopilotReasons, UnableLaunchReason.SourceType.LIB, UnableLaunchReason.UnableType.SSM_TIMEOUT, "SSM查询超时无响应");
}
//检测底盘相关
if (chassisStates != null) {
if (chassisStates.hasBrakeSystemStates()) {
float brake = chassisStates.getBrakeSystemStates().getBrakePedalResponsePosition();
if (brake > 0) {
isAutopilotAbility = false;
unableAutopilotReasons = AutopilotAbilityManager.getInstance().addUnableAutopilotReason(unableAutopilotReasons, UnableLaunchReason.SourceType.CHASSIS, UnableLaunchReason.UnableType.CHASSIS_BRAKE, AutopilotAbilityManager.REASON_CHASSIS_BRAKE);
}
}
if (chassisStates.hasGearSystemStates()) {
Chassis.GearPosition gear = chassisStates.getGearSystemStates().getGearPosition();
if (!AutopilotAbilityManager.getInstance().isLaunchAutopilot(gear)) {
isAutopilotAbility = false;
unableAutopilotReasons = AutopilotAbilityManager.getInstance().addUnableAutopilotReason(unableAutopilotReasons, UnableLaunchReason.SourceType.CHASSIS, UnableLaunchReason.UnableType.CHASSIS_GEAR, AutopilotAbilityManager.REASON_CHASSIS_GEAR);
}
}
}
if ((!isHQ && !isDF && !isM1) || mapVersion < 30600) {
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();
if (isBrake) {
isAutopilotAbility = false;
unableAutopilotReasons = AutopilotAbilityManager.getInstance().addUnableAutopilotReason(unableAutopilotReasons, UnableLaunchReason.SourceType.CHASSIS, UnableLaunchReason.UnableType.PARKING_BRAKE, AutopilotAbilityManager.REASON_CHASSIS_PARKING_BRAKE);
}
}
}
}
unableAutopilotReasons = onCallbackChassis(unableAutopilotReasons);
if (listener != null) {
boolean isAutopilotAbility = unableAutopilotReasons == null || unableAutopilotReasons.isEmpty();//是否能启动自动驾驶
listener.onAutopilotAbility(isAutopilotAbility, new UnableLaunchData(this.getClass().getSimpleName(), statusInfo, null, null), unableAutopilotReasons);
}
}
protected synchronized void start(OnAutopilotAbilityListener listener) {
this.listener = listener;
@Override
public synchronized void start(OnAutopilotAbilityListener listener) {
super.start(listener);
if (timer == null) {
timer = new Timer();
timer.schedule(new TimerTask() {
@@ -174,17 +125,17 @@ public class AutopilotAbility250 {
}
}
@Override
protected synchronized void stop() {
if (timer != null) {
timer.cancel();
timer = null;
}
this.chassisStates = null;
this.masterVersion = -1;
this.listener = null;
masterVersion = -1;
super.stop();
}
protected void onCallTimeout() {
onCallback(null);
}

23
libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/common/autopilot/ability/AutopilotAbility330.java
View File

@@ -2,6 +2,8 @@ package com.zhidao.support.adas.high.common.autopilot.ability;
import android.text.TextUtils;
import androidx.annotation.NonNull;
import com.zhidao.support.adas.high.AdasManager;
import com.zhidao.support.adas.high.common.CupidLogUtils;
import com.zhjt.mogo.adas.data.bean.UnableLaunchData;
@@ -25,6 +27,8 @@ import system_master.SystemStatusInfo;
*/
public class AutopilotAbility330 {
private static final String TAG = AutopilotAbility330.class.getSimpleName();
@NonNull
private final AutopilotAbilityManager manager;
private volatile Timer timer;
private volatile FSMStatusReasonQueryOuterClass.FSMStatusReasonRespond fsmStatusReasonRespond;//自动驾驶状态为OFF的原因
@@ -32,7 +36,8 @@ public class AutopilotAbility330 {
private int masterVersion = -1;//Master版本
private OnAutopilotAbilityListener listener;
protected AutopilotAbility330(int mapVersion) {
protected AutopilotAbility330(@NonNull AutopilotAbilityManager manager, int mapVersion) {
this.manager = manager;
this.mapVersion = mapVersion;
this.masterVersion = -1;
}
@@ -60,7 +65,7 @@ public class AutopilotAbility330 {
if (mapVersion >= 30400 && masterVersion > 2 && statusInfo.hasAutoPilotReady() && statusInfo.hasAutoPilotUnreadyReason()) {
isAutopilotAbility = statusInfo.getAutoPilotReady();
if (!isAutopilotAbility) {
unableAutopilotReasons = AutopilotAbilityManager.getInstance().addUnableAutopilotReason(unableAutopilotReasons, UnableLaunchReason.SourceType.SSM, UnableLaunchReason.UnableType.SSM_OFFER, statusInfo.getAutoPilotUnreadyReason());
unableAutopilotReasons = manager.addUnableAutopilotReason(unableAutopilotReasons, UnableLaunchReason.SourceType.SSM, UnableLaunchReason.UnableType.SSM_OFFER, statusInfo.getAutoPilotUnreadyReason());
}
} else if (mapVersion >= 21000 && masterVersion > 1 && statusInfo.hasAutoPilotReady()) {//如果 maser version 大于1，还需要判断AutoPilotReady字段是否存在，以确保MAP版本和SSM Maser版本不陪配情况逻辑能正常执行
isAutopilotAbility = statusInfo.getAutoPilotReady();
@@ -72,13 +77,13 @@ public class AutopilotAbility330 {
String nodeName = info.getNodeName();
int state = info.getState();
if (state < AutopilotAbilityManager.NODE_INFO_STATE.length) {
unableAutopilotReasons = AutopilotAbilityManager.getInstance().addUnableAutopilotReason(unableAutopilotReasons, UnableLaunchReason.SourceType.SSM, UnableLaunchReason.UnableType.SSM_OFFER, nodeName + AutopilotAbilityManager.NODE_INFO_STATE[state]);
unableAutopilotReasons = manager.addUnableAutopilotReason(unableAutopilotReasons, UnableLaunchReason.SourceType.SSM, UnableLaunchReason.UnableType.SSM_OFFER, nodeName + AutopilotAbilityManager.NODE_INFO_STATE[state]);
} else {
unableAutopilotReasons = AutopilotAbilityManager.getInstance().addUnableAutopilotReason(unableAutopilotReasons, UnableLaunchReason.SourceType.SSM, UnableLaunchReason.UnableType.SSM_ERROR, nodeName + "未知异常");
unableAutopilotReasons = manager.addUnableAutopilotReason(unableAutopilotReasons, UnableLaunchReason.SourceType.SSM, UnableLaunchReason.UnableType.SSM_ERROR, nodeName + "未知异常");
}
}
} else {
unableAutopilotReasons = AutopilotAbilityManager.getInstance().addUnableAutopilotReason(unableAutopilotReasons, UnableLaunchReason.SourceType.SSM, UnableLaunchReason.UnableType.SSM_ERROR, "未知异常节点");
unableAutopilotReasons = manager.addUnableAutopilotReason(unableAutopilotReasons, UnableLaunchReason.SourceType.SSM, UnableLaunchReason.UnableType.SSM_ERROR, "未知异常节点");
}
}
} else {
@@ -109,13 +114,13 @@ public class AutopilotAbility330 {
unableAutopilotReason = "未知系统状态";
}
if (!isAutopilotAbility) {
unableAutopilotReasons = AutopilotAbilityManager.getInstance().addUnableAutopilotReason(unableAutopilotReasons, UnableLaunchReason.SourceType.SSM, UnableLaunchReason.UnableType.SSM_OFFER, unableAutopilotReason);
unableAutopilotReasons = manager.addUnableAutopilotReason(unableAutopilotReasons, UnableLaunchReason.SourceType.SSM, UnableLaunchReason.UnableType.SSM_OFFER, unableAutopilotReason);
}
}
}
} else {
isAutopilotAbility = false;//是否能启动自动驾驶
unableAutopilotReasons = AutopilotAbilityManager.getInstance().addUnableAutopilotReason(unableAutopilotReasons, UnableLaunchReason.SourceType.LIB, UnableLaunchReason.UnableType.SSM_TIMEOUT, "SSM查询超时无响应");
unableAutopilotReasons = manager.addUnableAutopilotReason(unableAutopilotReasons, UnableLaunchReason.SourceType.LIB, UnableLaunchReason.UnableType.SSM_TIMEOUT, "SSM查询超时无响应");
}
if (fsmStatusReasonRespond != null) {
int count = fsmStatusReasonRespond.getFsmStatusReasonRespondCount();
@@ -124,11 +129,11 @@ public class AutopilotAbility330 {
for (int i = 0; i < count; i++) {
String respond = fsmStatusReasonRespond.getFsmStatusReasonRespond(i);
if (!TextUtils.isEmpty(respond)) {
unableAutopilotReasons = AutopilotAbilityManager.getInstance().addUnableAutopilotReason(unableAutopilotReasons, UnableLaunchReason.SourceType.FSM, UnableLaunchReason.UnableType.FSM_OFFER, respond);
unableAutopilotReasons = manager.addUnableAutopilotReason(unableAutopilotReasons, UnableLaunchReason.SourceType.FSM, UnableLaunchReason.UnableType.FSM_OFFER, respond);
}
}
if (unableAutopilotReasons == null || unableAutopilotReasons.isEmpty()) {
unableAutopilotReasons = AutopilotAbilityManager.getInstance().addUnableAutopilotReason(unableAutopilotReasons, UnableLaunchReason.SourceType.LIB, UnableLaunchReason.UnableType.FSM_ERROR, "FSM数据异常");
unableAutopilotReasons = manager.addUnableAutopilotReason(unableAutopilotReasons, UnableLaunchReason.SourceType.LIB, UnableLaunchReason.UnableType.FSM_ERROR, "FSM数据异常");
}
}
}

98
libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/common/autopilot/ability/AutopilotAbility350And360.java
View File

@@ -1,5 +1,7 @@
package com.zhidao.support.adas.high.common.autopilot.ability;
import androidx.annotation.NonNull;
import com.zhidao.support.adas.high.AdasManager;
import com.zhidao.support.adas.high.common.CupidLogUtils;
import com.zhjt.mogo.adas.data.bean.UnableLaunchData;
@@ -7,9 +9,6 @@ import com.zhjt.mogo.adas.data.bean.UnableLaunchReason;
import java.util.ArrayList;
import chassis.Chassis;
import chassis.ChassisStatesOuterClass;
import chassis.VehicleStateOuterClass;
import system_master.SsmInfo;
/**
@@ -18,42 +17,21 @@ import system_master.SsmInfo;
* 没有使用监控事件报告的原因是因为，部分异常没进行正常恢复通知，例如收到了异常监控数据，但是异常恢复之后没有恢复的通知
* <p>
*/
public class AutopilotAbility350And360 {
private static final String TAG = AutopilotAbility250.class.getSimpleName();
private ChassisStatesOuterClass.ChassisStates chassisStates;
private VehicleStateOuterClass.VehicleState vehicleState;
private int mapVersion = -1;//MAP版本
public class AutopilotAbility350And360 extends BaseAutopilotAbilityChassis {
private int masterVersion = -1;//Master版本
private boolean isHQ = false;//是否是HQ
private boolean isDF = false;//是否是DF
private boolean isM1 = false;//是否是M1
private OnAutopilotAbilityListener listener;
protected AutopilotAbility350And360(int mapVersion, boolean isHQ, boolean isDF, boolean isM1) {
this.mapVersion = mapVersion;
this.isHQ = isHQ;
this.isDF = isDF;
this.isM1 = isM1;
this.masterVersion = -1;
public AutopilotAbility350And360(@NonNull AutopilotAbilityManager manager) {
super(manager);
}
protected void setStatusInfo(SsmInfo.SsmStatusInf statusInfo) {
onCallback(statusInfo);
}
protected void setChassisStates(ChassisStatesOuterClass.ChassisStates chassisStates) {
this.chassisStates = chassisStates;
}
protected void setVehicleState(VehicleStateOuterClass.VehicleState vehicleState) {
this.vehicleState = vehicleState;
}
private void onCallback(SsmInfo.SsmStatusInf statusInfo) {
boolean isAutopilotAbility = true;//是否能启动自动驾驶
ArrayList<UnableLaunchReason> unableAutopilotReasons = null;//不能启动自动驾驶原因
//检测节点状态相关
if (statusInfo != null) {
@@ -64,13 +42,11 @@ public class AutopilotAbility350And360 {
CupidLogUtils.i(TAG, "MasterVersion=" + masterVersion);
//SSM 3版本兼容
if (masterVersion > 2 && statusInfo.hasAutoPilotReady() && statusInfo.hasAutoPilotUnreadyReason()) {
isAutopilotAbility = statusInfo.getAutoPilotReady();
if (!isAutopilotAbility) {
unableAutopilotReasons = AutopilotAbilityManager.getInstance().addUnableAutopilotReason(unableAutopilotReasons, UnableLaunchReason.SourceType.SSM, UnableLaunchReason.UnableType.SSM_OFFER, statusInfo.getAutoPilotUnreadyReason());
if (!statusInfo.getAutoPilotReady()) {
unableAutopilotReasons = manager.addUnableAutopilotReason(unableAutopilotReasons, UnableLaunchReason.SourceType.SSM, UnableLaunchReason.UnableType.SSM_OFFER, statusInfo.getAutoPilotUnreadyReason());
}
} else if (masterVersion > 1 && statusInfo.hasAutoPilotReady()) {//如果 maser version 大于1，还需要判断AutoPilotReady字段是否存在，以确保MAP版本和SSM Maser版本不陪配情况逻辑能正常执行
isAutopilotAbility = statusInfo.getAutoPilotReady();
if (!isAutopilotAbility) {
if (!statusInfo.getAutoPilotReady()) {
int count = statusInfo.getAutoPilotUnreadyListCount();
if (count > 0) {
for (int i = 0; i < count; i++) {
@@ -78,19 +54,18 @@ public class AutopilotAbility350And360 {
String nodeName = info.getNodeName();
int state = info.getState().getNumber();
if (state < AutopilotAbilityManager.NODE_INFO_STATE_FIXED_FREQUENCY.length) {
unableAutopilotReasons = AutopilotAbilityManager.getInstance().addUnableAutopilotReason(unableAutopilotReasons, UnableLaunchReason.SourceType.SSM, UnableLaunchReason.UnableType.SSM_OFFER, nodeName + AutopilotAbilityManager.NODE_INFO_STATE_FIXED_FREQUENCY[state]);
unableAutopilotReasons = manager.addUnableAutopilotReason(unableAutopilotReasons, UnableLaunchReason.SourceType.SSM, UnableLaunchReason.UnableType.SSM_OFFER, nodeName + AutopilotAbilityManager.NODE_INFO_STATE_FIXED_FREQUENCY[state]);
} else {
unableAutopilotReasons = AutopilotAbilityManager.getInstance().addUnableAutopilotReason(unableAutopilotReasons, UnableLaunchReason.SourceType.SSM, UnableLaunchReason.UnableType.SSM_ERROR, nodeName + "未知异常");
unableAutopilotReasons = manager.addUnableAutopilotReason(unableAutopilotReasons, UnableLaunchReason.SourceType.SSM, UnableLaunchReason.UnableType.SSM_ERROR, nodeName + "未知异常");
}
}
} else {
unableAutopilotReasons = AutopilotAbilityManager.getInstance().addUnableAutopilotReason(unableAutopilotReasons, UnableLaunchReason.SourceType.SSM, UnableLaunchReason.UnableType.SSM_ERROR, "未知异常节点");
unableAutopilotReasons = manager.addUnableAutopilotReason(unableAutopilotReasons, UnableLaunchReason.SourceType.SSM, UnableLaunchReason.UnableType.SSM_ERROR, "未知异常节点");
}
}
} else {
SsmInfo.ModeState modeState = statusInfo.getModeState();
if (modeState != SsmInfo.ModeState.MODE_RUN_UNREADY && modeState != SsmInfo.ModeState.MODE_RUN_READY) {
isAutopilotAbility = false;
String unableAutopilotReason = null;
if (modeState == SsmInfo.ModeState.MODE_STOP_UNREADY) {
unableAutopilotReason = "系统处于停止模式（未就绪）";
@@ -103,56 +78,29 @@ public class AutopilotAbility350And360 {
} else {
unableAutopilotReason = "未知系统模式";
}
unableAutopilotReasons = AutopilotAbilityManager.getInstance().addUnableAutopilotReason(unableAutopilotReasons, UnableLaunchReason.SourceType.SSM, UnableLaunchReason.UnableType.SSM_OFFER, unableAutopilotReason);
unableAutopilotReasons = manager.addUnableAutopilotReason(unableAutopilotReasons, UnableLaunchReason.SourceType.SSM, UnableLaunchReason.UnableType.SSM_OFFER, unableAutopilotReason);
}
}
} else {
isAutopilotAbility = false;//是否能启动自动驾驶
unableAutopilotReasons = AutopilotAbilityManager.getInstance().addUnableAutopilotReason(unableAutopilotReasons, UnableLaunchReason.SourceType.LIB, UnableLaunchReason.UnableType.SSM_TIMEOUT, "SSM超时无响应");
unableAutopilotReasons = manager.addUnableAutopilotReason(unableAutopilotReasons, UnableLaunchReason.SourceType.LIB, UnableLaunchReason.UnableType.SSM_TIMEOUT, "SSM超时无响应");
}
//检测底盘相关
if (chassisStates != null) {
if (chassisStates.hasBrakeSystemStates()) {
float brake = chassisStates.getBrakeSystemStates().getBrakePedalResponsePosition();
if (brake > 0) {
isAutopilotAbility = false;
unableAutopilotReasons = AutopilotAbilityManager.getInstance().addUnableAutopilotReason(unableAutopilotReasons, UnableLaunchReason.SourceType.CHASSIS, UnableLaunchReason.UnableType.CHASSIS_BRAKE, AutopilotAbilityManager.REASON_CHASSIS_BRAKE);
}
}
if (chassisStates.hasGearSystemStates()) {
Chassis.GearPosition gear = chassisStates.getGearSystemStates().getGearPosition();
if (!AutopilotAbilityManager.getInstance().isLaunchAutopilot(gear)) {
isAutopilotAbility = false;
unableAutopilotReasons = AutopilotAbilityManager.getInstance().addUnableAutopilotReason(unableAutopilotReasons, UnableLaunchReason.SourceType.CHASSIS, UnableLaunchReason.UnableType.CHASSIS_GEAR, AutopilotAbilityManager.REASON_CHASSIS_GEAR);
}
}
}
if ((!isHQ && !isDF && !isM1) || mapVersion < 30600) {
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();
if (isBrake) {
isAutopilotAbility = false;
unableAutopilotReasons = AutopilotAbilityManager.getInstance().addUnableAutopilotReason(unableAutopilotReasons, UnableLaunchReason.SourceType.CHASSIS, UnableLaunchReason.UnableType.PARKING_BRAKE, AutopilotAbilityManager.REASON_CHASSIS_PARKING_BRAKE);
}
}
}
}
unableAutopilotReasons = onCallbackChassis(unableAutopilotReasons);
if (listener != null) {
boolean isAutopilotAbility = unableAutopilotReasons == null || unableAutopilotReasons.isEmpty();//是否能启动自动驾驶
listener.onAutopilotAbility(isAutopilotAbility, new UnableLaunchData(this.getClass().getSimpleName(), null, statusInfo, null), unableAutopilotReasons);
}
}
protected void start(OnAutopilotAbilityListener listener) {
this.listener = listener;
@Override
public synchronized void start(OnAutopilotAbilityListener listener) {
super.start(listener);
}
protected void stop() {
this.chassisStates = null;
this.masterVersion = -1;
this.listener = null;
@Override
protected synchronized void stop() {
masterVersion = -1;
super.stop();
}
protected void onCallTimeout() {

23
libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/common/autopilot/ability/AutopilotAbility360.java
View File

@@ -2,6 +2,8 @@ package com.zhidao.support.adas.high.common.autopilot.ability;
import android.text.TextUtils;
import androidx.annotation.NonNull;
import com.zhidao.support.adas.high.AdasManager;
import com.zhidao.support.adas.high.common.CupidLogUtils;
import com.zhjt.mogo.adas.data.bean.UnableLaunchData;
@@ -20,12 +22,15 @@ import system_master.SsmInfo;
*/
public class AutopilotAbility360 {
private static final String TAG = AutopilotAbility360.class.getSimpleName();
@NonNull
private final AutopilotAbilityManager manager;
private volatile FSMStatusReasonQueryOuterClass.FSMStatusReasonRespond fsmStatusReasonRespond;//自动驾驶状态为OFF的原因
private int masterVersion = -1;//Master版本
private OnAutopilotAbilityListener listener;
protected AutopilotAbility360() {
protected AutopilotAbility360(@NonNull AutopilotAbilityManager manager) {
this.manager = manager;
this.masterVersion = -1;
}
@@ -52,7 +57,7 @@ public class AutopilotAbility360 {
if (masterVersion > 2 && statusInfo.hasAutoPilotReady() && statusInfo.hasAutoPilotUnreadyReason()) {
isAutopilotAbility = statusInfo.getAutoPilotReady();
if (!isAutopilotAbility) {
unableAutopilotReasons = AutopilotAbilityManager.getInstance().addUnableAutopilotReason(unableAutopilotReasons, UnableLaunchReason.SourceType.SSM, UnableLaunchReason.UnableType.SSM_OFFER, statusInfo.getAutoPilotUnreadyReason());
unableAutopilotReasons = manager.addUnableAutopilotReason(unableAutopilotReasons, UnableLaunchReason.SourceType.SSM, UnableLaunchReason.UnableType.SSM_OFFER, statusInfo.getAutoPilotUnreadyReason());
}
} else if (masterVersion > 1 && statusInfo.hasAutoPilotReady()) {//如果 maser version 大于1，还需要判断AutoPilotReady字段是否存在，以确保MAP版本和SSM Maser版本不陪配情况逻辑能正常执行
isAutopilotAbility = statusInfo.getAutoPilotReady();
@@ -64,13 +69,13 @@ public class AutopilotAbility360 {
String nodeName = info.getNodeName();
int state = info.getState().getNumber();
if (state < AutopilotAbilityManager.NODE_INFO_STATE_FIXED_FREQUENCY.length) {
unableAutopilotReasons = AutopilotAbilityManager.getInstance().addUnableAutopilotReason(unableAutopilotReasons, UnableLaunchReason.SourceType.SSM, UnableLaunchReason.UnableType.SSM_OFFER, nodeName + AutopilotAbilityManager.NODE_INFO_STATE_FIXED_FREQUENCY[state]);
unableAutopilotReasons = manager.addUnableAutopilotReason(unableAutopilotReasons, UnableLaunchReason.SourceType.SSM, UnableLaunchReason.UnableType.SSM_OFFER, nodeName + AutopilotAbilityManager.NODE_INFO_STATE_FIXED_FREQUENCY[state]);
} else {
unableAutopilotReasons = AutopilotAbilityManager.getInstance().addUnableAutopilotReason(unableAutopilotReasons, UnableLaunchReason.SourceType.SSM, UnableLaunchReason.UnableType.SSM_ERROR, nodeName + "未知异常");
unableAutopilotReasons = manager.addUnableAutopilotReason(unableAutopilotReasons, UnableLaunchReason.SourceType.SSM, UnableLaunchReason.UnableType.SSM_ERROR, nodeName + "未知异常");
}
}
} else {
unableAutopilotReasons = AutopilotAbilityManager.getInstance().addUnableAutopilotReason(unableAutopilotReasons, UnableLaunchReason.SourceType.SSM, UnableLaunchReason.UnableType.SSM_ERROR, "未知异常节点");
unableAutopilotReasons = manager.addUnableAutopilotReason(unableAutopilotReasons, UnableLaunchReason.SourceType.SSM, UnableLaunchReason.UnableType.SSM_ERROR, "未知异常节点");
}
}
} else {
@@ -89,12 +94,12 @@ public class AutopilotAbility360 {
} else {
unableAutopilotReason = "未知系统模式";
}
unableAutopilotReasons = AutopilotAbilityManager.getInstance().addUnableAutopilotReason(unableAutopilotReasons, UnableLaunchReason.SourceType.SSM, UnableLaunchReason.UnableType.SSM_OFFER, unableAutopilotReason);
unableAutopilotReasons = manager.addUnableAutopilotReason(unableAutopilotReasons, UnableLaunchReason.SourceType.SSM, UnableLaunchReason.UnableType.SSM_OFFER, unableAutopilotReason);
}
}
} else {
isAutopilotAbility = false;//是否能启动自动驾驶
unableAutopilotReasons = AutopilotAbilityManager.getInstance().addUnableAutopilotReason(unableAutopilotReasons, UnableLaunchReason.SourceType.LIB, UnableLaunchReason.UnableType.SSM_TIMEOUT, "SSM超时无响应");
unableAutopilotReasons = manager.addUnableAutopilotReason(unableAutopilotReasons, UnableLaunchReason.SourceType.LIB, UnableLaunchReason.UnableType.SSM_TIMEOUT, "SSM超时无响应");
}
if (fsmStatusReasonRespond != null) {
int count = fsmStatusReasonRespond.getFsmStatusReasonRespondCount();
@@ -103,11 +108,11 @@ public class AutopilotAbility360 {
for (int i = 0; i < count; i++) {
String respond = fsmStatusReasonRespond.getFsmStatusReasonRespond(i);
if (!TextUtils.isEmpty(respond)) {
unableAutopilotReasons = AutopilotAbilityManager.getInstance().addUnableAutopilotReason(unableAutopilotReasons, UnableLaunchReason.SourceType.FSM, UnableLaunchReason.UnableType.FSM_OFFER, respond);
unableAutopilotReasons = manager.addUnableAutopilotReason(unableAutopilotReasons, UnableLaunchReason.SourceType.FSM, UnableLaunchReason.UnableType.FSM_OFFER, respond);
}
}
if (unableAutopilotReasons == null || unableAutopilotReasons.isEmpty()) {
unableAutopilotReasons = AutopilotAbilityManager.getInstance().addUnableAutopilotReason(unableAutopilotReasons, UnableLaunchReason.SourceType.LIB, UnableLaunchReason.UnableType.FSM_ERROR, "FSM数据异常");
unableAutopilotReasons = manager.addUnableAutopilotReason(unableAutopilotReasons, UnableLaunchReason.SourceType.LIB, UnableLaunchReason.UnableType.FSM_ERROR, "FSM数据异常");
}
}
}

99
libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/common/autopilot/ability/AutopilotAbilityManager.java
View File

@@ -11,7 +11,6 @@ import com.zhjt.mogo.adas.data.bean.UnableLaunchData;
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;
@@ -19,7 +18,6 @@ import java.util.concurrent.atomic.AtomicBoolean;
import chassis.Chassis;
import chassis.ChassisStatesOuterClass;
import chassis.VehicleStateOuterClass;
import function_state_management.FSMStatusReasonQueryOuterClass;
import mogo.telematics.pad.MessagePad;
import system_master.SsmInfo;
@@ -38,17 +36,13 @@ public class AutopilotAbilityManager implements OnAutopilotAbilityListener {
protected static final long DEFAULT_DETECTION_TIME = 3 * 1000L;//默认检测周期
protected static final String[] NODE_INFO_STATE = {"未知状态", "依赖未就绪", "启动中", "运行", "停止", "无法启动状态", "人为启动状态", "人为关闭状态"};
protected static final String[] NODE_INFO_STATE_FIXED_FREQUENCY = {"未知状态", "依赖未就绪", "启动中", "运行", "停止", "无法启动状态", "非自动启动状态", "非自动关闭状态"};
protected static final String REASON_CHASSIS_BRAKE = "请检查刹车踏板";
protected static final String REASON_CHASSIS_GEAR = "当前档位无法启动";
protected static final String REASON_CHASSIS_PARKING_BRAKE = "请检查手刹";
private static volatile AutopilotAbilityManager INSTANCE;
private OnAdasListener listener;
private int mapVersion = -1;//工控机版本
private boolean isFutianSweeper = false;//是否是福田清扫车
private boolean isJinlvM1 = false;//是否是M1
private boolean isHQ = false;//是否是HQ
private boolean isDF = false;//是否是DF
private boolean isM1 = false;//是否是M1
private AutopilotAbility230 autopilotAbility230;
private AutopilotAbility250 autopilotAbility250;
private AutopilotAbility330 autopilotAbility330;
@@ -61,9 +55,9 @@ public class AutopilotAbilityManager implements OnAutopilotAbilityListener {
private final AtomicBoolean isOldSsmTimeout = new AtomicBoolean(false);//SSM是否超时 老状态
private final AtomicBoolean isInitCarConfig = new AtomicBoolean(false);//车辆信息是否初始化
/**
* 不能启动自动驾驶的档位
* 能启动自动驾驶的档位
*/
private Set<Chassis.GearPosition> unableLaunchAutopilotGear;
private Set<Chassis.GearPosition> launchAutopilotGear;
private AutopilotAbilityManager() {
@@ -80,27 +74,17 @@ public class AutopilotAbilityManager implements OnAutopilotAbilityListener {
return INSTANCE;
}
public void setUnableLaunchAutopilotGear(Set<Chassis.GearPosition> unableLaunchAutopilotGear) {
if (unableLaunchAutopilotGear != null) {
this.unableLaunchAutopilotGear = new HashSet<>(unableLaunchAutopilotGear);
taxiUnmanned();
public void setLaunchAutopilotGear(Set<Chassis.GearPosition> launchAutopilotGear) {
this.launchAutopilotGear = launchAutopilotGear;
if (autopilotAbility230 != null) {
autopilotAbility230.setLaunchAutopilotGear(launchAutopilotGear);
} else if (autopilotAbility250 != null) {
autopilotAbility250.setLaunchAutopilotGear(launchAutopilotGear);
} else if (autopilotAbility350And360 != null) {
autopilotAbility350And360.setLaunchAutopilotGear(launchAutopilotGear);
}
}
/**
* 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
* 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
* @return 是否能启动自驾
*/
public boolean isLaunchAutopilot(Chassis.GearPosition currentGear) {
if (unableLaunchAutopilotGear != null && !unableLaunchAutopilotGear.isEmpty()) {
return !unableLaunchAutopilotGear.contains(currentGear);
}
return true;
}
/**
* 添加不能启动自驾的原因
*
@@ -117,16 +101,6 @@ public class AutopilotAbilityManager implements OnAutopilotAbilityListener {
return unableAutopilotReasons;
}
/**
* Taxi无人化相关，从MAP360开始去掉P档限制和手刹限制
*/
private void taxiUnmanned() {
if ((isHQ || isDF) && mapVersion >= 30600) {
if (unableLaunchAutopilotGear != null) {
unableLaunchAutopilotGear.remove(Chassis.GearPosition.GEAR_P);
}
}
}
public void setCarConfig(@NonNull MessagePad.CarConfigResp carConfig) {
if (!isInitCarConfig.get()) {
@@ -137,10 +111,17 @@ public class AutopilotAbilityManager implements OnAutopilotAbilityListener {
isFutianSweeper = carConfig.getIsFutianSweeper();
isJinlvM1 = carConfig.getIsJinlvM1();
isHQ = carConfig.getIsHQ();
isDF = carConfig.getIsDF();
isM1 = carConfig.getIsJinlvM1();
taxiUnmanned();
initAutopilotAbility();
if (autopilotAbility230 != null) {
autopilotAbility230.setCarConfig(carConfig);
autopilotAbility230.setLaunchAutopilotGear(launchAutopilotGear);
} else if (autopilotAbility250 != null) {
autopilotAbility250.setCarConfig(carConfig);
autopilotAbility250.setLaunchAutopilotGear(launchAutopilotGear);
} else if (autopilotAbility350And360 != null) {
autopilotAbility350And360.setCarConfig(carConfig);
autopilotAbility350And360.setLaunchAutopilotGear(launchAutopilotGear);
}
}
}
}
@@ -189,29 +170,13 @@ public class AutopilotAbilityManager implements OnAutopilotAbilityListener {
*
* @param chassisStates 底盘
*/
public void setChassisStates(ChassisStatesOuterClass.ChassisStates chassisStates) {
public void setChassisStates(ChassisStatesOuterClass.ChassisStates chassisStates, Chassis.LightSwitch light) {
if (autopilotAbility230 != null) {
autopilotAbility230.setChassisStates(chassisStates);
}
if (autopilotAbility250 != null) {
autopilotAbility250.setChassisStates(chassisStates);
}
if (autopilotAbility350And360 != null) {
autopilotAbility350And360.setChassisStates(chassisStates);
}
}
/**
* 老底盘中手刹状态更新（新底盘PB中没有所以单独传递）
*
* @param vehicleState 底盘
*/
public void setVehicleState(VehicleStateOuterClass.VehicleState vehicleState) {
if (autopilotAbility250 != null) {
autopilotAbility250.setVehicleState(vehicleState);
}
if (autopilotAbility350And360 != null) {
autopilotAbility350And360.setVehicleState(vehicleState);
autopilotAbility230.setChassisStates(chassisStates, light);
} else if (autopilotAbility250 != null) {
autopilotAbility250.setChassisStates(chassisStates, light);
} else if (autopilotAbility350And360 != null) {
autopilotAbility350And360.setChassisStates(chassisStates, light);
}
}
@@ -235,33 +200,33 @@ public class AutopilotAbilityManager implements OnAutopilotAbilityListener {
if (mapVersion >= 30600 && isFutianSweeper) {
CupidLogUtils.log(TAG, "能否启动自驾能力检测使用版本：360清扫车专用");
if (autopilotAbility360 == null) {
autopilotAbility360 = new AutopilotAbility360();
autopilotAbility360 = new AutopilotAbility360(this);
autopilotAbility360.start(this);
}
} else if ((mapVersion >= 30500 && (isJinlvM1 || isHQ)) || mapVersion >= 30600) {
CupidLogUtils.log(TAG, "能否启动自驾能力检测使用版本：350和360共用");
if (autopilotAbility350And360 == null) {
autopilotAbility350And360 = new AutopilotAbility350And360(mapVersion, isHQ, isDF, isM1);
autopilotAbility350And360 = new AutopilotAbility350And360(this);
autopilotAbility350And360.start(this);
}
} else if (mapVersion >= 30300 && isFutianSweeper) {//目前只有MAP330的清扫车用的新的FSM状态原因查询
CupidLogUtils.log(TAG, "能否启动自驾能力检测使用版本：330清扫车专用");
if (autopilotAbility330 == null) {
autopilotAbility330 = new AutopilotAbility330(mapVersion);
autopilotAbility330 = new AutopilotAbility330(this, mapVersion);
autopilotAbility330.start(this);
}
} else if (mapVersion >= 20500) {
CupidLogUtils.log(TAG, "能否启动自驾能力检测使用版本：250");
if (autopilotAbility250 == null) {
autopilotAbility250 = new AutopilotAbility250(mapVersion, isHQ, isDF, isM1);
autopilotAbility250 = new AutopilotAbility250(this);
autopilotAbility250.start(this);
}
} else {
CupidLogUtils.log(TAG, "能否启动自驾能力检测使用版本：230");
if (autopilotAbility230 == null) {
autopilotAbility230 = new AutopilotAbility230();
autopilotAbility230 = new AutopilotAbility230(this);
autopilotAbility230.start(this);
}
}

175
libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/common/autopilot/ability/BaseAutopilotAbilityChassis.java Normal file
View File

@@ -0,0 +1,175 @@
package com.zhidao.support.adas.high.common.autopilot.ability;
import androidx.annotation.NonNull;
import com.zhidao.support.adas.high.common.CupidLogUtils;
import com.zhjt.mogo.adas.data.bean.UnableLaunchReason;
import java.util.ArrayList;
import java.util.Set;
import java.util.concurrent.atomic.AtomicReference;
import chassis.Chassis;
import chassis.ChassisStatesOuterClass;
import mogo.telematics.pad.MessagePad;
/**
* 所有需要使用底盘检测数据的版本父类
*/
public abstract class BaseAutopilotAbilityChassis {
protected final String TAG = this.getClass().getSimpleName();
private static final String REASON_CHASSIS_BRAKE = "刹车踏板";
private static final String REASON_CHASSIS_THROTTLE = "油门踏板";
private static final String REASON_CHASSIS_GEAR = "档位";
private static final String REASON_CHASSIS_HAZARD_LIGHTS = "危险报警灯";
private static final String REASON_CHASSIS_STEERING = "方向盘";
@NonNull
protected final AutopilotAbilityManager manager;
private ChassisStatesOuterClass.ChassisStates chassisStates;
protected OnAutopilotAbilityListener listener;
protected int mapVersion = -1;//工控机版本
protected boolean isJinlv = false;//是否是金旅小巴
protected boolean isJinlvM1 = false;//是否是M1
protected boolean isJinlvM2 = false;//是否是M2
protected boolean isHQ = false;//是否是HQ
protected boolean isDF = false;//是否是DF
private final AtomicReference<Chassis.LightSwitch> currentLight = new AtomicReference<>(Chassis.LightSwitch.LIGHT_NONE);
/**
* 能启动自动驾驶的档位
*/
private Set<Chassis.GearPosition> launchAutopilotGear;
private float oldThrottle = Float.MAX_VALUE;//方向盘转角
public BaseAutopilotAbilityChassis(@NonNull AutopilotAbilityManager manager) {
this.manager = manager;
}
public void setCarConfig(@NonNull MessagePad.CarConfigResp carConfig) {
mapVersion = carConfig.getMapVersion();
isJinlv = carConfig.getIsJinlv();
isJinlvM1 = carConfig.getIsJinlvM1();
isJinlvM2 = carConfig.getIsJinlvM2();
isHQ = carConfig.getIsHQ();
isDF = carConfig.getIsDF();
taxiUnmanned();
}
public void setChassisStates(ChassisStatesOuterClass.ChassisStates chassisStates, Chassis.LightSwitch light) {
this.chassisStates = chassisStates;
currentLight.set(light);
}
public void setLaunchAutopilotGear(Set<Chassis.GearPosition> launchAutopilotGear) {
this.launchAutopilotGear = launchAutopilotGear;
taxiUnmanned();
}
/**
* Taxi无人化相关，从MAP360开始去掉P档限制和手刹限制
*/
private void taxiUnmanned() {
if ((isHQ || isDF) && mapVersion < 30600) {
if (launchAutopilotGear != null) {
launchAutopilotGear.remove(Chassis.GearPosition.GEAR_P);
}
}
}
/**
* 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
* 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
* @return 是否能启动自驾
*/
private boolean isLaunchAutopilotGear(Chassis.GearPosition currentGear) {
if (launchAutopilotGear != null && !launchAutopilotGear.isEmpty()) {
return launchAutopilotGear.contains(currentGear);
}
return true;
}
/**
* 获取当前是否开启危险报警灯
* 双闪处于打开状态（taxi可以进自驾，金旅bus不可以）
*
* @return 是否能启动自驾
*/
public boolean isLaunchAutopilotLight() {
if (isJinlv || isJinlvM1 || isJinlvM2) {
return currentLight.get() != Chassis.LightSwitch.LIGHT_FLASH;
}
return true;
}
protected ArrayList<UnableLaunchReason> onCallbackChassis(ArrayList<UnableLaunchReason> unableAutopilotReasons) {
//检测底盘相关
if (chassisStates != null) {
//制动踏板
if (chassisStates.hasBrakeSystemStates()) {
float brake = chassisStates.getBrakeSystemStates().getBrakePedalResponsePosition();
if (brake > 0) {
unableAutopilotReasons = manager.addUnableAutopilotReason(unableAutopilotReasons, UnableLaunchReason.SourceType.CHASSIS, UnableLaunchReason.UnableType.CHASSIS_BRAKE, REASON_CHASSIS_BRAKE);
}
}
//油门踏板
if (chassisStates.hasDrivingSystemStates()) {
float throttle = chassisStates.getDrivingSystemStates().getThrottleResponsePosition();
if (throttle > 0) {
unableAutopilotReasons = manager.addUnableAutopilotReason(unableAutopilotReasons, UnableLaunchReason.SourceType.CHASSIS, UnableLaunchReason.UnableType.CHASSIS_THROTTLE, REASON_CHASSIS_THROTTLE);
}
}
//档位
if (chassisStates.hasGearSystemStates()) {
Chassis.GearPosition gear = chassisStates.getGearSystemStates().getGearPosition();
if (!isLaunchAutopilotGear(gear)) {
unableAutopilotReasons = manager.addUnableAutopilotReason(unableAutopilotReasons, UnableLaunchReason.SourceType.CHASSIS, UnableLaunchReason.UnableType.CHASSIS_GEAR, REASON_CHASSIS_GEAR);
}
}
//危险报警灯
if (!isLaunchAutopilotLight()) {
unableAutopilotReasons = manager.addUnableAutopilotReason(unableAutopilotReasons, UnableLaunchReason.SourceType.CHASSIS, UnableLaunchReason.UnableType.CHASSIS_HAZARD_LIGHTS, REASON_CHASSIS_HAZARD_LIGHTS);
}
//方向盘
if (chassisStates.hasSteerSystemStates()) {
ChassisStatesOuterClass.SteerSystemStates steerSystemStates = chassisStates.getSteerSystemStates();
if (steerSystemStates.hasSteeringWheelAngle()) {
float throttle = steerSystemStates.getSteeringWheelAngle();
if (oldThrottle == Float.MAX_VALUE) {
oldThrottle = throttle;
} else {
CupidLogUtils.log(TAG, "方向盘当前角度=" + oldThrottle + " 方向盘1秒前角度=" + throttle);
boolean isTurning = Math.abs(throttle - oldThrottle) > 2.0F;
oldThrottle = throttle;
CupidLogUtils.log(TAG, "方向盘是否转动=" + isTurning);
if (isTurning) {
unableAutopilotReasons = manager.addUnableAutopilotReason(unableAutopilotReasons, UnableLaunchReason.SourceType.CHASSIS, UnableLaunchReason.UnableType.CHASSIS_STEERING, REASON_CHASSIS_STEERING);
}
}
}
}
}
return unableAutopilotReasons;
}
public synchronized void start(OnAutopilotAbilityListener listener) {
this.listener = listener;
}
protected synchronized void stop() {
this.chassisStates = null;
this.listener = null;
mapVersion = -1;
isHQ = false;
isJinlv = false;
isJinlvM1 = false;
isJinlvM2 = false;
}
}

34
libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/msg/ChassisStatesMessage.java
View File

@@ -3,24 +3,56 @@ package com.zhidao.support.adas.high.msg;
import com.google.protobuf.InvalidProtocolBufferException;
import com.zhidao.support.adas.high.OnAdasListener;
import com.zhidao.support.adas.high.common.ParallelDrivingManager;
import com.zhidao.support.adas.high.common.TurnLightState;
import com.zhidao.support.adas.high.common.autopilot.ability.AutopilotAbilityManager;
import com.zhidao.support.adas.high.protocol.RawData;
import chassis.Chassis;
import chassis.ChassisStatesOuterClass;
/**
* 重构后的底盘状态
*/
public class ChassisStatesMessage extends MyAbstractMessageHandler {
private final TurnLightState lightLeft;
private final TurnLightState lightRight;
public ChassisStatesMessage(TurnLightState lightLeft, TurnLightState lightRight) {
this.lightLeft = lightLeft;
this.lightRight = lightRight;
}
@Override
public void handlerMsg(RawData raw, OnAdasListener adasListener) throws InvalidProtocolBufferException {
ChassisStatesOuterClass.ChassisStates chassisStates = ChassisStatesOuterClass.ChassisStates.parser().parseFrom(raw.originalData.toByteArray(), raw.getOffsetValue(), raw.getPackageLengthValue() - raw.getOffsetValue());
AutopilotAbilityManager.getInstance().setChassisStates(chassisStates);
Chassis.LightSwitch light = updateLight(chassisStates, adasListener);
AutopilotAbilityManager.getInstance().setChassisStates(chassisStates, light);
ParallelDrivingManager.getInstance().setChassisStates(chassisStates);
if (adasListener != null) {
adasListener.onChassisStates(raw.getHeader(), chassisStates);
adasListener.onLightSwitch(light);
}
}
private Chassis.LightSwitch updateLight(ChassisStatesOuterClass.ChassisStates chassisStates, OnAdasListener adasListener) {
Chassis.LightSwitch light = Chassis.LightSwitch.LIGHT_NONE;
if (chassisStates.hasBcmSystemStates()) {
ChassisStatesOuterClass.BCMSystemStates bcm = chassisStates.getBcmSystemStates();
light = bcm.getTurnLightState();
}
boolean isTurnLightLeft = lightLeft.update((light.getNumber() & Chassis.LightSwitch.LIGHT_LEFT.getNumber()) != 0);
boolean isTurnLightRight = lightRight.update((light.getNumber() & Chassis.LightSwitch.LIGHT_RIGHT.getNumber()) != 0);
if (isTurnLightLeft && isTurnLightRight) {
//双闪
light = Chassis.LightSwitch.LIGHT_FLASH;
} else if (isTurnLightLeft) {
//左传
light = Chassis.LightSwitch.LIGHT_LEFT;
} else if (isTurnLightRight) {
//右转
light = Chassis.LightSwitch.LIGHT_RIGHT;
}
return light;
}
}

12
libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/msg/MyMessageFactory.java
View File

@@ -1,6 +1,7 @@
package com.zhidao.support.adas.high.msg;
import com.zhidao.support.adas.high.common.AutopilotReview;
import com.zhidao.support.adas.high.common.TurnLightState;
import com.zhjt.mogo.adas.common.MessageType;
import mogo.telematics.pad.MessagePad;
@@ -47,11 +48,18 @@ public class MyMessageFactory implements IMyMessageFactory {
private IMsg fSMStatusReasonRespondMessage;//FSM状态原因查询
private final AutopilotReview autopilotReview;
private final TurnLightState lightLeft = new TurnLightState();
private final TurnLightState lightRight = new TurnLightState();
public MyMessageFactory(AutopilotReview autopilotReview) {
this.autopilotReview = autopilotReview;
}
public void initTurnLightState() {
lightLeft.init();
lightRight.init();
}
@Override
public IMsg createMessage(MessagePad.MessageType messageType) {
if (messageType == MessageType.TYPE_RECEIVE_TRAJECTORY.typeCode) {
@@ -75,13 +83,13 @@ public class MyMessageFactory implements IMyMessageFactory {
} else if (messageType == MessageType.TYPE_RECEIVE_VEHICLE_STATE.typeCode) {
//底盘信息, 透传底盘状态，pb参考底盘
if (vehicleStateMessage == null) {
vehicleStateMessage = new VehicleStateMessage();
vehicleStateMessage = new VehicleStateMessage(lightLeft, lightRight);
}
return vehicleStateMessage;
} else if (messageType == MessageType.TYPE_RECEIVE_CHASSIS_STATES.typeCode) {
//重构后的底盘状态
if (chassisStatesMessage == null) {
chassisStatesMessage = new ChassisStatesMessage();
chassisStatesMessage = new ChassisStatesMessage(lightLeft, lightRight);
}
return chassisStatesMessage;
} else if (messageType == MessageType.TYPE_RECEIVE_AUTOPILOT_STATE.typeCode) {

42
libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/msg/VehicleStateMessage.java
View File

@@ -5,9 +5,10 @@ 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.ParallelDrivingManager;
import com.zhidao.support.adas.high.common.autopilot.ability.AutopilotAbilityManager;
import com.zhidao.support.adas.high.common.CupidLogUtils;
import com.zhidao.support.adas.high.common.ParallelDrivingManager;
import com.zhidao.support.adas.high.common.TurnLightState;
import com.zhidao.support.adas.high.common.autopilot.ability.AutopilotAbilityManager;
import com.zhidao.support.adas.high.protocol.RawData;
import chassis.Chassis;
@@ -19,6 +20,13 @@ import common.HeaderOuterClass;
* 底盘信息, 透传底盘状态，pb参考底盘
*/
public class VehicleStateMessage extends MyAbstractMessageHandler {
private final TurnLightState lightLeft;
private final TurnLightState lightRight;
public VehicleStateMessage(TurnLightState lightLeft, TurnLightState lightRight) {
this.lightLeft = lightLeft;
this.lightRight = lightRight;
}
@Override
public void handlerMsg(RawData raw, OnAdasListener adasListener) throws InvalidProtocolBufferException {
@@ -27,18 +35,40 @@ public class VehicleStateMessage extends MyAbstractMessageHandler {
long nowTime = 0;
if (CupidLogUtils.isEnableLog())
nowTime = SystemClock.elapsedRealtime();
AutopilotAbilityManager.getInstance().setVehicleState(vehicleState);
ParallelDrivingManager.getInstance().setVehicleState(vehicleState);
ChassisStatesOuterClass.ChassisStates chassisStates = compatibility(adasListener, raw, vehicleState);
Chassis.LightSwitch light = updateLight(vehicleState, adasListener);
ChassisStatesOuterClass.ChassisStates chassisStates = compatibility(vehicleState, light);
if (adasListener != null) {
//TODO 暂时关闭老底盘转发 后期 会删除 onVehicleState
//adasListener.onChassisStates(raw.getHeader(), chassisStates);
adasListener.onVehicleState(raw.getHeader(), vehicleState);
adasListener.onLightSwitch(light);
}
AdasChannel.calculateTimeConsumingBusiness("底盘信息", nowTime);
// CupidLogUtils.e("底盘信息--->" + vehicleState.toString());
}
private Chassis.LightSwitch updateLight(VehicleStateOuterClass.VehicleState vehicleState, OnAdasListener adasListener) {
Chassis.LightSwitch light = Chassis.LightSwitch.LIGHT_NONE;
if (vehicleState.hasLight()) {
light = vehicleState.getLight();
}
boolean isTurnLightLeft = lightLeft.update((light.getNumber() & Chassis.LightSwitch.LIGHT_LEFT.getNumber()) != 0);
boolean isTurnLightRight = lightRight.update((light.getNumber() & Chassis.LightSwitch.LIGHT_RIGHT.getNumber()) != 0);
if (isTurnLightLeft && isTurnLightRight) {
//双闪
light = Chassis.LightSwitch.LIGHT_FLASH;
} else if (isTurnLightLeft) {
//左传
light = Chassis.LightSwitch.LIGHT_LEFT;
} else if (isTurnLightRight) {
//右转
light = Chassis.LightSwitch.LIGHT_RIGHT;
}
return light;
}
/**
* 将老地盘数据转换成新地盘数据
* 字段注释中 鹰眼已用 的 已和底盘相关开发 确认过，其他字段均为确认对应关系
@@ -49,7 +79,7 @@ public class VehicleStateMessage extends MyAbstractMessageHandler {
* fuel_value robo_taxi_state robo_bus_state
* robo_bus_jinlv_m1_state
*/
private ChassisStatesOuterClass.ChassisStates compatibility(OnAdasListener adasListener, RawData raw, VehicleStateOuterClass.VehicleState vehicleState) throws InvalidProtocolBufferException {
private ChassisStatesOuterClass.ChassisStates compatibility(VehicleStateOuterClass.VehicleState vehicleState, Chassis.LightSwitch light) throws InvalidProtocolBufferException {
/**************老地盘转换成新地盘PB***************/
ChassisStatesOuterClass.ChassisStates.Builder builder = ChassisStatesOuterClass.ChassisStates.newBuilder();
//工控机所用Header
@@ -114,7 +144,7 @@ public class VehicleStateMessage extends MyAbstractMessageHandler {
.setSweeperFutianTaskSystemStates(ChassisStatesOuterClass.SweeperFuTianTaskSystemStates.parseFrom(bytes)));//鹰眼已用 清扫车专用
}
ChassisStatesOuterClass.ChassisStates chassisStates = builder.build();
AutopilotAbilityManager.getInstance().setChassisStates(chassisStates);
AutopilotAbilityManager.getInstance().setChassisStates(chassisStates, light);
ParallelDrivingManager.getInstance().setChassisStates(chassisStates);
return chassisStates;
}

4
libraries/mogo-map/src/main/java/com/mogo/map/AMapViewWrapper.kt
View File

@@ -750,6 +750,10 @@ class AMapViewWrapper(mMapView: MapAutoView) : IMogoMapView, IMogoMapUIControlle
TrafficTypeEnum.TYPE_TRAFFIC_ID_BUS,
"添加感知模型到地图中……preVehicleStrBus="
)
addPreVehicleModelWeiZhi(
TrafficTypeEnum.TYPE_TRAFFIC_ID_CONE,
"添加感知模型到地图中……preVehicleStrCone="
)
addPreVehicleModelWeiZhi(
TrafficTypeEnum.TYPE_TRAFFIC_ID_TRUCK,
"添加感知模型到地图中……preVehicleStrTruck="