From 152d3a9d898baec75b0386b16848085f8af30332 Mon Sep 17 00:00:00 2001 From: xinfengkun Date: Sun, 7 Apr 2024 16:18:12 +0800 Subject: [PATCH 01/14] =?UTF-8?q?[640][adas]=20MogoReport=E6=9B=B4?= =?UTF-8?q?=E6=96=B0=E5=88=B0420?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- .../autopilot/MoGoAutopilotControlProvider.kt | 4 +- .../zhjt/mogo/adas/data/bean/MogoReport.java | 876 +++++++++++------- .../{ReportCodeInfo.java => ReportInfo.java} | 15 +- .../bean/{CodeInfo.java => ReportState.java} | 8 +- 4 files changed, 547 insertions(+), 356 deletions(-) rename libraries/mogo-adas-data/src/main/java/com/zhjt/mogo/adas/data/bean/{ReportCodeInfo.java => ReportInfo.java} (53%) rename libraries/mogo-adas-data/src/main/java/com/zhjt/mogo/adas/data/bean/{CodeInfo.java => ReportState.java} (58%) diff --git a/core/function-impl/mogo-core-function-datacenter/src/main/java/com/mogo/eagle/core/function/datacenter/autopilot/MoGoAutopilotControlProvider.kt b/core/function-impl/mogo-core-function-datacenter/src/main/java/com/mogo/eagle/core/function/datacenter/autopilot/MoGoAutopilotControlProvider.kt index 2815b8882d..f886339bb0 100644 --- a/core/function-impl/mogo-core-function-datacenter/src/main/java/com/mogo/eagle/core/function/datacenter/autopilot/MoGoAutopilotControlProvider.kt +++ b/core/function-impl/mogo-core-function-datacenter/src/main/java/com/mogo/eagle/core/function/datacenter/autopilot/MoGoAutopilotControlProvider.kt @@ -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) { diff --git a/libraries/mogo-adas-data/src/main/java/com/zhjt/mogo/adas/data/bean/MogoReport.java b/libraries/mogo-adas-data/src/main/java/com/zhjt/mogo/adas/data/bean/MogoReport.java index 35ed63dc7b..7ce0bae69e 100644 --- a/libraries/mogo-adas-data/src/main/java/com/zhjt/mogo/adas/data/bean/MogoReport.java +++ b/libraries/mogo-adas-data/src/main/java/com/zhjt/mogo/adas/data/bean/MogoReport.java @@ -2,132 +2,171 @@ package com.zhjt.mogo.adas.data.bean; import java.lang.reflect.Field; import java.util.HashMap; +import java.util.Locale; import java.util.Map; /** * 监控事件报告中定义的事件以及解释 - * 根据MAP3.7.1事件定义编写 - * http://wiki.zhidaohulian.com/pages/viewpage.action?pageId=123445242 最后修改于2024-01-22 + * 根据MAP4.2.0事件定义编写 最后修改于2024-04-07 */ public class MogoReport { - public static final String RESULT_AUTOPILOT_SYSTEM_UNSTARTED = "RESULT_AUTOPILOT_SYSTEM_UNSTARTED";//自动驾驶系统启动失败 - public static final String RESULT_AUTOPILOT_DISABLE = "RESULT_AUTOPILOT_DISABLE";//无法启动自动驾驶 - public static final String RESULT_AUTOPILOT_INFERIOR = "RESULT_AUTOPILOT_INFERIOR";//自动驾驶效果受影响 - public static final String RESULT_REMOTEPILOT_DISABLE = "RESULT_REMOTEPILOT_DISABLE";//无法启动远程驾驶 - public static final String RESULT_REMOTEPILOT_INFERIOR = "RESULT_REMOTEPILOT_INFERIOR";//远程驾驶效果受影响 - public static final String RESULT_SHOW_WARNING = "RESULT_SHOW_WARNING";//存在不确定因素 + public interface Result { + @ReportState("2.3.0") + String AUTOPILOT_SYSTEM_UNSTARTED = "RESULT_AUTOPILOT_SYSTEM_UNSTARTED";//自动驾驶系统启动失败 + @ReportState("2.3.0") + String AUTOPILOT_DISABLE = "RESULT_AUTOPILOT_DISABLE";//无法启动自动驾驶 + @ReportState("2.3.0") + String AUTOPILOT_INFERIOR = "RESULT_AUTOPILOT_INFERIOR";//自动驾驶效果受影响 + @ReportState("2.4.0") + String REMOTEPILOT_DISABLE = "RESULT_REMOTEPILOT_DISABLE";//无法启动远程驾驶 + @ReportState("2.4.0") + String REMOTEPILOT_INFERIOR = "RESULT_REMOTEPILOT_INFERIOR";//远程驾驶效果受影响 + @ReportState("2.5.0") + String SHOW_WARNING = "RESULT_SHOW_WARNING";//存在不确定因素 + } - public enum Result { - AUTOPILOT_SYSTEM_UNSTARTED(RESULT_AUTOPILOT_SYSTEM_UNSTARTED, "自动驾驶系统启动过程中出错，pad可能无法连接，云端监控可能无法上报"), - AUTOPILOT_DISABLE(RESULT_AUTOPILOT_DISABLE, "无法启动自动驾驶"), - AUTOPILOT_INFERIOR(RESULT_AUTOPILOT_INFERIOR, "自动驾驶部分功能受严重影响，演示模式可以考虑强行启动，非演示模式下建议停止自动驾驶，联系人员排查问题。\n例如定位偏移，camera无数据，算法非常严重的丢帧，属于自动驾驶可以启动，但是效果受影响。"), - REMOTEPILOT_DISABLE(RESULT_REMOTEPILOT_DISABLE, "无法启动远程驾驶"), - REMOTEPILOT_INFERIOR(RESULT_REMOTEPILOT_INFERIOR, "远程驾驶部分功能受影响。例如网络高延迟"), - SHOW_WARNING(RESULT_SHOW_WARNING, "一般为过渡状态，存在不确定因素，有可能对自动驾驶有微弱影响，需要在pad端显示为黄色告警。\n如果偶尔上报该result可忽略，如果频繁上报需联系人员进行排查。 目前仅有RTK无法确认状态事件。"); + public enum ResultDesc { + AUTOPILOT_SYSTEM_UNSTARTED(Result.AUTOPILOT_SYSTEM_UNSTARTED, "自动驾驶系统启动失败"), + AUTOPILOT_DISABLE(Result.AUTOPILOT_DISABLE, "无法启动自动驾驶"), + AUTOPILOT_INFERIOR(Result.AUTOPILOT_INFERIOR, "自动驾驶效果受影响"), + REMOTEPILOT_DISABLE(Result.REMOTEPILOT_DISABLE, "无法启动远程驾驶"), + REMOTEPILOT_INFERIOR(Result.REMOTEPILOT_INFERIOR, "远程驾驶效果受影响"), + SHOW_WARNING(Result.SHOW_WARNING, "存在不确定因素，警示"); /** * 消息result code */ - public final String resultCode; + public final String result; /** * 描述 */ public final String desc; - Result(String resultCode, String desc) { - this.resultCode = resultCode; + ResultDesc(String result, String desc) { + this.result = result; this.desc = desc; } - public static String getDesc(String resultCode) { - switch (resultCode) { - case RESULT_AUTOPILOT_SYSTEM_UNSTARTED: + public static String getDesc(String result) { + switch (result) { + case Result.AUTOPILOT_SYSTEM_UNSTARTED: return AUTOPILOT_SYSTEM_UNSTARTED.desc; - case RESULT_AUTOPILOT_DISABLE: + case Result.AUTOPILOT_DISABLE: return AUTOPILOT_DISABLE.desc; - case RESULT_AUTOPILOT_INFERIOR: + case Result.AUTOPILOT_INFERIOR: return AUTOPILOT_INFERIOR.desc; - case RESULT_REMOTEPILOT_DISABLE: + case Result.REMOTEPILOT_DISABLE: return REMOTEPILOT_DISABLE.desc; - case RESULT_REMOTEPILOT_INFERIOR: + case Result.REMOTEPILOT_INFERIOR: return REMOTEPILOT_INFERIOR.desc; - case RESULT_SHOW_WARNING: + case Result.SHOW_WARNING: return SHOW_WARNING.desc; default: - return resultCode; + return result; } } } - public static final String ACTION_CONTACT_TECH_SUPPORT = "ACTION_CONTACT_TECH_SUPPORT"; - public static final String ACTION_CONTACT_MAINTENANCE = "ACTION_CONTACT_MAINTENANCE"; - public static final String ACTION_CONTACT_HARDWARE_ENGINEER = "ACTION_CONTACT_HARDWARE_ENGINEER"; - public static final String ACTION_REBOOT_PAD = "ACTION_REBOOT_PAD"; - public static final String ACTION_REBOOT_VEHICLE = "ACTION_REBOOT_VEHICLE"; - public static final String ACTION_CHECK_GEAR = "ACTION_CHECK_GEAR"; - public static final String ACTION_CHECK_NETWORK = "ACTION_CHECK_NETWORK"; - public static final String ACTION_TRY_AGAIN_LATER = "ACTION_TRY_AGAIN_LATER"; - public static final String ACTION_REMOTEPILOT_REQUEST = "ACTION_REMOTEPILOT_REQUEST"; - public static final String ACTION_MANUAL_HANDLE_REQUEST = "ACTION_MANUAL_HANDLE_REQUEST"; + public interface Action { + @Deprecated + @ReportState(value = "2.3.0", deprecated = "4.2.0") + String CONTACT_TECH_SUPPORT = "ACTION_CONTACT_TECH_SUPPORT"; + @Deprecated + @ReportState(value = "2.3.0", deprecated = "4.2.0") + String CONTACT_MAINTENANCE = "ACTION_CONTACT_MAINTENANCE"; + @Deprecated + @ReportState(value = "2.3.0", deprecated = "4.2.0") + String CONTACT_HARDWARE_ENGINEER = "ACTION_CONTACT_HARDWARE_ENGINEER"; + @ReportState(value = "2.3.0") + String REBOOT_PAD = "ACTION_REBOOT_PAD"; + @ReportState(value = "2.3.0") + String REBOOT_VEHICLE = "ACTION_REBOOT_VEHICLE"; + @ReportState(value = "2.3.0") + String CHECK_GEAR = "ACTION_CHECK_GEAR"; + @ReportState(value = "2.3.0") + String CHECK_NETWORK = "ACTION_CHECK_NETWORK"; + @ReportState(value = "2.4.0") + String TRY_AGAIN_LATER = "ACTION_TRY_AGAIN_LATER"; + @ReportState(value = "2.11.0") + String REMOTEPILOT_REQUEST = "ACTION_REMOTEPILOT_REQUEST"; + @ReportState(value = "3.3.0") + String MANUAL_HANDLE_REQUEST = "ACTION_MANUAL_HANDLE_REQUEST"; + @ReportState(value = "4.2.0") + String MANUAL_HANDLE_IMMEDIATELY = "ACTION_MANUAL_HANDLE_IMMEDIATELY"; + @ReportState(value = "4.2.0") + String REBOOT_SYSTEM = "ACTION_REBOOT_SYSTEM"; + @ReportState(value = "4.2.0") + String KEEP_POWERON_AND_WAIT = "ACTION_KEEP_POWERON_AND_WAIT"; + } - public enum Action { - CONTACT_TECH_SUPPORT(ACTION_CONTACT_TECH_SUPPORT, "联系技术支持"), - CONTACT_MAINTENANCE(ACTION_CONTACT_MAINTENANCE, "联系运维"), - CONTACT_HARDWARE_ENGINEER(ACTION_CONTACT_HARDWARE_ENGINEER, "联系硬件"), - REBOOT_PAD(ACTION_REBOOT_PAD, "重启Pad"), - REBOOT_VEHICLE(ACTION_REBOOT_VEHICLE, "重启车辆"), - CHECK_GEAR(ACTION_CHECK_GEAR, "检查车辆档位等影响自动驾驶的因素"), - CHECK_NETWORK(ACTION_CHECK_NETWORK, "检查网络连接和路由器等影响通信的因素"), - TRY_AGAIN_LATER(ACTION_TRY_AGAIN_LATER, "请稍后重试"), - REMOTEPILOT_REQUEST(ACTION_REMOTEPILOT_REQUEST, "请求远程驾驶"), - MANUAL_HANDLE_REQUEST(ACTION_MANUAL_HANDLE_REQUEST, "请安全员注意接管"), + public enum ActionDesc { + + CONTACT_TECH_SUPPORT(Action.CONTACT_TECH_SUPPORT, "联系技术支持"), + CONTACT_MAINTENANCE(Action.CONTACT_MAINTENANCE, "联系运维"), + CONTACT_HARDWARE_ENGINEER(Action.CONTACT_HARDWARE_ENGINEER, "联系硬件"), + REBOOT_PAD(Action.REBOOT_PAD, "重启Pad"), + REBOOT_VEHICLE(Action.REBOOT_VEHICLE, "重启车辆"), + CHECK_GEAR(Action.CHECK_GEAR, "检查车辆档位仪表盘等自车因素"), + CHECK_NETWORK(Action.CHECK_NETWORK, "检查网络连接和路由器等通信因素"), + TRY_AGAIN_LATER(Action.TRY_AGAIN_LATER, "请稍后重试"), + REMOTEPILOT_REQUEST(Action.REMOTEPILOT_REQUEST, "请求远程驾驶"), + MANUAL_HANDLE_REQUEST(Action.MANUAL_HANDLE_REQUEST, "请安全员注意接管"), + MANUAL_HANDLE_IMMEDIATELY(Action.MANUAL_HANDLE_IMMEDIATELY, "请安全员立即接管"), + REBOOT_SYSTEM(Action.REBOOT_SYSTEM, "系统软重启"), + KEEP_POWERON_AND_WAIT(Action.KEEP_POWERON_AND_WAIT, "请安全位置停车，保持上电，等待修复完成"), ; /** * 消息Action code */ - public final String actionCode; + public final String action; /** * 描述 */ public final String desc; - Action(String actionCode, String desc) { - this.actionCode = actionCode; + ActionDesc(String action, String desc) { + this.action = action; this.desc = desc; } - public static String getDesc(String actionCode) { - switch (actionCode) { - case ACTION_CONTACT_TECH_SUPPORT: + public static String getDesc(String action) { + switch (action) { + case Action.CONTACT_TECH_SUPPORT: return CONTACT_TECH_SUPPORT.desc; - case ACTION_CONTACT_MAINTENANCE: + case Action.CONTACT_MAINTENANCE: return CONTACT_MAINTENANCE.desc; - case ACTION_CONTACT_HARDWARE_ENGINEER: + case Action.CONTACT_HARDWARE_ENGINEER: return CONTACT_HARDWARE_ENGINEER.desc; - case ACTION_REBOOT_PAD: + case Action.REBOOT_PAD: return REBOOT_PAD.desc; - case ACTION_REBOOT_VEHICLE: + case Action.REBOOT_VEHICLE: return REBOOT_VEHICLE.desc; - case ACTION_CHECK_GEAR: + case Action.CHECK_GEAR: return CHECK_GEAR.desc; - case ACTION_CHECK_NETWORK: + case Action.CHECK_NETWORK: return CHECK_NETWORK.desc; - case ACTION_TRY_AGAIN_LATER: + case Action.TRY_AGAIN_LATER: return TRY_AGAIN_LATER.desc; - case ACTION_REMOTEPILOT_REQUEST: + case Action.REMOTEPILOT_REQUEST: return REMOTEPILOT_REQUEST.desc; - case ACTION_MANUAL_HANDLE_REQUEST: + case Action.MANUAL_HANDLE_REQUEST: return MANUAL_HANDLE_REQUEST.desc; + case Action.MANUAL_HANDLE_IMMEDIATELY: + return MANUAL_HANDLE_IMMEDIATELY.desc; + case Action.REBOOT_SYSTEM: + return REBOOT_SYSTEM.desc; + case Action.KEEP_POWERON_AND_WAIT: + return KEEP_POWERON_AND_WAIT.desc; default: - return actionCode; + return action; } } } @@ -141,7 +180,7 @@ public class MogoReport { * 系统初始化阶段错误 */ interface EINIT { - @CodeInfo("2.4.0") + @ReportState("2.4.0") String LOST_FILE = "EINIT_LOST_FILE";//系统启动时缺失必要文件，或者容器配置错误 } @@ -149,15 +188,17 @@ public class MogoReport { * 硬件故障 */ interface EHW { - @CodeInfo("2.3.0") + @Deprecated + @ReportState(value = "2.3.0", deprecated = "4.2.0") String LIDAR = "EHW_LIDAR";//未检测到雷达 - @CodeInfo("2.3.0") + @Deprecated + @ReportState(value = "2.3.0", deprecated = "4.2.0") String GNSS = "EHW_GNSS";//未检测到gnss @Deprecated - @CodeInfo(value = "2.3.0", deprecated = "3.4.0") + @ReportState(value = "2.3.0", deprecated = "3.4.0") String RTK = "EHW_RTK";//定位不准，gnss节点反馈的状态不是42 @Deprecated - @CodeInfo(value = "2.3.0", deprecated = "3.4.0") + @ReportState(value = "2.3.0", deprecated = "3.4.0") String CAN = "EHW_CAN";//无法与底盘通信，获取不到地盘状态，无法进入自动驾驶 } @@ -166,135 +207,139 @@ public class MogoReport { */ interface EMAP { /*******自动驾驶系统故障*******/ - @CodeInfo("2.3.0") + @ReportState("2.3.0") String NODE = "EMAP_NODE";//节点异常退出 - @CodeInfo("2.3.0") + @ReportState("2.3.0") String NODE_DEAD = "EMAP_NODE_DEAD";//节点异常退出过多，放弃重启 - @CodeInfo("2.5.0") + @ReportState("2.5.0") String DATA_NOT_EXIST = "EMAP_DATA_NOT_EXIST";//无法加载到正确的sqlite文件 - @CodeInfo("2.4.0") + @ReportState("2.4.0") String TRA_NOT_EXIST = "EMAP_TRA_NOT_EXIST";//无法找到轨迹文件 - @CodeInfo("2.4.0") + @ReportState("2.4.0") String TRA_LOAD_FAILED = "EMAP_TRA_LOAD_FAILED";//加载轨迹文件失败 - @CodeInfo("3.3.0") + @ReportState("3.3.0") String ENGINE_INIT_FAILED = "EMAP_ENGINE_INIT_FAILED";//引擎初始化失败，包括轨迹路径不存在；vehicle_config.txt加载失败 - @CodeInfo("3.5.0") + @ReportState("3.5.0") String ATTITUDE_INIT_FAILED = "EMAP_ATTITUDE_INIT_FAILED";//当前位置距离轨迹距离大于15m - @CodeInfo("2.4.0") + @ReportState("2.4.0") String EXIT_AUTOPILOT_FOR_PLANNING = "EMAP_EXIT_AUTOPILOT_FOR_PLANNING";//因planning掉帧强退自动驾驶 - @CodeInfo("2.4.0") + @ReportState("2.4.0") String EXIT_AUTOPILOT_FOR_LOCATION = "EMAP_EXIT_AUTOPILOT_FOR_LOCATION";//因location掉帧强退自动驾驶 - @CodeInfo("2.4.0") + @ReportState("2.4.0") String EXIT_AUTOPILOT_FOR_CHASSIS = "EMAP_EXIT_AUTOPILOT_FOR_CHASSIS";//因底盘消息掉帧强退自动驾驶 - @CodeInfo("2.4.0") + @ReportState("2.4.0") String EXIT_AUTOPILOT_FOR_DISTANCE = "EMAP_EXIT_AUTOPILOT_FOR_DISTANCE";//因planning起点距离当前过远强退自动驾驶 - @CodeInfo("2.7.0") + @ReportState("2.7.0") String EXIT_AUTOPILOT_FOR_BRAKE = "EMAP_EXIT_AUTOPILOT_FOR_BRAKE";//制动踏板干预而强退自动驾驶 - @CodeInfo("2.7.0") + @ReportState("2.7.0") String EXIT_AUTOPILOT_FOR_ACCEL = "EMAP_EXIT_AUTOPILOT_FOR_ACCEL";//加速踏板干预而强退自动驾驶 - @CodeInfo("2.7.0") + @ReportState("2.7.0") String EXIT_AUTOPILOT_FOR_STEER = "EMAP_EXIT_AUTOPILOT_FOR_STEER";//方向盘干预而强退自动驾驶 - @CodeInfo("2.7.0") + @ReportState("2.7.0") String EXIT_AUTOPILOT_FOR_GEAR_SWITCH = "EMAP_EXIT_AUTOPILOT_FOR_GEAR_SWITCH";//档位切换干预而强退自动驾驶 - @CodeInfo("2.7.0") + @ReportState("2.7.0") String EXIT_AUTOPILOT_FOR_CHASSIS_NO_RESPONSE = "EMAP_EXIT_AUTOPILOT_FOR_CHASSIS_NO_RESPONSE";//底盘不响应请求而强退自动驾驶 - @CodeInfo("2.7.0") + @ReportState("2.7.0") String EXIT_AUTOPILOT_FOR_CHASSIS_UNKNOWN = "EMAP_EXIT_AUTOPILOT_FOR_CHASSIS_UNKNOWN";//底盘退出原因未知而强退自动驾驶 - @CodeInfo("2.9.0") + @ReportState("2.9.0") String ENTRY_AUTOPILOT_FOR_CANADAPTER_TIMEOUT = "EMAP_ENTRY_AUTOPILOT_FOR_CANADAPTER_TIMEOUT";//can_adapter消息超时未进入自驾 - @CodeInfo("2.9.0") + @ReportState("2.9.0") String ENTRY_AUTOPILOT_FOR_PLANNING_TIMEOUT = "EMAP_ENTRY_AUTOPILOT_FOR_PLANNING_TIMEOUT";//PLANNING消息超时未进自驾 - @CodeInfo("2.9.0") + @ReportState("2.9.0") String ENTRY_AUTOPILOT_FOR_LOCATION_TIMEOUT = "EMAP_ENTRY_AUTOPILOT_FOR_LOCATION_TIMEOUT";//定位消息超时未进自驾 - @CodeInfo("2.9.0") + @ReportState("2.9.0") String ENTRY_AUTOPILOT_FOR_BRAKE = "EMAP_ENTRY_AUTOPILOT_FOR_BRAKE";//制动踏板干预未进自驾 - @CodeInfo("2.9.0") + @ReportState("2.9.0") String ENTRY_AUTOPILOT_FOR_ACCEL = "EMAP_ENTRY_AUTOPILOT_FOR_ACCEL";//加速踏板干预未进自驾 - @CodeInfo("2.9.0") + @ReportState("2.9.0") String ENTRY_AUTOPILOT_FOR_STEER = "EMAP_ENTRY_AUTOPILOT_FOR_STEER";//方向盘干预未进自驾 - @CodeInfo("2.9.0") + @ReportState("2.9.0") String ENTRY_AUTOPILOT_FOR_GEAR_SWITCH = "EMAP_ENTRY_AUTOPILOT_FOR_GEAR_SWITCH";//档位切换干预未进自驾 - @CodeInfo("3.2.0") + @ReportState("3.2.0") String ENTRY_AUTOPILOT_FOR_DISTANCE = "EMAP_ENTRY_AUTOPILOT_FOR_DISTANCE";//因planning起点距离太远不可进自驾 - @CodeInfo("3.2.0") + @ReportState("3.2.0") String ENTRY_AUTOPILOT_FOR_VEHICLE_ERROR = "EMAP_ENTRY_AUTOPILOT_FOR_VEHICLE_ERROR";//车辆故障需要保修，故障原因见msg信息 - @CodeInfo("3.2.0") + @ReportState("3.2.0") String ENTRY_AUTOPILOT_FOR_CHASSIS_FAULT = "EMAP_ENTRY_AUTOPILOT_FOR_CHASSIS_FAULT";//底盘异常，需要下电重启 - @CodeInfo("3.2.0") + @ReportState("3.2.0") String ENTRY_AUTOPILOT_FOR_UNKNOWN = "EMAP_ENTRY_AUTOPILOT_FOR_UNKNOWN";//进自驾原因确实未知，必须联系软硬件技术进行排查 - @CodeInfo("2.9.0") + @ReportState("2.9.0") String ENTRY_AUTOPILOT_FOR_OTHER_CTL = "EMAP_ENTRY_AUTOPILOT_FOR_OTHER_CTL";//其他干预未进自驾，请检查仪表盘和开关项（如双闪，制动灯灯等 可在msg中补充原因信息） @Deprecated - @CodeInfo(value = "2.4.0", deprecated = "3.4.0") + @ReportState(value = "2.4.0", deprecated = "3.4.0") String HADMAP_ENGINE_NO_ROUTING_INFO = "EMAP_HADMAP_ENGINE_NO_ROUTING_INFO";//hadmap_engine算路失败或未找到轨迹文件导致的轨迹文件信息未发布 @Deprecated - @CodeInfo(value = "2.4.0", deprecated = "3.4.0") + @ReportState(value = "2.4.0", deprecated = "3.4.0") String HADMAP_NO_TRAJECTORY = "EMAP_HADMAP_NO_TRAJECTORY";//hadmap未发布全局路径 @Deprecated - @CodeInfo(value = "2.4.0", deprecated = "3.4.0") + @ReportState(value = "2.4.0", deprecated = "3.4.0") String HADMAP_PLANNING_NO_TRAJECTORY = "EMAP_HADMAP_PLANNING_NO_TRAJECTORY";//local_planning未发布局部轨迹 @Deprecated - @CodeInfo(value = "2.4.0", deprecated = "3.4.0") + @ReportState(value = "2.4.0", deprecated = "3.4.0") String CONTROL_ABNORMAL_COMMAND = "EMAP_CONTROL_ABNORMAL_COMMAND";//controller发布的控制指令异常 @Deprecated - @CodeInfo(value = "2.4.0", deprecated = "3.4.0") + @ReportState(value = "2.4.0", deprecated = "3.4.0") String CAN_ADAPTER_NO_CHASSIS_INFO = "EMAP_CAN_ADAPTER_NO_CHASSIS_INFO";//can_adapter未成功转发地盘信息 - @CodeInfo("3.3.1") + @ReportState("3.3.1") String TRAJECTORY_LOST_WHEN_AUTOPILOT = "EMAP_TRAJECTORY_LOST_WHEN_AUTOPILOT";//自驾状态，但是全局轨迹丢失超过1.5s - @CodeInfo("3.3.1") + @ReportState("3.3.1") String PLANNING_FOR_PERCEPTION_TIMEOUT = "EMAP_PLANNING_FOR_PERCEPTION_TIMEOUT";//鹰眼下发进入自驾指令，自车还未进入自驾，感知延迟超过1s - @CodeInfo("3.3.1") + @ReportState("3.3.1") String PLANNING_FOR_HADMAP_ENGINE_LANES_MSG_TIMEOUT = "EMAP_PLANNING_FOR_HADMAP_ENGINE_LANES_MSG_TIMEOUT";//鹰眼下发进入自驾指令，自车还未进入自驾，地图车道数据延迟超过1s - @CodeInfo("3.3.1") + @ReportState("3.3.1") String PLANNING_FOR_PREDICTION_TIMEOUT = "EMAP_PLANNING_FOR_PREDICTION_TIMEOUT";//鹰眼下发进入自驾指令，自车还未进入自驾，预测数据延迟超过1s - @CodeInfo("3.6.0") + @ReportState("3.6.0") String NODE_CPU_EXCEED = "EMAP_NODE_CPU_EXCEED";//节点cpu占用超过阈值 - @CodeInfo("3.6.0") + @ReportState("3.6.0") String NODE_MEMORY_EXCEED = "EMAP_NODE_MEMORY_EXCEED";//节点内存占用超过阈值 /*******平行驾驶相关故障*******/ - @CodeInfo("3.6.0") + @ReportState("3.6.0") String ENTRY_REMOTEPILOT_FOR_BRAKE = "EMAP_ENTRY_REMOTEPILOT_FOR_BRAKE";//制动踏板干预未进平行驾驶 - @CodeInfo("3.6.0") + @ReportState("3.6.0") String ENTRY_REMOTEPILOT_FOR_STEER = "EMAP_ENTRY_REMOTEPILOT_FOR_STEER";//方向盘干预未进平行驾驶 - @CodeInfo("3.6.0") + @ReportState("3.6.0") String ENTRY_REMOTEPILOT_FOR_ACCEL = "EMAP_ENTRY_REMOTEPILOT_FOR_ACCEL";//加速踏板干预未进平行驾驶 - @CodeInfo("3.6.0") + @ReportState("3.6.0") String ENTRY_REMOTEPILOT_FOR_GEAR_SWITCH = "EMAP_ENTRY_REMOTEPILOT_FOR_GEAR_SWITCH";//档位切换干预未进平行驾驶 - @CodeInfo("3.6.0") + @ReportState("3.6.0") String ENTRY_REMOTEPILOT_FOR_CANADAPTER_TIMEOUT = "EMAP_ENTRY_REMOTEPILOT_FOR_CANADAPTER_TIMEOUT";//底盘消息超时未进平行驾驶 - @CodeInfo("3.6.0") + @ReportState("3.6.0") String ENTRY_REMOTEPILOT_FOR_CTRLCMD_TIMEOUT = "EMAP_ENTRY_REMOTEPILOT_FOR_CTRLCMD_TIMEOUT";//平行驾驶控制指令超时未进平行驾驶 - @CodeInfo("3.6.0") + @ReportState("3.6.0") String ENTRY_REMOTEPILOT_FOR_CHASSIS_FAULT = "EMAP_ENTRY_REMOTEPILOT_FOR_CHASSIS_FAULT";//底盘异常未进平行驾驶，需要下电重启 - @CodeInfo("3.6.0") + @ReportState("3.6.0") String ENTRY_REMOTEPILOT_FOR_CHASSIS_NO_RESPONSE = "EMAP_ENTRY_REMOTEPILOT_FOR_CHASSIS_NO_RESPONSE";//底盘不响应请求未进平行驾驶 - @CodeInfo("3.6.0") + @ReportState("3.6.0") String ENTRY_REMOTEPILOT_FOR_OTHER_CTL = "EMAP_ENTRY_REMOTEPILOT_FOR_OTHER_CTL";//其他干预未进平行驾驶，其他干预的原因见msg信息 - @CodeInfo("3.6.0") + @ReportState("3.6.0") String ENTRY_REMOTEPILOT_FOR_VEHICLE_ERROR = "EMAP_ENTRY_REMOTEPILOT_FOR_VEHICLE_ERROR";//车辆故障需要保修，故障原因见msg信息 - @CodeInfo("3.6.0") + @ReportState("3.6.0") String ENTRY_REMOTEPILOT_FOR_UNKNOWN = "EMAP_ENTRY_REMOTEPILOT_FOR_UNKNOWN";//未进平行驾驶原因确实未知，必须联系软硬件技术进行排查 - @CodeInfo("3.6.0") + @ReportState("3.6.0") String EXIT_REMOTEPILOT_FOR_CTRLCMD_TIMEOUT = "EMAP_EXIT_REMOTEPILOT_FOR_CTRLCMD_TIMEOUT";//因平行驾驶控制指令掉帧强退平行驾驶 - @CodeInfo("3.6.0") + @ReportState("3.6.0") String EXIT_REMOTEPILOT_FOR_CANADAPTER_TIMEOUT = "EMAP_EXIT_REMOTEPILOT_FOR_CANADAPTER_TIMEOUT";//因底盘消息掉帧强退平行驾驶 - @CodeInfo("3.6.0") + @ReportState("3.6.0") String EXIT_REMOTEPILOT_FOR_BRAKE = "EMAP_EXIT_REMOTEPILOT_FOR_BRAKE";//制动踏板干预而强退平行驾驶 - @CodeInfo("3.6.0") + @ReportState("3.6.0") String EXIT_REMOTEPILOT_FOR_ACCEL = "EMAP_EXIT_REMOTEPILOT_FOR_ACCEL";//加速踏板干预而强退平行驾驶 - @CodeInfo("3.6.0") + @ReportState("3.6.0") String EXIT_REMOTEPILOT_FOR_STEER = "EMAP_EXIT_REMOTEPILOT_FOR_STEER";//方向盘干预而强退平行驾驶 - @CodeInfo("3.6.0") + @ReportState("3.6.0") String EXIT_REMOTEPILOT_FOR_GEAR_SWITCH = "EMAP_EXIT_REMOTEPILOT_FOR_GEAR_SWITCH";//档位切换干预而强退平行驾驶 - @CodeInfo("3.6.0") + @ReportState("3.6.0") String EXIT_REMOTEPILOT_FOR_CHASSIS_FAULT = "EMAP_EXIT_REMOTEPILOT_FOR_CHASSIS_FAULT";//底盘异常强退平行驾驶，需要下电重启 - @CodeInfo("3.6.0") + @ReportState("3.6.0") String EXIT_REMOTEPILOT_FOR_CHASSIS_NO_RESPONSE = "EMAP_EXIT_REMOTEPILOT_FOR_CHASSIS_NO_RESPONSE";//底盘不响应请求强退平行驾驶 - @CodeInfo("3.6.0") + @ReportState("3.6.0") String EXIT_REMOTEPILOT_FOR_OTHER_CTL = "EMAP_EXIT_REMOTEPILOT_FOR_OTHER_CTL";//其他干预退出平行驾驶，其他干预的原因见msg信息 - @CodeInfo("3.6.0") + @ReportState("3.6.0") String EXIT_REMOTEPILOT_FOR_UNKNOWN = "EMAP_EXIT_REMOTEPILOT_FOR_UNKNOWN";//退出平行驾驶原因确实未知，必须联系软硬件技术进行排查 + @ReportState("4.2.0") + String HOST_CPU_EXCEED = "EMAP_HOST_CPU_EXCEED";//系统cpu占用过高 + @ReportState("4.2.0") + String HOST_MEMORY_EXCEED = "EMAP_HOST_MEMORY_EXCEED";//系统内存占用过高 } @@ -302,7 +347,7 @@ public class MogoReport { * telematics相关故障 */ interface ETELEMATICS { - @CodeInfo("2.3.0") + @ReportState("2.3.0") String AICLOUD_AUTH_ERROR = "ETELEMATICS_AICLOUD_AUTH_ERROR";//telematics连接云端失败 } @@ -311,23 +356,23 @@ public class MogoReport { */ interface EVHC { @Deprecated - @CodeInfo(value = "2.5.0", deprecated = "3.4.0") + @ReportState(value = "2.5.0", deprecated = "3.4.0") String GEAR_INFERENCE = "EVHC_GEAR_INFERENCE";//由于档位干预退出自动驾驶或无法进入自动驾驶 @Deprecated - @CodeInfo(value = "2.5.0", deprecated = "3.4.0") + @ReportState(value = "2.5.0", deprecated = "3.4.0") String BRAKE_INFERENCE = "EVHC_BRAKE_INFERENCE";//由于刹车干预退出自动驾驶或无法进入自动驾驶 @Deprecated - @CodeInfo(value = "2.5.0", deprecated = "3.4.0") + @ReportState(value = "2.5.0", deprecated = "3.4.0") String STEER_INFERENCE = "EVHC_STEER_INFERENCE";//由于方向盘干预退出自动驾驶或无法进入自动驾驶 @Deprecated - @CodeInfo(value = "2.5.0", deprecated = "3.4.0") + @ReportState(value = "2.5.0", deprecated = "3.4.0") String ACCEL_INFERENCE = "EVHC_ACCEL_INFERENCE";//由于油门干预退出自动驾驶或无法进入自动驾驶 @Deprecated - @CodeInfo(value = "2.3.0", deprecated = "3.4.0") + @ReportState(value = "2.3.0", deprecated = "3.4.0") String CSS = "EVHC_CSS";//底盘不允许进入自动驾驶 - @CodeInfo("2.3.0") + @ReportState("2.3.0") String GEAR = "EVHC_GEAR";//档位不是D或N档 - @CodeInfo("3.4.0") + @ReportState("3.4.0") String EPB = "EVHC_EPB";//驻车（手刹）不是锁止（拉起）状态 } @@ -335,62 +380,65 @@ public class MogoReport { * 系统状态检测异常 */ interface ESYS { - @CodeInfo("2.4.0") + @ReportState("2.4.0") String AUTOPILOT_FAILED = "ESYS_AUTOPILOT_FAILED";//在尝试启动自动驾驶，但是超过指定时间后底盘未进入，会发送此事件 @Deprecated - @CodeInfo(value = "2.4.0", deprecated = "2.5.0") + @ReportState(value = "2.4.0", deprecated = "2.5.0") String IN_INIT = "ESYS_IN_INIT";//系统处于启动中，拒绝进入自动驾驶/远程驾驶 - @CodeInfo("2.4.0") + @ReportState("2.4.0") String IN_EXIT = "ESYS_IN_EXIT";//系统处于退出中，拒绝进入自动驾驶 - @CodeInfo("2.4.0") + @ReportState("2.4.0") String NOT_ALLOW_AUTOPILOT_FOR_REMOTE = "ESYS_NOT_ALLOW_AUTOPILOT_FOR_REMOTE";//系统处于远程驾驶中，拒绝进入自动驾驶 - @CodeInfo("2.4.0") + @ReportState("2.4.0") String NOT_ALLOW_REBOOT = "ESYS_NOT_ALLOW_REBOOT";//重启拒绝 - @CodeInfo("2.4.0") + @ReportState("2.4.0") String TOPIC_FREQ_DROPED = "ESYS_TOPIC_FREQ_DROPED";//存在topic严重掉频 @Deprecated - @CodeInfo(value = "2.4.0", deprecated = "3.3.1") + @ReportState(value = "2.4.0", deprecated = "3.3.1") String AUTOPILOT_TAKEN_OVER_BY_REMOTE = "ESYS_AUTOPILOT_TAKEN_OVER_BY_REMOTE";//自动驾驶被远程驾驶接管 @Deprecated - @CodeInfo(value = "2.4.0", deprecated = "2.5.0") + @ReportState(value = "2.4.0", deprecated = "2.5.0") String RTK_STATUS_FAULT = "ESYS_RTK_STATUS_FAULT";//RTK状态持续错误 - @CodeInfo("2.5.0") + @ReportState("2.5.0") String ROUTING_REQ_TIMEOUT = "ESYS_ROUTING_REQ_TIMEOUT";//自动驾驶开始前，routing请求无响应 - @CodeInfo("2.6.0") + @Deprecated + @ReportState(value = "2.6.0", deprecated = "4.2.0") String PLANNING_CHANGE_FAILIED = "ESYS_PLANNING_CHANGE_FAILIED";//planning版本切换启动失败 - @CodeInfo("2.6.0") + @ReportState("2.6.0") String CHECK_TRAJECTORY_FAILURE = "ESYS_CHECK_TRAJECTORY_FAILURE";//轨迹文件检查超时或检查结果无可用轨迹 - @CodeInfo("3.7.0") + @ReportState("3.7.0") String CHECK_TRAJECTORY_TIMEOUT = "ESYS_CHECK_TRAJECTORY_TIMEOUT";//轨迹文件检查超时 - @CodeInfo("3.7.0") + @ReportState("3.7.0") String CHECK_TRAJECTORY_LOADING = "ESYS_CHECK_TRAJECTORY_LOADING";//当前轨迹下载中(检查中) - @CodeInfo("3.5.0") + @ReportState("3.5.0") String TRAJECTORY_AGENT_NOT_READY = "ESYS_TRAJECTORY_AGENT_NOT_READY";//轨迹下载客户端未就绪拒绝轨迹下载请求 - @CodeInfo("3.5.0") + @ReportState("3.5.0") String MAP_ENGINE_NOT_READY = "ESYS_MAP_ENGINE_NOT_READY";//地图引擎未就绪拒绝自驾 - @CodeInfo("2.5.0") + @ReportState("2.5.0") String FAULT = "ESYS_FAULT";//master启动10分钟，仍有agent未连接 - @CodeInfo("2.8.0") + @ReportState("2.8.0") String REBOOT_WARNING = "ESYS_REBOOT_WARNING";//命令重启不完全提示(部分模块没有关闭成功） - @CodeInfo("2.8.0") + @ReportState("2.8.0") String CAN_MSG_LOST = "ESYS_CAN_MSG_LOST";//master接收底盘消息超时 - @CodeInfo("3.6.0") + @ReportState("3.6.0") String AGENT_NET_TIMEOUT = "ESYS_AGENT_NET_TIMEOUT";//ssm agent 心跳连接master超时 + @ReportState("4.1.0") + String ROUTING_RESPONSE_FAIL = "ESYS_ROUTING_RESPONSE_FAIL";//算路异常，拒绝自动驾驶 /*******update_config_simple 配置（包含轨迹）下载相关异常*******/ - @CodeInfo("3.3.0") + @ReportState("3.3.0") String CONFIG_UPDATING_SPEED_JUMP = "ESYS_CONFIG_UPDATING_SPEED_JUMP";//文件下载速度跳变，低于阈值 - @CodeInfo("3.3.0") + @ReportState("3.3.0") String CONFIG_UPDATING_INPUT_PARAM_ABNORMAL = "ESYS_CONFIG_UPDATING_INPUT_PARAM_ABNORMAL";//配置下载传入参数异常 - @CodeInfo("3.3.0") + @ReportState("3.3.0") String CONFIG_UPDATING_DNS_ERROR = "ESYS_CONFIG_UPDATING_DNS_ERROR";//DNS解析异常 - @CodeInfo("3.3.0") + @ReportState("3.3.0") String CONFIG_UPDATING_URL_NOT_ARRIVED = "ESYS_CONFIG_UPDATING_URL_NOT_ARRIVED";//url不可达 - @CodeInfo("3.3.0") + @ReportState("3.3.0") String CONFIG_UPDATING_MD5_CHECK_ERROR = "ESYS_CONFIG_UPDATING_MD5_CHECK_ERROR";//md5检查失败 - @CodeInfo("3.3.0") + @ReportState("3.3.0") String CONFIG_UPDATING_REJECT_SAME_TRAJ_TASK = "ESYS_CONFIG_UPDATING_REJECT_SAME_TRAJ_TASK";//拒绝同名轨迹任务 - @CodeInfo("3.5.0") + @ReportState("3.5.0") String CONFIG_UPDATING_HTTP_FAILED = "ESYS_CONFIG_UPDATING_HTTP_FAILED";//获取下载列表失败 } @@ -398,36 +446,40 @@ public class MogoReport { * 系统异常状态上报 */ interface ESSM { - @CodeInfo("2.10.0") + @ReportState("2.10.0") String IN_INIT = "ESSM_IN_INIT";//SSM初始化，非任何模式，拒绝进入自动驾驶/平行驾驶 - @CodeInfo("2.10.0") + @ReportState("2.10.0") String IN_EXIT = "ESSM_IN_EXIT";//SSM处于停止模式，拒绝进入自动驾驶/平行驾驶 - @CodeInfo("2.10.0") + @ReportState("2.10.0") String AUTOPILOT_UNREADY = "ESSM_AUTOPILOT_UNREADY";//因自动驾驶状态未就绪拒绝自驾 - @CodeInfo("3.3.0") + @ReportState("3.3.0") String AUTOPILOT_KEY_NODE_BORKEN = "ESSM_AUTOPILOT_KEY_NODE_BORKEN";//因自驾驾驶关键节点挂掉拒绝自动驾驶 - @CodeInfo("2.10.0") + @ReportState("2.10.0") String REMOTEPILOT_UNREADY = "ESSM_REMOTEPILOT_UNREADY";//因平行驾驶状态未就绪拒绝平行驾驶 - @CodeInfo("2.10.0") + @ReportState("2.10.0") String MAP_IMAGE_DIFF = "ESSM_MAP_IMAGE_DIFF";//Agent镜像存在版本不一致的问题 - @CodeInfo("3.6.0") + @ReportState("3.6.0") String SYS_TIME_SKIPED = "ESSM_SYS_TIME_SKIPED";//系统时间发生跳变 - @CodeInfo("3.6.0") + @ReportState("3.6.0") String ROSCORE_HAVE_REBOOT = "ESSM_ROSCORE_HAVE_REBOOT";//roscore发生重启，触发所有节点重启 - @CodeInfo("2.10.0") + @ReportState("2.10.0") String COLD_START_TIMEOUT = "ESSM_COLD_START_TIMEOUT";//系统冷启动超时未完成 - @CodeInfo("3.3.0") + @ReportState("3.3.0") String HAVE_AGENT_LOST_CONNECT = "ESSM_HAVE_AGENT_LOST_CONNECT";//存在agent失联 - @CodeInfo("3.3.1") + @Deprecated + @ReportState(value = "3.3.1", deprecated = "4.2.0") String IGNORED_CMD_DUE_PAD_CONTROL = "ESSM_IGNORED_CMD_DUE_PAD_CONTROL";//pad自驾中，拒绝云控的自驾命令 - @CodeInfo("3.3.1") + @Deprecated + @ReportState(value = "3.3.1", deprecated = "4.2.0") String IGNORED_CMD_DUE_AICLOUD_CONTROL = "ESSM_IGNORED_CMD_DUE_AICLOUD_CONTROL";//云控自驾中，拒绝pad的自驾命令 } interface EAGENT { - @CodeInfo("2.4.0") + @Deprecated + @ReportState(value = "2.4.0", deprecated = "4.2.0") String FATAL = "EAGENT_FATAL";//agent严重故障,无法恢复 - @CodeInfo("2.4.0") + @Deprecated + @ReportState(value = "2.4.0", deprecated = "4.2.0") String MASTER_COMMAND_HANDLER_FAILED = "EAGENT_MASTER_COMMAND_HANDLER_FAILED";//agent未能成功执行master指令 } @@ -435,13 +487,13 @@ public class MogoReport { * 相机相关异常 */ interface ECAM { - @CodeInfo("2.5.0") + @ReportState("2.5.0") String INIT = "ECAM_INIT";//相机初始化失败 - @CodeInfo("2.5.0") + @ReportState("2.5.0") String CALIB = "ECAM_CALIB";//标定信息读取失败 - @CodeInfo("2.7.0") + @ReportState("2.7.0") String GRAB_FATAL = "ECAM_GRAB_FATAL";//相机数据采集异常 - @CodeInfo("3.5.0") + @ReportState("3.5.0") String TS_ERROR = "ECAM_TS_ERROR";//图像时间戳异常 } @@ -450,9 +502,9 @@ public class MogoReport { * 定位异常 */ interface ELCT { - @CodeInfo("2.5.0") + @ReportState("2.5.0") String RTK_STATUS_FAULT = "ELCT_RTK_STATUS_FAULT";//RTK状态错误 - @CodeInfo("2.5.0") + @ReportState("2.5.0") String RTK_STATUS_UNKNOWN = "ELCT_RTK_STATUS_UNKNOWN";//RTK状态不确定 } @@ -460,9 +512,9 @@ public class MogoReport { * 推流异常 */ interface EPUSH { - @CodeInfo("2.10.0") + @ReportState("2.10.0") String VIDEO_INIT_ERROR = "EPUSH_VIDEO_INIT_ERROR";//初始化失败 - @CodeInfo("2.10.0") + @ReportState("2.10.0") String VIDEO_START_SERVICE_ERROR = "EPUSH_VIDEO_START_SERVICE_ERROR";//启动服务失败 } @@ -470,25 +522,29 @@ public class MogoReport { * 录包异常 */ interface ERECORD { - @CodeInfo("2.10.0") + @ReportState("2.10.0") String TASK_BAG_INIT = "ERECORD_TASK_BAG_INIT";//包初始化失败 - @CodeInfo("2.10.0") + @ReportState("2.10.0") String TASK_SPACE = "ERECORD_TASK_SPACE";//空间不足 - @CodeInfo("2.10.0") + @ReportState("2.10.0") String TASK_CONFIG_EMPTY = "ERECORD_TASK_CONFIG_EMPTY";//配置为空 - @CodeInfo("2.10.0") + @ReportState("2.10.0") String TASK_QUEUE_EMPTY = "ERECORD_TASK_QUEUE_EMPTY";//数据队列为空 - @CodeInfo("3.6.0") + @ReportState("3.6.0") String TASK_NODE_TO_TOPICS_EMPTY = "ERECORD_TASK_NODE_TO_TOPICS_EMPTY";//通过节点名获取不到topic列表---ROS2版本新增 + @ReportState("4.1.0") + String FRAMES_DROPPED = "ERECORD_FRAMES_DROPPED";//录包丢帧 + @ReportState("4.1.0") + String DISK_IO_SPEED_TOO_HIGH = "ERECORD_DISK_IO_SPEED_TOO_HIGH";//磁盘写入速度过高 } /** * 平行驾驶相关异常 */ interface EPARALLEL { - @CodeInfo("2.11.0") + @ReportState("2.11.0") String AICLOUD_CONNECTION_ERROR = "EPARALLEL_AICLOUD_CONNECTION_ERROR";//平行驾驶长连接异常 断网（此时不符合平行驾驶条件) 平行驾驶退出到自驾，同时减速停车 - @CodeInfo("3.3.0") + @ReportState("3.3.0") String AICLOUD_NETWORK_WEAK = "EPARALLEL_AICLOUD_NETWORK_WEAK";//车端系统检测到弱网 弱网 平行驾驶退出到自驾，同时减速停车 } @@ -496,7 +552,7 @@ public class MogoReport { * 车辆处于困境，等待平行驾驶接管 */ interface EVEHICLE { - @CodeInfo("2.11.0") + @ReportState("2.11.0") String IN_TROUBLE = "EVEHICLE_IN_TROUBLE";//planning 检测到车处于困境，把困境状态汇报给 SSM，ssm 发出该事件，等待驾舱端开始平行驾驶 } @@ -504,28 +560,60 @@ public class MogoReport { * EFM(FM故障) */ interface EFM { - @CodeInfo("3.4.0") + @ReportState("3.4.0") String ERROR3_STOP_PILOT = "EFM_ERROR3_STOP_PILOT";//触发降级停车策略 - @CodeInfo("3.4.0") + @ReportState("3.4.0") String ERROR2_FUNC_FORBID = "EFM_ERROR2_FUNC_FORBID";//禁止车辆部分功能 } + + /** + * 出车标定自检 + */ + interface ECLB { + @ReportState("4.1.0") + String LIDAR_CHECK_SUCCESS_EXT_BAD = "ECLB_LIDAR_CHECK_SUCCESS_EXT_BAD";//lidar标定自检成功，外参异常 + @ReportState("4.1.0") + String CAMERA_CHECK_SUCCESS_EXT_BAD = "ECLB_CAMERA_CHECK_SUCCESS_EXT_BAD";//camera标定自检成功，外参异常 + @ReportState("4.1.0") + String RADAR_CHECK_SUCCESS_EXT_BAD = "ECLB_RADAR_CHECK_SUCCESS_EXT_BAD";//radar标定自检成功，外参异常 + @ReportState("4.1.0") + String LIDAR_CHECK_FAILED = "ECLB_LIDAR_CHECK_FAILED";//lidar标定自检算法失败，无法判定外参是否正常，建议重试 + @ReportState("4.1.0") + String CAMERA_CHECK_FAILED = "ECLB_CAMERA_CHECK_FAILED";//camera标定自检算法失败，无法判定外参是否正常，建议重试 + @ReportState("4.1.0") + String RADAR_CHECK_FAILED = "ECLB_RADAR_CHECK_FAILED";//radar标定自检算法失败，无法判定外参是否正常，建议重试 + } } /** * 常规类型 */ interface Info { + /** + * 出车标定自检 + */ + interface ICLB { + @ReportState("4.1.0") + String LIDAR_CHECK_SUCCESS_EXT_GOOD = "ICLB_LIDAR_CHECK_SUCCESS_EXT_GOOD";//lidar标定自检成功，外参正常 + @ReportState("4.1.0") + String CAMERA_CHECK_SUCCESS_EXT_GOOD = "ICLB_CAMERA_CHECK_SUCCESS_EXT_GOOD";//camera标定自检成功，外参正常 + @ReportState("4.1.0") + String RADAR_CHECK_SUCCESS_EXT_GOOD = "ICLB_RADAR_CHECK_SUCCESS_EXT_GOOD";//radar标定自检成功，外参正常 + } + /** * 系统初始化阶段 */ interface IINIT { - @CodeInfo("2.4.0") + @ReportState("2.4.0") String BOOST = "IINIT_BOOST";//linux系统已启动（此事件会延迟发出，timestamp填linux启动时的事件） - @CodeInfo("2.3.0") + @ReportState("2.3.0") String TIME_SYNC = "IINIT_TIME_SYNC";//时间已同步 - @CodeInfo("2.3.0") + @Deprecated + @ReportState(value = "2.3.0", deprecated = "4.2.0") String SENSOR_NORMAL = "IINIT_SENSOR_NORMAL";//各传感器正常 - @CodeInfo("2.3.0") + @Deprecated + @ReportState(value = "2.3.0", deprecated = "4.2.0") String MAP_STARTED = "IBOOT_MAP_STARTED";//当前xavier上所有节点已启动成功 } @@ -534,51 +622,54 @@ public class MogoReport { * 自动驾驶运行信息 */ interface IMAP { - @CodeInfo("2.4.0") + @ReportState("2.4.0") String TRA_EXIST = "IMAP_TRA_EXIST";//已找到轨迹文件 - @CodeInfo("2.5.0") + @ReportState("2.5.0") String DATA_EXIST = "IMAP_DATA_EXIST";//加载正确的sqlite - @CodeInfo("2.4.0") + @ReportState("2.4.0") String TRA_LOADED = "IMAP_TRA_LOADED";//轨迹文件加载成功 - @CodeInfo("2.4.0") + @ReportState("2.4.0") String TRA_ROUTING = "IMAP_TRA_ROUTING";//算路成功 - @CodeInfo("2.6.0") + @ReportState("2.6.0") String TRA_TYPE = "IMAP_TRA_TYPE";//加载轨迹类型通知 - @CodeInfo("2.7.0") + @ReportState("2.7.0") String PARAM_SERVER = "IMAP_PARAM_SERVER";//当前系统使用的param server版本(rosmaster或redis) - @CodeInfo("3.6.0") + @ReportState("3.6.0") String ENGINE_INIT_FINISHED = "IMAP_ENGINE_INIT_FINISHED";//地图引擎初始化完成 - @CodeInfo("3.6.0") + @ReportState("3.6.0") String RECEIVED_ROUTING_REQUEST = "IMAP_RECEIVED_ROUTING_REQUEST";//成功接收订单信息 - @CodeInfo("2.8.0") + @ReportState("2.8.0") String ENTRY_AUTOPILOT = "IMAP_ENTRY_AUTOPILOT";//控制进入自动驾驶成功 - @CodeInfo("3.3.1") + @ReportState("3.3.1") String PLANNING_FOR_PREDICTION_RECEIVED = "IMAP_PLANNING_FOR_PREDICTION_RECEIVED";//自车进入车自驾，收到预测消息时解除预测数据超时警报 - @CodeInfo("3.3.1") + @ReportState("3.3.1") String PLANNING_FOR_HADMAP_ENGINE_LANES_MSG_RECEIVED = "IMAP_PLANNING_FOR_HADMAP_ENGINE_LANES_MSG_RECEIVED";//自车进入车自驾，收到地图车道消息时解除地图数据超时警报 - @CodeInfo("3.3.1") + @ReportState("4.2.0") + String PLANNING_FOR_RECEPTION_RECEIVED = "IMAP_PLANNING_FOR_RECEPTION_RECEIVED";//自车进入车自驾, 收到感知消息时解除感知数据超时警报 + @Deprecated + @ReportState(value = "3.3.1", deprecated = "4.2.0") String PLANNING_FOR_PERCEPTION_RECEIVED = "IMAP_PLANNING_FOR_PERCEPTION_RECEIVED";//自车进入车自驾，收到感知消息时解除感知数据超时警报 - @CodeInfo("3.4.0") + @ReportState("3.4.0") String START_AUTOPILOT = "IMAP_START_AUTOPILOT";//控制侧开始自驾 - @CodeInfo("3.4.0") + @ReportState("3.4.0") String EXIT_AUTOPILOT = "IMAP_EXIT_AUTOPILOT";//控制侧正常退出自驾 - @CodeInfo("3.4.0") + @ReportState("3.4.0") String START_REMOTEPILOT = "IMAP_START_REMOTEPILOT";//控制侧开始平行驾驶 - @CodeInfo("3.4.0") + @ReportState("3.4.0") String ENTRY_REMOTEPILOT = "IMAP_ENTRY_REMOTEPILOT";//控制侧进入平行驾驶 - @CodeInfo("3.4.0") + @ReportState("3.4.0") String EXIT_REMOTEPILOT = "IMAP_EXIT_REMOTEPILOT";//控制侧退出平行驾驶 - @CodeInfo("3.4.0") + @ReportState("3.4.0") String CONTROLLER_START_FM_COMMAND = "IMAP_CONTROLLER_START_FM_COMMAND";//控制侧开始故障处理命令 - @CodeInfo("3.4.0") + @ReportState("3.4.0") String CONTROLLER_FINISH_FM_COMMAND = "IMAP_CONTROLLER_FINISH_FM_COMMAND";//控制侧完成故障处理命令 - @CodeInfo("3.7.1") + @ReportState("3.7.1") String CONTROLLER_ABORT_FM_COMMAND = "IMAP_CONTROLLER_ABORT_FM_COMMAND";//控制侧未完成停车但终止，原因写入msg - @CodeInfo("3.7.1") + @ReportState("3.7.1") String PLANNING_START_FM_COMMAND = "IMAP_PLANNING_START_FM_COMMAND";//规划开始执行故障停车处理命令 - @CodeInfo("3.7.1") + @ReportState("3.7.1") String PLANNING_FINISH_FM_COMMAND = "IMAP_PLANNING_FINISH_FM_COMMAND";//规划完成故障停车处理命令 - @CodeInfo("3.7.1") + @ReportState("3.7.1") String PLANNING_ABORT_FM_COMMAND = "IMAP_PLANNING_ABORT_FM_COMMAND";//规划未完成停车但终止，原因写入msg } @@ -587,11 +678,11 @@ public class MogoReport { */ interface ITELEMATICS { @Deprecated - @CodeInfo(value = "2.4.0", deprecated = "2.5.0") + @ReportState(value = "2.4.0", deprecated = "2.5.0") String ROUTING_REQUEST_SENT = "ITELEMATICS_ROUTING_REQUEST_SENT";//已发送算路请求 - @CodeInfo("2.3.0") + @ReportState("2.3.0") String AUTOPILOT_CMD_FORWARDED = "ITELEMATICS_AUTOPILOT_CMD_FORWARDED";//自动驾驶命令已转发 - @CodeInfo("2.3.0") + @ReportState("2.3.0") String AICLOUD_AUTH_OK = "ITELEMATICS_AICLOUD_AUTH_OK";//aicloud连接认证成功 } @@ -601,70 +692,78 @@ public class MogoReport { */ interface ISYS { /*******常规信息*******/ - @CodeInfo("2.4.0") + @ReportState("2.4.0") String STARTING = "ISYS_STARTING";//系统启动中 - @CodeInfo("2.4.0") + @ReportState("2.4.0") String RUNNING = "ISYS_RUNNING";//所有Xavier启动完成 - @CodeInfo("2.4.0") + @ReportState("2.4.0") String EXITING = "ISYS_EXITING";//系统退出中 - @CodeInfo("2.4.0") + @ReportState("2.4.0") String AUTOPILOT_READY = "ISYS_AUTOPILOT_READY";//自动驾驶状态就绪 - @CodeInfo("2.4.0") + @ReportState("2.4.0") String AUTOPILOT_STARTING = "ISYS_AUTOPILOT_STARTING";//自动驾驶启动中 - @CodeInfo("2.4.0") + @ReportState("2.4.0") String AUTOPILOT_RUNING = "ISYS_AUTOPILOT_RUNING";//自动驾驶运行中 - @CodeInfo("2.4.0") + @ReportState("2.4.0") String TOPIC_FREQ_NORMAL = "ISYS_TOPIC_FREQ_NORMAL";//topic频率正常或者恢复正常 @Deprecated - @CodeInfo(value = "2.4.0", deprecated = "2.5.0") + @ReportState(value = "2.4.0", deprecated = "2.5.0") String RTK_STATUS_NORMAL = "ISYS_RTK_STATUS_NORMAL";//rtk状态正常或恢复正常 - @CodeInfo("2.4.0") + @ReportState("2.4.0") String CAN_NORMAL = "ISYS_CAN_NORMAL";//底盘状态正常或恢复正常 - @CodeInfo("2.5.0") + @ReportState("2.5.0") String REOMTEPILOT_STARTING = "ISYS_REOMTEPILOT_STARTING";//平行驾驶启动中 - @CodeInfo("2.5.0") + @ReportState("2.5.0") String REOMTEPILOT_RUNING = "ISYS_REOMTEPILOT_RUNING";//平行驾驶运行中 - @CodeInfo("2.6.0") + @ReportState("2.6.0") String SYSTEM_IN_IDLE = "ISYS_SYSTEM_IN_IDLE";//系统进入空闲状态 - @CodeInfo("2.6.0") + @ReportState("2.6.0") String SYSTEM_OUT_IDLE = "ISYS_SYSTEM_OUT_IDLE";//系统退出空闲状态 - @CodeInfo("3.3.0") + @ReportState("3.3.0") String ALREADY_AUTOPILOT_STATE = "ISYS_ALREADY_AUTOPILOT_STATE";//已经在自驾状态驾驶，继续自驾命令 - @CodeInfo("3.3.1") + @Deprecated + @ReportState(value = "3.3.1", deprecated = "4.2.0") String AUTOPILOT_TAKEN_OVER_BY_REMOTE = "ISYS_AUTOPILOT_TAKEN_OVER_BY_REMOTE";//自动驾驶被远程驾驶接管 - @CodeInfo("3.6.0") + @ReportState("3.6.0") String AUTOPILOT_TRA_LOADED = "ISYS_AUTOPILOT_TRA_LOADED";//自动驾驶路线加载成功 - @CodeInfo("3.6.0") + @ReportState("3.6.0") String AUTOPILOT_SHELL_WASTETIME = "ISYS_AUTOPILOT_SHELL_WASTETIME";//记录autopilot.sh脚本耗时 /*******轨迹下载相关*******/ - @CodeInfo("2.5.0") + @ReportState("2.5.0") String INIT_TRAJECTORY_START = "ISYS_INIT_TRAJECTORY_START";//轨迹管理_轨迹开始下载 - @CodeInfo("2.5.0") + @ReportState("2.5.0") String INIT_TRAJECTORY_SUCCESS = "ISYS_INIT_TRAJECTORY_SUCCESS";//轨迹管理_轨迹下载成功 - @CodeInfo("2.5.0") + @ReportState("2.5.0") String INIT_TRAJECTORY_FAILURE = "ISYS_INIT_TRAJECTORY_FAILURE";//轨迹管理_轨迹下载失败，本地无对应轨迹 - @CodeInfo("2.5.0") + @ReportState("2.5.0") String INIT_TRAJECTORY_WARNING = "ISYS_INIT_TRAJECTORY_WARNING";//轨迹管理_轨迹下载失败，本地有对应轨迹，认为成功 - @CodeInfo("2.5.0") + @ReportState("2.5.0") String INIT_TRAJECTORY_TIMEOUT = "ISYS_INIT_TRAJECTORY_TIMEOUT";//轨迹管理_轨迹下载超时 /*******配置更新相关*******/ - @CodeInfo("2.6.0") + @Deprecated + @ReportState(value = "2.6.0", deprecated = "4.2.0") String CONFIG_UPDATE_HADMAP = "ISYS_CONFIG_UPDATE_HADMAP";//需要重启升级高精地图 - @CodeInfo("2.9.0") + @Deprecated + @ReportState(value = "2.9.0", deprecated = "4.2.0") String CONFIG_UPDATE_AI_MODEL = "ISYS_CONFIG_UPDATE_AI_MODEL";//需要重启升级AI模型 - @CodeInfo("2.9.0") + @Deprecated + @ReportState(value = "2.9.0", deprecated = "4.2.0") String CONFIG_UPDATE_SLAM_MAP = "ISYS_CONFIG_UPDATE_SLAM_MAP";//需要重启升级SLAM地图 - @CodeInfo("2.10.0") + @Deprecated + @ReportState(value = "2.10.0", deprecated = "4.2.0") String CONFIG_UPDATING_HD_MAP = "ISYS_CONFIG_UPDATING_HD_MAP";//高精地图更新中 - @CodeInfo("2.10.0") + @Deprecated + @ReportState(value = "2.10.0", deprecated = "4.2.0") String CONFIG_UPDATING_SLAM_MAP = "ISYS_CONFIG_UPDATING_SLAM_MAP";//slam 地图更新中 - @CodeInfo("2.10.0") + @Deprecated + @ReportState(value = "2.10.0", deprecated = "4.2.0") String CONFIG_UPDATING_AI_MODEL = "ISYS_CONFIG_UPDATING_AI_MODEL";//AI模型更新中 - @CodeInfo("2.10.0") + @Deprecated + @ReportState(value = "2.10.0", deprecated = "4.2.0") String CONFIG_UPDATING_GRID_MAP = "ISYS_CONFIG_UPDATING_GRID_MAP";//珊格地图更新中 - @CodeInfo("3.5.0") + @ReportState("3.5.0") String TRAJECTORY_AGENT_READY = "ISYS_TRAJECTORY_AGENT_READY";//配置下载客户端已就绪 } @@ -672,28 +771,32 @@ public class MogoReport { * 系统状态 常规信息 */ interface ISSM { - @CodeInfo("2.10.0") + @ReportState("2.10.0") String INIT = "ISSM_INIT";//SSM系统上电初始化 - @CodeInfo("2.10.0") + @ReportState("2.10.0") String RESTARTED = "ISSM_RESTARTED";//SSM系统发生重启 - @CodeInfo("3.4.0") + @ReportState("3.4.0") String AUTO_PILOT_STATE_CHANGE = "ISSM_AUTO_PILOT_STATE_CHANGE";//自驾状态变化，msg填写 1 to 0 - @CodeInfo("3.4.0") + @ReportState("3.4.0") String REMOTE_PILOT_STATE_CHANGE = "ISSM_REMOTE_PILOT_STATE_CHANGE";//平行驾驶状态变化， msg填写 1 to 6 - @CodeInfo("3.4.0") + @ReportState("3.4.0") String AUTO_PILOT_FINISH = "ISSM_AUTO_PILOT_FINISH";//一次自驾请求处理结束 - @CodeInfo("3.4.0") + @ReportState("3.4.0") String REMOTE_PILOT_FINISH = "ISSM_REMOTE_PILOT_FINISH";//一次平行驾驶处理结束 - @CodeInfo("3.7.0") + @ReportState("3.7.0") String OTA_UPGRADE_START = "ISSM_OTA_UPGRADE_START";//OTA升级开始（升级内容见msg） - @CodeInfo("3.7.0") + @ReportState("3.7.0") String OTA_UPGRADE_FINISH = "ISSM_OTA_UPGRADE_FINISH";//OTA升级结束（升级内容见msg） - @CodeInfo("3.8.0") + @ReportState("3.8.0") String OTA_UPGRADE_LOADING = "ISSM_OTA_UPGRADE_LOADING";//OTA升级进行中 - @CodeInfo("3.7.0") + @ReportState("3.7.0") String RECEIVE_SHUTDOWN_SIGNAL = "ISSM_RECEIVE_SHUTDOWN_SIGNAL";//SSM收到下电信号 - @CodeInfo("3.3.0") + @ReportState("3.3.0") String HAVE_AGENT_CONNECTED = "ISSM_HAVE_AGENT_CONNECTED";//agent已连接成功 + @ReportState("4.1.0") + String MAN_START_NODE = "ISSM_MAN_START_NODE";//调试开启指定节点 + @ReportState("4.1.0") + String MAN_STOP_NODE = "ISSM_MAN_STOP_NODE";//调试关闭指定节点 // String MODE_XX_START = "ISSM_MODE_XX_START";//SSM变更模式开始 // String MODE_XX_FINISH = "ISSM_MODE_XX_FINISH";//SSM变更模式完成（第一次ready） @@ -704,45 +807,60 @@ public class MogoReport { //以上6组被注释掉的字段 中的MODE_XX分别替换成MODE_RUN、MODE_IDLE、MODE_STOP - @CodeInfo("2.10.0") + @ReportState("2.10.0") String MODE_RUN_START = "ISSM_MODE_RUN_START";//SSM变更模式开始 - @CodeInfo("2.10.0") + @ReportState("2.10.0") String MODE_RUN_FINISH = "ISSM_MODE_RUN_FINISH";//SSM变更模式完成（第一次ready） - @CodeInfo("2.10.0") + @ReportState("2.10.0") String MODE_RUN_ABORT = "ISSM_MODE_RUN_ABORT";//SSM变更模式中止 - @CodeInfo("2.10.0") + @ReportState("2.10.0") String MODE_RUN_TIMEOUT = "ISSM_MODE_RUN_TIMEOUT";//SSM变更模式超时 - @CodeInfo("2.10.0") + @ReportState("2.10.0") String MODE_RUN_READY = "ISSM_MODE_RUN_READY";//SSM模式就绪 - @CodeInfo("2.10.0") + @ReportState("2.10.0") String MODE_RUN_UNREADY = "ISSM_MODE_RUN_UNREADY";//SSM未就绪 - @CodeInfo("2.10.0") + @ReportState("2.10.0") String MODE_IDLE_START = "ISSM_MODE_IDLE_START";//SSM变更模式开始 - @CodeInfo("2.10.0") + @ReportState("2.10.0") String MODE_IDLE_FINISH = "ISSM_MODE_IDLE_FINISH";//SSM变更模式完成（第一次ready） - @CodeInfo("2.10.0") + @ReportState("2.10.0") String MODE_IDLE_ABORT = "ISSM_MODE_IDLE_ABORT";//SSM变更模式中止 - @CodeInfo("2.10.0") + @ReportState("2.10.0") String MODE_IDLE_TIMEOUT = "ISSM_MODE_IDLE_TIMEOUT";//SSM变更模式超时 - @CodeInfo("2.10.0") + @ReportState("2.10.0") String MODE_IDLE_READY = "ISSM_MODE_IDLE_READY";//SSM模式就绪 - @CodeInfo("2.10.0") + @ReportState("2.10.0") String MODE_IDLE_UNREADY = "ISSM_MODE_IDLE_UNREADY";//SSM未就绪 - @CodeInfo("2.10.0") + @ReportState("2.10.0") String MODE_STOP_START = "ISSM_MODE_STOP_START";//SSM变更模式开始 - @CodeInfo("2.10.0") + @ReportState("2.10.0") String MODE_STOP_FINISH = "ISSM_MODE_STOP_FINISH";//SSM变更模式完成（第一次ready） - @CodeInfo("2.10.0") + @ReportState("2.10.0") String MODE_STOP_ABORT = "ISSM_MODE_STOP_ABORT";//SSM变更模式中止 - @CodeInfo("2.10.0") + @ReportState("2.10.0") String MODE_STOP_TIMEOUT = "ISSM_MODE_STOP_TIMEOUT";//SSM变更模式超时 - @CodeInfo("2.10.0") + @ReportState("2.10.0") String MODE_STOP_READY = "ISSM_MODE_STOP_READY";//SSM模式就绪 - @CodeInfo("2.10.0") + @ReportState("2.10.0") String MODE_STOP_UNREADY = "ISSM_MODE_STOP_UNREADY";//SSM未就绪 + + @ReportState("4.2.0") + String MODE_RUN_STOP = "ISSM_MODE_RUN_STOP";//SSM变更模式结束-运行模式 + @ReportState("4.2.0") + String MODE_IDLE_STOP = "ISSM_MODE_IDLE_STOP";//SSM变更模式结束-空闲模式 + @ReportState("4.2.0") + String MODE_STOP_STOP = "ISSM_MODE_STOP_STOP";//SSM变更模式结束-停止模式 + @ReportState("4.2.0") + String FUNC_REMOTE_PILOT_STOP = "ISSM_FUNC_REMOTE_PILOT_STOP";//产品状态检查结束-平行驾驶状态 + @ReportState("4.2.0") + String FUNC_AUTO_PILOT_STOP = "ISSM_FUNC_AUTO_PILOT_STOP";//产品状态检查结束-自动驾驶状态 + @ReportState("4.2.0") + String FUNC_COLD_START_STOP = "ISSM_FUNC_COLD_START_STOP";//产品状态检查结束-冷启动状态 + + // String FUNC_YY_START = "ISSM_FUNC_YY_START";//产品状态检查开始 // String FUNC_YY_FINISH = "ISSM_FUNC_YY_FINISH";//产品状态达成（第一次ready） // String FUNC_YY_TIMEOUT = "ISSM_FUNC_YY_TIMEOUT";//产品状态检查超时 @@ -751,60 +869,61 @@ public class MogoReport { // String FUNC_YY_READY = "ISSM_FUNC_YY_READY";//产品状态就绪 //以上6组被注释掉的字段 中的FUNC_YY分别替换成FUNC_COLD_START、FUNC_AUTO_PILOT、FUNC_REMOTE_PILOT - @CodeInfo("2.10.0") + @ReportState("2.10.0") String FUNC_COLD_START_START = "ISSM_FUNC_COLD_START_START";//产品状态检查开始 - @CodeInfo("2.10.0") + @ReportState("2.10.0") String FUNC_COLD_START_FINISH = "ISSM_FUNC_COLD_START_FINISH";//产品状态达成（第一次ready） - @CodeInfo("2.10.0") + @ReportState("2.10.0") String FUNC_COLD_START_TIMEOUT = "ISSM_FUNC_COLD_START_TIMEOUT";//产品状态检查超时 - @CodeInfo("2.10.0") + @ReportState("2.10.0") String FUNC_COLD_START_ABORT = "ISSM_FUNC_COLD_START_ABORT";//产品状态检查中止 - @CodeInfo("2.10.0") + @ReportState("2.10.0") String FUNC_COLD_START_UNREADY = "ISSM_FUNC_COLD_START_UNREADY";//产品状态未就绪 - @CodeInfo("2.10.0") + @ReportState("2.10.0") String FUNC_COLD_START_READY = "ISSM_FUNC_COLD_START_READY";//产品状态就绪 - @CodeInfo("2.10.0") + @ReportState("2.10.0") String FUNC_AUTO_PILOT_START = "ISSM_FUNC_AUTO_PILOT_START";//产品状态检查开始 - @CodeInfo("2.10.0") + @ReportState("2.10.0") String FUNC_AUTO_PILOT_FINISH = "ISSM_FUNC_AUTO_PILOT_FINISH";//产品状态达成（第一次ready） - @CodeInfo("2.10.0") + @ReportState("2.10.0") String FUNC_AUTO_PILOT_TIMEOUT = "ISSM_FUNC_AUTO_PILOT_TIMEOUT";//产品状态检查超时 - @CodeInfo("2.10.0") + @ReportState("2.10.0") String FUNC_AUTO_PILOT_ABORT = "ISSM_FUNC_AUTO_PILOT_ABORT";//产品状态检查中止 - @CodeInfo("2.10.0") + @ReportState("2.10.0") String FUNC_AUTO_PILOT_UNREADY = "ISSM_FUNC_AUTO_PILOT_UNREADY";//产品状态未就绪 - @CodeInfo("2.10.0") + @ReportState("2.10.0") String FUNC_AUTO_PILOT_READY = "ISSM_FUNC_AUTO_PILOT_READY";//产品状态就绪 - @CodeInfo("2.10.0") + @ReportState("2.10.0") String FUNC_REMOTE_PILOT_START = "ISSM_FUNC_REMOTE_PILOT_START";//产品状态检查开始 - @CodeInfo("2.10.0") + @ReportState("2.10.0") String FUNC_REMOTE_PILOT_FINISH = "ISSM_FUNC_REMOTE_PILOT_FINISH";//产品状态达成（第一次ready） - @CodeInfo("2.10.0") + @ReportState("2.10.0") String FUNC_REMOTE_PILOT_TIMEOUT = "ISSM_FUNC_REMOTE_PILOT_TIMEOUT";//产品状态检查超时 - @CodeInfo("2.10.0") + @ReportState("2.10.0") String FUNC_REMOTE_PILOT_ABORT = "ISSM_FUNC_REMOTE_PILOT_ABORT";//产品状态检查中止 - @CodeInfo("2.10.0") + @ReportState("2.10.0") String FUNC_REMOTE_PILOT_UNREADY = "ISSM_FUNC_REMOTE_PILOT_UNREADY";//产品状态未就绪 - @CodeInfo("2.10.0") + @ReportState("2.10.0") String FUNC_REMOTE_PILOT_READY = "ISSM_FUNC_REMOTE_PILOT_READY";//产品状态就绪 } interface IAGENT { - @CodeInfo("2.4.0") + @Deprecated + @ReportState(value = "2.4.0", deprecated = "4.2.0") String EXECUTE_MASTER_COMMAND = "IAGENT_EXECUTE_MASTER_COMMAND";//执行系统指令成功 } interface ICAM { - @CodeInfo("2.5.0") + @ReportState("2.5.0") String READY = "ICAM_READY";//相机已就绪 } interface ILCT { - @CodeInfo("2.5.0") + @ReportState("2.5.0") String RTK_STATUS_NORMAL = "ILCT_RTK_STATUS_NORMAL";//rtk状态正常或恢复正常 - @CodeInfo("2.6.0") + @ReportState("2.6.0") String RTK_OR_SLAM_CHANGE = "ILCT_RTK_OR_SLAM_CHANGE";//定位输出源发生RTK和SLAM变换 } @@ -812,9 +931,9 @@ public class MogoReport { * 推流状态 */ interface IPUSH { - @CodeInfo("2.10.0") + @ReportState("2.10.0") String VIDEO_INIT_SUCCESS = "IPUSH_VIDEO_INIT_SUCCESS";//推流初始化成功 - @CodeInfo("2.10.0") + @ReportState("2.10.0") String VIDEO_START_SERVICE_SUCCESS = "IPUSH_VIDEO_START_SERVICE_SUCCESS";//推流服务启动成功 } @@ -822,9 +941,9 @@ public class MogoReport { * 录包状态 */ interface IRECORDER { - @CodeInfo("2.10.0") + @ReportState("2.10.0") String TASK_AUTO = "IRECORDER_TASK_AUTO";//自动录包任务创建 - @CodeInfo("2.10.0") + @ReportState("2.10.0") String TASK_CMD = "IRECORDER_TASK_CMD";//指令录包任务创建 } @@ -832,7 +951,7 @@ public class MogoReport { * 平行驾驶相关 */ interface IPARALLEL { - @CodeInfo("2.11.0") + @ReportState("2.11.0") String AICLOUD_CONNECTION_OK = "IPARALLEL_AICLOUD_CONNECTION_OK";//长连接连接恢复后， 5s 内如果长连状态一直 ok 的话，会触发该事件 建议鹰眼展示该事件 } @@ -840,7 +959,7 @@ public class MogoReport { * 车辆处于困境相关 */ interface IVEHICLE { - @CodeInfo("2.11.0") + @ReportState("2.11.0") String NOT_IN_TROUBLE = "IVEHICLE_NOT_IN_TROUBLE";//车辆脱离困境，恢复正常，可继续开始自动驾驶了 触发频率：处于困境中，触发一次； 脱困后，触发一次 云端驾舱会接入该事件 建议鹰眼也接入，展示困境状态/脱困状态 } @@ -848,11 +967,11 @@ public class MogoReport { * IFSM(功能状态管理) */ interface IFSM { - @CodeInfo("3.5.0") + @ReportState("3.5.0") String AUTO_PILOT_STATE_CHANGED = "IFSM_AUTO_PILOT_STATE_CHANGED";//自动驾驶状态机变化 （msg 填写如 standby to active ） - @CodeInfo("3.5.0") + @ReportState("3.5.0") String REMOTE_PILOT_STATE_CHANGED = "IFSM_REMOTE_PILOT_STATE_CHANGED";//平行驾驶状态机变化 - @CodeInfo("3.5.0") + @ReportState("3.5.0") String TELECTRL_PILOT_STATE_CHANGED = "IFSM_TELECTRL_PILOT_STATE_CHANGED";//遥感驾驶状态机变化 } @@ -860,15 +979,15 @@ public class MogoReport { * IFM (故障管理) */ interface IFM { - @CodeInfo("3.4.0") + @ReportState("3.4.0") String HANDLE_FAULTS_START = "IFM_HANDLE_FAULTS_START";//FM开始处理故障 - @CodeInfo("3.4.0") + @ReportState("3.4.0") String HANDLE_FAULTS_STOP = "IFM_HANDLE_FAULTS_STOP";//FM停止处理故障 - @CodeInfo("3.4.0") + @ReportState("3.4.0") String ALL_FAULTS_RECOVER = "IFM_ALL_FAULTS_RECOVER";//FM当前已无故障 （只有有故障到全都消失时候上报） - @CodeInfo("3.4.0") + @ReportState("3.4.0") String ONLY_WARNING_FAULTS = "IFM_ONLY_WARNING_FAULTS";//FM仅存在警示故障 - @CodeInfo("3.4.0") + @ReportState("3.4.0") String ERROR1_SLOW_SPEED = "IFM_ERROR1_SLOW_SPEED";//存在故障触发减速策略 } @@ -876,27 +995,59 @@ public class MogoReport { * IMF（蘑方消息回执） */ interface IMF { - @CodeInfo("3.7.1") + @ReportState("3.7.1") String SPEED_CHANGE_RECEIVE = "IMF_SPEED_CHANGE_RECEIVE";//蘑方加速度变化指令收到（msg字段的拼接方式为：传进来的加速度值$$其它想加的内容，没有可以不填） - @CodeInfo("3.7.1") + @ReportState("3.7.1") String SPEED_CHANGE_EXECUTE = "IMF_SPEED_CHANGE_EXECUTE";//蘑方加速度变化指令执行（msg字段的拼接方式为：传进来的加速度值$$其它想加的内容，没有可以不填） - @CodeInfo("3.7.1") + @ReportState("3.7.1") String SPEED_RESET_RECEIVE = "IMF_SPEED_RESET_RECEIVE";//蘑方复位指令收到（msg字段的拼接方式为：传进来的加速度值$$其它想加的内容，没有可以不填） - @CodeInfo("3.7.1") + @ReportState("3.7.1") String SPEED_RESET_EXECUTE = "IMF_SPEED_RESET_EXECUTE";// 蘑方复位指令执行（msg字段的拼接方式为：传进来的加速度值$$其它想加的内容，没有可以不填） - @CodeInfo("3.7.1") + @ReportState("3.7.1") String LAN_CHANG_RECEIVE = "IMF_LAN_CHANG_RECEIVE";//蘑方变道指令收到（msg字段的拼接方式为：-1/1$$其它想加的内容，没有可以不填） -1: 左变道；1: 右变道 - @CodeInfo("3.7.1") + @ReportState("3.7.1") String LAN_CHANG_EXECUTE = "IMF_LAN_CHANG_EXECUTE";//蘑方变道指令执行（msg字段的拼接方式为：-1/1$$其它想加的内容，没有可以不填） -1: 左变道；1: 右变道 - @CodeInfo("3.7.1") + @ReportState("3.7.1") String HORN_RECEIVE = "IMF_HORN_RECEIVE";//蘑方鸣笛指令收到（msg字段的拼接方式为：1.0/2.0$$其它想加的内容，没有可以不填） 1.0：开始鸣笛；2.0: 结束鸣笛 - @CodeInfo("3.7.1") + @ReportState("3.7.1") String HORN_EXECUTE = "IMF_HORN_EXECUTE";//蘑方鸣笛指令执行（msg字段的拼接方式为：1.0/2.0$$其它想加的内容，没有可以不填） 1.0：开始鸣笛；2.0: 结束鸣笛 } } } - private static final Map codeInfoMap = new HashMap<>(); + + private static final Map resultStates = new HashMap<>(); + private static final Map actionStates = new HashMap<>(); + private static final Map codeStates = new HashMap<>(); + + + /** + * 获取指定Result的相关信息 + * + * @param result 指定Result {@link Result} + * @return 输入Result的相关信息 不存在返回null + */ + public static ReportInfo getReportResultState(String result) { + if (resultStates.isEmpty()) { + getAllResultFieldAnnotation(Result.class); + } + return resultStates.get(result); + } + + + /** + * 获取指定Action的相关信息 + * + * @param action 指定Action {@link Action} + * @return 输入Action的相关信息 不存在返回null + */ + public static ReportInfo getReportActionState(String action) { + if (actionStates.isEmpty()) { + getAllActionFieldAnnotation(Action.class); + } + return actionStates.get(action); + } + /** * 获取指定Code的相关信息 @@ -904,30 +1055,71 @@ public class MogoReport { * @param code 指定Code {@link Code} * @return 输入Code的相关信息 不存在返回null */ - public static ReportCodeInfo getReportCodeState(String code) { - if (codeInfoMap.isEmpty()) { - getAllFieldAnnotation(Code.class); + public static ReportInfo getReportCodeState(String code) { + if (codeStates.isEmpty()) { + getAllCodeFieldAnnotation(Code.class); } - return codeInfoMap.get(code); + return codeStates.get(code); } - //获取所有的字段 - private static void getAllFieldAnnotation(Class clazz) { + private static void getAllResultFieldAnnotation(Class clazz) { + Field[] fields = clazz.getDeclaredFields(); for (Field field : fields) { - boolean fieldHasAnno = field.isAnnotationPresent(CodeInfo.class); + boolean fieldHasAnno = field.isAnnotationPresent(ReportState.class); if (fieldHasAnno) { - CodeInfo fieldAnno = field.getAnnotation(CodeInfo.class); + ReportState fieldAnno = field.getAnnotation(ReportState.class); if (fieldAnno != null) { - String code = clazz.getSimpleName() + "_" + field.getName(); - ReportCodeInfo state = new ReportCodeInfo(code, fieldAnno.value(), fieldAnno.deprecated()); - codeInfoMap.put(code, state); + String code = clazz.getSimpleName().toUpperCase(Locale.getDefault()) + "_" + field.getName(); + ReportInfo state = new ReportInfo(code, fieldAnno.value(), fieldAnno.deprecated()); + resultStates.put(code, state); } } } Class[] innerClazz = clazz.getDeclaredClasses(); for (Class inner : innerClazz) { - getAllFieldAnnotation(inner); + getAllResultFieldAnnotation(inner); + } + } + + private static void getAllActionFieldAnnotation(Class clazz) { + + Field[] fields = clazz.getDeclaredFields(); + for (Field field : fields) { + boolean fieldHasAnno = field.isAnnotationPresent(ReportState.class); + if (fieldHasAnno) { + ReportState fieldAnno = field.getAnnotation(ReportState.class); + if (fieldAnno != null) { + String code = clazz.getSimpleName().toUpperCase(Locale.getDefault()) + "_" + field.getName(); + ReportInfo state = new ReportInfo(code, fieldAnno.value(), fieldAnno.deprecated()); + actionStates.put(code, state); + } + } + } + Class[] innerClazz = clazz.getDeclaredClasses(); + for (Class inner : innerClazz) { + getAllActionFieldAnnotation(inner); + } + } + + //获取所有Code的字段 + private static void getAllCodeFieldAnnotation(Class clazz) { + + Field[] fields = clazz.getDeclaredFields(); + for (Field field : fields) { + boolean fieldHasAnno = field.isAnnotationPresent(ReportState.class); + if (fieldHasAnno) { + ReportState fieldAnno = field.getAnnotation(ReportState.class); + if (fieldAnno != null) { + String code = clazz.getSimpleName() + "_" + field.getName(); + ReportInfo state = new ReportInfo(code, fieldAnno.value(), fieldAnno.deprecated()); + codeStates.put(code, state); + } + } + } + Class[] innerClazz = clazz.getDeclaredClasses(); + for (Class inner : innerClazz) { + getAllCodeFieldAnnotation(inner); } } } diff --git a/libraries/mogo-adas-data/src/main/java/com/zhjt/mogo/adas/data/bean/ReportCodeInfo.java b/libraries/mogo-adas-data/src/main/java/com/zhjt/mogo/adas/data/bean/ReportInfo.java similarity index 53% rename from libraries/mogo-adas-data/src/main/java/com/zhjt/mogo/adas/data/bean/ReportCodeInfo.java rename to libraries/mogo-adas-data/src/main/java/com/zhjt/mogo/adas/data/bean/ReportInfo.java index 0579bd5171..19df3093ac 100644 --- a/libraries/mogo-adas-data/src/main/java/com/zhjt/mogo/adas/data/bean/ReportCodeInfo.java +++ b/libraries/mogo-adas-data/src/main/java/com/zhjt/mogo/adas/data/bean/ReportInfo.java @@ -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); } } diff --git a/libraries/mogo-adas-data/src/main/java/com/zhjt/mogo/adas/data/bean/CodeInfo.java b/libraries/mogo-adas-data/src/main/java/com/zhjt/mogo/adas/data/bean/ReportState.java similarity index 58% rename from libraries/mogo-adas-data/src/main/java/com/zhjt/mogo/adas/data/bean/CodeInfo.java rename to libraries/mogo-adas-data/src/main/java/com/zhjt/mogo/adas/data/bean/ReportState.java index e55158c574..efe4f0a0bd 100644 --- a/libraries/mogo-adas-data/src/main/java/com/zhjt/mogo/adas/data/bean/CodeInfo.java +++ b/libraries/mogo-adas-data/src/main/java/com/zhjt/mogo/adas/data/bean/ReportState.java @@ -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 } From 2883ed51a4031a716da61f8098f75c9786f49b75 Mon Sep 17 00:00:00 2001 From: chenfufeng Date: Mon, 8 Apr 2024 16:21:09 +0800 Subject: [PATCH 02/14] =?UTF-8?q?[6.4.0][Feat]FM=E6=95=B0=E6=8D=AE?= =?UTF-8?q?=E5=85=A5=E5=BA=93=E5=B9=B6=E5=A2=9E=E5=8A=A0=E6=9F=A5=E8=AF=A2?= =?UTF-8?q?=E6=8E=A5=E5=8F=A3?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- .../eagle/core/function/msgbox/DataManager.kt | 24 +++++++++++++++++-- .../core/function/msgbox/MsgBoxProvider.kt | 8 +++++++ .../core/function/msgbox/db/MsgBoxDao.kt | 3 +++ .../api/datacenter/msgbox/IMsgBoxProvider.kt | 2 ++ .../call/msgbox/CallerMsgBoxManager.kt | 7 ++++++ 5 files changed, 42 insertions(+), 2 deletions(-) diff --git a/core/function-impl/mogo-core-function-datacenter/src/main/java/com/mogo/eagle/core/function/msgbox/DataManager.kt b/core/function-impl/mogo-core-function-datacenter/src/main/java/com/mogo/eagle/core/function/msgbox/DataManager.kt index 397d1222c0..18894c47d6 100644 --- a/core/function-impl/mogo-core-function-datacenter/src/main/java/com/mogo/eagle/core/function/msgbox/DataManager.kt +++ b/core/function-impl/mogo-core-function-datacenter/src/main/java/com/mogo/eagle/core/function/msgbox/DataManager.kt @@ -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 = + private suspend fun getCacheMessages(context: Context): List = 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 { + 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 + } + } + } } \ No newline at end of file diff --git a/core/function-impl/mogo-core-function-datacenter/src/main/java/com/mogo/eagle/core/function/msgbox/MsgBoxProvider.kt b/core/function-impl/mogo-core-function-datacenter/src/main/java/com/mogo/eagle/core/function/msgbox/MsgBoxProvider.kt index 106b464eef..41e0b64671 100644 --- a/core/function-impl/mogo-core-function-datacenter/src/main/java/com/mogo/eagle/core/function/msgbox/MsgBoxProvider.kt +++ b/core/function-impl/mogo-core-function-datacenter/src/main/java/com/mogo/eagle/core/function/msgbox/MsgBoxProvider.kt @@ -50,6 +50,14 @@ class MsgBoxProvider : IMsgBoxProvider { return DataManager.getRecordBagData() } + override fun queryFMInfoList( + context: Context, + startTime: Long, + endTime: Long + ): List { + return DataManager.queryFMInfoList(context, startTime, endTime) + } + override fun removeRecordInfo(context: Context, msgBoxBean: MsgBoxBean, key: String) { DataManager.removeRecordInfo(key, key) DataManager.delMsgBoxBean(context, msgBoxBean) diff --git a/core/function-impl/mogo-core-function-datacenter/src/main/java/com/mogo/eagle/core/function/msgbox/db/MsgBoxDao.kt b/core/function-impl/mogo-core-function-datacenter/src/main/java/com/mogo/eagle/core/function/msgbox/db/MsgBoxDao.kt index 923e574416..51124004f8 100644 --- a/core/function-impl/mogo-core-function-datacenter/src/main/java/com/mogo/eagle/core/function/msgbox/db/MsgBoxDao.kt +++ b/core/function-impl/mogo-core-function-datacenter/src/main/java/com/mogo/eagle/core/function/msgbox/db/MsgBoxDao.kt @@ -16,6 +16,9 @@ interface MsgBoxDao { @Query("SELECT * FROM t_msg_box") fun getAllCachedMessages(): List + @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 + @Query("DELETE FROM t_msg_box") fun deleteMsgTable() } \ No newline at end of file diff --git a/core/mogo-core-function-api/src/main/java/com/mogo/eagle/core/function/api/datacenter/msgbox/IMsgBoxProvider.kt b/core/mogo-core-function-api/src/main/java/com/mogo/eagle/core/function/api/datacenter/msgbox/IMsgBoxProvider.kt index 28ffc983f2..42e55c5e73 100644 --- a/core/mogo-core-function-api/src/main/java/com/mogo/eagle/core/function/api/datacenter/msgbox/IMsgBoxProvider.kt +++ b/core/mogo-core-function-api/src/main/java/com/mogo/eagle/core/function/api/datacenter/msgbox/IMsgBoxProvider.kt @@ -26,6 +26,8 @@ interface IMsgBoxProvider: IMoGoFunctionServerProvider { */ fun getCachedRecordBagData(): List + fun queryFMInfoList(context: Context, startTime: Long, endTime: Long): List + fun removeRecordInfo(context: Context, msgBoxBean: MsgBoxBean, key: String) fun getDismissTime(): Long diff --git a/core/mogo-core-function-call/src/main/java/com/mogo/eagle/core/function/call/msgbox/CallerMsgBoxManager.kt b/core/mogo-core-function-call/src/main/java/com/mogo/eagle/core/function/call/msgbox/CallerMsgBoxManager.kt index b453929178..0ee40a2d7e 100644 --- a/core/mogo-core-function-call/src/main/java/com/mogo/eagle/core/function/call/msgbox/CallerMsgBoxManager.kt +++ b/core/mogo-core-function-call/src/main/java/com/mogo/eagle/core/function/call/msgbox/CallerMsgBoxManager.kt @@ -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? { + 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 From afd44e9da7c846dadccab4ceed6c9be47294e2fc Mon Sep 17 00:00:00 2001 From: chenfufeng Date: Mon, 8 Apr 2024 16:21:49 +0800 Subject: [PATCH 03/14] =?UTF-8?q?[6.4.0][Feat]=E6=96=B0=E5=A2=9E=E5=B7=A5?= =?UTF-8?q?=E5=8D=95=E5=BB=BA=E8=AE=AE=E7=9A=84=E6=95=B0=E6=8D=AE=E6=9D=A5?= =?UTF-8?q?=E6=BA=90?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- .../java/com/mogo/eagle/core/data/enums/DataSourceType.kt | 4 +++- 1 file changed, 3 insertions(+), 1 deletion(-) diff --git a/core/mogo-core-data/src/main/java/com/mogo/eagle/core/data/enums/DataSourceType.kt b/core/mogo-core-data/src/main/java/com/mogo/eagle/core/data/enums/DataSourceType.kt index 727e05201d..fbff75f3d3 100644 --- a/core/mogo-core-data/src/main/java/com/mogo/eagle/core/data/enums/DataSourceType.kt +++ b/core/mogo-core-data/src/main/java/com/mogo/eagle/core/data/enums/DataSourceType.kt @@ -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" } } From 4e35d90a57b340837d8cca04d7e6d5d5cc529cee Mon Sep 17 00:00:00 2001 From: EmArrow Date: Mon, 8 Apr 2024 16:30:05 +0800 Subject: [PATCH 04/14] [6.4.0] add func of auth cert show --- .../autopilot/MoGoAutopilotControlProvider.kt | 6 +- .../MoGoAdasMsgConnectStatusListenerImpl.kt | 20 +++-- .../status/flow/OverViewImpl.kt | 50 ++++++++++- .../status/ui/StatusSummaryView.kt | 34 -------- .../hmi/ui/setting/DebugSettingView.kt | 32 ++++--- .../hmi/ui/setting/StatusSummaryAdapter.kt | 3 + .../hmi/ui/setting/StatusSummaryView.kt | 80 ++++++++++++++++-- .../src/main/res/drawable-xhdpi/ssl_check.png | Bin 0 -> 988 bytes .../stageone/secret/CertFileManager.kt | 10 +++ .../stageone/secret/PassPortSecret.java | 5 +- .../IMoGoAutopilotCarConfigListener.kt | 7 +- .../function/api/cloud/IMoGoCertProvider.kt | 2 + .../function/api/cloud/IMoGoCloudListener.kt | 5 ++ ...CallerAutopilotCarConfigListenerManager.kt | 17 ++++ .../call/cloud/CallerCloudCertManager.kt | 4 + .../call/cloud/CallerCloudListenerManager.kt | 13 +++ 16 files changed, 217 insertions(+), 71 deletions(-) delete mode 100644 core/function-impl/mogo-core-function-devatools/src/main/java/com/zhjt/mogo_core_function_devatools/status/ui/StatusSummaryView.kt create mode 100644 core/function-impl/mogo-core-function-hmi/src/main/res/drawable-xhdpi/ssl_check.png diff --git a/core/function-impl/mogo-core-function-datacenter/src/main/java/com/mogo/eagle/core/function/datacenter/autopilot/MoGoAutopilotControlProvider.kt b/core/function-impl/mogo-core-function-datacenter/src/main/java/com/mogo/eagle/core/function/datacenter/autopilot/MoGoAutopilotControlProvider.kt index f886339bb0..b08efc0941 100644 --- a/core/function-impl/mogo-core-function-datacenter/src/main/java/com/mogo/eagle/core/function/datacenter/autopilot/MoGoAutopilotControlProvider.kt +++ b/core/function-impl/mogo-core-function-datacenter/src/main/java/com/mogo/eagle/core/function/datacenter/autopilot/MoGoAutopilotControlProvider.kt @@ -129,7 +129,7 @@ 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)) + .setEnableCertification(SharedPrefsMgr.getInstance().getBoolean("${MoGoConfig.AUTOPILOT_CERTIFICATION}-${DebugConfig.getNetMode()}", MoGoConfig.AUTOPILOT_CERTIFICATION_DEFAULT_VALUE)) .setRootCrt(CallerCloudCertManager.getRootCrtF()) .setDeviceCrt(CallerCloudCertManager.getDeviceCrtF()) .setUnableLaunchAutopilotGear(FunctionBuildConfig.unableLaunchAutopilotGear) @@ -260,7 +260,7 @@ 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)) + .setEnableCertification(SharedPrefsMgr.getInstance().getBoolean("${MoGoConfig.AUTOPILOT_CERTIFICATION}-${DebugConfig.getNetMode()}", MoGoConfig.AUTOPILOT_CERTIFICATION_DEFAULT_VALUE)) .setRootCrt(CallerCloudCertManager.getRootCrtF()) .setDeviceCrt(CallerCloudCertManager.getDeviceCrtF()) .setUnableLaunchAutopilotGear(FunctionBuildConfig.unableLaunchAutopilotGear) @@ -321,7 +321,7 @@ 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)) + .setEnableCertification(SharedPrefsMgr.getInstance().getBoolean("${MoGoConfig.AUTOPILOT_CERTIFICATION}-${DebugConfig.getNetMode()}", MoGoConfig.AUTOPILOT_CERTIFICATION_DEFAULT_VALUE)) .setRootCrt(CallerCloudCertManager.getRootCrtF()) .setDeviceCrt(CallerCloudCertManager.getDeviceCrtF()) .setConnectionMode(AdasOptions.IPC_CONNECTION_MODE.SPECIFIED) diff --git a/core/function-impl/mogo-core-function-datacenter/src/main/java/com/mogo/eagle/core/function/datacenter/autopilot/adapter/MoGoAdasMsgConnectStatusListenerImpl.kt b/core/function-impl/mogo-core-function-datacenter/src/main/java/com/mogo/eagle/core/function/datacenter/autopilot/adapter/MoGoAdasMsgConnectStatusListenerImpl.kt index c1bbbb09c0..9e41f5caa3 100644 --- a/core/function-impl/mogo-core-function-datacenter/src/main/java/com/mogo/eagle/core/function/datacenter/autopilot/adapter/MoGoAdasMsgConnectStatusListenerImpl.kt +++ b/core/function-impl/mogo-core-function-datacenter/src/main/java/com/mogo/eagle/core/function/datacenter/autopilot/adapter/MoGoAdasMsgConnectStatusListenerImpl.kt @@ -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() } diff --git a/core/function-impl/mogo-core-function-devatools/src/main/java/com/zhjt/mogo_core_function_devatools/status/flow/OverViewImpl.kt b/core/function-impl/mogo-core-function-devatools/src/main/java/com/zhjt/mogo_core_function_devatools/status/flow/OverViewImpl.kt index 3508e7fc2f..2faadac60d 100644 --- a/core/function-impl/mogo-core-function-devatools/src/main/java/com/zhjt/mogo_core_function_devatools/status/flow/OverViewImpl.kt +++ b/core/function-impl/mogo-core-function-devatools/src/main/java/com/zhjt/mogo_core_function_devatools/status/flow/OverViewImpl.kt @@ -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(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(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(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(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(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) diff --git a/core/function-impl/mogo-core-function-devatools/src/main/java/com/zhjt/mogo_core_function_devatools/status/ui/StatusSummaryView.kt b/core/function-impl/mogo-core-function-devatools/src/main/java/com/zhjt/mogo_core_function_devatools/status/ui/StatusSummaryView.kt deleted file mode 100644 index 1845640015..0000000000 --- a/core/function-impl/mogo-core-function-devatools/src/main/java/com/zhjt/mogo_core_function_devatools/status/ui/StatusSummaryView.kt +++ /dev/null @@ -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() { - - } -} \ No newline at end of file diff --git a/core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/hmi/ui/setting/DebugSettingView.kt b/core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/hmi/ui/setting/DebugSettingView.kt index 9556510904..aa86877049 100644 --- a/core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/hmi/ui/setting/DebugSettingView.kt +++ b/core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/hmi/ui/setting/DebugSettingView.kt @@ -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( @@ -2504,6 +2510,6 @@ internal class DebugSettingView @JvmOverloads constructor( paramIndexes = [0] ) private fun invokeCronetResult(json: String) { - Log.d("CronetNetwork", json) + CallerLogger.d(SceneConstant.M_HMI + "CronetNetwork", json) } } \ No newline at end of file diff --git a/core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/hmi/ui/setting/StatusSummaryAdapter.kt b/core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/hmi/ui/setting/StatusSummaryAdapter.kt index e1109c28b6..15f0de63a3 100644 --- a/core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/hmi/ui/setting/StatusSummaryAdapter.kt +++ b/core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/hmi/ui/setting/StatusSummaryAdapter.kt @@ -48,6 +48,9 @@ class StatusSummaryAdapter(private val ctx: Context, var data: ArrayList { ivFuncView.setImageResource(R.drawable.controller) } + 5 -> { + ivFuncView.setImageResource(R.drawable.ssl_check) + } } if (entity.isException) { tvStatusDesc.setTextColor(Color.parseColor("#FF4444")) diff --git a/core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/hmi/ui/setting/StatusSummaryView.kt b/core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/hmi/ui/setting/StatusSummaryView.kt index 165f28ed20..4faa82f169 100644 --- a/core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/hmi/ui/setting/StatusSummaryView.kt +++ b/core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/hmi/ui/setting/StatusSummaryView.kt @@ -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}-${DebugConfig.getNetMode()}", + MoGoConfig.AUTOPILOT_CERTIFICATION_DEFAULT_VALUE + ) + ) { + return + } + UiThreadHandler.post { + if (data.size < 6) return@post + data[5].desc = msg + data[5].isException = !msg.contains("成功校验") + adapter?.notifyItemChanged(5) + } + } } \ No newline at end of file diff --git a/core/function-impl/mogo-core-function-hmi/src/main/res/drawable-xhdpi/ssl_check.png b/core/function-impl/mogo-core-function-hmi/src/main/res/drawable-xhdpi/ssl_check.png new file mode 100644 index 0000000000000000000000000000000000000000..1fe5c0f1a8af6b86e0c0eaec62d21e6b71135216 GIT binary patch literal 988 zcmV<210(#2P)Px&mPtfGRCr$Pn$4BdFc5%8p#j)O0ekVC4p_<|oTy+)2V7XrRI*7OxljNvR6xWV z#S_M3$(F{lyu|V)Z&$zb&97t|SovdCEH^gT79?=@?f3A0Pf$cr*YH9gQypp%{Rm;L`33gP0Wn3XSsl zG;RU*uMF&deQfp}cW8lNyRmTCY+#Rl=86xK08kL)o3jSq z^AoK7ft#2sZ&OY2udXon0QP=rHJJ&(crxVKLFRLc@O+j~9Wl6)!WEMNxYR_ZKQ4FC z9-3^B3?P*Mi%RNSOria@Vol$=KMwTg;q^YY_6|fAb`&$NMGre7W1IKn=-IMH`)UAD zZoo7`0Sqg`D?HIo)go1w7}-1h2lRxXe{UO?2~r=G3&a2*0emMt+$3p?x4RQydry!8 zV9JGx3P4O8AOS+K#sH-NpuVZvSGzzA0BM#zOAtXzwx2s27~4{lx?D-34$T?b_MxkAmpw;bwD37KZjfvN-2B_uSMR{U z>vkibPuu2e289Nv;1*~A4rj-xeRrTZ6(#}Tn&R4{+^jXj6kxoPlp4qVrM`qo0ub8h zP<@{w+*sc^zA4B8pm#c)P?&@u$a@3r1&EwK8-QMR$Os{HR35XKnD%S{aIrZc%qhIO z6doe$trHa1Am@=6tTEb+>66t0_=3H2ea^e=JNH>dc^>Atic1KwBWR#;sCfNd{<&IkvnIf zMFHd#L_1dnpe1)J r = initLow(passportService, deviceId, path); diff --git a/core/mogo-core-function-api/src/main/java/com/mogo/eagle/core/function/api/autopilot/IMoGoAutopilotCarConfigListener.kt b/core/mogo-core-function-api/src/main/java/com/mogo/eagle/core/function/api/autopilot/IMoGoAutopilotCarConfigListener.kt index 255cd1c59f..f51ad9a1ea 100644 --- a/core/mogo-core-function-api/src/main/java/com/mogo/eagle/core/function/api/autopilot/IMoGoAutopilotCarConfigListener.kt +++ b/core/mogo-core-function-api/src/main/java/com/mogo/eagle/core/function/api/autopilot/IMoGoAutopilotCarConfigListener.kt @@ -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){} } \ No newline at end of file diff --git a/core/mogo-core-function-api/src/main/java/com/mogo/eagle/core/function/api/cloud/IMoGoCertProvider.kt b/core/mogo-core-function-api/src/main/java/com/mogo/eagle/core/function/api/cloud/IMoGoCertProvider.kt index fbd266d3df..3a00812113 100644 --- a/core/mogo-core-function-api/src/main/java/com/mogo/eagle/core/function/api/cloud/IMoGoCertProvider.kt +++ b/core/mogo-core-function-api/src/main/java/com/mogo/eagle/core/function/api/cloud/IMoGoCertProvider.kt @@ -8,4 +8,6 @@ interface IMoGoCertProvider:IProvider { fun getDeviceCrtF():String? fun getRootCrtF(): String? + + fun getCrtFileErrorMsg(): String? } \ No newline at end of file diff --git a/core/mogo-core-function-api/src/main/java/com/mogo/eagle/core/function/api/cloud/IMoGoCloudListener.kt b/core/mogo-core-function-api/src/main/java/com/mogo/eagle/core/function/api/cloud/IMoGoCloudListener.kt index d82f858588..41dca782c4 100644 --- a/core/mogo-core-function-api/src/main/java/com/mogo/eagle/core/function/api/cloud/IMoGoCloudListener.kt +++ b/core/mogo-core-function-api/src/main/java/com/mogo/eagle/core/function/api/cloud/IMoGoCloudListener.kt @@ -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){} /** diff --git a/core/mogo-core-function-call/src/main/java/com/mogo/eagle/core/function/call/autopilot/CallerAutopilotCarConfigListenerManager.kt b/core/mogo-core-function-call/src/main/java/com/mogo/eagle/core/function/call/autopilot/CallerAutopilotCarConfigListenerManager.kt index 950f9bb2fe..dbf75c5c27 100644 --- a/core/mogo-core-function-call/src/main/java/com/mogo/eagle/core/function/call/autopilot/CallerAutopilotCarConfigListenerManager.kt +++ b/core/mogo-core-function-call/src/main/java/com/mogo/eagle/core/function/call/autopilot/CallerAutopilotCarConfigListenerManager.kt @@ -11,11 +11,16 @@ object CallerAutopilotCarConfigListenerManager : CallerBase() { 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() { } } + fun invokeCloudCrtError(errorMsg: String){ + M_LISTENERS.forEach { + val listener = it.value + listener.authCrtError(errorMsg) + } + } + /** * 分发获取到的设备sn */ From a6487c4966df78d356c56e13289310b5e2b7c87a Mon Sep 17 00:00:00 2001 From: xinfengkun Date: Mon, 8 Apr 2024 17:40:02 +0800 Subject: [PATCH 05/14] =?UTF-8?q?[640][app]=20=E6=B7=BB=E5=8A=A0=E8=8E=B7?= =?UTF-8?q?=E5=8F=96=E7=95=8C=E9=9D=A2=E5=90=8E=E7=9A=84=E8=AF=81=E4=B9=A6?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- .../autopilot/MoGoAutopilotControlProvider.kt | 12 ++++++------ .../function/call/cloud/CallerCloudCertManager.kt | 10 +++++++++- 2 files changed, 15 insertions(+), 7 deletions(-) diff --git a/core/function-impl/mogo-core-function-datacenter/src/main/java/com/mogo/eagle/core/function/datacenter/autopilot/MoGoAutopilotControlProvider.kt b/core/function-impl/mogo-core-function-datacenter/src/main/java/com/mogo/eagle/core/function/datacenter/autopilot/MoGoAutopilotControlProvider.kt index b08efc0941..bfdfffcc4c 100644 --- a/core/function-impl/mogo-core-function-datacenter/src/main/java/com/mogo/eagle/core/function/datacenter/autopilot/MoGoAutopilotControlProvider.kt +++ b/core/function-impl/mogo-core-function-datacenter/src/main/java/com/mogo/eagle/core/function/datacenter/autopilot/MoGoAutopilotControlProvider.kt @@ -130,8 +130,8 @@ class MoGoAutopilotControlProvider : .setPingAddressList(AdasManager.getInstance().pingAddressList) .setPassenger(false) .setEnableCertification(SharedPrefsMgr.getInstance().getBoolean("${MoGoConfig.AUTOPILOT_CERTIFICATION}-${DebugConfig.getNetMode()}", MoGoConfig.AUTOPILOT_CERTIFICATION_DEFAULT_VALUE)) - .setRootCrt(CallerCloudCertManager.getRootCrtF()) - .setDeviceCrt(CallerCloudCertManager.getDeviceCrtF()) + .setRootCrt(CallerCloudCertManager.getRootCrtFDecode()) + .setDeviceCrt(CallerCloudCertManager.getDeviceCrtFDecode()) .setUnableLaunchAutopilotGear(FunctionBuildConfig.unableLaunchAutopilotGear) // .setSubscribeInterfaceOptions(subscribeInterfaceOptions)// .build() @@ -261,8 +261,8 @@ class MoGoAutopilotControlProvider : .setPingAddressList(AdasManager.getInstance().pingAddressList) .setPassenger(false)// 乘客端直连工控机改为false .setEnableCertification(SharedPrefsMgr.getInstance().getBoolean("${MoGoConfig.AUTOPILOT_CERTIFICATION}-${DebugConfig.getNetMode()}", MoGoConfig.AUTOPILOT_CERTIFICATION_DEFAULT_VALUE)) - .setRootCrt(CallerCloudCertManager.getRootCrtF()) - .setDeviceCrt(CallerCloudCertManager.getDeviceCrtF()) + .setRootCrt(CallerCloudCertManager.getRootCrtFDecode()) + .setDeviceCrt(CallerCloudCertManager.getDeviceCrtFDecode()) .setUnableLaunchAutopilotGear(FunctionBuildConfig.unableLaunchAutopilotGear) .build() AdasManager.getInstance().create(mContext, options, MoGoAdasMsgConnectStatusListenerImpl()) @@ -322,8 +322,8 @@ class MoGoAutopilotControlProvider : val options = AdasOptions.newBuilder() .setPassenger(false) .setEnableCertification(SharedPrefsMgr.getInstance().getBoolean("${MoGoConfig.AUTOPILOT_CERTIFICATION}-${DebugConfig.getNetMode()}", MoGoConfig.AUTOPILOT_CERTIFICATION_DEFAULT_VALUE)) - .setRootCrt(CallerCloudCertManager.getRootCrtF()) - .setDeviceCrt(CallerCloudCertManager.getDeviceCrtF()) + .setRootCrt(CallerCloudCertManager.getRootCrtFDecode()) + .setDeviceCrt(CallerCloudCertManager.getDeviceCrtFDecode()) .setConnectionMode(AdasOptions.IPC_CONNECTION_MODE.SPECIFIED) .setSpecifiedAddress(autoPilotIp) .build() diff --git a/core/mogo-core-function-call/src/main/java/com/mogo/eagle/core/function/call/cloud/CallerCloudCertManager.kt b/core/mogo-core-function-call/src/main/java/com/mogo/eagle/core/function/call/cloud/CallerCloudCertManager.kt index cd35221a0e..bd2f04dc58 100644 --- a/core/mogo-core-function-call/src/main/java/com/mogo/eagle/core/function/call/cloud/CallerCloudCertManager.kt +++ b/core/mogo-core-function-call/src/main/java/com/mogo/eagle/core/function/call/cloud/CallerCloudCertManager.kt @@ -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) @@ -34,7 +42,7 @@ 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) From 7e6cc37b285cfcb193c13434a0c2564ff8dc841e Mon Sep 17 00:00:00 2001 From: xuxinchao Date: Mon, 8 Apr 2024 19:52:04 +0800 Subject: [PATCH 06/14] =?UTF-8?q?[6.4.0]=E4=BA=8B=E4=BB=B6=E5=92=8CFM?= =?UTF-8?q?=E6=95=85=E9=9A=9C=E4=BF=A1=E6=81=AF=E4=BA=A4=E4=BA=92=E4=BC=98?= =?UTF-8?q?=E5=8C=96?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- .../hmi/ui/msgbox/DriverMsgBoxBubbleView.kt | 54 ++++++++++++++---- .../adapter/DriverMsgBoxBubbleAdapter.kt | 26 +++++++-- .../msgbox/adapter/DriverMsgBoxListAdapter.kt | 56 ++++++++++--------- .../mogo/eagle/core/data/msgbox/FMInfoMsg.kt | 3 +- .../mogo/eagle/core/data/msgbox/MsgFmData.kt | 14 ++--- ...llerFaultManagementStateListenerManager.kt | 10 +++- 6 files changed, 113 insertions(+), 50 deletions(-) diff --git a/core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/hmi/ui/msgbox/DriverMsgBoxBubbleView.kt b/core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/hmi/ui/msgbox/DriverMsgBoxBubbleView.kt index 8415e33cc2..bc3dc0a6fa 100644 --- a/core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/hmi/ui/msgbox/DriverMsgBoxBubbleView.kt +++ b/core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/hmi/ui/msgbox/DriverMsgBoxBubbleView.kt @@ -8,13 +8,16 @@ 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.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 +100,52 @@ class DriverMsgBoxBubbleView @JvmOverloads constructor( } } else if(category == MsgCategory.SYS_INFO){ CallerMsgBoxEventListenerManager.invokeUpdateTipListener(true) + 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{ diff --git a/core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/hmi/ui/msgbox/adapter/DriverMsgBoxBubbleAdapter.kt b/core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/hmi/ui/msgbox/adapter/DriverMsgBoxBubbleAdapter.kt index fc6ab08a14..18436b65e5 100644 --- a/core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/hmi/ui/msgbox/adapter/DriverMsgBoxBubbleAdapter.kt +++ b/core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/hmi/ui/msgbox/adapter/DriverMsgBoxBubbleAdapter.kt @@ -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}(${MsgFmData.FaultAction.getFaultActionCode(curFaultLevel)})" } + //不同级别的Icon显示 + when(curFaultLevel){ + 0->{ + //重度预警样式 + holder.ivBubbleFmImage.setImageDrawable(getDrawable(R.drawable.icon_fm_stop_normal)) + } + 1,2,3->{ + //中度预警样式 + holder.ivBubbleFmImage.setImageDrawable(getDrawable(R.drawable.icon_fm_reduce_normal)) + } + 4,5->{ + //轻度预警样式 + holder.ivBubbleFmImage.setImageDrawable(getDrawable(R.drawable.icon_fm_warning_normal)) + } + } } } } @@ -409,6 +426,7 @@ class DriverMsgBoxBubbleAdapter(private val activity: Activity) : RecyclerView.A var tvBubbleFmFault: TextView = itemView.findViewById(R.id.tvBubbleFmFault) var tvBubbleFmFaultAction: TextView = itemView.findViewById(R.id.tvBubbleFmFaultAction) var tvBubbleFmTime: TextView = itemView.findViewById(R.id.tvBubbleFmTime) + var ivBubbleFmImage: ImageView = itemView.findViewById(R.id.ivBubbleFmImage) } //SSM连接消息 diff --git a/core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/hmi/ui/msgbox/adapter/DriverMsgBoxListAdapter.kt b/core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/hmi/ui/msgbox/adapter/DriverMsgBoxListAdapter.kt index a665a8dd12..4147dff501 100644 --- a/core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/hmi/ui/msgbox/adapter/DriverMsgBoxListAdapter.kt +++ b/core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/hmi/ui/msgbox/adapter/DriverMsgBoxListAdapter.kt @@ -173,39 +173,21 @@ class DriverMsgBoxListAdapter(private val activity: Activity) : "时间：${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() 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 diff --git a/core/mogo-core-data/src/main/java/com/mogo/eagle/core/data/msgbox/FMInfoMsg.kt b/core/mogo-core-data/src/main/java/com/mogo/eagle/core/data/msgbox/FMInfoMsg.kt index eefaac14f4..9d72baf4f8 100644 --- a/core/mogo-core-data/src/main/java/com/mogo/eagle/core/data/msgbox/FMInfoMsg.kt +++ b/core/mogo-core-data/src/main/java/com/mogo/eagle/core/data/msgbox/FMInfoMsg.kt @@ -19,5 +19,6 @@ data class FMInfoMsg( data class FMFilterInfoMsg( var fmInfoList: List?, var policyCode: String?, - var cacheFilterList: MutableList? + var cacheFilterList: MutableList?, + var receiveTime: Long ) \ No newline at end of file diff --git a/core/mogo-core-data/src/main/java/com/mogo/eagle/core/data/msgbox/MsgFmData.kt b/core/mogo-core-data/src/main/java/com/mogo/eagle/core/data/msgbox/MsgFmData.kt index 32297c55cc..52d3682e4b 100644 --- a/core/mogo-core-data/src/main/java/com/mogo/eagle/core/data/msgbox/MsgFmData.kt +++ b/core/mogo-core-data/src/main/java/com/mogo/eagle/core/data/msgbox/MsgFmData.kt @@ -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{ diff --git a/core/mogo-core-function-call/src/main/java/com/mogo/eagle/core/function/call/autopilot/CallerFaultManagementStateListenerManager.kt b/core/mogo-core-function-call/src/main/java/com/mogo/eagle/core/function/call/autopilot/CallerFaultManagementStateListenerManager.kt index 11ef68c0b8..27cf20598e 100644 --- a/core/mogo-core-function-call/src/main/java/com/mogo/eagle/core/function/call/autopilot/CallerFaultManagementStateListenerManager.kt +++ b/core/mogo-core-function-call/src/main/java/com/mogo/eagle/core/function/call/autopilot/CallerFaultManagementStateListenerManager.kt @@ -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 Date: Wed, 10 Apr 2024 16:27:20 +0800 Subject: [PATCH 07/14] =?UTF-8?q?[6.4.0]=E6=B6=88=E6=81=AF=E7=9B=92?= =?UTF-8?q?=E5=AD=90=E4=BF=AE=E6=94=B9=E7=B1=BB=E5=9E=8B=E5=88=A4=E6=96=AD?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- .../hmi/ui/msgbox/DriverMsgBoxBubbleView.kt | 28 ++++++++++--------- 1 file changed, 15 insertions(+), 13 deletions(-) diff --git a/core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/hmi/ui/msgbox/DriverMsgBoxBubbleView.kt b/core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/hmi/ui/msgbox/DriverMsgBoxBubbleView.kt index bc3dc0a6fa..959553636e 100644 --- a/core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/hmi/ui/msgbox/DriverMsgBoxBubbleView.kt +++ b/core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/hmi/ui/msgbox/DriverMsgBoxBubbleView.kt @@ -13,6 +13,7 @@ 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 @@ -100,22 +101,23 @@ class DriverMsgBoxBubbleView @JvmOverloads constructor( } } else if(category == MsgCategory.SYS_INFO){ CallerMsgBoxEventListenerManager.invokeUpdateTipListener(true) - 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(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) + } } - if(isShowReport){ - //展示消息 - showData(msgBoxBean) - } - } else if(category == MsgCategory.FM_INFO){ CallerMsgBoxEventListenerManager.invokeUpdateTipListener(true) if(FunctionBuildConfig.isTakeoverRemind){ From 81389d56ab4902d2e35364bb5c304b6b65b448b8 Mon Sep 17 00:00:00 2001 From: xinfengkun Date: Wed, 10 Apr 2024 17:29:21 +0800 Subject: [PATCH 08/14] =?UTF-8?q?[640][adas]=20=E8=83=BD=E5=90=A6=E5=90=AF?= =?UTF-8?q?=E5=8A=A8=E8=87=AA=E9=A9=BE=E6=9D=A1=E4=BB=B6=E6=96=B0=E5=A2=9E?= =?UTF-8?q?=20=E6=B2=B9=E9=97=A8=E6=96=B9=E5=90=91=E7=9B=98=E5=8D=B1?= =?UTF-8?q?=E9=99=A9=E6=8A=A5=E8=AD=A6=E7=81=AF=E7=8A=B6=E6=80=81=E5=88=A4?= =?UTF-8?q?=E6=96=AD=EF=BC=8C=E6=8A=BD=E7=A6=BB=E5=BA=95=E7=9B=98=E7=9B=B8?= =?UTF-8?q?=E5=85=B3=E5=8E=9F=E5=9B=A0=E7=88=B6=E7=B1=BB=EF=BC=9B=E6=B7=BB?= =?UTF-8?q?=E5=8A=A0=E8=BD=A6=E7=81=AF=E7=8A=B6=E6=80=81=E5=8D=95=E7=8B=AC?= =?UTF-8?q?=E6=8E=A5=E5=8F=A3=EF=BC=8C=E7=94=A8=E4=BA=8E=E7=BB=9F=E4=B8=80?= =?UTF-8?q?=E8=A7=A3=E6=9E=90=E5=90=8E=E7=9A=84=E8=BD=A6=E7=81=AF=E7=8A=B6?= =?UTF-8?q?=E6=80=81=EF=BC=8C=E7=9B=AE=E5=89=8D=E8=BE=93=E5=87=BA=EF=BC=9A?= =?UTF-8?q?=E5=B7=A6=E5=8F=B3=E8=BD=AC=E7=81=AF=E5=92=8C=E5=8F=8C=E9=97=AA?= =?UTF-8?q?=E7=81=AF?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- app/script/vehicleFlavors/ochDFHQ.gradle | 4 +- app/script/vehicleFlavors/ochFT.gradle | 4 +- app/script/vehicleFlavors/ochJL.gradle | 4 +- app/script/vehicleFlavors/ochM1.gradle | 5 +- app/script/vehicleFlavors/ochM2.gradle | 4 +- .../mogo/launcher/startup/ConfigStartUp.kt | 2 +- .../autopilot/MoGoAutopilotControlProvider.kt | 6 +- .../autopilot/adapter/MoGoAdasListenerImpl.kt | 24 ++- .../core/data/config/FunctionBuildConfig.kt | 2 +- .../CallerChassisLamplightListenerManager.kt | 4 +- .../adas/data/bean/UnableLaunchReason.java | 1 - .../zhidao/support/adas/high/AdasChannel.java | 12 +- .../zhidao/support/adas/high/AdasManager.java | 9 +- .../zhidao/support/adas/high/AdasOptions.java | 24 +-- .../support/adas/high/IAdasNetCommApi.java | 7 +- .../support/adas/high/OnAdasListener.java | 11 ++ .../adas/high/common/TurnLightState.java | 34 ++++ .../ability/AutopilotAbility230.java | 59 ++---- .../ability/AutopilotAbility250.java | 97 +++------- .../ability/AutopilotAbility330.java | 23 ++- .../ability/AutopilotAbility350And360.java | 98 +++------- .../ability/AutopilotAbility360.java | 23 ++- .../ability/AutopilotAbilityManager.java | 99 ++++------ .../ability/BaseAutopilotAbilityChassis.java | 175 ++++++++++++++++++ .../adas/high/msg/ChassisStatesMessage.java | 34 +++- .../adas/high/msg/MyMessageFactory.java | 12 +- .../adas/high/msg/VehicleStateMessage.java | 42 ++++- 27 files changed, 486 insertions(+), 333 deletions(-) create mode 100644 libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/common/TurnLightState.java create mode 100644 libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/common/autopilot/ability/BaseAutopilotAbilityChassis.java diff --git a/app/script/vehicleFlavors/ochDFHQ.gradle b/app/script/vehicleFlavors/ochDFHQ.gradle index 07645b6903..8ee3dea128 100644 --- a/app/script/vehicleFlavors/ochDFHQ.gradle +++ b/app/script/vehicleFlavors/ochDFHQ.gradle @@ -16,8 +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', 'UNABLE_LAUNCH_AUTOPILOT_GEAR', 'new java.util.HashSet(){{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', 'LAUNCH_AUTOPILOT_GEAR', 'new java.util.HashSet(){{add(chassis.Chassis.GearPosition.GEAR_D);add(chassis.Chassis.GearPosition.GEAR_N);add(chassis.Chassis.GearPosition.GEAR_P);}}' } diff --git a/app/script/vehicleFlavors/ochFT.gradle b/app/script/vehicleFlavors/ochFT.gradle index fbc9a66f09..41f4b6cd7b 100644 --- a/app/script/vehicleFlavors/ochFT.gradle +++ b/app/script/vehicleFlavors/ochFT.gradle @@ -15,7 +15,7 @@ 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', 'UNABLE_LAUNCH_AUTOPILOT_GEAR', 'null' + // ③能启动自驾的档位 + buildConfigField 'java.util.Set', 'LAUNCH_AUTOPILOT_GEAR', 'null' } } \ No newline at end of file diff --git a/app/script/vehicleFlavors/ochJL.gradle b/app/script/vehicleFlavors/ochJL.gradle index 51396a0233..5821f84474 100644 --- a/app/script/vehicleFlavors/ochJL.gradle +++ b/app/script/vehicleFlavors/ochJL.gradle @@ -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', 'UNABLE_LAUNCH_AUTOPILOT_GEAR', 'new java.util.HashSet(){{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', 'LAUNCH_AUTOPILOT_GEAR', 'new java.util.HashSet(){{add(chassis.Chassis.GearPosition.GEAR_D);}}' } } \ No newline at end of file diff --git a/app/script/vehicleFlavors/ochM1.gradle b/app/script/vehicleFlavors/ochM1.gradle index b4c2f4071e..a00868473c 100644 --- a/app/script/vehicleFlavors/ochM1.gradle +++ b/app/script/vehicleFlavors/ochM1.gradle @@ -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', 'UNABLE_LAUNCH_AUTOPILOT_GEAR', 'null' - + // ②M1能启动自驾的档位 + buildConfigField 'java.util.Set', 'LAUNCH_AUTOPILOT_GEAR', 'new java.util.HashSet(){{add(chassis.Chassis.GearPosition.GEAR_D);}}' // ③不能启动自驾的档位 buildConfigField 'boolean', 'IS_CAR_MODEL_CHANGE', 'false' diff --git a/app/script/vehicleFlavors/ochM2.gradle b/app/script/vehicleFlavors/ochM2.gradle index b7d7988e75..dd3e198dad 100644 --- a/app/script/vehicleFlavors/ochM2.gradle +++ b/app/script/vehicleFlavors/ochM2.gradle @@ -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', 'false' - // ③M2不能启动自驾的档位 - buildConfigField 'java.util.Set', 'UNABLE_LAUNCH_AUTOPILOT_GEAR', 'new java.util.HashSet(){{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', 'LAUNCH_AUTOPILOT_GEAR', 'new java.util.HashSet(){{add(chassis.Chassis.GearPosition.GEAR_D);}}' } } \ No newline at end of file diff --git a/app/src/main/java/com/mogo/launcher/startup/ConfigStartUp.kt b/app/src/main/java/com/mogo/launcher/startup/ConfigStartUp.kt index 6c1f1e6e8b..ba8f154e2c 100644 --- a/app/src/main/java/com/mogo/launcher/startup/ConfigStartUp.kt +++ b/app/src/main/java/com/mogo/launcher/startup/ConfigStartUp.kt @@ -45,7 +45,7 @@ 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 diff --git a/core/function-impl/mogo-core-function-datacenter/src/main/java/com/mogo/eagle/core/function/datacenter/autopilot/MoGoAutopilotControlProvider.kt b/core/function-impl/mogo-core-function-datacenter/src/main/java/com/mogo/eagle/core/function/datacenter/autopilot/MoGoAutopilotControlProvider.kt index bfdfffcc4c..b932142efa 100644 --- a/core/function-impl/mogo-core-function-datacenter/src/main/java/com/mogo/eagle/core/function/datacenter/autopilot/MoGoAutopilotControlProvider.kt +++ b/core/function-impl/mogo-core-function-datacenter/src/main/java/com/mogo/eagle/core/function/datacenter/autopilot/MoGoAutopilotControlProvider.kt @@ -132,7 +132,7 @@ class MoGoAutopilotControlProvider : .setEnableCertification(SharedPrefsMgr.getInstance().getBoolean("${MoGoConfig.AUTOPILOT_CERTIFICATION}-${DebugConfig.getNetMode()}", MoGoConfig.AUTOPILOT_CERTIFICATION_DEFAULT_VALUE)) .setRootCrt(CallerCloudCertManager.getRootCrtFDecode()) .setDeviceCrt(CallerCloudCertManager.getDeviceCrtFDecode()) - .setUnableLaunchAutopilotGear(FunctionBuildConfig.unableLaunchAutopilotGear) + .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()) @@ -263,7 +263,7 @@ class MoGoAutopilotControlProvider : .setEnableCertification(SharedPrefsMgr.getInstance().getBoolean("${MoGoConfig.AUTOPILOT_CERTIFICATION}-${DebugConfig.getNetMode()}", MoGoConfig.AUTOPILOT_CERTIFICATION_DEFAULT_VALUE)) .setRootCrt(CallerCloudCertManager.getRootCrtFDecode()) .setDeviceCrt(CallerCloudCertManager.getDeviceCrtFDecode()) - .setUnableLaunchAutopilotGear(FunctionBuildConfig.unableLaunchAutopilotGear) + .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///////////////////////////////////////////// diff --git a/core/function-impl/mogo-core-function-datacenter/src/main/java/com/mogo/eagle/core/function/datacenter/autopilot/adapter/MoGoAdasListenerImpl.kt b/core/function-impl/mogo-core-function-datacenter/src/main/java/com/mogo/eagle/core/function/datacenter/autopilot/adapter/MoGoAdasListenerImpl.kt index a98e8ef5cb..75d46a51f9 100644 --- a/core/function-impl/mogo-core-function-datacenter/src/main/java/com/mogo/eagle/core/function/datacenter/autopilot/adapter/MoGoAdasListenerImpl.kt +++ b/core/function-impl/mogo-core-function-datacenter/src/main/java/com/mogo/eagle/core/function/datacenter/autopilot/adapter/MoGoAdasListenerImpl.kt @@ -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, diff --git a/core/mogo-core-data/src/main/java/com/mogo/eagle/core/data/config/FunctionBuildConfig.kt b/core/mogo-core-data/src/main/java/com/mogo/eagle/core/data/config/FunctionBuildConfig.kt index 8adf15a6c3..cdf8180f9d 100644 --- a/core/mogo-core-data/src/main/java/com/mogo/eagle/core/data/config/FunctionBuildConfig.kt +++ b/core/mogo-core-data/src/main/java/com/mogo/eagle/core/data/config/FunctionBuildConfig.kt @@ -302,7 +302,7 @@ object FunctionBuildConfig { */ @Volatile @JvmField - var unableLaunchAutopilotGear: Set? = null + var launchAutopilotGear: Set? = null /** * 当前应用是否支持patch升级 diff --git a/core/mogo-core-function-call/src/main/java/com/mogo/eagle/core/function/call/autopilot/CallerChassisLamplightListenerManager.kt b/core/mogo-core-function-call/src/main/java/com/mogo/eagle/core/function/call/autopilot/CallerChassisLamplightListenerManager.kt index a18985d90d..0eead86298 100644 --- a/core/mogo-core-function-call/src/main/java/com/mogo/eagle/core/function/call/autopilot/CallerChassisLamplightListenerManager.kt +++ b/core/mogo-core-function-call/src/main/java/com/mogo/eagle/core/function/call/autopilot/CallerChassisLamplightListenerManager.kt @@ -17,10 +17,10 @@ object CallerChassisLamplightListenerManager : CallerBase unableLaunchAutopilotGear) { - AutopilotAbilityManager.getInstance().setUnableLaunchAutopilotGear(unableLaunchAutopilotGear); + public void setLaunchAutopilotGear(@Nullable Set launchAutopilotGear) { + AutopilotAbilityManager.getInstance().setLaunchAutopilotGear(launchAutopilotGear); } /** diff --git a/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/AdasManager.java b/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/AdasManager.java index b85ecec0d1..f29f121e3c 100644 --- a/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/AdasManager.java +++ b/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/AdasManager.java @@ -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 unableLaunchAutopilotGear) { - AutopilotAbilityManager.getInstance().setUnableLaunchAutopilotGear(unableLaunchAutopilotGear); + public void setLaunchAutopilotGear(@Nullable Set launchAutopilotGear) { + AutopilotAbilityManager.getInstance().setLaunchAutopilotGear(launchAutopilotGear); } /** diff --git a/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/AdasOptions.java b/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/AdasOptions.java index a72b8ba6ed..8f3d61adf1 100644 --- a/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/AdasOptions.java +++ b/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/AdasOptions.java @@ -51,7 +51,7 @@ public class AdasOptions { private final String deviceCrt; private final boolean isAutoConnect; private final Set subscribeInterfaceOptions; - private final Set unableLaunchAutopilotGear; + private final Set 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 getUnableLaunchAutopilotGear() { - return unableLaunchAutopilotGear; + public Set 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 subscribeInterfaceOptions; - private Set unableLaunchAutopilotGear; + private Set 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 unableLaunchAutopilotGear) { - this.unableLaunchAutopilotGear = unableLaunchAutopilotGear; + public Builder setLaunchAutopilotGear(Set launchAutopilotGear) { + this.launchAutopilotGear = launchAutopilotGear; return this; } diff --git a/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/IAdasNetCommApi.java b/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/IAdasNetCommApi.java index c1e78865be..5ba39f8bf5 100644 --- a/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/IAdasNetCommApi.java +++ b/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/IAdasNetCommApi.java @@ -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 unableLaunchAutopilotGear); + void setLaunchAutopilotGear(@Nullable Set launchAutopilotGear); /** * 自动驾驶设备基础信息应答 diff --git a/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/OnAdasListener.java b/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/OnAdasListener.java index d50e61c691..d854e887cd 100644 --- a/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/OnAdasListener.java +++ b/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/OnAdasListener.java @@ -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 * diff --git a/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/common/TurnLightState.java b/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/common/TurnLightState.java new file mode 100644 index 0000000000..bba6036d87 --- /dev/null +++ b/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/common/TurnLightState.java @@ -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; + } +} diff --git a/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/common/autopilot/ability/AutopilotAbility230.java b/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/common/autopilot/ability/AutopilotAbility230.java index 28fa9577d5..9a0aebe96f 100644 --- a/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/common/autopilot/ability/AutopilotAbility230.java +++ b/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/common/autopilot/ability/AutopilotAbility230.java @@ -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; *

* 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 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(); } } diff --git a/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/common/autopilot/ability/AutopilotAbility250.java b/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/common/autopilot/ability/AutopilotAbility250.java index 2d5c7cbdd2..96abff9b14 100644 --- a/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/common/autopilot/ability/AutopilotAbility250.java +++ b/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/common/autopilot/ability/AutopilotAbility250.java @@ -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; *

* 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 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 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); } diff --git a/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/common/autopilot/ability/AutopilotAbility330.java b/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/common/autopilot/ability/AutopilotAbility330.java index f21bdfbdc6..36ec9ee850 100644 --- a/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/common/autopilot/ability/AutopilotAbility330.java +++ b/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/common/autopilot/ability/AutopilotAbility330.java @@ -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"); } } } diff --git a/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/common/autopilot/ability/AutopilotAbility350And360.java b/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/common/autopilot/ability/AutopilotAbility350And360.java index 8abfb52fbb..eb56d11779 100644 --- a/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/common/autopilot/ability/AutopilotAbility350And360.java +++ b/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/common/autopilot/ability/AutopilotAbility350And360.java @@ -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 *

*/ -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 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() { diff --git a/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/common/autopilot/ability/AutopilotAbility360.java b/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/common/autopilot/ability/AutopilotAbility360.java index 07b19eea16..b5f17a69d8 100644 --- a/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/common/autopilot/ability/AutopilotAbility360.java +++ b/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/common/autopilot/ability/AutopilotAbility360.java @@ -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"); } } } diff --git a/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/common/autopilot/ability/AutopilotAbilityManager.java b/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/common/autopilot/ability/AutopilotAbilityManager.java index ac45c9287a..64ce59ffc1 100644 --- a/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/common/autopilot/ability/AutopilotAbilityManager.java +++ b/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/common/autopilot/ability/AutopilotAbilityManager.java @@ -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 unableLaunchAutopilotGear; + private Set launchAutopilotGear; private AutopilotAbilityManager() { @@ -80,27 +74,17 @@ public class AutopilotAbilityManager implements OnAutopilotAbilityListener { return INSTANCE; } - public void setUnableLaunchAutopilotGear(Set unableLaunchAutopilotGear) { - if (unableLaunchAutopilotGear != null) { - this.unableLaunchAutopilotGear = new HashSet<>(unableLaunchAutopilotGear); - taxiUnmanned(); + public void setLaunchAutopilotGear(Set 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); } } diff --git a/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/common/autopilot/ability/BaseAutopilotAbilityChassis.java b/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/common/autopilot/ability/BaseAutopilotAbilityChassis.java new file mode 100644 index 0000000000..6eb31f8457 --- /dev/null +++ b/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/common/autopilot/ability/BaseAutopilotAbilityChassis.java @@ -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 currentLight = new AtomicReference<>(Chassis.LightSwitch.LIGHT_NONE); + /** + * 能启动自动驾驶的档位 + */ + private Set 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 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 onCallbackChassis(ArrayList 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; + } + +} diff --git a/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/msg/ChassisStatesMessage.java b/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/msg/ChassisStatesMessage.java index d96347a46b..c6fac0d844 100644 --- a/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/msg/ChassisStatesMessage.java +++ b/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/msg/ChassisStatesMessage.java @@ -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; + } + } diff --git a/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/msg/MyMessageFactory.java b/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/msg/MyMessageFactory.java index 52500c03eb..cf77bff8e7 100644 --- a/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/msg/MyMessageFactory.java +++ b/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/msg/MyMessageFactory.java @@ -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) { diff --git a/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/msg/VehicleStateMessage.java b/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/msg/VehicleStateMessage.java index 198b6129de..56fffc8955 100644 --- a/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/msg/VehicleStateMessage.java +++ b/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/msg/VehicleStateMessage.java @@ -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; } From 03b3fbe42e463841c8f760c194e95ef050c319c3 Mon Sep 17 00:00:00 2001 From: renwj Date: Thu, 11 Apr 2024 16:19:06 +0800 Subject: [PATCH 09/14] =?UTF-8?q?[6.4.0][code]=20=E4=BC=98=E5=8C=96?= =?UTF-8?q?=E4=BB=A3=E7=A0=81=E9=80=BB=E8=BE=91?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- .../lancet/ViewPressedStateLancet.java | 144 ++++++++++++------ 1 file changed, 97 insertions(+), 47 deletions(-) diff --git a/app/src/main/java/com/mogo/launcher/lancet/ViewPressedStateLancet.java b/app/src/main/java/com/mogo/launcher/lancet/ViewPressedStateLancet.java index 950f0e4a47..f76b47d647 100644 --- a/app/src/main/java/com/mogo/launcher/lancet/ViewPressedStateLancet.java +++ b/app/src/main/java/com/mogo/launcher/lancet/ViewPressedStateLancet.java @@ -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) { From 119f28d6ce249c3a6407311454f270d4042553e9 Mon Sep 17 00:00:00 2001 From: renwj Date: Thu, 11 Apr 2024 18:26:51 +0800 Subject: [PATCH 10/14] =?UTF-8?q?[6.4.0][=E5=85=A8=E9=87=8F=E6=97=A5?= =?UTF-8?q?=E5=BF=97]=20debug=E7=89=88=E6=9C=AC=E6=94=BE=E5=BC=80crash?= =?UTF-8?q?=E6=97=A5=E5=BF=97=E6=94=B6=E9=9B=86=EF=BC=9B=E8=A7=A6=E5=8F=91?= =?UTF-8?q?=E5=85=A8=E9=87=8F=E6=97=A5=E5=BF=97=E4=B8=8A=E4=BC=A0=E6=97=B6?= =?UTF-8?q?=EF=BC=8C=E9=99=84=E5=B8=A6=E5=B0=86=E6=9C=AA=E4=B8=8A=E4=BC=A0?= =?UTF-8?q?=E7=9A=84=E9=93=BE=E8=B7=AF=E6=97=A5=E5=BF=97=E4=B9=9F=E6=89=93?= =?UTF-8?q?=E5=8C=85=E4=B8=8A=E4=BC=A0?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- config.gradle | 2 +- .../logcat/MoGoLogRecordProviderImpl.kt | 58 ++++++++++++------- .../core/utilcode/download/DownloadUtils.kt | 9 +++ 3 files changed, 47 insertions(+), 22 deletions(-) diff --git a/config.gradle b/config.gradle index 7ee8c77407..2e42f48ff5 100644 --- a/config.gradle +++ b/config.gradle @@ -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", diff --git a/core/function-impl/mogo-core-function-devatools/src/main/java/com/zhjt/mogo_core_function_devatools/logcat/MoGoLogRecordProviderImpl.kt b/core/function-impl/mogo-core-function-devatools/src/main/java/com/zhjt/mogo_core_function_devatools/logcat/MoGoLogRecordProviderImpl.kt index ecab17f24d..80b845d927 100644 --- a/core/function-impl/mogo-core-function-devatools/src/main/java/com/zhjt/mogo_core_function_devatools/logcat/MoGoLogRecordProviderImpl.kt +++ b/core/function-impl/mogo-core-function-devatools/src/main/java/com/zhjt/mogo_core_function_devatools/logcat/MoGoLogRecordProviderImpl.kt @@ -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 { return mutableMapOf().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}-7"] = 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 { + return ArrayList().also { + it.add(ToUploadFile(File(Environment.getExternalStorageDirectory(), "MLog"))) + } + } + }) + LogcatManager.init(builder) } override fun target(): Class { diff --git a/core/mogo-core-utils/src/main/java/com/mogo/eagle/core/utilcode/download/DownloadUtils.kt b/core/mogo-core-utils/src/main/java/com/mogo/eagle/core/utilcode/download/DownloadUtils.kt index c4891e5acd..8e11869b47 100644 --- a/core/mogo-core-utils/src/main/java/com/mogo/eagle/core/utilcode/download/DownloadUtils.kt +++ b/core/mogo-core-utils/src/main/java/com/mogo/eagle/core/utilcode/download/DownloadUtils.kt @@ -84,4 +84,13 @@ object DownloadUtils { } .launchIn(scope) } + + fun getAllDownloadRecords(): List> { + if (Downloader.hasInit()) { + return runBlocking { + Downloader.getAllDownloadRecords() ?: emptyList() + } + } + return emptyList() + } } \ No newline at end of file From bcf36bb8ed582f47ec9313b91ae5e5560d509474 Mon Sep 17 00:00:00 2001 From: renwj Date: Fri, 12 Apr 2024 16:23:16 +0800 Subject: [PATCH 11/14] =?UTF-8?q?[6.4.0][=E5=85=A8=E9=87=8F=E6=97=A5?= =?UTF-8?q?=E5=BF=97]=20=E4=B8=8A=E4=BC=A0=E5=85=A5=E5=8F=A3=E6=B7=BB?= =?UTF-8?q?=E5=8A=A0=E6=97=B6=E9=97=B4=E6=AE=B5=E9=80=89=E6=8B=A9?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- .../logcat/MoGoLogRecordProviderImpl.kt | 4 +- .../hmi/ui/setting/DebugSettingView.kt | 106 +++++++++++++++--- .../logcat/IMoGoLogRecordProvider.kt | 2 +- 3 files changed, 91 insertions(+), 21 deletions(-) diff --git a/core/function-impl/mogo-core-function-devatools/src/main/java/com/zhjt/mogo_core_function_devatools/logcat/MoGoLogRecordProviderImpl.kt b/core/function-impl/mogo-core-function-devatools/src/main/java/com/zhjt/mogo_core_function_devatools/logcat/MoGoLogRecordProviderImpl.kt index 80b845d927..479b3d2b97 100644 --- a/core/function-impl/mogo-core-function-devatools/src/main/java/com/zhjt/mogo_core_function_devatools/logcat/MoGoLogRecordProviderImpl.kt +++ b/core/function-impl/mogo-core-function-devatools/src/main/java/com/zhjt/mogo_core_function_devatools/logcat/MoGoLogRecordProviderImpl.kt @@ -211,8 +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()) } diff --git a/core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/hmi/ui/setting/DebugSettingView.kt b/core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/hmi/ui/setting/DebugSettingView.kt index aa86877049..6bae51e4fa 100644 --- a/core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/hmi/ui/setting/DebugSettingView.kt +++ b/core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/hmi/ui/setting/DebugSettingView.kt @@ -1582,26 +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) { @@ -1737,6 +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): 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(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"), diff --git a/core/mogo-core-function-api/src/main/java/com/mogo/eagle/core/function/api/devatools/logcat/IMoGoLogRecordProvider.kt b/core/mogo-core-function-api/src/main/java/com/mogo/eagle/core/function/api/devatools/logcat/IMoGoLogRecordProvider.kt index 8b1956a9fd..740526daa5 100644 --- a/core/mogo-core-function-api/src/main/java/com/mogo/eagle/core/function/api/devatools/logcat/IMoGoLogRecordProvider.kt +++ b/core/mogo-core-function-api/src/main/java/com/mogo/eagle/core/function/api/devatools/logcat/IMoGoLogRecordProvider.kt @@ -13,7 +13,7 @@ interface IMoGoLogRecordProvider { fun export(): File? - fun upload() + fun upload(startTime: Long, endTime: Long) fun testJavaCrash(runOnNewThread: Boolean) From e12b17f9d3c0d277349638af7e6c090c3056f420 Mon Sep 17 00:00:00 2001 From: EmArrow Date: Mon, 8 Apr 2024 17:59:32 +0800 Subject: [PATCH 12/14] [6.4.0] wait --- .../identify/TrackerSourceFilterHelper.kt | 3 +- .../eagle/core/data/enums/TrafficTypeEnum.kt | 44 ++++++++++-------- .../src/main/res/raw/sanjiaozhui.nt3d | Bin 20542 -> 39960 bytes gradle/bytex/bytex_lancetx.gradle | 2 +- gradle/bytex/bytex_matrix.gradle | 2 +- gradle/bytex/bytex_thread_opt.gradle | 2 +- .../main/java/com/mogo/map/AMapViewWrapper.kt | 4 ++ 7 files changed, 33 insertions(+), 24 deletions(-) diff --git a/core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/business/identify/TrackerSourceFilterHelper.kt b/core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/business/identify/TrackerSourceFilterHelper.kt index 13c4c0f747..881e35fb41 100644 --- a/core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/business/identify/TrackerSourceFilterHelper.kt +++ b/core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/business/identify/TrackerSourceFilterHelper.kt @@ -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 } @@ -51,6 +51,7 @@ object TrackerSourceFilterHelper { var color = "" if (!FunctionBuildConfig.isDrawUnknownIdentifyData && data.type == TrafficTypeEnum.TYPE_TRAFFIC_ID_WEI_ZHI.type + && data.type == TrafficTypeEnum.TYPE_TRAFFIC_ID_CONE.type ) { return "" } diff --git a/core/mogo-core-data/src/main/java/com/mogo/eagle/core/data/enums/TrafficTypeEnum.kt b/core/mogo-core-data/src/main/java/com/mogo/eagle/core/data/enums/TrafficTypeEnum.kt index d58e416597..ddc371b711 100644 --- a/core/mogo-core-data/src/main/java/com/mogo/eagle/core/data/enums/TrafficTypeEnum.kt +++ b/core/mogo-core-data/src/main/java/com/mogo/eagle/core/data/enums/TrafficTypeEnum.kt @@ -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 diff --git 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za(OUyw8Eb$_I2le-)8f*z4p(w%SI|L+Rdap`HV`nuijveb=ZGLVgZYx{-je1fV?CPh@@& + 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) diff --git a/core/function-impl/mogo-core-function-hmi/src/main/res/layout/view_status_bar.xml b/core/function-impl/mogo-core-function-hmi/src/main/res/layout/view_status_bar.xml index c4847f676a..897357307c 100644 --- a/core/function-impl/mogo-core-function-hmi/src/main/res/layout/view_status_bar.xml +++ b/core/function-impl/mogo-core-function-hmi/src/main/res/layout/view_status_bar.xml @@ -18,20 +18,9 @@ android:textSize="@dimen/dp_45" android:textStyle="bold" /> - - diff --git a/core/function-impl/mogo-core-function-hmi/src/main/res/layout/view_wifi_state.xml b/core/function-impl/mogo-core-function-hmi/src/main/res/layout/view_wifi_state.xml new file mode 100644 index 0000000000..f7fe62dd7c --- /dev/null +++ b/core/function-impl/mogo-core-function-hmi/src/main/res/layout/view_wifi_state.xml @@ -0,0 +1,28 @@ + + + + + + + \ No newline at end of file diff --git a/core/function-impl/mogo-core-function-hmi/src/main/res/values/attr.xml b/core/function-impl/mogo-core-function-hmi/src/main/res/values/attr.xml index b3f04dc3f8..751928af40 100644 --- a/core/function-impl/mogo-core-function-hmi/src/main/res/values/attr.xml +++ b/core/function-impl/mogo-core-function-hmi/src/main/res/values/attr.xml @@ -89,6 +89,10 @@ + + + +