From 0be79fb16b552158a56ad92bb90805366fe4ac34 Mon Sep 17 00:00:00 2001
From: xinfengkun <xinfengkun@zhidaoauto.com>
Date: Thu, 17 Feb 2022 14:27:51 +0800
Subject: [PATCH] =?UTF-8?q?=E6=B7=BB=E5=8A=A0=E5=A4=87=E6=B3=A8=EF=BC=8C?=
 =?UTF-8?q?=E5=A2=9E=E5=8A=A0=E4=B8=B4=E6=97=B6=E8=BD=AC=E5=8F=91json?=
 =?UTF-8?q?=E6=96=B9=E6=A1=88=EF=BC=8C=E5=A2=9E=E5=BC=BA=E7=A8=8B=E5=BA=8F?=
 =?UTF-8?q?=E5=81=A5=E5=A3=AE=E6=80=A7?=
MIME-Version: 1.0
Content-Type: text/plain; charset=UTF-8
Content-Transfer-Encoding: 8bit

---
 .../zhidao/support/adas/high/AdasChannel.java | 48 ++++++++++++++++---
 .../adas/high/common/ActionTypeReceive.java   |  4 +-
 2 files changed, 43 insertions(+), 9 deletions(-)

diff --git a/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/AdasChannel.java b/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/AdasChannel.java
index 57761021f0..1166bf3313 100644
--- a/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/AdasChannel.java
+++ b/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/AdasChannel.java
@@ -45,6 +45,7 @@ import com.zhjt.service.chain.TracingConstants;
 
 import org.json.JSONObject;
 
+import java.nio.charset.StandardCharsets;
 import java.util.List;
 
 import mogo.webproto.WebsocketHeader;
@@ -189,11 +190,13 @@ public class AdasChannel implements IAdasNetCommApi, FpgaSocket.IWebSocketConnec
             paramIndexes = {0},
             clientPkFileName = "sn")
     private void connectSocket(String address) {
-        mSocket.connectWebSocket(address);
+        if (mSocket != null)
+            mSocket.connectWebSocket(address);
     }
 
     public void closeSocket() {
-        mSocket.closeWebSocket();
+        if (mSocket != null)
+            mSocket.closeWebSocket();
     }
 
     public void sendLocation(MapLocationInfo mapLocationInfo) {
@@ -383,7 +386,8 @@ public class AdasChannel implements IAdasNetCommApi, FpgaSocket.IWebSocketConnec
 
     public void onDestory() {
         onPause();
-        mSocket.closeWebSocket();
+        if (mSocket != null)
+            mSocket.closeWebSocket();
         if (configInfo != null) {
             configInfo.clear();
             configInfo = null;
@@ -430,15 +434,40 @@ public class AdasChannel implements IAdasNetCommApi, FpgaSocket.IWebSocketConnec
         } catch (Exception e) {
             e.printStackTrace();
         }
+        // TODO 临时接续Json数据传递添加的Header 0x00表示PB数据   0x01表示Json数据
+        if (!isClient && onMultiDeviceListener != null) {
+            byte[] bytes = text.getBytes(StandardCharsets.UTF_8);
+            byte[] temp = new byte[bytes.length + 1];
+            System.arraycopy(bytes, 0, temp, 1, bytes.length);
+            temp[0] = 0x01;
+            onMultiDeviceListener.onForwardingIPCMessage(temp);
+        }
+
     }
 
     /**
-     * 解析工控机发送过来的数据
+     * 解析工控机发送过来PB的数据
      *
      * @param bytes 数据
      */
     @Override
     public void parseIPCData(byte[] bytes) {
+        if (bytes == null || bytes.length == 0) {
+            return;
+        }
+        //TODO 临时将Json数据转发并解析 0x00表示PB数据   0x01表示Json数据
+        if (isClient) {
+            byte header = bytes[0];
+            byte[] temp = new byte[bytes.length - 1];
+            System.arraycopy(bytes, 1, temp, 0, temp.length);
+            bytes = temp;
+            if (header != 0x00) {
+                //Json 解析
+                handlerWSMsg(new String(bytes, StandardCharsets.UTF_8));
+                return;
+            }
+        }
+        //PB解析
         ByteString byteString = ByteString.of(bytes);
         try {
             if (socketReader != null) {
@@ -463,7 +492,11 @@ public class AdasChannel implements IAdasNetCommApi, FpgaSocket.IWebSocketConnec
         byte[] bytes1 = bytes.toByteArray();
         parseIPCData(bytes1);
         if (!isClient && onMultiDeviceListener != null) {
-            onMultiDeviceListener.onForwardingIPCMessage(bytes1);
+            // TODO 临时接续Json数据传递添加的Header 0x00表示PB数据   0x01表示Json数据
+            byte[] temp = new byte[bytes1.length + 1];
+            System.arraycopy(bytes1, 0, temp, 1, bytes1.length);
+            temp[0] = 0x00;
+            onMultiDeviceListener.onForwardingIPCMessage(temp);
         }
     }
 
@@ -524,7 +557,8 @@ public class AdasChannel implements IAdasNetCommApi, FpgaSocket.IWebSocketConnec
             flag = false;
             if (configInfo != null && configInfo.size() > 0) {
                 if (isConnected) {
-                    mSocket.doConfigChanged(configInfo);
+                    if (mSocket != null)
+                        mSocket.doConfigChanged(configInfo);
                 }
             }
         }
@@ -608,7 +642,7 @@ public class AdasChannel implements IAdasNetCommApi, FpgaSocket.IWebSocketConnec
 
     @Override
     public boolean isSocketConnect() {
-        return mSocket.getWebSocket() != null;
+        return mSocket != null && mSocket.getWebSocket() != null;
     }
 
     @Override
diff --git a/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/common/ActionTypeReceive.java b/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/common/ActionTypeReceive.java
index 0b950965a3..469e6797d4 100644
--- a/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/common/ActionTypeReceive.java
+++ b/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/common/ActionTypeReceive.java
@@ -86,9 +86,9 @@ public enum ActionTypeReceive {
      */
     ACTION_WS_AUTOPILOT_IDENTIFY("identify", -1, "BadCase数据采集"),
     /**
-     * 局部轨迹
+     * 局部轨迹 车前引导钱
      */
-    ACTION_WS_AUTOPILOT_TRAJECTORY("trajectory", 0x100, "局部轨迹"),
+    ACTION_WS_AUTOPILOT_TRAJECTORY("trajectory", 0x100, "局部轨迹 车前引导钱"),
     /**
      * car dock 基础信息
      */