From 0ebbc5760faf70ca2c8ecdba96293a0feda9fbd1 Mon Sep 17 00:00:00 2001 From: donghongyu Date: Tue, 22 Feb 2022 17:31:51 +0800 Subject: [PATCH] =?UTF-8?q?[Change]=20=E6=9A=82=E6=97=B6=E5=85=B3=E9=97=AD?= =?UTF-8?q?=E5=85=A8=E9=93=BE=E8=B7=AF=E7=BB=9F=E8=AE=A1=E6=97=A5=E5=BF=97?= =?UTF-8?q?=EF=BC=8C=E5=9B=A0=E4=B8=BA=E5=BD=B1=E5=93=8D=E5=88=B0=E4=BA=86?= =?UTF-8?q?ADAS=E6=84=9F=E7=9F=A5=E7=BB=98=E5=88=B6?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit Signed-off-by: donghongyu --- .../autopilot/MoGoAutopilotProvider.kt | 16 +++- .../adapter/MoGoAdasListenerImpl.java | 96 +++++++++---------- .../zhidao/support/adas/high/AdasChannel.java | 12 +-- .../support/adas/high/socket/FpgaSocket.java | 38 ++++---- .../adas/high/udp/CupidUdpConstract.java | 12 +-- 5 files changed, 92 insertions(+), 82 deletions(-) diff --git a/core/function-impl/mogo-core-function-autopilot/src/main/java/com/mogo/eagle/core/function/autopilot/MoGoAutopilotProvider.kt b/core/function-impl/mogo-core-function-autopilot/src/main/java/com/mogo/eagle/core/function/autopilot/MoGoAutopilotProvider.kt index 3a82d2a7ca..e8e341b05f 100644 --- a/core/function-impl/mogo-core-function-autopilot/src/main/java/com/mogo/eagle/core/function/autopilot/MoGoAutopilotProvider.kt +++ b/core/function-impl/mogo-core-function-autopilot/src/main/java/com/mogo/eagle/core/function/autopilot/MoGoAutopilotProvider.kt @@ -66,7 +66,11 @@ class MoGoAutopilotProvider : // 注册地图采集功能 CallerMapDataCollectorManager.registerOnMapCollectTaskListener(this) // "192.168.1.102" - val options = AdasOptions.Builder().setClient(false).build() + val options = AdasOptions.Builder() + .setIPCIp(FunctionBuildConfig.adasConnectIP) + .setClient(false) + .build() + AdasManager.getInstance().create(context, options) NSDNettyManager.getInstance().startNSDNettyServer(context, object : NettyServerListener { override fun onMessageResponseServer(msg: MogoProtocolMsg?, channel: Channel?) { @@ -100,7 +104,10 @@ class MoGoAutopilotProvider : //FunctionBuildConfig.isDemoMode = true //FunctionBuildConfig.isIgnoreConditionsDrawAutopilotTrajectoryData = true // "192.168.1.102" - val options = AdasOptions.Builder().build() + val options = AdasOptions + .Builder() + .setIPCIp(FunctionBuildConfig.adasConnectIP) + .build() AdasManager.getInstance().create(context, options) NSDNettyManager.getInstance().searchAndConnectServer(context, MoGoAiCloudClientConfig.getInstance().sn, object : NettyClientListener { override fun onMessageResponseClient(msg: MogoProtocolMsg?, sign: String?) { @@ -126,7 +133,10 @@ class MoGoAutopilotProvider : // else -> // 默认采用UDP寻址方式 { - val options = AdasOptions.Builder().setClient(false).build() + val options = AdasOptions.Builder() + .setClient(false) + .setIPCIp(FunctionBuildConfig.adasConnectIP) + .build() AdasManager.getInstance().create(context, options) } } diff --git a/core/function-impl/mogo-core-function-autopilot/src/main/java/com/mogo/eagle/core/function/autopilot/adapter/MoGoAdasListenerImpl.java b/core/function-impl/mogo-core-function-autopilot/src/main/java/com/mogo/eagle/core/function/autopilot/adapter/MoGoAdasListenerImpl.java index d74810508a..6e1fbd06c9 100644 --- a/core/function-impl/mogo-core-function-autopilot/src/main/java/com/mogo/eagle/core/function/autopilot/adapter/MoGoAdasListenerImpl.java +++ b/core/function-impl/mogo-core-function-autopilot/src/main/java/com/mogo/eagle/core/function/autopilot/adapter/MoGoAdasListenerImpl.java @@ -71,12 +71,12 @@ import java.util.List; public class MoGoAdasListenerImpl implements OnAdasListener { private final String TAG = "OnAdasListenerAdapter"; - @ChainLog(linkCode = CHAIN_LINK_ADAS, - linkChainLog = CHAIN_LINK_LOG_WEB_SOCKET_DATA, - endpoint = TracingConstants.Endpoint.PAD, - nodeAliasCode = CHAIN_ALIAS_CODE_ADAS_MESSAGE_RECT_DATA, - paramIndexes = {0}, - clientPkFileName = "sn") +// @ChainLog(linkCode = CHAIN_LINK_ADAS, +// linkChainLog = CHAIN_LINK_LOG_WEB_SOCKET_DATA, +// endpoint = TracingConstants.Endpoint.PAD, +// nodeAliasCode = CHAIN_ALIAS_CODE_ADAS_MESSAGE_RECT_DATA, +// paramIndexes = {0}, +// clientPkFileName = "sn") @Override public void onRectData(RectInfo rectInfo) { if (HdMapBuildConfig.isMapLoaded) { @@ -85,12 +85,12 @@ public class MoGoAdasListenerImpl implements OnAdasListener { } } - @ChainLog(linkCode = CHAIN_LINK_ADAS, - linkChainLog = CHAIN_LINK_LOG_WEB_SOCKET_DATA, - endpoint = TracingConstants.Endpoint.PAD, - nodeAliasCode = CHAIN_ALIAS_CODE_ADAS_MESSAGE_CAR_STATE, - paramIndexes = {0}, - clientPkFileName = "sn") +// @ChainLog(linkCode = CHAIN_LINK_ADAS, +// linkChainLog = CHAIN_LINK_LOG_WEB_SOCKET_DATA, +// endpoint = TracingConstants.Endpoint.PAD, +// nodeAliasCode = CHAIN_ALIAS_CODE_ADAS_MESSAGE_CAR_STATE, +// paramIndexes = {0}, +// clientPkFileName = "sn") @Override public void onCarStateData(CarStateInfo carStateInfo) { if (HdMapBuildConfig.isMapLoaded) { @@ -170,12 +170,12 @@ public class MoGoAdasListenerImpl implements OnAdasListener { } } - @ChainLog(linkCode = CHAIN_LINK_ADAS, - linkChainLog = CHAIN_LINK_LOG_WEB_SOCKET_DATA, - endpoint = TracingConstants.Endpoint.PAD, - nodeAliasCode = CHAIN_ALIAS_CODE_ADAS_MESSAGE_AUTOPILOT_STATUS, - paramIndexes = {0}, - clientPkFileName = "sn") +// @ChainLog(linkCode = CHAIN_LINK_ADAS, +// linkChainLog = CHAIN_LINK_LOG_WEB_SOCKET_DATA, +// endpoint = TracingConstants.Endpoint.PAD, +// nodeAliasCode = CHAIN_ALIAS_CODE_ADAS_MESSAGE_AUTOPILOT_STATUS, +// paramIndexes = {0}, +// clientPkFileName = "sn") @Override public void autopilotStatus(AutopilotStatus autopilotStatus) { if (HdMapBuildConfig.isMapLoaded) { @@ -208,12 +208,12 @@ public class MoGoAdasListenerImpl implements OnAdasListener { } } - @ChainLog(linkCode = CHAIN_LINK_ADAS, - linkChainLog = CHAIN_LINK_LOG_WEB_SOCKET_DATA, - endpoint = TracingConstants.Endpoint.PAD, - nodeAliasCode = CHAIN_ALIAS_CODE_ADAS_MESSAGE_AUTOPILOT_ARRIVE, - paramIndexes = {0}, - clientPkFileName = "sn") +// @ChainLog(linkCode = CHAIN_LINK_ADAS, +// linkChainLog = CHAIN_LINK_LOG_WEB_SOCKET_DATA, +// endpoint = TracingConstants.Endpoint.PAD, +// nodeAliasCode = CHAIN_ALIAS_CODE_ADAS_MESSAGE_AUTOPILOT_ARRIVE, +// paramIndexes = {0}, +// clientPkFileName = "sn") @Override public void autopilotArrive(AutopilotWayArrive autopilotWayArrive) { if (HdMapBuildConfig.isMapLoaded) { @@ -232,12 +232,12 @@ public class MoGoAdasListenerImpl implements OnAdasListener { } } - @ChainLog(linkCode = CHAIN_LINK_ADAS, - linkChainLog = CHAIN_LINK_LOG_WEB_SOCKET_DATA, - endpoint = TracingConstants.Endpoint.PAD, - nodeAliasCode = CHAIN_ALIAS_CODE_ADAS_MESSAGE_AUTOPILOT_ROUTE, - paramIndexes = {0}, - clientPkFileName = "sn") +// @ChainLog(linkCode = CHAIN_LINK_ADAS, +// linkChainLog = CHAIN_LINK_LOG_WEB_SOCKET_DATA, +// endpoint = TracingConstants.Endpoint.PAD, +// nodeAliasCode = CHAIN_ALIAS_CODE_ADAS_MESSAGE_AUTOPILOT_ROUTE, +// paramIndexes = {0}, +// clientPkFileName = "sn") @Override public void onAutopilotRoute(AutopilotRoute route) { if (HdMapBuildConfig.isMapLoaded) { @@ -282,12 +282,12 @@ public class MoGoAdasListenerImpl implements OnAdasListener { CallerAutoPilotStatusListenerManager.INSTANCE.invokeAutopilotSNRequest(); } - @ChainLog(linkCode = CHAIN_LINK_ADAS, - linkChainLog = CHAIN_LINK_LOG_WEB_SOCKET_DATA, - endpoint = TracingConstants.Endpoint.PAD, - nodeAliasCode = CHAIN_ALIAS_CODE_ADAS_MESSAGE_AUTOPILOT_GUARDIAN, - paramIndexes = {0}, - clientPkFileName = "sn") +// @ChainLog(linkCode = CHAIN_LINK_ADAS, +// linkChainLog = CHAIN_LINK_LOG_WEB_SOCKET_DATA, +// endpoint = TracingConstants.Endpoint.PAD, +// nodeAliasCode = CHAIN_ALIAS_CODE_ADAS_MESSAGE_AUTOPILOT_GUARDIAN, +// paramIndexes = {0}, +// clientPkFileName = "sn") @Override public void onAutopilotGuardian(AutopilotGuardianInfo guardianInfo) { if (HdMapBuildConfig.isMapLoaded) { @@ -296,12 +296,12 @@ public class MoGoAdasListenerImpl implements OnAdasListener { } } - @ChainLog(linkCode = CHAIN_LINK_ADAS, - linkChainLog = CHAIN_LINK_LOG_WEB_SOCKET_DATA, - endpoint = TracingConstants.Endpoint.PAD, - nodeAliasCode = CHAIN_ALIAS_CODE_ADAS_MESSAGE_AUTOPILOT_RECORD, - paramIndexes = {0}, - clientPkFileName = "sn") +// @ChainLog(linkCode = CHAIN_LINK_ADAS, +// linkChainLog = CHAIN_LINK_LOG_WEB_SOCKET_DATA, +// endpoint = TracingConstants.Endpoint.PAD, +// nodeAliasCode = CHAIN_ALIAS_CODE_ADAS_MESSAGE_AUTOPILOT_RECORD, +// paramIndexes = {0}, +// clientPkFileName = "sn") @Override public void onAutopilotRecord(AutopilotRecordResult result) { if (result != null) { @@ -336,12 +336,12 @@ public class MoGoAdasListenerImpl implements OnAdasListener { } - @ChainLog(linkCode = CHAIN_LINK_ADAS, - linkChainLog = CHAIN_LINK_LOG_WEB_SOCKET_DATA, - endpoint = TracingConstants.Endpoint.PAD, - nodeAliasCode = CHAIN_ALIAS_CODE_ADAS_MESSAGE_AUTOPILOT_WARN, - paramIndexes = {0}, - clientPkFileName = "sn") +// @ChainLog(linkCode = CHAIN_LINK_ADAS, +// linkChainLog = CHAIN_LINK_LOG_WEB_SOCKET_DATA, +// endpoint = TracingConstants.Endpoint.PAD, +// nodeAliasCode = CHAIN_ALIAS_CODE_ADAS_MESSAGE_AUTOPILOT_WARN, +// paramIndexes = {0}, +// clientPkFileName = "sn") @Override public void onWarnMessage(WarnMessageInfo warnMessageInfo) { final AutopilotWarnMessage warnMessage = AdasObjectConvertUtils.INSTANCE.fromAdasObject(warnMessageInfo); 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 430ba74a2b..d8226d09c3 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 @@ -186,12 +186,12 @@ public class AdasChannel implements IAdasNetCommApi, FpgaSocket.IWebSocketConnec } } - @ChainLog(linkCode = CHAIN_LINK_ADAS, - linkChainLog = CHAIN_LINK_LOG_CONNECT_STATUS, - endpoint = TracingConstants.Endpoint.PAD, - nodeAliasCode = CHAIN_ALIAS_CODE_UDP_CONNECT_ADDRESS, - paramIndexes = {0}, - clientPkFileName = "sn") +// @ChainLog(linkCode = CHAIN_LINK_ADAS, +// linkChainLog = CHAIN_LINK_LOG_CONNECT_STATUS, +// endpoint = TracingConstants.Endpoint.PAD, +// nodeAliasCode = CHAIN_ALIAS_CODE_UDP_CONNECT_ADDRESS, +// paramIndexes = {0}, +// clientPkFileName = "sn") private void connectSocket(String address) { if (mSocket != null) mSocket.connectWebSocket(address); diff --git a/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/socket/FpgaSocket.java b/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/socket/FpgaSocket.java index ee78b1d504..a84da89669 100644 --- a/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/socket/FpgaSocket.java +++ b/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/socket/FpgaSocket.java @@ -259,12 +259,12 @@ public class FpgaSocket implements IWebSocket { public class EchoWebSocketListener extends WebSocketListener { - @ChainLog(linkCode = CHAIN_LINK_ADAS, - linkChainLog = CHAIN_LINK_LOG_CONNECT_STATUS, - endpoint = TracingConstants.Endpoint.PAD, - nodeAliasCode = CHAIN_ALIAS_CODE_WEB_SOCKET_OPEN, - paramIndexes = {1}, - clientPkFileName = "sn") +// @ChainLog(linkCode = CHAIN_LINK_ADAS, +// linkChainLog = CHAIN_LINK_LOG_CONNECT_STATUS, +// endpoint = TracingConstants.Endpoint.PAD, +// nodeAliasCode = CHAIN_ALIAS_CODE_WEB_SOCKET_OPEN, +// paramIndexes = {1}, +// clientPkFileName = "sn") @Override public void onOpen(WebSocket webSocket, Response response) { super.onOpen(webSocket, response); @@ -273,12 +273,12 @@ public class FpgaSocket implements IWebSocket { mWebSocketConnectListener.onWebSocketConnectSuccess(webSocket); } - @ChainLog(linkCode = CHAIN_LINK_ADAS, - linkChainLog = CHAIN_LINK_LOG_WEB_SOCKET_DATA, - endpoint = TracingConstants.Endpoint.PAD, - nodeAliasCode = CHAIN_ALIAS_CODE_WEB_SOCKET_MESSAGE_JSON, - paramIndexes = {1}, - clientPkFileName = "sn") +// @ChainLog(linkCode = CHAIN_LINK_ADAS, +// linkChainLog = CHAIN_LINK_LOG_WEB_SOCKET_DATA, +// endpoint = TracingConstants.Endpoint.PAD, +// nodeAliasCode = CHAIN_ALIAS_CODE_WEB_SOCKET_MESSAGE_JSON, +// paramIndexes = {1}, +// clientPkFileName = "sn") @Override public void onMessage(WebSocket webSocket, String text) { super.onMessage(webSocket, text); @@ -292,13 +292,13 @@ public class FpgaSocket implements IWebSocket { mWebSocketConnectListener.onMessage(text); } } - - @ChainLog(linkCode = CHAIN_LINK_ADAS, - linkChainLog = CHAIN_LINK_LOG_WEB_SOCKET_DATA, - endpoint = TracingConstants.Endpoint.PAD, - nodeAliasCode = CHAIN_ALIAS_CODE_WEB_SOCKET_MESSAGE_BYTE, - paramIndexes = {-1}, - clientPkFileName = "sn") +// +// @ChainLog(linkCode = CHAIN_LINK_ADAS, +// linkChainLog = CHAIN_LINK_LOG_WEB_SOCKET_DATA, +// endpoint = TracingConstants.Endpoint.PAD, +// nodeAliasCode = CHAIN_ALIAS_CODE_WEB_SOCKET_MESSAGE_BYTE, +// paramIndexes = {-1}, +// clientPkFileName = "sn") @Override public void onMessage(WebSocket webSocket, ByteString bytes) { super.onMessage(webSocket, bytes); diff --git a/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/udp/CupidUdpConstract.java b/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/udp/CupidUdpConstract.java index 6f92e2abe2..8a0aabf976 100644 --- a/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/udp/CupidUdpConstract.java +++ b/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/udp/CupidUdpConstract.java @@ -71,12 +71,12 @@ public class CupidUdpConstract { /** * 开启线程 在surface准备好之后再进行接收数据 */ - @ChainLog(linkCode = CHAIN_LINK_ADAS, - linkChainLog = CHAIN_LINK_LOG_CONNECT_STATUS, - endpoint = TracingConstants.Endpoint.PAD, - nodeAliasCode = CHAIN_ALIAS_CODE_UDP_INIT, - paramIndexes = {0}, - clientPkFileName = "sn") +// @ChainLog(linkCode = CHAIN_LINK_ADAS, +// linkChainLog = CHAIN_LINK_LOG_CONNECT_STATUS, +// endpoint = TracingConstants.Endpoint.PAD, +// nodeAliasCode = CHAIN_ALIAS_CODE_UDP_INIT, +// paramIndexes = {0}, +// clientPkFileName = "sn") public void startReceiverDataThread() { if (udpReceiverDataThread != null) { udpReceiverDataThread.interrupt();