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[Update]Adas多屏代码更改、Netty框架自定义协议并解决粘包/拆包问题

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chenfufeng
2022-02-14 16:02:59 +08:00
parent d9b8bbb593
commit 0f7a2453d8
14 changed files with 127 additions and 25 deletions
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2
config.gradle
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@@ -225,7 +225,7 @@ ext {
//========================= 新架构的 Maven 版本管理 =========================
mogo_core_function_autopilot : "com.mogo.eagle.core.function.impl:autopilot:${MOGO_CORE_FUNCTION_AUTOPILOT_VERSION}",
mogo_core_function_check : "com.mogo.eagle.core.function.impl:check:${MOGO_CORE_FUNCTION_CHECK_VERSION}",
mogo_core_function_devatools : "com.mogo.eagle.core.function.impl:devatools:${MOGO_CORE_FUNCTION_DEVATOOLS_VERSION}",
mogo_core_function_devatools : "com.mogo.eagle.core.function.impl:devatools:${MOGO_CORE_FUNCTION_CHECK_VERSION}",
mogo_core_function_hmi : "com.mogo.eagle.core.function.impl:hmi:${MOGO_CORE_FUNCTION_HMI_VERSION}",
mogo_core_function_map : "com.mogo.eagle.core.function.impl:map:${MOGO_CORE_FUNCTION_MAP_VERSION}",
mogo_core_function_main : "com.mogo.eagle.core.function.impl:main:${MOGO_CORE_FUNCTION_MAIN_VERSION}",

1
core/function-impl/mogo-core-function-autopilot/build.gradle
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@@ -53,6 +53,7 @@ dependencies {
implementation rootProject.ext.dependencies.mogochainbase
implementation rootProject.ext.dependencies.mogoami
implementation rootProject.ext.dependencies.mogoaicloudtelematic
if (Boolean.valueOf(USE_MAVEN_PACKAGE)) {
implementation rootProject.ext.dependencies.mogo_core_data

106
core/function-impl/mogo-core-function-autopilot/src/main/java/com/mogo/eagle/core/function/autopilot/MoGoAutopilotProvider.kt
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@@ -18,10 +18,21 @@ import com.mogo.eagle.core.utilcode.mogo.logger.Logger
import com.mogo.eagle.core.utilcode.mogo.storage.SharedPrefsMgr
import com.mogo.eagle.core.utilcode.util.GsonUtils
import com.mogo.eagle.core.utilcode.util.ThreadUtils
import com.mogo.telematic.MogoProtocolMsg
import com.mogo.telematic.MogoProtocolMsg.NORMAL_DATA
import com.mogo.telematic.NSDNettyManager
import com.mogo.telematic.client.listener.NettyClientListener
import com.mogo.telematic.client.status.ConnectState
import com.mogo.telematic.server.netty.NettyServerListener
import com.zhidao.support.adas.high.AdasManager
import com.zhidao.support.adas.high.bean.IPCUpgradeInfo
import com.zhidao.support.adas.high.common.CupidLogUtils
import io.netty.channel.Channel
import java.util.concurrent.TimeUnit
import com.zhidao.support.adas.high.AdasOptions
import io.netty.channel.ChannelFuture
import java.util.*
/**
* @author xiaoyuzhou
@@ -47,17 +58,104 @@ class MoGoAutopilotProvider :
// TODO 临时方案，根据不同的身份标识，连接不同的工控机IP
when (FunctionBuildConfig.appIdentityMode) {
0 -> // 司机
AdasManager.getInstance().create(context, "192.168.1.102")
{
// "192.168.1.102"
val options = AdasOptions.Builder().setClient(false).build()
AdasManager.getInstance().create(context, options)
NSDNettyManager.getInstance().startNSDNettyServer(context, object : NettyServerListener<MogoProtocolMsg> {
override fun onMessageResponseServer(
msg: MogoProtocolMsg?,
ChannelId: String?
) {
Logger.d(TAG, "Receive client data is:${msg?.toString()}")
}
override fun onStartServer() {
Logger.d(TAG, "onStartServer")
}
override fun onStopServer() {
Logger.d(TAG, "onStopServer")
}
override fun onChannelConnect(channel: Channel?) {
// TODO:("暂时保存一个Client的channel，后面管理多个Client的channel")
NSDNettyManager.getInstance().selectChannel(channel)
val socketAddress = channel?.remoteAddress().toString()
Logger.d(TAG, "Client ip is:${socketAddress}")
}
override fun onChannelDisConnect(channel: Channel?) {
Logger.d(TAG, "onChannelDisConnect")
}
})
}
1 -> // 乘客
AdasManager.getInstance().create(context, "192.168.1.103")
{
// "192.168.1.102"
val options = AdasOptions.Builder().build()
AdasManager.getInstance().create(context, options)
NSDNettyManager.getInstance().searchAndConnectServer(context, object : NettyClientListener<MogoProtocolMsg> {
override fun onMessageResponseClient(msg: MogoProtocolMsg?, index: Int) {
Logger.d(TAG, "收到司机端的数据!")
// 乘客端收到adas数据直接解析，后续分发解析后的数据流程同司机端
msg?.let {
AdasManager.getInstance().parseIPCData(it.body)
Logger.d(TAG, "解析司机端数据完毕！")
}
}
override fun onClientStatusConnectChanged(statusCode: Int, index: Int) {
when (statusCode) {
ConnectState.STATUS_CONNECT_SUCCESS -> Logger.d(TAG, "乘客端连接司机端服务成功! index is:${index}")
else -> Logger.d(TAG, "client statusCode is:${statusCode}")
}
}
})
}
//
else -> // 默认采用UDP寻址方式
AdasManager.getInstance().create(context)
{
val options = AdasOptions.Builder().setClient(false).build()
AdasManager.getInstance().create(context, options)
}
}
//////////////////////////////////注意先后顺序，AdasManager.getInstance().create后才可以设置监听/////////////////////////////////////////////
// 监听 adas 连接状态
AdasManager.getInstance().setOnAdasConnectStatusListener(MoGoAdasMsgConnectStatusListenerImpl())
// 监听ADAS-SDK获取到的工控机数据
// 监听ADAS-SDK获取到的工控机数据(乘客也需注册)
AdasManager.getInstance().setOnAdasListener(MoGoAdasListenerImpl())
// 司机端监听
if (FunctionBuildConfig.appIdentityMode == 0) {
AdasManager.getInstance().setOnMultiDeviceListener { bytes ->
Logger.d(
TAG,
"司机端接收到工控机吐出来的数据为:${Arrays.toString(bytes)}"
)
// 发送数据给乘客端
if (NSDNettyManager.getInstance().isServerStart) {
Logger.d(
TAG,
"司机端透传数据给乘客端！"
)
NSDNettyManager.getInstance().sendMogoProtocolMsgToClient(MogoProtocolMsg(NORMAL_DATA, bytes.size, bytes)) { channelFuture: ChannelFuture ->
if (channelFuture.isSuccess) {
Logger.d(
TAG,
"Send data to client is success."
)
} else {
Logger.d(
TAG,
"Send data to client is failure."
)
}
}
} else {
Logger.d(TAG, "司机端Server未启动！")
}
}
}
// 同步数据给工控机的服务
AsyncDataToAutopilotServer.INSTANCE.initServer()
}

20
gradle.properties
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@@ -32,7 +32,7 @@ kapt.include.compile.classpath=false
# http://www.gradle.org/docs/current/userguide/multi_project_builds.html#sec:decoupled_projects
# org.gradle.parallel=true
# AndroidX package structure to make it clearer which packages are bundled with the
# Android operating system, and which are packaged with your app's APK
# Android operating system, and which are packaged with your app'protoc_platforms APK
# https://developer.android.com/topic/libraries/support-library/androidx-rn
android.useAndroidX=true
# Automatically convert third-party libraries to use AndroidX
@@ -63,21 +63,23 @@ SERVICE_CHAIN_VERSION=1.0.47
LOGLIB_VERSION=1.1.19
######## MogoAiCloudSDK Version ########
# 网络请求
MOGO_NETWORK_VERSION=1.3.18
MOGO_NETWORK_VERSION=1.3.19-beta
# 鉴权
MOGO_PASSPORT_VERSION=1.3.18
MOGO_PASSPORT_VERSION=1.3.19-beta
# 常链接
MOGO_SOCKET_VERSION=1.3.18
MOGO_SOCKET_VERSION=1.3.19-beta
# 数据采集
MOGO_REALTIME_VERSION=1.3.18
MOGO_REALTIME_VERSION=1.3.19-beta
# 探路，道路事件发布，获取
MOGO_TANLU_VERSION=1.3.18
MOGO_TANLU_VERSION=1.3.19-beta
# 直播推流
MOGO_LIVE_VERSION=1.3.18
MOGO_LIVE_VERSION=1.3.19-beta
# 直播拉流
MOGO_TRAFFICLIVE_VERSION=1.3.18
MOGO_TRAFFICLIVE_VERSION=1.3.19-beta
# 定位服务
MOGO_LOCATION_VERSION=1.3.18
MOGO_LOCATION_VERSION=1.3.19-beta
# 远程通讯模块
MOGO_TELEMATIC_VERSION=1.3.19-beta
######## MogoAiCloudSDK Version ########
# 自研地图
MAP_SDK_VERSION=2.0.0.24

2
libraries/mogo-adas/gradle.properties
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@@ -1,3 +1,3 @@
GROUP=com.mogo.adas
POM_ARTIFACT_ID=mogo-adas
VERSION_CODE=1
VERSION_CODE=1

5
libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/AdasChannel.java
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@@ -52,7 +52,7 @@ import okhttp3.WebSocket;
import okio.ByteString;
/**
* @ProjectName: lib-adas-fpga
*
* @Package: com.zhidao.lib.adas.high
* @ClassName: AdasChannel
* @Description: java类作用描述
@@ -134,6 +134,8 @@ public class AdasChannel implements IAdasNetCommApi, FpgaSocket.IWebSocketConnec
}
private void initData(Context context) {
//原始数据解析类
socketReader = new SocketReader();
MgContextUtils.setContext(context.getApplicationContext());
//消息工厂
myMessageFactory = new MyMessageFactory();
@@ -167,7 +169,6 @@ public class AdasChannel implements IAdasNetCommApi, FpgaSocket.IWebSocketConnec
private void initSocket() {
mSocket = new FpgaSocket();
socketReader = new SocketReader();
mSocket.setWebSocketListener(this);
if (isUseQueue) {
WebSocketQueueManager.getInstance().registerWebSocketListener(this);

2
libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/AdasManager.java
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@@ -9,7 +9,7 @@ import com.zhidao.support.adas.high.bean.ConfigInfo;
import com.zhidao.support.adas.high.bean.MapLocationInfo;
/**
* @ProjectName: lib-adas-fpga
*
* @Package: com.zhidao.lib.adas.high
* @ClassName: AdasManager
* @Description: java类作用描述

2
libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/OnAdasListener.java
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@@ -18,7 +18,7 @@ import com.zhidao.support.adas.high.bean.record.AutopilotRecordResult;
import java.util.List;
/**
* @ProjectName: lib-adas-fpga
*
* @Package: com.zhidao.lib.adas.high
* @ClassName: OnAdasListener
* @Description: java类作用描述

2
libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/bean/MapLocationInfo.java
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@@ -4,7 +4,7 @@ import android.os.Parcel;
import android.os.Parcelable;
/**
* @ProjectName: lib-adas-fpga
*
* @Package: com.zhidao.lib.adas.high.bean
* @ClassName: MapLocationInfo
* @Description: java类作用描述

2
libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/bean/RectInfo.java
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@@ -3,7 +3,7 @@ package com.zhidao.support.adas.high.bean;
import java.util.List;
/**
* @ProjectName: lib-adas-fpga
*
* @Package: com.zhidao.lib.adas.high.bean
* @ClassName: RectInfo
* @Description: java类作用描述

2
libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/bean/WarnMessageInfo.java
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@@ -1,7 +1,7 @@
package com.zhidao.support.adas.high.bean;
/**
* @ProjectName: lib-adas-fpga
*
* @Package: com.zhidao.lib.adas.high.bean
* @ClassName: WarnMessageInfo
* @Description: java类作用描述

2
libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/common/Constants.java
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@@ -1,7 +1,7 @@
package com.zhidao.support.adas.high.common;
/**
* @ProjectName: lib-adas-fpga
*
* @Package: PACKAGE_NAME
* @ClassName: com.zhidao.lib.adas.high.common.Constants
* @Description: java类作用描述

2
libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/socket/FpgaSocket.java
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@@ -37,7 +37,7 @@ import okhttp3.WebSocketListener;
import okio.ByteString;
/**
* @ProjectName: lib-adas-fpga
*
* @Package: com.zhidao.lib.adas.high
* @ClassName: FpgaSocket
* @Description: java类作用描述

2
libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/socket/IWebSocket.java
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@@ -10,7 +10,7 @@ import java.util.List;
import okio.ByteString;
/**
* @ProjectName: lib-adas-fpga
*
* @Package: com.zhidao.lib.adas.high
* @ClassName: IWebSocket
* @Description: java类作用描述