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[610][adas]新增故障管理（FM）接口；修改底盘数据来源字段；新增SSM来源字段

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This commit is contained in:
xinfengkun
2023-09-14 18:18:50 +08:00
parent ee89b6ecd0
commit 10d00adf4c
14 changed files with 200 additions and 27 deletions
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5
core/function-impl/mogo-core-function-datacenter/src/main/java/com/mogo/eagle/core/function/datacenter/autopilot/adapter/MoGoAdasListenerImpl.kt
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@@ -68,6 +68,7 @@ import com.zhjt.mogo.adas.data.sweeper.task.confirm.SweeperTaskConfirm
import com.zhjt.mogo.adas.data.sweeper.task.status.SweeperTaskStatus
import com.zhjt.mogo.adas.data.sweeper.task.stop.SweeperTaskStop
import com.zhjt.service.chain.ChainLog
import fault_management.FmInfo
import function_state_management.FunctionStates
import mogo.telematics.pad.MessagePad
import mogo.telematics.pad.MessagePad.TrackedObject
@@ -447,6 +448,10 @@ class MoGoAdasListenerImpl : OnAdasListener {
invokeSystemStatus(statusInf)
}
override fun onFaultManagementState(header: MessagePad.Header?, fmInfo: FmInfo.FaultResultMsg) {
CallerFaultManagementStateListenerManager.invokeFaultManagementState(fmInfo)
}
/**
* 数据采集配置应答
*/

11
core/mogo-core-function-api/src/main/java/com/mogo/eagle/core/function/api/autopilot/IMoGoFaultManagementStateListener.kt Normal file
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@@ -0,0 +1,11 @@
package com.mogo.eagle.core.function.api.autopilot
import fault_management.FmInfo
/**
* 故障管理（FM）接口
*/
interface IMoGoFaultManagementStateListener {
fun onFaultManagementState(fmInfo: FmInfo.FaultResultMsg)
}

21
core/mogo-core-function-call/src/main/java/com/mogo/eagle/core/function/call/autopilot/CallerFaultManagementStateListenerManager.kt Normal file
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@@ -0,0 +1,21 @@
package com.mogo.eagle.core.function.call.autopilot
import com.mogo.eagle.core.function.api.autopilot.IMoGoFaultManagementStateListener
import com.mogo.eagle.core.function.call.base.CallerBase
import fault_management.FmInfo
/**
* 故障管理（FM）接口
*/
object CallerFaultManagementStateListenerManager : CallerBase<IMoGoFaultManagementStateListener>() {
/**
* 后摄像头视频数据
*/
fun invokeFaultManagementState(fmInfo: FmInfo.FaultResultMsg) {
M_LISTENERS.forEach {
val listener = it.value
listener.onFaultManagementState(fmInfo)
}
}
}

40
libraries/mogo-adas-data/src/main/proto/fm_info.proto Normal file
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@@ -0,0 +1,40 @@
syntax = "proto2";
package fault_management;
message FaultInfo {
required string fault_id = 1; //故障标识，每个告警有一个全域唯一的标识
required uint64 fault_time = 2; //故障确认上报时间，毫秒单位
optional string fault_desc = 3; //故障的补充描述，由模块补充上报信息，上报段自定义
optional string fault_level = 4; //原有预留字段，故障上报不需要填，故障状态发布时由fm根据配置填入 故障健康等级
repeated string fault_action = 5; //新增故障处理方法，故障上报不需要填，故障状态发布时由fm根据配置填入， 用于故障上报给pad 云控处理， 需要和产品，pad端沟通定义，罗列定义值
repeated string fault_result = 6; //新增故障后果，故障上报不需要填，故障状态发布时由fm根据配置表填入， 用于行为上层的禁止
optional string policy_code = 7; //新增故障策略，故障上报不需要填，故障表中所定义的故障策略
optional string fault_name = 8; //新增故障名称，故障上报不需要填，故障表中定义的故障中文名称
}
enum FaultLevel {
NOTHING_TODO = 0; //不采用故障等级策略
EMERGENCY_STOP = 1; //紧急停车
COMFORTABLE_SLOW_STOP = 2; //舒适减速停车
COMFORTABLE_PULL_OVER = 3; //舒适靠边停车
REDUCE_SPEED = 4; //减速行驶 低于10km/小时
WARNING_ONLY = 5; //仅告警
STATISTICS_INFO = 6; //仅做系统后台统计
}
message FaultResultMsg {
required uint64 time = 1; //故障策略输出时间，毫秒
required FaultLevel level = 2; //故障汇总等级 （前期按等级处理）
required uint32 fault_sum = 3; //故障总数
repeated FaultInfo infos = 4; //故障消息详情
required uint32 veh_policy =5; //车端降级策略 (360及之后弃用，兼容350策略定义)
required bool planning_exec_pilocy_must = 6; //规划需要执行降级策略
required bool controller_exec_pilocy_must = 7; //控制需要执行降级策略（true的情况，planning可能故障）
optional string downgrade_policy_code = 8; //唯一故障策略描述，360后建议车型按该string类型区分 （云端，pad端按该字符串，总计8种，做分析处理）
repeated string actions = 9; //所有当前存在故障的action 并集
repeated string results = 10; //所有当前存在故障的 result 并集
}

3
libraries/mogo-adas-data/src/main/proto/message_pad.proto
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@@ -33,6 +33,7 @@ enum MessageType
MsgTypeBackCameraVideo = 0x1000d; //后部摄像头视频 10hz
MsgTypeM1StitchedVideo = 0x1000e; //m1拼接视频 10hz
MsgTypeSSMState = 0x1000f; //ssm 系统状态 1hz hq m1 MAP350开始支持，其他车型MAP360开始支持
MsgTypeFMState = 0x10010; //FM状态 1hz bus和清扫车是MAP370开始支持，其他车型MAP360开始支持
MsgTypeBasicInfoReq = 0x10100; //自动驾驶设备基础信息请求
MsgTypeBasicInfoResp = 0x10101; //自动驾驶设备基础信息应答
@@ -718,3 +719,5 @@ message SessionInfo
//message definition for MsgTypeParallelDrivingCmd
//查看云端和鹰眼的接口
//message definition for MsgTypeFMState
//refer to fm_info.proto for details

19
libraries/mogo-adas-data/src/main/proto/personal/adas_constants.proto
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@@ -21,3 +21,22 @@ enum MapSystemParamType{
FUSION_MODE = 14;//融合模式(int) 1:全融合模式 2:盲区模式 3:超视距模式 4:透传模式 5:纯路侧模式，默认1 /telematics/fusion/fusion_mode
}
/**
* 底盘数据来源
*/
enum ChassisSource{
CHASSIS_UNKNOWN = 0;//未知
CHASSIS_VER1 = 1;//版本1（老底盘）
CHASSIS_VER2 = 2;//版本2（新底盘）
}
/**
* SSM数据来源
*/
enum SsmSource{
SSM_UNKNOWN = 0;//未知
SSM_VER1 = 1;//版本1（查询方式）
SSM_VER2 = 2;//版本2（定频回调）
}

39
libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/AdasChannel.java
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@@ -96,7 +96,9 @@ public class AdasChannel implements IAdasNetCommApi, FpgaSocket.IWebSocketConnec
private final Map<MessagePad.MessageType, DispatchHandler> dispatchHandlers = new HashMap<>();//其他分发线程
private Timer checkCompatibilityTimer;//检查版本兼容性定时器 连接成功后5秒内等待工控机发送配置信息
private int seqSpecialVehicle = 0;//特种车辆命令发送次数
private int usedChassisType = Constants.CHASSIS_TYPE.UNKNOWN;//使用的底盘类型 新老
private AdasConstants.ChassisSource usedChassisSource = AdasConstants.ChassisSource.CHASSIS_UNKNOWN;//使用的底盘类型 新老
private AdasConstants.SsmSource usedSsmSource = AdasConstants.SsmSource.SSM_UNKNOWN;//使用的SSM类型
/**
* 与工控机链接状态
*/
@@ -317,8 +319,13 @@ public class AdasChannel implements IAdasNetCommApi, FpgaSocket.IWebSocketConnec
}
@Override
public int getUsedChassisType() {
return usedChassisType;
public AdasConstants.ChassisSource getUsedChassisSource() {
return usedChassisSource;
}
@Override
public AdasConstants.SsmSource getUsedSsmSource() {
return usedSsmSource;
}
/**
@@ -403,12 +410,23 @@ public class AdasChannel implements IAdasNetCommApi, FpgaSocket.IWebSocketConnec
if (defaultDispatchHandler != null)
defaultDispatchHandler.sendRawMessage(raw);
}
if (messageType == MessagePad.MessageType.MsgTypeVehicleState) {
//老底盘接口
usedChassisType = Constants.CHASSIS_TYPE.OLD_CHASSIS;
} else if (messageType == MessagePad.MessageType.MsgTypeChassisStates) {
//新底盘接口
usedChassisType = Constants.CHASSIS_TYPE.NEW_CHASSIS;
if (usedChassisSource == AdasConstants.ChassisSource.CHASSIS_UNKNOWN) {
if (messageType == MessagePad.MessageType.MsgTypeVehicleState) {
//老底盘接口
usedChassisSource = AdasConstants.ChassisSource.CHASSIS_VER1;
} else if (messageType == MessagePad.MessageType.MsgTypeChassisStates) {
//新底盘接口
usedChassisSource = AdasConstants.ChassisSource.CHASSIS_VER2;
}
}
if (usedSsmSource == AdasConstants.SsmSource.SSM_UNKNOWN) {
if (messageType == MessagePad.MessageType.MsgTypeStatusQueryResp) {
//老SSM(查询方式)
usedSsmSource = AdasConstants.SsmSource.SSM_VER1;
} else if (messageType == MessagePad.MessageType.MsgTypeSSMState) {
//新SSM(定频回调)
usedSsmSource = AdasConstants.SsmSource.SSM_VER2;
}
}
} else {
callError(raw.getProtocolStatus(), byteString.toByteArray());
@@ -554,7 +572,8 @@ public class AdasChannel implements IAdasNetCommApi, FpgaSocket.IWebSocketConnec
ipcConnectedIp = null;
ipcConnectedPort = Constants.DEFAULT_PORT;
subscribeInterface = null;
usedChassisType = Constants.CHASSIS_TYPE.UNKNOWN;
usedChassisSource = AdasConstants.ChassisSource.CHASSIS_UNKNOWN;
usedSsmSource = AdasConstants.SsmSource.SSM_UNKNOWN;
updateConnectStatus(Constants.IPC_CONNECTION_STATUS.DISCONNECTED, t == null ? "" : t);
}

18
libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/AdasManager.java
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@@ -276,13 +276,23 @@ public class AdasManager implements IAdasNetCommApi {
}
/**
* 获取使用底盘的类型
* 获取使用底盘的来源
*
* @return {@link Constants.CHASSIS_TYPE}
* @return {@link AdasConstants.ChassisSource}
*/
@Override
public int getUsedChassisType() {
return mChannel == null ? Constants.CHASSIS_TYPE.UNKNOWN : mChannel.getUsedChassisType();
public AdasConstants.ChassisSource getUsedChassisSource() {
return mChannel == null ? AdasConstants.ChassisSource.CHASSIS_UNKNOWN : mChannel.getUsedChassisSource();
}
/**
* 获取使用SSM的来源
*
* @return {@link AdasConstants.SsmSource}
*/
@Override
public AdasConstants.SsmSource getUsedSsmSource() {
return mChannel == null ? AdasConstants.SsmSource.SSM_UNKNOWN : mChannel.getUsedSsmSource();
}
/**

13
libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/IAdasNetCommApi.java
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@@ -70,11 +70,18 @@ public interface IAdasNetCommApi {
int getIpcConnectedPort();
/**
* 获取使用底盘的类型
* 获取使用底盘的来源
*
* @return {@link Constants.CHASSIS_TYPE}
* @return {@link AdasConstants.ChassisSource}
*/
int getUsedChassisType();
AdasConstants.ChassisSource getUsedChassisSource();
/**
* 获取使用SSM的来源
*
* @return {@link AdasConstants.SsmSource}
*/
AdasConstants.SsmSource getUsedSsmSource();
/**
* 自动驾驶设备基础信息应答

9
libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/OnAdasListener.java
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@@ -25,6 +25,7 @@ import java.util.ArrayList;
import bag_manager.BagManagerOuterClass;
import chassis.ChassisStatesOuterClass;
import chassis.VehicleStateOuterClass;
import fault_management.FmInfo;
import function_state_management.FunctionStates;
import mogo.telematics.pad.MessagePad;
import mogo.v2x.MogoV2X;
@@ -212,6 +213,14 @@ public interface OnAdasListener {
*/
void onSystemStatus(MessagePad.Header header, SsmInfo.SsmStatusInf statusInf);
/**
* 故障管理（FM）接口
*
* @param header 头
* @param fmInfo 数据
*/
void onFaultManagementState(MessagePad.Header header, @NonNull FmInfo.FaultResultMsg fmInfo);
/**
* 数据采集配置应答
*

10
libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/common/Constants.java
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@@ -111,16 +111,6 @@ public class Constants {
}
/**
* 使用底盘数据类型
*/
public interface CHASSIS_TYPE {
int UNKNOWN = -1;//未知
int NEW_CHASSIS = 0;//新底盘
int OLD_CHASSIS = 1;//老底盘
}
/**
* 启动自动驾驶-Source类型
*/

1
libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/common/MessageType.java
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@@ -31,6 +31,7 @@ public enum MessageType {
TYPE_RECEIVE_BACK_CAMERA_VIDEO(MessagePad.MessageType.MsgTypeBackCameraVideo, "后摄像头"),
TYPE_RECEIVE_M1_STITCHED_VIDEO(MessagePad.MessageType.MsgTypeM1StitchedVideo, "M1拼接视频"),
TYPE_RECEIVE_SSM(MessagePad.MessageType.MsgTypeSSMState, "SSM系统状态"),
TYPE_RECEIVE_FM_STATE(MessagePad.MessageType.MsgTypeFMState, "FM状态"),
TYPE_RECEIVE_BASIC_INFO_REQ(MessagePad.MessageType.MsgTypeBasicInfoReq, "自动驾驶设备基础信息请求"),
TYPE_SEND_BASIC_INFO_RESP(MessagePad.MessageType.MsgTypeBasicInfoResp, "自动驾驶设备基础信息应答"),

31
libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/msg/FaultManagementMessage.java Normal file
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@@ -0,0 +1,31 @@
package com.zhidao.support.adas.high.msg;
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.CupidLogUtils;
import com.zhidao.support.adas.high.protocol.RawData;
import fault_management.FmInfo;
/**
* 故障管理（FM）接口
*/
public class FaultManagementMessage extends MyAbstractMessageHandler {
@Override
public void handlerMsg(RawData raw, OnAdasListener adasListener) throws InvalidProtocolBufferException {
FmInfo.FaultResultMsg fmInfo = FmInfo.FaultResultMsg.parser().parseFrom(raw.originalData.toByteArray(), raw.getOffsetValue(), raw.getPackageLengthValue() - raw.getOffsetValue());
AdasChannel.calculateTimeConsumingOnDispatchRaw("FM状态", raw.receiveTime);
long nowTime = 0;
if (CupidLogUtils.isEnableLog())
nowTime = SystemClock.elapsedRealtime();
if (adasListener != null) {
adasListener.onFaultManagementState(raw.getHeader(), fmInfo);
}
AdasChannel.calculateTimeConsumingBusiness("FM状态", nowTime);
}
}

7
libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/msg/MyMessageFactory.java
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@@ -31,6 +31,7 @@ public class MyMessageFactory implements IMyMessageFactory {
private IMsg arrivalNotificationMessage;//到站提醒
private IMsg statusQueryRespMessage;//状态查询应答
private IMsg systemStatusMessage;//定频SSM
private IMsg faultManagementMessage;//FM状态
private IMsg recordDataConfigRespMessage;//数据采集配置应答
private IMsg planningDecisionStateMessage;//planning决策状态
private IMsg obuWarningDataMessage;//工控机透传OBU V2I数据
@@ -168,6 +169,12 @@ public class MyMessageFactory implements IMyMessageFactory {
systemStatusMessage = new SystemStatusMessage();
}
return systemStatusMessage;
} else if (messageType == MessageType.TYPE_RECEIVE_FM_STATE.typeCode) {
//FM状态
if (faultManagementMessage == null) {
faultManagementMessage = new FaultManagementMessage();
}
return faultManagementMessage;
} else if (messageType == MessageType.TYPE_RECEIVE_RECORD_DATA_CONFIG_RESP.typeCode) {
//数据采集配置应答
if (recordDataConfigRespMessage == null) {