From 10d00adf4c25404bd4dc8e34ce1977ed4e03bc90 Mon Sep 17 00:00:00 2001 From: xinfengkun Date: Thu, 14 Sep 2023 18:18:50 +0800 Subject: [PATCH] =?UTF-8?q?[610][adas]=E6=96=B0=E5=A2=9E=E6=95=85=E9=9A=9C?= =?UTF-8?q?=E7=AE=A1=E7=90=86=EF=BC=88FM=EF=BC=89=E6=8E=A5=E5=8F=A3?= =?UTF-8?q?=EF=BC=9B=E4=BF=AE=E6=94=B9=E5=BA=95=E7=9B=98=E6=95=B0=E6=8D=AE?= =?UTF-8?q?=E6=9D=A5=E6=BA=90=E5=AD=97=E6=AE=B5=EF=BC=9B=E6=96=B0=E5=A2=9E?= =?UTF-8?q?SSM=E6=9D=A5=E6=BA=90=E5=AD=97=E6=AE=B5?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- .../autopilot/adapter/MoGoAdasListenerImpl.kt | 5 +++ .../IMoGoFaultManagementStateListener.kt | 11 +++++ ...llerFaultManagementStateListenerManager.kt | 21 ++++++++++ .../src/main/proto/fm_info.proto | 40 +++++++++++++++++++ .../src/main/proto/message_pad.proto | 3 ++ .../main/proto/personal/adas_constants.proto | 19 +++++++++ .../zhidao/support/adas/high/AdasChannel.java | 39 +++++++++++++----- .../zhidao/support/adas/high/AdasManager.java | 18 +++++++-- .../support/adas/high/IAdasNetCommApi.java | 13 ++++-- .../support/adas/high/OnAdasListener.java | 9 +++++ .../support/adas/high/common/Constants.java | 10 ----- .../support/adas/high/common/MessageType.java | 1 + .../adas/high/msg/FaultManagementMessage.java | 31 ++++++++++++++ .../adas/high/msg/MyMessageFactory.java | 7 ++++ 14 files changed, 200 insertions(+), 27 deletions(-) create mode 100644 core/mogo-core-function-api/src/main/java/com/mogo/eagle/core/function/api/autopilot/IMoGoFaultManagementStateListener.kt create mode 100644 core/mogo-core-function-call/src/main/java/com/mogo/eagle/core/function/call/autopilot/CallerFaultManagementStateListenerManager.kt create mode 100644 libraries/mogo-adas-data/src/main/proto/fm_info.proto create mode 100644 libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/msg/FaultManagementMessage.java 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 e1d461c1b7..ceb72f140a 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 @@ -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 */ diff --git a/core/mogo-core-function-api/src/main/java/com/mogo/eagle/core/function/api/autopilot/IMoGoFaultManagementStateListener.kt b/core/mogo-core-function-api/src/main/java/com/mogo/eagle/core/function/api/autopilot/IMoGoFaultManagementStateListener.kt new file mode 100644 index 0000000000..0476c75ad1 --- /dev/null +++ b/core/mogo-core-function-api/src/main/java/com/mogo/eagle/core/function/api/autopilot/IMoGoFaultManagementStateListener.kt @@ -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) +} \ No newline at end of file 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 new file mode 100644 index 0000000000..f9cdd3a5bc --- /dev/null +++ b/core/mogo-core-function-call/src/main/java/com/mogo/eagle/core/function/call/autopilot/CallerFaultManagementStateListenerManager.kt @@ -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() { + + /** + * 后摄像头视频数据 + */ + fun invokeFaultManagementState(fmInfo: FmInfo.FaultResultMsg) { + M_LISTENERS.forEach { + val listener = it.value + listener.onFaultManagementState(fmInfo) + } + } +} \ No newline at end of file diff --git a/libraries/mogo-adas-data/src/main/proto/fm_info.proto b/libraries/mogo-adas-data/src/main/proto/fm_info.proto new file mode 100644 index 0000000000..e2aeb3e124 --- /dev/null +++ b/libraries/mogo-adas-data/src/main/proto/fm_info.proto @@ -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 +} + + diff --git a/libraries/mogo-adas-data/src/main/proto/message_pad.proto b/libraries/mogo-adas-data/src/main/proto/message_pad.proto index 1b6356ede8..57f145fa05 100644 --- a/libraries/mogo-adas-data/src/main/proto/message_pad.proto +++ b/libraries/mogo-adas-data/src/main/proto/message_pad.proto @@ -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 diff --git a/libraries/mogo-adas-data/src/main/proto/personal/adas_constants.proto b/libraries/mogo-adas-data/src/main/proto/personal/adas_constants.proto index 84d6766797..52ebc422b8 100644 --- a/libraries/mogo-adas-data/src/main/proto/personal/adas_constants.proto +++ b/libraries/mogo-adas-data/src/main/proto/personal/adas_constants.proto @@ -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） +} + 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 5a287a7650..dbd6949814 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 @@ -96,7 +96,9 @@ public class AdasChannel implements IAdasNetCommApi, FpgaSocket.IWebSocketConnec private final Map 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); } 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 a97e53cd07..343ee9b9c9 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 @@ -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(); } /** 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 472de9aaa2..92c0e8ca48 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 @@ -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 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 1bfe69df7a..6b8953f5bc 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 @@ -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 * diff --git a/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/common/Constants.java b/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/common/Constants.java index 6dfb0bc9f0..f45e3eab00 100644 --- a/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/common/Constants.java +++ b/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/common/Constants.java @@ -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 */ diff --git a/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/common/MessageType.java b/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/common/MessageType.java index 6f886b4f7d..9dc323cf05 100644 --- a/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/common/MessageType.java +++ b/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/common/MessageType.java @@ -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"), diff --git a/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/msg/FaultManagementMessage.java b/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/msg/FaultManagementMessage.java new file mode 100644 index 0000000000..bf7075835b --- /dev/null +++ b/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/msg/FaultManagementMessage.java @@ -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); + } + +} 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 fb5c74d1e2..0e8824fa9c 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 @@ -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) {