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[8.2.0][adas] 修改心跳机制：增加接收域控心跳，兼容域控老版本心跳，修改心跳超时断开连接后立即进行重连,域控连接状态新增调用时间链路日志排查问题

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This commit is contained in:
xinfengkun
2025-08-01 17:34:05 +08:00
parent 4add71e4cc
commit 12f3f8b5e0
10 changed files with 119 additions and 90 deletions
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24
core/function-impl/mogo-core-function-datacenter/src/main/java/com/mogo/eagle/core/function/datacenter/autopilot/adapter/MoGoAdasMsgConnectStatusListenerImpl.kt
View File

@@ -96,13 +96,14 @@ class MoGoAdasMsgConnectStatusListenerImpl :
/**
* 与工控机链接状态变化
*
* @param status {@link AdasConstants.IpcConnectionStatus}
* @param reason 连接信息（需要判null）,目前只有以下参数存在值，其他全部为null
* {@link AdasConstants.IpcConnectionStatus#HEARTBEAT_TIMEOUT} 表示超时时间
* {@link AdasConstants.IpcConnectionStatus#CONNECT_EXCEPTION} 表示连接异常原因
* {@link AdasConstants.IpcConnectionStatus#SERVER_DISCONNECTED} 服务端断开（如果服务端关闭时发送了原因将存在，如果服务端关闭时未发送将为null）
* @param callbackTime 回调时间
* @param status {@link AdasConstants.IpcConnectionStatus}
* @param reason 连接信息（需要判null）,目前只有以下参数存在值，其他全部为null
* {@link AdasConstants.IpcConnectionStatus#HEARTBEAT_TIMEOUT} 表示超时时间
* {@link AdasConstants.IpcConnectionStatus#CONNECT_EXCEPTION} 表示连接异常原因
* {@link AdasConstants.IpcConnectionStatus#SERVER_DISCONNECTED} 服务端断开（如果服务端关闭时发送了原因将存在，如果服务端关闭时未发送将为null）
*/
override fun onConnectionIPCStatus(status: AdasConstants.IpcConnectionStatus, reason: String?) {
override fun onConnectionIPCStatus(callbackTime: Long, status: AdasConstants.IpcConnectionStatus, reason: String?) {
val isConnected = status == AdasConstants.IpcConnectionStatus.CONNECTED
CallerAutopilotActionsListenerManager.setConnected(isConnected)
CallerParallelDrivingActionsListenerManager.setConnected(isConnected)
@@ -235,8 +236,10 @@ class MoGoAdasMsgConnectStatusListenerImpl :
}
AdasConstants.IpcConnectionStatus.HEARTBEAT_TIMEOUT -> {
connectStatusDescribe =
"心跳超时（连接域控成功后在一段时间内未收到域控任何数据），超时时间：${reason}秒"
connectStatusDescribe = "心跳超时"
reason?.let {
connectStatusDescribe = it
}
CallerLogger.d(
"$M_D_C$TAG",
connectStatusDescribe
@@ -270,7 +273,7 @@ class MoGoAdasMsgConnectStatusListenerImpl :
CallerAutoPilotStatusListenerManager.getAutoPilotStatusInfo().connectStatusReason = reason
CallerAutoPilotStatusListenerManager.invokeAutoPilotStatus()
CallerAutoPilotStatusListenerManager.invokeAutoPilotIPCStatusChanged(status, reason)
saveIntoMsgBox(status, connectStatusDescribe)
saveIntoMsgBox(callbackTime, status, connectStatusDescribe)
}
/**
@@ -326,9 +329,10 @@ class MoGoAdasMsgConnectStatusListenerImpl :
linkChainLog = CHAIN_TYPE_SOCKET_AUTOPILOT,
linkCode = CHAIN_SOURCE_ADAS,
nodeAliasCode = CHAIN_CODE_ADAS_CONNECT_STATUS,
paramIndexes = [0,1]
paramIndexes = [0,1,2]
)
private fun saveIntoMsgBox(
callbackTime: Long,
status: AdasConstants.IpcConnectionStatus,
reason: String
) {

2
libraries/mogo-adas-data/src/main/java/com/zhjt/mogo/adas/common/IpcConnectionStatusDescription.java
View File

@@ -21,7 +21,7 @@ public enum IpcConnectionStatusDescription {
SEARCH_ADDRESS(AdasConstants.IpcConnectionStatus.SEARCH_ADDRESS, "搜索中", "连接模式为PING模式时,正在查找是否有可用的域控地址"),
NOT_FOUND_ADDRESS(AdasConstants.IpcConnectionStatus.NOT_FOUND_ADDRESS, "未找到", "连接模式为PING模式时,配置的域控地址列表中的全部地址均无法PING通【不修改默认配置的情况下需要排查PAD是否连接车载路由器、工控机是否连接车载路由器、工控机是否开机等】"),
CERTIFICATION_FAILED(AdasConstants.IpcConnectionStatus.CERTIFICATION_FAILED, "认证异常", "鹰眼端或鹰眼端和域控端启用认证后，认证出现异常"),
HEARTBEAT_TIMEOUT(AdasConstants.IpcConnectionStatus.HEARTBEAT_TIMEOUT, "心跳超时", "连接域控成功后在一段时间内未收到域控任何数据，默认4秒【可以配置】"),
HEARTBEAT_TIMEOUT(AdasConstants.IpcConnectionStatus.HEARTBEAT_TIMEOUT, "心跳超时", "连接域控成功后在一段时间内未收到域控心跳数据或其它任何数据，默认4秒【可以配置】"),
PROTOCOL_MISMATCH(AdasConstants.IpcConnectionStatus.PROTOCOL_MISMATCH, "协议不匹配", "被连接的域控端非WebSocket协议【可能性非常低】"),
SERVER_DISCONNECTED(AdasConstants.IpcConnectionStatus.SERVER_DISCONNECTED, "域控断开", "域控主动发起断开WebSocket连接，目前主要原因有：1.证书认证失败；2.老版本MAP不支持多连接的情况下会踢掉客户端；");

54
libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/AdasChannel.java
View File

@@ -508,8 +508,9 @@ public class AdasChannel implements IAdasNetCommApi, FpgaSocket.IWebSocketConnec
receivedAckManager.sendReceivedAck(header.getMsgID());
}
//司机端刷新心跳
if (!adasOptions.isPassenger())
ReceiveTimeoutManager.getInstance().refreshLast(header.getTimestamp());
if (!adasOptions.isPassenger() && !ReceiveTimeoutManager.getInstance().isHaveIpcHeartbeat()) {
ReceiveTimeoutManager.getInstance().refreshLast((long) (header.getTimestamp() * 1000L));
}
// CupidLogUtils.w("--->websocket byte read header = " + messageType.toString());
MessagePad.MessageType messageType = header.getMsgType();
if (usedSsmSource == AdasConstants.SsmSource.SSM_UNKNOWN && (messageType == MessagePad.MessageType.MsgTypeStatusQueryResp || messageType == MessagePad.MessageType.MsgTypeSSMState)) {
@@ -780,9 +781,19 @@ public class AdasChannel implements IAdasNetCommApi, FpgaSocket.IWebSocketConnec
long nowTime = 0;
if (CupidLogUtils.isEnableLog())
nowTime = SystemClock.elapsedRealtime();
decoderRaw(receiveTime, bytes);
//司机屏工控机数据转发
if (!adasOptions.isPassenger() && onMultiDeviceListener != null) {
boolean isForward = true;//司机屏是否转发域控数据
//域控发送的心跳数据
if (Constants.RAW_HEARTBEAT.equals(bytes)) {
isForward = false;
if (!ReceiveTimeoutManager.getInstance().isHaveIpcHeartbeat()) {
ReceiveTimeoutManager.getInstance().setHaveIpcHeartbeat(true);
}
ReceiveTimeoutManager.getInstance().refreshLast(System.currentTimeMillis());
} else {
decoderRaw(receiveTime, bytes);
}
//司机屏工控机数据转发 域控心跳数据不做转发
if (!adasOptions.isPassenger() && onMultiDeviceListener != null && isForward) {
onMultiDeviceListener.onForwardingDriverIPCMessage(bytes.toByteArray());
}
calculateTimeConsumingOnMessage(nowTime);
@@ -900,6 +911,7 @@ public class AdasChannel implements IAdasNetCommApi, FpgaSocket.IWebSocketConnec
stopSendHeartbeat();
stopDispatchHandler();
isInitConfigure.set(false);
ReceiveTimeoutManager.getInstance().setHaveIpcHeartbeat(false);
stopCarConfigReq();
ipcConnectedIp = null;
ipcConnectedPort = Constants.DEFAULT_PORT;
@@ -911,11 +923,15 @@ public class AdasChannel implements IAdasNetCommApi, FpgaSocket.IWebSocketConnec
stopPingAddress();
}
if (args != null && args.length > 0) {
reason = String.valueOf(args[0]);
if (status == AdasConstants.IpcConnectionStatus.HEARTBEAT_TIMEOUT && args.length > 2) {
reason = ReceiveTimeoutManager.buildTimeoutStr(true, (boolean) args[0], (long) args[1], (long) args[2]);
} else {
reason = String.valueOf(args[0]);
}
}
}
if (adasConnectStatusListener != null) {
adasConnectStatusListener.onConnectionIPCStatus(status, reason);
adasConnectStatusListener.onConnectionIPCStatus(System.currentTimeMillis(), status, reason);
}
}
@@ -939,13 +955,13 @@ public class AdasChannel implements IAdasNetCommApi, FpgaSocket.IWebSocketConnec
}
}
//车辆基础信息请求
//发送心跳
private synchronized void startSendHeartbeat() {
if (heartbeatScheduler == null || heartbeatScheduler.isShutdown()) {
heartbeatScheduler = Executors.newSingleThreadScheduledExecutor();
heartbeatScheduler.scheduleWithFixedDelay(() -> {
if (mSocket != null && mSocket.isConnected()) {
mSocket.sendDataWebSocket(Constants.RAW_HEART_BEAT);
mSocket.sendDataWebSocket(Constants.RAW_HEARTBEAT);
}
}, 100, 1000, TimeUnit.MILLISECONDS);
}
@@ -1033,26 +1049,6 @@ public class AdasChannel implements IAdasNetCommApi, FpgaSocket.IWebSocketConnec
return AdasConstants.IpcConnectionStatus.DISCONNECTED;
}
// TODO 需求暂停 待讨论
// @Override
// public boolean getRoutes() {
// return sendWsMessage(Constants.QUERY_ROUTES);
// }
/**
* 接管原因
*/
/**
* log是否显示
*
* @param isEnableLog
*/
public void setEnableLog(boolean isEnableLog) {
CupidLogUtils.setEnableLog(isEnableLog);
}
//车辆基础信息请求
private void startCarConfigReq() {
if (carConfigReqTimer == null) {

15
libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/AdasManager.java
View File

@@ -204,24 +204,11 @@ public class AdasManager implements IAdasNetCommApi {
return AdasConstants.IpcConnectionStatus.DISCONNECTED;
}
// TODO 需求暂停 待讨论 获取车辆轨迹文件
// @Override
// public boolean getRoutes() {
// if (mChannel!=null){
// return mChannel.getRoutes();
// }
// return false;
// }
/**
* Log是否开启打印
*/
@Override
public void setEnableLog(boolean isEnableLog) {
if (mChannel != null) {
mChannel.setEnableLog(isEnableLog);
}
CupidLogUtils.setEnableLog(isEnableLog);
}
// /**

8
libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/IAdasNetCommApi.java
View File

@@ -1503,9 +1503,6 @@ public interface IAdasNetCommApi {
*/
long sendImgUploadCloudStatusQuery();
// TODO 需求暂停 待讨论
// boolean getRoutes();
/**
* 向工控机发送数据
*
@@ -1528,11 +1525,6 @@ public interface IAdasNetCommApi {
*/
void stopDispatchHandler();
/**
* Log是否开启打印
*/
void setEnableLog(boolean isEnableLog);
// /**
// * 获取与当前连接工控机兼容性

13
libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/OnAdasConnectStatusListener.java
View File

@@ -15,13 +15,14 @@ public interface OnAdasConnectStatusListener {
/**
* 与工控机链接状态变化
*
* @param status {@link AdasConstants.IpcConnectionStatus}
* @param reason 连接信息（需要判null）,目前只有以下参数存在值，其他全部为null
* {@link AdasConstants.IpcConnectionStatus#HEARTBEAT_TIMEOUT} 表示超时时间
* {@link AdasConstants.IpcConnectionStatus#CONNECT_EXCEPTION} 表示连接异常原因
* {@link AdasConstants.IpcConnectionStatus#SERVER_DISCONNECTED} 服务端断开（如果服务端关闭时发送了原因将存在，如果服务端关闭时未发送将为null）
* @param callbackTime 回调时间
* @param status {@link AdasConstants.IpcConnectionStatus}
* @param reason 连接信息（需要判null）,目前只有以下参数存在值，其他全部为null
* {@link AdasConstants.IpcConnectionStatus#HEARTBEAT_TIMEOUT} 表示超时时间
* {@link AdasConstants.IpcConnectionStatus#CONNECT_EXCEPTION} 表示连接异常原因
* {@link AdasConstants.IpcConnectionStatus#SERVER_DISCONNECTED} 服务端断开（如果服务端关闭时发送了原因将存在，如果服务端关闭时未发送将为null）
*/
void onConnectionIPCStatus(AdasConstants.IpcConnectionStatus status, @Nullable String reason);
void onConnectionIPCStatus(long callbackTime, AdasConstants.IpcConnectionStatus status, @Nullable String reason);
/**
* 域控证书认证状态

2
libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/common/Constants.java
View File

@@ -38,7 +38,7 @@ public class Constants {
/**
* 心跳协议
*/
public static final ByteString RAW_HEART_BEAT = ByteString.of((byte) 0x6e, (byte) 0x68, (byte) 0x6f, (byte) 0x69);
public static final ByteString RAW_HEARTBEAT = ByteString.of((byte) 0x6e, (byte) 0x68, (byte) 0x6f, (byte) 0x69);
public static final String DEFAULT_PING_ADDRESS_LIST = "[\"192.168.1.102\", \"192.168.8.102\"]";

73
libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/common/ReceiveTimeoutManager.java
View File

@@ -1,7 +1,10 @@
package com.zhidao.support.adas.high.common;
import android.os.SystemClock;
import com.zhjt.mogo.adas.data.AdasConstants;
import java.util.Locale;
import java.util.Timer;
import java.util.TimerTask;
import java.util.concurrent.atomic.AtomicBoolean;
@@ -17,13 +20,21 @@ public class ReceiveTimeoutManager {
private static volatile ReceiveTimeoutManager INSTANCE;
private final AtomicBoolean isEnable = new AtomicBoolean(true);//是否启用超时检测
private long timeout = DEFAULT_TIMEOUT;//可配置超时时间
private double lastReceiveTime;//double 秒
private long timeoutPeriod;//超时时间，最后一次接收时间 + timeout
private final AtomicBoolean isHaveIpcHeartbeat = new AtomicBoolean(false);//域控是否存在心跳 false 没有或未知 true 域控有发送心跳
private long lastRefreshTime;//最后一次刷新时间
private long lastDataTimestamp;//isHaveIpcHeartbeat == true 表示最后一条域控心跳接收时间 isHaveIpcHeartbeat == false 表示Telematic最后一条数据发送时间（Header中的timestamp）
private OnTimeoutListener listener;
private volatile Timer timer;
public interface OnTimeoutListener {
void onTimeout(double time);
/**
* 超时回调
*
* @param isHaveIpcHeartbeat 域控是否存在心跳 false:没有或未知; true:域控有发送心跳
* @param lastDataTimestamp isHaveIpcHeartbeat == true 表示最后一条域控心跳接收时间 isHaveIpcHeartbeat == false 表示Telematic最后一条数据发送时间（Header中的timestamp）
* @param timeoutTime 超时时间
*/
void onTimeout(boolean isHaveIpcHeartbeat, long lastDataTimestamp, long timeoutTime);
}
public void setListener(OnTimeoutListener listener) {
@@ -48,6 +59,14 @@ public class ReceiveTimeoutManager {
return isEnable.get();
}
public boolean isHaveIpcHeartbeat() {
return isHaveIpcHeartbeat.get();
}
public void setHaveIpcHeartbeat(boolean isHave) {
isHaveIpcHeartbeat.set(isHave);
}
/**
* 是否启用服务器超时检测
*
@@ -72,8 +91,8 @@ public class ReceiveTimeoutManager {
*/
public void setTimeout(long timeout) {
//如果一启动 停止再启动 新timeout如果小于当前 老timeout将有可能出现时间差计算出错的情况
if (timeout < 1000L) {
timeout = 1000L;
if (timeout < 2000L) {
timeout = 2000L;
}
this.timeout = timeout;
if (timer != null) {
@@ -88,26 +107,31 @@ public class ReceiveTimeoutManager {
/**
* 刷新最后一次接收数据时间
* 如果 isHaveIpcHeartbeat true 表示域控发送心跳 timestamp表示域控发送心跳鹰眼接受到的时间
* 如果 isHaveIpcHeartbeat false 表示域控未发送心跳 timestamp表示域控发送数据中Header中的tel发送时间
*/
public void refreshLast(double timestamp) {
if (isEnable.get())
lastReceiveTime = timestamp;
public void refreshLast(long timestamp) {
if (isEnable.get()) {
lastRefreshTime = SystemClock.elapsedRealtime();
lastDataTimestamp = timestamp;
}
}
public synchronized void start() {
if (isEnable.get())
if (timer == null) {
timeoutPeriod = ((long) lastReceiveTime * 1000) + timeout;
lastRefreshTime = SystemClock.elapsedRealtime();
timer = new Timer();
timer.schedule(new TimerTask() {
@Override
public void run() {
long difference = timeoutPeriod - ((long) lastReceiveTime * 1000);
timeoutPeriod = ((long) lastReceiveTime * 1000) + timeout;
CupidLogUtils.e(TAG, "最后一次接收时间=" + lastReceiveTime + " 时间差=" + difference + "ms");
if (difference >= timeout) {
long now = SystemClock.elapsedRealtime();
long difference = now - lastRefreshTime;
boolean isTimeout = difference >= timeout;
CupidLogUtils.e(TAG, buildTimeoutStr(isTimeout, isHaveIpcHeartbeat(), lastDataTimestamp, difference) + " 设备开机到现在的时间：" + now + "ms 最后一条数据刷新时间：" + lastRefreshTime + "ms");
if (isTimeout) {
if (listener != null) {
listener.onTimeout(difference / 1000.0);
listener.onTimeout(isHaveIpcHeartbeat(), lastDataTimestamp, difference);
}
}
}
@@ -122,5 +146,24 @@ public class ReceiveTimeoutManager {
}
}
public static String buildTimeoutStr(
boolean isTimeout,
boolean isHaveIpcHeartbeat,
long lastDataTimestamp,
long time
) {
String type = isTimeout
? "超时时间："
: "最后刷新时间时间差：";
String type1 = isHaveIpcHeartbeat
? "最后一条Telematics心跳接收时间"
: "最后一条Telematics数据发送时间";
return String.format(Locale.getDefault(),
"%s%dms %s：%d",
type,
time,
type1,
lastDataTimestamp
);
}
}

4
libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/common/ReconnectManager.java
View File

@@ -82,7 +82,7 @@ public class ReconnectManager {
/**
* 启动重连
*/
public synchronized void start() {
public synchronized void start(long delay) {
if (isNeedReconnect()) {
if (!isReconnection()) {
CupidLogUtils.log(TAG, "开始重连");
@@ -101,7 +101,7 @@ public class ReconnectManager {
callOnReconnection(AdasConstants.IpcConnectionStatus.RECONNECTING_TIMER);
}
}
}, RECONNECT_INTERVAL, RECONNECT_INTERVAL);//延时
}, delay < 0 ? RECONNECT_INTERVAL : delay, RECONNECT_INTERVAL);//延时
}
}
}

14
libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/socket/FpgaSocket.java
View File

@@ -90,12 +90,14 @@ public class FpgaSocket implements IWebSocket {
.readTimeout(4, TimeUnit.SECONDS)
.connectTimeout(2, TimeUnit.SECONDS);
ReceiveTimeoutManager.getInstance().setListener(new ReceiveTimeoutManager.OnTimeoutListener() {
@Override
public void onTimeout(double time) {
public void onTimeout(boolean isHaveIpcHeartbeat, long lastDataTimestamp, long timeoutTime) {
setStatus(AdasConstants.IpcConnectionStatus.HEARTBEAT_TIMEOUT);
callConnectStatus(time);
callConnectStatus(isHaveIpcHeartbeat, lastDataTimestamp, timeoutTime);
close(false, 1001);
reconnectStart();
reconnectStart(10);
}
});
reconnectManager = new ReconnectManager(context, new ReconnectManager.OnReconnectListener() {
@@ -171,8 +173,12 @@ public class FpgaSocket implements IWebSocket {
* 启动重连功能
*/
private void reconnectStart() {
reconnectStart(-1);
}
private void reconnectStart(long delay) {
ReceiveTimeoutManager.getInstance().stop();
reconnectManager.start();
reconnectManager.start(delay);
}
private void reconnectStop(boolean isResetCurrentCount) {