From 12f3f8b5e0a29fd0c7d7d6e5ca7b1898eda89361 Mon Sep 17 00:00:00 2001 From: xinfengkun Date: Fri, 1 Aug 2025 17:34:05 +0800 Subject: [PATCH] =?UTF-8?q?[8.2.0][adas]=20=E4=BF=AE=E6=94=B9=E5=BF=83?= =?UTF-8?q?=E8=B7=B3=E6=9C=BA=E5=88=B6=EF=BC=9A=E5=A2=9E=E5=8A=A0=E6=8E=A5?= =?UTF-8?q?=E6=94=B6=E5=9F=9F=E6=8E=A7=E5=BF=83=E8=B7=B3=EF=BC=8C=E5=85=BC?= =?UTF-8?q?=E5=AE=B9=E5=9F=9F=E6=8E=A7=E8=80=81=E7=89=88=E6=9C=AC=E5=BF=83?= =?UTF-8?q?=E8=B7=B3=EF=BC=8C=E4=BF=AE=E6=94=B9=E5=BF=83=E8=B7=B3=E8=B6=85?= =?UTF-8?q?=E6=97=B6=E6=96=AD=E5=BC=80=E8=BF=9E=E6=8E=A5=E5=90=8E=E7=AB=8B?= =?UTF-8?q?=E5=8D=B3=E8=BF=9B=E8=A1=8C=E9=87=8D=E8=BF=9E,=E5=9F=9F?= =?UTF-8?q?=E6=8E=A7=E8=BF=9E=E6=8E=A5=E7=8A=B6=E6=80=81=E6=96=B0=E5=A2=9E?= =?UTF-8?q?=E8=B0=83=E7=94=A8=E6=97=B6=E9=97=B4=E9=93=BE=E8=B7=AF=E6=97=A5?= =?UTF-8?q?=E5=BF=97=E6=8E=92=E6=9F=A5=E9=97=AE=E9=A2=98?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- .../MoGoAdasMsgConnectStatusListenerImpl.kt | 24 +++--- .../IpcConnectionStatusDescription.java | 2 +- .../zhidao/support/adas/high/AdasChannel.java | 54 +++++++------- .../zhidao/support/adas/high/AdasManager.java | 15 +--- .../support/adas/high/IAdasNetCommApi.java | 8 -- .../high/OnAdasConnectStatusListener.java | 13 ++-- .../support/adas/high/common/Constants.java | 2 +- .../high/common/ReceiveTimeoutManager.java | 73 +++++++++++++++---- .../adas/high/common/ReconnectManager.java | 4 +- .../support/adas/high/socket/FpgaSocket.java | 14 +++- 10 files changed, 119 insertions(+), 90 deletions(-) diff --git a/core/function-impl/mogo-core-function-datacenter/src/main/java/com/mogo/eagle/core/function/datacenter/autopilot/adapter/MoGoAdasMsgConnectStatusListenerImpl.kt b/core/function-impl/mogo-core-function-datacenter/src/main/java/com/mogo/eagle/core/function/datacenter/autopilot/adapter/MoGoAdasMsgConnectStatusListenerImpl.kt index 5e9ddb8186..9a1481b6b1 100644 --- a/core/function-impl/mogo-core-function-datacenter/src/main/java/com/mogo/eagle/core/function/datacenter/autopilot/adapter/MoGoAdasMsgConnectStatusListenerImpl.kt +++ b/core/function-impl/mogo-core-function-datacenter/src/main/java/com/mogo/eagle/core/function/datacenter/autopilot/adapter/MoGoAdasMsgConnectStatusListenerImpl.kt @@ -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 ) { diff --git a/libraries/mogo-adas-data/src/main/java/com/zhjt/mogo/adas/common/IpcConnectionStatusDescription.java b/libraries/mogo-adas-data/src/main/java/com/zhjt/mogo/adas/common/IpcConnectionStatusDescription.java index 826c9d3d77..a14193b55d 100644 --- a/libraries/mogo-adas-data/src/main/java/com/zhjt/mogo/adas/common/IpcConnectionStatusDescription.java +++ b/libraries/mogo-adas-data/src/main/java/com/zhjt/mogo/adas/common/IpcConnectionStatusDescription.java @@ -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；"); 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 801db4fc2b..e1adff37af 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 @@ -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) { 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 f25e5bdd2c..178e9b78a5 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 @@ -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); } // /** 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 19732731b1..521a4d465f 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 @@ -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 diff --git a/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/OnAdasConnectStatusListener.java b/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/OnAdasConnectStatusListener.java index 77ef30b2ed..50fd251416 100644 --- a/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/OnAdasConnectStatusListener.java +++ b/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/OnAdasConnectStatusListener.java @@ -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 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 3ff2979d96..b9f6f6c2aa 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 @@ -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\"]"; diff --git a/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/common/ReceiveTimeoutManager.java b/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/common/ReceiveTimeoutManager.java index f530876555..b1d834824e 100644 --- a/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/common/ReceiveTimeoutManager.java +++ b/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/common/ReceiveTimeoutManager.java @@ -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 + ); + } } diff --git a/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/common/ReconnectManager.java b/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/common/ReconnectManager.java index cfd95b97c6..b9234f1b74 100644 --- a/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/common/ReconnectManager.java +++ b/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/common/ReconnectManager.java @@ -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 } } } 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 6c86e4d999..e48655e83d 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 @@ -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) {