[2.14.0][adas lib] 1.能否启动自驾检测接口兼容MAP250以下版本；2.获取车机基础信息接口增加多次获取逻辑，目前会尝试3次获取

2023-02-20 15:41:18 +08:00
parent f7a48e8632
commit 1630fde73d
8 changed files with 408 additions and 98 deletions
--- 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
@@ -23,7 +23,6 @@ import androidx.annotation.Nullable;
 import com.google.protobuf.InvalidProtocolBufferException;
 import com.zhidao.support.adas.high.bean.AutopilotStatistics;
 import com.zhidao.support.adas.high.bean.VersionCompatibility;
-import com.zhidao.support.adas.high.common.AutopilotAbilityManager;
 import com.zhidao.support.adas.high.common.AutopilotReview;
 import com.zhidao.support.adas.high.common.ByteUtil;
 import com.zhidao.support.adas.high.common.Constants;
@@ -34,6 +33,7 @@ import com.zhidao.support.adas.high.common.MessageType;
 import com.zhidao.support.adas.high.common.ProtocolStatus;
 import com.zhidao.support.adas.high.common.ReceiveTimeoutManager;
 import com.zhidao.support.adas.high.common.RegexUtils;
+import com.zhidao.support.adas.high.common.autopilot.ability.AutopilotAbilityManager;
 import com.zhidao.support.adas.high.msg.IMsg;
 import com.zhidao.support.adas.high.msg.MyMessageFactory;
 import com.zhidao.support.adas.high.protocol.RawData;
@@ -129,6 +129,7 @@ public class AdasChannel implements IAdasNetCommApi, FpgaSocket.IWebSocketConnec
     * 乘客屏无法进行注册或取消注册，因为乘客屏无法感知司机屏与工控机连接状态。无法重置已注册或未注册接口列表
     */
    private SubscribeInterface subscribeInterface;
+    private Timer carConfigReqTimer;//车辆基础信息请求 多次请求防止无法收到基础信息情况出现

    public void setOnMultiDeviceListener(OnMultiDeviceListener onMultiDeviceListener) {
        this.onMultiDeviceListener = onMultiDeviceListener;
@@ -519,7 +520,7 @@ public class AdasChannel implements IAdasNetCommApi, FpgaSocket.IWebSocketConnec

    @Override
    public void onWebSocketConnectSuccess(String ipAddress, int port) {
-        sendCarConfigReq();
+        startCarConfigReq();
        ipcConnectedIp = ipAddress;
        ipcConnectedPort = port;
        subscribeInterface = new SubscribeInterface(this);
@@ -641,6 +642,7 @@ public class AdasChannel implements IAdasNetCommApi, FpgaSocket.IWebSocketConnec
        } else {
            AutopilotAbilityManager.getInstance().stop();
            stopCheckCompatibility();
+            stopCarConfigReq();
        }
        if (status == Constants.IPC_CONNECTION_STATUS.DISCONNECTED) {
            AdasManager.getInstance().setCarConfig(null);
@@ -758,6 +760,40 @@ public class AdasChannel implements IAdasNetCommApi, FpgaSocket.IWebSocketConnec
        CupidLogUtils.setEnableLog(isEnableLog);
    }

+    //车辆基础信息请求
+    private void startCarConfigReq() {
+        if (carConfigReqTimer == null) {
+            carConfigReqTimer = new Timer();
+            carConfigReqTimer.schedule(new TimerTask() {
+                int num = 0;
+
+                @Override
+                public void run() {
+                    if (getIpcConnectionStatus() == Constants.IPC_CONNECTION_STATUS.CONNECTED) {
+                        if (AdasManager.getInstance().getCarConfig() == null) {
+                            num++;
+                            if (num > 3) {
+                                CupidLogUtils.i(TAG, "最后一次也未获取到车机基础信息");
+                                stopCarConfigReq();
+                            } else {
+                                CupidLogUtils.i(TAG, "第" + num + "次获取车机基础信息");
+                                sendCarConfigReq();
+                            }
+                        } else {
+                            stopCarConfigReq();
+                        }
+                    }
+                }
+            }, 10, 2000L);
+        }
+    }
+
+    private synchronized void stopCarConfigReq() {
+        if (carConfigReqTimer != null) {
+            carConfigReqTimer.cancel();
+            carConfigReqTimer = null;
+        }
+    }

 /**************************************************************************************************************************/
    /**
--- a/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/AdasOptions.java
+++ b/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/AdasOptions.java
@@ -1,6 +1,6 @@
 package com.zhidao.support.adas.high;

-import com.zhidao.support.adas.high.common.AutopilotAbilityManager;
+import com.zhidao.support.adas.high.common.autopilot.ability.AutopilotAbilityManager;
 import com.zhidao.support.adas.high.subscribe.SubscribeInterfaceOptions;

 import java.util.HashSet;
--- a/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/common/autopilot/ability/AutopilotAbility230.java
+++ b/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/common/autopilot/ability/AutopilotAbility230.java
@@ -0,0 +1,109 @@
+package com.zhidao.support.adas.high.common.autopilot.ability;
+
+import com.zhidao.support.adas.high.OnAdasListener;
+
+import java.util.Timer;
+import java.util.TimerTask;
+import java.util.regex.Pattern;
+
+import chassis.Chassis;
+import chassis.ChassisStatesOuterClass;
+
+/**
+ * 是否可以启动自动驾驶能力检测 工控机版本>=230&& <250 使用此类
+ * 目前监控了底盘的一些状态和查询节点状态应答的数据
+ * 没有使用监控事件报告的原因是因为，部分异常没进行正常恢复通知，例如收到了异常监控数据，但是异常恢复之后没有恢复的通知
+ * <p>
+ * 此定时器不能停止 鹰眼中存在UI更新依赖循环查询系统状态
+ */
+public class AutopilotAbility230 {
+    private static final String TAG = AutopilotAbility230.class.getSimpleName();
+    private static final long DEFAULT_DETECTION_TIME = 3 * 1000L;//默认检测时间
+    private volatile Timer timer;
+    private ChassisStatesOuterClass.ChassisStates chassisStates;
+
+    public AutopilotAbility230() {
+    }
+
+
+    public void setChassisStates(ChassisStatesOuterClass.ChassisStates chassisStates) {
+        this.chassisStates = chassisStates;
+    }
+
+    private void onCallback() {
+        //金旅、开沃小巴乘客端 不能启动自动驾驶
+        if (AutopilotAbilityManager.getInstance().isBus() && AutopilotAbilityManager.getInstance().isPassenger()) {
+            return;
+        }
+        boolean isAutopilotAbility = true;//是否能启动自动驾驶
+        String unableAutopilotReason = null;//不能启动自动驾驶原因
+        //检测底盘相关
+        if (chassisStates != null) {
+            if (chassisStates.hasBrakeSystemStates()) {
+                float brake = chassisStates.getBrakeSystemStates().getBrakePedalResponsePosition();
+                if (brake > 0) {
+                    isAutopilotAbility = false;
+                    unableAutopilotReason = "制动踏板被踩下";
+                }
+            }
+            if (isAutopilotAbility) {
+                /**
+                 * 档位状态判断 目前判断的车型包括 东风Taxi 红旗Taxi 金旅Bus
+                 */
+                if (chassisStates.hasGearSystemStates()) {
+                    Chassis.GearPosition gear = chassisStates.getGearSystemStates().getGearPosition();
+                    //金旅Bus和清扫车 档位不正常
+                    if (AutopilotAbilityManager.getInstance().isBus()) {
+                        if (gear == Chassis.GearPosition.GEAR_N || gear == Chassis.GearPosition.GEAR_R) {
+                            isAutopilotAbility = false;
+                            unableAutopilotReason = "挡位不正常";
+                        }
+                    } else {
+                        //东风Taxi和红旗 司机端和乘客端 档位不正常
+                        if (gear == Chassis.GearPosition.GEAR_P || gear == Chassis.GearPosition.GEAR_R) {
+                            isAutopilotAbility = false;
+                            unableAutopilotReason = "挡位不正常";
+                        }
+                    }
+                }
+            }
+
+            //TODO 关于手刹：不同车型的实现不同所以目前没法使用此字段
+//            if (isAutopilotAbility) {
+//                //电子驻车制动系统
+//                if (chassisStates.hasEpbSystemStates()) {
+//                    ChassisStatesOuterClass.EPBSystemStates epb = chassisStates.getEpbSystemStates();
+//                    if (epb.hasEpbEnableState()){
+//                        epb.getEpbWorkState();
+//                    }
+//                }
+//            }
+        }
+        if (AutopilotAbilityManager.getInstance().getListener() != null) {
+            AutopilotAbilityManager.getInstance().getListener().onAutopilotAbility(isAutopilotAbility, unableAutopilotReason);
+        }
+    }
+
+    public synchronized void start() {
+        if (timer == null) {
+            timer = new Timer();
+            timer.schedule(new TimerTask() {
+                @Override
+                public void run() {
+                    onCallback();
+                }
+            }, 2000L, DEFAULT_DETECTION_TIME);//延迟执行，避免刚连接成功后底盘信息无法及时同步
+        }
+    }
+
+    public synchronized void stop() {
+        if (timer != null) {
+            timer.cancel();
+            timer = null;
+        }
+        this.chassisStates = null;
+    }
+
+
+
+}
--- a/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/common/autopilot/ability/AutopilotAbility250.java
+++ b/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/common/autopilot/ability/AutopilotAbility250.java
@@ -1,82 +1,41 @@
-package com.zhidao.support.adas.high.common;
+package com.zhidao.support.adas.high.common.autopilot.ability;

-import android.os.Handler;
 import android.os.Message;
-import android.text.TextUtils;

 import com.zhidao.support.adas.high.AdasManager;
-import com.zhidao.support.adas.high.OnAdasListener;

 import java.util.List;
 import java.util.Timer;
 import java.util.TimerTask;
-import java.util.regex.Matcher;
-import java.util.regex.Pattern;

 import chassis.Chassis;
 import chassis.ChassisStatesOuterClass;
 import system_master.SystemStatusInfo;

 /**
- * 是否可以启动自动驾驶能力检测
+ * 是否可以启动自动驾驶能力检测 工控机版本>=250使用此类
 * 目前监控了底盘的一些状态和查询节点状态应答的数据
 * 没有使用监控事件报告的原因是因为，部分异常没进行正常恢复通知，例如收到了异常监控数据，但是异常恢复之后没有恢复的通知
 * <p>
 * 此定时器不能停止 鹰眼中存在UI更新依赖循环查询系统状态
 */
-public class AutopilotAbilityManager {
-    private static final String TAG = AutopilotAbilityManager.class.getSimpleName();
+public class AutopilotAbility250 {
+    private static final String TAG = AutopilotAbility250.class.getSimpleName();
    private static final int WHAT_TIMEOUT = 0;
    private static final int DEFAULT_TIMEOUT = 1500;
    private static final long DEFAULT_DETECTION_TIME = 3 * 1000L;//默认检测时间
    private static final String[] NODE_INFO_STATE = {"未知状态 ", "依赖未就绪 ", "启动中 ", "运行 ", "停止 ", "无法启动状态 ", "人为启动状态 ", "人为关闭状态 "};
-    private static volatile AutopilotAbilityManager INSTANCE;
-    private OnAdasListener listener;
    private volatile Timer timer;
-    private final Pattern pattern = Pattern.compile("\\d+.\\d+.\\d+");
    private ChassisStatesOuterClass.ChassisStates chassisStates;
-    private Handler handler;
-    private OnAutopilotAbilityListener onAutopilotAbilityListener;
-    /**
-     * 身份/车型
-     */
-    private int identityMode;

-    public interface OnAutopilotAbilityListener {
-        void onStatusQuery();//查询是被调用
+    public AutopilotAbility250() {
    }


-    public void setIdentityMode(int identityMode) {
-        this.identityMode = identityMode;
-    }
-
-    public void setOnAdasListener(OnAdasListener listener) {
-        this.listener = listener;
-    }
-
-    public void setOnAutopilotAbilityListener(OnAutopilotAbilityListener onAutopilotAbilityListener) {
-        this.onAutopilotAbilityListener = onAutopilotAbilityListener;
-    }
-
-    private AutopilotAbilityManager() {
-    }
-
-    public static AutopilotAbilityManager getInstance() {
-        if (INSTANCE == null) {
-            synchronized (AutopilotAbilityManager.class) {
-                if (INSTANCE == null) {
-                    INSTANCE = new AutopilotAbilityManager();
-                }
-            }
-        }
-        return INSTANCE;
-    }
-
    public void setStatusInfo(SystemStatusInfo.StatusInfo statusInfo) {
-        if (handler != null) {
-            if (handler.hasMessages(WHAT_TIMEOUT))
-                handler.removeMessages(WHAT_TIMEOUT);
+        if (AutopilotAbilityManager.getInstance().getHandler() != null) {
+            if (AutopilotAbilityManager.getInstance().getHandler().hasMessages(WHAT_TIMEOUT))
+                AutopilotAbilityManager.getInstance().getHandler().removeMessages(WHAT_TIMEOUT);
        }
        onCallback(statusInfo);
    }
@@ -87,7 +46,7 @@ public class AutopilotAbilityManager {

    private void onCallback(SystemStatusInfo.StatusInfo statusInfo) {
        //金旅、开沃小巴乘客端 不能启动自动驾驶
-        if (isBus(identityMode) && isPassenger(identityMode)) {
+        if (AutopilotAbilityManager.getInstance().isBus() && AutopilotAbilityManager.getInstance().isPassenger()) {
            return;
        }
        boolean isAutopilotAbility = true;//是否能启动自动驾驶
@@ -98,20 +57,7 @@ public class AutopilotAbilityManager {
            if (statusInfo.hasMasterVersion()) {
                //截取Master Version
                String masterVersion = statusInfo.getMasterVersion();
-                if (!TextUtils.isEmpty(masterVersion)) {
-                    try {
-                        Matcher matcher = pattern.matcher(masterVersion);
-                        if (matcher.find()) {
-                            String group = matcher.group();
-                            if (!TextUtils.isEmpty(group)) {
-                                String v = group.split("\\.")[0];
-                                version = Integer.parseInt(v);
-                            }
-                        }
-                    } catch (Exception e) {
-                        e.printStackTrace();
-                    }
-                }
+                version = AutopilotAbilityManager.getInstance().parseVersion(false, masterVersion);
            }
            //如果 maser version 大于1，还需要判断AutoPilotReady字段是否存在，以确保MAP版本和SSM Maser版本不陪配情况逻辑能正常执行
            if (version > 1 && statusInfo.hasAutoPilotReady()) {
@@ -182,7 +128,7 @@ public class AutopilotAbilityManager {
                if (chassisStates.hasGearSystemStates()) {
                    Chassis.GearPosition gear = chassisStates.getGearSystemStates().getGearPosition();
                    //金旅Bus和清扫车 档位不正常
-                    if (isBus(identityMode)) {
+                    if (AutopilotAbilityManager.getInstance().isBus()) {
                        if (gear == Chassis.GearPosition.GEAR_N || gear == Chassis.GearPosition.GEAR_R) {
                            isAutopilotAbility = false;
                            unableAutopilotReason = "挡位不正常";
@@ -208,8 +154,8 @@ public class AutopilotAbilityManager {
 //                }
 //            }
        }
-        if (listener != null) {
-            listener.onAutopilotAbility(isAutopilotAbility, unableAutopilotReason);
+        if (AutopilotAbilityManager.getInstance().getListener() != null) {
+            AutopilotAbilityManager.getInstance().getListener().onAutopilotAbility(isAutopilotAbility, unableAutopilotReason);
        }
    }

@@ -219,14 +165,14 @@ public class AutopilotAbilityManager {
            timer.schedule(new TimerTask() {
                @Override
                public void run() {
-                    if (onAutopilotAbilityListener != null) {
-                        onAutopilotAbilityListener.onStatusQuery();
+                    if (AutopilotAbilityManager.getInstance().getOnAutopilotAbilityListener() != null) {
+                        AutopilotAbilityManager.getInstance().getOnAutopilotAbilityListener().onStatusQuery();
                    }
                    AdasManager.getInstance().sendStatusQueryReq();
-                    if (handler != null) {
-                        if (handler.hasMessages(WHAT_TIMEOUT))
-                            handler.removeMessages(WHAT_TIMEOUT);
-                        handler.sendEmptyMessageDelayed(WHAT_TIMEOUT, DEFAULT_TIMEOUT);
+                    if (AutopilotAbilityManager.getInstance().getHandler() != null) {
+                        if (AutopilotAbilityManager.getInstance().getHandler().hasMessages(WHAT_TIMEOUT))
+                            AutopilotAbilityManager.getInstance().getHandler().removeMessages(WHAT_TIMEOUT);
+                        AutopilotAbilityManager.getInstance().getHandler().sendEmptyMessageDelayed(WHAT_TIMEOUT, DEFAULT_TIMEOUT);
                    }
                }
            }, 2000L, DEFAULT_DETECTION_TIME);//延迟执行，避免刚连接成功后底盘信息无法及时同步
@@ -238,14 +184,9 @@ public class AutopilotAbilityManager {
            timer.cancel();
            timer = null;
        }
-        handler = null;
        this.chassisStates = null;
    }

-    public void setHandler(Handler handler) {
-        this.handler = handler;
-    }
-

    public void onHandleMessage(Message msg) {
        if (msg.what == WHAT_TIMEOUT) {
@@ -254,19 +195,4 @@ public class AutopilotAbilityManager {
    }


-    private boolean isDriver(int appIdentityMode) {
-        return (appIdentityMode & 0x01) != 0x01;
-    }
-
-    private boolean isPassenger(int appIdentityMode) {
-        return (appIdentityMode & 0x01) == 0x01;
-    }
-
-    private boolean isBus(int appIdentityMode) {
-        return (appIdentityMode & 0xA0) == 0xA0;
-    }
-
-    private boolean isTaxi(int appIdentityMode) {
-        return (appIdentityMode & 0xA0) != 0xA0;
-    }
 }
--- a/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/common/autopilot/ability/AutopilotAbilityManager.java
+++ b/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/common/autopilot/ability/AutopilotAbilityManager.java
@@ -0,0 +1,237 @@
+package com.zhidao.support.adas.high.common.autopilot.ability;
+
+import android.os.Handler;
+import android.os.Message;
+import android.text.TextUtils;
+import android.util.Log;
+
+import com.zhidao.support.adas.high.AdasManager;
+import com.zhidao.support.adas.high.OnAdasListener;
+import com.zhidao.support.adas.high.common.Constants;
+import com.zhidao.support.adas.high.common.CupidLogUtils;
+
+import java.util.Timer;
+import java.util.TimerTask;
+import java.util.regex.Matcher;
+import java.util.regex.Pattern;
+
+import chassis.ChassisStatesOuterClass;
+import mogo.telematics.pad.MessagePad;
+import system_master.SystemStatusInfo;
+
+/**
+ * 是否可以启动自动驾驶能力检测
+ * 目前监控了底盘的一些状态和查询节点状态应答的数据
+ * 没有使用监控事件报告的原因是因为，部分异常没进行正常恢复通知，例如收到了异常监控数据，但是异常恢复之后没有恢复的通知
+ * <p>
+ * 此定时器不能停止 鹰眼中存在UI更新依赖循环查询系统状态
+ */
+public class AutopilotAbilityManager {
+    private static final String TAG = AutopilotAbilityManager.class.getSimpleName();
+    private static volatile AutopilotAbilityManager INSTANCE;
+    private OnAdasListener listener;
+    private final Pattern pattern = Pattern.compile("\\d+\\.\\d+\\.\\d+");
+    private Handler handler;
+    private OnAutopilotAbilityListener onAutopilotAbilityListener;
+    private int dockerVersion = -1;//工控机版本
+    private AutopilotAbility230 autopilotAbility230;
+    private AutopilotAbility250 autopilotAbility250;
+    private Timer startTimer;
+    /**
+     * 身份/车型
+     */
+    private int identityMode;
+
+    public interface OnAutopilotAbilityListener {
+        void onStatusQuery();//查询是被调用
+    }
+
+    private AutopilotAbilityManager() {
+    }
+
+    public static AutopilotAbilityManager getInstance() {
+        if (INSTANCE == null) {
+            synchronized (AutopilotAbilityManager.class) {
+                if (INSTANCE == null) {
+                    INSTANCE = new AutopilotAbilityManager();
+                }
+            }
+        }
+        return INSTANCE;
+    }
+
+
+    public void setIdentityMode(int identityMode) {
+        this.identityMode = identityMode;
+    }
+
+    public void setCarConfig(MessagePad.CarConfigResp carConfig) {
+        if (dockerVersion == -1) {
+            String v = carConfig.getDockVersion();
+            int version = parseVersion(true, v);
+            if (version != -1) {
+                if (startTimer != null) {
+                    startTimer.cancel();
+                    startTimer = null;
+                }
+                dockerVersion = version;
+                Log.i("dddd", "工控机版本=" + dockerVersion);
+                initAutopilotAbility();
+            }
+        }
+    }
+
+    public void setOnAdasListener(OnAdasListener listener) {
+        this.listener = listener;
+    }
+
+    public OnAdasListener getListener() {
+        return listener;
+    }
+
+    public void setHandler(Handler handler) {
+        this.handler = handler;
+    }
+
+    public Handler getHandler() {
+        return handler;
+    }
+
+    public void setOnAutopilotAbilityListener(OnAutopilotAbilityListener onAutopilotAbilityListener) {
+        this.onAutopilotAbilityListener = onAutopilotAbilityListener;
+    }
+
+    public OnAutopilotAbilityListener getOnAutopilotAbilityListener() {
+        return onAutopilotAbilityListener;
+    }
+
+
+    public void setStatusInfo(SystemStatusInfo.StatusInfo statusInfo) {
+        if (autopilotAbility250 != null) {
+            autopilotAbility250.setStatusInfo(statusInfo);
+        }
+
+    }
+
+    public void setChassisStates(ChassisStatesOuterClass.ChassisStates chassisStates) {
+        if (autopilotAbility230 != null) {
+            autopilotAbility230.setChassisStates(chassisStates);
+        }
+        if (autopilotAbility250 != null) {
+            autopilotAbility250.setChassisStates(chassisStates);
+        }
+    }
+
+
+    public void onHandleMessage(Message msg) {
+        if (autopilotAbility250 != null) {
+            autopilotAbility250.onHandleMessage(msg);
+        }
+    }
+
+
+    private void initAutopilotAbility() {
+        if (dockerVersion >= 250) {
+            stop230();
+            if (autopilotAbility250 == null) {
+                autopilotAbility250 = new AutopilotAbility250();
+                autopilotAbility250.start();
+            }
+        } else {
+            stop250();
+            if (autopilotAbility230 == null) {
+                autopilotAbility230 = new AutopilotAbility230();
+                autopilotAbility230.start();
+            }
+
+        }
+    }
+
+    private void stop230() {
+        if (autopilotAbility230 != null) {
+            autopilotAbility230.stop();
+            autopilotAbility230 = null;
+        }
+    }
+
+    private void stop250() {
+        if (autopilotAbility250 != null) {
+            autopilotAbility250.stop();
+            autopilotAbility250 = null;
+        }
+    }
+
+    /**
+     * 连接工控机成功调用此函数，如果dockerVersion还未获取到将启动最低版本的启动自动驾驶能力检测
+     * 此函数为保险措施 以防无法获取工控机版本时 也能 正常执行逻辑
+     */
+    public synchronized void start() {
+        if (startTimer == null) {
+            startTimer = new Timer();
+            startTimer.schedule(new TimerTask() {
+                @Override
+                public void run() {
+                    if (dockerVersion == -1 && AdasManager.getInstance().getIpcConnectionStatus() == Constants.IPC_CONNECTION_STATUS.CONNECTED) {
+                        dockerVersion = 230;
+                        initAutopilotAbility();
+                    }
+                }
+            }, 8000L);//延迟执行，避免刚连接成功后底盘信息无法及时同步
+        }
+
+    }
+
+    public synchronized void stop() {
+        stop230();
+        stop250();
+        handler = null;
+        dockerVersion = -1;
+    }
+
+
+    /**
+     * 接线板 格式 xxx.xxx.xxx(x的数量不固定)
+     *
+     * @param isUserAll 是否使用全部截取数据 true：表示 12.34.56 截取之后 123456     false：表示12.34.56 截取之后 12
+     * @param ver       版本字符串
+     * @return -1表示解析失败
+     */
+    public int parseVersion(boolean isUserAll, String ver) {
+        int version = -1;
+        if (!TextUtils.isEmpty(ver)) {
+            try {
+                Matcher matcher = pattern.matcher(ver);
+                if (matcher.find()) {
+                    String group = matcher.group();
+                    if (!TextUtils.isEmpty(group)) {
+                        if (isUserAll) {
+                            group = group.replace(".", "");
+                        } else {
+                            group = group.split("\\.")[0];
+                        }
+                        version = Integer.parseInt(group);
+                    }
+                }
+            } catch (Exception e) {
+                CupidLogUtils.e(TAG, "版本解析失败=" + ver, e);
+            }
+        }
+        return version;
+    }
+
+    public boolean isDriver() {
+        return (identityMode & 0x01) != 0x01;
+    }
+
+    public boolean isPassenger() {
+        return (identityMode & 0x01) == 0x01;
+    }
+
+    public boolean isBus() {
+        return (identityMode & 0xA0) == 0xA0;
+    }
+
+    public boolean isTaxi() {
+        return (identityMode & 0xA0) != 0xA0;
+    }
+}
--- a/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/msg/CarConfigRespMessage.java
+++ b/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/msg/CarConfigRespMessage.java
@@ -7,6 +7,7 @@ import com.zhidao.support.adas.high.AdasChannel;
 import com.zhidao.support.adas.high.AdasManager;
 import com.zhidao.support.adas.high.OnAdasListener;
 import com.zhidao.support.adas.high.common.CupidLogUtils;
+import com.zhidao.support.adas.high.common.autopilot.ability.AutopilotAbilityManager;
 import com.zhidao.support.adas.high.protocol.RawData;

 import mogo.telematics.pad.MessagePad;
@@ -20,6 +21,7 @@ public class CarConfigRespMessage extends MyAbstractMessageHandler {
    public void handlerMsg(RawData raw, OnAdasListener adasListener) throws InvalidProtocolBufferException {
        MessagePad.CarConfigResp carConfigResp = MessagePad.CarConfigResp.parser().parseFrom(raw.originalData.toByteArray(), raw.getOffsetValue(), raw.getPackageLengthValue() - raw.getOffsetValue());
        AdasChannel.calculateTimeConsumingOnDispatchRaw("车机基础信息应答", raw.receiveTime);
+        AutopilotAbilityManager.getInstance().setCarConfig(carConfigResp);
        AdasManager.getInstance().setCarConfig(carConfigResp);
        long nowTime = 0;
        if (CupidLogUtils.isEnableLog())
--- a/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/msg/StatusQueryRespMessage.java
+++ b/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/msg/StatusQueryRespMessage.java
@@ -5,7 +5,7 @@ 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.AutopilotAbilityManager;
+import com.zhidao.support.adas.high.common.autopilot.ability.AutopilotAbilityManager;
 import com.zhidao.support.adas.high.common.CupidLogUtils;
 import com.zhidao.support.adas.high.protocol.RawData;

--- a/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/msg/VehicleStateMessage.java
+++ b/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/msg/VehicleStateMessage.java
@@ -5,7 +5,7 @@ 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.AutopilotAbilityManager;
+import com.zhidao.support.adas.high.common.autopilot.ability.AutopilotAbilityManager;
 import com.zhidao.support.adas.high.common.CupidLogUtils;
 import com.zhidao.support.adas.high.protocol.RawData;