[change] 分发线程业务优化，新增可配置分发线程

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

@@ -13,7 +13,6 @@ import static com.zhidao.support.adas.high.chain.AdasChain.CHAIN_LINK_LOG_CONNEC
 import static com.zhidao.support.adas.high.chain.AdasChain.CHAIN_LINK_LOG_WEB_SOCKET_AUTOPILOT;
 
 import android.text.TextUtils;
-import android.util.Log;
 
 import androidx.annotation.NonNull;
 import androidx.annotation.Nullable;
@@ -44,7 +43,9 @@ import com.zhidao.support.adas.high.thread.DispatchHandler;
 import com.zhjt.service.chain.ChainLog;
 import com.zhjt.service.chain.TracingConstants;
 
+import java.util.HashMap;
 import java.util.HashSet;
+import java.util.Map;
 import java.util.Set;
 import java.util.Timer;
 import java.util.TimerTask;
@@ -67,13 +68,11 @@ import okio.ByteString;
  */
 public class AdasChannel implements IAdasNetCommApi, FpgaSocket.IWebSocketConnectListener, IPCFixationIPHelper.IIPCFixationIPListener, DispatchHandler.OnDispatchHandlerListener, SubscribeInterface.OnSubscribeInterfaceListener {
     private static final String TAG = AdasChannel.class.getSimpleName();
-    private static final String THREAD_NAME_DISPATCH_EVENT = "IPCEventDispatchHandler";//除点云单独拆分线程以外都是用此名称
-    private static final String THREAD_NAME_DISPATCH_POINT_CLOUD = "IPCPointCloudDispatchHandler";
     private FpgaSocket mSocket;
     private RawUnpack rawUnpack;//业务数据拆包
     private RawPack rawPack;//数据打包
-    private DispatchHandler dispatchHandler;//分发
-    private DispatchHandler dispatchHandlerPointCloud;//原始的点云数据分发
+    private DispatchHandler defaultDispatchHandler;//默认分发线程分发
+    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
     /**
      * 与工控机链接状态
@@ -166,8 +165,53 @@ public class AdasChannel implements IAdasNetCommApi, FpgaSocket.IWebSocketConnec
         //消息工厂
         myMessageFactory = new MyMessageFactory();
         //启用线程分发
-        dispatchHandler = new DispatchHandler(THREAD_NAME_DISPATCH_EVENT, this);
-        dispatchHandlerPointCloud = new DispatchHandler(THREAD_NAME_DISPATCH_POINT_CLOUD, this);
+        defaultDispatchHandler = new DispatchHandler(MessagePad.MessageType.MsgTypeDefault, this);//默认分发线程 不要添加到Map中
+        initOtherDispatchHandler();
+    }
+
+    /**
+     * 初始化其他分发线程
+     */
+    private void initOtherDispatchHandler() {
+        //点云透传
+        dispatchHandlers.put(MessagePad.MessageType.MsgTypePointCloud, new DispatchHandler(MessagePad.MessageType.MsgTypePointCloud, this));
+        //车前引导线
+//        dispatchHandlers.put(MessagePad.MessageType.MsgTypeTrajectory, new DispatchHandler(MessagePad.MessageType.MsgTypeTrajectory, this));
+        //障碍物信息
+        dispatchHandlers.put(MessagePad.MessageType.MsgTypeTrackedObjects, new DispatchHandler(MessagePad.MessageType.MsgTypeTrackedObjects, this));
+        //惯导信息
+//        dispatchHandlers.put(MessagePad.MessageType.MsgTypeGnssInfo, new DispatchHandler(MessagePad.MessageType.MsgTypeGnssInfo, this));
+        //底盘信息
+//        dispatchHandlers.put(MessagePad.MessageType.MsgTypeVehicleState, new DispatchHandler(MessagePad.MessageType.MsgTypeVehicleState, this));
+        //自动驾驶状态
+//        dispatchHandlers.put(MessagePad.MessageType.MsgTypeAutopilotState, new DispatchHandler(MessagePad.MessageType.MsgTypeAutopilotState, this));
+        //监控事件报告
+//        dispatchHandlers.put(MessagePad.MessageType.MsgTypeReportMessage, new DispatchHandler(MessagePad.MessageType.MsgTypeReportMessage, this));
+        //感知红绿灯
+//        dispatchHandlers.put(MessagePad.MessageType.MsgTypePerceptionTrafficLight, new DispatchHandler(MessagePad.MessageType.MsgTypePerceptionTrafficLight, this));
+        //他车轨迹预测
+//        dispatchHandlers.put(MessagePad.MessageType.MsgTypePredictionObstacleTrajectory, new DispatchHandler(MessagePad.MessageType.MsgTypePredictionObstacleTrajectory, this));
+        //Planning障碍物
+//        dispatchHandlers.put(MessagePad.MessageType.MsgTypePlanningObjects, new DispatchHandler(MessagePad.MessageType.MsgTypePlanningObjects, this));
+        //自动驾驶设备基础信息请求
+//        dispatchHandlers.put(MessagePad.MessageType.MsgTypeBasicInfoReq, new DispatchHandler(MessagePad.MessageType.MsgTypeBasicInfoReq, this));
+        //车机基础信息应答
+//        dispatchHandlers.put(MessagePad.MessageType.MsgTypeCarConfigResp, new DispatchHandler(MessagePad.MessageType.MsgTypeCarConfigResp, this));
+        //数据采集结果
+//        dispatchHandlers.put(MessagePad.MessageType.MsgTypeRecordResult, new DispatchHandler(MessagePad.MessageType.MsgTypeRecordResult, this));
+        //自动驾驶路径应答
+//        dispatchHandlers.put(MessagePad.MessageType.MsgTypeGlobalPathResp, new DispatchHandler(MessagePad.MessageType.MsgTypeGlobalPathResp, this));
+        //预警数据
+//        dispatchHandlers.put(MessagePad.MessageType.MsgTypeWarn, new DispatchHandler(MessagePad.MessageType.MsgTypeWarn, this));
+        //到站提醒
+//        dispatchHandlers.put(MessagePad.MessageType.MsgTypeArrivalNotification, new DispatchHandler(MessagePad.MessageType.MsgTypeArrivalNotification, this));
+        //状态查询应答
+//        dispatchHandlers.put(MessagePad.MessageType.MsgTypeStatusQueryResp, new DispatchHandler(MessagePad.MessageType.MsgTypeStatusQueryResp, this));
+        //数据采集配置
+//        dispatchHandlers.put(MessagePad.MessageType.MsgTypeRecordDataConfigResp, new DispatchHandler(MessagePad.MessageType.MsgTypeRecordDataConfigResp, this));
+        //Planning决策状态
+//        dispatchHandlers.put(MessagePad.MessageType.MsgTypePlanningDecisionState, new DispatchHandler(MessagePad.MessageType.MsgTypePlanningDecisionState, this));
+
     }
 
     /**
@@ -292,14 +336,12 @@ public class AdasChannel implements IAdasNetCommApi, FpgaSocket.IWebSocketConnec
                     if (!adasOptions.isClient())
                         ReceiveTimeoutManager.getInstance().refreshLast(header.getTimestamp());
 //                    CupidLogUtils.w("--->websocket byte read header = " + messageType.toString());
-                    //判断是否是司机屏幕，是否切换分发线程
-                    if (header.getMsgType() == MessageType.TYPE_RECEIVE_POINT_CLOUD.typeCode) {
-                        if (dispatchHandlerPointCloud != null) {
-                            dispatchHandlerPointCloud.sendRawMessage(raw);
-                        }
+                    DispatchHandler handler = dispatchHandlers.get(header.getMsgType());
+                    if (handler != null) {
+                        handler.sendRawMessage(raw);
                     } else {
-                        if (dispatchHandler != null)
-                            dispatchHandler.sendRawMessage(raw);
+                        if (defaultDispatchHandler != null)
+                            defaultDispatchHandler.sendRawMessage(raw);
                     }
                 } else {
                     callError(raw.getProtocolStatus(), byteString.toByteArray());
@@ -317,15 +359,15 @@ public class AdasChannel implements IAdasNetCommApi, FpgaSocket.IWebSocketConnec
      * @param raw
      */
     @Override
-    public void onDispatchRaw(String threadName, RawData raw) {
+    public void onDispatchRaw(MessagePad.MessageType type, RawData raw) {
+//        CupidLogUtils.i(TAG, "onDispatchRaw=" + Thread.currentThread().getName() + " TID=" + android.os.Process.myTid());
         try {
             //分发点云原始数据
-            if (THREAD_NAME_DISPATCH_POINT_CLOUD.equals(threadName)) {
+            if (type == MessagePad.MessageType.MsgTypePointCloud) {
                 int len = raw.getPackageLengthValue() - raw.getOffsetValue();
                 byte[] bytes = new byte[len];
                 System.arraycopy(raw.originalData.toByteArray(), raw.getOffsetValue(), bytes, 0, len);
                 mAdasListener.onPointCloud(bytes);
-                CupidLogUtils.i(TAG, "收到点云数据" + raw.getPackageLengthValue());
             } else {
                 if (rawUnpack != null) {
                     if (raw.getProtocolStatus() == ProtocolStatus.SUCCEED) {
@@ -527,11 +569,14 @@ public class AdasChannel implements IAdasNetCommApi, FpgaSocket.IWebSocketConnec
 
     @Override
     public void stopDispatchHandler() {
-        if (dispatchHandler != null) {
-            dispatchHandler.stop();
+        if (defaultDispatchHandler != null) {
+            defaultDispatchHandler.stop();
         }
-        if (dispatchHandlerPointCloud != null) {
-            dispatchHandlerPointCloud.stop();
+        for (Map.Entry<MessagePad.MessageType, DispatchHandler> entry : dispatchHandlers.entrySet()) {
+            DispatchHandler dispatchHandler = entry.getValue();
+            if (dispatchHandler != null) {
+                dispatchHandler.stop();
+            }
         }
     }
 

libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/common/CupidLogUtils.java

@@ -18,7 +18,7 @@ public class CupidLogUtils {
      * @param isEnableLog true开启 false关闭
      */
     public static void setEnableLog(boolean isEnableLog) {
-//        mIsEnableLog = isEnableLog; TODO 临时注释
+        mIsEnableLog = isEnableLog;
     }
 
     public static boolean isEnableLog() {

libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/thread/DispatchHandler.java

@@ -11,24 +11,25 @@ import com.zhidao.support.adas.high.protocol.RawData;
 
 import java.lang.ref.WeakReference;
 
+import mogo.telematics.pad.MessagePad;
+
 /**
  * 将WebSocket线程分发到工作线程
  */
 public class DispatchHandler {
-    public static final int WHAT_DISPATCH_RAW = 0x01;//分发消息 what
-    private final String name;
+    private final MessagePad.MessageType messageType;
     private final OnDispatchHandlerListener listener;
     private HandlerThread mThread;
     private BaseHandler mBaseHandler;
 
     public interface OnDispatchHandlerListener {
-        void onDispatchRaw(String threadName, RawData raw);
+        void onDispatchRaw(MessagePad.MessageType name, RawData raw);
     }
 
 
-    public DispatchHandler(String name, @NonNull OnDispatchHandlerListener listener) {
+    public DispatchHandler(MessagePad.MessageType messageType, @NonNull OnDispatchHandlerListener listener) {
         this.listener = listener;
-        this.name = name;
+        this.messageType = messageType;
     }
 
     public void stop() {
@@ -44,12 +45,12 @@ public class DispatchHandler {
 
     public void sendRawMessage(RawData raw) {
         if (mThread == null) {
+            String name = "Dispatch-" + messageType.name().replace("MsgType", "");
             mThread = new HandlerThread(name);
             mThread.start();
             initHandler(mThread.getLooper());
         }
         Message msg = Message.obtain();
-        msg.what = WHAT_DISPATCH_RAW;
         msg.obj = raw;
         mBaseHandler.sendMessage(msg);
     }
@@ -63,11 +64,7 @@ public class DispatchHandler {
      * @param msg
      */
     protected void handleMessage(Message msg) {
-        if (msg.what == WHAT_DISPATCH_RAW) {
-            if (listener != null) {
-                listener.onDispatchRaw(name, (RawData) msg.obj);
-            }
-        }
+        listener.onDispatchRaw(messageType, (RawData) msg.obj);
     }
 
     /**