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[adas] 启动自驾与下载轨迹请求接口新增算路相关参数

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This commit is contained in:
xinfengkun
2024-05-24 13:20:08 +08:00
parent 88ee345fec
commit 2278c848e0
7 changed files with 83 additions and 43 deletions
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26
core/function-impl/mogo-core-function-datacenter/src/main/java/com/mogo/eagle/core/function/datacenter/autopilot/MoGoAutopilotControlProvider.kt
View File

@@ -383,12 +383,12 @@ class MoGoAutopilotControlProvider :
private fun startAutoPilotWithNoParameter(source: Int) {
if (AppIdentityModeUtils.isPassenger(FunctionBuildConfig.appIdentityMode)) {
val invokeResult = AdasManager.getInstance()
.sendAutoPilotModeReq(1, source, null)
.sendAutoPilotModeReq(1, source, null, false)
invokeAutoPilotResult(if (invokeResult > -1) "无参自动驾驶调用成功：${invokeResult}" else "自动驾驶调用失败, socket 或者 rawPack 可能为空")
} else {
if (AdasManager.getInstance().ipcConnectionStatus == AdasConstants.IpcConnectionStatus.CONNECTED) {
val invokeResult = AdasManager.getInstance()
.sendAutoPilotModeReq(1, source, null)
.sendAutoPilotModeReq(1, source, null, false)
invokeAutoPilotResult(if (invokeResult > -1) "无参自动驾驶调用成功：${invokeResult}" else "自动驾驶调用失败, socket 或者 rawPack 可能为空")
} else {
invokeAutoPilotResult("车机与工控机链接失败，无法开启自动驾驶 无参")
@@ -399,12 +399,12 @@ class MoGoAutopilotControlProvider :
private fun startAutoPilot(controlParameters: AutopilotControlParameters, source: Int) {
if (AppIdentityModeUtils.isPassenger(FunctionBuildConfig.appIdentityMode)) {
val invokeResult = AdasManager.getInstance()
.sendAutoPilotModeReq(1, source, controlParameters.toRouteInfo())
.sendAutoPilotModeReq(1, source, controlParameters.toRouteInfo(), false)
invokeAutoPilotResult(if (invokeResult > -1) "自动驾驶调用成功：${invokeResult}" else "自动驾驶调用失败, socket 或者 rawPack 可能为空")
} else {
if (AdasManager.getInstance().ipcConnectionStatus == AdasConstants.IpcConnectionStatus.CONNECTED) {
val invokeResult = AdasManager.getInstance()
.sendAutoPilotModeReq(1, source, controlParameters.toRouteInfo())
.sendAutoPilotModeReq(1, source, controlParameters.toRouteInfo(), false)
invokeAutoPilotResult(if (invokeResult > -1) "自动驾驶调用成功：${invokeResult}" else "自动驾驶调用失败, socket 或者 rawPack 可能为空")
} else {
invokeAutoPilotResult("车机与工控机链接失败，无法开启自动驾驶")
@@ -440,17 +440,21 @@ class MoGoAutopilotControlProvider :
)
}
override fun sendTrajectoryDownloadReq(autoPilotLine: AutopilotControlParameters.AutoPilotLine) {
AdasManager.getInstance().sendTrajectoryDownloadReq(autoPilotLine.toAutoPilotLine())
override fun sendTrajectoryDownloadReq(autoPilotLine: AutopilotControlParameters.AutoPilotLine, isAutoRouting: Boolean, routeInfo: MessagePad.RouteInfo) {
AdasManager.getInstance().sendTrajectoryDownloadReq(autoPilotLine.toAutoPilotLine(),isAutoRouting,routeInfo)
}
override fun sendTrajectoryDownloadReq(autoPilotLine: AutopilotControlParameters.AutoPilotLine, downloadType: Int) {
AdasManager.getInstance().sendTrajectoryDownloadReq(autoPilotLine.toAutoPilotLine(), downloadType)
override fun sendTrajectoryDownloadReq(autoPilotLine: AutopilotControlParameters.AutoPilotLine, downloadType: Int, isAutoRouting: Boolean, routeInfo: MessagePad.RouteInfo) {
AdasManager.getInstance().sendTrajectoryDownloadReq(
autoPilotLine.toAutoPilotLine(),
downloadType,
isAutoRouting,
routeInfo)
}
override fun cancelAutoPilot() {
if (AdasManager.getInstance().ipcConnectionStatus == AdasConstants.IpcConnectionStatus.CONNECTED) {
AdasManager.getInstance().sendAutoPilotModeReq(0, 1, null)
AdasManager.getInstance().sendAutoPilotModeReq(0, 1, null, false)
} else {
CallerLogger.e("$M_D_C$TAG", "车机与工控机链接失败，无法断开自动驾驶")
}
@@ -920,11 +924,11 @@ class MoGoAutopilotControlProvider :
*/
override fun setControlAutopilotCarAuto(isEnable: Boolean) {
if (isEnable) {
AdasManager.getInstance().sendAutoPilotModeReq(1, 0, null)
AdasManager.getInstance().sendAutoPilotModeReq(1, 0, null, false)
} else {
// 司机屏才可关闭自动驾驶
if (AppIdentityModeUtils.isDriver(FunctionBuildConfig.appIdentityMode)) {
AdasManager.getInstance().sendAutoPilotModeReq(0, 0, null)
AdasManager.getInstance().sendAutoPilotModeReq(0, 0, null, false)
}
}
}

11
core/mogo-core-function-api/src/main/java/com/mogo/eagle/core/function/api/autopilot/IMoGoAutopilotControlProvider.kt
View File

@@ -13,6 +13,7 @@ import com.zhjt.mogo.adas.data.sweeper.task.confirm.SweeperTaskConfirm.TaskConfi
import com.zhjt.mogo.adas.data.sweeper.task.stop.SweeperTaskStop.StopTaskResp
import com.zhjt.mogo.adas.data.AdasConstants
import com.zhjt.mogo.adas.data.sweeper.task.cloud.s_r.SweeperTaskCloudSuspendResume.BigTaskActionResp
import mogo.telematics.pad.MessagePad
import mogo.yycp.paralleldriving.protocol.ParallelDrivingRequest
/**
@@ -55,13 +56,17 @@ interface IMoGoAutopilotControlProvider : IMoGoFunctionServerProvider {
/**
* 发送 轨迹下载请求
*/
fun sendTrajectoryDownloadReq(autoPilotLine: AutopilotControlParameters.AutoPilotLine)
fun sendTrajectoryDownloadReq(autoPilotLine: AutopilotControlParameters.AutoPilotLine, isAutoRouting: Boolean, routeInfo: MessagePad.RouteInfo)
/**
* 发送 轨迹下载请求
* @param downloadType 下载类型: 0:正常下载 1:预下载
*
* @param autoPilotLine 线路相关参数详情见PB message_pad.proto -> Line
* @param downloadType 下载类型: 0:正常下载 1:预下载
* @param isAutoRouting 20240523 是否进行自动算路
* @param routeInfo 20240523 进行自动算路，务必下单时候携带自动驾驶路径信息，否则可不填！
*/
fun sendTrajectoryDownloadReq(autoPilotLine: AutopilotControlParameters.AutoPilotLine, downloadType: Int)
fun sendTrajectoryDownloadReq(autoPilotLine: AutopilotControlParameters.AutoPilotLine, downloadType: Int, isAutoRouting: Boolean, routeInfo: MessagePad.RouteInfo)
/**
* 结束自动驾驶
*/

6
core/mogo-core-function-call/src/main/java/com/mogo/eagle/core/function/call/autopilot/CallerAutoPilotControlManager.kt
View File

@@ -182,7 +182,8 @@ object CallerAutoPilotControlManager {
*/
fun sendTrajectoryDownloadReq(autoPilotLine: AutopilotControlParameters.AutoPilotLine) {
if (AppIdentityModeUtils.isDriver(FunctionBuildConfig.appIdentityMode)) {
providerApi?.sendTrajectoryDownloadReq(autoPilotLine)
//TODO 需要传参 isAutoRouting, routeInfo
// providerApi?.sendTrajectoryDownloadReq(autoPilotLine, isAutoRouting, routeInfo)
CallerAutoPilotStatusListenerManager.invokeTrajectoryDownloadReq(autoPilotLine, 0)
}
}
@@ -193,7 +194,8 @@ object CallerAutoPilotControlManager {
*/
fun sendTrajectoryDownloadReq(autoPilotLine: AutopilotControlParameters.AutoPilotLine, downloadType: Int) {
if (AppIdentityModeUtils.isDriver(FunctionBuildConfig.appIdentityMode)) {
providerApi?.sendTrajectoryDownloadReq(autoPilotLine, downloadType)
//TODO 需要传参 isAutoRouting, routeInfo
// providerApi?.sendTrajectoryDownloadReq(autoPilotLine, downloadType, isAutoRouting, routeInfo)
CallerAutoPilotStatusListenerManager.invokeTrajectoryDownloadReq(autoPilotLine, downloadType)
}
}

11
libraries/mogo-adas-data/src/main/proto/message_pad.proto
View File

@@ -272,6 +272,9 @@ message TrajectoryDownloadReq
Line line = 1; //路线
uint32 source = 2; //指令来源: 0: default, 1:pad, 2:aicloud
uint32 downloadType = 3; //下载类型: 0:正常下载 1:预下载
bool isAutoRouting = 4; //20240523 是否进行自动算路
RouteInfo routeInfo = 5; //20240523 进行自动算路，务必下单时候携带自动驾驶路径信息，否则可不填！
}
// message definition for MessageType: MsgTypeBasicInfoReq
@@ -297,6 +300,8 @@ message Location
double latitude = 2;
double altitude = 3;
double heading = 4;
bool station = 5; //20240523， 判断此点是中间站点还是途径点 ------- true：站点， false：简单的途径点
}
message RouteInfo
@@ -312,6 +317,10 @@ message RouteInfo
uint32 routeID = 9;
string routeName = 10;
Line line = 11; //路线信息
string newRoutingMd5 = 12; //20240523 默认空值""：原有轨迹线路；若存在有效MD5值，新算路信息
repeated Location blackPoints = 13; //20240523 不让走的道路，异常线路点
bool isRestart = 14; //20240523 用于表示判断是否是起点下单。默认false：起点下单， true: 中间站点下单 或者接管后重新启动
}
message SetAutopilotModeReq
@@ -319,6 +328,8 @@ message SetAutopilotModeReq
uint32 mode = 1; //1: enter autopilot mode, 0: quit autopilot mode
uint32 source = 2; //命令来源: 0: pad模拟, 1: pad业务, 2:aicloud, 3:魔方(清扫车MAP Version==332以及MAP Version>=350，其他车型目前未上线)
RouteInfo routeInfo = 3; //自动驾驶路径信息
bool isAutoRouting = 4; //20240523 是否进行自动算路
}
// message definition for MsgTypeSetDemoModeReq

26
libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/AdasChannel.java
View File

@@ -1189,21 +1189,23 @@ public class AdasChannel implements IAdasNetCommApi, FpgaSocket.IWebSocketConnec
* 设置自动驾驶模式 启动自动驾驶
* 此方法存在域控回执，监听{@link OnAdasListener#onReceiveReceivedAck(ReceivedAck)}回调.使用方法：将此方法的返回值与{@link ReceivedAck#getMsgId()}进行比较，如果相同判断{@link ReceivedAck#getStatus()}是否等于{@link ReceivedAck.Status#NORMAL}，详情参见CheckSystemView中的onReceiveReceivedAck
*
* @param mode 1: enter autopilot mode, 0: quit autopilot mode
* @param source 命令来源: 0: pad模拟, 1: pad业务, 2:aicloud, 3:魔方(清扫车MAP Version==332以及MAP Version>=350，其他车型目前未上线)
* @param routeInfo 自动驾驶路径信息
* @param mode 1: enter autopilot mode, 0: quit autopilot mode
* @param source 命令来源: 0: pad模拟, 1: pad业务, 2:aicloud, 3:魔方(清扫车MAP Version==332以及MAP Version>=350，其他车型目前未上线)
* @param routeInfo 自动驾驶路径信息
* @param isAutoRouting 20240523 是否进行自动算路
* @return 消息是否添加到WS消息发送队列，返回值为非0的正整数时表示下发消息的消息ID
* * >=0：表示添加到WS发送消息队列
* * =0：表示乘客屏模式添加到WS发送消息队列
* * -1L：添加到WS发送消息队列失败
*/
@Override
public long sendAutoPilotModeReq(int mode, int source, MessagePad.RouteInfo routeInfo) {
public long sendAutoPilotModeReq(int mode, int source, MessagePad.RouteInfo routeInfo, boolean isAutoRouting) {
MessagePad.SetAutopilotModeReq.Builder builder = MessagePad.SetAutopilotModeReq.newBuilder();
builder.setMode(mode);
builder.setSource(source);
if (routeInfo != null)
builder.setRouteInfo(routeInfo);
builder.setIsAutoRouting(isAutoRouting);
MessagePad.SetAutopilotModeReq req = builder.build();
if (autopilotReview != null) autopilotReview.onAutopilotCommandTrigger(req);
return sendPBMessage(MessageType.TYPE_SEND_SET_AUTOPILOT_MODE_REQ, req.toByteArray());
@@ -1655,8 +1657,10 @@ public class AdasChannel implements IAdasNetCommApi, FpgaSocket.IWebSocketConnec
* 发送 轨迹下载请求
* 此方法存在域控回执，监听{@link OnAdasListener#onReceiveReceivedAck(ReceivedAck)}回调.使用方法：将此方法的返回值与{@link ReceivedAck#getMsgId()}进行比较，如果相同判断{@link ReceivedAck#getStatus()}是否等于{@link ReceivedAck.Status#NORMAL}，详情参见CheckSystemView中的onReceiveReceivedAck
*
* @param line 线路相关参数详情见PB message_pad.proto -> Line
* @param downloadType 下载类型: 0:正常下载 1:预下载
* @param line 线路相关参数详情见PB message_pad.proto -> Line
* @param downloadType 下载类型: 0:正常下载 1:预下载
* @param isAutoRouting 20240523 是否进行自动算路
* @param routeInfo 20240523 进行自动算路，务必下单时候携带自动驾驶路径信息，否则可不填！
* @return 消息是否添加到WS消息发送队列，返回值为非0的正整数时表示下发消息的消息ID
* * >=0：表示添加到WS发送消息队列
* * =0：表示乘客屏模式添加到WS发送消息队列
@@ -1669,13 +1673,19 @@ public class AdasChannel implements IAdasNetCommApi, FpgaSocket.IWebSocketConnec
paramIndexes = {0}
)
@Override
public long sendTrajectoryDownloadReq(MessagePad.Line line, int downloadType) {
public long sendTrajectoryDownloadReq(MessagePad.Line line, int downloadType, boolean isAutoRouting, MessagePad.RouteInfo routeInfo) {
MessagePad.TrajectoryDownloadReq.Builder builder = MessagePad.TrajectoryDownloadReq.newBuilder();
builder.setSource(1);//指令来源: 0: default, 1:pad, 2:aicloud
builder.setLine(line);
if (line != null) {
builder.setLine(line);
}
if (downloadType > -1) {
builder.setDownloadType(downloadType);
}
builder.setIsAutoRouting(isAutoRouting);
if (routeInfo != null) {
builder.setRouteInfo(routeInfo);
}
MessagePad.TrajectoryDownloadReq req = builder.build();
return sendPBMessage(MessageType.TYPE_SEND_TRAJECTORY_DOWNLOAD_REQ, req.toByteArray());
}

29
libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/AdasManager.java
View File

@@ -393,17 +393,18 @@ public class AdasManager implements IAdasNetCommApi {
* 设置自动驾驶模式 启动自动驾驶
* 此方法存在域控回执，监听{@link OnAdasListener#onReceiveReceivedAck(ReceivedAck)}回调.使用方法：将此方法的返回值与{@link ReceivedAck#getMsgId()}进行比较，如果相同判断{@link ReceivedAck#getStatus()}是否等于{@link ReceivedAck.Status#NORMAL}，详情参见CheckSystemView中的onReceiveReceivedAck
*
* @param mode 1: enter autopilot mode, 0: quit autopilot mode
* @param source 命令来源: 0: pad模拟, 1: pad业务, 2:aicloud, 3:魔方(清扫车MAP Version==332以及MAP Version>=350，其他车型目前未上线)
* @param routeInfo 自动驾驶路径信息
* @param mode 1: enter autopilot mode, 0: quit autopilot mode
* @param source 命令来源: 0: pad模拟, 1: pad业务, 2:aicloud, 3:魔方(清扫车MAP Version==332以及MAP Version>=350，其他车型目前未上线)
* @param routeInfo 自动驾驶路径信息
* @param isAutoRouting 20240523 是否进行自动算路
* @return 消息是否添加到WS消息发送队列，返回值为非0的正整数时表示下发消息的消息ID
* * >=0：表示添加到WS发送消息队列
* * =0：表示乘客屏模式添加到WS发送消息队列
* * -1L：添加到WS发送消息队列失败
*/
@Override
public long sendAutoPilotModeReq(int mode, int source, MessagePad.RouteInfo routeInfo) {
return mChannel == null ? -1L : mChannel.sendAutoPilotModeReq(mode, source, routeInfo);
public long sendAutoPilotModeReq(int mode, int source, MessagePad.RouteInfo routeInfo, boolean isAutoRouting) {
return mChannel == null ? -1L : mChannel.sendAutoPilotModeReq(mode, source, routeInfo, isAutoRouting);
}
/**
@@ -758,30 +759,34 @@ public class AdasManager implements IAdasNetCommApi {
* 发送 轨迹下载请求
* 此方法存在域控回执，监听{@link OnAdasListener#onReceiveReceivedAck(ReceivedAck)}回调.使用方法：将此方法的返回值与{@link ReceivedAck#getMsgId()}进行比较，如果相同判断{@link ReceivedAck#getStatus()}是否等于{@link ReceivedAck.Status#NORMAL}，详情参见CheckSystemView中的onReceiveReceivedAck
*
* @param line 线路相关参数详情见PB message_pad.proto -> Line
* @param line 线路相关参数详情见PB message_pad.proto -> Line
* @param isAutoRouting 20240523 是否进行自动算路
* @param routeInfo 20240523 进行自动算路，务必下单时候携带自动驾驶路径信息，否则可不填！
* @return 消息是否添加到WS消息发送队列，返回值为非0的正整数时表示下发消息的消息ID
* * >=0：表示添加到WS发送消息队列
* * =0：表示乘客屏模式添加到WS发送消息队列
* * -1L：添加到WS发送消息队列失败
*/
public long sendTrajectoryDownloadReq(MessagePad.Line line) {
return mChannel == null ? -1L : mChannel.sendTrajectoryDownloadReq(line, -1);
public long sendTrajectoryDownloadReq(MessagePad.Line line, boolean isAutoRouting, MessagePad.RouteInfo routeInfo) {
return mChannel == null ? -1L : mChannel.sendTrajectoryDownloadReq(line, -1, isAutoRouting, routeInfo);
}
/**
* 发送 轨迹下载请求
* 此方法存在域控回执，监听{@link OnAdasListener#onReceiveReceivedAck(ReceivedAck)}回调.使用方法：将此方法的返回值与{@link ReceivedAck#getMsgId()}进行比较，如果相同判断{@link ReceivedAck#getStatus()}是否等于{@link ReceivedAck.Status#NORMAL}，详情参见CheckSystemView中的onReceiveReceivedAck
*
* @param line 线路相关参数详情见PB message_pad.proto -> Line
* @param downloadType 下载类型: 0:正常下载 1:预下载
* @param line 线路相关参数详情见PB message_pad.proto -> Line
* @param downloadType 下载类型: 0:正常下载 1:预下载
* @param isAutoRouting 20240523 是否进行自动算路
* @param routeInfo 20240523 进行自动算路，务必下单时候携带自动驾驶路径信息，否则可不填！
* @return 消息是否添加到WS消息发送队列，返回值为非0的正整数时表示下发消息的消息ID
* * >=0：表示添加到WS发送消息队列
* * =0：表示乘客屏模式添加到WS发送消息队列
* * -1L：添加到WS发送消息队列失败
*/
@Override
public long sendTrajectoryDownloadReq(MessagePad.Line line, int downloadType) {
return mChannel == null ? -1L : mChannel.sendTrajectoryDownloadReq(line, downloadType);
public long sendTrajectoryDownloadReq(MessagePad.Line line, int downloadType, boolean isAutoRouting, MessagePad.RouteInfo routeInfo) {
return mChannel == null ? -1L : mChannel.sendTrajectoryDownloadReq(line, downloadType, isAutoRouting, routeInfo);
}
/**

17
libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/IAdasNetCommApi.java
View File

@@ -173,15 +173,16 @@ public interface IAdasNetCommApi {
* 设置自动驾驶模式 启动自动驾驶
* 此方法存在域控回执，监听{@link OnAdasListener#onReceiveReceivedAck(ReceivedAck)}回调.使用方法：将此方法的返回值与{@link ReceivedAck#getMsgId()}进行比较，如果相同判断{@link ReceivedAck#getStatus()}是否等于{@link ReceivedAck.Status#NORMAL}，详情参见CheckSystemView中的onReceiveReceivedAck
*
* @param mode 1: enter autopilot mode, 0: quit autopilot mode
* @param source 命令来源: 0: pad模拟, 1: pad业务, 2:aicloud, 3:魔方(清扫车MAP Version==332以及MAP Version>=350，其他车型目前未上线)
* @param routeInfo 自动驾驶路径信息
* @param mode 1: enter autopilot mode, 0: quit autopilot mode
* @param source 命令来源: 0: pad模拟, 1: pad业务, 2:aicloud, 3:魔方(清扫车MAP Version==332以及MAP Version>=350，其他车型目前未上线)
* @param routeInfo 自动驾驶路径信息
* @param isAutoRouting 20240523 是否进行自动算路
* @return 消息是否添加到WS消息发送队列，返回值为非0的正整数时表示下发消息的消息ID
* * >=0：表示添加到WS发送消息队列
* * =0：表示乘客屏模式添加到WS发送消息队列
* * -1L：添加到WS发送消息队列失败
*/
long sendAutoPilotModeReq(int mode, int source, MessagePad.RouteInfo routeInfo);
long sendAutoPilotModeReq(int mode, int source, MessagePad.RouteInfo routeInfo, boolean isAutoRouting);
/**
@@ -475,14 +476,16 @@ public interface IAdasNetCommApi {
* 发送 轨迹下载请求
* 此方法存在域控回执，监听{@link OnAdasListener#onReceiveReceivedAck(ReceivedAck)}回调.使用方法：将此方法的返回值与{@link ReceivedAck#getMsgId()}进行比较，如果相同判断{@link ReceivedAck#getStatus()}是否等于{@link ReceivedAck.Status#NORMAL}，详情参见CheckSystemView中的onReceiveReceivedAck
*
* @param line 线路相关参数详情见PB message_pad.proto -> Line
* @param downloadType 下载类型: 0:正常下载 1:预下载
* @param line 线路相关参数详情见PB message_pad.proto -> Line
* @param downloadType 下载类型: 0:正常下载 1:预下载
* @param isAutoRouting 20240523 是否进行自动算路
* @param routeInfo 20240523 进行自动算路，务必下单时候携带自动驾驶路径信息，否则可不填！
* @return 消息是否添加到WS消息发送队列，返回值为非0的正整数时表示下发消息的消息ID
* * >=0：表示添加到WS发送消息队列
* * =0：表示乘客屏模式添加到WS发送消息队列
* * -1L：添加到WS发送消息队列失败
*/
long sendTrajectoryDownloadReq(MessagePad.Line line, int downloadType);
long sendTrajectoryDownloadReq(MessagePad.Line line, int downloadType, boolean isAutoRouting, MessagePad.RouteInfo routeInfo);
/**
* 发送 状态查询请求