[pb12][清扫车新老底盘兼容] 清扫车分支老地盘数据转新地盘数据

2023-01-09 16:58:46 +08:00
parent d48c59f1bf
commit 23b96286ee
25 changed files with 625 additions and 87 deletions
--- a/core/function-impl/mogo-core-function-autopilot/src/main/java/com/mogo/eagle/core/function/autopilot/adapter/MoGoAdasListenerImpl.kt
+++ b/core/function-impl/mogo-core-function-autopilot/src/main/java/com/mogo/eagle/core/function/autopilot/adapter/MoGoAdasListenerImpl.kt
@@ -1,5 +1,6 @@
 package com.mogo.eagle.core.function.autopilot.adapter

+import chassis.ChassisStatesOuterClass
 import chassis.VehicleStateOuterClass
 import com.mogo.eagle.core.data.app.AppConfigInfo
 import com.mogo.eagle.core.data.config.FunctionBuildConfig
@@ -141,38 +142,66 @@ class MoGoAdasListenerImpl : OnAdasListener {
        }
    }

-    //自车状态(底盘)，车灯等。
-    @ChainLog(
-            linkChainLog = CHAIN_LINK_LOG_WEB_SOCKET_VEHICLE,
-            linkCode = CHAIN_LINK_ADAS,
-            endpoint = PAD,
-            nodeAliasCode = CHAIN_ALIAS_CODE_ADAS_MESSAGE_AUTOPILOT_VEHICLE,
-            paramIndexes = [0, 1],
-            clientPkFileName = "sn"
-    )
+    /**
+     * 老底盘
+     * TODO 老地盘数据会转发到新地盘
+     * TODO　鹰眼不要用此接口展示页面相关，可以用来记录链路日志
+     *
+     * @param header       头
+     * @param vehicleState 数据
+     */
    override fun onVehicleState(
            header: MessagePad.Header,
            vehicleState: VehicleStateOuterClass.VehicleState?
    ) {

-        if (vehicleState != null) {
-            //转向灯数据
-            CallerAutopilotVehicleStateListenerManager.invokeAutopilotLightSwitchData(vehicleState.light)
-            //刹车灯数据
-            CallerAutopilotVehicleStateListenerManager.invokeAutopilotBrakeLightData(vehicleState.brakeLightStatus)
-            //方向盘转向角数据
-            CallerAutopilotVehicleStateListenerManager.invokeAutopilotSteeringData(vehicleState.steering)
-            //挂挡档位数据
-            CallerAutopilotVehicleStateListenerManager.invokeAutopilotGearData(vehicleState.gear)
-            //加速度
-            CallerAutopilotVehicleStateListenerManager.invokeAutopilotAcc(vehicleState.accel)
-            //油门
-            CallerAutopilotVehicleStateListenerManager.invokeAutopilotThrottle(vehicleState.throttle)
-            //刹车
-            CallerAutopilotVehicleStateListenerManager.invokeAutopilotBrake(vehicleState.brake)
-            //清扫车（福田）清扫控制系统状态
-            vehicleState.sweeperFutianCleanSystemState?.also {
-                CallerAutopilotVehicleStateListenerManager.invokeSweeperFutianCleanSystemState(it)
+    }
+
+    @ChainLog(
+        linkChainLog = CHAIN_LINK_LOG_WEB_SOCKET_VEHICLE,
+        linkCode = CHAIN_LINK_ADAS,
+        endpoint = PAD,
+        nodeAliasCode = CHAIN_ALIAS_CODE_ADAS_MESSAGE_AUTOPILOT_VEHICLE,
+        paramIndexes = [0, 1],
+        clientPkFileName = "sn"
+    )
+    override fun onChassisStates(header: MessagePad.Header, chassisStates: ChassisStatesOuterClass.ChassisStates?) {
+        if (chassisStates != null) {
+            chassisStates.bcmSystemStates?.let { bcmSystemStates ->
+                bcmSystemStates.turnLightState?.let {
+                    //转向灯数据
+                    CallerAutopilotVehicleStateListenerManager.invokeAutopilotLightSwitchData(it)
+                }
+                //刹车灯数据
+                CallerAutopilotVehicleStateListenerManager.invokeAutopilotBrakeLightData(bcmSystemStates.brakeLightState != 0)
+            }
+            chassisStates.steerSystemStates?.let {
+                //方向盘转向角数据
+                CallerAutopilotVehicleStateListenerManager.invokeAutopilotSteeringData(it.steeringWheelAngle)
+            }
+            chassisStates.gearSystemStates?.let { gearSystemStates ->
+                gearSystemStates.gearPosition?.let {
+                    //挂挡档位数据
+                    CallerAutopilotVehicleStateListenerManager.invokeAutopilotGearData(it)
+                }
+            }
+            chassisStates.vehicleMotionStates?.let {
+                //加速度
+                CallerAutopilotVehicleStateListenerManager.invokeAutopilotAcc(it.acceleration)
+            }
+            chassisStates.drivingSystemStates?.let {
+                //油门
+                CallerAutopilotVehicleStateListenerManager.invokeAutopilotThrottle(it.throttleResponsePosition)
+            }
+            chassisStates.brakeSystemStates?.let {
+                //刹车
+                CallerAutopilotVehicleStateListenerManager.invokeAutopilotBrake(it.brakePedalResponsePosition)
+            }
+            chassisStates.taskSystemStates?.let { taskSystemStates ->
+                taskSystemStates.sweeperFutianTaskSystemStates?.let {
+                    //清扫车（福田）清扫控制系统状态
+                    CallerAutopilotVehicleStateListenerManager.invokeSweeperFutianCleanSystemState(it)
+                }
            }
        } else {
            CallerAutopilotVehicleStateListenerManager.invokeAutopilotDataException(header.timestamp.toLong())
--- a/core/function-impl/mogo-core-function-autopilot/src/main/java/com/mogo/eagle/core/function/autopilot/adapter/MoGoHandAdasMsgManager.java
+++ b/core/function-impl/mogo-core-function-autopilot/src/main/java/com/mogo/eagle/core/function/autopilot/adapter/MoGoHandAdasMsgManager.java
@@ -28,7 +28,7 @@ import com.mogo.eagle.core.utilcode.mogo.storage.SharedPrefsMgr;
 import org.jetbrains.annotations.NotNull;

 import chassis.Chassis;
-import chassis.VehicleStateOuterClass;
+import chassis.ChassisStatesOuterClass;
 import mogo.telematics.pad.MessagePad;

 public class MoGoHandAdasMsgManager implements
@@ -187,7 +187,7 @@ public class MoGoHandAdasMsgManager implements


    @Override
-    public void onSweeperFutianCleanSystemState(VehicleStateOuterClass.SweeperFuTianCleanSystemState cleanSystemState) {
+    public void onSweeperFutianCleanSystemState(ChassisStatesOuterClass.SweeperFuTianTaskSystemStates cleanSystemState) {

    }
 }
--- a/core/function-impl/mogo-core-function-devatools/src/main/java/com/zhjt/mogo_core_function_devatools/status/flow/can/CanImpl.kt
+++ b/core/function-impl/mogo-core-function-devatools/src/main/java/com/zhjt/mogo_core_function_devatools/status/flow/can/CanImpl.kt
@@ -4,7 +4,7 @@ import android.content.*
 import android.util.Log
 import chassis.Chassis.GearPosition
 import chassis.Chassis.LightSwitch
-import chassis.VehicleStateOuterClass
+import chassis.ChassisStatesOuterClass
 import com.mogo.eagle.core.function.api.autopilot.*
 import com.mogo.eagle.core.function.call.autopilot.*
 import com.mogo.eagle.core.utilcode.kotlin.*
@@ -82,7 +82,7 @@ internal class CanImpl(ctx: Context): IFlow<CanStatus>(ctx), IMoGoAutopilotVehic
        timeOutCheck()
    }

-    override fun onSweeperFutianCleanSystemState(cleanSystemState: VehicleStateOuterClass.SweeperFuTianCleanSystemState) {
+    override fun onSweeperFutianCleanSystemState(cleanSystemState: ChassisStatesOuterClass.SweeperFuTianTaskSystemStates) {
        send(CanStatus(isCanEnabled()))
        timeOutCheck()
    }
--- a/core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/hmi/ui/setting/DebugSettingView.kt
+++ b/core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/hmi/ui/setting/DebugSettingView.kt
@@ -18,7 +18,7 @@ import androidx.core.content.ContextCompat
 import androidx.core.view.*
 import androidx.recyclerview.widget.LinearLayoutManager
 import chassis.Chassis
-import chassis.VehicleStateOuterClass
+import chassis.ChassisStatesOuterClass
 import com.mogo.cloud.passport.MoGoAiCloudClient
 import com.mogo.cloud.passport.MoGoAiCloudClientConfig
 import com.mogo.commons.debug.DebugConfig
@@ -2164,7 +2164,7 @@ class DebugSettingView @JvmOverloads constructor(
    /**
     * 清扫车（福田）清扫控制系统状态
     */
-    override fun onSweeperFutianCleanSystemState(cleanSystemState: VehicleStateOuterClass.SweeperFuTianCleanSystemState) {
+    override fun onSweeperFutianCleanSystemState(cleanSystemState: ChassisStatesOuterClass.SweeperFuTianTaskSystemStates) {

    }

--- a/core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/hmi/ui/widget/SteeringWheelView.java
+++ b/core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/hmi/ui/widget/SteeringWheelView.java
@@ -27,7 +27,7 @@ import com.mogo.eagle.core.utilcode.util.ThreadUtils;
 import org.jetbrains.annotations.NotNull;

 import chassis.Chassis;
-import chassis.VehicleStateOuterClass;
+import chassis.ChassisStatesOuterClass;
 import mogo.telematics.pad.MessagePad;
 import mogo_msg.MogoReportMsg;
 import system_master.SystemStatusInfo;
@@ -166,7 +166,7 @@ public class SteeringWheelView extends ConstraintLayout {
    private final IMoGoAutopilotVehicleStateListener mIMoGoAutopilotVehicleStateListener = new IMoGoAutopilotVehicleStateListener() {

        @Override
-        public void onSweeperFutianCleanSystemState(@NonNull VehicleStateOuterClass.SweeperFuTianCleanSystemState cleanSystemState) {
+        public void onSweeperFutianCleanSystemState(@NonNull ChassisStatesOuterClass.SweeperFuTianTaskSystemStates cleanSystemState) {
        }

        /**
--- a/core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/hmi/ui/widget/TrafficDataView.java
+++ b/core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/hmi/ui/widget/TrafficDataView.java
@@ -26,8 +26,7 @@ import com.mogo.eagle.core.utilcode.util.ThreadUtils;
 import org.jetbrains.annotations.NotNull;

 import chassis.Chassis;
-import chassis.VehicleStateOuterClass;
-import mogo.telematics.pad.MessagePad;
+import chassis.ChassisStatesOuterClass;

 /**
 * @author Jing
@@ -124,7 +123,7 @@ public class TrafficDataView extends ConstraintLayout {

    private final IMoGoAutopilotVehicleStateListener mIMoGoAutopilotVehicleStateListener = new IMoGoAutopilotVehicleStateListener() {
        @Override
-        public void onSweeperFutianCleanSystemState(@NonNull VehicleStateOuterClass.SweeperFuTianCleanSystemState cleanSystemState) {
+        public void onSweeperFutianCleanSystemState(@NonNull ChassisStatesOuterClass.SweeperFuTianTaskSystemStates cleanSystemState) {
        }

        /**
--- a/core/mogo-core-function-api/src/main/java/com/mogo/eagle/core/function/api/autopilot/IMoGoAutopilotVehicleStateListener.kt
+++ b/core/mogo-core-function-api/src/main/java/com/mogo/eagle/core/function/api/autopilot/IMoGoAutopilotVehicleStateListener.kt
@@ -1,7 +1,7 @@
 package com.mogo.eagle.core.function.api.autopilot

 import chassis.Chassis
-import chassis.VehicleStateOuterClass
+import chassis.ChassisStatesOuterClass

 /**
 * 车辆底盘 数据 回调监听
@@ -36,7 +36,7 @@ interface IMoGoAutopilotVehicleStateListener {
    /**
     * 没有自车状态数据
     */
-    fun onAutopilotDataException(timestamp: Long){}
+    fun onAutopilotDataException(timestamp: Long) {}

    /**
     * 车辆加速度
@@ -56,5 +56,5 @@ interface IMoGoAutopilotVehicleStateListener {
    /**
     * 清扫车（福田）清扫控制系统状态
     */
-    fun onSweeperFutianCleanSystemState(cleanSystemState: VehicleStateOuterClass.SweeperFuTianCleanSystemState)
+    fun onSweeperFutianCleanSystemState(cleanSystemState: ChassisStatesOuterClass.SweeperFuTianTaskSystemStates)
 }
--- a/core/mogo-core-function-call/src/main/java/com/mogo/eagle/core/function/call/autopilot/CallerAutopilotVehicleStateListenerManager.kt
+++ b/core/mogo-core-function-call/src/main/java/com/mogo/eagle/core/function/call/autopilot/CallerAutopilotVehicleStateListenerManager.kt
@@ -2,10 +2,9 @@ package com.mogo.eagle.core.function.call.autopilot

 import androidx.annotation.Nullable
 import chassis.Chassis
-import chassis.VehicleStateOuterClass
+import chassis.ChassisStatesOuterClass
 import com.mogo.eagle.core.function.api.autopilot.IMoGoAutopilotVehicleStateListener
 import com.mogo.eagle.core.function.call.base.CallerBase
-import mogo.telematics.pad.MessagePad
 import java.util.concurrent.ConcurrentHashMap

 /**
@@ -84,8 +83,8 @@ object CallerAutopilotVehicleStateListenerManager : CallerBase() {
     * 车辆方向盘转向角回调
     * @param steering 方向盘转向角
     */
-    fun invokeAutopilotSteeringData(steering: Float){
-        M_AUTOPILOT_VEHICLE_LISTENERS.forEach{
+    fun invokeAutopilotSteeringData(steering: Float) {
+        M_AUTOPILOT_VEHICLE_LISTENERS.forEach {
            val listener = it.value
            listener.onAutopilotSteeringData(steering)
        }
@@ -95,8 +94,8 @@ object CallerAutopilotVehicleStateListenerManager : CallerBase() {
     * 车辆挂挡档位
     * @param gear 档位
     */
-    fun invokeAutopilotGearData(gear: Chassis.GearPosition){
-        M_AUTOPILOT_VEHICLE_LISTENERS.forEach{
+    fun invokeAutopilotGearData(gear: Chassis.GearPosition) {
+        M_AUTOPILOT_VEHICLE_LISTENERS.forEach {
            val listener = it.value
            listener.onAutopilotGearData(gear)
        }
@@ -106,8 +105,8 @@ object CallerAutopilotVehicleStateListenerManager : CallerBase() {
     * 车辆加速度
     * acc 加速度
     */
-    fun invokeAutopilotAcc(carAcc: Float){
-        M_AUTOPILOT_VEHICLE_LISTENERS.forEach{
+    fun invokeAutopilotAcc(carAcc: Float) {
+        M_AUTOPILOT_VEHICLE_LISTENERS.forEach {
            val listener = it.value
            listener.onAutopilotAcc(carAcc)
        }
@@ -116,8 +115,8 @@ object CallerAutopilotVehicleStateListenerManager : CallerBase() {
    /**
     * throttle 油门
     */
-    fun invokeAutopilotThrottle(throttle: Float){
-        M_AUTOPILOT_VEHICLE_LISTENERS.forEach{
+    fun invokeAutopilotThrottle(throttle: Float) {
+        M_AUTOPILOT_VEHICLE_LISTENERS.forEach {
            val listener = it.value
            listener.onAutopilotThrottle(throttle)
        }
@@ -126,8 +125,8 @@ object CallerAutopilotVehicleStateListenerManager : CallerBase() {
    /**
     * brake 刹车
     */
-    fun invokeAutopilotBrake(brake: Float){
-        M_AUTOPILOT_VEHICLE_LISTENERS.forEach{
+    fun invokeAutopilotBrake(brake: Float) {
+        M_AUTOPILOT_VEHICLE_LISTENERS.forEach {
            val listener = it.value
            listener.onAutopilotBrake(brake)
        }
@@ -136,8 +135,8 @@ object CallerAutopilotVehicleStateListenerManager : CallerBase() {
    /**
     * clean system state 清扫车（福田）清扫控制系统状态
     */
-    fun invokeSweeperFutianCleanSystemState(cleanSystemState: VehicleStateOuterClass.SweeperFuTianCleanSystemState){
-        M_AUTOPILOT_VEHICLE_LISTENERS.forEach{
+    fun invokeSweeperFutianCleanSystemState(cleanSystemState: ChassisStatesOuterClass.SweeperFuTianTaskSystemStates) {
+        M_AUTOPILOT_VEHICLE_LISTENERS.forEach {
            val listener = it.value
            listener.onSweeperFutianCleanSystemState(cleanSystemState)
        }
@@ -159,7 +158,7 @@ object CallerAutopilotVehicleStateListenerManager : CallerBase() {
    }

    fun invokeAutopilotDataException(timestamp: Long) {
-        M_AUTOPILOT_VEHICLE_LISTENERS.forEach{
+        M_AUTOPILOT_VEHICLE_LISTENERS.forEach {
            val listener = it.value
            listener.onAutopilotDataException(timestamp)
        }