diff --git a/OCH/mogo-och-bus-passenger/src/m2/java/com/mogo/och/bus/passenger/model/PM2DrivingModel.kt b/OCH/mogo-och-bus-passenger/src/m2/java/com/mogo/och/bus/passenger/model/PM2DrivingModel.kt index 1da862dc25..33369c39d8 100644 --- a/OCH/mogo-och-bus-passenger/src/m2/java/com/mogo/och/bus/passenger/model/PM2DrivingModel.kt +++ b/OCH/mogo-och-bus-passenger/src/m2/java/com/mogo/och/bus/passenger/model/PM2DrivingModel.kt @@ -145,7 +145,7 @@ class PM2DrivingModel private constructor() { override fun onReceivedMsg(type: Int, byteArray: ByteArray) {//接收司机端发来的信息 if (TelematicConstant.BUSINESS_STRING == type){ val msg = GsonUtils.fromJson(String(byteArray),AppConnectMsg::class.java) as AppConnectMsg - Logger.d(TAG,"onReceivedMsg = "+GsonUtils.toJson(msg)) + Logger.d(SceneConstant.M_BUS_P+TAG,"onReceivedMsg = "+GsonUtils.toJson(msg)) if (msg.isPlay){ //播报 speakTTS(msg.msg) } @@ -192,19 +192,19 @@ class PM2DrivingModel private constructor() { private val moGoAutopilotPlanningListener = object : IMoGoPlanningRottingListener{ override fun onAutopilotRotting(globalPathResp: MessagePad.GlobalPathResp?) { - val routePoints = globalPathResp?.wayPointsList - if (null != routePoints && routePoints.size > 0) { - updateRoutePoints(routePoints) -// startOrStopRouteAndWipe(true) + globalPathResp?.let { + d(SceneConstant.M_BUS_P + TAG, "och-rotting==wayPointsSize = " + it.wayPointsList.size) + updateRoutePoints(it.wayPointsList) } } } - fun updateRoutePoints(routePoints: List?) { + fun updateRoutePoints(routePoints: List?) { mRoutePoints.clear() val latLngModels = CoordinateCalculateRouteUtil .coordinateConverterWgsToGcjLocations(mContext, routePoints) + d(SceneConstant.M_BUS_P + TAG, "och-rotting==latLngModels = " + latLngModels.size) mRoutePoints.addAll(latLngModels) calculateTwoStationsRoute() } @@ -227,7 +227,7 @@ class PM2DrivingModel private constructor() { super.onAutopilotStatusResponse(autoPilotStatusInfo) val status = autoPilotStatusInfo.state if (mCurrentAutoStatus == status) return - + d(SceneConstant.M_BUS_P+TAG, "onAutopilotStatusResponse ===== $status") if (IMoGoAutopilotStatusListener.STATUS_AUTOPILOT_RUNNING != status){ //美化模式下且行程中 if (FunctionBuildConfig.isDemoMode && @@ -241,6 +241,7 @@ class PM2DrivingModel private constructor() { }else{//自驾状态 2 mAutoStatusCallback?.updateAutoStatus(true) } + mCurrentAutoStatus = status } } @@ -260,7 +261,7 @@ class PM2DrivingModel private constructor() { if (data?.data == null) return if (data.data.driverStatus != operationStatus?.driverStatus || data.data.plateNumber != operationStatus?.plateNumber){ - d(TAG, "queryDriverOperationStatus ===== 车牌或者登陆状态有变更") + d(SceneConstant.M_BUS_P+TAG, "queryDriverOperationStatus ===== 车牌或者登陆状态有变更") mDrivingInfoCallback?.changeOperationStatus(data.data.driverStatus == 1) } operationStatus = data.data as PM2OperationStatusResponse.Result @@ -294,7 +295,7 @@ class PM2DrivingModel private constructor() { } if (data?.result?.sites === null) { - d(TAG, "queryDriverSiteByCoordinate ===== 没有路线") + d(SceneConstant.M_BUS_P+TAG, "queryDriverSiteByCoordinate ===== 没有路线") routesResult = null mNextStationIndex = 0 isGoingToNextStation = false @@ -314,7 +315,7 @@ class PM2DrivingModel private constructor() { queryDriverOperationDelay() return } - d(TAG, "queryDriverSiteByCoordinate = %s", msg) + d(SceneConstant.M_BUS_P+TAG, "queryDriverSiteByCoordinate = %s", msg) } }) @@ -335,7 +336,7 @@ class PM2DrivingModel private constructor() { && station.isLeaving && i + 1 < stations.size) { mDrivingInfoCallback?.updateStationsInfo(stations as MutableList, i + 1, false) if (mNextStationIndex != i + 1) { - d(TAG,"轨迹排查--开始行程") + d(SceneConstant.M_BUS_P+TAG,"och-rotting--start ") mTwoStationsRouts.clear() startRemainRouteInfo() } @@ -397,7 +398,7 @@ class PM2DrivingModel private constructor() { break } for (lastPoints in lastPointsMap.values) { - d(SceneConstant.M_BUS_P + TAG, "轨迹排查==lastPoints.size() = " + lastPoints.size) + d(SceneConstant.M_BUS_P + TAG, "och-rotting==lastPoints.size() = " + lastPoints.size) var lastSumLength = 0f lastSumLength = if (lastPoints.size == 1) { //只是最后一个点，计算当前位置和最后一个点的距离 if (mNextStationIndex <= mStations.size - 1 && mNextStationIndex >= 0) { @@ -416,7 +417,7 @@ class PM2DrivingModel private constructor() { CoordinateCalculateRouteUtil.calculateRouteSumLength(lastPoints) } val lastTime = lastSumLength / BusPassengerConst.BUS_AVERAGE_SPEED * 3.6 //秒 - d(SceneConstant.M_BUS_P + TAG, "轨迹排查==lastSumLength = $lastSumLength") + d(SceneConstant.M_BUS_P + TAG, "och-rotting==lastSumLength = $lastSumLength") mDrivingInfoCallback?.updateRemainMT( lastSumLength.toLong(), lastTime.toLong() @@ -446,7 +447,7 @@ class PM2DrivingModel private constructor() { stationNext.gcjLat ) - d(SceneConstant.M_BUS_P + TAG, "轨迹排查==currentRouteIndex = " + currentRouteIndex + d(SceneConstant.M_BUS_P + TAG, "och-rotting==currentRouteIndex = " + currentRouteIndex + "， nextRouteIndex = " + nextRouteIndex) if (currentRouteIndex < nextRouteIndex) { //如果找到的next在起点的轨迹前面，直接舍弃这个轨迹，不显示 @@ -467,7 +468,7 @@ class PM2DrivingModel private constructor() { * @param isStart */ fun startOrStopCalculateRouteInfo(isStart: Boolean) { - d(TAG, "startOrStopCalculateRouteInfo() $isStart") + d(SceneConstant.M_BUS_P+TAG, "startOrStopCalculateRouteInfo() $isStart") if (isStart) { PM2ModelLoopManager.startCalculateRouteInfoLoop() } else { diff --git a/OCH/mogo-och-bus-passenger/src/m2/java/com/mogo/och/bus/passenger/ui/PM2DrivingInfoFragment.kt b/OCH/mogo-och-bus-passenger/src/m2/java/com/mogo/och/bus/passenger/ui/PM2DrivingInfoFragment.kt index 1182752a5a..85b1cdd90f 100644 --- a/OCH/mogo-och-bus-passenger/src/m2/java/com/mogo/och/bus/passenger/ui/PM2DrivingInfoFragment.kt +++ b/OCH/mogo-och-bus-passenger/src/m2/java/com/mogo/och/bus/passenger/ui/PM2DrivingInfoFragment.kt @@ -2,16 +2,13 @@ package com.mogo.och.bus.passenger.ui import android.graphics.BitmapFactory import android.os.Bundle +import android.os.Handler +import android.os.Looper +import android.os.Message import android.view.View import androidx.core.content.ContextCompat import com.amap.api.maps.model.LatLng import com.mogo.commons.mvp.MvpFragment -import com.mogo.eagle.core.data.msgbox.MsgBoxBean -import com.mogo.eagle.core.data.msgbox.MsgBoxType -import com.mogo.eagle.core.data.msgbox.NoticeFrCloudMsg -import com.mogo.eagle.core.data.msgbox.V2XMsg -import com.mogo.eagle.core.data.notice.NoticeTrafficStylePushData -import com.mogo.eagle.core.function.call.msgbox.CallerMsgBoxManager import com.mogo.eagle.core.function.hmi.ui.setting.ToggleDebugView import com.mogo.eagle.core.utilcode.kotlin.onClick import com.mogo.eagle.core.utilcode.util.DateTimeUtils @@ -21,6 +18,7 @@ import com.mogo.och.bus.passenger.presenter.PM2DrivingPresenter import com.mogo.och.common.module.utils.DateTimeUtil.* import com.mogo.och.common.module.utils.NumberFormatUtil import kotlinx.android.synthetic.m2.p_m2_driving_info_fragment.* +import java.lang.ref.WeakReference import kotlin.math.ceil import kotlin.math.roundToInt @@ -30,6 +28,9 @@ import kotlin.math.roundToInt */ class PM2DrivingInfoFragment : MvpFragment() { + + private var timeHandler: TimeHandler? = null + /** * 改变自动驾驶状态 * @@ -71,6 +72,8 @@ class PM2DrivingInfoFragment : // BPRouteDataTestUtils.converToRouteData() } updateCurrentTime() + timeHandler = TimeHandler(this) + timeHandler?.sendEmptyMessageDelayed(WHAT_TIME_CURRENT, LOOP_TIME_TEXT) } override fun initViews(savedInstanceState: Bundle?) { @@ -89,6 +92,7 @@ class PM2DrivingInfoFragment : } override fun onDestroy() { + timeHandler?.removeCallbacksAndMessages(null) super.onDestroy() overMapView.onDestroy() } @@ -216,8 +220,27 @@ class PM2DrivingInfoFragment : "$remainDis$disUnit | $time 分钟".also { remain_mt.text = it } } - companion object { - private val TAG = PM2DrivingInfoFragment::class.java.simpleName + class TimeHandler(obj: PM2DrivingInfoFragment) : Handler(Looper.getMainLooper()) { + private val mRef: WeakReference = WeakReference(obj) + + val drivingInfoFragment = mRef.get() as PM2DrivingInfoFragment + override fun handleMessage(msg: Message) { + mRef.get()?.run { + when (msg.what) { + WHAT_TIME_CURRENT -> { + drivingInfoFragment.updateCurrentTime() + sendEmptyMessageDelayed( + WHAT_TIME_CURRENT, LOOP_TIME_TEXT) + } //可以直接访问Activity中的变量 + else -> {} + } + } + } } + companion object { + private val TAG = PM2DrivingInfoFragment::class.java.simpleName + const val LOOP_TIME_TEXT = 60 * 1000L + const val WHAT_TIME_CURRENT = 10001 //MSG_WHAT + } } \ No newline at end of file diff --git a/OCH/mogo-och-bus/src/jinlvvan/java/com/mogo/och/bus/model/OrderModel.java b/OCH/mogo-och-bus/src/jinlvvan/java/com/mogo/och/bus/model/OrderModel.java index f9dd311b48..c137eac508 100644 --- a/OCH/mogo-och-bus/src/jinlvvan/java/com/mogo/och/bus/model/OrderModel.java +++ b/OCH/mogo-och-bus/src/jinlvvan/java/com/mogo/och/bus/model/OrderModel.java @@ -20,6 +20,7 @@ import com.mogo.commons.AbsMogoApplication; import com.mogo.commons.module.status.IMogoStatusChangedListener; import com.mogo.commons.module.status.MogoStatusManager; import com.mogo.commons.module.status.StatusDescriptor; +import com.mogo.commons.voice.AIAssist; import com.mogo.eagle.core.data.BaseData; import com.mogo.eagle.core.data.autopilot.AutopilotControlParameters; import com.mogo.eagle.core.data.config.FunctionBuildConfig; @@ -67,6 +68,8 @@ import com.mogo.och.common.module.utils.NumberFormatUtil; import com.mogo.och.common.module.utils.PinYinUtil; import com.mogo.och.common.module.utils.ToastUtilsOch; import com.mogo.och.common.module.voice.VoiceNotice; +import com.mogo.tts.base.LangTtsEntity; +import com.mogo.tts.base.LanguageType; import org.jetbrains.annotations.NotNull; @@ -714,9 +717,28 @@ public class OrderModel { , isLastStop); } - VoiceNotice.showNotice(String.format(mContext +// VoiceNotice.showNotice(String.format(mContext +// .getString(R.string.bus_arrived_station_tip), +// arriveStation)); + + ttsArrivedStation(arriveStation); + } + + private void ttsArrivedStation(String arriveStation){ + List list = new ArrayList<>(); + LangTtsEntity chineseTTS = new LangTtsEntity(String.format(mContext .getString(R.string.bus_arrived_station_tip), - arriveStation)); + arriveStation), LanguageType.CHINESE); + LangTtsEntity engTTS = new LangTtsEntity(String.format(mContext + .getString(R.string.bus_arrived_station_english_tip), + arriveStation), LanguageType.ENGLISH); + LangTtsEntity koreanTTS = new LangTtsEntity(String.format(mContext + .getString(R.string.bus_arrived_station_korean_tip), + arriveStation), LanguageType.KOREAN); + list.add(chineseTTS); + list.add(engTTS); + list.add(koreanTTS); + VoiceNotice.showNotice(list, AIAssist.LEVEL0); } /** @@ -768,9 +790,30 @@ public class OrderModel { //车站10s后播报 private void leaveTTSTips(String nextStation) { - VoiceNotice.showNotice(String.format(mContext - .getString(R.string.bus_leave_station_tip), - nextStation), DELAY_10S); + + UiThreadHandler.postDelayed(new Runnable() { + @Override + public void run() { + List list = new ArrayList<>(); + LangTtsEntity chineseTTS = new LangTtsEntity(String.format(mContext + .getString(R.string.bus_leave_station_tip), + nextStation), LanguageType.CHINESE); + LangTtsEntity engTTS = new LangTtsEntity(String.format(mContext + .getString(R.string.bus_leave_station_english_tip), + nextStation), LanguageType.ENGLISH); + LangTtsEntity koreanTTS = new LangTtsEntity(String.format(mContext + .getString(R.string.bus_leave_station_korean_tip), + nextStation), LanguageType.KOREAN); + list.add(chineseTTS); + list.add(engTTS); + list.add(koreanTTS); + VoiceNotice.showNotice(list, AIAssist.LEVEL0); + } + },DELAY_10S); + +// VoiceNotice.showNotice(String.format(mContext +// .getString(R.string.bus_leave_station_tip), +// nextStation), DELAY_10S); } /** @@ -1014,7 +1057,7 @@ public class OrderModel { queryBusRoutes();// 重新获取任务 removeTipRunnables(); // startOrStopQueryPassengerWriteOff(false); - VoiceNotice.showNotice(mContext.getString(R.string.bus_end_task_tip)); + ttsEndTask(); } } @@ -1038,6 +1081,21 @@ public class OrderModel { }); } + private void ttsEndTask() { +// VoiceNotice.showNotice(mContext.getString(R.string.bus_end_task_tip)); + List list = new ArrayList<>(); + LangTtsEntity chineseTTS = new LangTtsEntity(mContext + .getString(R.string.bus_end_task_tip), LanguageType.CHINESE); + LangTtsEntity engTTS = new LangTtsEntity(mContext + .getString(R.string.bus_end_task_english_tip), LanguageType.ENGLISH); + LangTtsEntity koreanTTS = new LangTtsEntity(mContext + .getString(R.string.bus_end_task_korean_tip), LanguageType.KOREAN); + list.add(chineseTTS); + list.add(engTTS); + list.add(koreanTTS); + VoiceNotice.showNotice(list, AIAssist.LEVEL0); + } + /** * 到站 * diff --git a/OCH/mogo-och-bus/src/main/res/values/strings.xml b/OCH/mogo-och-bus/src/main/res/values/strings.xml index 737487ec70..7f0c9a32be 100644 --- a/OCH/mogo-och-bus/src/main/res/values/strings.xml +++ b/OCH/mogo-och-bus/src/main/res/values/strings.xml @@ -43,8 +43,16 @@ 已到达%1$s，带好随身物品，下车请注意安全。 + We are arriving at %1$s ，get off with your belongings + %1$s 역에 도착했습니다 , 소지품 챙겨서 내리세요 + 车辆起步，请扶稳坐好，前方到站是%1$s，请下车的乘客做好准备。 + The next station is %1$s ，please get ready for your arrival + 전방에서 역에 도착하는 %1$s ，차에서 내리는 승객은 준비하세요 + 感谢您体验\'蘑菇车联\'自动驾驶小巴车，我们下次再见。 + Thank you for experiencing the self-driving minibus. See you next time + 자율주행 버스를 체험해 주셔서 감사합니다. 다음에 또 뵙겠습니다 距离发车时间还有%1$s分钟 diff --git a/OCH/mogo-och-common-module/src/main/java/com/mogo/och/common/module/voice/VoiceNotice.kt b/OCH/mogo-och-common-module/src/main/java/com/mogo/och/common/module/voice/VoiceNotice.kt index 43ef0ffb30..7aeecde59e 100644 --- a/OCH/mogo-och-common-module/src/main/java/com/mogo/och/common/module/voice/VoiceNotice.kt +++ b/OCH/mogo-och-common-module/src/main/java/com/mogo/och/common/module/voice/VoiceNotice.kt @@ -3,6 +3,8 @@ package com.mogo.och.common.module.voice import com.mogo.commons.AbsMogoApplication import com.mogo.commons.voice.AIAssist import com.mogo.eagle.core.utilcode.util.UiThreadHandler +import com.mogo.tts.base.LangTtsEntity +import com.mogo.tts.base.MultiLangTtsEntity object VoiceNotice { @JvmStatic @@ -46,4 +48,9 @@ object VoiceNotice { AIAssist.getInstance(AbsMogoApplication.getApp()).stopTts() } } + + @JvmStatic + fun showNotice(listTTS: MutableList, level: Int) { + AIAssist.getInstance(AbsMogoApplication.getApp()) + .speakMultiLangTTSWithLevel(MultiLangTtsEntity(listTTS), level,null) } } \ No newline at end of file diff --git a/app/README.md b/app/README.md index a74139426c..71338949e3 100644 --- a/app/README.md +++ b/app/README.md @@ -38,3 +38,15 @@ 3. demo: 演示环境（大部分时候都是测试环境） ## 区分 flavor 功能引入 + + + +## 不能启动自动驾驶的档位 +| 车型 | 配置所在文件 | 档位 | 配置 | +|:-|:-|:-|:-| +| 东风、红旗 | fOchTaxi.gradle、fOchTaxiPassenger.gradle | P、R | buildConfigField 'java.util.Set', 'UNABLE_LAUNCH_AUTOPILOT_GEAR', 'new java.util.HashSet(){{add(chassis.Chassis.GearPosition.GEAR_P);add(chassis.Chassis.GearPosition.GEAR_R);}}' | +| 金旅小巴 | fOchBus.gradle、fOchBusPassenger.gradle、fOchShuttle.gradle、fOchShuttlePassenger.gradle | N、R | buildConfigField 'java.util.Set', 'UNABLE_LAUNCH_AUTOPILOT_GEAR', 'new java.util.HashSet(){{add(chassis.Chassis.GearPosition.GEAR_N);add(chassis.Chassis.GearPosition.GEAR_R);}}' | +| M1 | fOchBusPassengerM1.gradle | 不限制档位 | buildConfigField 'java.util.Set', 'UNABLE_LAUNCH_AUTOPILOT_GEAR', 'null' | +| M2 | fOchBusPassengerM2.gradle | N、P、R | buildConfigField 'java.util.Set', 'UNABLE_LAUNCH_AUTOPILOT_GEAR', 'new java.util.HashSet(){{add(chassis.Chassis.GearPosition.GEAR_N);add(chassis.Chassis.GearPosition.GEAR_P);add(chassis.Chassis.GearPosition.GEAR_R);}}' | +| 清扫车 | fOchSweeper.gradle | N | buildConfigField 'java.util.Set', 'UNABLE_LAUNCH_AUTOPILOT_GEAR', 'new java.util.HashSet(){{add(chassis.Chassis.GearPosition.GEAR_N);}}' | +| 开沃 | 暂无 | 不限制档位 | buildConfigField 'java.util.Set', 'UNABLE_LAUNCH_AUTOPILOT_GEAR', 'null' | diff --git a/app/build.gradle b/app/build.gradle index e12e042134..a96699d62f 100644 --- a/app/build.gradle +++ b/app/build.gradle @@ -477,6 +477,8 @@ Object readFileToJson(env){ def variantName() { if(gradle.startParameter.taskNames.size()>0) { def taskName = gradle.startParameter.taskNames[0] + taskName = taskName.replace("Debug","") + taskName = taskName.replace("Release","") if (taskName.endsWith("Qa")) { return "qa" } else if (taskName.endsWith("Online")) { diff --git a/app/productFlavors/fMultiDisplayOchBus.gradle b/app/productFlavors/fMultiDisplayOchBus.gradle index 13e4c0f623..6705e54bc7 100644 --- a/app/productFlavors/fMultiDisplayOchBus.gradle +++ b/app/productFlavors/fMultiDisplayOchBus.gradle @@ -45,6 +45,9 @@ project.android.productFlavors { // 构建 是否支持多屏异显异交互 buildConfigField 'boolean', 'IS_MULTI_DISPLAY', 'true' + + //不能启动自驾的档位 + buildConfigField 'java.util.Set', 'UNABLE_LAUNCH_AUTOPILOT_GEAR', 'null' } } \ No newline at end of file diff --git a/app/productFlavors/fMultiDisplayOchTaxi.gradle b/app/productFlavors/fMultiDisplayOchTaxi.gradle index e129159f91..2e9691dca8 100644 --- a/app/productFlavors/fMultiDisplayOchTaxi.gradle +++ b/app/productFlavors/fMultiDisplayOchTaxi.gradle @@ -48,6 +48,9 @@ project.android.productFlavors { // 构建 是否支持多屏异显异交互 buildConfigField 'boolean', 'IS_MULTI_DISPLAY', 'true' + + //不能启动自驾的档位 + buildConfigField 'java.util.Set', 'UNABLE_LAUNCH_AUTOPILOT_GEAR', 'null' } } \ No newline at end of file diff --git a/app/productFlavors/fOchBus.gradle b/app/productFlavors/fOchBus.gradle index 143630b32a..f96331027e 100644 --- a/app/productFlavors/fOchBus.gradle +++ b/app/productFlavors/fOchBus.gradle @@ -48,5 +48,8 @@ project.android.productFlavors { // 构建 是否支持多屏异显异交互 buildConfigField 'boolean', 'IS_MULTI_DISPLAY', 'false' + + //Bus不能启动自驾的档位 + buildConfigField 'java.util.Set', 'UNABLE_LAUNCH_AUTOPILOT_GEAR_BUS', 'new java.util.HashSet(){{add(chassis.Chassis.GearPosition.GEAR_N);add(chassis.Chassis.GearPosition.GEAR_R);}}' } } \ No newline at end of file diff --git a/app/productFlavors/fOchBusPassenger.gradle b/app/productFlavors/fOchBusPassenger.gradle index 4828eb2d69..962f544f6e 100644 --- a/app/productFlavors/fOchBusPassenger.gradle +++ b/app/productFlavors/fOchBusPassenger.gradle @@ -44,5 +44,8 @@ project.android.productFlavors { // 构建 是否支持多屏异显异交互 buildConfigField 'boolean', 'IS_MULTI_DISPLAY', 'false' + + //Bus不能启动自驾的档位 + buildConfigField 'java.util.Set', 'UNABLE_LAUNCH_AUTOPILOT_GEAR_BUS', 'new java.util.HashSet(){{add(chassis.Chassis.GearPosition.GEAR_N);add(chassis.Chassis.GearPosition.GEAR_R);}}' } } \ No newline at end of file diff --git a/app/productFlavors/fOchBusPassengerM2.gradle b/app/productFlavors/fOchBusPassengerM2.gradle index b4361568b3..d99a8b239c 100644 --- a/app/productFlavors/fOchBusPassengerM2.gradle +++ b/app/productFlavors/fOchBusPassengerM2.gradle @@ -45,5 +45,8 @@ project.android.productFlavors { // 构建 是否支持多屏异显异交互 buildConfigField 'boolean', 'IS_MULTI_DISPLAY', 'false' + + //M2不能启动自驾的档位 + buildConfigField 'java.util.Set', 'UNABLE_LAUNCH_AUTOPILOT_GEAR', 'new java.util.HashSet(){{add(chassis.Chassis.GearPosition.GEAR_N);add(chassis.Chassis.GearPosition.GEAR_P);add(chassis.Chassis.GearPosition.GEAR_R);}}' } } \ No newline at end of file diff --git a/app/productFlavors/fOchShuttle.gradle b/app/productFlavors/fOchShuttle.gradle index fe33f7e370..c359ba42a1 100644 --- a/app/productFlavors/fOchShuttle.gradle +++ b/app/productFlavors/fOchShuttle.gradle @@ -46,5 +46,8 @@ project.android.productFlavors { // 构建 是否支持多屏异显异交互 buildConfigField 'boolean', 'IS_MULTI_DISPLAY', 'false' + + //Bus不能启动自驾的档位 + buildConfigField 'java.util.Set', 'UNABLE_LAUNCH_AUTOPILOT_GEAR_BUS', 'new java.util.HashSet(){{add(chassis.Chassis.GearPosition.GEAR_N);add(chassis.Chassis.GearPosition.GEAR_R);}}' } } \ No newline at end of file diff --git a/app/productFlavors/fOchShuttlePassenger.gradle b/app/productFlavors/fOchShuttlePassenger.gradle index 53397c6211..3b8169805f 100644 --- a/app/productFlavors/fOchShuttlePassenger.gradle +++ b/app/productFlavors/fOchShuttlePassenger.gradle @@ -41,5 +41,8 @@ project.android.productFlavors { // 构建 是否支持多屏异显异交互 buildConfigField 'boolean', 'IS_MULTI_DISPLAY', 'false' + + //Bus不能启动自驾的档位 + buildConfigField 'java.util.Set', 'UNABLE_LAUNCH_AUTOPILOT_GEAR_BUS', 'new java.util.HashSet(){{add(chassis.Chassis.GearPosition.GEAR_N);add(chassis.Chassis.GearPosition.GEAR_R);}}' } } \ No newline at end of file diff --git a/app/productFlavors/fOchSweeper.gradle b/app/productFlavors/fOchSweeper.gradle index a4ca130d10..730ae5e818 100644 --- a/app/productFlavors/fOchSweeper.gradle +++ b/app/productFlavors/fOchSweeper.gradle @@ -49,5 +49,8 @@ project.android.productFlavors { // 构建 是否支持多屏异显异交互 buildConfigField 'boolean', 'IS_MULTI_DISPLAY', 'false' + + //清扫车不能启动自驾的档位 + buildConfigField 'java.util.Set', 'UNABLE_LAUNCH_AUTOPILOT_GEAR', 'new java.util.HashSet(){{add(chassis.Chassis.GearPosition.GEAR_N);}}' } } \ No newline at end of file diff --git a/app/productFlavors/fOchTaxi.gradle b/app/productFlavors/fOchTaxi.gradle index 5cc815d2dd..424280b7f3 100644 --- a/app/productFlavors/fOchTaxi.gradle +++ b/app/productFlavors/fOchTaxi.gradle @@ -49,6 +49,9 @@ project.android.productFlavors { // 构建 是否支持多屏异显异交互 buildConfigField 'boolean', 'IS_MULTI_DISPLAY', 'false' + + //Taxi不能启动自驾的档位 + buildConfigField 'java.util.Set', 'UNABLE_LAUNCH_AUTOPILOT_GEAR', 'new java.util.HashSet(){{add(chassis.Chassis.GearPosition.GEAR_P);add(chassis.Chassis.GearPosition.GEAR_R);}}' } } \ No newline at end of file diff --git a/app/productFlavors/fOchTaxiPassenger.gradle b/app/productFlavors/fOchTaxiPassenger.gradle index f659f9c8be..a762c8f8c8 100644 --- a/app/productFlavors/fOchTaxiPassenger.gradle +++ b/app/productFlavors/fOchTaxiPassenger.gradle @@ -48,6 +48,9 @@ project.android.productFlavors { // 构建 是否支持多屏异显异交互 buildConfigField 'boolean', 'IS_MULTI_DISPLAY', 'true' + + //Taxi不能启动自驾的档位 + buildConfigField 'java.util.Set', 'UNABLE_LAUNCH_AUTOPILOT_GEAR', 'new java.util.HashSet(){{add(chassis.Chassis.GearPosition.GEAR_P);add(chassis.Chassis.GearPosition.GEAR_R);}}' } } \ No newline at end of file diff --git a/app/productFlavors/fPadLenovo.gradle b/app/productFlavors/fPadLenovo.gradle index b41beb967b..f9cbdfbc63 100644 --- a/app/productFlavors/fPadLenovo.gradle +++ b/app/productFlavors/fPadLenovo.gradle @@ -45,5 +45,8 @@ project.android.productFlavors { // 构建 是否支持多屏异显异交互 buildConfigField 'boolean', 'IS_MULTI_DISPLAY', 'false' + + //不能启动自驾的档位 + buildConfigField 'java.util.Set', 'UNABLE_LAUNCH_AUTOPILOT_GEAR', 'null' } } \ No newline at end of file diff --git a/app/productFlavors/flavorsFilterConfig.gradle b/app/productFlavors/flavorsFilterConfig.gradle index 27dce97c46..15d278fe78 100644 --- a/app/productFlavors/flavorsFilterConfig.gradle +++ b/app/productFlavors/flavorsFilterConfig.gradle @@ -18,8 +18,8 @@ project.android.variantFilter { variant -> // region 过滤shuttle 的flavors if (names.contains("shuttle")) { //Gradle会忽略满足上述条件的所有变体 - if (names.contains("fOchBus")) { - } else if (names.contains("fOchBusPassenger")) { + if (names.contains("fOchShuttle")) { + } else if (names.contains("fOchShuttlePassenger")) { } else { setIgnore(true) } diff --git a/app/productFlavors/ochPassengerM1.gradle b/app/productFlavors/ochPassengerM1.gradle index c60d13e0b5..67af2a0def 100644 --- a/app/productFlavors/ochPassengerM1.gradle +++ b/app/productFlavors/ochPassengerM1.gradle @@ -48,5 +48,8 @@ project.android.productFlavors { // 构建 是否支持多屏异显异交互 buildConfigField 'boolean', 'IS_MULTI_DISPLAY', 'false' + + //M1不能启动自驾的档位 + buildConfigField 'java.util.Set', 'UNABLE_LAUNCH_AUTOPILOT_GEAR', 'null' } } \ No newline at end of file diff --git a/app/src/main/java/com/mogo/launcher/startup/ConfigStartUp.kt b/app/src/main/java/com/mogo/launcher/startup/ConfigStartUp.kt index 7b7e2516e4..d952367b9b 100644 --- a/app/src/main/java/com/mogo/launcher/startup/ConfigStartUp.kt +++ b/app/src/main/java/com/mogo/launcher/startup/ConfigStartUp.kt @@ -39,6 +39,8 @@ object ConfigStartUp { FunctionBuildConfig.appIdentityMode = BuildConfig.APP_IDENTITY_MODE // 各个module需要的url FunctionBuildConfig.urlJson = GsonUtils.fromJson(BuildConfig.URLs, UrlConfig::class.java) + //不能启动自动驾驶的档位 + FunctionBuildConfig.unableLaunchAutopilotGear = BuildConfig.UNABLE_LAUNCH_AUTOPILOT_GEAR // // 这里影响当前Activity的身份信息，多进程先保持与原来一样，主进程为司机端，:passenger 进程为乘客端 TODO 暂时不启用，仅做洱海交付，独立乘客屏+宣传视频 // if (ProcessUtils.getCurrentProcessName().contains(":passenger")) { diff --git a/app/urlConfig.json b/app/urlConfig.json index 75cc1b7ca8..ee3e7c4ede 100644 --- a/app/urlConfig.json +++ b/app/urlConfig.json @@ -8,7 +8,7 @@ "socket_tech_url": "" }, "online": { - "och_url": "http://tech-dev.zhidaohulian.com", + "och_url": "http://tech.zhidaohulian.com", "shuttle_url": "https://och-driver.zhidaozhixing.com", "passport_url": "", "socket_base_url": "", diff --git a/app_ipc_monitoring/build.gradle b/app_ipc_monitoring/build.gradle index 516cadba31..789192a600 100644 --- a/app_ipc_monitoring/build.gradle +++ b/app_ipc_monitoring/build.gradle @@ -64,6 +64,12 @@ android { driver { dimension "multi_device" buildConfigField 'boolean', 'IS_CLIENT', 'false' + buildConfigField 'java.util.Set', 'UNABLE_LAUNCH_AUTOPILOT_GEAR_TAXI', 'new java.util.HashSet(){{add(chassis.Chassis.GearPosition.GEAR_P);add(chassis.Chassis.GearPosition.GEAR_R);}}' + buildConfigField 'java.util.Set', 'UNABLE_LAUNCH_AUTOPILOT_GEAR_BUS', 'new java.util.HashSet(){{add(chassis.Chassis.GearPosition.GEAR_N);add(chassis.Chassis.GearPosition.GEAR_R);}}' + buildConfigField 'java.util.Set', 'UNABLE_LAUNCH_AUTOPILOT_GEAR_M1', 'null' + buildConfigField 'java.util.Set', 'UNABLE_LAUNCH_AUTOPILOT_GEAR_M2', 'new java.util.HashSet(){{add(chassis.Chassis.GearPosition.GEAR_N);add(chassis.Chassis.GearPosition.GEAR_P);add(chassis.Chassis.GearPosition.GEAR_R);}}' + buildConfigField 'java.util.Set', 'UNABLE_LAUNCH_AUTOPILOT_GEAR_SWEEPER', 'new java.util.HashSet(){{add(chassis.Chassis.GearPosition.GEAR_N);}}' + buildConfigField 'java.util.Set', 'UNABLE_LAUNCH_AUTOPILOT_GEAR_VAN', 'null' } } @@ -94,6 +100,6 @@ dependencies { // implementation project(':core:mogo-core-utils') implementation 'org.greenrobot:eventbus:3.2.0' implementation 'com.android.support:multidex:1.0.3' - implementation 'com.mogo.cloud:telematic:1.3.59' +// implementation 'com.mogo.cloud:telematic:1.3.59'//注释掉司机端 乘客端 implementation 'com.jcraft:jsch:0.1.55' } diff --git a/app_ipc_monitoring/src/main/java/com/zhidao/adas/client/App.java b/app_ipc_monitoring/src/main/java/com/zhidao/adas/client/App.java index e89e78ab58..f0bd8f52ca 100644 --- a/app_ipc_monitoring/src/main/java/com/zhidao/adas/client/App.java +++ b/app_ipc_monitoring/src/main/java/com/zhidao/adas/client/App.java @@ -4,8 +4,13 @@ import android.app.Application; import com.zhidao.adas.client.utils.CrashHandler; +import chassis.Chassis; + public class App extends Application { public static App INSTANCE; + + public Chassis.GearPosition gear; + @Override public void onCreate() { super.onCreate(); diff --git a/app_ipc_monitoring/src/main/java/com/zhidao/adas/client/DataDistribution.java b/app_ipc_monitoring/src/main/java/com/zhidao/adas/client/DataDistribution.java index fd80d8d570..851fe8b076 100644 --- a/app_ipc_monitoring/src/main/java/com/zhidao/adas/client/DataDistribution.java +++ b/app_ipc_monitoring/src/main/java/com/zhidao/adas/client/DataDistribution.java @@ -2,36 +2,15 @@ package com.zhidao.adas.client; import android.util.Pair; -import com.zhidao.adas.client.bean.ArrivalNotification; -import com.zhidao.adas.client.bean.AutopilotState; -import com.zhidao.adas.client.bean.BagManagerCmd; import com.zhidao.adas.client.bean.BaseInfo; -import com.zhidao.adas.client.bean.BasicInfoReq; -import com.zhidao.adas.client.bean.CarConfigResp; -import com.zhidao.adas.client.bean.ChassisStates; import com.zhidao.adas.client.bean.DataShow; import com.zhidao.adas.client.bean.ErrorData; -import com.zhidao.adas.client.bean.FSMFunctionStates; -import com.zhidao.adas.client.bean.GlobalPathResp; -import com.zhidao.adas.client.bean.GnssInfo; -import com.zhidao.adas.client.bean.MogoReportMessage; import com.zhidao.adas.client.bean.ObuMap; import com.zhidao.adas.client.bean.ObuRsi; import com.zhidao.adas.client.bean.ObuRsm; import com.zhidao.adas.client.bean.ObuSpat; import com.zhidao.adas.client.bean.OriginalPointCloudData; import com.zhidao.adas.client.bean.PerceptionTrafficLight; -import com.zhidao.adas.client.bean.PlanningDecisionState; -import com.zhidao.adas.client.bean.PlanningObjects; -import com.zhidao.adas.client.bean.PredictionObstacleTrajectory; -import com.zhidao.adas.client.bean.RecordDataConfig; -import com.zhidao.adas.client.bean.RecordPanel; -import com.zhidao.adas.client.bean.RoboSweeperTaskIndex; -import com.zhidao.adas.client.bean.StatusInfo; -import com.zhidao.adas.client.bean.TrackedObjects; -import com.zhidao.adas.client.bean.Trajectory; -import com.zhidao.adas.client.bean.VehicleState; -import com.zhidao.adas.client.bean.Warn; import com.zhidao.adas.client.log.LogSave; import com.zhidao.adas.client.utils.Constants; import com.zhidao.support.adas.high.common.ThreadPoolManager; @@ -44,6 +23,8 @@ import java.util.Locale; import java.util.concurrent.Future; import java.util.concurrent.LinkedBlockingQueue; +import mogo.telematics.pad.MessagePad; + /** * 数据分发 */ @@ -193,8 +174,8 @@ public class DataDistribution { } public String cutDown(String str) { - if (isCutDown && str.length() > 650) { - str = str.substring(0, 650) + "\n（已缩短。如需查看完整数据，请勾选日志缩短复选框）"; + if (isCutDown && str.length() > 850) { + str = str.substring(0, 850) + "\n（已缩短。如需查看完整数据，请勾选日志缩短复选框）"; } return str; } @@ -202,219 +183,222 @@ public class DataDistribution { private String onTransmit(String time, BaseInfo data) { String temp = data.toString(); String str = cutDown(temp); - if (data instanceof Trajectory) { - listTrajectory.add(0, new DataShow(listTrajectorySize++, time + str)); - if (listTrajectory.size() > LIST_SIZE) { - listTrajectory.remove(listTrajectory.size() - 1); + if (data.header == null) { + if (data instanceof ErrorData) { + listErrorData.add(0, new DataShow(listErrorDataSize++, time + str)); + if (listErrorData.size() > 100) { + listErrorData.remove(listErrorData.size() - 1); + } + if (listener != null && Constants.TITLE.RECEIVE_ERROR.equals(listener.first)) { + listener.second.onRefresh(); + } + } else if (data instanceof OriginalPointCloudData) { + listOriginalPointCloud.add(0, new DataShow(listOriginalPointCloudSize++, time + str)); + if (listOriginalPointCloud.size() > LIST_SIZE) { + listOriginalPointCloud.remove(listOriginalPointCloud.size() - 1); + } + if (listener != null && Constants.TITLE.RECEIVE_POINT_CLOUD_ORIGINAL.equals(listener.first)) { + listener.second.onRefresh(); + } } - if (listener != null && Constants.TITLE.RECEIVE_TRAJECTORY.equals(listener.first)) { - listener.second.onRefresh(); - } - } else if (data instanceof TrackedObjects) { - listTrackedObjects.add(0, new DataShow(listTrackedObjectsSize++, time + str)); - if (listTrackedObjects.size() > LIST_SIZE) { - listTrackedObjects.remove(listTrackedObjects.size() - 1); - } - if (listener != null && Constants.TITLE.RECEIVE_TRACKED_OBJECTS.equals(listener.first)) { - listener.second.onRefresh(); - } - } else if (data instanceof OriginalPointCloudData) { - listOriginalPointCloud.add(0, new DataShow(listOriginalPointCloudSize++, time + str)); - if (listOriginalPointCloud.size() > LIST_SIZE) { - listOriginalPointCloud.remove(listOriginalPointCloud.size() - 1); - } - if (listener != null && Constants.TITLE.RECEIVE_POINT_CLOUD_ORIGINAL.equals(listener.first)) { - listener.second.onRefresh(); - } - } else if (data instanceof PlanningObjects) { - listPlanningObjects.add(0, new DataShow(listPlanningObjectsSize++, time + str)); - if (listPlanningObjects.size() > LIST_SIZE) { - listPlanningObjects.remove(listPlanningObjects.size() - 1); - } - if (listener != null && Constants.TITLE.RECEIVE_PLANNING_OBJECTS.equals(listener.first)) { - listener.second.onRefresh(); - } - } else if (data instanceof PlanningDecisionState) { - listPlanningDecisionState.add(0, new DataShow(listPlanningDecisionStateSize++, time + str)); - if (listPlanningDecisionState.size() > LIST_SIZE) { - listPlanningDecisionState.remove(listPlanningDecisionState.size() - 1); - } - if (listener != null && Constants.TITLE.RECEIVE_PLANNING_DECISION_STATE.equals(listener.first)) { - listener.second.onRefresh(); - } - } else if (data instanceof ObuSpat) { - listObuSpat.add(0, new DataShow(listObuSpatSize++, time + str)); - if (listObuSpat.size() > LIST_SIZE) { - listObuSpat.remove(listObuSpat.size() - 1); - } - if (listener != null && Constants.TITLE.RECEIVE_OBU_SPAT.equals(listener.first)) { - listener.second.onRefresh(); - } - } else if (data instanceof ObuRsi) { - listObuRsi.add(0, new DataShow(listObuRsiSize++, time + str)); - if (listObuRsi.size() > LIST_SIZE) { - listObuRsi.remove(listObuRsi.size() - 1); - } - if (listener != null && Constants.TITLE.RECEIVE_OBU_RSI.equals(listener.first)) { - listener.second.onRefresh(); - } - } else if (data instanceof ObuRsm) { - listObuRsm.add(0, new DataShow(listObuRsmSize++, time + str)); - if (listObuRsm.size() > LIST_SIZE) { - listObuRsm.remove(listObuRsm.size() - 1); - } - if (listener != null && Constants.TITLE.RECEIVE_OBU_RSM.equals(listener.first)) { - listener.second.onRefresh(); - } - } else if (data instanceof ObuMap) { - listObuMap.add(0, new DataShow(listObuMapSize++, time + str)); - if (listObuMap.size() > LIST_SIZE) { - listObuMap.remove(listObuMap.size() - 1); - } - if (listener != null && Constants.TITLE.RECEIVE_OBU_MAP.equals(listener.first)) { - listener.second.onRefresh(); - } - } else if (data instanceof GnssInfo) { - listGnssInfo.add(0, new DataShow(listGnssInfoSize++, time + str)); - if (listGnssInfo.size() > LIST_SIZE) { - listGnssInfo.remove(listGnssInfo.size() - 1); - } - if (listener != null && Constants.TITLE.RECEIVE_GNSS_INFO.equals(listener.first)) { - listener.second.onRefresh(); - } - } else if (data instanceof VehicleState) { - listVehicleState.add(0, new DataShow(listVehicleStateSize++, time + str)); - if (listVehicleState.size() > LIST_SIZE) { - listVehicleState.remove(listVehicleState.size() - 1); - } - if (listener != null && Constants.TITLE.RECEIVE_VEHICLE_STATE.equals(listener.first)) { - listener.second.onRefresh(); - } - } else if (data instanceof ChassisStates) { - listChassisStates.add(0, new DataShow(listChassisStatesSize++, time + str)); - if (listChassisStates.size() > LIST_SIZE) { - listChassisStates.remove(listChassisStates.size() - 1); - } - if (listener != null && Constants.TITLE.RECEIVE_CHASSIS_STATES.equals(listener.first)) { - listener.second.onRefresh(); - } - } else if (data instanceof AutopilotState) { - listAutopilotState.add(0, new DataShow(listAutopilotStateSize++, time + str)); - if (listAutopilotState.size() > LIST_SIZE) { - listAutopilotState.remove(listAutopilotState.size() - 1); - } - if (listener != null && Constants.TITLE.RECEIVE_AUTOPILOT_STATE.equals(listener.first)) { - listener.second.onRefresh(); - } - } else if (data instanceof MogoReportMessage) { - listMogoReportMessage.add(0, new DataShow(listMogoReportMessageSize++, time + str)); - if (listMogoReportMessage.size() > LIST_SIZE) { - listMogoReportMessage.remove(listMogoReportMessage.size() - 1); - } - if (listener != null && Constants.TITLE.RECEIVE_REPORT_MESSAGE.equals(listener.first)) { - listener.second.onRefresh(); - } - } else if (data instanceof PerceptionTrafficLight) { - listPerceptionTrafficLight.add(0, new DataShow(listPerceptionTrafficLightSize++, time + str)); - if (listPerceptionTrafficLight.size() > LIST_SIZE) { - listPerceptionTrafficLight.remove(listPerceptionTrafficLight.size() - 1); - } - if (listener != null && Constants.TITLE.RECEIVE_PERCEPTION_TRAFFIC_LIGHT.equals(listener.first)) { - listener.second.onPerceptionTrafficLight((PerceptionTrafficLight) data); - } - } else if (data instanceof PredictionObstacleTrajectory) { - listPredictionObstacleTrajectory.add(0, new DataShow(listPredictionObstacleTrajectorySize++, time + str)); - if (listPredictionObstacleTrajectory.size() > LIST_SIZE) { - listPredictionObstacleTrajectory.remove(listPredictionObstacleTrajectory.size() - 1); - } - if (listener != null && Constants.TITLE.RECEIVE_PREDICTION_OBSTACLE_TRAJECTORY.equals(listener.first)) { - listener.second.onRefresh(); - } - } else if (data instanceof BasicInfoReq) { - - } else if (data instanceof CarConfigResp) { - if (listener != null && Constants.TITLE.TITLE_CAR_CONFIG_RESP.equals(listener.first)) { - listener.second.onRefresh(); - } - } else if (data instanceof RecordPanel) { - listRecordPanel.add(0, new DataShow(listRecordPanelSize++, time + str)); - if (listRecordPanel.size() > LIST_SIZE) { - listRecordPanel.remove(listRecordPanel.size() - 1); - } - if (listener != null && Constants.TITLE.RECEIVE_RECORD_RESULT.equals(listener.first)) { - listener.second.onRefresh(); - } - } else if (data instanceof BagManagerCmd) { - listBagManagerCmd.add(0, new DataShow(listBagManagerCmdSize++, time + str)); - if (listBagManagerCmd.size() > LIST_SIZE) { - listBagManagerCmd.remove(listBagManagerCmd.size() - 1); - } - if (listener != null && Constants.TITLE.RECEIVE_BAG_MANAGER_CMD.equals(listener.first)) { - listener.second.onRefresh(); - } - } else if (data instanceof GlobalPathResp) { - listGlobalPathResp.add(0, new DataShow(listGlobalPathRespSize++, time + str)); - if (listGlobalPathResp.size() > LIST_SIZE) { - listGlobalPathResp.remove(listGlobalPathResp.size() - 1); - } - if (listener != null && Constants.TITLE.RECEIVE_GLOBAL_PATH_RESP.equals(listener.first)) { - listener.second.onRefresh(); - } - } else if (data instanceof Warn) { - listWarn.add(0, new DataShow(listWarnSize++, time + str)); - if (listWarn.size() > LIST_SIZE) { - listWarn.remove(listWarn.size() - 1); - } - if (listener != null && Constants.TITLE.RECEIVE_WARN.equals(listener.first)) { - listener.second.onRefresh(); - } - } else if (data instanceof ArrivalNotification) { - listArrivalNotification.add(0, new DataShow(listArrivalNotificationSize++, time + str)); - if (listArrivalNotification.size() > LIST_SIZE) { - listArrivalNotification.remove(listArrivalNotification.size() - 1); - } - if (listener != null && Constants.TITLE.RECEIVE_ARRIVAL_NOTIFICATION.equals(listener.first)) { - listener.second.onRefresh(); - } - } else if (data instanceof StatusInfo) { - listStatusInfo.add(0, new DataShow(listStatusInfoSize++, time + str)); - if (listStatusInfo.size() > LIST_SIZE) { - listStatusInfo.remove(listStatusInfo.size() - 1); - } - if (listener != null && Constants.TITLE.RECEIVE_STATUS_QUERY_RESP.equals(listener.first)) { - listener.second.onRefresh(); - } - } else if (data instanceof RecordDataConfig) { - listRecordDataConfig.add(0, new DataShow(listRecordDataConfigSize++, time + str)); - if (listRecordDataConfig.size() > LIST_SIZE) { - listRecordDataConfig.remove(listRecordDataConfig.size() - 1); - } - if (listener != null && Constants.TITLE.RECEIVE_RECORD_DATA_CONFIG_RESP.equals(listener.first)) { - listener.second.onRefresh(); - } - } else if (data instanceof RoboSweeperTaskIndex) { - listRoboSweeperTaskIndex.add(0, new DataShow(listRoboSweeperTaskIndexSize++, time + str)); - if (listRoboSweeperTaskIndex.size() > LIST_SIZE) { - listRoboSweeperTaskIndex.remove(listRoboSweeperTaskIndex.size() - 1); - } - if (listener != null && Constants.TITLE.RECEIVE_SWEEPER_TASK_INDEX_DATA.equals(listener.first)) { - listener.second.onRefresh(); - } - } else if (data instanceof FSMFunctionStates) { - listFSMFunctionStates.add(0, new DataShow(listFSMFunctionStatesSize++, time + str)); - if (listFSMFunctionStates.size() > LIST_SIZE) { - listFSMFunctionStates.remove(listFSMFunctionStates.size() - 1); - } - if (listener != null && Constants.TITLE.RECEIVE_FUNCTION_STATES.equals(listener.first)) { - listener.second.onRefresh(); - } - } else if (data instanceof ErrorData) { - listErrorData.add(0, new DataShow(listErrorDataSize++, time + str)); - if (listErrorData.size() > 100) { - listErrorData.remove(listErrorData.size() - 1); - } - if (listener != null && Constants.TITLE.RECEIVE_ERROR.equals(listener.first)) { - listener.second.onRefresh(); + } else { + MessagePad.MessageType messageType = data.header.getMsgType(); + if (messageType == MessagePad.MessageType.MsgTypeTrajectory) { + listTrajectory.add(0, new DataShow(listTrajectorySize++, time + str)); + if (listTrajectory.size() > LIST_SIZE) { + listTrajectory.remove(listTrajectory.size() - 1); + } + if (listener != null && Constants.TITLE.RECEIVE_TRAJECTORY.equals(listener.first)) { + listener.second.onRefresh(); + } + } else if (messageType == MessagePad.MessageType.MsgTypeTrackedObjects) { + listTrackedObjects.add(0, new DataShow(listTrackedObjectsSize++, time + str)); + if (listTrackedObjects.size() > LIST_SIZE) { + listTrackedObjects.remove(listTrackedObjects.size() - 1); + } + if (listener != null && Constants.TITLE.RECEIVE_TRACKED_OBJECTS.equals(listener.first)) { + listener.second.onRefresh(); + } + } else if (messageType == MessagePad.MessageType.MsgTypePlanningObjects) { + listPlanningObjects.add(0, new DataShow(listPlanningObjectsSize++, time + str)); + if (listPlanningObjects.size() > LIST_SIZE) { + listPlanningObjects.remove(listPlanningObjects.size() - 1); + } + if (listener != null && Constants.TITLE.RECEIVE_PLANNING_OBJECTS.equals(listener.first)) { + listener.second.onRefresh(); + } + } else if (messageType == MessagePad.MessageType.MsgTypePlanningDecisionState) { + listPlanningDecisionState.add(0, new DataShow(listPlanningDecisionStateSize++, time + str)); + if (listPlanningDecisionState.size() > LIST_SIZE) { + listPlanningDecisionState.remove(listPlanningDecisionState.size() - 1); + } + if (listener != null && Constants.TITLE.RECEIVE_PLANNING_DECISION_STATE.equals(listener.first)) { + listener.second.onRefresh(); + } + } else if (messageType == MessagePad.MessageType.MsgTypeGnssInfo) { + listGnssInfo.add(0, new DataShow(listGnssInfoSize++, time + str)); + if (listGnssInfo.size() > LIST_SIZE) { + listGnssInfo.remove(listGnssInfo.size() - 1); + } + if (listener != null && Constants.TITLE.RECEIVE_GNSS_INFO.equals(listener.first)) { + listener.second.onRefresh(); + } + } else if (messageType == MessagePad.MessageType.MsgTypeVehicleState) { + listVehicleState.add(0, new DataShow(listVehicleStateSize++, time + str)); + if (listVehicleState.size() > LIST_SIZE) { + listVehicleState.remove(listVehicleState.size() - 1); + } + if (listener != null && Constants.TITLE.RECEIVE_VEHICLE_STATE.equals(listener.first)) { + listener.second.onRefresh(); + } + } else if (messageType == MessagePad.MessageType.MsgTypeChassisStates) { + listChassisStates.add(0, new DataShow(listChassisStatesSize++, time + str)); + if (listChassisStates.size() > LIST_SIZE) { + listChassisStates.remove(listChassisStates.size() - 1); + } + if (listener != null && Constants.TITLE.RECEIVE_CHASSIS_STATES.equals(listener.first)) { + listener.second.onRefresh(); + } + } else if (messageType == MessagePad.MessageType.MsgTypeAutopilotState) { + listAutopilotState.add(0, new DataShow(listAutopilotStateSize++, time + str)); + if (listAutopilotState.size() > LIST_SIZE) { + listAutopilotState.remove(listAutopilotState.size() - 1); + } + if (listener != null && Constants.TITLE.RECEIVE_AUTOPILOT_STATE.equals(listener.first)) { + listener.second.onRefresh(); + } + } else if (messageType == MessagePad.MessageType.MsgTypeReportMessage) { + listMogoReportMessage.add(0, new DataShow(listMogoReportMessageSize++, time + str)); + if (listMogoReportMessage.size() > LIST_SIZE) { + listMogoReportMessage.remove(listMogoReportMessage.size() - 1); + } + if (listener != null && Constants.TITLE.RECEIVE_REPORT_MESSAGE.equals(listener.first)) { + listener.second.onRefresh(); + } + } else if (messageType == MessagePad.MessageType.MsgTypePredictionObstacleTrajectory) { + listPredictionObstacleTrajectory.add(0, new DataShow(listPredictionObstacleTrajectorySize++, time + str)); + if (listPredictionObstacleTrajectory.size() > LIST_SIZE) { + listPredictionObstacleTrajectory.remove(listPredictionObstacleTrajectory.size() - 1); + } + if (listener != null && Constants.TITLE.RECEIVE_PREDICTION_OBSTACLE_TRAJECTORY.equals(listener.first)) { + listener.second.onRefresh(); + } + } else if (messageType == MessagePad.MessageType.MsgTypeCarConfigResp) { + if (listener != null && Constants.TITLE.TITLE_CAR_CONFIG_RESP.equals(listener.first)) { + listener.second.onRefresh(); + } + } else if (messageType == MessagePad.MessageType.MsgTypeRecordResult) { + listRecordPanel.add(0, new DataShow(listRecordPanelSize++, time + str)); + if (listRecordPanel.size() > LIST_SIZE) { + listRecordPanel.remove(listRecordPanel.size() - 1); + } + if (listener != null && Constants.TITLE.RECEIVE_RECORD_RESULT.equals(listener.first)) { + listener.second.onRefresh(); + } + } else if (messageType == MessagePad.MessageType.MsgTypeBagManagerCmd) { + listBagManagerCmd.add(0, new DataShow(listBagManagerCmdSize++, time + str)); + if (listBagManagerCmd.size() > LIST_SIZE) { + listBagManagerCmd.remove(listBagManagerCmd.size() - 1); + } + if (listener != null && Constants.TITLE.RECEIVE_BAG_MANAGER_CMD.equals(listener.first)) { + listener.second.onRefresh(); + } + } else if (messageType == MessagePad.MessageType.MsgTypeGlobalPathResp) { + listGlobalPathResp.add(0, new DataShow(listGlobalPathRespSize++, time + str)); + if (listGlobalPathResp.size() > LIST_SIZE) { + listGlobalPathResp.remove(listGlobalPathResp.size() - 1); + } + if (listener != null && Constants.TITLE.RECEIVE_GLOBAL_PATH_RESP.equals(listener.first)) { + listener.second.onRefresh(); + } + } else if (messageType == MessagePad.MessageType.MsgTypeWarn) { + listWarn.add(0, new DataShow(listWarnSize++, time + str)); + if (listWarn.size() > LIST_SIZE) { + listWarn.remove(listWarn.size() - 1); + } + if (listener != null && Constants.TITLE.RECEIVE_WARN.equals(listener.first)) { + listener.second.onRefresh(); + } + } else if (messageType == MessagePad.MessageType.MsgTypeArrivalNotification) { + listArrivalNotification.add(0, new DataShow(listArrivalNotificationSize++, time + str)); + if (listArrivalNotification.size() > LIST_SIZE) { + listArrivalNotification.remove(listArrivalNotification.size() - 1); + } + if (listener != null && Constants.TITLE.RECEIVE_ARRIVAL_NOTIFICATION.equals(listener.first)) { + listener.second.onRefresh(); + } + } else if (messageType == MessagePad.MessageType.MsgTypeStatusQueryResp) { + listStatusInfo.add(0, new DataShow(listStatusInfoSize++, time + str)); + if (listStatusInfo.size() > LIST_SIZE) { + listStatusInfo.remove(listStatusInfo.size() - 1); + } + if (listener != null && Constants.TITLE.RECEIVE_STATUS_QUERY_RESP.equals(listener.first)) { + listener.second.onRefresh(); + } + } else if (messageType == MessagePad.MessageType.MsgTypeRecordDataConfigResp) { + listRecordDataConfig.add(0, new DataShow(listRecordDataConfigSize++, time + str)); + if (listRecordDataConfig.size() > LIST_SIZE) { + listRecordDataConfig.remove(listRecordDataConfig.size() - 1); + } + if (listener != null && Constants.TITLE.RECEIVE_RECORD_DATA_CONFIG_RESP.equals(listener.first)) { + listener.second.onRefresh(); + } + } else if (messageType == MessagePad.MessageType.MsgTypeSweeperTaskIndexData) { + listRoboSweeperTaskIndex.add(0, new DataShow(listRoboSweeperTaskIndexSize++, time + str)); + if (listRoboSweeperTaskIndex.size() > LIST_SIZE) { + listRoboSweeperTaskIndex.remove(listRoboSweeperTaskIndex.size() - 1); + } + if (listener != null && Constants.TITLE.RECEIVE_SWEEPER_TASK_INDEX_DATA.equals(listener.first)) { + listener.second.onRefresh(); + } + } else if (messageType == MessagePad.MessageType.MsgTypeFunctionStates) { + listFSMFunctionStates.add(0, new DataShow(listFSMFunctionStatesSize++, time + str)); + if (listFSMFunctionStates.size() > LIST_SIZE) { + listFSMFunctionStates.remove(listFSMFunctionStates.size() - 1); + } + if (listener != null && Constants.TITLE.RECEIVE_FUNCTION_STATES.equals(listener.first)) { + listener.second.onRefresh(); + } + } else if (data instanceof PerceptionTrafficLight) { + listPerceptionTrafficLight.add(0, new DataShow(listPerceptionTrafficLightSize++, time + str)); + if (listPerceptionTrafficLight.size() > LIST_SIZE) { + listPerceptionTrafficLight.remove(listPerceptionTrafficLight.size() - 1); + } + if (listener != null && Constants.TITLE.RECEIVE_PERCEPTION_TRAFFIC_LIGHT.equals(listener.first)) { + listener.second.onPerceptionTrafficLight((PerceptionTrafficLight) data); + } + } else if (data instanceof ObuSpat) { + listObuSpat.add(0, new DataShow(listObuSpatSize++, time + str)); + if (listObuSpat.size() > LIST_SIZE) { + listObuSpat.remove(listObuSpat.size() - 1); + } + if (listener != null && Constants.TITLE.RECEIVE_OBU_SPAT.equals(listener.first)) { + listener.second.onRefresh(); + } + } else if (data instanceof ObuRsi) { + listObuRsi.add(0, new DataShow(listObuRsiSize++, time + str)); + if (listObuRsi.size() > LIST_SIZE) { + listObuRsi.remove(listObuRsi.size() - 1); + } + if (listener != null && Constants.TITLE.RECEIVE_OBU_RSI.equals(listener.first)) { + listener.second.onRefresh(); + } + } else if (data instanceof ObuRsm) { + listObuRsm.add(0, new DataShow(listObuRsmSize++, time + str)); + if (listObuRsm.size() > LIST_SIZE) { + listObuRsm.remove(listObuRsm.size() - 1); + } + if (listener != null && Constants.TITLE.RECEIVE_OBU_RSM.equals(listener.first)) { + listener.second.onRefresh(); + } + } else if (data instanceof ObuMap) { + listObuMap.add(0, new DataShow(listObuMapSize++, time + str)); + if (listObuMap.size() > LIST_SIZE) { + listObuMap.remove(listObuMap.size() - 1); + } + if (listener != null && Constants.TITLE.RECEIVE_OBU_MAP.equals(listener.first)) { + listener.second.onRefresh(); + } } } return temp; diff --git a/app_ipc_monitoring/src/main/java/com/zhidao/adas/client/bean/ArrivalNotification.java b/app_ipc_monitoring/src/main/java/com/zhidao/adas/client/bean/ArrivalNotification.java deleted file mode 100644 index 9c5904dc23..0000000000 --- a/app_ipc_monitoring/src/main/java/com/zhidao/adas/client/bean/ArrivalNotification.java +++ /dev/null @@ -1,23 +0,0 @@ -package com.zhidao.adas.client.bean; - -import com.google.protobuf.TextFormat; - -import java.text.SimpleDateFormat; - -import mogo.telematics.pad.MessagePad; - -public class ArrivalNotification extends BaseInfo { - public final MessagePad.ArrivalNotification bean; - - public ArrivalNotification(MessagePad.Header header, MessagePad.ArrivalNotification bean, SimpleDateFormat sdf) { - super("接收", bean.getSerializedSize(), header, sdf); - this.bean = bean; - } - - - @Override - public String toString() { - return super.toString() + TextFormat.printer().escapingNonAscii(false).printToString(bean); - } - -} diff --git a/app_ipc_monitoring/src/main/java/com/zhidao/adas/client/bean/AutopilotState.java b/app_ipc_monitoring/src/main/java/com/zhidao/adas/client/bean/AutopilotState.java deleted file mode 100644 index e3a2c31b98..0000000000 --- a/app_ipc_monitoring/src/main/java/com/zhidao/adas/client/bean/AutopilotState.java +++ /dev/null @@ -1,24 +0,0 @@ -package com.zhidao.adas.client.bean; - -import com.google.protobuf.TextFormat; - -import java.text.SimpleDateFormat; - -import mogo.telematics.pad.MessagePad; - -public class AutopilotState extends BaseInfo { - public final MessagePad.AutopilotState bean; - - public AutopilotState(MessagePad.Header header, MessagePad.AutopilotState bean, SimpleDateFormat sdf) { - super("接收", bean.getSerializedSize(), header, sdf); - this.bean = bean; - } - - - - @Override - public String toString() { - return super.toString() + TextFormat.printer().escapingNonAscii(false).printToString(bean); - } - -} diff --git a/app_ipc_monitoring/src/main/java/com/zhidao/adas/client/bean/BagManagerCmd.java b/app_ipc_monitoring/src/main/java/com/zhidao/adas/client/bean/BagManagerCmd.java deleted file mode 100644 index db1dd0f4ab..0000000000 --- a/app_ipc_monitoring/src/main/java/com/zhidao/adas/client/bean/BagManagerCmd.java +++ /dev/null @@ -1,24 +0,0 @@ -package com.zhidao.adas.client.bean; - -import com.google.protobuf.TextFormat; - -import java.text.SimpleDateFormat; - -import bag_manager.BagManagerOuterClass; -import mogo.telematics.pad.MessagePad; - -public class BagManagerCmd extends BaseInfo { - public final BagManagerOuterClass.BagManager bean; - - public BagManagerCmd(MessagePad.Header header, BagManagerOuterClass.BagManager bean, SimpleDateFormat sdf) { - super("接收", bean.getSerializedSize(), header, sdf); - this.bean = bean; - } - - - @Override - public String toString() { - return super.toString() + TextFormat.printer().escapingNonAscii(false).printToString(bean); - } - -} diff --git a/app_ipc_monitoring/src/main/java/com/zhidao/adas/client/bean/BasicInfoReq.java b/app_ipc_monitoring/src/main/java/com/zhidao/adas/client/bean/BasicInfoReq.java deleted file mode 100644 index bce516eee2..0000000000 --- a/app_ipc_monitoring/src/main/java/com/zhidao/adas/client/bean/BasicInfoReq.java +++ /dev/null @@ -1,23 +0,0 @@ -package com.zhidao.adas.client.bean; - -import com.google.protobuf.TextFormat; - -import java.text.SimpleDateFormat; - -import mogo.telematics.pad.MessagePad; - -public class BasicInfoReq extends BaseInfo { - public final MessagePad.BasicInfoReq bean; - - public BasicInfoReq(MessagePad.Header header, MessagePad.BasicInfoReq bean, SimpleDateFormat sdf) { - super("接收", bean.getSerializedSize(), header, sdf); - this.bean = bean; - } - - - - @Override - public String toString() { - return super.toString() + TextFormat.printer().escapingNonAscii(false).printToString(bean); - } -} diff --git a/app_ipc_monitoring/src/main/java/com/zhidao/adas/client/bean/CarConfigResp.java b/app_ipc_monitoring/src/main/java/com/zhidao/adas/client/bean/CarConfigResp.java deleted file mode 100644 index c8b3b390f3..0000000000 --- a/app_ipc_monitoring/src/main/java/com/zhidao/adas/client/bean/CarConfigResp.java +++ /dev/null @@ -1,23 +0,0 @@ -package com.zhidao.adas.client.bean; - -import com.google.protobuf.TextFormat; - -import java.text.SimpleDateFormat; - -import mogo.telematics.pad.MessagePad; - -public class CarConfigResp extends BaseInfo { - public final MessagePad.CarConfigResp bean; - - public CarConfigResp(MessagePad.Header header, MessagePad.CarConfigResp bean, SimpleDateFormat sdf) { - super("接收", bean.getSerializedSize(), header, sdf); - this.bean = bean; - } - - - - @Override - public String toString() { - return super.toString() + TextFormat.printer().escapingNonAscii(false).printToString(bean); - } -} diff --git a/app_ipc_monitoring/src/main/java/com/zhidao/adas/client/bean/ChassisStates.java b/app_ipc_monitoring/src/main/java/com/zhidao/adas/client/bean/ChassisStates.java deleted file mode 100644 index f18d4564a5..0000000000 --- a/app_ipc_monitoring/src/main/java/com/zhidao/adas/client/bean/ChassisStates.java +++ /dev/null @@ -1,24 +0,0 @@ -package com.zhidao.adas.client.bean; - -import com.google.protobuf.TextFormat; - -import java.text.SimpleDateFormat; - -import chassis.ChassisStatesOuterClass; -import mogo.telematics.pad.MessagePad; - -public class ChassisStates extends BaseInfo { - public final ChassisStatesOuterClass.ChassisStates bean; - - public ChassisStates(MessagePad.Header header, ChassisStatesOuterClass.ChassisStates bean, SimpleDateFormat sdf) { - super("接收", bean.getSerializedSize(), header, sdf); - this.bean = bean; - } - - - @Override - public String toString() { - return super.toString() + TextFormat.printer().escapingNonAscii(false).printToString(bean); - } - -} diff --git a/app_ipc_monitoring/src/main/java/com/zhidao/adas/client/bean/FSMFunctionStates.java b/app_ipc_monitoring/src/main/java/com/zhidao/adas/client/bean/FSMFunctionStates.java deleted file mode 100644 index 1d672127ae..0000000000 --- a/app_ipc_monitoring/src/main/java/com/zhidao/adas/client/bean/FSMFunctionStates.java +++ /dev/null @@ -1,24 +0,0 @@ -package com.zhidao.adas.client.bean; - -import com.google.protobuf.TextFormat; - -import java.text.SimpleDateFormat; - -import function_state_management.FunctionStates; -import mogo.telematics.pad.MessagePad; - -public class FSMFunctionStates extends BaseInfo { - public final FunctionStates.FSMFunctionStates bean; - - public FSMFunctionStates(MessagePad.Header header, FunctionStates.FSMFunctionStates bean, SimpleDateFormat sdf) { - super("接收", bean.getSerializedSize(), header, sdf); - this.bean = bean; - } - - - @Override - public String toString() { - return super.toString() + TextFormat.printer().escapingNonAscii(false).printToString(bean); - } - -} diff --git a/app_ipc_monitoring/src/main/java/com/zhidao/adas/client/bean/GlobalPathResp.java b/app_ipc_monitoring/src/main/java/com/zhidao/adas/client/bean/GlobalPathResp.java deleted file mode 100644 index bd5be112a6..0000000000 --- a/app_ipc_monitoring/src/main/java/com/zhidao/adas/client/bean/GlobalPathResp.java +++ /dev/null @@ -1,23 +0,0 @@ -package com.zhidao.adas.client.bean; - -import com.google.protobuf.TextFormat; - -import java.text.SimpleDateFormat; - -import mogo.telematics.pad.MessagePad; - -public class GlobalPathResp extends BaseInfo { - public final MessagePad.GlobalPathResp bean; - - public GlobalPathResp(MessagePad.Header header, MessagePad.GlobalPathResp bean, SimpleDateFormat sdf) { - super("接收", bean.getSerializedSize(), header, sdf); - this.bean = bean; - } - - - @Override - public String toString() { - return super.toString() + TextFormat.printer().escapingNonAscii(false).printToString(bean); - } - -} diff --git a/app_ipc_monitoring/src/main/java/com/zhidao/adas/client/bean/GnssInfo.java b/app_ipc_monitoring/src/main/java/com/zhidao/adas/client/bean/GnssInfo.java deleted file mode 100644 index 1ebd36a34f..0000000000 --- a/app_ipc_monitoring/src/main/java/com/zhidao/adas/client/bean/GnssInfo.java +++ /dev/null @@ -1,24 +0,0 @@ -package com.zhidao.adas.client.bean; - -import com.google.protobuf.TextFormat; - -import java.text.SimpleDateFormat; - -import mogo.telematics.pad.MessagePad; - -public class GnssInfo extends BaseInfo { - public final MessagePad.GnssInfo bean; - - public GnssInfo(MessagePad.Header header, MessagePad.GnssInfo bean, SimpleDateFormat sdf) { - super("接收", bean.getSerializedSize(), header, sdf); - this.bean = bean; - } - - - - @Override - public String toString() { - return super.toString() + TextFormat.printer().escapingNonAscii(false).printToString(bean); - } - -} diff --git a/app_ipc_monitoring/src/main/java/com/zhidao/adas/client/bean/MogoReportMessage.java b/app_ipc_monitoring/src/main/java/com/zhidao/adas/client/bean/MogoReportMessage.java deleted file mode 100644 index ec25240c06..0000000000 --- a/app_ipc_monitoring/src/main/java/com/zhidao/adas/client/bean/MogoReportMessage.java +++ /dev/null @@ -1,25 +0,0 @@ -package com.zhidao.adas.client.bean; - -import com.google.protobuf.TextFormat; - -import java.text.SimpleDateFormat; - -import mogo.telematics.pad.MessagePad; -import mogo_msg.MogoReportMsg; - -public class MogoReportMessage extends BaseInfo { - public final MogoReportMsg.MogoReportMessage bean; - - public MogoReportMessage(MessagePad.Header header, MogoReportMsg.MogoReportMessage bean, SimpleDateFormat sdf) { - super("接收", bean.getSerializedSize(), header, sdf); - this.bean = bean; - } - - - - @Override - public String toString() { - return super.toString() + TextFormat.printer().escapingNonAscii(false).printToString(bean); - } - -} diff --git a/app_ipc_monitoring/src/main/java/com/zhidao/adas/client/bean/ObuMap.java b/app_ipc_monitoring/src/main/java/com/zhidao/adas/client/bean/ObuMap.java index 88c93caf6e..51a2c8c4ed 100644 --- a/app_ipc_monitoring/src/main/java/com/zhidao/adas/client/bean/ObuMap.java +++ b/app_ipc_monitoring/src/main/java/com/zhidao/adas/client/bean/ObuMap.java @@ -2,6 +2,7 @@ package com.zhidao.adas.client.bean; import com.google.protobuf.TextFormat; import com.mogo.support.obu.ObuScene; +import com.zhidao.support.adas.high.common.ByteUtil; import java.text.SimpleDateFormat; @@ -18,7 +19,7 @@ public class ObuMap extends BaseInfo { @Override public String toString() { - return super.toString() + TextFormat.printer().escapingNonAscii(false).printToString(bean); + return super.toString() + "Payload原始数据：" + ByteUtil.byteArrToHex(bean.toByteArray()) + '\n' + TextFormat.printer().escapingNonAscii(false).printToString(bean); } } diff --git a/app_ipc_monitoring/src/main/java/com/zhidao/adas/client/bean/ObuRsi.java b/app_ipc_monitoring/src/main/java/com/zhidao/adas/client/bean/ObuRsi.java index d433245ebe..8cd054f956 100644 --- a/app_ipc_monitoring/src/main/java/com/zhidao/adas/client/bean/ObuRsi.java +++ b/app_ipc_monitoring/src/main/java/com/zhidao/adas/client/bean/ObuRsi.java @@ -2,6 +2,7 @@ package com.zhidao.adas.client.bean; import com.google.protobuf.TextFormat; import com.mogo.support.obu.ObuScene; +import com.zhidao.support.adas.high.common.ByteUtil; import java.text.SimpleDateFormat; @@ -18,7 +19,7 @@ public class ObuRsi extends BaseInfo { @Override public String toString() { - return super.toString() + TextFormat.printer().escapingNonAscii(false).printToString(bean); + return super.toString() + "Payload原始数据：" + ByteUtil.byteArrToHex(bean.toByteArray()) + '\n' + TextFormat.printer().escapingNonAscii(false).printToString(bean); } } diff --git a/app_ipc_monitoring/src/main/java/com/zhidao/adas/client/bean/ObuRsm.java b/app_ipc_monitoring/src/main/java/com/zhidao/adas/client/bean/ObuRsm.java index 6045845ae4..badbf1745b 100644 --- a/app_ipc_monitoring/src/main/java/com/zhidao/adas/client/bean/ObuRsm.java +++ b/app_ipc_monitoring/src/main/java/com/zhidao/adas/client/bean/ObuRsm.java @@ -2,6 +2,7 @@ package com.zhidao.adas.client.bean; import com.google.protobuf.TextFormat; import com.mogo.support.obu.ObuScene; +import com.zhidao.support.adas.high.common.ByteUtil; import java.text.SimpleDateFormat; @@ -18,7 +19,7 @@ public class ObuRsm extends BaseInfo { @Override public String toString() { - return super.toString() + TextFormat.printer().escapingNonAscii(false).printToString(bean); + return super.toString() + "Payload原始数据：" + ByteUtil.byteArrToHex(bean.toByteArray()) + '\n' + TextFormat.printer().escapingNonAscii(false).printToString(bean); } } diff --git a/app_ipc_monitoring/src/main/java/com/zhidao/adas/client/bean/ObuSpat.java b/app_ipc_monitoring/src/main/java/com/zhidao/adas/client/bean/ObuSpat.java index bb4707903e..3ba064f0e6 100644 --- a/app_ipc_monitoring/src/main/java/com/zhidao/adas/client/bean/ObuSpat.java +++ b/app_ipc_monitoring/src/main/java/com/zhidao/adas/client/bean/ObuSpat.java @@ -2,6 +2,7 @@ package com.zhidao.adas.client.bean; import com.google.protobuf.TextFormat; import com.mogo.support.obu.ObuScene; +import com.zhidao.support.adas.high.common.ByteUtil; import java.text.SimpleDateFormat; @@ -18,7 +19,7 @@ public class ObuSpat extends BaseInfo { @Override public String toString() { - return super.toString() + TextFormat.printer().escapingNonAscii(false).printToString(bean); + return super.toString() + "Payload原始数据：" + ByteUtil.byteArrToHex(bean.toByteArray()) + '\n' + TextFormat.printer().escapingNonAscii(false).printToString(bean); } } diff --git a/app_ipc_monitoring/src/main/java/com/zhidao/adas/client/bean/ObuWarningData.java b/app_ipc_monitoring/src/main/java/com/zhidao/adas/client/bean/ObuWarningData.java deleted file mode 100644 index 7ea1bca9af..0000000000 --- a/app_ipc_monitoring/src/main/java/com/zhidao/adas/client/bean/ObuWarningData.java +++ /dev/null @@ -1,24 +0,0 @@ -package com.zhidao.adas.client.bean; - -import com.google.protobuf.TextFormat; - -import java.text.SimpleDateFormat; - -import mogo.telematics.pad.MessagePad; -import mogo.v2x.ObuWarningEvent; - -public class ObuWarningData extends BaseInfo { - public final ObuWarningEvent.ObuWarningData bean; - - public ObuWarningData(MessagePad.Header header, ObuWarningEvent.ObuWarningData bean, SimpleDateFormat sdf) { - super("接收", bean.getSerializedSize(), header, sdf); - this.bean = bean; - } - - - @Override - public String toString() { - return super.toString() + TextFormat.printer().escapingNonAscii(false).printToString(bean); - } - -} diff --git a/app_ipc_monitoring/src/main/java/com/zhidao/adas/client/bean/PerceptionTrafficLight.java b/app_ipc_monitoring/src/main/java/com/zhidao/adas/client/bean/PerceptionTrafficLight.java index 585a18d0a6..246de432ce 100644 --- a/app_ipc_monitoring/src/main/java/com/zhidao/adas/client/bean/PerceptionTrafficLight.java +++ b/app_ipc_monitoring/src/main/java/com/zhidao/adas/client/bean/PerceptionTrafficLight.java @@ -1,6 +1,7 @@ package com.zhidao.adas.client.bean; import com.google.protobuf.TextFormat; +import com.zhidao.support.adas.high.common.ByteUtil; import java.text.SimpleDateFormat; @@ -18,7 +19,7 @@ public class PerceptionTrafficLight extends BaseInfo { @Override public String toString() { - return super.toString() + TextFormat.printer().escapingNonAscii(false).printToString(bean); + return super.toString() + "Payload原始数据：" + ByteUtil.byteArrToHex(bean.toByteArray()) + '\n' + TextFormat.printer().escapingNonAscii(false).printToString(bean); } } diff --git a/app_ipc_monitoring/src/main/java/com/zhidao/adas/client/bean/PlanningDecisionState.java b/app_ipc_monitoring/src/main/java/com/zhidao/adas/client/bean/PlanningDecisionState.java deleted file mode 100644 index c443774c36..0000000000 --- a/app_ipc_monitoring/src/main/java/com/zhidao/adas/client/bean/PlanningDecisionState.java +++ /dev/null @@ -1,23 +0,0 @@ -package com.zhidao.adas.client.bean; - -import com.google.protobuf.TextFormat; - -import java.text.SimpleDateFormat; - -import mogo.telematics.pad.MessagePad; - -public class PlanningDecisionState extends BaseInfo { - public final MessagePad.PlanningActionMsg bean; - - public PlanningDecisionState(MessagePad.Header header, MessagePad.PlanningActionMsg bean, SimpleDateFormat sdf) { - super("接收", bean.getSerializedSize(), header, sdf); - this.bean = bean; - } - - - @Override - public String toString() { - return super.toString() + TextFormat.printer().escapingNonAscii(false).printToString(bean); - } - -} diff --git a/app_ipc_monitoring/src/main/java/com/zhidao/adas/client/bean/PlanningObjects.java b/app_ipc_monitoring/src/main/java/com/zhidao/adas/client/bean/PlanningObjects.java deleted file mode 100644 index 68c1947de2..0000000000 --- a/app_ipc_monitoring/src/main/java/com/zhidao/adas/client/bean/PlanningObjects.java +++ /dev/null @@ -1,23 +0,0 @@ -package com.zhidao.adas.client.bean; - -import com.google.protobuf.TextFormat; - -import java.text.SimpleDateFormat; - -import mogo.telematics.pad.MessagePad; - -public class PlanningObjects extends BaseInfo { - public final MessagePad.PlanningObjects bean; - - public PlanningObjects(MessagePad.Header header, MessagePad.PlanningObjects bean, SimpleDateFormat sdf) { - super("接收", bean.getSerializedSize(), header, sdf); - this.bean = bean; - } - - - @Override - public String toString() { - return super.toString() + TextFormat.printer().escapingNonAscii(false).printToString(bean); - } - -} diff --git a/app_ipc_monitoring/src/main/java/com/zhidao/adas/client/bean/PredictionObstacleTrajectory.java b/app_ipc_monitoring/src/main/java/com/zhidao/adas/client/bean/PredictionObstacleTrajectory.java deleted file mode 100644 index b6b070e110..0000000000 --- a/app_ipc_monitoring/src/main/java/com/zhidao/adas/client/bean/PredictionObstacleTrajectory.java +++ /dev/null @@ -1,24 +0,0 @@ -package com.zhidao.adas.client.bean; - -import com.google.protobuf.TextFormat; - -import java.text.SimpleDateFormat; - -import mogo.telematics.pad.MessagePad; -import prediction.Prediction; - -public class PredictionObstacleTrajectory extends BaseInfo { - public final Prediction.mPredictionObjects bean; - - public PredictionObstacleTrajectory(MessagePad.Header header, Prediction.mPredictionObjects bean, SimpleDateFormat sdf) { - super("接收", bean.getSerializedSize(), header, sdf); - this.bean = bean; - } - - - @Override - public String toString() { - return super.toString() + TextFormat.printer().escapingNonAscii(false).printToString(bean); - } - -} diff --git a/app_ipc_monitoring/src/main/java/com/zhidao/adas/client/bean/ReceiveData.java b/app_ipc_monitoring/src/main/java/com/zhidao/adas/client/bean/ReceiveData.java new file mode 100644 index 0000000000..0d8be2857d --- /dev/null +++ b/app_ipc_monitoring/src/main/java/com/zhidao/adas/client/bean/ReceiveData.java @@ -0,0 +1,25 @@ +package com.zhidao.adas.client.bean; + +import com.google.protobuf.GeneratedMessageV3; +import com.google.protobuf.TextFormat; +import com.zhidao.support.adas.high.common.ByteUtil; + +import java.text.SimpleDateFormat; + +import mogo.telematics.pad.MessagePad; + +public class ReceiveData extends BaseInfo { + public final GeneratedMessageV3 bean; + + public ReceiveData(MessagePad.Header header, GeneratedMessageV3 bean, SimpleDateFormat sdf) { + super("接收", bean.getSerializedSize(), header, sdf); + this.bean = bean; + } + + + @Override + public String toString() { + return super.toString() + "Payload原始数据：" + ByteUtil.byteArrToHex(bean.toByteArray()) + '\n' + TextFormat.printer().escapingNonAscii(false).printToString(bean); + } + +} diff --git a/app_ipc_monitoring/src/main/java/com/zhidao/adas/client/bean/RecordDataConfig.java b/app_ipc_monitoring/src/main/java/com/zhidao/adas/client/bean/RecordDataConfig.java deleted file mode 100644 index 1dd5785507..0000000000 --- a/app_ipc_monitoring/src/main/java/com/zhidao/adas/client/bean/RecordDataConfig.java +++ /dev/null @@ -1,22 +0,0 @@ -package com.zhidao.adas.client.bean; - -import com.google.protobuf.TextFormat; - -import java.text.SimpleDateFormat; - -import mogo.telematics.pad.MessagePad; - -public class RecordDataConfig extends BaseInfo { - public final MessagePad.RecordDataConfig bean; - - public RecordDataConfig(MessagePad.Header header, MessagePad.RecordDataConfig bean, SimpleDateFormat sdf) { - super("接收", bean.getSerializedSize(), header, sdf); - this.bean = bean; - } - - - @Override - public String toString() { - return super.toString() + TextFormat.printer().escapingNonAscii(false).printToString(bean); - } -} diff --git a/app_ipc_monitoring/src/main/java/com/zhidao/adas/client/bean/RecordPanel.java b/app_ipc_monitoring/src/main/java/com/zhidao/adas/client/bean/RecordPanel.java deleted file mode 100644 index a5d8cd7964..0000000000 --- a/app_ipc_monitoring/src/main/java/com/zhidao/adas/client/bean/RecordPanel.java +++ /dev/null @@ -1,24 +0,0 @@ -package com.zhidao.adas.client.bean; - -import com.google.protobuf.TextFormat; - -import java.text.SimpleDateFormat; - -import mogo.telematics.pad.MessagePad; -import record_cache.RecordPanelOuterClass; - -public class RecordPanel extends BaseInfo { - public final RecordPanelOuterClass.RecordPanel bean; - - public RecordPanel(MessagePad.Header header, RecordPanelOuterClass.RecordPanel bean, SimpleDateFormat sdf) { - super("接收", bean.getSerializedSize(), header, sdf); - this.bean = bean; - } - - - - @Override - public String toString() { - return super.toString() + TextFormat.printer().escapingNonAscii(false).printToString(bean); - } -} diff --git a/app_ipc_monitoring/src/main/java/com/zhidao/adas/client/bean/RoboSweeperTaskIndex.java b/app_ipc_monitoring/src/main/java/com/zhidao/adas/client/bean/RoboSweeperTaskIndex.java deleted file mode 100644 index 86eaedbb6c..0000000000 --- a/app_ipc_monitoring/src/main/java/com/zhidao/adas/client/bean/RoboSweeperTaskIndex.java +++ /dev/null @@ -1,24 +0,0 @@ -package com.zhidao.adas.client.bean; - -import com.google.protobuf.TextFormat; - -import java.text.SimpleDateFormat; - -import mogo.telematics.pad.MessagePad; -import planning.RoboSweeperTaskIndexOuterClass; - -public class RoboSweeperTaskIndex extends BaseInfo { - public final RoboSweeperTaskIndexOuterClass.RoboSweeperTaskIndex bean; - - public RoboSweeperTaskIndex(MessagePad.Header header, RoboSweeperTaskIndexOuterClass.RoboSweeperTaskIndex bean, SimpleDateFormat sdf) { - super("接收", bean.getSerializedSize(), header, sdf); - this.bean = bean; - } - - - @Override - public String toString() { - return super.toString() + TextFormat.printer().escapingNonAscii(false).printToString(bean); - } - -} diff --git a/app_ipc_monitoring/src/main/java/com/zhidao/adas/client/bean/StatusInfo.java b/app_ipc_monitoring/src/main/java/com/zhidao/adas/client/bean/StatusInfo.java deleted file mode 100644 index 72a96e6b7a..0000000000 --- a/app_ipc_monitoring/src/main/java/com/zhidao/adas/client/bean/StatusInfo.java +++ /dev/null @@ -1,24 +0,0 @@ -package com.zhidao.adas.client.bean; - -import com.google.protobuf.TextFormat; - -import java.text.SimpleDateFormat; - -import mogo.telematics.pad.MessagePad; -import system_master.SystemStatusInfo; - -public class StatusInfo extends BaseInfo { - public final SystemStatusInfo.StatusInfo bean; - - public StatusInfo(MessagePad.Header header, SystemStatusInfo.StatusInfo bean, SimpleDateFormat sdf) { - super("接收", bean.getSerializedSize(), header, sdf); - this.bean = bean; - } - - - @Override - public String toString() { - return super.toString() + TextFormat.printer().escapingNonAscii(false).printToString(bean); - } - -} diff --git a/app_ipc_monitoring/src/main/java/com/zhidao/adas/client/bean/TrackedObjects.java b/app_ipc_monitoring/src/main/java/com/zhidao/adas/client/bean/TrackedObjects.java deleted file mode 100644 index 6f49037779..0000000000 --- a/app_ipc_monitoring/src/main/java/com/zhidao/adas/client/bean/TrackedObjects.java +++ /dev/null @@ -1,21 +0,0 @@ -package com.zhidao.adas.client.bean; - -import com.google.protobuf.TextFormat; - -import java.text.SimpleDateFormat; - -import mogo.telematics.pad.MessagePad; - -public class TrackedObjects extends BaseInfo { - private MessagePad.TrackedObjects bean; - - public TrackedObjects(MessagePad.Header header, MessagePad.TrackedObjects bean, SimpleDateFormat sdf) { - super("接收", bean.getSerializedSize(), header, sdf); - this.bean = bean; - } - - @Override - public String toString() { - return super.toString() + TextFormat.printer().escapingNonAscii(false).printToString(bean); - } -} diff --git a/app_ipc_monitoring/src/main/java/com/zhidao/adas/client/bean/Trajectory.java b/app_ipc_monitoring/src/main/java/com/zhidao/adas/client/bean/Trajectory.java deleted file mode 100644 index 764d7fa44e..0000000000 --- a/app_ipc_monitoring/src/main/java/com/zhidao/adas/client/bean/Trajectory.java +++ /dev/null @@ -1,21 +0,0 @@ -package com.zhidao.adas.client.bean; - -import com.google.protobuf.TextFormat; - -import java.text.SimpleDateFormat; - -import mogo.telematics.pad.MessagePad; - -public class Trajectory extends BaseInfo { - public final MessagePad.Trajectory bean; - - public Trajectory(MessagePad.Header header, MessagePad.Trajectory bean, SimpleDateFormat sdf) { - super("接收", bean.getSerializedSize(), header, sdf); - this.bean = bean; - } - @Override - public String toString() { - return super.toString() + TextFormat.printer().escapingNonAscii(false).printToString(bean); - } - -} diff --git a/app_ipc_monitoring/src/main/java/com/zhidao/adas/client/bean/VehicleState.java b/app_ipc_monitoring/src/main/java/com/zhidao/adas/client/bean/VehicleState.java deleted file mode 100644 index aabab1571e..0000000000 --- a/app_ipc_monitoring/src/main/java/com/zhidao/adas/client/bean/VehicleState.java +++ /dev/null @@ -1,22 +0,0 @@ -package com.zhidao.adas.client.bean; - -import com.google.protobuf.TextFormat; - -import java.text.SimpleDateFormat; - -import chassis.VehicleStateOuterClass; -import mogo.telematics.pad.MessagePad; - -public class VehicleState extends BaseInfo { - public final VehicleStateOuterClass.VehicleState bean; - - public VehicleState(MessagePad.Header header, VehicleStateOuterClass.VehicleState bean, SimpleDateFormat sdf) { - super("接收", bean.getSerializedSize(), header, sdf); - this.bean = bean; - } - - @Override - public String toString() { - return super.toString() + TextFormat.printer().escapingNonAscii(false).printToString(bean); - } -} diff --git a/app_ipc_monitoring/src/main/java/com/zhidao/adas/client/bean/Warn.java b/app_ipc_monitoring/src/main/java/com/zhidao/adas/client/bean/Warn.java deleted file mode 100644 index 5bb43ebaaa..0000000000 --- a/app_ipc_monitoring/src/main/java/com/zhidao/adas/client/bean/Warn.java +++ /dev/null @@ -1,21 +0,0 @@ -package com.zhidao.adas.client.bean; - -import com.google.protobuf.TextFormat; - -import java.text.SimpleDateFormat; - -import mogo.telematics.pad.MessagePad; - -public class Warn extends BaseInfo { - public final MessagePad.Warn bean; - - public Warn(MessagePad.Header header, MessagePad.Warn bean, SimpleDateFormat sdf) { - super("接收", bean.getSerializedSize(), header, sdf); - this.bean = bean; - } - - @Override - public String toString() { - return super.toString() + TextFormat.printer().escapingNonAscii(false).printToString(bean); - } -} diff --git a/app_ipc_monitoring/src/main/java/com/zhidao/adas/client/ui/MainActivity.java b/app_ipc_monitoring/src/main/java/com/zhidao/adas/client/ui/MainActivity.java index 08ae38336b..45b6b6c46d 100644 --- a/app_ipc_monitoring/src/main/java/com/zhidao/adas/client/ui/MainActivity.java +++ b/app_ipc_monitoring/src/main/java/com/zhidao/adas/client/ui/MainActivity.java @@ -1,7 +1,5 @@ package com.zhidao.adas.client.ui; -import static com.mogo.telematic.MogoProtocolMsg.NORMAL_DATA; - import android.content.Context; import android.content.DialogInterface; import android.content.Intent; @@ -45,11 +43,7 @@ import androidx.recyclerview.widget.SimpleItemAnimator; import com.google.protobuf.TextFormat; import com.mogo.support.obu.ObuScene; -import com.mogo.telematic.MogoProtocolMsg; -import com.mogo.telematic.NSDNettyManager; -import com.mogo.telematic.client.listener.NettyClientListener; -import com.mogo.telematic.client.status.ConnectState; -import com.mogo.telematic.server.netty.NettyServerListener; +import com.zhidao.adas.client.App; import com.zhidao.adas.client.BuildConfig; import com.zhidao.adas.client.DataDistribution; import com.zhidao.adas.client.R; @@ -57,36 +51,16 @@ import com.zhidao.adas.client.adapter.InfoTitleAdapter; import com.zhidao.adas.client.base.BaseActivity; import com.zhidao.adas.client.base.BaseAdapter; import com.zhidao.adas.client.base.BaseFragment; -import com.zhidao.adas.client.bean.ArrivalNotification; -import com.zhidao.adas.client.bean.AutopilotState; -import com.zhidao.adas.client.bean.BagManagerCmd; -import com.zhidao.adas.client.bean.BasicInfoReq; -import com.zhidao.adas.client.bean.CarConfigResp; -import com.zhidao.adas.client.bean.ChassisStates; import com.zhidao.adas.client.bean.ErrorData; -import com.zhidao.adas.client.bean.FSMFunctionStates; -import com.zhidao.adas.client.bean.GlobalPathResp; -import com.zhidao.adas.client.bean.GnssInfo; import com.zhidao.adas.client.bean.IPCConnectState; -import com.zhidao.adas.client.bean.MogoReportMessage; import com.zhidao.adas.client.bean.ObuMap; import com.zhidao.adas.client.bean.ObuRsi; import com.zhidao.adas.client.bean.ObuRsm; import com.zhidao.adas.client.bean.ObuSpat; import com.zhidao.adas.client.bean.OriginalPointCloudData; import com.zhidao.adas.client.bean.PerceptionTrafficLight; -import com.zhidao.adas.client.bean.PlanningDecisionState; -import com.zhidao.adas.client.bean.PlanningObjects; -import com.zhidao.adas.client.bean.PredictionObstacleTrajectory; -import com.zhidao.adas.client.bean.RecordDataConfig; -import com.zhidao.adas.client.bean.RecordPanel; -import com.zhidao.adas.client.bean.RoboSweeperTaskIndex; +import com.zhidao.adas.client.bean.ReceiveData; import com.zhidao.adas.client.bean.SpecialVehicleBean; -import com.zhidao.adas.client.bean.StatusInfo; -import com.zhidao.adas.client.bean.TrackedObjects; -import com.zhidao.adas.client.bean.Trajectory; -import com.zhidao.adas.client.bean.VehicleState; -import com.zhidao.adas.client.bean.Warn; import com.zhidao.adas.client.log.ConnectStatusSave; import com.zhidao.adas.client.log.LogSave; import com.zhidao.adas.client.other.permission.BackgrounderPermission; @@ -99,14 +73,12 @@ import com.zhidao.support.adas.high.AdasManager; import com.zhidao.support.adas.high.AdasOptions; import com.zhidao.support.adas.high.OnAdasConnectStatusListener; import com.zhidao.support.adas.high.OnAdasListener; -import com.zhidao.support.adas.high.OnMultiDeviceListener; -import com.zhjt.mogo.adas.data.bean.AutopilotStatistics; import com.zhidao.support.adas.high.bean.VersionCompatibility; -import com.zhidao.support.adas.high.common.ByteUtil; import com.zhidao.support.adas.high.common.Constants.IPC_CONNECTION_STATUS; import com.zhidao.support.adas.high.common.CupidLogUtils; import com.zhidao.support.adas.high.common.ProtocolStatus; import com.zhidao.support.adas.high.common.ReceiveTimeoutManager; +import com.zhjt.mogo.adas.data.bean.AutopilotStatistics; import java.net.Inet4Address; import java.net.InetAddress; @@ -125,7 +97,6 @@ import bag_manager.BagManagerOuterClass; import chassis.ChassisStatesOuterClass; import chassis.VehicleStateOuterClass; import function_state_management.FunctionStates; -import io.netty.channel.Channel; import mogo.telematics.pad.MessagePad; import mogo_msg.MogoReportMsg; import perception.TrafficLightOuterClass; @@ -880,44 +851,46 @@ public class MainActivity extends BaseActivity implements OnAdasListener, OnAdas @Override public void onTrajectory(MessagePad.Header header, MessagePad.Trajectory trajectory) { - Trajectory base = new Trajectory(header, trajectory, sdf); + ReceiveData base = new ReceiveData(header, trajectory, sdf); DataDistribution.getInstance().addData(base); } @Override public void onTrackedObjects(MessagePad.Header header, MessagePad.TrackedObjects trackedObjects) { - TrackedObjects base = new TrackedObjects(header, trackedObjects, sdf); + ReceiveData base = new ReceiveData(header, trackedObjects, sdf); DataDistribution.getInstance().addData(base); } @Override public void onGnssInfo(MessagePad.Header header, MessagePad.GnssInfo gnssInfo) { - GnssInfo base = new GnssInfo(header, gnssInfo, sdf); + ReceiveData base = new ReceiveData(header, gnssInfo, sdf); DataDistribution.getInstance().addData(base); } @Override public void onVehicleState(MessagePad.Header header, VehicleStateOuterClass.VehicleState vehicleState) { - VehicleState base = new VehicleState(header, vehicleState, sdf); + App.INSTANCE.gear = vehicleState.getGear(); + ReceiveData base = new ReceiveData(header, vehicleState, sdf); DataDistribution.getInstance().addData(base); } @Override public void onChassisStates(MessagePad.Header header, ChassisStatesOuterClass.ChassisStates chassisStates) { - ChassisStates base = new ChassisStates(header, chassisStates, sdf); + App.INSTANCE.gear = chassisStates.getGearSystemStates().getGearPosition(); + ReceiveData base = new ReceiveData(header, chassisStates, sdf); DataDistribution.getInstance().addData(base); } @Override public void onAutopilotState(MessagePad.Header header, MessagePad.AutopilotState autopilotState) { - AutopilotState base = new AutopilotState(header, autopilotState, sdf); + ReceiveData base = new ReceiveData(header, autopilotState, sdf); DataDistribution.getInstance().addData(base); } @Override public void onReportMessage(MessagePad.Header header, MogoReportMsg.MogoReportMessage mogoReportMessage) { - MogoReportMessage base = new MogoReportMessage(header, mogoReportMessage, sdf); + ReceiveData base = new ReceiveData(header, mogoReportMessage, sdf); DataDistribution.getInstance().addData(base); } @@ -929,7 +902,7 @@ public class MainActivity extends BaseActivity implements OnAdasListener, OnAdas @Override public void onPredictionObstacleTrajectory(MessagePad.Header header, Prediction.mPredictionObjects predictionObjects) { - PredictionObstacleTrajectory base = new PredictionObstacleTrajectory(header, predictionObjects, sdf); + ReceiveData base = new ReceiveData(header, predictionObjects, sdf); DataDistribution.getInstance().addData(base); } @@ -968,32 +941,32 @@ public class MainActivity extends BaseActivity implements OnAdasListener, OnAdas @Override public void onPlanningObjects(MessagePad.Header header, MessagePad.PlanningObjects planningObjects) { - PlanningObjects base = new PlanningObjects(header, planningObjects, sdf); + ReceiveData base = new ReceiveData(header, planningObjects, sdf); DataDistribution.getInstance().addData(base); } @Override public void onBasicInfoReq(MessagePad.Header header, MessagePad.BasicInfoReq basicInfoReq) { - BasicInfoReq info = new BasicInfoReq(header, basicInfoReq, sdf); - DataDistribution.getInstance().addData(info); + ReceiveData base = new ReceiveData(header, basicInfoReq, sdf); + DataDistribution.getInstance().addData(base); AdasManager.getInstance().sendBasicInfoResp("", 0, com.zhidao.support.adas.high.common.Constants.TERMINAL_ROLE.DEBUG); runOnUiThread(new Runnable() { @Override public void run() { - showToastCenter("收到车机基础信息请求:" + info.toString()); + showToastCenter("收到车机基础信息请求:" + base.toString()); } }); } @Override public void onCarConfigResp(MessagePad.Header header, MessagePad.CarConfigResp carConfigResp) { - CarConfigResp base = new CarConfigResp(header, carConfigResp, sdf); + ReceiveData base = new ReceiveData(header, carConfigResp, sdf); DataDistribution.getInstance().addData(base); } @Override public void onRecordResult(MessagePad.Header header, RecordPanelOuterClass.RecordPanel recordPanel) { - RecordPanel base = new RecordPanel(header, recordPanel, sdf); + ReceiveData base = new ReceiveData(header, recordPanel, sdf); DataDistribution.getInstance().addData(base); recordKey = recordPanel.getKey(); recordFileName = recordPanel.getFilename(); @@ -1001,37 +974,37 @@ public class MainActivity extends BaseActivity implements OnAdasListener, OnAdas @Override public void onGlobalPathResp(MessagePad.Header header, MessagePad.GlobalPathResp globalPathResp) { - GlobalPathResp base = new GlobalPathResp(header, globalPathResp, sdf); + ReceiveData base = new ReceiveData(header, globalPathResp, sdf); DataDistribution.getInstance().addData(base); } @Override public void onWarn(MessagePad.Header header, MessagePad.Warn warn) { - Warn base = new Warn(header, warn, sdf); + ReceiveData base = new ReceiveData(header, warn, sdf); DataDistribution.getInstance().addData(base); } @Override public void onArrivalNotification(MessagePad.Header header, MessagePad.ArrivalNotification arrivalNotification) { - ArrivalNotification base = new ArrivalNotification(header, arrivalNotification, sdf); + ReceiveData base = new ReceiveData(header, arrivalNotification, sdf); DataDistribution.getInstance().addData(base); } @Override public void onStatusQueryResp(MessagePad.Header header, SystemStatusInfo.StatusInfo statusInfo) { - StatusInfo base = new StatusInfo(header, statusInfo, sdf); + ReceiveData base = new ReceiveData(header, statusInfo, sdf); DataDistribution.getInstance().addData(base); } @Override public void onRecordDataConfigResp(MessagePad.Header header, MessagePad.RecordDataConfig config) { - RecordDataConfig base = new RecordDataConfig(header, config, sdf); + ReceiveData base = new ReceiveData(header, config, sdf); DataDistribution.getInstance().addData(base); } @Override public void onPlanningActionMsg(MessagePad.Header header, MessagePad.PlanningActionMsg planningActionMsg) { - PlanningDecisionState base = new PlanningDecisionState(header, planningActionMsg, sdf); + ReceiveData base = new ReceiveData(header, planningActionMsg, sdf); DataDistribution.getInstance().addData(base); } @@ -1062,19 +1035,19 @@ public class MainActivity extends BaseActivity implements OnAdasListener, OnAdas @Override public void onFunctionStates(MessagePad.Header header, FunctionStates.FSMFunctionStates functionStates) { - FSMFunctionStates base = new FSMFunctionStates(header, functionStates, sdf); + ReceiveData base = new ReceiveData(header, functionStates, sdf); DataDistribution.getInstance().addData(base); } @Override public void onSweeperTaskIndexData(MessagePad.Header header, RoboSweeperTaskIndexOuterClass.RoboSweeperTaskIndex roboSweeperTaskIndex) { - RoboSweeperTaskIndex base = new RoboSweeperTaskIndex(header, roboSweeperTaskIndex, sdf); + ReceiveData base = new ReceiveData(header, roboSweeperTaskIndex, sdf); DataDistribution.getInstance().addData(base); } @Override public void onBagManagerCmd(MessagePad.Header header, BagManagerOuterClass.BagManager bagManager) { - BagManagerCmd base = new BagManagerCmd(header, bagManager, sdf); + ReceiveData base = new ReceiveData(header, bagManager, sdf); DataDistribution.getInstance().addData(base); } @@ -1084,6 +1057,7 @@ public class MainActivity extends BaseActivity implements OnAdasListener, OnAdas if (BuildConfig.IS_CLIENT) { /*—————————————作为乘客端———————————*/ options = new AdasOptions.Builder().setClient(true).build(); + /*乘客端启动 注释掉 NSDNettyManager.getInstance().searchAndConnectServer(this, "1234", new NettyClientListener() { @Override @@ -1103,7 +1077,7 @@ public class MainActivity extends BaseActivity implements OnAdasListener, OnAdas getHandler().sendEmptyMessage(WHAT_DRIVER_IP); onUpdateConnectStateView(); } - }); + });*/ } else { /*—————————————作为司机端———————————*/ int mode = Constants.getIpcConnectionMode(this); @@ -1126,6 +1100,7 @@ public class MainActivity extends BaseActivity implements OnAdasListener, OnAdas break; } + /*司机端启动 注释掉 NSDNettyManager.getInstance().startNSDNettyServerWithSN(this, new NettyServerListener() { @Override public void onMessageResponseServer(MogoProtocolMsg msg, Channel channel) { @@ -1152,10 +1127,11 @@ public class MainActivity extends BaseActivity implements OnAdasListener, OnAdas public void onChannelDisConnect(Channel channel) { Log.i(TAG, "onChannelDisConnect channel=" + channel.id()); } - }, "1234567"); + }, "1234567");*/ } AdasManager.getInstance().create(options, this); AdasManager.getInstance().setOnAdasListener(this); + /*两端数据转发 注释掉 AdasManager.getInstance().setOnMultiDeviceListener(new OnMultiDeviceListener() { @Override public void onForwardingDriverIPCMessage(byte[] bytes) { @@ -1173,7 +1149,7 @@ public class MainActivity extends BaseActivity implements OnAdasListener, OnAdas .sendMogoProtocolMsgToServer(new MogoProtocolMsg(NORMAL_DATA, bytes.length, bytes), null); Log.i(TAG, "乘客屏发送数据=" + ByteUtil.byteArrToHex(bytes)); } - }); + });*/ } @@ -1587,7 +1563,7 @@ public class MainActivity extends BaseActivity implements OnAdasListener, OnAdas break; case WHAT_DRIVER_IP: ipcIp.setVisibility(View.VISIBLE); - ipcIp.setText("司机IP：" + NSDNettyManager.getInstance().getConnServerIp()); +// ipcIp.setText("司机IP：" + NSDNettyManager.getInstance().getConnServerIp()); break; case WHAT_IPC_CONNECT_STATE: if (floatWindow != null) { diff --git a/app_ipc_monitoring/src/main/java/com/zhidao/adas/client/ui/VersionFragment.java b/app_ipc_monitoring/src/main/java/com/zhidao/adas/client/ui/VersionFragment.java index 7b4abdaad1..733e70d9ae 100644 --- a/app_ipc_monitoring/src/main/java/com/zhidao/adas/client/ui/VersionFragment.java +++ b/app_ipc_monitoring/src/main/java/com/zhidao/adas/client/ui/VersionFragment.java @@ -23,6 +23,7 @@ import androidx.recyclerview.widget.LinearLayoutManager; import androidx.recyclerview.widget.RecyclerView; import androidx.recyclerview.widget.SimpleItemAnimator; +import com.zhidao.adas.client.App; import com.zhidao.adas.client.BuildConfig; import com.zhidao.adas.client.R; import com.zhidao.adas.client.adapter.ConfigAdapter; @@ -36,6 +37,7 @@ import com.zhidao.support.adas.high.bean.VersionCompatibility; import com.zhidao.support.adas.high.common.Constants; import com.zhidao.support.adas.high.common.CupidLogUtils; import com.zhidao.support.adas.high.common.MessageType; +import com.zhidao.support.adas.high.common.autopilot.ability.AutopilotAbilityManager; import java.text.SimpleDateFormat; import java.util.ArrayList; @@ -45,6 +47,7 @@ import java.util.List; import java.util.Locale; import java.util.Set; +import chassis.Chassis; import mogo.telematics.pad.MessagePad; /** @@ -65,7 +68,7 @@ public class VersionFragment extends BaseFragment { private ConfigAdapter adapter; private InterfaceAdapter unregisteredAdapter; private InterfaceAdapter registeredAdapter; - + private Set[] unableGears; private int role = Constants.TERMINAL_ROLE.DEBUG;//角色 默认调试屏 @@ -216,9 +219,48 @@ public class VersionFragment extends BaseFragment { list.add(new Config("ADAS LIB版本:", AdasManager.getInstance().getAdasVersion())); list.add(new Config("APP构建时间:", BuildConfig.BUILD_TIME)); list.add(getAutopilotAbilityConfig("")); + list.add(gear()); adapter.setData(list); } + private Config gear() { + StringBuilder builder = new StringBuilder(); + Chassis.GearPosition gear = App.INSTANCE.gear; + if (gear != null) { + if (unableGears == null) { + unableGears = new Set[6]; + unableGears[0] = BuildConfig.UNABLE_LAUNCH_AUTOPILOT_GEAR_BUS; + unableGears[1] = BuildConfig.UNABLE_LAUNCH_AUTOPILOT_GEAR_M1; + unableGears[2] = BuildConfig.UNABLE_LAUNCH_AUTOPILOT_GEAR_M2; + unableGears[3] = BuildConfig.UNABLE_LAUNCH_AUTOPILOT_GEAR_SWEEPER; + unableGears[4] = BuildConfig.UNABLE_LAUNCH_AUTOPILOT_GEAR_TAXI; + unableGears[5] = BuildConfig.UNABLE_LAUNCH_AUTOPILOT_GEAR_VAN; + } + for (int j = 0; j < unableGears.length; j++) { + String type = ""; + if (j == 0) { + type = "BUS"; + } else if (j == 1) { + type = "M1"; + } else if (j == 2) { + type = "M2"; + } else if (j == 3) { + type = "SWEEPER"; + } else if (j == 4) { + type = "TAXI"; + } else if (j == 5) { + type = "VAN"; + } + AutopilotAbilityManager.getInstance().setUnableLaunchAutopilotGear(unableGears[j]); + boolean b = AutopilotAbilityManager.getInstance().isLaunchAutopilot(gear); + builder.append("车型:").append(type); + builder.append(" 当前档位:").append(gear.name()); + builder.append(" 是否可以启动自驾:").append(b).append('\n'); + } + } + return new Config("档位影响:", builder.toString()); + } + private Config getAutopilotAbilityConfig(String value) { return new Config("能否启动自动驾驶:", value); } @@ -226,32 +268,34 @@ public class VersionFragment extends BaseFragment { public void autopilotAbility(boolean isAutopilotAbility, String unableAutopilotReason) { List list = adapter.getData(); if (list != null) { - Config temp = getAutopilotAbilityConfig(isAutopilotAbility + "，原因：" + unableAutopilotReason); - int index = list.indexOf(temp); - if (index < 0) { - list.add(temp); - if (getActivity() != null) - getActivity().runOnUiThread(new Runnable() { - @Override - public void run() { - adapter.notifyItemInserted(list.size() - 1); - } - }); - } else { - Config config = list.get(index); - config.cover(temp); - config.color = RandomColor.randomColor(); - if (getActivity() != null) - getActivity().runOnUiThread(new Runnable() { - @Override - public void run() { - adapter.notifyItemChanged(index); - } - }); - } + updateRefreshConfig(list, getAutopilotAbilityConfig(isAutopilotAbility + "，原因：" + unableAutopilotReason)); + updateRefreshConfig(list, gear()); } + } - + private void updateRefreshConfig(List list, Config temp) { + int index = list.indexOf(temp); + if (index < 0) { + list.add(temp); + if (getActivity() != null) + getActivity().runOnUiThread(new Runnable() { + @Override + public void run() { + adapter.notifyItemInserted(list.size() - 1); + } + }); + } else { + Config config = list.get(index); + config.cover(temp); + config.color = RandomColor.randomColor(); + if (getActivity() != null) + getActivity().runOnUiThread(new Runnable() { + @Override + public void run() { + adapter.notifyItemChanged(index); + } + }); + } } @Override diff --git a/app_ipc_monitoring/src/main/res/values/colors.xml b/app_ipc_monitoring/src/main/res/values/colors.xml index fc88f479a4..cee6d1bede 100644 --- a/app_ipc_monitoring/src/main/res/values/colors.xml +++ b/app_ipc_monitoring/src/main/res/values/colors.xml @@ -19,7 +19,7 @@ #1E90FF #FFC0CB #FF8F00 - #FFE500 - #B9ED3E + #FF33FF + #669900 #2EEDEB diff --git a/core/function-impl/mogo-core-function-datacenter/src/main/java/com/mogo/eagle/core/function/datacenter/autopilot/MoGoAutopilotControlProvider.kt b/core/function-impl/mogo-core-function-datacenter/src/main/java/com/mogo/eagle/core/function/datacenter/autopilot/MoGoAutopilotControlProvider.kt index f3d1e06382..00194f2aeb 100644 --- a/core/function-impl/mogo-core-function-datacenter/src/main/java/com/mogo/eagle/core/function/datacenter/autopilot/MoGoAutopilotControlProvider.kt +++ b/core/function-impl/mogo-core-function-datacenter/src/main/java/com/mogo/eagle/core/function/datacenter/autopilot/MoGoAutopilotControlProvider.kt @@ -107,7 +107,7 @@ class MoGoAutopilotControlProvider : .setIpcConnectionMode(AdasOptions.IPC_CONNECTION_MODE.FIXATION) .setIpcFixationIP(AdasManager.getInstance().getIPCFixationIPList(mContext)) .setClient(false) - .setIdentityMode(FunctionBuildConfig.appIdentityMode) + .setUnableLaunchAutopilotGear(FunctionBuildConfig.unableLaunchAutopilotGear) // .setSubscribeInterfaceOptions(subscribeInterfaceOptions)// .build() @@ -198,7 +198,7 @@ class MoGoAutopilotControlProvider : val options = AdasOptions .Builder() .setClient(true) - .setIdentityMode(FunctionBuildConfig.appIdentityMode) + .setUnableLaunchAutopilotGear(FunctionBuildConfig.unableLaunchAutopilotGear) .build() AdasManager.getInstance() .create(options, MoGoAdasMsgConnectStatusListenerImpl()) @@ -226,7 +226,7 @@ class MoGoAutopilotControlProvider : .setIpcConnectionMode(AdasOptions.IPC_CONNECTION_MODE.FIXATION) .setIpcFixationIP(AdasManager.getInstance().getIPCFixationIPList(mContext)) .setClient(false)// 乘客端直连工控机改为false - .setIdentityMode(FunctionBuildConfig.appIdentityMode) + .setUnableLaunchAutopilotGear(FunctionBuildConfig.unableLaunchAutopilotGear) .build() AdasManager.getInstance().create(options, MoGoAdasMsgConnectStatusListenerImpl()) //////////////////////////////////注意先后顺序，AdasManager.getInstance().create后才可以设置监听///////////////////////////////////////////// diff --git a/core/mogo-core-data/src/main/java/com/mogo/eagle/core/data/config/FunctionBuildConfig.kt b/core/mogo-core-data/src/main/java/com/mogo/eagle/core/data/config/FunctionBuildConfig.kt index 8831a67f91..556522a191 100644 --- a/core/mogo-core-data/src/main/java/com/mogo/eagle/core/data/config/FunctionBuildConfig.kt +++ b/core/mogo-core-data/src/main/java/com/mogo/eagle/core/data/config/FunctionBuildConfig.kt @@ -1,5 +1,6 @@ package com.mogo.eagle.core.data.config +import chassis.Chassis import com.mogo.eagle.core.data.deva.net.UrlConfig import com.mogo.eagle.core.utilcode.util.GsonUtils @@ -213,4 +214,10 @@ object FunctionBuildConfig { @JvmField var urlJson: UrlConfig = GsonUtils.fromJson("{\"och_url\":\"https://tech.zhidaohulian.com\"}", UrlConfig::class.java) + /** + * 最外层设置的Url + */ + @Volatile + @JvmField + var unableLaunchAutopilotGear: Set? = null } \ No newline at end of file diff --git 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 index 3c38a18599..dcdc047c72 100644 --- 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 @@ -4,6 +4,9 @@ import com.zhidao.support.adas.high.common.autopilot.ability.AutopilotAbilityMan import com.zhidao.support.adas.high.subscribe.SubscribeInterfaceOptions; import java.util.HashSet; +import java.util.Set; + +import chassis.Chassis; /** * Date：2019/5/31。 @@ -126,13 +129,13 @@ public class AdasOptions { } /** - * 身份/车型 + * 不能启动自驾的档位 * - * @param identityMode 车型 + * @param unableLaunchAutopilotGear 档位 * @return */ - public Builder setIdentityMode(String identityMode) { - options.setIdentityMode(identityMode); + public Builder setUnableLaunchAutopilotGear(Set unableLaunchAutopilotGear) { + options.setUnableLaunchAutopilotGear(unableLaunchAutopilotGear); return this; } @@ -153,7 +156,7 @@ public class AdasOptions { options.ipcAssignIP = null; options.ipcFixationIP = null; options.subscribeInterfaceOptions = null; - options.setIdentityMode(""); + options.setUnableLaunchAutopilotGear(null); return options; } @@ -197,7 +200,7 @@ public class AdasOptions { this.subscribeInterfaceOptions = subscribeInterfaceOptions; } - public void setIdentityMode(String identityMode) { - AutopilotAbilityManager.getInstance().setIdentityMode(identityMode); + public void setUnableLaunchAutopilotGear(Set unableLaunchAutopilotGear) { + AutopilotAbilityManager.getInstance().setUnableLaunchAutopilotGear(unableLaunchAutopilotGear); } } diff --git 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 index 9c6ce3ea4c..d6e4188abc 100644 --- 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 @@ -1,10 +1,7 @@ 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; @@ -31,10 +28,6 @@ public class AutopilotAbility230 { } private void onCallback() { - //金旅、开沃小巴乘客端 不能启动自动驾驶 - if (AutopilotAbilityManager.getInstance().isBusPassenger()) { - 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 @@ -47,36 +40,14 @@ public class AutopilotAbility230 { } } 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 金旅M1 金旅M1 福田清扫车 开沃 - * TODO 如果 identityMode 未赋值以及目前已知其他车型判断逻辑跟东风Taxi和红旗 走 - */ - //开沃任何档位都能启动自驾 - if (!AutopilotAbilityManager.getInstance().isBusDriverVan()) { - if (chassisStates.hasGearSystemStates()) { - Chassis.GearPosition gear = chassisStates.getGearSystemStates().getGearPosition(); - //金旅Bus和清扫车 档位不正常 - if (AutopilotAbilityManager.getInstance().isBusDriver()) { - if (gear == Chassis.GearPosition.GEAR_N || gear == Chassis.GearPosition.GEAR_R) { - isAutopilotAbility = false; - unableAutopilotReason = "档位不正常"; - } - } else if (AutopilotAbilityManager.getInstance().isSweeperDriverFutian()) { - if (gear == Chassis.GearPosition.GEAR_N) { - isAutopilotAbility = false; - unableAutopilotReason = "档位不正常"; - } - } 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 = "档位不正常"; - } - } + if (chassisStates.hasGearSystemStates()) { + Chassis.GearPosition gear = chassisStates.getGearSystemStates().getGearPosition(); + if (!AutopilotAbilityManager.getInstance().isLaunchAutopilot(gear)) { + isAutopilotAbility = false; + unableAutopilotReason = "档位不正常"; } } } - //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 @@ -88,9 +59,7 @@ public class AutopilotAbility230 { // } // } } - if (AutopilotAbilityManager.getInstance().getListener() != null) { - AutopilotAbilityManager.getInstance().getListener().onAutopilotAbility(isAutopilotAbility, unableAutopilotReason); - } + AutopilotAbilityManager.getInstance().onAutopilotAbility(isAutopilotAbility, unableAutopilotReason); } public synchronized void start() { @@ -114,5 +83,4 @@ public class AutopilotAbility230 { } - } diff --git 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 index 01bf359101..0c459e56a6 100644 --- 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 @@ -45,10 +45,6 @@ public class AutopilotAbility250 { } private void onCallback(SystemStatusInfo.StatusInfo statusInfo) { - //金旅、开沃小巴乘客端 不能启动自动驾驶 - if (AutopilotAbilityManager.getInstance().isBusPassenger()) { - 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 //检测节点状态相关 @@ -122,36 +118,14 @@ public class AutopilotAbility250 { } } 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 金旅M1 金旅M1 福田清扫车 开沃 - * TODO 如果 identityMode 未赋值以及目前已知其他车型判断逻辑跟东风Taxi和红旗 走 - */ - //开沃任何档位都能启动自驾 - if (!AutopilotAbilityManager.getInstance().isBusDriverVan()) { - if (chassisStates.hasGearSystemStates()) { - Chassis.GearPosition gear = chassisStates.getGearSystemStates().getGearPosition(); - //金旅Bus和清扫车 档位不正常 - if (AutopilotAbilityManager.getInstance().isBusDriver()) { - if (gear == Chassis.GearPosition.GEAR_N || gear == Chassis.GearPosition.GEAR_R) { - isAutopilotAbility = false; - unableAutopilotReason = "档位不正常"; - } - } else if (AutopilotAbilityManager.getInstance().isSweeperDriverFutian()) { - if (gear == Chassis.GearPosition.GEAR_N) { - isAutopilotAbility = false; - unableAutopilotReason = "档位不正常"; - } - } 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 = "档位不正常"; - } - } + if (chassisStates.hasGearSystemStates()) { + Chassis.GearPosition gear = chassisStates.getGearSystemStates().getGearPosition(); + if (!AutopilotAbilityManager.getInstance().isLaunchAutopilot(gear)) { + isAutopilotAbility = false; + unableAutopilotReason = "档位不正常"; } } } - //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 @@ -163,9 +137,7 @@ public class AutopilotAbility250 { // } // } } - if (AutopilotAbilityManager.getInstance().getListener() != null) { - AutopilotAbilityManager.getInstance().getListener().onAutopilotAbility(isAutopilotAbility, unableAutopilotReason); - } + AutopilotAbilityManager.getInstance().onAutopilotAbility(isAutopilotAbility, unableAutopilotReason); } public synchronized void start() { diff --git 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 index 1e80fe6805..429e08162f 100644 --- 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 @@ -10,11 +10,13 @@ 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.Set; 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 mogo.telematics.pad.MessagePad; import system_master.SystemStatusInfo; @@ -38,37 +40,14 @@ public class AutopilotAbilityManager { private AutopilotAbility250 autopilotAbility250; private Timer startTimer; /** - * 身份/车型 + * 不能启动自动驾驶的档位 */ - private String identityMode; + private Set unableLaunchAutopilotGear; public interface OnAutopilotAbilityListener { void onStatusQuery();//查询是被调用 } - /** - * 身份规则定义根据app/productFlavors/README.md - * * taxi司机屏 Taxi_Driver_Base （东风、红旗司机端） - * * taxi乘客屏 Taxi_Passenger_Base （东风、红旗乘客端） - * * bus司机屏 Bus_Driver_Base （金旅小巴司机端） - * * Bus_Driver_Van （开沃小巴司机端） - * * bus乘客屏 Bus_Passenger_Base （金旅、开沃小巴乘客端） - * * Bus_Passenger_M1 （M1小巴乘客端） - * * Bus_Passenger_M2 （M2小巴乘客端） - * * 清扫车 Sweeper_Driver_FT （福田清扫车司机端） - *

- * 此定义不区分角色，只区分业务线和车型 - */ - private interface IDENTITY_MODE { - String TAXI_DRIVER_BASE = "Taxi_Driver_Base";//（东风、红旗司机端） - String TAXI_PASSENGER_BASE = "Taxi_Passenger_Base";//（东风、红旗乘客端） - String BUS_DRIVER_BASE = "Bus_Driver_Base";//（金旅小巴司机端） - String BUS_DRIVER_VAN = "Bus_Driver_Van";//（开沃小巴司机端） - String BUS_PASSENGER_BASE = "Bus_Passenger_Base";//（金旅、开沃小巴乘客端） - String BUS_PASSENGER_M1 = "Bus_Passenger_M1";//（M1小巴乘客端） - String BUS_PASSENGER_M2 = "Bus_Passenger_M2";//（M2小巴乘客端） - String SWEEPER_DRIVER_FT = "Sweeper_Driver_FT";//（福田清扫车司机端） - } private AutopilotAbilityManager() { } @@ -84,8 +63,22 @@ public class AutopilotAbilityManager { return INSTANCE; } - public void setIdentityMode(String identityMode) { - this.identityMode = identityMode; + public void setUnableLaunchAutopilotGear(Set unableLaunchAutopilotGear) { + this.unableLaunchAutopilotGear = unableLaunchAutopilotGear; + } + + /** + * 获取当前档位是否能启动自动驾驶 如果不传递默认可以启动 + * 不能启动自驾档位规则：app/README.md/不能启动自动驾驶的档位 + * + * @param currentGear 当前档位 + * @return 是否能启动自驾 + */ + public boolean isLaunchAutopilot(Chassis.GearPosition currentGear) { + if (unableLaunchAutopilotGear != null && !unableLaunchAutopilotGear.isEmpty()) { + return !unableLaunchAutopilotGear.contains(currentGear); + } + return true; } public void setCarConfig(MessagePad.CarConfigResp carConfig) { @@ -105,8 +98,10 @@ public class AutopilotAbilityManager { this.listener = listener; } - public OnAdasListener getListener() { - return listener; + public void onAutopilotAbility(boolean isAutopilotAbility, String unableAutopilotReason) { + if (listener != null) { + listener.onAutopilotAbility(isAutopilotAbility, unableAutopilotReason); + } } public void setHandler(Handler handler) { @@ -243,32 +238,4 @@ public class AutopilotAbilityManager { } return version; } - - /** - * 金旅、开沃小巴乘客端 - */ - public boolean isBusPassenger() { - return IDENTITY_MODE.BUS_PASSENGER_BASE.equalsIgnoreCase(identityMode); - } - - /** - * 开沃小巴司机端 - */ - public boolean isBusDriverVan() { - return IDENTITY_MODE.BUS_DRIVER_VAN.equalsIgnoreCase(identityMode); - } - - /** - * 金旅小巴司机端 - */ - public boolean isBusDriver() { - return IDENTITY_MODE.BUS_DRIVER_BASE.equalsIgnoreCase(identityMode); - } - - /** - * 福田清扫车司机端 - */ - public boolean isSweeperDriverFutian() { - return IDENTITY_MODE.SWEEPER_DRIVER_FT.equalsIgnoreCase(identityMode); - } }