From 3610f7878bf6ea11977abf8c1ec450cfef3f1b05 Mon Sep 17 00:00:00 2001
From: xinfengkun <xinfengkun@zhidaoauto.com>
Date: Fri, 9 Aug 2024 16:55:52 +0800
Subject: [PATCH] =?UTF-8?q?[660][adas]=E5=BD=93=E8=83=BD=E5=90=A6=E5=90=AF?=
 =?UTF-8?q?=E5=8A=A8=E8=87=AA=E9=A9=BE=E5=8E=9F=E5=A7=8B=E6=95=B0=E6=8D=AE?=
 =?UTF-8?q?=E7=BC=A9=E5=87=8F=EF=BC=8C=E5=8F=AA=E4=BF=9D=E7=95=99=E6=9C=89?=
 =?UTF-8?q?=E7=94=A8=E5=AD=97=E6=AE=B5?=
MIME-Version: 1.0
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---
 .../adas/data/bean/LaunchConditionData.java   | 65 +++++++++++++++----
 1 file changed, 53 insertions(+), 12 deletions(-)

diff --git a/libraries/mogo-adas-data/src/main/java/com/zhjt/mogo/adas/data/bean/LaunchConditionData.java b/libraries/mogo-adas-data/src/main/java/com/zhjt/mogo/adas/data/bean/LaunchConditionData.java
index 5cb6b0df08..8a435ddcfe 100644
--- a/libraries/mogo-adas-data/src/main/java/com/zhjt/mogo/adas/data/bean/LaunchConditionData.java
+++ b/libraries/mogo-adas-data/src/main/java/com/zhjt/mogo/adas/data/bean/LaunchConditionData.java
@@ -9,6 +9,8 @@ import org.json.JSONArray;
 import org.json.JSONException;
 import org.json.JSONObject;
 
+import java.util.List;
+
 import chassis.Chassis;
 import chassis.ChassisStatesOuterClass;
 import fsm.Fsm2024;
@@ -149,16 +151,16 @@ public class LaunchConditionData {
                 array.put(chassisStatesObject);
             }
             if (statusInfo != null) {
-                arrayPut(array, statusInfo);
+                arrayPutSSM1(array, statusInfo);
             }
             if (ssmInfo != null) {
-                arrayPut(array, ssmInfo);
-            }
-            if (fsmStatusReasonRespond != null) {
-                arrayPut(array, fsmStatusReasonRespond);
+                arrayPutSSM2(array, ssmInfo);
             }
+//            if (fsmStatusReasonRespond != null) {
+//                arrayPut(array, fsmStatusReasonRespond);
+//            }
             if (fsmState != null) {
-                arrayPut(array, fsmState);
+                arrayPutFSM(array, fsmState);
             }
             if (array.length() > 0) {
                 jsonObject.put("data", array);
@@ -169,14 +171,53 @@ public class LaunchConditionData {
         return jsonObject.toString();
     }
 
-    private void arrayPut(JSONArray array, String name, boolean isReady, String reason) throws JSONException {
+    private void arrayPutSSM1(JSONArray array, SystemStatusInfo.StatusInfo ssmInfo) throws JSONException {
         JSONObject objectParse = new JSONObject();
-        objectParse.put("auto_pilot_ready", isReady);
-        if (reason != null) {
-            objectParse.put("auto_pilot_unready_reason", reason);
-        }
+        objectParse.put("map_version", ssmInfo.getMapVersion());
+        objectParse.put("master_version", ssmInfo.getMasterVersion());
+        objectParse.put("auto_pilot_ready", ssmInfo.getAutoPilotReady());
+        objectParse.put("auto_pilot_unready_reason", ssmInfo.getAutoPilotUnreadyReason());
         JSONObject object = new JSONObject();
-        object.put("name", name);
+        object.put("name", ssmInfo.getClass().getName());
+        object.put("parse", objectParse);
+        array.put(object);
+    }
+
+    private void arrayPutSSM2(JSONArray array, SsmInfo.SsmStatusInf ssmInfo) throws JSONException {
+        JSONObject objectParse = new JSONObject();
+        objectParse.put("map_version", ssmInfo.getMapVersion());
+        objectParse.put("master_version", ssmInfo.getMasterVersion());
+        objectParse.put("auto_pilot_ready", ssmInfo.getAutoPilotReady());
+        List<SsmInfo.NodeInf> autoPilotUnreadyList = ssmInfo.getAutoPilotUnreadyListList();
+        if (!autoPilotUnreadyList.isEmpty()) {
+            JSONArray arr = new JSONArray();
+            for (SsmInfo.NodeInf inf : autoPilotUnreadyList) {
+                arr.put(TextFormat.printer().escapingNonAscii(false).printToString(inf));
+            }
+            objectParse.put("auto_pilot_unready_list", arr);
+        }else {
+            objectParse.put("auto_pilot_unready_list", "null");
+        }
+
+        objectParse.put("auto_pilot_unready_reason", ssmInfo.getAutoPilotUnreadyReason());
+        JSONObject object = new JSONObject();
+        object.put("name", ssmInfo.getClass().getName());
+        object.put("parse", objectParse);
+        array.put(object);
+    }
+
+    private void arrayPutFSM(JSONArray array, Fsm2024.FSMStateMsg fsmState) throws JSONException {
+        JSONObject objectParse = new JSONObject();
+        objectParse.put("header", TextFormat.printer().escapingNonAscii(false).printToString(fsmState.getHeader()));
+        objectParse.put("function_state", fsmState.getFunctionState());
+        objectParse.put("fsm_safety_stop_mode", fsmState.getFsmSafetyStopMode());
+        objectParse.put("active_mode", fsmState.getActiveMode());
+        objectParse.put("pilot_standby_flag", fsmState.getPilotStandbyFlag());
+        objectParse.put("pilot_not_standby_reason", fsmState.getPilotNotStandbyReason());
+        objectParse.put("fail_to_pilot_session_id", fsmState.getFailToPilotSessionId());
+        objectParse.put("abnormal_state_trans_reason", fsmState.getAbnormalStateTransReason());
+        JSONObject object = new JSONObject();
+        object.put("name", fsmState.getClass().getName());
         object.put("parse", objectParse);
         array.put(object);
     }