yangyakun921/MoGoEagleEye
1
0
Fork 0
Code Issues Pull Requests Actions Packages Projects Releases Wiki Activity

[660][adas][data-center] 添加节点检测功能，节点状态接口，移除节点超时接口

Browse Source
This commit is contained in:
xinfengkun
2024-08-22 16:27:53 +08:00
parent 7b5adcf470
commit 36584260b3
21 changed files with 362 additions and 306 deletions
Download Patch File Download Diff File Expand all files Collapse all files

3
core/function-impl/mogo-core-function-datacenter/src/main/java/com/mogo/eagle/core/function/datacenter/autopilot/MoGoAutopilotControlProvider.kt
View File

@@ -68,6 +68,7 @@ import com.zhjt.mogo.adas.common.MessageType
import com.zhjt.mogo.adas.data.Adas
import com.zhjt.mogo.adas.data.AdasConstants
import com.zhjt.mogo.adas.data.bean.MogoReport
import com.zhjt.mogo.adas.data.bean.NodeStateInfo
import com.zhjt.mogo.adas.data.sweeper.bootable.SweeperBootable
import com.zhjt.mogo.adas.data.sweeper.task.SweeperTask
import com.zhjt.mogo.adas.data.sweeper.task.cloud.s_r.SweeperTaskCloudSuspendResume
@@ -1376,7 +1377,7 @@ class MoGoAutopilotControlProvider :
return AdasManager.getInstance().sendSeatPressure(driver, copilot, backRow) > -1
}
override fun getNodeStateInfo(name: AdasConstants.NodeName): Adas.NodeStateInfo {
override fun getNodeStateInfo(name: AdasConstants.NodeName): NodeStateInfo {
return AdasManager.getInstance().getNodeStateInfo(name)
}

52
core/function-impl/mogo-core-function-datacenter/src/main/java/com/mogo/eagle/core/function/datacenter/autopilot/adapter/MoGoAdasListenerImpl.kt
View File

@@ -29,6 +29,9 @@ import com.mogo.eagle.core.data.deva.chain.ChainConstant.Companion.CHAIN_TYPE_SO
import com.mogo.eagle.core.data.deva.chain.ChainConstant.Companion.CHAIN_TYPE_SOCKET_TRAJECTORY
import com.mogo.eagle.core.data.deva.chain.ChainConstant.Companion.CHAIN_TYPE_SOCKET_VEHICLE
import com.mogo.eagle.core.data.deva.chain.ChainConstant.Companion.CHAIN_TYPE_STATUS
import com.mogo.eagle.core.data.msgbox.MsgBoxBean
import com.mogo.eagle.core.data.msgbox.MsgBoxType
import com.mogo.eagle.core.data.msgbox.SSMMsg
import com.mogo.eagle.core.function.call.autopilot.CallerAutoPilotStatusListenerManager
import com.mogo.eagle.core.function.call.autopilot.CallerAutoPilotStatusListenerManager.invokeArriveAtStation
import com.mogo.eagle.core.function.call.autopilot.CallerAutoPilotStatusListenerManager.invokeAutopilotGuardian
@@ -70,6 +73,7 @@ import com.mogo.eagle.core.function.call.autopilot.CallerSweeperFutianCloudTaskL
import com.mogo.eagle.core.function.call.autopilot.CallerNodeStateListenerManager
import com.mogo.eagle.core.function.call.autopilot.CallerV2XListenerManager
import com.mogo.eagle.core.function.call.autopilot.CallerV2nNioEventListenerManager
import com.mogo.eagle.core.function.call.msgbox.CallerMsgBoxManager
import com.mogo.eagle.core.function.call.obu.CallerObuMapMathListenerManager
import com.mogo.eagle.core.function.call.obu.CallerObuWarningRsiListenerManager
import com.mogo.eagle.core.function.call.obu.CallerObuWarningRsmListenerManager
@@ -83,11 +87,12 @@ import com.zhidao.support.adas.high.chain.AdasChain
import com.zhjt.mogo.adas.data.bean.AdasParam
import com.zhidao.support.adas.high.common.ProtocolStatus
import com.zhjt.mogo.adas.common.MessageType
import com.zhjt.mogo.adas.data.Adas
import com.zhjt.mogo.adas.data.AdasConstants
import com.zhjt.mogo.adas.data.AdasConstants.NodeExistState
import com.zhjt.mogo.adas.data.AiCloudTask
import com.zhjt.mogo.adas.data.bean.AutopilotStatistics
import com.zhjt.mogo.adas.data.bean.LaunchConditionData
import com.zhjt.mogo.adas.data.bean.NodeStateInfo
import com.zhjt.mogo.adas.data.bean.ReceivedAck
import com.zhjt.mogo.adas.data.bean.UnableLaunchReason
import com.zhjt.mogo.adas.data.sweeper.bootable.SweeperBootable
@@ -1007,32 +1012,29 @@ class MoGoAdasListenerImpl : OnAdasListener {
* 目前包含状态 节点是否存在；节点是否超时；
* SSM 只判断超时状态
* FSM 是否存在；是否超时；
* <p>
* 状态变动时才会回调
* 主动获取状态：{@link AdasManager#getNodeStateInfo(AdasConstants.NodeName)}
*
* @param name 节点名称
* @param stateInfo 节点状态信息 包含：未知；存在；不存在； 以及存在的一些状态
* @param stateInfo 节点状态
* {@link NodeStateInfo#getNodeState()}包含：未知；存在；不存在；
* {@link NodeStateInfo#getExistState()}包含：正常；超时；
*/
override fun onNodeStateInfo(name: AdasConstants.NodeName, stateInfo: Adas.NodeStateInfo) {
CallerNodeStateListenerManager.invokeNodeState(name, stateInfo)
}
/**
* 域控SSM接口接收超时
* 状态变动时才会回调，默认SSM状态正常
*
* @param isTimeout true：SSM接口接收超时 false：SSM接口恢复正常
*/
override fun onSsmReceiveTimeout(isTimeout: Boolean) {
CallerAutoPilotStatusListenerManager.invokeSsmReceiveTimeout(isTimeout)
}
/**
* 域控FSM接口接收超时
* 状态变动时才会回调，默认FSM状态正常 前提是存在FSM接口
*
* @param isTimeout true：FSM接口接收超时 false：FSM接口恢复正常
*/
override fun onFsm2024ReceiveTimeout(isTimeout: Boolean) {
CallerAutoPilotStatusListenerManager.invokeFsmReceiveTimeout(isTimeout)
override fun onNodeStateInfo(stateInfo: NodeStateInfo) {
CallerNodeStateListenerManager.invokeNodeState(stateInfo)
if (stateInfo.existState != null) {
if (stateInfo.nodeName == AdasConstants.NodeName.SSM) {
//域控SSM接口接收是否超时
if (stateInfo.existState == NodeExistState.NODE_EXIST_TIMEOUT) {
CallerMsgBoxManager.saveMsgBox(MsgBoxBean(MsgBoxType.SSMINFO, SSMMsg(0, "连接超时", "SSM超时无响应", System.currentTimeMillis())))
} else {
CallerMsgBoxManager.saveMsgBox(MsgBoxBean(MsgBoxType.SSMINFO, SSMMsg(0, "连接恢复", "SSM连接恢复", System.currentTimeMillis())))
}
} else if (stateInfo.nodeName == AdasConstants.NodeName.FSM2024) {
//域控FSM接口接收是否超时
// (stateInfo.existState == NodeExistState.NODE_EXIST_TIMEOUT)
}
}
}
/**