From 369450e2b5029ab0bc4dc34fa3a260deea57c45f Mon Sep 17 00:00:00 2001 From: xinfengkun Date: Wed, 13 Mar 2024 10:45:50 +0800 Subject: [PATCH] =?UTF-8?q?[630][adas]=20=E6=96=B0=E5=A2=9ESSM=E8=B6=85?= =?UTF-8?q?=E6=97=B6=E6=A3=80=E6=B5=8B=E5=8A=9F=E8=83=BD?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- .../autopilot/adapter/MoGoAdasListenerImpl.kt | 4 + .../adas/data/bean/UnableLaunchReason.java | 3 +- .../zhidao/support/adas/high/AdasChannel.java | 159 ++++++++-------- .../support/adas/high/OnAdasListener.java | 8 + .../ability/AutopilotAbility230.java | 7 - .../ability/AutopilotAbility250.java | 26 +-- .../ability/AutopilotAbility330.java | 27 +-- .../ability/AutopilotAbility350And360.java | 12 +- .../ability/AutopilotAbility360.java | 16 +- .../ability/AutopilotAbilityManager.java | 180 +++++++++--------- .../ability/OnAutopilotAbilityListener.java | 13 ++ .../adas/high/msg/CarConfigRespMessage.java | 29 ++- .../adas/high/msg/StatusQueryRespMessage.java | 2 +- .../adas/high/thread/DispatchHandler.java | 7 - 14 files changed, 221 insertions(+), 272 deletions(-) create mode 100644 libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/common/autopilot/ability/OnAutopilotAbilityListener.java diff --git a/core/function-impl/mogo-core-function-datacenter/src/main/java/com/mogo/eagle/core/function/datacenter/autopilot/adapter/MoGoAdasListenerImpl.kt b/core/function-impl/mogo-core-function-datacenter/src/main/java/com/mogo/eagle/core/function/datacenter/autopilot/adapter/MoGoAdasListenerImpl.kt index 82725936f2..1a8df5bae1 100644 --- a/core/function-impl/mogo-core-function-datacenter/src/main/java/com/mogo/eagle/core/function/datacenter/autopilot/adapter/MoGoAdasListenerImpl.kt +++ b/core/function-impl/mogo-core-function-datacenter/src/main/java/com/mogo/eagle/core/function/datacenter/autopilot/adapter/MoGoAdasListenerImpl.kt @@ -916,6 +916,10 @@ class MoGoAdasListenerImpl : OnAdasListener { CallerRoboBusJinlvM1StitchedVideoListenerManager.invokeRoboBusJinlvM1StitchedVideo(data) } + override fun onSsmReceiveTimeout(isTimeout: Boolean) { + CallerAutoPilotStatusListenerManager.invokeSsmReceiveTimeout(isTimeout) + } + /** * 是否可以启动自动驾驶 * 使用方法查看：app_ipc_monitoring/uiMainActivity/onAutopilotAbility diff --git a/libraries/mogo-adas-data/src/main/java/com/zhjt/mogo/adas/data/bean/UnableLaunchReason.java b/libraries/mogo-adas-data/src/main/java/com/zhjt/mogo/adas/data/bean/UnableLaunchReason.java index ca88b375fb..3e6e1fdef3 100644 --- a/libraries/mogo-adas-data/src/main/java/com/zhjt/mogo/adas/data/bean/UnableLaunchReason.java +++ b/libraries/mogo-adas-data/src/main/java/com/zhjt/mogo/adas/data/bean/UnableLaunchReason.java @@ -28,7 +28,8 @@ public class UnableLaunchReason { GEAR,//档位 PARKING_BRAKE,//制动系统，手刹，电子驻车制动系统 SSM_OFFER,//SSM提供的原因 - FSM_OFFER//FSM提供的原因 + FSM_OFFER,//FSM提供的原因 + SSM_TIMEOUT//SSM超时 } /** diff --git a/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/AdasChannel.java b/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/AdasChannel.java index 0f19329633..abe734bb7b 100644 --- a/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/AdasChannel.java +++ b/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/AdasChannel.java @@ -12,8 +12,6 @@ import static com.zhidao.support.adas.high.chain.AdasChain.CHAIN_TYPE_INIT_STATU import static com.zhidao.support.adas.high.chain.AdasChain.CHAIN_TYPE_SOCKET_AUTOPILOT; import android.content.Context; -import android.os.Handler; -import android.os.Message; import android.os.SystemClock; import android.text.TextUtils; @@ -98,7 +96,6 @@ public class AdasChannel implements IAdasNetCommApi, FpgaSocket.IWebSocketConnec private RawUnpack rawUnpack;//业务数据拆包 private RawPack rawPack;//数据打包 private DispatchHandler defaultDispatchHandler;//默认分发线程分发 - private DispatchHandler statusQueryRespDispatchHandler;//状态查询应答分发线程分发 private final Map dispatchHandlers = new HashMap<>();//其他分发线程 private Timer checkCompatibilityTimer;//检查版本兼容性定时器 连接成功后5秒内等待工控机发送配置信息 private int seqSpecialVehicle = 0;//特种车辆命令发送次数 @@ -239,12 +236,6 @@ public class AdasChannel implements IAdasNetCommApi, FpgaSocket.IWebSocketConnec //启用线程分发 defaultDispatchHandler = new DispatchHandler(MessagePad.MessageType.MsgTypeDefault, this);//默认分发线程 不要添加到Map中 initOtherDispatchHandler(); - AutopilotAbilityManager.getInstance().setOnAutopilotAbilityListener(new AutopilotAbilityManager.OnAutopilotAbilityListener() { - @Override - public void onStatusQuery() { - statusQueryRespDispatchHandler.start(); - } - }); receivedAckManager.setListener(new ReceivedAckManager.OnReceivedAckListener() { @Override public void onReceiveReceivedAck(@NonNull ReceivedAck receivedAck) { @@ -311,9 +302,7 @@ public class AdasChannel implements IAdasNetCommApi, FpgaSocket.IWebSocketConnec // dispatchHandlers.put(MessagePad.MessageType.MsgTypeWarn, new DispatchHandler(MessagePad.MessageType.MsgTypeWarn, this)); //到站提醒 // dispatchHandlers.put(MessagePad.MessageType.MsgTypeArrivalNotification, new DispatchHandler(MessagePad.MessageType.MsgTypeArrivalNotification, this)); - //状态查询应答 TODO 此线程更新频率目前为3秒，但是由于会在此接口中做一些其他数据处理，所以单独开启线程 - statusQueryRespDispatchHandler = new DispatchHandler(MessagePad.MessageType.MsgTypeStatusQueryResp, this); - dispatchHandlers.put(MessagePad.MessageType.MsgTypeStatusQueryResp, statusQueryRespDispatchHandler); + //SSM状态查询应答和SSM定频推送 参见initSsmDispatch() TODO 此线程更新频率目前为3秒，但是由于会在此接口中做一些其他数据处理，所以单独开启线程 //数据采集配置 // dispatchHandlers.put(MessagePad.MessageType.MsgTypeRecordDataConfigResp, new DispatchHandler(MessagePad.MessageType.MsgTypeRecordDataConfigResp, this)); //Planning决策状态 @@ -324,6 +313,24 @@ public class AdasChannel implements IAdasNetCommApi, FpgaSocket.IWebSocketConnec dispatchHandlers.put(MessagePad.MessageType.MsgTypeM1StitchedVideo, new DispatchHandler(MessagePad.MessageType.MsgTypeM1StitchedVideo, this)); } + private void initSsmDispatch(AdasConstants.SsmSource source) { + stopDispatch(MessagePad.MessageType.MsgTypeSSMState); + stopDispatch(MessagePad.MessageType.MsgTypeStatusQueryResp); + if (source == AdasConstants.SsmSource.SSM_VER1) { + dispatchHandlers.put(MessagePad.MessageType.MsgTypeStatusQueryResp, new DispatchHandler(MessagePad.MessageType.MsgTypeStatusQueryResp, this)); + } else if (source == AdasConstants.SsmSource.SSM_VER2) { + dispatchHandlers.put(MessagePad.MessageType.MsgTypeSSMState, new DispatchHandler(MessagePad.MessageType.MsgTypeSSMState, this)); + } + } + + private void stopDispatch(MessagePad.MessageType type) { + DispatchHandler old = dispatchHandlers.get(type); + dispatchHandlers.remove(type); + if (old != null) { + old.stop(); + } + } + /** * 根据固定IP查询可用IP */ @@ -486,6 +493,16 @@ public class AdasChannel implements IAdasNetCommApi, FpgaSocket.IWebSocketConnec ReceiveTimeoutManager.getInstance().refreshLast(header.getTimestamp()); // CupidLogUtils.w("--->websocket byte read header = " + messageType.toString()); MessagePad.MessageType messageType = header.getMsgType(); + if (usedSsmSource == AdasConstants.SsmSource.SSM_UNKNOWN && (messageType == MessagePad.MessageType.MsgTypeStatusQueryResp || messageType == MessagePad.MessageType.MsgTypeSSMState)) { + if (messageType == MessagePad.MessageType.MsgTypeStatusQueryResp) { + //老SSM(查询方式) + usedSsmSource = AdasConstants.SsmSource.SSM_VER1; + } else { + //新SSM(定频回调) + usedSsmSource = AdasConstants.SsmSource.SSM_VER2; + } + initSsmDispatch(usedSsmSource); + } DispatchHandler handler = dispatchHandlers.get(messageType); if (handler != null) { handler.sendRawMessage(raw); @@ -502,15 +519,6 @@ public class AdasChannel implements IAdasNetCommApi, FpgaSocket.IWebSocketConnec usedChassisSource = AdasConstants.ChassisSource.CHASSIS_VER2; } } - if (usedSsmSource == AdasConstants.SsmSource.SSM_UNKNOWN) { - if (messageType == MessagePad.MessageType.MsgTypeStatusQueryResp) { - //老SSM(查询方式) - usedSsmSource = AdasConstants.SsmSource.SSM_VER1; - } else if (messageType == MessagePad.MessageType.MsgTypeSSMState) { - //新SSM(定频回调) - usedSsmSource = AdasConstants.SsmSource.SSM_VER2; - } - } } else { callError(raw.getProtocolStatus(), byteString.toByteArray()); } @@ -537,20 +545,6 @@ public class AdasChannel implements IAdasNetCommApi, FpgaSocket.IWebSocketConnec } } - @Override - public void onHandler(MessagePad.MessageType type, Handler handler) { - if (type == MessagePad.MessageType.MsgTypeStatusQueryResp) { - AutopilotAbilityManager.getInstance().setHandler(handler); - } - } - - @Override - public void onHandleMessage(MessagePad.MessageType type, Message msg) { - if (type == MessagePad.MessageType.MsgTypeStatusQueryResp) { - AutopilotAbilityManager.getInstance().onHandleMessage(msg); - } - } - /** * 认证超时执行 */ @@ -721,49 +715,7 @@ public class AdasChannel implements IAdasNetCommApi, FpgaSocket.IWebSocketConnec @Override public void onWebSocketConnectStatus(AdasConstants.IpcConnectionStatus status, Object... args) { - if (status == AdasConstants.IpcConnectionStatus.CONNECTED) { //连接成功 - if (args != null && args.length > 1) { - ipcConnectedIp = (String) args[0]; - ipcConnectedPort = (int) args[1]; - } - seqSpecialVehicle = 0; - AutopilotAbilityManager.getInstance().start(); - ParallelDrivingManager.getInstance().start(); - startCheckCompatibility(); - updateConnectStatus(status, null); - //更新连接成功状态之后再根据是否认证进行认证检查 - if (adasOptions.isCertification()) { - //启动认证超时 - if (defaultDispatchHandler != null) { - defaultDispatchHandler.start(); - defaultDispatchHandler.postRunnableDelayed(certificationTimeoutRunnable, 5000L); - } - } else { - //不启用认证的时候直接进行数据发送 -// initConfigure();//注释掉统一改成等待域控定频接口存储数据的时候调用 - } - } else { - AutopilotAbilityManager.getInstance().stop(); - ParallelDrivingManager.getInstance().stop(); - AdasManager.getInstance().setCarConfig(null); - stopCheckCompatibility(); - stopDispatchHandler(); - stopCarConfigReq(); - ipcConnectedIp = null; - ipcConnectedPort = Constants.DEFAULT_PORT; - subscribeInterface = null; - usedChassisSource = AdasConstants.ChassisSource.CHASSIS_UNKNOWN; - usedSsmSource = AdasConstants.SsmSource.SSM_UNKNOWN; - receivedAckManager.stop(); - if (connectFinish()) { - stopPingAddress(false); - } - String reason = null; - if (args != null && args.length > 0) { - reason = String.valueOf(args[0]); - } - updateConnectStatus(status, reason); - } + callConnectStatus(status, args); } @Override @@ -863,17 +815,58 @@ public class AdasChannel implements IAdasNetCommApi, FpgaSocket.IWebSocketConnec //此状态更新两个作用：1.更改FpgaSocket中的status状态；2.更新对外连接状态 private void updateConnectStatus(AdasConstants.IpcConnectionStatus status) { setConnectStatus(status); - updateConnectStatus(status, null); + callConnectStatus(status); } /** * 工控机连接状态更新 * * @param status 状态 - * @param reason 状态描述 - * 如果ipcConnectionStatus == Constants.IPC_CONNECTION_STATUS.DISCONNECTED && reason==null 表示主动断开连接 + * @param args 状态描述 */ - private void updateConnectStatus(AdasConstants.IpcConnectionStatus status, @Nullable String reason) { + private void callConnectStatus(AdasConstants.IpcConnectionStatus status, @Nullable Object... args) { + String reason = null; + if (status == AdasConstants.IpcConnectionStatus.CONNECTED) { //连接成功 + if (args != null && args.length > 1) { + ipcConnectedIp = (String) args[0]; + ipcConnectedPort = (int) args[1]; + } + seqSpecialVehicle = 0; + AutopilotAbilityManager.getInstance().start(); + ParallelDrivingManager.getInstance().start(); + startCheckCompatibility(); + //更新连接成功状态之后再根据是否认证进行认证检查 + if (adasOptions.isCertification()) { + //启动认证超时 + if (defaultDispatchHandler != null) { + defaultDispatchHandler.start(); + defaultDispatchHandler.postRunnableDelayed(certificationTimeoutRunnable, 5000L); + } + } else { + //不启用认证的时候直接进行数据发送 +// initConfigure();//注释掉统一改成等待域控定频接口存储数据的时候调用 + } + } else { + AutopilotAbilityManager.getInstance().stop(); + ParallelDrivingManager.getInstance().stop(); + AdasManager.getInstance().setCarConfig(null); + stopCheckCompatibility(); + stopDispatchHandler(); + isInitConfigure.set(false); + stopCarConfigReq(); + ipcConnectedIp = null; + ipcConnectedPort = Constants.DEFAULT_PORT; + subscribeInterface = null; + usedChassisSource = AdasConstants.ChassisSource.CHASSIS_UNKNOWN; + usedSsmSource = AdasConstants.SsmSource.SSM_UNKNOWN; + receivedAckManager.stop(); + if (connectFinish()) { + stopPingAddress(false); + } + if (args != null && args.length > 0) { + reason = String.valueOf(args[0]); + } + } if (adasConnectStatusListener != null) { adasConnectStatusListener.onConnectionIPCStatus(status, reason); } @@ -1026,7 +1019,7 @@ public class AdasChannel implements IAdasNetCommApi, FpgaSocket.IWebSocketConnec } } } - }, 10, 2000L); + }, 10, 4000L); } } diff --git a/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/OnAdasListener.java b/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/OnAdasListener.java index 8decc2bce8..9329e325e0 100644 --- a/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/OnAdasListener.java +++ b/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/OnAdasListener.java @@ -470,6 +470,14 @@ public interface OnAdasListener { */ void onM1StitchedVideo(@NonNull MessagePad.Header header, @NonNull byte[] data); + /** + * 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 + */ + void onSsmReceiveTimeout(boolean isTimeout); + /** * 是否有能力启动自动驾驶 * 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 49f8901946..2c6aecfe1f 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 @@ -1,8 +1,5 @@ package com.zhidao.support.adas.high.common.autopilot.ability; -import androidx.annotation.NonNull; -import androidx.annotation.Nullable; - import com.zhjt.mogo.adas.data.bean.UnableLaunchData; import com.zhjt.mogo.adas.data.bean.UnableLaunchReason; @@ -26,10 +23,6 @@ public class AutopilotAbility230 { private ChassisStatesOuterClass.ChassisStates chassisStates; private OnAutopilotAbilityListener listener; - protected interface OnAutopilotAbilityListener { - void onAutopilotAbility(boolean isAutopilotAbility, @NonNull UnableLaunchData unableLaunchData, @Nullable ArrayList unableAutopilotReasons); - } - protected 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 26edab1848..e1a7357b14 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 @@ -1,8 +1,5 @@ package com.zhidao.support.adas.high.common.autopilot.ability; -import androidx.annotation.NonNull; -import androidx.annotation.Nullable; - import com.zhidao.support.adas.high.AdasManager; import com.zhidao.support.adas.high.common.CupidLogUtils; import com.zhjt.mogo.adas.data.bean.UnableLaunchData; @@ -37,16 +34,6 @@ public class AutopilotAbility250 { private boolean isM1 = false;//是否是M1 private OnAutopilotAbilityListener listener; - protected interface OnAutopilotAbilityListener { - void onAutopilotAbility(boolean isAutopilotAbility, @NonNull UnableLaunchData unableLaunchData, @Nullable ArrayList unableAutopilotReasons); - - void onStatusQuery(); - - void onSendTimeoutMessages(); - - void onRemoveTimeoutMessages(); - } - protected AutopilotAbility250(int mapVersion, boolean isHQ, boolean isDF, boolean isM1) { this.mapVersion = mapVersion; this.isHQ = isHQ; @@ -57,9 +44,6 @@ public class AutopilotAbility250 { protected void setStatusInfo(SystemStatusInfo.StatusInfo statusInfo) { - if (listener != null) { - listener.onRemoveTimeoutMessages(); - } onCallback(statusInfo); } @@ -140,7 +124,7 @@ public class AutopilotAbility250 { } } else { isAutopilotAbility = false;//是否能启动自动驾驶 - unableAutopilotReasons = AutopilotAbilityManager.getInstance().addUnableAutopilotReason(unableAutopilotReasons, UnableLaunchReason.SourceType.LIB, UnableLaunchReason.UnableType.SSM_ERROR, "SSM状态查询超时无响应"); + unableAutopilotReasons = AutopilotAbilityManager.getInstance().addUnableAutopilotReason(unableAutopilotReasons, UnableLaunchReason.SourceType.LIB, UnableLaunchReason.UnableType.SSM_TIMEOUT, "SSM查询超时无响应"); } //检测底盘相关 if (chassisStates != null) { @@ -184,15 +168,9 @@ public class AutopilotAbility250 { timer.schedule(new TimerTask() { @Override public void run() { - if (listener != null) { - listener.onStatusQuery(); - } AdasManager.getInstance().sendStatusQueryReq(); - if (listener != null) { - listener.onSendTimeoutMessages(); - } } - }, 2000L, AutopilotAbilityManager.DEFAULT_DETECTION_TIME);//延迟执行，避免刚连接成功后底盘信息无法及时同步 + }, 1000L, AutopilotAbilityManager.DEFAULT_DETECTION_TIME);//延迟执行，避免刚连接成功后底盘信息无法及时同步 } } diff --git a/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/common/autopilot/ability/AutopilotAbility330.java b/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/common/autopilot/ability/AutopilotAbility330.java index e8c95dc670..f21bdfbdc6 100644 --- a/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/common/autopilot/ability/AutopilotAbility330.java +++ b/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/common/autopilot/ability/AutopilotAbility330.java @@ -2,9 +2,6 @@ package com.zhidao.support.adas.high.common.autopilot.ability; import android.text.TextUtils; -import androidx.annotation.NonNull; -import androidx.annotation.Nullable; - import com.zhidao.support.adas.high.AdasManager; import com.zhidao.support.adas.high.common.CupidLogUtils; import com.zhjt.mogo.adas.data.bean.UnableLaunchData; @@ -35,16 +32,6 @@ public class AutopilotAbility330 { private int masterVersion = -1;//Master版本 private OnAutopilotAbilityListener listener; - protected interface OnAutopilotAbilityListener { - void onAutopilotAbility(boolean isAutopilotAbility, @NonNull UnableLaunchData unableLaunchData, @Nullable ArrayList unableAutopilotReasons); - - void onStatusQuery(); - - void onSendTimeoutMessages(); - - void onRemoveTimeoutMessages(); - } - protected AutopilotAbility330(int mapVersion) { this.mapVersion = mapVersion; this.masterVersion = -1; @@ -55,9 +42,6 @@ public class AutopilotAbility330 { } protected void setStatusInfo(SystemStatusInfo.StatusInfo statusInfo) { - if (listener != null) { - listener.onRemoveTimeoutMessages(); - } onCallback(statusInfo); } @@ -131,7 +115,7 @@ public class AutopilotAbility330 { } } else { isAutopilotAbility = false;//是否能启动自动驾驶 - unableAutopilotReasons = AutopilotAbilityManager.getInstance().addUnableAutopilotReason(unableAutopilotReasons, UnableLaunchReason.SourceType.LIB, UnableLaunchReason.UnableType.SSM_ERROR, "SSM状态查询超时无响应"); + unableAutopilotReasons = AutopilotAbilityManager.getInstance().addUnableAutopilotReason(unableAutopilotReasons, UnableLaunchReason.SourceType.LIB, UnableLaunchReason.UnableType.SSM_TIMEOUT, "SSM查询超时无响应"); } if (fsmStatusReasonRespond != null) { int count = fsmStatusReasonRespond.getFsmStatusReasonRespondCount(); @@ -149,8 +133,9 @@ public class AutopilotAbility330 { } } if (listener != null) { - listener.onAutopilotAbility(isAutopilotAbility, new UnableLaunchData(this.getClass().getSimpleName(), statusInfo, null, null), unableAutopilotReasons); + listener.onAutopilotAbility(isAutopilotAbility, new UnableLaunchData(this.getClass().getSimpleName(), statusInfo, null, fsmStatusReasonRespond), unableAutopilotReasons); } + fsmStatusReasonRespond = null; } protected synchronized void start(OnAutopilotAbilityListener listener) { @@ -160,13 +145,7 @@ public class AutopilotAbility330 { timer.schedule(new TimerTask() { @Override public void run() { - if (listener != null) { - listener.onStatusQuery(); - } AdasManager.getInstance().sendStatusQueryReq(); - if (listener != null) { - listener.onSendTimeoutMessages(); - } } }, 2000L, AutopilotAbilityManager.DEFAULT_DETECTION_TIME);//延迟执行，避免刚连接成功后底盘信息无法及时同步 } diff --git a/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/common/autopilot/ability/AutopilotAbility350And360.java b/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/common/autopilot/ability/AutopilotAbility350And360.java index 900e064b18..ce62655e88 100644 --- a/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/common/autopilot/ability/AutopilotAbility350And360.java +++ b/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/common/autopilot/ability/AutopilotAbility350And360.java @@ -1,8 +1,5 @@ package com.zhidao.support.adas.high.common.autopilot.ability; -import androidx.annotation.NonNull; -import androidx.annotation.Nullable; - import com.zhidao.support.adas.high.AdasManager; import com.zhidao.support.adas.high.common.CupidLogUtils; import com.zhjt.mogo.adas.data.bean.UnableLaunchData; @@ -32,10 +29,6 @@ public class AutopilotAbility350And360 { private boolean isM1 = false;//是否是M1 private OnAutopilotAbilityListener listener; - protected interface OnAutopilotAbilityListener { - void onAutopilotAbility(boolean isAutopilotAbility, @NonNull UnableLaunchData unableLaunchData, @Nullable ArrayList unableAutopilotReasons); - - } protected AutopilotAbility350And360(int mapVersion, boolean isHQ, boolean isDF, boolean isM1) { this.mapVersion = mapVersion; @@ -115,7 +108,7 @@ public class AutopilotAbility350And360 { } } else { isAutopilotAbility = false;//是否能启动自动驾驶 - unableAutopilotReasons = AutopilotAbilityManager.getInstance().addUnableAutopilotReason(unableAutopilotReasons, UnableLaunchReason.SourceType.LIB, UnableLaunchReason.UnableType.SSM_ERROR, "SSM状态查询超时无响应"); + unableAutopilotReasons = AutopilotAbilityManager.getInstance().addUnableAutopilotReason(unableAutopilotReasons, UnableLaunchReason.SourceType.LIB, UnableLaunchReason.UnableType.SSM_TIMEOUT, "SSM超时无响应"); } //检测底盘相关 if (chassisStates != null) { @@ -162,5 +155,8 @@ public class AutopilotAbility350And360 { this.listener = null; } + protected void onCallTimeout() { + onCallback(null); + } } diff --git a/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/common/autopilot/ability/AutopilotAbility360.java b/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/common/autopilot/ability/AutopilotAbility360.java index bd7aecb4f8..07b19eea16 100644 --- a/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/common/autopilot/ability/AutopilotAbility360.java +++ b/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/common/autopilot/ability/AutopilotAbility360.java @@ -2,9 +2,6 @@ package com.zhidao.support.adas.high.common.autopilot.ability; import android.text.TextUtils; -import androidx.annotation.NonNull; -import androidx.annotation.Nullable; - import com.zhidao.support.adas.high.AdasManager; import com.zhidao.support.adas.high.common.CupidLogUtils; import com.zhjt.mogo.adas.data.bean.UnableLaunchData; @@ -28,12 +25,6 @@ public class AutopilotAbility360 { private int masterVersion = -1;//Master版本 private OnAutopilotAbilityListener listener; - protected interface OnAutopilotAbilityListener { - void onAutopilotAbility(boolean isAutopilotAbility, @NonNull UnableLaunchData unableLaunchData, @Nullable ArrayList unableAutopilotReasons); - - - } - protected AutopilotAbility360() { this.masterVersion = -1; } @@ -103,7 +94,7 @@ public class AutopilotAbility360 { } } else { isAutopilotAbility = false;//是否能启动自动驾驶 - unableAutopilotReasons = AutopilotAbilityManager.getInstance().addUnableAutopilotReason(unableAutopilotReasons, UnableLaunchReason.SourceType.LIB, UnableLaunchReason.UnableType.SSM_ERROR, "SSM状态查询超时无响应"); + unableAutopilotReasons = AutopilotAbilityManager.getInstance().addUnableAutopilotReason(unableAutopilotReasons, UnableLaunchReason.SourceType.LIB, UnableLaunchReason.UnableType.SSM_TIMEOUT, "SSM超时无响应"); } if (fsmStatusReasonRespond != null) { int count = fsmStatusReasonRespond.getFsmStatusReasonRespondCount(); @@ -123,6 +114,7 @@ public class AutopilotAbility360 { if (listener != null) { listener.onAutopilotAbility(isAutopilotAbility, new UnableLaunchData(this.getClass().getSimpleName(), null, statusInfo, fsmStatusReasonRespond), unableAutopilotReasons); } + fsmStatusReasonRespond = null; } protected void start(OnAutopilotAbilityListener listener) { @@ -133,4 +125,8 @@ public class AutopilotAbility360 { this.masterVersion = -1; this.listener = null; } + + protected void onCallTimeout() { + onCallback(null); + } } 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 69e8ca841f..ac45c9287a 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 @@ -1,8 +1,5 @@ package com.zhidao.support.adas.high.common.autopilot.ability; -import android.os.Handler; -import android.os.Message; - import androidx.annotation.NonNull; import androidx.annotation.Nullable; @@ -18,6 +15,7 @@ import java.util.HashSet; import java.util.Set; import java.util.Timer; import java.util.TimerTask; +import java.util.concurrent.atomic.AtomicBoolean; import chassis.Chassis; import chassis.ChassisStatesOuterClass; @@ -34,10 +32,9 @@ import system_master.SystemStatusInfo; *

* 此定时器不能停止 鹰眼中存在UI更新依赖循环查询系统状态 */ -public class AutopilotAbilityManager implements AutopilotAbility230.OnAutopilotAbilityListener, AutopilotAbility250.OnAutopilotAbilityListener, AutopilotAbility330.OnAutopilotAbilityListener, AutopilotAbility350And360.OnAutopilotAbilityListener, AutopilotAbility360.OnAutopilotAbilityListener { +public class AutopilotAbilityManager implements OnAutopilotAbilityListener { private static final String TAG = AutopilotAbilityManager.class.getSimpleName(); - protected static final int WHAT_TIMEOUT = 0; - protected static final int DEFAULT_TIMEOUT = 2500; + protected static final long DEFAULT_SSM_TIMEOUT = 5000L;//SSM超时时间 protected static final long DEFAULT_DETECTION_TIME = 3 * 1000L;//默认检测周期 protected static final String[] NODE_INFO_STATE = {"未知状态", "依赖未就绪", "启动中", "运行", "停止", "无法启动状态", "人为启动状态", "人为关闭状态"}; protected static final String[] NODE_INFO_STATE_FIXED_FREQUENCY = {"未知状态", "依赖未就绪", "启动中", "运行", "停止", "无法启动状态", "非自动启动状态", "非自动关闭状态"}; @@ -46,8 +43,6 @@ public class AutopilotAbilityManager implements AutopilotAbility230.OnAutopilotA protected static final String REASON_CHASSIS_PARKING_BRAKE = "请检查手刹"; private static volatile AutopilotAbilityManager INSTANCE; private OnAdasListener listener; - private Handler handler; - private OnAutopilotAbilityListener onAutopilotAbilityListener; private int mapVersion = -1;//工控机版本 private boolean isFutianSweeper = false;//是否是福田清扫车 private boolean isJinlvM1 = false;//是否是M1 @@ -60,15 +55,16 @@ public class AutopilotAbilityManager implements AutopilotAbility230.OnAutopilotA private AutopilotAbility350And360 autopilotAbility350And360; private AutopilotAbility360 autopilotAbility360; private Timer startTimer; + private Timer ssmTimeoutTimer;//SSM超时计时器 + private long ssmReceiveTime;//SSM接收时间 + + private final AtomicBoolean isOldSsmTimeout = new AtomicBoolean(false);//SSM是否超时 老状态 + private final AtomicBoolean isInitCarConfig = new AtomicBoolean(false);//车辆信息是否初始化 /** * 不能启动自动驾驶的档位 */ private Set unableLaunchAutopilotGear; - public interface OnAutopilotAbilityListener { - void onStatusQuery();//查询是被调用 - } - private AutopilotAbilityManager() { } @@ -132,18 +128,20 @@ public class AutopilotAbilityManager implements AutopilotAbility230.OnAutopilotA } } - public void setCarConfig(MessagePad.CarConfigResp carConfig) { - mapVersion = carConfig.getMapVersion(); - isFutianSweeper = carConfig.getIsFutianSweeper(); - isJinlvM1 = carConfig.getIsJinlvM1(); - isHQ = carConfig.getIsHQ(); - isDF = carConfig.getIsDF(); - isM1 = carConfig.getIsJinlvM1(); - taxiUnmanned(); - if (mapVersion != -1) { - stopTimer(); - CupidLogUtils.i(TAG, "工控机版本=" + mapVersion); - initAutopilotAbility(); + public void setCarConfig(@NonNull MessagePad.CarConfigResp carConfig) { + if (!isInitCarConfig.get()) { + int version = carConfig.getMapVersion(); + if (version != 0) { + isInitCarConfig.set(true); + mapVersion = version; + isFutianSweeper = carConfig.getIsFutianSweeper(); + isJinlvM1 = carConfig.getIsJinlvM1(); + isHQ = carConfig.getIsHQ(); + isDF = carConfig.getIsDF(); + isM1 = carConfig.getIsJinlvM1(); + taxiUnmanned(); + initAutopilotAbility(); + } } } @@ -158,38 +156,6 @@ public class AutopilotAbilityManager implements AutopilotAbility230.OnAutopilotA } } - @Override - public void onStatusQuery() { - if (onAutopilotAbilityListener != null) { - onAutopilotAbilityListener.onStatusQuery(); - } - } - - @Override - public void onSendTimeoutMessages() { - onRemoveTimeoutMessages(); - if (handler != null) { - handler.sendEmptyMessageDelayed(WHAT_TIMEOUT, DEFAULT_TIMEOUT); - } - } - - @Override - public void onRemoveTimeoutMessages() { - if (handler != null) { - if (handler.hasMessages(WHAT_TIMEOUT)) - handler.removeMessages(WHAT_TIMEOUT); - } - } - - public void setHandler(Handler handler) { - this.handler = handler; - } - - - public void setOnAutopilotAbilityListener(OnAutopilotAbilityListener onAutopilotAbilityListener) { - this.onAutopilotAbilityListener = onAutopilotAbilityListener; - } - /** * SSM状态更新 @@ -197,6 +163,8 @@ public class AutopilotAbilityManager implements AutopilotAbility230.OnAutopilotA * @param statusInfo SSM */ public void setStatusInfo(SystemStatusInfo.StatusInfo statusInfo) { + ssmReceiveTime = System.currentTimeMillis(); + onCallSSMTimeout(false); if (autopilotAbility250 != null) { autopilotAbility250.setStatusInfo(statusInfo); } @@ -206,6 +174,8 @@ public class AutopilotAbilityManager implements AutopilotAbility230.OnAutopilotA } public void setStatusInfo(SsmInfo.SsmStatusInf statusInfo) { + ssmReceiveTime = System.currentTimeMillis(); + onCallSSMTimeout(false); if (autopilotAbility350And360 != null) { autopilotAbility350And360.setStatusInfo(statusInfo); } @@ -259,24 +229,11 @@ public class AutopilotAbilityManager implements AutopilotAbility230.OnAutopilotA } } - public void onHandleMessage(Message msg) { - if (msg.what == WHAT_TIMEOUT) { - if (autopilotAbility250 != null) { - autopilotAbility250.onCallTimeout(); - } - if (autopilotAbility330 != null) { - autopilotAbility330.onCallTimeout(); - } - } - } private void initAutopilotAbility() { + stopAllTimer(); if (mapVersion >= 30600 && isFutianSweeper) { CupidLogUtils.log(TAG, "能否启动自驾能力检测使用版本：360清扫车专用"); - stop230(); - stop250(); - stop330(); - stop350And360(); if (autopilotAbility360 == null) { autopilotAbility360 = new AutopilotAbility360(); autopilotAbility360.start(this); @@ -284,10 +241,6 @@ public class AutopilotAbilityManager implements AutopilotAbility230.OnAutopilotA } else if ((mapVersion >= 30500 && (isJinlvM1 || isHQ)) || mapVersion >= 30600) { CupidLogUtils.log(TAG, "能否启动自驾能力检测使用版本：350和360共用"); - stop230(); - stop250(); - stop330(); - stop360(); if (autopilotAbility350And360 == null) { autopilotAbility350And360 = new AutopilotAbility350And360(mapVersion, isHQ, isDF, isM1); autopilotAbility350And360.start(this); @@ -295,35 +248,25 @@ public class AutopilotAbilityManager implements AutopilotAbility230.OnAutopilotA } else if (mapVersion >= 30300 && isFutianSweeper) {//目前只有MAP330的清扫车用的新的FSM状态原因查询 CupidLogUtils.log(TAG, "能否启动自驾能力检测使用版本：330清扫车专用"); - stop230(); - stop250(); - stop350And360(); - stop360(); if (autopilotAbility330 == null) { autopilotAbility330 = new AutopilotAbility330(mapVersion); autopilotAbility330.start(this); } } else if (mapVersion >= 20500) { CupidLogUtils.log(TAG, "能否启动自驾能力检测使用版本：250"); - stop230(); - stop330(); - stop350And360(); - stop360(); if (autopilotAbility250 == null) { autopilotAbility250 = new AutopilotAbility250(mapVersion, isHQ, isDF, isM1); autopilotAbility250.start(this); } } else { CupidLogUtils.log(TAG, "能否启动自驾能力检测使用版本：230"); - stop250(); - stop330(); - stop350And360(); - stop360(); if (autopilotAbility230 == null) { autopilotAbility230 = new AutopilotAbility230(); autopilotAbility230.start(this); } - + } + if (autopilotAbility230 == null) { + startSsmTimeoutTimer();//MAP230及以下没有SSM所以不需要超时 } } @@ -379,24 +322,79 @@ public class AutopilotAbilityManager implements AutopilotAbility230.OnAutopilotA startTimer.schedule(new TimerTask() { @Override public void run() { - if (mapVersion == -1 && AdasManager.getInstance().getIpcConnectionStatus() == AdasConstants.IpcConnectionStatus.CONNECTED) { + if (!isInitCarConfig.get() && AdasManager.getInstance().getIpcConnectionStatus() == AdasConstants.IpcConnectionStatus.CONNECTED) { mapVersion = 20300; initAutopilotAbility(); } } - }, 8000L);//8秒原因：需要后去CarConfig 对象，两个地方调用initAutopilotAbility(); 初始化 一个在这，另一个在setCarConfig(),如果setCarConfig() 证明获取版本还未成功，获取版本会重试3次每次间隔两秒 + }, 15000L);//15秒原因：需要后去CarConfig 对象，两个地方调用initAutopilotAbility(); 初始化 一个在这，另一个在setCarConfig(),如果setCarConfig() 证明获取版本还未成功，获取版本会重试3次每次间隔四秒 } } - public synchronized void stop() { + + private void stopSsmTimeoutTimer() { + if (ssmTimeoutTimer != null) { + isOldSsmTimeout.set(false); + ssmReceiveTime = 0; + ssmTimeoutTimer.cancel(); + ssmTimeoutTimer = null; + } + } + + /** + * 连接工控机成功调用此函数，如果dockerVersion还未获取到将启动最低版本的启动自动驾驶能力检测 + * 此函数为保险措施 以防无法获取工控机版本时 也能 正常执行逻辑 + */ + public synchronized void startSsmTimeoutTimer() { + if (ssmTimeoutTimer == null) { + ssmReceiveTime = System.currentTimeMillis(); + ssmTimeoutTimer = new Timer(); + ssmTimeoutTimer.schedule(new TimerTask() { + @Override + public void run() { + long timeDifference = System.currentTimeMillis() - ssmReceiveTime; + if (timeDifference >= DEFAULT_SSM_TIMEOUT) { + onCallSSMTimeout(true); + //超时 + if (autopilotAbility250 != null) { + autopilotAbility250.onCallTimeout(); + } + if (autopilotAbility330 != null) { + autopilotAbility330.onCallTimeout(); + } + if (autopilotAbility350And360 != null) { + autopilotAbility350And360.onCallTimeout(); + } + if (autopilotAbility360 != null) { + autopilotAbility360.onCallTimeout(); + } + } + } + }, 1000L, DEFAULT_SSM_TIMEOUT); + } + } + + private synchronized void onCallSSMTimeout(boolean isTimeout) { + if (isTimeout != isOldSsmTimeout.get()) { + isOldSsmTimeout.set(isTimeout); + listener.onSsmReceiveTimeout(isTimeout); + } + } + + private void stopAllTimer() { + stopSsmTimeoutTimer(); stopTimer(); stop230(); stop250(); stop330(); stop350And360(); stop360(); - handler = null; + } + + public synchronized void stop() { + stopAllTimer(); + isInitCarConfig.set(false); mapVersion = -1; isFutianSweeper = false; isHQ = false; diff --git a/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/common/autopilot/ability/OnAutopilotAbilityListener.java b/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/common/autopilot/ability/OnAutopilotAbilityListener.java new file mode 100644 index 0000000000..c528e221d6 --- /dev/null +++ b/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/common/autopilot/ability/OnAutopilotAbilityListener.java @@ -0,0 +1,13 @@ +package com.zhidao.support.adas.high.common.autopilot.ability; + +import androidx.annotation.NonNull; +import androidx.annotation.Nullable; + +import com.zhjt.mogo.adas.data.bean.UnableLaunchData; +import com.zhjt.mogo.adas.data.bean.UnableLaunchReason; + +import java.util.ArrayList; + +interface OnAutopilotAbilityListener { + void onAutopilotAbility(boolean isAutopilotAbility, @NonNull UnableLaunchData unableLaunchData, @Nullable ArrayList unableAutopilotReasons); +} diff --git a/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/msg/CarConfigRespMessage.java b/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/msg/CarConfigRespMessage.java index 514d612f5d..fd5f7005a6 100644 --- a/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/msg/CarConfigRespMessage.java +++ b/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/msg/CarConfigRespMessage.java @@ -41,22 +41,19 @@ public class CarConfigRespMessage extends MyAbstractMessageHandler { * 添加私有参数 */ private MessagePad.CarConfigResp addPersonalParameter(MessagePad.CarConfigResp carConfigResp) { - if (carConfigResp != null) { - String dockVersion = carConfigResp.getDockVersion(); - String carType = carConfigResp.getCarType().toLowerCase(); - String subCarType = carConfigResp.getSubCarType().toLowerCase(); - MessagePad.CarConfigResp.Builder builder = carConfigResp.toBuilder(); - builder.setMapVersion(AdasManager.getInstance().parseVersion(dockVersion)); - builder.setIsDF("df".equals(carType))//是否是东风 - .setIsHQ("hq".equals(carType))//是否是红旗 - .setIsJinlv("jinlv".equals(carType) && TextUtils.isEmpty(subCarType))//是否是金旅小巴 - .setIsJinlvM1("jinlv".equals(carType) && "m1".equals(subCarType))//是否是金旅M1 - .setIsJinlvM2("jinlv".equals(carType) && "m2".equals(subCarType))//是否是金旅M2 - .setIsFutianSweeper("sweeper".equals(carType))//是否是福田清扫车 - .setIsKaiwo("kaiwo".equals(carType));//是否是开沃 - return builder.build(); - } - return null; + String dockVersion = carConfigResp.getDockVersion(); + String carType = carConfigResp.getCarType().toLowerCase(); + String subCarType = carConfigResp.getSubCarType().toLowerCase(); + MessagePad.CarConfigResp.Builder builder = carConfigResp.toBuilder(); + builder.setMapVersion(AdasManager.getInstance().parseVersion(dockVersion)); + builder.setIsDF("df".equals(carType))//是否是东风 + .setIsHQ("hq".equals(carType))//是否是红旗 + .setIsJinlv("jinlv".equals(carType) && TextUtils.isEmpty(subCarType))//是否是金旅小巴 + .setIsJinlvM1("jinlv".equals(carType) && "m1".equals(subCarType))//是否是金旅M1 + .setIsJinlvM2("jinlv".equals(carType) && "m2".equals(subCarType))//是否是金旅M2 + .setIsFutianSweeper("sweeper".equals(carType))//是否是福田清扫车 + .setIsKaiwo("kaiwo".equals(carType));//是否是开沃 + return builder.build(); } } diff --git a/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/msg/StatusQueryRespMessage.java b/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/msg/StatusQueryRespMessage.java index 987f41b13e..c2cfada50f 100644 --- a/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/msg/StatusQueryRespMessage.java +++ b/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/msg/StatusQueryRespMessage.java @@ -5,8 +5,8 @@ import android.os.SystemClock; import com.google.protobuf.InvalidProtocolBufferException; import com.zhidao.support.adas.high.AdasChannel; import com.zhidao.support.adas.high.OnAdasListener; -import com.zhidao.support.adas.high.common.autopilot.ability.AutopilotAbilityManager; import com.zhidao.support.adas.high.common.CupidLogUtils; +import com.zhidao.support.adas.high.common.autopilot.ability.AutopilotAbilityManager; import com.zhidao.support.adas.high.protocol.RawData; import system_master.SystemStatusInfo; diff --git a/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/thread/DispatchHandler.java b/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/thread/DispatchHandler.java index 09fd0496d0..6d18cd83ea 100644 --- a/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/thread/DispatchHandler.java +++ b/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/thread/DispatchHandler.java @@ -27,10 +27,6 @@ public class DispatchHandler { private BaseHandler mBaseHandler; public interface OnDispatchHandlerListener { - void onHandler(MessagePad.MessageType type, Handler handler); - - void onHandleMessage(MessagePad.MessageType type, Message msg); - void onDispatchRaw(MessagePad.MessageType type, RawData raw); } @@ -46,7 +42,6 @@ public class DispatchHandler { mThread = new HandlerThread(name); mThread.start(); initHandler(mThread.getLooper()); - listener.onHandler(messageType, mBaseHandler); } } @@ -96,8 +91,6 @@ public class DispatchHandler { } } listener.onDispatchRaw(messageType, (RawData) msg.obj); - } else { - listener.onHandleMessage(messageType, msg); } }