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[630][adas] 新增SSM超时检测功能

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This commit is contained in:
xinfengkun
2024-03-13 10:45:50 +08:00
parent f23ebb0f35
commit 369450e2b5
14 changed files with 221 additions and 272 deletions
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3
libraries/mogo-adas-data/src/main/java/com/zhjt/mogo/adas/data/bean/UnableLaunchReason.java
View File

@@ -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
}
/**

159
libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/AdasChannel.java
View File

@@ -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<MessagePad.MessageType, DispatchHandler> 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);
}
}

8
libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/OnAdasListener.java
View File

@@ -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
*

7
libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/common/autopilot/ability/AutopilotAbility230.java
View File

@@ -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<UnableLaunchReason> unableAutopilotReasons);
}
protected AutopilotAbility230() {
}

26
libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/common/autopilot/ability/AutopilotAbility250.java
View File

@@ -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<UnableLaunchReason> 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
}
}

27
libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/common/autopilot/ability/AutopilotAbility330.java
View File

@@ -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<UnableLaunchReason> 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
}

12
libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/common/autopilot/ability/AutopilotAbility350And360.java
View File

@@ -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<UnableLaunchReason> 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);
}
}

16
libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/common/autopilot/ability/AutopilotAbility360.java
View File

@@ -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<UnableLaunchReason> 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);
}
}

180
libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/common/autopilot/ability/AutopilotAbilityManager.java
View File

@@ -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;
* <p>
* 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<Chassis.GearPosition> 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;

13
libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/common/autopilot/ability/OnAutopilotAbilityListener.java Normal file
View File

@@ -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<UnableLaunchReason> unableAutopilotReasons);
}

29
libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/msg/CarConfigRespMessage.java
View File

@@ -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();
}
}

2
libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/msg/StatusQueryRespMessage.java
View File

@@ -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;

7
libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/thread/DispatchHandler.java
View File

@@ -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);
}
}