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Merge branch 'dev_trajectory_from270' into dev_robotaxi-d-app-module_280_220608_2.8.0

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This commit is contained in:
xinfengkun
2022-06-08 23:05:35 +08:00
parent e3d905f748 f10b4354bd
commit 3b6815be18
24 changed files with 677 additions and 321 deletions
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1
app_ipc_monitoring/src/main/AndroidManifest.xml
View File

@@ -32,6 +32,7 @@
<uses-permission android:name="android.permission.SYSTEM_ALERT_WINDOW" />
<application
android:name=".App"
android:allowBackup="true"
android:icon="@drawable/icon"
android:label="@string/app_name"

13
app_ipc_monitoring/src/main/java/com/zhidao/adas/client/App.java Normal file
View File

@@ -0,0 +1,13 @@
package com.zhidao.adas.client;
import android.app.Application;
import com.zhidao.adas.client.utils.CrashHandler;
public class App extends Application {
@Override
public void onCreate() {
super.onCreate();
CrashHandler.getInstance().init(this);
}
}

181
app_ipc_monitoring/src/main/java/com/zhidao/adas/client/DataDistribution.java
View File

@@ -1,5 +1,7 @@
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.BaseInfo;
@@ -11,6 +13,7 @@ import com.zhidao.adas.client.bean.GnssInfo;
import com.zhidao.adas.client.bean.MogoReportMessage;
import com.zhidao.adas.client.bean.MyPointCloud;
import com.zhidao.adas.client.bean.PerceptionTrafficLight;
import com.zhidao.adas.client.bean.PlanningObjects;
import com.zhidao.adas.client.bean.PredictionObstacleTrajectory;
import com.zhidao.adas.client.bean.RecordPanel;
import com.zhidao.adas.client.bean.TrackedObjects;
@@ -18,6 +21,7 @@ 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;
import java.text.SimpleDateFormat;
@@ -37,8 +41,7 @@ public class DataDistribution {
private final LinkedBlockingQueue<BaseInfo> queue;
private final SimpleDateFormat sdf = new SimpleDateFormat("yyyy-MM-dd HH:mm:ss.SSS ", Locale.getDefault());
private Future future;
// private final List<OnAdasClientListener> listeners = new ArrayList<>();
private OnAdasClientListener listener;
private Pair<String, OnAdasClientListener> listener;
private volatile boolean isCutDown = true;//是否缩短日志显示
private DataDistribution() {
@@ -57,17 +60,16 @@ public class DataDistribution {
return INSTANCE;
}
public void registerOnAdasClientListener(OnAdasClientListener listener) {
this.listener = null;
public void registerAdasClientListener(Pair<String, OnAdasClientListener> listener) {
this.listener = listener;
// if (!listeners.contains(listener)) {
// listeners.add(listener);
// }
}
// public void unregisterOnAdasClientListener(OnAdasClientListener listener) {
// listeners.remove(listener);
// }
public void unregisterAdasClientListener(Pair<String, OnAdasClientListener> listener) {
if (this.listener != null && listener != null)
if (listener.second.hashCode() == this.listener.second.hashCode()) {
this.listener = null;
}
}
public void addData(BaseInfo info) {
@@ -102,13 +104,13 @@ public class DataDistribution {
public final List<String> listMogoReportMessage = new ArrayList<>();
public final List<String> listPerceptionTrafficLight = new ArrayList<>();
public final List<String> listPredictionObstacleTrajectory = new ArrayList<>();
public final List<String> listBasicInfoReq = new ArrayList<>();
public final List<String> listRecordPanel = new ArrayList<>();
public final List<String> listGlobalPathResp = new ArrayList<>();
public final List<String> listWarn = new ArrayList<>();
public final List<String> listArrivalNotification = new ArrayList<>();
public final List<String> listErrorData = new ArrayList<>();
public final List<String> listPointCloud = new ArrayList<>();
public final List<String> listPlanningObjects = new ArrayList<>();
public String cutDown(String str) {
if (isCutDown && str.length() > 650) {
@@ -125,207 +127,128 @@ public class DataDistribution {
if (listTrajectory.size() > LIST_SIZE) {
listTrajectory.remove(listTrajectory.size() - 1);
}
if (listener != null) {
listener.onRefresh();
if (listener != null && Constants.TITLE.RECEIVE_TRAJECTORY.equals(listener.first)) {
listener.second.onRefresh();
}
// if (!listeners.isEmpty()) {
// for (OnAdasClientListener listener : listeners) {
// listener.onRefresh();
// }
// }
} else if (data instanceof TrackedObjects) {
listTrackedObjects.add(0, time + str);
if (listTrackedObjects.size() > LIST_SIZE) {
listTrackedObjects.remove(listTrackedObjects.size() - 1);
}
if (listener != null) {
listener.onRefresh();
if (listener != null && Constants.TITLE.RECEIVE_TRACKED_OBJECTS.equals(listener.first)) {
listener.second.onRefresh();
}
// if (!listeners.isEmpty()) {
// for (OnAdasClientListener listener : listeners) {
// listener.onRefresh();
// }
// }
} else if (data instanceof MyPointCloud) {
listPointCloud.add(0, time + str);
if (listPointCloud.size() > LIST_SIZE) {
listPointCloud.remove(listPointCloud.size() - 1);
}
if (listener != null) {
listener.onRefresh();
if (listener != null && Constants.TITLE.RECEIVE_POINT_CLOUD.equals(listener.first)) {
listener.second.onRefresh();
}
} else if (data instanceof PlanningObjects) {
listPlanningObjects.add(0, 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();
}
// if (!listeners.isEmpty()) {
// for (OnAdasClientListener listener : listeners) {
// listener.onRefresh();
// }
// }
} else if (data instanceof GnssInfo) {
listGnssInfo.add(0, time + str);
if (listGnssInfo.size() > LIST_SIZE) {
listGnssInfo.remove(listGnssInfo.size() - 1);
}
if (listener != null) {
listener.onRefresh();
if (listener != null && Constants.TITLE.RECEIVE_GNSS_INFO.equals(listener.first)) {
listener.second.onRefresh();
}
// if (!listeners.isEmpty()) {
// for (OnAdasClientListener listener : listeners) {
// listener.onRefresh();
// }
// }
} else if (data instanceof VehicleState) {
listVehicleState.add(0, time + str);
if (listVehicleState.size() > LIST_SIZE) {
listVehicleState.remove(listVehicleState.size() - 1);
}
if (listener != null) {
listener.onRefresh();
if (listener != null && Constants.TITLE.RECEIVE_VEHICLE_STATE.equals(listener.first)) {
listener.second.onRefresh();
}
// if (!listeners.isEmpty()) {
// for (OnAdasClientListener listener : listeners) {
// listener.onRefresh();
// }
// }
} else if (data instanceof AutopilotState) {
listAutopilotState.add(0, time + str);
if (listAutopilotState.size() > LIST_SIZE) {
listAutopilotState.remove(listAutopilotState.size() - 1);
}
if (listener != null) {
listener.onRefresh();
if (listener != null && Constants.TITLE.RECEIVE_AUTOPILOT_STATE.equals(listener.first)) {
listener.second.onRefresh();
}
// if (!listeners.isEmpty()) {
// for (OnAdasClientListener listener : listeners) {
// listener.onRefresh();
// }
// }
} else if (data instanceof MogoReportMessage) {
listMogoReportMessage.add(0, time + str);
if (listMogoReportMessage.size() > LIST_SIZE) {
listMogoReportMessage.remove(listMogoReportMessage.size() - 1);
}
if (listener != null) {
listener.onRefresh();
if (listener != null && Constants.TITLE.RECEIVE_REPORT_MESSAGE.equals(listener.first)) {
listener.second.onRefresh();
}
// if (!listeners.isEmpty()) {
// for (OnAdasClientListener listener : listeners) {
// listener.onRefresh();
// }
// }
} else if (data instanceof PerceptionTrafficLight) {
listPerceptionTrafficLight.add(0, time + str);
if (listPerceptionTrafficLight.size() > LIST_SIZE) {
listPerceptionTrafficLight.remove(listPerceptionTrafficLight.size() - 1);
}
if (listener != null) {
listener.onPerceptionTrafficLight((PerceptionTrafficLight) data);
if (listener != null && Constants.TITLE.RECEIVE_PERCEPTION_TRAFFIC_LIGHT.equals(listener.first)) {
listener.second.onPerceptionTrafficLight((PerceptionTrafficLight) data);
}
// if (!listeners.isEmpty()) {
// for (OnAdasClientListener listener : listeners) {
// listener.onPerceptionTrafficLight((PerceptionTrafficLight) data);
// }
// }
} else if (data instanceof PredictionObstacleTrajectory) {
listPredictionObstacleTrajectory.add(0, time + str);
if (listPredictionObstacleTrajectory.size() > LIST_SIZE) {
listPredictionObstacleTrajectory.remove(listPredictionObstacleTrajectory.size() - 1);
}
if (listener != null) {
listener.onRefresh();
if (listener != null && Constants.TITLE.RECEIVE_PREDICTION_OBSTACLE_TRAJECTORY.equals(listener.first)) {
listener.second.onRefresh();
}
// if (!listeners.isEmpty()) {
// for (OnAdasClientListener listener : listeners) {
// listener.onRefresh();
// }
// }
} else if (data instanceof BasicInfoReq) {
listBasicInfoReq.add(0, time + str);
if (listBasicInfoReq.size() > LIST_SIZE) {
listBasicInfoReq.remove(listBasicInfoReq.size() - 1);
}
if (listener != null) {
listener.onRefresh();
}
// if (!listeners.isEmpty()) {
// for (OnAdasClientListener listener : listeners) {
// listener.onRefresh();
// }
// }
} else if (data instanceof CarConfigResp) {
if (listener != null) {
listener.onRefresh();
if (listener != null && Constants.TITLE.TITLE_CAR_CONFIG_RESP.equals(listener.first)) {
listener.second.onRefresh();
}
// if (!listeners.isEmpty()) {
// for (OnAdasClientListener listener : listeners) {
// listener.onRefresh();
// }
// }
} else if (data instanceof RecordPanel) {
listRecordPanel.add(0, time + str);
if (listRecordPanel.size() > LIST_SIZE) {
listRecordPanel.remove(listRecordPanel.size() - 1);
}
if (listener != null) {
listener.onRefresh();
if (listener != null && Constants.TITLE.RECEIVE_RECORD_RESULT.equals(listener.first)) {
listener.second.onRefresh();
}
// if (!listeners.isEmpty()) {
// for (OnAdasClientListener listener : listeners) {
// listener.onRefresh();
// }
// }
} else if (data instanceof GlobalPathResp) {
listGlobalPathResp.add(0, time + str);
if (listGlobalPathResp.size() > LIST_SIZE) {
listGlobalPathResp.remove(listGlobalPathResp.size() - 1);
}
if (listener != null) {
listener.onRefresh();
if (listener != null && Constants.TITLE.RECEIVE_GLOBAL_PATH_RESP.equals(listener.first)) {
listener.second.onRefresh();
}
// if (!listeners.isEmpty()) {
// for (OnAdasClientListener listener : listeners) {
// listener.onRefresh();
// }
// }
} else if (data instanceof Warn) {
listWarn.add(0, time + str);
if (listWarn.size() > LIST_SIZE) {
listWarn.remove(listWarn.size() - 1);
}
if (listener != null) {
listener.onRefresh();
if (listener != null && Constants.TITLE.RECEIVE_WARN.equals(listener.first)) {
listener.second.onRefresh();
}
// if (!listeners.isEmpty()) {
// for (OnAdasClientListener listener : listeners) {
// listener.onRefresh();
// }
// }
} else if (data instanceof ArrivalNotification) {
listArrivalNotification.add(0, time + str);
if (listArrivalNotification.size() > LIST_SIZE) {
listArrivalNotification.remove(listArrivalNotification.size() - 1);
}
if (listener != null) {
listener.onRefresh();
if (listener != null && Constants.TITLE.RECEIVE_ARRIVAL_NOTIFICATION.equals(listener.first)) {
listener.second.onRefresh();
}
// if (!listeners.isEmpty()) {
// for (OnAdasClientListener listener : listeners) {
// listener.onRefresh();
// }
// }
} else if (data instanceof ErrorData) {
listErrorData.add(0, time + str);
if (listErrorData.size() > 100) {
listErrorData.remove(listErrorData.size() - 1);
}
if (listener != null) {
listener.onRefresh();
if (listener != null && Constants.TITLE.RECEIVE_ERROR.equals(listener.first)) {
listener.second.onRefresh();
}
// if (!listeners.isEmpty()) {
// for (OnAdasClientListener listener : listeners) {
// listener.onRefresh();
// }
// }
}
return temp;
}

18
app_ipc_monitoring/src/main/java/com/zhidao/adas/client/base/BaseFragment.java
View File

@@ -3,6 +3,7 @@ package com.zhidao.adas.client.base;
import android.os.Bundle;
import android.os.Handler;
import android.os.Message;
import android.util.Pair;
import android.view.View;
import androidx.annotation.NonNull;
@@ -42,17 +43,25 @@ public abstract class BaseFragment extends Fragment {
initHandler();
}
@Override
public void onResume() {
super.onResume();
DataDistribution.getInstance().registerOnAdasClientListener(adasClientListener);
if (!isHidden())
DataDistribution.getInstance().registerAdasClientListener(new Pair<>(title, adasClientListener));
}
@Override
public void onPause() {
super.onPause();
// DataDistribution.getInstance().unregisterOnAdasClientListener(adasClientListener);
DataDistribution.getInstance().unregisterAdasClientListener(new Pair<>(title, adasClientListener));
}
@Override
public void onHiddenChanged(boolean hidden) {
super.onHiddenChanged(hidden);
if (!hidden) {
DataDistribution.getInstance().registerAdasClientListener(new Pair<>(title, adasClientListener));
}
}
@@ -185,7 +194,8 @@ public abstract class BaseFragment extends Fragment {
protected void handleMessage(Message msg) {
switch (msg.what) {
case WHAT_REFRESH:
onRefreshView();
if (isVisible())
onRefreshView();
break;
}
}

21
app_ipc_monitoring/src/main/java/com/zhidao/adas/client/bean/PlanningObjects.java Normal file
View File

@@ -0,0 +1,21 @@
package com.zhidao.adas.client.bean;
import com.google.protobuf.TextFormat;
import mogo.telematics.pad.MessagePad;
public class PlanningObjects extends BaseInfo {
public final MessagePad.PlanningObjects bean;
public PlanningObjects(MessagePad.Header header, MessagePad.PlanningObjects bean) {
super("接收", bean.getSerializedSize(), header);
this.bean = bean;
}
@Override
public String toString() {
return super.toString() + TextFormat.printer().escapingNonAscii(false).printToString(bean);
}
}

28
app_ipc_monitoring/src/main/java/com/zhidao/adas/client/ui/AutopilotConfigActivity.java
View File

@@ -4,6 +4,7 @@ import android.app.AlertDialog;
import android.content.DialogInterface;
import android.os.Bundle;
import android.os.Message;
import android.util.Pair;
import android.view.KeyEvent;
import android.view.Menu;
import android.view.MenuItem;
@@ -20,17 +21,16 @@ import androidx.recyclerview.widget.DividerItemDecoration;
import androidx.recyclerview.widget.GridLayoutManager;
import androidx.recyclerview.widget.RecyclerView;
import com.zhidao.adas.client.DataDistribution;
import com.zhidao.adas.client.OnAdasClientListener;
import com.zhidao.adas.client.R;
import com.zhidao.adas.client.adapter.AutopilotConfigAdapter;
import com.zhidao.adas.client.base.BaseActivity;
import com.zhidao.adas.client.bean.UpdateDataEvent;
import com.zhidao.adas.client.bean.AutoPilotMode;
import com.zhidao.adas.client.DataDistribution;
import com.zhidao.adas.client.bean.UpdateDataEvent;
import com.zhidao.adas.client.utils.Constants;
import com.zhidao.support.adas.high.common.ThreadPoolManager;
import org.greenrobot.eventbus.EventBus;
import java.util.List;
@@ -38,6 +38,7 @@ import java.util.List;
public class AutopilotConfigActivity extends BaseActivity {
private static final String TAG = "CreateActivity";
private Pair<String, OnAdasClientListener> listenerPair;
private TextView toolbar_title;
private RecyclerView recyclerView;
private AutopilotConfigAdapter autopilotConfigAdapter;
@@ -66,6 +67,7 @@ public class AutopilotConfigActivity extends BaseActivity {
getSupportActionBar().setHomeButtonEnabled(true); //设置返回键可用
initHandler();
initRecyclerView();
listenerPair = new Pair<>(Constants.TITLE.RECEIVE_GNSS_INFO, listener);
toolbar_title.setOnLongClickListener(new View.OnLongClickListener() {
@Override
public boolean onLongClick(View v) {
@@ -80,6 +82,15 @@ public class AutopilotConfigActivity extends BaseActivity {
protected void onResume() {
super.onResume();
init();
DataDistribution.getInstance().registerAdasClientListener(new Pair<>(Constants.TITLE.RECEIVE_GNSS_INFO, listener));
}
@Override
protected void onPause() {
super.onPause();
DataDistribution.getInstance().unregisterAdasClientListener(new Pair<>(Constants.TITLE.RECEIVE_GNSS_INFO, listener));
}
private void init() {
@@ -148,17 +159,6 @@ public class AutopilotConfigActivity extends BaseActivity {
ThreadPoolManager.getsInstance().execute(runnable);
}
@Override
protected void onStart() {
super.onStart();
DataDistribution.getInstance().registerOnAdasClientListener(listener);
}
@Override
protected void onStop() {
super.onStop();
// DataDistribution.getInstance().unregisterOnAdasClientListener(listener);
}
@Override
protected void onDestroy() {

5
app_ipc_monitoring/src/main/java/com/zhidao/adas/client/ui/InfoFragment.java
View File

@@ -20,7 +20,6 @@ import com.zhidao.adas.client.adapter.DataShowAdapter;
import com.zhidao.adas.client.base.BaseFragment;
import com.zhidao.adas.client.utils.Constants;
import com.zhidao.adas.client.utils.MyLinearLayoutManager;
import com.zhidao.support.adas.high.AdasManager;
/**
* @author song kenan
@@ -142,7 +141,9 @@ public class InfoFragment extends BaseFragment {
case Constants.TITLE.RECEIVE_POINT_CLOUD:
adapter.setData(DataDistribution.getInstance().listPointCloud);
break;
case Constants.TITLE.RECEIVE_PLANNING_OBJECTS:
adapter.setData(DataDistribution.getInstance().listPlanningObjects);
break;
case Constants.TITLE.RECEIVE_ERROR:
adapter.setData(DataDistribution.getInstance().listErrorData);
break;

204
app_ipc_monitoring/src/main/java/com/zhidao/adas/client/ui/MainActivity.java
View File

@@ -32,6 +32,7 @@ import android.widget.Toast;
import androidx.appcompat.app.AlertDialog;
import androidx.appcompat.widget.AppCompatButton;
import androidx.fragment.app.Fragment;
import androidx.fragment.app.FragmentManager;
import androidx.fragment.app.FragmentTransaction;
import androidx.recyclerview.widget.GridLayoutManager;
@@ -50,6 +51,7 @@ import com.zhidao.adas.client.R;
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.BasicInfoReq;
@@ -61,6 +63,7 @@ import com.zhidao.adas.client.bean.IPCConnectState;
import com.zhidao.adas.client.bean.MogoReportMessage;
import com.zhidao.adas.client.bean.MyPointCloud;
import com.zhidao.adas.client.bean.PerceptionTrafficLight;
import com.zhidao.adas.client.bean.PlanningObjects;
import com.zhidao.adas.client.bean.PredictionObstacleTrajectory;
import com.zhidao.adas.client.bean.RecordPanel;
import com.zhidao.adas.client.bean.TrackedObjects;
@@ -86,7 +89,9 @@ import java.net.NetworkInterface;
import java.net.SocketException;
import java.util.ArrayList;
import java.util.Enumeration;
import java.util.HashMap;
import java.util.List;
import java.util.Map;
import java.util.concurrent.ScheduledExecutorService;
import chassis.VehicleStateOuterClass;
@@ -129,26 +134,9 @@ public class MainActivity extends BaseActivity implements OnAdasListener, OnAdas
private final List<String> titleFragmentData = new ArrayList<>();
private final List<String> titleBtnData = new ArrayList<>();
private final List<IPCConnectState> connectStatusList = new ArrayList<>();
private InfoTitleAdapter btnAdapter;
private InfoTitleAdapter fragmentAdapter;
private InfoFragment carFragment;
private InfoFragment viewFragment;
private InfoFragment canFragment;
private InfoFragment autoFragment;
private InfoFragment warnFragment;
private InfoFragment trajectoryFragment;
private InfoFragment autopilotWayArriveFragment;
private InfoFragment autopilotRouteFragment;
private InfoFragment badcseFragment;
private InfoFragment errorFragment;
private InfoFragment reportMessageFragment;
private InfoFragment perceptionTrafficLightFragment;
private InfoFragment predictionObstacleTrajectoryFragment;
private InfoFragment pointCloudFragment;
private VersionFragment versionFragment;
private Fragment fromFragment;
private FragmentManager manager;
private FragmentTransaction transaction;
private String ftpTime;
private boolean isPad;
private long recordKey;
@@ -181,8 +169,7 @@ public class MainActivity extends BaseActivity implements OnAdasListener, OnAdas
if (!isPad)
getWindow().setFlags(WindowManager.LayoutParams.FLAG_FULLSCREEN, WindowManager.LayoutParams.FLAG_FULLSCREEN);
initView();
firstFragment();
showFragment(Constants.TITLE.RECEIVE_GNSS_INFO);
initAdas();
connectStatus = AdasManager.getInstance().getIpcConnectionStatus();
onUpdateConnectStateView();
@@ -331,7 +318,6 @@ public class MainActivity extends BaseActivity implements OnAdasListener, OnAdas
//初始化fragment
manager = getSupportFragmentManager();
transaction = manager.beginTransaction();
cb_print.setOnCheckedChangeListener(new CompoundButton.OnCheckedChangeListener() {
@Override
@@ -523,21 +509,22 @@ public class MainActivity extends BaseActivity implements OnAdasListener, OnAdas
titleFragmentData.add(Constants.TITLE.RECEIVE_GNSS_INFO);
titleFragmentData.add(Constants.TITLE.RECEIVE_TRAJECTORY);
titleFragmentData.add(Constants.TITLE.RECEIVE_TRACKED_OBJECTS);
titleFragmentData.add(Constants.TITLE.RECEIVE_POINT_CLOUD);
titleFragmentData.add(Constants.TITLE.RECEIVE_VEHICLE_STATE);
titleFragmentData.add(Constants.TITLE.RECEIVE_AUTOPILOT_STATE);
titleFragmentData.add(Constants.TITLE.RECEIVE_REPORT_MESSAGE);
titleFragmentData.add(Constants.TITLE.RECEIVE_PERCEPTION_TRAFFIC_LIGHT);
titleFragmentData.add(Constants.TITLE.RECEIVE_PREDICTION_OBSTACLE_TRAJECTORY);
titleFragmentData.add(Constants.TITLE.RECEIVE_POINT_CLOUD);
titleFragmentData.add(Constants.TITLE.RECEIVE_PLANNING_OBJECTS);
titleFragmentData.add(Constants.TITLE.RECEIVE_CAR_CONFIG_RESP);
titleFragmentData.add(Constants.TITLE.RECEIVE_RECORD_RESULT);
titleFragmentData.add(Constants.TITLE.RECEIVE_GLOBAL_PATH_RESP);
titleFragmentData.add(Constants.TITLE.RECEIVE_WARN);
titleFragmentData.add(Constants.TITLE.RECEIVE_ARRIVAL_NOTIFICATION);
titleFragmentData.add(Constants.TITLE.RECEIVE_WARN);
titleFragmentData.add(Constants.TITLE.RECEIVE_ERROR);
titleBtnData.add("启动自动驾驶");
titleBtnData.add("自动驾驶模式");
titleBtnData.add("自动驾驶路径查询");
titleBtnData.add("下发SN");
titleBtnData.add("数据采集5秒");
@@ -563,7 +550,7 @@ public class MainActivity extends BaseActivity implements OnAdasListener, OnAdas
if (animatorInfo != null)
animatorInfo.setSupportsChangeAnimations(false);
//创建并设置Adapter
btnAdapter = new InfoTitleAdapter(titleBtnData, false);
InfoTitleAdapter btnAdapter = new InfoTitleAdapter(titleBtnData, false);
infoBtn.setAdapter(btnAdapter);
btnAdapter.setOnItemClickListener(this);
}
@@ -603,128 +590,7 @@ public class MainActivity extends BaseActivity implements OnAdasListener, OnAdas
@Override
public void onItemClick(int position, String data) {
fragmentAdapter.setSelectedPosition(position);
manager = getSupportFragmentManager();
transaction = manager.beginTransaction();
switch (data) {
case Constants.TITLE.RECEIVE_GNSS_INFO:
firstFragment();
break;
case Constants.TITLE.RECEIVE_VEHICLE_STATE:
if (canFragment == null)
canFragment = new InfoFragment(data);
if (!canFragment.isVisible()) {
transaction.replace(R.id.fl_info, canFragment);
transaction.commit();
}
break;
case Constants.TITLE.RECEIVE_TRACKED_OBJECTS:
// hintTrackedObjects(false);
if (viewFragment == null)
viewFragment = new InfoFragment(data);
if (!viewFragment.isVisible()) {
transaction.replace(R.id.fl_info, viewFragment);
transaction.commit();
}
break;
case Constants.TITLE.RECEIVE_AUTOPILOT_STATE:
if (autoFragment == null)
autoFragment = new InfoFragment(data);
if (!autoFragment.isVisible()) {
transaction.replace(R.id.fl_info, autoFragment);
transaction.commit();
}
break;
case Constants.TITLE.RECEIVE_WARN:
if (warnFragment == null)
warnFragment = new InfoFragment(data);
if (!warnFragment.isVisible()) {
transaction.replace(R.id.fl_info, warnFragment);
transaction.commit();
}
break;
case Constants.TITLE.RECEIVE_TRAJECTORY:
if (trajectoryFragment == null)
trajectoryFragment = new InfoFragment(data);
if (!trajectoryFragment.isVisible()) {
transaction.replace(R.id.fl_info, trajectoryFragment);
transaction.commit();
}
break;
case Constants.TITLE.RECEIVE_ARRIVAL_NOTIFICATION:
if (autopilotWayArriveFragment == null)
autopilotWayArriveFragment = new InfoFragment(data);
if (!autopilotWayArriveFragment.isVisible()) {
transaction.replace(R.id.fl_info, autopilotWayArriveFragment);
transaction.commit();
}
break;
case Constants.TITLE.RECEIVE_GLOBAL_PATH_RESP:
if (autopilotRouteFragment == null)
autopilotRouteFragment = new InfoFragment(data);
if (!autopilotRouteFragment.isVisible()) {
transaction.replace(R.id.fl_info, autopilotRouteFragment);
transaction.commit();
}
break;
case Constants.TITLE.RECEIVE_RECORD_RESULT:
if (badcseFragment == null)
badcseFragment = new InfoFragment(data);
if (!badcseFragment.isVisible()) {
transaction.replace(R.id.fl_info, badcseFragment);
transaction.commit();
}
break;
case Constants.TITLE.RECEIVE_REPORT_MESSAGE:
if (reportMessageFragment == null)
reportMessageFragment = new InfoFragment(data);
if (!reportMessageFragment.isVisible()) {
transaction.replace(R.id.fl_info, reportMessageFragment);
transaction.commit();
}
break;
case Constants.TITLE.RECEIVE_PERCEPTION_TRAFFIC_LIGHT:
if (perceptionTrafficLightFragment == null)
perceptionTrafficLightFragment = new InfoFragment(data);
if (!perceptionTrafficLightFragment.isVisible()) {
transaction.replace(R.id.fl_info, perceptionTrafficLightFragment);
transaction.commit();
}
break;
case Constants.TITLE.RECEIVE_PREDICTION_OBSTACLE_TRAJECTORY:
if (predictionObstacleTrajectoryFragment == null)
predictionObstacleTrajectoryFragment = new InfoFragment(data);
if (!predictionObstacleTrajectoryFragment.isVisible()) {
transaction.replace(R.id.fl_info, predictionObstacleTrajectoryFragment);
transaction.commit();
}
break;
case Constants.TITLE.RECEIVE_POINT_CLOUD:
if (pointCloudFragment == null)
pointCloudFragment = new InfoFragment(data);
if (!pointCloudFragment.isVisible()) {
transaction.replace(R.id.fl_info, pointCloudFragment);
transaction.commit();
}
break;
case Constants.TITLE.RECEIVE_CAR_CONFIG_RESP:
AdasManager.getInstance().sendCarConfigReq();
if (versionFragment == null)
versionFragment = new VersionFragment("工控机版本\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t固定IP配置");
if (!versionFragment.isVisible()) {
transaction.replace(R.id.fl_info, versionFragment);
transaction.commit();
}
break;
case Constants.TITLE.RECEIVE_ERROR:
if (errorFragment == null)
errorFragment = new InfoFragment(data);
if (!errorFragment.isVisible()) {
transaction.replace(R.id.fl_info, errorFragment);
transaction.commit();
}
break;
}
showFragment(data);
}
});
}
@@ -878,11 +744,17 @@ public class MainActivity extends BaseActivity implements OnAdasListener, OnAdas
// LogSave.getInstance().saveLog("转换数据=" + data);
}
@Override
public void onPlanningObjects(MessagePad.Header header, MessagePad.PlanningObjects planningObjects) {
PlanningObjects base = new PlanningObjects(header, planningObjects);
DataDistribution.getInstance().addData(base);
}
@Override
public void onBasicInfoReq(MessagePad.Header header, MessagePad.BasicInfoReq basicInfoReq) {
BasicInfoReq info = new BasicInfoReq(header, basicInfoReq);
DataDistribution.getInstance().addData(info);
AdasManager.getInstance().sendBasicInfoResp("X202021111192N41VY", 1);
AdasManager.getInstance().sendBasicInfoResp("X202021111192N41VY", 0);
showToastCenter("收到车机基础信息请求:" + info.toString());
}
@@ -1087,13 +959,28 @@ public class MainActivity extends BaseActivity implements OnAdasListener, OnAdas
>= Configuration.SCREENLAYOUT_SIZE_LARGE;
}
private void firstFragment() {
if (carFragment == null)
carFragment = new InfoFragment(Constants.TITLE.RECEIVE_GNSS_INFO);
if (!carFragment.isVisible()) {
transaction.replace(R.id.fl_info, carFragment);
transaction.commit();
private void showFragment(String title) {
Fragment to = manager.findFragmentByTag(title);
if (to == null) {
if (Constants.TITLE.RECEIVE_CAR_CONFIG_RESP.equals(title)) {
to = new VersionFragment(Constants.TITLE.TITLE_CAR_CONFIG_RESP);
} else {
to = new InfoFragment(title);
}
}
FragmentTransaction transaction = manager.beginTransaction();
if (fromFragment != null) {
transaction.hide(fromFragment);
}
if (!to.isAdded()) {
transaction.add(R.id.fl_info, to, title).commit();
} else {
transaction.show(to).commit();
}
if (Constants.TITLE.RECEIVE_CAR_CONFIG_RESP.equals(title)) {
AdasManager.getInstance().sendCarConfigReq();
}
fromFragment = to;
}
@Override
@@ -1104,6 +991,15 @@ public class MainActivity extends BaseActivity implements OnAdasListener, OnAdas
}
switch (position) {
case 0:
// MessagePad.Line.Builder line = MessagePad.Line.newBuilder();
// line.setLineId(10);
// line.setTrajUrl("我是TrajUrl");
// line.setTrajMd5("我是TrajMd5");
// line.setStopUrl("我是StopUrl");
// line.setStopMd5("我是StopMd5");
// line.setTimestamp(60);
// line.setVehicleModel("我是VehicleModel");
// AdasManager.getInstance().sendTrajectoryDownloadReq(line.build());
if (autoPilotModeDialog == null) {
autoPilotModeDialog = new AutoPilotModeDialog(this);
}

6
app_ipc_monitoring/src/main/java/com/zhidao/adas/client/ui/VersionFragment.java
View File

@@ -25,11 +25,15 @@ import com.zhidao.adas.client.base.BaseFragment;
import com.zhidao.adas.client.bean.Config;
import com.zhidao.support.adas.high.AdasManager;
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 java.text.SimpleDateFormat;
import java.util.ArrayList;
import java.util.Date;
import java.util.HashSet;
import java.util.List;
import java.util.Locale;
import mogo.telematics.pad.MessagePad;
@@ -37,6 +41,7 @@ import mogo.telematics.pad.MessagePad;
* @des 升级页面
*/
public class VersionFragment extends BaseFragment {
private final SimpleDateFormat sdf = new SimpleDateFormat("yyyy-MM-dd HH:mm:ss.SSS ", Locale.getDefault());
public VersionFragment() {
}
@@ -159,6 +164,7 @@ public class VersionFragment extends BaseFragment {
temp = ip + ":" + AdasManager.getInstance().getIpcConnectedPort();
}
MessagePad.CarConfigResp adasConfig = AdasManager.getInstance().getCarConfig();
list.add(new Config("更新时间:", AdasManager.getInstance().getIpcConnectionStatus() == Constants.IPC_CONNECTION_STATUS.CONNECTED ? sdf.format(new Date()) : null));
list.add(new Config("工控机IP:", temp));
list.add(new Config("工控机版本:", adasConfig == null ? null : adasConfig.getDockVersion()));
list.add(new Config("车牌号:", adasConfig == null ? null : adasConfig.getPlateNumber()));

2
app_ipc_monitoring/src/main/java/com/zhidao/adas/client/utils/Constants.java
View File

@@ -152,8 +152,10 @@ public class Constants {
String RECEIVE_PERCEPTION_TRAFFIC_LIGHT = "感知红绿灯";
String RECEIVE_PREDICTION_OBSTACLE_TRAJECTORY = "他车轨迹预测";
String RECEIVE_POINT_CLOUD = "点云透传";
String RECEIVE_PLANNING_OBJECTS = "Planning障碍物";
// String RECEIVE_BASIC_INFO_REQ = "自动驾驶设备基础信息请求";
String TITLE_CAR_CONFIG_RESP = "工控机版本\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t固定IP配置";
String RECEIVE_CAR_CONFIG_RESP = "信息与配置";
String RECEIVE_RECORD_RESULT = "数据采集结果";
String RECEIVE_GLOBAL_PATH_RESP = "自动驾驶路径";

291
app_ipc_monitoring/src/main/java/com/zhidao/adas/client/utils/CrashHandler.java Normal file
View File

@@ -0,0 +1,291 @@
package com.zhidao.adas.client.utils;
import android.content.Context;
import android.content.pm.PackageInfo;
import android.content.pm.PackageManager;
import android.content.pm.PackageManager.NameNotFoundException;
import android.os.Build;
import android.os.Environment;
import android.os.Looper;
import android.util.Log;
import android.widget.Toast;
import java.io.File;
import java.io.FileNotFoundException;
import java.io.FileOutputStream;
import java.io.IOException;
import java.io.PrintWriter;
import java.io.StringWriter;
import java.io.Writer;
import java.lang.Thread.UncaughtExceptionHandler;
import java.lang.reflect.Field;
import java.text.SimpleDateFormat;
import java.util.Date;
import java.util.HashMap;
import java.util.Map;
import java.util.Objects;
/**
* ClassName: CrashHandler
* Function: UncaughtException处理类,当程序发生Uncaught异常的时候,由该类来接管程序,并记录发送错误报告.
*
* @author Norris Norris.sly@gmail.com
* @Date 2013 2013-3-24 下午12:27:10
* @Fields ──────────────────────────────────────────────────────────────────────────────────────────────────────
* @Methods ──────────────────────────────────────────────────────────────────────────────────────────────────────
* 2013-3-24下午12:27:10 Modified By Norris
* ──────────────────────────────────────────────────────────────────────────────────────────────────────
* @see ──────────────────────────────────────────────────────────────────────────────────────────────────────
* @since Ver 1.0 I used to be a programmer like you, then I took an arrow in the knee
*/
public class CrashHandler implements UncaughtExceptionHandler {
private static final String FILE_PATH = Environment.getExternalStorageDirectory().getAbsolutePath() + File.separator + "IPCMonitoring" + File.separator + "Crash" + File.separator;//程序外部存储跟目录
/**
* Log日志的tag
* String : TAG
*
* @since 2013-3-21下午8:44:28
*/
private static final String TAG = "NorrisInfo";
/**
* 系统默认的UncaughtException处理类
* Thread.UncaughtExceptionHandler : mDefaultHandler
*
* @since 2013-3-21下午8:44:43
*/
private UncaughtExceptionHandler mDefaultHandler;
/**
* CrashHandler实例
* CrashHandler : mInstance
*
* @since 2013-3-21下午8:44:53
*/
private static CrashHandler mInstance = new CrashHandler();
/**
* 程序的Context对象
* Context : mContext
*
* @since 2013-3-21下午8:45:02
*/
private Context mContext;
/**
* 用来存储设备信息和异常信息
* Map<String,String> : mLogInfo
*
* @since 2013-3-21下午8:46:15
*/
private final Map<String, String> mLogInfo = new HashMap<String, String>();
/**
* 用于格式化日期,作为日志文件名的一部分(FIXME 注意在windows下文件名无法使用：等符号！)
* SimpleDateFormat : mSimpleDateFormat
*
* @since 2013-3-21下午8:46:39
*/
private SimpleDateFormat mSimpleDateFormat = new SimpleDateFormat("yyyyMMdd_HH-mm-ss");
/**
* Creates a new instance of CrashHandler.
*/
private CrashHandler() {
}
/**
* getInstance:{获取CrashHandler实例 ,单例模式 }
* ──────────────────────────────────
*
* @return CrashHandler
* @throws
* @since I used to be a programmer like you, then I took an arrow in the knee　Ver 1.0
* ──────────────────────────────────────────────────────────────────────────────────────────────────────
* 2013-3-21下午8:52:24 Modified By Norris
* ──────────────────────────────────────────────────────────────────────────────────────────────────────
*/
public static CrashHandler getInstance() {
return mInstance;
}
/**
* init:{初始化}
* ──────────────────────────────────
*
* @param paramContext
* @return void
* @throws
* @since I used to be a programmer like you, then I took an arrow in the knee　Ver 1.0
* ──────────────────────────────────────────────────────────────────────────────────────────────────────
* 2013-3-21下午8:52:45 Modified By Norris
* ──────────────────────────────────────────────────────────────────────────────────────────────────────
*/
public void init(Context paramContext) {
mContext = paramContext;
// 获取系统默认的UncaughtException处理器
mDefaultHandler = Thread.getDefaultUncaughtExceptionHandler();
// 设置该CrashHandler为程序的默认处理器
Thread.setDefaultUncaughtExceptionHandler(this);
}
/**
* 当UncaughtException发生时会转入该重写的方法来处理
* (non-Javadoc)
*
* @see UncaughtExceptionHandler#uncaughtException(Thread, Throwable)
*/
public void uncaughtException(Thread paramThread, Throwable paramThrowable) {
// 获取设备参数信息
getDeviceInfo(mContext);
// mLogInfo.put("versionName", String.valueOf(BuildConfig.VERSION_CODE));
// mLogInfo.put("versionCode", BuildConfig.VERSION_NAME);
// 保存日志文件
String result = saveCrashLogToFile(paramThrowable);
mDefaultHandler.uncaughtException(paramThread, paramThrowable);
// if (!handleException(paramThrowable) && mDefaultHandler != null) {
// // 如果自定义的没有处理则让系统默认的异常处理器来处理
// mDefaultHandler.uncaughtException(paramThread, paramThrowable);
// } else {
//// try {
//// // 如果处理了，让程序继续运行1秒再退出，保证文件保存并上传到服务器
//// paramThread.sleep(1000);
//// } catch (InterruptedException e) {
//// e.printStackTrace();
//// }
// // 退出程序
// android.os.Process.killProcess(android.os.Process.myPid());
// System.exit(1);
// }
}
/**
* handleException:{自定义错误处理,收集错误信息 发送错误报告等操作均在此完成.}
* ──────────────────────────────────
*
* @param paramThrowable
* @return true:如果处理了该异常信息;否则返回false.
* @throws
* @since I used to be a programmer like you, then I took an arrow in the knee　Ver 1.0
* ──────────────────────────────────────────────────────────────────────────────────────────────────────
* 2013-3-24下午12:28:53 Modified By Norris
* ──────────────────────────────────────────────────────────────────────────────────────────────────────
*/
public boolean handleException(Throwable paramThrowable) {
if (paramThrowable == null)
return false;
new Thread() {
public void run() {
Looper.prepare();
Toast.makeText(mContext, "很抱歉,程序出现异常,即将退出", Toast.LENGTH_SHORT).show();
Looper.loop();
}
}.start();
// 获取设备参数信息
getDeviceInfo(mContext);
// 保存日志文件
String result = saveCrashLogToFile(paramThrowable);
//上传崩溃日志
return true;
}
/**
* getDeviceInfo:{获取设备参数信息}
* ──────────────────────────────────
*
* @param paramContext
* @throws
* @since I used to be a programmer like you, then I took an arrow in the knee　Ver 1.0
* ──────────────────────────────────────────────────────────────────────────────────────────────────────
* 2013-3-24下午12:30:02 Modified By Norris
* ──────────────────────────────────────────────────────────────────────────────────────────────────────
*/
public void getDeviceInfo(Context paramContext) {
try {
// 获得包管理器
PackageManager mPackageManager = paramContext.getPackageManager();
// 得到该应用的信息，即主Activity
PackageInfo mPackageInfo = mPackageManager.getPackageInfo(
paramContext.getPackageName(), PackageManager.GET_ACTIVITIES);
if (mPackageInfo != null) {
String versionName = mPackageInfo.versionName == null ? "null"
: mPackageInfo.versionName;
String versionCode = mPackageInfo.versionCode + "";
mLogInfo.put("versionName", versionName);
mLogInfo.put("versionCode", versionCode);
}
} catch (NameNotFoundException e) {
e.printStackTrace();
}
// 反射机制
Field[] mFields = Build.class.getDeclaredFields();
// 迭代Build的字段key-value 此处的信息主要是为了在服务器端手机各种版本手机报错的原因
for (Field field : mFields) {
try {
field.setAccessible(true);
mLogInfo.put(field.getName(), Objects.requireNonNull(field.get("")).toString());
} catch (IllegalArgumentException | IllegalAccessException e) {
e.printStackTrace();
}
}
}
/**
* saveCrashLogToFile:{将崩溃的Log保存到本地}
* TODO 可拓展，将Log上传至指定服务器路径
* ──────────────────────────────────
*
* @param paramThrowable
* @return FileName
* @throws
* @since I used to be a programmer like you, then I took an arrow in the knee　Ver 1.0
* ──────────────────────────────────────────────────────────────────────────────────────────────────────
* 2013-3-24下午12:31:01 Modified By Norris
* ──────────────────────────────────────────────────────────────────────────────────────────────────────
*/
private String saveCrashLogToFile(Throwable paramThrowable) {
StringBuffer mStringBuffer = new StringBuffer();
for (Map.Entry<String, String> entry : mLogInfo.entrySet()) {
String key = entry.getKey();
String value = entry.getValue();
mStringBuffer.append(key + "=" + value + "\r\n");
}
Writer mWriter = new StringWriter();
PrintWriter mPrintWriter = new PrintWriter(mWriter);
paramThrowable.printStackTrace(mPrintWriter);
paramThrowable.printStackTrace();
Throwable mThrowable = paramThrowable.getCause();
// 迭代栈队列把所有的异常信息写入writer中
while (mThrowable != null) {
mThrowable.printStackTrace(mPrintWriter);
// 换行 每个个异常栈之间换行
mThrowable = mThrowable.getCause();
}
//记得关闭
String mResult = mWriter.toString();
// String mResult = mWriter.toString().replace("\n", "").replace(":", "").replace("/", "").replace("\t", "");
mStringBuffer.append(mResult);
// 保存文件，设置文件名
String mTime = mSimpleDateFormat.format(new Date());
String mFileName = mContext.getPackageName() + "_Exception-" + mTime + ".log";
if (Environment.getExternalStorageState().equals(Environment.MEDIA_MOUNTED)) {
try {
File mDirectory = new File(FILE_PATH);
Log.v(TAG, mDirectory.toString());
if (!mDirectory.exists())
mDirectory.mkdirs();
FileOutputStream mFileOutputStream = new FileOutputStream(mDirectory + File.separator + mFileName);
mFileOutputStream.write(mStringBuffer.toString().getBytes());
mFileOutputStream.close();
return mResult;
} catch (FileNotFoundException e) {
e.printStackTrace();
} catch (IOException e) {
e.printStackTrace();
}
}
return mResult;
}
}

5
core/function-impl/mogo-core-function-autopilot/src/main/java/com/mogo/eagle/core/function/autopilot/MoGoAutopilotProvider.kt
View File

@@ -8,6 +8,7 @@ import com.alibaba.android.arouter.facade.annotation.Route
import com.mogo.cloud.passport.MoGoAiCloudClientConfig
import com.mogo.eagle.core.data.app.AppConfigInfo
import com.mogo.eagle.core.data.autopilot.AutopilotControlParameters
import com.mogo.eagle.core.data.autopilot.toAutoPilotLine
import com.mogo.eagle.core.data.autopilot.toRouteInfo
import com.mogo.eagle.core.data.config.FunctionBuildConfig
import com.mogo.eagle.core.data.constants.MoGoConfig
@@ -262,6 +263,10 @@ class MoGoAutopilotProvider :
)
}
override fun sendTrajectoryDownloadReq(autoPilotLine: AutopilotControlParameters.AutoPilotLine) {
AdasManager.getInstance().sendTrajectoryDownloadReq(autoPilotLine.toAutoPilotLine())
}
override fun cancelAutoPilot() {
if (AdasManager.getInstance().ipcConnectionStatus == Constants.IPC_CONNECTION_STATUS.CONNECTED) {
AdasManager.getInstance().sendAutoPilotModeReq(0, 1, null)

7
core/function-impl/mogo-core-function-autopilot/src/main/java/com/mogo/eagle/core/function/autopilot/adapter/MoGoAdasListenerImpl.kt
View File

@@ -247,6 +247,13 @@ class MoGoAdasListenerImpl : OnAdasListener {
CallerAutopilotPointCloudListenerManager.invokeAutopilotPointCloudDataUpdate(header,pointCloud)
}
override fun onPlanningObjects(
header: MessagePad.Header?,
planningObjects: MessagePad.PlanningObjects?
) {
//planning障碍物
}
override fun onBasicInfoReq(
header: MessagePad.Header,
basicInfoReq: MessagePad.BasicInfoReq?

76
core/mogo-core-data/src/main/java/com/mogo/eagle/core/data/autopilot/AutopilotControlParameters.kt
View File

@@ -1,10 +1,9 @@
package com.mogo.eagle.core.data.autopilot
import com.mogo.eagle.core.data.autopilot.AutopilotControlParameters.AutoPilotLonLat
import mogo.telematics.pad.MessagePad
/**
* @author donghongyu
* @author donghongyuO
* @since 2021/09/22
*
*
@@ -32,7 +31,7 @@ import mogo.telematics.pad.MessagePad
* }
*/
fun AutopilotControlParameters.toRouteInfo(): MessagePad.RouteInfo{
fun AutopilotControlParameters.toRouteInfo(): MessagePad.RouteInfo {
val routeInfo = MessagePad.RouteInfo.newBuilder()
val startLoc = routeInfo.startLocationBuilder
val endLoc = routeInfo.endLocationBuilder
@@ -61,27 +60,61 @@ fun AutopilotControlParameters.toRouteInfo(): MessagePad.RouteInfo{
routeInfo.speedLimit = this.speedLimit.toDouble()
routeInfo.startLocation = startLoc.build()
routeInfo.endLocation = endLoc.build()
val line = MessagePad.Line.newBuilder()
this.autoPilotLine?.let {
line.lineId = it.lineId
line.trajMd5 = it.trajMd5
line.trajUrl = it.trajUrl
line.stopMd5 = it.stopMd5
line.stopUrl = it.stopUrl
line.timestamp = it.timestamp
line.setVehicleModel(it.vehicleModel)
}
routeInfo.line = line.build()
return routeInfo.build()
}
fun AutopilotControlParameters.AutoPilotLine.toAutoPilotLine(): MessagePad.Line {
val line = MessagePad.Line.newBuilder()
line.lineId = this.lineId
line.trajMd5 = this.trajMd5
line.trajUrl = this.trajUrl
line.stopMd5 = this.stopMd5
line.stopUrl = this.stopUrl
line.timestamp = this.timestamp
line.vehicleModel = this.vehicleModel
return line.build()
}
class AutopilotControlParameters {
@JvmField
var startName = ""
@JvmField
var endName = ""
@JvmField
var startLatLon: AutoPilotLonLat? = null
@JvmField
var wayLatLons: List<AutoPilotLonLat>? = null
@JvmField
var endLatLon: AutoPilotLonLat? = null
var speedLimit = 0f
@JvmField
var vehicleType // 运营类型
= 0
var speedLimit = 0f
@JvmField
var vehicleType = 0// 运营类型
@JvmField
var routeID = 0 //线路id（bus用）
@JvmField
var routeName = "" //线路名称（bus用）
@@ -91,6 +124,37 @@ class AutopilotControlParameters {
@JvmField
var isSpeakVoice = true
@JvmField
var autoPilotLine: AutoPilotLine? = null // 自动驾驶路线
class AutoPilotLine {
var lineId = 0L
var trajUrl = ""
var trajMd5 = ""
var stopUrl = ""
var stopMd5 = ""
var timestamp = 0L
var vehicleModel = ""
constructor(lineId: Long, trajUrl: String,
trajMd5: String, stopUrl: String,
stopMd5: String, timestamp: Long,
vehicleModel: String) {
this.lineId = lineId
this.trajUrl = trajUrl
this.trajMd5 = trajMd5
this.stopUrl = stopUrl
this.stopMd5 = stopMd5
this.timestamp = timestamp
this.vehicleModel = vehicleModel
}
override fun toString(): String {
return "AutoPilotLine(lineId=$lineId, trajUrl='$trajUrl', trajMd5='$trajMd5', stopUrl='$stopUrl', stopMd5='$stopMd5', timestamp=$timestamp, vehicleModel='$vehicleModel')"
}
}
class AutoPilotLonLat {
var lat = 0.0
var lon = 0.0

5
core/mogo-core-function-api/src/main/java/com/mogo/eagle/core/function/api/autopilot/IMoGoAutopilotProvider.kt
View File

@@ -34,6 +34,11 @@ interface IMoGoAutopilotProvider : IMoGoFunctionServerProvider {
*/
fun sendTrafficLightData(trafficLightResult: TrafficLightResult)
/**
* 发送 轨迹下载请求
*/
fun sendTrajectoryDownloadReq(autoPilotLine: AutopilotControlParameters.AutoPilotLine)
/**
* 结束自动驾驶
*/

7
core/mogo-core-function-call/src/main/java/com/mogo/eagle/core/function/call/autopilot/CallerAutoPilotManager.kt
View File

@@ -72,6 +72,13 @@ object CallerAutoPilotManager {
providerApi?.sendTrafficLightData(trafficLightResult)
}
/**
* 发送 轨迹下载请求
*/
fun sendTrajectoryDownloadReq(autoPilotLine: AutopilotControlParameters.AutoPilotLine) {
providerApi?.sendTrajectoryDownloadReq(autoPilotLine)
}
/**
* 结束自动驾驶
*/

49
libraries/mogo-adas-data/src/main/proto/message_pad.proto
View File

@@ -19,6 +19,7 @@ enum MessageType
MsgTypePerceptionTrafficLight = 0x10006; //感知红绿灯
MsgTypePredictionObstacleTrajectory = 0x10007; //他车轨迹预测
MsgTypePointCloud = 0x10008; //点云透传
MsgTypePlanningObjects = 0x10009; //planning障碍物
MsgTypeBasicInfoReq = 0x10100; //自动驾驶设备基础信息请求
MsgTypeBasicInfoResp = 0x10101; //自动驾驶设备基础信息应答
@@ -36,6 +37,7 @@ enum MessageType
MsgTypeWarn = 0x1010d; //预警数据
MsgTypeArrivalNotification = 0x1010e; //到站提醒
MsgTypeSystemCmdReq = 0x1010f; //系统命令请求, 比如系统重启，启用新镜像
MsgTypeTrajectoryDownloadReq = 0x10110; //轨迹下载请求
}
message Header
@@ -83,7 +85,7 @@ message TrackedObject
double heading = 10; //车辆朝向
double speed = 11; //车辆速度
uint32 drawLevel = 12; //危险等级 1 绿,2 黄,3 红
double driverTime = 13; //驱动感知时间
double driverTime = 13; //驱动感知时间, abandoned
}
message TrackedObjects
@@ -112,13 +114,13 @@ message GnssInfo
// message definition for MessageType: MsgTypeAutopilotState
message AutopilotState
{
uint32 state = 1; //0: 不可用, 1:ready, 2:自动驾驶中
uint32 state = 1; //0: 不可用(abandoned), 1:ready, 2:自动驾驶中
uint32 camera = 2; //camera节点状态 1:开启，0:关闭
uint32 radar = 3; //雷达节点状态 1:开启，0:关闭
uint32 rtk = 4; //RTK节点状态 1:开启，0:关闭
uint32 autopilotMode = 5; //自动驾驶状态 0: 非自动驾驶，1: 自动驾驶
double speed = 6; //惯导车速 m/s
string reason = 7; //不可用原因
string reason = 7; //不可用原因(abandoned)
}
// message definition for MessageType: MsgTypeReportMessage
@@ -131,7 +133,36 @@ message AutopilotState
// refer to prediction.proto
// message definition for MessageType: MsgTypePointCloud
// refer to point_cloud.proto
// refer to mogo_point_cloud.proto
// message definition for MessageType: MsgTypePlanningObjects
message PlanningObject
{
uint32 uuid = 1;
uint32 type = 2; //影响自车决策的类型, 和感知的障碍物类型不是一回事
}
message PlanningObjects
{
repeated PlanningObject objs = 1;
}
// message definition for MsgTypeTrajectoryDownloadReq
message Line
{
uint64 lineId = 1; //路线id，默认-1
string trajUrl = 2; //轨迹文件下载的cos url，默认“”
string trajMd5 = 3; //轨迹文件md5，默认“”
string stopUrl = 4; //打点文件下载的cos url，默认“”
string stopMd5 = 5; //轨迹文件md5，默认“”
uint64 timestamp = 6; //上传轨迹完成时间戳(ms)：用于MEC本地手动导入轨迹验证时不会被云端轨迹覆盖
string vehicleModel = 7; //车型号（如红旗H9），默认“”，暂不加入校验逻辑、用于人工排查问题
}
message TrajectoryDownloadReq
{
Line line = 1; //路线
}
// message definition for MessageType: MsgTypeBasicInfoReq
message BasicInfoReq
@@ -162,9 +193,10 @@ message RouteInfo{
repeated Location wayPoints = 5;
double speedLimit = 6; //单位: km/h
uint32 vehicleType = 7;
bool isSpeakVoice = 8;
bool isSpeakVoice = 8; //abandoned
uint32 routeID = 9;
string routeName = 10;
Line line = 11; //路线信息
}
message SetAutopilotModeReq
@@ -280,7 +312,7 @@ message Warn
// message definition for MsgTypeArrivalNotification
message ArrivalNotification
{
uint32 carType = 1; //deserted
uint32 carType = 1; //abandoned
Location endLocation = 2;
}
@@ -292,7 +324,7 @@ enum SystemCmdType {
message SystemCmdReq
{
SystemCmdType cmdType = 1;
SystemCmdType cmdType = 1; //
}
@@ -301,3 +333,6 @@ message SystemCmdReq

17
libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/AdasChannel.java
View File

@@ -16,7 +16,6 @@ import android.text.TextUtils;
import androidx.annotation.NonNull;
import androidx.annotation.Nullable;
import com.google.gson.Gson;
import com.google.protobuf.InvalidProtocolBufferException;
import com.zhidao.support.adas.high.bean.VersionCompatibility;
import com.zhidao.support.adas.high.common.ByteUtil;
@@ -40,8 +39,6 @@ import com.zhidao.support.adas.high.thread.DispatchHandler;
import com.zhjt.service.chain.ChainLog;
import com.zhjt.service.chain.TracingConstants;
import org.json.JSONObject;
import java.util.HashSet;
import java.util.Timer;
import java.util.TimerTask;
@@ -851,5 +848,19 @@ public class AdasChannel implements IAdasNetCommApi, FpgaSocket.IWebSocketConnec
MessagePad.SystemCmdReq req = builder.build();
return sendWsMessage(MessageType.TYPE_SEND_SYSTEM_CMD_REQ.typeCode, req.toByteArray());
}
/**
* 发送 轨迹下载请求
*
* @param line 线路相关参数详情见PB message_pad.proto -> Line
* @return boolean
*/
@Override
public boolean sendTrajectoryDownloadReq(MessagePad.Line line) {
MessagePad.TrajectoryDownloadReq.Builder builder = MessagePad.TrajectoryDownloadReq.newBuilder();
builder.setLine(line);
MessagePad.TrajectoryDownloadReq req = builder.build();
return sendWsMessage(MessageType.TYPE_SEND_TRAJECTORY_DOWNLOAD_REQ.typeCode, req.toByteArray());
}
}

11
libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/AdasManager.java
View File

@@ -395,6 +395,17 @@ public class AdasManager implements IAdasNetCommApi {
return mChannel != null && mChannel.sendSystemCmdReq(type);
}
/**
* 发送 轨迹下载请求
*
* @param line 线路相关参数详情见PB message_pad.proto -> Line
* @return boolean
*/
@Override
public boolean sendTrajectoryDownloadReq(MessagePad.Line line) {
return mChannel != null && mChannel.sendTrajectoryDownloadReq(line);
}
/**
* 获取工控机固定IP列表
*

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

@@ -180,6 +180,14 @@ public interface IAdasNetCommApi {
*/
boolean sendSystemCmdReq(@NonNull MessagePad.SystemCmdType type);
/**
* 发送 轨迹下载请求
*
* @param line 线路相关参数详情见PB message_pad.proto -> Line
* @return boolean
*/
boolean sendTrajectoryDownloadReq(MessagePad.Line line);
// TODO 需求暂停 待讨论
// boolean getRoutes();

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

@@ -96,6 +96,14 @@ public interface OnAdasListener {
*/
void onPointCloud(MessagePad.Header header, MogoPointCloudOuterClass.MogoPointCloud pointCloud);
/**
* planning障碍物
*
* @param header 头
* @param planningObjects 数据
*/
void onPlanningObjects(MessagePad.Header header, MessagePad.PlanningObjects planningObjects);
/**
* 自动驾驶设备基础信息请求
*

4
libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/common/MessageType.java
View File

@@ -21,6 +21,7 @@ public enum MessageType {
TYPE_RECEIVE_PERCEPTION_TRAFFIC_LIGHT(MessagePad.MessageType.MsgTypePerceptionTrafficLight, "感知红绿灯"),
TYPE_RECEIVE_PREDICTION_OBSTACLE_TRAJECTORY(MessagePad.MessageType.MsgTypePredictionObstacleTrajectory, "他车轨迹预测"),
TYPE_RECEIVE_POINT_CLOUD(MessagePad.MessageType.MsgTypePointCloud, "点云透传"),
TYPE_RECEIVE_PLANNING_OBJECTS(MessagePad.MessageType.MsgTypePlanningObjects, "planning障碍物"),
TYPE_RECEIVE_BASIC_INFO_REQ(MessagePad.MessageType.MsgTypeBasicInfoReq, "自动驾驶设备基础信息请求"),
TYPE_SEND_BASIC_INFO_RESP(MessagePad.MessageType.MsgTypeBasicInfoResp, "自动驾驶设备基础信息应答"),
@@ -38,7 +39,8 @@ public enum MessageType {
@Deprecated
TYPE_RECEIVE_WARN(MessagePad.MessageType.MsgTypeWarn, "预警数据"),
TYPE_RECEIVE_ARRIVAL_NOTIFICATION(MessagePad.MessageType.MsgTypeArrivalNotification, "到站提醒"),
TYPE_SEND_SYSTEM_CMD_REQ(MessagePad.MessageType.MsgTypeSystemCmdReq, "系统命令请求, 比如系统重启，启用新镜像");
TYPE_SEND_SYSTEM_CMD_REQ(MessagePad.MessageType.MsgTypeSystemCmdReq, "系统命令请求, 比如系统重启，启用新镜像"),
TYPE_SEND_TRAJECTORY_DOWNLOAD_REQ(MessagePad.MessageType.MsgTypeTrajectoryDownloadReq, "轨迹下载请求");
/**
* 消息action code

9
libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/msg/MyMessageFactory.java
View File

@@ -20,6 +20,7 @@ public class MyMessageFactory implements IMyMessageFactory {
private IMsg perceptionTrafficLightMessage;//感知红绿灯
private IMsg predictionObstacleTrajectoryMessage;//他车轨迹预测
private IMsg pointCloudMessage;//透传点云数据
private IMsg planningObjectsMessage;//planning障碍物
private IMsg basicInfoReqMessage;//自动驾驶设备基础信息请求
private IMsg carConfigRespMessage;//车机基础信息应答
@@ -80,11 +81,17 @@ public class MyMessageFactory implements IMyMessageFactory {
}
return predictionObstacleTrajectoryMessage;
} else if (messageType == MessageType.TYPE_RECEIVE_POINT_CLOUD.typeCode) {
//他车轨迹预测
//点云透传
if (pointCloudMessage == null) {
pointCloudMessage = new PointCloudMessage();
}
return pointCloudMessage;
} else if (messageType == MessageType.TYPE_RECEIVE_PLANNING_OBJECTS.typeCode) {
//planning障碍物
if (planningObjectsMessage == null) {
planningObjectsMessage = new PlanningObjectsMessage();
}
return planningObjectsMessage;
} else if (messageType == MessageType.TYPE_RECEIVE_BASIC_INFO_REQ.typeCode) {
//自动驾驶设备基础信息请求
if (basicInfoReqMessage == null) {

22
libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/msg/PlanningObjectsMessage.java Normal file
View File

@@ -0,0 +1,22 @@
package com.zhidao.support.adas.high.msg;
import com.google.protobuf.InvalidProtocolBufferException;
import com.zhidao.support.adas.high.OnAdasListener;
import com.zhidao.support.adas.high.protocol.RawData;
import mogo.telematics.pad.MessagePad;
/**
* planning障碍物
*/
public class PlanningObjectsMessage extends MyAbstractMessageHandler {
@Override
public void handlerMsg(RawData raw, OnAdasListener adasListener) throws InvalidProtocolBufferException {
MessagePad.PlanningObjects planningObjects = MessagePad.PlanningObjects.parser().parseFrom(raw.originalData.toByteArray(), raw.getOffsetValue(), raw.getPackageLengthValue() - raw.getOffsetValue());
if (adasListener != null) {
adasListener.onPlanningObjects(raw.getHeader(), planningObjects);
}
}
}