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[660][data-center] 添加查询节点状态以及主动推送节点状态接口

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xinfengkun
2024-08-20 10:17:39 +08:00
parent b4ed1f8585
commit 3e51b85e8b
11 changed files with 211 additions and 6 deletions
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5
core/function-impl/mogo-core-function-datacenter/src/main/java/com/mogo/eagle/core/function/datacenter/autopilot/MoGoAutopilotControlProvider.kt
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@@ -65,6 +65,7 @@ import com.zhidao.support.adas.high.chain.AdasChain
import com.zhidao.support.adas.high.common.Constants
import com.zhidao.support.adas.high.common.CupidLogUtils
import com.zhjt.mogo.adas.common.MessageType
import com.zhjt.mogo.adas.data.Adas
import com.zhjt.mogo.adas.data.AdasConstants
import com.zhjt.mogo.adas.data.bean.MogoReport
import com.zhjt.mogo.adas.data.sweeper.bootable.SweeperBootable
@@ -1375,4 +1376,8 @@ class MoGoAutopilotControlProvider :
return AdasManager.getInstance().sendSeatPressure(driver, copilot, backRow) > -1
}
override fun getNodeStateInfo(name: AdasConstants.NodeName): Adas.NodeStateInfo {
return AdasManager.getInstance().getNodeStateInfo(name)
}
}

17
core/function-impl/mogo-core-function-datacenter/src/main/java/com/mogo/eagle/core/function/datacenter/autopilot/adapter/MoGoAdasListenerImpl.kt
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@@ -14,7 +14,6 @@ import com.mogo.eagle.core.data.deva.chain.ChainConstant.Companion.CHAIN_CODE_AD
import com.mogo.eagle.core.data.deva.chain.ChainConstant.Companion.CHAIN_CODE_ADAS_GUARDIAN
import com.mogo.eagle.core.data.deva.chain.ChainConstant.Companion.CHAIN_CODE_ADAS_MAP_PARAM
import com.mogo.eagle.core.data.deva.chain.ChainConstant.Companion.CHAIN_CODE_ADAS_PARALLEL
import com.mogo.eagle.core.data.deva.chain.ChainConstant.Companion.CHAIN_CODE_ADAS_P_ACTIONS
import com.mogo.eagle.core.data.deva.chain.ChainConstant.Companion.CHAIN_CODE_ADAS_P_OBJECTS
import com.mogo.eagle.core.data.deva.chain.ChainConstant.Companion.CHAIN_CODE_ADAS_RECORD
import com.mogo.eagle.core.data.deva.chain.ChainConstant.Companion.CHAIN_CODE_ADAS_ROUTE
@@ -73,6 +72,7 @@ import com.mogo.eagle.core.function.call.autopilot.CallerRoboBusJinlvM1StitchedV
import com.mogo.eagle.core.function.call.autopilot.CallerStartAutopilotFailedListenerManager.invokeStartAutopilotFailed
import com.mogo.eagle.core.function.call.autopilot.CallerSweeperFutianCleanSystemListenerManager
import com.mogo.eagle.core.function.call.autopilot.CallerSweeperFutianCloudTaskListenerManager
import com.mogo.eagle.core.function.call.autopilot.CallerNodeStateListenerManager
import com.mogo.eagle.core.function.call.autopilot.CallerV2XListenerManager
import com.mogo.eagle.core.function.call.autopilot.CallerV2nNioEventListenerManager
import com.mogo.eagle.core.function.call.obu.CallerObuMapMathListenerManager
@@ -88,6 +88,8 @@ import com.zhidao.support.adas.high.chain.AdasChain
import com.zhjt.mogo.adas.data.bean.AdasParam
import com.zhidao.support.adas.high.common.ProtocolStatus
import com.zhjt.mogo.adas.common.MessageType
import com.zhjt.mogo.adas.data.Adas
import com.zhjt.mogo.adas.data.AdasConstants
import com.zhjt.mogo.adas.data.AiCloudTask
import com.zhjt.mogo.adas.data.bean.AutopilotStatistics
import com.zhjt.mogo.adas.data.bean.LaunchConditionData
@@ -1022,6 +1024,19 @@ class MoGoAdasListenerImpl : OnAdasListener {
CallerV2nNioEventListenerManager.invokeV2nNioCongestionEvent(congestion)
}
/**
* 所连接的域控的节点状态信息
* 目前包含状态 节点是否存在；节点是否超时；
* SSM 只判断超时状态
* FSM 是否存在；是否超时；
*
* @param name 节点名称
* @param stateInfo 节点状态信息 包含：未知；存在；不存在； 以及存在的一些状态
*/
override fun onNodeStateInfo(name: AdasConstants.NodeName, stateInfo: Adas.NodeStateInfo) {
CallerNodeStateListenerManager.invokeNodeState(name, stateInfo)
}
/**
* 域控SSM接口接收超时
* 状态变动时才会回调，默认SSM状态正常

18
core/mogo-core-function-api/src/main/java/com/mogo/eagle/core/function/api/autopilot/IMoGoAutopilotControlProvider.kt
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@@ -5,14 +5,15 @@ import com.mogo.eagle.core.data.autopilot.AutopilotControlParameters
import com.mogo.eagle.core.data.biz.trafficlight.TrafficLightResult
import com.mogo.eagle.core.data.deva.badcase.BagManagerEntity
import com.mogo.eagle.core.function.api.base.IMoGoFunctionServerProvider
import com.zhjt.mogo.adas.data.Adas
import com.zhjt.mogo.adas.data.AdasConstants
import com.zhjt.mogo.adas.data.sweeper.bootable.SweeperBootable.IsBootable
import com.zhjt.mogo.adas.data.sweeper.task.SweeperTask.GetTaskReq
import com.zhjt.mogo.adas.data.sweeper.task.SweeperTask.StartTaskResp
import com.zhjt.mogo.adas.data.sweeper.task.s_r.SweeperTaskSuspendResume.SuspendResumeTaskReq
import com.zhjt.mogo.adas.data.sweeper.task.confirm.SweeperTaskConfirm.TaskConfirmResp
import com.zhjt.mogo.adas.data.sweeper.task.stop.SweeperTaskStop.StopTaskResp
import com.zhjt.mogo.adas.data.AdasConstants
import com.zhjt.mogo.adas.data.sweeper.task.cloud.s_r.SweeperTaskCloudSuspendResume.BigTaskActionResp
import com.zhjt.mogo.adas.data.sweeper.task.confirm.SweeperTaskConfirm.TaskConfirmResp
import com.zhjt.mogo.adas.data.sweeper.task.s_r.SweeperTaskSuspendResume.SuspendResumeTaskReq
import com.zhjt.mogo.adas.data.sweeper.task.stop.SweeperTaskStop.StopTaskResp
import mogo.telematics.pad.MessagePad
import mogo.yycp.paralleldriving.protocol.ParallelDrivingRequest
@@ -604,4 +605,13 @@ interface IMoGoAutopilotControlProvider : IMoGoFunctionServerProvider {
* @param backRow 后排是否有人
*/
fun sendSeatPressure(driver: Boolean,copilot: Boolean,backRow: Boolean): Boolean
/**
* 查询节点状态
*
* @param name 节点名称 目前只有SSM和FSM2024
* @return 状态 SSM只能查询到超时状态；FSM2024可以查询到节点是否存在状态以及超时状态；
*/
fun getNodeStateInfo(name: AdasConstants.NodeName): Adas.NodeStateInfo
}

24
core/mogo-core-function-api/src/main/java/com/mogo/eagle/core/function/api/autopilot/IMoGoNodeStateListener.kt Normal file
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@@ -0,0 +1,24 @@
package com.mogo.eagle.core.function.api.autopilot
import com.zhjt.mogo.adas.data.Adas
import com.zhjt.mogo.adas.data.AdasConstants
/**
*节点状态
*/
interface IMoGoNodeStateListener {
/**
* 所连接的域控的节点状态信息
* 目前包含状态 节点是否存在；节点是否超时；
* SSM 只判断超时状态
* FSM 是否存在；是否超时；
*
* @param name 节点名称
* @param stateInfo 节点状态信息 包含：未知；存在；不存在； 以及存在的一些状态
*/
fun onNodeStateInfo(name: AdasConstants.NodeName, stateInfo: Adas.NodeStateInfo)
}

11
core/mogo-core-function-call/src/main/java/com/mogo/eagle/core/function/call/autopilot/CallerAutoPilotControlManager.kt
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@@ -22,6 +22,7 @@ import com.mogo.eagle.core.utilcode.mogo.AppIdentityModeUtils
import com.mogo.eagle.core.utilcode.mogo.logger.Logger
import com.mogo.eagle.core.utilcode.util.AppStateManager
import com.mogo.eagle.core.utilcode.util.ToastUtils
import com.zhjt.mogo.adas.data.Adas
import com.zhjt.mogo.adas.data.sweeper.bootable.SweeperBootable.IsBootable
import com.zhjt.mogo.adas.data.sweeper.task.SweeperTask.GetTaskReq
import com.zhjt.mogo.adas.data.sweeper.task.SweeperTask.StartTaskResp
@@ -919,4 +920,14 @@ object CallerAutoPilotControlManager {
fun sendSeatPressure(driver: Boolean,copilot: Boolean,backRow: Boolean): Boolean?{
return providerApi?.sendSeatPressure(driver, copilot, backRow)
}
/**
* 查询节点状态
*
* @param name 节点名称 目前只有SSM和FSM2024
* @return 状态 SSM只能查询到超时状态；FSM2024可以查询到节点是否存在状态以及超时状态；
*/
fun getNodeStateInfo(name: AdasConstants.NodeName): Adas.NodeStateInfo? {
return providerApi?.getNodeStateInfo(name)
}
}

62
core/mogo-core-function-call/src/main/java/com/mogo/eagle/core/function/call/autopilot/CallerNodeStateListenerManager.kt Normal file
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@@ -0,0 +1,62 @@
package com.mogo.eagle.core.function.call.autopilot
import com.mogo.eagle.core.function.api.autopilot.IMoGoNodeStateListener
import com.mogo.eagle.core.function.call.base.CallerBase
import com.zhjt.mogo.adas.data.Adas
import com.zhjt.mogo.adas.data.AdasConstants
/**
*节点状态
*/
object CallerNodeStateListenerManager : CallerBase<IMoGoNodeStateListener>() {
private val mutableMap = mutableMapOf<String, Set<AdasConstants.NodeName>>()
fun addNodeStateListener(
tag: String,
nodeName: Set<AdasConstants.NodeName>?,
listener: IMoGoNodeStateListener
) {
if (!nodeName.isNullOrEmpty()) {
mutableMap[tag] = nodeName
}
super.addListener(tag, listener)
}
fun removeNodeStateListener(tag: String) {
if (mutableMap.containsKey(tag)) {
mutableMap.remove(tag)
}
super.removeListener(tag)
}
fun invokeNodeState(name: AdasConstants.NodeName, stateInfo: Adas.NodeStateInfo) {
M_LISTENERS.forEach {
val names = mutableMap[it.key]
val listener = it.value
if (names.isNullOrEmpty()) {
listener.onNodeStateInfo(name, stateInfo)
} else {
if (names.contains(name)) {
listener.onNodeStateInfo(name, stateInfo)
}
}
}
}
override fun doSomeAfterAddListener(tag: String, listener: IMoGoNodeStateListener) {
super.doSomeAfterAddListener(tag, listener)
mutableMap.forEach { it ->
if (it.key == tag) {
val value = it.value
value.forEach { name ->
val state = CallerAutoPilotControlManager.getNodeStateInfo(name)
state?.let {
listener.onNodeStateInfo(name, state)
}
}
}
}
}
}

8
libraries/mogo-adas-data/src/main/proto/personal/adas.proto
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@@ -3,6 +3,7 @@ package mogo.telematics.pad;
option java_package = "com.zhjt.mogo.adas.data";
import "message_pad.proto";
import "personal/adas_constants.proto";
//发送的数据ID持久化，只保留最后一条的消息id，每天重新累计
message LastMessage{
@@ -15,3 +16,10 @@ message LastMessage{
message MessageIdInfo{
map<uint64, LastMessage> lastMessages = 1;// key：data（日期） value：数据
}
//节点状态信息
message NodeStateInfo{
com.zhjt.mogo.adas.data.NodeName nodeName = 1;//节点名称
com.zhjt.mogo.adas.data.NodeState nodeState = 2;//节点主状态 包含：未知；存在；不存在；
com.zhjt.mogo.adas.data.NodeExistState existState = 3;//节点存在时的状态
}

27
libraries/mogo-adas-data/src/main/proto/personal/adas_constants.proto
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@@ -22,7 +22,7 @@ enum MapSystemParamType{
SEAT_STATE = 15;//15: 座椅状态(int) 0:表示仅主驾位有人,1:表示仅副驾位有人,2:表示主驾和副驾同时有人,3:表示仅后排有人,4:表示主驾有人+后排有人,5:表示副驾有人+后排有人,6:表示主驾和副驾同时有人+后排有人,7: 所有座位都无人, 255:缺省
OVERTAKE_MAX_SPEED = 16;//16: 超车的最大速度阈值(double, m/s, 范围[3, 12.5])
FAULT_SIMULATION_CMD = 17;//17: 故障模拟指令(int) default:0(do nothing), 1:线控失效
COLLISION_REPORTING = 18;//18: 碰撞上报(null)
COLLISION_REPORTING = 18;//18: 碰撞上报(null) TODO 废弃，使用：message CollisionReport
PARK_VEH_CROSS = 19;//19: 会车开关(bool) 0: off 1:on 默认0
PARK_VEH_OVERTAKE = 20;//20: 超车开关(bool) 0: off 1:on 默认0
}
@@ -106,3 +106,28 @@ enum SubscribeType {
UNSUBSCRIBE = 2;//取消订阅
}
/**
* 节点名称
*/
enum NodeName{
DEFAULT_NAME = 0;//无用
SSM = 1;//SSM默认存在
FSM2024 = 2;//FSM 2024版本的Topic名称
}
/**
* 节点状态
*/
enum NodeState{
NODE_UNKNOWN = 0;//未知，未连接或SSM超时
NODE_NOT_EXIST = 1;//节点不存在
NODE_EXIST = 2;//节点存在
}
/**
* 节点存在时的状态
*/
enum NodeExistState{
NODE_EXIST_NORMAL = 0;//节点正常 仅表示数据接收正常
NODE_EXIST_TIMEOUT = 1;//节点数据接收超时
}

10
libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/AdasManager.java
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@@ -1715,6 +1715,16 @@ public class AdasManager implements IAdasNetCommApi {
return mChannel == null ? -1L : mChannel.sendParallelDrivingReq(reqNo, parallelRequest);
}
/**
* 查询节点状态
*
* @param name 节点名称 目前只有SSM和FSM2024
* @return 状态 SSM只能查询到超时状态；FSM2024可以查询到节点是否存在状态以及超时状态；
*/
public Adas.NodeStateInfo getNodeStateInfo(AdasConstants.NodeName name) {
return AutopilotAbilityManager.getInstance().getNodeStateInfo(name);
}
/**
* 获取域控PING 地址列表
*

12
libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/OnAdasListener.java
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@@ -7,6 +7,7 @@ import com.google.protobuf.ByteString;
import com.mogo.support.obu.ObuScene;
import com.zhidao.support.adas.high.common.ProtocolStatus;
import com.zhjt.mogo.adas.common.MessageType;
import com.zhjt.mogo.adas.data.Adas;
import com.zhjt.mogo.adas.data.AdasConstants;
import com.zhjt.mogo.adas.data.AiCloudTask;
import com.zhjt.mogo.adas.data.bean.AdasParam;
@@ -532,6 +533,17 @@ public interface OnAdasListener {
*/
void onV2nNioCongestionEvent(@NonNull MessagePad.Header header, @NonNull MessagePad.V2nCongestion congestion);
/**
* 所连接的域控的节点状态信息
* 目前包含状态 节点是否存在；节点是否超时；
* SSM 只判断超时状态
* FSM 是否存在；是否超时；
*
* @param name 节点名称
* @param stateInfo 节点状态信息 包含：未知；存在；不存在； 以及存在的一些状态
*/
void onNodeStateInfo(@NonNull AdasConstants.NodeName name, @NonNull Adas.NodeStateInfo stateInfo);
/**
* 域控SSM接口接收超时
* 状态变动时才会回调，默认SSM状态正常

23
libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/common/autopilot/ability/AutopilotAbilityManager.java
View File

@@ -9,11 +9,14 @@ import com.zhidao.support.adas.high.AdasOptions;
import com.zhidao.support.adas.high.BuildConfig;
import com.zhidao.support.adas.high.OnAdasListener;
import com.zhidao.support.adas.high.common.CupidLogUtils;
import com.zhjt.mogo.adas.data.Adas;
import com.zhjt.mogo.adas.data.AdasConstants;
import com.zhjt.mogo.adas.data.bean.LaunchConditionData;
import com.zhjt.mogo.adas.data.bean.UnableLaunchReason;
import java.util.ArrayList;
import java.util.HashMap;
import java.util.Map;
import java.util.Set;
import java.util.Timer;
import java.util.TimerTask;
@@ -65,6 +68,7 @@ public class AutopilotAbilityManager implements OnAutopilotAbilityListener {
private final AtomicBoolean isOldSsmTimeout = new AtomicBoolean(false);//SSM是否超时 老状态
private final AtomicBoolean isOldFsmTimeout = new AtomicBoolean(false);//FSM是否超时 老状态
private final AtomicBoolean isInitCarConfig = new AtomicBoolean(false);//车辆信息是否初始化
private final Map<AdasConstants.NodeName, Adas.NodeStateInfo> nodeStateInfos = new HashMap<>();
private boolean isSupportFSM2024 = false;
private AutopilotAbilityManager() {
@@ -209,6 +213,25 @@ public class AutopilotAbilityManager implements OnAutopilotAbilityListener {
}
}
/**
* 查询节点状态
*
* @param name 节点名称 目前只有SSM和FSM2024
* @return 状态 SSM只能查询到超时状态；FSM2024可以查询到节点是否存在状态以及超时状态；
*/
public Adas.NodeStateInfo getNodeStateInfo(AdasConstants.NodeName name) {
Adas.NodeStateInfo state = nodeStateInfos.get(name);
if (state == null) {
state = Adas.NodeStateInfo.newBuilder().setNodeState(AdasConstants.NodeState.NODE_UNKNOWN).build();
nodeStateInfos.put(name, state);
}
return state;
}
//检测节点是否存在
private void detectionTopicExistence() {
}
private void initAutopilotAbility() {
stopAllTimer();