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

2024-08-20 10:17:39 +08:00
parent b4ed1f8585
commit 3e51b85e8b
11 changed files with 211 additions and 6 deletions
--- a/core/function-impl/mogo-core-function-datacenter/src/main/java/com/mogo/eagle/core/function/datacenter/autopilot/MoGoAutopilotControlProvider.kt
+++ b/core/function-impl/mogo-core-function-datacenter/src/main/java/com/mogo/eagle/core/function/datacenter/autopilot/MoGoAutopilotControlProvider.kt
@@ -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)
+    }
+
 }
--- a/core/function-impl/mogo-core-function-datacenter/src/main/java/com/mogo/eagle/core/function/datacenter/autopilot/adapter/MoGoAdasListenerImpl.kt
+++ b/core/function-impl/mogo-core-function-datacenter/src/main/java/com/mogo/eagle/core/function/datacenter/autopilot/adapter/MoGoAdasListenerImpl.kt
@@ -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
--- a/core/mogo-core-function-api/src/main/java/com/mogo/eagle/core/function/api/autopilot/IMoGoAutopilotControlProvider.kt
+++ b/core/mogo-core-function-api/src/main/java/com/mogo/eagle/core/function/api/autopilot/IMoGoAutopilotControlProvider.kt
@@ -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
+
 }
--- a/core/mogo-core-function-api/src/main/java/com/mogo/eagle/core/function/api/autopilot/IMoGoNodeStateListener.kt
+++ b/core/mogo-core-function-api/src/main/java/com/mogo/eagle/core/function/api/autopilot/IMoGoNodeStateListener.kt
@@ -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)
+
+
+
+}
--- a/core/mogo-core-function-call/src/main/java/com/mogo/eagle/core/function/call/autopilot/CallerAutoPilotControlManager.kt
+++ b/core/mogo-core-function-call/src/main/java/com/mogo/eagle/core/function/call/autopilot/CallerAutoPilotControlManager.kt
@@ -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)
+    }
 }
--- a/core/mogo-core-function-call/src/main/java/com/mogo/eagle/core/function/call/autopilot/CallerNodeStateListenerManager.kt
+++ b/core/mogo-core-function-call/src/main/java/com/mogo/eagle/core/function/call/autopilot/CallerNodeStateListenerManager.kt
@@ -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)
+                    }
+                }
+            }
+        }
+    }
+
+
+}