diff --git a/OCH/common/common/src/main/java/com/mogo/och/common/module/manager/autopilot/autopilot/OchAutoPilotManager.kt b/OCH/common/common/src/main/java/com/mogo/och/common/module/manager/autopilot/autopilot/OchAutoPilotManager.kt index d985b04ab3..558ac3c4a8 100644 --- a/OCH/common/common/src/main/java/com/mogo/och/common/module/manager/autopilot/autopilot/OchAutoPilotManager.kt +++ b/OCH/common/common/src/main/java/com/mogo/och/common/module/manager/autopilot/autopilot/OchAutoPilotManager.kt @@ -69,8 +69,8 @@ object OchAutoPilotManager : IMoGoReceiveReceivedAckListener, IMoGoFsm2024Listen fun canStartAutoPilotSSM(): Boolean { if (!FunctionBuildConfig.isDemoMode && !OCHAdasAbilityManager.getInstance().autopilotAbilityStatus) { val reasons = OCHAdasAbilityManager.getInstance().unableAutopilotReasons - if ("AutopilotAbility440" == OCHAdasAbilityManager.getInstance().abilityVersion && !reasons.isNullOrEmpty()) { - val msg = reasons[0].unableLaunchReason + " 来源：" + reasons[0].source + if ("AutopilotAbilityFSM" == OCHAdasAbilityManager.getInstance().abilityVersion && !reasons.isNullOrEmpty()) { + val msg = reasons[0].getUnableLaunchReason() + " 来源：" + reasons[0].source CallerMsgBoxManager.saveMsgBox( MsgBoxBean( MsgBoxType.AUTOPILOT, diff --git a/app/src/androidTest/java/com/mogo/functions/test/TestAutoPilotBeforeLaunch.kt b/app/src/androidTest/java/com/mogo/functions/test/TestAutoPilotBeforeLaunch.kt index 375f4da20b..8d245345cc 100644 --- a/app/src/androidTest/java/com/mogo/functions/test/TestAutoPilotBeforeLaunch.kt +++ b/app/src/androidTest/java/com/mogo/functions/test/TestAutoPilotBeforeLaunch.kt @@ -15,8 +15,8 @@ import com.mogo.eagle.core.function.call.autopilot.CallerChassisLocationGCJ02Lis import com.mogo.eagle.core.function.call.autopilot.CallerChassisStatesListenerManager import com.mogo.eagle.core.function.main.MainLauncherActivity import com.mogo.eagle.core.utilcode.util.ToastUtils -import com.zhjt.mogo.adas.data.bean.MogoReport import com.zhjt.mogo.adas.data.bean.LaunchConditionData +import com.zhjt.mogo.adas.data.bean.MogoReport import com.zhjt.mogo.adas.data.bean.UnableLaunchReason import com.zhjt.mogo.adas.data.bean.UnableLaunchReason.SourceType.CHASSIS import com.zhjt.mogo.adas.data.bean.UnableLaunchReason.UnableType.CHASSIS_BRAKE @@ -154,7 +154,12 @@ class TestAutoPilotBeforeLaunch { .setRemotePilotReady(false).build(), FSMStatusReasonRespond.getDefaultInstance() ), ArrayList().also { - it += UnableLaunchReason(CHASSIS, CHASSIS_GEAR, "gear") + it += UnableLaunchReason(CHASSIS, CHASSIS_GEAR, + object : ArrayList() { + init { + add("gear") + } + }) }) } @@ -169,7 +174,12 @@ class TestAutoPilotBeforeLaunch { .setRemotePilotReady(false).build(), FSMStatusReasonRespond.getDefaultInstance() ), ArrayList().also { - it += UnableLaunchReason(CHASSIS, CHASSIS_STEERING, "steering") + it += UnableLaunchReason(CHASSIS, CHASSIS_STEERING, + object : ArrayList() { + init { + add("steering") + } + }) }) } @@ -185,7 +195,12 @@ class TestAutoPilotBeforeLaunch { .setRemotePilotReady(false).build(), FSMStatusReasonRespond.getDefaultInstance() ), ArrayList().also { - it += UnableLaunchReason(CHASSIS, CHASSIS_BRAKE, "brake") + it += UnableLaunchReason(CHASSIS, CHASSIS_BRAKE, + object : ArrayList() { + init { + add("brake") + } + }) }) } @@ -200,7 +215,12 @@ class TestAutoPilotBeforeLaunch { .setRemotePilotReady(false).build(), FSMStatusReasonRespond.getDefaultInstance() ), ArrayList().also { - it += UnableLaunchReason(CHASSIS, CHASSIS_HAZARD_LIGHTS, "lights") + it += UnableLaunchReason(CHASSIS, CHASSIS_HAZARD_LIGHTS, + object : ArrayList() { + init { + add("lights") + } + }) }) } @@ -215,7 +235,12 @@ class TestAutoPilotBeforeLaunch { .setRemotePilotReady(false).build(), FSMStatusReasonRespond.getDefaultInstance() ), ArrayList().also { - it += UnableLaunchReason(CHASSIS, CHASSIS_THROTTLE, "throttle") + it += UnableLaunchReason(CHASSIS, CHASSIS_THROTTLE, + object : ArrayList() { + init { + add("throttle") + } + }) }) } @@ -230,11 +255,36 @@ class TestAutoPilotBeforeLaunch { .setRemotePilotReady(false).build(), FSMStatusReasonRespond.getDefaultInstance() ), ArrayList().also { - it += UnableLaunchReason(CHASSIS, CHASSIS_GEAR, "gear") - it += UnableLaunchReason(CHASSIS, CHASSIS_STEERING, "steering") - it += UnableLaunchReason(CHASSIS, CHASSIS_HAZARD_LIGHTS, "lights") - it += UnableLaunchReason(CHASSIS, CHASSIS_THROTTLE, "throttle") - it += UnableLaunchReason(CHASSIS, CHASSIS_BRAKE, "brake") + it += UnableLaunchReason(CHASSIS, CHASSIS_GEAR, + object : ArrayList() { + init { + add("gear") + } + }) + it += UnableLaunchReason(CHASSIS, CHASSIS_STEERING, + object : ArrayList() { + init { + add("steering") + } + }) + it += UnableLaunchReason(CHASSIS, CHASSIS_HAZARD_LIGHTS, + object : ArrayList() { + init { + add("lights") + } + }) + it += UnableLaunchReason(CHASSIS, CHASSIS_THROTTLE, + object : ArrayList() { + init { + add("throttle") + } + }) + it += UnableLaunchReason(CHASSIS, CHASSIS_BRAKE, + object : ArrayList() { + init { + add("brake") + } + }) }) } CallerAutoPilotControlManager.isCanStartAutopilot(true) diff --git a/core/mogo-core-function-call/src/main/java/com/mogo/eagle/core/function/call/autopilot/CallerAutopilotActionsListenerManager.kt b/core/mogo-core-function-call/src/main/java/com/mogo/eagle/core/function/call/autopilot/CallerAutopilotActionsListenerManager.kt index d47eff15af..f16c9faad1 100644 --- a/core/mogo-core-function-call/src/main/java/com/mogo/eagle/core/function/call/autopilot/CallerAutopilotActionsListenerManager.kt +++ b/core/mogo-core-function-call/src/main/java/com/mogo/eagle/core/function/call/autopilot/CallerAutopilotActionsListenerManager.kt @@ -55,7 +55,11 @@ object CallerAutopilotActionsListenerManager : CallerBase() { + init { + add("未连接自动驾驶系统") + } + } ) ) return list diff --git a/libraries/mogo-adas-data/src/main/java/com/zhjt/mogo/adas/data/bean/UnableLaunchReason.java b/libraries/mogo-adas-data/src/main/java/com/zhjt/mogo/adas/data/bean/UnableLaunchReason.java index f966ea314e..6bdab8db7c 100644 --- a/libraries/mogo-adas-data/src/main/java/com/zhjt/mogo/adas/data/bean/UnableLaunchReason.java +++ b/libraries/mogo-adas-data/src/main/java/com/zhjt/mogo/adas/data/bean/UnableLaunchReason.java @@ -1,7 +1,8 @@ package com.zhjt.mogo.adas.data.bean; -import android.text.TextUtils; +import androidx.annotation.NonNull; +import java.util.List; import java.util.Objects; /** @@ -40,28 +41,46 @@ public class UnableLaunchReason { /** * 來源 */ + @NonNull public final SourceType source; /** * 影响启动自驾或启动平行驾驶的具体类型 */ + @NonNull public final UnableType unableType; /** * 具體原因 + * 只有 unableType==UnableType.FSM2024_OFFER unableLaunchReason 才会有多个，其他状态有且仅有一个 */ - public final String unableLaunchReason; + @NonNull + public final List unableLaunchReason; - public UnableLaunchReason(SourceType source, UnableType unableType, String unableLaunchReason) { + public UnableLaunchReason(@NonNull SourceType source, @NonNull UnableType unableType, @NonNull List unableLaunchReason) { this.source = source; this.unableType = unableType; this.unableLaunchReason = unableLaunchReason; } + public String getUnableLaunchReason() { + if (unableLaunchReason.isEmpty()) { + return ""; + } + StringBuilder stringBuilder = new StringBuilder(); + for (int i = 0; i < unableLaunchReason.size(); i++) { + stringBuilder.append(unableLaunchReason.get(i)); + if (i < unableLaunchReason.size() - 1) { + stringBuilder.append(" && "); + } + } + return stringBuilder.toString(); + } + @Override public boolean equals(Object o) { if (this == o) return true; if (o == null || getClass() != o.getClass()) return false; UnableLaunchReason that = (UnableLaunchReason) o; - return source == that.source && unableType == that.unableType && TextUtils.equals(unableLaunchReason, that.unableLaunchReason); + return source == that.source && unableType == that.unableType && Objects.equals(unableLaunchReason, that.unableLaunchReason); } @Override diff --git a/libraries/mogo-adas-data/src/main/proto/fsm2024.proto b/libraries/mogo-adas-data/src/main/proto/fsm2024.proto index ec22d1cc38..1e9d3582fa 100644 --- a/libraries/mogo-adas-data/src/main/proto/fsm2024.proto +++ b/libraries/mogo-adas-data/src/main/proto/fsm2024.proto @@ -1,53 +1,96 @@ syntax = "proto2"; package fsm; - + import "header.proto"; - + enum State { OFF = 0; - STANDBY = 1; //Standby 未来会弃用, 并入OFF + REQUESTING = 1; ACTIVATING = 2; - PILOT_DRIVING_ACTIVE = 3; //未来会被弃用，所有激活状态统一在Active状态下作为子状态管理 - PARALLEL_DRIVING_ACTIVE = 4; //未来会被弃用，所有激活状态统一在Active状态下作为子状态管理 - SAFETY_STOP = 5; + ACTIVE = 6; + + SAFETY_STOP = 10; + SAFETY_STOPPED = 11; + + STANDBY = 80; //已弃用 + PILOT_DRIVING_ACTIVE = 81; //已弃用 + PARALLEL_DRIVING_ACTIVE = 82; //已弃用 } - + enum SafetyStopMode { NOT_NEEDED = 0; PLANNER_STOP = 1; CONTROLLER_COMFORT_STOP = 2; CONTROLLER_EMERGENCY_STOP = 3; } - -enum ActiveMode { + +enum ActiveMode { //数字定义与请求的数字对齐 NOT_ACTIVE= 0; PILOT_ACTIVE= 1; - PARALLEL_ACTIVE= 2; - SIMULATOR_ACTIVE= 3; //模拟器驾驶， M1上专用 + PARALLEL_ACTIVE= 6; + M1_STEER_ACTIVE= 9; //模拟器驾驶， M1上专用 } - + +enum SessionResult{ + NO_REQUEST_RECEIVED= 0; //还没收到任何请求 + ATTEMPTING= 1; //已收到请求，激活自驾（或其他模式）中 + REQUEST_SUCCEED= 2; //请求成功 + REQUEST_FAILED= 3; //请求失败 +} + +enum ExitType{ + NO_EXIT =0; + NORMAL_EXIT= 1; + ABNORMAL_EXIT= 2; +} + +message Session{ + optional ActiveMode session_active_mode = 1 ; //这次点击是要进入哪个模式 + optional uint64 session_id= 2; //最新收到的请求的session id， 暂时不区分 自驾，平行驾驶、方向盘驾驶以及发送源头。没收到或者请求不带id时置为0 + optional SessionResult session_result = 3; //当前session的结果 + optional string session_fail_reason = 4; // 如果最新的session请求失败，原因是什么 +} + +message ExitActive{ + +optional ActiveMode exit_active_mode = 1; +optional ExitType exit_type= 2; +optional string exit_reason = 3; +optional string exit_time = 4; +} + message FSMStateMsg { required common.Header header = 1; required State function_state = 2; required SafetyStopMode fsm_safety_stop_mode = 4; //FSM如果进入safety stop，是planning 进行停车，还是control进行舒适停车，还是control进行紧急停车 - + required ActiveMode active_mode = 6; + optional bool beautiful_mode = 7;//原始PB是required 由于老版本PB中不含有此字段，使用required解析会报错，所以改成optional + optional string version = 9; //目前是2.0 原始PB是required 由于老版本PB中不含有此字段，使用required解析会报错，所以改成optional required bool new_msg_flag = 10; - + required bool pilot_standby_flag = 11; - required bool parallel_standby_flag = 12; - required bool simulator_standby_flag = 13; - + required bool parallel_standby_flag = 12; + required bool m1steer_standby_flag = 13; + optional string pilot_not_standby_reason= 21; //FSM 无法自驾无法就绪的原因。 optional string parallel_not_standby_reason= 22; //FSM 无法平行即使就绪原因 - optional string simulator_not_standby_reason= 23; //FSM 无法模拟器驾驶原因 - - optional uint64 fail_to_pilot_session_id= 36; - optional uint64 fail_to_parallel_session_id= 37; - optional uint64 fail_to_simulator_session_id= 38; - - optional string abnormal_state_trans_reason= 41; //FSM 异常退出ACTIVATING/自驾/平行驾驶/模拟器驾驶原因 （包括接管） - -} \ No newline at end of file + optional string m1steer_not_standby_reason= 23; //FSM 无法模拟器驾驶原因 + + repeated string repeated_pilot_not_standby_reason= 26; // repeated reason + repeated string repeated_parallel_not_standby_reason= 27; + repeated string repeated_m1steer_not_standby_reason= 28; + + optional Session session = 30; //包含某次点击的所有信息 + + optional uint64 fail_to_pilot_session_id= 36; //2.0起废弃 + optional uint64 fail_to_parallel_session_id= 37; //2.0起废弃 + optional uint64 fail_to_m1steer_session_id= 38; //2.0起废弃 + + optional string abnormal_state_trans_reason= 41; //2.0起废弃 + + optional ExitActive exit_active= 42; //存储最近一次离开Active状态的情况 （包括正常退出，掉自驾，接管，停车） + +} diff --git a/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/common/autopilot/ability/AutopilotAbilityFSM.java b/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/common/autopilot/ability/AutopilotAbilityFSM.java index 9f9640393c..9a24d0f6f3 100644 --- a/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/common/autopilot/ability/AutopilotAbilityFSM.java +++ b/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/common/autopilot/ability/AutopilotAbilityFSM.java @@ -6,6 +6,7 @@ import com.zhjt.mogo.adas.data.bean.LaunchConditionData; import com.zhjt.mogo.adas.data.bean.UnableLaunchReason; import java.util.ArrayList; +import java.util.List; import fsm.Fsm2024; @@ -40,7 +41,16 @@ public class AutopilotAbilityFSM { unableAutopilotReasons = manager.addUnableAutopilotReason(unableAutopilotReasons, UnableLaunchReason.SourceType.LIB, UnableLaunchReason.UnableType.FSM2024_TIMEOUT, "FSM超时无响应"); } else { if (!fsmState.getPilotStandbyFlag()) { - unableAutopilotReasons = manager.addUnableAutopilotReason(unableAutopilotReasons, UnableLaunchReason.SourceType.FSM2024, UnableLaunchReason.UnableType.FSM2024_OFFER, fsmState.getPilotNotStandbyReason()); + List list = null; + if (fsmState.getRepeatedPilotNotStandbyReasonCount() > 0) { + list = fsmState.getRepeatedPilotNotStandbyReasonList(); + } + if (list == null || list.isEmpty()) { + unableAutopilotReasons = manager.addUnableAutopilotReason(unableAutopilotReasons, UnableLaunchReason.SourceType.FSM2024, UnableLaunchReason.UnableType.FSM2024_OFFER, fsmState.getPilotNotStandbyReason()); + } else { + unableAutopilotReasons = manager.addUnableAutopilotReason(unableAutopilotReasons, UnableLaunchReason.SourceType.FSM2024, UnableLaunchReason.UnableType.FSM2024_OFFER, list); + } + } } if (listener != null) { diff --git a/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/common/autopilot/ability/AutopilotAbilityManager.java b/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/common/autopilot/ability/AutopilotAbilityManager.java index 2d6d4c23e2..5a3ccc8bdf 100644 --- a/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/common/autopilot/ability/AutopilotAbilityManager.java +++ b/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/common/autopilot/ability/AutopilotAbilityManager.java @@ -124,6 +124,15 @@ public class AutopilotAbilityManager implements OnAutopilotAbilityListener { * @return 原因列表 */ protected ArrayList addUnableAutopilotReason(ArrayList unableAutopilotReasons, UnableLaunchReason.SourceType source, UnableLaunchReason.UnableType unableType, String unableAutopilotReason) { + if (TextUtils.isEmpty(unableAutopilotReason)) { + unableAutopilotReason = "未知"; + } + List list = new ArrayList<>(); + list.add(unableAutopilotReason); + return addUnableAutopilotReason(unableAutopilotReasons, source, unableType, list); + } + + protected ArrayList addUnableAutopilotReason(ArrayList unableAutopilotReasons, UnableLaunchReason.SourceType source, UnableLaunchReason.UnableType unableType, List unableAutopilotReason) { if (unableAutopilotReasons == null) { unableAutopilotReasons = new ArrayList<>(); } @@ -131,7 +140,6 @@ public class AutopilotAbilityManager implements OnAutopilotAbilityListener { return unableAutopilotReasons; } - public void setCarConfig(@NonNull MessagePad.CarConfigResp carConfig) { if (!isInitCarConfig.get()) { int version = carConfig.getMapVersion(); diff --git a/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/msg/FSM2024StateMessage.java b/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/msg/FSM2024StateMessage.java index ad8e706374..bbc79e22b6 100644 --- a/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/msg/FSM2024StateMessage.java +++ b/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/msg/FSM2024StateMessage.java @@ -22,6 +22,7 @@ public class FSM2024StateMessage extends MyAbstractMessageHandler { public FSM2024StateMessage(AutopilotReview autopilotReview) { this.autopilotReview = autopilotReview; } + @Override public void handlerMsg(RawData raw, OnAdasListener adasListener) throws InvalidProtocolBufferException { Fsm2024.FSMStateMsg fsmState = Fsm2024.FSMStateMsg.parser().parseFrom(raw.originalData.toByteArray(), raw.getOffsetValue(), raw.getPackageLengthValue() - raw.getOffsetValue()); @@ -33,7 +34,13 @@ public class FSM2024StateMessage extends MyAbstractMessageHandler { if (CupidLogUtils.isEnableLog()) nowTime = SystemClock.elapsedRealtime(); if (adasListener != null) { - adasListener.onFSM2024State(raw.getHeader(), fsmState, autopilotState, mode); + if (fsmState.getRepeatedPilotNotStandbyReasonCount() == 0) { + Fsm2024.FSMStateMsg.Builder builder = fsmState.toBuilder(); + builder.addRepeatedPilotNotStandbyReason(fsmState.getPilotNotStandbyReason()); + adasListener.onFSM2024State(raw.getHeader(), builder.build(), autopilotState, mode); + } else { + adasListener.onFSM2024State(raw.getHeader(), fsmState, autopilotState, mode); + } } ParallelDrivingManager.getInstance().setAutopilotState(autopilotState); if (autopilotReview != null) {