[630][adas] 新增域控认证；优化重连机制：无限重连、用不重连、指定次数重连；优化连接状态；新增设置是否启用超时检测；新增是否自动连接；

2024-02-28 14:13:19 +08:00
parent 6371ed33c4
commit 58e533bb2f
43 changed files with 1198 additions and 640 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
@@ -55,7 +55,6 @@ import com.zhidao.support.adas.high.AdasOptions
 import com.zhidao.support.adas.high.OnMultiDeviceListener
 import com.zhidao.support.adas.high.chain.AdasChain
 import com.zhidao.support.adas.high.common.Constants
-import com.zhidao.support.adas.high.common.Constants.IPC_CONNECTION_STATUS
 import com.zhidao.support.adas.high.common.CupidLogUtils
 import com.zhjt.mogo.adas.common.MessageType
 import com.zhjt.mogo.adas.data.AdasConstants
@@ -98,7 +97,7 @@ class MoGoAutopilotControlProvider :
    override fun init(context: Context) {
        CallerLogger.i("$M_D_C$TAG", "初始化工控机连接……")
        mContext = context
-        AdasManager.getInstance().init(context)
+        AdasManager.getInstance().init(context)//必须在AdasManager.getInstance().create() 和构建AdasOptions之前调用
        runCatching {
            // 初始化ADAS 域控制器
            CupidLogUtils.setEnableLog(false)
@@ -118,13 +117,13 @@ class MoGoAutopilotControlProvider :
                // "192.168.1.102"
                val options = AdasOptions.newBuilder()
                    .setConnectionMode(AdasOptions.IPC_CONNECTION_MODE.PING)
-                    .setPingAddressList(AdasManager.getInstance().ipcFixationIPList)
+                    .setPingAddressList(AdasManager.getInstance().pingAddressList)
                    .setPassenger(false)
                    .setUnableLaunchAutopilotGear(FunctionBuildConfig.unableLaunchAutopilotGear)
 //                    .setSubscribeInterfaceOptions(subscribeInterfaceOptions)//
                    .build()

-                AdasManager.getInstance().create(options, MoGoAdasMsgConnectStatusListenerImpl())
+                AdasManager.getInstance().create(mContext, options, MoGoAdasMsgConnectStatusListenerImpl())
                //////////////////////////////////注意先后顺序，AdasManager.getInstance().create后才可以设置监听/////////////////////////////////////////////
                // 监听ADAS-SDK获取到的工控机数据
                AdasManager.getInstance().setOnAdasListener(MoGoAdasListenerImpl())
@@ -219,7 +218,7 @@ class MoGoAutopilotControlProvider :
                                        .setUnableLaunchAutopilotGear(FunctionBuildConfig.unableLaunchAutopilotGear)
                                        .build()
                                    AdasManager.getInstance()
-                                        .create(options, MoGoAdasMsgConnectStatusListenerImpl())
+                                        .create(mContext, options, MoGoAdasMsgConnectStatusListenerImpl())
                                    // 监听ADAS-SDK获取到的工控机数据
                                    AdasManager.getInstance().setOnAdasListener(MoGoAdasListenerImpl())
                                    // 接收司机屏发过来的感知、定位等数据
@@ -246,11 +245,11 @@ class MoGoAutopilotControlProvider :
        val options = AdasOptions
            .newBuilder()
            .setConnectionMode(AdasOptions.IPC_CONNECTION_MODE.PING)
-            .setPingAddressList(AdasManager.getInstance().ipcFixationIPList)
+            .setPingAddressList(AdasManager.getInstance().pingAddressList)
            .setPassenger(false)// 乘客端直连工控机改为false
            .setUnableLaunchAutopilotGear(FunctionBuildConfig.unableLaunchAutopilotGear)
            .build()
-        AdasManager.getInstance().create(options, MoGoAdasMsgConnectStatusListenerImpl())
+        AdasManager.getInstance().create(mContext, options, MoGoAdasMsgConnectStatusListenerImpl())
        //////////////////////////////////注意先后顺序，AdasManager.getInstance().create后才可以设置监听/////////////////////////////////////////////
        // 监听ADAS-SDK获取到的工控机数据
        AdasManager.getInstance().setOnAdasListener(MoGoAdasListenerImpl())
@@ -309,7 +308,7 @@ class MoGoAutopilotControlProvider :
                    .setConnectionMode(AdasOptions.IPC_CONNECTION_MODE.SPECIFIED)
                    .setSpecifiedAddress(autoPilotIp)
                    .build()
-                AdasManager.getInstance().create(options, MoGoAdasMsgConnectStatusListenerImpl())
+                AdasManager.getInstance().create(mContext, options, MoGoAdasMsgConnectStatusListenerImpl())

 //                AdasManager.getInstance().adasOptions.isClient = false
 //                AdasManager.getInstance().adasOptions.ipcConnectionMode =
@@ -368,7 +367,7 @@ class MoGoAutopilotControlProvider :
                .sendAutoPilotModeReq(1, source, null)
            invokeAutoPilotResult(if (invokeResult) "无参自动驾驶调用成功" else "自动驾驶调用失败, socket 或者 rawPack 可能为空")
        } else {
-            if (AdasManager.getInstance().ipcConnectionStatus == IPC_CONNECTION_STATUS.CONNECTED) {
+            if (AdasManager.getInstance().ipcConnectionStatus == AdasConstants.IpcConnectionStatus.CONNECTED) {
                val invokeResult = AdasManager.getInstance()
                    .sendAutoPilotModeReq(1, source, null)
                invokeAutoPilotResult(if (invokeResult) "无参自动驾驶调用成功" else "自动驾驶调用失败, socket 或者 rawPack 可能为空")
@@ -384,7 +383,7 @@ class MoGoAutopilotControlProvider :
                .sendAutoPilotModeReq(1, source, controlParameters.toRouteInfo())
            invokeAutoPilotResult(if (invokeResult) "自动驾驶调用成功" else "自动驾驶调用失败, socket 或者 rawPack 可能为空")
        } else {
-            if (AdasManager.getInstance().ipcConnectionStatus == IPC_CONNECTION_STATUS.CONNECTED) {
+            if (AdasManager.getInstance().ipcConnectionStatus == AdasConstants.IpcConnectionStatus.CONNECTED) {
                val invokeResult = AdasManager.getInstance()
                    .sendAutoPilotModeReq(1, source, controlParameters.toRouteInfo())
                invokeAutoPilotResult(if (invokeResult) "自动驾驶调用成功" else "自动驾驶调用失败, socket 或者 rawPack 可能为空")
@@ -431,7 +430,7 @@ class MoGoAutopilotControlProvider :
    }

    override fun cancelAutoPilot() {
-        if (AdasManager.getInstance().ipcConnectionStatus == IPC_CONNECTION_STATUS.CONNECTED) {
+        if (AdasManager.getInstance().ipcConnectionStatus == AdasConstants.IpcConnectionStatus.CONNECTED) {
            AdasManager.getInstance().sendAutoPilotModeReq(0, 1, null)
        } else {
            CallerLogger.e("$M_D_C$TAG", "车机与工控机链接失败，无法断开自动驾驶")
@@ -925,7 +924,7 @@ class MoGoAutopilotControlProvider :
     * 车机与工控机是否连上了
     */
    override fun isConnected(): Boolean {
-        return AdasManager.getInstance().ipcConnectionStatus == IPC_CONNECTION_STATUS.CONNECTED
+        return AdasManager.getInstance().ipcConnectionStatus == AdasConstants.IpcConnectionStatus.CONNECTED
    }

    /**
--- 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
@@ -58,6 +58,7 @@ import com.mogo.support.obu.ObuScene
 import com.zhidao.support.adas.high.OnAdasListener
 import com.zhjt.mogo.adas.data.bean.AdasParam
 import com.zhidao.support.adas.high.common.ProtocolStatus
+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.ReceivedAck
@@ -357,12 +358,17 @@ class MoGoAdasListenerImpl : OnAdasListener {
        }
    }

-    // 自动驾驶设备基础信息请求
-    override fun onBasicInfoReq(
-        header: MessagePad.Header,
-        basicInfoReq: MessagePad.BasicInfoReq?
-    ) {
-        invokeAutopilotSNRequest()
+    /**
+     * 自动驾驶设备基础信息请求
+     * 连接时启用认证 后才会有认证结果
+     * ROOT证书异常会影响校验域控证书
+     * PAD证书异常会影响域控端校验的证书校验，域控端证书校验失败将会断开连接，且并不会给出断开原因，ADAS LIB会执行重连操作（如果配置启用重连）
+     * 校验域控证书认证失败会主动断开连接，且不进行重连
+     *
+     * @param status 域控证书认证结果{@link AdasConstants.CertificationStatus}
+     */
+    override fun onBasicInfoReq(status: AdasConstants.CertificationStatus) {
+        invokeAutopilotSNRequest(status)
    }

    //工控机基础配置信息
--- a/core/function-impl/mogo-core-function-datacenter/src/main/java/com/mogo/eagle/core/function/datacenter/autopilot/adapter/MoGoAdasMsgConnectStatusListenerImpl.kt
+++ b/core/function-impl/mogo-core-function-datacenter/src/main/java/com/mogo/eagle/core/function/datacenter/autopilot/adapter/MoGoAdasMsgConnectStatusListenerImpl.kt
@@ -1,6 +1,10 @@
 package com.mogo.eagle.core.function.datacenter.autopilot.adapter

-import com.mogo.commons.debug.DebugConfig.*
+import com.mogo.commons.debug.DebugConfig.NET_MODE_DEMO
+import com.mogo.commons.debug.DebugConfig.NET_MODE_DEV
+import com.mogo.commons.debug.DebugConfig.NET_MODE_QA
+import com.mogo.commons.debug.DebugConfig.NET_MODE_RELEASE
+import com.mogo.commons.debug.DebugConfig.getNetMode
 import com.mogo.commons.storage.SharedPrefsMgr
 import com.mogo.eagle.core.data.app.AppConfigInfo
 import com.mogo.eagle.core.data.config.FunctionBuildConfig
@@ -18,10 +22,13 @@ import com.mogo.eagle.core.utilcode.util.ToastUtils
 import com.zhidao.support.adas.high.AdasManager
 import com.zhidao.support.adas.high.OnAdasConnectStatusListener
 import com.zhidao.support.adas.high.bean.VersionCompatibility
-import com.zhidao.support.adas.high.common.Constants
-import com.zhidao.support.adas.high.common.Constants.ENVIRONMENT.*
+import com.zhidao.support.adas.high.common.Constants.ENVIRONMENT.DEMO
+import com.zhidao.support.adas.high.common.Constants.ENVIRONMENT.DEVELOP
+import com.zhidao.support.adas.high.common.Constants.ENVIRONMENT.PRODUCTION
+import com.zhidao.support.adas.high.common.Constants.ENVIRONMENT.TEST
 import com.zhidao.support.adas.high.common.Constants.TERMINAL_ROLE.DRIVER
 import com.zhidao.support.adas.high.common.Constants.TERMINAL_ROLE.PASSENGER
+import com.zhjt.mogo.adas.data.AdasConstants

 /**
 * ADAS-SDK与工控机连接状态回调
@@ -39,17 +46,53 @@ class MoGoAdasMsgConnectStatusListenerImpl :

    init {
        CallerCloudListenerManager.addListener(TAG, this)
-        CallerAutopilotActionsListenerManager.setConnected(AdasManager.getInstance().ipcConnectionStatus == Constants.IPC_CONNECTION_STATUS.CONNECTED)
-        CallerParallelDrivingActionsListenerManager.setConnected(AdasManager.getInstance().ipcConnectionStatus == Constants.IPC_CONNECTION_STATUS.CONNECTED)
+        CallerAutopilotActionsListenerManager.setConnected(AdasManager.getInstance().ipcConnectionStatus == AdasConstants.IpcConnectionStatus.CONNECTED)
+        CallerParallelDrivingActionsListenerManager.setConnected(AdasManager.getInstance().ipcConnectionStatus == AdasConstants.IpcConnectionStatus.CONNECTED)
    }

-    override fun onConnectionIPCStatus(ipcConnectionStatus: Int, reason: String?) {
-        CallerAutopilotActionsListenerManager.setConnected(ipcConnectionStatus == Constants.IPC_CONNECTION_STATUS.CONNECTED)
-        CallerParallelDrivingActionsListenerManager.setConnected(ipcConnectionStatus == Constants.IPC_CONNECTION_STATUS.CONNECTED)
+    private fun resetArgs(reason: String? = null) {
+        if (connectStatus) {
+            reason?.let {
+                ToastUtils.showLong(it)
+            }
+            connectStatus = false
+        }
+
+        CallerAutoPilotStatusListenerManager.getAutoPilotStatusInfo().connectIP =
+            AdasManager.getInstance().ipcConnectedIp
+        CallerAutoPilotStatusListenerManager.getAutoPilotStatusInfo().connectPort =
+            AdasManager.getInstance().ipcConnectedPort
+        CallerAutoPilotStatusListenerManager.getAutoPilotStatusInfo().connectStatus = false
+        AppConfigInfo.isConnectAutopilot = false
+        //与工控机断开连接，需要重置自动驾驶状态(包括上传至云平台缓存信息)，等待连接成功后同步状态信息
+        CallerAutoPilotStatusListenerManager.getAutoPilotStatusInfo().state = 0
+        CallerAutoPilotStatusListenerManager.getAutoPilotStatusInfo().pilotmode = 0
+    }
+
+    /**
+     * 与工控机链接状态变化
+     *
+     * @param status {@link AdasConstants.IpcConnectionStatus}
+     * @param reason 连接信息（需要判null）,目前只有以下参数存在值，其他全部为null
+     *               {@link AdasConstants.IpcConnectionStatus#HEARTBEAT_TIMEOUT} 表示超时时间
+     *               {@link AdasConstants.IpcConnectionStatus#CONNECT_EXCEPTION} 表示连接异常原因
+     *               {@link AdasConstants.IpcConnectionStatus#SERVER_DISCONNECTED} 服务端断开（如果服务端关闭时发送了原因将存在，如果服务端关闭时未发送将为null）
+     */
+    override fun onConnectionIPCStatus(status: AdasConstants.IpcConnectionStatus, reason: String?) {
+        CallerAutopilotActionsListenerManager.setConnected(status == AdasConstants.IpcConnectionStatus.CONNECTED)
+        CallerParallelDrivingActionsListenerManager.setConnected(status == AdasConstants.IpcConnectionStatus.CONNECTED)
        AppConfigInfo.connectStatusDescribe = reason
-        when (ipcConnectionStatus) {
-            Constants.IPC_CONNECTION_STATUS.CONNECTED -> {
-                CallerLogger.d("$M_D_C$TAG", "webSocket 连接成功")
+        when (status) {
+            AdasConstants.IpcConnectionStatus.DISCONNECTED -> {
+                CallerLogger.d(
+                    "$M_D_C$TAG",
+                    "未连接或主动断开连接（未连接：鹰眼首次启动时未调用连接函数【目前鹰眼默认启动就会调用连接函数】；主动断开连接：主动调用断开连接函数；）"
+                )
+                resetArgs()
+            }
+
+            AdasConstants.IpcConnectionStatus.CONNECTED -> {
+                CallerLogger.d("$M_D_C$TAG", "已连接")
                connectStatus = true
                // 初始化自动驾驶状态信息
                CallerAutoPilotStatusListenerManager.getAutoPilotStatusInfo().connectIP =
@@ -71,38 +114,86 @@ class MoGoAdasMsgConnectStatusListenerImpl :
                //每次工控机连接成功后，需同步当前设置的雨天模式状态
                CallerAutoPilotControlManager.setRainMode(FunctionBuildConfig.isRainMode)
            }
-            Constants.IPC_CONNECTION_STATUS.DISCONNECTED -> {
-                CallerLogger.d("$M_D_C$TAG", "webSocket 连接失败 reason:$reason")
-                if (connectStatus) {
-                    reason?.let {
-                        ToastUtils.showLong("工控机连接断开，原因:$it , 等待重连")
-                    }
-                    connectStatus = false
-                }
-                CallerAutoPilotStatusListenerManager.getAutoPilotStatusInfo().connectIP =
-                    AdasManager.getInstance().ipcConnectedIp
-                CallerAutoPilotStatusListenerManager.getAutoPilotStatusInfo().connectPort =
-                    AdasManager.getInstance().ipcConnectedPort
-                CallerAutoPilotStatusListenerManager.getAutoPilotStatusInfo().connectStatus = false
-                AppConfigInfo.isConnectAutopilot = false
-                //与工控机断开连接，需要重置自动驾驶状态(包括上传至云平台缓存信息)，等待连接成功后同步状态信息
-                CallerAutoPilotStatusListenerManager.getAutoPilotStatusInfo().state = 0
-                CallerAutoPilotStatusListenerManager.getAutoPilotStatusInfo().pilotmode = 0
+
+            AdasConstants.IpcConnectionStatus.CONNECTING -> {
+                CallerLogger.d("$M_D_C$TAG", "连接中")
            }
-            Constants.IPC_CONNECTION_STATUS.CONNECTING -> {
-                CallerLogger.d("$M_D_C$TAG", "webSocket 正在连接")
+
+            AdasConstants.IpcConnectionStatus.RECONNECTING_TIMER -> {
+                CallerLogger.d("$M_D_C$TAG", "重连中（定时器）")
            }
-            Constants.IPC_CONNECTION_STATUS.SEARCH_ADDRESS -> {
-                CallerLogger.d("$M_D_C$TAG", "webSocket 正在搜索工控机IP")
+
+            AdasConstants.IpcConnectionStatus.RECONNECTING_NETWORK -> {
+                CallerLogger.d("$M_D_C$TAG", "重连中（网络监听）")
            }
-            Constants.IPC_CONNECTION_STATUS.NOT_FOUND_ADDRESS -> {
-                CallerLogger.d("$M_D_C$TAG", "webSocket 找不到可用IP 传入的IP不可用或固定IP列表中所有IP不可用")
+
+            AdasConstants.IpcConnectionStatus.CONNECT_EXCEPTION -> {
+                CallerLogger.d(
+                    "$M_D_C$TAG",
+                    "连接异常（表示鹰眼与域控连接失败、无法连接、非正常断开等），原因：$reason"
+                )
+                resetArgs("域控连接异常，等待重连。原因：${reason}")
+            }
+
+            AdasConstants.IpcConnectionStatus.ILLEGAL_ADDRESS -> {
+                CallerLogger.d(
+                    "$M_D_C$TAG",
+                    "非法地址（连接模式为指定地址时：表示当前鹰眼调用连接时传入的域控地址错误或不符合规则【不修改默认配置不会出现此问题】；连接模式为PING模式时：表示传入的PING地址列表存在问题）"
+                )
+                resetArgs()
+            }
+
+            AdasConstants.IpcConnectionStatus.SEARCH_ADDRESS -> {
+                CallerLogger.d(
+                    "$M_D_C$TAG",
+                    "正在搜索域控地址（表示当前鹰眼正在查找是否有可用的域控地址）"
+                )
+            }
+
+            AdasConstants.IpcConnectionStatus.NOT_FOUND_ADDRESS -> {
+                CallerLogger.d(
+                    "$M_D_C$TAG",
+                    "找不到可用地址（当前鹰眼配置的域控地址列表中的全部地址均无法PING通【不修改默认配置的情况下需要排查PAD是否连接车载路由器、工控机是否连接车载路由器、工控机是否开机等】）"
+                )
+                resetArgs()
+            }
+
+            AdasConstants.IpcConnectionStatus.CERTIFICATION_FAILED -> {
+                CallerLogger.d(
+                    "$M_D_C$TAG",
+                    "认证异常（表示鹰眼端或鹰眼端和域控端启用认证后，认证出现异常。具体认证异常状态详情见认证状态CertificationStatus【鹰眼端验证域控证书失败会断开连接不进行重连；域控端验证鹰眼端证书失败会断开连接，但是由于域控断开并没有发送断开的原因所以鹰眼会自动重连，重连次数可配置为：用不重连、无限重连、指定次数重连】）"
+                )
+                resetArgs()
+            }
+
+            AdasConstants.IpcConnectionStatus.HEARTBEAT_TIMEOUT -> {
+                CallerLogger.d(
+                    "$M_D_C$TAG",
+                    "心跳超时（表示连接域控成功后在一段时间内未收到域控任何数据，默认4秒【可以配置】），超时时间：${reason}秒"
+                )
+                resetArgs("与域控心跳超时，等待重连")
+            }
+
+            AdasConstants.IpcConnectionStatus.PROTOCOL_MISMATCH -> {
+                CallerLogger.d(
+                    "$M_D_C$TAG",
+                    "協議不匹配（表示被连接的服务端非WebSocket协议【可能性非常低】）"
+                )
+                resetArgs()
+            }
+
+            AdasConstants.IpcConnectionStatus.SERVER_DISCONNECTED -> {
+                CallerLogger.d(
+                    "$M_D_C$TAG",
+                    "域控主动断开连接（表示域控主动发起断开WebSocket连接，目前主要原因有：1.证书认证失败；2.老版本MAP不支持多连接的情况下会踢掉客户端；），域控断开发送的消息：${reason}"
+                )
+                resetArgs("域控主动断开连接，等待重连。可能原因：证书认证失败或不支持多连接")
            }
        }
-        CallerAutoPilotStatusListenerManager.getAutoPilotStatusInfo().ipcConnStatus = ipcConnectionStatus
+        CallerAutoPilotStatusListenerManager.getAutoPilotStatusInfo().ipcConnStatus = status
        CallerAutoPilotStatusListenerManager.getAutoPilotStatusInfo().connectStatusDescribe = reason
        CallerAutoPilotStatusListenerManager.invokeAutoPilotStatus()
-        CallerAutoPilotStatusListenerManager.invokeAutoPilotIPCStatusChanged(ipcConnectionStatus, reason)
+        CallerAutoPilotStatusListenerManager.invokeAutoPilotIPCStatusChanged(status, reason)
    }

    override fun onCompatibility(versionCompatibility: VersionCompatibility?) {
@@ -112,7 +203,7 @@ class MoGoAdasMsgConnectStatusListenerImpl :
    /**
     * 工控机获取SN
     */
-    override fun onAutopilotSNRequest() {
+    override fun onAutopilotSNRequest(status: AdasConstants.CertificationStatus) {
        syncBasicInfoToAutopilot()
    }