From 59462517dd3daf61dcd378fb675efd8b37903b6d Mon Sep 17 00:00:00 2001 From: xinfengkun Date: Wed, 2 Aug 2023 19:24:44 +0800 Subject: [PATCH] =?UTF-8?q?[6.0.0][adas-data]=E6=A0=B9=E6=8D=AEMAP350?= =?UTF-8?q?=E7=9B=91=E6=8E=A7=E4=BA=8B=E4=BB=B6=E6=96=87=E6=A1=A3=E6=9B=B4?= =?UTF-8?q?=E6=96=B0=E7=9B=91=E6=8E=A7=E4=BA=8B=E4=BB=B6?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- .../zhjt/mogo/adas/data/bean/MogoReport.java | 77 +++++++++++++++---- 1 file changed, 64 insertions(+), 13 deletions(-) diff --git a/libraries/mogo-adas-data/src/main/java/com/zhjt/mogo/adas/data/bean/MogoReport.java b/libraries/mogo-adas-data/src/main/java/com/zhjt/mogo/adas/data/bean/MogoReport.java index 2924750b3a..d05a2937f2 100644 --- a/libraries/mogo-adas-data/src/main/java/com/zhjt/mogo/adas/data/bean/MogoReport.java +++ b/libraries/mogo-adas-data/src/main/java/com/zhjt/mogo/adas/data/bean/MogoReport.java @@ -2,15 +2,16 @@ package com.zhjt.mogo.adas.data.bean; /** * 监控事件报告中定义的事件以及解释 - * 根据MAP3.3.1事件定义编写 + * 根据MAP3.5.0事件定义编写 + * http://wiki.zhidaohulian.com/pages/viewpage.action?pageId=113713916 最后修改于2023-07-27 */ public class MogoReport { - public static final String RESULT_AUTOPILOT_SYSTEM_UNSTARTED = "RESULT_AUTOPILOT_SYSTEM_UNSTARTED"; - public static final String RESULT_AUTOPILOT_DISABLE = "RESULT_AUTOPILOT_DISABLE"; - public static final String RESULT_AUTOPILOT_INFERIOR = "RESULT_AUTOPILOT_INFERIOR"; - public static final String RESULT_REMOTEPILOT_DISABLE = "RESULT_REMOTEPILOT_DISABLE"; - public static final String RESULT_REMOTEPILOT_INFERIOR = "RESULT_REMOTEPILOT_INFERIOR"; - public static final String RESULT_SHOW_WARNING = "RESULT_SHOW_WARNING"; + public static final String RESULT_AUTOPILOT_SYSTEM_UNSTARTED = "RESULT_AUTOPILOT_SYSTEM_UNSTARTED";//自动驾驶系统启动失败 + public static final String RESULT_AUTOPILOT_DISABLE = "RESULT_AUTOPILOT_DISABLE";//无法启动自动驾驶 + public static final String RESULT_AUTOPILOT_INFERIOR = "RESULT_AUTOPILOT_INFERIOR";//自动驾驶效果受影响 + public static final String RESULT_REMOTEPILOT_DISABLE = "RESULT_REMOTEPILOT_DISABLE";//无法启动远程驾驶 + public static final String RESULT_REMOTEPILOT_INFERIOR = "RESULT_REMOTEPILOT_INFERIOR";//远程驾驶效果受影响 + public static final String RESULT_SHOW_WARNING = "RESULT_SHOW_WARNING";//存在不确定因素 public enum Result { @@ -159,12 +160,11 @@ public class MogoReport { String TRA_NOT_EXIST = "EMAP_TRA_NOT_EXIST";//无法找到轨迹文件 String TRA_LOAD_FAILED = "EMAP_TRA_LOAD_FAILED";//加载轨迹文件失败 String ENGINE_INIT_FAILED = "EMAP_ENGINE_INIT_FAILED";//引擎初始化失败，包括轨迹路径不存在；vehicle_config.txt加载失败 + String ATTITUDE_INIT_FAILED = "EMAP_ATTITUDE_INIT_FAILED";//当前位置距离轨迹距离大于15m String EXIT_AUTOPILOT_FOR_PLANNING = "EMAP_EXIT_AUTOPILOT_FOR_PLANNING";//因planning掉帧强退自动驾驶 String EXIT_AUTOPILOT_FOR_LOCATION = "EMAP_EXIT_AUTOPILOT_FOR_LOCATION";//因location掉帧强退自动驾驶 String EXIT_AUTOPILOT_FOR_CHASSIS = "EMAP_EXIT_AUTOPILOT_FOR_CHASSIS";//因底盘消息掉帧强退自动驾驶 String EXIT_AUTOPILOT_FOR_DISTANCE = "EMAP_EXIT_AUTOPILOT_FOR_DISTANCE";//因planning起点距离当前过远强退自动驾驶 - String EPARALLEL_AICLOUD_CONNECTION_ERROR = "EPARALLEL_AICLOUD_CONNECTION_ERROR";//断网（此时不符合平行驾驶条件) 平行驾驶退出到自驾，同时减速停车 - String EPARALLEL_AICLOUD_NETWORK_WEAK = "EPARALLEL_AICLOUD_NETWORK_WEAK";//弱网，平行驾驶退出到自驾，同时减速停车 String EXIT_AUTOPILOT_FOR_BRAKE = "EMAP_EXIT_AUTOPILOT_FOR_BRAKE";//制动踏板干预而强退自动驾驶 String EXIT_AUTOPILOT_FOR_ACCEL = "EMAP_EXIT_AUTOPILOT_FOR_ACCEL";//加速踏板干预而强退自动驾驶 String EXIT_AUTOPILOT_FOR_STEER = "EMAP_EXIT_AUTOPILOT_FOR_STEER";//方向盘干预而强退自动驾驶 @@ -189,6 +189,9 @@ public class MogoReport { String CONTROL_ABNORMAL_COMMAND = "EMAP_CONTROL_ABNORMAL_COMMAND";//controller发布的控制指令异常 String CAN_ADAPTER_NO_CHASSIS_INFO = "EMAP_CAN_ADAPTER_NO_CHASSIS_INFO";//can_adapter未成功转发地盘信息 String TRAJECTORY_LOST_WHEN_AUTOPILOT = "EMAP_TRAJECTORY_LOST_WHEN_AUTOPILOT";//自驾状态，但是全局轨迹丢失超过1.5s + String PLANNING_FOR_PERCEPTION_TIMEOUT = "EMAP_PLANNING_FOR_PERCEPTION_TIMEOUT";//鹰眼下发进入自驾指令，自车还未进入自驾，感知延迟超过1s + String PLANNING_FOR_HADMAP_ENGINE_LANES_MSG_TIMEOUT = "EMAP_PLANNING_FOR_HADMAP_ENGINE_LANES_MSG_TIMEOUT";//鹰眼下发进入自驾指令，自车还未进入自驾，地图车道数据延迟超过1s + String PLANNING_FOR_PREDICTION_TIMEOUT = "EMAP_PLANNING_FOR_PREDICTION_TIMEOUT";//鹰眼下发进入自驾指令，自车还未进入自驾，预测数据延迟超过1s } /** @@ -208,6 +211,7 @@ public class MogoReport { String ACCEL_INFERENCE = "EVHC_ACCEL_INFERENCE";//由于油门干预退出自动驾驶或无法进入自动驾驶 String CSS = "EVHC_CSS";//底盘不允许进入自动驾驶 String GEAR = "EVHC_GEAR";//档位不是D或N档 + String EPB = "EVHC_EPB";//驻车（手刹）不是锁止（拉起）状态 } /** @@ -227,6 +231,7 @@ public class MogoReport { String ROUTING_REQ_TIMEOUT = "ESYS_ROUTING_REQ_TIMEOUT";//自动驾驶开始前，routing请求无响应 String PLANNING_CHANGE_FAILIED = "ESYS_PLANNING_CHANGE_FAILIED";//planning版本切换启动失败 String CHECK_TRAJECTORY_FAILURE = "ESYS_CHECK_TRAJECTORY_FAILURE";//轨迹文件检查超时或检查结果无可用轨迹 + String TRAJECTORY_AGENT_NOT_READY = "ESYS_TRAJECTORY_AGENT_NOT_READY";//轨迹下载客户端未就绪拒绝轨迹下载请求 String MAP_ENGINE_NOT_READY = "ESYS_MAP_ENGINE_NOT_READY";//地图引擎未就绪拒绝自驾 String FAULT = "ESYS_FAULT";//master启动10分钟，仍有agent未连接 String REBOOT_WARNING = "ESYS_REBOOT_WARNING";//命令重启不完全提示(部分模块没有关闭成功） @@ -239,6 +244,7 @@ public class MogoReport { String CONFIG_UPDATING_URL_NOT_ARRIVED = "ESYS_CONFIG_UPDATING_URL_NOT_ARRIVED";//url不可达 String CONFIG_UPDATING_MD5_CHECK_ERROR = "ESYS_CONFIG_UPDATING_MD5_CHECK_ERROR";//md5检查失败 String CONFIG_UPDATING_REJECT_SAME_TRAJ_TASK = "ESYS_CONFIG_UPDATING_REJECT_SAME_TRAJ_TASK";//拒绝同名轨迹任务 + String CONFIG_UPDATING_HTTP_FAILED = "ESYS_CONFIG_UPDATING_HTTP_FAILED";//获取下载列表失败 } /** @@ -269,6 +275,7 @@ public class MogoReport { String INIT = "ECAM_INIT";//相机初始化失败 String CALIB = "ECAM_CALIB";//标定信息读取失败 String GRAB_FATAL = "ECAM_GRAB_FATAL";//相机数据采集异常 + String TS_ERROR = "ECAM_TS_ERROR";//图像时间戳异常 } /** @@ -311,6 +318,14 @@ public class MogoReport { interface EVEHICLE { String IN_TROUBLE = "EVEHICLE_IN_TROUBLE";//planning 检测到车处于困境，把困境状态汇报给 SSM，ssm 发出该事件，等待驾舱端开始平行驾驶 } + + /** + * EFM(FM故障) + */ + interface EFM { + String ERROR3_STOP_PILOT = "EFM_ERROR3_STOP_PILOT";//触发降级停车策略 + String ERROR2_FUNC_FORBID = "EFM_ERROR2_FUNC_FORBID";//禁止车辆部分功能 + } } /** @@ -338,6 +353,16 @@ public class MogoReport { String TRA_ROUTING = "IMAP_TRA_ROUTING";//算路成功 String TRA_TYPE = "IMAP_TRA_TYPE";//加载轨迹类型通知 String ENTRY_AUTOPILOT = "IMAP_ENTRY_AUTOPILOT";//控制进入自动驾驶成功 + String PLANNING_FOR_PREDICTION_RECEIVED = "IMAP_PLANNING_FOR_PREDICTION_RECEIVED";//自车进入车自驾，收到预测消息时解除预测数据超时警报 + String PLANNING_FOR_HADMAP_ENGINE_LANES_MSG_RECEIVED = "IMAP_PLANNING_FOR_HADMAP_ENGINE_LANES_MSG_RECEIVED";//自车进入车自驾，收到地图车道消息时解除地图数据超时警报 + String PLANNING_FOR_PERCEPTION_RECEIVED = "IMAP_PLANNING_FOR_PERCEPTION_RECEIVED";//自车进入车自驾，收到感知消息时解除感知数据超时警报 + String START_AUTOPILOT = "IMAP_START_AUTOPILOT";//控制侧开始自驾 + String EXIT_AUTOPILOT = "IMAP_EXIT_AUTOPILOT";//控制侧正常退出自驾 + String START_REMOTEPILOT = "IMAP_START_REMOTEPILOT";//控制侧开始平行驾驶 + String ENTRY_REMOTEPILOT = "IMAP_ENTRY_REMOTEPILOT";//控制侧进入平行驾驶 + String EXIT_REMOTEPILOT = "IMAP_EXIT_REMOTEPILOT";//控制侧退出平行驾驶 + String CONTROLLER_START_FM_COMMAND = "IMAP_CONTROLLER_START_FM_COMMAND";//控制侧开始故障处理命令 + String CONTROLLER_FINISH_FM_COMMAND = "IMAP_CONTROLLER_FINISH_FM_COMMAND";//控制侧完成故障处理命令 } /** @@ -371,6 +396,7 @@ public class MogoReport { String SYSTEM_IN_IDLE = "ISYS_SYSTEM_IN_IDLE";//系统进入空闲状态 String SYSTEM_OUT_IDLE = "ISYS_SYSTEM_OUT_IDLE";//系统退出空闲状态 String ALREADY_AUTOPILOT_STATE = "ISYS_ALREADY_AUTOPILOT_STATE";//已经在自驾状态驾驶，忽略自驾命令 + String AUTOPILOT_TAKEN_OVER_BY_REMOTE = "ISYS_AUTOPILOT_TAKEN_OVER_BY_REMOTE";//自动驾驶被远程驾驶接管 /*******轨迹下载相关*******/ String INIT_TRAJECTORY_START = "ISYS_INIT_TRAJECTORY_START";//轨迹管理_轨迹开始下载 @@ -387,6 +413,7 @@ public class MogoReport { String CONFIG_UPDATING_SLAM_MAP = "ISYS_CONFIG_UPDATING_SLAM_MAP";//slam 地图更新中 String CONFIG_UPDATING_AI_MODEL = "ISYS_CONFIG_UPDATING_AI_MODEL";//AI模型更新中 String CONFIG_UPDATING_GRID_MAP = "ISYS_CONFIG_UPDATING_GRID_MAP";//珊格地图更新中 + String TRAJECTORY_AGENT_READY = "ISYS_TRAJECTORY_AGENT_READY ";//配置下载客户端已就绪 } /** @@ -395,10 +422,14 @@ public class MogoReport { interface ISSM { String INIT = "ISSM_INIT";//SSM系统上电初始化 String RESTARTED = "ISSM_RESTARTED";//SSM系统发生重启 + String AUTO_PILOT_STATE_CHANGE = "ISSM_AUTO_PILOT_STATE_CHANGE";//自驾状态变化，msg填写 1 to 0 + String REMOTE_PILOT_STATE_CHANGE = "ISSM_REMOTE_PILOT_STATE_CHANGE";//平行驾驶状态变化， msg填写 1 to 6 + String AUTO_PILOT_FINISH = "ISSM_AUTO_PILOT_FINISH";//一次自驾请求处理结束 + String REMOTE_PILOT_FINISH = "ISSM_REMOTE_PILOT_FINISH";//一次平行驾驶处理结束 String HAVE_AGENT_CONNECTED = "ISSM_HAVE_AGENT_CONNECTED";//agent已连接成功 // String MODE_XX_START = "ISSM_MODE_XX_START";//SSM变更模式开始 -// String MODE_XX_FINISH = "ISSM_MODE_XX_FINISH";//SSM变更模式完成（第一次ready +// String MODE_XX_FINISH = "ISSM_MODE_XX_FINISH";//SSM变更模式完成（第一次ready） // String MODE_XX_ABORT = "ISSM_MODE_XX_ABORT";//SSM变更模式中止 // String MODE_XX_TIMEOUT = "ISSM_MODE_XX_TIMEOUT";//SSM变更模式超时 // String MODE_XX_READY = "ISSM_MODE_XX_READY";//SSM模式就绪 @@ -407,21 +438,21 @@ public class MogoReport { //以上6组被注释掉的字段 中的MODE_XX分别替换成MODE_RUN、MODE_IDLE、MODE_STOP String MODE_RUN_START = "ISSM_MODE_RUN_START";//SSM变更模式开始 - String MODE_RUN_FINISH = "ISSM_MODE_RUN_FINISH";//SSM变更模式完成（第一次ready + String MODE_RUN_FINISH = "ISSM_MODE_RUN_FINISH";//SSM变更模式完成（第一次ready） String MODE_RUN_ABORT = "ISSM_MODE_RUN_ABORT";//SSM变更模式中止 String MODE_RUN_TIMEOUT = "ISSM_MODE_RUN_TIMEOUT";//SSM变更模式超时 String MODE_RUN_READY = "ISSM_MODE_RUN_READY";//SSM模式就绪 String MODE_RUN_UNREADY = "ISSM_MODE_RUN_UNREADY";//SSM未就绪 String MODE_IDLE_START = "ISSM_MODE_IDLE_START";//SSM变更模式开始 - String MODE_IDLE_FINISH = "ISSM_MODE_IDLE_FINISH";//SSM变更模式完成（第一次ready + String MODE_IDLE_FINISH = "ISSM_MODE_IDLE_FINISH";//SSM变更模式完成（第一次ready） String MODE_IDLE_ABORT = "ISSM_MODE_IDLE_ABORT";//SSM变更模式中止 String MODE_IDLE_TIMEOUT = "ISSM_MODE_IDLE_TIMEOUT";//SSM变更模式超时 String MODE_IDLE_READY = "ISSM_MODE_IDLE_READY";//SSM模式就绪 String MODE_IDLE_UNREADY = "ISSM_MODE_IDLE_UNREADY";//SSM未就绪 String MODE_STOP_START = "ISSM_MODE_STOP_START";//SSM变更模式开始 - String MODE_STOP_FINISH = "ISSM_MODE_STOP_FINISH";//SSM变更模式完成（第一次ready + String MODE_STOP_FINISH = "ISSM_MODE_STOP_FINISH";//SSM变更模式完成（第一次ready） String MODE_STOP_ABORT = "ISSM_MODE_STOP_ABORT";//SSM变更模式中止 String MODE_STOP_TIMEOUT = "ISSM_MODE_STOP_TIMEOUT";//SSM变更模式超时 String MODE_STOP_READY = "ISSM_MODE_STOP_READY";//SSM模式就绪 @@ -499,6 +530,26 @@ public class MogoReport { interface IVEHICLE { String NOT_IN_TROUBLE = "IVEHICLE_NOT_IN_TROUBLE";//车辆脱离困境，恢复正常，可继续开始自动驾驶了 触发频率：处于困境中，触发一次； 脱困后，触发一次 云端驾舱会接入该事件 建议鹰眼也接入，展示困境状态/脱困状态 } + + /** + * IFSM(功能状态管理) + */ + interface IFSM { + String AUTO_PILOT_STATE_CHANGED = "IFSM_AUTO_PILOT_STATE_CHANGED";//自动驾驶状态机变化 （msg 填写如 standby to active ） + String REMOTE_PILOT_STATE_CHANGED = "IFSM_REMOTE_PILOT_STATE_CHANGED";//平行驾驶状态机变化 + String TELECTRL_PILOT_STATE_CHANGED = "IFSM_TELECTRL_PILOT_STATE_CHANGED";//遥感驾驶状态机变化 + } + + /** + * IFM (故障管理) + */ + interface IFM { + String HANDLE_FAULTS_START = "IFM_HANDLE_FAULTS_START";//FM开始处理故障 + String HANDLE_FAULTS_STOP = "IFM_HANDLE_FAULTS_STOP";//FM停止处理故障 + String ALL_FAULTS_RECOVER = "IFM_ALL_FAULTS_RECOVER";//FM当前已无故障 （只有有故障到全都消失时候上报） + String ONLY_WARNING_FAULTS = "IFM_ONLY_WARNING_FAULTS";//FM仅存在警示故障 + String ERROR1_SLOW_SPEED = "IFM_ERROR1_SLOW_SPEED";//存在故障触发减速策略 + } } } }