From 596066ca4bee1fda3c93bc96249bcaab5613865a Mon Sep 17 00:00:00 2001 From: xinfengkun Date: Thu, 20 Apr 2023 14:17:05 +0800 Subject: [PATCH] =?UTF-8?q?[dev2.15.0][adas]=E6=B7=BB=E5=8A=A0=E6=B7=BB?= =?UTF-8?q?=E5=8A=A0=E5=8F=82=E6=95=B0=E8=8E=B7=E5=8F=96=E5=BA=94=E7=AD=94?= =?UTF-8?q?=E5=9B=9E=E8=B0=83=E8=A7=A3=E6=9E=90=E6=96=B9=E6=B3=95?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- .../client/bean/AdasParamReceiveData.java | 35 +++++ .../zhidao/adas/client/ui/MainActivity.java | 6 +- .../support/adas/high/OnAdasListener.java | 4 +- .../support/adas/high/bean/AdasParam.java | 128 ++++++++++++++++++ .../adas/high/msg/GetParamRespMessage.java | 3 +- 5 files changed, 172 insertions(+), 4 deletions(-) create mode 100644 app_ipc_monitoring/src/main/java/com/zhidao/adas/client/bean/AdasParamReceiveData.java create mode 100644 libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/bean/AdasParam.java diff --git a/app_ipc_monitoring/src/main/java/com/zhidao/adas/client/bean/AdasParamReceiveData.java b/app_ipc_monitoring/src/main/java/com/zhidao/adas/client/bean/AdasParamReceiveData.java new file mode 100644 index 0000000000..6dd27670ae --- /dev/null +++ b/app_ipc_monitoring/src/main/java/com/zhidao/adas/client/bean/AdasParamReceiveData.java @@ -0,0 +1,35 @@ +package com.zhidao.adas.client.bean; + +import com.google.protobuf.GeneratedMessageV3; +import com.google.protobuf.TextFormat; +import com.zhidao.adas.client.R; +import com.zhidao.support.adas.high.bean.AdasParam; +import com.zhidao.support.adas.high.common.ByteUtil; + +import java.text.SimpleDateFormat; + +import mogo.telematics.pad.MessagePad; + +public class AdasParamReceiveData extends BaseInfo { + public final GeneratedMessageV3 bean; + private final AdasParam adasParam; + + public AdasParamReceiveData(MessagePad.Header header, GeneratedMessageV3 bean, AdasParam adasParam, SimpleDateFormat sdf) { + super("接收", bean.getSerializedSize(), header, sdf); + this.bean = bean; + this.adasParam = adasParam; + } + + public String toString(int resId) { + String srt = ""; + if (resId == R.id.rb_analysis) { + srt = TextFormat.printer().shortDebugString(bean); + } else if (resId == R.id.rb_original) { + srt = "Payload原始数据：" + ByteUtil.byteArrToHex(bean.toByteArray()); + } else if (resId == R.id.rb_all) { + srt = "Payload原始数据：" + ByteUtil.byteArrToHex(bean.toByteArray()) + '\n' + TextFormat.printer().shortDebugString(bean); + } + return super.toString(resId) + srt + "\n原始数据翻译：\n" + adasParam.toString(); + } + +} diff --git a/app_ipc_monitoring/src/main/java/com/zhidao/adas/client/ui/MainActivity.java b/app_ipc_monitoring/src/main/java/com/zhidao/adas/client/ui/MainActivity.java index f795234fd4..3541465902 100644 --- a/app_ipc_monitoring/src/main/java/com/zhidao/adas/client/ui/MainActivity.java +++ b/app_ipc_monitoring/src/main/java/com/zhidao/adas/client/ui/MainActivity.java @@ -59,6 +59,7 @@ import com.zhidao.adas.client.adapter.InfoTitleAdapter; import com.zhidao.adas.client.base.BaseActivity; import com.zhidao.adas.client.base.BaseAdapter; import com.zhidao.adas.client.base.BaseFragment; +import com.zhidao.adas.client.bean.AdasParamReceiveData; import com.zhidao.adas.client.bean.ErrorData; import com.zhidao.adas.client.bean.IPCConnectState; import com.zhidao.adas.client.bean.ObuMap; @@ -84,6 +85,7 @@ import com.zhidao.support.adas.high.AdasManager; import com.zhidao.support.adas.high.AdasOptions; import com.zhidao.support.adas.high.OnAdasConnectStatusListener; import com.zhidao.support.adas.high.OnAdasListener; +import com.zhidao.support.adas.high.bean.AdasParam; import com.zhidao.support.adas.high.bean.VersionCompatibility; import com.zhidao.support.adas.high.common.Constants.IPC_CONNECTION_STATUS; import com.zhidao.support.adas.high.common.CupidLogUtils; @@ -1279,8 +1281,8 @@ public class MainActivity extends BaseActivity implements OnAdasListener, OnAdas } @Override - public void onGetParamResp(@NonNull MessagePad.Header header, @NonNull MessagePad.SetParamReq getParamResp) { - ReceiveData base = new ReceiveData(header, getParamResp, sdf); + public void onGetParamResp(@NonNull MessagePad.Header header, @NonNull MessagePad.SetParamReq getParamResp, @NonNull AdasParam adasParam) { + AdasParamReceiveData base = new AdasParamReceiveData(header, getParamResp, adasParam, sdf); DataDistribution.getInstance().addData(base); } diff --git a/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/OnAdasListener.java b/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/OnAdasListener.java index 8baedd2c90..048bf1a8fd 100644 --- a/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/OnAdasListener.java +++ b/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/OnAdasListener.java @@ -1,6 +1,7 @@ package com.zhidao.support.adas.high; import com.mogo.support.obu.ObuScene; +import com.zhidao.support.adas.high.bean.AdasParam; import com.zhidao.support.adas.high.common.ProtocolStatus; import com.zhjt.mogo.adas.data.bean.AutopilotStatistics; @@ -292,8 +293,9 @@ public interface OnAdasListener { * * @param header 头 * @param getParamResp 配置参数 + * @param adasParam 解析后的配置参数 */ - void onGetParamResp(@NotNull MessagePad.Header header, @NotNull MessagePad.SetParamReq getParamResp); + void onGetParamResp(@NotNull MessagePad.Header header, @NotNull MessagePad.SetParamReq getParamResp, @NotNull AdasParam adasParam); /** * 是否有能力启动自动驾驶 diff --git a/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/bean/AdasParam.java b/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/bean/AdasParam.java new file mode 100644 index 0000000000..b6e763271d --- /dev/null +++ b/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/bean/AdasParam.java @@ -0,0 +1,128 @@ +package com.zhidao.support.adas.high.bean; + +import android.text.TextUtils; + +import com.zhidao.support.adas.high.common.Constants; + +import mogo.telematics.pad.MessagePad; + +/** + * 工控机配置参数 + * -1表示未知，说明没有这个param或者get失败 + */ +public class AdasParam { + /** + * 绕障类功能开关 + * -1：未知 0：关闭 1：开启 + */ + public final int detouringCmd; + /** + * 变道绕障的目标障碍物速度阈值 + * -1：未知 + */ + public final double detouringSpeed; + /** + * AEB开关 + * -1：未知 0：关闭自动紧急制动功能 1：启用自动紧急制动功能 + */ + public final int aebCmd; + /** + * 限制绕障开关 + * -1：未知 0（默认）：正常绕障 1：限制绕障 + */ + public final int laneChangeRestrainValid; + /** + * 停车让行线前避让等待开关 + * -1：未知 0（默认）：停车让行线前无需等待 1：停车让行线前需要等待 + */ + public final int stopYieldValid; + /** + * 地图限速功能开关 + * -1：未知 0（默认）：不使用地图限速功能 1：使用地图限速功能 + */ + public final int hadmapSpeedLimitValid; + /** + * 环岛模式开关 + * -1：未知 0（默认）：普通模式 1：环岛模式 + */ + public final int rampThetaValid; + /** + * 弱网减速停车策略开关 + * -1：未知 0：关闭弱网减速停车策略 1（默认）：使用弱网减速停车策略 + */ + public final int weakNetSlowDown; + + public AdasParam(MessagePad.SetParamReq param) { + int detouringCmd = -1; + double detouringSpeed = -1.0; + int aebCmd = -1; + int laneChangeRestrainValid = -1; + int stopYieldValid = -1; + int hadmapSpeedLimitValid = -1; + int rampThetaValid = -1; + int weakNetSlowDown = -1; + if (param != null) { + int size = param.getReqsCount(); + if (size > 0) { + for (int i = 0; i < size; i++) { + MessagePad.SetOneParam oneParam = param.getReqs(i); + int type = oneParam.getType(); + String value = oneParam.getValue(); + if (type == Constants.PARAM_TYPE.DETOURING) { + if (!TextUtils.isEmpty(value)) { + detouringCmd = Integer.parseInt(value); + } + } else if (type == Constants.PARAM_TYPE.DETOURING_SPEED) { + if (!TextUtils.isEmpty(value)) { + detouringSpeed = Double.parseDouble(value); + } + } else if (type == Constants.PARAM_TYPE.AEB) { + if (!TextUtils.isEmpty(value)) { + aebCmd = Integer.parseInt(value); + } + } else if (type == Constants.PARAM_TYPE.LANE_CHANGE_RESTRAIN_VALID) { + if (!TextUtils.isEmpty(value)) { + laneChangeRestrainValid = Integer.parseInt(value); + } + } else if (type == Constants.PARAM_TYPE.STOP_YIELD_VALID) { + if (!TextUtils.isEmpty(value)) { + stopYieldValid = Integer.parseInt(value); + } + } else if (type == Constants.PARAM_TYPE.HADMAP_SPEED_LIMIT_VALID) { + if (!TextUtils.isEmpty(value)) { + hadmapSpeedLimitValid = Integer.parseInt(value); + } + } else if (type == Constants.PARAM_TYPE.RAMP_THETA_VALID) { + if (!TextUtils.isEmpty(value)) { + rampThetaValid = Integer.parseInt(value); + } + } else if (type == Constants.PARAM_TYPE.WEAK_NET_SLOW_DOWN) { + if (!TextUtils.isEmpty(value)) { + weakNetSlowDown = Integer.parseInt(value); + } + } + } + } + } + this.detouringCmd = detouringCmd; + this.detouringSpeed = detouringSpeed; + this.aebCmd = aebCmd; + this.laneChangeRestrainValid = laneChangeRestrainValid; + this.stopYieldValid = stopYieldValid; + this.hadmapSpeedLimitValid = hadmapSpeedLimitValid; + this.rampThetaValid = rampThetaValid; + this.weakNetSlowDown = weakNetSlowDown; + } + + @Override + public String toString() { + return "绕障类功能开关=" + (detouringCmd == -1 ? "未知" : detouringCmd == 0 ? "关" : "开") + + "\n变道绕障的目标障碍物速度阈值=" + (detouringSpeed == -1 ? "未知" : detouringSpeed + "m/s") + + "\nAEB开关=" + (aebCmd == -1 ? "未知" : aebCmd == 0 ? "关" : "开") + + "\n限制绕障开关=" + (laneChangeRestrainValid == -1 ? "未知" : laneChangeRestrainValid == 0 ? "正常绕障" : "限制绕障") + + "\n停车让行线前避让等待开关=" + (stopYieldValid == -1 ? "未知" : stopYieldValid == 0 ? "无需等待" : "等待") + + "\n地图限速功能开关=" + (hadmapSpeedLimitValid == -1 ? "未知" : hadmapSpeedLimitValid == 0 ? "不使用" : "使用") + + "\n环岛模式开关=" + (rampThetaValid == -1 ? "未知" : rampThetaValid == 0 ? "普通模式" : "环岛模式") + + "\n弱网减速停车策略开关=" + (weakNetSlowDown == -1 ? "未知" : weakNetSlowDown == 0 ? "关闭" : "使用"); + } +} diff --git a/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/msg/GetParamRespMessage.java b/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/msg/GetParamRespMessage.java index 8eb3299767..465262b385 100644 --- a/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/msg/GetParamRespMessage.java +++ b/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/msg/GetParamRespMessage.java @@ -5,6 +5,7 @@ import android.os.SystemClock; import com.google.protobuf.InvalidProtocolBufferException; import com.zhidao.support.adas.high.AdasChannel; import com.zhidao.support.adas.high.OnAdasListener; +import com.zhidao.support.adas.high.bean.AdasParam; import com.zhidao.support.adas.high.common.CupidLogUtils; import com.zhidao.support.adas.high.protocol.RawData; @@ -23,7 +24,7 @@ public class GetParamRespMessage extends MyAbstractMessageHandler { if (CupidLogUtils.isEnableLog()) nowTime = SystemClock.elapsedRealtime(); if (adasListener != null) { - adasListener.onGetParamResp(raw.getHeader(), getParamResp); + adasListener.onGetParamResp(raw.getHeader(), getParamResp, new AdasParam(getParamResp)); } AdasChannel.calculateTimeConsumingBusiness("参数获取应答", nowTime); // CupidLogUtils.e("到站提醒--->" + arrivalNotification.toString());