diff --git a/OCH/common/common/src/debug/java/com/mogo/och/common/module/debug/DebugDataDispatch.kt b/OCH/common/common/src/debug/java/com/mogo/och/common/module/debug/DebugDataDispatch.kt index c06b0c2ec7..cf0640401d 100644 --- a/OCH/common/common/src/debug/java/com/mogo/och/common/module/debug/DebugDataDispatch.kt +++ b/OCH/common/common/src/debug/java/com/mogo/och/common/module/debug/DebugDataDispatch.kt @@ -162,7 +162,7 @@ object DebugDataDispatch { newBuilder.src = "2" newBuilder.level = "" var autopilotStatistics = - AutopilotStatistics(1, SystemClock.elapsedRealtime(), null, newBuilder.build()) + AutopilotStatistics(1, SystemClock.elapsedRealtime(), null, null ,newBuilder.build()) CallerAutopilotStatisticsListenerManager.invokeAutopilotStatistics(autopilotStatistics) } stopSite -> { diff --git a/OCH/common/common/src/main/java/com/mogo/och/common/module/manager/autopilot/OCHAdasAbilityManager.java b/OCH/common/common/src/main/java/com/mogo/och/common/module/manager/autopilot/OCHAdasAbilityManager.java index 126cfe1701..3f403f797c 100644 --- a/OCH/common/common/src/main/java/com/mogo/och/common/module/manager/autopilot/OCHAdasAbilityManager.java +++ b/OCH/common/common/src/main/java/com/mogo/och/common/module/manager/autopilot/OCHAdasAbilityManager.java @@ -22,6 +22,8 @@ import com.zhjt.mogo.adas.data.bean.UnableLaunchReason; import java.util.ArrayList; +import fsm.Fsm2024; + /** * Created on 2022/10/9 * 工控机状态信息回调（判断是否能否启动自动驾驶的回调） @@ -135,11 +137,21 @@ public class OCHAdasAbilityManager implements IMoGoAutopilotActionsListener, IMo public void onAutopilotStatistics(@Nullable AutopilotStatistics statistics) { if (statistics == null) return; Logger.d(TAG, "AutopilotStatistics= " + statistics.status); - if (failureCallback != null && 1 == statistics.status){ - startFailedCode = statistics.failedMessage.getCode(); - startFailedMessage = statistics.failedMessage.getMsg(); + if (failureCallback != null && 1 == statistics.status) { + if (statistics.fsmState != null) { + startFailedCode = ""; + if (statistics.fsmState.hasSession()) { + Fsm2024.Session session = statistics.fsmState.getSession(); + if (session.hasSessionFailReason()) { + startFailedMessage = session.getSessionFailReason(); + } + } + } else if (statistics.failedMessage != null) { + startFailedCode = statistics.failedMessage.getCode(); + startFailedMessage = statistics.failedMessage.getMsg(); + } failureCallback.onStartAutopilotFailure(startFailedCode, startFailedMessage); - if(!AppIdentityModeUtils.isSweeper(FunctionBuildConfig.appIdentityMode)){ + if (!AppIdentityModeUtils.isSweeper(FunctionBuildConfig.appIdentityMode)) { LineManager.invokeStartAutopilotFailure(startFailedCode, startFailedMessage); } Logger.d(TAG, String.format("statistics-startFailedCode = s%; startFailedMessage = s%", diff --git 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 index 8eb030a736..426052a342 100644 --- 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 @@ -78,7 +78,6 @@ import com.mogo.eagle.core.function.call.autopilot.CallerPlanningTrajectoryListe import com.mogo.eagle.core.function.call.autopilot.CallerReceiveReceivedAckListenerManager import com.mogo.eagle.core.function.call.autopilot.CallerRoboBusJinlvM1StatesListenerManager import com.mogo.eagle.core.function.call.autopilot.CallerRoboBusJinlvM1StitchedVideoListenerManager -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.CallerTakeoverListenerManager @@ -1338,18 +1337,6 @@ class MoGoAdasListenerImpl : OnAdasListener { private fun receiveReceivedAck(receivedAck: String) { } - /** - * 启动自动驾驶失败回调 - * 根据MAP 系统监控状态返回过滤 - * message.getMsg() 获取详细错误说明 - * message.getCode() 可用于判断属于什么类型 - * - * @param message 数据 - */ - override fun onStartAutopilotFailed(message: MogoReportMsg.MogoReportMessage?) { - invokeStartAutopilotFailed(message) - } - /** * 启动自动驾驶状态统计 * 触发机制：下发启动自动驾驶命令，根据MAP返回状态判断成功或失败 diff --git a/core/mogo-core-function-api/src/main/java/com/mogo/eagle/core/function/api/autopilot/IMoGoStartAutopilotFailedListener.kt b/core/mogo-core-function-api/src/main/java/com/mogo/eagle/core/function/api/autopilot/IMoGoStartAutopilotFailedListener.kt deleted file mode 100644 index f1f75862f6..0000000000 --- a/core/mogo-core-function-api/src/main/java/com/mogo/eagle/core/function/api/autopilot/IMoGoStartAutopilotFailedListener.kt +++ /dev/null @@ -1,17 +0,0 @@ -package com.mogo.eagle.core.function.api.autopilot - -import mogo_msg.MogoReportMsg - - -interface IMoGoStartAutopilotFailedListener { - - /** - * 启动自动驾驶失败回调 - * 根据MAP 系统监控状态返回过滤 - * message.getMsg() 获取详细错误说明 - * message.getCode() 可用于判断属于什么类型 - * - * @param message 数据 - */ - fun onStartAutopilotFailed(message: MogoReportMsg.MogoReportMessage?) -} \ No newline at end of file diff --git a/core/mogo-core-function-call/src/main/java/com/mogo/eagle/core/function/call/autopilot/CallerStartAutopilotFailedListenerManager.kt b/core/mogo-core-function-call/src/main/java/com/mogo/eagle/core/function/call/autopilot/CallerStartAutopilotFailedListenerManager.kt deleted file mode 100644 index 040dc0570e..0000000000 --- a/core/mogo-core-function-call/src/main/java/com/mogo/eagle/core/function/call/autopilot/CallerStartAutopilotFailedListenerManager.kt +++ /dev/null @@ -1,20 +0,0 @@ -package com.mogo.eagle.core.function.call.autopilot - -import com.mogo.eagle.core.function.api.autopilot.IMoGoStartAutopilotFailedListener -import com.mogo.eagle.core.function.call.base.CallerBase -import mogo_msg.MogoReportMsg - -/** - * 启动自动驾驶失败监听 - * 注册/取消注册 - */ -object CallerStartAutopilotFailedListenerManager : CallerBase() { - - @Synchronized - fun invokeStartAutopilotFailed(message: MogoReportMsg.MogoReportMessage?) { - M_LISTENERS.forEach { - val listener = it.value - listener.onStartAutopilotFailed(message) - } - } -} \ No newline at end of file diff --git a/core/mogo-core-function-call/src/main/java/com/mogo/eagle/core/function/call/autopilot/REEADME.md b/core/mogo-core-function-call/src/main/java/com/mogo/eagle/core/function/call/autopilot/REEADME.md index 2216cb6f33..eb78ddcfb7 100644 --- a/core/mogo-core-function-call/src/main/java/com/mogo/eagle/core/function/call/autopilot/REEADME.md +++ b/core/mogo-core-function-call/src/main/java/com/mogo/eagle/core/function/call/autopilot/REEADME.md @@ -43,7 +43,6 @@ CallerPlanningActionsListenerManager CallerPlanningRottingListenerManager CallerPlanningTrajectoryListenerManager CallerRoboBusJinlvM1StatesListenerManager -CallerStartAutopilotFailedListenerManager CallerSweeperFutianCleanSystemListenerManager diff --git a/libraries/mogo-adas-data/src/main/java/com/zhjt/mogo/adas/data/bean/AutopilotStatistics.java b/libraries/mogo-adas-data/src/main/java/com/zhjt/mogo/adas/data/bean/AutopilotStatistics.java index 487e386140..797d3079fe 100644 --- a/libraries/mogo-adas-data/src/main/java/com/zhjt/mogo/adas/data/bean/AutopilotStatistics.java +++ b/libraries/mogo-adas-data/src/main/java/com/zhjt/mogo/adas/data/bean/AutopilotStatistics.java @@ -1,6 +1,9 @@ package com.zhjt.mogo.adas.data.bean; +import androidx.annotation.Nullable; + +import fsm.Fsm2024; import mogo.telematics.pad.MessagePad; import mogo_msg.MogoReportMsg; @@ -36,25 +39,34 @@ public class AutopilotStatistics { public final int status; /** - * 用时 + * 用时 取消自动驾驶时不赋值 * 单位：ms */ public final long usedTime; /** - * 下发的启动自动驾驶命令 + * 下发的启动自动驾驶命令 取消自动驾驶时不赋值 */ + @Nullable public final MessagePad.SetAutopilotModeReq req; /** - * 失败的消息 + * 回调启动自驾成功/失败的时候赋值 */ + @Nullable + public final Fsm2024.FSMStateMsg fsmState; + + /** + * 失败的消息 存在FSM2024时 失败此字段不赋值 + */ + @Nullable public final MogoReportMsg.MogoReportMessage failedMessage; - public AutopilotStatistics(int status, long usedTime, MessagePad.SetAutopilotModeReq req, MogoReportMsg.MogoReportMessage failedMessage) { + public AutopilotStatistics(int status, long usedTime, @Nullable MessagePad.SetAutopilotModeReq req, @Nullable Fsm2024.FSMStateMsg fsmState, @Nullable MogoReportMsg.MogoReportMessage failedMessage) { this.status = status; this.usedTime = usedTime; this.req = req; + this.fsmState = fsmState; this.failedMessage = failedMessage; } } diff --git a/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/AdasManager.java b/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/AdasManager.java index e42898b94e..e5d2ee826e 100644 --- a/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/AdasManager.java +++ b/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/AdasManager.java @@ -1833,6 +1833,17 @@ public class AdasManager implements IAdasNetCommApi { return AutopilotAbilityManager.getInstance().getNodeStateInfo(name); } + /** + * 获取FSM2024版本 + * 正常版本好例如FSM2024发送的为2.0解析后为20；12.1解析后为121 + * 与FSM开发同学确认 点后的子版本不会出现十位数以上 + * + * @return -1：未初始化 0：SSM判断存在FSM2024节点但并不知具体版本或根据FMS中Version解析失败 其他数值：根据FSM数据中的version 判断得出 + */ + public int getFsm2024Version() { + return AutopilotAbilityManager.getInstance().getFsm2024Version(); + } + /** * 获取域控PING 地址列表 * 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 c58a5e6180..1efcf34dfc 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 @@ -644,16 +644,6 @@ public interface OnAdasListener { */ void onReceiveReceivedAck(@NonNull ReceivedAck receivedAck); - /** - * 启动自动驾驶失败回调 - * 根据MAP 系统监控状态返回过滤 - * message.getMsg() 获取详细错误说明 - * message.getCode() 可用于判断属于什么类型 - * - * @param message 数据 - */ - void onStartAutopilotFailed(MogoReportMsg.MogoReportMessage message); - /** * 启动自动驾驶状态统计 * 触发机制：下发启动自动驾驶命令，根据MAP返回状态判断成功或失败 diff --git a/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/common/AutopilotReview.java b/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/common/AutopilotReview.java index bc93b426f3..598ff1aa2f 100644 --- a/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/common/AutopilotReview.java +++ b/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/common/AutopilotReview.java @@ -4,8 +4,10 @@ import android.os.SystemClock; import androidx.annotation.NonNull; +import com.zhidao.support.adas.high.common.autopilot.ability.AutopilotAbilityManager; import com.zhjt.mogo.adas.data.bean.AutopilotStatistics; +import fsm.Fsm2024; import mogo.telematics.pad.MessagePad; import mogo_msg.MogoReportMsg; @@ -16,13 +18,18 @@ public class AutopilotReview { /** * 下发的启动自动驾驶命令 */ - public MessagePad.SetAutopilotModeReq startReq; + private MessagePad.SetAutopilotModeReq startReq; private long startTime;//自动驾驶命令下发启动时间 /** * 失败的消息 */ - public MogoReportMsg.MogoReportMessage failedMessage; + private MogoReportMsg.MogoReportMessage failedMessage; + + /** + * 回调启动自驾成功/失败的时候赋值 + */ + private Fsm2024.FSMStateMsg fsmState; private final OnAutopilotReviewListener listener; @@ -37,11 +44,12 @@ public class AutopilotReview { private void onCallback(@Define.AutopilotStartStatus int status) { long usedTime = SystemClock.elapsedRealtime() - startTime; if (listener != null) { - listener.onReview(new AutopilotStatistics(status, usedTime, startReq, failedMessage)); + listener.onReview(new AutopilotStatistics(status, usedTime, startReq, fsmState, failedMessage)); } startTime = 0; startReq = null; failedMessage = null; + fsmState = null; } @@ -56,6 +64,10 @@ public class AutopilotReview { startReq = req; startTime = SystemClock.elapsedRealtime(); } else { + startTime = 0; + startReq = null; + failedMessage = null; + fsmState = null; onCallback(AutopilotStatistics.AUTOPILOT_START_STATUS.CANCEL); } } @@ -66,12 +78,32 @@ public class AutopilotReview { * @param message */ public void onReportResult(MogoReportMsg.MogoReportMessage message) { + //FSM2024版本大于等于2.0时使用FSM的数据进行判断是否失败 + if (AutopilotAbilityManager.getInstance().getFsm2024Version() >= 20) { + return; + } if (startReq != null && message != null) { failedMessage = message; onCallback(AutopilotStatistics.AUTOPILOT_START_STATUS.FAILED); } } + + public void setFSM2024State(Fsm2024.FSMStateMsg fsmState) { + this.fsmState = fsmState; + if (startReq != null && fsmState != null) { + if (fsmState.hasSession()) { + Fsm2024.Session session = fsmState.getSession(); + if (session.hasSessionActiveMode() && session.hasSessionResult()) { + if (session.getSessionActiveMode() == Fsm2024.ActiveMode.PILOT_ACTIVE && + session.getSessionResult() == Fsm2024.SessionResult.REQUEST_FAILED) { + onCallback(AutopilotStatistics.AUTOPILOT_START_STATUS.FAILED); + } + } + } + } + } + /** * 自动驾驶状态 目前只用于自动驾驶成功结果 * 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 cfc52685e3..3545e86b15 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 @@ -75,7 +75,7 @@ public class AutopilotAbilityManager implements OnAutopilotAbilityListener { private final AtomicBoolean isInitCarConfig = new AtomicBoolean(false);//车辆信息是否初始化 private final AtomicInteger isSupportFSM2024 = new AtomicInteger(-1);//-1：未初始化 0：不支持 1：通过SSM V2判断支持 2：通过FSM数据源判断支持 private final Map nodeStateInfos = new ConcurrentHashMap<>(); - + private int fsm2024Version = -1;//FSM2024版本 -1：未初始化 0：SSM判断存在FSM2024但是并不知道具体版本或根据FMS中Version解析失败 其他数值：根据FSM数据中的version 判断得出 private AutopilotAbilityManager() { } @@ -115,6 +115,11 @@ public class AutopilotAbilityManager implements OnAutopilotAbilityListener { } } + + public int getFsm2024Version() { + return fsm2024Version; + } + /** * 添加不能启动自驾的原因 * @@ -206,6 +211,17 @@ public class AutopilotAbilityManager implements OnAutopilotAbilityListener { } public void setFSM2024State(Fsm2024.FSMStateMsg fsmState) { + if (fsm2024Version <= 0) { + if (fsmState.hasVersion()) { + String tem = fsmState.getVersion(); + try { + fsm2024Version = Integer.parseInt(tem.replace(".", "")); + } catch (Exception e) { + fsm2024Version = 0; + e.printStackTrace(); + } + } + } updateFSMNormalStateFromFSM(); onCallFSMTimeout(false); if (autopilotAbilityFsm != null) { @@ -274,6 +290,9 @@ public class AutopilotAbilityManager implements OnAutopilotAbilityListener { break; } } + if (isSupport && fsm2024Version == -1) { + fsm2024Version = 0; + } updateFSMStateFromSSM(isSupport ? 1 : 0); } } @@ -370,6 +389,7 @@ public class AutopilotAbilityManager implements OnAutopilotAbilityListener { if (!isInitCarConfig.get() && AdasManager.getInstance().getIpcConnectionStatus() == AdasConstants.IpcConnectionStatus.CONNECTED) { mapVersion = 20300; isSupportFSM2024.set(-1); + fsm2024Version = -1; initAutopilotAbility(); isInitAutopilotAbility.set(false); } @@ -560,6 +580,7 @@ public class AutopilotAbilityManager implements OnAutopilotAbilityListener { initStopData(); isInitAutopilotAbility.set(false); isSupportFSM2024.set(-1); + fsm2024Version = -1; isInitCarConfig.set(false); mapVersion = -1; isFutianSweeper = false; 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 724db993c4..0d9ee918c7 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 @@ -33,6 +33,11 @@ public class FSM2024StateMessage extends MyAbstractMessageHandler { long nowTime = 0; if (CupidLogUtils.isEnableLog()) nowTime = SystemClock.elapsedRealtime(); + ParallelDrivingManager.getInstance().setAutopilotState(autopilotState); + if (autopilotReview != null) { + autopilotReview.setFSM2024State(fsmState); + autopilotReview.onAutopilotResult(autopilotState); + } if (adasListener != null) { if (fsmState.getRepeatedPilotNotStandbyReasonCount() == 0) { Fsm2024.FSMStateMsg.Builder builder = fsmState.toBuilder(); @@ -42,11 +47,6 @@ public class FSM2024StateMessage extends MyAbstractMessageHandler { adasListener.onFSM2024State(raw.getHeader(), fsmState, autopilotState, mode); } } - ParallelDrivingManager.getInstance().setAutopilotState(autopilotState); - if (autopilotReview != null) { - autopilotReview.onAutopilotResult(autopilotState); - } - AdasChannel.calculateTimeConsumingBusiness("FSM状态", nowTime); } diff --git a/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/msg/ReportMessage.java b/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/msg/ReportMessage.java index 614c0854a6..22d217d424 100644 --- a/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/msg/ReportMessage.java +++ b/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/msg/ReportMessage.java @@ -82,9 +82,6 @@ public class ReportMessage extends MyAbstractMessageHandler { //分发自动驾驶启动失败相关回调 String code = mogoReportMessage.getCode(); if (startAutopilotFailCode.contains(code)) { - if (adasListener != null) { - adasListener.onStartAutopilotFailed(mogoReportMessage);//启动自动驾驶失败回调 - } if (autopilotReview != null) { autopilotReview.onReportResult(mogoReportMessage);//统计启动自动驾驶失败原因 }