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Merge branch 'dev_robotaxi-d-app-module_265_220329_2.6.5_xin' into dev_robotaxi-d-app-module_266_220425_2.6.6

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This commit is contained in:
xinfengkun
2022-04-26 14:01:30 +08:00
parent 382fd6a36b 2805759713
commit 76c7e95f68
31 changed files with 728 additions and 136 deletions
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18
app_ipc_monitoring/build.gradle
View File

@@ -1,3 +1,5 @@
import java.text.SimpleDateFormat
apply plugin: 'com.android.application'
android {
@@ -24,6 +26,15 @@ android {
proguardFiles getDefaultProguardFile('proguard-android-optimize.txt'), 'proguard-rules.pro'
}
}
//插入构建时间
buildTypes.each {
//设置时间格式
SimpleDateFormat formatter = new SimpleDateFormat("yyyyMMdd.HHmmss", Locale.getDefault())
//获取当前时间
Date curDate = new Date(System.currentTimeMillis())
String buildTime = formatter.format(curDate)
it.buildConfigField 'String', 'BUILD_TIME', "\"${buildTime}\""
}
compileOptions {
sourceCompatibility JavaVersion.VERSION_1_8
targetCompatibility JavaVersion.VERSION_1_8
@@ -44,13 +55,14 @@ android {
dependencies {
implementation fileTree(dir: 'libs', include: ['*.jar'])
implementation 'androidx.appcompat:appcompat:1.3.1'
implementation 'androidx.constraintlayout:constraintlayout:2.1.1'
implementation rootProject.ext.dependencies.material
implementation rootProject.ext.dependencies.androidxconstraintlayout
implementation rootProject.ext.dependencies.androidxappcompat
implementation 'androidx.recyclerview:recyclerview:1.2.0'
testImplementation 'junit:junit:4.13.2'
androidTestImplementation 'androidx.test.ext:junit:1.1.3'
androidTestImplementation 'androidx.test.espresso:espresso-core:3.4.0'
implementation "com.google.code.gson:gson:2.8.9"
implementation rootProject.ext.dependencies.gson
implementation project(':libraries:mogo-adas')
implementation project(':core:mogo-core-data')
implementation project(':core:mogo-core-utils')

2
app_ipc_monitoring/src/main/AndroidManifest.xml
View File

@@ -29,7 +29,7 @@
<uses-permission android:name="android.permission.ACCESS_COARSE_LOCATION" /> <!-- 用于访问GPS定位 -->
<uses-permission android:name="android.permission.ACCESS_FINE_LOCATION" />
<uses-permission android:name="android.permission.ACCESS_LOCATION_EXTRA_COMMANDS" />
<uses-permission android:name="android.permission.SYSTEM_ALERT_WINDOW" />
<application
android:allowBackup="true"
android:icon="@drawable/icon"

20
app_ipc_monitoring/src/main/java/com/zhidao/adas/client/DataDistribution.java
View File

@@ -10,6 +10,7 @@ import com.zhidao.adas.client.bean.GlobalPathResp;
import com.zhidao.adas.client.bean.GnssInfo;
import com.zhidao.adas.client.bean.MogoReportMessage;
import com.zhidao.adas.client.bean.PerceptionTrafficLight;
import com.zhidao.adas.client.bean.PredictionObstacleTrajectory;
import com.zhidao.adas.client.bean.RecordPanel;
import com.zhidao.adas.client.bean.TrackedObjects;
import com.zhidao.adas.client.bean.Trajectory;
@@ -98,6 +99,7 @@ public class DataDistribution {
public final List<String> listAutopilotState = new ArrayList<>();
public final List<String> listMogoReportMessage = new ArrayList<>();
public final List<String> listPerceptionTrafficLight = new ArrayList<>();
public final List<String> listPredictionObstacleTrajectory = new ArrayList<>();
public final List<String> listBasicInfoReq = new ArrayList<>();
public final List<String> listRecordPanel = new ArrayList<>();
public final List<String> listGlobalPathResp = new ArrayList<>();
@@ -114,7 +116,8 @@ public class DataDistribution {
}
private String onTransmit(String time, BaseInfo data) {
String str = cutDown(data.toString());
String temp = data.toString();
String str = cutDown(temp);
if (data instanceof Trajectory) {
listTrajectory.add(0, time + str);
if (listTrajectory.size() > LIST_SIZE) {
@@ -205,6 +208,19 @@ public class DataDistribution {
// for (OnAdasClientListener listener : listeners) {
// listener.onPerceptionTrafficLight((PerceptionTrafficLight) data);
// }
// }
} else if (data instanceof PredictionObstacleTrajectory) {
listPredictionObstacleTrajectory.add(0, time + str);
if (listPredictionObstacleTrajectory.size() > LIST_SIZE) {
listPredictionObstacleTrajectory.remove(listPredictionObstacleTrajectory.size() - 1);
}
if (listener != null) {
listener.onRefresh();
}
// if (!listeners.isEmpty()) {
// for (OnAdasClientListener listener : listeners) {
// listener.onRefresh();
// }
// }
} else if (data instanceof BasicInfoReq) {
listBasicInfoReq.add(0, time + str);
@@ -295,7 +311,7 @@ public class DataDistribution {
// }
}
return str;
return temp;
}
private class WriteThread implements Runnable {

67
app_ipc_monitoring/src/main/java/com/zhidao/adas/client/adapter/ConnectStatusAdapter.java Normal file
View File

@@ -0,0 +1,67 @@
package com.zhidao.adas.client.adapter;
import android.annotation.SuppressLint;
import android.view.LayoutInflater;
import android.view.View;
import android.view.ViewGroup;
import android.widget.EditText;
import android.widget.TextView;
import com.zhidao.adas.client.R;
import com.zhidao.adas.client.base.BaseAdapter;
import com.zhidao.adas.client.base.BaseViewHolder;
import com.zhidao.adas.client.bean.IPCConnectState;
import java.text.SimpleDateFormat;
import java.util.Date;
import java.util.Locale;
/**
* 连接状态
*/
public class ConnectStatusAdapter extends BaseAdapter<IPCConnectState, ConnectStatusAdapter.ViewHolder> {
private final SimpleDateFormat sdf = new SimpleDateFormat("yyyy-MM-dd HH:mm:ss.SSS ", Locale.getDefault());
private static final String POS = "%03d. ";
public void refreshView() {
// notifyItemChanged(mDatas.size()-1,0);
notifyItemRangeChanged(0, getItemCount());
}
@Override
public long getItemId(int position) {
return position;
}
@SuppressLint("SetTextI18n")
@Override
protected void onBindDataToItem(ViewHolder viewHolder, IPCConnectState data, int position) {
viewHolder.id.setText(String.format(Locale.getDefault(), POS, getItemCount() - position));
viewHolder.editText.setText(sdf.format(new Date(data.time)) + "\n" + data.status);
viewHolder.editText.setTextColor(mContext.getResources().getColor(data.color));
}
@Override
protected View getItemViewResource(ViewGroup viewGroup) {
return LayoutInflater.from(mContext).inflate(R.layout.item_status, viewGroup, false);
}
@Override
protected ViewHolder getViewHolder(View view) {
return new ViewHolder(view, this);
}
class ViewHolder extends BaseViewHolder<ConnectStatusAdapter> {
EditText editText;
TextView id;
public ViewHolder(View itemView, ConnectStatusAdapter adapter) {
super(itemView, adapter);
editText = itemView.findViewById(R.id.log);
id = itemView.findViewById(R.id.id);
}
}
}

2
app_ipc_monitoring/src/main/java/com/zhidao/adas/client/bean/IPCConnectState.java
View File

@@ -3,6 +3,7 @@ package com.zhidao.adas.client.bean;
import androidx.annotation.ColorRes;
public class IPCConnectState {
public final long time;
public final String status;
@ColorRes
public final int color;
@@ -10,5 +11,6 @@ public class IPCConnectState {
public IPCConnectState(String status, @ColorRes int color) {
this.status = status;
this.color = color;
time = System.currentTimeMillis();
}
}

22
app_ipc_monitoring/src/main/java/com/zhidao/adas/client/bean/PredictionObstacleTrajectory.java Normal file
View File

@@ -0,0 +1,22 @@
package com.zhidao.adas.client.bean;
import com.google.protobuf.TextFormat;
import mogo.telematics.pad.MessagePad;
import prediction.Prediction;
public class PredictionObstacleTrajectory extends BaseInfo {
public final Prediction.mPredictionObjects bean;
public PredictionObstacleTrajectory(MessagePad.Header header, Prediction.mPredictionObjects bean) {
super("接收", bean.getSerializedSize(), header);
this.bean = bean;
}
@Override
public String toString() {
return super.toString() + TextFormat.printer().escapingNonAscii(false).printToString(bean);
}
}

181
app_ipc_monitoring/src/main/java/com/zhidao/adas/client/ui/FloatWindow.java Normal file
View File

@@ -0,0 +1,181 @@
package com.zhidao.adas.client.ui;
import android.app.Activity;
import android.content.Context;
import android.graphics.PixelFormat;
import android.util.DisplayMetrics;
import android.view.Gravity;
import android.view.LayoutInflater;
import android.view.MotionEvent;
import android.view.View;
import android.view.WindowManager;
import androidx.recyclerview.widget.RecyclerView;
import com.zhidao.adas.client.R;
import com.zhidao.adas.client.adapter.ConnectStatusAdapter;
import com.zhidao.adas.client.adapter.DataShowAdapter;
import com.zhidao.adas.client.bean.IPCConnectState;
import com.zhidao.adas.client.utils.MyLinearLayoutManager;
import java.lang.reflect.Field;
import java.util.List;
/**
* @author xuxinchao
* @description
* @since: 2022/4/20
*/
public class FloatWindow implements View.OnTouchListener {
private final Activity mContext;
private WindowManager.LayoutParams mWindowParams;
private WindowManager mWindowManager;
private View mFloatLayout;
private float mInViewX;
private float mInViewY;
private float mDownInScreenX;
private float mDownInScreenY;
private float mInScreenX;
private float mInScreenY;
private RecyclerView rv_status;
private ConnectStatusAdapter adapter;
private List<IPCConnectState> list;
public FloatWindow(Activity context, List<IPCConnectState> list) {
this.mContext = context;
this.list = list;
initFloatWindow();
}
public void refreshView(){
if (adapter!=null){
adapter.refreshView();
}
}
private void initRV() {
//创建默认的线性LayoutManager 横向的GridLayoutManager
MyLinearLayoutManager linearLayoutManager = new MyLinearLayoutManager(mContext);
// linearLayoutManager.setStackFromEnd(true);//列表再底部开始展示，反转后由上面开始展示
// linearLayoutManager.setReverseLayout(true);//列表翻转
rv_status.setLayoutManager(linearLayoutManager);
//如果可以确定每个item的高度是固定的，设置这个选项可以提高性能
rv_status.setHasFixedSize(false);
rv_status.setNestedScrollingEnabled(false);
adapter = new ConnectStatusAdapter();
adapter.setHasStableIds(true);
rv_status.setAdapter(adapter);
adapter.setData(list);
}
private void initFloatWindow() {
LayoutInflater inflater = LayoutInflater.from(mContext);
if (inflater == null)
return;
mFloatLayout = (View) inflater.inflate(R.layout.layout_float, null);
rv_status = mFloatLayout.findViewById(R.id.rv_status);
mFloatLayout.setOnTouchListener(this);
initRV();
mWindowParams = new WindowManager.LayoutParams();
// mWindowManager = (WindowManager) mContext.getSystemService(Context.WINDOW_SERVICE);
// if (Build.VERSION.SDK_INT >= 26) {//8.0新特性
// mWindowParams.type = WindowManager.LayoutParams.TYPE_APPLICATION_OVERLAY;
// }else{
// mWindowParams.type = WindowManager.LayoutParams.TYPE_SYSTEM_ALERT;
// }
mWindowManager = mContext.getWindowManager();
mWindowParams.format = PixelFormat.RGBA_8888;
mWindowParams.flags = WindowManager.LayoutParams.FLAG_NOT_FOCUSABLE;
mWindowParams.gravity = Gravity.START | Gravity.TOP;
mWindowParams.width = WindowManager.LayoutParams.WRAP_CONTENT;
mWindowParams.height = WindowManager.LayoutParams.WRAP_CONTENT;
mWindowParams.alpha = 0.9F;
}
@Override
public boolean onTouch(View view, MotionEvent motionEvent) {
return floatLayoutTouch(motionEvent);
}
private boolean floatLayoutTouch(MotionEvent motionEvent) {
switch (motionEvent.getAction()) {
case MotionEvent.ACTION_DOWN:
// 获取相对View的坐标，即以此View左上角为原点
mInViewX = motionEvent.getX();
mInViewY = motionEvent.getY();
// 获取相对屏幕的坐标，即以屏幕左上角为原点
mDownInScreenX = motionEvent.getRawX();
mDownInScreenY = motionEvent.getRawY() - getSysBarHeight(mContext);
mInScreenX = motionEvent.getRawX();
mInScreenY = motionEvent.getRawY() - getSysBarHeight(mContext);
break;
case MotionEvent.ACTION_MOVE:
// 更新浮动窗口位置参数
mInScreenX = motionEvent.getRawX();
mInScreenY = motionEvent.getRawY() - getSysBarHeight(mContext);
mWindowParams.x = (int) (mInScreenX - mInViewX);
mWindowParams.y = (int) (mInScreenY - mInViewY);
// 手指移动的时候更新小悬浮窗的位置
mWindowManager.updateViewLayout(mFloatLayout, mWindowParams);
break;
case MotionEvent.ACTION_UP:
// 如果手指离开屏幕时，xDownInScreen和xInScreen相等，且yDownInScreen和yInScreen相等，则视为触发了单击事件。
if (mDownInScreenX == mInScreenX && mDownInScreenY == mInScreenY) {
}
break;
}
return true;
}
public void showFloatWindow(float y) {
if (mFloatLayout.getParent() == null) {
DisplayMetrics metrics = new DisplayMetrics();
// 默认固定位置，靠屏幕右边缘的中间
mWindowManager.getDefaultDisplay().getMetrics(metrics);
mWindowParams.x = metrics.widthPixels;
mWindowParams.y = (int) (y);
mWindowManager.addView(mFloatLayout, mWindowParams);
}
}
public void hideFloatWindow() {
if (mFloatLayout.getParent() != null)
mWindowManager.removeView(mFloatLayout);
}
public void setFloatLayoutAlpha(boolean alpha) {
if (alpha)
mFloatLayout.setAlpha((float) 0.5);
else
mFloatLayout.setAlpha(1);
}
private int sbar = -1;
// 获取系统状态栏高度
public int getSysBarHeight(Context contex) {
if (sbar == -1) {
Class<?> c;
Object obj;
Field field;
int x;
sbar = 0;
try {
c = Class.forName("com.android.internal.R$dimen");
obj = c.newInstance();
field = c.getField("status_bar_height");
x = Integer.parseInt(field.get(obj).toString());
sbar = contex.getResources().getDimensionPixelSize(x);
} catch (Exception e1) {
e1.printStackTrace();
}
}
return sbar;
}
}

3
app_ipc_monitoring/src/main/java/com/zhidao/adas/client/ui/InfoFragment.java
View File

@@ -146,6 +146,9 @@ public class InfoFragment extends BaseFragment {
case Constants.TITLE.RECEIVE_PERCEPTION_TRAFFIC_LIGHT:
adapter.setData(DataDistribution.getInstance().listPerceptionTrafficLight);
break;
case Constants.TITLE.RECEIVE_PREDICTION_OBSTACLE_TRAJECTORY:
adapter.setData(DataDistribution.getInstance().listPredictionObstacleTrajectory);
break;
case Constants.TITLE.RECEIVE_ERROR:
adapter.setData(DataDistribution.getInstance().listErrorData);
break;

126
app_ipc_monitoring/src/main/java/com/zhidao/adas/client/ui/MainActivity.java
View File

@@ -57,6 +57,7 @@ import com.zhidao.adas.client.bean.IPCConnectState;
import com.zhidao.adas.client.bean.MogoReportMessage;
import com.zhidao.adas.client.bean.MySSHResult;
import com.zhidao.adas.client.bean.PerceptionTrafficLight;
import com.zhidao.adas.client.bean.PredictionObstacleTrajectory;
import com.zhidao.adas.client.bean.RecordPanel;
import com.zhidao.adas.client.bean.TrackedObjects;
import com.zhidao.adas.client.bean.Trajectory;
@@ -76,7 +77,6 @@ import com.zhidao.support.adas.high.common.Constants.IPC_CONNECTION_STATUS;
import com.zhidao.support.adas.high.common.CupidLogUtils;
import com.zhidao.support.adas.high.common.ProtocolStatus;
import com.zhidao.support.adas.high.common.ReceiveTimeoutManager;
import com.zhidao.support.recorder.RecordDataManager;
import java.net.Inet4Address;
import java.net.InetAddress;
@@ -92,13 +92,14 @@ import io.netty.channel.Channel;
import mogo.telematics.pad.MessagePad;
import mogo_msg.MogoReportMsg;
import perception.TrafficLightOuterClass;
import prediction.Prediction;
import record_cache.RecordPanelOuterClass;
public class MainActivity extends BaseActivity implements OnAdasListener, OnAdasConnectStatusListener, BaseAdapter.OnItemClickListener<String> {
private final static String TAG = MainActivity.class.getSimpleName();
private static final int WHAT_IPC_IP = 0x00;
private static final int WHAT_DRIVER_IP = 0x01;
private static final int WHATIPC_CONNECT_STATE = 0x02;
private static final int WHAT_IPC_CONNECT_STATE = 0x02;
private EditText etIp;
private ImageView role;
private ImageView tvIp;
@@ -124,7 +125,7 @@ public class MainActivity extends BaseActivity implements OnAdasListener, OnAdas
private final List<String> titleFragmentData = new ArrayList<>();
private final List<String> titleBtnData = new ArrayList<>();
private final List<IPCConnectState> connectStatusList = new ArrayList<>();
private InfoTitleAdapter btnAdapter;
private InfoTitleAdapter fragmentAdapter;
@@ -141,6 +142,7 @@ public class MainActivity extends BaseActivity implements OnAdasListener, OnAdas
private InfoFragment errorFragment;
private InfoFragment reportMessageFragment;
private InfoFragment perceptionTrafficLightFragment;
private InfoFragment predictionObstacleTrajectoryFragment;
private VersionFragment versionFragment;
private FragmentManager manager;
private FragmentTransaction transaction;
@@ -151,7 +153,8 @@ public class MainActivity extends BaseActivity implements OnAdasListener, OnAdas
private int connectStatus;
private AutoPilotModeDialog autoPilotModeDialog;
private ListPopupWindow listPopupWindow;
private FloatWindow floatWindow;
private View include_title;
// @Override
// protected void onStart() {
// super.onStart();
@@ -207,6 +210,7 @@ public class MainActivity extends BaseActivity implements OnAdasListener, OnAdas
private void initView() {
include_title = findViewById(R.id.include_title);
etIp = findViewById(R.id.et_ip);
role = findViewById(R.id.role);
line = findViewById(R.id.line);
@@ -278,7 +282,6 @@ public class MainActivity extends BaseActivity implements OnAdasListener, OnAdas
etIp.setSelection(ip.length());
}
// infoTitleList.add("录音测试");
//初始化fragment
manager = getSupportFragmentManager();
transaction = manager.beginTransaction();
@@ -393,6 +396,18 @@ public class MainActivity extends BaseActivity implements OnAdasListener, OnAdas
}
}
});
tvConnectState.setOnClickListener(new View.OnClickListener() {
@Override
public void onClick(View v) {
if (floatWindow == null) {
floatWindow = new FloatWindow(MainActivity.this, connectStatusList);
floatWindow.showFloatWindow(include_title.getY() + include_title.getHeight());
} else {
floatWindow.hideFloatWindow();
floatWindow = null;
}
}
});
}
private void showListPopupWindow() {
@@ -431,6 +446,7 @@ public class MainActivity extends BaseActivity implements OnAdasListener, OnAdas
titleFragmentData.add(Constants.TITLE.RECEIVE_AUTOPILOT_STATE);
titleFragmentData.add(Constants.TITLE.RECEIVE_REPORT_MESSAGE);
titleFragmentData.add(Constants.TITLE.RECEIVE_PERCEPTION_TRAFFIC_LIGHT);
titleFragmentData.add(Constants.TITLE.RECEIVE_PREDICTION_OBSTACLE_TRAJECTORY);
titleFragmentData.add(Constants.TITLE.RECEIVE_CAR_CONFIG_RESP);
titleFragmentData.add(Constants.TITLE.RECEIVE_RECORD_RESULT);
titleFragmentData.add(Constants.TITLE.RECEIVE_GLOBAL_PATH_RESP);
@@ -446,7 +462,6 @@ public class MainActivity extends BaseActivity implements OnAdasListener, OnAdas
titleBtnData.add("数据采集5秒");
titleBtnData.add("数据采集start");
titleBtnData.add("数据采集end");
titleBtnData.add("录音测试");
titleBtnData.add("发送信号灯");
titleBtnData.add("自动驾驶限速");
titleBtnData.add("重启Docker");
@@ -588,6 +603,14 @@ public class MainActivity extends BaseActivity implements OnAdasListener, OnAdas
transaction.commit();
}
break;
case Constants.TITLE.RECEIVE_PREDICTION_OBSTACLE_TRAJECTORY:
if (predictionObstacleTrajectoryFragment == null)
predictionObstacleTrajectoryFragment = new InfoFragment(data);
if (!predictionObstacleTrajectoryFragment.isVisible()) {
transaction.replace(R.id.fl_info, predictionObstacleTrajectoryFragment);
transaction.commit();
}
break;
case Constants.TITLE.RECEIVE_CAR_CONFIG_RESP:
AdasManager.getInstance().sendCarConfigReq();
if (versionFragment == null)
@@ -630,36 +653,52 @@ public class MainActivity extends BaseActivity implements OnAdasListener, OnAdas
}
}
private String onUpdateConnectStateView() {
String status;
private int getStatusColor(int connectStatus) {
int color;
switch (connectStatus) {
case IPC_CONNECTION_STATUS.CONNECTED:
status = "已连接";
color = R.color.connect_status_connected;
break;
default:
case IPC_CONNECTION_STATUS.DISCONNECTED:
status = "未连接";
color = R.color.connect_status_disconnected;
break;
case IPC_CONNECTION_STATUS.CONNECTING:
status = "连接中";
color = R.color.connect_status_connecting;
break;
case IPC_CONNECTION_STATUS.SEARCH_ADDRESS:
status = "搜索IP";
color = R.color.connect_status_search_address;
break;
case IPC_CONNECTION_STATUS.NOT_FOUND_ADDRESS:
status = "未找到";
color = R.color.connect_status_disconnecting;
break;
}
return color;
}
private String onUpdateConnectStateView() {
String status;
switch (connectStatus) {
case IPC_CONNECTION_STATUS.CONNECTED:
status = "已连接";
break;
default:
case IPC_CONNECTION_STATUS.DISCONNECTED:
status = "未连接";
break;
case IPC_CONNECTION_STATUS.CONNECTING:
status = "连接中";
break;
case IPC_CONNECTION_STATUS.SEARCH_ADDRESS:
status = "搜索IP";
break;
case IPC_CONNECTION_STATUS.NOT_FOUND_ADDRESS:
status = "未找到";
break;
}
Message msg = Message.obtain();
msg.obj = new IPCConnectState(status, color);
msg.what = WHATIPC_CONNECT_STATE;
msg.obj = new IPCConnectState(status, getStatusColor(connectStatus));
msg.what = WHAT_IPC_CONNECT_STATE;
getHandler().sendMessage(msg);
return status;
}
@@ -720,6 +759,12 @@ public class MainActivity extends BaseActivity implements OnAdasListener, OnAdas
DataDistribution.getInstance().addData(base);
}
@Override
public void onPredictionObstacleTrajectory(MessagePad.Header header, Prediction.mPredictionObjects predictionObjects) {
PredictionObstacleTrajectory base = new PredictionObstacleTrajectory(header, predictionObjects);
DataDistribution.getInstance().addData(base);
}
@Override
public void onBasicInfoReq(MessagePad.Header header, MessagePad.BasicInfoReq basicInfoReq) {
BasicInfoReq info = new BasicInfoReq(header, basicInfoReq);
@@ -857,7 +902,6 @@ public class MainActivity extends BaseActivity implements OnAdasListener, OnAdas
AdasManager.getInstance().create(options, this);
AdasManager.getInstance().setOnAdasListener(this);
// AdasManager.getInstance().setOnAdasConnectStatusListener(this);
if (BuildConfig.IS_CLIENT) {
/*—————————————作为乘客端———————————*/
@@ -881,18 +925,6 @@ public class MainActivity extends BaseActivity implements OnAdasListener, OnAdas
}
@Override
protected void onPause() {
super.onPause();
// AdasManager.getInstance().pause();
}
@Override
protected void onResume() {
super.onResume();
// AdasManager.getInstance().resume();
}
@Override
protected void onDestroy() {
super.onDestroy();
@@ -906,7 +938,12 @@ public class MainActivity extends BaseActivity implements OnAdasListener, OnAdas
@Override
public void onConnectionIPCStatus(int ipcConnectionStatus, String failedMsg) {
public void onConnectionIPCStatus(int ipcConnectionStatus, String reason) {
Log.i(TAG, "连接状态=" + (reason == null ? "主动断开连接" : reason));
connectStatusList.add(0, new IPCConnectState(reason == null ? "主动断开连接" : reason, getStatusColor(ipcConnectionStatus)));
if (connectStatusList.size() > 100) {
connectStatusList.remove(connectStatusList.size() - 1);
}
connectStatus = ipcConnectionStatus;
String status = onUpdateConnectStateView();
if (connectStatus == IPC_CONNECTION_STATUS.CONNECTED) {
@@ -917,10 +954,6 @@ public class MainActivity extends BaseActivity implements OnAdasListener, OnAdas
Constants.addIpcUsedIps(this, ips, tem);
}
} else if (connectStatus == IPC_CONNECTION_STATUS.DISCONNECTED) {
if (!TextUtils.isEmpty(failedMsg)) {
status += " failedMsg=" + failedMsg;
showToastCenter("连接失败：" + failedMsg);
}
getHandler().sendEmptyMessage(WHAT_IPC_IP);
}
// LogSave.getInstance().saveLog("连接状态", status);
@@ -1012,12 +1045,6 @@ public class MainActivity extends BaseActivity implements OnAdasListener, OnAdas
CupidLogUtils.w(TAG, "AutopilotRecord===>send:" + bEnd);
break;
case 6:
//录音测试
CupidLogUtils.w(TAG, "录音测试");
RecordDataManager.getInstance().init(MainActivity.this, "1234567", "", 22, "", "");
RecordDataManager.getInstance().record();
break;
case 7:
//发送信号灯
MessagePad.TrafficLightStatus left = MessagePad.TrafficLightStatus.newBuilder()
.setPhaseNo("1")
@@ -1041,7 +1068,7 @@ public class MainActivity extends BaseActivity implements OnAdasListener, OnAdas
.build();
AdasManager.getInstance().sendTrafficLightData("10038", 26.848153, 112.574883, "180.0", "SN", 100413, -4, 201, 0, detail);
break;
case 8:
case 7:
//速度设置
AlertDialog.Builder builder = new AlertDialog.Builder(this);
builder.setTitle("自动驾驶限速");
@@ -1068,27 +1095,27 @@ public class MainActivity extends BaseActivity implements OnAdasListener, OnAdas
builder.show();//显示Dialog对话框
break;
case 9:
case 8:
//重启Docker
AdasManager.getInstance().rebootAPDocker();
break;
case 10:
case 9:
//重启IPC
AdasManager.getInstance().rebootIPC();
break;
case 11:
case 10:
//关机
AdasManager.getInstance().shutdownIPC();
break;
case 12:
case 11:
//采集类型
AdasManager.getInstance().sendRecordCause(recordKey, recordFileName, "1", "变道有干扰");
break;
case 13:
case 12:
//打开演示模式
AdasManager.getInstance().sendDemoModeReq(1);
break;
case 14:
case 13:
//关闭演示模式
AdasManager.getInstance().sendDemoModeReq(0);
break;
@@ -1107,7 +1134,10 @@ public class MainActivity extends BaseActivity implements OnAdasListener, OnAdas
ipcIp.setVisibility(View.VISIBLE);
ipcIp.setText("司机IP：" + NSDNettyManager.getInstance().getConnServerIp());
break;
case WHATIPC_CONNECT_STATE:
case WHAT_IPC_CONNECT_STATE:
if (floatWindow != null) {
floatWindow.refreshView();
}
IPCConnectState status = (IPCConnectState) msg.obj;
tvConnectState.setText(status.status);
tvConnectState.setTextColor(getResources().getColor(status.color));

3
app_ipc_monitoring/src/main/java/com/zhidao/adas/client/ui/VersionFragment.java
View File

@@ -167,10 +167,11 @@ public class VersionFragment extends BaseFragment {
list.add(new Config("最大自动驾驶限速:", adasConfig == null ? null : adasConfig.getMaxSpeedLimit() + "m/s"));
list.add(new Config("最小加速度:", adasConfig == null ? null : adasConfig.getMinAcceleration() + "m/s²"));
list.add(new Config("最大加速度:", adasConfig == null ? null : adasConfig.getMaxAcceleration() + "m/s²"));
list.add(new Config("IPC通信协议版本:", adasConfig == null ? null : String.valueOf(adasConfig.getProtocolVersion().getNumber())));
list.add(new Config("IPC通信协议版本:", adasConfig == null ? null : String.valueOf(adasConfig.getProtocolVersionValue())));
list.add(new Config("APP通信协议版本:", String.valueOf(AdasManager.getInstance().getProtocolVersion())));
}
list.add(new Config("ADAS LIB版本:", AdasManager.getInstance().getAdasVersion()));
list.add(new Config("APP构建时间:", BuildConfig.BUILD_TIME));
adapter.setData(list);
}

1
app_ipc_monitoring/src/main/java/com/zhidao/adas/client/utils/Constants.java
View File

@@ -150,6 +150,7 @@ public class Constants {
String RECEIVE_AUTOPILOT_STATE = "自动驾驶状态";
String RECEIVE_REPORT_MESSAGE = "监控事件";
String RECEIVE_PERCEPTION_TRAFFIC_LIGHT = "感知红绿灯";
String RECEIVE_PREDICTION_OBSTACLE_TRAJECTORY = "他车轨迹预测";
// String RECEIVE_BASIC_INFO_REQ = "自动驾驶设备基础信息请求";
String RECEIVE_CAR_CONFIG_RESP = "信息与配置";

9
app_ipc_monitoring/src/main/res/drawable/bg_float.xml Normal file
View File

@@ -0,0 +1,9 @@
<?xml version="1.0" encoding="utf-8"?>
<shape xmlns:android="http://schemas.android.com/apk/res/android">
<solid android:color="#FAFFFFFF" />
<stroke
android:width="0.8dp"
android:color="#A140E0D0" />
<!-- 圆角 -->
<corners android:radius="6dp" />
</shape>

31
app_ipc_monitoring/src/main/res/layout/item_status.xml Normal file
View File

@@ -0,0 +1,31 @@
<?xml version="1.0" encoding="utf-8"?><!--测试列表Item-->
<LinearLayout xmlns:android="http://schemas.android.com/apk/res/android"
android:layout_width="match_parent"
android:layout_height="wrap_content"
android:layout_marginLeft="5dp"
android:layout_marginTop="3dp"
android:layout_marginRight="5dp"
android:layout_marginBottom="3dp"
android:background="?android:attr/selectableItemBackground"
android:orientation="horizontal">
<TextView
android:id="@+id/id"
android:layout_width="wrap_content"
android:layout_height="wrap_content"
android:textColor="#999999"
android:textSize="12sp" />
<EditText
android:id="@+id/log"
android:layout_width="match_parent"
android:layout_height="wrap_content"
android:background="@android:color/transparent"
android:cursorVisible="false"
android:focusable="false"
android:textColor="#ff0000"
android:textSize="12sp" />
</LinearLayout>

17
app_ipc_monitoring/src/main/res/layout/layout_float.xml Normal file
View File

@@ -0,0 +1,17 @@
<?xml version="1.0" encoding="utf-8"?>
<LinearLayout xmlns:android="http://schemas.android.com/apk/res/android"
android:layout_width="wrap_content"
android:layout_height="wrap_content"
android:background="@drawable/bg_float"
android:orientation="vertical">
<androidx.recyclerview.widget.RecyclerView
android:id="@+id/rv_status"
android:layout_width="260dp"
android:layout_height="280dp"
android:layout_marginTop="2dp"
android:layout_marginBottom="2dp" />
</LinearLayout>

3
app_ipc_monitoring/src/main/res/values/styles.xml
View File

@@ -28,4 +28,7 @@
<!--是否模糊-->
<item name="android:backgroundDimEnabled">true</item>
</style>
<style name="AppTheme.AppBarOverlay" parent="ThemeOverlay.AppCompat.Dark.ActionBar" />
<style name="AppTheme.PopupOverlay" parent="ThemeOverlay.AppCompat.Light" />
</resources>

8
core/function-impl/mogo-core-function-autopilot/src/main/java/com/mogo/eagle/core/function/autopilot/adapter/MoGoAdasListenerImpl.kt
View File

@@ -47,6 +47,7 @@ import mogo.telematics.pad.MessagePad
import mogo.telematics.pad.MessagePad.TrackedObject
import mogo_msg.MogoReportMsg
import perception.TrafficLightOuterClass
import prediction.Prediction
import record_cache.RecordPanelOuterClass
/**
@@ -214,6 +215,13 @@ class MoGoAdasListenerImpl : OnAdasListener {
}
override fun onPredictionObstacleTrajectory(
header: MessagePad.Header?,
predictionObjects: Prediction.mPredictionObjects?
) {
//他车轨迹预测
}
override fun onBasicInfoReq(
header: MessagePad.Header,
basicInfoReq: MessagePad.BasicInfoReq?

1
core/function-impl/mogo-core-function-v2x/build.gradle
View File

@@ -45,6 +45,7 @@ dependencies {
implementation rootProject.ext.dependencies.androidxccorektx
implementation rootProject.ext.dependencies.androidxappcompat
implementation rootProject.ext.dependencies.androidxconstraintlayout
implementation rootProject.ext.dependencies.localbroadcastmanager
implementation rootProject.ext.dependencies.arouter
implementation rootProject.ext.dependencies.rxandroid
implementation rootProject.ext.dependencies.flexbox

84
libraries/mogo-adas-data/src/main/proto/geometry.proto Normal file
View File

@@ -0,0 +1,84 @@
syntax = "proto2";
package geometry;
message Vector3 {
optional double x = 1;
optional double y = 2;
optional double z = 3;
}
message Vector3f {
optional float x = 1;
optional float y = 2;
optional float z = 3;
}
message Point2D {
optional double x = 1 [default = nan];
optional double y = 2 [default = nan];
}
message Point3D {
optional double x = 1 [default = nan];
optional double y = 2 [default = nan];
optional double z = 3 [default = nan];
}
message Trace {
optional double timestamp = 1;
optional Point3D position = 2;
optional Point3D velocity = 3;
optional Point3D acceleration = 4;
optional Point3D heading = 5;
}
message PointLLH {
// Longitude in degrees, ranging from -180 to 180.
optional double lon = 1 [default = nan];
// Latitude in degrees, ranging from -90 to 90.
optional double lat = 2 [default = nan];
// WGS-84 ellipsoid height in meters.
optional double height = 3 [default = 0.0];
}
message Point {
optional double x = 1;
optional double y = 2;
optional double z = 3;
}
message Quaternion {
optional double x = 1 [default = nan];
optional double y = 2 [default = nan];
optional double z = 3 [default = nan];;
optional double w = 4 [default = nan];
}
message Polygon {
repeated Point points = 1;
}
message Transform {
optional Vector3 translation = 1;
optional Quaternion rotation = 2;
}
//pose in free space, composed of position and orientation
message Pose {
optional Point position = 1;
optional Quaternion orientation = 2;
}
//acceleration in free space broken into its linear and angular parts
message Accel {
optional Vector3 linear = 1;
optional Vector3 angular = 2;
}
//velocity in free space broken into its linear and angular parts
message Twist {
optional Vector3 linear = 1;
optional Vector3 angular = 2;
}

6
libraries/mogo-adas-data/src/main/proto/message_pad.proto
View File

@@ -3,7 +3,7 @@ package mogo.telematics.pad;
enum ProtocolVersion{
Defaultver = 0;
CurrentVersion = 1; //每次修改proto文件增加1
CurrentVersion = 2; //每次修改proto文件增加1
}
enum MessageType
@@ -17,6 +17,7 @@ enum MessageType
MsgTypeAutopilotState = 0x10004; //自动驾驶状态
MsgTypeReportMessage = 0x10005; //监控事件报告
MsgTypePerceptionTrafficLight = 0x10006; //感知红绿灯
MsgTypePredictionObstacleTrajectory = 0x10007; //他车轨迹预测
MsgTypeBasicInfoReq = 0x10100; //自动驾驶设备基础信息请求
MsgTypeBasicInfoResp = 0x10101; //自动驾驶设备基础信息应答
@@ -124,6 +125,9 @@ message AutopilotState
// message definition for MessageType: MsgTypePerceptionTrafficLight
// refer to traffic_light.proto
// message definition for MessageType: MsgTypePredictionObstacleTrajectory
// refer to prediction.proto
// message definition for MessageType: MsgTypeBasicInfoReq
message BasicInfoReq
{

33
libraries/mogo-adas-data/src/main/proto/prediction.proto Normal file
View File

@@ -0,0 +1,33 @@
syntax = "proto2";
package prediction;
// common
import "header.proto";
import "geometry.proto";
// estimated obstacle intent
message mPredictionObject {
optional int64 m_nid =1; //target id
optional int32 m_nquality =2; //target tracking life quality
optional int32 classtype =3; //target classtype
optional int32 m_preconfidence=4; //target predciton confidence
repeated geometry.Point prediction_trajectory = 5; //target prediction trajectory :vector : meter
repeated geometry.Point prediction_pose = 6; //targe prediciton pose vector angle:°
optional geometry.Vector3 objsize = 7; //length width height :meter
}
message mPredictionObjects {
optional common.Header header = 1;
optional int32 m_nnum0 =2; // all target number
optional int64 allcyclenum =3;//process cycle number
optional double m_ftime=4; //time stamp
optional double fdeltat=5; // deltatime prediciton time stamp default:0.1s
repeated mPredictionObject objs=6; //obj capcity
}

6
libraries/mogo-adas/build.gradle
View File

@@ -71,7 +71,7 @@ android {
dependencies {
implementation fileTree(dir: 'libs', include: ['*.jar'])
implementation rootProject.ext.dependencies.androidxappcompat
implementation rootProject.ext.dependencies.mogochainbase
//okhttp3的依赖
implementation 'com.squareup.okhttp3:okhttp:3.12.3'
@@ -85,10 +85,10 @@ dependencies {
// implementation 'com.google.protobuf:protobuf-java-util:3.6.1'
implementation 'com.jcraft:jsch:0.1.55'
// api project(path: ':lib_recorder')
api "com.zhidao.support.recorder:recorder:1.0.0.3"
// api "com.zhidao.support.recorder:recorder:1.0.0.3"
if (Boolean.valueOf(USE_MAVEN_PACKAGE)) {
implementation project(':libraries:mogo-adas-data')
} else {
implementation project(':libraries:mogo-adas-data')
}

42
libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/AdasChannel.java
View File

@@ -17,7 +17,6 @@ import com.zhidao.support.adas.high.bean.SSHResult;
import com.zhidao.support.adas.high.common.Base64;
import com.zhidao.support.adas.high.common.Constants;
import com.zhidao.support.adas.high.common.CupidLogUtils;
import com.zhidao.support.adas.high.common.Define;
import com.zhidao.support.adas.high.common.DigitalTrans;
import com.zhidao.support.adas.high.common.IPCFixationIPHelper;
import com.zhidao.support.adas.high.common.MessageType;
@@ -40,8 +39,8 @@ import com.zhjt.service.chain.TracingConstants;
import org.json.JSONObject;
import java.nio.charset.StandardCharsets;
import java.util.HashSet;
import java.util.concurrent.atomic.AtomicInteger;
import mogo.telematics.pad.MessagePad;
import okio.ByteString;
@@ -67,8 +66,7 @@ public class AdasChannel implements IAdasNetCommApi, FpgaSocket.IWebSocketConnec
/**
* 与工控机链接状态
*/
@Define.IPCConnectionStatus
private int ipcConnectionStatus = Constants.IPC_CONNECTION_STATUS.DISCONNECTED;
private final AtomicInteger ipcConnectionStatus = new AtomicInteger(Constants.IPC_CONNECTION_STATUS.DISCONNECTED);
/**
@@ -111,16 +109,16 @@ public class AdasChannel implements IAdasNetCommApi, FpgaSocket.IWebSocketConnec
@Override
public void onStartFindIP() {
if (adasConnectStatusListener != null) {
ipcConnectionStatus = Constants.IPC_CONNECTION_STATUS.SEARCH_ADDRESS;
adasConnectStatusListener.onConnectionIPCStatus(ipcConnectionStatus, null);
ipcConnectionStatus.set(Constants.IPC_CONNECTION_STATUS.SEARCH_ADDRESS);
adasConnectStatusListener.onConnectionIPCStatus(ipcConnectionStatus.get(), "正在搜索IP");
}
}
@Override
public void onStopFindIP() {
if (adasConnectStatusListener != null) {
ipcConnectionStatus = Constants.IPC_CONNECTION_STATUS.DISCONNECTED;
adasConnectStatusListener.onConnectionIPCStatus(ipcConnectionStatus, null);
ipcConnectionStatus.set(Constants.IPC_CONNECTION_STATUS.DISCONNECTED);
adasConnectStatusListener.onConnectionIPCStatus(ipcConnectionStatus.get(), "停止搜索IP");
}
}
@@ -356,12 +354,8 @@ public class AdasChannel implements IAdasNetCommApi, FpgaSocket.IWebSocketConnec
public void connect() {
//当是司机屏才启用
if (!adasOptions.isClient()) {
if (ipcConnectionStatus == Constants.IPC_CONNECTION_STATUS.DISCONNECTED ||
ipcConnectionStatus == Constants.IPC_CONNECTION_STATUS.NOT_FOUND_ADDRESS) {
ipcConnectionStatus = Constants.IPC_CONNECTION_STATUS.SEARCH_ADDRESS;
if (adasConnectStatusListener != null) {
adasConnectStatusListener.onConnectionIPCStatus(ipcConnectionStatus, null);
}
if (ipcConnectionStatus.get() == Constants.IPC_CONNECTION_STATUS.DISCONNECTED ||
ipcConnectionStatus.get() == Constants.IPC_CONNECTION_STATUS.NOT_FOUND_ADDRESS) {
switch (adasOptions.getIpcConnectionMode()) {
case AdasOptions.IPC_CONNECTION_MODE.FIXATION:
ipcFixationIPHelper(adasOptions.getIpcFixationIP());
@@ -402,31 +396,31 @@ public class AdasChannel implements IAdasNetCommApi, FpgaSocket.IWebSocketConnec
}
@Override
public void onConnecting() {
ipcConnectionStatus = Constants.IPC_CONNECTION_STATUS.CONNECTING;
public void onConnecting(String msg) {
ipcConnectionStatus.set(Constants.IPC_CONNECTION_STATUS.CONNECTING);
if (adasConnectStatusListener != null) {
adasConnectStatusListener.onConnectionIPCStatus(ipcConnectionStatus, null);
adasConnectStatusListener.onConnectionIPCStatus(ipcConnectionStatus.get(), msg);
}
}
@Override
public void onWebSocketConnectSuccess(String ipAddress, int port) {
ipcConnectionStatus = Constants.IPC_CONNECTION_STATUS.CONNECTED;
ipcConnectionStatus.set(Constants.IPC_CONNECTION_STATUS.CONNECTED);
ipcConnectedIp = ipAddress;
ipcConnectedPort = port;
if (adasConnectStatusListener != null) {
adasConnectStatusListener.onConnectionIPCStatus(ipcConnectionStatus, null);
adasConnectStatusListener.onConnectionIPCStatus(ipcConnectionStatus.get(), "已连接");
}
sendCarConfigReq();
}
@Override
public void onWebSocketConnectFailed(String t) {
ipcConnectionStatus = Constants.IPC_CONNECTION_STATUS.DISCONNECTED;
ipcConnectionStatus.set(Constants.IPC_CONNECTION_STATUS.DISCONNECTED);
ipcConnectedIp = null;
ipcConnectedPort = Constants.DEFAULT_PORT;
if (adasConnectStatusListener != null) {
adasConnectStatusListener.onConnectionIPCStatus(ipcConnectionStatus, t);
adasConnectStatusListener.onConnectionIPCStatus(ipcConnectionStatus.get(), t);
}
}
@@ -441,9 +435,9 @@ public class AdasChannel implements IAdasNetCommApi, FpgaSocket.IWebSocketConnec
}
private void notFoundAddress() {
ipcConnectionStatus = Constants.IPC_CONNECTION_STATUS.NOT_FOUND_ADDRESS;
ipcConnectionStatus.set(Constants.IPC_CONNECTION_STATUS.NOT_FOUND_ADDRESS);
if (adasConnectStatusListener != null) {
adasConnectStatusListener.onConnectionIPCStatus(ipcConnectionStatus, "地址不可用或不合法");
adasConnectStatusListener.onConnectionIPCStatus(ipcConnectionStatus.get(), "地址不可用或不合法");
}
}
@@ -501,7 +495,7 @@ public class AdasChannel implements IAdasNetCommApi, FpgaSocket.IWebSocketConnec
@Override
public int getIpcConnectionStatus() {
return ipcConnectionStatus;
return ipcConnectionStatus.get();
}

6
libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/OnAdasConnectStatusListener.java
View File

@@ -16,9 +16,9 @@ public interface OnAdasConnectStatusListener {
* 与工控机链接状态变化
*
* @param ipcConnectionStatus {@link Constants.IPC_CONNECTION_STATUS}
* @param failedMsg 连接异常信息 需要判null
* 如果ipcConnectionStatus==Constants.IPC_CONNECTION_STATUS.DISCONNECTED&&failedMsg==null 表示主动断开连接
* @param reason 连接信息 需要判null
* 如果ipcConnectionStatus==Constants.IPC_CONNECTION_STATUS.DISCONNECTED&&reason==null 表示主动断开连接
*/
void onConnectionIPCStatus(@Define.IPCConnectionStatus int ipcConnectionStatus, @Nullable String failedMsg);
void onConnectionIPCStatus(@Define.IPCConnectionStatus int ipcConnectionStatus, @Nullable String reason);
}

9
libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/OnAdasListener.java
View File

@@ -8,6 +8,7 @@ import chassis.VehicleStateOuterClass;
import mogo.telematics.pad.MessagePad;
import mogo_msg.MogoReportMsg;
import perception.TrafficLightOuterClass;
import prediction.Prediction;
import record_cache.RecordPanelOuterClass;
/**
@@ -80,6 +81,14 @@ public interface OnAdasListener {
*/
void onPerceptionTrafficLight(MessagePad.Header header, TrafficLightOuterClass.TrafficLights trafficLights);
/**
* 他车轨迹预测
*
* @param header 头
* @param predictionObjects 他车轨迹预测数据
*/
void onPredictionObstacleTrajectory(MessagePad.Header header, Prediction.mPredictionObjects predictionObjects);
/**
* 自动驾驶设备基础信息请求
*

34
libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/common/IPCFixationIPHelper.java
View File

@@ -10,6 +10,8 @@ import java.util.List;
import java.util.Timer;
import java.util.TimerTask;
import java.util.concurrent.Future;
import java.util.concurrent.atomic.AtomicBoolean;
import java.util.concurrent.atomic.AtomicInteger;
/**
* 工控机固定IP查询
@@ -18,8 +20,8 @@ public class IPCFixationIPHelper {
private static final String TAG = IPCFixationIPHelper.class.getSimpleName();
private final IIPCFixationIPListener listener;
private final List<Future> futures = new ArrayList<>();
private volatile boolean isCallListener = false;//是否已经调用了回调
private volatile int unavailableCount = 0;//不可用IP个数
private final AtomicBoolean isCallListener = new AtomicBoolean(false);//是否已经调用了回调
private final AtomicInteger unavailableCount = new AtomicInteger(0);//不可用IP个数
private volatile int queryCount;//要查询的IP个数
private Timer retryTimer;
@@ -48,8 +50,9 @@ public class IPCFixationIPHelper {
void onAvailableIP(String ip);
}
private void interrupted() {
if (!futures.isEmpty()) {
private boolean interrupted() {
boolean isEm = futures.isEmpty();
if (!isEm) {
for (Future future : futures) {
if (!future.isCancelled()) {
future.cancel(true);
@@ -57,6 +60,7 @@ public class IPCFixationIPHelper {
}
futures.clear();
}
return isEm;
}
public void stop() {
@@ -64,9 +68,10 @@ public class IPCFixationIPHelper {
retryTimer.cancel();
retryTimer = null;
}
isCallListener = true;
interrupted();
listener.onStopFindIP();
isCallListener.set(true);
if (!interrupted()) {
listener.onStopFindIP();
}
}
/**
@@ -83,8 +88,8 @@ public class IPCFixationIPHelper {
} else {
interrupted();
queryCount = ips.size();
unavailableCount = 0;
isCallListener = false;
unavailableCount.set(0);
isCallListener.set(false);
for (final String temp : ips) {
Runnable runnable = new Runnable() {
@Override
@@ -92,8 +97,8 @@ public class IPCFixationIPHelper {
CupidLogUtils.i(TAG, "ip=" + temp);
boolean isAvailable = ping(temp);
if (isAvailable) {
if (!isCallListener && !Thread.currentThread().isInterrupted()) {
isCallListener = true;
if (!isCallListener.get() && !Thread.currentThread().isInterrupted()) {
isCallListener.set(true);
listener.onAvailableIP(temp);
CupidLogUtils.i(TAG, "可用IP=" + temp);
interrupted();
@@ -110,10 +115,9 @@ public class IPCFixationIPHelper {
}
private synchronized void allNotAvailable(final HashSet<String> ips) {
unavailableCount++;
if (queryCount == unavailableCount) {
if (!isCallListener) {
isCallListener = true;
if (queryCount == unavailableCount.incrementAndGet()) {
if (!isCallListener.get()) {
isCallListener.set(true);
listener.onAvailableIP(null);
CupidLogUtils.i(TAG, "所有IP均不可用");
//当配置中的所有IP都ping不通时，需要继续ping

1
libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/common/MessageType.java
View File

@@ -19,6 +19,7 @@ public enum MessageType {
TYPE_RECEIVE_AUTOPILOT_STATE(MessagePad.MessageType.MsgTypeAutopilotState, "自动驾驶状态"),
TYPE_RECEIVE_REPORT_MESSAGE(MessagePad.MessageType.MsgTypeReportMessage, "监控事件报告"),
TYPE_RECEIVE_PERCEPTION_TRAFFIC_LIGHT(MessagePad.MessageType.MsgTypePerceptionTrafficLight, "感知红绿灯"),
TYPE_RECEIVE_PREDICTION_OBSTACLE_TRAJECTORY(MessagePad.MessageType.MsgTypePredictionObstacleTrajectory, "他车轨迹预测"),
TYPE_RECEIVE_BASIC_INFO_REQ(MessagePad.MessageType.MsgTypeBasicInfoReq, "自动驾驶设备基础信息请求"),
TYPE_SEND_BASIC_INFO_RESP(MessagePad.MessageType.MsgTypeBasicInfoResp, "自动驾驶设备基础信息应答"),

11
libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/common/ReceiveTimeoutManager.java
View File

@@ -2,6 +2,7 @@ package com.zhidao.support.adas.high.common;
import java.util.Timer;
import java.util.TimerTask;
import java.util.concurrent.atomic.AtomicBoolean;
/**
* 写成单例比较好控制 比如refreshLast()方法可以放到任何接收的回调中,目前放在AutopilotStateMessage 数据接口中，此接口数据刷新不是太频繁
@@ -12,7 +13,7 @@ public class ReceiveTimeoutManager {
private static final String TAG = ReceiveTimeoutManager.class.getSimpleName();
private static volatile ReceiveTimeoutManager INSTANCE;
private static final long DEFAULT_TIMEOUT = 4 * 1000L;//默认超时时间
private volatile boolean isEnable = true;//是否启用超时检测
private final AtomicBoolean isEnable = new AtomicBoolean(true);//是否启用超时检测
private volatile long lastReceiveTime;
private OnTimeoutListener listener;
private volatile Timer timer;
@@ -40,7 +41,7 @@ public class ReceiveTimeoutManager {
}
public boolean isEnable() {
return isEnable;
return isEnable.get();
}
/**
@@ -50,7 +51,7 @@ public class ReceiveTimeoutManager {
* @param ipcConnectionStatus 当前连接状态
*/
public void setEnable(boolean isEnable, @Define.IPCConnectionStatus int ipcConnectionStatus) {
this.isEnable = isEnable;
this.isEnable.set(isEnable);
//如果启动并且当前已连接
if (isEnable) {
if (ipcConnectionStatus == Constants.IPC_CONNECTION_STATUS.CONNECTED)
@@ -65,12 +66,12 @@ public class ReceiveTimeoutManager {
* 刷新最后一次接收数据时间
*/
public void refreshLast() {
if (isEnable)
if (isEnable.get())
lastReceiveTime = System.currentTimeMillis();
}
public synchronized void start() {
if (isEnable)
if (isEnable.get())
if (timer == null) {
refreshLast();
timer = new Timer();

7
libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/msg/MyMessageFactory.java
View File

@@ -18,6 +18,7 @@ public class MyMessageFactory implements IMyMessageFactory {
private IMsg autopilotStateMessage;//自动驾驶状态
private IMsg reportMessage;//监控事件报告
private IMsg perceptionTrafficLightMessage;//感知红绿灯
private IMsg predictionObstacleTrajectory;//他车轨迹预测
private IMsg basicInfoReqMessage;//自动驾驶设备基础信息请求
private IMsg carConfigRespMessage;//车机基础信息应答
@@ -91,6 +92,12 @@ public class MyMessageFactory implements IMyMessageFactory {
perceptionTrafficLightMessage = new PerceptionTrafficLightMessage();
}
return perceptionTrafficLightMessage;
} else if (messageType == MessageType.TYPE_RECEIVE_PREDICTION_OBSTACLE_TRAJECTORY.typeCode) {
//他车轨迹预测
if (predictionObstacleTrajectory == null) {
predictionObstacleTrajectory = new PredictionObstacleTrajectoryMessage();
}
return predictionObstacleTrajectory;
} else if (messageType == MessageType.TYPE_RECEIVE_BASIC_INFO_REQ.typeCode) {
//自动驾驶设备基础信息请求
if (basicInfoReqMessage == null) {

28
libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/msg/PredictionObstacleTrajectoryMessage.java Normal file
View File

@@ -0,0 +1,28 @@
package com.zhidao.support.adas.high.msg;
import com.google.gson.Gson;
import com.google.protobuf.InvalidProtocolBufferException;
import com.zhidao.support.adas.high.OnAdasListener;
import mogo.telematics.pad.MessagePad;
import prediction.Prediction;
/**
* 他车轨迹预测
*/
public class PredictionObstacleTrajectoryMessage extends MyAbstractMessageHandler {
@Override
public void handlerMsg(Gson gson, OnAdasListener adasListener, String msg) {
}
@Override
public void handlerMsg(MessagePad.Header header, byte[] msg, OnAdasListener adasListener) throws InvalidProtocolBufferException {
Prediction.mPredictionObjects objects = Prediction.mPredictionObjects.parseFrom(msg);
if (adasListener != null) {
adasListener.onPredictionObstacleTrajectory(header, objects);
}
}
}

9
libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/protocol/RawPack.java
View File

@@ -3,6 +3,8 @@ package com.zhidao.support.adas.high.protocol;
import com.zhidao.support.adas.high.common.Constants;
import com.zhidao.support.adas.high.common.DigitalTrans;
import java.util.concurrent.atomic.AtomicLong;
import mogo.telematics.pad.MessagePad;
import okio.ByteString;
@@ -16,22 +18,21 @@ import okio.ByteString;
public class RawPack {
private static final String TAG = RawPack.class.getSimpleName();
private final DefaultMessageProtocol messageProtocol;
private volatile long msgID = 0L;
private final AtomicLong msgID = new AtomicLong(0L);
public RawPack() {
messageProtocol = new DefaultMessageProtocol();
}
public synchronized ByteString pack(MessagePad.MessageType msgType, byte[] data) {
public synchronized ByteString pack(MessagePad.MessageType msgType, byte[] data) {
if (msgType == null) {
return null;
}
msgID++;
double time = System.nanoTime() / 1000000000.0;
//封装Header
MessagePad.Header.Builder headerBuilder = MessagePad.Header.newBuilder();
headerBuilder.setMsgID(msgID);//消息唯一ID，生成数据累加。从1开始，程序或者就一直累加，断开连接或者更换连接的工控机不做重置
headerBuilder.setMsgID(msgID.incrementAndGet());//消息唯一ID，生成数据累加。从1开始，连接未重新初始化就一直累加
headerBuilder.setMsgType(msgType);
headerBuilder.setTimestamp(time);
headerBuilder.setSourceTimestamp(time);

74
libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/socket/FpgaSocket.java
View File

@@ -23,6 +23,7 @@ import com.zhjt.service.chain.TracingConstants;
import java.util.Locale;
import java.util.concurrent.TimeUnit;
import java.util.concurrent.atomic.AtomicBoolean;
import okhttp3.OkHttpClient;
import okhttp3.Request;
@@ -62,7 +63,11 @@ public class FpgaSocket implements IWebSocket {
/**
* 是否是用户主动关闭socket
*/
private volatile boolean isUserCloseWebSocket = false;
private final AtomicBoolean isUserClose = new AtomicBoolean(false);
/**
* 是否是被动关闭
*/
private final AtomicBoolean isPassiveClose = new AtomicBoolean(false);
/**
* 是否启用自动重连
*/
@@ -88,8 +93,8 @@ public class FpgaSocket implements IWebSocket {
ReceiveTimeoutManager.getInstance().setListener(new ReceiveTimeoutManager.OnTimeoutListener() {
@Override
public void onTimeout(double time) {
receiveTimeoutReason = "已超过" + time + "秒未收到工控机数据，将要进行重连";
onClose(receiveTimeoutReason);
receiveTimeoutReason = "心跳超时（" + time + "秒）";
onPassiveClose(receiveTimeoutReason);
}
});
}
@@ -102,17 +107,18 @@ public class FpgaSocket implements IWebSocket {
public void connectWebSocket(String address, int port) {
this.ipAddress = address;
this.port = port;
isUserCloseWebSocket = false;
isUserClose.set(false);
isPassiveClose.set(false);
wsHost = WS_IP_HOST_HEAD + address + String.format(Locale.getDefault(), RESOURCE_PATH, port);
CupidLogUtils.i(TAG, "WebSocket 主动连接= " + wsHost);
init();
connect();
connect("连接中");
}
private void connect() {
private void connect(String msg) {
if (client != null && mWebSocket == null) {
if (mWebSocketConnectListener != null)
mWebSocketConnectListener.onConnecting();
mWebSocketConnectListener.onConnecting(msg);
if (request == null)
request = new Request.Builder()
.url(wsHost)
@@ -126,15 +132,15 @@ public class FpgaSocket implements IWebSocket {
*/
public void reconnect() {
if (isReconnect) {
if (!isUserCloseWebSocket) {
if (!isUserClose.get()) {
try {
Thread.sleep(2000L);
} catch (InterruptedException e) {
e.printStackTrace();
}
connect();
connect("重连中");
} else {
isUserCloseWebSocket = false;
isUserClose.set(false);
}
}
}
@@ -146,7 +152,8 @@ public class FpgaSocket implements IWebSocket {
WebSocketQueueManager.getInstance().release();
WSByteQueueManager.getInstance().release();
}
isUserCloseWebSocket = true;
isUserClose.set(true);
isPassiveClose.set(false);
if (mWebSocket != null) {
close(true, 1000);
} else {
@@ -187,7 +194,7 @@ public class FpgaSocket implements IWebSocket {
/**
* 正在连接
*/
void onConnecting();
void onConnecting(String msg);
void onWebSocketConnectSuccess(String ipAddress, int port);
@@ -270,31 +277,39 @@ public class FpgaSocket implements IWebSocket {
@Override
public void onClosing(@NonNull WebSocket webSocket, int code, @NonNull String reason) {
super.onClosing(webSocket, code, reason);
CupidLogUtils.e(TAG, "WebSocket onClosing= " + reason);
CupidLogUtils.e(TAG, code + "WebSocket onClosing= " + reason);
String msg = "Code=" + code + " ";
if (TextUtils.isEmpty(reason))
reason = "onClosing";
onClose(reason);
reason = "未知原因";
msg += reason;
onPassiveClose("Closing " + msg);
}
@Override
public void onClosed(@NonNull WebSocket webSocket, int code, @NonNull String reason) {
super.onClosed(webSocket, code, reason);
CupidLogUtils.e(TAG, "WebSocket onClosed= " + reason);
CupidLogUtils.e(TAG, code + "WebSocket onClosed= " + reason);
String msg = "Code=" + code + " ";
if (TextUtils.isEmpty(reason))
reason = "onClosed";
onClose(reason);
reason = "未知原因";
msg += reason;
onPassiveClose("Closed " + msg);
}
@Override
public void onFailure(@NonNull WebSocket webSocket, @NonNull Throwable t, Response response) {
super.onFailure(webSocket, t, response);
CupidLogUtils.e(TAG, "WebSocket onFailure= " + t);
CupidLogUtils.e(TAG, "WebSocket onFailure 是否是被动关闭：" + isPassiveClose + " Throwable=" + t);
if (isPassiveClose.get()) {
isPassiveClose.set(false);
return;
}
String reason = t.toString();
//连接异常或关闭异常不进行堆栈打印
if (!reason.toLowerCase().contains("failed to connect to") && !reason.contains("Socket closed"))
t.printStackTrace();
CupidLogUtils.e(TAG, "WebSocket onFailure", t);
if (TextUtils.isEmpty(reason))
reason = "onFailure";
reason = "未知原因";
if (!TextUtils.isEmpty(receiveTimeoutReason)) {
reason = receiveTimeoutReason;
receiveTimeoutReason = null;
@@ -302,26 +317,33 @@ public class FpgaSocket implements IWebSocket {
if (mWebSocket != null) {
close(false, 1001);
}
onConnectFailed(reason);
onConnectFailed("Failure " + reason);
}
}
private void onConnectFailed(String reason) {
receiveTimeoutReason = null;
ReceiveTimeoutManager.getInstance().stop();
if (mWebSocketConnectListener != null) {
if (isUserCloseWebSocket)
reason = "未连接 " + reason;
if (isUserClose.get())
reason = null;
mWebSocketConnectListener.onWebSocketConnectFailed(reason);
}
reconnect();
}
private void onClose(String reason) {
/**
* 被动关闭 包含：服务断开 心跳超时 异常断开 等
*
* @param reason
*/
private void onPassiveClose(String reason) {
isPassiveClose.set(true);
if (mWebSocket != null) {
close(false, 1001);
} else {
onConnectFailed(reason);
}
onConnectFailed(reason);
}
/**