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[change] 添加启动自动驾驶失败回调，以及启动自动驾驶统计回调，启动自动驾驶统计回调注册形式分发

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This commit is contained in:
xinfengkun
2022-11-07 14:56:52 +08:00
parent 7f38537912
commit 773e8e57a6
17 changed files with 455 additions and 31 deletions
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22
libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/AdasChannel.java
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@@ -19,8 +19,10 @@ import androidx.annotation.NonNull;
import androidx.annotation.Nullable;
import com.google.protobuf.InvalidProtocolBufferException;
import com.zhidao.support.adas.high.bean.AutopilotStatistics;
import com.zhidao.support.adas.high.bean.VersionCompatibility;
import com.zhidao.support.adas.high.common.AutopilotAbilityManager;
import com.zhidao.support.adas.high.common.AutopilotReview;
import com.zhidao.support.adas.high.common.ByteUtil;
import com.zhidao.support.adas.high.common.Constants;
import com.zhidao.support.adas.high.common.CupidLogUtils;
@@ -92,6 +94,10 @@ public class AdasChannel implements IAdasNetCommApi, FpgaSocket.IWebSocketConnec
* 消息工厂
*/
private MyMessageFactory myMessageFactory;
/**
* 自动驾驶统计
*/
private AutopilotReview autopilotReview;
/**
* 工控机连接配置
*/
@@ -164,13 +170,26 @@ public class AdasChannel implements IAdasNetCommApi, FpgaSocket.IWebSocketConnec
//原始数据解析类
rawUnpack = new RawUnpack();
rawPack = new RawPack();
autopilotReview = new AutopilotReview(onAutopilotReviewListener);
//消息工厂
myMessageFactory = new MyMessageFactory();
myMessageFactory = new MyMessageFactory(autopilotReview);
//启用线程分发
defaultDispatchHandler = new DispatchHandler(MessagePad.MessageType.MsgTypeDefault, this);//默认分发线程 不要添加到Map中
initOtherDispatchHandler();
}
/**
* 启动自动驾驶状态统计回调
*/
private final AutopilotReview.OnAutopilotReviewListener onAutopilotReviewListener = new AutopilotReview.OnAutopilotReviewListener() {
@Override
public void onReview(AutopilotStatistics statistics) {
if (mAdasListener != null) {
mAdasListener.onAutopilotStatistics(statistics);
}
}
};
/**
* 初始化其他分发线程
*/
@@ -757,6 +776,7 @@ public class AdasChannel implements IAdasNetCommApi, FpgaSocket.IWebSocketConnec
if (routeInfo != null)
builder.setRouteInfo(routeInfo);
MessagePad.SetAutopilotModeReq req = builder.build();
if (autopilotReview != null) autopilotReview.onAutopilotCommandTrigger(req);
return sendPBMessage(MessageType.TYPE_SEND_SET_AUTOPILOT_MODE_REQ.typeCode, req.toByteArray());
}

35
libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/OnAdasListener.java
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@@ -1,6 +1,7 @@
package com.zhidao.support.adas.high;
import com.zhidao.support.adas.high.bean.AutopilotAbility;
import com.zhidao.support.adas.high.bean.AutopilotStatistics;
import com.zhidao.support.adas.high.common.ProtocolStatus;
import chassis.VehicleStateOuterClass;
@@ -179,13 +180,6 @@ public interface OnAdasListener {
*/
void onPlanningActionMsg(MessagePad.Header header, MessagePad.PlanningActionMsg planningActionMsg);
/**
* 数据错误
*
* @param status 错误原因
* @param bytes 原始数据
*/
void onError(ProtocolStatus status, byte[] bytes);
/**
* 是否有能力启动自动驾驶
@@ -193,4 +187,31 @@ public interface OnAdasListener {
* @param ability 是否可以启动自动驾驶
*/
void onAutopilotAbility(AutopilotAbility ability);
/**
* 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
* 统计四种状态：成功 失败 取消 超时
*
* @param statistics 统计数据
*/
void onAutopilotStatistics(AutopilotStatistics statistics);
/**
* 数据错误
*
* @param status 错误原因
* @param bytes 原始数据
*/
void onError(ProtocolStatus status, byte[] bytes);
}

46
libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/bean/AutopilotStatistics.java Normal file
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@@ -0,0 +1,46 @@
package com.zhidao.support.adas.high.bean;
import com.zhidao.support.adas.high.common.Define;
import mogo.telematics.pad.MessagePad;
import mogo_msg.MogoReportMsg;
/**
* 自动驾驶启动统计
*/
public class AutopilotStatistics {
/**
* 启动自动驾驶后状态
* 0 成功
* 1 失败
* 2 取消
* 3 超时
* {@link com.zhidao.support.adas.high.common.Constants.AUTOPILOT_START_STATUS}
*/
@Define.AutopilotStartStatus
public final int status;
/**
* 用时
* 单位：ms
*/
public final long usedTime;
/**
* 下发的启动自动驾驶命令
*/
public final MessagePad.SetAutopilotModeReq req;
/**
* 失败的消息
*/
public final MogoReportMsg.MogoReportMessage failedMessage;
public AutopilotStatistics(@Define.AutopilotStartStatus int status, long usedTime, MessagePad.SetAutopilotModeReq req, MogoReportMsg.MogoReportMessage failedMessage) {
this.status = status;
this.usedTime = usedTime;
this.req = req;
this.failedMessage = failedMessage;
}
}

117
libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/common/AutopilotReview.java Normal file
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@@ -0,0 +1,117 @@
package com.zhidao.support.adas.high.common;
import android.os.SystemClock;
import androidx.annotation.NonNull;
import com.zhidao.support.adas.high.bean.AutopilotStatistics;
import java.util.Timer;
import java.util.TimerTask;
import mogo.telematics.pad.MessagePad;
import mogo_msg.MogoReportMsg;
/**
* 自动驾驶状态检查/统计
*/
public class AutopilotReview {
/**
* 默认启动自驾超时时间
*/
private static final long DEFAULT_TIMEOUT = 30 * 1000L;
private Timer timer;
/**
* 下发的启动自动驾驶命令
*/
public 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 final OnAutopilotReviewListener listener;
public AutopilotReview(@NonNull OnAutopilotReviewListener listener) {
this.listener = listener;
}
public interface OnAutopilotReviewListener {
void onReview(AutopilotStatistics statistics);
}
private void onCallback(@Define.AutopilotStartStatus int status) {
stopTimer();
long usedTime = SystemClock.elapsedRealtime() - startTime;
if (listener != null) {
listener.onReview(new AutopilotStatistics(status, usedTime, startReq, failedMessage));
}
startTime = 0;
startReq = null;
failedMessage = null;
}
private void startTimer() {
if (timer == null) {
timer = new Timer();
timer.schedule(new TimerTask() {
@Override
public void run() {
//超时
onCallback(Constants.AUTOPILOT_START_STATUS.TIMEOUT);
}
}, DEFAULT_TIMEOUT);
}
}
private void stopTimer() {
if (timer != null) {
timer.cancel();
timer = null;
}
}
/**
* 自动驾命令
*
* @param req 启动或停止
*/
public void onAutopilotCommandTrigger(MessagePad.SetAutopilotModeReq req) {
if (req.getMode() == 1) {
//启动自动驾驶
startReq = req;
startTime = SystemClock.elapsedRealtime();
startTimer();
} else {
onCallback(Constants.AUTOPILOT_START_STATUS.CANCEL);
}
}
/**
* 监控报告状态 目前只用于自动驾驶失败结果
*
* @param message
*/
public void onReportResult(MogoReportMsg.MogoReportMessage message) {
if (startReq != null && message != null) {
failedMessage = message;
onCallback(Constants.AUTOPILOT_START_STATUS.FAILED);
}
}
/**
* 自动驾驶状态 目前只用于自动驾驶成功结果
*
* @param state
*/
public void onAutopilotResult(MessagePad.AutopilotState state) {
if (startReq != null && state != null && state.getState() == 2) {
onCallback(Constants.AUTOPILOT_START_STATUS.SUCCESSFUL);
}
}
}

22
libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/common/Constants.java
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@@ -110,4 +110,26 @@ public class Constants {
}
/**
* 启动自动驾驶后的状态
*/
public interface AUTOPILOT_START_STATUS {
/**
* 成功
*/
int SUCCESSFUL = 0;
/**
* 失败
*/
int FAILED = 1;
/**
* 取消
*/
int CANCEL = 2;
/**
* 超时
*/
int TIMEOUT = 3;
}
}

8
libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/common/Define.java
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@@ -46,4 +46,12 @@ public final class Define {
@Retention(RetentionPolicy.SOURCE)
public @interface SubscribeType {
}
@IntDef(flag = true, value = {Constants.AUTOPILOT_START_STATUS.SUCCESSFUL,
Constants.AUTOPILOT_START_STATUS.FAILED,
Constants.AUTOPILOT_START_STATUS.CANCEL,
Constants.AUTOPILOT_START_STATUS.TIMEOUT})
@Retention(RetentionPolicy.SOURCE)
public @interface AutopilotStartStatus {
}
}

28
libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/common/MogoReport.java
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@@ -5,12 +5,12 @@ package com.zhidao.support.adas.high.common;
* 根据290消息定义编写
*/
public class MogoReport {
private static final String RESULT_AUTOPILOT_SYSTEM_UNSTARTED = "RESULT_AUTOPILOT_SYSTEM_UNSTARTED";
private static final String RESULT_AUTOPILOT_DISABLE = "RESULT_AUTOPILOT_DISABLE";
private static final String RESULT_AUTOPILOT_INFERIOR = "RESULT_AUTOPILOT_INFERIOR";
private static final String RESULT_REMOTEPILOT_DISABLE = "RESULT_REMOTEPILOT_DISABLE";
private static final String RESULT_REMOTEPILOT_INFERIOR = "RESULT_REMOTEPILOT_INFERIOR";
private static final String RESULT_SHOW_WARNING = "RESULT_SHOW_WARNING";
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";
// private static final String RESULT_DISCONNECTED_WITH_PAD = "RESULT_DISCONNECTED_WITH_PAD";
// private static final String RESULT_PAD_CANNOT_CONNECT_TELEMATICS = "RESULT_PAD_CANNOT_CONNECT_TELEMATICS";
@@ -96,14 +96,14 @@ public class MogoReport {
}
private static final String ACTION_CONTACT_TECH_SUPPORT = "ACTION_CONTACT_TECH_SUPPORT";
private static final String ACTION_CONTACT_MAINTENANCE = "ACTION_CONTACT_MAINTENANCE";
private static final String ACTION_CONTACT_HARDWARE_ENGINEER = "ACTION_CONTACT_HARDWARE_ENGINEER";
private static final String ACTION_REBOOT_PAD = "ACTION_REBOOT_PAD";
private static final String ACTION_REBOOT_VEHICLE = "ACTION_REBOOT_VEHICLE";
private static final String ACTION_CHECK_GEAR = "ACTION_CHECK_GEAR";
private static final String ACTION_CHECK_NETWORK = "ACTION_CHECK_NETWORK";
private static final String ACTION_TRY_AGAIN_LATER = "ACTION_TRY_AGAIN_LATER";
public static final String ACTION_CONTACT_TECH_SUPPORT = "ACTION_CONTACT_TECH_SUPPORT";
public static final String ACTION_CONTACT_MAINTENANCE = "ACTION_CONTACT_MAINTENANCE";
public static final String ACTION_CONTACT_HARDWARE_ENGINEER = "ACTION_CONTACT_HARDWARE_ENGINEER";
public static final String ACTION_REBOOT_PAD = "ACTION_REBOOT_PAD";
public static final String ACTION_REBOOT_VEHICLE = "ACTION_REBOOT_VEHICLE";
public static final String ACTION_CHECK_GEAR = "ACTION_CHECK_GEAR";
public static final String ACTION_CHECK_NETWORK = "ACTION_CHECK_NETWORK";
public static final String ACTION_TRY_AGAIN_LATER = "ACTION_TRY_AGAIN_LATER";
public enum Action {

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

@@ -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.common.AutopilotReview;
import com.zhidao.support.adas.high.common.CupidLogUtils;
import com.zhidao.support.adas.high.protocol.RawData;
@@ -14,6 +15,11 @@ import mogo.telematics.pad.MessagePad;
* 自动驾驶状态
*/
public class AutopilotStateMessage extends MyAbstractMessageHandler {
private final AutopilotReview autopilotReview;
public AutopilotStateMessage(AutopilotReview autopilotReview) {
this.autopilotReview = autopilotReview;
}
@Override
public void handlerMsg(RawData raw, OnAdasListener adasListener) throws InvalidProtocolBufferException {
@@ -25,6 +31,9 @@ public class AutopilotStateMessage extends MyAbstractMessageHandler {
if (adasListener != null) {
adasListener.onAutopilotState(raw.getHeader(), autopilotState);
}
if (autopilotReview != null) {
autopilotReview.onAutopilotResult(autopilotState);
}
AdasChannel.calculateTimeConsumingBusiness("自动驾驶状态", nowTime);
// CupidLogUtils.e("自动驾驶状态--->" + autopilotState.toString());
}

10
libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/msg/MyMessageFactory.java
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@@ -1,5 +1,6 @@
package com.zhidao.support.adas.high.msg;
import com.zhidao.support.adas.high.common.AutopilotReview;
import com.zhidao.support.adas.high.common.MessageType;
import mogo.telematics.pad.MessagePad;
@@ -31,6 +32,11 @@ public class MyMessageFactory implements IMyMessageFactory {
private IMsg recordDataConfigRespMessage;//数据采集配置应答
private IMsg planningDecisionStateMessage;//planning决策状态
private final AutopilotReview autopilotReview;
public MyMessageFactory(AutopilotReview autopilotReview) {
this.autopilotReview = autopilotReview;
}
@Override
public IMsg createMessage(MessagePad.MessageType messageType) {
@@ -61,13 +67,13 @@ public class MyMessageFactory implements IMyMessageFactory {
} else if (messageType == MessageType.TYPE_RECEIVE_AUTOPILOT_STATE.typeCode) {
//自动驾驶状态
if (autopilotStateMessage == null) {
autopilotStateMessage = new AutopilotStateMessage();
autopilotStateMessage = new AutopilotStateMessage(autopilotReview);
}
return autopilotStateMessage;
} else if (messageType == MessageType.TYPE_RECEIVE_REPORT_MESSAGE.typeCode) {
//监控事件报告
if (reportMessage == null) {
reportMessage = new ReportMessage();
reportMessage = new ReportMessage(autopilotReview);
}
return reportMessage;
} else if (messageType == MessageType.TYPE_RECEIVE_PERCEPTION_TRAFFIC_LIGHT.typeCode) {

23
libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/msg/ReportMessage.java
View File

@@ -5,15 +5,24 @@ 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.common.AutopilotReview;
import com.zhidao.support.adas.high.common.CupidLogUtils;
import com.zhidao.support.adas.high.common.MogoReport;
import com.zhidao.support.adas.high.protocol.RawData;
import java.util.List;
import mogo_msg.MogoReportMsg;
/**
* 监控事件报告
* 监控事件报告回调
*/
public class ReportMessage extends MyAbstractMessageHandler {
private final AutopilotReview autopilotReview;
public ReportMessage(AutopilotReview autopilotReview) {
this.autopilotReview = autopilotReview;
}
@Override
public void handlerMsg(RawData raw, OnAdasListener adasListener) throws InvalidProtocolBufferException {
@@ -23,8 +32,18 @@ public class ReportMessage extends MyAbstractMessageHandler {
if (CupidLogUtils.isEnableLog())
nowTime = SystemClock.elapsedRealtime();
if (adasListener != null) {
adasListener.onReportMessage(raw.getHeader(), mogoReportMessage);
adasListener.onReportMessage(raw.getHeader(), mogoReportMessage);//监控报告回调
}
AdasChannel.calculateTimeConsumingBusiness("监控事件报告", nowTime);
//分发自动驾驶启动失败相关回调
List<String> results = mogoReportMessage.getResultList();
if (!results.isEmpty() && results.contains(MogoReport.RESULT_AUTOPILOT_DISABLE)) {
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
}
}
}
}