diff --git a/OCH/mogo-och-common-module/src/main/java/com/mogo/och/common/module/manager/OCHAdasAbilityManager.java b/OCH/mogo-och-common-module/src/main/java/com/mogo/och/common/module/manager/OCHAdasAbilityManager.java index fda4e3fa53..168e6cccc3 100644 --- a/OCH/mogo-och-common-module/src/main/java/com/mogo/och/common/module/manager/OCHAdasAbilityManager.java +++ b/OCH/mogo-och-common-module/src/main/java/com/mogo/och/common/module/manager/OCHAdasAbilityManager.java @@ -11,11 +11,8 @@ import com.mogo.eagle.core.function.call.autopilot.CallerAutopilotActionsListene import com.mogo.eagle.core.function.call.autopilot.CallerAutopilotStatisticsListenerManager; import com.mogo.eagle.core.utilcode.mogo.logger.Logger; import com.mogo.och.common.module.callback.OchAdasStartFailureCallback; -import com.zhidao.support.adas.high.bean.AutopilotAbility; import com.zhidao.support.adas.high.bean.AutopilotStatistics; -import chassis.Chassis; -import system_master.SystemStatusInfo; /** * Created on 2022/10/9 @@ -77,36 +74,9 @@ public class OCHAdasAbilityManager implements IMoGoAutopilotActionsListener, IMo } @Override - public void onAutopilotAbility(@Nullable AutopilotAbility ability) { - isAutopilotAbility = true; - autopilotAbilityReason = null; - if (ability.gear == null || ability.gear == Chassis.GearPosition.GEAR_P || - ability.gear == Chassis.GearPosition.GEAR_R) { - isAutopilotAbility = false; - autopilotAbilityReason = "挡位不正常"; - } - - if (DebugConfig.getProductFlavor() == "fPadLenovoOchBus" && - ability.gear == Chassis.GearPosition.GEAR_N){ //bus档位不正常 - isAutopilotAbility = false; - autopilotAbilityReason = "挡位不正常"; - } - - if (isAutopilotAbility) - if (ability.brake > 0) { - isAutopilotAbility = false; - autopilotAbilityReason = "制动踏板被踩下"; - } - if (isAutopilotAbility) - if (ability.statusInfo.getSysState() == SystemStatusInfo.SystemState.SYS_STARTING) { - isAutopilotAbility = false; - autopilotAbilityReason = "系统正在启动"; - } - if (isAutopilotAbility) - if (ability.statusInfo.getSysState() == SystemStatusInfo.SystemState.SYS_EXITING) { - isAutopilotAbility = false; - autopilotAbilityReason = "系统正在关闭"; - } + public void onAutopilotAbility(boolean isAutopilotAbility, String unableAutopilotReason) { + this.isAutopilotAbility = isAutopilotAbility; + this.autopilotAbilityReason = unableAutopilotReason; Logger.d(TAG, "是否可以启动自动驾驶=" + isAutopilotAbility + " 原因=" + autopilotAbilityReason); } diff --git a/app_ipc_monitoring/src/main/java/com/zhidao/adas/client/adapter/ConfigAdapter.java b/app_ipc_monitoring/src/main/java/com/zhidao/adas/client/adapter/ConfigAdapter.java index 7381bc5116..fa494393dc 100644 --- a/app_ipc_monitoring/src/main/java/com/zhidao/adas/client/adapter/ConfigAdapter.java +++ b/app_ipc_monitoring/src/main/java/com/zhidao/adas/client/adapter/ConfigAdapter.java @@ -36,7 +36,10 @@ public class ConfigAdapter extends BaseAdapter } viewHolder.name.setText(data.name); viewHolder.value.setText(data.value); - + if (data.color == -1) { + data.color = R.color.colorSlateGray; + } + viewHolder.value.setTextColor(mContext.getResources().getColor(data.color)); } @Override diff --git a/app_ipc_monitoring/src/main/java/com/zhidao/adas/client/base/BaseAdapter.java b/app_ipc_monitoring/src/main/java/com/zhidao/adas/client/base/BaseAdapter.java index 333d6198e1..ca5e419fc4 100644 --- a/app_ipc_monitoring/src/main/java/com/zhidao/adas/client/base/BaseAdapter.java +++ b/app_ipc_monitoring/src/main/java/com/zhidao/adas/client/base/BaseAdapter.java @@ -48,6 +48,10 @@ public abstract class BaseAdapter extends Recycler notifyDataSetChanged(); } + public List getData() { + return mDatas; + } + public void setOnItemClickListener(OnItemClickListener listener) { mItemClick = listener; } diff --git a/app_ipc_monitoring/src/main/java/com/zhidao/adas/client/bean/Config.java b/app_ipc_monitoring/src/main/java/com/zhidao/adas/client/bean/Config.java index 9f18c1fd2b..960c40a65c 100644 --- a/app_ipc_monitoring/src/main/java/com/zhidao/adas/client/bean/Config.java +++ b/app_ipc_monitoring/src/main/java/com/zhidao/adas/client/bean/Config.java @@ -1,11 +1,26 @@ package com.zhidao.adas.client.bean; +import java.util.Objects; + public class Config { public final String name; - public final String value; + public String value; + public int color = -1; public Config(String name, String value) { this.name = name; this.value = value; } + + @Override + public boolean equals(Object o) { + if (this == o) return true; + if (o == null || getClass() != o.getClass()) return false; + Config config = (Config) o; + return Objects.equals(name, config.name); + } + + public void cover(Config config) { + this.value = config.value; + } } 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 22b6f1188c..8bd87f3cf1 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 @@ -88,7 +88,6 @@ 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.OnMultiDeviceListener; -import com.zhidao.support.adas.high.bean.AutopilotAbility; import com.zhidao.support.adas.high.bean.AutopilotStatistics; import com.zhidao.support.adas.high.bean.VersionCompatibility; import com.zhidao.support.adas.high.common.ByteUtil; @@ -114,7 +113,6 @@ import java.util.Locale; import java.util.concurrent.ScheduledExecutorService; import bag_manager.BagManagerOuterClass; -import chassis.Chassis; import chassis.VehicleStateOuterClass; import io.netty.channel.Channel; import mogo.telematics.pad.MessagePad; @@ -171,8 +169,6 @@ public class MainActivity extends BaseActivity implements OnAdasListener, OnAdas private ListPopupWindow listPopupWindow; private FloatWindow floatWindow; private View include_title; - private boolean isAutopilotAbility = true; - private String autopilotAbilityReason; private List specialVehicleBeanList;//特种车辆 // @Override // protected void onStart() { @@ -822,47 +818,12 @@ public class MainActivity extends BaseActivity implements OnAdasListener, OnAdas } @Override - public void onAutopilotAbility(AutopilotAbility ability) { - isAutopilotAbility = true; - autopilotAbilityReason = null; - if (ability.gear == null || ability.gear == Chassis.GearPosition.GEAR_P || ability.gear == Chassis.GearPosition.GEAR_R) { - isAutopilotAbility = false; - autopilotAbilityReason = "挡位不正常"; + public void onAutopilotAbility(boolean isAutopilotAbility, String unableAutopilotReason) { + if (fromFragment instanceof VersionFragment) { + VersionFragment fragment = (VersionFragment) fromFragment; + fragment.autopilotAbility(isAutopilotAbility, unableAutopilotReason); } - if (isAutopilotAbility) - if (ability.brake > 0) { - isAutopilotAbility = false; - autopilotAbilityReason = "制动踏板被踩下"; - } - if (isAutopilotAbility) - if (ability.statusInfo == null) { - isAutopilotAbility = false; - autopilotAbilityReason = "系统Topic不正常"; - } - if (isAutopilotAbility) - if (ability.statusInfo.getSysState() == SystemStatusInfo.SystemState.SYS_STARTING) { - isAutopilotAbility = false; - autopilotAbilityReason = "系统正在启动"; - } - if (isAutopilotAbility) - if (ability.statusInfo.getSysState() == SystemStatusInfo.SystemState.SYS_EXITING) { - isAutopilotAbility = false; - autopilotAbilityReason = "系统正在关闭"; - } - if (isAutopilotAbility) - if (ability.statusInfo.getSysState() == SystemStatusInfo.SystemState.SYS_FAULT) { - isAutopilotAbility = false; - autopilotAbilityReason = "系统异常"; - } - if (isAutopilotAbility) - for (SystemStatusInfo.HealthInfo healthInfo : ability.statusInfo.getHealthInfoList()) { - if (healthInfo.getState() == SystemStatusInfo.HealthState.FAULT) { - isAutopilotAbility = false; - autopilotAbilityReason = healthInfo.getName() + " 节点异常"; - break; - } - } - Log.i(TAG, "是否可以启动自动驾驶=" + isAutopilotAbility + " 原因=" + autopilotAbilityReason); + Log.i(TAG, "是否可以启动自动驾驶=" + isAutopilotAbility + " 原因=" + unableAutopilotReason); } @Override @@ -967,7 +928,12 @@ public class MainActivity extends BaseActivity implements OnAdasListener, OnAdas BasicInfoReq info = new BasicInfoReq(header, basicInfoReq, sdf); DataDistribution.getInstance().addData(info); AdasManager.getInstance().sendBasicInfoResp("", 0, com.zhidao.support.adas.high.common.Constants.TERMINAL_ROLE.DEBUG); - showToastCenter("收到车机基础信息请求:" + info.toString()); + runOnUiThread(new Runnable() { + @Override + public void run() { + showToastCenter("收到车机基础信息请求:" + info.toString()); + } + }); } @Override diff --git a/app_ipc_monitoring/src/main/java/com/zhidao/adas/client/ui/VersionFragment.java b/app_ipc_monitoring/src/main/java/com/zhidao/adas/client/ui/VersionFragment.java index 23e8c12b62..7018f37cc2 100644 --- a/app_ipc_monitoring/src/main/java/com/zhidao/adas/client/ui/VersionFragment.java +++ b/app_ipc_monitoring/src/main/java/com/zhidao/adas/client/ui/VersionFragment.java @@ -30,6 +30,7 @@ import com.zhidao.adas.client.adapter.InterfaceAdapter; import com.zhidao.adas.client.base.BaseFragment; import com.zhidao.adas.client.bean.Config; import com.zhidao.adas.client.bean.InterfaceModel; +import com.zhidao.adas.client.utils.RandomColor; import com.zhidao.support.adas.high.AdasManager; import com.zhidao.support.adas.high.bean.VersionCompatibility; import com.zhidao.support.adas.high.common.Constants; @@ -213,10 +214,44 @@ public class VersionFragment extends BaseFragment { } list.add(new Config("ADAS LIB版本:", AdasManager.getInstance().getAdasVersion())); list.add(new Config("APP构建时间:", BuildConfig.BUILD_TIME)); + list.add(getAutopilotAbilityConfig("")); adapter.setData(list); } + private Config getAutopilotAbilityConfig(String value) { + return new Config("能否启动自动驾驶:", value); + } + public void autopilotAbility(boolean isAutopilotAbility, String unableAutopilotReason) { + List list = adapter.getData(); + if (list != null) { + Config temp = getAutopilotAbilityConfig(isAutopilotAbility + "，原因：" + unableAutopilotReason); + int index = list.indexOf(temp); + if (index < 0) { + list.add(temp); + if (getActivity() != null) + getActivity().runOnUiThread(new Runnable() { + @Override + public void run() { + adapter.notifyItemInserted(list.size() - 1); + } + }); + } else { + Config config = list.get(index); + config.cover(temp); + config.color = RandomColor.randomColor(); + if (getActivity() != null) + getActivity().runOnUiThread(new Runnable() { + @Override + public void run() { + adapter.notifyItemChanged(index); + } + }); + } + } + + + } @Override protected void onRefreshView() { showVersion(); diff --git a/app_ipc_monitoring/src/main/java/com/zhidao/adas/client/utils/RandomColor.java b/app_ipc_monitoring/src/main/java/com/zhidao/adas/client/utils/RandomColor.java new file mode 100644 index 0000000000..1b36a27c04 --- /dev/null +++ b/app_ipc_monitoring/src/main/java/com/zhidao/adas/client/utils/RandomColor.java @@ -0,0 +1,29 @@ +package com.zhidao.adas.client.utils; + +import com.zhidao.adas.client.R; + +import java.util.Random; + + +public class RandomColor { + //随机颜色,且不与上一次重复 + private static Random randomColor; + private static int tempColorIndex; + private static int[] colors = {R.color.color1, R.color.color2, R.color.color3, R.color.color4, R.color.color5}; + + public static int randomColor() { + randomColorTemp(); + return colors[tempColorIndex]; + } + + private static void randomColorTemp() { + if (randomColor == null) + randomColor = new Random(); + int colorInt = randomColor.nextInt(colors.length); + if (tempColorIndex == colorInt) { + randomColorTemp(); + } else { + tempColorIndex = colorInt; + } + } +} diff --git a/app_ipc_monitoring/src/main/res/values/colors.xml b/app_ipc_monitoring/src/main/res/values/colors.xml index bfe52b115c..dfe8bd49f3 100644 --- a/app_ipc_monitoring/src/main/res/values/colors.xml +++ b/app_ipc_monitoring/src/main/res/values/colors.xml @@ -17,4 +17,9 @@ #FF00FF #DAA520 #1E90FF + #FFC0CB + #FF8F00 + #FFE500 + #B9ED3E + #2EEDEB diff --git a/app_mogo_magic_ring/src/main/java/com/zhidao/adas/magic/ui/MainActivity.java b/app_mogo_magic_ring/src/main/java/com/zhidao/adas/magic/ui/MainActivity.java index 5cfd2d55ab..7bfea7ad7a 100644 --- a/app_mogo_magic_ring/src/main/java/com/zhidao/adas/magic/ui/MainActivity.java +++ b/app_mogo_magic_ring/src/main/java/com/zhidao/adas/magic/ui/MainActivity.java @@ -44,7 +44,6 @@ 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.AutopilotAbility; import com.zhidao.support.adas.high.bean.AutopilotStatistics; import com.zhidao.support.adas.high.bean.VersionCompatibility; import com.zhidao.support.adas.high.common.Constants.IPC_CONNECTION_STATUS; @@ -818,10 +817,11 @@ public class MainActivity extends BaseActivity implements OnAdasListener, OnAdas } @Override - public void onAutopilotAbility(AutopilotAbility ability) { + public void onAutopilotAbility(boolean isAutopilotAbility, String unableAutopilotReason) { } + @Override public void onStartAutopilotFailed(MogoReportMsg.MogoReportMessage message) { diff --git a/core/function-impl/mogo-core-function-autopilot/src/main/java/com/mogo/eagle/core/function/autopilot/MoGoAutopilotProvider.kt b/core/function-impl/mogo-core-function-autopilot/src/main/java/com/mogo/eagle/core/function/autopilot/MoGoAutopilotProvider.kt index 601891ddd6..6fc053e4f9 100644 --- a/core/function-impl/mogo-core-function-autopilot/src/main/java/com/mogo/eagle/core/function/autopilot/MoGoAutopilotProvider.kt +++ b/core/function-impl/mogo-core-function-autopilot/src/main/java/com/mogo/eagle/core/function/autopilot/MoGoAutopilotProvider.kt @@ -109,6 +109,7 @@ class MoGoAutopilotProvider : .setIpcConnectionMode(AdasOptions.IPC_CONNECTION_MODE.FIXATION) .setIpcFixationIP(AdasManager.getInstance().getIPCFixationIPList(mContext)) .setClient(false) + .setIdentityMode(FunctionBuildConfig.appIdentityMode) // .setSubscribeInterfaceOptions(subscribeInterfaceOptions)// .build() @@ -199,6 +200,7 @@ class MoGoAutopilotProvider : val options = AdasOptions .Builder() .setClient(true) + .setIdentityMode(FunctionBuildConfig.appIdentityMode) .build() AdasManager.getInstance() .create(options, MoGoAdasMsgConnectStatusListenerImpl()) @@ -226,6 +228,7 @@ class MoGoAutopilotProvider : .setIpcConnectionMode(AdasOptions.IPC_CONNECTION_MODE.FIXATION) .setIpcFixationIP(AdasManager.getInstance().getIPCFixationIPList(mContext)) .setClient(false)// 乘客端直连工控机改为false + .setIdentityMode(FunctionBuildConfig.appIdentityMode) .build() AdasManager.getInstance().create(options, MoGoAdasMsgConnectStatusListenerImpl()) //////////////////////////////////注意先后顺序，AdasManager.getInstance().create后才可以设置监听///////////////////////////////////////////// diff --git a/core/function-impl/mogo-core-function-autopilot/src/main/java/com/mogo/eagle/core/function/autopilot/adapter/MoGoAdasListenerImpl.kt b/core/function-impl/mogo-core-function-autopilot/src/main/java/com/mogo/eagle/core/function/autopilot/adapter/MoGoAdasListenerImpl.kt index dc82a8841c..9f328d96ae 100644 --- a/core/function-impl/mogo-core-function-autopilot/src/main/java/com/mogo/eagle/core/function/autopilot/adapter/MoGoAdasListenerImpl.kt +++ b/core/function-impl/mogo-core-function-autopilot/src/main/java/com/mogo/eagle/core/function/autopilot/adapter/MoGoAdasListenerImpl.kt @@ -57,7 +57,6 @@ import com.mogo.eagle.core.function.call.obucombine.CallerObuDcCombineListenerMa import com.mogo.eagle.core.utilcode.mogo.logger.CallerLogger import com.zhidao.support.adas.high.AdasManager import com.zhidao.support.adas.high.OnAdasListener -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 com.zhjt.service.chain.ChainLog @@ -466,10 +465,9 @@ class MoGoAdasListenerImpl : OnAdasListener { /** * 是否可以启动自动驾驶 - * 使用方法查看：app_ipc_monitoring/uiMainActivity/onAutopilotAbility */ - override fun onAutopilotAbility(ability: AutopilotAbility?) { - invokeAutopilotAbility(ability) + override fun onAutopilotAbility(isAutopilotAbility: Boolean, unableAutopilotReason: String?) { + invokeAutopilotAbility(isAutopilotAbility, unableAutopilotReason) } /** diff --git a/core/mogo-core-function-api/src/main/java/com/mogo/eagle/core/function/api/autopilot/IMoGoAutopilotActionsListener.kt b/core/mogo-core-function-api/src/main/java/com/mogo/eagle/core/function/api/autopilot/IMoGoAutopilotActionsListener.kt index ed661bbed4..0d6f64c173 100644 --- a/core/mogo-core-function-api/src/main/java/com/mogo/eagle/core/function/api/autopilot/IMoGoAutopilotActionsListener.kt +++ b/core/mogo-core-function-api/src/main/java/com/mogo/eagle/core/function/api/autopilot/IMoGoAutopilotActionsListener.kt @@ -1,6 +1,5 @@ package com.mogo.eagle.core.function.api.autopilot -import com.zhidao.support.adas.high.bean.AutopilotAbility interface IMoGoAutopilotActionsListener { @@ -8,5 +7,5 @@ interface IMoGoAutopilotActionsListener { /** * pnc actions 决策 驾驶的意图 */ - fun onAutopilotAbility(ability: AutopilotAbility?) + fun onAutopilotAbility(isAutopilotAbility: Boolean, unableAutopilotReason: String?) } \ No newline at end of file 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 index 8a8a83a4c3..f1f75862f6 100644 --- 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 @@ -1,6 +1,5 @@ package com.mogo.eagle.core.function.api.autopilot -import com.zhidao.support.adas.high.bean.AutopilotAbility import mogo_msg.MogoReportMsg diff --git a/core/mogo-core-function-call/src/main/java/com/mogo/eagle/core/function/call/autopilot/CallerAutopilotActionsListenerManager.kt b/core/mogo-core-function-call/src/main/java/com/mogo/eagle/core/function/call/autopilot/CallerAutopilotActionsListenerManager.kt index 5310098bda..b4cf3fa996 100644 --- a/core/mogo-core-function-call/src/main/java/com/mogo/eagle/core/function/call/autopilot/CallerAutopilotActionsListenerManager.kt +++ b/core/mogo-core-function-call/src/main/java/com/mogo/eagle/core/function/call/autopilot/CallerAutopilotActionsListenerManager.kt @@ -3,7 +3,6 @@ package com.mogo.eagle.core.function.call.autopilot import androidx.annotation.Nullable import com.mogo.eagle.core.function.api.autopilot.IMoGoAutopilotActionsListener import com.mogo.eagle.core.function.call.base.CallerBase -import com.zhidao.support.adas.high.bean.AutopilotAbility import java.util.concurrent.ConcurrentHashMap @@ -51,10 +50,10 @@ object CallerAutopilotActionsListenerManager : CallerBase() { } @Synchronized - fun invokeAutopilotAbility(ability: AutopilotAbility?) { + fun invokeAutopilotAbility(isAutopilotAbility: Boolean, unableAutopilotReason: String?) { M_AUTOPILOT_ACTIONS_LISTENER.forEach { val listener = it.value - listener.onAutopilotAbility(ability) + listener.onAutopilotAbility(isAutopilotAbility, unableAutopilotReason) } } } \ No newline at end of file diff --git a/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/AdasChannel.java b/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/AdasChannel.java index e00a25d351..c2f55a34f4 100644 --- a/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/AdasChannel.java +++ b/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/AdasChannel.java @@ -12,6 +12,8 @@ import static com.zhidao.support.adas.high.chain.AdasChain.CHAIN_LINK_ADAS; import static com.zhidao.support.adas.high.chain.AdasChain.CHAIN_LINK_LOG_CONNECT_STATUS; import static com.zhidao.support.adas.high.chain.AdasChain.CHAIN_LINK_LOG_WEB_SOCKET_AUTOPILOT; +import android.os.Handler; +import android.os.Message; import android.os.SystemClock; import android.text.TextUtils; @@ -79,6 +81,7 @@ public class AdasChannel implements IAdasNetCommApi, FpgaSocket.IWebSocketConnec private RawUnpack rawUnpack;//业务数据拆包 private RawPack rawPack;//数据打包 private DispatchHandler defaultDispatchHandler;//默认分发线程分发 + private DispatchHandler statusQueryRespDispatchHandler;//状态查询应答分发线程分发 private final Map dispatchHandlers = new HashMap<>();//其他分发线程 private Timer checkCompatibilityTimer;//检查版本兼容性定时器 连接成功后5秒内等待工控机发送配置信息 private int seqSpecialVehicle = 0;//特种车辆命令发送次数 @@ -181,6 +184,12 @@ public class AdasChannel implements IAdasNetCommApi, FpgaSocket.IWebSocketConnec //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(); + AutopilotAbilityManager.getInstance().setOnAutopilotAbilityListener(new AutopilotAbilityManager.OnAutopilotAbilityListener() { + @Override + public void onStatusQuery() { + statusQueryRespDispatchHandler.start(); + } + }); } /** @@ -231,8 +240,9 @@ public class AdasChannel implements IAdasNetCommApi, FpgaSocket.IWebSocketConnec // dispatchHandlers.put(MessagePad.MessageType.MsgTypeWarn, new DispatchHandler(MessagePad.MessageType.MsgTypeWarn, this)); //到站提醒 // dispatchHandlers.put(MessagePad.MessageType.MsgTypeArrivalNotification, new DispatchHandler(MessagePad.MessageType.MsgTypeArrivalNotification, this)); - //状态查询应答 -// dispatchHandlers.put(MessagePad.MessageType.MsgTypeStatusQueryResp, new DispatchHandler(MessagePad.MessageType.MsgTypeStatusQueryResp, this)); + //状态查询应答 TODO 此线程更新频率目前为3秒，但是由于会在此接口中做一些其他数据处理，所以单独开启线程 + statusQueryRespDispatchHandler = new DispatchHandler(MessagePad.MessageType.MsgTypeStatusQueryResp, this); + dispatchHandlers.put(MessagePad.MessageType.MsgTypeStatusQueryResp, statusQueryRespDispatchHandler); //数据采集配置 // dispatchHandlers.put(MessagePad.MessageType.MsgTypeRecordDataConfigResp, new DispatchHandler(MessagePad.MessageType.MsgTypeRecordDataConfigResp, this)); //Planning决策状态 @@ -396,6 +406,20 @@ public class AdasChannel implements IAdasNetCommApi, FpgaSocket.IWebSocketConnec } } + @Override + public void onHandler(MessagePad.MessageType type, Handler handler) { + if (type == MessagePad.MessageType.MsgTypeStatusQueryResp) { + AutopilotAbilityManager.getInstance().setHandler(handler); + } + } + + @Override + public void onHandleMessage(MessagePad.MessageType type, Message msg) { + if (type == MessagePad.MessageType.MsgTypeStatusQueryResp) { + AutopilotAbilityManager.getInstance().onHandleMessage(msg); + } + } + /** * 分发和解析 * diff --git a/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/AdasOptions.java b/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/AdasOptions.java index a3b82d5391..e39583f367 100644 --- a/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/AdasOptions.java +++ b/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/AdasOptions.java @@ -1,5 +1,6 @@ package com.zhidao.support.adas.high; +import com.zhidao.support.adas.high.common.AutopilotAbilityManager; import com.zhidao.support.adas.high.subscribe.SubscribeInterfaceOptions; import java.util.HashSet; @@ -124,6 +125,17 @@ public class AdasOptions { return this; } + /** + * 身份/车型 + * + * @param identityMode 车型 + * @return + */ + public Builder setIdentityMode(int identityMode) { + options.setIdentityMode(identityMode); + return this; + } + public AdasOptions build() { return options; } @@ -141,6 +153,7 @@ public class AdasOptions { options.ipcAssignIP = null; options.ipcFixationIP = null; options.subscribeInterfaceOptions = null; + options.setIdentityMode(0x00); return options; } @@ -183,4 +196,8 @@ public class AdasOptions { public void setSubscribeInterfaceOptions(SubscribeInterfaceOptions subscribeInterfaceOptions) { this.subscribeInterfaceOptions = subscribeInterfaceOptions; } + + public void setIdentityMode(int identityMode) { + AutopilotAbilityManager.getInstance().setIdentityMode(identityMode); + } } 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 85d276ef55..fc37b60c33 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 +1,5 @@ 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; @@ -201,9 +200,10 @@ public interface OnAdasListener { /** * 是否有能力启动自动驾驶 * - * @param ability 是否可以启动自动驾驶 + * @param isAutopilotAbility 是否能启动自动驾驶 + * @param unableAutopilotReason 不能启动自动驾驶原因 */ - void onAutopilotAbility(AutopilotAbility ability); + void onAutopilotAbility(boolean isAutopilotAbility, String unableAutopilotReason); /** * 启动自动驾驶失败回调 diff --git a/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/bean/AutopilotAbility.java b/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/bean/AutopilotAbility.java deleted file mode 100644 index c9e3dc9fa1..0000000000 --- a/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/bean/AutopilotAbility.java +++ /dev/null @@ -1,41 +0,0 @@ -package com.zhidao.support.adas.high.bean; - -import chassis.Chassis; -import system_master.SystemStatusInfo; - -/** - * 自动驾驶能力 能否启动自动驾驶 - * 未赋值表示接口通讯异常或者工控机相关节点异常 如果回调持续都是未赋值的状态表示此问题是持久性的 - */ -public class AutopilotAbility { - /** - * 刹车踏板开度 0~100 - * -1表示未赋值 - * 值为0时表示 制动踏板未踩下 - */ - public final float brake; - /** - * 挡位 - * null表示未赋值 - * 挡位处于P挡和R挡时不能启动自动驾驶 - */ - public final Chassis.GearPosition gear; - /** - * 状态查询结果 - * null表示未赋值 - * 不能启动自动驾驶的判断 - * statusInfo.getHealthInfoList().get().getState()== SystemStatusInfo.HealthState.FAULT - * statusInfo.getSysState()== SystemStatusInfo.SystemState.SYS_STARTING - * statusInfo.getSysState()== SystemStatusInfo.SystemState.SYS_EXITING - * statusInfo.getSysState()== SystemStatusInfo.SystemState.SYS_FAULT - */ - public final SystemStatusInfo.StatusInfo statusInfo; - - public AutopilotAbility(float brake, Chassis.GearPosition gear, SystemStatusInfo.StatusInfo statusInfo) { - this.brake = brake; - this.gear = gear; - this.statusInfo = statusInfo; - - - } -} diff --git a/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/bean/AutopilotStatistics.java b/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/bean/AutopilotStatistics.java index c6acda417b..cba060b13e 100644 --- a/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/bean/AutopilotStatistics.java +++ b/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/bean/AutopilotStatistics.java @@ -15,7 +15,6 @@ public class AutopilotStatistics { * 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 diff --git a/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/common/AutopilotAbilityManager.java b/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/common/AutopilotAbilityManager.java index 02d90a102d..da5124b491 100644 --- a/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/common/AutopilotAbilityManager.java +++ b/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/common/AutopilotAbilityManager.java @@ -1,37 +1,64 @@ package com.zhidao.support.adas.high.common; +import android.os.Handler; +import android.os.Message; +import android.text.TextUtils; + import com.zhidao.support.adas.high.AdasManager; import com.zhidao.support.adas.high.OnAdasListener; -import com.zhidao.support.adas.high.bean.AutopilotAbility; +import java.util.List; import java.util.Timer; import java.util.TimerTask; +import java.util.regex.Matcher; +import java.util.regex.Pattern; import chassis.Chassis; -import chassis.VehicleStateOuterClass; +import chassis.ChassisStatesOuterClass; import system_master.SystemStatusInfo; /** * 是否可以启动自动驾驶能力检测 * 目前监控了底盘的一些状态和查询节点状态应答的数据 * 没有使用监控事件报告的原因是因为，部分异常没进行正常恢复通知，例如收到了异常监控数据，但是异常恢复之后没有恢复的通知 - * + *

* 此定时器不能停止 鹰眼中存在UI更新依赖循环查询系统状态 */ public class AutopilotAbilityManager { private static final String TAG = AutopilotAbilityManager.class.getSimpleName(); + private static final int WHAT_TIMEOUT = 0; + private static final int DEFAULT_TIMEOUT = 1500; private static final long DEFAULT_DETECTION_TIME = 3 * 1000L;//默认检测时间 + private static final String[] NODE_INFO_STATE = {"未知状态 ", "依赖未就绪 ", "启动中 ", "运行 ", "停止 ", "无法启动状态 ", "人为启动状态 ", "人为关闭状态 "}; private static volatile AutopilotAbilityManager INSTANCE; - private OnAdasListener listener; private volatile Timer timer; + private final Pattern pattern = Pattern.compile("\\d+.\\d+.\\d+"); + private ChassisStatesOuterClass.ChassisStates chassisStates; + private Handler handler; + private OnAutopilotAbilityListener onAutopilotAbilityListener; + /** + * 身份/车型 + */ + private int identityMode; - private VehicleStateOuterClass.VehicleState vehicleState; + public interface OnAutopilotAbilityListener { + void onStatusQuery();//查询是被调用 + } + + + public void setIdentityMode(int identityMode) { + this.identityMode = identityMode; + } public void setOnAdasListener(OnAdasListener listener) { this.listener = listener; } + public void setOnAutopilotAbilityListener(OnAutopilotAbilityListener onAutopilotAbilityListener) { + this.onAutopilotAbilityListener = onAutopilotAbilityListener; + } + private AutopilotAbilityManager() { } @@ -47,19 +74,140 @@ public class AutopilotAbilityManager { } public void setStatusInfo(SystemStatusInfo.StatusInfo statusInfo) { - if (listener != null) { - float brake = -1; - Chassis.GearPosition gear = null; - if (vehicleState != null) { - brake = vehicleState.getBrake(); - gear = vehicleState.getGear(); - } - listener.onAutopilotAbility(new AutopilotAbility(brake, gear, statusInfo)); + if (handler != null) { + if (handler.hasMessages(WHAT_TIMEOUT)) + handler.removeMessages(WHAT_TIMEOUT); } + onCallback(statusInfo); } - public void setVehicleState(VehicleStateOuterClass.VehicleState vehicleState) { - this.vehicleState = vehicleState; + public void setChassisStates(ChassisStatesOuterClass.ChassisStates chassisStates) { + this.chassisStates = chassisStates; + } + + private void onCallback(SystemStatusInfo.StatusInfo statusInfo) { + //金旅、开沃小巴乘客端 不能启动自动驾驶 + if (isBus(identityMode) && isPassenger(identityMode)) { + return; + } + boolean isAutopilotAbility = true;//是否能启动自动驾驶 + String unableAutopilotReason = null;//不能启动自动驾驶原因 + //检测节点状态相关 + if (statusInfo != null) { + int version = -1; + if (statusInfo.hasMasterVersion()) { + //截取Master Version + String masterVersion = statusInfo.getMasterVersion(); + if (!TextUtils.isEmpty(masterVersion)) { + try { + Matcher matcher = pattern.matcher(masterVersion); + if (matcher.find()) { + String group = matcher.group(); + if (!TextUtils.isEmpty(group)) { + String v = group.split("\\.")[0]; + version = Integer.parseInt(v); + } + } + } catch (Exception e) { + e.printStackTrace(); + } + } + } + if (version > 1) { + isAutopilotAbility = statusInfo.getAutoPilotReady(); + if (!isAutopilotAbility) { + SystemStatusInfo.NodeFaultList nodeFaultList = statusInfo.getAutoPilotUnreadyList(); + if (nodeFaultList.getSum() > 0) { + List list = nodeFaultList.getNodeList(); + StringBuilder builder = new StringBuilder(); + for (SystemStatusInfo.NodeInfo info : list) { + builder.append(info.getNodeName()); + int state = info.getState(); + if (state < NODE_INFO_STATE.length) { + builder.append(NODE_INFO_STATE[state]); + } else { + builder.append("未知 "); + } + } + unableAutopilotReason = builder.toString(); + } else { + unableAutopilotReason = "未知"; + } + } + } else { + SystemStatusInfo.SystemState systemState = statusInfo.getSysState(); + if (systemState != SystemStatusInfo.SystemState.SYS_RUNNING && systemState != SystemStatusInfo.SystemState.PILOT_READY) { + isAutopilotAbility = false; + if (systemState == SystemStatusInfo.SystemState.SYS_STARTING) { + unableAutopilotReason = "系统正在启动"; + } else if (systemState == SystemStatusInfo.SystemState.SYS_EXITING) { + unableAutopilotReason = "系统正在关闭"; + } else if (systemState == SystemStatusInfo.SystemState.SYS_FAULT) { + unableAutopilotReason = "系统异常"; + } else if (systemState == SystemStatusInfo.SystemState.AUTO_PILOT_STARTING) { + unableAutopilotReason = "正在开始自动驾驶"; + } else if (systemState == SystemStatusInfo.SystemState.AUTO_PILOT_RUNNING) { + unableAutopilotReason = "自动驾驶运行中"; + } else if (systemState == SystemStatusInfo.SystemState.REMOTE_PILOT_STARTING) { + unableAutopilotReason = "平行驾驶启动中"; + } else if (systemState == SystemStatusInfo.SystemState.REMOTE_PILOT_RUNNING) { + unableAutopilotReason = "平行驾驶运行中"; + } else { + unableAutopilotReason = "未知"; + } + } + } + } else { + isAutopilotAbility = false;//是否能启动自动驾驶 + unableAutopilotReason = "SSM状态查询超时无响应";//不能启动自动驾驶原因 + } + //检测底盘相关 + if (chassisStates != null) { + if (isAutopilotAbility) { + if (chassisStates.hasBrakeSystemStates()) { + float brake = chassisStates.getBrakeSystemStates().getBrakePedalResponsePosition(); + if (brake > 0) { + isAutopilotAbility = false; + unableAutopilotReason = "制动踏板被踩下"; + } + } + } + if (isAutopilotAbility) { + /** + * 档位状态判断 目前判断的车型包括 东风Taxi 红旗Taxi 金旅Bus + */ + if (chassisStates.hasGearSystemStates()) { + Chassis.GearPosition gear = chassisStates.getGearSystemStates().getGearPosition(); + //金旅Bus和清扫车 档位不正常 + if (isBus(identityMode)) { + if (gear == Chassis.GearPosition.GEAR_N) { + isAutopilotAbility = false; + unableAutopilotReason = "挡位不正常"; + } + } else { + //东风Taxi和红旗 司机端和乘客端 档位不正常 + if (gear == Chassis.GearPosition.GEAR_P || gear == Chassis.GearPosition.GEAR_R) { + isAutopilotAbility = false; + unableAutopilotReason = "挡位不正常"; + } + } + } + } + + //TODO 关于手刹：不同车型的实现不同所以目前没法使用此字段 +// if (isAutopilotAbility) { +// //电子驻车制动系统 +// if (chassisStates.hasEpbSystemStates()) { +// ChassisStatesOuterClass.EPBSystemStates epb = chassisStates.getEpbSystemStates(); +// if (epb.hasEpbEnableState()){ +// epb.getEpbWorkState(); +// } +// } +// } + } + if (listener != null) { + listener.onAutopilotAbility(isAutopilotAbility, unableAutopilotReason); + } } public synchronized void start() { @@ -68,7 +216,15 @@ public class AutopilotAbilityManager { timer.schedule(new TimerTask() { @Override public void run() { + if (onAutopilotAbilityListener != null) { + onAutopilotAbilityListener.onStatusQuery(); + } AdasManager.getInstance().sendStatusQueryReq(); + if (handler != null) { + if (handler.hasMessages(WHAT_TIMEOUT)) + handler.removeMessages(WHAT_TIMEOUT); + handler.sendEmptyMessageDelayed(WHAT_TIMEOUT, DEFAULT_TIMEOUT); + } } }, 2000L, DEFAULT_DETECTION_TIME);//延迟执行，避免刚连接成功后底盘信息无法及时同步 } @@ -79,8 +235,35 @@ public class AutopilotAbilityManager { timer.cancel(); timer = null; } - this.vehicleState = null; + handler = null; + this.chassisStates = null; + } + + public void setHandler(Handler handler) { + this.handler = handler; } + public void onHandleMessage(Message msg) { + if (msg.what == WHAT_TIMEOUT) { + onCallback(null); + } + } + + + private boolean isDriver(int appIdentityMode) { + return (appIdentityMode & 0x01) != 0x01; + } + + private boolean isPassenger(int appIdentityMode) { + return (appIdentityMode & 0x01) == 0x01; + } + + private boolean isBus(int appIdentityMode) { + return (appIdentityMode & 0xA0) == 0xA0; + } + + private boolean isTaxi(int appIdentityMode) { + return (appIdentityMode & 0xA0) != 0xA0; + } } 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 c1825605ab..6cc2224baa 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 @@ -16,13 +16,6 @@ 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 = 15 * 1000L; - - - private Timer timer; /** * 下发的启动自动驾驶命令 */ @@ -45,7 +38,6 @@ public class AutopilotReview { } private void onCallback(@Define.AutopilotStartStatus int status) { - stopTimer(); long usedTime = SystemClock.elapsedRealtime() - startTime; if (listener != null) { listener.onReview(new AutopilotStatistics(status, usedTime, startReq, failedMessage)); @@ -55,27 +47,6 @@ public class AutopilotReview { 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 * @@ -86,7 +57,6 @@ public class AutopilotReview { //启动自动驾驶 startReq = req; startTime = SystemClock.elapsedRealtime(); - startTimer(); } else { onCallback(Constants.AUTOPILOT_START_STATUS.CANCEL); } diff --git a/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/common/Constants.java b/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/common/Constants.java index 55b42ed75a..2d700e797c 100644 --- a/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/common/Constants.java +++ b/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/common/Constants.java @@ -126,10 +126,6 @@ public class Constants { * 取消 */ int CANCEL = 2; - /** - * 超时 - */ - int TIMEOUT = 3; } } diff --git a/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/common/Define.java b/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/common/Define.java index 4ea9eec593..4ef4b6830c 100644 --- a/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/common/Define.java +++ b/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/common/Define.java @@ -49,8 +49,7 @@ public final class Define { @IntDef(flag = true, value = {Constants.AUTOPILOT_START_STATUS.SUCCESSFUL, Constants.AUTOPILOT_START_STATUS.FAILED, - Constants.AUTOPILOT_START_STATUS.CANCEL, - Constants.AUTOPILOT_START_STATUS.TIMEOUT}) + Constants.AUTOPILOT_START_STATUS.CANCEL}) @Retention(RetentionPolicy.SOURCE) public @interface AutopilotStartStatus { } diff --git a/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/common/MogoReport.java b/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/common/MogoReport.java index 0ba915d384..3365f70734 100644 --- a/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/common/MogoReport.java +++ b/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/common/MogoReport.java @@ -2,7 +2,7 @@ package com.zhidao.support.adas.high.common; /** * 监控事件报告中定义的事件以及解释 - * 根据MAP2.10.0消息定义编写 + * 根据MAP2.11.0消息定义编写 */ public class MogoReport { public static final String RESULT_AUTOPILOT_SYSTEM_UNSTARTED = "RESULT_AUTOPILOT_SYSTEM_UNSTARTED"; @@ -12,33 +12,15 @@ public class MogoReport { 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"; -// private static final String RESULT_PAD_INFO_LOST = "RESULT_PAD_INFO_LOST"; -// private static final String RESULT_PAD_CANNOT_GET_AUTOPILOT_STATUS = "RESULT_PAD_CANNOT_GET_AUTOPILOT_STATUS"; -// private static final String RESULT_PAD_CANNOT_GET_GNS_CHASSIS_STATUS = "RESULT_PAD_CANNOT_GET_GNS_CHASSIS_STATUS"; -// private static final String RESULT_PAD_CANNOT_GET_OBSTACLE_INFO = "RESULT_PAD_CANNOT_GET_OBSTACLE_INFO"; -// private static final String RESULT_NO_CONNECTION_TO_AICLOUD = "RESULT_NO_CONNECTION_TO_AICLOUD"; -// private static final String RESULT_AICLOUD_INFO_LOST = "RESULT_AICLOUD_INFO_LOST"; -// private static final String RESULT_CANNOT_CHANGE_LIGHT = "RESULT_CANNOT_CHANGE_LIGHT"; public enum Result { AUTOPILOT_SYSTEM_UNSTARTED(RESULT_AUTOPILOT_SYSTEM_UNSTARTED, "自动驾驶系统启动过程中出错，pad可能无法连接，云端监控可能无法上报"), AUTOPILOT_DISABLE(RESULT_AUTOPILOT_DISABLE, "无法启动自动驾驶"), - AUTOPILOT_INFERIOR(RESULT_AUTOPILOT_INFERIOR, "自动驾驶部分功能受影响，演示模式可以考虑强行启动，需联系人员排查问题。\n例如定位偏移，camera无数据，算法严重丢帧，属于自动驾驶可以启动，但是效果受影响。"), + AUTOPILOT_INFERIOR(RESULT_AUTOPILOT_INFERIOR, "自动驾驶部分功能受严重影响，演示模式可以考虑强行启动，非演示模式下建议停止自动驾驶，联系人员排查问题。\n例如定位偏移，camera无数据，算法非常严重的丢帧，属于自动驾驶可以启动，但是效果受影响。"), REMOTEPILOT_DISABLE(RESULT_REMOTEPILOT_DISABLE, "无法启动远程驾驶"), REMOTEPILOT_INFERIOR(RESULT_REMOTEPILOT_INFERIOR, "远程驾驶部分功能受影响。例如网络高延迟"), SHOW_WARNING(RESULT_SHOW_WARNING, "一般为过渡状态，存在不确定因素，有可能对自动驾驶有微弱影响，需要在pad端显示为黄色告警。\n如果偶尔上报该result可忽略，如果频繁上报需联系人员进行排查。 目前仅有RTK无法确认状态事件。"); -// DISCONNECTED_WITH_PAD(RESULT_DISCONNECTED_WITH_PAD, "未检测到来自pad的链接，如果只报了这个result，可以通过后台/远程驾驶启动自动驾驶"), -// PAD_CANNOT_CONNECT_TELEMATICS(RESULT_PAD_INFO_LOST, "Pad无法连接到工控机"), -// PAD_INFO_LOST(RESULT_PAD_CANNOT_CONNECT_TELEMATICS, "Pad工控机之间指令信息丢失"), -// PAD_CANNOT_GET_AUTOPILOT_STATUS(RESULT_PAD_CANNOT_GET_AUTOPILOT_STATUS, "Pad端无法拿到自动驾驶状态信息"), -// PAD_CANNOT_GET_GNS_CHASSIS_STATUS(RESULT_PAD_CANNOT_GET_GNS_CHASSIS_STATUS, "Pad端无法拿到自车状态和底盘状态信息"), -// PAD_CANNOT_GET_OBSTACLE_INFO(RESULT_PAD_CANNOT_GET_OBSTACLE_INFO, "Pad端无法拿到障碍物信息"), -// NO_CONNECTION_TO_AICLOUD(RESULT_NO_CONNECTION_TO_AICLOUD, "无法和云端通信"), -// AICLOUD_INFO_LOST(RESULT_AICLOUD_INFO_LOST, "云端工控机之间信息丢失"), -// CANNOT_CHANGE_LIGHT(RESULT_CANNOT_CHANGE_LIGHT, "变灯失败"); /** * 消息result code @@ -69,25 +51,6 @@ public class MogoReport { return REMOTEPILOT_INFERIOR.desc; case RESULT_SHOW_WARNING: return SHOW_WARNING.desc; - -// case RESULT_DISCONNECTED_WITH_PAD: -// return DISCONNECTED_WITH_PAD.desc; -// case RESULT_PAD_CANNOT_CONNECT_TELEMATICS: -// return PAD_CANNOT_CONNECT_TELEMATICS.desc; -// case RESULT_PAD_INFO_LOST: -// return PAD_INFO_LOST.desc; -// case RESULT_PAD_CANNOT_GET_AUTOPILOT_STATUS: -// return PAD_CANNOT_GET_AUTOPILOT_STATUS.desc; -// case RESULT_PAD_CANNOT_GET_GNS_CHASSIS_STATUS: -// return PAD_CANNOT_GET_GNS_CHASSIS_STATUS.desc; -// case RESULT_PAD_CANNOT_GET_OBSTACLE_INFO: -// return PAD_CANNOT_GET_OBSTACLE_INFO.desc; -// case RESULT_NO_CONNECTION_TO_AICLOUD: -// return NO_CONNECTION_TO_AICLOUD.desc; -// case RESULT_AICLOUD_INFO_LOST: -// return AICLOUD_INFO_LOST.desc; -// case RESULT_CANNOT_CHANGE_LIGHT: -// return CANNOT_CHANGE_LIGHT.desc; default: return resultCode; @@ -104,6 +67,7 @@ public class MogoReport { 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 static final String ACTION_REMOTEPILOT_REQUEST = "ACTION_REMOTEPILOT_REQUEST"; public enum Action { @@ -114,7 +78,8 @@ public class MogoReport { REBOOT_VEHICLE(ACTION_REBOOT_VEHICLE, "重启车辆"), CHECK_GEAR(ACTION_CHECK_GEAR, "检查车辆档位等影响自动驾驶的因素"), CHECK_NETWORK(ACTION_CHECK_NETWORK, "检查网络连接和路由器等影响通信的因素"), - TRY_AGAIN_LATER(ACTION_TRY_AGAIN_LATER, "请稍后重试"); + TRY_AGAIN_LATER(ACTION_TRY_AGAIN_LATER, "请稍后重试"), + REMOTEPILOT_REQUEST(ACTION_REMOTEPILOT_REQUEST, "请求远程驾驶"); /** * 消息Action code @@ -303,6 +268,20 @@ public class MogoReport { String TASK_CONFIG_EMPTY = "ERECORD_TASK_CONFIG_EMPTY";//配置为空 String TASK_QUEUE_EMPTY = "ERECORD_TASK_QUEUE_EMPTY";//数据队列为空 } + + /** + * 平行驾驶相关异常 + */ + interface EPARALLEL { + String AICLOUD_CONNECTION_ERROR = "EPARALLEL_AICLOUD_CONNECTION_ERROR";//平行驾驶长连接异常 + } + + /** + * 车辆处于困境，等待平行驾驶接管 + */ + interface EVEHICLE { + String IN_TROUBLE = "EVEHICLE_IN_TROUBLE";//planning 检测到车处于困境，把困境状态汇报给 SSM，ssm 发出该事件，等待驾舱端开始平行驾驶 + } } /** @@ -344,9 +323,10 @@ public class MogoReport { } /** - * 系统状态 常规信息 + * 系统状态 */ interface ISYS { + /*******常规信息*******/ String STARTING = "ISYS_STARTING";//系统启动中 String RUNNING = "ISYS_RUNNING";//所有Xavier启动完成 String EXITING = "ISYS_EXITING";//系统退出中 @@ -362,19 +342,14 @@ public class MogoReport { String SYSTEM_IN_IDLE = "ISYS_SYSTEM_IN_IDLE";//系统进入空闲状态 String SYSTEM_OUT_IDLE = "ISYS_SYSTEM_OUT_IDLE";//系统退出空闲状态 - String FUNC_YY_START = "ISYS_FUNC_YY_START";//产品状态检查开始 - String FUNC_YY_FINISH = "ISYS_FUNC_YY_FINISH";//产品状态达成（第一次ready） - String FUNC_YY_TIMEOUT = "ISYS_FUNC_YY_TIMEOUT";//产品状态检查超时 - String FUNC_YY_ABORT = "ISYS_FUNC_YY_ABORT";//产品状态检查中止 - String FUNC_YY_UNREADY = "ISYS_FUNC_YY_UNREADY";//产品状态未就绪 - String FUNC_YY_READY = "ISYS_FUNC_YY_READY";//产品状态就绪 - + /*******轨迹下载相关*******/ String INIT_TRAJECTORY_START = "ISYS_INIT_TRAJECTORY_START";//轨迹管理_轨迹开始下载 String INIT_TRAJECTORY_SUCCESS = "ISYS_INIT_TRAJECTORY_SUCCESS";//轨迹管理_轨迹下载成功 String INIT_TRAJECTORY_FAILURE = "ISYS_INIT_TRAJECTORY_FAILURE";//轨迹管理_轨迹下载失败，本地无对应轨迹 String INIT_TRAJECTORY_WARNING = "ISYS_INIT_TRAJECTORY_WARNING";//轨迹管理_轨迹下载失败，本地有对应轨迹，认为成功 String INIT_TRAJECTORY_TIMEOUT = "ISYS_INIT_TRAJECTORY_TIMEOUT";//轨迹管理_轨迹下载超时 + /*******配置更新相关*******/ String CONFIG_UPDATE_HADMAP = "ISYS_CONFIG_UPDATE_HADMAP";//需要重启升级高精地图 String CONFIG_UPDATE_AI_MODEL = "ISYS_CONFIG_UPDATE_AI_MODEL";//需要重启升级AI模型 String CONFIG_UPDATE_SLAM_MAP = "ISYS_CONFIG_UPDATE_SLAM_MAP";//需要重启升级SLAM地图 @@ -390,13 +365,65 @@ public class MogoReport { interface ISSM { String INIT = "ISSM_INIT";//SSM系统上电初始化 String RESTARTED = "ISSM_RESTARTED";//SSM系统发生重启 - String MODE_XX_START = "ISSM_MODE_XX_START";//SSM变更模式开始 - String MODE_XX_FINISH = "ISSM_MODE_XX_FINISH";//SSM变更模式完成（第一次ready - String MODE_XX_ABORT = "ISSM_MODE_XX_ABORT";//SSM变更模式中止 - String MODE_XX_TIMEOUT = "ISSM_MODE_XX_TIMEOUT";//SSM变更模式超时 - String MODE_XX_READY = "ISSM_MODE_XX_READY";//SSM模式就绪 - String MODE_XX_UNREADY = "ISSM_MODE_XX_UNREADY";//SSM未就绪 +// String MODE_XX_START = "ISSM_MODE_XX_START";//SSM变更模式开始 +// String MODE_XX_FINISH = "ISSM_MODE_XX_FINISH";//SSM变更模式完成（第一次ready +// String MODE_XX_ABORT = "ISSM_MODE_XX_ABORT";//SSM变更模式中止 +// String MODE_XX_TIMEOUT = "ISSM_MODE_XX_TIMEOUT";//SSM变更模式超时 +// String MODE_XX_READY = "ISSM_MODE_XX_READY";//SSM模式就绪 +// String MODE_XX_UNREADY = "ISSM_MODE_XX_UNREADY";//SSM未就绪 + + //以上6组被注释掉的字段 中的MODE_XX分别替换成MODE_RUN、MODE_IDLE、MODE_STOP + + String MODE_RUN_START = "ISSM_MODE_RUN_START";//SSM变更模式开始 + String MODE_RUN_FINISH = "ISSM_MODE_RUN_FINISH";//SSM变更模式完成（第一次ready + String MODE_RUN_ABORT = "ISSM_MODE_RUN_ABORT";//SSM变更模式中止 + String MODE_RUN_TIMEOUT = "ISSM_MODE_RUN_TIMEOUT";//SSM变更模式超时 + String MODE_RUN_READY = "ISSM_MODE_RUN_READY";//SSM模式就绪 + String MODE_RUN_UNREADY = "ISSM_MODE_RUN_UNREADY";//SSM未就绪 + + String MODE_IDLE_START = "ISSM_MODE_IDLE_START";//SSM变更模式开始 + String MODE_IDLE_FINISH = "ISSM_MODE_IDLE_FINISH";//SSM变更模式完成（第一次ready + String MODE_IDLE_ABORT = "ISSM_MODE_IDLE_ABORT";//SSM变更模式中止 + String MODE_IDLE_TIMEOUT = "ISSM_MODE_IDLE_TIMEOUT";//SSM变更模式超时 + String MODE_IDLE_READY = "ISSM_MODE_IDLE_READY";//SSM模式就绪 + String MODE_IDLE_UNREADY = "ISSM_MODE_IDLE_UNREADY";//SSM未就绪 + + String MODE_STOP_START = "ISSM_MODE_STOP_START";//SSM变更模式开始 + String MODE_STOP_FINISH = "ISSM_MODE_STOP_FINISH";//SSM变更模式完成（第一次ready + String MODE_STOP_ABORT = "ISSM_MODE_STOP_ABORT";//SSM变更模式中止 + String MODE_STOP_TIMEOUT = "ISSM_MODE_STOP_TIMEOUT";//SSM变更模式超时 + String MODE_STOP_READY = "ISSM_MODE_STOP_READY";//SSM模式就绪 + String MODE_STOP_UNREADY = "ISSM_MODE_STOP_UNREADY";//SSM未就绪 + +// String FUNC_YY_START = "ISSM_FUNC_YY_START";//产品状态检查开始 +// String FUNC_YY_FINISH = "ISSM_FUNC_YY_FINISH";//产品状态达成（第一次ready） +// String FUNC_YY_TIMEOUT = "ISSM_FUNC_YY_TIMEOUT";//产品状态检查超时 +// String FUNC_YY_ABORT = "ISSM_FUNC_YY_ABORT";//产品状态检查中止 +// String FUNC_YY_UNREADY = "ISSM_FUNC_YY_UNREADY";//产品状态未就绪 +// String FUNC_YY_READY = "ISSM_FUNC_YY_READY";//产品状态就绪 + + //以上6组被注释掉的字段 中的FUNC_YY分别替换成FUNC_COLD_START、FUNC_AUTO_PILOT、FUNC_REMOTE_PILOT + String FUNC_COLD_START_START = "ISSM_FUNC_COLD_START_START";//产品状态检查开始 + String FUNC_COLD_START_FINISH = "ISSM_FUNC_COLD_START_FINISH";//产品状态达成（第一次ready） + String FUNC_COLD_START_TIMEOUT = "ISSM_FUNC_COLD_START_TIMEOUT";//产品状态检查超时 + String FUNC_COLD_START_ABORT = "ISSM_FUNC_COLD_START_ABORT";//产品状态检查中止 + String FUNC_COLD_START_UNREADY = "ISSM_FUNC_COLD_START_UNREADY";//产品状态未就绪 + String FUNC_COLD_START_READY = "ISSM_FUNC_COLD_START_READY";//产品状态就绪 + + String FUNC_AUTO_PILOT_START = "ISSM_FUNC_AUTO_PILOT_START";//产品状态检查开始 + String FUNC_AUTO_PILOT_FINISH = "ISSM_FUNC_AUTO_PILOT_FINISH";//产品状态达成（第一次ready） + String FUNC_AUTO_PILOT_TIMEOUT = "ISSM_FUNC_AUTO_PILOT_TIMEOUT";//产品状态检查超时 + String FUNC_AUTO_PILOT_ABORT = "ISSM_FUNC_AUTO_PILOT_ABORT";//产品状态检查中止 + String FUNC_AUTO_PILOT_UNREADY = "ISSM_FUNC_AUTO_PILOT_UNREADY";//产品状态未就绪 + String FUNC_AUTO_PILOT_READY = "ISSM_FUNC_AUTO_PILOT_READY";//产品状态就绪 + + String FUNC_REMOTE_PILOT_START = "ISSM_FUNC_REMOTE_PILOT_START";//产品状态检查开始 + String FUNC_REMOTE_PILOT_FINISH = "ISSM_FUNC_REMOTE_PILOT_FINISH";//产品状态达成（第一次ready） + String FUNC_REMOTE_PILOT_TIMEOUT = "ISSM_FUNC_REMOTE_PILOT_TIMEOUT";//产品状态检查超时 + String FUNC_REMOTE_PILOT_ABORT = "ISSM_FUNC_REMOTE_PILOT_ABORT";//产品状态检查中止 + String FUNC_REMOTE_PILOT_UNREADY = "ISSM_FUNC_REMOTE_PILOT_UNREADY";//产品状态未就绪 + String FUNC_REMOTE_PILOT_READY = "ISSM_FUNC_REMOTE_PILOT_READY";//产品状态就绪 } interface IAGENT { @@ -427,6 +454,20 @@ public class MogoReport { String TASK_AUTO = "IRECORDER_TASK_AUTO";//自动录包任务创建 String TASK_CMD = "IRECORDER_TASK_CMD";//指令录包任务创建 } + + /** + * 平行驾驶相关 + */ + interface IPARALLEL { + String AICLOUD_CONNECTION_OK = "IPARALLEL_AICLOUD_CONNECTION_OK";//长连接连接恢复后， 5s 内如果长连状态一直 ok 的话，会触发该事件 建议鹰眼展示该事件 + } + + /** + * 车辆处于困境相关 + */ + interface IVEHICLE { + String NOT_IN_TROUBLE = "IVEHICLE_NOT_IN_TROUBLE";//车辆脱离困境，恢复正常，可继续开始自动驾驶了 触发频率：处于困境中，触发一次； 脱困后，触发一次 云端驾舱会接入该事件 建议鹰眼也接入，展示困境状态/脱困状态 + } } } } 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 7baa2838cd..e146fca77c 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 @@ -10,7 +10,8 @@ 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 java.util.HashSet; +import java.util.Set; import mogo_msg.MogoReportMsg; @@ -19,9 +20,28 @@ import mogo_msg.MogoReportMsg; */ public class ReportMessage extends MyAbstractMessageHandler { private final AutopilotReview autopilotReview; + private final Set startAutopilotFailCode = new HashSet();//启动自驾失败Code public ReportMessage(AutopilotReview autopilotReview) { this.autopilotReview = autopilotReview; + initStartAutopilotFailCode(); + } + + private void initStartAutopilotFailCode() { + //ssm_master的失败事件 + startAutopilotFailCode.add(MogoReport.Code.Error.ESYS.AUTOPILOT_FAILED);//在尝试启动自动驾驶，但是超过指定时间后底盘未进入，会发送此事件 + startAutopilotFailCode.add(MogoReport.Code.Error.ESYS.ROUTING_REQ_TIMEOUT);//算路请求响应超时或轨迹加载超时 + startAutopilotFailCode.add(MogoReport.Code.Error.ESYS.PLANNING_CHANGE_FAILIED);//planning切换失败（仅df hq有此事件） + startAutopilotFailCode.add(MogoReport.Code.Error.ESYS.CHECK_TRAJECTORY_FAILURE);//轨迹下载检查不可用 + //controller的失败事件 EMAP_ENTRY_AUTOPILOT_XXX 底盘启动失败 + startAutopilotFailCode.add(MogoReport.Code.Error.EMAP.ENTRY_AUTOPILOT_FOR_CANADAPTER_TIMEOUT);//can_adapter消息超时未进入自驾 + startAutopilotFailCode.add(MogoReport.Code.Error.EMAP.ENTRY_AUTOPILOT_FOR_PLANNING_TIMEOUT);//PLANNING消息超时未进自驾 + startAutopilotFailCode.add(MogoReport.Code.Error.EMAP.ENTRY_AUTOPILOT_FOR_LOCATION_TIMEOUT);//定位消息超时未进自驾 + startAutopilotFailCode.add(MogoReport.Code.Error.EMAP.ENTRY_AUTOPILOT_FOR_BRAKE);//制动踏板干预未进自驾 + startAutopilotFailCode.add(MogoReport.Code.Error.EMAP.ENTRY_AUTOPILOT_FOR_ACCEL);//加速踏板干预未进自驾 + startAutopilotFailCode.add(MogoReport.Code.Error.EMAP.ENTRY_AUTOPILOT_FOR_STEER);//方向盘干预未进自驾 + startAutopilotFailCode.add(MogoReport.Code.Error.EMAP.ENTRY_AUTOPILOT_FOR_GEAR_SWITCH);//档位切换干预未进自驾 + startAutopilotFailCode.add(MogoReport.Code.Error.EMAP.ENTRY_AUTOPILOT_FOR_OTHER_CTL);//其他干预未进自驾，请检查仪表盘和开关项（如双闪，制动灯灯等 可在msg中补充原因信息） } @Override @@ -36,8 +56,8 @@ public class ReportMessage extends MyAbstractMessageHandler { } AdasChannel.calculateTimeConsumingBusiness("监控事件报告", nowTime); //分发自动驾驶启动失败相关回调 - List results = mogoReportMessage.getResultList(); - if (!results.isEmpty() && results.contains(MogoReport.RESULT_AUTOPILOT_DISABLE)) { + String code = mogoReportMessage.getCode(); + if (startAutopilotFailCode.contains(code)) { if (adasListener != null) { adasListener.onStartAutopilotFailed(mogoReportMessage);//启动自动驾驶失败回调 } diff --git a/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/msg/VehicleStateMessage.java b/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/msg/VehicleStateMessage.java index ccfc0ec84d..00381802e6 100644 --- a/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/msg/VehicleStateMessage.java +++ b/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/msg/VehicleStateMessage.java @@ -9,7 +9,10 @@ import com.zhidao.support.adas.high.common.AutopilotAbilityManager; import com.zhidao.support.adas.high.common.CupidLogUtils; import com.zhidao.support.adas.high.protocol.RawData; +import chassis.Chassis; +import chassis.ChassisStatesOuterClass; import chassis.VehicleStateOuterClass; +import common.HeaderOuterClass; /** * 底盘信息, 透传底盘状态，pb参考底盘 @@ -20,7 +23,7 @@ public class VehicleStateMessage extends MyAbstractMessageHandler { public void handlerMsg(RawData raw, OnAdasListener adasListener) throws InvalidProtocolBufferException { VehicleStateOuterClass.VehicleState vehicleState = VehicleStateOuterClass.VehicleState.parser().parseFrom(raw.originalData.toByteArray(), raw.getOffsetValue(), raw.getPackageLengthValue() - raw.getOffsetValue()); AdasChannel.calculateTimeConsumingOnDispatchRaw("底盘信息", raw.receiveTime); - AutopilotAbilityManager.getInstance().setVehicleState(vehicleState); + compatibility(vehicleState); long nowTime = 0; if (CupidLogUtils.isEnableLog()) nowTime = SystemClock.elapsedRealtime(); @@ -30,4 +33,291 @@ public class VehicleStateMessage extends MyAbstractMessageHandler { AdasChannel.calculateTimeConsumingBusiness("底盘信息", nowTime); // CupidLogUtils.e("底盘信息--->" + vehicleState.toString()); } + + /** + * 将老地盘数据转换成新地盘数据 + * 字段注释中 鹰眼已用 的 已和底盘相关开发 确认过，其他字段均为确认对应关系 + * 新底盘中未找到字段： + * parking_brake longitude_driving_mode eps_steering_mode + * steering_sign location_missing trajectory_missing + * chassis_status_missing pilot_mode_condition_met vehicletakeoverstatus + * fuel_value robo_taxi_state robo_bus_state + * robo_bus_jinlv_m1_state + */ + private ChassisStatesOuterClass.ChassisStates compatibility(VehicleStateOuterClass.VehicleState vehicleState) throws InvalidProtocolBufferException { + /**************老地盘转换成新地盘PB***************/ + ChassisStatesOuterClass.ChassisStates.Builder builder = ChassisStatesOuterClass.ChassisStates.newBuilder(); + //工控机所用Header + if (vehicleState.hasHeader()) { + builder.setHeader(HeaderOuterClass.Header.parseFrom(vehicleState.getHeader().toByteArray())); + } + setBCMSystemStates(builder, vehicleState); + setSteerSystemStates(builder, vehicleState); + setGearSystemStates(builder, vehicleState); + setVehicleMotionStates(builder, vehicleState); + setDrivingSystemStates(builder, vehicleState); + setBrakeSystemStates(builder, vehicleState); + setChassisAutopilotAssistanceInformation(builder, vehicleState); + //电子驻车制动系统 + if (vehicleState.hasEpb()) { + Chassis.EPBWorkStatus old = vehicleState.getEpb(); + ChassisStatesOuterClass.EPBWorkStates epb = null; + if (old == Chassis.EPBWorkStatus.EPBSTATUS_NONE) { + epb = ChassisStatesOuterClass.EPBWorkStates.EPB_STATE_NONE; + } else if (old == Chassis.EPBWorkStatus.EPBSTATUS_LOCKED) { + epb = ChassisStatesOuterClass.EPBWorkStates.EPB_STATE_LOCKED; + } else if (old == Chassis.EPBWorkStatus.EPBSTATUS_RELEASED) { + epb = ChassisStatesOuterClass.EPBWorkStates.EPB_STATE_RELEASED; + } else if (old == Chassis.EPBWorkStatus.EPBSTATUS_LOCKED_FAIL) { + epb = ChassisStatesOuterClass.EPBWorkStates.EPB_STATE_LOCKED_FAIL; + } else if (old == Chassis.EPBWorkStatus.EPBSTATUS_RELEASE_FAIL) { + epb = ChassisStatesOuterClass.EPBWorkStates.EPB_STATE_RELEASE_FAIL; + } else if (old == Chassis.EPBWorkStatus.EPBSTATUS_FAULT) { + epb = ChassisStatesOuterClass.EPBWorkStates.EPB_STATE_FAULT; + } + if (epb != null) { + builder.setEpbSystemStates(ChassisStatesOuterClass.EPBSystemStates.newBuilder() + .setEpbWorkState(epb)); + } + } + // 整车故障状态 + if (vehicleState.hasVehiclefaultlevel()) { + Chassis.VehicleFaultLevel vehicleFaultLevel = vehicleState.getVehiclefaultlevel(); + ChassisStatesOuterClass.VehicleFaultLevels vehicleFaultLevels = null; + if (vehicleFaultLevel == Chassis.VehicleFaultLevel.None_Fault) { + vehicleFaultLevels = ChassisStatesOuterClass.VehicleFaultLevels.NONE_FAULT; + } else if (vehicleFaultLevel == Chassis.VehicleFaultLevel.General_Fault) { + vehicleFaultLevels = ChassisStatesOuterClass.VehicleFaultLevels.GENERAL_FAULT; + } else if (vehicleFaultLevel == Chassis.VehicleFaultLevel.Serious_Fault) { + vehicleFaultLevels = ChassisStatesOuterClass.VehicleFaultLevels.SERIOUS_FAULT; + } else if (vehicleFaultLevel == Chassis.VehicleFaultLevel.Critical_Fault) { + vehicleFaultLevels = ChassisStatesOuterClass.VehicleFaultLevels.CRITICAL_FAULT; + } + if (vehicleFaultLevels != null) { + builder.setVehicleChassisFaultInformation(ChassisStatesOuterClass.VehicleChassisFaultInformation.newBuilder() + .setVehiclefaultlevel(vehicleFaultLevels)); + } + } + //电量 + if (vehicleState.hasBmsSoc()) { + builder.setBmsSystemStates(ChassisStatesOuterClass.BMSSystemStates.newBuilder().setBmsSoc(vehicleState.getBmsSoc())); + } + //清扫车（福田）清扫控制系统状态 + if (vehicleState.hasSweeperFutianCleanSystemState()) { + byte[] bytes = vehicleState.getSweeperFutianCleanSystemState().toByteArray(); + builder.setTaskSystemStates(ChassisStatesOuterClass.TaskSystemStates.newBuilder() + .setSweeperFutianTaskSystemStates(ChassisStatesOuterClass.SweeperFuTianTaskSystemStates.parseFrom(bytes)));//鹰眼已用 清扫车专用 + } + ChassisStatesOuterClass.ChassisStates chassisStates = builder.build(); + AutopilotAbilityManager.getInstance().setChassisStates(chassisStates); + return chassisStates; + } + + + private void setChassisAutopilotAssistanceInformation(ChassisStatesOuterClass.ChassisStates.Builder builder, VehicleStateOuterClass.VehicleState vehicleState) { + ChassisStatesOuterClass.ChassisAutopilotAssistanceInformation.Builder chassisAutopilotAssistanceInformation = null; + if (vehicleState.hasPilotMode()) { + chassisAutopilotAssistanceInformation = ChassisStatesOuterClass.ChassisAutopilotAssistanceInformation.newBuilder(); + chassisAutopilotAssistanceInformation.setChassisPilotModeState(vehicleState.getPilotMode()); + } + if (vehicleState.hasEmergencyStopSwitch()) { + if (chassisAutopilotAssistanceInformation == null) { + chassisAutopilotAssistanceInformation = ChassisStatesOuterClass.ChassisAutopilotAssistanceInformation.newBuilder(); + } + // 急停开关状态 + chassisAutopilotAssistanceInformation.setEmergencyStopSwitchState(vehicleState.getEmergencyStopSwitch()); + } + if (chassisAutopilotAssistanceInformation != null) { + builder.setChassisAutopilotAssistanceInformation(chassisAutopilotAssistanceInformation); + } + } + + /** + * 档位 + */ + private void setGearSystemStates(ChassisStatesOuterClass.ChassisStates.Builder builder, VehicleStateOuterClass.VehicleState vehicleState) { + ChassisStatesOuterClass.GearSystemStates.Builder gearSystemStates = null; + if (vehicleState.hasGear()) { + gearSystemStates = ChassisStatesOuterClass.GearSystemStates.newBuilder(); + //挂挡档位数据 + gearSystemStates.setGearPosition(vehicleState.getGear());//鹰眼已用 + } + if (vehicleState.hasGearSwitchInference()) { + if (gearSystemStates == null) { + gearSystemStates = ChassisStatesOuterClass.GearSystemStates.newBuilder(); + } + //档位干预 + gearSystemStates.setGearSwitchInferenceState(vehicleState.getGearSwitchInference()); + } + if (gearSystemStates != null) { + builder.setGearSystemStates(gearSystemStates); + } + } + + /** + * 油门 + */ + private void setDrivingSystemStates(ChassisStatesOuterClass.ChassisStates.Builder builder, VehicleStateOuterClass.VehicleState vehicleState) { + ChassisStatesOuterClass.DrivingSystemStates.Builder drivingSystemStates = null; + if (vehicleState.hasThrottle()) { + drivingSystemStates = ChassisStatesOuterClass.DrivingSystemStates.newBuilder(); + //油门 + drivingSystemStates.setThrottleResponsePosition(vehicleState.getThrottle());//鹰眼已用 + } + if (vehicleState.hasAccelInference()) { + if (drivingSystemStates == null) { + drivingSystemStates = ChassisStatesOuterClass.DrivingSystemStates.newBuilder(); + } + //加速踏板干预 + drivingSystemStates.setAccelerationPedalInferenceState(vehicleState.getAccelInference()); + } + if (drivingSystemStates != null) { + builder.setDrivingSystemStates(drivingSystemStates); + } + } + + /** + * 刹车 + */ + private void setBrakeSystemStates(ChassisStatesOuterClass.ChassisStates.Builder builder, VehicleStateOuterClass.VehicleState vehicleState) { + ChassisStatesOuterClass.BrakeSystemStates.Builder brakeSystemStates = null; + if (vehicleState.hasBrake()) { + brakeSystemStates = ChassisStatesOuterClass.BrakeSystemStates.newBuilder(); + //刹车 + brakeSystemStates.setBrakePedalResponsePosition(vehicleState.getBrake());//鹰眼已用 + } + if (vehicleState.hasBrakeInference()) { + if (brakeSystemStates == null) { + brakeSystemStates = ChassisStatesOuterClass.BrakeSystemStates.newBuilder(); + } + //刹车干预 + brakeSystemStates.setBrakePedalInferenceState(vehicleState.getBrakeInference()); + } + if (brakeSystemStates != null) { + builder.setBrakeSystemStates(brakeSystemStates); + } + } + + /** + * 方向盘 + */ + private void setSteerSystemStates(ChassisStatesOuterClass.ChassisStates.Builder builder, VehicleStateOuterClass.VehicleState vehicleState) { + ChassisStatesOuterClass.SteerSystemStates.Builder steerSystemStates = null; + if (vehicleState.hasSteering()) { + steerSystemStates = ChassisStatesOuterClass.SteerSystemStates.newBuilder(); + //方向盘转向角数据 + steerSystemStates.setSteeringWheelAngle(vehicleState.getSteering());//鹰眼已用 + } + if (vehicleState.hasSteerInference()) { + if (steerSystemStates == null) { + steerSystemStates = ChassisStatesOuterClass.SteerSystemStates.newBuilder(); + } + //方向盘干预 + steerSystemStates.setSteeringWheelInferenceState(vehicleState.getSteerInference()); + } + if (vehicleState.hasSteeringSpd()) { + if (steerSystemStates == null) { + steerSystemStates = ChassisStatesOuterClass.SteerSystemStates.newBuilder(); + } + steerSystemStates.setSteeringWheelSpeed(vehicleState.getSteeringSpd()); + } + if (vehicleState.hasLeftFrontWheelAngle()) { + if (steerSystemStates == null) { + steerSystemStates = ChassisStatesOuterClass.SteerSystemStates.newBuilder(); + } + steerSystemStates.setFrontLeftWheelAngle(vehicleState.getLeftFrontWheelAngle()); + } + if (vehicleState.hasRightFrontWheelAngle()) { + if (steerSystemStates == null) { + steerSystemStates = ChassisStatesOuterClass.SteerSystemStates.newBuilder(); + } + steerSystemStates.setFrontRightWheelAngle(vehicleState.getRightFrontWheelAngle()); + } + if (steerSystemStates != null) { + builder.setSteerSystemStates(steerSystemStates); + } + } + + private void setVehicleMotionStates(ChassisStatesOuterClass.ChassisStates.Builder builder, VehicleStateOuterClass.VehicleState vehicleState) { + ChassisStatesOuterClass.VehicleMotionStates.Builder vehicleMotionStates = null; + if (vehicleState.hasSpeed()) { + vehicleMotionStates = ChassisStatesOuterClass.VehicleMotionStates.newBuilder(); + vehicleMotionStates.setSpeed(vehicleState.getSpeed()); + } + if (vehicleState.hasAccel()) { + if (vehicleMotionStates == null) { + vehicleMotionStates = ChassisStatesOuterClass.VehicleMotionStates.newBuilder(); + } + //加速度 + vehicleMotionStates.setAcceleration(vehicleState.getAccel());//鹰眼已用 + } + if (vehicleMotionStates != null) { + builder.setVehicleMotionStates(vehicleMotionStates); + } + } + + /** + * 车身控制模块 + */ + private void setBCMSystemStates(ChassisStatesOuterClass.ChassisStates.Builder builder, VehicleStateOuterClass.VehicleState vehicleState) { + ChassisStatesOuterClass.BCMSystemStates.Builder bcmSystemStates = null; + if (vehicleState.hasLight()) { + bcmSystemStates = ChassisStatesOuterClass.BCMSystemStates.newBuilder(); + //转向灯数据 + bcmSystemStates.setTurnLightState(vehicleState.getLight());//鹰眼已用 + } + if (vehicleState.hasBrakeLightStatus()) { + if (bcmSystemStates == null) { + bcmSystemStates = ChassisStatesOuterClass.BCMSystemStates.newBuilder(); + } + //刹车灯数据 + bcmSystemStates.setBrakeLightState(vehicleState.getBrakeLightStatus() ? 1 : 0);//鹰眼已用 + } + if (vehicleState.hasHorn()) { + if (bcmSystemStates == null) { + bcmSystemStates = ChassisStatesOuterClass.BCMSystemStates.newBuilder(); + } + //鸣笛 + bcmSystemStates.setHornState(vehicleState.getHorn() ? 1 : 0); + } + if (vehicleState.hasHighbeam()) { + if (bcmSystemStates == null) { + bcmSystemStates = ChassisStatesOuterClass.BCMSystemStates.newBuilder(); + } + //远光灯 + bcmSystemStates.setHighbeamState(vehicleState.getHighbeam() ? 1 : 0); + } + if (vehicleState.hasLowbeam()) { + if (bcmSystemStates == null) { + bcmSystemStates = ChassisStatesOuterClass.BCMSystemStates.newBuilder(); + } + //近光灯 + bcmSystemStates.setLowbeamState(vehicleState.getLowbeam() ? 1 : 0); + } + if (vehicleState.hasFoglight()) { + if (bcmSystemStates == null) { + bcmSystemStates = ChassisStatesOuterClass.BCMSystemStates.newBuilder(); + } + //雾灯 新底盘分前后雾灯 老地盘只有一个 所以同时赋值 + bcmSystemStates.setFrontFoglightState(vehicleState.getFoglight() ? 1 : 0); + bcmSystemStates.setBackFoglightState(vehicleState.getFoglight() ? 1 : 0); + } + if (vehicleState.hasClearanceLamps()) { + if (bcmSystemStates == null) { + bcmSystemStates = ChassisStatesOuterClass.BCMSystemStates.newBuilder(); + } + //示廓灯 + bcmSystemStates.setClearanceLampsState(vehicleState.getClearanceLamps() ? 1 : 0); + } + if (vehicleState.hasWarnLight()) { + if (bcmSystemStates == null) { + bcmSystemStates = ChassisStatesOuterClass.BCMSystemStates.newBuilder(); + } + //报警灯 + bcmSystemStates.setAlarmLightState(vehicleState.getWarnLight() ? 1 : 0); + } + if (bcmSystemStates != null) { + builder.setBcmSystemStates(bcmSystemStates); + } + } } diff --git a/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/thread/DispatchHandler.java b/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/thread/DispatchHandler.java index b33334ba03..0ed67b9cc9 100644 --- a/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/thread/DispatchHandler.java +++ b/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/thread/DispatchHandler.java @@ -22,11 +22,16 @@ import mogo.telematics.pad.MessagePad; public class DispatchHandler { private final MessagePad.MessageType messageType; private final OnDispatchHandlerListener listener; + private static final int WHAT_DISPATCH = 999999; private HandlerThread mThread; private BaseHandler mBaseHandler; public interface OnDispatchHandlerListener { - void onDispatchRaw(MessagePad.MessageType name, RawData raw); + void onHandler(MessagePad.MessageType type, Handler handler); + + void onHandleMessage(MessagePad.MessageType type, Message msg); + + void onDispatchRaw(MessagePad.MessageType type, RawData raw); } @@ -35,6 +40,16 @@ public class DispatchHandler { this.messageType = messageType; } + public void start() { + if (mThread == null) { + String name = "Dispatch-" + messageType.name().replace("MsgType", ""); + mThread = new HandlerThread(name); + mThread.start(); + initHandler(mThread.getLooper()); + listener.onHandler(messageType, mBaseHandler); + } + } + public void stop() { if (mBaseHandler != null) { mBaseHandler.removeCallbacksAndMessages(null); @@ -47,14 +62,10 @@ public class DispatchHandler { } public void sendRawMessage(RawData raw) { - if (mThread == null) { - String name = "Dispatch-" + messageType.name().replace("MsgType", ""); - mThread = new HandlerThread(name); - mThread.start(); - initHandler(mThread.getLooper()); - } + start(); Message msg = Message.obtain(); msg.obj = raw; + msg.what = WHAT_DISPATCH; mBaseHandler.sendMessage(msg); } @@ -67,16 +78,19 @@ public class DispatchHandler { * @param msg */ protected void handleMessage(Message msg) { - //TODO 计算耗时 临时测试 - if (CupidLogUtils.isEnableLog()) - if (Build.VERSION.SDK_INT >= Build.VERSION_CODES.M) { - if (mThread != null) { - MessageQueue queue = mThread.getLooper().getQueue(); - CupidLogUtils.i("TimeConsuming", mThread.getName() + " 当前消息队列是否处于空闲状态=" + queue.isIdle()); + if (msg.what == WHAT_DISPATCH) { + //TODO 计算耗时 临时测试 + if (CupidLogUtils.isEnableLog()) + if (Build.VERSION.SDK_INT >= Build.VERSION_CODES.M) { + if (mThread != null) { + MessageQueue queue = mThread.getLooper().getQueue(); + CupidLogUtils.i("TimeConsuming", mThread.getName() + " 当前消息队列是否处于空闲状态=" + queue.isIdle()); + } } - - } - listener.onDispatchRaw(messageType, (RawData) msg.obj); + listener.onDispatchRaw(messageType, (RawData) msg.obj); + } else { + listener.onHandleMessage(messageType, msg); + } } /**