diff --git a/app/script/vehicleFlavors/ochDFHQ.gradle b/app/script/vehicleFlavors/ochDFHQ.gradle index 07645b6903..8ee3dea128 100644 --- a/app/script/vehicleFlavors/ochDFHQ.gradle +++ b/app/script/vehicleFlavors/ochDFHQ.gradle @@ -16,8 +16,8 @@ project.android.productFlavors { // ②构建的是否要动态更换模型 buildConfigField 'boolean', 'IS_CAR_MODEL_CHANGE', 'true' - // ③不能启动自驾的档位 - buildConfigField 'java.util.Set', 'UNABLE_LAUNCH_AUTOPILOT_GEAR', 'new java.util.HashSet(){{add(chassis.Chassis.GearPosition.GEAR_P);add(chassis.Chassis.GearPosition.GEAR_R);}}' + // ③能启动自驾的档位 MAP<360代码中会移除P档 + buildConfigField 'java.util.Set', 'LAUNCH_AUTOPILOT_GEAR', 'new java.util.HashSet(){{add(chassis.Chassis.GearPosition.GEAR_D);add(chassis.Chassis.GearPosition.GEAR_N);add(chassis.Chassis.GearPosition.GEAR_P);}}' } diff --git a/app/script/vehicleFlavors/ochFT.gradle b/app/script/vehicleFlavors/ochFT.gradle index fbc9a66f09..41f4b6cd7b 100644 --- a/app/script/vehicleFlavors/ochFT.gradle +++ b/app/script/vehicleFlavors/ochFT.gradle @@ -15,7 +15,7 @@ project.android.productFlavors { // ②构建的是否要动态更换模型 buildConfigField 'boolean', 'IS_CAR_MODEL_CHANGE', 'true' - // ③不能启动自驾的档位 - buildConfigField 'java.util.Set', 'UNABLE_LAUNCH_AUTOPILOT_GEAR', 'null' + // ③能启动自驾的档位 + buildConfigField 'java.util.Set', 'LAUNCH_AUTOPILOT_GEAR', 'null' } } \ No newline at end of file diff --git a/app/script/vehicleFlavors/ochJL.gradle b/app/script/vehicleFlavors/ochJL.gradle index 51396a0233..5821f84474 100644 --- a/app/script/vehicleFlavors/ochJL.gradle +++ b/app/script/vehicleFlavors/ochJL.gradle @@ -16,7 +16,7 @@ project.android.productFlavors { // ②构建的是否要动态更换模型 buildConfigField 'boolean', 'IS_CAR_MODEL_CHANGE', 'true' - // ③不能启动自驾的档位 - buildConfigField 'java.util.Set', 'UNABLE_LAUNCH_AUTOPILOT_GEAR', 'new java.util.HashSet(){{add(chassis.Chassis.GearPosition.GEAR_N);add(chassis.Chassis.GearPosition.GEAR_R);}}' + // ③能启动自驾的档位 + buildConfigField 'java.util.Set', 'LAUNCH_AUTOPILOT_GEAR', 'new java.util.HashSet(){{add(chassis.Chassis.GearPosition.GEAR_D);}}' } } \ No newline at end of file diff --git a/app/script/vehicleFlavors/ochM1.gradle b/app/script/vehicleFlavors/ochM1.gradle index b4c2f4071e..a00868473c 100644 --- a/app/script/vehicleFlavors/ochM1.gradle +++ b/app/script/vehicleFlavors/ochM1.gradle @@ -13,9 +13,8 @@ project.android.productFlavors { // ①标识构建的应用身份类型，具体查看 README.md APP_IDENTITY_MODE规则 buildConfigField 'String', 'APP_IDENTITY_MODE_TAIL', "\"M1\"" - // ②构建的是否要动态更换模型 - buildConfigField 'java.util.Set', 'UNABLE_LAUNCH_AUTOPILOT_GEAR', 'null' - + // ②M1能启动自驾的档位 + buildConfigField 'java.util.Set', 'LAUNCH_AUTOPILOT_GEAR', 'new java.util.HashSet(){{add(chassis.Chassis.GearPosition.GEAR_D);}}' // ③不能启动自驾的档位 buildConfigField 'boolean', 'IS_CAR_MODEL_CHANGE', 'false' diff --git a/app/script/vehicleFlavors/ochM2.gradle b/app/script/vehicleFlavors/ochM2.gradle index b7d7988e75..dd3e198dad 100644 --- a/app/script/vehicleFlavors/ochM2.gradle +++ b/app/script/vehicleFlavors/ochM2.gradle @@ -16,7 +16,7 @@ project.android.productFlavors { // ②构建的是否要动态更换模型 buildConfigField 'boolean', 'IS_CAR_MODEL_CHANGE', 'false' - // ③M2不能启动自驾的档位 - buildConfigField 'java.util.Set', 'UNABLE_LAUNCH_AUTOPILOT_GEAR', 'new java.util.HashSet(){{add(chassis.Chassis.GearPosition.GEAR_N);add(chassis.Chassis.GearPosition.GEAR_P);add(chassis.Chassis.GearPosition.GEAR_R);}}' + // ③M2能启动自驾的档位 + buildConfigField 'java.util.Set', 'LAUNCH_AUTOPILOT_GEAR', 'new java.util.HashSet(){{add(chassis.Chassis.GearPosition.GEAR_D);}}' } } \ No newline at end of file diff --git a/app/src/main/java/com/mogo/launcher/startup/ConfigStartUp.kt b/app/src/main/java/com/mogo/launcher/startup/ConfigStartUp.kt index 6c1f1e6e8b..ba8f154e2c 100644 --- a/app/src/main/java/com/mogo/launcher/startup/ConfigStartUp.kt +++ b/app/src/main/java/com/mogo/launcher/startup/ConfigStartUp.kt @@ -45,7 +45,7 @@ object ConfigStartUp { // 各个module需要的url FunctionBuildConfig.urlJson = GsonUtils.fromJson(BuildConfig.URLs, UrlConfig::class.java) //不能启动自动驾驶的档位 - FunctionBuildConfig.unableLaunchAutopilotGear = BuildConfig.UNABLE_LAUNCH_AUTOPILOT_GEAR + FunctionBuildConfig.launchAutopilotGear = BuildConfig.LAUNCH_AUTOPILOT_GEAR // 各车型宣传视频本地配置json FunctionBuildConfig.mediaUrlConfig = BuildConfig.mediaUrlConfig FunctionBuildConfig.musicUrlConfig = BuildConfig.musicUrlConfig diff --git a/core/function-impl/mogo-core-function-datacenter/src/main/java/com/mogo/eagle/core/function/datacenter/autopilot/MoGoAutopilotControlProvider.kt b/core/function-impl/mogo-core-function-datacenter/src/main/java/com/mogo/eagle/core/function/datacenter/autopilot/MoGoAutopilotControlProvider.kt index bfdfffcc4c..b932142efa 100644 --- a/core/function-impl/mogo-core-function-datacenter/src/main/java/com/mogo/eagle/core/function/datacenter/autopilot/MoGoAutopilotControlProvider.kt +++ b/core/function-impl/mogo-core-function-datacenter/src/main/java/com/mogo/eagle/core/function/datacenter/autopilot/MoGoAutopilotControlProvider.kt @@ -132,7 +132,7 @@ class MoGoAutopilotControlProvider : .setEnableCertification(SharedPrefsMgr.getInstance().getBoolean("${MoGoConfig.AUTOPILOT_CERTIFICATION}-${DebugConfig.getNetMode()}", MoGoConfig.AUTOPILOT_CERTIFICATION_DEFAULT_VALUE)) .setRootCrt(CallerCloudCertManager.getRootCrtFDecode()) .setDeviceCrt(CallerCloudCertManager.getDeviceCrtFDecode()) - .setUnableLaunchAutopilotGear(FunctionBuildConfig.unableLaunchAutopilotGear) + .setLaunchAutopilotGear(FunctionBuildConfig.launchAutopilotGear) // .setSubscribeInterfaceOptions(subscribeInterfaceOptions)// .build() @@ -228,7 +228,7 @@ class MoGoAutopilotControlProvider : val options = AdasOptions .newBuilder() .setPassenger(true) - .setUnableLaunchAutopilotGear(FunctionBuildConfig.unableLaunchAutopilotGear) + .setLaunchAutopilotGear(FunctionBuildConfig.launchAutopilotGear) .build() AdasManager.getInstance() .create(mContext, options, MoGoAdasMsgConnectStatusListenerImpl()) @@ -263,7 +263,7 @@ class MoGoAutopilotControlProvider : .setEnableCertification(SharedPrefsMgr.getInstance().getBoolean("${MoGoConfig.AUTOPILOT_CERTIFICATION}-${DebugConfig.getNetMode()}", MoGoConfig.AUTOPILOT_CERTIFICATION_DEFAULT_VALUE)) .setRootCrt(CallerCloudCertManager.getRootCrtFDecode()) .setDeviceCrt(CallerCloudCertManager.getDeviceCrtFDecode()) - .setUnableLaunchAutopilotGear(FunctionBuildConfig.unableLaunchAutopilotGear) + .setLaunchAutopilotGear(FunctionBuildConfig.launchAutopilotGear) .build() AdasManager.getInstance().create(mContext, 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-datacenter/src/main/java/com/mogo/eagle/core/function/datacenter/autopilot/adapter/MoGoAdasListenerImpl.kt b/core/function-impl/mogo-core-function-datacenter/src/main/java/com/mogo/eagle/core/function/datacenter/autopilot/adapter/MoGoAdasListenerImpl.kt index a98e8ef5cb..75d46a51f9 100644 --- a/core/function-impl/mogo-core-function-datacenter/src/main/java/com/mogo/eagle/core/function/datacenter/autopilot/adapter/MoGoAdasListenerImpl.kt +++ b/core/function-impl/mogo-core-function-datacenter/src/main/java/com/mogo/eagle/core/function/datacenter/autopilot/adapter/MoGoAdasListenerImpl.kt @@ -1,6 +1,7 @@ package com.mogo.eagle.core.function.datacenter.autopilot.adapter import bag_manager.BagManagerOuterClass +import chassis.Chassis import chassis.ChassisStatesOuterClass import chassis.VehicleStateOuterClass import com.mogo.eagle.core.data.app.AppConfigInfo @@ -169,7 +170,7 @@ class MoGoAdasListenerImpl : OnAdasListener { ) { if (vehicleState != null) { //转向灯数据 - CallerChassisLamplightListenerManager.invokeAutopilotLightSwitchData(vehicleState.light) +// CallerChassisLamplightListenerManager.invokeAutopilotLightSwitchData(vehicleState.light) //刹车灯数据 CallerChassisLamplightListenerManager.invokeAutopilotBrakeLightData(vehicleState.brakeLightStatus) //方向盘转向角数据 @@ -231,10 +232,10 @@ class MoGoAdasListenerImpl : OnAdasListener { ) { if (chassisStates != null) { chassisStates.bcmSystemStates?.let { bcmSystemStates -> - bcmSystemStates.turnLightState?.let { - //转向灯数据 - CallerChassisLamplightListenerManager.invokeAutopilotLightSwitchData(it) - } +// bcmSystemStates.turnLightState?.let { +// //转向灯数据 +// CallerChassisLamplightListenerManager.invokeAutopilotLightSwitchData(it) +// } //刹车灯数据 CallerChassisLamplightListenerManager.invokeAutopilotBrakeLightData(bcmSystemStates.brakeLightState != 0) } @@ -277,6 +278,19 @@ class MoGoAdasListenerImpl : OnAdasListener { } } + /** + * 底盘车灯状态 转换过的可以直接使用 + * 例如： + * 原始右转数据： 0 2 0 2 0 2。。。 + * 转换之后数据： 2 2 2 2 2 2。。。 + * + * @param light 车灯 目前域控发送车灯有 左传{@link Chassis.LightSwitch#LIGHT_LEFT} 右转{@link Chassis.LightSwitch#LIGHT_RIGHT} 危险报警灯{@link Chassis.LightSwitch#LIGHT_FLASH} + */ + override fun onLightSwitch(light: Chassis.LightSwitch) { + //转向灯数据 + CallerChassisLamplightListenerManager.invokeAutopilotLightSwitchData(light) + } + //自动驾驶状态 @ChainLog( linkChainLog = CHAIN_TYPE_SOCKET_AUTOPILOT, diff --git a/core/mogo-core-data/src/main/java/com/mogo/eagle/core/data/config/FunctionBuildConfig.kt b/core/mogo-core-data/src/main/java/com/mogo/eagle/core/data/config/FunctionBuildConfig.kt index 8adf15a6c3..cdf8180f9d 100644 --- a/core/mogo-core-data/src/main/java/com/mogo/eagle/core/data/config/FunctionBuildConfig.kt +++ b/core/mogo-core-data/src/main/java/com/mogo/eagle/core/data/config/FunctionBuildConfig.kt @@ -302,7 +302,7 @@ object FunctionBuildConfig { */ @Volatile @JvmField - var unableLaunchAutopilotGear: Set? = null + var launchAutopilotGear: Set? = null /** * 当前应用是否支持patch升级 diff --git a/core/mogo-core-function-call/src/main/java/com/mogo/eagle/core/function/call/autopilot/CallerChassisLamplightListenerManager.kt b/core/mogo-core-function-call/src/main/java/com/mogo/eagle/core/function/call/autopilot/CallerChassisLamplightListenerManager.kt index a18985d90d..0eead86298 100644 --- a/core/mogo-core-function-call/src/main/java/com/mogo/eagle/core/function/call/autopilot/CallerChassisLamplightListenerManager.kt +++ b/core/mogo-core-function-call/src/main/java/com/mogo/eagle/core/function/call/autopilot/CallerChassisLamplightListenerManager.kt @@ -17,10 +17,10 @@ object CallerChassisLamplightListenerManager : CallerBase unableLaunchAutopilotGear) { - AutopilotAbilityManager.getInstance().setUnableLaunchAutopilotGear(unableLaunchAutopilotGear); + public void setLaunchAutopilotGear(@Nullable Set launchAutopilotGear) { + AutopilotAbilityManager.getInstance().setLaunchAutopilotGear(launchAutopilotGear); } /** diff --git a/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/AdasManager.java b/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/AdasManager.java index b85ecec0d1..f29f121e3c 100644 --- a/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/AdasManager.java +++ b/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/AdasManager.java @@ -4,6 +4,7 @@ import android.content.Context; import android.text.TextUtils; import androidx.annotation.NonNull; +import androidx.annotation.Nullable; import com.google.protobuf.ByteString; import com.zhidao.support.adas.high.bean.VersionCompatibility; @@ -1794,13 +1795,13 @@ public class AdasManager implements IAdasNetCommApi { } /** - * 设置不能启动自动驾驶的档位 + * 设置可以启动自动驾驶的档位 * - * @param unableLaunchAutopilotGear 不能起自驾档位 + * @param launchAutopilotGear 能起自驾档位 null表示所有档位都可启动 */ @Override - public void setUnableLaunchAutopilotGear(Set unableLaunchAutopilotGear) { - AutopilotAbilityManager.getInstance().setUnableLaunchAutopilotGear(unableLaunchAutopilotGear); + public void setLaunchAutopilotGear(@Nullable Set launchAutopilotGear) { + AutopilotAbilityManager.getInstance().setLaunchAutopilotGear(launchAutopilotGear); } /** 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 a72b8ba6ed..8f3d61adf1 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 @@ -51,7 +51,7 @@ public class AdasOptions { private final String deviceCrt; private final boolean isAutoConnect; private final Set subscribeInterfaceOptions; - private final Set unableLaunchAutopilotGear; + private final Set launchAutopilotGear; private AdasOptions(Builder builder) { @@ -66,7 +66,7 @@ public class AdasOptions { this.deviceCrt = builder.deviceCrt; this.isAutoConnect = builder.isAutoConnect; this.subscribeInterfaceOptions = builder.subscribeInterfaceOptions; - this.unableLaunchAutopilotGear = builder.unableLaunchAutopilotGear; + this.launchAutopilotGear = builder.launchAutopilotGear; } public boolean isPassenger() { @@ -113,8 +113,8 @@ public class AdasOptions { return subscribeInterfaceOptions; } - public Set getUnableLaunchAutopilotGear() { - return unableLaunchAutopilotGear; + public Set getLaunchAutopilotGear() { + return launchAutopilotGear; } public static Builder newBuilder() { @@ -141,7 +141,7 @@ public class AdasOptions { private String deviceCrt; private boolean isAutoConnect = DEFAULT.IS_AUTO_CONNECT; private Set subscribeInterfaceOptions; - private Set unableLaunchAutopilotGear; + private Set launchAutopilotGear; private Builder() { @@ -159,7 +159,7 @@ public class AdasOptions { this.deviceCrt = options.deviceCrt; this.isAutoConnect = options.isAutoConnect; this.subscribeInterfaceOptions = options.subscribeInterfaceOptions; - this.unableLaunchAutopilotGear = options.unableLaunchAutopilotGear; + this.launchAutopilotGear = options.launchAutopilotGear; } @@ -276,8 +276,8 @@ public class AdasOptions { /** * 设备证书 * 启用认证后如果不传递，必须在调用以下方法时传递 - * {@link AdasManager#sendBasicInfoResp(String, AdasConstants.Environment, AdasConstants.TerminalRole, String)} - * {@link AdasManager#sendBasicInfoResp(String, AdasConstants.Environment, AdasConstants.TerminalRole, int, String, String)} + * {@link AdasManager#sendBasicInfoResp(String, int, int, String)} + * {@link AdasManager#sendBasicInfoResp(String, int, int, int, String, String)} * * @param deviceCrt root证书 * @return Builder @@ -325,13 +325,13 @@ public class AdasOptions { } /** - * 不能启动自驾的档位 + * 能启动自驾的档位 * - * @param unableLaunchAutopilotGear 档位 + * @param launchAutopilotGear 能起自驾档位 null表示所有档位都可启动 * @return Builder */ - public Builder setUnableLaunchAutopilotGear(Set unableLaunchAutopilotGear) { - this.unableLaunchAutopilotGear = unableLaunchAutopilotGear; + public Builder setLaunchAutopilotGear(Set launchAutopilotGear) { + this.launchAutopilotGear = launchAutopilotGear; return this; } diff --git a/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/IAdasNetCommApi.java b/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/IAdasNetCommApi.java index c1e78865be..5ba39f8bf5 100644 --- a/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/IAdasNetCommApi.java +++ b/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/IAdasNetCommApi.java @@ -1,6 +1,7 @@ package com.zhidao.support.adas.high; import androidx.annotation.NonNull; +import androidx.annotation.Nullable; import com.zhidao.support.adas.high.bean.VersionCompatibility; import com.zhidao.support.adas.high.common.Constants; @@ -145,11 +146,11 @@ public interface IAdasNetCommApi { void setAutoConnect(boolean enable); /** - * 设置不能启动自动驾驶的档位 + * 设置可以启动自动驾驶的档位 * - * @param unableLaunchAutopilotGear 不能起自驾档位 + * @param launchAutopilotGear 能起自驾档位 null表示所有档位都可启动 */ - void setUnableLaunchAutopilotGear(Set unableLaunchAutopilotGear); + void setLaunchAutopilotGear(@Nullable Set launchAutopilotGear); /** * 自动驾驶设备基础信息应答 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 d50e61c691..d854e887cd 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 @@ -26,6 +26,7 @@ import com.zhjt.mogo.adas.data.sweeper.task.stop.SweeperTaskStop; import java.util.ArrayList; import bag_manager.BagManagerOuterClass; +import chassis.Chassis; import chassis.ChassisStatesOuterClass; import chassis.VehicleStateOuterClass; import fault_management.FmInfo; @@ -98,6 +99,16 @@ public interface OnAdasListener { */ void onChassisStates(MessagePad.Header header, ChassisStatesOuterClass.ChassisStates chassisStates); + /** + * 底盘车灯状态 转换过的可以直接使用 + * 例如： + * 原始右转数据： 0 2 0 2 0 2。。。 + * 转换之后数据： 2 2 2 2 2 2。。。 + * + * @param light 车灯 目前域控发送车灯有 左传{@link Chassis.LightSwitch#LIGHT_LEFT} 右转{@link Chassis.LightSwitch#LIGHT_RIGHT} 危险报警灯{@link Chassis.LightSwitch#LIGHT_FLASH} + */ + void onLightSwitch(@NonNull Chassis.LightSwitch light); + /** * 自动驾驶状态 * diff --git a/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/common/TurnLightState.java b/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/common/TurnLightState.java new file mode 100644 index 0000000000..bba6036d87 --- /dev/null +++ b/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/common/TurnLightState.java @@ -0,0 +1,34 @@ +package com.zhidao.support.adas.high.common; + +public class TurnLightState { + private boolean m_state; + private double m_lastOnTime; + + public TurnLightState() { + init(); + } + + public void init() { + this.m_state = false; + this.m_lastOnTime = 0.0; + } + + public boolean update(boolean state) { + long t = System.currentTimeMillis(); + if (state) { + // on! + m_state = true; + m_lastOnTime = t; + } else { + // off? + if (m_state && (t - m_lastOnTime > 500)) { + m_state = false; + } + } + return m_state; + } + + public boolean getState() { + return m_state; + } +} diff --git a/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/common/autopilot/ability/AutopilotAbility230.java b/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/common/autopilot/ability/AutopilotAbility230.java index 28fa9577d5..9a0aebe96f 100644 --- a/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/common/autopilot/ability/AutopilotAbility230.java +++ b/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/common/autopilot/ability/AutopilotAbility230.java @@ -1,5 +1,7 @@ package com.zhidao.support.adas.high.common.autopilot.ability; +import androidx.annotation.NonNull; + import com.zhjt.mogo.adas.data.bean.UnableLaunchData; import com.zhjt.mogo.adas.data.bean.UnableLaunchReason; @@ -7,9 +9,6 @@ import java.util.ArrayList; import java.util.Timer; import java.util.TimerTask; -import chassis.Chassis; -import chassis.ChassisStatesOuterClass; - /** * 是否可以启动自动驾驶能力检测 工控机版本>=230&& <250 使用此类 * 目前监控了底盘的一些状态和查询节点状态应答的数据 @@ -17,58 +16,27 @@ import chassis.ChassisStatesOuterClass; *

* 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 AutopilotAbility230 { - private static final String TAG = AutopilotAbility230.class.getSimpleName(); +public class AutopilotAbility230 extends BaseAutopilotAbilityChassis { private volatile Timer timer; - private ChassisStatesOuterClass.ChassisStates chassisStates; - private OnAutopilotAbilityListener listener; - protected AutopilotAbility230() { - } - - - protected void setChassisStates(ChassisStatesOuterClass.ChassisStates chassisStates) { - this.chassisStates = chassisStates; + public AutopilotAbility230(@NonNull AutopilotAbilityManager manager) { + super(manager); } private void onCallback() { - boolean isAutopilotAbility = true;//是否能启动自动驾驶 + ArrayList unableAutopilotReasons = null;//不能启动自动驾驶原因 - //检测底盘相关 - if (chassisStates != null) { - if (chassisStates.hasBrakeSystemStates()) { - float brake = chassisStates.getBrakeSystemStates().getBrakePedalResponsePosition(); - if (brake > 0) { - isAutopilotAbility = false; - unableAutopilotReasons = AutopilotAbilityManager.getInstance().addUnableAutopilotReason(unableAutopilotReasons, UnableLaunchReason.SourceType.CHASSIS, UnableLaunchReason.UnableType.CHASSIS_BRAKE, AutopilotAbilityManager.REASON_CHASSIS_BRAKE); - } - } - if (chassisStates.hasGearSystemStates()) { - Chassis.GearPosition gear = chassisStates.getGearSystemStates().getGearPosition(); - if (!AutopilotAbilityManager.getInstance().isLaunchAutopilot(gear)) { - isAutopilotAbility = false; - unableAutopilotReasons = AutopilotAbilityManager.getInstance().addUnableAutopilotReason(unableAutopilotReasons, UnableLaunchReason.SourceType.CHASSIS, UnableLaunchReason.UnableType.CHASSIS_GEAR, AutopilotAbilityManager.REASON_CHASSIS_GEAR); - } - } - //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 - -// //电子驻车制动系统 -// if (chassisStates.hasEpbSystemStates()) { -// ChassisStatesOuterClass.EPBSystemStates epb = chassisStates.getEpbSystemStates(); -// if (epb.hasEpbEnableState()){ -// epb.getEpbWorkState(); -// } -// } - - } + unableAutopilotReasons = onCallbackChassis(unableAutopilotReasons); if (listener != null) { + boolean isAutopilotAbility = unableAutopilotReasons == null || unableAutopilotReasons.isEmpty();//是否能启动自动驾驶 listener.onAutopilotAbility(isAutopilotAbility, new UnableLaunchData(this.getClass().getSimpleName(), null, null, null), unableAutopilotReasons); } } - protected synchronized void start(OnAutopilotAbilityListener listener) { - this.listener = listener; + @Override + public synchronized void start(OnAutopilotAbilityListener listener) { + super.start(listener); if (timer == null) { timer = new Timer(); timer.schedule(new TimerTask() { @@ -80,12 +48,13 @@ public class AutopilotAbility230 { } } + + @Override protected synchronized void stop() { if (timer != null) { timer.cancel(); timer = null; } - this.chassisStates = null; - this.listener = null; + super.stop(); } } diff --git a/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/common/autopilot/ability/AutopilotAbility250.java b/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/common/autopilot/ability/AutopilotAbility250.java index 2d5c7cbdd2..96abff9b14 100644 --- a/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/common/autopilot/ability/AutopilotAbility250.java +++ b/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/common/autopilot/ability/AutopilotAbility250.java @@ -1,5 +1,7 @@ package com.zhidao.support.adas.high.common.autopilot.ability; +import androidx.annotation.NonNull; + import com.zhidao.support.adas.high.AdasManager; import com.zhidao.support.adas.high.common.CupidLogUtils; import com.zhjt.mogo.adas.data.bean.UnableLaunchData; @@ -10,9 +12,6 @@ import java.util.List; import java.util.Timer; import java.util.TimerTask; -import chassis.Chassis; -import chassis.ChassisStatesOuterClass; -import chassis.VehicleStateOuterClass; import system_master.SystemStatusInfo; /** @@ -22,24 +21,13 @@ import system_master.SystemStatusInfo; *

* 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 AutopilotAbility250 { - private static final String TAG = AutopilotAbility250.class.getSimpleName(); +public class AutopilotAbility250 extends BaseAutopilotAbilityChassis { private volatile Timer timer; - private ChassisStatesOuterClass.ChassisStates chassisStates; - private VehicleStateOuterClass.VehicleState vehicleState; - private int mapVersion = -1;//MAP版本 private int masterVersion = -1;//Master版本 - private boolean isHQ = false;//是否是HQ - private boolean isDF = false;//是否是DF - private boolean isM1 = false;//是否是M1 - private OnAutopilotAbilityListener listener; - protected AutopilotAbility250(int mapVersion, boolean isHQ, boolean isDF, boolean isM1) { - this.mapVersion = mapVersion; - this.isHQ = isHQ; - this.isDF = isDF; - this.isM1 = isM1; - this.masterVersion = -1; + + public AutopilotAbility250(@NonNull AutopilotAbilityManager manager) { + super(manager); } @@ -47,16 +35,8 @@ public class AutopilotAbility250 { onCallback(statusInfo); } - protected void setChassisStates(ChassisStatesOuterClass.ChassisStates chassisStates) { - this.chassisStates = chassisStates; - } - - protected void setVehicleState(VehicleStateOuterClass.VehicleState vehicleState) { - this.vehicleState = vehicleState; - } private void onCallback(SystemStatusInfo.StatusInfo statusInfo) { - boolean isAutopilotAbility = true;//是否能启动自动驾驶 ArrayList unableAutopilotReasons = null;//不能启动自动驾驶原因 //检测节点状态相关 if (statusInfo != null) { @@ -67,13 +47,11 @@ public class AutopilotAbility250 { CupidLogUtils.i(TAG, "MasterVersion=" + masterVersion); //SSM 3版本兼容 if (mapVersion >= 30400 && masterVersion > 2 && statusInfo.hasAutoPilotReady() && statusInfo.hasAutoPilotUnreadyReason()) { - isAutopilotAbility = statusInfo.getAutoPilotReady(); - if (!isAutopilotAbility) { - unableAutopilotReasons = AutopilotAbilityManager.getInstance().addUnableAutopilotReason(unableAutopilotReasons, UnableLaunchReason.SourceType.SSM, UnableLaunchReason.UnableType.SSM_OFFER, statusInfo.getAutoPilotUnreadyReason()); + if (!statusInfo.getAutoPilotReady()) { + unableAutopilotReasons = manager.addUnableAutopilotReason(unableAutopilotReasons, UnableLaunchReason.SourceType.SSM, UnableLaunchReason.UnableType.SSM_OFFER, statusInfo.getAutoPilotUnreadyReason()); } } else if (mapVersion >= 21000 && masterVersion > 1 && statusInfo.hasAutoPilotReady()) {//如果 maser version 大于1，还需要判断AutoPilotReady字段是否存在，以确保MAP版本和SSM Maser版本不陪配情况逻辑能正常执行 - isAutopilotAbility = statusInfo.getAutoPilotReady(); - if (!isAutopilotAbility) { + if (!statusInfo.getAutoPilotReady()) { SystemStatusInfo.NodeFaultList nodeFaultList = statusInfo.getAutoPilotUnreadyList(); if (nodeFaultList.getSum() > 0) { List list = nodeFaultList.getNodeList(); @@ -81,20 +59,20 @@ public class AutopilotAbility250 { String nodeName = info.getNodeName(); int state = info.getState(); if (state < AutopilotAbilityManager.NODE_INFO_STATE.length) { - unableAutopilotReasons = AutopilotAbilityManager.getInstance().addUnableAutopilotReason(unableAutopilotReasons, UnableLaunchReason.SourceType.SSM, UnableLaunchReason.UnableType.SSM_OFFER, nodeName + AutopilotAbilityManager.NODE_INFO_STATE[state]); + unableAutopilotReasons = manager.addUnableAutopilotReason(unableAutopilotReasons, UnableLaunchReason.SourceType.SSM, UnableLaunchReason.UnableType.SSM_OFFER, nodeName + AutopilotAbilityManager.NODE_INFO_STATE[state]); } else { - unableAutopilotReasons = AutopilotAbilityManager.getInstance().addUnableAutopilotReason(unableAutopilotReasons, UnableLaunchReason.SourceType.SSM, UnableLaunchReason.UnableType.SSM_ERROR, nodeName + "未知异常"); + unableAutopilotReasons = manager.addUnableAutopilotReason(unableAutopilotReasons, UnableLaunchReason.SourceType.SSM, UnableLaunchReason.UnableType.SSM_ERROR, nodeName + "未知异常"); } } } else { - unableAutopilotReasons = AutopilotAbilityManager.getInstance().addUnableAutopilotReason(unableAutopilotReasons, UnableLaunchReason.SourceType.SSM, UnableLaunchReason.UnableType.SSM_ERROR, "未知异常节点"); + unableAutopilotReasons = manager.addUnableAutopilotReason(unableAutopilotReasons, UnableLaunchReason.SourceType.SSM, UnableLaunchReason.UnableType.SSM_ERROR, "未知异常节点"); } } } else { SystemStatusInfo.SystemState systemState = statusInfo.getSysState(); // 目前已知可以下发启动自驾命令的状态： SystemState.SYS_RUNNING、SystemState.PILOT_READY、SystemState.AUTO_PILOT_STARTING、SystemState.AUTO_PILOT_RUNNING if (systemState != SystemStatusInfo.SystemState.SYS_RUNNING && systemState != SystemStatusInfo.SystemState.PILOT_READY) { - isAutopilotAbility = false; + boolean isAutopilotAbility = false; String unableAutopilotReason = null; if (systemState == SystemStatusInfo.SystemState.SYS_STARTING) { unableAutopilotReason = "系统正在启动"; @@ -118,51 +96,24 @@ public class AutopilotAbility250 { unableAutopilotReason = "未知系统状态"; } if (!isAutopilotAbility) { - unableAutopilotReasons = AutopilotAbilityManager.getInstance().addUnableAutopilotReason(unableAutopilotReasons, UnableLaunchReason.SourceType.SSM, UnableLaunchReason.UnableType.SSM_OFFER, unableAutopilotReason); + unableAutopilotReasons = manager.addUnableAutopilotReason(unableAutopilotReasons, UnableLaunchReason.SourceType.SSM, UnableLaunchReason.UnableType.SSM_OFFER, unableAutopilotReason); } } } } else { - isAutopilotAbility = false;//是否能启动自动驾驶 - unableAutopilotReasons = AutopilotAbilityManager.getInstance().addUnableAutopilotReason(unableAutopilotReasons, UnableLaunchReason.SourceType.LIB, UnableLaunchReason.UnableType.SSM_TIMEOUT, "SSM查询超时无响应"); + unableAutopilotReasons = manager.addUnableAutopilotReason(unableAutopilotReasons, UnableLaunchReason.SourceType.LIB, UnableLaunchReason.UnableType.SSM_TIMEOUT, "SSM查询超时无响应"); } //检测底盘相关 - if (chassisStates != null) { - if (chassisStates.hasBrakeSystemStates()) { - float brake = chassisStates.getBrakeSystemStates().getBrakePedalResponsePosition(); - if (brake > 0) { - isAutopilotAbility = false; - unableAutopilotReasons = AutopilotAbilityManager.getInstance().addUnableAutopilotReason(unableAutopilotReasons, UnableLaunchReason.SourceType.CHASSIS, UnableLaunchReason.UnableType.CHASSIS_BRAKE, AutopilotAbilityManager.REASON_CHASSIS_BRAKE); - } - } - if (chassisStates.hasGearSystemStates()) { - Chassis.GearPosition gear = chassisStates.getGearSystemStates().getGearPosition(); - if (!AutopilotAbilityManager.getInstance().isLaunchAutopilot(gear)) { - isAutopilotAbility = false; - unableAutopilotReasons = AutopilotAbilityManager.getInstance().addUnableAutopilotReason(unableAutopilotReasons, UnableLaunchReason.SourceType.CHASSIS, UnableLaunchReason.UnableType.CHASSIS_GEAR, AutopilotAbilityManager.REASON_CHASSIS_GEAR); - } - } - } - if ((!isHQ && !isDF && !isM1) || mapVersion < 30600) { - if (vehicleState != null) { - //TODO 关于手刹：目前只有老底盘中存在这个字段，df360开始，其他车型未知 - //电子驻车制动系统 - if (vehicleState.hasParkingBrake()) { - boolean isBrake = vehicleState.getParkingBrake(); - if (isBrake) { - isAutopilotAbility = false; - unableAutopilotReasons = AutopilotAbilityManager.getInstance().addUnableAutopilotReason(unableAutopilotReasons, UnableLaunchReason.SourceType.CHASSIS, UnableLaunchReason.UnableType.PARKING_BRAKE, AutopilotAbilityManager.REASON_CHASSIS_PARKING_BRAKE); - } - } - } - } + unableAutopilotReasons = onCallbackChassis(unableAutopilotReasons); if (listener != null) { + boolean isAutopilotAbility = unableAutopilotReasons == null || unableAutopilotReasons.isEmpty();//是否能启动自动驾驶 listener.onAutopilotAbility(isAutopilotAbility, new UnableLaunchData(this.getClass().getSimpleName(), statusInfo, null, null), unableAutopilotReasons); } } - protected synchronized void start(OnAutopilotAbilityListener listener) { - this.listener = listener; + @Override + public synchronized void start(OnAutopilotAbilityListener listener) { + super.start(listener); if (timer == null) { timer = new Timer(); timer.schedule(new TimerTask() { @@ -174,17 +125,17 @@ public class AutopilotAbility250 { } } + + @Override protected synchronized void stop() { if (timer != null) { timer.cancel(); timer = null; } - this.chassisStates = null; - this.masterVersion = -1; - this.listener = null; + masterVersion = -1; + super.stop(); } - protected void onCallTimeout() { onCallback(null); } diff --git a/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/common/autopilot/ability/AutopilotAbility330.java b/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/common/autopilot/ability/AutopilotAbility330.java index f21bdfbdc6..36ec9ee850 100644 --- a/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/common/autopilot/ability/AutopilotAbility330.java +++ b/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/common/autopilot/ability/AutopilotAbility330.java @@ -2,6 +2,8 @@ package com.zhidao.support.adas.high.common.autopilot.ability; import android.text.TextUtils; +import androidx.annotation.NonNull; + import com.zhidao.support.adas.high.AdasManager; import com.zhidao.support.adas.high.common.CupidLogUtils; import com.zhjt.mogo.adas.data.bean.UnableLaunchData; @@ -25,6 +27,8 @@ import system_master.SystemStatusInfo; */ public class AutopilotAbility330 { private static final String TAG = AutopilotAbility330.class.getSimpleName(); + @NonNull + private final AutopilotAbilityManager manager; private volatile Timer timer; private volatile FSMStatusReasonQueryOuterClass.FSMStatusReasonRespond fsmStatusReasonRespond;//自动驾驶状态为OFF的原因 @@ -32,7 +36,8 @@ public class AutopilotAbility330 { private int masterVersion = -1;//Master版本 private OnAutopilotAbilityListener listener; - protected AutopilotAbility330(int mapVersion) { + protected AutopilotAbility330(@NonNull AutopilotAbilityManager manager, int mapVersion) { + this.manager = manager; this.mapVersion = mapVersion; this.masterVersion = -1; } @@ -60,7 +65,7 @@ public class AutopilotAbility330 { if (mapVersion >= 30400 && masterVersion > 2 && statusInfo.hasAutoPilotReady() && statusInfo.hasAutoPilotUnreadyReason()) { isAutopilotAbility = statusInfo.getAutoPilotReady(); if (!isAutopilotAbility) { - unableAutopilotReasons = AutopilotAbilityManager.getInstance().addUnableAutopilotReason(unableAutopilotReasons, UnableLaunchReason.SourceType.SSM, UnableLaunchReason.UnableType.SSM_OFFER, statusInfo.getAutoPilotUnreadyReason()); + unableAutopilotReasons = manager.addUnableAutopilotReason(unableAutopilotReasons, UnableLaunchReason.SourceType.SSM, UnableLaunchReason.UnableType.SSM_OFFER, statusInfo.getAutoPilotUnreadyReason()); } } else if (mapVersion >= 21000 && masterVersion > 1 && statusInfo.hasAutoPilotReady()) {//如果 maser version 大于1，还需要判断AutoPilotReady字段是否存在，以确保MAP版本和SSM Maser版本不陪配情况逻辑能正常执行 isAutopilotAbility = statusInfo.getAutoPilotReady(); @@ -72,13 +77,13 @@ public class AutopilotAbility330 { String nodeName = info.getNodeName(); int state = info.getState(); if (state < AutopilotAbilityManager.NODE_INFO_STATE.length) { - unableAutopilotReasons = AutopilotAbilityManager.getInstance().addUnableAutopilotReason(unableAutopilotReasons, UnableLaunchReason.SourceType.SSM, UnableLaunchReason.UnableType.SSM_OFFER, nodeName + AutopilotAbilityManager.NODE_INFO_STATE[state]); + unableAutopilotReasons = manager.addUnableAutopilotReason(unableAutopilotReasons, UnableLaunchReason.SourceType.SSM, UnableLaunchReason.UnableType.SSM_OFFER, nodeName + AutopilotAbilityManager.NODE_INFO_STATE[state]); } else { - unableAutopilotReasons = AutopilotAbilityManager.getInstance().addUnableAutopilotReason(unableAutopilotReasons, UnableLaunchReason.SourceType.SSM, UnableLaunchReason.UnableType.SSM_ERROR, nodeName + "未知异常"); + unableAutopilotReasons = manager.addUnableAutopilotReason(unableAutopilotReasons, UnableLaunchReason.SourceType.SSM, UnableLaunchReason.UnableType.SSM_ERROR, nodeName + "未知异常"); } } } else { - unableAutopilotReasons = AutopilotAbilityManager.getInstance().addUnableAutopilotReason(unableAutopilotReasons, UnableLaunchReason.SourceType.SSM, UnableLaunchReason.UnableType.SSM_ERROR, "未知异常节点"); + unableAutopilotReasons = manager.addUnableAutopilotReason(unableAutopilotReasons, UnableLaunchReason.SourceType.SSM, UnableLaunchReason.UnableType.SSM_ERROR, "未知异常节点"); } } } else { @@ -109,13 +114,13 @@ public class AutopilotAbility330 { unableAutopilotReason = "未知系统状态"; } if (!isAutopilotAbility) { - unableAutopilotReasons = AutopilotAbilityManager.getInstance().addUnableAutopilotReason(unableAutopilotReasons, UnableLaunchReason.SourceType.SSM, UnableLaunchReason.UnableType.SSM_OFFER, unableAutopilotReason); + unableAutopilotReasons = manager.addUnableAutopilotReason(unableAutopilotReasons, UnableLaunchReason.SourceType.SSM, UnableLaunchReason.UnableType.SSM_OFFER, unableAutopilotReason); } } } } else { isAutopilotAbility = false;//是否能启动自动驾驶 - unableAutopilotReasons = AutopilotAbilityManager.getInstance().addUnableAutopilotReason(unableAutopilotReasons, UnableLaunchReason.SourceType.LIB, UnableLaunchReason.UnableType.SSM_TIMEOUT, "SSM查询超时无响应"); + unableAutopilotReasons = manager.addUnableAutopilotReason(unableAutopilotReasons, UnableLaunchReason.SourceType.LIB, UnableLaunchReason.UnableType.SSM_TIMEOUT, "SSM查询超时无响应"); } if (fsmStatusReasonRespond != null) { int count = fsmStatusReasonRespond.getFsmStatusReasonRespondCount(); @@ -124,11 +129,11 @@ public class AutopilotAbility330 { for (int i = 0; i < count; i++) { String respond = fsmStatusReasonRespond.getFsmStatusReasonRespond(i); if (!TextUtils.isEmpty(respond)) { - unableAutopilotReasons = AutopilotAbilityManager.getInstance().addUnableAutopilotReason(unableAutopilotReasons, UnableLaunchReason.SourceType.FSM, UnableLaunchReason.UnableType.FSM_OFFER, respond); + unableAutopilotReasons = manager.addUnableAutopilotReason(unableAutopilotReasons, UnableLaunchReason.SourceType.FSM, UnableLaunchReason.UnableType.FSM_OFFER, respond); } } if (unableAutopilotReasons == null || unableAutopilotReasons.isEmpty()) { - unableAutopilotReasons = AutopilotAbilityManager.getInstance().addUnableAutopilotReason(unableAutopilotReasons, UnableLaunchReason.SourceType.LIB, UnableLaunchReason.UnableType.FSM_ERROR, "FSM数据异常"); + unableAutopilotReasons = manager.addUnableAutopilotReason(unableAutopilotReasons, UnableLaunchReason.SourceType.LIB, UnableLaunchReason.UnableType.FSM_ERROR, "FSM数据异常"); } } } diff --git a/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/common/autopilot/ability/AutopilotAbility350And360.java b/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/common/autopilot/ability/AutopilotAbility350And360.java index 8abfb52fbb..eb56d11779 100644 --- a/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/common/autopilot/ability/AutopilotAbility350And360.java +++ b/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/common/autopilot/ability/AutopilotAbility350And360.java @@ -1,5 +1,7 @@ package com.zhidao.support.adas.high.common.autopilot.ability; +import androidx.annotation.NonNull; + import com.zhidao.support.adas.high.AdasManager; import com.zhidao.support.adas.high.common.CupidLogUtils; import com.zhjt.mogo.adas.data.bean.UnableLaunchData; @@ -7,9 +9,6 @@ import com.zhjt.mogo.adas.data.bean.UnableLaunchReason; import java.util.ArrayList; -import chassis.Chassis; -import chassis.ChassisStatesOuterClass; -import chassis.VehicleStateOuterClass; import system_master.SsmInfo; /** @@ -18,42 +17,21 @@ import system_master.SsmInfo; * 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 *

*/ -public class AutopilotAbility350And360 { - private static final String TAG = AutopilotAbility250.class.getSimpleName(); - private ChassisStatesOuterClass.ChassisStates chassisStates; - private VehicleStateOuterClass.VehicleState vehicleState; - private int mapVersion = -1;//MAP版本 +public class AutopilotAbility350And360 extends BaseAutopilotAbilityChassis { + private int masterVersion = -1;//Master版本 - private boolean isHQ = false;//是否是HQ - private boolean isDF = false;//是否是DF - private boolean isM1 = false;//是否是M1 - private OnAutopilotAbilityListener listener; - - protected AutopilotAbility350And360(int mapVersion, boolean isHQ, boolean isDF, boolean isM1) { - this.mapVersion = mapVersion; - this.isHQ = isHQ; - this.isDF = isDF; - this.isM1 = isM1; - this.masterVersion = -1; + public AutopilotAbility350And360(@NonNull AutopilotAbilityManager manager) { + super(manager); } protected void setStatusInfo(SsmInfo.SsmStatusInf statusInfo) { - onCallback(statusInfo); } - protected void setChassisStates(ChassisStatesOuterClass.ChassisStates chassisStates) { - this.chassisStates = chassisStates; - } - - protected void setVehicleState(VehicleStateOuterClass.VehicleState vehicleState) { - this.vehicleState = vehicleState; - } private void onCallback(SsmInfo.SsmStatusInf statusInfo) { - boolean isAutopilotAbility = true;//是否能启动自动驾驶 ArrayList unableAutopilotReasons = null;//不能启动自动驾驶原因 //检测节点状态相关 if (statusInfo != null) { @@ -64,13 +42,11 @@ public class AutopilotAbility350And360 { CupidLogUtils.i(TAG, "MasterVersion=" + masterVersion); //SSM 3版本兼容 if (masterVersion > 2 && statusInfo.hasAutoPilotReady() && statusInfo.hasAutoPilotUnreadyReason()) { - isAutopilotAbility = statusInfo.getAutoPilotReady(); - if (!isAutopilotAbility) { - unableAutopilotReasons = AutopilotAbilityManager.getInstance().addUnableAutopilotReason(unableAutopilotReasons, UnableLaunchReason.SourceType.SSM, UnableLaunchReason.UnableType.SSM_OFFER, statusInfo.getAutoPilotUnreadyReason()); + if (!statusInfo.getAutoPilotReady()) { + unableAutopilotReasons = manager.addUnableAutopilotReason(unableAutopilotReasons, UnableLaunchReason.SourceType.SSM, UnableLaunchReason.UnableType.SSM_OFFER, statusInfo.getAutoPilotUnreadyReason()); } } else if (masterVersion > 1 && statusInfo.hasAutoPilotReady()) {//如果 maser version 大于1，还需要判断AutoPilotReady字段是否存在，以确保MAP版本和SSM Maser版本不陪配情况逻辑能正常执行 - isAutopilotAbility = statusInfo.getAutoPilotReady(); - if (!isAutopilotAbility) { + if (!statusInfo.getAutoPilotReady()) { int count = statusInfo.getAutoPilotUnreadyListCount(); if (count > 0) { for (int i = 0; i < count; i++) { @@ -78,19 +54,18 @@ public class AutopilotAbility350And360 { String nodeName = info.getNodeName(); int state = info.getState().getNumber(); if (state < AutopilotAbilityManager.NODE_INFO_STATE_FIXED_FREQUENCY.length) { - unableAutopilotReasons = AutopilotAbilityManager.getInstance().addUnableAutopilotReason(unableAutopilotReasons, UnableLaunchReason.SourceType.SSM, UnableLaunchReason.UnableType.SSM_OFFER, nodeName + AutopilotAbilityManager.NODE_INFO_STATE_FIXED_FREQUENCY[state]); + unableAutopilotReasons = manager.addUnableAutopilotReason(unableAutopilotReasons, UnableLaunchReason.SourceType.SSM, UnableLaunchReason.UnableType.SSM_OFFER, nodeName + AutopilotAbilityManager.NODE_INFO_STATE_FIXED_FREQUENCY[state]); } else { - unableAutopilotReasons = AutopilotAbilityManager.getInstance().addUnableAutopilotReason(unableAutopilotReasons, UnableLaunchReason.SourceType.SSM, UnableLaunchReason.UnableType.SSM_ERROR, nodeName + "未知异常"); + unableAutopilotReasons = manager.addUnableAutopilotReason(unableAutopilotReasons, UnableLaunchReason.SourceType.SSM, UnableLaunchReason.UnableType.SSM_ERROR, nodeName + "未知异常"); } } } else { - unableAutopilotReasons = AutopilotAbilityManager.getInstance().addUnableAutopilotReason(unableAutopilotReasons, UnableLaunchReason.SourceType.SSM, UnableLaunchReason.UnableType.SSM_ERROR, "未知异常节点"); + unableAutopilotReasons = manager.addUnableAutopilotReason(unableAutopilotReasons, UnableLaunchReason.SourceType.SSM, UnableLaunchReason.UnableType.SSM_ERROR, "未知异常节点"); } } } else { SsmInfo.ModeState modeState = statusInfo.getModeState(); if (modeState != SsmInfo.ModeState.MODE_RUN_UNREADY && modeState != SsmInfo.ModeState.MODE_RUN_READY) { - isAutopilotAbility = false; String unableAutopilotReason = null; if (modeState == SsmInfo.ModeState.MODE_STOP_UNREADY) { unableAutopilotReason = "系统处于停止模式（未就绪）"; @@ -103,56 +78,29 @@ public class AutopilotAbility350And360 { } else { unableAutopilotReason = "未知系统模式"; } - unableAutopilotReasons = AutopilotAbilityManager.getInstance().addUnableAutopilotReason(unableAutopilotReasons, UnableLaunchReason.SourceType.SSM, UnableLaunchReason.UnableType.SSM_OFFER, unableAutopilotReason); + unableAutopilotReasons = manager.addUnableAutopilotReason(unableAutopilotReasons, UnableLaunchReason.SourceType.SSM, UnableLaunchReason.UnableType.SSM_OFFER, unableAutopilotReason); } } } else { - isAutopilotAbility = false;//是否能启动自动驾驶 - unableAutopilotReasons = AutopilotAbilityManager.getInstance().addUnableAutopilotReason(unableAutopilotReasons, UnableLaunchReason.SourceType.LIB, UnableLaunchReason.UnableType.SSM_TIMEOUT, "SSM超时无响应"); + unableAutopilotReasons = manager.addUnableAutopilotReason(unableAutopilotReasons, UnableLaunchReason.SourceType.LIB, UnableLaunchReason.UnableType.SSM_TIMEOUT, "SSM超时无响应"); } //检测底盘相关 - if (chassisStates != null) { - if (chassisStates.hasBrakeSystemStates()) { - float brake = chassisStates.getBrakeSystemStates().getBrakePedalResponsePosition(); - if (brake > 0) { - isAutopilotAbility = false; - unableAutopilotReasons = AutopilotAbilityManager.getInstance().addUnableAutopilotReason(unableAutopilotReasons, UnableLaunchReason.SourceType.CHASSIS, UnableLaunchReason.UnableType.CHASSIS_BRAKE, AutopilotAbilityManager.REASON_CHASSIS_BRAKE); - } - } - if (chassisStates.hasGearSystemStates()) { - Chassis.GearPosition gear = chassisStates.getGearSystemStates().getGearPosition(); - if (!AutopilotAbilityManager.getInstance().isLaunchAutopilot(gear)) { - isAutopilotAbility = false; - unableAutopilotReasons = AutopilotAbilityManager.getInstance().addUnableAutopilotReason(unableAutopilotReasons, UnableLaunchReason.SourceType.CHASSIS, UnableLaunchReason.UnableType.CHASSIS_GEAR, AutopilotAbilityManager.REASON_CHASSIS_GEAR); - } - } - } - if ((!isHQ && !isDF && !isM1) || mapVersion < 30600) { - if (vehicleState != null) { - //TODO 关于手刹：目前只有老底盘中存在这个字段，df360开始，其他车型未知 - //电子驻车制动系统 - if (vehicleState.hasParkingBrake()) { - boolean isBrake = vehicleState.getParkingBrake(); - if (isBrake) { - isAutopilotAbility = false; - unableAutopilotReasons = AutopilotAbilityManager.getInstance().addUnableAutopilotReason(unableAutopilotReasons, UnableLaunchReason.SourceType.CHASSIS, UnableLaunchReason.UnableType.PARKING_BRAKE, AutopilotAbilityManager.REASON_CHASSIS_PARKING_BRAKE); - } - } - } - } + unableAutopilotReasons = onCallbackChassis(unableAutopilotReasons); if (listener != null) { + boolean isAutopilotAbility = unableAutopilotReasons == null || unableAutopilotReasons.isEmpty();//是否能启动自动驾驶 listener.onAutopilotAbility(isAutopilotAbility, new UnableLaunchData(this.getClass().getSimpleName(), null, statusInfo, null), unableAutopilotReasons); } } - protected void start(OnAutopilotAbilityListener listener) { - this.listener = listener; + @Override + public synchronized void start(OnAutopilotAbilityListener listener) { + super.start(listener); } - protected void stop() { - this.chassisStates = null; - this.masterVersion = -1; - this.listener = null; + @Override + protected synchronized void stop() { + masterVersion = -1; + super.stop(); } protected void onCallTimeout() { diff --git a/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/common/autopilot/ability/AutopilotAbility360.java b/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/common/autopilot/ability/AutopilotAbility360.java index 07b19eea16..b5f17a69d8 100644 --- a/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/common/autopilot/ability/AutopilotAbility360.java +++ b/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/common/autopilot/ability/AutopilotAbility360.java @@ -2,6 +2,8 @@ package com.zhidao.support.adas.high.common.autopilot.ability; import android.text.TextUtils; +import androidx.annotation.NonNull; + import com.zhidao.support.adas.high.AdasManager; import com.zhidao.support.adas.high.common.CupidLogUtils; import com.zhjt.mogo.adas.data.bean.UnableLaunchData; @@ -20,12 +22,15 @@ import system_master.SsmInfo; */ public class AutopilotAbility360 { private static final String TAG = AutopilotAbility360.class.getSimpleName(); + @NonNull + private final AutopilotAbilityManager manager; private volatile FSMStatusReasonQueryOuterClass.FSMStatusReasonRespond fsmStatusReasonRespond;//自动驾驶状态为OFF的原因 private int masterVersion = -1;//Master版本 private OnAutopilotAbilityListener listener; - protected AutopilotAbility360() { + protected AutopilotAbility360(@NonNull AutopilotAbilityManager manager) { + this.manager = manager; this.masterVersion = -1; } @@ -52,7 +57,7 @@ public class AutopilotAbility360 { if (masterVersion > 2 && statusInfo.hasAutoPilotReady() && statusInfo.hasAutoPilotUnreadyReason()) { isAutopilotAbility = statusInfo.getAutoPilotReady(); if (!isAutopilotAbility) { - unableAutopilotReasons = AutopilotAbilityManager.getInstance().addUnableAutopilotReason(unableAutopilotReasons, UnableLaunchReason.SourceType.SSM, UnableLaunchReason.UnableType.SSM_OFFER, statusInfo.getAutoPilotUnreadyReason()); + unableAutopilotReasons = manager.addUnableAutopilotReason(unableAutopilotReasons, UnableLaunchReason.SourceType.SSM, UnableLaunchReason.UnableType.SSM_OFFER, statusInfo.getAutoPilotUnreadyReason()); } } else if (masterVersion > 1 && statusInfo.hasAutoPilotReady()) {//如果 maser version 大于1，还需要判断AutoPilotReady字段是否存在，以确保MAP版本和SSM Maser版本不陪配情况逻辑能正常执行 isAutopilotAbility = statusInfo.getAutoPilotReady(); @@ -64,13 +69,13 @@ public class AutopilotAbility360 { String nodeName = info.getNodeName(); int state = info.getState().getNumber(); if (state < AutopilotAbilityManager.NODE_INFO_STATE_FIXED_FREQUENCY.length) { - unableAutopilotReasons = AutopilotAbilityManager.getInstance().addUnableAutopilotReason(unableAutopilotReasons, UnableLaunchReason.SourceType.SSM, UnableLaunchReason.UnableType.SSM_OFFER, nodeName + AutopilotAbilityManager.NODE_INFO_STATE_FIXED_FREQUENCY[state]); + unableAutopilotReasons = manager.addUnableAutopilotReason(unableAutopilotReasons, UnableLaunchReason.SourceType.SSM, UnableLaunchReason.UnableType.SSM_OFFER, nodeName + AutopilotAbilityManager.NODE_INFO_STATE_FIXED_FREQUENCY[state]); } else { - unableAutopilotReasons = AutopilotAbilityManager.getInstance().addUnableAutopilotReason(unableAutopilotReasons, UnableLaunchReason.SourceType.SSM, UnableLaunchReason.UnableType.SSM_ERROR, nodeName + "未知异常"); + unableAutopilotReasons = manager.addUnableAutopilotReason(unableAutopilotReasons, UnableLaunchReason.SourceType.SSM, UnableLaunchReason.UnableType.SSM_ERROR, nodeName + "未知异常"); } } } else { - unableAutopilotReasons = AutopilotAbilityManager.getInstance().addUnableAutopilotReason(unableAutopilotReasons, UnableLaunchReason.SourceType.SSM, UnableLaunchReason.UnableType.SSM_ERROR, "未知异常节点"); + unableAutopilotReasons = manager.addUnableAutopilotReason(unableAutopilotReasons, UnableLaunchReason.SourceType.SSM, UnableLaunchReason.UnableType.SSM_ERROR, "未知异常节点"); } } } else { @@ -89,12 +94,12 @@ public class AutopilotAbility360 { } else { unableAutopilotReason = "未知系统模式"; } - unableAutopilotReasons = AutopilotAbilityManager.getInstance().addUnableAutopilotReason(unableAutopilotReasons, UnableLaunchReason.SourceType.SSM, UnableLaunchReason.UnableType.SSM_OFFER, unableAutopilotReason); + unableAutopilotReasons = manager.addUnableAutopilotReason(unableAutopilotReasons, UnableLaunchReason.SourceType.SSM, UnableLaunchReason.UnableType.SSM_OFFER, unableAutopilotReason); } } } else { isAutopilotAbility = false;//是否能启动自动驾驶 - unableAutopilotReasons = AutopilotAbilityManager.getInstance().addUnableAutopilotReason(unableAutopilotReasons, UnableLaunchReason.SourceType.LIB, UnableLaunchReason.UnableType.SSM_TIMEOUT, "SSM超时无响应"); + unableAutopilotReasons = manager.addUnableAutopilotReason(unableAutopilotReasons, UnableLaunchReason.SourceType.LIB, UnableLaunchReason.UnableType.SSM_TIMEOUT, "SSM超时无响应"); } if (fsmStatusReasonRespond != null) { int count = fsmStatusReasonRespond.getFsmStatusReasonRespondCount(); @@ -103,11 +108,11 @@ public class AutopilotAbility360 { for (int i = 0; i < count; i++) { String respond = fsmStatusReasonRespond.getFsmStatusReasonRespond(i); if (!TextUtils.isEmpty(respond)) { - unableAutopilotReasons = AutopilotAbilityManager.getInstance().addUnableAutopilotReason(unableAutopilotReasons, UnableLaunchReason.SourceType.FSM, UnableLaunchReason.UnableType.FSM_OFFER, respond); + unableAutopilotReasons = manager.addUnableAutopilotReason(unableAutopilotReasons, UnableLaunchReason.SourceType.FSM, UnableLaunchReason.UnableType.FSM_OFFER, respond); } } if (unableAutopilotReasons == null || unableAutopilotReasons.isEmpty()) { - unableAutopilotReasons = AutopilotAbilityManager.getInstance().addUnableAutopilotReason(unableAutopilotReasons, UnableLaunchReason.SourceType.LIB, UnableLaunchReason.UnableType.FSM_ERROR, "FSM数据异常"); + unableAutopilotReasons = manager.addUnableAutopilotReason(unableAutopilotReasons, UnableLaunchReason.SourceType.LIB, UnableLaunchReason.UnableType.FSM_ERROR, "FSM数据异常"); } } } diff --git a/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/common/autopilot/ability/AutopilotAbilityManager.java b/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/common/autopilot/ability/AutopilotAbilityManager.java index ac45c9287a..64ce59ffc1 100644 --- a/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/common/autopilot/ability/AutopilotAbilityManager.java +++ b/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/common/autopilot/ability/AutopilotAbilityManager.java @@ -11,7 +11,6 @@ import com.zhjt.mogo.adas.data.bean.UnableLaunchData; import com.zhjt.mogo.adas.data.bean.UnableLaunchReason; import java.util.ArrayList; -import java.util.HashSet; import java.util.Set; import java.util.Timer; import java.util.TimerTask; @@ -19,7 +18,6 @@ import java.util.concurrent.atomic.AtomicBoolean; import chassis.Chassis; import chassis.ChassisStatesOuterClass; -import chassis.VehicleStateOuterClass; import function_state_management.FSMStatusReasonQueryOuterClass; import mogo.telematics.pad.MessagePad; import system_master.SsmInfo; @@ -38,17 +36,13 @@ public class AutopilotAbilityManager implements OnAutopilotAbilityListener { protected static final long DEFAULT_DETECTION_TIME = 3 * 1000L;//默认检测周期 protected 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"}; protected static final String[] NODE_INFO_STATE_FIXED_FREQUENCY = {"未知状态", "依赖未就绪", "启动中", "运行", "停止", "无法启动状态", "非自动启动状态", "非自动关闭状态"}; - protected static final String REASON_CHASSIS_BRAKE = "请检查刹车踏板"; - protected static final String REASON_CHASSIS_GEAR = "当前档位无法启动"; - protected static final String REASON_CHASSIS_PARKING_BRAKE = "请检查手刹"; + private static volatile AutopilotAbilityManager INSTANCE; private OnAdasListener listener; private int mapVersion = -1;//工控机版本 private boolean isFutianSweeper = false;//是否是福田清扫车 private boolean isJinlvM1 = false;//是否是M1 private boolean isHQ = false;//是否是HQ - private boolean isDF = false;//是否是DF - private boolean isM1 = false;//是否是M1 private AutopilotAbility230 autopilotAbility230; private AutopilotAbility250 autopilotAbility250; private AutopilotAbility330 autopilotAbility330; @@ -61,9 +55,9 @@ public class AutopilotAbilityManager implements OnAutopilotAbilityListener { private final AtomicBoolean isOldSsmTimeout = new AtomicBoolean(false);//SSM是否超时 老状态 private final AtomicBoolean isInitCarConfig = new AtomicBoolean(false);//车辆信息是否初始化 /** - * 不能启动自动驾驶的档位 + * 能启动自动驾驶的档位 */ - private Set unableLaunchAutopilotGear; + private Set launchAutopilotGear; private AutopilotAbilityManager() { @@ -80,27 +74,17 @@ public class AutopilotAbilityManager implements OnAutopilotAbilityListener { return INSTANCE; } - public void setUnableLaunchAutopilotGear(Set unableLaunchAutopilotGear) { - if (unableLaunchAutopilotGear != null) { - this.unableLaunchAutopilotGear = new HashSet<>(unableLaunchAutopilotGear); - taxiUnmanned(); + public void setLaunchAutopilotGear(Set launchAutopilotGear) { + this.launchAutopilotGear = launchAutopilotGear; + if (autopilotAbility230 != null) { + autopilotAbility230.setLaunchAutopilotGear(launchAutopilotGear); + } else if (autopilotAbility250 != null) { + autopilotAbility250.setLaunchAutopilotGear(launchAutopilotGear); + } else if (autopilotAbility350And360 != null) { + autopilotAbility350And360.setLaunchAutopilotGear(launchAutopilotGear); } } - /** - * 获取当前档位是否能启动自动驾驶 如果不传递默认可以启动 - * 不能启动自驾档位规则：app/README.md/不能启动自动驾驶的档位 - * - * @param currentGear 当前档位 - * @return 是否能启动自驾 - */ - public boolean isLaunchAutopilot(Chassis.GearPosition currentGear) { - if (unableLaunchAutopilotGear != null && !unableLaunchAutopilotGear.isEmpty()) { - return !unableLaunchAutopilotGear.contains(currentGear); - } - return true; - } - /** * 添加不能启动自驾的原因 * @@ -117,16 +101,6 @@ public class AutopilotAbilityManager implements OnAutopilotAbilityListener { return unableAutopilotReasons; } - /** - * Taxi无人化相关，从MAP360开始去掉P档限制和手刹限制 - */ - private void taxiUnmanned() { - if ((isHQ || isDF) && mapVersion >= 30600) { - if (unableLaunchAutopilotGear != null) { - unableLaunchAutopilotGear.remove(Chassis.GearPosition.GEAR_P); - } - } - } public void setCarConfig(@NonNull MessagePad.CarConfigResp carConfig) { if (!isInitCarConfig.get()) { @@ -137,10 +111,17 @@ public class AutopilotAbilityManager implements OnAutopilotAbilityListener { isFutianSweeper = carConfig.getIsFutianSweeper(); isJinlvM1 = carConfig.getIsJinlvM1(); isHQ = carConfig.getIsHQ(); - isDF = carConfig.getIsDF(); - isM1 = carConfig.getIsJinlvM1(); - taxiUnmanned(); initAutopilotAbility(); + if (autopilotAbility230 != null) { + autopilotAbility230.setCarConfig(carConfig); + autopilotAbility230.setLaunchAutopilotGear(launchAutopilotGear); + } else if (autopilotAbility250 != null) { + autopilotAbility250.setCarConfig(carConfig); + autopilotAbility250.setLaunchAutopilotGear(launchAutopilotGear); + } else if (autopilotAbility350And360 != null) { + autopilotAbility350And360.setCarConfig(carConfig); + autopilotAbility350And360.setLaunchAutopilotGear(launchAutopilotGear); + } } } } @@ -189,29 +170,13 @@ public class AutopilotAbilityManager implements OnAutopilotAbilityListener { * * @param chassisStates 底盘 */ - public void setChassisStates(ChassisStatesOuterClass.ChassisStates chassisStates) { + public void setChassisStates(ChassisStatesOuterClass.ChassisStates chassisStates, Chassis.LightSwitch light) { if (autopilotAbility230 != null) { - autopilotAbility230.setChassisStates(chassisStates); - } - if (autopilotAbility250 != null) { - autopilotAbility250.setChassisStates(chassisStates); - } - if (autopilotAbility350And360 != null) { - autopilotAbility350And360.setChassisStates(chassisStates); - } - } - - /** - * 老底盘中手刹状态更新（新底盘PB中没有所以单独传递） - * - * @param vehicleState 底盘 - */ - public void setVehicleState(VehicleStateOuterClass.VehicleState vehicleState) { - if (autopilotAbility250 != null) { - autopilotAbility250.setVehicleState(vehicleState); - } - if (autopilotAbility350And360 != null) { - autopilotAbility350And360.setVehicleState(vehicleState); + autopilotAbility230.setChassisStates(chassisStates, light); + } else if (autopilotAbility250 != null) { + autopilotAbility250.setChassisStates(chassisStates, light); + } else if (autopilotAbility350And360 != null) { + autopilotAbility350And360.setChassisStates(chassisStates, light); } } @@ -235,33 +200,33 @@ public class AutopilotAbilityManager implements OnAutopilotAbilityListener { if (mapVersion >= 30600 && isFutianSweeper) { CupidLogUtils.log(TAG, "能否启动自驾能力检测使用版本：360清扫车专用"); if (autopilotAbility360 == null) { - autopilotAbility360 = new AutopilotAbility360(); + autopilotAbility360 = new AutopilotAbility360(this); autopilotAbility360.start(this); } } else if ((mapVersion >= 30500 && (isJinlvM1 || isHQ)) || mapVersion >= 30600) { CupidLogUtils.log(TAG, "能否启动自驾能力检测使用版本：350和360共用"); if (autopilotAbility350And360 == null) { - autopilotAbility350And360 = new AutopilotAbility350And360(mapVersion, isHQ, isDF, isM1); + autopilotAbility350And360 = new AutopilotAbility350And360(this); autopilotAbility350And360.start(this); } } else if (mapVersion >= 30300 && isFutianSweeper) {//目前只有MAP330的清扫车用的新的FSM状态原因查询 CupidLogUtils.log(TAG, "能否启动自驾能力检测使用版本：330清扫车专用"); if (autopilotAbility330 == null) { - autopilotAbility330 = new AutopilotAbility330(mapVersion); + autopilotAbility330 = new AutopilotAbility330(this, mapVersion); autopilotAbility330.start(this); } } else if (mapVersion >= 20500) { CupidLogUtils.log(TAG, "能否启动自驾能力检测使用版本：250"); if (autopilotAbility250 == null) { - autopilotAbility250 = new AutopilotAbility250(mapVersion, isHQ, isDF, isM1); + autopilotAbility250 = new AutopilotAbility250(this); autopilotAbility250.start(this); } } else { CupidLogUtils.log(TAG, "能否启动自驾能力检测使用版本：230"); if (autopilotAbility230 == null) { - autopilotAbility230 = new AutopilotAbility230(); + autopilotAbility230 = new AutopilotAbility230(this); autopilotAbility230.start(this); } } diff --git a/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/common/autopilot/ability/BaseAutopilotAbilityChassis.java b/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/common/autopilot/ability/BaseAutopilotAbilityChassis.java new file mode 100644 index 0000000000..6eb31f8457 --- /dev/null +++ b/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/common/autopilot/ability/BaseAutopilotAbilityChassis.java @@ -0,0 +1,175 @@ +package com.zhidao.support.adas.high.common.autopilot.ability; + +import androidx.annotation.NonNull; + +import com.zhidao.support.adas.high.common.CupidLogUtils; +import com.zhjt.mogo.adas.data.bean.UnableLaunchReason; + +import java.util.ArrayList; +import java.util.Set; +import java.util.concurrent.atomic.AtomicReference; + +import chassis.Chassis; +import chassis.ChassisStatesOuterClass; +import mogo.telematics.pad.MessagePad; + +/** + * 所有需要使用底盘检测数据的版本父类 + */ +public abstract class BaseAutopilotAbilityChassis { + protected final String TAG = this.getClass().getSimpleName(); + private static final String REASON_CHASSIS_BRAKE = "刹车踏板"; + private static final String REASON_CHASSIS_THROTTLE = "油门踏板"; + private static final String REASON_CHASSIS_GEAR = "档位"; + private static final String REASON_CHASSIS_HAZARD_LIGHTS = "危险报警灯"; + private static final String REASON_CHASSIS_STEERING = "方向盘"; + @NonNull + protected final AutopilotAbilityManager manager; + private ChassisStatesOuterClass.ChassisStates chassisStates; + protected OnAutopilotAbilityListener listener; + protected int mapVersion = -1;//工控机版本 + protected boolean isJinlv = false;//是否是金旅小巴 + protected boolean isJinlvM1 = false;//是否是M1 + protected boolean isJinlvM2 = false;//是否是M2 + protected boolean isHQ = false;//是否是HQ + protected boolean isDF = false;//是否是DF + + private final AtomicReference currentLight = new AtomicReference<>(Chassis.LightSwitch.LIGHT_NONE); + /** + * 能启动自动驾驶的档位 + */ + private Set launchAutopilotGear; + + private float oldThrottle = Float.MAX_VALUE;//方向盘转角 + + public BaseAutopilotAbilityChassis(@NonNull AutopilotAbilityManager manager) { + this.manager = manager; + } + + public void setCarConfig(@NonNull MessagePad.CarConfigResp carConfig) { + mapVersion = carConfig.getMapVersion(); + isJinlv = carConfig.getIsJinlv(); + isJinlvM1 = carConfig.getIsJinlvM1(); + isJinlvM2 = carConfig.getIsJinlvM2(); + isHQ = carConfig.getIsHQ(); + isDF = carConfig.getIsDF(); + taxiUnmanned(); + } + + public void setChassisStates(ChassisStatesOuterClass.ChassisStates chassisStates, Chassis.LightSwitch light) { + this.chassisStates = chassisStates; + currentLight.set(light); + } + + + public void setLaunchAutopilotGear(Set launchAutopilotGear) { + this.launchAutopilotGear = launchAutopilotGear; + taxiUnmanned(); + } + + /** + * Taxi无人化相关，从MAP360开始去掉P档限制和手刹限制 + */ + private void taxiUnmanned() { + if ((isHQ || isDF) && mapVersion < 30600) { + if (launchAutopilotGear != null) { + launchAutopilotGear.remove(Chassis.GearPosition.GEAR_P); + } + } + } + + + /** + * 获取当前档位是否能启动自动驾驶 如果不传递默认可以启动 + * 不能启动自驾档位规则：app/README.md/不能启动自动驾驶的档位 + * + * @param currentGear 当前档位 + * @return 是否能启动自驾 + */ + private boolean isLaunchAutopilotGear(Chassis.GearPosition currentGear) { + if (launchAutopilotGear != null && !launchAutopilotGear.isEmpty()) { + return launchAutopilotGear.contains(currentGear); + } + return true; + } + + /** + * 获取当前是否开启危险报警灯 + * 双闪处于打开状态（taxi可以进自驾，金旅bus不可以） + * + * @return 是否能启动自驾 + */ + public boolean isLaunchAutopilotLight() { + if (isJinlv || isJinlvM1 || isJinlvM2) { + return currentLight.get() != Chassis.LightSwitch.LIGHT_FLASH; + } + return true; + } + + + protected ArrayList onCallbackChassis(ArrayList unableAutopilotReasons) { + //检测底盘相关 + if (chassisStates != null) { + //制动踏板 + if (chassisStates.hasBrakeSystemStates()) { + float brake = chassisStates.getBrakeSystemStates().getBrakePedalResponsePosition(); + if (brake > 0) { + unableAutopilotReasons = manager.addUnableAutopilotReason(unableAutopilotReasons, UnableLaunchReason.SourceType.CHASSIS, UnableLaunchReason.UnableType.CHASSIS_BRAKE, REASON_CHASSIS_BRAKE); + } + } + //油门踏板 + if (chassisStates.hasDrivingSystemStates()) { + float throttle = chassisStates.getDrivingSystemStates().getThrottleResponsePosition(); + if (throttle > 0) { + unableAutopilotReasons = manager.addUnableAutopilotReason(unableAutopilotReasons, UnableLaunchReason.SourceType.CHASSIS, UnableLaunchReason.UnableType.CHASSIS_THROTTLE, REASON_CHASSIS_THROTTLE); + } + } + //档位 + if (chassisStates.hasGearSystemStates()) { + Chassis.GearPosition gear = chassisStates.getGearSystemStates().getGearPosition(); + if (!isLaunchAutopilotGear(gear)) { + unableAutopilotReasons = manager.addUnableAutopilotReason(unableAutopilotReasons, UnableLaunchReason.SourceType.CHASSIS, UnableLaunchReason.UnableType.CHASSIS_GEAR, REASON_CHASSIS_GEAR); + } + } + //危险报警灯 + if (!isLaunchAutopilotLight()) { + unableAutopilotReasons = manager.addUnableAutopilotReason(unableAutopilotReasons, UnableLaunchReason.SourceType.CHASSIS, UnableLaunchReason.UnableType.CHASSIS_HAZARD_LIGHTS, REASON_CHASSIS_HAZARD_LIGHTS); + } + //方向盘 + if (chassisStates.hasSteerSystemStates()) { + ChassisStatesOuterClass.SteerSystemStates steerSystemStates = chassisStates.getSteerSystemStates(); + if (steerSystemStates.hasSteeringWheelAngle()) { + float throttle = steerSystemStates.getSteeringWheelAngle(); + if (oldThrottle == Float.MAX_VALUE) { + oldThrottle = throttle; + } else { + CupidLogUtils.log(TAG, "方向盘当前角度=" + oldThrottle + " 方向盘1秒前角度=" + throttle); + boolean isTurning = Math.abs(throttle - oldThrottle) > 2.0F; + oldThrottle = throttle; + CupidLogUtils.log(TAG, "方向盘是否转动=" + isTurning); + if (isTurning) { + unableAutopilotReasons = manager.addUnableAutopilotReason(unableAutopilotReasons, UnableLaunchReason.SourceType.CHASSIS, UnableLaunchReason.UnableType.CHASSIS_STEERING, REASON_CHASSIS_STEERING); + } + } + } + } + } + return unableAutopilotReasons; + } + + public synchronized void start(OnAutopilotAbilityListener listener) { + this.listener = listener; + + } + + protected synchronized void stop() { + this.chassisStates = null; + this.listener = null; + mapVersion = -1; + isHQ = false; + isJinlv = false; + isJinlvM1 = false; + isJinlvM2 = false; + } + +} diff --git a/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/msg/ChassisStatesMessage.java b/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/msg/ChassisStatesMessage.java index d96347a46b..c6fac0d844 100644 --- a/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/msg/ChassisStatesMessage.java +++ b/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/msg/ChassisStatesMessage.java @@ -3,24 +3,56 @@ package com.zhidao.support.adas.high.msg; import com.google.protobuf.InvalidProtocolBufferException; import com.zhidao.support.adas.high.OnAdasListener; import com.zhidao.support.adas.high.common.ParallelDrivingManager; +import com.zhidao.support.adas.high.common.TurnLightState; import com.zhidao.support.adas.high.common.autopilot.ability.AutopilotAbilityManager; import com.zhidao.support.adas.high.protocol.RawData; +import chassis.Chassis; import chassis.ChassisStatesOuterClass; /** * 重构后的底盘状态 */ public class ChassisStatesMessage extends MyAbstractMessageHandler { + private final TurnLightState lightLeft; + private final TurnLightState lightRight; + + public ChassisStatesMessage(TurnLightState lightLeft, TurnLightState lightRight) { + this.lightLeft = lightLeft; + this.lightRight = lightRight; + } @Override public void handlerMsg(RawData raw, OnAdasListener adasListener) throws InvalidProtocolBufferException { ChassisStatesOuterClass.ChassisStates chassisStates = ChassisStatesOuterClass.ChassisStates.parser().parseFrom(raw.originalData.toByteArray(), raw.getOffsetValue(), raw.getPackageLengthValue() - raw.getOffsetValue()); - AutopilotAbilityManager.getInstance().setChassisStates(chassisStates); + Chassis.LightSwitch light = updateLight(chassisStates, adasListener); + AutopilotAbilityManager.getInstance().setChassisStates(chassisStates, light); ParallelDrivingManager.getInstance().setChassisStates(chassisStates); if (adasListener != null) { adasListener.onChassisStates(raw.getHeader(), chassisStates); + adasListener.onLightSwitch(light); } } + private Chassis.LightSwitch updateLight(ChassisStatesOuterClass.ChassisStates chassisStates, OnAdasListener adasListener) { + Chassis.LightSwitch light = Chassis.LightSwitch.LIGHT_NONE; + if (chassisStates.hasBcmSystemStates()) { + ChassisStatesOuterClass.BCMSystemStates bcm = chassisStates.getBcmSystemStates(); + light = bcm.getTurnLightState(); + } + boolean isTurnLightLeft = lightLeft.update((light.getNumber() & Chassis.LightSwitch.LIGHT_LEFT.getNumber()) != 0); + boolean isTurnLightRight = lightRight.update((light.getNumber() & Chassis.LightSwitch.LIGHT_RIGHT.getNumber()) != 0); + if (isTurnLightLeft && isTurnLightRight) { + //双闪 + light = Chassis.LightSwitch.LIGHT_FLASH; + } else if (isTurnLightLeft) { + //左传 + light = Chassis.LightSwitch.LIGHT_LEFT; + } else if (isTurnLightRight) { + //右转 + light = Chassis.LightSwitch.LIGHT_RIGHT; + } + return light; + } + } diff --git a/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/msg/MyMessageFactory.java b/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/msg/MyMessageFactory.java index 52500c03eb..cf77bff8e7 100644 --- a/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/msg/MyMessageFactory.java +++ b/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/msg/MyMessageFactory.java @@ -1,6 +1,7 @@ package com.zhidao.support.adas.high.msg; import com.zhidao.support.adas.high.common.AutopilotReview; +import com.zhidao.support.adas.high.common.TurnLightState; import com.zhjt.mogo.adas.common.MessageType; import mogo.telematics.pad.MessagePad; @@ -47,11 +48,18 @@ public class MyMessageFactory implements IMyMessageFactory { private IMsg fSMStatusReasonRespondMessage;//FSM状态原因查询 private final AutopilotReview autopilotReview; + private final TurnLightState lightLeft = new TurnLightState(); + private final TurnLightState lightRight = new TurnLightState(); public MyMessageFactory(AutopilotReview autopilotReview) { this.autopilotReview = autopilotReview; } + public void initTurnLightState() { + lightLeft.init(); + lightRight.init(); + } + @Override public IMsg createMessage(MessagePad.MessageType messageType) { if (messageType == MessageType.TYPE_RECEIVE_TRAJECTORY.typeCode) { @@ -75,13 +83,13 @@ public class MyMessageFactory implements IMyMessageFactory { } else if (messageType == MessageType.TYPE_RECEIVE_VEHICLE_STATE.typeCode) { //底盘信息, 透传底盘状态，pb参考底盘 if (vehicleStateMessage == null) { - vehicleStateMessage = new VehicleStateMessage(); + vehicleStateMessage = new VehicleStateMessage(lightLeft, lightRight); } return vehicleStateMessage; } else if (messageType == MessageType.TYPE_RECEIVE_CHASSIS_STATES.typeCode) { //重构后的底盘状态 if (chassisStatesMessage == null) { - chassisStatesMessage = new ChassisStatesMessage(); + chassisStatesMessage = new ChassisStatesMessage(lightLeft, lightRight); } return chassisStatesMessage; } else if (messageType == MessageType.TYPE_RECEIVE_AUTOPILOT_STATE.typeCode) { 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 198b6129de..56fffc8955 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 @@ -5,9 +5,10 @@ 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.ParallelDrivingManager; -import com.zhidao.support.adas.high.common.autopilot.ability.AutopilotAbilityManager; import com.zhidao.support.adas.high.common.CupidLogUtils; +import com.zhidao.support.adas.high.common.ParallelDrivingManager; +import com.zhidao.support.adas.high.common.TurnLightState; +import com.zhidao.support.adas.high.common.autopilot.ability.AutopilotAbilityManager; import com.zhidao.support.adas.high.protocol.RawData; import chassis.Chassis; @@ -19,6 +20,13 @@ import common.HeaderOuterClass; * 底盘信息, 透传底盘状态，pb参考底盘 */ public class VehicleStateMessage extends MyAbstractMessageHandler { + private final TurnLightState lightLeft; + private final TurnLightState lightRight; + + public VehicleStateMessage(TurnLightState lightLeft, TurnLightState lightRight) { + this.lightLeft = lightLeft; + this.lightRight = lightRight; + } @Override public void handlerMsg(RawData raw, OnAdasListener adasListener) throws InvalidProtocolBufferException { @@ -27,18 +35,40 @@ public class VehicleStateMessage extends MyAbstractMessageHandler { long nowTime = 0; if (CupidLogUtils.isEnableLog()) nowTime = SystemClock.elapsedRealtime(); - AutopilotAbilityManager.getInstance().setVehicleState(vehicleState); ParallelDrivingManager.getInstance().setVehicleState(vehicleState); - ChassisStatesOuterClass.ChassisStates chassisStates = compatibility(adasListener, raw, vehicleState); + Chassis.LightSwitch light = updateLight(vehicleState, adasListener); + ChassisStatesOuterClass.ChassisStates chassisStates = compatibility(vehicleState, light); if (adasListener != null) { //TODO 暂时关闭老底盘转发 后期 会删除 onVehicleState //adasListener.onChassisStates(raw.getHeader(), chassisStates); adasListener.onVehicleState(raw.getHeader(), vehicleState); + adasListener.onLightSwitch(light); } AdasChannel.calculateTimeConsumingBusiness("底盘信息", nowTime); // CupidLogUtils.e("底盘信息--->" + vehicleState.toString()); } + private Chassis.LightSwitch updateLight(VehicleStateOuterClass.VehicleState vehicleState, OnAdasListener adasListener) { + Chassis.LightSwitch light = Chassis.LightSwitch.LIGHT_NONE; + if (vehicleState.hasLight()) { + light = vehicleState.getLight(); + } + boolean isTurnLightLeft = lightLeft.update((light.getNumber() & Chassis.LightSwitch.LIGHT_LEFT.getNumber()) != 0); + boolean isTurnLightRight = lightRight.update((light.getNumber() & Chassis.LightSwitch.LIGHT_RIGHT.getNumber()) != 0); + if (isTurnLightLeft && isTurnLightRight) { + //双闪 + light = Chassis.LightSwitch.LIGHT_FLASH; + } else if (isTurnLightLeft) { + //左传 + light = Chassis.LightSwitch.LIGHT_LEFT; + } else if (isTurnLightRight) { + //右转 + light = Chassis.LightSwitch.LIGHT_RIGHT; + } + return light; + } + + /** * 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 @@ -49,7 +79,7 @@ public class VehicleStateMessage extends MyAbstractMessageHandler { * fuel_value robo_taxi_state robo_bus_state * robo_bus_jinlv_m1_state */ - private ChassisStatesOuterClass.ChassisStates compatibility(OnAdasListener adasListener, RawData raw, VehicleStateOuterClass.VehicleState vehicleState) throws InvalidProtocolBufferException { + private ChassisStatesOuterClass.ChassisStates compatibility(VehicleStateOuterClass.VehicleState vehicleState, Chassis.LightSwitch light) 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 @@ -114,7 +144,7 @@ public class VehicleStateMessage extends MyAbstractMessageHandler { .setSweeperFutianTaskSystemStates(ChassisStatesOuterClass.SweeperFuTianTaskSystemStates.parseFrom(bytes)));//鹰眼已用 清扫车专用 } ChassisStatesOuterClass.ChassisStates chassisStates = builder.build(); - AutopilotAbilityManager.getInstance().setChassisStates(chassisStates); + AutopilotAbilityManager.getInstance().setChassisStates(chassisStates, light); ParallelDrivingManager.getInstance().setChassisStates(chassisStates); return chassisStates; }