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[630][adas] 修复处于PING状态时，无法停止PING问题

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This commit is contained in:
xinfengkun
2024-03-15 13:59:47 +08:00
parent fec3d1b8dc
commit 8a8d0bf56a
11 changed files with 251 additions and 122 deletions
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10
core/function-impl/mogo-core-function-datacenter/src/main/java/com/mogo/eagle/core/function/datacenter/autopilot/MoGoAutopilotControlProvider.kt
View File

@@ -30,6 +30,7 @@ import com.mogo.eagle.core.function.api.autopilot.IMoGoAutopilotControlProvider
import com.mogo.eagle.core.function.api.hmi.view.IViewControlListener.Companion.FUNC_MODE_RAIN
import com.mogo.eagle.core.function.api.map.collect.IMoGoMapDataCollectProvider
import com.mogo.eagle.core.function.call.autopilot.CallerAutopilotCarConfigListenerManager
import com.mogo.eagle.core.function.call.cloud.CallerCloudCertManager
import com.mogo.eagle.core.function.call.devatools.CallerDevaToolsManager
import com.mogo.eagle.core.function.call.hmi.CallerHmiViewControlListenerManager
import com.mogo.eagle.core.function.call.map.CallerMapDataCollectorManager
@@ -125,6 +126,9 @@ class MoGoAutopilotControlProvider :
.setConnectionMode(AdasOptions.IPC_CONNECTION_MODE.PING)
.setPingAddressList(AdasManager.getInstance().pingAddressList)
.setPassenger(false)
.setEnableCertification(SharedPrefsMgr.getInstance().getBoolean(MoGoConfig.AUTOPILOT_CERTIFICATION, MoGoConfig.AUTOPILOT_CERTIFICATION_DEFAULT_VALUE))
.setRootCrt(CallerCloudCertManager.getRootCrtF())
.setDeviceCrt(CallerCloudCertManager.getDeviceCrtF())
.setUnableLaunchAutopilotGear(FunctionBuildConfig.unableLaunchAutopilotGear)
// .setSubscribeInterfaceOptions(subscribeInterfaceOptions)//
.build()
@@ -253,6 +257,9 @@ class MoGoAutopilotControlProvider :
.setConnectionMode(AdasOptions.IPC_CONNECTION_MODE.PING)
.setPingAddressList(AdasManager.getInstance().pingAddressList)
.setPassenger(false)// 乘客端直连工控机改为false
.setEnableCertification(SharedPrefsMgr.getInstance().getBoolean(MoGoConfig.AUTOPILOT_CERTIFICATION, MoGoConfig.AUTOPILOT_CERTIFICATION_DEFAULT_VALUE))
.setRootCrt(CallerCloudCertManager.getRootCrtF())
.setDeviceCrt(CallerCloudCertManager.getDeviceCrtF())
.setUnableLaunchAutopilotGear(FunctionBuildConfig.unableLaunchAutopilotGear)
.build()
AdasManager.getInstance().create(mContext, options, MoGoAdasMsgConnectStatusListenerImpl())
@@ -311,6 +318,9 @@ class MoGoAutopilotControlProvider :
// 设置IP地址
val options = AdasOptions.newBuilder()
.setPassenger(false)
.setEnableCertification(SharedPrefsMgr.getInstance().getBoolean(MoGoConfig.AUTOPILOT_CERTIFICATION, MoGoConfig.AUTOPILOT_CERTIFICATION_DEFAULT_VALUE))
.setRootCrt(CallerCloudCertManager.getRootCrtF())
.setDeviceCrt(CallerCloudCertManager.getDeviceCrtF())
.setConnectionMode(AdasOptions.IPC_CONNECTION_MODE.SPECIFIED)
.setSpecifiedAddress(autoPilotIp)
.build()

15
core/function-impl/mogo-core-function-datacenter/src/main/java/com/mogo/eagle/core/function/datacenter/autopilot/adapter/MoGoAdasListenerImpl.kt
View File

@@ -369,20 +369,6 @@ class MoGoAdasListenerImpl : OnAdasListener {
invokeAutopilotSNRequest(basicInfoReq)
}
/**
* 域控证书认证状态
* 启用认证需要配置 AdasOptions.setEnableCertification()
* 连接时启用认证 后才会有证认结果
* ROOT证书异常会影响校验域控证书
* PAD证书异常会影响域控端校验的证书校验，域控端证书校验失败将会断开连接，且并不会给出断开原因，ADAS LIB会执行重连操作（如果配置启用重连）
* 假如校验域控证书认证失败会主动断开连接，且不进行重连
*
* @param status 域控证书认证结果{@link AdasConstants.CertificationStatus}
*/
override fun onCertification(status: AdasConstants.CertificationStatus) {
}
//工控机基础配置信息
@ChainLog(
linkChainLog = CHAIN_TYPE_STATUS,
@@ -400,7 +386,6 @@ class MoGoAdasListenerImpl : OnAdasListener {
AppConfigInfo.plateNumber = carConfigResp.plateNumber//车牌号
AppConfigInfo.iPCMacAddress = carConfigResp.macAddress//工控机MAC地址
AppConfigInfo.protocolVersionNumber = carConfigResp.protocolVersionValue//工控机协议版本
AppConfigInfo.isConnectAutopilot = true
invokeAutopilotCarConfigData(carConfigResp)
}
}

149
core/function-impl/mogo-core-function-datacenter/src/main/java/com/mogo/eagle/core/function/datacenter/autopilot/adapter/MoGoAdasMsgConnectStatusListenerImpl.kt
View File

@@ -1,5 +1,6 @@
package com.mogo.eagle.core.function.datacenter.autopilot.adapter
import android.text.TextUtils
import com.mogo.commons.debug.DebugConfig.NET_MODE_DEMO
import com.mogo.commons.debug.DebugConfig.NET_MODE_DEV
import com.mogo.commons.debug.DebugConfig.NET_MODE_QA
@@ -22,6 +23,7 @@ import com.mogo.eagle.core.function.call.msgbox.CallerMsgBoxManager
import com.mogo.eagle.core.utilcode.mogo.AppIdentityModeUtils
import com.mogo.eagle.core.utilcode.mogo.logger.CallerLogger
import com.mogo.eagle.core.utilcode.mogo.logger.scene.SceneConstant.Companion.M_D_C
import com.mogo.eagle.core.utilcode.util.AppUtils
import com.mogo.eagle.core.utilcode.util.ToastUtils
import com.zhidao.support.adas.high.AdasManager
import com.zhidao.support.adas.high.OnAdasConnectStatusListener
@@ -34,6 +36,7 @@ import com.zhidao.support.adas.high.common.Constants.TERMINAL_ROLE.DRIVER
import com.zhidao.support.adas.high.common.Constants.TERMINAL_ROLE.PASSENGER
import com.zhjt.mogo.adas.data.AdasConstants
import mogo.telematics.pad.MessagePad
import java.util.concurrent.atomic.AtomicBoolean
/**
* ADAS-SDK与工控机连接状态回调
@@ -52,9 +55,15 @@ class MoGoAdasMsgConnectStatusListenerImpl :
@Volatile
private var isFirstDisconnected = false//只有连接成功后断开连接才加入消息盒子
private val isReceivedBasicInfoReq = AtomicBoolean(false)//是否接收到域控基础信息请求
private val isSentBasicInfoReq = AtomicBoolean(false)//是否已回复域控基础信息请求
@Volatile
private var certificationResult = ""
init {
CallerCloudListenerManager.addListener(TAG, this)
CallerAutoPilotStatusListenerManager.addListener(TAG, this)
CallerAutopilotActionsListenerManager.setConnected(AdasManager.getInstance().ipcConnectionStatus == AdasConstants.IpcConnectionStatus.CONNECTED)
CallerParallelDrivingActionsListenerManager.setConnected(AdasManager.getInstance().ipcConnectionStatus == AdasConstants.IpcConnectionStatus.CONNECTED)
}
@@ -68,11 +77,11 @@ class MoGoAdasMsgConnectStatusListenerImpl :
AdasManager.getInstance().ipcConnectedIp
CallerAutoPilotStatusListenerManager.getAutoPilotStatusInfo().connectPort =
AdasManager.getInstance().ipcConnectedPort
CallerAutoPilotStatusListenerManager.getAutoPilotStatusInfo().connectStatus = false
AppConfigInfo.isConnectAutopilot = false
//与工控机断开连接，需要重置自动驾驶状态(包括上传至云平台缓存信息)，等待连接成功后同步状态信息
CallerAutoPilotStatusListenerManager.getAutoPilotStatusInfo().state = 0
CallerAutoPilotStatusListenerManager.getAutoPilotStatusInfo().pilotmode = 0
isReceivedBasicInfoReq.set(false)
isSentBasicInfoReq.set(false)
}
/**
@@ -85,11 +94,16 @@ class MoGoAdasMsgConnectStatusListenerImpl :
* {@link AdasConstants.IpcConnectionStatus#SERVER_DISCONNECTED} 服务端断开（如果服务端关闭时发送了原因将存在，如果服务端关闭时未发送将为null）
*/
override fun onConnectionIPCStatus(status: AdasConstants.IpcConnectionStatus, reason: String?) {
CallerAutopilotActionsListenerManager.setConnected(status == AdasConstants.IpcConnectionStatus.CONNECTED)
CallerParallelDrivingActionsListenerManager.setConnected(status == AdasConstants.IpcConnectionStatus.CONNECTED)
AppConfigInfo.connectStatusDescribe = reason
val isConnected = status == AdasConstants.IpcConnectionStatus.CONNECTED
CallerAutopilotActionsListenerManager.setConnected(isConnected)
CallerParallelDrivingActionsListenerManager.setConnected(isConnected)
CallerAutoPilotStatusListenerManager.getAutoPilotStatusInfo().connectStatus = isConnected
AppConfigInfo.isConnectAutopilot = isConnected
var connectStatusDescribe = "未连接"
when (status) {
AdasConstants.IpcConnectionStatus.DISCONNECTED -> {
connectStatusDescribe = "主动断开连接"
CallerLogger.d(
"$M_D_C$TAG",
"未连接或主动断开连接（未连接：鹰眼首次启动时未调用连接函数【目前鹰眼默认启动就会调用连接函数】；主动断开连接：主动调用断开连接函数；）"
@@ -98,7 +112,8 @@ class MoGoAdasMsgConnectStatusListenerImpl :
}
AdasConstants.IpcConnectionStatus.CONNECTED -> {
CallerLogger.d("$M_D_C$TAG", "已连接")
connectStatusDescribe = "已连接"
CallerLogger.d("$M_D_C$TAG", connectStatusDescribe)
// 初始化自动驾驶状态信息
CallerAutoPilotStatusListenerManager.getAutoPilotStatusInfo().connectIP =
AdasManager.getInstance().ipcConnectedIp
@@ -106,10 +121,6 @@ class MoGoAdasMsgConnectStatusListenerImpl :
AdasManager.getInstance().ipcConnectedPort
CallerAutoPilotStatusListenerManager.getAutoPilotStatusInfo().version =
AdasManager.getInstance().adasVersion
CallerAutoPilotStatusListenerManager.getAutoPilotStatusInfo().connectStatus = true
AppConfigInfo.isConnectAutopilot = true
// 同步SN给工控机
syncBasicInfoToAutopilot()
//每次工控机连接成功后，需同步当前设置的美化模式状态
CallerAutoPilotControlManager.setDemoMode(FunctionBuildConfig.isDemoMode)
//当连接状态是关闭美化模式时，同步给工控机
@@ -122,92 +133,157 @@ class MoGoAdasMsgConnectStatusListenerImpl :
}
AdasConstants.IpcConnectionStatus.CONNECTING -> {
CallerLogger.d("$M_D_C$TAG", "域控连接中")
connectStatusDescribe = "连接中"
CallerLogger.d("$M_D_C$TAG", connectStatusDescribe)
connectToast("域控连接中")
}
AdasConstants.IpcConnectionStatus.RECONNECTING_TIMER -> {
CallerLogger.d("$M_D_C$TAG", "域控重连中（定时器）")
connectStatusDescribe = "重连中（定时器）"
CallerLogger.d("$M_D_C$TAG", connectStatusDescribe)
connectToast("域控重连中")
}
AdasConstants.IpcConnectionStatus.RECONNECTING_NETWORK -> {
CallerLogger.d("$M_D_C$TAG", "域控重连中（网络监听）")
connectStatusDescribe = "重连中（网络监听）"
CallerLogger.d("$M_D_C$TAG", connectStatusDescribe)
connectToast("域控重连中")
}
AdasConstants.IpcConnectionStatus.CONNECT_EXCEPTION -> {
connectStatusDescribe =
"连接异常（鹰眼与域控连接失败、无法连接、非正常断开等），原因：$reason"
CallerLogger.d(
"$M_D_C$TAG",
"连接异常（表示鹰眼与域控连接失败、无法连接、非正常断开等），原因：$reason"
connectStatusDescribe
)
resetArgs()
}
AdasConstants.IpcConnectionStatus.ILLEGAL_ADDRESS -> {
connectStatusDescribe =
"非法地址（连接模式为指定地址时：表示当前鹰眼调用连接时传入的域控地址错误或不符合规则【不修改默认配置不会出现此问题】；连接模式为PING模式时：表示传入的PING地址列表存在问题）"
CallerLogger.d(
"$M_D_C$TAG",
"非法地址（连接模式为指定地址时：表示当前鹰眼调用连接时传入的域控地址错误或不符合规则【不修改默认配置不会出现此问题】；连接模式为PING模式时：表示传入的PING地址列表存在问题）"
connectStatusDescribe
)
resetArgs()
connectToast("非法域控地址")
}
AdasConstants.IpcConnectionStatus.SEARCH_ADDRESS -> {
connectStatusDescribe = "正在搜索域控地址"
CallerLogger.d(
"$M_D_C$TAG",
"正在搜索域控地址（表示当前鹰眼正在查找是否有可用的域控地址）"
connectStatusDescribe
)
connectToast("正在搜索域控地址")
}
AdasConstants.IpcConnectionStatus.NOT_FOUND_ADDRESS -> {
connectStatusDescribe =
"找不到可用地址（域控地址列表中的全部地址均无法连通【不修改默认配置的情况下需要排查PAD是否连接车载路由器、工控机是否连接车载路由器、工控机是否开机等】）"
CallerLogger.d(
"$M_D_C$TAG",
"找不到可用地址（当前鹰眼配置的域控地址列表中的全部地址均无法PING通【不修改默认配置的情况下需要排查PAD是否连接车载路由器、工控机是否连接车载路由器、工控机是否开机等】）"
connectStatusDescribe
)
resetArgs()
}
AdasConstants.IpcConnectionStatus.CERTIFICATION_FAILED -> {
connectStatusDescribe =
"域控证书认证异常（鹰眼端或鹰眼端和域控端启用认证后出现异常），原因$certificationResult"
CallerLogger.d(
"$M_D_C$TAG",
"认证异常（表示鹰眼端或鹰眼端和域控端启用认证后，认证出现异常。具体认证异常状态详情见认证状态CertificationStatus【鹰眼端验证域控证书失败会断开连接不进行重连；域控端验证鹰眼端证书失败会断开连接，但是由于域控断开并没有发送断开的原因所以鹰眼会自动重连，重连次数可配置为：用不重连、无限重连、指定次数重连】）"
"域控证书认证异常（鹰眼端或鹰眼端和域控端启用认证后，认证出现异常。具体认证异常状态详情见认证状态CertificationStatus【鹰眼端验证域控证书失败会断开连接不进行重连；域控端验证鹰眼端证书失败会断开连接，但是由于域控断开并没有发送断开的原因所以鹰眼会自动重连，重连次数可配置为：用不重连、无限重连、指定次数重连】）"
)
resetArgs()
}
AdasConstants.IpcConnectionStatus.HEARTBEAT_TIMEOUT -> {
connectStatusDescribe =
"心跳超时（连接域控成功后在一段时间内未收到域控任何数据），超时时间：${reason}秒"
CallerLogger.d(
"$M_D_C$TAG",
"心跳超时（表示连接域控成功后在一段时间内未收到域控任何数据，默认4秒【可以配置】），超时时间：${reason}秒"
connectStatusDescribe
)
resetArgs()
}
AdasConstants.IpcConnectionStatus.PROTOCOL_MISMATCH -> {
connectStatusDescribe = "協議不匹配（被连接的域控端非WebSocket协议【可能性非常低】）"
CallerLogger.d(
"$M_D_C$TAG",
"協議不匹配（表示被连接的服务端非WebSocket协议【可能性非常低】）"
connectStatusDescribe
)
resetArgs()
}
AdasConstants.IpcConnectionStatus.SERVER_DISCONNECTED -> {
connectStatusDescribe =
"域控主动断开连接（域控主动发起断开WebSocket连接，目前主要原因有：1.证书认证失败；2.老版本MAP不支持多连接的情况下会踢掉客户端；），域控断开发送的消息：${reason}"
CallerLogger.d(
"$M_D_C$TAG",
"域控主动断开连接（表示域控主动发起断开WebSocket连接，目前主要原因有：1.证书认证失败；2.老版本MAP不支持多连接的情况下会踢掉客户端；），域控断开发送的消息：${reason}"
connectStatusDescribe
)
resetArgs()
}
}
AppConfigInfo.connectStatusDescribe = connectStatusDescribe
CallerAutoPilotStatusListenerManager.getAutoPilotStatusInfo().ipcConnStatus = status
CallerAutoPilotStatusListenerManager.getAutoPilotStatusInfo().connectStatusDescribe = reason
CallerAutoPilotStatusListenerManager.getAutoPilotStatusInfo().connectStatusReason = reason
CallerAutoPilotStatusListenerManager.invokeAutoPilotStatus()
CallerAutoPilotStatusListenerManager.invokeAutoPilotIPCStatusChanged(status, reason)
saveIntoMsgBox(status, reason)
}
/**
* 域控证书认证状态
* 启用认证需要配置 AdasOptions.setEnableCertification()
* 连接时启用认证 后才会有证认结果
* ROOT证书异常会影响校验域控证书
* PAD证书异常会影响域控端校验的证书校验，域控端证书校验失败将会断开连接，且并不会给出断开原因，ADAS LIB会执行重连操作（如果配置启用重连）
* 假如校验域控证书认证失败会主动断开连接，且不进行重连
*
* @param status 域控证书认证结果{@link AdasConstants.CertificationStatus}
*/
override fun onCertification(status: AdasConstants.CertificationStatus) {
if (status == AdasConstants.CertificationStatus.TIMEOUT) {
certificationResult = "：认证超时";
CallerLogger.d(
"$M_D_C$TAG",
"域控证书认证超时（表示域控未发送BasicInfoReq接口的数据【这种情况可能是连接出现了问题】）"
)
} else {
if (status != AdasConstants.CertificationStatus.NOT_ENABLED) {
if (status == AdasConstants.CertificationStatus.CERTIFICATE_CHAIN_SUCCESS) {
CallerLogger.d(
"$M_D_C$TAG",
"域控证书链校验成功"
)
} else if (status == AdasConstants.CertificationStatus.ROOT_CRT_ERROR) {
certificationResult = "：ROOT证书异常";
CallerLogger.d(
"$M_D_C$TAG",
"ROOT证书异常（表示未传递证书，没有拿到ROOT证书）"
)
} else if (status == AdasConstants.CertificationStatus.IPC_CRT_ERROR) {
certificationResult = "：域控证书异常";
CallerLogger.d(
"$M_D_C$TAG",
"域控证书异常（表示域控发送了BasicInfoReq接口的数据但是未传递证书或证书解码失败【失败的可能性很低】）"
)
} else if (status == AdasConstants.CertificationStatus.CERTIFICATE_CHAIN_FAILED) {
certificationResult = "：证书链校验失败";
CallerLogger.d(
"$M_D_C$TAG",
"域控证书链校验失败（表示证书链未验证通过。证书不匹配、证书格式不正确）"
)
}
}
}
}
private fun saveIntoMsgBox(
status: AdasConstants.IpcConnectionStatus,
reason: String?
@@ -219,6 +295,7 @@ class MoGoAdasMsgConnectStatusListenerImpl :
isFirstException = true
isFirstDisconnected = true
}
AdasConstants.IpcConnectionStatus.DISCONNECTED -> {
if (isFirstDisconnected) {
title = "连接异常"
@@ -239,14 +316,22 @@ class MoGoAdasMsgConnectStatusListenerImpl :
isFirstException = false
}
}
AdasConstants.IpcConnectionStatus.CERTIFICATION_FAILED -> {
title = "连接异常"
content = "域控证书认证异常$certificationResult"
}
AdasConstants.IpcConnectionStatus.HEARTBEAT_TIMEOUT -> {
title = "连接异常"
content = "域控心跳超时"
}
AdasConstants.IpcConnectionStatus.SERVER_DISCONNECTED -> {
title = "连接异常"
content = "域控主动断开连接"
}
else -> {}
}
if (title.isNotEmpty() && content.isNotEmpty()) {
@@ -267,7 +352,11 @@ class MoGoAdasMsgConnectStatusListenerImpl :
* 工控机获取SN
*/
override fun onAutopilotSNRequest(basicInfoReq: MessagePad.BasicInfoReq) {
syncBasicInfoToAutopilot()
CallerLogger.d("$M_D_C$TAG", "收到域控基础信息请求");
isReceivedBasicInfoReq.set(true)
if (!TextUtils.isEmpty(SharedPrefsMgr.getInstance().sn)) {
syncBasicInfoToAutopilot()
}
}
/**
@@ -281,7 +370,9 @@ class MoGoAdasMsgConnectStatusListenerImpl :
.sendBasicInfoResp(
SharedPrefsMgr.getInstance().sn,
getEnvironment(),
getTerminalRole()
getTerminalRole(),
AppUtils.getAppVersionCode(),
AppUtils.getAppVersionName()
)
} else {
// 乘客屏先不传sn
@@ -289,9 +380,12 @@ class MoGoAdasMsgConnectStatusListenerImpl :
.sendBasicInfoResp(
"",
getEnvironment(),
getTerminalRole()
getTerminalRole(),
AppUtils.getAppVersionCode(),
AppUtils.getAppVersionName()
)
}
isSentBasicInfoReq.set(true)
}
private fun getEnvironment(): Int {
@@ -313,7 +407,10 @@ class MoGoAdasMsgConnectStatusListenerImpl :
}
override fun tokenGot(token: String, sn: String) {
syncBasicInfoToAutopilot()
CallerLogger.d("$M_D_C$TAG", "SN获取成功=$sn");
if (isReceivedBasicInfoReq.get() && !isSentBasicInfoReq.get()) {//已收到域控基础信息请求，但是之前SN没有所以还未回复，现在获取到SN后再进行回复
syncBasicInfoToAutopilot()
}
}
}