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Merge branch 'dev_robotaxi-d_241112_6.8.0' into dev_robotaxi-d_241112_6.8.1_dev

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xuxinchao
2024-11-28 16:49:00 +08:00
parent 99c36c6c6b 7e97389c6f
commit 8ee9bde0ea
7 changed files with 57 additions and 24 deletions
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20
libraries/mogo-adas-data/src/main/java/com/zhjt/mogo/adas/data/bean/AutopilotStatistics.java
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@@ -1,6 +1,7 @@
package com.zhjt.mogo.adas.data.bean;
import androidx.annotation.NonNull;
import androidx.annotation.Nullable;
import fsm.Fsm2024;
@@ -18,7 +19,7 @@ public class AutopilotStatistics {
/**
* 成功
*/
int SUCCESSFUL = 0;
int SUCCEED = 0;
/**
* 失败
*/
@@ -29,6 +30,14 @@ public class AutopilotStatistics {
int CANCEL = 2;
}
public enum Source {
LIB,//ADAS库 [用在下取消]
REPORT,//系统监控 [用在失败]
FSM, //老版FSM [用在成功]
FSM2024, //新版FSM [用在成功和失败]
CHASSIS//底盘 [用在成功]
}
/**
* 启动自动驾驶后状态
* 0 成功
@@ -62,9 +71,16 @@ public class AutopilotStatistics {
@Nullable
public final MogoReportMsg.MogoReportMessage failedMessage;
public AutopilotStatistics(int status, long usedTime, @Nullable MessagePad.SetAutopilotModeReq req, @Nullable Fsm2024.FSMStateMsg fsmState, @Nullable MogoReportMsg.MogoReportMessage failedMessage) {
/**
* 数据来源
*/
@NonNull
public final Source source;
public AutopilotStatistics(int status, long usedTime, @NonNull Source source, @Nullable MessagePad.SetAutopilotModeReq req, @Nullable Fsm2024.FSMStateMsg fsmState, @Nullable MogoReportMsg.MogoReportMessage failedMessage) {
this.status = status;
this.usedTime = usedTime;
this.source = source;
this.req = req;
this.fsmState = fsmState;
this.failedMessage = failedMessage;

48
libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/common/AutopilotReview.java
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@@ -41,10 +41,10 @@ public class AutopilotReview {
void onReview(AutopilotStatistics statistics);
}
private void onCallback(@Define.AutopilotStartStatus int status) {
private void onCallback(@Define.AutopilotStartStatus int status, @NonNull AutopilotStatistics.Source source) {
long usedTime = SystemClock.elapsedRealtime() - startTime;
if (listener != null) {
listener.onReview(new AutopilotStatistics(status, usedTime, startReq, fsmState, failedMessage));
listener.onReview(new AutopilotStatistics(status, usedTime, source, startReq, fsmState, failedMessage));
}
startTime = 0;
startReq = null;
@@ -68,7 +68,7 @@ public class AutopilotReview {
startReq = null;
failedMessage = null;
fsmState = null;
onCallback(AutopilotStatistics.AUTOPILOT_START_STATUS.CANCEL);
onCallback(AutopilotStatistics.AUTOPILOT_START_STATUS.CANCEL, AutopilotStatistics.Source.LIB);
}
}
@@ -82,26 +82,38 @@ public class AutopilotReview {
if (AutopilotAbilityManager.getInstance().getFsm2024Version() >= 20) {
return;
}
if (startReq != null && message != null) {
failedMessage = message;
onCallback(AutopilotStatistics.AUTOPILOT_START_STATUS.FAILED);
failedMessage = message;
if (message != null) {
if (startReq == null) {
this.failedMessage = null;
} else {
onCallback(AutopilotStatistics.AUTOPILOT_START_STATUS.FAILED, AutopilotStatistics.Source.REPORT);
}
}
}
public void setFSM2024State(Fsm2024.FSMStateMsg fsmState) {
public void setFSM2024State(Fsm2024.FSMStateMsg fsmState, int autopilotState) {
this.fsmState = fsmState;
if (startReq != null && fsmState != null) {
if (fsmState.hasSession()) {
Fsm2024.Session session = fsmState.getSession();
if (session.hasSessionActiveMode() && session.hasSessionResult()) {
if (session.getSessionActiveMode() == Fsm2024.ActiveMode.PILOT_ACTIVE &&
session.getSessionResult() == Fsm2024.SessionResult.REQUEST_FAILED) {
onCallback(AutopilotStatistics.AUTOPILOT_START_STATUS.FAILED);
if (fsmState != null) {
if (startReq == null) {
this.fsmState = null;
} else {
if (fsmState.hasSession()) {
Fsm2024.Session session = fsmState.getSession();
if (session.hasSessionActiveMode() && session.hasSessionResult()) {
if (session.getSessionActiveMode() == Fsm2024.ActiveMode.PILOT_ACTIVE) {
if (session.getSessionResult() == Fsm2024.SessionResult.REQUEST_SUCCEED) {
onCallback(AutopilotStatistics.AUTOPILOT_START_STATUS.SUCCEED, AutopilotStatistics.Source.FSM2024);
} else if (session.getSessionResult() == Fsm2024.SessionResult.REQUEST_FAILED) {
onCallback(AutopilotStatistics.AUTOPILOT_START_STATUS.FAILED, AutopilotStatistics.Source.FSM2024);
}
}
}
}
}
}
onAutopilotResult(autopilotState, AutopilotStatistics.Source.FSM2024);
}
/**
@@ -109,9 +121,13 @@ public class AutopilotReview {
*
* @param autopilotState
*/
public void onAutopilotResult(int autopilotState) {
public void onAutopilotResult(int autopilotState, @NonNull AutopilotStatistics.Source source) {
//FSM2024版本大于等于2.0时使用FSM的数据进行判断是否失败
if (AutopilotAbilityManager.getInstance().getFsm2024Version() >= 20) {
return;
}
if (startReq != null && autopilotState == 2) {
onCallback(AutopilotStatistics.AUTOPILOT_START_STATUS.SUCCESSFUL);
onCallback(AutopilotStatistics.AUTOPILOT_START_STATUS.SUCCEED, source);
}
}
}

2
libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/common/Define.java
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@@ -39,7 +39,7 @@ public final class Define {
public @interface SubscribeType {
}
@IntDef(flag = true, value = {AutopilotStatistics.AUTOPILOT_START_STATUS.SUCCESSFUL,
@IntDef(flag = true, value = {AutopilotStatistics.AUTOPILOT_START_STATUS.SUCCEED,
AutopilotStatistics.AUTOPILOT_START_STATUS.FAILED,
AutopilotStatistics.AUTOPILOT_START_STATUS.CANCEL})
@Retention(RetentionPolicy.SOURCE)

3
libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/msg/AutopilotStateMessage.java
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@@ -11,6 +11,7 @@ import com.zhidao.support.adas.high.common.CupidLogUtils;
import com.zhidao.support.adas.high.common.ParallelDrivingManager;
import com.zhidao.support.adas.high.protocol.RawData;
import com.zhjt.mogo.adas.data.AdasConstants;
import com.zhjt.mogo.adas.data.bean.AutopilotStatistics;
import mogo.telematics.pad.MessagePad;
@@ -39,7 +40,7 @@ public class AutopilotStateMessage extends MyAbstractMessageHandler {
if (AdasManager.getInstance().getNodeStateInfo(AdasConstants.NodeName.FSM2024).getExistState() != AdasConstants.NodeExistState.NODE_EXIST_NORMAL) {
ParallelDrivingManager.getInstance().setAutopilotState(autopilotState.getState());
if (autopilotReview != null) {
autopilotReview.onAutopilotResult(autopilotState.getState());
autopilotReview.onAutopilotResult(autopilotState.getState(), AutopilotStatistics.Source.CHASSIS);
}
}
AdasChannel.calculateTimeConsumingBusiness("自动驾驶状态", nowTime);

3
libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/msg/FSM2024StateMessage.java
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@@ -35,8 +35,7 @@ public class FSM2024StateMessage extends MyAbstractMessageHandler {
nowTime = SystemClock.elapsedRealtime();
ParallelDrivingManager.getInstance().setAutopilotState(autopilotState);
if (autopilotReview != null) {
autopilotReview.setFSM2024State(fsmState);
autopilotReview.onAutopilotResult(autopilotState);
autopilotReview.setFSM2024State(fsmState, autopilotState);
}
if (adasListener != null) {
if (fsmState.getRepeatedPilotNotStandbyReasonCount() == 0) {

3
libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/msg/FunctionStatesMessage.java
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@@ -11,6 +11,7 @@ import com.zhidao.support.adas.high.common.CupidLogUtils;
import com.zhidao.support.adas.high.common.ParallelDrivingManager;
import com.zhidao.support.adas.high.common.autopilot.ability.AutopilotAbilityManager;
import com.zhidao.support.adas.high.protocol.RawData;
import com.zhjt.mogo.adas.data.bean.AutopilotStatistics;
import java.util.HashMap;
import java.util.Map;
@@ -107,7 +108,7 @@ public class FunctionStatesMessage extends MyAbstractMessageHandler {
adasListener.onAutopilotState(header.toBuilder().setMsgType(MessagePad.MessageType.MsgTypeAutopilotState).build(), autopilotState);
ParallelDrivingManager.getInstance().setAutopilotState(autopilotState.getState());
if (autopilotReview != null) {
autopilotReview.onAutopilotResult(autopilotState.getState());
autopilotReview.onAutopilotResult(autopilotState.getState(), AutopilotStatistics.Source.FSM);
}
}