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[opt3.0][mogo-adas]修改m1不能启动自动驾驶的档位

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This commit is contained in:
xinfengkun
2023-02-27 17:40:22 +08:00
parent 601b95772f
commit 9216aa99f4
50 changed files with 458 additions and 969 deletions
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17
libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/AdasOptions.java
View File

@@ -4,6 +4,9 @@ import com.zhidao.support.adas.high.common.autopilot.ability.AutopilotAbilityMan
import com.zhidao.support.adas.high.subscribe.SubscribeInterfaceOptions;
import java.util.HashSet;
import java.util.Set;
import chassis.Chassis;
/**
* Date：2019/5/31。
@@ -126,13 +129,13 @@ public class AdasOptions {
}
/**
* 身份/车型
* 不能启动自驾的档位
*
* @param identityMode 车型
* @param unableLaunchAutopilotGear 档位
* @return
*/
public Builder setIdentityMode(String identityMode) {
options.setIdentityMode(identityMode);
public Builder setUnableLaunchAutopilotGear(Set<Chassis.GearPosition> unableLaunchAutopilotGear) {
options.setUnableLaunchAutopilotGear(unableLaunchAutopilotGear);
return this;
}
@@ -153,7 +156,7 @@ public class AdasOptions {
options.ipcAssignIP = null;
options.ipcFixationIP = null;
options.subscribeInterfaceOptions = null;
options.setIdentityMode("");
options.setUnableLaunchAutopilotGear(null);
return options;
}
@@ -197,7 +200,7 @@ public class AdasOptions {
this.subscribeInterfaceOptions = subscribeInterfaceOptions;
}
public void setIdentityMode(String identityMode) {
AutopilotAbilityManager.getInstance().setIdentityMode(identityMode);
public void setUnableLaunchAutopilotGear(Set<Chassis.GearPosition> unableLaunchAutopilotGear) {
AutopilotAbilityManager.getInstance().setUnableLaunchAutopilotGear(unableLaunchAutopilotGear);
}
}

44
libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/common/autopilot/ability/AutopilotAbility230.java
View File

@@ -1,10 +1,7 @@
package com.zhidao.support.adas.high.common.autopilot.ability;
import com.zhidao.support.adas.high.OnAdasListener;
import java.util.Timer;
import java.util.TimerTask;
import java.util.regex.Pattern;
import chassis.Chassis;
import chassis.ChassisStatesOuterClass;
@@ -31,10 +28,6 @@ public class AutopilotAbility230 {
}
private void onCallback() {
//金旅、开沃小巴乘客端 不能启动自动驾驶
if (AutopilotAbilityManager.getInstance().isBusPassenger()) {
return;
}
boolean isAutopilotAbility = true;//是否能启动自动驾驶
String unableAutopilotReason = null;//不能启动自动驾驶原因
//检测底盘相关
@@ -47,36 +40,14 @@ public class AutopilotAbility230 {
}
}
if (isAutopilotAbility) {
/**
* 档位状态判断 目前判断的车型包括 东风Taxi 红旗Taxi 金旅Bus 金旅M1 金旅M1 福田清扫车 开沃
* TODO 如果 identityMode 未赋值以及目前已知其他车型判断逻辑跟东风Taxi和红旗 走
*/
//开沃任何档位都能启动自驾
if (!AutopilotAbilityManager.getInstance().isBusDriverVan()) {
if (chassisStates.hasGearSystemStates()) {
Chassis.GearPosition gear = chassisStates.getGearSystemStates().getGearPosition();
//金旅Bus和清扫车 档位不正常
if (AutopilotAbilityManager.getInstance().isBusDriver()) {
if (gear == Chassis.GearPosition.GEAR_N || gear == Chassis.GearPosition.GEAR_R) {
isAutopilotAbility = false;
unableAutopilotReason = "档位不正常";
}
} else if (AutopilotAbilityManager.getInstance().isSweeperDriverFutian()) {
if (gear == Chassis.GearPosition.GEAR_N) {
isAutopilotAbility = false;
unableAutopilotReason = "档位不正常";
}
} else {
//东风Taxi和红旗 司机端和乘客端 档位不正常
if (gear == Chassis.GearPosition.GEAR_P || gear == Chassis.GearPosition.GEAR_R) {
isAutopilotAbility = false;
unableAutopilotReason = "档位不正常";
}
}
if (chassisStates.hasGearSystemStates()) {
Chassis.GearPosition gear = chassisStates.getGearSystemStates().getGearPosition();
if (!AutopilotAbilityManager.getInstance().isLaunchAutopilot(gear)) {
isAutopilotAbility = false;
unableAutopilotReason = "档位不正常";
}
}
}
//TODO 关于手刹：不同车型的实现不同所以目前没法使用此字段
// if (isAutopilotAbility) {
// //电子驻车制动系统
@@ -88,9 +59,7 @@ public class AutopilotAbility230 {
// }
// }
}
if (AutopilotAbilityManager.getInstance().getListener() != null) {
AutopilotAbilityManager.getInstance().getListener().onAutopilotAbility(isAutopilotAbility, unableAutopilotReason);
}
AutopilotAbilityManager.getInstance().onAutopilotAbility(isAutopilotAbility, unableAutopilotReason);
}
public synchronized void start() {
@@ -114,5 +83,4 @@ public class AutopilotAbility230 {
}
}

40
libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/common/autopilot/ability/AutopilotAbility250.java
View File

@@ -45,10 +45,6 @@ public class AutopilotAbility250 {
}
private void onCallback(SystemStatusInfo.StatusInfo statusInfo) {
//金旅、开沃小巴乘客端 不能启动自动驾驶
if (AutopilotAbilityManager.getInstance().isBusPassenger()) {
return;
}
boolean isAutopilotAbility = true;//是否能启动自动驾驶
String unableAutopilotReason = null;//不能启动自动驾驶原因
//检测节点状态相关
@@ -122,36 +118,14 @@ public class AutopilotAbility250 {
}
}
if (isAutopilotAbility) {
/**
* 档位状态判断 目前判断的车型包括 东风Taxi 红旗Taxi 金旅Bus 金旅M1 金旅M1 福田清扫车 开沃
* TODO 如果 identityMode 未赋值以及目前已知其他车型判断逻辑跟东风Taxi和红旗 走
*/
//开沃任何档位都能启动自驾
if (!AutopilotAbilityManager.getInstance().isBusDriverVan()) {
if (chassisStates.hasGearSystemStates()) {
Chassis.GearPosition gear = chassisStates.getGearSystemStates().getGearPosition();
//金旅Bus和清扫车 档位不正常
if (AutopilotAbilityManager.getInstance().isBusDriver()) {
if (gear == Chassis.GearPosition.GEAR_N || gear == Chassis.GearPosition.GEAR_R) {
isAutopilotAbility = false;
unableAutopilotReason = "档位不正常";
}
} else if (AutopilotAbilityManager.getInstance().isSweeperDriverFutian()) {
if (gear == Chassis.GearPosition.GEAR_N) {
isAutopilotAbility = false;
unableAutopilotReason = "档位不正常";
}
} else {
//东风Taxi和红旗 司机端和乘客端 档位不正常
if (gear == Chassis.GearPosition.GEAR_P || gear == Chassis.GearPosition.GEAR_R) {
isAutopilotAbility = false;
unableAutopilotReason = "档位不正常";
}
}
if (chassisStates.hasGearSystemStates()) {
Chassis.GearPosition gear = chassisStates.getGearSystemStates().getGearPosition();
if (!AutopilotAbilityManager.getInstance().isLaunchAutopilot(gear)) {
isAutopilotAbility = false;
unableAutopilotReason = "档位不正常";
}
}
}
//TODO 关于手刹：不同车型的实现不同所以目前没法使用此字段
// if (isAutopilotAbility) {
// //电子驻车制动系统
@@ -163,9 +137,7 @@ public class AutopilotAbility250 {
// }
// }
}
if (AutopilotAbilityManager.getInstance().getListener() != null) {
AutopilotAbilityManager.getInstance().getListener().onAutopilotAbility(isAutopilotAbility, unableAutopilotReason);
}
AutopilotAbilityManager.getInstance().onAutopilotAbility(isAutopilotAbility, unableAutopilotReason);
}
public synchronized void start() {

81
libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/common/autopilot/ability/AutopilotAbilityManager.java
View File

@@ -10,11 +10,13 @@ import com.zhidao.support.adas.high.OnAdasListener;
import com.zhidao.support.adas.high.common.Constants;
import com.zhidao.support.adas.high.common.CupidLogUtils;
import java.util.Set;
import java.util.Timer;
import java.util.TimerTask;
import java.util.regex.Matcher;
import java.util.regex.Pattern;
import chassis.Chassis;
import chassis.ChassisStatesOuterClass;
import mogo.telematics.pad.MessagePad;
import system_master.SystemStatusInfo;
@@ -38,37 +40,14 @@ public class AutopilotAbilityManager {
private AutopilotAbility250 autopilotAbility250;
private Timer startTimer;
/**
* 身份/车型
* 不能启动自动驾驶的档位
*/
private String identityMode;
private Set<Chassis.GearPosition> unableLaunchAutopilotGear;
public interface OnAutopilotAbilityListener {
void onStatusQuery();//查询是被调用
}
/**
* 身份规则定义根据app/productFlavors/README.md
* * taxi司机屏 Taxi_Driver_Base （东风、红旗司机端）
* * taxi乘客屏 Taxi_Passenger_Base （东风、红旗乘客端）
* * bus司机屏 Bus_Driver_Base （金旅小巴司机端）
* * Bus_Driver_Van （开沃小巴司机端）
* * bus乘客屏 Bus_Passenger_Base （金旅、开沃小巴乘客端）
* * Bus_Passenger_M1 （M1小巴乘客端）
* * Bus_Passenger_M2 （M2小巴乘客端）
* * 清扫车 Sweeper_Driver_FT （福田清扫车司机端）
* <p>
* 此定义不区分角色，只区分业务线和车型
*/
private interface IDENTITY_MODE {
String TAXI_DRIVER_BASE = "Taxi_Driver_Base";//（东风、红旗司机端）
String TAXI_PASSENGER_BASE = "Taxi_Passenger_Base";//（东风、红旗乘客端）
String BUS_DRIVER_BASE = "Bus_Driver_Base";//（金旅小巴司机端）
String BUS_DRIVER_VAN = "Bus_Driver_Van";//（开沃小巴司机端）
String BUS_PASSENGER_BASE = "Bus_Passenger_Base";//（金旅、开沃小巴乘客端）
String BUS_PASSENGER_M1 = "Bus_Passenger_M1";//（M1小巴乘客端）
String BUS_PASSENGER_M2 = "Bus_Passenger_M2";//（M2小巴乘客端）
String SWEEPER_DRIVER_FT = "Sweeper_Driver_FT";//（福田清扫车司机端）
}
private AutopilotAbilityManager() {
}
@@ -84,8 +63,22 @@ public class AutopilotAbilityManager {
return INSTANCE;
}
public void setIdentityMode(String identityMode) {
this.identityMode = identityMode;
public void setUnableLaunchAutopilotGear(Set<Chassis.GearPosition> unableLaunchAutopilotGear) {
this.unableLaunchAutopilotGear = unableLaunchAutopilotGear;
}
/**
* 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;
}
public void setCarConfig(MessagePad.CarConfigResp carConfig) {
@@ -105,8 +98,10 @@ public class AutopilotAbilityManager {
this.listener = listener;
}
public OnAdasListener getListener() {
return listener;
public void onAutopilotAbility(boolean isAutopilotAbility, String unableAutopilotReason) {
if (listener != null) {
listener.onAutopilotAbility(isAutopilotAbility, unableAutopilotReason);
}
}
public void setHandler(Handler handler) {
@@ -243,32 +238,4 @@ public class AutopilotAbilityManager {
}
return version;
}
/**
* 金旅、开沃小巴乘客端
*/
public boolean isBusPassenger() {
return IDENTITY_MODE.BUS_PASSENGER_BASE.equalsIgnoreCase(identityMode);
}
/**
* 开沃小巴司机端
*/
public boolean isBusDriverVan() {
return IDENTITY_MODE.BUS_DRIVER_VAN.equalsIgnoreCase(identityMode);
}
/**
* 金旅小巴司机端
*/
public boolean isBusDriver() {
return IDENTITY_MODE.BUS_DRIVER_BASE.equalsIgnoreCase(identityMode);
}
/**
* 福田清扫车司机端
*/
public boolean isSweeperDriverFutian() {
return IDENTITY_MODE.SWEEPER_DRIVER_FT.equalsIgnoreCase(identityMode);
}
}