From 930d79f6fa745932c7af34b1526507dde5ffb02e Mon Sep 17 00:00:00 2001 From: xinfengkun Date: Mon, 18 Sep 2023 12:29:11 +0800 Subject: [PATCH] =?UTF-8?q?[610][adas]=E4=B8=8D=E8=83=BD=E5=90=AF=E5=8A=A8?= =?UTF-8?q?=E8=87=AA=E9=A9=BE=E6=88=96=E5=B9=B3=E8=A1=8C=E9=A9=BE=E9=A9=B6?= =?UTF-8?q?=E5=8E=9F=E5=9B=A0=E6=B7=BB=E5=8A=A0=E5=85=B7=E4=BD=93=E6=B6=88?= =?UTF-8?q?=E6=81=AF=E7=B1=BB=E5=9E=8B?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- .../CallerAutopilotActionsListenerManager.kt | 1 + ...erParallelDrivingActionsListenerManager.kt | 1 + .../adas/data/bean/UnableLaunchReason.java | 33 +++++++++++++++---- .../high/common/ParallelDrivingManager.java | 12 +++---- .../ability/AutopilotAbility230.java | 4 +-- .../ability/AutopilotAbility250.java | 18 +++++----- .../ability/AutopilotAbility330.java | 16 ++++----- .../ability/AutopilotAbility350And360.java | 18 +++++----- .../ability/AutopilotAbility360.java | 16 ++++----- .../ability/AutopilotAbilityManager.java | 4 +-- 10 files changed, 72 insertions(+), 51 deletions(-) diff --git a/core/mogo-core-function-call/src/main/java/com/mogo/eagle/core/function/call/autopilot/CallerAutopilotActionsListenerManager.kt b/core/mogo-core-function-call/src/main/java/com/mogo/eagle/core/function/call/autopilot/CallerAutopilotActionsListenerManager.kt index d1f1be8f6c..eaca9a41c3 100644 --- a/core/mogo-core-function-call/src/main/java/com/mogo/eagle/core/function/call/autopilot/CallerAutopilotActionsListenerManager.kt +++ b/core/mogo-core-function-call/src/main/java/com/mogo/eagle/core/function/call/autopilot/CallerAutopilotActionsListenerManager.kt @@ -25,6 +25,7 @@ object CallerAutopilotActionsListenerManager : CallerBase addUnableParallelDrivingReason(ArrayList unableParallelDrivingReasons, UnableLaunchReason.SourceType source, String unableParallelDrivingReason) { + public static ArrayList addUnableParallelDrivingReason(ArrayList unableParallelDrivingReasons, UnableLaunchReason.SourceType source, UnableLaunchReason.UnableType unableType, String unableParallelDrivingReason) { if (unableParallelDrivingReasons == null) { unableParallelDrivingReasons = new ArrayList<>(); } - unableParallelDrivingReasons.add(new UnableLaunchReason(source, unableParallelDrivingReason)); + unableParallelDrivingReasons.add(new UnableLaunchReason(source, unableType, unableParallelDrivingReason)); return unableParallelDrivingReasons; } @@ -118,14 +118,14 @@ public class ParallelDrivingManager { float brake = chassisStates.getBrakeSystemStates().getBrakePedalResponsePosition(); if (brake > 0) { isParallelDrivingAbility = false; - unableParallelDrivingReasons = addUnableParallelDrivingReason(unableParallelDrivingReasons, UnableLaunchReason.SourceType.CHASSIS, "制动踏板被踩下"); + unableParallelDrivingReasons = addUnableParallelDrivingReason(unableParallelDrivingReasons, UnableLaunchReason.SourceType.CHASSIS, UnableLaunchReason.UnableType.BRAKE, "制动踏板被踩下"); } } if (chassisStates.hasGearSystemStates()) { Chassis.GearPosition gear = chassisStates.getGearSystemStates().getGearPosition(); if (!isLaunchAutopilot(gear)) { isParallelDrivingAbility = false; - unableParallelDrivingReasons = addUnableParallelDrivingReason(unableParallelDrivingReasons, UnableLaunchReason.SourceType.CHASSIS, "档位异常"); + unableParallelDrivingReasons = addUnableParallelDrivingReason(unableParallelDrivingReasons, UnableLaunchReason.SourceType.CHASSIS, UnableLaunchReason.UnableType.GEAR, "档位异常"); } } } @@ -136,7 +136,7 @@ public class ParallelDrivingManager { boolean isBrake = vehicleState.getParkingBrake(); if (isBrake) { isParallelDrivingAbility = false; - unableParallelDrivingReasons = addUnableParallelDrivingReason(unableParallelDrivingReasons, UnableLaunchReason.SourceType.CHASSIS, "施加驻车"); + unableParallelDrivingReasons = addUnableParallelDrivingReason(unableParallelDrivingReasons, UnableLaunchReason.SourceType.CHASSIS, UnableLaunchReason.UnableType.PARKING_BRAKE, "施加驻车"); } } } @@ -166,7 +166,7 @@ public class ParallelDrivingManager { }, 2000L, 1000L);//延迟执行，避免刚连接成功后底盘信息无法及时同步 } } else { - callListener(false, addUnableParallelDrivingReason(null, UnableLaunchReason.SourceType.LIB, "当前域控版本无法通过鹰眼启动平行驾驶")); + callListener(false, addUnableParallelDrivingReason(null, UnableLaunchReason.SourceType.LIB, UnableLaunchReason.UnableType.INCOMPATIBLE, "当前域控版本无法通过鹰眼启动平行驾驶")); } } 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 11be04394a..3b049f2374 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 @@ -46,14 +46,14 @@ public class AutopilotAbility230 { float brake = chassisStates.getBrakeSystemStates().getBrakePedalResponsePosition(); if (brake > 0) { isAutopilotAbility = false; - unableAutopilotReasons = AutopilotAbilityManager.getInstance().addUnableAutopilotReason(unableAutopilotReasons, UnableLaunchReason.SourceType.CHASSIS, "制动踏板被踩下"); + unableAutopilotReasons = AutopilotAbilityManager.getInstance().addUnableAutopilotReason(unableAutopilotReasons, UnableLaunchReason.SourceType.CHASSIS, UnableLaunchReason.UnableType.BRAKE, "制动踏板被踩下"); } } if (chassisStates.hasGearSystemStates()) { Chassis.GearPosition gear = chassisStates.getGearSystemStates().getGearPosition(); if (!AutopilotAbilityManager.getInstance().isLaunchAutopilot(gear)) { isAutopilotAbility = false; - unableAutopilotReasons = AutopilotAbilityManager.getInstance().addUnableAutopilotReason(unableAutopilotReasons, UnableLaunchReason.SourceType.CHASSIS, "档位异常"); + unableAutopilotReasons = AutopilotAbilityManager.getInstance().addUnableAutopilotReason(unableAutopilotReasons, UnableLaunchReason.SourceType.CHASSIS, UnableLaunchReason.UnableType.GEAR, "档位异常"); } } //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 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 dd8ff334d0..298c8e6c70 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 @@ -81,7 +81,7 @@ public class AutopilotAbility250 { if (mapVersion >= 30400 && masterVersion > 2 && statusInfo.hasAutoPilotReady() && statusInfo.hasAutoPilotUnreadyReason()) { isAutopilotAbility = statusInfo.getAutoPilotReady(); if (!isAutopilotAbility) { - unableAutopilotReasons = AutopilotAbilityManager.getInstance().addUnableAutopilotReason(unableAutopilotReasons, UnableLaunchReason.SourceType.SSM, statusInfo.getAutoPilotUnreadyReason()); + unableAutopilotReasons = AutopilotAbilityManager.getInstance().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(); @@ -93,13 +93,13 @@ 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, nodeName + AutopilotAbilityManager.NODE_INFO_STATE[state]); + unableAutopilotReasons = AutopilotAbilityManager.getInstance().addUnableAutopilotReason(unableAutopilotReasons, UnableLaunchReason.SourceType.SSM, UnableLaunchReason.UnableType.SSM_OFFER, nodeName + AutopilotAbilityManager.NODE_INFO_STATE[state]); } else { - unableAutopilotReasons = AutopilotAbilityManager.getInstance().addUnableAutopilotReason(unableAutopilotReasons, UnableLaunchReason.SourceType.SSM, nodeName + "未知异常"); + unableAutopilotReasons = AutopilotAbilityManager.getInstance().addUnableAutopilotReason(unableAutopilotReasons, UnableLaunchReason.SourceType.SSM, UnableLaunchReason.UnableType.SSM_ERROR, nodeName + "未知异常"); } } } else { - unableAutopilotReasons = AutopilotAbilityManager.getInstance().addUnableAutopilotReason(unableAutopilotReasons, UnableLaunchReason.SourceType.SSM, "未知异常节点"); + unableAutopilotReasons = AutopilotAbilityManager.getInstance().addUnableAutopilotReason(unableAutopilotReasons, UnableLaunchReason.SourceType.SSM, UnableLaunchReason.UnableType.SSM_ERROR, "未知异常节点"); } } } else { @@ -130,13 +130,13 @@ public class AutopilotAbility250 { unableAutopilotReason = "未知系统状态"; } if (!isAutopilotAbility) { - unableAutopilotReasons = AutopilotAbilityManager.getInstance().addUnableAutopilotReason(unableAutopilotReasons, UnableLaunchReason.SourceType.SSM, unableAutopilotReason); + unableAutopilotReasons = AutopilotAbilityManager.getInstance().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, "SSM状态查询超时无响应"); + unableAutopilotReasons = AutopilotAbilityManager.getInstance().addUnableAutopilotReason(unableAutopilotReasons, UnableLaunchReason.SourceType.LIB, UnableLaunchReason.UnableType.SSM_ERROR, "SSM状态查询超时无响应"); } //检测底盘相关 if (chassisStates != null) { @@ -144,14 +144,14 @@ public class AutopilotAbility250 { float brake = chassisStates.getBrakeSystemStates().getBrakePedalResponsePosition(); if (brake > 0) { isAutopilotAbility = false; - unableAutopilotReasons = AutopilotAbilityManager.getInstance().addUnableAutopilotReason(unableAutopilotReasons, UnableLaunchReason.SourceType.CHASSIS, "制动踏板被踩下"); + unableAutopilotReasons = AutopilotAbilityManager.getInstance().addUnableAutopilotReason(unableAutopilotReasons, UnableLaunchReason.SourceType.CHASSIS, UnableLaunchReason.UnableType.BRAKE, "制动踏板被踩下"); } } if (chassisStates.hasGearSystemStates()) { Chassis.GearPosition gear = chassisStates.getGearSystemStates().getGearPosition(); if (!AutopilotAbilityManager.getInstance().isLaunchAutopilot(gear)) { isAutopilotAbility = false; - unableAutopilotReasons = AutopilotAbilityManager.getInstance().addUnableAutopilotReason(unableAutopilotReasons, UnableLaunchReason.SourceType.CHASSIS, "档位异常"); + unableAutopilotReasons = AutopilotAbilityManager.getInstance().addUnableAutopilotReason(unableAutopilotReasons, UnableLaunchReason.SourceType.CHASSIS, UnableLaunchReason.UnableType.GEAR, "档位异常"); } } } @@ -163,7 +163,7 @@ public class AutopilotAbility250 { boolean isBrake = vehicleState.getParkingBrake(); if (isBrake) { isAutopilotAbility = false; - unableAutopilotReasons = AutopilotAbilityManager.getInstance().addUnableAutopilotReason(unableAutopilotReasons, UnableLaunchReason.SourceType.CHASSIS, "施加驻车"); + unableAutopilotReasons = AutopilotAbilityManager.getInstance().addUnableAutopilotReason(unableAutopilotReasons, UnableLaunchReason.SourceType.CHASSIS, UnableLaunchReason.UnableType.PARKING_BRAKE, "施加驻车"); } } } 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 22a2edca35..005851b51c 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 @@ -74,7 +74,7 @@ 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, statusInfo.getAutoPilotUnreadyReason()); + unableAutopilotReasons = AutopilotAbilityManager.getInstance().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(); @@ -86,13 +86,13 @@ 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, nodeName + AutopilotAbilityManager.NODE_INFO_STATE[state]); + unableAutopilotReasons = AutopilotAbilityManager.getInstance().addUnableAutopilotReason(unableAutopilotReasons, UnableLaunchReason.SourceType.SSM, UnableLaunchReason.UnableType.SSM_OFFER, nodeName + AutopilotAbilityManager.NODE_INFO_STATE[state]); } else { - unableAutopilotReasons = AutopilotAbilityManager.getInstance().addUnableAutopilotReason(unableAutopilotReasons, UnableLaunchReason.SourceType.SSM, nodeName + "未知异常"); + unableAutopilotReasons = AutopilotAbilityManager.getInstance().addUnableAutopilotReason(unableAutopilotReasons, UnableLaunchReason.SourceType.SSM, UnableLaunchReason.UnableType.SSM_ERROR, nodeName + "未知异常"); } } } else { - unableAutopilotReasons = AutopilotAbilityManager.getInstance().addUnableAutopilotReason(unableAutopilotReasons, UnableLaunchReason.SourceType.SSM, "未知异常节点"); + unableAutopilotReasons = AutopilotAbilityManager.getInstance().addUnableAutopilotReason(unableAutopilotReasons, UnableLaunchReason.SourceType.SSM, UnableLaunchReason.UnableType.SSM_ERROR, "未知异常节点"); } } } else { @@ -123,13 +123,13 @@ public class AutopilotAbility330 { unableAutopilotReason = "未知系统状态"; } if (!isAutopilotAbility) { - unableAutopilotReasons = AutopilotAbilityManager.getInstance().addUnableAutopilotReason(unableAutopilotReasons, UnableLaunchReason.SourceType.SSM, unableAutopilotReason); + unableAutopilotReasons = AutopilotAbilityManager.getInstance().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, "SSM状态查询超时无响应"); + unableAutopilotReasons = AutopilotAbilityManager.getInstance().addUnableAutopilotReason(unableAutopilotReasons, UnableLaunchReason.SourceType.LIB, UnableLaunchReason.UnableType.SSM_ERROR, "SSM状态查询超时无响应"); } if (fsmStatusReasonRespond != null) { int count = fsmStatusReasonRespond.getFsmStatusReasonRespondCount(); @@ -138,11 +138,11 @@ 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, respond); + unableAutopilotReasons = AutopilotAbilityManager.getInstance().addUnableAutopilotReason(unableAutopilotReasons, UnableLaunchReason.SourceType.FSM, UnableLaunchReason.UnableType.FSM_OFFER, respond); } } if (unableAutopilotReasons == null || unableAutopilotReasons.isEmpty()) { - unableAutopilotReasons = AutopilotAbilityManager.getInstance().addUnableAutopilotReason(unableAutopilotReasons, UnableLaunchReason.SourceType.LIB, "FSM数据异常"); + unableAutopilotReasons = AutopilotAbilityManager.getInstance().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 dbd3eed306..a9af1c3bdd 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 @@ -69,7 +69,7 @@ public class AutopilotAbility350And360 { if (masterVersion > 2 && statusInfo.hasAutoPilotReady() && statusInfo.hasAutoPilotUnreadyReason()) { isAutopilotAbility = statusInfo.getAutoPilotReady(); if (!isAutopilotAbility) { - unableAutopilotReasons = AutopilotAbilityManager.getInstance().addUnableAutopilotReason(unableAutopilotReasons, UnableLaunchReason.SourceType.SSM, statusInfo.getAutoPilotUnreadyReason()); + unableAutopilotReasons = AutopilotAbilityManager.getInstance().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(); @@ -81,13 +81,13 @@ 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, nodeName + AutopilotAbilityManager.NODE_INFO_STATE_FIXED_FREQUENCY[state]); + unableAutopilotReasons = AutopilotAbilityManager.getInstance().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, nodeName + "未知异常"); + unableAutopilotReasons = AutopilotAbilityManager.getInstance().addUnableAutopilotReason(unableAutopilotReasons, UnableLaunchReason.SourceType.SSM, UnableLaunchReason.UnableType.SSM_ERROR, nodeName + "未知异常"); } } } else { - unableAutopilotReasons = AutopilotAbilityManager.getInstance().addUnableAutopilotReason(unableAutopilotReasons, UnableLaunchReason.SourceType.SSM, "未知异常节点"); + unableAutopilotReasons = AutopilotAbilityManager.getInstance().addUnableAutopilotReason(unableAutopilotReasons, UnableLaunchReason.SourceType.SSM, UnableLaunchReason.UnableType.SSM_ERROR, "未知异常节点"); } } } else { @@ -106,12 +106,12 @@ public class AutopilotAbility350And360 { } else { unableAutopilotReason = "未知系统模式"; } - unableAutopilotReasons = AutopilotAbilityManager.getInstance().addUnableAutopilotReason(unableAutopilotReasons, UnableLaunchReason.SourceType.SSM, unableAutopilotReason); + unableAutopilotReasons = AutopilotAbilityManager.getInstance().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, "SSM数据异常"); + unableAutopilotReasons = AutopilotAbilityManager.getInstance().addUnableAutopilotReason(unableAutopilotReasons, UnableLaunchReason.SourceType.LIB, UnableLaunchReason.UnableType.SSM_ERROR, "SSM状态查询超时无响应"); } //检测底盘相关 if (chassisStates != null) { @@ -119,14 +119,14 @@ public class AutopilotAbility350And360 { float brake = chassisStates.getBrakeSystemStates().getBrakePedalResponsePosition(); if (brake > 0) { isAutopilotAbility = false; - unableAutopilotReasons = AutopilotAbilityManager.getInstance().addUnableAutopilotReason(unableAutopilotReasons, UnableLaunchReason.SourceType.CHASSIS, "制动踏板被踩下"); + unableAutopilotReasons = AutopilotAbilityManager.getInstance().addUnableAutopilotReason(unableAutopilotReasons, UnableLaunchReason.SourceType.CHASSIS, UnableLaunchReason.UnableType.BRAKE, "制动踏板被踩下"); } } if (chassisStates.hasGearSystemStates()) { Chassis.GearPosition gear = chassisStates.getGearSystemStates().getGearPosition(); if (!AutopilotAbilityManager.getInstance().isLaunchAutopilot(gear)) { isAutopilotAbility = false; - unableAutopilotReasons = AutopilotAbilityManager.getInstance().addUnableAutopilotReason(unableAutopilotReasons, UnableLaunchReason.SourceType.CHASSIS, "档位异常"); + unableAutopilotReasons = AutopilotAbilityManager.getInstance().addUnableAutopilotReason(unableAutopilotReasons, UnableLaunchReason.SourceType.CHASSIS, UnableLaunchReason.UnableType.GEAR, "档位异常"); } } } @@ -138,7 +138,7 @@ public class AutopilotAbility350And360 { boolean isBrake = vehicleState.getParkingBrake(); if (isBrake) { isAutopilotAbility = false; - unableAutopilotReasons = AutopilotAbilityManager.getInstance().addUnableAutopilotReason(unableAutopilotReasons, UnableLaunchReason.SourceType.CHASSIS, "施加驻车"); + unableAutopilotReasons = AutopilotAbilityManager.getInstance().addUnableAutopilotReason(unableAutopilotReasons, UnableLaunchReason.SourceType.CHASSIS, UnableLaunchReason.UnableType.PARKING_BRAKE, "施加驻车"); } } } 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 0de52b2894..0e26874210 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 @@ -59,7 +59,7 @@ public class AutopilotAbility360 { if (masterVersion > 2 && statusInfo.hasAutoPilotReady() && statusInfo.hasAutoPilotUnreadyReason()) { isAutopilotAbility = statusInfo.getAutoPilotReady(); if (!isAutopilotAbility) { - unableAutopilotReasons = AutopilotAbilityManager.getInstance().addUnableAutopilotReason(unableAutopilotReasons, UnableLaunchReason.SourceType.SSM, statusInfo.getAutoPilotUnreadyReason()); + unableAutopilotReasons = AutopilotAbilityManager.getInstance().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(); @@ -71,13 +71,13 @@ 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, nodeName + AutopilotAbilityManager.NODE_INFO_STATE_FIXED_FREQUENCY[state]); + unableAutopilotReasons = AutopilotAbilityManager.getInstance().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, nodeName + "未知异常"); + unableAutopilotReasons = AutopilotAbilityManager.getInstance().addUnableAutopilotReason(unableAutopilotReasons, UnableLaunchReason.SourceType.SSM, UnableLaunchReason.UnableType.SSM_ERROR, nodeName + "未知异常"); } } } else { - unableAutopilotReasons = AutopilotAbilityManager.getInstance().addUnableAutopilotReason(unableAutopilotReasons, UnableLaunchReason.SourceType.SSM, "未知异常节点"); + unableAutopilotReasons = AutopilotAbilityManager.getInstance().addUnableAutopilotReason(unableAutopilotReasons, UnableLaunchReason.SourceType.SSM, UnableLaunchReason.UnableType.SSM_ERROR, "未知异常节点"); } } } else { @@ -96,12 +96,12 @@ public class AutopilotAbility360 { } else { unableAutopilotReason = "未知系统模式"; } - unableAutopilotReasons = AutopilotAbilityManager.getInstance().addUnableAutopilotReason(unableAutopilotReasons, UnableLaunchReason.SourceType.SSM, unableAutopilotReason); + unableAutopilotReasons = AutopilotAbilityManager.getInstance().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, "SSM数据异常"); + unableAutopilotReasons = AutopilotAbilityManager.getInstance().addUnableAutopilotReason(unableAutopilotReasons, UnableLaunchReason.SourceType.LIB, UnableLaunchReason.UnableType.SSM_ERROR, "SSM状态查询超时无响应"); } if (fsmStatusReasonRespond != null) { int count = fsmStatusReasonRespond.getFsmStatusReasonRespondCount(); @@ -110,11 +110,11 @@ 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, respond); + unableAutopilotReasons = AutopilotAbilityManager.getInstance().addUnableAutopilotReason(unableAutopilotReasons, UnableLaunchReason.SourceType.FSM, UnableLaunchReason.UnableType.FSM_OFFER, respond); } } if (unableAutopilotReasons == null || unableAutopilotReasons.isEmpty()) { - unableAutopilotReasons = AutopilotAbilityManager.getInstance().addUnableAutopilotReason(unableAutopilotReasons, UnableLaunchReason.SourceType.LIB, "FSM数据异常"); + unableAutopilotReasons = AutopilotAbilityManager.getInstance().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 3ddc60d109..9e7f7d54e1 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 @@ -108,11 +108,11 @@ public class AutopilotAbilityManager implements AutopilotAbility230.OnAutopilotA * @param unableAutopilotReason 云隐 * @return 原因列表 */ - protected ArrayList addUnableAutopilotReason(ArrayList unableAutopilotReasons, UnableLaunchReason.SourceType source, String unableAutopilotReason) { + protected ArrayList addUnableAutopilotReason(ArrayList unableAutopilotReasons, UnableLaunchReason.SourceType source, UnableLaunchReason.UnableType unableType, String unableAutopilotReason) { if (unableAutopilotReasons == null) { unableAutopilotReasons = new ArrayList<>(); } - unableAutopilotReasons.add(new UnableLaunchReason(source, unableAutopilotReason)); + unableAutopilotReasons.add(new UnableLaunchReason(source, unableType, unableAutopilotReason)); return unableAutopilotReasons; }