[6.7.0]

[fea] [自驾状态添加fsm判断]
2024-10-18 16:14:27 +08:00
parent 811ee78b36
commit 931404ea6b
4 changed files with 56 additions and 35 deletions
--- a/OCH/common/common/src/main/java/com/mogo/och/common/module/manager/autopilot/autopilot/IOchAutopilotStatusListener.java
+++ b/OCH/common/common/src/main/java/com/mogo/och/common/module/manager/autopilot/autopilot/IOchAutopilotStatusListener.java
@@ -96,4 +96,6 @@ public interface IOchAutopilotStatusListener {
     */
    default void onAutopilotStatusResponseFromCan(int state) {}

+    default void onFsmCanStartAutopilot(boolean can){}
+
 }
--- a/OCH/common/common/src/main/java/com/mogo/och/common/module/manager/autopilot/autopilot/OchAutoPilotManager.kt
+++ b/OCH/common/common/src/main/java/com/mogo/och/common/module/manager/autopilot/autopilot/OchAutoPilotManager.kt
@@ -5,36 +5,24 @@ import com.mogo.eagle.core.data.config.FunctionBuildConfig
 import com.mogo.eagle.core.data.msgbox.AutopilotMsg
 import com.mogo.eagle.core.data.msgbox.MsgBoxBean
 import com.mogo.eagle.core.data.msgbox.MsgBoxType
-import com.mogo.eagle.core.function.api.autopilot.IMoGoFsm2024Listener
-import com.mogo.eagle.core.function.api.autopilot.IMoGoReceiveReceivedAckListener
 import com.mogo.eagle.core.function.call.autopilot.CallerAutoPilotControlManager
-import com.mogo.eagle.core.function.call.autopilot.CallerFsm2024ListenerManager
-import com.mogo.eagle.core.function.call.autopilot.CallerReceiveReceivedAckListenerManager
 import com.mogo.eagle.core.function.call.msgbox.CallerMsgBoxManager
-import com.mogo.eagle.core.utilcode.mogo.logger.CallerLogger
 import com.mogo.eagle.core.utilcode.util.ToastUtils
 import com.mogo.och.common.module.manager.autopilot.OCHAdasAbilityManager
 import com.mogo.och.common.module.manager.autopilot.autopilot.bean.SessionWithTime
 import com.mogo.och.common.module.manager.autopilot.line.LineManager
 import com.mogo.och.common.module.manager.distance.TrajectoryAndDistanceManager
 import com.mogo.och.common.module.manager.logchainanalytic.OchChainLogManager
-import com.zhjt.mogo.adas.common.MessageType
-import com.zhjt.mogo.adas.data.bean.ReceivedAck
-import com.zhjt.mogo.adas.data.bean.ReceivedAck.Status
-import fsm.Fsm2024
-import java.util.concurrent.atomic.AtomicLong
 import java.util.concurrent.atomic.AtomicReference

-object OchAutoPilotManager : IMoGoReceiveReceivedAckListener, IMoGoFsm2024Listener {
+object OchAutoPilotManager {

    const val TAG = "OchAutoPilotManager"

    private val globalSessionId = AtomicReference<SessionWithTime>()
-    private val fsmBackSessionId = AtomicLong(-1L)

    init {
-        CallerReceiveReceivedAckListenerManager.addListener(TAG,this)
-        CallerFsm2024ListenerManager.addListener(TAG,this)
+
    }

    @JvmStatic
@@ -101,7 +89,7 @@ object OchAutoPilotManager : IMoGoReceiveReceivedAckListener, IMoGoFsm2024Listen
    }

    fun clearGlobalSessionId(log:String){
-        OchChainLogManager.writeChainLogAutopilot("自驾流程","清理SessiongId${globalSessionId}_${fsmBackSessionId}_${log}")
+        OchChainLogManager.writeChainLogAutopilot("自驾流程","清理SessiongId${globalSessionId}_${OchAutoPilotStatusListenerManager.fsmBackSessionId}_${log}")
        globalSessionId.set(null)
    }

@@ -109,36 +97,21 @@ object OchAutoPilotManager : IMoGoReceiveReceivedAckListener, IMoGoFsm2024Listen
    fun startAutoPilot(controlParameters: AutopilotControlParameters?): Long {
        val sessionId = CallerAutoPilotControlManager.startAutoPilot(controlParameters)
        globalSessionId.set(SessionWithTime(sessionId,System.currentTimeMillis()))
-        fsmBackSessionId.set(-1L)
+        OchAutoPilotStatusListenerManager.fsmBackSessionId.set(-1L)
        OchAutopilotAnalytics.triggerStartAutopilotParameters(controlParameters, sessionId)
        return sessionId
    }

-    // 启动自驾底盘反馈信息
-    override fun onReceiveReceivedAck(receivedAck: ReceivedAck) {
-        if (receivedAck.messageType == MessageType.TYPE_SEND_SET_AUTOPILOT_MODE_REQ) {
-            OchAutopilotAnalytics.triggerStartAutopilotParametersAck(receivedAck.toString(),receivedAck.status == Status.NORMAL)
-        }
-    }
-
-    /**
-     *
-     */
-    override fun onFSM2024State(fsmState: Fsm2024.FSMStateMsg) {
-        fsmBackSessionId.set(fsmState.failToPilotSessionId)
-        CallerLogger.e(TAG,"收到FSM2024的SeesiongId：${fsmState.failToPilotSessionId}")
-    }
-
    /**
     * 启动自驾失败切 FSM返回的Session和启动SessionId 不同
     */
    fun checkStartSessionAndFailSessionId(){
        val sessionInfo = globalSessionId.get()
        if(sessionInfo!=null) {
-            if (sessionInfo.sessionId != fsmBackSessionId.get()) {
+            if (sessionInfo.sessionId != OchAutoPilotStatusListenerManager.fsmBackSessionId.get()) {
                OchAutopilotAnalytics.triggerStartAutopilotFailCheckSessionDiff(
                    sessionInfo,
-                    fsmBackSessionId.get()
+                    OchAutoPilotStatusListenerManager.fsmBackSessionId.get()
                )
            }
        }
--- a/OCH/common/common/src/main/java/com/mogo/och/common/module/manager/autopilot/autopilot/OchAutoPilotStatusListenerManager.kt
+++ b/OCH/common/common/src/main/java/com/mogo/och/common/module/manager/autopilot/autopilot/OchAutoPilotStatusListenerManager.kt
@@ -3,9 +3,14 @@ package com.mogo.och.common.module.manager.autopilot.autopilot
 import com.mogo.eagle.core.data.autopilot.AutopilotControlParameters
 import com.mogo.eagle.core.data.config.FunctionBuildConfig
 import com.mogo.eagle.core.function.api.autopilot.IMoGoAutopilotStatusListener
+import com.mogo.eagle.core.function.api.autopilot.IMoGoFsm2024Listener
+import com.mogo.eagle.core.function.api.autopilot.IMoGoReceiveReceivedAckListener
 import com.mogo.eagle.core.function.call.autopilot.CallerAutoPilotControlManager
 import com.mogo.eagle.core.function.call.autopilot.CallerAutoPilotStatusListenerManager
+import com.mogo.eagle.core.function.call.autopilot.CallerFsm2024ListenerManager
+import com.mogo.eagle.core.function.call.autopilot.CallerReceiveReceivedAckListenerManager
 import com.mogo.eagle.core.utilcode.mogo.AppIdentityModeUtils
+import com.mogo.eagle.core.utilcode.mogo.logger.CallerLogger
 import com.mogo.eagle.core.utilcode.util.StringUtils
 import com.mogo.eagle.core.utilcode.util.ToastUtils
 import com.mogo.och.common.module.R
@@ -14,20 +19,27 @@ import com.mogo.och.common.module.manager.autopilot.line.LineManager
 import com.mogo.och.common.module.manager.autopilot.trajectory.TrajectoryManager
 import com.mogo.och.common.module.manager.logchainanalytic.OchChainLogManager
 import com.mogo.och.common.module.utils.CallerBase
+import com.zhjt.mogo.adas.common.MessageType
 import com.zhjt.mogo.adas.data.AdasConstants
 import com.zhjt.mogo.adas.data.bean.MogoReport
+import com.zhjt.mogo.adas.data.bean.ReceivedAck
+import com.zhjt.mogo.adas.data.bean.ReceivedAck.Status
+import fsm.Fsm2024
 import mogo.telematics.pad.MessagePad
 import mogo_msg.MogoReportMsg
 import system_master.SsmInfo
 import system_master.SystemStatusInfo
 import java.lang.Exception
+import java.util.concurrent.atomic.AtomicLong
 import kotlin.properties.Delegates

 object OchAutoPilotStatusListenerManager : CallerBase<IOchAutopilotStatusListener>(),IMoGoAutopilotStatusListener,
-        (Boolean) -> Unit {
+        (Boolean) -> Unit, IMoGoFsm2024Listener, IMoGoReceiveReceivedAckListener {

    const val TAG = "OCHAutoPilotStatusListenerManager"

+    val fsmBackSessionId = AtomicLong(-1L)
+
    private var canStartAutopilot:Boolean? by Delegates.observable(null) { _, oldValue, newValue ->
        if (oldValue != newValue) {
            M_LISTENERS.forEach {
@@ -36,6 +48,18 @@ object OchAutoPilotStatusListenerManager : CallerBase<IOchAutopilotStatusListene
            }
        }
    }
+    private var _canStartAutopilotFromFSM:Boolean by Delegates.observable(true) { _, oldValue, newValue ->
+        if (oldValue != newValue) {
+            M_LISTENERS.forEach {
+                val listener = it.value
+                listener.onFsmCanStartAutopilot(newValue)
+            }
+        }
+    }
+
+    val canStartAutopilotFromFSM:Boolean
+        get() = _canStartAutopilotFromFSM
+
    private var _autopilotState: Int by Delegates.observable(0) { _, oldValue, newValue ->
        if (oldValue != newValue) {
            if (AppIdentityModeUtils.isDriver(FunctionBuildConfig.appIdentityMode)) {
@@ -67,6 +91,8 @@ object OchAutoPilotStatusListenerManager : CallerBase<IOchAutopilotStatusListene
        //2021.11.1 鹰眼架构整合，由IMoGoAutopilotStatusListener逐步替代IMogoAdasOCHCallback接口
        CallerAutoPilotStatusListenerManager.addListener(TAG, this)
        CallerAutoPilotControlManager.addStartAutopilotStateListener(TAG,this)
+        CallerFsm2024ListenerManager.addListener(TAG,this)
+        CallerReceiveReceivedAckListenerManager.addListener(TAG,this)
    }

    override fun doSomeAfterAddListener(tag: String, listener: IOchAutopilotStatusListener) {
@@ -244,4 +270,18 @@ object OchAutoPilotStatusListenerManager : CallerBase<IOchAutopilotStatusListene
            }
        }
    }
+
+    override fun onFSM2024State(fsmState: Fsm2024.FSMStateMsg) {
+        fsmBackSessionId.set(fsmState.failToPilotSessionId)
+        CallerLogger.e(TAG,"收到FSM2024的SeesiongId：${fsmState.failToPilotSessionId}")
+        CallerLogger.e(TAG,"收到FSM2024的是否可启动自驾：${fsmState.pilotStandbyFlag}")
+        OchChainLogManager.writeChainLogAutopilot("FSM2024数据","收到FSM2024的SeesiongId：${fsmState.failToPilotSessionId}_收到FSM2024的是否可启动自驾：${fsmState.pilotStandbyFlag}")
+        _canStartAutopilotFromFSM = fsmState.pilotStandbyFlag
+    }
+
+    override fun onReceiveReceivedAck(receivedAck: ReceivedAck) {
+        if (receivedAck.messageType == MessageType.TYPE_SEND_SET_AUTOPILOT_MODE_REQ) {
+            OchAutopilotAnalytics.triggerStartAutopilotParametersAck(receivedAck.toString(),receivedAck.status == Status.NORMAL)
+        }
+    }
 }
--- a/OCH/common/common/src/main/java/com/mogo/och/common/module/wigets/autopilot/AutopilotStateModel.kt
+++ b/OCH/common/common/src/main/java/com/mogo/och/common/module/wigets/autopilot/AutopilotStateModel.kt
@@ -7,6 +7,7 @@ import com.mogo.eagle.core.utilcode.util.UiThreadHandler
 import com.mogo.och.common.module.debug.autopilot.AutopilotStateDebug
 import com.mogo.och.common.module.debug.autopilot.IOchDebugAutopilotStatusListener
 import com.mogo.och.common.module.manager.autopilot.autopilot.IOchAutopilotStatusListener
+import com.mogo.och.common.module.manager.autopilot.autopilot.OchAutoPilotManager
 import com.mogo.och.common.module.manager.autopilot.autopilot.OchAutoPilotStatusListenerManager
 import com.mogo.och.common.module.manager.autopilot.line.ILineCallback
 import com.mogo.och.common.module.manager.autopilot.line.LineManager
@@ -85,6 +86,11 @@ class AutopilotStateModel :  ViewModel(), IOchAutopilotStatusListener, ILineCall
        autopilotStateChange()
    }

+    override fun onFsmCanStartAutopilot(can: Boolean) {
+        OchChainLogManager.writeChainLog("自驾信息","FSM能否启动自驾:${can}")
+        autopilotStateChange()
+    }
+
    private fun autopilotStateChange(){
        // 正在起自驾过程中
        // 自驾状态变化为非自驾状态
@@ -105,7 +111,7 @@ class AutopilotStateModel :  ViewModel(), IOchAutopilotStatusListener, ILineCall
                    this.viewCallback?.autopilotDisable()
                }
                IMoGoAutopilotStatusListener.STATUS_AUTOPILOT_ENABLE-> {
-                    if (!CallerAutoPilotControlManager.isCanStartAutopilot(false)) {// 不可用
+                    if (!CallerAutoPilotControlManager.isCanStartAutopilot(false) && !OchAutoPilotStatusListenerManager.canStartAutopilotFromFSM) {// 不可用
                        this.viewCallback?.autopilotDisable()
                    } else {// 部分可用
                        this.viewCallback?.canStartAutopilot()