[7.0.0] ADAS LIB 修改心跳协议

libraries/mogo-adas-data/src/main/proto/message_pad.proto

@@ -100,6 +100,7 @@ enum MessageType
     MsgTypePowerUnit = 0x1012e;//电源模块通信
     MsgTypeSSMFuncMsg = 0x1012f;//SSM功能(上下行)
     MsgTypeSSMFuncStatusQuery = 0x10130;//SSM功能状态查询及返回(上下行)
+//    MsgTypeHeartbeat = 0x10131;//PAD给域控下发心跳 1Hz 空数据 TODO 废弃，改用发送"6e 68 6f 69"数据作为心跳
     MsgTypeCaptureImgReqOnTakeOver = 0x10132;//人工接管时PAD请求前后摄像头数据
     MsgTypeEzhouCloud = 0x10133;//NED pad通信（不仅限于鄂州） bus ros1 MAP500版本支持， bus ros2 MAP480版本支持，taxi 还没有上
     MsgTypeCopyBag = 0x10134;//数据落盘(上下行)

libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/AdasChannel.java

@@ -70,6 +70,9 @@ import java.util.Map;
 import java.util.Set;
 import java.util.Timer;
 import java.util.TimerTask;
+import java.util.concurrent.Executors;
+import java.util.concurrent.ScheduledExecutorService;
+import java.util.concurrent.TimeUnit;
 import java.util.concurrent.atomic.AtomicBoolean;
 
 import bag_manager.BagManagerOuterClass;
@@ -146,6 +149,7 @@ public class AdasChannel implements IAdasNetCommApi, FpgaSocket.IWebSocketConnec
      */
     private SubscribeInterface subscribeInterface;
     private Timer carConfigReqTimer;//车辆基础信息请求 多次请求防止无法收到基础信息情况出现
+    private ScheduledExecutorService heartbeatScheduler;//心跳发送
 
     private OnAdasListener mAdasListener;
     //连接状态listener
@@ -868,6 +872,7 @@ public class AdasChannel implements IAdasNetCommApi, FpgaSocket.IWebSocketConnec
             AutopilotAbilityManager.getInstance().start();
             ParallelDrivingManager.getInstance().start();
 //            startCheckCompatibility();
+            startSendHeartbeat();
             //更新连接成功状态之后再根据是否认证进行认证检查
             if (adasOptions.isCertification()) {
                 //启动认证超时
@@ -884,6 +889,7 @@ public class AdasChannel implements IAdasNetCommApi, FpgaSocket.IWebSocketConnec
             ParallelDrivingManager.getInstance().stop();
             AdasManager.getInstance().setCarConfig(null);
 //            stopCheckCompatibility();
+            stopSendHeartbeat();
             stopDispatchHandler();
             isInitConfigure.set(false);
             stopCarConfigReq();
@@ -925,6 +931,26 @@ public class AdasChannel implements IAdasNetCommApi, FpgaSocket.IWebSocketConnec
         }
     }
 
+    //车辆基础信息请求
+    private synchronized void startSendHeartbeat() {
+        if (heartbeatScheduler == null || heartbeatScheduler.isShutdown()) {
+            heartbeatScheduler = Executors.newSingleThreadScheduledExecutor();
+            heartbeatScheduler.scheduleWithFixedDelay(() -> {
+                if (mSocket != null && mSocket.isConnected()) {
+                    mSocket.sendDataWebSocket(Constants.RAW_HEART_BEAT);
+                }
+            }, 100, 1000, TimeUnit.MILLISECONDS);
+        }
+    }
+
+    private synchronized void stopSendHeartbeat() {
+        if (heartbeatScheduler != null) {
+            heartbeatScheduler.shutdownNow();
+            heartbeatScheduler = null;
+        }
+    }
+
+
 //    /**
 //     * 检查兼容性
 //     */

libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/common/Constants.java

@@ -4,6 +4,8 @@ import com.google.gson.reflect.TypeToken;
 
 import java.util.HashSet;
 
+import okio.ByteString;
+
 /**
  * @ProjectName: lib-adas-fpga
  * @Package: PACKAGE_NAME
@@ -33,11 +35,14 @@ public class Constants {
      * 数据协议头
      */
     public static final byte[] RAW_MG = new byte[]{(byte) 0x6d, 0x67};
+    /**
+     * 心跳协议
+     */
+    public static final ByteString RAW_HEART_BEAT = ByteString.of((byte) 0x6e, (byte) 0x68, (byte) 0x6f, (byte) 0x69);
 
     public static final String DEFAULT_PING_ADDRESS_LIST = "[\"192.168.1.102\", \"192.168.8.102\"]";
 
 
-
     /**
      * 终端角色类型
      */