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[644][adas] 能否启动自驾 添加原始数据日志

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This commit is contained in:
xinfengkun
2024-05-22 20:01:14 +08:00
parent d8f7b53444
commit 98edf0ca49
23 changed files with 432 additions and 178 deletions
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13
core/function-impl/mogo-core-function-datacenter/src/main/java/com/mogo/eagle/core/function/datacenter/autopilot/adapter/MoGoAdasListenerImpl.kt
View File

@@ -59,11 +59,10 @@ import com.mogo.support.obu.ObuScene
import com.zhidao.support.adas.high.OnAdasListener
import com.zhjt.mogo.adas.data.bean.AdasParam
import com.zhidao.support.adas.high.common.ProtocolStatus
import com.zhjt.mogo.adas.data.AdasConstants
import com.zhjt.mogo.adas.data.AiCloudTask
import com.zhjt.mogo.adas.data.bean.AutopilotStatistics
import com.zhjt.mogo.adas.data.bean.ReceivedAck
import com.zhjt.mogo.adas.data.bean.UnableLaunchData
import com.zhjt.mogo.adas.data.bean.LaunchConditionData
import com.zhjt.mogo.adas.data.bean.UnableLaunchReason
import com.zhjt.mogo.adas.data.sweeper.bootable.SweeperBootable
import com.zhjt.mogo.adas.data.sweeper.task.SweeperTask
@@ -168,6 +167,7 @@ class MoGoAdasListenerImpl : OnAdasListener {
header: MessagePad.Header,
vehicleState: VehicleStateOuterClass.VehicleState?
) {
CallerAutopilotActionsListenerManager.setVehicleState(vehicleState)
if (vehicleState != null) {
//转向灯数据
// CallerChassisLamplightListenerManager.invokeAutopilotLightSwitchData(vehicleState.light)
@@ -230,6 +230,7 @@ class MoGoAdasListenerImpl : OnAdasListener {
header: MessagePad.Header,
chassisStates: ChassisStatesOuterClass.ChassisStates?
) {
CallerAutopilotActionsListenerManager.setChassisStates(chassisStates)
if (chassisStates != null) {
chassisStates.bcmSystemStates?.let { bcmSystemStates ->
// bcmSystemStates.turnLightState?.let {
@@ -937,13 +938,13 @@ class MoGoAdasListenerImpl : OnAdasListener {
*/
override fun onAutopilotAbility(
isAutopilotAbility: Boolean,
unableLaunchData: UnableLaunchData,
launchConditionData: LaunchConditionData,
unableAutopilotReasons: ArrayList<UnableLaunchReason>?
) {
if (unableAutopilotReasons != null && unableAutopilotReasons.size > 0) {
autopilotAbilityCheck(isAutopilotAbility, unableAutopilotReasons.toString(), unableLaunchData)
autopilotAbilityCheck(isAutopilotAbility, unableAutopilotReasons.toString(), launchConditionData)
}
invokeAutopilotAbility(isAutopilotAbility, unableLaunchData, unableAutopilotReasons)
invokeAutopilotAbility(isAutopilotAbility, launchConditionData, unableAutopilotReasons)
}
override fun onParallelDrivingAbility(
@@ -968,7 +969,7 @@ class MoGoAdasListenerImpl : OnAdasListener {
nodeAliasCode = CHAIN_CODE_ADAS_ABILITY,
paramIndexes = [0, 1]
)
private fun autopilotAbilityCheck(isAutopilotAbility: Boolean, reason: String, unableLaunchData: UnableLaunchData) {
private fun autopilotAbilityCheck(isAutopilotAbility: Boolean, reason: String, launchConditionData: LaunchConditionData) {
}

3
core/function-impl/mogo-core-function-devatools/src/main/java/com/zhjt/mogo_core_function_devatools/status/StatusManager.kt
View File

@@ -9,6 +9,7 @@ import androidx.lifecycle.Lifecycle.Event
import androidx.lifecycle.Lifecycle.Event.ON_CREATE
import androidx.lifecycle.Lifecycle.Event.ON_DESTROY
import com.mogo.commons.utils.MogoAnalyticUtils
import com.mogo.eagle.core.function.call.autopilot.CallerAutopilotActionsListenerManager
import com.mogo.eagle.core.utilcode.kotlin.*
import com.mogo.eagle.core.utilcode.mogo.logger.*
import com.mogo.eagle.core.utilcode.util.*
@@ -192,6 +193,7 @@ object StatusManager {
if (source != -2) {
l.filter { it.isException() }.also { ll ->
val time = System.currentTimeMillis()
val launchCondition = CallerAutopilotActionsListenerManager.getLaunchCondition()
ThreadUtils.getIoPool().execute {
val result = runCatching {
MogoAnalyticUtils.track(
@@ -210,6 +212,7 @@ object StatusManager {
else -> "其它"
}
}
itx["launch_condition"] = launchCondition
itx["data"] = GsonUtils.toJson(ll)
})
}

4
core/function-impl/mogo-core-function-devatools/src/main/java/com/zhjt/mogo_core_function_devatools/status/flow/autopilot/AcceleratorImpl.kt
View File

@@ -5,7 +5,7 @@ import com.mogo.eagle.core.function.api.autopilot.IMoGoAutopilotActionsListener
import com.mogo.eagle.core.function.api.autopilot.IMoGoChassisThrottleStateListener
import com.mogo.eagle.core.function.call.autopilot.CallerAutopilotActionsListenerManager
import com.mogo.eagle.core.function.call.autopilot.CallerChassisThrottleStateListenerManager
import com.zhjt.mogo.adas.data.bean.UnableLaunchData
import com.zhjt.mogo.adas.data.bean.LaunchConditionData
import com.zhjt.mogo.adas.data.bean.UnableLaunchReason
import com.zhjt.mogo.adas.data.bean.UnableLaunchReason.UnableType.CHASSIS_THROTTLE
import com.zhjt.mogo_core_function_devatools.status.entity.AcceleratorStatus
@@ -47,7 +47,7 @@ internal class AcceleratorImpl(ctx: Context): IFlow<AcceleratorStatus>(ctx), IMo
}
}
override fun onAutopilotAbility(isAutopilotAbility: Boolean, unableLaunchData: UnableLaunchData?, unableAutopilotReasons: ArrayList<UnableLaunchReason>?) {
override fun onAutopilotAbility(isAutopilotAbility: Boolean, launchConditionData: LaunchConditionData?, unableAutopilotReasons: ArrayList<UnableLaunchReason>?) {
if (!isAutopilotAbility) {
val target = unableAutopilotReasons?.find { it.unableType == CHASSIS_THROTTLE }?.also { itx ->
isError = true

4
core/function-impl/mogo-core-function-devatools/src/main/java/com/zhjt/mogo_core_function_devatools/status/flow/autopilot/BrakeImpl.kt
View File

@@ -5,7 +5,7 @@ import com.mogo.eagle.core.function.api.autopilot.IMoGoAutopilotActionsListener
import com.mogo.eagle.core.function.api.autopilot.IMoGoChassisBrakeStateListener
import com.mogo.eagle.core.function.call.autopilot.CallerAutopilotActionsListenerManager
import com.mogo.eagle.core.function.call.autopilot.CallerChassisBrakeStateListenerManager
import com.zhjt.mogo.adas.data.bean.UnableLaunchData
import com.zhjt.mogo.adas.data.bean.LaunchConditionData
import com.zhjt.mogo.adas.data.bean.UnableLaunchReason
import com.zhjt.mogo.adas.data.bean.UnableLaunchReason.UnableType.CHASSIS_BRAKE
import com.zhjt.mogo_core_function_devatools.status.entity.BrakeStatus
@@ -46,7 +46,7 @@ internal class BrakeImpl(ctx: Context): IFlow<BrakeStatus>(ctx), IMoGoChassisBra
}
}
override fun onAutopilotAbility(isAutopilotAbility: Boolean, unableLaunchData: UnableLaunchData?, unableAutopilotReasons: ArrayList<UnableLaunchReason>?) {
override fun onAutopilotAbility(isAutopilotAbility: Boolean, launchConditionData: LaunchConditionData?, unableAutopilotReasons: ArrayList<UnableLaunchReason>?) {
if (!isAutopilotAbility) {
val target = unableAutopilotReasons?.find { it.unableType == CHASSIS_BRAKE }?.also { itx ->
isError = true

6
core/function-impl/mogo-core-function-devatools/src/main/java/com/zhjt/mogo_core_function_devatools/status/flow/autopilot/DoubleFlashImpl.kt
View File

@@ -8,11 +8,9 @@ import com.mogo.eagle.core.function.api.autopilot.IMoGoChassisLamplightListener
import com.mogo.eagle.core.function.call.autopilot.CallerAutopilotActionsListenerManager
import com.mogo.eagle.core.function.call.autopilot.CallerChassisLamplightListenerManager
import com.mogo.eagle.core.utilcode.mogo.logger.Logger
import com.zhjt.mogo.adas.data.bean.UnableLaunchData
import com.zhjt.mogo.adas.data.bean.LaunchConditionData
import com.zhjt.mogo.adas.data.bean.UnableLaunchReason
import com.zhjt.mogo.adas.data.bean.UnableLaunchReason.UnableType.CHASSIS_HAZARD_LIGHTS
import com.zhjt.mogo.adas.data.bean.UnableLaunchReason.UnableType.CHASSIS_THROTTLE
import com.zhjt.mogo_core_function_devatools.status.entity.AcceleratorStatus
import com.zhjt.mogo_core_function_devatools.status.entity.DoubleFlashStatus
import com.zhjt.mogo_core_function_devatools.status.flow.IFlow
@@ -54,7 +52,7 @@ internal class DoubleFlashImpl(ctx: Context): IFlow<DoubleFlashStatus>(ctx), IMo
}
override fun onAutopilotAbility(isAutopilotAbility: Boolean, unableLaunchData: UnableLaunchData?, unableAutopilotReasons: ArrayList<UnableLaunchReason>?) {
override fun onAutopilotAbility(isAutopilotAbility: Boolean, launchConditionData: LaunchConditionData?, unableAutopilotReasons: ArrayList<UnableLaunchReason>?) {
if (!isAutopilotAbility) {
val target = unableAutopilotReasons?.find { it.unableType == CHASSIS_HAZARD_LIGHTS }?.also { itx ->
isError = true

6
core/function-impl/mogo-core-function-devatools/src/main/java/com/zhjt/mogo_core_function_devatools/status/flow/autopilot/GearImpl.kt
View File

@@ -7,12 +7,10 @@ import com.mogo.eagle.core.function.api.autopilot.IMoGoAutopilotActionsListener
import com.mogo.eagle.core.function.api.autopilot.IMoGoChassisGearStateListener
import com.mogo.eagle.core.function.call.autopilot.CallerAutopilotActionsListenerManager
import com.mogo.eagle.core.function.call.autopilot.CallerChassisGearStateListenerManager
import com.mogo.eagle.core.utilcode.mogo.logger.Logger
import com.zhjt.mogo.adas.data.bean.UnableLaunchData
import com.zhjt.mogo.adas.data.bean.LaunchConditionData
import com.zhjt.mogo.adas.data.bean.UnableLaunchReason
import com.zhjt.mogo.adas.data.bean.UnableLaunchReason.UnableType.CHASSIS_GEAR
import com.zhjt.mogo_core_function_devatools.status.entity.GearStatus
import com.zhjt.mogo_core_function_devatools.status.entity.SteerStatus
import com.zhjt.mogo_core_function_devatools.status.flow.IFlow
internal class GearImpl(ctx: Context): IFlow<GearStatus>(ctx), IMoGoChassisGearStateListener, IMoGoAutopilotActionsListener {
@@ -48,7 +46,7 @@ internal class GearImpl(ctx: Context): IFlow<GearStatus>(ctx), IMoGoChassisGearS
}
}
override fun onAutopilotAbility(isAutopilotAbility: Boolean, unableLaunchData: UnableLaunchData?, unableAutopilotReasons: ArrayList<UnableLaunchReason>?) {
override fun onAutopilotAbility(isAutopilotAbility: Boolean, launchConditionData: LaunchConditionData?, unableAutopilotReasons: ArrayList<UnableLaunchReason>?) {
if (!isAutopilotAbility) {
val target = unableAutopilotReasons?.find { it.unableType == CHASSIS_GEAR }?.also { itx ->
isError = true

6
core/function-impl/mogo-core-function-devatools/src/main/java/com/zhjt/mogo_core_function_devatools/status/flow/autopilot/SteerImpl.kt
View File

@@ -6,7 +6,7 @@ import com.mogo.eagle.core.function.api.autopilot.IMoGoChassisSteeringStateListe
import com.mogo.eagle.core.function.call.autopilot.CallerAutopilotActionsListenerManager
import com.mogo.eagle.core.function.call.autopilot.CallerChassisSteeringStateListenerManager
import com.mogo.eagle.core.utilcode.mogo.logger.Logger
import com.zhjt.mogo.adas.data.bean.UnableLaunchData
import com.zhjt.mogo.adas.data.bean.LaunchConditionData
import com.zhjt.mogo.adas.data.bean.UnableLaunchReason
import com.zhjt.mogo.adas.data.bean.UnableLaunchReason.UnableType.CHASSIS_STEERING
import com.zhjt.mogo_core_function_devatools.status.entity.SteerStatus
@@ -45,8 +45,8 @@ internal class SteerImpl(ctx: Context): IFlow<SteerStatus>(ctx), IMoGoChassisSte
}
}
override fun onAutopilotAbility(isAutopilotAbility: Boolean, unableLaunchData: UnableLaunchData?, unableAutopilotReasons: ArrayList<UnableLaunchReason>?) {
Logger.d(TAG, "onAutopilotAbility->($isAutopilotAbility, $unableLaunchData, ${unableAutopilotReasons?.joinToString(",")}")
override fun onAutopilotAbility(isAutopilotAbility: Boolean, launchConditionData: LaunchConditionData?, unableAutopilotReasons: ArrayList<UnableLaunchReason>?) {
Logger.d(TAG, "onAutopilotAbility->($isAutopilotAbility, $launchConditionData, ${unableAutopilotReasons?.joinToString(",")}")
if (!isAutopilotAbility) {
val target = unableAutopilotReasons?.find { it.unableType == CHASSIS_STEERING }?.also { itx ->
isError = true