[644][adas] 能否启动自驾 添加原始数据日志

core/mogo-core-function-call/src/main/java/com/mogo/eagle/core/function/call/autopilot/CallerAutopilotActionsListenerManager.kt

@@ -1,9 +1,14 @@
 package com.mogo.eagle.core.function.call.autopilot
 
+import chassis.ChassisStatesOuterClass
+import chassis.VehicleStateOuterClass
+import com.google.protobuf.TextFormat
 import com.mogo.eagle.core.function.api.autopilot.IMoGoAutopilotActionsListener
 import com.mogo.eagle.core.function.call.base.CallerBase
-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 org.json.JSONException
+import org.json.JSONObject
 
 
 /**
@@ -17,16 +22,27 @@ object CallerAutopilotActionsListenerManager : CallerBase<IMoGoAutopilotActionsL
     private var isAutopilotAbility: Boolean = false
 
     @Volatile
-    private var unableLaunchData: UnableLaunchData? = null
+    private var launchConditionData: LaunchConditionData? = null
 
     @Volatile
     private var unableAutopilotReasons: ArrayList<UnableLaunchReason>? = null
 
+    private var vehicleState: VehicleStateOuterClass.VehicleState? = null
+    private var chassisStates: ChassisStatesOuterClass.ChassisStates? = null
+
     init {
         isAutopilotAbility = false
         unableAutopilotReasons = disconnectedReason()
     }
 
+    fun setVehicleState(vehicleState: VehicleStateOuterClass.VehicleState?) {
+        this.vehicleState = vehicleState;
+    }
+
+    fun setChassisStates(chassisStates: ChassisStatesOuterClass.ChassisStates?) {
+        this.chassisStates = chassisStates;
+    }
+
     private fun disconnectedReason(): ArrayList<UnableLaunchReason> {
         val list = ArrayList<UnableLaunchReason>()
         list.add(
@@ -47,12 +63,134 @@ object CallerAutopilotActionsListenerManager : CallerBase<IMoGoAutopilotActionsL
     }
 
     //获取域控发的原始数据，目前包括新老SSM和FM数据
-    fun getOriginalData(): String {
-        return unableLaunchData?.json ?: ""
+    fun getLaunchConditionOriginalData(): String {
+        return launchConditionData?.json ?: ""
     }
 
-    fun getUnableLaunchData(): UnableLaunchData? {
-        return unableLaunchData
+    fun getLaunchConditionData(): LaunchConditionData? {
+        return launchConditionData
+    }
+
+    fun getLaunchCondition(): String {
+        val jsonObject = JSONObject()
+        val chassisStatesObject = JSONObject()
+        val vehicleStateObject = JSONObject()
+        if (chassisStates != null) {
+            try {
+                if (chassisStates!!.hasHeader()) {
+                    chassisStatesObject.put(
+                        "data_header", TextFormat.printer().escapingNonAscii(false).printToString(
+                            chassisStates!!.header
+                        )
+                    )
+                }
+                //制动踏板
+                var temp = "未知"
+                if (chassisStates!!.hasBrakeSystemStates()) {
+                    val brake = chassisStates!!.brakeSystemStates.brakePedalResponsePosition
+                    temp = brake.toString()
+                }
+                chassisStatesObject.put("brake", temp)
+                //油门踏板
+                temp = "未知"
+                if (chassisStates!!.hasDrivingSystemStates()) {
+                    val throttle = chassisStates!!.drivingSystemStates.throttleResponsePosition
+                    temp = throttle.toString()
+                }
+                chassisStatesObject.put("throttle", temp)
+                //档位
+                temp = "未知"
+                if (chassisStates!!.hasGearSystemStates()) {
+                    val gear = chassisStates!!.gearSystemStates.gearPosition
+                    temp = gear.name
+                }
+                chassisStatesObject.put("gear", temp)
+                //方向盘
+                temp = "未知"
+                if (chassisStates!!.hasSteerSystemStates()) {
+                    val steerSystemStates = chassisStates!!.steerSystemStates
+                    if (steerSystemStates.hasSteeringWheelAngle()) {
+                        val throttle = steerSystemStates.steeringWheelAngle
+                        temp = throttle.toString()
+                    }
+                }
+                chassisStatesObject.put("steering", temp)
+                //车灯
+                temp = "未知"
+                if (chassisStates!!.hasBcmSystemStates()) {
+                    val bcm = chassisStates!!.bcmSystemStates
+                    temp = bcm.turnLightState.name
+                }
+                chassisStatesObject.put("light", temp)
+            } catch (e: Exception) {
+                e.printStackTrace()
+            }
+        }
+
+        if (vehicleState != null) {
+            if (vehicleState!!.hasHeader()) {
+                vehicleStateObject.put(
+                    "data_header", TextFormat.printer().escapingNonAscii(false).printToString(
+                        vehicleState!!.header
+                    )
+                )
+            }
+            try {
+                //制动踏板
+                var temp = "未知"
+                if (vehicleState!!.hasBrake()) {
+                    val brake = vehicleState!!.brake
+                    temp = brake.toString()
+                }
+                vehicleStateObject.put("brake", temp)
+                //油门踏板
+                temp = "未知"
+                if (vehicleState!!.hasThrottle()) {
+                    val throttle = vehicleState!!.throttle
+                    temp = throttle.toString()
+                }
+                vehicleStateObject.put("throttle", temp)
+                //档位
+                temp = "未知"
+                if (vehicleState!!.hasGear()) {
+                    val gear = vehicleState!!.gear
+                    temp = gear.name
+                }
+                vehicleStateObject.put("gear", temp)
+                //方向盘
+                temp = "未知"
+                if (vehicleState!!.hasSteering()) {
+                    val steering = vehicleState!!.steering
+                    temp = steering.toString()
+                }
+                vehicleStateObject.put("steering", temp)
+                //车灯
+                temp = "未知"
+                if (vehicleState!!.hasLight()) {
+                    val light = vehicleState!!.light
+                    temp = light.name
+                }
+                vehicleStateObject.put("light", temp)
+            } catch (e: Exception) {
+                e.printStackTrace()
+            }
+        }
+        try {
+            jsonObject.put("chassis_states", chassisStatesObject)
+        } catch (e: JSONException) {
+            e.printStackTrace()
+        }
+        try {
+            jsonObject.put("vehicle_state", vehicleStateObject)
+        } catch (e: JSONException) {
+            e.printStackTrace()
+        }
+        try {
+            jsonObject.put("launch_condition_data", launchConditionData?.json ?: "")
+        } catch (e: JSONException) {
+            e.printStackTrace()
+        }
+        return jsonObject.toString()
     }
 
     /**
@@ -75,9 +213,10 @@ object CallerAutopilotActionsListenerManager : CallerBase<IMoGoAutopilotActionsL
     @Synchronized
     fun invokeAutopilotAbility(
         isAutopilotAbility: Boolean,
-        unableLaunchData: UnableLaunchData,
+        launchCondition: LaunchConditionData,
         unableAutopilotReasons: ArrayList<UnableLaunchReason>?
     ) {
+        this.launchConditionData = launchCondition
         if (isConnected) {
             var isEquals = true
             if (unableAutopilotReasons != null && this.unableAutopilotReasons != null) {
@@ -92,7 +231,6 @@ object CallerAutopilotActionsListenerManager : CallerBase<IMoGoAutopilotActionsL
                 !(unableAutopilotReasons != null || this.unableAutopilotReasons != null)
             if (this.isAutopilotAbility != isAutopilotAbility || !isEquals) {
                 this.isAutopilotAbility = isAutopilotAbility
-                this.unableLaunchData = unableLaunchData
                 this.unableAutopilotReasons = unableAutopilotReasons
                 notification()
             }
@@ -104,7 +242,7 @@ object CallerAutopilotActionsListenerManager : CallerBase<IMoGoAutopilotActionsL
             val listener = it.value
             listener.onAutopilotAbility(
                 isAutopilotAbility,
-                unableLaunchData,
+                launchConditionData,
                 unableAutopilotReasons
             )
         }