[644][adas] 能否启动自驾添加原始数据日志

2024-05-22 20:01:14 +08:00
parent d8f7b53444
commit 98edf0ca49
23 changed files with 432 additions and 178 deletions
--- a/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/OnAdasListener.java
+++ b/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/OnAdasListener.java
@@ -12,7 +12,7 @@ import com.zhjt.mogo.adas.data.AiCloudTask;
 import com.zhjt.mogo.adas.data.bean.AdasParam;
 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;
@@ -492,10 +492,10 @@ public interface OnAdasListener {
     * 是否有能力启动自动驾驶
     *
     * @param isAutopilotAbility     是否能启动自动驾驶
-     * @param unableLaunchData       原始数据
+     * @param launchConditionData       原始数据
     * @param unableAutopilotReasons 不能启动自动驾驶原因
     */
-    void onAutopilotAbility(boolean isAutopilotAbility, @NonNull UnableLaunchData unableLaunchData, @Nullable ArrayList<UnableLaunchReason> unableAutopilotReasons);
+    void onAutopilotAbility(boolean isAutopilotAbility, @NonNull LaunchConditionData launchConditionData, @Nullable ArrayList<UnableLaunchReason> unableAutopilotReasons);


    /**
--- 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
@@ -2,7 +2,7 @@ package com.zhidao.support.adas.high.common.autopilot.ability;

 import androidx.annotation.NonNull;

-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 java.util.ArrayList;
@@ -30,7 +30,7 @@ public class AutopilotAbility230 extends BaseAutopilotAbilityChassis {
        unableAutopilotReasons = onCallbackChassis(unableAutopilotReasons);
        if (listener != null) {
            boolean isAutopilotAbility = unableAutopilotReasons == null || unableAutopilotReasons.isEmpty();//是否能启动自动驾驶
-            listener.onAutopilotAbility(isAutopilotAbility, new UnableLaunchData(this.getClass().getSimpleName(), null, null, null), unableAutopilotReasons);
+            listener.onAutopilotAbility(isAutopilotAbility, new LaunchConditionData(this.getClass().getSimpleName(), chassisStates, oldSteering, getLightSwitch(), null, null, null), unableAutopilotReasons);
        }
    }

--- 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
@@ -4,7 +4,7 @@ import androidx.annotation.NonNull;

 import com.zhidao.support.adas.high.AdasManager;
 import com.zhidao.support.adas.high.common.CupidLogUtils;
-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 java.util.ArrayList;
@@ -107,7 +107,7 @@ public class AutopilotAbility250 extends BaseAutopilotAbilityChassis {
        unableAutopilotReasons = onCallbackChassis(unableAutopilotReasons);
        if (listener != null) {
            boolean isAutopilotAbility = unableAutopilotReasons == null || unableAutopilotReasons.isEmpty();//是否能启动自动驾驶
-            listener.onAutopilotAbility(isAutopilotAbility, new UnableLaunchData(this.getClass().getSimpleName(), statusInfo, null, null), unableAutopilotReasons);
+            listener.onAutopilotAbility(isAutopilotAbility, new LaunchConditionData(this.getClass().getSimpleName(), chassisStates, oldSteering, getLightSwitch(), statusInfo, null, null), unableAutopilotReasons);
        }
    }

--- 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
@@ -6,7 +6,7 @@ import androidx.annotation.NonNull;

 import com.zhidao.support.adas.high.AdasManager;
 import com.zhidao.support.adas.high.common.CupidLogUtils;
-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 java.util.ArrayList;
@@ -138,7 +138,7 @@ public class AutopilotAbility330 {
            }
        }
        if (listener != null) {
-            listener.onAutopilotAbility(isAutopilotAbility, new UnableLaunchData(this.getClass().getSimpleName(), statusInfo, null, fsmStatusReasonRespond), unableAutopilotReasons);
+            listener.onAutopilotAbility(isAutopilotAbility, new LaunchConditionData(this.getClass().getSimpleName(), statusInfo, null, fsmStatusReasonRespond), unableAutopilotReasons);
        }
        fsmStatusReasonRespond = null;
    }
--- 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
@@ -4,7 +4,7 @@ import androidx.annotation.NonNull;

 import com.zhidao.support.adas.high.AdasManager;
 import com.zhidao.support.adas.high.common.CupidLogUtils;
-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 java.util.ArrayList;
@@ -88,7 +88,7 @@ public class AutopilotAbility350And360 extends BaseAutopilotAbilityChassis {
        unableAutopilotReasons = onCallbackChassis(unableAutopilotReasons);
        if (listener != null) {
            boolean isAutopilotAbility = unableAutopilotReasons == null || unableAutopilotReasons.isEmpty();//是否能启动自动驾驶
-            listener.onAutopilotAbility(isAutopilotAbility, new UnableLaunchData(this.getClass().getSimpleName(), null, statusInfo, null), unableAutopilotReasons);
+            listener.onAutopilotAbility(isAutopilotAbility, new LaunchConditionData(this.getClass().getSimpleName(), chassisStates, oldSteering, getLightSwitch(), null, statusInfo, null), unableAutopilotReasons);
        }
    }

--- 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
@@ -6,7 +6,7 @@ import androidx.annotation.NonNull;

 import com.zhidao.support.adas.high.AdasManager;
 import com.zhidao.support.adas.high.common.CupidLogUtils;
-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 java.util.ArrayList;
@@ -117,7 +117,7 @@ public class AutopilotAbility360 {
            }
        }
        if (listener != null) {
-            listener.onAutopilotAbility(isAutopilotAbility, new UnableLaunchData(this.getClass().getSimpleName(), null, statusInfo, fsmStatusReasonRespond), unableAutopilotReasons);
+            listener.onAutopilotAbility(isAutopilotAbility, new LaunchConditionData(this.getClass().getSimpleName(), null, statusInfo, fsmStatusReasonRespond), unableAutopilotReasons);
        }
        fsmStatusReasonRespond = null;
    }
--- 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
@@ -7,7 +7,7 @@ import com.zhidao.support.adas.high.AdasManager;
 import com.zhidao.support.adas.high.OnAdasListener;
 import com.zhidao.support.adas.high.common.CupidLogUtils;
 import com.zhjt.mogo.adas.data.AdasConstants;
-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 java.util.ArrayList;
@@ -131,9 +131,9 @@ public class AutopilotAbilityManager implements OnAutopilotAbilityListener {
    }

    @Override
-    public void onAutopilotAbility(boolean isAutopilotAbility, @NonNull UnableLaunchData unableLaunchData, @Nullable ArrayList<UnableLaunchReason> unableAutopilotReasons) {
+    public void onAutopilotAbility(boolean isAutopilotAbility, @NonNull LaunchConditionData launchConditionData, @Nullable ArrayList<UnableLaunchReason> unableAutopilotReasons) {
        if (listener != null) {
-            listener.onAutopilotAbility(isAutopilotAbility, unableLaunchData, unableAutopilotReasons);
+            listener.onAutopilotAbility(isAutopilotAbility, launchConditionData, unableAutopilotReasons);
        }
    }

--- a/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/common/autopilot/ability/BaseAutopilotAbilityChassis.java
+++ b/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/common/autopilot/ability/BaseAutopilotAbilityChassis.java
@@ -24,7 +24,7 @@ public abstract class BaseAutopilotAbilityChassis {
    private static final String REASON_CHASSIS_STEERING = "方向盘";
    @NonNull
    protected final AutopilotAbilityManager manager;
-    private ChassisStatesOuterClass.ChassisStates chassisStates;
+    protected ChassisStatesOuterClass.ChassisStates chassisStates;
    protected OnAutopilotAbilityListener listener;
    protected int mapVersion = -1;//工控机版本
    protected boolean isJinlv = false;//是否是金旅小巴
@@ -39,7 +39,7 @@ public abstract class BaseAutopilotAbilityChassis {
     */
    private Set<Chassis.GearPosition> launchAutopilotGear;

-    private float oldThrottle = Float.MAX_VALUE;//方向盘转角
+    protected float oldSteering = Float.MAX_VALUE;//方向盘转角

    public BaseAutopilotAbilityChassis(@NonNull AutopilotAbilityManager manager) {
        this.manager = manager;
@@ -60,6 +60,9 @@ public abstract class BaseAutopilotAbilityChassis {
        currentLight.set(light);
    }

+    protected Chassis.LightSwitch getLightSwitch() {
+        return currentLight.get();
+    }

    public void setLaunchAutopilotGear(Set<Chassis.GearPosition> launchAutopilotGear) {
        this.launchAutopilotGear = launchAutopilotGear;
@@ -138,13 +141,13 @@ public abstract class BaseAutopilotAbilityChassis {
            if (chassisStates.hasSteerSystemStates()) {
                ChassisStatesOuterClass.SteerSystemStates steerSystemStates = chassisStates.getSteerSystemStates();
                if (steerSystemStates.hasSteeringWheelAngle()) {
-                    float throttle = steerSystemStates.getSteeringWheelAngle();
-                    if (oldThrottle == Float.MAX_VALUE) {
-                        oldThrottle = throttle;
+                    float steering = steerSystemStates.getSteeringWheelAngle();
+                    if (oldSteering == Float.MAX_VALUE) {
+                        oldSteering = steering;
                    } else {
-//                        CupidLogUtils.log(TAG, "方向盘当前角度=" + oldThrottle + " 方向盘1秒前角度=" + throttle);
-                        boolean isTurning = Math.abs(throttle - oldThrottle) > 8.0F;
-                        oldThrottle = throttle;
+//                        CupidLogUtils.log(TAG, "方向盘当前角度=" + oldSteering + " 方向盘1秒前角度=" + steering);
+                        boolean isTurning = Math.abs(steering - oldSteering) > 8.0F;
+                        oldSteering = steering;
 //                        CupidLogUtils.log(TAG, "方向盘是否转动=" + isTurning);
                        if (isTurning) {
                            unableAutopilotReasons = manager.addUnableAutopilotReason(unableAutopilotReasons, UnableLaunchReason.SourceType.CHASSIS, UnableLaunchReason.UnableType.CHASSIS_STEERING, REASON_CHASSIS_STEERING);
--- a/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/common/autopilot/ability/OnAutopilotAbilityListener.java
+++ b/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/common/autopilot/ability/OnAutopilotAbilityListener.java
@@ -3,11 +3,11 @@ package com.zhidao.support.adas.high.common.autopilot.ability;
 import androidx.annotation.NonNull;
 import androidx.annotation.Nullable;

-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 java.util.ArrayList;

 interface OnAutopilotAbilityListener {
-    void onAutopilotAbility(boolean isAutopilotAbility, @NonNull UnableLaunchData unableLaunchData, @Nullable ArrayList<UnableLaunchReason> unableAutopilotReasons);
+    void onAutopilotAbility(boolean isAutopilotAbility, @NonNull LaunchConditionData launchConditionData, @Nullable ArrayList<UnableLaunchReason> unableAutopilotReasons);
 }