yangyakun921/MoGoEagleEye
1
0
Fork 0
Code Issues Pull Requests Actions Packages Projects Releases Wiki Activity

[644][adas] 能否启动自驾 添加原始数据日志

Browse Source
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
Download Patch File Download Diff File Expand all files Collapse all files

163
libraries/mogo-adas-data/src/main/java/com/zhjt/mogo/adas/data/bean/LaunchConditionData.java Normal file
View File

@@ -0,0 +1,163 @@
package com.zhjt.mogo.adas.data.bean;
import com.google.protobuf.GeneratedMessageV3;
import com.google.protobuf.InvalidProtocolBufferException;
import com.google.protobuf.TextFormat;
import com.google.protobuf.util.JsonFormat;
import org.json.JSONArray;
import org.json.JSONException;
import org.json.JSONObject;
import chassis.Chassis;
import chassis.ChassisStatesOuterClass;
import function_state_management.FSMStatusReasonQueryOuterClass;
import system_master.SsmInfo;
import system_master.SystemStatusInfo;
/**
* 检测启动自动驾驶的数据
* 此类目前主要用于启动自驾命令下发后的域控数据记录
*/
public class LaunchConditionData {
/**
* 所使用的检测版本
*/
public final String abilityVersion;
/**
* 底盘数据
* null表示未用到此数据
*/
public final ChassisStatesOuterClass.ChassisStates chassisStates;
public final Chassis.LightSwitch light;
public final float oldSteering;
/**
* 老SSM数据
* null表示未用到此数据
*/
public final SystemStatusInfo.StatusInfo statusInfo;
/**
* 新SSM数据
* null表示未用到此数据
*/
public final SsmInfo.SsmStatusInf ssmInfo;
public final FSMStatusReasonQueryOuterClass.FSMStatusReasonRespond fsmStatusReasonRespond;//FSM数据
public final long createTime;
public LaunchConditionData(String abilityVersion,
SystemStatusInfo.StatusInfo statusInfo,
SsmInfo.SsmStatusInf ssmInfo,
FSMStatusReasonQueryOuterClass.FSMStatusReasonRespond fsmStatusReasonRespond) {
this(abilityVersion, null, Float.MAX_VALUE, null, statusInfo, ssmInfo, fsmStatusReasonRespond);
}
public LaunchConditionData(String abilityVersion,
ChassisStatesOuterClass.ChassisStates chassisStates,
float oldSteering,
Chassis.LightSwitch light,
SystemStatusInfo.StatusInfo statusInfo,
SsmInfo.SsmStatusInf ssmInfo,
FSMStatusReasonQueryOuterClass.FSMStatusReasonRespond fsmStatusReasonRespond) {
this.abilityVersion = abilityVersion;
this.chassisStates = chassisStates;
this.oldSteering = oldSteering;
this.light = light;
this.statusInfo = statusInfo;
this.ssmInfo = ssmInfo;
this.fsmStatusReasonRespond = fsmStatusReasonRespond;
createTime = System.currentTimeMillis();
}
public String getJson() {
JSONObject jsonObject = new JSONObject();
try {
jsonObject.put("ability_version", abilityVersion);
jsonObject.put("create_object_time", createTime);
JSONArray array = new JSONArray();
JSONObject chassisStatesObject = new JSONObject();
chassisStatesObject.put("name", "ChassisStates");
if (chassisStates != null) {
if (chassisStates.hasHeader()) {
chassisStatesObject.put("data_header", TextFormat.printer().escapingNonAscii(false).printToString(chassisStates.getHeader()));
}
//制动踏板
String temp = "未知";
if (chassisStates.hasBrakeSystemStates()) {
float brake = chassisStates.getBrakeSystemStates().getBrakePedalResponsePosition();
temp = String.valueOf(brake);
}
chassisStatesObject.put("brake", temp);
//油门踏板
temp = "未知";
if (chassisStates.hasDrivingSystemStates()) {
float throttle = chassisStates.getDrivingSystemStates().getThrottleResponsePosition();
temp = String.valueOf(throttle);
}
chassisStatesObject.put("throttle", temp);
//档位
temp = "未知";
if (chassisStates.hasGearSystemStates()) {
Chassis.GearPosition gear = chassisStates.getGearSystemStates().getGearPosition();
temp = gear.name();
}
chassisStatesObject.put("gear", temp);
//方向盘
temp = "未知";
if (chassisStates.hasSteerSystemStates()) {
ChassisStatesOuterClass.SteerSystemStates steerSystemStates = chassisStates.getSteerSystemStates();
if (steerSystemStates.hasSteeringWheelAngle()) {
float steering = steerSystemStates.getSteeringWheelAngle();
temp = String.valueOf(steering);
}
}
chassisStatesObject.put("old_steering", oldSteering == Float.MAX_VALUE ? "未知" : oldSteering);
chassisStatesObject.put("steering", temp);
}
//车灯
if (light != null) {
chassisStatesObject.put("light", light.name());
}
array.put(chassisStatesObject);
if (statusInfo != null) {
arrayPut(array, statusInfo.getClass().getName(), statusInfo.getAutoPilotReady(), statusInfo.getAutoPilotUnreadyReason());
}
if (ssmInfo != null) {
arrayPut(array, ssmInfo.getClass().getName(), ssmInfo.getAutoPilotReady(), ssmInfo.getAutoPilotUnreadyReason());
}
if (fsmStatusReasonRespond != null) {
arrayPut(array, fsmStatusReasonRespond);
}
if (array.length() > 0) {
jsonObject.put("data", array);
}
} catch (Exception e) {
e.printStackTrace();
}
return jsonObject.toString();
}
private void arrayPut(JSONArray array, String name, boolean isReady, String reason) throws JSONException {
JSONObject objectParse = new JSONObject();
objectParse.put("auto_pilot_ready", isReady);
if (reason != null) {
objectParse.put("auto_pilot_unready_reason", reason);
}
JSONObject object = new JSONObject();
object.put("name", name);
object.put("parse", objectParse);
array.put(object);
}
private void arrayPut(JSONArray array, GeneratedMessageV3 message) throws JSONException, InvalidProtocolBufferException {
JSONObject object = new JSONObject();
object.put("name", message.getClass().getName());
// object.put("original", ByteUtil.byteArrToHex(message.toByteArray(), false));
object.put("parse", new JSONObject(JsonFormat.printer().print(message)));
array.put(object);
}
}

104
libraries/mogo-adas-data/src/main/java/com/zhjt/mogo/adas/data/bean/UnableLaunchData.java
View File

@@ -1,104 +0,0 @@
package com.zhjt.mogo.adas.data.bean;
import com.google.protobuf.GeneratedMessageV3;
import com.google.protobuf.InvalidProtocolBufferException;
import com.google.protobuf.util.JsonFormat;
import org.json.JSONArray;
import org.json.JSONException;
import org.json.JSONObject;
import function_state_management.FSMStatusReasonQueryOuterClass;
import system_master.SsmInfo;
import system_master.SystemStatusInfo;
/**
* 检测到不能启动自动驾驶的数据
* 此类目前主要用于启动自驾命令下发后的域控数据记录
*/
public class UnableLaunchData {
/**
* 所使用的检测版本
*/
public final String abilityVersion;
/**
* 老底盘数据
* null表示未用到此数据
* TODO 不需要底盘数据，如果底盘数据存在不能启动自驾的原因会限制启动自驾命令的下发
*/
// public final VehicleStateOuterClass.VehicleState vehicleState;
/**
* 新底盘数据
* null表示未用到此数据
* TODO 不需要底盘数据，如果底盘数据存在不能启动自驾的原因会限制启动自驾命令的下发
*/
// public final ChassisStatesOuterClass.ChassisStates chassisStates;
/**
* 老SSM数据
* null表示未用到此数据
*/
public final SystemStatusInfo.StatusInfo statusInfo;
/**
* 新SSM数据
* null表示未用到此数据
*/
public final SsmInfo.SsmStatusInf ssmInfo;
public final FSMStatusReasonQueryOuterClass.FSMStatusReasonRespond fsmStatusReasonRespond;//FSM数据
public UnableLaunchData(String abilityVersion,
SystemStatusInfo.StatusInfo statusInfo,
SsmInfo.SsmStatusInf ssmInfo,
FSMStatusReasonQueryOuterClass.FSMStatusReasonRespond fsmStatusReasonRespond) {
this.abilityVersion = abilityVersion;
this.statusInfo = statusInfo;
this.ssmInfo = ssmInfo;
this.fsmStatusReasonRespond = fsmStatusReasonRespond;
}
public String getJson() {
JSONObject jsonObject = new JSONObject();
try {
jsonObject.put("ability_version", abilityVersion);
JSONArray array = new JSONArray();
if (statusInfo != null) {
arrayPut(array, statusInfo.getClass().getName(), statusInfo.getAutoPilotReady(), statusInfo.getAutoPilotUnreadyReason());
}
if (ssmInfo != null) {
arrayPut(array, ssmInfo.getClass().getName(), ssmInfo.getAutoPilotReady(), ssmInfo.getAutoPilotUnreadyReason());
}
if (fsmStatusReasonRespond != null) {
arrayPut(array, fsmStatusReasonRespond);
}
if (array.length() > 0) {
jsonObject.put("data", array);
}
} catch (JSONException | InvalidProtocolBufferException e) {
e.printStackTrace();
}
return jsonObject.toString();
}
private void arrayPut(JSONArray array, String name, boolean isReady, String reason) throws JSONException {
JSONObject objectParse = new JSONObject();
objectParse.put("auto_pilot_ready", isReady);
if (reason != null) {
objectParse.put("auto_pilot_unready_reason", reason);
}
JSONObject object = new JSONObject();
object.put("name", name);
object.put("parse", objectParse);
array.put(object);
}
private void arrayPut(JSONArray array, GeneratedMessageV3 message) throws JSONException, InvalidProtocolBufferException {
JSONObject object = new JSONObject();
object.put("name", message.getClass().getName());
// object.put("original", ByteUtil.byteArrToHex(message.toByteArray(), false));
object.put("parse", new JSONObject(JsonFormat.printer().print(message)));
array.put(object);
}
}

4
libraries/mogo-adas-data/src/main/java/com/zhjt/mogo/adas/data/bean/UnableLaunchReason.java
View File

@@ -58,12 +58,12 @@ public class UnableLaunchReason {
if (this == o) return true;
if (o == null || getClass() != o.getClass()) return false;
UnableLaunchReason that = (UnableLaunchReason) o;
return source == that.source && TextUtils.equals(unableLaunchReason, that.unableLaunchReason);
return source == that.source && unableType == that.unableType && TextUtils.equals(unableLaunchReason, that.unableLaunchReason);
}
@Override
public int hashCode() {
return Objects.hash(source, unableLaunchReason);
return Objects.hash(source, unableType, unableLaunchReason);
}
@Override