diff --git a/libraries/mogo-adas-data/src/main/proto/message_pad.proto b/libraries/mogo-adas-data/src/main/proto/message_pad.proto index 31503e9b66..5934a2ee61 100644 --- a/libraries/mogo-adas-data/src/main/proto/message_pad.proto +++ b/libraries/mogo-adas-data/src/main/proto/message_pad.proto @@ -561,13 +561,25 @@ message CarConfigResp string vinCode = 11;//车辆vin码 taxi: 420 bus: 440 reserved 12 to 100; int32 mapVersion = 101;//dockVersion解析出版本号，仅用于版本对比，解析失败为-1。例如："MAP-taxi_RoboTaxi_df_2.8.0.3_20220928_test" 解析结果为：20800 - bool isDF = 102;//车型是否是东风 - bool isHQ = 103;//车型是否是红旗 - bool isJinlv = 104;//车型是否是金旅小巴 - bool isJinlvM1 = 105;//车型是否是金旅M1 - bool isJinlvM2 = 106;//车型是否是金旅M2 - bool isFutianSweeper = 107;//车型是否是福田清扫车 - bool isKaiwo = 108;//车型是否是开沃 + bool isBus = 102;//是否是Bus + bool isTaxi = 103;//是否是Taxi + bool isSweeper = 104;//是否是Sweeper + bool isBusJL_B1 = 105;//车型是否是金旅B1 + bool isBusJL_B2 = 106;//车型是否是金旅B2 + bool isBusJL_M1 = 107;//车型是否是金旅M1 + bool isBusJL_B2_2025 = 108;//车型是否是金旅B2-2025 + bool isBusAUV_B3 = 109;//车型是否是福田欧辉B3 + bool isBusBYD_B4 = 110;//车型是否是比亚迪B4 + bool isTaxiDF_T1 = 111;//车型是否是东风T1 + bool isTaxiDF_T1_2023 = 112;//车型是否是东风T1-2023 + bool isTaxiDF_T1_2025 = 113;//车型是否是东风T1-2025 + bool isTaxiHQ_T2 = 114;//车型是否是红旗T2 + bool isSweeperFT_C1_2023 = 115;//车型是否是福田清扫车C1-2023 + bool isSweeperFT_C1_2025 = 116;//车型是否是福田清扫车C1-2025 + bool isSweeperC2 = 117;//车型是否是清扫车C2 + bool isSweeperNWM_C3 = 118;//车型是否是NWM清扫车C3 + bool isSweeperBYD_C4 = 119;//车型是否是比亚迪清扫车C4 + bool isSweeperC5 = 120;//车型是否是清扫车C5 } // message definition for MsgTypeRecordCause diff --git a/libraries/mogo-adas/build.gradle b/libraries/mogo-adas/build.gradle index c17874a6ad..02f8e9c803 100644 --- a/libraries/mogo-adas/build.gradle +++ b/libraries/mogo-adas/build.gradle @@ -45,8 +45,6 @@ android { it.buildConfigField 'java.util.Set', 'LAUNCH_AUTOPILOT_GEAR_M2', 'new java.util.HashSet(){{add(chassis.Chassis.GearPosition.GEAR_D);}}' //福田清扫车 C1 it.buildConfigField 'java.util.Set', 'LAUNCH_AUTOPILOT_GEAR_SWEEPER', 'null' - //开沃 - it.buildConfigField 'java.util.Set', 'LAUNCH_AUTOPILOT_GEAR_KAIWO', 'null' } sourceSets { diff --git a/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/AdasChannel.java b/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/AdasChannel.java index f6db68ae6b..801db4fc2b 100644 --- a/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/AdasChannel.java +++ b/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/AdasChannel.java @@ -1743,7 +1743,7 @@ public class AdasChannel implements IAdasNetCommApi, FpgaSocket.IWebSocketConnec MessagePad.CarConfigResp config = AdasManager.getInstance().getCarConfig(); if (config != null) { //HQ和M1 MAP>=350开始走定频SSM，其他车型360开始 - if ((config.getMapVersion() >= 30500 && (config.getIsJinlvM1() || config.getIsHQ())) || config.getMapVersion() >= 30600) { + if ((config.getMapVersion() >= 30500 && (config.getIsBusJLM1() || config.getIsTaxiHQT2())) || config.getMapVersion() >= 30600) { return -1L; } } diff --git a/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/common/ParallelDrivingManager.java b/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/common/ParallelDrivingManager.java index ac486b837d..2ac6161680 100644 --- a/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/common/ParallelDrivingManager.java +++ b/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/common/ParallelDrivingManager.java @@ -53,8 +53,8 @@ public class ParallelDrivingManager { public void setCarConfig(MessagePad.CarConfigResp carConfig) { mapVersion = carConfig.getMapVersion(); - isHQ = carConfig.getIsHQ(); - isDF = carConfig.getIsDF(); + isHQ = carConfig.getIsTaxiHQT2(); + isDF = carConfig.getIsTaxiDFT1() || carConfig.getIsTaxiDFT12023() || carConfig.getIsTaxiDFT12025(); if (mapVersion != -1) { stopBootTimer(); startCallback(); diff --git 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 index 69f25f1732..5b4cca89d7 100644 --- 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 @@ -37,9 +37,9 @@ public class AutopilotAbility350And360 { private volatile ChassisStatesOuterClass.ChassisStates chassisStates; private OnAutopilotAbilityListener listener; private int mapVersion = -1;//工控机版本 - private boolean isJinlv = false;//是否是金旅小巴 - private boolean isJinlvM1 = false;//是否是M1 - private boolean isJinlvM2 = false;//是否是M2 + private boolean isJLB1 = false;//是否是金旅小巴 + private boolean isJLM1 = false;//是否是M1 + private boolean isJLB2 = false;//是否是M2 private boolean isHQ = false;//是否是HQ private boolean isDF = false;//是否是DF private volatile Timer turningTimer;//方向盘检测timer @@ -61,11 +61,11 @@ public class AutopilotAbility350And360 { public void setCarConfig(@NonNull MessagePad.CarConfigResp carConfig) { mapVersion = carConfig.getMapVersion(); - isJinlv = carConfig.getIsJinlv(); - isJinlvM1 = carConfig.getIsJinlvM1(); - isJinlvM2 = carConfig.getIsJinlvM2(); - isHQ = carConfig.getIsHQ(); - isDF = carConfig.getIsDF(); + isJLB1 = carConfig.getIsBusJLB1(); + isJLM1 = carConfig.getIsBusJLM1(); + isJLB2 = carConfig.getIsBusJLB2() || carConfig.getIsBusJLB22025(); + isHQ = carConfig.getIsTaxiHQT2(); + isDF = carConfig.getIsTaxiDFT1() || carConfig.getIsTaxiDFT12023() || carConfig.getIsTaxiDFT12025(); taxiUnmanned(); } @@ -124,7 +124,7 @@ public class AutopilotAbility350And360 { * @return 是否能启动自驾 */ private boolean isLaunchAutopilotLight(Chassis.LightSwitch currentLight) { - if (isJinlv || isJinlvM1 || isJinlvM2) { + if (isJLB1 || isJLM1 || isJLB2) { return currentLight != Chassis.LightSwitch.LIGHT_FLASH; } return true; @@ -310,9 +310,9 @@ public class AutopilotAbility350And360 { masterVersion = -1; seqNum = -1; isHQ = false; - isJinlv = false; - isJinlvM1 = false; - isJinlvM2 = false; + isJLB1 = false; + isJLM1 = false; + isJLB2 = false; isTurning.set(false); } diff --git 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 index 3545e86b15..337886d0c2 100644 --- 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 @@ -52,12 +52,11 @@ public class AutopilotAbilityManager implements OnAutopilotAbilityListener { private OnAdasListener listener; private int mapVersion = -1;//工控机版本 private boolean isFutianSweeper = false;//是否是福田清扫车 - private boolean isJinlv = false;//是否是小巴 - private boolean isJinlvM1 = false;//是否是M1 - private boolean isJinlvM2 = false;//是否是M2 + private boolean isJLB1 = false;//是否是小巴 + private boolean isJLM1 = false;//是否是M1 + private boolean isJLB2 = false;//是否是M2 private boolean isHQ = false;//是否是HQ private boolean isDF = false;//是否是DF - private boolean isKaiwo = false;//是否是开沃 private AutopilotAbility230 autopilotAbility230; private AutopilotAbility250 autopilotAbility250; private AutopilotAbility330 autopilotAbility330; @@ -151,13 +150,12 @@ public class AutopilotAbilityManager implements OnAutopilotAbilityListener { if (version != 0) { isInitCarConfig.set(true); mapVersion = version; - isFutianSweeper = carConfig.getIsFutianSweeper(); - isJinlv = carConfig.getIsJinlv(); - isJinlvM1 = carConfig.getIsJinlvM1(); - isJinlvM2 = carConfig.getIsJinlvM2(); - isHQ = carConfig.getIsHQ(); - isDF = carConfig.getIsDF(); - isKaiwo = carConfig.getIsKaiwo(); + isFutianSweeper = carConfig.getIsSweeperFTC12023() || carConfig.getIsSweeperFTC12025(); + isJLB1 = carConfig.getIsBusJLB1(); + isJLM1 = carConfig.getIsBusJLM1(); + isJLB2 = carConfig.getIsBusJLB2() || carConfig.getIsBusJLB22025(); + isHQ = carConfig.getIsTaxiHQT2(); + isDF = carConfig.getIsTaxiDFT1() || carConfig.getIsTaxiDFT12023() || carConfig.getIsTaxiDFT12025(); initAutopilotAbility(); if (autopilotAbility230 != null) { autopilotAbility230.setCarConfig(carConfig); @@ -314,7 +312,7 @@ public class AutopilotAbilityManager implements OnAutopilotAbilityListener { autopilotAbility360 = new AutopilotAbility360(this); autopilotAbility360.start(this); } - } else if ((mapVersion >= 30500 && (isJinlvM1 || isHQ)) || mapVersion >= 30600) { + } else if ((mapVersion >= 30500 && (isJLM1 || isHQ)) || mapVersion >= 30600) { CupidLogUtils.log(TAG, "能否启动自驾能力检测使用版本：350和360共用"); if (autopilotAbility350And360 == null) { autopilotAbility350And360 = new AutopilotAbility350And360(this); @@ -358,16 +356,14 @@ public class AutopilotAbilityManager implements OnAutopilotAbilityListener { launchAutopilotGear = BuildConfig.LAUNCH_AUTOPILOT_GEAR_DF; } else if (isHQ) { launchAutopilotGear = BuildConfig.LAUNCH_AUTOPILOT_GEAR_HQ; - } else if (isJinlv) { + } else if (isJLB1) { launchAutopilotGear = BuildConfig.LAUNCH_AUTOPILOT_GEAR_BUS; - } else if (isJinlvM1) { + } else if (isJLM1) { launchAutopilotGear = BuildConfig.LAUNCH_AUTOPILOT_GEAR_M1; - } else if (isJinlvM2) { + } else if (isJLB2) { launchAutopilotGear = BuildConfig.LAUNCH_AUTOPILOT_GEAR_M2; } else if (isFutianSweeper) { launchAutopilotGear = BuildConfig.LAUNCH_AUTOPILOT_GEAR_SWEEPER; - } else if (isKaiwo) { - launchAutopilotGear = BuildConfig.LAUNCH_AUTOPILOT_GEAR_KAIWO; } } return launchAutopilotGear; @@ -586,10 +582,9 @@ public class AutopilotAbilityManager implements OnAutopilotAbilityListener { isFutianSweeper = false; isDF = false; isHQ = false; - isJinlv = false; - isJinlvM1 = false; - isJinlvM2 = false; - isKaiwo = false; + isJLB1 = false; + isJLM1 = false; + isJLB2 = false; } } diff --git 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 index 7c4fc9a8f0..3cccc7f54f 100644 --- 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 @@ -27,9 +27,9 @@ public abstract class BaseAutopilotAbilityChassis { 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 - protected boolean isJinlvM1 = false;//是否是M1 - protected boolean isJinlvM2 = false;//是否是M2 + protected boolean isJLb1 = false;//是否是金旅小巴 + protected boolean isJLM1 = false;//是否是M1 + protected boolean isJLB2 = false;//是否是M2 protected boolean isHQ = false;//是否是HQ protected boolean isDF = false;//是否是DF @@ -47,11 +47,11 @@ public abstract class BaseAutopilotAbilityChassis { public void setCarConfig(@NonNull MessagePad.CarConfigResp carConfig) { mapVersion = carConfig.getMapVersion(); - isJinlv = carConfig.getIsJinlv(); - isJinlvM1 = carConfig.getIsJinlvM1(); - isJinlvM2 = carConfig.getIsJinlvM2(); - isHQ = carConfig.getIsHQ(); - isDF = carConfig.getIsDF(); + isJLb1 = carConfig.getIsBusJLB1(); + isJLM1 = carConfig.getIsBusJLM1(); + isJLB2 = carConfig.getIsBusJLB2() || carConfig.getIsBusJLB22025(); + isHQ = carConfig.getIsTaxiHQT2(); + isDF = carConfig.getIsTaxiDFT1() || carConfig.getIsTaxiDFT12023() || carConfig.getIsTaxiDFT12025(); taxiUnmanned(); } @@ -102,7 +102,7 @@ public abstract class BaseAutopilotAbilityChassis { * @return 是否能启动自驾 */ public boolean isLaunchAutopilotLight() { - if (isJinlv || isJinlvM1 || isJinlvM2) { + if (isJLb1 || isJLM1 || isJLB2) { return currentLight.get() != Chassis.LightSwitch.LIGHT_FLASH; } return true; @@ -169,9 +169,9 @@ public abstract class BaseAutopilotAbilityChassis { this.listener = null; mapVersion = -1; isHQ = false; - isJinlv = false; - isJinlvM1 = false; - isJinlvM2 = false; + isJLb1 = false; + isJLM1 = false; + isJLB2 = false; } } diff --git a/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/msg/AutopilotStateMessage.java b/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/msg/AutopilotStateMessage.java index cc0a5ad238..ac9f570bc4 100644 --- a/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/msg/AutopilotStateMessage.java +++ b/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/msg/AutopilotStateMessage.java @@ -28,7 +28,7 @@ public class AutopilotStateMessage extends MyAbstractMessageHandler { @Override public void handlerMsg(RawData raw, OnAdasListener adasListener) throws InvalidProtocolBufferException { //判断当前工控机非清扫车330及以上将进行解析（清扫车330及以上使用FSM，此接口将被兼容调用） - if (AdasManager.getInstance().getCarConfig() == null || !(AdasManager.getInstance().getCarConfig().getMapVersion() >= 330 && AdasManager.getInstance().getCarConfig().getIsFutianSweeper())) { + if (AdasManager.getInstance().getCarConfig() == null || !(AdasManager.getInstance().getCarConfig().getMapVersion() >= 330 && (AdasManager.getInstance().getCarConfig().getIsSweeperFTC12023() || AdasManager.getInstance().getCarConfig().getIsSweeperFTC12025()))) { MessagePad.AutopilotState autopilotState = MessagePad.AutopilotState.parser().parseFrom(raw.originalData.toByteArray(), raw.getOffsetValue(), raw.getPackageLengthValue() - raw.getOffsetValue()); AdasChannel.calculateTimeConsumingOnDispatchRaw("自动驾驶状态", raw.receiveTime); long nowTime = 0; diff --git a/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/msg/CarConfigRespMessage.java b/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/msg/CarConfigRespMessage.java index fd5f7005a6..0b10749990 100644 --- a/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/msg/CarConfigRespMessage.java +++ b/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/msg/CarConfigRespMessage.java @@ -46,13 +46,52 @@ public class CarConfigRespMessage extends MyAbstractMessageHandler { String subCarType = carConfigResp.getSubCarType().toLowerCase(); MessagePad.CarConfigResp.Builder builder = carConfigResp.toBuilder(); builder.setMapVersion(AdasManager.getInstance().parseVersion(dockVersion)); - builder.setIsDF("df".equals(carType))//是否是东风 - .setIsHQ("hq".equals(carType))//是否是红旗 - .setIsJinlv("jinlv".equals(carType) && TextUtils.isEmpty(subCarType))//是否是金旅小巴 - .setIsJinlvM1("jinlv".equals(carType) && "m1".equals(subCarType))//是否是金旅M1 - .setIsJinlvM2("jinlv".equals(carType) && "m2".equals(subCarType))//是否是金旅M2 - .setIsFutianSweeper("sweeper".equals(carType))//是否是福田清扫车 - .setIsKaiwo("kaiwo".equals(carType));//是否是开沃 + + if ("jinlv".equals(carType)) { + if (TextUtils.isEmpty(subCarType) || "b1".equalsIgnoreCase(subCarType)) { + builder.setIsBusJLB1(true).setIsBus(true);//是否是金旅B1 + } else if ("m2".equalsIgnoreCase(subCarType) || "b2".equalsIgnoreCase(subCarType)) { + builder.setIsBusJLB2(true).setIsBus(true);//是否是金旅B2 + } else if ("m1".equalsIgnoreCase(subCarType)) { + builder.setIsBusJLM1(true).setIsBus(true);//是否是金旅M1 + } else if ("b2-2025".equalsIgnoreCase(subCarType)) { + builder.setIsBusJLB22025(true).setIsBus(true);//是否是金旅B2-2025 + } + } else if ("b3".equalsIgnoreCase(subCarType)) { + builder.setIsBusAUVB3(true).setIsBus(true);//是否是福田欧辉B3 + } else if ("b4".equalsIgnoreCase(subCarType)) { + builder.setIsBusBYDB4(true).setIsBus(true);//是否是比亚迪B4 + } else if ("df".equalsIgnoreCase(carType)) { + if (TextUtils.isEmpty(subCarType) || "t1".equalsIgnoreCase(subCarType)) { + builder.setIsTaxiDFT1(true).setIsTaxi(true);//是否是东风T1 + } else if ("t1-2023".equalsIgnoreCase(subCarType)) { + builder.setIsTaxiDFT12023(true).setIsTaxi(true);//是否是东风T1-2023 + } else if ("t1-2025".equalsIgnoreCase(subCarType)) { + builder.setIsTaxiDFT12025(true).setIsTaxi(true);//是否是东风T1-2025 + } + } else if ("t2".equalsIgnoreCase(subCarType)) { + builder.setIsTaxiHQT2(true).setIsTaxi(true);//是否是红旗T2 + } else if ("sweeper".equalsIgnoreCase(carType) && (TextUtils.isEmpty(subCarType) || "c1-2023".equalsIgnoreCase(subCarType))) { + builder.setIsSweeperFTC12023(true).setIsSweeper(true);//是否是福田清扫车C1-2023 + } else if ("c1-2025".equalsIgnoreCase(subCarType)) { + builder.setIsSweeperFTC12025(true).setIsSweeper(true);//是否是福田清扫车C1-2025 + } else if ("c2".equalsIgnoreCase(subCarType)) { + builder.setIsSweeperC2(true).setIsSweeper(true);//是否是清扫车C2 + } else if ("c3".equalsIgnoreCase(subCarType)) { + builder.setIsSweeperNWMC3(true).setIsSweeper(true);//是否是NWM清扫车C3 + } else if ("c4".equalsIgnoreCase(subCarType)) { + builder.setIsSweeperBYDC4(true).setIsSweeper(true);//是否是比亚迪清扫车C4 + } else if ("c5".equalsIgnoreCase(subCarType)) { + builder.setIsSweeperC5(true).setIsSweeper(true);//车型是否是清扫车C5 + } + + +// +// builder.setIsBusJLB1("jinlv".equals(carType) && TextUtils.isEmpty(subCarType))//是否是金旅小巴 +// .setIsBusJLM1("jinlv".equals(carType) && "m1".equals(subCarType))//是否是金旅M1 +// .setIsBusJLB2("jinlv".equals(carType) && "m2".equals(subCarType))//是否是金旅M2 +// .setIsSweeperFTC12023("sweeper".equals(carType))//是否是福田清扫车 +// ; return builder.build(); } diff --git a/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/msg/FunctionStatesMessage.java b/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/msg/FunctionStatesMessage.java index 028c144258..701d42c676 100644 --- a/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/msg/FunctionStatesMessage.java +++ b/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/msg/FunctionStatesMessage.java @@ -49,7 +49,7 @@ public class FunctionStatesMessage extends MyAbstractMessageHandler { MessagePad.Header header = raw.getHeader(); adasListener.onFunctionStates(header, functionStates); AdasManager manager = AdasManager.getInstance(); - if (manager.getCarConfig() != null && manager.getCarConfig().getMapVersion() >= 330 && manager.getCarConfig().getIsFutianSweeper()) {//判断当前MAP版本>=330并且是清扫车才调用兼容方法 + if (manager.getCarConfig() != null && manager.getCarConfig().getMapVersion() >= 330 && (manager.getCarConfig().getIsSweeperFTC12023() || manager.getCarConfig().getIsSweeperFTC12025())) {//判断当前MAP版本>=330并且是清扫车才调用兼容方法 compatibility(header, functionStates, adasListener); } }