[670][adas][data-center] 新增冷启动状态查询以及响应接口；新增环形路线功能：启动自驾新增字段、新增启动自驾新字段查询以及响应接口、新增到站查询和响应接口；新增电源盒协议接口相关接口：

2024-09-18 16:29:48 +08:00
parent f6f6d8b306
commit 9dd1f61583
33 changed files with 2279 additions and 31 deletions
--- a/core/function-impl/mogo-core-function-datacenter/src/main/java/com/mogo/eagle/core/function/datacenter/autopilot/MoGoAutopilotControlProvider.kt
+++ b/core/function-impl/mogo-core-function-datacenter/src/main/java/com/mogo/eagle/core/function/datacenter/autopilot/MoGoAutopilotControlProvider.kt
@@ -9,6 +9,7 @@ import com.alibaba.android.arouter.facade.annotation.Route
 import com.mogo.commons.debug.DebugConfig
 import com.mogo.commons.storage.SharedPrefsMgr
 import com.mogo.eagle.core.data.autopilot.AutopilotControlParameters
+import com.mogo.eagle.core.data.autopilot.toAutoPilotCmdInfo
 import com.mogo.eagle.core.data.autopilot.toAutoPilotLine
 import com.mogo.eagle.core.data.autopilot.toRouteInfo
 import com.mogo.eagle.core.data.biz.trafficlight.TrafficLightResult
@@ -66,6 +67,7 @@ import com.zhidao.support.adas.high.chain.AdasChain
 import com.zhidao.support.adas.high.common.Constants
 import com.zhidao.support.adas.high.common.CupidLogUtils
 import com.zhjt.mogo.adas.common.MessageType
+import com.zhjt.mogo.adas.common.power.PowerUnitChannel
 import com.zhjt.mogo.adas.data.Adas
 import com.zhjt.mogo.adas.data.AdasConstants
 import com.zhjt.mogo.adas.data.bean.MogoReport
@@ -391,12 +393,12 @@ class MoGoAutopilotControlProvider :
    private fun startAutoPilotWithNoParameter(source: Int) {
        if (AppIdentityModeUtils.isPassenger(FunctionBuildConfig.appIdentityMode)) {
            val invokeResult = AdasManager.getInstance()
-                .sendAutoPilotModeReq(1, source, null)
+                .sendAutoPilotModeReq(1, source, null, null)
            invokeAutoPilotResult(if (invokeResult > -1) "无参自动驾驶调用成功：${invokeResult}" else "自动驾驶调用失败, socket 或者 rawPack 可能为空")
        } else {
            if (AdasManager.getInstance().ipcConnectionStatus == AdasConstants.IpcConnectionStatus.CONNECTED) {
                val invokeResult = AdasManager.getInstance()
-                    .sendAutoPilotModeReq(1, source, null)
+                    .sendAutoPilotModeReq(1, source, null, null)
                invokeAutoPilotResult(if (invokeResult > -1) "无参自动驾驶调用成功：${invokeResult}" else "自动驾驶调用失败, socket 或者 rawPack 可能为空")
            } else {
                invokeAutoPilotResult("车机与工控机链接失败，无法开启自动驾驶 无参")
@@ -407,13 +409,13 @@ class MoGoAutopilotControlProvider :
    private fun startAutoPilot(controlParameters: AutopilotControlParameters, source: Int): Long {
        if (AppIdentityModeUtils.isPassenger(FunctionBuildConfig.appIdentityMode)) {
            val invokeResult = AdasManager.getInstance()
-                .sendAutoPilotModeReq(1, source, controlParameters.toRouteInfo())
+                .sendAutoPilotModeReq(1, source, controlParameters.toRouteInfo(), controlParameters.toAutoPilotCmdInfo())
            invokeAutoPilotResult(if (invokeResult > -1) "自动驾驶调用成功：${invokeResult}" else "自动驾驶调用失败, socket 或者 rawPack 可能为空")
            return invokeResult
        } else {
            if (AdasManager.getInstance().ipcConnectionStatus == AdasConstants.IpcConnectionStatus.CONNECTED) {
                val invokeResult = AdasManager.getInstance()
-                    .sendAutoPilotModeReq(1, source, controlParameters.toRouteInfo())
+                    .sendAutoPilotModeReq(1, source, controlParameters.toRouteInfo(), controlParameters.toAutoPilotCmdInfo())
                invokeAutoPilotResult(if (invokeResult > -1) "自动驾驶调用成功：${invokeResult}" else "自动驾驶调用失败, socket 或者 rawPack 可能为空")
                return invokeResult
            } else {
@@ -463,7 +465,7 @@ class MoGoAutopilotControlProvider :

    override fun cancelAutoPilot() {
        if (AdasManager.getInstance().ipcConnectionStatus == AdasConstants.IpcConnectionStatus.CONNECTED) {
-            val invokeResult = AdasManager.getInstance().sendAutoPilotModeReq(0, 1, null)
+            val invokeResult = AdasManager.getInstance().sendAutoPilotModeReq(0, 1, null, null)
            invokeAutoPilotResult(if (invokeResult > -1) "取消自动驾驶调用成功：${invokeResult}" else "取消自动驾驶调用失败, socket 或者 rawPack 可能为空")
        } else {
            invokeAutoPilotResult("车机与工控机链接失败，无法取消自动驾驶")
@@ -1032,11 +1034,11 @@ class MoGoAutopilotControlProvider :
     */
    override fun setControlAutopilotCarAuto(isEnable: Boolean) {
        if (isEnable) {
-            AdasManager.getInstance().sendAutoPilotModeReq(1, 0, null)
+            AdasManager.getInstance().sendAutoPilotModeReq(1, 0, null, null)
        } else {
            // 司机屏才可关闭自动驾驶
            if (AppIdentityModeUtils.isDriver(FunctionBuildConfig.appIdentityMode)) {
-                AdasManager.getInstance().sendAutoPilotModeReq(0, 0, null)
+                AdasManager.getInstance().sendAutoPilotModeReq(0, 0, null, null)
            }
        }
    }
@@ -1269,6 +1271,82 @@ class MoGoAutopilotControlProvider :
        return AdasManager.getInstance().sendSweeperCloudSuspendResumeTaskResp(reqNo, bigTaskActionResp) > -1
    }

+    /**
+     * 发送电源状态查询请求
+     *
+     * @return 消息是否添加到WS消息发送队列，返回值为非0的正整数时表示下发消息的消息ID
+     * *       >=0：表示添加到WS发送消息队列
+     * *       =0：表示乘客屏模式添加到WS发送消息队列
+     * *       -1L：添加到WS发送消息队列失败
+     */
+    override fun sendPowerUnitSTSRequest(): Long {
+        return AdasManager.getInstance().sendPowerUnitSTSRequest()
+    }
+
+    /**
+     * 发送单通道电源控制请求
+     *
+     * @param channel 通道
+     * @param cmd     0：关闭；1：打开；
+     * @return 消息是否添加到WS消息发送队列，返回值为非0的正整数时表示下发消息的消息ID
+     * *       >=0：表示添加到WS发送消息队列
+     * *       =0：表示乘客屏模式添加到WS发送消息队列
+     * *       -1L：添加到WS发送消息队列失败
+     */
+    override fun sendPowerUnitSingleChannelControl(channel: PowerUnitChannel, cmd: Int): Long {
+        return AdasManager.getInstance().sendPowerUnitSingleChannelControl(channel,cmd)
+    }
+
+    /**
+     * 发送电源控制重置请求
+     *
+     * @return 消息是否添加到WS消息发送队列，返回值为非0的正整数时表示下发消息的消息ID
+     * *       >=0：表示添加到WS发送消息队列
+     * *       =0：表示乘客屏模式添加到WS发送消息队列
+     * *       -1L：添加到WS发送消息队列失败
+     */
+    override fun sendPowerUnitReset(): Long {
+        return AdasManager.getInstance().sendPowerUnitReset()
+    }
+
+    /**
+     * 查询冷启动状态
+     *
+     * @return 消息是否添加到WS消息发送队列，返回值为非0的正整数时表示下发消息的消息ID
+     * *       >=0：表示添加到WS发送消息队列
+     * *       =0：表示乘客屏模式添加到WS发送消息队列
+     * *       -1L：添加到WS发送消息队列失败
+     */
+    override fun sendSsmFuncQueryColdStartState(): Long {
+        return AdasManager.getInstance().sendSsmFuncQueryColdStartState()
+    }
+
+    /**
+     * 查询自驾命令状态
+     * 查询：是否首次进自驾、订单号、次数
+     *
+     * @return 消息是否添加到WS消息发送队列，返回值为非0的正整数时表示下发消息的消息ID
+     * *       >=0：表示添加到WS发送消息队列
+     * *       =0：表示乘客屏模式添加到WS发送消息队列
+     * *       -1L：添加到WS发送消息队列失败
+     */
+    override fun sendSsmFuncQueryAutoPilotInfo(): Long {
+        return AdasManager.getInstance().sendSsmFuncQueryAutoPilotInfo()
+    }
+
+    /**
+     * 查询到站信息
+     *
+     * @param orderId 订单号
+     * @return 消息是否添加到WS消息发送队列，返回值为非0的正整数时表示下发消息的消息ID
+     * *       >=0：表示添加到WS发送消息队列
+     * *       =0：表示乘客屏模式添加到WS发送消息队列
+     * *       -1L：添加到WS发送消息队列失败
+     */
+    override fun sendSsmFuncQueryAutoPilotStation(orderId: String): Long {
+        return AdasManager.getInstance().sendSsmFuncQueryAutoPilotStation(orderId)
+    }
+
    override fun sendParallelDrivingReq(
        reqNo: String,
        parallelRequest: ParallelDrivingRequest.ParallelRequest
--- a/core/function-impl/mogo-core-function-datacenter/src/main/java/com/mogo/eagle/core/function/datacenter/autopilot/adapter/MoGoAdasListenerImpl.kt
+++ b/core/function-impl/mogo-core-function-datacenter/src/main/java/com/mogo/eagle/core/function/datacenter/autopilot/adapter/MoGoAdasListenerImpl.kt
@@ -8,8 +8,11 @@ import com.mogo.eagle.core.data.app.AppConfigInfo
 import com.mogo.eagle.core.data.config.HdMapBuildConfig
 import com.mogo.eagle.core.data.deva.chain.ChainConstant
 import com.mogo.eagle.core.data.deva.chain.ChainConstant.Companion.CHAIN_CODE_ADAS_ARRIVE
+import com.mogo.eagle.core.data.deva.chain.ChainConstant.Companion.CHAIN_CODE_ADAS_ARRIVE_QUERY
+import com.mogo.eagle.core.data.deva.chain.ChainConstant.Companion.CHAIN_CODE_ADAS_AUTOPILOT_INFO
 import com.mogo.eagle.core.data.deva.chain.ChainConstant.Companion.CHAIN_CODE_ADAS_CAR_CONFIG
 import com.mogo.eagle.core.data.deva.chain.ChainConstant.Companion.CHAIN_CODE_ADAS_CAR_LOC
+import com.mogo.eagle.core.data.deva.chain.ChainConstant.Companion.CHAIN_CODE_ADAS_COLD_START_STATE
 import com.mogo.eagle.core.data.deva.chain.ChainConstant.Companion.CHAIN_CODE_ADAS_FM_MSG
 import com.mogo.eagle.core.data.deva.chain.ChainConstant.Companion.CHAIN_CODE_ADAS_FSM_MSG
 import com.mogo.eagle.core.data.deva.chain.ChainConstant.Companion.CHAIN_CODE_ADAS_GUARDIAN
@@ -35,6 +38,8 @@ import com.mogo.eagle.core.data.msgbox.MsgBoxType
 import com.mogo.eagle.core.data.msgbox.SSMMsg
 import com.mogo.eagle.core.function.call.autopilot.CallerAutoPilotStatusListenerManager
 import com.mogo.eagle.core.function.call.autopilot.CallerAutoPilotStatusListenerManager.invokeArriveAtStation
+import com.mogo.eagle.core.function.call.autopilot.CallerAutoPilotStatusListenerManager.invokeAutoPilotInfo
+import com.mogo.eagle.core.function.call.autopilot.CallerAutoPilotStatusListenerManager.invokeAutoPilotStation
 import com.mogo.eagle.core.function.call.autopilot.CallerAutoPilotStatusListenerManager.invokeAutopilotGuardian
 import com.mogo.eagle.core.function.call.autopilot.CallerAutoPilotStatusListenerManager.invokeAutopilotSNRequest
 import com.mogo.eagle.core.function.call.autopilot.CallerAutoPilotStatusListenerManager.invokeAutopilotStatusRespByQuery
@@ -58,6 +63,7 @@ import com.mogo.eagle.core.function.call.autopilot.CallerBackCameraVideoListener
 import com.mogo.eagle.core.function.call.autopilot.CallerChassisDoorStateListenerManager
 import com.mogo.eagle.core.function.call.autopilot.CallerChassisGnssListenerManager
 import com.mogo.eagle.core.function.call.autopilot.CallerChassisStatesListenerManager
+import com.mogo.eagle.core.function.call.autopilot.CallerColdStartStateListenerManager
 import com.mogo.eagle.core.function.call.autopilot.CallerFaultManagementStateListenerManager
 import com.mogo.eagle.core.function.call.autopilot.CallerFsm2024ListenerManager
 import com.mogo.eagle.core.function.call.autopilot.CallerLocalizationStateListenerManager
@@ -98,6 +104,7 @@ import com.zhjt.mogo.adas.data.bean.LaunchConditionData
 import com.zhjt.mogo.adas.data.bean.NodeStateInfo
 import com.zhjt.mogo.adas.data.bean.ReceivedAck
 import com.zhjt.mogo.adas.data.bean.UnableLaunchReason
+import com.zhjt.mogo.adas.data.bean.power.PowerData
 import com.zhjt.mogo.adas.data.sweeper.bootable.SweeperBootable
 import com.zhjt.mogo.adas.data.sweeper.task.SweeperTask
 import com.zhjt.mogo.adas.data.sweeper.task.big.SweeperBigTaskStatus
@@ -414,6 +421,160 @@ class MoGoAdasListenerImpl : OnAdasListener {
    override fun onWarn(header: MessagePad.Header, warn: MessagePad.Warn?) {
    }

+    /**
+     * 冷启动状态变更上报以及查询状态
+     *
+     * @param header         头
+     * @param token          唯一消息ID
+     * @param timestamp      消息发送时间 单位：毫秒
+     * @param isQuery        是否是查询 ture：查询相应的结果   false：表示状态变动域控主动推送
+     * @param coldStartState 数据 null表示 PadSsmMsg中的消息体为null
+     */
+    override fun onColdStartState(
+        header: MessagePad.Header?,
+        token: Long,
+        timestamp: Long,
+        isQuery: Boolean,
+        coldStartState: SsmInfo.ColdStartState?
+    ) {
+        CallerColdStartStateListenerManager.invokeColdStartState(
+            token,
+            timestamp,
+            isQuery,
+            coldStartState
+        )
+        if (coldStartState == null) {
+            coldStartStateError(
+                token,
+                timestamp,
+                isQuery,
+                "PadSsmMsg中的消息体为null"
+            )
+        } else {
+            coldStartState(
+                token,
+                timestamp,
+                isQuery,
+                coldStartState
+            )
+        }
+    }
+
+    @ChainLog(
+        linkChainLog = CHAIN_TYPE_SOCKET_AUTOPILOT,
+        linkCode = CHAIN_SOURCE_ADAS,
+        nodeAliasCode = CHAIN_CODE_ADAS_COLD_START_STATE,
+        paramIndexes = [0, 1, 2, 3]
+    )
+    private fun coldStartState(
+        token: Long,
+        timestamp: Long,
+        isQuery: Boolean,
+        coldStartState: SsmInfo.ColdStartState,
+    ) {
+    }
+
+    @ChainLog(
+        linkChainLog = CHAIN_TYPE_SOCKET_AUTOPILOT,
+        linkCode = CHAIN_SOURCE_ADAS,
+        nodeAliasCode = CHAIN_CODE_ADAS_COLD_START_STATE,
+        paramIndexes = [0, 1, 2, 3]
+    )
+    private fun coldStartStateError(
+        token: Long,
+        timestamp: Long,
+        isQuery: Boolean,
+        autoPilotInfo: String,
+    ) {
+    }
+
+    /**
+     * 自驾命令状态查询响应
+     * 返回 是否首次进自驾、订单号、次数
+     *
+     * @param header        头
+     * @param token         唯一消息ID
+     * @param timestamp     消息发送时间 单位：毫秒
+     * @param autoPilotInfo 数据 null表示 PadSsmMsg中的消息体为null
+     */
+    override fun onAutoPilotInfo(
+        header: MessagePad.Header?,
+        token: Long,
+        timestamp: Long,
+        autoPilotInfo: SsmInfo.AutoPilotInfo?
+    ) {
+        invokeAutoPilotInfo(token, timestamp, autoPilotInfo)
+        val msg: String
+        if (autoPilotInfo == null) {
+            msg = "PadSsmMsg中的消息体为null"
+        } else {
+            val temB: String = autoPilotInfo.firstAutopilotFlag.toString()
+            val temS: String = autoPilotInfo.orderId ?: ""
+            msg = "firstAutopilotFlag:" + temB + "orderId:" + temS + "count:" + autoPilotInfo.count
+        }
+        autoPilotInfoResponse(
+            token,
+            timestamp,
+            msg
+        )
+    }
+
+    @ChainLog(
+        linkChainLog = CHAIN_TYPE_SOCKET_AUTOPILOT,
+        linkCode = CHAIN_SOURCE_ADAS,
+        nodeAliasCode = CHAIN_CODE_ADAS_AUTOPILOT_INFO,
+        paramIndexes = [0, 1, 2]
+    )
+    private fun autoPilotInfoResponse(
+        token: Long,
+        timestamp: Long,
+        autoPilotInfo: String,
+    ) {
+    }
+
+    /**
+     * 到站信息查询响应
+     *
+     * @param header           头
+     * @param token            唯一消息ID
+     * @param timestamp        消息发送时间 单位：毫秒
+     * @param autoPilotStation 数据 null表示 PadSsmMsg中的消息体为null
+     */
+    override fun onAutoPilotStation(
+        header: MessagePad.Header?,
+        token: Long,
+        timestamp: Long,
+        autoPilotStation: SsmInfo.AutoPilotStation?
+    ) {
+        invokeAutoPilotStation(token, timestamp, autoPilotStation)
+        val msg: String
+        if (autoPilotStation == null) {
+            msg = "PadSsmMsg中的消息体为null"
+        } else {
+            val temB: String = autoPilotStation.arrivedStationFlag.toString()
+            val temS: String = autoPilotStation.orderId ?: ""
+            msg = "arrivedStationFlag:" + temB + "orderId:" + temS
+        }
+        autoPilotStationResponse(
+            token,
+            timestamp,
+            msg
+        )
+    }
+
+    @ChainLog(
+        linkChainLog = CHAIN_TYPE_SOCKET_AUTOPILOT,
+        linkCode = CHAIN_SOURCE_ADAS,
+        nodeAliasCode = CHAIN_CODE_ADAS_ARRIVE_QUERY,
+        paramIndexes = [0, 1, 2]
+    )
+    private fun autoPilotStationResponse(
+        token: Long,
+        timestamp: Long,
+        autoPilotStation: String,
+    ) {
+    }
+
    //到站回调
    @ChainLog(
        linkChainLog = CHAIN_TYPE_SOCKET_AUTOPILOT,
@@ -1052,6 +1213,20 @@ class MoGoAdasListenerImpl : OnAdasListener {

    }

+    /**
+     * 电源盒协议接口
+     * <p>
+     * {@link PowerData}使用方法
+     * 1.先判断数据中的{@link PowerData#protocolStatus} 是否是 {@link PowerProtocolStatus#SUCCEED} 如果是则表示数据解析正常可以正常使用，进行下一步
+     * 2.判断 {@link PowerData#frameType} 数据类型
+     *
+     * @param header 头
+     * @param data   数据
+     */
+    override fun onPowerUnit(header: MessagePad.Header, data: PowerData) {
+
+    }
+
    /**
     * 所连接的域控的节点状态信息
     * 目前包含状态 节点是否存在；节点是否超时；