[6.6.0][FSM] feat: 状态栏增加 FSM 状态展示；

core/function-impl/mogo-core-function-devatools/src/main/java/com/zhjt/mogo_core_function_devatools/status/StatusManager.kt

@@ -32,6 +32,7 @@ import com.zhjt.mogo_core_function_devatools.status.flow.autopilot.RouteDownload
 import com.zhjt.mogo_core_function_devatools.status.flow.autopilot.SpeedImpl
 import com.zhjt.mogo_core_function_devatools.status.flow.autopilot.SteerImpl
 import com.zhjt.mogo_core_function_devatools.status.flow.can.CanImpl
+import com.zhjt.mogo_core_function_devatools.status.flow.fsm.FSMImpl
 import com.zhjt.mogo_core_function_devatools.status.flow.gps.GpsImpl
 import com.zhjt.mogo_core_function_devatools.status.flow.ipc.IpcImpl
 import com.zhjt.mogo_core_function_devatools.status.flow.rtk.RTKImpl
@@ -91,6 +92,7 @@ object StatusManager {
                 is GpsStatus -> GpsImpl(ctx)
                 is TracingStatus -> TracingImpl(ctx)
                 is RTKStatus -> RTKImpl(ctx)
+                is FSMStatus -> FSMImpl(ctx)
                 is OverViewStatus -> OverViewImpl(ctx)
                 is SteerStatus -> SteerImpl(ctx)
                 is AcceleratorStatus -> AcceleratorImpl(ctx)

core/function-impl/mogo-core-function-devatools/src/main/java/com/zhjt/mogo_core_function_devatools/status/entity/Status.kt

@@ -6,7 +6,16 @@ import com.zhjt.mogo_core_function_devatools.status.entity.RouteState.RouteFaile
 import com.zhjt.mogo_core_function_devatools.status.entity.RouteState.RouteNone
 import com.zhjt.mogo_core_function_devatools.status.entity.RouteState.RouteStart
 import com.zhjt.mogo_core_function_devatools.status.entity.TracingStatus.Tracing
-import com.zhjt.mogo_core_function_devatools.status.entity.TracingStatus.Tracing.*
+import com.zhjt.mogo_core_function_devatools.status.entity.TracingStatus.Tracing.MAP_DATA_EXIST
+import com.zhjt.mogo_core_function_devatools.status.entity.TracingStatus.Tracing.MAP_DATA_NOT_EXIST
+import com.zhjt.mogo_core_function_devatools.status.entity.TracingStatus.Tracing.MAP_TRA_TYPE
+import com.zhjt.mogo_core_function_devatools.status.entity.TracingStatus.Tracing.ROUTE_FAILED
+import com.zhjt.mogo_core_function_devatools.status.entity.TracingStatus.Tracing.ROUTE_LOADED
+import com.zhjt.mogo_core_function_devatools.status.entity.TracingStatus.Tracing.TRACK_FINDED
+import com.zhjt.mogo_core_function_devatools.status.entity.TracingStatus.Tracing.TRACK_LOADED
+import com.zhjt.mogo_core_function_devatools.status.entity.TracingStatus.Tracing.TRACK_LOAD_FAIL
+import com.zhjt.mogo_core_function_devatools.status.entity.TracingStatus.Tracing.TRACK_NOT_EXIST
+import com.zhjt.mogo_core_function_devatools.status.entity.TracingStatus.Tracing.UNKNOWN
 
 sealed class Status(var rawData: Any? = null) {
 
@@ -119,6 +128,46 @@ class RTKStatus(var desc: String = "", var state: Int): Status() {
     override fun isException(): Boolean = desc.isEmpty() || (desc == "RTK") && state != 0
 }
 
+/**
+ * FSM模块状态码定义
+ */
+enum class FSMStateCode {
+    IpcNotConnected,
+    NoneExist,
+    Normal,
+    Error
+}
+
+/**
+ * FSM模块状态
+ */
+class FSMStatus(var state: FSMStateCode, var desc: String = ""): Status() {
+
+    override fun equals(other: Any?): Boolean {
+        if (javaClass != other?.javaClass) return false
+        other as FSMStatus
+        if (desc != other.desc) {
+            return false
+        }
+        if (state != other.state) {
+            return false
+        }
+        return true
+    }
+
+    override fun hashCode(): Int {
+        var result = desc.hashCode()
+        result = 31 * result + state.hashCode()
+        return result
+    }
+
+    override fun toString(): String {
+        return "FSMStatus(state=$state, desc='$desc', raw_data=$rawData)"
+    }
+
+    override fun isException(): Boolean =  state == FSMStateCode.Error
+}
+
 /**
  * Can总线
  */

core/function-impl/mogo-core-function-devatools/src/main/java/com/zhjt/mogo_core_function_devatools/status/flow/fsm/FSMImpl.kt

@@ -0,0 +1,91 @@
+package com.zhjt.mogo_core_function_devatools.status.flow.fsm
+
+import android.content.Context
+import com.mogo.eagle.core.function.api.autopilot.IMoGoAutopilotStatusListener
+import com.mogo.eagle.core.function.api.autopilot.IMoGoFsm2024Listener
+import com.mogo.eagle.core.function.call.autopilot.CallerAutoPilotControlManager
+import com.mogo.eagle.core.function.call.autopilot.CallerAutoPilotStatusListenerManager
+import com.mogo.eagle.core.function.call.autopilot.CallerFsm2024ListenerManager
+import com.mogo.eagle.core.utilcode.mogo.logger.CallerLogger
+import com.mogo.eagle.core.utilcode.mogo.logger.scene.SceneConstant.Companion.M_DEVA
+import com.zhjt.mogo.adas.data.AdasConstants
+import com.zhjt.mogo_core_function_devatools.status.entity.FSMStateCode
+import com.zhjt.mogo_core_function_devatools.status.entity.FSMStatus
+import com.zhjt.mogo_core_function_devatools.status.flow.IFlow
+import fsm.Fsm2024
+import kotlinx.coroutines.Dispatchers
+import kotlinx.coroutines.launch
+import java.util.concurrent.atomic.AtomicReference
+
+internal class FSMImpl(ctx: Context) : IFlow<FSMStatus>(ctx), IMoGoAutopilotStatusListener,
+    IMoGoFsm2024Listener {
+
+    companion object {
+        const val TAG = "FSMImpl"
+    }
+
+    private val fsmStateMsg by lazy {
+        AtomicReference<Fsm2024.FSMStateMsg>(null)
+    }
+
+    private fun getDesc(): String {
+        return fsmStateMsg.get()?.pilotNotStandbyReason ?: ""
+    }
+
+    private fun getStateCode(): FSMStateCode {
+        val isIpcConnected = CallerAutoPilotStatusListenerManager.isConnect()
+        if (!isIpcConnected) {
+            return FSMStateCode.IpcNotConnected
+        } else if (fsmStateMsg.get()?.pilotStandbyFlag == true) {
+            // TODO 判断是否有 FSM 模块
+            return FSMStateCode.Normal
+        } else {
+            return FSMStateCode.Error
+        }
+    }
+
+    override fun onCreate() {
+        send(FSMStatus(getStateCode(), getDesc()))
+        CallerLogger.d("$M_DEVA$TAG", "-- onCreate --")
+        CallerAutoPilotStatusListenerManager.addListener(TAG, this)
+        CallerFsm2024ListenerManager.addListener(TAG, this)
+    }
+
+    override fun onAutopilotIpcConnectStatusChanged(
+        status: AdasConstants.IpcConnectionStatus,
+        reason: String?
+    ) {
+        super.onAutopilotIpcConnectStatusChanged(status, reason)
+        if (!CallerAutoPilotStatusListenerManager.isConnect()) {
+            CallerLogger.d("$M_DEVA$TAG", "工控机断开了....")
+            fsmStateMsg.set(null)
+            send(FSMStatus(FSMStateCode.IpcNotConnected, "工控机断开了"))
+        } else {
+            CallerLogger.d("$M_DEVA$TAG", "工控机已连接....")
+            launch(Dispatchers.Default) {
+                CallerAutoPilotControlManager.sendStatusQueryReq()
+            }
+        }
+    }
+
+    override fun onFSM2024State(fsmState: Fsm2024.FSMStateMsg) {
+        CallerLogger.d(
+            "$M_DEVA$TAG",
+            "-- fsmState[pilotStandbyFlag=${fsmState.pilotStandbyFlag}, pilotNotStandbyReason=${fsmState.pilotNotStandbyReason}] --"
+        )
+        fsmStateMsg.set(fsmState)
+        // TODO 判断是否有 FSM 模块
+        if (fsmState.pilotStandbyFlag) {
+            send(FSMStatus(FSMStateCode.Normal, ""))
+        } else {
+            send(FSMStatus(FSMStateCode.Error, fsmState.pilotNotStandbyReason))
+        }
+    }
+
+    override fun onDestroy() {
+        super.onDestroy()
+        CallerLogger.d("$M_DEVA$TAG", "-- onDestroy --")
+        CallerAutoPilotStatusListenerManager.removeListener(TAG)
+        CallerFsm2024ListenerManager.removeListener(TAG)
+    }
+}

core/function-impl/mogo-core-function-devatools/src/main/java/com/zhjt/mogo_core_function_devatools/status/model/StatusModel.kt

@@ -14,6 +14,7 @@ internal class StatusModel : ViewModel() {
         const val TAG = "StatusModel"
         val DEFAULTS = Pair(null, ArrayList<Status>().also {
             it += OverViewStatus()
+            it += FSMStatus(FSMStateCode.IpcNotConnected, "")
             it += IpcStatus(CallerAutoPilotStatusListenerManager.isConnect())
             it += CanStatus(false)
 //            it += TracingStatus(UNKNOWN)

core/function-impl/mogo-core-function-devatools/src/main/java/com/zhjt/mogo_core_function_devatools/status/ui/adapter/StatusAdapter.kt

@@ -1,20 +1,37 @@
 package com.zhjt.mogo_core_function_devatools.status.ui.adapter
 
-import android.content.*
-import android.view.*
-import android.widget.*
-import androidx.core.content.*
-import androidx.recyclerview.widget.*
+import android.content.Context
+import android.view.LayoutInflater
+import android.view.View
+import android.view.ViewGroup
+import android.widget.ImageView
+import androidx.core.content.ContextCompat
+import androidx.recyclerview.widget.RecyclerView
 import com.mogo.eagle.core.function.call.hmi.CallerHmiManager
-import com.mogo.eagle.core.utilcode.kotlin.*
-import com.mogo.eagle.core.utilcode.mogo.logger.*
+import com.mogo.eagle.core.utilcode.kotlin.onClick
+import com.mogo.eagle.core.utilcode.mogo.logger.CallerLogger
 import com.mogo.eagle.core.utilcode.mogo.logger.scene.SceneConstant.Companion.M_DEVA
 import com.zhjt.mogo_core_function_devatools.R
 import com.zhjt.mogo_core_function_devatools.R.drawable
-import com.zhjt.mogo_core_function_devatools.status.entity.*
+import com.zhjt.mogo_core_function_devatools.status.entity.CanStatus
+import com.zhjt.mogo_core_function_devatools.status.entity.FSMStateCode
+import com.zhjt.mogo_core_function_devatools.status.entity.FSMStatus
+import com.zhjt.mogo_core_function_devatools.status.entity.GpsStatus
 import com.zhjt.mogo_core_function_devatools.status.entity.IpcStatus
+import com.zhjt.mogo_core_function_devatools.status.entity.OverViewStatus
+import com.zhjt.mogo_core_function_devatools.status.entity.RTKStatus
 import com.zhjt.mogo_core_function_devatools.status.entity.Status
-import com.zhjt.mogo_core_function_devatools.status.entity.TracingStatus.Tracing.*
+import com.zhjt.mogo_core_function_devatools.status.entity.TracingStatus
+import com.zhjt.mogo_core_function_devatools.status.entity.TracingStatus.Tracing.MAP_DATA_EXIST
+import com.zhjt.mogo_core_function_devatools.status.entity.TracingStatus.Tracing.MAP_DATA_NOT_EXIST
+import com.zhjt.mogo_core_function_devatools.status.entity.TracingStatus.Tracing.MAP_TRA_TYPE
+import com.zhjt.mogo_core_function_devatools.status.entity.TracingStatus.Tracing.ROUTE_FAILED
+import com.zhjt.mogo_core_function_devatools.status.entity.TracingStatus.Tracing.ROUTE_LOADED
+import com.zhjt.mogo_core_function_devatools.status.entity.TracingStatus.Tracing.TRACK_FINDED
+import com.zhjt.mogo_core_function_devatools.status.entity.TracingStatus.Tracing.TRACK_LOADED
+import com.zhjt.mogo_core_function_devatools.status.entity.TracingStatus.Tracing.TRACK_LOAD_FAIL
+import com.zhjt.mogo_core_function_devatools.status.entity.TracingStatus.Tracing.TRACK_NOT_EXIST
+import com.zhjt.mogo_core_function_devatools.status.entity.TracingStatus.Tracing.UNKNOWN
 import com.zhjt.mogo_core_function_devatools.status.ui.adapter.StatusAdapter.StatusViewHolder
 import me.jessyan.autosize.AutoSizeCompat
 
@@ -116,6 +133,22 @@ internal class StatusAdapter(val ctx: Context, var data: List<Status>): Recycler
                             iv.background = ContextCompat.getDrawable(itemView.context, drawable.icon_dev_status_rtk_unknow)
                     }
                 }
+                is FSMStatus -> {
+                    when (status.state) {
+                        FSMStateCode.IpcNotConnected -> {
+                            iv.setImageDrawable(null)
+                        }
+                        FSMStateCode.NoneExist -> {
+                            iv.background = ContextCompat.getDrawable(itemView.context, drawable.icon_dev_status_fsm_not_exist)
+                        }
+                        FSMStateCode.Normal -> {
+                            iv.background = ContextCompat.getDrawable(itemView.context, drawable.icon_dev_status_fsm_normal)
+                        }
+                        FSMStateCode.Error -> {
+                            iv.background = ContextCompat.getDrawable(itemView.context, drawable.icon_dev_status_fsm_error)
+                        }
+                    }
+                }
                 is OverViewStatus -> {
                     if (status.hasException) {
                         iv.scaleType = ImageView.ScaleType.FIT_CENTER
@@ -128,47 +161,72 @@ internal class StatusAdapter(val ctx: Context, var data: List<Status>): Recycler
             }
         }
 
-        private fun getText(status: Status): String = when(status) {
-            is CanStatus -> "CAN:${ if (status.enabled) "状态正常" else "非正常连接" }"
-            is GpsStatus -> "GPS:${ if (status.enabled) "状态正常" else "非正常连接" }"
-            is IpcStatus -> "工控机:${ if (status.enabled) "状态正常" else "非正常连接" }"
+        private fun getText(status: Status): String = when (status) {
+            is CanStatus -> "CAN:${if (status.enabled) "状态正常" else "非正常连接"}"
+            is GpsStatus -> "GPS:${if (status.enabled) "状态正常" else "非正常连接"}"
+            is IpcStatus -> "工控机:${if (status.enabled) "状态正常" else "非正常连接"}"
 //            is NetStatus -> "WIFI:${ if (status.enabled) "${status.name}" else "非正常连接" }"
-            is RTKStatus -> when(status.desc) {
+            is RTKStatus -> when (status.desc) {
                 "RTK" ->
-                    when(status.state) {
+                    when (status.state) {
                         0 -> "RTK定位，状态良好"
                         1 -> "RTK定位，定位不可信"
                         2 -> "RTK定位，误差增大到米级"
                         else -> "RTK定位，状态异常"
                     }
+
                 "SLAM" ->
                     "SLAM定位，状态良好"
+
                 else ->
                     "定位异常"
             }
+
+            is FSMStatus -> when (status.state) {
+                FSMStateCode.IpcNotConnected -> {
+                    "FSM:非正常连接"
+                }
+                FSMStateCode.NoneExist -> {
+                    "FSM:无FSM模块"
+                }
+                FSMStateCode.Normal -> {
+                    "FSM:状态正常"
+                }
+                FSMStateCode.Error -> {
+                    "FSM:状态异常"
+                }
+            }
+
             is TracingStatus -> {
                 val extra = status.state.extra
-                val extraDesc = if (extra != null && extra.isNotEmpty()) extra.values.joinToString(",") else ""
-                CallerLogger.d("$M_DEVA$TAG", "traceing_state: $status -> extra: $extraDesc :: extra: $extra")
-                when(status.state) {
+                val extraDesc =
+                    if (extra != null && extra.isNotEmpty()) extra.values.joinToString(",") else ""
+                CallerLogger.d(
+                    "$M_DEVA$TAG",
+                    "traceing_state: $status -> extra: $extraDesc :: extra: $extra"
+                )
+                when (status.state) {
                     //"轨迹类型:${ if (status.state == TRACK_LOADED) "循迹" else if (status.state == ROUTE_LOADED) "自主算路" else "暂无轨迹" }"
                     MAP_TRA_TYPE -> {
                         "暂无轨迹"
                     }
-                    MAP_DATA_EXIST -> "地图数据存在,正在加载${ if(extraDesc.isNotEmpty()) "\n[$extraDesc]" else "" }"
-                    MAP_DATA_NOT_EXIST -> "地图数据不存在${ if(extraDesc.isNotEmpty()) "\n[$extraDesc]" else "" }"
-                    TRACK_FINDED -> "轨迹类型:循迹(已找到轨迹)${ if(extraDesc.isNotEmpty()) "\n[$extraDesc]" else "" }"
-                    TRACK_LOADED -> "轨迹类型:循迹(加载成功)${ if(extraDesc.isNotEmpty()) "\n[$extraDesc]" else "" }"
-                    TRACK_NOT_EXIST -> "轨迹类型:循迹(未找到轨迹)${ if(extraDesc.isNotEmpty()) "\n[$extraDesc]" else "" }"
-                    TRACK_LOAD_FAIL -> "轨迹类型:循迹(加载失败)${ if(extraDesc.isNotEmpty()) "\n[$extraDesc]" else "" }"
-                    ROUTE_LOADED -> "轨迹类型:自主算路(加载成功)${ if(extraDesc.isNotEmpty()) "\n[$extraDesc]" else "" }"
-                    ROUTE_FAILED -> "轨迹类型:自主算路(加载失败)${ if(extraDesc.isNotEmpty()) "\n[$extraDesc]" else "" }"
+
+                    MAP_DATA_EXIST -> "地图数据存在,正在加载${if (extraDesc.isNotEmpty()) "\n[$extraDesc]" else ""}"
+                    MAP_DATA_NOT_EXIST -> "地图数据不存在${if (extraDesc.isNotEmpty()) "\n[$extraDesc]" else ""}"
+                    TRACK_FINDED -> "轨迹类型:循迹(已找到轨迹)${if (extraDesc.isNotEmpty()) "\n[$extraDesc]" else ""}"
+                    TRACK_LOADED -> "轨迹类型:循迹(加载成功)${if (extraDesc.isNotEmpty()) "\n[$extraDesc]" else ""}"
+                    TRACK_NOT_EXIST -> "轨迹类型:循迹(未找到轨迹)${if (extraDesc.isNotEmpty()) "\n[$extraDesc]" else ""}"
+                    TRACK_LOAD_FAIL -> "轨迹类型:循迹(加载失败)${if (extraDesc.isNotEmpty()) "\n[$extraDesc]" else ""}"
+                    ROUTE_LOADED -> "轨迹类型:自主算路(加载成功)${if (extraDesc.isNotEmpty()) "\n[$extraDesc]" else ""}"
+                    ROUTE_FAILED -> "轨迹类型:自主算路(加载失败)${if (extraDesc.isNotEmpty()) "\n[$extraDesc]" else ""}"
                     UNKNOWN -> "暂无轨迹"
                 }
             }
+
             is OverViewStatus -> {
                 ""
             }
+
             else -> {
                 throw AssertionError()
             }