From a5768276defa74c473f8164a11744436ce20ab1d Mon Sep 17 00:00:00 2001 From: xinfengkun Date: Tue, 25 Oct 2022 17:56:55 +0800 Subject: [PATCH] =?UTF-8?q?[change]=20=E6=9B=B4=E6=96=B0MAP290=E7=9B=91?= =?UTF-8?q?=E6=8E=A7=E4=BA=8B=E4=BB=B6?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- .../high/common/AutopilotAbilityManager.java | 2 ++ .../support/adas/high/common/MogoReport.java | 32 +++++++++++++++---- 2 files changed, 28 insertions(+), 6 deletions(-) diff --git a/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/common/AutopilotAbilityManager.java b/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/common/AutopilotAbilityManager.java index 889616b91b..2ae5d68e20 100644 --- a/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/common/AutopilotAbilityManager.java +++ b/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/common/AutopilotAbilityManager.java @@ -13,6 +13,8 @@ import system_master.SystemStatusInfo; /** * 是否可以启动自动驾驶能力检测 + * 目前监控了底盘的一些状态和查询节点状态应答的数据 + * 没有使用监控事件报告的原因是因为，部分异常没进行正常恢复通知，例如收到了异常监控数据，但是异常恢复之后没有恢复的通知 */ public class AutopilotAbilityManager { private static final String TAG = AutopilotAbilityManager.class.getSimpleName(); diff --git a/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/common/MogoReport.java b/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/common/MogoReport.java index dd8a4a6737..d518abcd07 100644 --- a/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/common/MogoReport.java +++ b/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/common/MogoReport.java @@ -2,7 +2,7 @@ package com.zhidao.support.adas.high.common; /** * 监控事件报告中定义的事件以及解释 - * 根据260消息定义编写 + * 根据290消息定义编写 */ public class MogoReport { private static final String RESULT_AUTOPILOT_SYSTEM_UNSTARTED = "RESULT_AUTOPILOT_SYSTEM_UNSTARTED"; @@ -190,6 +190,20 @@ public class MogoReport { String EXIT_AUTOPILOT_FOR_LOCATION = "EMAP_EXIT_AUTOPILOT_FOR_LOCATION";//因location掉帧强退自动驾驶 String EXIT_AUTOPILOT_FOR_CHASSIS = "EMAP_EXIT_AUTOPILOT_FOR_CHASSIS";//因底盘消息掉帧强退自动驾驶 String EXIT_AUTOPILOT_FOR_DISTANCE = "EMAP_EXIT_AUTOPILOT_FOR_DISTANCE";//因planning起点距离当前过远强退自动驾驶 + String EXIT_AUTOPILOT_FOR_BRAKE = "EMAP_EXIT_AUTOPILOT_FOR_BRAKE";//制动踏板干预而强退自动驾驶 + String EXIT_AUTOPILOT_FOR_ACCEL = "EMAP_EXIT_AUTOPILOT_FOR_ACCEL";//加速踏板干预而强退自动驾驶 + String EXIT_AUTOPILOT_FOR_STEER = "EMAP_EXIT_AUTOPILOT_FOR_STEER";//方向盘干预而强退自动驾驶 + String EXIT_AUTOPILOT_FOR_GEAR_SWITCH = "EMAP_EXIT_AUTOPILOT_FOR_GEAR_SWITCH";//档位切换干预而强退自动驾驶 + String EXIT_AUTOPILOT_FOR_CHASSIS_NO_RESPONSE = "EMAP_EXIT_AUTOPILOT_FOR_CHASSIS_NO_RESPONSE";//底盘不响应请求而强退自动驾驶 + String EXIT_AUTOPILOT_FOR_CHASSIS_UNKNOWN = "EMAP_EXIT_AUTOPILOT_FOR_CHASSIS_UNKNOWN";//底盘退出原因未知而强退自动驾驶 + String ENTRY_AUTOPILOT_FOR_CANADAPTER_TIMEOUT = "EMAP_ENTRY_AUTOPILOT_FOR_CANADAPTER_TIMEOUT";//can_adapter消息超时未进入自驾 + String ENTRY_AUTOPILOT_FOR_PLANNING_TIMEOUT = "EMAP_ENTRY_AUTOPILOT_FOR_PLANNING_TIMEOUT";//PLANNING消息超时未进自驾 + String ENTRY_AUTOPILOT_FOR_LOCATION_TIMEOUT = "EMAP_ENTRY_AUTOPILOT_FOR_LOCATION_TIMEOUT";//定位消息超时未进自驾 + String ENTRY_AUTOPILOT_FOR_BRAKE = "EMAP_ENTRY_AUTOPILOT_FOR_BRAKE";//制动踏板干预未进自驾 + String ENTRY_AUTOPILOT_FOR_ACCEL = "EMAP_ENTRY_AUTOPILOT_FOR_ACCEL";//加速踏板干预未进自驾 + String ENTRY_AUTOPILOT_FOR_STEER = "EMAP_ENTRY_AUTOPILOT_FOR_STEER";//方向盘干预未进自驾 + String ENTRY_AUTOPILOT_FOR_GEAR_SWITCH = "EMAP_ENTRY_AUTOPILOT_FOR_GEAR_SWITCH";//档位切换干预未进自驾 + String ENTRY_AUTOPILOT_FOR_OTHER_CTL = "EMAP_ENTRY_AUTOPILOT_FOR_OTHER_CTL";//其他干预未进自驾，请检查仪表盘和开关项（如双闪，制动灯灯等 可在msg中补充原因信息） String HADMAP_ENGINE_NO_ROUTING_INFO = "EMAP_HADMAP_ENGINE_NO_ROUTING_INFO";//hadmap_engine算路失败或未找到轨迹文件导致的轨迹文件信息未发布 String HADMAP_NO_TRAJECTORY = "EMAP_HADMAP_NO_TRAJECTORY";//hadmap未发布全局路径 String HADMAP_PLANNING_NO_TRAJECTORY = "EMAP_HADMAP_PLANNING_NO_TRAJECTORY";//local_planning未发布局部轨迹 @@ -213,6 +227,7 @@ public class MogoReport { String STEER_INFERENCE = "EVHC_STEER_INFERENCE";//由于方向盘干预退出自动驾驶或无法进入自动驾驶 String ACCEL_INFERENCE = "EVHC_ACCEL_INFERENCE";//由于油门干预退出自动驾驶或无法进入自动驾驶 String CSS = "EVHC_CSS";//底盘不允许进入自动驾驶 + String GEAR = "EVHC_GEAR";//档位不是D或N档 } /** @@ -226,13 +241,15 @@ public class MogoReport { String NOT_ALLOW_AUTOPILOT_FOR_REMOTE = "ESYS_NOT_ALLOW_AUTOPILOT_FOR_REMOTE";//系统处于远程驾驶中，拒绝进入自动驾驶 String NOT_ALLOW_REBOOT = "ESYS_NOT_ALLOW_REBOOT";//重启拒绝 String TOPIC_FREQ_DROPED = "ESYS_TOPIC_FREQ_DROPED";//存在topic严重掉频 + String AUTOPILOT_TAKEN_OVER_BY_REMOTE = "ESYS_AUTOPILOT_TAKEN_OVER_BY_REMOTE";//自动驾驶被远程驾驶接管 @Deprecated String RTK_STATUS_FAULT = "ESYS_RTK_STATUS_FAULT";//RTK状态持续错误 - String AUTOPILOT_TAKEN_OVER_BY_REMOTE = "ESYS_AUTOPILOT_TAKEN_OVER_BY_REMOTE";//自动驾驶被远程驾驶接管 String ROUTING_REQ_TIMEOUT = "ESYS_ROUTING_REQ_TIMEOUT";//自动驾驶开始前，routing请求无响应 String PLANNING_CHANGE_FAILIED = "ESYS_PLANNING_CHANGE_FAILIED";//planning版本切换启动失败 String CHECK_TRAJECTORY_FAILURE = "ESYS_CHECK_TRAJECTORY_FAILURE";//轨迹文件检查超时或检查结果无可用轨迹 String FAULT = "ESYS_FAULT";//master启动10分钟，仍有agent未连接 + String REBOOT_WARNING = "ESYS_REBOOT_WARNING";//命令重启不完全提示(部分模块没有关闭成功） + String CAN_MSG_LOST = "ESYS_CAN_MSG_LOST";//master接收底盘消息超时 } interface EAGENT { @@ -246,6 +263,7 @@ public class MogoReport { interface ECAM { String INIT = "ECAM_INIT";//相机初始化失败 String CALIB = "ECAM_CALIB";//标定信息读取失败 + String GRAB_FATAL = "ECAM_GRAB_FATAL";//相机数据采集异常 } /** @@ -281,7 +299,7 @@ public class MogoReport { String TRA_LOADED = "IMAP_TRA_LOADED";//轨迹文件加载成功 String TRA_ROUTING = "IMAP_TRA_ROUTING";//算路成功 String TRA_TYPE = "IMAP_TRA_TYPE";//加载轨迹类型通知 - + String ENTRY_AUTOPILOT = "IMAP_ENTRY_AUTOPILOT";//控制进入自动驾驶成功 } /** @@ -311,14 +329,16 @@ public class MogoReport { String CAN_NORMAL = "ISYS_CAN_NORMAL";//底盘状态正常或恢复正常 String REOMTEPILOT_STARTING = "ISYS_REOMTEPILOT_STARTING";//平行驾驶启动中 String REOMTEPILOT_RUNING = "ISYS_REOMTEPILOT_RUNING";//平行驾驶运行中 + String SYSTEM_IN_IDLE = "ISYS_SYSTEM_IN_IDLE";//系统进入空闲状态 + String SYSTEM_OUT_IDLE = "ISYS_SYSTEM_OUT_IDLE";//系统退出空闲状态 String INIT_TRAJECTORY_START = "ISYS_INIT_TRAJECTORY_START";//轨迹管理_轨迹开始下载 String INIT_TRAJECTORY_SUCCESS = "ISYS_INIT_TRAJECTORY_SUCCESS";//轨迹管理_轨迹下载成功 String INIT_TRAJECTORY_FAILURE = "ISYS_INIT_TRAJECTORY_FAILURE";//轨迹管理_轨迹下载失败，本地无对应轨迹 String INIT_TRAJECTORY_WARNING = "ISYS_INIT_TRAJECTORY_WARNING";//轨迹管理_轨迹下载失败，本地有对应轨迹，认为成功 String INIT_TRAJECTORY_TIMEOUT = "ISYS_INIT_TRAJECTORY_TIMEOUT";//轨迹管理_轨迹下载超时 - String SYSTEM_IN_IDLE = "ISYS_SYSTEM_IN_IDLE";//系统进入空闲状态 - String SYSTEM_OUT_IDLE = "ISYS_SYSTEM_OUT_IDLE";//系统退出空闲状态 - String CONFIG_UPDATE_HADMAP = "ISYS_CONFIG_UPDATE_HADMAP";//高精地图：需要重启升级高精地图 + String CONFIG_UPDATE_HADMAP = "ISYS_CONFIG_UPDATE_HADMAP";//需要重启升级高精地图 + String CONFIG_UPDATE_AI_MODEL = "ISYS_CONFIG_UPDATE_AI_MODEL";//需要重启升级AI模型 + String CONFIG_UPDATE_SLAM_MAP = "ISYS_CONFIG_UPDATE_SLAM_MAP";//需要重启升级SLAM地图 } interface IAGENT {