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[adas lib]能否启动自驾以及启动命令下发后成功或失败统计优化

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This commit is contained in:
xinfengkun
2023-02-06 16:17:17 +08:00
parent 3b07d19df5
commit a613dcd259
28 changed files with 493 additions and 322 deletions
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37
OCH/mogo-och-common-module/src/main/java/com/mogo/och/common/module/manager/OCHAdasAbilityManager.java
View File

@@ -12,12 +12,8 @@ import com.mogo.eagle.core.function.call.autopilot.CallerAutopilotStatisticsList
import com.mogo.eagle.core.utilcode.mogo.AppIdentityModeUtils;
import com.mogo.eagle.core.utilcode.mogo.logger.Logger;
import com.mogo.och.common.module.callback.OchAdasStartFailureCallback;
import com.zhidao.support.adas.high.bean.AutopilotAbility;
import com.zhidao.support.adas.high.bean.AutopilotStatistics;
import chassis.Chassis;
import system_master.SystemStatusInfo;
/**
* Created on 2022/10/9
* 工控机状态信息回调（判断是否能否启动自动驾驶的回调）
@@ -78,36 +74,9 @@ public class OCHAdasAbilityManager implements IMoGoAutopilotActionsListener, IMo
}
@Override
public void onAutopilotAbility(@Nullable AutopilotAbility ability) {
isAutopilotAbility = true;
autopilotAbilityReason = null;
if (ability.gear == null || ability.gear == Chassis.GearPosition.GEAR_P ||
ability.gear == Chassis.GearPosition.GEAR_R) {
isAutopilotAbility = false;
autopilotAbilityReason = "挡位不正常";
}
if (AppIdentityModeUtils.isBus(FunctionBuildConfig.appIdentityMode) &&
ability.gear == Chassis.GearPosition.GEAR_N){ //bus档位不正常
isAutopilotAbility = false;
autopilotAbilityReason = "挡位不正常";
}
if (isAutopilotAbility)
if (ability.brake > 0) {
isAutopilotAbility = false;
autopilotAbilityReason = "制动踏板被踩下";
}
if (isAutopilotAbility)
if (ability.statusInfo.getSysState() == SystemStatusInfo.SystemState.SYS_STARTING) {
isAutopilotAbility = false;
autopilotAbilityReason = "系统正在启动";
}
if (isAutopilotAbility)
if (ability.statusInfo.getSysState() == SystemStatusInfo.SystemState.SYS_EXITING) {
isAutopilotAbility = false;
autopilotAbilityReason = "系统正在关闭";
}
public void onAutopilotAbility(boolean isAutopilotAbility, String unableAutopilotReason) {
this.isAutopilotAbility = isAutopilotAbility;
this.autopilotAbilityReason = unableAutopilotReason;
Logger.d(TAG, "是否可以启动自动驾驶=" + isAutopilotAbility + " 原因=" + autopilotAbilityReason);
}

5
app_ipc_monitoring/src/main/java/com/zhidao/adas/client/adapter/ConfigAdapter.java
View File

@@ -36,7 +36,10 @@ public class ConfigAdapter extends BaseAdapter<Config, ConfigAdapter.ViewHolder>
}
viewHolder.name.setText(data.name);
viewHolder.value.setText(data.value);
if (data.color == -1) {
data.color = R.color.colorSlateGray;
}
viewHolder.value.setTextColor(mContext.getResources().getColor(data.color));
}
@Override

4
app_ipc_monitoring/src/main/java/com/zhidao/adas/client/base/BaseAdapter.java
View File

@@ -48,6 +48,10 @@ public abstract class BaseAdapter<D, VH extends BaseViewHolder> extends Recycler
notifyDataSetChanged();
}
public List<D> getData() {
return mDatas;
}
public void setOnItemClickListener(OnItemClickListener<D> listener) {
mItemClick = listener;
}

17
app_ipc_monitoring/src/main/java/com/zhidao/adas/client/bean/Config.java
View File

@@ -1,11 +1,26 @@
package com.zhidao.adas.client.bean;
import java.util.Objects;
public class Config {
public final String name;
public final String value;
public String value;
public int color = -1;
public Config(String name, String value) {
this.name = name;
this.value = value;
}
@Override
public boolean equals(Object o) {
if (this == o) return true;
if (o == null || getClass() != o.getClass()) return false;
Config config = (Config) o;
return Objects.equals(name, config.name);
}
public void cover(Config config) {
this.value = config.value;
}
}

56
app_ipc_monitoring/src/main/java/com/zhidao/adas/client/ui/MainActivity.java
View File

@@ -98,7 +98,6 @@ import com.zhidao.support.adas.high.AdasOptions;
import com.zhidao.support.adas.high.OnAdasConnectStatusListener;
import com.zhidao.support.adas.high.OnAdasListener;
import com.zhidao.support.adas.high.OnMultiDeviceListener;
import com.zhidao.support.adas.high.bean.AutopilotAbility;
import com.zhidao.support.adas.high.bean.AutopilotStatistics;
import com.zhidao.support.adas.high.bean.VersionCompatibility;
import com.zhidao.support.adas.high.common.ByteUtil;
@@ -121,7 +120,6 @@ import java.util.Locale;
import java.util.concurrent.ScheduledExecutorService;
import bag_manager.BagManagerOuterClass;
import chassis.Chassis;
import chassis.ChassisStatesOuterClass;
import chassis.VehicleStateOuterClass;
import function_state_management.FunctionStates;
@@ -184,8 +182,6 @@ public class MainActivity extends BaseActivity implements OnAdasListener, OnAdas
private ListPopupWindow listPopupWindow;
private FloatWindow floatWindow;
private View include_title;
private boolean isAutopilotAbility = true;
private String autopilotAbilityReason;
private List<SpecialVehicleBean> specialVehicleBeanList;//特种车辆
private long errorDataUpdateTime = 0;
// @Override
@@ -860,47 +856,12 @@ public class MainActivity extends BaseActivity implements OnAdasListener, OnAdas
}
@Override
public void onAutopilotAbility(AutopilotAbility ability) {
isAutopilotAbility = true;
autopilotAbilityReason = null;
if (ability.gear == null || ability.gear == Chassis.GearPosition.GEAR_P || ability.gear == Chassis.GearPosition.GEAR_R) {
isAutopilotAbility = false;
autopilotAbilityReason = "挡位不正常";
public void onAutopilotAbility(boolean isAutopilotAbility, String unableAutopilotReason) {
if (fromFragment instanceof VersionFragment) {
VersionFragment fragment = (VersionFragment) fromFragment;
fragment.autopilotAbility(isAutopilotAbility, unableAutopilotReason);
}
if (isAutopilotAbility)
if (ability.brake > 0) {
isAutopilotAbility = false;
autopilotAbilityReason = "制动踏板被踩下";
}
if (isAutopilotAbility)
if (ability.statusInfo == null) {
isAutopilotAbility = false;
autopilotAbilityReason = "系统Topic不正常";
}
if (isAutopilotAbility)
if (ability.statusInfo.getSysState() == SystemStatusInfo.SystemState.SYS_STARTING) {
isAutopilotAbility = false;
autopilotAbilityReason = "系统正在启动";
}
if (isAutopilotAbility)
if (ability.statusInfo.getSysState() == SystemStatusInfo.SystemState.SYS_EXITING) {
isAutopilotAbility = false;
autopilotAbilityReason = "系统正在关闭";
}
if (isAutopilotAbility)
if (ability.statusInfo.getSysState() == SystemStatusInfo.SystemState.SYS_FAULT) {
isAutopilotAbility = false;
autopilotAbilityReason = "系统异常";
}
if (isAutopilotAbility)
for (SystemStatusInfo.HealthInfo healthInfo : ability.statusInfo.getHealthInfoList()) {
if (healthInfo.getState() == SystemStatusInfo.HealthState.FAULT) {
isAutopilotAbility = false;
autopilotAbilityReason = healthInfo.getName() + " 节点异常";
break;
}
}
Log.i(TAG, "是否可以启动自动驾驶=" + isAutopilotAbility + " 原因=" + autopilotAbilityReason);
Log.i(TAG, "是否可以启动自动驾驶=" + isAutopilotAbility + " 原因=" + unableAutopilotReason);
}
@Override
@@ -1012,7 +973,12 @@ public class MainActivity extends BaseActivity implements OnAdasListener, OnAdas
BasicInfoReq info = new BasicInfoReq(header, basicInfoReq, sdf);
DataDistribution.getInstance().addData(info);
AdasManager.getInstance().sendBasicInfoResp("", 0, com.zhidao.support.adas.high.common.Constants.TERMINAL_ROLE.DEBUG);
showToastCenter("收到车机基础信息请求:" + info.toString());
runOnUiThread(new Runnable() {
@Override
public void run() {
showToastCenter("收到车机基础信息请求:" + info.toString());
}
});
}
@Override

37
app_ipc_monitoring/src/main/java/com/zhidao/adas/client/ui/VersionFragment.java
View File

@@ -30,6 +30,7 @@ import com.zhidao.adas.client.adapter.InterfaceAdapter;
import com.zhidao.adas.client.base.BaseFragment;
import com.zhidao.adas.client.bean.Config;
import com.zhidao.adas.client.bean.InterfaceModel;
import com.zhidao.adas.client.utils.RandomColor;
import com.zhidao.support.adas.high.AdasManager;
import com.zhidao.support.adas.high.bean.VersionCompatibility;
import com.zhidao.support.adas.high.common.Constants;
@@ -211,11 +212,47 @@ public class VersionFragment extends BaseFragment {
VersionCompatibility versionCompatibility = AdasManager.getInstance().getVersionCompatibility();
list.add(new Config("版本兼容性:", versionCompatibility == null ? null : versionCompatibility.toString()));
}
list.add(new Config("ADAS LIB版本:", AdasManager.getInstance().getAdasVersion()));
list.add(new Config("APP构建时间:", BuildConfig.BUILD_TIME));
list.add(getAutopilotAbilityConfig(""));
adapter.setData(list);
}
private Config getAutopilotAbilityConfig(String value) {
return new Config("能否启动自动驾驶:", value);
}
public void autopilotAbility(boolean isAutopilotAbility, String unableAutopilotReason) {
List<Config> list = adapter.getData();
if (list != null) {
Config temp = getAutopilotAbilityConfig(isAutopilotAbility + "，原因：" + unableAutopilotReason);
int index = list.indexOf(temp);
if (index < 0) {
list.add(temp);
if (getActivity() != null)
getActivity().runOnUiThread(new Runnable() {
@Override
public void run() {
adapter.notifyItemInserted(list.size() - 1);
}
});
} else {
Config config = list.get(index);
config.cover(temp);
config.color = RandomColor.randomColor();
if (getActivity() != null)
getActivity().runOnUiThread(new Runnable() {
@Override
public void run() {
adapter.notifyItemChanged(index);
}
});
}
}
}
@Override
protected void onRefreshView() {

29
app_ipc_monitoring/src/main/java/com/zhidao/adas/client/utils/RandomColor.java Normal file
View File

@@ -0,0 +1,29 @@
package com.zhidao.adas.client.utils;
import com.zhidao.adas.client.R;
import java.util.Random;
public class RandomColor {
//随机颜色,且不与上一次重复
private static Random randomColor;
private static int tempColorIndex;
private static int[] colors = {R.color.color1, R.color.color2, R.color.color3, R.color.color4, R.color.color5};
public static int randomColor() {
randomColorTemp();
return colors[tempColorIndex];
}
private static void randomColorTemp() {
if (randomColor == null)
randomColor = new Random();
int colorInt = randomColor.nextInt(colors.length);
if (tempColorIndex == colorInt) {
randomColorTemp();
} else {
tempColorIndex = colorInt;
}
}
}

7
app_ipc_monitoring/src/main/res/values/colors.xml
View File

@@ -15,6 +15,11 @@
<color name="connect_status_connected">#32CD32</color>
<color name="connect_status_disconnected">#DC143C</color>
<color name="connect_status_connecting">#FF00FF</color>
<color name="connect_status_disconnecting">#DAA520</color>
<color name="connect_status_disconnecting">#3333FF </color>
<color name="connect_status_search_address">#1E90FF</color>
<color name="color1">#FFC0CB</color>
<color name="color2">#FF8F00</color>
<color name="color3">#FFE500</color>
<color name="color4">#B9ED3E</color>
<color name="color5">#2EEDEB</color>
</resources>

10
app_mogo_magic_ring/src/main/java/com/zhidao/adas/magic/ui/MainActivity.java
View File

@@ -45,7 +45,6 @@ import com.zhidao.support.adas.high.AdasManager;
import com.zhidao.support.adas.high.AdasOptions;
import com.zhidao.support.adas.high.OnAdasConnectStatusListener;
import com.zhidao.support.adas.high.OnAdasListener;
import com.zhidao.support.adas.high.bean.AutopilotAbility;
import com.zhidao.support.adas.high.bean.AutopilotStatistics;
import com.zhidao.support.adas.high.bean.VersionCompatibility;
import com.zhidao.support.adas.high.common.Constants.IPC_CONNECTION_STATUS;
@@ -587,6 +586,11 @@ public class MainActivity extends BaseActivity implements OnAdasListener, OnAdas
}
@Override
public void onAutopilotAbility(boolean isAutopilotAbility, String unableAutopilotReason) {
}
private void initAdas() {
CupidLogUtils.e(TAG, "--->初始化");
@@ -855,10 +859,6 @@ public class MainActivity extends BaseActivity implements OnAdasListener, OnAdas
}
}
@Override
public void onAutopilotAbility(AutopilotAbility ability) {
}
@Override
public void onStartAutopilotFailed(MogoReportMsg.MogoReportMessage message) {

3
core/function-impl/mogo-core-function-datacenter/src/main/java/com/mogo/eagle/core/function/datacenter/autopilot/MoGoAutopilotControlProvider.kt
View File

@@ -105,6 +105,7 @@ class MoGoAutopilotControlProvider :
.setIpcConnectionMode(AdasOptions.IPC_CONNECTION_MODE.FIXATION)
.setIpcFixationIP(AdasManager.getInstance().getIPCFixationIPList(mContext))
.setClient(false)
.setIdentityMode(FunctionBuildConfig.appIdentityMode)
// .setSubscribeInterfaceOptions(subscribeInterfaceOptions)//
.build()
@@ -195,6 +196,7 @@ class MoGoAutopilotControlProvider :
val options = AdasOptions
.Builder()
.setClient(true)
.setIdentityMode(FunctionBuildConfig.appIdentityMode)
.build()
AdasManager.getInstance()
.create(options, MoGoAdasMsgConnectStatusListenerImpl())
@@ -222,6 +224,7 @@ class MoGoAutopilotControlProvider :
.setIpcConnectionMode(AdasOptions.IPC_CONNECTION_MODE.FIXATION)
.setIpcFixationIP(AdasManager.getInstance().getIPCFixationIPList(mContext))
.setClient(false)// 乘客端直连工控机改为false
.setIdentityMode(FunctionBuildConfig.appIdentityMode)
.build()
AdasManager.getInstance().create(options, MoGoAdasMsgConnectStatusListenerImpl())
//////////////////////////////////注意先后顺序，AdasManager.getInstance().create后才可以设置监听/////////////////////////////////////////////

5
core/function-impl/mogo-core-function-datacenter/src/main/java/com/mogo/eagle/core/function/datacenter/autopilot/adapter/MoGoAdasListenerImpl.kt
View File

@@ -59,7 +59,6 @@ import com.mogo.eagle.core.utilcode.mogo.logger.Logger
import com.mogo.support.obu.ObuScene
import com.zhidao.support.adas.high.AdasManager
import com.zhidao.support.adas.high.OnAdasListener
import com.zhidao.support.adas.high.bean.AutopilotAbility
import com.zhidao.support.adas.high.bean.AutopilotStatistics
import com.zhidao.support.adas.high.common.ProtocolStatus
import com.zhjt.service.chain.ChainLog
@@ -608,8 +607,8 @@ class MoGoAdasListenerImpl : OnAdasListener {
* 是否可以启动自动驾驶
* 使用方法查看：app_ipc_monitoring/uiMainActivity/onAutopilotAbility
*/
override fun onAutopilotAbility(ability: AutopilotAbility?) {
invokeAutopilotAbility(ability)
override fun onAutopilotAbility(isAutopilotAbility: Boolean, unableAutopilotReason: String?) {
invokeAutopilotAbility(isAutopilotAbility, unableAutopilotReason)
}
/**

4
core/mogo-core-function-api/src/main/java/com/mogo/eagle/core/function/api/autopilot/IMoGoAutopilotActionsListener.kt
View File

@@ -1,7 +1,5 @@
package com.mogo.eagle.core.function.api.autopilot
import com.zhidao.support.adas.high.bean.AutopilotAbility
/**
* pnc actions 决策 驾驶的意图
@@ -11,5 +9,5 @@ interface IMoGoAutopilotActionsListener {
/**
* pnc actions 决策 驾驶的意图
*/
fun onAutopilotAbility(ability: AutopilotAbility?)
fun onAutopilotAbility(isAutopilotAbility: Boolean, unableAutopilotReason: String?)
}

5
core/mogo-core-function-call/src/main/java/com/mogo/eagle/core/function/call/autopilot/CallerAutopilotActionsListenerManager.kt
View File

@@ -2,7 +2,6 @@ package com.mogo.eagle.core.function.call.autopilot
import com.mogo.eagle.core.function.api.autopilot.IMoGoAutopilotActionsListener
import com.mogo.eagle.core.function.call.base.CallerBase
import com.zhidao.support.adas.high.bean.AutopilotAbility
/**
@@ -11,10 +10,10 @@ import com.zhidao.support.adas.high.bean.AutopilotAbility
object CallerAutopilotActionsListenerManager : CallerBase<IMoGoAutopilotActionsListener>() {
@Synchronized
fun invokeAutopilotAbility(ability: AutopilotAbility?) {
fun invokeAutopilotAbility(isAutopilotAbility: Boolean, unableAutopilotReason: String?) {
M_LISTENERS.forEach {
val listener = it.value
listener.onAutopilotAbility(ability)
listener.onAutopilotAbility(isAutopilotAbility, unableAutopilotReason)
}
}
}

2
core/mogo-core-function-call/src/main/java/com/mogo/eagle/core/function/call/autopilot/CallerRoboBusJinlvM1StatesListenerManager.kt
View File

@@ -11,7 +11,7 @@ import com.mogo.eagle.core.function.call.base.CallerBase
object CallerRoboBusJinlvM1StatesListenerManager : CallerBase<IMoGoRoboBusJinlvM1StatesListener>() {
/**
* 电池管理系统
* 金旅M1
*/
fun invokeRoboBusJinlvM1States(states: VehicleStateOuterClass.RoboBusJinlvM1State) {
M_LISTENERS.forEach {

28
libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/AdasChannel.java
View File

@@ -12,6 +12,8 @@ import static com.zhidao.support.adas.high.chain.AdasChain.CHAIN_LINK_ADAS;
import static com.zhidao.support.adas.high.chain.AdasChain.CHAIN_LINK_LOG_CONNECT_STATUS;
import static com.zhidao.support.adas.high.chain.AdasChain.CHAIN_LINK_LOG_WEB_SOCKET_AUTOPILOT;
import android.os.Handler;
import android.os.Message;
import android.os.SystemClock;
import android.text.TextUtils;
@@ -79,6 +81,7 @@ public class AdasChannel implements IAdasNetCommApi, FpgaSocket.IWebSocketConnec
private RawUnpack rawUnpack;//业务数据拆包
private RawPack rawPack;//数据打包
private DispatchHandler defaultDispatchHandler;//默认分发线程分发
private DispatchHandler statusQueryRespDispatchHandler;//状态查询应答分发线程分发
private final Map<MessagePad.MessageType, DispatchHandler> dispatchHandlers = new HashMap<>();//其他分发线程
private Timer checkCompatibilityTimer;//检查版本兼容性定时器 连接成功后5秒内等待工控机发送配置信息
private int seqSpecialVehicle = 0;//特种车辆命令发送次数
@@ -181,6 +184,12 @@ public class AdasChannel implements IAdasNetCommApi, FpgaSocket.IWebSocketConnec
//启用线程分发
defaultDispatchHandler = new DispatchHandler(MessagePad.MessageType.MsgTypeDefault, this);//默认分发线程 不要添加到Map中
initOtherDispatchHandler();
AutopilotAbilityManager.getInstance().setOnAutopilotAbilityListener(new AutopilotAbilityManager.OnAutopilotAbilityListener() {
@Override
public void onStatusQuery() {
statusQueryRespDispatchHandler.start();
}
});
}
/**
@@ -234,8 +243,9 @@ public class AdasChannel implements IAdasNetCommApi, FpgaSocket.IWebSocketConnec
// dispatchHandlers.put(MessagePad.MessageType.MsgTypeWarn, new DispatchHandler(MessagePad.MessageType.MsgTypeWarn, this));
//到站提醒
// dispatchHandlers.put(MessagePad.MessageType.MsgTypeArrivalNotification, new DispatchHandler(MessagePad.MessageType.MsgTypeArrivalNotification, this));
//状态查询应答
// dispatchHandlers.put(MessagePad.MessageType.MsgTypeStatusQueryResp, new DispatchHandler(MessagePad.MessageType.MsgTypeStatusQueryResp, this));
//状态查询应答 TODO 此线程更新频率目前为3秒，但是由于会在此接口中做一些其他数据处理，所以单独开启线程
statusQueryRespDispatchHandler = new DispatchHandler(MessagePad.MessageType.MsgTypeStatusQueryResp, this);
dispatchHandlers.put(MessagePad.MessageType.MsgTypeStatusQueryResp, statusQueryRespDispatchHandler);
//数据采集配置
// dispatchHandlers.put(MessagePad.MessageType.MsgTypeRecordDataConfigResp, new DispatchHandler(MessagePad.MessageType.MsgTypeRecordDataConfigResp, this));
//Planning决策状态
@@ -412,6 +422,20 @@ public class AdasChannel implements IAdasNetCommApi, FpgaSocket.IWebSocketConnec
}
}
@Override
public void onHandler(MessagePad.MessageType type, Handler handler) {
if (type == MessagePad.MessageType.MsgTypeStatusQueryResp) {
AutopilotAbilityManager.getInstance().setHandler(handler);
}
}
@Override
public void onHandleMessage(MessagePad.MessageType type, Message msg) {
if (type == MessagePad.MessageType.MsgTypeStatusQueryResp) {
AutopilotAbilityManager.getInstance().onHandleMessage(msg);
}
}
/**
* 分发和解析
*

17
libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/AdasOptions.java
View File

@@ -1,5 +1,6 @@
package com.zhidao.support.adas.high;
import com.zhidao.support.adas.high.common.AutopilotAbilityManager;
import com.zhidao.support.adas.high.subscribe.SubscribeInterfaceOptions;
import java.util.HashSet;
@@ -124,6 +125,17 @@ public class AdasOptions {
return this;
}
/**
* 身份/车型
*
* @param identityMode 车型
* @return
*/
public Builder setIdentityMode(String identityMode) {
options.setIdentityMode(identityMode);
return this;
}
public AdasOptions build() {
return options;
}
@@ -141,6 +153,7 @@ public class AdasOptions {
options.ipcAssignIP = null;
options.ipcFixationIP = null;
options.subscribeInterfaceOptions = null;
options.setIdentityMode("");
return options;
}
@@ -183,4 +196,8 @@ public class AdasOptions {
public void setSubscribeInterfaceOptions(SubscribeInterfaceOptions subscribeInterfaceOptions) {
this.subscribeInterfaceOptions = subscribeInterfaceOptions;
}
public void setIdentityMode(String identityMode) {
AutopilotAbilityManager.getInstance().setIdentityMode(identityMode);
}
}

6
libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/OnAdasListener.java
View File

@@ -1,7 +1,6 @@
package com.zhidao.support.adas.high;
import com.mogo.support.obu.ObuScene;
import com.zhidao.support.adas.high.bean.AutopilotAbility;
import com.zhidao.support.adas.high.bean.AutopilotStatistics;
import com.zhidao.support.adas.high.common.ProtocolStatus;
@@ -263,9 +262,10 @@ public interface OnAdasListener {
/**
* 是否有能力启动自动驾驶
*
* @param ability 是否可以启动自动驾驶
* @param isAutopilotAbility 是否能启动自动驾驶
* @param unableAutopilotReason 不能启动自动驾驶原因
*/
void onAutopilotAbility(AutopilotAbility ability);
void onAutopilotAbility(boolean isAutopilotAbility, String unableAutopilotReason);
/**
* 启动自动驾驶失败回调

41
libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/bean/AutopilotAbility.java
View File

@@ -1,41 +0,0 @@
package com.zhidao.support.adas.high.bean;
import chassis.Chassis;
import system_master.SystemStatusInfo;
/**
* 自动驾驶能力 能否启动自动驾驶
* 未赋值表示接口通讯异常或者工控机相关节点异常 如果回调持续都是未赋值的状态表示此问题是持久性的
*/
public class AutopilotAbility {
/**
* 刹车踏板开度 0~100
* -1表示未赋值
* 值为0时表示 制动踏板未踩下
*/
public final float brake;
/**
* 挡位
* null表示未赋值
* 挡位处于P挡和R挡时不能启动自动驾驶
*/
public final Chassis.GearPosition gear;
/**
* 状态查询结果
* null表示未赋值
* 不能启动自动驾驶的判断
* statusInfo.getHealthInfoList().get().getState()== SystemStatusInfo.HealthState.FAULT
* statusInfo.getSysState()== SystemStatusInfo.SystemState.SYS_STARTING
* statusInfo.getSysState()== SystemStatusInfo.SystemState.SYS_EXITING
* statusInfo.getSysState()== SystemStatusInfo.SystemState.SYS_FAULT
*/
public final SystemStatusInfo.StatusInfo statusInfo;
public AutopilotAbility(float brake, Chassis.GearPosition gear, SystemStatusInfo.StatusInfo statusInfo) {
this.brake = brake;
this.gear = gear;
this.statusInfo = statusInfo;
}
}

6
libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/bean/AutopilotStatistics.java
View File

@@ -15,7 +15,6 @@ public class AutopilotStatistics {
* 0 成功
* 1 失败
* 2 取消
* 3 超时
* {@link com.zhidao.support.adas.high.common.Constants.AUTOPILOT_START_STATUS}
*/
@Define.AutopilotStartStatus
@@ -37,10 +36,7 @@ public class AutopilotStatistics {
*/
public final MogoReportMsg.MogoReportMessage failedMessage;
public AutopilotStatistics(@Define.AutopilotStartStatus int status,
long usedTime,
MessagePad.SetAutopilotModeReq req,
MogoReportMsg.MogoReportMessage failedMessage) {
public AutopilotStatistics(@Define.AutopilotStartStatus int status, long usedTime, MessagePad.SetAutopilotModeReq req, MogoReportMsg.MogoReportMessage failedMessage) {
this.status = status;
this.usedTime = usedTime;
this.req = req;

229
libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/common/AutopilotAbilityManager.java
View File

@@ -1,37 +1,88 @@
package com.zhidao.support.adas.high.common;
import android.os.Handler;
import android.os.Message;
import android.text.TextUtils;
import com.zhidao.support.adas.high.AdasManager;
import com.zhidao.support.adas.high.OnAdasListener;
import com.zhidao.support.adas.high.bean.AutopilotAbility;
import java.util.List;
import java.util.Timer;
import java.util.TimerTask;
import java.util.regex.Matcher;
import java.util.regex.Pattern;
import chassis.Chassis;
import chassis.VehicleStateOuterClass;
import chassis.ChassisStatesOuterClass;
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
*
* <p>
* 此定时器不能停止 鹰眼中存在UI更新依赖循环查询系统状态
*/
public class AutopilotAbilityManager {
private static final String TAG = AutopilotAbilityManager.class.getSimpleName();
private static final int WHAT_TIMEOUT = 0;
private static final int DEFAULT_TIMEOUT = 1500;
private static final long DEFAULT_DETECTION_TIME = 3 * 1000L;//默认检测时间
private static final String[] NODE_INFO_STATE = {"未知状态 ", "依赖未就绪 ", "启动中 ", "运行 ", "停止 ", "无法启动状态 ", "人为启动状态 ", "人为关闭状态 "};
private static volatile AutopilotAbilityManager INSTANCE;
private OnAdasListener listener;
private volatile Timer timer;
private final Pattern pattern = Pattern.compile("\\d+.\\d+.\\d+");
private ChassisStatesOuterClass.ChassisStates chassisStates;
private Handler handler;
private OnAutopilotAbilityListener onAutopilotAbilityListener;
/**
* 身份/车型
*/
private String identityMode;
private VehicleStateOuterClass.VehicleState vehicleState;
public interface OnAutopilotAbilityListener {
void onStatusQuery();//查询是被调用
}
/**
* 身份规则定义根据app/productFlavors/README.md
* * taxi司机屏 Taxi_Driver_Base （东风、红旗司机端）
* * taxi乘客屏 Taxi_Passenger_Base （东风、红旗乘客端）
* * bus司机屏 Bus_Driver_Base （金旅小巴司机端）
* * Bus_Driver_Van （开沃小巴司机端）
* * bus乘客屏 Bus_Passenger_Base （金旅、开沃小巴乘客端）
* * Bus_Passenger_M1 （M1小巴乘客端）
* * Bus_Passenger_M2 （M2小巴乘客端）
* * 清扫车 Sweeper_Driver_FT （福田清扫车司机端）
* <p>
* 此定义不区分角色，只区分业务线和车型
*/
private interface IDENTITY_MODE {
String TAXI_DRIVER_BASE = "Taxi_Driver_Base";//（东风、红旗司机端）
String TAXI_PASSENGER_BASE = "Taxi_Passenger_Base";//（东风、红旗乘客端）
String BUS_DRIVER_BASE = "Bus_Driver_Base";//（金旅小巴司机端）
String BUS_DRIVER_VAN = "Bus_Driver_Van";//（开沃小巴司机端）
String BUS_PASSENGER_BASE = "Bus_Passenger_Base";//（金旅、开沃小巴乘客端）
String BUS_PASSENGER_M1 = "Bus_Passenger_M1";//（M1小巴乘客端）
String BUS_PASSENGER_M2 = "Bus_Passenger_M2";//（M2小巴乘客端）
String SWEEPER_DRIVER_FT = "Sweeper_Driver_FT";//（福田清扫车司机端）
}
public void setIdentityMode(String identityMode) {
this.identityMode = identityMode;
}
public void setOnAdasListener(OnAdasListener listener) {
this.listener = listener;
}
public void setOnAutopilotAbilityListener(OnAutopilotAbilityListener onAutopilotAbilityListener) {
this.onAutopilotAbilityListener = onAutopilotAbilityListener;
}
private AutopilotAbilityManager() {
}
@@ -47,19 +98,147 @@ public class AutopilotAbilityManager {
}
public void setStatusInfo(SystemStatusInfo.StatusInfo statusInfo) {
if (listener != null) {
float brake = -1;
Chassis.GearPosition gear = null;
if (vehicleState != null) {
brake = vehicleState.getBrake();
gear = vehicleState.getGear();
}
listener.onAutopilotAbility(new AutopilotAbility(brake, gear, statusInfo));
if (handler != null) {
if (handler.hasMessages(WHAT_TIMEOUT))
handler.removeMessages(WHAT_TIMEOUT);
}
onCallback(statusInfo);
}
public void setVehicleState(VehicleStateOuterClass.VehicleState vehicleState) {
this.vehicleState = vehicleState;
public void setChassisStates(ChassisStatesOuterClass.ChassisStates chassisStates) {
this.chassisStates = chassisStates;
}
private void onCallback(SystemStatusInfo.StatusInfo statusInfo) {
//金旅、开沃小巴乘客端 不能启动自动驾驶
if (IDENTITY_MODE.BUS_PASSENGER_BASE.equalsIgnoreCase(identityMode)) {
return;
}
boolean isAutopilotAbility = true;//是否能启动自动驾驶
String unableAutopilotReason = null;//不能启动自动驾驶原因
//检测节点状态相关
if (statusInfo != null) {
int version = -1;
if (statusInfo.hasMasterVersion()) {
//截取Master Version
String masterVersion = statusInfo.getMasterVersion();
if (!TextUtils.isEmpty(masterVersion)) {
try {
Matcher matcher = pattern.matcher(masterVersion);
if (matcher.find()) {
String group = matcher.group();
if (!TextUtils.isEmpty(group)) {
String v = group.split("\\.")[0];
version = Integer.parseInt(v);
}
}
} catch (Exception e) {
e.printStackTrace();
}
}
}
if (version > 1) {
isAutopilotAbility = statusInfo.getAutoPilotReady();
if (!isAutopilotAbility) {
SystemStatusInfo.NodeFaultList nodeFaultList = statusInfo.getAutoPilotUnreadyList();
if (nodeFaultList.getSum() > 0) {
List<SystemStatusInfo.NodeInfo> list = nodeFaultList.getNodeList();
StringBuilder builder = new StringBuilder();
for (SystemStatusInfo.NodeInfo info : list) {
builder.append(info.getNodeName());
int state = info.getState();
if (state < NODE_INFO_STATE.length) {
builder.append(NODE_INFO_STATE[state]);
} else {
builder.append("未知 ");
}
}
unableAutopilotReason = builder.toString();
} else {
unableAutopilotReason = "未知";
}
}
} else {
SystemStatusInfo.SystemState systemState = statusInfo.getSysState();
if (systemState != SystemStatusInfo.SystemState.SYS_RUNNING && systemState != SystemStatusInfo.SystemState.PILOT_READY) {
isAutopilotAbility = false;
if (systemState == SystemStatusInfo.SystemState.SYS_STARTING) {
unableAutopilotReason = "系统正在启动";
} else if (systemState == SystemStatusInfo.SystemState.SYS_EXITING) {
unableAutopilotReason = "系统正在关闭";
} else if (systemState == SystemStatusInfo.SystemState.SYS_FAULT) {
unableAutopilotReason = "系统异常";
} else if (systemState == SystemStatusInfo.SystemState.AUTO_PILOT_STARTING) {
unableAutopilotReason = "正在开始自动驾驶";
} else if (systemState == SystemStatusInfo.SystemState.AUTO_PILOT_RUNNING) {
unableAutopilotReason = "自动驾驶运行中";
} else if (systemState == SystemStatusInfo.SystemState.REMOTE_PILOT_STARTING) {
unableAutopilotReason = "平行驾驶启动中";
} else if (systemState == SystemStatusInfo.SystemState.REMOTE_PILOT_RUNNING) {
unableAutopilotReason = "平行驾驶运行中";
} else {
unableAutopilotReason = "未知";
}
}
}
} else {
isAutopilotAbility = false;//是否能启动自动驾驶
unableAutopilotReason = "SSM状态查询超时无响应";//不能启动自动驾驶原因
}
//检测底盘相关
if (chassisStates != null) {
if (isAutopilotAbility) {
if (chassisStates.hasBrakeSystemStates()) {
float brake = chassisStates.getBrakeSystemStates().getBrakePedalResponsePosition();
if (brake > 0) {
isAutopilotAbility = false;
unableAutopilotReason = "制动踏板被踩下";
}
}
}
if (isAutopilotAbility) {
/**
* 档位状态判断 目前判断的车型包括 东风Taxi 红旗Taxi 金旅Bus 金旅M1 金旅M1 福田清扫车 开沃
* TODO 如果 identityMode 未赋值以及目前已知其他车型判断逻辑跟东风Taxi和红旗 走
*/
if (chassisStates.hasGearSystemStates()) {
Chassis.GearPosition gear = chassisStates.getGearSystemStates().getGearPosition();
if (TextUtils.isEmpty(identityMode)) {
identityMode = "";
}
//开沃任何档位都能启动自驾
if (!IDENTITY_MODE.BUS_DRIVER_VAN.equalsIgnoreCase(identityMode)) {
//金旅Bus和清扫车 档位不正常
if (IDENTITY_MODE.BUS_DRIVER_BASE.equalsIgnoreCase(identityMode) || IDENTITY_MODE.SWEEPER_DRIVER_FT.equalsIgnoreCase(identityMode)) {
if (gear == Chassis.GearPosition.GEAR_N) {
isAutopilotAbility = false;
unableAutopilotReason = "挡位不正常";
}
} else {
//东风Taxi和红旗 司机端和乘客端 档位不正常
if (gear == Chassis.GearPosition.GEAR_P || gear == Chassis.GearPosition.GEAR_R) {
isAutopilotAbility = false;
unableAutopilotReason = "挡位不正常";
}
}
}
}
}
//TODO 关于手刹：不同车型的实现不同所以目前没法使用此字段
// if (isAutopilotAbility) {
// //电子驻车制动系统
// if (chassisStates.hasEpbSystemStates()) {
// ChassisStatesOuterClass.EPBSystemStates epb = chassisStates.getEpbSystemStates();
// if (epb.hasEpbEnableState()){
// epb.getEpbWorkState();
// }
// }
// }
}
if (listener != null) {
listener.onAutopilotAbility(isAutopilotAbility, unableAutopilotReason);
}
}
public synchronized void start() {
@@ -68,7 +247,15 @@ public class AutopilotAbilityManager {
timer.schedule(new TimerTask() {
@Override
public void run() {
if (onAutopilotAbilityListener != null) {
onAutopilotAbilityListener.onStatusQuery();
}
AdasManager.getInstance().sendStatusQueryReq();
if (handler != null) {
if (handler.hasMessages(WHAT_TIMEOUT))
handler.removeMessages(WHAT_TIMEOUT);
handler.sendEmptyMessageDelayed(WHAT_TIMEOUT, DEFAULT_TIMEOUT);
}
}
}, 2000L, DEFAULT_DETECTION_TIME);//延迟执行，避免刚连接成功后底盘信息无法及时同步
}
@@ -79,8 +266,18 @@ public class AutopilotAbilityManager {
timer.cancel();
timer = null;
}
this.vehicleState = null;
handler = null;
this.chassisStates = null;
}
public void setHandler(Handler handler) {
this.handler = handler;
}
public void onHandleMessage(Message msg) {
if (msg.what == WHAT_TIMEOUT) {
onCallback(null);
}
}
}

28
libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/common/AutopilotReview.java
View File

@@ -16,13 +16,6 @@ import mogo_msg.MogoReportMsg;
* 自动驾驶状态检查/统计
*/
public class AutopilotReview {
/**
* 默认启动自驾超时时间
*/
private static final long DEFAULT_TIMEOUT = 15 * 1000L;
private Timer timer;
/**
* 下发的启动自动驾驶命令
*/
@@ -45,7 +38,6 @@ public class AutopilotReview {
}
private void onCallback(@Define.AutopilotStartStatus int status) {
stopTimer();
long usedTime = SystemClock.elapsedRealtime() - startTime;
if (listener != null) {
listener.onReview(new AutopilotStatistics(status, usedTime, startReq, failedMessage));
@@ -56,25 +48,6 @@ public class AutopilotReview {
}
private void startTimer() {
if (timer == null) {
timer = new Timer();
timer.schedule(new TimerTask() {
@Override
public void run() {
//超时
onCallback(Constants.AUTOPILOT_START_STATUS.TIMEOUT);
}
}, DEFAULT_TIMEOUT);
}
}
private void stopTimer() {
if (timer != null) {
timer.cancel();
timer = null;
}
}
/**
* 自动驾命令
@@ -86,7 +59,6 @@ public class AutopilotReview {
//启动自动驾驶
startReq = req;
startTime = SystemClock.elapsedRealtime();
startTimer();
} else {
onCallback(Constants.AUTOPILOT_START_STATUS.CANCEL);
}

4
libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/common/Constants.java
View File

@@ -126,10 +126,6 @@ public class Constants {
* 取消
*/
int CANCEL = 2;
/**
* 超时
*/
int TIMEOUT = 3;
}
/**

3
libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/common/Define.java
View File

@@ -49,8 +49,7 @@ public final class Define {
@IntDef(flag = true, value = {Constants.AUTOPILOT_START_STATUS.SUCCESSFUL,
Constants.AUTOPILOT_START_STATUS.FAILED,
Constants.AUTOPILOT_START_STATUS.CANCEL,
Constants.AUTOPILOT_START_STATUS.TIMEOUT})
Constants.AUTOPILOT_START_STATUS.CANCEL})
@Retention(RetentionPolicy.SOURCE)
public @interface AutopilotStartStatus {
}

43
libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/common/MogoReport.java
View File

@@ -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MAP2.10.0消息定义编写
* 根据MAP2.11.0消息定义编写
*/
public class MogoReport {
public static final String RESULT_AUTOPILOT_SYSTEM_UNSTARTED = "RESULT_AUTOPILOT_SYSTEM_UNSTARTED";
@@ -12,33 +12,17 @@ public class MogoReport {
public static final String RESULT_REMOTEPILOT_INFERIOR = "RESULT_REMOTEPILOT_INFERIOR";
public static final String RESULT_SHOW_WARNING = "RESULT_SHOW_WARNING";
// private static final String RESULT_DISCONNECTED_WITH_PAD = "RESULT_DISCONNECTED_WITH_PAD";
// private static final String RESULT_PAD_CANNOT_CONNECT_TELEMATICS = "RESULT_PAD_CANNOT_CONNECT_TELEMATICS";
// private static final String RESULT_PAD_INFO_LOST = "RESULT_PAD_INFO_LOST";
// private static final String RESULT_PAD_CANNOT_GET_AUTOPILOT_STATUS = "RESULT_PAD_CANNOT_GET_AUTOPILOT_STATUS";
// private static final String RESULT_PAD_CANNOT_GET_GNS_CHASSIS_STATUS = "RESULT_PAD_CANNOT_GET_GNS_CHASSIS_STATUS";
// private static final String RESULT_PAD_CANNOT_GET_OBSTACLE_INFO = "RESULT_PAD_CANNOT_GET_OBSTACLE_INFO";
// private static final String RESULT_NO_CONNECTION_TO_AICLOUD = "RESULT_NO_CONNECTION_TO_AICLOUD";
// private static final String RESULT_AICLOUD_INFO_LOST = "RESULT_AICLOUD_INFO_LOST";
// private static final String RESULT_CANNOT_CHANGE_LIGHT = "RESULT_CANNOT_CHANGE_LIGHT";
public enum Result {
AUTOPILOT_SYSTEM_UNSTARTED(RESULT_AUTOPILOT_SYSTEM_UNSTARTED, "自动驾驶系统启动过程中出错，pad可能无法连接，云端监控可能无法上报"),
AUTOPILOT_DISABLE(RESULT_AUTOPILOT_DISABLE, "无法启动自动驾驶"),
AUTOPILOT_INFERIOR(RESULT_AUTOPILOT_INFERIOR, "自动驾驶部分功能受影响，演示模式可以考虑强行启动，需联系人员排查问题。\n例如定位偏移，camera无数据，算法严重丢帧，属于自动驾驶可以启动，但是效果受影响。"),
AUTOPILOT_INFERIOR(RESULT_AUTOPILOT_INFERIOR, "自动驾驶部分功能受严重影响，演示模式可以考虑强行启动，非演示模式下建议停止自动驾驶，联系人员排查问题。\n例如定位偏移，camera无数据，算法非常严重的丢帧，属于自动驾驶可以启动，但是效果受影响。"),
REMOTEPILOT_DISABLE(RESULT_REMOTEPILOT_DISABLE, "无法启动远程驾驶"),
REMOTEPILOT_INFERIOR(RESULT_REMOTEPILOT_INFERIOR, "远程驾驶部分功能受影响。例如网络高延迟"),
SHOW_WARNING(RESULT_SHOW_WARNING, "一般为过渡状态，存在不确定因素，有可能对自动驾驶有微弱影响，需要在pad端显示为黄色告警。\n如果偶尔上报该result可忽略，如果频繁上报需联系人员进行排查。 目前仅有RTK无法确认状态事件。");
// DISCONNECTED_WITH_PAD(RESULT_DISCONNECTED_WITH_PAD, "未检测到来自pad的链接，如果只报了这个result，可以通过后台/远程驾驶启动自动驾驶"),
// PAD_CANNOT_CONNECT_TELEMATICS(RESULT_PAD_INFO_LOST, "Pad无法连接到工控机"),
// PAD_INFO_LOST(RESULT_PAD_CANNOT_CONNECT_TELEMATICS, "Pad工控机之间指令信息丢失"),
// PAD_CANNOT_GET_AUTOPILOT_STATUS(RESULT_PAD_CANNOT_GET_AUTOPILOT_STATUS, "Pad端无法拿到自动驾驶状态信息"),
// PAD_CANNOT_GET_GNS_CHASSIS_STATUS(RESULT_PAD_CANNOT_GET_GNS_CHASSIS_STATUS, "Pad端无法拿到自车状态和底盘状态信息"),
// PAD_CANNOT_GET_OBSTACLE_INFO(RESULT_PAD_CANNOT_GET_OBSTACLE_INFO, "Pad端无法拿到障碍物信息"),
// NO_CONNECTION_TO_AICLOUD(RESULT_NO_CONNECTION_TO_AICLOUD, "无法和云端通信"),
// AICLOUD_INFO_LOST(RESULT_AICLOUD_INFO_LOST, "云端工控机之间信息丢失"),
// CANNOT_CHANGE_LIGHT(RESULT_CANNOT_CHANGE_LIGHT, "变灯失败");
/**
* 消息result code
@@ -69,25 +53,6 @@ public class MogoReport {
return REMOTEPILOT_INFERIOR.desc;
case RESULT_SHOW_WARNING:
return SHOW_WARNING.desc;
// case RESULT_DISCONNECTED_WITH_PAD:
// return DISCONNECTED_WITH_PAD.desc;
// case RESULT_PAD_CANNOT_CONNECT_TELEMATICS:
// return PAD_CANNOT_CONNECT_TELEMATICS.desc;
// case RESULT_PAD_INFO_LOST:
// return PAD_INFO_LOST.desc;
// case RESULT_PAD_CANNOT_GET_AUTOPILOT_STATUS:
// return PAD_CANNOT_GET_AUTOPILOT_STATUS.desc;
// case RESULT_PAD_CANNOT_GET_GNS_CHASSIS_STATUS:
// return PAD_CANNOT_GET_GNS_CHASSIS_STATUS.desc;
// case RESULT_PAD_CANNOT_GET_OBSTACLE_INFO:
// return PAD_CANNOT_GET_OBSTACLE_INFO.desc;
// case RESULT_NO_CONNECTION_TO_AICLOUD:
// return NO_CONNECTION_TO_AICLOUD.desc;
// case RESULT_AICLOUD_INFO_LOST:
// return AICLOUD_INFO_LOST.desc;
// case RESULT_CANNOT_CHANGE_LIGHT:
// return CANNOT_CHANGE_LIGHT.desc;
default:
return resultCode;

2
libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/msg/ChassisStatesMessage.java
View File

@@ -2,6 +2,7 @@ package com.zhidao.support.adas.high.msg;
import com.google.protobuf.InvalidProtocolBufferException;
import com.zhidao.support.adas.high.OnAdasListener;
import com.zhidao.support.adas.high.common.AutopilotAbilityManager;
import com.zhidao.support.adas.high.protocol.RawData;
import chassis.ChassisStatesOuterClass;
@@ -14,6 +15,7 @@ public class ChassisStatesMessage extends MyAbstractMessageHandler {
@Override
public void handlerMsg(RawData raw, OnAdasListener adasListener) throws InvalidProtocolBufferException {
ChassisStatesOuterClass.ChassisStates chassisStates = ChassisStatesOuterClass.ChassisStates.parser().parseFrom(raw.originalData.toByteArray(), raw.getOffsetValue(), raw.getPackageLengthValue() - raw.getOffsetValue());
AutopilotAbilityManager.getInstance().setChassisStates(chassisStates);
if (adasListener != null) {
adasListener.onChassisStates(raw.getHeader(), chassisStates);
}

26
libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/msg/ReportMessage.java
View File

@@ -10,7 +10,8 @@ import com.zhidao.support.adas.high.common.CupidLogUtils;
import com.zhidao.support.adas.high.common.MogoReport;
import com.zhidao.support.adas.high.protocol.RawData;
import java.util.List;
import java.util.HashSet;
import java.util.Set;
import mogo_msg.MogoReportMsg;
@@ -19,9 +20,28 @@ import mogo_msg.MogoReportMsg;
*/
public class ReportMessage extends MyAbstractMessageHandler {
private final AutopilotReview autopilotReview;
private final Set<String> startAutopilotFailCode = new HashSet<String>();//启动自驾失败Code
public ReportMessage(AutopilotReview autopilotReview) {
this.autopilotReview = autopilotReview;
initStartAutopilotFailCode();
}
private void initStartAutopilotFailCode() {
//ssm_master的失败事件
startAutopilotFailCode.add(MogoReport.Code.Error.ESYS.AUTOPILOT_FAILED);//在尝试启动自动驾驶，但是超过指定时间后底盘未进入，会发送此事件
startAutopilotFailCode.add(MogoReport.Code.Error.ESYS.ROUTING_REQ_TIMEOUT);//算路请求响应超时或轨迹加载超时
startAutopilotFailCode.add(MogoReport.Code.Error.ESYS.PLANNING_CHANGE_FAILIED);//planning切换失败（仅df hq有此事件）
startAutopilotFailCode.add(MogoReport.Code.Error.ESYS.CHECK_TRAJECTORY_FAILURE);//轨迹下载检查不可用
//controller的失败事件 EMAP_ENTRY_AUTOPILOT_XXX 底盘启动失败
startAutopilotFailCode.add(MogoReport.Code.Error.EMAP.ENTRY_AUTOPILOT_FOR_CANADAPTER_TIMEOUT);//can_adapter消息超时未进入自驾
startAutopilotFailCode.add(MogoReport.Code.Error.EMAP.ENTRY_AUTOPILOT_FOR_PLANNING_TIMEOUT);//PLANNING消息超时未进自驾
startAutopilotFailCode.add(MogoReport.Code.Error.EMAP.ENTRY_AUTOPILOT_FOR_LOCATION_TIMEOUT);//定位消息超时未进自驾
startAutopilotFailCode.add(MogoReport.Code.Error.EMAP.ENTRY_AUTOPILOT_FOR_BRAKE);//制动踏板干预未进自驾
startAutopilotFailCode.add(MogoReport.Code.Error.EMAP.ENTRY_AUTOPILOT_FOR_ACCEL);//加速踏板干预未进自驾
startAutopilotFailCode.add(MogoReport.Code.Error.EMAP.ENTRY_AUTOPILOT_FOR_STEER);//方向盘干预未进自驾
startAutopilotFailCode.add(MogoReport.Code.Error.EMAP.ENTRY_AUTOPILOT_FOR_GEAR_SWITCH);//档位切换干预未进自驾
startAutopilotFailCode.add(MogoReport.Code.Error.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）
}
@Override
@@ -36,8 +56,8 @@ public class ReportMessage extends MyAbstractMessageHandler {
}
AdasChannel.calculateTimeConsumingBusiness("监控事件报告", nowTime);
//分发自动驾驶启动失败相关回调
List<String> results = mogoReportMessage.getResultList();
if (!results.isEmpty() && results.contains(MogoReport.RESULT_AUTOPILOT_DISABLE)) {
String code = mogoReportMessage.getCode();
if (startAutopilotFailCode.contains(code)) {
if (adasListener != null) {
adasListener.onStartAutopilotFailed(mogoReportMessage);//启动自动驾驶失败回调
}

115
libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/msg/VehicleStateMessage.java
View File

@@ -23,13 +23,13 @@ public class VehicleStateMessage extends MyAbstractMessageHandler {
public void handlerMsg(RawData raw, OnAdasListener adasListener) throws InvalidProtocolBufferException {
VehicleStateOuterClass.VehicleState vehicleState = VehicleStateOuterClass.VehicleState.parser().parseFrom(raw.originalData.toByteArray(), raw.getOffsetValue(), raw.getPackageLengthValue() - raw.getOffsetValue());
AdasChannel.calculateTimeConsumingOnDispatchRaw("底盘信息", raw.receiveTime);
AutopilotAbilityManager.getInstance().setVehicleState(vehicleState);
long nowTime = 0;
if (CupidLogUtils.isEnableLog())
nowTime = SystemClock.elapsedRealtime();
ChassisStatesOuterClass.ChassisStates chassisStates = compatibility(adasListener, raw, vehicleState);
if (adasListener != null) {
//TODO 暂时关闭新老兼容
//compatibility(adasListener, raw, vehicleState);
//TODO 暂时关闭老底盘转发 后期 会删除 onVehicleState
//adasListener.onChassisStates(raw.getHeader(), chassisStates);
adasListener.onVehicleState(raw.getHeader(), vehicleState);
}
AdasChannel.calculateTimeConsumingBusiness("底盘信息", nowTime);
@@ -46,15 +46,12 @@ public class VehicleStateMessage extends MyAbstractMessageHandler {
* fuel_value robo_taxi_state robo_bus_state
* robo_bus_jinlv_m1_state
*/
private void compatibility(OnAdasListener adasListener, RawData raw, VehicleStateOuterClass.VehicleState vehicleState) throws InvalidProtocolBufferException {
private ChassisStatesOuterClass.ChassisStates compatibility(OnAdasListener adasListener, RawData raw, VehicleStateOuterClass.VehicleState vehicleState) throws InvalidProtocolBufferException {
/**************老地盘转换成新地盘PB***************/
ChassisStatesOuterClass.ChassisStates.Builder builder = ChassisStatesOuterClass.ChassisStates.newBuilder();
//工控机所用Header
if (vehicleState.hasHeader()) {
HeaderOuterClass.Header outHeader = vehicleState.getHeader();
if (outHeader != null) {
builder.setHeader(HeaderOuterClass.Header.parseFrom(vehicleState.getHeader().toByteArray()));
}
builder.setHeader(HeaderOuterClass.Header.parseFrom(vehicleState.getHeader().toByteArray()));
}
setBCMSystemStates(builder, vehicleState);
setSteerSystemStates(builder, vehicleState);
@@ -66,45 +63,41 @@ public class VehicleStateMessage extends MyAbstractMessageHandler {
//电子驻车制动系统
if (vehicleState.hasEpb()) {
Chassis.EPBWorkStatus old = vehicleState.getEpb();
if (old != null) {
ChassisStatesOuterClass.EPBWorkStates epb = null;
if (old == Chassis.EPBWorkStatus.EPBSTATUS_NONE) {
epb = ChassisStatesOuterClass.EPBWorkStates.EPB_STATE_NONE;
} else if (old == Chassis.EPBWorkStatus.EPBSTATUS_LOCKED) {
epb = ChassisStatesOuterClass.EPBWorkStates.EPB_STATE_LOCKED;
} else if (old == Chassis.EPBWorkStatus.EPBSTATUS_RELEASED) {
epb = ChassisStatesOuterClass.EPBWorkStates.EPB_STATE_RELEASED;
} else if (old == Chassis.EPBWorkStatus.EPBSTATUS_LOCKED_FAIL) {
epb = ChassisStatesOuterClass.EPBWorkStates.EPB_STATE_LOCKED_FAIL;
} else if (old == Chassis.EPBWorkStatus.EPBSTATUS_RELEASE_FAIL) {
epb = ChassisStatesOuterClass.EPBWorkStates.EPB_STATE_RELEASE_FAIL;
} else if (old == Chassis.EPBWorkStatus.EPBSTATUS_FAULT) {
epb = ChassisStatesOuterClass.EPBWorkStates.EPB_STATE_FAULT;
}
if (epb != null) {
builder.setEpbSystemStates(ChassisStatesOuterClass.EPBSystemStates.newBuilder()
.setEpbWorkState(epb));
}
ChassisStatesOuterClass.EPBWorkStates epb = null;
if (old == Chassis.EPBWorkStatus.EPBSTATUS_NONE) {
epb = ChassisStatesOuterClass.EPBWorkStates.EPB_STATE_NONE;
} else if (old == Chassis.EPBWorkStatus.EPBSTATUS_LOCKED) {
epb = ChassisStatesOuterClass.EPBWorkStates.EPB_STATE_LOCKED;
} else if (old == Chassis.EPBWorkStatus.EPBSTATUS_RELEASED) {
epb = ChassisStatesOuterClass.EPBWorkStates.EPB_STATE_RELEASED;
} else if (old == Chassis.EPBWorkStatus.EPBSTATUS_LOCKED_FAIL) {
epb = ChassisStatesOuterClass.EPBWorkStates.EPB_STATE_LOCKED_FAIL;
} else if (old == Chassis.EPBWorkStatus.EPBSTATUS_RELEASE_FAIL) {
epb = ChassisStatesOuterClass.EPBWorkStates.EPB_STATE_RELEASE_FAIL;
} else if (old == Chassis.EPBWorkStatus.EPBSTATUS_FAULT) {
epb = ChassisStatesOuterClass.EPBWorkStates.EPB_STATE_FAULT;
}
if (epb != null) {
builder.setEpbSystemStates(ChassisStatesOuterClass.EPBSystemStates.newBuilder()
.setEpbWorkState(epb));
}
}
// 整车故障状态
if (vehicleState.hasVehiclefaultlevel()) {
Chassis.VehicleFaultLevel vehicleFaultLevel = vehicleState.getVehiclefaultlevel();
if (vehicleFaultLevel != null) {
ChassisStatesOuterClass.VehicleFaultLevels vehicleFaultLevels = null;
if (vehicleFaultLevel == Chassis.VehicleFaultLevel.None_Fault) {
vehicleFaultLevels = ChassisStatesOuterClass.VehicleFaultLevels.NONE_FAULT;
} else if (vehicleFaultLevel == Chassis.VehicleFaultLevel.General_Fault) {
vehicleFaultLevels = ChassisStatesOuterClass.VehicleFaultLevels.GENERAL_FAULT;
} else if (vehicleFaultLevel == Chassis.VehicleFaultLevel.Serious_Fault) {
vehicleFaultLevels = ChassisStatesOuterClass.VehicleFaultLevels.SERIOUS_FAULT;
} else if (vehicleFaultLevel == Chassis.VehicleFaultLevel.Critical_Fault) {
vehicleFaultLevels = ChassisStatesOuterClass.VehicleFaultLevels.CRITICAL_FAULT;
}
if (vehicleFaultLevels != null) {
builder.setVehicleChassisFaultInformation(ChassisStatesOuterClass.VehicleChassisFaultInformation.newBuilder()
.setVehiclefaultlevel(vehicleFaultLevels));
}
ChassisStatesOuterClass.VehicleFaultLevels vehicleFaultLevels = null;
if (vehicleFaultLevel == Chassis.VehicleFaultLevel.None_Fault) {
vehicleFaultLevels = ChassisStatesOuterClass.VehicleFaultLevels.NONE_FAULT;
} else if (vehicleFaultLevel == Chassis.VehicleFaultLevel.General_Fault) {
vehicleFaultLevels = ChassisStatesOuterClass.VehicleFaultLevels.GENERAL_FAULT;
} else if (vehicleFaultLevel == Chassis.VehicleFaultLevel.Serious_Fault) {
vehicleFaultLevels = ChassisStatesOuterClass.VehicleFaultLevels.SERIOUS_FAULT;
} else if (vehicleFaultLevel == Chassis.VehicleFaultLevel.Critical_Fault) {
vehicleFaultLevels = ChassisStatesOuterClass.VehicleFaultLevels.CRITICAL_FAULT;
}
if (vehicleFaultLevels != null) {
builder.setVehicleChassisFaultInformation(ChassisStatesOuterClass.VehicleChassisFaultInformation.newBuilder()
.setVehiclefaultlevel(vehicleFaultLevels));
}
}
//电量
@@ -113,25 +106,21 @@ public class VehicleStateMessage extends MyAbstractMessageHandler {
}
//清扫车（福田）清扫控制系统状态
if (vehicleState.hasSweeperFutianCleanSystemState()) {
VehicleStateOuterClass.SweeperFuTianCleanSystemState sweeperFuTianCleanSystemState = vehicleState.getSweeperFutianCleanSystemState();
if (sweeperFuTianCleanSystemState != null) {
byte[] bytes = sweeperFuTianCleanSystemState.toByteArray();
builder.setTaskSystemStates(ChassisStatesOuterClass.TaskSystemStates.newBuilder()
.setSweeperFutianTaskSystemStates(ChassisStatesOuterClass.SweeperFuTianTaskSystemStates.parseFrom(bytes)));//鹰眼已用 清扫车专用
}
byte[] bytes = vehicleState.getSweeperFutianCleanSystemState().toByteArray();
builder.setTaskSystemStates(ChassisStatesOuterClass.TaskSystemStates.newBuilder()
.setSweeperFutianTaskSystemStates(ChassisStatesOuterClass.SweeperFuTianTaskSystemStates.parseFrom(bytes)));//鹰眼已用 清扫车专用
}
adasListener.onChassisStates(raw.getHeader(), builder.build());
ChassisStatesOuterClass.ChassisStates chassisStates = builder.build();
AutopilotAbilityManager.getInstance().setChassisStates(chassisStates);
return chassisStates;
}
private void setChassisAutopilotAssistanceInformation(ChassisStatesOuterClass.ChassisStates.Builder builder, VehicleStateOuterClass.VehicleState vehicleState) {
ChassisStatesOuterClass.ChassisAutopilotAssistanceInformation.Builder chassisAutopilotAssistanceInformation = null;
if (vehicleState.hasPilotMode()) {
Chassis.PilotMode pilotMode = vehicleState.getPilotMode();
if (pilotMode != null) {
chassisAutopilotAssistanceInformation = ChassisStatesOuterClass.ChassisAutopilotAssistanceInformation.newBuilder();
chassisAutopilotAssistanceInformation.setChassisPilotModeState(pilotMode);
}
chassisAutopilotAssistanceInformation = ChassisStatesOuterClass.ChassisAutopilotAssistanceInformation.newBuilder();
chassisAutopilotAssistanceInformation.setChassisPilotModeState(vehicleState.getPilotMode());
}
if (vehicleState.hasEmergencyStopSwitch()) {
if (chassisAutopilotAssistanceInformation == null) {
@@ -151,12 +140,9 @@ public class VehicleStateMessage extends MyAbstractMessageHandler {
private void setGearSystemStates(ChassisStatesOuterClass.ChassisStates.Builder builder, VehicleStateOuterClass.VehicleState vehicleState) {
ChassisStatesOuterClass.GearSystemStates.Builder gearSystemStates = null;
if (vehicleState.hasGear()) {
Chassis.GearPosition gear = vehicleState.getGear();
if (gear != null) {
gearSystemStates = ChassisStatesOuterClass.GearSystemStates.newBuilder();
//挂挡档位数据
gearSystemStates.setGearPosition(gear);//鹰眼已用
}
gearSystemStates = ChassisStatesOuterClass.GearSystemStates.newBuilder();
//挂挡档位数据
gearSystemStates.setGearPosition(vehicleState.getGear());//鹰眼已用
}
if (vehicleState.hasGearSwitchInference()) {
if (gearSystemStates == null) {
@@ -278,12 +264,9 @@ public class VehicleStateMessage extends MyAbstractMessageHandler {
private void setBCMSystemStates(ChassisStatesOuterClass.ChassisStates.Builder builder, VehicleStateOuterClass.VehicleState vehicleState) {
ChassisStatesOuterClass.BCMSystemStates.Builder bcmSystemStates = null;
if (vehicleState.hasLight()) {
Chassis.LightSwitch light = vehicleState.getLight();
if (light != null) {
bcmSystemStates = ChassisStatesOuterClass.BCMSystemStates.newBuilder();
//转向灯数据
bcmSystemStates.setTurnLightState(light);//鹰眼已用
}
bcmSystemStates = ChassisStatesOuterClass.BCMSystemStates.newBuilder();
//转向灯数据
bcmSystemStates.setTurnLightState(vehicleState.getLight());//鹰眼已用
}
if (vehicleState.hasBrakeLightStatus()) {
if (bcmSystemStates == null) {

46
libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/thread/DispatchHandler.java
View File

@@ -22,11 +22,16 @@ import mogo.telematics.pad.MessagePad;
public class DispatchHandler {
private final MessagePad.MessageType messageType;
private final OnDispatchHandlerListener listener;
private static final int WHAT_DISPATCH = 999999;
private HandlerThread mThread;
private BaseHandler mBaseHandler;
public interface OnDispatchHandlerListener {
void onDispatchRaw(MessagePad.MessageType name, RawData raw);
void onHandler(MessagePad.MessageType type, Handler handler);
void onHandleMessage(MessagePad.MessageType type, Message msg);
void onDispatchRaw(MessagePad.MessageType type, RawData raw);
}
@@ -35,6 +40,16 @@ public class DispatchHandler {
this.messageType = messageType;
}
public void start() {
if (mThread == null) {
String name = "Dispatch-" + messageType.name().replace("MsgType", "");
mThread = new HandlerThread(name);
mThread.start();
initHandler(mThread.getLooper());
listener.onHandler(messageType, mBaseHandler);
}
}
public void stop() {
if (mBaseHandler != null) {
mBaseHandler.removeCallbacksAndMessages(null);
@@ -47,14 +62,10 @@ public class DispatchHandler {
}
public void sendRawMessage(RawData raw) {
if (mThread == null) {
String name = "Dispatch-" + messageType.name().replace("MsgType", "");
mThread = new HandlerThread(name);
mThread.start();
initHandler(mThread.getLooper());
}
start();
Message msg = Message.obtain();
msg.obj = raw;
msg.what = WHAT_DISPATCH;
mBaseHandler.sendMessage(msg);
}
@@ -67,16 +78,19 @@ public class DispatchHandler {
* @param msg
*/
protected void handleMessage(Message msg) {
//TODO 计算耗时 临时测试
if (CupidLogUtils.isEnableLog())
if (Build.VERSION.SDK_INT >= Build.VERSION_CODES.M) {
if (mThread != null) {
MessageQueue queue = mThread.getLooper().getQueue();
CupidLogUtils.i("TimeConsuming", mThread.getName() + " 当前消息队列是否处于空闲状态=" + queue.isIdle());
if (msg.what == WHAT_DISPATCH) {
//TODO 计算耗时 临时测试
if (CupidLogUtils.isEnableLog())
if (Build.VERSION.SDK_INT >= Build.VERSION_CODES.M) {
if (mThread != null) {
MessageQueue queue = mThread.getLooper().getQueue();
CupidLogUtils.i("TimeConsuming", mThread.getName() + " 当前消息队列是否处于空闲状态=" + queue.isIdle());
}
}
}
listener.onDispatchRaw(messageType, (RawData) msg.obj);
listener.onDispatchRaw(messageType, (RawData) msg.obj);
} else {
listener.onHandleMessage(messageType, msg);
}
}
/**