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[pb9][底盘接口] 目前由于M1车型不会在新底盘PB添加新的字段 所以临时保留老底盘接口回调，M1新添加的相关字段会在老底盘回调接收，同时老底盘的清扫车对象转成新底盘PB中的清扫车对象，暂时注释掉ADAS LIB中的新老底盘兼容

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This commit is contained in:
xinfengkun
2023-01-10 18:12:25 +08:00
parent 65838501c1
commit a7d179d713
8 changed files with 103 additions and 1 deletions
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10
app_ipc_monitoring/src/main/java/com/zhidao/adas/client/DataDistribution.java
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@@ -25,6 +25,7 @@ import com.zhidao.adas.client.bean.RoboSweeperTaskIndex;
import com.zhidao.adas.client.bean.StatusInfo;
import com.zhidao.adas.client.bean.TrackedObjects;
import com.zhidao.adas.client.bean.Trajectory;
import com.zhidao.adas.client.bean.VehicleState;
import com.zhidao.adas.client.bean.Warn;
import com.zhidao.adas.client.log.LogSave;
import com.zhidao.adas.client.utils.Constants;
@@ -105,6 +106,7 @@ public class DataDistribution {
public final List<String> listTrajectory = new ArrayList<>();
public final List<String> listTrackedObjects = new ArrayList<>();
public final List<String> listGnssInfo = new ArrayList<>();
public final List<String> listVehicleState = new ArrayList<>();
public final List<String> listAutopilotState = new ArrayList<>();
public final List<String> listMogoReportMessage = new ArrayList<>();
public final List<String> listPerceptionTrafficLight = new ArrayList<>();
@@ -182,6 +184,14 @@ public class DataDistribution {
if (listener != null && Constants.TITLE.RECEIVE_GNSS_INFO.equals(listener.first)) {
listener.second.onRefresh();
}
} else if (data instanceof VehicleState) {
listVehicleState.add(0, time + str);
if (listVehicleState.size() > LIST_SIZE) {
listVehicleState.remove(listVehicleState.size() - 1);
}
if (listener != null && Constants.TITLE.RECEIVE_VEHICLE_STATE.equals(listener.first)) {
listener.second.onRefresh();
}
} else if (data instanceof ChassisStates) {
listChassisStates.add(0, time + str);
if (listChassisStates.size() > LIST_SIZE) {

22
app_ipc_monitoring/src/main/java/com/zhidao/adas/client/bean/VehicleState.java Normal file
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@@ -0,0 +1,22 @@
package com.zhidao.adas.client.bean;
import com.google.protobuf.TextFormat;
import java.text.SimpleDateFormat;
import chassis.VehicleStateOuterClass;
import mogo.telematics.pad.MessagePad;
public class VehicleState extends BaseInfo {
public final VehicleStateOuterClass.VehicleState bean;
public VehicleState(MessagePad.Header header, VehicleStateOuterClass.VehicleState bean, SimpleDateFormat sdf) {
super("接收", bean.getSerializedSize(), header, sdf);
this.bean = bean;
}
@Override
public String toString() {
return super.toString() + TextFormat.printer().escapingNonAscii(false).printToString(bean);
}
}

2
app_ipc_monitoring/src/main/java/com/zhidao/adas/client/ui/InfoFragment.java
View File

@@ -118,6 +118,8 @@ public class InfoFragment extends BaseFragment {
private void setData() {
if (Constants.TITLE.RECEIVE_GNSS_INFO.equals(title)) {
adapter.setData(DataDistribution.getInstance().listGnssInfo);
} else if (Constants.TITLE.RECEIVE_VEHICLE_STATE.equals(title)) {
adapter.setData(DataDistribution.getInstance().listVehicleState);
} else if (Constants.TITLE.RECEIVE_CHASSIS_STATES.equals(title)) {
adapter.setData(DataDistribution.getInstance().listChassisStates);
} else if (Constants.TITLE.RECEIVE_TRACKED_OBJECTS.equals(title)) {

9
app_ipc_monitoring/src/main/java/com/zhidao/adas/client/ui/MainActivity.java
View File

@@ -79,6 +79,7 @@ import com.zhidao.adas.client.bean.SpecialVehicleBean;
import com.zhidao.adas.client.bean.StatusInfo;
import com.zhidao.adas.client.bean.TrackedObjects;
import com.zhidao.adas.client.bean.Trajectory;
import com.zhidao.adas.client.bean.VehicleState;
import com.zhidao.adas.client.bean.Warn;
import com.zhidao.adas.client.log.ConnectStatusSave;
import com.zhidao.adas.client.log.LogSave;
@@ -118,6 +119,7 @@ import java.util.concurrent.ScheduledExecutorService;
import bag_manager.BagManagerOuterClass;
import chassis.Chassis;
import chassis.ChassisStatesOuterClass;
import chassis.VehicleStateOuterClass;
import function_state_management.FunctionStates;
import io.netty.channel.Channel;
import mogo.telematics.pad.MessagePad;
@@ -634,6 +636,7 @@ public class MainActivity extends BaseActivity implements OnAdasListener, OnAdas
titleFragmentData.add(Constants.TITLE.RECEIVE_GNSS_INFO);
titleFragmentData.add(Constants.TITLE.RECEIVE_TRAJECTORY);
titleFragmentData.add(Constants.TITLE.RECEIVE_TRACKED_OBJECTS);
titleFragmentData.add(Constants.TITLE.RECEIVE_VEHICLE_STATE);
titleFragmentData.add(Constants.TITLE.RECEIVE_CHASSIS_STATES);
titleFragmentData.add(Constants.TITLE.RECEIVE_AUTOPILOT_STATE);
titleFragmentData.add(Constants.TITLE.RECEIVE_FUNCTION_STATES);
@@ -898,6 +901,12 @@ public class MainActivity extends BaseActivity implements OnAdasListener, OnAdas
DataDistribution.getInstance().addData(base);
}
@Override
public void onVehicleState(MessagePad.Header header, VehicleStateOuterClass.VehicleState vehicleState) {
VehicleState base = new VehicleState(header, vehicleState, sdf);
DataDistribution.getInstance().addData(base);
}
@Override
public void onChassisStates(MessagePad.Header header, ChassisStatesOuterClass.ChassisStates chassisStates) {

1
app_ipc_monitoring/src/main/java/com/zhidao/adas/client/utils/Constants.java
View File

@@ -150,6 +150,7 @@ public class Constants {
String RECEIVE_TRAJECTORY = MessageType.TYPE_RECEIVE_TRAJECTORY.desc;
String RECEIVE_TRACKED_OBJECTS = MessageType.TYPE_RECEIVE_TRACKED_OBJECTS.desc;
String RECEIVE_GNSS_INFO = MessageType.TYPE_RECEIVE_GNSS_INFO.desc;
String RECEIVE_VEHICLE_STATE = MessageType.TYPE_RECEIVE_VEHICLE_STATE.desc;
String RECEIVE_CHASSIS_STATES = MessageType.TYPE_RECEIVE_CHASSIS_STATES.desc;
String RECEIVE_AUTOPILOT_STATE = MessageType.TYPE_RECEIVE_AUTOPILOT_STATE.desc;
String RECEIVE_FUNCTION_STATES = MessageType.TYPE_RECEIVE_FUNCTION_STATES.desc;

46
core/function-impl/mogo-core-function-datacenter/src/main/java/com/mogo/eagle/core/function/datacenter/autopilot/adapter/MoGoAdasListenerImpl.kt
View File

@@ -143,6 +143,52 @@ class MoGoAdasListenerImpl : OnAdasListener {
}
}
/**
* 老底盘信息,透传底盘状态，pb参考底盘
* TODO 目前由于M1车型不会在新底盘PB添加新的字段 所以临时保留
* TODO 后期会优化掉，具体时间未知，需要工控机端新老底盘PB字段对齐
*
* @param header 头
* @param vehicleState 数据
*/
@ChainLog(
linkChainLog = CHAIN_LINK_LOG_WEB_SOCKET_VEHICLE,
linkCode = CHAIN_LINK_ADAS,
endpoint = PAD,
nodeAliasCode = CHAIN_ALIAS_CODE_ADAS_MESSAGE_AUTOPILOT_VEHICLE,
paramIndexes = [0, 1],
clientPkFileName = "sn"
)
override fun onVehicleState(header: MessagePad.Header, vehicleState: VehicleStateOuterClass.VehicleState?) {
if (vehicleState != null) {
//转向灯数据
CallerChassisLamplightListenerManager.invokeAutopilotLightSwitchData(vehicleState.light)
//刹车灯数据
CallerChassisLamplightListenerManager.invokeAutopilotBrakeLightData(vehicleState.brakeLightStatus)
//方向盘转向角数据
CallerChassisSteeringStateListenerManager.invokeAutopilotSteeringData(vehicleState.steering)
//挂挡档位数据
CallerChassisGearStateListenerManager.invokeAutopilotGearData(vehicleState.gear)
//加速度
CallerChassisAccStateListenerManager.invokeAutopilotAcc(vehicleState.accel)
//油门
CallerChassisThrottleStateListenerManager.invokeAutopilotThrottle(vehicleState.throttle)
//刹车
CallerChassisBrakeStateListenerManager.invokeAutopilotBrake(vehicleState.brake)
//清扫车（福田）清扫控制系统状态
vehicleState.sweeperFutianCleanSystemState?.also { sweeperState ->
val bytes: ByteArray = sweeperState.toByteArray()
val cleanSystemState: ChassisStatesOuterClass.SweeperFuTianTaskSystemStates? = ChassisStatesOuterClass.SweeperFuTianTaskSystemStates.parseFrom(bytes)
cleanSystemState?.let {
CallerSweeperFutianCleanSystemListenerManager.invokeSweeperFutianCleanSystemState(it)
}
}
} else {
CallerAutopilotVehicleStateListenerManager.invokeAutopilotDataException(header.timestamp.toLong())
}
}
/**
* 底盘数据
*

10
libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/OnAdasListener.java
View File

@@ -6,6 +6,7 @@ import com.zhidao.support.adas.high.common.ProtocolStatus;
import bag_manager.BagManagerOuterClass;
import chassis.ChassisStatesOuterClass;
import chassis.VehicleStateOuterClass;
import function_state_management.FunctionStates;
import mogo.telematics.pad.MessagePad;
import mogo_msg.MogoReportMsg;
@@ -53,6 +54,15 @@ public interface OnAdasListener {
*/
void onGnssInfo(MessagePad.Header header, MessagePad.GnssInfo gnssInfo);
/**
* 老底盘信息,透传底盘状态，pb参考底盘
* TODO 目前由于M1车型不会在新底盘PB添加新的字段 所以临时保留
* TODO 后期会优化掉，具体时间未知，需要工控机端新老底盘PB字段对齐
*
* @param header 头
* @param vehicleState 数据
*/
void onVehicleState(MessagePad.Header header, VehicleStateOuterClass.VehicleState vehicleState);
/**
* 底盘状态

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

@@ -28,7 +28,9 @@ public class VehicleStateMessage extends MyAbstractMessageHandler {
if (CupidLogUtils.isEnableLog())
nowTime = SystemClock.elapsedRealtime();
if (adasListener != null) {
compatibility(adasListener, raw, vehicleState);
//TODO 暂时关闭新老兼容
//compatibility(adasListener, raw, vehicleState);
adasListener.onVehicleState(raw.getHeader(), vehicleState);
}
AdasChannel.calculateTimeConsumingBusiness("底盘信息", nowTime);
// CupidLogUtils.e("底盘信息--->" + vehicleState.toString());