[change]250 监控事件
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xinfengkun
@@ -2,7 +2,7 @@ package com.zhidao.support.adas.high.common;
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/**
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* 监控事件报告中定义的事件以及解释
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* 根据240消息定义编写
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* 根据250消息定义编写
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* http://wiki.zhidaohulian.com/pages/viewpage.action?pageId=79433139
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*/
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public class MogoReport {
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@@ -11,6 +11,7 @@ public class MogoReport {
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private static final String RESULT_AUTOPILOT_INFERIOR = "RESULT_AUTOPILOT_INFERIOR";
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private static final String RESULT_REMOTEPILOT_DISABLE = "RESULT_REMOTEPILOT_DISABLE";
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private static final String RESULT_REMOTEPILOT_INFERIOR = "RESULT_REMOTEPILOT_INFERIOR";
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private static final String RESULT_SHOW_WARNING = "RESULT_SHOW_WARNING";
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// private static final String RESULT_DISCONNECTED_WITH_PAD = "RESULT_DISCONNECTED_WITH_PAD";
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// private static final String RESULT_PAD_CANNOT_CONNECT_TELEMATICS = "RESULT_PAD_CANNOT_CONNECT_TELEMATICS";
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@@ -27,7 +28,8 @@ public class MogoReport {
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AUTOPILOT_DISABLE(RESULT_AUTOPILOT_DISABLE, "无法启动自动驾驶"),
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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。"),
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REMOTEPILOT_DISABLE(RESULT_REMOTEPILOT_DISABLE, "无法启动远程驾驶"),
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REMOTEPILOT_INFERIOR(RESULT_REMOTEPILOT_INFERIOR, "远程驾驶部分功能受影响。例如网络高延迟");
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REMOTEPILOT_INFERIOR(RESULT_REMOTEPILOT_INFERIOR, "远程驾驶部分功能受影响。例如网络高延迟"),
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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。");
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// 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"),
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// PAD_CANNOT_CONNECT_TELEMATICS(RESULT_PAD_INFO_LOST, "Pad无法连接到工控机"),
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@@ -66,6 +68,8 @@ public class MogoReport {
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return REMOTEPILOT_DISABLE.desc;
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case RESULT_REMOTEPILOT_INFERIOR:
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return REMOTEPILOT_INFERIOR.desc;
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case RESULT_SHOW_WARNING:
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return SHOW_WARNING.desc;
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// case RESULT_DISCONNECTED_WITH_PAD:
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// return DISCONNECTED_WITH_PAD.desc;
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@@ -151,4 +155,172 @@ public class MogoReport {
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}
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}
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}
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public interface Code {
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/**
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* 异常类型
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*/
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interface Error {
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/**
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* 系统初始化阶段错误
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*/
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interface EINIT {
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String LOST_FILE = "EINIT_LOST_FILE";//系统启动时缺失必要文件，或者容器配置错误
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}
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/**
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* 硬件故障
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*/
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interface EHW {
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String LIDAR = "EHW_LIDAR";//未检测到雷达
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String GNSS = "EHW_GNSS";//未检测到gnss
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String RTK = "EHW_RTK";//定位不准，gnss节点反馈的状态不是42
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String CAN = "EHW_CAN";//无法与底盘通信，获取不到地盘状态，无法进入自动驾驶
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}
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/**
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* 自动驾驶系统故障
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*/
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interface EMAP {
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String NODE = "EMAP_NODE";//节点异常退出
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String NODE_DEAD = "EMAP_NODE_DEAD";//节点异常退出过多，放弃重启
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String DATA_NOT_EXIST = "EMAP_DATA_NOT_EXIST";//无法加载到正确的sqlite文件
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String TRA_NOT_EXIST = "EMAP_TRA_NOT_EXIST";//无法找到轨迹文件
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String TRA_LOAD_FAILED = "EMAP_TRA_LOAD_FAILED";//加载轨迹文件失败
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String EXIT_AUTOPILOT_FOR_PLANNING = "EMAP_EXIT_AUTOPILOT_FOR_PLANNING";//因planning掉帧强退自动驾驶
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String EXIT_AUTOPILOT_FOR_LOCATION = "EMAP_EXIT_AUTOPILOT_FOR_LOCATION";//因location掉帧强退自动驾驶
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String EXIT_AUTOPILOT_FOR_CHASSIS = "EMAP_EXIT_AUTOPILOT_FOR_CHASSIS";//因底盘消息掉帧强退自动驾驶
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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
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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
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String HADMAP_NO_TRAJECTORY = "EMAP_HADMAP_NO_TRAJECTORY";//hadmap未发布全局路径
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String HADMAP_PLANNING_NO_TRAJECTORY = "EMAP_HADMAP_PLANNING_NO_TRAJECTORY";//local_planning未发布局部轨迹
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String CONTROL_ABNORMAL_COMMAND = "EMAP_CONTROL_ABNORMAL_COMMAND";//controller发布的控制指令异常
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String CAN_ADAPTER_NO_CHASSIS_INFO = "EMAP_CAN_ADAPTER_NO_CHASSIS_INFO";//can_adapter未成功转发地盘信息
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}
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/**
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* telematics相关故障
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*/
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interface ETELEMATICS {
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String AICLOUD_AUTH_ERROR = "ETELEMATICS_AICLOUD_AUTH_ERROR";//telematics连接云端失败
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}
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/**
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* 车辆故障或其他状态引起的问题
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*/
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interface EVHC {
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String GEAR_INFERENCE = "EVHC_GEAR_INFERENCE";//由于档位干预退出自动驾驶或无法进入自动驾驶
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String BRAKE_INFERENCE = "EVHC_BRAKE_INFERENCE";//由于刹车干预退出自动驾驶或无法进入自动驾驶
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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
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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
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String CSS = "EVHC_CSS";//底盘不允许进入自动驾驶
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}
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/**
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* 系统状态检测异常
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*/
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interface ESYS {
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String AUTOPILOT_FAILED = "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
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String IN_INIT = "ESYS_IN_INIT";//系统处于启动中，拒绝进入自动驾驶/远程驾驶
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String IN_EXIT = "ESYS_IN_EXIT";//系统处于退出中，拒绝进入自动驾驶/远程驾驶
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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
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String NOT_ALLOW_REBOOT = "ESYS_NOT_ALLOW_REBOOT";//重启拒绝
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String TOPIC_FREQ_DROPED = "ESYS_TOPIC_FREQ_DROPED";//存在topic严重掉频
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String AUTOPILOT_TAKEN_OVER_BY_REMOTE = "ESYS_AUTOPILOT_TAKEN_OVER_BY_REMOTE";//自动驾驶被远程驾驶接管
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String ROUTING_REQ_TIMEOUT = "ESYS_ROUTING_REQ_TIMEOUT";//自动驾驶开始前，routing请求无响应
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String FAULT = "ESYS_FAULT";//master启动10分钟，仍有agent未连接
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}
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interface EAGENT {
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String FATAL = "EAGENT_FATAL";//agent严重故障,无法恢复
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String MASTER_COMMAND_HANDLER_FAILED = "EAGENT_MASTER_COMMAND_HANDLER_FAILED";//agent未能成功执行master指令
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}
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/**
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* 相机相关异常
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*/
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interface ECAM {
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String INIT = "ECAM_INIT";//相机初始化失败
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String CALIB = "ECAM_CALIB";//标定信息读取失败
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}
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/**
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* 定位异常
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*/
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interface ELCT {
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String RTK_STATUS_FAULT = "ELCT_RTK_STATUS_FAULT";//RTK状态错误
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String RTK_STATUS_UNKNOWN = "ELCT_RTK_STATUS_UNKNOWN";//RTK状态不确定
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}
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}
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/**
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* 常规类型
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*/
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interface Info {
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/**
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* 系统初始化阶段
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*/
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interface IINIT {
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String BOOST = "IINIT_BOOST";//linux系统已启动（此事件会延迟发出，timestamp填linux启动时的事件）
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String TIME_SYNC = "IINIT_TIME_SYNC";//时间已同步
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String SENSOR_NORMAL = "IINIT_SENSOR_NORMAL";//各传感器正常
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String MAP_STARTED = "IBOOT_MAP_STARTED";//当前xavier上所有节点已启动成功
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}
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/**
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* 自动驾驶运行信息
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*/
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interface IMAP {
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String TRA_EXIST = "IMAP_TRA_EXIST";//已找到轨迹文件
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String DATA_EXIST = "IMAP_DATA_EXIST";//加载正确的sqlite
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String TRA_LOADED = "IMAP_TRA_LOADED";//轨迹文件加载成功
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String TRA_ROUTING = "IMAP_TRA_ROUTING";//算路成功
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}
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/**
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* telematics节点信息
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*/
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interface ITELEMATICS {
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String ROUTING_REQUEST_SENT = "ITELEMATICS_ROUTING_REQUEST_SENT";//已发送算路请求
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String AUTOPILOT_CMD_FORWARDED = "ITELEMATICS_AUTOPILOT_CMD_FORWARDED";//自动驾驶命令已转发
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String AICLOUD_AUTH_OK = "ITELEMATICS_AICLOUD_AUTH_OK";//aicloud连接认证成功
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}
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/**
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* 系统状态 常规信息
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*/
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interface ISYS {
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String STARTING = "ISYS_STARTING";//系统启动中
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String RUNNING = "ISYS_RUNNING";//所有Xavier启动完成
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String EXITING = "ISYS_EXITING";//系统退出中
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String AUTOPILOT_READY = "ISYS_AUTOPILOT_READY";//自动驾驶状态就绪
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String AUTOPILOT_STARTING = "ISYS_AUTOPILOT_STARTING";//自动驾驶启动中
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String AUTOPILOT_RUNING = "ISYS_AUTOPILOT_RUNING";//自动驾驶运行中
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String TOPIC_FREQ_NORMAL = "ISYS_TOPIC_FREQ_NORMAL";//topic频率正常或者恢复正常
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String CAN_NORMAL = "ISYS_CAN_NORMAL";//底盘状态正常或恢复正常
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String REOMTEPILOT_STARTING = "ISYS_REOMTEPILOT_STARTING";//平行驾驶启动中
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String REOMTEPILOT_RUNING = "ISYS_REOMTEPILOT_RUNING";//平行驾驶运行中
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String INIT_TRAJECTORY_START = "ISYS_INIT_TRAJECTORY_START";//轨迹管理_轨迹开始下载
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String INIT_TRAJECTORY_SUCCESS = "ISYS_INIT_TRAJECTORY_SUCCESS";//轨迹管理_轨迹下载成功
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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
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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
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String INIT_TRAJECTORY_TIMEOUT = "ISYS_INIT_TRAJECTORY_TIMEOUT";//轨迹管理_轨迹下载超时
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}
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interface IAGENT {
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String EXECUTE_MASTER_COMMAND = "IAGENT_EXECUTE_MASTER_COMMAND";//执行系统指令成功
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}
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interface ICAM {
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String READY = "ICAM_READY";//相机已就绪
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}
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interface ILCT {
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String RTK_STATUS_NORMAL = "ILCT_RTK_STATUS_NORMAL";//rtk状态正常或恢复正常
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}
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}
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}
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}
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