diff --git a/core/function-impl/mogo-core-function-datacenter/src/main/java/com/mogo/eagle/core/function/datacenter/autopilot/adapter/MoGoAdasListenerImpl.kt b/core/function-impl/mogo-core-function-datacenter/src/main/java/com/mogo/eagle/core/function/datacenter/autopilot/adapter/MoGoAdasListenerImpl.kt index e2703257ff..6374bb350c 100644 --- a/core/function-impl/mogo-core-function-datacenter/src/main/java/com/mogo/eagle/core/function/datacenter/autopilot/adapter/MoGoAdasListenerImpl.kt +++ b/core/function-impl/mogo-core-function-datacenter/src/main/java/com/mogo/eagle/core/function/datacenter/autopilot/adapter/MoGoAdasListenerImpl.kt @@ -173,7 +173,7 @@ class MoGoAdasListenerImpl : OnAdasListener { CallerChassisLamplightListenerManager.invokeAutopilotBrakeLightData(vehicleState.brakeLightStatus) //方向盘转向角数据 CallerChassisSteeringStateListenerManager.invokeAutopilotSteeringData(vehicleState.steering) - //挂挡档位数据 + //挂档档位数据 CallerChassisGearStateListenerManager.invokeAutopilotGearData(vehicleState.gear) //加速度 CallerChassisAccStateListenerManager.invokeAutopilotAcc(vehicleState.accel) @@ -237,7 +237,7 @@ class MoGoAdasListenerImpl : OnAdasListener { } chassisStates.gearSystemStates?.let { gearSystemStates -> gearSystemStates.gearPosition?.let { - //挂挡档位数据 + //挂档档位数据 CallerChassisGearStateListenerManager.invokeAutopilotGearData(it) } } diff --git a/core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/hmi/ui/setting/DebugSettingView.kt b/core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/hmi/ui/setting/DebugSettingView.kt index 0c0f7961b4..3c7341be2d 100644 --- a/core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/hmi/ui/setting/DebugSettingView.kt +++ b/core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/hmi/ui/setting/DebugSettingView.kt @@ -1921,12 +1921,12 @@ internal class DebugSettingView @JvmOverloads constructor( } /** - * 车辆挂挡档位 + * 车辆挂档档位 * @param gear 档位 */ override fun onAutopilotGearData(gear: Chassis.GearPosition) { ThreadUtils.runOnUiThread { - tvGearInfo.text = "挂挡档位：${gear}" + tvGearInfo.text = "挂档档位：${gear}" } } diff --git a/core/function-impl/mogo-core-function-hmi/src/main/res/layout/view_debug_setting.xml b/core/function-impl/mogo-core-function-hmi/src/main/res/layout/view_debug_setting.xml index 5bfa8302c6..e8ac4d98e0 100644 --- a/core/function-impl/mogo-core-function-hmi/src/main/res/layout/view_debug_setting.xml +++ b/core/function-impl/mogo-core-function-hmi/src/main/res/layout/view_debug_setting.xml @@ -1008,7 +1008,7 @@ style="@style/DebugSettingText" android:layout_width="match_parent" android:layout_height="wrap_content" - android:text="挂挡档位:" /> + android:text="挂档档位:" /> () { diff --git a/core/mogo-core-function-call/src/main/java/com/mogo/eagle/core/function/call/autopilot/CallerChassisGearStateListenerManager.kt b/core/mogo-core-function-call/src/main/java/com/mogo/eagle/core/function/call/autopilot/CallerChassisGearStateListenerManager.kt index 907e4b0553..30d52e1a72 100644 --- a/core/mogo-core-function-call/src/main/java/com/mogo/eagle/core/function/call/autopilot/CallerChassisGearStateListenerManager.kt +++ b/core/mogo-core-function-call/src/main/java/com/mogo/eagle/core/function/call/autopilot/CallerChassisGearStateListenerManager.kt @@ -5,12 +5,12 @@ import com.mogo.eagle.core.function.api.autopilot.IMoGoChassisGearStateListener import com.mogo.eagle.core.function.call.base.CallerBase /** - * 车辆挂挡档位 回调监听 + * 车辆挂档档位 回调监听 */ object CallerChassisGearStateListenerManager : CallerBase() { /** - * 车辆挂挡档位 + * 车辆挂档档位 * @param gear 档位 */ fun invokeAutopilotGearData(gear: Chassis.GearPosition) { diff --git a/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/AdasChannel.java b/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/AdasChannel.java index 2ebc54828d..298d893a2c 100644 --- a/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/AdasChannel.java +++ b/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/AdasChannel.java @@ -23,7 +23,6 @@ import androidx.annotation.Nullable; import com.google.protobuf.InvalidProtocolBufferException; import com.zhidao.support.adas.high.bean.AutopilotStatistics; import com.zhidao.support.adas.high.bean.VersionCompatibility; -import com.zhidao.support.adas.high.common.AutopilotAbilityManager; import com.zhidao.support.adas.high.common.AutopilotReview; import com.zhidao.support.adas.high.common.ByteUtil; import com.zhidao.support.adas.high.common.Constants; @@ -34,6 +33,7 @@ import com.zhidao.support.adas.high.common.MessageType; import com.zhidao.support.adas.high.common.ProtocolStatus; import com.zhidao.support.adas.high.common.ReceiveTimeoutManager; import com.zhidao.support.adas.high.common.RegexUtils; +import com.zhidao.support.adas.high.common.autopilot.ability.AutopilotAbilityManager; import com.zhidao.support.adas.high.msg.IMsg; import com.zhidao.support.adas.high.msg.MyMessageFactory; import com.zhidao.support.adas.high.protocol.RawData; @@ -129,6 +129,7 @@ public class AdasChannel implements IAdasNetCommApi, FpgaSocket.IWebSocketConnec * 乘客屏无法进行注册或取消注册，因为乘客屏无法感知司机屏与工控机连接状态。无法重置已注册或未注册接口列表 */ private SubscribeInterface subscribeInterface; + private Timer carConfigReqTimer;//车辆基础信息请求 多次请求防止无法收到基础信息情况出现 public void setOnMultiDeviceListener(OnMultiDeviceListener onMultiDeviceListener) { this.onMultiDeviceListener = onMultiDeviceListener; @@ -535,7 +536,7 @@ public class AdasChannel implements IAdasNetCommApi, FpgaSocket.IWebSocketConnec @Override public void onWebSocketConnectSuccess(String ipAddress, int port) { - sendCarConfigReq(); + startCarConfigReq(); ipcConnectedIp = ipAddress; ipcConnectedPort = port; subscribeInterface = new SubscribeInterface(this); @@ -662,6 +663,7 @@ public class AdasChannel implements IAdasNetCommApi, FpgaSocket.IWebSocketConnec if (status == Constants.IPC_CONNECTION_STATUS.DISCONNECTED) { AdasManager.getInstance().setCarConfig(null); stopDispatchHandler(); + stopCarConfigReq(); } if (adasConnectStatusListener != null) { adasConnectStatusListener.onConnectionIPCStatus(ipcConnectionStatus.get(), reason); @@ -775,6 +777,40 @@ public class AdasChannel implements IAdasNetCommApi, FpgaSocket.IWebSocketConnec CupidLogUtils.setEnableLog(isEnableLog); } + //车辆基础信息请求 + private void startCarConfigReq() { + if (carConfigReqTimer == null) { + carConfigReqTimer = new Timer(); + carConfigReqTimer.schedule(new TimerTask() { + int num = 0; + + @Override + public void run() { + if (getIpcConnectionStatus() == Constants.IPC_CONNECTION_STATUS.CONNECTED) { + if (AdasManager.getInstance().getCarConfig() == null) { + num++; + if (num > 3) { + CupidLogUtils.i(TAG, "最后一次也未获取到车机基础信息"); + stopCarConfigReq(); + } else { + CupidLogUtils.i(TAG, "第" + num + "次获取车机基础信息"); + sendCarConfigReq(); + } + } else { + stopCarConfigReq(); + } + } + } + }, 10, 2000L); + } + } + + private synchronized void stopCarConfigReq() { + if (carConfigReqTimer != null) { + carConfigReqTimer.cancel(); + carConfigReqTimer = null; + } + } /**************************************************************************************************************************/ /** diff --git a/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/AdasOptions.java b/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/AdasOptions.java index 9caee97d94..3c38a18599 100644 --- a/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/AdasOptions.java +++ b/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/AdasOptions.java @@ -1,6 +1,6 @@ package com.zhidao.support.adas.high; -import com.zhidao.support.adas.high.common.AutopilotAbilityManager; +import com.zhidao.support.adas.high.common.autopilot.ability.AutopilotAbilityManager; import com.zhidao.support.adas.high.subscribe.SubscribeInterfaceOptions; import java.util.HashSet; diff --git a/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/common/autopilot/ability/AutopilotAbility230.java b/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/common/autopilot/ability/AutopilotAbility230.java new file mode 100644 index 0000000000..9c6ce3ea4c --- /dev/null +++ b/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/common/autopilot/ability/AutopilotAbility230.java @@ -0,0 +1,118 @@ +package com.zhidao.support.adas.high.common.autopilot.ability; + +import com.zhidao.support.adas.high.OnAdasListener; + +import java.util.Timer; +import java.util.TimerTask; +import java.util.regex.Pattern; + +import chassis.Chassis; +import chassis.ChassisStatesOuterClass; + +/** + * 是否可以启动自动驾驶能力检测 工控机版本>=230&& <250 使用此类 + * 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 + *

+ * 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 AutopilotAbility230 { + private static final String TAG = AutopilotAbility230.class.getSimpleName(); + private static final long DEFAULT_DETECTION_TIME = 3 * 1000L;//默认检测时间 + private volatile Timer timer; + private ChassisStatesOuterClass.ChassisStates chassisStates; + + public AutopilotAbility230() { + } + + + public void setChassisStates(ChassisStatesOuterClass.ChassisStates chassisStates) { + this.chassisStates = chassisStates; + } + + private void onCallback() { + //金旅、开沃小巴乘客端 不能启动自动驾驶 + if (AutopilotAbilityManager.getInstance().isBusPassenger()) { + 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 + //检测底盘相关 + if (chassisStates != null) { + 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 + */ + //开沃任何档位都能启动自驾 + if (!AutopilotAbilityManager.getInstance().isBusDriverVan()) { + if (chassisStates.hasGearSystemStates()) { + Chassis.GearPosition gear = chassisStates.getGearSystemStates().getGearPosition(); + //金旅Bus和清扫车 档位不正常 + if (AutopilotAbilityManager.getInstance().isBusDriver()) { + if (gear == Chassis.GearPosition.GEAR_N || gear == Chassis.GearPosition.GEAR_R) { + isAutopilotAbility = false; + unableAutopilotReason = "档位不正常"; + } + } else if (AutopilotAbilityManager.getInstance().isSweeperDriverFutian()) { + if (gear == Chassis.GearPosition.GEAR_N) { + isAutopilotAbility = false; + unableAutopilotReason = "档位不正常"; + } + } 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 = "档位不正常"; + } + } + } + } + } + + //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 (AutopilotAbilityManager.getInstance().getListener() != null) { + AutopilotAbilityManager.getInstance().getListener().onAutopilotAbility(isAutopilotAbility, unableAutopilotReason); + } + } + + public synchronized void start() { + if (timer == null) { + timer = new Timer(); + timer.schedule(new TimerTask() { + @Override + public void run() { + onCallback(); + } + }, 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 + } + } + + public synchronized void stop() { + if (timer != null) { + timer.cancel(); + timer = null; + } + this.chassisStates = null; + } + + + +} 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/autopilot/ability/AutopilotAbility250.java similarity index 61% rename from libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/common/AutopilotAbilityManager.java rename to libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/common/autopilot/ability/AutopilotAbility250.java index 03ec76b745..01bf359101 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/autopilot/ability/AutopilotAbility250.java @@ -1,106 +1,41 @@ -package com.zhidao.support.adas.high.common; +package com.zhidao.support.adas.high.common.autopilot.ability; -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 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.ChassisStatesOuterClass; import system_master.SystemStatusInfo; /** - * 是否可以启动自动驾驶能力检测 + * 是否可以启动自动驾驶能力检测 工控机版本>=250使用此类 * 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 *

* 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(); +public class AutopilotAbility250 { + private static final String TAG = AutopilotAbility250.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; - public interface OnAutopilotAbilityListener { - void onStatusQuery();//查询是被调用 + public AutopilotAbility250() { } - /** - * 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） - *

- * 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() { - } - - public static AutopilotAbilityManager getInstance() { - if (INSTANCE == null) { - synchronized (AutopilotAbilityManager.class) { - if (INSTANCE == null) { - INSTANCE = new AutopilotAbilityManager(); - } - } - } - return INSTANCE; - } public void setStatusInfo(SystemStatusInfo.StatusInfo statusInfo) { - if (handler != null) { - if (handler.hasMessages(WHAT_TIMEOUT)) - handler.removeMessages(WHAT_TIMEOUT); + if (AutopilotAbilityManager.getInstance().getHandler() != null) { + if (AutopilotAbilityManager.getInstance().getHandler().hasMessages(WHAT_TIMEOUT)) + AutopilotAbilityManager.getInstance().getHandler().removeMessages(WHAT_TIMEOUT); } onCallback(statusInfo); } @@ -111,7 +46,7 @@ public class AutopilotAbilityManager { 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)) { + if (AutopilotAbilityManager.getInstance().isBusPassenger()) { return; } boolean isAutopilotAbility = true;//是否能启动自动驾驶 @@ -122,20 +57,7 @@ public class AutopilotAbilityManager { 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(); - } - } + version = AutopilotAbilityManager.getInstance().parseVersion(false, masterVersion); } //如果 maser version 大于1，还需要判断AutoPilotReady字段是否存在，以确保MAP版本和SSM Maser版本不陪配情况逻辑能正常执行 if (version > 1 && statusInfo.hasAutoPilotReady()) { @@ -204,24 +126,26 @@ public class AutopilotAbilityManager { * 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)) { + //开沃任何档位都能启动自驾 + if (!AutopilotAbilityManager.getInstance().isBusDriverVan()) { + if (chassisStates.hasGearSystemStates()) { + Chassis.GearPosition gear = chassisStates.getGearSystemStates().getGearPosition(); //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 (AutopilotAbilityManager.getInstance().isBusDriver()) { if (gear == Chassis.GearPosition.GEAR_N || gear == Chassis.GearPosition.GEAR_R) { isAutopilotAbility = false; - unableAutopilotReason = "挡位不正常"; + unableAutopilotReason = "档位不正常"; + } + } else if (AutopilotAbilityManager.getInstance().isSweeperDriverFutian()) { + if (gear == Chassis.GearPosition.GEAR_N) { + isAutopilotAbility = false; + unableAutopilotReason = "档位不正常"; } } 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"; + unableAutopilotReason = "档位不正常"; } } } @@ -239,8 +163,8 @@ public class AutopilotAbilityManager { // } // } } - if (listener != null) { - listener.onAutopilotAbility(isAutopilotAbility, unableAutopilotReason); + if (AutopilotAbilityManager.getInstance().getListener() != null) { + AutopilotAbilityManager.getInstance().getListener().onAutopilotAbility(isAutopilotAbility, unableAutopilotReason); } } @@ -250,14 +174,14 @@ public class AutopilotAbilityManager { timer.schedule(new TimerTask() { @Override public void run() { - if (onAutopilotAbilityListener != null) { - onAutopilotAbilityListener.onStatusQuery(); + if (AutopilotAbilityManager.getInstance().getOnAutopilotAbilityListener() != null) { + AutopilotAbilityManager.getInstance().getOnAutopilotAbilityListener().onStatusQuery(); } AdasManager.getInstance().sendStatusQueryReq(); - if (handler != null) { - if (handler.hasMessages(WHAT_TIMEOUT)) - handler.removeMessages(WHAT_TIMEOUT); - handler.sendEmptyMessageDelayed(WHAT_TIMEOUT, DEFAULT_TIMEOUT); + if (AutopilotAbilityManager.getInstance().getHandler() != null) { + if (AutopilotAbilityManager.getInstance().getHandler().hasMessages(WHAT_TIMEOUT)) + AutopilotAbilityManager.getInstance().getHandler().removeMessages(WHAT_TIMEOUT); + AutopilotAbilityManager.getInstance().getHandler().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 @@ -269,18 +193,15 @@ public class AutopilotAbilityManager { timer.cancel(); timer = 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); } } + + } diff --git a/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/common/autopilot/ability/AutopilotAbilityManager.java b/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/common/autopilot/ability/AutopilotAbilityManager.java new file mode 100644 index 0000000000..1e80fe6805 --- /dev/null +++ b/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/common/autopilot/ability/AutopilotAbilityManager.java @@ -0,0 +1,274 @@ +package com.zhidao.support.adas.high.common.autopilot.ability; + +import android.os.Handler; +import android.os.Message; +import android.text.TextUtils; +import android.util.Log; + +import com.zhidao.support.adas.high.AdasManager; +import com.zhidao.support.adas.high.OnAdasListener; +import com.zhidao.support.adas.high.common.Constants; +import com.zhidao.support.adas.high.common.CupidLogUtils; + +import java.util.Timer; +import java.util.TimerTask; +import java.util.regex.Matcher; +import java.util.regex.Pattern; + +import chassis.ChassisStatesOuterClass; +import mogo.telematics.pad.MessagePad; +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 + *

+ * 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 volatile AutopilotAbilityManager INSTANCE; + private OnAdasListener listener; + private final Pattern pattern = Pattern.compile("\\d+\\.\\d+\\.\\d+"); + private Handler handler; + private OnAutopilotAbilityListener onAutopilotAbilityListener; + private int dockerVersion = -1;//工控机版本 + private AutopilotAbility230 autopilotAbility230; + private AutopilotAbility250 autopilotAbility250; + private Timer startTimer; + /** + * 身份/车型 + */ + private String identityMode; + + 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） + *

+ * 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） + } + + private AutopilotAbilityManager() { + } + + public static AutopilotAbilityManager getInstance() { + if (INSTANCE == null) { + synchronized (AutopilotAbilityManager.class) { + if (INSTANCE == null) { + INSTANCE = new AutopilotAbilityManager(); + } + } + } + return INSTANCE; + } + + public void setIdentityMode(String identityMode) { + this.identityMode = identityMode; + } + + public void setCarConfig(MessagePad.CarConfigResp carConfig) { + if (dockerVersion == -1) { + String v = carConfig.getDockVersion(); + int version = parseVersion(true, v); + if (version != -1) { + stopTimer(); + dockerVersion = version; + Log.i("dddd", "工控机版本=" + dockerVersion); + initAutopilotAbility(); + } + } + } + + public void setOnAdasListener(OnAdasListener listener) { + this.listener = listener; + } + + public OnAdasListener getListener() { + return listener; + } + + public void setHandler(Handler handler) { + this.handler = handler; + } + + public Handler getHandler() { + return handler; + } + + public void setOnAutopilotAbilityListener(OnAutopilotAbilityListener onAutopilotAbilityListener) { + this.onAutopilotAbilityListener = onAutopilotAbilityListener; + } + + public OnAutopilotAbilityListener getOnAutopilotAbilityListener() { + return onAutopilotAbilityListener; + } + + + public void setStatusInfo(SystemStatusInfo.StatusInfo statusInfo) { + if (autopilotAbility250 != null) { + autopilotAbility250.setStatusInfo(statusInfo); + } + } + + public void setChassisStates(ChassisStatesOuterClass.ChassisStates chassisStates) { + if (autopilotAbility230 != null) { + autopilotAbility230.setChassisStates(chassisStates); + } + if (autopilotAbility250 != null) { + autopilotAbility250.setChassisStates(chassisStates); + } + } + + public void onHandleMessage(Message msg) { + if (autopilotAbility250 != null) { + autopilotAbility250.onHandleMessage(msg); + } + } + + private void initAutopilotAbility() { + if (dockerVersion >= 250) { + stop230(); + if (autopilotAbility250 == null) { + autopilotAbility250 = new AutopilotAbility250(); + autopilotAbility250.start(); + } + } else { + stop250(); + if (autopilotAbility230 == null) { + autopilotAbility230 = new AutopilotAbility230(); + autopilotAbility230.start(); + } + + } + } + + private void stop230() { + if (autopilotAbility230 != null) { + autopilotAbility230.stop(); + autopilotAbility230 = null; + } + } + + private void stop250() { + if (autopilotAbility250 != null) { + autopilotAbility250.stop(); + autopilotAbility250 = null; + } + } + + private void stopTimer() { + if (startTimer != null) { + startTimer.cancel(); + startTimer = null; + } + } + + /** + * 连接工控机成功调用此函数，如果dockerVersion还未获取到将启动最低版本的启动自动驾驶能力检测 + * 此函数为保险措施 以防无法获取工控机版本时 也能 正常执行逻辑 + */ + public synchronized void start() { + if (startTimer == null) { + startTimer = new Timer(); + startTimer.schedule(new TimerTask() { + @Override + public void run() { + if (dockerVersion == -1 && AdasManager.getInstance().getIpcConnectionStatus() == Constants.IPC_CONNECTION_STATUS.CONNECTED) { + dockerVersion = 230; + initAutopilotAbility(); + } + } + }, 8000L);//延迟执行，避免刚连接成功后底盘信息无法及时同步 + } + + } + + public synchronized void stop() { + stopTimer(); + stop230(); + stop250(); + handler = null; + dockerVersion = -1; + } + + + /** + * 解析版本 格式 xxx.xxx.xxx(x的数量不固定) + * + * @param isUserAll 是否使用全部截取数据 true：表示 12.34.56 截取之后 123456 false：表示12.34.56 截取之后 12 + * @param ver 版本字符串 + * @return -1表示解析失败 + */ + public int parseVersion(boolean isUserAll, String ver) { + int version = -1; + if (!TextUtils.isEmpty(ver)) { + try { + Matcher matcher = pattern.matcher(ver); + if (matcher.find()) { + String group = matcher.group(); + if (!TextUtils.isEmpty(group)) { + if (isUserAll) { + group = group.replace(".", ""); + } else { + group = group.split("\\.")[0]; + } + version = Integer.parseInt(group); + } + } + } catch (Exception e) { + CupidLogUtils.e(TAG, "版本解析失败=" + ver, e); + } + } + return version; + } + + /** + * 金旅、开沃小巴乘客端 + */ + public boolean isBusPassenger() { + return IDENTITY_MODE.BUS_PASSENGER_BASE.equalsIgnoreCase(identityMode); + } + + /** + * 开沃小巴司机端 + */ + public boolean isBusDriverVan() { + return IDENTITY_MODE.BUS_DRIVER_VAN.equalsIgnoreCase(identityMode); + } + + /** + * 金旅小巴司机端 + */ + public boolean isBusDriver() { + return IDENTITY_MODE.BUS_DRIVER_BASE.equalsIgnoreCase(identityMode); + } + + /** + * 福田清扫车司机端 + */ + public boolean isSweeperDriverFutian() { + return IDENTITY_MODE.SWEEPER_DRIVER_FT.equalsIgnoreCase(identityMode); + } +} diff --git a/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/msg/CarConfigRespMessage.java b/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/msg/CarConfigRespMessage.java index 61c6d1b9f4..7a63aed0b6 100644 --- a/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/msg/CarConfigRespMessage.java +++ b/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/msg/CarConfigRespMessage.java @@ -7,6 +7,7 @@ import com.zhidao.support.adas.high.AdasChannel; import com.zhidao.support.adas.high.AdasManager; import com.zhidao.support.adas.high.OnAdasListener; import com.zhidao.support.adas.high.common.CupidLogUtils; +import com.zhidao.support.adas.high.common.autopilot.ability.AutopilotAbilityManager; import com.zhidao.support.adas.high.protocol.RawData; import mogo.telematics.pad.MessagePad; @@ -20,6 +21,7 @@ public class CarConfigRespMessage extends MyAbstractMessageHandler { public void handlerMsg(RawData raw, OnAdasListener adasListener) throws InvalidProtocolBufferException { MessagePad.CarConfigResp carConfigResp = MessagePad.CarConfigResp.parser().parseFrom(raw.originalData.toByteArray(), raw.getOffsetValue(), raw.getPackageLengthValue() - raw.getOffsetValue()); AdasChannel.calculateTimeConsumingOnDispatchRaw("车机基础信息应答", raw.receiveTime); + AutopilotAbilityManager.getInstance().setCarConfig(carConfigResp); AdasManager.getInstance().setCarConfig(carConfigResp); long nowTime = 0; if (CupidLogUtils.isEnableLog()) diff --git a/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/msg/ChassisStatesMessage.java b/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/msg/ChassisStatesMessage.java index 081a1a9a58..edb7d6f1a0 100644 --- a/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/msg/ChassisStatesMessage.java +++ b/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/msg/ChassisStatesMessage.java @@ -2,7 +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.common.autopilot.ability.AutopilotAbilityManager; import com.zhidao.support.adas.high.protocol.RawData; import chassis.ChassisStatesOuterClass; diff --git a/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/msg/StatusQueryRespMessage.java b/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/msg/StatusQueryRespMessage.java index be81f42258..2d37f3ced7 100644 --- a/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/msg/StatusQueryRespMessage.java +++ b/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/msg/StatusQueryRespMessage.java @@ -5,7 +5,7 @@ import android.os.SystemClock; import com.google.protobuf.InvalidProtocolBufferException; import com.zhidao.support.adas.high.AdasChannel; import com.zhidao.support.adas.high.OnAdasListener; -import com.zhidao.support.adas.high.common.AutopilotAbilityManager; +import com.zhidao.support.adas.high.common.autopilot.ability.AutopilotAbilityManager; import com.zhidao.support.adas.high.common.CupidLogUtils; import com.zhidao.support.adas.high.protocol.RawData; diff --git a/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/msg/VehicleStateMessage.java b/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/msg/VehicleStateMessage.java index 0b3575b12a..567249f372 100644 --- a/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/msg/VehicleStateMessage.java +++ b/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/msg/VehicleStateMessage.java @@ -5,7 +5,7 @@ import android.os.SystemClock; import com.google.protobuf.InvalidProtocolBufferException; import com.zhidao.support.adas.high.AdasChannel; import com.zhidao.support.adas.high.OnAdasListener; -import com.zhidao.support.adas.high.common.AutopilotAbilityManager; +import com.zhidao.support.adas.high.common.autopilot.ability.AutopilotAbilityManager; import com.zhidao.support.adas.high.common.CupidLogUtils; import com.zhidao.support.adas.high.protocol.RawData; @@ -141,7 +141,7 @@ public class VehicleStateMessage extends MyAbstractMessageHandler { ChassisStatesOuterClass.GearSystemStates.Builder gearSystemStates = null; if (vehicleState.hasGear()) { gearSystemStates = ChassisStatesOuterClass.GearSystemStates.newBuilder(); - //挂挡档位数据 + //档位数据 gearSystemStates.setGearPosition(vehicleState.getGear());//鹰眼已用 } if (vehicleState.hasGearSwitchInference()) {