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[opt3.0][adas lib] 1.能否启动自驾检测接口兼容MAP250以下版本；2.获取车机基础信息接口增加多次获取逻辑，目前会尝试3次获取；3.修改错别字

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xinfengkun
2023-02-21 15:35:52 +08:00
parent b3b53d478f
commit b192238894
15 changed files with 479 additions and 128 deletions
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40
libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/AdasChannel.java
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@@ -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;
}
}
/**************************************************************************************************************************/
/**

2
libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/AdasOptions.java
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@@ -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;

118
libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/common/autopilot/ability/AutopilotAbility230.java Normal file
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@@ -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
* <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 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;
}
}

143
libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/common/AutopilotAbilityManager.java → libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/common/autopilot/ability/AutopilotAbility250.java
View File

@@ -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
* <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();
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）
* <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() {
}
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);
}
}
}

274
libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/common/autopilot/ability/AutopilotAbilityManager.java Normal file
View File

@@ -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
* <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 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）
* <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）
}
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);
}
}

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

@@ -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())

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

@@ -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;

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

@@ -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;

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

@@ -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()) {