yangyakun921/MoGoEagleEye
1
0
Fork 0
Code Issues Pull Requests Actions Packages Projects Releases Wiki Activity

Merge branch 'dev_robotaxi-d_231205_6.2.6' into dev_robotaxi-d_231218_6.2.6

Browse Source 
# Conflicts:
#	OCH/bus/passenger/src/jinlvvan/java/com/mogo/och/bus/passenger/MogoOCHBusPassenger.java
This commit is contained in:
yangyakun
2023-12-18 11:28:25 +08:00
parent 4e7a4eb9fb 58a35b2bfc
commit b24e2443f3
1189 changed files with 7194 additions and 1825 deletions
Download Patch File Download Diff File Expand all files Collapse all files

93
libraries/mogo-adas-data/src/main/java/com/zhjt/mogo/adas/data/bean/UnableLaunchData.java Normal file
View File

@@ -0,0 +1,93 @@
package com.zhjt.mogo.adas.data.bean;
import com.google.protobuf.GeneratedMessageV3;
import com.google.protobuf.InvalidProtocolBufferException;
import com.google.protobuf.util.JsonFormat;
import com.zhjt.mogo.adas.utils.ByteUtil;
import org.json.JSONArray;
import org.json.JSONException;
import org.json.JSONObject;
import function_state_management.FSMStatusReasonQueryOuterClass;
import system_master.SsmInfo;
import system_master.SystemStatusInfo;
/**
* 检测到不能启动自动驾驶的数据
* 此类目前主要用于启动自驾命令下发后的域控数据记录
*/
public class UnableLaunchData {
/**
* 所使用的检测版本
*/
public final String abilityVersion;
/**
* 老底盘数据
* null表示未用到此数据
* TODO 不需要底盘数据，如果底盘数据存在不能启动自驾的原因会限制启动自驾命令的下发
*/
// public final VehicleStateOuterClass.VehicleState vehicleState;
/**
* 新底盘数据
* null表示未用到此数据
* TODO 不需要底盘数据，如果底盘数据存在不能启动自驾的原因会限制启动自驾命令的下发
*/
// public final ChassisStatesOuterClass.ChassisStates chassisStates;
/**
* 老SSM数据
* null表示未用到此数据
*/
public final SystemStatusInfo.StatusInfo statusInfo;
/**
* 新SSM数据
* null表示未用到此数据
*/
public final SsmInfo.SsmStatusInf ssmInfo;
public final FSMStatusReasonQueryOuterClass.FSMStatusReasonRespond fsmStatusReasonRespond;//FSM数据
public UnableLaunchData(String abilityVersion,
SystemStatusInfo.StatusInfo statusInfo,
SsmInfo.SsmStatusInf ssmInfo,
FSMStatusReasonQueryOuterClass.FSMStatusReasonRespond fsmStatusReasonRespond) {
this.abilityVersion = abilityVersion;
this.statusInfo = statusInfo;
this.ssmInfo = ssmInfo;
this.fsmStatusReasonRespond = fsmStatusReasonRespond;
}
public String getJson() {
JSONObject jsonObject = new JSONObject();
try {
jsonObject.put("ability_version", abilityVersion);
JSONArray array = new JSONArray();
if (statusInfo != null) {
arrayPut(array, statusInfo);
}
if (ssmInfo != null) {
arrayPut(array, ssmInfo);
}
if (fsmStatusReasonRespond != null) {
arrayPut(array, fsmStatusReasonRespond);
}
if (array.length() > 0) {
jsonObject.put("data", array);
}
} catch (JSONException | InvalidProtocolBufferException e) {
e.printStackTrace();
}
return jsonObject.toString();
}
private void arrayPut(JSONArray array, GeneratedMessageV3 message) throws JSONException, InvalidProtocolBufferException {
JSONObject object = new JSONObject();
object.put("name", message.getClass().getName());
object.put("original", ByteUtil.byteArrToHex(message.toByteArray(), false));
object.put("parse", new JSONObject(JsonFormat.printer().print(message)));
array.put(object);
}
}

5
libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/common/ByteUtil.java → libraries/mogo-adas-data/src/main/java/com/zhjt/mogo/adas/utils/ByteUtil.java
View File

@@ -1,10 +1,7 @@
package com.zhidao.support.adas.high.common;
package com.zhjt.mogo.adas.utils;
import java.math.BigInteger;
import java.util.ArrayList;
import java.util.Arrays;
import java.util.List;
public class ByteUtil {
private static final String TAG = ByteUtil.class.getSimpleName();

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

@@ -23,7 +23,7 @@ import androidx.annotation.Nullable;
import com.google.protobuf.InvalidProtocolBufferException;
import com.zhidao.support.adas.high.bean.VersionCompatibility;
import com.zhidao.support.adas.high.common.AutopilotReview;
import com.zhidao.support.adas.high.common.ByteUtil;
import com.zhjt.mogo.adas.utils.ByteUtil;
import com.zhidao.support.adas.high.common.Constants;
import com.zhidao.support.adas.high.common.CupidLogUtils;
import com.zhidao.support.adas.high.common.Define;

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

@@ -10,6 +10,7 @@ import com.zhjt.mogo.adas.data.AdasConstants;
import com.zhjt.mogo.adas.data.AiCloudTask;
import com.zhjt.mogo.adas.data.bean.AdasParam;
import com.zhjt.mogo.adas.data.bean.AutopilotStatistics;
import com.zhjt.mogo.adas.data.bean.UnableLaunchData;
import com.zhjt.mogo.adas.data.bean.UnableLaunchReason;
import com.zhjt.mogo.adas.data.sweeper.bootable.SweeperBootable;
import com.zhjt.mogo.adas.data.sweeper.task.SweeperTask;
@@ -469,15 +470,16 @@ public interface OnAdasListener {
* 是否有能力启动自动驾驶
*
* @param isAutopilotAbility 是否能启动自动驾驶
* @param unableLaunchData 原始数据
* @param unableAutopilotReasons 不能启动自动驾驶原因
*/
void onAutopilotAbility(boolean isAutopilotAbility, @Nullable ArrayList<UnableLaunchReason> unableAutopilotReasons);
void onAutopilotAbility(boolean isAutopilotAbility, @NonNull UnableLaunchData unableLaunchData, @Nullable ArrayList<UnableLaunchReason> unableAutopilotReasons);
/**
* 是否有能力启动平行驾驶
*
* @param isParallelDrivingAbility 是否能启动平行驾驶
* @param isParallelDrivingAbility 是否能启动平行驾驶
*/
void onParallelDrivingAbility(boolean isParallelDrivingAbility);

6
libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/common/autopilot/ability/AutopilotAbility230.java
View File

@@ -1,7 +1,9 @@
package com.zhidao.support.adas.high.common.autopilot.ability;
import androidx.annotation.NonNull;
import androidx.annotation.Nullable;
import com.zhjt.mogo.adas.data.bean.UnableLaunchData;
import com.zhjt.mogo.adas.data.bean.UnableLaunchReason;
import java.util.ArrayList;
@@ -25,7 +27,7 @@ public class AutopilotAbility230 {
private OnAutopilotAbilityListener listener;
protected interface OnAutopilotAbilityListener {
void onAutopilotAbility(boolean isAutopilotAbility, @Nullable ArrayList<UnableLaunchReason> unableAutopilotReasons);
void onAutopilotAbility(boolean isAutopilotAbility, @NonNull UnableLaunchData unableLaunchData, @Nullable ArrayList<UnableLaunchReason> unableAutopilotReasons);
}
protected AutopilotAbility230() {
@@ -68,7 +70,7 @@ public class AutopilotAbility230 {
}
if (listener != null) {
listener.onAutopilotAbility(isAutopilotAbility, unableAutopilotReasons);
listener.onAutopilotAbility(isAutopilotAbility, new UnableLaunchData(this.getClass().getSimpleName(), null, null, null), unableAutopilotReasons);
}
}

6
libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/common/autopilot/ability/AutopilotAbility250.java
View File

@@ -1,9 +1,11 @@
package com.zhidao.support.adas.high.common.autopilot.ability;
import androidx.annotation.NonNull;
import androidx.annotation.Nullable;
import com.zhidao.support.adas.high.AdasManager;
import com.zhidao.support.adas.high.common.CupidLogUtils;
import com.zhjt.mogo.adas.data.bean.UnableLaunchData;
import com.zhjt.mogo.adas.data.bean.UnableLaunchReason;
import java.util.ArrayList;
@@ -36,7 +38,7 @@ public class AutopilotAbility250 {
private OnAutopilotAbilityListener listener;
protected interface OnAutopilotAbilityListener {
void onAutopilotAbility(boolean isAutopilotAbility, @Nullable ArrayList<UnableLaunchReason> unableAutopilotReasons);
void onAutopilotAbility(boolean isAutopilotAbility, @NonNull UnableLaunchData unableLaunchData, @Nullable ArrayList<UnableLaunchReason> unableAutopilotReasons);
void onStatusQuery();
@@ -171,7 +173,7 @@ public class AutopilotAbility250 {
}
}
if (listener != null) {
listener.onAutopilotAbility(isAutopilotAbility, unableAutopilotReasons);
listener.onAutopilotAbility(isAutopilotAbility, new UnableLaunchData(this.getClass().getSimpleName(), statusInfo, null, null), unableAutopilotReasons);
}
}

6
libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/common/autopilot/ability/AutopilotAbility330.java
View File

@@ -2,10 +2,12 @@ package com.zhidao.support.adas.high.common.autopilot.ability;
import android.text.TextUtils;
import androidx.annotation.NonNull;
import androidx.annotation.Nullable;
import com.zhidao.support.adas.high.AdasManager;
import com.zhidao.support.adas.high.common.CupidLogUtils;
import com.zhjt.mogo.adas.data.bean.UnableLaunchData;
import com.zhjt.mogo.adas.data.bean.UnableLaunchReason;
import java.util.ArrayList;
@@ -34,7 +36,7 @@ public class AutopilotAbility330 {
private OnAutopilotAbilityListener listener;
protected interface OnAutopilotAbilityListener {
void onAutopilotAbility(boolean isAutopilotAbility, @Nullable ArrayList<UnableLaunchReason> unableAutopilotReasons);
void onAutopilotAbility(boolean isAutopilotAbility, @NonNull UnableLaunchData unableLaunchData, @Nullable ArrayList<UnableLaunchReason> unableAutopilotReasons);
void onStatusQuery();
@@ -147,7 +149,7 @@ public class AutopilotAbility330 {
}
}
if (listener != null) {
listener.onAutopilotAbility(isAutopilotAbility, unableAutopilotReasons);
listener.onAutopilotAbility(isAutopilotAbility, new UnableLaunchData(this.getClass().getSimpleName(), statusInfo, null, null), unableAutopilotReasons);
}
}

6
libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/common/autopilot/ability/AutopilotAbility350And360.java
View File

@@ -1,9 +1,11 @@
package com.zhidao.support.adas.high.common.autopilot.ability;
import androidx.annotation.NonNull;
import androidx.annotation.Nullable;
import com.zhidao.support.adas.high.AdasManager;
import com.zhidao.support.adas.high.common.CupidLogUtils;
import com.zhjt.mogo.adas.data.bean.UnableLaunchData;
import com.zhjt.mogo.adas.data.bean.UnableLaunchReason;
import java.util.ArrayList;
@@ -31,7 +33,7 @@ public class AutopilotAbility350And360 {
private OnAutopilotAbilityListener listener;
protected interface OnAutopilotAbilityListener {
void onAutopilotAbility(boolean isAutopilotAbility, @Nullable ArrayList<UnableLaunchReason> unableAutopilotReasons);
void onAutopilotAbility(boolean isAutopilotAbility, @NonNull UnableLaunchData unableLaunchData, @Nullable ArrayList<UnableLaunchReason> unableAutopilotReasons);
}
@@ -146,7 +148,7 @@ public class AutopilotAbility350And360 {
}
}
if (listener != null) {
listener.onAutopilotAbility(isAutopilotAbility, unableAutopilotReasons);
listener.onAutopilotAbility(isAutopilotAbility, new UnableLaunchData(this.getClass().getSimpleName(), null, statusInfo, null), unableAutopilotReasons);
}
}

6
libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/common/autopilot/ability/AutopilotAbility360.java
View File

@@ -2,10 +2,12 @@ package com.zhidao.support.adas.high.common.autopilot.ability;
import android.text.TextUtils;
import androidx.annotation.NonNull;
import androidx.annotation.Nullable;
import com.zhidao.support.adas.high.AdasManager;
import com.zhidao.support.adas.high.common.CupidLogUtils;
import com.zhjt.mogo.adas.data.bean.UnableLaunchData;
import com.zhjt.mogo.adas.data.bean.UnableLaunchReason;
import java.util.ArrayList;
@@ -27,7 +29,7 @@ public class AutopilotAbility360 {
private OnAutopilotAbilityListener listener;
protected interface OnAutopilotAbilityListener {
void onAutopilotAbility(boolean isAutopilotAbility, @Nullable ArrayList<UnableLaunchReason> unableAutopilotReasons);
void onAutopilotAbility(boolean isAutopilotAbility, @NonNull UnableLaunchData unableLaunchData, @Nullable ArrayList<UnableLaunchReason> unableAutopilotReasons);
}
@@ -119,7 +121,7 @@ public class AutopilotAbility360 {
}
}
if (listener != null) {
listener.onAutopilotAbility(isAutopilotAbility, unableAutopilotReasons);
listener.onAutopilotAbility(isAutopilotAbility, new UnableLaunchData(this.getClass().getSimpleName(), null, statusInfo, fsmStatusReasonRespond), unableAutopilotReasons);
}
}

6
libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/common/autopilot/ability/AutopilotAbilityManager.java
View File

@@ -4,12 +4,14 @@ import android.os.Handler;
import android.os.Message;
import android.util.Log;
import androidx.annotation.NonNull;
import androidx.annotation.Nullable;
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 com.zhjt.mogo.adas.data.bean.UnableLaunchData;
import com.zhjt.mogo.adas.data.bean.UnableLaunchReason;
import java.util.ArrayList;
@@ -151,9 +153,9 @@ public class AutopilotAbilityManager implements AutopilotAbility230.OnAutopilotA
}
@Override
public void onAutopilotAbility(boolean isAutopilotAbility, @Nullable ArrayList<UnableLaunchReason> unableAutopilotReasons) {
public void onAutopilotAbility(boolean isAutopilotAbility, @NonNull UnableLaunchData unableLaunchData, @Nullable ArrayList<UnableLaunchReason> unableAutopilotReasons) {
if (listener != null) {
listener.onAutopilotAbility(isAutopilotAbility, unableAutopilotReasons);
listener.onAutopilotAbility(isAutopilotAbility, unableLaunchData, unableAutopilotReasons);
}
}

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

@@ -6,7 +6,7 @@ import com.google.protobuf.ByteString;
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.ByteUtil;
import com.zhjt.mogo.adas.utils.ByteUtil;
import com.zhidao.support.adas.high.common.CupidLogUtils;
import com.zhidao.support.adas.high.protocol.RawData;
import com.zhjt.mogo.adas.data.AiCloudTask;

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

@@ -1,6 +1,6 @@
package com.zhidao.support.adas.high.protocol;
import com.zhidao.support.adas.high.common.ByteUtil;
import com.zhjt.mogo.adas.utils.ByteUtil;
import com.zhidao.support.adas.high.common.ProtocolStatus;
import mogo.telematics.pad.MessagePad;

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

@@ -1,6 +1,6 @@
package com.zhidao.support.adas.high.protocol;
import com.zhidao.support.adas.high.common.ByteUtil;
import com.zhjt.mogo.adas.utils.ByteUtil;
import com.zhidao.support.adas.high.common.Constants;
import java.util.concurrent.atomic.AtomicLong;

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

@@ -1,6 +1,6 @@
package com.zhidao.support.adas.high.protocol;
import com.zhidao.support.adas.high.common.ByteUtil;
import com.zhjt.mogo.adas.utils.ByteUtil;
import com.zhidao.support.adas.high.common.Constants;
import com.zhidao.support.adas.high.common.ProtocolStatus;

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

@@ -15,7 +15,7 @@ import androidx.annotation.NonNull;
import com.google.protobuf.InvalidProtocolBufferException;
import com.zhidao.support.adas.high.AdasChannel;
import com.zhidao.support.adas.high.common.ByteUtil;
import com.zhjt.mogo.adas.utils.ByteUtil;
import com.zhidao.support.adas.high.common.CupidLogUtils;
import com.zhidao.support.adas.high.common.ReceiveTimeoutManager;
import com.zhidao.support.adas.high.common.ReconnectManager;