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[6.0.0][adas-data][data-centre]能否启动自驾接口修改，加入消息来源字段，以及修改为多条消息同时上报；鹰眼数据中心中修改为事件触发式回调，以及融合域控连接状态原因等；加入主动获取当前状态接口；

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This commit is contained in:
x8-phoenix
2023-08-04 16:59:15 +08:00
parent 4280050294
commit c69a3fe16f
14 changed files with 374 additions and 196 deletions
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51
libraries/mogo-adas-data/src/main/java/com/zhjt/mogo/adas/data/bean/UnableAutopilotReason.java Normal file
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@@ -0,0 +1,51 @@
package com.zhjt.mogo.adas.data.bean;
import android.text.TextUtils;
import java.util.Objects;
/**
* 自动驾驶能力 能否启动自动驾驶
*/
public class UnableAutopilotReason {
public enum SourceType {
LIB,//ADAS庫
CHASSIS,//底盤
SSM,
FSM,
}
/**
* 來源
*/
public final SourceType source;
/**
* 具體原因
*/
public final String unableAutopilotReason;
public UnableAutopilotReason(SourceType source, String unableAutopilotReason) {
this.source = source;
this.unableAutopilotReason = unableAutopilotReason;
}
@Override
public boolean equals(Object o) {
if (this == o) return true;
if (o == null || getClass() != o.getClass()) return false;
UnableAutopilotReason that = (UnableAutopilotReason) o;
return source == that.source && TextUtils.equals(unableAutopilotReason, that.unableAutopilotReason);
}
@Override
public int hashCode() {
return Objects.hash(source, unableAutopilotReason);
}
@Override
public String toString() {
return "{原因：" + unableAutopilotReason + " 来源：" + source + "}";
}
}

15
libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/OnAdasListener.java
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@@ -4,12 +4,12 @@ import androidx.annotation.NonNull;
import androidx.annotation.Nullable;
import com.mogo.support.obu.ObuScene;
import com.zhjt.mogo.adas.data.AdasConstants;
import com.zhidao.support.adas.high.common.MessageType;
import com.zhidao.support.adas.high.common.ProtocolStatus;
import com.zhjt.mogo.adas.data.AdasConstants;
import com.zhjt.mogo.adas.data.bean.AdasParam;
import com.zhjt.mogo.adas.data.bean.AutopilotStatistics;
import com.zhjt.mogo.adas.data.bean.UnableAutopilotReason;
import com.zhjt.mogo.adas.data.sweeper.SweeperCloudTask;
import com.zhjt.mogo.adas.data.sweeper.bootable.SweeperBootable;
import com.zhjt.mogo.adas.data.sweeper.task.SweeperTask;
@@ -19,6 +19,9 @@ import com.zhjt.mogo.adas.data.sweeper.task.confirm.SweeperTaskConfirm;
import com.zhjt.mogo.adas.data.sweeper.task.status.SweeperTaskStatus;
import com.zhjt.mogo.adas.data.sweeper.task.stop.SweeperTaskStop;
import java.util.ArrayList;
import java.util.List;
import bag_manager.BagManagerOuterClass;
import chassis.ChassisStatesOuterClass;
import chassis.VehicleStateOuterClass;
@@ -263,6 +266,7 @@ public interface OnAdasListener {
/**
* 后部摄像头视频 10Hz
* 目前用于清扫车后摄像头和Taxi右右后摄像头
*
* @param header 头
* @param data 数据
*/
@@ -418,10 +422,11 @@ 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 unableAutopilotReason 不能启动自动驾驶原因
* @param isAutopilotAbility 是否能启动自动驾驶
* @param unableAutopilotReasons 不能启动自动驾驶原因
*/
void onAutopilotAbility(boolean isAutopilotAbility, String unableAutopilotReason);
void onAutopilotAbility(boolean isAutopilotAbility, @Nullable ArrayList<UnableAutopilotReason> unableAutopilotReasons);
/**
* 启动自动驾驶失败回调

47
libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/common/autopilot/ability/AutopilotAbility230.java
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@@ -1,5 +1,11 @@
package com.zhidao.support.adas.high.common.autopilot.ability;
import androidx.annotation.Nullable;
import com.zhjt.mogo.adas.data.bean.UnableAutopilotReason;
import java.util.ArrayList;
import java.util.List;
import java.util.Timer;
import java.util.TimerTask;
@@ -15,37 +21,40 @@ import chassis.ChassisStatesOuterClass;
*/
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;
private OnAutopilotAbilityListener listener;
public AutopilotAbility230() {
protected interface OnAutopilotAbilityListener {
void onAutopilotAbility(boolean isAutopilotAbility, @Nullable ArrayList<UnableAutopilotReason> unableAutopilotReasons);
}
protected AutopilotAbility230() {
}
public void setChassisStates(ChassisStatesOuterClass.ChassisStates chassisStates) {
protected void setChassisStates(ChassisStatesOuterClass.ChassisStates chassisStates) {
this.chassisStates = chassisStates;
}
private void onCallback() {
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
ArrayList<UnableAutopilotReason> unableAutopilotReasons = 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";
unableAutopilotReasons = AutopilotAbilityManager.getInstance().addUnableAutopilotReason(unableAutopilotReasons, UnableAutopilotReason.SourceType.CHASSIS, "制动踏板被踩下");
}
}
if (isAutopilotAbility) {
if (chassisStates.hasGearSystemStates()) {
Chassis.GearPosition gear = chassisStates.getGearSystemStates().getGearPosition();
if (!AutopilotAbilityManager.getInstance().isLaunchAutopilot(gear)) {
isAutopilotAbility = false;
unableAutopilotReason = "档位不正常";
}
if (chassisStates.hasGearSystemStates()) {
Chassis.GearPosition gear = chassisStates.getGearSystemStates().getGearPosition();
if (!AutopilotAbilityManager.getInstance().isLaunchAutopilot(gear)) {
isAutopilotAbility = false;
unableAutopilotReasons = AutopilotAbilityManager.getInstance().addUnableAutopilotReason(unableAutopilotReasons, UnableAutopilotReason.SourceType.CHASSIS, "当前档位无法启动自驾");
}
}
//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
@@ -59,10 +68,13 @@ public class AutopilotAbility230 {
// }
// }
}
AutopilotAbilityManager.getInstance().onAutopilotAbility(isAutopilotAbility, unableAutopilotReason);
if (listener != null) {
listener.onAutopilotAbility(isAutopilotAbility, unableAutopilotReasons);
}
}
public synchronized void start() {
protected synchronized void start(OnAutopilotAbilityListener listener) {
this.listener = listener;
if (timer == null) {
timer = new Timer();
timer.schedule(new TimerTask() {
@@ -70,17 +82,16 @@ public class AutopilotAbility230 {
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
}, 2000L, AutopilotAbilityManager.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() {
protected synchronized void stop() {
if (timer != null) {
timer.cancel();
timer = null;
}
this.chassisStates = null;
this.listener = null;
}
}

101
libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/common/autopilot/ability/AutopilotAbility250.java
View File

@@ -1,10 +1,12 @@
package com.zhidao.support.adas.high.common.autopilot.ability;
import android.os.Message;
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.UnableAutopilotReason;
import java.util.ArrayList;
import java.util.List;
import java.util.Timer;
import java.util.TimerTask;
@@ -22,36 +24,42 @@ import system_master.SystemStatusInfo;
*/
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 volatile Timer timer;
private ChassisStatesOuterClass.ChassisStates chassisStates;
private int mapVersion = -1;//MAP版本
private int masterVersion = -1;//Master版本
private OnAutopilotAbilityListener listener;
public AutopilotAbility250(int mapVersion) {
protected interface OnAutopilotAbilityListener {
void onAutopilotAbility(boolean isAutopilotAbility, @Nullable ArrayList<UnableAutopilotReason> unableAutopilotReasons);
void onStatusQuery();
void onSendTimeoutMessages();
void onRemoveTimeoutMessages();
}
protected AutopilotAbility250(int mapVersion) {
this.mapVersion = mapVersion;
this.masterVersion = -1;
}
public void setStatusInfo(SystemStatusInfo.StatusInfo statusInfo) {
if (AutopilotAbilityManager.getInstance().getHandler() != null) {
if (AutopilotAbilityManager.getInstance().getHandler().hasMessages(WHAT_TIMEOUT))
AutopilotAbilityManager.getInstance().getHandler().removeMessages(WHAT_TIMEOUT);
protected void setStatusInfo(SystemStatusInfo.StatusInfo statusInfo) {
if (listener != null) {
listener.onRemoveTimeoutMessages();
}
onCallback(statusInfo);
}
public void setChassisStates(ChassisStatesOuterClass.ChassisStates chassisStates) {
protected void setChassisStates(ChassisStatesOuterClass.ChassisStates chassisStates) {
this.chassisStates = chassisStates;
}
private void onCallback(SystemStatusInfo.StatusInfo statusInfo) {
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
ArrayList<UnableAutopilotReason> unableAutopilotReasons = null;//不能启动自动驾驶原因
//检测节点状态相关
if (statusInfo != null) {
if (masterVersion == -1 && statusInfo.hasMasterVersion()) {
@@ -63,7 +71,7 @@ public class AutopilotAbility250 {
if (mapVersion >= 30400 && masterVersion > 2 && statusInfo.hasAutoPilotReady() && statusInfo.hasAutoPilotUnreadyReason()) {
isAutopilotAbility = statusInfo.getAutoPilotReady();
if (!isAutopilotAbility) {
unableAutopilotReason = statusInfo.getAutoPilotUnreadyReason();
unableAutopilotReasons = AutopilotAbilityManager.getInstance().addUnableAutopilotReason(unableAutopilotReasons, UnableAutopilotReason.SourceType.SSM, statusInfo.getAutoPilotUnreadyReason());
}
} else if (mapVersion >= 21000 && masterVersion > 1 && statusInfo.hasAutoPilotReady()) {//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
isAutopilotAbility = statusInfo.getAutoPilotReady();
@@ -75,15 +83,16 @@ public class AutopilotAbility250 {
for (SystemStatusInfo.NodeInfo info : list) {
builder.append(info.getNodeName());
int state = info.getState();
if (state < NODE_INFO_STATE.length) {
builder.append(NODE_INFO_STATE[state]);
if (state < AutopilotAbilityManager.NODE_INFO_STATE.length) {
builder.append(AutopilotAbilityManager.NODE_INFO_STATE[state]);
} else {
builder.append("未知异常 ");
}
unableAutopilotReasons = AutopilotAbilityManager.getInstance().addUnableAutopilotReason(unableAutopilotReasons, UnableAutopilotReason.SourceType.SSM, builder.toString());
builder.setLength(0);
}
unableAutopilotReason = builder.toString();
} else {
unableAutopilotReason = "未知异常节点";
unableAutopilotReasons = AutopilotAbilityManager.getInstance().addUnableAutopilotReason(unableAutopilotReasons, UnableAutopilotReason.SourceType.SSM, "未知异常节点");
}
}
} else {
@@ -91,6 +100,7 @@ public class AutopilotAbility250 {
// 目前已知可以下发启动自驾命令的状态： SystemState.SYS_RUNNING、SystemState.PILOT_READY、SystemState.AUTO_PILOT_STARTING、SystemState.AUTO_PILOT_RUNNING
if (systemState != SystemStatusInfo.SystemState.SYS_RUNNING && systemState != SystemStatusInfo.SystemState.PILOT_READY) {
isAutopilotAbility = false;
String unableAutopilotReason = null;
if (systemState == SystemStatusInfo.SystemState.SYS_STARTING) {
unableAutopilotReason = "系统正在启动";
} else if (systemState == SystemStatusInfo.SystemState.SYS_EXITING) {
@@ -112,30 +122,29 @@ public class AutopilotAbility250 {
} else {
unableAutopilotReason = "未知系统状态";
}
if (!isAutopilotAbility) {
unableAutopilotReasons = AutopilotAbilityManager.getInstance().addUnableAutopilotReason(unableAutopilotReasons, UnableAutopilotReason.SourceType.SSM, unableAutopilotReason);
}
}
}
} else {
isAutopilotAbility = false;//是否能启动自动驾驶
unableAutopilotReason = "SSM状态查询超时无响应";//不能启动自动驾驶原因
unableAutopilotReasons = AutopilotAbilityManager.getInstance().addUnableAutopilotReason(unableAutopilotReasons, UnableAutopilotReason.SourceType.LIB, "SSM状态查询超时无响应");
}
//检测底盘相关
if (chassisStates != null) {
if (isAutopilotAbility) {
if (chassisStates.hasBrakeSystemStates()) {
float brake = chassisStates.getBrakeSystemStates().getBrakePedalResponsePosition();
if (brake > 0) {
isAutopilotAbility = false;
unableAutopilotReason = "制动踏板被踩下";
}
if (chassisStates.hasBrakeSystemStates()) {
float brake = chassisStates.getBrakeSystemStates().getBrakePedalResponsePosition();
if (brake > 0) {
isAutopilotAbility = false;
unableAutopilotReasons = AutopilotAbilityManager.getInstance().addUnableAutopilotReason(unableAutopilotReasons, UnableAutopilotReason.SourceType.CHASSIS, "制动踏板被踩下");
}
}
if (isAutopilotAbility) {
if (chassisStates.hasGearSystemStates()) {
Chassis.GearPosition gear = chassisStates.getGearSystemStates().getGearPosition();
if (!AutopilotAbilityManager.getInstance().isLaunchAutopilot(gear)) {
isAutopilotAbility = false;
unableAutopilotReason = "档位不正常";
}
if (chassisStates.hasGearSystemStates()) {
Chassis.GearPosition gear = chassisStates.getGearSystemStates().getGearPosition();
if (!AutopilotAbilityManager.getInstance().isLaunchAutopilot(gear)) {
isAutopilotAbility = false;
unableAutopilotReasons = AutopilotAbilityManager.getInstance().addUnableAutopilotReason(unableAutopilotReasons, UnableAutopilotReason.SourceType.CHASSIS, "当前档位无法启动自驾");
}
}
//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
@@ -149,43 +158,43 @@ public class AutopilotAbility250 {
// }
// }
}
AutopilotAbilityManager.getInstance().onAutopilotAbility(isAutopilotAbility, unableAutopilotReason);
if (listener != null) {
listener.onAutopilotAbility(isAutopilotAbility, unableAutopilotReasons);
}
}
public synchronized void start() {
protected synchronized void start(OnAutopilotAbilityListener listener) {
this.listener = listener;
if (timer == null) {
timer = new Timer();
timer.schedule(new TimerTask() {
@Override
public void run() {
if (AutopilotAbilityManager.getInstance().getOnAutopilotAbilityListener() != null) {
AutopilotAbilityManager.getInstance().getOnAutopilotAbilityListener().onStatusQuery();
if (listener != null) {
listener.onStatusQuery();
}
AdasManager.getInstance().sendStatusQueryReq();
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);
if (listener != null) {
listener.onSendTimeoutMessages();
}
}
}, 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
}, 2000L, AutopilotAbilityManager.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() {
protected synchronized void stop() {
if (timer != null) {
timer.cancel();
timer = null;
}
this.chassisStates = null;
this.masterVersion = -1;
this.listener = null;
}
public void onHandleMessage(Message msg) {
if (msg.what == WHAT_TIMEOUT) {
onCallback(null);
}
protected void onCallTimeout() {
onCallback(null);
}

95
libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/common/autopilot/ability/AutopilotAbility330.java
View File

@@ -1,10 +1,14 @@
package com.zhidao.support.adas.high.common.autopilot.ability;
import android.os.Message;
import android.text.TextUtils;
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.UnableAutopilotReason;
import java.util.ArrayList;
import java.util.List;
import java.util.Timer;
import java.util.TimerTask;
@@ -22,29 +26,35 @@ import system_master.SystemStatusInfo;
*/
public class AutopilotAbility330 {
private static final String TAG = AutopilotAbility330.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 volatile Timer timer;
private volatile FSMStatusReasonQueryOuterClass.FSMStatusReasonRespond fsmStatusReasonRespond;//自动驾驶状态为OFF的原因
private int mapVersion = -1;//MAP版本
private int masterVersion = -1;//Master版本
private OnAutopilotAbilityListener listener;
public AutopilotAbility330(int mapVersion) {
protected interface OnAutopilotAbilityListener {
void onAutopilotAbility(boolean isAutopilotAbility, @Nullable ArrayList<UnableAutopilotReason> unableAutopilotReasons);
void onStatusQuery();
void onSendTimeoutMessages();
void onRemoveTimeoutMessages();
}
protected AutopilotAbility330(int mapVersion) {
this.mapVersion = mapVersion;
this.masterVersion = -1;
}
public synchronized void setFsmStatusReasonRespond(FSMStatusReasonQueryOuterClass.FSMStatusReasonRespond fsmStatusReasonRespond) {
protected synchronized void setFsmStatusReasonRespond(FSMStatusReasonQueryOuterClass.FSMStatusReasonRespond fsmStatusReasonRespond) {
this.fsmStatusReasonRespond = fsmStatusReasonRespond;
}
public void setStatusInfo(SystemStatusInfo.StatusInfo statusInfo) {
if (AutopilotAbilityManager.getInstance().getHandler() != null) {
if (AutopilotAbilityManager.getInstance().getHandler().hasMessages(WHAT_TIMEOUT))
AutopilotAbilityManager.getInstance().getHandler().removeMessages(WHAT_TIMEOUT);
protected void setStatusInfo(SystemStatusInfo.StatusInfo statusInfo) {
if (listener != null) {
listener.onRemoveTimeoutMessages();
}
onCallback(statusInfo);
}
@@ -52,7 +62,7 @@ public class AutopilotAbility330 {
private void onCallback(SystemStatusInfo.StatusInfo statusInfo) {
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
ArrayList<UnableAutopilotReason> unableAutopilotReasons = null;//不能启动自动驾驶原因
//检测节点状态相关
if (statusInfo != null) {
if (masterVersion == -1 && statusInfo.hasMasterVersion()) {
@@ -64,7 +74,7 @@ public class AutopilotAbility330 {
if (mapVersion >= 30400 && masterVersion > 2 && statusInfo.hasAutoPilotReady() && statusInfo.hasAutoPilotUnreadyReason()) {
isAutopilotAbility = statusInfo.getAutoPilotReady();
if (!isAutopilotAbility) {
unableAutopilotReason = statusInfo.getAutoPilotUnreadyReason();
unableAutopilotReasons = AutopilotAbilityManager.getInstance().addUnableAutopilotReason(unableAutopilotReasons, UnableAutopilotReason.SourceType.SSM, statusInfo.getAutoPilotUnreadyReason());
}
} else if (mapVersion >= 21000 && masterVersion > 1 && statusInfo.hasAutoPilotReady()) {//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
isAutopilotAbility = statusInfo.getAutoPilotReady();
@@ -76,15 +86,16 @@ public class AutopilotAbility330 {
for (SystemStatusInfo.NodeInfo info : list) {
builder.append(info.getNodeName());
int state = info.getState();
if (state < NODE_INFO_STATE.length) {
builder.append(NODE_INFO_STATE[state]);
if (state < AutopilotAbilityManager.NODE_INFO_STATE.length) {
builder.append(AutopilotAbilityManager.NODE_INFO_STATE[state]);
} else {
builder.append("未知异常 ");
}
unableAutopilotReasons = AutopilotAbilityManager.getInstance().addUnableAutopilotReason(unableAutopilotReasons, UnableAutopilotReason.SourceType.SSM, builder.toString());
builder.setLength(0);
}
unableAutopilotReason = builder.toString();
} else {
unableAutopilotReason = "未知异常节点";
unableAutopilotReasons = AutopilotAbilityManager.getInstance().addUnableAutopilotReason(unableAutopilotReasons, UnableAutopilotReason.SourceType.SSM, "未知异常节点");
}
}
} else {
@@ -92,6 +103,7 @@ public class AutopilotAbility330 {
// 目前已知可以下发启动自驾命令的状态： SystemState.SYS_RUNNING、SystemState.PILOT_READY、SystemState.AUTO_PILOT_STARTING、SystemState.AUTO_PILOT_RUNNING
if (systemState != SystemStatusInfo.SystemState.SYS_RUNNING && systemState != SystemStatusInfo.SystemState.PILOT_READY) {
isAutopilotAbility = false;
String unableAutopilotReason = null;
if (systemState == SystemStatusInfo.SystemState.SYS_STARTING) {
unableAutopilotReason = "系统正在启动";
} else if (systemState == SystemStatusInfo.SystemState.SYS_EXITING) {
@@ -113,67 +125,68 @@ public class AutopilotAbility330 {
} else {
unableAutopilotReason = "未知系统状态";
}
if (!isAutopilotAbility) {
unableAutopilotReasons = AutopilotAbilityManager.getInstance().addUnableAutopilotReason(unableAutopilotReasons, UnableAutopilotReason.SourceType.SSM, unableAutopilotReason);
}
}
}
} else {
isAutopilotAbility = false;//是否能启动自动驾驶
unableAutopilotReason = "SSM状态查询超时无响应";//不能启动自动驾驶原因
unableAutopilotReasons = AutopilotAbilityManager.getInstance().addUnableAutopilotReason(unableAutopilotReasons, UnableAutopilotReason.SourceType.LIB, "SSM状态查询超时无响应");
}
if (isAutopilotAbility) {
if (fsmStatusReasonRespond != null) {
int count = fsmStatusReasonRespond.getFsmStatusReasonRespondCount();
StringBuilder builder = null;
if (count > 0) {
builder = new StringBuilder();
isAutopilotAbility = false;
for (int i = 0; i < count; i++) {
String respond = fsmStatusReasonRespond.getFsmStatusReasonRespond(i);
builder.append(respond).append(' ');
if (!TextUtils.isEmpty(respond)) {
unableAutopilotReasons = AutopilotAbilityManager.getInstance().addUnableAutopilotReason(unableAutopilotReasons, UnableAutopilotReason.SourceType.FSM, respond);
}
}
if (unableAutopilotReasons == null || unableAutopilotReasons.isEmpty()) {
unableAutopilotReasons = AutopilotAbilityManager.getInstance().addUnableAutopilotReason(unableAutopilotReasons, UnableAutopilotReason.SourceType.LIB, "FSM未给出原因");
}
}
if (builder != null) {
isAutopilotAbility = false;
builder.deleteCharAt(builder.length() - 1);//删除末尾
unableAutopilotReason = builder.toString();
}
}
}
AutopilotAbilityManager.getInstance().onAutopilotAbility(isAutopilotAbility, unableAutopilotReason);
if (listener != null) {
listener.onAutopilotAbility(isAutopilotAbility, unableAutopilotReasons);
}
}
public synchronized void start() {
protected synchronized void start(OnAutopilotAbilityListener listener) {
this.listener = listener;
if (timer == null) {
timer = new Timer();
timer.schedule(new TimerTask() {
@Override
public void run() {
if (AutopilotAbilityManager.getInstance().getOnAutopilotAbilityListener() != null) {
AutopilotAbilityManager.getInstance().getOnAutopilotAbilityListener().onStatusQuery();
if (listener != null) {
listener.onStatusQuery();
}
AdasManager.getInstance().sendStatusQueryReq();
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);
if (listener != null) {
listener.onSendTimeoutMessages();
}
}
}, 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
}, 2000L, AutopilotAbilityManager.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() {
protected synchronized void stop() {
if (timer != null) {
timer.cancel();
timer = null;
}
this.masterVersion = -1;
this.listener = null;
}
public void onHandleMessage(Message msg) {
if (msg.what == WHAT_TIMEOUT) {
onCallback(null);
}
protected void onCallTimeout() {
onCallback(null);
}
}

77
libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/common/autopilot/ability/AutopilotAbilityManager.java
View File

@@ -3,11 +3,16 @@ package com.zhidao.support.adas.high.common.autopilot.ability;
import android.os.Handler;
import android.os.Message;
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.UnableAutopilotReason;
import java.util.ArrayList;
import java.util.List;
import java.util.Set;
import java.util.Timer;
import java.util.TimerTask;
@@ -25,8 +30,12 @@ import system_master.SystemStatusInfo;
* <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 {
public class AutopilotAbilityManager implements AutopilotAbility230.OnAutopilotAbilityListener, AutopilotAbility250.OnAutopilotAbilityListener, AutopilotAbility330.OnAutopilotAbilityListener {
private static final String TAG = AutopilotAbilityManager.class.getSimpleName();
protected static final int WHAT_TIMEOUT = 0;
protected static final int DEFAULT_TIMEOUT = 2500;
protected static final long DEFAULT_DETECTION_TIME = 3 * 1000L;//默认检测周期
protected 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 Handler handler;
@@ -79,6 +88,22 @@ public class AutopilotAbilityManager {
return true;
}
/**
* 添加不能启动自驾的原因
*
* @param unableAutopilotReasons 原因列表
* @param source 来源
* @param unableAutopilotReason 云隐
* @return 原因列表
*/
protected ArrayList<UnableAutopilotReason> addUnableAutopilotReason(ArrayList<UnableAutopilotReason> unableAutopilotReasons, UnableAutopilotReason.SourceType source, String unableAutopilotReason) {
if (unableAutopilotReasons == null) {
unableAutopilotReasons = new ArrayList<>();
}
unableAutopilotReasons.add(new UnableAutopilotReason(source, unableAutopilotReason));
return unableAutopilotReasons;
}
public void setCarConfig(MessagePad.CarConfigResp carConfig) {
mapVersion = carConfig.getMapVersion();
isFutianSweeper = carConfig.getIsFutianSweeper();
@@ -93,9 +118,33 @@ public class AutopilotAbilityManager {
this.listener = listener;
}
public void onAutopilotAbility(boolean isAutopilotAbility, String unableAutopilotReason) {
@Override
public void onAutopilotAbility(boolean isAutopilotAbility, @Nullable ArrayList<UnableAutopilotReason> unableAutopilotReasons) {
if (listener != null) {
listener.onAutopilotAbility(isAutopilotAbility, unableAutopilotReason);
listener.onAutopilotAbility(isAutopilotAbility, unableAutopilotReasons);
}
}
@Override
public void onStatusQuery() {
if (onAutopilotAbilityListener != null) {
onAutopilotAbilityListener.onStatusQuery();
}
}
@Override
public void onSendTimeoutMessages() {
onRemoveTimeoutMessages();
if (handler != null) {
handler.sendEmptyMessageDelayed(WHAT_TIMEOUT, DEFAULT_TIMEOUT);
}
}
@Override
public void onRemoveTimeoutMessages() {
if (handler != null) {
if (handler.hasMessages(WHAT_TIMEOUT))
handler.removeMessages(WHAT_TIMEOUT);
}
}
@@ -103,18 +152,11 @@ public class AutopilotAbilityManager {
this.handler = handler;
}
public Handler getHandler() {
return handler;
}
public void setOnAutopilotAbilityListener(OnAutopilotAbilityListener onAutopilotAbilityListener) {
this.onAutopilotAbilityListener = onAutopilotAbilityListener;
}
public OnAutopilotAbilityListener getOnAutopilotAbilityListener() {
return onAutopilotAbilityListener;
}
/**
* SSM状态更新
@@ -156,8 +198,13 @@ public class AutopilotAbilityManager {
}
public void onHandleMessage(Message msg) {
if (autopilotAbility250 != null) {
autopilotAbility250.onHandleMessage(msg);
if (msg.what == WHAT_TIMEOUT) {
if (autopilotAbility250 != null) {
autopilotAbility250.onCallTimeout();
}
if (autopilotAbility330 != null) {
autopilotAbility330.onCallTimeout();
}
}
}
@@ -169,7 +216,7 @@ public class AutopilotAbilityManager {
stop250();
if (autopilotAbility330 == null) {
autopilotAbility330 = new AutopilotAbility330(mapVersion);
autopilotAbility330.start();
autopilotAbility330.start(this);
}
} else if (mapVersion >= 20500) {
CupidLogUtils.i(TAG, "是否可以启动自动驾驶能力检测使用250版本");
@@ -177,7 +224,7 @@ public class AutopilotAbilityManager {
stop330();
if (autopilotAbility250 == null) {
autopilotAbility250 = new AutopilotAbility250(mapVersion);
autopilotAbility250.start();
autopilotAbility250.start(this);
}
} else {
CupidLogUtils.i(TAG, "是否可以启动自动驾驶能力检测使用230版本");
@@ -185,7 +232,7 @@ public class AutopilotAbilityManager {
stop330();
if (autopilotAbility230 == null) {
autopilotAbility230 = new AutopilotAbility230();
autopilotAbility230.start();
autopilotAbility230.start(this);
}
}