diff --git a/app_ipc_monitoring/src/main/java/com/zhidao/adas/client/ui/mian/MainActivity.java b/app_ipc_monitoring/src/main/java/com/zhidao/adas/client/ui/mian/MainActivity.java index bd9757089d..4e892ccc80 100644 --- a/app_ipc_monitoring/src/main/java/com/zhidao/adas/client/ui/mian/MainActivity.java +++ b/app_ipc_monitoring/src/main/java/com/zhidao/adas/client/ui/mian/MainActivity.java @@ -793,7 +793,7 @@ public class MainActivity extends AppCompatActivity implements OnAdasListener, O protected void onDestroy() { super.onDestroy(); AdasManager.getInstance().setOnAdasListener(null); - AdasManager.getInstance().destory(); + AdasManager.getInstance().disconnect(); if (mExecutorServiceConfigTimer != null) { mExecutorServiceConfigTimer.shutdownNow(); } diff --git a/libraries/mogo-adas/README.md b/libraries/mogo-adas/README.md index d8f81fc2da..6289055e1e 100644 --- a/libraries/mogo-adas/README.md +++ b/libraries/mogo-adas/README.md @@ -1,6 +1,11 @@ #### 说明 # ADAS LIB ## 与工控机交互LIB + +# 使用方法参见【app_ipc_monitoring】中的代码 + +## 工控机账号密码 +~~~ RSA密钥 privateBase64=MIIBVQIBADANBgkqhkiG9w0BAQEFAASCAT8wggE7AgEAAkEA127FFvuPolaxYTBg5wkyDIrEbcNKXoIjf0bK7QUQ991Lsbv5Ktv/XM2F6qJFssVF1KTkStVBSQGxJB1eZLwJEwIDAQABAkBM39AgpV/Z1Amz3qmVh+h+JT521ItDMjksf7yF25r0dzGjOfGLQmMAqQXT68B+cQX5HSoFMwk/rE1hnXgifyNBAiEA6uNE2TfPj51mPOZztGy1Q8p4exWohfotiy64g/CyVeMCIQDqy9e7bGeZEi6p1zemEgFVtwgZZvLn/BOP4UO7NjJnEQIhAJBnprUwha/SYb+BIpNC3fHOcWGigBfWJdfSomejO9BnAiEApfojLqKbOWHZCsbQ19yyhN02JH7aB5PyYCtlrdnKF4ECIHR1P2LOQLddXO8PwgoF6gtCTO2sxIqdvu8fUruWyouQ publicBase64=MFwwDQYJKoZIhvcNAQEBBQADSwAwSAJBANduxRb7j6JWsWEwYOcJMgyKxG3DSl6CI39Gyu0FEPfdS7G7+Srb/1zNheqiRbLFRdSk5ErVQUkBsSQdXmS8CRMCAwEAAQ== @@ -8,7 +13,468 @@ publicBase64=MFwwDQYJKoZIhvcNAQEBBQADSwAwSAJBANduxRb7j6JWsWEwYOcJMgyKxG3DSl6CI39 工控机SSH 账号:titan 密码:mogo@ZHIDAO10 - 加密后的密码:Lz71dnr3eEbcXbuRqSBuLPTk9N7vfqL1lkV1FvAzrLE45OslTvAmm0ekjXIuvOz3jw4hh/saV5pxc3ywNubnjQ== +~~~ +## 可用接口 +~~~java + /** + * 设置多设备监听 + * + * @param l 监听 + */ + AdasManager.getInstance().setOnMultiDeviceListener(OnMultiDeviceListener l); +~~~ +~~~java + /** + * 设置工控机数据监听 + * + * @param l 监听 + */ + AdasManager.getInstance().setOnAdasListener(OnAdasListener l); +~~~ +~~~java + /** + * 创建一个连接 + * + * @param options 连接参数 + * @param onAdasConnectStatusListener 连接状态监听 + */ + AdasManager.getInstance().create(AdasOptions options, OnAdasConnectStatusListener onAdasConnectStatusListener); +~~~ +~~~java + /** + * MoGo-AP 版本 + * + * @return 版本 + */ + AdasManager.getInstance().getAPVersion(); +~~~ +~~~java + /** + * 获取协议版本 + * + * @return 版本 + */ + AdasManager.getInstance().getProtocolVersion(); +~~~ +~~~java + /** + * 获取工控机配置信息 + * + * @return 配置信息 未连接为null 断开连接会清空 + */ + AdasManager.getInstance().getCarConfig(); +~~~ +~~~java + /** + * 连接工控机 + */ + AdasManager.getInstance().connect(); +~~~ +~~~java + /** + * 与工控机断开连接 + */ + AdasManager.getInstance().disconnect(); +~~~ +~~~java + /** + * 获取当前工控机的链接状态 + * + * @return {@link Constants.IPC_CONNECTION_STATUS} + */ + AdasManager.getInstance().getIpcConnectionStatus(); +~~~ +~~~java + /** + * Log是否开启打印 + */ + AdasManager.getInstance().setEnableLog(boolean isEnableLog); +~~~ +~~~java + /** + * 向工控机发送关机命令 + */ + AdasManager.getInstance().shutdownIPC(); +~~~ +~~~java + /** + * 向工控机发送重启命令 + */ + AdasManager.getInstance().rebootIPC(); +~~~ +~~~java + /** + * 向工控机发送重启自动驾驶Docker命令 + */ + AdasManager.getInstance().rebootAPDocker(); +~~~ +~~~java + /** + * 解析工控机发送过来的数据 + * 多设备时使用 + * + * @param bytes 数据 + */ + AdasManager.getInstance().parseIPCData(byte[] bytes); +~~~ +~~~java + /** + * 获取工控机链接配置 + * + * @return 工控机链接参数 + */ + AdasManager.getInstance().getAdasOptions(); +~~~ +~~~java + /** + * 获取已经链接成功的工控机IP 未连接为null + * + * @return ip null:表示未连接 + */ + AdasManager.getInstance().getIpcConnectedIp(); +~~~ +~~~java + /** + * 获取已经链接成功的工控机端口 + * + * @return 端口 未连接为默认端口 + */ + AdasManager.getInstance().getIpcConnectedPort(); +~~~ +~~~java + + /** + * 自动驾驶设备基础信息应答 + * + * @param sn SN + * @param environment 1: 研发环境, 2:测试环境, 3:生产环境 4:演示环境 + * @return + */ + AdasManager.getInstance().sendBasicInfoResp(@NonNull String sn, int environment); +~~~ +~~~java + /** + * 设置自动驾驶模式 启动自动驾驶 + * + * @param mode 1: enter autopilot mode, 0: quit autopilot mode + * @param source 命令来源: 0: pad模拟(模拟时routeInfo传null), 1: AICloud业务 + * @param routeInfo 自动驾驶路径信息 + * @return + */ + AdasManager.getInstance().sendAutoPilotModeReq(int mode, int source, MessagePad.RouteInfo routeInfo); +~~~ +~~~java + /** + * 设置演示模式 + * + * @param enable 1: enable, 0: disable + * @return + */ + AdasManager.getInstance().sendDemoModeReq(int enable); +~~~ +~~~java + /** + * 车机基础信息请求 + * + * @return + */ + AdasManager.getInstance().sendCarConfigReq(); +~~~ +~~~java + /** + * 记录人工接管原因 + * + * @param key bag key 唯一标识 + * @param filename 文件路径 + * @param reasonID 接管原因id + * @param reason 接管原因 + * @return + */ + AdasManager.getInstance().sendRecordCause(long key, @NonNull String filename, @NonNull String reasonID, @NonNull String reason); +~~~ +~~~java + /** + * 同下 + * + * @param id + * @param type + * @return + */ + AdasManager.getInstance().startRecordPackage(int id, int type); +~~~ +~~~java + /** + * 同下 + * + * @param id + * @param type + * @return + */ + AdasManager.getInstance().startRecordPackage(int id, int duration, int type); +~~~ +~~~java + /** + * 同下 + * + * @param id + * @param type + * @return + */ + + AdasManager.getInstance().stopRecordPackage(int id, int type); +~~~ +~~~java + /** + * 数据采集请求 主动录制Bag包 + * + * @param id 采集id + * @param duration 采集时间长 + * @param type 采集类型, 1:badcase, 2: map; 3: rests + * @param isRecord 采集指令, true: 采集, false: 停止采集 + * @param sustain 是否持续采集 + * @return + */ + + AdasManager.getInstance().sendRecordData(int id, int duration, int type, boolean isRecord); +~~~ +~~~java + /** + * 设置自动驾驶最大速度 + * + * @param speedLimit 最大车辆速度 m/s + * @return + */ + AdasManager.getInstance().sendAutopilotSpeedReq(double speedLimit); +~~~ +~~~java + /** + * 发送红绿灯数据到工控机 + * + * @param crossID roadID + * @param latitude + * @param longitude + * @param heading 红绿灯方向 + * @param direction 路的航向角 + * @param lightId 红绿灯ID + * @param laneNo 车道号 + * @param arrowNo 当前车道对应地面要素转向 + * @param flashYellow 黄灯总时间 + * @param laneDetail 灯态具体信息 + * @return + */ + AdasManager.getInstance().sendTrafficLightData(@NonNull String crossID, double latitude, double longitude, @NonNull String heading, @NonNull String direction, int lightId, int laneNo, int arrowNo, int flashYellow, MessagePad.TrafficLightDetail laneDetail); +~~~ +~~~java + /** + * 自动驾驶路径请求 + * + * @return + */ + AdasManager.getInstance().sendGlobalPathReq(); +~~~ +~~~java + /** + * 获取工控机固定IP列表 + * + * @return 返回默认工控机IP列表 + */ + AdasManager.getInstance().getIPCFixationIPList(Context context); +~~~ +~~~java + /** + * 增加工控机固定IP + * + * @param ipcIP IP + */ + AdasManager.getInstance().addIPCFixationIP(Context context, String ipcIP); +~~~ +~~~java + /** + * 删除指定的工控机固定IP + * + * @param ipcIP IP + */ + AdasManager.getInstance().delIPCFixationIP(Context context, String ipcIP); +~~~ +~~~java + /** + * 删除所有工控机固定IP + */ + AdasManager.getInstance().delIPCFixationIP(Context context); +~~~ +~~~java + /** + * 发送升级指令 TODO 将会被删除 + * + * @param info + */ + @Deprecated + AdasManager.getInstance().sendBaseInfo(BaseInfo info); +~~~ + +## OnAdasListener +### 工控机数据回调 +#### 回调中对象的字段详情参见各个proto文件 +~~~java + /** + * 自动驾驶局部轨迹 前车引导线 + * + * @param header 头 + * @param trajectory 数据 + */ + void onTrajectory(MessagePad.Header header, MessagePad.Trajectory trajectory); +~~~ +~~~java + /** + * 障碍物 他车数据 + * + * @param header 头 + * @param trackedObjects 数据 + */ + void onTrackedObjects(MessagePad.Header header, MessagePad.TrackedObjects trackedObjects); +~~~ +~~~java + /** + * 惯导信息 + * + * @param header 头 + * @param gnssInfo 数据 + */ + void onGnssInfo(MessagePad.Header header, MessagePad.GnssInfo gnssInfo); +~~~ +~~~java + /** + * 底盘信息, 透传底盘状态，pb参考底盘 + * + * @param header 头 + * @param vehicleState 数据 + */ + void onVehicleState(MessagePad.Header header, VehicleStateOuterClass.VehicleState vehicleState); +~~~ +~~~java + /** + * 自动驾驶状态 + * + * @param header 头 + * @param autopilotState 数据 + */ + void onAutopilotState(MessagePad.Header header, MessagePad.AutopilotState autopilotState); +~~~ +~~~java + /** + * 监控事件报告 + * + * @param header 头 + * @param mogoReportMessage 数据 + */ + void onReportMessage(MessagePad.Header header, MogoReportMsg.MogoReportMessage mogoReportMessage); +~~~ +~~~java + /** + * 自动驾驶设备基础信息请求 + * + * @param header 头 + * @param basicInfoReq 数据 目前没有任何参数 + */ + void onBasicInfoReq(MessagePad.Header header, MessagePad.BasicInfoReq basicInfoReq); +~~~ +~~~java + /** + * 车机基础信息应答 + * + * @param header 头 + * @param carConfigResp 数据 + */ + void onCarConfigResp(MessagePad.Header header, MessagePad.CarConfigResp carConfigResp); +~~~ +~~~java + /** + * 数据采集结果 + * + * @param header 头 + * @param recordPanel 数据 + */ + void onRecordResult(MessagePad.Header header, RecordPanelOuterClass.RecordPanel recordPanel); +~~~ +~~~java + /** + * 自动驾驶路径应答 + * + * @param header 头 + * @param globalPathResp 数据 + */ + void onGlobalPathResp(MessagePad.Header header, MessagePad.GlobalPathResp globalPathResp); +~~~ +~~~java + /** + * 报警信息 + * 暂时保留，目前没有使用 + * + * @param header 头 + * @param warn 数据 + */ + @Deprecated + void onWarn(MessagePad.Header header, MessagePad.Warn warn); +~~~ +~~~java + /** + * 到站提醒 自动驾驶站点 + * + * @param header 头 + * @param arrivalNotification 数据 + */ + void onArrivalNotification(MessagePad.Header header, MessagePad.ArrivalNotification arrivalNotification); +~~~ +~~~java + /** + * 升级状态 + * + * @param info + */ + @Deprecated + void onUpgradeStateInfo(IPCUpgradeStateInfo info); +~~~ +~~~java + /** + * 向IPC发送命令返回结果 + * + * @param info + */ + void onSSHResult(SSHResult info); +~~~ +~~~java + /** + * 数据错误 + * + * @param status 错误原因 + * @param bytes 原始数据 + */ + void onError(ProtocolStatus status, byte[] bytes); +~~~ + +## OnAdasConnectStatusListener +### 连接状态监听 +~~~java + /** + * 与工控机链接状态变化 + * + * @param ipcConnectionStatus {@link Constants.IPC_CONNECTION_STATUS} + * @param failedMsg 连接异常信息 + */ + void onConnectionIPCStatus(@Define.IPCConnectionStatus int ipcConnectionStatus, String failedMsg); +~~~ + +## OnMultiDeviceListener +### 多设备链接监听 +~~~java + /** + * 转发工控机消息 + * 如果是客户端此回调不会被调用 + * + * @param bytes 数据 + */ + void onForwardingIPCMessage(byte[] bytes); +~~~ \ No newline at end of file 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 eeb777a3bb..1e3a56593b 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 @@ -348,7 +348,7 @@ public class AdasChannel implements IAdasNetCommApi, FpgaSocket.IWebSocketConnec callError(raw.getProtocolStatus(), bytes); } } - } catch (Exception e) { + } catch (InvalidProtocolBufferException e) { callError(ProtocolStatus.BUSINESS_DATA_PARSE_FAILED, bytes); e.printStackTrace(); } @@ -548,14 +548,6 @@ public class AdasChannel implements IAdasNetCommApi, FpgaSocket.IWebSocketConnec CupidLogUtils.setEnableLog(isEnableLog); } - /** - * log是否写入本地 - * - * @param isWriteLog - */ - public void setIsWriteLog(boolean isWriteLog) { - CupidLogUtils.setIsWriteLog(isWriteLog); - } /** * 向工控机发送数据 diff --git a/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/AdasManager.java b/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/AdasManager.java index 496c330df7..d3eadb9fd4 100644 --- a/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/AdasManager.java +++ b/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/AdasManager.java @@ -30,8 +30,11 @@ public class AdasManager implements IAdasNetCommApi { * 当前协议使用的版本 */ private static final int PROTOCOL_VERSION = MessagePad.ProtocolVersion.CurrentVersion.getNumber(); + private MessagePad.CarConfigResp carConfig; private static final String AP_VERSION = BuildConfig.AP_VERSION; + private AdasChannel mChannel; + public static AdasManager getInstance() { if (ourInstance == null) { synchronized (AdasManager.class) { @@ -43,18 +46,31 @@ public class AdasManager implements IAdasNetCommApi { return ourInstance; } - private AdasChannel mChannel; - private AdasManager() { } + + public void setCarConfig(MessagePad.CarConfigResp carConfig) { + this.carConfig = carConfig; + } + + /** + * 设置多设备监听 + * + * @param l 监听 + */ public void setOnMultiDeviceListener(OnMultiDeviceListener l) { if (mChannel != null) { mChannel.setOnMultiDeviceListener(l); } } + /** + * 设置工控机数据监听 + * + * @param l 监听 + */ public void setOnAdasListener(OnAdasListener l) { if (mChannel != null) { mChannel.setOnAdasListener(l); @@ -76,7 +92,7 @@ public class AdasManager implements IAdasNetCommApi { /** * MoGo-AP 版本 * - * @return + * @return 版本 */ public String getAPVersion() { return AP_VERSION; @@ -85,33 +101,36 @@ public class AdasManager implements IAdasNetCommApi { /** * 获取协议版本 * - * @return + * @return 版本 */ public int getProtocolVersion() { return PROTOCOL_VERSION; } + /** + * 获取工控机配置信息 + * + * @return 配置信息 未连接为null 断开连接会清空 + */ + public MessagePad.CarConfigResp getCarConfig() { + return carConfig; + } /** * 发送信息 * - * @param msg + * @param msg 消息 */ - public void sendMessage(String msg) { + private void sendMessage(String msg) { if (mChannel != null) { mChannel.sendWsMessage(msg); } } - public synchronized void destory() { - if (mChannel != null) { - mChannel.disconnect(); - mChannel = null; - } - } - - + /** + * 连接工控机 + */ @Override public void connect() { if (mChannel != null) { @@ -119,6 +138,9 @@ public class AdasManager implements IAdasNetCommApi { } } + /** + * 与工控机断开连接 + */ @Override public void disconnect() { if (mChannel != null) { @@ -126,7 +148,11 @@ public class AdasManager implements IAdasNetCommApi { } } - + /** + * 获取当前工控机的链接状态 + * + * @return {@link Constants.IPC_CONNECTION_STATUS} + */ @Override public int getIpcConnectionStatus() { if (mChannel != null) { @@ -145,6 +171,9 @@ public class AdasManager implements IAdasNetCommApi { // return false; // } + /** + * Log是否开启打印 + */ @Override public void setEnableLog(boolean isEnableLog) { if (mChannel != null) { @@ -152,14 +181,10 @@ public class AdasManager implements IAdasNetCommApi { } } - @Override - public void setIsWriteLog(boolean isWriteLog) { - if (mChannel != null) { - mChannel.setIsWriteLog(isWriteLog); - } - } - + /** + * 向工控机发送关机命令 + */ @Override public void shutdownIPC() { if (mChannel != null) { @@ -167,6 +192,9 @@ public class AdasManager implements IAdasNetCommApi { } } + /** + * 向工控机发送重启命令 + */ @Override public void rebootIPC() { if (mChannel != null) { @@ -174,6 +202,9 @@ public class AdasManager implements IAdasNetCommApi { } } + /** + * 向工控机发送重启自动驾驶Docker命令 + */ @Override public void rebootAPDocker() { if (mChannel != null) { @@ -181,6 +212,12 @@ public class AdasManager implements IAdasNetCommApi { } } + /** + * 解析工控机发送过来的数据 + * 多设备时使用 + * + * @param bytes 数据 + */ @Override public void parseIPCData(byte[] bytes) { if (mChannel != null) { @@ -188,77 +225,183 @@ public class AdasManager implements IAdasNetCommApi { } } + /** + * 获取工控机链接配置 + * + * @return 工控机链接参数 + */ @Override public AdasOptions getAdasOptions() { return mChannel == null ? null : mChannel.getAdasOptions(); } - + /** + * 获取已经链接成功的工控机IP 未连接为null + * + * @return ip null:表示未连接 + */ @Override public String getIpcConnectedIp() { return mChannel == null ? null : mChannel.getIpcConnectedIp(); } + /** + * 获取已经链接成功的工控机端口 + * + * @return 端口 未连接为默认端口 + */ @Override public int getIpcConnectedPort() { return mChannel == null ? Constants.DEFAULT_PORT : mChannel.getIpcConnectedPort(); } + /** + * 自动驾驶设备基础信息应答 + * + * @param sn SN + * @param environment 1: 研发环境, 2:测试环境, 3:生产环境 4:演示环境 + * @return + */ @Override public boolean sendBasicInfoResp(@NonNull String sn, int environment) { return mChannel != null && mChannel.sendBasicInfoResp(sn, environment); } + /** + * 设置自动驾驶模式 启动自动驾驶 + * + * @param mode 1: enter autopilot mode, 0: quit autopilot mode + * @param source 命令来源: 0: pad模拟(模拟时routeInfo传null), 1: AICloud业务 + * @param routeInfo 自动驾驶路径信息 + * @return + */ @Override public boolean sendAutoPilotModeReq(int mode, int source, MessagePad.RouteInfo routeInfo) { return mChannel != null && mChannel.sendAutoPilotModeReq(mode, source, routeInfo); } + /** + * 设置演示模式 + * + * @param enable 1: enable, 0: disable + * @return + */ @Override public boolean sendDemoModeReq(int enable) { return mChannel != null && mChannel.sendDemoModeReq(enable); } + /** + * 车机基础信息请求 + * + * @return + */ @Override public boolean sendCarConfigReq() { return mChannel != null && mChannel.sendCarConfigReq(); } + /** + * 记录人工接管原因 + * + * @param key bag key 唯一标识 + * @param filename 文件路径 + * @param reasonID 接管原因id + * @param reason 接管原因 + * @return + */ @Override public boolean sendRecordCause(long key, @NonNull String filename, @NonNull String reasonID, @NonNull String reason) { return mChannel != null && mChannel.sendRecordCause(key, filename, reasonID, reason); } + /** + * 同下 + * + * @param id + * @param type + * @return + */ @Override public boolean startRecordPackage(int id, int type) { return mChannel != null && mChannel.startRecordPackage(id, type); } + /** + * 同下 + * + * @param id + * @param type + * @return + */ @Override public boolean startRecordPackage(int id, int duration, int type) { return mChannel != null && mChannel.startRecordPackage(id, duration, type); } + /** + * 同下 + * + * @param id + * @param type + * @return + */ @Override public boolean stopRecordPackage(int id, int type) { return mChannel != null && mChannel.stopRecordPackage(id, type); } + /** + * 数据采集请求 主动录制Bag包 + * + * @param id 采集id + * @param duration 采集时间长 + * @param type 采集类型, 1:badcase, 2: map; 3: rests + * @param isRecord 采集指令, true: 采集, false: 停止采集 + * @param sustain 是否持续采集 + * @return + */ @Override public boolean sendRecordData(int id, int duration, int type, boolean isRecord) { return mChannel != null && mChannel.sendRecordData(id, duration, type, isRecord); } + /** + * 设置自动驾驶最大速度 + * + * @param speedLimit 最大车辆速度 m/s + * @return + */ @Override public boolean sendAutopilotSpeedReq(double speedLimit) { return mChannel != null && mChannel.sendAutopilotSpeedReq(speedLimit); } + /** + * 发送红绿灯数据到工控机 + * + * @param crossID roadID + * @param latitude + * @param longitude + * @param heading 红绿灯方向 + * @param direction 路的航向角 + * @param lightId 红绿灯ID + * @param laneNo 车道号 + * @param arrowNo 当前车道对应地面要素转向 + * @param flashYellow 黄灯总时间 + * @param laneDetail 灯态具体信息 + * @return + */ @Override public boolean sendTrafficLightData(@NonNull String crossID, double latitude, double longitude, @NonNull String heading, @NonNull String direction, int lightId, int laneNo, int arrowNo, int flashYellow, MessagePad.TrafficLightDetail laneDetail) { return mChannel != null && mChannel.sendTrafficLightData(crossID, latitude, longitude, heading, direction, lightId, laneNo, arrowNo, flashYellow, laneDetail); } + /** + * 自动驾驶路径请求 + * + * @return + */ @Override public boolean sendGlobalPathReq() { return mChannel != null && mChannel.sendGlobalPathReq(); @@ -267,7 +410,7 @@ public class AdasManager implements IAdasNetCommApi { /** * 获取工控机固定IP列表 * - * @return + * @return 返回默认工控机IP列表 */ public HashSet getIPCFixationIPList(Context context) { return AppPreferenceHelper.getInstance(context).getIPCFixationIPList(); @@ -276,7 +419,7 @@ public class AdasManager implements IAdasNetCommApi { /** * 增加工控机固定IP * - * @param ipcIP + * @param ipcIP IP */ public boolean addIPCFixationIP(Context context, String ipcIP) { return AppPreferenceHelper.getInstance(context).addIPCFixationIP(ipcIP); @@ -285,7 +428,7 @@ public class AdasManager implements IAdasNetCommApi { /** * 删除指定的工控机固定IP * - * @param ipcIP + * @param ipcIP IP */ public boolean delIPCFixationIP(Context context, String ipcIP) { return AppPreferenceHelper.getInstance(context).delIPCFixationIP(ipcIP); @@ -299,11 +442,12 @@ public class AdasManager implements IAdasNetCommApi { } /** - * 向工控机发送数据 + * 发送升级指令 TODO 将会被删除 * * @param info */ @Override + @Deprecated public void sendBaseInfo(BaseInfo info) { if (mChannel != null) { mChannel.sendBaseInfo(info); 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 77e467446f..b64caacb1e 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 @@ -4,7 +4,7 @@ import java.util.HashSet; /** * Date：2019/5/31。 - * Note： Adas相关配置。 + * Note： 工控机连接配置 * 更换链接方式必须先断开与工控机的连接 */ public class AdasOptions { diff --git a/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/IAdasNetCommApi.java b/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/IAdasNetCommApi.java index 9e1b259a84..d0cae404c3 100644 --- a/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/IAdasNetCommApi.java +++ b/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/IAdasNetCommApi.java @@ -14,7 +14,7 @@ import mogo.telematics.pad.MessagePad; */ public interface IAdasNetCommApi { /** - * 链接工控机 + * 连接工控机 */ void connect(); @@ -42,14 +42,14 @@ public interface IAdasNetCommApi { /** * 获取已经链接成功的工控机IP 未连接为null * - * @return ip null:表示未连接 + * @return ip null:表示未连接 */ String getIpcConnectedIp(); /** - * 获取已经链接成功的工控机端口 未连接为默认端口 + * 获取已经链接成功的工控机端口 * - * @return ip null:表示未连接 + * @return 端口 未连接为默认端口 */ int getIpcConnectedPort(); @@ -173,6 +173,12 @@ public interface IAdasNetCommApi { // TODO 需求暂停 待讨论 // boolean getRoutes(); + + /** + * 发送升级指令 TODO 将会被删除 + * + * @param info + */ @Deprecated void sendBaseInfo(BaseInfo info); @@ -193,19 +199,16 @@ public interface IAdasNetCommApi { /** * 解析工控机发送过来的数据 - * + * 多设备时使用 * @param bytes 数据 */ void parseIPCData(byte[] bytes); /** - * log是否显示 + * Log是否开启打印 */ void setEnableLog(boolean isEnableLog); - /** - * log是否写入 - */ - void setIsWriteLog(boolean isWriteLog); + } diff --git a/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/common/IPCFixationIPHelper.java b/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/common/IPCFixationIPHelper.java index 0f99709540..ce43c5d3a6 100644 --- a/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/common/IPCFixationIPHelper.java +++ b/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/common/IPCFixationIPHelper.java @@ -111,7 +111,6 @@ public class IPCFixationIPHelper { private synchronized void allNotAvailable(final HashSet ips) { unavailableCount++; - CupidLogUtils.i(TAG, "unavailableCount=" + unavailableCount); if (queryCount == unavailableCount) { if (!isCallListener) { isCallListener = true; diff --git a/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/msg/ArrivalNotificationMessage.java b/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/msg/ArrivalNotificationMessage.java index ef5f593336..6ae4dbb70e 100644 --- a/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/msg/ArrivalNotificationMessage.java +++ b/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/msg/ArrivalNotificationMessage.java @@ -3,7 +3,6 @@ package com.zhidao.support.adas.high.msg; import com.google.gson.Gson; import com.google.protobuf.InvalidProtocolBufferException; import com.zhidao.support.adas.high.OnAdasListener; -import com.zhidao.support.adas.high.common.CupidLogUtils; import mogo.telematics.pad.MessagePad; @@ -23,7 +22,7 @@ public class ArrivalNotificationMessage extends MyAbstractMessageHandler { adasListener.onArrivalNotification(header, arrivalNotification); } - CupidLogUtils.e("到站提醒--->" + arrivalNotification.toString()); +// CupidLogUtils.e("到站提醒--->" + arrivalNotification.toString()); } diff --git a/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/msg/AutopilotStateMessage.java b/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/msg/AutopilotStateMessage.java index 18631c0847..e1250bf431 100644 --- a/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/msg/AutopilotStateMessage.java +++ b/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/msg/AutopilotStateMessage.java @@ -3,9 +3,7 @@ package com.zhidao.support.adas.high.msg; import com.google.gson.Gson; import com.google.protobuf.InvalidProtocolBufferException; import com.zhidao.support.adas.high.OnAdasListener; -import com.zhidao.support.adas.high.common.CupidLogUtils; -import chassis.VehicleStateOuterClass; import mogo.telematics.pad.MessagePad; /** @@ -23,7 +21,7 @@ public class AutopilotStateMessage extends MyAbstractMessageHandler { if (adasListener != null) { adasListener.onAutopilotState(header, autopilotState); } - CupidLogUtils.e("自动驾驶状态--->" + autopilotState.toString()); +// CupidLogUtils.e("自动驾驶状态--->" + autopilotState.toString()); } diff --git a/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/msg/BasicInfoReqMessage.java b/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/msg/BasicInfoReqMessage.java index 7ba1c80cf4..62e6836e96 100644 --- a/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/msg/BasicInfoReqMessage.java +++ b/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/msg/BasicInfoReqMessage.java @@ -3,7 +3,6 @@ package com.zhidao.support.adas.high.msg; import com.google.gson.Gson; import com.google.protobuf.InvalidProtocolBufferException; import com.zhidao.support.adas.high.OnAdasListener; -import com.zhidao.support.adas.high.common.CupidLogUtils; import mogo.telematics.pad.MessagePad; @@ -22,7 +21,7 @@ public class BasicInfoReqMessage extends MyAbstractMessageHandler { if (adasListener != null) { adasListener.onBasicInfoReq(header, autopilotState); } - CupidLogUtils.e("自动驾驶设备基础信息请求--->" + autopilotState.toString()); +// CupidLogUtils.e("自动驾驶设备基础信息请求--->" + autopilotState.toString()); } 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 2747885d44..0d1387222c 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 @@ -2,6 +2,7 @@ package com.zhidao.support.adas.high.msg; import com.google.gson.Gson; import com.google.protobuf.InvalidProtocolBufferException; +import com.zhidao.support.adas.high.AdasManager; import com.zhidao.support.adas.high.OnAdasListener; import com.zhidao.support.adas.high.common.CupidLogUtils; @@ -19,6 +20,7 @@ public class CarConfigRespMessage extends MyAbstractMessageHandler { @Override public void handlerMsg(MessagePad.Header header, byte[] msg, OnAdasListener adasListener) throws InvalidProtocolBufferException { MessagePad.CarConfigResp carConfigResp = MessagePad.CarConfigResp.parseFrom(msg); + AdasManager.getInstance().setCarConfig(carConfigResp); if (adasListener != null) { adasListener.onCarConfigResp(header, carConfigResp); } diff --git a/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/msg/GlobalPathRespMessage.java b/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/msg/GlobalPathRespMessage.java index 4e050e7ed8..82d9c0940a 100644 --- a/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/msg/GlobalPathRespMessage.java +++ b/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/msg/GlobalPathRespMessage.java @@ -3,7 +3,6 @@ package com.zhidao.support.adas.high.msg; import com.google.gson.Gson; import com.google.protobuf.InvalidProtocolBufferException; import com.zhidao.support.adas.high.OnAdasListener; -import com.zhidao.support.adas.high.common.CupidLogUtils; import mogo.telematics.pad.MessagePad; @@ -22,7 +21,7 @@ public class GlobalPathRespMessage extends MyAbstractMessageHandler { if (adasListener != null) { adasListener.onGlobalPathResp(header, globalPathResp); } - CupidLogUtils.e("自动驾驶路径应答--->" + globalPathResp.toString()); +// CupidLogUtils.e("自动驾驶路径应答--->" + globalPathResp.toString()); } diff --git a/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/msg/GnssInfoMessage.java b/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/msg/GnssInfoMessage.java index dd3bf3078d..49d3be2224 100644 --- a/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/msg/GnssInfoMessage.java +++ b/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/msg/GnssInfoMessage.java @@ -3,7 +3,6 @@ package com.zhidao.support.adas.high.msg; import com.google.gson.Gson; import com.google.protobuf.InvalidProtocolBufferException; import com.zhidao.support.adas.high.OnAdasListener; -import com.zhidao.support.adas.high.common.CupidLogUtils; import mogo.telematics.pad.MessagePad; @@ -22,7 +21,7 @@ public class GnssInfoMessage extends MyAbstractMessageHandler { if (adasListener != null) { adasListener.onGnssInfo(header, trajectory); } - CupidLogUtils.e("惯导信息--->" + trajectory.toString()); +// CupidLogUtils.e("惯导信息--->" + trajectory.toString()); } diff --git a/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/msg/RecordResultMessage.java b/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/msg/RecordResultMessage.java index 5ac4ca7ef2..6cb1ac1fbb 100644 --- a/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/msg/RecordResultMessage.java +++ b/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/msg/RecordResultMessage.java @@ -2,9 +2,7 @@ package com.zhidao.support.adas.high.msg; import com.google.gson.Gson; import com.google.protobuf.InvalidProtocolBufferException; -import com.google.protobuf.TextFormat; import com.zhidao.support.adas.high.OnAdasListener; -import com.zhidao.support.adas.high.common.CupidLogUtils; import mogo.telematics.pad.MessagePad; import record_cache.RecordPanelOuterClass; @@ -24,7 +22,7 @@ public class RecordResultMessage extends MyAbstractMessageHandler { if (adasListener != null) { adasListener.onRecordResult(header, recordPanel); } - CupidLogUtils.e("数据采集结果--->" + recordPanel.toString()); +// CupidLogUtils.e("数据采集结果--->" + recordPanel.toString()); } diff --git a/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/msg/ReportMessage.java b/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/msg/ReportMessage.java index 20d5b866fc..3e2d18f928 100644 --- a/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/msg/ReportMessage.java +++ b/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/msg/ReportMessage.java @@ -3,7 +3,6 @@ package com.zhidao.support.adas.high.msg; import com.google.gson.Gson; import com.google.protobuf.InvalidProtocolBufferException; import com.zhidao.support.adas.high.OnAdasListener; -import com.zhidao.support.adas.high.common.CupidLogUtils; import mogo.telematics.pad.MessagePad; import mogo_msg.MogoReportMsg; @@ -23,7 +22,7 @@ public class ReportMessage extends MyAbstractMessageHandler { if (adasListener != null) { adasListener.onReportMessage(header, mogoReportMessage); } - CupidLogUtils.e("监控事件报告--->" + mogoReportMessage.toString()); +// CupidLogUtils.e("监控事件报告--->" + mogoReportMessage.toString()); } diff --git a/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/msg/TrackedObjectsMessage.java b/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/msg/TrackedObjectsMessage.java index d9835bbaee..56ebaf5d86 100644 --- a/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/msg/TrackedObjectsMessage.java +++ b/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/msg/TrackedObjectsMessage.java @@ -1,13 +1,8 @@ package com.zhidao.support.adas.high.msg; -import android.text.TextUtils; - import com.google.gson.Gson; import com.google.protobuf.InvalidProtocolBufferException; import com.zhidao.support.adas.high.OnAdasListener; -import com.zhidao.support.adas.high.common.CupidLogUtils; - -import java.util.ArrayList; import mogo.telematics.pad.MessagePad; @@ -29,7 +24,7 @@ public class TrackedObjectsMessage extends MyAbstractMessageHandler { if (adasListener != null) { adasListener.onTrackedObjects(header, trackedObjects); } - CupidLogUtils.e("障碍物信息--->" + trackedObjects.toString()); +// CupidLogUtils.e("障碍物信息--->" + trackedObjects.toString()); } diff --git a/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/msg/TrajectoryMessage.java b/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/msg/TrajectoryMessage.java index dc29e77095..f4b2d5c19a 100644 --- a/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/msg/TrajectoryMessage.java +++ b/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/msg/TrajectoryMessage.java @@ -3,7 +3,6 @@ package com.zhidao.support.adas.high.msg; import com.google.gson.Gson; import com.google.protobuf.InvalidProtocolBufferException; import com.zhidao.support.adas.high.OnAdasListener; -import com.zhidao.support.adas.high.common.CupidLogUtils; import mogo.telematics.pad.MessagePad; @@ -22,7 +21,7 @@ public class TrajectoryMessage extends MyAbstractMessageHandler { if (adasListener != null) { adasListener.onTrajectory(header, trajectory); } - CupidLogUtils.e("车前引导线--->" + trajectory.toString()); +// CupidLogUtils.e("车前引导线--->" + trajectory.toString()); } 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 00d0888ff7..77f0d979b8 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 @@ -3,7 +3,6 @@ package com.zhidao.support.adas.high.msg; import com.google.gson.Gson; import com.google.protobuf.InvalidProtocolBufferException; import com.zhidao.support.adas.high.OnAdasListener; -import com.zhidao.support.adas.high.common.CupidLogUtils; import chassis.VehicleStateOuterClass; import mogo.telematics.pad.MessagePad; @@ -23,7 +22,7 @@ public class VehicleStateMessage extends MyAbstractMessageHandler { if (adasListener != null) { adasListener.onVehicleState(header, vehicleState); } - CupidLogUtils.e("底盘信息--->" + vehicleState.toString()); +// CupidLogUtils.e("底盘信息--->" + vehicleState.toString()); } diff --git a/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/msg/WarnMessage.java b/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/msg/WarnMessage.java index 6ada9d89e3..84395505dc 100644 --- a/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/msg/WarnMessage.java +++ b/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/msg/WarnMessage.java @@ -3,7 +3,6 @@ package com.zhidao.support.adas.high.msg; import com.google.gson.Gson; import com.google.protobuf.InvalidProtocolBufferException; import com.zhidao.support.adas.high.OnAdasListener; -import com.zhidao.support.adas.high.common.CupidLogUtils; import mogo.telematics.pad.MessagePad; @@ -23,7 +22,7 @@ public class WarnMessage extends MyAbstractMessageHandler { if (adasListener != null) { adasListener.onWarn(header, warn); } - CupidLogUtils.e("预警数据--->" + warn.toString()); +// CupidLogUtils.e("预警数据--->" + warn.toString()); } diff --git a/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/msg/WsAutopilotUpgradeStatusMessage.java b/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/msg/WsAutopilotUpgradeStatusMessage.java index 398d1b927a..4ca798716f 100644 --- a/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/msg/WsAutopilotUpgradeStatusMessage.java +++ b/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/msg/WsAutopilotUpgradeStatusMessage.java @@ -4,7 +4,6 @@ import com.google.gson.Gson; import com.google.protobuf.InvalidProtocolBufferException; import com.zhidao.support.adas.high.OnAdasListener; import com.zhidao.support.adas.high.bean.IPCUpgradeStateInfo; -import com.zhidao.support.adas.high.common.CupidLogUtils; import mogo.telematics.pad.MessagePad; @@ -21,7 +20,7 @@ public class WsAutopilotUpgradeStatusMessage extends MyAbstractMessageHandler { if (adasListener != null) { adasListener.onUpgradeStateInfo(autopilotStatus); } - CupidLogUtils.i("工控机升级", "msg=" + msg); +// CupidLogUtils.i("工控机升级", "msg=" + msg); } @Override diff --git a/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/protocol/RawUnpack.java b/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/protocol/RawUnpack.java index b911b88bc0..70efe6ff9f 100644 --- a/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/protocol/RawUnpack.java +++ b/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/protocol/RawUnpack.java @@ -1,7 +1,6 @@ package com.zhidao.support.adas.high.protocol; import com.zhidao.support.adas.high.common.Constants; -import com.zhidao.support.adas.high.common.CupidLogUtils; import com.zhidao.support.adas.high.common.DigitalTrans; import com.zhidao.support.adas.high.common.ProtocolStatus; @@ -34,17 +33,17 @@ public class RawUnpack { } private synchronized void unpack(ByteString bytes, RawData raw) { - CupidLogUtils.w(TAG, "WS 原始数据=" + bytes.hex()); +// CupidLogUtils.w(TAG, "WS 原始数据=" + bytes.hex()); //读取magicCode ByteString magicCode = bytes.substring(0, messageProtocol.getMagicCodeLength()); raw.setMagicCode(magicCode.toByteArray()); - CupidLogUtils.w(TAG, "WS MagicCode=" + magicCode.hex()); +// CupidLogUtils.w(TAG, "WS MagicCode=" + magicCode.hex()); if (Arrays.equals(magicCode.toByteArray(), Constants.RAW_MG)) { //读取offset ByteString offset = bytes.substring(messageProtocol.getMagicCodeLength(), messageProtocol.getMagicCodeLength() + messageProtocol.getOffsetLength()); byte[] offsetB = offset.toByteArray(); raw.setOffset(offsetB, getOffsetValue(offsetB)); - CupidLogUtils.w(TAG, "WS 偏移量 bytes=" + offset.hex() + " 偏移量=" + raw.getOffsetValue()); +// CupidLogUtils.w(TAG, "WS 偏移量 bytes=" + offset.hex() + " 偏移量=" + raw.getOffsetValue()); //读取packageLength ByteString packageLength = bytes.substring(messageProtocol.getMagicCodeLength() + messageProtocol.getOffsetLength(), messageProtocol.getOutHeader()); byte[] packageLengthB = packageLength.toByteArray(); @@ -54,16 +53,16 @@ public class RawUnpack { raw.clear(); return; } - CupidLogUtils.w(TAG, "WS 数据包从长度 bytes=" + packageLength.hex() + " 数据包从长度=" + raw.getPackageLengthValue()); +// CupidLogUtils.w(TAG, "WS 数据包从长度 bytes=" + packageLength.hex() + " 数据包从长度=" + raw.getPackageLengthValue()); //读取header ByteString header = bytes.substring(messageProtocol.getOutHeader(), raw.getOffsetValue()); raw.setHeader(header.toByteArray()); - CupidLogUtils.w(TAG, "WS Header=" + header.hex()); +// CupidLogUtils.w(TAG, "WS Header=" + header.hex()); //读取payload ByteString payload = bytes.substring(raw.getOffsetValue()); raw.setPayload(payload.toByteArray()); raw.setProtocolStatus(ProtocolStatus.SUCCEED); - CupidLogUtils.w(TAG, "WS IPC数据=" + payload.hex() + " IPC数据长度=" + messageProtocol.getPayloadLength(raw.getPackageLengthValue(), raw.getOffsetValue())); +// CupidLogUtils.w(TAG, "WS IPC数据=" + payload.hex() + " IPC数据长度=" + messageProtocol.getPayloadLength(raw.getPackageLengthValue(), raw.getOffsetValue())); } else { raw.setProtocolStatus(ProtocolStatus.MAGIC_CODE_CHECK_FAILED); raw.clear();