更新ADAS连接方式，更新连接工控机回调

2022-02-28 20:02:40 +08:00
parent 668c9ae8a3
commit c99c3aa8ac
3 changed files with 46 additions and 33 deletions
--- a/core/function-impl/mogo-core-function-autopilot/src/main/java/com/mogo/eagle/core/function/autopilot/MoGoAutopilotProvider.kt
+++ b/core/function-impl/mogo-core-function-autopilot/src/main/java/com/mogo/eagle/core/function/autopilot/MoGoAutopilotProvider.kt
@@ -24,6 +24,7 @@ import com.mogo.eagle.core.utilcode.util.ThreadUtils
 import com.zhidao.support.adas.high.AdasManager
 import com.zhidao.support.adas.high.AdasOptions
 import com.zhidao.support.adas.high.bean.IPCUpgradeInfo
+import com.zhidao.support.adas.high.common.Constants
 import com.zhidao.support.adas.high.common.CupidLogUtils
 import java.util.concurrent.TimeUnit

@@ -57,7 +58,8 @@ class MoGoAutopilotProvider :
                CallerMapDataCollectorManager.registerOnMapCollectTaskListener(this)
                // "192.168.1.102"
                val options = AdasOptions.Builder()
-                    .setIPCIp(FunctionBuildConfig.adasConnectIP)
+                    .setIpcConnectionMode(AdasOptions.IPC_CONNECTION_MODE.FIXATION)
+                    .setIpcFixationIP(AdasManager.getInstance().getIPCFixationIPList(mContext))
                    .setClient(false)
                    .build()

@@ -124,8 +126,9 @@ class MoGoAutopilotProvider :
            else -> // 默认采用UDP寻址方式
            {
                val options = AdasOptions.Builder()
+                    .setIpcConnectionMode(AdasOptions.IPC_CONNECTION_MODE.FIXATION)
+                    .setIpcFixationIP(AdasManager.getInstance().getIPCFixationIPList(mContext))
                    .setClient(false)
-                    .setIPCIp(FunctionBuildConfig.adasConnectIP)
                    .build()
                AdasManager.getInstance().create(context, options)
            }
@@ -181,7 +184,7 @@ class MoGoAutopilotProvider :
     */
    override fun resetIpAddress(autoPilotIp: String) {
        // 关闭通信
-        AdasManager.getInstance().closeAllMsg()
+        AdasManager.getInstance().disConnect()
        // 延时执行连接指定IP地址
        ThreadUtils.executeBySingleWithDelay(object : ThreadUtils.SimpleTask<String>() {
            @RequiresPermission(permission.INTERNET)
@@ -191,9 +194,10 @@ class MoGoAutopilotProvider :
                    SharedPrefsMgr.getInstance(it).putString(MoGoConfig.AUTOPILOT_IP, autoPilotIp)
                }
                // 设置IP地址
-                AdasManager.getInstance().setIPCIp(autoPilotIp)
+                AdasManager.getInstance().adasOptions.setIpcConnectionMode(AdasOptions.IPC_CONNECTION_MODE.ASSIGN)
+                AdasManager.getInstance().adasOptions.setIpcAssignIP(autoPilotIp)
                // 打开通讯连接
-                AdasManager.getInstance().startAllMsg()
+                AdasManager.getInstance().connect()
                return ""
            }

@@ -214,7 +218,7 @@ class MoGoAutopilotProvider :
    }

    override fun startAutoPilot(result: AutopilotControlParameters) {
-        if (AdasManager.getInstance().isSocketConnect) {
+        if (AdasManager.getInstance().ipcConnectionStatus == Constants.IPC_CONNECTION_STATUS.CONNECTED) {
            val parameter = AutopilotControlCmdParameter("aiCloudToStartAutopilot", result)
            AdasManager.getInstance().aiCloudToAdasData(GsonUtils.toJson(parameter))
        } else {
@@ -227,7 +231,7 @@ class MoGoAutopilotProvider :
    }

    override fun cancelAutoPilot() {
-        if (AdasManager.getInstance().isSocketConnect) {
+        if (AdasManager.getInstance().ipcConnectionStatus == Constants.IPC_CONNECTION_STATUS.CONNECTED) {
            AdasManager.getInstance().controlAutopilotCarHead()
        } else {
            Logger.e(TAG, "车机与工控机链接失败，无法断开自动驾驶")
--- a/core/function-impl/mogo-core-function-autopilot/src/main/java/com/mogo/eagle/core/function/autopilot/adapter/MoGoAdasMsgConnectStatusListenerImpl.kt
+++ b/core/function-impl/mogo-core-function-autopilot/src/main/java/com/mogo/eagle/core/function/autopilot/adapter/MoGoAdasMsgConnectStatusListenerImpl.kt
@@ -2,17 +2,16 @@ package com.mogo.eagle.core.function.autopilot.adapter

 import com.mogo.cloud.passport.MoGoAiCloudClientConfig
 import com.mogo.commons.debug.DebugConfig
-import com.mogo.eagle.core.data.app.AppConfigInfo
 import com.mogo.eagle.core.data.autopilot.AutopilotStationInfo
 import com.mogo.eagle.core.data.autopilot.AutopilotStatusInfo
-import com.mogo.eagle.core.data.constants.MoGoConfig
 import com.mogo.eagle.core.function.api.autopilot.IMoGoAutopilotStatusListener
 import com.mogo.eagle.core.function.autopilot.network.AdasServiceModel
 import com.mogo.eagle.core.function.call.autopilot.CallerAutoPilotStatusListenerManager
 import com.mogo.eagle.core.utilcode.mogo.logger.Logger
 import com.zhidao.support.adas.high.AdasManager
-import com.zhidao.support.adas.high.OnAdasMsgConnectStatusListener
+import com.zhidao.support.adas.high.OnAdasConnectStatusListener
 import com.zhidao.support.adas.high.bean.BasicInfo
+import com.zhidao.support.adas.high.common.Constants
 import io.reactivex.Flowable
 import io.reactivex.android.schedulers.AndroidSchedulers
 import io.reactivex.schedulers.Schedulers
@@ -23,7 +22,8 @@ import java.util.concurrent.TimeUnit
 *
 * @author donghongyu
 */
-class MoGoAdasMsgConnectStatusListenerImpl : OnAdasMsgConnectStatusListener, IMoGoAutopilotStatusListener {
+class MoGoAdasMsgConnectStatusListenerImpl : OnAdasConnectStatusListener,
+    IMoGoAutopilotStatusListener {
    private val TAG = "MoGoAdasMsgConnectStatusListenerImpl"

    //自动驾驶状态
@@ -32,27 +32,35 @@ class MoGoAdasMsgConnectStatusListenerImpl : OnAdasMsgConnectStatusListener, IMo
    //自动驾驶车速度
    private var mCurrentAutopilotSpeed = 0f

-    override fun onWebSocketConnectSuccess() {
-        Logger.d(TAG, "webSocket 连接成功")
-        // 初始化自动驾驶状态信息
-        CallerAutoPilotStatusListenerManager.getAutoPilotStatusInfo().connectIP = AdasManager.getInstance().adasConfig.address
-        CallerAutoPilotStatusListenerManager.getAutoPilotStatusInfo().connectStatus = true
-        CallerAutoPilotStatusListenerManager.invokeAutoPilotStatus()

-        // 同步SN给工控机
-        syncBasicInfoToAutopilot()
+    override fun onAddressDisabled() {

-        // 开启轮训上传自动驾驶状态
-        updateDriveStatusTask()
    }

-    override fun onWebSocketConnectFailed(reason: String) {
-        Logger.d(TAG, "webSocket 连接失败 reason:$reason")
-        CallerAutoPilotStatusListenerManager.getAutoPilotStatusInfo().connectIP = AdasManager.getInstance().adasConfig.address
-        CallerAutoPilotStatusListenerManager.getAutoPilotStatusInfo().connectStatus = false
-        CallerAutoPilotStatusListenerManager.invokeAutoPilotStatus()
+    override fun onConnectionIPCStatus(ipcConnectionStatus: Int, reason: String?) {
+        if (ipcConnectionStatus == Constants.IPC_CONNECTION_STATUS.CONNECTED) {
+            Logger.d(TAG, "webSocket 连接成功")
+            // 初始化自动驾驶状态信息
+            CallerAutoPilotStatusListenerManager.getAutoPilotStatusInfo().connectIP =
+                AdasManager.getInstance().adasConfig.address
+            CallerAutoPilotStatusListenerManager.getAutoPilotStatusInfo().connectStatus = true
+            CallerAutoPilotStatusListenerManager.invokeAutoPilotStatus()
+
+            // 同步SN给工控机
+            syncBasicInfoToAutopilot()
+
+            // 开启轮训上传自动驾驶状态
+            updateDriveStatusTask()
+        } else if (ipcConnectionStatus == Constants.IPC_CONNECTION_STATUS.DISCONNECTED) {
+            Logger.d(TAG, "webSocket 连接失败 reason:$reason")
+            CallerAutoPilotStatusListenerManager.getAutoPilotStatusInfo().connectIP =
+                AdasManager.getInstance().adasConfig.address
+            CallerAutoPilotStatusListenerManager.getAutoPilotStatusInfo().connectStatus = false
+            CallerAutoPilotStatusListenerManager.invokeAutoPilotStatus()
+        }
    }

+
    /**
     * 工控机获取SN
     */
@@ -94,12 +102,13 @@ class MoGoAdasMsgConnectStatusListenerImpl : OnAdasMsgConnectStatusListener, IMo
    private fun updateDriveStatusTask() {
        Logger.d(TAG, "updateDriveStatusTask")
        Flowable.interval(0, 5, TimeUnit.SECONDS)
-                .subscribeOn(Schedulers.io())
-                .unsubscribeOn(Schedulers.io())
-                .observeOn(AndroidSchedulers.mainThread())
-                .subscribe { aLong: Long? ->
-                    AdasServiceModel.getInstance().updateDriveStatus(mCurrentAutopilotStatus, mCurrentAutopilotSpeed)
-                }
+            .subscribeOn(Schedulers.io())
+            .unsubscribeOn(Schedulers.io())
+            .observeOn(AndroidSchedulers.mainThread())
+            .subscribe { aLong: Long? ->
+                AdasServiceModel.getInstance()
+                    .updateDriveStatus(mCurrentAutopilotStatus, mCurrentAutopilotSpeed)
+            }
    }


--- a/libraries/mogo-adas/build.gradle
+++ b/libraries/mogo-adas/build.gradle
@@ -70,7 +70,7 @@ dependencies {

    implementation rootProject.ext.dependencies.mogochainbase
    //okhttp3的依赖
-    implementation 'com.squareup.okhttp3:okhttp:3.14.9'
+    implementation 'com.squareup.okhttp3:okhttp:3.12.3'
    // parser
    implementation rootProject.ext.dependencies.gson
    // logger