[6.4.0][启自驾指引] 优化轨迹下载逻辑;修正UI走查问题
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renwj
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package com.mogo.functions.test
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import androidx.test.core.app.ActivityScenario
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import androidx.test.ext.junit.runners.AndroidJUnit4
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import androidx.test.filters.LargeTest
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import androidx.test.platform.app.InstrumentationRegistry
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import chassis.Chassis.GearPosition.GEAR_R
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import com.mogo.eagle.core.data.autopilot.AutopilotControlParameters.AutoPilotLine
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import com.mogo.eagle.core.data.enums.DataSourceType.DEFAULT
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import com.mogo.eagle.core.function.api.autopilot.IMoGoAutopilotStatusListener
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import com.mogo.eagle.core.function.call.autopilot.CallerAutoPilotStatusListenerManager
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import com.mogo.eagle.core.function.call.autopilot.CallerAutopilotActionsListenerManager
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import com.mogo.eagle.core.function.call.autopilot.CallerChassisBrakeStateListenerManager
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import com.mogo.eagle.core.function.call.autopilot.CallerChassisGearStateListenerManager
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import com.mogo.eagle.core.function.call.autopilot.CallerChassisLocationGCJ02ListenerManager
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import com.mogo.eagle.core.function.call.autopilot.CallerChassisThrottleStateListenerManager
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import com.mogo.eagle.core.function.main.MainLauncherActivity
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import com.zhjt.mogo.adas.data.bean.UnableLaunchData
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import com.zhjt.mogo.adas.data.bean.UnableLaunchReason
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import com.zhjt.mogo.adas.data.bean.UnableLaunchReason.SourceType.CHASSIS
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import com.zhjt.mogo.adas.data.bean.UnableLaunchReason.UnableType.CHASSIS_BRAKE
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import com.zhjt.mogo.adas.data.bean.UnableLaunchReason.UnableType.CHASSIS_GEAR
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import com.zhjt.mogo.adas.data.bean.UnableLaunchReason.UnableType.CHASSIS_HAZARD_LIGHTS
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import com.zhjt.mogo.adas.data.bean.UnableLaunchReason.UnableType.CHASSIS_STEERING
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import com.zhjt.mogo.adas.data.bean.UnableLaunchReason.UnableType.CHASSIS_THROTTLE
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import function_state_management.FSMStatusReasonQueryOuterClass.FSMStatusReasonRespond
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import kotlinx.coroutines.Dispatchers
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import kotlinx.coroutines.delay
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import kotlinx.coroutines.launch
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import kotlinx.coroutines.runBlocking
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import mogo_msg.MogoReportMsg.MogoMsgTimestamp
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import mogo_msg.MogoReportMsg.MogoReportMessage
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import org.junit.Before
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import org.junit.Test
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import org.junit.runner.RunWith
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import system_master.SsmInfo.ModeState
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import system_master.SsmInfo.SsmStatusInf
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import system_master.SystemStatusInfo
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import system_master.SystemStatusInfo.SystemState.SYS_RUNNING
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import java.util.concurrent.TimeUnit.MINUTES
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import kotlin.random.Random
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import kotlin.random.nextInt
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@RunWith(AndroidJUnit4::class)
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@LargeTest
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class TestAutoPilotBeforeLaunch {
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lateinit var launch: ActivityScenario<MainLauncherActivity>
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@Before
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fun before() {
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launch = ActivityScenario.launch(MainLauncherActivity::class.java)
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}
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@Test
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fun test() = runBlocking {
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val arguments = InstrumentationRegistry.getArguments()
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val delay = arguments.getString("delay", "0")
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val delayLong = delay.toLong()
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if (delayLong <= 0) {
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throw AssertionError("illegal state ..")
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}
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delay(delayLong)
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launch(Dispatchers.IO) {
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val line = AutoPilotLine(10L, "", "","", "", System.currentTimeMillis(), "")
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var flag = false
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while (true) {
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CallerAutoPilotStatusListenerManager.invokeTrajectoryDownloadReq(line, 0)
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CallerAutoPilotStatusListenerManager.invokeAutopilotGuardian(
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MogoReportMessage.getDefaultInstance()
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.toBuilder()
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.setTimestamp(MogoMsgTimestamp.getDefaultInstance().toBuilder().setSec(1).setNsec(1).build())
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.setSrc("1")
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.setLevel("1")
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.setCode("ISYS_INIT_TRAJECTORY_START")
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.setMsg("lineid:10")
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.build())
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delay(2000)
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CallerAutoPilotStatusListenerManager.invokeAutopilotGuardian(
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MogoReportMessage.getDefaultInstance()
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.toBuilder()
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.setTimestamp(MogoMsgTimestamp.getDefaultInstance().toBuilder().setSec(1).setNsec(1).build())
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.setSrc("1")
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.setLevel("1")
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.setCode(if (flag) "ISYS_INIT_TRAJECTORY_SUCCESS" else "ISYS_INIT_TRAJECTORY_FAILURE")
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.setMsg("lineid:10")
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.build())
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delay(10000)
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flag = !flag
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}
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}
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launch(Dispatchers.IO) {
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while (true) {
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CallerChassisBrakeStateListenerManager.invokeAutopilotBrake(Random.nextInt(0 .. 100).toFloat())
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CallerChassisThrottleStateListenerManager.invokeAutopilotThrottle(Random.nextInt(0..100).toFloat())
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CallerChassisGearStateListenerManager.invokeAutopilotGearData(GEAR_R)
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val current = CallerChassisLocationGCJ02ListenerManager.getChassisLocationGCJ02()
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CallerChassisLocationGCJ02ListenerManager.invokeChassisLocationGCJ02(current.also { it.gnssSpeed = Random.nextInt(0 ..20).toFloat() }, DEFAULT)
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delay(500)
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}
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}
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launch(Dispatchers.IO) {
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var flag = 1
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var isAbility = false
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while (true) {
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if (flag > 6) {
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flag = 1
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}
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CallerAutoPilotStatusListenerManager.getAutoPilotStatusInfo().state = IMoGoAutopilotStatusListener.STATUS_AUTOPILOT_ENABLE
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if (flag == 1) {
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CallerAutopilotActionsListenerManager.invokeAutopilotAbility(isAbility, UnableLaunchData("", SystemStatusInfo.StatusInfo.getDefaultInstance().toBuilder().setSysState(SYS_RUNNING).build(), SsmStatusInf.getDefaultInstance().toBuilder().setModeState(ModeState.MODE_RUN_READY).setAutoPilotReady(false).setRemotePilotReady(false).build(), FSMStatusReasonRespond.getDefaultInstance()), ArrayList<UnableLaunchReason>().also {
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it += UnableLaunchReason(CHASSIS, CHASSIS_GEAR, "gear")
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})
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}
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if (flag == 2) {
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CallerAutopilotActionsListenerManager.invokeAutopilotAbility(isAbility, UnableLaunchData("", SystemStatusInfo.StatusInfo.getDefaultInstance().toBuilder().setSysState(SYS_RUNNING).build(), SsmStatusInf.getDefaultInstance().toBuilder().setModeState(ModeState.MODE_RUN_READY).setAutoPilotReady(false).setRemotePilotReady(false).build(), FSMStatusReasonRespond.getDefaultInstance()), ArrayList<UnableLaunchReason>().also {
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it += UnableLaunchReason(CHASSIS, CHASSIS_STEERING, "steering")
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})
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}
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if (flag == 3) {
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CallerAutopilotActionsListenerManager.invokeAutopilotAbility(isAbility, UnableLaunchData("", SystemStatusInfo.StatusInfo.getDefaultInstance().toBuilder().setSysState(SYS_RUNNING).build(), SsmStatusInf.getDefaultInstance().toBuilder().setModeState(ModeState.MODE_RUN_READY).setAutoPilotReady(false).setRemotePilotReady(false).build(), FSMStatusReasonRespond.getDefaultInstance()), ArrayList<UnableLaunchReason>().also {
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it += UnableLaunchReason(CHASSIS, CHASSIS_BRAKE, "brake")
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})
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}
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if (flag == 4) {
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CallerAutopilotActionsListenerManager.invokeAutopilotAbility(isAbility, UnableLaunchData("", SystemStatusInfo.StatusInfo.getDefaultInstance().toBuilder().setSysState(SYS_RUNNING).build(), SsmStatusInf.getDefaultInstance().toBuilder().setModeState(ModeState.MODE_RUN_READY).setAutoPilotReady(false).setRemotePilotReady(false).build(), FSMStatusReasonRespond.getDefaultInstance()), ArrayList<UnableLaunchReason>().also {
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it += UnableLaunchReason(CHASSIS, CHASSIS_HAZARD_LIGHTS, "lights")
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})
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}
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if (flag == 5) {
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CallerAutopilotActionsListenerManager.invokeAutopilotAbility(isAbility, UnableLaunchData("", SystemStatusInfo.StatusInfo.getDefaultInstance().toBuilder().setSysState(SYS_RUNNING).build(), SsmStatusInf.getDefaultInstance().toBuilder().setModeState(ModeState.MODE_RUN_READY).setAutoPilotReady(false).setRemotePilotReady(false).build(), FSMStatusReasonRespond.getDefaultInstance()), ArrayList<UnableLaunchReason>().also {
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it += UnableLaunchReason(CHASSIS, CHASSIS_THROTTLE, "throttle")
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})
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}
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if (flag == 6) {
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CallerAutopilotActionsListenerManager.invokeAutopilotAbility(isAbility, UnableLaunchData("", SystemStatusInfo.StatusInfo.getDefaultInstance().toBuilder().setSysState(SYS_RUNNING).build(), SsmStatusInf.getDefaultInstance().toBuilder().setModeState(ModeState.MODE_RUN_READY).setAutoPilotReady(false).setRemotePilotReady(false).build(), FSMStatusReasonRespond.getDefaultInstance()), ArrayList<UnableLaunchReason>().also {
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it += UnableLaunchReason(CHASSIS, CHASSIS_GEAR, "gear")
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it += UnableLaunchReason(CHASSIS, CHASSIS_STEERING, "steering")
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it += UnableLaunchReason(CHASSIS, CHASSIS_HAZARD_LIGHTS, "lights")
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it += UnableLaunchReason(CHASSIS, CHASSIS_THROTTLE, "throttle")
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it += UnableLaunchReason(CHASSIS, CHASSIS_BRAKE, "brake")
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})
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}
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delay(2000)
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// isAbility = !isAbility
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flag ++
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}
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}
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delay(MINUTES.toMillis(10))
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}
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}
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