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与工控机联调完成

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This commit is contained in:
xinfengkun
2022-03-10 19:04:45 +08:00
parent 45ff85d864
commit ce84e2bb1f
26 changed files with 160 additions and 112 deletions
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2
build.gradle
View File

@@ -35,7 +35,7 @@ buildscript {
classpath 'com.volcengine:apm_insight_plugin:1.4.1'
classpath 'com.mogo.cloud:thread_opt:1.0.1'
classpath 'com.mogo.cloud:systrace:1.0.1'
classpath 'com.google.protobuf:protobuf-gradle-plugin:0.8.8'
classpath 'com.google.protobuf:protobuf-gradle-plugin:0.8.18'
// classpath ("com.tencent.matrix:matrix-gradle-plugin:0.6.6") { changing = true }
}

2
core/mogo-core-data/src/main/proto/message_pad.proto
View File

@@ -183,7 +183,7 @@ message CarConfigResp
// message definition for MsgTypeRecordCause
message RecordCause
{
string key = 1; //bag key 唯一标识
uint64 key = 1; //bag key 唯一标识
string filename = 2; //文件路径
string reason = 3; //接管原因
string reasonID = 4; //接管原因id

62
libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/AdasChannel.java
View File

@@ -6,6 +6,8 @@ import static com.mogo.eagle.core.data.chain.ChainConstant.CHAIN_LINK_LOG_CONNEC
import android.text.TextUtils;
import androidx.annotation.NonNull;
import com.google.gson.Gson;
import com.google.protobuf.InvalidProtocolBufferException;
import com.zhidao.support.adas.high.bean.BaseInfo;
@@ -16,17 +18,19 @@ import com.zhidao.support.adas.high.common.CupidLogUtils;
import com.zhidao.support.adas.high.common.Define;
import com.zhidao.support.adas.high.common.IPCFixationIPHelper;
import com.zhidao.support.adas.high.common.MessageType;
import com.zhidao.support.adas.high.common.ProtocolStatus;
import com.zhidao.support.adas.high.common.RSATool;
import com.zhidao.support.adas.high.common.RegexUtils;
import com.zhidao.support.adas.high.common.SSH;
import com.zhidao.support.adas.high.common.ThreadPoolManager;
import com.zhidao.support.adas.high.msg.IMsg;
import com.zhidao.support.adas.high.msg.MyMessageFactory;
import com.zhidao.support.adas.high.protocol.RawData;
import com.zhidao.support.adas.high.protocol.RawPack;
import com.zhidao.support.adas.high.protocol.RawUnpack;
import com.zhidao.support.adas.high.queue.WSByteQueueManager;
import com.zhidao.support.adas.high.queue.WebSocketQueueManager;
import com.zhidao.support.adas.high.socket.FpgaSocket;
import com.zhidao.support.adas.high.protocol.RawData;
import com.zhidao.support.adas.high.protocol.RawUnpack;
import com.zhjt.service.chain.ChainLog;
import com.zhjt.service.chain.TracingConstants;
@@ -129,11 +133,10 @@ public class AdasChannel implements IAdasNetCommApi, FpgaSocket.IWebSocketConnec
/**
* 创建对象时会自动连接工控机，如果使用setListener 会出现 listener=null而调用回调的情况，所以将所使用到的接口
*
* @param context
* @param options
* @param onAdasConnectStatusListener
*/
AdasChannel( AdasOptions options, OnAdasConnectStatusListener onAdasConnectStatusListener) {
AdasChannel(AdasOptions options, OnAdasConnectStatusListener onAdasConnectStatusListener) {
this.adasConnectStatusListener = onAdasConnectStatusListener;
initData();
//配置为null默认是乘客屏幕
@@ -331,21 +334,32 @@ public class AdasChannel implements IAdasNetCommApi, FpgaSocket.IWebSocketConnec
try {
if (rawUnpack != null) {
RawData raw = rawUnpack.read(byteString);
if (raw.isUnpackSucceed()) {
if (raw.getProtocolStatus() == ProtocolStatus.SUCCEED) {
MessagePad.Header header = MessagePad.Header.parseFrom(raw.getHeader());
MessagePad.MessageType messageType = header.getMsgType();
CupidLogUtils.w("--->websocket byte read header = " + messageType.toString());
myMessageFactory.createMessage(messageType).handlerMsg(header, raw.getPayload(), mAdasListener);
IMsg iMsg = myMessageFactory.createMessage(messageType);
if (iMsg == null) {
callError(ProtocolStatus.MESSAGE_TYPE_UNKNOWN, bytes);
return;
}
iMsg.handlerMsg(header, raw.getPayload(), mAdasListener);
} else {
CupidLogUtils.w("数据解析失败=" + byteString.hex());
callError(raw.getProtocolStatus(), bytes);
}
}
} catch (Exception e) {
callError(ProtocolStatus.BUSINESS_DATA_PARSE_FAILED, bytes);
e.printStackTrace();
}
}
private void callError(ProtocolStatus status, byte[] bytes) {
if (mAdasListener != null) {
mAdasListener.onError(status, bytes);
}
}
@Override
public AdasOptions getAdasOptions() {
return adasOptions;
@@ -566,7 +580,10 @@ public class AdasChannel implements IAdasNetCommApi, FpgaSocket.IWebSocketConnec
* @return
*/
@Override
public boolean sendBasicInfoResp(String sn, int environment) {
public boolean sendBasicInfoResp(@NonNull String sn, int environment) {
if (sn == null) {
sn = "";
}
MessagePad.BasicInfoResp resp = MessagePad.BasicInfoResp
.newBuilder()
.setSn(sn)
@@ -632,7 +649,19 @@ public class AdasChannel implements IAdasNetCommApi, FpgaSocket.IWebSocketConnec
* @return
*/
@Override
public boolean sendRecordCause(String key, String filename, String reasonID, String reason) {
public boolean sendRecordCause(long key, @NonNull String filename, @NonNull String reasonID, @NonNull String reason) {
if (filename == null) {
filename = "";
}
if (filename == null) {
filename = "";
}
if (reasonID == null) {
reasonID = "";
}
if (reason == null) {
reason = "";
}
MessagePad.RecordCause resp = MessagePad.RecordCause
.newBuilder()
.setKey(key)
@@ -733,9 +762,18 @@ public class AdasChannel implements IAdasNetCommApi, FpgaSocket.IWebSocketConnec
* @return
*/
@Override
public boolean sendTrafficLightData(String crossID, double latitude, double longitude,
String heading, String direction, int lightId, int laneNo,
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) {
if (crossID == null) {
crossID = "";
}
if (heading == null) {
heading = "";
}
if (direction == null) {
direction = "";
}
MessagePad.TrafficLightData.Builder builder = MessagePad.TrafficLightData.newBuilder();
builder.setCrossID(crossID);
builder.setLatitude(latitude);

8
libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/AdasManager.java
View File

@@ -2,6 +2,8 @@ package com.zhidao.support.adas.high;
import android.content.Context;
import androidx.annotation.NonNull;
import com.zhidao.support.adas.high.bean.BaseInfo;
import com.zhidao.support.adas.high.common.AppPreferenceHelper;
import com.zhidao.support.adas.high.common.Constants;
@@ -203,7 +205,7 @@ public class AdasManager implements IAdasNetCommApi {
}
@Override
public boolean sendBasicInfoResp(String sn, int environment) {
public boolean sendBasicInfoResp(@NonNull String sn, int environment) {
return mChannel != null && mChannel.sendBasicInfoResp(sn, environment);
}
@@ -223,7 +225,7 @@ public class AdasManager implements IAdasNetCommApi {
}
@Override
public boolean sendRecordCause(String key, String filename, String reasonID, String reason) {
public boolean sendRecordCause(long key, @NonNull String filename, @NonNull String reasonID, @NonNull String reason) {
return mChannel != null && mChannel.sendRecordCause(key, filename, reasonID, reason);
}
@@ -253,7 +255,7 @@ public class AdasManager implements IAdasNetCommApi {
}
@Override
public boolean sendTrafficLightData(String crossID, double latitude, double longitude, String heading, String direction, int lightId, int laneNo, int arrowNo, int flashYellow, MessagePad.TrafficLightDetail laneDetail) {
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);
}

10
libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/IAdasNetCommApi.java
View File

@@ -1,5 +1,7 @@
package com.zhidao.support.adas.high;
import androidx.annotation.NonNull;
import com.zhidao.support.adas.high.bean.BaseInfo;
import com.zhidao.support.adas.high.common.Constants;
@@ -58,7 +60,7 @@ public interface IAdasNetCommApi {
* @param environment 1: 研发环境, 2:测试环境, 3:生产环境 4:演示环境
* @return
*/
boolean sendBasicInfoResp(String sn, int environment);
boolean sendBasicInfoResp(@NonNull String sn, int environment);
/**
* 设置自动驾驶模式 启动自动驾驶
@@ -94,7 +96,7 @@ public interface IAdasNetCommApi {
* @param reason 接管原因
* @return
*/
boolean sendRecordCause(String key, String filename, String reasonID, String reason);
boolean sendRecordCause(long key, @NonNull String filename, @NonNull String reasonID, @NonNull String reason);
/**
* 同下
@@ -158,8 +160,8 @@ public interface IAdasNetCommApi {
* @param laneDetail 灯态具体信息
* @return
*/
boolean sendTrafficLightData(String crossID, double latitude, double longitude,
String heading, String direction, int lightId, int laneNo,
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);
/**

8
libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/OnAdasListener.java
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@@ -2,6 +2,7 @@ package com.zhidao.support.adas.high;
import com.zhidao.support.adas.high.bean.IPCUpgradeStateInfo;
import com.zhidao.support.adas.high.bean.SSHResult;
import com.zhidao.support.adas.high.common.ProtocolStatus;
import chassis.VehicleStateOuterClass;
import mogo.telematics.pad.MessagePad;
@@ -136,5 +137,12 @@ public interface OnAdasListener {
*/
void onSSHResult(SSHResult info);
/**
* 数据错误
*
* @param status 错误原因
* @param bytes 原始数据
*/
void onError(ProtocolStatus status, byte[] bytes);
}

31
libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/common/ProtocolStatus.java Normal file
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@@ -0,0 +1,31 @@
package com.zhidao.support.adas.high.common;
/**
* 数据协议解析状态
*/
public enum ProtocolStatus {
SUCCEED(0x00, "数据解析成功"),
MAGIC_CODE_CHECK_FAILED(0x01, "数据头校验失败"),
PACKAGE_LENGTH_CHECK_FAILED(0x02, "数据包长度校验失败"),
MESSAGE_TYPE_UNKNOWN(0x03, "MessageType未知"),
BUSINESS_DATA_PARSE_FAILED(0x04, "业务数据解析失败");
public final int code;
/**
* 描述
*/
public final String desc;
ProtocolStatus(int code, String desc) {
this.code = code;
this.desc = desc;
}
@Override
public String toString() {
return desc;
}
}

10
libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/common/RSATool.java
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@@ -1,6 +1,6 @@
package com.zhidao.support.adas.high.common;
import android.util.Log;
import java.nio.charset.StandardCharsets;
@@ -53,13 +53,13 @@ public class RSATool {
// 将公私钥转为base64-法2
String privateBase64 = Base64.encodeBase64String(privateKey);
String publicBase64 = Base64.encodeBase64String(publicKey);
Log.i("RSATool", "privateBase64=" + privateBase64);
Log.i("RSATool", "publicBase64=" + publicBase64);
CupidLogUtils.i("RSATool", "privateBase64=" + privateBase64);
CupidLogUtils.i("RSATool", "publicBase64=" + publicBase64);
String data = "mogo@ZHIDAO10";
String encryptData = encryptByPublicKey(data, publicKey);
Log.i("RSATool", "encryptData=" + encryptData);
CupidLogUtils.i("RSATool", "encryptData=" + encryptData);
String decodeData = decodeByPrivateKey(encryptData, Base64.decodeBase64(privateBase64));
Log.i("RSATool", "decodeData=" + decodeData);
CupidLogUtils.i("RSATool", "decodeData=" + decodeData);
} catch (Exception e) {
e.printStackTrace();
}

52
libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/common/RequestWsMsgType.java
View File

@@ -1,52 +0,0 @@
package com.zhidao.support.adas.high.common;
/**
* @author nie yunlong
* @description 请求值
* @date 2018/7/3
*/
public enum RequestWsMsgType {
/**
* 获取视频信息
*/
MSG_GET_VIDEO_INFO(1, "get video info"),
/**
* 视频分辨率
*/
MSG_SEND_LOCATION(2, "视频分辨率"),
/**
* 上传配置
*/
MSG_SEND_UPLOAD_CONFIG(3, "上传配置"),
MSG_SEND_CLOSE(5, "关闭socket");
int mMsgType;
/**
* 描述
*/
String mMsgDesc;
RequestWsMsgType(int msgType, String msgDesc) {
this.mMsgType = msgType;
this.mMsgDesc = msgDesc;
}
/**
* 获取msgType
*
* @return
*/
public int getMsgType() {
return mMsgType;
}
/**
* 获取描述
*
* @return
*/
public String getmMsgDesc() {
return mMsgDesc;
}
}

3
libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/msg/ArrivalNotificationMessage.java
View File

@@ -21,8 +21,9 @@ public class ArrivalNotificationMessage extends MyAbstractMessageHandler {
MessagePad.ArrivalNotification arrivalNotification = MessagePad.ArrivalNotification.parseFrom(msg);
if (adasListener != null) {
adasListener.onArrivalNotification(header, arrivalNotification);
CupidLogUtils.e("到站提醒--->" + arrivalNotification.toString());
}
CupidLogUtils.e("到站提醒--->" + arrivalNotification.toString());
}

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

@@ -22,8 +22,8 @@ public class AutopilotStateMessage extends MyAbstractMessageHandler {
MessagePad.AutopilotState autopilotState = MessagePad.AutopilotState.parseFrom(msg);
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());
}

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

@@ -21,8 +21,8 @@ public class BasicInfoReqMessage extends MyAbstractMessageHandler {
MessagePad.BasicInfoReq autopilotState = MessagePad.BasicInfoReq.parseFrom(msg);
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());
}

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

@@ -21,8 +21,8 @@ public class CarConfigRespMessage extends MyAbstractMessageHandler {
MessagePad.CarConfigResp carConfigResp = MessagePad.CarConfigResp.parseFrom(msg);
if (adasListener != null) {
adasListener.onCarConfigResp(header, carConfigResp);
CupidLogUtils.e("车机基础信息应答--->" + carConfigResp.toString());
}
CupidLogUtils.e("车机基础信息应答--->" + carConfigResp.toString());
}

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

@@ -21,8 +21,8 @@ public class GlobalPathRespMessage extends MyAbstractMessageHandler {
MessagePad.GlobalPathResp globalPathResp = MessagePad.GlobalPathResp.parseFrom(msg);
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());
}

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

@@ -21,8 +21,8 @@ public class GnssInfoMessage extends MyAbstractMessageHandler {
MessagePad.GnssInfo trajectory = MessagePad.GnssInfo.parseFrom(msg);
if (adasListener != null) {
adasListener.onGnssInfo(header, trajectory);
CupidLogUtils.e("惯导信息--->" + trajectory.toString());
}
CupidLogUtils.e("惯导信息--->" + trajectory.toString());
}

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

@@ -48,7 +48,6 @@ public class MyMessageFactory implements IMyMessageFactory {
@Override
public IMsg createMessage(MessagePad.MessageType messageType) {
if (messageType == MessageType.TYPE_RECEIVE_TRAJECTORY.typeCode) {
//局部轨迹
if (trajectoryMessage == null) {
@@ -123,10 +122,7 @@ public class MyMessageFactory implements IMyMessageFactory {
return arrivalNotificationMessage;
} else {
//MessageType.TYPE_DEFAULT.typeCode
if (nuImplMessage == null) {
nuImplMessage = new NuImplMessage();
}
return nuImplMessage;
return null;
}
}
}

3
libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/msg/RecordResultMessage.java
View File

@@ -2,6 +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;
@@ -22,8 +23,8 @@ public class RecordResultMessage extends MyAbstractMessageHandler {
RecordPanelOuterClass.RecordPanel recordPanel = RecordPanelOuterClass.RecordPanel.parseFrom(msg);
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());
}

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

@@ -22,8 +22,8 @@ public class ReportMessage extends MyAbstractMessageHandler {
MogoReportMsg.MogoReportMessage mogoReportMessage = MogoReportMsg.MogoReportMessage.parseFrom(msg);
if (adasListener != null) {
adasListener.onReportMessage(header, mogoReportMessage);
CupidLogUtils.e("到站提醒--->" + mogoReportMessage.toString());
}
CupidLogUtils.e("监控事件报告--->" + mogoReportMessage.toString());
}

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

@@ -28,8 +28,8 @@ public class TrackedObjectsMessage extends MyAbstractMessageHandler {
MessagePad.TrackedObjects trackedObjects = MessagePad.TrackedObjects.parseFrom(msg);
if (adasListener != null) {
adasListener.onTrackedObjects(header, trackedObjects);
CupidLogUtils.e("障碍物--->" + trackedObjects.toString());
}
CupidLogUtils.e("障碍物信息--->" + trackedObjects.toString());
}

4
libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/msg/TrajectoryMessage.java
View File

@@ -8,7 +8,7 @@ import com.zhidao.support.adas.high.common.CupidLogUtils;
import mogo.telematics.pad.MessagePad;
/**
* 自动驾驶局部轨迹 前车引导线
* 自动驾驶局部轨迹 车前引导线
*/
public class TrajectoryMessage extends MyAbstractMessageHandler {
@@ -21,8 +21,8 @@ public class TrajectoryMessage extends MyAbstractMessageHandler {
MessagePad.Trajectory trajectory = MessagePad.Trajectory.parseFrom(msg);
if (adasListener != null) {
adasListener.onTrajectory(header, trajectory);
CupidLogUtils.e("自动驾驶局部轨迹 前车引导线--->" + trajectory.toString());
}
CupidLogUtils.e("车前引导线--->" + trajectory.toString());
}

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

@@ -22,8 +22,8 @@ public class VehicleStateMessage extends MyAbstractMessageHandler {
VehicleStateOuterClass.VehicleState vehicleState = VehicleStateOuterClass.VehicleState.parseFrom(msg);
if (adasListener != null) {
adasListener.onVehicleState(header, vehicleState);
CupidLogUtils.e("惯导信息--->" + vehicleState.toString());
}
CupidLogUtils.e("底盘信息--->" + vehicleState.toString());
}

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

@@ -22,8 +22,8 @@ public class WarnMessage extends MyAbstractMessageHandler {
MessagePad.Warn warn = MessagePad.Warn.parseFrom(msg);
if (adasListener != null) {
adasListener.onWarn(header, warn);
CupidLogUtils.e("自动驾驶路径应答--->" + warn.toString());
}
CupidLogUtils.e("预警数据--->" + warn.toString());
}

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

@@ -17,11 +17,11 @@ public class WsAutopilotUpgradeStatusMessage extends MyAbstractMessageHandler {
@Override
public void handlerMsg(Gson gson, OnAdasListener adasListener, String msg) {
CupidLogUtils.i("工控机升级", "msg=" + msg);
IPCUpgradeStateInfo autopilotStatus = gson.fromJson(msg, IPCUpgradeStateInfo.class);
if (adasListener != null) {
adasListener.onUpgradeStateInfo(autopilotStatus);
}
CupidLogUtils.i("工控机升级", "msg=" + msg);
}
@Override

34
libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/protocol/RawData.java
View File

@@ -1,8 +1,7 @@
package com.zhidao.support.adas.high.protocol;
import com.zhidao.support.adas.high.common.DigitalTrans;
import java.io.Serializable;
import com.zhidao.support.adas.high.common.ProtocolStatus;
/**
* 原始数据协议
@@ -12,11 +11,12 @@ import java.io.Serializable;
* @date 2021/10/20
* 原始数据格式：MagicCode(2字节 6d67) 偏移量(2字节 从原始数据头开始一直到Body头) 数据包总长度（4字节） Header Body
*/
public class RawData implements Serializable {
public class RawData {
/**
* 数据拆包是否成功
*/
private boolean isUnpackSucceed = true;
private ProtocolStatus protocolStatus;
/**
* 用于检查数据是否为正确数据
@@ -110,13 +110,6 @@ public class RawData implements Serializable {
this.payload = payload;
}
public boolean isUnpackSucceed() {
return isUnpackSucceed;
}
public void setUnpackSucceed(boolean unpackSucceed) {
isUnpackSucceed = unpackSucceed;
}
public int getOffsetValue() {
return offsetValue;
@@ -125,4 +118,23 @@ public class RawData implements Serializable {
public long getPackageLengthValue() {
return packageLengthValue;
}
public ProtocolStatus getProtocolStatus() {
return protocolStatus;
}
public void setProtocolStatus(ProtocolStatus protocolStatus) {
this.protocolStatus = protocolStatus;
}
public void clear() {
magicCode = null;
offset = null;
offsetValue = 0;
packageLength = null;
packageLengthValue = 0L;
header = null;
payload = null;
}
}

15
libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/protocol/RawUnpack.java
View File

@@ -3,6 +3,7 @@ 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;
import java.util.Arrays;
@@ -18,14 +19,15 @@ import okio.ByteString;
public class RawUnpack {
private static final String TAG = RawUnpack.class.getSimpleName();
private final DefaultMessageProtocol messageProtocol;
private RawData originalData;
public RawUnpack() {
messageProtocol = new DefaultMessageProtocol();
}
public RawData read(ByteString bytes) {
RawData originalData = new RawData();
if (originalData == null)
originalData = new RawData();
unpack(bytes, originalData);
return originalData;
@@ -47,6 +49,11 @@ public class RawUnpack {
ByteString packageLength = bytes.substring(messageProtocol.getMagicCodeLength() + messageProtocol.getOffsetLength(), messageProtocol.getOutHeader());
byte[] packageLengthB = packageLength.toByteArray();
raw.setPackageLength(packageLengthB, getPackageLengthValue(packageLengthB));
if (bytes.size() != raw.getPackageLengthValue()) {
raw.setProtocolStatus(ProtocolStatus.PACKAGE_LENGTH_CHECK_FAILED);
raw.clear();
return;
}
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());
@@ -55,9 +62,11 @@ public class RawUnpack {
//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()));
} else {
raw.setUnpackSucceed(false);
raw.setProtocolStatus(ProtocolStatus.MAGIC_CODE_CHECK_FAILED);
raw.clear();
}
}

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

@@ -244,7 +244,7 @@ public class FpgaSocket implements IWebSocket {
@Override
public void onMessage(@NonNull WebSocket webSocket, @NonNull ByteString bytes) {
super.onMessage(webSocket, bytes);
// CupidLogUtils.i(TAG, "WebSocket onMessage bytes= " + bytes.hex());
CupidLogUtils.i(TAG, "WebSocket onMessage bytes= " + bytes.size());
if (AdasChannel.isUseQueue) {
WSByteQueueManager.getInstance().addQueueData(bytes);
} else {