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[状态栏]优化CAN和RTK状态判断;RTK状态增加文字描述

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This commit is contained in:
renwj
2022-07-12 17:34:40 +08:00
parent ca6148cb36
commit d2c35d07e4
20 changed files with 136 additions and 12 deletions
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5
OCH/mogo-och-bus-passenger/src/main/java/com/mogo/och/bus/passenger/model/BusPassengerModel.java
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@@ -52,6 +52,7 @@ import java.util.concurrent.ConcurrentHashMap;
import mogo.telematics.pad.MessagePad;
import mogo_msg.MogoReportMsg;
import system_master.SystemStatusInfo;
import static com.mogo.eagle.core.utilcode.mogo.logger.scene.SceneConstant.M_BUS_P;
import static com.mogo.och.bus.passenger.constant.BusPassengerConst.STATION_STATUS_STOPPED;
@@ -337,6 +338,10 @@ public class BusPassengerModel {
}
}
@Override
public void onAutopilotStatusRespByQuery(@NonNull SystemStatusInfo.StatusInfo status) {
}
};
private final IMoGoAutopilotPlanningListener moGoAutopilotPlanningListener = new IMoGoAutopilotPlanningListener(){

6
OCH/mogo-och-bus/src/main/java/com/mogo/och/bus/presenter/BusPresenter.java
View File

@@ -32,6 +32,7 @@ import java.util.List;
import mogo.telematics.pad.MessagePad;
import mogo_msg.MogoReportMsg;
import system_master.SystemStatusInfo;
/**
* 网约车小巴
@@ -283,4 +284,9 @@ public class BusPresenter extends Presenter<BusFragment>
@Override
public void onAutopilotIpcConnectStatusChanged(int status, @Nullable String reason) {
}
@Override
public void onAutopilotStatusRespByQuery(@NonNull SystemStatusInfo.StatusInfo status) {
}
}

5
OCH/mogo-och-taxi-passenger/src/main/java/com/mogo/och/taxi/passenger/model/TaxiPassengerModel.java
View File

@@ -73,6 +73,7 @@ import io.reactivex.functions.Consumer;
import io.reactivex.plugins.RxJavaPlugins;
import mogo.telematics.pad.MessagePad;
import mogo_msg.MogoReportMsg;
import system_master.SystemStatusInfo;
import static com.mogo.eagle.core.utilcode.mogo.logger.scene.SceneConstant.M_TAXI_P;
@@ -566,6 +567,10 @@ public class TaxiPassengerModel implements IOCHTaxiPassengerNaviChangedCallback
}
}
@Override
public void onAutopilotStatusRespByQuery(@NonNull SystemStatusInfo.StatusInfo status) {
}
};
private final IMoGoAutopilotPlanningListener moGoAutopilotPlanningListener = new IMoGoAutopilotPlanningListener(){

5
OCH/mogo-och-taxi/src/main/java/com/mogo/och/taxi/model/TaxiModel.java
View File

@@ -82,6 +82,7 @@ import io.reactivex.functions.Consumer;
import io.reactivex.plugins.RxJavaPlugins;
import mogo.telematics.pad.MessagePad;
import mogo_msg.MogoReportMsg;
import system_master.SystemStatusInfo;
/**
* Created by pangfan on 2021/8/19
@@ -1148,6 +1149,10 @@ public class TaxiModel {
CallerLogger.INSTANCE.d(M_TAXI + TAG, "美化模式-ignore：置为false（到达目的地）");
}
}
@Override
public void onAutopilotStatusRespByQuery(@NonNull SystemStatusInfo.StatusInfo status) {
}
};
private final IMoGoAutopilotPlanningListener moGoAutopilotPlanningListener = new IMoGoAutopilotPlanningListener() {

5
core/function-impl/mogo-core-function-autopilot/src/main/java/com/mogo/eagle/core/function/autopilot/MoGoAutopilotProvider.kt
View File

@@ -525,4 +525,9 @@ class MoGoAutopilotProvider :
override fun getTeleTimeStamp(): Long {
return msgHandler.getTeleTimeStamp()
}
override fun sendStatusQueryReq() {
Log.d(TAG, "---- sendStatusQueryReq ----")
AdasManager.getInstance().sendStatusQueryReq()
}
}

6
core/function-impl/mogo-core-function-autopilot/src/main/java/com/mogo/eagle/core/function/autopilot/adapter/MoGoAdasListenerImpl.kt
View File

@@ -31,6 +31,7 @@ import com.mogo.eagle.core.function.call.autopilot.CallerAutoPilotStatusListener
import com.mogo.eagle.core.function.call.autopilot.CallerAutoPilotStatusListenerManager.invokeAutoPilotStatus
import com.mogo.eagle.core.function.call.autopilot.CallerAutoPilotStatusListenerManager.invokeAutopilotGuardian
import com.mogo.eagle.core.function.call.autopilot.CallerAutoPilotStatusListenerManager.invokeAutopilotSNRequest
import com.mogo.eagle.core.function.call.autopilot.CallerAutoPilotStatusListenerManager.invokeAutopilotStatusRespByQuery
import com.mogo.eagle.core.function.call.autopilot.CallerAutopilotCarConfigListenerManager.invokeAutopilotCarConfigData
import com.mogo.eagle.core.function.call.autopilot.CallerAutopilotCarStatusListenerManager.invokeAutopilotCarStateData
import com.mogo.eagle.core.function.call.autopilot.CallerAutopilotIdentifyListenerManager
@@ -43,6 +44,7 @@ import com.mogo.eagle.core.function.call.autopilot.CallerAutopilotPointCloudList
import com.mogo.eagle.core.function.call.autopilot.CallerAutopilotRecordListenerManager.invokeAutopilotRecordResult
import com.mogo.eagle.core.function.call.autopilot.CallerAutopilotVehicleStateListenerManager
import com.mogo.eagle.core.function.call.map.CallerMapUIServiceManager
import com.mogo.eagle.core.network.utils.*
import com.zhidao.support.adas.high.AdasManager
import com.zhidao.support.adas.high.OnAdasListener
import com.zhidao.support.adas.high.common.ProtocolStatus
@@ -369,6 +371,10 @@ class MoGoAdasListenerImpl : OnAdasListener {
statusInfo: SystemStatusInfo.StatusInfo?
) {
//状态查询应答
statusInfo?.let {
Log.d(TAG, GsonUtil.jsonFromObject(it))
}
invokeAutopilotStatusRespByQuery(statusInfo)
}
/**

8
core/function-impl/mogo-core-function-devatools/src/main/java/com/zhjt/mogo_core_function_devatools/status/StatusManager.kt
View File

@@ -7,6 +7,7 @@ import androidx.lifecycle.*
import androidx.lifecycle.Lifecycle.Event
import androidx.lifecycle.Lifecycle.Event.ON_CREATE
import androidx.lifecycle.Lifecycle.Event.ON_DESTROY
import com.mogo.eagle.core.function.call.autopilot.*
import com.mogo.eagle.core.utilcode.kotlin.*
import com.zhjt.mogo_core_function_devatools.ext.*
import com.zhjt.mogo_core_function_devatools.status.entity.CanStatus
@@ -78,8 +79,13 @@ object StatusManager {
for (f in flows) {
f.onCreate()
}
ctx.lifeCycleScope.launch(Dispatchers.IO) {
while (true) {
CallerAutoPilotManager.sendStatusQueryReq()
delay(1000)
}
}
}
ctx.normalPop(content,
width = 665.PX,
height = WindowManager.LayoutParams.WRAP_CONTENT,

2
core/function-impl/mogo-core-function-devatools/src/main/java/com/zhjt/mogo_core_function_devatools/status/entity/Status.kt
View File

@@ -81,7 +81,7 @@ internal class GpsStatus(val enabled: Boolean = false, val isGranted: Boolean =
/**
* RTK/GNSS定位状态
*/
internal class RTKStatus(var enabled: Boolean = false): Status() {
internal class RTKStatus(var enabled: Boolean = false, var desc: String = "RTK"): Status() {
override fun equals(other: Any?): Boolean {
if (javaClass != other?.javaClass) return false

14
core/function-impl/mogo-core-function-devatools/src/main/java/com/zhjt/mogo_core_function_devatools/status/flow/can/CanImpl.kt
View File

@@ -1,7 +1,6 @@
package com.zhjt.mogo_core_function_devatools.status.flow.can
import android.content.*
import android.util.*
import chassis.Chassis.GearPosition
import chassis.Chassis.LightSwitch
import com.mogo.eagle.core.function.api.autopilot.*
@@ -11,6 +10,8 @@ import com.zhjt.mogo_core_function_devatools.status.flow.IFlow
import com.zhjt.mogo_core_function_devatools.status.entity.CanStatus
import kotlinx.coroutines.*
import mogo_msg.MogoReportMsg.MogoReportMessage
import system_master.SystemStatusInfo.StatusInfo
import java.util.concurrent.atomic.*
internal class CanImpl(ctx: Context): IFlow<CanStatus>(ctx), IMoGoAutopilotVehicleStateListener, IMoGoAutopilotStatusListener {
@@ -19,6 +20,7 @@ internal class CanImpl(ctx: Context): IFlow<CanStatus>(ctx), IMoGoAutopilotVehic
}
private var job: Job? = null
private val state: AtomicInteger by lazy { AtomicInteger(Int.MIN_VALUE) }
override fun onCreate() {
send(CanStatus(CallerAutoPilotManager.isConnected()))
@@ -33,7 +35,7 @@ internal class CanImpl(ctx: Context): IFlow<CanStatus>(ctx), IMoGoAutopilotVehic
private fun isCanEnabled(): Boolean {
val code = CallerAutoPilotStatusListenerManager.getAutoPilotReportMessageCode()
return CallerAutoPilotManager.isConnected() && code != "EHW_CAN"
return CallerAutoPilotManager.isConnected() && code != "EHW_CAN" && (state.get() == Int.MIN_VALUE || state.get() == 0)
}
@@ -69,12 +71,18 @@ internal class CanImpl(ctx: Context): IFlow<CanStatus>(ctx), IMoGoAutopilotVehic
timeOutCheck()
}
override fun onAutopilotStatusRespByQuery(status: StatusInfo) {
val state = status.healthInfoList?.find { "can_adapter".equals(it.name, true) }?.state?.ordinal
if (state != null) {
this.state.set(state)
}
}
private fun timeOutCheck() {
job?.safeCancel()
launch(Dispatchers.Default) {
delay(4000)
send(CanStatus(false))
send(CanStatus(isCanEnabled()))
}.also { job = it }
}

27
core/function-impl/mogo-core-function-devatools/src/main/java/com/zhjt/mogo_core_function_devatools/status/flow/rtk/RTKImpl.kt
View File

@@ -9,6 +9,9 @@ import com.zhjt.mogo_core_function_devatools.status.entity.RTKStatus
import com.zhjt.mogo_core_function_devatools.status.flow.IFlow
import kotlinx.coroutines.*
import mogo.telematics.pad.MessagePad.GnssInfo
import system_master.SystemStatusInfo.HealthInfo
import system_master.SystemStatusInfo.StatusInfo
import java.util.concurrent.atomic.*
internal class RTKImpl(ctx: Context): IFlow<RTKStatus>(ctx), IMoGoAutopilotCarStateListener, IMoGoAutopilotStatusListener {
companion object {
@@ -17,6 +20,10 @@ internal class RTKImpl(ctx: Context): IFlow<RTKStatus>(ctx), IMoGoAutopilotCarSt
private var job: Job? = null
private val desc by lazy {
AtomicReference<HealthInfo>(null)
}
override fun onCreate() {
send(RTKStatus(isRTKEnabled()))
Log.d(TAG, "-- onCreate --")
@@ -27,29 +34,41 @@ internal class RTKImpl(ctx: Context): IFlow<RTKStatus>(ctx), IMoGoAutopilotCarSt
private fun isRTKEnabled(): Boolean {
val code = CallerAutoPilotStatusListenerManager.getAutoPilotReportMessageCode()
val gnssInfo = CallerAutopilotCarStatusListenerManager.getCurrentGnssInfo()
val status = desc.get()
return CallerAutoPilotManager.isConnected() && (
code != "EHW_RTK" &&
code != "EHW_GNSS" &&
code != "ESYS_RTK_STATUS_FAULT" &&
code != "ELCT_RTK_STATUS_FAULT" &&
code != "ELCT_RTK_STATUS_UNKNOWN") && gnssInfo != null
code != "ELCT_RTK_STATUS_UNKNOWN") && gnssInfo != null && (status == null || status.state?.ordinal == 0)
}
override fun onAutopilotCarStateData(gnssInfo: GnssInfo?) {
send(RTKStatus(isRTKEnabled()))
send(RTKStatus(isRTKEnabled(), getDesc()))
timeOutCheck()
}
override fun onAutopilotIpcConnectStatusChanged(status: Int, reason: String?) {
super.onAutopilotIpcConnectStatusChanged(status, reason)
send(RTKStatus(isRTKEnabled()))
send(RTKStatus(isRTKEnabled(), getDesc()))
}
override fun onAutopilotStatusRespByQuery(status: StatusInfo) {
val state = status.healthInfoList?.find { "localization".equals(it.name, true) }
if (state != null) {
desc.set(state)
}
}
private fun getDesc(): String {
return desc.get()?.desc?.uppercase() ?: "RTK"
}
private fun timeOutCheck() {
job?.safeCancel()
launch(Dispatchers.Default) {
delay(4000)
send(RTKStatus(false))
send(RTKStatus(isRTKEnabled(), getDesc()))
}.also { job = it }
}

2
core/function-impl/mogo-core-function-devatools/src/main/java/com/zhjt/mogo_core_function_devatools/status/ui/adapter/StatusAdapter.kt
View File

@@ -91,7 +91,7 @@ internal class StatusAdapter(val ctx: Context, var data: ArrayList<Status>): Rec
} else {
iv.background = ContextCompat.getDrawable(itemView.context, drawable.icon_dev_status_rtk_disable)
}
tv.text = "RTK"
tv.text = status.desc
}
}
}

6
core/function-impl/mogo-core-function-dispatch/src/main/java/com/zhjt/dispatch/DispatchAutoPilotManager.java
View File

@@ -38,10 +38,12 @@ import static com.zhjt.dispatch.model.DispatchServiceModel.DISPATCH_RESULT_AFFIR
import static com.zhjt.dispatch.model.DispatchServiceModel.DISPATCH_RESULT_MANUAL_CANCEL;
import static com.zhjt.dispatch.model.DispatchServiceModel.DISPATCH_RESULT_TIMER_CANCEL;
import androidx.annotation.NonNull;
import androidx.annotation.Nullable;
import mogo.telematics.pad.MessagePad;
import mogo_msg.MogoReportMsg;
import system_master.SystemStatusInfo;
//负责监听自动驾驶状态并进行状态上报，自动驾驶路线上报，接收调度指令展示指令弹窗
public class DispatchAutoPilotManager implements IMogoOnMessageListener<DispatchAdasAutoPilotLocReceiverBean>
@@ -339,4 +341,8 @@ public class DispatchAutoPilotManager implements IMogoOnMessageListener<Dispatch
@Override
public void onAutopilotIpcConnectStatusChanged(int status, @Nullable String reason) {
}
@Override
public void onAutopilotStatusRespByQuery(@NonNull SystemStatusInfo.StatusInfo status) {
}
}

7
core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/hmi/ui/widget/SteeringWheelView.java
View File

@@ -30,6 +30,7 @@ import org.jetbrains.annotations.NotNull;
import chassis.Chassis;
import mogo.telematics.pad.MessagePad;
import mogo_msg.MogoReportMsg;
import system_master.SystemStatusInfo;
import static com.mogo.eagle.core.utilcode.mogo.logger.scene.SceneConstant.M_BUS_P;
@@ -142,13 +143,17 @@ public class SteeringWheelView extends ConstraintLayout {
}
}
});
}
@Override
public void onAutopilotSNRequest() {
}
@Override
public void onAutopilotStatusRespByQuery(@NonNull SystemStatusInfo.StatusInfo status) {
}
};
private final IMoGoAutopilotVehicleStateListener mIMoGoAutopilotVehicleStateListener = new IMoGoAutopilotVehicleStateListener() {

6
core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/main/MainActivity.java
View File

@@ -63,6 +63,7 @@ import java.util.Map;
import mogo.telematics.pad.MessagePad;
import mogo_msg.MogoReportMsg;
import system_master.SystemStatusInfo;
/**
* @author congtaowang
@@ -396,6 +397,11 @@ public class MainActivity extends MvpActivity<MainView, MainPresenter> implement
public void onAutopilotSNRequest() {
}
@Override
public void onAutopilotStatusRespByQuery(@NonNull SystemStatusInfo.StatusInfo status) {
}
private void updateConnectInfoView(@NonNull AutopilotStatusInfo autoPilotStatusInfo) {
if (!isFloatingLayerHidden) {// 遮罩层显示的时候
mConnAdapter.updateData(autoPilotStatusInfo);

7
core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/smp/SmallMapFragment.java
View File

@@ -4,6 +4,7 @@ import android.content.Context;
import android.os.Bundle;
import android.view.View;
import androidx.annotation.NonNull;
import androidx.annotation.Nullable;
import com.alibaba.android.arouter.facade.annotation.Route;
@@ -25,6 +26,7 @@ import java.util.List;
import mogo.telematics.pad.MessagePad;
import mogo_msg.MogoReportMsg;
import system_master.SystemStatusInfo;
/**
* @author donghongyu
@@ -176,4 +178,9 @@ public class SmallMapFragment extends BaseFragment
clearPolyline();
}
}
@Override
public void onAutopilotStatusRespByQuery(@NonNull SystemStatusInfo.StatusInfo status) {
}
}

5
core/mogo-core-function-api/src/main/java/com/mogo/eagle/core/function/api/autopilot/IMoGoAutopilotProvider.kt
View File

@@ -190,4 +190,9 @@ interface IMoGoAutopilotProvider : IMoGoFunctionServerProvider {
* 或乘客屏解析数据的时间戳
*/
fun getTeleTimeStamp(): Long
/**
* 主动查询工控机的各topic状态
*/
fun sendStatusQueryReq()
}

6
core/mogo-core-function-api/src/main/java/com/mogo/eagle/core/function/api/autopilot/IMoGoAutopilotStatusListener.kt
View File

@@ -3,6 +3,7 @@ package com.mogo.eagle.core.function.api.autopilot
import com.mogo.eagle.core.data.autopilot.AutopilotStatusInfo
import mogo.telematics.pad.MessagePad
import mogo_msg.MogoReportMsg
import system_master.*
/**
* @author xiaoyuzhou
@@ -41,6 +42,11 @@ interface IMoGoAutopilotStatusListener {
fun onAutopilotIpcConnectStatusChanged(status: Int, reason: String?) {}
/**
* 工控机主动查询 AdasManager#sendStatusQueryReq()，后会收到如下回调
*/
fun onAutopilotStatusRespByQuery(status: SystemStatusInfo.StatusInfo) { }
companion object {
/**
* 不可自动驾驶，目前场景是刚开机，adas还未和工控机连接

7
core/mogo-core-function-call/src/main/java/com/mogo/eagle/core/function/call/autopilot/CallerAutoPilotManager.kt
View File

@@ -252,4 +252,11 @@ object CallerAutoPilotManager {
fun getTeleTimeStamp(): Long {
return providerApi?.getTeleTimeStamp() ?: 0L
}
/**
* 主动查询工控机的各topic状态
*/
fun sendStatusQueryReq() {
providerApi?.sendStatusQueryReq()
}
}

13
core/mogo-core-function-call/src/main/java/com/mogo/eagle/core/function/call/autopilot/CallerAutoPilotStatusListenerManager.kt
View File

@@ -8,6 +8,7 @@ import com.mogo.eagle.core.utilcode.kotlin.*
import com.mogo.eagle.core.utilcode.util.GsonUtils
import mogo.telematics.pad.MessagePad
import mogo_msg.MogoReportMsg
import system_master.*
import java.util.concurrent.ConcurrentHashMap
/**
@@ -184,5 +185,15 @@ object CallerAutoPilotStatusListenerManager : CallerBase() {
}
}
/**
* 主动调查询接口：AdasManager#sendStatusQueryReq(), 会收到以下回调
*/
fun invokeAutopilotStatusRespByQuery(statusInfo: SystemStatusInfo.StatusInfo?) {
statusInfo?.also {
M_AUTOPILOT_STATUS_LISTENERS.forEach{ itx ->
val listener = itx.value
listener.onAutopilotStatusRespByQuery(it)
}
}
}
}

6
modules/mogo-module-service/src/main/java/com/mogo/module/service/routeoverlay/MogoRouteOverlayManager.java
View File

@@ -22,6 +22,7 @@ import java.util.concurrent.locks.ReentrantLock;
import mogo.telematics.pad.MessagePad;
import mogo_msg.MogoReportMsg;
import system_master.SystemStatusInfo;
public class MogoRouteOverlayManager implements
IMoGoAutopilotPlanningListener, IMoGoAutopilotStatusListener,
@@ -143,4 +144,9 @@ public class MogoRouteOverlayManager implements
@Override
public void onAutopilotIpcConnectStatusChanged(int status, @androidx.annotation.Nullable String reason) {
}
@Override
public void onAutopilotStatusRespByQuery(@NonNull SystemStatusInfo.StatusInfo status) {
}
}