[680][adas]启动自驾成功切换数据来源，当FSM2024 2.0及版本以上使用fsm中的Session结果进行判断，当存在fsm2.0以下时使用fsm自动驾驶状态判断，否则使用底盘数据

libraries/mogo-adas-data/src/main/java/com/zhjt/mogo/adas/data/bean/AutopilotStatistics.java

@@ -1,6 +1,7 @@
 package com.zhjt.mogo.adas.data.bean;
 
 
+import androidx.annotation.NonNull;
 import androidx.annotation.Nullable;
 
 import fsm.Fsm2024;
@@ -18,7 +19,7 @@ public class AutopilotStatistics {
         /**
          * 成功
          */
-        int SUCCESSFUL = 0;
+        int SUCCEED = 0;
         /**
          * 失败
          */
@@ -29,6 +30,14 @@ public class AutopilotStatistics {
         int CANCEL = 2;
     }
 
+    public enum Source {
+        LIB,//ADAS库 [用在下取消]
+        REPORT,//系统监控 [用在失败]
+        FSM, //老版FSM [用在成功]
+        FSM2024, //新版FSM [用在成功和失败]
+        CHASSIS//底盘 [用在成功]
+    }
+
     /**
      * 启动自动驾驶后状态
      * 0 成功
@@ -62,9 +71,16 @@ public class AutopilotStatistics {
     @Nullable
     public final MogoReportMsg.MogoReportMessage failedMessage;
 
-    public AutopilotStatistics(int status, long usedTime, @Nullable MessagePad.SetAutopilotModeReq req, @Nullable Fsm2024.FSMStateMsg fsmState, @Nullable MogoReportMsg.MogoReportMessage failedMessage) {
+    /**
+     * 数据来源
+     */
+    @NonNull
+    public final Source source;
+
+    public AutopilotStatistics(int status, long usedTime, @NonNull Source source, @Nullable MessagePad.SetAutopilotModeReq req, @Nullable Fsm2024.FSMStateMsg fsmState, @Nullable MogoReportMsg.MogoReportMessage failedMessage) {
         this.status = status;
         this.usedTime = usedTime;
+        this.source = source;
         this.req = req;
         this.fsmState = fsmState;
         this.failedMessage = failedMessage;

libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/common/AutopilotReview.java

@@ -41,10 +41,10 @@ public class AutopilotReview {
         void onReview(AutopilotStatistics statistics);
     }
 
-    private void onCallback(@Define.AutopilotStartStatus int status) {
+    private void onCallback(@Define.AutopilotStartStatus int status, @NonNull AutopilotStatistics.Source source) {
         long usedTime = SystemClock.elapsedRealtime() - startTime;
         if (listener != null) {
-            listener.onReview(new AutopilotStatistics(status, usedTime, startReq, fsmState, failedMessage));
+            listener.onReview(new AutopilotStatistics(status, usedTime, source, startReq, fsmState, failedMessage));
         }
         startTime = 0;
         startReq = null;
@@ -68,7 +68,7 @@ public class AutopilotReview {
             startReq = null;
             failedMessage = null;
             fsmState = null;
-            onCallback(AutopilotStatistics.AUTOPILOT_START_STATUS.CANCEL);
+            onCallback(AutopilotStatistics.AUTOPILOT_START_STATUS.CANCEL, AutopilotStatistics.Source.LIB);
         }
     }
 
@@ -82,26 +82,38 @@ public class AutopilotReview {
         if (AutopilotAbilityManager.getInstance().getFsm2024Version() >= 20) {
             return;
         }
-        if (startReq != null && message != null) {
+        failedMessage = message;
-            failedMessage = message;
+        if (message != null) {
-            onCallback(AutopilotStatistics.AUTOPILOT_START_STATUS.FAILED);
+            if (startReq == null) {
+                this.failedMessage = null;
+            } else {
+                onCallback(AutopilotStatistics.AUTOPILOT_START_STATUS.FAILED, AutopilotStatistics.Source.REPORT);
+            }
         }
     }
 
 
-    public void setFSM2024State(Fsm2024.FSMStateMsg fsmState) {
+    public void setFSM2024State(Fsm2024.FSMStateMsg fsmState, int autopilotState) {
         this.fsmState = fsmState;
-        if (startReq != null && fsmState != null) {
+        if (fsmState != null) {
-            if (fsmState.hasSession()) {
+            if (startReq == null) {
-                Fsm2024.Session session = fsmState.getSession();
+                this.fsmState = null;
-                if (session.hasSessionActiveMode() && session.hasSessionResult()) {
+            } else {
-                    if (session.getSessionActiveMode() == Fsm2024.ActiveMode.PILOT_ACTIVE &&
+                if (fsmState.hasSession()) {
-                            session.getSessionResult() == Fsm2024.SessionResult.REQUEST_FAILED) {
+                    Fsm2024.Session session = fsmState.getSession();
-                        onCallback(AutopilotStatistics.AUTOPILOT_START_STATUS.FAILED);
+                    if (session.hasSessionActiveMode() && session.hasSessionResult()) {
+                        if (session.getSessionActiveMode() == Fsm2024.ActiveMode.PILOT_ACTIVE) {
+                            if (session.getSessionResult() == Fsm2024.SessionResult.REQUEST_SUCCEED) {
+                                onCallback(AutopilotStatistics.AUTOPILOT_START_STATUS.SUCCEED, AutopilotStatistics.Source.FSM2024);
+                            } else if (session.getSessionResult() == Fsm2024.SessionResult.REQUEST_FAILED) {
+                                onCallback(AutopilotStatistics.AUTOPILOT_START_STATUS.FAILED, AutopilotStatistics.Source.FSM2024);
+                            }
+                        }
                     }
                 }
             }
         }
+        onAutopilotResult(autopilotState, AutopilotStatistics.Source.FSM2024);
     }
 
     /**
@@ -109,9 +121,13 @@ public class AutopilotReview {
      *
      * @param autopilotState
      */
-    public void onAutopilotResult(int autopilotState) {
+    public void onAutopilotResult(int autopilotState, @NonNull AutopilotStatistics.Source source) {
+        //FSM2024版本大于等于2.0时使用FSM的数据进行判断是否失败
+        if (AutopilotAbilityManager.getInstance().getFsm2024Version() >= 20) {
+            return;
+        }
         if (startReq != null && autopilotState == 2) {
-            onCallback(AutopilotStatistics.AUTOPILOT_START_STATUS.SUCCESSFUL);
+            onCallback(AutopilotStatistics.AUTOPILOT_START_STATUS.SUCCEED, source);
         }
     }
 }

libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/common/Define.java

@@ -39,7 +39,7 @@ public final class Define {
     public @interface SubscribeType {
     }
 
-    @IntDef(flag = true, value = {AutopilotStatistics.AUTOPILOT_START_STATUS.SUCCESSFUL,
+    @IntDef(flag = true, value = {AutopilotStatistics.AUTOPILOT_START_STATUS.SUCCEED,
             AutopilotStatistics.AUTOPILOT_START_STATUS.FAILED,
             AutopilotStatistics.AUTOPILOT_START_STATUS.CANCEL})
     @Retention(RetentionPolicy.SOURCE)

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

@@ -11,6 +11,7 @@ import com.zhidao.support.adas.high.common.CupidLogUtils;
 import com.zhidao.support.adas.high.common.ParallelDrivingManager;
 import com.zhidao.support.adas.high.protocol.RawData;
 import com.zhjt.mogo.adas.data.AdasConstants;
+import com.zhjt.mogo.adas.data.bean.AutopilotStatistics;
 
 import mogo.telematics.pad.MessagePad;
 
@@ -39,7 +40,7 @@ public class AutopilotStateMessage extends MyAbstractMessageHandler {
             if (AdasManager.getInstance().getNodeStateInfo(AdasConstants.NodeName.FSM2024).getExistState() != AdasConstants.NodeExistState.NODE_EXIST_NORMAL) {
                 ParallelDrivingManager.getInstance().setAutopilotState(autopilotState.getState());
                 if (autopilotReview != null) {
-                    autopilotReview.onAutopilotResult(autopilotState.getState());
+                    autopilotReview.onAutopilotResult(autopilotState.getState(), AutopilotStatistics.Source.CHASSIS);
                 }
             }
             AdasChannel.calculateTimeConsumingBusiness("自动驾驶状态", nowTime);

libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/msg/FSM2024StateMessage.java

@@ -35,8 +35,7 @@ public class FSM2024StateMessage extends MyAbstractMessageHandler {
             nowTime = SystemClock.elapsedRealtime();
         ParallelDrivingManager.getInstance().setAutopilotState(autopilotState);
         if (autopilotReview != null) {
-            autopilotReview.setFSM2024State(fsmState);
+            autopilotReview.setFSM2024State(fsmState, autopilotState);
-            autopilotReview.onAutopilotResult(autopilotState);
         }
         if (adasListener != null) {
             if (fsmState.getRepeatedPilotNotStandbyReasonCount() == 0) {

libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/msg/FunctionStatesMessage.java

@@ -11,6 +11,7 @@ import com.zhidao.support.adas.high.common.CupidLogUtils;
 import com.zhidao.support.adas.high.common.ParallelDrivingManager;
 import com.zhidao.support.adas.high.common.autopilot.ability.AutopilotAbilityManager;
 import com.zhidao.support.adas.high.protocol.RawData;
+import com.zhjt.mogo.adas.data.bean.AutopilotStatistics;
 
 import java.util.HashMap;
 import java.util.Map;
@@ -107,7 +108,7 @@ public class FunctionStatesMessage extends MyAbstractMessageHandler {
         adasListener.onAutopilotState(header.toBuilder().setMsgType(MessagePad.MessageType.MsgTypeAutopilotState).build(), autopilotState);
         ParallelDrivingManager.getInstance().setAutopilotState(autopilotState.getState());
         if (autopilotReview != null) {
-            autopilotReview.onAutopilotResult(autopilotState.getState());
+            autopilotReview.onAutopilotResult(autopilotState.getState(), AutopilotStatistics.Source.FSM);
         }
     }