diff --git a/OCH/mogo-och-common-module/src/main/java/com/mogo/och/common/module/manager/OCHAdasAbilityManager.java b/OCH/mogo-och-common-module/src/main/java/com/mogo/och/common/module/manager/OCHAdasAbilityManager.java index a82b3b7b70..01a13c7a39 100644 --- a/OCH/mogo-och-common-module/src/main/java/com/mogo/och/common/module/manager/OCHAdasAbilityManager.java +++ b/OCH/mogo-och-common-module/src/main/java/com/mogo/och/common/module/manager/OCHAdasAbilityManager.java @@ -2,36 +2,31 @@ package com.mogo.och.common.module.manager; import android.content.Context; -import androidx.annotation.NonNull; import androidx.annotation.Nullable; -import com.mogo.eagle.core.data.autopilot.AutopilotStatusInfo; import com.mogo.eagle.core.function.api.autopilot.IMoGoAutopilotActionsListener; import com.mogo.eagle.core.function.api.autopilot.IMoGoAutopilotStatisticsListener; -import com.mogo.eagle.core.function.api.autopilot.IMoGoAutopilotStatusListener; -import com.mogo.eagle.core.function.call.autopilot.CallerAutoPilotControlManager; -import com.mogo.eagle.core.function.call.autopilot.CallerAutoPilotStatusListenerManager; import com.mogo.eagle.core.function.call.autopilot.CallerAutopilotActionsListenerManager; import com.mogo.eagle.core.function.call.autopilot.CallerAutopilotStatisticsListenerManager; import com.mogo.eagle.core.utilcode.mogo.logger.Logger; import com.mogo.och.common.module.callback.OchAdasStartFailureCallback; import com.zhjt.mogo.adas.data.bean.AutopilotStatistics; +import com.zhjt.mogo.adas.data.bean.UnableAutopilotReason; -import mogo.telematics.pad.MessagePad; -import mogo_msg.MogoReportMsg; -import system_master.SystemStatusInfo; +import java.util.ArrayList; +import java.util.List; /** * Created on 2022/10/9 * 工控机状态信息回调（判断是否能否启动自动驾驶的回调） * 目前定的是3秒回调一次 */ -public class OCHAdasAbilityManager implements IMoGoAutopilotActionsListener, IMoGoAutopilotStatisticsListener, IMoGoAutopilotStatusListener { +public class OCHAdasAbilityManager implements IMoGoAutopilotActionsListener, IMoGoAutopilotStatisticsListener { private static final String TAG = OCHAdasAbilityManager.class.getSimpleName(); private boolean isAutopilotAbility; - private String autopilotAbilityReason; + private ArrayList unableAutopilotReasons; private String startFailedCode = ""; private String startFailedMessage = ""; @@ -46,7 +41,8 @@ public class OCHAdasAbilityManager implements IMoGoAutopilotActionsListener, IMo } public void init(Context context) { - ipcConnectStatusChanged(); + this.isAutopilotAbility = CallerAutopilotActionsListenerManager.INSTANCE.isAutopilotAbility(); + this.unableAutopilotReasons = CallerAutopilotActionsListenerManager.INSTANCE.getUnableAutopilotReasons(); initListeners(); } @@ -59,7 +55,7 @@ public class OCHAdasAbilityManager implements IMoGoAutopilotActionsListener, IMo } public String getAutopilotUnAbilityReason(){ - return autopilotAbilityReason; + return unableAutopilotReasons.toString();//TODO 临时toString 需要拼接数据 } public String getStartFailedCode() { @@ -74,28 +70,20 @@ public class OCHAdasAbilityManager implements IMoGoAutopilotActionsListener, IMo //2022.10.9 工控机状态信息回调（判断是否能否启动自动驾驶的回调）， 目前定的是3秒回调一次 CallerAutopilotActionsListenerManager.INSTANCE.addListener(TAG, this); CallerAutopilotStatisticsListenerManager.INSTANCE.addListener(TAG,this); - CallerAutoPilotStatusListenerManager.INSTANCE.addListener(TAG, this); } private void releaseListeners() { CallerAutopilotActionsListenerManager.INSTANCE.removeListener(this); CallerAutopilotStatisticsListenerManager.INSTANCE.removeListener(this); - CallerAutoPilotStatusListenerManager.INSTANCE.removeListener(this); - } - - private void ipcConnectStatusChanged() { - this.isAutopilotAbility = CallerAutoPilotControlManager.INSTANCE.isConnected(); - this.autopilotAbilityReason = isAutopilotAbility ? "" : "未连接自动驾驶系统"; } @Override - public void onAutopilotAbility(boolean isAutopilotAbility, String unableAutopilotReason) { + public void onAutopilotAbility(boolean isAutopilotAbility, @Nullable ArrayList unableAutopilotReasons) { this.isAutopilotAbility = isAutopilotAbility; - this.autopilotAbilityReason = unableAutopilotReason; - Logger.d(TAG, "是否可以启动自动驾驶=" + isAutopilotAbility + " 原因=" + autopilotAbilityReason); + this.unableAutopilotReasons = unableAutopilotReasons; + Logger.d(TAG, "是否可以启动自动驾驶=" + isAutopilotAbility + " 原因=" + (unableAutopilotReasons == null ? null : unableAutopilotReasons.toString())); } - @Override public void onAutopilotStatistics(@Nullable AutopilotStatistics statistics) { if (statistics == null) return; @@ -112,41 +100,4 @@ public class OCHAdasAbilityManager implements IMoGoAutopilotActionsListener, IMo public void release() { releaseListeners(); } - - @Override - public void onAutopilotIpcConnectStatusChanged(int status, @Nullable String reason) { - ipcConnectStatusChanged(); - } - - @Override - public void onAutopilotStatusResponse(@NonNull AutopilotStatusInfo autoPilotStatusInfo) { - } - - @Override - public void onAutopilotStatusResponse(int state) { - } - - @Override - public void onAutopilotDockerInfo(@NonNull String dockerVersion) { - } - - @Override - public void onAutopilotArriveAtStation(@Nullable MessagePad.ArrivalNotification arrivalNotification) { - } - - @Override - public void onAutopilotSNRequest() { - } - - @Override - public void onAutopilotGuardian(@Nullable MogoReportMsg.MogoReportMessage guardianInfo) { - } - - @Override - public void onAutopilotStatusRespByQuery(@NonNull SystemStatusInfo.StatusInfo status) { - } - - @Override - public void onAutopilotRouteLineId(long lineId) { - } } diff --git a/app_mogo_magic_ring/release/app_mogo_magic_ring-release.apk b/app_mogo_magic_ring/release/app_mogo_magic_ring-release.apk new file mode 100644 index 0000000000..8f64ef0728 Binary files /dev/null and b/app_mogo_magic_ring/release/app_mogo_magic_ring-release.apk differ diff --git a/app_mogo_magic_ring/release/output.json b/app_mogo_magic_ring/release/output.json new file mode 100644 index 0000000000..233fc1c552 --- /dev/null +++ b/app_mogo_magic_ring/release/output.json @@ -0,0 +1 @@ +[{"outputType":{"type":"APK"},"apkData":{"type":"MAIN","splits":[],"versionCode":1,"versionName":"1.0","enabled":true,"outputFile":"app_mogo_magic_ring-release.apk","fullName":"release","baseName":"release"},"path":"app_mogo_magic_ring-release.apk","properties":{}}] \ No newline at end of file diff --git a/app_mogo_magic_ring/src/main/java/com/zhidao/adas/magic/ui/MainActivity.java b/app_mogo_magic_ring/src/main/java/com/zhidao/adas/magic/ui/MainActivity.java index 450826ab84..387c0a0f0c 100644 --- a/app_mogo_magic_ring/src/main/java/com/zhidao/adas/magic/ui/MainActivity.java +++ b/app_mogo_magic_ring/src/main/java/com/zhidao/adas/magic/ui/MainActivity.java @@ -53,6 +53,7 @@ import com.zhidao.support.adas.high.common.CupidLogUtils; import com.zhidao.support.adas.high.common.ProtocolStatus; import com.zhjt.mogo.adas.data.bean.AdasParam; import com.zhjt.mogo.adas.data.bean.AutopilotStatistics; +import com.zhjt.mogo.adas.data.bean.UnableAutopilotReason; import com.zhjt.mogo.adas.data.sweeper.SweeperCloudTask; import com.zhjt.mogo.adas.data.sweeper.bootable.SweeperBootable; import com.zhjt.mogo.adas.data.sweeper.task.SweeperTask; @@ -657,7 +658,7 @@ public class MainActivity extends BaseActivity implements OnAdasListener, OnAdas } @Override - public void onAutopilotAbility(boolean isAutopilotAbility, String unableAutopilotReason) { + public void onAutopilotAbility(boolean isAutopilotAbility, @Nullable List unableAutopilotReasons) { } diff --git a/core/function-impl/mogo-core-function-datacenter/src/main/java/com/mogo/eagle/core/function/datacenter/autopilot/MoGoAutopilotControlProvider.kt b/core/function-impl/mogo-core-function-datacenter/src/main/java/com/mogo/eagle/core/function/datacenter/autopilot/MoGoAutopilotControlProvider.kt index 79e53dc4d6..e8bc3ae8eb 100644 --- a/core/function-impl/mogo-core-function-datacenter/src/main/java/com/mogo/eagle/core/function/datacenter/autopilot/MoGoAutopilotControlProvider.kt +++ b/core/function-impl/mogo-core-function-datacenter/src/main/java/com/mogo/eagle/core/function/datacenter/autopilot/MoGoAutopilotControlProvider.kt @@ -408,6 +408,10 @@ class MoGoAutopilotControlProvider : AdasManager.getInstance().sendTrajectoryDownloadReq(autoPilotLine.toAutoPilotLine()) } + override fun sendTrajectoryDownloadReq(autoPilotLine: AutopilotControlParameters.AutoPilotLine, downloadType: Int) { + AdasManager.getInstance().sendTrajectoryDownloadReq(autoPilotLine.toAutoPilotLine(), downloadType) + } + override fun cancelAutoPilot() { if (AdasManager.getInstance().ipcConnectionStatus == Constants.IPC_CONNECTION_STATUS.CONNECTED) { AdasManager.getInstance().sendAutoPilotModeReq(0, 1, null) diff --git a/core/function-impl/mogo-core-function-datacenter/src/main/java/com/mogo/eagle/core/function/datacenter/autopilot/adapter/MoGoAdasListenerImpl.kt b/core/function-impl/mogo-core-function-datacenter/src/main/java/com/mogo/eagle/core/function/datacenter/autopilot/adapter/MoGoAdasListenerImpl.kt index fac5ae9442..30d22b1487 100644 --- a/core/function-impl/mogo-core-function-datacenter/src/main/java/com/mogo/eagle/core/function/datacenter/autopilot/adapter/MoGoAdasListenerImpl.kt +++ b/core/function-impl/mogo-core-function-datacenter/src/main/java/com/mogo/eagle/core/function/datacenter/autopilot/adapter/MoGoAdasListenerImpl.kt @@ -55,6 +55,7 @@ import com.zhidao.support.adas.high.OnAdasListener import com.zhjt.mogo.adas.data.bean.AdasParam import com.zhidao.support.adas.high.common.ProtocolStatus import com.zhjt.mogo.adas.data.bean.AutopilotStatistics +import com.zhjt.mogo.adas.data.bean.UnableAutopilotReason import com.zhjt.mogo.adas.data.sweeper.SweeperCloudTask import com.zhjt.mogo.adas.data.sweeper.bootable.SweeperBootable import com.zhjt.mogo.adas.data.sweeper.task.SweeperTask @@ -754,8 +755,8 @@ class MoGoAdasListenerImpl : OnAdasListener { * 是否可以启动自动驾驶 * 使用方法查看：app_ipc_monitoring/uiMainActivity/onAutopilotAbility */ - override fun onAutopilotAbility(isAutopilotAbility: Boolean, unableAutopilotReason: String?) { - invokeAutopilotAbility(isAutopilotAbility, unableAutopilotReason) + override fun onAutopilotAbility(isAutopilotAbility: Boolean, unableAutopilotReasons: ArrayList?) { + invokeAutopilotAbility(isAutopilotAbility, unableAutopilotReasons) } /** diff --git a/core/function-impl/mogo-core-function-datacenter/src/main/java/com/mogo/eagle/core/function/datacenter/autopilot/adapter/MoGoAdasMsgConnectStatusListenerImpl.kt b/core/function-impl/mogo-core-function-datacenter/src/main/java/com/mogo/eagle/core/function/datacenter/autopilot/adapter/MoGoAdasMsgConnectStatusListenerImpl.kt index f23ba9dc35..d1e903d5a3 100644 --- a/core/function-impl/mogo-core-function-datacenter/src/main/java/com/mogo/eagle/core/function/datacenter/autopilot/adapter/MoGoAdasMsgConnectStatusListenerImpl.kt +++ b/core/function-impl/mogo-core-function-datacenter/src/main/java/com/mogo/eagle/core/function/datacenter/autopilot/adapter/MoGoAdasMsgConnectStatusListenerImpl.kt @@ -8,6 +8,7 @@ import com.mogo.eagle.core.function.api.autopilot.IMoGoAutopilotStatusListener import com.mogo.eagle.core.function.api.cloud.IMoGoCloudListener import com.mogo.eagle.core.function.call.autopilot.CallerAutoPilotControlManager import com.mogo.eagle.core.function.call.autopilot.CallerAutoPilotStatusListenerManager +import com.mogo.eagle.core.function.call.autopilot.CallerAutopilotActionsListenerManager import com.mogo.eagle.core.function.call.cloud.CallerCloudListenerManager import com.mogo.eagle.core.utilcode.mogo.AppIdentityModeUtils import com.mogo.eagle.core.utilcode.mogo.logger.CallerLogger @@ -40,6 +41,7 @@ class MoGoAdasMsgConnectStatusListenerImpl : } override fun onConnectionIPCStatus(ipcConnectionStatus: Int, reason: String?) { + CallerAutopilotActionsListenerManager.setConnected(ipcConnectionStatus == Constants.IPC_CONNECTION_STATUS.CONNECTED) CallerAutoPilotStatusListenerManager.invokeAutoPilotIPCStatusChanged( ipcConnectionStatus, reason diff --git a/core/mogo-core-function-api/src/main/java/com/mogo/eagle/core/function/api/autopilot/IMoGoAutopilotActionsListener.kt b/core/mogo-core-function-api/src/main/java/com/mogo/eagle/core/function/api/autopilot/IMoGoAutopilotActionsListener.kt index 5a97424e03..70d43e0e30 100644 --- a/core/mogo-core-function-api/src/main/java/com/mogo/eagle/core/function/api/autopilot/IMoGoAutopilotActionsListener.kt +++ b/core/mogo-core-function-api/src/main/java/com/mogo/eagle/core/function/api/autopilot/IMoGoAutopilotActionsListener.kt @@ -1,13 +1,15 @@ package com.mogo.eagle.core.function.api.autopilot +import com.zhjt.mogo.adas.data.bean.UnableAutopilotReason + /** - * pnc actions 决策 驾驶的意图 + * 自动驾驶能力 能否启动自动驾驶 */ interface IMoGoAutopilotActionsListener { /** * pnc actions 决策 驾驶的意图 */ - fun onAutopilotAbility(isAutopilotAbility: Boolean, unableAutopilotReason: String?) + fun onAutopilotAbility(isAutopilotAbility: Boolean, unableAutopilotReasons: ArrayList?) } \ No newline at end of file diff --git a/core/mogo-core-function-api/src/main/java/com/mogo/eagle/core/function/api/autopilot/IMoGoAutopilotControlProvider.kt b/core/mogo-core-function-api/src/main/java/com/mogo/eagle/core/function/api/autopilot/IMoGoAutopilotControlProvider.kt index fb3f4990d8..29ef4d612e 100644 --- a/core/mogo-core-function-api/src/main/java/com/mogo/eagle/core/function/api/autopilot/IMoGoAutopilotControlProvider.kt +++ b/core/mogo-core-function-api/src/main/java/com/mogo/eagle/core/function/api/autopilot/IMoGoAutopilotControlProvider.kt @@ -55,6 +55,11 @@ interface IMoGoAutopilotControlProvider : IMoGoFunctionServerProvider { */ fun sendTrajectoryDownloadReq(autoPilotLine: AutopilotControlParameters.AutoPilotLine) + /** + * 发送 轨迹下载请求 + * @param downloadType 下载类型: 0:正常下载 1:预下载 + */ + fun sendTrajectoryDownloadReq(autoPilotLine: AutopilotControlParameters.AutoPilotLine, downloadType: Int) /** * 结束自动驾驶 */ diff --git a/core/mogo-core-function-call/src/main/java/com/mogo/eagle/core/function/call/autopilot/CallerAutoPilotControlManager.kt b/core/mogo-core-function-call/src/main/java/com/mogo/eagle/core/function/call/autopilot/CallerAutoPilotControlManager.kt index 915c46d2ee..db83797db7 100644 --- a/core/mogo-core-function-call/src/main/java/com/mogo/eagle/core/function/call/autopilot/CallerAutoPilotControlManager.kt +++ b/core/mogo-core-function-call/src/main/java/com/mogo/eagle/core/function/call/autopilot/CallerAutoPilotControlManager.kt @@ -106,6 +106,16 @@ object CallerAutoPilotControlManager { } } + /** + * 发送 轨迹下载请求 + * @param downloadType 下载类型: 0:正常下载 1:预下载 + */ + fun sendTrajectoryDownloadReq(autoPilotLine: AutopilotControlParameters.AutoPilotLine, downloadType: Int) { + if (AppIdentityModeUtils.isDriver(FunctionBuildConfig.appIdentityMode)) { + providerApi?.sendTrajectoryDownloadReq(autoPilotLine, downloadType) + } + } + /** * 结束自动驾驶 */ diff --git a/core/mogo-core-function-call/src/main/java/com/mogo/eagle/core/function/call/autopilot/CallerAutopilotActionsListenerManager.kt b/core/mogo-core-function-call/src/main/java/com/mogo/eagle/core/function/call/autopilot/CallerAutopilotActionsListenerManager.kt index b03db15a32..1b70176e34 100644 --- a/core/mogo-core-function-call/src/main/java/com/mogo/eagle/core/function/call/autopilot/CallerAutopilotActionsListenerManager.kt +++ b/core/mogo-core-function-call/src/main/java/com/mogo/eagle/core/function/call/autopilot/CallerAutopilotActionsListenerManager.kt @@ -1,19 +1,103 @@ package com.mogo.eagle.core.function.call.autopilot +import android.util.Log import com.mogo.eagle.core.function.api.autopilot.IMoGoAutopilotActionsListener +import com.mogo.eagle.core.function.call.autopilot.CallerAutoPilotControlManager.isConnected import com.mogo.eagle.core.function.call.base.CallerBase +import com.zhjt.mogo.adas.data.bean.UnableAutopilotReason /** - * pnc actions 决策 驾驶的意图 + * 能否启动自驾管理类 */ object CallerAutopilotActionsListenerManager : CallerBase() { + @Volatile + private var isConnected = false + private var isAutopilotAbility: Boolean = false + private var unableAutopilotReasons: ArrayList? = null - @Synchronized - fun invokeAutopilotAbility(isAutopilotAbility: Boolean, unableAutopilotReason: String?) { - M_LISTENERS.forEach { - val listener = it.value - listener.onAutopilotAbility(isAutopilotAbility, unableAutopilotReason) + init { + isConnected = isConnected() + isAutopilotAbility = false + unableAutopilotReasons = disconnectedReason() + printLog("初始化") + } + + private fun disconnectedReason(): ArrayList { + val list = ArrayList() + list.add(UnableAutopilotReason(UnableAutopilotReason.SourceType.LIB, "未连接自动驾驶系统")) + return list + } + + /** + * 能否启动自动驾驶 + */ + fun isAutopilotAbility(): Boolean { + return isAutopilotAbility + } + + /** + * 获取不能启动自驾的原因 + * null：表示没有任何原因证，证明isAutopilotAbility为true + */ + fun getUnableAutopilotReasons(): ArrayList? { + return unableAutopilotReasons + } + + fun setConnected(isConnected: Boolean) { + if (this.isConnected != isConnected) { + this.isConnected = isConnected + this.isAutopilotAbility = isConnected + unableAutopilotReasons = if (isConnected) null else disconnectedReason() + notification() + printLog("更新数据 连接状态变更") } } + + @Synchronized + fun invokeAutopilotAbility( + isAutopilotAbility: Boolean, unableAutopilotReasons: ArrayList? + ) { + if (isConnected) { + var isEquals: Boolean = true + if (unableAutopilotReasons != null && this.unableAutopilotReasons != null) { + unableAutopilotReasons.let { onw -> + onw.sortWith(compareBy(UnableAutopilotReason::hashCode)); + this.unableAutopilotReasons?.let { old -> + old.sortWith(compareBy(UnableAutopilotReason::hashCode)); + isEquals = onw.toTypedArray() contentEquals old.toTypedArray() + Log.i( + "ddd", + "都不为null时=${isEquals}=${this.isAutopilotAbility} ${(if (this.unableAutopilotReasons == null) null else this.unableAutopilotReasons.toString())}" + ) + } + } + } else isEquals = + !(unableAutopilotReasons != null || this.unableAutopilotReasons != null) + Log.i( + "ddd", + " 两个List是否相同=${isEquals} 新是否能启动自驾=${isAutopilotAbility} 老是否能启动自驾=${this.isAutopilotAbility} 新List是否为空=${unableAutopilotReasons == null} 老List是否为空=${this.unableAutopilotReasons == null}" + ) + if (this.isAutopilotAbility != isAutopilotAbility || !isEquals) { + this.isAutopilotAbility = isAutopilotAbility + this.unableAutopilotReasons = unableAutopilotReasons + notification() + printLog("更新数据") + } + } + } + + private fun notification() { + M_LISTENERS.forEach { + val listener = it.value + listener.onAutopilotAbility(isAutopilotAbility, unableAutopilotReasons) + } + } + + fun printLog(tag: String) { + Log.i( + "ddd", + "${tag}=${isAutopilotAbility} ${(if (unableAutopilotReasons == null) null else unableAutopilotReasons.toString())}" + ) + } } \ No newline at end of file diff --git a/libraries/mogo-adas-data/src/main/java/com/zhjt/mogo/adas/data/bean/MogoReport.java b/libraries/mogo-adas-data/src/main/java/com/zhjt/mogo/adas/data/bean/MogoReport.java index 2924750b3a..d05a2937f2 100644 --- a/libraries/mogo-adas-data/src/main/java/com/zhjt/mogo/adas/data/bean/MogoReport.java +++ b/libraries/mogo-adas-data/src/main/java/com/zhjt/mogo/adas/data/bean/MogoReport.java @@ -2,15 +2,16 @@ package com.zhjt.mogo.adas.data.bean; /** * 监控事件报告中定义的事件以及解释 - * 根据MAP3.3.1事件定义编写 + * 根据MAP3.5.0事件定义编写 + * http://wiki.zhidaohulian.com/pages/viewpage.action?pageId=113713916 最后修改于2023-07-27 */ public class MogoReport { - public static final String RESULT_AUTOPILOT_SYSTEM_UNSTARTED = "RESULT_AUTOPILOT_SYSTEM_UNSTARTED"; - public static final String RESULT_AUTOPILOT_DISABLE = "RESULT_AUTOPILOT_DISABLE"; - public static final String RESULT_AUTOPILOT_INFERIOR = "RESULT_AUTOPILOT_INFERIOR"; - public static final String RESULT_REMOTEPILOT_DISABLE = "RESULT_REMOTEPILOT_DISABLE"; - public static final String RESULT_REMOTEPILOT_INFERIOR = "RESULT_REMOTEPILOT_INFERIOR"; - public static final String RESULT_SHOW_WARNING = "RESULT_SHOW_WARNING"; + public static final String RESULT_AUTOPILOT_SYSTEM_UNSTARTED = "RESULT_AUTOPILOT_SYSTEM_UNSTARTED";//自动驾驶系统启动失败 + public static final String RESULT_AUTOPILOT_DISABLE = "RESULT_AUTOPILOT_DISABLE";//无法启动自动驾驶 + public static final String RESULT_AUTOPILOT_INFERIOR = "RESULT_AUTOPILOT_INFERIOR";//自动驾驶效果受影响 + public static final String RESULT_REMOTEPILOT_DISABLE = "RESULT_REMOTEPILOT_DISABLE";//无法启动远程驾驶 + public static final String RESULT_REMOTEPILOT_INFERIOR = "RESULT_REMOTEPILOT_INFERIOR";//远程驾驶效果受影响 + public static final String RESULT_SHOW_WARNING = "RESULT_SHOW_WARNING";//存在不确定因素 public enum Result { @@ -159,12 +160,11 @@ public class MogoReport { String TRA_NOT_EXIST = "EMAP_TRA_NOT_EXIST";//无法找到轨迹文件 String TRA_LOAD_FAILED = "EMAP_TRA_LOAD_FAILED";//加载轨迹文件失败 String ENGINE_INIT_FAILED = "EMAP_ENGINE_INIT_FAILED";//引擎初始化失败，包括轨迹路径不存在；vehicle_config.txt加载失败 + String ATTITUDE_INIT_FAILED = "EMAP_ATTITUDE_INIT_FAILED";//当前位置距离轨迹距离大于15m String EXIT_AUTOPILOT_FOR_PLANNING = "EMAP_EXIT_AUTOPILOT_FOR_PLANNING";//因planning掉帧强退自动驾驶 String EXIT_AUTOPILOT_FOR_LOCATION = "EMAP_EXIT_AUTOPILOT_FOR_LOCATION";//因location掉帧强退自动驾驶 String EXIT_AUTOPILOT_FOR_CHASSIS = "EMAP_EXIT_AUTOPILOT_FOR_CHASSIS";//因底盘消息掉帧强退自动驾驶 String EXIT_AUTOPILOT_FOR_DISTANCE = "EMAP_EXIT_AUTOPILOT_FOR_DISTANCE";//因planning起点距离当前过远强退自动驾驶 - String EPARALLEL_AICLOUD_CONNECTION_ERROR = "EPARALLEL_AICLOUD_CONNECTION_ERROR";//断网（此时不符合平行驾驶条件) 平行驾驶退出到自驾，同时减速停车 - String EPARALLEL_AICLOUD_NETWORK_WEAK = "EPARALLEL_AICLOUD_NETWORK_WEAK";//弱网，平行驾驶退出到自驾，同时减速停车 String EXIT_AUTOPILOT_FOR_BRAKE = "EMAP_EXIT_AUTOPILOT_FOR_BRAKE";//制动踏板干预而强退自动驾驶 String EXIT_AUTOPILOT_FOR_ACCEL = "EMAP_EXIT_AUTOPILOT_FOR_ACCEL";//加速踏板干预而强退自动驾驶 String EXIT_AUTOPILOT_FOR_STEER = "EMAP_EXIT_AUTOPILOT_FOR_STEER";//方向盘干预而强退自动驾驶 @@ -189,6 +189,9 @@ public class MogoReport { String CONTROL_ABNORMAL_COMMAND = "EMAP_CONTROL_ABNORMAL_COMMAND";//controller发布的控制指令异常 String CAN_ADAPTER_NO_CHASSIS_INFO = "EMAP_CAN_ADAPTER_NO_CHASSIS_INFO";//can_adapter未成功转发地盘信息 String TRAJECTORY_LOST_WHEN_AUTOPILOT = "EMAP_TRAJECTORY_LOST_WHEN_AUTOPILOT";//自驾状态，但是全局轨迹丢失超过1.5s + String PLANNING_FOR_PERCEPTION_TIMEOUT = "EMAP_PLANNING_FOR_PERCEPTION_TIMEOUT";//鹰眼下发进入自驾指令，自车还未进入自驾，感知延迟超过1s + String PLANNING_FOR_HADMAP_ENGINE_LANES_MSG_TIMEOUT = "EMAP_PLANNING_FOR_HADMAP_ENGINE_LANES_MSG_TIMEOUT";//鹰眼下发进入自驾指令，自车还未进入自驾，地图车道数据延迟超过1s + String PLANNING_FOR_PREDICTION_TIMEOUT = "EMAP_PLANNING_FOR_PREDICTION_TIMEOUT";//鹰眼下发进入自驾指令，自车还未进入自驾，预测数据延迟超过1s } /** @@ -208,6 +211,7 @@ public class MogoReport { String ACCEL_INFERENCE = "EVHC_ACCEL_INFERENCE";//由于油门干预退出自动驾驶或无法进入自动驾驶 String CSS = "EVHC_CSS";//底盘不允许进入自动驾驶 String GEAR = "EVHC_GEAR";//档位不是D或N档 + String EPB = "EVHC_EPB";//驻车（手刹）不是锁止（拉起）状态 } /** @@ -227,6 +231,7 @@ public class MogoReport { String ROUTING_REQ_TIMEOUT = "ESYS_ROUTING_REQ_TIMEOUT";//自动驾驶开始前，routing请求无响应 String PLANNING_CHANGE_FAILIED = "ESYS_PLANNING_CHANGE_FAILIED";//planning版本切换启动失败 String CHECK_TRAJECTORY_FAILURE = "ESYS_CHECK_TRAJECTORY_FAILURE";//轨迹文件检查超时或检查结果无可用轨迹 + String TRAJECTORY_AGENT_NOT_READY = "ESYS_TRAJECTORY_AGENT_NOT_READY";//轨迹下载客户端未就绪拒绝轨迹下载请求 String MAP_ENGINE_NOT_READY = "ESYS_MAP_ENGINE_NOT_READY";//地图引擎未就绪拒绝自驾 String FAULT = "ESYS_FAULT";//master启动10分钟，仍有agent未连接 String REBOOT_WARNING = "ESYS_REBOOT_WARNING";//命令重启不完全提示(部分模块没有关闭成功） @@ -239,6 +244,7 @@ public class MogoReport { String CONFIG_UPDATING_URL_NOT_ARRIVED = "ESYS_CONFIG_UPDATING_URL_NOT_ARRIVED";//url不可达 String CONFIG_UPDATING_MD5_CHECK_ERROR = "ESYS_CONFIG_UPDATING_MD5_CHECK_ERROR";//md5检查失败 String CONFIG_UPDATING_REJECT_SAME_TRAJ_TASK = "ESYS_CONFIG_UPDATING_REJECT_SAME_TRAJ_TASK";//拒绝同名轨迹任务 + String CONFIG_UPDATING_HTTP_FAILED = "ESYS_CONFIG_UPDATING_HTTP_FAILED";//获取下载列表失败 } /** @@ -269,6 +275,7 @@ public class MogoReport { String INIT = "ECAM_INIT";//相机初始化失败 String CALIB = "ECAM_CALIB";//标定信息读取失败 String GRAB_FATAL = "ECAM_GRAB_FATAL";//相机数据采集异常 + String TS_ERROR = "ECAM_TS_ERROR";//图像时间戳异常 } /** @@ -311,6 +318,14 @@ public class MogoReport { interface EVEHICLE { String IN_TROUBLE = "EVEHICLE_IN_TROUBLE";//planning 检测到车处于困境，把困境状态汇报给 SSM，ssm 发出该事件，等待驾舱端开始平行驾驶 } + + /** + * EFM(FM故障) + */ + interface EFM { + String ERROR3_STOP_PILOT = "EFM_ERROR3_STOP_PILOT";//触发降级停车策略 + String ERROR2_FUNC_FORBID = "EFM_ERROR2_FUNC_FORBID";//禁止车辆部分功能 + } } /** @@ -338,6 +353,16 @@ public class MogoReport { String TRA_ROUTING = "IMAP_TRA_ROUTING";//算路成功 String TRA_TYPE = "IMAP_TRA_TYPE";//加载轨迹类型通知 String ENTRY_AUTOPILOT = "IMAP_ENTRY_AUTOPILOT";//控制进入自动驾驶成功 + String PLANNING_FOR_PREDICTION_RECEIVED = "IMAP_PLANNING_FOR_PREDICTION_RECEIVED";//自车进入车自驾，收到预测消息时解除预测数据超时警报 + String PLANNING_FOR_HADMAP_ENGINE_LANES_MSG_RECEIVED = "IMAP_PLANNING_FOR_HADMAP_ENGINE_LANES_MSG_RECEIVED";//自车进入车自驾，收到地图车道消息时解除地图数据超时警报 + String PLANNING_FOR_PERCEPTION_RECEIVED = "IMAP_PLANNING_FOR_PERCEPTION_RECEIVED";//自车进入车自驾，收到感知消息时解除感知数据超时警报 + String START_AUTOPILOT = "IMAP_START_AUTOPILOT";//控制侧开始自驾 + String EXIT_AUTOPILOT = "IMAP_EXIT_AUTOPILOT";//控制侧正常退出自驾 + String START_REMOTEPILOT = "IMAP_START_REMOTEPILOT";//控制侧开始平行驾驶 + String ENTRY_REMOTEPILOT = "IMAP_ENTRY_REMOTEPILOT";//控制侧进入平行驾驶 + String EXIT_REMOTEPILOT = "IMAP_EXIT_REMOTEPILOT";//控制侧退出平行驾驶 + String CONTROLLER_START_FM_COMMAND = "IMAP_CONTROLLER_START_FM_COMMAND";//控制侧开始故障处理命令 + String CONTROLLER_FINISH_FM_COMMAND = "IMAP_CONTROLLER_FINISH_FM_COMMAND";//控制侧完成故障处理命令 } /** @@ -371,6 +396,7 @@ public class MogoReport { String SYSTEM_IN_IDLE = "ISYS_SYSTEM_IN_IDLE";//系统进入空闲状态 String SYSTEM_OUT_IDLE = "ISYS_SYSTEM_OUT_IDLE";//系统退出空闲状态 String ALREADY_AUTOPILOT_STATE = "ISYS_ALREADY_AUTOPILOT_STATE";//已经在自驾状态驾驶，忽略自驾命令 + String AUTOPILOT_TAKEN_OVER_BY_REMOTE = "ISYS_AUTOPILOT_TAKEN_OVER_BY_REMOTE";//自动驾驶被远程驾驶接管 /*******轨迹下载相关*******/ String INIT_TRAJECTORY_START = "ISYS_INIT_TRAJECTORY_START";//轨迹管理_轨迹开始下载 @@ -387,6 +413,7 @@ public class MogoReport { String CONFIG_UPDATING_SLAM_MAP = "ISYS_CONFIG_UPDATING_SLAM_MAP";//slam 地图更新中 String CONFIG_UPDATING_AI_MODEL = "ISYS_CONFIG_UPDATING_AI_MODEL";//AI模型更新中 String CONFIG_UPDATING_GRID_MAP = "ISYS_CONFIG_UPDATING_GRID_MAP";//珊格地图更新中 + String TRAJECTORY_AGENT_READY = "ISYS_TRAJECTORY_AGENT_READY ";//配置下载客户端已就绪 } /** @@ -395,10 +422,14 @@ public class MogoReport { interface ISSM { String INIT = "ISSM_INIT";//SSM系统上电初始化 String RESTARTED = "ISSM_RESTARTED";//SSM系统发生重启 + String AUTO_PILOT_STATE_CHANGE = "ISSM_AUTO_PILOT_STATE_CHANGE";//自驾状态变化，msg填写 1 to 0 + String REMOTE_PILOT_STATE_CHANGE = "ISSM_REMOTE_PILOT_STATE_CHANGE";//平行驾驶状态变化， msg填写 1 to 6 + String AUTO_PILOT_FINISH = "ISSM_AUTO_PILOT_FINISH";//一次自驾请求处理结束 + String REMOTE_PILOT_FINISH = "ISSM_REMOTE_PILOT_FINISH";//一次平行驾驶处理结束 String HAVE_AGENT_CONNECTED = "ISSM_HAVE_AGENT_CONNECTED";//agent已连接成功 // String MODE_XX_START = "ISSM_MODE_XX_START";//SSM变更模式开始 -// String MODE_XX_FINISH = "ISSM_MODE_XX_FINISH";//SSM变更模式完成（第一次ready +// String MODE_XX_FINISH = "ISSM_MODE_XX_FINISH";//SSM变更模式完成（第一次ready） // String MODE_XX_ABORT = "ISSM_MODE_XX_ABORT";//SSM变更模式中止 // String MODE_XX_TIMEOUT = "ISSM_MODE_XX_TIMEOUT";//SSM变更模式超时 // String MODE_XX_READY = "ISSM_MODE_XX_READY";//SSM模式就绪 @@ -407,21 +438,21 @@ public class MogoReport { //以上6组被注释掉的字段 中的MODE_XX分别替换成MODE_RUN、MODE_IDLE、MODE_STOP String MODE_RUN_START = "ISSM_MODE_RUN_START";//SSM变更模式开始 - String MODE_RUN_FINISH = "ISSM_MODE_RUN_FINISH";//SSM变更模式完成（第一次ready + String MODE_RUN_FINISH = "ISSM_MODE_RUN_FINISH";//SSM变更模式完成（第一次ready） String MODE_RUN_ABORT = "ISSM_MODE_RUN_ABORT";//SSM变更模式中止 String MODE_RUN_TIMEOUT = "ISSM_MODE_RUN_TIMEOUT";//SSM变更模式超时 String MODE_RUN_READY = "ISSM_MODE_RUN_READY";//SSM模式就绪 String MODE_RUN_UNREADY = "ISSM_MODE_RUN_UNREADY";//SSM未就绪 String MODE_IDLE_START = "ISSM_MODE_IDLE_START";//SSM变更模式开始 - String MODE_IDLE_FINISH = "ISSM_MODE_IDLE_FINISH";//SSM变更模式完成（第一次ready + String MODE_IDLE_FINISH = "ISSM_MODE_IDLE_FINISH";//SSM变更模式完成（第一次ready） String MODE_IDLE_ABORT = "ISSM_MODE_IDLE_ABORT";//SSM变更模式中止 String MODE_IDLE_TIMEOUT = "ISSM_MODE_IDLE_TIMEOUT";//SSM变更模式超时 String MODE_IDLE_READY = "ISSM_MODE_IDLE_READY";//SSM模式就绪 String MODE_IDLE_UNREADY = "ISSM_MODE_IDLE_UNREADY";//SSM未就绪 String MODE_STOP_START = "ISSM_MODE_STOP_START";//SSM变更模式开始 - String MODE_STOP_FINISH = "ISSM_MODE_STOP_FINISH";//SSM变更模式完成（第一次ready + String MODE_STOP_FINISH = "ISSM_MODE_STOP_FINISH";//SSM变更模式完成（第一次ready） String MODE_STOP_ABORT = "ISSM_MODE_STOP_ABORT";//SSM变更模式中止 String MODE_STOP_TIMEOUT = "ISSM_MODE_STOP_TIMEOUT";//SSM变更模式超时 String MODE_STOP_READY = "ISSM_MODE_STOP_READY";//SSM模式就绪 @@ -499,6 +530,26 @@ public class MogoReport { interface IVEHICLE { String NOT_IN_TROUBLE = "IVEHICLE_NOT_IN_TROUBLE";//车辆脱离困境，恢复正常，可继续开始自动驾驶了 触发频率：处于困境中，触发一次； 脱困后，触发一次 云端驾舱会接入该事件 建议鹰眼也接入，展示困境状态/脱困状态 } + + /** + * IFSM(功能状态管理) + */ + interface IFSM { + String AUTO_PILOT_STATE_CHANGED = "IFSM_AUTO_PILOT_STATE_CHANGED";//自动驾驶状态机变化 （msg 填写如 standby to active ） + String REMOTE_PILOT_STATE_CHANGED = "IFSM_REMOTE_PILOT_STATE_CHANGED";//平行驾驶状态机变化 + String TELECTRL_PILOT_STATE_CHANGED = "IFSM_TELECTRL_PILOT_STATE_CHANGED";//遥感驾驶状态机变化 + } + + /** + * IFM (故障管理) + */ + interface IFM { + String HANDLE_FAULTS_START = "IFM_HANDLE_FAULTS_START";//FM开始处理故障 + String HANDLE_FAULTS_STOP = "IFM_HANDLE_FAULTS_STOP";//FM停止处理故障 + String ALL_FAULTS_RECOVER = "IFM_ALL_FAULTS_RECOVER";//FM当前已无故障 （只有有故障到全都消失时候上报） + String ONLY_WARNING_FAULTS = "IFM_ONLY_WARNING_FAULTS";//FM仅存在警示故障 + String ERROR1_SLOW_SPEED = "IFM_ERROR1_SLOW_SPEED";//存在故障触发减速策略 + } } } } diff --git a/libraries/mogo-adas-data/src/main/java/com/zhjt/mogo/adas/data/bean/UnableAutopilotReason.java b/libraries/mogo-adas-data/src/main/java/com/zhjt/mogo/adas/data/bean/UnableAutopilotReason.java new file mode 100644 index 0000000000..a168ccb7b6 --- /dev/null +++ b/libraries/mogo-adas-data/src/main/java/com/zhjt/mogo/adas/data/bean/UnableAutopilotReason.java @@ -0,0 +1,51 @@ +package com.zhjt.mogo.adas.data.bean; + +import android.text.TextUtils; + +import java.util.Objects; + +/** + * 自动驾驶能力 能否启动自动驾驶 + */ +public class UnableAutopilotReason { + + public enum SourceType { + LIB,//ADAS庫 + CHASSIS,//底盤 + SSM, + FSM, + } + + /** + * 來源 + */ + public final SourceType source; + /** + * 具體原因 + */ + public final String unableAutopilotReason; + + + public UnableAutopilotReason(SourceType source, String unableAutopilotReason) { + this.source = source; + this.unableAutopilotReason = unableAutopilotReason; + } + + @Override + public boolean equals(Object o) { + if (this == o) return true; + if (o == null || getClass() != o.getClass()) return false; + UnableAutopilotReason that = (UnableAutopilotReason) o; + return source == that.source && TextUtils.equals(unableAutopilotReason, that.unableAutopilotReason); + } + + @Override + public int hashCode() { + return Objects.hash(source, unableAutopilotReason); + } + + @Override + public String toString() { + return "{原因：" + unableAutopilotReason + " 来源：" + source + "}"; + } +} diff --git a/libraries/mogo-adas-data/src/main/proto/message_pad.proto b/libraries/mogo-adas-data/src/main/proto/message_pad.proto index 72bc9e8532..c54fbd3545 100644 --- a/libraries/mogo-adas-data/src/main/proto/message_pad.proto +++ b/libraries/mogo-adas-data/src/main/proto/message_pad.proto @@ -253,6 +253,7 @@ message TrajectoryDownloadReq { Line line = 1; //路线 uint32 source = 2; //指令来源: 0: default, 1:pad, 2:aicloud + uint32 downloadType = 3; //下载类型: 0:正常下载 1:预下载 } // message definition for MessageType: MsgTypeBasicInfoReq diff --git a/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/AdasChannel.java b/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/AdasChannel.java index 100b37c721..623a821b63 100644 --- a/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/AdasChannel.java +++ b/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/AdasChannel.java @@ -1090,7 +1090,8 @@ public class AdasChannel implements IAdasNetCommApi, FpgaSocket.IWebSocketConnec /** * 发送 轨迹下载请求 * - * @param line 线路相关参数详情见PB message_pad.proto -> Line + * @param line 线路相关参数详情见PB message_pad.proto -> Line + * @param downloadType 下载类型: 0:正常下载 1:预下载 * @return boolean */ @ChainLog( @@ -1100,10 +1101,13 @@ public class AdasChannel implements IAdasNetCommApi, FpgaSocket.IWebSocketConnec paramIndexes = {0} ) @Override - public boolean sendTrajectoryDownloadReq(MessagePad.Line line) { + public boolean sendTrajectoryDownloadReq(MessagePad.Line line, int downloadType) { MessagePad.TrajectoryDownloadReq.Builder builder = MessagePad.TrajectoryDownloadReq.newBuilder(); builder.setSource(1);//指令来源: 0: default, 1:pad, 2:aicloud builder.setLine(line); + if (downloadType > -1) { + builder.setDownloadType(downloadType); + } MessagePad.TrajectoryDownloadReq req = builder.build(); return sendPBMessage(MessageType.TYPE_SEND_TRAJECTORY_DOWNLOAD_REQ.typeCode, req.toByteArray()); } diff --git a/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/AdasManager.java b/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/AdasManager.java index cf5f5479b0..d15953ae0e 100644 --- a/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/AdasManager.java +++ b/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/AdasManager.java @@ -514,9 +514,20 @@ public class AdasManager implements IAdasNetCommApi { * @param line 线路相关参数详情见PB message_pad.proto -> Line * @return boolean */ - @Override public boolean sendTrajectoryDownloadReq(MessagePad.Line line) { - return mChannel != null && mChannel.sendTrajectoryDownloadReq(line); + return mChannel != null && mChannel.sendTrajectoryDownloadReq(line, -1); + } + + /** + * 发送 轨迹下载请求 + * + * @param line 线路相关参数详情见PB message_pad.proto -> Line + * @param downloadType 下载类型: 0:正常下载 1:预下载 + * @return boolean + */ + @Override + public boolean sendTrajectoryDownloadReq(MessagePad.Line line, int downloadType) { + return mChannel != null && mChannel.sendTrajectoryDownloadReq(line, downloadType); } /** diff --git a/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/IAdasNetCommApi.java b/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/IAdasNetCommApi.java index 8aaa04d20c..e0f4ed0d09 100644 --- a/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/IAdasNetCommApi.java +++ b/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/IAdasNetCommApi.java @@ -251,10 +251,11 @@ public interface IAdasNetCommApi { /** * 发送 轨迹下载请求 * - * @param line 线路相关参数详情见PB message_pad.proto -> Line + * @param line 线路相关参数详情见PB message_pad.proto -> Line + * @param downloadType 下载类型: 0:正常下载 1:预下载 * @return 加入WS发送消息队列是否成功 */ - boolean sendTrajectoryDownloadReq(MessagePad.Line line); + boolean sendTrajectoryDownloadReq(MessagePad.Line line, int downloadType); /** * 发送 状态查询请求 diff --git a/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/OnAdasListener.java b/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/OnAdasListener.java index 1fc07d7672..944f9c8772 100644 --- a/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/OnAdasListener.java +++ b/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/OnAdasListener.java @@ -4,12 +4,12 @@ import androidx.annotation.NonNull; import androidx.annotation.Nullable; import com.mogo.support.obu.ObuScene; -import com.zhjt.mogo.adas.data.AdasConstants; import com.zhidao.support.adas.high.common.MessageType; import com.zhidao.support.adas.high.common.ProtocolStatus; +import com.zhjt.mogo.adas.data.AdasConstants; import com.zhjt.mogo.adas.data.bean.AdasParam; import com.zhjt.mogo.adas.data.bean.AutopilotStatistics; - +import com.zhjt.mogo.adas.data.bean.UnableAutopilotReason; import com.zhjt.mogo.adas.data.sweeper.SweeperCloudTask; import com.zhjt.mogo.adas.data.sweeper.bootable.SweeperBootable; import com.zhjt.mogo.adas.data.sweeper.task.SweeperTask; @@ -19,6 +19,9 @@ import com.zhjt.mogo.adas.data.sweeper.task.confirm.SweeperTaskConfirm; import com.zhjt.mogo.adas.data.sweeper.task.status.SweeperTaskStatus; import com.zhjt.mogo.adas.data.sweeper.task.stop.SweeperTaskStop; +import java.util.ArrayList; +import java.util.List; + import bag_manager.BagManagerOuterClass; import chassis.ChassisStatesOuterClass; import chassis.VehicleStateOuterClass; @@ -263,6 +266,7 @@ public interface OnAdasListener { /** * 后部摄像头视频 10Hz * 目前用于清扫车后摄像头和Taxi右右后摄像头 + * * @param header 头 * @param data 数据 */ @@ -418,10 +422,11 @@ public interface OnAdasListener { /** * 是否有能力启动自动驾驶 * - * @param isAutopilotAbility 是否能启动自动驾驶 - * @param unableAutopilotReason 不能启动自动驾驶原因 + * @param isAutopilotAbility 是否能启动自动驾驶 + * @param unableAutopilotReasons 不能启动自动驾驶原因 */ - void onAutopilotAbility(boolean isAutopilotAbility, String unableAutopilotReason); + void onAutopilotAbility(boolean isAutopilotAbility, @Nullable ArrayList unableAutopilotReasons); + /** * 启动自动驾驶失败回调 diff --git a/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/common/autopilot/ability/AutopilotAbility230.java b/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/common/autopilot/ability/AutopilotAbility230.java index d6e4188abc..e7c6801119 100644 --- a/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/common/autopilot/ability/AutopilotAbility230.java +++ b/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/common/autopilot/ability/AutopilotAbility230.java @@ -1,5 +1,10 @@ package com.zhidao.support.adas.high.common.autopilot.ability; +import androidx.annotation.Nullable; + +import com.zhjt.mogo.adas.data.bean.UnableAutopilotReason; + +import java.util.ArrayList; import java.util.Timer; import java.util.TimerTask; @@ -15,41 +20,44 @@ import chassis.ChassisStatesOuterClass; */ public class AutopilotAbility230 { private static final String TAG = AutopilotAbility230.class.getSimpleName(); - private static final long DEFAULT_DETECTION_TIME = 3 * 1000L;//默认检测时间 private volatile Timer timer; private ChassisStatesOuterClass.ChassisStates chassisStates; + private OnAutopilotAbilityListener listener; - public AutopilotAbility230() { + protected interface OnAutopilotAbilityListener { + void onAutopilotAbility(boolean isAutopilotAbility, @Nullable ArrayList unableAutopilotReasons); + } + + protected AutopilotAbility230() { } - public void setChassisStates(ChassisStatesOuterClass.ChassisStates chassisStates) { + protected void setChassisStates(ChassisStatesOuterClass.ChassisStates chassisStates) { this.chassisStates = chassisStates; } + private void onCallback() { boolean isAutopilotAbility = true;//是否能启动自动驾驶 - String unableAutopilotReason = null;//不能启动自动驾驶原因 + ArrayList unableAutopilotReasons = null;//不能启动自动驾驶原因 //检测底盘相关 if (chassisStates != null) { if (chassisStates.hasBrakeSystemStates()) { float brake = chassisStates.getBrakeSystemStates().getBrakePedalResponsePosition(); if (brake > 0) { isAutopilotAbility = false; - unableAutopilotReason = "制动踏板被踩下"; + unableAutopilotReasons = AutopilotAbilityManager.getInstance().addUnableAutopilotReason(unableAutopilotReasons, UnableAutopilotReason.SourceType.CHASSIS, "制动踏板被踩下"); } } - if (isAutopilotAbility) { - if (chassisStates.hasGearSystemStates()) { - Chassis.GearPosition gear = chassisStates.getGearSystemStates().getGearPosition(); - if (!AutopilotAbilityManager.getInstance().isLaunchAutopilot(gear)) { - isAutopilotAbility = false; - unableAutopilotReason = "档位不正常"; - } + if (chassisStates.hasGearSystemStates()) { + Chassis.GearPosition gear = chassisStates.getGearSystemStates().getGearPosition(); + if (!AutopilotAbilityManager.getInstance().isLaunchAutopilot(gear)) { + isAutopilotAbility = false; + unableAutopilotReasons = AutopilotAbilityManager.getInstance().addUnableAutopilotReason(unableAutopilotReasons, UnableAutopilotReason.SourceType.CHASSIS, "当前档位无法启动自驾"); } } //TODO 关于手刹：不同车型的实现不同所以目前没法使用此字段 -// if (isAutopilotAbility) { + // //电子驻车制动系统 // if (chassisStates.hasEpbSystemStates()) { // ChassisStatesOuterClass.EPBSystemStates epb = chassisStates.getEpbSystemStates(); @@ -57,12 +65,15 @@ public class AutopilotAbility230 { // epb.getEpbWorkState(); // } // } -// } + + } + if (listener != null) { + listener.onAutopilotAbility(isAutopilotAbility, unableAutopilotReasons); } - AutopilotAbilityManager.getInstance().onAutopilotAbility(isAutopilotAbility, unableAutopilotReason); } - public synchronized void start() { + protected synchronized void start(OnAutopilotAbilityListener listener) { + this.listener = listener; if (timer == null) { timer = new Timer(); timer.schedule(new TimerTask() { @@ -70,17 +81,16 @@ public class AutopilotAbility230 { public void run() { onCallback(); } - }, 2000L, DEFAULT_DETECTION_TIME);//延迟执行，避免刚连接成功后底盘信息无法及时同步 + }, 2000L, AutopilotAbilityManager.DEFAULT_DETECTION_TIME);//延迟执行，避免刚连接成功后底盘信息无法及时同步 } } - public synchronized void stop() { + protected synchronized void stop() { if (timer != null) { timer.cancel(); timer = null; } this.chassisStates = null; + this.listener = null; } - - } diff --git a/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/common/autopilot/ability/AutopilotAbility250.java b/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/common/autopilot/ability/AutopilotAbility250.java index 24e8329737..7dc31cb07f 100644 --- a/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/common/autopilot/ability/AutopilotAbility250.java +++ b/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/common/autopilot/ability/AutopilotAbility250.java @@ -1,10 +1,12 @@ package com.zhidao.support.adas.high.common.autopilot.ability; -import android.os.Message; +import androidx.annotation.Nullable; import com.zhidao.support.adas.high.AdasManager; import com.zhidao.support.adas.high.common.CupidLogUtils; +import com.zhjt.mogo.adas.data.bean.UnableAutopilotReason; +import java.util.ArrayList; import java.util.List; import java.util.Timer; import java.util.TimerTask; @@ -22,36 +24,42 @@ import system_master.SystemStatusInfo; */ public class AutopilotAbility250 { private static final String TAG = AutopilotAbility250.class.getSimpleName(); - private static final int WHAT_TIMEOUT = 0; - private static final int DEFAULT_TIMEOUT = 1500; - private static final long DEFAULT_DETECTION_TIME = 3 * 1000L;//默认检测时间 - private static final String[] NODE_INFO_STATE = {"未知状态 ", "依赖未就绪 ", "启动中 ", "运行 ", "停止 ", "无法启动状态 ", "人为启动状态 ", "人为关闭状态 "}; private volatile Timer timer; private ChassisStatesOuterClass.ChassisStates chassisStates; private int mapVersion = -1;//MAP版本 private int masterVersion = -1;//Master版本 + private OnAutopilotAbilityListener listener; - public AutopilotAbility250(int mapVersion) { + protected interface OnAutopilotAbilityListener { + void onAutopilotAbility(boolean isAutopilotAbility, @Nullable ArrayList unableAutopilotReasons); + + void onStatusQuery(); + + void onSendTimeoutMessages(); + + void onRemoveTimeoutMessages(); + } + + protected AutopilotAbility250(int mapVersion) { this.mapVersion = mapVersion; this.masterVersion = -1; } - public void setStatusInfo(SystemStatusInfo.StatusInfo statusInfo) { - if (AutopilotAbilityManager.getInstance().getHandler() != null) { - if (AutopilotAbilityManager.getInstance().getHandler().hasMessages(WHAT_TIMEOUT)) - AutopilotAbilityManager.getInstance().getHandler().removeMessages(WHAT_TIMEOUT); + protected void setStatusInfo(SystemStatusInfo.StatusInfo statusInfo) { + if (listener != null) { + listener.onRemoveTimeoutMessages(); } onCallback(statusInfo); } - public void setChassisStates(ChassisStatesOuterClass.ChassisStates chassisStates) { + protected void setChassisStates(ChassisStatesOuterClass.ChassisStates chassisStates) { this.chassisStates = chassisStates; } private void onCallback(SystemStatusInfo.StatusInfo statusInfo) { boolean isAutopilotAbility = true;//是否能启动自动驾驶 - String unableAutopilotReason = null;//不能启动自动驾驶原因 + ArrayList unableAutopilotReasons = null;//不能启动自动驾驶原因 //检测节点状态相关 if (statusInfo != null) { if (masterVersion == -1 && statusInfo.hasMasterVersion()) { @@ -63,7 +71,7 @@ public class AutopilotAbility250 { if (mapVersion >= 30400 && masterVersion > 2 && statusInfo.hasAutoPilotReady() && statusInfo.hasAutoPilotUnreadyReason()) { isAutopilotAbility = statusInfo.getAutoPilotReady(); if (!isAutopilotAbility) { - unableAutopilotReason = statusInfo.getAutoPilotUnreadyReason(); + unableAutopilotReasons = AutopilotAbilityManager.getInstance().addUnableAutopilotReason(unableAutopilotReasons, UnableAutopilotReason.SourceType.SSM, statusInfo.getAutoPilotUnreadyReason()); } } else if (mapVersion >= 21000 && masterVersion > 1 && statusInfo.hasAutoPilotReady()) {//如果 maser version 大于1，还需要判断AutoPilotReady字段是否存在，以确保MAP版本和SSM Maser版本不陪配情况逻辑能正常执行 isAutopilotAbility = statusInfo.getAutoPilotReady(); @@ -75,15 +83,16 @@ public class AutopilotAbility250 { for (SystemStatusInfo.NodeInfo info : list) { builder.append(info.getNodeName()); int state = info.getState(); - if (state < NODE_INFO_STATE.length) { - builder.append(NODE_INFO_STATE[state]); + if (state < AutopilotAbilityManager.NODE_INFO_STATE.length) { + builder.append(AutopilotAbilityManager.NODE_INFO_STATE[state]); } else { builder.append("未知异常 "); } + unableAutopilotReasons = AutopilotAbilityManager.getInstance().addUnableAutopilotReason(unableAutopilotReasons, UnableAutopilotReason.SourceType.SSM, builder.toString()); + builder.setLength(0); } - unableAutopilotReason = builder.toString(); } else { - unableAutopilotReason = "未知异常节点"; + unableAutopilotReasons = AutopilotAbilityManager.getInstance().addUnableAutopilotReason(unableAutopilotReasons, UnableAutopilotReason.SourceType.SSM, "未知异常节点"); } } } else { @@ -91,6 +100,7 @@ public class AutopilotAbility250 { // 目前已知可以下发启动自驾命令的状态： SystemState.SYS_RUNNING、SystemState.PILOT_READY、SystemState.AUTO_PILOT_STARTING、SystemState.AUTO_PILOT_RUNNING if (systemState != SystemStatusInfo.SystemState.SYS_RUNNING && systemState != SystemStatusInfo.SystemState.PILOT_READY) { isAutopilotAbility = false; + String unableAutopilotReason = null; if (systemState == SystemStatusInfo.SystemState.SYS_STARTING) { unableAutopilotReason = "系统正在启动"; } else if (systemState == SystemStatusInfo.SystemState.SYS_EXITING) { @@ -112,34 +122,33 @@ public class AutopilotAbility250 { } else { unableAutopilotReason = "未知系统状态"; } + if (!isAutopilotAbility) { + unableAutopilotReasons = AutopilotAbilityManager.getInstance().addUnableAutopilotReason(unableAutopilotReasons, UnableAutopilotReason.SourceType.SSM, unableAutopilotReason); + } } } } else { isAutopilotAbility = false;//是否能启动自动驾驶 - unableAutopilotReason = "SSM状态查询超时无响应";//不能启动自动驾驶原因 + unableAutopilotReasons = AutopilotAbilityManager.getInstance().addUnableAutopilotReason(unableAutopilotReasons, UnableAutopilotReason.SourceType.LIB, "SSM状态查询超时无响应"); } //检测底盘相关 if (chassisStates != null) { - if (isAutopilotAbility) { - if (chassisStates.hasBrakeSystemStates()) { - float brake = chassisStates.getBrakeSystemStates().getBrakePedalResponsePosition(); - if (brake > 0) { - isAutopilotAbility = false; - unableAutopilotReason = "制动踏板被踩下"; - } + if (chassisStates.hasBrakeSystemStates()) { + float brake = chassisStates.getBrakeSystemStates().getBrakePedalResponsePosition(); + if (brake > 0) { + isAutopilotAbility = false; + unableAutopilotReasons = AutopilotAbilityManager.getInstance().addUnableAutopilotReason(unableAutopilotReasons, UnableAutopilotReason.SourceType.CHASSIS, "制动踏板被踩下"); } } - if (isAutopilotAbility) { - if (chassisStates.hasGearSystemStates()) { - Chassis.GearPosition gear = chassisStates.getGearSystemStates().getGearPosition(); - if (!AutopilotAbilityManager.getInstance().isLaunchAutopilot(gear)) { - isAutopilotAbility = false; - unableAutopilotReason = "档位不正常"; - } + if (chassisStates.hasGearSystemStates()) { + Chassis.GearPosition gear = chassisStates.getGearSystemStates().getGearPosition(); + if (!AutopilotAbilityManager.getInstance().isLaunchAutopilot(gear)) { + isAutopilotAbility = false; + unableAutopilotReasons = AutopilotAbilityManager.getInstance().addUnableAutopilotReason(unableAutopilotReasons, UnableAutopilotReason.SourceType.CHASSIS, "当前档位无法启动自驾"); } } //TODO 关于手刹：不同车型的实现不同所以目前没法使用此字段 -// if (isAutopilotAbility) { + // //电子驻车制动系统 // if (chassisStates.hasEpbSystemStates()) { // ChassisStatesOuterClass.EPBSystemStates epb = chassisStates.getEpbSystemStates(); @@ -147,45 +156,45 @@ public class AutopilotAbility250 { // epb.getEpbWorkState(); // } // } -// } + + } + if (listener != null) { + listener.onAutopilotAbility(isAutopilotAbility, unableAutopilotReasons); } - AutopilotAbilityManager.getInstance().onAutopilotAbility(isAutopilotAbility, unableAutopilotReason); } - public synchronized void start() { + protected synchronized void start(OnAutopilotAbilityListener listener) { + this.listener = listener; if (timer == null) { timer = new Timer(); timer.schedule(new TimerTask() { @Override public void run() { - if (AutopilotAbilityManager.getInstance().getOnAutopilotAbilityListener() != null) { - AutopilotAbilityManager.getInstance().getOnAutopilotAbilityListener().onStatusQuery(); + if (listener != null) { + listener.onStatusQuery(); } AdasManager.getInstance().sendStatusQueryReq(); - if (AutopilotAbilityManager.getInstance().getHandler() != null) { - if (AutopilotAbilityManager.getInstance().getHandler().hasMessages(WHAT_TIMEOUT)) - AutopilotAbilityManager.getInstance().getHandler().removeMessages(WHAT_TIMEOUT); - AutopilotAbilityManager.getInstance().getHandler().sendEmptyMessageDelayed(WHAT_TIMEOUT, DEFAULT_TIMEOUT); + if (listener != null) { + listener.onSendTimeoutMessages(); } } - }, 2000L, DEFAULT_DETECTION_TIME);//延迟执行，避免刚连接成功后底盘信息无法及时同步 + }, 2000L, AutopilotAbilityManager.DEFAULT_DETECTION_TIME);//延迟执行，避免刚连接成功后底盘信息无法及时同步 } } - public synchronized void stop() { + protected synchronized void stop() { if (timer != null) { timer.cancel(); timer = null; } this.chassisStates = null; this.masterVersion = -1; + this.listener = null; } - public void onHandleMessage(Message msg) { - if (msg.what == WHAT_TIMEOUT) { - onCallback(null); - } + protected void onCallTimeout() { + onCallback(null); } diff --git a/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/common/autopilot/ability/AutopilotAbility330.java b/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/common/autopilot/ability/AutopilotAbility330.java index 18be7c4e9a..1dbcdeb4b9 100644 --- a/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/common/autopilot/ability/AutopilotAbility330.java +++ b/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/common/autopilot/ability/AutopilotAbility330.java @@ -1,10 +1,14 @@ package com.zhidao.support.adas.high.common.autopilot.ability; -import android.os.Message; +import android.text.TextUtils; + +import androidx.annotation.Nullable; import com.zhidao.support.adas.high.AdasManager; import com.zhidao.support.adas.high.common.CupidLogUtils; +import com.zhjt.mogo.adas.data.bean.UnableAutopilotReason; +import java.util.ArrayList; import java.util.List; import java.util.Timer; import java.util.TimerTask; @@ -22,29 +26,35 @@ import system_master.SystemStatusInfo; */ public class AutopilotAbility330 { private static final String TAG = AutopilotAbility330.class.getSimpleName(); - private static final int WHAT_TIMEOUT = 0; - private static final int DEFAULT_TIMEOUT = 1500; - private static final long DEFAULT_DETECTION_TIME = 3 * 1000L;//默认检测时间 - private static final String[] NODE_INFO_STATE = {"未知状态 ", "依赖未就绪 ", "启动中 ", "运行 ", "停止 ", "无法启动状态 ", "人为启动状态 ", "人为关闭状态 "}; private volatile Timer timer; private volatile FSMStatusReasonQueryOuterClass.FSMStatusReasonRespond fsmStatusReasonRespond;//自动驾驶状态为OFF的原因 private int mapVersion = -1;//MAP版本 private int masterVersion = -1;//Master版本 + private OnAutopilotAbilityListener listener; - public AutopilotAbility330(int mapVersion) { + protected interface OnAutopilotAbilityListener { + void onAutopilotAbility(boolean isAutopilotAbility, @Nullable ArrayList unableAutopilotReasons); + + void onStatusQuery(); + + void onSendTimeoutMessages(); + + void onRemoveTimeoutMessages(); + } + + protected AutopilotAbility330(int mapVersion) { this.mapVersion = mapVersion; this.masterVersion = -1; } - public synchronized void setFsmStatusReasonRespond(FSMStatusReasonQueryOuterClass.FSMStatusReasonRespond fsmStatusReasonRespond) { + protected synchronized void setFsmStatusReasonRespond(FSMStatusReasonQueryOuterClass.FSMStatusReasonRespond fsmStatusReasonRespond) { this.fsmStatusReasonRespond = fsmStatusReasonRespond; } - public void setStatusInfo(SystemStatusInfo.StatusInfo statusInfo) { - if (AutopilotAbilityManager.getInstance().getHandler() != null) { - if (AutopilotAbilityManager.getInstance().getHandler().hasMessages(WHAT_TIMEOUT)) - AutopilotAbilityManager.getInstance().getHandler().removeMessages(WHAT_TIMEOUT); + protected void setStatusInfo(SystemStatusInfo.StatusInfo statusInfo) { + if (listener != null) { + listener.onRemoveTimeoutMessages(); } onCallback(statusInfo); } @@ -52,7 +62,7 @@ public class AutopilotAbility330 { private void onCallback(SystemStatusInfo.StatusInfo statusInfo) { boolean isAutopilotAbility = true;//是否能启动自动驾驶 - String unableAutopilotReason = null;//不能启动自动驾驶原因 + ArrayList unableAutopilotReasons = null;//不能启动自动驾驶原因 //检测节点状态相关 if (statusInfo != null) { if (masterVersion == -1 && statusInfo.hasMasterVersion()) { @@ -64,7 +74,7 @@ public class AutopilotAbility330 { if (mapVersion >= 30400 && masterVersion > 2 && statusInfo.hasAutoPilotReady() && statusInfo.hasAutoPilotUnreadyReason()) { isAutopilotAbility = statusInfo.getAutoPilotReady(); if (!isAutopilotAbility) { - unableAutopilotReason = statusInfo.getAutoPilotUnreadyReason(); + unableAutopilotReasons = AutopilotAbilityManager.getInstance().addUnableAutopilotReason(unableAutopilotReasons, UnableAutopilotReason.SourceType.SSM, statusInfo.getAutoPilotUnreadyReason()); } } else if (mapVersion >= 21000 && masterVersion > 1 && statusInfo.hasAutoPilotReady()) {//如果 maser version 大于1，还需要判断AutoPilotReady字段是否存在，以确保MAP版本和SSM Maser版本不陪配情况逻辑能正常执行 isAutopilotAbility = statusInfo.getAutoPilotReady(); @@ -76,15 +86,16 @@ public class AutopilotAbility330 { for (SystemStatusInfo.NodeInfo info : list) { builder.append(info.getNodeName()); int state = info.getState(); - if (state < NODE_INFO_STATE.length) { - builder.append(NODE_INFO_STATE[state]); + if (state < AutopilotAbilityManager.NODE_INFO_STATE.length) { + builder.append(AutopilotAbilityManager.NODE_INFO_STATE[state]); } else { builder.append("未知异常 "); } + unableAutopilotReasons = AutopilotAbilityManager.getInstance().addUnableAutopilotReason(unableAutopilotReasons, UnableAutopilotReason.SourceType.SSM, builder.toString()); + builder.setLength(0); } - unableAutopilotReason = builder.toString(); } else { - unableAutopilotReason = "未知异常节点"; + unableAutopilotReasons = AutopilotAbilityManager.getInstance().addUnableAutopilotReason(unableAutopilotReasons, UnableAutopilotReason.SourceType.SSM, "未知异常节点"); } } } else { @@ -92,6 +103,7 @@ public class AutopilotAbility330 { // 目前已知可以下发启动自驾命令的状态： SystemState.SYS_RUNNING、SystemState.PILOT_READY、SystemState.AUTO_PILOT_STARTING、SystemState.AUTO_PILOT_RUNNING if (systemState != SystemStatusInfo.SystemState.SYS_RUNNING && systemState != SystemStatusInfo.SystemState.PILOT_READY) { isAutopilotAbility = false; + String unableAutopilotReason = null; if (systemState == SystemStatusInfo.SystemState.SYS_STARTING) { unableAutopilotReason = "系统正在启动"; } else if (systemState == SystemStatusInfo.SystemState.SYS_EXITING) { @@ -113,67 +125,66 @@ public class AutopilotAbility330 { } else { unableAutopilotReason = "未知系统状态"; } + if (!isAutopilotAbility) { + unableAutopilotReasons = AutopilotAbilityManager.getInstance().addUnableAutopilotReason(unableAutopilotReasons, UnableAutopilotReason.SourceType.SSM, unableAutopilotReason); + } } } } else { isAutopilotAbility = false;//是否能启动自动驾驶 - unableAutopilotReason = "SSM状态查询超时无响应";//不能启动自动驾驶原因 + unableAutopilotReasons = AutopilotAbilityManager.getInstance().addUnableAutopilotReason(unableAutopilotReasons, UnableAutopilotReason.SourceType.LIB, "SSM状态查询超时无响应"); } - if (isAutopilotAbility) { - if (fsmStatusReasonRespond != null) { - int count = fsmStatusReasonRespond.getFsmStatusReasonRespondCount(); - StringBuilder builder = null; - if (count > 0) { - builder = new StringBuilder(); - for (int i = 0; i < count; i++) { - String respond = fsmStatusReasonRespond.getFsmStatusReasonRespond(i); - builder.append(respond).append(' '); + if (fsmStatusReasonRespond != null) { + int count = fsmStatusReasonRespond.getFsmStatusReasonRespondCount(); + if (count > 0) { + isAutopilotAbility = false; + for (int i = 0; i < count; i++) { + String respond = fsmStatusReasonRespond.getFsmStatusReasonRespond(i); + if (!TextUtils.isEmpty(respond)) { + unableAutopilotReasons = AutopilotAbilityManager.getInstance().addUnableAutopilotReason(unableAutopilotReasons, UnableAutopilotReason.SourceType.FSM, respond); } } - if (builder != null) { - isAutopilotAbility = false; - builder.deleteCharAt(builder.length() - 1);//删除末尾 - unableAutopilotReason = builder.toString(); + if (unableAutopilotReasons == null || unableAutopilotReasons.isEmpty()) { + unableAutopilotReasons = AutopilotAbilityManager.getInstance().addUnableAutopilotReason(unableAutopilotReasons, UnableAutopilotReason.SourceType.LIB, "FSM未给出原因"); } } } - AutopilotAbilityManager.getInstance().onAutopilotAbility(isAutopilotAbility, unableAutopilotReason); + if (listener != null) { + listener.onAutopilotAbility(isAutopilotAbility, unableAutopilotReasons); + } } - public synchronized void start() { + protected synchronized void start(OnAutopilotAbilityListener listener) { + this.listener = listener; if (timer == null) { timer = new Timer(); timer.schedule(new TimerTask() { @Override public void run() { - if (AutopilotAbilityManager.getInstance().getOnAutopilotAbilityListener() != null) { - AutopilotAbilityManager.getInstance().getOnAutopilotAbilityListener().onStatusQuery(); + if (listener != null) { + listener.onStatusQuery(); } AdasManager.getInstance().sendStatusQueryReq(); - if (AutopilotAbilityManager.getInstance().getHandler() != null) { - if (AutopilotAbilityManager.getInstance().getHandler().hasMessages(WHAT_TIMEOUT)) - AutopilotAbilityManager.getInstance().getHandler().removeMessages(WHAT_TIMEOUT); - AutopilotAbilityManager.getInstance().getHandler().sendEmptyMessageDelayed(WHAT_TIMEOUT, DEFAULT_TIMEOUT); + if (listener != null) { + listener.onSendTimeoutMessages(); } } - }, 2000L, DEFAULT_DETECTION_TIME);//延迟执行，避免刚连接成功后底盘信息无法及时同步 + }, 2000L, AutopilotAbilityManager.DEFAULT_DETECTION_TIME);//延迟执行，避免刚连接成功后底盘信息无法及时同步 } } - public synchronized void stop() { + protected synchronized void stop() { if (timer != null) { timer.cancel(); timer = null; } this.masterVersion = -1; + this.listener = null; } - public void onHandleMessage(Message msg) { - if (msg.what == WHAT_TIMEOUT) { - onCallback(null); - } + protected void onCallTimeout() { + onCallback(null); } - } diff --git a/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/common/autopilot/ability/AutopilotAbilityManager.java b/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/common/autopilot/ability/AutopilotAbilityManager.java index d3f69d1148..14e567760e 100644 --- a/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/common/autopilot/ability/AutopilotAbilityManager.java +++ b/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/common/autopilot/ability/AutopilotAbilityManager.java @@ -3,11 +3,15 @@ package com.zhidao.support.adas.high.common.autopilot.ability; import android.os.Handler; import android.os.Message; +import androidx.annotation.Nullable; + import com.zhidao.support.adas.high.AdasManager; import com.zhidao.support.adas.high.OnAdasListener; import com.zhidao.support.adas.high.common.Constants; import com.zhidao.support.adas.high.common.CupidLogUtils; +import com.zhjt.mogo.adas.data.bean.UnableAutopilotReason; +import java.util.ArrayList; import java.util.Set; import java.util.Timer; import java.util.TimerTask; @@ -25,8 +29,12 @@ import system_master.SystemStatusInfo; *

* 此定时器不能停止 鹰眼中存在UI更新依赖循环查询系统状态 */ -public class AutopilotAbilityManager { +public class AutopilotAbilityManager implements AutopilotAbility230.OnAutopilotAbilityListener, AutopilotAbility250.OnAutopilotAbilityListener, AutopilotAbility330.OnAutopilotAbilityListener { private static final String TAG = AutopilotAbilityManager.class.getSimpleName(); + protected static final int WHAT_TIMEOUT = 0; + protected static final int DEFAULT_TIMEOUT = 2500; + protected static final long DEFAULT_DETECTION_TIME = 3 * 1000L;//默认检测周期 + protected static final String[] NODE_INFO_STATE = {"未知状态 ", "依赖未就绪 ", "启动中 ", "运行 ", "停止 ", "无法启动状态 ", "人为启动状态 ", "人为关闭状态 "}; private static volatile AutopilotAbilityManager INSTANCE; private OnAdasListener listener; private Handler handler; @@ -79,6 +87,22 @@ public class AutopilotAbilityManager { return true; } + /** + * 添加不能启动自驾的原因 + * + * @param unableAutopilotReasons 原因列表 + * @param source 来源 + * @param unableAutopilotReason 云隐 + * @return 原因列表 + */ + protected ArrayList addUnableAutopilotReason(ArrayList unableAutopilotReasons, UnableAutopilotReason.SourceType source, String unableAutopilotReason) { + if (unableAutopilotReasons == null) { + unableAutopilotReasons = new ArrayList<>(); + } + unableAutopilotReasons.add(new UnableAutopilotReason(source, unableAutopilotReason)); + return unableAutopilotReasons; + } + public void setCarConfig(MessagePad.CarConfigResp carConfig) { mapVersion = carConfig.getMapVersion(); isFutianSweeper = carConfig.getIsFutianSweeper(); @@ -93,9 +117,33 @@ public class AutopilotAbilityManager { this.listener = listener; } - public void onAutopilotAbility(boolean isAutopilotAbility, String unableAutopilotReason) { + @Override + public void onAutopilotAbility(boolean isAutopilotAbility, @Nullable ArrayList unableAutopilotReasons) { if (listener != null) { - listener.onAutopilotAbility(isAutopilotAbility, unableAutopilotReason); + listener.onAutopilotAbility(isAutopilotAbility, unableAutopilotReasons); + } + } + + @Override + public void onStatusQuery() { + if (onAutopilotAbilityListener != null) { + onAutopilotAbilityListener.onStatusQuery(); + } + } + + @Override + public void onSendTimeoutMessages() { + onRemoveTimeoutMessages(); + if (handler != null) { + handler.sendEmptyMessageDelayed(WHAT_TIMEOUT, DEFAULT_TIMEOUT); + } + } + + @Override + public void onRemoveTimeoutMessages() { + if (handler != null) { + if (handler.hasMessages(WHAT_TIMEOUT)) + handler.removeMessages(WHAT_TIMEOUT); } } @@ -103,18 +151,11 @@ public class AutopilotAbilityManager { this.handler = handler; } - public Handler getHandler() { - return handler; - } public void setOnAutopilotAbilityListener(OnAutopilotAbilityListener onAutopilotAbilityListener) { this.onAutopilotAbilityListener = onAutopilotAbilityListener; } - public OnAutopilotAbilityListener getOnAutopilotAbilityListener() { - return onAutopilotAbilityListener; - } - /** * SSM状态更新 @@ -156,8 +197,13 @@ public class AutopilotAbilityManager { } public void onHandleMessage(Message msg) { - if (autopilotAbility250 != null) { - autopilotAbility250.onHandleMessage(msg); + if (msg.what == WHAT_TIMEOUT) { + if (autopilotAbility250 != null) { + autopilotAbility250.onCallTimeout(); + } + if (autopilotAbility330 != null) { + autopilotAbility330.onCallTimeout(); + } } } @@ -169,7 +215,7 @@ public class AutopilotAbilityManager { stop250(); if (autopilotAbility330 == null) { autopilotAbility330 = new AutopilotAbility330(mapVersion); - autopilotAbility330.start(); + autopilotAbility330.start(this); } } else if (mapVersion >= 20500) { CupidLogUtils.i(TAG, "是否可以启动自动驾驶能力检测使用250版本"); @@ -177,7 +223,7 @@ public class AutopilotAbilityManager { stop330(); if (autopilotAbility250 == null) { autopilotAbility250 = new AutopilotAbility250(mapVersion); - autopilotAbility250.start(); + autopilotAbility250.start(this); } } else { CupidLogUtils.i(TAG, "是否可以启动自动驾驶能力检测使用230版本"); @@ -185,7 +231,7 @@ public class AutopilotAbilityManager { stop330(); if (autopilotAbility230 == null) { autopilotAbility230 = new AutopilotAbility230(); - autopilotAbility230.start(); + autopilotAbility230.start(this); } }