From d85a334830b14534a1be40d0113c3d1614f71f32 Mon Sep 17 00:00:00 2001 From: aibingbing Date: Wed, 21 Aug 2024 10:51:47 +0800 Subject: [PATCH] =?UTF-8?q?[6.6.0][FSM]=20feat:=20=E5=A2=9E=E5=8A=A0?= =?UTF-8?q?=E6=98=AF=E5=90=A6=E6=9C=89=20FSM=20=E6=A8=A1=E5=9D=97=E7=9A=84?= =?UTF-8?q?=E5=88=A4=E6=96=AD=EF=BC=8C=E6=9B=B4=E6=96=B0=20FSM=20=E7=8A=B6?= =?UTF-8?q?=E6=80=81=E6=9E=9A=E4=B8=BE=E5=91=BD=E5=90=8D=EF=BC=9B?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- .../status/entity/Status.kt | 10 +-- .../status/flow/fsm/FSMImpl.kt | 90 ++++++++++++++----- .../status/model/StatusModel.kt | 2 +- .../status/ui/adapter/StatusAdapter.kt | 18 ++-- 4 files changed, 85 insertions(+), 35 deletions(-) diff --git a/core/function-impl/mogo-core-function-devatools/src/main/java/com/zhjt/mogo_core_function_devatools/status/entity/Status.kt b/core/function-impl/mogo-core-function-devatools/src/main/java/com/zhjt/mogo_core_function_devatools/status/entity/Status.kt index 221f0e1c0b..d3b180614a 100644 --- a/core/function-impl/mogo-core-function-devatools/src/main/java/com/zhjt/mogo_core_function_devatools/status/entity/Status.kt +++ b/core/function-impl/mogo-core-function-devatools/src/main/java/com/zhjt/mogo_core_function_devatools/status/entity/Status.kt @@ -132,10 +132,10 @@ class RTKStatus(var desc: String = "", var state: Int): Status() { * FSM模块状态码定义 */ enum class FSMStateCode { - IpcNotConnected, - NoneExist, - Normal, - Error + UnKnown, + NotExist, + ExistNormal, + ExistError } /** @@ -165,7 +165,7 @@ class FSMStatus(var state: FSMStateCode, var desc: String = ""): Status() { return "FSMStatus(state=$state, desc='$desc', raw_data=$rawData)" } - override fun isException(): Boolean = state == FSMStateCode.Error + override fun isException(): Boolean = state == FSMStateCode.ExistError } /** diff --git a/core/function-impl/mogo-core-function-devatools/src/main/java/com/zhjt/mogo_core_function_devatools/status/flow/fsm/FSMImpl.kt b/core/function-impl/mogo-core-function-devatools/src/main/java/com/zhjt/mogo_core_function_devatools/status/flow/fsm/FSMImpl.kt index 2a99e155a0..e325783462 100644 --- a/core/function-impl/mogo-core-function-devatools/src/main/java/com/zhjt/mogo_core_function_devatools/status/flow/fsm/FSMImpl.kt +++ b/core/function-impl/mogo-core-function-devatools/src/main/java/com/zhjt/mogo_core_function_devatools/status/flow/fsm/FSMImpl.kt @@ -3,13 +3,16 @@ package com.zhjt.mogo_core_function_devatools.status.flow.fsm import android.content.Context import com.mogo.eagle.core.function.api.autopilot.IMoGoAutopilotStatusListener import com.mogo.eagle.core.function.api.autopilot.IMoGoFsm2024Listener +import com.mogo.eagle.core.function.api.autopilot.IMoGoNodeStateListener 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.CallerFsm2024ListenerManager +import com.mogo.eagle.core.function.call.autopilot.CallerNodeStateListenerManager import com.mogo.eagle.core.utilcode.mogo.logger.CallerLogger import com.mogo.eagle.core.utilcode.mogo.logger.scene.SceneConstant.Companion.M_DEVA import com.mogo.eagle.core.utilcode.util.DateTimeUtils import com.mogo.eagle.core.utilcode.util.UiThreadHandler +import com.zhjt.mogo.adas.data.Adas import com.zhjt.mogo.adas.data.AdasConstants import com.zhjt.mogo_core_function_devatools.status.entity.FSMStateCode import com.zhjt.mogo_core_function_devatools.status.entity.FSMStatus @@ -21,7 +24,7 @@ import java.util.concurrent.atomic.AtomicReference import kotlin.random.Random internal class FSMImpl(ctx: Context) : IFlow(ctx), IMoGoAutopilotStatusListener, - IMoGoFsm2024Listener { + IMoGoFsm2024Listener, IMoGoNodeStateListener { companion object { const val TAG = "FSMImpl" @@ -32,18 +35,38 @@ internal class FSMImpl(ctx: Context) : IFlow(ctx), IMoGoAutopilotStat } private fun getDesc(): String { - return fsmStateMsg.get()?.pilotNotStandbyReason ?: "" + if (!CallerAutoPilotStatusListenerManager.isConnect()) { + return "未知" + } else { + val nodeState = CallerAutoPilotControlManager.getNodeStateInfo(AdasConstants.NodeName.FSM2024)?.nodeState ?: AdasConstants.NodeState.NODE_UNKNOWN + return getStateDescByNodeStateInfo(nodeState) + } } private fun getStateCode(): FSMStateCode { - val isIpcConnected = CallerAutoPilotStatusListenerManager.isConnect() - if (!isIpcConnected) { - return FSMStateCode.IpcNotConnected - } else if (fsmStateMsg.get()?.pilotStandbyFlag == true) { - // TODO 判断是否有 FSM 模块 - return FSMStateCode.Normal + if (!CallerAutoPilotStatusListenerManager.isConnect()) { + return FSMStateCode.UnKnown } else { - return FSMStateCode.Error + val nodeState = CallerAutoPilotControlManager.getNodeStateInfo(AdasConstants.NodeName.FSM2024)?.nodeState ?: AdasConstants.NodeState.NODE_UNKNOWN + return getStateCodeByNodeStateInfo(nodeState) + } + } + + private fun getStateCodeByNodeStateInfo(nodeState: AdasConstants.NodeState): FSMStateCode { + return when(nodeState) { + AdasConstants.NodeState.NODE_UNKNOWN -> FSMStateCode.UnKnown + AdasConstants.NodeState.NODE_NOT_EXIST -> FSMStateCode.NotExist + AdasConstants.NodeState.NODE_EXIST -> if(fsmStateMsg.get()?.pilotStandbyFlag == true) FSMStateCode.ExistNormal else FSMStateCode.ExistError + else -> FSMStateCode.UnKnown + } + } + + private fun getStateDescByNodeStateInfo(nodeState: AdasConstants.NodeState): String { + return when(nodeState) { + AdasConstants.NodeState.NODE_UNKNOWN -> "未知" + AdasConstants.NodeState.NODE_NOT_EXIST -> "FSM不存在" + AdasConstants.NodeState.NODE_EXIST -> if(fsmStateMsg.get()?.pilotStandbyFlag == true) "状态正常" else fsmStateMsg.get()?.pilotNotStandbyReason ?: "" + else -> "未知" } } @@ -52,24 +75,32 @@ internal class FSMImpl(ctx: Context) : IFlow(ctx), IMoGoAutopilotStat CallerLogger.d("$M_DEVA$TAG", "-- onCreate --") CallerAutoPilotStatusListenerManager.addListener(TAG, this) CallerFsm2024ListenerManager.addListener(TAG, this) + CallerNodeStateListenerManager.addNodeStateListener(TAG, setOf(AdasConstants.NodeName.FSM2024), this) //TODO - test() - test1() + UiThreadHandler.postDelayed({ + test() + test1() + }, 3000L) } fun test() { - send(FSMStatus(FSMStateCode.Error, "检查到异常，不能启动自驾，time=${DateTimeUtils.getCurrentDateTime()}")) + send( + FSMStatus( + FSMStateCode.ExistError, + "检查到异常，不能启动自驾，time=${DateTimeUtils.getCurrentDateTime()}" + ) + ) UiThreadHandler.postDelayed({ - test() - },3000L) + test() + }, Random.nextInt(10, 20) * 1000L) } fun test1() { - send(FSMStatus(FSMStateCode.Normal, "状态正常")) + send(FSMStatus(FSMStateCode.ExistNormal, "状态正常")) UiThreadHandler.postDelayed({ test1() - }, Random.nextInt(1,10) * 1000L) + }, Random.nextInt(1, 10) * 1000L) } override fun onAutopilotIpcConnectStatusChanged( @@ -85,21 +116,39 @@ internal class FSMImpl(ctx: Context) : IFlow(ctx), IMoGoAutopilotStat } else { CallerLogger.d("$M_DEVA$TAG", "工控机断开了....") fsmStateMsg.set(null) - send(FSMStatus(FSMStateCode.IpcNotConnected, "工控机断开了")) + send(FSMStatus(FSMStateCode.UnKnown, "工控机断开了")) } } + /** + * 所连接的域控的节点状态信息 + * 目前包含状态 节点是否存在；节点是否超时； + * SSM 只判断超时状态 + * FSM 是否存在；是否超时； + * + * @param name 节点名称 + * @param stateInfo 节点状态信息 包含：未知；存在；不存在； 以及存在的一些状态 + */ + override fun onNodeStateInfo(name: AdasConstants.NodeName, stateInfo: Adas.NodeStateInfo) { + CallerLogger.d( + "$M_DEVA$TAG", + "-- onNodeStateInfo[nodeName=$name, stateName=${stateInfo.nodeState.name}] --" + ) + val fsmStatusCode = getStateCodeByNodeStateInfo(stateInfo.nodeState) + val fsmStatusDesc = getStateDescByNodeStateInfo(stateInfo.nodeState) + send(FSMStatus(fsmStatusCode, fsmStatusDesc)) + } + override fun onFSM2024State(fsmState: Fsm2024.FSMStateMsg) { CallerLogger.d( "$M_DEVA$TAG", "-- fsmState[pilotStandbyFlag=${fsmState.pilotStandbyFlag}, pilotNotStandbyReason=${fsmState.pilotNotStandbyReason}] --" ) fsmStateMsg.set(fsmState) - // TODO 判断是否有 FSM 模块 if (fsmState.pilotStandbyFlag) { - send(FSMStatus(FSMStateCode.Normal, "")) + send(FSMStatus(FSMStateCode.ExistNormal, "状态正常")) } else { - send(FSMStatus(FSMStateCode.Error, fsmState.pilotNotStandbyReason)) + send(FSMStatus(FSMStateCode.ExistError, fsmState.pilotNotStandbyReason)) } } @@ -108,5 +157,6 @@ internal class FSMImpl(ctx: Context) : IFlow(ctx), IMoGoAutopilotStat CallerLogger.d("$M_DEVA$TAG", "-- onDestroy --") CallerAutoPilotStatusListenerManager.removeListener(TAG) CallerFsm2024ListenerManager.removeListener(TAG) + CallerNodeStateListenerManager.removeNodeStateListener(TAG) } } \ No newline at end of file diff --git a/core/function-impl/mogo-core-function-devatools/src/main/java/com/zhjt/mogo_core_function_devatools/status/model/StatusModel.kt b/core/function-impl/mogo-core-function-devatools/src/main/java/com/zhjt/mogo_core_function_devatools/status/model/StatusModel.kt index 1e254e84e9..dfe707b177 100644 --- a/core/function-impl/mogo-core-function-devatools/src/main/java/com/zhjt/mogo_core_function_devatools/status/model/StatusModel.kt +++ b/core/function-impl/mogo-core-function-devatools/src/main/java/com/zhjt/mogo_core_function_devatools/status/model/StatusModel.kt @@ -14,7 +14,7 @@ internal class StatusModel : ViewModel() { const val TAG = "StatusModel" val DEFAULTS = Pair(null, ArrayList().also { it += OverViewStatus() - it += FSMStatus(FSMStateCode.IpcNotConnected, "") + it += FSMStatus(FSMStateCode.UnKnown, "") it += IpcStatus(CallerAutoPilotStatusListenerManager.isConnect()) it += CanStatus(false) // it += TracingStatus(UNKNOWN) diff --git a/core/function-impl/mogo-core-function-devatools/src/main/java/com/zhjt/mogo_core_function_devatools/status/ui/adapter/StatusAdapter.kt b/core/function-impl/mogo-core-function-devatools/src/main/java/com/zhjt/mogo_core_function_devatools/status/ui/adapter/StatusAdapter.kt index bd52a30d65..0e0b0ccb6b 100644 --- a/core/function-impl/mogo-core-function-devatools/src/main/java/com/zhjt/mogo_core_function_devatools/status/ui/adapter/StatusAdapter.kt +++ b/core/function-impl/mogo-core-function-devatools/src/main/java/com/zhjt/mogo_core_function_devatools/status/ui/adapter/StatusAdapter.kt @@ -135,19 +135,19 @@ internal class StatusAdapter(val ctx: Context, var data: List): Recycler } is FSMStatus -> { when (status.state) { - FSMStateCode.IpcNotConnected -> { + FSMStateCode.UnKnown -> { iv.background = ContextCompat.getDrawable(itemView.context, drawable.icon_dev_status_fsm_not_connected) CallerHmiManager.dismissFSMStatusDetailWindow() } - FSMStateCode.NoneExist -> { + FSMStateCode.NotExist -> { iv.background = ContextCompat.getDrawable(itemView.context, drawable.icon_dev_status_fsm_not_exist) CallerHmiManager.dismissFSMStatusDetailWindow() } - FSMStateCode.Normal -> { + FSMStateCode.ExistNormal -> { iv.background = ContextCompat.getDrawable(itemView.context, drawable.icon_dev_status_fsm_normal) CallerHmiManager.dismissFSMStatusDetailWindow() } - FSMStateCode.Error -> { + FSMStateCode.ExistError -> { iv.background = ContextCompat.getDrawable(itemView.context, drawable.icon_dev_status_fsm_error) CallerHmiManager.showFSMStatusDetailWindow("FSM异常：", "#FF3B3B", status.desc) } @@ -187,16 +187,16 @@ internal class StatusAdapter(val ctx: Context, var data: List): Recycler } is FSMStatus -> when (status.state) { - FSMStateCode.IpcNotConnected -> { - "FSM:非正常连接" + FSMStateCode.UnKnown -> { + "FSM:未知" } - FSMStateCode.NoneExist -> { + FSMStateCode.NotExist -> { "FSM:无FSM模块" } - FSMStateCode.Normal -> { + FSMStateCode.ExistNormal -> { "FSM:状态正常" } - FSMStateCode.Error -> { + FSMStateCode.ExistError -> { "FSM:状态异常" } }