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[650][adas] 新增FSM2024接口;新增FSM2024超时接口，FSM数据接入新增检测能否启动自驾440兼容版本；

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This commit is contained in:
xinfengkun
2024-06-14 15:15:40 +08:00
parent db9f516faa
commit d9a3945352
15 changed files with 379 additions and 24 deletions
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1
libraries/mogo-adas-data/src/main/java/com/zhjt/mogo/adas/common/MessageType.java
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@@ -30,6 +30,7 @@ public enum MessageType {
TYPE_RECEIVE_M1_STITCHED_VIDEO(MessagePad.MessageType.MsgTypeM1StitchedVideo, "M1拼接视频"),
TYPE_RECEIVE_SSM(MessagePad.MessageType.MsgTypeSSMState, "SSM系统状态"),
TYPE_RECEIVE_FM_STATE(MessagePad.MessageType.MsgTypeFMState, "FM状态"),
TYPE_RECEIVE_FSM2024_STATE(MessagePad.MessageType.MsgTypeFSM2024State, "FSM状态"),
TYPE_RECEIVE_LOC_STATE(MessagePad.MessageType.MsgTypeLocState, "定位状态"),
TYPE_RECEIVE_BASIC_INFO_REQ(MessagePad.MessageType.MsgTypeBasicInfoReq, "自动驾驶设备基础信息请求"),

40
libraries/mogo-adas-data/src/main/java/com/zhjt/mogo/adas/data/bean/LaunchConditionData.java
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@@ -11,6 +11,7 @@ import org.json.JSONObject;
import chassis.Chassis;
import chassis.ChassisStatesOuterClass;
import fsm.Fsm2024;
import function_state_management.FSMStatusReasonQueryOuterClass;
import system_master.SsmInfo;
import system_master.SystemStatusInfo;
@@ -45,14 +46,19 @@ public class LaunchConditionData {
*/
public final SsmInfo.SsmStatusInf ssmInfo;
public final FSMStatusReasonQueryOuterClass.FSMStatusReasonRespond fsmStatusReasonRespond;//FSM数据
public final Fsm2024.FSMStateMsg fsmState;//FSM数据
public final long createTime;
public LaunchConditionData(String abilityVersion, Fsm2024.FSMStateMsg fsmState) {
this(abilityVersion, null, Float.MAX_VALUE, null, null, null, null, fsmState);
}
public LaunchConditionData(String abilityVersion,
SystemStatusInfo.StatusInfo statusInfo,
SsmInfo.SsmStatusInf ssmInfo,
FSMStatusReasonQueryOuterClass.FSMStatusReasonRespond fsmStatusReasonRespond) {
this(abilityVersion, null, Float.MAX_VALUE, null, statusInfo, ssmInfo, fsmStatusReasonRespond);
this(abilityVersion, null, Float.MAX_VALUE, null, statusInfo, ssmInfo, fsmStatusReasonRespond, null);
}
public LaunchConditionData(String abilityVersion,
@@ -62,6 +68,17 @@ public class LaunchConditionData {
SystemStatusInfo.StatusInfo statusInfo,
SsmInfo.SsmStatusInf ssmInfo,
FSMStatusReasonQueryOuterClass.FSMStatusReasonRespond fsmStatusReasonRespond) {
this(abilityVersion, chassisStates, oldSteering, light, statusInfo, ssmInfo, fsmStatusReasonRespond, null);
}
public LaunchConditionData(String abilityVersion,
ChassisStatesOuterClass.ChassisStates chassisStates,
float oldSteering,
Chassis.LightSwitch light,
SystemStatusInfo.StatusInfo statusInfo,
SsmInfo.SsmStatusInf ssmInfo,
FSMStatusReasonQueryOuterClass.FSMStatusReasonRespond fsmStatusReasonRespond,
Fsm2024.FSMStateMsg fsmState) {
this.abilityVersion = abilityVersion;
this.chassisStates = chassisStates;
this.oldSteering = oldSteering;
@@ -69,6 +86,7 @@ public class LaunchConditionData {
this.statusInfo = statusInfo;
this.ssmInfo = ssmInfo;
this.fsmStatusReasonRespond = fsmStatusReasonRespond;
this.fsmState = fsmState;
createTime = System.currentTimeMillis();
}
@@ -78,9 +96,10 @@ public class LaunchConditionData {
jsonObject.put("ability_version", abilityVersion);
jsonObject.put("create_object_time", createTime);
JSONArray array = new JSONArray();
JSONObject chassisStatesObject = new JSONObject();
chassisStatesObject.put("name", "ChassisStates");
JSONObject chassisStatesObject = null;
if (chassisStates != null) {
chassisStatesObject = new JSONObject();
chassisStatesObject.put("name", "ChassisStates");
if (chassisStates.hasHeader()) {
chassisStatesObject.put("data_header", TextFormat.printer().escapingNonAscii(false).printToString(chassisStates.getHeader()));
}
@@ -120,18 +139,27 @@ public class LaunchConditionData {
}
//车灯
if (light != null) {
if (chassisStatesObject == null) {
chassisStatesObject = new JSONObject();
chassisStatesObject.put("name", "ChassisStates");
}
chassisStatesObject.put("light", light.name());
}
array.put(chassisStatesObject);
if (chassisStatesObject != null) {
array.put(chassisStatesObject);
}
if (statusInfo != null) {
arrayPut(array, statusInfo.getClass().getName(), statusInfo.getAutoPilotReady(), statusInfo.getAutoPilotUnreadyReason());
arrayPut(array, statusInfo);
}
if (ssmInfo != null) {
arrayPut(array, ssmInfo.getClass().getName(), ssmInfo.getAutoPilotReady(), ssmInfo.getAutoPilotUnreadyReason());
arrayPut(array, ssmInfo);
}
if (fsmStatusReasonRespond != null) {
arrayPut(array, fsmStatusReasonRespond);
}
if (fsmState != null) {
arrayPut(array, fsmState);
}
if (array.length() > 0) {
jsonObject.put("data", array);
}

5
libraries/mogo-adas-data/src/main/java/com/zhjt/mogo/adas/data/bean/UnableLaunchReason.java
View File

@@ -14,6 +14,7 @@ public class UnableLaunchReason {
CHASSIS,//底盤
SSM,
FSM,
FSM2024,
}
/**
@@ -31,7 +32,9 @@ public class UnableLaunchReason {
CHASSIS_HAZARD_LIGHTS,//危险报警灯
SSM_OFFER,//SSM提供的原因
FSM_OFFER,//FSM提供的原因
SSM_TIMEOUT//SSM超时
FSM2024_OFFER,//FSM2024提供的原因
SSM_TIMEOUT,//SSM超时
FSM2024_TIMEOUT//FSM2024超时
}
/**