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[610][adas]添加能否启动平行驾驶接口，修改类型名

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This commit is contained in:
xinfengkun
2023-09-15 11:35:00 +08:00
parent f7d5462bed
commit ddd9897152
22 changed files with 450 additions and 84 deletions
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6
OCH/mogo-och-common-module/src/main/java/com/mogo/och/common/module/manager/autopilotmanager/OCHAdasAbilityManager.java
View File

@@ -11,7 +11,7 @@ import com.mogo.eagle.core.function.call.autopilot.CallerAutopilotStatisticsList
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 com.zhjt.mogo.adas.data.bean.UnableLaunchReason;
import java.util.ArrayList;
@@ -25,7 +25,7 @@ public class OCHAdasAbilityManager implements IMoGoAutopilotActionsListener, IMo
private static final String TAG = OCHAdasAbilityManager.class.getSimpleName();
private boolean isAutopilotAbility;
private ArrayList<UnableAutopilotReason> unableAutopilotReasons;
private ArrayList<UnableLaunchReason> unableAutopilotReasons;
private String startFailedCode = "";
private String startFailedMessage = "";
@@ -93,7 +93,7 @@ public class OCHAdasAbilityManager implements IMoGoAutopilotActionsListener, IMo
}
@Override
public void onAutopilotAbility(boolean isAutopilotAbility, @Nullable ArrayList<UnableAutopilotReason> unableAutopilotReasons) {
public void onAutopilotAbility(boolean isAutopilotAbility, @Nullable ArrayList<UnableLaunchReason> unableAutopilotReasons) {
this.isAutopilotAbility = isAutopilotAbility;
this.unableAutopilotReasons = unableAutopilotReasons;
Logger.d(TAG, "是否可以启动自动驾驶=" + isAutopilotAbility + " 原因=" + (unableAutopilotReasons == null ? null : unableAutopilotReasons.toString()));

14
core/function-impl/mogo-core-function-datacenter/src/main/java/com/mogo/eagle/core/function/datacenter/autopilot/adapter/MoGoAdasListenerImpl.kt
View File

@@ -58,7 +58,7 @@ import com.zhjt.mogo.adas.data.bean.AdasParam
import com.zhidao.support.adas.high.common.ProtocolStatus
import com.zhjt.mogo.adas.data.AiCloudTask
import com.zhjt.mogo.adas.data.bean.AutopilotStatistics
import com.zhjt.mogo.adas.data.bean.UnableAutopilotReason
import com.zhjt.mogo.adas.data.bean.UnableLaunchReason
import com.zhjt.mogo.adas.data.sweeper.bootable.SweeperBootable
import com.zhjt.mogo.adas.data.sweeper.task.SweeperTask
import com.zhjt.mogo.adas.data.sweeper.task.s_r.SweeperTaskSuspendResume
@@ -885,7 +885,7 @@ class MoGoAdasListenerImpl : OnAdasListener {
*/
override fun onAutopilotAbility(
isAutopilotAbility: Boolean,
unableAutopilotReasons: ArrayList<UnableAutopilotReason>?
unableAutopilotReasons: ArrayList<UnableLaunchReason>?
) {
if (unableAutopilotReasons != null && unableAutopilotReasons.size > 0) {
autopilotAbilityCheck(isAutopilotAbility, unableAutopilotReasons.toString())
@@ -893,6 +893,16 @@ class MoGoAdasListenerImpl : OnAdasListener {
invokeAutopilotAbility(isAutopilotAbility, unableAutopilotReasons)
}
override fun onParallelDrivingAbility(
isParallelDrivingAbility: Boolean,
unableParallelDrivingReasons: java.util.ArrayList<UnableLaunchReason>?
) {
CallerParallelDrivingActionsListenerManager.invokeParallelDrivingAbility(
isParallelDrivingAbility,
unableParallelDrivingReasons
)
}
@ChainLog(
linkChainLog = CHAIN_TYPE_SOCKET_AUTOPILOT,
linkCode = CHAIN_SOURCE_ADAS,

3
core/function-impl/mogo-core-function-datacenter/src/main/java/com/mogo/eagle/core/function/datacenter/autopilot/adapter/MoGoAdasMsgConnectStatusListenerImpl.kt
View File

@@ -9,6 +9,7 @@ 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.autopilot.CallerParallelDrivingActionsListenerManager
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
@@ -39,10 +40,12 @@ class MoGoAdasMsgConnectStatusListenerImpl :
init {
CallerCloudListenerManager.addListener(TAG, this)
CallerAutopilotActionsListenerManager.setConnected(AdasManager.getInstance().ipcConnectionStatus == Constants.IPC_CONNECTION_STATUS.CONNECTED)
CallerParallelDrivingActionsListenerManager.setConnected(AdasManager.getInstance().ipcConnectionStatus == Constants.IPC_CONNECTION_STATUS.CONNECTED)
}
override fun onConnectionIPCStatus(ipcConnectionStatus: Int, reason: String?) {
CallerAutopilotActionsListenerManager.setConnected(ipcConnectionStatus == Constants.IPC_CONNECTION_STATUS.CONNECTED)
CallerParallelDrivingActionsListenerManager.setConnected(ipcConnectionStatus == Constants.IPC_CONNECTION_STATUS.CONNECTED)
AppConfigInfo.connectStatusDescribe = reason
when (ipcConnectionStatus) {
Constants.IPC_CONNECTION_STATUS.CONNECTED -> {

8
core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/hmi/ui/widget/ParallelDriveView.kt
View File

@@ -21,8 +21,8 @@ import com.mogo.eagle.core.function.call.autopilot.CallerParallelDrivingListener
import com.mogo.eagle.core.function.hmi.R
import com.mogo.eagle.core.utilcode.util.ThreadUtils
import com.mogo.eagle.core.utilcode.util.ToastUtils
import com.zhjt.mogo.adas.data.bean.UnableAutopilotReason
import com.zhjt.mogo.adas.data.bean.UnableAutopilotReason.SourceType
import com.zhjt.mogo.adas.data.bean.UnableLaunchReason
import com.zhjt.mogo.adas.data.bean.UnableLaunchReason.SourceType
import mogo.yycp.paralleldriving.protocol.ParallelDrivingRequest.ParallelRequest
import mogo.yycp.paralleldriving.protocol.ParallelTaskProcessNoticeOuterClass
@@ -121,7 +121,7 @@ class ParallelDriveView @JvmOverloads constructor(
override fun onAutopilotAbility(
isAutopilotAbility: Boolean,
unableAutopilotReasons: ArrayList<UnableAutopilotReason>?
unableAutopilotReasons: ArrayList<UnableLaunchReason>?
) {
// 是否可平行驾驶
val isAvailable = isAvailable(unableAutopilotReasons)
@@ -173,7 +173,7 @@ class ParallelDriveView @JvmOverloads constructor(
}
}
private fun isAvailable(unableAutopilotReasons: ArrayList<UnableAutopilotReason>?): Boolean {
private fun isAvailable(unableAutopilotReasons: ArrayList<UnableLaunchReason>?): Boolean {
var unavailable = false
unableAutopilotReasons?.forEach {
if (it.source.ordinal == SourceType.CHASSIS.ordinal) {

4
core/mogo-core-function-api/src/main/java/com/mogo/eagle/core/function/api/autopilot/IMoGoAutopilotActionsListener.kt
View File

@@ -1,6 +1,6 @@
package com.mogo.eagle.core.function.api.autopilot
import com.zhjt.mogo.adas.data.bean.UnableAutopilotReason
import com.zhjt.mogo.adas.data.bean.UnableLaunchReason
/**
@@ -11,5 +11,5 @@ interface IMoGoAutopilotActionsListener {
/**
* pnc actions 决策 驾驶的意图
*/
fun onAutopilotAbility(isAutopilotAbility: Boolean, unableAutopilotReasons: ArrayList<UnableAutopilotReason>?)
fun onAutopilotAbility(isAutopilotAbility: Boolean, unableAutopilotReasons: ArrayList<UnableLaunchReason>?)
}

13
core/mogo-core-function-api/src/main/java/com/mogo/eagle/core/function/api/autopilot/IMoGoParallelDrivingActionsListener.kt Normal file
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@@ -0,0 +1,13 @@
package com.mogo.eagle.core.function.api.autopilot
import com.zhjt.mogo.adas.data.bean.UnableLaunchReason
/**
* 平行驾驶能力 能否启动平行驾驶
*/
interface IMoGoParallelDrivingActionsListener {
fun onParallelDrivingAbility(isParallelDrivingAbility: Boolean, unableParallelDrivingReasons: ArrayList<UnableLaunchReason>?)
}

23
core/mogo-core-function-call/src/main/java/com/mogo/eagle/core/function/call/autopilot/CallerAutopilotActionsListenerManager.kt
View File

@@ -2,7 +2,7 @@ package com.mogo.eagle.core.function.call.autopilot
import com.mogo.eagle.core.function.api.autopilot.IMoGoAutopilotActionsListener
import com.mogo.eagle.core.function.call.base.CallerBase
import com.zhjt.mogo.adas.data.bean.UnableAutopilotReason
import com.zhjt.mogo.adas.data.bean.UnableLaunchReason
/**
@@ -12,7 +12,7 @@ object CallerAutopilotActionsListenerManager : CallerBase<IMoGoAutopilotActionsL
@Volatile
private var isConnected = false
private var isAutopilotAbility: Boolean = false
private var unableAutopilotReasons: ArrayList<UnableAutopilotReason>? = null
private var unableAutopilotReasons: ArrayList<UnableLaunchReason>? = null
init {
isAutopilotAbility = false
@@ -20,9 +20,14 @@ object CallerAutopilotActionsListenerManager : CallerBase<IMoGoAutopilotActionsL
// printLog("初始化")
}
private fun disconnectedReason(): ArrayList<UnableAutopilotReason> {
val list = ArrayList<UnableAutopilotReason>()
list.add(UnableAutopilotReason(UnableAutopilotReason.SourceType.LIB, "未连接自动驾驶系统"))
private fun disconnectedReason(): ArrayList<UnableLaunchReason> {
val list = ArrayList<UnableLaunchReason>()
list.add(
UnableLaunchReason(
UnableLaunchReason.SourceType.LIB,
"未连接自动驾驶系统"
)
)
return list
}
@@ -37,7 +42,7 @@ object CallerAutopilotActionsListenerManager : CallerBase<IMoGoAutopilotActionsL
* 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<UnableAutopilotReason>? {
fun getUnableAutopilotReasons(): ArrayList<UnableLaunchReason>? {
return unableAutopilotReasons
}
@@ -53,15 +58,15 @@ object CallerAutopilotActionsListenerManager : CallerBase<IMoGoAutopilotActionsL
@Synchronized
fun invokeAutopilotAbility(
isAutopilotAbility: Boolean, unableAutopilotReasons: ArrayList<UnableAutopilotReason>?
isAutopilotAbility: Boolean, unableAutopilotReasons: ArrayList<UnableLaunchReason>?
) {
if (isConnected) {
var isEquals: Boolean = true
if (unableAutopilotReasons != null && this.unableAutopilotReasons != null) {
unableAutopilotReasons.let { onw ->
onw.sortWith(compareBy(UnableAutopilotReason::hashCode));
onw.sortWith(compareBy(UnableLaunchReason::hashCode));
this.unableAutopilotReasons?.let { old ->
old.sortWith(compareBy(UnableAutopilotReason::hashCode));
old.sortWith(compareBy(UnableLaunchReason::hashCode));
isEquals = onw.toTypedArray() contentEquals old.toTypedArray()
// Log.i(
// "ddd",

99
core/mogo-core-function-call/src/main/java/com/mogo/eagle/core/function/call/autopilot/CallerParallelDrivingActionsListenerManager.kt Normal file
View File

@@ -0,0 +1,99 @@
package com.mogo.eagle.core.function.call.autopilot
import android.util.Log
import com.mogo.eagle.core.function.api.autopilot.IMoGoParallelDrivingActionsListener
import com.mogo.eagle.core.function.call.base.CallerBase
import com.zhjt.mogo.adas.data.bean.UnableLaunchReason
/**
* 是否可以启动平行驾驶管理
*/
object CallerParallelDrivingActionsListenerManager :
CallerBase<IMoGoParallelDrivingActionsListener>() {
@Volatile
private var isConnected = false
private var isParallelDrivingAbility: Boolean = false
private var unableParallelDrivingReasons: ArrayList<UnableLaunchReason>? = null
init {
isParallelDrivingAbility = false
unableParallelDrivingReasons = disconnectedReason()
}
private fun disconnectedReason(): ArrayList<UnableLaunchReason> {
val list = ArrayList<UnableLaunchReason>()
list.add(
UnableLaunchReason(
UnableLaunchReason.SourceType.LIB,
"未连接自动驾驶系统"
)
)
return list
}
/**
* 能否启动平行驾驶
*/
fun isParallelDrivingAbility(): Boolean {
return isParallelDrivingAbility
}
/**
* 获取不能启动平行驾驶的原因
* null：表示没有任何原因证，证明isParallelDrivingAbility为true
*/
fun getUnableParallelDrivingReasons(): ArrayList<UnableLaunchReason>? {
return unableParallelDrivingReasons
}
fun setConnected(isConnected: Boolean) {
if (this.isConnected != isConnected) {
this.isConnected = isConnected
this.isParallelDrivingAbility = isConnected
unableParallelDrivingReasons = if (isConnected) null else disconnectedReason()
notification()
}
}
@Synchronized
fun invokeParallelDrivingAbility(
isAutopilotAbility: Boolean, unableAutopilotReasons: ArrayList<UnableLaunchReason>?
) {
if (isConnected) {
var isEquals: Boolean = true
if (unableAutopilotReasons != null && this.unableParallelDrivingReasons != null) {
unableAutopilotReasons.let { onw ->
onw.sortWith(compareBy(UnableLaunchReason::hashCode));
this.unableParallelDrivingReasons?.let { old ->
old.sortWith(compareBy(UnableLaunchReason::hashCode));
isEquals = onw.toTypedArray() contentEquals old.toTypedArray()
}
}
} else isEquals =
!(unableAutopilotReasons != null || this.unableParallelDrivingReasons != null)
if (this.isParallelDrivingAbility != isAutopilotAbility || !isEquals) {
this.isParallelDrivingAbility = isAutopilotAbility
this.unableParallelDrivingReasons = unableAutopilotReasons
notification()
}
}
}
private fun notification() {
Log.i(
"xfk",
"是否可以启动平行驾驶=" + isParallelDrivingAbility + if (unableParallelDrivingReasons == null) "" else unableParallelDrivingReasons.toString()
)
M_LISTENERS.forEach {
val listener = it.value
listener.onParallelDrivingAbility(
isParallelDrivingAbility,
unableParallelDrivingReasons
)
}
}
}

8
libraries/mogo-adas-data/src/main/java/com/zhjt/mogo/adas/data/bean/UnableAutopilotReason.java → libraries/mogo-adas-data/src/main/java/com/zhjt/mogo/adas/data/bean/UnableLaunchReason.java
View File

@@ -5,9 +5,9 @@ import android.text.TextUtils;
import java.util.Objects;
/**
* 自动驾驶能力 能否启动自动驾驶
* 不能启动自动驾驶或不能启动平行驾驶的原因
*/
public class UnableAutopilotReason {
public class UnableLaunchReason {
public enum SourceType {
LIB,//ADAS庫
@@ -26,7 +26,7 @@ public class UnableAutopilotReason {
public final String unableAutopilotReason;
public UnableAutopilotReason(SourceType source, String unableAutopilotReason) {
public UnableLaunchReason(SourceType source, String unableAutopilotReason) {
this.source = source;
this.unableAutopilotReason = unableAutopilotReason;
}
@@ -35,7 +35,7 @@ public class UnableAutopilotReason {
public boolean equals(Object o) {
if (this == o) return true;
if (o == null || getClass() != o.getClass()) return false;
UnableAutopilotReason that = (UnableAutopilotReason) o;
UnableLaunchReason that = (UnableLaunchReason) o;
return source == that.source && TextUtils.equals(unableAutopilotReason, that.unableAutopilotReason);
}

4
libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/AdasChannel.java
View File

@@ -29,6 +29,7 @@ import com.zhidao.support.adas.high.common.CupidLogUtils;
import com.zhidao.support.adas.high.common.Define;
import com.zhidao.support.adas.high.common.IPCFixationIPHelper;
import com.zhidao.support.adas.high.common.MessageType;
import com.zhidao.support.adas.high.common.ParallelDrivingManager;
import com.zhidao.support.adas.high.common.ProtocolStatus;
import com.zhidao.support.adas.high.common.ReceiveTimeoutManager;
import com.zhidao.support.adas.high.common.RegexUtils;
@@ -667,9 +668,11 @@ public class AdasChannel implements IAdasNetCommApi, FpgaSocket.IWebSocketConnec
ipcConnectionStatus.set(status);
if (status == Constants.IPC_CONNECTION_STATUS.CONNECTED) {
AutopilotAbilityManager.getInstance().start();
ParallelDrivingManager.getInstance().start();
startCheckCompatibility();
} else {
AutopilotAbilityManager.getInstance().stop();
ParallelDrivingManager.getInstance().stop();
stopCheckCompatibility();
stopCarConfigReq();
}
@@ -771,6 +774,7 @@ public class AdasChannel implements IAdasNetCommApi, FpgaSocket.IWebSocketConnec
void setOnAdasListener(OnAdasListener adasListener) {
mAdasListener = adasListener;
AutopilotAbilityManager.getInstance().setOnAdasListener(adasListener);
ParallelDrivingManager.getInstance().setOnAdasListener(adasListener);
}
@Override

2
libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/AdasOptions.java
View File

@@ -1,5 +1,6 @@
package com.zhidao.support.adas.high;
import com.zhidao.support.adas.high.common.ParallelDrivingManager;
import com.zhidao.support.adas.high.common.autopilot.ability.AutopilotAbilityManager;
import com.zhidao.support.adas.high.subscribe.SubscribeInterfaceOptions;
@@ -202,5 +203,6 @@ public class AdasOptions {
public void setUnableLaunchAutopilotGear(Set<Chassis.GearPosition> unableLaunchAutopilotGear) {
AutopilotAbilityManager.getInstance().setUnableLaunchAutopilotGear(unableLaunchAutopilotGear);
ParallelDrivingManager.getInstance().setUnableLaunchParallelDrivingGear(unableLaunchAutopilotGear);
}
}

15
libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/OnAdasListener.java
View File

@@ -10,7 +10,7 @@ import com.zhjt.mogo.adas.data.AdasConstants;
import com.zhjt.mogo.adas.data.AiCloudTask;
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.bean.UnableLaunchReason;
import com.zhjt.mogo.adas.data.sweeper.bootable.SweeperBootable;
import com.zhjt.mogo.adas.data.sweeper.task.SweeperTask;
import com.zhjt.mogo.adas.data.sweeper.task.big.SweeperBigTaskStatus;
@@ -200,7 +200,8 @@ public interface OnAdasListener {
* @param header 头
* @param statusInfo 数据
*/
@Deprecated//HQ、M1 MAP350开始弃用，其他车型MAP360开始弃用
@Deprecated
//HQ、M1 MAP350开始弃用，其他车型MAP360开始弃用
void onStatusQueryResp(MessagePad.Header header, SystemStatusInfo.StatusInfo statusInfo);
/**
@@ -470,9 +471,17 @@ public interface OnAdasListener {
* @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, @Nullable ArrayList<UnableAutopilotReason> unableAutopilotReasons);
void onAutopilotAbility(boolean isAutopilotAbility, @Nullable ArrayList<UnableLaunchReason> unableAutopilotReasons);
/**
* 是否有能力启动平行驾驶
*
* @param isParallelDrivingAbility 是否能启动平行驾驶
* @param unableParallelDrivingReasons 不能启动平行驾驶原因
*/
void onParallelDrivingAbility(boolean isParallelDrivingAbility, @Nullable ArrayList<UnableLaunchReason> unableParallelDrivingReasons);
/**
* 启动自动驾驶失败回调
* 根据MAP 系统监控状态返回过滤

211
libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/common/ParallelDrivingManager.java Normal file
View File

@@ -0,0 +1,211 @@
package com.zhidao.support.adas.high.common;
import com.zhidao.support.adas.high.AdasManager;
import com.zhidao.support.adas.high.OnAdasListener;
import com.zhjt.mogo.adas.data.bean.UnableLaunchReason;
import java.util.ArrayList;
import java.util.HashSet;
import java.util.Set;
import java.util.Timer;
import java.util.TimerTask;
import chassis.Chassis;
import chassis.ChassisStatesOuterClass;
import chassis.VehicleStateOuterClass;
import mogo.telematics.pad.MessagePad;
/**
* 是否可以启动平行驾驶能力检测
*/
public class ParallelDrivingManager {
private static final String TAG = ParallelDrivingManager.class.getSimpleName();
private static volatile ParallelDrivingManager INSTANCE;
private volatile Timer callbackTimer;
private volatile Timer bootTimer;
private OnAdasListener listener;
private ChassisStatesOuterClass.ChassisStates chassisStates;
private VehicleStateOuterClass.VehicleState vehicleState;
/**
* 不能启动平行驾驶的档位
*/
private Set<Chassis.GearPosition> unableLaunchParallelDrivingGear;
private int mapVersion = -1;//工控机版本
private boolean isHQ = false;//是否是HQ
private boolean isDF = false;//是否是DF
private ParallelDrivingManager() {
}
public static ParallelDrivingManager getInstance() {
if (INSTANCE == null) {
synchronized (ParallelDrivingManager.class) {
if (INSTANCE == null) {
INSTANCE = new ParallelDrivingManager();
}
}
}
return INSTANCE;
}
public void setCarConfig(MessagePad.CarConfigResp carConfig) {
mapVersion = carConfig.getMapVersion();
isHQ = carConfig.getIsHQ();
isDF = carConfig.getIsDF();
if (mapVersion != -1) {
stopBootTimer();
startCallback();
}
}
public void setOnAdasListener(OnAdasListener listener) {
this.listener = listener;
}
public void setChassisStates(ChassisStatesOuterClass.ChassisStates chassisStates) {
this.chassisStates = chassisStates;
}
public void setVehicleState(VehicleStateOuterClass.VehicleState vehicleState) {
this.vehicleState = vehicleState;
}
public void setUnableLaunchParallelDrivingGear(Set<Chassis.GearPosition> unableLaunchParallelDrivingGear) {
if (unableLaunchParallelDrivingGear != null) {
this.unableLaunchParallelDrivingGear = new HashSet<>(unableLaunchParallelDrivingGear);
}
}
/**
* 获取当前档位是否能启动自动驾驶 如果不传递默认可以启动
* 不能启动自驾档位规则：app/README.md/不能启动自动驾驶的档位
*
* @param currentGear 当前档位
* @return 是否能启动自驾
*/
private boolean isLaunchAutopilot(Chassis.GearPosition currentGear) {
if (unableLaunchParallelDrivingGear != null && !unableLaunchParallelDrivingGear.isEmpty()) {
return !unableLaunchParallelDrivingGear.contains(currentGear);
}
return true;
}
/**
* 添加不能启动平行驾驶的原因
*
* @param unableParallelDrivingReasons 原因列表
* @param source 来源
* @param unableParallelDrivingReason 云隐
* @return 原因列表
*/
public static ArrayList<UnableLaunchReason> addUnableParallelDrivingReason(ArrayList<UnableLaunchReason> unableParallelDrivingReasons, UnableLaunchReason.SourceType source, String unableParallelDrivingReason) {
if (unableParallelDrivingReasons == null) {
unableParallelDrivingReasons = new ArrayList<>();
}
unableParallelDrivingReasons.add(new UnableLaunchReason(source, unableParallelDrivingReason));
return unableParallelDrivingReasons;
}
private void onCallback() {
boolean isParallelDrivingAbility = true;//是否能启动平行驾驶
ArrayList<UnableLaunchReason> unableParallelDrivingReasons = null;//不能启动平行驾驶原因
//检测底盘相关
if (chassisStates != null) {
if (chassisStates.hasBrakeSystemStates()) {
float brake = chassisStates.getBrakeSystemStates().getBrakePedalResponsePosition();
if (brake > 0) {
isParallelDrivingAbility = false;
unableParallelDrivingReasons = addUnableParallelDrivingReason(unableParallelDrivingReasons, UnableLaunchReason.SourceType.CHASSIS, "制动踏板被踩下");
}
}
if (chassisStates.hasGearSystemStates()) {
Chassis.GearPosition gear = chassisStates.getGearSystemStates().getGearPosition();
if (!isLaunchAutopilot(gear)) {
isParallelDrivingAbility = false;
unableParallelDrivingReasons = addUnableParallelDrivingReason(unableParallelDrivingReasons, UnableLaunchReason.SourceType.CHASSIS, "档位异常");
}
}
}
if (vehicleState != null) {
//TODO 关于手刹：目前只有老底盘中存在这个字段，df360开始，其他车型未知
//电子驻车制动系统
if (vehicleState.hasParkingBrake()) {
boolean isBrake = vehicleState.getParkingBrake();
if (isBrake) {
isParallelDrivingAbility = false;
unableParallelDrivingReasons = addUnableParallelDrivingReason(unableParallelDrivingReasons, UnableLaunchReason.SourceType.CHASSIS, "施加驻车");
}
}
}
callListener(isParallelDrivingAbility, unableParallelDrivingReasons);
}
private void callListener(boolean isParallelDrivingAbility, ArrayList<UnableLaunchReason> unableParallelDrivingReasons) {
if (listener != null) {
listener.onParallelDrivingAbility(isParallelDrivingAbility, unableParallelDrivingReasons);
}
}
/**
* 底盘数据回调20Hz，检测太频繁没有意义
* Taxi 无人化时才会使用 MAP360开始上线此功能
*/
protected synchronized void startCallback() {
if (mapVersion >= 30600 && (isDF || isHQ)) {
if (callbackTimer == null) {
callbackTimer = new Timer();
callbackTimer.schedule(new TimerTask() {
@Override
public void run() {
onCallback();
}
}, 2000L, 1000L);//延迟执行，避免刚连接成功后底盘信息无法及时同步
}
} else {
callListener(false, addUnableParallelDrivingReason(null, UnableLaunchReason.SourceType.LIB, "当前域控版本无法通过鹰眼启动平行驾驶"));
}
}
/**
* 连接工控机成功调用此函数，如果dockerVersion还未获取到将启动最低版本的启动自动驾驶能力检测
* 此函数为保险措施 以防无法获取工控机版本时 也能 正常执行逻辑
*/
public synchronized void start() {
if (bootTimer == null) {
bootTimer = new Timer();
bootTimer.schedule(new TimerTask() {
@Override
public void run() {
if (mapVersion == -1 && AdasManager.getInstance().getIpcConnectionStatus() == Constants.IPC_CONNECTION_STATUS.CONNECTED) {
mapVersion = 30600;//获取 CarConfig获取失败就认为是Taxi版本大于等于360
isDF = true;
startCallback();
}
}
}, 8000L);//8秒原因：需要后去CarConfig 对象，两个地方调用initAutopilotAbility(); 初始化 一个在这，另一个在setCarConfig(),如果setCarConfig() 证明获取版本还未成功，获取版本会重试3次每次间隔两秒
}
}
private void stopBootTimer() {
if (bootTimer != null) {
bootTimer.cancel();
bootTimer = null;
}
}
public synchronized void stop() {
stopBootTimer();
if (callbackTimer != null) {
callbackTimer.cancel();
callbackTimer = null;
}
this.chassisStates = null;
this.vehicleState = null;
}
}

10
libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/common/autopilot/ability/AutopilotAbility230.java
View File

@@ -2,7 +2,7 @@ package com.zhidao.support.adas.high.common.autopilot.ability;
import androidx.annotation.Nullable;
import com.zhjt.mogo.adas.data.bean.UnableAutopilotReason;
import com.zhjt.mogo.adas.data.bean.UnableLaunchReason;
import java.util.ArrayList;
import java.util.Timer;
@@ -25,7 +25,7 @@ public class AutopilotAbility230 {
private OnAutopilotAbilityListener listener;
protected interface OnAutopilotAbilityListener {
void onAutopilotAbility(boolean isAutopilotAbility, @Nullable ArrayList<UnableAutopilotReason> unableAutopilotReasons);
void onAutopilotAbility(boolean isAutopilotAbility, @Nullable ArrayList<UnableLaunchReason> unableAutopilotReasons);
}
protected AutopilotAbility230() {
@@ -39,21 +39,21 @@ public class AutopilotAbility230 {
private void onCallback() {
boolean isAutopilotAbility = true;//是否能启动自动驾驶
ArrayList<UnableAutopilotReason> unableAutopilotReasons = null;//不能启动自动驾驶原因
ArrayList<UnableLaunchReason> 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;
unableAutopilotReasons = AutopilotAbilityManager.getInstance().addUnableAutopilotReason(unableAutopilotReasons, UnableAutopilotReason.SourceType.CHASSIS, "制动踏板被踩下");
unableAutopilotReasons = AutopilotAbilityManager.getInstance().addUnableAutopilotReason(unableAutopilotReasons, UnableLaunchReason.SourceType.CHASSIS, "制动踏板被踩下");
}
}
if (chassisStates.hasGearSystemStates()) {
Chassis.GearPosition gear = chassisStates.getGearSystemStates().getGearPosition();
if (!AutopilotAbilityManager.getInstance().isLaunchAutopilot(gear)) {
isAutopilotAbility = false;
unableAutopilotReasons = AutopilotAbilityManager.getInstance().addUnableAutopilotReason(unableAutopilotReasons, UnableAutopilotReason.SourceType.CHASSIS, "档位异常");
unableAutopilotReasons = AutopilotAbilityManager.getInstance().addUnableAutopilotReason(unableAutopilotReasons, UnableLaunchReason.SourceType.CHASSIS, "档位异常");
}
}
//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

24
libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/common/autopilot/ability/AutopilotAbility250.java
View File

@@ -4,7 +4,7 @@ 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 com.zhjt.mogo.adas.data.bean.UnableLaunchReason;
import java.util.ArrayList;
import java.util.List;
@@ -35,7 +35,7 @@ public class AutopilotAbility250 {
private OnAutopilotAbilityListener listener;
protected interface OnAutopilotAbilityListener {
void onAutopilotAbility(boolean isAutopilotAbility, @Nullable ArrayList<UnableAutopilotReason> unableAutopilotReasons);
void onAutopilotAbility(boolean isAutopilotAbility, @Nullable ArrayList<UnableLaunchReason> unableAutopilotReasons);
void onStatusQuery();
@@ -69,7 +69,7 @@ public class AutopilotAbility250 {
private void onCallback(SystemStatusInfo.StatusInfo statusInfo) {
boolean isAutopilotAbility = true;//是否能启动自动驾驶
ArrayList<UnableAutopilotReason> unableAutopilotReasons = null;//不能启动自动驾驶原因
ArrayList<UnableLaunchReason> 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()) {
@@ -81,7 +81,7 @@ public class AutopilotAbility250 {
if (mapVersion >= 30400 && masterVersion > 2 && statusInfo.hasAutoPilotReady() && statusInfo.hasAutoPilotUnreadyReason()) {
isAutopilotAbility = statusInfo.getAutoPilotReady();
if (!isAutopilotAbility) {
unableAutopilotReasons = AutopilotAbilityManager.getInstance().addUnableAutopilotReason(unableAutopilotReasons, UnableAutopilotReason.SourceType.SSM, statusInfo.getAutoPilotUnreadyReason());
unableAutopilotReasons = AutopilotAbilityManager.getInstance().addUnableAutopilotReason(unableAutopilotReasons, UnableLaunchReason.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();
@@ -93,13 +93,13 @@ public class AutopilotAbility250 {
String nodeName = info.getNodeName();
int state = info.getState();
if (state < AutopilotAbilityManager.NODE_INFO_STATE.length) {
unableAutopilotReasons = AutopilotAbilityManager.getInstance().addUnableAutopilotReason(unableAutopilotReasons, UnableAutopilotReason.SourceType.SSM, nodeName + AutopilotAbilityManager.NODE_INFO_STATE[state]);
unableAutopilotReasons = AutopilotAbilityManager.getInstance().addUnableAutopilotReason(unableAutopilotReasons, UnableLaunchReason.SourceType.SSM, nodeName + AutopilotAbilityManager.NODE_INFO_STATE[state]);
} else {
unableAutopilotReasons = AutopilotAbilityManager.getInstance().addUnableAutopilotReason(unableAutopilotReasons, UnableAutopilotReason.SourceType.SSM, nodeName + "未知异常");
unableAutopilotReasons = AutopilotAbilityManager.getInstance().addUnableAutopilotReason(unableAutopilotReasons, UnableLaunchReason.SourceType.SSM, nodeName + "未知异常");
}
}
} else {
unableAutopilotReasons = AutopilotAbilityManager.getInstance().addUnableAutopilotReason(unableAutopilotReasons, UnableAutopilotReason.SourceType.SSM, "未知异常节点");
unableAutopilotReasons = AutopilotAbilityManager.getInstance().addUnableAutopilotReason(unableAutopilotReasons, UnableLaunchReason.SourceType.SSM, "未知异常节点");
}
}
} else {
@@ -130,13 +130,13 @@ public class AutopilotAbility250 {
unableAutopilotReason = "未知系统状态";
}
if (!isAutopilotAbility) {
unableAutopilotReasons = AutopilotAbilityManager.getInstance().addUnableAutopilotReason(unableAutopilotReasons, UnableAutopilotReason.SourceType.SSM, unableAutopilotReason);
unableAutopilotReasons = AutopilotAbilityManager.getInstance().addUnableAutopilotReason(unableAutopilotReasons, UnableLaunchReason.SourceType.SSM, unableAutopilotReason);
}
}
}
} else {
isAutopilotAbility = false;//是否能启动自动驾驶
unableAutopilotReasons = AutopilotAbilityManager.getInstance().addUnableAutopilotReason(unableAutopilotReasons, UnableAutopilotReason.SourceType.LIB, "SSM状态查询超时无响应");
unableAutopilotReasons = AutopilotAbilityManager.getInstance().addUnableAutopilotReason(unableAutopilotReasons, UnableLaunchReason.SourceType.LIB, "SSM状态查询超时无响应");
}
//检测底盘相关
if (chassisStates != null) {
@@ -144,14 +144,14 @@ public class AutopilotAbility250 {
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");
unableAutopilotReasons = AutopilotAbilityManager.getInstance().addUnableAutopilotReason(unableAutopilotReasons, UnableLaunchReason.SourceType.CHASSIS, "制动踏板被踩下");
}
}
if (chassisStates.hasGearSystemStates()) {
Chassis.GearPosition gear = chassisStates.getGearSystemStates().getGearPosition();
if (!AutopilotAbilityManager.getInstance().isLaunchAutopilot(gear)) {
isAutopilotAbility = false;
unableAutopilotReasons = AutopilotAbilityManager.getInstance().addUnableAutopilotReason(unableAutopilotReasons, UnableAutopilotReason.SourceType.CHASSIS, "档位异常");
unableAutopilotReasons = AutopilotAbilityManager.getInstance().addUnableAutopilotReason(unableAutopilotReasons, UnableLaunchReason.SourceType.CHASSIS, "档位异常");
}
}
}
@@ -163,7 +163,7 @@ public class AutopilotAbility250 {
boolean isBrake = vehicleState.getParkingBrake();
if (isBrake) {
isAutopilotAbility = false;
unableAutopilotReasons = AutopilotAbilityManager.getInstance().addUnableAutopilotReason(unableAutopilotReasons, UnableAutopilotReason.SourceType.CHASSIS, "施加驻车");
unableAutopilotReasons = AutopilotAbilityManager.getInstance().addUnableAutopilotReason(unableAutopilotReasons, UnableLaunchReason.SourceType.CHASSIS, "施加驻车");
}
}
}

22
libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/common/autopilot/ability/AutopilotAbility330.java
View File

@@ -6,7 +6,7 @@ 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 com.zhjt.mogo.adas.data.bean.UnableLaunchReason;
import java.util.ArrayList;
import java.util.List;
@@ -34,7 +34,7 @@ public class AutopilotAbility330 {
private OnAutopilotAbilityListener listener;
protected interface OnAutopilotAbilityListener {
void onAutopilotAbility(boolean isAutopilotAbility, @Nullable ArrayList<UnableAutopilotReason> unableAutopilotReasons);
void onAutopilotAbility(boolean isAutopilotAbility, @Nullable ArrayList<UnableLaunchReason> unableAutopilotReasons);
void onStatusQuery();
@@ -62,7 +62,7 @@ public class AutopilotAbility330 {
private void onCallback(SystemStatusInfo.StatusInfo statusInfo) {
boolean isAutopilotAbility = true;//是否能启动自动驾驶
ArrayList<UnableAutopilotReason> unableAutopilotReasons = null;//不能启动自动驾驶原因
ArrayList<UnableLaunchReason> 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()) {
@@ -74,7 +74,7 @@ public class AutopilotAbility330 {
if (mapVersion >= 30400 && masterVersion > 2 && statusInfo.hasAutoPilotReady() && statusInfo.hasAutoPilotUnreadyReason()) {
isAutopilotAbility = statusInfo.getAutoPilotReady();
if (!isAutopilotAbility) {
unableAutopilotReasons = AutopilotAbilityManager.getInstance().addUnableAutopilotReason(unableAutopilotReasons, UnableAutopilotReason.SourceType.SSM, statusInfo.getAutoPilotUnreadyReason());
unableAutopilotReasons = AutopilotAbilityManager.getInstance().addUnableAutopilotReason(unableAutopilotReasons, UnableLaunchReason.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();
@@ -86,13 +86,13 @@ public class AutopilotAbility330 {
String nodeName = info.getNodeName();
int state = info.getState();
if (state < AutopilotAbilityManager.NODE_INFO_STATE.length) {
unableAutopilotReasons = AutopilotAbilityManager.getInstance().addUnableAutopilotReason(unableAutopilotReasons, UnableAutopilotReason.SourceType.SSM, nodeName + AutopilotAbilityManager.NODE_INFO_STATE[state]);
unableAutopilotReasons = AutopilotAbilityManager.getInstance().addUnableAutopilotReason(unableAutopilotReasons, UnableLaunchReason.SourceType.SSM, nodeName + AutopilotAbilityManager.NODE_INFO_STATE[state]);
} else {
unableAutopilotReasons = AutopilotAbilityManager.getInstance().addUnableAutopilotReason(unableAutopilotReasons, UnableAutopilotReason.SourceType.SSM, nodeName + "未知异常");
unableAutopilotReasons = AutopilotAbilityManager.getInstance().addUnableAutopilotReason(unableAutopilotReasons, UnableLaunchReason.SourceType.SSM, nodeName + "未知异常");
}
}
} else {
unableAutopilotReasons = AutopilotAbilityManager.getInstance().addUnableAutopilotReason(unableAutopilotReasons, UnableAutopilotReason.SourceType.SSM, "未知异常节点");
unableAutopilotReasons = AutopilotAbilityManager.getInstance().addUnableAutopilotReason(unableAutopilotReasons, UnableLaunchReason.SourceType.SSM, "未知异常节点");
}
}
} else {
@@ -123,13 +123,13 @@ public class AutopilotAbility330 {
unableAutopilotReason = "未知系统状态";
}
if (!isAutopilotAbility) {
unableAutopilotReasons = AutopilotAbilityManager.getInstance().addUnableAutopilotReason(unableAutopilotReasons, UnableAutopilotReason.SourceType.SSM, unableAutopilotReason);
unableAutopilotReasons = AutopilotAbilityManager.getInstance().addUnableAutopilotReason(unableAutopilotReasons, UnableLaunchReason.SourceType.SSM, unableAutopilotReason);
}
}
}
} else {
isAutopilotAbility = false;//是否能启动自动驾驶
unableAutopilotReasons = AutopilotAbilityManager.getInstance().addUnableAutopilotReason(unableAutopilotReasons, UnableAutopilotReason.SourceType.LIB, "SSM状态查询超时无响应");
unableAutopilotReasons = AutopilotAbilityManager.getInstance().addUnableAutopilotReason(unableAutopilotReasons, UnableLaunchReason.SourceType.LIB, "SSM状态查询超时无响应");
}
if (fsmStatusReasonRespond != null) {
int count = fsmStatusReasonRespond.getFsmStatusReasonRespondCount();
@@ -138,11 +138,11 @@ public class AutopilotAbility330 {
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);
unableAutopilotReasons = AutopilotAbilityManager.getInstance().addUnableAutopilotReason(unableAutopilotReasons, UnableLaunchReason.SourceType.FSM, respond);
}
}
if (unableAutopilotReasons == null || unableAutopilotReasons.isEmpty()) {
unableAutopilotReasons = AutopilotAbilityManager.getInstance().addUnableAutopilotReason(unableAutopilotReasons, UnableAutopilotReason.SourceType.LIB, "FSM数据异常");
unableAutopilotReasons = AutopilotAbilityManager.getInstance().addUnableAutopilotReason(unableAutopilotReasons, UnableLaunchReason.SourceType.LIB, "FSM数据异常");
}
}
}

24
libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/common/autopilot/ability/AutopilotAbility350And360.java
View File

@@ -4,7 +4,7 @@ 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 com.zhjt.mogo.adas.data.bean.UnableLaunchReason;
import java.util.ArrayList;
@@ -30,7 +30,7 @@ public class AutopilotAbility350And360 {
private OnAutopilotAbilityListener listener;
protected interface OnAutopilotAbilityListener {
void onAutopilotAbility(boolean isAutopilotAbility, @Nullable ArrayList<UnableAutopilotReason> unableAutopilotReasons);
void onAutopilotAbility(boolean isAutopilotAbility, @Nullable ArrayList<UnableLaunchReason> unableAutopilotReasons);
}
@@ -57,7 +57,7 @@ public class AutopilotAbility350And360 {
private void onCallback(SsmInfo.SsmStatusInf statusInfo) {
boolean isAutopilotAbility = true;//是否能启动自动驾驶
ArrayList<UnableAutopilotReason> unableAutopilotReasons = null;//不能启动自动驾驶原因
ArrayList<UnableLaunchReason> 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()) {
@@ -69,7 +69,7 @@ public class AutopilotAbility350And360 {
if (masterVersion > 2 && statusInfo.hasAutoPilotReady() && statusInfo.hasAutoPilotUnreadyReason()) {
isAutopilotAbility = statusInfo.getAutoPilotReady();
if (!isAutopilotAbility) {
unableAutopilotReasons = AutopilotAbilityManager.getInstance().addUnableAutopilotReason(unableAutopilotReasons, UnableAutopilotReason.SourceType.SSM, statusInfo.getAutoPilotUnreadyReason());
unableAutopilotReasons = AutopilotAbilityManager.getInstance().addUnableAutopilotReason(unableAutopilotReasons, UnableLaunchReason.SourceType.SSM, statusInfo.getAutoPilotUnreadyReason());
}
} else if (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();
@@ -81,13 +81,13 @@ public class AutopilotAbility350And360 {
String nodeName = info.getNodeName();
int state = info.getState().getNumber();
if (state < AutopilotAbilityManager.NODE_INFO_STATE_FIXED_FREQUENCY.length) {
unableAutopilotReasons = AutopilotAbilityManager.getInstance().addUnableAutopilotReason(unableAutopilotReasons, UnableAutopilotReason.SourceType.SSM, nodeName + AutopilotAbilityManager.NODE_INFO_STATE_FIXED_FREQUENCY[state]);
unableAutopilotReasons = AutopilotAbilityManager.getInstance().addUnableAutopilotReason(unableAutopilotReasons, UnableLaunchReason.SourceType.SSM, nodeName + AutopilotAbilityManager.NODE_INFO_STATE_FIXED_FREQUENCY[state]);
} else {
unableAutopilotReasons = AutopilotAbilityManager.getInstance().addUnableAutopilotReason(unableAutopilotReasons, UnableAutopilotReason.SourceType.SSM, nodeName + "未知异常");
unableAutopilotReasons = AutopilotAbilityManager.getInstance().addUnableAutopilotReason(unableAutopilotReasons, UnableLaunchReason.SourceType.SSM, nodeName + "未知异常");
}
}
} else {
unableAutopilotReasons = AutopilotAbilityManager.getInstance().addUnableAutopilotReason(unableAutopilotReasons, UnableAutopilotReason.SourceType.SSM, "未知异常节点");
unableAutopilotReasons = AutopilotAbilityManager.getInstance().addUnableAutopilotReason(unableAutopilotReasons, UnableLaunchReason.SourceType.SSM, "未知异常节点");
}
}
} else {
@@ -106,12 +106,12 @@ public class AutopilotAbility350And360 {
} else {
unableAutopilotReason = "未知系统模式";
}
unableAutopilotReasons = AutopilotAbilityManager.getInstance().addUnableAutopilotReason(unableAutopilotReasons, UnableAutopilotReason.SourceType.SSM, unableAutopilotReason);
unableAutopilotReasons = AutopilotAbilityManager.getInstance().addUnableAutopilotReason(unableAutopilotReasons, UnableLaunchReason.SourceType.SSM, unableAutopilotReason);
}
}
} else {
isAutopilotAbility = false;//是否能启动自动驾驶
unableAutopilotReasons = AutopilotAbilityManager.getInstance().addUnableAutopilotReason(unableAutopilotReasons, UnableAutopilotReason.SourceType.LIB, "SSM数据异常");
unableAutopilotReasons = AutopilotAbilityManager.getInstance().addUnableAutopilotReason(unableAutopilotReasons, UnableLaunchReason.SourceType.LIB, "SSM数据异常");
}
//检测底盘相关
if (chassisStates != null) {
@@ -119,14 +119,14 @@ public class AutopilotAbility350And360 {
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");
unableAutopilotReasons = AutopilotAbilityManager.getInstance().addUnableAutopilotReason(unableAutopilotReasons, UnableLaunchReason.SourceType.CHASSIS, "制动踏板被踩下");
}
}
if (chassisStates.hasGearSystemStates()) {
Chassis.GearPosition gear = chassisStates.getGearSystemStates().getGearPosition();
if (!AutopilotAbilityManager.getInstance().isLaunchAutopilot(gear)) {
isAutopilotAbility = false;
unableAutopilotReasons = AutopilotAbilityManager.getInstance().addUnableAutopilotReason(unableAutopilotReasons, UnableAutopilotReason.SourceType.CHASSIS, "档位异常");
unableAutopilotReasons = AutopilotAbilityManager.getInstance().addUnableAutopilotReason(unableAutopilotReasons, UnableLaunchReason.SourceType.CHASSIS, "档位异常");
}
}
}
@@ -138,7 +138,7 @@ public class AutopilotAbility350And360 {
boolean isBrake = vehicleState.getParkingBrake();
if (isBrake) {
isAutopilotAbility = false;
unableAutopilotReasons = AutopilotAbilityManager.getInstance().addUnableAutopilotReason(unableAutopilotReasons, UnableAutopilotReason.SourceType.CHASSIS, "施加驻车");
unableAutopilotReasons = AutopilotAbilityManager.getInstance().addUnableAutopilotReason(unableAutopilotReasons, UnableLaunchReason.SourceType.CHASSIS, "施加驻车");
}
}
}

22
libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/common/autopilot/ability/AutopilotAbility360.java
View File

@@ -6,7 +6,7 @@ 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 com.zhjt.mogo.adas.data.bean.UnableLaunchReason;
import java.util.ArrayList;
@@ -27,7 +27,7 @@ public class AutopilotAbility360 {
private OnAutopilotAbilityListener listener;
protected interface OnAutopilotAbilityListener {
void onAutopilotAbility(boolean isAutopilotAbility, @Nullable ArrayList<UnableAutopilotReason> unableAutopilotReasons);
void onAutopilotAbility(boolean isAutopilotAbility, @Nullable ArrayList<UnableLaunchReason> unableAutopilotReasons);
}
@@ -47,7 +47,7 @@ public class AutopilotAbility360 {
private void onCallback(SsmInfo.SsmStatusInf statusInfo) {
boolean isAutopilotAbility = true;//是否能启动自动驾驶
ArrayList<UnableAutopilotReason> unableAutopilotReasons = null;//不能启动自动驾驶原因
ArrayList<UnableLaunchReason> 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()) {
@@ -59,7 +59,7 @@ public class AutopilotAbility360 {
if (masterVersion > 2 && statusInfo.hasAutoPilotReady() && statusInfo.hasAutoPilotUnreadyReason()) {
isAutopilotAbility = statusInfo.getAutoPilotReady();
if (!isAutopilotAbility) {
unableAutopilotReasons = AutopilotAbilityManager.getInstance().addUnableAutopilotReason(unableAutopilotReasons, UnableAutopilotReason.SourceType.SSM, statusInfo.getAutoPilotUnreadyReason());
unableAutopilotReasons = AutopilotAbilityManager.getInstance().addUnableAutopilotReason(unableAutopilotReasons, UnableLaunchReason.SourceType.SSM, statusInfo.getAutoPilotUnreadyReason());
}
} else if (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();
@@ -71,13 +71,13 @@ public class AutopilotAbility360 {
String nodeName = info.getNodeName();
int state = info.getState().getNumber();
if (state < AutopilotAbilityManager.NODE_INFO_STATE_FIXED_FREQUENCY.length) {
unableAutopilotReasons = AutopilotAbilityManager.getInstance().addUnableAutopilotReason(unableAutopilotReasons, UnableAutopilotReason.SourceType.SSM, nodeName + AutopilotAbilityManager.NODE_INFO_STATE_FIXED_FREQUENCY[state]);
unableAutopilotReasons = AutopilotAbilityManager.getInstance().addUnableAutopilotReason(unableAutopilotReasons, UnableLaunchReason.SourceType.SSM, nodeName + AutopilotAbilityManager.NODE_INFO_STATE_FIXED_FREQUENCY[state]);
} else {
unableAutopilotReasons = AutopilotAbilityManager.getInstance().addUnableAutopilotReason(unableAutopilotReasons, UnableAutopilotReason.SourceType.SSM, nodeName + "未知异常");
unableAutopilotReasons = AutopilotAbilityManager.getInstance().addUnableAutopilotReason(unableAutopilotReasons, UnableLaunchReason.SourceType.SSM, nodeName + "未知异常");
}
}
} else {
unableAutopilotReasons = AutopilotAbilityManager.getInstance().addUnableAutopilotReason(unableAutopilotReasons, UnableAutopilotReason.SourceType.SSM, "未知异常节点");
unableAutopilotReasons = AutopilotAbilityManager.getInstance().addUnableAutopilotReason(unableAutopilotReasons, UnableLaunchReason.SourceType.SSM, "未知异常节点");
}
}
} else {
@@ -96,12 +96,12 @@ public class AutopilotAbility360 {
} else {
unableAutopilotReason = "未知系统模式";
}
unableAutopilotReasons = AutopilotAbilityManager.getInstance().addUnableAutopilotReason(unableAutopilotReasons, UnableAutopilotReason.SourceType.SSM, unableAutopilotReason);
unableAutopilotReasons = AutopilotAbilityManager.getInstance().addUnableAutopilotReason(unableAutopilotReasons, UnableLaunchReason.SourceType.SSM, unableAutopilotReason);
}
}
} else {
isAutopilotAbility = false;//是否能启动自动驾驶
unableAutopilotReasons = AutopilotAbilityManager.getInstance().addUnableAutopilotReason(unableAutopilotReasons, UnableAutopilotReason.SourceType.LIB, "SSM数据异常");
unableAutopilotReasons = AutopilotAbilityManager.getInstance().addUnableAutopilotReason(unableAutopilotReasons, UnableLaunchReason.SourceType.LIB, "SSM数据异常");
}
if (fsmStatusReasonRespond != null) {
int count = fsmStatusReasonRespond.getFsmStatusReasonRespondCount();
@@ -110,11 +110,11 @@ public class AutopilotAbility360 {
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);
unableAutopilotReasons = AutopilotAbilityManager.getInstance().addUnableAutopilotReason(unableAutopilotReasons, UnableLaunchReason.SourceType.FSM, respond);
}
}
if (unableAutopilotReasons == null || unableAutopilotReasons.isEmpty()) {
unableAutopilotReasons = AutopilotAbilityManager.getInstance().addUnableAutopilotReason(unableAutopilotReasons, UnableAutopilotReason.SourceType.LIB, "FSM数据异常");
unableAutopilotReasons = AutopilotAbilityManager.getInstance().addUnableAutopilotReason(unableAutopilotReasons, UnableLaunchReason.SourceType.LIB, "FSM数据异常");
}
}
}

15
libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/common/autopilot/ability/AutopilotAbilityManager.java
View File

@@ -10,9 +10,10 @@ 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 com.zhjt.mogo.adas.data.bean.UnableLaunchReason;
import java.util.ArrayList;
import java.util.HashSet;
import java.util.Set;
import java.util.Timer;
import java.util.TimerTask;
@@ -79,8 +80,10 @@ public class AutopilotAbilityManager implements AutopilotAbility230.OnAutopilotA
}
public void setUnableLaunchAutopilotGear(Set<Chassis.GearPosition> unableLaunchAutopilotGear) {
this.unableLaunchAutopilotGear = unableLaunchAutopilotGear;
taxiUnmanned();
if (unableLaunchAutopilotGear != null) {
this.unableLaunchAutopilotGear = new HashSet<>(unableLaunchAutopilotGear);
taxiUnmanned();
}
}
/**
@@ -105,11 +108,11 @@ public class AutopilotAbilityManager implements AutopilotAbility230.OnAutopilotA
* @param unableAutopilotReason 云隐
* @return 原因列表
*/
protected ArrayList<UnableAutopilotReason> addUnableAutopilotReason(ArrayList<UnableAutopilotReason> unableAutopilotReasons, UnableAutopilotReason.SourceType source, String unableAutopilotReason) {
protected ArrayList<UnableLaunchReason> addUnableAutopilotReason(ArrayList<UnableLaunchReason> unableAutopilotReasons, UnableLaunchReason.SourceType source, String unableAutopilotReason) {
if (unableAutopilotReasons == null) {
unableAutopilotReasons = new ArrayList<>();
}
unableAutopilotReasons.add(new UnableAutopilotReason(source, unableAutopilotReason));
unableAutopilotReasons.add(new UnableLaunchReason(source, unableAutopilotReason));
return unableAutopilotReasons;
}
@@ -143,7 +146,7 @@ public class AutopilotAbilityManager implements AutopilotAbility230.OnAutopilotA
}
@Override
public void onAutopilotAbility(boolean isAutopilotAbility, @Nullable ArrayList<UnableAutopilotReason> unableAutopilotReasons) {
public void onAutopilotAbility(boolean isAutopilotAbility, @Nullable ArrayList<UnableLaunchReason> unableAutopilotReasons) {
if (listener != null) {
listener.onAutopilotAbility(isAutopilotAbility, unableAutopilotReasons);
}

2
libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/msg/CarConfigRespMessage.java
View File

@@ -8,6 +8,7 @@ import com.zhidao.support.adas.high.AdasChannel;
import com.zhidao.support.adas.high.AdasManager;
import com.zhidao.support.adas.high.OnAdasListener;
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;
@@ -24,6 +25,7 @@ public class CarConfigRespMessage extends MyAbstractMessageHandler {
carConfigResp = addPersonalParameter(carConfigResp);
AdasChannel.calculateTimeConsumingOnDispatchRaw("车机基础信息应答", raw.receiveTime);
AutopilotAbilityManager.getInstance().setCarConfig(carConfigResp);
ParallelDrivingManager.getInstance().setCarConfig(carConfigResp);
AdasManager.getInstance().setCarConfig(carConfigResp);
long nowTime = 0;
if (CupidLogUtils.isEnableLog())

2
libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/msg/ChassisStatesMessage.java
View File

@@ -2,6 +2,7 @@ package com.zhidao.support.adas.high.msg;
import com.google.protobuf.InvalidProtocolBufferException;
import com.zhidao.support.adas.high.OnAdasListener;
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;
@@ -16,6 +17,7 @@ public class ChassisStatesMessage extends MyAbstractMessageHandler {
public void handlerMsg(RawData raw, OnAdasListener adasListener) throws InvalidProtocolBufferException {
ChassisStatesOuterClass.ChassisStates chassisStates = ChassisStatesOuterClass.ChassisStates.parser().parseFrom(raw.originalData.toByteArray(), raw.getOffsetValue(), raw.getPackageLengthValue() - raw.getOffsetValue());
AutopilotAbilityManager.getInstance().setChassisStates(chassisStates);
ParallelDrivingManager.getInstance().setChassisStates(chassisStates);
if (adasListener != null) {
adasListener.onChassisStates(raw.getHeader(), chassisStates);
}

3
libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/msg/VehicleStateMessage.java
View File

@@ -5,6 +5,7 @@ import android.os.SystemClock;
import com.google.protobuf.InvalidProtocolBufferException;
import com.zhidao.support.adas.high.AdasChannel;
import com.zhidao.support.adas.high.OnAdasListener;
import com.zhidao.support.adas.high.common.ParallelDrivingManager;
import com.zhidao.support.adas.high.common.autopilot.ability.AutopilotAbilityManager;
import com.zhidao.support.adas.high.common.CupidLogUtils;
import com.zhidao.support.adas.high.protocol.RawData;
@@ -27,6 +28,7 @@ public class VehicleStateMessage extends MyAbstractMessageHandler {
if (CupidLogUtils.isEnableLog())
nowTime = SystemClock.elapsedRealtime();
AutopilotAbilityManager.getInstance().setVehicleState(vehicleState);
ParallelDrivingManager.getInstance().setVehicleState(vehicleState);
ChassisStatesOuterClass.ChassisStates chassisStates = compatibility(adasListener, raw, vehicleState);
if (adasListener != null) {
//TODO 暂时关闭老底盘转发 后期 会删除 onVehicleState
@@ -113,6 +115,7 @@ public class VehicleStateMessage extends MyAbstractMessageHandler {
}
ChassisStatesOuterClass.ChassisStates chassisStates = builder.build();
AutopilotAbilityManager.getInstance().setChassisStates(chassisStates);
ParallelDrivingManager.getInstance().setChassisStates(chassisStates);
return chassisStates;
}