From e4061d7e5283fc7ad5acbf2e7e7dcee7778b4e78 Mon Sep 17 00:00:00 2001 From: xinfengkun Date: Fri, 2 Jun 2023 21:00:30 +0800 Subject: [PATCH] =?UTF-8?q?[minibus320][adas]=E6=B7=BB=E5=8A=A0SSM3.0?= =?UTF-8?q?=E7=89=88=E6=9C=AC=E5=85=BC=E5=AE=B9=EF=BC=8C=E5=A2=9E=E5=8A=A0?= =?UTF-8?q?MAP=E7=89=88=E6=9C=AC=E6=9D=A1=E4=BB=B6=E5=88=A4=E6=96=AD?= =?UTF-8?q?=E7=94=A8=E4=BA=8E=E5=88=A4=E6=96=AD=E4=BD=BF=E7=94=A8=E9=82=A3?= =?UTF-8?q?=E4=B8=AASSM=E7=89=88=E6=9C=AC?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- .../src/main/proto/system_status_info.proto | 9 ++++-- .../ability/AutopilotAbility250.java | 15 ++++++--- .../ability/AutopilotAbilityManager.java | 31 ++++++++++--------- 3 files changed, 33 insertions(+), 22 deletions(-) diff --git a/libraries/mogo-adas-data/src/main/proto/system_status_info.proto b/libraries/mogo-adas-data/src/main/proto/system_status_info.proto index 0a4953f7f8..0469739ba8 100644 --- a/libraries/mogo-adas-data/src/main/proto/system_status_info.proto +++ b/libraries/mogo-adas-data/src/main/proto/system_status_info.proto @@ -54,11 +54,14 @@ message StatusInfo { optional DropTopic topic_drop_info=3; // topic 掉频信息， 如有掉频添加没有不添加 optional string reserved = 4; // 用于表示idle模式，'idle' 表示idle模式 'work' 表示正常工作 // add by liyl 20220907 - optional int32 pilot_mode = 5; // 0: manaul 1: autopilot 2: RemotePilot + optional int32 pilot_mode = 5; // 0: manaul 1: autopilot 6: RemotePilot optional string map_version = 6; // MAP 版本信息 optional string master_version = 7; // system_master 版本信息 optional bool auto_pilot_ready = 8; // 自动驾驶状态就绪, 20221111增加 optional bool remote_pilot_ready = 9; // 平行驾驶状态就绪 - optional NodeFaultList auto_pilot_unready_list = 10; //20221128 增加 - optional NodeFaultList remote_pilot_unready_list = 11; //20221128 增加 + optional NodeFaultList auto_pilot_unready_list = 10; //自驾未就绪节点列表, 20221128 增加 + optional NodeFaultList remote_pilot_unready_list = 11; //平行驾驶未就绪列表, 20221128 增加 + optional string auto_pilot_unready_reason = 12; //自动驾驶状态未就绪原因描述 + optional string remote_pilot_unready_reason = 13; //平行驾驶状态未就绪原因描述 } + 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 5bccb67907..499fff2033 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 @@ -13,7 +13,7 @@ import chassis.ChassisStatesOuterClass; import system_master.SystemStatusInfo; /** - * 是否可以启动自动驾驶能力检测 工控机版本>=250使用此类 + * 是否可以启动自动驾驶能力检测 非清扫车MAP版本>=250使用此类 清扫车MAP版本>=250&& <330使用此类 * 目前监控了底盘的一些状态和查询节点状态应答的数据 * 没有使用监控事件报告的原因是因为，部分异常没进行正常恢复通知，例如收到了异常监控数据，但是异常恢复之后没有恢复的通知 *

@@ -27,8 +27,10 @@ public class AutopilotAbility250 { 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;//工控机版本 - public AutopilotAbility250() { + public AutopilotAbility250(int mapVersion) { + this.mapVersion = mapVersion; } @@ -55,8 +57,13 @@ public class AutopilotAbility250 { String masterVersion = statusInfo.getMasterVersion(); version = AdasManager.getInstance().parseVersion(false, masterVersion); } - //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 - if (version > 1 && statusInfo.hasAutoPilotReady()) { + //SSM 3版本兼容 + if (mapVersion >= 30400 && version > 2 && statusInfo.hasAutoPilotReady() && statusInfo.hasAutoPilotUnreadyReason()) { + isAutopilotAbility = statusInfo.getAutoPilotReady(); + if (!isAutopilotAbility) { + unableAutopilotReason = statusInfo.getAutoPilotUnreadyReason(); + } + } else if (mapVersion >= 21000 && version > 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(); if (!isAutopilotAbility) { SystemStatusInfo.NodeFaultList nodeFaultList = statusInfo.getAutoPilotUnreadyList(); 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 f44c666eba..5185bd6321 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 @@ -30,7 +30,8 @@ public class AutopilotAbilityManager { private OnAdasListener listener; private Handler handler; private OnAutopilotAbilityListener onAutopilotAbilityListener; - private int dockerVersion = -1;//工控机版本 + private int mapVersion = -1;//工控机版本 + private boolean isFutianSweeper = false;//是否是福田清扫车 private AutopilotAbility230 autopilotAbility230; private AutopilotAbility250 autopilotAbility250; private Timer startTimer; @@ -77,15 +78,12 @@ public class AutopilotAbilityManager { } public void setCarConfig(MessagePad.CarConfigResp carConfig) { - if (dockerVersion == -1) { - String v = carConfig.getDockVersion(); - int version = AdasManager.getInstance().parseVersion(v); - if (version != -1) { - stopTimer(); - dockerVersion = version; - CupidLogUtils.i(TAG, "工控机版本=" + dockerVersion); - initAutopilotAbility(); - } + mapVersion = carConfig.getMapVersion(); + isFutianSweeper = carConfig.getIsFutianSweeper(); + if (mapVersion != -1) { + stopTimer(); + CupidLogUtils.i(TAG, "工控机版本=" + mapVersion); + initAutopilotAbility(); } } @@ -138,13 +136,15 @@ public class AutopilotAbilityManager { } private void initAutopilotAbility() { - if (dockerVersion >= 20500) { + 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"); stop230(); if (autopilotAbility250 == null) { - autopilotAbility250 = new AutopilotAbility250(); + autopilotAbility250 = new AutopilotAbility250(mapVersion); autopilotAbility250.start(); } } else { + CupidLogUtils.i(TAG, "是否可以启动自动驾驶能力检测使用230版本"); stop250(); if (autopilotAbility230 == null) { autopilotAbility230 = new AutopilotAbility230(); @@ -185,8 +185,8 @@ public class AutopilotAbilityManager { startTimer.schedule(new TimerTask() { @Override public void run() { - if (dockerVersion == -1 && AdasManager.getInstance().getIpcConnectionStatus() == Constants.IPC_CONNECTION_STATUS.CONNECTED) { - dockerVersion = 20300; + if (mapVersion == -1 && AdasManager.getInstance().getIpcConnectionStatus() == Constants.IPC_CONNECTION_STATUS.CONNECTED) { + mapVersion = 20300; initAutopilotAbility(); } } @@ -200,7 +200,8 @@ public class AutopilotAbilityManager { stop230(); stop250(); handler = null; - dockerVersion = -1; + mapVersion = -1; + isFutianSweeper = false; } }