Merge branch 'dev_robotaxi-d_230809_6.0.0' into 6.0.0merge2master

# Conflicts: # OCH/sweeper/sweeper-cloud/src/main/java/com/mogo/och/sweepercloud/model/SweeperTaskModel.java # libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/AdasChannel.java # libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/OnAdasListener.java
2023-09-11 17:43:17 +08:00
parent ea468d9eb1 1e0c42d15a
commit e53ee5e6ca
3672 changed files with 38961 additions and 14144 deletions
--- a/libraries/mogo-adas-data/src/main/java/com/zhjt/mogo/adas/data/bean/AdasParam.java
+++ b/libraries/mogo-adas-data/src/main/java/com/zhjt/mogo/adas/data/bean/AdasParam.java
@@ -65,6 +65,31 @@ public class AdasParam {
     * 为空的原因：未查询此数据、工控机不存在此数据、解析失败
     */
    public final M1StitchedVideoSelfVehicleParam m1StitchedVideoSelfVehicleParamParse;
+    /**
+     * 故障减速停车策路开关
+     * -1：未知    0：关闭故障减速停车策略    1（默认）：使用故障减速停车策略
+     */
+    public final int breakdownSlowDown;
+    /**
+     * 盲区开关
+     * 0: off 1:on
+     */
+    public final int blindArea;
+    /**
+     * 融合v2n开关
+     * 0:不发给PnC 1:发给Pnc
+     */
+    public final int v2nToPnc;
+    /**
+     * 融合v2i开关
+     * 0:不发给PnC和鹰眼 1:发给Pnc和鹰眼，默认0
+     */
+    public final int v2iToPnc;
+    /**
+     * 融合模式
+     * 1:全融合模式 2:盲区模式 3:超视距模式 4:透传模式 5:纯路侧模式，默认1
+     */
+    public final int fusionMode;

    public AdasParam(MessagePad.SetParamReq param) {
        int detouringCmd = -1;
@@ -77,6 +102,12 @@ public class AdasParam {
        int weakNetSlowDown = -1;
        String m1StitchedVideoSelfVehicleParam = null;
        M1StitchedVideoSelfVehicleParam m1StitchedVideoSelfVehicleParamParse = null;
+        int breakdownSlowDown = -1;
+        int blindArea = -1;
+        int v2nToPnc = -1;
+        int v2iToPnc = -1;
+        int fusionMode = -1;
+
        if (param != null) {
            int size = param.getReqsCount();
            if (size > 0) {
@@ -127,6 +158,26 @@ public class AdasParam {
                                e.printStackTrace();
                            }
                        }
+                    } else if (type == AdasConstants.MapSystemParamType.BREAKDOWN_SLOW_DOWN_VALUE) {
+                        if (!TextUtils.isEmpty(value)) {
+                            breakdownSlowDown = Integer.parseInt(value);
+                        }
+                    } else if (type == AdasConstants.MapSystemParamType.BLIND_AREA_VALUE) {
+                        if (!TextUtils.isEmpty(value)) {
+                            blindArea = Integer.parseInt(value);
+                        }
+                    } else if (type == AdasConstants.MapSystemParamType.V2N_TO_PNC_VALUE) {
+                        if (!TextUtils.isEmpty(value)) {
+                            v2nToPnc = Integer.parseInt(value);
+                        }
+                    } else if (type == AdasConstants.MapSystemParamType.V2I_TO_PNC_VALUE) {
+                        if (!TextUtils.isEmpty(value)) {
+                            v2iToPnc = Integer.parseInt(value);
+                        }
+                    } else if (type == AdasConstants.MapSystemParamType.FUSION_MODE_VALUE) {
+                        if (!TextUtils.isEmpty(value)) {
+                            fusionMode = Integer.parseInt(value);
+                        }
                    }
                }
            }
@@ -141,6 +192,11 @@ public class AdasParam {
        this.weakNetSlowDown = weakNetSlowDown;
        this.m1StitchedVideoSelfVehicleParam = m1StitchedVideoSelfVehicleParam;
        this.m1StitchedVideoSelfVehicleParamParse = m1StitchedVideoSelfVehicleParamParse;
+        this.breakdownSlowDown = breakdownSlowDown;
+        this.blindArea = blindArea;
+        this.v2nToPnc = v2nToPnc;
+        this.v2iToPnc = v2iToPnc;
+        this.fusionMode = fusionMode;
    }

    @Override
@@ -149,11 +205,17 @@ public class AdasParam {
                "\n变道绕障的目标障碍物速度阈值=" + (detouringSpeed == -1 ? "未知" : detouringSpeed + "m/s") +
                "\nAEB开关=" + (aebCmd == -1 ? "未知" : aebCmd == 0 ? "关" : "开") +
                "\n限制绕障开关=" + (laneChangeRestrainValid == -1 ? "未知" : laneChangeRestrainValid == 0 ? "正常绕障" : "限制绕障") +
-                "\n停车让行线前避让等待开关=" + (stopYieldValid == -1 ? "未知" : stopYieldValid == 0 ? "无需等待" : "等待") +
-                "\n地图限速功能开关=" + (hadmapSpeedLimitValid == -1 ? "未知" : hadmapSpeedLimitValid == 0 ? "不使用" : "使用") +
+                "\n停车让行线前避让等待开关=" + (stopYieldValid == -1 ? "未知" : stopYieldValid == 0 ? "停车让行线前无需避让等待" : "停车让行线前需要避让等待") +
+                "\n地图限速功能开关=" + (hadmapSpeedLimitValid == -1 ? "未知" : hadmapSpeedLimitValid == 0 ? "不使用地图限速功能" : "使用地图限速功能") +
                "\n环岛模式开关=" + (rampThetaValid == -1 ? "未知" : rampThetaValid == 0 ? "普通模式" : "环岛模式") +
-                "\n弱网减速停车策略开关=" + (weakNetSlowDown == -1 ? "未知" : weakNetSlowDown == 0 ? "关闭" : "使用") +
-                "\nm1拼接视频自车位置参数=" + (m1StitchedVideoSelfVehicleParam == null ? "未知" : m1StitchedVideoSelfVehicleParam);
+                "\n弱网减速停车策略开关=" + (weakNetSlowDown == -1 ? "未知" : weakNetSlowDown == 0 ? "关闭弱网减速停车策略" : "使用弱网减速停车策略") +
+                "\nm1拼接视频自车位置参数=" + (m1StitchedVideoSelfVehicleParam == null ? "未知" : m1StitchedVideoSelfVehicleParam) +
+                "\n故障减速停车策路开关=" + (breakdownSlowDown == -1 ? "未知" : breakdownSlowDown == 0 ? "关闭故障减速停车策略" : "使用故障减速停车策略") +
+                "\n盲区开关=" + (blindArea == -1 ? "未知" : blindArea == 0 ? "关" : "开") +
+                "\n融合V2N开关=" + (v2nToPnc == -1 ? "未知" : v2nToPnc == 0 ? "不发给PnC" : "发给PnC") +
+                "\n融合V2I开关=" + (v2iToPnc == -1 ? "未知" : v2iToPnc == 0 ? "不发给PnC和鹰眼" : "发给Pnc和鹰眼") +
+                "\n融合模式=" + (fusionMode == -1 ? "未知" : fusionMode == 5 ? "纯路侧模式" : fusionMode == 4 ? "透传模式" : fusionMode == 3 ? "超视距模式" : fusionMode == 2 ? "盲区模式" : "全融合模式")
+                ;
    }

    public static class M1StitchedVideoSelfVehicleParam {
--- 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 +231,8 @@ 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）
                String CAN_MSG_LOST = "ESYS_CAN_MSG_LOST";//master接收底盘消息超时
@@ -238,6 +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
            }

            /**
@@ -268,6 +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
            }

            /**
@@ -310,6 +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
+            }
        }

        /**
@@ -337,6 +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
            }

            /**
@@ -370,6 +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
@@ -386,6 +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
            }

            /**
@@ -394,10 +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
@@ -406,21 +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
@@ -498,6 +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
+            }
        }
    }
 }
--- 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
@@ -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 + "}";
+    }
+}
--- a/libraries/mogo-adas-data/src/main/proto/chassis.proto
+++ b/libraries/mogo-adas-data/src/main/proto/chassis.proto
@@ -100,3 +100,13 @@ enum CleanSystemControlMode {
  Clean_PureWash_Left_Work = 13;
  Clean_PureWash_Right_Work = 14;
 }
+
+enum DoorNumber {
+  NONE = 0;
+  FRONT_LEFT = 1;
+  FRONT_RIGHT = 2;
+  REAR_LEFT = 3;
+  REAR_RIGHT = 4;
+  MIDDLE = 5;
+}
+
--- a/libraries/mogo-adas-data/src/main/proto/message_pad.proto
+++ b/libraries/mogo-adas-data/src/main/proto/message_pad.proto
@@ -30,8 +30,9 @@ enum MessageType
    MsgTypeOBU = 0x1000a; //OBU
    MsgTypeChassisStates = 0x1000b; //重构后的底盘状态, 透传
    MsgTypeFunctionStates = 0x1000c; //重构后的功能状态, 透传
-    MsgTypeBackCameraVideo = 0x1000d; //清扫车后部摄像头视频 10hz
+    MsgTypeBackCameraVideo = 0x1000d; //后部摄像头视频 10hz
    MsgTypeM1StitchedVideo = 0x1000e; //m1拼接视频 10hz
+    MsgTypeSSMState = 0x1000f; //ssm 系统状态 1hz  hq m1 MAP350开始支持，其他车型MAP360开始支持

    MsgTypeBasicInfoReq = 0x10100; //自动驾驶设备基础信息请求
    MsgTypeBasicInfoResp = 0x10101; //自动驾驶设备基础信息应答
@@ -247,17 +248,20 @@ message Line
    string stopUrl_dpqp = 10; //打点文件下载的cos url，默认“”
    string stopMd5_dpqp = 11; //轨迹文件md5，默认“”
    uint64 timestamp_dpqp = 12; //上传轨迹完成时间戳(ms)：用于MEC本地手动导入轨迹验证时不会被云端轨迹覆盖
+    string lineName = 13; //路线名
 }

 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
 message BasicInfoReq 
 {
+    bytes certification = 1;//域控ssl证书
 }

 // message definition for MessageType: MsgTypeBasicInfoResp
@@ -267,6 +271,7 @@ message BasicInfoResp
    uint32 environment = 2; //1: 研发环境, 2:测试环境, 3:生产环境 4:演示环境
    uint32 role = 3; //客户端角色：0: 司机屏，1: 乘客屏，2: 调试屏
    string version = 4; //鹰眼版本
+    bytes certification = 5; //鹰眼ssl证书
 }

 // message definition for MsgTypeSetAutopilotModeReq
@@ -603,8 +608,13 @@ message SetOneParam
                     // 5:停车让行线前避让等待开关(bool) 0:停车让行线前无需等待 1:停车让行线前需要等待 默认0
                     // 6:地图限速功能开关(bool) 0:不使用地图限速功能 1:使用地图限速功能 默认0
                     // 7:环岛模式开关(bool) 0:普通模式 1:环岛模式  默认0
-                     // 8:弱网减速停车策略开关(bool) 0:关闭弱网减速停车策略 1:使用弱网减速停车策略 
+                     // 8:弱网减速停车策略开关(bool) 0:关闭弱网减速停车策略 1:使用弱网减速停车策略 默认1
                     // 9:m1拼接视频自车位置参数(string), 格式:x,y,width,height
+                     // 10:故障减速停车策略开关(bool) 0:关闭故障减速停车策略 1:使用故障减速停车策略 默认1
+                     // 11: 盲区开关(bool) 0: off 1:on /telematics/sensor/blindarea_flag
+                     // 12: 融合v2n开关(bool) 0:不发给PnC 1:发给Pnc /telematics/fusion/v2n_flag
+                     // 13: 融合v2i开关(bool) 0:不发给PnC和鹰眼 1:发给Pnc和鹰眼，默认0 /telematics/fusion/v2i_flag
+                     // 14: 融合模式(int) 1:全融合模式 2:盲区模式 3:超视距模式 4:透传模式 5:纯路侧模式，默认1 /telematics/fusion/fusion_mode
    string value = 2; // 转成字符串的值
 }

@@ -700,3 +710,6 @@ message SessionInfo
    uint64 connectedTimeStamp = 4;
    string version = 5;
 }
+
+//message definition for MsgTypeSSMState
+//refer to ssm_info.proto for details
--- a/libraries/mogo-adas-data/src/main/proto/param_set_cmd.proto
+++ b/libraries/mogo-adas-data/src/main/proto/param_set_cmd.proto
@@ -1,11 +1,12 @@
 syntax = "proto3";
 package mogo.telematics;

-enum ParamSetType 
+enum ParamSetType
 {
    ParamSetTypeNone = 0;
    ParamSetTypeBlindArea = 1; //bool, 0:off 1:on
    ParamSetTypeV2N = 2; //bool, 0:不发给PnC 1:发给Pnc
+    ParamSetTypeV2I = 3; //bool, 0:不发给PnC和鹰眼 1:发给Pnc和鹰眼，默认0
 }

 message ParamSetCmd
--- a/libraries/mogo-adas-data/src/main/proto/personal/adas_constants.proto
+++ b/libraries/mogo-adas-data/src/main/proto/personal/adas_constants.proto
@@ -14,5 +14,10 @@ enum MapSystemParamType{
  RAMP_THETA_VALID = 7;//环岛模式开关
  WEAK_NET_SLOW_DOWN = 8;//弱网减速停车策略开关
  M1_STITCHED_VIDEO_SELF_VEHICLE_PARAM = 9;//m1拼接视频自车位置参数(string), 格式:x,y,width,height
+  BREAKDOWN_SLOW_DOWN = 10;//故障减速停车策路开关
+  BLIND_AREA = 11;//盲区开关(bool) 0: off 1:on /telematics/sensor/blindarea_flag
+  V2N_TO_PNC = 12;//融合v2n开关(bool) 0:不发给PnC 1:发给Pnc /telematics/fusion/v2n_flag
+  V2I_TO_PNC = 13;//融合v2i开关(bool) 0:不发给PnC和鹰眼 1:发给Pnc和鹰眼，默认0 /telematics/fusion/v2i_flag
+  FUSION_MODE = 14;//融合模式(int) 1:全融合模式 2:盲区模式 3:超视距模式 4:透传模式 5:纯路侧模式，默认1 /telematics/fusion/fusion_mode
 }

--- a/libraries/mogo-adas-data/src/main/proto/personal/ssm_base.proto
+++ b/libraries/mogo-adas-data/src/main/proto/personal/ssm_base.proto
@@ -0,0 +1,18 @@
+syntax = "proto2";
+
+package system_master;
+
+
+enum HealthState {
+  NORMAL = 0;
+  FAULT = 1;
+  UNKNOW = 2;
+}
+
+message HealthInfo{
+  required string name = 1;            //node name
+  required HealthState state = 2;      //health state
+  optional string code = 3;            //code 与系统事件错误码对应，如有该错误填写，没有不填
+  optional string desc = 4;            //补充描述，用于未知情况
+}
+
--- a/libraries/mogo-adas-data/src/main/proto/ssm_info.proto
+++ b/libraries/mogo-adas-data/src/main/proto/ssm_info.proto
@@ -0,0 +1,54 @@
+syntax = "proto2";
+
+package system_master;
+import "personal/ssm_base.proto";
+
+enum NodeState {
+    NONE = 0;      //未知状态None
+    WAITING = 1;   //依赖未就绪Waiting
+    STARTING = 2;  //启动中Starting
+    RUNNING = 3;   //运行running
+    STOPPING = 4;  //停止stopping
+    BROKEN = 5;    //无法启动状态
+    MAN_RUN = 6;   //非自动启动状态
+    MAN_STOP = 7;  //非自动关闭状态
+}
+
+enum AgentState {
+    DISCONNECT = 0;  //未连接或断开连接
+    CONNECTED = 1;   //连接状态
+}
+
+enum ModeState {
+    MODE_STOP_UNREADY = 0;  //停止模式-未就绪
+    MODE_STOP_READY = 1;    //运行模式-就绪 (所有节点关闭)
+    MODE_RUN_UNREADY = 2;   //运行模式-未就绪
+    MODE_RUN_READY = 3;     //运行模式-就绪 (所有节点启动)
+    MODE_IDLE_UNREADY = 4;  //空闲模式-未就绪
+    MODE_IDLE_READY = 5;    //空闲模式-就绪 (非驾驶状态)
+}
+
+
+message NodeInf {
+    optional string node_name = 1;       //node name
+    optional string launch_name = 2;     //launch name
+    optional NodeState state = 3;           
+}
+
+message SsmStatusInf {
+    required ModeState mode_state = 1;      // 当前系统模式状态
+    optional string map_version = 2;        // MAP 版本信息
+    optional string master_version = 3;     // SSM 版本信息
+    required bool auto_pilot_ready = 4;     // 自动驾驶状态就绪
+    required bool remote_pilot_ready = 5;   // 平行驾驶状态就绪
+    repeated NodeInf auto_pilot_unready_list = 6;   //自驾未就绪节点列表
+    repeated NodeInf remote_pilot_unready_list = 7;  //平行驾驶未就绪列表
+    optional string auto_pilot_unready_reason = 8;  //自动驾驶状态未就绪原因描述
+    optional string remote_pilot_unready_reason = 9;  //平行驾驶状态未就绪原因描述
+    repeated HealthInfo health_info=10;       // 健康检查状态信息
+    
+    optional uint64 cur_used_lineid = 20 [default = 0];  //0：当前无可用轨迹，需要下单，other: 可用轨迹id
+    optional string hd_map_ver = 21;     //高精地图版本
+    optional string slam_map_ver = 22;   //slam地图版本
+    optional string grid_map_ver = 23;   //栅格地图版本
+}
--- a/libraries/mogo-adas-data/src/main/proto/system_status_info.proto
+++ b/libraries/mogo-adas-data/src/main/proto/system_status_info.proto
@@ -1,6 +1,7 @@
 syntax = "proto2";

 package system_master;
+import "personal/ssm_base.proto";

 enum SystemState {
    SYS_STARTING = 0;                 //系统正在启动
@@ -14,19 +15,6 @@ enum SystemState {
    REMOTE_PILOT_RUNNING = 8;         //平行驾驶运行中
 }

-enum HealthState {
-    NORMAL = 0;//正常
-    FAULT = 1;//异常
-    UNKNOW = 2;//未知
-}
-
-message HealthInfo{
-    required string name = 1;            //node name
-    required HealthState state = 2;      //health state
-    optional string code = 3;            //code 与系统事件错误码对应，如有该错误填写，没有不填
-    optional string desc = 4;            //补充描述，用于未知情况
-}
-
 message TopicInfo{
    optional string name = 1;       //topic name
    optional int32 hz = 2;          //Topic发送的频率
@@ -50,7 +38,7 @@ message NodeFaultList{

 message StatusInfo {
    required SystemState sys_state=1;        // 当前系统状态
-    repeated HealthInfo health_info=2;       // 健康检查状态信息 
+    repeated HealthInfo health_info=2;       // 健康检查状态信息
    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
@@ -63,5 +51,9 @@ message StatusInfo {
    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
-}

+    optional uint64 cur_used_lineid = 20 [default = 0];  //0：当前无可用轨迹，需要下单，other: 可用轨迹id
+    optional string hd_map_ver = 21;     //高精地图版本
+    optional string slam_map_ver = 22;   //slam地图版本
+    optional string grid_map_ver = 23;   //栅格地图版本
+}
--- a/libraries/mogo-adas-data/src/main/proto/vehicle_state.proto
+++ b/libraries/mogo-adas-data/src/main/proto/vehicle_state.proto
@@ -74,6 +74,11 @@ message DoorState {
    optional bool is_on = 1; //是否开启
 }

+message DoorStateV2 {
+    optional DoorNumber number = 1; // 车门编号
+    optional uint32 status = 2; // 车门开闭状态(0-关, 1-开)
+}
+
 message LightState {
    optional bool is_on = 1; //是否开启
    optional uint32 color = 2; //颜色
@@ -116,13 +121,13 @@ message VehicleState {
    optional bool steer_inference = 23 [default = false]; //方向盘干预
    optional bool brake_inference = 24 [default = false]; //制动踏板干预
    optional bool accel_inference = 25 [default = false]; //加速踏板干预
-    optional bool gear_switch_inference = 26 [default = false]; //档位切换干预 
+    optional bool gear_switch_inference = 26 [default = false]; //档位切换干预
    optional bool location_missing = 27 [default = false]; //未收到定位
    optional bool trajectory_missing = 28 [default = false]; //未收到轨迹
    optional bool chassis_status_missing = 29 [default = false]; //未收到车辆底盘反馈信息
    optional bool brake_light_status = 30 [default = false]; //自驾模式下制动灯状态
    optional bool pilot_mode_condition_met = 31 [default = false];
-    
+
    optional float steeringSpd = 32 [default = 0]; // steering angle speed in degrees/s

    optional float leftFrontWheelAngle = 33 [default = 0];//左前轮角度（deg）,左负右正
@@ -136,6 +141,8 @@ message VehicleState {
    optional float bms_soc = 40 [default = 0];  // 电量百分比范围   0~100
    optional float fuel_value = 41 [default = 0]; // 油车剩余油量

+    repeated DoorStateV2 door_state = 42; // 车门状态
+
    optional SweeperFuTianCleanSystemState sweeper_futian_clean_system_state = 200; // 福田清扫车上装状态信息
    optional RoboTaxiState robo_taxi_state = 201; // taxi状态
    optional RoboBusState robo_bus_state = 202; // bus状态