[6.6.0] find bug of pb to json

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

@@ -8,29 +8,28 @@ import com.mogo.eagle.core.data.app.AppConfigInfo
 import com.mogo.eagle.core.data.config.FunctionBuildConfig
 import com.mogo.eagle.core.data.config.HdMapBuildConfig
 import com.mogo.eagle.core.data.deva.chain.ChainConstant
-import com.mogo.eagle.core.data.deva.chain.ChainConstant.Companion.CHAIN_CODE_ADAS_ABILITY
 import com.mogo.eagle.core.data.deva.chain.ChainConstant.Companion.CHAIN_CODE_ADAS_ARRIVE
-import com.mogo.eagle.core.data.deva.chain.ChainConstant.Companion.CHAIN_CODE_ADAS_GUARDIAN
-import com.mogo.eagle.core.data.deva.chain.ChainConstant.Companion.CHAIN_CODE_ADAS_RECORD
-import com.mogo.eagle.core.data.deva.chain.ChainConstant.Companion.CHAIN_CODE_ADAS_ROUTE
-import com.mogo.eagle.core.data.deva.chain.ChainConstant.Companion.CHAIN_CODE_ADAS_STATUS
-import com.mogo.eagle.core.data.deva.chain.ChainConstant.Companion.CHAIN_CODE_ADAS_TRAJECTORY
-import com.mogo.eagle.core.data.deva.chain.ChainConstant.Companion.CHAIN_CODE_ADAS_VEHICLE
 import com.mogo.eagle.core.data.deva.chain.ChainConstant.Companion.CHAIN_CODE_ADAS_CAR_CONFIG
 import com.mogo.eagle.core.data.deva.chain.ChainConstant.Companion.CHAIN_CODE_ADAS_CAR_LOC
 import com.mogo.eagle.core.data.deva.chain.ChainConstant.Companion.CHAIN_CODE_ADAS_FM_MSG
+import com.mogo.eagle.core.data.deva.chain.ChainConstant.Companion.CHAIN_CODE_ADAS_GUARDIAN
 import com.mogo.eagle.core.data.deva.chain.ChainConstant.Companion.CHAIN_CODE_ADAS_MAP_PARAM
 import com.mogo.eagle.core.data.deva.chain.ChainConstant.Companion.CHAIN_CODE_ADAS_PARALLEL
 import com.mogo.eagle.core.data.deva.chain.ChainConstant.Companion.CHAIN_CODE_ADAS_P_ACTIONS
 import com.mogo.eagle.core.data.deva.chain.ChainConstant.Companion.CHAIN_CODE_ADAS_P_OBJECTS
+import com.mogo.eagle.core.data.deva.chain.ChainConstant.Companion.CHAIN_CODE_ADAS_RECORD
+import com.mogo.eagle.core.data.deva.chain.ChainConstant.Companion.CHAIN_CODE_ADAS_ROUTE
+import com.mogo.eagle.core.data.deva.chain.ChainConstant.Companion.CHAIN_CODE_ADAS_STATUS
 import com.mogo.eagle.core.data.deva.chain.ChainConstant.Companion.CHAIN_CODE_ADAS_STATUS_QUERY_RESP
+import com.mogo.eagle.core.data.deva.chain.ChainConstant.Companion.CHAIN_CODE_ADAS_TRAJECTORY
+import com.mogo.eagle.core.data.deva.chain.ChainConstant.Companion.CHAIN_CODE_ADAS_VEHICLE
 import com.mogo.eagle.core.data.deva.chain.ChainConstant.Companion.CHAIN_SOURCE_ADAS
 import com.mogo.eagle.core.data.deva.chain.ChainConstant.Companion.CHAIN_TYPE_GNSS
-import com.mogo.eagle.core.data.deva.chain.ChainConstant.Companion.CHAIN_TYPE_STATUS
 import com.mogo.eagle.core.data.deva.chain.ChainConstant.Companion.CHAIN_TYPE_SOCKET_AUTOPILOT
 import com.mogo.eagle.core.data.deva.chain.ChainConstant.Companion.CHAIN_TYPE_SOCKET_TRAJECTORY
 import com.mogo.eagle.core.data.deva.chain.ChainConstant.Companion.CHAIN_TYPE_SOCKET_VEHICLE
-import com.mogo.eagle.core.function.call.autopilot.*
+import com.mogo.eagle.core.data.deva.chain.ChainConstant.Companion.CHAIN_TYPE_STATUS
+import com.mogo.eagle.core.function.call.autopilot.CallerAutoPilotStatusListenerManager
 import com.mogo.eagle.core.function.call.autopilot.CallerAutoPilotStatusListenerManager.invokeArriveAtStation
 import com.mogo.eagle.core.function.call.autopilot.CallerAutoPilotStatusListenerManager.invokeAutopilotGuardian
 import com.mogo.eagle.core.function.call.autopilot.CallerAutoPilotStatusListenerManager.invokeAutopilotSNRequest
@@ -38,38 +37,67 @@ import com.mogo.eagle.core.function.call.autopilot.CallerAutoPilotStatusListener
 import com.mogo.eagle.core.function.call.autopilot.CallerAutoPilotStatusListenerManager.invokeSystemStatus
 import com.mogo.eagle.core.function.call.autopilot.CallerAutoPilotStatusListenerManager.updateAutoPilotDockerInfo
 import com.mogo.eagle.core.function.call.autopilot.CallerAutoPilotStatusListenerManager.updateAutoPilotStatus
+import com.mogo.eagle.core.function.call.autopilot.CallerAutopilotActionsListenerManager
 import com.mogo.eagle.core.function.call.autopilot.CallerAutopilotActionsListenerManager.invokeAutopilotAbility
 import com.mogo.eagle.core.function.call.autopilot.CallerAutopilotCarConfigListenerManager.invokeAutopilotCarConfigData
+import com.mogo.eagle.core.function.call.autopilot.CallerAutopilotGetParamResponseDispatcher
+import com.mogo.eagle.core.function.call.autopilot.CallerAutopilotIdentifyListenerManager
 import com.mogo.eagle.core.function.call.autopilot.CallerAutopilotIdentifyListenerManager.invokeAutopilotIdentifyDataUpdate
 import com.mogo.eagle.core.function.call.autopilot.CallerAutopilotIdentifyListenerManager.invokeAutopilotIdentifyPlanningObj
+import com.mogo.eagle.core.function.call.autopilot.CallerAutopilotPointCloudListenerManager
+import com.mogo.eagle.core.function.call.autopilot.CallerAutopilotRecordListenerManager
 import com.mogo.eagle.core.function.call.autopilot.CallerAutopilotRecordListenerManager.invokeAutopilotRecordConfig
 import com.mogo.eagle.core.function.call.autopilot.CallerAutopilotRecordListenerManager.invokeAutopilotRecordResult
 import com.mogo.eagle.core.function.call.autopilot.CallerAutopilotStatisticsListenerManager.invokeAutopilotStatistics
+import com.mogo.eagle.core.function.call.autopilot.CallerAutopilotVehicleStateListenerManager
+import com.mogo.eagle.core.function.call.autopilot.CallerBackCameraVideoListenerManager
+import com.mogo.eagle.core.function.call.autopilot.CallerBatteryManagementSystemListenerManager
+import com.mogo.eagle.core.function.call.autopilot.CallerChassisAccStateListenerManager
+import com.mogo.eagle.core.function.call.autopilot.CallerChassisBrakeStateListenerManager
+import com.mogo.eagle.core.function.call.autopilot.CallerChassisDoorStateListenerManager
+import com.mogo.eagle.core.function.call.autopilot.CallerChassisGearStateListenerManager
+import com.mogo.eagle.core.function.call.autopilot.CallerChassisGnssListenerManager
+import com.mogo.eagle.core.function.call.autopilot.CallerChassisLamplightListenerManager
+import com.mogo.eagle.core.function.call.autopilot.CallerChassisSteeringStateListenerManager
+import com.mogo.eagle.core.function.call.autopilot.CallerChassisThrottleStateListenerManager
+import com.mogo.eagle.core.function.call.autopilot.CallerFaultManagementStateListenerManager
+import com.mogo.eagle.core.function.call.autopilot.CallerFsm2024ListenerManager
+import com.mogo.eagle.core.function.call.autopilot.CallerLocalizationStateListenerManager
+import com.mogo.eagle.core.function.call.autopilot.CallerParallelDrivingActionsListenerManager
+import com.mogo.eagle.core.function.call.autopilot.CallerParallelDrivingListenerManager
 import com.mogo.eagle.core.function.call.autopilot.CallerPlanningActionsListenerManager.invokePNCActions
 import com.mogo.eagle.core.function.call.autopilot.CallerPlanningRottingListenerManager.invokeAutopilotRotting
 import com.mogo.eagle.core.function.call.autopilot.CallerPlanningTrajectoryListenerManager.invokeAutopilotTrajectory
+import com.mogo.eagle.core.function.call.autopilot.CallerReceiveReceivedAckListenerManager
+import com.mogo.eagle.core.function.call.autopilot.CallerRoboBusJinlvM1StatesListenerManager
+import com.mogo.eagle.core.function.call.autopilot.CallerRoboBusJinlvM1StitchedVideoListenerManager
 import com.mogo.eagle.core.function.call.autopilot.CallerStartAutopilotFailedListenerManager.invokeStartAutopilotFailed
+import com.mogo.eagle.core.function.call.autopilot.CallerSweeperFutianCleanSystemListenerManager
+import com.mogo.eagle.core.function.call.autopilot.CallerSweeperFutianCloudTaskListenerManager
+import com.mogo.eagle.core.function.call.autopilot.CallerV2XListenerManager
+import com.mogo.eagle.core.function.call.autopilot.CallerV2nNioEventListenerManager
 import com.mogo.eagle.core.function.call.obu.CallerObuMapMathListenerManager
 import com.mogo.eagle.core.function.call.obu.CallerObuWarningRsiListenerManager
 import com.mogo.eagle.core.function.call.obu.CallerObuWarningRsmListenerManager
 import com.mogo.eagle.core.function.call.obu.CallerObuWarningSpatListenerManager
-import com.mogo.eagle.core.utilcode.mogo.logger.Logger
+import com.mogo.eagle.core.utilcode.mogo.logger.CallerLogger
+import com.mogo.eagle.core.utilcode.mogo.logger.scene.SceneConstant.Companion.M_D_C
 import com.mogo.eagle.core.utilcode.util.DeviceUtils
 import com.mogo.support.obu.ObuScene
 import com.zhidao.support.adas.high.OnAdasListener
-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.AdasParam
 import com.zhjt.mogo.adas.data.bean.AutopilotStatistics
-import com.zhjt.mogo.adas.data.bean.ReceivedAck
 import com.zhjt.mogo.adas.data.bean.LaunchConditionData
+import com.zhjt.mogo.adas.data.bean.ReceivedAck
 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
 import com.zhjt.mogo.adas.data.sweeper.task.big.SweeperBigTaskStatus
 import com.zhjt.mogo.adas.data.sweeper.task.cloud.s_r.SweeperTaskCloudSuspendResume
 import com.zhjt.mogo.adas.data.sweeper.task.confirm.SweeperTaskConfirm
+import com.zhjt.mogo.adas.data.sweeper.task.s_r.SweeperTaskSuspendResume
 import com.zhjt.mogo.adas.data.sweeper.task.status.SweeperTaskStatus
 import com.zhjt.mogo.adas.data.sweeper.task.stop.SweeperTaskStop
 import com.zhjt.service.chain.ChainLog
@@ -140,10 +168,13 @@ class MoGoAdasListenerImpl : OnAdasListener {
     override fun onGnssInfo(header: MessagePad.Header, gnssInfo: MessagePad.GnssInfo) {
         CallerChassisGnssListenerManager.invokeChassisGnssListener(gnssInfo)
         if (gnssInfo != null) {
-            if (1 == FunctionBuildConfig.gpsProvider) {
-                // 同步更新经纬度和系统时间至 AutoPilotStatusListener
-                CallerAutoPilotStatusListenerManager.updateAutoPilotLocAndTime(gnssInfo.satelliteTime, gnssInfo.longitude, gnssInfo.latitude, gnssInfo.heading)
-            }
+            // 同步更新经纬度和系统时间至 AutoPilotStatusListener
+            CallerAutoPilotStatusListenerManager.updateAutoPilotLocAndTime(
+                gnssInfo.satelliteTime,
+                gnssInfo.longitude,
+                gnssInfo.latitude,
+                gnssInfo.heading
+            )
         }
     }
 
@@ -167,8 +198,6 @@ class MoGoAdasListenerImpl : OnAdasListener {
     ) {
         CallerAutopilotActionsListenerManager.setVehicleState(vehicleState)
         if (vehicleState != null) {
-            //转向灯数据
-//            CallerChassisLamplightListenerManager.invokeAutopilotLightSwitchData(vehicleState.light)
             //刹车灯数据
             CallerChassisLamplightListenerManager.invokeAutopilotBrakeLightData(vehicleState.brakeLightStatus)
             //方向盘转向角数据
@@ -231,10 +260,6 @@ class MoGoAdasListenerImpl : OnAdasListener {
         CallerAutopilotActionsListenerManager.setChassisStates(chassisStates)
         if (chassisStates != null) {
             chassisStates.bcmSystemStates?.let { bcmSystemStates ->
-//                bcmSystemStates.turnLightState?.let {
-//                    //转向灯数据
-//                    CallerChassisLamplightListenerManager.invokeAutopilotLightSwitchData(it)
-//                }
                 //刹车灯数据
                 CallerChassisLamplightListenerManager.invokeAutopilotBrakeLightData(bcmSystemStates.brakeLightState != 0)
             }
@@ -461,18 +486,20 @@ class MoGoAdasListenerImpl : OnAdasListener {
         header: MessagePad.Header?,
         statusInfo: SystemStatusInfo.StatusInfo?
     ) {
-        if(statusInfo!=null && statusInfo.hasAutoPilotReady()){
-            CallerAutoPilotStatusListenerManager.getAutoPilotStatusInfo().ssmAutoPilotReady = statusInfo.autoPilotReady
-        }else{
+        if (statusInfo != null && statusInfo.hasAutoPilotReady()) {
+            CallerAutoPilotStatusListenerManager.getAutoPilotStatusInfo().ssmAutoPilotReady =
+                statusInfo.autoPilotReady
+        } else {
             CallerAutoPilotStatusListenerManager.getAutoPilotStatusInfo().ssmAutoPilotReady = false
         }
         invokeAutopilotStatusRespByQuery(statusInfo)
     }
 
     override fun onSystemStatus(header: MessagePad.Header?, statusInf: SsmInfo.SsmStatusInf?) {
-        if(statusInf!=null && statusInf.hasAutoPilotReady()){
-            CallerAutoPilotStatusListenerManager.getAutoPilotStatusInfo().ssmAutoPilotReady = statusInf.autoPilotReady
-        }else{
+        if (statusInf != null && statusInf.hasAutoPilotReady()) {
+            CallerAutoPilotStatusListenerManager.getAutoPilotStatusInfo().ssmAutoPilotReady =
+                statusInf.autoPilotReady
+        } else {
             CallerAutoPilotStatusListenerManager.getAutoPilotStatusInfo().ssmAutoPilotReady = false
         }
         invokeSystemStatus(statusInf)
@@ -817,8 +844,19 @@ class MoGoAdasListenerImpl : OnAdasListener {
      * @param sysTime           当前时间戳
      * @param bigTaskActionPush 数据
      */
-    override fun onSweeperFutianCloudTaskCloudSuspendResume(header: MessagePad.Header, messageType: AiCloudTask.MessageType, reqNo: String?, sysTime: Long, bigTaskActionPush: SweeperTaskCloudSuspendResume.BigTaskActionPush?) {
-        CallerSweeperFutianCloudTaskListenerManager.invokeSweeperFutianCloudTaskCloudSuspendResume(messageType, reqNo, sysTime, bigTaskActionPush)
+    override fun onSweeperFutianCloudTaskCloudSuspendResume(
+        header: MessagePad.Header,
+        messageType: AiCloudTask.MessageType,
+        reqNo: String?,
+        sysTime: Long,
+        bigTaskActionPush: SweeperTaskCloudSuspendResume.BigTaskActionPush?
+    ) {
+        CallerSweeperFutianCloudTaskListenerManager.invokeSweeperFutianCloudTaskCloudSuspendResume(
+            messageType,
+            reqNo,
+            sysTime,
+            bigTaskActionPush
+        )
     }
 
     /**
@@ -1034,18 +1072,15 @@ class MoGoAdasListenerImpl : OnAdasListener {
         launchConditionData: LaunchConditionData,
         unableAutopilotReasons: ArrayList<UnableLaunchReason>?
     ) {
-        var reason = ""
-        if (unableAutopilotReasons != null) {
-            reason = unableAutopilotReasons.toString()
-        }
-        autopilotAbilityCheck(isAutopilotAbility, reason, launchConditionData.json)
         invokeAutopilotAbility(isAutopilotAbility, launchConditionData, unableAutopilotReasons)
     }
 
     override fun onParallelDrivingAbility(
         isParallelDrivingAbility: Boolean
     ) {
-        CallerParallelDrivingActionsListenerManager.invokeParallelDrivingAbility(isParallelDrivingAbility)
+        CallerParallelDrivingActionsListenerManager.invokeParallelDrivingAbility(
+            isParallelDrivingAbility
+        )
     }
 
     /**
@@ -1058,16 +1093,6 @@ class MoGoAdasListenerImpl : OnAdasListener {
         CallerReceiveReceivedAckListenerManager.invokeReceiveReceivedAck(receivedAck)
     }
 
-    @ChainLog(
-        linkChainLog = CHAIN_TYPE_SOCKET_AUTOPILOT,
-        linkCode = CHAIN_SOURCE_ADAS,
-        nodeAliasCode = CHAIN_CODE_ADAS_ABILITY,
-        paramIndexes = [0, 1, 2]
-    )
-    private fun autopilotAbilityCheck(isAutopilotAbility: Boolean, reason: String, launchConditionDataJson: String) {
-
-    }
-
     /**
      * 启动自动驾驶失败回调
      * 根据MAP 系统监控状态返回过滤
@@ -1097,6 +1122,6 @@ class MoGoAdasListenerImpl : OnAdasListener {
      * @param bytes  原始数据
      */
     override fun onError(status: ProtocolStatus, bytes: ByteArray) {
-        Logger.e(TAG, "status===$status")
+        CallerLogger.e("$M_D_C$TAG", "status===$status")
     }
 }