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[3.3.0][mogo-adas]修复Maser版本解析引起的崩溃异常

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xinfengkun
2023-06-27 18:46:55 +08:00
parent 58140cf852
commit ea31d75cef
3 changed files with 24 additions and 16 deletions
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17
libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/common/autopilot/ability/AutopilotAbility250.java
View File

@@ -3,6 +3,7 @@ package com.zhidao.support.adas.high.common.autopilot.ability;
import android.os.Message;
import com.zhidao.support.adas.high.AdasManager;
import com.zhidao.support.adas.high.common.CupidLogUtils;
import java.util.List;
import java.util.Timer;
@@ -27,10 +28,12 @@ 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
private int mapVersion = -1;//MAP版本
private int masterVersion = -1;//Master版本
public AutopilotAbility250(int mapVersion) {
this.mapVersion = mapVersion;
this.masterVersion = -1;
}
@@ -51,19 +54,18 @@ public class AutopilotAbility250 {
String unableAutopilotReason = null;//不能启动自动驾驶原因
//检测节点状态相关
if (statusInfo != null) {
int version = -1;
if (statusInfo.hasMasterVersion()) {
if (masterVersion == -1 && statusInfo.hasMasterVersion()) {
//截取Master Version
String masterVersion = statusInfo.getMasterVersion();
version = AdasManager.getInstance().parseVersion(false, masterVersion);
masterVersion = AdasManager.getInstance().parseVersion(false, statusInfo.getMasterVersion());
}
CupidLogUtils.i(TAG, "MasterVersion=" + masterVersion);
//SSM 3版本兼容
if (mapVersion >= 30400 && version > 2 && statusInfo.hasAutoPilotReady() && statusInfo.hasAutoPilotUnreadyReason()) {
if (mapVersion >= 30400 && masterVersion > 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
} 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();
if (!isAutopilotAbility) {
SystemStatusInfo.NodeFaultList nodeFaultList = statusInfo.getAutoPilotUnreadyList();
@@ -176,6 +178,7 @@ public class AutopilotAbility250 {
timer = null;
}
this.chassisStates = null;
this.masterVersion = -1;
}

20
libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/common/autopilot/ability/AutopilotAbility330.java
View File

@@ -2,8 +2,8 @@ package com.zhidao.support.adas.high.common.autopilot.ability;
import android.os.Message;
import com.google.protobuf.TextFormat;
import com.zhidao.support.adas.high.AdasManager;
import com.zhidao.support.adas.high.common.CupidLogUtils;
import java.util.List;
import java.util.Timer;
@@ -29,8 +29,12 @@ public class AutopilotAbility330 {
private volatile Timer timer;
private volatile FSMStatusReasonQueryOuterClass.FSMStatusReasonRespond fsmStatusReasonRespond;//自动驾驶状态为OFF的原因
private int mapVersion = -1;//MAP版本
private int masterVersion = -1;//Master版本
public AutopilotAbility330() {
public AutopilotAbility330(int mapVersion) {
this.mapVersion = mapVersion;
this.masterVersion = -1;
}
public synchronized void setFsmStatusReasonRespond(FSMStatusReasonQueryOuterClass.FSMStatusReasonRespond fsmStatusReasonRespond) {
@@ -51,19 +55,18 @@ public class AutopilotAbility330 {
String unableAutopilotReason = null;//不能启动自动驾驶原因
//检测节点状态相关
if (statusInfo != null) {
int version = -1;
if (statusInfo.hasMasterVersion()) {
if (masterVersion == -1 && statusInfo.hasMasterVersion()) {
//截取Master Version
String masterVersion = statusInfo.getMasterVersion();
version = AdasManager.getInstance().parseVersion(false, masterVersion);
masterVersion = AdasManager.getInstance().parseVersion(false, statusInfo.getMasterVersion());
}
CupidLogUtils.i(TAG, "MasterVersion=" + masterVersion);
//SSM 3版本兼容
if (version > 2 && statusInfo.hasAutoPilotReady() && statusInfo.hasAutoPilotUnreadyReason()) {
if (mapVersion >= 30400 && masterVersion > 2 && statusInfo.hasAutoPilotReady() && statusInfo.hasAutoPilotUnreadyReason()) {
isAutopilotAbility = statusInfo.getAutoPilotReady();
if (!isAutopilotAbility) {
unableAutopilotReason = statusInfo.getAutoPilotUnreadyReason();
}
} else if (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
} 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();
if (!isAutopilotAbility) {
SystemStatusInfo.NodeFaultList nodeFaultList = statusInfo.getAutoPilotUnreadyList();
@@ -162,6 +165,7 @@ public class AutopilotAbility330 {
timer.cancel();
timer = null;
}
this.masterVersion = -1;
}

3
libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/common/autopilot/ability/AutopilotAbilityManager.java
View File

@@ -168,7 +168,7 @@ public class AutopilotAbilityManager {
stop230();
stop250();
if (autopilotAbility330 == null) {
autopilotAbility330 = new AutopilotAbility330();
autopilotAbility330 = new AutopilotAbility330(mapVersion);
autopilotAbility330.start();
}
} else if (mapVersion >= 20500) {
@@ -243,6 +243,7 @@ public class AutopilotAbilityManager {
stopTimer();
stop230();
stop250();
stop330();
handler = null;
mapVersion = -1;
isFutianSweeper = false;