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[m1][mogo-adas] 不能启动自动驾驶档位参数修改成BuildConfig可配置模式

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This commit is contained in:
xinfengkun
2023-02-27 17:40:22 +08:00
parent 72dc6f27f1
commit ec1a00b0b6
54 changed files with 470 additions and 969 deletions
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12
app/README.md
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@@ -38,3 +38,15 @@
3. demo: 演示环境（大部分时候都是测试环境）
## 区分 flavor 功能引入
## 不能启动自动驾驶的档位
| 车型 | 配置所在文件 | 档位 | 配置 |
|:-|:-|:-|:-|
| 东风、红旗 | fOchTaxi.gradle、fOchTaxiPassenger.gradle | P、R | buildConfigField 'java.util.Set<chassis.Chassis.GearPosition>', 'UNABLE_LAUNCH_AUTOPILOT_GEAR', 'new java.util.HashSet<chassis.Chassis.GearPosition>(){{add(chassis.Chassis.GearPosition.GEAR_P);add(chassis.Chassis.GearPosition.GEAR_R);}}' |
| 金旅小巴 | fOchBus.gradle、fOchBusPassenger.gradle、fOchShuttle.gradle、fOchShuttlePassenger.gradle | N、R | buildConfigField 'java.util.Set<chassis.Chassis.GearPosition>', 'UNABLE_LAUNCH_AUTOPILOT_GEAR', 'new java.util.HashSet<chassis.Chassis.GearPosition>(){{add(chassis.Chassis.GearPosition.GEAR_N);add(chassis.Chassis.GearPosition.GEAR_R);}}' |
| M1 | fOchBusPassengerM1.gradle | 不限制档位 | buildConfigField 'java.util.Set<chassis.Chassis.GearPosition>', 'UNABLE_LAUNCH_AUTOPILOT_GEAR', 'null' |
| M2 | fOchBusPassengerM2.gradle | N、P、R | buildConfigField 'java.util.Set<chassis.Chassis.GearPosition>', 'UNABLE_LAUNCH_AUTOPILOT_GEAR', 'new java.util.HashSet<chassis.Chassis.GearPosition>(){{add(chassis.Chassis.GearPosition.GEAR_N);add(chassis.Chassis.GearPosition.GEAR_P);add(chassis.Chassis.GearPosition.GEAR_R);}}' |
| 清扫车 | fOchSweeper.gradle | N | buildConfigField 'java.util.Set<chassis.Chassis.GearPosition>', 'UNABLE_LAUNCH_AUTOPILOT_GEAR', 'new java.util.HashSet<chassis.Chassis.GearPosition>(){{add(chassis.Chassis.GearPosition.GEAR_N);}}' |
| 开沃 | 暂无 | 不限制档位 | buildConfigField 'java.util.Set<chassis.Chassis.GearPosition>', 'UNABLE_LAUNCH_AUTOPILOT_GEAR', 'null' |

3
app/productFlavors/fMultiDisplayOchBus.gradle
View File

@@ -45,6 +45,9 @@ project.android.productFlavors {
// 构建 是否支持多屏异显异交互
buildConfigField 'boolean', 'IS_MULTI_DISPLAY', 'true'
//不能启动自驾的档位
buildConfigField 'java.util.Set<chassis.Chassis.GearPosition>', 'UNABLE_LAUNCH_AUTOPILOT_GEAR', 'null'
}
}

3
app/productFlavors/fMultiDisplayOchTaxi.gradle
View File

@@ -48,6 +48,9 @@ project.android.productFlavors {
// 构建 是否支持多屏异显异交互
buildConfigField 'boolean', 'IS_MULTI_DISPLAY', 'true'
//不能启动自驾的档位
buildConfigField 'java.util.Set<chassis.Chassis.GearPosition>', 'UNABLE_LAUNCH_AUTOPILOT_GEAR', 'null'
}
}

3
app/productFlavors/fOchBus.gradle
View File

@@ -48,5 +48,8 @@ project.android.productFlavors {
// 构建 是否支持多屏异显异交互
buildConfigField 'boolean', 'IS_MULTI_DISPLAY', 'false'
//Bus不能启动自驾的档位
buildConfigField 'java.util.Set<chassis.Chassis.GearPosition>', 'UNABLE_LAUNCH_AUTOPILOT_GEAR_BUS', 'new java.util.HashSet<chassis.Chassis.GearPosition>(){{add(chassis.Chassis.GearPosition.GEAR_N);add(chassis.Chassis.GearPosition.GEAR_R);}}'
}
}

3
app/productFlavors/fOchBusPassenger.gradle
View File

@@ -44,5 +44,8 @@ project.android.productFlavors {
// 构建 是否支持多屏异显异交互
buildConfigField 'boolean', 'IS_MULTI_DISPLAY', 'false'
//Bus不能启动自驾的档位
buildConfigField 'java.util.Set<chassis.Chassis.GearPosition>', 'UNABLE_LAUNCH_AUTOPILOT_GEAR_BUS', 'new java.util.HashSet<chassis.Chassis.GearPosition>(){{add(chassis.Chassis.GearPosition.GEAR_N);add(chassis.Chassis.GearPosition.GEAR_R);}}'
}
}

3
app/productFlavors/fOchBusPassengerM1.gradle
View File

@@ -48,5 +48,8 @@ project.android.productFlavors {
// 构建 是否支持多屏异显异交互
buildConfigField 'boolean', 'IS_MULTI_DISPLAY', 'false'
//M1不能启动自驾的档位
buildConfigField 'java.util.Set<chassis.Chassis.GearPosition>', 'UNABLE_LAUNCH_AUTOPILOT_GEAR', 'null'
}
}

3
app/productFlavors/fOchBusPassengerM2.gradle
View File

@@ -45,5 +45,8 @@ project.android.productFlavors {
// 构建 是否支持多屏异显异交互
buildConfigField 'boolean', 'IS_MULTI_DISPLAY', 'false'
//M2不能启动自驾的档位
buildConfigField 'java.util.Set<chassis.Chassis.GearPosition>', 'UNABLE_LAUNCH_AUTOPILOT_GEAR', 'new java.util.HashSet<chassis.Chassis.GearPosition>(){{add(chassis.Chassis.GearPosition.GEAR_N);add(chassis.Chassis.GearPosition.GEAR_P);add(chassis.Chassis.GearPosition.GEAR_R);}}'
}
}

3
app/productFlavors/fOchShuttle.gradle
View File

@@ -46,5 +46,8 @@ project.android.productFlavors {
// 构建 是否支持多屏异显异交互
buildConfigField 'boolean', 'IS_MULTI_DISPLAY', 'false'
//Bus不能启动自驾的档位
buildConfigField 'java.util.Set<chassis.Chassis.GearPosition>', 'UNABLE_LAUNCH_AUTOPILOT_GEAR_BUS', 'new java.util.HashSet<chassis.Chassis.GearPosition>(){{add(chassis.Chassis.GearPosition.GEAR_N);add(chassis.Chassis.GearPosition.GEAR_R);}}'
}
}

3
app/productFlavors/fOchShuttlePassenger.gradle
View File

@@ -41,5 +41,8 @@ project.android.productFlavors {
// 构建 是否支持多屏异显异交互
buildConfigField 'boolean', 'IS_MULTI_DISPLAY', 'false'
//Bus不能启动自驾的档位
buildConfigField 'java.util.Set<chassis.Chassis.GearPosition>', 'UNABLE_LAUNCH_AUTOPILOT_GEAR_BUS', 'new java.util.HashSet<chassis.Chassis.GearPosition>(){{add(chassis.Chassis.GearPosition.GEAR_N);add(chassis.Chassis.GearPosition.GEAR_R);}}'
}
}

3
app/productFlavors/fOchSweeper.gradle
View File

@@ -49,5 +49,8 @@ project.android.productFlavors {
// 构建 是否支持多屏异显异交互
buildConfigField 'boolean', 'IS_MULTI_DISPLAY', 'false'
//清扫车不能启动自驾的档位
buildConfigField 'java.util.Set<chassis.Chassis.GearPosition>', 'UNABLE_LAUNCH_AUTOPILOT_GEAR', 'new java.util.HashSet<chassis.Chassis.GearPosition>(){{add(chassis.Chassis.GearPosition.GEAR_N);}}'
}
}

3
app/productFlavors/fOchTaxi.gradle
View File

@@ -49,6 +49,9 @@ project.android.productFlavors {
// 构建 是否支持多屏异显异交互
buildConfigField 'boolean', 'IS_MULTI_DISPLAY', 'false'
//Taxi不能启动自驾的档位
buildConfigField 'java.util.Set<chassis.Chassis.GearPosition>', 'UNABLE_LAUNCH_AUTOPILOT_GEAR', 'new java.util.HashSet<chassis.Chassis.GearPosition>(){{add(chassis.Chassis.GearPosition.GEAR_P);add(chassis.Chassis.GearPosition.GEAR_R);}}'
}
}

3
app/productFlavors/fOchTaxiPassenger.gradle
View File

@@ -48,6 +48,9 @@ project.android.productFlavors {
// 构建 是否支持多屏异显异交互
buildConfigField 'boolean', 'IS_MULTI_DISPLAY', 'true'
//Taxi不能启动自驾的档位
buildConfigField 'java.util.Set<chassis.Chassis.GearPosition>', 'UNABLE_LAUNCH_AUTOPILOT_GEAR', 'new java.util.HashSet<chassis.Chassis.GearPosition>(){{add(chassis.Chassis.GearPosition.GEAR_P);add(chassis.Chassis.GearPosition.GEAR_R);}}'
}
}

3
app/productFlavors/fPadLenovo.gradle
View File

@@ -45,5 +45,8 @@ project.android.productFlavors {
// 构建 是否支持多屏异显异交互
buildConfigField 'boolean', 'IS_MULTI_DISPLAY', 'false'
//不能启动自驾的档位
buildConfigField 'java.util.Set<chassis.Chassis.GearPosition>', 'UNABLE_LAUNCH_AUTOPILOT_GEAR', 'null'
}
}

2
app/src/main/java/com/mogo/launcher/startup/ConfigStartUp.kt
View File

@@ -39,6 +39,8 @@ object ConfigStartUp {
FunctionBuildConfig.appIdentityMode = BuildConfig.APP_IDENTITY_MODE
// 各个module需要的url
FunctionBuildConfig.urlJson = GsonUtils.fromJson(BuildConfig.URLs, UrlConfig::class.java)
//不能启动自动驾驶的档位
FunctionBuildConfig.unableLaunchAutopilotGear = BuildConfig.UNABLE_LAUNCH_AUTOPILOT_GEAR
// // 这里影响当前Activity的身份信息，多进程先保持与原来一样，主进程为司机端，:passenger 进程为乘客端 TODO 暂时不启用，仅做洱海交付，独立乘客屏+宣传视频
// if (ProcessUtils.getCurrentProcessName().contains(":passenger")) {

6
app_ipc_monitoring/build.gradle
View File

@@ -64,6 +64,12 @@ android {
driver {
dimension "multi_device"
buildConfigField 'boolean', 'IS_CLIENT', 'false'
buildConfigField 'java.util.Set<chassis.Chassis.GearPosition>', 'UNABLE_LAUNCH_AUTOPILOT_GEAR_TAXI', 'new java.util.HashSet<chassis.Chassis.GearPosition>(){{add(chassis.Chassis.GearPosition.GEAR_P);add(chassis.Chassis.GearPosition.GEAR_R);}}'
buildConfigField 'java.util.Set<chassis.Chassis.GearPosition>', 'UNABLE_LAUNCH_AUTOPILOT_GEAR_BUS', 'new java.util.HashSet<chassis.Chassis.GearPosition>(){{add(chassis.Chassis.GearPosition.GEAR_N);add(chassis.Chassis.GearPosition.GEAR_R);}}'
buildConfigField 'java.util.Set<chassis.Chassis.GearPosition>', 'UNABLE_LAUNCH_AUTOPILOT_GEAR_M1', 'null'
buildConfigField 'java.util.Set<chassis.Chassis.GearPosition>', 'UNABLE_LAUNCH_AUTOPILOT_GEAR_M2', 'new java.util.HashSet<chassis.Chassis.GearPosition>(){{add(chassis.Chassis.GearPosition.GEAR_N);add(chassis.Chassis.GearPosition.GEAR_P);add(chassis.Chassis.GearPosition.GEAR_R);}}'
buildConfigField 'java.util.Set<chassis.Chassis.GearPosition>', 'UNABLE_LAUNCH_AUTOPILOT_GEAR_SWEEPER', 'new java.util.HashSet<chassis.Chassis.GearPosition>(){{add(chassis.Chassis.GearPosition.GEAR_N);}}'
buildConfigField 'java.util.Set<chassis.Chassis.GearPosition>', 'UNABLE_LAUNCH_AUTOPILOT_GEAR_VAN', 'null'
}
}

5
app_ipc_monitoring/src/main/java/com/zhidao/adas/client/App.java
View File

@@ -4,8 +4,13 @@ import android.app.Application;
import com.zhidao.adas.client.utils.CrashHandler;
import chassis.Chassis;
public class App extends Application {
public static App INSTANCE;
public Chassis.GearPosition gear;
@Override
public void onCreate() {
super.onCreate();

454
app_ipc_monitoring/src/main/java/com/zhidao/adas/client/DataDistribution.java
View File

@@ -2,36 +2,15 @@ package com.zhidao.adas.client;
import android.util.Pair;
import com.zhidao.adas.client.bean.ArrivalNotification;
import com.zhidao.adas.client.bean.AutopilotState;
import com.zhidao.adas.client.bean.BagManagerCmd;
import com.zhidao.adas.client.bean.BaseInfo;
import com.zhidao.adas.client.bean.BasicInfoReq;
import com.zhidao.adas.client.bean.CarConfigResp;
import com.zhidao.adas.client.bean.ChassisStates;
import com.zhidao.adas.client.bean.DataShow;
import com.zhidao.adas.client.bean.ErrorData;
import com.zhidao.adas.client.bean.FSMFunctionStates;
import com.zhidao.adas.client.bean.GlobalPathResp;
import com.zhidao.adas.client.bean.GnssInfo;
import com.zhidao.adas.client.bean.MogoReportMessage;
import com.zhidao.adas.client.bean.ObuMap;
import com.zhidao.adas.client.bean.ObuRsi;
import com.zhidao.adas.client.bean.ObuRsm;
import com.zhidao.adas.client.bean.ObuSpat;
import com.zhidao.adas.client.bean.OriginalPointCloudData;
import com.zhidao.adas.client.bean.PerceptionTrafficLight;
import com.zhidao.adas.client.bean.PlanningDecisionState;
import com.zhidao.adas.client.bean.PlanningObjects;
import com.zhidao.adas.client.bean.PredictionObstacleTrajectory;
import com.zhidao.adas.client.bean.RecordDataConfig;
import com.zhidao.adas.client.bean.RecordPanel;
import com.zhidao.adas.client.bean.RoboSweeperTaskIndex;
import com.zhidao.adas.client.bean.StatusInfo;
import com.zhidao.adas.client.bean.TrackedObjects;
import com.zhidao.adas.client.bean.Trajectory;
import com.zhidao.adas.client.bean.VehicleState;
import com.zhidao.adas.client.bean.Warn;
import com.zhidao.adas.client.log.LogSave;
import com.zhidao.adas.client.utils.Constants;
import com.zhidao.support.adas.high.common.ThreadPoolManager;
@@ -44,6 +23,8 @@ import java.util.Locale;
import java.util.concurrent.Future;
import java.util.concurrent.LinkedBlockingQueue;
import mogo.telematics.pad.MessagePad;
/**
* 数据分发
*/
@@ -193,8 +174,8 @@ public class DataDistribution {
}
public String cutDown(String str) {
if (isCutDown && str.length() > 650) {
str = str.substring(0, 650) + "\n（已缩短。如需查看完整数据，请勾选日志缩短复选框）";
if (isCutDown && str.length() > 850) {
str = str.substring(0, 850) + "\n（已缩短。如需查看完整数据，请勾选日志缩短复选框）";
}
return str;
}
@@ -202,219 +183,222 @@ public class DataDistribution {
private String onTransmit(String time, BaseInfo data) {
String temp = data.toString();
String str = cutDown(temp);
if (data instanceof Trajectory) {
listTrajectory.add(0, new DataShow(listTrajectorySize++, time + str));
if (listTrajectory.size() > LIST_SIZE) {
listTrajectory.remove(listTrajectory.size() - 1);
if (data.header == null) {
if (data instanceof ErrorData) {
listErrorData.add(0, new DataShow(listErrorDataSize++, time + str));
if (listErrorData.size() > 100) {
listErrorData.remove(listErrorData.size() - 1);
}
if (listener != null && Constants.TITLE.RECEIVE_ERROR.equals(listener.first)) {
listener.second.onRefresh();
}
} else if (data instanceof OriginalPointCloudData) {
listOriginalPointCloud.add(0, new DataShow(listOriginalPointCloudSize++, time + str));
if (listOriginalPointCloud.size() > LIST_SIZE) {
listOriginalPointCloud.remove(listOriginalPointCloud.size() - 1);
}
if (listener != null && Constants.TITLE.RECEIVE_POINT_CLOUD_ORIGINAL.equals(listener.first)) {
listener.second.onRefresh();
}
}
if (listener != null && Constants.TITLE.RECEIVE_TRAJECTORY.equals(listener.first)) {
listener.second.onRefresh();
}
} else if (data instanceof TrackedObjects) {
listTrackedObjects.add(0, new DataShow(listTrackedObjectsSize++, time + str));
if (listTrackedObjects.size() > LIST_SIZE) {
listTrackedObjects.remove(listTrackedObjects.size() - 1);
}
if (listener != null && Constants.TITLE.RECEIVE_TRACKED_OBJECTS.equals(listener.first)) {
listener.second.onRefresh();
}
} else if (data instanceof OriginalPointCloudData) {
listOriginalPointCloud.add(0, new DataShow(listOriginalPointCloudSize++, time + str));
if (listOriginalPointCloud.size() > LIST_SIZE) {
listOriginalPointCloud.remove(listOriginalPointCloud.size() - 1);
}
if (listener != null && Constants.TITLE.RECEIVE_POINT_CLOUD_ORIGINAL.equals(listener.first)) {
listener.second.onRefresh();
}
} else if (data instanceof PlanningObjects) {
listPlanningObjects.add(0, new DataShow(listPlanningObjectsSize++, time + str));
if (listPlanningObjects.size() > LIST_SIZE) {
listPlanningObjects.remove(listPlanningObjects.size() - 1);
}
if (listener != null && Constants.TITLE.RECEIVE_PLANNING_OBJECTS.equals(listener.first)) {
listener.second.onRefresh();
}
} else if (data instanceof PlanningDecisionState) {
listPlanningDecisionState.add(0, new DataShow(listPlanningDecisionStateSize++, time + str));
if (listPlanningDecisionState.size() > LIST_SIZE) {
listPlanningDecisionState.remove(listPlanningDecisionState.size() - 1);
}
if (listener != null && Constants.TITLE.RECEIVE_PLANNING_DECISION_STATE.equals(listener.first)) {
listener.second.onRefresh();
}
} else if (data instanceof ObuSpat) {
listObuSpat.add(0, new DataShow(listObuSpatSize++, time + str));
if (listObuSpat.size() > LIST_SIZE) {
listObuSpat.remove(listObuSpat.size() - 1);
}
if (listener != null && Constants.TITLE.RECEIVE_OBU_SPAT.equals(listener.first)) {
listener.second.onRefresh();
}
} else if (data instanceof ObuRsi) {
listObuRsi.add(0, new DataShow(listObuRsiSize++, time + str));
if (listObuRsi.size() > LIST_SIZE) {
listObuRsi.remove(listObuRsi.size() - 1);
}
if (listener != null && Constants.TITLE.RECEIVE_OBU_RSI.equals(listener.first)) {
listener.second.onRefresh();
}
} else if (data instanceof ObuRsm) {
listObuRsm.add(0, new DataShow(listObuRsmSize++, time + str));
if (listObuRsm.size() > LIST_SIZE) {
listObuRsm.remove(listObuRsm.size() - 1);
}
if (listener != null && Constants.TITLE.RECEIVE_OBU_RSM.equals(listener.first)) {
listener.second.onRefresh();
}
} else if (data instanceof ObuMap) {
listObuMap.add(0, new DataShow(listObuMapSize++, time + str));
if (listObuMap.size() > LIST_SIZE) {
listObuMap.remove(listObuMap.size() - 1);
}
if (listener != null && Constants.TITLE.RECEIVE_OBU_MAP.equals(listener.first)) {
listener.second.onRefresh();
}
} else if (data instanceof GnssInfo) {
listGnssInfo.add(0, new DataShow(listGnssInfoSize++, time + str));
if (listGnssInfo.size() > LIST_SIZE) {
listGnssInfo.remove(listGnssInfo.size() - 1);
}
if (listener != null && Constants.TITLE.RECEIVE_GNSS_INFO.equals(listener.first)) {
listener.second.onRefresh();
}
} else if (data instanceof VehicleState) {
listVehicleState.add(0, new DataShow(listVehicleStateSize++, time + str));
if (listVehicleState.size() > LIST_SIZE) {
listVehicleState.remove(listVehicleState.size() - 1);
}
if (listener != null && Constants.TITLE.RECEIVE_VEHICLE_STATE.equals(listener.first)) {
listener.second.onRefresh();
}
} else if (data instanceof ChassisStates) {
listChassisStates.add(0, new DataShow(listChassisStatesSize++, time + str));
if (listChassisStates.size() > LIST_SIZE) {
listChassisStates.remove(listChassisStates.size() - 1);
}
if (listener != null && Constants.TITLE.RECEIVE_CHASSIS_STATES.equals(listener.first)) {
listener.second.onRefresh();
}
} else if (data instanceof AutopilotState) {
listAutopilotState.add(0, new DataShow(listAutopilotStateSize++, time + str));
if (listAutopilotState.size() > LIST_SIZE) {
listAutopilotState.remove(listAutopilotState.size() - 1);
}
if (listener != null && Constants.TITLE.RECEIVE_AUTOPILOT_STATE.equals(listener.first)) {
listener.second.onRefresh();
}
} else if (data instanceof MogoReportMessage) {
listMogoReportMessage.add(0, new DataShow(listMogoReportMessageSize++, time + str));
if (listMogoReportMessage.size() > LIST_SIZE) {
listMogoReportMessage.remove(listMogoReportMessage.size() - 1);
}
if (listener != null && Constants.TITLE.RECEIVE_REPORT_MESSAGE.equals(listener.first)) {
listener.second.onRefresh();
}
} else if (data instanceof PerceptionTrafficLight) {
listPerceptionTrafficLight.add(0, new DataShow(listPerceptionTrafficLightSize++, time + str));
if (listPerceptionTrafficLight.size() > LIST_SIZE) {
listPerceptionTrafficLight.remove(listPerceptionTrafficLight.size() - 1);
}
if (listener != null && Constants.TITLE.RECEIVE_PERCEPTION_TRAFFIC_LIGHT.equals(listener.first)) {
listener.second.onPerceptionTrafficLight((PerceptionTrafficLight) data);
}
} else if (data instanceof PredictionObstacleTrajectory) {
listPredictionObstacleTrajectory.add(0, new DataShow(listPredictionObstacleTrajectorySize++, time + str));
if (listPredictionObstacleTrajectory.size() > LIST_SIZE) {
listPredictionObstacleTrajectory.remove(listPredictionObstacleTrajectory.size() - 1);
}
if (listener != null && Constants.TITLE.RECEIVE_PREDICTION_OBSTACLE_TRAJECTORY.equals(listener.first)) {
listener.second.onRefresh();
}
} else if (data instanceof BasicInfoReq) {
} else if (data instanceof CarConfigResp) {
if (listener != null && Constants.TITLE.TITLE_CAR_CONFIG_RESP.equals(listener.first)) {
listener.second.onRefresh();
}
} else if (data instanceof RecordPanel) {
listRecordPanel.add(0, new DataShow(listRecordPanelSize++, time + str));
if (listRecordPanel.size() > LIST_SIZE) {
listRecordPanel.remove(listRecordPanel.size() - 1);
}
if (listener != null && Constants.TITLE.RECEIVE_RECORD_RESULT.equals(listener.first)) {
listener.second.onRefresh();
}
} else if (data instanceof BagManagerCmd) {
listBagManagerCmd.add(0, new DataShow(listBagManagerCmdSize++, time + str));
if (listBagManagerCmd.size() > LIST_SIZE) {
listBagManagerCmd.remove(listBagManagerCmd.size() - 1);
}
if (listener != null && Constants.TITLE.RECEIVE_BAG_MANAGER_CMD.equals(listener.first)) {
listener.second.onRefresh();
}
} else if (data instanceof GlobalPathResp) {
listGlobalPathResp.add(0, new DataShow(listGlobalPathRespSize++, time + str));
if (listGlobalPathResp.size() > LIST_SIZE) {
listGlobalPathResp.remove(listGlobalPathResp.size() - 1);
}
if (listener != null && Constants.TITLE.RECEIVE_GLOBAL_PATH_RESP.equals(listener.first)) {
listener.second.onRefresh();
}
} else if (data instanceof Warn) {
listWarn.add(0, new DataShow(listWarnSize++, time + str));
if (listWarn.size() > LIST_SIZE) {
listWarn.remove(listWarn.size() - 1);
}
if (listener != null && Constants.TITLE.RECEIVE_WARN.equals(listener.first)) {
listener.second.onRefresh();
}
} else if (data instanceof ArrivalNotification) {
listArrivalNotification.add(0, new DataShow(listArrivalNotificationSize++, time + str));
if (listArrivalNotification.size() > LIST_SIZE) {
listArrivalNotification.remove(listArrivalNotification.size() - 1);
}
if (listener != null && Constants.TITLE.RECEIVE_ARRIVAL_NOTIFICATION.equals(listener.first)) {
listener.second.onRefresh();
}
} else if (data instanceof StatusInfo) {
listStatusInfo.add(0, new DataShow(listStatusInfoSize++, time + str));
if (listStatusInfo.size() > LIST_SIZE) {
listStatusInfo.remove(listStatusInfo.size() - 1);
}
if (listener != null && Constants.TITLE.RECEIVE_STATUS_QUERY_RESP.equals(listener.first)) {
listener.second.onRefresh();
}
} else if (data instanceof RecordDataConfig) {
listRecordDataConfig.add(0, new DataShow(listRecordDataConfigSize++, time + str));
if (listRecordDataConfig.size() > LIST_SIZE) {
listRecordDataConfig.remove(listRecordDataConfig.size() - 1);
}
if (listener != null && Constants.TITLE.RECEIVE_RECORD_DATA_CONFIG_RESP.equals(listener.first)) {
listener.second.onRefresh();
}
} else if (data instanceof RoboSweeperTaskIndex) {
listRoboSweeperTaskIndex.add(0, new DataShow(listRoboSweeperTaskIndexSize++, time + str));
if (listRoboSweeperTaskIndex.size() > LIST_SIZE) {
listRoboSweeperTaskIndex.remove(listRoboSweeperTaskIndex.size() - 1);
}
if (listener != null && Constants.TITLE.RECEIVE_SWEEPER_TASK_INDEX_DATA.equals(listener.first)) {
listener.second.onRefresh();
}
} else if (data instanceof FSMFunctionStates) {
listFSMFunctionStates.add(0, new DataShow(listFSMFunctionStatesSize++, time + str));
if (listFSMFunctionStates.size() > LIST_SIZE) {
listFSMFunctionStates.remove(listFSMFunctionStates.size() - 1);
}
if (listener != null && Constants.TITLE.RECEIVE_FUNCTION_STATES.equals(listener.first)) {
listener.second.onRefresh();
}
} else if (data instanceof ErrorData) {
listErrorData.add(0, new DataShow(listErrorDataSize++, time + str));
if (listErrorData.size() > 100) {
listErrorData.remove(listErrorData.size() - 1);
}
if (listener != null && Constants.TITLE.RECEIVE_ERROR.equals(listener.first)) {
listener.second.onRefresh();
} else {
MessagePad.MessageType messageType = data.header.getMsgType();
if (messageType == MessagePad.MessageType.MsgTypeTrajectory) {
listTrajectory.add(0, new DataShow(listTrajectorySize++, time + str));
if (listTrajectory.size() > LIST_SIZE) {
listTrajectory.remove(listTrajectory.size() - 1);
}
if (listener != null && Constants.TITLE.RECEIVE_TRAJECTORY.equals(listener.first)) {
listener.second.onRefresh();
}
} else if (messageType == MessagePad.MessageType.MsgTypeTrackedObjects) {
listTrackedObjects.add(0, new DataShow(listTrackedObjectsSize++, time + str));
if (listTrackedObjects.size() > LIST_SIZE) {
listTrackedObjects.remove(listTrackedObjects.size() - 1);
}
if (listener != null && Constants.TITLE.RECEIVE_TRACKED_OBJECTS.equals(listener.first)) {
listener.second.onRefresh();
}
} else if (messageType == MessagePad.MessageType.MsgTypePlanningObjects) {
listPlanningObjects.add(0, new DataShow(listPlanningObjectsSize++, time + str));
if (listPlanningObjects.size() > LIST_SIZE) {
listPlanningObjects.remove(listPlanningObjects.size() - 1);
}
if (listener != null && Constants.TITLE.RECEIVE_PLANNING_OBJECTS.equals(listener.first)) {
listener.second.onRefresh();
}
} else if (messageType == MessagePad.MessageType.MsgTypePlanningDecisionState) {
listPlanningDecisionState.add(0, new DataShow(listPlanningDecisionStateSize++, time + str));
if (listPlanningDecisionState.size() > LIST_SIZE) {
listPlanningDecisionState.remove(listPlanningDecisionState.size() - 1);
}
if (listener != null && Constants.TITLE.RECEIVE_PLANNING_DECISION_STATE.equals(listener.first)) {
listener.second.onRefresh();
}
} else if (messageType == MessagePad.MessageType.MsgTypeGnssInfo) {
listGnssInfo.add(0, new DataShow(listGnssInfoSize++, time + str));
if (listGnssInfo.size() > LIST_SIZE) {
listGnssInfo.remove(listGnssInfo.size() - 1);
}
if (listener != null && Constants.TITLE.RECEIVE_GNSS_INFO.equals(listener.first)) {
listener.second.onRefresh();
}
} else if (messageType == MessagePad.MessageType.MsgTypeVehicleState) {
listVehicleState.add(0, new DataShow(listVehicleStateSize++, time + str));
if (listVehicleState.size() > LIST_SIZE) {
listVehicleState.remove(listVehicleState.size() - 1);
}
if (listener != null && Constants.TITLE.RECEIVE_VEHICLE_STATE.equals(listener.first)) {
listener.second.onRefresh();
}
} else if (messageType == MessagePad.MessageType.MsgTypeChassisStates) {
listChassisStates.add(0, new DataShow(listChassisStatesSize++, time + str));
if (listChassisStates.size() > LIST_SIZE) {
listChassisStates.remove(listChassisStates.size() - 1);
}
if (listener != null && Constants.TITLE.RECEIVE_CHASSIS_STATES.equals(listener.first)) {
listener.second.onRefresh();
}
} else if (messageType == MessagePad.MessageType.MsgTypeAutopilotState) {
listAutopilotState.add(0, new DataShow(listAutopilotStateSize++, time + str));
if (listAutopilotState.size() > LIST_SIZE) {
listAutopilotState.remove(listAutopilotState.size() - 1);
}
if (listener != null && Constants.TITLE.RECEIVE_AUTOPILOT_STATE.equals(listener.first)) {
listener.second.onRefresh();
}
} else if (messageType == MessagePad.MessageType.MsgTypeReportMessage) {
listMogoReportMessage.add(0, new DataShow(listMogoReportMessageSize++, time + str));
if (listMogoReportMessage.size() > LIST_SIZE) {
listMogoReportMessage.remove(listMogoReportMessage.size() - 1);
}
if (listener != null && Constants.TITLE.RECEIVE_REPORT_MESSAGE.equals(listener.first)) {
listener.second.onRefresh();
}
} else if (messageType == MessagePad.MessageType.MsgTypePredictionObstacleTrajectory) {
listPredictionObstacleTrajectory.add(0, new DataShow(listPredictionObstacleTrajectorySize++, time + str));
if (listPredictionObstacleTrajectory.size() > LIST_SIZE) {
listPredictionObstacleTrajectory.remove(listPredictionObstacleTrajectory.size() - 1);
}
if (listener != null && Constants.TITLE.RECEIVE_PREDICTION_OBSTACLE_TRAJECTORY.equals(listener.first)) {
listener.second.onRefresh();
}
} else if (messageType == MessagePad.MessageType.MsgTypeCarConfigResp) {
if (listener != null && Constants.TITLE.TITLE_CAR_CONFIG_RESP.equals(listener.first)) {
listener.second.onRefresh();
}
} else if (messageType == MessagePad.MessageType.MsgTypeRecordResult) {
listRecordPanel.add(0, new DataShow(listRecordPanelSize++, time + str));
if (listRecordPanel.size() > LIST_SIZE) {
listRecordPanel.remove(listRecordPanel.size() - 1);
}
if (listener != null && Constants.TITLE.RECEIVE_RECORD_RESULT.equals(listener.first)) {
listener.second.onRefresh();
}
} else if (messageType == MessagePad.MessageType.MsgTypeBagManagerCmd) {
listBagManagerCmd.add(0, new DataShow(listBagManagerCmdSize++, time + str));
if (listBagManagerCmd.size() > LIST_SIZE) {
listBagManagerCmd.remove(listBagManagerCmd.size() - 1);
}
if (listener != null && Constants.TITLE.RECEIVE_BAG_MANAGER_CMD.equals(listener.first)) {
listener.second.onRefresh();
}
} else if (messageType == MessagePad.MessageType.MsgTypeGlobalPathResp) {
listGlobalPathResp.add(0, new DataShow(listGlobalPathRespSize++, time + str));
if (listGlobalPathResp.size() > LIST_SIZE) {
listGlobalPathResp.remove(listGlobalPathResp.size() - 1);
}
if (listener != null && Constants.TITLE.RECEIVE_GLOBAL_PATH_RESP.equals(listener.first)) {
listener.second.onRefresh();
}
} else if (messageType == MessagePad.MessageType.MsgTypeWarn) {
listWarn.add(0, new DataShow(listWarnSize++, time + str));
if (listWarn.size() > LIST_SIZE) {
listWarn.remove(listWarn.size() - 1);
}
if (listener != null && Constants.TITLE.RECEIVE_WARN.equals(listener.first)) {
listener.second.onRefresh();
}
} else if (messageType == MessagePad.MessageType.MsgTypeArrivalNotification) {
listArrivalNotification.add(0, new DataShow(listArrivalNotificationSize++, time + str));
if (listArrivalNotification.size() > LIST_SIZE) {
listArrivalNotification.remove(listArrivalNotification.size() - 1);
}
if (listener != null && Constants.TITLE.RECEIVE_ARRIVAL_NOTIFICATION.equals(listener.first)) {
listener.second.onRefresh();
}
} else if (messageType == MessagePad.MessageType.MsgTypeStatusQueryResp) {
listStatusInfo.add(0, new DataShow(listStatusInfoSize++, time + str));
if (listStatusInfo.size() > LIST_SIZE) {
listStatusInfo.remove(listStatusInfo.size() - 1);
}
if (listener != null && Constants.TITLE.RECEIVE_STATUS_QUERY_RESP.equals(listener.first)) {
listener.second.onRefresh();
}
} else if (messageType == MessagePad.MessageType.MsgTypeRecordDataConfigResp) {
listRecordDataConfig.add(0, new DataShow(listRecordDataConfigSize++, time + str));
if (listRecordDataConfig.size() > LIST_SIZE) {
listRecordDataConfig.remove(listRecordDataConfig.size() - 1);
}
if (listener != null && Constants.TITLE.RECEIVE_RECORD_DATA_CONFIG_RESP.equals(listener.first)) {
listener.second.onRefresh();
}
} else if (messageType == MessagePad.MessageType.MsgTypeSweeperTaskIndexData) {
listRoboSweeperTaskIndex.add(0, new DataShow(listRoboSweeperTaskIndexSize++, time + str));
if (listRoboSweeperTaskIndex.size() > LIST_SIZE) {
listRoboSweeperTaskIndex.remove(listRoboSweeperTaskIndex.size() - 1);
}
if (listener != null && Constants.TITLE.RECEIVE_SWEEPER_TASK_INDEX_DATA.equals(listener.first)) {
listener.second.onRefresh();
}
} else if (messageType == MessagePad.MessageType.MsgTypeFunctionStates) {
listFSMFunctionStates.add(0, new DataShow(listFSMFunctionStatesSize++, time + str));
if (listFSMFunctionStates.size() > LIST_SIZE) {
listFSMFunctionStates.remove(listFSMFunctionStates.size() - 1);
}
if (listener != null && Constants.TITLE.RECEIVE_FUNCTION_STATES.equals(listener.first)) {
listener.second.onRefresh();
}
} else if (data instanceof PerceptionTrafficLight) {
listPerceptionTrafficLight.add(0, new DataShow(listPerceptionTrafficLightSize++, time + str));
if (listPerceptionTrafficLight.size() > LIST_SIZE) {
listPerceptionTrafficLight.remove(listPerceptionTrafficLight.size() - 1);
}
if (listener != null && Constants.TITLE.RECEIVE_PERCEPTION_TRAFFIC_LIGHT.equals(listener.first)) {
listener.second.onPerceptionTrafficLight((PerceptionTrafficLight) data);
}
} else if (data instanceof ObuSpat) {
listObuSpat.add(0, new DataShow(listObuSpatSize++, time + str));
if (listObuSpat.size() > LIST_SIZE) {
listObuSpat.remove(listObuSpat.size() - 1);
}
if (listener != null && Constants.TITLE.RECEIVE_OBU_SPAT.equals(listener.first)) {
listener.second.onRefresh();
}
} else if (data instanceof ObuRsi) {
listObuRsi.add(0, new DataShow(listObuRsiSize++, time + str));
if (listObuRsi.size() > LIST_SIZE) {
listObuRsi.remove(listObuRsi.size() - 1);
}
if (listener != null && Constants.TITLE.RECEIVE_OBU_RSI.equals(listener.first)) {
listener.second.onRefresh();
}
} else if (data instanceof ObuRsm) {
listObuRsm.add(0, new DataShow(listObuRsmSize++, time + str));
if (listObuRsm.size() > LIST_SIZE) {
listObuRsm.remove(listObuRsm.size() - 1);
}
if (listener != null && Constants.TITLE.RECEIVE_OBU_RSM.equals(listener.first)) {
listener.second.onRefresh();
}
} else if (data instanceof ObuMap) {
listObuMap.add(0, new DataShow(listObuMapSize++, time + str));
if (listObuMap.size() > LIST_SIZE) {
listObuMap.remove(listObuMap.size() - 1);
}
if (listener != null && Constants.TITLE.RECEIVE_OBU_MAP.equals(listener.first)) {
listener.second.onRefresh();
}
}
}
return temp;

23
app_ipc_monitoring/src/main/java/com/zhidao/adas/client/bean/ArrivalNotification.java
View File

@@ -1,23 +0,0 @@
package com.zhidao.adas.client.bean;
import com.google.protobuf.TextFormat;
import java.text.SimpleDateFormat;
import mogo.telematics.pad.MessagePad;
public class ArrivalNotification extends BaseInfo {
public final MessagePad.ArrivalNotification bean;
public ArrivalNotification(MessagePad.Header header, MessagePad.ArrivalNotification bean, SimpleDateFormat sdf) {
super("接收", bean.getSerializedSize(), header, sdf);
this.bean = bean;
}
@Override
public String toString() {
return super.toString() + TextFormat.printer().escapingNonAscii(false).printToString(bean);
}
}

24
app_ipc_monitoring/src/main/java/com/zhidao/adas/client/bean/AutopilotState.java
View File

@@ -1,24 +0,0 @@
package com.zhidao.adas.client.bean;
import com.google.protobuf.TextFormat;
import java.text.SimpleDateFormat;
import mogo.telematics.pad.MessagePad;
public class AutopilotState extends BaseInfo {
public final MessagePad.AutopilotState bean;
public AutopilotState(MessagePad.Header header, MessagePad.AutopilotState bean, SimpleDateFormat sdf) {
super("接收", bean.getSerializedSize(), header, sdf);
this.bean = bean;
}
@Override
public String toString() {
return super.toString() + TextFormat.printer().escapingNonAscii(false).printToString(bean);
}
}

24
app_ipc_monitoring/src/main/java/com/zhidao/adas/client/bean/BagManagerCmd.java
View File

@@ -1,24 +0,0 @@
package com.zhidao.adas.client.bean;
import com.google.protobuf.TextFormat;
import java.text.SimpleDateFormat;
import bag_manager.BagManagerOuterClass;
import mogo.telematics.pad.MessagePad;
public class BagManagerCmd extends BaseInfo {
public final BagManagerOuterClass.BagManager bean;
public BagManagerCmd(MessagePad.Header header, BagManagerOuterClass.BagManager bean, SimpleDateFormat sdf) {
super("接收", bean.getSerializedSize(), header, sdf);
this.bean = bean;
}
@Override
public String toString() {
return super.toString() + TextFormat.printer().escapingNonAscii(false).printToString(bean);
}
}

23
app_ipc_monitoring/src/main/java/com/zhidao/adas/client/bean/BasicInfoReq.java
View File

@@ -1,23 +0,0 @@
package com.zhidao.adas.client.bean;
import com.google.protobuf.TextFormat;
import java.text.SimpleDateFormat;
import mogo.telematics.pad.MessagePad;
public class BasicInfoReq extends BaseInfo {
public final MessagePad.BasicInfoReq bean;
public BasicInfoReq(MessagePad.Header header, MessagePad.BasicInfoReq bean, SimpleDateFormat sdf) {
super("接收", bean.getSerializedSize(), header, sdf);
this.bean = bean;
}
@Override
public String toString() {
return super.toString() + TextFormat.printer().escapingNonAscii(false).printToString(bean);
}
}

23
app_ipc_monitoring/src/main/java/com/zhidao/adas/client/bean/CarConfigResp.java
View File

@@ -1,23 +0,0 @@
package com.zhidao.adas.client.bean;
import com.google.protobuf.TextFormat;
import java.text.SimpleDateFormat;
import mogo.telematics.pad.MessagePad;
public class CarConfigResp extends BaseInfo {
public final MessagePad.CarConfigResp bean;
public CarConfigResp(MessagePad.Header header, MessagePad.CarConfigResp bean, SimpleDateFormat sdf) {
super("接收", bean.getSerializedSize(), header, sdf);
this.bean = bean;
}
@Override
public String toString() {
return super.toString() + TextFormat.printer().escapingNonAscii(false).printToString(bean);
}
}

24
app_ipc_monitoring/src/main/java/com/zhidao/adas/client/bean/ChassisStates.java
View File

@@ -1,24 +0,0 @@
package com.zhidao.adas.client.bean;
import com.google.protobuf.TextFormat;
import java.text.SimpleDateFormat;
import chassis.ChassisStatesOuterClass;
import mogo.telematics.pad.MessagePad;
public class ChassisStates extends BaseInfo {
public final ChassisStatesOuterClass.ChassisStates bean;
public ChassisStates(MessagePad.Header header, ChassisStatesOuterClass.ChassisStates bean, SimpleDateFormat sdf) {
super("接收", bean.getSerializedSize(), header, sdf);
this.bean = bean;
}
@Override
public String toString() {
return super.toString() + TextFormat.printer().escapingNonAscii(false).printToString(bean);
}
}

24
app_ipc_monitoring/src/main/java/com/zhidao/adas/client/bean/FSMFunctionStates.java
View File

@@ -1,24 +0,0 @@
package com.zhidao.adas.client.bean;
import com.google.protobuf.TextFormat;
import java.text.SimpleDateFormat;
import function_state_management.FunctionStates;
import mogo.telematics.pad.MessagePad;
public class FSMFunctionStates extends BaseInfo {
public final FunctionStates.FSMFunctionStates bean;
public FSMFunctionStates(MessagePad.Header header, FunctionStates.FSMFunctionStates bean, SimpleDateFormat sdf) {
super("接收", bean.getSerializedSize(), header, sdf);
this.bean = bean;
}
@Override
public String toString() {
return super.toString() + TextFormat.printer().escapingNonAscii(false).printToString(bean);
}
}

23
app_ipc_monitoring/src/main/java/com/zhidao/adas/client/bean/GlobalPathResp.java
View File

@@ -1,23 +0,0 @@
package com.zhidao.adas.client.bean;
import com.google.protobuf.TextFormat;
import java.text.SimpleDateFormat;
import mogo.telematics.pad.MessagePad;
public class GlobalPathResp extends BaseInfo {
public final MessagePad.GlobalPathResp bean;
public GlobalPathResp(MessagePad.Header header, MessagePad.GlobalPathResp bean, SimpleDateFormat sdf) {
super("接收", bean.getSerializedSize(), header, sdf);
this.bean = bean;
}
@Override
public String toString() {
return super.toString() + TextFormat.printer().escapingNonAscii(false).printToString(bean);
}
}

24
app_ipc_monitoring/src/main/java/com/zhidao/adas/client/bean/GnssInfo.java
View File

@@ -1,24 +0,0 @@
package com.zhidao.adas.client.bean;
import com.google.protobuf.TextFormat;
import java.text.SimpleDateFormat;
import mogo.telematics.pad.MessagePad;
public class GnssInfo extends BaseInfo {
public final MessagePad.GnssInfo bean;
public GnssInfo(MessagePad.Header header, MessagePad.GnssInfo bean, SimpleDateFormat sdf) {
super("接收", bean.getSerializedSize(), header, sdf);
this.bean = bean;
}
@Override
public String toString() {
return super.toString() + TextFormat.printer().escapingNonAscii(false).printToString(bean);
}
}

25
app_ipc_monitoring/src/main/java/com/zhidao/adas/client/bean/MogoReportMessage.java
View File

@@ -1,25 +0,0 @@
package com.zhidao.adas.client.bean;
import com.google.protobuf.TextFormat;
import java.text.SimpleDateFormat;
import mogo.telematics.pad.MessagePad;
import mogo_msg.MogoReportMsg;
public class MogoReportMessage extends BaseInfo {
public final MogoReportMsg.MogoReportMessage bean;
public MogoReportMessage(MessagePad.Header header, MogoReportMsg.MogoReportMessage bean, SimpleDateFormat sdf) {
super("接收", bean.getSerializedSize(), header, sdf);
this.bean = bean;
}
@Override
public String toString() {
return super.toString() + TextFormat.printer().escapingNonAscii(false).printToString(bean);
}
}

3
app_ipc_monitoring/src/main/java/com/zhidao/adas/client/bean/ObuMap.java
View File

@@ -2,6 +2,7 @@ package com.zhidao.adas.client.bean;
import com.google.protobuf.TextFormat;
import com.mogo.support.obu.ObuScene;
import com.zhidao.support.adas.high.common.ByteUtil;
import java.text.SimpleDateFormat;
@@ -18,7 +19,7 @@ public class ObuMap extends BaseInfo {
@Override
public String toString() {
return super.toString() + TextFormat.printer().escapingNonAscii(false).printToString(bean);
return super.toString() + "Payload原始数据：" + ByteUtil.byteArrToHex(bean.toByteArray()) + '\n' + TextFormat.printer().escapingNonAscii(false).printToString(bean);
}
}

3
app_ipc_monitoring/src/main/java/com/zhidao/adas/client/bean/ObuRsi.java
View File

@@ -2,6 +2,7 @@ package com.zhidao.adas.client.bean;
import com.google.protobuf.TextFormat;
import com.mogo.support.obu.ObuScene;
import com.zhidao.support.adas.high.common.ByteUtil;
import java.text.SimpleDateFormat;
@@ -18,7 +19,7 @@ public class ObuRsi extends BaseInfo {
@Override
public String toString() {
return super.toString() + TextFormat.printer().escapingNonAscii(false).printToString(bean);
return super.toString() + "Payload原始数据：" + ByteUtil.byteArrToHex(bean.toByteArray()) + '\n' + TextFormat.printer().escapingNonAscii(false).printToString(bean);
}
}

3
app_ipc_monitoring/src/main/java/com/zhidao/adas/client/bean/ObuRsm.java
View File

@@ -2,6 +2,7 @@ package com.zhidao.adas.client.bean;
import com.google.protobuf.TextFormat;
import com.mogo.support.obu.ObuScene;
import com.zhidao.support.adas.high.common.ByteUtil;
import java.text.SimpleDateFormat;
@@ -18,7 +19,7 @@ public class ObuRsm extends BaseInfo {
@Override
public String toString() {
return super.toString() + TextFormat.printer().escapingNonAscii(false).printToString(bean);
return super.toString() + "Payload原始数据：" + ByteUtil.byteArrToHex(bean.toByteArray()) + '\n' + TextFormat.printer().escapingNonAscii(false).printToString(bean);
}
}

3
app_ipc_monitoring/src/main/java/com/zhidao/adas/client/bean/ObuSpat.java
View File

@@ -2,6 +2,7 @@ package com.zhidao.adas.client.bean;
import com.google.protobuf.TextFormat;
import com.mogo.support.obu.ObuScene;
import com.zhidao.support.adas.high.common.ByteUtil;
import java.text.SimpleDateFormat;
@@ -18,7 +19,7 @@ public class ObuSpat extends BaseInfo {
@Override
public String toString() {
return super.toString() + TextFormat.printer().escapingNonAscii(false).printToString(bean);
return super.toString() + "Payload原始数据：" + ByteUtil.byteArrToHex(bean.toByteArray()) + '\n' + TextFormat.printer().escapingNonAscii(false).printToString(bean);
}
}

24
app_ipc_monitoring/src/main/java/com/zhidao/adas/client/bean/ObuWarningData.java
View File

@@ -1,24 +0,0 @@
package com.zhidao.adas.client.bean;
import com.google.protobuf.TextFormat;
import java.text.SimpleDateFormat;
import mogo.telematics.pad.MessagePad;
import mogo.v2x.ObuWarningEvent;
public class ObuWarningData extends BaseInfo {
public final ObuWarningEvent.ObuWarningData bean;
public ObuWarningData(MessagePad.Header header, ObuWarningEvent.ObuWarningData bean, SimpleDateFormat sdf) {
super("接收", bean.getSerializedSize(), header, sdf);
this.bean = bean;
}
@Override
public String toString() {
return super.toString() + TextFormat.printer().escapingNonAscii(false).printToString(bean);
}
}

3
app_ipc_monitoring/src/main/java/com/zhidao/adas/client/bean/PerceptionTrafficLight.java
View File

@@ -1,6 +1,7 @@
package com.zhidao.adas.client.bean;
import com.google.protobuf.TextFormat;
import com.zhidao.support.adas.high.common.ByteUtil;
import java.text.SimpleDateFormat;
@@ -18,7 +19,7 @@ public class PerceptionTrafficLight extends BaseInfo {
@Override
public String toString() {
return super.toString() + TextFormat.printer().escapingNonAscii(false).printToString(bean);
return super.toString() + "Payload原始数据：" + ByteUtil.byteArrToHex(bean.toByteArray()) + '\n' + TextFormat.printer().escapingNonAscii(false).printToString(bean);
}
}

23
app_ipc_monitoring/src/main/java/com/zhidao/adas/client/bean/PlanningDecisionState.java
View File

@@ -1,23 +0,0 @@
package com.zhidao.adas.client.bean;
import com.google.protobuf.TextFormat;
import java.text.SimpleDateFormat;
import mogo.telematics.pad.MessagePad;
public class PlanningDecisionState extends BaseInfo {
public final MessagePad.PlanningActionMsg bean;
public PlanningDecisionState(MessagePad.Header header, MessagePad.PlanningActionMsg bean, SimpleDateFormat sdf) {
super("接收", bean.getSerializedSize(), header, sdf);
this.bean = bean;
}
@Override
public String toString() {
return super.toString() + TextFormat.printer().escapingNonAscii(false).printToString(bean);
}
}

23
app_ipc_monitoring/src/main/java/com/zhidao/adas/client/bean/PlanningObjects.java
View File

@@ -1,23 +0,0 @@
package com.zhidao.adas.client.bean;
import com.google.protobuf.TextFormat;
import java.text.SimpleDateFormat;
import mogo.telematics.pad.MessagePad;
public class PlanningObjects extends BaseInfo {
public final MessagePad.PlanningObjects bean;
public PlanningObjects(MessagePad.Header header, MessagePad.PlanningObjects bean, SimpleDateFormat sdf) {
super("接收", bean.getSerializedSize(), header, sdf);
this.bean = bean;
}
@Override
public String toString() {
return super.toString() + TextFormat.printer().escapingNonAscii(false).printToString(bean);
}
}

24
app_ipc_monitoring/src/main/java/com/zhidao/adas/client/bean/PredictionObstacleTrajectory.java
View File

@@ -1,24 +0,0 @@
package com.zhidao.adas.client.bean;
import com.google.protobuf.TextFormat;
import java.text.SimpleDateFormat;
import mogo.telematics.pad.MessagePad;
import prediction.Prediction;
public class PredictionObstacleTrajectory extends BaseInfo {
public final Prediction.mPredictionObjects bean;
public PredictionObstacleTrajectory(MessagePad.Header header, Prediction.mPredictionObjects bean, SimpleDateFormat sdf) {
super("接收", bean.getSerializedSize(), header, sdf);
this.bean = bean;
}
@Override
public String toString() {
return super.toString() + TextFormat.printer().escapingNonAscii(false).printToString(bean);
}
}

25
app_ipc_monitoring/src/main/java/com/zhidao/adas/client/bean/ReceiveData.java Normal file
View File

@@ -0,0 +1,25 @@
package com.zhidao.adas.client.bean;
import com.google.protobuf.GeneratedMessageV3;
import com.google.protobuf.TextFormat;
import com.zhidao.support.adas.high.common.ByteUtil;
import java.text.SimpleDateFormat;
import mogo.telematics.pad.MessagePad;
public class ReceiveData extends BaseInfo {
public final GeneratedMessageV3 bean;
public ReceiveData(MessagePad.Header header, GeneratedMessageV3 bean, SimpleDateFormat sdf) {
super("接收", bean.getSerializedSize(), header, sdf);
this.bean = bean;
}
@Override
public String toString() {
return super.toString() + "Payload原始数据：" + ByteUtil.byteArrToHex(bean.toByteArray()) + '\n' + TextFormat.printer().escapingNonAscii(false).printToString(bean);
}
}

22
app_ipc_monitoring/src/main/java/com/zhidao/adas/client/bean/RecordDataConfig.java
View File

@@ -1,22 +0,0 @@
package com.zhidao.adas.client.bean;
import com.google.protobuf.TextFormat;
import java.text.SimpleDateFormat;
import mogo.telematics.pad.MessagePad;
public class RecordDataConfig extends BaseInfo {
public final MessagePad.RecordDataConfig bean;
public RecordDataConfig(MessagePad.Header header, MessagePad.RecordDataConfig bean, SimpleDateFormat sdf) {
super("接收", bean.getSerializedSize(), header, sdf);
this.bean = bean;
}
@Override
public String toString() {
return super.toString() + TextFormat.printer().escapingNonAscii(false).printToString(bean);
}
}

24
app_ipc_monitoring/src/main/java/com/zhidao/adas/client/bean/RecordPanel.java
View File

@@ -1,24 +0,0 @@
package com.zhidao.adas.client.bean;
import com.google.protobuf.TextFormat;
import java.text.SimpleDateFormat;
import mogo.telematics.pad.MessagePad;
import record_cache.RecordPanelOuterClass;
public class RecordPanel extends BaseInfo {
public final RecordPanelOuterClass.RecordPanel bean;
public RecordPanel(MessagePad.Header header, RecordPanelOuterClass.RecordPanel bean, SimpleDateFormat sdf) {
super("接收", bean.getSerializedSize(), header, sdf);
this.bean = bean;
}
@Override
public String toString() {
return super.toString() + TextFormat.printer().escapingNonAscii(false).printToString(bean);
}
}

24
app_ipc_monitoring/src/main/java/com/zhidao/adas/client/bean/RoboSweeperTaskIndex.java
View File

@@ -1,24 +0,0 @@
package com.zhidao.adas.client.bean;
import com.google.protobuf.TextFormat;
import java.text.SimpleDateFormat;
import mogo.telematics.pad.MessagePad;
import planning.RoboSweeperTaskIndexOuterClass;
public class RoboSweeperTaskIndex extends BaseInfo {
public final RoboSweeperTaskIndexOuterClass.RoboSweeperTaskIndex bean;
public RoboSweeperTaskIndex(MessagePad.Header header, RoboSweeperTaskIndexOuterClass.RoboSweeperTaskIndex bean, SimpleDateFormat sdf) {
super("接收", bean.getSerializedSize(), header, sdf);
this.bean = bean;
}
@Override
public String toString() {
return super.toString() + TextFormat.printer().escapingNonAscii(false).printToString(bean);
}
}

24
app_ipc_monitoring/src/main/java/com/zhidao/adas/client/bean/StatusInfo.java
View File

@@ -1,24 +0,0 @@
package com.zhidao.adas.client.bean;
import com.google.protobuf.TextFormat;
import java.text.SimpleDateFormat;
import mogo.telematics.pad.MessagePad;
import system_master.SystemStatusInfo;
public class StatusInfo extends BaseInfo {
public final SystemStatusInfo.StatusInfo bean;
public StatusInfo(MessagePad.Header header, SystemStatusInfo.StatusInfo bean, SimpleDateFormat sdf) {
super("接收", bean.getSerializedSize(), header, sdf);
this.bean = bean;
}
@Override
public String toString() {
return super.toString() + TextFormat.printer().escapingNonAscii(false).printToString(bean);
}
}

21
app_ipc_monitoring/src/main/java/com/zhidao/adas/client/bean/TrackedObjects.java
View File

@@ -1,21 +0,0 @@
package com.zhidao.adas.client.bean;
import com.google.protobuf.TextFormat;
import java.text.SimpleDateFormat;
import mogo.telematics.pad.MessagePad;
public class TrackedObjects extends BaseInfo {
private MessagePad.TrackedObjects bean;
public TrackedObjects(MessagePad.Header header, MessagePad.TrackedObjects bean, SimpleDateFormat sdf) {
super("接收", bean.getSerializedSize(), header, sdf);
this.bean = bean;
}
@Override
public String toString() {
return super.toString() + TextFormat.printer().escapingNonAscii(false).printToString(bean);
}
}

21
app_ipc_monitoring/src/main/java/com/zhidao/adas/client/bean/Trajectory.java
View File

@@ -1,21 +0,0 @@
package com.zhidao.adas.client.bean;
import com.google.protobuf.TextFormat;
import java.text.SimpleDateFormat;
import mogo.telematics.pad.MessagePad;
public class Trajectory extends BaseInfo {
public final MessagePad.Trajectory bean;
public Trajectory(MessagePad.Header header, MessagePad.Trajectory bean, SimpleDateFormat sdf) {
super("接收", bean.getSerializedSize(), header, sdf);
this.bean = bean;
}
@Override
public String toString() {
return super.toString() + TextFormat.printer().escapingNonAscii(false).printToString(bean);
}
}

22
app_ipc_monitoring/src/main/java/com/zhidao/adas/client/bean/VehicleState.java
View File

@@ -1,22 +0,0 @@
package com.zhidao.adas.client.bean;
import com.google.protobuf.TextFormat;
import java.text.SimpleDateFormat;
import chassis.VehicleStateOuterClass;
import mogo.telematics.pad.MessagePad;
public class VehicleState extends BaseInfo {
public final VehicleStateOuterClass.VehicleState bean;
public VehicleState(MessagePad.Header header, VehicleStateOuterClass.VehicleState bean, SimpleDateFormat sdf) {
super("接收", bean.getSerializedSize(), header, sdf);
this.bean = bean;
}
@Override
public String toString() {
return super.toString() + TextFormat.printer().escapingNonAscii(false).printToString(bean);
}
}

21
app_ipc_monitoring/src/main/java/com/zhidao/adas/client/bean/Warn.java
View File

@@ -1,21 +0,0 @@
package com.zhidao.adas.client.bean;
import com.google.protobuf.TextFormat;
import java.text.SimpleDateFormat;
import mogo.telematics.pad.MessagePad;
public class Warn extends BaseInfo {
public final MessagePad.Warn bean;
public Warn(MessagePad.Header header, MessagePad.Warn bean, SimpleDateFormat sdf) {
super("接收", bean.getSerializedSize(), header, sdf);
this.bean = bean;
}
@Override
public String toString() {
return super.toString() + TextFormat.printer().escapingNonAscii(false).printToString(bean);
}
}

81
app_ipc_monitoring/src/main/java/com/zhidao/adas/client/ui/MainActivity.java
View File

@@ -43,11 +43,7 @@ import androidx.recyclerview.widget.SimpleItemAnimator;
import com.google.protobuf.TextFormat;
import com.mogo.support.obu.ObuScene;
import com.mogo.telematic.MogoProtocolMsg;
import com.mogo.telematic.NSDNettyManager;
import com.mogo.telematic.client.listener.NettyClientListener;
import com.mogo.telematic.client.status.ConnectState;
import com.mogo.telematic.server.netty.NettyServerListener;
import com.zhidao.adas.client.App;
import com.zhidao.adas.client.BuildConfig;
import com.zhidao.adas.client.DataDistribution;
import com.zhidao.adas.client.R;
@@ -55,36 +51,16 @@ import com.zhidao.adas.client.adapter.InfoTitleAdapter;
import com.zhidao.adas.client.base.BaseActivity;
import com.zhidao.adas.client.base.BaseAdapter;
import com.zhidao.adas.client.base.BaseFragment;
import com.zhidao.adas.client.bean.ArrivalNotification;
import com.zhidao.adas.client.bean.AutopilotState;
import com.zhidao.adas.client.bean.BagManagerCmd;
import com.zhidao.adas.client.bean.BasicInfoReq;
import com.zhidao.adas.client.bean.CarConfigResp;
import com.zhidao.adas.client.bean.ChassisStates;
import com.zhidao.adas.client.bean.ErrorData;
import com.zhidao.adas.client.bean.FSMFunctionStates;
import com.zhidao.adas.client.bean.GlobalPathResp;
import com.zhidao.adas.client.bean.GnssInfo;
import com.zhidao.adas.client.bean.IPCConnectState;
import com.zhidao.adas.client.bean.MogoReportMessage;
import com.zhidao.adas.client.bean.ObuMap;
import com.zhidao.adas.client.bean.ObuRsi;
import com.zhidao.adas.client.bean.ObuRsm;
import com.zhidao.adas.client.bean.ObuSpat;
import com.zhidao.adas.client.bean.OriginalPointCloudData;
import com.zhidao.adas.client.bean.PerceptionTrafficLight;
import com.zhidao.adas.client.bean.PlanningDecisionState;
import com.zhidao.adas.client.bean.PlanningObjects;
import com.zhidao.adas.client.bean.PredictionObstacleTrajectory;
import com.zhidao.adas.client.bean.RecordDataConfig;
import com.zhidao.adas.client.bean.RecordPanel;
import com.zhidao.adas.client.bean.RoboSweeperTaskIndex;
import com.zhidao.adas.client.bean.ReceiveData;
import com.zhidao.adas.client.bean.SpecialVehicleBean;
import com.zhidao.adas.client.bean.StatusInfo;
import com.zhidao.adas.client.bean.TrackedObjects;
import com.zhidao.adas.client.bean.Trajectory;
import com.zhidao.adas.client.bean.VehicleState;
import com.zhidao.adas.client.bean.Warn;
import com.zhidao.adas.client.log.ConnectStatusSave;
import com.zhidao.adas.client.log.LogSave;
import com.zhidao.adas.client.other.permission.BackgrounderPermission;
@@ -97,14 +73,12 @@ import com.zhidao.support.adas.high.AdasManager;
import com.zhidao.support.adas.high.AdasOptions;
import com.zhidao.support.adas.high.OnAdasConnectStatusListener;
import com.zhidao.support.adas.high.OnAdasListener;
import com.zhidao.support.adas.high.OnMultiDeviceListener;
import com.zhjt.mogo.adas.data.bean.AutopilotStatistics;
import com.zhidao.support.adas.high.bean.VersionCompatibility;
import com.zhidao.support.adas.high.common.ByteUtil;
import com.zhidao.support.adas.high.common.Constants.IPC_CONNECTION_STATUS;
import com.zhidao.support.adas.high.common.CupidLogUtils;
import com.zhidao.support.adas.high.common.ProtocolStatus;
import com.zhidao.support.adas.high.common.ReceiveTimeoutManager;
import com.zhjt.mogo.adas.data.bean.AutopilotStatistics;
import java.net.Inet4Address;
import java.net.InetAddress;
@@ -123,7 +97,6 @@ import bag_manager.BagManagerOuterClass;
import chassis.ChassisStatesOuterClass;
import chassis.VehicleStateOuterClass;
import function_state_management.FunctionStates;
import io.netty.channel.Channel;
import mogo.telematics.pad.MessagePad;
import mogo_msg.MogoReportMsg;
import perception.TrafficLightOuterClass;
@@ -878,44 +851,46 @@ public class MainActivity extends BaseActivity implements OnAdasListener, OnAdas
@Override
public void onTrajectory(MessagePad.Header header, MessagePad.Trajectory trajectory) {
Trajectory base = new Trajectory(header, trajectory, sdf);
ReceiveData base = new ReceiveData(header, trajectory, sdf);
DataDistribution.getInstance().addData(base);
}
@Override
public void onTrackedObjects(MessagePad.Header header, MessagePad.TrackedObjects trackedObjects) {
TrackedObjects base = new TrackedObjects(header, trackedObjects, sdf);
ReceiveData base = new ReceiveData(header, trackedObjects, sdf);
DataDistribution.getInstance().addData(base);
}
@Override
public void onGnssInfo(MessagePad.Header header, MessagePad.GnssInfo gnssInfo) {
GnssInfo base = new GnssInfo(header, gnssInfo, sdf);
ReceiveData base = new ReceiveData(header, gnssInfo, sdf);
DataDistribution.getInstance().addData(base);
}
@Override
public void onVehicleState(MessagePad.Header header, VehicleStateOuterClass.VehicleState vehicleState) {
VehicleState base = new VehicleState(header, vehicleState, sdf);
App.INSTANCE.gear = vehicleState.getGear();
ReceiveData base = new ReceiveData(header, vehicleState, sdf);
DataDistribution.getInstance().addData(base);
}
@Override
public void onChassisStates(MessagePad.Header header, ChassisStatesOuterClass.ChassisStates chassisStates) {
ChassisStates base = new ChassisStates(header, chassisStates, sdf);
App.INSTANCE.gear = chassisStates.getGearSystemStates().getGearPosition();
ReceiveData base = new ReceiveData(header, chassisStates, sdf);
DataDistribution.getInstance().addData(base);
}
@Override
public void onAutopilotState(MessagePad.Header header, MessagePad.AutopilotState autopilotState) {
AutopilotState base = new AutopilotState(header, autopilotState, sdf);
ReceiveData base = new ReceiveData(header, autopilotState, sdf);
DataDistribution.getInstance().addData(base);
}
@Override
public void onReportMessage(MessagePad.Header header, MogoReportMsg.MogoReportMessage mogoReportMessage) {
MogoReportMessage base = new MogoReportMessage(header, mogoReportMessage, sdf);
ReceiveData base = new ReceiveData(header, mogoReportMessage, sdf);
DataDistribution.getInstance().addData(base);
}
@@ -927,7 +902,7 @@ public class MainActivity extends BaseActivity implements OnAdasListener, OnAdas
@Override
public void onPredictionObstacleTrajectory(MessagePad.Header header, Prediction.mPredictionObjects predictionObjects) {
PredictionObstacleTrajectory base = new PredictionObstacleTrajectory(header, predictionObjects, sdf);
ReceiveData base = new ReceiveData(header, predictionObjects, sdf);
DataDistribution.getInstance().addData(base);
}
@@ -966,32 +941,32 @@ public class MainActivity extends BaseActivity implements OnAdasListener, OnAdas
@Override
public void onPlanningObjects(MessagePad.Header header, MessagePad.PlanningObjects planningObjects) {
PlanningObjects base = new PlanningObjects(header, planningObjects, sdf);
ReceiveData base = new ReceiveData(header, planningObjects, sdf);
DataDistribution.getInstance().addData(base);
}
@Override
public void onBasicInfoReq(MessagePad.Header header, MessagePad.BasicInfoReq basicInfoReq) {
BasicInfoReq info = new BasicInfoReq(header, basicInfoReq, sdf);
DataDistribution.getInstance().addData(info);
ReceiveData base = new ReceiveData(header, basicInfoReq, sdf);
DataDistribution.getInstance().addData(base);
AdasManager.getInstance().sendBasicInfoResp("", 0, com.zhidao.support.adas.high.common.Constants.TERMINAL_ROLE.DEBUG);
runOnUiThread(new Runnable() {
@Override
public void run() {
showToastCenter("收到车机基础信息请求:" + info.toString());
showToastCenter("收到车机基础信息请求:" + base.toString());
}
});
}
@Override
public void onCarConfigResp(MessagePad.Header header, MessagePad.CarConfigResp carConfigResp) {
CarConfigResp base = new CarConfigResp(header, carConfigResp, sdf);
ReceiveData base = new ReceiveData(header, carConfigResp, sdf);
DataDistribution.getInstance().addData(base);
}
@Override
public void onRecordResult(MessagePad.Header header, RecordPanelOuterClass.RecordPanel recordPanel) {
RecordPanel base = new RecordPanel(header, recordPanel, sdf);
ReceiveData base = new ReceiveData(header, recordPanel, sdf);
DataDistribution.getInstance().addData(base);
recordKey = recordPanel.getKey();
recordFileName = recordPanel.getFilename();
@@ -999,37 +974,37 @@ public class MainActivity extends BaseActivity implements OnAdasListener, OnAdas
@Override
public void onGlobalPathResp(MessagePad.Header header, MessagePad.GlobalPathResp globalPathResp) {
GlobalPathResp base = new GlobalPathResp(header, globalPathResp, sdf);
ReceiveData base = new ReceiveData(header, globalPathResp, sdf);
DataDistribution.getInstance().addData(base);
}
@Override
public void onWarn(MessagePad.Header header, MessagePad.Warn warn) {
Warn base = new Warn(header, warn, sdf);
ReceiveData base = new ReceiveData(header, warn, sdf);
DataDistribution.getInstance().addData(base);
}
@Override
public void onArrivalNotification(MessagePad.Header header, MessagePad.ArrivalNotification arrivalNotification) {
ArrivalNotification base = new ArrivalNotification(header, arrivalNotification, sdf);
ReceiveData base = new ReceiveData(header, arrivalNotification, sdf);
DataDistribution.getInstance().addData(base);
}
@Override
public void onStatusQueryResp(MessagePad.Header header, SystemStatusInfo.StatusInfo statusInfo) {
StatusInfo base = new StatusInfo(header, statusInfo, sdf);
ReceiveData base = new ReceiveData(header, statusInfo, sdf);
DataDistribution.getInstance().addData(base);
}
@Override
public void onRecordDataConfigResp(MessagePad.Header header, MessagePad.RecordDataConfig config) {
RecordDataConfig base = new RecordDataConfig(header, config, sdf);
ReceiveData base = new ReceiveData(header, config, sdf);
DataDistribution.getInstance().addData(base);
}
@Override
public void onPlanningActionMsg(MessagePad.Header header, MessagePad.PlanningActionMsg planningActionMsg) {
PlanningDecisionState base = new PlanningDecisionState(header, planningActionMsg, sdf);
ReceiveData base = new ReceiveData(header, planningActionMsg, sdf);
DataDistribution.getInstance().addData(base);
}
@@ -1060,19 +1035,19 @@ public class MainActivity extends BaseActivity implements OnAdasListener, OnAdas
@Override
public void onFunctionStates(MessagePad.Header header, FunctionStates.FSMFunctionStates functionStates) {
FSMFunctionStates base = new FSMFunctionStates(header, functionStates, sdf);
ReceiveData base = new ReceiveData(header, functionStates, sdf);
DataDistribution.getInstance().addData(base);
}
@Override
public void onSweeperTaskIndexData(MessagePad.Header header, RoboSweeperTaskIndexOuterClass.RoboSweeperTaskIndex roboSweeperTaskIndex) {
RoboSweeperTaskIndex base = new RoboSweeperTaskIndex(header, roboSweeperTaskIndex, sdf);
ReceiveData base = new ReceiveData(header, roboSweeperTaskIndex, sdf);
DataDistribution.getInstance().addData(base);
}
@Override
public void onBagManagerCmd(MessagePad.Header header, BagManagerOuterClass.BagManager bagManager) {
BagManagerCmd base = new BagManagerCmd(header, bagManager, sdf);
ReceiveData base = new ReceiveData(header, bagManager, sdf);
DataDistribution.getInstance().addData(base);
}

94
app_ipc_monitoring/src/main/java/com/zhidao/adas/client/ui/VersionFragment.java
View File

@@ -23,6 +23,7 @@ import androidx.recyclerview.widget.LinearLayoutManager;
import androidx.recyclerview.widget.RecyclerView;
import androidx.recyclerview.widget.SimpleItemAnimator;
import com.zhidao.adas.client.App;
import com.zhidao.adas.client.BuildConfig;
import com.zhidao.adas.client.R;
import com.zhidao.adas.client.adapter.ConfigAdapter;
@@ -36,6 +37,7 @@ import com.zhidao.support.adas.high.bean.VersionCompatibility;
import com.zhidao.support.adas.high.common.Constants;
import com.zhidao.support.adas.high.common.CupidLogUtils;
import com.zhidao.support.adas.high.common.MessageType;
import com.zhidao.support.adas.high.common.autopilot.ability.AutopilotAbilityManager;
import java.text.SimpleDateFormat;
import java.util.ArrayList;
@@ -45,6 +47,7 @@ import java.util.List;
import java.util.Locale;
import java.util.Set;
import chassis.Chassis;
import mogo.telematics.pad.MessagePad;
/**
@@ -65,7 +68,7 @@ public class VersionFragment extends BaseFragment {
private ConfigAdapter adapter;
private InterfaceAdapter unregisteredAdapter;
private InterfaceAdapter registeredAdapter;
private Set[] unableGears;
private int role = Constants.TERMINAL_ROLE.DEBUG;//角色 默认调试屏
@@ -216,9 +219,48 @@ public class VersionFragment extends BaseFragment {
list.add(new Config("ADAS LIB版本:", AdasManager.getInstance().getAdasVersion()));
list.add(new Config("APP构建时间:", BuildConfig.BUILD_TIME));
list.add(getAutopilotAbilityConfig(""));
list.add(gear());
adapter.setData(list);
}
private Config gear() {
StringBuilder builder = new StringBuilder();
Chassis.GearPosition gear = App.INSTANCE.gear;
if (gear != null) {
if (unableGears == null) {
unableGears = new Set[6];
unableGears[0] = BuildConfig.UNABLE_LAUNCH_AUTOPILOT_GEAR_BUS;
unableGears[1] = BuildConfig.UNABLE_LAUNCH_AUTOPILOT_GEAR_M1;
unableGears[2] = BuildConfig.UNABLE_LAUNCH_AUTOPILOT_GEAR_M2;
unableGears[3] = BuildConfig.UNABLE_LAUNCH_AUTOPILOT_GEAR_SWEEPER;
unableGears[4] = BuildConfig.UNABLE_LAUNCH_AUTOPILOT_GEAR_TAXI;
unableGears[5] = BuildConfig.UNABLE_LAUNCH_AUTOPILOT_GEAR_VAN;
}
for (int j = 0; j < unableGears.length; j++) {
String type = "";
if (j == 0) {
type = "BUS";
} else if (j == 1) {
type = "M1";
} else if (j == 2) {
type = "M2";
} else if (j == 3) {
type = "SWEEPER";
} else if (j == 4) {
type = "TAXI";
} else if (j == 5) {
type = "VAN";
}
AutopilotAbilityManager.getInstance().setUnableLaunchAutopilotGear(unableGears[j]);
boolean b = AutopilotAbilityManager.getInstance().isLaunchAutopilot(gear);
builder.append("车型:").append(type);
builder.append(" 当前档位:").append(gear.name());
builder.append(" 是否可以启动自驾:").append(b).append('\n');
}
}
return new Config("档位影响:", builder.toString());
}
private Config getAutopilotAbilityConfig(String value) {
return new Config("能否启动自动驾驶:", value);
}
@@ -226,32 +268,34 @@ public class VersionFragment extends BaseFragment {
public void autopilotAbility(boolean isAutopilotAbility, String unableAutopilotReason) {
List<Config> list = adapter.getData();
if (list != null) {
Config temp = getAutopilotAbilityConfig(isAutopilotAbility + "，原因：" + unableAutopilotReason);
int index = list.indexOf(temp);
if (index < 0) {
list.add(temp);
if (getActivity() != null)
getActivity().runOnUiThread(new Runnable() {
@Override
public void run() {
adapter.notifyItemInserted(list.size() - 1);
}
});
} else {
Config config = list.get(index);
config.cover(temp);
config.color = RandomColor.randomColor();
if (getActivity() != null)
getActivity().runOnUiThread(new Runnable() {
@Override
public void run() {
adapter.notifyItemChanged(index);
}
});
}
updateRefreshConfig(list, getAutopilotAbilityConfig(isAutopilotAbility + "，原因：" + unableAutopilotReason));
updateRefreshConfig(list, gear());
}
}
private void updateRefreshConfig(List<Config> list, Config temp) {
int index = list.indexOf(temp);
if (index < 0) {
list.add(temp);
if (getActivity() != null)
getActivity().runOnUiThread(new Runnable() {
@Override
public void run() {
adapter.notifyItemInserted(list.size() - 1);
}
});
} else {
Config config = list.get(index);
config.cover(temp);
config.color = RandomColor.randomColor();
if (getActivity() != null)
getActivity().runOnUiThread(new Runnable() {
@Override
public void run() {
adapter.notifyItemChanged(index);
}
});
}
}
@Override

4
app_ipc_monitoring/src/main/res/values/colors.xml
View File

@@ -19,7 +19,7 @@
<color name="connect_status_search_address">#1E90FF</color>
<color name="color1">#FFC0CB</color>
<color name="color2">#FF8F00</color>
<color name="color3">#FFE500</color>
<color name="color4">#B9ED3E</color>
<color name="color3">#FF33FF</color>
<color name="color4">#669900</color>
<color name="color5">#2EEDEB</color>
</resources>

6
core/function-impl/mogo-core-function-datacenter/src/main/java/com/mogo/eagle/core/function/datacenter/autopilot/MoGoAutopilotControlProvider.kt
View File

@@ -105,7 +105,7 @@ class MoGoAutopilotControlProvider :
.setIpcConnectionMode(AdasOptions.IPC_CONNECTION_MODE.FIXATION)
.setIpcFixationIP(AdasManager.getInstance().getIPCFixationIPList(mContext))
.setClient(false)
.setIdentityMode(FunctionBuildConfig.appIdentityMode)
.setUnableLaunchAutopilotGear(FunctionBuildConfig.unableLaunchAutopilotGear)
// .setSubscribeInterfaceOptions(subscribeInterfaceOptions)//
.build()
@@ -196,7 +196,7 @@ class MoGoAutopilotControlProvider :
val options = AdasOptions
.Builder()
.setClient(true)
.setIdentityMode(FunctionBuildConfig.appIdentityMode)
.setUnableLaunchAutopilotGear(FunctionBuildConfig.unableLaunchAutopilotGear)
.build()
AdasManager.getInstance()
.create(options, MoGoAdasMsgConnectStatusListenerImpl())
@@ -224,7 +224,7 @@ class MoGoAutopilotControlProvider :
.setIpcConnectionMode(AdasOptions.IPC_CONNECTION_MODE.FIXATION)
.setIpcFixationIP(AdasManager.getInstance().getIPCFixationIPList(mContext))
.setClient(false)// 乘客端直连工控机改为false
.setIdentityMode(FunctionBuildConfig.appIdentityMode)
.setUnableLaunchAutopilotGear(FunctionBuildConfig.unableLaunchAutopilotGear)
.build()
AdasManager.getInstance().create(options, MoGoAdasMsgConnectStatusListenerImpl())
//////////////////////////////////注意先后顺序，AdasManager.getInstance().create后才可以设置监听/////////////////////////////////////////////

7
core/mogo-core-data/src/main/java/com/mogo/eagle/core/data/config/FunctionBuildConfig.kt
View File

@@ -1,5 +1,6 @@
package com.mogo.eagle.core.data.config
import chassis.Chassis
import com.mogo.eagle.core.data.deva.net.UrlConfig
import com.mogo.eagle.core.utilcode.util.GsonUtils
@@ -213,4 +214,10 @@ object FunctionBuildConfig {
@JvmField
var urlJson: UrlConfig = GsonUtils.fromJson("{\"och_url\":\"https://tech.zhidaohulian.com\"}", UrlConfig::class.java)
/**
* 最外层设置的Url
*/
@Volatile
@JvmField
var unableLaunchAutopilotGear: Set<Chassis.GearPosition>? = null
}

17
libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/AdasOptions.java
View File

@@ -4,6 +4,9 @@ import com.zhidao.support.adas.high.common.autopilot.ability.AutopilotAbilityMan
import com.zhidao.support.adas.high.subscribe.SubscribeInterfaceOptions;
import java.util.HashSet;
import java.util.Set;
import chassis.Chassis;
/**
* Date：2019/5/31。
@@ -126,13 +129,13 @@ public class AdasOptions {
}
/**
* 身份/车型
* 不能启动自驾的档位
*
* @param identityMode 车型
* @param unableLaunchAutopilotGear 档位
* @return
*/
public Builder setIdentityMode(String identityMode) {
options.setIdentityMode(identityMode);
public Builder setUnableLaunchAutopilotGear(Set<Chassis.GearPosition> unableLaunchAutopilotGear) {
options.setUnableLaunchAutopilotGear(unableLaunchAutopilotGear);
return this;
}
@@ -153,7 +156,7 @@ public class AdasOptions {
options.ipcAssignIP = null;
options.ipcFixationIP = null;
options.subscribeInterfaceOptions = null;
options.setIdentityMode("");
options.setUnableLaunchAutopilotGear(null);
return options;
}
@@ -197,7 +200,7 @@ public class AdasOptions {
this.subscribeInterfaceOptions = subscribeInterfaceOptions;
}
public void setIdentityMode(String identityMode) {
AutopilotAbilityManager.getInstance().setIdentityMode(identityMode);
public void setUnableLaunchAutopilotGear(Set<Chassis.GearPosition> unableLaunchAutopilotGear) {
AutopilotAbilityManager.getInstance().setUnableLaunchAutopilotGear(unableLaunchAutopilotGear);
}
}

44
libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/common/autopilot/ability/AutopilotAbility230.java
View File

@@ -1,10 +1,7 @@
package com.zhidao.support.adas.high.common.autopilot.ability;
import com.zhidao.support.adas.high.OnAdasListener;
import java.util.Timer;
import java.util.TimerTask;
import java.util.regex.Pattern;
import chassis.Chassis;
import chassis.ChassisStatesOuterClass;
@@ -31,10 +28,6 @@ public class AutopilotAbility230 {
}
private void onCallback() {
//金旅、开沃小巴乘客端 不能启动自动驾驶
if (AutopilotAbilityManager.getInstance().isBusPassenger()) {
return;
}
boolean isAutopilotAbility = true;//是否能启动自动驾驶
String unableAutopilotReason = null;//不能启动自动驾驶原因
//检测底盘相关
@@ -47,36 +40,14 @@ public class AutopilotAbility230 {
}
}
if (isAutopilotAbility) {
/**
* 档位状态判断 目前判断的车型包括 东风Taxi 红旗Taxi 金旅Bus 金旅M1 金旅M1 福田清扫车 开沃
* TODO 如果 identityMode 未赋值以及目前已知其他车型判断逻辑跟东风Taxi和红旗 走
*/
//开沃任何档位都能启动自驾
if (!AutopilotAbilityManager.getInstance().isBusDriverVan()) {
if (chassisStates.hasGearSystemStates()) {
Chassis.GearPosition gear = chassisStates.getGearSystemStates().getGearPosition();
//金旅Bus和清扫车 档位不正常
if (AutopilotAbilityManager.getInstance().isBusDriver()) {
if (gear == Chassis.GearPosition.GEAR_N || gear == Chassis.GearPosition.GEAR_R) {
isAutopilotAbility = false;
unableAutopilotReason = "档位不正常";
}
} else if (AutopilotAbilityManager.getInstance().isSweeperDriverFutian()) {
if (gear == Chassis.GearPosition.GEAR_N) {
isAutopilotAbility = false;
unableAutopilotReason = "档位不正常";
}
} else {
//东风Taxi和红旗 司机端和乘客端 档位不正常
if (gear == Chassis.GearPosition.GEAR_P || gear == Chassis.GearPosition.GEAR_R) {
isAutopilotAbility = false;
unableAutopilotReason = "档位不正常";
}
}
if (chassisStates.hasGearSystemStates()) {
Chassis.GearPosition gear = chassisStates.getGearSystemStates().getGearPosition();
if (!AutopilotAbilityManager.getInstance().isLaunchAutopilot(gear)) {
isAutopilotAbility = false;
unableAutopilotReason = "档位不正常";
}
}
}
//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
// if (isAutopilotAbility) {
// //电子驻车制动系统
@@ -88,9 +59,7 @@ public class AutopilotAbility230 {
// }
// }
}
if (AutopilotAbilityManager.getInstance().getListener() != null) {
AutopilotAbilityManager.getInstance().getListener().onAutopilotAbility(isAutopilotAbility, unableAutopilotReason);
}
AutopilotAbilityManager.getInstance().onAutopilotAbility(isAutopilotAbility, unableAutopilotReason);
}
public synchronized void start() {
@@ -114,5 +83,4 @@ public class AutopilotAbility230 {
}
}

40
libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/common/autopilot/ability/AutopilotAbility250.java
View File

@@ -45,10 +45,6 @@ public class AutopilotAbility250 {
}
private void onCallback(SystemStatusInfo.StatusInfo statusInfo) {
//金旅、开沃小巴乘客端 不能启动自动驾驶
if (AutopilotAbilityManager.getInstance().isBusPassenger()) {
return;
}
boolean isAutopilotAbility = true;//是否能启动自动驾驶
String unableAutopilotReason = null;//不能启动自动驾驶原因
//检测节点状态相关
@@ -122,36 +118,14 @@ public class AutopilotAbility250 {
}
}
if (isAutopilotAbility) {
/**
* 档位状态判断 目前判断的车型包括 东风Taxi 红旗Taxi 金旅Bus 金旅M1 金旅M1 福田清扫车 开沃
* TODO 如果 identityMode 未赋值以及目前已知其他车型判断逻辑跟东风Taxi和红旗 走
*/
//开沃任何档位都能启动自驾
if (!AutopilotAbilityManager.getInstance().isBusDriverVan()) {
if (chassisStates.hasGearSystemStates()) {
Chassis.GearPosition gear = chassisStates.getGearSystemStates().getGearPosition();
//金旅Bus和清扫车 档位不正常
if (AutopilotAbilityManager.getInstance().isBusDriver()) {
if (gear == Chassis.GearPosition.GEAR_N || gear == Chassis.GearPosition.GEAR_R) {
isAutopilotAbility = false;
unableAutopilotReason = "档位不正常";
}
} else if (AutopilotAbilityManager.getInstance().isSweeperDriverFutian()) {
if (gear == Chassis.GearPosition.GEAR_N) {
isAutopilotAbility = false;
unableAutopilotReason = "档位不正常";
}
} else {
//东风Taxi和红旗 司机端和乘客端 档位不正常
if (gear == Chassis.GearPosition.GEAR_P || gear == Chassis.GearPosition.GEAR_R) {
isAutopilotAbility = false;
unableAutopilotReason = "档位不正常";
}
}
if (chassisStates.hasGearSystemStates()) {
Chassis.GearPosition gear = chassisStates.getGearSystemStates().getGearPosition();
if (!AutopilotAbilityManager.getInstance().isLaunchAutopilot(gear)) {
isAutopilotAbility = false;
unableAutopilotReason = "档位不正常";
}
}
}
//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
// if (isAutopilotAbility) {
// //电子驻车制动系统
@@ -163,9 +137,7 @@ public class AutopilotAbility250 {
// }
// }
}
if (AutopilotAbilityManager.getInstance().getListener() != null) {
AutopilotAbilityManager.getInstance().getListener().onAutopilotAbility(isAutopilotAbility, unableAutopilotReason);
}
AutopilotAbilityManager.getInstance().onAutopilotAbility(isAutopilotAbility, unableAutopilotReason);
}
public synchronized void start() {

81
libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/common/autopilot/ability/AutopilotAbilityManager.java
View File

@@ -10,11 +10,13 @@ import com.zhidao.support.adas.high.OnAdasListener;
import com.zhidao.support.adas.high.common.Constants;
import com.zhidao.support.adas.high.common.CupidLogUtils;
import java.util.Set;
import java.util.Timer;
import java.util.TimerTask;
import java.util.regex.Matcher;
import java.util.regex.Pattern;
import chassis.Chassis;
import chassis.ChassisStatesOuterClass;
import mogo.telematics.pad.MessagePad;
import system_master.SystemStatusInfo;
@@ -38,37 +40,14 @@ public class AutopilotAbilityManager {
private AutopilotAbility250 autopilotAbility250;
private Timer startTimer;
/**
* 身份/车型
* 不能启动自动驾驶的档位
*/
private String identityMode;
private Set<Chassis.GearPosition> unableLaunchAutopilotGear;
public interface OnAutopilotAbilityListener {
void onStatusQuery();//查询是被调用
}
/**
* 身份规则定义根据app/productFlavors/README.md
* * taxi司机屏 Taxi_Driver_Base （东风、红旗司机端）
* * taxi乘客屏 Taxi_Passenger_Base （东风、红旗乘客端）
* * bus司机屏 Bus_Driver_Base （金旅小巴司机端）
* * Bus_Driver_Van （开沃小巴司机端）
* * bus乘客屏 Bus_Passenger_Base （金旅、开沃小巴乘客端）
* * Bus_Passenger_M1 （M1小巴乘客端）
* * Bus_Passenger_M2 （M2小巴乘客端）
* * 清扫车 Sweeper_Driver_FT （福田清扫车司机端）
* <p>
* 此定义不区分角色，只区分业务线和车型
*/
private interface IDENTITY_MODE {
String TAXI_DRIVER_BASE = "Taxi_Driver_Base";//（东风、红旗司机端）
String TAXI_PASSENGER_BASE = "Taxi_Passenger_Base";//（东风、红旗乘客端）
String BUS_DRIVER_BASE = "Bus_Driver_Base";//（金旅小巴司机端）
String BUS_DRIVER_VAN = "Bus_Driver_Van";//（开沃小巴司机端）
String BUS_PASSENGER_BASE = "Bus_Passenger_Base";//（金旅、开沃小巴乘客端）
String BUS_PASSENGER_M1 = "Bus_Passenger_M1";//（M1小巴乘客端）
String BUS_PASSENGER_M2 = "Bus_Passenger_M2";//（M2小巴乘客端）
String SWEEPER_DRIVER_FT = "Sweeper_Driver_FT";//（福田清扫车司机端）
}
private AutopilotAbilityManager() {
}
@@ -84,8 +63,22 @@ public class AutopilotAbilityManager {
return INSTANCE;
}
public void setIdentityMode(String identityMode) {
this.identityMode = identityMode;
public void setUnableLaunchAutopilotGear(Set<Chassis.GearPosition> unableLaunchAutopilotGear) {
this.unableLaunchAutopilotGear = unableLaunchAutopilotGear;
}
/**
* 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
*/
public boolean isLaunchAutopilot(Chassis.GearPosition currentGear) {
if (unableLaunchAutopilotGear != null && !unableLaunchAutopilotGear.isEmpty()) {
return !unableLaunchAutopilotGear.contains(currentGear);
}
return true;
}
public void setCarConfig(MessagePad.CarConfigResp carConfig) {
@@ -105,8 +98,10 @@ public class AutopilotAbilityManager {
this.listener = listener;
}
public OnAdasListener getListener() {
return listener;
public void onAutopilotAbility(boolean isAutopilotAbility, String unableAutopilotReason) {
if (listener != null) {
listener.onAutopilotAbility(isAutopilotAbility, unableAutopilotReason);
}
}
public void setHandler(Handler handler) {
@@ -243,32 +238,4 @@ public class AutopilotAbilityManager {
}
return version;
}
/**
* 金旅、开沃小巴乘客端
*/
public boolean isBusPassenger() {
return IDENTITY_MODE.BUS_PASSENGER_BASE.equalsIgnoreCase(identityMode);
}
/**
* 开沃小巴司机端
*/
public boolean isBusDriverVan() {
return IDENTITY_MODE.BUS_DRIVER_VAN.equalsIgnoreCase(identityMode);
}
/**
* 金旅小巴司机端
*/
public boolean isBusDriver() {
return IDENTITY_MODE.BUS_DRIVER_BASE.equalsIgnoreCase(identityMode);
}
/**
* 福田清扫车司机端
*/
public boolean isSweeperDriverFutian() {
return IDENTITY_MODE.SWEEPER_DRIVER_FT.equalsIgnoreCase(identityMode);
}
}