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[600][adas][data-center]SSM定频接入；能否启动自驾兼容老版本；以及新版本、FSM、不同车型的兼容、不同域控版本兼容；处理数据中心能否启动自驾管理类 初始化调用获取域控连接状态导致的Netty重复初始化问题

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This commit is contained in:
xinfengkun
2023-08-17 17:50:20 +08:00
committed by zhongchao
parent 097532632e
commit edcc2754f7
34 changed files with 619 additions and 60 deletions
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3
OCH/mogo-och-bus-passenger/src/jinlvvan/java/com/mogo/och/bus/passenger/model/BusPassengerModel.kt
View File

@@ -74,6 +74,7 @@ import com.mogo.och.common.module.utils.PinYinUtil
import mogo.telematics.pad.MessagePad
import mogo.telematics.pad.MessagePad.ArrivalNotification
import mogo.telematics.pad.MessagePad.GlobalPathResp
import system_master.SsmInfo
import system_master.SystemStatusInfo
import java.util.concurrent.ConcurrentHashMap
@@ -514,6 +515,8 @@ object BusPassengerModel{
}
override fun onAutopilotStatusRespByQuery(status: SystemStatusInfo.StatusInfo) {}
override fun onSystemStatus(statusInf: SsmInfo.SsmStatusInf) {}
}
private val moGoAutopilotPlanningListener: IMoGoPlanningRottingListener =
object : IMoGoPlanningRottingListener {

6
OCH/mogo-och-bus/src/main/java/com/mogo/och/bus/presenter/BusPresenter.java
View File

@@ -39,6 +39,7 @@ import java.util.List;
import mogo.telematics.pad.MessagePad;
import mogo_msg.MogoReportMsg;
import system_master.SsmInfo;
import system_master.SystemStatusInfo;
/**
@@ -248,6 +249,11 @@ public class BusPresenter extends Presenter<BusFragment>
public void onAutopilotStatusRespByQuery(@NonNull SystemStatusInfo.StatusInfo status) {
}
@Override
public void onSystemStatus(@NonNull SsmInfo.SsmStatusInf statusInf) {
}
@Override
public void loginSuccess(DriverStatusQueryRespBean data) {
CallerLogger.INSTANCE.d(M_BUS + TAG, " loginStatus =" + LoginStatusManager.isLogin());

6
OCH/mogo-och-shuttle/src/main/java/com/mogo/och/bus/presenter/BusPresenter.java
View File

@@ -42,6 +42,7 @@ import java.util.List;
import mogo.telematics.pad.MessagePad;
import mogo_msg.MogoReportMsg;
import system_master.SsmInfo;
import system_master.SystemStatusInfo;
/**
@@ -260,6 +261,11 @@ public class BusPresenter extends Presenter<BusFragment>
public void onAutopilotStatusRespByQuery(@NonNull SystemStatusInfo.StatusInfo status) {
}
@Override
public void onSystemStatus(@NonNull SsmInfo.SsmStatusInf statusInf) {
}
@Override
public void loginSuccess(DriverStatusQueryRespBean data) {
CallerLogger.INSTANCE.d(M_BUS + TAG, " loginStatus =" + LoginStatusManager.isLogin());

6
OCH/sweeper/sweeper-cloud/src/main/java/com/mogo/och/sweepercloud/model/SweeperTaskModel.java
View File

@@ -63,6 +63,7 @@ import io.reactivex.plugins.RxJavaPlugins;
import mogo.telematics.pad.MessagePad;
import mogo_msg.MogoReportMsg;
import planning.RoboSweeperTaskIndexOuterClass;
import system_master.SsmInfo;
import system_master.SystemStatusInfo;
/**
@@ -642,6 +643,11 @@ public class SweeperTaskModel implements IMoGoSweeperFutianCloudTaskListener, IM
// CallerLogger.INSTANCE.d(M_SWEEPER + TAG, "onAutopilotStatusRespByQuery status:" + status.getSysState().getNumber());
}
@Override
public void onSystemStatus(@NonNull SsmInfo.SsmStatusInf statusInf) {
}
@Override
public void onAutopilotRouteLineId(long lineId) {

5
OCH/sweeper/sweeper/src/main/java/com/mogo/och/sweeper/presenter/SweeperPresenter.java
View File

@@ -52,6 +52,7 @@ import chassis.ChassisStatesOuterClass;
import mogo.telematics.pad.MessagePad;
import mogo_msg.MogoReportMsg;
import planning.RoboSweeperTaskIndexOuterClass;
import system_master.SsmInfo;
import system_master.SystemStatusInfo;
/**
@@ -229,6 +230,10 @@ public class SweeperPresenter extends Presenter<SweeperFragment>
}
@Override
public void onSystemStatus(@NonNull SsmInfo.SsmStatusInf statusInf) {
}
@Override
public void onAutopilotArriveAtStation(@Nullable MessagePad.ArrivalNotification arrivalNotification) {
SweeperTaskModel.getInstance().onArriveTaskEnd(arrivalNotification);

3
OCH/taxi/mogo-och-taxi-unmanned/src/main/java/com/mogo/och/taxi/model/TaxiModel.kt
View File

@@ -91,6 +91,7 @@ import mogo.telematics.pad.MessagePad
import mogo.telematics.pad.MessagePad.ArrivalNotification
import mogo.telematics.pad.MessagePad.GlobalPathResp
import mogo_msg.MogoReportMsg.MogoReportMessage
import system_master.SsmInfo
import system_master.SystemStatusInfo
import java.io.IOException
@@ -864,6 +865,8 @@ object TaxiModel {
}
override fun onAutopilotStatusRespByQuery(status: SystemStatusInfo.StatusInfo) {}
override fun onSystemStatus(statusInf: SsmInfo.SsmStatusInf) {}
}
private fun arriveTerminal() {

4
OCH/taxi/mogo-och-taxi/src/main/java/com/mogo/och/taxi/model/TaxiModel.java
View File

@@ -98,6 +98,7 @@ import io.reactivex.functions.Consumer;
import io.reactivex.plugins.RxJavaPlugins;
import mogo.telematics.pad.MessagePad;
import mogo_msg.MogoReportMsg;
import system_master.SsmInfo;
import system_master.SystemStatusInfo;
/**
@@ -1297,6 +1298,9 @@ public class TaxiModel {
@Override
public void onAutopilotStatusRespByQuery(@NonNull SystemStatusInfo.StatusInfo status) {
}
@Override
public void onSystemStatus(@NonNull SsmInfo.SsmStatusInf statusInf) {
}
};
private final IMoGoPlanningRottingListener moGoAutopilotPlanningListener = new IMoGoPlanningRottingListener() {

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

@@ -30,6 +30,7 @@ import com.mogo.eagle.core.function.call.autopilot.CallerAutoPilotStatusListener
import com.mogo.eagle.core.function.call.autopilot.CallerAutoPilotStatusListenerManager.invokeAutopilotGuardian
import com.mogo.eagle.core.function.call.autopilot.CallerAutoPilotStatusListenerManager.invokeAutopilotSNRequest
import com.mogo.eagle.core.function.call.autopilot.CallerAutoPilotStatusListenerManager.invokeAutopilotStatusRespByQuery
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.invokeAutopilotAbility
@@ -75,6 +76,7 @@ import perception.TrafficLightOuterClass
import planning.RoboSweeperTaskIndexOuterClass
import prediction.Prediction
import record_cache.RecordPanelOuterClass
import system_master.SsmInfo
import system_master.SystemStatusInfo
/**
@@ -438,6 +440,10 @@ class MoGoAdasListenerImpl : OnAdasListener {
invokeAutopilotStatusRespByQuery(statusInfo)
}
override fun onSystemStatus(header: MessagePad.Header?, statusInf: SsmInfo.SsmStatusInf?) {
invokeSystemStatus(statusInf)
}
/**
* 数据采集配置应答
*/

1
core/function-impl/mogo-core-function-datacenter/src/main/java/com/mogo/eagle/core/function/datacenter/autopilot/adapter/MoGoAdasMsgConnectStatusListenerImpl.kt
View File

@@ -38,6 +38,7 @@ class MoGoAdasMsgConnectStatusListenerImpl :
init {
CallerCloudListenerManager.addListener(TAG, this)
CallerAutopilotActionsListenerManager.setConnected(AdasManager.getInstance().ipcConnectionStatus == Constants.IPC_CONNECTION_STATUS.CONNECTED)
}
override fun onConnectionIPCStatus(ipcConnectionStatus: Int, reason: String?) {

9
core/function-impl/mogo-core-function-devatools/src/main/java/com/zhjt/mogo_core_function_devatools/status/flow/can/CanImpl.kt
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@@ -13,6 +13,7 @@ import com.zhjt.mogo_core_function_devatools.status.flow.IFlow
import kotlinx.coroutines.Job
import mogo_msg.MogoReportMsg.MogoReportMessage
import planning.RoboSweeperTaskIndexOuterClass
import system_master.SsmInfo
import system_master.SystemStatusInfo.StatusInfo
import java.util.concurrent.atomic.AtomicInteger
@@ -115,6 +116,14 @@ internal class CanImpl(ctx: Context) :
}
}
override fun onSystemStatus(statusInf: SsmInfo.SsmStatusInf) {
val state = statusInf.healthInfoList?.find { "can_adapter".equals(it.name, true) }?.state?.ordinal
Log.d(TAG, "state: $state")
if (state != null) {
this.state.set(state)
}
}
override fun onDestroy() {
super.onDestroy()
job?.safeCancel()

14
core/function-impl/mogo-core-function-devatools/src/main/java/com/zhjt/mogo_core_function_devatools/status/flow/rtk/RTKImpl.kt
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@@ -16,7 +16,8 @@ import kotlinx.coroutines.Dispatchers
import kotlinx.coroutines.Job
import kotlinx.coroutines.delay
import kotlinx.coroutines.launch
import system_master.SystemStatusInfo.HealthInfo
import system_master.SsmInfo
import system_master.SsmBase.HealthInfo
import system_master.SystemStatusInfo.StatusInfo
import java.util.concurrent.atomic.AtomicBoolean
import java.util.concurrent.atomic.AtomicReference
@@ -72,6 +73,17 @@ internal class RTKImpl(ctx: Context): IFlow<RTKStatus>(ctx), IMoGoAutopilotStatu
}
}
override fun onSystemStatus(statusInf: SsmInfo.SsmStatusInf) {
check?.takeIf { it.isActive }?.cancel()
isOldVersion.set(false)
val info = statusInf.healthInfoList?.find { "localization".equals(it.name, true) }
Log.d(TAG, "info: $info")
if (info != null) {
healthInfo.set(info)
send(RTKStatus(getDesc(), getCode()))
}
}
override fun onAutopilotIpcConnectStatusChanged(status: Int, reason: String?) {
super.onAutopilotIpcConnectStatusChanged(status, reason)
if (!CallerAutoPilotControlManager.isConnected()) {

5
core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/business/routeoverlay/MogoRouteOverlayManager.java
View File

@@ -23,6 +23,7 @@ import java.util.concurrent.atomic.AtomicInteger;
import mogo.telematics.pad.MessagePad;
import mogo_msg.MogoReportMsg;
import system_master.SsmInfo;
import system_master.SystemStatusInfo;
public class MogoRouteOverlayManager implements
@@ -134,6 +135,10 @@ public class MogoRouteOverlayManager implements
public void onAutopilotStatusRespByQuery(@NonNull SystemStatusInfo.StatusInfo status) {
}
@Override
public void onSystemStatus(@NonNull SsmInfo.SsmStatusInf statusInf) {
}
@Override
public void onAutopilotRouteLineId(long lineId) {

6
core/mogo-core-function-api/src/main/java/com/mogo/eagle/core/function/api/autopilot/IMoGoAutopilotStatusListener.kt
View File

@@ -61,6 +61,12 @@ interface IMoGoAutopilotStatusListener {
*/
fun onAutopilotStatusRespByQuery(status: SystemStatusInfo.StatusInfo) {}
/**
* 定频SSM
* 老版本 SSM（SystemStatusInfo.StatusInfo） HQ、M1 MAP350开始弃用，其他车型MAP360开始弃用
*/
fun onSystemStatus(statusInf: SsmInfo.SsmStatusInf) {}
/**
* 自动驾驶路线ID回调
*/

14
core/mogo-core-function-call/src/main/java/com/mogo/eagle/core/function/call/autopilot/CallerAutoPilotStatusListenerManager.kt
View File

@@ -7,6 +7,7 @@ import com.mogo.eagle.core.function.call.base.CallerBase
import com.mogo.eagle.core.utilcode.util.GsonUtils
import mogo.telematics.pad.MessagePad
import mogo_msg.MogoReportMsg
import system_master.SsmInfo
import system_master.SystemStatusInfo
import kotlin.properties.Delegates
@@ -207,6 +208,19 @@ object CallerAutoPilotStatusListenerManager : CallerBase<IMoGoAutopilotStatusLis
}
}
/**
* 定频SSM
* 老版本 SSM（SystemStatusInfo.StatusInfo） HQ、M1 MAP350开始弃用，其他车型MAP360开始弃用
*/
fun invokeSystemStatus(statusInf: SsmInfo.SsmStatusInf?) {
statusInf?.also {
M_LISTENERS.forEach { itx ->
val listener = itx.value
listener.onSystemStatus(it)
}
}
}
/**
* 更新自动驾驶控制参数，结束自动驾驶时候需要更新为null，且更新时候同时触发onAutopilotStatusResponse回调
*/

37
core/mogo-core-function-call/src/main/java/com/mogo/eagle/core/function/call/autopilot/CallerAutopilotActionsListenerManager.kt
View File

@@ -1,8 +1,6 @@
package com.mogo.eagle.core.function.call.autopilot
import android.util.Log
import com.mogo.eagle.core.function.api.autopilot.IMoGoAutopilotActionsListener
import com.mogo.eagle.core.function.call.autopilot.CallerAutoPilotControlManager.isConnected
import com.mogo.eagle.core.function.call.base.CallerBase
import com.zhjt.mogo.adas.data.bean.UnableAutopilotReason
@@ -17,10 +15,9 @@ object CallerAutopilotActionsListenerManager : CallerBase<IMoGoAutopilotActionsL
private var unableAutopilotReasons: ArrayList<UnableAutopilotReason>? = null
init {
// isConnected = isConnected() //TODO 重复初始
isAutopilotAbility = false
unableAutopilotReasons = disconnectedReason()
printLog("初始化")
// printLog("初始化")
}
private fun disconnectedReason(): ArrayList<UnableAutopilotReason> {
@@ -50,7 +47,7 @@ object CallerAutopilotActionsListenerManager : CallerBase<IMoGoAutopilotActionsL
this.isAutopilotAbility = isConnected
unableAutopilotReasons = if (isConnected) null else disconnectedReason()
notification()
printLog("更新数据 连接状态变更")
// printLog("更新数据 连接状态变更")
}
}
@@ -66,23 +63,23 @@ object CallerAutopilotActionsListenerManager : CallerBase<IMoGoAutopilotActionsL
this.unableAutopilotReasons?.let { old ->
old.sortWith(compareBy(UnableAutopilotReason::hashCode));
isEquals = onw.toTypedArray() contentEquals old.toTypedArray()
Log.i(
"ddd",
"都不为null时=${isEquals}=${this.isAutopilotAbility} ${(if (this.unableAutopilotReasons == null) null else this.unableAutopilotReasons.toString())}"
)
// Log.i(
// "ddd",
// "都不为null时=${isEquals}=${this.isAutopilotAbility} ${(if (this.unableAutopilotReasons == null) null else this.unableAutopilotReasons.toString())}"
// )
}
}
} else isEquals =
!(unableAutopilotReasons != null || this.unableAutopilotReasons != null)
Log.i(
"ddd",
" 两个List是否相同=${isEquals} 新是否能启动自驾=${isAutopilotAbility} 老是否能启动自驾=${this.isAutopilotAbility} 新List是否为空=${unableAutopilotReasons == null} 老List是否为空=${this.unableAutopilotReasons == null}"
)
// Log.i(
// "ddd",
// " 两个List是否相同=${isEquals} 新是否能启动自驾=${isAutopilotAbility} 老是否能启动自驾=${this.isAutopilotAbility} 新List是否为空=${unableAutopilotReasons == null} 老List是否为空=${this.unableAutopilotReasons == null}"
// )
if (this.isAutopilotAbility != isAutopilotAbility || !isEquals) {
this.isAutopilotAbility = isAutopilotAbility
this.unableAutopilotReasons = unableAutopilotReasons
notification()
printLog("更新数据")
// printLog("更新数据")
}
}
}
@@ -94,10 +91,10 @@ object CallerAutopilotActionsListenerManager : CallerBase<IMoGoAutopilotActionsL
}
}
fun printLog(tag: String) {
Log.i(
"ddd",
"${tag}=${isAutopilotAbility} ${(if (unableAutopilotReasons == null) null else unableAutopilotReasons.toString())}"
)
}
// fun printLog(tag: String) {
// Log.i(
// "xfk",
// "${tag}=${isAutopilotAbility} ${(if (unableAutopilotReasons == null) null else unableAutopilotReasons.toString())}"
// )
// }
}

4
libraries/mogo-adas-data/src/main/proto/message_pad.proto
View File

@@ -32,6 +32,7 @@ enum MessageType
MsgTypeFunctionStates = 0x1000c; //重构后的功能状态, 透传
MsgTypeBackCameraVideo = 0x1000d; //后部摄像头视频 10hz
MsgTypeM1StitchedVideo = 0x1000e; //m1拼接视频 10hz
MsgTypeSSMState = 0x1000f; //ssm 系统状态 1hz hq m1 MAP350开始支持，其他车型MAP360开始支持
MsgTypeBasicInfoReq = 0x10100; //自动驾驶设备基础信息请求
MsgTypeBasicInfoResp = 0x10101; //自动驾驶设备基础信息应答
@@ -709,3 +710,6 @@ message SessionInfo
uint64 connectedTimeStamp = 4;
string version = 5;
}
//message definition for MsgTypeSSMState
//refer to ssm_info.proto for details

18
libraries/mogo-adas-data/src/main/proto/personal/ssm_base.proto Normal file
View File

@@ -0,0 +1,18 @@
syntax = "proto2";
package system_master;
enum HealthState {
NORMAL = 0;
FAULT = 1;
UNKNOW = 2;
}
message HealthInfo{
required string name = 1; //node name
required HealthState state = 2; //health state
optional string code = 3; //code 与系统事件错误码对应，如有该错误填写，没有不填
optional string desc = 4; //补充描述，用于未知情况
}

54
libraries/mogo-adas-data/src/main/proto/ssm_info.proto Normal file
View File

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

22
libraries/mogo-adas-data/src/main/proto/system_status_info.proto
View File

@@ -1,6 +1,7 @@
syntax = "proto2";
package system_master;
import "personal/ssm_base.proto";
enum SystemState {
SYS_STARTING = 0; //系统正在启动
@@ -14,19 +15,6 @@ enum SystemState {
REMOTE_PILOT_RUNNING = 8; //平行驾驶运行中
}
enum HealthState {
NORMAL = 0;//正常
FAULT = 1;//异常
UNKNOW = 2;//未知
}
message HealthInfo{
required string name = 1; //node name
required HealthState state = 2; //health state
optional string code = 3; //code 与系统事件错误码对应，如有该错误填写，没有不填
optional string desc = 4; //补充描述，用于未知情况
}
message TopicInfo{
optional string name = 1; //topic name
optional int32 hz = 2; //Topic发送的频率
@@ -50,7 +38,7 @@ message NodeFaultList{
message StatusInfo {
required SystemState sys_state=1; // 当前系统状态
repeated HealthInfo health_info=2; // 健康检查状态信息
repeated HealthInfo health_info=2; // 健康检查状态信息
optional DropTopic topic_drop_info=3; // topic 掉频信息， 如有掉频添加没有不添加
optional string reserved = 4; // 用于表示idle模式，'idle' 表示idle模式 'work' 表示正常工作
// add by liyl 20220907
@@ -63,5 +51,9 @@ message StatusInfo {
optional NodeFaultList remote_pilot_unready_list = 11; //平行驾驶未就绪列表, 20221128 增加
optional string auto_pilot_unready_reason = 12; //自动驾驶状态未就绪原因描述
optional string remote_pilot_unready_reason = 13; //平行驾驶状态未就绪原因描述
}
optional uint64 cur_used_lineid = 20 [default = 0]; //0：当前无可用轨迹，需要下单，other: 可用轨迹id
optional string hd_map_ver = 21; //高精地图版本
optional string slam_map_ver = 22; //slam地图版本
optional string grid_map_ver = 23; //栅格地图版本
}

1
libraries/mogo-adas/build.gradle
View File

@@ -22,6 +22,7 @@ android {
versionName rootProject.versionName
testInstrumentationRunner "androidx.test.runner.AndroidJUnitRunner"
consumerProguardFiles 'consumer-rules.pro'
multiDexEnabled true
}
buildTypes {

8
libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/AdasChannel.java
View File

@@ -1136,8 +1136,16 @@ public class AdasChannel implements IAdasNetCommApi, FpgaSocket.IWebSocketConnec
*
* @return boolean
*/
@Deprecated//HQ、M1 MAP350开始弃用，其他车型MAP360开始弃用
@Override
public boolean sendStatusQueryReq() {
MessagePad.CarConfigResp config = AdasManager.getInstance().getCarConfig();
if (config != null) {
//HQ和M1 MAP>=350开始走定频SSM，其他车型360开始
if ((config.getMapVersion() >= 30500 && (config.getIsJinlvM1() || config.getIsHQ())) || config.getMapVersion() >= 30600) {
return false;
}
}
MessagePad.StatusQueryReq req = MessagePad.StatusQueryReq
.newBuilder()
.build();

1
libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/AdasManager.java
View File

@@ -578,6 +578,7 @@ public class AdasManager implements IAdasNetCommApi {
*
* @return boolean
*/
@Deprecated//HQ、M1 MAP350开始弃用，其他车型MAP360开始弃用
@Override
public boolean sendStatusQueryReq() {
return mChannel != null && mChannel.sendStatusQueryReq();

1
libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/IAdasNetCommApi.java
View File

@@ -266,6 +266,7 @@ public interface IAdasNetCommApi {
*
* @return 加入WS发送消息队列是否成功
*/
@Deprecated//HQ、M1 MAP350开始弃用，其他车型MAP360开始弃用
boolean sendStatusQueryReq();
/**

13
libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/OnAdasListener.java
View File

@@ -20,7 +20,6 @@ import com.zhjt.mogo.adas.data.sweeper.task.status.SweeperTaskStatus;
import com.zhjt.mogo.adas.data.sweeper.task.stop.SweeperTaskStop;
import java.util.ArrayList;
import java.util.List;
import bag_manager.BagManagerOuterClass;
import chassis.ChassisStatesOuterClass;
@@ -34,6 +33,7 @@ import perception.TrafficLightOuterClass;
import planning.RoboSweeperTaskIndexOuterClass;
import prediction.Prediction;
import record_cache.RecordPanelOuterClass;
import system_master.SsmInfo;
import system_master.SystemStatusInfo;
/**
@@ -197,8 +197,19 @@ public interface OnAdasListener {
* @param header 头
* @param statusInfo 数据
*/
@Deprecated//HQ、M1 MAP350开始弃用，其他车型MAP360开始弃用
void onStatusQueryResp(MessagePad.Header header, SystemStatusInfo.StatusInfo statusInfo);
/**
* 定频SSM接口
* 1hz hq m1 MAP350开始支持，其他车型MAP360开始支持
* 定频SSM接入后 onStatusQueryResp 状态查询应答接口将弃用
*
* @param header 头
* @param statusInf 数据
*/
void onSystemStatus(MessagePad.Header header, SsmInfo.SsmStatusInf statusInf);
/**
* 数据采集配置应答
*

1
libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/common/MessageType.java
View File

@@ -30,6 +30,7 @@ public enum MessageType {
TYPE_RECEIVE_FUNCTION_STATES(MessagePad.MessageType.MsgTypeFunctionStates, "重构后功能状态"),
TYPE_RECEIVE_BACK_CAMERA_VIDEO(MessagePad.MessageType.MsgTypeBackCameraVideo, "后摄像头"),
TYPE_RECEIVE_M1_STITCHED_VIDEO(MessagePad.MessageType.MsgTypeM1StitchedVideo, "M1拼接视频"),
TYPE_RECEIVE_SSM(MessagePad.MessageType.MsgTypeSSMState, "SSM系统状态"),
TYPE_RECEIVE_BASIC_INFO_REQ(MessagePad.MessageType.MsgTypeBasicInfoReq, "自动驾驶设备基础信息请求"),
TYPE_SEND_BASIC_INFO_RESP(MessagePad.MessageType.MsgTypeBasicInfoResp, "自动驾驶设备基础信息应答"),

2
libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/common/autopilot/ability/AutopilotAbility230.java
View File

@@ -53,7 +53,7 @@ public class AutopilotAbility230 {
Chassis.GearPosition gear = chassisStates.getGearSystemStates().getGearPosition();
if (!AutopilotAbilityManager.getInstance().isLaunchAutopilot(gear)) {
isAutopilotAbility = false;
unableAutopilotReasons = AutopilotAbilityManager.getInstance().addUnableAutopilotReason(unableAutopilotReasons, UnableAutopilotReason.SourceType.CHASSIS, "当前档位无法启动自驾");
unableAutopilotReasons = AutopilotAbilityManager.getInstance().addUnableAutopilotReason(unableAutopilotReasons, UnableAutopilotReason.SourceType.CHASSIS, "档位异常");
}
}
//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

11
libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/common/autopilot/ability/AutopilotAbility250.java
View File

@@ -79,17 +79,14 @@ public class AutopilotAbility250 {
SystemStatusInfo.NodeFaultList nodeFaultList = statusInfo.getAutoPilotUnreadyList();
if (nodeFaultList.getSum() > 0) {
List<SystemStatusInfo.NodeInfo> list = nodeFaultList.getNodeList();
StringBuilder builder = new StringBuilder();
for (SystemStatusInfo.NodeInfo info : list) {
builder.append(info.getNodeName());
String nodeName = info.getNodeName();
int state = info.getState();
if (state < AutopilotAbilityManager.NODE_INFO_STATE.length) {
builder.append(AutopilotAbilityManager.NODE_INFO_STATE[state]);
unableAutopilotReasons = AutopilotAbilityManager.getInstance().addUnableAutopilotReason(unableAutopilotReasons, UnableAutopilotReason.SourceType.SSM, nodeName + AutopilotAbilityManager.NODE_INFO_STATE[state]);
} else {
builder.append("未知异常 ");
unableAutopilotReasons = AutopilotAbilityManager.getInstance().addUnableAutopilotReason(unableAutopilotReasons, UnableAutopilotReason.SourceType.SSM, nodeName + "未知异常");
}
unableAutopilotReasons = AutopilotAbilityManager.getInstance().addUnableAutopilotReason(unableAutopilotReasons, UnableAutopilotReason.SourceType.SSM, builder.toString());
builder.setLength(0);
}
} else {
unableAutopilotReasons = AutopilotAbilityManager.getInstance().addUnableAutopilotReason(unableAutopilotReasons, UnableAutopilotReason.SourceType.SSM, "未知异常节点");
@@ -144,7 +141,7 @@ public class AutopilotAbility250 {
Chassis.GearPosition gear = chassisStates.getGearSystemStates().getGearPosition();
if (!AutopilotAbilityManager.getInstance().isLaunchAutopilot(gear)) {
isAutopilotAbility = false;
unableAutopilotReasons = AutopilotAbilityManager.getInstance().addUnableAutopilotReason(unableAutopilotReasons, UnableAutopilotReason.SourceType.CHASSIS, "当前档位无法启动自驾");
unableAutopilotReasons = AutopilotAbilityManager.getInstance().addUnableAutopilotReason(unableAutopilotReasons, UnableAutopilotReason.SourceType.CHASSIS, "档位异常");
}
}
//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

11
libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/common/autopilot/ability/AutopilotAbility330.java
View File

@@ -82,17 +82,14 @@ public class AutopilotAbility330 {
SystemStatusInfo.NodeFaultList nodeFaultList = statusInfo.getAutoPilotUnreadyList();
if (nodeFaultList.getSum() > 0) {
List<SystemStatusInfo.NodeInfo> list = nodeFaultList.getNodeList();
StringBuilder builder = new StringBuilder();
for (SystemStatusInfo.NodeInfo info : list) {
builder.append(info.getNodeName());
String nodeName = info.getNodeName();
int state = info.getState();
if (state < AutopilotAbilityManager.NODE_INFO_STATE.length) {
builder.append(AutopilotAbilityManager.NODE_INFO_STATE[state]);
unableAutopilotReasons = AutopilotAbilityManager.getInstance().addUnableAutopilotReason(unableAutopilotReasons, UnableAutopilotReason.SourceType.SSM, nodeName + AutopilotAbilityManager.NODE_INFO_STATE[state]);
} else {
builder.append("未知异常 ");
unableAutopilotReasons = AutopilotAbilityManager.getInstance().addUnableAutopilotReason(unableAutopilotReasons, UnableAutopilotReason.SourceType.SSM, nodeName + "未知异常");
}
unableAutopilotReasons = AutopilotAbilityManager.getInstance().addUnableAutopilotReason(unableAutopilotReasons, UnableAutopilotReason.SourceType.SSM, builder.toString());
builder.setLength(0);
}
} else {
unableAutopilotReasons = AutopilotAbilityManager.getInstance().addUnableAutopilotReason(unableAutopilotReasons, UnableAutopilotReason.SourceType.SSM, "未知异常节点");
@@ -145,7 +142,7 @@ public class AutopilotAbility330 {
}
}
if (unableAutopilotReasons == null || unableAutopilotReasons.isEmpty()) {
unableAutopilotReasons = AutopilotAbilityManager.getInstance().addUnableAutopilotReason(unableAutopilotReasons, UnableAutopilotReason.SourceType.LIB, "FSM未给出原因");
unableAutopilotReasons = AutopilotAbilityManager.getInstance().addUnableAutopilotReason(unableAutopilotReasons, UnableAutopilotReason.SourceType.LIB, "FSM数据异常");
}
}
}

147
libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/common/autopilot/ability/AutopilotAbility350And360.java Normal file
View File

@@ -0,0 +1,147 @@
package com.zhidao.support.adas.high.common.autopilot.ability;
import androidx.annotation.Nullable;
import com.zhidao.support.adas.high.AdasManager;
import com.zhidao.support.adas.high.common.CupidLogUtils;
import com.zhjt.mogo.adas.data.bean.UnableAutopilotReason;
import java.util.ArrayList;
import chassis.Chassis;
import chassis.ChassisStatesOuterClass;
import system_master.SsmInfo;
/**
* 是否可以启动自动驾驶能力检测 工控机版本>=350&&(isHQ||isJinlvM1) || 工控机版本>=360&&!isFutianSweeper 使用此类
* 目前监控了定频SSM的数据和FSM状态原因查询
* 没有使用监控事件报告的原因是因为，部分异常没进行正常恢复通知，例如收到了异常监控数据，但是异常恢复之后没有恢复的通知
* <p>
*/
public class AutopilotAbility350And360 {
private static final String TAG = AutopilotAbility250.class.getSimpleName();
private ChassisStatesOuterClass.ChassisStates chassisStates;
private int masterVersion = -1;//Master版本
private OnAutopilotAbilityListener listener;
protected interface OnAutopilotAbilityListener {
void onAutopilotAbility(boolean isAutopilotAbility, @Nullable ArrayList<UnableAutopilotReason> unableAutopilotReasons);
}
protected AutopilotAbility350And360() {
this.masterVersion = -1;
}
protected void setStatusInfo(SsmInfo.SsmStatusInf statusInfo) {
onCallback(statusInfo);
}
protected void setChassisStates(ChassisStatesOuterClass.ChassisStates chassisStates) {
this.chassisStates = chassisStates;
}
private void onCallback(SsmInfo.SsmStatusInf statusInfo) {
boolean isAutopilotAbility = true;//是否能启动自动驾驶
ArrayList<UnableAutopilotReason> unableAutopilotReasons = null;//不能启动自动驾驶原因
//检测节点状态相关
if (statusInfo != null) {
if (masterVersion == -1 && statusInfo.hasMasterVersion()) {
//截取Master Version
masterVersion = AdasManager.getInstance().parseVersion(false, statusInfo.getMasterVersion());
}
CupidLogUtils.i(TAG, "MasterVersion=" + masterVersion);
//SSM 3版本兼容
if (masterVersion > 2 && statusInfo.hasAutoPilotReady() && statusInfo.hasAutoPilotUnreadyReason()) {
isAutopilotAbility = statusInfo.getAutoPilotReady();
if (!isAutopilotAbility) {
unableAutopilotReasons = AutopilotAbilityManager.getInstance().addUnableAutopilotReason(unableAutopilotReasons, UnableAutopilotReason.SourceType.SSM, statusInfo.getAutoPilotUnreadyReason());
}
} else if (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) {
int count = statusInfo.getAutoPilotUnreadyListCount();
if (count > 0) {
for (int i = 0; i < count; i++) {
SsmInfo.NodeInf info = statusInfo.getAutoPilotUnreadyList(i);
String nodeName = info.getNodeName();
int state = info.getState().getNumber();
if (state < AutopilotAbilityManager.NODE_INFO_STATE_FIXED_FREQUENCY.length) {
unableAutopilotReasons = AutopilotAbilityManager.getInstance().addUnableAutopilotReason(unableAutopilotReasons, UnableAutopilotReason.SourceType.SSM, nodeName + AutopilotAbilityManager.NODE_INFO_STATE_FIXED_FREQUENCY[state]);
} else {
unableAutopilotReasons = AutopilotAbilityManager.getInstance().addUnableAutopilotReason(unableAutopilotReasons, UnableAutopilotReason.SourceType.SSM, nodeName + "未知异常");
}
}
} else {
unableAutopilotReasons = AutopilotAbilityManager.getInstance().addUnableAutopilotReason(unableAutopilotReasons, UnableAutopilotReason.SourceType.SSM, "未知异常节点");
}
}
} else {
SsmInfo.ModeState modeState = statusInfo.getModeState();
if (modeState != SsmInfo.ModeState.MODE_RUN_UNREADY && modeState != SsmInfo.ModeState.MODE_RUN_READY) {
isAutopilotAbility = false;
String unableAutopilotReason = null;
if (modeState == SsmInfo.ModeState.MODE_STOP_UNREADY) {
unableAutopilotReason = "系统处于停止模式（未就绪）";
} else if (modeState == SsmInfo.ModeState.MODE_STOP_READY) {
unableAutopilotReason = "系统处于停止模式";
} else if (modeState == SsmInfo.ModeState.MODE_IDLE_UNREADY) {
unableAutopilotReason = "系统处于空闲模式（未就绪）";
} else if (modeState == SsmInfo.ModeState.MODE_IDLE_READY) {
unableAutopilotReason = "系统处于空闲模式";
} else {
unableAutopilotReason = "未知系统模式";
}
unableAutopilotReasons = AutopilotAbilityManager.getInstance().addUnableAutopilotReason(unableAutopilotReasons, UnableAutopilotReason.SourceType.SSM, unableAutopilotReason);
}
}
} else {
isAutopilotAbility = false;//是否能启动自动驾驶
unableAutopilotReasons = AutopilotAbilityManager.getInstance().addUnableAutopilotReason(unableAutopilotReasons, UnableAutopilotReason.SourceType.LIB, "SSM数据异常");
}
//检测底盘相关
if (chassisStates != null) {
if (chassisStates.hasBrakeSystemStates()) {
float brake = chassisStates.getBrakeSystemStates().getBrakePedalResponsePosition();
if (brake > 0) {
isAutopilotAbility = false;
unableAutopilotReasons = AutopilotAbilityManager.getInstance().addUnableAutopilotReason(unableAutopilotReasons, UnableAutopilotReason.SourceType.CHASSIS, "制动踏板被踩下");
}
}
if (chassisStates.hasGearSystemStates()) {
Chassis.GearPosition gear = chassisStates.getGearSystemStates().getGearPosition();
if (!AutopilotAbilityManager.getInstance().isLaunchAutopilot(gear)) {
isAutopilotAbility = false;
unableAutopilotReasons = AutopilotAbilityManager.getInstance().addUnableAutopilotReason(unableAutopilotReasons, UnableAutopilotReason.SourceType.CHASSIS, "档位异常");
}
}
//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
// //电子驻车制动系统
// if (chassisStates.hasEpbSystemStates()) {
// ChassisStatesOuterClass.EPBSystemStates epb = chassisStates.getEpbSystemStates();
// if (epb.hasEpbEnableState()){
// epb.getEpbWorkState();
// }
// }
}
if (listener != null) {
listener.onAutopilotAbility(isAutopilotAbility, unableAutopilotReasons);
}
}
protected void start(OnAutopilotAbilityListener listener) {
this.listener = listener;
}
protected void stop() {
this.chassisStates = null;
this.masterVersion = -1;
this.listener = null;
}
}

134
libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/common/autopilot/ability/AutopilotAbility360.java Normal file
View File

@@ -0,0 +1,134 @@
package com.zhidao.support.adas.high.common.autopilot.ability;
import android.text.TextUtils;
import androidx.annotation.Nullable;
import com.zhidao.support.adas.high.AdasManager;
import com.zhidao.support.adas.high.common.CupidLogUtils;
import com.zhjt.mogo.adas.data.bean.UnableAutopilotReason;
import java.util.ArrayList;
import function_state_management.FSMStatusReasonQueryOuterClass;
import system_master.SsmInfo;
/**
* 是否可以启动自动驾驶能力检测 工控机版本>=360&&isFutianSweeper 使用此类
* TODO 目前只用于清扫车，其他车型需要MAP支持 FSM的相关功能
* 目前监控了定频SSM的数据和FSM状态原因查询
* 没有使用监控事件报告的原因是因为，部分异常没进行正常恢复通知，例如收到了异常监控数据，但是异常恢复之后没有恢复的通知
*/
public class AutopilotAbility360 {
private static final String TAG = AutopilotAbility360.class.getSimpleName();
private volatile FSMStatusReasonQueryOuterClass.FSMStatusReasonRespond fsmStatusReasonRespond;//自动驾驶状态为OFF的原因
private int masterVersion = -1;//Master版本
private OnAutopilotAbilityListener listener;
protected interface OnAutopilotAbilityListener {
void onAutopilotAbility(boolean isAutopilotAbility, @Nullable ArrayList<UnableAutopilotReason> unableAutopilotReasons);
}
protected AutopilotAbility360() {
this.masterVersion = -1;
}
protected synchronized void setFsmStatusReasonRespond(FSMStatusReasonQueryOuterClass.FSMStatusReasonRespond fsmStatusReasonRespond) {
this.fsmStatusReasonRespond = fsmStatusReasonRespond;
}
protected void setStatusInfo(SsmInfo.SsmStatusInf statusInfo) {
onCallback(statusInfo);
}
private void onCallback(SsmInfo.SsmStatusInf statusInfo) {
boolean isAutopilotAbility = true;//是否能启动自动驾驶
ArrayList<UnableAutopilotReason> unableAutopilotReasons = null;//不能启动自动驾驶原因
//检测节点状态相关
if (statusInfo != null) {
if (masterVersion == -1 && statusInfo.hasMasterVersion()) {
//截取Master Version
masterVersion = AdasManager.getInstance().parseVersion(false, statusInfo.getMasterVersion());
}
CupidLogUtils.i(TAG, "MasterVersion=" + masterVersion);
//SSM 3版本兼容
if (masterVersion > 2 && statusInfo.hasAutoPilotReady() && statusInfo.hasAutoPilotUnreadyReason()) {
isAutopilotAbility = statusInfo.getAutoPilotReady();
if (!isAutopilotAbility) {
unableAutopilotReasons = AutopilotAbilityManager.getInstance().addUnableAutopilotReason(unableAutopilotReasons, UnableAutopilotReason.SourceType.SSM, statusInfo.getAutoPilotUnreadyReason());
}
} else if (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) {
int count = statusInfo.getAutoPilotUnreadyListCount();
if (count > 0) {
for (int i = 0; i < count; i++) {
SsmInfo.NodeInf info = statusInfo.getAutoPilotUnreadyList(i);
String nodeName = info.getNodeName();
int state = info.getState().getNumber();
if (state < AutopilotAbilityManager.NODE_INFO_STATE_FIXED_FREQUENCY.length) {
unableAutopilotReasons = AutopilotAbilityManager.getInstance().addUnableAutopilotReason(unableAutopilotReasons, UnableAutopilotReason.SourceType.SSM, nodeName + AutopilotAbilityManager.NODE_INFO_STATE_FIXED_FREQUENCY[state]);
} else {
unableAutopilotReasons = AutopilotAbilityManager.getInstance().addUnableAutopilotReason(unableAutopilotReasons, UnableAutopilotReason.SourceType.SSM, nodeName + "未知异常");
}
}
} else {
unableAutopilotReasons = AutopilotAbilityManager.getInstance().addUnableAutopilotReason(unableAutopilotReasons, UnableAutopilotReason.SourceType.SSM, "未知异常节点");
}
}
} else {
SsmInfo.ModeState modeState = statusInfo.getModeState();
if (modeState != SsmInfo.ModeState.MODE_RUN_UNREADY && modeState != SsmInfo.ModeState.MODE_RUN_READY) {
isAutopilotAbility = false;
String unableAutopilotReason = null;
if (modeState == SsmInfo.ModeState.MODE_STOP_UNREADY) {
unableAutopilotReason = "系统处于停止模式（未就绪）";
} else if (modeState == SsmInfo.ModeState.MODE_STOP_READY) {
unableAutopilotReason = "系统处于停止模式";
} else if (modeState == SsmInfo.ModeState.MODE_IDLE_UNREADY) {
unableAutopilotReason = "系统处于空闲模式（未就绪）";
} else if (modeState == SsmInfo.ModeState.MODE_IDLE_READY) {
unableAutopilotReason = "系统处于空闲模式";
} else {
unableAutopilotReason = "未知系统模式";
}
unableAutopilotReasons = AutopilotAbilityManager.getInstance().addUnableAutopilotReason(unableAutopilotReasons, UnableAutopilotReason.SourceType.SSM, unableAutopilotReason);
}
}
} else {
isAutopilotAbility = false;//是否能启动自动驾驶
unableAutopilotReasons = AutopilotAbilityManager.getInstance().addUnableAutopilotReason(unableAutopilotReasons, UnableAutopilotReason.SourceType.LIB, "SSM数据异常");
}
if (fsmStatusReasonRespond != null) {
int count = fsmStatusReasonRespond.getFsmStatusReasonRespondCount();
if (count > 0) {
isAutopilotAbility = false;
for (int i = 0; i < count; i++) {
String respond = fsmStatusReasonRespond.getFsmStatusReasonRespond(i);
if (!TextUtils.isEmpty(respond)) {
unableAutopilotReasons = AutopilotAbilityManager.getInstance().addUnableAutopilotReason(unableAutopilotReasons, UnableAutopilotReason.SourceType.FSM, respond);
}
}
if (unableAutopilotReasons == null || unableAutopilotReasons.isEmpty()) {
unableAutopilotReasons = AutopilotAbilityManager.getInstance().addUnableAutopilotReason(unableAutopilotReasons, UnableAutopilotReason.SourceType.LIB, "FSM数据异常");
}
}
}
if (listener != null) {
listener.onAutopilotAbility(isAutopilotAbility, unableAutopilotReasons);
}
}
protected void start(OnAutopilotAbilityListener listener) {
this.listener = listener;
}
protected void stop() {
this.masterVersion = -1;
this.listener = null;
}
}

85
libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/common/autopilot/ability/AutopilotAbilityManager.java
View File

@@ -2,6 +2,7 @@ package com.zhidao.support.adas.high.common.autopilot.ability;
import android.os.Handler;
import android.os.Message;
import android.util.Log;
import androidx.annotation.Nullable;
@@ -20,6 +21,7 @@ import chassis.Chassis;
import chassis.ChassisStatesOuterClass;
import function_state_management.FSMStatusReasonQueryOuterClass;
import mogo.telematics.pad.MessagePad;
import system_master.SsmInfo;
import system_master.SystemStatusInfo;
/**
@@ -29,21 +31,26 @@ import system_master.SystemStatusInfo;
* <p>
* 此定时器不能停止 鹰眼中存在UI更新依赖循环查询系统状态
*/
public class AutopilotAbilityManager implements AutopilotAbility230.OnAutopilotAbilityListener, AutopilotAbility250.OnAutopilotAbilityListener, AutopilotAbility330.OnAutopilotAbilityListener {
public class AutopilotAbilityManager implements AutopilotAbility230.OnAutopilotAbilityListener, AutopilotAbility250.OnAutopilotAbilityListener, AutopilotAbility330.OnAutopilotAbilityListener, AutopilotAbility350And360.OnAutopilotAbilityListener, AutopilotAbility360.OnAutopilotAbilityListener {
private static final String TAG = AutopilotAbilityManager.class.getSimpleName();
protected static final int WHAT_TIMEOUT = 0;
protected static final int DEFAULT_TIMEOUT = 2500;
protected static final long DEFAULT_DETECTION_TIME = 3 * 1000L;//默认检测周期
protected 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 "};
protected 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"};
protected static final String[] NODE_INFO_STATE_FIXED_FREQUENCY = {"未知状态", "依赖未就绪", "启动中", "运行", "停止", "无法启动状态", "非自动启动状态", "非自动关闭状态"};
private static volatile AutopilotAbilityManager INSTANCE;
private OnAdasListener listener;
private Handler handler;
private OnAutopilotAbilityListener onAutopilotAbilityListener;
private int mapVersion = -1;//工控机版本
private boolean isFutianSweeper = false;//是否是福田清扫车
private boolean isJinlvM1 = false;//是否是M1
private boolean isHQ = false;//是否是HQ
private AutopilotAbility230 autopilotAbility230;
private AutopilotAbility250 autopilotAbility250;
private AutopilotAbility330 autopilotAbility330;
private AutopilotAbility350And360 autopilotAbility350And360;
private AutopilotAbility360 autopilotAbility360;
private Timer startTimer;
/**
* 不能启动自动驾驶的档位
@@ -106,6 +113,8 @@ public class AutopilotAbilityManager implements AutopilotAbility230.OnAutopilotA
public void setCarConfig(MessagePad.CarConfigResp carConfig) {
mapVersion = carConfig.getMapVersion();
isFutianSweeper = carConfig.getIsFutianSweeper();
isJinlvM1 = carConfig.getIsJinlvM1();
isHQ = carConfig.getIsHQ();
if (mapVersion != -1) {
stopTimer();
CupidLogUtils.i(TAG, "工控机版本=" + mapVersion);
@@ -171,6 +180,15 @@ public class AutopilotAbilityManager implements AutopilotAbility230.OnAutopilotA
}
}
public void setStatusInfo(SsmInfo.SsmStatusInf statusInfo) {
if (autopilotAbility350And360 != null) {
autopilotAbility350And360.setStatusInfo(statusInfo);
}
if (autopilotAbility360 != null) {
autopilotAbility360.setStatusInfo(statusInfo);
}
}
/**
* 底盘状态更新
*
@@ -183,6 +201,9 @@ public class AutopilotAbilityManager implements AutopilotAbility230.OnAutopilotA
if (autopilotAbility250 != null) {
autopilotAbility250.setChassisStates(chassisStates);
}
if (autopilotAbility350And360 != null) {
autopilotAbility350And360.setChassisStates(chassisStates);
}
}
/**
@@ -194,6 +215,9 @@ public class AutopilotAbilityManager implements AutopilotAbility230.OnAutopilotA
if (autopilotAbility330 != null) {
autopilotAbility330.setFsmStatusReasonRespond(fsmStatusReasonRespond);
}
if (autopilotAbility360 != null) {
autopilotAbility360.setFsmStatusReasonRespond(fsmStatusReasonRespond);
}
}
public void onHandleMessage(Message msg) {
@@ -208,27 +232,54 @@ public class AutopilotAbilityManager implements AutopilotAbility230.OnAutopilotA
}
private void initAutopilotAbility() {
//目前只有MAP330的清扫车用的新的FSM状态原因查询
if (mapVersion >= 30300 && isFutianSweeper) {
CupidLogUtils.i(TAG, "是否可以启动自动驾驶能力检测使用330版本");
if (mapVersion >= 30600 && isFutianSweeper) {
Log.i(TAG, "能否启动自驾能力检测使用版本：360清扫车专用");
stop230();
stop250();
stop330();
stop350And360();
if (autopilotAbility360 == null) {
autopilotAbility360 = new AutopilotAbility360();
autopilotAbility360.start(this);
}
} else if ((mapVersion >= 30500 && (isJinlvM1 || isHQ)) || mapVersion >= 30600) {
Log.i(TAG, "能否启动自驾能力检测使用版本：350和360共用");
stop230();
stop250();
stop330();
stop360();
if (autopilotAbility350And360 == null) {
autopilotAbility350And360 = new AutopilotAbility350And360();
autopilotAbility350And360.start(this);
}
} else if (mapVersion >= 30300 && isFutianSweeper) {//目前只有MAP330的清扫车用的新的FSM状态原因查询
Log.i(TAG, "能否启动自驾能力检测使用版本：330清扫车专用");
stop230();
stop250();
stop350And360();
stop360();
if (autopilotAbility330 == null) {
autopilotAbility330 = new AutopilotAbility330(mapVersion);
autopilotAbility330.start(this);
}
} else if (mapVersion >= 20500) {
CupidLogUtils.i(TAG, "是否可以启动自动驾驶能力检测使用250版本");
Log.i(TAG, "能否启动自驾能力检测使用版本：250");
stop230();
stop330();
stop350And360();
stop360();
if (autopilotAbility250 == null) {
autopilotAbility250 = new AutopilotAbility250(mapVersion);
autopilotAbility250.start(this);
}
} else {
CupidLogUtils.i(TAG, "是否可以启动自动驾驶能力检测使用230版本");
Log.i(TAG, "能否启动自驾能力检测使用版本：230");
stop250();
stop330();
stop350And360();
stop360();
if (autopilotAbility230 == null) {
autopilotAbility230 = new AutopilotAbility230();
autopilotAbility230.start(this);
@@ -258,6 +309,20 @@ public class AutopilotAbilityManager implements AutopilotAbility230.OnAutopilotA
}
}
private void stop350And360() {
if (autopilotAbility350And360 != null) {
autopilotAbility350And360.stop();
autopilotAbility350And360 = null;
}
}
private void stop360() {
if (autopilotAbility360 != null) {
autopilotAbility360.stop();
autopilotAbility360 = null;
}
}
private void stopTimer() {
if (startTimer != null) {
startTimer.cancel();
@@ -280,7 +345,7 @@ public class AutopilotAbilityManager implements AutopilotAbility230.OnAutopilotA
initAutopilotAbility();
}
}
}, 8000L);//延迟执行，避免刚连接成功后底盘信息无法及时同步
}, 8000L);//8秒原因：需要后去CarConfig 对象，两个地方调用initAutopilotAbility(); 初始化 一个在这，另一个在setCarConfig(),如果setCarConfig() 证明获取版本还未成功，获取版本会重试3次每次间隔两秒
}
}
@@ -290,9 +355,13 @@ public class AutopilotAbilityManager implements AutopilotAbility230.OnAutopilotA
stop230();
stop250();
stop330();
stop350And360();
stop360();
handler = null;
mapVersion = -1;
isFutianSweeper = false;
isHQ = false;
isJinlvM1 = false;
}
}

7
libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/msg/MyMessageFactory.java
View File

@@ -30,6 +30,7 @@ public class MyMessageFactory implements IMyMessageFactory {
private IMsg warnMessage;//预警数据
private IMsg arrivalNotificationMessage;//到站提醒
private IMsg statusQueryRespMessage;//状态查询应答
private IMsg systemStatusMessage;//定频SSM
private IMsg recordDataConfigRespMessage;//数据采集配置应答
private IMsg planningDecisionStateMessage;//planning决策状态
private IMsg obuWarningDataMessage;//工控机透传OBU V2I数据
@@ -161,6 +162,12 @@ public class MyMessageFactory implements IMyMessageFactory {
statusQueryRespMessage = new StatusQueryRespMessage();
}
return statusQueryRespMessage;
} else if (messageType == MessageType.TYPE_RECEIVE_SSM.typeCode) {
//定频SSM
if (systemStatusMessage == null) {
systemStatusMessage = new SystemStatusMessage();
}
return systemStatusMessage;
} else if (messageType == MessageType.TYPE_RECEIVE_RECORD_DATA_CONFIG_RESP.typeCode) {
//数据采集配置应答
if (recordDataConfigRespMessage == null) {

1
libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/msg/StatusQueryRespMessage.java
View File

@@ -14,6 +14,7 @@ import system_master.SystemStatusInfo;
/**
* 状态查询应答
*/
@Deprecated//HQ、M1 MAP350开始弃用，其他车型MAP360开始弃用
public class StatusQueryRespMessage extends MyAbstractMessageHandler {
@Override

33
libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/msg/SystemStatusMessage.java Normal file
View File

@@ -0,0 +1,33 @@
package com.zhidao.support.adas.high.msg;
import android.os.SystemClock;
import com.google.protobuf.InvalidProtocolBufferException;
import com.zhidao.support.adas.high.AdasChannel;
import com.zhidao.support.adas.high.OnAdasListener;
import com.zhidao.support.adas.high.common.CupidLogUtils;
import com.zhidao.support.adas.high.common.autopilot.ability.AutopilotAbilityManager;
import com.zhidao.support.adas.high.protocol.RawData;
import system_master.SsmInfo;
/**
* 定频SSM 接口
*/
public class SystemStatusMessage extends MyAbstractMessageHandler {
@Override
public void handlerMsg(RawData raw, OnAdasListener adasListener) throws InvalidProtocolBufferException {
SsmInfo.SsmStatusInf statusInfo = SsmInfo.SsmStatusInf.parser().parseFrom(raw.originalData.toByteArray(), raw.getOffsetValue(), raw.getPackageLengthValue() - raw.getOffsetValue());
AdasChannel.calculateTimeConsumingOnDispatchRaw("定频SSM", raw.receiveTime);
AutopilotAbilityManager.getInstance().setStatusInfo(statusInfo);
long nowTime = 0;
if (CupidLogUtils.isEnableLog())
nowTime = SystemClock.elapsedRealtime();
if (adasListener != null) {
adasListener.onSystemStatus(raw.getHeader(), statusInfo);
}
AdasChannel.calculateTimeConsumingBusiness("定频SSM", nowTime);
}
}