[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

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

@@ -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
      */

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

@@ -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?) {

core/function-impl/mogo-core-function-devatools/src/main/java/com/zhjt/mogo_core_function_devatools/status/flow/can/CanImpl.kt

@@ -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()

core/function-impl/mogo-core-function-devatools/src/main/java/com/zhjt/mogo_core_function_devatools/status/flow/rtk/RTKImpl.kt

@@ -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()) {

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

@@ -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) {
 

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

@@ -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
      */

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

@@ -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
      */

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

@@ -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())}"
+//        )
+//    }
 }