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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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6
core/function-impl/mogo-core-function-datacenter/src/main/java/com/mogo/eagle/core/function/datacenter/autopilot/adapter/MoGoAdasListenerImpl.kt
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@@ -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
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@@ -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
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@@ -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) {