[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-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()) {