From f1113767c10ae82dc52838fbc53b738e5ba647e9 Mon Sep 17 00:00:00 2001 From: xinfengkun Date: Wed, 13 Dec 2023 18:16:50 +0800 Subject: [PATCH] =?UTF-8?q?[626][adas]=20=E8=83=BD=E5=90=A6=E5=90=AF?= =?UTF-8?q?=E5=8A=A8=E8=87=AA=E9=A9=BE=E6=A3=80=E6=B5=8B=E6=8E=A5=E5=8F=A3?= =?UTF-8?q?=E6=96=B0=E5=A2=9E=E5=8E=9F=E5=A7=8B=E6=95=B0=E6=8D=AE=E5=AD=97?= =?UTF-8?q?=E6=AE=B5?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- .../OCHAdasAbilityManager.java | 11 ++- .../autopilot/adapter/MoGoAdasListenerImpl.kt | 8 +- .../IMoGoAutopilotActionsListener.kt | 3 +- .../CallerAutopilotActionsListenerManager.kt | 28 +++++- .../mogo/adas/data/bean/UnableLaunchData.java | 93 +++++++++++++++++++ .../com/zhjt/mogo/adas/utils}/ByteUtil.java | 5 +- .../zhidao/support/adas/high/AdasChannel.java | 2 +- .../support/adas/high/OnAdasListener.java | 6 +- .../ability/AutopilotAbility230.java | 6 +- .../ability/AutopilotAbility250.java | 6 +- .../ability/AutopilotAbility330.java | 6 +- .../ability/AutopilotAbility350And360.java | 6 +- .../ability/AutopilotAbility360.java | 6 +- .../ability/AutopilotAbilityManager.java | 6 +- .../adas/high/msg/AiCloudTaskMessage.java | 2 +- .../support/adas/high/protocol/RawData.java | 2 +- .../support/adas/high/protocol/RawPack.java | 2 +- .../support/adas/high/protocol/RawUnpack.java | 2 +- .../support/adas/high/socket/FpgaSocket.java | 2 +- 19 files changed, 170 insertions(+), 32 deletions(-) create mode 100644 libraries/mogo-adas-data/src/main/java/com/zhjt/mogo/adas/data/bean/UnableLaunchData.java rename libraries/{mogo-adas/src/main/java/com/zhidao/support/adas/high/common => mogo-adas-data/src/main/java/com/zhjt/mogo/adas/utils}/ByteUtil.java (98%) diff --git a/OCH/common/common/src/main/java/com/mogo/och/common/module/manager/autopilotmanager/OCHAdasAbilityManager.java b/OCH/common/common/src/main/java/com/mogo/och/common/module/manager/autopilotmanager/OCHAdasAbilityManager.java index 12c407c763..906e0f45f7 100644 --- a/OCH/common/common/src/main/java/com/mogo/och/common/module/manager/autopilotmanager/OCHAdasAbilityManager.java +++ b/OCH/common/common/src/main/java/com/mogo/och/common/module/manager/autopilotmanager/OCHAdasAbilityManager.java @@ -14,6 +14,7 @@ import com.mogo.eagle.core.utilcode.mogo.logger.Logger; import com.mogo.eagle.core.utilcode.util.ParseVersionUtils; import com.mogo.och.common.module.callback.OchAdasStartFailureCallback; import com.zhjt.mogo.adas.data.bean.AutopilotStatistics; +import com.zhjt.mogo.adas.data.bean.UnableLaunchData; import com.zhjt.mogo.adas.data.bean.UnableLaunchReason; import java.util.ArrayList; @@ -28,6 +29,7 @@ public class OCHAdasAbilityManager implements IMoGoAutopilotActionsListener, IMo private static final String TAG = OCHAdasAbilityManager.class.getSimpleName(); private boolean isAutopilotAbility; + private UnableLaunchData unableLaunchData; private ArrayList unableAutopilotReasons; private String startFailedCode = ""; private String startFailedMessage = ""; @@ -44,6 +46,7 @@ public class OCHAdasAbilityManager implements IMoGoAutopilotActionsListener, IMo public void init(Context context) { this.isAutopilotAbility = CallerAutopilotActionsListenerManager.INSTANCE.isAutopilotAbility(); + this.unableLaunchData = CallerAutopilotActionsListenerManager.INSTANCE.getUnableLaunchData(); this.unableAutopilotReasons = CallerAutopilotActionsListenerManager.INSTANCE.getUnableAutopilotReasons(); initListeners(); } @@ -56,6 +59,9 @@ public class OCHAdasAbilityManager implements IMoGoAutopilotActionsListener, IMo return isAutopilotAbility; } + public String getOriginalData() { + return unableLaunchData == null ? "" : unableLaunchData.getJson(); + } public String getAutopilotUnAbilityReason(){ try { if(unableAutopilotReasons==null||unableAutopilotReasons.isEmpty()){ @@ -97,10 +103,11 @@ public class OCHAdasAbilityManager implements IMoGoAutopilotActionsListener, IMo } @Override - public void onAutopilotAbility(boolean isAutopilotAbility, @Nullable ArrayList unableAutopilotReasons) { + public void onAutopilotAbility(boolean isAutopilotAbility,@Nullable UnableLaunchData unableLaunchData, @Nullable ArrayList unableAutopilotReasons) { this.isAutopilotAbility = isAutopilotAbility; + this.unableLaunchData = unableLaunchData; this.unableAutopilotReasons = unableAutopilotReasons; - Logger.d(TAG, "是否可以启动自动驾驶=" + isAutopilotAbility + " 原因=" + (unableAutopilotReasons == null ? null : unableAutopilotReasons.toString())); + Logger.d(TAG, "是否可以启动自动驾驶=" + isAutopilotAbility + " 原因=" + (unableAutopilotReasons == null ? null : unableAutopilotReasons.toString()) + " 原始数据=" + (unableLaunchData == null ? null : unableLaunchData.getJson())); if (unableAutopilotReasons != null && getMapVersion() < 30600) { //刹车变化回调 Logger.d(TAG,"onAutopilotAbility = " + isAutopilotAbility + diff --git a/core/function-impl/mogo-core-function-datacenter/src/main/java/com/mogo/eagle/core/function/datacenter/autopilot/adapter/MoGoAdasListenerImpl.kt b/core/function-impl/mogo-core-function-datacenter/src/main/java/com/mogo/eagle/core/function/datacenter/autopilot/adapter/MoGoAdasListenerImpl.kt index ab77257189..e71d4100a6 100644 --- a/core/function-impl/mogo-core-function-datacenter/src/main/java/com/mogo/eagle/core/function/datacenter/autopilot/adapter/MoGoAdasListenerImpl.kt +++ b/core/function-impl/mogo-core-function-datacenter/src/main/java/com/mogo/eagle/core/function/datacenter/autopilot/adapter/MoGoAdasListenerImpl.kt @@ -60,6 +60,7 @@ import com.zhjt.mogo.adas.data.bean.AdasParam import com.zhidao.support.adas.high.common.ProtocolStatus import com.zhjt.mogo.adas.data.AiCloudTask import com.zhjt.mogo.adas.data.bean.AutopilotStatistics +import com.zhjt.mogo.adas.data.bean.UnableLaunchData import com.zhjt.mogo.adas.data.bean.UnableLaunchReason import com.zhjt.mogo.adas.data.sweeper.bootable.SweeperBootable import com.zhjt.mogo.adas.data.sweeper.task.SweeperTask @@ -914,12 +915,13 @@ class MoGoAdasListenerImpl : OnAdasListener { */ override fun onAutopilotAbility( isAutopilotAbility: Boolean, + unableLaunchData: UnableLaunchData, unableAutopilotReasons: ArrayList? ) { if (unableAutopilotReasons != null && unableAutopilotReasons.size > 0) { - autopilotAbilityCheck(isAutopilotAbility, unableAutopilotReasons.toString()) + autopilotAbilityCheck(isAutopilotAbility, unableAutopilotReasons.toString(), unableLaunchData) } - invokeAutopilotAbility(isAutopilotAbility, unableAutopilotReasons) + invokeAutopilotAbility(isAutopilotAbility, unableLaunchData, unableAutopilotReasons) } override fun onParallelDrivingAbility( @@ -934,7 +936,7 @@ class MoGoAdasListenerImpl : OnAdasListener { nodeAliasCode = CHAIN_CODE_ADAS_ABILITY, paramIndexes = [0, 1] ) - private fun autopilotAbilityCheck(isAutopilotAbility: Boolean, reason: String) { + private fun autopilotAbilityCheck(isAutopilotAbility: Boolean, reason: String, unableLaunchData: UnableLaunchData) { } diff --git a/core/mogo-core-function-api/src/main/java/com/mogo/eagle/core/function/api/autopilot/IMoGoAutopilotActionsListener.kt b/core/mogo-core-function-api/src/main/java/com/mogo/eagle/core/function/api/autopilot/IMoGoAutopilotActionsListener.kt index 096dae25fb..e5e02056e0 100644 --- a/core/mogo-core-function-api/src/main/java/com/mogo/eagle/core/function/api/autopilot/IMoGoAutopilotActionsListener.kt +++ b/core/mogo-core-function-api/src/main/java/com/mogo/eagle/core/function/api/autopilot/IMoGoAutopilotActionsListener.kt @@ -1,5 +1,6 @@ package com.mogo.eagle.core.function.api.autopilot +import com.zhjt.mogo.adas.data.bean.UnableLaunchData import com.zhjt.mogo.adas.data.bean.UnableLaunchReason @@ -8,5 +9,5 @@ import com.zhjt.mogo.adas.data.bean.UnableLaunchReason */ interface IMoGoAutopilotActionsListener { - fun onAutopilotAbility(isAutopilotAbility: Boolean, unableAutopilotReasons: ArrayList?) + fun onAutopilotAbility(isAutopilotAbility: Boolean, unableLaunchData: UnableLaunchData?, unableAutopilotReasons: ArrayList?) } \ No newline at end of file diff --git a/core/mogo-core-function-call/src/main/java/com/mogo/eagle/core/function/call/autopilot/CallerAutopilotActionsListenerManager.kt b/core/mogo-core-function-call/src/main/java/com/mogo/eagle/core/function/call/autopilot/CallerAutopilotActionsListenerManager.kt index 8eb8870760..98fd5c8c79 100644 --- a/core/mogo-core-function-call/src/main/java/com/mogo/eagle/core/function/call/autopilot/CallerAutopilotActionsListenerManager.kt +++ b/core/mogo-core-function-call/src/main/java/com/mogo/eagle/core/function/call/autopilot/CallerAutopilotActionsListenerManager.kt @@ -2,6 +2,7 @@ package com.mogo.eagle.core.function.call.autopilot import com.mogo.eagle.core.function.api.autopilot.IMoGoAutopilotActionsListener import com.mogo.eagle.core.function.call.base.CallerBase +import com.zhjt.mogo.adas.data.bean.UnableLaunchData import com.zhjt.mogo.adas.data.bean.UnableLaunchReason @@ -11,7 +12,14 @@ import com.zhjt.mogo.adas.data.bean.UnableLaunchReason object CallerAutopilotActionsListenerManager : CallerBase() { @Volatile private var isConnected = false + + @Volatile private var isAutopilotAbility: Boolean = false + + @Volatile + private var unableLaunchData: UnableLaunchData? = null + + @Volatile private var unableAutopilotReasons: ArrayList? = null init { @@ -38,6 +46,15 @@ object CallerAutopilotActionsListenerManager : CallerBase? + isAutopilotAbility: Boolean, + unableLaunchData: UnableLaunchData, + unableAutopilotReasons: ArrayList? ) { if (isConnected) { var isEquals: Boolean = true @@ -73,6 +92,7 @@ object CallerAutopilotActionsListenerManager : CallerBase 0) { + jsonObject.put("data", array); + } + } catch (JSONException | InvalidProtocolBufferException e) { + e.printStackTrace(); + } + return jsonObject.toString(); + } + + private void arrayPut(JSONArray array, GeneratedMessageV3 message) throws JSONException, InvalidProtocolBufferException { + JSONObject object = new JSONObject(); + object.put("name", message.getClass().getName()); + object.put("original", ByteUtil.byteArrToHex(message.toByteArray(), false)); + object.put("parse", new JSONObject(JsonFormat.printer().print(message))); + array.put(object); + } +} diff --git a/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/common/ByteUtil.java b/libraries/mogo-adas-data/src/main/java/com/zhjt/mogo/adas/utils/ByteUtil.java similarity index 98% rename from libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/common/ByteUtil.java rename to libraries/mogo-adas-data/src/main/java/com/zhjt/mogo/adas/utils/ByteUtil.java index 794ba88e8e..015f877f82 100644 --- a/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/common/ByteUtil.java +++ b/libraries/mogo-adas-data/src/main/java/com/zhjt/mogo/adas/utils/ByteUtil.java @@ -1,10 +1,7 @@ -package com.zhidao.support.adas.high.common; +package com.zhjt.mogo.adas.utils; import java.math.BigInteger; -import java.util.ArrayList; -import java.util.Arrays; -import java.util.List; public class ByteUtil { private static final String TAG = ByteUtil.class.getSimpleName(); diff --git a/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/AdasChannel.java b/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/AdasChannel.java index db9b3f1d65..8956740bb5 100644 --- a/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/AdasChannel.java +++ b/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/AdasChannel.java @@ -23,7 +23,7 @@ import androidx.annotation.Nullable; import com.google.protobuf.InvalidProtocolBufferException; import com.zhidao.support.adas.high.bean.VersionCompatibility; import com.zhidao.support.adas.high.common.AutopilotReview; -import com.zhidao.support.adas.high.common.ByteUtil; +import com.zhjt.mogo.adas.utils.ByteUtil; import com.zhidao.support.adas.high.common.Constants; import com.zhidao.support.adas.high.common.CupidLogUtils; import com.zhidao.support.adas.high.common.Define; diff --git a/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/OnAdasListener.java b/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/OnAdasListener.java index 4fe125cf46..f5e77e84b6 100644 --- a/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/OnAdasListener.java +++ b/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/OnAdasListener.java @@ -10,6 +10,7 @@ import com.zhjt.mogo.adas.data.AdasConstants; import com.zhjt.mogo.adas.data.AiCloudTask; import com.zhjt.mogo.adas.data.bean.AdasParam; import com.zhjt.mogo.adas.data.bean.AutopilotStatistics; +import com.zhjt.mogo.adas.data.bean.UnableLaunchData; import com.zhjt.mogo.adas.data.bean.UnableLaunchReason; import com.zhjt.mogo.adas.data.sweeper.bootable.SweeperBootable; import com.zhjt.mogo.adas.data.sweeper.task.SweeperTask; @@ -469,15 +470,16 @@ public interface OnAdasListener { * 是否有能力启动自动驾驶 * * @param isAutopilotAbility 是否能启动自动驾驶 + * @param unableLaunchData 原始数据 * @param unableAutopilotReasons 不能启动自动驾驶原因 */ - void onAutopilotAbility(boolean isAutopilotAbility, @Nullable ArrayList unableAutopilotReasons); + void onAutopilotAbility(boolean isAutopilotAbility, @NonNull UnableLaunchData unableLaunchData, @Nullable ArrayList unableAutopilotReasons); /** * 是否有能力启动平行驾驶 * - * @param isParallelDrivingAbility 是否能启动平行驾驶 + * @param isParallelDrivingAbility 是否能启动平行驾驶 */ void onParallelDrivingAbility(boolean isParallelDrivingAbility); diff --git a/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/common/autopilot/ability/AutopilotAbility230.java b/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/common/autopilot/ability/AutopilotAbility230.java index 8414533e3c..49f8901946 100644 --- a/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/common/autopilot/ability/AutopilotAbility230.java +++ b/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/common/autopilot/ability/AutopilotAbility230.java @@ -1,7 +1,9 @@ package com.zhidao.support.adas.high.common.autopilot.ability; +import androidx.annotation.NonNull; import androidx.annotation.Nullable; +import com.zhjt.mogo.adas.data.bean.UnableLaunchData; import com.zhjt.mogo.adas.data.bean.UnableLaunchReason; import java.util.ArrayList; @@ -25,7 +27,7 @@ public class AutopilotAbility230 { private OnAutopilotAbilityListener listener; protected interface OnAutopilotAbilityListener { - void onAutopilotAbility(boolean isAutopilotAbility, @Nullable ArrayList unableAutopilotReasons); + void onAutopilotAbility(boolean isAutopilotAbility, @NonNull UnableLaunchData unableLaunchData, @Nullable ArrayList unableAutopilotReasons); } protected AutopilotAbility230() { @@ -68,7 +70,7 @@ public class AutopilotAbility230 { } if (listener != null) { - listener.onAutopilotAbility(isAutopilotAbility, unableAutopilotReasons); + listener.onAutopilotAbility(isAutopilotAbility, new UnableLaunchData(this.getClass().getSimpleName(), null, null, null), unableAutopilotReasons); } } diff --git a/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/common/autopilot/ability/AutopilotAbility250.java b/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/common/autopilot/ability/AutopilotAbility250.java index d818fedbaf..26edab1848 100644 --- a/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/common/autopilot/ability/AutopilotAbility250.java +++ b/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/common/autopilot/ability/AutopilotAbility250.java @@ -1,9 +1,11 @@ package com.zhidao.support.adas.high.common.autopilot.ability; +import androidx.annotation.NonNull; 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.UnableLaunchData; import com.zhjt.mogo.adas.data.bean.UnableLaunchReason; import java.util.ArrayList; @@ -36,7 +38,7 @@ public class AutopilotAbility250 { private OnAutopilotAbilityListener listener; protected interface OnAutopilotAbilityListener { - void onAutopilotAbility(boolean isAutopilotAbility, @Nullable ArrayList unableAutopilotReasons); + void onAutopilotAbility(boolean isAutopilotAbility, @NonNull UnableLaunchData unableLaunchData, @Nullable ArrayList unableAutopilotReasons); void onStatusQuery(); @@ -171,7 +173,7 @@ public class AutopilotAbility250 { } } if (listener != null) { - listener.onAutopilotAbility(isAutopilotAbility, unableAutopilotReasons); + listener.onAutopilotAbility(isAutopilotAbility, new UnableLaunchData(this.getClass().getSimpleName(), statusInfo, null, null), unableAutopilotReasons); } } diff --git a/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/common/autopilot/ability/AutopilotAbility330.java b/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/common/autopilot/ability/AutopilotAbility330.java index 005851b51c..e8c95dc670 100644 --- a/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/common/autopilot/ability/AutopilotAbility330.java +++ b/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/common/autopilot/ability/AutopilotAbility330.java @@ -2,10 +2,12 @@ package com.zhidao.support.adas.high.common.autopilot.ability; import android.text.TextUtils; +import androidx.annotation.NonNull; 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.UnableLaunchData; import com.zhjt.mogo.adas.data.bean.UnableLaunchReason; import java.util.ArrayList; @@ -34,7 +36,7 @@ public class AutopilotAbility330 { private OnAutopilotAbilityListener listener; protected interface OnAutopilotAbilityListener { - void onAutopilotAbility(boolean isAutopilotAbility, @Nullable ArrayList unableAutopilotReasons); + void onAutopilotAbility(boolean isAutopilotAbility, @NonNull UnableLaunchData unableLaunchData, @Nullable ArrayList unableAutopilotReasons); void onStatusQuery(); @@ -147,7 +149,7 @@ public class AutopilotAbility330 { } } if (listener != null) { - listener.onAutopilotAbility(isAutopilotAbility, unableAutopilotReasons); + listener.onAutopilotAbility(isAutopilotAbility, new UnableLaunchData(this.getClass().getSimpleName(), statusInfo, null, null), unableAutopilotReasons); } } diff --git a/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/common/autopilot/ability/AutopilotAbility350And360.java b/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/common/autopilot/ability/AutopilotAbility350And360.java index c139b59ca2..900e064b18 100644 --- a/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/common/autopilot/ability/AutopilotAbility350And360.java +++ b/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/common/autopilot/ability/AutopilotAbility350And360.java @@ -1,9 +1,11 @@ package com.zhidao.support.adas.high.common.autopilot.ability; +import androidx.annotation.NonNull; 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.UnableLaunchData; import com.zhjt.mogo.adas.data.bean.UnableLaunchReason; import java.util.ArrayList; @@ -31,7 +33,7 @@ public class AutopilotAbility350And360 { private OnAutopilotAbilityListener listener; protected interface OnAutopilotAbilityListener { - void onAutopilotAbility(boolean isAutopilotAbility, @Nullable ArrayList unableAutopilotReasons); + void onAutopilotAbility(boolean isAutopilotAbility, @NonNull UnableLaunchData unableLaunchData, @Nullable ArrayList unableAutopilotReasons); } @@ -146,7 +148,7 @@ public class AutopilotAbility350And360 { } } if (listener != null) { - listener.onAutopilotAbility(isAutopilotAbility, unableAutopilotReasons); + listener.onAutopilotAbility(isAutopilotAbility, new UnableLaunchData(this.getClass().getSimpleName(), null, statusInfo, null), unableAutopilotReasons); } } diff --git a/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/common/autopilot/ability/AutopilotAbility360.java b/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/common/autopilot/ability/AutopilotAbility360.java index 0e26874210..bd7aecb4f8 100644 --- a/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/common/autopilot/ability/AutopilotAbility360.java +++ b/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/common/autopilot/ability/AutopilotAbility360.java @@ -2,10 +2,12 @@ package com.zhidao.support.adas.high.common.autopilot.ability; import android.text.TextUtils; +import androidx.annotation.NonNull; 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.UnableLaunchData; import com.zhjt.mogo.adas.data.bean.UnableLaunchReason; import java.util.ArrayList; @@ -27,7 +29,7 @@ public class AutopilotAbility360 { private OnAutopilotAbilityListener listener; protected interface OnAutopilotAbilityListener { - void onAutopilotAbility(boolean isAutopilotAbility, @Nullable ArrayList unableAutopilotReasons); + void onAutopilotAbility(boolean isAutopilotAbility, @NonNull UnableLaunchData unableLaunchData, @Nullable ArrayList unableAutopilotReasons); } @@ -119,7 +121,7 @@ public class AutopilotAbility360 { } } if (listener != null) { - listener.onAutopilotAbility(isAutopilotAbility, unableAutopilotReasons); + listener.onAutopilotAbility(isAutopilotAbility, new UnableLaunchData(this.getClass().getSimpleName(), null, statusInfo, fsmStatusReasonRespond), unableAutopilotReasons); } } diff --git a/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/common/autopilot/ability/AutopilotAbilityManager.java b/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/common/autopilot/ability/AutopilotAbilityManager.java index 8f0c11c4f7..932d456523 100644 --- a/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/common/autopilot/ability/AutopilotAbilityManager.java +++ b/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/common/autopilot/ability/AutopilotAbilityManager.java @@ -4,12 +4,14 @@ import android.os.Handler; import android.os.Message; import android.util.Log; +import androidx.annotation.NonNull; import androidx.annotation.Nullable; import com.zhidao.support.adas.high.AdasManager; import com.zhidao.support.adas.high.OnAdasListener; import com.zhidao.support.adas.high.common.Constants; import com.zhidao.support.adas.high.common.CupidLogUtils; +import com.zhjt.mogo.adas.data.bean.UnableLaunchData; import com.zhjt.mogo.adas.data.bean.UnableLaunchReason; import java.util.ArrayList; @@ -151,9 +153,9 @@ public class AutopilotAbilityManager implements AutopilotAbility230.OnAutopilotA } @Override - public void onAutopilotAbility(boolean isAutopilotAbility, @Nullable ArrayList unableAutopilotReasons) { + public void onAutopilotAbility(boolean isAutopilotAbility, @NonNull UnableLaunchData unableLaunchData, @Nullable ArrayList unableAutopilotReasons) { if (listener != null) { - listener.onAutopilotAbility(isAutopilotAbility, unableAutopilotReasons); + listener.onAutopilotAbility(isAutopilotAbility, unableLaunchData, unableAutopilotReasons); } } diff --git a/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/msg/AiCloudTaskMessage.java b/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/msg/AiCloudTaskMessage.java index ff1e29de81..a450114b28 100644 --- a/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/msg/AiCloudTaskMessage.java +++ b/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/msg/AiCloudTaskMessage.java @@ -6,7 +6,7 @@ import com.google.protobuf.ByteString; 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.ByteUtil; +import com.zhjt.mogo.adas.utils.ByteUtil; import com.zhidao.support.adas.high.common.CupidLogUtils; import com.zhidao.support.adas.high.protocol.RawData; import com.zhjt.mogo.adas.data.AiCloudTask; diff --git a/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/protocol/RawData.java b/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/protocol/RawData.java index fef1bf24f3..2aaa8b8bee 100644 --- a/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/protocol/RawData.java +++ b/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/protocol/RawData.java @@ -1,6 +1,6 @@ package com.zhidao.support.adas.high.protocol; -import com.zhidao.support.adas.high.common.ByteUtil; +import com.zhjt.mogo.adas.utils.ByteUtil; import com.zhidao.support.adas.high.common.ProtocolStatus; import mogo.telematics.pad.MessagePad; diff --git a/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/protocol/RawPack.java b/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/protocol/RawPack.java index feca7af37e..0a2154162b 100644 --- a/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/protocol/RawPack.java +++ b/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/protocol/RawPack.java @@ -1,6 +1,6 @@ package com.zhidao.support.adas.high.protocol; -import com.zhidao.support.adas.high.common.ByteUtil; +import com.zhjt.mogo.adas.utils.ByteUtil; import com.zhidao.support.adas.high.common.Constants; import java.util.concurrent.atomic.AtomicLong; diff --git a/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/protocol/RawUnpack.java b/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/protocol/RawUnpack.java index e198a01d69..5129a5c568 100644 --- a/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/protocol/RawUnpack.java +++ b/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/protocol/RawUnpack.java @@ -1,6 +1,6 @@ package com.zhidao.support.adas.high.protocol; -import com.zhidao.support.adas.high.common.ByteUtil; +import com.zhjt.mogo.adas.utils.ByteUtil; import com.zhidao.support.adas.high.common.Constants; import com.zhidao.support.adas.high.common.ProtocolStatus; diff --git a/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/socket/FpgaSocket.java b/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/socket/FpgaSocket.java index d2c205aae1..6b0039dcca 100644 --- a/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/socket/FpgaSocket.java +++ b/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/socket/FpgaSocket.java @@ -15,7 +15,7 @@ import androidx.annotation.NonNull; import com.google.protobuf.InvalidProtocolBufferException; import com.zhidao.support.adas.high.AdasChannel; -import com.zhidao.support.adas.high.common.ByteUtil; +import com.zhjt.mogo.adas.utils.ByteUtil; import com.zhidao.support.adas.high.common.CupidLogUtils; import com.zhidao.support.adas.high.common.ReceiveTimeoutManager; import com.zhidao.support.adas.high.common.ReconnectManager;