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[620][adas]修复启动平行驾驶能力产生的空指针异常

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xinfengkun
2023-11-07 15:52:21 +08:00
parent 1993a25d63
commit f8e501b14e
1 changed files with 26 additions and 17 deletions
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43
libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/common/ParallelDrivingManager.java
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@@ -1,11 +1,14 @@
package com.zhidao.support.adas.high.common;
import android.util.Log;
import com.zhidao.support.adas.high.AdasManager;
import com.zhidao.support.adas.high.OnAdasListener;
import java.util.Timer;
import java.util.TimerTask;
import java.util.concurrent.atomic.AtomicReference;
import chassis.Chassis;
import chassis.ChassisStatesOuterClass;
@@ -22,8 +25,8 @@ public class ParallelDrivingManager {
private volatile Timer callbackTimer;
private volatile Timer bootTimer;
private OnAdasListener listener;
private ChassisStatesOuterClass.ChassisStates chassisStates;
private VehicleStateOuterClass.VehicleState vehicleState;
private final AtomicReference<ChassisStatesOuterClass.ChassisStates> chassisStates = new AtomicReference<>();
private final AtomicReference<VehicleStateOuterClass.VehicleState> vehicleState = new AtomicReference<>();
private int autopilotState;
/**
* 不能启动平行驾驶的档位
@@ -62,11 +65,11 @@ public class ParallelDrivingManager {
}
public void setChassisStates(ChassisStatesOuterClass.ChassisStates chassisStates) {
this.chassisStates = chassisStates;
this.chassisStates.set(chassisStates);
}
public void setVehicleState(VehicleStateOuterClass.VehicleState vehicleState) {
this.vehicleState = vehicleState;
this.vehicleState.set(vehicleState);
}
/**
@@ -84,31 +87,33 @@ public class ParallelDrivingManager {
float throttle = 0;
boolean isBrake = false;
//检测底盘相关
if (chassisStates != null) {
if (chassisStates.hasBrakeSystemStates()) {
brake = chassisStates.getBrakeSystemStates().getBrakePedalResponsePosition();
ChassisStatesOuterClass.ChassisStates currentChassisStates = chassisStates.get();
if (currentChassisStates != null) {
if (currentChassisStates.hasBrakeSystemStates()) {
brake = currentChassisStates.getBrakeSystemStates().getBrakePedalResponsePosition();
CupidLogUtils.i(TAG, "刹车=" + brake);
} else {
CupidLogUtils.i(TAG, "刹车=未赋值");
}
if (chassisStates.hasGearSystemStates()) {
gear = chassisStates.getGearSystemStates().getGearPosition();
if (currentChassisStates.hasGearSystemStates()) {
gear = currentChassisStates.getGearSystemStates().getGearPosition();
CupidLogUtils.i(TAG, "档位=" + gear);
} else {
CupidLogUtils.i(TAG, "档位=未赋值");
}
if (chassisStates.hasDrivingSystemStates()) {
throttle = chassisStates.getDrivingSystemStates().getThrottleResponsePosition();
if (currentChassisStates.hasDrivingSystemStates()) {
throttle = currentChassisStates.getDrivingSystemStates().getThrottleResponsePosition();
CupidLogUtils.i(TAG, "油门=" + throttle);
} else {
CupidLogUtils.i(TAG, "油门=未赋值");
}
}
if (vehicleState != null) {
VehicleStateOuterClass.VehicleState currentVehicleState = vehicleState.get();
if (currentVehicleState != null) {
//TODO 关于手刹：目前只有老底盘中存在这个字段，df360开始，其他车型未知
//电子驻车制动系统
if (vehicleState.hasParkingBrake()) {
isBrake = vehicleState.getParkingBrake();
if (currentVehicleState.hasParkingBrake()) {
isBrake = currentVehicleState.getParkingBrake();
CupidLogUtils.i(TAG, " 手刹=" + isBrake);
} else {
CupidLogUtils.i(TAG, " 手刹=未赋值");
@@ -137,7 +142,11 @@ public class ParallelDrivingManager {
callbackTimer.schedule(new TimerTask() {
@Override
public void run() {
onCallback();
try {
onCallback();
} catch (Exception e) {
Log.e("[tag=" + TAG + "]", "[data=启动平行驾驶能力检测回调出现异常]", e);
}
}
}, 2000L, 1000L);//延迟执行，避免刚连接成功后底盘信息无法及时同步
}
@@ -182,7 +191,7 @@ public class ParallelDrivingManager {
callbackTimer.cancel();
callbackTimer = null;
}
this.chassisStates = null;
this.vehicleState = null;
this.chassisStates.set(null);
this.vehicleState.set(null);
}
}