[6.4.0][启自驾指引] 丰富埋点数据；优化代码逻辑
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renwj
@@ -8,6 +8,7 @@ import chassis.Chassis.GearPosition.GEAR_R
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import com.mogo.eagle.core.data.autopilot.AutopilotControlParameters.AutoPilotLine
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import com.mogo.eagle.core.data.enums.DataSourceType.DEFAULT
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import com.mogo.eagle.core.function.api.autopilot.IMoGoAutopilotStatusListener
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import com.mogo.eagle.core.function.call.autopilot.CallerAutoPilotControlManager
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import com.mogo.eagle.core.function.call.autopilot.CallerAutoPilotStatusListenerManager
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import com.mogo.eagle.core.function.call.autopilot.CallerAutopilotActionsListenerManager
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import com.mogo.eagle.core.function.call.autopilot.CallerChassisBrakeStateListenerManager
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@@ -15,6 +16,8 @@ import com.mogo.eagle.core.function.call.autopilot.CallerChassisGearStateListene
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import com.mogo.eagle.core.function.call.autopilot.CallerChassisLocationGCJ02ListenerManager
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import com.mogo.eagle.core.function.call.autopilot.CallerChassisThrottleStateListenerManager
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import com.mogo.eagle.core.function.main.MainLauncherActivity
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import com.mogo.eagle.core.utilcode.util.ToastUtils
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import com.zhjt.mogo.adas.data.bean.MogoReport
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import com.zhjt.mogo.adas.data.bean.UnableLaunchData
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import com.zhjt.mogo.adas.data.bean.UnableLaunchReason
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import com.zhjt.mogo.adas.data.bean.UnableLaunchReason.SourceType.CHASSIS
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@@ -28,6 +31,7 @@ import kotlinx.coroutines.Dispatchers
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import kotlinx.coroutines.delay
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import kotlinx.coroutines.launch
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import kotlinx.coroutines.runBlocking
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import kotlinx.coroutines.withContext
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import mogo_msg.MogoReportMsg.MogoMsgTimestamp
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import mogo_msg.MogoReportMsg.MogoReportMessage
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import org.junit.Before
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@@ -64,8 +68,11 @@ class TestAutoPilotBeforeLaunch {
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delay(delayLong)
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launch(Dispatchers.IO) {
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val line = AutoPilotLine(10L, "", "","", "", System.currentTimeMillis(), "")
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var flag = false
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var flag = 1
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while (true) {
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if (flag > 4) {
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flag = 1
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}
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CallerAutoPilotStatusListenerManager.invokeTrajectoryDownloadReq(line, 0)
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CallerAutoPilotStatusListenerManager.invokeAutopilotGuardian(
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MogoReportMessage.getDefaultInstance()
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@@ -73,7 +80,7 @@ class TestAutoPilotBeforeLaunch {
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.setTimestamp(MogoMsgTimestamp.getDefaultInstance().toBuilder().setSec(1).setNsec(1).build())
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.setSrc("1")
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.setLevel("1")
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.setCode("ISYS_INIT_TRAJECTORY_START")
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.setCode(MogoReport.Code.Info.ISYS.INIT_TRAJECTORY_START)
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.setMsg("lineid:10")
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.build())
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delay(2000)
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@@ -83,11 +90,41 @@ class TestAutoPilotBeforeLaunch {
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.setTimestamp(MogoMsgTimestamp.getDefaultInstance().toBuilder().setSec(1).setNsec(1).build())
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.setSrc("1")
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.setLevel("1")
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.setCode(if (flag) "ISYS_INIT_TRAJECTORY_SUCCESS" else "ISYS_INIT_TRAJECTORY_FAILURE")
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.setCode(
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when(flag) {
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1 -> {
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withContext(Dispatchers.Main) {
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ToastUtils.showShort("轨迹下载成功")
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}
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MogoReport.Code.Info.ISYS.INIT_TRAJECTORY_SUCCESS
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}
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2 -> {
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withContext(Dispatchers.Main) {
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ToastUtils.showShort("轨迹下载失败(超时)")
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}
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MogoReport.Code.Info.ISYS.INIT_TRAJECTORY_TIMEOUT
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}
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3 -> {
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withContext(Dispatchers.Main) {
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ToastUtils.showShort("轨迹下载失败(警告)")
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}
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MogoReport.Code.Info.ISYS.INIT_TRAJECTORY_WARNING
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}
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4 -> {
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withContext(Dispatchers.Main) {
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ToastUtils.showShort("轨迹下载失败")
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}
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MogoReport.Code.Info.ISYS.INIT_TRAJECTORY_FAILURE
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}
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else -> {
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throw AssertionError()
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}
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}
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)
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.setMsg("lineid:10")
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.build())
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delay(10000)
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flag = !flag
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delay(5000)
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flag++
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}
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}
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launch(Dispatchers.IO) {
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@@ -97,50 +134,50 @@ class TestAutoPilotBeforeLaunch {
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CallerChassisGearStateListenerManager.invokeAutopilotGearData(GEAR_R)
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val current = CallerChassisLocationGCJ02ListenerManager.getChassisLocationGCJ02()
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CallerChassisLocationGCJ02ListenerManager.invokeChassisLocationGCJ02(current.also { it.gnssSpeed = Random.nextInt(0 ..20).toFloat() }, DEFAULT)
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delay(500)
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delay(Random.nextInt(10..50).toLong())
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}
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}
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launch(Dispatchers.IO) {
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var flag = 1
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var isAbility = false
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while (true) {
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if (flag > 6) {
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flag = 1
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}
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CallerAutopilotActionsListenerManager.setConnected(true)
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CallerAutoPilotStatusListenerManager.getAutoPilotStatusInfo().state = IMoGoAutopilotStatusListener.STATUS_AUTOPILOT_ENABLE
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if (flag == 1) {
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CallerAutopilotActionsListenerManager.invokeAutopilotAbility(isAbility, UnableLaunchData("", SystemStatusInfo.StatusInfo.getDefaultInstance().toBuilder().setSysState(SYS_RUNNING).build(), SsmStatusInf.getDefaultInstance().toBuilder().setModeState(ModeState.MODE_RUN_READY).setAutoPilotReady(false).setRemotePilotReady(false).build(), FSMStatusReasonRespond.getDefaultInstance()), ArrayList<UnableLaunchReason>().also {
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CallerAutopilotActionsListenerManager.invokeAutopilotAbility(false, UnableLaunchData("", SystemStatusInfo.StatusInfo.getDefaultInstance().toBuilder().setSysState(SYS_RUNNING).build(), SsmStatusInf.getDefaultInstance().toBuilder().setModeState(ModeState.MODE_RUN_READY).setAutoPilotReady(false).setRemotePilotReady(false).build(), FSMStatusReasonRespond.getDefaultInstance()), ArrayList<UnableLaunchReason>().also {
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it += UnableLaunchReason(CHASSIS, CHASSIS_GEAR, "gear")
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})
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}
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if (flag == 2) {
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CallerAutopilotActionsListenerManager.invokeAutopilotAbility(isAbility, UnableLaunchData("", SystemStatusInfo.StatusInfo.getDefaultInstance().toBuilder().setSysState(SYS_RUNNING).build(), SsmStatusInf.getDefaultInstance().toBuilder().setModeState(ModeState.MODE_RUN_READY).setAutoPilotReady(false).setRemotePilotReady(false).build(), FSMStatusReasonRespond.getDefaultInstance()), ArrayList<UnableLaunchReason>().also {
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CallerAutopilotActionsListenerManager.invokeAutopilotAbility(false, UnableLaunchData("", SystemStatusInfo.StatusInfo.getDefaultInstance().toBuilder().setSysState(SYS_RUNNING).build(), SsmStatusInf.getDefaultInstance().toBuilder().setModeState(ModeState.MODE_RUN_READY).setAutoPilotReady(false).setRemotePilotReady(false).build(), FSMStatusReasonRespond.getDefaultInstance()), ArrayList<UnableLaunchReason>().also {
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it += UnableLaunchReason(CHASSIS, CHASSIS_STEERING, "steering")
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})
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}
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if (flag == 3) {
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CallerAutopilotActionsListenerManager.invokeAutopilotAbility(isAbility, UnableLaunchData("", SystemStatusInfo.StatusInfo.getDefaultInstance().toBuilder().setSysState(SYS_RUNNING).build(), SsmStatusInf.getDefaultInstance().toBuilder().setModeState(ModeState.MODE_RUN_READY).setAutoPilotReady(false).setRemotePilotReady(false).build(), FSMStatusReasonRespond.getDefaultInstance()), ArrayList<UnableLaunchReason>().also {
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CallerAutopilotActionsListenerManager.invokeAutopilotAbility(false, UnableLaunchData("", SystemStatusInfo.StatusInfo.getDefaultInstance().toBuilder().setSysState(SYS_RUNNING).build(), SsmStatusInf.getDefaultInstance().toBuilder().setModeState(ModeState.MODE_RUN_READY).setAutoPilotReady(false).setRemotePilotReady(false).build(), FSMStatusReasonRespond.getDefaultInstance()), ArrayList<UnableLaunchReason>().also {
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it += UnableLaunchReason(CHASSIS, CHASSIS_BRAKE, "brake")
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})
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}
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if (flag == 4) {
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CallerAutopilotActionsListenerManager.invokeAutopilotAbility(isAbility, UnableLaunchData("", SystemStatusInfo.StatusInfo.getDefaultInstance().toBuilder().setSysState(SYS_RUNNING).build(), SsmStatusInf.getDefaultInstance().toBuilder().setModeState(ModeState.MODE_RUN_READY).setAutoPilotReady(false).setRemotePilotReady(false).build(), FSMStatusReasonRespond.getDefaultInstance()), ArrayList<UnableLaunchReason>().also {
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CallerAutopilotActionsListenerManager.invokeAutopilotAbility(false, UnableLaunchData("", SystemStatusInfo.StatusInfo.getDefaultInstance().toBuilder().setSysState(SYS_RUNNING).build(), SsmStatusInf.getDefaultInstance().toBuilder().setModeState(ModeState.MODE_RUN_READY).setAutoPilotReady(false).setRemotePilotReady(false).build(), FSMStatusReasonRespond.getDefaultInstance()), ArrayList<UnableLaunchReason>().also {
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it += UnableLaunchReason(CHASSIS, CHASSIS_HAZARD_LIGHTS, "lights")
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})
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}
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if (flag == 5) {
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CallerAutopilotActionsListenerManager.invokeAutopilotAbility(isAbility, UnableLaunchData("", SystemStatusInfo.StatusInfo.getDefaultInstance().toBuilder().setSysState(SYS_RUNNING).build(), SsmStatusInf.getDefaultInstance().toBuilder().setModeState(ModeState.MODE_RUN_READY).setAutoPilotReady(false).setRemotePilotReady(false).build(), FSMStatusReasonRespond.getDefaultInstance()), ArrayList<UnableLaunchReason>().also {
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CallerAutopilotActionsListenerManager.invokeAutopilotAbility(false, UnableLaunchData("", SystemStatusInfo.StatusInfo.getDefaultInstance().toBuilder().setSysState(SYS_RUNNING).build(), SsmStatusInf.getDefaultInstance().toBuilder().setModeState(ModeState.MODE_RUN_READY).setAutoPilotReady(false).setRemotePilotReady(false).build(), FSMStatusReasonRespond.getDefaultInstance()), ArrayList<UnableLaunchReason>().also {
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it += UnableLaunchReason(CHASSIS, CHASSIS_THROTTLE, "throttle")
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})
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}
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if (flag == 6) {
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CallerAutopilotActionsListenerManager.invokeAutopilotAbility(isAbility, UnableLaunchData("", SystemStatusInfo.StatusInfo.getDefaultInstance().toBuilder().setSysState(SYS_RUNNING).build(), SsmStatusInf.getDefaultInstance().toBuilder().setModeState(ModeState.MODE_RUN_READY).setAutoPilotReady(false).setRemotePilotReady(false).build(), FSMStatusReasonRespond.getDefaultInstance()), ArrayList<UnableLaunchReason>().also {
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CallerAutopilotActionsListenerManager.invokeAutopilotAbility(false, UnableLaunchData("", SystemStatusInfo.StatusInfo.getDefaultInstance().toBuilder().setSysState(SYS_RUNNING).build(), SsmStatusInf.getDefaultInstance().toBuilder().setModeState(ModeState.MODE_RUN_READY).setAutoPilotReady(false).setRemotePilotReady(false).build(), FSMStatusReasonRespond.getDefaultInstance()), ArrayList<UnableLaunchReason>().also {
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it += UnableLaunchReason(CHASSIS, CHASSIS_GEAR, "gear")
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it += UnableLaunchReason(CHASSIS, CHASSIS_STEERING, "steering")
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it += UnableLaunchReason(CHASSIS, CHASSIS_HAZARD_LIGHTS, "lights")
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@@ -148,8 +185,9 @@ class TestAutoPilotBeforeLaunch {
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it += UnableLaunchReason(CHASSIS, CHASSIS_BRAKE, "brake")
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})
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}
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delay(2000)
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// isAbility = !isAbility
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delay(500)
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CallerAutoPilotControlManager.isCanStartAutopilot(true)
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delay(5000)
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flag ++
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}
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}
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