[6.6.2] fix bug of sop fusionMode

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

@@ -5,6 +5,7 @@ import chassis.Chassis
 import chassis.ChassisStatesOuterClass
 import chassis.VehicleStateOuterClass
 import com.mogo.eagle.core.data.app.AppConfigInfo
+import com.mogo.eagle.core.data.config.FunctionBuildConfig
 import com.mogo.eagle.core.data.config.HdMapBuildConfig
 import com.mogo.eagle.core.data.deva.chain.ChainConstant
 import com.mogo.eagle.core.data.deva.chain.ChainConstant.Companion.CHAIN_CODE_ADAS_ARRIVE
@@ -1116,6 +1117,7 @@ class MoGoAdasListenerImpl : OnAdasListener {
         getParamResp: MessagePad.SetParamReq,
         adasParam: AdasParam
     ) {
+        FunctionBuildConfig.fusionMode = adasParam.fusionMode
         CallerAutopilotGetParamResponseDispatcher.dispatchResponse(header, getParamResp, adasParam)
     }
 

core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/hmi/ui/setting/SOPSettingView.kt

@@ -610,6 +610,7 @@ internal class SOPSettingView @JvmOverloads constructor(
 
         // 6.6.2 与海江确认，默认发盲区模式
         CallerAutoPilotControlManager.sendFusionMode(2)
+        updateFusionModeUI()
         //融合模式
         rgFusionMode.setOnCheckedChangeListener { _, p1 ->
             when (p1) {
@@ -1111,32 +1112,34 @@ internal class SOPSettingView @JvmOverloads constructor(
     ) {
         //融合模式
         ThreadUtils.runOnUiThread {
-            FunctionBuildConfig.fusionMode = adasParam.fusionMode
-            when (FunctionBuildConfig.fusionMode) {
-                1 -> {
-                    //全融合模式
-                    rgFusionMode.check(R.id.rbFullIntegration)
-                }
-                2 -> {
-                    //盲区模式
-                    rgFusionMode.check(R.id.rbBlind)
-                }
-                3 -> {
-                    //超视距模式
-                    rgFusionMode.check(R.id.rbBeyondSight)
-                }
-                4 -> {
-                    //透传模式
-                    rgFusionMode.check(R.id.rbTransparent)
-                }
-                5 -> {
-                    //纯路侧模式
-                    rgFusionMode.check(R.id.rbPureRoad)
-                }
-            }
-
+            updateFusionModeUI()
             val overTakeSpeed = adasParam.overtakeMaxSpeed
             tvOverTakeLimit.text = "$overTakeSpeed m/s"
         }
     }
+
+    private fun updateFusionModeUI(){
+        when (FunctionBuildConfig.fusionMode) {
+            1 -> {
+                //全融合模式
+                rgFusionMode.check(R.id.rbFullIntegration)
+            }
+            2 -> {
+                //盲区模式
+                rgFusionMode.check(R.id.rbBlind)
+            }
+            3 -> {
+                //超视距模式
+                rgFusionMode.check(R.id.rbBeyondSight)
+            }
+            4 -> {
+                //透传模式
+                rgFusionMode.check(R.id.rbTransparent)
+            }
+            5 -> {
+                //纯路侧模式
+                rgFusionMode.check(R.id.rbPureRoad)
+            }
+        }
+    }
 }

core/mogo-core-data/src/main/java/com/mogo/eagle/core/data/config/FunctionBuildConfig.kt

@@ -304,7 +304,7 @@ object FunctionBuildConfig {
      */
     @Volatile
     @JvmField
-    var fusionMode = 1
+    var fusionMode = 2
 
     /**
      * V2X总开关