From 1070a27b34fef64b8309ff68fb8603095283dd37 Mon Sep 17 00:00:00 2001
From: renwj <renwenjie@zhidaoauto.com>
Date: Thu, 2 Jun 2022 18:48:05 +0800
Subject: [PATCH] =?UTF-8?q?[=E7=8A=B6=E6=80=81=E6=A0=8F]Can=E5=92=8CRTK?=
 =?UTF-8?q?=E5=BC=82=E5=B8=B8=E5=A2=9E=E5=8A=A0Code=E7=BB=B4=E5=BA=A6?=
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[状态栏]Can和RTK异常增加Code维度1
---
 .../status/flow/can/CanImpl.kt                | 19 ++++++++++++++-----
 .../status/flow/rtk/RTKImpl.kt                |  2 +-
 2 files changed, 15 insertions(+), 6 deletions(-)

diff --git a/core/function-impl/mogo-core-function-devatools/src/main/java/com/zhjt/mogo_core_function_devatools/status/flow/can/CanImpl.kt b/core/function-impl/mogo-core-function-devatools/src/main/java/com/zhjt/mogo_core_function_devatools/status/flow/can/CanImpl.kt
index c5fc03d2a9..d5b6e167e1 100644
--- a/core/function-impl/mogo-core-function-devatools/src/main/java/com/zhjt/mogo_core_function_devatools/status/flow/can/CanImpl.kt
+++ b/core/function-impl/mogo-core-function-devatools/src/main/java/com/zhjt/mogo_core_function_devatools/status/flow/can/CanImpl.kt
@@ -10,6 +10,7 @@ import com.mogo.eagle.core.utilcode.kotlin.*
 import com.zhjt.mogo_core_function_devatools.status.flow.IFlow
 import com.zhjt.mogo_core_function_devatools.status.entity.CanStatus
 import kotlinx.coroutines.*
+import mogo_msg.MogoReportMsg.MogoReportMessage
 
 internal class CanImpl(ctx: Context): IFlow<CanStatus>(ctx), IMoGoAutopilotVehicleStateListener, IMoGoAutopilotStatusListener {
 
@@ -27,38 +28,46 @@ internal class CanImpl(ctx: Context): IFlow<CanStatus>(ctx), IMoGoAutopilotVehic
     }
 
     override fun onAutopilotLightSwitchData(lightSwitch: LightSwitch?) {
-        send(CanStatus(CallerAutoPilotManager.isConnected()))
+        send(CanStatus(isCanEnabled()))
         timeOutCheck()
     }
 
+    private fun isCanEnabled() = CallerAutoPilotManager.isConnected() && CallerAutoPilotStatusListenerManager.getAutoPilotReportMessageCode() != "EHW_CAN"
+
 
     override fun onAutopilotBrakeLightData(brakeLight: Boolean) {
-        send(CanStatus(CallerAutoPilotManager.isConnected()))
+        send(CanStatus(isCanEnabled()))
         timeOutCheck()
     }
 
     override fun onAutopilotSteeringData(steering: Float) {
-        send(CanStatus(CallerAutoPilotManager.isConnected()))
+        send(CanStatus(isCanEnabled()))
         timeOutCheck()
     }
 
     override fun onAutopilotGearData(gear: GearPosition) {
-        send(CanStatus(CallerAutoPilotManager.isConnected()))
+        send(CanStatus(isCanEnabled()))
         timeOutCheck()
     }
 
     override fun onAutopilotIpcConnectStatusChanged(status: Int, reason: String?) {
         super.onAutopilotIpcConnectStatusChanged(status, reason)
-        send(CanStatus(CallerAutoPilotManager.isConnected()))
+        send(CanStatus(isCanEnabled()))
         timeOutCheck()
     }
 
     override fun onAutopilotDataException(timestamp: Long) {
         super.onAutopilotDataException(timestamp)
         send(CanStatus(false))
+    }
+
+    override fun onAutopilotGuardian(guardianInfo: MogoReportMessage?) {
+        super.onAutopilotGuardian(guardianInfo)
+        send(CanStatus(isCanEnabled()))
         timeOutCheck()
     }
 
+
     private fun timeOutCheck() {
         job?.safeCancel()
         launch(Dispatchers.Default) {
diff --git a/core/function-impl/mogo-core-function-devatools/src/main/java/com/zhjt/mogo_core_function_devatools/status/flow/rtk/RTKImpl.kt b/core/function-impl/mogo-core-function-devatools/src/main/java/com/zhjt/mogo_core_function_devatools/status/flow/rtk/RTKImpl.kt
index ab22453700..1e99a5fcec 100644
--- a/core/function-impl/mogo-core-function-devatools/src/main/java/com/zhjt/mogo_core_function_devatools/status/flow/rtk/RTKImpl.kt
+++ b/core/function-impl/mogo-core-function-devatools/src/main/java/com/zhjt/mogo_core_function_devatools/status/flow/rtk/RTKImpl.kt
@@ -25,7 +25,7 @@ internal class RTKImpl(ctx: Context): IFlow<RTKStatus>(ctx), IMoGoAutopilotCarSt
     }
 
     private fun isRTKEnabled() =
-        CallerAutoPilotManager.isConnected() && CallerAutoPilotStatusListenerManager.getAutoPilotReportMessageCode() != "EHW_RTK" && CallerAutopilotCarStatusListenerManager.getCurrentGnssInfo() != null
+        CallerAutoPilotManager.isConnected() && (CallerAutoPilotStatusListenerManager.getAutoPilotReportMessageCode() != "EHW_RTK" && CallerAutoPilotStatusListenerManager.getAutoPilotReportMessageCode() != "EHW_GNSS") && CallerAutopilotCarStatusListenerManager.getCurrentGnssInfo() != null
 
     override fun onAutopilotCarStateData(gnssInfo: GnssInfo?) {
         send(RTKStatus(isRTKEnabled()))