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[adas] 启动自驾与下载轨迹请求接口新增算路相关参数

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This commit is contained in:
xinfengkun
2024-05-24 13:20:08 +08:00
parent 88ee345fec
commit 2278c848e0
7 changed files with 83 additions and 43 deletions
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26
core/function-impl/mogo-core-function-datacenter/src/main/java/com/mogo/eagle/core/function/datacenter/autopilot/MoGoAutopilotControlProvider.kt
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@@ -383,12 +383,12 @@ class MoGoAutopilotControlProvider :
private fun startAutoPilotWithNoParameter(source: Int) {
if (AppIdentityModeUtils.isPassenger(FunctionBuildConfig.appIdentityMode)) {
val invokeResult = AdasManager.getInstance()
.sendAutoPilotModeReq(1, source, null)
.sendAutoPilotModeReq(1, source, null, false)
invokeAutoPilotResult(if (invokeResult > -1) "无参自动驾驶调用成功：${invokeResult}" else "自动驾驶调用失败, socket 或者 rawPack 可能为空")
} else {
if (AdasManager.getInstance().ipcConnectionStatus == AdasConstants.IpcConnectionStatus.CONNECTED) {
val invokeResult = AdasManager.getInstance()
.sendAutoPilotModeReq(1, source, null)
.sendAutoPilotModeReq(1, source, null, false)
invokeAutoPilotResult(if (invokeResult > -1) "无参自动驾驶调用成功：${invokeResult}" else "自动驾驶调用失败, socket 或者 rawPack 可能为空")
} else {
invokeAutoPilotResult("车机与工控机链接失败，无法开启自动驾驶 无参")
@@ -399,12 +399,12 @@ class MoGoAutopilotControlProvider :
private fun startAutoPilot(controlParameters: AutopilotControlParameters, source: Int) {
if (AppIdentityModeUtils.isPassenger(FunctionBuildConfig.appIdentityMode)) {
val invokeResult = AdasManager.getInstance()
.sendAutoPilotModeReq(1, source, controlParameters.toRouteInfo())
.sendAutoPilotModeReq(1, source, controlParameters.toRouteInfo(), false)
invokeAutoPilotResult(if (invokeResult > -1) "自动驾驶调用成功：${invokeResult}" else "自动驾驶调用失败, socket 或者 rawPack 可能为空")
} else {
if (AdasManager.getInstance().ipcConnectionStatus == AdasConstants.IpcConnectionStatus.CONNECTED) {
val invokeResult = AdasManager.getInstance()
.sendAutoPilotModeReq(1, source, controlParameters.toRouteInfo())
.sendAutoPilotModeReq(1, source, controlParameters.toRouteInfo(), false)
invokeAutoPilotResult(if (invokeResult > -1) "自动驾驶调用成功：${invokeResult}" else "自动驾驶调用失败, socket 或者 rawPack 可能为空")
} else {
invokeAutoPilotResult("车机与工控机链接失败，无法开启自动驾驶")
@@ -440,17 +440,21 @@ class MoGoAutopilotControlProvider :
)
}
override fun sendTrajectoryDownloadReq(autoPilotLine: AutopilotControlParameters.AutoPilotLine) {
AdasManager.getInstance().sendTrajectoryDownloadReq(autoPilotLine.toAutoPilotLine())
override fun sendTrajectoryDownloadReq(autoPilotLine: AutopilotControlParameters.AutoPilotLine, isAutoRouting: Boolean, routeInfo: MessagePad.RouteInfo) {
AdasManager.getInstance().sendTrajectoryDownloadReq(autoPilotLine.toAutoPilotLine(),isAutoRouting,routeInfo)
}
override fun sendTrajectoryDownloadReq(autoPilotLine: AutopilotControlParameters.AutoPilotLine, downloadType: Int) {
AdasManager.getInstance().sendTrajectoryDownloadReq(autoPilotLine.toAutoPilotLine(), downloadType)
override fun sendTrajectoryDownloadReq(autoPilotLine: AutopilotControlParameters.AutoPilotLine, downloadType: Int, isAutoRouting: Boolean, routeInfo: MessagePad.RouteInfo) {
AdasManager.getInstance().sendTrajectoryDownloadReq(
autoPilotLine.toAutoPilotLine(),
downloadType,
isAutoRouting,
routeInfo)
}
override fun cancelAutoPilot() {
if (AdasManager.getInstance().ipcConnectionStatus == AdasConstants.IpcConnectionStatus.CONNECTED) {
AdasManager.getInstance().sendAutoPilotModeReq(0, 1, null)
AdasManager.getInstance().sendAutoPilotModeReq(0, 1, null, false)
} else {
CallerLogger.e("$M_D_C$TAG", "车机与工控机链接失败，无法断开自动驾驶")
}
@@ -920,11 +924,11 @@ class MoGoAutopilotControlProvider :
*/
override fun setControlAutopilotCarAuto(isEnable: Boolean) {
if (isEnable) {
AdasManager.getInstance().sendAutoPilotModeReq(1, 0, null)
AdasManager.getInstance().sendAutoPilotModeReq(1, 0, null, false)
} else {
// 司机屏才可关闭自动驾驶
if (AppIdentityModeUtils.isDriver(FunctionBuildConfig.appIdentityMode)) {
AdasManager.getInstance().sendAutoPilotModeReq(0, 0, null)
AdasManager.getInstance().sendAutoPilotModeReq(0, 0, null, false)
}
}
}