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[640][adas] 添加底盘方向盘油门双闪等不能启动自驾限制条件字段

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This commit is contained in:
xinfengkun
2024-04-02 10:36:32 +08:00
parent 367a4be975
commit 291b73a336
5 changed files with 12 additions and 9 deletions
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2
OCH/common/common/src/main/java/com/mogo/och/common/module/manager/autopilotmanager/OCHAdasAbilityManager.java
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@@ -113,7 +113,7 @@ public class OCHAdasAbilityManager implements IMoGoAutopilotActionsListener, IMo
Logger.d(TAG,"onAutopilotAbility = " + isAutopilotAbility +
" onAutopilotAbility =" + unableAutopilotReasons.toString());
if (unableAutopilotReasons.toString().contains(UnableLaunchReason.SourceType.CHASSIS.name())
&& unableAutopilotReasons.toString().contains(UnableLaunchReason.UnableType.BRAKE.name())) {
&& unableAutopilotReasons.toString().contains(UnableLaunchReason.UnableType.CHASSIS_BRAKE.name())) {
failureCallback.brakeStatusChanged(isAutopilotAbility);
}

7
libraries/mogo-adas-data/src/main/java/com/zhjt/mogo/adas/data/bean/UnableLaunchReason.java
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@@ -24,8 +24,11 @@ public class UnableLaunchReason {
INCOMPATIBLE,//版本不匹配，版本不兼容
SSM_ERROR,//SSM异常
FSM_ERROR,//FSM异常
BRAKE,//刹车
GEAR,//档位
CHASSIS_BRAKE,//刹车
CHASSIS_GEAR,//档位
CHASSIS_THROTTLE,//油门
CHASSIS_STEERING,//方向盘
CHASSIS_HAZARD_LIGHTS,//危险报警灯
PARKING_BRAKE,//制动系统，手刹，电子驻车制动系统
SSM_OFFER,//SSM提供的原因
FSM_OFFER,//FSM提供的原因

4
libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/common/autopilot/ability/AutopilotAbility230.java
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@@ -41,14 +41,14 @@ public class AutopilotAbility230 {
float brake = chassisStates.getBrakeSystemStates().getBrakePedalResponsePosition();
if (brake > 0) {
isAutopilotAbility = false;
unableAutopilotReasons = AutopilotAbilityManager.getInstance().addUnableAutopilotReason(unableAutopilotReasons, UnableLaunchReason.SourceType.CHASSIS, UnableLaunchReason.UnableType.BRAKE, AutopilotAbilityManager.REASON_CHASSIS_BRAKE);
unableAutopilotReasons = AutopilotAbilityManager.getInstance().addUnableAutopilotReason(unableAutopilotReasons, UnableLaunchReason.SourceType.CHASSIS, UnableLaunchReason.UnableType.CHASSIS_BRAKE, AutopilotAbilityManager.REASON_CHASSIS_BRAKE);
}
}
if (chassisStates.hasGearSystemStates()) {
Chassis.GearPosition gear = chassisStates.getGearSystemStates().getGearPosition();
if (!AutopilotAbilityManager.getInstance().isLaunchAutopilot(gear)) {
isAutopilotAbility = false;
unableAutopilotReasons = AutopilotAbilityManager.getInstance().addUnableAutopilotReason(unableAutopilotReasons, UnableLaunchReason.SourceType.CHASSIS, UnableLaunchReason.UnableType.GEAR, AutopilotAbilityManager.REASON_CHASSIS_GEAR);
unableAutopilotReasons = AutopilotAbilityManager.getInstance().addUnableAutopilotReason(unableAutopilotReasons, UnableLaunchReason.SourceType.CHASSIS, UnableLaunchReason.UnableType.CHASSIS_GEAR, AutopilotAbilityManager.REASON_CHASSIS_GEAR);
}
}
//TODO 关于手刹：不同车型的实现不同所以目前没法使用此字段

4
libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/common/autopilot/ability/AutopilotAbility250.java
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@@ -132,14 +132,14 @@ public class AutopilotAbility250 {
float brake = chassisStates.getBrakeSystemStates().getBrakePedalResponsePosition();
if (brake > 0) {
isAutopilotAbility = false;
unableAutopilotReasons = AutopilotAbilityManager.getInstance().addUnableAutopilotReason(unableAutopilotReasons, UnableLaunchReason.SourceType.CHASSIS, UnableLaunchReason.UnableType.BRAKE, AutopilotAbilityManager.REASON_CHASSIS_BRAKE);
unableAutopilotReasons = AutopilotAbilityManager.getInstance().addUnableAutopilotReason(unableAutopilotReasons, UnableLaunchReason.SourceType.CHASSIS, UnableLaunchReason.UnableType.CHASSIS_BRAKE, AutopilotAbilityManager.REASON_CHASSIS_BRAKE);
}
}
if (chassisStates.hasGearSystemStates()) {
Chassis.GearPosition gear = chassisStates.getGearSystemStates().getGearPosition();
if (!AutopilotAbilityManager.getInstance().isLaunchAutopilot(gear)) {
isAutopilotAbility = false;
unableAutopilotReasons = AutopilotAbilityManager.getInstance().addUnableAutopilotReason(unableAutopilotReasons, UnableLaunchReason.SourceType.CHASSIS, UnableLaunchReason.UnableType.GEAR, AutopilotAbilityManager.REASON_CHASSIS_GEAR);
unableAutopilotReasons = AutopilotAbilityManager.getInstance().addUnableAutopilotReason(unableAutopilotReasons, UnableLaunchReason.SourceType.CHASSIS, UnableLaunchReason.UnableType.CHASSIS_GEAR, AutopilotAbilityManager.REASON_CHASSIS_GEAR);
}
}
}

4
libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/common/autopilot/ability/AutopilotAbility350And360.java
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@@ -116,14 +116,14 @@ public class AutopilotAbility350And360 {
float brake = chassisStates.getBrakeSystemStates().getBrakePedalResponsePosition();
if (brake > 0) {
isAutopilotAbility = false;
unableAutopilotReasons = AutopilotAbilityManager.getInstance().addUnableAutopilotReason(unableAutopilotReasons, UnableLaunchReason.SourceType.CHASSIS, UnableLaunchReason.UnableType.BRAKE, AutopilotAbilityManager.REASON_CHASSIS_BRAKE);
unableAutopilotReasons = AutopilotAbilityManager.getInstance().addUnableAutopilotReason(unableAutopilotReasons, UnableLaunchReason.SourceType.CHASSIS, UnableLaunchReason.UnableType.CHASSIS_BRAKE, AutopilotAbilityManager.REASON_CHASSIS_BRAKE);
}
}
if (chassisStates.hasGearSystemStates()) {
Chassis.GearPosition gear = chassisStates.getGearSystemStates().getGearPosition();
if (!AutopilotAbilityManager.getInstance().isLaunchAutopilot(gear)) {
isAutopilotAbility = false;
unableAutopilotReasons = AutopilotAbilityManager.getInstance().addUnableAutopilotReason(unableAutopilotReasons, UnableLaunchReason.SourceType.CHASSIS, UnableLaunchReason.UnableType.GEAR, AutopilotAbilityManager.REASON_CHASSIS_GEAR);
unableAutopilotReasons = AutopilotAbilityManager.getInstance().addUnableAutopilotReason(unableAutopilotReasons, UnableLaunchReason.SourceType.CHASSIS, UnableLaunchReason.UnableType.CHASSIS_GEAR, AutopilotAbilityManager.REASON_CHASSIS_GEAR);
}
}
}