yangyakun921/MoGoEagleEye
1
0
Fork 0
Code Issues Pull Requests Actions Packages Projects Releases Wiki Activity

[change] 更新设置参数命令 接口 添加绕障类功能开关 变道绕障的目标障碍物速度阈值

Browse Source
This commit is contained in:
xinfengkun
2022-10-19 10:42:13 +08:00
parent ded5a700e1
commit 2ead50a928
7 changed files with 159 additions and 15 deletions
Download Patch File Download Diff File Expand all files Collapse all files

46
app_ipc_monitoring/src/main/java/com/zhidao/adas/client/ui/MainActivity.java
View File

@@ -648,6 +648,9 @@ public class MainActivity extends BaseActivity implements OnAdasListener, OnAdas
titleBtnData.add(Constants.TITLE.SEND_SET_DEMO_MODE_REQ_CLOSE);
titleBtnData.add(Constants.TITLE.SEND_SET_RAIN_MODE_REQ_OPEN);
titleBtnData.add(Constants.TITLE.SEND_SET_RAIN_MODE_REQ_CLOSE);
titleBtnData.add(Constants.TITLE.SEND_DETOURING_OPEN);
titleBtnData.add(Constants.TITLE.SEND_DETOURING_CLOSE);
titleBtnData.add(Constants.TITLE.SEND_DETOURING_SPEED);
}
private void initBtnRecyclerView() {
@@ -1187,7 +1190,7 @@ public class MainActivity extends BaseActivity implements OnAdasListener, OnAdas
msg = "未连接司机端";
}
showToastCenter(msg);
return;
// return;
}
switch (data) {
case Constants.TITLE.SEND_SET_AUTOPILOT_MODE_REQ:
@@ -1346,11 +1349,52 @@ public class MainActivity extends BaseActivity implements OnAdasListener, OnAdas
AdasManager.getInstance().sendRainModeReq(0);
break;
case Constants.TITLE.SEND_RECORD_DATA_CONFIG_RESP:
//数据采集配置
showRecordDataConfigRespDialog();
break;
case Constants.TITLE.SEND_DETOURING_OPEN:
//绕障类功能开
AdasManager.getInstance().sendDetouring(1);
break;
case Constants.TITLE.SEND_DETOURING_CLOSE:
//绕障类功能关
AdasManager.getInstance().sendDetouring(0);
break;
case Constants.TITLE.SEND_DETOURING_SPEED:
//绕障速度设置
showDetouringSpeedDialog();
break;
}
}
private void showDetouringSpeedDialog() {
AlertDialog.Builder builder1 = new AlertDialog.Builder(this);
builder1.setTitle("绕障速度");
View view1 = getLayoutInflater().inflate(R.layout.dialog_detouring_speed, null);
final EditText et1 = (EditText) view1.findViewById(R.id.et);
builder1.setView(view1);//
builder1.setCancelable(false);//
builder1.setPositiveButton("设置", null);
//设置反面按钮，并做事件处理
builder1.setNegativeButton("取消", null);
AlertDialog alertDialog1 = builder1.show();//显示Dialog对话框
alertDialog1.getButton(AlertDialog.BUTTON_POSITIVE).setOnClickListener(new View.OnClickListener() {
@Override
public void onClick(View v) {
Editable editable = et1.getText();
if (TextUtils.isEmpty(editable)) {
// 条件不成立不能关闭 AlertDialog 窗口
Toast.makeText(MainActivity.this, "请输入速度", Toast.LENGTH_SHORT).show();
return;
}
String temp = et1.getText().toString().trim();
double speed = Double.parseDouble(temp);
AdasManager.getInstance().sendDetouringSpeed(speed);
alertDialog1.dismiss();
}
});
}
private void showRecordDataConfigRespDialog() {
AlertDialog.Builder builder = new AlertDialog.Builder(this);
builder.setTitle(Constants.TITLE.SEND_RECORD_DATA_CONFIG_RESP);

3
app_ipc_monitoring/src/main/java/com/zhidao/adas/client/utils/Constants.java
View File

@@ -187,6 +187,9 @@ public class Constants {
String SEND_SET_RAIN_MODE_REQ_OPEN = "打开雨天模式";
String SEND_SET_RAIN_MODE_REQ_CLOSE = "关闭雨天模式";
String SEND_RECORD_DATA_CONFIG_RESP = "数据采集配置";
String SEND_DETOURING_OPEN = "绕障类功能开";
String SEND_DETOURING_CLOSE = "绕障类功能关";
String SEND_DETOURING_SPEED = "绕障速度阈值";
}

30
app_ipc_monitoring/src/main/res/layout/dialog_detouring_speed.xml Normal file
View File

@@ -0,0 +1,30 @@
<?xml version="1.0" encoding="utf-8"?>
<LinearLayout xmlns:android="http://schemas.android.com/apk/res/android"
android:layout_width="match_parent"
android:layout_height="wrap_content"
android:gravity="center"
android:layout_gravity="center">
<EditText
android:id="@+id/et"
android:layout_width="wrap_content"
android:layout_height="wrap_content"
android:digits="0123456789."
android:gravity="center"
android:hint="变道绕障的目标障碍物速度阈值"
android:imeOptions="flagNoExtractUi"
android:inputType="number"
android:maxLength="10"
android:maxLines="1"
android:minWidth="100dp"
android:textColor="#000"
android:textSize="16sp" />
<TextView
android:layout_width="wrap_content"
android:layout_height="wrap_content"
android:layout_marginStart="5dp"
android:text="m/s"
android:textColor="#000"
android:textSize="16sp" />
</LinearLayout>

31
libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/AdasChannel.java
View File

@@ -1225,13 +1225,14 @@ public class AdasChannel implements IAdasNetCommApi, FpgaSocket.IWebSocketConnec
}
/**
* 绕障开关和速度控制
* 设置参数命令
*
* @param type
* @param value
* @param type 0:default 1:绕障类功能开关(bool) 2:变道绕障的目标障碍物速度阈值(double, m/s)
* @param value 转成字符串的值
* @return boolean
*/
@Override
public boolean setDetouring(int type, String value) {
public boolean sendSetParamReq(int type, String value) {
MessagePad.SetOneParam oneParam = MessagePad.SetOneParam
.newBuilder().setType(type).setValue(value).build();
MessagePad.SetParamReq req = MessagePad.SetParamReq
@@ -1241,5 +1242,27 @@ public class AdasChannel implements IAdasNetCommApi, FpgaSocket.IWebSocketConnec
return sendPBMessage(MessageType.TYPE_SEND_DETOURING_DATA_REQ.typeCode, req.toByteArray());
}
/**
* 绕障类功能开关
*
* @param enable 0：关闭，1：开启
* @return boolean
*/
@Override
public boolean sendDetouring(int enable) {
return sendSetParamReq(1, String.valueOf(enable));
}
/**
* 变道绕障的目标障碍物速度阈值
*
* @param speed 速度阈值 m/s
* @return boolean
*/
@Override
public boolean sendDetouringSpeed(double speed) {
return sendSetParamReq(2, String.valueOf(speed));
}
}

33
libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/AdasManager.java
View File

@@ -620,14 +620,37 @@ public class AdasManager implements IAdasNetCommApi {
}
/**
* 绕障开关和速度控制
* 设置参数命令
*
* @param type
* @param value
* @param type 0:default 1:绕障类功能开关(bool) 2:变道绕障的目标障碍物速度阈值(double, m/s)
* @param value 转成字符串的值
* @return boolean
*/
@Override
public boolean setDetouring(int type, String value) {
return mChannel != null && mChannel.setDetouring(type, value);
public boolean sendSetParamReq(int type, String value) {
return mChannel != null && mChannel.sendSetParamReq(type, value);
}
/**
* 绕障类功能开关
*
* @param enable 0：关闭，1：开启
* @return boolean
*/
@Override
public boolean sendDetouring(int enable) {
return mChannel != null && mChannel.sendDetouring(enable);
}
/**
* 变道绕障的目标障碍物速度阈值
*
* @param speed 速度阈值 m/s
* @return boolean
*/
@Override
public boolean sendDetouringSpeed(double speed) {
return mChannel != null && mChannel.sendDetouringSpeed(speed);
}
/**

29
libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/IAdasNetCommApi.java
View File

@@ -354,6 +354,31 @@ public interface IAdasNetCommApi {
* @return boolean
*/
boolean sendOperatorCmdStopHonking();
/**
* 设置参数命令
*
* @param type 0:default 1:绕障类功能开关(bool) 2:变道绕障的目标障碍物速度阈值(double, m/s)
* @param value 转成字符串的值
* @return boolean
*/
boolean sendSetParamReq(int type, String value);
/**
* 绕障类功能开关
*
* @param enable 0：关闭，1：开启
* @return boolean
*/
boolean sendDetouring(int enable);
/**
* 变道绕障的目标障碍物速度阈值
*
* @param speed 速度阈值 m/s
* @return boolean
*/
boolean sendDetouringSpeed(double speed);
// TODO 需求暂停 待讨论
// boolean getRoutes();
@@ -384,10 +409,6 @@ public interface IAdasNetCommApi {
*/
void setEnableLog(boolean isEnableLog);
/**
* 绕障开关和速度相关
*/
boolean setDetouring(int type, String value);
/**
* 获取与当前连接工控机兼容性

2
libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/common/MessageType.java
View File

@@ -49,7 +49,7 @@ public enum MessageType {
TYPE_SEND_RECORD_DATA_CONFIG_REQ(MessagePad.MessageType.MsgTypeRecordDataConfigReq, "数据采集配置查询"),
TYPE_RECEIVE_RECORD_DATA_CONFIG_RESP(MessagePad.MessageType.MsgTypeRecordDataConfigResp, "数据采集配置"),
TYPE_SEND_SUBSCRIBE_DATA_REQ(MessagePad.MessageType.MsgTypeSubscribeDataReq, "数据订阅、取消订阅请求"),
TYPE_SEND_DETOURING_DATA_REQ(MessagePad.MessageType.MsgTypeSetParamReq, "绕障开关和阈值"),
TYPE_SEND_DETOURING_DATA_REQ(MessagePad.MessageType.MsgTypeSetParamReq, "设置参数命令"),
//透传 原始pb文件中不存在以下type。由于Java中无法强转所以在mogo-adas-data message_pad.proto中放开注释
TYPE_RECEIVE_PLANNING_DECISION_STATE(MessagePad.MessageType.MsgTypePlanningDecisionState, "Planning决策状态");