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[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

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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
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31
libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/AdasChannel.java
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@@ -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
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@@ -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
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@@ -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
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@@ -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");