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[change] 合并蘑戒代码

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xinfengkun
2022-08-30 11:23:20 +08:00
parent a1d9fed999
commit 2f5d2ac8c3
47 changed files with 2289 additions and 5 deletions
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83
libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/AdasChannel.java
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@@ -1036,5 +1036,88 @@ public class AdasChannel implements IAdasNetCommApi, FpgaSocket.IWebSocketConnec
public boolean subscribeInterface(@Define.TerminalRole int role, @Define.SubscribeType int type, @NonNull MessageType messageType) {
return subscribeInterface != null && subscribeInterface.subscribeInterface(role, type, messageType);
}
/**
* 向左变道
*
* @return boolean
*/
@Override
public boolean sendOperatorCmdChangeLaneLeft() {
MessagePad.OperatorCmdReq req = MessagePad.OperatorCmdReq
.newBuilder()
.setCmdType(MessagePad.OperatorCmdType.OPERATOR_CMD_CHANGE_LANE)
.setValue(1)
.build();
return sendPBMessage(MessageType.TYPE_SEND_OPERATOR_CMD_REQ.typeCode, req.toByteArray());
}
/**
* 向右变道
*
* @return boolean
*/
@Override
public boolean sendOperatorCmdChangeLaneRight() {
MessagePad.OperatorCmdReq req = MessagePad.OperatorCmdReq
.newBuilder()
.setCmdType(MessagePad.OperatorCmdType.OPERATOR_CMD_CHANGE_LANE)
.setValue(2)
.build();
return sendPBMessage(MessageType.TYPE_SEND_OPERATOR_CMD_REQ.typeCode, req.toByteArray());
}
/**
* 发送设置加速度
*
* @param acc acc>0加速 acc<0减速 acc=0复位
* @return boolean
*/
@Override
public boolean sendOperatorCmdSetAcceleratedSpeed(double acc) {
MessagePad.OperatorCmdReq req = MessagePad.OperatorCmdReq
.newBuilder()
.setCmdType(MessagePad.OperatorCmdType.OPERATOR_CMD_SET_ACCELERATED_SPEED)
.setValue(acc)
.build();
return sendPBMessage(MessageType.TYPE_SEND_OPERATOR_CMD_REQ.typeCode, req.toByteArray());
}
/**
* 鸣笛
*
* @param value 1: honk 2: stop honking
* @return boolean
*/
@Override
public boolean sendOperatorCmdSetHorn(double value) {
MessagePad.OperatorCmdReq req = MessagePad.OperatorCmdReq
.newBuilder()
.setCmdType(MessagePad.OperatorCmdType.OPERATOR_CMD_SET_HORN)
.setValue(value)
.build();
return sendPBMessage(MessageType.TYPE_SEND_OPERATOR_CMD_REQ.typeCode, req.toByteArray());
}
/**
* 开始鸣笛
*
* @return boolean
*/
@Override
public boolean sendOperatorCmdStartHonking() {
return sendOperatorCmdSetHorn(1);
}
/**
* 停止鸣笛
*
* @return boolean
*/
@Override
public boolean sendOperatorCmdStopHonking() {
return sendOperatorCmdSetHorn(2);
}
}

31
libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/AdasManager.java
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@@ -546,6 +546,37 @@ public class AdasManager implements IAdasNetCommApi {
return mChannel != null && mChannel.subscribeInterface(role, type, messageType);
}
@Override
public boolean sendOperatorCmdChangeLaneLeft() {
return mChannel != null && mChannel.sendOperatorCmdChangeLaneLeft();
}
@Override
public boolean sendOperatorCmdChangeLaneRight() {
return mChannel != null && mChannel.sendOperatorCmdChangeLaneRight();
}
@Override
public boolean sendOperatorCmdSetAcceleratedSpeed(double acc) {
return mChannel != null && mChannel.sendOperatorCmdSetAcceleratedSpeed(acc);
}
@Override
public boolean sendOperatorCmdSetHorn(double value) {
return mChannel != null && mChannel.sendOperatorCmdSetHorn(value);
}
@Override
public boolean sendOperatorCmdStartHonking() {
return mChannel != null && mChannel.sendOperatorCmdStartHonking();
}
@Override
public boolean sendOperatorCmdStopHonking() {
return mChannel != null && mChannel.sendOperatorCmdStopHonking();
}
/**
* 获取工控机固定IP列表
*

44
libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/IAdasNetCommApi.java
View File

@@ -275,6 +275,50 @@ public interface IAdasNetCommApi {
*/
boolean subscribeInterface(@Define.TerminalRole int role, @Define.SubscribeType int type, @NonNull MessageType messageType);
/**
* 向左变道
*
* @return boolean
*/
boolean sendOperatorCmdChangeLaneLeft();
/**
* 向右变道
*
* @return boolean
*/
boolean sendOperatorCmdChangeLaneRight();
/**
* 发送设置加速度
*
* @param acc acc>0加速 acc<0减速 acc=0复位
* @return boolean
*/
boolean sendOperatorCmdSetAcceleratedSpeed(double acc);
/**
* 鸣笛
*
* @param value 1: honk 2: stop honking
* @return boolean
*/
boolean sendOperatorCmdSetHorn(double value);
/**
* 开始鸣笛
*
* @return boolean
*/
boolean sendOperatorCmdStartHonking();
/**
* 停止鸣笛
*
* @return boolean
*/
boolean sendOperatorCmdStopHonking();
// TODO 需求暂停 待讨论
// boolean getRoutes();

3
libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/common/MessageType.java
View File

@@ -45,10 +45,11 @@ public enum MessageType {
TYPE_SEND_STATUS_QUERY_REQ(MessagePad.MessageType.MsgTypeStatusQueryReq, "状态查询请求"),
TYPE_RECEIVE_STATUS_QUERY_RESP(MessagePad.MessageType.MsgTypeStatusQueryResp, "状态查询应答"),
TYPE_SEND_SET_RAIN_MODE_REQ(MessagePad.MessageType.MsgTypeSetRainModeReq, "设置雨天模式"),
TYPE_SEND_OPERATOR_CMD_REQ(MessagePad.MessageType.MsgTypeOperatorCmdReq, "操控指令"),
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"),
//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ADAS_DATA message_pad.proto中放开注释
//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");