[610][adas]修改启动平行驾驶条件：满足p档驻车+松开油门刹车或满足n档+电子手刹+松开油门刹车或非人工驾驶状态。可以请求平行驾驶

core/mogo-core-function-call/src/main/java/com/mogo/eagle/core/function/call/autopilot/CallerParallelDrivingActionsListenerManager.kt

@@ -3,7 +3,6 @@ package com.mogo.eagle.core.function.call.autopilot
 import android.util.Log
 import com.mogo.eagle.core.function.api.autopilot.IMoGoParallelDrivingActionsListener
 import com.mogo.eagle.core.function.call.base.CallerBase
-import com.zhjt.mogo.adas.data.bean.UnableLaunchReason
 
 
 /**
@@ -14,23 +13,9 @@ object CallerParallelDrivingActionsListenerManager :
     @Volatile
     private var isConnected = false
     private var isParallelDrivingAbility: Boolean = false
-    private var unableParallelDrivingReasons: ArrayList<UnableLaunchReason>? = null
 
     init {
         isParallelDrivingAbility = false
-        unableParallelDrivingReasons = disconnectedReason()
-    }
-
-    private fun disconnectedReason(): ArrayList<UnableLaunchReason> {
-        val list = ArrayList<UnableLaunchReason>()
-        list.add(
-            UnableLaunchReason(
-                UnableLaunchReason.SourceType.LIB,
-                UnableLaunchReason.UnableType.DISCONNECTED,
-                "未连接自动驾驶系统"
-            )
-        )
-        return list
     }
 
     /**
@@ -40,44 +25,19 @@ object CallerParallelDrivingActionsListenerManager :
         return isParallelDrivingAbility
     }
 
-    /**
-     * 获取不能启动平行驾驶的原因
-     *  null：表示没有任何原因证，证明isParallelDrivingAbility为true
-     */
-    fun getUnableParallelDrivingReasons(): ArrayList<UnableLaunchReason>? {
-        return unableParallelDrivingReasons
-    }
-
     fun setConnected(isConnected: Boolean) {
         if (this.isConnected != isConnected) {
             this.isConnected = isConnected
             this.isParallelDrivingAbility = isConnected
-            unableParallelDrivingReasons = if (isConnected) null else disconnectedReason()
             notification()
         }
     }
 
     @Synchronized
-    fun invokeParallelDrivingAbility(
-        isAutopilotAbility: Boolean, unableAutopilotReasons: ArrayList<UnableLaunchReason>?
-    ) {
+    fun invokeParallelDrivingAbility(isAutopilotAbility: Boolean) {
         if (isConnected) {
-            var isEquals: Boolean = true
-            if (unableAutopilotReasons != null && this.unableParallelDrivingReasons != null) {
-                unableAutopilotReasons.let { onw ->
-                    onw.sortWith(compareBy(UnableLaunchReason::hashCode));
-                    this.unableParallelDrivingReasons?.let { old ->
-                        old.sortWith(compareBy(UnableLaunchReason::hashCode));
-                        isEquals = onw.toTypedArray() contentEquals old.toTypedArray()
-
-                    }
-                }
-            } else isEquals =
-                !(unableAutopilotReasons != null || this.unableParallelDrivingReasons != null)
-
-            if (this.isParallelDrivingAbility != isAutopilotAbility || !isEquals) {
+            if (this.isParallelDrivingAbility != isAutopilotAbility) {
                 this.isParallelDrivingAbility = isAutopilotAbility
-                this.unableParallelDrivingReasons = unableAutopilotReasons
                 notification()
             }
         }
@@ -86,13 +46,12 @@ object CallerParallelDrivingActionsListenerManager :
     private fun notification() {
         Log.i(
             "xfk",
-            "是否可以启动平行驾驶=" + isParallelDrivingAbility + if (unableParallelDrivingReasons == null) "" else unableParallelDrivingReasons.toString()
+            "是否可以启动平行驾驶=$isParallelDrivingAbility"
         )
         M_LISTENERS.forEach {
             val listener = it.value
             listener.onParallelDrivingAbility(
-                isParallelDrivingAbility,
-                unableParallelDrivingReasons
+                isParallelDrivingAbility
             )
         }
     }