添加绕桩开关和绕桩速度设置

libraries/mogo-adas-data/src/main/proto/message_pad.proto

@@ -4,7 +4,7 @@ package mogo.telematics.pad;
 enum ProtocolVersion
 {
     Defaultver = 0;
-    CurrentVersion = 7; //每次修改proto文件增加1
+    CurrentVersion = 8; //每次修改proto文件增加1
 }
 
 enum MessageType
@@ -50,6 +50,7 @@ enum MessageType
     MsgTypeOperatorCmdReq = 0x10116; //操控指令
     MsgTypeSubscribeDataReq = 0x10117; //数据订阅、取消订阅请求
     MsgTypeSpecialVehicleTaskCmd = 0x10118; //特种车辆命令
+    MsgTypeSetParamReq = 0x10119; //设置参数命令
 }
 
 message Header
@@ -141,11 +142,11 @@ message GnssInfo
 // message definition for MessageType: MsgTypeAutopilotState
 message AutopilotState
 {
-    uint32 state = 1; //0: 不可用(abandoned), 1:ready, 2:自动驾驶中,3:平行驾驶
+    uint32 state = 1; //0: 不可用(abandoned), 1:ready, 2:自动驾驶中
     uint32 camera = 2; //camera节点状态 1:开启，0:关闭
     uint32 radar = 3; //雷达节点状态 1:开启，0:关闭
     uint32 rtk = 4; //RTK节点状态 1:开启，0:关闭
-    uint32 autopilotMode = 5; //自动驾驶状态 0: 非自动驾驶，1: 自动驾驶，2平行驾驶
+    uint32 autopilotMode = 5; //自动驾驶状态 0: 非自动驾驶，1: 自动驾驶
     double speed = 6; //惯导车速 m/s
     string reason = 7; //不可用原因(abandoned)
 }
@@ -166,7 +167,7 @@ message AutopilotState
 message PlanningObject
 {
     uint32 uuid = 1; 
-    uint32 type = 2; //影响自车决策的类型, 和感知的障碍物类型不是一回事   0是leading障碍物，1是避障和择机的障碍物
+    uint32 type = 2; //影响自车决策的类型, 和感知的障碍物类型不是一回事
 }
 
 message PlanningObjects
@@ -466,3 +467,15 @@ message PlanningActionMsg
 //message definition for MsgTypeSpecialVehicleTaskCmd
 //refer to special_vehicle_task_cmd.proto for details
 
+//message definition for MsgTypeSetParamReq
+message SetOneParam
+{
+    uint32 type = 1; // 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)
+    string value = 2; // 转成字符串的值
+}
+
+message SetParamReq
+{
+    repeated SetOneParam reqs = 1;
+}
+

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

@@ -14,6 +14,7 @@ import static com.zhidao.support.adas.high.chain.AdasChain.CHAIN_LINK_LOG_WEB_SO
 
 import android.os.SystemClock;
 import android.text.TextUtils;
+import android.util.Log;
 
 import androidx.annotation.NonNull;
 import androidx.annotation.Nullable;
@@ -300,6 +301,7 @@ public class AdasChannel implements IAdasNetCommApi, FpgaSocket.IWebSocketConnec
         if (mSocket == null || bytes == null || bytes.length <= 0) {
             return false;
         }
+        Log.d("liyz", "sendWsMessag bytes = " + bytes); //TODO
         ByteString byteString = ByteString.of(bytes);
         if (!byteString.startsWith(Constants.RAW_MG)) {
             CupidLogUtils.e(TAG, "协议不匹配，命令下发失败 bytes=" + ByteUtil.byteArrToHex(bytes));
@@ -1194,5 +1196,22 @@ public class AdasChannel implements IAdasNetCommApi, FpgaSocket.IWebSocketConnec
     public boolean sendOperatorCmdStopHonking() {
         return sendOperatorCmdSetHorn(2);
     }
+
+    /**
+     * 绕障开关和速度控制
+     * @param type
+     * @param value
+     */
+    @Override
+    public boolean setDetouring(int type, String value) {
+        MessagePad.SetOneParam oneParam = MessagePad.SetOneParam
+                .newBuilder().setType(type).setValue(value).build();
+        MessagePad.SetParamReq req = MessagePad.SetParamReq
+                .newBuilder()
+                .addReqs(oneParam)
+                .build();
+        return sendPBMessage(MessageType.TYPE_SEND_DETOURING_DATA_REQ.typeCode, req.toByteArray());
+    }
+
 }
 

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

@@ -570,6 +570,15 @@ public class AdasManager implements IAdasNetCommApi {
         return mChannel != null && mChannel.sendOperatorCmdStopHonking();
     }
 
+    /**
+     * 绕障开关和速度控制
+     * @param type
+     * @param value
+     */
+    @Override
+    public boolean setDetouring(int type, String value) {
+        return mChannel != null && mChannel.setDetouring(type, value);
+    }
 
     /**
      * 获取工控机固定IP列表

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

@@ -349,6 +349,11 @@ 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
      * 连接状态=已连接 时正常返回，其他状态全部为null

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

@@ -49,6 +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"),
     //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");