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[dev2.15.0][adas]添加添加参数获取应答回调解析方法

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This commit is contained in:
xinfengkun
2023-04-20 14:17:05 +08:00
parent fbd07fdce6
commit 596066ca4b
5 changed files with 172 additions and 4 deletions
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4
libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/OnAdasListener.java
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@@ -1,6 +1,7 @@
package com.zhidao.support.adas.high;
import com.mogo.support.obu.ObuScene;
import com.zhidao.support.adas.high.bean.AdasParam;
import com.zhidao.support.adas.high.common.ProtocolStatus;
import com.zhjt.mogo.adas.data.bean.AutopilotStatistics;
@@ -292,8 +293,9 @@ public interface OnAdasListener {
*
* @param header 头
* @param getParamResp 配置参数
* @param adasParam 解析后的配置参数
*/
void onGetParamResp(@NotNull MessagePad.Header header, @NotNull MessagePad.SetParamReq getParamResp);
void onGetParamResp(@NotNull MessagePad.Header header, @NotNull MessagePad.SetParamReq getParamResp, @NotNull AdasParam adasParam);
/**
* 是否有能力启动自动驾驶

128
libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/bean/AdasParam.java Normal file
View File

@@ -0,0 +1,128 @@
package com.zhidao.support.adas.high.bean;
import android.text.TextUtils;
import com.zhidao.support.adas.high.common.Constants;
import mogo.telematics.pad.MessagePad;
/**
* 工控机配置参数
* -1表示未知，说明没有这个param或者get失败
*/
public class AdasParam {
/**
* 绕障类功能开关
* -1：未知 0：关闭 1：开启
*/
public final int detouringCmd;
/**
* 变道绕障的目标障碍物速度阈值
* -1：未知
*/
public final double detouringSpeed;
/**
* AEB开关
* -1：未知 0：关闭自动紧急制动功能 1：启用自动紧急制动功能
*/
public final int aebCmd;
/**
* 限制绕障开关
* -1：未知 0（默认）：正常绕障 1：限制绕障
*/
public final int laneChangeRestrainValid;
/**
* 停车让行线前避让等待开关
* -1：未知 0（默认）：停车让行线前无需等待 1：停车让行线前需要等待
*/
public final int stopYieldValid;
/**
* 地图限速功能开关
* -1：未知 0（默认）：不使用地图限速功能 1：使用地图限速功能
*/
public final int hadmapSpeedLimitValid;
/**
* 环岛模式开关
* -1：未知 0（默认）：普通模式 1：环岛模式
*/
public final int rampThetaValid;
/**
* 弱网减速停车策略开关
* -1：未知 0：关闭弱网减速停车策略 1（默认）：使用弱网减速停车策略
*/
public final int weakNetSlowDown;
public AdasParam(MessagePad.SetParamReq param) {
int detouringCmd = -1;
double detouringSpeed = -1.0;
int aebCmd = -1;
int laneChangeRestrainValid = -1;
int stopYieldValid = -1;
int hadmapSpeedLimitValid = -1;
int rampThetaValid = -1;
int weakNetSlowDown = -1;
if (param != null) {
int size = param.getReqsCount();
if (size > 0) {
for (int i = 0; i < size; i++) {
MessagePad.SetOneParam oneParam = param.getReqs(i);
int type = oneParam.getType();
String value = oneParam.getValue();
if (type == Constants.PARAM_TYPE.DETOURING) {
if (!TextUtils.isEmpty(value)) {
detouringCmd = Integer.parseInt(value);
}
} else if (type == Constants.PARAM_TYPE.DETOURING_SPEED) {
if (!TextUtils.isEmpty(value)) {
detouringSpeed = Double.parseDouble(value);
}
} else if (type == Constants.PARAM_TYPE.AEB) {
if (!TextUtils.isEmpty(value)) {
aebCmd = Integer.parseInt(value);
}
} else if (type == Constants.PARAM_TYPE.LANE_CHANGE_RESTRAIN_VALID) {
if (!TextUtils.isEmpty(value)) {
laneChangeRestrainValid = Integer.parseInt(value);
}
} else if (type == Constants.PARAM_TYPE.STOP_YIELD_VALID) {
if (!TextUtils.isEmpty(value)) {
stopYieldValid = Integer.parseInt(value);
}
} else if (type == Constants.PARAM_TYPE.HADMAP_SPEED_LIMIT_VALID) {
if (!TextUtils.isEmpty(value)) {
hadmapSpeedLimitValid = Integer.parseInt(value);
}
} else if (type == Constants.PARAM_TYPE.RAMP_THETA_VALID) {
if (!TextUtils.isEmpty(value)) {
rampThetaValid = Integer.parseInt(value);
}
} else if (type == Constants.PARAM_TYPE.WEAK_NET_SLOW_DOWN) {
if (!TextUtils.isEmpty(value)) {
weakNetSlowDown = Integer.parseInt(value);
}
}
}
}
}
this.detouringCmd = detouringCmd;
this.detouringSpeed = detouringSpeed;
this.aebCmd = aebCmd;
this.laneChangeRestrainValid = laneChangeRestrainValid;
this.stopYieldValid = stopYieldValid;
this.hadmapSpeedLimitValid = hadmapSpeedLimitValid;
this.rampThetaValid = rampThetaValid;
this.weakNetSlowDown = weakNetSlowDown;
}
@Override
public String toString() {
return "绕障类功能开关=" + (detouringCmd == -1 ? "未知" : detouringCmd == 0 ? "关" : "开") +
"\n变道绕障的目标障碍物速度阈值=" + (detouringSpeed == -1 ? "未知" : detouringSpeed + "m/s") +
"\nAEB开关=" + (aebCmd == -1 ? "未知" : aebCmd == 0 ? "关" : "开") +
"\n限制绕障开关=" + (laneChangeRestrainValid == -1 ? "未知" : laneChangeRestrainValid == 0 ? "正常绕障" : "限制绕障") +
"\n停车让行线前避让等待开关=" + (stopYieldValid == -1 ? "未知" : stopYieldValid == 0 ? "无需等待" : "等待") +
"\n地图限速功能开关=" + (hadmapSpeedLimitValid == -1 ? "未知" : hadmapSpeedLimitValid == 0 ? "不使用" : "使用") +
"\n环岛模式开关=" + (rampThetaValid == -1 ? "未知" : rampThetaValid == 0 ? "普通模式" : "环岛模式") +
"\n弱网减速停车策略开关=" + (weakNetSlowDown == -1 ? "未知" : weakNetSlowDown == 0 ? "关闭" : "使用");
}
}

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

@@ -5,6 +5,7 @@ import android.os.SystemClock;
import com.google.protobuf.InvalidProtocolBufferException;
import com.zhidao.support.adas.high.AdasChannel;
import com.zhidao.support.adas.high.OnAdasListener;
import com.zhidao.support.adas.high.bean.AdasParam;
import com.zhidao.support.adas.high.common.CupidLogUtils;
import com.zhidao.support.adas.high.protocol.RawData;
@@ -23,7 +24,7 @@ public class GetParamRespMessage extends MyAbstractMessageHandler {
if (CupidLogUtils.isEnableLog())
nowTime = SystemClock.elapsedRealtime();
if (adasListener != null) {
adasListener.onGetParamResp(raw.getHeader(), getParamResp);
adasListener.onGetParamResp(raw.getHeader(), getParamResp, new AdasParam(getParamResp));
}
AdasChannel.calculateTimeConsumingBusiness("参数获取应答", nowTime);
// CupidLogUtils.e("到站提醒--->" + arrivalNotification.toString());