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[3.4.0][mogo-adas]添加[adas]新增故障减速停车策路开关接口

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This commit is contained in:
xinfengkun
2023-07-17 18:34:27 +08:00
parent fa84f217e5
commit 5bb9e98739
9 changed files with 82 additions and 5 deletions
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14
core/function-impl/mogo-core-function-datacenter/src/main/java/com/mogo/eagle/core/function/datacenter/autopilot/MoGoAutopilotControlProvider.kt
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@@ -594,6 +594,20 @@ class MoGoAutopilotControlProvider :
}
}
/**
* 故障减速停车策路开关
* isEnable = true 使用故障减速停车策略
* isEnable = false 关闭故障减速停车策略
* @return boolean
*/
override fun sendBreakdownSlowDown(isEnable: Boolean): Boolean {
return if (isEnable) {
AdasManager.getInstance().sendBreakdownSlowDown(1)
} else {
AdasManager.getInstance().sendBreakdownSlowDown(0)
}
}
/**
* 获取全部参数
* 结果回调{@link OnAdasListener#onGetParamResp(MessagePad.Header, MessagePad.SetParamReq, AdasParam)}

8
core/mogo-core-function-api/src/main/java/com/mogo/eagle/core/function/api/autopilot/IMoGoAutopilotControlProvider.kt
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@@ -201,6 +201,14 @@ interface IMoGoAutopilotControlProvider : IMoGoFunctionServerProvider {
*/
fun sendWeakNetSlowDown(isEnable: Boolean): Boolean
/**
* 故障减速停车策路开关
* isEnable = true 使用故障减速停车策略
* isEnable = false 关闭故障减速停车策略
* @return boolean
*/
fun sendBreakdownSlowDown(isEnable: Boolean): Boolean
/**
* 获取全部参数
* 结果回调{@link OnAdasListener#onGetParamResp(MessagePad.Header, MessagePad.SetParamReq)}

10
core/mogo-core-function-call/src/main/java/com/mogo/eagle/core/function/call/autopilot/CallerAutoPilotControlManager.kt
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@@ -280,6 +280,16 @@ object CallerAutoPilotControlManager {
return providerApi?.sendWeakNetSlowDown(isEnable)
}
/**
* 故障减速停车策路开关
* isEnable = true 使用故障减速停车策略
* isEnable = false 关闭故障减速停车策略
* @return boolean
*/
fun sendBreakdownSlowDown(isEnable: Boolean): Boolean? {
return providerApi?.sendBreakdownSlowDown(isEnable)
}
/**
* 获取全部参数
* 结果回调{@link OnAdasListener#onGetParamResp(MessagePad.Header, MessagePad.SetParamReq, AdasParam)}

20
libraries/mogo-adas-data/src/main/java/com/zhjt/mogo/adas/data/bean/AdasParam.java
View File

@@ -65,6 +65,11 @@ public class AdasParam {
* 为空的原因：未查询此数据、工控机不存在此数据、解析失败
*/
public final M1StitchedVideoSelfVehicleParam m1StitchedVideoSelfVehicleParamParse;
/**
* 故障减速停车策路开关
* -1：未知 0：关闭故障减速停车策略 1（默认）：使用故障减速停车策略
*/
public final int breakdownSlowDown;
public AdasParam(MessagePad.SetParamReq param) {
int detouringCmd = -1;
@@ -77,6 +82,7 @@ public class AdasParam {
int weakNetSlowDown = -1;
String m1StitchedVideoSelfVehicleParam = null;
M1StitchedVideoSelfVehicleParam m1StitchedVideoSelfVehicleParamParse = null;
int breakdownSlowDown = -1;
if (param != null) {
int size = param.getReqsCount();
if (size > 0) {
@@ -127,6 +133,10 @@ public class AdasParam {
e.printStackTrace();
}
}
} else if (type == AdasConstants.MapSystemParamType.BREAKDOWN_SLOW_DOWN_VALUE) {
if (!TextUtils.isEmpty(value)) {
breakdownSlowDown = Integer.parseInt(value);
}
}
}
}
@@ -141,6 +151,7 @@ public class AdasParam {
this.weakNetSlowDown = weakNetSlowDown;
this.m1StitchedVideoSelfVehicleParam = m1StitchedVideoSelfVehicleParam;
this.m1StitchedVideoSelfVehicleParamParse = m1StitchedVideoSelfVehicleParamParse;
this.breakdownSlowDown = breakdownSlowDown;
}
@Override
@@ -149,11 +160,12 @@ public class AdasParam {
"\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停车让行线前避让等待开关=" + (stopYieldValid == -1 ? "未知" : stopYieldValid == 0 ? "停车让行线前无需避让等待" : "停车让行线前需要避让等待") +
"\n地图限速功能开关=" + (hadmapSpeedLimitValid == -1 ? "未知" : hadmapSpeedLimitValid == 0 ? "不使用地图限速功能" : "使用地图限速功能") +
"\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") +
"\nm1拼接视频自车位置参数=" + (m1StitchedVideoSelfVehicleParam == null ? "未知" : m1StitchedVideoSelfVehicleParam);
"\n弱网减速停车策略开关=" + (weakNetSlowDown == -1 ? "未知" : weakNetSlowDown == 0 ? "关闭弱网减速停车策略" : "使用弱网减速停车策略") +
"\nm1拼接视频自车位置参数=" + (m1StitchedVideoSelfVehicleParam == null ? "未知" : m1StitchedVideoSelfVehicleParam) +
"\n故障减速停车策路开关=" + (breakdownSlowDown == -1 ? "未知" : breakdownSlowDown == 0 ? "关闭故障减速停车策略" : "使用故障减速停车策略");
}
public static class M1StitchedVideoSelfVehicleParam {

3
libraries/mogo-adas-data/src/main/proto/message_pad.proto
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@@ -603,8 +603,9 @@ message SetOneParam
// 5:停车让行线前避让等待开关(bool) 0:停车让行线前无需等待 1:停车让行线前需要等待 默认0
// 6:地图限速功能开关(bool) 0:不使用地图限速功能 1:使用地图限速功能 默认0
// 7:环岛模式开关(bool) 0:普通模式 1:环岛模式 默认0
// 8:弱网减速停车策略开关(bool) 0:关闭弱网减速停车策略 1:使用弱网减速停车策略
// 8:弱网减速停车策略开关(bool) 0:关闭弱网减速停车策略 1:使用弱网减速停车策略 默认1
// 9:m1拼接视频自车位置参数(string), 格式:x,y,width,height
// 10:故障减速停车策路开关(bool) 0:关闭故障减速停车策略 1:使用故障减速停车策略 默认1
string value = 2; // 转成字符串的值
}

1
libraries/mogo-adas-data/src/main/proto/personal/adas_constants.proto
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@@ -14,5 +14,6 @@ enum MapSystemParamType{
RAMP_THETA_VALID = 7;//环岛模式开关
WEAK_NET_SLOW_DOWN = 8;//弱网减速停车策略开关
M1_STITCHED_VIDEO_SELF_VEHICLE_PARAM = 9;//m1拼接视频自车位置参数(string), 格式:x,y,width,height
BREAKDOWN_SLOW_DOWN = 10;//故障减速停车策路开关
}

12
libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/AdasChannel.java
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@@ -1623,6 +1623,17 @@ public class AdasChannel implements IAdasNetCommApi, FpgaSocket.IWebSocketConnec
return sendSetParamReq(AdasConstants.MapSystemParamType.WEAK_NET_SLOW_DOWN_VALUE, String.valueOf(enable));
}
/**
* 故障减速停车策路开关
*
* @param enable 0:关闭故障减速停车策略 1:使用故障减速停车策略
* @return boolean
*/
@Override
public boolean sendBreakdownSlowDown(int enable) {
return sendSetParamReq(AdasConstants.MapSystemParamType.BREAKDOWN_SLOW_DOWN_VALUE, String.valueOf(enable));
}
/**
* 获取全部参数
* 结果回调{@link OnAdasListener#onGetParamResp(MessagePad.Header, MessagePad.SetParamReq, AdasParam)}
@@ -1656,6 +1667,7 @@ public class AdasChannel implements IAdasNetCommApi, FpgaSocket.IWebSocketConnec
.addReqs(MessagePad.SetOneParam.newBuilder().setType(AdasConstants.MapSystemParamType.RAMP_THETA_VALID_VALUE))
.addReqs(MessagePad.SetOneParam.newBuilder().setType(AdasConstants.MapSystemParamType.WEAK_NET_SLOW_DOWN_VALUE))
.addReqs(MessagePad.SetOneParam.newBuilder().setType(AdasConstants.MapSystemParamType.M1_STITCHED_VIDEO_SELF_VEHICLE_PARAM_VALUE))
.addReqs(MessagePad.SetOneParam.newBuilder().setType(AdasConstants.MapSystemParamType.BREAKDOWN_SLOW_DOWN_VALUE))
.build();
} else {
req = MessagePad.SetParamReq

11
libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/AdasManager.java
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@@ -914,6 +914,17 @@ public class AdasManager implements IAdasNetCommApi {
return mChannel != null && mChannel.sendWeakNetSlowDown(enable);
}
/**
* 故障减速停车策路开关
*
* @param enable 0:关闭故障减速停车策略 1:使用故障减速停车策略
* @return boolean
*/
@Override
public boolean sendBreakdownSlowDown(int enable) {
return mChannel != null && mChannel.sendBreakdownSlowDown(enable);
}
/**
* 获取全部参数
* 结果回调{@link OnAdasListener#onGetParamResp(MessagePad.Header, MessagePad.SetParamReq, AdasParam)}

8
libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/IAdasNetCommApi.java
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@@ -562,6 +562,14 @@ public interface IAdasNetCommApi {
*/
boolean sendWeakNetSlowDown(int enable);
/**
* 故障减速停车策路开关
*
* @param enable 0:关闭故障减速停车策略 1:使用故障减速停车策略
* @return boolean
*/
boolean sendBreakdownSlowDown(int enable);
/**
* 获取全部参数
*