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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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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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20
libraries/mogo-adas-data/src/main/java/com/zhjt/mogo/adas/data/bean/AdasParam.java
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@@ -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 {