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[2.15.0][mogo-adas] 修复车辆进站后无法出站问题，档车处于进站流程时系统还处于SystemState.AUTO_PILOT_RUNNING状态所以需要将此限制放开

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xinfengkun
2023-04-06 17:19:54 +08:00
committed by wangmingjun
parent 7358194afc
commit 61329df94b
1 changed files with 5 additions and 2 deletions
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7
libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/common/autopilot/ability/AutopilotAbility250.java
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@@ -79,6 +79,7 @@ public class AutopilotAbility250 {
}
} else {
SystemStatusInfo.SystemState systemState = statusInfo.getSysState();
// 目前已知可以下发启动自驾命令的状态： SystemState.SYS_RUNNING、SystemState.PILOT_READY、SystemState.AUTO_PILOT_STARTING、SystemState.AUTO_PILOT_RUNNING
if (systemState != SystemStatusInfo.SystemState.SYS_RUNNING && systemState != SystemStatusInfo.SystemState.PILOT_READY) {
isAutopilotAbility = false;
if (systemState == SystemStatusInfo.SystemState.SYS_STARTING) {
@@ -88,11 +89,13 @@ public class AutopilotAbility250 {
} else if (systemState == SystemStatusInfo.SystemState.SYS_FAULT) {
unableAutopilotReason = "系统异常";
} else if (systemState == SystemStatusInfo.SystemState.AUTO_PILOT_STARTING) {
//如果第一次下发了启动自动驾驶，没起来或者存在干预 此时systemState是AUTO_PILOT_STARTING 需要二次下发启动自驾命令 所以需要排除此状态
//TODO 如果第一次下发了启动自动驾驶，没起来或者存在干预 此时systemState是AUTO_PILOT_STARTING 需要二次下发启动自驾命令 所以需要排除此状态
isAutopilotAbility = true;
//unableAutopilotReason = "正在开始自动驾驶";
} else if (systemState == SystemStatusInfo.SystemState.AUTO_PILOT_RUNNING) {
unableAutopilotReason = "自动驾驶运行中";
//TODO 车辆进站属于未退自驾状态，此状态不进行限制，否则无法再次发下启动自驾命令
isAutopilotAbility = true;
// unableAutopilotReason = "自动驾驶运行中";
} else if (systemState == SystemStatusInfo.SystemState.REMOTE_PILOT_STARTING) {
unableAutopilotReason = "平行驾驶启动中";
} else if (systemState == SystemStatusInfo.SystemState.REMOTE_PILOT_RUNNING) {