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修复PAD与工控机断开没有重连的bug
修复引导线车辆尾拖现象

Signed-off-by: donghongyu <donghongyu@zhidaoauto.com>
This commit is contained in:
donghongyu
2022-02-25 16:42:37 +08:00
parent 60622ef131
commit 618a8762ca
3 changed files with 29 additions and 9 deletions
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23
core/function-impl/mogo-core-function-autopilot/src/main/java/com/mogo/eagle/core/function/autopilot/MoGoAutopilotProvider.kt
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@@ -21,6 +21,7 @@ import com.mogo.eagle.core.utilcode.mogo.storage.SharedPrefsMgr
import com.mogo.eagle.core.utilcode.util.GsonUtils
import com.mogo.eagle.core.utilcode.util.ThreadUtils
import com.zhidao.support.adas.high.AdasManager
import com.zhidao.support.adas.high.AdasOptions
import com.zhidao.support.adas.high.bean.IPCUpgradeInfo
import com.zhidao.support.adas.high.common.CupidLogUtils
import java.util.concurrent.TimeUnit
@@ -51,17 +52,33 @@ class MoGoAutopilotProvider :
0x00 -> // 司机
{
CallerMapDataCollectorManager.registerOnMapCollectTaskListener(this)
AdasManager.getInstance().create(context, FunctionBuildConfig.adasConnectIP)
// "192.168.1.102"
val options = AdasOptions.Builder()
.setIPCIp(FunctionBuildConfig.adasConnectIP)
.setClient(false)
.build()
AdasManager.getInstance().create(context, options)
}
0x01 -> // 乘客
{
// 乘客端默认接收绘制全局路径+引导线
//FunctionBuildConfig.isDemoMode = true
//FunctionBuildConfig.isIgnoreConditionsDrawAutopilotTrajectoryData = true
AdasManager.getInstance().create(context, FunctionBuildConfig.adasConnectIP)
// "192.168.1.103"
val options = AdasOptions.Builder()
.setIPCIp(FunctionBuildConfig.adasConnectIP)
.setClient(false)
.build()
AdasManager.getInstance().create(context, options)
}
else -> // 默认采用UDP寻址方式
AdasManager.getInstance().create(context)
{
val options = AdasOptions.Builder()
.setIPCIp(FunctionBuildConfig.adasConnectIP)
.setClient(false)
.build()
AdasManager.getInstance().create(context, options)
}
}
//////////////////////////////////注意先后顺序，AdasManager.getInstance().create后才可以设置监听/////////////////////////////////////////////
// 监听 adas 连接状态