From 6afe844ee7863aef23c0ba71678ba8ae677bf367 Mon Sep 17 00:00:00 2001 From: xuxinchao <13522809046@163.com> Date: Tue, 14 Jun 2022 16:46:28 +0800 Subject: [PATCH] =?UTF-8?q?=E5=A2=9E=E5=8A=A0=E7=BE=8E=E5=8C=96=E6=A8=A1?= =?UTF-8?q?=E5=BC=8F?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit 是否是雨天模式默认关闭 打开后可实现过滤到误检的雨天水花，带来两个效果变化： 1、鹰眼感知到的误识别物体减少 2、自动驾驶因为水花误识别导致的点刹减少 --- .../function/autopilot/MoGoAutopilotProvider.kt | 15 +++++++++++++++ .../MoGoAdasMsgConnectStatusListenerImpl.kt | 2 ++ .../function/hmi/ui/setting/DebugSettingView.kt | 11 +++++++++++ .../src/main/res/layout/view_debug_setting.xml | 11 +++++++++++ .../eagle/core/data/config/FunctionBuildConfig.kt | 11 +++++++++++ .../api/autopilot/IMoGoAutopilotProvider.kt | 7 +++++++ .../call/autopilot/CallerAutoPilotManager.kt | 9 +++++++++ 7 files changed, 66 insertions(+) diff --git a/core/function-impl/mogo-core-function-autopilot/src/main/java/com/mogo/eagle/core/function/autopilot/MoGoAutopilotProvider.kt b/core/function-impl/mogo-core-function-autopilot/src/main/java/com/mogo/eagle/core/function/autopilot/MoGoAutopilotProvider.kt index 32b025d9a3..15936d38ab 100644 --- a/core/function-impl/mogo-core-function-autopilot/src/main/java/com/mogo/eagle/core/function/autopilot/MoGoAutopilotProvider.kt +++ b/core/function-impl/mogo-core-function-autopilot/src/main/java/com/mogo/eagle/core/function/autopilot/MoGoAutopilotProvider.kt @@ -176,6 +176,8 @@ class MoGoAutopilotProvider : AsyncDataToAutopilotServer.INSTANCE.initServer() // 同步是否开启美化模式 setDemoMode(FunctionBuildConfig.isDemoMode) + // 同步是否开启雨天模式 + setRainMode(FunctionBuildConfig.isRainMode) } /** @@ -356,6 +358,19 @@ class MoGoAutopilotProvider : } } + /** + * 雨天模式 + * isEnable = true 开启 + * isEnable = false 关闭 + */ + override fun setRainMode(isEnable: Boolean) { + if(isEnable){ + AdasManager.getInstance().sendRainModeReq(1) + }else{ + AdasManager.getInstance().sendRainModeReq(0) + } + } + /** * 办公室调试使用，强制开启自动驾驶，将 status，pilotMode，control_pilotMode，强追设置为 1 * isEnable = true 开启 diff --git a/core/function-impl/mogo-core-function-autopilot/src/main/java/com/mogo/eagle/core/function/autopilot/adapter/MoGoAdasMsgConnectStatusListenerImpl.kt b/core/function-impl/mogo-core-function-autopilot/src/main/java/com/mogo/eagle/core/function/autopilot/adapter/MoGoAdasMsgConnectStatusListenerImpl.kt index b9b23b9417..cc1686d7f7 100644 --- a/core/function-impl/mogo-core-function-autopilot/src/main/java/com/mogo/eagle/core/function/autopilot/adapter/MoGoAdasMsgConnectStatusListenerImpl.kt +++ b/core/function-impl/mogo-core-function-autopilot/src/main/java/com/mogo/eagle/core/function/autopilot/adapter/MoGoAdasMsgConnectStatusListenerImpl.kt @@ -54,6 +54,8 @@ class MoGoAdasMsgConnectStatusListenerImpl : OnAdasConnectStatusListener, updateDriveStatusTask() //每次工控机连接成功后，需同步当前设置的美化模式状态 CallerAutoPilotManager.setDemoMode(FunctionBuildConfig.isDemoMode) + //每次工控机连接成功后，需同步当前设置的雨天模式状态 + CallerAutoPilotManager.setRainMode(FunctionBuildConfig.isRainMode) } else if (ipcConnectionStatus == Constants.IPC_CONNECTION_STATUS.DISCONNECTED) { CallerLogger.d("$M_ADAS_IMPL$TAG", "webSocket 连接失败 reason:$reason") if (connectStatus) { diff --git a/core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/hmi/ui/setting/DebugSettingView.kt b/core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/hmi/ui/setting/DebugSettingView.kt index 6807ab3408..4c27d10957 100644 --- a/core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/hmi/ui/setting/DebugSettingView.kt +++ b/core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/hmi/ui/setting/DebugSettingView.kt @@ -541,6 +541,17 @@ class DebugSettingView @JvmOverloads constructor( } } + // 雨天模式，上一次勾选的数据 + tbIsRainMode.isChecked = FunctionBuildConfig.isRainMode + //雨天模式 + tbIsRainMode.setOnCheckedChangeListener { _, isChecked -> + CallerAutoPilotManager.setRainMode(isChecked) + FunctionBuildConfig.isRainMode = isChecked + } + //雨天模式按钮只在司机屏生效，乘客屏不显示 + if(AppIdentityModeUtils.isPassenger(FunctionBuildConfig.appIdentityMode)){ + tbIsRainMode.visibility = View.GONE + } // 强制绘制引导线 tbIsDrawAutopilotTrajectoryData.setOnCheckedChangeListener { _, isChecked -> diff --git a/core/function-impl/mogo-core-function-hmi/src/main/res/layout/view_debug_setting.xml b/core/function-impl/mogo-core-function-hmi/src/main/res/layout/view_debug_setting.xml index c6a7b0628d..9b56b57e6a 100644 --- a/core/function-impl/mogo-core-function-hmi/src/main/res/layout/view_debug_setting.xml +++ b/core/function-impl/mogo-core-function-hmi/src/main/res/layout/view_debug_setting.xml @@ -221,6 +221,17 @@ android:textSize="@dimen/dp_24" android:background="@drawable/radio_button_normal_background_right"/> + +