From 76f6ff184002c31ec0b2a4df4f13f473af590dfe Mon Sep 17 00:00:00 2001 From: xinfengkun Date: Thu, 6 Apr 2023 17:19:54 +0800 Subject: [PATCH] =?UTF-8?q?[2.15.0][mogo-adas]=20=E4=BF=AE=E5=A4=8D?= =?UTF-8?q?=E8=BD=A6=E8=BE=86=E8=BF=9B=E7=AB=99=E5=90=8E=E6=97=A0=E6=B3=95?= =?UTF-8?q?=E5=87=BA=E7=AB=99=E9=97=AE=E9=A2=98=EF=BC=8C=E6=A1=A3=E8=BD=A6?= =?UTF-8?q?=E5=A4=84=E4=BA=8E=E8=BF=9B=E7=AB=99=E6=B5=81=E7=A8=8B=E6=97=B6?= =?UTF-8?q?=E7=B3=BB=E7=BB=9F=E8=BF=98=E5=A4=84=E4=BA=8ESystemState.AUTO?= =?UTF-8?q?=5FPILOT=5FRUNNING=E7=8A=B6=E6=80=81=E6=89=80=E4=BB=A5=E9=9C=80?= =?UTF-8?q?=E8=A6=81=E5=B0=86=E6=AD=A4=E9=99=90=E5=88=B6=E6=94=BE=E5=BC=80?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- .../high/common/autopilot/ability/AutopilotAbility250.java | 7 +++++-- 1 file changed, 5 insertions(+), 2 deletions(-) diff --git a/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/common/autopilot/ability/AutopilotAbility250.java b/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/common/autopilot/ability/AutopilotAbility250.java index 0c459e56a6..ff336195ee 100644 --- a/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/common/autopilot/ability/AutopilotAbility250.java +++ b/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/common/autopilot/ability/AutopilotAbility250.java @@ -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) {