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[6.0.0][adas-data]轨迹下载请求接口更新添加下载类型字段，用于轨迹预下载场景（taxi无人化场景）

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This commit is contained in:
x8-phoenix
2023-08-04 17:59:41 +08:00
parent c69a3fe16f
commit 7dbf633119
7 changed files with 42 additions and 6 deletions
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4
core/function-impl/mogo-core-function-datacenter/src/main/java/com/mogo/eagle/core/function/datacenter/autopilot/MoGoAutopilotControlProvider.kt
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@@ -405,6 +405,10 @@ class MoGoAutopilotControlProvider :
AdasManager.getInstance().sendTrajectoryDownloadReq(autoPilotLine.toAutoPilotLine())
}
override fun sendTrajectoryDownloadReq(autoPilotLine: AutopilotControlParameters.AutoPilotLine, downloadType: Int) {
AdasManager.getInstance().sendTrajectoryDownloadReq(autoPilotLine.toAutoPilotLine(), downloadType)
}
override fun cancelAutoPilot() {
if (AdasManager.getInstance().ipcConnectionStatus == Constants.IPC_CONNECTION_STATUS.CONNECTED) {
AdasManager.getInstance().sendAutoPilotModeReq(0, 1, null)

5
core/mogo-core-function-api/src/main/java/com/mogo/eagle/core/function/api/autopilot/IMoGoAutopilotControlProvider.kt
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@@ -55,6 +55,11 @@ interface IMoGoAutopilotControlProvider : IMoGoFunctionServerProvider {
*/
fun sendTrajectoryDownloadReq(autoPilotLine: AutopilotControlParameters.AutoPilotLine)
/**
* 发送 轨迹下载请求
* @param downloadType 下载类型: 0:正常下载 1:预下载
*/
fun sendTrajectoryDownloadReq(autoPilotLine: AutopilotControlParameters.AutoPilotLine, downloadType: Int)
/**
* 结束自动驾驶
*/

10
core/mogo-core-function-call/src/main/java/com/mogo/eagle/core/function/call/autopilot/CallerAutoPilotControlManager.kt
View File

@@ -106,6 +106,16 @@ object CallerAutoPilotControlManager {
}
}
/**
* 发送 轨迹下载请求
* @param downloadType 下载类型: 0:正常下载 1:预下载
*/
fun sendTrajectoryDownloadReq(autoPilotLine: AutopilotControlParameters.AutoPilotLine, downloadType: Int) {
if (AppIdentityModeUtils.isDriver(FunctionBuildConfig.appIdentityMode)) {
providerApi?.sendTrajectoryDownloadReq(autoPilotLine, downloadType)
}
}
/**
* 结束自动驾驶
*/

1
libraries/mogo-adas-data/src/main/proto/message_pad.proto
View File

@@ -253,6 +253,7 @@ message TrajectoryDownloadReq
{
Line line = 1; //路线
uint32 source = 2; //指令来源: 0: default, 1:pad, 2:aicloud
uint32 downloadType = 3; //下载类型: 0:正常下载 1:预下载
}
// message definition for MessageType: MsgTypeBasicInfoReq

8
libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/AdasChannel.java
View File

@@ -1090,7 +1090,8 @@ public class AdasChannel implements IAdasNetCommApi, FpgaSocket.IWebSocketConnec
/**
* 发送 轨迹下载请求
*
* @param line 线路相关参数详情见PB message_pad.proto -> Line
* @param line 线路相关参数详情见PB message_pad.proto -> Line
* @param downloadType 下载类型: 0:正常下载 1:预下载
* @return boolean
*/
@ChainLog(
@@ -1100,10 +1101,13 @@ public class AdasChannel implements IAdasNetCommApi, FpgaSocket.IWebSocketConnec
paramIndexes = {0}
)
@Override
public boolean sendTrajectoryDownloadReq(MessagePad.Line line) {
public boolean sendTrajectoryDownloadReq(MessagePad.Line line, int downloadType) {
MessagePad.TrajectoryDownloadReq.Builder builder = MessagePad.TrajectoryDownloadReq.newBuilder();
builder.setSource(1);//指令来源: 0: default, 1:pad, 2:aicloud
builder.setLine(line);
if (downloadType > -1) {
builder.setDownloadType(downloadType);
}
MessagePad.TrajectoryDownloadReq req = builder.build();
return sendPBMessage(MessageType.TYPE_SEND_TRAJECTORY_DOWNLOAD_REQ.typeCode, req.toByteArray());
}

15
libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/AdasManager.java
View File

@@ -514,9 +514,20 @@ public class AdasManager implements IAdasNetCommApi {
* @param line 线路相关参数详情见PB message_pad.proto -> Line
* @return boolean
*/
@Override
public boolean sendTrajectoryDownloadReq(MessagePad.Line line) {
return mChannel != null && mChannel.sendTrajectoryDownloadReq(line);
return mChannel != null && mChannel.sendTrajectoryDownloadReq(line, -1);
}
/**
* 发送 轨迹下载请求
*
* @param line 线路相关参数详情见PB message_pad.proto -> Line
* @param downloadType 下载类型: 0:正常下载 1:预下载
* @return boolean
*/
@Override
public boolean sendTrajectoryDownloadReq(MessagePad.Line line, int downloadType) {
return mChannel != null && mChannel.sendTrajectoryDownloadReq(line, downloadType);
}
/**

5
libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/IAdasNetCommApi.java
View File

@@ -251,10 +251,11 @@ public interface IAdasNetCommApi {
/**
* 发送 轨迹下载请求
*
* @param line 线路相关参数详情见PB message_pad.proto -> Line
* @param line 线路相关参数详情见PB message_pad.proto -> Line
* @param downloadType 下载类型: 0:正常下载 1:预下载
* @return 加入WS发送消息队列是否成功
*/
boolean sendTrajectoryDownloadReq(MessagePad.Line line);
boolean sendTrajectoryDownloadReq(MessagePad.Line line, int downloadType);
/**
* 发送 状态查询请求