[670][data-center] 新增接管状态回调

2024-09-24 16:27:40 +08:00
parent 090641f250
commit 87e80dd847
3 changed files with 133 additions and 0 deletions
--- a/core/mogo-core-function-call/src/main/java/com/mogo/eagle/core/function/call/autopilot/CallerTakeoverListenerManager.kt
+++ b/core/mogo-core-function-call/src/main/java/com/mogo/eagle/core/function/call/autopilot/CallerTakeoverListenerManager.kt
@@ -0,0 +1,116 @@
+package com.mogo.eagle.core.function.call.autopilot
+
+import chassis.Chassis
+import chassis.ChassisStatesOuterClass
+import chassis.VehicleStateOuterClass
+import com.mogo.eagle.core.function.api.autopilot.IMoGoTakeoverListener
+import com.mogo.eagle.core.function.call.base.CallerBase
+
+/**
+ * 接管状态
+ */
+object CallerTakeoverListenerManager : CallerBase<IMoGoTakeoverListener>() {
+
+    private fun invokeTakeoverState(state: Int) {
+        M_LISTENERS.forEach {
+            val listener = it.value
+            listener.onTakeoverState(state)
+        }
+    }
+
+
+    private fun calculate(
+        pilotMode: Chassis.PilotMode,
+        accelInference: Boolean,
+        brakeInference: Boolean,
+        steerInference: Boolean,
+        gearSwitchInference: Boolean
+    ) {
+        var takeover = 0;
+        if (pilotMode == Chassis.PilotMode.MODE_REMOTE_DRIVE) {
+            takeover = 5;
+        } else if (accelInference) {
+            takeover = 1;
+        } else if (brakeInference) {
+            takeover = 2;
+        } else if (steerInference) {
+            takeover = 3;
+        } else if (gearSwitchInference) {
+            takeover = 9;
+        }
+        invokeTakeoverState(takeover)
+    }
+
+    fun setVehicleState(vehicleState: VehicleStateOuterClass.VehicleState?) {
+        if (vehicleState != null) {
+            calculate(
+                vehicleState.pilotMode,
+                vehicleState.accelInference,
+                vehicleState.brakeInference,
+                vehicleState.steerInference,
+                vehicleState.gearSwitchInference
+            );
+        } else {
+            invokeTakeoverState(255)
+        }
+    }
+
+    fun setChassisStates(chassisStates: ChassisStatesOuterClass.ChassisStates?) {
+        var pilotMode: Chassis.PilotMode? = null
+        var accelInference: Boolean? = null
+        var brakeInference: Boolean? = null
+        var steerInference: Boolean? = null
+        var gearSwitchInference: Boolean? = null
+        if (chassisStates != null) {
+            if (chassisStates.hasChassisAutopilotAssistanceInformation()) {
+                if (chassisStates.chassisAutopilotAssistanceInformation != null) {
+                    if (chassisStates.chassisAutopilotAssistanceInformation.hasChassisPilotModeState()) {
+                        pilotMode =
+                            chassisStates.chassisAutopilotAssistanceInformation.chassisPilotModeState
+                    }
+                }
+            }
+            if (chassisStates.hasDrivingSystemStates()) {
+                if (chassisStates.drivingSystemStates != null) {
+                    if (chassisStates.drivingSystemStates.hasAccelerationPedalInferenceState()) {
+                        accelInference =
+                            chassisStates.drivingSystemStates.accelerationPedalInferenceState
+                    }
+                }
+            }
+            if (chassisStates.hasBrakeSystemStates()) {
+                if (chassisStates.brakeSystemStates != null) {
+                    if (chassisStates.brakeSystemStates.hasBrakePedalInferenceState()) {
+                        brakeInference =
+                            chassisStates.brakeSystemStates.brakePedalInferenceState
+                    }
+                }
+            }
+            if (chassisStates.hasSteerSystemStates()) {
+                if (chassisStates.steerSystemStates != null) {
+                    if (chassisStates.steerSystemStates.hasSteeringWheelInferenceState()) {
+                        steerInference =
+                            chassisStates.steerSystemStates.steeringWheelInferenceState
+                    }
+                }
+            }
+            if (chassisStates.hasGearSystemStates()) {
+                if (chassisStates.gearSystemStates != null) {
+                    if (chassisStates.gearSystemStates.hasGearSwitchInferenceState()) {
+                        gearSwitchInference =
+                            chassisStates.gearSystemStates.gearSwitchInferenceState
+                    }
+                }
+            }
+        }
+        if (pilotMode != null && accelInference != null && brakeInference != null && steerInference != null && gearSwitchInference != null) {
+            calculate(
+                pilotMode, accelInference, brakeInference, steerInference, gearSwitchInference
+            );
+        } else {
+            invokeTakeoverState(255)
+        }
+
+    }
+
+}