Merge branch 'dev_robotaxi-d_230412_2.15.0' of gitlab.zhidaoauto.com:SCA/L4HA/AndroidApp/MoGoEagleEye into dev_robotaxi-d_230412_2.15.0

2023-04-20 15:06:09 +08:00
parent da7c9ca2d2 d5712ad9a7
commit 93b92892b4
10 changed files with 310 additions and 56 deletions
--- a/OCH/mogo-och-taxi-passenger/src/main/java/com/mogo/och/taxi/passenger/presenter/BaseTaxiPassengerPresenter.java
+++ b/OCH/mogo-och-taxi-passenger/src/main/java/com/mogo/och/taxi/passenger/presenter/BaseTaxiPassengerPresenter.java
@@ -162,6 +162,7 @@ public class BaseTaxiPassengerPresenter extends Presenter<TaxiPassengerBaseFragm
        if (TaxiPassengerOrderStatusEnum.Cancel.getCode() == order.orderStatus){
            runOnUIThread(() -> {
                mView.showOrHideServingOrderFragment(false,true);
+                mView.showOrHideOverMapViewFragment(false);
                mView.showOrHideStartAutopilotView(false,false);
                mView.showOrHidePressengerCheckPager(false, "",
                        "", "", "", "");
@@ -217,6 +218,7 @@ public class BaseTaxiPassengerPresenter extends Presenter<TaxiPassengerBaseFragm
            TaxiPassengerModel.getInstance().recoverNaviInfo();
            TaxiPassengerModel.getInstance().startOrStopRouteAndWipe(false);
            TaxiPassengerGeocodeSearchModel.getInstance(getContext()).destroyGeocodeSearch();
+            mView.showOrHideOverMapViewFragment(false);
            runOnUIThread(() -> {
                mView.showOrHideServingOrderFragment(false,true);
                mView.showOrHideArrivedEndLayout(true, order.endSiteAddr,order.orderNo);
--- a/OCH/mogo-och-taxi-passenger/src/main/java/com/mogo/och/taxi/passenger/ui/OverviewFragment.kt
+++ b/OCH/mogo-och-taxi-passenger/src/main/java/com/mogo/och/taxi/passenger/ui/OverviewFragment.kt
@@ -1,16 +1,33 @@
 package com.mogo.och.taxi.passenger.ui

+import android.content.Context
 import android.os.Bundle
 import android.view.LayoutInflater
 import android.view.View
 import android.view.ViewGroup
 import com.mogo.commons.mvp.BaseFragment
+import com.mogo.eagle.core.function.call.biz.CallerFuncBizManager
 import com.mogo.eagle.core.function.view.OverMapView
+import com.mogo.eagle.core.utilcode.mogo.logger.CallerLogger
+import com.mogo.eagle.core.utilcode.mogo.logger.scene.SceneConstant
+import com.mogo.eagle.core.utilcode.util.UiThreadHandler
+import com.mogo.och.taxi.passenger.constant.TaxiPassengerOrderStatusEnum
+import com.mogo.och.taxi.passenger.model.TaxiPassengerModel
+import com.mogo.och.taxi.passenger.ui.leftmenu.OverlayLeftViewUtils
+import io.reactivex.Observable
+import io.reactivex.android.schedulers.AndroidSchedulers
+import io.reactivex.disposables.Disposable
+import java.util.concurrent.TimeUnit

 class OverviewFragment : BaseFragment() {

    private var overmapview: OverMapView?=null

+    private var lifeVisable2User = false
+    private var finalVisable2User = false
+
+    private var subscribe: Disposable?=null
+
    override fun onCreateView(
        inflater: LayoutInflater,
        container: ViewGroup?,
@@ -23,24 +40,83 @@ class OverviewFragment : BaseFragment() {
            viewGroup.removeView(overmapview)
        }
        overmapview?.onCreateView(savedInstanceState)
+        CallerLogger.d(SceneConstant.M_TAXI_P + TAG,"onCreateView")
+        statusChange(TaxiPassengerModel.getInstance().curOrderStatus)
        return overmapview!!
    }

    override fun onResume() {
        super.onResume()
        overmapview?.onResume()
+        CallerLogger.d(SceneConstant.M_TAXI_P + TAG,"onResume")
+        lifeVisable2User = true
+        checkVisable()
    }

    override fun onPause() {
        super.onPause()
        overmapview?.onPause()
+        CallerLogger.d(SceneConstant.M_TAXI_P + TAG,"onPause")
+        lifeVisable2User = false
+        checkVisable()
+    }
+
+    private fun checkVisable() {
+
+        subscribe?.let {
+            if (!it.isDisposed) {
+                it.dispose()
+            }
+        }
+        subscribe = Observable.timer(500, TimeUnit.MILLISECONDS)
+            .observeOn(AndroidSchedulers.mainThread())
+            .subscribe {
+                if(lifeVisable2User){//展示
+                    if(!finalVisable2User){
+                        CallerLogger.d(SceneConstant.M_TAXI_P + TAG,"正在展示")
+                        finalVisable2User = true
+                        statusChange(TaxiPassengerModel.getInstance().curOrderStatus)
+                    }
+
+                }else{//没有展示
+                    if(finalVisable2User){
+                        CallerLogger.d(SceneConstant.M_TAXI_P + TAG,"已经隐藏")
+                        finalVisable2User = false
+                        stopAndClear()
+                    }
+                }
+            }
    }

    override fun onDestroy() {
        super.onDestroy()
        overmapview?.onDestroy()
+        CallerLogger.d(SceneConstant.M_TAXI_P + TAG,"onDestroy")
    }

+    private fun statusChange(currentStatusEnum: TaxiPassengerOrderStatusEnum){
+        CallerLogger.d(SceneConstant.M_TAXI_P + TAG,"状态变更最新状态：$currentStatusEnum")
+        when (currentStatusEnum) {
+            TaxiPassengerOrderStatusEnum.OnTheWayToEnd -> {
+                CallerFuncBizManager.bizProvider.getAllV2XEvents()
+            }
+            TaxiPassengerOrderStatusEnum.ArriveAtEnd,TaxiPassengerOrderStatusEnum.JourneyCompleted,
+            TaxiPassengerOrderStatusEnum.Cancel -> {
+                // stop clear
+                stopAndClear()
+            }
+            else -> {}
+        }
+    }
+
+    private fun stopAndClear(){
+        CallerFuncBizManager.bizProvider.stopQueryV2XEvents()
+        UiThreadHandler.post({
+            overmapview?.clearV2XMarkers()
+        }, UiThreadHandler.MODE.QUEUE)
+    }
+
+
    override fun getLayoutId(): Int {
        return 0
    }
--- a/OCH/mogo-och-taxi-passenger/src/main/java/com/mogo/och/taxi/passenger/ui/TaxiPassengerBaseFragment.java
+++ b/OCH/mogo-och-taxi-passenger/src/main/java/com/mogo/och/taxi/passenger/ui/TaxiPassengerBaseFragment.java
@@ -11,6 +11,7 @@ import android.widget.ImageView;
 import androidx.annotation.NonNull;
 import androidx.annotation.Nullable;
 import androidx.fragment.app.FragmentTransaction;
+import androidx.lifecycle.Lifecycle;

 import com.mogo.commons.module.status.MogoStatusManager;
 import com.mogo.commons.mvp.MvpFragment;
@@ -356,21 +357,25 @@ public class TaxiPassengerBaseFragment extends MvpFragment<TaxiPassengerBaseFrag
            if (overviewFragment.isHidden()) {
                transaction.setTransition(FragmentTransaction.TRANSIT_FRAGMENT_OPEN)
                        .show(overviewFragment).commitAllowingStateLoss();
+                transaction.setMaxLifecycle(overviewFragment, Lifecycle.State.RESUMED);
                return;
            }
            if (overviewFragment.isAdded()) {
                transaction.setTransition(FragmentTransaction.TRANSIT_FRAGMENT_OPEN)
                        .show(overviewFragment).commitAllowingStateLoss();
+                transaction.setMaxLifecycle(overviewFragment, Lifecycle.State.RESUMED);
                return;
            }
            transaction
                    .setTransition(FragmentTransaction.TRANSIT_FRAGMENT_OPEN)
                    .add(R.id.fl_container_overview, overviewFragment)
                    .show(overviewFragment).commitAllowingStateLoss();
+            transaction.setMaxLifecycle(overviewFragment, Lifecycle.State.RESUMED);
        } else {
            if (overviewFragment != null) {
                transaction.setTransition(FragmentTransaction.TRANSIT_FRAGMENT_CLOSE)
                        .hide(overviewFragment).commitAllowingStateLoss();
+                transaction.setMaxLifecycle(overviewFragment, Lifecycle.State.STARTED);
            }
        }
    }
--- a/app_ipc_monitoring/src/main/java/com/zhidao/adas/client/bean/AdasParamReceiveData.java
+++ b/app_ipc_monitoring/src/main/java/com/zhidao/adas/client/bean/AdasParamReceiveData.java
@@ -0,0 +1,35 @@
+package com.zhidao.adas.client.bean;
+
+import com.google.protobuf.GeneratedMessageV3;
+import com.google.protobuf.TextFormat;
+import com.zhidao.adas.client.R;
+import com.zhidao.support.adas.high.bean.AdasParam;
+import com.zhidao.support.adas.high.common.ByteUtil;
+
+import java.text.SimpleDateFormat;
+
+import mogo.telematics.pad.MessagePad;
+
+public class AdasParamReceiveData extends BaseInfo {
+    public final GeneratedMessageV3 bean;
+    private final AdasParam adasParam;
+
+    public AdasParamReceiveData(MessagePad.Header header, GeneratedMessageV3 bean, AdasParam adasParam, SimpleDateFormat sdf) {
+        super("接收", bean.getSerializedSize(), header, sdf);
+        this.bean = bean;
+        this.adasParam = adasParam;
+    }
+
+    public String toString(int resId) {
+        String srt = "";
+        if (resId == R.id.rb_analysis) {
+            srt = TextFormat.printer().shortDebugString(bean);
+        } else if (resId == R.id.rb_original) {
+            srt = "Payload原始数据：" + ByteUtil.byteArrToHex(bean.toByteArray());
+        } else if (resId == R.id.rb_all) {
+            srt = "Payload原始数据：" + ByteUtil.byteArrToHex(bean.toByteArray()) + '\n' + TextFormat.printer().shortDebugString(bean);
+        }
+        return super.toString(resId) + srt + "\n原始数据翻译：\n" + adasParam.toString();
+    }
+
+}
--- a/app_ipc_monitoring/src/main/java/com/zhidao/adas/client/ui/MainActivity.java
+++ b/app_ipc_monitoring/src/main/java/com/zhidao/adas/client/ui/MainActivity.java
@@ -59,6 +59,7 @@ import com.zhidao.adas.client.adapter.InfoTitleAdapter;
 import com.zhidao.adas.client.base.BaseActivity;
 import com.zhidao.adas.client.base.BaseAdapter;
 import com.zhidao.adas.client.base.BaseFragment;
+import com.zhidao.adas.client.bean.AdasParamReceiveData;
 import com.zhidao.adas.client.bean.ErrorData;
 import com.zhidao.adas.client.bean.IPCConnectState;
 import com.zhidao.adas.client.bean.ObuMap;
@@ -84,6 +85,7 @@ import com.zhidao.support.adas.high.AdasManager;
 import com.zhidao.support.adas.high.AdasOptions;
 import com.zhidao.support.adas.high.OnAdasConnectStatusListener;
 import com.zhidao.support.adas.high.OnAdasListener;
+import com.zhidao.support.adas.high.bean.AdasParam;
 import com.zhidao.support.adas.high.bean.VersionCompatibility;
 import com.zhidao.support.adas.high.common.Constants.IPC_CONNECTION_STATUS;
 import com.zhidao.support.adas.high.common.CupidLogUtils;
@@ -1279,8 +1281,8 @@ public class MainActivity extends BaseActivity implements OnAdasListener, OnAdas
    }

    @Override
-    public void onGetParamResp(@NonNull MessagePad.Header header, @NonNull MessagePad.SetParamReq getParamResp) {
-        ReceiveData base = new ReceiveData(header, getParamResp, sdf);
+    public void onGetParamResp(@NonNull MessagePad.Header header, @NonNull MessagePad.SetParamReq getParamResp, @NonNull AdasParam adasParam) {
+        AdasParamReceiveData base = new AdasParamReceiveData(header, getParamResp, adasParam, sdf);
        DataDistribution.getInstance().addData(base);
    }

--- a/core/function-impl/mogo-core-function-datacenter/src/main/java/com/mogo/eagle/core/function/datacenter/autopilot/adapter/MoGoAdasListenerImpl.kt
+++ b/core/function-impl/mogo-core-function-datacenter/src/main/java/com/mogo/eagle/core/function/datacenter/autopilot/adapter/MoGoAdasListenerImpl.kt
@@ -60,6 +60,7 @@ import com.mogo.eagle.core.utilcode.mogo.logger.Logger
 import com.mogo.support.obu.ObuScene
 import com.zhidao.support.adas.high.AdasManager
 import com.zhidao.support.adas.high.OnAdasListener
+import com.zhidao.support.adas.high.bean.AdasParam
 import com.zhidao.support.adas.high.common.ProtocolStatus
 import com.zhjt.mogo.adas.data.bean.AutopilotStatistics
 import com.zhjt.service.chain.ChainLog
@@ -684,8 +685,9 @@ class MoGoAdasListenerImpl : OnAdasListener {
     *
     * @param header       头
     * @param getParamResp 配置参数
+     * @param adasParam 解析后的配置参数
     */
-    override fun onGetParamResp(header: MessagePad.Header, getParamResp: MessagePad.SetParamReq) {
+    override fun onGetParamResp(header: MessagePad.Header, getParamResp: MessagePad.SetParamReq, adasParam: AdasParam) {
    }

    /**
--- a/core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/hmi/ui/widget/SingleTrafficLightView.kt
+++ b/core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/hmi/ui/widget/SingleTrafficLightView.kt
@@ -7,17 +7,15 @@ import android.view.View
 import android.widget.ImageView
 import android.widget.LinearLayout
 import android.widget.TextView
-import com.mogo.eagle.core.data.config.FunctionBuildConfig
 import com.mogo.eagle.core.data.config.HmiBuildConfig
 import com.mogo.eagle.core.data.enums.DataSourceType
 import com.mogo.eagle.core.data.enums.TrafficLightEnum
+import com.mogo.eagle.core.function.api.datacenter.union.IMoGoTrafficLightListener
 import com.mogo.eagle.core.function.api.hmi.view.IViewControlListener
 import com.mogo.eagle.core.function.api.hmi.view.IViewControlListener.Companion.TrafficLightView_TAG
-import com.mogo.eagle.core.function.api.datacenter.union.IMoGoTrafficLightListener
 import com.mogo.eagle.core.function.call.hmi.CallerHmiViewControlListenerManager
 import com.mogo.eagle.core.function.call.v2x.CallerTrafficLightListenerManager
 import com.mogo.eagle.core.function.hmi.R
-import com.mogo.eagle.core.utilcode.mogo.AppIdentityModeUtils
 import com.mogo.eagle.core.utilcode.util.UiThreadHandler

 /**
@@ -72,9 +70,11 @@ class SingleTrafficLightView @JvmOverloads constructor(
     */
    override fun showTrafficLight(checkLightId: TrafficLightEnum, lightSource: DataSourceType) {
        super.showTrafficLight(checkLightId, lightSource)
-        mCurrentLightId = checkLightId
-        if (!HmiBuildConfig.isShowTrafficLightView) {
-            updateTrafficLightIcon(checkLightId, lightSource)
+        UiThreadHandler.post {
+            mCurrentLightId = checkLightId
+            if (!HmiBuildConfig.isShowTrafficLightView) {
+                updateTrafficLightIcon(checkLightId, lightSource)
+            }
        }
    }

@@ -95,14 +95,15 @@ class SingleTrafficLightView @JvmOverloads constructor(
            // 小巴车的司机端需要展示红绿灯信号来源
 //            if(AppIdentityModeUtils.isDriver(FunctionBuildConfig.appIdentityMode)
 //                && AppIdentityModeUtils.isBus(FunctionBuildConfig.appIdentityMode)){
-                val lp = this.layoutParams as MarginLayoutParams
-                lp.width = context.resources.getDimension(R.dimen.dp_325).toInt()
-                this.layoutParams = lp
-                mLightSourceTV!!.visibility = VISIBLE
-                mLightSourceDivider!!.visibility = VISIBLE
-                mLightTimeTV!!.visibility = GONE
-                mLightSourceTV!!.setPadding(0,0,75,0)
-                mLightIconBG!!.layoutParams.width = context.resources.getDimension(R.dimen.dp_310).toInt()
+            val lp = this.layoutParams as MarginLayoutParams
+            lp.width = context.resources.getDimension(R.dimen.dp_325).toInt()
+            this.layoutParams = lp
+            mLightSourceTV!!.visibility = VISIBLE
+            mLightSourceDivider!!.visibility = VISIBLE
+            mLightTimeTV!!.visibility = GONE
+            mLightSourceTV!!.setPadding(0, 0, 75, 0)
+            mLightIconBG!!.layoutParams.width =
+                context.resources.getDimension(R.dimen.dp_310).toInt()
 //            }else{
 //                val lp = this.layoutParams as MarginLayoutParams
 //                lp.width = context.resources.getDimension(R.dimen.hmi_traffic_light_icon_size).toInt()
@@ -200,51 +201,51 @@ class SingleTrafficLightView @JvmOverloads constructor(
     * @param lightSource 1:云端下发；2:自车感知; 3:OBU
     */
    private fun updateTrafficLightIcon(lightId: TrafficLightEnum, lightSource: DataSourceType) {
-        UiThreadHandler.post {
-            when (lightId) {
-                TrafficLightEnum.RED -> {
-                    mLightIconIV!!.setBackgroundResource(R.drawable.hmi_light_red_nor)
-                    this@SingleTrafficLightView.visibility = VISIBLE
-                }
-                TrafficLightEnum.YELLOW -> {
-                    mLightIconIV!!.setBackgroundResource(R.drawable.hmi_lightyellow_nor)
-                    this@SingleTrafficLightView.visibility = VISIBLE
-                }
-                TrafficLightEnum.GREEN -> {
-                    mLightIconIV!!.setBackgroundResource(R.drawable.hmi_light_green_nor)
-                    this@SingleTrafficLightView.visibility = VISIBLE
-                }
-                else -> this@SingleTrafficLightView.visibility = GONE
+        when (lightId) {
+            TrafficLightEnum.RED -> {
+                mLightIconIV!!.setBackgroundResource(R.drawable.hmi_light_red_nor)
+                this@SingleTrafficLightView.visibility = VISIBLE
            }
-            when (lightSource) {
-                DataSourceType.AICLOUD -> {
-                    mLightSourceTV!!.text = "云端下发"
-                }
-                DataSourceType.TELEMATIC -> {
-                    mLightSourceTV!!.text = "自车感知"
-                }
-                DataSourceType.OBU -> {
-                    mLightSourceTV!!.text = "OBU"
-                }
-                else -> {
-                    mLightSourceTV!!.visibility = GONE
-                }
+            TrafficLightEnum.YELLOW -> {
+                mLightIconIV!!.setBackgroundResource(R.drawable.hmi_lightyellow_nor)
+                this@SingleTrafficLightView.visibility = VISIBLE
+            }
+            TrafficLightEnum.GREEN -> {
+                mLightIconIV!!.setBackgroundResource(R.drawable.hmi_light_green_nor)
+                this@SingleTrafficLightView.visibility = VISIBLE
+            }
+            else -> this@SingleTrafficLightView.visibility = GONE
+        }
+        when (lightSource) {
+            DataSourceType.AICLOUD -> {
+                mLightSourceTV!!.text = "云端下发"
+            }
+            DataSourceType.TELEMATIC -> {
+                mLightSourceTV!!.text = "自车感知"
+            }
+            DataSourceType.OBU -> {
+                mLightSourceTV!!.text = "OBU"
+            }
+            else -> {
+                mLightSourceTV!!.visibility = GONE
            }
        }
    }

-    private fun resetView(){
+    private fun resetView() {
        // 小巴车的司机端需要展示红绿灯信号来源 ，由于需要知道来源，这里不在限制
 //        if(AppIdentityModeUtils.isDriver(FunctionBuildConfig.appIdentityMode)
 //            && AppIdentityModeUtils.isBus(FunctionBuildConfig.appIdentityMode)){
-            val lp = this.layoutParams as MarginLayoutParams
-            lp.width = context.resources.getDimension(R.dimen.hmi_traffic_light_bus_layout_width).toInt()
-            this.layoutParams = lp
-            mLightTimeTV!!.visibility = View.VISIBLE
-            mLightSourceDivider!!.visibility = View.VISIBLE
-            mLightSourceTV!!.visibility = View.VISIBLE
-            mLightSourceTV!!.setPadding(0,0,0,0)
-            mLightIconBG!!.layoutParams.width = context.resources.getDimension(R.dimen.hmi_traffic_light_bus_bg_width).toInt()
+        val lp = this.layoutParams as MarginLayoutParams
+        lp.width =
+            context.resources.getDimension(R.dimen.hmi_traffic_light_bus_layout_width).toInt()
+        this.layoutParams = lp
+        mLightTimeTV!!.visibility = View.VISIBLE
+        mLightSourceDivider!!.visibility = View.VISIBLE
+        mLightSourceTV!!.visibility = View.VISIBLE
+        mLightSourceTV!!.setPadding(0, 0, 0, 0)
+        mLightIconBG!!.layoutParams.width =
+            context.resources.getDimension(R.dimen.hmi_traffic_light_bus_bg_width).toInt()
 //        }else{
 //            val lp = this.layoutParams as MarginLayoutParams
 //            lp.width = context.resources.getDimension(R.dimen.hmi_traffic_light_layout_width).toInt()
--- a/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/OnAdasListener.java
+++ b/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/OnAdasListener.java
@@ -1,6 +1,7 @@
 package com.zhidao.support.adas.high;

 import com.mogo.support.obu.ObuScene;
+import com.zhidao.support.adas.high.bean.AdasParam;
 import com.zhidao.support.adas.high.common.ProtocolStatus;
 import com.zhjt.mogo.adas.data.bean.AutopilotStatistics;

@@ -292,8 +293,9 @@ public interface OnAdasListener {
     *
     * @param header       头
     * @param getParamResp 配置参数
+     * @param adasParam 解析后的配置参数
     */
-    void onGetParamResp(@NotNull MessagePad.Header header, @NotNull MessagePad.SetParamReq getParamResp);
+    void onGetParamResp(@NotNull MessagePad.Header header, @NotNull MessagePad.SetParamReq getParamResp, @NotNull AdasParam adasParam);

    /**
     * 是否有能力启动自动驾驶
--- a/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/bean/AdasParam.java
+++ b/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/bean/AdasParam.java
@@ -0,0 +1,128 @@
+package com.zhidao.support.adas.high.bean;
+
+import android.text.TextUtils;
+
+import com.zhidao.support.adas.high.common.Constants;
+
+import mogo.telematics.pad.MessagePad;
+
+/**
+ * 工控机配置参数
+ * -1表示未知，说明没有这个param或者get失败
+ */
+public class AdasParam {
+    /**
+     * 绕障类功能开关
+     * -1：未知    0：关闭    1：开启
+     */
+    public final int detouringCmd;
+    /**
+     * 变道绕障的目标障碍物速度阈值
+     * -1：未知
+     */
+    public final double detouringSpeed;
+    /**
+     * AEB开关
+     * -1：未知    0：关闭自动紧急制动功能    1：启用自动紧急制动功能
+     */
+    public final int aebCmd;
+    /**
+     * 限制绕障开关
+     * -1：未知    0（默认）：正常绕障    1：限制绕障
+     */
+    public final int laneChangeRestrainValid;
+    /**
+     * 停车让行线前避让等待开关
+     * -1：未知    0（默认）：停车让行线前无需等待    1：停车让行线前需要等待
+     */
+    public final int stopYieldValid;
+    /**
+     * 地图限速功能开关
+     * -1：未知    0（默认）：不使用地图限速功能    1：使用地图限速功能
+     */
+    public final int hadmapSpeedLimitValid;
+    /**
+     * 环岛模式开关
+     * -1：未知    0（默认）：普通模式    1：环岛模式
+     */
+    public final int rampThetaValid;
+    /**
+     * 弱网减速停车策略开关
+     * -1：未知    0：关闭弱网减速停车策略    1（默认）：使用弱网减速停车策略
+     */
+    public final int weakNetSlowDown;
+
+    public AdasParam(MessagePad.SetParamReq param) {
+        int detouringCmd = -1;
+        double detouringSpeed = -1.0;
+        int aebCmd = -1;
+        int laneChangeRestrainValid = -1;
+        int stopYieldValid = -1;
+        int hadmapSpeedLimitValid = -1;
+        int rampThetaValid = -1;
+        int weakNetSlowDown = -1;
+        if (param != null) {
+            int size = param.getReqsCount();
+            if (size > 0) {
+                for (int i = 0; i < size; i++) {
+                    MessagePad.SetOneParam oneParam = param.getReqs(i);
+                    int type = oneParam.getType();
+                    String value = oneParam.getValue();
+                    if (type == Constants.PARAM_TYPE.DETOURING) {
+                        if (!TextUtils.isEmpty(value)) {
+                            detouringCmd = Integer.parseInt(value);
+                        }
+                    } else if (type == Constants.PARAM_TYPE.DETOURING_SPEED) {
+                        if (!TextUtils.isEmpty(value)) {
+                            detouringSpeed = Double.parseDouble(value);
+                        }
+                    } else if (type == Constants.PARAM_TYPE.AEB) {
+                        if (!TextUtils.isEmpty(value)) {
+                            aebCmd = Integer.parseInt(value);
+                        }
+                    } else if (type == Constants.PARAM_TYPE.LANE_CHANGE_RESTRAIN_VALID) {
+                        if (!TextUtils.isEmpty(value)) {
+                            laneChangeRestrainValid = Integer.parseInt(value);
+                        }
+                    } else if (type == Constants.PARAM_TYPE.STOP_YIELD_VALID) {
+                        if (!TextUtils.isEmpty(value)) {
+                            stopYieldValid = Integer.parseInt(value);
+                        }
+                    } else if (type == Constants.PARAM_TYPE.HADMAP_SPEED_LIMIT_VALID) {
+                        if (!TextUtils.isEmpty(value)) {
+                            hadmapSpeedLimitValid = Integer.parseInt(value);
+                        }
+                    } else if (type == Constants.PARAM_TYPE.RAMP_THETA_VALID) {
+                        if (!TextUtils.isEmpty(value)) {
+                            rampThetaValid = Integer.parseInt(value);
+                        }
+                    } else if (type == Constants.PARAM_TYPE.WEAK_NET_SLOW_DOWN) {
+                        if (!TextUtils.isEmpty(value)) {
+                            weakNetSlowDown = Integer.parseInt(value);
+                        }
+                    }
+                }
+            }
+        }
+        this.detouringCmd = detouringCmd;
+        this.detouringSpeed = detouringSpeed;
+        this.aebCmd = aebCmd;
+        this.laneChangeRestrainValid = laneChangeRestrainValid;
+        this.stopYieldValid = stopYieldValid;
+        this.hadmapSpeedLimitValid = hadmapSpeedLimitValid;
+        this.rampThetaValid = rampThetaValid;
+        this.weakNetSlowDown = weakNetSlowDown;
+    }
+
+    @Override
+    public String toString() {
+        return "绕障类功能开关=" + (detouringCmd == -1 ? "未知" : detouringCmd == 0 ? "关" : "开") +
+                "\n变道绕障的目标障碍物速度阈值=" + (detouringSpeed == -1 ? "未知" : detouringSpeed + "m/s") +
+                "\nAEB开关=" + (aebCmd == -1 ? "未知" : aebCmd == 0 ? "关" : "开") +
+                "\n限制绕障开关=" + (laneChangeRestrainValid == -1 ? "未知" : laneChangeRestrainValid == 0 ? "正常绕障" : "限制绕障") +
+                "\n停车让行线前避让等待开关=" + (stopYieldValid == -1 ? "未知" : stopYieldValid == 0 ? "无需等待" : "等待") +
+                "\n地图限速功能开关=" + (hadmapSpeedLimitValid == -1 ? "未知" : hadmapSpeedLimitValid == 0 ? "不使用" : "使用") +
+                "\n环岛模式开关=" + (rampThetaValid == -1 ? "未知" : rampThetaValid == 0 ? "普通模式" : "环岛模式") +
+                "\n弱网减速停车策略开关=" + (weakNetSlowDown == -1 ? "未知" : weakNetSlowDown == 0 ? "关闭" : "使用");
+    }
+}
--- a/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/msg/GetParamRespMessage.java
+++ b/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/msg/GetParamRespMessage.java
@@ -5,6 +5,7 @@ import android.os.SystemClock;
 import com.google.protobuf.InvalidProtocolBufferException;
 import com.zhidao.support.adas.high.AdasChannel;
 import com.zhidao.support.adas.high.OnAdasListener;
+import com.zhidao.support.adas.high.bean.AdasParam;
 import com.zhidao.support.adas.high.common.CupidLogUtils;
 import com.zhidao.support.adas.high.protocol.RawData;

@@ -23,7 +24,7 @@ public class GetParamRespMessage extends MyAbstractMessageHandler {
        if (CupidLogUtils.isEnableLog())
            nowTime = SystemClock.elapsedRealtime();
        if (adasListener != null) {
-            adasListener.onGetParamResp(raw.getHeader(), getParamResp);
+            adasListener.onGetParamResp(raw.getHeader(), getParamResp, new AdasParam(getParamResp));
        }
        AdasChannel.calculateTimeConsumingBusiness("参数获取应答", nowTime);
 //        CupidLogUtils.e("到站提醒--->" + arrivalNotification.toString());