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[sweeper314]添加无参数启动自驾方法

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This commit is contained in:
xinfengkun
2023-06-21 14:03:50 +08:00
parent a85a792f7b
commit 93d5e43963
3 changed files with 23 additions and 8 deletions
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25
core/function-impl/mogo-core-function-datacenter/src/main/java/com/mogo/eagle/core/function/datacenter/autopilot/MoGoAutopilotControlProvider.kt
View File

@@ -322,10 +322,29 @@ class MoGoAutopilotControlProvider :
startAutoPilot(controlParameters, Constants.AUTOPILOT_SOURCE.PAD)
}
override fun startAutoPilotByMoFang(controlParameters: AutopilotControlParameters) {
startAutoPilot(controlParameters, Constants.AUTOPILOT_SOURCE.MO_FANG)
override fun startAutoPilotByMoFang(controlParameters: AutopilotControlParameters?) {
if (controlParameters==null){
startAutoPilotWithNoParameter(Constants.AUTOPILOT_SOURCE.MO_FANG)
}else{
startAutoPilot(controlParameters, Constants.AUTOPILOT_SOURCE.MO_FANG)
}
}
private fun startAutoPilotWithNoParameter(source: Int) {
if (AppIdentityModeUtils.isPassenger(FunctionBuildConfig.appIdentityMode)) {
val invokeResult = AdasManager.getInstance()
.sendAutoPilotModeReq(1, source, null)
invokeAutoPilotResult(if (invokeResult) "无参自动驾驶调用成功" else "自动驾驶调用失败, socket 或者 rawPack 可能为空")
} else {
if (AdasManager.getInstance().ipcConnectionStatus == IPC_CONNECTION_STATUS.CONNECTED) {
val invokeResult = AdasManager.getInstance()
.sendAutoPilotModeReq(1, source, null)
invokeAutoPilotResult(if (invokeResult) "无参自动驾驶调用成功" else "自动驾驶调用失败, socket 或者 rawPack 可能为空")
} else {
invokeAutoPilotResult("车机与工控机链接失败，无法开启自动驾驶 无参")
CallerLogger.e("$M_ADAS_IMPL$TAG", "车机与工控机链接失败，无法开启自动驾驶")
}
}
}
private fun startAutoPilot(controlParameters: AutopilotControlParameters, source: Int) {
if (AppIdentityModeUtils.isPassenger(FunctionBuildConfig.appIdentityMode)) {
val invokeResult = AdasManager.getInstance()

2
core/mogo-core-function-api/src/main/java/com/mogo/eagle/core/function/api/autopilot/IMoGoAutopilotControlProvider.kt
View File

@@ -42,7 +42,7 @@ interface IMoGoAutopilotControlProvider : IMoGoFunctionServerProvider {
*
* @param controlParameters 开启自动驾驶的控制参数
*/
fun startAutoPilotByMoFang(controlParameters: AutopilotControlParameters)
fun startAutoPilotByMoFang(controlParameters: AutopilotControlParameters?)
/**
* 给工控机透出路口红绿灯信息

4
core/mogo-core-function-call/src/main/java/com/mogo/eagle/core/function/call/autopilot/CallerAutoPilotControlManager.kt
View File

@@ -93,10 +93,6 @@ object CallerAutoPilotControlManager {
clientPkFileName = "sn"
)
fun startAutoPilotByMoFang(controlParameters: AutopilotControlParameters?) {
if (controlParameters == null) {
//LogUtils.eTag(TAG, "自动驾驶控制参数异常，请检查参数信息")
return
}
providerApi?.startAutoPilotByMoFang(controlParameters)
// 更新记录在全局的控制参数
CallerAutoPilotStatusListenerManager.updateAutopilotControlParameters(controlParameters)