From 93d5e4396325487159c59c1439a9f35636d75268 Mon Sep 17 00:00:00 2001
From: xinfengkun <xinfengkun@zhidaoauto.com>
Date: Wed, 21 Jun 2023 14:03:50 +0800
Subject: [PATCH] =?UTF-8?q?[sweeper314]=E6=B7=BB=E5=8A=A0=E6=97=A0?=
 =?UTF-8?q?=E5=8F=82=E6=95=B0=E5=90=AF=E5=8A=A8=E8=87=AA=E9=A9=BE=E6=96=B9?=
 =?UTF-8?q?=E6=B3=95?=
MIME-Version: 1.0
Content-Type: text/plain; charset=UTF-8
Content-Transfer-Encoding: 8bit

---
 .../autopilot/MoGoAutopilotControlProvider.kt | 25 ++++++++++++++++---
 .../IMoGoAutopilotControlProvider.kt          |  2 +-
 .../CallerAutoPilotControlManager.kt          |  4 ---
 3 files changed, 23 insertions(+), 8 deletions(-)

diff --git a/core/function-impl/mogo-core-function-datacenter/src/main/java/com/mogo/eagle/core/function/datacenter/autopilot/MoGoAutopilotControlProvider.kt b/core/function-impl/mogo-core-function-datacenter/src/main/java/com/mogo/eagle/core/function/datacenter/autopilot/MoGoAutopilotControlProvider.kt
index 1c3b6cfcd4..f538aa58b0 100644
--- a/core/function-impl/mogo-core-function-datacenter/src/main/java/com/mogo/eagle/core/function/datacenter/autopilot/MoGoAutopilotControlProvider.kt
+++ b/core/function-impl/mogo-core-function-datacenter/src/main/java/com/mogo/eagle/core/function/datacenter/autopilot/MoGoAutopilotControlProvider.kt
@@ -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()
diff --git a/core/mogo-core-function-api/src/main/java/com/mogo/eagle/core/function/api/autopilot/IMoGoAutopilotControlProvider.kt b/core/mogo-core-function-api/src/main/java/com/mogo/eagle/core/function/api/autopilot/IMoGoAutopilotControlProvider.kt
index 3df523e14b..d4f979dc59 100644
--- a/core/mogo-core-function-api/src/main/java/com/mogo/eagle/core/function/api/autopilot/IMoGoAutopilotControlProvider.kt
+++ b/core/mogo-core-function-api/src/main/java/com/mogo/eagle/core/function/api/autopilot/IMoGoAutopilotControlProvider.kt
@@ -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
diff --git a/core/mogo-core-function-call/src/main/java/com/mogo/eagle/core/function/call/autopilot/CallerAutoPilotControlManager.kt b/core/mogo-core-function-call/src/main/java/com/mogo/eagle/core/function/call/autopilot/CallerAutoPilotControlManager.kt
index c03f05bc0a..5bbca5918b 100644
--- a/core/mogo-core-function-call/src/main/java/com/mogo/eagle/core/function/call/autopilot/CallerAutoPilotControlManager.kt
+++ b/core/mogo-core-function-call/src/main/java/com/mogo/eagle/core/function/call/autopilot/CallerAutoPilotControlManager.kt
@@ -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)