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[644][adas] 能否启动自驾 添加原始数据日志

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This commit is contained in:
xinfengkun
2024-05-22 20:01:14 +08:00
parent d8f7b53444
commit 98edf0ca49
23 changed files with 432 additions and 178 deletions
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68
app/src/androidTest/java/com/mogo/functions/test/TestAutoPilotBeforeLaunch.kt
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@@ -18,7 +18,7 @@ import com.mogo.eagle.core.function.call.autopilot.CallerChassisThrottleStateLis
import com.mogo.eagle.core.function.main.MainLauncherActivity
import com.mogo.eagle.core.utilcode.util.ToastUtils
import com.zhjt.mogo.adas.data.bean.MogoReport
import com.zhjt.mogo.adas.data.bean.UnableLaunchData
import com.zhjt.mogo.adas.data.bean.LaunchConditionData
import com.zhjt.mogo.adas.data.bean.UnableLaunchReason
import com.zhjt.mogo.adas.data.bean.UnableLaunchReason.SourceType.CHASSIS
import com.zhjt.mogo.adas.data.bean.UnableLaunchReason.UnableType.CHASSIS_BRAKE
@@ -146,38 +146,92 @@ class TestAutoPilotBeforeLaunch {
CallerAutopilotActionsListenerManager.setConnected(true)
CallerAutoPilotStatusListenerManager.getAutoPilotStatusInfo().state = IMoGoAutopilotStatusListener.STATUS_AUTOPILOT_ENABLE
if (flag == 1) {
CallerAutopilotActionsListenerManager.invokeAutopilotAbility(false, UnableLaunchData("", SystemStatusInfo.StatusInfo.getDefaultInstance().toBuilder().setSysState(SYS_RUNNING).build(), SsmStatusInf.getDefaultInstance().toBuilder().setModeState(ModeState.MODE_RUN_READY).setAutoPilotReady(false).setRemotePilotReady(false).build(), FSMStatusReasonRespond.getDefaultInstance()), ArrayList<UnableLaunchReason>().also {
CallerAutopilotActionsListenerManager.invokeAutopilotAbility(false,
LaunchConditionData(
"",
SystemStatusInfo.StatusInfo.getDefaultInstance().toBuilder()
.setSysState(SYS_RUNNING).build(),
SsmStatusInf.getDefaultInstance().toBuilder()
.setModeState(ModeState.MODE_RUN_READY).setAutoPilotReady(false)
.setRemotePilotReady(false).build(),
FSMStatusReasonRespond.getDefaultInstance()
), ArrayList<UnableLaunchReason>().also {
it += UnableLaunchReason(CHASSIS, CHASSIS_GEAR, "gear")
})
}
if (flag == 2) {
CallerAutopilotActionsListenerManager.invokeAutopilotAbility(false, UnableLaunchData("", SystemStatusInfo.StatusInfo.getDefaultInstance().toBuilder().setSysState(SYS_RUNNING).build(), SsmStatusInf.getDefaultInstance().toBuilder().setModeState(ModeState.MODE_RUN_READY).setAutoPilotReady(false).setRemotePilotReady(false).build(), FSMStatusReasonRespond.getDefaultInstance()), ArrayList<UnableLaunchReason>().also {
CallerAutopilotActionsListenerManager.invokeAutopilotAbility(false,
LaunchConditionData(
"",
SystemStatusInfo.StatusInfo.getDefaultInstance().toBuilder()
.setSysState(SYS_RUNNING).build(),
SsmStatusInf.getDefaultInstance().toBuilder()
.setModeState(ModeState.MODE_RUN_READY).setAutoPilotReady(false)
.setRemotePilotReady(false).build(),
FSMStatusReasonRespond.getDefaultInstance()
), ArrayList<UnableLaunchReason>().also {
it += UnableLaunchReason(CHASSIS, CHASSIS_STEERING, "steering")
})
}
if (flag == 3) {
CallerAutopilotActionsListenerManager.invokeAutopilotAbility(false, UnableLaunchData("", SystemStatusInfo.StatusInfo.getDefaultInstance().toBuilder().setSysState(SYS_RUNNING).build(), SsmStatusInf.getDefaultInstance().toBuilder().setModeState(ModeState.MODE_RUN_READY).setAutoPilotReady(false).setRemotePilotReady(false).build(), FSMStatusReasonRespond.getDefaultInstance()), ArrayList<UnableLaunchReason>().also {
CallerAutopilotActionsListenerManager.invokeAutopilotAbility(false,
LaunchConditionData(
"",
SystemStatusInfo.StatusInfo.getDefaultInstance().toBuilder()
.setSysState(SYS_RUNNING).build(),
SsmStatusInf.getDefaultInstance().toBuilder()
.setModeState(ModeState.MODE_RUN_READY).setAutoPilotReady(false)
.setRemotePilotReady(false).build(),
FSMStatusReasonRespond.getDefaultInstance()
), ArrayList<UnableLaunchReason>().also {
it += UnableLaunchReason(CHASSIS, CHASSIS_BRAKE, "brake")
})
}
if (flag == 4) {
CallerAutopilotActionsListenerManager.invokeAutopilotAbility(false, UnableLaunchData("", SystemStatusInfo.StatusInfo.getDefaultInstance().toBuilder().setSysState(SYS_RUNNING).build(), SsmStatusInf.getDefaultInstance().toBuilder().setModeState(ModeState.MODE_RUN_READY).setAutoPilotReady(false).setRemotePilotReady(false).build(), FSMStatusReasonRespond.getDefaultInstance()), ArrayList<UnableLaunchReason>().also {
CallerAutopilotActionsListenerManager.invokeAutopilotAbility(false,
LaunchConditionData(
"",
SystemStatusInfo.StatusInfo.getDefaultInstance().toBuilder()
.setSysState(SYS_RUNNING).build(),
SsmStatusInf.getDefaultInstance().toBuilder()
.setModeState(ModeState.MODE_RUN_READY).setAutoPilotReady(false)
.setRemotePilotReady(false).build(),
FSMStatusReasonRespond.getDefaultInstance()
), ArrayList<UnableLaunchReason>().also {
it += UnableLaunchReason(CHASSIS, CHASSIS_HAZARD_LIGHTS, "lights")
})
}
if (flag == 5) {
CallerAutopilotActionsListenerManager.invokeAutopilotAbility(false, UnableLaunchData("", SystemStatusInfo.StatusInfo.getDefaultInstance().toBuilder().setSysState(SYS_RUNNING).build(), SsmStatusInf.getDefaultInstance().toBuilder().setModeState(ModeState.MODE_RUN_READY).setAutoPilotReady(false).setRemotePilotReady(false).build(), FSMStatusReasonRespond.getDefaultInstance()), ArrayList<UnableLaunchReason>().also {
CallerAutopilotActionsListenerManager.invokeAutopilotAbility(false,
LaunchConditionData(
"",
SystemStatusInfo.StatusInfo.getDefaultInstance().toBuilder()
.setSysState(SYS_RUNNING).build(),
SsmStatusInf.getDefaultInstance().toBuilder()
.setModeState(ModeState.MODE_RUN_READY).setAutoPilotReady(false)
.setRemotePilotReady(false).build(),
FSMStatusReasonRespond.getDefaultInstance()
), ArrayList<UnableLaunchReason>().also {
it += UnableLaunchReason(CHASSIS, CHASSIS_THROTTLE, "throttle")
})
}
if (flag == 6) {
CallerAutopilotActionsListenerManager.invokeAutopilotAbility(false, UnableLaunchData("", SystemStatusInfo.StatusInfo.getDefaultInstance().toBuilder().setSysState(SYS_RUNNING).build(), SsmStatusInf.getDefaultInstance().toBuilder().setModeState(ModeState.MODE_RUN_READY).setAutoPilotReady(false).setRemotePilotReady(false).build(), FSMStatusReasonRespond.getDefaultInstance()), ArrayList<UnableLaunchReason>().also {
CallerAutopilotActionsListenerManager.invokeAutopilotAbility(false,
LaunchConditionData(
"",
SystemStatusInfo.StatusInfo.getDefaultInstance().toBuilder()
.setSysState(SYS_RUNNING).build(),
SsmStatusInf.getDefaultInstance().toBuilder()
.setModeState(ModeState.MODE_RUN_READY).setAutoPilotReady(false)
.setRemotePilotReady(false).build(),
FSMStatusReasonRespond.getDefaultInstance()
), ArrayList<UnableLaunchReason>().also {
it += UnableLaunchReason(CHASSIS, CHASSIS_GEAR, "gear")
it += UnableLaunchReason(CHASSIS, CHASSIS_STEERING, "steering")
it += UnableLaunchReason(CHASSIS, CHASSIS_HAZARD_LIGHTS, "lights")