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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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13
core/function-impl/mogo-core-function-datacenter/src/main/java/com/mogo/eagle/core/function/datacenter/autopilot/adapter/MoGoAdasListenerImpl.kt
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@@ -59,11 +59,10 @@ import com.mogo.support.obu.ObuScene
import com.zhidao.support.adas.high.OnAdasListener
import com.zhjt.mogo.adas.data.bean.AdasParam
import com.zhidao.support.adas.high.common.ProtocolStatus
import com.zhjt.mogo.adas.data.AdasConstants
import com.zhjt.mogo.adas.data.AiCloudTask
import com.zhjt.mogo.adas.data.bean.AutopilotStatistics
import com.zhjt.mogo.adas.data.bean.ReceivedAck
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.sweeper.bootable.SweeperBootable
import com.zhjt.mogo.adas.data.sweeper.task.SweeperTask
@@ -168,6 +167,7 @@ class MoGoAdasListenerImpl : OnAdasListener {
header: MessagePad.Header,
vehicleState: VehicleStateOuterClass.VehicleState?
) {
CallerAutopilotActionsListenerManager.setVehicleState(vehicleState)
if (vehicleState != null) {
//转向灯数据
// CallerChassisLamplightListenerManager.invokeAutopilotLightSwitchData(vehicleState.light)
@@ -230,6 +230,7 @@ class MoGoAdasListenerImpl : OnAdasListener {
header: MessagePad.Header,
chassisStates: ChassisStatesOuterClass.ChassisStates?
) {
CallerAutopilotActionsListenerManager.setChassisStates(chassisStates)
if (chassisStates != null) {
chassisStates.bcmSystemStates?.let { bcmSystemStates ->
// bcmSystemStates.turnLightState?.let {
@@ -937,13 +938,13 @@ class MoGoAdasListenerImpl : OnAdasListener {
*/
override fun onAutopilotAbility(
isAutopilotAbility: Boolean,
unableLaunchData: UnableLaunchData,
launchConditionData: LaunchConditionData,
unableAutopilotReasons: ArrayList<UnableLaunchReason>?
) {
if (unableAutopilotReasons != null && unableAutopilotReasons.size > 0) {
autopilotAbilityCheck(isAutopilotAbility, unableAutopilotReasons.toString(), unableLaunchData)
autopilotAbilityCheck(isAutopilotAbility, unableAutopilotReasons.toString(), launchConditionData)
}
invokeAutopilotAbility(isAutopilotAbility, unableLaunchData, unableAutopilotReasons)
invokeAutopilotAbility(isAutopilotAbility, launchConditionData, unableAutopilotReasons)
}
override fun onParallelDrivingAbility(
@@ -968,7 +969,7 @@ class MoGoAdasListenerImpl : OnAdasListener {
nodeAliasCode = CHAIN_CODE_ADAS_ABILITY,
paramIndexes = [0, 1]
)
private fun autopilotAbilityCheck(isAutopilotAbility: Boolean, reason: String, unableLaunchData: UnableLaunchData) {
private fun autopilotAbilityCheck(isAutopilotAbility: Boolean, reason: String, launchConditionData: LaunchConditionData) {
}