From 9b9d01bac9704bcf267e250387a976a2dbc54fc5 Mon Sep 17 00:00:00 2001
From: xinfengkun <xinfengkun@zhidaoauto.com>
Date: Wed, 20 Sep 2023 14:33:18 +0800
Subject: [PATCH] =?UTF-8?q?[610]=E4=B8=B4=E6=97=B6=E6=B7=BB=E5=8A=A0?=
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---
 .../datacenter/autopilot/adapter/MoGoAdasListenerImpl.kt   | 7 +++++++
 .../autopilot/CallerAutopilotActionsListenerManager.kt     | 7 +++++++
 2 files changed, 14 insertions(+)

diff --git 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
index 62d5defef4..65d5554a51 100644
--- 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
@@ -1,5 +1,6 @@
 package com.mogo.eagle.core.function.datacenter.autopilot.adapter
 
+import android.util.Log
 import bag_manager.BagManagerOuterClass
 import chassis.ChassisStatesOuterClass
 import chassis.VehicleStateOuterClass
@@ -163,6 +164,9 @@ class MoGoAdasListenerImpl : OnAdasListener {
         vehicleState: VehicleStateOuterClass.VehicleState?
     ) {
         if (vehicleState != null) {
+            Log.i(
+                "xfk",
+                "底盘 onVehicleState 刹车=${vehicleState.brake}")
             //转向灯数据
             CallerChassisLamplightListenerManager.invokeAutopilotLightSwitchData(vehicleState.light)
             //刹车灯数据
@@ -252,6 +256,9 @@ class MoGoAdasListenerImpl : OnAdasListener {
                 CallerChassisThrottleStateListenerManager.invokeAutopilotThrottle(it.throttleResponsePosition)
             }
             chassisStates.brakeSystemStates?.let {
+                Log.i(
+                    "xfk",
+                    "底盘 onVehicleState 刹车=${it.brakePedalResponsePosition}")
                 //刹车
                 CallerChassisBrakeStateListenerManager.invokeAutopilotBrake(it.brakePedalResponsePosition)
             }
diff --git a/core/mogo-core-function-call/src/main/java/com/mogo/eagle/core/function/call/autopilot/CallerAutopilotActionsListenerManager.kt b/core/mogo-core-function-call/src/main/java/com/mogo/eagle/core/function/call/autopilot/CallerAutopilotActionsListenerManager.kt
index eaca9a41c3..a5ee26bf19 100644
--- a/core/mogo-core-function-call/src/main/java/com/mogo/eagle/core/function/call/autopilot/CallerAutopilotActionsListenerManager.kt
+++ b/core/mogo-core-function-call/src/main/java/com/mogo/eagle/core/function/call/autopilot/CallerAutopilotActionsListenerManager.kt
@@ -1,5 +1,6 @@
 package com.mogo.eagle.core.function.call.autopilot
 
+import android.util.Log
 import com.mogo.eagle.core.function.api.autopilot.IMoGoAutopilotActionsListener
 import com.mogo.eagle.core.function.call.base.CallerBase
 import com.zhjt.mogo.adas.data.bean.UnableLaunchReason
@@ -61,6 +62,9 @@ object CallerAutopilotActionsListenerManager : CallerBase<IMoGoAutopilotActionsL
     fun invokeAutopilotAbility(
         isAutopilotAbility: Boolean, unableAutopilotReasons: ArrayList<UnableLaunchReason>?
     ) {
+        Log.i(
+            "xfk",
+            "CallerAutopilotActionsListenerManager invokeAutopilotAbility=${CallerAutopilotActionsListenerManager.isAutopilotAbility} ${(if (CallerAutopilotActionsListenerManager.unableAutopilotReasons == null) null else CallerAutopilotActionsListenerManager.unableAutopilotReasons.toString())}")
         if (isConnected) {
             var isEquals: Boolean = true
             if (unableAutopilotReasons != null && this.unableAutopilotReasons != null) {
@@ -91,6 +95,9 @@ object CallerAutopilotActionsListenerManager : CallerBase<IMoGoAutopilotActionsL
     }
 
     private fun notification() {
+        Log.i(
+            "xfk",
+            "CallerAutopilotActionsListenerManager 通知=${isAutopilotAbility} ${(if (unableAutopilotReasons == null) null else unableAutopilotReasons.toString())}")
         M_LISTENERS.forEach {
             val listener = it.value
             listener.onAutopilotAbility(isAutopilotAbility, unableAutopilotReasons)