From aad2922d4030791ebe74177c261c300e5df54f24 Mon Sep 17 00:00:00 2001 From: aibingbing Date: Wed, 4 Sep 2024 12:08:33 +0800 Subject: [PATCH] =?UTF-8?q?[6.6.0][FSM]=20feat:=20FSM=20=E5=BC=82=E5=B8=B8?= =?UTF-8?q?=E7=8A=B6=E6=80=81=E6=97=B6=20=E5=90=AF=E5=8A=A8=E8=87=AA?= =?UTF-8?q?=E9=A9=BE=E6=8C=89=E9=92=AE=20=E6=9B=B4=E6=96=B0=E4=B8=BA?= =?UTF-8?q?=E4=B8=8D=E8=83=BD=E7=82=B9=E5=87=BB=E7=8A=B6=E6=80=81=EF=BC=9B?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- .../mogo_core_function_devatools/status/StatusManager.kt | 2 +- .../mogo_core_function_devatools/status/entity/Status.kt | 2 +- .../function/call/autopilot/CallerAutoPilotControlManager.kt | 5 ++++- 3 files changed, 6 insertions(+), 3 deletions(-) diff --git a/core/function-impl/mogo-core-function-devatools/src/main/java/com/zhjt/mogo_core_function_devatools/status/StatusManager.kt b/core/function-impl/mogo-core-function-devatools/src/main/java/com/zhjt/mogo_core_function_devatools/status/StatusManager.kt index c9337cf655..2478d60c16 100644 --- a/core/function-impl/mogo-core-function-devatools/src/main/java/com/zhjt/mogo_core_function_devatools/status/StatusManager.kt +++ b/core/function-impl/mogo-core-function-devatools/src/main/java/com/zhjt/mogo_core_function_devatools/status/StatusManager.kt @@ -94,7 +94,6 @@ object StatusManager { is GpsStatus -> GpsImpl(ctx) is TracingStatus -> TracingImpl(ctx) is RTKStatus -> RTKImpl(ctx) - is FSMStatus -> FSMImpl(ctx) is OverViewStatus -> OverViewImpl(ctx) is SteerStatus -> SteerImpl(ctx) is AcceleratorStatus -> AcceleratorImpl(ctx) @@ -102,6 +101,7 @@ object StatusManager { is DoubleFlashStatus -> DoubleFlashImpl(ctx) is GearStatus -> GearImpl(ctx) is SpeedStatus -> SpeedImpl(ctx) + is FSMStatus -> FSMImpl(ctx) is RouteDownloadStatus -> RouteDownloadImpl(ctx) } }.also { flows += it } diff --git a/core/function-impl/mogo-core-function-devatools/src/main/java/com/zhjt/mogo_core_function_devatools/status/entity/Status.kt b/core/function-impl/mogo-core-function-devatools/src/main/java/com/zhjt/mogo_core_function_devatools/status/entity/Status.kt index d3b180614a..cfc532ad20 100644 --- a/core/function-impl/mogo-core-function-devatools/src/main/java/com/zhjt/mogo_core_function_devatools/status/entity/Status.kt +++ b/core/function-impl/mogo-core-function-devatools/src/main/java/com/zhjt/mogo_core_function_devatools/status/entity/Status.kt @@ -141,7 +141,7 @@ enum class FSMStateCode { /** * FSM模块状态 */ -class FSMStatus(var state: FSMStateCode, var desc: String = ""): Status() { +class FSMStatus(var state: FSMStateCode, var desc: String = ""): Status(), IAutopilotPreLaunchStatus { override fun equals(other: Any?): Boolean { if (javaClass != other?.javaClass) return false 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 3b3d8bbb46..67b52878b9 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 @@ -119,7 +119,10 @@ object CallerAutoPilotControlManager { if ((exceptionValue and (1 shl 4)) != 0) { sb.append("档位$") } - if ((exceptionValue and (1 shl 5)) != 0 || ((exceptionValue and (1 shl 6)) != 0)) { + if ((exceptionValue and (1 shl 5)) != 0) { + sb.append("FSM$") + } + if ((exceptionValue and (1 shl 6)) != 0 || ((exceptionValue and (1 shl 7)) != 0)) { if (!sb.contains("$")) { sb.setLength(0) sb.append("轨迹未就绪，请稍后重试")