Merge branch 'dev_robotaxi-d_240801_6.5.2' into dev_robotaxi-d_240807_6.6.0

core/function-impl/mogo-core-function-datacenter/src/main/java/com/mogo/eagle/core/function/datacenter/autopilot/MoGoAutopilotControlProvider.kt

@@ -636,6 +636,76 @@ class MoGoAutopilotControlProvider :
         return AdasManager.getInstance().sendDetouringSpeed(speed) > -1
     }
 
+    /**
+     * AEB开关
+     * isEnable = true  开启
+     * isEnable = false 关闭
+     * @return boolean
+     */
+    override fun sendAebCmd(isEnable: Boolean): Boolean {
+        return if(isEnable){
+            AdasManager.getInstance().sendAebCmd(1) > -1
+        }else{
+            AdasManager.getInstance().sendAebCmd(0) > -1
+        }
+    }
+
+    /**
+     * 限制绕障开关
+     * isEnable = true  限制绕障
+     * isEnable = false 正常绕障
+     * @return boolean
+     */
+    override fun sendLaneChangeRestrainValid(isEnable: Boolean): Boolean {
+        return if(isEnable){
+            AdasManager.getInstance().sendLaneChangeRestrainValid(1) > -1
+        }else{
+            AdasManager.getInstance().sendLaneChangeRestrainValid(0) > -1
+        }
+    }
+
+    /**
+     * 停车让行线前避让等待开关
+     * isEnable = true  停车让行线前需要避让等待
+     * isEnable = false 停车让行线前无需避让等待
+     * @return boolean
+     */
+    override fun sendStopYieldValid(isEnable: Boolean): Boolean {
+        return if(isEnable){
+            AdasManager.getInstance().sendStopYieldValid(1) > -1
+        }else{
+            AdasManager.getInstance().sendStopYieldValid(0) > -1
+        }
+    }
+
+    /**
+     * 地图限速功能开关
+     * isEnable = true  使用地图限速功能
+     * isEnable = false 不使用地图限速功能
+     * @return boolean
+     */
+    override fun sendHadmapSpeedLimitValid(isEnable: Boolean): Boolean {
+        return if(isEnable){
+            AdasManager.getInstance().sendHadmapSpeedLimitValid(1) > -1
+        }else{
+            AdasManager.getInstance().sendHadmapSpeedLimitValid(0) > -1
+        }
+    }
+
+    /**
+     * 环岛模式开关
+     * isEnable = true  环岛模式
+     * isEnable = false 普通模式
+     * @return boolean
+     */
+    override fun sendRampThetaValid(isEnable: Boolean): Boolean {
+        return if(isEnable){
+            AdasManager.getInstance().sendRampThetaValid(1) > -1
+        }else{
+            AdasManager.getInstance().sendRampThetaValid(0) > -1
+        }
+    }
+
     /**
      * 弱网减速停车策略开关
      * isEnable = true  使用弱网减速停车策略
@@ -1243,7 +1313,38 @@ class MoGoAutopilotControlProvider :
         return AdasManager.getInstance().sendRoboBusJinlvM1TaskCmd(roboBusJinlvM1Cmd) > -1
     }
 
+    @ChainLog(
+        linkChainLog = AdasChain.CHAIN_TYPE_SOCKET_AUTOPILOT,
+        linkCode = AdasChain.CHAIN_SOURCE_ADAS,
+        nodeAliasCode = AdasChain.CHAIN_CODE_ADAS_SEND_PLANNING_CMD,
+        paramIndexes = [0]
+    )
     override fun sendPlanningCmd(cmd: Int): Boolean {
         return AdasManager.getInstance().sendPlanningCmd(cmd) > -1
     }
+
+    @ChainLog(
+        linkChainLog = AdasChain.CHAIN_TYPE_SOCKET_AUTOPILOT,
+        linkCode = AdasChain.CHAIN_SOURCE_ADAS,
+        nodeAliasCode = AdasChain.CHAIN_CODE_ADAS_SEND_PLANNING_CMD,
+        paramIndexes = [0]
+    )
+    override fun sendPlanningLineChangeCmd(cmd: Int): Boolean {
+        return AdasManager.getInstance().sendPlanningLaneChangeCmd(cmd) > -1
+    }
+
+    override fun sendPlanningPullOverCmd(pullOverCmd: Int): Boolean {
+        return AdasManager.getInstance().sendPlanningPullOverCmd(pullOverCmd) > -1
+    }
+
+    /**
+     * 设置座椅压力接口
+     * @param driver 主驾是否有人
+     * @param copilot 副驾是否有人
+     * @param backRow 后排是否有人
+     */
+    override fun sendSeatPressure(driver: Boolean, copilot: Boolean, backRow: Boolean): Boolean {
+        return AdasManager.getInstance().sendSeatPressure(driver, copilot, backRow) > -1
+    }
+
 }