[opt2.15.0][adas-lib]障碍物接口新增盲区数据，添加发送配置命令接口，添加盲区开关控制接口

app_ipc_monitoring/src/main/java/com/zhidao/adas/client/ui/MainActivity.java

@@ -660,7 +660,6 @@ public class MainActivity extends BaseActivity implements OnAdasListener, OnAdas
         titleBtnData.add(Constants.TITLE.SEND_RECORD_DATA_END);
         titleBtnData.add(Constants.TITLE.SEND_TRAFFIC_LIGHT_DATA);
         titleBtnData.add(Constants.TITLE.SEND_SET_AUTOPILOT_SPEED_REQ);
-        titleBtnData.add(Constants.TITLE.SEND_SYSTEM_CMD_REQ_REBOOT);
         titleBtnData.add(Constants.TITLE.SEND_RECORD_CAUSE);
         titleBtnData.add(Constants.TITLE.SEND_SET_DEMO_MODE_REQ_OPEN);
         titleBtnData.add(Constants.TITLE.SEND_SET_DEMO_MODE_REQ_CLOSE);
@@ -668,10 +667,12 @@ public class MainActivity extends BaseActivity implements OnAdasListener, OnAdas
         titleBtnData.add(Constants.TITLE.SEND_SET_RAIN_MODE_REQ_CLOSE);
         titleBtnData.add(Constants.TITLE.SEND_DETOURING_OPEN);
         titleBtnData.add(Constants.TITLE.SEND_DETOURING_CLOSE);
+        titleBtnData.add(Constants.TITLE.SEND_SYSTEM_CMD_REQ_REBOOT);
         titleBtnData.add(Constants.TITLE.SEND_DETOURING_SPEED);
         titleBtnData.add(Constants.TITLE.SEND_TRIP_INFO);
         titleBtnData.add(Constants.TITLE.SEND_PLANNING_CMD);
-
+        titleBtnData.add(Constants.TITLE.SEND_BLIND_AREA_OPEN);
+        titleBtnData.add(Constants.TITLE.SEND_BLIND_AREA_CLOSE);
     }
 
     private void initBtnRecyclerView() {
@@ -1492,6 +1493,12 @@ public class MainActivity extends BaseActivity implements OnAdasListener, OnAdas
                 AdasManager.getInstance().sendPlanningCmd(1);
                 AdasManager.getInstance().sendPlanningCmd(2);
                 break;
+            case Constants.TITLE.SEND_BLIND_AREA_OPEN:
+                AdasManager.getInstance().sendBlindAreaCmd(true);
+                break;
+            case Constants.TITLE.SEND_BLIND_AREA_CLOSE:
+                AdasManager.getInstance().sendBlindAreaCmd(false);
+                break;
         }
     }
 

app_ipc_monitoring/src/main/java/com/zhidao/adas/client/utils/Constants.java

@@ -202,7 +202,8 @@ public class Constants {
         String SEND_DETOURING_SPEED = "绕障速度阈值";
         String SEND_TRIP_INFO = "行程信息";
         String SEND_PLANNING_CMD = "给Planning指令";
-
+        String SEND_BLIND_AREA_OPEN = "盲区数据开";
+        String SEND_BLIND_AREA_CLOSE = "盲区数据关";
 
     }
 }

libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/AdasChannel.java

@@ -60,6 +60,7 @@ import java.util.concurrent.atomic.AtomicInteger;
 import bag_manager.BagManagerOuterClass;
 import chassis.SpecialVehicleTaskCmdOuterClass;
 import common.HeaderOuterClass;
+import mogo.telematics.ParamSetCmdOuterClass;
 import mogo.telematics.pad.MessagePad;
 import okio.ByteString;
 
@@ -1567,5 +1568,31 @@ public class AdasChannel implements IAdasNetCommApi, FpgaSocket.IWebSocketConnec
     }
 
 
+    /**
+     * 盲区数据开关
+     *
+     * @param switchCmd 数据开关
+     * @return boolean
+     */
+    @Override
+    public boolean sendBlindAreaCmd(boolean switchCmd) {
+        return sendSetParamReqV2(ParamSetCmdOuterClass.ParamSetType.ParamSetTypeBlindArea, switchCmd);
+    }
+
+    /**
+     * 设置参数命令V2
+     */
+
+    private <T> boolean sendSetParamReqV2(ParamSetCmdOuterClass.ParamSetType paramSetType, T value) {
+        ParamSetCmdOuterClass.ParamSetCmd.Builder builder = ParamSetCmdOuterClass.ParamSetCmd.newBuilder()
+                .setSrc(1)
+                .setType(paramSetType);
+        if (paramSetType == ParamSetCmdOuterClass.ParamSetType.ParamSetTypeBlindArea) {
+            builder.setBoolValue((Boolean) value);
+        }
+        ParamSetCmdOuterClass.ParamSetCmd req = builder.build();
+        return sendPBMessage(MessageType.TYPE_SEND_SET_PARAM_REQ_V2.typeCode, req.toByteArray());
+    }
+
 }
 

libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/AdasManager.java

@@ -822,6 +822,11 @@ public class AdasManager implements IAdasNetCommApi {
         return mChannel != null && mChannel.sendBagManagerCmd(bagManager);
     }
 
+    @Override
+    public boolean sendBlindAreaCmd(boolean switchCmd) {
+        return mChannel != null && mChannel.sendBlindAreaCmd(switchCmd);
+    }
+
     /**
      * 获取工控机固定IP列表
      *

libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/IAdasNetCommApi.java

@@ -506,6 +506,14 @@ public interface IAdasNetCommApi {
      */
     boolean sendBagManagerCmd(BagManagerOuterClass.BagManager bagManager);
 
+    /**
+     * 盲区数据开关
+     *
+     * @param switchCmd 数据开关
+     * @return boolean
+     */
+    boolean sendBlindAreaCmd(boolean switchCmd);
+
     // TODO 需求暂停 待讨论
 //    boolean getRoutes();
 

libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/common/MessageType.java

@@ -59,6 +59,7 @@ public enum MessageType {
     TYPE_SEND_BAG_MANAGER_CMD(MessagePad.MessageType.MsgTypeBagManagerCmd, "Bag管理请求"),
     TYPE_RECEIVE_BAG_MANAGER_CMD(MessagePad.MessageType.MsgTypeBagManagerCmd, "Bag管理应答"),
     TYPE_SEND_PLANNING_CMD(MessagePad.MessageType.MsgTypePlanningCmd, "给Planning指令"),
+    TYPE_SEND_SET_PARAM_REQ_V2(MessagePad.MessageType.MsgTypeSetParamReqV2, "设置参数命令V2"),
     //TODO 透传原始pb文件中不存在以下type。由于Java中无法强转,所以在mogo-adas-data/message_pad.proto中放开注释
     TYPE_RECEIVE_PLANNING_DECISION_STATE(MessagePad.MessageType.MsgTypePlanningDecisionState, "Planning决策状态"),
     TYPE_RECEIVE_SWEEPER_TASK_INDEX_DATA(MessagePad.MessageType.MsgTypeSweeperTaskIndexData, "清扫车指标数据"),