From bb298d60ab0ac4f0f3eb8e131b65c2485f11d813 Mon Sep 17 00:00:00 2001 From: xinfengkun Date: Thu, 23 Feb 2023 17:11:30 +0800 Subject: [PATCH] =?UTF-8?q?[opt2.15.0][adas-lib]=E9=9A=9C=E7=A2=8D?= =?UTF-8?q?=E7=89=A9=E6=8E=A5=E5=8F=A3=E6=96=B0=E5=A2=9E=E7=9B=B2=E5=8C=BA?= =?UTF-8?q?=E6=95=B0=E6=8D=AE=EF=BC=8C=E6=B7=BB=E5=8A=A0=E5=8F=91=E9=80=81?= =?UTF-8?q?=E9=85=8D=E7=BD=AE=E5=91=BD=E4=BB=A4=E6=8E=A5=E5=8F=A3=EF=BC=8C?= =?UTF-8?q?=E6=B7=BB=E5=8A=A0=E7=9B=B2=E5=8C=BA=E5=BC=80=E5=85=B3=E6=8E=A7?= =?UTF-8?q?=E5=88=B6=E6=8E=A5=E5=8F=A3?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- .../zhidao/adas/client/ui/MainActivity.java | 11 ++++++-- .../zhidao/adas/client/utils/Constants.java | 3 ++- .../zhidao/support/adas/high/AdasChannel.java | 27 +++++++++++++++++++ .../zhidao/support/adas/high/AdasManager.java | 5 ++++ .../support/adas/high/IAdasNetCommApi.java | 8 ++++++ .../support/adas/high/common/MessageType.java | 1 + 6 files changed, 52 insertions(+), 3 deletions(-) diff --git a/app_ipc_monitoring/src/main/java/com/zhidao/adas/client/ui/MainActivity.java b/app_ipc_monitoring/src/main/java/com/zhidao/adas/client/ui/MainActivity.java index ff9b538ff3..1e12734f64 100644 --- a/app_ipc_monitoring/src/main/java/com/zhidao/adas/client/ui/MainActivity.java +++ b/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; } } diff --git a/app_ipc_monitoring/src/main/java/com/zhidao/adas/client/utils/Constants.java b/app_ipc_monitoring/src/main/java/com/zhidao/adas/client/utils/Constants.java index 29c5db7fcb..f368736d09 100644 --- a/app_ipc_monitoring/src/main/java/com/zhidao/adas/client/utils/Constants.java +++ b/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"; } } diff --git a/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/AdasChannel.java b/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/AdasChannel.java index 2c78bb7471..94fc7a58e5 100644 --- a/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/AdasChannel.java +++ b/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 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()); + } + } diff --git a/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/AdasManager.java b/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/AdasManager.java index 74bb199b85..7ea65cff4e 100644 --- a/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/AdasManager.java +++ b/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 * diff --git a/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/IAdasNetCommApi.java b/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/IAdasNetCommApi.java index 2eddd3c226..00778cc9f5 100644 --- a/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/IAdasNetCommApi.java +++ b/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(); diff --git a/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/common/MessageType.java b/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/common/MessageType.java index fdeb95356d..1e4ab16c9b 100644 --- a/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/common/MessageType.java +++ b/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"),