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[pb10][金旅M1][电池状态回调]新增金旅M1控制命令和m1状态回调接口,以及电池状态接口

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This commit is contained in:
xinfengkun
2023-01-11 19:27:02 +08:00
parent 60349f8d33
commit bceea30a52
13 changed files with 435 additions and 8 deletions
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125
app_ipc_monitoring/src/main/java/com/zhidao/adas/client/bean/SpecialVehicleBean.java
View File

@@ -16,9 +16,10 @@ import java.util.List;
import chassis.SpecialVehicleTaskCmdOuterClass;
public class SpecialVehicleBean {
private interface TAG {
public interface TAG {
String FTQSC = "ftqsc";//福田清扫车
String KWXB = "kwxb";//开沃小巴
String JLM1 = "jlm1";//金旅M1
}
public interface SEND_TYPE {
@@ -30,7 +31,7 @@ public class SpecialVehicleBean {
public final String name;
public final String simpleName;//简单名字 两个字
public final List<SpecialVehicleOption> options;
private final String tag;//用于存储
public final String tag;//用于存储
public int sendType = SEND_TYPE.ONE;//发送类型
private SpecialVehicleFloatWindowManager manager;
@@ -127,20 +128,79 @@ public class SpecialVehicleBean {
int checkPos = options.get(index).checkPos;
setFuTianCleanValue(builder, index, checkPos);
}
SpecialVehicleTaskCmdOuterClass.RoboSweeperFuTianCleanCmd fuTianCleanCmd = builder.build();
SpecialVehicleTaskCmdOuterClass.RoboSweeperFuTianTaskCmd fuTianTaskCmd = SpecialVehicleTaskCmdOuterClass.RoboSweeperFuTianTaskCmd.newBuilder()
.setRoboSweeperFutianCleanCmd(fuTianCleanCmd).build();
AdasManager.getInstance().sendRoboSweeperFuTianTaskCmd(fuTianTaskCmd);
str = TextFormat.printer().escapingNonAscii(false).printToString(fuTianTaskCmd).replaceAll("\n", "");
str = TextFormat.printer().escapingNonAscii(false).shortDebugString(fuTianTaskCmd);
} else if (TextUtils.equals(this.tag, TAG.KWXB)) { //开沃小巴
SpecialVehicleTaskCmdOuterClass.RoboVanSkywellTaskCmd vanSkywellTaskCmd = SpecialVehicleTaskCmdOuterClass.RoboVanSkywellTaskCmd.newBuilder()
.build();
AdasManager.getInstance().sendRoboVanSkywellTaskCmd(vanSkywellTaskCmd);
} else if (TextUtils.equals(this.tag, TAG.JLM1)) { //金旅M1
SpecialVehicleTaskCmdOuterClass.RoboBusJinlvM1Cmd.Builder builder = SpecialVehicleTaskCmdOuterClass.RoboBusJinlvM1Cmd.newBuilder();
if (index < 0) {
for (index = 0; index < options.size(); index++) {
SpecialVehicleOption option = options.get(index);
if (option.moreCheckPos != -1) {
option.checkPos = option.moreCheckPos;
option.moreCheckPos = -1;
}
setJinlvM1Value(builder, index, option.checkPos);
}
} else {
int checkPos = options.get(index).checkPos;
setJinlvM1Value(builder, index, checkPos);
}
SpecialVehicleTaskCmdOuterClass.RoboBusJinlvM1Cmd roboBusJinlvM1Cmd = builder.build();
AdasManager.getInstance().sendRoboBusJinlvM1TaskCmd(roboBusJinlvM1Cmd);
str = TextFormat.printer().escapingNonAscii(false).shortDebugString(roboBusJinlvM1Cmd);
}
return str;
}
private void setJinlvM1Value(SpecialVehicleTaskCmdOuterClass.RoboBusJinlvM1Cmd.Builder builder, int index, int checkPos) {
switch (index) {
case 0:
builder.setAirConditionerCmd(checkPos);
break;
case 1:
builder.setAirConditionerModeCmd(checkPos);
break;
case 2:
builder.setAirConditionerWindSpeedCmd(checkPos);
break;
case 3:
if (checkPos == 1) {
checkPos = 16;
} else if (checkPos == 2) {
checkPos = 20;
} else if (checkPos == 3) {
checkPos = 26;
}
builder.setAirConditionerTemperatureCmd(checkPos);
break;
case 4:
builder.setHeaderCmd(checkPos);
break;
case 5:
builder.setHeaderWindSpeedCmd(checkPos);
break;
case 6:
builder.setMainLamp1Cmd(checkPos);
break;
case 7:
builder.setMainLamp2Cmd(checkPos);
break;
case 8:
builder.setSmallLampCmd(checkPos);
break;
case 9:
builder.setFrontDoorCmd(checkPos);
break;
}
}
private void setFuTianCleanValue(SpecialVehicleTaskCmdOuterClass.RoboSweeperFuTianCleanCmd.Builder builder, int index, int checkPos) {
switch (index) {
case 0:
@@ -222,8 +282,65 @@ public class SpecialVehicleBean {
optionsF.add(new SpecialVehicleOption("扫盘加速", tag, value, 0));
SpecialVehicleBean beanF = new SpecialVehicleBean("福田清扫车", "福清", TAG.FTQSC, optionsF);
SpecialVehicleBean beanK = new SpecialVehicleBean("开沃小巴", "开巴", TAG.KWXB, null);
List<SpecialVehicleOption> optionsM1 = new ArrayList<>();
tag = 0;
value = new String[3];
value[0] = "0-DEFAULT";
value[1] = "1-开启空调";
value[2] = "2-关闭空调";
optionsM1.add(new SpecialVehicleOption("空调", tag++, value, 0));
value = new String[4];
value[0] = "0-DEFAULT";
value[1] = "1-自动模式";
value[2] = "2-制冷模式";
value[3] = "3-通风模式";
optionsM1.add(new SpecialVehicleOption("空调模式", tag++, value, 0));
value = new String[4];
value[0] = "0-DEFAULT";
value[1] = "1-1档";
value[2] = "2-2档";
value[3] = "3-3档";
optionsM1.add(new SpecialVehicleOption("空调档位", tag++, value, 0));
value = new String[4];
value[0] = "0-DEFAULT";
value[1] = "16-16度";
value[2] = "20-20度";
value[3] = "26-26度";
optionsM1.add(new SpecialVehicleOption("空调温度", tag++, value, 0));
value = new String[3];
value[0] = "0-DEFAULT";
value[1] = "1-开启暖风";
value[2] = "2-关闭暖风";
optionsM1.add(new SpecialVehicleOption("暖风机", tag++, value, 0));
value = new String[3];
value[0] = "0-DEFAULT";
value[1] = "1-1档";
value[2] = "2-2档";
optionsM1.add(new SpecialVehicleOption("暖风机档位", tag++, value, 0));
value = new String[3];
value[0] = "0-DEFAULT";
value[1] = "1-开启";
value[2] = "2-关闭";
optionsM1.add(new SpecialVehicleOption("顶灯1", tag++, value, 0));
value = new String[3];
value[0] = "0-DEFAULT";
value[1] = "1-开启";
value[2] = "2-关闭";
optionsM1.add(new SpecialVehicleOption("顶灯2", tag++, value, 0));
value = new String[3];
value[0] = "0-DEFAULT";
value[1] = "1-开启";
value[2] = "2-关闭";
optionsM1.add(new SpecialVehicleOption("氛围灯", tag++, value, 0));
value = new String[3];
value[0] = "0-DEFAULT";
value[1] = "1-打开";
value[2] = "2-关闭";
optionsM1.add(new SpecialVehicleOption("车门", tag++, value, 0));
SpecialVehicleBean beanM1 = new SpecialVehicleBean("金旅M1", "M1", TAG.JLM1, optionsM1);
list.add(beanF);
list.add(beanK);
list.add(beanM1);
return list;
}

9
app_ipc_monitoring/src/main/java/com/zhidao/adas/client/ui/MainActivity.java
View File

@@ -880,7 +880,7 @@ public class MainActivity extends BaseActivity implements OnAdasListener, OnAdas
@Override
public void onAutopilotStatistics(AutopilotStatistics statistics) {
Log.i(TAG, "启动自动驾驶状态=" + statistics.status + " 用时=" + statistics.usedTime + " SetAutopilotModeReq=" + TextFormat.printer().escapingNonAscii(false).printToString(statistics.req) + " failedMessage=" + (statistics.failedMessage == null ? null : TextFormat.printer().escapingNonAscii(false).printToString(statistics.failedMessage)));
Log.i(TAG, "启动自动驾驶状态=" + statistics.status + " 用时=" + statistics.usedTime + " SetAutopilotModeReq=" + (statistics.req == null ? null : TextFormat.printer().escapingNonAscii(false).printToString(statistics.req)) + " failedMessage=" + (statistics.failedMessage == null ? null : TextFormat.printer().escapingNonAscii(false).printToString(statistics.failedMessage)));
}
@Override
@@ -1291,6 +1291,13 @@ public class MainActivity extends BaseActivity implements OnAdasListener, OnAdas
AdasManager.getInstance().sendGlobalPathReq();
break;
case Constants.TITLE.SEND_SPECIAL_VEHICLE_TASK_CMD:
// AdasManager.getInstance().sendRoboBusJinlvM1AirConditionerCmd(1,2,3,4);
// AdasManager.getInstance().sendRoboBusJinlvM1HeaderCmd(5,6);
// AdasManager.getInstance().sendRoboBusJinlvM1MainLampCmd(7,8);
// AdasManager.getInstance().sendRoboBusJinlvM1SmallLampCmd(9);
// AdasManager.getInstance().sendRoboBusJinlvM1FrontDoorCmd(10);
if (specialVehicleBeanList == null) {
specialVehicleBeanList = SpecialVehicleBean.init();
}

1
app_ipc_monitoring/src/main/java/com/zhidao/adas/client/ui/special/SpecialVehicleDialog.java
View File

@@ -108,6 +108,7 @@ public class SpecialVehicleDialog extends Dialog {
private void initView() {
recyclerView = findViewById(R.id.recyclerView);
findViewById(R.id.settings).setVisibility(View.GONE);
findViewById(R.id.cancel).setVisibility(View.GONE);
TextView textView = findViewById(R.id.title);
textView.setText("特种车辆");
}

8
app_ipc_monitoring/src/main/java/com/zhidao/adas/client/ui/special/SpecialVehicleFloatWindow.java
View File

@@ -330,9 +330,11 @@ public class SpecialVehicleFloatWindow extends LinearLayout {
.findViewById(R.id.r_btn);
button.setText(value[j]);
button.setId(j);
if (i == 1 || i == 2 || i == 3 || i == 4) {
ViewGroup.LayoutParams layoutParams = button.getLayoutParams();
layoutParams.width = 202;
if (specialVehicleBean.tag.equals(SpecialVehicleBean.TAG.FTQSC)) {
if (i == 1 || i == 2 || i == 3 || i == 4) {
ViewGroup.LayoutParams layoutParams = button.getLayoutParams();
layoutParams.width = 202;
}
}
radioGroup.addView(button);
}

17
core/function-impl/mogo-core-function-datacenter/src/main/java/com/mogo/eagle/core/function/datacenter/autopilot/adapter/MoGoAdasListenerImpl.kt
View File

@@ -176,6 +176,13 @@ class MoGoAdasListenerImpl : OnAdasListener {
CallerChassisThrottleStateListenerManager.invokeAutopilotThrottle(vehicleState.throttle)
//刹车
CallerChassisBrakeStateListenerManager.invokeAutopilotBrake(vehicleState.brake)
//电量
if (vehicleState.hasBmsSoc()) {
CallerBatteryManagementSystemListenerManager.invokeBatteryManagementSystemStates(
ChassisStatesOuterClass.BMSSystemStates.newBuilder()
.setBmsSoc(vehicleState.bmsSoc).build()
)
}
//清扫车（福田）清扫控制系统状态
vehicleState.sweeperFutianCleanSystemState?.also { sweeperState ->
val bytes: ByteArray = sweeperState.toByteArray()
@@ -184,6 +191,12 @@ class MoGoAdasListenerImpl : OnAdasListener {
CallerSweeperFutianCleanSystemListenerManager.invokeSweeperFutianCleanSystemState(it)
}
}
//金旅M1
vehicleState.roboBusJinlvM1State?.also {
if (vehicleState.hasRoboBusJinlvM1State()) {
CallerRoboBusJinlvM1StatesListenerManager.invokeRoboBusJinlvM1States(it)
}
}
} else {
CallerAutopilotVehicleStateListenerManager.invokeAutopilotDataException(header.timestamp.toLong())
}
@@ -235,6 +248,10 @@ class MoGoAdasListenerImpl : OnAdasListener {
//刹车
CallerChassisBrakeStateListenerManager.invokeAutopilotBrake(it.brakePedalResponsePosition)
}
chassisStates.bmsSystemStates?.let {
//电量
CallerBatteryManagementSystemListenerManager.invokeBatteryManagementSystemStates(it)
}
chassisStates.taskSystemStates?.let { taskSystemStates ->
taskSystemStates.sweeperFutianTaskSystemStates?.let {
//清扫车（福田）清扫控制系统状态

13
core/mogo-core-function-api/src/main/java/com/mogo/eagle/core/function/api/autopilot/IMoGoBatteryManagementSystemListener.kt Normal file
View File

@@ -0,0 +1,13 @@
package com.mogo.eagle.core.function.api.autopilot
import chassis.ChassisStatesOuterClass
/**
* 电池管理系统
*/
interface IMoGoBatteryManagementSystemListener {
/**
* 电池管理系统
*/
fun onBatteryManagementSystemStates(states: ChassisStatesOuterClass.BMSSystemStates)
}

12
core/mogo-core-function-api/src/main/java/com/mogo/eagle/core/function/api/autopilot/IMoGoRoboBusJinlvM1StatesListener.kt Normal file
View File

@@ -0,0 +1,12 @@
package com.mogo.eagle.core.function.api.autopilot
import chassis.ChassisStatesOuterClass
import chassis.VehicleStateOuterClass
/**
* 金旅M1
*/
interface IMoGoRoboBusJinlvM1StatesListener {
fun onRoboBusJinlvM1States(states: VehicleStateOuterClass.RoboBusJinlvM1State)
}

21
core/mogo-core-function-call/src/main/java/com/mogo/eagle/core/function/call/autopilot/CallerBatteryManagementSystemListenerManager.kt Normal file
View File

@@ -0,0 +1,21 @@
package com.mogo.eagle.core.function.call.autopilot
import chassis.ChassisStatesOuterClass
import com.mogo.eagle.core.function.api.autopilot.IMoGoBatteryManagementSystemListener
import com.mogo.eagle.core.function.call.base.CallerBase
/**
* 电池管理系统 包含 电量剩余百分比 电压 电流等
*/
object CallerBatteryManagementSystemListenerManager : CallerBase<IMoGoBatteryManagementSystemListener>() {
/**
* 电池管理系统
*/
fun invokeBatteryManagementSystemStates(states: ChassisStatesOuterClass.BMSSystemStates) {
M_LISTENERS.forEach {
val listener = it.value
listener.onBatteryManagementSystemStates(states)
}
}
}

22
core/mogo-core-function-call/src/main/java/com/mogo/eagle/core/function/call/autopilot/CallerRoboBusJinlvM1StatesListenerManager.kt Normal file
View File

@@ -0,0 +1,22 @@
package com.mogo.eagle.core.function.call.autopilot
import chassis.ChassisStatesOuterClass
import chassis.VehicleStateOuterClass
import com.mogo.eagle.core.function.api.autopilot.IMoGoRoboBusJinlvM1StatesListener
import com.mogo.eagle.core.function.call.base.CallerBase
/**
* 金旅M1
*/
object CallerRoboBusJinlvM1StatesListenerManager : CallerBase<IMoGoRoboBusJinlvM1StatesListener>() {
/**
* 电池管理系统
*/
fun invokeRoboBusJinlvM1States(states: VehicleStateOuterClass.RoboBusJinlvM1State) {
M_LISTENERS.forEach {
val listener = it.value
listener.onRoboBusJinlvM1States(states)
}
}
}

89
libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/AdasChannel.java
View File

@@ -1207,6 +1207,95 @@ public class AdasChannel implements IAdasNetCommApi, FpgaSocket.IWebSocketConnec
return sendSpecialVehicleTaskCmd(cmdBuild);
}
/**
* 金旅M1空调控制
*
* @param switchCmd 0: default, 1: 开启空调, 2: 关闭空调
* @param modeCmd 模式 0: default, 1: 自动模式, 2: 制冷模式, 3: 通风模式（仅送风，无温度）
* @param windSpeedCmd 风速 0: default, 1: 1档，2: 2档，3:3档
* @param temperatureCmd 温度 0: default, 16-26: 温度
* @return boolean
*/
@Override
public boolean sendRoboBusJinlvM1AirConditionerCmd(int switchCmd, int modeCmd, int windSpeedCmd, int temperatureCmd) {
return sendRoboBusJinlvM1TaskCmd(SpecialVehicleTaskCmdOuterClass.RoboBusJinlvM1Cmd.newBuilder()
.setAirConditionerCmd(switchCmd)
.setAirConditionerModeCmd(modeCmd)
.setAirConditionerWindSpeedCmd(windSpeedCmd)
.setAirConditionerTemperatureCmd(temperatureCmd)
.build());
}
/**
* 金旅M1暖风机控制
*
* @param switchCmd //0: default, 1: 开启暖风机, 2: 关闭暖风机
* @param windSpeedCmd //风速 0: default, 1: 1档，2: 2档
* @return boolean
*/
@Override
public boolean sendRoboBusJinlvM1HeaderCmd(int switchCmd, int windSpeedCmd) {
return sendRoboBusJinlvM1TaskCmd(SpecialVehicleTaskCmdOuterClass.RoboBusJinlvM1Cmd.newBuilder()
.setHeaderCmd(switchCmd)
.setHeaderWindSpeedCmd(windSpeedCmd)
.build());
}
/**
* 金旅M1顶灯控制
*
* @param switch1Cmd //0: default, 1: 开启顶灯1, 2: 关闭顶灯1
* @param switch2Cmd //0: default, 1: 开启顶灯2, 2: 关闭顶灯2
* @return boolean
*/
@Override
public boolean sendRoboBusJinlvM1MainLampCmd(int switch1Cmd, int switch2Cmd) {
return sendRoboBusJinlvM1TaskCmd(SpecialVehicleTaskCmdOuterClass.RoboBusJinlvM1Cmd.newBuilder()
.setMainLamp1Cmd(switch1Cmd)
.setMainLamp2Cmd(switch2Cmd)
.build());
}
/**
* 金旅M1小灯(氛围灯)控制
*
* @param switchCmd //0: default, 1: 开启小灯(氛围灯), 2: 关闭小灯(氛围灯)
* @return boolean
*/
@Override
public boolean sendRoboBusJinlvM1SmallLampCmd(int switchCmd) {
return sendRoboBusJinlvM1TaskCmd(SpecialVehicleTaskCmdOuterClass.RoboBusJinlvM1Cmd.newBuilder()
.setSmallLampCmd(switchCmd)
.build());
}
/**
* 金旅M1车门控制
*
* @param switchCmd //0: default, 1: 开启车门, 2: 关闭车门
* @return boolean
*/
@Override
public boolean sendRoboBusJinlvM1FrontDoorCmd(int switchCmd) {
return sendRoboBusJinlvM1TaskCmd(SpecialVehicleTaskCmdOuterClass.RoboBusJinlvM1Cmd.newBuilder()
.setFrontDoorCmd(switchCmd)
.build());
}
/**
* 金旅M1业务指令下发
*
* @param roboBusJinlvM1Cmd 命令
* @return boolean
*/
@Override
public boolean sendRoboBusJinlvM1TaskCmd(SpecialVehicleTaskCmdOuterClass.RoboBusJinlvM1Cmd roboBusJinlvM1Cmd) {
SpecialVehicleTaskCmdOuterClass.SpecialVehicleTaskCmd.Builder cmdBuild = SpecialVehicleTaskCmdOuterClass.SpecialVehicleTaskCmd
.newBuilder()
.setRoboBusJinlvM1Cmd(roboBusJinlvM1Cmd);
return sendSpecialVehicleTaskCmd(cmdBuild);
}
/**
* 特种车辆命令下发
*

71
libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/AdasManager.java
View File

@@ -623,6 +623,77 @@ public class AdasManager implements IAdasNetCommApi {
return mChannel != null && mChannel.sendRoboVanSkywellTaskCmd(vanSkywellTaskCmd);
}
/**
* 金旅M1空调控制
*
* @param switchCmd 0: default, 1: 开启空调, 2: 关闭空调
* @param modeCmd 模式 0: default, 1: 自动模式, 2: 制冷模式, 3: 通风模式（仅送风，无温度）
* @param windSpeedCmd 风速 0: default, 1: 1档，2: 2档，3:3档
* @param temperatureCmd 温度 0: default, 16-26: 温度
* @return boolean
*/
@Override
public boolean sendRoboBusJinlvM1AirConditionerCmd(int switchCmd, int modeCmd, int windSpeedCmd, int temperatureCmd) {
return mChannel != null && mChannel.sendRoboBusJinlvM1AirConditionerCmd(switchCmd, modeCmd, windSpeedCmd, temperatureCmd);
}
/**
* 金旅M1暖风机控制
*
* @param switchCmd //0: default, 1: 开启暖风机, 2: 关闭暖风机
* @param windSpeedCmd //风速 0: default, 1: 1档，2: 2档
* @return boolean
*/
@Override
public boolean sendRoboBusJinlvM1HeaderCmd(int switchCmd, int windSpeedCmd) {
return mChannel != null && mChannel.sendRoboBusJinlvM1HeaderCmd(switchCmd, windSpeedCmd);
}
/**
* 金旅M1顶灯控制
*
* @param switch1Cmd //0: default, 1: 开启顶灯1, 2: 关闭顶灯1
* @param switch2Cmd //0: default, 1: 开启顶灯2, 2: 关闭顶灯2
* @return boolean
*/
@Override
public boolean sendRoboBusJinlvM1MainLampCmd(int switch1Cmd, int switch2Cmd) {
return mChannel != null && mChannel.sendRoboBusJinlvM1MainLampCmd(switch1Cmd, switch2Cmd);
}
/**
* 金旅M1车门控制
*
* @param switchCmd //0: default, 1: 开启车门, 2: 关闭车门
* @return boolean
*/
@Override
public boolean sendRoboBusJinlvM1SmallLampCmd(int switchCmd) {
return mChannel != null && mChannel.sendRoboBusJinlvM1SmallLampCmd(switchCmd);
}
/**
* 金旅M1车门控制
*
* @param switchCmd //0: default, 1: 开启车门, 2: 关闭车门
* @return boolean
*/
@Override
public boolean sendRoboBusJinlvM1FrontDoorCmd(int switchCmd) {
return mChannel != null && mChannel.sendRoboBusJinlvM1FrontDoorCmd(switchCmd);
}
/**
* 金旅M1业务指令下发
*
* @param roboBusJinlvM1Cmd 命令
* @return boolean
*/
@Override
public boolean sendRoboBusJinlvM1TaskCmd(SpecialVehicleTaskCmdOuterClass.RoboBusJinlvM1Cmd roboBusJinlvM1Cmd) {
return mChannel != null && mChannel.sendRoboBusJinlvM1TaskCmd(roboBusJinlvM1Cmd);
}
/**
* 特种车辆命令下发
*

53
libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/IAdasNetCommApi.java
View File

@@ -335,6 +335,59 @@ public interface IAdasNetCommApi {
*/
boolean sendRoboVanSkywellTaskCmd(SpecialVehicleTaskCmdOuterClass.RoboVanSkywellTaskCmd vanSkywellTaskCmd);
/**
* 金旅M1空调控制
*
* @param switchCmd 0: default, 1: 开启空调, 2: 关闭空调
* @param modeCmd 模式 0: default, 1: 自动模式, 2: 制冷模式, 3: 通风模式（仅送风，无温度）
* @param windSpeedCmd 风速 0: default, 1: 1档，2: 2档，3:3档
* @param temperatureCmd 温度 0: default, 16-26: 温度
* @return boolean
*/
boolean sendRoboBusJinlvM1AirConditionerCmd(int switchCmd, int modeCmd, int windSpeedCmd, int temperatureCmd);
/**
* 金旅M1暖风机控制
*
* @param switchCmd //0: default, 1: 开启暖风机, 2: 关闭暖风机
* @param windSpeedCmd //风速 0: default, 1: 1档，2: 2档
* @return boolean
*/
boolean sendRoboBusJinlvM1HeaderCmd(int switchCmd, int windSpeedCmd);
/**
* 金旅M1顶灯控制
*
* @param switch1Cmd //0: default, 1: 开启顶灯1, 2: 关闭顶灯1
* @param switch2Cmd //0: default, 1: 开启顶灯2, 2: 关闭顶灯2
* @return boolean
*/
boolean sendRoboBusJinlvM1MainLampCmd(int switch1Cmd, int switch2Cmd);
/**
* 金旅M1小灯(氛围灯)控制
*
* @param switchCmd //0: default, 1: 开启小灯(氛围灯), 2: 关闭小灯(氛围灯)
* @return boolean
*/
boolean sendRoboBusJinlvM1SmallLampCmd(int switchCmd);
/**
* 金旅M1车门控制
*
* @param switchCmd //0: default, 1: 开启车门, 2: 关闭车门
* @return boolean
*/
boolean sendRoboBusJinlvM1FrontDoorCmd(int switchCmd);
/**
* 金旅M1业务指令下发
*
* @param roboBusJinlvM1Cmd 命令
* @return boolean
*/
boolean sendRoboBusJinlvM1TaskCmd(SpecialVehicleTaskCmdOuterClass.RoboBusJinlvM1Cmd roboBusJinlvM1Cmd);
/**
* 特种车辆命令下发
*

2
libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/msg/VehicleStateMessage.java
View File

@@ -43,6 +43,8 @@ public class VehicleStateMessage extends MyAbstractMessageHandler {
* parking_brake longitude_driving_mode eps_steering_mode
* steering_sign location_missing trajectory_missing
* chassis_status_missing pilot_mode_condition_met vehicletakeoverstatus
* fuel_value robo_taxi_state robo_bus_state
* robo_bus_jinlv_m1_state
*/
private void compatibility(OnAdasListener adasListener, RawData raw, VehicleStateOuterClass.VehicleState vehicleState) throws InvalidProtocolBufferException {
/**************老地盘转换成新地盘PB***************/