Merge branch 'sha' into dev_robotaxi-d-app-module_290_220715_2.9.0

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

@@ -155,6 +155,13 @@ class MoGoAdasListenerImpl : OnAdasListener {
             CallerAutopilotVehicleStateListenerManager.invokeAutopilotSteeringData(vehicleState.steering)
             //挂挡档位数据
             CallerAutopilotVehicleStateListenerManager.invokeAutopilotGearData(vehicleState.gear)
+            //加速度
+            CallerAutopilotVehicleStateListenerManager.invokeAutopilotAcc(vehicleState.accel)
+            //油门
+            CallerAutopilotVehicleStateListenerManager.invokeAutopilotThrottle(vehicleState.throttle)
+            //刹车
+            CallerAutopilotVehicleStateListenerManager.invokeAutopilotThrottle(vehicleState.brake)
+
         } else {
             CallerAutopilotVehicleStateListenerManager.invokeAutopilotDataException(header.timestamp.toLong())
         }

core/function-impl/mogo-core-function-autopilot/src/main/java/com/mogo/eagle/core/function/autopilot/adapter/MoGoHandAdasMsgManager.java

@@ -118,7 +118,7 @@ public class MoGoHandAdasMsgManager implements
         if (!AppIdentityModeUtils.isBus(FunctionBuildConfig.appIdentityMode)) { //小巴不展示
             if (gnssInfo != null) {
                 //设置刹车信息
-                if (gnssInfo.getAcceleration() < SharedPrefsMgr.getInstance(mContext).getFloat(MoGoConfig.BRAKE_ACCELERATION_THRESHOLD,-2.5F)) {
+                if (gnssInfo.getAcceleration() < SharedPrefsMgr.getInstance(mContext).getFloat(MoGoConfig.BRAKE_ACCELERATION_THRESHOLD, -2.5F)) {
                     brakeLight = 1;
                 } else {
                     brakeLight = 0;
@@ -132,6 +132,7 @@ public class MoGoHandAdasMsgManager implements
 
     /**
      * 车辆方向盘转向角回调
+     *
      * @param steering 方向盘转向角
      */
     @Override
@@ -141,6 +142,7 @@ public class MoGoHandAdasMsgManager implements
 
     /**
      * 车辆挂挡档位
+     *
      * @param gear 档位
      */
     @Override
@@ -156,4 +158,14 @@ public class MoGoHandAdasMsgManager implements
     public void onAutopilotAcc(float carAcc) {
 
     }
+
+    @Override
+    public void onAutopilotThrottle(float throttle) {
+
+    }
+
+    @Override
+    public void onAutopilotBrake(float brake) {
+
+    }
 }

core/function-impl/mogo-core-function-devatools/src/main/java/com/zhjt/mogo_core_function_devatools/status/flow/can/CanImpl.kt

@@ -71,6 +71,16 @@ internal class CanImpl(ctx: Context): IFlow<CanStatus>(ctx), IMoGoAutopilotVehic
         timeOutCheck()
     }
 
+    override fun onAutopilotThrottle(throttle: Float) {
+        send(CanStatus(isCanEnabled()))
+        timeOutCheck()
+    }
+
+    override fun onAutopilotBrake(brake: Float) {
+        send(CanStatus(isCanEnabled()))
+        timeOutCheck()
+    }
+
     override fun onAutopilotGuardian(guardianInfo: MogoReportMessage?) {
         super.onAutopilotGuardian(guardianInfo)
         send(CanStatus(isCanEnabled()))

core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/hmi/ui/setting/DebugSettingView.kt

@@ -1959,7 +1959,21 @@ class DebugSettingView @JvmOverloads constructor(
      * 车辆加速度
      */
     override fun onAutopilotAcc(carAcc: Float) {
-        TODO("Not yet implemented")
+
+    }
+
+    /**
+     * 油门
+     */
+    override fun onAutopilotThrottle(throttle: Float) {
+
+    }
+
+    /**
+     * 刹车
+     */
+    override fun onAutopilotBrake(brake: Float) {
+
     }
 
     /**

core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/hmi/ui/widget/SteeringWheelView.java

@@ -158,6 +158,22 @@ public class SteeringWheelView extends ConstraintLayout {
 
     private final IMoGoAutopilotVehicleStateListener mIMoGoAutopilotVehicleStateListener = new IMoGoAutopilotVehicleStateListener() {
 
+        /**
+         * @param brake 刹车
+         */
+        @Override
+        public void onAutopilotBrake(float brake) {
+
+        }
+
+        /**
+         * @param throttle 油门
+         */
+        @Override
+        public void onAutopilotThrottle(float throttle) {
+
+        }
+
         /**
          * 车辆转向灯
          * @param lightSwitch

core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/hmi/ui/widget/TrafficDataView.java

@@ -36,6 +36,8 @@ public class TrafficDataView extends ConstraintLayout {
     private TextView speedTextView;
     private TextView accTextView;
     private ImageView speedImage;
+    private ImageView brakeStatus;
+
     //圆弧颜色
     private int mArcColor;
 
@@ -67,6 +69,7 @@ public class TrafficDataView extends ConstraintLayout {
         speedImage = findViewById(R.id.speedImage);
         speedTextView = findViewById(R.id.speedTextView);
         accTextView = findViewById(R.id.speedAccTextView);
+        brakeStatus = findViewById(R.id.brakeStatus);
     }
 
     private final IMoGoAutopilotVehicleStateListener mIMoGoAutopilotVehicleStateListener = new IMoGoAutopilotVehicleStateListener() {
@@ -138,6 +141,18 @@ public class TrafficDataView extends ConstraintLayout {
             String accStr = myformat.format(carAcc);
             accTextView.setText("a: " + accStr);
         }
+
+        @Override
+        public void onAutopilotBrake(float brake) {
+            Log.d(TAG, "刹车:" + String.valueOf(brake));
+            brakeStatus.setImageResource(R.drawable.traffic_data_brake);
+        }
+
+        @Override
+        public void onAutopilotThrottle(float throttle) {
+            Log.d(TAG, "油门:" + String.valueOf(throttle));
+            brakeStatus.setImageResource(R.drawable.traffic_data_accelerator);
+        }
     };
 
     /**

core/mogo-core-function-api/src/main/java/com/mogo/eagle/core/function/api/autopilot/IMoGoAutopilotVehicleStateListener.kt

@@ -42,4 +42,14 @@ interface IMoGoAutopilotVehicleStateListener {
      * 车辆加速度
      */
     fun onAutopilotAcc(carAcc: Float)
+
+    /**
+     * 油门
+     */
+    fun onAutopilotThrottle(throttle: Float)
+
+    /**
+     * 刹车
+     */
+    fun onAutopilotBrake(brake: Float)
 }

core/mogo-core-function-call/src/main/java/com/mogo/eagle/core/function/call/autopilot/CallerAutopilotVehicleStateListenerManager.kt

@@ -112,6 +112,26 @@ object CallerAutopilotVehicleStateListenerManager : CallerBase() {
         }
     }
 
+    /**
+     * throttle 油门
+     */
+    fun invokeAutopilotThrottle(throttle: Float){
+        M_AUTOPILOT_VEHICLE_LISTENERS.forEach{
+            val listener = it.value
+            listener.onAutopilotThrottle(throttle)
+        }
+    }
+
+    /**
+     * brake 刹车
+     */
+    fun invokeAutopilotBrake(brake: Float){
+        M_AUTOPILOT_VEHICLE_LISTENERS.forEach{
+            val listener = it.value
+            listener.onAutopilotBrake(brake)
+        }
+    }
+
 
     /**
      * 工控机时间回调