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[644][adas] 更改能否启动自驾检测频率，1Hz改为10Hz

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This commit is contained in:
xinfengkun
2024-06-05 18:09:13 +08:00
parent b4e105602c
commit cd9a6452af
10 changed files with 282 additions and 31 deletions
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8
core/function-impl/mogo-core-function-datacenter/src/main/java/com/mogo/eagle/core/function/datacenter/autopilot/adapter/MoGoAdasListenerImpl.kt
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@@ -941,9 +941,11 @@ class MoGoAdasListenerImpl : OnAdasListener {
launchConditionData: LaunchConditionData,
unableAutopilotReasons: ArrayList<UnableLaunchReason>?
) {
if (unableAutopilotReasons != null && unableAutopilotReasons.size > 0) {
autopilotAbilityCheck(isAutopilotAbility, unableAutopilotReasons.toString(), launchConditionData)
var reason = ""
if (unableAutopilotReasons != null) {
reason = unableAutopilotReasons.toString()
}
autopilotAbilityCheck(isAutopilotAbility, reason, launchConditionData)
invokeAutopilotAbility(isAutopilotAbility, launchConditionData, unableAutopilotReasons)
}
@@ -967,7 +969,7 @@ class MoGoAdasListenerImpl : OnAdasListener {
linkChainLog = CHAIN_TYPE_SOCKET_AUTOPILOT,
linkCode = CHAIN_SOURCE_ADAS,
nodeAliasCode = CHAIN_CODE_ADAS_ABILITY,
paramIndexes = [0, 1]
paramIndexes = [0, 1, 2]
)
private fun autopilotAbilityCheck(isAutopilotAbility: Boolean, reason: String, launchConditionData: LaunchConditionData) {

2
core/function-impl/mogo-core-function-devatools/src/main/java/com/zhjt/mogo_core_function_devatools/status/flow/autopilot/AcceleratorImpl.kt
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@@ -47,7 +47,7 @@ internal class AcceleratorImpl(ctx: Context): IFlow<AcceleratorStatus>(ctx), IMo
}
}
override fun onAutopilotAbility(isAutopilotAbility: Boolean, launchConditionData: LaunchConditionData?, unableAutopilotReasons: ArrayList<UnableLaunchReason>?) {
override fun onAutopilotAbilityHighFrequency(isAutopilotAbility: Boolean, launchConditionData: LaunchConditionData?, unableAutopilotReasons: ArrayList<UnableLaunchReason>?) {
if (!isAutopilotAbility) {
val target = unableAutopilotReasons?.find { it.unableType == CHASSIS_THROTTLE }?.also { itx ->
isError = true

2
core/function-impl/mogo-core-function-devatools/src/main/java/com/zhjt/mogo_core_function_devatools/status/flow/autopilot/BrakeImpl.kt
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@@ -46,7 +46,7 @@ internal class BrakeImpl(ctx: Context): IFlow<BrakeStatus>(ctx), IMoGoChassisBra
}
}
override fun onAutopilotAbility(isAutopilotAbility: Boolean, launchConditionData: LaunchConditionData?, unableAutopilotReasons: ArrayList<UnableLaunchReason>?) {
override fun onAutopilotAbilityHighFrequency(isAutopilotAbility: Boolean, launchConditionData: LaunchConditionData?, unableAutopilotReasons: ArrayList<UnableLaunchReason>?) {
if (!isAutopilotAbility) {
val target = unableAutopilotReasons?.find { it.unableType == CHASSIS_BRAKE }?.also { itx ->
isError = true

2
core/function-impl/mogo-core-function-devatools/src/main/java/com/zhjt/mogo_core_function_devatools/status/flow/autopilot/DoubleFlashImpl.kt
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@@ -52,7 +52,7 @@ internal class DoubleFlashImpl(ctx: Context): IFlow<DoubleFlashStatus>(ctx), IMo
}
override fun onAutopilotAbility(isAutopilotAbility: Boolean, launchConditionData: LaunchConditionData?, unableAutopilotReasons: ArrayList<UnableLaunchReason>?) {
override fun onAutopilotAbilityHighFrequency(isAutopilotAbility: Boolean, launchConditionData: LaunchConditionData?, unableAutopilotReasons: ArrayList<UnableLaunchReason>?) {
if (!isAutopilotAbility) {
val target = unableAutopilotReasons?.find { it.unableType == CHASSIS_HAZARD_LIGHTS }?.also { itx ->
isError = true

2
core/function-impl/mogo-core-function-devatools/src/main/java/com/zhjt/mogo_core_function_devatools/status/flow/autopilot/GearImpl.kt
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@@ -46,7 +46,7 @@ internal class GearImpl(ctx: Context): IFlow<GearStatus>(ctx), IMoGoChassisGearS
}
}
override fun onAutopilotAbility(isAutopilotAbility: Boolean, launchConditionData: LaunchConditionData?, unableAutopilotReasons: ArrayList<UnableLaunchReason>?) {
override fun onAutopilotAbilityHighFrequency(isAutopilotAbility: Boolean, launchConditionData: LaunchConditionData?, unableAutopilotReasons: ArrayList<UnableLaunchReason>?) {
if (!isAutopilotAbility) {
val target = unableAutopilotReasons?.find { it.unableType == CHASSIS_GEAR }?.also { itx ->
isError = true

2
core/function-impl/mogo-core-function-devatools/src/main/java/com/zhjt/mogo_core_function_devatools/status/flow/autopilot/SteerImpl.kt
View File

@@ -45,7 +45,7 @@ internal class SteerImpl(ctx: Context): IFlow<SteerStatus>(ctx), IMoGoChassisSte
}
}
override fun onAutopilotAbility(isAutopilotAbility: Boolean, launchConditionData: LaunchConditionData?, unableAutopilotReasons: ArrayList<UnableLaunchReason>?) {
override fun onAutopilotAbilityHighFrequency(isAutopilotAbility: Boolean, launchConditionData: LaunchConditionData?, unableAutopilotReasons: ArrayList<UnableLaunchReason>?) {
Logger.d(TAG, "onAutopilotAbility->($isAutopilotAbility, $launchConditionData, ${unableAutopilotReasons?.joinToString(",")}")
if (!isAutopilotAbility) {
val target = unableAutopilotReasons?.find { it.unableType == CHASSIS_STEERING }?.also { itx ->