[644][adas] 更改能否启动自驾检测频率，1Hz改为10Hz

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

@@ -5,6 +5,7 @@ import chassis.VehicleStateOuterClass
 import com.google.protobuf.TextFormat
 import com.mogo.eagle.core.function.api.autopilot.IMoGoAutopilotActionsListener
 import com.mogo.eagle.core.function.call.base.CallerBase
+import com.mogo.eagle.core.utilcode.mogo.logger.Logger
 import com.zhjt.mogo.adas.data.bean.LaunchConditionData
 import com.zhjt.mogo.adas.data.bean.UnableLaunchReason
 import org.json.JSONException
@@ -223,6 +224,21 @@ object CallerAutopilotActionsListenerManager : CallerBase<IMoGoAutopilotActionsL
         unableAutopilotReasons: ArrayList<UnableLaunchReason>?
     ) {
         this.launchConditionData = launchCondition
+        this.isAutopilotAbility = isAutopilotAbility
+        this.unableAutopilotReasons = unableAutopilotReasons
+        Logger.d(
+            "CallerAutopilotActionsListenerManager",
+            "高频 是否可以启动自动驾驶=" + isAutopilotAbility + " 原因=" + (unableAutopilotReasons?.toString()) + " 原始数据=" + launchConditionData?.json
+        )
+        M_LISTENERS.forEach {
+            val listener = it.value
+            listener.onAutopilotAbilityHighFrequency(
+                CallerAutopilotActionsListenerManager.isAutopilotAbility,
+                launchConditionData,
+                CallerAutopilotActionsListenerManager.unableAutopilotReasons
+            )
+        }
+
         if (isConnected) {
             var isEquals = true
             if (unableAutopilotReasons != null && this.unableAutopilotReasons != null) {
@@ -236,14 +252,16 @@ object CallerAutopilotActionsListenerManager : CallerBase<IMoGoAutopilotActionsL
             } else isEquals =
                 !(unableAutopilotReasons != null || this.unableAutopilotReasons != null)
             if (this.isAutopilotAbility != isAutopilotAbility || !isEquals) {
-                this.isAutopilotAbility = isAutopilotAbility
-                this.unableAutopilotReasons = unableAutopilotReasons
                 notification()
             }
         }
     }
 
     private fun notification() {
+        Logger.d(
+            "CallerAutopilotActionsListenerManager",
+            "低频 是否可以启动自动驾驶=" + isAutopilotAbility + " 原因=" + (unableAutopilotReasons?.toString()) + " 原始数据=" + launchConditionData?.json
+        )
         M_LISTENERS.forEach {
             val listener = it.value
             listener.onAutopilotAbility(