SOP面板

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

@@ -151,6 +151,21 @@ interface IMoGoAutopilotProvider : IMoGoFunctionServerProvider {
      */
     fun setRainMode(isEnable: Boolean)
 
+    /**
+     * 绕障类功能开关
+     * isEnable = true  开启
+     * isEnable = false 关闭
+     * @return boolean
+     */
+    fun sendDetouring(isEnable: Boolean): Boolean
+
+    /**
+     * 变道绕障的目标障碍物速度阈值
+     * @param speed 速度阈值 m/s
+     * @return boolean
+     */
+    fun sendDetouringSpeed(speed: Double): Boolean
+
     /**
      * 获取数据采集录制模式配置列表
      */

core/mogo-core-function-api/src/main/java/com/mogo/eagle/core/function/api/obu/IMoGoObuProvider.kt

@@ -11,4 +11,7 @@ interface IMoGoObuProvider : IMoGoFunctionServerProvider {
 
     fun connect(ipAddress: String)
 
+    fun disConnect()
+
+    fun isConnected(): Boolean
 }