SOP面板

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

@@ -228,6 +228,25 @@ object CallerAutoPilotManager {
         providerApi?.setRainMode(isEnable)
     }
 
+    /**
+     * 绕障类功能开关
+     * isEnable = true  开启
+     * isEnable = false 关闭
+     * @return boolean
+     */
+    fun sendDetouring(isEnable: Boolean): Boolean?{
+        return providerApi?.sendDetouring(isEnable)
+    }
+
+    /**
+     * 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?{
+        return providerApi?.sendDetouringSpeed(speed)
+    }
+
     /**
      * 获取数据采集录制模式配置列表
      */

core/mogo-core-function-call/src/main/java/com/mogo/eagle/core/function/call/obu/CallerOBUManager.kt

@@ -26,4 +26,19 @@ object CallerOBUManager {
         providerApi.connect(ipAddress)
     }
 
+    /**
+     * 断开OBU连接
+     */
+    fun disConnectObu(){
+        providerApi.disConnect()
+    }
+
+    /**
+     * 获取OBU连接状态
+     * @return boolean 连接状态
+     */
+    fun isConnected(): Boolean{
+        return providerApi.isConnected()
+    }
+
 }