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[610][adas]M1移除手刹限制

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xinfengkun
2023-10-08 10:53:39 +08:00
parent e88247a19f
commit dc56c51058
3 changed files with 12 additions and 6 deletions
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6
libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/common/autopilot/ability/AutopilotAbility250.java
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@@ -32,6 +32,7 @@ public class AutopilotAbility250 {
private int masterVersion = -1;//Master版本
private boolean isHQ = false;//是否是HQ
private boolean isDF = false;//是否是DF
private boolean isM1 = false;//是否是M1
private OnAutopilotAbilityListener listener;
protected interface OnAutopilotAbilityListener {
@@ -44,10 +45,11 @@ public class AutopilotAbility250 {
void onRemoveTimeoutMessages();
}
protected AutopilotAbility250(int mapVersion, boolean isHQ, boolean isDF) {
protected AutopilotAbility250(int mapVersion, boolean isHQ, boolean isDF, boolean isM1) {
this.mapVersion = mapVersion;
this.isHQ = isHQ;
this.isDF = isDF;
this.isM1 = isM1;
this.masterVersion = -1;
}
@@ -155,7 +157,7 @@ public class AutopilotAbility250 {
}
}
}
if ((!isHQ && !isDF) || mapVersion < 30600) {
if ((!isHQ && !isDF && !isM1) || mapVersion < 30600) {
if (vehicleState != null) {
//TODO 关于手刹：目前只有老底盘中存在这个字段，df360开始，其他车型未知
//电子驻车制动系统

6
libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/common/autopilot/ability/AutopilotAbility350And360.java
View File

@@ -27,6 +27,7 @@ public class AutopilotAbility350And360 {
private int masterVersion = -1;//Master版本
private boolean isHQ = false;//是否是HQ
private boolean isDF = false;//是否是DF
private boolean isM1 = false;//是否是M1
private OnAutopilotAbilityListener listener;
protected interface OnAutopilotAbilityListener {
@@ -34,10 +35,11 @@ public class AutopilotAbility350And360 {
}
protected AutopilotAbility350And360(int mapVersion, boolean isHQ, boolean isDF) {
protected AutopilotAbility350And360(int mapVersion, boolean isHQ, boolean isDF, boolean isM1) {
this.mapVersion = mapVersion;
this.isHQ = isHQ;
this.isDF = isDF;
this.isM1 = isM1;
this.masterVersion = -1;
}
@@ -130,7 +132,7 @@ public class AutopilotAbility350And360 {
}
}
}
if ((!isHQ && !isDF) || mapVersion < 30600) {
if ((!isHQ && !isDF && !isM1) || mapVersion < 30600) {
if (vehicleState != null) {
//TODO 关于手刹：目前只有老底盘中存在这个字段，df360开始，其他车型未知
//电子驻车制动系统

6
libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/common/autopilot/ability/AutopilotAbilityManager.java
View File

@@ -49,6 +49,7 @@ public class AutopilotAbilityManager implements AutopilotAbility230.OnAutopilotA
private boolean isJinlvM1 = false;//是否是M1
private boolean isHQ = false;//是否是HQ
private boolean isDF = false;//是否是DF
private boolean isM1 = false;//是否是M1
private AutopilotAbility230 autopilotAbility230;
private AutopilotAbility250 autopilotAbility250;
private AutopilotAbility330 autopilotAbility330;
@@ -133,6 +134,7 @@ public class AutopilotAbilityManager implements AutopilotAbility230.OnAutopilotA
isJinlvM1 = carConfig.getIsJinlvM1();
isHQ = carConfig.getIsHQ();
isDF = carConfig.getIsDF();
isM1 = carConfig.getIsJinlvM1();
taxiUnmanned();
if (mapVersion != -1) {
stopTimer();
@@ -283,7 +285,7 @@ public class AutopilotAbilityManager implements AutopilotAbility230.OnAutopilotA
stop330();
stop360();
if (autopilotAbility350And360 == null) {
autopilotAbility350And360 = new AutopilotAbility350And360(mapVersion, isHQ, isDF);
autopilotAbility350And360 = new AutopilotAbility350And360(mapVersion, isHQ, isDF, isM1);
autopilotAbility350And360.start(this);
}
@@ -304,7 +306,7 @@ public class AutopilotAbilityManager implements AutopilotAbility230.OnAutopilotA
stop350And360();
stop360();
if (autopilotAbility250 == null) {
autopilotAbility250 = new AutopilotAbility250(mapVersion, isHQ, isDF);
autopilotAbility250 = new AutopilotAbility250(mapVersion, isHQ, isDF, isM1);
autopilotAbility250.start(this);
}
} else {