Merge branch 'dev_robotaxi-d-app-module_290_220715_2.9.0' into dev_robotaxi-d-app-module_290_220715_2.9.0_interface_subscribe

2022-08-10 16:47:15 +08:00
parent df34956069 aa57b7a970
commit e70223dcdc
17 changed files with 193 additions and 109 deletions
--- a/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/AdasChannel.java
+++ b/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/AdasChannel.java
@@ -253,6 +253,10 @@ public class AdasChannel implements IAdasNetCommApi, FpgaSocket.IWebSocketConnec
            return false;
        }
        ByteString byteString = ByteString.of(bytes);
+        if (!byteString.startsWith(Constants.RAW_MG)) {
+            CupidLogUtils.e(TAG, "协议不匹配，命令下发失败 bytes=" + ByteUtil.byteArrToHex(bytes));
+            return false;
+        }
        return mSocket.sendDataWebSocket(byteString);
    }