yangyakun921/MoGoEagleEye
1
0
Fork 0
Code Issues Pull Requests Actions Packages Projects Releases Wiki Activity

[8.2.8][需求] AIP开关修改为随时开关，引导线更改为aip开启时使用不同的颜色

Browse Source
This commit is contained in:
xinfengkun
2025-12-03 14:02:21 +08:00
parent aa5fdae1ac
commit fcdeb250b5
11 changed files with 120 additions and 53 deletions
Download Patch File Download Diff File Expand all files Collapse all files

31
core/function-impl/mogo-core-function-datacenter/src/main/java/com/mogo/eagle/core/function/datacenter/autopilot/adapter/MoGoAdasListenerImpl.kt
View File

@@ -7,16 +7,15 @@ import chassis.VehicleStateOuterClass
import com.mogo.commons.constants.SharedPrefsConstants
import com.mogo.commons.storage.SharedPrefsMgr
import com.mogo.eagle.core.data.app.AppConfigInfo
import com.mogo.eagle.core.data.config.FunctionBuildConfig
import com.mogo.eagle.core.data.config.HdMapBuildConfig
import com.mogo.eagle.core.data.deva.chain.ChainConstant
import com.mogo.eagle.core.data.deva.chain.ChainConstant.Companion.CHAIN_CODE_ADAS_ALL_ERROR
import com.mogo.eagle.core.data.deva.chain.ChainConstant.Companion.CHAIN_CODE_ADAS_ARRIVE
import com.mogo.eagle.core.data.deva.chain.ChainConstant.Companion.CHAIN_CODE_ADAS_ARRIVE_QUERY
import com.mogo.eagle.core.data.deva.chain.ChainConstant.Companion.CHAIN_CODE_ADAS_AUTOPILOT_INFO
import com.mogo.eagle.core.data.deva.chain.ChainConstant.Companion.CHAIN_CODE_ADAS_CAR_CONFIG
import com.mogo.eagle.core.data.deva.chain.ChainConstant.Companion.CHAIN_CODE_ADAS_CAR_LOC
import com.mogo.eagle.core.data.deva.chain.ChainConstant.Companion.CHAIN_CODE_ADAS_COLD_START_STATE
import com.mogo.eagle.core.data.deva.chain.ChainConstant.Companion.CHAIN_CODE_ADAS_ALL_ERROR
import com.mogo.eagle.core.data.deva.chain.ChainConstant.Companion.CHAIN_CODE_ADAS_FM_MSG
import com.mogo.eagle.core.data.deva.chain.ChainConstant.Companion.CHAIN_CODE_ADAS_FSM_MSG
import com.mogo.eagle.core.data.deva.chain.ChainConstant.Companion.CHAIN_CODE_ADAS_GUARDIAN
@@ -37,9 +36,6 @@ import com.mogo.eagle.core.data.deva.chain.ChainConstant.Companion.CHAIN_TYPE_SO
import com.mogo.eagle.core.data.deva.chain.ChainConstant.Companion.CHAIN_TYPE_SOCKET_TRAJECTORY
import com.mogo.eagle.core.data.deva.chain.ChainConstant.Companion.CHAIN_TYPE_SOCKET_VEHICLE
import com.mogo.eagle.core.data.deva.chain.ChainConstant.Companion.CHAIN_TYPE_STATUS
import com.mogo.eagle.core.data.msgbox.MsgBoxBean
import com.mogo.eagle.core.data.msgbox.MsgBoxType
import com.mogo.eagle.core.data.msgbox.SSMMsg
import com.mogo.eagle.core.function.call.autopilot.CallerAutoPilotStatusListenerManager
import com.mogo.eagle.core.function.call.autopilot.CallerAutoPilotStatusListenerManager.invokeArriveAtStation
import com.mogo.eagle.core.function.call.autopilot.CallerAutoPilotStatusListenerManager.invokeAutoPilotInfo
@@ -92,9 +88,8 @@ import com.mogo.eagle.core.function.call.autopilot.CallerVlmManager
import com.mogo.eagle.core.function.call.devatools.CallerCaptureImgManager
import com.mogo.eagle.core.function.call.devatools.CallerDiskCopyManager
import com.mogo.eagle.core.function.call.devatools.CallerNDECloudManager
import com.mogo.eagle.core.function.call.devatools.CallerV2XManager
import com.mogo.eagle.core.function.call.devatools.CallerOTAManager
import com.mogo.eagle.core.function.call.msgbox.CallerMsgBoxManager
import com.mogo.eagle.core.function.call.devatools.CallerV2XManager
import com.mogo.eagle.core.function.call.obu.CallerObuMapMathListenerManager
import com.mogo.eagle.core.function.call.obu.CallerObuWarningRsiListenerManager
import com.mogo.eagle.core.function.call.obu.CallerObuWarningRsmListenerManager
@@ -169,19 +164,27 @@ class MoGoAdasListenerImpl : OnAdasListener {
const val TAG = "MoGoAdasListenerImpl"
}
override fun onTrajectory(header: MessagePad.Header, trajectory: MessagePad.Trajectory?) {
if (trajectory!=null){
onTrajectory(header, trajectory.isAIPTrajectory, trajectory.pointsList)
}
if (HdMapBuildConfig.isMapLoaded) {
if (trajectory != null && trajectory.pointsList.size > 0) {
invokeAutopilotTrajectory(trajectory)
}
}
}
//车前引导线
@ChainLog(
linkChainLog = CHAIN_TYPE_SOCKET_TRAJECTORY,
linkCode = CHAIN_SOURCE_ADAS,
nodeAliasCode = CHAIN_CODE_ADAS_TRAJECTORY,
paramIndexes = [0, 1]
paramIndexes = [0, 1, 2]
)
override fun onTrajectory(header: MessagePad.Header, trajectory: MessagePad.Trajectory?) {
if (HdMapBuildConfig.isMapLoaded) {
if (trajectory != null && trajectory.pointsList.size > 0) {
invokeAutopilotTrajectory(trajectory.pointsList)
}
}
private fun onTrajectory(header: MessagePad.Header, isAIPTrajectory: Boolean, points: List<MessagePad.TrajectoryPoint>) {
}
override fun onTrackedObjects(