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[8.4.0][司机屏] 无人化，任务管理相关逻辑

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This commit is contained in:
xinfengkun
2026-03-05 14:14:25 +08:00
parent 42d72654bd
commit 13c8808659
49 changed files with 2506 additions and 429 deletions
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40
core/mogo-core-function-call/src/main/java/com/mogo/eagle/core/function/call/autopilot/CallerAutoPilotControlManager.kt
View File

@@ -35,6 +35,7 @@ import com.zhjt.mogo.adas.data.sweeper.task.stop.SweeperTaskStop.StopTaskResp
import com.zhjt.mogo.adas.data.AdasConstants
import com.zhjt.mogo.adas.data.bean.NodeStateInfo
import com.zhjt.mogo.adas.data.sweeper.task.cloud.s_r.SweeperTaskCloudSuspendResume.BigTaskActionResp
import com.zhjt.mogo.adas.unmanned.task.dto.cmd.Trajectory
import com.zhjt.service.chain.ChainLog
import com.zhjt.service_biz.BizConfig
import kotlinx.coroutines.launch
@@ -90,6 +91,32 @@ object CallerAutoPilotControlManager {
return sessionId
}
/**
* 开启自动驾驶
*
* @param controlParameters 开启自动驾驶的控制参数
*/
fun unmannedStartAutoPilot(taskId: Long, traj: Trajectory?, controlParameters: AutopilotControlParameters): Long {
if (traj == null) {
//LogUtils.eTag(TAG, "自动驾驶控制参数异常，请检查参数信息")
return -1L
}
val sessionId = providerApi?.sendTaskManagerAutopilotStart(taskId, traj) ?: -1L
// 更新记录在全局的控制参数
CallerAutoPilotStatusListenerManager.updateAutopilotControlParameters(controlParameters)
return sessionId
}
//TODO 任务管理继续
// fun unmannedAutoPilotContinue(trackId: Long, taskId: Long, stationId: Long, stationName: String, stationSeq: Int, lon: Double, lat: Double): Long {
// if (traj == null) {
// //LogUtils.eTag(TAG, "自动驾驶控制参数异常，请检查参数信息")
// return -1L
// }
// val sessionId = providerApi?.sendTaskManagerAutopilotContinue(trackId, taskId, stationId, stationName, stationSeq, lon, lat) ?: -1L
// // 更新记录在全局的控制参数
// CallerAutoPilotStatusListenerManager.updateAutopilotControlParameters(controlParameters)
// return sessionId
// }
/**
* 启自驾前，是否要拦截
* @param isShowTip true: 展示Toast+语音提示; false:不展示Toast+语音提示
@@ -253,6 +280,15 @@ object CallerAutoPilotControlManager {
}
return result
}
/**
* 结束自动驾驶
*/
fun cancelAutoPilot(taskId: Long) {
// 司机屏才能取消自动驾驶
if (AppIdentityModeUtils.isDriver(FunctionBuildConfig.appIdentityMode)) {
cancelAutoPilotInner(taskId)
}
}
/**
* 结束自动驾驶
@@ -273,8 +309,8 @@ object CallerAutoPilotControlManager {
}
}
private fun cancelAutoPilotInner() {
providerApi?.cancelAutoPilot()
private fun cancelAutoPilotInner(taskId: Long = (-1).toLong()) {
providerApi?.cancelAutoPilot(taskId)
// 更新记录在全局的控制参数
CallerAutoPilotStatusListenerManager.updateAutopilotControlParameters(null)
}

16
core/mogo-core-function-call/src/main/java/com/mogo/eagle/core/function/call/autopilot/CallerFsm2024ListenerManager.kt
View File

@@ -18,6 +18,7 @@ import java.util.Locale
*/
object CallerFsm2024ListenerManager : CallerBase<IMoGoFsm2024Listener>() {
var fsmLocaleLanguage = "chs"
private var placeOrderStandby = false //车端走任务管理时用于判断是否能下发订单
init {
val locale = if (Build.VERSION.SDK_INT >= Build.VERSION_CODES.N) {
@@ -36,7 +37,12 @@ object CallerFsm2024ListenerManager : CallerBase<IMoGoFsm2024Listener>() {
}
}
fun getPlaceOrderStandby(): Boolean {
return placeOrderStandby
}
fun invokeFSM2024State(fsmState: Fsm2024.FSMStateMsg) {
placeOrderStandby = fsmState.placeOrderStandbyFlag
M_LISTENERS.forEach {
val listener = it.value
listener.onFSM2024State(fsmState)
@@ -54,7 +60,7 @@ object CallerFsm2024ListenerManager : CallerBase<IMoGoFsm2024Listener>() {
if (fsmEvent.activeMode == Fsm2024.ActiveMode.PILOT_ACTIVE) {
if (fsmEvent.event == Fsm2024.Event.FAIL_TO_ENTER_ACTIVE || fsmEvent.event == Fsm2024.Event.ABNORMAL_EXIT_ACTIVE) {
val title =
StringUtils.getString(if (fsmEvent.event == Fsm2024.Event.FAIL_TO_ENTER_ACTIVE) R.string.module_mogo_core_fail_to_enter_active else R.string.module_mogo_core_abnormal_exit_active)
StringUtils.getString(if (fsmEvent.event == Fsm2024.Event.FAIL_TO_ENTER_ACTIVE) R.string.module_mogo_core_fail_to_enter_active else R.string.module_mogo_core_abnormal_exit_active)
var content = StringUtils.getString(R.string.module_mogo_core_unknown_cause_fault)
var summaryContent = ""
if (fsmEvent.transitionReasonsMultiLangCount > 0) {
@@ -89,10 +95,10 @@ object CallerFsm2024ListenerManager : CallerBase<IMoGoFsm2024Listener>() {
System.currentTimeMillis()
}
CallerMsgBoxManager.saveMsgBoxNoTrace(
MsgBoxBean(
MsgBoxType.FSM_EVENT,
FSMEventMsg(title, summaryContent, content, time)
)
MsgBoxBean(
MsgBoxType.FSM_EVENT,
FSMEventMsg(title, summaryContent, content, time)
)
)
}
}