dev_sweeper310][adas]云控清扫车接收接口添加可空参数类型，添加未知类型回调

2023-04-06 14:31:36 +08:00
parent 1c46f27af8
commit 1ce857a56f
5 changed files with 102 additions and 36 deletions
--- a/core/function-impl/mogo-core-function-datacenter/src/main/java/com/mogo/eagle/core/function/datacenter/autopilot/adapter/MoGoAdasListenerImpl.kt
+++ b/core/function-impl/mogo-core-function-datacenter/src/main/java/com/mogo/eagle/core/function/datacenter/autopilot/adapter/MoGoAdasListenerImpl.kt
@@ -600,6 +600,7 @@ class MoGoAdasListenerImpl : OnAdasListener {
    ) {

    }
+
    /**
     * 清扫车后部摄像头视频 10Hz
     *
@@ -633,7 +634,7 @@ class MoGoAdasListenerImpl : OnAdasListener {
     * @param sysTime     当前时间戳
     * @param taskInfo    数据
     */
-    override fun onSweeperFutianCloudTask(header: MessagePad.Header, messageType: SweeperCloudTask.MessageType, reqNo: String, sysTime: Long, taskInfo: SweeperTask.TaskInfo) {
+    override fun onSweeperFutianCloudTask(header: MessagePad.Header, messageType: SweeperCloudTask.MessageType, reqNo: String?, sysTime: Long, taskInfo: SweeperTask.TaskInfo?) {
        CallerSweeperFutianCloudTaskListenerManager.invokeSweeperFutianCloudTask(messageType, reqNo, sysTime, taskInfo)
    }

@@ -646,7 +647,7 @@ class MoGoAdasListenerImpl : OnAdasListener {
     * @param sysTime     当前时间戳
     * @param taskConfirm 数据
     */
-    override fun onSweeperFutianCloudTaskConfirm(header: MessagePad.Header, messageType: SweeperCloudTask.MessageType, reqNo: String, sysTime: Long, taskConfirm: SweeperTaskConfirm.TaskConfirm) {
+    override fun onSweeperFutianCloudTaskConfirm(header: MessagePad.Header, messageType: SweeperCloudTask.MessageType, reqNo: String?, sysTime: Long, taskConfirm: SweeperTaskConfirm.TaskConfirm?) {
        CallerSweeperFutianCloudTaskListenerManager.invokeSweeperFutianCloudTaskConfirm(messageType, reqNo, sysTime, taskConfirm)
    }

@@ -659,7 +660,7 @@ class MoGoAdasListenerImpl : OnAdasListener {
     * @param sysTime        当前时间戳
     * @param taskStatusPush 数据
     */
-    override fun onSweeperFutianCloudTaskStatus(header: MessagePad.Header, messageType: SweeperCloudTask.MessageType, reqNo: String, sysTime: Long, taskStatusPush: SweeperTaskStatus.TaskStatusPush) {
+    override fun onSweeperFutianCloudTaskStatus(header: MessagePad.Header, messageType: SweeperCloudTask.MessageType, reqNo: String?, sysTime: Long, taskStatusPush: SweeperTaskStatus.TaskStatusPush?) {
        CallerSweeperFutianCloudTaskListenerManager.invokeSweeperFutianCloudTaskStatus(messageType, reqNo, sysTime, taskStatusPush)
    }

@@ -672,7 +673,7 @@ class MoGoAdasListenerImpl : OnAdasListener {
     * @param sysTime     当前时间戳
     * @param stopTaskReq 数据
     */
-    override fun onSweeperFutianCloudTaskStop(header: MessagePad.Header, messageType: SweeperCloudTask.MessageType, reqNo: String, sysTime: Long, stopTaskReq: SweeperTaskStop.StopTaskReq) {
+    override fun onSweeperFutianCloudTaskStop(header: MessagePad.Header, messageType: SweeperCloudTask.MessageType, reqNo: String?, sysTime: Long, stopTaskReq: SweeperTaskStop.StopTaskReq?) {
        CallerSweeperFutianCloudTaskListenerManager.invokeSweeperFutianCloudTaskStop(messageType, reqNo, sysTime, stopTaskReq)
    }

@@ -686,7 +687,7 @@ class MoGoAdasListenerImpl : OnAdasListener {
     * @param sysTime               当前时间戳
     * @param suspendResumeTaskResp 数据
     */
-    override fun onSweeperFutianCloudTaskSuspendResume(header: MessagePad.Header, messageType: SweeperCloudTask.MessageType, reqNo: String, sysTime: Long, suspendResumeTaskResp: SweeperTaskSuspendResume.SuspendResumeTaskResp) {
+    override fun onSweeperFutianCloudTaskSuspendResume(header: MessagePad.Header, messageType: SweeperCloudTask.MessageType, reqNo: String?, sysTime: Long, suspendResumeTaskResp: SweeperTaskSuspendResume.SuspendResumeTaskResp?) {
        CallerSweeperFutianCloudTaskListenerManager.invokeSweeperFutianCloudTaskSuspendResume(messageType, reqNo, sysTime, suspendResumeTaskResp)
    }

@@ -699,7 +700,7 @@ class MoGoAdasListenerImpl : OnAdasListener {
     * @param sysTime        当前时间戳
     * @param isBootableResp 数据
     */
-    override fun onSweeperFutianCloudBootable(header: MessagePad.Header, messageType: SweeperCloudTask.MessageType, reqNo: String, sysTime: Long, isBootableResp: SweeperBootable.IsBootableResp) {
+    override fun onSweeperFutianCloudBootable(header: MessagePad.Header, messageType: SweeperCloudTask.MessageType, reqNo: String?, sysTime: Long, isBootableResp: SweeperBootable.IsBootableResp?) {
        CallerSweeperFutianCloudTaskListenerManager.invokeSweeperFutianCloudBootable(messageType, reqNo, sysTime, isBootableResp)
    }

@@ -712,10 +713,20 @@ class MoGoAdasListenerImpl : OnAdasListener {
     * @param sysTime           当前时间戳
     * @param bigTaskStatusPush 数据
     */
-    override fun onSweeperFutianCloudBigTaskStatus(header: MessagePad.Header, messageType: SweeperCloudTask.MessageType, reqNo: String, sysTime: Long, bigTaskStatusPush: SweeperBigTaskStatus.BigTaskStatusPush) {
+    override fun onSweeperFutianCloudBigTaskStatus(header: MessagePad.Header, messageType: SweeperCloudTask.MessageType, reqNo: String?, sysTime: Long, bigTaskStatusPush: SweeperBigTaskStatus.BigTaskStatusPush?) {
        CallerSweeperFutianCloudTaskListenerManager.invokeSweeperFutianCloudBigTaskStatus(messageType, reqNo, sysTime, bigTaskStatusPush)
    }

+    /**
+     * 清扫车云端任务未知类型
+     *
+     * @param header 头
+     * @param bytes  原始数据
+     */
+    override fun onSweeperFutianCloudTaskUnknown(header: MessagePad.Header, bytes: ByteArray) {
+        CallerSweeperFutianCloudTaskListenerManager.invokeSweeperFutianCloudTaskUnknown(bytes)
+    }
+
    /**
     * Bag管理应答
     *
--- a/core/mogo-core-function-api/src/main/java/com/mogo/eagle/core/function/api/autopilot/IMoGoSweeperFutianCloudTaskListener.kt
+++ b/core/mogo-core-function-api/src/main/java/com/mogo/eagle/core/function/api/autopilot/IMoGoSweeperFutianCloudTaskListener.kt
@@ -8,6 +8,7 @@ import com.zhjt.mogo.adas.data.sweeper.task.big.SweeperBigTaskStatus.BigTaskStat
 import com.zhjt.mogo.adas.data.sweeper.task.confirm.SweeperTaskConfirm.TaskConfirm
 import com.zhjt.mogo.adas.data.sweeper.task.status.SweeperTaskStatus.TaskStatusPush
 import com.zhjt.mogo.adas.data.sweeper.task.stop.SweeperTaskStop.StopTaskReq
+import mogo.telematics.pad.MessagePad

 /**
 * 清扫车（福田）云端任务接口
@@ -23,7 +24,7 @@ interface IMoGoSweeperFutianCloudTaskListener {
     * @param sysTime     当前时间戳
     * @param taskInfo    数据
     */
-    fun onSweeperFutianCloudTask(messageType: SweeperCloudTask.MessageType, reqNo: String, sysTime: Long, taskInfo: SweeperTask.TaskInfo)
+    fun onSweeperFutianCloudTask(messageType: SweeperCloudTask.MessageType, reqNo: String?, sysTime: Long, taskInfo: SweeperTask.TaskInfo?)

    /**
     * 2、云端下发子任务，请求pad确认（type：100002）-> sweeper_task_confirm.proto
@@ -33,7 +34,7 @@ interface IMoGoSweeperFutianCloudTaskListener {
     * @param sysTime     当前时间戳
     * @param taskConfirm 数据
     */
-    fun onSweeperFutianCloudTaskConfirm(messageType: SweeperCloudTask.MessageType, reqNo: String, sysTime: Long, taskConfirm: TaskConfirm)
+    fun onSweeperFutianCloudTaskConfirm(messageType: SweeperCloudTask.MessageType, reqNo: String?, sysTime: Long, taskConfirm: TaskConfirm?)

    /**
     * 3、云端下发任务状态到pad（type：100003）-> sweeper_task_status.proto
@@ -43,7 +44,7 @@ interface IMoGoSweeperFutianCloudTaskListener {
     * @param sysTime        当前时间戳
     * @param taskStatusPush 数据
     */
-    fun onSweeperFutianCloudTaskStatus(messageType: SweeperCloudTask.MessageType, reqNo: String, sysTime: Long, taskStatusPush: TaskStatusPush)
+    fun onSweeperFutianCloudTaskStatus(messageType: SweeperCloudTask.MessageType, reqNo: String?, sysTime: Long, taskStatusPush: TaskStatusPush?)

    /**
     * 4、云端请求pad结束任务（type：100004）-> sweeper_task_stop.proto
@@ -53,7 +54,7 @@ interface IMoGoSweeperFutianCloudTaskListener {
     * @param sysTime     当前时间戳
     * @param stopTaskReq 数据
     */
-    fun onSweeperFutianCloudTaskStop(messageType: SweeperCloudTask.MessageType, reqNo: String, sysTime: Long, stopTaskReq: StopTaskReq)
+    fun onSweeperFutianCloudTaskStop(messageType: SweeperCloudTask.MessageType, reqNo: String?, sysTime: Long, stopTaskReq: StopTaskReq?)

    /**
     * 5、pad请求挂起任务（type：100005）-> sweeper_task_suspend_resume.proto
@@ -64,7 +65,7 @@ interface IMoGoSweeperFutianCloudTaskListener {
     * @param sysTime               当前时间戳
     * @param suspendResumeTaskResp 数据
     */
-    fun onSweeperFutianCloudTaskSuspendResume(messageType: SweeperCloudTask.MessageType, reqNo: String, sysTime: Long, suspendResumeTaskResp: SuspendResumeTaskResp)
+    fun onSweeperFutianCloudTaskSuspendResume(messageType: SweeperCloudTask.MessageType, reqNo: String?, sysTime: Long, suspendResumeTaskResp: SuspendResumeTaskResp?)

    /**
     * 8、接管后回自驾-pad上报状态给云端 云端下发启动自驾（type: 100008）-> sweeper_autopilot.proto
@@ -74,7 +75,7 @@ interface IMoGoSweeperFutianCloudTaskListener {
     * @param sysTime        当前时间戳
     * @param isBootableResp 数据
     */
-    fun onSweeperFutianCloudBootable(messageType: SweeperCloudTask.MessageType, reqNo: String, sysTime: Long, isBootableResp: IsBootableResp)
+    fun onSweeperFutianCloudBootable(messageType: SweeperCloudTask.MessageType, reqNo: String?, sysTime: Long, isBootableResp: IsBootableResp?)

    /**
     * 9、云端下发pad大任务状态（type: 100009）-> sweeper_big_task_status.proto
@@ -84,6 +85,12 @@ interface IMoGoSweeperFutianCloudTaskListener {
     * @param sysTime           当前时间戳
     * @param bigTaskStatusPush 数据
     */
-    fun onSweeperFutianCloudBigTaskStatus(messageType: SweeperCloudTask.MessageType, reqNo: String, sysTime: Long, bigTaskStatusPush: BigTaskStatusPush)
+    fun onSweeperFutianCloudBigTaskStatus(messageType: SweeperCloudTask.MessageType, reqNo: String?, sysTime: Long, bigTaskStatusPush: BigTaskStatusPush?)

+    /**
+     * 清扫车云端任务未知类型
+     *
+     * @param bytes  原始数据
+     */
+    fun onSweeperFutianCloudTaskUnknown(bytes: ByteArray)
 }
--- a/core/mogo-core-function-call/src/main/java/com/mogo/eagle/core/function/call/autopilot/CallerSweeperFutianCloudTaskListenerManager.kt
+++ b/core/mogo-core-function-call/src/main/java/com/mogo/eagle/core/function/call/autopilot/CallerSweeperFutianCloudTaskListenerManager.kt
@@ -25,7 +25,7 @@ object CallerSweeperFutianCloudTaskListenerManager : CallerBase<IMoGoSweeperFuti
     * @param sysTime     当前时间戳
     * @param taskInfo    数据
     */
-    fun invokeSweeperFutianCloudTask(messageType: SweeperCloudTask.MessageType, reqNo: String, sysTime: Long, taskInfo: SweeperTask.TaskInfo) {
+    fun invokeSweeperFutianCloudTask(messageType: SweeperCloudTask.MessageType, reqNo: String?, sysTime: Long, taskInfo: SweeperTask.TaskInfo?) {
        M_LISTENERS.forEach {
            val listener = it.value
            listener.onSweeperFutianCloudTask(messageType, reqNo, sysTime, taskInfo)
@@ -40,7 +40,7 @@ object CallerSweeperFutianCloudTaskListenerManager : CallerBase<IMoGoSweeperFuti
     * @param sysTime     当前时间戳
     * @param taskConfirm 数据
     */
-    fun invokeSweeperFutianCloudTaskConfirm(messageType: SweeperCloudTask.MessageType, reqNo: String, sysTime: Long, taskConfirm: SweeperTaskConfirm.TaskConfirm) {
+    fun invokeSweeperFutianCloudTaskConfirm(messageType: SweeperCloudTask.MessageType, reqNo: String?, sysTime: Long, taskConfirm: SweeperTaskConfirm.TaskConfirm?) {
        M_LISTENERS.forEach {
            val listener = it.value
            listener.onSweeperFutianCloudTaskConfirm(messageType, reqNo, sysTime, taskConfirm)
@@ -55,7 +55,7 @@ object CallerSweeperFutianCloudTaskListenerManager : CallerBase<IMoGoSweeperFuti
     * @param sysTime        当前时间戳
     * @param taskStatusPush 数据
     */
-    fun invokeSweeperFutianCloudTaskStatus(messageType: SweeperCloudTask.MessageType, reqNo: String, sysTime: Long, taskStatusPush: SweeperTaskStatus.TaskStatusPush) {
+    fun invokeSweeperFutianCloudTaskStatus(messageType: SweeperCloudTask.MessageType, reqNo: String?, sysTime: Long, taskStatusPush: SweeperTaskStatus.TaskStatusPush?) {
        M_LISTENERS.forEach {
            val listener = it.value
            listener.onSweeperFutianCloudTaskStatus(messageType, reqNo, sysTime, taskStatusPush)
@@ -70,7 +70,7 @@ object CallerSweeperFutianCloudTaskListenerManager : CallerBase<IMoGoSweeperFuti
     * @param sysTime     当前时间戳
     * @param stopTaskReq 数据
     */
-    fun invokeSweeperFutianCloudTaskStop(messageType: SweeperCloudTask.MessageType, reqNo: String, sysTime: Long, stopTaskReq: SweeperTaskStop.StopTaskReq) {
+    fun invokeSweeperFutianCloudTaskStop(messageType: SweeperCloudTask.MessageType, reqNo: String?, sysTime: Long, stopTaskReq: SweeperTaskStop.StopTaskReq?) {
        M_LISTENERS.forEach {
            val listener = it.value
            listener.onSweeperFutianCloudTaskStop(messageType, reqNo, sysTime, stopTaskReq)
@@ -86,7 +86,7 @@ object CallerSweeperFutianCloudTaskListenerManager : CallerBase<IMoGoSweeperFuti
     * @param sysTime               当前时间戳
     * @param suspendResumeTaskResp 数据
     */
-    fun invokeSweeperFutianCloudTaskSuspendResume(messageType: SweeperCloudTask.MessageType, reqNo: String, sysTime: Long, suspendResumeTaskResp: SweeperTaskSuspendResume.SuspendResumeTaskResp) {
+    fun invokeSweeperFutianCloudTaskSuspendResume(messageType: SweeperCloudTask.MessageType, reqNo: String?, sysTime: Long, suspendResumeTaskResp: SweeperTaskSuspendResume.SuspendResumeTaskResp?) {
        M_LISTENERS.forEach {
            val listener = it.value
            listener.onSweeperFutianCloudTaskSuspendResume(messageType, reqNo, sysTime, suspendResumeTaskResp)
@@ -101,7 +101,7 @@ object CallerSweeperFutianCloudTaskListenerManager : CallerBase<IMoGoSweeperFuti
     * @param sysTime        当前时间戳
     * @param isBootableResp 数据
     */
-    fun invokeSweeperFutianCloudBootable(messageType: SweeperCloudTask.MessageType, reqNo: String, sysTime: Long, isBootableResp: SweeperBootable.IsBootableResp) {
+    fun invokeSweeperFutianCloudBootable(messageType: SweeperCloudTask.MessageType, reqNo: String?, sysTime: Long, isBootableResp: SweeperBootable.IsBootableResp?) {
        M_LISTENERS.forEach {
            val listener = it.value
            listener.onSweeperFutianCloudBootable(messageType, reqNo, sysTime, isBootableResp)
@@ -116,10 +116,23 @@ object CallerSweeperFutianCloudTaskListenerManager : CallerBase<IMoGoSweeperFuti
     * @param sysTime           当前时间戳
     * @param bigTaskStatusPush 数据
     */
-    fun invokeSweeperFutianCloudBigTaskStatus(messageType: SweeperCloudTask.MessageType, reqNo: String, sysTime: Long, bigTaskStatusPush: SweeperBigTaskStatus.BigTaskStatusPush) {
+    fun invokeSweeperFutianCloudBigTaskStatus(messageType: SweeperCloudTask.MessageType, reqNo: String?, sysTime: Long, bigTaskStatusPush: SweeperBigTaskStatus.BigTaskStatusPush?) {
        M_LISTENERS.forEach {
            val listener = it.value
            listener.onSweeperFutianCloudBigTaskStatus(messageType, reqNo, sysTime, bigTaskStatusPush)
        }
    }
+
+    /**
+     * 清扫车云端任务未知类型
+     *
+     * @param header 头
+     * @param bytes  原始数据
+     */
+    fun invokeSweeperFutianCloudTaskUnknown(bytes: ByteArray) {
+        M_LISTENERS.forEach {
+            val listener = it.value
+            listener.onSweeperFutianCloudTaskUnknown(bytes)
+        }
+    }
 }