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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

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xinfengkun
2023-04-06 14:31:36 +08:00
parent 1c46f27af8
commit 1ce857a56f
5 changed files with 102 additions and 36 deletions
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23
libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/OnAdasListener.java
View File

@@ -1,6 +1,7 @@
package com.zhidao.support.adas.high;
import androidx.annotation.NonNull;
import androidx.annotation.Nullable;
import com.mogo.support.obu.ObuScene;
import com.zhidao.support.adas.high.common.ProtocolStatus;
@@ -273,7 +274,7 @@ public interface OnAdasListener {
* @param sysTime 当前时间戳
* @param taskInfo 数据
*/
void onSweeperFutianCloudTask(@NonNull MessagePad.Header header, @NonNull SweeperCloudTask.MessageType messageType, @NonNull String reqNo, long sysTime, @NonNull SweeperTask.TaskInfo taskInfo);
void onSweeperFutianCloudTask(@NonNull MessagePad.Header header, @NonNull SweeperCloudTask.MessageType messageType, @Nullable String reqNo, long sysTime, @Nullable SweeperTask.TaskInfo taskInfo);
/**
* 2、云端下发子任务，请求pad确认（type：100002）-> sweeper_task_confirm.proto
@@ -284,7 +285,7 @@ public interface OnAdasListener {
* @param sysTime 当前时间戳
* @param taskConfirm 数据
*/
void onSweeperFutianCloudTaskConfirm(@NonNull MessagePad.Header header, @NonNull SweeperCloudTask.MessageType messageType, @NonNull String reqNo, long sysTime, @NonNull SweeperTaskConfirm.TaskConfirm taskConfirm);
void onSweeperFutianCloudTaskConfirm(@NonNull MessagePad.Header header, @NonNull SweeperCloudTask.MessageType messageType, @Nullable String reqNo, long sysTime, @Nullable SweeperTaskConfirm.TaskConfirm taskConfirm);
/**
* 3、云端下发任务状态到pad（type：100003）-> sweeper_task_status.proto
@@ -295,7 +296,7 @@ public interface OnAdasListener {
* @param sysTime 当前时间戳
* @param taskStatusPush 数据
*/
void onSweeperFutianCloudTaskStatus(@NonNull MessagePad.Header header, @NonNull SweeperCloudTask.MessageType messageType, @NonNull String reqNo, long sysTime, @NonNull SweeperTaskStatus.TaskStatusPush taskStatusPush);
void onSweeperFutianCloudTaskStatus(@NonNull MessagePad.Header header, @NonNull SweeperCloudTask.MessageType messageType, @Nullable String reqNo, long sysTime, @Nullable SweeperTaskStatus.TaskStatusPush taskStatusPush);
/**
* 4、云端请求pad结束任务（type：100004）-> sweeper_task_stop.proto
@@ -306,7 +307,7 @@ public interface OnAdasListener {
* @param sysTime 当前时间戳
* @param stopTaskReq 数据
*/
void onSweeperFutianCloudTaskStop(@NonNull MessagePad.Header header, @NonNull SweeperCloudTask.MessageType messageType, @NonNull String reqNo, long sysTime, @NonNull SweeperTaskStop.StopTaskReq stopTaskReq);
void onSweeperFutianCloudTaskStop(@NonNull MessagePad.Header header, @NonNull SweeperCloudTask.MessageType messageType, @Nullable String reqNo, long sysTime, @Nullable SweeperTaskStop.StopTaskReq stopTaskReq);
/**
* 5、pad请求挂起任务（type：100005）-> sweeper_task_suspend_resume.proto
@@ -318,7 +319,7 @@ public interface OnAdasListener {
* @param sysTime 当前时间戳
* @param suspendResumeTaskResp 数据
*/
void onSweeperFutianCloudTaskSuspendResume(@NonNull MessagePad.Header header, @NonNull SweeperCloudTask.MessageType messageType, @NonNull String reqNo, long sysTime, @NonNull SweeperTaskSuspendResume.SuspendResumeTaskResp suspendResumeTaskResp);
void onSweeperFutianCloudTaskSuspendResume(@NonNull MessagePad.Header header, @NonNull SweeperCloudTask.MessageType messageType, @Nullable String reqNo, long sysTime, @Nullable SweeperTaskSuspendResume.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
@@ -329,7 +330,7 @@ public interface OnAdasListener {
* @param sysTime 当前时间戳
* @param isBootableResp 数据
*/
void onSweeperFutianCloudBootable(@NonNull MessagePad.Header header, @NonNull SweeperCloudTask.MessageType messageType, @NonNull String reqNo, long sysTime, @NonNull SweeperBootable.IsBootableResp isBootableResp);
void onSweeperFutianCloudBootable(@NonNull MessagePad.Header header, @NonNull SweeperCloudTask.MessageType messageType, @Nullable String reqNo, long sysTime, @Nullable SweeperBootable.IsBootableResp isBootableResp);
/**
* 9、云端下发pad大任务状态（type: 100009）-> sweeper_big_task_status.proto
@@ -340,7 +341,15 @@ public interface OnAdasListener {
* @param sysTime 当前时间戳
* @param bigTaskStatusPush 数据
*/
void onSweeperFutianCloudBigTaskStatus(@NonNull MessagePad.Header header, @NonNull SweeperCloudTask.MessageType messageType, @NonNull String reqNo, long sysTime, @NonNull SweeperBigTaskStatus.BigTaskStatusPush bigTaskStatusPush);
void onSweeperFutianCloudBigTaskStatus(@NonNull MessagePad.Header header, @NonNull SweeperCloudTask.MessageType messageType, @Nullable String reqNo, long sysTime, @Nullable SweeperBigTaskStatus.BigTaskStatusPush bigTaskStatusPush);
/**
* 清扫车云端任务未知类型
*
* @param header 头
* @param bytes 原始数据
*/
void onSweeperFutianCloudTaskUnknown(@NonNull MessagePad.Header header, @NonNull byte[] bytes);
/**
* Bag管理应答

42
libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/msg/SweeperCloudTaskMessage.java
View File

@@ -29,7 +29,8 @@ public class SweeperCloudTaskMessage extends MyAbstractMessageHandler {
@Override
public void handlerMsg(RawData raw, OnAdasListener adasListener) throws InvalidProtocolBufferException {
SweeperCloudTask.SweeperMessage message = SweeperCloudTask.SweeperMessage.parser().parseFrom(raw.originalData.toByteArray(), raw.getOffsetValue(), raw.getPackageLengthValue() - raw.getOffsetValue());
byte[] bytes = raw.originalData.toByteArray();
SweeperCloudTask.SweeperMessage message = SweeperCloudTask.SweeperMessage.parser().parseFrom(bytes, raw.getOffsetValue(), raw.getPackageLengthValue() - raw.getOffsetValue());
AdasChannel.calculateTimeConsumingOnDispatchRaw("清扫车云端任务调度", raw.receiveTime);
long nowTime = 0;
if (CupidLogUtils.isEnableLog())
@@ -40,36 +41,61 @@ public class SweeperCloudTaskMessage extends MyAbstractMessageHandler {
String reqNo = message.getReqNo(); //请求编号，响应请求时，使用请求方的请求编号
long sysTime = message.getSysTime(); //当前时间戳
ByteString payload = message.getPayload();
boolean isExistPayload = payload != null && !payload.isEmpty();
if (msgType == SweeperCloudTask.MessageType.CloudPushTask || msgType == SweeperCloudTask.MessageType.PadSendGetTaskReq) {
//1、云端下发大任务信息（type: 100001）-> sweeper_task.proto
//7、pad主动拉取当前车辆正在执行任务的完整信息（type：100007）-> sweeper_task.proto
SweeperTask.TaskInfo taskInfo = SweeperTask.TaskInfo.parseFrom(payload);
SweeperTask.TaskInfo taskInfo = null;
if (isExistPayload) {
taskInfo = SweeperTask.TaskInfo.parseFrom(payload);
}
adasListener.onSweeperFutianCloudTask(header, msgType, reqNo, sysTime, taskInfo);
} else if (msgType == SweeperCloudTask.MessageType.CloudPushTaskConfirm) {
//2、云端下发子任务，请求pad确认（type：100002）-> sweeper_task_confirm.proto
SweeperTaskConfirm.TaskConfirm taskConfirm = SweeperTaskConfirm.TaskConfirm.parseFrom(payload);
SweeperTaskConfirm.TaskConfirm taskConfirm = null;
if (isExistPayload) {
taskConfirm = SweeperTaskConfirm.TaskConfirm.parseFrom(payload);
}
adasListener.onSweeperFutianCloudTaskConfirm(header, msgType, reqNo, sysTime, taskConfirm);
} else if (msgType == SweeperCloudTask.MessageType.CloudPushTaskStatus) {
//3、云端下发任务状态到pad（type：100003）-> sweeper_task_status.proto
SweeperTaskStatus.TaskStatusPush taskStatusPush = SweeperTaskStatus.TaskStatusPush.parseFrom(payload);
SweeperTaskStatus.TaskStatusPush taskStatusPush = null;
if (isExistPayload) {
taskStatusPush = SweeperTaskStatus.TaskStatusPush.parseFrom(payload);
}
adasListener.onSweeperFutianCloudTaskStatus(header, msgType, reqNo, sysTime, taskStatusPush);
} else if (msgType == SweeperCloudTask.MessageType.CloudPushTaskStop) {
//4、云端请求pad结束任务（type：100004）-> sweeper_task_stop.proto
SweeperTaskStop.StopTaskReq stopTaskReq = SweeperTaskStop.StopTaskReq.parseFrom(payload);
SweeperTaskStop.StopTaskReq stopTaskReq = null;
if (isExistPayload) {
stopTaskReq = SweeperTaskStop.StopTaskReq.parseFrom(payload);
}
adasListener.onSweeperFutianCloudTaskStop(header, msgType, reqNo, sysTime, stopTaskReq);
} else if (msgType == SweeperCloudTask.MessageType.PadSendTaskSuspend || msgType == SweeperCloudTask.MessageType.PadSendTaskResume) {
//5、pad请求挂起任务（type：100005）-> sweeper_task_suspend_resume.proto
//6、pad请求恢复挂起的任务（type：100006）-> sweeper_task_suspend_resume.proto
SweeperTaskSuspendResume.SuspendResumeTaskResp suspendResumeTaskResp = SweeperTaskSuspendResume.SuspendResumeTaskResp.parseFrom(payload);
SweeperTaskSuspendResume.SuspendResumeTaskResp suspendResumeTaskResp = null;
if (isExistPayload) {
suspendResumeTaskResp = SweeperTaskSuspendResume.SuspendResumeTaskResp.parseFrom(payload);
}
adasListener.onSweeperFutianCloudTaskSuspendResume(header, msgType, reqNo, sysTime, suspendResumeTaskResp);
} else if (msgType == SweeperCloudTask.MessageType.PadSendBootable) {
//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
SweeperBootable.IsBootableResp isBootableResp = SweeperBootable.IsBootableResp.parseFrom(payload);
SweeperBootable.IsBootableResp isBootableResp = null;
if (isExistPayload) {
isBootableResp = SweeperBootable.IsBootableResp.parseFrom(payload);
}
adasListener.onSweeperFutianCloudBootable(header, msgType, reqNo, sysTime, isBootableResp);
} else if (msgType == SweeperCloudTask.MessageType.CloudPushBigTaskStatus) {
//9、云端下发pad大任务状态（type: 100009）-> sweeper_big_task_status.proto
SweeperBigTaskStatus.BigTaskStatusPush bigTaskStatusPush = SweeperBigTaskStatus.BigTaskStatusPush.parseFrom(payload);
SweeperBigTaskStatus.BigTaskStatusPush bigTaskStatusPush = null;
if (isExistPayload) {
bigTaskStatusPush = SweeperBigTaskStatus.BigTaskStatusPush.parseFrom(payload);
}
adasListener.onSweeperFutianCloudBigTaskStatus(header, msgType, reqNo, sysTime, bigTaskStatusPush);
} else {
//未知数据类型
adasListener.onSweeperFutianCloudTaskUnknown(header, bytes);
}
// adasListener.onBagManagerCmd(raw.getHeader(), bagManager);
}