merge

core/mogo-core-function-api/src/main/java/com/mogo/eagle/core/function/api/autopilot/IMoGoAutopilotProvider.kt

@@ -1,5 +1,6 @@
 package com.mogo.eagle.core.function.api.autopilot
 
+import chassis.SpecialVehicleTaskCmdOuterClass
 import com.mogo.eagle.core.data.autopilot.AutopilotControlParameters
 import com.mogo.eagle.core.data.trafficlight.TrafficLightResult
 import com.mogo.eagle.core.function.api.base.IMoGoFunctionServerProvider
@@ -277,4 +278,9 @@ interface IMoGoAutopilotProvider : IMoGoFunctionServerProvider {
      * @return boolean
      */
     fun sendTripInfo(type: Int, lineName: String, departureStopName: String,arrivalStopName: String, isLastStop: Boolean)
+
+   /**
+    * 福田清扫车业务指令下发
+    */
+   fun sendSweeperFuTianTaskCmd(fuTianTaskCmd: SpecialVehicleTaskCmdOuterClass.RoboSweeperFuTianTaskCmd)
 }

core/mogo-core-function-api/src/main/java/com/mogo/eagle/core/function/api/autopilot/IMoGoAutopilotStatisticsListener.kt

@@ -0,0 +1,16 @@
+package com.mogo.eagle.core.function.api.autopilot
+
+import com.zhidao.support.adas.high.bean.AutopilotStatistics
+
+
+interface IMoGoAutopilotStatisticsListener {
+
+    /**
+     * 启动自动驾驶状态统计
+     * 触发机制：下发启动自动驾驶命令，根据MAP返回状态判断成功或失败
+     * 统计四种状态：成功 失败 取消 超时
+     *
+     * @param statistics 统计数据
+     */
+    fun onAutopilotStatistics(statistics: AutopilotStatistics?)
+}

core/mogo-core-function-api/src/main/java/com/mogo/eagle/core/function/api/autopilot/IMoGoAutopilotVehicleStateListener.kt

@@ -1,7 +1,7 @@
 package com.mogo.eagle.core.function.api.autopilot
 
 import chassis.Chassis
-import mogo.telematics.pad.MessagePad
+import chassis.VehicleStateOuterClass
 
 /**
  * 车辆底盘 数据 回调监听
@@ -52,4 +52,9 @@ interface IMoGoAutopilotVehicleStateListener {
      * 刹车
      */
     fun onAutopilotBrake(brake: Float)
+
+    /**
+     * 清扫车（福田）清扫控制系统状态
+     */
+    fun onSweeperFutianCleanSystemState(cleanSystemState: VehicleStateOuterClass.SweeperFuTianCleanSystemState)
 }

core/mogo-core-function-api/src/main/java/com/mogo/eagle/core/function/api/autopilot/IMoGoStartAutopilotFailedListener.kt

@@ -0,0 +1,18 @@
+package com.mogo.eagle.core.function.api.autopilot
+
+import com.zhidao.support.adas.high.bean.AutopilotAbility
+import mogo_msg.MogoReportMsg
+
+
+interface IMoGoStartAutopilotFailedListener {
+
+    /**
+     * 启动自动驾驶失败回调
+     * 根据MAP 系统监控状态返回过滤
+     * message.getMsg() 获取详细错误说明
+     * message.getCode() 可用于判断属于什么类型
+     *
+     * @param message 数据
+     */
+    fun onStartAutopilotFailed(message: MogoReportMsg.MogoReportMessage?)
+}