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zhongchao
2022-11-21 14:47:53 +08:00
parent b119e62fe5 2b38bf67c0
commit 1fec32f633
316 changed files with 11353 additions and 191 deletions
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8
core/mogo-core-function-call/src/main/java/com/mogo/eagle/core/function/call/autopilot/CallerAutoPilotManager.kt
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@@ -1,6 +1,7 @@
package com.mogo.eagle.core.function.call.autopilot
import android.os.SystemClock
import chassis.SpecialVehicleTaskCmdOuterClass
import com.mogo.eagle.core.data.autopilot.AutopilotControlParameters
import com.mogo.eagle.core.data.config.FunctionBuildConfig
import com.mogo.eagle.core.data.constants.MogoServicePaths
@@ -393,4 +394,11 @@ object CallerAutoPilotManager {
fun sendStatusQueryReq() {
providerApi?.sendStatusQueryReq()
}
/**
* 福田清扫车业务指令下发
*/
fun sendSweeperFuTianTaskCmd(fuTianTaskCmd: SpecialVehicleTaskCmdOuterClass.RoboSweeperFuTianTaskCmd) {
providerApi?.sendSweeperFuTianTaskCmd(fuTianTaskCmd)
}
}

60
core/mogo-core-function-call/src/main/java/com/mogo/eagle/core/function/call/autopilot/CallerAutopilotStatisticsListenerManager.kt Normal file
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@@ -0,0 +1,60 @@
package com.mogo.eagle.core.function.call.autopilot
import androidx.annotation.Nullable
import com.mogo.eagle.core.function.api.autopilot.IMoGoAutopilotStatisticsListener
import com.mogo.eagle.core.function.call.base.CallerBase
import com.zhidao.support.adas.high.bean.AutopilotStatistics
import java.util.concurrent.ConcurrentHashMap
object CallerAutopilotStatisticsListenerManager : CallerBase() {
private val M_AUTOPILOT_STATISTICS_LISTENER: ConcurrentHashMap<String, IMoGoAutopilotStatisticsListener> =
ConcurrentHashMap()
/**
* 添加监听
* @param tag 标记，用来注销监听使用
* @param listener 监听回调
*/
fun addListener(
@Nullable tag: String,
@Nullable listener: IMoGoAutopilotStatisticsListener
) {
if (M_AUTOPILOT_STATISTICS_LISTENER.containsKey(tag)) {
return
}
M_AUTOPILOT_STATISTICS_LISTENER[tag] = listener
}
/**
* 删除监听
* @param tag 标记，用来注销监听使用
*/
fun removeListener(@Nullable tag: String) {
if (!M_AUTOPILOT_STATISTICS_LISTENER.containsKey(tag)) {
return
}
M_AUTOPILOT_STATISTICS_LISTENER.remove(tag)
}
/**
* 删除自动驾驶按钮选中监听
* @param listener 要删除的监听对象
*/
fun removeListener(@Nullable listener: IMoGoAutopilotStatisticsListener) {
M_AUTOPILOT_STATISTICS_LISTENER.forEach {
if (it.value == listener) {
M_AUTOPILOT_STATISTICS_LISTENER.remove(it.key)
}
}
}
@Synchronized
fun invokeAutopilotStatistics(statistics: AutopilotStatistics?) {
M_AUTOPILOT_STATISTICS_LISTENER.forEach {
val listener = it.value
listener.onAutopilotStatistics(statistics)
}
}
}

11
core/mogo-core-function-call/src/main/java/com/mogo/eagle/core/function/call/autopilot/CallerAutopilotVehicleStateListenerManager.kt
View File

@@ -2,6 +2,7 @@ package com.mogo.eagle.core.function.call.autopilot
import androidx.annotation.Nullable
import chassis.Chassis
import chassis.VehicleStateOuterClass
import com.mogo.eagle.core.function.api.autopilot.IMoGoAutopilotVehicleStateListener
import com.mogo.eagle.core.function.call.base.CallerBase
import mogo.telematics.pad.MessagePad
@@ -132,6 +133,16 @@ object CallerAutopilotVehicleStateListenerManager : CallerBase() {
}
}
/**
* clean system state 清扫车（福田）清扫控制系统状态
*/
fun invokeSweeperFutianCleanSystemState(cleanSystemState: VehicleStateOuterClass.SweeperFuTianCleanSystemState){
M_AUTOPILOT_VEHICLE_LISTENERS.forEach{
val listener = it.value
listener.onSweeperFutianCleanSystemState(cleanSystemState)
}
}
/**
* 工控机时间回调

63
core/mogo-core-function-call/src/main/java/com/mogo/eagle/core/function/call/autopilot/CallerStartAutopilotFailedListenerManager.kt Normal file
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@@ -0,0 +1,63 @@
package com.mogo.eagle.core.function.call.autopilot
import androidx.annotation.Nullable
import com.mogo.eagle.core.function.api.autopilot.IMoGoStartAutopilotFailedListener
import com.mogo.eagle.core.function.call.base.CallerBase
import mogo_msg.MogoReportMsg
import java.util.concurrent.ConcurrentHashMap
/**
* 启动自动驾驶失败监听
* 注册/取消注册
*/
object CallerStartAutopilotFailedListenerManager : CallerBase() {
private val M_START_AUTOPILOT_FAILED_LISTENER: ConcurrentHashMap<String, IMoGoStartAutopilotFailedListener> =
ConcurrentHashMap()
/**
* 添加监听
* @param tag 标记，用来注销监听使用
* @param listener 监听回调
*/
fun addListener(
@Nullable tag: String,
@Nullable listener: IMoGoStartAutopilotFailedListener
) {
if (M_START_AUTOPILOT_FAILED_LISTENER.containsKey(tag)) {
return
}
M_START_AUTOPILOT_FAILED_LISTENER[tag] = listener
}
/**
* 删除监听
* @param tag 标记，用来注销监听使用
*/
fun removeListener(@Nullable tag: String) {
if (!M_START_AUTOPILOT_FAILED_LISTENER.containsKey(tag)) {
return
}
M_START_AUTOPILOT_FAILED_LISTENER.remove(tag)
}
/**
* 删除监听
* @param listener 要删除的监听对象
*/
fun removeListener(@Nullable listener: IMoGoStartAutopilotFailedListener) {
M_START_AUTOPILOT_FAILED_LISTENER.forEach {
if (it.value == listener) {
M_START_AUTOPILOT_FAILED_LISTENER.remove(it.key)
}
}
}
@Synchronized
fun invokeStartAutopilotFailed(message: MogoReportMsg.MogoReportMessage?) {
M_START_AUTOPILOT_FAILED_LISTENER.forEach {
val listener = it.value
listener.onStartAutopilotFailed(message)
}
}
}