[change] 更新清扫车PB以及接口

libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/AdasChannel.java

@@ -49,6 +49,7 @@ import java.util.TimerTask;
 import java.util.concurrent.atomic.AtomicInteger;
 
 import chassis.SpecialVehicleTaskCmdOuterClass;
+import common.HeaderOuterClass;
 import mogo.telematics.pad.MessagePad;
 import okio.ByteString;
 
@@ -74,6 +75,7 @@ public class AdasChannel implements IAdasNetCommApi, FpgaSocket.IWebSocketConnec
     private DispatchHandler dispatchHandler;//分发
     private DispatchHandler dispatchHandlerPointCloud;//原始的点云数据分发
     private Timer checkCompatibilityTimer;//检查版本兼容性定时器 连接成功后5秒内等待工控机发送配置信息
+    private int seqSpecialVehicle = 0;//特种车辆命令发送次数
     /**
      * 与工控机链接状态
      */
@@ -407,6 +409,7 @@ public class AdasChannel implements IAdasNetCommApi, FpgaSocket.IWebSocketConnec
         ipcConnectedIp = ipAddress;
         ipcConnectedPort = port;
         subscribeInterface = new SubscribeInterface(this);
+        seqSpecialVehicle = 0;
         updateConnectStatus(Constants.IPC_CONNECTION_STATUS.CONNECTED, "已连接");
         //根据连接配置 进行接口订阅或取消订阅配置
         if (adasOptions != null) {
@@ -1047,11 +1050,10 @@ public class AdasChannel implements IAdasNetCommApi, FpgaSocket.IWebSocketConnec
      */
     @Override
     public boolean sendRoboSweeperFuTianTaskCmd(SpecialVehicleTaskCmdOuterClass.RoboSweeperFuTianTaskCmd fuTianTaskCmd) {
-        SpecialVehicleTaskCmdOuterClass.SpecialVehicleTaskCmd cmd = SpecialVehicleTaskCmdOuterClass.SpecialVehicleTaskCmd
+        SpecialVehicleTaskCmdOuterClass.SpecialVehicleTaskCmd.Builder cmdBuild = SpecialVehicleTaskCmdOuterClass.SpecialVehicleTaskCmd
                 .newBuilder()
-                .setRoboSweeperFutianTaskCmd(fuTianTaskCmd)
-                .build();
-        return sendSpecialVehicleTaskCmd(cmd);
+                .setRoboSweeperFutianTaskCmd(fuTianTaskCmd);
+        return sendSpecialVehicleTaskCmd(cmdBuild);
     }
 
     /**
@@ -1062,22 +1064,36 @@ public class AdasChannel implements IAdasNetCommApi, FpgaSocket.IWebSocketConnec
      */
     @Override
     public boolean sendRoboVanSkywellTaskCmd(SpecialVehicleTaskCmdOuterClass.RoboVanSkywellTaskCmd vanSkywellTaskCmd) {
-        SpecialVehicleTaskCmdOuterClass.SpecialVehicleTaskCmd cmd = SpecialVehicleTaskCmdOuterClass.SpecialVehicleTaskCmd
+        SpecialVehicleTaskCmdOuterClass.SpecialVehicleTaskCmd.Builder cmdBuild = SpecialVehicleTaskCmdOuterClass.SpecialVehicleTaskCmd
                 .newBuilder()
-                .setRoboVanSkywellTaskCmd(vanSkywellTaskCmd)
-                .build();
-        return sendSpecialVehicleTaskCmd(cmd);
+                .setRoboVanSkywellTaskCmd(vanSkywellTaskCmd);
+        return sendSpecialVehicleTaskCmd(cmdBuild);
     }
 
     /**
      * 特种车辆命令下发
      *
-     * @param cmd 命令
+     * @param cmdBuild 命令
      * @return boolean
      */
     @Override
-    public boolean sendSpecialVehicleTaskCmd(SpecialVehicleTaskCmdOuterClass.SpecialVehicleTaskCmd cmd) {
-        return sendPBMessage(MessageType.TYPE_SEND_SPECIAL_VEHICLE_TASK_CMD.typeCode, cmd.toByteArray());
+    public boolean sendSpecialVehicleTaskCmd(SpecialVehicleTaskCmdOuterClass.SpecialVehicleTaskCmd.Builder cmdBuild) {
+        long t = System.currentTimeMillis();
+        int sec = (int) (t / 1000);
+        int nsec = (int) (t % 1000 * 1000000);
+        HeaderOuterClass.Time time = HeaderOuterClass.Time
+                .newBuilder()
+                .setSec(sec)
+                .setNsec(nsec)
+                .build();
+        HeaderOuterClass.Header header = HeaderOuterClass.Header.newBuilder()
+                .setSeq(++seqSpecialVehicle)
+                .setStamp(time)
+                .setFrameId("special_vehicle_task_cmd")
+                .setModuleName("EagleEye")
+                .build();
+        cmdBuild.setHeader(header);
+        return sendPBMessage(MessageType.TYPE_SEND_SPECIAL_VEHICLE_TASK_CMD.typeCode, cmdBuild.build().toByteArray());
     }
 
 }

libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/AdasManager.java

@@ -572,12 +572,12 @@ public class AdasManager implements IAdasNetCommApi {
     /**
      * 特种车辆命令下发
      *
-     * @param cmd 命令
+     * @param cmdBuild 命令
      * @return boolean
      */
     @Override
-    public boolean sendSpecialVehicleTaskCmd(SpecialVehicleTaskCmdOuterClass.SpecialVehicleTaskCmd cmd) {
-        return mChannel != null && mChannel.sendSpecialVehicleTaskCmd(cmd);
+    public boolean sendSpecialVehicleTaskCmd(SpecialVehicleTaskCmdOuterClass.SpecialVehicleTaskCmd.Builder cmdBuild) {
+        return mChannel != null && mChannel.sendSpecialVehicleTaskCmd(cmdBuild);
     }
 
     /**

libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/IAdasNetCommApi.java

@@ -295,10 +295,10 @@ public interface IAdasNetCommApi {
     /**
      * 特种车辆命令下发
      *
-     * @param cmd 命令
+     * @param cmdBuild 命令
      * @return boolean
      */
-    boolean sendSpecialVehicleTaskCmd(SpecialVehicleTaskCmdOuterClass.SpecialVehicleTaskCmd cmd);
+    boolean sendSpecialVehicleTaskCmd(SpecialVehicleTaskCmdOuterClass.SpecialVehicleTaskCmd.Builder cmdBuild);
 
     // TODO 需求暂停 待讨论
 //    boolean getRoutes();