[8.4.0]

[b4]
[和@yuelei 联调]

core/function-impl/mogo-core-function-datacenter/src/main/java/com/mogo/eagle/core/function/datacenter/autopilot/MoGoAutopilotControlProvider.kt

@@ -137,7 +137,7 @@ class MoGoAutopilotControlProvider :
 //                    .setType(Constants.SUBSCRIBE_TYPE.UNSUBSCRIBE)
 //                    .setMessageTypes(messageTypes).build()
 
-                // "192.168.1.102"
+                // "172.30.33.83"
                 val options = AdasOptions.newBuilder()
                         .setConnectionMode(AdasOptions.IPC_CONNECTION_MODE.PING)
                         .setPingAddressList(AdasManager.getInstance().pingAddressList)
@@ -445,6 +445,16 @@ class MoGoAutopilotControlProvider :
         }
     }
 
+    override fun sendTaskManagerRunningInfo(): Long {
+        return if (AdasManager.getInstance().ipcConnectionStatus == AdasConstants.IpcConnectionStatus.CONNECTED) {
+            val invokeResult = AdasManager.getInstance().sendTaskManagerRunningInfo()
+            invokeAutoPilotResult(if (invokeResult > -1) "无人化 获取正在执行的任务信息调用成功：${invokeResult}" else "获取正在执行的任务信息调用失败, socket 或者 rawPack 可能为空")
+            invokeResult
+        } else {
+            invokeAutoPilotResult("无人化 车机与工控机链接失败，无法开启自动驾驶")
+            -1L
+        }
+    }
 
     override fun sendTaskManagerAutopilotStart(taskId: Long, traj: Trajectory): Long {
         return if (AdasManager.getInstance().ipcConnectionStatus == AdasConstants.IpcConnectionStatus.CONNECTED) {

core/function-impl/mogo-core-function-datacenter/src/main/java/com/mogo/eagle/core/function/datacenter/autopilot/adapter/MoGoAdasListenerImpl.kt

@@ -83,6 +83,7 @@ import com.mogo.eagle.core.function.call.autopilot.CallerRoboBusJinlvM1StitchedV
 import com.mogo.eagle.core.function.call.autopilot.CallerSweeperFutianCleanSystemListenerManager
 import com.mogo.eagle.core.function.call.autopilot.CallerSweeperFutianCloudTaskListenerManager
 import com.mogo.eagle.core.function.call.autopilot.CallerTakeoverListenerManager
+import com.mogo.eagle.core.function.call.autopilot.CallerTaskListenerManager
 import com.mogo.eagle.core.function.call.autopilot.CallerV2XListenerManager
 import com.mogo.eagle.core.function.call.autopilot.CallerV2nNioEventListenerManager
 import com.mogo.eagle.core.function.call.autopilot.CallerVlmManager
@@ -131,6 +132,7 @@ import com.zhjt.mogo.adas.data.sweeper.task.confirm.SweeperTaskConfirm
 import com.zhjt.mogo.adas.data.sweeper.task.s_r.SweeperTaskSuspendResume
 import com.zhjt.mogo.adas.data.sweeper.task.status.SweeperTaskStatus
 import com.zhjt.mogo.adas.data.sweeper.task.stop.SweeperTaskStop
+import com.zhjt.mogo.adas.unmanned.task.dto.cmd.TaskLocationQueryResponse
 import com.zhjt.mogo.adas.utils.ByteUtil
 import com.zhjt.service.chain.ChainLog
 import fault_management.FmInfo
@@ -1700,6 +1702,10 @@ class MoGoAdasListenerImpl : OnAdasListener {
     override fun onAdasTaskManagerComplete(taskId: Long?, userId: Long?, status: Int?, reason: String?, completedTime: Date?, mileage: BigDecimal?) {
     }
 
+    override fun onAdasTaskManagerRunning(taskId: Long?, lineId: Long?, taskLocationQueryResponse: TaskLocationQueryResponse?){
+        CallerTaskListenerManager.invokeRunningTaskInfo(taskId,lineId,taskLocationQueryResponse)
+    }
+
     /**
      * 是否可以启动自动驾驶
      * 使用方法查看：app_ipc_monitoring/uiMainActivity/onAutopilotAbility

core/mogo-core-data/src/main/java/com/mogo/eagle/core/data/autopilot/AutopilotStatusInfo.kt

@@ -12,7 +12,7 @@ import java.io.Serializable
  */
 open class AutopilotStatusInfo : Serializable, Cloneable {
     /**
-     * 当前链接的IP地址, 默认地址 192.168.1.102
+     * 当前链接的IP地址, 默认地址 172.30.33.83
      */
     var connectIP: String? = null
 

core/mogo-core-data/src/main/java/com/mogo/eagle/core/data/config/FunctionBuildConfig.kt

@@ -181,11 +181,11 @@ object FunctionBuildConfig {
     /**
      * 配置连接工控机的IP地址
      * 小巴车 192.168.8.102
-     * 出租车 192.168.1.102
+     * 出租车 172.30.33.83
      */
     @Volatile
     @JvmField
-    var adasConnectIP = "192.168.1.102"
+    var adasConnectIP = "172.30.33.83"
 
     /**
      * acc 加速度值阈值

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

@@ -45,6 +45,8 @@ interface IMoGoAutopilotControlProvider : IMoGoFunctionServerProvider {
      */
     fun startAutoPilot(controlParameters: AutopilotControlParameters): Long
 
+    fun sendTaskManagerRunningInfo(): Long
+
     fun sendTaskManagerAutopilotStart(taskId: Long, traj: Trajectory): Long
 
     fun sendTaskManagerAutopilotContinue(trackId: Long, taskId: Long, stationId: Long, stationName: String, stationSeq: Int, lon: Double, lat: Double): Long

core/mogo-core-function-call/src/main/java/com/mogo/eagle/core/function/call/autopilot/CallerAutoPilotControlManager.kt

@@ -92,6 +92,17 @@ object CallerAutoPilotControlManager {
         return sessionId
     }
 
+    /**
+     * 开启自动驾驶
+     *
+     * @param controlParameters 开启自动驾驶的控制参数
+     */
+    fun sendTaskManagerRunningInfo(): Long {
+        val sessionId = providerApi?.sendTaskManagerRunningInfo() ?: -1L
+        // 更新记录在全局的控制参数
+        return sessionId
+    }
+
     /**
      * 开启自动驾驶
      *

core/mogo-core-function-call/src/main/java/com/mogo/eagle/core/function/call/autopilot/CallerTaskListenerManager.kt

@@ -0,0 +1,38 @@
+package com.mogo.eagle.core.function.call.autopilot
+
+import com.mogo.eagle.core.function.api.autopilot.IMoGoAutopilotActionsListener
+import com.mogo.eagle.core.function.call.base.CallerBase
+import com.zhjt.mogo.adas.unmanned.task.dto.cmd.TaskLocationQueryResponse
+
+
+/**
+ * 能否启动自驾管理类
+ */
+object CallerTaskListenerManager : CallerBase<IMoGoAutopilotActionsListener>() {
+    @Volatile
+    private var runningtaskId = 0L
+
+    @Volatile
+    private var runningLineId = 0L
+
+    @Volatile
+    private var runningTaskLocationInfo: TaskLocationQueryResponse? = null
+
+    init {
+
+    }
+
+    fun isCarRunningTask(): Boolean {
+        return runningLineId != 0L && runningLineId != 0L
+    }
+
+    fun invokeRunningTaskInfo(
+        taskId: Long?,
+        lineId: Long?,
+        taskLocationQueryResponse: TaskLocationQueryResponse?
+    ) {
+        this.runningtaskId = taskId ?: 0L
+        this.runningLineId = lineId ?: 0L
+        this.runningTaskLocationInfo = taskLocationQueryResponse
+    }
+}

core/mogo-core-utils/src/main/java/com/mogo/eagle/core/utilcode/mogo/AppIdentityModeUtils.kt

@@ -366,8 +366,8 @@ object AppIdentityModeUtils {
     //获取驾舱类型
     @JvmStatic
     fun getCockpitType(): CockpitType {
-        return CockpitType.getCockpitType(SPUtils.getInstance().getString(COCKPIT_TYPE, CockpitType.NONE.code))
-//        return CockpitType.UNMANNED
+//        return CockpitType.getCockpitType(SPUtils.getInstance().getString(COCKPIT_TYPE, CockpitType.NONE.code))
+        return CockpitType.UNMANNED
     }
 }