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[8.4.0]

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[b4]
[和@yuelei 联调]
This commit is contained in:
yangyakun
2026-03-11 15:43:28 +08:00
parent f62a3ceb3b
commit 4554eb1f0a
24 changed files with 177 additions and 33 deletions
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12
core/function-impl/mogo-core-function-datacenter/src/main/java/com/mogo/eagle/core/function/datacenter/autopilot/MoGoAutopilotControlProvider.kt
View File

@@ -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) {

6
core/function-impl/mogo-core-function-datacenter/src/main/java/com/mogo/eagle/core/function/datacenter/autopilot/adapter/MoGoAdasListenerImpl.kt
View File

@@ -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