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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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23
libraries/mogo-adas-data/src/main/java/com/zhjt/mogo/adas/unmanned/task/dto/cmd/TaskRouteSyncRequest.java Normal file
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@@ -0,0 +1,23 @@
package com.zhjt.mogo.adas.unmanned.task.dto.cmd;
/**
* app发送给车端
* 开启任务
*/
public class TaskRouteSyncRequest {
public TaskRouteSyncRequest() {
}
public static Builder builder() {
return new Builder();
}
public static class Builder {
public TaskRouteSyncRequest build() {
return new TaskRouteSyncRequest();
}
}
}

2
libraries/mogo-adas-data/src/main/java/com/zhjt/mogo/adas/unmanned/task/enums/MessageCmdEnum.java
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@@ -19,6 +19,8 @@ public enum MessageCmdEnum {
TaskCancelResponse("TaskCancelResponse", "任务取消请求"),
TaskQueryStateRequest("TaskQueryStateRequest", "任务状态查询"),
TaskQueryStateResponse("TaskQueryStateResponse", "任务状态查询响应"),
TaskRouteSyncRequest("TaskRouteSyncRequest", "查询正在执行的任务"),
TaskRouteSyncResponse("TaskRouteSyncResponse", "查询执行的任务的结果"),
;
private final String code;
private final String desc;

14
libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/AdasChannel.java
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@@ -65,6 +65,7 @@ import com.zhjt.mogo.adas.unmanned.task.dto.cmd.AutopilotPoint;
import com.zhjt.mogo.adas.unmanned.task.dto.cmd.AutopilotStartRequest;
import com.zhjt.mogo.adas.unmanned.task.dto.cmd.CmdDto;
import com.zhjt.mogo.adas.unmanned.task.dto.cmd.TaskContinueNotification;
import com.zhjt.mogo.adas.unmanned.task.dto.cmd.TaskRouteSyncRequest;
import com.zhjt.mogo.adas.unmanned.task.dto.cmd.Trajectory;
import com.zhjt.mogo.adas.unmanned.task.dto.cmd.VehicleSite;
import com.zhjt.mogo.adas.unmanned.task.enums.AutopilotCoordinateTypeEnum;
@@ -3396,9 +3397,22 @@ public class AdasChannel implements IAdasNetCommApi, FpgaSocket.IWebSocketConnec
// .newBuilder()
// .setTaskData(com.google.protobuf.ByteString.copyFrom(JsonUtil.toJsonBase64(data).getBytes(StandardCharsets.UTF_8)));
// return sendPBMessage(MessageType.TYPE_SEND_TASK_MANAGER, builder.build().toByteArray());
Log.i(TAG, "任务管理:"+data.toString());
return sendPBMessage(MessageType.TYPE_SEND_TASK_MANAGER, JsonUtil.toJsonBase64(data).getBytes(StandardCharsets.UTF_8));
}
/**
* 向任务管理发送启动自驾命令
*
* @return
*/
@Override
public long sendTaskManagerRunningInfo() {
CmdDto<TaskRouteSyncRequest> cmdDto = CmdDto.<TaskRouteSyncRequest>builder().cmdType(MessageCmdEnum.TaskRouteSyncRequest.getCode()).taskId(-1L)
.lineId(-1L).timestamp(System.currentTimeMillis()).build();
return sendTaskManager(cmdDto);
}
/**
* 向任务管理发送启动自驾命令
*

5
libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/AdasManager.java
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@@ -2087,6 +2087,11 @@ public class AdasManager implements IAdasNetCommApi {
return mChannel == null ? -1L : mChannel.sendImgUploadCloudStatusQuery();
}
@Override
public long sendTaskManagerRunningInfo() {
return mChannel == null ? -1L : mChannel.sendTaskManagerRunningInfo();
}
@Override
public long sendTaskManagerAutopilotStart(Long taskId, Trajectory traj) {
return mChannel == null ? -1L : mChannel.sendTaskManagerAutopilotStart(taskId, traj);

1
libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/IAdasNetCommApi.java
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@@ -1544,6 +1544,7 @@ public interface IAdasNetCommApi {
*/
long sendImgUploadCloudStatusQuery();
long sendTaskManagerRunningInfo();
long sendTaskManagerAutopilotStart(Long taskId, Trajectory traj);
long sendTaskManagerAutopilotContinue(Long trackId, Long taskId, Long stationId, String stationName, Integer stationSeq, double lon, double lat);

9
libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/OnAdasListener.java
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@@ -33,6 +33,7 @@ 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 java.math.BigDecimal;
import java.util.ArrayList;
@@ -840,6 +841,14 @@ public interface OnAdasListener {
*/
void onAdasTaskManagerComplete(Long taskId, Long userId, Integer status, String reason, Date completedTime, BigDecimal mileage);
/**
* 地盘正在执行的任务
* @param taskId
* @param lineId
* @param taskLocationQueryResponse
*/
void onAdasTaskManagerRunning(Long taskId, Long lineId, TaskLocationQueryResponse taskLocationQueryResponse);
/**
* 是否有能力启动自动驾驶
*

2
libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/common/Constants.java
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@@ -42,7 +42,7 @@ public class Constants {
*/
public static final ByteString RAW_HEARTBEAT = ByteString.of((byte) 0x6e, (byte) 0x68, (byte) 0x6f, (byte) 0x69);
public static final String DEFAULT_PING_ADDRESS_LIST = "[\"192.168.1.102\", \"192.168.8.102\"]";
public static final String DEFAULT_PING_ADDRESS_LIST = "[\"172.30.33.83\", \"192.168.8.102\"]";
/**

4
libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/msg/TaskManagerMessage.java
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@@ -95,8 +95,10 @@ public class TaskManagerMessage extends MyAbstractMessageHandler {
if (cmdDto != null) {
Log.i(TAG, "onAdasTaskLocationQueryResponse=" + cmdDto);
TaskLocationQueryResponse taskLocationQueryResponse = cmdDto.getData();
adasListener.onAdasTaskManagerRunning(cmdDto.getTaskId(),cmdDto.getLineId(),taskLocationQueryResponse);
}
} else if (messageCmdEnum == MessageCmdEnum.TaskRouteSyncResponse) {//任务查询结果
Log.i(TAG, "TaskRouteSyncResponse=" + data);
}
}