[8.4.0]

[b4] [和@yuelei 联调]
2026-03-11 15:43:28 +08:00
parent f62a3ceb3b
commit 4554eb1f0a
24 changed files with 177 additions and 33 deletions
--- a/OCH/common/bridge/src/main/java/com/mogo/och/bridge/autopilot/line/LineManager.kt
+++ b/OCH/common/bridge/src/main/java/com/mogo/och/bridge/autopilot/line/LineManager.kt
@@ -27,7 +27,6 @@ import com.mogo.och.bridge.R
 import com.mogo.och.bridge.autopilot.OCHAdasAbilityManager
 import com.mogo.och.bridge.autopilot.autopilot.OchAutoPilotManager
 import com.mogo.och.bridge.autopilot.autopilot.OchAutoPilotManager.startAutoPilot
-import com.mogo.och.bridge.autopilot.autopilot.OchAutoPilotManager.unmannedStartAutoPilot
 import com.mogo.och.bridge.autopilot.autopilot.OchAutopilotAnalytics
 import com.mogo.och.bridge.autopilot.location.OchLocationManager
 import com.mogo.och.bridge.distance.TrajectoryAndDistanceManager
@@ -626,7 +625,7 @@ object LineManager : CallerBase<ILineCallback>() {
        }
    }

-    fun unmannedStartAutopilot(taskId: Long, isSlideAutoStart: Boolean = false) {
+    fun unmannedStartAutopilot(isSlideAutoStart: Boolean = false) {
        if (startStation == null || endStation == null) {
 //            ToastUtils.showShort("未设置起始或终点站点")
            ToastUtils.showShort(R.string.module_och_not_stat_and_end_point)
@@ -731,7 +730,7 @@ object LineManager : CallerBase<ILineCallback>() {
                    .wayPoints(wayPoints)
                    .blackPoints(blackPoints)
                    .build()
-            val sessionId = OchAutoPilotManager.unmannedStartAutoPilot(taskId, traj, parameters)
+            val sessionId = OchAutoPilotManager.unmannedStartAutoPilot(i.taskId, traj, parameters)
            OchAutopilotAnalytics.triggerUpdateStartAutoPilotSessionId(sessionId, true)
            d(
                    TAG,
@@ -747,7 +746,7 @@ object LineManager : CallerBase<ILineCallback>() {


    //TODO 任务管理继续
-    fun unmanneAutopilotContinue(taskId: Long, isSlideAutoStart: Boolean = false) {
+    fun unmanneAutopilotContinue(isSlideAutoStart: Boolean = false) {
        if (startStation == null || endStation == null) {
 //            ToastUtils.showShort("未设置起始或终点站点")
            ToastUtils.showShort(R.string.module_och_not_stat_and_end_point)
@@ -793,7 +792,7 @@ object LineManager : CallerBase<ILineCallback>() {
            e(TAG, "无人化 行程日志-AutopilotControlParameters is empty.")
            return
        }
-        _lineInfos?.let { i ->
+        _lineInfos?.let { lineInfo ->
            startStation?.let { start->
                val wayPoints = ArrayList<VehicleSite>()
                val blackPoints = ArrayList<VehicleSite>()
@@ -808,8 +807,8 @@ object LineManager : CallerBase<ILineCallback>() {
                    .build()
                wayPoints.add(vehicleSite)
                val traj = Trajectory.builder()
-                    .id(i.lineId)
-                    .name(i.lineName)
+                    .id(lineInfo.lineId)
+                    .name(lineInfo.lineName)
                    .trajUrl(_contraiInfo!!.csvFileUrl)
                    .trajMd5(_contraiInfo!!.csvFileMd5)
                    .stopUrl(_contraiInfo!!.txtFileUrl)
@@ -818,7 +817,7 @@ object LineManager : CallerBase<ILineCallback>() {
                    .wayPoints(wayPoints)
                    .blackPoints(blackPoints)
                    .build()
-                val sessionId = OchAutoPilotManager.unmannedAutoPilotContinue(taskId, traj,vehicleSite, parameters)
+                val sessionId = OchAutoPilotManager.unmannedAutoPilotContinue(lineInfo.taskId, traj,vehicleSite, parameters)
                OchAutopilotAnalytics.triggerUpdateStartAutoPilotSessionId(sessionId, true)
                d(
                    TAG,
--- a/OCH/common/bridge/src/main/java/com/mogo/och/bridge/ui/autopilot/AutopilotState.kt
+++ b/OCH/common/bridge/src/main/java/com/mogo/och/bridge/ui/autopilot/AutopilotState.kt
@@ -119,7 +119,7 @@ class AutopilotState @JvmOverloads constructor(
        actv_autopilot_state.setTextColor(ResourcesUtils.getColor(R.color.common_B3FFFFFF))
        actv_autopilot_state.text = ResourcesUtils.getString(R.string.common_autopilot_starting)
        actv_pxjs_state.setTextColor(ResourcesUtils.getColor(R.color.common_19FFCB))
-        AutopilotState@this.isEnabled = false
+        //AutopilotState@this.isEnabled = false

        autopilotLoadingAnimator.start()

@@ -140,7 +140,7 @@ class AutopilotState @JvmOverloads constructor(
        actv_autopilot_state.setTextColor(ResourcesUtils.getColor(R.color.common_B3FFFFFF))
        actv_autopilot_state.text = ResourcesUtils.getString(R.string.common_autopilot_starting)
        actv_pxjs_state.setTextColor(ResourcesUtils.getColor(R.color.common_19FFCB))
-        AutopilotState@this.isEnabled = false
+        //AutopilotState@this.isEnabled = false

        autopilotLoadingAnimator.cancel()
        autopilotChangeStateAnimator.start()
@@ -158,7 +158,7 @@ class AutopilotState @JvmOverloads constructor(
        actv_autopilot_state.setTextColor(ResourcesUtils.getColor(R.color.common_19FFCB))
        actv_autopilot_state.text = ResourcesUtils.getString(R.string.common_autopilot_running)
        actv_pxjs_state.setTextColor(ResourcesUtils.getColor(R.color.common_19FFCB))
-        AutopilotState@this.isEnabled = false
+        //AutopilotState@this.isEnabled = false

        aciv_autopilot_running_ani.visibility = VISIBLE
        autopilotStateAnimator?.start()
@@ -179,7 +179,7 @@ class AutopilotState @JvmOverloads constructor(
        actv_autopilot_state.text = ResourcesUtils.getString(R.string.common_autopilot_start)
        actv_pxjs_state.setTextColor(ResourcesUtils.getColor(R.color.common_19FFCB))

-        AutopilotState@this.isEnabled = false
+        //AutopilotState@this.isEnabled = false

        aciv_autopilot_running_ani.visibility = GONE
        autopilotStateAnimator?.stop()
@@ -220,7 +220,7 @@ class AutopilotState @JvmOverloads constructor(
        actv_autopilot_state.setTextColor(ResourcesUtils.getColor(R.color.common_19FFCB))
        actv_autopilot_state.text = ResourcesUtils.getString(R.string.common_autopilot_start)
        actv_pxjs_state.setTextColor(ResourcesUtils.getColor(R.color.common_19FFCB))
-        AutopilotState@this.isEnabled = false
+        //AutopilotState@this.isEnabled = false

        aciv_autopilot_running_ani.visibility = VISIBLE
        autopilotStateAnimator?.start()
@@ -244,7 +244,7 @@ class AutopilotState @JvmOverloads constructor(
        actv_autopilot_state.setTextColor(ResourcesUtils.getColor(R.color.common_FF4E41))
        actv_autopilot_state.text = ResourcesUtils.getString(R.string.common_autopilot_fail)
        actv_pxjs_state.setTextColor(ResourcesUtils.getColor(R.color.common_19FFCB))
-        AutopilotState@this.isEnabled = false
+        //AutopilotState@this.isEnabled = false

        aciv_autopilot_running_ani.visibility = GONE
        autopilotStateAnimator?.stop()
--- a/OCH/common/bridge/src/main/java/com/mogo/och/bridge/ui/autopilot/AutopilotStateModel.kt
+++ b/OCH/common/bridge/src/main/java/com/mogo/och/bridge/ui/autopilot/AutopilotStateModel.kt
@@ -4,6 +4,9 @@ import androidx.lifecycle.ViewModel
 import com.mogo.eagle.core.data.config.FunctionBuildConfig
 import com.mogo.eagle.core.function.api.autopilot.IMoGoAutopilotStatusListener
 import com.mogo.eagle.core.function.call.autopilot.CallerAutoPilotControlManager
+import com.mogo.eagle.core.function.call.autopilot.CallerTaskListenerManager
+import com.mogo.eagle.core.utilcode.mogo.AppIdentityModeUtils
+import com.mogo.eagle.core.utilcode.mogo.CockpitType
 import com.mogo.eagle.core.utilcode.util.UiThreadHandler
 import com.mogo.och.common.module.debug.autopilot.AutopilotStateDebug
 import com.mogo.och.common.module.debug.autopilot.IOchDebugAutopilotStatusListener
@@ -229,7 +232,15 @@ class AutopilotStateModel : ViewModel(), IOchAutopilotStatusListener, ILineCallb
                startAutopilotFail()
            }
        } else {
-            LineManager.startAutopilot()
+            if (AppIdentityModeUtils.getCockpitType() == CockpitType.UNMANNED) {
+                if (CallerTaskListenerManager.isCarRunningTask()) {
+                    LineManager.unmanneAutopilotContinue(false)
+                }else{
+                    LineManager.unmannedStartAutopilot(true)
+                }
+            }else{
+                LineManager.startAutopilot()
+            }
        }
    }

--- a/OCH/common/data/src/main/java/com/mogo/och/data/bean/LineInfo.kt
+++ b/OCH/common/data/src/main/java/com/mogo/och/data/bean/LineInfo.kt
@@ -23,6 +23,7 @@ data class LineInfo(
     */
    var siteInfos:MutableList<BusStationBean> = mutableListOf(),

+    var taskId:Long=-1L
 ) {
    fun genAutopilotId(): String {
        val tempAutopilotId = StringBuilder()
--- a/OCH/shuttle/driver_unmanned/src/main/java/com/mogo/och/unmanned/bean/response/BusRoutesResponse.kt
+++ b/OCH/shuttle/driver_unmanned/src/main/java/com/mogo/och/unmanned/bean/response/BusRoutesResponse.kt
@@ -111,6 +111,7 @@ class BusRoutesResponse : BaseData() {
                // 线路信息
                if (lineInfo == null && taskAndsite.lineId != null && taskAndsite.lineName != null) {
                    lineInfo = LineInfo(taskAndsite.lineId!!, taskAndsite.lineName!!, orderId = taskAndsite.taskId.toString())
+                    lineInfo?.taskId = taskAndsite.taskId?.toLong()?:0L
                }
            }
            if (currentStationIndex == -1) {
--- a/OCH/shuttle/driver_unmanned/src/main/java/com/mogo/och/unmanned/model/OrderModel.kt
+++ b/OCH/shuttle/driver_unmanned/src/main/java/com/mogo/och/unmanned/model/OrderModel.kt
@@ -9,6 +9,7 @@ import com.mogo.eagle.core.data.config.FunctionBuildConfig
 import com.mogo.eagle.core.function.api.autopilot.IMoGoAutopilotStatusListener
 import com.mogo.eagle.core.function.call.autopilot.CallerAutoPilotControlManager
 import com.mogo.eagle.core.function.call.autopilot.CallerAutoPilotStatusListenerManager
+import com.mogo.eagle.core.function.call.autopilot.CallerTaskListenerManager
 import com.mogo.eagle.core.function.call.setting.CallerSopSettingManager
 import com.mogo.eagle.core.utilcode.mogo.logger.CallerLogger.d
 import com.mogo.eagle.core.utilcode.mogo.logger.CallerLogger.e
@@ -16,6 +17,7 @@ import com.mogo.eagle.core.utilcode.mogo.logger.scene.SceneConstant.Companion.M_
 import com.mogo.eagle.core.utilcode.util.CoordinateUtils
 import com.mogo.eagle.core.utilcode.util.StringUtils
 import com.mogo.eagle.core.utilcode.util.ThreadUtils
+import com.mogo.eagle.core.utilcode.util.ToastUtils
 import com.mogo.eagle.core.utilcode.util.UiThreadHandler
 import com.mogo.och.bridge.autopilot.autopilot.IOchAutopilotStatusListener
 import com.mogo.och.bridge.autopilot.autopilot.OchAutoPilotStatusListenerManager
@@ -244,11 +246,16 @@ object OrderModel {
    private fun onStartAutopilot(taskId: Long?) {
        //开启自动驾驶 2.10.0: 如果自动驾驶状态下开启， 非自动驾驶状态下不开启，需手动点击自动驾驶按钮开启
        isGoingToNextStation = true
+        if (CallerTaskListenerManager.isCarRunningTask()) {
+            LineManager.unmanneAutopilotContinue(false)
+        }else{
+            LineManager.unmannedStartAutopilot(true)
+        }
        if (CallerAutoPilotStatusListenerManager.getState() != IMoGoAutopilotStatusListener.STATUS_AUTOPILOT_RUNNING
        ) {
-            LineManager.unmannedStartAutopilot(taskId ?: 0L, true)
-        }else{
-            LineManager.unmanneAutopilotContinue(taskId ?: 0L, false)
+
+        } else {
+
        }
    }

--- a/OCH/shuttle/driver_unmanned/src/main/java/com/mogo/och/unmanned/repository/line/impl/NormalRepository.kt
+++ b/OCH/shuttle/driver_unmanned/src/main/java/com/mogo/och/unmanned/repository/line/impl/NormalRepository.kt
@@ -111,6 +111,7 @@ class NormalRepository : ILineRepository {
                            // 线路信息
                            if (lineInfo == null && busRoutesResult.name != null) {
                                lineInfo = LineInfo(busRoutesResult.lineId.toLong(), busRoutesResult.name, orderId = busRoutesResult.taskId.toString())
+                                lineInfo?.taskId = busRoutesResult.taskId.toLong()
                            }

                        }
--- a/OCH/shuttle/driver_unmanned/src/main/java/com/mogo/och/unmanned/ui/taskrunning/TaskRunningView.kt
+++ b/OCH/shuttle/driver_unmanned/src/main/java/com/mogo/och/unmanned/ui/taskrunning/TaskRunningView.kt
@@ -6,6 +6,7 @@ import android.view.LayoutInflater
 import androidx.constraintlayout.widget.ConstraintLayout
 import androidx.lifecycle.ViewModelProvider
 import androidx.lifecycle.findViewTreeViewModelStoreOwner
+import com.mogo.eagle.core.function.call.autopilot.CallerAutoPilotControlManager
 import com.mogo.eagle.core.utilcode.kotlin.onClick
 import com.mogo.eagle.core.utilcode.mogo.logger.CallerLogger
 import com.mogo.eagle.core.utilcode.mogo.logger.scene.SceneConstant.Companion.M_BUS
@@ -82,15 +83,15 @@ class TaskRunningView : ConstraintLayout, TaskRunningModel.SwtichLineViewCallbac
        })
        unmanned_actv_arriver_station.onClick {
            unmanned_loading_arrive_station.visibility = VISIBLE
-            if(LineModel.isPreLastStation()==true){
-                viewModel?.arriveStation()
-            }else{
-                viewModel?.skipStation()
-            }
-
+//            if(LineModel.isPreLastStation()==true){
+//                viewModel?.arriveStation()
+//            }else{
+//                viewModel?.skipStation()
+//            }
+            viewModel?.arriveStation()
        }
        unmanned_actv_arriver_station_new.setOnLongClickListener {
-            viewModel?.arriveStation()
+            CallerAutoPilotControlManager.sendTaskManagerRunningInfo()
            true
        }
        unmanned_actv_complete_task.onClick {
--- a/core/function-impl/mogo-core-function-datacenter/src/main/java/com/mogo/eagle/core/function/datacenter/autopilot/MoGoAutopilotControlProvider.kt
+++ b/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) {
--- a/core/function-impl/mogo-core-function-datacenter/src/main/java/com/mogo/eagle/core/function/datacenter/autopilot/adapter/MoGoAdasListenerImpl.kt
+++ b/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
--- a/core/mogo-core-data/src/main/java/com/mogo/eagle/core/data/autopilot/AutopilotStatusInfo.kt
+++ b/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

--- a/core/mogo-core-data/src/main/java/com/mogo/eagle/core/data/config/FunctionBuildConfig.kt
+++ b/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
--- a/core/mogo-core-function-api/src/main/java/com/mogo/eagle/core/function/api/autopilot/IMoGoAutopilotControlProvider.kt
+++ b/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
--- a/core/mogo-core-function-call/src/main/java/com/mogo/eagle/core/function/call/autopilot/CallerAutoPilotControlManager.kt
+++ b/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
     *
--- a/core/mogo-core-function-call/src/main/java/com/mogo/eagle/core/function/call/autopilot/CallerTaskListenerManager.kt
+++ b/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
+    }
+}
--- a/core/mogo-core-utils/src/main/java/com/mogo/eagle/core/utilcode/mogo/AppIdentityModeUtils.kt
+++ b/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
    }
 }

--- a/libraries/mogo-adas-data/src/main/java/com/zhjt/mogo/adas/unmanned/task/dto/cmd/TaskRouteSyncRequest.java
+++ b/libraries/mogo-adas-data/src/main/java/com/zhjt/mogo/adas/unmanned/task/dto/cmd/TaskRouteSyncRequest.java
@@ -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();
+        }
+    }
+}
--- a/libraries/mogo-adas-data/src/main/java/com/zhjt/mogo/adas/unmanned/task/enums/MessageCmdEnum.java
+++ b/libraries/mogo-adas-data/src/main/java/com/zhjt/mogo/adas/unmanned/task/enums/MessageCmdEnum.java
@@ -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;
--- a/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/AdasChannel.java
+++ b/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/AdasChannel.java
@@ -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
     *
--- a/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/AdasManager.java
+++ b/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/AdasManager.java
@@ -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);
--- a/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/IAdasNetCommApi.java
+++ b/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/IAdasNetCommApi.java
@@ -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);
--- a/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/OnAdasListener.java
+++ b/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/OnAdasListener.java
@@ -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
     *
--- a/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/common/Constants.java
+++ b/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/common/Constants.java
@@ -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\"]";


    /**
--- a/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/msg/TaskManagerMessage.java
+++ b/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/msg/TaskManagerMessage.java
@@ -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);
        }

    }