[8.5.0]

[接受taskmanger的到站然后调整实时站点]
2026-03-20 12:07:44 +08:00
parent 19687e1330
commit 643e5ac1fe
20 changed files with 245 additions and 12 deletions
--- a/OCH/common/bridge/src/main/java/com/mogo/och/bridge/BridgeProvider.kt
+++ b/OCH/common/bridge/src/main/java/com/mogo/och/bridge/BridgeProvider.kt
@@ -73,9 +73,13 @@ class BridgeProvider : BridgeService, CallerBase<BridgeListener>() {
        when (type) {
            0 -> {LineManager.unmannedStartAutopilot(false)}
            1 -> {LineManager.unmanneAutopilotContinue(false)}
+            2 -> {}
            else -> {}
        }
+    }

+    override fun taskManager(type: Int, index: Int) {
+        invokeTaskManagerTestArrived(index)
    }

    override fun doSomeAfterAddListener(tag: String, listener: BridgeListener) {
@@ -143,5 +147,11 @@ class BridgeProvider : BridgeService, CallerBase<BridgeListener>() {
        }
    }

+    fun invokeTaskManagerTestArrived(indexStation:Int){
+        M_LISTENERS.forEach {
+            it.value.onTestArrivedStation(indexStation)
+        }
+    }
+

 }
--- a/OCH/common/bridge/src/main/java/com/mogo/och/bridge/autopilot/autopilot/IOchAutopilotStatusListener.java
+++ b/OCH/common/bridge/src/main/java/com/mogo/och/bridge/autopilot/autopilot/IOchAutopilotStatusListener.java
@@ -3,6 +3,7 @@ package com.mogo.och.bridge.autopilot.autopilot;
 import com.mogo.eagle.core.data.autopilot.AutopilotControlParameters;
 import com.mogo.och.bridge.autopilot.autopilot.bean.ArrivedStation;
 import com.zhjt.mogo.adas.data.AdasConstants;
+import com.zhjt.mogo.adas.unmanned.task.dto.cmd.TaskArrivalNotification;
 import com.zhjt.mogo.adas.unmanned.task.dto.cmd.TaskStartNotification;

 import org.jetbrains.annotations.Nullable;
@@ -51,6 +52,15 @@ public interface IOchAutopilotStatusListener {
    default void onAutopilotLeaveStation(Long taskId, TaskStartNotification taskStartNotification){
    }

+    /**
+     * 自动驾驶离站
+     * @param taskId
+     * @param taskStartNotification
+     */
+    default void onArriveAtStationByTaskManager(Long taskId, TaskArrivalNotification taskStartNotification){
+    }
+
+
    /**
     * 工控机获取SN
     */
--- a/OCH/common/bridge/src/main/java/com/mogo/och/bridge/autopilot/autopilot/OchAutoPilotStatusListenerManager.kt
+++ b/OCH/common/bridge/src/main/java/com/mogo/och/bridge/autopilot/autopilot/OchAutoPilotStatusListenerManager.kt
@@ -23,6 +23,7 @@ import com.zhjt.mogo.adas.common.MessageType
 import com.zhjt.mogo.adas.data.AdasConstants
 import com.zhjt.mogo.adas.data.bean.ReceivedAck
 import com.zhjt.mogo.adas.data.bean.ReceivedAck.Status
+import com.zhjt.mogo.adas.unmanned.task.dto.cmd.TaskArrivalNotification
 import com.zhjt.mogo.adas.unmanned.task.dto.cmd.TaskStartNotification
 import fsm.Fsm2024
 import mogo.telematics.pad.MessagePad
@@ -247,6 +248,16 @@ object OchAutoPilotStatusListenerManager : CallerBase<IOchAutopilotStatusListene
        }
    }

+    override fun onArriveAtStationByTaskManager(
+        taskId: Long?,
+        taskArrivalNotification: TaskArrivalNotification?
+    ) {
+        M_LISTENERS.forEach {
+            val listener = it.value
+            listener.onArriveAtStationByTaskManager(taskId,taskArrivalNotification)
+        }
+    }
+
    /**
     * 距离终点10m 向地盘查询是否到站地盘的返回值
     * [LineManager.mMapLocationListener]
--- a/OCH/common/common/src/debug/java/com/mogo/och/common/module/debug/DebugDataDispatch.kt
+++ b/OCH/common/common/src/debug/java/com/mogo/och/common/module/debug/DebugDataDispatch.kt
@@ -87,6 +87,7 @@ object DebugDataDispatch {
    const val collisionRisk = "CollisionRisk"
    const val mediaStationMedia = "stationMedia"
    const val startAutopilot = "startAutopilot"
+    const val taskManager = "taskManager"

 //    adb shell am broadcast -a com.mogo.launcher.debug -f 0x011000000 --es type "video" --ei add 2 --es url "rtmp://liteavapp.qcloud.com/live/liteavdemoplayerstreamid"
 //    adb shell am broadcast -a com.mogo.launcher.debug -f 0x011000000 --es type "location" --es path "1111/11111"
@@ -110,6 +111,7 @@ object DebugDataDispatch {
 //    adb shell am broadcast -a com.mogo.launcher.debug -f 0x011000000 --es type "vlmImage"  --ef time 1880.0
 //    adb shell am broadcast -a com.mogo.launcher.debug -f 0x011000000 --es type "stationMedia"
 //    adb shell am broadcast -a com.mogo.launcher.debug -f 0x011000000 --es type "startAutopilot" --ei startType 0
+//    adb shell am broadcast -a com.mogo.launcher.debug -f 0x011000000 --es type "taskManager" --ei startType 0  --ei indexStation 3

 //    adb shell am broadcast -a com.hmi.v2x.trafficlight -f 0x011000000 --ei trafficLightCheckType 1 --ei trafficLightCountDown 0 --ez trafficLightIsShow true  // 红绿灯

@@ -124,6 +126,11 @@ object DebugDataDispatch {

        }
        when (type) {
+            taskManager -> {
+                val type = intent.getIntExtra("startType", 0)
+                val indexStation = intent.getIntExtra("indexStation", 0)
+                BridgeManager.debugTaskManager(type,indexStation)
+            }
            startAutopilot -> {
                val type = intent.getIntExtra("startType", 0)
                BridgeManager.debugStartAutopilot(type)
--- a/OCH/common/common/src/main/java/com/mogo/och/common/module/biz/birdge/BridgeListener.kt
+++ b/OCH/common/common/src/main/java/com/mogo/och/common/module/biz/birdge/BridgeListener.kt
@@ -28,4 +28,6 @@ interface BridgeListener {
    fun onPncInfoListener(pncAction: String) {}

    fun onCollisionRisk() {}
+
+    fun onTestArrivedStation(indexStation:Int) {}
 }
--- a/OCH/common/common/src/main/java/com/mogo/och/common/module/biz/birdge/BridgeManager.kt
+++ b/OCH/common/common/src/main/java/com/mogo/och/common/module/biz/birdge/BridgeManager.kt
@@ -39,4 +39,8 @@ object BridgeManager {
        bridgeService?.startAutopilot(type)
    }

+    fun debugTaskManager(type:Int,index:Int){
+        bridgeService?.taskManager(type,index)
+    }
+
 }
--- a/OCH/common/common/src/main/java/com/mogo/och/common/module/biz/birdge/BridgeService.kt
+++ b/OCH/common/common/src/main/java/com/mogo/och/common/module/biz/birdge/BridgeService.kt
@@ -15,4 +15,6 @@ interface BridgeService : IProvider {
    fun removeBridgeListener(tag: String)

    fun startAutopilot(type: Int)
+
+    fun taskManager(type: Int,index:Int)
 }
--- 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
@@ -46,7 +46,12 @@ import com.mogo.och.unmanned.constant.BusConst
 import com.mogo.och.unmanned.repository.RepositoryManager
 import com.mogo.och.unmanned.repository.exception.DataException
 import com.mogo.och.unmanned.util.ShuttleVoiceManager
+import com.zhjt.mogo.adas.unmanned.task.dto.cmd.AutopilotPoint
+import com.zhjt.mogo.adas.unmanned.task.dto.cmd.TaskArrivalNotification
 import com.zhjt.mogo.adas.unmanned.task.dto.cmd.TaskStartNotification
+import com.zhjt.mogo.adas.unmanned.task.dto.cmd.VehicleSite
+import com.zhjt.mogo.adas.unmanned.task.enums.AutopilotCoordinateTypeEnum
+import com.zhjt.mogo.adas.unmanned.task.enums.StationEnum
 import io.reactivex.Observer
 import io.reactivex.android.schedulers.AndroidSchedulers
 import io.reactivex.disposables.Disposable
@@ -123,12 +128,39 @@ object OrderModel {
 //                else -> {}
 //            }
        }
+
+        override fun onTestArrivedStation(indexStation: Int) {
+            super.onTestArrivedStation(indexStation)
+            try {
+                LineModel.currentTask?.taskId?.let { taskId ->
+                    LineModel.stationList?.let { list ->
+                        if (list.size > indexStation) {
+                            val busStationBean = list.get(indexStation)
+                            val behicleSite = VehicleSite.builder()
+                                .coordinateType(AutopilotCoordinateTypeEnum.WGS84.code)
+                                .point(AutopilotPoint.builder().x(busStationBean.lon).y(busStationBean.lat).build())
+                                .station(StationEnum.SITE.code)
+                                .stationId(busStationBean.siteId.toLong())
+                                .stationName(busStationBean.name)
+                                .stationSeq(busStationBean.seq)
+                                .tag(busStationBean.tag)
+                                .build()
+                            val mockInfo = TaskArrivalNotification(behicleSite,behicleSite,12.0)
+                            ochAutopilotStatusListener.onArriveAtStationByTaskManager(taskId,mockInfo)
+                        }
+                    }
+                }
+            }catch (e:Exception){
+                e.printStackTrace()
+            }
+
+        }
    }

    private val ochAutopilotStatusListener = object : IOchAutopilotStatusListener {
        override fun onAutopilotArriveAtStation(arrivedStation: ArrivedStation?) {
            e(TAG, "行程日志-onAutopilotArriveAtStation arrive")
-            onArriveAt(arrivedStation, "底盘触发进站")
+            //onArriveAt(arrivedStation, "底盘触发进站")
        }

        override fun onAutopilotLeaveStation(
@@ -156,6 +188,68 @@ object OrderModel {

            }
        }
+
+        override fun onArriveAtStationByTaskManager(
+            taskId: Long?,
+            taskArrivalNotification: TaskArrivalNotification?
+        ) {
+            OchChainLogManager.writeChainLog("任务管理触发进站,","taskId:$taskId taskStartNotification:${taskArrivalNotification}")
+            taskId?.let { taskIdNotNull->
+                LineModel.currentTask?.let {
+                    if(it.taskId==taskIdNotNull){
+                        taskArrivalNotification?.station?.let { arrivedStation->
+                            LineModel.stationList?.forEachIndexed { index, busStationBean ->
+                                if(busStationBean.siteId.toLong()==arrivedStation.stationId){
+                                    if(busStationBean.tag==BusStationBean.tagSkip){
+                                        OchChainLogManager.writeChainLog("任务管理触发进站,","触发到站是临时不停不进行向下操作")
+                                        return
+                                    }
+                                }
+                            }
+
+                            LineManager.getStations { start, end ->
+                                if(end.siteId.toLong()==arrivedStation.stationId){
+                                    onArriveAt(arrivedStation, "任务管理器触发进站")
+                                }else{
+                                    if(start.siteId.toLong()==arrivedStation.stationId){
+                                        OchChainLogManager.writeChainLog("任务管理触发进站,","开始站点和到达站点一致 不到站正好调整好数据")
+                                    }else{
+
+                                        OchChainLogManager.writeChainLog("任务管理触发进站,","到达站点和${start}还有${end}都不一致但是taskId:${taskId}一致去数据库调整数据使之一致")
+                                        RepositoryManager.adjustAllStation(taskIdNotNull,arrivedStation)
+                                            ?.subscribeOn(Schedulers.io())
+                                            ?.observeOn(AndroidSchedulers.mainThread())
+                                            ?.subscribe(object : Observer<Boolean> {
+                                                override fun onSubscribe(d: Disposable) {
+                                                    d(TAG, "onSubscribe")
+
+                                                }
+
+                                                override fun onError(e: Throwable) {
+                                                    d(TAG, "onError${e.printStackTrace()}")
+
+                                                }
+
+                                                override fun onComplete() {
+                                                    d(TAG, "onComplete")
+                                                }
+
+                                                override fun onNext(data: Boolean) {
+                                                    d(TAG, "onNext:${data}")
+                                                    queryBusRoutes()
+                                                }
+                                            })
+                                    }
+                                }
+                            }
+                        }
+                    }else{
+                        OchChainLogManager.writeChainLog("任务管理触发进站,","任务管理和pad端task 不一致请取消任务后重新选择任务")
+                    }
+                }
+            }
+
+        }
    }

    private val ochTransform = object : OchTransformDispatch {
@@ -171,7 +265,7 @@ object OrderModel {
            //是否到站的围栏判断 离站状态并且自动驾驶还未触发到站
            if (isGoingToNextStation && !isArrivedStation) {
                OCHThreadPoolManager.getsInstance().locationExecute {
-                    onArriveAt(null, "兜底：距离站点15m内 每秒钟向底盘查询是否到站 底盘返回")
+                    //onArriveAt(null, "兜底：距离站点15m内 每秒钟向底盘查询是否到站 底盘返回")
                }
            }
        }
@@ -489,7 +583,7 @@ object OrderModel {
     * @param data
     */
    @JvmStatic
-    fun onArriveAt(data: ArrivedStation?, type: String) {
+    fun onArriveAt(data: VehicleSite?, type: String) {
        if (LineManager.getStations().second == null) {
            e(TAG, "行程日志-到站异常，取消后续操作结束")
            OchChainLogManager.writeChainLog("shuttle弱网", "$type 行程日志-到站异常，取消后续操作结束")
--- a/OCH/shuttle/driver_unmanned/src/main/java/com/mogo/och/unmanned/repository/RepositoryManager.kt
+++ b/OCH/shuttle/driver_unmanned/src/main/java/com/mogo/och/unmanned/repository/RepositoryManager.kt
@@ -27,6 +27,7 @@ import com.mogo.och.unmanned.repository.net.bean.response.PassengerWriteOffRespo
 import com.mogo.och.unmanned.repository.writeoff.IWriteOffRepository
 import com.mogo.och.unmanned.repository.writeoff.impl.WriteOffCacheRepository
 import com.mogo.och.unmanned.repository.writeoff.impl.WriteOffNormallRepository
+import com.zhjt.mogo.adas.unmanned.task.dto.cmd.VehicleSite
 import io.reactivex.Observable

 object RepositoryManager {
@@ -142,6 +143,11 @@ object RepositoryManager {
        return lineRepository?.skipStation()
    }

+
+    fun adjustAllStation(taskId: Long, arrivedStation: VehicleSite): Observable<Boolean>? {
+        return lineRepository?.adjustAllStation(taskId,arrivedStation)
+    }
+
    fun endTask(shiftsId: Long, taskId: Long): Observable<Boolean>? {
        return lineRepository?.endTask(shiftsId, taskId)
    }
--- a/OCH/shuttle/driver_unmanned/src/main/java/com/mogo/och/unmanned/repository/db/repository/TaskSiteDb.kt
+++ b/OCH/shuttle/driver_unmanned/src/main/java/com/mogo/och/unmanned/repository/db/repository/TaskSiteDb.kt
@@ -1,5 +1,6 @@
 package com.mogo.och.unmanned.repository.db.repository

+import androidx.room.Transaction
 import com.mogo.eagle.core.utilcode.mogo.logger.scene.SceneConstant.Companion.M_BUS
 import com.mogo.eagle.core.utilcode.util.StringUtils
 import com.mogo.och.common.module.manager.logchainanalytic.OchChainLogManager
@@ -187,5 +188,22 @@ object TaskSiteDb : IDbRepository {
        return runningSite
    }

+    fun adjustAllStationByTaskId(queryRunningTask: List<TaskSiteDataBean>?) {
+        val runnable = object : Runnable {
+            @Transaction
+            override fun run() {
+                queryRunningTask?.forEach {
+                    taskSiteDataDao?.updateDrivingStatusANdLeave(
+                        it.taskId ?: 0,
+                        it.siteId ?: 0,
+                        it.drivingStatus ?: 0,
+                        if (it.leaving == true) 1 else 0,
+                    )
+                }
+            }
+        }
+        BizLoopManager.runInIoThread(runnable)
+    }
+

 }
--- a/OCH/shuttle/driver_unmanned/src/main/java/com/mogo/och/unmanned/repository/line/ILineRepository.kt
+++ b/OCH/shuttle/driver_unmanned/src/main/java/com/mogo/och/unmanned/repository/line/ILineRepository.kt
@@ -8,6 +8,7 @@ import com.mogo.och.unmanned.bean.response.CarExecutableTaskResponse
 import com.mogo.och.unmanned.bean.response.PointResponse
 import com.mogo.och.unmanned.repository.db.bean.LineDataBean
 import com.mogo.och.unmanned.repository.db.bean.TaskDataBean
+import com.zhjt.mogo.adas.unmanned.task.dto.cmd.VehicleSite
 import io.reactivex.Observable

 interface ILineRepository {
@@ -34,6 +35,8 @@ interface ILineRepository {

    fun skipStation(): Observable<Boolean>?

+    fun adjustAllStation(taskId: Long, arrivedStation: VehicleSite):Observable<Boolean>?
+
    fun endTask(shiftsId: Long, taskId: Long): Observable<Boolean>?

    fun queryCarExecutableTaskList(ochCommonServiceCallback: OchCommonServiceCallback<CarExecutableTaskResponse>)
--- 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
@@ -22,13 +22,13 @@ import com.mogo.och.unmanned.bean.response.PointResponse
 import com.mogo.och.unmanned.model.LineModel
 import com.mogo.och.unmanned.repository.db.bean.LineDataBean
 import com.mogo.och.unmanned.repository.db.bean.TaskDataBean
-import com.mogo.och.unmanned.repository.db.bean.TaskSiteDataBean
 import com.mogo.och.unmanned.repository.line.ILineRepository
 import com.mogo.och.unmanned.repository.net.NetInterface
 import com.mogo.och.unmanned.repository.net.exception.NetException
 import com.mogo.och.unmanned.repository.net.project.dali.bus.DaliBusServiceManager
 import com.mogo.och.unmanned.repository.net.project.mogo.bus.MogoBusServiceManager
 import com.mogo.och.unmanned.repository.net.project.mogo.shuttle.MogoShuttleServiceManager
+import com.zhjt.mogo.adas.unmanned.task.dto.cmd.VehicleSite
 import io.reactivex.Observable

 class NormalRepository : ILineRepository {
@@ -205,6 +205,10 @@ class NormalRepository : ILineRepository {
        return Observable.just(false)
    }

+    override fun adjustAllStation(taskId: Long, arrivedStation: VehicleSite):Observable<Boolean>? {
+        return Observable.just(false)
+    }
+
    override fun endTask(shiftsId: Long, taskId: Long): Observable<Boolean>? {
        return normalLineInterface?.endTask(taskId)
    }
--- a/OCH/shuttle/driver_unmanned/src/main/java/com/mogo/och/unmanned/repository/line/impl/WeaknetRepository.kt
+++ b/OCH/shuttle/driver_unmanned/src/main/java/com/mogo/och/unmanned/repository/line/impl/WeaknetRepository.kt
@@ -30,7 +30,6 @@ import com.mogo.och.unmanned.model.LineModel.currentTask
 import com.mogo.och.unmanned.repository.db.bean.ContrailDataBean
 import com.mogo.och.unmanned.repository.db.bean.LineDataBean
 import com.mogo.och.unmanned.repository.db.bean.TaskDataBean
-import com.mogo.och.unmanned.repository.db.bean.TaskSiteDataBean
 import com.mogo.och.unmanned.repository.db.repository.ContraiDb
 import com.mogo.och.unmanned.repository.db.repository.EventDb
 import com.mogo.och.unmanned.repository.db.repository.LineDb
@@ -44,6 +43,7 @@ import com.mogo.och.unmanned.repository.net.project.dali.shuttle.DaliShuttleServ
 import com.mogo.och.unmanned.repository.net.project.saas.bus.SaasBusServiceManager
 import com.mogo.och.unmanned.repository.net.project.saas.scheduled.SaasScheduledServiceManager
 import com.mogo.och.unmanned.repository.net.project.saas.shuttle.SaasShuttleServiceManager
+import com.zhjt.mogo.adas.unmanned.task.dto.cmd.VehicleSite
 import io.reactivex.Observable

 class WeaknetRepository : ILineRepository {
@@ -510,6 +510,37 @@ class WeaknetRepository : ILineRepository {
            }
    }

+    override fun adjustAllStation(taskId: Long, arrivedStation: VehicleSite): Observable<Boolean>? {
+        return Observable.just(12)
+            .flatMap {temp->
+                //1 查询正在执行的任务
+                val queryRunningTask = TaskSiteDb.queryRunningTask(taskId)
+                //2 根据参数arrivedStation 来设置正确的 当前站和下一站
+                var arrivedStationIndex = -1
+                queryRunningTask?.forEachIndexed { index, taskSiteDataBean ->
+                    if (taskSiteDataBean.tag != BusStationBean.tagSkip) {
+                        if (taskSiteDataBean.siteId == arrivedStation.stationId) {
+                            arrivedStationIndex = index
+                            taskSiteDataBean.drivingStatus = BusStationBean.drivingStatusCurrent
+                            taskSiteDataBean.leaving = false
+                        } else {
+                            if (arrivedStationIndex < 0) {
+                                taskSiteDataBean.drivingStatus = BusStationBean.drivingStatusPassed
+                                taskSiteDataBean.leaving = false
+                            } else {
+                                taskSiteDataBean.drivingStatus =
+                                    BusStationBean.drivingStatusNotArrived
+                                taskSiteDataBean.leaving = false
+                            }
+                        }
+                    }
+                }
+                OchChainLogManager.writeChainLog("任务管理触发进站,","更新新的数据库类型去")
+                TaskSiteDb.adjustAllStationByTaskId(queryRunningTask)
+                return@flatMap Observable.just(true)
+            }
+    }
+
    override fun endTask(shiftsId: Long, taskId: Long): Observable<Boolean>? {
        return Observable.just(taskId).flatMap {
            currentTask?.let { task ->
--- a/OCH/sweeper/driver/src/main/java/com/mogo/och/sweeper/cloud/model/SweeperCloudTaskModel.java
+++ b/OCH/sweeper/driver/src/main/java/com/mogo/och/sweeper/cloud/model/SweeperCloudTaskModel.java
@@ -49,6 +49,7 @@ 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.TaskArrivalNotification;
 import com.zhjt.mogo.adas.unmanned.task.dto.cmd.TaskStartNotification;

 import java.io.IOException;
@@ -809,4 +810,9 @@ public class SweeperCloudTaskModel implements IMoGoSweeperFutianCloudTaskListene
    public void invokeLeaveStation(@Nullable Long taskId, @Nullable TaskStartNotification taskStartNotification) {

    }
+
+    @Override
+    public void onArriveAtStationByTaskManager(@Nullable Long taskId, @Nullable TaskArrivalNotification taskArrivalNotification) {
+
+    }
 }
--- a/OCH/sweeper/driver/src/main/java/com/mogo/och/sweeper/operate/presenter/SweeperOperatePresenter.java
+++ b/OCH/sweeper/driver/src/main/java/com/mogo/och/sweeper/operate/presenter/SweeperOperatePresenter.java
@@ -42,6 +42,7 @@ import com.mogo.och.sweeper.operate.model.SweeperOperateTaskModel;
 import com.mogo.och.sweeper.common.util.SweeperFutianCmdUtil;
 import com.mogo.och.sweeper.operate.util.SweeperTrajectoryManager;
 import com.zhjt.mogo.adas.data.AdasConstants;
+import com.zhjt.mogo.adas.unmanned.task.dto.cmd.TaskArrivalNotification;
 import com.zhjt.mogo.adas.unmanned.task.dto.cmd.TaskStartNotification;

 import java.math.BigDecimal;
@@ -489,4 +490,9 @@ public class SweeperOperatePresenter extends Presenter<SweeperOperateFragment>
    public void invokeLeaveStation(@Nullable Long taskId, @Nullable TaskStartNotification taskStartNotification) {

    }
+
+    @Override
+    public void onArriveAtStationByTaskManager(@Nullable Long taskId, @Nullable TaskArrivalNotification taskArrivalNotification) {
+
+    }
 }
--- 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
@@ -38,8 +38,9 @@ import com.mogo.eagle.core.data.deva.chain.ChainConstant.Companion.CHAIN_TYPE_SO
 import com.mogo.eagle.core.data.deva.chain.ChainConstant.Companion.CHAIN_TYPE_SOCKET_VEHICLE
 import com.mogo.eagle.core.data.deva.chain.ChainConstant.Companion.CHAIN_TYPE_STATUS
 import com.mogo.eagle.core.function.call.autopilot.CallerAutoPilotStatusListenerManager
-import com.mogo.eagle.core.function.call.autopilot.CallerAutoPilotStatusListenerManager.inVokeLeaveStation
+import com.mogo.eagle.core.function.call.autopilot.CallerAutoPilotStatusListenerManager.invokeLeaveStation
 import com.mogo.eagle.core.function.call.autopilot.CallerAutoPilotStatusListenerManager.invokeArriveAtStation
+import com.mogo.eagle.core.function.call.autopilot.CallerAutoPilotStatusListenerManager.invokeArriveAtStationByTaskManager
 import com.mogo.eagle.core.function.call.autopilot.CallerAutoPilotStatusListenerManager.invokeAutoPilotInfo
 import com.mogo.eagle.core.function.call.autopilot.CallerAutoPilotStatusListenerManager.invokeAutoPilotStation
 import com.mogo.eagle.core.function.call.autopilot.CallerAutoPilotStatusListenerManager.invokeAutopilotGuardian
@@ -133,6 +134,7 @@ 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.TaskArrivalNotification
 import com.zhjt.mogo.adas.unmanned.task.dto.cmd.TaskLocationQueryResponse
 import com.zhjt.mogo.adas.unmanned.task.dto.cmd.TaskStartNotification
 import com.zhjt.mogo.adas.utils.ByteUtil
@@ -1699,10 +1701,11 @@ class MoGoAdasListenerImpl : OnAdasListener {
        taskId: Long?,
        taskStartNotification: TaskStartNotification?
    ) {
-        inVokeLeaveStation(taskId,taskStartNotification)
+        invokeLeaveStation(taskId,taskStartNotification)
    }

-    override fun onAdasTaskManagerArrival(taskId: Long?, siteId: Long?, sequence: Int?, mileage: BigDecimal?) {
+    override fun onAdasTaskManagerArrival(taskId: Long?,taskArrivalNotification: TaskArrivalNotification? ) {
+        invokeArriveAtStationByTaskManager(taskId,taskArrivalNotification)
    }

    override fun onAdasTaskManagerComplete(taskId: Long?, userId: Long?, status: Int?, reason: String?, completedTime: Date?, mileage: BigDecimal?) {
--- a/core/mogo-core-function-api/src/main/java/com/mogo/eagle/core/function/api/autopilot/IMoGoAutopilotStatusListener.kt
+++ b/core/mogo-core-function-api/src/main/java/com/mogo/eagle/core/function/api/autopilot/IMoGoAutopilotStatusListener.kt
@@ -2,6 +2,7 @@ package com.mogo.eagle.core.function.api.autopilot

 import com.mogo.eagle.core.data.autopilot.AutopilotControlParameters
 import com.zhjt.mogo.adas.data.AdasConstants
+import com.zhjt.mogo.adas.unmanned.task.dto.cmd.TaskArrivalNotification
 import com.zhjt.mogo.adas.unmanned.task.dto.cmd.TaskStartNotification
 import mogo.telematics.pad.MessagePad
 import mogo_msg.MogoReportMsg
@@ -68,6 +69,8 @@ interface IMoGoAutopilotStatusListener {
     */
    fun onAutopilotArriveAtStation(arrivalNotification: MessagePad.ArrivalNotification?) {}

+    fun onArriveAtStationByTaskManager(taskId: Long?,taskArrivalNotification: TaskArrivalNotification?) {}
+
    /**
     * 自动驾驶 离站触发
     */
--- a/core/mogo-core-function-call/src/main/java/com/mogo/eagle/core/function/call/autopilot/CallerAutoPilotStatusListenerManager.kt
+++ b/core/mogo-core-function-call/src/main/java/com/mogo/eagle/core/function/call/autopilot/CallerAutoPilotStatusListenerManager.kt
@@ -12,6 +12,7 @@ import com.mogo.eagle.core.utilcode.mogo.logger.CallerLogger
 import com.mogo.eagle.core.utilcode.util.GsonUtils
 import com.mogo.eagle.core.utilcode.util.ParseVersionUtils
 import com.zhjt.mogo.adas.data.AdasConstants
+import com.zhjt.mogo.adas.unmanned.task.dto.cmd.TaskArrivalNotification
 import com.zhjt.mogo.adas.unmanned.task.dto.cmd.TaskStartNotification
 import mogo.telematics.pad.MessagePad
 import mogo_msg.MogoReportMsg
@@ -271,8 +272,20 @@ object CallerAutoPilotStatusListenerManager : CallerBase<IMoGoAutopilotStatusLis
            listener.onAutopilotArriveAtStation(arrivalNotification)
        }
    }
+    /**
+     * 自动驾驶站点信息  回调
+     * @param arrivalNotification 自动驾驶网约车回调数据
+     */
+    @Synchronized
+    fun invokeArriveAtStationByTaskManager(taskId: Long?,taskArrivalNotification: TaskArrivalNotification? ) {
+        mAutopilotStatusInfo.isArriveAtStation = true
+        M_LISTENERS.forEach {
+            val listener = it.value
+            listener.onArriveAtStationByTaskManager(taskId,taskArrivalNotification)
+        }
+    }

-    fun inVokeLeaveStation(taskId: Long?, taskStartNotification: TaskStartNotification?){
+    fun invokeLeaveStation(taskId: Long?, taskStartNotification: TaskStartNotification?){
        M_LISTENERS.forEach {
            val listener = it.value
            listener.invokeLeaveStation(taskId,taskStartNotification)
--- 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.TaskArrivalNotification;
 import com.zhjt.mogo.adas.unmanned.task.dto.cmd.TaskLocationQueryResponse;
 import com.zhjt.mogo.adas.unmanned.task.dto.cmd.TaskStartNotification;

@@ -829,7 +830,7 @@ public interface OnAdasListener {
     * @param sequence 站点序号，对应顺序列表里站点流程，从1开始，1为起始点，最大值为终点。 途径点填写0
     * @param mileage  任务全程的已经行进的里程
     */
-    void onAdasTaskManagerArrival(Long taskId, Long siteId, Integer sequence, BigDecimal mileage);
+    void onAdasTaskManagerArrival(Long taskId, TaskArrivalNotification taskArrivalNotification);

    /**
     * 域控任务管理终止任务
--- 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
@@ -76,8 +76,7 @@ public class TaskManagerMessage extends MyAbstractMessageHandler {
            if (cmdDto != null) {
                Log.i(TAG, "onAdasTaskManagerArrival=" + cmdDto);
                TaskArrivalNotification taskArrivalNotification = cmdDto.getData();
-                VehicleSite vehicleSite = taskArrivalNotification.getCurLocation();
-                adasListener.onAdasTaskManagerArrival(cmdDto.getTaskId(), vehicleSite.getStationId(), vehicleSite.getStationSeq(), BigDecimal.valueOf(taskArrivalNotification.getAccumulatedTaskDis()));
+                adasListener.onAdasTaskManagerArrival(cmdDto.getTaskId(), taskArrivalNotification);
            }

        } else if (messageCmdEnum == MessageCmdEnum.TaskAbortNotification) {//终止任务