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Merge branch 'dev_robotaxi-d_260311_8.4.0' into dev_robotaxi-d_260311_8.5.0_yyk

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yangyakun
2026-03-23 10:56:51 +08:00
parent cf2c81907e d9e0110078
commit 6e251b038c
55 changed files with 766 additions and 156 deletions
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5
core/function-impl/mogo-core-function-datacenter/src/main/java/com/mogo/eagle/core/function/datacenter/autopilot/MoGoAutopilotControlProvider.kt
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@@ -84,6 +84,7 @@ 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.stop.SweeperTaskStop
import com.zhjt.mogo.adas.unmanned.task.dto.cmd.Trajectory
import com.zhjt.mogo.adas.unmanned.task.dto.cmd.VehicleSite
import com.zhjt.service.chain.ChainLog
import io.netty.channel.Channel
import mogo.telematics.pad.MessagePad
@@ -467,9 +468,9 @@ class MoGoAutopilotControlProvider :
}
}
override fun sendTaskManagerAutopilotContinue(trackId: Long, taskId: Long, stationId: Long, stationName: String, stationSeq: Int, lon: Double, lat: Double): Long {
override fun sendTaskManagerAutopilotContinue(trackId: Long, taskId: Long, startStation : VehicleSite, endStation:VehicleSite ): Long {
return if (AdasManager.getInstance().ipcConnectionStatus == AdasConstants.IpcConnectionStatus.CONNECTED) {
val invokeResult = AdasManager.getInstance().sendTaskManagerAutopilotContinue(trackId, taskId, stationId, stationName, stationSeq, lon, lat)
val invokeResult = AdasManager.getInstance().sendTaskManagerAutopilotContinue(trackId, taskId, startStation, endStation)
invokeAutoPilotResult(if (invokeResult > -1) "无人化 取消自动驾驶调用成功：${invokeResult}" else "无人化 取消自动驾驶调用失败, socket 或者 rawPack 可能为空")
invokeResult
} else {

17
core/function-impl/mogo-core-function-datacenter/src/main/java/com/mogo/eagle/core/function/datacenter/autopilot/adapter/MoGoAdasListenerImpl.kt
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@@ -38,7 +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.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
@@ -132,7 +134,9 @@ 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
import com.zhjt.service.chain.ChainLog
import fault_management.FmInfo
@@ -1679,8 +1683,8 @@ class MoGoAdasListenerImpl : OnAdasListener {
override fun onPlanningStopLine(header: MessagePad.Header, mapMsg: Hadmap.MapMsg) {
}
override fun onAdasTaskManagerOriginal(header: MessagePad.Header, data: ByteArray) {
taskManagerOriginal(header, ByteUtil.byteArrToHex(data, false))
override fun onAdasTaskManagerOriginal(header: MessagePad.Header, data: String) {
taskManagerOriginal(header, data)
}
@ChainLog(
@@ -1693,10 +1697,15 @@ class MoGoAdasListenerImpl : OnAdasListener {
CallerLogger.i("$M_D_C$TAG", "任务管理数据：$data")
}
override fun onAdasTaskManagerDeparture(taskId: Long?, siteId: Long?, sequence: Int?, ack: Boolean, reason: String?, stationTimeLeft: Double) {
override fun onAdasTaskManagerDeparture(
taskId: Long?,
taskStartNotification: 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?) {

1
core/function-impl/mogo-core-function-datacenter/src/main/java/com/mogo/eagle/core/function/datacenter/autopilot/server/AsyncDataToAutopilotServer.kt
View File

@@ -55,6 +55,7 @@ class AsyncDataToAutopilotServer private constructor() : IMoGoTrafficLightListen
.subscribe {
bizLog(SceneConstant.M_D_C + TAG, "请求底盘轨迹")
CallerAutoPilotControlManager.getGlobalPath()
}
}
else -> {}

6
core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/hmi/ui/widget/ColdStartView.kt
View File

@@ -906,11 +906,7 @@ class ColdStartView @JvmOverloads constructor(
tvColdStartContent.text = resources.getString(R.string.cold_start_fail_content)
tvColdStartContent.setTextColor(ContextCompat.getColor(context, R.color.cold_start_fail))
coldStartResultListener?.coldStartFail()
ThreadUtils.runOnUiThread {
tvColdStartNow.visibility = View.VISIBLE
ivColdStartNow.visibility = View.VISIBLE
tvColdStartTip.visibility = View.VISIBLE
}
initUseNowBtnView()
}
/**