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zhongchao
2023-09-11 16:31:44 +08:00
parent b054caa402 ea468d9eb1
commit 72a3161562
34 changed files with 1215 additions and 374 deletions
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15
core/function-impl/mogo-core-function-datacenter/src/main/java/com/mogo/eagle/core/function/datacenter/autopilot/MoGoAutopilotControlProvider.kt
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@@ -63,7 +63,8 @@ import com.zhjt.mogo.adas.data.AdasConstants
import com.zhjt.mogo.adas.data.bean.MogoReport
import com.zhjt.mogo.adas.data.sweeper.bootable.SweeperBootable
import com.zhjt.mogo.adas.data.sweeper.task.SweeperTask
import com.zhjt.mogo.adas.data.sweeper.task.SweeperTaskSuspendResume
import com.zhjt.mogo.adas.data.sweeper.task.cloud.s_r.SweeperTaskCloudSuspendResume
import com.zhjt.mogo.adas.data.sweeper.task.s_r.SweeperTaskSuspendResume
import com.zhjt.mogo.adas.data.sweeper.task.confirm.SweeperTaskConfirm
import com.zhjt.mogo.adas.data.sweeper.task.stop.SweeperTaskStop
import com.zhjt.service.chain.ChainLog
@@ -1080,6 +1081,18 @@ class MoGoAutopilotControlProvider :
return AdasManager.getInstance().sendSweeperAutopilotBootable(reqNo, isBootable)
}
/**
* pad收到云端下发暂停恢复响应
* 10、云端下发任务暂停/恢复指令到pad（type: 100010）sweeper_task_cloud_suspend_resume.proto/BigTaskActionResp
*
* @param reqNo 请求编号
* @param bigTaskActionResp 参数
* @return boolean
*/
override fun sendSweeperCloudSuspendResumeTaskResp(reqNo: String, bigTaskActionResp: SweeperTaskCloudSuspendResume.BigTaskActionResp): Boolean {
return AdasManager.getInstance().sendSweeperCloudSuspendResumeTaskResp(reqNo, bigTaskActionResp)
}
override fun setIsDrawPointCloud(isDrawPointCloud: Boolean) {
if (isDrawPointCloud) {
AdasManager.getInstance().subscribeInterface(

16
core/function-impl/mogo-core-function-datacenter/src/main/java/com/mogo/eagle/core/function/datacenter/autopilot/adapter/MoGoAdasListenerImpl.kt
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@@ -61,8 +61,9 @@ import com.zhjt.mogo.adas.data.bean.UnableAutopilotReason
import com.zhjt.mogo.adas.data.sweeper.SweeperCloudTask
import com.zhjt.mogo.adas.data.sweeper.bootable.SweeperBootable
import com.zhjt.mogo.adas.data.sweeper.task.SweeperTask
import com.zhjt.mogo.adas.data.sweeper.task.SweeperTaskSuspendResume
import com.zhjt.mogo.adas.data.sweeper.task.s_r.SweeperTaskSuspendResume
import com.zhjt.mogo.adas.data.sweeper.task.big.SweeperBigTaskStatus
import com.zhjt.mogo.adas.data.sweeper.task.cloud.s_r.SweeperTaskCloudSuspendResume
import com.zhjt.mogo.adas.data.sweeper.task.confirm.SweeperTaskConfirm
import com.zhjt.mogo.adas.data.sweeper.task.status.SweeperTaskStatus
import com.zhjt.mogo.adas.data.sweeper.task.stop.SweeperTaskStop
@@ -733,6 +734,19 @@ class MoGoAdasListenerImpl : OnAdasListener {
)
}
/**
* 10、云端下发任务暂停/恢复指令到pad（type: 100010）-> sweeper_task_cloud_suspend_resume.proto
*
* @param header 头
* @param messageType 消息类型
* @param reqNo 请求编号
* @param sysTime 当前时间戳
* @param bigTaskActionPush 数据
*/
override fun onSweeperFutianCloudTaskCloudSuspendResume(header: MessagePad.Header, messageType: SweeperCloudTask.MessageType, reqNo: String?, sysTime: Long, bigTaskActionPush: SweeperTaskCloudSuspendResume.BigTaskActionPush?) {
CallerSweeperFutianCloudTaskListenerManager.invokeSweeperFutianCloudTaskCloudSuspendResume(messageType, reqNo, sysTime, bigTaskActionPush)
}
/**
* 清扫车云端任务未知类型
*

10
core/function-impl/mogo-core-function-devatools/src/main/java/com/zhjt/mogo_core_function_devatools/mofang/MoFangCommandExecutor.kt
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@@ -3,8 +3,10 @@ package com.zhjt.mogo_core_function_devatools.mofang
import android.os.*
import android.util.*
import android.view.KeyEvent
import com.mogo.eagle.core.data.config.*
import com.mogo.eagle.core.function.call.autopilot.*
import com.mogo.eagle.core.network.utils.GsonUtil
import com.mogo.eagle.core.utilcode.mogo.*
import com.zhjt.mogo_core_function_devatools.mofang.MoFangAnalyticUtils.Companion.EVENT_EXECUTE
import com.zhjt.mogo_core_function_devatools.mofang.MoFangAnalyticUtils.Companion.EVENT_EXECUTE_SUB_KEYCODE
import com.zhjt.mogo_core_function_devatools.mofang.MoFangAnalyticUtils.Companion.EVENT_EXECUTE_SUB_TYPE
@@ -82,7 +84,13 @@ internal class MoFangCommandExecutor {
MoFangAnalyticUtils.track(EVENT_EXECUTE, mutableMapOf(EVENT_EXECUTE_SUB_KEYCODE to (getKeycodeByWhat(msg.what) ?: ""), EVENT_EXECUTE_SUB_TYPE to (getInputTypeByWhat(msg.what) ?: "")))
linkedLog?.record(mapOf("执行:${System.currentTimeMillis()}" to "$message, $json"))
Log.d(TAG, "--- 启动自驾 ----入参:$json")
CallerAutoPilotControlManager.startAutoPilot(parameters)
//清扫车有FSM模块，魔方启动自驾时需要将Source修改为魔方，以便telamatics做区分并在转发时增加flag标记
if (AppIdentityModeUtils.isSweeper(FunctionBuildConfig.appIdentityMode)) {
CallerAutoPilotControlManager.startAutoPilotByMoFang(parameters)
} else{
CallerAutoPilotControlManager.startAutoPilot(parameters)
}
} catch (t: Throwable) {
t.printStackTrace()
Log.e(TAG, "error: ${t.message}, msg-> $msg")

1
core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/hmi/ui/widget/RomaTaxiView.kt
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@@ -86,7 +86,6 @@ class RomaTaxiView @JvmOverloads constructor(
ll_roma_bg.setBackgroundResource(R.drawable.romabg_press_select_bg)
}
ivRomaView.setBackgroundResource(R.drawable.roma_press_select_bg)
} else {
romaMode = false
if(normalRes!=0){