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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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3
libraries/mogo-adas-data/src/main/proto/special_vehicle_task_cmd.proto
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@@ -14,6 +14,9 @@ message RoboSweeperFuTianCleanCmd {
optional uint32 sweepdisk_speed_requirement = 8 [default = 0]; // 扫盘加速需求 0--no req, 1--decelerate req, 2--accelerate req（扫盘加速需求，每点一次为加速一次，每次加速为5%pwm）
optional uint32 sweepdisk_desire_speed_requirement = 9 [default = 0]; // 扫盘期望转速, 0-100% 必须是5的倍数
optional uint32 one_touch_take_out_trash_requirement = 10 [default = 0]; // 一键倒垃圾请求，0：no req; 1: take out; 2: stop take out
optional uint32 clean_tail_door_requirement = 11 [default = 0]; // 垃圾尾门开关请求，0--no req; 1-- open; 2:--stop take out
optional uint32 clean_tail_tip_requirement = 12 [default = 0]; // 垃圾箱举升请求，0--no req; 1 -- tail ret,2-- tail tip
optional uint32 clean_work_Enc_des_requirement = 13 [default = 0]; // 垃圾箱清淤请求，0--no req; 1:--open; 2--close
}
message RoboSweeperFuTianTaskCmd {

25
libraries/mogo-adas-data/src/main/proto/sweeper/README.md
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@@ -12,6 +12,7 @@
|7、pad主动拉取当前车辆正在执行任务的完整信息（type：100007）|sweeper/sweeper_task.proto|
|8、接管后回自驾-pad上报状态给云端 云端下发启动自驾（type: 100008）|sweeper/sweeper_bootable.proto|
|9、云端下发pad大任务状态（type: 100009）|sweeper/sweeper_big_task_status.proto|
|10、云端下发任务暂停/恢复指令到pad（type: 100010）|sweeper/sweeper_task_cloud_suspend_resume.proto|
# 接口使用说明
## 回调接口类：IMoGoSweeperFutianCloudTaskListener
@@ -181,4 +182,28 @@ fun onSweeperFutianCloudBigTaskStatus(messageType: SweeperCloudTask.MessageType,
客户端回复：
无
~~~
~~~
服务端发：
/**
* 10、云端下发任务暂停/恢复指令到pad（type: 100010）
*
* @param messageType 消息类型
* @param reqNo 请求编号
* @param sysTime 当前时间戳
* @param bigTaskActionPush 数据
*/
fun onSweeperFutianCloudTaskCloudSuspendResume(messageType: SweeperCloudTask.MessageType, reqNo: String?, sysTime: Long, bigTaskActionPush: BigTaskActionPush?)
客户端回复:
/**
* 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）
*
* @param reqNo 请求编号
* @param bigTaskActionResp 参数
* @return boolean
*/
CallerAutoPilotControlManager.INSTANCE.sendSweeperSuspendResumeTaskReq(）
~~~

12
libraries/mogo-adas-data/src/main/proto/sweeper/sweeper_big_task_status.proto
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@@ -1,25 +1,19 @@
syntax = "proto3";
package com.zhjt.mogo.adas.data.sweeper.task.big;
import "sweeper/sweeper_common.proto";
/**** 9、云端下发pad大任务状态（type: 100009） ****/
//9.1、请求信息
// 任务状态
enum BigTaskStatus {
DEFAULT_STATUS = 0; // 无效值
TO_START = 1; //待开始
RUNNING = 2; // 运行中
CANCLE = 3; // 取消
FINISHED = 4; // 结束
ABNORMAL = 5; // 异常
}
message BigTaskStatusPush {
string sn = 1;// sn
string taskId = 2;// 大任务编号
BigTaskStatus TaskStatus = 3;// 大任务状态
common.TaskStatus TaskStatus = 3;// 大任务状态
uint64 systemTime = 4; // 时间戳
bool isPop = 5; // 是否弹窗(0725新增)
}
//4.2、响应信息

1
libraries/mogo-adas-data/src/main/proto/sweeper/sweeper_cloud_task.proto
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@@ -16,6 +16,7 @@ enum MessageType
PadSendGetTaskReq = 100007; //7、pad主动拉取当前车辆正在执行任务的完整信息（type：100007）-> sweeper_task.proto
PadSendBootable = 100008; //8、接管后回自驾-pad上报状态给云端 云端下发启动自驾（type: 100008）-> sweeper_bootable.proto
CloudPushBigTaskStatus = 100009; //9、云端下发pad大任务状态（type: 100009）-> sweeper_big_task_status.proto
CloudPushTaskSuspendResume = 100010; //10、云端下发任务暂停/恢复指令到pad（type: 100010）-> sweeper_task_cloud_suspend_resume.proto
}
//云下行消息

7
libraries/mogo-adas-data/src/main/proto/sweeper/sweeper_common.proto
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@@ -7,9 +7,10 @@ enum TaskStatus
DEFAULT_STATUS = 0; // 无效值
TO_START = 1; //待开始
RUNNING = 2; // 运行中
SUSPENDED = 3; // 暂停
FINISHED = 4; // 结束
ABNORMAL = 5; // *异常
CANCEL = 3; // 取消（提前结束）
FINISHED = 4; // 正常结束
ABNORMAL = 5; // 异常结束
SUSPENDED = 6; // 暂停 (新增)
}
// 响应状态

7
libraries/mogo-adas-data/src/main/proto/sweeper/sweeper_task.proto
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@@ -55,16 +55,17 @@ message TaskInfo {
uint64 currentTime = 6; //当前时间戳
repeated SubTaskInfo subList = 7; // 子任务列表信息
bool isPop = 8; // 是否弹窗
common.TaskStatus taskStatus = 9; // 大任务状态（新增）
}
//1.2、响应信息
// 响应状态
enum StartTaskCode {
DEFAULT_CODE = 0; // 无效值
MANUAL_CONFIRM = 1; // 安全员确认执行任务-pad
MANUAL_REFUSE = 2; // 安全员拒绝任务-pad
MANUAL_CONFIRM = 1; // 安全员确认执行任务-pad（无效值）
MANUAL_REFUSE = 2; // 安全员拒绝任务-pad（无效值）
RECEIVED = 3; // 收到任务
OVER_TIME = 4; // 超时未确认
OVER_TIME = 4; // 超时未确认（无效值）
}
/**

40
libraries/mogo-adas-data/src/main/proto/sweeper/sweeper_task_cloud_suspend_resume.proto Normal file
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@@ -0,0 +1,40 @@
syntax = "proto3";
package com.zhjt.mogo.adas.data.sweeper.task.cloud.s_r;
/**** 10、云端下发任务暂停/恢复指令到pad（type: 100010） ****/
//10.1、请求信息
// 指令类型
enum ActionType {
DEFAULT_TYPE = 0; // 无效值
SUSPENDED = 1; // 暂停
RESUME = 2; //恢复
}
message BigTaskActionPush {
string sn = 1;// sn
string taskId = 2;// 大任务编号
ActionType action = 3;// 指令类型
uint64 systemTime = 4; // 时间戳
bool isPop = 5; // 是否弹窗
}
//10.2、响应信息
// 响应状态
enum Code {
DEFAULT_CODE = 0; // 无效值
RECEIVED = 1; // 收到指令
}
/**
开始大任务响应
*/
message BigTaskActionResp {
string sn = 1;// sn
string taskId = 2;// 大任务编号
Code code = 3; //响应状态
}

9
libraries/mogo-adas-data/src/main/proto/sweeper/sweeper_task_confirm.proto
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@@ -19,10 +19,11 @@ message TaskConfirm {
// 响应状态
enum TaskConfirmCode {
DEFAULT_CODE = 0; // 无效值
MANUAL_CONFIRM = 1; // 安全员确认执行任务-pad
MANUAL_REFUSE_ALL = 2; // 安全员拒绝全部任务-pad
MANUAL_REFUSE_SINGLE = 3; // 安全员拒绝单个子任务-pad
OVER_TIME = 4; // 超时未确认
MANUAL_CONFIRM = 1; // 安全员确认执行任务-pad（无效值）
MANUAL_REFUSE_ALL = 2; // 安全员拒绝全部任务-pad（无效值）
MANUAL_REFUSE_SINGLE = 3; // 安全员拒绝单个子任务-pad（无效值）
OVER_TIME = 4; // 超时未确认（无效值）
RECEIVED = 5; // 收到子任务（新增）
}
/**

10
libraries/mogo-adas-data/src/main/proto/sweeper/sweeper_task_stop.proto
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@@ -8,9 +8,10 @@ package com.zhjt.mogo.adas.data.sweeper.task.stop;
// 任务状态
enum StopTaskType {
DEFAULT_TYPE = 0; // 无效值
TIMEOUT = 1; //超时结束
TIMEOUT = 1; //超时结束（无效值）
ADVANCE = 2; // 提前结束
NORMAL = 3; // 正常结束
EXCEPTION = 4; // 异常结束（新增）
}
@@ -29,9 +30,10 @@ message StopTaskReq {
// 响应状态
enum StopTaskCode {
DEFAULT_CODE = 0; // 无效值
MANUAL_CONFIRM = 1; // 安全员确认
MANUAL_REFUSE = 2; // 安全员拒绝
OVER_TIME = 3; // 超时未确认
MANUAL_CONFIRM = 1; // 安全员确认（无效值）
MANUAL_REFUSE = 2; // 安全员拒绝（无效值）
OVER_TIME = 3; // 超时未确认（无效值）
RECEIVED = 4; // 收到结束指令（新增）
}
/**

2
libraries/mogo-adas-data/src/main/proto/sweeper/sweeper_task_suspend_resume.proto
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@@ -1,5 +1,5 @@
syntax = "proto3";
package com.zhjt.mogo.adas.data.sweeper.task;
package com.zhjt.mogo.adas.data.sweeper.task.s_r;
import "sweeper/sweeper_common.proto";

16
libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/AdasChannel.java
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@@ -50,8 +50,9 @@ import com.zhjt.mogo.adas.data.bean.AutopilotStatistics;
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.cloud.s_r.SweeperTaskCloudSuspendResume;
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.service.chain.ChainLog;
@@ -1989,5 +1990,18 @@ public class AdasChannel implements IAdasNetCommApi, FpgaSocket.IWebSocketConnec
public boolean sendSweeperAutopilotBootable(@NonNull String reqNo, @NonNull SweeperBootable.IsBootable isBootable) {
return sendSweeperCloudTaskCmd(SweeperCloudTask.MessageType.PadSendBootable, reqNo, isBootable.toByteString());
}
/**
* 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
public boolean sendSweeperCloudSuspendResumeTaskResp(@NonNull String reqNo, @NonNull SweeperTaskCloudSuspendResume.BigTaskActionResp bigTaskActionResp) {
return sendSweeperCloudTaskCmd(SweeperCloudTask.MessageType.CloudPushTaskSuspendResume, reqNo, bigTaskActionResp.toByteString());
}
}

16
libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/AdasManager.java
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@@ -16,8 +16,9 @@ import com.zhjt.mogo.adas.data.AdasConstants;
import com.zhjt.mogo.adas.data.bean.AdasParam;
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.confirm.SweeperTaskConfirm;
import com.zhjt.mogo.adas.data.sweeper.task.s_r.SweeperTaskSuspendResume;
import com.zhjt.mogo.adas.data.sweeper.task.stop.SweeperTaskStop;
import java.util.HashSet;
@@ -1180,6 +1181,19 @@ public class AdasManager implements IAdasNetCommApi {
return mChannel != null && mChannel.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
public boolean sendSweeperCloudSuspendResumeTaskResp(@NonNull String reqNo, @NonNull SweeperTaskCloudSuspendResume.BigTaskActionResp bigTaskActionResp) {
return mChannel != null && mChannel.sendSweeperCloudSuspendResumeTaskResp(reqNo, bigTaskActionResp);
}
/**
* 获取工控机固定IP列表
*

13
libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/IAdasNetCommApi.java
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@@ -9,8 +9,9 @@ import com.zhidao.support.adas.high.common.MessageType;
import com.zhjt.mogo.adas.data.AdasConstants;
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.confirm.SweeperTaskConfirm;
import com.zhjt.mogo.adas.data.sweeper.task.s_r.SweeperTaskSuspendResume;
import com.zhjt.mogo.adas.data.sweeper.task.stop.SweeperTaskStop;
import java.util.List;
@@ -739,6 +740,16 @@ public interface IAdasNetCommApi {
*/
boolean sendSweeperAutopilotBootable(@NonNull String reqNo, @NonNull SweeperBootable.IsBootable 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
*/
boolean sendSweeperCloudSuspendResumeTaskResp(@NonNull String reqNo, @NonNull SweeperTaskCloudSuspendResume.BigTaskActionResp bigTaskActionResp);
// TODO 需求暂停 待讨论
// boolean getRoutes();

14
libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/OnAdasListener.java
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@@ -13,9 +13,10 @@ 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.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.s_r.SweeperTaskSuspendResume;
import com.zhjt.mogo.adas.data.sweeper.task.status.SweeperTaskStatus;
import com.zhjt.mogo.adas.data.sweeper.task.stop.SweeperTaskStop;
@@ -370,6 +371,17 @@ public interface OnAdasListener {
*/
void onSweeperFutianCloudBigTaskStatus(@NonNull MessagePad.Header header, @NonNull SweeperCloudTask.MessageType messageType, @Nullable String reqNo, long sysTime, @Nullable SweeperBigTaskStatus.BigTaskStatusPush bigTaskStatusPush);
/**
* 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
*/
void onSweeperFutianCloudTaskCloudSuspendResume(@NonNull MessagePad.Header header, @NonNull SweeperCloudTask.MessageType messageType, @Nullable String reqNo, long sysTime, @Nullable SweeperTaskCloudSuspendResume.BigTaskActionPush bigTaskActionPush);
/**
* 清扫车云端任务未知类型
*

46
libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/msg/SweeperCloudTaskMessage.java
View File

@@ -1,11 +1,9 @@
package com.zhidao.support.adas.high.msg;
import android.os.SystemClock;
import android.util.Log;
import com.google.protobuf.ByteString;
import com.google.protobuf.InvalidProtocolBufferException;
import com.google.protobuf.TextFormat;
import com.zhidao.support.adas.high.AdasChannel;
import com.zhidao.support.adas.high.OnAdasListener;
import com.zhidao.support.adas.high.common.ByteUtil;
@@ -14,9 +12,10 @@ import com.zhidao.support.adas.high.protocol.RawData;
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.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.s_r.SweeperTaskSuspendResume;
import com.zhjt.mogo.adas.data.sweeper.task.status.SweeperTaskStatus;
import com.zhjt.mogo.adas.data.sweeper.task.stop.SweeperTaskStop;
@@ -44,7 +43,7 @@ public class SweeperCloudTaskMessage extends MyAbstractMessageHandler {
String reqNo = message.getReqNo(); //请求编号，响应请求时，使用请求方的请求编号
long sysTime = message.getSysTime(); //当前时间戳
ByteString payload = message.getPayload();
Log.i("SweeperCloudTaskMessage", "MsgType=" + (msgType == null ? "null" : msgType.getNumber()) + " reqNo=" + reqNo + " sysTime=" + sysTime);
CupidLogUtils.i("SweeperCloudTaskMessage", "MsgType=" + (msgType == null ? "null" : msgType.getNumber()) + " reqNo=" + reqNo + " sysTime=" + sysTime);
boolean isExistPayload = payload != null && !payload.isEmpty();
if (msgType == SweeperCloudTask.MessageType.CloudPushTask || msgType == SweeperCloudTask.MessageType.PadSendGetTaskReq) {
//1、云端下发大任务信息（type: 100001）-> sweeper_task.proto
@@ -53,8 +52,8 @@ public class SweeperCloudTaskMessage extends MyAbstractMessageHandler {
if (isExistPayload) {
taskInfo = SweeperTask.TaskInfo.parseFrom(payload);
}
Log.i("SweeperCloudTaskMessage", " msgType=" + msgType + " " + (taskInfo == null ? "null" :
TextFormat.printer().escapingNonAscii(false).printToString(taskInfo)));
// Log.i("SweeperCloudTaskMessage", " msgType=" + msgType + " " + (taskInfo == null ? "null" :
// TextFormat.printer().escapingNonAscii(false).printToString(taskInfo)));
adasListener.onSweeperFutianCloudTask(header, msgType, reqNo, sysTime, taskInfo);
} else if (msgType == SweeperCloudTask.MessageType.CloudPushTaskConfirm) {
//2、云端下发子任务，请求pad确认（type：100002）-> sweeper_task_confirm.proto
@@ -62,8 +61,8 @@ public class SweeperCloudTaskMessage extends MyAbstractMessageHandler {
if (isExistPayload) {
taskConfirm = SweeperTaskConfirm.TaskConfirm.parseFrom(payload);
}
Log.i("SweeperCloudTaskMessage", " msgType=" + msgType + " " + (taskConfirm == null ? "null" :
TextFormat.printer().escapingNonAscii(false).printToString(taskConfirm)));
// Log.i("SweeperCloudTaskMessage", " msgType=" + msgType + " " + (taskConfirm == null ? "null" :
// TextFormat.printer().escapingNonAscii(false).printToString(taskConfirm)));
adasListener.onSweeperFutianCloudTaskConfirm(header, msgType, reqNo, sysTime, taskConfirm);
} else if (msgType == SweeperCloudTask.MessageType.CloudPushTaskStatus) {
//3、云端下发任务状态到pad（type：100003）-> sweeper_task_status.proto
@@ -71,8 +70,8 @@ public class SweeperCloudTaskMessage extends MyAbstractMessageHandler {
if (isExistPayload) {
taskStatusPush = SweeperTaskStatus.TaskStatusPush.parseFrom(payload);
}
Log.i("SweeperCloudTaskMessage", " msgType=" + msgType + " " + (taskStatusPush == null ? "null" :
TextFormat.printer().escapingNonAscii(false).printToString(taskStatusPush)));
// Log.i("SweeperCloudTaskMessage", " msgType=" + msgType + " " + (taskStatusPush == null ? "null" :
// TextFormat.printer().escapingNonAscii(false).printToString(taskStatusPush)));
adasListener.onSweeperFutianCloudTaskStatus(header, msgType, reqNo, sysTime, taskStatusPush);
} else if (msgType == SweeperCloudTask.MessageType.CloudPushTaskStop) {
//4、云端请求pad结束任务（type：100004）-> sweeper_task_stop.proto
@@ -80,8 +79,8 @@ public class SweeperCloudTaskMessage extends MyAbstractMessageHandler {
if (isExistPayload) {
stopTaskReq = SweeperTaskStop.StopTaskReq.parseFrom(payload);
}
Log.i("SweeperCloudTaskMessage", " msgType=" + msgType + " " + (stopTaskReq == null ? "null" :
TextFormat.printer().escapingNonAscii(false).printToString(stopTaskReq)));
// Log.i("SweeperCloudTaskMessage", " msgType=" + msgType + " " + (stopTaskReq == null ? "null" :
// TextFormat.printer().escapingNonAscii(false).printToString(stopTaskReq)));
adasListener.onSweeperFutianCloudTaskStop(header, msgType, reqNo, sysTime, stopTaskReq);
} else if (msgType == SweeperCloudTask.MessageType.PadSendTaskSuspend || msgType == SweeperCloudTask.MessageType.PadSendTaskResume) {
//5、pad请求挂起任务（type：100005）-> sweeper_task_suspend_resume.proto
@@ -90,8 +89,8 @@ public class SweeperCloudTaskMessage extends MyAbstractMessageHandler {
if (isExistPayload) {
suspendResumeTaskResp = SweeperTaskSuspendResume.SuspendResumeTaskResp.parseFrom(payload);
}
Log.i("SweeperCloudTaskMessage", " msgType=" + msgType + " " + (suspendResumeTaskResp == null ? "null" :
TextFormat.printer().escapingNonAscii(false).printToString(suspendResumeTaskResp)));
// Log.i("SweeperCloudTaskMessage", " msgType=" + msgType + " " + (suspendResumeTaskResp == null ? "null" :
// TextFormat.printer().escapingNonAscii(false).printToString(suspendResumeTaskResp)));
adasListener.onSweeperFutianCloudTaskSuspendResume(header, msgType, reqNo, sysTime, suspendResumeTaskResp);
} else if (msgType == SweeperCloudTask.MessageType.PadSendBootable) {
//8、接管后回自驾-pad上报状态给云端 云端下发启动自驾（type: 100008）-> sweeper_autopilot.proto
@@ -99,8 +98,8 @@ public class SweeperCloudTaskMessage extends MyAbstractMessageHandler {
if (isExistPayload) {
isBootableResp = SweeperBootable.IsBootableResp.parseFrom(payload);
}
Log.i("SweeperCloudTaskMessage", " msgType=" + msgType + " " + (isBootableResp == null ? "null" :
TextFormat.printer().escapingNonAscii(false).printToString(isBootableResp)));
// Log.i("SweeperCloudTaskMessage", " msgType=" + msgType + " " + (isBootableResp == null ? "null" :
// TextFormat.printer().escapingNonAscii(false).printToString(isBootableResp)));
adasListener.onSweeperFutianCloudBootable(header, msgType, reqNo, sysTime, isBootableResp);
} else if (msgType == SweeperCloudTask.MessageType.CloudPushBigTaskStatus) {
//9、云端下发pad大任务状态（type: 100009）-> sweeper_big_task_status.proto
@@ -108,12 +107,21 @@ public class SweeperCloudTaskMessage extends MyAbstractMessageHandler {
if (isExistPayload) {
bigTaskStatusPush = SweeperBigTaskStatus.BigTaskStatusPush.parseFrom(payload);
}
Log.i("SweeperCloudTaskMessage", " msgType=" + msgType + " " + (bigTaskStatusPush == null ? "null" :
TextFormat.printer().escapingNonAscii(false).printToString(bigTaskStatusPush)));
// Log.i("SweeperCloudTaskMessage", " msgType=" + msgType + " " + (bigTaskStatusPush == null ? "null" :
// TextFormat.printer().escapingNonAscii(false).printToString(bigTaskStatusPush)));
adasListener.onSweeperFutianCloudBigTaskStatus(header, msgType, reqNo, sysTime, bigTaskStatusPush);
} else if (msgType == SweeperCloudTask.MessageType.CloudPushTaskSuspendResume) {
//10、云端下发任务暂停/恢复指令到pad（type: 100010）
SweeperTaskCloudSuspendResume.BigTaskActionPush bigTaskActionPush = null;
if (isExistPayload) {
bigTaskActionPush = SweeperTaskCloudSuspendResume.BigTaskActionPush.parseFrom(payload);
}
// Log.i("SweeperCloudTaskMessage", " msgType=" + msgType + " " + (bigTaskActionPush == null ? "null" :
// TextFormat.printer().escapingNonAscii(false).printToString(bigTaskActionPush)));
adasListener.onSweeperFutianCloudTaskCloudSuspendResume(header, msgType, reqNo, sysTime, bigTaskActionPush);
} else {
//未知数据类型
Log.i("SweeperCloudTaskMessage", " 错误数据=" + ByteUtil.byteArrToHex(bytes));
CupidLogUtils.i("SweeperCloudTaskMessage", " 错误数据=" + ByteUtil.byteArrToHex(bytes));
adasListener.onSweeperFutianCloudTaskUnknown(header, bytes);
}
}