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[610][adas]添加平行驾驶相关接口；能否启动自驾接口添加手刹状态判断；修改清扫车云控PB与平行驾驶PB共用

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xinfengkun
2023-09-07 20:26:20 +08:00
parent 2f4f6f8d49
commit 76cdcf7e72
26 changed files with 336 additions and 129 deletions
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6
OCH/sweeper/sweeper-cloud/src/main/java/com/mogo/och/sweepercloud/callback/ISweeperCloudTaskCallback.kt
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@@ -3,7 +3,7 @@ package com.mogo.och.sweepercloud.callback
import chassis.ChassisStatesOuterClass
import com.mogo.och.sweepercloud.bean.SweeperRoutePlanningUpdateReqBean
import com.mogo.och.sweepercloud.database.bean.WeltDataBean
import com.zhjt.mogo.adas.data.sweeper.SweeperCloudTask
import com.zhjt.mogo.adas.data.AiCloudTask
import com.zhjt.mogo.adas.data.sweeper.bootable.SweeperBootable
import com.zhjt.mogo.adas.data.sweeper.bootable.SweeperBootable.IsBootableResp
import com.zhjt.mogo.adas.data.sweeper.common.SweeperCommon
@@ -22,7 +22,7 @@ interface ISweeperCloudTaskCallback {
/**
* 接取云端任务/正在执行中任务信息回调
*/
fun onSweeperCloudTask(messageType: SweeperCloudTask.MessageType,taskInfo: SweeperTask.TaskInfo?)
fun onSweeperCloudTask(messageType: AiCloudTask.MessageType, taskInfo: SweeperTask.TaskInfo?)
/**
* 云端下发子任务请求pad确认
@@ -42,7 +42,7 @@ interface ISweeperCloudTaskCallback {
/**
* 挂起/恢复
*/
fun onSweeperCloudTaskSuspendResume(messageType: SweeperCloudTask.MessageType,taskId:String,subTaskId:String,code:Code)
fun onSweeperCloudTaskSuspendResume(messageType: AiCloudTask.MessageType,taskId:String,subTaskId:String,code:Code)
/**
* pad请求云端进入自驾

38
OCH/sweeper/sweeper-cloud/src/main/java/com/mogo/och/sweepercloud/model/SweeperTaskModel.java
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@@ -39,7 +39,7 @@ import com.mogo.och.sweepercloud.constant.SweeperConst;
import com.mogo.och.sweepercloud.database.MyDataBase;
import com.mogo.och.sweepercloud.database.bean.WeltDataBean;
import com.mogo.och.sweepercloud.util.SweeperCloudTaskUtils;
import com.zhjt.mogo.adas.data.sweeper.SweeperCloudTask;
import com.zhjt.mogo.adas.data.AiCloudTask;
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.big.SweeperBigTaskStatus;
@@ -332,7 +332,7 @@ public class SweeperTaskModel implements IMoGoSweeperFutianCloudTaskListener, IM
}
@Override
public void onSweeperFutianCloudTask(@NonNull SweeperCloudTask.MessageType messageType, String reqNo, long sysTime,
public void onSweeperFutianCloudTask(@NonNull AiCloudTask.MessageType messageType, String reqNo, long sysTime,
SweeperTask.TaskInfo taskInfo) {
CallerLogger.d(M_SWEEPER + TAG,
@@ -344,7 +344,7 @@ public class SweeperTaskModel implements IMoGoSweeperFutianCloudTaskListener, IM
}
@Override
public void onSweeperFutianCloudTaskConfirm(@NonNull SweeperCloudTask.MessageType messageType, String reqNo, long sysTime,
public void onSweeperFutianCloudTaskConfirm(@NonNull AiCloudTask.MessageType messageType, String reqNo, long sysTime,
SweeperTaskConfirm.TaskConfirm taskConfirm) {
CallerLogger.d(M_SWEEPER + TAG, "messageType: " + messageType.getNumber() + " sysTime：" + sysTime + " reqNo：" + reqNo + " " +
@@ -356,7 +356,7 @@ public class SweeperTaskModel implements IMoGoSweeperFutianCloudTaskListener, IM
}
@Override
public void onSweeperFutianCloudTaskStatus(@NonNull SweeperCloudTask.MessageType messageType, String reqNo, long sysTime,
public void onSweeperFutianCloudTaskStatus(@NonNull AiCloudTask.MessageType messageType, String reqNo, long sysTime,
SweeperTaskStatus.TaskStatusPush taskStatusPush) {
CallerLogger.d(M_SWEEPER + TAG, "messageType: " + messageType.getNumber() + " sysTime：" + sysTime + " reqNo：" + reqNo + " " +
"onSweeperFutianCloudTaskStatus：" + printMessage(taskStatusPush));
@@ -367,7 +367,7 @@ public class SweeperTaskModel implements IMoGoSweeperFutianCloudTaskListener, IM
}
@Override
public void onSweeperFutianCloudTaskStop(@NonNull SweeperCloudTask.MessageType messageType, String reqNo, long sysTime,
public void onSweeperFutianCloudTaskStop(@NonNull AiCloudTask.MessageType messageType, String reqNo, long sysTime,
SweeperTaskStop.StopTaskReq stopTaskReq) {
CallerLogger.d(M_SWEEPER + TAG, "messageType: " + messageType.getNumber() + " sysTime：" + sysTime + " reqNo：" + reqNo + " " +
"onSweeperFutianCloudTaskStop：" + printMessage(stopTaskReq));
@@ -378,7 +378,7 @@ public class SweeperTaskModel implements IMoGoSweeperFutianCloudTaskListener, IM
}
@Override
public void onSweeperFutianCloudTaskSuspendResume(@NonNull SweeperCloudTask.MessageType messageType, String reqNo, long sysTime,
public void onSweeperFutianCloudTaskSuspendResume(@NonNull AiCloudTask.MessageType messageType, String reqNo, long sysTime,
SweeperTaskSuspendResume.SuspendResumeTaskResp suspendResumeTaskResp) {
CallerLogger.d(M_SWEEPER + TAG, "messageType: " + messageType.getNumber() + " sysTime：" + sysTime + " reqNo：" + reqNo + " " +
"onSweeperFutianCloudTaskSuspendResume：" + printMessage(suspendResumeTaskResp));
@@ -390,7 +390,7 @@ public class SweeperTaskModel implements IMoGoSweeperFutianCloudTaskListener, IM
}
@Override
public void onSweeperFutianCloudBootable(@NonNull SweeperCloudTask.MessageType messageType, String reqNo, long sysTime,
public void onSweeperFutianCloudBootable(@NonNull AiCloudTask.MessageType messageType, String reqNo, long sysTime,
SweeperBootable.IsBootableResp isBootableResp) {
CallerLogger.d(M_SWEEPER + TAG, "messageType: " + messageType.getNumber() + " sysTime：" + sysTime + " reqNo：" + reqNo + " " +
"onSweeperFutianCloudBootable：" + printMessage(isBootableResp));
@@ -401,7 +401,7 @@ public class SweeperTaskModel implements IMoGoSweeperFutianCloudTaskListener, IM
}
@Override
public void onSweeperFutianCloudBigTaskStatus(@NonNull SweeperCloudTask.MessageType messageType, String reqNo, long sysTime,
public void onSweeperFutianCloudBigTaskStatus(@NonNull AiCloudTask.MessageType messageType, String reqNo, long sysTime,
SweeperBigTaskStatus.BigTaskStatusPush bigTaskStatusPush) {
CallerLogger.d(M_SWEEPER + TAG, "messageType: " + messageType.getNumber() + " sysTime：" + sysTime + " reqNo：" + reqNo + " " +
"onSweeperFutianCloudBigTaskStatus：" + printMessage(bigTaskStatusPush));
@@ -412,7 +412,7 @@ public class SweeperTaskModel implements IMoGoSweeperFutianCloudTaskListener, IM
}
@Override
public void onSweeperFutianCloudTaskCloudSuspendResume(@NonNull SweeperCloudTask.MessageType messageType, @Nullable String reqNo, long sysTime,
public void onSweeperFutianCloudTaskCloudSuspendResume(@NonNull AiCloudTask.MessageType messageType, @Nullable String reqNo, long sysTime,
@Nullable SweeperTaskCloudSuspendResume.BigTaskActionPush bigTaskActionPush) {
CallerLogger.d(M_SWEEPER + TAG, "messageType: " + messageType.getNumber() + " sysTime：" + sysTime + " reqNo：" + reqNo + " " +
"onSweeperFutianCloudTaskCloudSuspendResume：" + printMessage(bigTaskActionPush));
@@ -521,7 +521,7 @@ public class SweeperTaskModel implements IMoGoSweeperFutianCloudTaskListener, IM
SweeperTask.GetTaskReq getTaskReq = builder.build();
CallerLogger.d(M_SWEEPER + TAG,
"getCurrentTask:" + printMessage(getTaskReq) + " reqNo:" + reqNo + " messageType:" + SweeperCloudTask.MessageType.PadSendGetTaskReq.getNumber());
"getCurrentTask:" + printMessage(getTaskReq) + " reqNo:" + reqNo + " messageType:" + AiCloudTask.MessageType.PadSendGetTaskReq.getNumber());
getAutoPilotControlManager().sendSweeperGetTaskReq(reqNo, getTaskReq);
}
@@ -534,11 +534,11 @@ public class SweeperTaskModel implements IMoGoSweeperFutianCloudTaskListener, IM
builder.setTaskId(taskId);
builder.setCode(code);
SweeperTask.StartTaskResp startTaskResp = builder.build();
String reqNo = msgTypeAndReqNo.get(SweeperCloudTask.MessageType.CloudPushTask.getNumber());
String reqNo = msgTypeAndReqNo.get(AiCloudTask.MessageType.CloudPushTask.getNumber());
getAutoPilotControlManager().sendSweeperStartTaskResp(reqNo, startTaskResp);
CallerLogger.d(M_SWEEPER + TAG,
"sendSweeperStartTaskResp:" + printMessage(startTaskResp) + " reqNo:" + reqNo + " messageType:" + SweeperCloudTask.MessageType.CloudPushTask.getNumber());
"sendSweeperStartTaskResp:" + printMessage(startTaskResp) + " reqNo:" + reqNo + " messageType:" + AiCloudTask.MessageType.CloudPushTask.getNumber());
}
/**
@@ -551,9 +551,9 @@ public class SweeperTaskModel implements IMoGoSweeperFutianCloudTaskListener, IM
builder.setSubTaskId(subTaskId);
builder.setCode(code);
SweeperTaskConfirm.TaskConfirmResp taskConfirmResp = builder.build();
String reqNo = msgTypeAndReqNo.get(SweeperCloudTask.MessageType.CloudPushTaskConfirm.getNumber());
String reqNo = msgTypeAndReqNo.get(AiCloudTask.MessageType.CloudPushTaskConfirm.getNumber());
CallerLogger.d(M_SWEEPER + TAG,
"sendSweeperTaskConfirmResp" + printMessage(taskConfirmResp) + " reqNo:" + reqNo + " messageType:" + SweeperCloudTask.MessageType.CloudPushTaskConfirm.getNumber());
"sendSweeperTaskConfirmResp" + printMessage(taskConfirmResp) + " reqNo:" + reqNo + " messageType:" + AiCloudTask.MessageType.CloudPushTaskConfirm.getNumber());
getAutoPilotControlManager().sendSweeperTaskConfirmResp(reqNo, taskConfirmResp);
}
@@ -569,10 +569,10 @@ public class SweeperTaskModel implements IMoGoSweeperFutianCloudTaskListener, IM
builder.setTaskId(taskId);
builder.setCode(code);
SweeperTaskStop.StopTaskResp stopTaskResp = builder.build();
String reqNo = msgTypeAndReqNo.get(SweeperCloudTask.MessageType.CloudPushTaskStop.getNumber());
String reqNo = msgTypeAndReqNo.get(AiCloudTask.MessageType.CloudPushTaskStop.getNumber());
CallerLogger.d(M_SWEEPER + TAG,
"sendSweeperStopTaskResp" + printMessage(stopTaskResp) + " reqNo:" + reqNo + " messageType:" + SweeperCloudTask.MessageType.CloudPushTaskStop.getNumber());
"sendSweeperStopTaskResp" + printMessage(stopTaskResp) + " reqNo:" + reqNo + " messageType:" + AiCloudTask.MessageType.CloudPushTaskStop.getNumber());
getAutoPilotControlManager().sendSweeperStopTaskResp(reqNo, stopTaskResp);
}
@@ -593,7 +593,7 @@ public class SweeperTaskModel implements IMoGoSweeperFutianCloudTaskListener, IM
String reqNo = SweeperCloudTaskUtils.getRequestId();
CallerLogger.d(M_SWEEPER + TAG,
"sendSweeperAutopilotBootable" + printMessage(isBootable) + " reqNo:" + reqNo + " messageType:" + SweeperCloudTask.MessageType.PadSendBootable.getNumber());
"sendSweeperAutopilotBootable" + printMessage(isBootable) + " reqNo:" + reqNo + " messageType:" + AiCloudTask.MessageType.PadSendBootable.getNumber());
getAutoPilotControlManager().sendSweeperAutopilotBootable(reqNo, isBootable);
//SweeperCloudTaskUtils.mockSendCloudBootable();
}
@@ -609,10 +609,10 @@ public class SweeperTaskModel implements IMoGoSweeperFutianCloudTaskListener, IM
builder.setTaskId(taskId);
builder.setCode(code);
SweeperTaskCloudSuspendResume.BigTaskActionResp resp = builder.build();
String reqNo = msgTypeAndReqNo.get(SweeperCloudTask.MessageType.CloudPushTaskSuspendResume.getNumber());
String reqNo = msgTypeAndReqNo.get(AiCloudTask.MessageType.CloudPushTaskSuspendResume.getNumber());
CallerLogger.d(M_SWEEPER + TAG,
"sendSweeperSuspendResumeTaskResp" + printMessage(resp) + " reqNo:" + reqNo + " messageType:" + SweeperCloudTask.MessageType.CloudPushTaskSuspendResume);
"sendSweeperSuspendResumeTaskResp" + printMessage(resp) + " reqNo:" + reqNo + " messageType:" + AiCloudTask.MessageType.CloudPushTaskSuspendResume);
getAutoPilotControlManager().sendSweeperCloudSuspendResumeTaskResp(reqNo, resp);
}

14
OCH/sweeper/sweeper-cloud/src/main/java/com/mogo/och/sweepercloud/util/SweeperCloudTaskUtils.kt
View File

@@ -19,7 +19,7 @@ import com.mogo.och.sweepercloud.callback.SweeperCloudDialogClickListener
import com.mogo.och.sweepercloud.constant.SweeperConst
import com.mogo.och.sweepercloud.model.SweeperTaskModel
import com.mogo.och.sweepercloud.ui.dialog.SweeperCloudDialog
import com.zhjt.mogo.adas.data.sweeper.SweeperCloudTask.MessageType
import com.zhjt.mogo.adas.data.AiCloudTask
import com.zhjt.mogo.adas.data.sweeper.bootable.SweeperBootable
import com.zhjt.mogo.adas.data.sweeper.common.SweeperCommon
import com.zhjt.mogo.adas.data.sweeper.task.SweeperTask.Location
@@ -50,7 +50,7 @@ object SweeperCloudTaskUtils {
* 模拟云控发送任务给pad
*/
@JvmStatic
fun mockSendCloudTaskInfo(messageType: MessageType) {
fun mockSendCloudTaskInfo(messageType: AiCloudTask.MessageType) {
val builder = TaskInfo.newBuilder()
builder.sn = getDriverSn()
builder.taskId = "10"
@@ -169,7 +169,7 @@ object SweeperCloudTaskUtils {
builder.taskId = "10"
builder.subTaskId = "1"
SweeperTaskModel.getInstance().onSweeperFutianCloudTaskConfirm(
MessageType.CloudPushTaskConfirm, "${System.currentTimeMillis()}",
AiCloudTask.MessageType.CloudPushTaskConfirm, "${System.currentTimeMillis()}",
System.currentTimeMillis(), builder.build()
)
}
@@ -185,7 +185,7 @@ object SweeperCloudTaskUtils {
builder.subTaskId = "1"
builder.taskStatus = SweeperCommon.TaskStatus.RUNNING
SweeperTaskModel.getInstance().onSweeperFutianCloudTaskStatus(
MessageType.CloudPushTaskStatus, "${System.currentTimeMillis()}",
AiCloudTask.MessageType.CloudPushTaskStatus, "${System.currentTimeMillis()}",
System.currentTimeMillis(), builder.build()
)
}
@@ -200,7 +200,7 @@ object SweeperCloudTaskUtils {
builder.taskId = "10"
builder.type = SweeperTaskStop.StopTaskType.ADVANCE
SweeperTaskModel.getInstance().onSweeperFutianCloudTaskStop(
MessageType.CloudPushTaskStop, "${System.currentTimeMillis()}",
AiCloudTask.MessageType.CloudPushTaskStop, "${System.currentTimeMillis()}",
System.currentTimeMillis(), builder.build()
)
}
@@ -216,7 +216,7 @@ object SweeperCloudTaskUtils {
builder.taskStatus = SweeperCommon.TaskStatus.FINISHED
builder.systemTime = System.currentTimeMillis()
SweeperTaskModel.getInstance().onSweeperFutianCloudBigTaskStatus(
MessageType.CloudPushBigTaskStatus, "${System.currentTimeMillis()}",
AiCloudTask.MessageType.CloudPushBigTaskStatus, "${System.currentTimeMillis()}",
System.currentTimeMillis(), builder.build()
)
}
@@ -233,7 +233,7 @@ object SweeperCloudTaskUtils {
builder.code = SweeperCommon.Code.SUCCEED
UiThreadHandler.getsUiHandler().postDelayed({
SweeperTaskModel.getInstance().onSweeperFutianCloudBootable(
MessageType.PadSendBootable, "${System.currentTimeMillis()}",
AiCloudTask.MessageType.PadSendBootable, "${System.currentTimeMillis()}",
System.currentTimeMillis(), builder.build()
)
}, 10000)