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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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8
core/function-impl/mogo-core-function-datacenter/src/main/java/com/mogo/eagle/core/function/datacenter/autopilot/MoGoAutopilotControlProvider.kt
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@@ -70,6 +70,7 @@ import com.zhjt.mogo.adas.data.sweeper.task.stop.SweeperTaskStop
import com.zhjt.service.chain.ChainLog
import io.netty.channel.Channel
import mogo.telematics.pad.MessagePad
import mogo.yycp.paralleldriving.protocol.ParallelDrivingRequest
import java.util.*
import java.util.concurrent.TimeUnit
@@ -1093,6 +1094,13 @@ class MoGoAutopilotControlProvider :
return AdasManager.getInstance().sendSweeperCloudSuspendResumeTaskResp(reqNo, bigTaskActionResp)
}
override fun sendParallelDrivingReq(
reqNo: String,
parallelRequest: ParallelDrivingRequest.ParallelRequest
): Boolean {
return AdasManager.getInstance().sendParallelDrivingReq(reqNo, parallelRequest)
}
override fun setIsDrawPointCloud(isDrawPointCloud: Boolean) {
if (isDrawPointCloud) {
AdasManager.getInstance().subscribeInterface(

41
core/function-impl/mogo-core-function-datacenter/src/main/java/com/mogo/eagle/core/function/datacenter/autopilot/adapter/MoGoAdasListenerImpl.kt
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@@ -56,9 +56,9 @@ import com.mogo.support.obu.ObuScene
import com.zhidao.support.adas.high.OnAdasListener
import com.zhjt.mogo.adas.data.bean.AdasParam
import com.zhidao.support.adas.high.common.ProtocolStatus
import com.zhjt.mogo.adas.data.AiCloudTask
import com.zhjt.mogo.adas.data.bean.AutopilotStatistics
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.s_r.SweeperTaskSuspendResume
@@ -73,6 +73,7 @@ import mogo.telematics.pad.MessagePad
import mogo.telematics.pad.MessagePad.TrackedObject
import mogo.v2x.MogoV2X
import mogo.v2x.RoadOverviewEvents
import mogo.yycp.paralleldriving.protocol.ParallelTaskProcessNoticeOuterClass
import mogo_msg.MogoReportMsg
import perception.TrafficLightOuterClass
import planning.RoboSweeperTaskIndexOuterClass
@@ -576,7 +577,7 @@ class MoGoAdasListenerImpl : OnAdasListener {
*/
override fun onSweeperFutianCloudTask(
header: MessagePad.Header,
messageType: SweeperCloudTask.MessageType,
messageType: AiCloudTask.MessageType,
reqNo: String?,
sysTime: Long,
taskInfo: SweeperTask.TaskInfo?
@@ -600,7 +601,7 @@ class MoGoAdasListenerImpl : OnAdasListener {
*/
override fun onSweeperFutianCloudTaskConfirm(
header: MessagePad.Header,
messageType: SweeperCloudTask.MessageType,
messageType: AiCloudTask.MessageType,
reqNo: String?,
sysTime: Long,
taskConfirm: SweeperTaskConfirm.TaskConfirm?
@@ -624,7 +625,7 @@ class MoGoAdasListenerImpl : OnAdasListener {
*/
override fun onSweeperFutianCloudTaskStatus(
header: MessagePad.Header,
messageType: SweeperCloudTask.MessageType,
messageType: AiCloudTask.MessageType,
reqNo: String?,
sysTime: Long,
taskStatusPush: SweeperTaskStatus.TaskStatusPush?
@@ -648,7 +649,7 @@ class MoGoAdasListenerImpl : OnAdasListener {
*/
override fun onSweeperFutianCloudTaskStop(
header: MessagePad.Header,
messageType: SweeperCloudTask.MessageType,
messageType: AiCloudTask.MessageType,
reqNo: String?,
sysTime: Long,
stopTaskReq: SweeperTaskStop.StopTaskReq?
@@ -673,7 +674,7 @@ class MoGoAdasListenerImpl : OnAdasListener {
*/
override fun onSweeperFutianCloudTaskSuspendResume(
header: MessagePad.Header,
messageType: SweeperCloudTask.MessageType,
messageType: AiCloudTask.MessageType,
reqNo: String?,
sysTime: Long,
suspendResumeTaskResp: SweeperTaskSuspendResume.SuspendResumeTaskResp?
@@ -697,7 +698,7 @@ class MoGoAdasListenerImpl : OnAdasListener {
*/
override fun onSweeperFutianCloudBootable(
header: MessagePad.Header,
messageType: SweeperCloudTask.MessageType,
messageType: AiCloudTask.MessageType,
reqNo: String?,
sysTime: Long,
isBootableResp: SweeperBootable.IsBootableResp?
@@ -721,7 +722,7 @@ class MoGoAdasListenerImpl : OnAdasListener {
*/
override fun onSweeperFutianCloudBigTaskStatus(
header: MessagePad.Header,
messageType: SweeperCloudTask.MessageType,
messageType: AiCloudTask.MessageType,
reqNo: String?,
sysTime: Long,
bigTaskStatusPush: SweeperBigTaskStatus.BigTaskStatusPush?
@@ -743,17 +744,37 @@ class MoGoAdasListenerImpl : OnAdasListener {
* @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?) {
override fun onSweeperFutianCloudTaskCloudSuspendResume(header: MessagePad.Header, messageType: AiCloudTask.MessageType, reqNo: String?, sysTime: Long, bigTaskActionPush: SweeperTaskCloudSuspendResume.BigTaskActionPush?) {
CallerSweeperFutianCloudTaskListenerManager.invokeSweeperFutianCloudTaskCloudSuspendResume(messageType, reqNo, sysTime, bigTaskActionPush)
}
/**
* 无人化场景
* 平行驾驶请求相关状态反馈
*
* @param header 头
* @param messageType 消息类型
* @param reqNo 请求编号
* @param sysTime 当前时间戳
* @param parallelTaskProcessNotice 数据
*/
override fun onParallelDrivingResp(
header: MessagePad.Header,
messageType: AiCloudTask.MessageType,
reqNo: String?,
sysTime: Long,
parallelTaskProcessNotice: ParallelTaskProcessNoticeOuterClass.ParallelTaskProcessNotice?
) {
CallerParallelDrivingListenerManager.invokeParallelDrivingListener(parallelTaskProcessNotice)
}
/**
* 清扫车云端任务未知类型
*
* @param header 头
* @param bytes 原始数据
*/
override fun onSweeperFutianCloudTaskUnknown(header: MessagePad.Header, bytes: ByteArray) {
override fun onAiCloudTaskUnknown(header: MessagePad.Header, bytes: ByteArray) {
CallerSweeperFutianCloudTaskListenerManager.invokeSweeperFutianCloudTaskUnknown(bytes)
}

10
core/mogo-core-function-api/src/main/java/com/mogo/eagle/core/function/api/autopilot/IMoGoAutopilotControlProvider.kt
View File

@@ -13,6 +13,7 @@ import com.zhjt.mogo.adas.data.sweeper.task.confirm.SweeperTaskConfirm.TaskConfi
import com.zhjt.mogo.adas.data.sweeper.task.stop.SweeperTaskStop.StopTaskResp
import com.zhjt.mogo.adas.data.AdasConstants
import com.zhjt.mogo.adas.data.sweeper.task.cloud.s_r.SweeperTaskCloudSuspendResume.BigTaskActionResp
import mogo.yycp.paralleldriving.protocol.ParallelDrivingRequest
/**
* @author xiaoyuzhou
@@ -458,6 +459,15 @@ interface IMoGoAutopilotControlProvider : IMoGoFunctionServerProvider {
*/
fun sendSweeperAutopilotBootable(reqNo: String, isBootable: IsBootable): Boolean
/**
* PAD发起平行驾驶请求
*
* @param reqNo 请求编号（目前没有传递需求,可以传null）
* @param parallelRequest 参数
* @return boolean
*/
fun sendParallelDrivingReq(reqNo: String, parallelRequest: ParallelDrivingRequest.ParallelRequest): Boolean
/**
* 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

16
core/mogo-core-function-api/src/main/java/com/mogo/eagle/core/function/api/autopilot/IMoGoParallelDrivingStatusListener.kt Normal file
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@@ -0,0 +1,16 @@
package com.mogo.eagle.core.function.api.autopilot
import mogo.yycp.paralleldriving.protocol.ParallelTaskProcessNoticeOuterClass
/**
* 平行驾驶状态
*/
interface IMoGoParallelDrivingStatusListener {
/**
* 需要判空
*/
fun onParallelDrivingResp(
parallelTaskProcessNotice: ParallelTaskProcessNoticeOuterClass.ParallelTaskProcessNotice?
)
}

18
core/mogo-core-function-api/src/main/java/com/mogo/eagle/core/function/api/autopilot/IMoGoSweeperFutianCloudTaskListener.kt
View File

@@ -1,6 +1,6 @@
package com.mogo.eagle.core.function.api.autopilot
import com.zhjt.mogo.adas.data.sweeper.SweeperCloudTask
import com.zhjt.mogo.adas.data.AiCloudTask
import com.zhjt.mogo.adas.data.sweeper.bootable.SweeperBootable.IsBootableResp
import com.zhjt.mogo.adas.data.sweeper.task.SweeperTask
import com.zhjt.mogo.adas.data.sweeper.task.big.SweeperBigTaskStatus.BigTaskStatusPush
@@ -24,7 +24,7 @@ interface IMoGoSweeperFutianCloudTaskListener {
* @param sysTime 当前时间戳
* @param taskInfo 数据
*/
fun onSweeperFutianCloudTask(messageType: SweeperCloudTask.MessageType, reqNo: String?, sysTime: Long, taskInfo: SweeperTask.TaskInfo?)
fun onSweeperFutianCloudTask(messageType: AiCloudTask.MessageType, reqNo: String?, sysTime: Long, taskInfo: SweeperTask.TaskInfo?)
/**
* 2、云端下发子任务，请求pad确认（type：100002）-> sweeper_task_confirm.proto
@@ -34,7 +34,7 @@ interface IMoGoSweeperFutianCloudTaskListener {
* @param sysTime 当前时间戳
* @param taskConfirm 数据
*/
fun onSweeperFutianCloudTaskConfirm(messageType: SweeperCloudTask.MessageType, reqNo: String?, sysTime: Long, taskConfirm: TaskConfirm?)
fun onSweeperFutianCloudTaskConfirm(messageType: AiCloudTask.MessageType, reqNo: String?, sysTime: Long, taskConfirm: TaskConfirm?)
/**
* 3、云端下发任务状态到pad（type：100003）-> sweeper_task_status.proto
@@ -44,7 +44,7 @@ interface IMoGoSweeperFutianCloudTaskListener {
* @param sysTime 当前时间戳
* @param taskStatusPush 数据
*/
fun onSweeperFutianCloudTaskStatus(messageType: SweeperCloudTask.MessageType, reqNo: String?, sysTime: Long, taskStatusPush: TaskStatusPush?)
fun onSweeperFutianCloudTaskStatus(messageType: AiCloudTask.MessageType, reqNo: String?, sysTime: Long, taskStatusPush: TaskStatusPush?)
/**
* 4、云端请求pad结束任务（type：100004）-> sweeper_task_stop.proto
@@ -54,7 +54,7 @@ interface IMoGoSweeperFutianCloudTaskListener {
* @param sysTime 当前时间戳
* @param stopTaskReq 数据
*/
fun onSweeperFutianCloudTaskStop(messageType: SweeperCloudTask.MessageType, reqNo: String?, sysTime: Long, stopTaskReq: StopTaskReq?)
fun onSweeperFutianCloudTaskStop(messageType: AiCloudTask.MessageType, reqNo: String?, sysTime: Long, stopTaskReq: StopTaskReq?)
/**
* 5、pad请求挂起任务（type：100005）-> sweeper_task_suspend_resume.proto
@@ -65,7 +65,7 @@ interface IMoGoSweeperFutianCloudTaskListener {
* @param sysTime 当前时间戳
* @param suspendResumeTaskResp 数据
*/
fun onSweeperFutianCloudTaskSuspendResume(messageType: SweeperCloudTask.MessageType, reqNo: String?, sysTime: Long, suspendResumeTaskResp: SuspendResumeTaskResp?)
fun onSweeperFutianCloudTaskSuspendResume(messageType: AiCloudTask.MessageType, reqNo: String?, sysTime: Long, suspendResumeTaskResp: SuspendResumeTaskResp?)
/**
* 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
@@ -75,7 +75,7 @@ interface IMoGoSweeperFutianCloudTaskListener {
* @param sysTime 当前时间戳
* @param isBootableResp 数据
*/
fun onSweeperFutianCloudBootable(messageType: SweeperCloudTask.MessageType, reqNo: String?, sysTime: Long, isBootableResp: IsBootableResp?)
fun onSweeperFutianCloudBootable(messageType: AiCloudTask.MessageType, reqNo: String?, sysTime: Long, isBootableResp: IsBootableResp?)
/**
* 9、云端下发pad大任务状态（type: 100009）-> sweeper_big_task_status.proto
@@ -85,7 +85,7 @@ interface IMoGoSweeperFutianCloudTaskListener {
* @param sysTime 当前时间戳
* @param bigTaskStatusPush 数据
*/
fun onSweeperFutianCloudBigTaskStatus(messageType: SweeperCloudTask.MessageType, reqNo: String?, sysTime: Long, bigTaskStatusPush: BigTaskStatusPush?)
fun onSweeperFutianCloudBigTaskStatus(messageType: AiCloudTask.MessageType, reqNo: String?, sysTime: Long, 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
@@ -95,7 +95,7 @@ interface IMoGoSweeperFutianCloudTaskListener {
* @param sysTime 当前时间戳
* @param bigTaskActionPush 数据
*/
fun onSweeperFutianCloudTaskCloudSuspendResume(messageType: SweeperCloudTask.MessageType, reqNo: String?, sysTime: Long, bigTaskActionPush: BigTaskActionPush?)
fun onSweeperFutianCloudTaskCloudSuspendResume(messageType: AiCloudTask.MessageType, reqNo: String?, sysTime: Long, bigTaskActionPush: BigTaskActionPush?)
/**
* 清扫车云端任务未知类型

12
core/mogo-core-function-call/src/main/java/com/mogo/eagle/core/function/call/autopilot/CallerAutoPilotControlManager.kt
View File

@@ -24,6 +24,7 @@ import com.zhjt.mogo.adas.data.AdasConstants
import com.zhjt.mogo.adas.data.sweeper.task.cloud.s_r.SweeperTaskCloudSuspendResume.BigTaskActionResp
import com.zhjt.service.chain.ChainLog
import com.zhjt.service_biz.BizConfig
import mogo.yycp.paralleldriving.protocol.ParallelDrivingRequest
import kotlin.random.Random
@@ -642,6 +643,17 @@ object CallerAutoPilotControlManager {
return providerApi?.sendSweeperCloudSuspendResumeTaskResp(reqNo, bigTaskActionResp) ?: false
}
/**
* PAD发起平行驾驶请求
*
* @param reqNo 请求编号（目前没有传递需求,可以传null）
* @param parallelRequest 参数
* @return boolean
*/
fun sendParallelDrivingReq( reqNo: String, parallelRequest: ParallelDrivingRequest.ParallelRequest): Boolean {
return providerApi?.sendParallelDrivingReq(reqNo, parallelRequest) ?: false
}
/**
* 打开点云绘制
*/

21
core/mogo-core-function-call/src/main/java/com/mogo/eagle/core/function/call/autopilot/CallerParallelDrivingListenerManager.kt Normal file
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@@ -0,0 +1,21 @@
package com.mogo.eagle.core.function.call.autopilot
import com.mogo.eagle.core.function.api.autopilot.IMoGoParallelDrivingStatusListener
import com.mogo.eagle.core.function.call.base.CallerBase
import mogo.telematics.pad.MessagePad
import mogo.yycp.paralleldriving.protocol.ParallelTaskProcessNoticeOuterClass
/**
* 平行驾驶状态回调，云端说有状态变化就回调
*/
object CallerParallelDrivingListenerManager : CallerBase<IMoGoParallelDrivingStatusListener>() {
fun invokeParallelDrivingListener(parallelTaskProcessNotice: ParallelTaskProcessNoticeOuterClass.ParallelTaskProcessNotice?) {
M_LISTENERS.forEach {
val listener = it.value
listener.onParallelDrivingResp(parallelTaskProcessNotice)
}
}
}

18
core/mogo-core-function-call/src/main/java/com/mogo/eagle/core/function/call/autopilot/CallerSweeperFutianCloudTaskListenerManager.kt
View File

@@ -2,7 +2,7 @@ package com.mogo.eagle.core.function.call.autopilot
import com.mogo.eagle.core.function.api.autopilot.IMoGoSweeperFutianCloudTaskListener
import com.mogo.eagle.core.function.call.base.CallerBase
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.s_r.SweeperTaskSuspendResume
@@ -26,7 +26,7 @@ object CallerSweeperFutianCloudTaskListenerManager : CallerBase<IMoGoSweeperFuti
* @param sysTime 当前时间戳
* @param taskInfo 数据
*/
fun invokeSweeperFutianCloudTask(messageType: SweeperCloudTask.MessageType, reqNo: String?, sysTime: Long, taskInfo: SweeperTask.TaskInfo?) {
fun invokeSweeperFutianCloudTask(messageType: AiCloudTask.MessageType, reqNo: String?, sysTime: Long, taskInfo: SweeperTask.TaskInfo?) {
M_LISTENERS.forEach {
val listener = it.value
listener.onSweeperFutianCloudTask(messageType, reqNo, sysTime, taskInfo)
@@ -41,7 +41,7 @@ object CallerSweeperFutianCloudTaskListenerManager : CallerBase<IMoGoSweeperFuti
* @param sysTime 当前时间戳
* @param taskConfirm 数据
*/
fun invokeSweeperFutianCloudTaskConfirm(messageType: SweeperCloudTask.MessageType, reqNo: String?, sysTime: Long, taskConfirm: SweeperTaskConfirm.TaskConfirm?) {
fun invokeSweeperFutianCloudTaskConfirm(messageType: AiCloudTask.MessageType, reqNo: String?, sysTime: Long, taskConfirm: SweeperTaskConfirm.TaskConfirm?) {
M_LISTENERS.forEach {
val listener = it.value
listener.onSweeperFutianCloudTaskConfirm(messageType, reqNo, sysTime, taskConfirm)
@@ -56,7 +56,7 @@ object CallerSweeperFutianCloudTaskListenerManager : CallerBase<IMoGoSweeperFuti
* @param sysTime 当前时间戳
* @param taskStatusPush 数据
*/
fun invokeSweeperFutianCloudTaskStatus(messageType: SweeperCloudTask.MessageType, reqNo: String?, sysTime: Long, taskStatusPush: SweeperTaskStatus.TaskStatusPush?) {
fun invokeSweeperFutianCloudTaskStatus(messageType: AiCloudTask.MessageType, reqNo: String?, sysTime: Long, taskStatusPush: SweeperTaskStatus.TaskStatusPush?) {
M_LISTENERS.forEach {
val listener = it.value
listener.onSweeperFutianCloudTaskStatus(messageType, reqNo, sysTime, taskStatusPush)
@@ -71,7 +71,7 @@ object CallerSweeperFutianCloudTaskListenerManager : CallerBase<IMoGoSweeperFuti
* @param sysTime 当前时间戳
* @param stopTaskReq 数据
*/
fun invokeSweeperFutianCloudTaskStop(messageType: SweeperCloudTask.MessageType, reqNo: String?, sysTime: Long, stopTaskReq: SweeperTaskStop.StopTaskReq?) {
fun invokeSweeperFutianCloudTaskStop(messageType: AiCloudTask.MessageType, reqNo: String?, sysTime: Long, stopTaskReq: SweeperTaskStop.StopTaskReq?) {
M_LISTENERS.forEach {
val listener = it.value
listener.onSweeperFutianCloudTaskStop(messageType, reqNo, sysTime, stopTaskReq)
@@ -87,7 +87,7 @@ object CallerSweeperFutianCloudTaskListenerManager : CallerBase<IMoGoSweeperFuti
* @param sysTime 当前时间戳
* @param suspendResumeTaskResp 数据
*/
fun invokeSweeperFutianCloudTaskSuspendResume(messageType: SweeperCloudTask.MessageType, reqNo: String?, sysTime: Long, suspendResumeTaskResp: SweeperTaskSuspendResume.SuspendResumeTaskResp?) {
fun invokeSweeperFutianCloudTaskSuspendResume(messageType: AiCloudTask.MessageType, reqNo: String?, sysTime: Long, suspendResumeTaskResp: SweeperTaskSuspendResume.SuspendResumeTaskResp?) {
M_LISTENERS.forEach {
val listener = it.value
listener.onSweeperFutianCloudTaskSuspendResume(messageType, reqNo, sysTime, suspendResumeTaskResp)
@@ -102,7 +102,7 @@ object CallerSweeperFutianCloudTaskListenerManager : CallerBase<IMoGoSweeperFuti
* @param sysTime 当前时间戳
* @param isBootableResp 数据
*/
fun invokeSweeperFutianCloudBootable(messageType: SweeperCloudTask.MessageType, reqNo: String?, sysTime: Long, isBootableResp: SweeperBootable.IsBootableResp?) {
fun invokeSweeperFutianCloudBootable(messageType: AiCloudTask.MessageType, reqNo: String?, sysTime: Long, isBootableResp: SweeperBootable.IsBootableResp?) {
M_LISTENERS.forEach {
val listener = it.value
listener.onSweeperFutianCloudBootable(messageType, reqNo, sysTime, isBootableResp)
@@ -117,7 +117,7 @@ object CallerSweeperFutianCloudTaskListenerManager : CallerBase<IMoGoSweeperFuti
* @param sysTime 当前时间戳
* @param bigTaskStatusPush 数据
*/
fun invokeSweeperFutianCloudBigTaskStatus(messageType: SweeperCloudTask.MessageType, reqNo: String?, sysTime: Long, bigTaskStatusPush: SweeperBigTaskStatus.BigTaskStatusPush?) {
fun invokeSweeperFutianCloudBigTaskStatus(messageType: AiCloudTask.MessageType, reqNo: String?, sysTime: Long, bigTaskStatusPush: SweeperBigTaskStatus.BigTaskStatusPush?) {
M_LISTENERS.forEach {
val listener = it.value
listener.onSweeperFutianCloudBigTaskStatus(messageType, reqNo, sysTime, bigTaskStatusPush)
@@ -132,7 +132,7 @@ object CallerSweeperFutianCloudTaskListenerManager : CallerBase<IMoGoSweeperFuti
* @param sysTime 当前时间戳
* @param bigTaskActionPush 数据
*/
fun invokeSweeperFutianCloudTaskCloudSuspendResume(messageType: SweeperCloudTask.MessageType, reqNo: String?, sysTime: Long, bigTaskActionPush: SweeperTaskCloudSuspendResume.BigTaskActionPush?) {
fun invokeSweeperFutianCloudTaskCloudSuspendResume(messageType: AiCloudTask.MessageType, reqNo: String?, sysTime: Long, bigTaskActionPush: SweeperTaskCloudSuspendResume.BigTaskActionPush?) {
M_LISTENERS.forEach {
val listener = it.value
listener.onSweeperFutianCloudTaskCloudSuspendResume(messageType, reqNo, sysTime, bigTaskActionPush)