[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

core/function-impl/mogo-core-function-datacenter/src/main/java/com/mogo/eagle/core/function/datacenter/autopilot/MoGoAutopilotControlProvider.kt

@@ -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(

core/function-impl/mogo-core-function-datacenter/src/main/java/com/mogo/eagle/core/function/datacenter/autopilot/adapter/MoGoAdasListenerImpl.kt

@@ -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)
     }