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