[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/mogo-core-function-call/src/main/java/com/mogo/eagle/core/function/call/autopilot/CallerAutoPilotControlManager.kt

@@ -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
      */

core/mogo-core-function-call/src/main/java/com/mogo/eagle/core/function/call/autopilot/CallerParallelDrivingListenerManager.kt

@@ -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)
+        }
+    }
+
+}

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

@@ -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)