[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

OCH/sweeper/sweeper-cloud/src/main/java/com/mogo/och/sweepercloud/callback/ISweeperCloudTaskCallback.kt

@@ -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

OCH/sweeper/sweeper-cloud/src/main/java/com/mogo/och/sweepercloud/model/SweeperTaskModel.java

@@ -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);
     }
 

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

@@ -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)

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)
     }
 

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

@@ -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

core/mogo-core-function-api/src/main/java/com/mogo/eagle/core/function/api/autopilot/IMoGoParallelDrivingStatusListener.kt

@@ -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?
+    )
+}

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

@@ -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

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)

libraries/mogo-adas-data/src/main/proto/ai_cloud_task.proto

@@ -1,5 +1,5 @@
 syntax = "proto3";
-package com.zhjt.mogo.adas.data.sweeper;
+package com.zhjt.mogo.adas.data;
 
 //清扫车云端任务调度
 
@@ -17,11 +17,13 @@ enum MessageType
   PadSendBootable = 100008; //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_bootable.proto
   CloudPushBigTaskStatus = 100009; //9、云端下发pad大任务状态（type: 100009）-> sweeper_big_task_status.proto
   CloudPushTaskSuspendResume = 100010; //10、云端下发任务暂停/恢复指令到pad（type: 100010）-> sweeper_task_cloud_suspend_resume.proto
+
+  ParallelDrivingCmd = 200001; //无人化场景，平行驾驶请求相关指令及状态反馈, 云控<->鹰眼双向透传
 }
 
 //云下行消息
 //PAD上行消息
-message SweeperMessage
+message AiCloudPadMessage
 {
   uint32 msgType = 1; //消息类型，响应请求时，使用对应请求的消息类型
   bytes payload = 2; //消息内容

libraries/mogo-adas-data/src/main/proto/message_pad.proto

@@ -72,6 +72,7 @@ enum MessageType
     MsgTypeFSMStatusReasonQueryReq = 0x10123; //fsm状态原因查询
     MsgTypeFSMStatusReasonQueryResp = 0x10124; //fsm状态原因查询应答
     MsgTypeGetDebugInfo = 0x10125; //debug信息查询 pad->telematics
+    MsgTypeParallelDrivingCmd = 0x10126; //无人化场景，平行驾驶请求相关指令及状态反馈, 云控<->鹰眼双向透传
 }
 
 message Header
@@ -713,3 +714,7 @@ message SessionInfo
 
 //message definition for MsgTypeSSMState
 //refer to ssm_info.proto for details
+
+//message definition for MsgTypeParallelDrivingCmd
+//查看云端和鹰眼的接口
+

libraries/mogo-adas-data/src/main/proto/parallelDrivingRequest.proto

@@ -0,0 +1,11 @@
+syntax = "proto3";
+package mogo.yycp.paralleldriving.protocol;
+option java_package = "mogo.yycp.paralleldriving.protocol";
+
+message ParallelRequest {
+  string sn = 1;
+  int32 type = 2; //类型:1，预接管，2，鹰眼请求 3 遇困，4，自检异常
+  int32 takeover = 3;  //1接管请求，2取消请求接管
+  string code = 4 ; // 请求上报的类型，如："PAD_ACTIVE",用于描述type的具体内容，不同的code可以对应同一个type
+  string reason = 5; // 具体的请求原因描述,如：因底盘消息掉帧强退自动驾驶
+}

libraries/mogo-adas-data/src/main/proto/parallelTaskProcessNotice.proto

@@ -0,0 +1,8 @@
+syntax = "proto3";
+package mogo.yycp.paralleldriving.protocol;
+option java_package = "mogo.yycp.paralleldriving.protocol";
+
+message ParallelTaskProcessNotice {
+  string code = 1;  // 消息code：      START_SYNC  ; EXIT_SYNC ; UNABLE_TAKEOVER ; EXCEPTION_EXIT_SYNC ; TASK_REJECTED ; PARALLEL_EXCEPTION_MANUAL_DRIVING ; EXCEPTION_EXIT_PARALLEL_DRIVING
+  string content = 2; //消息具体内容：进入同步状态 ;  同步结束 ;      无法接管   ;   同步异常结束      ; 任务已被拒绝  ;   异常请人工驾驶                  ;  平行驾驶异常结束
+}

libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/AdasChannel.java

@@ -45,9 +45,9 @@ import com.zhidao.support.adas.high.subscribe.SubscribeInterface;
 import com.zhidao.support.adas.high.subscribe.SubscribeInterfaceOptions;
 import com.zhidao.support.adas.high.thread.DispatchHandler;
 import com.zhjt.mogo.adas.data.AdasConstants;
+import com.zhjt.mogo.adas.data.AiCloudTask;
 import com.zhjt.mogo.adas.data.bean.AdasParam;
 import com.zhjt.mogo.adas.data.bean.AutopilotStatistics;
-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.cloud.s_r.SweeperTaskCloudSuspendResume;
@@ -71,6 +71,7 @@ import common.HeaderOuterClass;
 import function_state_management.FSMStatusReasonQueryOuterClass;
 import mogo.telematics.ParamSetCmdOuterClass;
 import mogo.telematics.pad.MessagePad;
+import mogo.yycp.paralleldriving.protocol.ParallelDrivingRequest;
 import okio.ByteString;
 
 /**
@@ -1889,15 +1890,16 @@ public class AdasChannel implements IAdasNetCommApi, FpgaSocket.IWebSocketConnec
     }
 
     /**
-     * 发送清扫车指令到云控
+     * 发送云控指令
      *
-     * @param messageType 消息类型
+     * @param padMessageType PAD到域控消息类型
-     * @param reqNo       请求编号
+     * @param messageType    PAD到AI云消息类型
-     * @param payload     有效数据
+     * @param reqNo          请求编号
+     * @param payload        有效数据
      * @return boolean
      */
-    private boolean sendSweeperCloudTaskCmd(@NonNull SweeperCloudTask.MessageType messageType, @NonNull String reqNo, @NonNull com.google.protobuf.ByteString payload) {
+    private boolean sendAiCloudTaskCmd(@NonNull MessageType padMessageType, @NonNull AiCloudTask.MessageType messageType, @NonNull String reqNo, @NonNull com.google.protobuf.ByteString payload) {
-        SweeperCloudTask.SweeperMessage.Builder builder = SweeperCloudTask.SweeperMessage.newBuilder()
+        AiCloudTask.AiCloudPadMessage.Builder builder = AiCloudTask.AiCloudPadMessage.newBuilder()
                 .setMsgType(messageType.getNumber())
                 .setSysTime(System.currentTimeMillis());
         if (!TextUtils.isEmpty(reqNo)) {
@@ -1906,8 +1908,8 @@ public class AdasChannel implements IAdasNetCommApi, FpgaSocket.IWebSocketConnec
         if (payload != null && !payload.isEmpty()) {
             builder.setPayload(payload);
         }
-        SweeperCloudTask.SweeperMessage message = builder.build();
+        AiCloudTask.AiCloudPadMessage message = builder.build();
-        return sendPBMessage(MessageType.TYPE_SEND_SWEEPER_CLOUD_TASK_CMD.typeCode, message.toByteArray());
+        return sendPBMessage(padMessageType.typeCode, message.toByteArray());
     }
 
     /**
@@ -1920,7 +1922,7 @@ public class AdasChannel implements IAdasNetCommApi, FpgaSocket.IWebSocketConnec
      */
     @Override
     public boolean sendSweeperStartTaskResp(@NonNull String reqNo, @NonNull SweeperTask.StartTaskResp startTaskResp) {
-        return sendSweeperCloudTaskCmd(SweeperCloudTask.MessageType.CloudPushTask, reqNo, startTaskResp.toByteString());
+        return sendAiCloudTaskCmd(MessageType.TYPE_SEND_SWEEPER_CLOUD_TASK_CMD, AiCloudTask.MessageType.CloudPushTask, reqNo, startTaskResp.toByteString());
     }
 
     /**
@@ -1933,7 +1935,7 @@ public class AdasChannel implements IAdasNetCommApi, FpgaSocket.IWebSocketConnec
      */
     @Override
     public boolean sendSweeperTaskConfirmResp(@NonNull String reqNo, @NonNull SweeperTaskConfirm.TaskConfirmResp taskConfirmResp) {
-        return sendSweeperCloudTaskCmd(SweeperCloudTask.MessageType.CloudPushTaskConfirm, reqNo, taskConfirmResp.toByteString());
+        return sendAiCloudTaskCmd(MessageType.TYPE_SEND_SWEEPER_CLOUD_TASK_CMD, AiCloudTask.MessageType.CloudPushTaskConfirm, reqNo, taskConfirmResp.toByteString());
     }
 
     /**
@@ -1946,7 +1948,7 @@ public class AdasChannel implements IAdasNetCommApi, FpgaSocket.IWebSocketConnec
      */
     @Override
     public boolean sendSweeperStopTaskResp(@NonNull String reqNo, @NonNull SweeperTaskStop.StopTaskResp stopTaskResp) {
-        return sendSweeperCloudTaskCmd(SweeperCloudTask.MessageType.CloudPushTaskStop, reqNo, stopTaskResp.toByteString());
+        return sendAiCloudTaskCmd(MessageType.TYPE_SEND_SWEEPER_CLOUD_TASK_CMD, AiCloudTask.MessageType.CloudPushTaskStop, reqNo, stopTaskResp.toByteString());
     }
 
     /**
@@ -1961,7 +1963,7 @@ public class AdasChannel implements IAdasNetCommApi, FpgaSocket.IWebSocketConnec
      */
     @Override
     public boolean sendSweeperSuspendResumeTaskReq(boolean isSuspend, @NonNull String reqNo, @NonNull SweeperTaskSuspendResume.SuspendResumeTaskReq suspendResumeTaskReq) {
-        return sendSweeperCloudTaskCmd(isSuspend ? SweeperCloudTask.MessageType.PadSendTaskSuspend : SweeperCloudTask.MessageType.PadSendTaskResume, reqNo, suspendResumeTaskReq.toByteString());
+        return sendAiCloudTaskCmd(MessageType.TYPE_SEND_SWEEPER_CLOUD_TASK_CMD, isSuspend ? AiCloudTask.MessageType.PadSendTaskSuspend : AiCloudTask.MessageType.PadSendTaskResume, reqNo, suspendResumeTaskReq.toByteString());
     }
 
 
@@ -1975,7 +1977,7 @@ public class AdasChannel implements IAdasNetCommApi, FpgaSocket.IWebSocketConnec
      */
     @Override
     public boolean sendSweeperGetTaskReq(@NonNull String reqNo, @NonNull SweeperTask.GetTaskReq getTaskReq) {
-        return sendSweeperCloudTaskCmd(SweeperCloudTask.MessageType.PadSendGetTaskReq, reqNo, getTaskReq.toByteString());
+        return sendAiCloudTaskCmd(MessageType.TYPE_SEND_SWEEPER_CLOUD_TASK_CMD, AiCloudTask.MessageType.PadSendGetTaskReq, reqNo, getTaskReq.toByteString());
     }
 
     /**
@@ -1988,7 +1990,7 @@ public class AdasChannel implements IAdasNetCommApi, FpgaSocket.IWebSocketConnec
      */
     @Override
     public boolean sendSweeperAutopilotBootable(@NonNull String reqNo, @NonNull SweeperBootable.IsBootable isBootable) {
-        return sendSweeperCloudTaskCmd(SweeperCloudTask.MessageType.PadSendBootable, reqNo, isBootable.toByteString());
+        return sendAiCloudTaskCmd(MessageType.TYPE_SEND_SWEEPER_CLOUD_TASK_CMD, AiCloudTask.MessageType.PadSendBootable, reqNo, isBootable.toByteString());
     }
 
     /**
@@ -2001,7 +2003,20 @@ public class AdasChannel implements IAdasNetCommApi, FpgaSocket.IWebSocketConnec
      */
     @Override
     public boolean sendSweeperCloudSuspendResumeTaskResp(@NonNull String reqNo, @NonNull SweeperTaskCloudSuspendResume.BigTaskActionResp bigTaskActionResp) {
-        return sendSweeperCloudTaskCmd(SweeperCloudTask.MessageType.CloudPushTaskSuspendResume, reqNo, bigTaskActionResp.toByteString());
+        return sendAiCloudTaskCmd(MessageType.TYPE_SEND_SWEEPER_CLOUD_TASK_CMD, AiCloudTask.MessageType.CloudPushTaskSuspendResume, reqNo, bigTaskActionResp.toByteString());
     }
+
+    /**
+     * PAD发起平行驾驶请求
+     *
+     * @param reqNo           请求编号
+     * @param parallelRequest 参数
+     * @return boolean
+     */
+    @Override
+    public boolean sendParallelDrivingReq(@NonNull String reqNo, @NonNull ParallelDrivingRequest.ParallelRequest parallelRequest) {
+        return sendAiCloudTaskCmd(MessageType.TYPE_SEND_PARALLEL_DRIVING_REQ, AiCloudTask.MessageType.ParallelDrivingCmd, reqNo, parallelRequest.toByteString());
+    }
+
 }
 

libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/AdasManager.java

@@ -32,6 +32,7 @@ import java.util.regex.Pattern;
 import bag_manager.BagManagerOuterClass;
 import chassis.SpecialVehicleTaskCmdOuterClass;
 import mogo.telematics.pad.MessagePad;
+import mogo.yycp.paralleldriving.protocol.ParallelDrivingRequest;
 
 /**
  * @ProjectName: lib-adas-fpga
@@ -1194,6 +1195,18 @@ public class AdasManager implements IAdasNetCommApi {
         return mChannel != null && mChannel.sendSweeperCloudSuspendResumeTaskResp(reqNo, bigTaskActionResp);
     }
 
+    /**
+     * PAD发起平行驾驶请求
+     *
+     * @param reqNo           请求编号
+     * @param parallelRequest 参数
+     * @return boolean
+     */
+    @Override
+    public boolean sendParallelDrivingReq(@NonNull String reqNo, @NonNull ParallelDrivingRequest.ParallelRequest parallelRequest) {
+        return mChannel != null && mChannel.sendParallelDrivingReq(reqNo, parallelRequest);
+    }
+
     /**
      * 获取工控机固定IP列表
      *

libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/IAdasNetCommApi.java

@@ -21,6 +21,7 @@ import java.util.Set;
 import bag_manager.BagManagerOuterClass;
 import chassis.SpecialVehicleTaskCmdOuterClass;
 import mogo.telematics.pad.MessagePad;
+import mogo.yycp.paralleldriving.protocol.ParallelDrivingRequest;
 
 /**
  * @author nie yunlong
@@ -750,6 +751,15 @@ public interface IAdasNetCommApi {
      */
     boolean sendSweeperCloudSuspendResumeTaskResp(@NonNull String reqNo, @NonNull SweeperTaskCloudSuspendResume.BigTaskActionResp bigTaskActionResp);
 
+    /**
+     * PAD发起平行驾驶请求
+     *
+     * @param reqNo           请求编号
+     * @param parallelRequest 参数
+     * @return boolean
+     */
+    boolean sendParallelDrivingReq(@NonNull String reqNo, @NonNull ParallelDrivingRequest.ParallelRequest parallelRequest);
+
     // TODO 需求暂停 待讨论
 //    boolean getRoutes();
 

libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/OnAdasListener.java

@@ -7,10 +7,10 @@ import com.mogo.support.obu.ObuScene;
 import com.zhidao.support.adas.high.common.MessageType;
 import com.zhidao.support.adas.high.common.ProtocolStatus;
 import com.zhjt.mogo.adas.data.AdasConstants;
+import com.zhjt.mogo.adas.data.AiCloudTask;
 import com.zhjt.mogo.adas.data.bean.AdasParam;
 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.big.SweeperBigTaskStatus;
@@ -29,6 +29,7 @@ import function_state_management.FunctionStates;
 import mogo.telematics.pad.MessagePad;
 import mogo.v2x.MogoV2X;
 import mogo.v2x.RoadOverviewEvents;
+import mogo.yycp.paralleldriving.protocol.ParallelTaskProcessNoticeOuterClass;
 import mogo_msg.MogoReportMsg;
 import perception.TrafficLightOuterClass;
 import planning.RoboSweeperTaskIndexOuterClass;
@@ -302,7 +303,7 @@ public interface OnAdasListener {
      * @param sysTime     当前时间戳
      * @param taskInfo    数据
      */
-    void onSweeperFutianCloudTask(@NonNull MessagePad.Header header, @NonNull SweeperCloudTask.MessageType messageType, @Nullable String reqNo, long sysTime, @Nullable SweeperTask.TaskInfo taskInfo);
+    void onSweeperFutianCloudTask(@NonNull MessagePad.Header header, @NonNull AiCloudTask.MessageType messageType, @Nullable String reqNo, long sysTime, @Nullable SweeperTask.TaskInfo taskInfo);
 
     /**
      * 2、云端下发子任务，请求pad确认（type：100002）-> sweeper_task_confirm.proto
@@ -313,7 +314,7 @@ public interface OnAdasListener {
      * @param sysTime     当前时间戳
      * @param taskConfirm 数据
      */
-    void onSweeperFutianCloudTaskConfirm(@NonNull MessagePad.Header header, @NonNull SweeperCloudTask.MessageType messageType, @Nullable String reqNo, long sysTime, @Nullable SweeperTaskConfirm.TaskConfirm taskConfirm);
+    void onSweeperFutianCloudTaskConfirm(@NonNull MessagePad.Header header, @NonNull AiCloudTask.MessageType messageType, @Nullable String reqNo, long sysTime, @Nullable SweeperTaskConfirm.TaskConfirm taskConfirm);
 
     /**
      * 3、云端下发任务状态到pad（type：100003）-> sweeper_task_status.proto
@@ -324,7 +325,7 @@ public interface OnAdasListener {
      * @param sysTime        当前时间戳
      * @param taskStatusPush 数据
      */
-    void onSweeperFutianCloudTaskStatus(@NonNull MessagePad.Header header, @NonNull SweeperCloudTask.MessageType messageType, @Nullable String reqNo, long sysTime, @Nullable SweeperTaskStatus.TaskStatusPush taskStatusPush);
+    void onSweeperFutianCloudTaskStatus(@NonNull MessagePad.Header header, @NonNull AiCloudTask.MessageType messageType, @Nullable String reqNo, long sysTime, @Nullable SweeperTaskStatus.TaskStatusPush taskStatusPush);
 
     /**
      * 4、云端请求pad结束任务（type：100004）-> sweeper_task_stop.proto
@@ -335,7 +336,7 @@ public interface OnAdasListener {
      * @param sysTime     当前时间戳
      * @param stopTaskReq 数据
      */
-    void onSweeperFutianCloudTaskStop(@NonNull MessagePad.Header header, @NonNull SweeperCloudTask.MessageType messageType, @Nullable String reqNo, long sysTime, @Nullable SweeperTaskStop.StopTaskReq stopTaskReq);
+    void onSweeperFutianCloudTaskStop(@NonNull MessagePad.Header header, @NonNull AiCloudTask.MessageType messageType, @Nullable String reqNo, long sysTime, @Nullable SweeperTaskStop.StopTaskReq stopTaskReq);
 
     /**
      * 5、pad请求挂起任务（type：100005）-> sweeper_task_suspend_resume.proto
@@ -347,7 +348,7 @@ public interface OnAdasListener {
      * @param sysTime               当前时间戳
      * @param suspendResumeTaskResp 数据
      */
-    void onSweeperFutianCloudTaskSuspendResume(@NonNull MessagePad.Header header, @NonNull SweeperCloudTask.MessageType messageType, @Nullable String reqNo, long sysTime, @Nullable SweeperTaskSuspendResume.SuspendResumeTaskResp suspendResumeTaskResp);
+    void onSweeperFutianCloudTaskSuspendResume(@NonNull MessagePad.Header header, @NonNull AiCloudTask.MessageType messageType, @Nullable String reqNo, long sysTime, @Nullable SweeperTaskSuspendResume.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
@@ -358,7 +359,7 @@ public interface OnAdasListener {
      * @param sysTime        当前时间戳
      * @param isBootableResp 数据
      */
-    void onSweeperFutianCloudBootable(@NonNull MessagePad.Header header, @NonNull SweeperCloudTask.MessageType messageType, @Nullable String reqNo, long sysTime, @Nullable SweeperBootable.IsBootableResp isBootableResp);
+    void onSweeperFutianCloudBootable(@NonNull MessagePad.Header header, @NonNull AiCloudTask.MessageType messageType, @Nullable String reqNo, long sysTime, @Nullable SweeperBootable.IsBootableResp isBootableResp);
 
     /**
      * 9、云端下发pad大任务状态（type: 100009）-> sweeper_big_task_status.proto
@@ -369,7 +370,7 @@ public interface OnAdasListener {
      * @param sysTime           当前时间戳
      * @param bigTaskStatusPush 数据
      */
-    void onSweeperFutianCloudBigTaskStatus(@NonNull MessagePad.Header header, @NonNull SweeperCloudTask.MessageType messageType, @Nullable String reqNo, long sysTime, @Nullable SweeperBigTaskStatus.BigTaskStatusPush bigTaskStatusPush);
+    void onSweeperFutianCloudBigTaskStatus(@NonNull MessagePad.Header header, @NonNull AiCloudTask.MessageType messageType, @Nullable String reqNo, long sysTime, @Nullable SweeperBigTaskStatus.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
@@ -380,15 +381,27 @@ public interface OnAdasListener {
      * @param sysTime           当前时间戳
      * @param bigTaskActionPush 数据
      */
-    void onSweeperFutianCloudTaskCloudSuspendResume(@NonNull MessagePad.Header header, @NonNull SweeperCloudTask.MessageType messageType, @Nullable String reqNo, long sysTime, @Nullable SweeperTaskCloudSuspendResume.BigTaskActionPush bigTaskActionPush);
+    void onSweeperFutianCloudTaskCloudSuspendResume(@NonNull MessagePad.Header header, @NonNull AiCloudTask.MessageType messageType, @Nullable String reqNo, long sysTime, @Nullable SweeperTaskCloudSuspendResume.BigTaskActionPush bigTaskActionPush);
 
     /**
-     * 清扫车云端任务未知类型
+     * 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
+     */
+    void onParallelDrivingResp(@NonNull MessagePad.Header header, @NonNull AiCloudTask.MessageType messageType, @Nullable String reqNo, long sysTime, @Nullable ParallelTaskProcessNoticeOuterClass.ParallelTaskProcessNotice parallelTaskProcessNotice);
+
+    /**
+     * AI云端任务未知类型
      *
      * @param header 头
      * @param bytes  原始数据
      */
-    void onSweeperFutianCloudTaskUnknown(@NonNull MessagePad.Header header, @NonNull byte[] bytes);
+    void onAiCloudTaskUnknown(@NonNull MessagePad.Header header, @NonNull byte[] bytes);
 
     /**
      * Bag管理应答

libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/common/MessageType.java

@@ -73,6 +73,8 @@ public enum MessageType {
     TYPE_RECEIVE_SWEEPER_CLOUD_TASK_CMD(MessagePad.MessageType.MsgTypeTaskCmd, "云控下发清扫车任务指令"),
     TYPE_SEND_FSM_STATUS_REASON_QUERY_REQ(MessagePad.MessageType.MsgTypeFSMStatusReasonQueryReq, "FSM状态原因查询"),
     TYPE_RECEIVE_FSM_STATUS_REASON_QUERY_RESP(MessagePad.MessageType.MsgTypeFSMStatusReasonQueryResp, "FSM状态原因查询应答"),
+    TYPE_SEND_PARALLEL_DRIVING_REQ(MessagePad.MessageType.MsgTypeParallelDrivingCmd, "平行驾驶请求"),
+    TYPE_RECEIVE_PARALLEL_DRIVING_STATUS(MessagePad.MessageType.MsgTypeParallelDrivingCmd, "平行驾驶状态"),
     //TODO 透传原始pb文件中不存在以下type。由于Java中无法强转,所以在mogo-adas-data/message_pad.proto中放开注释
     TYPE_RECEIVE_PLANNING_DECISION_STATE(MessagePad.MessageType.MsgTypePlanningDecisionState, "Planning决策状态"),
     TYPE_RECEIVE_SWEEPER_TASK_INDEX_DATA(MessagePad.MessageType.MsgTypeSweeperTaskIndexData, "清扫车指标数据"),

libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/common/autopilot/ability/AutopilotAbility250.java

@@ -13,6 +13,7 @@ import java.util.TimerTask;
 
 import chassis.Chassis;
 import chassis.ChassisStatesOuterClass;
+import chassis.VehicleStateOuterClass;
 import system_master.SystemStatusInfo;
 
 /**
@@ -26,6 +27,7 @@ public class AutopilotAbility250 {
     private static final String TAG = AutopilotAbility250.class.getSimpleName();
     private volatile Timer timer;
     private ChassisStatesOuterClass.ChassisStates chassisStates;
+    private VehicleStateOuterClass.VehicleState vehicleState;
     private int mapVersion = -1;//MAP版本
     private int masterVersion = -1;//Master版本
     private OnAutopilotAbilityListener listener;
@@ -57,6 +59,10 @@ public class AutopilotAbility250 {
         this.chassisStates = chassisStates;
     }
 
+    protected void setVehicleState(VehicleStateOuterClass.VehicleState vehicleState) {
+        this.vehicleState = vehicleState;
+    }
+
     private void onCallback(SystemStatusInfo.StatusInfo statusInfo) {
         boolean isAutopilotAbility = true;//是否能启动自动驾驶
         ArrayList<UnableAutopilotReason> unableAutopilotReasons = null;//不能启动自动驾驶原因
@@ -144,17 +150,19 @@ public class AutopilotAbility250 {
                     unableAutopilotReasons = AutopilotAbilityManager.getInstance().addUnableAutopilotReason(unableAutopilotReasons, UnableAutopilotReason.SourceType.CHASSIS, "档位异常");
                 }
             }
-            //TODO 关于手刹：不同车型的实现不同所以目前没法使用此字段
-
-//                //电子驻车制动系统
-//                if (chassisStates.hasEpbSystemStates()) {
-//                    ChassisStatesOuterClass.EPBSystemStates epb = chassisStates.getEpbSystemStates();
-//                    if (epb.hasEpbEnableState()){
-//                        epb.getEpbWorkState();
-//                    }
-//                }
-
         }
+        if (vehicleState != null) {
+            //TODO 关于手刹：目前只有老底盘中存在这个字段，df360开始，其他车型未知
+            //电子驻车制动系统
+            if (vehicleState.hasParkingBrake()) {
+                boolean isBrake = vehicleState.getParkingBrake();
+                if (isBrake) {
+                    isAutopilotAbility = false;
+                    unableAutopilotReasons = AutopilotAbilityManager.getInstance().addUnableAutopilotReason(unableAutopilotReasons, UnableAutopilotReason.SourceType.CHASSIS, "施加驻车");
+                }
+            }
+        }
+
         if (listener != null) {
             listener.onAutopilotAbility(isAutopilotAbility, unableAutopilotReasons);
         }

libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/common/autopilot/ability/AutopilotAbility350And360.java

@@ -10,6 +10,7 @@ import java.util.ArrayList;
 
 import chassis.Chassis;
 import chassis.ChassisStatesOuterClass;
+import chassis.VehicleStateOuterClass;
 import system_master.SsmInfo;
 
 /**
@@ -21,6 +22,7 @@ import system_master.SsmInfo;
 public class AutopilotAbility350And360 {
     private static final String TAG = AutopilotAbility250.class.getSimpleName();
     private ChassisStatesOuterClass.ChassisStates chassisStates;
+    private VehicleStateOuterClass.VehicleState vehicleState;
     private int masterVersion = -1;//Master版本
     private OnAutopilotAbilityListener listener;
 
@@ -43,6 +45,10 @@ public class AutopilotAbility350And360 {
         this.chassisStates = chassisStates;
     }
 
+    protected void setVehicleState(VehicleStateOuterClass.VehicleState vehicleState) {
+        this.vehicleState = vehicleState;
+    }
+
     private void onCallback(SsmInfo.SsmStatusInf statusInfo) {
         boolean isAutopilotAbility = true;//是否能启动自动驾驶
         ArrayList<UnableAutopilotReason> unableAutopilotReasons = null;//不能启动自动驾驶原因
@@ -117,17 +123,19 @@ public class AutopilotAbility350And360 {
                     unableAutopilotReasons = AutopilotAbilityManager.getInstance().addUnableAutopilotReason(unableAutopilotReasons, UnableAutopilotReason.SourceType.CHASSIS, "档位异常");
                 }
             }
-            //TODO 关于手刹：不同车型的实现不同所以目前没法使用此字段
-
-//                //电子驻车制动系统
-//                if (chassisStates.hasEpbSystemStates()) {
-//                    ChassisStatesOuterClass.EPBSystemStates epb = chassisStates.getEpbSystemStates();
-//                    if (epb.hasEpbEnableState()){
-//                        epb.getEpbWorkState();
-//                    }
-//                }
-
         }
+        if (vehicleState != null) {
+            //TODO 关于手刹：目前只有老底盘中存在这个字段，df360开始，其他车型未知
+            //电子驻车制动系统
+            if (vehicleState.hasParkingBrake()) {
+                boolean isBrake = vehicleState.getParkingBrake();
+                if (isBrake) {
+                    isAutopilotAbility = false;
+                    unableAutopilotReasons = AutopilotAbilityManager.getInstance().addUnableAutopilotReason(unableAutopilotReasons, UnableAutopilotReason.SourceType.CHASSIS, "施加驻车");
+                }
+            }
+        }
+
         if (listener != null) {
             listener.onAutopilotAbility(isAutopilotAbility, unableAutopilotReasons);
         }

libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/common/autopilot/ability/AutopilotAbilityManager.java

@@ -19,6 +19,7 @@ import java.util.TimerTask;
 
 import chassis.Chassis;
 import chassis.ChassisStatesOuterClass;
+import chassis.VehicleStateOuterClass;
 import function_state_management.FSMStatusReasonQueryOuterClass;
 import mogo.telematics.pad.MessagePad;
 import system_master.SsmInfo;
@@ -206,6 +207,20 @@ public class AutopilotAbilityManager implements AutopilotAbility230.OnAutopilotA
         }
     }
 
+    /**
+     * 老底盘中手刹状态更新（新底盘PB中没有所以单独传递）
+     *
+     * @param vehicleState 底盘
+     */
+    public void setVehicleState(VehicleStateOuterClass.VehicleState vehicleState) {
+        if (autopilotAbility250 != null) {
+            autopilotAbility250.setVehicleState(vehicleState);
+        }
+        if (autopilotAbility350And360 != null) {
+            autopilotAbility350And360.setVehicleState(vehicleState);
+        }
+    }
+
     /**
      * FSM OFF状态原因更新
      *

libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/msg/AiCloudTaskMessage.java

@@ -9,7 +9,7 @@ import com.zhidao.support.adas.high.OnAdasListener;
 import com.zhidao.support.adas.high.common.ByteUtil;
 import com.zhidao.support.adas.high.common.CupidLogUtils;
 import com.zhidao.support.adas.high.protocol.RawData;
-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;
@@ -20,32 +20,33 @@ import com.zhjt.mogo.adas.data.sweeper.task.status.SweeperTaskStatus;
 import com.zhjt.mogo.adas.data.sweeper.task.stop.SweeperTaskStop;
 
 import mogo.telematics.pad.MessagePad;
+import mogo.yycp.paralleldriving.protocol.ParallelTaskProcessNoticeOuterClass;
 
 /**
- * 清扫车云端任务调度
+ * 云控任务：清扫车任务调度、无人化场景，平行驾驶请求相关指令及状态反馈
  */
-public class SweeperCloudTaskMessage extends MyAbstractMessageHandler {
+public class AiCloudTaskMessage extends MyAbstractMessageHandler {
 
-    public SweeperCloudTaskMessage() {
+    public AiCloudTaskMessage() {
     }
 
     @Override
     public void handlerMsg(RawData raw, OnAdasListener adasListener) throws InvalidProtocolBufferException {
         byte[] bytes = raw.originalData.toByteArray();
-        SweeperCloudTask.SweeperMessage message = SweeperCloudTask.SweeperMessage.parser().parseFrom(bytes, raw.getOffsetValue(), raw.getPackageLengthValue() - raw.getOffsetValue());
+        AiCloudTask.AiCloudPadMessage message = AiCloudTask.AiCloudPadMessage.parser().parseFrom(bytes, raw.getOffsetValue(), raw.getPackageLengthValue() - raw.getOffsetValue());
-        AdasChannel.calculateTimeConsumingOnDispatchRaw("清扫车云端任务调度", raw.receiveTime);
+        AdasChannel.calculateTimeConsumingOnDispatchRaw("云控任务", raw.receiveTime);
         long nowTime = 0;
         if (CupidLogUtils.isEnableLog())
             nowTime = SystemClock.elapsedRealtime();
         if (adasListener != null) {
             MessagePad.Header header = raw.getHeader();
-            SweeperCloudTask.MessageType msgType = SweeperCloudTask.MessageType.forNumber(message.getMsgType());//消息类型，响应请求时，使用对应请求的消息类型
+            AiCloudTask.MessageType msgType = AiCloudTask.MessageType.forNumber(message.getMsgType());//消息类型，响应请求时，使用对应请求的消息类型
             String reqNo = message.getReqNo(); //请求编号，响应请求时，使用请求方的请求编号
             long sysTime = message.getSysTime(); //当前时间戳
             ByteString payload = message.getPayload();
             CupidLogUtils.i("SweeperCloudTaskMessage", "MsgType=" + (msgType == null ? "null" : msgType.getNumber()) + " reqNo=" + reqNo + " sysTime=" + sysTime);
             boolean isExistPayload = payload != null && !payload.isEmpty();
-            if (msgType == SweeperCloudTask.MessageType.CloudPushTask || msgType == SweeperCloudTask.MessageType.PadSendGetTaskReq) {
+            if (msgType == AiCloudTask.MessageType.CloudPushTask || msgType == AiCloudTask.MessageType.PadSendGetTaskReq) {
                 //1、云端下发大任务信息（type: 100001）-> sweeper_task.proto
                 //7、pad主动拉取当前车辆正在执行任务的完整信息（type：100007）-> sweeper_task.proto
                 SweeperTask.TaskInfo taskInfo = null;
@@ -55,7 +56,7 @@ public class SweeperCloudTaskMessage extends MyAbstractMessageHandler {
 //                Log.i("SweeperCloudTaskMessage", " msgType=" + msgType + " " + (taskInfo == null ? "null" :
 //                        TextFormat.printer().escapingNonAscii(false).printToString(taskInfo)));
                 adasListener.onSweeperFutianCloudTask(header, msgType, reqNo, sysTime, taskInfo);
-            } else if (msgType == SweeperCloudTask.MessageType.CloudPushTaskConfirm) {
+            } else if (msgType == AiCloudTask.MessageType.CloudPushTaskConfirm) {
                 //2、云端下发子任务，请求pad确认（type：100002）-> sweeper_task_confirm.proto
                 SweeperTaskConfirm.TaskConfirm taskConfirm = null;
                 if (isExistPayload) {
@@ -64,7 +65,7 @@ public class SweeperCloudTaskMessage extends MyAbstractMessageHandler {
 //                Log.i("SweeperCloudTaskMessage", " msgType=" + msgType + " " + (taskConfirm == null ? "null" :
 //                        TextFormat.printer().escapingNonAscii(false).printToString(taskConfirm)));
                 adasListener.onSweeperFutianCloudTaskConfirm(header, msgType, reqNo, sysTime, taskConfirm);
-            } else if (msgType == SweeperCloudTask.MessageType.CloudPushTaskStatus) {
+            } else if (msgType == AiCloudTask.MessageType.CloudPushTaskStatus) {
                 //3、云端下发任务状态到pad（type：100003）-> sweeper_task_status.proto
                 SweeperTaskStatus.TaskStatusPush taskStatusPush = null;
                 if (isExistPayload) {
@@ -73,7 +74,7 @@ public class SweeperCloudTaskMessage extends MyAbstractMessageHandler {
 //                Log.i("SweeperCloudTaskMessage", " msgType=" + msgType + " " + (taskStatusPush == null ? "null" :
 //                        TextFormat.printer().escapingNonAscii(false).printToString(taskStatusPush)));
                 adasListener.onSweeperFutianCloudTaskStatus(header, msgType, reqNo, sysTime, taskStatusPush);
-            } else if (msgType == SweeperCloudTask.MessageType.CloudPushTaskStop) {
+            } else if (msgType == AiCloudTask.MessageType.CloudPushTaskStop) {
                 //4、云端请求pad结束任务（type：100004）-> sweeper_task_stop.proto
                 SweeperTaskStop.StopTaskReq stopTaskReq = null;
                 if (isExistPayload) {
@@ -82,7 +83,7 @@ public class SweeperCloudTaskMessage extends MyAbstractMessageHandler {
 //                Log.i("SweeperCloudTaskMessage", " msgType=" + msgType + " " + (stopTaskReq == null ? "null" :
 //                        TextFormat.printer().escapingNonAscii(false).printToString(stopTaskReq)));
                 adasListener.onSweeperFutianCloudTaskStop(header, msgType, reqNo, sysTime, stopTaskReq);
-            } else if (msgType == SweeperCloudTask.MessageType.PadSendTaskSuspend || msgType == SweeperCloudTask.MessageType.PadSendTaskResume) {
+            } else if (msgType == AiCloudTask.MessageType.PadSendTaskSuspend || msgType == AiCloudTask.MessageType.PadSendTaskResume) {
                 //5、pad请求挂起任务（type：100005）-> sweeper_task_suspend_resume.proto
                 //6、pad请求恢复挂起的任务（type：100006）-> sweeper_task_suspend_resume.proto
                 SweeperTaskSuspendResume.SuspendResumeTaskResp suspendResumeTaskResp = null;
@@ -92,7 +93,7 @@ public class SweeperCloudTaskMessage extends MyAbstractMessageHandler {
 //                Log.i("SweeperCloudTaskMessage", " msgType=" + msgType + " " + (suspendResumeTaskResp == null ? "null" :
 //                        TextFormat.printer().escapingNonAscii(false).printToString(suspendResumeTaskResp)));
                 adasListener.onSweeperFutianCloudTaskSuspendResume(header, msgType, reqNo, sysTime, suspendResumeTaskResp);
-            } else if (msgType == SweeperCloudTask.MessageType.PadSendBootable) {
+            } else if (msgType == AiCloudTask.MessageType.PadSendBootable) {
                 //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
                 SweeperBootable.IsBootableResp isBootableResp = null;
                 if (isExistPayload) {
@@ -101,7 +102,7 @@ public class SweeperCloudTaskMessage extends MyAbstractMessageHandler {
 //                Log.i("SweeperCloudTaskMessage", " msgType=" + msgType + " " + (isBootableResp == null ? "null" :
 //                        TextFormat.printer().escapingNonAscii(false).printToString(isBootableResp)));
                 adasListener.onSweeperFutianCloudBootable(header, msgType, reqNo, sysTime, isBootableResp);
-            } else if (msgType == SweeperCloudTask.MessageType.CloudPushBigTaskStatus) {
+            } else if (msgType == AiCloudTask.MessageType.CloudPushBigTaskStatus) {
                 //9、云端下发pad大任务状态（type: 100009）-> sweeper_big_task_status.proto
                 SweeperBigTaskStatus.BigTaskStatusPush bigTaskStatusPush = null;
                 if (isExistPayload) {
@@ -110,7 +111,7 @@ public class SweeperCloudTaskMessage extends MyAbstractMessageHandler {
 //                Log.i("SweeperCloudTaskMessage", " msgType=" + msgType + " " + (bigTaskStatusPush == null ? "null" :
 //                        TextFormat.printer().escapingNonAscii(false).printToString(bigTaskStatusPush)));
                 adasListener.onSweeperFutianCloudBigTaskStatus(header, msgType, reqNo, sysTime, bigTaskStatusPush);
-            } else if (msgType == SweeperCloudTask.MessageType.CloudPushTaskSuspendResume) {
+            } else if (msgType == AiCloudTask.MessageType.CloudPushTaskSuspendResume) {
                 //10、云端下发任务暂停/恢复指令到pad（type: 100010）
                 SweeperTaskCloudSuspendResume.BigTaskActionPush bigTaskActionPush = null;
                 if (isExistPayload) {
@@ -119,12 +120,19 @@ public class SweeperCloudTaskMessage extends MyAbstractMessageHandler {
 //                Log.i("SweeperCloudTaskMessage", " msgType=" + msgType + " " + (bigTaskActionPush == null ? "null" :
 //                        TextFormat.printer().escapingNonAscii(false).printToString(bigTaskActionPush)));
                 adasListener.onSweeperFutianCloudTaskCloudSuspendResume(header, msgType, reqNo, sysTime, bigTaskActionPush);
+            } else if (msgType == AiCloudTask.MessageType.ParallelDrivingCmd) {
+                //无人化场景，平行驾驶请求相关指令及状态反馈
+                ParallelTaskProcessNoticeOuterClass.ParallelTaskProcessNotice parallelTaskProcessNotice = null;
+                if (isExistPayload) {
+                    parallelTaskProcessNotice = ParallelTaskProcessNoticeOuterClass.ParallelTaskProcessNotice.parseFrom(payload);
+                }
+                adasListener.onParallelDrivingResp(header, msgType, reqNo, sysTime, parallelTaskProcessNotice);
             } else {
                 //未知数据类型
                 CupidLogUtils.i("SweeperCloudTaskMessage", " 错误数据=" + ByteUtil.byteArrToHex(bytes));
-                adasListener.onSweeperFutianCloudTaskUnknown(header, bytes);
+                adasListener.onAiCloudTaskUnknown(header, bytes);
             }
         }
-        AdasChannel.calculateTimeConsumingBusiness("清扫车云端任务调度", nowTime);
+        AdasChannel.calculateTimeConsumingBusiness("云控任务", nowTime);
     }
 }

libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/msg/MyMessageFactory.java

@@ -42,7 +42,7 @@ public class MyMessageFactory implements IMyMessageFactory {
     private IMsg v2nCongestionEventMessage;//主车附近事件推送
     private IMsg v2nGlobalPathEventsMessage;//主车路径全局事件推送
     private IMsg getParamRespMessage;//参数获取应答
-    private IMsg sweeperCloudTaskMessage;//云控下发清扫车任务指令
+    private IMsg aiCloudTaskMessage;//云控任务：清扫车任务指令、无人化场景，平行驾驶请求相关指令及状态反馈
     private IMsg m1StitchedVideoMessage;//M1拼接视频
     private IMsg fSMStatusReasonRespondMessage;//FSM状态原因查询
 
@@ -228,12 +228,12 @@ public class MyMessageFactory implements IMyMessageFactory {
                 getParamRespMessage = new GetParamRespMessage();
             }
             return getParamRespMessage;
-        } else if (messageType == MessageType.TYPE_RECEIVE_SWEEPER_CLOUD_TASK_CMD.typeCode) {
+        } else if (messageType == MessageType.TYPE_RECEIVE_SWEEPER_CLOUD_TASK_CMD.typeCode || messageType == MessageType.TYPE_RECEIVE_PARALLEL_DRIVING_STATUS.typeCode) {
-            //云控下发清扫车任务指令
+            //云控任务：清扫车任务指令、无人化场景，平行驾驶请求相关指令及状态反馈
-            if (sweeperCloudTaskMessage == null) {
+            if (aiCloudTaskMessage == null) {
-                sweeperCloudTaskMessage = new SweeperCloudTaskMessage();
+                aiCloudTaskMessage = new AiCloudTaskMessage();
             }
-            return sweeperCloudTaskMessage;
+            return aiCloudTaskMessage;
         } else if (messageType == MessageType.TYPE_RECEIVE_M1_STITCHED_VIDEO.typeCode) {
             //M1拼接视频
             if (m1StitchedVideoMessage == null) {

libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/msg/VehicleStateMessage.java

@@ -26,6 +26,7 @@ public class VehicleStateMessage extends MyAbstractMessageHandler {
         long nowTime = 0;
         if (CupidLogUtils.isEnableLog())
             nowTime = SystemClock.elapsedRealtime();
+        AutopilotAbilityManager.getInstance().setVehicleState(vehicleState);
         ChassisStatesOuterClass.ChassisStates chassisStates = compatibility(adasListener, raw, vehicleState);
         if (adasListener != null) {
             //TODO 暂时关闭老底盘转发 后期 会删除 onVehicleState