[清扫车] feat：封装 发送清扫车作业命令 和 清扫车清扫系统底盘数据透出 接口，和PB接口对接；

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

@@ -1,5 +1,6 @@
 package com.mogo.eagle.core.function.api.autopilot
 
+import chassis.SpecialVehicleTaskCmdOuterClass
 import com.mogo.eagle.core.data.autopilot.AutopilotControlParameters
 import com.mogo.eagle.core.data.trafficlight.TrafficLightResult
 import com.mogo.eagle.core.function.api.base.IMoGoFunctionServerProvider
@@ -205,4 +206,9 @@ interface IMoGoAutopilotProvider : IMoGoFunctionServerProvider {
      * 主动查询工控机的各topic状态
      */
     fun sendStatusQueryReq()
+
+    /**
+     * 福田清扫车业务指令下发
+     */
+    fun sendSweeperFuTianTaskCmd(fuTianTaskCmd: SpecialVehicleTaskCmdOuterClass.RoboSweeperFuTianTaskCmd)
 }

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

@@ -1,7 +1,7 @@
 package com.mogo.eagle.core.function.api.autopilot
 
 import chassis.Chassis
-import mogo.telematics.pad.MessagePad
+import chassis.VehicleStateOuterClass
 
 /**
  * 车辆底盘 数据 回调监听
@@ -52,4 +52,9 @@ interface IMoGoAutopilotVehicleStateListener {
      * 刹车
      */
     fun onAutopilotBrake(brake: Float)
+
+    /**
+     * 清扫车（福田）清扫控制系统状态
+     */
+    fun onSweeperFutianCleanSystemState(cleanSystemState: VehicleStateOuterClass.SweeperFuTianCleanSystemState)
 }