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

@@ -1,6 +1,7 @@
 package com.mogo.eagle.core.function.call.autopilot
 
 import android.os.SystemClock
+import chassis.SpecialVehicleTaskCmdOuterClass
 import com.mogo.eagle.core.data.autopilot.AutopilotControlParameters
 import com.mogo.eagle.core.data.constants.MogoServicePaths
 import com.mogo.eagle.core.data.deva.chain.ChainConstant
@@ -263,4 +264,11 @@ object CallerAutoPilotManager {
     fun sendStatusQueryReq() {
         providerApi?.sendStatusQueryReq()
     }
+
+    /**
+     * 福田清扫车业务指令下发
+     */
+    fun sendSweeperFuTianTaskCmd(fuTianTaskCmd: SpecialVehicleTaskCmdOuterClass.RoboSweeperFuTianTaskCmd) {
+        providerApi?.sendSweeperFuTianTaskCmd(fuTianTaskCmd)
+    }
 }

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

@@ -2,6 +2,7 @@ package com.mogo.eagle.core.function.call.autopilot
 
 import androidx.annotation.Nullable
 import chassis.Chassis
+import chassis.VehicleStateOuterClass
 import com.mogo.eagle.core.function.api.autopilot.IMoGoAutopilotVehicleStateListener
 import com.mogo.eagle.core.function.call.base.CallerBase
 import mogo.telematics.pad.MessagePad
@@ -132,6 +133,16 @@ object CallerAutopilotVehicleStateListenerManager : CallerBase() {
         }
     }
 
+    /**
+     * clean system state 清扫车（福田）清扫控制系统状态
+     */
+    fun invokeSweeperFutianCleanSystemState(cleanSystemState: VehicleStateOuterClass.SweeperFuTianCleanSystemState){
+        M_AUTOPILOT_VEHICLE_LISTENERS.forEach{
+            val listener = it.value
+            listener.onSweeperFutianCleanSystemState(cleanSystemState)
+        }
+    }
+
 
     /**
      * 工控机时间回调