[8.5.0]

[车门、安全带、站点停车]

core/function-impl/mogo-core-function-datacenter/src/main/java/com/mogo/eagle/core/function/datacenter/autopilot/adapter/MoGoAdasListenerImpl.kt

@@ -50,6 +50,8 @@ import com.mogo.eagle.core.function.call.autopilot.CallerAutoPilotStatusListener
 import com.mogo.eagle.core.function.call.autopilot.CallerAutoPilotStatusListenerManager.updateAutoPilotDockerInfo
 import com.mogo.eagle.core.function.call.autopilot.CallerAutoPilotStatusListenerManager.updateAutoPilotStatus
 import com.mogo.eagle.core.function.call.autopilot.CallerAutoPilotStatusListenerManager.updateAutoPilotStatusFromCan
+import com.mogo.eagle.core.function.call.autopilot.CallerAutoPilotStatusListenerManager.updateMiddleDoorOpen
+import com.mogo.eagle.core.function.call.autopilot.CallerAutoPilotStatusListenerManager.updateSeatedMenSafetyBeltNotFasten
 import com.mogo.eagle.core.function.call.autopilot.CallerAutopilotActionsListenerManager
 import com.mogo.eagle.core.function.call.autopilot.CallerAutopilotActionsListenerManager.invokeAutopilotAbility
 import com.mogo.eagle.core.function.call.autopilot.CallerAutopilotCarConfigListenerManager.invokeAutopilotCarConfigData
@@ -159,6 +161,7 @@ import prediction2025.Prediction2025
 import record_cache.RecordPanelOuterClass
 import system_master.SsmInfo
 import system_master.SystemStatusInfo
+import taskmgr.TmInfo
 import vllm.Vlm
 import java.io.PrintWriter
 import java.io.StringWriter
@@ -344,6 +347,8 @@ class MoGoAdasListenerImpl : OnAdasListener {
     ) {
         if (autopilotState != null) {
             updateAutoPilotStatusFromCan(autopilotState.state)
+            updateMiddleDoorOpen(autopilotState.middleDoorOpen)
+            updateSeatedMenSafetyBeltNotFasten(autopilotState.seatedMenSafetyBeltNotFasten)
             if (AdasManager.getInstance()
                     .getNodeStateInfo(AdasConstants.NodeName.FSM2024).existState != NodeExistState.NODE_EXIST_NORMAL
             ) {
@@ -1689,6 +1694,10 @@ class MoGoAdasListenerImpl : OnAdasListener {
         taskManagerOriginal(header, data)
     }
 
+    override fun onAdasTaskManagerStationStopOriginal(header: MessagePad.Header, data: String) {
+        taskManagerOriginal(header, data)
+    }
+
     @ChainLog(
             linkChainLog = CHAIN_TYPE_SOCKET_AUTOPILOT,
             linkCode = CHAIN_SOURCE_ADAS,
@@ -1717,6 +1726,13 @@ class MoGoAdasListenerImpl : OnAdasListener {
         CallerTaskListenerManager.invokeRunningTaskInfo(taskId,lineId,taskLocationQueryResponse)
     }
 
+    /**
+     * 站点停车消息
+     */
+    override fun onAdasTaskManagerStationStop(stationStopInfo: TmInfo.StationStopInfo?) {
+        CallerAutoPilotStatusListenerManager.taskmanagerStationStop(stationStopInfo)
+    }
+
     /**
      * 是否可以启动自动驾驶
      * 使用方法查看：app_ipc_monitoring/uiMainActivity/onAutopilotAbility

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

@@ -4,6 +4,7 @@ import com.mogo.eagle.core.data.autopilot.AutopilotControlParameters
 import com.zhjt.mogo.adas.data.AdasConstants
 import com.zhjt.mogo.adas.unmanned.task.dto.cmd.TaskArrivalNotification
 import com.zhjt.mogo.adas.unmanned.task.dto.cmd.TaskStartNotification
+import com.zhjt.mogo.adas.unmanned.task.dto.cmd.TaskStationStop
 import mogo.telematics.pad.MessagePad
 import mogo_msg.MogoReportMsg
 import system_master.*
@@ -29,6 +30,22 @@ interface IMoGoAutopilotStatusListener {
      */
     fun onAutopilotStatusResponseFromCan(state: Int) {}
 
+    /**
+     * 自动驾驶状态信息 中门开启状态
+     *
+     * @param state 状态信息
+     */
+    fun onMiddleDoorOpenState(state: Boolean) {}
+
+    /**
+     * 自动驾驶状态信息 是否有人没有系安全带
+     *
+     * @param state 状态信息
+     */
+    fun onSeatedMenSafetyBeltNotFasten(state: Boolean) {}
+
+    fun onTaskStationStop(newValue: TaskStationStop?) {}
+
     /**
      * 自动驾驶docker信息
      *

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

@@ -14,10 +14,12 @@ import com.mogo.eagle.core.utilcode.util.ParseVersionUtils
 import com.zhjt.mogo.adas.data.AdasConstants
 import com.zhjt.mogo.adas.unmanned.task.dto.cmd.TaskArrivalNotification
 import com.zhjt.mogo.adas.unmanned.task.dto.cmd.TaskStartNotification
+import com.zhjt.mogo.adas.unmanned.task.dto.cmd.TaskStationStop
 import mogo.telematics.pad.MessagePad
 import mogo_msg.MogoReportMsg
 import system_master.SsmInfo
 import system_master.SystemStatusInfo
+import taskmgr.TmInfo
 import java.util.concurrent.atomic.AtomicInteger
 import kotlin.properties.Delegates
 
@@ -187,10 +189,72 @@ object CallerAutoPilotStatusListenerManager : CallerBase<IMoGoAutopilotStatusLis
         }
     }
 
+    private var middleDoorState: Boolean by Delegates.observable(false) { _, oldValue, newValue ->
+        if (oldValue != newValue) {
+            CallerTrace.write("MiddleDoorStateFromState", mapOf("MiddleDoorStateFromState" to newValue))
+            M_LISTENERS.forEach {
+                val listener = it.value
+                listener.onMiddleDoorOpenState(newValue)
+            }
+        }
+    }
+
+    private var seatedMenSafetyBeltNotFasten: Boolean by Delegates.observable(false) { _, oldValue, newValue ->
+        if (oldValue != newValue) {
+            CallerTrace.write("seatedMenSafetyBeltNotFasten", mapOf("seatedMenSafetyBeltNotFasten" to newValue))
+            M_LISTENERS.forEach {
+                val listener = it.value
+                listener.onSeatedMenSafetyBeltNotFasten(newValue)
+            }
+        }
+    }
+
+    private var taskStationStop: TaskStationStop? by Delegates.observable(null) { _, oldValue, newValue ->
+        if (oldValue != newValue) {
+            CallerTrace.write("taskStationStop", mapOf("taskStationStop" to newValue))
+            M_LISTENERS.forEach {
+                val listener = it.value
+                listener.onTaskStationStop(newValue)
+            }
+        }
+    }
+
+
+
+
     fun updateAutoPilotStatusFromCan(autopilotState: Int) {
         this.autopilotStateFromCan = autopilotState
     }
 
+
+    fun updateSeatedMenSafetyBeltNotFasten(seatedMenSafetyBeltNotFasten: Boolean) {
+        this.seatedMenSafetyBeltNotFasten = seatedMenSafetyBeltNotFasten
+    }
+
+    fun updateMiddleDoorOpen(middleDoorOpen: Boolean) {
+        this.middleDoorState = middleDoorOpen
+    }
+
+    fun taskmanagerStationStop(stationStopInfo: TmInfo.StationStopInfo?) {
+        if(this.taskStationStop==null){
+            if(stationStopInfo!=null) {
+                this.taskStationStop = TaskStationStop.toTaskStationStop(stationStopInfo)
+            }
+        }else{
+            if(stationStopInfo==null){
+                this.taskStationStop = null
+            }else{
+                taskStationStop?.let {
+                    if ((it.isStop!=stationStopInfo.stop
+                                || it.stopStation.stationId!=it.stopStation.stationId)
+                    ) {
+                        this.taskStationStop = TaskStationStop.toTaskStationStop(stationStopInfo)
+                    }
+                }
+            }
+        }
+    }
+
     fun updateAutoPilotStatus(autopilotStateSource: Int, autopilotState: Int, autopilotMode: Int) {
         mAutopilotStatusInfo.state = autopilotState
         mAutopilotStatusInfo.autopilotStateSource = autopilotStateSource