[8.5.0]

[车门、安全带、站点停车]

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

@@ -63,6 +63,7 @@ import prediction2025.Prediction2025;
 import record_cache.RecordPanelOuterClass;
 import system_master.SsmInfo;
 import system_master.SystemStatusInfo;
+import taskmgr.TmInfo;
 import vllm.Vlm;
 
 /**
@@ -809,16 +810,20 @@ public interface OnAdasListener {
      */
     void onAdasTaskManagerOriginal(@NonNull MessagePad.Header header, @NonNull String data);
 
+    /**
+     * 域控任务管理站点停车原始数据
+     *
+     * @param header 头
+     * @param data   数据
+     */
+    void onAdasTaskManagerStationStopOriginal(@NonNull MessagePad.Header header, @NonNull String data);
+
+
     /**
      * 域控任务管理离站通知
      *
      * @param taskId
-     * @param siteId
-     * @param sequence
-     * @param ack
-     * @param reason
-     * @param stationTimeLeft
-     * @param closeDoorStartAuto
+     * @param taskStartNotification
      */
     void onAdasTaskManagerDeparture(Long taskId, TaskStartNotification taskStartNotification);
 
@@ -826,9 +831,7 @@ public interface OnAdasListener {
      * 域控任务管理到站通知
      *
      * @param taskId   任务ID, 同原接口的orderid， 首次和头部校验
-     * @param siteId   站点编号，对应云平台固定值
-     * @param sequence 站点序号，对应顺序列表里站点流程，从1开始，1为起始点，最大值为终点。 途径点填写0
-     * @param mileage  任务全程的已经行进的里程
+     * @param taskArrivalNotification 到站信息
      */
     void onAdasTaskManagerArrival(Long taskId, TaskArrivalNotification taskArrivalNotification);
 
@@ -852,6 +855,12 @@ public interface OnAdasListener {
      */
     void onAdasTaskManagerRunning(Long taskId, Long lineId, TaskLocationQueryResponse taskLocationQueryResponse);
 
+
+    /**
+     *
+     * @param stationStopInfo 到站的信息
+     */
+    void onAdasTaskManagerStationStop(TmInfo.StationStopInfo stationStopInfo);
     /**
      * 是否有能力启动自动驾驶
      *

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

@@ -66,6 +66,7 @@ public class MyMessageFactory implements IMyMessageFactory {
     private IMsg planningStopLineMessage;//决策停止线
     private IMsg fSMEventMessage;//FSM事件
     private IMsg taskMgrAndPadMessage;//任务管理消息
+    private IMsg taskMgrAndPadStationStopMessage;//任务管理消息
 
     private final AutopilotReview autopilotReview;
     private final TurnLightState lightLeft = new TurnLightState();
@@ -388,6 +389,12 @@ public class MyMessageFactory implements IMyMessageFactory {
                 fSMEventMessage = new FSMEventMessage();
             }
             return fSMEventMessage;
+        } else if (messageType == MessageType.TYPE_RECEIVE_TASK_MANAGER_StationStop.typeCode) {
+            //任务管理消息发出的站点停车
+            if (taskMgrAndPadStationStopMessage == null) {
+                taskMgrAndPadStationStopMessage = new TaskManagerStationStopMessage();
+            }
+            return taskMgrAndPadStationStopMessage;
         } else if (messageType == MessageType.TYPE_RECEIVE_TASK_MANAGER.typeCode) {
             //任务管理消息
             if (taskMgrAndPadMessage == null) {

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

@@ -0,0 +1,36 @@
+package com.zhidao.support.adas.high.msg;
+
+import android.util.Log;
+
+import com.google.protobuf.InvalidProtocolBufferException;
+import com.zhidao.support.adas.high.AdasChannel;
+import com.zhidao.support.adas.high.OnAdasListener;
+import com.zhidao.support.adas.high.protocol.RawData;
+
+import taskmgr.TmInfo;
+
+/**
+ * 任务管理消息
+ */
+public class TaskManagerStationStopMessage extends MyAbstractMessageHandler {
+    private static final String TAG = TaskManagerStationStopMessage.class.getSimpleName();
+
+    public TaskManagerStationStopMessage() {
+    }
+
+    @Override
+    public void handlerMsg(RawData raw, OnAdasListener adasListener) throws InvalidProtocolBufferException {
+        TmInfo.StationStopInfo stationStopInfo = TmInfo.StationStopInfo.parser().parseFrom(raw.originalData.toByteArray(), raw.getOffsetValue(), raw.getPackageLengthValue() - raw.getOffsetValue());
+        AdasChannel.calculateTimeConsumingOnDispatchRaw("底盘信息", raw.receiveTime);
+        long nowTime = 0;
+        adasListener.onAdasTaskManagerStationStop(stationStopInfo);
+        AdasChannel.calculateTimeConsumingBusiness("底盘信息", nowTime);
+    }
+
+    private void parse(OnAdasListener adasListener, String data) {
+        Log.i(TAG, "任务管理接收原始数据=" + data);
+
+    }
+
+
+}