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[sweeper320][adas]云控清扫车添加云端下发任务暂停/恢复指令到pad（type: 100010）收发接口

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xinfengkun
2023-07-19 18:08:44 +08:00
parent 077b339956
commit 874c96a4ad
16 changed files with 248 additions and 43 deletions
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15
core/function-impl/mogo-core-function-datacenter/src/main/java/com/mogo/eagle/core/function/datacenter/autopilot/MoGoAutopilotControlProvider.kt
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@@ -61,7 +61,8 @@ import com.zhjt.mogo.adas.data.AdasConstants
import com.zhjt.mogo.adas.data.bean.MogoReport
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.SweeperTaskSuspendResume
import com.zhjt.mogo.adas.data.sweeper.task.cloud.s_r.SweeperTaskCloudSuspendResume
import com.zhjt.mogo.adas.data.sweeper.task.s_r.SweeperTaskSuspendResume
import com.zhjt.mogo.adas.data.sweeper.task.confirm.SweeperTaskConfirm
import com.zhjt.mogo.adas.data.sweeper.task.stop.SweeperTaskStop
import com.zhjt.service.chain.ChainLog
@@ -1002,6 +1003,18 @@ class MoGoAutopilotControlProvider :
return AdasManager.getInstance().sendSweeperAutopilotBootable(reqNo, isBootable)
}
/**
* 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
*
* @param reqNo 请求编号
* @param bigTaskActionResp 参数
* @return boolean
*/
override fun sendSweeperCloudSuspendResumeTaskResp(reqNo: String, bigTaskActionResp: SweeperTaskCloudSuspendResume.BigTaskActionResp): Boolean {
return AdasManager.getInstance().sendSweeperCloudSuspendResumeTaskResp(reqNo, bigTaskActionResp)
}
override fun setIsDrawPointCloud(isDrawPointCloud: Boolean) {
if (isDrawPointCloud) {
AdasManager.getInstance().subscribeInterface(

16
core/function-impl/mogo-core-function-datacenter/src/main/java/com/mogo/eagle/core/function/datacenter/autopilot/adapter/MoGoAdasListenerImpl.kt
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@@ -58,8 +58,9 @@ 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.SweeperTaskSuspendResume
import com.zhjt.mogo.adas.data.sweeper.task.s_r.SweeperTaskSuspendResume
import com.zhjt.mogo.adas.data.sweeper.task.big.SweeperBigTaskStatus
import com.zhjt.mogo.adas.data.sweeper.task.cloud.s_r.SweeperTaskCloudSuspendResume
import com.zhjt.mogo.adas.data.sweeper.task.confirm.SweeperTaskConfirm
import com.zhjt.mogo.adas.data.sweeper.task.status.SweeperTaskStatus
import com.zhjt.mogo.adas.data.sweeper.task.stop.SweeperTaskStop
@@ -646,6 +647,19 @@ class MoGoAdasListenerImpl : OnAdasListener {
CallerSweeperFutianCloudTaskListenerManager.invokeSweeperFutianCloudBigTaskStatus(messageType, reqNo, sysTime, bigTaskStatusPush)
}
/**
* 10、云端下发任务暂停/恢复指令到pad（type: 100010）-> sweeper_task_cloud_suspend_resume.proto
*
* @param header 头
* @param messageType 消息类型
* @param reqNo 请求编号
* @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?) {
CallerSweeperFutianCloudTaskListenerManager.invokeSweeperFutianCloudTaskCloudSuspendResume(messageType, reqNo, sysTime, bigTaskActionPush)
}
/**
* 清扫车云端任务未知类型
*

13
core/mogo-core-function-api/src/main/java/com/mogo/eagle/core/function/api/autopilot/IMoGoAutopilotControlProvider.kt
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@@ -8,10 +8,11 @@ import com.mogo.eagle.core.function.api.base.IMoGoFunctionServerProvider
import com.zhjt.mogo.adas.data.sweeper.bootable.SweeperBootable.IsBootable
import com.zhjt.mogo.adas.data.sweeper.task.SweeperTask.GetTaskReq
import com.zhjt.mogo.adas.data.sweeper.task.SweeperTask.StartTaskResp
import com.zhjt.mogo.adas.data.sweeper.task.SweeperTaskSuspendResume.SuspendResumeTaskReq
import com.zhjt.mogo.adas.data.sweeper.task.s_r.SweeperTaskSuspendResume.SuspendResumeTaskReq
import com.zhjt.mogo.adas.data.sweeper.task.confirm.SweeperTaskConfirm.TaskConfirmResp
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
/**
* @author xiaoyuzhou
@@ -399,6 +400,16 @@ interface IMoGoAutopilotControlProvider : IMoGoFunctionServerProvider {
*/
fun sendSweeperAutopilotBootable(reqNo: String, isBootable: IsBootable): 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
*
* @param reqNo 请求编号
* @param bigTaskActionResp 参数
* @return boolean
*/
fun sendSweeperCloudSuspendResumeTaskResp(reqNo: String, bigTaskActionResp: BigTaskActionResp): Boolean
/**
* 打开点云绘制
*

14
core/mogo-core-function-api/src/main/java/com/mogo/eagle/core/function/api/autopilot/IMoGoSweeperFutianCloudTaskListener.kt
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@@ -3,12 +3,12 @@ package com.mogo.eagle.core.function.api.autopilot
import com.zhjt.mogo.adas.data.sweeper.SweeperCloudTask
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.SweeperTaskSuspendResume.SuspendResumeTaskResp
import com.zhjt.mogo.adas.data.sweeper.task.big.SweeperBigTaskStatus.BigTaskStatusPush
import com.zhjt.mogo.adas.data.sweeper.task.cloud.s_r.SweeperTaskCloudSuspendResume.BigTaskActionPush
import com.zhjt.mogo.adas.data.sweeper.task.confirm.SweeperTaskConfirm.TaskConfirm
import com.zhjt.mogo.adas.data.sweeper.task.s_r.SweeperTaskSuspendResume.SuspendResumeTaskResp
import com.zhjt.mogo.adas.data.sweeper.task.status.SweeperTaskStatus.TaskStatusPush
import com.zhjt.mogo.adas.data.sweeper.task.stop.SweeperTaskStop.StopTaskReq
import mogo.telematics.pad.MessagePad
/**
* 清扫车（福田）云端任务接口
@@ -87,6 +87,16 @@ interface IMoGoSweeperFutianCloudTaskListener {
*/
fun onSweeperFutianCloudBigTaskStatus(messageType: SweeperCloudTask.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
*
* @param messageType 消息类型
* @param reqNo 请求编号
* @param sysTime 当前时间戳
* @param bigTaskActionPush 数据
*/
fun onSweeperFutianCloudTaskCloudSuspendResume(messageType: SweeperCloudTask.MessageType, reqNo: String?, sysTime: Long, bigTaskActionPush: BigTaskActionPush?)
/**
* 清扫车云端任务未知类型
*

14
core/mogo-core-function-call/src/main/java/com/mogo/eagle/core/function/call/autopilot/CallerAutoPilotControlManager.kt
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@@ -17,10 +17,11 @@ import com.mogo.eagle.core.utilcode.mogo.AppIdentityModeUtils
import com.zhjt.mogo.adas.data.sweeper.bootable.SweeperBootable.IsBootable
import com.zhjt.mogo.adas.data.sweeper.task.SweeperTask.GetTaskReq
import com.zhjt.mogo.adas.data.sweeper.task.SweeperTask.StartTaskResp
import com.zhjt.mogo.adas.data.sweeper.task.SweeperTaskSuspendResume.SuspendResumeTaskReq
import com.zhjt.mogo.adas.data.sweeper.task.s_r.SweeperTaskSuspendResume.SuspendResumeTaskReq
import com.zhjt.mogo.adas.data.sweeper.task.confirm.SweeperTaskConfirm.TaskConfirmResp
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 com.zhjt.service.chain.ChainLog
import com.zhjt.service_biz.BizConfig
import kotlin.random.Random
@@ -550,6 +551,17 @@ object CallerAutoPilotControlManager {
return providerApi?.sendSweeperAutopilotBootable(reqNo, isBootable) ?: false
}
/**
* 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
*
* @param reqNo 请求编号
* @param bigTaskActionResp 参数
* @return boolean
*/
fun sendSweeperCloudSuspendResumeTaskResp( reqNo: String, bigTaskActionResp: BigTaskActionResp): Boolean {
return providerApi?.sendSweeperCloudSuspendResumeTaskResp(reqNo, bigTaskActionResp) ?: false
}
/**
* 打开点云绘制

18
core/mogo-core-function-call/src/main/java/com/mogo/eagle/core/function/call/autopilot/CallerSweeperFutianCloudTaskListenerManager.kt
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@@ -5,8 +5,9 @@ import com.mogo.eagle.core.function.call.base.CallerBase
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.SweeperTaskSuspendResume
import com.zhjt.mogo.adas.data.sweeper.task.s_r.SweeperTaskSuspendResume
import com.zhjt.mogo.adas.data.sweeper.task.big.SweeperBigTaskStatus
import com.zhjt.mogo.adas.data.sweeper.task.cloud.s_r.SweeperTaskCloudSuspendResume
import com.zhjt.mogo.adas.data.sweeper.task.confirm.SweeperTaskConfirm
import com.zhjt.mogo.adas.data.sweeper.task.status.SweeperTaskStatus
import com.zhjt.mogo.adas.data.sweeper.task.stop.SweeperTaskStop
@@ -123,6 +124,21 @@ object CallerSweeperFutianCloudTaskListenerManager : CallerBase<IMoGoSweeperFuti
}
}
/**
* 10、云端下发任务暂停/恢复指令到pad（type: 100010）-> sweeper_task_cloud_suspend_resume.proto
*
* @param messageType 消息类型
* @param reqNo 请求编号
* @param sysTime 当前时间戳
* @param bigTaskActionPush 数据
*/
fun invokeSweeperFutianCloudTaskCloudSuspendResume(messageType: SweeperCloudTask.MessageType, reqNo: String?, sysTime: Long, bigTaskActionPush: SweeperTaskCloudSuspendResume.BigTaskActionPush?) {
M_LISTENERS.forEach {
val listener = it.value
listener.onSweeperFutianCloudTaskCloudSuspendResume(messageType, reqNo, sysTime, bigTaskActionPush)
}
}
/**
* 清扫车云端任务未知类型
*