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Merge branch 'robosweeper-d-app-module_290_0816' of gitlab.zhidaoauto.com:zhjt/AndroidApp/MoGoEagleEye into robosweeper-d-app-module_290_0816

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xinfengkun
2022-08-29 14:03:05 +08:00
parent 15004d1622 6122e3ec3d
commit 89ce3c59fc
28 changed files with 1634 additions and 5 deletions
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6
core/function-impl/mogo-core-function-autopilot/src/main/java/com/mogo/eagle/core/function/autopilot/MoGoAutopilotProvider.kt
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@@ -4,6 +4,7 @@ import android.Manifest.permission
import android.content.Context
import android.util.Log
import androidx.annotation.RequiresPermission
import chassis.SpecialVehicleTaskCmdOuterClass
import com.alibaba.android.arouter.facade.annotation.Route
import com.mogo.cloud.passport.MoGoAiCloudClientConfig
import com.mogo.eagle.core.data.app.AppConfigInfo
@@ -545,4 +546,9 @@ class MoGoAutopilotProvider :
Log.d(TAG, "---- sendStatusQueryReq ----")
AdasManager.getInstance().sendStatusQueryReq()
}
override fun sendSweeperFuTianTaskCmd(fuTianTaskCmd: SpecialVehicleTaskCmdOuterClass.RoboSweeperFuTianTaskCmd) {
Log.d(TAG, "---- sendSweeperFuTianTaskCmd ----")
AdasManager.getInstance().sendRoboSweeperFuTianTaskCmd(fuTianTaskCmd)
}
}

8
core/function-impl/mogo-core-function-autopilot/src/main/java/com/mogo/eagle/core/function/autopilot/adapter/MoGoAdasListenerImpl.kt
View File

@@ -1,6 +1,5 @@
package com.mogo.eagle.core.function.autopilot.adapter
import android.util.*
import chassis.VehicleStateOuterClass
import com.mogo.eagle.core.data.config.FunctionBuildConfig
import com.mogo.eagle.core.data.config.HdMapBuildConfig
@@ -45,7 +44,6 @@ import com.mogo.eagle.core.function.call.autopilot.CallerAutopilotPointCloudList
import com.mogo.eagle.core.function.call.autopilot.CallerAutopilotRecordListenerManager.invokeAutopilotRecordResult
import com.mogo.eagle.core.function.call.autopilot.CallerAutopilotVehicleStateListenerManager
import com.mogo.eagle.core.function.call.map.CallerMapUIServiceManager
import com.mogo.eagle.core.network.utils.*
import com.zhidao.support.adas.high.AdasManager
import com.zhidao.support.adas.high.OnAdasListener
import com.zhidao.support.adas.high.common.ProtocolStatus
@@ -57,7 +55,6 @@ import mogo_msg.MogoReportMsg
import perception.TrafficLightOuterClass
import prediction.Prediction
import record_cache.RecordPanelOuterClass
import rule_segement.MogoPointCloudOuterClass
import system_master.SystemStatusInfo
/**
@@ -162,7 +159,10 @@ class MoGoAdasListenerImpl : OnAdasListener {
CallerAutopilotVehicleStateListenerManager.invokeAutopilotThrottle(vehicleState.throttle)
//刹车
CallerAutopilotVehicleStateListenerManager.invokeAutopilotBrake(vehicleState.brake)
//清扫车（福田）清扫控制系统状态
vehicleState.sweeperFutianCleanSystemState?.also {
CallerAutopilotVehicleStateListenerManager.invokeSweeperFutianCleanSystemState(it)
}
} else {
CallerAutopilotVehicleStateListenerManager.invokeAutopilotDataException(header.timestamp.toLong())
}

7
core/function-impl/mogo-core-function-autopilot/src/main/java/com/mogo/eagle/core/function/autopilot/adapter/MoGoHandAdasMsgManager.java
View File

@@ -4,6 +4,7 @@ import android.content.Context;
import android.text.TextUtils;
import android.util.Log;
import androidx.annotation.NonNull;
import androidx.annotation.Nullable;
import com.mogo.cloud.passport.MoGoAiCloudClientConfig;
@@ -23,6 +24,7 @@ import com.mogo.eagle.core.utilcode.mogo.storage.SharedPrefsMgr;
import org.jetbrains.annotations.NotNull;
import chassis.Chassis;
import chassis.VehicleStateOuterClass;
import mogo.telematics.pad.MessagePad;
public class MoGoHandAdasMsgManager implements
@@ -166,4 +168,9 @@ public class MoGoHandAdasMsgManager implements
public void onAutopilotBrake(float brake) {
}
@Override
public void onSweeperFutianCleanSystemState(VehicleStateOuterClass.SweeperFuTianCleanSystemState cleanSystemState) {
}
}