Merge remote-tracking branch 'origin/dev_arch_opt_3.0' into dev_arch_opt_3.0

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

@@ -180,6 +180,13 @@ class MoGoAdasListenerImpl : OnAdasListener {
             CallerChassisThrottleStateListenerManager.invokeAutopilotThrottle(vehicleState.throttle)
             //刹车
             CallerChassisBrakeStateListenerManager.invokeAutopilotBrake(vehicleState.brake)
+            //电量
+            if (vehicleState.hasBmsSoc()) {
+                CallerBatteryManagementSystemListenerManager.invokeBatteryManagementSystemStates(
+                    ChassisStatesOuterClass.BMSSystemStates.newBuilder()
+                        .setBmsSoc(vehicleState.bmsSoc).build()
+                )
+            }
             //清扫车（福田）清扫控制系统状态
             vehicleState.sweeperFutianCleanSystemState?.also { sweeperState ->
                 val bytes: ByteArray = sweeperState.toByteArray()
@@ -188,6 +195,12 @@ class MoGoAdasListenerImpl : OnAdasListener {
                     CallerSweeperFutianCleanSystemListenerManager.invokeSweeperFutianCleanSystemState(it)
                 }
             }
+            //金旅M1
+            vehicleState.roboBusJinlvM1State?.also {
+                if (vehicleState.hasRoboBusJinlvM1State()) {
+                    CallerRoboBusJinlvM1StatesListenerManager.invokeRoboBusJinlvM1States(it)
+                }
+            }
         } else {
             CallerAutopilotVehicleStateListenerManager.invokeAutopilotDataException(header.timestamp.toLong())
         }
@@ -239,6 +252,10 @@ class MoGoAdasListenerImpl : OnAdasListener {
                 //刹车
                 CallerChassisBrakeStateListenerManager.invokeAutopilotBrake(it.brakePedalResponsePosition)
             }
+            chassisStates.bmsSystemStates?.let {
+                //电量
+                CallerBatteryManagementSystemListenerManager.invokeBatteryManagementSystemStates(it)
+            }
             chassisStates.taskSystemStates?.let { taskSystemStates ->
                 taskSystemStates.sweeperFutianTaskSystemStates?.let {
                     //清扫车（福田）清扫控制系统状态

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

@@ -0,0 +1,13 @@
+package com.mogo.eagle.core.function.api.autopilot
+
+import chassis.ChassisStatesOuterClass
+
+/**
+ * 电池管理系统
+ */
+interface IMoGoBatteryManagementSystemListener {
+    /**
+     * 电池管理系统
+     */
+    fun onBatteryManagementSystemStates(states: ChassisStatesOuterClass.BMSSystemStates)
+}

core/mogo-core-function-api/src/main/java/com/mogo/eagle/core/function/api/autopilot/IMoGoRoboBusJinlvM1StatesListener.kt

@@ -0,0 +1,12 @@
+package com.mogo.eagle.core.function.api.autopilot
+
+import chassis.ChassisStatesOuterClass
+import chassis.VehicleStateOuterClass
+
+/**
+ * 金旅M1
+ */
+interface IMoGoRoboBusJinlvM1StatesListener {
+
+    fun onRoboBusJinlvM1States(states: VehicleStateOuterClass.RoboBusJinlvM1State)
+}

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

@@ -0,0 +1,21 @@
+package com.mogo.eagle.core.function.call.autopilot
+
+import chassis.ChassisStatesOuterClass
+import com.mogo.eagle.core.function.api.autopilot.IMoGoBatteryManagementSystemListener
+import com.mogo.eagle.core.function.call.base.CallerBase
+
+/**
+ * 电池管理系统 包含 电量剩余百分比 电压 电流等
+ */
+object CallerBatteryManagementSystemListenerManager : CallerBase<IMoGoBatteryManagementSystemListener>() {
+
+    /**
+     * 电池管理系统
+     */
+    fun invokeBatteryManagementSystemStates(states: ChassisStatesOuterClass.BMSSystemStates) {
+        M_LISTENERS.forEach {
+            val listener = it.value
+            listener.onBatteryManagementSystemStates(states)
+        }
+    }
+}

core/mogo-core-function-call/src/main/java/com/mogo/eagle/core/function/call/autopilot/CallerRoboBusJinlvM1StatesListenerManager.kt

@@ -0,0 +1,22 @@
+package com.mogo.eagle.core.function.call.autopilot
+
+import chassis.ChassisStatesOuterClass
+import chassis.VehicleStateOuterClass
+import com.mogo.eagle.core.function.api.autopilot.IMoGoRoboBusJinlvM1StatesListener
+import com.mogo.eagle.core.function.call.base.CallerBase
+
+/**
+ * 金旅M1
+ */
+object CallerRoboBusJinlvM1StatesListenerManager : CallerBase<IMoGoRoboBusJinlvM1StatesListener>() {
+
+    /**
+     * 电池管理系统
+     */
+    fun invokeRoboBusJinlvM1States(states: VehicleStateOuterClass.RoboBusJinlvM1State) {
+        M_LISTENERS.forEach {
+            val listener = it.value
+            listener.onRoboBusJinlvM1States(states)
+        }
+    }
+}