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