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[8.4.0]

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[任务管理]
[自动驾驶状态变为自驾中 请求全局轨迹、请求正在执行的自动驾驶任务信息]
This commit is contained in:
yangyakun
2026-03-16 18:30:34 +08:00
parent 1007e85718
commit a80e361406
4 changed files with 7 additions and 5 deletions
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4
core/function-impl/mogo-core-function-datacenter/src/main/java/com/mogo/eagle/core/function/datacenter/autopilot/adapter/MoGoAdasListenerImpl.kt
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@@ -1679,8 +1679,8 @@ class MoGoAdasListenerImpl : OnAdasListener {
override fun onPlanningStopLine(header: MessagePad.Header, mapMsg: Hadmap.MapMsg) {
}
override fun onAdasTaskManagerOriginal(header: MessagePad.Header, data: ByteArray) {
taskManagerOriginal(header, ByteUtil.byteArrToHex(data, false))
override fun onAdasTaskManagerOriginal(header: MessagePad.Header, data: String) {
taskManagerOriginal(header, data)
}
@ChainLog(

1
core/function-impl/mogo-core-function-datacenter/src/main/java/com/mogo/eagle/core/function/datacenter/autopilot/server/AsyncDataToAutopilotServer.kt
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@@ -55,6 +55,7 @@ class AsyncDataToAutopilotServer private constructor() : IMoGoTrafficLightListen
.subscribe {
bizLog(SceneConstant.M_D_C + TAG, "请求底盘轨迹")
CallerAutoPilotControlManager.getGlobalPath()
CallerAutoPilotControlManager.sendTaskManagerRunningInfo()
}
}
else -> {}

2
libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/OnAdasListener.java
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@@ -805,7 +805,7 @@ public interface OnAdasListener {
* @param header 头
* @param data 数据
*/
void onAdasTaskManagerOriginal(@NonNull MessagePad.Header header, @NonNull byte[] data);
void onAdasTaskManagerOriginal(@NonNull MessagePad.Header header, @NonNull String data);
/**
* 域控任务管理离站通知

5
libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/msg/TaskManagerMessage.java
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@@ -45,8 +45,9 @@ public class TaskManagerMessage extends MyAbstractMessageHandler {
if (CupidLogUtils.isEnableLog())
nowTime = SystemClock.elapsedRealtime();
if (adasListener != null) {
adasListener.onAdasTaskManagerOriginal(raw.getHeader(), data);
parse(adasListener, new String(data, StandardCharsets.UTF_8));
String dataString = new String(data, StandardCharsets.UTF_8);
adasListener.onAdasTaskManagerOriginal(raw.getHeader(), dataString);
parse(adasListener,dataString);
}
AdasChannel.calculateTimeConsumingBusiness("任务管理消息", nowTime);
}