From a80e3614067c888909d811d0c44378e1efb94d18 Mon Sep 17 00:00:00 2001 From: yangyakun Date: Mon, 16 Mar 2026 18:30:34 +0800 Subject: [PATCH] =?UTF-8?q?[8.4.0]=20[=E4=BB=BB=E5=8A=A1=E7=AE=A1=E7=90=86?= =?UTF-8?q?]=20[=E8=87=AA=E5=8A=A8=E9=A9=BE=E9=A9=B6=E7=8A=B6=E6=80=81?= =?UTF-8?q?=E5=8F=98=E4=B8=BA=E8=87=AA=E9=A9=BE=E4=B8=AD=20=E8=AF=B7?= =?UTF-8?q?=E6=B1=82=E5=85=A8=E5=B1=80=E8=BD=A8=E8=BF=B9=E3=80=81=E8=AF=B7?= =?UTF-8?q?=E6=B1=82=E6=AD=A3=E5=9C=A8=E6=89=A7=E8=A1=8C=E7=9A=84=E8=87=AA?= =?UTF-8?q?=E5=8A=A8=E9=A9=BE=E9=A9=B6=E4=BB=BB=E5=8A=A1=E4=BF=A1=E6=81=AF?= =?UTF-8?q?]?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- .../datacenter/autopilot/adapter/MoGoAdasListenerImpl.kt | 4 ++-- .../autopilot/server/AsyncDataToAutopilotServer.kt | 1 + .../java/com/zhidao/support/adas/high/OnAdasListener.java | 2 +- .../com/zhidao/support/adas/high/msg/TaskManagerMessage.java | 5 +++-- 4 files changed, 7 insertions(+), 5 deletions(-) diff --git a/core/function-impl/mogo-core-function-datacenter/src/main/java/com/mogo/eagle/core/function/datacenter/autopilot/adapter/MoGoAdasListenerImpl.kt b/core/function-impl/mogo-core-function-datacenter/src/main/java/com/mogo/eagle/core/function/datacenter/autopilot/adapter/MoGoAdasListenerImpl.kt index bdf3ba6ec9..44351d17d3 100644 --- a/core/function-impl/mogo-core-function-datacenter/src/main/java/com/mogo/eagle/core/function/datacenter/autopilot/adapter/MoGoAdasListenerImpl.kt +++ b/core/function-impl/mogo-core-function-datacenter/src/main/java/com/mogo/eagle/core/function/datacenter/autopilot/adapter/MoGoAdasListenerImpl.kt @@ -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( diff --git a/core/function-impl/mogo-core-function-datacenter/src/main/java/com/mogo/eagle/core/function/datacenter/autopilot/server/AsyncDataToAutopilotServer.kt b/core/function-impl/mogo-core-function-datacenter/src/main/java/com/mogo/eagle/core/function/datacenter/autopilot/server/AsyncDataToAutopilotServer.kt index 97815c2539..d579413d43 100644 --- a/core/function-impl/mogo-core-function-datacenter/src/main/java/com/mogo/eagle/core/function/datacenter/autopilot/server/AsyncDataToAutopilotServer.kt +++ b/core/function-impl/mogo-core-function-datacenter/src/main/java/com/mogo/eagle/core/function/datacenter/autopilot/server/AsyncDataToAutopilotServer.kt @@ -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 -> {} diff --git a/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/OnAdasListener.java b/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/OnAdasListener.java index dffcac4499..797c126ec0 100644 --- a/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/OnAdasListener.java +++ b/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/OnAdasListener.java @@ -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 diff --git a/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/msg/TaskManagerMessage.java b/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/msg/TaskManagerMessage.java index 27c28f21ca..dea191093b 100644 --- a/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/msg/TaskManagerMessage.java +++ b/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/msg/TaskManagerMessage.java @@ -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); }