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[sweeper-cloud]pad收到域控传递过来的任务数据打印

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This commit is contained in:
bxb
2023-05-18 17:15:50 +08:00
parent a7afc9db70
commit afa30152e5
1 changed files with 19 additions and 0 deletions
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19
libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/msg/SweeperCloudTaskMessage.java
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@@ -1,11 +1,14 @@
package com.zhidao.support.adas.high.msg;
import android.os.SystemClock;
import android.util.Log;
import com.google.protobuf.ByteString;
import com.google.protobuf.InvalidProtocolBufferException;
import com.google.protobuf.TextFormat;
import com.zhidao.support.adas.high.AdasChannel;
import com.zhidao.support.adas.high.OnAdasListener;
import com.zhidao.support.adas.high.common.ByteUtil;
import com.zhidao.support.adas.high.common.CupidLogUtils;
import com.zhidao.support.adas.high.protocol.RawData;
import com.zhjt.mogo.adas.data.sweeper.SweeperCloudTask;
@@ -41,6 +44,7 @@ public class SweeperCloudTaskMessage extends MyAbstractMessageHandler {
String reqNo = message.getReqNo(); //请求编号，响应请求时，使用请求方的请求编号
long sysTime = message.getSysTime(); //当前时间戳
ByteString payload = message.getPayload();
Log.i("SweeperCloudTaskMessage", "MsgType=" + (msgType == null ? "null" : msgType.getNumber()) + " reqNo=" + reqNo + " sysTime=" + sysTime);
boolean isExistPayload = payload != null && !payload.isEmpty();
if (msgType == SweeperCloudTask.MessageType.CloudPushTask || msgType == SweeperCloudTask.MessageType.PadSendGetTaskReq) {
//1、云端下发大任务信息（type: 100001）-> sweeper_task.proto
@@ -49,6 +53,8 @@ public class SweeperCloudTaskMessage extends MyAbstractMessageHandler {
if (isExistPayload) {
taskInfo = SweeperTask.TaskInfo.parseFrom(payload);
}
Log.i("SweeperCloudTaskMessage", " msgType=" + msgType + " " + (taskInfo == null ? "null" :
TextFormat.printer().escapingNonAscii(false).printToString(taskInfo)));
adasListener.onSweeperFutianCloudTask(header, msgType, reqNo, sysTime, taskInfo);
} else if (msgType == SweeperCloudTask.MessageType.CloudPushTaskConfirm) {
//2、云端下发子任务，请求pad确认（type：100002）-> sweeper_task_confirm.proto
@@ -56,6 +62,8 @@ public class SweeperCloudTaskMessage extends MyAbstractMessageHandler {
if (isExistPayload) {
taskConfirm = SweeperTaskConfirm.TaskConfirm.parseFrom(payload);
}
Log.i("SweeperCloudTaskMessage", " msgType=" + msgType + " " + (taskConfirm == null ? "null" :
TextFormat.printer().escapingNonAscii(false).printToString(taskConfirm)));
adasListener.onSweeperFutianCloudTaskConfirm(header, msgType, reqNo, sysTime, taskConfirm);
} else if (msgType == SweeperCloudTask.MessageType.CloudPushTaskStatus) {
//3、云端下发任务状态到pad（type：100003）-> sweeper_task_status.proto
@@ -63,6 +71,8 @@ public class SweeperCloudTaskMessage extends MyAbstractMessageHandler {
if (isExistPayload) {
taskStatusPush = SweeperTaskStatus.TaskStatusPush.parseFrom(payload);
}
Log.i("SweeperCloudTaskMessage", " msgType=" + msgType + " " + (taskStatusPush == null ? "null" :
TextFormat.printer().escapingNonAscii(false).printToString(taskStatusPush)));
adasListener.onSweeperFutianCloudTaskStatus(header, msgType, reqNo, sysTime, taskStatusPush);
} else if (msgType == SweeperCloudTask.MessageType.CloudPushTaskStop) {
//4、云端请求pad结束任务（type：100004）-> sweeper_task_stop.proto
@@ -70,6 +80,8 @@ public class SweeperCloudTaskMessage extends MyAbstractMessageHandler {
if (isExistPayload) {
stopTaskReq = SweeperTaskStop.StopTaskReq.parseFrom(payload);
}
Log.i("SweeperCloudTaskMessage", " msgType=" + msgType + " " + (stopTaskReq == null ? "null" :
TextFormat.printer().escapingNonAscii(false).printToString(stopTaskReq)));
adasListener.onSweeperFutianCloudTaskStop(header, msgType, reqNo, sysTime, stopTaskReq);
} else if (msgType == SweeperCloudTask.MessageType.PadSendTaskSuspend || msgType == SweeperCloudTask.MessageType.PadSendTaskResume) {
//5、pad请求挂起任务（type：100005）-> sweeper_task_suspend_resume.proto
@@ -78,6 +90,8 @@ public class SweeperCloudTaskMessage extends MyAbstractMessageHandler {
if (isExistPayload) {
suspendResumeTaskResp = SweeperTaskSuspendResume.SuspendResumeTaskResp.parseFrom(payload);
}
Log.i("SweeperCloudTaskMessage", " msgType=" + msgType + " " + (suspendResumeTaskResp == null ? "null" :
TextFormat.printer().escapingNonAscii(false).printToString(suspendResumeTaskResp)));
adasListener.onSweeperFutianCloudTaskSuspendResume(header, msgType, reqNo, sysTime, suspendResumeTaskResp);
} else if (msgType == SweeperCloudTask.MessageType.PadSendBootable) {
//8、接管后回自驾-pad上报状态给云端 云端下发启动自驾（type: 100008）-> sweeper_autopilot.proto
@@ -85,6 +99,8 @@ public class SweeperCloudTaskMessage extends MyAbstractMessageHandler {
if (isExistPayload) {
isBootableResp = SweeperBootable.IsBootableResp.parseFrom(payload);
}
Log.i("SweeperCloudTaskMessage", " msgType=" + msgType + " " + (isBootableResp == null ? "null" :
TextFormat.printer().escapingNonAscii(false).printToString(isBootableResp)));
adasListener.onSweeperFutianCloudBootable(header, msgType, reqNo, sysTime, isBootableResp);
} else if (msgType == SweeperCloudTask.MessageType.CloudPushBigTaskStatus) {
//9、云端下发pad大任务状态（type: 100009）-> sweeper_big_task_status.proto
@@ -92,9 +108,12 @@ public class SweeperCloudTaskMessage extends MyAbstractMessageHandler {
if (isExistPayload) {
bigTaskStatusPush = SweeperBigTaskStatus.BigTaskStatusPush.parseFrom(payload);
}
Log.i("SweeperCloudTaskMessage", " msgType=" + msgType + " " + (bigTaskStatusPush == null ? "null" :
TextFormat.printer().escapingNonAscii(false).printToString(bigTaskStatusPush)));
adasListener.onSweeperFutianCloudBigTaskStatus(header, msgType, reqNo, sysTime, bigTaskStatusPush);
} else {
//未知数据类型
Log.i("SweeperCloudTaskMessage", " 错误数据=" + ByteUtil.byteArrToHex(bytes));
adasListener.onSweeperFutianCloudTaskUnknown(header, bytes);
}
}