[清扫车]贴边数据回调和电量回调

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

@@ -190,6 +190,10 @@ class MoGoAdasListenerImpl : OnAdasListener {
                 //刹车
                 CallerAutopilotVehicleStateListenerManager.invokeAutopilotBrake(it.brakePedalResponsePosition)
             }
+            chassisStates.bmsSystemStates?.let {
+                //电池管理系统
+                CallerAutopilotVehicleStateListenerManager.invokeBMSSystemStates(it)
+            }
             chassisStates.taskSystemStates?.let { taskSystemStates ->
                 taskSystemStates.sweeperFutianTaskSystemStates?.let {
                     //清扫车（福田）清扫控制系统状态
@@ -478,7 +482,10 @@ class MoGoAdasListenerImpl : OnAdasListener {
      * @param roboSweeperTaskIndex 数据
      */
     override fun onSweeperTaskIndexData(header: MessagePad.Header?, roboSweeperTaskIndex: RoboSweeperTaskIndexOuterClass.RoboSweeperTaskIndex?) {
-
+        roboSweeperTaskIndex?.let {
+            //清扫车（福田）清扫控制系统状态
+            CallerAutopilotVehicleStateListenerManager.invokeSweeperFutianCleanTaskIndexData(it)
+        }
     }
 
 

core/function-impl/mogo-core-function-autopilot/src/main/java/com/mogo/eagle/core/function/autopilot/adapter/MoGoHandAdasMsgManager.java

@@ -30,6 +30,7 @@ import org.jetbrains.annotations.NotNull;
 import chassis.Chassis;
 import chassis.ChassisStatesOuterClass;
 import mogo.telematics.pad.MessagePad;
+import planning.RoboSweeperTaskIndexOuterClass;
 
 public class MoGoHandAdasMsgManager implements
         IMoGoAutopilotVehicleStateListener,
@@ -189,5 +190,14 @@ public class MoGoHandAdasMsgManager implements
     @Override
     public void onSweeperFutianCleanSystemState(ChassisStatesOuterClass.SweeperFuTianTaskSystemStates cleanSystemState) {
 
+    }
+    @Override
+    public void onSweeperFutianTaskIndexData(@NonNull RoboSweeperTaskIndexOuterClass.RoboSweeperTaskIndex roboSweeperTaskIndex) {
+
+    }
+
+    @Override
+    public void onBMSSystemStates(@NonNull ChassisStatesOuterClass.BMSSystemStates bmsSystemStates) {
+
     }
 }