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[清扫车]贴边数据回调和电量回调

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This commit is contained in:
xinfengkun
2023-01-11 11:50:19 +08:00
parent c9450f6367
commit c656ceea58
10 changed files with 143 additions and 17 deletions
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27
core/function-impl/mogo-core-function-devatools/src/main/java/com/zhjt/mogo_core_function_devatools/status/flow/can/CanImpl.kt
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@@ -1,19 +1,26 @@
package com.zhjt.mogo_core_function_devatools.status.flow.can
import android.content.*
import android.content.Context
import android.util.Log
import chassis.Chassis.GearPosition
import chassis.Chassis.LightSwitch
import chassis.ChassisStatesOuterClass
import com.mogo.eagle.core.function.api.autopilot.*
import com.mogo.eagle.core.function.call.autopilot.*
import com.mogo.eagle.core.utilcode.kotlin.*
import com.zhjt.mogo_core_function_devatools.status.flow.IFlow
import com.mogo.eagle.core.function.api.autopilot.IMoGoAutopilotStatusListener
import com.mogo.eagle.core.function.api.autopilot.IMoGoAutopilotVehicleStateListener
import com.mogo.eagle.core.function.call.autopilot.CallerAutoPilotManager
import com.mogo.eagle.core.function.call.autopilot.CallerAutoPilotStatusListenerManager
import com.mogo.eagle.core.function.call.autopilot.CallerAutopilotVehicleStateListenerManager
import com.mogo.eagle.core.utilcode.kotlin.safeCancel
import com.zhjt.mogo_core_function_devatools.status.entity.CanStatus
import kotlinx.coroutines.*
import com.zhjt.mogo_core_function_devatools.status.flow.IFlow
import kotlinx.coroutines.Dispatchers
import kotlinx.coroutines.Job
import kotlinx.coroutines.delay
import kotlinx.coroutines.launch
import mogo_msg.MogoReportMsg.MogoReportMessage
import planning.RoboSweeperTaskIndexOuterClass
import system_master.SystemStatusInfo.StatusInfo
import java.util.concurrent.atomic.*
import java.util.concurrent.atomic.AtomicInteger
internal class CanImpl(ctx: Context): IFlow<CanStatus>(ctx), IMoGoAutopilotVehicleStateListener, IMoGoAutopilotStatusListener {
@@ -82,11 +89,17 @@ internal class CanImpl(ctx: Context): IFlow<CanStatus>(ctx), IMoGoAutopilotVehic
timeOutCheck()
}
override fun onBMSSystemStates(bmsSystemStates: ChassisStatesOuterClass.BMSSystemStates) {
}
override fun onSweeperFutianCleanSystemState(cleanSystemState: ChassisStatesOuterClass.SweeperFuTianTaskSystemStates) {
send(CanStatus(isCanEnabled()))
timeOutCheck()
}
override fun onSweeperFutianTaskIndexData(roboSweeperTaskIndex: RoboSweeperTaskIndexOuterClass.RoboSweeperTaskIndex) {
}
override fun onAutopilotGuardian(guardianInfo: MogoReportMessage?) {
super.onAutopilotGuardian(guardianInfo)
send(CanStatus(isCanEnabled()))