[清扫车]贴边数据回调和电量回调

core/mogo-core-function-call/src/main/java/com/mogo/eagle/core/function/call/autopilot/CallerAutopilotVehicleStateListenerManager.kt

@@ -5,6 +5,7 @@ import chassis.Chassis
 import chassis.ChassisStatesOuterClass
 import com.mogo.eagle.core.function.api.autopilot.IMoGoAutopilotVehicleStateListener
 import com.mogo.eagle.core.function.call.base.CallerBase
+import planning.RoboSweeperTaskIndexOuterClass
 import java.util.concurrent.ConcurrentHashMap
 
 /**
@@ -131,7 +132,15 @@ object CallerAutopilotVehicleStateListenerManager : CallerBase() {
             listener.onAutopilotBrake(brake)
         }
     }
-
+    /**
+     * 电池管理状态
+     */
+    fun invokeBMSSystemStates(bmsSystemStates: ChassisStatesOuterClass.BMSSystemStates) {
+        M_AUTOPILOT_VEHICLE_LISTENERS.forEach {
+            val listener = it.value
+            listener.onBMSSystemStates(bmsSystemStates)
+        }
+    }
     /**
      * clean system state 清扫车（福田）清扫控制系统状态
      */
@@ -142,6 +151,15 @@ object CallerAutopilotVehicleStateListenerManager : CallerBase() {
         }
     }
 
+    /**
+     *清扫车（福田）指标数据 贴边数据
+     */
+    fun invokeSweeperFutianCleanTaskIndexData(roboSweeperTaskIndex: RoboSweeperTaskIndexOuterClass.RoboSweeperTaskIndex) {
+        M_AUTOPILOT_VEHICLE_LISTENERS.forEach {
+            val listener = it.value
+            listener.onSweeperFutianTaskIndexData(roboSweeperTaskIndex)
+        }
+    }
 
     /**
      * 工控机时间回调