[8.4.0]

[自动滑动出发+部分跳站]
2026-03-18 11:19:16 +08:00
parent df373cec15
commit cf10a6a706
24 changed files with 211 additions and 39 deletions
--- a/OCH/common/bridge/src/main/java/com/mogo/och/bridge/BridgeProvider.kt
+++ b/OCH/common/bridge/src/main/java/com/mogo/och/bridge/BridgeProvider.kt
@@ -7,6 +7,7 @@ import com.mogo.eagle.core.function.call.base.CallerBase
 import com.mogo.eagle.core.utilcode.mogo.logger.CallerLogger
 import com.mogo.eagle.core.utilcode.mogo.logger.scene.SceneConstant.Companion.M_OCHCOMMON
 import com.mogo.eagle.core.utilcode.util.CoordinateUtils
+import com.mogo.och.bridge.autopilot.line.LineManager
 import com.mogo.och.bridge.autopilot.location.OchLocationManager
 import com.mogo.och.bridge.distance.TrajectoryAndDistanceManager
 import com.mogo.och.bridge.bridge.OchBridgeManager
@@ -68,6 +69,15 @@ class BridgeProvider : BridgeService, CallerBase<BridgeListener>() {
        removeListener(tag)
    }

+    override fun startAutopilot(type: Int) {
+        when (type) {
+            0 -> {LineManager.unmannedStartAutopilot(false)}
+            1 -> {LineManager.unmanneAutopilotContinue(false)}
+            else -> {}
+        }
+
+    }
+
    override fun doSomeAfterAddListener(tag: String, listener: BridgeListener) {
        // 轨迹和距离回调
        TrajectoryManager.doSomeAfterBridgeListener()
--- a/OCH/common/bridge/src/main/java/com/mogo/och/bridge/autopilot/autopilot/IOchAutopilotStatusListener.java
+++ b/OCH/common/bridge/src/main/java/com/mogo/och/bridge/autopilot/autopilot/IOchAutopilotStatusListener.java
@@ -3,6 +3,9 @@ package com.mogo.och.bridge.autopilot.autopilot;
 import com.mogo.eagle.core.data.autopilot.AutopilotControlParameters;
 import com.mogo.och.bridge.autopilot.autopilot.bean.ArrivedStation;
 import com.zhjt.mogo.adas.data.AdasConstants;
+import com.zhjt.mogo.adas.unmanned.task.dto.cmd.TaskStartNotification;
+
+import org.jetbrains.annotations.Nullable;

 import mogo.telematics.pad.MessagePad;
 import mogo_msg.MogoReportMsg;
@@ -40,6 +43,14 @@ public interface IOchAutopilotStatusListener {
    default void onAutopilotArriveAtStation(ArrivedStation arrivalNotification) {
    }

+    /**
+     * 自动驾驶离站
+     * @param taskId
+     * @param taskStartNotification
+     */
+    default void onAutopilotLeaveStation(Long taskId, TaskStartNotification taskStartNotification){
+    }
+
    /**
     * 工控机获取SN
     */
--- a/OCH/common/bridge/src/main/java/com/mogo/och/bridge/autopilot/autopilot/OchAutoPilotManager.kt
+++ b/OCH/common/bridge/src/main/java/com/mogo/och/bridge/autopilot/autopilot/OchAutoPilotManager.kt
@@ -122,8 +122,8 @@ object OchAutoPilotManager {
     * 继续启动自驾
     */
    @JvmStatic
-    fun unmannedAutoPilotContinue(taskId: Long, traj: Trajectory, vehicleSite : VehicleSite, parameters: AutopilotControlParameters): Long {
-        val sessionId = CallerAutoPilotControlManager.unmannedAutoPilotContinue(taskId, traj,vehicleSite, parameters)
+    fun unmannedAutoPilotContinue(taskId: Long, traj: Trajectory, startStation : VehicleSite,endStation : VehicleSite, parameters: AutopilotControlParameters): Long {
+        val sessionId = CallerAutoPilotControlManager.unmannedAutoPilotContinue(taskId, traj,startStation,endStation, parameters)
        globalSessionId.set(SessionWithTime(sessionId, System.currentTimeMillis(), -1L))
        OchAutoPilotStatusListenerManager.fsmBackSessionId.set(-1L)
        OchAutopilotAnalytics.triggerStartAutopilotParameters(traj, parameters, sessionId)
--- a/OCH/common/bridge/src/main/java/com/mogo/och/bridge/autopilot/autopilot/OchAutoPilotStatusListenerManager.kt
+++ b/OCH/common/bridge/src/main/java/com/mogo/och/bridge/autopilot/autopilot/OchAutoPilotStatusListenerManager.kt
@@ -23,6 +23,7 @@ import com.zhjt.mogo.adas.common.MessageType
 import com.zhjt.mogo.adas.data.AdasConstants
 import com.zhjt.mogo.adas.data.bean.ReceivedAck
 import com.zhjt.mogo.adas.data.bean.ReceivedAck.Status
+import com.zhjt.mogo.adas.unmanned.task.dto.cmd.TaskStartNotification
 import fsm.Fsm2024
 import mogo.telematics.pad.MessagePad
 import mogo_msg.MogoReportMsg
@@ -239,6 +240,13 @@ object OchAutoPilotStatusListenerManager : CallerBase<IOchAutopilotStatusListene
        }
    }

+    override fun invokeLeaveStation(taskId: Long?, taskStartNotification: TaskStartNotification?) {
+        M_LISTENERS.forEach {
+            val listener = it.value
+            listener.onAutopilotLeaveStation(taskId,taskStartNotification)
+        }
+    }
+
    /**
     * 距离终点10m 向地盘查询是否到站地盘的返回值
     * [LineManager.mMapLocationListener]
--- a/OCH/common/bridge/src/main/java/com/mogo/och/bridge/autopilot/line/LineManager.kt
+++ b/OCH/common/bridge/src/main/java/com/mogo/och/bridge/autopilot/line/LineManager.kt
@@ -793,10 +793,10 @@ object LineManager : CallerBase<ILineCallback>() {
            return
        }
        _lineInfos?.let { lineInfo ->
-            startStation?.let { start->
+            getStations { start, end ->
                val wayPoints = ArrayList<VehicleSite>()
                val blackPoints = ArrayList<VehicleSite>()
-                val vehicleSite = VehicleSite.builder()
+                val startStation = VehicleSite.builder()
                    .coordinateType(AutopilotCoordinateTypeEnum.WGS84.code)
                    .point(AutopilotPoint.builder().x(start.lon).y(start.lat).build())
                    .station(StationEnum.SITE.code)
@@ -805,7 +805,17 @@ object LineManager : CallerBase<ILineCallback>() {
                    .stationSeq(start.seq)
                    .tag(start.tag)
                    .build()
-                wayPoints.add(vehicleSite)
+                val endStation = VehicleSite.builder()
+                    .coordinateType(AutopilotCoordinateTypeEnum.WGS84.code)
+                    .point(AutopilotPoint.builder().x(end.lon).y(end.lat).build())
+                    .station(StationEnum.SITE.code)
+                    .stationId(end.siteId.toLong())
+                    .stationName(end.name)
+                    .stationSeq(end.seq)
+                    .tag(end.tag)
+                    .build()
+                wayPoints.add(startStation)
+                wayPoints.add(endStation)
                val traj = Trajectory.builder()
                    .id(lineInfo.lineId)
                    .name(lineInfo.lineName)
@@ -817,7 +827,7 @@ object LineManager : CallerBase<ILineCallback>() {
                    .wayPoints(wayPoints)
                    .blackPoints(blackPoints)
                    .build()
-                val sessionId = OchAutoPilotManager.unmannedAutoPilotContinue(lineInfo.taskId, traj,vehicleSite, parameters)
+                val sessionId = OchAutoPilotManager.unmannedAutoPilotContinue(lineInfo.taskId, traj,startStation, endStation,parameters)
                OchAutopilotAnalytics.triggerUpdateStartAutoPilotSessionId(sessionId, true)
                d(
                    TAG,
--- a/OCH/common/common/src/debug/java/com/mogo/och/common/module/debug/DebugDataDispatch.kt
+++ b/OCH/common/common/src/debug/java/com/mogo/och/common/module/debug/DebugDataDispatch.kt
@@ -86,6 +86,7 @@ object DebugDataDispatch {
    const val pncAction = "pncAction"
    const val collisionRisk = "CollisionRisk"
    const val mediaStationMedia = "stationMedia"
+    const val startAutopilot = "startAutopilot"

 //    adb shell am broadcast -a com.mogo.launcher.debug -f 0x011000000 --es type "video" --ei add 2 --es url "rtmp://liteavapp.qcloud.com/live/liteavdemoplayerstreamid"
 //    adb shell am broadcast -a com.mogo.launcher.debug -f 0x011000000 --es type "location" --es path "1111/11111"
@@ -108,6 +109,7 @@ object DebugDataDispatch {
 //    adb shell am broadcast -a com.mogo.launcher.debug -f 0x011000000 --es type "vlmMessage" --es message "前方100米有道路施工，施工长度100米，影响第1、2车道通行。" --ei id 128  --ef time 1880.0
 //    adb shell am broadcast -a com.mogo.launcher.debug -f 0x011000000 --es type "vlmImage"  --ef time 1880.0
 //    adb shell am broadcast -a com.mogo.launcher.debug -f 0x011000000 --es type "stationMedia"
+//    adb shell am broadcast -a com.mogo.launcher.debug -f 0x011000000 --es type "stationMedia" --ei startType 0

 //    adb shell am broadcast -a com.hmi.v2x.trafficlight -f 0x011000000 --ei trafficLightCheckType 1 --ei trafficLightCountDown 0 --ez trafficLightIsShow true  // 红绿灯

@@ -122,6 +124,10 @@ object DebugDataDispatch {

        }
        when (type) {
+            startAutopilot -> {
+                val type = intent.getIntExtra("startType", 0)
+                BridgeManager.debugStartAutopilot(type)
+            }
            mediaStationMedia -> {
                val introductionList = mutableListOf<MediaItem>()
                introductionList.add(
--- a/OCH/common/common/src/main/java/com/mogo/och/common/module/biz/birdge/BridgeManager.kt
+++ b/OCH/common/common/src/main/java/com/mogo/och/common/module/biz/birdge/BridgeManager.kt
@@ -35,4 +35,8 @@ object BridgeManager {
        bridgeService?.removeBridgeListener(tag)
    }

+    fun debugStartAutopilot(type:Int){
+        bridgeService?.startAutopilot(type)
+    }
+
 }
--- a/OCH/common/common/src/main/java/com/mogo/och/common/module/biz/birdge/BridgeService.kt
+++ b/OCH/common/common/src/main/java/com/mogo/och/common/module/biz/birdge/BridgeService.kt
@@ -13,4 +13,6 @@ interface BridgeService : IProvider {
    fun addBridgeListener(tag:String, listener:BridgeListener)

    fun removeBridgeListener(tag: String)
+
+    fun startAutopilot(type: Int)
 }
--- a/OCH/shuttle/driver_unmanned/src/main/java/com/mogo/och/unmanned/model/OrderModel.kt
+++ b/OCH/shuttle/driver_unmanned/src/main/java/com/mogo/och/unmanned/model/OrderModel.kt
@@ -46,6 +46,7 @@ import com.mogo.och.unmanned.repository.RepositoryManager
 import com.mogo.och.unmanned.repository.db.bean.TaskSiteDataBean
 import com.mogo.och.unmanned.repository.exception.DataException
 import com.mogo.och.unmanned.util.ShuttleVoiceManager
+import com.zhjt.mogo.adas.unmanned.task.dto.cmd.TaskStartNotification
 import io.reactivex.Observer
 import io.reactivex.android.schedulers.AndroidSchedulers
 import io.reactivex.disposables.Disposable
@@ -130,6 +131,31 @@ object OrderModel {
            onArriveAt(arrivedStation, "底盘触发进站",false)
        }

+        override fun onAutopilotLeaveStation(
+            taskId: Long?,
+            taskStartNotification: TaskStartNotification?
+        ) {
+            OchChainLogManager.writeChainLog("触发滑动出发,","taskId:$taskId taskStartNotification:${taskStartNotification}")
+            if(taskStartNotification?.isCloseDoorStartAuto==true){
+                val curStation = taskStartNotification.curStation
+                val nextStation = taskStartNotification.nextStation
+                LineModel.currentTask?.let { task ->
+                    if(task.taskId==taskId){
+                        LineManager.getStations { start, end ->
+                            if(start.siteId.toLong()==curStation.stationId&&end.siteId.toLong()==nextStation.stationId){
+                                OchChainLogManager.writeChainLog("触发滑动出发,","触发成功")
+                                driveToNextStation()
+                            }else{
+                                OchChainLogManager.writeChainLog("触发滑动出发,","起始终点id不同触发失败")
+                            }
+                        }
+                    }else{
+                        OchChainLogManager.writeChainLog("触发滑动出发,","taskId不同触发失败")
+                    }
+                }
+
+            }
+        }
    }

    private val ochTransform = object : OchTransformDispatch {
--- a/OCH/sweeper/driver/src/main/java/com/mogo/och/sweeper/cloud/model/SweeperCloudTaskModel.java
+++ b/OCH/sweeper/driver/src/main/java/com/mogo/och/sweeper/cloud/model/SweeperCloudTaskModel.java
@@ -49,6 +49,7 @@ import com.zhjt.mogo.adas.data.sweeper.task.confirm.SweeperTaskConfirm;
 import com.zhjt.mogo.adas.data.sweeper.task.s_r.SweeperTaskSuspendResume;
 import com.zhjt.mogo.adas.data.sweeper.task.status.SweeperTaskStatus;
 import com.zhjt.mogo.adas.data.sweeper.task.stop.SweeperTaskStop;
+import com.zhjt.mogo.adas.unmanned.task.dto.cmd.TaskStartNotification;

 import java.io.IOException;
 import java.math.BigDecimal;
@@ -803,4 +804,9 @@ public class SweeperCloudTaskModel implements IMoGoSweeperFutianCloudTaskListene
    @Override
    public void onAutoPilotStation(long token, long timestamp, @Nullable SsmInfo.AutoPilotStation autoPilotStation) {
    }
+
+    @Override
+    public void invokeLeaveStation(@Nullable Long taskId, @Nullable TaskStartNotification taskStartNotification) {
+
+    }
 }
--- a/OCH/sweeper/driver/src/main/java/com/mogo/och/sweeper/operate/presenter/SweeperOperatePresenter.java
+++ b/OCH/sweeper/driver/src/main/java/com/mogo/och/sweeper/operate/presenter/SweeperOperatePresenter.java
@@ -42,6 +42,7 @@ import com.mogo.och.sweeper.operate.model.SweeperOperateTaskModel;
 import com.mogo.och.sweeper.common.util.SweeperFutianCmdUtil;
 import com.mogo.och.sweeper.operate.util.SweeperTrajectoryManager;
 import com.zhjt.mogo.adas.data.AdasConstants;
+import com.zhjt.mogo.adas.unmanned.task.dto.cmd.TaskStartNotification;

 import java.math.BigDecimal;
 import java.math.RoundingMode;
@@ -483,4 +484,9 @@ public class SweeperOperatePresenter extends Presenter<SweeperOperateFragment>
    public void onAutoPilotStation(long token, long timestamp, @Nullable SsmInfo.AutoPilotStation autoPilotStation) {

    }
+
+    @Override
+    public void invokeLeaveStation(@Nullable Long taskId, @Nullable TaskStartNotification taskStartNotification) {
+
+    }
 }
--- a/core/function-impl/mogo-core-function-datacenter/src/main/java/com/mogo/eagle/core/function/datacenter/autopilot/MoGoAutopilotControlProvider.kt
+++ b/core/function-impl/mogo-core-function-datacenter/src/main/java/com/mogo/eagle/core/function/datacenter/autopilot/MoGoAutopilotControlProvider.kt
@@ -84,6 +84,7 @@ import com.zhjt.mogo.adas.data.sweeper.task.confirm.SweeperTaskConfirm
 import com.zhjt.mogo.adas.data.sweeper.task.s_r.SweeperTaskSuspendResume
 import com.zhjt.mogo.adas.data.sweeper.task.stop.SweeperTaskStop
 import com.zhjt.mogo.adas.unmanned.task.dto.cmd.Trajectory
+import com.zhjt.mogo.adas.unmanned.task.dto.cmd.VehicleSite
 import com.zhjt.service.chain.ChainLog
 import io.netty.channel.Channel
 import mogo.telematics.pad.MessagePad
@@ -467,9 +468,9 @@ class MoGoAutopilotControlProvider :
        }
    }

-    override fun sendTaskManagerAutopilotContinue(trackId: Long, taskId: Long, stationId: Long, stationName: String, stationSeq: Int, lon: Double, lat: Double): Long {
+    override fun sendTaskManagerAutopilotContinue(trackId: Long, taskId: Long, startStation : VehicleSite, endStation:VehicleSite ): Long {
        return if (AdasManager.getInstance().ipcConnectionStatus == AdasConstants.IpcConnectionStatus.CONNECTED) {
-            val invokeResult = AdasManager.getInstance().sendTaskManagerAutopilotContinue(trackId, taskId, stationId, stationName, stationSeq, lon, lat)
+            val invokeResult = AdasManager.getInstance().sendTaskManagerAutopilotContinue(trackId, taskId, startStation, endStation)
            invokeAutoPilotResult(if (invokeResult > -1) "无人化 取消自动驾驶调用成功：${invokeResult}" else "无人化 取消自动驾驶调用失败, socket 或者 rawPack 可能为空")
            invokeResult
        } else {
--- a/core/function-impl/mogo-core-function-datacenter/src/main/java/com/mogo/eagle/core/function/datacenter/autopilot/adapter/MoGoAdasListenerImpl.kt
+++ b/core/function-impl/mogo-core-function-datacenter/src/main/java/com/mogo/eagle/core/function/datacenter/autopilot/adapter/MoGoAdasListenerImpl.kt
@@ -38,6 +38,7 @@ import com.mogo.eagle.core.data.deva.chain.ChainConstant.Companion.CHAIN_TYPE_SO
 import com.mogo.eagle.core.data.deva.chain.ChainConstant.Companion.CHAIN_TYPE_SOCKET_VEHICLE
 import com.mogo.eagle.core.data.deva.chain.ChainConstant.Companion.CHAIN_TYPE_STATUS
 import com.mogo.eagle.core.function.call.autopilot.CallerAutoPilotStatusListenerManager
+import com.mogo.eagle.core.function.call.autopilot.CallerAutoPilotStatusListenerManager.inVokeLeaveStation
 import com.mogo.eagle.core.function.call.autopilot.CallerAutoPilotStatusListenerManager.invokeArriveAtStation
 import com.mogo.eagle.core.function.call.autopilot.CallerAutoPilotStatusListenerManager.invokeAutoPilotInfo
 import com.mogo.eagle.core.function.call.autopilot.CallerAutoPilotStatusListenerManager.invokeAutoPilotStation
@@ -133,6 +134,7 @@ import com.zhjt.mogo.adas.data.sweeper.task.s_r.SweeperTaskSuspendResume
 import com.zhjt.mogo.adas.data.sweeper.task.status.SweeperTaskStatus
 import com.zhjt.mogo.adas.data.sweeper.task.stop.SweeperTaskStop
 import com.zhjt.mogo.adas.unmanned.task.dto.cmd.TaskLocationQueryResponse
+import com.zhjt.mogo.adas.unmanned.task.dto.cmd.TaskStartNotification
 import com.zhjt.mogo.adas.utils.ByteUtil
 import com.zhjt.service.chain.ChainLog
 import fault_management.FmInfo
@@ -1693,7 +1695,11 @@ class MoGoAdasListenerImpl : OnAdasListener {
        CallerLogger.i("$M_D_C$TAG", "任务管理数据：$data")
    }

-    override fun onAdasTaskManagerDeparture(taskId: Long?, siteId: Long?, sequence: Int?, ack: Boolean, reason: String?, stationTimeLeft: Double) {
+    override fun onAdasTaskManagerDeparture(
+        taskId: Long?,
+        taskStartNotification: TaskStartNotification?
+    ) {
+        inVokeLeaveStation(taskId,taskStartNotification)
    }

    override fun onAdasTaskManagerArrival(taskId: Long?, siteId: Long?, sequence: Int?, mileage: BigDecimal?) {
--- a/core/mogo-core-function-api/src/main/java/com/mogo/eagle/core/function/api/autopilot/IMoGoAutopilotControlProvider.kt
+++ b/core/mogo-core-function-api/src/main/java/com/mogo/eagle/core/function/api/autopilot/IMoGoAutopilotControlProvider.kt
@@ -16,6 +16,7 @@ import com.zhjt.mogo.adas.data.sweeper.task.confirm.SweeperTaskConfirm.TaskConfi
 import com.zhjt.mogo.adas.data.sweeper.task.s_r.SweeperTaskSuspendResume.SuspendResumeTaskReq
 import com.zhjt.mogo.adas.data.sweeper.task.stop.SweeperTaskStop.StopTaskResp
 import com.zhjt.mogo.adas.unmanned.task.dto.cmd.Trajectory
+import com.zhjt.mogo.adas.unmanned.task.dto.cmd.VehicleSite
 import mogo.telematics.pad.MessagePad
 import mogo.yycp.paralleldriving.protocol.ParallelDrivingRequest
 import system_master.SsmInfo
@@ -49,7 +50,7 @@ interface IMoGoAutopilotControlProvider : IMoGoFunctionServerProvider {

    fun sendTaskManagerAutopilotStart(taskId: Long, traj: Trajectory): Long

-    fun sendTaskManagerAutopilotContinue(trackId: Long, taskId: Long, stationId: Long, stationName: String, stationSeq: Int, lon: Double, lat: Double): Long
+    fun sendTaskManagerAutopilotContinue(trackId: Long, taskId: Long, startStation : VehicleSite, endStation: VehicleSite): Long

    /**
     * 开启自动驾驶(魔方)
--- a/core/mogo-core-function-api/src/main/java/com/mogo/eagle/core/function/api/autopilot/IMoGoAutopilotStatusListener.kt
+++ b/core/mogo-core-function-api/src/main/java/com/mogo/eagle/core/function/api/autopilot/IMoGoAutopilotStatusListener.kt
@@ -2,6 +2,7 @@ package com.mogo.eagle.core.function.api.autopilot

 import com.mogo.eagle.core.data.autopilot.AutopilotControlParameters
 import com.zhjt.mogo.adas.data.AdasConstants
+import com.zhjt.mogo.adas.unmanned.task.dto.cmd.TaskStartNotification
 import mogo.telematics.pad.MessagePad
 import mogo_msg.MogoReportMsg
 import system_master.*
@@ -67,6 +68,11 @@ interface IMoGoAutopilotStatusListener {
     */
    fun onAutopilotArriveAtStation(arrivalNotification: MessagePad.ArrivalNotification?) {}

+    /**
+     * 自动驾驶 离站触发
+     */
+    fun invokeLeaveStation(taskId: Long?, taskStartNotification: TaskStartNotification?) {}
+
    /**
     * 工控机获取SN
     */
--- a/core/mogo-core-function-call/src/main/java/com/mogo/eagle/core/function/call/autopilot/CallerAutoPilotControlManager.kt
+++ b/core/mogo-core-function-call/src/main/java/com/mogo/eagle/core/function/call/autopilot/CallerAutoPilotControlManager.kt
@@ -122,12 +122,12 @@ object CallerAutoPilotControlManager {
    /**
     * 自驾成功后再次启动自驾时
     */
-    fun unmannedAutoPilotContinue(taskId: Long, traj: Trajectory?, vehicleSite : VehicleSite, controlParameters: AutopilotControlParameters): Long {
+    fun unmannedAutoPilotContinue(taskId: Long, traj: Trajectory?, startStation : VehicleSite,endStation : VehicleSite, controlParameters: AutopilotControlParameters): Long {
        if (traj == null) {
            //LogUtils.eTag(TAG, "自动驾驶控制参数异常，请检查参数信息")
            return -1L
        }
-        val sessionId = providerApi?.sendTaskManagerAutopilotContinue(traj.id, taskId, vehicleSite.stationId, vehicleSite.stationName, vehicleSite.stationSeq, vehicleSite.point.x, vehicleSite.point.y) ?: -1L
+        val sessionId = providerApi?.sendTaskManagerAutopilotContinue(traj.id, taskId, startStation,endStation) ?: -1L
        // 更新记录在全局的控制参数
        CallerAutoPilotStatusListenerManager.updateAutopilotControlParameters(controlParameters)
        return sessionId
--- a/core/mogo-core-function-call/src/main/java/com/mogo/eagle/core/function/call/autopilot/CallerAutoPilotStatusListenerManager.kt
+++ b/core/mogo-core-function-call/src/main/java/com/mogo/eagle/core/function/call/autopilot/CallerAutoPilotStatusListenerManager.kt
@@ -12,6 +12,7 @@ import com.mogo.eagle.core.utilcode.mogo.logger.CallerLogger
 import com.mogo.eagle.core.utilcode.util.GsonUtils
 import com.mogo.eagle.core.utilcode.util.ParseVersionUtils
 import com.zhjt.mogo.adas.data.AdasConstants
+import com.zhjt.mogo.adas.unmanned.task.dto.cmd.TaskStartNotification
 import mogo.telematics.pad.MessagePad
 import mogo_msg.MogoReportMsg
 import system_master.SsmInfo
@@ -271,6 +272,13 @@ object CallerAutoPilotStatusListenerManager : CallerBase<IMoGoAutopilotStatusLis
        }
    }

+    fun inVokeLeaveStation(taskId: Long?, taskStartNotification: TaskStartNotification?){
+        M_LISTENERS.forEach {
+            val listener = it.value
+            listener.invokeLeaveStation(taskId,taskStartNotification)
+        }
+    }
+
    /**
     * 工控机获取SN 回调
     */
--- a/libraries/mogo-adas-data/src/main/java/com/zhjt/mogo/adas/unmanned/task/dto/cmd/TaskContinueNotification.java
+++ b/libraries/mogo-adas-data/src/main/java/com/zhjt/mogo/adas/unmanned/task/dto/cmd/TaskContinueNotification.java
@@ -9,12 +9,22 @@ public class TaskContinueNotification {
     * 当前站点
     */
    private VehicleSite curStation;
+    private VehicleSite nextStation;

    public TaskContinueNotification() {
    }

-    public TaskContinueNotification(VehicleSite curStation) {
+    public VehicleSite getNextStation() {
+        return nextStation;
+    }
+
+    public void setNextStation(VehicleSite nextStation) {
+        this.nextStation = nextStation;
+    }
+
+    public TaskContinueNotification(VehicleSite curStation, VehicleSite nextStation) {
        this.curStation = curStation;
+        this.nextStation = nextStation;
    }

    public VehicleSite getCurStation() {
@@ -38,14 +48,20 @@ public class TaskContinueNotification {

    public static class Builder {
        private VehicleSite curStation;
+        private VehicleSite nextStation;

        public Builder curStation(VehicleSite curStation) {
            this.curStation = curStation;
            return this;
        }

+        public Builder nextStation(VehicleSite nextStation) {
+            this.nextStation = nextStation;
+            return this;
+        }
+
        public TaskContinueNotification build() {
-            return new TaskContinueNotification(curStation);
+            return new TaskContinueNotification(curStation, nextStation);
        }
    }
 }
--- a/libraries/mogo-adas-data/src/main/java/com/zhjt/mogo/adas/unmanned/task/dto/cmd/TaskStartNotification.java
+++ b/libraries/mogo-adas-data/src/main/java/com/zhjt/mogo/adas/unmanned/task/dto/cmd/TaskStartNotification.java
@@ -1,6 +1,12 @@
 package com.zhjt.mogo.adas.unmanned.task.dto.cmd;

+import com.google.gson.Gson;
+import com.google.gson.JsonElement;
+import com.google.gson.JsonObject;
+import com.zhjt.mogo.adas.unmanned.task.enums.MessageCmdEnum;
+
 import java.util.List;
+import java.util.Objects;

 /**
 * 车端发送车辆启动结果
@@ -26,17 +32,20 @@ public class TaskStartNotification {
     * 错误码
     */
    private List<Integer> errCodes;
+    /**
+     * 当前站点
+     */
+    private VehicleSite curStation;
+    /**
+     * 下一个站点
+     */
+    private VehicleSite nextStation;
+    /**
+     * 前一个任务名称
+     */
+    private String lastTaskCmdType;

-    public TaskStartNotification() {
-    }
-
-    public TaskStartNotification(VehicleSite curLocation, boolean autopilotResult, double stationTimeLeft, String errMsg, List<Integer> errCodes) {
-        this.curLocation = curLocation;
-        this.autopilotResult = autopilotResult;
-        this.stationTimeLeft = stationTimeLeft;
-        this.errMsg = errMsg;
-        this.errCodes = errCodes;
-    }
+    public TaskStartNotification() {}

    public VehicleSite getCurLocation() {
        return curLocation;
@@ -78,6 +87,30 @@ public class TaskStartNotification {
        this.errCodes = errCodes;
    }

+    public VehicleSite getCurStation() {
+        return curStation;
+    }
+
+    public void setCurStation(VehicleSite curStation) {
+        this.curStation = curStation;
+    }
+
+    public VehicleSite getNextStation() {
+        return nextStation;
+    }
+
+    public void setNextStation(VehicleSite nextStation) {
+        this.nextStation = nextStation;
+    }
+
+    public String getLastTaskCmdType() {
+        return lastTaskCmdType;
+    }
+
+    public void setLastTaskCmdType(String lastTaskCmdType) {
+        this.lastTaskCmdType = lastTaskCmdType;
+    }
+
    @Override
    public String toString() {
        return "TaskStartNotification{" +
@@ -86,6 +119,19 @@ public class TaskStartNotification {
                ", stationTimeLeft=" + stationTimeLeft +
                ", errMsg='" + errMsg + '\'' +
                ", errCodes=" + errCodes +
+                ", curStation=" + curStation +
+                ", nextStation=" + nextStation +
+                ", lastTaskCmdType=" + lastTaskCmdType +
                '}';
    }
+
+    public boolean isCloseDoorStartAuto(){
+        if(Objects.equals(lastTaskCmdType, MessageCmdEnum.TaskStartNotification.getCode()) ||
+                Objects.equals(lastTaskCmdType, MessageCmdEnum.TaskContinueNotification.getCode()) ){
+            return false;
+        }
+        return true;
+    }
+
+
 }
--- a/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/AdasChannel.java
+++ b/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/AdasChannel.java
@@ -3436,19 +3436,13 @@ public class AdasChannel implements IAdasNetCommApi, FpgaSocket.IWebSocketConnec
     *
     * @param trackId
     * @param taskId
-     * @param stationId
-     * @param stationName
-     * @param stationSeq
-     * @param lon
-     * @param lat
+     * @param startStation
+     * @param endStation
     * @return
     */
    @Override
-    public long sendTaskManagerAutopilotContinue(Long trackId, Long taskId, Long stationId, String stationName, Integer stationSeq, double lon, double lat) {
-        VehicleSite vehicleSite = VehicleSite.builder().stationId(stationId).stationName(stationName)
-                .station(StationEnum.SITE.getCode()).stationSeq(stationSeq)
-                .point(AutopilotPoint.builder().x(lon).y(lat).build()).coordinateType(AutopilotCoordinateTypeEnum.WGS84.getCode()).build();
-        TaskContinueNotification taskContinueNotification = TaskContinueNotification.builder().curStation(vehicleSite).build();
+    public long sendTaskManagerAutopilotContinue(Long trackId, Long taskId,VehicleSite startStation,VehicleSite endStation) {
+        TaskContinueNotification taskContinueNotification = TaskContinueNotification.builder().curStation(startStation).nextStation(endStation).build();
        CmdDto<TaskContinueNotification> cmdDto = CmdDto.<TaskContinueNotification>builder().cmdType(MessageCmdEnum.TaskContinueNotification.getCode()).taskId(taskId).lineId(trackId).timestamp(System.currentTimeMillis()).data(taskContinueNotification).build();
        return sendTaskManager(cmdDto);
    }
--- a/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/AdasManager.java
+++ b/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/AdasManager.java
@@ -29,6 +29,7 @@ import com.zhjt.mogo.adas.data.sweeper.task.confirm.SweeperTaskConfirm;
 import com.zhjt.mogo.adas.data.sweeper.task.s_r.SweeperTaskSuspendResume;
 import com.zhjt.mogo.adas.data.sweeper.task.stop.SweeperTaskStop;
 import com.zhjt.mogo.adas.unmanned.task.dto.cmd.Trajectory;
+import com.zhjt.mogo.adas.unmanned.task.dto.cmd.VehicleSite;

 import java.util.HashSet;
 import java.util.List;
@@ -2098,8 +2099,8 @@ public class AdasManager implements IAdasNetCommApi {
    }

    @Override
-    public long sendTaskManagerAutopilotContinue(Long trackId, Long taskId, Long stationId, String stationName, Integer stationSeq, double lon, double lat) {
-        return mChannel == null ? -1L : mChannel.sendTaskManagerAutopilotContinue(trackId, taskId, stationId, stationName, stationSeq, lon, lat);
+    public long sendTaskManagerAutopilotContinue(Long trackId, Long taskId, VehicleSite startStation, VehicleSite endStation) {
+        return mChannel == null ? -1L : mChannel.sendTaskManagerAutopilotContinue(trackId, taskId, startStation, endStation);
    }

    @Override
--- a/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/IAdasNetCommApi.java
+++ b/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/IAdasNetCommApi.java
@@ -17,6 +17,7 @@ import com.zhjt.mogo.adas.data.sweeper.task.confirm.SweeperTaskConfirm;
 import com.zhjt.mogo.adas.data.sweeper.task.s_r.SweeperTaskSuspendResume;
 import com.zhjt.mogo.adas.data.sweeper.task.stop.SweeperTaskStop;
 import com.zhjt.mogo.adas.unmanned.task.dto.cmd.Trajectory;
+import com.zhjt.mogo.adas.unmanned.task.dto.cmd.VehicleSite;

 import java.util.List;
 import java.util.Map;
@@ -1547,7 +1548,7 @@ public interface IAdasNetCommApi {
    long sendTaskManagerRunningInfo();
    long sendTaskManagerAutopilotStart(Long taskId, Trajectory traj);

-    long sendTaskManagerAutopilotContinue(Long trackId, Long taskId, Long stationId, String stationName, Integer stationSeq, double lon, double lat);
+    long sendTaskManagerAutopilotContinue(Long trackId, Long taskId, VehicleSite startStation, VehicleSite endStation);

    long sendTaskManagerAutopilotCancel(Long taskId);

--- 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
@@ -34,6 +34,7 @@ import com.zhjt.mogo.adas.data.sweeper.task.s_r.SweeperTaskSuspendResume;
 import com.zhjt.mogo.adas.data.sweeper.task.status.SweeperTaskStatus;
 import com.zhjt.mogo.adas.data.sweeper.task.stop.SweeperTaskStop;
 import com.zhjt.mogo.adas.unmanned.task.dto.cmd.TaskLocationQueryResponse;
+import com.zhjt.mogo.adas.unmanned.task.dto.cmd.TaskStartNotification;

 import java.math.BigDecimal;
 import java.util.ArrayList;
@@ -816,8 +817,9 @@ public interface OnAdasListener {
     * @param ack
     * @param reason
     * @param stationTimeLeft
+     * @param closeDoorStartAuto
     */
-    void onAdasTaskManagerDeparture(Long taskId, Long siteId, Integer sequence, boolean ack, String reason, double stationTimeLeft);
+    void onAdasTaskManagerDeparture(Long taskId, TaskStartNotification taskStartNotification);

    /**
     * 域控任务管理到站通知
--- 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
@@ -3,6 +3,7 @@ package com.zhidao.support.adas.high.msg;
 import android.os.SystemClock;
 import android.util.Log;

+import com.google.gson.JsonElement;
 import com.google.gson.JsonObject;
 import com.google.gson.JsonParser;
 import com.google.gson.reflect.TypeToken;
@@ -66,7 +67,7 @@ public class TaskManagerMessage extends MyAbstractMessageHandler {
                TaskStartNotification taskStartNotification = cmdDto.getData();

                VehicleSite vehicleSite = taskStartNotification.getCurLocation();
-                adasListener.onAdasTaskManagerDeparture(cmdDto.getTaskId(), vehicleSite.getStationId(), vehicleSite.getStationSeq(), taskStartNotification.isAutopilotResult(), taskStartNotification.getErrMsg(), taskStartNotification.getStationTimeLeft());
+                adasListener.onAdasTaskManagerDeparture(cmdDto.getTaskId(), taskStartNotification);
            }

        } else if (messageCmdEnum == MessageCmdEnum.TaskArrivalNotification) {//到站通知