[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/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
     */