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[8.4.0]

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[自动滑动出发+部分跳站]
This commit is contained in:
yangyakun
2026-03-18 11:19:16 +08:00
parent df373cec15
commit cf10a6a706
24 changed files with 211 additions and 39 deletions
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5
core/function-impl/mogo-core-function-datacenter/src/main/java/com/mogo/eagle/core/function/datacenter/autopilot/MoGoAutopilotControlProvider.kt
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@@ -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 {

8
core/function-impl/mogo-core-function-datacenter/src/main/java/com/mogo/eagle/core/function/datacenter/autopilot/adapter/MoGoAdasListenerImpl.kt
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@@ -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?) {