[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/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