From d1e4df16d14b1fe06997b2270814592007adbaf5 Mon Sep 17 00:00:00 2001 From: bxb Date: Wed, 17 May 2023 15:26:06 +0800 Subject: [PATCH 1/7] =?UTF-8?q?[sweeper-cloud]=E6=A8=A1=E6=8B=9F=E4=BA=91?= =?UTF-8?q?=E6=8E=A7=E5=A4=A7=E4=BB=BB=E5=8A=A1=E7=8A=B6=E6=80=81=E6=B5=81?= =?UTF-8?q?=E8=BD=AC=E5=A4=84=E7=90=86?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- .../sweepercloud/fragment/SweeperFragment.kt | 45 +++++++++---------- .../util/SweeperCloudTaskUtils.kt | 2 +- 2 files changed, 21 insertions(+), 26 deletions(-) diff --git a/OCH/sweeper/sweeper-cloud/src/main/java/com/mogo/och/sweepercloud/fragment/SweeperFragment.kt b/OCH/sweeper/sweeper-cloud/src/main/java/com/mogo/och/sweepercloud/fragment/SweeperFragment.kt index c1abd55103..dc97d85451 100644 --- a/OCH/sweeper/sweeper-cloud/src/main/java/com/mogo/och/sweepercloud/fragment/SweeperFragment.kt +++ b/OCH/sweeper/sweeper-cloud/src/main/java/com/mogo/och/sweepercloud/fragment/SweeperFragment.kt @@ -53,7 +53,7 @@ class SweeperFragment : BaseSweeperTabFragment Date: Wed, 17 May 2023 17:11:26 +0800 Subject: [PATCH 2/7] =?UTF-8?q?[sweeper-cloud]=E5=BC=B9=E7=AA=97=E5=B7=A6?= =?UTF-8?q?=E5=8F=B3=E9=97=B4=E8=B7=9D=E4=BF=AE=E6=94=B9?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- .../och/sweepercloud/model/SweeperTaskModel.java | 2 +- .../res/drawable/bg_shape_dialog_cloud_view.xml | 1 - .../res/layout/dialog_sweeper_cloud_view.xml | 16 +++++++++------- 3 files changed, 10 insertions(+), 9 deletions(-) diff --git a/OCH/sweeper/sweeper-cloud/src/main/java/com/mogo/och/sweepercloud/model/SweeperTaskModel.java b/OCH/sweeper/sweeper-cloud/src/main/java/com/mogo/och/sweepercloud/model/SweeperTaskModel.java index 5021ed81e1..0248ae7cbd 100644 --- a/OCH/sweeper/sweeper-cloud/src/main/java/com/mogo/och/sweepercloud/model/SweeperTaskModel.java +++ b/OCH/sweeper/sweeper-cloud/src/main/java/com/mogo/och/sweepercloud/model/SweeperTaskModel.java @@ -544,7 +544,7 @@ public class SweeperTaskModel implements IMoGoSweeperFutianCloudTaskListener, IM @Override public void onAutopilotStatusResponse(@NonNull AutopilotStatusInfo autoPilotStatusInfo) { - CallerLogger.INSTANCE.d(M_SWEEPER + TAG, "onAutopilotStatusResponse state:" + autoPilotStatusInfo.getState()); + //CallerLogger.INSTANCE.d(M_SWEEPER + TAG, "onAutopilotStatusResponse state:" + autoPilotStatusInfo.getState()); this.mAutopilotState = autoPilotStatusInfo.getState(); switch (autoPilotStatusInfo.getState()) { case IMoGoAutopilotStatusListener.STATUS_AUTOPILOT_DISABLE://不可自动驾驶 diff --git a/OCH/sweeper/sweeper-cloud/src/main/res/drawable/bg_shape_dialog_cloud_view.xml b/OCH/sweeper/sweeper-cloud/src/main/res/drawable/bg_shape_dialog_cloud_view.xml index ff26c61d57..a0f105b0ac 100644 --- a/OCH/sweeper/sweeper-cloud/src/main/res/drawable/bg_shape_dialog_cloud_view.xml +++ b/OCH/sweeper/sweeper-cloud/src/main/res/drawable/bg_shape_dialog_cloud_view.xml @@ -1,5 +1,4 @@ - \ No newline at end of file diff --git a/OCH/sweeper/sweeper-cloud/src/main/res/layout/dialog_sweeper_cloud_view.xml b/OCH/sweeper/sweeper-cloud/src/main/res/layout/dialog_sweeper_cloud_view.xml index 424034563e..5c9c42edbc 100644 --- a/OCH/sweeper/sweeper-cloud/src/main/res/layout/dialog_sweeper_cloud_view.xml +++ b/OCH/sweeper/sweeper-cloud/src/main/res/layout/dialog_sweeper_cloud_view.xml @@ -12,11 +12,13 @@ app:shadow_position="outer" app:xOffset="0dp" app:yOffset="0dp"> - + android:background="@drawable/bg_shape_dialog_cloud_view" + app:roundLayoutRadius="@dimen/dp_45" + > - + \ No newline at end of file From a7afc9db70c20cecb957b6ba62e85ef5b252a684 Mon Sep 17 00:00:00 2001 From: bxb Date: Wed, 17 May 2023 19:34:46 +0800 Subject: [PATCH 3/7] =?UTF-8?q?[sweeper-cloud]UI=E8=B5=B0=E6=9F=A5?= =?UTF-8?q?=E5=8A=A8=E7=94=BB=E6=A0=B7=E5=BC=8F=E4=BF=AE=E6=94=B9?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- .../och/sweepercloud/model/SweeperTaskModel.java | 14 +++++++------- .../sweeper_cloud_rotation_background.png | Bin 0 -> 2698 bytes .../drawable/shape_sweeper_cloud_rotation.xml | 12 ------------ .../drawable/sweeper_cloud_rotation_layer.xml | 5 +++++ .../res/layout/dialog_sweeper_cloud_view.xml | 2 +- 5 files changed, 13 insertions(+), 20 deletions(-) create mode 100755 OCH/sweeper/sweeper-cloud/src/main/res/drawable-xhdpi/sweeper_cloud_rotation_background.png delete mode 100644 OCH/sweeper/sweeper-cloud/src/main/res/drawable/shape_sweeper_cloud_rotation.xml create mode 100644 OCH/sweeper/sweeper-cloud/src/main/res/drawable/sweeper_cloud_rotation_layer.xml diff --git a/OCH/sweeper/sweeper-cloud/src/main/java/com/mogo/och/sweepercloud/model/SweeperTaskModel.java b/OCH/sweeper/sweeper-cloud/src/main/java/com/mogo/och/sweepercloud/model/SweeperTaskModel.java index 0248ae7cbd..73382cb613 100644 --- a/OCH/sweeper/sweeper-cloud/src/main/java/com/mogo/och/sweepercloud/model/SweeperTaskModel.java +++ b/OCH/sweeper/sweeper-cloud/src/main/java/com/mogo/och/sweepercloud/model/SweeperTaskModel.java @@ -302,7 +302,7 @@ public class SweeperTaskModel implements IMoGoSweeperFutianCloudTaskListener, IM if (taskInfo != null) { CallerLogger.INSTANCE.d(M_SWEEPER + TAG, - "messageType: "+messageType.getNumber()+" sysTime："+sysTime+" onSweeperFutianCloudTask：" + printMessage(taskInfo) + " mSweeperTaskCallback：" + mSweeperTaskCallback); + "messageType: "+messageType.getNumber()+" sysTime："+sysTime+ "reqNo："+reqNo+" onSweeperFutianCloudTask：" +printMessage(taskInfo) + " mSweeperTaskCallback：" + mSweeperTaskCallback); } if (mSweeperTaskCallback != null) { msgTypeAndReqNo.put(messageType.getNumber(), reqNo); @@ -314,7 +314,7 @@ public class SweeperTaskModel implements IMoGoSweeperFutianCloudTaskListener, IM public void onSweeperFutianCloudTaskConfirm(@NonNull SweeperCloudTask.MessageType messageType, String reqNo, long sysTime, SweeperTaskConfirm.TaskConfirm taskConfirm) { - CallerLogger.INSTANCE.d(M_SWEEPER + TAG, "messageType: "+messageType.getNumber()+" sysTime："+sysTime+" onSweeperFutianCloudTaskConfirm：" + printMessage(taskConfirm)); + CallerLogger.INSTANCE.d(M_SWEEPER + TAG, "messageType: "+messageType.getNumber()+" sysTime："+sysTime+ "reqNo："+reqNo+" onSweeperFutianCloudTaskConfirm：" + printMessage(taskConfirm)); if (mSweeperTaskCallback != null&&taskConfirm!=null) { msgTypeAndReqNo.put(messageType.getNumber(), reqNo); mSweeperTaskCallback.onSweeperCloudTaskConfirm(taskConfirm.getTaskId(), taskConfirm.getSubTaskId()); @@ -324,7 +324,7 @@ public class SweeperTaskModel implements IMoGoSweeperFutianCloudTaskListener, IM @Override public void onSweeperFutianCloudTaskStatus(@NonNull SweeperCloudTask.MessageType messageType, String reqNo, long sysTime, SweeperTaskStatus.TaskStatusPush taskStatusPush) { - CallerLogger.INSTANCE.d(M_SWEEPER + TAG, "messageType: "+messageType.getNumber()+" sysTime："+sysTime+" onSweeperFutianCloudTaskStatus：" + printMessage(taskStatusPush)); + CallerLogger.INSTANCE.d(M_SWEEPER + TAG, "messageType: "+messageType.getNumber()+" sysTime："+sysTime+ "reqNo："+reqNo+" onSweeperFutianCloudTaskStatus：" + printMessage(taskStatusPush)); if (mSweeperTaskCallback != null&&taskStatusPush!=null) { msgTypeAndReqNo.put(messageType.getNumber(), reqNo); mSweeperTaskCallback.onSweeperCloudTaskStatus(taskStatusPush.getTaskId(), taskStatusPush.getSubTaskId(), taskStatusPush.getTaskStatus()); @@ -334,7 +334,7 @@ public class SweeperTaskModel implements IMoGoSweeperFutianCloudTaskListener, IM @Override public void onSweeperFutianCloudTaskStop(@NonNull SweeperCloudTask.MessageType messageType, String reqNo, long sysTime, SweeperTaskStop.StopTaskReq stopTaskReq) { - CallerLogger.INSTANCE.d(M_SWEEPER + TAG, "messageType: "+messageType.getNumber()+" sysTime："+sysTime+" onSweeperFutianCloudTaskStop：" + printMessage(stopTaskReq)); + CallerLogger.INSTANCE.d(M_SWEEPER + TAG, "messageType: "+messageType.getNumber()+" sysTime："+sysTime+ "reqNo："+reqNo+" onSweeperFutianCloudTaskStop：" + printMessage(stopTaskReq)); if (mSweeperTaskCallback != null&&stopTaskReq!=null) { msgTypeAndReqNo.put(messageType.getNumber(), reqNo); mSweeperTaskCallback.onSweeperCloudTaskStop(stopTaskReq.getTaskId(), stopTaskReq.getType()); @@ -344,7 +344,7 @@ public class SweeperTaskModel implements IMoGoSweeperFutianCloudTaskListener, IM @Override public void onSweeperFutianCloudTaskSuspendResume(@NonNull SweeperCloudTask.MessageType messageType,String reqNo, long sysTime, SweeperTaskSuspendResume.SuspendResumeTaskResp suspendResumeTaskResp) { - CallerLogger.INSTANCE.d(M_SWEEPER + TAG, "messageType: "+messageType.getNumber()+" sysTime："+sysTime+" onSweeperFutianCloudTaskSuspendResume：" + printMessage(suspendResumeTaskResp)); + CallerLogger.INSTANCE.d(M_SWEEPER + TAG, "messageType: "+messageType.getNumber()+" sysTime："+sysTime+ "reqNo："+reqNo+" onSweeperFutianCloudTaskSuspendResume：" + printMessage(suspendResumeTaskResp)); if (mSweeperTaskCallback != null&&suspendResumeTaskResp!=null) { msgTypeAndReqNo.put(messageType.getNumber(), reqNo); mSweeperTaskCallback.onSweeperCloudTaskSuspendResume(messageType, suspendResumeTaskResp.getTaskId(), @@ -355,7 +355,7 @@ public class SweeperTaskModel implements IMoGoSweeperFutianCloudTaskListener, IM @Override public void onSweeperFutianCloudBootable(@NonNull SweeperCloudTask.MessageType messageType, String reqNo, long sysTime, SweeperBootable.IsBootableResp isBootableResp) { - CallerLogger.INSTANCE.d(M_SWEEPER + TAG, "messageType: "+messageType.getNumber()+" sysTime："+sysTime+" onSweeperFutianCloudBootable：" + printMessage(isBootableResp)); + CallerLogger.INSTANCE.d(M_SWEEPER + TAG, "messageType: "+messageType.getNumber()+" sysTime："+sysTime+ "reqNo："+reqNo+" onSweeperFutianCloudBootable：" + printMessage(isBootableResp)); if (mSweeperTaskCallback != null&&isBootableResp!=null) { msgTypeAndReqNo.put(messageType.getNumber(), reqNo); mSweeperTaskCallback.onSweeperCloudBootable(isBootableResp.getTaskId(), isBootableResp.getSubTaskId(), isBootableResp); @@ -365,7 +365,7 @@ public class SweeperTaskModel implements IMoGoSweeperFutianCloudTaskListener, IM @Override public void onSweeperFutianCloudBigTaskStatus(@NonNull SweeperCloudTask.MessageType messageType, String reqNo, long sysTime, SweeperBigTaskStatus.BigTaskStatusPush bigTaskStatusPush) { - CallerLogger.INSTANCE.d(M_SWEEPER + TAG, "messageType: "+messageType.getNumber()+" sysTime："+sysTime+" onSweeperFutianCloudBigTaskStatus：" + printMessage(bigTaskStatusPush)); + CallerLogger.INSTANCE.d(M_SWEEPER + TAG, "messageType: "+messageType.getNumber()+" sysTime："+sysTime+ "reqNo："+reqNo+" onSweeperFutianCloudBigTaskStatus：" + printMessage(bigTaskStatusPush)); if (mSweeperTaskCallback != null&&bigTaskStatusPush!=null) { msgTypeAndReqNo.put(messageType.getNumber(), reqNo); mSweeperTaskCallback.onSweeperCloudBigTaskStatus(bigTaskStatusPush.getTaskId(), bigTaskStatusPush.getTaskStatus()); diff --git a/OCH/sweeper/sweeper-cloud/src/main/res/drawable-xhdpi/sweeper_cloud_rotation_background.png b/OCH/sweeper/sweeper-cloud/src/main/res/drawable-xhdpi/sweeper_cloud_rotation_background.png new file mode 100755 index 0000000000000000000000000000000000000000..8d3650e9ba1c70df7edd5132f7dce637a811f2c8 GIT binary patch literal 2698 zcmV;53U&2~P)Px#L}ge>W=%~1DgXcg2mk?xX#fNO00031000^Q000001E2u_0{{R30RRC20H6W@ z1ONa40RR91L7)Qw1ONa40RR91K>z>%0Q{GrLjV8?^hrcPRCod9TU~D)R~dfK%7K2;s(?U zegV0u+6&TDk?bS{S&?OtMyWsI&-L!i9G>Uwp4l_&^~c)YdOaP$9Q4V&H!KgY|4`Mo ze_(%i4i$vUuj-NYyqwW_8PTz9?Yjfz+o_{G(JGXMfuh|1;3sOKU7P*XZ56b`UO3#J zdrQi-syv~U6nA@E^~olNMI{yqIR$(lUplH!4NoM%G$;VTzIOeDs0=VVnC3iL#oz3| ze=73_oh}Cg;nHvQ32#x(L5Y$;xYmnb4wHGQ5X+L6lSfaC%i2G#s;ISHYx$dh*Z%CZ zoQMM%ssu8usxpkxmB>mE?1gn?*;jJ+=4)!r)^(aD9e48JKFvf`~J0l zxu~PY(02g9SD7ysW%m7_sg=&e*n8`*y{!iqHKv|OIrS9e$oaB*Ldz|z7aOU2yA(PC z;j3@za#iGlS?wL=VZc@ghvaTIm2cI9U@Ry(Cow*TBa6p1WvYPv!hC%{k0yd`Z69WNg3f>US@9oSk3Jw7p&6G z7e_!V0OHBokS{lS0RT#W{SEb~ye2pBeVP^mg<33Q6Mxd9J8LLSv(v62*MN;!Cd@rM z0&?={Q{!@HFQ%?tpWUpZX`P;x^Dqx5-E~3-GIjfv?bnEHrvt6PMnS%uxV!)%001BT zLT(+!{NF2hTqnNx2e}AG?4*5$i)E=MA8ltf+D-@h0W^b&72qhq6yONxWdNu&$H{AjPU18%1HUOX*q!obYS8*Tg_58K(t4e-TrYXN&AHrD9UV0b$wOlC>IG?x| zun(~vi!?^>kQ$b~Xv8a6&^v?AxIr~7aU1nveSh0Rdoq9;g4$d->|`thqq z{#7e`tflnaU(zmj3IuM4ZDXc%g?oJ=bmeWAr~D)Ra@W1LUQ6qlfN*(IkGSywZiYU~ zy?`s^Vdvj}Nv&Y~yL*Y^#5;P#z9#`;J(4rFk|}qCZuz+9AL~!+gZM!5){Ed>`??DI`ecb1a7rM^ zTQa^84@Qzr5^faGs23GDESazhEZNv(H5C8(zsaD-lcD4VSSGwsjyy<`$kT;PWi_qe z;tD`8M`L_hBPPSJco*K?GhKdZG_79_M}r>E2Calx6gQ8{PSMKTX=?OS=DgFy?L#dC z9uG(DDB#IZr=1?h_Sh3u%q9_w1ENlS1Od9&FNCG+nqjLlnIcGB*Ar#}%KLDlnj2^A z9X=NzM1E6GSjGV1`MSfzPY%xs#q3|$9430=u+&4jS>XbbWhkO*a|!SQ5JTW0CQ|?l zM#G`ZG6b0a$^k)>Ap<6eQ5ouERD3Q#2>qs>P#z%EIYI^p5+t%c2I|_u03>>XIIziG ze+y@0&_s9}+l_o>PEoUu%quS7~G4XL;x#5u}=PF8yj9boH zzEDl;_n0p$9(jVK$ysH|5wiI#rePlXHAVr=h{2n4Q1MQdN_VpbK@q4G3h4GPX#si9EpySYlaH z-s%#DO}!9P)Wzj`EY*NOsw^5T*tvqU{St{$_Tem~=l=I8(uHarMO)<(}2aP1}M%x;)w9$4fm~shtr zf=vBq@Q<#r2Tw5N2;sd9l;Edkw|80tTE*)K1U`KE9sC9gWNA22O)sp`D>|DeORSq< zPX>)aH6#d1)U2dAHrhos23_x6)#M2GVN zG_&uA@4{Z7|0I4F`HiifV5;2?g#&@We(9W$E8L*U7L(8JY)6?* z>OqhoKY+*MJROGL5hIA>`H=)X88QbW_FRB3aQb1KQ ztS-tKe7zAUW%^E(w+**Z%HB@WHtiS^V?>An5jP%?JhRWtp@Lv#AXAh?NeElUc~&U~ zOU&LgX&VKT`@Bcw8g0yKkEk$%qKpaJkXX|G5Hei>!Ig{Cg)}*`#7L4NM~D;|GDJv_ zAU{AUiE;J;YX|cN-V~OV literal 0 HcmV?d00001 diff --git a/OCH/sweeper/sweeper-cloud/src/main/res/drawable/shape_sweeper_cloud_rotation.xml b/OCH/sweeper/sweeper-cloud/src/main/res/drawable/shape_sweeper_cloud_rotation.xml deleted file mode 100644 index e5d5e1fd4d..0000000000 --- a/OCH/sweeper/sweeper-cloud/src/main/res/drawable/shape_sweeper_cloud_rotation.xml +++ /dev/null @@ -1,12 +0,0 @@ - - - - \ No newline at end of file diff --git a/OCH/sweeper/sweeper-cloud/src/main/res/drawable/sweeper_cloud_rotation_layer.xml b/OCH/sweeper/sweeper-cloud/src/main/res/drawable/sweeper_cloud_rotation_layer.xml new file mode 100644 index 0000000000..b4793b37ad --- /dev/null +++ b/OCH/sweeper/sweeper-cloud/src/main/res/drawable/sweeper_cloud_rotation_layer.xml @@ -0,0 +1,5 @@ + + + + + \ No newline at end of file diff --git a/OCH/sweeper/sweeper-cloud/src/main/res/layout/dialog_sweeper_cloud_view.xml b/OCH/sweeper/sweeper-cloud/src/main/res/layout/dialog_sweeper_cloud_view.xml index 5c9c42edbc..1f8c7ed1b2 100644 --- a/OCH/sweeper/sweeper-cloud/src/main/res/layout/dialog_sweeper_cloud_view.xml +++ b/OCH/sweeper/sweeper-cloud/src/main/res/layout/dialog_sweeper_cloud_view.xml @@ -25,7 +25,7 @@ android:layout_height="@dimen/dp_84" android:layout_marginStart="@dimen/dp_30" android:layout_marginTop="@dimen/dp_30" - android:src="@drawable/shape_sweeper_cloud_rotation" + android:src="@drawable/sweeper_cloud_rotation_layer" app:layout_constraintLeft_toLeftOf="parent" app:layout_constraintTop_toTopOf="parent" /> From afa30152e560f0a78cced473981cf9c5f61717db Mon Sep 17 00:00:00 2001 From: bxb Date: Thu, 18 May 2023 17:15:50 +0800 Subject: [PATCH 4/7] =?UTF-8?q?[sweeper-cloud]pad=E6=94=B6=E5=88=B0?= =?UTF-8?q?=E5=9F=9F=E6=8E=A7=E4=BC=A0=E9=80=92=E8=BF=87=E6=9D=A5=E7=9A=84?= =?UTF-8?q?=E4=BB=BB=E5=8A=A1=E6=95=B0=E6=8D=AE=E6=89=93=E5=8D=B0?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- .../high/msg/SweeperCloudTaskMessage.java | 19 +++++++++++++++++++ 1 file changed, 19 insertions(+) diff --git a/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/msg/SweeperCloudTaskMessage.java b/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/msg/SweeperCloudTaskMessage.java index a40630efb7..3f74546c23 100644 --- a/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/msg/SweeperCloudTaskMessage.java +++ b/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/msg/SweeperCloudTaskMessage.java @@ -1,11 +1,14 @@ package com.zhidao.support.adas.high.msg; import android.os.SystemClock; +import android.util.Log; import com.google.protobuf.ByteString; import com.google.protobuf.InvalidProtocolBufferException; +import com.google.protobuf.TextFormat; import com.zhidao.support.adas.high.AdasChannel; import com.zhidao.support.adas.high.OnAdasListener; +import com.zhidao.support.adas.high.common.ByteUtil; import com.zhidao.support.adas.high.common.CupidLogUtils; import com.zhidao.support.adas.high.protocol.RawData; import com.zhjt.mogo.adas.data.sweeper.SweeperCloudTask; @@ -41,6 +44,7 @@ public class SweeperCloudTaskMessage extends MyAbstractMessageHandler { String reqNo = message.getReqNo(); //请求编号，响应请求时，使用请求方的请求编号 long sysTime = message.getSysTime(); //当前时间戳 ByteString payload = message.getPayload(); + Log.i("SweeperCloudTaskMessage", "MsgType=" + (msgType == null ? "null" : msgType.getNumber()) + " reqNo=" + reqNo + " sysTime=" + sysTime); boolean isExistPayload = payload != null && !payload.isEmpty(); if (msgType == SweeperCloudTask.MessageType.CloudPushTask || msgType == SweeperCloudTask.MessageType.PadSendGetTaskReq) { //1、云端下发大任务信息（type: 100001）-> sweeper_task.proto @@ -49,6 +53,8 @@ public class SweeperCloudTaskMessage extends MyAbstractMessageHandler { if (isExistPayload) { taskInfo = SweeperTask.TaskInfo.parseFrom(payload); } + Log.i("SweeperCloudTaskMessage", " msgType=" + msgType + " " + (taskInfo == null ? "null" : + TextFormat.printer().escapingNonAscii(false).printToString(taskInfo))); adasListener.onSweeperFutianCloudTask(header, msgType, reqNo, sysTime, taskInfo); } else if (msgType == SweeperCloudTask.MessageType.CloudPushTaskConfirm) { //2、云端下发子任务，请求pad确认（type：100002）-> sweeper_task_confirm.proto @@ -56,6 +62,8 @@ public class SweeperCloudTaskMessage extends MyAbstractMessageHandler { if (isExistPayload) { taskConfirm = SweeperTaskConfirm.TaskConfirm.parseFrom(payload); } + Log.i("SweeperCloudTaskMessage", " msgType=" + msgType + " " + (taskConfirm == null ? "null" : + TextFormat.printer().escapingNonAscii(false).printToString(taskConfirm))); adasListener.onSweeperFutianCloudTaskConfirm(header, msgType, reqNo, sysTime, taskConfirm); } else if (msgType == SweeperCloudTask.MessageType.CloudPushTaskStatus) { //3、云端下发任务状态到pad（type：100003）-> sweeper_task_status.proto @@ -63,6 +71,8 @@ public class SweeperCloudTaskMessage extends MyAbstractMessageHandler { if (isExistPayload) { taskStatusPush = SweeperTaskStatus.TaskStatusPush.parseFrom(payload); } + Log.i("SweeperCloudTaskMessage", " msgType=" + msgType + " " + (taskStatusPush == null ? "null" : + TextFormat.printer().escapingNonAscii(false).printToString(taskStatusPush))); adasListener.onSweeperFutianCloudTaskStatus(header, msgType, reqNo, sysTime, taskStatusPush); } else if (msgType == SweeperCloudTask.MessageType.CloudPushTaskStop) { //4、云端请求pad结束任务（type：100004）-> sweeper_task_stop.proto @@ -70,6 +80,8 @@ public class SweeperCloudTaskMessage extends MyAbstractMessageHandler { if (isExistPayload) { stopTaskReq = SweeperTaskStop.StopTaskReq.parseFrom(payload); } + Log.i("SweeperCloudTaskMessage", " msgType=" + msgType + " " + (stopTaskReq == null ? "null" : + TextFormat.printer().escapingNonAscii(false).printToString(stopTaskReq))); adasListener.onSweeperFutianCloudTaskStop(header, msgType, reqNo, sysTime, stopTaskReq); } else if (msgType == SweeperCloudTask.MessageType.PadSendTaskSuspend || msgType == SweeperCloudTask.MessageType.PadSendTaskResume) { //5、pad请求挂起任务（type：100005）-> sweeper_task_suspend_resume.proto @@ -78,6 +90,8 @@ public class SweeperCloudTaskMessage extends MyAbstractMessageHandler { if (isExistPayload) { suspendResumeTaskResp = SweeperTaskSuspendResume.SuspendResumeTaskResp.parseFrom(payload); } + Log.i("SweeperCloudTaskMessage", " msgType=" + msgType + " " + (suspendResumeTaskResp == null ? "null" : + TextFormat.printer().escapingNonAscii(false).printToString(suspendResumeTaskResp))); adasListener.onSweeperFutianCloudTaskSuspendResume(header, msgType, reqNo, sysTime, suspendResumeTaskResp); } else if (msgType == SweeperCloudTask.MessageType.PadSendBootable) { //8、接管后回自驾-pad上报状态给云端 云端下发启动自驾（type: 100008）-> sweeper_autopilot.proto @@ -85,6 +99,8 @@ public class SweeperCloudTaskMessage extends MyAbstractMessageHandler { if (isExistPayload) { isBootableResp = SweeperBootable.IsBootableResp.parseFrom(payload); } + Log.i("SweeperCloudTaskMessage", " msgType=" + msgType + " " + (isBootableResp == null ? "null" : + TextFormat.printer().escapingNonAscii(false).printToString(isBootableResp))); adasListener.onSweeperFutianCloudBootable(header, msgType, reqNo, sysTime, isBootableResp); } else if (msgType == SweeperCloudTask.MessageType.CloudPushBigTaskStatus) { //9、云端下发pad大任务状态（type: 100009）-> sweeper_big_task_status.proto @@ -92,9 +108,12 @@ public class SweeperCloudTaskMessage extends MyAbstractMessageHandler { if (isExistPayload) { bigTaskStatusPush = SweeperBigTaskStatus.BigTaskStatusPush.parseFrom(payload); } + Log.i("SweeperCloudTaskMessage", " msgType=" + msgType + " " + (bigTaskStatusPush == null ? "null" : + TextFormat.printer().escapingNonAscii(false).printToString(bigTaskStatusPush))); adasListener.onSweeperFutianCloudBigTaskStatus(header, msgType, reqNo, sysTime, bigTaskStatusPush); } else { //未知数据类型 + Log.i("SweeperCloudTaskMessage", " 错误数据=" + ByteUtil.byteArrToHex(bytes)); adasListener.onSweeperFutianCloudTaskUnknown(header, bytes); } } From accdce8a7c461df53da5464ab9e91c6a2af2ad2c Mon Sep 17 00:00:00 2001 From: bxb Date: Thu, 18 May 2023 17:20:47 +0800 Subject: [PATCH 5/7] =?UTF-8?q?[sweeper-cloud]pad=E7=AB=AF=E6=A0=B9?= =?UTF-8?q?=E6=8D=AE=E5=B7=A5=E6=8E=A7=E6=9C=BA=E7=9A=84=E8=BF=9E=E6=8E=A5?= =?UTF-8?q?=E7=8A=B6=E6=80=81=EF=BC=8C=E8=B0=83=E7=94=A8=E8=8E=B7=E5=8F=96?= =?UTF-8?q?=E5=BD=93=E5=89=8D=E4=BB=BB=E5=8A=A1=E7=9A=84=E6=8E=A5=E5=8F=A3?= =?UTF-8?q?=EF=BC=8C=E9=98=B2=E6=AD=A2=E5=B7=A5=E6=8E=A7=E6=9C=BA=E6=96=AD?= =?UTF-8?q?=E5=BC=80=E8=BF=9E=E6=8E=A5=E6=97=B6=EF=BC=8Cpad=E6=9C=AA?= =?UTF-8?q?=E6=8B=89=E5=8F=96=E5=88=B0=E5=BD=93=E5=89=8D=E6=AD=A3=E5=9C=A8?= =?UTF-8?q?=E6=89=A7=E8=A1=8C=E7=9A=84=E4=BB=BB=E5=8A=A1?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- .../sweepercloud/model/SweeperTaskModel.java | 61 ++++++++++++------- 1 file changed, 38 insertions(+), 23 deletions(-) diff --git a/OCH/sweeper/sweeper-cloud/src/main/java/com/mogo/och/sweepercloud/model/SweeperTaskModel.java b/OCH/sweeper/sweeper-cloud/src/main/java/com/mogo/och/sweepercloud/model/SweeperTaskModel.java index 73382cb613..6d20c7ab1a 100644 --- a/OCH/sweeper/sweeper-cloud/src/main/java/com/mogo/och/sweepercloud/model/SweeperTaskModel.java +++ b/OCH/sweeper/sweeper-cloud/src/main/java/com/mogo/och/sweepercloud/model/SweeperTaskModel.java @@ -22,6 +22,7 @@ import com.mogo.eagle.core.function.call.autopilot.CallerPlanningRottingListener import com.mogo.eagle.core.function.call.autopilot.CallerSweeperFutianCleanSystemListenerManager; import com.mogo.eagle.core.function.call.autopilot.CallerSweeperFutianCloudTaskListenerManager; import com.mogo.eagle.core.utilcode.mogo.logger.CallerLogger; +import com.mogo.eagle.core.utilcode.util.UiThreadHandler; import com.mogo.och.common.module.manager.OCHAdasAbilityManager; import com.mogo.och.common.module.utils.CoordinateCalculateRouteUtil; import com.mogo.och.common.module.utils.NumberFormatUtil; @@ -300,10 +301,8 @@ public class SweeperTaskModel implements IMoGoSweeperFutianCloudTaskListener, IM public void onSweeperFutianCloudTask(@NonNull SweeperCloudTask.MessageType messageType, String reqNo, long sysTime, SweeperTask.TaskInfo taskInfo) { - if (taskInfo != null) { - CallerLogger.INSTANCE.d(M_SWEEPER + TAG, - "messageType: "+messageType.getNumber()+" sysTime："+sysTime+ "reqNo："+reqNo+" onSweeperFutianCloudTask：" +printMessage(taskInfo) + " mSweeperTaskCallback：" + mSweeperTaskCallback); - } + CallerLogger.INSTANCE.d(M_SWEEPER + TAG, + "messageType: " + messageType.getNumber() + " sysTime：" + sysTime + " reqNo：" + reqNo + " onSweeperFutianCloudTask：" + taskInfo == null ? "null" : printMessage(taskInfo) + " mSweeperTaskCallback：" + mSweeperTaskCallback); if (mSweeperTaskCallback != null) { msgTypeAndReqNo.put(messageType.getNumber(), reqNo); mSweeperTaskCallback.onSweeperCloudTask(messageType, taskInfo); @@ -314,8 +313,9 @@ public class SweeperTaskModel implements IMoGoSweeperFutianCloudTaskListener, IM public void onSweeperFutianCloudTaskConfirm(@NonNull SweeperCloudTask.MessageType messageType, String reqNo, long sysTime, SweeperTaskConfirm.TaskConfirm taskConfirm) { - CallerLogger.INSTANCE.d(M_SWEEPER + TAG, "messageType: "+messageType.getNumber()+" sysTime："+sysTime+ "reqNo："+reqNo+" onSweeperFutianCloudTaskConfirm：" + printMessage(taskConfirm)); - if (mSweeperTaskCallback != null&&taskConfirm!=null) { + CallerLogger.INSTANCE.d(M_SWEEPER + TAG, "messageType: " + messageType.getNumber() + " sysTime：" + sysTime + " reqNo：" + reqNo + " " + + "onSweeperFutianCloudTaskConfirm：" + printMessage(taskConfirm)); + if (mSweeperTaskCallback != null && taskConfirm != null) { msgTypeAndReqNo.put(messageType.getNumber(), reqNo); mSweeperTaskCallback.onSweeperCloudTaskConfirm(taskConfirm.getTaskId(), taskConfirm.getSubTaskId()); } @@ -324,8 +324,9 @@ public class SweeperTaskModel implements IMoGoSweeperFutianCloudTaskListener, IM @Override public void onSweeperFutianCloudTaskStatus(@NonNull SweeperCloudTask.MessageType messageType, String reqNo, long sysTime, SweeperTaskStatus.TaskStatusPush taskStatusPush) { - CallerLogger.INSTANCE.d(M_SWEEPER + TAG, "messageType: "+messageType.getNumber()+" sysTime："+sysTime+ "reqNo："+reqNo+" onSweeperFutianCloudTaskStatus：" + printMessage(taskStatusPush)); - if (mSweeperTaskCallback != null&&taskStatusPush!=null) { + CallerLogger.INSTANCE.d(M_SWEEPER + TAG, "messageType: " + messageType.getNumber() + " sysTime：" + sysTime + " reqNo：" + reqNo + " " + + "onSweeperFutianCloudTaskStatus：" + printMessage(taskStatusPush)); + if (mSweeperTaskCallback != null && taskStatusPush != null) { msgTypeAndReqNo.put(messageType.getNumber(), reqNo); mSweeperTaskCallback.onSweeperCloudTaskStatus(taskStatusPush.getTaskId(), taskStatusPush.getSubTaskId(), taskStatusPush.getTaskStatus()); } @@ -334,18 +335,20 @@ public class SweeperTaskModel implements IMoGoSweeperFutianCloudTaskListener, IM @Override public void onSweeperFutianCloudTaskStop(@NonNull SweeperCloudTask.MessageType messageType, String reqNo, long sysTime, SweeperTaskStop.StopTaskReq stopTaskReq) { - CallerLogger.INSTANCE.d(M_SWEEPER + TAG, "messageType: "+messageType.getNumber()+" sysTime："+sysTime+ "reqNo："+reqNo+" onSweeperFutianCloudTaskStop：" + printMessage(stopTaskReq)); - if (mSweeperTaskCallback != null&&stopTaskReq!=null) { + CallerLogger.INSTANCE.d(M_SWEEPER + TAG, "messageType: " + messageType.getNumber() + " sysTime：" + sysTime + " reqNo：" + reqNo + " " + + "onSweeperFutianCloudTaskStop：" + printMessage(stopTaskReq)); + if (mSweeperTaskCallback != null && stopTaskReq != null) { msgTypeAndReqNo.put(messageType.getNumber(), reqNo); mSweeperTaskCallback.onSweeperCloudTaskStop(stopTaskReq.getTaskId(), stopTaskReq.getType()); } } @Override - public void onSweeperFutianCloudTaskSuspendResume(@NonNull SweeperCloudTask.MessageType messageType,String reqNo, long sysTime, + public void onSweeperFutianCloudTaskSuspendResume(@NonNull SweeperCloudTask.MessageType messageType, String reqNo, long sysTime, SweeperTaskSuspendResume.SuspendResumeTaskResp suspendResumeTaskResp) { - CallerLogger.INSTANCE.d(M_SWEEPER + TAG, "messageType: "+messageType.getNumber()+" sysTime："+sysTime+ "reqNo："+reqNo+" onSweeperFutianCloudTaskSuspendResume：" + printMessage(suspendResumeTaskResp)); - if (mSweeperTaskCallback != null&&suspendResumeTaskResp!=null) { + CallerLogger.INSTANCE.d(M_SWEEPER + TAG, "messageType: " + messageType.getNumber() + " sysTime：" + sysTime + " reqNo：" + reqNo + " " + + "onSweeperFutianCloudTaskSuspendResume：" + printMessage(suspendResumeTaskResp)); + if (mSweeperTaskCallback != null && suspendResumeTaskResp != null) { msgTypeAndReqNo.put(messageType.getNumber(), reqNo); mSweeperTaskCallback.onSweeperCloudTaskSuspendResume(messageType, suspendResumeTaskResp.getTaskId(), suspendResumeTaskResp.getSubTaskId(), suspendResumeTaskResp.getCode()); @@ -355,8 +358,9 @@ public class SweeperTaskModel implements IMoGoSweeperFutianCloudTaskListener, IM @Override public void onSweeperFutianCloudBootable(@NonNull SweeperCloudTask.MessageType messageType, String reqNo, long sysTime, SweeperBootable.IsBootableResp isBootableResp) { - CallerLogger.INSTANCE.d(M_SWEEPER + TAG, "messageType: "+messageType.getNumber()+" sysTime："+sysTime+ "reqNo："+reqNo+" onSweeperFutianCloudBootable：" + printMessage(isBootableResp)); - if (mSweeperTaskCallback != null&&isBootableResp!=null) { + CallerLogger.INSTANCE.d(M_SWEEPER + TAG, "messageType: " + messageType.getNumber() + " sysTime：" + sysTime + " reqNo：" + reqNo + " " + + "onSweeperFutianCloudBootable：" + printMessage(isBootableResp)); + if (mSweeperTaskCallback != null && isBootableResp != null) { msgTypeAndReqNo.put(messageType.getNumber(), reqNo); mSweeperTaskCallback.onSweeperCloudBootable(isBootableResp.getTaskId(), isBootableResp.getSubTaskId(), isBootableResp); } @@ -365,8 +369,9 @@ public class SweeperTaskModel implements IMoGoSweeperFutianCloudTaskListener, IM @Override public void onSweeperFutianCloudBigTaskStatus(@NonNull SweeperCloudTask.MessageType messageType, String reqNo, long sysTime, SweeperBigTaskStatus.BigTaskStatusPush bigTaskStatusPush) { - CallerLogger.INSTANCE.d(M_SWEEPER + TAG, "messageType: "+messageType.getNumber()+" sysTime："+sysTime+ "reqNo："+reqNo+" onSweeperFutianCloudBigTaskStatus：" + printMessage(bigTaskStatusPush)); - if (mSweeperTaskCallback != null&&bigTaskStatusPush!=null) { + CallerLogger.INSTANCE.d(M_SWEEPER + TAG, "messageType: " + messageType.getNumber() + " sysTime：" + sysTime + " reqNo：" + reqNo + " " + + "onSweeperFutianCloudBigTaskStatus：" + printMessage(bigTaskStatusPush)); + if (mSweeperTaskCallback != null && bigTaskStatusPush != null) { msgTypeAndReqNo.put(messageType.getNumber(), reqNo); mSweeperTaskCallback.onSweeperCloudBigTaskStatus(bigTaskStatusPush.getTaskId(), bigTaskStatusPush.getTaskStatus()); } @@ -458,7 +463,8 @@ public class SweeperTaskModel implements IMoGoSweeperFutianCloudTaskListener, IM builder.setSn(getDriverSn()); String reqNo = SweeperCloudTaskUtils.getRequestId(); SweeperTask.GetTaskReq getTaskReq = builder.build(); - CallerLogger.INSTANCE.d(M_SWEEPER + TAG, "getCurrentTask:" + printMessage(getTaskReq) + " reqNo:" + reqNo +" messageType:"+ SweeperCloudTask.MessageType.PadSendGetTaskReq.getNumber()); + CallerLogger.INSTANCE.d(M_SWEEPER + TAG, + "getCurrentTask:" + printMessage(getTaskReq) + " reqNo:" + reqNo + " messageType:" + SweeperCloudTask.MessageType.PadSendGetTaskReq.getNumber()); getAutoPilotControlManager().sendSweeperGetTaskReq(reqNo, getTaskReq); // TODO: 2023/5/5 模拟云控获取任务 // UiThreadHandler.postDelayed(() -> { @@ -478,7 +484,8 @@ public class SweeperTaskModel implements IMoGoSweeperFutianCloudTaskListener, IM SweeperTask.StartTaskResp startTaskResp = builder.build(); String reqNo = msgTypeAndReqNo.get(SweeperCloudTask.MessageType.CloudPushTask.getNumber()); getAutoPilotControlManager().sendSweeperStartTaskResp(reqNo, startTaskResp); - CallerLogger.INSTANCE.d(M_SWEEPER + TAG, "sendSweeperStartTaskResp:" + printMessage(startTaskResp) + " reqNo:" + reqNo+" messageType:"+ SweeperCloudTask.MessageType.CloudPushTask.getNumber()); + CallerLogger.INSTANCE.d(M_SWEEPER + TAG, + "sendSweeperStartTaskResp:" + printMessage(startTaskResp) + " reqNo:" + reqNo + " messageType:" + SweeperCloudTask.MessageType.CloudPushTask.getNumber()); } /** @@ -492,7 +499,8 @@ public class SweeperTaskModel implements IMoGoSweeperFutianCloudTaskListener, IM builder.setCode(code); SweeperTaskConfirm.TaskConfirmResp taskConfirmResp = builder.build(); String reqNo = msgTypeAndReqNo.get(SweeperCloudTask.MessageType.CloudPushTaskConfirm.getNumber()); - CallerLogger.INSTANCE.d(M_SWEEPER + TAG, "sendSweeperTaskConfirmResp" + printMessage(taskConfirmResp) + " reqNo:" + reqNo+" messageType:"+ SweeperCloudTask.MessageType.CloudPushTaskConfirm.getNumber()); + CallerLogger.INSTANCE.d(M_SWEEPER + TAG, + "sendSweeperTaskConfirmResp" + printMessage(taskConfirmResp) + " reqNo:" + reqNo + " messageType:" + SweeperCloudTask.MessageType.CloudPushTaskConfirm.getNumber()); getAutoPilotControlManager().sendSweeperTaskConfirmResp(reqNo, taskConfirmResp); } @@ -509,7 +517,8 @@ public class SweeperTaskModel implements IMoGoSweeperFutianCloudTaskListener, IM builder.setCode(code); SweeperTaskStop.StopTaskResp stopTaskResp = builder.build(); String reqNo = msgTypeAndReqNo.get(SweeperCloudTask.MessageType.CloudPushTaskStop.getNumber()); - CallerLogger.INSTANCE.d(M_SWEEPER + TAG, "sendSweeperStopTaskResp" + printMessage(stopTaskResp) + " reqNo:" + reqNo+" messageType:"+ SweeperCloudTask.MessageType.CloudPushTaskStop.getNumber()); + CallerLogger.INSTANCE.d(M_SWEEPER + TAG, + "sendSweeperStopTaskResp" + printMessage(stopTaskResp) + " reqNo:" + reqNo + " messageType:" + SweeperCloudTask.MessageType.CloudPushTaskStop.getNumber()); getAutoPilotControlManager().sendSweeperStopTaskResp(reqNo, stopTaskResp); } @@ -528,10 +537,11 @@ public class SweeperTaskModel implements IMoGoSweeperFutianCloudTaskListener, IM builder.setLineId(lineId); SweeperBootable.IsBootable isBootable = builder.build(); String reqNo = SweeperCloudTaskUtils.getRequestId(); - CallerLogger.INSTANCE.d(M_SWEEPER + TAG, "sendSweeperAutopilotBootable" + printMessage(isBootable) + " reqNo:" + reqNo+" messageType:"+ SweeperCloudTask.MessageType.PadSendBootable.getNumber()); + CallerLogger.INSTANCE.d(M_SWEEPER + TAG, + "sendSweeperAutopilotBootable" + printMessage(isBootable) + " reqNo:" + reqNo + " messageType:" + SweeperCloudTask.MessageType.PadSendBootable.getNumber()); getAutoPilotControlManager().sendSweeperAutopilotBootable(reqNo, isBootable); // TODO: 2023/5/16 - SweeperCloudTaskUtils.mockSendCloudBootable(); + //SweeperCloudTaskUtils.mockSendCloudBootable(); } public CallerAutoPilotControlManager getAutoPilotControlManager() { @@ -577,6 +587,11 @@ public class SweeperTaskModel implements IMoGoSweeperFutianCloudTaskListener, IM @Override public void onAutopilotIpcConnectStatusChanged(int status, @Nullable String reason) { + if (status == 0x00){//判断工控机重连后，获取当前正在执行的子任务,延时10秒，防止工控机连接上时SN为空 + UiThreadHandler.postDelayed(()->{ + getCurrentTask(); + },10000); + } //CallerLogger.INSTANCE.d(M_SWEEPER + TAG, "onAutopilotIpcConnectStatusChanged status:" + status + " reason：" + reason); } From 0fdd1c24daa21958b191ba7f68f9c34516733351 Mon Sep 17 00:00:00 2001 From: bxb Date: Thu, 18 May 2023 21:01:10 +0800 Subject: [PATCH 6/7] =?UTF-8?q?[sweeper-cloud]=E5=80=92=E8=AE=A1=E6=97=B6?= =?UTF-8?q?=E8=BD=AC=E5=9C=88=E6=96=B9=E5=90=91=E4=BF=AE=E6=94=B9?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- .../och/sweepercloud/ui/dialog/SweeperCloudLoadingDialog.kt | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/OCH/sweeper/sweeper-cloud/src/main/java/com/mogo/och/sweepercloud/ui/dialog/SweeperCloudLoadingDialog.kt b/OCH/sweeper/sweeper-cloud/src/main/java/com/mogo/och/sweepercloud/ui/dialog/SweeperCloudLoadingDialog.kt index f333e53dc8..3321382705 100644 --- a/OCH/sweeper/sweeper-cloud/src/main/java/com/mogo/och/sweepercloud/ui/dialog/SweeperCloudLoadingDialog.kt +++ b/OCH/sweeper/sweeper-cloud/src/main/java/com/mogo/och/sweepercloud/ui/dialog/SweeperCloudLoadingDialog.kt @@ -33,7 +33,7 @@ class SweeperCloudLoadingDialog : BaseFloatDialog, LifecycleObserver { * 开始旋转 */ private fun startRotation() { - objectAnimator = ObjectAnimator.ofFloat(mLoadingView, "rotation", 0f, 720f) + objectAnimator = ObjectAnimator.ofFloat(mLoadingView, "rotation", -720f, 0f) objectAnimator?.let { it.duration = 3000 it.repeatCount = -1 From 08db6490f12c0afadba9d844ed4f518e2b1b42a4 Mon Sep 17 00:00:00 2001 From: bxb Date: Fri, 19 May 2023 20:33:40 +0800 Subject: [PATCH 7/7] =?UTF-8?q?[sweeper-cloud]=E8=81=94=E8=B0=83=E9=97=AE?= =?UTF-8?q?=E9=A2=98=E4=BF=AE=E6=94=B9?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- .../ISweeperControllerStatusCallback.java | 4 +- .../fragment/BaseSweeperTabFragment.java | 16 +---- .../sweepercloud/fragment/SweeperFragment.kt | 14 +++-- .../sweepercloud/model/SweeperTaskModel.java | 5 +- .../presenter/SweeperPresenter.java | 11 ++-- .../util/SweeperCloudTaskUtils.kt | 7 ++- .../view/SweeperTrafficDataView.kt | 59 +++++++++++++----- .../src/main/res/drawable-xhdpi/icon_auto.png | Bin 0 -> 12917 bytes .../main/res/drawable-xhdpi/icon_not_auto.png | Bin 0 -> 12392 bytes .../main/res/layout/sweeper_traffic_data.xml | 26 +++++--- 10 files changed, 86 insertions(+), 56 deletions(-) create mode 100755 OCH/sweeper/sweeper-cloud/src/main/res/drawable-xhdpi/icon_auto.png create mode 100755 OCH/sweeper/sweeper-cloud/src/main/res/drawable-xhdpi/icon_not_auto.png diff --git a/OCH/sweeper/sweeper-cloud/src/main/java/com/mogo/och/sweepercloud/callback/ISweeperControllerStatusCallback.java b/OCH/sweeper/sweeper-cloud/src/main/java/com/mogo/och/sweepercloud/callback/ISweeperControllerStatusCallback.java index 1b247f036e..2ad48d1d5b 100644 --- a/OCH/sweeper/sweeper-cloud/src/main/java/com/mogo/och/sweepercloud/callback/ISweeperControllerStatusCallback.java +++ b/OCH/sweeper/sweeper-cloud/src/main/java/com/mogo/och/sweepercloud/callback/ISweeperControllerStatusCallback.java @@ -12,6 +12,6 @@ public interface ISweeperControllerStatusCallback { void onVRModeChanged(boolean isVRMode); // 自车定位 void onCarLocationChanged(MogoLocation location); - //开始开启自动驾驶 - void startOpenAutopilot(); + //自动驾驶状态 + void onAutopilotState(int state); } diff --git a/OCH/sweeper/sweeper-cloud/src/main/java/com/mogo/och/sweepercloud/fragment/BaseSweeperTabFragment.java b/OCH/sweeper/sweeper-cloud/src/main/java/com/mogo/och/sweepercloud/fragment/BaseSweeperTabFragment.java index 54945e8432..012fde2668 100644 --- a/OCH/sweeper/sweeper-cloud/src/main/java/com/mogo/och/sweepercloud/fragment/BaseSweeperTabFragment.java +++ b/OCH/sweeper/sweeper-cloud/src/main/java/com/mogo/och/sweepercloud/fragment/BaseSweeperTabFragment.java @@ -183,7 +183,9 @@ public abstract class BaseSweeperTabFragment } } + @Override + public void onAutopilotState(int state) { + ThreadUtils.runOnUiThread(() ->mView.setAutoState(state)); + } + /** * 获取自动驾驶状态 * @return @@ -90,12 +95,6 @@ public class SweeperPresenter extends Presenter public int getAutopilotState() { return SweeperTaskModel.getInstance().getAutopilotState(); } - - @Override - public void startOpenAutopilot() { - - } - /** * 清除路线缓存数据 */ diff --git a/OCH/sweeper/sweeper-cloud/src/main/java/com/mogo/och/sweepercloud/util/SweeperCloudTaskUtils.kt b/OCH/sweeper/sweeper-cloud/src/main/java/com/mogo/och/sweepercloud/util/SweeperCloudTaskUtils.kt index 6d1e0d6bd2..a1895fc2ee 100644 --- a/OCH/sweeper/sweeper-cloud/src/main/java/com/mogo/och/sweepercloud/util/SweeperCloudTaskUtils.kt +++ b/OCH/sweeper/sweeper-cloud/src/main/java/com/mogo/och/sweepercloud/util/SweeperCloudTaskUtils.kt @@ -30,9 +30,10 @@ object SweeperCloudTaskUtils { */ @JvmStatic fun mockQueryCurrentTaskInfo() { - UiThreadHandler.getsUiHandler().postDelayed({ - mockSendCloudTaskInfo(MessageType.PadSendGetTaskReq) - },1000) +// UiThreadHandler.getsUiHandler().postDelayed({ +// mockSendCloudTaskInfo(MessageType.PadSendGetTaskReq) +// },1000) + SweeperTaskModel.getInstance().getCurrentTask() } /** diff --git a/OCH/sweeper/sweeper-cloud/src/main/java/com/mogo/och/sweepercloud/view/SweeperTrafficDataView.kt b/OCH/sweeper/sweeper-cloud/src/main/java/com/mogo/och/sweepercloud/view/SweeperTrafficDataView.kt index b8885f7231..6ee2639db7 100644 --- a/OCH/sweeper/sweeper-cloud/src/main/java/com/mogo/och/sweepercloud/view/SweeperTrafficDataView.kt +++ b/OCH/sweeper/sweeper-cloud/src/main/java/com/mogo/och/sweepercloud/view/SweeperTrafficDataView.kt @@ -12,10 +12,7 @@ import chassis.Chassis.LightSwitch import chassis.ChassisStatesOuterClass.BMSSystemStates import chassis.ChassisStatesOuterClass.SweeperFuTianTaskSystemStates import com.elegant.utils.UiThreadHandler -import com.mogo.eagle.core.function.api.autopilot.IMoGoBatteryManagementSystemListener -import com.mogo.eagle.core.function.api.autopilot.IMoGoChassisGearStateListener -import com.mogo.eagle.core.function.api.autopilot.IMoGoChassisLamplightListener -import com.mogo.eagle.core.function.api.autopilot.IMoGoSweeperFutianCleanSystemListener +import com.mogo.eagle.core.function.api.autopilot.* import com.mogo.eagle.core.function.call.autopilot.* import com.mogo.eagle.core.function.hmi.ui.widget.TapPositionView import com.mogo.eagle.core.utilcode.mogo.logger.CallerLogger.d @@ -32,16 +29,15 @@ class SweeperTrafficDataView : ConstraintLayout, IMoGoBatteryManagementSystemListener, IMoGoChassisLamplightListener, IMoGoChassisGearStateListener, - IMoGoSweeperFutianCleanSystemListener -{ + IMoGoSweeperFutianCleanSystemListener { private var tapPositionView //方向盘下方的档位 : TapPositionView? = null private var speedImage //速度图标 : ImageView? = null private var speedTextView //速度值 : TextView? = null - private var sweeperTurnSignal //转向灯 - : TurnSignalView? = null + private var sweeperAutoState //自动驾驶状态 + : TextView? = null private var tvBattery //电量百分比展示 : TextView? = null private var ivBgWaterWarning //水位预警背景图 @@ -72,7 +68,7 @@ class SweeperTrafficDataView : ConstraintLayout, tapPositionView = findViewById(R.id.sweeperTrafficPosition) speedImage = findViewById(R.id.sweeperSpeedImage) speedTextView = findViewById(R.id.sweeperSpeedText) - sweeperTurnSignal = findViewById(R.id.sweeperTurnSignal) + sweeperAutoState = findViewById(R.id.sweeperAutoState) tvBattery = findViewById(R.id.tvBattery) ivBgWaterWarning = findViewById(R.id.sweeperIvBgWaterWarning) ivWater = findViewById(R.id.sweeperIvWater) @@ -92,7 +88,7 @@ class SweeperTrafficDataView : ConstraintLayout, override fun onDetachedFromWindow() { super.onDetachedFromWindow() - CallerBatteryManagementSystemListenerManager.removeListener(TAG ) + CallerBatteryManagementSystemListenerManager.removeListener(TAG) CallerChassisLamplightListenerManager.removeListener(TAG) CallerChassisGearStateListenerManager.removeListener(TAG) CallerSweeperFutianCleanSystemListenerManager.removeListener(TAG) @@ -101,7 +97,7 @@ class SweeperTrafficDataView : ConstraintLayout, override fun onSweeperFutianTaskIndexData(roboSweeperTaskIndex: RoboSweeperTaskIndexOuterClass.RoboSweeperTaskIndex) {} override fun onSweeperFutianCleanSystemState(cleanSystemState: SweeperFuTianTaskSystemStates) { val current = System.currentTimeMillis() - if (current - mCurrentTimeWaterMillis <=VEHICLE_STATE_INTERVAL_MILLIS) { + if (current - mCurrentTimeWaterMillis <= VEHICLE_STATE_INTERVAL_MILLIS) { return } mCurrentTimeWaterMillis = current @@ -121,23 +117,49 @@ class SweeperTrafficDataView : ConstraintLayout, @SuppressLint("SetTextI18n") override fun onBatteryManagementSystemStates(states: BMSSystemStates) { val current = System.currentTimeMillis() - if (current - mCurrentTimeBatteryMillis <=VEHICLE_STATE_INTERVAL_MILLIS) { + if (current - mCurrentTimeBatteryMillis <= VEHICLE_STATE_INTERVAL_MILLIS) { return } mCurrentTimeBatteryMillis = current d(SceneConstant.M_SWEEPER + TAG, "电量：${states.bmsSoc}") - UiThreadHandler.post{ + UiThreadHandler.post { tvBattery?.text = "${states.bmsSoc.roundToInt()}%" } } + /** * 车辆转向灯 * @param directionLight */ override fun onAutopilotLightSwitchData(lightSwitch: LightSwitch?) { //转向灯状态 0是正常 1是左转 2是右转 - if (lightSwitch != null) { - sweeperTurnSignal?.setTurnLight(lightSwitch) + } + + /** + * 设置自动驾驶状态 + */ + fun setAutoState(state: Int) { + when (state) { + //不可自动驾驶 + IMoGoAutopilotStatusListener.STATUS_AUTOPILOT_DISABLE -> { + sweeperAutoState?.text="自动驾驶" + sweeperAutoState?.setBackgroundResource(R.drawable.icon_not_auto) + } + //人工驾驶 + IMoGoAutopilotStatusListener.STATUS_AUTOPILOT_ENABLE -> { + sweeperAutoState?.text="人工驾驶" + sweeperAutoState?.setBackgroundResource(R.drawable.icon_auto) + } + //自动驾驶中 + IMoGoAutopilotStatusListener.STATUS_AUTOPILOT_RUNNING -> { + sweeperAutoState?.text="自动驾驶" + sweeperAutoState?.setBackgroundResource(R.drawable.icon_auto) + } + //平行驾驶 + IMoGoAutopilotStatusListener.STATUS_PARALLEL_DRIVING -> { + sweeperAutoState?.text="平行驾驶" + sweeperAutoState?.setBackgroundResource(R.drawable.icon_auto) + } } } @@ -148,6 +170,7 @@ class SweeperTrafficDataView : ConstraintLayout, override fun onAutopilotBrakeLightData(brakeLight: Boolean) { d(TAG, "刹车灯:$brakeLight") } + /** * 方向盘下方的档位 * @param gear @@ -158,9 +181,11 @@ class SweeperTrafficDataView : ConstraintLayout, tapPositionView?.updateWithGear(gear) } } - fun getSpeedImage():ImageView?{ - return speedImage + + fun getSpeedImage(): ImageView? { + return speedImage } + /** * 速度设置 */ diff --git a/OCH/sweeper/sweeper-cloud/src/main/res/drawable-xhdpi/icon_auto.png b/OCH/sweeper/sweeper-cloud/src/main/res/drawable-xhdpi/icon_auto.png new file mode 100755 index 0000000000000000000000000000000000000000..b76ce3dd2b376fe6d7ed42379a1afd1574690731 GIT binary patch literal 12917 zcmV-*GK$TKP)Px#L}ge>W=%~1DgXcg2mk?xX#fNO00031000^Q000001E2u_0{{R30RRC20H6W@ z1ONa40RR91sGtJ?1ONa40RR91I{*Lx0Ou+|761S--$_J4RCodHoqeorTX~oFT6>@C zJ@*1lYe|8C)!y=le^gtLA_i?^ET%_>z1JLLyx-#; zzd6R3bFXvn=H&lEdFIRCcI~cT|Mb_KpKPDGy|}n?)JO8 zHgsq&-uDP>w%e2a3H6$e#D>qBZd=`r49mXwV^8`X+SF~J47Ge{b%}{msOCZNAiT%P zrsbFR_(yDy!{Og#b`?)75}PtB^|&8`^cG32&XwhoftAFXKIAcIf8D-{KeP#C`X?t3 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android:layout_marginTop="@dimen/dp_20" + android:gravity="center" + android:textColor="@color/white" + android:textSize="@dimen/dp_28" + android:text="自动驾驶" + android:background="@drawable/icon_not_auto" + android:layout_marginStart="@dimen/dp_20"/>