yangyakun921/MoGoEagleEye
1
0
Fork 0
Code Issues Pull Requests Actions Packages Projects Releases Wiki Activity

[3.4.0] merge

Browse Source
This commit is contained in:
zhongchao
2023-09-11 17:11:10 +08:00
parent 030b9eb6b3 1e0c42d15a
commit 04e787cbc6
15 changed files with 82 additions and 152 deletions
Download Patch File Download Diff File Expand all files Collapse all files

10
OCH/sweeper/sweeper-cloud/src/main/java/com/mogo/och/sweepercloud/callback/ISweeperCloudTaskCallback.kt
View File

@@ -10,8 +10,6 @@ import com.zhjt.mogo.adas.data.sweeper.common.SweeperCommon
import com.zhjt.mogo.adas.data.sweeper.common.SweeperCommon.Code
import com.zhjt.mogo.adas.data.sweeper.task.SweeperTask
import com.zhjt.mogo.adas.data.sweeper.task.big.SweeperBigTaskStatus
import com.zhjt.mogo.adas.data.sweeper.task.cloud.s_r.SweeperTaskCloudSuspendResume.ActionType
import com.zhjt.mogo.adas.data.sweeper.task.cloud.s_r.SweeperTaskCloudSuspendResume.BigTaskActionPush
import com.zhjt.mogo.adas.data.sweeper.task.stop.SweeperTaskStop.StopTaskType
/**
@@ -52,13 +50,7 @@ interface ISweeperCloudTaskCallback {
/**
* 云端同步大任务状态
*/
fun onSweeperCloudBigTaskStatus(taskId:String, bigTaskStatus: SweeperCommon.TaskStatus, isPop:Boolean)
/**
* 云端同步大任务暂停 / 恢复 指令
*/
fun onSweeperCloudBigTaskSuspendResume(taskId:String, actionType: ActionType, isPop:Boolean)
fun onSweeperCloudBigTaskStatus(taskId:String,subTaskStatus: SweeperBigTaskStatus.BigTaskStatus)
/**
* 设置轨迹坐标点集合
*/

106
OCH/sweeper/sweeper-cloud/src/main/java/com/mogo/och/sweepercloud/model/SweeperTaskModel.java
View File

@@ -42,10 +42,9 @@ import com.mogo.och.sweepercloud.util.SweeperCloudTaskUtils;
import com.zhjt.mogo.adas.data.sweeper.SweeperCloudTask;
import com.zhjt.mogo.adas.data.sweeper.bootable.SweeperBootable;
import com.zhjt.mogo.adas.data.sweeper.task.SweeperTask;
import com.zhjt.mogo.adas.data.sweeper.task.SweeperTaskSuspendResume;
import com.zhjt.mogo.adas.data.sweeper.task.big.SweeperBigTaskStatus;
import com.zhjt.mogo.adas.data.sweeper.task.cloud.s_r.SweeperTaskCloudSuspendResume;
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;
@@ -184,6 +183,7 @@ public class SweeperTaskModel implements IMoGoSweeperFutianCloudTaskListener, IM
});
}
public void setControllerStatusCallback(ISweeperControllerStatusCallback callback) {
this.mControllerStatusCallback = callback;
}
@@ -217,6 +217,7 @@ public class SweeperTaskModel implements IMoGoSweeperFutianCloudTaskListener, IM
}
}
}
};
public void setSubtask(String subTaskId, SweeperTask.TaskModel subTaskType, int currentLineId) {
@@ -256,9 +257,8 @@ public class SweeperTaskModel implements IMoGoSweeperFutianCloudTaskListener, IM
return this.mAutopilotState;
}
public static List<SweeperRoutePlanningUpdateReqBean.Result> coordinateConverterWgsToGcjList(
Context mContext,
List<MessagePad.Location> mogoLatLngList) {
public static List<SweeperRoutePlanningUpdateReqBean.Result> coordinateConverterWgsToGcjList(Context mContext,
List<MessagePad.Location> mogoLatLngList) {
List<SweeperRoutePlanningUpdateReqBean.Result> points = new ArrayList<>();
for (MessagePad.Location m : mogoLatLngList) {
LatLng mogoLatLng = CoordinateCalculateRouteUtil.coordinateConverterWgsToGcj(mContext, m);
@@ -305,6 +305,7 @@ public class SweeperTaskModel implements IMoGoSweeperFutianCloudTaskListener, IM
}
if (mSubTaskType == SweeperTask.TaskModel.MANUAL) {//收集人工驾驶子任务坐标点
addCoordinates(gnssInfo);
return;
}
}
};
@@ -334,7 +335,8 @@ public class SweeperTaskModel implements IMoGoSweeperFutianCloudTaskListener, IM
@Override
public void onSweeperFutianCloudTask(@NonNull SweeperCloudTask.MessageType messageType, String reqNo, long sysTime,
SweeperTask.TaskInfo taskInfo) {
CallerLogger.INSTANCE.d(M_SWEEPER + TAG,
CallerLogger.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);
@@ -406,18 +408,7 @@ public class SweeperTaskModel implements IMoGoSweeperFutianCloudTaskListener, IM
"onSweeperFutianCloudBigTaskStatus：" + printMessage(bigTaskStatusPush));
if (mSweeperTaskCallback != null && bigTaskStatusPush != null) {
msgTypeAndReqNo.put(messageType.getNumber(), reqNo);
mSweeperTaskCallback.onSweeperCloudBigTaskStatus(bigTaskStatusPush.getTaskId(), bigTaskStatusPush.getTaskStatus(), bigTaskStatusPush.getIsPop());
}
}
@Override
public void onSweeperFutianCloudTaskCloudSuspendResume(@NonNull SweeperCloudTask.MessageType messageType, @Nullable String reqNo, long sysTime,
@Nullable SweeperTaskCloudSuspendResume.BigTaskActionPush bigTaskActionPush) {
CallerLogger.INSTANCE.d(M_SWEEPER + TAG, "messageType: " + messageType.getNumber() + " sysTime：" + sysTime + " reqNo：" + reqNo + " " +
"onSweeperFutianCloudTaskCloudSuspendResume：" + printMessage(bigTaskActionPush));
if (mSweeperTaskCallback != null && bigTaskActionPush != null) {
msgTypeAndReqNo.put(messageType.getNumber(), reqNo);
mSweeperTaskCallback.onSweeperCloudBigTaskSuspendResume(bigTaskActionPush.getTaskId(), bigTaskActionPush.getAction(), bigTaskActionPush.getIsPop());
mSweeperTaskCallback.onSweeperCloudBigTaskStatus(bigTaskStatusPush.getTaskId(), bigTaskStatusPush.getTaskStatus());
}
}
@@ -439,25 +430,24 @@ public class SweeperTaskModel implements IMoGoSweeperFutianCloudTaskListener, IM
@Override
public void onSweeperFutianTaskIndexData(@NonNull RoboSweeperTaskIndexOuterClass.RoboSweeperTaskIndex roboSweeperTaskIndex) {
// 20230728 因小地图不展示了，贴边数据先不处理了，浪费资源
// if (roboSweeperTaskIndex == null) {
// return;
// }
//
// long current = System.currentTimeMillis();
// if (current - mWeltDataCurrentTimeMillis <= WELT_DATA_INTERVAL_MILLIS) {
// return;
// }
// mWeltDataCurrentTimeMillis = current;
//
// //没有任务数据时，不处理贴边
// if (!isHasTaskInfo) {
// return;
// }
//
// CallerLogger.INSTANCE.d(M_SWEEPER + TAG,
// "mSubTaskType：" + mSubTaskType + "+ onSweeperFutianTaskIndexData：" + printMessage(roboSweeperTaskIndex));
// handleWeltData(roboSweeperTaskIndex);
if (roboSweeperTaskIndex == null) {
return;
}
long current = System.currentTimeMillis();
if (current - mWeltDataCurrentTimeMillis <= WELT_DATA_INTERVAL_MILLIS) {
return;
}
mWeltDataCurrentTimeMillis = current;
//没有任务数据时，不处理贴边
if (!isHasTaskInfo) {
return;
}
CallerLogger.d(M_SWEEPER + TAG,
"mSubTaskType：" + mSubTaskType + "+ onSweeperFutianTaskIndexData：" + printMessage(roboSweeperTaskIndex));
handleWeltData(roboSweeperTaskIndex);
}
/**
@@ -504,7 +494,7 @@ public class SweeperTaskModel implements IMoGoSweeperFutianCloudTaskListener, IM
}
}
private static String format(double value) {
public static String format(double value) {
BigDecimal bd = new BigDecimal(value);
bd = bd.setScale(2, RoundingMode.HALF_UP);
return bd.toString();
@@ -594,24 +584,6 @@ public class SweeperTaskModel implements IMoGoSweeperFutianCloudTaskListener, IM
//SweeperCloudTaskUtils.mockSendCloudBootable();
}
/**
* 大任务暂停/恢复 接收到指令到 回复
* @param taskId
* @param code
*/
public void sendSweeperSuspendResumeTaskResp(String taskId, SweeperTaskCloudSuspendResume.Code code) {
SweeperTaskCloudSuspendResume.BigTaskActionResp.Builder builder = SweeperTaskCloudSuspendResume.BigTaskActionResp.newBuilder();
builder.setSn(getDriverSn());
builder.setTaskId(taskId);
builder.setCode(code);
SweeperTaskCloudSuspendResume.BigTaskActionResp resp = builder.build();
String reqNo = msgTypeAndReqNo.get(SweeperCloudTask.MessageType.CloudPushTaskSuspendResume.getNumber());
CallerLogger.INSTANCE.d(M_SWEEPER + TAG,
"sendSweeperSuspendResumeTaskResp" + printMessage(resp) + " reqNo:" + reqNo + " messageType:" + SweeperCloudTask.MessageType.CloudPushTaskSuspendResume);
getAutoPilotControlManager().sendSweeperCloudSuspendResumeTaskResp(reqNo, resp);
}
public CallerAutoPilotControlManager getAutoPilotControlManager() {
return CallerAutoPilotControlManager.INSTANCE;
}
@@ -639,7 +611,6 @@ public class SweeperTaskModel implements IMoGoSweeperFutianCloudTaskListener, IM
default:
break;
}
}
@Override
@@ -660,7 +631,6 @@ 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
CallerAutoPilotControlManager.INSTANCE.setIsSubscribeBackCameraVideoVideo(0, false);//TODO 当前3.2.0版本产品未规划后摄像头展示功能
UiThreadHandler.postDelayed(() -> {
getCurrentTask();
}, 10000);
@@ -696,27 +666,11 @@ public class SweeperTaskModel implements IMoGoSweeperFutianCloudTaskListener, IM
@Override
public void onAutopilotStatusResponse(int state) {
//CallerLogger.INSTANCE.d(M_SWEEPER + TAG, "onAutopilotStatusResponse state:" + state);
this.mAutopilotState = state;
if (mControllerStatusCallback != null) {
mControllerStatusCallback.onAutopilotState(state);
}
switch (state) {
case IMoGoAutopilotStatusListener.STATUS_AUTOPILOT_DISABLE://不可自动驾驶
break;
case IMoGoAutopilotStatusListener.STATUS_AUTOPILOT_ENABLE://人工驾驶
break;
case IMoGoAutopilotStatusListener.STATUS_AUTOPILOT_RUNNING://自动驾驶中
break;
case IMoGoAutopilotStatusListener.STATUS_PARALLEL_DRIVING://平行驾驶
break;
default:
break;
}
// TODO: 2023/6/19 bingbing
}
@Override
public void onAutopilotDockerInfo(@NonNull String dockerVersion) {
// TODO: 2023/6/19 bingbing
}
}