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[3.4.0-map-sdk] merge 6.1.0

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This commit is contained in:
zhongchao
2023-09-18 19:32:55 +08:00
parent 51f38ae919 6c0d8b58fe
commit 059b3cf777
154 changed files with 4655 additions and 1794 deletions
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34
OCH/bus/passenger/src/jinlvvan/java/com/mogo/och/bus/passenger/model/BusPassengerModel.kt
View File

@@ -113,6 +113,9 @@ object BusPassengerModel{
false
})
@Volatile
private var isGoingToNextStation = false
fun init(context: Context) {
mContext = context.applicationContext
initListeners()
@@ -227,6 +230,7 @@ object BusPassengerModel{
val station = stations[i]
if (station.drivingStatus == BusPassengerConst.STATION_STATUS_STOPPED && station.isLeaving && i + 1 < stations.size) { //离站
Logger.d(M_BUS_P + TAG, "order = station= leave")
isGoingToNextStation = true
mRouteLineInfoCallback!!.updateStationsInfo(stations, i + 1, false)
if (mNextStationIndex != i + 1) {
mTwoStationsRouts.clear()
@@ -241,6 +245,9 @@ object BusPassengerModel{
if (i == stations.size - 1) {
cleanStation("updatePassengerRouteInfo最后一个站点")
}
isGoingToNextStation = false
suspendCalculate()
Logger.d(M_BUS_P + TAG, "order = station= arrive")
@@ -487,15 +494,24 @@ object BusPassengerModel{
override fun onAutopilotStatusResponse(state: Int) {
if (state == IMoGoAutopilotStatusListener.STATUS_AUTOPILOT_RUNNING) {
if (mADASStatusCallback != null) mADASStatusCallback!!.onAutopilotRunning()
} else if (state == IMoGoAutopilotStatusListener.STATUS_AUTOPILOT_ENABLE) {
mTwoStationsRouts.clear()
if (mADASStatusCallback != null) mADASStatusCallback!!.onAutopilotEnable()
} else if (state == IMoGoAutopilotStatusListener.STATUS_AUTOPILOT_DISABLE) {
mTwoStationsRouts.clear()
if (mADASStatusCallback != null) mADASStatusCallback!!.onAutopilotDisable()
} else if (state == IMoGoAutopilotStatusListener.STATUS_PARALLEL_DRIVING) {
mTwoStationsRouts.clear()
if (mADASStatusCallback != null) mADASStatusCallback!!.onAutopilotRunning()
} else {
if (FunctionBuildConfig.isDemoMode &&
mNextStationIndex>= 0 && mNextStationIndex <= mStations.size - 1
&& isGoingToNextStation){
d(M_BUS_P + TAG, "FunctionBuildConfig.isDemoMode is true")
return
}
if (state == IMoGoAutopilotStatusListener.STATUS_AUTOPILOT_ENABLE) {
mTwoStationsRouts.clear()
if (mADASStatusCallback != null) mADASStatusCallback!!.onAutopilotEnable()
} else if (state == IMoGoAutopilotStatusListener.STATUS_AUTOPILOT_DISABLE) {
mTwoStationsRouts.clear()
if (mADASStatusCallback != null) mADASStatusCallback!!.onAutopilotDisable()
} else if (state == IMoGoAutopilotStatusListener.STATUS_PARALLEL_DRIVING) {
mTwoStationsRouts.clear()
if (mADASStatusCallback != null) mADASStatusCallback!!.onAutopilotRunning()
}
}
}
override fun onAutopilotArriveAtStation(arrivalNotification: ArrivalNotification?) {

2
OCH/bus/passenger/src/jinlvvan/java/com/mogo/och/bus/passenger/ui/BusPassengerRouteFragment.java
View File

@@ -453,8 +453,6 @@ public class BusPassengerRouteFragment extends
public void AutopilotStatusChanged(int status) {
if (IMoGoAutopilotStatusListener.STATUS_AUTOPILOT_RUNNING == status) {
mAutopilotIv.setImageResource(R.drawable.auto_open);
} else if (IMoGoAutopilotStatusListener.STATUS_AUTOPILOT_ENABLE == status){
mAutopilotIv.setImageResource(R.drawable.auto_close);
} else {
mAutopilotIv.setImageResource(R.drawable.auto_close);
}

15
OCH/charter/passenger/src/main/java/com/mogo/och/charter/passenger/bean/response/OrderInfoResponse.kt
View File

@@ -3,6 +3,7 @@ package com.mogo.och.charter.passenger.bean.response
import com.mogo.commons.AbsMogoApplication
import com.mogo.eagle.core.data.BaseData
import com.mogo.och.common.module.utils.CoordinateCalculateRouteUtil
import com.mogo.och.common.module.utils.DateTimeUtil
/**
*
@@ -65,6 +66,20 @@ data class OrderInfoResponse(val data: OrderInfo?) : BaseData() {
return null
}
}
override fun toString(): String {
return "OrderInfo(orderNo=$orderNo, sn=$sn, productType=${getProductTypeName()}, lineId=$lineId, lineName=$lineName, startSiteId=$startSiteId, startSiteName=$startSiteName, startSiteNameKr=$startSiteNameKr, siteId=$siteId, siteName=$siteName, siteNameKr=$siteNameKr, wgs84Lat=$wgs84Lat, wgs84Lon=$wgs84Lon, startTime=${DateTimeUtil.formatLongToString(startTime?:System.currentTimeMillis(), DateTimeUtil.MM_dd_HH_mm)}, endTime=${DateTimeUtil.formatLongToString(endTime?:System.currentTimeMillis(), DateTimeUtil.MM_dd_HH_mm)}, passengerPhone=$passengerPhone, arriveStatus=$arriveStatus)"
}
fun getProductTypeName(): String {
return when (productType) {
M1_LOVE -> "爱情号"
M1_FAMILY -> "家庭号"
M1_FRIENDLY -> "朋友号"
else -> "未知"
}
}
}
companion object{
val ARRIVING = 1

5
OCH/charter/passenger/src/main/java/com/mogo/och/charter/passenger/model/CharterPassengerModel.kt
View File

@@ -42,6 +42,7 @@ import com.mogo.och.common.module.biz.network.OchCommonServiceCallback
import com.mogo.och.common.module.manager.CharterSendTripInfoManager
import com.mogo.och.common.module.manager.CharterSendTripInfoManager.LEAVE_STATION
import com.mogo.och.common.module.manager.autopilotmanager.OCHAdasAbilityManager
import com.mogo.och.common.module.manager.orderlogmanager.OchChainLogManager
import com.mogo.och.common.module.utils.CoordinateCalculateRouteUtil
import com.mogo.och.common.module.utils.DateTimeUtil
import com.mogo.och.common.module.utils.PinYinUtil
@@ -393,6 +394,7 @@ object CharterPassengerModel {
this.orderInfo = orderData
setOrderStatus(OrderStatusEnum.OrdersWithLine)
updateAutopilotControlParameters()
OchChainLogManager.writeChainLog(this.orderInfo.toString(),"更改线路成功：${orderData.siteName}")
} else {
this.orderInfo = orderData
}
@@ -727,6 +729,7 @@ object CharterPassengerModel {
private fun setOrderStatus(orderStatus: OrderStatusEnum) {
if (this.orderStatus != orderStatus) {
d(M_BUS_P + TAG, "${this.orderInfo?.orderNo}新的状态：$orderStatus")
OchChainLogManager.writeChainLog(this.orderInfo.toString(),"新的状态：$orderStatus")
this.orderStatus = orderStatus
for (callback in orderStatusChangeListeners.values) {
callback.onStatusChange(this.orderStatus)
@@ -737,6 +740,7 @@ object CharterPassengerModel {
fun setEndOrderStatus() {
UiThreadHandler.postDelayed({
setOrderStatus(OrderStatusEnum.NoOrderUse)
OchChainLogManager.writeChainLog(this.orderInfo.toString(),"手动结束订单：$orderStatus")
}, 1000)
}
@@ -933,6 +937,7 @@ object CharterPassengerModel {
}
if (order != null && lineId != null && siteId != null) {
OchChainLogManager.writeChainLog(this.orderInfo.toString(),"到站成功：${order.siteName}")
VoiceManager.arrivedStation(
order.siteName!!,
order.siteNameKr ?: "",

2
OCH/charter/passenger/src/main/java/com/mogo/och/charter/passenger/presenter/BusPassengerPresenter.kt
View File

@@ -34,7 +34,7 @@ import com.mogo.och.charter.passenger.ui.overmapview.MakerWithSiteNamewithCheck
import com.mogo.och.common.module.biz.network.OchCommonServiceCallback
import com.mogo.och.common.module.manager.autopilotmanager.OCHAdasAbilityManager
import com.mogo.och.common.module.manager.StopSideStatusManager
import com.mogo.och.common.module.manager.devicemanage.LightAirconditionDoorCallback
import com.mogo.och.common.module.manager.devicemanage.callback.LightAirconditionDoorCallback
import com.mogo.och.common.module.utils.CoordinateCalculateRouteUtil
import com.mogo.och.common.module.voice.VoiceNotice
import com.mogo.och.common.module.wigets.toast.ToastCharterUtils

2
OCH/charter/passenger/src/main/java/com/mogo/och/charter/passenger/ui/softcontrol/SoftControlViewModel.kt
View File

@@ -6,7 +6,7 @@ import com.mogo.eagle.core.utilcode.mogo.logger.CallerLogger
import com.mogo.eagle.core.utilcode.mogo.logger.scene.SceneConstant.Companion.M_BUS_P
import com.mogo.eagle.core.utilcode.util.UiThreadHandler
import com.mogo.och.common.module.wigets.toast.ToastCharterUtils
import com.mogo.och.common.module.manager.devicemanage.LightAirconditionDoorCallback
import com.mogo.och.common.module.manager.devicemanage.callback.LightAirconditionDoorCallback
import com.mogo.och.common.module.manager.devicemanage.LightAirconditionDoorStatusManager
import com.mogo.och.common.module.manager.devicemanage.data.AirconditionStatus
import com.mogo.och.common.module.manager.devicemanage.data.HeaterStatue

6
OCH/mogo-och-common-module/src/main/java/com/mogo/och/common/module/manager/autopilotmanager/OCHAdasAbilityManager.java
View File

@@ -11,7 +11,7 @@ import com.mogo.eagle.core.function.call.autopilot.CallerAutopilotStatisticsList
import com.mogo.eagle.core.utilcode.mogo.logger.Logger;
import com.mogo.och.common.module.callback.OchAdasStartFailureCallback;
import com.zhjt.mogo.adas.data.bean.AutopilotStatistics;
import com.zhjt.mogo.adas.data.bean.UnableAutopilotReason;
import com.zhjt.mogo.adas.data.bean.UnableLaunchReason;
import java.util.ArrayList;
@@ -25,7 +25,7 @@ public class OCHAdasAbilityManager implements IMoGoAutopilotActionsListener, IMo
private static final String TAG = OCHAdasAbilityManager.class.getSimpleName();
private boolean isAutopilotAbility;
private ArrayList<UnableAutopilotReason> unableAutopilotReasons;
private ArrayList<UnableLaunchReason> unableAutopilotReasons;
private String startFailedCode = "";
private String startFailedMessage = "";
@@ -93,7 +93,7 @@ public class OCHAdasAbilityManager implements IMoGoAutopilotActionsListener, IMo
}
@Override
public void onAutopilotAbility(boolean isAutopilotAbility, @Nullable ArrayList<UnableAutopilotReason> unableAutopilotReasons) {
public void onAutopilotAbility(boolean isAutopilotAbility, @Nullable ArrayList<UnableLaunchReason> unableAutopilotReasons) {
this.isAutopilotAbility = isAutopilotAbility;
this.unableAutopilotReasons = unableAutopilotReasons;
Logger.d(TAG, "是否可以启动自动驾驶=" + isAutopilotAbility + " 原因=" + (unableAutopilotReasons == null ? null : unableAutopilotReasons.toString()));

1
OCH/mogo-och-common-module/src/main/java/com/mogo/och/common/module/manager/devicemanage/LightAirconditionDoorStatusManager.kt
View File

@@ -3,6 +3,7 @@ package com.mogo.och.common.module.manager.devicemanage
import chassis.VehicleStateOuterClass
import com.mogo.eagle.core.function.api.autopilot.IMoGoRoboBusJinlvM1StatesListener
import com.mogo.eagle.core.function.call.autopilot.CallerRoboBusJinlvM1StatesListenerManager
import com.mogo.och.common.module.manager.devicemanage.callback.LightAirconditionDoorCallback
import com.mogo.och.common.module.manager.devicemanage.data.AirconditionStatus
import com.mogo.och.common.module.manager.devicemanage.data.DoorStatus
import com.mogo.och.common.module.manager.devicemanage.data.HeaterStatue

129
OCH/mogo-och-common-module/src/main/java/com/mogo/och/common/module/manager/devicemanage/TaxiDoorStateManager.kt Normal file
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@@ -0,0 +1,129 @@
package com.mogo.och.common.module.manager.devicemanage
import chassis.Chassis
import chassis.VehicleStateOuterClass
import com.mogo.eagle.core.function.api.autopilot.IMoGoChassisDoorStateListener
import com.mogo.eagle.core.function.call.autopilot.CallerChassisDoorStateListenerManager
import com.mogo.eagle.core.function.call.base.CallerBase
import com.mogo.eagle.core.utilcode.mogo.logger.CallerLogger
import com.mogo.eagle.core.utilcode.mogo.logger.scene.SceneConstant
import com.mogo.och.common.module.manager.devicemanage.callback.DoorStateCallback
import com.mogo.och.common.module.manager.devicemanage.data.DoorPosition
import com.mogo.och.common.module.manager.devicemanage.data.DoorState
object TaxiDoorStateManager : IMoGoChassisDoorStateListener,
CallerBase<DoorStateCallback>() {
private val TAG = TaxiDoorStateManager::class.java.simpleName
@Volatile
private var haveOpenDoor: Boolean? = null
init {
CallerChassisDoorStateListenerManager.addListener(TAG, this)
}
override fun doSomeAfterAddListener(tag: String, listener: DoorStateCallback) {
val doorList = CallerChassisDoorStateListenerManager.getDoorList()
if(doorList is MutableList<VehicleStateOuterClass.DoorStateV2>){
doSomeAfterAddListenerInner(doorList)
doorList.forEach {
onAutopilotSingleDoorState(it.number,it.status)
}
}else{
doSomeAfterAddListenerInner(mutableListOf())
}
}
private fun doSomeAfterAddListenerInner(doorList: MutableList<VehicleStateOuterClass.DoorStateV2>){
var have = false
doorList.forEach {
if (it.status == 1) {//0关闭 1开着 2未知
have = true
}
}
haveOpenDoor = have
invokeOpenState(have)
}
/**
* 主要用来判断是否有门开着
*/
override fun onAutopilotDoorState(doorList: MutableList<VehicleStateOuterClass.DoorStateV2>) {
var have = false
doorList.forEach {
if (it.status == 1) {//0关闭 1开着 2未知
have = true
}
}
if (have != haveOpenDoor) {
haveOpenDoor = have
invokeOpenState(have)
}
}
/**
* 判断单个车门是否开着
*/
override fun onAutopilotSingleDoorState(num: Chassis.DoorNumber, status: Int) {
CallerLogger.d(SceneConstant.M_TAXI_P + TAG, "门太变化：${num}--${status}")
when (status) {
0 -> { exchangeEnum(num, DoorState.CLOSE)}
1 -> {exchangeEnum(num, DoorState.OPEN)}
2 -> {exchangeEnum(num, DoorState.UNKNOWN)}
else -> {}
}
}
private fun exchangeEnum(num: Chassis.DoorNumber, state: DoorState) {
when (num) {
Chassis.DoorNumber.FRONT_LEFT -> {
invokeSingleDoorOpenState(DoorPosition.FRONT_LEFT, state)
}
Chassis.DoorNumber.FRONT_RIGHT -> {
invokeSingleDoorOpenState(DoorPosition.FRONT_RIGHT, state)
}
Chassis.DoorNumber.REAR_LEFT -> {
invokeSingleDoorOpenState(DoorPosition.REAR_LEFT, state)
}
Chassis.DoorNumber.REAR_RIGHT -> {
invokeSingleDoorOpenState(DoorPosition.REAR_RIGHT, state)
}
Chassis.DoorNumber.MIDDLE -> {
invokeSingleDoorOpenState(DoorPosition.MIDDLE, state)
}
else -> {}
}
}
/**
* @param have true 有车门开着
* false 没有车门开着(可能开着可能未知)
*/
@Synchronized
private fun invokeOpenState(have: Boolean) {
M_LISTENERS.forEach {
val listener = it.value
listener.hasOpenDoor(have)
}
}
/**
* @param doorPosition 车门位置
* @param doorState 车门状态
*/
@Synchronized
private fun invokeSingleDoorOpenState(doorPosition: DoorPosition,doorState: DoorState) {
M_LISTENERS.forEach {
val listener = it.value
listener.doorStateChangeCallback(doorPosition,doorState)
}
}
}

19
OCH/mogo-och-common-module/src/main/java/com/mogo/och/common/module/manager/devicemanage/callback/DoorStateCallback.kt Normal file
View File

@@ -0,0 +1,19 @@
package com.mogo.och.common.module.manager.devicemanage.callback
import com.mogo.och.common.module.manager.devicemanage.data.DoorPosition
import com.mogo.och.common.module.manager.devicemanage.data.DoorState
interface DoorStateCallback {
/**
* @param have true 有车门开着
* false 没有车门开着(可能开着可能未知)
*/
fun hasOpenDoor(have:Boolean){}
/**
* @param position 车门位置
* @param state 当前车门状态
*/
fun doorStateChangeCallback(position: DoorPosition,state: DoorState){}
}

2
OCH/mogo-och-common-module/src/main/java/com/mogo/och/common/module/manager/devicemanage/LightAirconditionDoorCallback.kt → OCH/mogo-och-common-module/src/main/java/com/mogo/och/common/module/manager/devicemanage/callback/LightAirconditionDoorCallback.kt
View File

@@ -1,4 +1,4 @@
package com.mogo.och.common.module.manager.devicemanage
package com.mogo.och.common.module.manager.devicemanage.callback
import com.mogo.och.common.module.manager.devicemanage.data.AirconditionStatus
import com.mogo.och.common.module.manager.devicemanage.data.HeaterStatue

11
OCH/mogo-och-common-module/src/main/java/com/mogo/och/common/module/manager/devicemanage/data/DoorStatus.kt
View File

@@ -1,3 +1,12 @@
package com.mogo.och.common.module.manager.devicemanage.data
data class DoorStatus(var isOpen: Boolean)
data class DoorStatus(var isOpen: Boolean)
enum class DoorPosition {
FRONT_LEFT, FRONT_RIGHT, REAR_LEFT, REAR_RIGHT, MIDDLE
}
enum class DoorState {
OPEN,CLOSE,UNKNOWN
}

14
OCH/mogo-och-common-module/src/main/java/com/mogo/och/common/module/manager/distancemamager/TrajectoryAndDistanceManager.kt
View File

@@ -549,13 +549,13 @@ object TrajectoryAndDistanceManager: IMoGoPlanningRottingListener{
}
}
@ChainLog(
linkChainLog = ChainConstant.CHAIN_TYPE_OCH,
linkCode = ChainConstant.CHAIN_SOURCE_OCH,
nodeAliasCode = ChainConstant.CHAIN_CODE_OCH_COMMON_DISTANCE,
paramIndexes = [0,1]
)
fun writeLog(carLocationInfo: String, location: String) {
// @ChainLog(
// linkChainLog = ChainConstant.CHAIN_TYPE_OCH,
// linkCode = ChainConstant.CHAIN_SOURCE_OCH,
// nodeAliasCode = ChainConstant.CHAIN_CODE_OCH_COMMON_DISTANCE,
// paramIndexes = [0,1]
// )
private fun writeLog(carLocationInfo: String, location: String) {
d(M_OCHCOMMON+ TAG,carLocationInfo)
d(M_OCHCOMMON+ TAG,location)
}

44
OCH/mogo-och-common-module/src/main/java/com/mogo/och/common/module/manager/orderlogmanager/OchChainLogManager.kt Normal file
View File

@@ -0,0 +1,44 @@
package com.mogo.och.common.module.manager.orderlogmanager
import android.text.TextUtils
import com.mogo.cloud.passport.MoGoAiCloudClientConfig
import com.mogo.commons.debug.DebugConfig
import com.mogo.commons.utils.MogoAnalyticUtils
import com.mogo.eagle.core.data.app.AppConfigInfo
import com.mogo.eagle.core.data.deva.chain.ChainConstant
import com.mogo.eagle.core.utilcode.mogo.logger.CallerLogger.d
import com.mogo.eagle.core.utilcode.mogo.logger.scene.SceneConstant
import com.mogo.eagle.core.utilcode.util.DateTimeUtils
import com.zhjt.service.chain.ChainLog
object OchChainLogManager {
private val TAG = OchChainLogManager::class.java.simpleName
const val EVENT_KEY_INFE_WITH_CHANGE = "event_key_och_common_info_and_changeinfo"
/**
* @param Info 订单详细信息
* @param changeInfo 变化信息
*/
@ChainLog(
linkChainLog = ChainConstant.CHAIN_TYPE_OCH,
linkCode = ChainConstant.CHAIN_SOURCE_OCH,
nodeAliasCode = ChainConstant.CHAIN_CODE_OCH_COMMON_DISTANCE,
paramIndexes = [0,1]
)
fun writeChainLog(Info: String, changeInfo: String) {
d(SceneConstant.M_OCHCOMMON + TAG, Info)
d(SceneConstant.M_OCHCOMMON + TAG, changeInfo)
val plateNum = AppConfigInfo.plateNumber
val params = HashMap<String, Any>()
params["sn"] = MoGoAiCloudClientConfig.getInstance().sn
params["env"] = DebugConfig.getNetMode()
params["plate_number"] = if (TextUtils.isEmpty(plateNum)) "" else plateNum
params["time"] = DateTimeUtils.getTimeText(DateTimeUtils.yyyy_MM_dd_HH_mm_ss)
params["info"] = Info
params["changeInfo"] = changeInfo
MogoAnalyticUtils.track(EVENT_KEY_INFE_WITH_CHANGE, params)
}
}

27
OCH/mogo-och-common-module/src/main/java/com/mogo/och/common/module/manager/orderlogmanager/OrderChainLogManager.kt Normal file
View File

@@ -0,0 +1,27 @@
package com.mogo.och.common.module.manager.orderlogmanager
import com.mogo.eagle.core.data.deva.chain.ChainConstant
import com.mogo.eagle.core.utilcode.mogo.logger.CallerLogger.d
import com.mogo.eagle.core.utilcode.mogo.logger.scene.SceneConstant
import com.zhjt.service.chain.ChainLog
object OrderChainLogManager {
private val TAG = OrderChainLogManager::class.java.simpleName
/**
* @param orderInfo 订单详细信息
* @param changeInfo 变化信息
*/
@ChainLog(
linkChainLog = ChainConstant.CHAIN_TYPE_OCH,
linkCode = ChainConstant.CHAIN_SOURCE_OCH,
nodeAliasCode = ChainConstant.CHAIN_CODE_OCH_COMMON_DISTANCE,
paramIndexes = [0,1]
)
fun writeChainLog(orderInfo: String, changeInfo: String) {
d(SceneConstant.M_OCHCOMMON + TAG, orderInfo)
d(SceneConstant.M_OCHCOMMON + TAG, changeInfo)
}
}

98
OCH/mogo-och-common-module/src/main/java/com/mogo/och/common/module/utils/FlowBus.kt Normal file
View File

@@ -0,0 +1,98 @@
package com.mogo.och.common.module.utils
/**
* @author aibingbing
* @date: 2023/9/13
* @desc Flow Bus
*/
import android.util.Log
import androidx.lifecycle.*
import kotlinx.coroutines.CoroutineScope
import kotlinx.coroutines.channels.BufferOverflow
import kotlinx.coroutines.flow.*
import kotlinx.coroutines.launch
/**
* FlowBus消息总线
*/
object FlowBus {
private const val TAG = "FlowBus"
private val busMap = mutableMapOf<String, EventBus<*>>()
private val busStickMap = mutableMapOf<String, StickEventBus<*>>()
@Synchronized
fun <T> with(key: String): EventBus<T> {
var eventBus = busMap[key]
if (eventBus == null) {
eventBus = EventBus<T>(key)
busMap[key] = eventBus
}
return eventBus as EventBus<T>
}
@Synchronized
fun <T> withStick(key: String): StickEventBus<T> {
var eventBus = busStickMap[key]
if (eventBus == null) {
eventBus = StickEventBus<T>(key)
busStickMap[key] = eventBus
}
return eventBus as StickEventBus<T>
}
//真正实现类
open class EventBus<T>(private val key: String) : LifecycleObserver {
//私有对象用于发送消息
private val _events: MutableSharedFlow<T> by lazy {
obtainEvent()
}
//暴露的公有对象用于接收消息
private val events = _events.asSharedFlow()
open fun obtainEvent(): MutableSharedFlow<T> =
MutableSharedFlow(0, 1, BufferOverflow.DROP_OLDEST)
//主线程接收数据
fun register(lifecycleOwner: LifecycleOwner, action: (t: T) -> Unit) {
lifecycleOwner.lifecycle.addObserver(this)
lifecycleOwner.lifecycleScope.launch {
events.collect {
try {
action(it)
} catch (e: Exception) {
e.printStackTrace()
Log.e(TAG, "FlowBus - Error:$e")
}
}
}
}
//协程中发送数据
suspend fun post(event: T) {
_events.emit(event)
}
//主线程发送数据
fun post(scope: CoroutineScope, event: T) {
scope.launch {
_events.emit(event)
}
}
//自动销毁
@OnLifecycleEvent(Lifecycle.Event.ON_DESTROY)
fun onDestroy() {
Log.w(TAG, "FlowBus - 自动onDestroy")
val subscriptCount = _events.subscriptionCount.value
if (subscriptCount <= 0)
busMap.remove(key)
}
}
class StickEventBus<T>(key: String) : EventBus<T>(key) {
override fun obtainEvent(): MutableSharedFlow<T> =
MutableSharedFlow(1, 1, BufferOverflow.DROP_OLDEST)
}
}

4
OCH/mogo-och-common-module/src/main/java/com/mogo/och/common/module/utils/FrameAnimatorContainer.kt
View File

@@ -121,6 +121,10 @@ class FrameAnimatorContainer (resId: Int, fps: Int, imageView: ImageView,initFir
mShouldRun = false
}
fun isPlaying():Boolean{
return mShouldRun
}
/**
* 设置停止播放监听
* @param listener 设置监听

9
OCH/mogo-och-common-module/src/main/java/com/mogo/och/common/module/utils/RxUtils.kt
View File

@@ -36,12 +36,11 @@ object RxUtils {
}
}
fun isDisposed(disposable: Disposable?):Boolean{
if(disposable!=null){
return true
fun isNotDisposed(disposable: Disposable?):Boolean{
if(disposable==null){
return false
}
return false
return !disposable.isDisposed
}
// 调用Disposable.dispose() 时候会出现InterruptedException 导致出现崩溃

148
OCH/mogo-och-common-module/src/main/java/com/mogo/och/common/module/wigets/CountDownTimerExt.kt Normal file
View File

@@ -0,0 +1,148 @@
package com.mogo.och.common.module.wigets
import android.os.CountDownTimer
import android.util.Log
/**
* @author: wangmingjun
* @date: 2023/9/18
* 支持pause的倒计时, 由CountDownTimer实现的，
* 注意CountdownTimer的源码，start(),pause(),cancel()方法都是用message和handler实现的
* 如果是在子线程中执行，要加调用Looper.prepare()及Looper.loop()
* 或者是使用 runOnMainThread 使其在主线程中执行
**/
abstract class CountDownTimerExt(
private var millisInFuture: Long,
/**
* 间隔
*/
private var mInterval: Long
) {
/**
* 倒计时实现类
*/
private var countDownTimer: CountDownTimer? = null
private var isTimerPaused = true
var remainingTime: Long
/**
* @param millisInFutureIn 总时长
* @param interval onTick间隔
*/
init {
remainingTime = millisInFuture
}
fun start() {
startIt(remainingTime, mInterval)
}
fun start(millisInFutureIn: Long, remainingTimeIn: Long, interval: Long) {
millisInFuture = millisInFutureIn
remainingTime = remainingTimeIn
mInterval = interval
start()
}
@Synchronized
fun startIt(millisInFutureIn: Long, interval: Long) {
remainingTime = millisInFutureIn
mInterval = interval
if (millisInFuture > 0L && interval > 0L) {
if (!isTimerPaused) {
// 有运行中的先stop
stop()
}
if (isTimerPaused) {
// 有暂停或未运行的，创建CountDownTimer实现, 确保运行在主线程
countDownTimer = object : CountDownTimer(remainingTime, mInterval) {
override fun onFinish() {
onTimerFinish()
stop()
}
override fun onTick(millisUntilFinished: Long) {
// 这里会记录剩余的时长保存到remainingTime, 方便暂停后能再恢复
remainingTime = millisUntilFinished
onTimerTick(millisUntilFinished)
}
}
try {
countDownTimer?.start()
} catch (e: Exception) {
e.printStackTrace()
}
isTimerPaused = false
} else {
Log.d(TAG, "ignore start")
}
} else {
Log.d(TAG, "invalid parameter")
}
}
/**
* 停止
*/
fun stop() {
try {
countDownTimer?.cancel()
} catch (e: Exception) {
e.printStackTrace()
}
isTimerPaused = true
remainingTime = millisInFuture
}
/**
* 暂停
*/
fun pause() {
if (!isTimerPaused) {
try {
countDownTimer?.cancel()
} catch (e: Exception) {
e.printStackTrace()
}
isTimerPaused = true
onTimerPause()
}
}
/**
* 恢复
*/
fun resume() {
if (!isRunning) {
// 通过remainingTime得到剩余的时长
startIt(remainingTime, mInterval)
onTimerResume(remainingTime)
}
}
private val isRunning: Boolean
/**
* 运行中
* @return
*/
get() = !isTimerPaused
/**
* 每次触发倒计时回调
* @param value
*/
abstract fun onTimerTick(value: Long)
/**
* 倒计时完成回调
*/
abstract fun onTimerFinish()
abstract fun onTimerPause()
abstract fun onTimerResume(remainingTime: Long)
companion object {
private const val TAG = "CountDownTimerExt"
}
}

81
OCH/mogo-och-common-module/src/main/java/com/mogo/och/common/module/wigets/StartAutopilotAnimationView.kt
View File

@@ -32,10 +32,13 @@ class StartAutopilotAnimationView @JvmOverloads constructor(
private const val TAG = "StartAutopilotAnimationView"
}
private var startTimer: CountDownTimer? = null
private var startTimer: CountDownTimerExt? = null
private val mContext: Context
private var mTimerListener: AnimationViewTimerListener? = null
private val closeWarningTask: Runnable = Runnable {
//开始倒计时
countDownTimer()
showWarning(DirectionEnum.ALERT_WARNING_NON)
}
@@ -58,17 +61,36 @@ class StartAutopilotAnimationView @JvmOverloads constructor(
super.onAttachedToWindow()
}
fun show(direction: DirectionEnum, time: Long) {
fun show(direction: DirectionEnum, time: Long,listener: AnimationViewTimerListener) {
mTimerListener = listener
//开始倒计时
countDownTimer()
showWarning(direction, time)
}
fun pause(){
pauseWarning()
}
private fun pauseWarning() {
startTimer?.pause()
}
fun resume(){
resumeWarning()
}
private fun resumeWarning() {
startTimer?.resume()
}
fun dismiss(direction: DirectionEnum) {
dismissWarning(direction)
cancelCountdown()
}
fun cancelCountdown(){ //防止内存泄漏
startTimer?.cancel()
startTimer?.stop()
startTimer = null
}
@@ -78,8 +100,6 @@ class StartAutopilotAnimationView @JvmOverloads constructor(
* @see WarningDirectionEnum
*/
private fun showWarning(direction: DirectionEnum, time: Long = ALL_CLOSE_TIMER) {
//开始倒计时
countDownTimer()
// 如果传入的不是关闭显示，则设置倒计时，定时关闭红框警示
if (oldDirection.get() == direction) {
@@ -131,6 +151,26 @@ class StartAutopilotAnimationView @JvmOverloads constructor(
}
}
private fun pauseWarning(direction: DirectionEnum) {
if (direction == DirectionEnum.ALERT_WARNING_NON) {
return
}
removeCallbacks(closeWarningTask)
post {
when (direction) {
DirectionEnum.ALERT_WARNING_TOP -> {
startAutopilotTipImg.visibility = View.VISIBLE
startAutopilotTip.visibility = View.VISIBLE
}
else -> {
CallerLogger.d("$M_HMI$TAG", "Not Support Direction")
}
}
clearAnimation()
this.oldDirection.set(null)
}
}
override fun onDetachedFromWindow() {
super.onDetachedFromWindow()
}
@@ -148,21 +188,37 @@ class StartAutopilotAnimationView @JvmOverloads constructor(
startAutopilotTip.visibility = VISIBLE
startTimer = object : CountDownTimer(ALL_CLOSE_TIMER, 1000L) {// 5倒计时后开启自驾
startTimer = object : CountDownTimerExt(ALL_CLOSE_TIMER, 1000L) {// 5倒计时后开启自驾
@SuppressLint("SetTextI18n")
override fun onTick(millisUntilFinished: Long) {
override fun onTimerTick(value: Long) {
// 倒计时
UiThreadHandler.post {
startAutopilotTip.text = "${(millisUntilFinished/1000).toInt()} 车辆即将自动开启自动驾驶"
startAutopilotTip.text = "${(value/1000).toInt()} 车辆即将自动开启自动驾驶"
}
playDI()
}
override fun onFinish() {
override fun onTimerFinish() {
//倒计时结束了...
UiThreadHandler.post {
startAutopilotTip.text = "车辆正在自动开启自动驾驶"
dismiss(DirectionEnum.ALERT_WARNING_TOP)
}
}
override fun onTimerPause() {
//倒计时暂停
UiThreadHandler.post {
pauseWarning(DirectionEnum.ALERT_WARNING_TOP)
mTimerListener?.onTimerPause()
}
}
override fun onTimerResume(remainingTime: Long) {
//倒计时继续对动画UI处理
UiThreadHandler.post {
showWarning(DirectionEnum.ALERT_WARNING_TOP, remainingTime)
mTimerListener?.onTimerResume(remainingTime)
}
}
}
@@ -170,4 +226,9 @@ class StartAutopilotAnimationView @JvmOverloads constructor(
startTimer?.start()
}
interface AnimationViewTimerListener{
fun onTimerResume(remainingTime: Long)
fun onTimerPause()
}
}

37
OCH/shuttle/passenger/src/jinlvvan/java/com/mogo/och/bus/passenger/model/BusPassengerModel.java
View File

@@ -119,6 +119,8 @@ public class BusPassengerModel {
private int mPreRouteIndex = 0;
private int mWipePreIndex = 0;
private volatile boolean isGoingToNextStation = false;
private static final int MSG_QUERY_BUS_P_STATION = 1001;
private final Handler handler = new Handler(new Handler.Callback() {
@Override
@@ -291,6 +293,8 @@ public class BusPassengerModel {
for (int i = 0; i< stations.size(); i++){
BusStationBean station = stations.get(i);
if (station.getDrivingStatus() == STATION_STATUS_STOPPED && station.isLeaving() && i+1 < stations.size()){
Logger.d(M_BUS_P + TAG, "order = station= leave");
isGoingToNextStation = true;
mRouteLineInfoCallback.updateStationsInfo(stations,i+1,false);
if(mNextStationIndex != i+1){
mTwoStationsRouts.clear();
@@ -302,6 +306,9 @@ public class BusPassengerModel {
if (i == 0){
startOrStopRouteAndWipe(false);
}
isGoingToNextStation = false;
Logger.d(M_BUS_P + TAG, "order = station= arrive");
mPreRouteIndex = 0;
startOrStopCalculateRouteInfo(false);
mRouteLineInfoCallback.updateStationsInfo(stations,i,true);
@@ -452,8 +459,6 @@ public class BusPassengerModel {
}
};
private volatile int mPreAutoStatus = -1;
private final IMoGoAutopilotStatusListener mGoAutopilotStatusListener = new IMoGoAutopilotStatusListener(){
@Override
public void onSystemStatus(@NonNull SsmInfo.SsmStatusInf statusInf) {
@@ -492,27 +497,29 @@ public class BusPassengerModel {
int state = autopilotStatusInfo.getState();
if (state == IMoGoAutopilotStatusListener.STATUS_AUTOPILOT_RUNNING) {
//2022.7.20 自动驾驶更换成带档位的
if(state != mPreAutoStatus && null != routesResult){
if(null != routesResult){
CallerAutoPilotControlManager.INSTANCE.getGlobalPath();
}
if (mADASStatusCallback != null) mADASStatusCallback.onAutopilotRunning();
} else if (state == IMoGoAutopilotStatusListener.STATUS_AUTOPILOT_ENABLE) {
if(state != mPreAutoStatus){
mTwoStationsRouts.clear();
} else{
if (FunctionBuildConfig.isDemoMode &&
mNextStationIndex>= 0 && mNextStationIndex <= mStations.size() - 1
&& isGoingToNextStation){
Logger.d(M_BUS_P + TAG, "FunctionBuildConfig.isDemoMode is true");
return;
}
if (mADASStatusCallback != null) mADASStatusCallback.onAutopilotEnable();
} else if (state == IMoGoAutopilotStatusListener.STATUS_AUTOPILOT_DISABLE) {
if(state != mPreAutoStatus){
if (state == IMoGoAutopilotStatusListener.STATUS_AUTOPILOT_ENABLE) {
mTwoStationsRouts.clear();
}
if (mADASStatusCallback != null) mADASStatusCallback.onAutopilotDisable();
}else if (state == IMoGoAutopilotStatusListener.STATUS_PARALLEL_DRIVING){
if(state != mPreAutoStatus){
if (mADASStatusCallback != null) mADASStatusCallback.onAutopilotEnable();
} else if (state == IMoGoAutopilotStatusListener.STATUS_AUTOPILOT_DISABLE) {
mTwoStationsRouts.clear();
if (mADASStatusCallback != null) mADASStatusCallback.onAutopilotDisable();
}else if (state == IMoGoAutopilotStatusListener.STATUS_PARALLEL_DRIVING){
mTwoStationsRouts.clear();
if (mADASStatusCallback != null) mADASStatusCallback.onAutopilotRunning();
}
if (mADASStatusCallback != null) mADASStatusCallback.onAutopilotRunning();
}
mPreAutoStatus = state;
}
@Override

2
OCH/shuttle/passenger/src/jinlvvan/java/com/mogo/och/bus/passenger/ui/BusPassengerRouteFragment.java
View File

@@ -389,8 +389,6 @@ public class BusPassengerRouteFragment extends
public void AutopilotStatusChanged(int status) {
if (IMoGoAutopilotStatusListener.STATUS_AUTOPILOT_RUNNING == status) {
mAutopilotIv.setImageResource(R.drawable.auto_open);
} else if (IMoGoAutopilotStatusListener.STATUS_AUTOPILOT_ENABLE == status){
mAutopilotIv.setImageResource(R.drawable.auto_close);
} else {
mAutopilotIv.setImageResource(R.drawable.auto_close);
}

6
OCH/sweeper/sweeper-cloud/src/main/java/com/mogo/och/sweepercloud/callback/ISweeperCloudTaskCallback.kt
View File

@@ -3,7 +3,7 @@ package com.mogo.och.sweepercloud.callback
import chassis.ChassisStatesOuterClass
import com.mogo.och.sweepercloud.bean.SweeperRoutePlanningUpdateReqBean
import com.mogo.och.sweepercloud.database.bean.WeltDataBean
import com.zhjt.mogo.adas.data.sweeper.SweeperCloudTask
import com.zhjt.mogo.adas.data.AiCloudTask
import com.zhjt.mogo.adas.data.sweeper.bootable.SweeperBootable
import com.zhjt.mogo.adas.data.sweeper.bootable.SweeperBootable.IsBootableResp
import com.zhjt.mogo.adas.data.sweeper.common.SweeperCommon
@@ -20,7 +20,7 @@ interface ISweeperCloudTaskCallback {
/**
* 接取云端任务/正在执行中任务信息回调
*/
fun onSweeperCloudTask(messageType: SweeperCloudTask.MessageType,taskInfo: SweeperTask.TaskInfo?)
fun onSweeperCloudTask(messageType: AiCloudTask.MessageType, taskInfo: SweeperTask.TaskInfo?)
/**
* 云端下发子任务请求pad确认
@@ -40,7 +40,7 @@ interface ISweeperCloudTaskCallback {
/**
* 挂起/恢复
*/
fun onSweeperCloudTaskSuspendResume(messageType: SweeperCloudTask.MessageType,taskId:String,subTaskId:String,code:Code)
fun onSweeperCloudTaskSuspendResume(messageType: AiCloudTask.MessageType,taskId:String,subTaskId:String,code:Code)
/**
* pad请求云端进入自驾

155
OCH/sweeper/sweeper-cloud/src/main/java/com/mogo/och/sweepercloud/model/SweeperTaskModel.java
View File

@@ -39,10 +39,11 @@ import com.mogo.och.sweepercloud.constant.SweeperConst;
import com.mogo.och.sweepercloud.database.MyDataBase;
import com.mogo.och.sweepercloud.database.bean.WeltDataBean;
import com.mogo.och.sweepercloud.util.SweeperCloudTaskUtils;
import com.zhjt.mogo.adas.data.sweeper.SweeperCloudTask;
import com.zhjt.mogo.adas.data.AiCloudTask;
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.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;
@@ -183,7 +184,6 @@ public class SweeperTaskModel implements IMoGoSweeperFutianCloudTaskListener, IM
});
}
public void setControllerStatusCallback(ISweeperControllerStatusCallback callback) {
this.mControllerStatusCallback = callback;
}
@@ -217,7 +217,6 @@ public class SweeperTaskModel implements IMoGoSweeperFutianCloudTaskListener, IM
}
}
}
};
public void setSubtask(String subTaskId, SweeperTask.TaskModel subTaskType, int currentLineId) {
@@ -257,8 +256,9 @@ 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);
@@ -305,7 +305,6 @@ 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;
}
}
};
@@ -333,7 +332,7 @@ public class SweeperTaskModel implements IMoGoSweeperFutianCloudTaskListener, IM
}
@Override
public void onSweeperFutianCloudTask(@NonNull SweeperCloudTask.MessageType messageType, String reqNo, long sysTime,
public void onSweeperFutianCloudTask(@NonNull AiCloudTask.MessageType messageType, String reqNo, long sysTime,
SweeperTask.TaskInfo taskInfo) {
CallerLogger.d(M_SWEEPER + TAG,
@@ -345,7 +344,7 @@ public class SweeperTaskModel implements IMoGoSweeperFutianCloudTaskListener, IM
}
@Override
public void onSweeperFutianCloudTaskConfirm(@NonNull SweeperCloudTask.MessageType messageType, String reqNo, long sysTime,
public void onSweeperFutianCloudTaskConfirm(@NonNull AiCloudTask.MessageType messageType, String reqNo, long sysTime,
SweeperTaskConfirm.TaskConfirm taskConfirm) {
CallerLogger.d(M_SWEEPER + TAG, "messageType: " + messageType.getNumber() + " sysTime：" + sysTime + " reqNo：" + reqNo + " " +
@@ -357,7 +356,7 @@ public class SweeperTaskModel implements IMoGoSweeperFutianCloudTaskListener, IM
}
@Override
public void onSweeperFutianCloudTaskStatus(@NonNull SweeperCloudTask.MessageType messageType, String reqNo, long sysTime,
public void onSweeperFutianCloudTaskStatus(@NonNull AiCloudTask.MessageType messageType, String reqNo, long sysTime,
SweeperTaskStatus.TaskStatusPush taskStatusPush) {
CallerLogger.d(M_SWEEPER + TAG, "messageType: " + messageType.getNumber() + " sysTime：" + sysTime + " reqNo：" + reqNo + " " +
"onSweeperFutianCloudTaskStatus：" + printMessage(taskStatusPush));
@@ -368,7 +367,7 @@ public class SweeperTaskModel implements IMoGoSweeperFutianCloudTaskListener, IM
}
@Override
public void onSweeperFutianCloudTaskStop(@NonNull SweeperCloudTask.MessageType messageType, String reqNo, long sysTime,
public void onSweeperFutianCloudTaskStop(@NonNull AiCloudTask.MessageType messageType, String reqNo, long sysTime,
SweeperTaskStop.StopTaskReq stopTaskReq) {
CallerLogger.d(M_SWEEPER + TAG, "messageType: " + messageType.getNumber() + " sysTime：" + sysTime + " reqNo：" + reqNo + " " +
"onSweeperFutianCloudTaskStop：" + printMessage(stopTaskReq));
@@ -379,7 +378,7 @@ public class SweeperTaskModel implements IMoGoSweeperFutianCloudTaskListener, IM
}
@Override
public void onSweeperFutianCloudTaskSuspendResume(@NonNull SweeperCloudTask.MessageType messageType, String reqNo, long sysTime,
public void onSweeperFutianCloudTaskSuspendResume(@NonNull AiCloudTask.MessageType messageType, String reqNo, long sysTime,
SweeperTaskSuspendResume.SuspendResumeTaskResp suspendResumeTaskResp) {
CallerLogger.d(M_SWEEPER + TAG, "messageType: " + messageType.getNumber() + " sysTime：" + sysTime + " reqNo：" + reqNo + " " +
"onSweeperFutianCloudTaskSuspendResume：" + printMessage(suspendResumeTaskResp));
@@ -391,7 +390,7 @@ public class SweeperTaskModel implements IMoGoSweeperFutianCloudTaskListener, IM
}
@Override
public void onSweeperFutianCloudBootable(@NonNull SweeperCloudTask.MessageType messageType, String reqNo, long sysTime,
public void onSweeperFutianCloudBootable(@NonNull AiCloudTask.MessageType messageType, String reqNo, long sysTime,
SweeperBootable.IsBootableResp isBootableResp) {
CallerLogger.d(M_SWEEPER + TAG, "messageType: " + messageType.getNumber() + " sysTime：" + sysTime + " reqNo：" + reqNo + " " +
"onSweeperFutianCloudBootable：" + printMessage(isBootableResp));
@@ -402,13 +401,24 @@ public class SweeperTaskModel implements IMoGoSweeperFutianCloudTaskListener, IM
}
@Override
public void onSweeperFutianCloudBigTaskStatus(@NonNull SweeperCloudTask.MessageType messageType, String reqNo, long sysTime,
public void onSweeperFutianCloudBigTaskStatus(@NonNull AiCloudTask.MessageType messageType, String reqNo, long sysTime,
SweeperBigTaskStatus.BigTaskStatusPush bigTaskStatusPush) {
CallerLogger.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());
mSweeperTaskCallback.onSweeperCloudBigTaskStatus(bigTaskStatusPush.getTaskId(), bigTaskStatusPush.getTaskStatus(), bigTaskStatusPush.getIsPop());
}
}
@Override
public void onSweeperFutianCloudTaskCloudSuspendResume(@NonNull AiCloudTask.MessageType messageType, @Nullable String reqNo, long sysTime,
@Nullable SweeperTaskCloudSuspendResume.BigTaskActionPush bigTaskActionPush) {
CallerLogger.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());
}
}
@@ -430,24 +440,25 @@ public class SweeperTaskModel implements IMoGoSweeperFutianCloudTaskListener, IM
@Override
public void onSweeperFutianTaskIndexData(@NonNull RoboSweeperTaskIndexOuterClass.RoboSweeperTaskIndex 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);
// 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);
}
/**
@@ -494,7 +505,7 @@ public class SweeperTaskModel implements IMoGoSweeperFutianCloudTaskListener, IM
}
}
public static String format(double value) {
private static String format(double value) {
BigDecimal bd = new BigDecimal(value);
bd = bd.setScale(2, RoundingMode.HALF_UP);
return bd.toString();
@@ -508,8 +519,9 @@ public class SweeperTaskModel implements IMoGoSweeperFutianCloudTaskListener, IM
builder.setSn(getDriverSn());
String reqNo = SweeperCloudTaskUtils.getRequestId();
SweeperTask.GetTaskReq getTaskReq = builder.build();
CallerLogger.d(M_SWEEPER + TAG,
"getCurrentTask:" + printMessage(getTaskReq) + " reqNo:" + reqNo + " messageType:" + SweeperCloudTask.MessageType.PadSendGetTaskReq.getNumber());
"getCurrentTask:" + printMessage(getTaskReq) + " reqNo:" + reqNo + " messageType:" + AiCloudTask.MessageType.PadSendGetTaskReq.getNumber());
getAutoPilotControlManager().sendSweeperGetTaskReq(reqNo, getTaskReq);
}
@@ -522,10 +534,11 @@ public class SweeperTaskModel implements IMoGoSweeperFutianCloudTaskListener, IM
builder.setTaskId(taskId);
builder.setCode(code);
SweeperTask.StartTaskResp startTaskResp = builder.build();
String reqNo = msgTypeAndReqNo.get(SweeperCloudTask.MessageType.CloudPushTask.getNumber());
String reqNo = msgTypeAndReqNo.get(AiCloudTask.MessageType.CloudPushTask.getNumber());
getAutoPilotControlManager().sendSweeperStartTaskResp(reqNo, startTaskResp);
CallerLogger.d(M_SWEEPER + TAG,
"sendSweeperStartTaskResp:" + printMessage(startTaskResp) + " reqNo:" + reqNo + " messageType:" + SweeperCloudTask.MessageType.CloudPushTask.getNumber());
"sendSweeperStartTaskResp:" + printMessage(startTaskResp) + " reqNo:" + reqNo + " messageType:" + AiCloudTask.MessageType.CloudPushTask.getNumber());
}
/**
@@ -538,9 +551,9 @@ public class SweeperTaskModel implements IMoGoSweeperFutianCloudTaskListener, IM
builder.setSubTaskId(subTaskId);
builder.setCode(code);
SweeperTaskConfirm.TaskConfirmResp taskConfirmResp = builder.build();
String reqNo = msgTypeAndReqNo.get(SweeperCloudTask.MessageType.CloudPushTaskConfirm.getNumber());
String reqNo = msgTypeAndReqNo.get(AiCloudTask.MessageType.CloudPushTaskConfirm.getNumber());
CallerLogger.d(M_SWEEPER + TAG,
"sendSweeperTaskConfirmResp" + printMessage(taskConfirmResp) + " reqNo:" + reqNo + " messageType:" + SweeperCloudTask.MessageType.CloudPushTaskConfirm.getNumber());
"sendSweeperTaskConfirmResp" + printMessage(taskConfirmResp) + " reqNo:" + reqNo + " messageType:" + AiCloudTask.MessageType.CloudPushTaskConfirm.getNumber());
getAutoPilotControlManager().sendSweeperTaskConfirmResp(reqNo, taskConfirmResp);
}
@@ -556,9 +569,10 @@ public class SweeperTaskModel implements IMoGoSweeperFutianCloudTaskListener, IM
builder.setTaskId(taskId);
builder.setCode(code);
SweeperTaskStop.StopTaskResp stopTaskResp = builder.build();
String reqNo = msgTypeAndReqNo.get(SweeperCloudTask.MessageType.CloudPushTaskStop.getNumber());
String reqNo = msgTypeAndReqNo.get(AiCloudTask.MessageType.CloudPushTaskStop.getNumber());
CallerLogger.d(M_SWEEPER + TAG,
"sendSweeperStopTaskResp" + printMessage(stopTaskResp) + " reqNo:" + reqNo + " messageType:" + SweeperCloudTask.MessageType.CloudPushTaskStop.getNumber());
"sendSweeperStopTaskResp" + printMessage(stopTaskResp) + " reqNo:" + reqNo + " messageType:" + AiCloudTask.MessageType.CloudPushTaskStop.getNumber());
getAutoPilotControlManager().sendSweeperStopTaskResp(reqNo, stopTaskResp);
}
@@ -577,13 +591,31 @@ public class SweeperTaskModel implements IMoGoSweeperFutianCloudTaskListener, IM
builder.setLineId(lineId);
SweeperBootable.IsBootable isBootable = builder.build();
String reqNo = SweeperCloudTaskUtils.getRequestId();
CallerLogger.d(M_SWEEPER + TAG,
"sendSweeperAutopilotBootable" + printMessage(isBootable) + " reqNo:" + reqNo + " messageType:" + SweeperCloudTask.MessageType.PadSendBootable.getNumber());
"sendSweeperAutopilotBootable" + printMessage(isBootable) + " reqNo:" + reqNo + " messageType:" + AiCloudTask.MessageType.PadSendBootable.getNumber());
getAutoPilotControlManager().sendSweeperAutopilotBootable(reqNo, isBootable);
// TODO: 2023/5/16
//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(AiCloudTask.MessageType.CloudPushTaskSuspendResume.getNumber());
CallerLogger.d(M_SWEEPER + TAG,
"sendSweeperSuspendResumeTaskResp" + printMessage(resp) + " reqNo:" + reqNo + " messageType:" + AiCloudTask.MessageType.CloudPushTaskSuspendResume);
getAutoPilotControlManager().sendSweeperCloudSuspendResumeTaskResp(reqNo, resp);
}
public CallerAutoPilotControlManager getAutoPilotControlManager() {
return CallerAutoPilotControlManager.INSTANCE;
}
@@ -594,23 +626,7 @@ public class SweeperTaskModel implements IMoGoSweeperFutianCloudTaskListener, IM
@Override
public void onAutopilotStatusResponse(@NonNull AutopilotStatusInfo autoPilotStatusInfo) {
//CallerLogger.d(M_SWEEPER + TAG, "onAutopilotStatusResponse state:" + autoPilotStatusInfo.getState());
this.mAutopilotState = autoPilotStatusInfo.getState();
if (mControllerStatusCallback != null) {
mControllerStatusCallback.onAutopilotState(autoPilotStatusInfo.getState());
}
switch (autoPilotStatusInfo.getState()) {
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;
}
}
@Override
@@ -631,6 +647,7 @@ 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);
@@ -666,11 +683,27 @@ public class SweeperTaskModel implements IMoGoSweeperFutianCloudTaskListener, IM
@Override
public void onAutopilotStatusResponse(int state) {
// TODO: 2023/6/19 bingbing
//CallerLogger.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;
}
}
@Override
public void onAutopilotDockerInfo(@NonNull String dockerVersion) {
// TODO: 2023/6/19 bingbing
}
}

14
OCH/sweeper/sweeper-cloud/src/main/java/com/mogo/och/sweepercloud/util/SweeperCloudTaskUtils.kt
View File

@@ -19,7 +19,7 @@ import com.mogo.och.sweepercloud.callback.SweeperCloudDialogClickListener
import com.mogo.och.sweepercloud.constant.SweeperConst
import com.mogo.och.sweepercloud.model.SweeperTaskModel
import com.mogo.och.sweepercloud.ui.dialog.SweeperCloudDialog
import com.zhjt.mogo.adas.data.sweeper.SweeperCloudTask.MessageType
import com.zhjt.mogo.adas.data.AiCloudTask
import com.zhjt.mogo.adas.data.sweeper.bootable.SweeperBootable
import com.zhjt.mogo.adas.data.sweeper.common.SweeperCommon
import com.zhjt.mogo.adas.data.sweeper.task.SweeperTask.Location
@@ -50,7 +50,7 @@ object SweeperCloudTaskUtils {
* 模拟云控发送任务给pad
*/
@JvmStatic
fun mockSendCloudTaskInfo(messageType: MessageType) {
fun mockSendCloudTaskInfo(messageType: AiCloudTask.MessageType) {
val builder = TaskInfo.newBuilder()
builder.sn = getDriverSn()
builder.taskId = "10"
@@ -169,7 +169,7 @@ object SweeperCloudTaskUtils {
builder.taskId = "10"
builder.subTaskId = "1"
SweeperTaskModel.getInstance().onSweeperFutianCloudTaskConfirm(
MessageType.CloudPushTaskConfirm, "${System.currentTimeMillis()}",
AiCloudTask.MessageType.CloudPushTaskConfirm, "${System.currentTimeMillis()}",
System.currentTimeMillis(), builder.build()
)
}
@@ -185,7 +185,7 @@ object SweeperCloudTaskUtils {
builder.subTaskId = "1"
builder.taskStatus = SweeperCommon.TaskStatus.RUNNING
SweeperTaskModel.getInstance().onSweeperFutianCloudTaskStatus(
MessageType.CloudPushTaskStatus, "${System.currentTimeMillis()}",
AiCloudTask.MessageType.CloudPushTaskStatus, "${System.currentTimeMillis()}",
System.currentTimeMillis(), builder.build()
)
}
@@ -200,7 +200,7 @@ object SweeperCloudTaskUtils {
builder.taskId = "10"
builder.type = SweeperTaskStop.StopTaskType.ADVANCE
SweeperTaskModel.getInstance().onSweeperFutianCloudTaskStop(
MessageType.CloudPushTaskStop, "${System.currentTimeMillis()}",
AiCloudTask.MessageType.CloudPushTaskStop, "${System.currentTimeMillis()}",
System.currentTimeMillis(), builder.build()
)
}
@@ -216,7 +216,7 @@ object SweeperCloudTaskUtils {
builder.taskStatus = SweeperCommon.TaskStatus.FINISHED
builder.systemTime = System.currentTimeMillis()
SweeperTaskModel.getInstance().onSweeperFutianCloudBigTaskStatus(
MessageType.CloudPushBigTaskStatus, "${System.currentTimeMillis()}",
AiCloudTask.MessageType.CloudPushBigTaskStatus, "${System.currentTimeMillis()}",
System.currentTimeMillis(), builder.build()
)
}
@@ -233,7 +233,7 @@ object SweeperCloudTaskUtils {
builder.code = SweeperCommon.Code.SUCCEED
UiThreadHandler.getsUiHandler().postDelayed({
SweeperTaskModel.getInstance().onSweeperFutianCloudBootable(
MessageType.PadSendBootable, "${System.currentTimeMillis()}",
AiCloudTask.MessageType.PadSendBootable, "${System.currentTimeMillis()}",
System.currentTimeMillis(), builder.build()
)
}, 10000)

1
OCH/taxi/passenger/src/main/java/com/mogo/och/taxi/passenger/ui/arrived/RightRearCamView.kt
View File

@@ -158,5 +158,6 @@ class RightRearCamView : ConstraintLayout , IMoGoBackCameraVideoListener,
actv_cam_position_group?.visibility = VISIBLE
}
v_video_right_rear?.setImageBitmap(mBitmap)
v_video_right_rear?.scaleX = -1f
}
}

115
OCH/taxi/passenger/src/main/java/com/mogo/och/taxi/passenger/ui/startautopilot/StartAutopilotView.kt
View File

@@ -4,14 +4,19 @@ import android.annotation.SuppressLint
import android.content.Context
import android.util.AttributeSet
import android.view.LayoutInflater
import android.view.View
import androidx.core.content.ContextCompat
import androidx.core.content.res.ResourcesCompat
import androidx.lifecycle.ViewModelProvider
import com.elegant.utils.UiThreadHandler
import com.mogo.eagle.core.data.config.HdMapBuildConfig
import com.mogo.eagle.core.utilcode.kotlin.onClick
import com.mogo.eagle.core.utilcode.mogo.logger.CallerLogger
import com.mogo.eagle.core.utilcode.mogo.logger.scene.SceneConstant
import com.mogo.eagle.core.utilcode.util.OverlayViewUtils
import com.mogo.eagle.core.utilcode.util.ToastUtils
import com.mogo.och.common.module.manager.devicemanage.data.DoorPosition
import com.mogo.och.common.module.manager.devicemanage.data.DoorState
import com.mogo.och.common.module.utils.FrameAnimatorContainer
import com.mogo.och.taxi.passenger.R
import com.mogo.och.taxi.passenger.widget.WindowRelativeLayout
@@ -25,22 +30,30 @@ import kotlinx.android.synthetic.main.taxi_p_start_autopilot_view.view.starting_
import kotlinx.android.synthetic.main.taxi_p_start_autopilot_view.view.taxi_p_autopilot_btn_bg
import kotlinx.android.synthetic.main.taxi_p_start_autopilot_view.view.taxi_p_autopilot_starting
import kotlinx.android.synthetic.main.taxi_p_start_autopilot_view.view.taxi_p_start_autopilot
import kotlinx.android.synthetic.main.taxi_p_start_autopilot_view.view.v_xiaozhi_belt_info_bg
import java.util.Arrays
import kotlinx.android.synthetic.main.taxi_p_start_autopilot_view.view.cl_car_type
/**
* @author: wangmingjun
* @date: 2022/6/14
*/
class StartAutopilotView : WindowRelativeLayout, StartAutopilotViewModel.StartAutopilotCallback{
class StartAutopilotView : WindowRelativeLayout, StartAutopilotViewModel.StartAutopilotCallback {
constructor(context: Context) : super(context)
constructor(context: Context, attributeSet: AttributeSet) : super(context, attributeSet)
constructor(context: Context, attributeSet: AttributeSet, defStyleAttr: Int) : super(context, attributeSet, defStyleAttr)
constructor(context: Context, attributeSet: AttributeSet, defStyleAttr: Int) : super(
context,
attributeSet,
defStyleAttr
)
constructor(context: Context, attributeSet: AttributeSet, defStyleAttr: Int, defStyleRes: Int) : super(context, attributeSet, defStyleAttr, defStyleRes)
constructor(
context: Context,
attributeSet: AttributeSet,
defStyleAttr: Int,
defStyleRes: Int
) : super(context, attributeSet, defStyleAttr, defStyleRes)
companion object {
private val TAG = StartAutopilotView::class.java.simpleName
@@ -49,9 +62,9 @@ class StartAutopilotView : WindowRelativeLayout, StartAutopilotViewModel.StartAu
var isStarting = false
private var taxiPStartAutopilot: FrameAnimatorContainer?=null
private var taxiPStartAutopilotCar: FrameAnimatorContainer?=null
private var taxiPXiaozhiBelt: FrameAnimatorContainer?=null
private var taxiPStartAutopilot: FrameAnimatorContainer? = null
private var taxiPStartAutopilotCar: FrameAnimatorContainer? = null
private var taxiPXiaozhiBelt: FrameAnimatorContainer? = null
init {
@@ -60,27 +73,35 @@ class StartAutopilotView : WindowRelativeLayout, StartAutopilotViewModel.StartAu
private fun initView() {
LayoutInflater.from(context).inflate(R.layout.taxi_p_start_autopilot_view, this, true)
taxiPStartAutopilotCar = FrameAnimatorContainer(R.array.taxi_p_start_autopilot_car, 20,taxi_p_autopilot_starting)
taxiPStartAutopilotCar?.setOnAnimStopListener(object :FrameAnimatorContainer.OnAnimationStoppedListener{
taxiPStartAutopilotCar = FrameAnimatorContainer(
R.array.taxi_p_start_autopilot_car,
20,
taxi_p_autopilot_starting
)
taxiPStartAutopilotCar?.setOnAnimStopListener(object :
FrameAnimatorContainer.OnAnimationStoppedListener {
override fun AnimationStopped() {
CallerLogger.d(SceneConstant.M_TAXI_P + TAG, "动画暂停")
}
})
taxiPStartAutopilot = FrameAnimatorContainer(R.array.taxi_p_start_autopilot, 15,taxi_p_autopilot_btn_bg)
taxiPStartAutopilot?.setOnAnimStopListener(object :FrameAnimatorContainer.OnAnimationStoppedListener{
taxiPStartAutopilot =
FrameAnimatorContainer(R.array.taxi_p_start_autopilot, 15, taxi_p_autopilot_btn_bg,false)
taxiPStartAutopilot?.setOnAnimStopListener(object :
FrameAnimatorContainer.OnAnimationStoppedListener {
override fun AnimationStopped() {
CallerLogger.d(SceneConstant.M_TAXI_P + TAG, "动画暂停")
}
})
taxiPXiaozhiBelt = FrameAnimatorContainer(R.array.xiaozhi_belt, 15,iv_xiaozhi_belt)
taxiPXiaozhiBelt?.setOnAnimStopListener(object :FrameAnimatorContainer.OnAnimationStoppedListener{
taxiPXiaozhiBelt = FrameAnimatorContainer(R.array.xiaozhi_belt, 15, iv_xiaozhi_belt)
taxiPXiaozhiBelt?.setOnAnimStopListener(object :
FrameAnimatorContainer.OnAnimationStoppedListener {
override fun AnimationStopped() {
CallerLogger.d(SceneConstant.M_TAXI_P + TAG, "动画暂停")
}
})
}
fun startAutopilotBgAnimatorDrawable(isStart: Boolean) {
private fun startAutopilotBgAnimatorDrawable(isStart: Boolean) {
if (isStart) {
taxiPStartAutopilot?.start()
} else {
@@ -103,42 +124,43 @@ class StartAutopilotView : WindowRelativeLayout, StartAutopilotViewModel.StartAu
actv_orderinfo.text = show
}
override fun setDoorStatus(
doorPosition: StartAutopilotViewModel.DoorPosition,
isOpen: Boolean
) {
override fun setDoorStatus(doorPosition: DoorPosition, state: DoorState) {
when (doorPosition) {
StartAutopilotViewModel.DoorPosition.FRONT_LEFT -> {
if(isOpen){
DoorPosition.FRONT_LEFT -> {
if (state == DoorState.OPEN) {
actv_front_left_door.visibility = VISIBLE
}else{
} else {
actv_front_left_door.visibility = GONE
}
}
StartAutopilotViewModel.DoorPosition.FRONT_RIGHT -> {
if(isOpen){
DoorPosition.FRONT_RIGHT -> {
if (state == DoorState.OPEN) {
actv_front_right_door.visibility = VISIBLE
}else{
} else {
actv_front_right_door.visibility = GONE
}
}
StartAutopilotViewModel.DoorPosition.REAR_LEFT -> {
if(isOpen){
DoorPosition.REAR_LEFT -> {
if (state == DoorState.OPEN) {
actv_rear_left_door.visibility = VISIBLE
}else{
} else {
actv_rear_left_door.visibility = GONE
}
}
StartAutopilotViewModel.DoorPosition.REAR_RIGHT -> {
if(isOpen){
DoorPosition.REAR_RIGHT -> {
if (state == DoorState.OPEN) {
actv_rear_right_door.visibility = VISIBLE
}else{
} else {
actv_rear_right_door.visibility = GONE
}
}
else ->{
}
else -> {
}
}
}
@@ -149,15 +171,20 @@ class StartAutopilotView : WindowRelativeLayout, StartAutopilotViewModel.StartAu
OverlayViewUtils.dismissOverlayView(this)
}
fun updateStartAutopilotBtnStatus(isBoarded: Boolean) {
private fun updateStartAutopilotBtnStatus(isBoarded: Boolean) {
taxi_p_start_autopilot?.let {
if (isBoarded) {
it.setTextColor(resources.getColor(R.color.taxi_p_start_autopilot_txt_color))
it.setTextColor(
ContextCompat.getColor(context, R.color.taxi_p_start_autopilot_txt_color)
)
it.background = null
} else {
it.background = ResourcesCompat.getDrawable(resources,R.drawable.taxi_p_start_autopilot_txt_btn_bg,null)
it.background =
ContextCompat.getDrawable(context, R.drawable.taxi_p_start_autopilot_txt_btn_bg)
taxi_p_autopilot_btn_bg!!.background = null
it.setTextColor(resources.getColor(R.color.taxi_p_start_autopilot_txt_un_color))
it.setTextColor(
ContextCompat.getColor(context, R.color.taxi_p_start_autopilot_txt_un_color)
)
}
it.tag = isBoarded
it.text = resources.getString(R.string.taxi_p_start_autopilot_txt)
@@ -165,7 +192,6 @@ class StartAutopilotView : WindowRelativeLayout, StartAutopilotViewModel.StartAu
}
private fun startingCarBgAnimatorDrawable(isStart: Boolean) {
if (isStart) {
taxi_p_autopilot_starting!!.setImageResource(0)
@@ -181,7 +207,9 @@ class StartAutopilotView : WindowRelativeLayout, StartAutopilotViewModel.StartAu
if (start) {
isStarting = true
taxi_p_start_autopilot?.text = resources.getString(R.string.taxi_p_start_autopilot_loading)
taxi_p_start_autopilot?.setTextColor(resources.getColor(R.color.taxi_p_start_autopilot_txt_color))
taxi_p_start_autopilot?.setTextColor(
ContextCompat.getColor(context, R.color.taxi_p_start_autopilot_txt_color)
)
startingAutopilotCountDown()
} else {
clearBgAnimDrawable()
@@ -214,6 +242,15 @@ class StartAutopilotView : WindowRelativeLayout, StartAutopilotViewModel.StartAu
taxi_p_start_autopilot?.text = resources.getString(R.string.taxi_p_start_autopilot_txt)
}
override fun onVisibilityChanged(changedView: View, visibility: Int) {
super.onVisibilityChanged(changedView, visibility)
if (HdMapBuildConfig.currentCarVrIconRes == R.raw.hq_h9) {
cl_car_type.setBackgroundResource(R.drawable.taxi_p_start_panel__hq_bg)
} else {
cl_car_type.setBackgroundResource(R.drawable.taxi_p_start_panel__df_bg)
}
}
override fun onAttachedToWindow() {
super.onAttachedToWindow()
val viewModel = ViewModelProvider(this).get(StartAutopilotViewModel::class.java)

77
OCH/taxi/passenger/src/main/java/com/mogo/och/taxi/passenger/ui/startautopilot/StartAutopilotViewModel.kt
View File

@@ -1,19 +1,19 @@
package com.mogo.och.taxi.passenger.ui.startautopilot
import androidx.lifecycle.ViewModel
import chassis.Chassis
import chassis.Chassis.DoorNumber
import com.mogo.eagle.core.function.api.autopilot.IMoGoChassisDoorStateListener
import com.mogo.eagle.core.function.call.autopilot.CallerChassisDoorStateListenerManager
import com.mogo.eagle.core.utilcode.mogo.logger.CallerLogger
import com.mogo.eagle.core.utilcode.mogo.logger.scene.SceneConstant
import com.mogo.eagle.core.utilcode.util.UiThreadHandler
import com.mogo.och.common.module.manager.devicemanage.data.DoorPosition
import com.mogo.och.taxi.passenger.callback.IOCHTaxiPassengerOrderStatusCallback
import com.mogo.och.taxi.passenger.model.AutopilotManager
import com.mogo.och.taxi.passenger.model.TaxiPassengerModel
import com.mogo.och.common.module.manager.devicemanage.TaxiDoorStateManager
import com.mogo.och.common.module.manager.devicemanage.callback.DoorStateCallback
import com.mogo.och.common.module.manager.devicemanage.data.DoorState
class StartAutopilotViewModel : ViewModel(), IOCHTaxiPassengerOrderStatusCallback,
IMoGoChassisDoorStateListener {
DoorStateCallback {
private val TAG = StartAutopilotViewModel::class.java.simpleName
@@ -21,38 +21,28 @@ class StartAutopilotViewModel : ViewModel(), IOCHTaxiPassengerOrderStatusCallbac
init {
TaxiPassengerModel.setOrderStatusCallback(TAG, this)
CallerChassisDoorStateListenerManager.addListener(TAG, this)
TaxiDoorStateManager.addListener(TAG,this)
}
fun setStartAutopilotCallback(viewCallback: StartAutopilotCallback) {
this.viewCallback = viewCallback
TaxiPassengerModel.startOrStopReadyToAutopilotLoop(true)
setOrderInfo()
setDoorInfo()
}
private fun setDoorInfo() {
val doorList = CallerChassisDoorStateListenerManager.getDoorList()
CallerLogger.d(SceneConstant.M_TAXI_P + TAG, "门太变化初始化：${doorList}")
doorList?.forEach {
exchangeEnum(it.number,it.status==1)
}
}
private fun setOrderInfo() {
val currentOCHOrder = TaxiPassengerModel.currentOCHOrder
currentOCHOrder?.let {
val phone = it.passengerPhone
var show = ""
if (phone.length > 8) {
val show = if (phone.length > 8) {
//截取电话号码前三位
val phoneNumPre = phone.substring(0, 3);
val phoneNumPre = phone.substring(0, 3)
//截取电话号码后四位
val phoneNumFix = phone.substring(7);
val phoneNumFix = phone.substring(7)
show = "用户：$phoneNumPre****$phoneNumFix 目的地：${it.endSiteAddr}"
"用户：$phoneNumPre****$phoneNumFix 目的地：${it.endSiteAddr}"
} else {
show = "用户：${phone} 目的地：${it.endSiteAddr}"
"用户：${phone} 目的地：${it.endSiteAddr}"
}
viewCallback?.setOrderInfo(show)
}
@@ -62,7 +52,7 @@ class StartAutopilotViewModel : ViewModel(), IOCHTaxiPassengerOrderStatusCallbac
super.onCleared()
this.viewCallback = null
TaxiPassengerModel.setOrderStatusCallback(TAG, null)
CallerChassisDoorStateListenerManager.removeListener(TAG)
TaxiDoorStateManager.removeListener(TAG)
}
override fun onDriverHasCheckedPilotCondition(isBoarded: Boolean) {
@@ -76,41 +66,18 @@ class StartAutopilotViewModel : ViewModel(), IOCHTaxiPassengerOrderStatusCallbac
AutopilotManager.startAutopilot()
}
override fun onAutopilotSingleDoorState(num: Chassis.DoorNumber, open: Boolean) {
super.onAutopilotSingleDoorState(num, open)
CallerLogger.d(SceneConstant.M_TAXI_P + TAG, "门太变化：${num}--${open}")
exchangeEnum(num,open)
override fun hasOpenDoor(have: Boolean) {
CallerLogger.d(SceneConstant.M_TAXI_P + TAG, "车门是否开着：${have}")
}
private fun exchangeEnum(num: Chassis.DoorNumber,open: Boolean){
when (num) {
DoorNumber.FRONT_LEFT -> {
runMain(DoorPosition.FRONT_LEFT,open)
}
DoorNumber.FRONT_RIGHT -> {
runMain(DoorPosition.FRONT_RIGHT,open)
}
DoorNumber.REAR_LEFT -> {
runMain(DoorPosition.REAR_LEFT,open)
}
DoorNumber.REAR_RIGHT -> {
runMain(DoorPosition.REAR_RIGHT,open)
}
DoorNumber.MIDDLE -> {
runMain(DoorPosition.MIDDLE,open)
}
else -> {}
}
override fun doorStateChangeCallback(position: DoorPosition, state: DoorState) {
CallerLogger.d(SceneConstant.M_TAXI_P + TAG, "门太变化：${position}--${state}")
runMain(position,state)
}
private fun runMain(posttion:DoorPosition,isOpen: Boolean){
private fun runMain(posttion:DoorPosition,state: DoorState){
UiThreadHandler.post {
viewCallback?.setDoorStatus(posttion,isOpen)
viewCallback?.setDoorStatus(posttion,state)
}
}
@@ -118,10 +85,6 @@ class StartAutopilotViewModel : ViewModel(), IOCHTaxiPassengerOrderStatusCallbac
interface StartAutopilotCallback {
fun handleStartAutopilotBtnStatus(isBoarded: Boolean)
fun setOrderInfo(show: String)
fun setDoorStatus(doorPosition: DoorPosition,isOpen:Boolean)
}
enum class DoorPosition {
FRONT_LEFT, FRONT_RIGHT, REAR_LEFT, REAR_RIGHT, MIDDLE
fun setDoorStatus(doorPosition: DoorPosition, state: DoorState)
}
}

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1
OCH/taxi/passenger/src/main/res/layout/taxi_p_setting_view.xml
View File

@@ -3,6 +3,7 @@
xmlns:app="http://schemas.android.com/apk/res-auto"
android:layout_width="match_parent"
android:layout_height="match_parent"
android:clickable="true"
android:background="@drawable/taxi_p_setting_view_bg">
<TextView

4
OCH/taxi/passenger/src/main/res/layout/taxi_p_start_autopilot_view.xml
View File

@@ -2,9 +2,10 @@
<androidx.constraintlayout.widget.ConstraintLayout xmlns:android="http://schemas.android.com/apk/res/android"
xmlns:app="http://schemas.android.com/apk/res-auto"
xmlns:tools="http://schemas.android.com/tools"
android:id="@+id/cl_car_type"
android:layout_width="match_parent"
android:layout_height="match_parent"
android:background="@drawable/taxi_p_passenger_start_panel_bg"
android:background="@drawable/taxi_p_start_panel__df_bg"
tools:ignore="MissingDefaultResource">
<ImageView
@@ -33,6 +34,7 @@
android:layout_width="1000dp"
android:layout_height="500dp"
android:clickable="false"
android:src="@drawable/image_00000_0"
android:layout_marginBottom="@dimen/dp_62"
app:layout_constraintBottom_toBottomOf="parent"
app:layout_constraintLeft_toLeftOf="parent"

2
OCH/taxi/unmanned-driver/src/main/java/com/mogo/och/taxi/base/BaseViewModel.kt
View File

@@ -20,7 +20,7 @@ abstract class BaseViewModel<UiState : IUiState, UiIntent : IUiIntent> : ViewMod
val uiStateFlow: StateFlow<UiState> = _uiStateFlow
private val _uiIntentFlow: Channel<UiIntent> = Channel()
val uiIntentFlow: Flow<UiIntent> = _uiIntentFlow.receiveAsFlow()
private val uiIntentFlow: Flow<UiIntent> = _uiIntentFlow.receiveAsFlow()
init {
viewModelScope.launch {

30
OCH/taxi/unmanned-driver/src/main/java/com/mogo/och/taxi/bean/TaxiDriverCarServiceBean.kt
View File

@@ -7,19 +7,29 @@ import com.mogo.eagle.core.data.BaseData
* @date: 2023/8/2
*/
data class GcjLatLon(var gcjLat: Double, var gcjLon: Double)
data class GcjLatLon(
var gcjLat: Double, var gcjLon: Double
)
data class UnmannedLoginReqBean(
var phone: String?,
var captcha: String?,
var sn: String,
var loc: GcjLatLon?
var phone: String?, var captcha: String?, var sn: String, var loc: GcjLatLon?
)
data class UnmannedLogoutReqBean(var sn: String, var loc: GcjLatLon?)
data class StartServiceReqBean(var sn: String, var gcjLat: Double, var gcjLon: Double)
data class UnmannedLogoutReqBean(
var sn: String, var loc: GcjLatLon?
)
data class StartServiceRespBean(var data: Result?): BaseData(){
data class Result(var siteId: Long,var siteName: String,var gcjLat: Double, var gcjLon: Double,
var wgs84Lon: Double, var wgs84Lat: Double )
data class StartServiceReqBean(
var sn: String, var gcjLat: Double, var gcjLon: Double
)
data class StartServiceRespBean(var data: Result?) : BaseData() {
data class Result(
var siteId: Long,
var siteName: String,
var gcjLat: Double,
var gcjLon: Double,
var wgs84Lon: Double,
var wgs84Lat: Double
)
}

62
OCH/taxi/unmanned-driver/src/main/java/com/mogo/och/taxi/bean/TaxiDriverTaskWithOrderBean.kt
View File

@@ -81,9 +81,11 @@ data class QueryCurrentTaskRespBean(var data: Result?) : BaseData() {
var endSite: Site?,
var order: OrderDetail?
) {
//servingStatus = 0 //暂停接单 = 1 //开始接单
//taskType = 1 //虚拟任务 = 2 //接驾任务 = 3 //送驾任务
//currentStatus 0：空闲 1:获取任务 2:开始任务 3:到达目的地
/**
* servingStatus: 0 -> 暂停接单 1 -> 开始接单
* taskType: 1 -> 虚拟任务 2 -> 接驾任务 3-> 送驾任务
* currentStatus: 0-> 空闲 1-> 获取任务 2-> 开始任务 3-> 到达目的地
*/
override fun equals(other: Any?): Boolean {
if (this === other) return true
if (javaClass != other?.javaClass) return false
@@ -161,13 +163,41 @@ data class QueryCurrentTaskRespBean(var data: Result?) : BaseData() {
}
return data.currentStatus == TaskStatusEnum.StartTask.code
}
/**
* with task.currentStatus == CompleteTask
*/
fun isCompleteTaskType(data: QueryCurrentTaskRespBean.Result?): Boolean {
if (data == null) {
return false
}
return data.currentStatus == TaskStatusEnum.CompleteTask.code
}
/**
* with task.currentStatus == GetTask
*/
fun isGetTaskType(data: QueryCurrentTaskRespBean.Result?): Boolean {
if (data == null) {
return false
}
return data.currentStatus == TaskStatusEnum.GetTask.code
}
}
}
data class StartTaskReqBean(var sn: String, var lineId: Long)
data class StartTaskReqBean(
var sn: String, var lineId: Long
)
data class ArriveSiteReqBean(
var sn: String, var siteId: Long
)
data class PrepareTaskReqBean(
var sn: String, var siteId: Long
)
data class ArriveSiteReqBean(var sn: String, var siteId: Long)
data class PrepareTaskReqBean(var sn: String, var siteId: Long)
data class PrepareTaskRespBean(var data: Result?) : BaseData() { //taskType 1:虚拟任务 2:接驾任务3:送驾任务
data class Result(
var lineId: Long,
@@ -178,10 +208,22 @@ data class PrepareTaskRespBean(var data: Result?) : BaseData() { //taskType 1:
)
}
data class JumpPassengerCheckReqBean(var sn: String, var orderNo: String)
data class CancelOrderReqBean(var sn: String, var orderNo: String, var cancelType: Int)
data class OrderCompletedReqBean(var sn: String, var orderNo: String)
data class QueryCarOrderByNoReqBean(var sn: String, var orderNo: String)
data class JumpPassengerCheckReqBean(
var sn: String, var orderNo: String
)
data class CancelOrderReqBean(
var sn: String, var orderNo: String, var cancelType: Int
)
data class OrderCompletedReqBean(
var sn: String, var orderNo: String
)
data class QueryCarOrderByNoReqBean(
var sn: String, var orderNo: String
)
data class QueryCarOrderByNoRespBean(var data: Result) : BaseData() {
data class Result(
var sn: String,

7
OCH/taxi/unmanned-driver/src/main/java/com/mogo/och/taxi/callback/ITaxiControllerStatusCallback.java
View File

@@ -19,4 +19,11 @@ public interface ITaxiControllerStatusCallback {
//自动开启自动驾驶
void startOpenAutopilotNonManual();
//停止启动自动驾驶
void stopOpenAutopilotNonManual();
void pauseOpenAutopilotNonManual();
void resumeOpenAutopilotNonManual();
}

3
OCH/taxi/unmanned-driver/src/main/java/com/mogo/och/taxi/callback/ITaxiOrderStatusCallback.java
View File

@@ -12,7 +12,4 @@ public interface ITaxiOrderStatusCallback {
* @param isShow 是否显示导航地图（否播报声音）
*/
void onNaviToEnd(boolean isAmap, boolean isShow);
// 当前位置距离上车点的距离（米）、预估时间（秒）
void onCurrentOrderDistToEndChanged(long meters, long timeInSecond);
}

12
OCH/taxi/unmanned-driver/src/main/java/com/mogo/och/taxi/callback/ITaxiTaskWithOrderCallback.kt
View File

@@ -5,13 +5,15 @@ import com.mogo.och.taxi.bean.TrajectoryListRespBean
interface ITaxiTaskWithOrderCallback {
fun onTaskWithOrderDataChanged(taskWithOrder: QueryCurrentTaskRespBean.Result?)
fun onTaskCompleted(isOrderArrivedAtStart: Boolean, siteId: Long)
fun onTaskCompleted(result: QueryCurrentTaskRespBean.Result)
fun onTaskTrajectoryDataChanged(data: TrajectoryListRespBean?)
fun onOrderCancel()
fun onOrderArriveAtEnd(orderNo: String)
fun onOrderTotalMileAndDurationChanged(mileage: Float, duration: Int)
fun onOrderTripInfoChanged(mileage: Float, duration: Int)
fun onOrderJourneyCompleted()
fun onStartAutopilot()
fun onStartPrepareTask120s(isStart: Boolean)
fun onStartAutopilot(postDelayTime: Long)
fun onPauseStartAutopilot()
fun onStopAutopilot()
fun onStartPrepareTaskUI(delayTime: Long, isStart: Boolean)
fun onTaskTripInfoLocalCalculateChanged(meters:Long, timeInSecond:Long)
}

16
OCH/taxi/unmanned-driver/src/main/java/com/mogo/och/taxi/constant/TaskTypeEnum.kt
View File

@@ -1,4 +1,8 @@
package com.mogo.och.taxi.constant/**
package com.mogo.och.taxi.constant
import com.mogo.och.taxi.bean.QueryCurrentTaskRespBean
/**
* Created on 2023/8/7
* taskType = 1 虚拟任务(演练任务), = 2 接驾任务(运营), = 3 //送驾任务(运营)
*/
@@ -18,5 +22,15 @@ enum class TaskTypeEnum(val code: Int) {
}
return None
}
/**
* taskType == ToOrderStartTask.code 接驾任务
*/
fun isToOrderStartTask(data: QueryCurrentTaskRespBean.Result?): Boolean {
if (data == null) {
return false
}
return data.taskType == ToOrderStartTask.code
}
}
}

16
OCH/taxi/unmanned-driver/src/main/java/com/mogo/och/taxi/constant/TaxiDriverEventConst.java Normal file
View File

@@ -0,0 +1,16 @@
package com.mogo.och.taxi.constant;
public interface TaxiDriverEventConst {
interface TaxiFragmentEvent {
String EVENT_TYPE_SHOW_DEBUG_VIEW = "event_type_taxi_fragment_show_debug_view";
String EVENT_TYPE_SHOW_AMAP_NAVI_TO_STATION_FRAGMENT = "event_type_taxi_fragment_show_amap_navi_to_station_fragment";
String EVENT_TYPE_SHOW_ROUTING_TO_STATION_FRAGMENT = "event_type_taxi_fragment_show_routing_to_station_fragment";
String EVENT_TYPE_START_NAVI_TO_END_STATION = "event_type_taxi_fragment_start_navi_to_end_station";
}
interface TabFragmentEvent {
String EVENT_TYPE_SHOW_RED_POINT = "event_type_tab_fragment_show_red_point";
String EVENT_TYPE_TASK_WITH_ORDER_CHANGED = "event_type_tab_fragment_task_with_order_changed";
}
}

2
OCH/taxi/unmanned-driver/src/main/java/com/mogo/och/taxi/network/TaxiTaskWithOrderServiceApi.kt
View File

@@ -124,7 +124,7 @@ interface TaxiTaskWithOrderServiceApi {
*/
@Headers("Content-type:application/json;charset=UTF-8")
@POST("/och-taxi-cabin/api/business/v1/contrail")
fun contrailList(
fun queryTrajectoryByLindIds(
@Header("appId") appId: String = MoGoAiCloudClientConfig.getInstance().serviceAppId,
@Header("ticket") ticket: String = MoGoAiCloudClientConfig.getInstance().token,
@Body data: Array<Long>

4
OCH/taxi/unmanned-driver/src/main/java/com/mogo/och/taxi/network/TaxiTaskWithOrderServiceManager.kt
View File

@@ -179,9 +179,9 @@ object TaxiTaskWithOrderServiceManager {
context: Context, linIds: Array<Long>,
callback: OchCommonServiceCallback<TrajectoryListRespBean>?
) {
mOCHTaxiServiceApi.contrailList(
mOCHTaxiServiceApi.queryTrajectoryByLindIds(
data = linIds
).transformTry()
.subscribe(OchCommonSubscribeImpl(context, callback, "contrailList"))
.subscribe(OchCommonSubscribeImpl(context, callback, "queryTrajectoryByLindIds"))
}
}

64
OCH/taxi/unmanned-driver/src/main/java/com/mogo/och/taxi/ui/base/BaseTaxiTabFragment.kt
View File

@@ -4,8 +4,6 @@ import android.animation.ObjectAnimator
import android.annotation.SuppressLint
import android.content.Intent
import android.os.Bundle
import android.os.Handler
import android.os.Looper
import android.os.SystemClock
import android.view.LayoutInflater
import android.view.View
@@ -23,6 +21,7 @@ import com.mogo.eagle.core.function.call.devatools.CallerDevaToolsManager.initBa
import com.mogo.eagle.core.function.call.hmi.CallerHmiManager.showToolsView
import com.mogo.eagle.core.function.call.map.CallerMapUIServiceManager.getMapUIController
import com.mogo.eagle.core.function.hmi.ui.msgbox.DriverMsgBoxButtonView
import com.mogo.eagle.core.function.hmi.ui.widget.ParallelDriveView
import com.mogo.eagle.core.utilcode.mogo.logger.CallerLogger.d
import com.mogo.eagle.core.utilcode.mogo.logger.scene.SceneConstant
import com.mogo.eagle.core.utilcode.mogo.view.OnPreventFastClickListener
@@ -50,6 +49,7 @@ import kotlinx.android.synthetic.main.taxi_base_fragment.module_och_autopilot_tv
import kotlinx.android.synthetic.main.taxi_base_fragment.module_och_taxi_badcase_ll
import kotlinx.android.synthetic.main.taxi_base_fragment.module_och_taxi_setting_layout
import kotlinx.android.synthetic.main.taxi_base_fragment.module_och_taxi_swich_map_layout
import kotlinx.android.synthetic.main.taxi_base_fragment.parallelDriveView
import kotlinx.android.synthetic.main.taxi_base_fragment.smallMapView
import kotlinx.android.synthetic.main.taxi_base_fragment.startAutopilotAnimationView
import kotlinx.android.synthetic.main.taxi_base_fragment.taxi_close_navi_icon
@@ -75,11 +75,9 @@ abstract class BaseTaxiTabFragment<V : IView, P : Presenter<V>> : MvpFragment<V,
// 高德地图轨迹展示fragment
private var taxiRoutingNaviFragment: TaxiRoutingNaviFragment? = null
// 开发调试时展示信息德panel
// 开发调试时展示信息的panel
private var debugPanelView: View? = null
private val mHandler = Handler(Looper.getMainLooper())
private val startAutopilotDrawableIds = arrayOf(
R.drawable.anim_flow_00000, R.drawable.anim_flow_00001, R.drawable.anim_flow_00002,
R.drawable.anim_flow_00003, R.drawable.anim_flow_00004, R.drawable.anim_flow_00005,
@@ -192,6 +190,13 @@ abstract class BaseTaxiTabFragment<V : IView, P : Presenter<V>> : MvpFragment<V,
showToolsView()
}
//点击主动请求平行驾驶: 若在倒计时请求自驾中, 取消请求
parallelDriveView.setClickEventListener(object: ParallelDriveView.ClickEventListener{
override fun onReqClick() {
stopAutoStartAutopilot()
}
})
// mBadCaseBtn的visible显示逻辑在showBadcaseEntrance内处理
if (module_och_taxi_badcase_ll != null) {
initBadCase(module_och_taxi_badcase_ll)
@@ -262,6 +267,8 @@ abstract class BaseTaxiTabFragment<V : IView, P : Presenter<V>> : MvpFragment<V,
})
}
abstract fun stopAutoStartAutopilot()
override fun initViews(savedInstanceState: Bundle?) {
super.initViews(savedInstanceState)
mapBizView.onCreate(savedInstanceState)
@@ -361,11 +368,7 @@ abstract class BaseTaxiTabFragment<V : IView, P : Presenter<V>> : MvpFragment<V,
mPreAutoPilotStatus = parallelDrivingValue
}
/**
*
*/
// TODO 确认
fun updateCtvAutopilotStatusTag(tag: Boolean) {
private fun updateCtvAutopilotStatusTag(tag: Boolean) {
module_mogo_och_autopilot_status.tag = tag
}
@@ -460,7 +463,7 @@ abstract class BaseTaxiTabFragment<V : IView, P : Presenter<V>> : MvpFragment<V,
autopilotLoadingAnimator!!.startDelay = 100
autopilotLoadingAnimator!!.duration = 1000 //设置持续时间
autopilotLoadingAnimator!!.start() //动画开始
startingAutoApilotCountDown()
startingAutopilotCountDown()
} else {
isStarting = false
if (autopilotLoadingAnimator != null) {
@@ -496,13 +499,13 @@ abstract class BaseTaxiTabFragment<V : IView, P : Presenter<V>> : MvpFragment<V,
)
module_och_autopilot_iv.setImageResource(R.drawable.taxi_ic_autopilot_failed)
}
mHandler.postDelayed({
UiThreadHandler.postDelayed({
startOrStopLoadingAnim(false)
onAutopilotStatusChanged(getState())
}, 1000L)
}
private fun startingAutoApilotCountDown() {
private fun startingAutopilotCountDown() {
UiThreadHandler.postDelayed({
//未启动成功10s后做处理
if (isStarting) { //判断动画是否在进行
@@ -607,7 +610,8 @@ abstract class BaseTaxiTabFragment<V : IView, P : Presenter<V>> : MvpFragment<V,
smallMapView.visibility = View.GONE
} else {
taxi_close_navi_icon.visibility = View.GONE
module_mogo_och_navi_panel_container.visibility = View.INVISIBLE //2023.9.4高德导航由gone设置成INVISIBLE,保留导航实例,避免导航被挂起
module_mogo_och_navi_panel_container.visibility =
View.INVISIBLE //2023.9.4高德导航由gone设置成INVISIBLE,保留导航实例,避免导航被挂起
smallMapView.visibility = View.VISIBLE
}
}
@@ -617,15 +621,37 @@ abstract class BaseTaxiTabFragment<V : IView, P : Presenter<V>> : MvpFragment<V,
fun showStartAutopilotBlinkAnimation() {
startAutopilotAnimationView.show(
StartAutopilotAnimationView.DirectionEnum.ALERT_WARNING_TOP,
START_AUTOPILOT_ANIMATION_INTERVAL
)
START_AUTOPILOT_ANIMATION_INTERVAL,
object : StartAutopilotAnimationView.AnimationViewTimerListener{
override fun onTimerResume(remainingTime: Long) {
resumeStartAutopilot(remainingTime)
}
UiThreadHandler.postDelayed({
stopStartAutopilotBlinkAnimation()
}, START_AUTOPILOT_ANIMATION_INTERVAL)
override fun onTimerPause() {
pauseStartAutopilot()
}
}
)
}
abstract fun pauseStartAutopilot()
abstract fun resumeStartAutopilot(remainingTime: Long)
fun stopAutopilotBlinkAnimation(){
stopStartAutopilotBlinkAnimation()
}
private fun stopStartAutopilotBlinkAnimation() {
startAutopilotAnimationView.dismiss(StartAutopilotAnimationView.DirectionEnum.ALERT_WARNING_TOP)
}
fun pauseAutopilotBlinkAnimation(){
startAutopilotAnimationView.pause()
}
fun resumeAutopilotBlinkAnimation(){
startAutopilotAnimationView.resume()
}
}

74
OCH/taxi/unmanned-driver/src/main/java/com/mogo/och/taxi/ui/base/TaxiFragment.kt
View File

@@ -15,8 +15,9 @@ import com.mogo.eagle.core.utilcode.mogo.logger.scene.SceneConstant
import com.mogo.eagle.core.utilcode.util.ToastUtils
import com.mogo.och.common.module.biz.constant.OchCommonConst
import com.mogo.och.common.module.biz.provider.LoginService
import com.mogo.och.common.module.utils.FlowBus
import com.mogo.och.taxi.R
import com.mogo.och.taxi.bean.QueryCurrentTaskRespBean
import com.mogo.och.taxi.constant.TaxiDriverEventConst
import com.mogo.och.taxi.constant.TaxiOrderStatusEnum
import com.mogo.och.taxi.network.TaxiDriverLoginImpl
import com.mogo.och.taxi.ui.personal.TaxiPersonalDialogFragment
@@ -70,13 +71,13 @@ class TaxiFragment : BaseTaxiTabFragment<TaxiFragment, TaxiPresenter>(),
// }
}
private fun openOperationalInfoView() {
personalDialogFragment = WeakReference(TaxiPersonalDialogFragment())
activity?.supportFragmentManager?.let {
personalDialogFragment!!.get()
?.show(it, "service_data")
}
}
// private fun openOperationalInfoView() {
// personalDialogFragment = WeakReference(TaxiPersonalDialogFragment())
// activity?.supportFragmentManager?.let {
// personalDialogFragment!!.get()
// ?.show(it, "service_data")
// }
// }
override fun getTagName(): String {
return "TaxiFragment"
@@ -86,9 +87,7 @@ class TaxiFragment : BaseTaxiTabFragment<TaxiFragment, TaxiPresenter>(),
super.onActivityCreated(savedInstanceState)
loginService =
ARouter.getInstance().build(OchCommonConst.LOGINSERVICE).navigation() as LoginService
if (loginService != null) {
loginService!!.registerFragment(this, presenter, TaxiDriverLoginImpl())
}
loginService?.registerFragment(this, presenter, TaxiDriverLoginImpl())
}
override fun onCreateView(
@@ -112,12 +111,21 @@ class TaxiFragment : BaseTaxiTabFragment<TaxiFragment, TaxiPresenter>(),
}
}
override fun pauseStartAutopilot() {
mPresenter.pauseStartAutopilot()
}
override fun resumeStartAutopilot(remainingTime: Long) {
mPresenter.resumeStartAutopilot(remainingTime)
}
override fun startNaviToEndStation(isShow: Boolean) {
mPresenter.startNaviToEndStation(isShow)
}
override fun initViews() {
super.initViews()
initFlowEvent()
initFragment()
hideDebugPanel()
switchVRFlatMode(MogoStatusManager.getInstance().isVrMode)
@@ -125,6 +133,29 @@ class TaxiFragment : BaseTaxiTabFragment<TaxiFragment, TaxiPresenter>(),
initOrderDebugView()
}
override fun stopAutoStartAutopilot() {
mPresenter.stopAutoStartAutopilot()
}
private fun initFlowEvent() {
FlowBus.with<Boolean>(TaxiDriverEventConst.TaxiFragmentEvent.EVENT_TYPE_SHOW_DEBUG_VIEW)
.register(this) { _ ->
clickOrderDebugView()
}
FlowBus.with<Boolean>(TaxiDriverEventConst.TaxiFragmentEvent.EVENT_TYPE_SHOW_AMAP_NAVI_TO_STATION_FRAGMENT)
.register(this) { show ->
showAmapNaviToStationFragment(show)
}
FlowBus.with<Boolean>(TaxiDriverEventConst.TaxiFragmentEvent.EVENT_TYPE_SHOW_ROUTING_TO_STATION_FRAGMENT)
.register(this) { show ->
showRoutingToStationFragment(show)
}
FlowBus.with<Boolean>(TaxiDriverEventConst.TaxiFragmentEvent.EVENT_TYPE_START_NAVI_TO_END_STATION)
.register(this) { show ->
startNaviToEndStation(show)
}
}
private fun initFragment() {
taskTabFragment = WeakReference(TaxiTaskTabFragment.newInstance())
val transaction: FragmentTransaction = childFragmentManager.beginTransaction()
@@ -147,11 +178,6 @@ class TaxiFragment : BaseTaxiTabFragment<TaxiFragment, TaxiPresenter>(),
taskTabFragment!!.get()!!.onCarTakeOrderStatusChanged()
}
fun updateNextTaskFragment(taskAndOrder: QueryCurrentTaskRespBean.Result?) {
if (null == taskTabFragment || taskTabFragment!!.get() == null) return
taskTabFragment!!.get()!!.onTaskDataChanged(taskAndOrder)
}
fun switchVRFlatMode(isVRMode: Boolean) {
if (mRootView != null) {
mRootView.visibility = if (isVRMode) View.VISIBLE else View.GONE
@@ -243,7 +269,7 @@ class TaxiFragment : BaseTaxiTabFragment<TaxiFragment, TaxiPresenter>(),
it.order!!.orderLine
else
it.lineId
)
,true)
}
}
@@ -257,11 +283,15 @@ class TaxiFragment : BaseTaxiTabFragment<TaxiFragment, TaxiPresenter>(),
findViewById<View>(R.id.test_bar_route)?.setOnClickListener {
testRouteInfoUpload()
}
}
fun onCurrentOrderDistToEndChanged(meters: Long, timeInSecond: Long) {
if (null == taskTabFragment || taskTabFragment!!.get() == null) return
taskTabFragment!!.get()!!.onCurrentTaskTripInfoChanged(meters, timeInSecond)
findViewById<View>(R.id.test_brake)?.setOnClickListener {
TaxiTaskModel.handleBrakeStatusChange(false)
}
findViewById<View>(R.id.test_resume_brake)?.setOnClickListener {
TaxiTaskModel.handleBrakeStatusChange(true)
}
findViewById<View>(R.id.test_parallel_driver)?.setOnClickListener {
stopAutoStartAutopilot()
}
}
private fun testRouteInfoUpload() {

47
OCH/taxi/unmanned-driver/src/main/java/com/mogo/och/taxi/ui/base/TaxiPresenter.java
View File

@@ -9,6 +9,7 @@ import com.mogo.commons.AbsMogoApplication;
import com.mogo.commons.mvp.Presenter;
import com.mogo.eagle.core.data.map.MogoLocation;
import com.mogo.eagle.core.function.api.autopilot.IMoGoAutopilotStatusListener;
import com.mogo.eagle.core.function.call.autopilot.CallerAutoPilotStatusListenerManager;
import com.mogo.eagle.core.utilcode.util.UiThreadHandler;
import com.mogo.och.common.module.biz.bean.DriverStatusQueryRespBean;
import com.mogo.och.common.module.biz.callback.ILoginCallback;
@@ -77,7 +78,7 @@ public class TaxiPresenter extends Presenter<TaxiFragment> implements ITaxiADASS
* 开启自动驾驶 自驾模式
*/
public void startAutoPilot() {
TaxiTaskModel.INSTANCE.startAutoPilot();
TaxiTaskModel.INSTANCE.startAutopilotByClick();
}
// 登出
@@ -137,11 +138,6 @@ public class TaxiPresenter extends Presenter<TaxiFragment> implements ITaxiADASS
runOnUIThread(() -> mView.onNaviToEnd(isAmap, isShow));
}
@Override
public void onCurrentOrderDistToEndChanged(long meters, long timeInSecond) {
runOnUIThread(() -> mView.onCurrentOrderDistToEndChanged(meters, timeInSecond));
}
@Override
public void onVRModeChanged(boolean isVRMode) {
runOnUIThread(() -> mView.switchVRFlatMode(isVRMode));
@@ -171,6 +167,33 @@ public class TaxiPresenter extends Presenter<TaxiFragment> implements ITaxiADASS
});
}
@Override
public void stopOpenAutopilotNonManual() {
runOnUIThread(() -> {
mView.startOrStopLoadingAnim(false);
mView.updateAutopilotStatus(CallerAutoPilotStatusListenerManager.INSTANCE.getState());
mView.stopAutopilotBlinkAnimation();
});
}
@Override
public void pauseOpenAutopilotNonManual() {
runOnUIThread(() -> {
mView.startOrStopLoadingAnim(false);
mView.updateAutopilotStatus(CallerAutoPilotStatusListenerManager.INSTANCE.getState());
mView.pauseAutopilotBlinkAnimation();
});
}
@Override
public void resumeOpenAutopilotNonManual() {
runOnUIThread(() -> {
mView.startOrStopLoadingAnim(true);
mView.resumeAutopilotBlinkAnimation();
});
}
@Override
public void loginSuccess(DriverStatusQueryRespBean data) {
//设置 接单状态
@@ -196,4 +219,16 @@ public class TaxiPresenter extends Presenter<TaxiFragment> implements ITaxiADASS
@Override
public void loginFail(boolean isLogin) {
}
public void stopAutoStartAutopilot() {
TaxiTaskModel.INSTANCE.stopAutoStartAutopilot();
}
public void pauseStartAutopilot() {
TaxiTaskModel.INSTANCE.pauseStartAutopilot();
}
public void resumeStartAutopilot(long remainingTime) {
TaxiTaskModel.INSTANCE.resumeStartAutopilot(remainingTime);
}
}

4
OCH/taxi/unmanned-driver/src/main/java/com/mogo/och/taxi/ui/common/AvoidLeakDialog.kt
View File

@@ -24,8 +24,6 @@ open class AvoidLeakDialog : Dialog {
override fun setOnShowListener(listener: OnShowListener?) {}
override fun dismiss() {
super.dismiss()
if (null != hostFragmentReference && null != hostFragmentReference!!.get()) {
hostFragmentReference!!.get()!!.dismissAllowingStateLoss()
}
hostFragmentReference?.get()?.dismissAllowingStateLoss()
}
}

17
OCH/taxi/unmanned-driver/src/main/java/com/mogo/och/taxi/ui/debug/DebugView.kt
View File

@@ -177,7 +177,7 @@ public class DebugView @JvmOverloads constructor(
initViewByData(taskWithOrder)
}
override fun onTaskCompleted(isOrderArrivedAtStart: Boolean, siteId: Long) {
override fun onTaskCompleted(result: QueryCurrentTaskRespBean.Result) {
}
override fun onTaskTrajectoryDataChanged(data: TrajectoryListRespBean?) {
@@ -189,15 +189,24 @@ public class DebugView @JvmOverloads constructor(
override fun onOrderArriveAtEnd(orderNo: String) {
}
override fun onOrderTotalMileAndDurationChanged(mileage: Float, duration: Int) {
override fun onOrderTripInfoChanged(mileage: Float, duration: Int) {
}
override fun onOrderJourneyCompleted() {
}
override fun onStartAutopilot() {
override fun onStartAutopilot(postDelayTime: Long) {
}
override fun onStartPrepareTask120s(isStart: Boolean) {
override fun onPauseStartAutopilot() {
}
override fun onStopAutopilot() {
}
override fun onStartPrepareTaskUI(delayTime: Long, isStart: Boolean) {
}
override fun onTaskTripInfoLocalCalculateChanged(meters: Long, timeInSecond: Long) {
}
}

7
OCH/taxi/unmanned-driver/src/main/java/com/mogo/och/taxi/ui/task/TaskUiState.kt
View File

@@ -23,7 +23,10 @@ sealed class TaskWithOrderUIState {
data class TaskDriveToNearestStationTask(val driveToNearestStationTask: StartServiceRespBean.Result?) :
TaskWithOrderUIState()
data class UpdateTaskTripInfo(val mileage: Float, val duration: Int) : TaskWithOrderUIState()
data class UpdateOrderTripInfo(val mileage: Float, val duration: Int) : TaskWithOrderUIState()
data class UpdatePrepareTaskDelay120S(val isStart: Boolean) : TaskWithOrderUIState()
data class UpdateTaskTripLocalCalculateInfo(val meters: Long, val timeInSecond: Long) :
TaskWithOrderUIState()
data class UpdatePrepareTaskDelay(val delayTime: Long, val isStart: Boolean) : TaskWithOrderUIState()
}

221
OCH/taxi/unmanned-driver/src/main/java/com/mogo/och/taxi/ui/task/TaxiCurrentTaskFragment.kt
View File

@@ -27,6 +27,7 @@ import com.mogo.eagle.core.utilcode.util.UiThreadHandler
import com.mogo.och.common.module.map.AmapNaviToDestinationModel
import com.mogo.och.common.module.map.ICommonNaviChangedCallback
import com.mogo.och.common.module.utils.DateTimeUtil
import com.mogo.och.common.module.utils.FlowBus
import com.mogo.och.common.module.voice.VoiceNotice
import com.mogo.och.common.module.wigets.OCHCommitDialog
import com.mogo.och.taxi.R
@@ -35,12 +36,11 @@ import com.mogo.och.taxi.bean.QueryCurrentTaskRespBean
import com.mogo.och.taxi.bean.StartServiceRespBean
import com.mogo.och.taxi.constant.TaskStatusEnum
import com.mogo.och.taxi.constant.TaskTypeEnum
import com.mogo.och.taxi.constant.TaxiDriverEventConst
import com.mogo.och.taxi.constant.TaxiOrderStatusEnum
import com.mogo.och.taxi.constant.TaxiUnmannedConst.Companion.TAXI_END_MAP_MAKER
import com.mogo.och.taxi.constant.TaxiUnmannedConst.Companion.TAXI_START_MAP_MAKER
import com.mogo.och.taxi.constant.TaxiUnmannedConst.Companion.TIMER_PREPARE_TASK_INTERVAL_120S
import com.mogo.och.taxi.constant.TaxiUnmannedConst.Companion.TYPE_MARKER_TAXI_ORDER
import com.mogo.och.taxi.ui.base.TaxiFragment
import com.mogo.och.taxi.utils.MapMakerManager
import com.mogo.och.taxi.utils.TaskUtils
import kotlinx.android.synthetic.main.task_fragment_current.cancelOrder
@@ -75,10 +75,8 @@ class TaxiCurrentTaskFragment : BaseFragment(),
companion object {
const val TAG = M_TAXI + "TaxiCurrentTaskFragment"
private var mTaxiFragment: TaxiFragment? = null
fun newInstance(taxiFragment: TaxiFragment?): TaxiCurrentTaskFragment {
mTaxiFragment = taxiFragment
fun newInstance(): TaxiCurrentTaskFragment {
val args = Bundle()
val fragment = TaxiCurrentTaskFragment()
fragment.arguments = args
@@ -145,7 +143,8 @@ class TaxiCurrentTaskFragment : BaseFragment(),
private fun initTaskDebugViewListener() {
taskStatus.setOnLongClickListener {
mTaxiFragment?.clickOrderDebugView()
FlowBus.with<Boolean>(TaxiDriverEventConst.TaxiFragmentEvent.EVENT_TYPE_SHOW_DEBUG_VIEW)
.post(this.lifecycleScope, true)
false
}
}
@@ -166,7 +165,7 @@ class TaxiCurrentTaskFragment : BaseFragment(),
if (taskAndOrderUiState.driveToNearestStationTask != null) {
updateViewByDriveToNearestStationTask(taskAndOrderUiState.driveToNearestStationTask)
} else {
updatePrepareTaskDelay120SUI(false)
updatePrepareTaskDelayUI(0, false)
initContainerView(false)
removeAllMapMarker()
}
@@ -184,7 +183,7 @@ class TaxiCurrentTaskFragment : BaseFragment(),
updateViewByCurrentTaskWithOrder(currentTaskWithOrder)
}
is TaskWithOrderUIState.UpdateTaskTripInfo -> {
is TaskWithOrderUIState.UpdateOrderTripInfo -> {
taskOtherInfo.text =
TaskUtils.getCurrentTaskTotalAndDurationHtml(
taskAndOrderUiState.mileage,
@@ -192,8 +191,18 @@ class TaxiCurrentTaskFragment : BaseFragment(),
)
}
is TaskWithOrderUIState.UpdatePrepareTaskDelay120S -> {
updatePrepareTaskDelay120SUI(taskAndOrderUiState.isStart)
is TaskWithOrderUIState.UpdateTaskTripLocalCalculateInfo -> {
updateCurrentTaskTripInfo(
taskAndOrderUiState.meters,
taskAndOrderUiState.timeInSecond
)
}
is TaskWithOrderUIState.UpdatePrepareTaskDelay -> {
updatePrepareTaskDelayUI(
taskAndOrderUiState.delayTime,
taskAndOrderUiState.isStart
)
}
}
}
@@ -203,35 +212,36 @@ class TaxiCurrentTaskFragment : BaseFragment(),
/**
* 更新120s倒计时
*/
private fun updatePrepareTaskDelay120SUI(isStart: Boolean) {
private fun updatePrepareTaskDelayUI(millisInFuture: Long, isStart: Boolean) {
if (!isStart){
prepareTaskCountdownTv.visibility = View.GONE
if (!isStart) {
prepareTaskCountdownTv.visibility = View.GONE
mPrepareTasCountDownTimer?.cancel()
mPrepareTasCountDownTimer = null
return
}
prepareTaskCountdownTv.visibility = View.VISIBLE
mPrepareTasCountDownTimer = object : CountDownTimer(TIMER_PREPARE_TASK_INTERVAL_120S, 1000L) {// 5倒计时后开启自驾
prepareTaskCountdownTv.visibility = View.VISIBLE
mPrepareTasCountDownTimer =
object : CountDownTimer(millisInFuture, 1000L) {// 5倒计时后开启自驾
override fun onTick(millisUntilFinished: Long) {
// 倒计时
UiThreadHandler.post {
prepareTaskCountdownTv.text =
"距离任务获取还有 ${DateTimeUtil.second2MMSS(millisUntilFinished/1000)}"
override fun onTick(millisUntilFinished: Long) {
// 倒计时
UiThreadHandler.post {
prepareTaskCountdownTv.text =
"距离任务获取还有 ${DateTimeUtil.second2MMSS(millisUntilFinished / 1000)}"
}
}
override fun onFinish() {
//倒计时结束了...
UiThreadHandler.post {
prepareTaskCountdownTv.visibility = View.GONE
}
mPrepareTasCountDownTimer?.cancel()
}
}
override fun onFinish() {
//倒计时结束了...
UiThreadHandler.post {
prepareTaskCountdownTv.visibility = View.GONE
}
mPrepareTasCountDownTimer?.cancel()
}
}
mPrepareTasCountDownTimer?.start()
}
@@ -283,9 +293,21 @@ class TaxiCurrentTaskFragment : BaseFragment(),
}
}
private fun updateNextTaskFragment(taskAndOrder: QueryCurrentTaskRespBean.Result?) {
mTaxiFragment?.let {
it.updateNextTaskFragment(taskAndOrder)
private fun updateNextTaskFragment(result: QueryCurrentTaskRespBean.Result?) {
FlowBus.with<QueryCurrentTaskRespBean.Result?>(TaxiDriverEventConst.TabFragmentEvent.EVENT_TYPE_TASK_WITH_ORDER_CHANGED)
.post(this.lifecycleScope, result)
if (result != null
&& result.taskType == TaskTypeEnum.VirtualTask.code
&& result.order != null
&& result.currentStatus != TaskStatusEnum.CompleteTask.code
) {
VoiceNotice.showNotice("已为您提前接到下一订单，待完成当前任务后服务")
FlowBus.with<Boolean>(TaxiDriverEventConst.TabFragmentEvent.EVENT_TYPE_SHOW_RED_POINT)
.post(this.lifecycleScope, true)
} else {
FlowBus.with<Boolean>(TaxiDriverEventConst.TabFragmentEvent.EVENT_TYPE_SHOW_RED_POINT)
.post(this.lifecycleScope, false)
}
}
@@ -302,24 +324,21 @@ class TaxiCurrentTaskFragment : BaseFragment(),
*/
private fun updateRemainDistanceAndTime(isVoicePlay: Boolean) {
val currentTaskWithOrder = TaxiTaskModel.getCurrentTaskWithOrder() ?: return
d(TAG, "updateRemainDistanceAndTime ${currentTaskWithOrder.currentStatus}")
if (currentTaskWithOrder.currentStatus == TaskStatusEnum.StartTask.code) {
if (currentTaskWithOrder.endSite != null) {
startNaviToStation(
isVoicePlay, currentTaskWithOrder.endSite!!.gcjLat,
currentTaskWithOrder.endSite!!.gcjLon
)
}
if (currentTaskWithOrder.endSite != null
&& currentTaskWithOrder.currentStatus == TaskStatusEnum.StartTask.code
} else if (currentTaskWithOrder.currentStatus == TaskStatusEnum.CompleteTask.code &&
currentTaskWithOrder.taskType <= TaskTypeEnum.ToOrderStartTask.code
) {
startNaviToStation(
isVoicePlay, currentTaskWithOrder.endSite!!.gcjLat,
currentTaskWithOrder.endSite!!.gcjLon
)
return
}
if (currentTaskWithOrder.startSite != null
&& currentTaskWithOrder.currentStatus == TaskStatusEnum.GetTask.code
) { //演练任务和送驾任务
startNaviToStation(
isVoicePlay, currentTaskWithOrder.startSite!!.gcjLat,
currentTaskWithOrder.startSite!!.gcjLon
)
taskOtherInfo.text = "已到达 ${currentTaskWithOrder.endSite?.siteName}"
} else {
taskOtherInfo.text = "距离 -- 公里, 用时 -- 分钟"
}
}
@@ -353,12 +372,19 @@ class TaxiCurrentTaskFragment : BaseFragment(),
when (taskType) {
TaskTypeEnum.None.code -> {
if (order != null && currentStatus == TaskStatusEnum.CompleteTask.code) {
handleOrderView(order)
updateOrderUI(order)
}
}
TaskTypeEnum.VirtualTask.code -> { //演练任务
if (order != null && currentStatus == TaskStatusEnum.CompleteTask.code) {
updateOrderUI(order)
updateMapMarkers(taskAndOrder)
updateRemainDistanceAndTime(false)
return
}
cancelOrder.visibility = View.GONE
orderPhoneAndNum.visibility = if (order != null &&
currentStatus == TaskStatusEnum.CompleteTask.code
@@ -374,10 +400,6 @@ class TaxiCurrentTaskFragment : BaseFragment(),
pathwayPoint.visibility = View.GONE
if (order != null && currentStatus == TaskStatusEnum.CompleteTask.code) {
updateOrderUI(order)
return
}
if (startSite == null || endSite == null) return
taskStatus.text = resources.getString(R.string.task_start_end_site)
@@ -386,14 +408,13 @@ class TaxiCurrentTaskFragment : BaseFragment(),
taskTypeTv.text = resources.getString(R.string.task_exercise)
startStationName.text = startSite.siteName
endStationName.text = endSite.siteName
updatePrepareTaskDelay120SUI(false)
updatePrepareTaskDelayUI(0, false)
updateStartAndEndStationPointByStatus(true)
}
TaskTypeEnum.ToOrderEndTask.code, TaskTypeEnum.ToOrderStartTask.code -> {// 接驾任务 或 送驾任务
order?.also {
updatePathwayPoint(taskType,endSite?.siteName)
handleOrderView(it)
updatePathwayPoint(taskType, endSite?.siteName)
updateOrderUI(it)
}
}
@@ -403,7 +424,7 @@ class TaxiCurrentTaskFragment : BaseFragment(),
updateRemainDistanceAndTime(false)
}
private fun updatePathwayPoint(taskType: Int,endSiteName: String?) {
private fun updatePathwayPoint(taskType: Int, endSiteName: String?) {
if (TextUtils.isEmpty(endSiteName)) return
pathwayPoint.visibility = if (taskType == TaskTypeEnum.ToOrderStartTask.code)
View.VISIBLE else View.GONE
@@ -475,7 +496,22 @@ class TaxiCurrentTaskFragment : BaseFragment(),
}
private fun updateOrderUI(order: OrderDetail) {
updatePrepareTaskDelay120SUI(false)
cancelOrder.visibility = View.VISIBLE
orderPhoneAndNum.visibility = View.VISIBLE
taskClickBtn.visibility = View.VISIBLE
taskTypeTv.visibility = View.VISIBLE
// orderStatus: 0 订单创建（为派单）, 10 已派上司机（司机去往上车点）, 20 司机到达上车点,
// 30 乘客到达上车点, 40 服务中（去往目的地）, 50 到达目的地, 60 已完成, 70 已取消
naviToStart.visibility = if (order.orderStatus
== TaxiOrderStatusEnum.OnTheWayToStart.code
) View.VISIBLE else View.GONE
naviToEnd.visibility = if (order.orderStatus
== TaxiOrderStatusEnum.OnTheWayToEnd.code
) View.VISIBLE else View.GONE
taskOtherInfo.visibility = View.VISIBLE
updatePrepareTaskDelayUI(0, false)
taskTypeTv.text = resources.getString(R.string.task_order)
taskTypeTv.background =
ContextCompat.getDrawable(
@@ -547,32 +583,15 @@ class TaxiCurrentTaskFragment : BaseFragment(),
}
}
private fun handleOrderView(order: OrderDetail?) {
if (order == null) return
cancelOrder.visibility = View.VISIBLE
orderPhoneAndNum.visibility = View.VISIBLE
taskClickBtn.visibility = View.VISIBLE
taskTypeTv.visibility = View.VISIBLE
// orderStatus: 0 订单创建（为派单）, 10 已派上司机（司机去往上车点）, 20 司机到达上车点,
// 30 乘客到达上车点, 40 服务中（去往目的地）, 50 到达目的地, 60 已完成, 70 已取消
naviToStart.visibility = if (order.orderStatus
== TaxiOrderStatusEnum.OnTheWayToStart.code
) View.VISIBLE else View.GONE
naviToEnd.visibility = if (order.orderStatus
== TaxiOrderStatusEnum.OnTheWayToEnd.code
) View.VISIBLE else View.GONE
taskOtherInfo.visibility = View.VISIBLE
}
private fun hideNaviBtns() {
naviToStart.visibility = View.GONE
naviToEnd.visibility = View.GONE
AmapNaviToDestinationModel.getInstance(context).destroyAmaNavi()
mTaxiFragment?.showAmapNaviToStationFragment(false)
mTaxiFragment?.showRoutingToStationFragment(false)
FlowBus.with<Boolean>(TaxiDriverEventConst.TaxiFragmentEvent.EVENT_TYPE_SHOW_AMAP_NAVI_TO_STATION_FRAGMENT)
.post(this.lifecycleScope, false)
FlowBus.with<Boolean>(TaxiDriverEventConst.TaxiFragmentEvent.EVENT_TYPE_SHOW_ROUTING_TO_STATION_FRAGMENT)
.post(this.lifecycleScope, false)
}
private fun startNaviToStation(isVoicePlay: Boolean, stationLat: Double, stationLng: Double) {
@@ -595,16 +614,25 @@ class TaxiCurrentTaskFragment : BaseFragment(),
* @param meters 米
* @param timeInSecond 秒
*/
fun updateCurrentTaskTripInfo(meters: Long, timeInSecond: Long) {
val currentTaskWithOrder = TaxiTaskModel.getCurrentTaskWithOrder() ?: return
if (currentTaskWithOrder.endSite == null && currentTaskWithOrder == null) return
d("NaviToDestinationModel", "taskUitl, ${TaskUtils.getCurrentTaskTripHtml(meters, timeInSecond)}")
taskOtherInfo.text = TaskUtils.getCurrentTaskTripHtml(meters, timeInSecond)
private fun updateCurrentTaskTripInfo(meters: Long, timeInSecond: Long) {
UiThreadHandler.post {
val currentTaskWithOrder = TaxiTaskModel.getCurrentTaskWithOrder() ?: return@post
d(
TAG,
"updateCurrentTaskTripInfo, taskUtil, ${
TaskUtils.getCurrentTaskTripHtml(
meters,
timeInSecond
)
}"
)
taskOtherInfo.text = TaskUtils.getCurrentTaskTripHtml(meters, timeInSecond)
}
}
override fun onDestroyView() {
AmapNaviToDestinationModel.getInstance(context).destroyAmaNavi()
updatePrepareTaskDelay120SUI(false)
updatePrepareTaskDelayUI(0, false)
super.onDestroyView()
}
@@ -687,7 +715,8 @@ class TaxiCurrentTaskFragment : BaseFragment(),
* @param isShow
*/
private fun showNaviToEndStationFragment(isShow: Boolean) {
mTaxiFragment?.startNaviToEndStation(isShow)
FlowBus.with<Boolean>(TaxiDriverEventConst.TaxiFragmentEvent.EVENT_TYPE_START_NAVI_TO_END_STATION)
.post(this.lifecycleScope, isShow)
}
override fun onCurrentNaviDistAndTimeChanged(meters: Int, timeInSecond: Long) {
@@ -697,7 +726,8 @@ class TaxiCurrentTaskFragment : BaseFragment(),
override fun reInitNaviAmap(isPlay: Boolean, isRestart: Boolean) {
d(TAG, "isPlay = $isPlay, isRestart=$isRestart")
if (!isRestart) {
mTaxiFragment?.showAmapNaviToStationFragment(false)
FlowBus.with<Boolean>(TaxiDriverEventConst.TaxiFragmentEvent.EVENT_TYPE_SHOW_AMAP_NAVI_TO_STATION_FRAGMENT)
.post(this.lifecycleScope, false)
return
}
val currentTaskWithOrder = TaxiTaskModel.getCurrentTaskWithOrder()
@@ -715,7 +745,8 @@ class TaxiCurrentTaskFragment : BaseFragment(),
}
if ((currentTaskWithOrder?.currentStatus == TaskStatusEnum.StartTask.code
&& currentTaskWithOrder.order == null)
|| (currentTaskWithOrder?.order?.orderStatus == TaxiOrderStatusEnum.OnTheWayToEnd.code)) {
|| (currentTaskWithOrder?.order?.orderStatus == TaxiOrderStatusEnum.OnTheWayToEnd.code)
) {
if (naviToEnd.visibility == View.GONE) {
naviToEnd.visibility = View.VISIBLE
}
@@ -726,10 +757,14 @@ class TaxiCurrentTaskFragment : BaseFragment(),
fun onNaviToEndStationByAmap(isShow: Boolean) {
val currentTaskWithOrder = TaxiTaskModel.getCurrentTaskWithOrder() ?: return
mTaxiFragment?.showAmapNaviToStationFragment(
if (currentTaskWithOrder.currentStatus == TaskStatusEnum.StartTask.code)
isShow else true
)
FlowBus.with<Boolean>(TaxiDriverEventConst.TaxiFragmentEvent.EVENT_TYPE_SHOW_AMAP_NAVI_TO_STATION_FRAGMENT)
.post(
this.lifecycleScope,
if (currentTaskWithOrder.currentStatus == TaskStatusEnum.StartTask.code)
isShow
else
true
)
updateRemainDistanceAndTime(
if (currentTaskWithOrder.currentStatus == TaskStatusEnum.StartTask.code)
isShow else true

117
OCH/taxi/unmanned-driver/src/main/java/com/mogo/och/taxi/ui/task/TaxiCurrentTaskViewModel.kt
View File

@@ -12,6 +12,7 @@ import com.mogo.eagle.core.utilcode.util.UiThreadHandler
import com.mogo.och.common.module.biz.network.OchCommonServiceCallback
import com.mogo.och.common.module.utils.ToastUtilsOch
import com.mogo.och.common.module.voice.VoiceNotice
import com.mogo.och.common.module.wigets.StartAutopilotAnimationView
import com.mogo.och.taxi.R
import com.mogo.och.taxi.base.BaseViewModel
import com.mogo.och.taxi.base.IUiIntent
@@ -21,6 +22,7 @@ import com.mogo.och.taxi.bean.TrajectoryListRespBean
import com.mogo.och.taxi.callback.ITaxiCarServiceCallback
import com.mogo.och.taxi.callback.ITaxiTaskWithOrderCallback
import com.mogo.och.taxi.constant.TaskStatusEnum
import com.mogo.och.taxi.constant.TaskTypeEnum
import com.mogo.och.taxi.constant.TaxiOrderStatusEnum
import com.mogo.och.taxi.constant.TaxiUnmannedConst
import com.mogo.och.taxi.network.TaxiTaskWithOrderServiceManager
@@ -142,7 +144,7 @@ class TaxiCurrentTaskViewModel : BaseViewModel<UnmannedState, TaskUiIntent>(),
}
}
private fun startTask() {
private fun startTask(isStartAutopilot: Boolean = true) {
if (!TaxiTaskModel.checkCurrentTaskCondition()) {
ToastUtils.showShort("无任务！")
return
@@ -154,7 +156,7 @@ class TaxiCurrentTaskViewModel : BaseViewModel<UnmannedState, TaskUiIntent>(),
it.order!!.orderLine
else
it.lineId
)
,isStartAutopilot)
}
}
@@ -173,11 +175,11 @@ class TaxiCurrentTaskViewModel : BaseViewModel<UnmannedState, TaskUiIntent>(),
}
}
private fun updatePrepareTaskDelay120SUI(isStart: Boolean){
private fun updatePrepareTaskDelayUI(delayTime: Long, isStart: Boolean) {
d(TAG, "UpdatePrepareTaskDelay120SUI = $isStart")
sendUiState {
copy(
taskWithOrderUIState = TaskWithOrderUIState.UpdatePrepareTaskDelay120S(
taskWithOrderUIState = TaskWithOrderUIState.UpdatePrepareTaskDelay(delayTime,
isStart
)
)
@@ -195,30 +197,63 @@ class TaxiCurrentTaskViewModel : BaseViewModel<UnmannedState, TaskUiIntent>(),
}
}
private fun updateOrderTotalMileAndDurationUI(mileage: Float, duration: Int) {
d(TAG, "updateOrderTotalMileAndDurationUI")
private fun updateOrderTripInfoUI(mileage: Float, duration: Int) {
d(TAG, "updateOrderTripInfoUI")
sendUiState {
copy(
taskWithOrderUIState = TaskWithOrderUIState.UpdateTaskTripInfo(
taskWithOrderUIState = TaskWithOrderUIState.UpdateOrderTripInfo(
mileage, duration
)
)
}
}
private fun updateTaskTripInfoLocalCalculateUI(meters: Long, timeInSecond: Long) {
d(TAG, "UpdateTaskTripInfoLocalCalculateUI")
sendUiState {
copy(
taskWithOrderUIState = TaskWithOrderUIState.UpdateTaskTripLocalCalculateInfo(
meters, timeInSecond
)
)
}
}
override fun onTaskWithOrderDataChanged(result: QueryCurrentTaskRespBean.Result?) {
d(TAG, "onTaskWithOrderChanged = result = " + GsonUtil.jsonFromObject(result))
DebugView.printInfoMsg("[查询TaskWithOrder信息] 更新数据, 刷新UI")
updateTaskAndOrderUi(result)
}
override fun onTaskCompleted(isOrderArrivedAtStart: Boolean, siteId: Long) {
d(TAG, "onTaskCompleted: isOrderArrivedAtStart=$isOrderArrivedAtStart, siteId=$siteId")
if (isOrderArrivedAtStart) {
TaxiTaskModel.removePrepareTaskDelay120S()
TaxiTaskModel.prepareNextTask(siteId)
} else {
TaxiTaskModel.startPrepareTaskDelay120S(siteId)
/**
* 开始倒计时120s或者10s拉取任务
* 演练任务120s拉取
* 接驾任务10s拉取
*/
override fun onTaskCompleted(result: QueryCurrentTaskRespBean.Result) {
d(TAG, "onTaskCompleted: ${result?.currentStatus}, siteId=${result?.endSite?.siteId}")
if (result.order != null && result.servingStatus == 1){
if (result.taskType <= TaskTypeEnum.VirtualTask.code
&& result.order!!.orderStatus < TaxiOrderStatusEnum.ArriveAtStart.code) {
VoiceNotice.showNotice("已为您接到订单")
}
if (result.taskType == TaskTypeEnum.ToOrderStartTask.code
&& result.order!!.orderStatus == TaxiOrderStatusEnum.ArriveAtStart.code){
VoiceNotice.showNotice("已到达上车地点，等待乘客上车")
}
}
if (QueryCurrentTaskRespBean.isUserArriveAtStart(result)) {
TaxiTaskModel.removePrepareTaskDelay()
TaxiTaskModel.prepareNextTask(0,result.endSite!!.siteId)
}else if (!QueryCurrentTaskRespBean.isOrderArriveAtStart(result)
|| !QueryCurrentTaskRespBean.isOrderArriveAtEnd(result)){
TaxiTaskModel.startPrepareTaskDelay(
if (TaskTypeEnum.isToOrderStartTask(result))
TaxiUnmannedConst.START_AUTOPILOT_COUNTDOWN_INTERVAL
else TaxiUnmannedConst.TIMER_PREPARE_TASK_INTERVAL_120S,
result.endSite!!.siteId)
}
}
@@ -229,15 +264,19 @@ class TaxiCurrentTaskViewModel : BaseViewModel<UnmannedState, TaskUiIntent>(),
override fun onOrderCancel() {
VoiceNotice.showNotice("已取消行程")
// updateTaskAndOrderUi(null)
//取消自驾,D档位会溜车 map3.6.0 修改
TaxiTaskModel.cancelAutopilot()
}
override fun onOrderArriveAtEnd(orderNo: String) {
TaxiTaskModel.queryOrderByOrderNo(orderNo)
}
override fun onOrderTotalMileAndDurationChanged(mileage: Float, duration: Int) {
//更新总全程信息（公里和分钟）
updateOrderTotalMileAndDurationUI(mileage, duration)
/**
* 更新总全程信息（公里和分钟）, 后端返回的数据
*/
override fun onOrderTripInfoChanged(mileage: Float, duration: Int) {
updateOrderTripInfoUI(mileage, duration)
}
override fun onOrderJourneyCompleted() {
@@ -245,22 +284,46 @@ class TaxiCurrentTaskViewModel : BaseViewModel<UnmannedState, TaskUiIntent>(),
//获取新的任务
val currentTaskWithOrder = TaxiTaskModel.getCurrentTaskWithOrder()
currentTaskWithOrder?.endSite?.also {
TaxiTaskModel.startPrepareTaskDelay120S(it.siteId)
TaxiTaskModel.startPrepareTaskDelay(TaxiUnmannedConst.TIMER_PREPARE_TASK_INTERVAL_120S,
it.siteId)
}
}
override fun onStartAutopilot() {
UiThreadHandler.postDelayed({
startTask() //状态流转
VoiceNotice.showNotice("车辆正在自动开启自动驾驶")
}, TaxiUnmannedConst.START_AUTOPILOT_COUNTDOWN_INTERVAL) // 10s后开启自驾, 状态流转
override fun onStartAutopilot(postDelayTime: Long) {
UiThreadHandler.postDelayed(startTaskRunnable, postDelayTime) // 10s后或者倒计时继续开启自驾, 状态流转
}
private val startTaskRunnable: Runnable = Runnable {
startTask() //状态流转
VoiceNotice.showNotice("车辆正在自动开启自动驾驶")
}
/**
* 开始倒计时120拉取任务
* 主动请求平行驾驶, 停止启动自驾命令, 任务状态需向下流转
*/
override fun onStartPrepareTask120s(isStart: Boolean) {
updatePrepareTaskDelay120SUI(isStart)
override fun onStopAutopilot() {
UiThreadHandler.removeCallbacks(startTaskRunnable)
startTask(false)
}
override fun onPauseStartAutopilot() {
UiThreadHandler.removeCallbacks(startTaskRunnable)
}
/**
* 开始倒计时120s或者10s拉取任务
* 演练任务120s拉取
* 接驾任务10s拉取
*/
override fun onStartPrepareTaskUI(delayTime: Long, isStart: Boolean) {
updatePrepareTaskDelayUI(delayTime, isStart)
}
/**
* 更新本次任务行程信息, 本地计算的数据
*/
override fun onTaskTripInfoLocalCalculateChanged(meters: Long, timeInSecond: Long) {
updateTaskTripInfoLocalCalculateUI(meters, timeInSecond)
}
override fun onCarEndServiceSuccess(
@@ -269,7 +332,7 @@ class TaxiCurrentTaskViewModel : BaseViewModel<UnmannedState, TaskUiIntent>(),
) {
if (currentTaskWithOrder?.endSite != null
&& (currentTaskWithOrder.currentStatus < TaskStatusEnum.CompleteTask.code
||currentTaskWithOrder.order != null)
|| currentTaskWithOrder.order != null)
) {
VoiceNotice.showNotice("暂停接单啦！要完成当前订单哦")
return

220
OCH/taxi/unmanned-driver/src/main/java/com/mogo/och/taxi/ui/task/TaxiTaskModel.kt
View File

@@ -20,14 +20,17 @@ import com.mogo.eagle.core.data.deva.chain.ChainConstant
import com.mogo.eagle.core.data.map.MogoLocation
import com.mogo.eagle.core.function.api.autopilot.IMoGoAutopilotStatusListener
import com.mogo.eagle.core.function.api.autopilot.IMoGoChassisLocationGCJ02Listener
import com.mogo.eagle.core.function.api.autopilot.IMoGoParallelDrivingActionsListener
import com.mogo.eagle.core.function.api.autopilot.IMoGoPlanningRottingListener
import com.mogo.eagle.core.function.call.autopilot.CallerAutoPilotControlManager
import com.mogo.eagle.core.function.call.autopilot.CallerAutoPilotStatusListenerManager
import com.mogo.eagle.core.function.call.autopilot.CallerAutoPilotStatusListenerManager.updateAutopilotControlParameters
import com.mogo.eagle.core.function.call.autopilot.CallerChassisLocationGCJ02ListenerManager
import com.mogo.eagle.core.function.call.autopilot.CallerChassisLocationGCJ02ListenerManager.getChassisLocationGCJ02
import com.mogo.eagle.core.function.call.autopilot.CallerParallelDrivingActionsListenerManager
import com.mogo.eagle.core.function.call.autopilot.CallerPlanningRottingListenerManager
import com.mogo.eagle.core.network.utils.GsonUtil
import com.mogo.eagle.core.utilcode.mogo.logger.CallerLogger
import com.mogo.eagle.core.utilcode.mogo.logger.CallerLogger.d
import com.mogo.eagle.core.utilcode.mogo.logger.CallerLogger.e
import com.mogo.eagle.core.utilcode.mogo.logger.CallerLogger.i
@@ -76,6 +79,7 @@ import com.mogo.och.taxi.ui.debug.DebugView
import com.mogo.och.taxi.utils.RxJavaUtils
import com.mogo.och.taxi.utils.TaxiAnalyticsManager
import com.mogo.och.taxi.utils.TaxiTrajectoryManager
import com.zhjt.mogo.adas.data.bean.UnableLaunchReason
import com.zhjt.service.chain.ChainLog
import io.reactivex.Observable
import io.reactivex.android.schedulers.AndroidSchedulers
@@ -136,7 +140,7 @@ object TaxiTaskModel {
private val mCurrentTaskRoutePointsGcj: MutableList<MogoLocation> = ArrayList()
private var mPrepareTaskDelay120SRunnable: Runnable? = null
private var mPrepareTaskDelayRunnable: Runnable? = null
fun addTaskWithOrderListener(tag: String, listener: ITaxiTaskWithOrderCallback) {
if (mTaxiTaskWithOrderCallbackMap.containsKey(tag)) {
@@ -225,6 +229,8 @@ object TaxiTaskModel {
AbnormalFactorsLoopManager.startLoopAbnormalFactors(mContext)
TrajectoryAndDistanceManager.addDistanceListener(TAG, localCalculateDistanceListener)
TrajectoryAndDistanceManager.addTrajectoryListener(TAG, localCalculateTrajectoryListener)
//3.6.0后平行驾驶.刹车 且只用于东风和红旗. 3.6.0前没有
CallerParallelDrivingActionsListenerManager.addListener(TAG,mParallelDrivingActionsListener)
}
private fun releaseListeners() {
@@ -241,6 +247,38 @@ object TaxiTaskModel {
CallerPlanningRottingListenerManager.removeListener(mMogoAutopilotPlanningListener)
OCHAdasAbilityManager.getInstance().setAdasStartFailureCallback(null)
AbnormalFactorsLoopManager.stopLoopAbnormalFactors()
CallerParallelDrivingActionsListenerManager.removeListener(TAG)
}
// 监听平行驾驶、刹车, 试用于MAP3.6.0以上 且只用于东风和红旗
private val mParallelDrivingActionsListener: IMoGoParallelDrivingActionsListener =
object : IMoGoParallelDrivingActionsListener {
override fun onParallelDrivingAbility(
isParallelDrivingAbility: Boolean,
unableParallelDrivingReasons: ArrayList<UnableLaunchReason>?
) {
if (unableParallelDrivingReasons != null) {
if (unableParallelDrivingReasons.toString().contains(UnableLaunchReason.SourceType.CHASSIS.name)
&& unableParallelDrivingReasons.toString().contains(UnableLaunchReason.UnableType.BRAKE.name)) {
//刹车变化回调
d(TAG,"onParallelDrivingAbility = $isParallelDrivingAbility," +
" unableParallelDrivingReasons = ${unableParallelDrivingReasons.toString()}" )
handleBrakeStatusChange(isParallelDrivingAbility)
}
}
}
}
/**
* brakeStatus: true: 恢复启动自驾
* false: 暂停启动自驾
*/
fun handleBrakeStatusChange(brakeStatus: Boolean) {
if (brakeStatus){
mControllerStatusCallback?.resumeOpenAutopilotNonManual()
}else{
mControllerStatusCallback?.pauseOpenAutopilotNonManual()
}
}
private val mMogoAutopilotStatusListener: IMoGoAutopilotStatusListener =
@@ -259,7 +297,7 @@ object TaxiTaskModel {
if (state == IMoGoAutopilotStatusListener.STATUS_AUTOPILOT_RUNNING) {
DebugView.printInfoMsg("[自驾状态变化] afterValue=STATUS_AUTOPILOT_RUNNING，meaning=自动驾驶中")
mADASStatusCallback?.onAutopilotRunning()
if ((QueryCurrentTaskRespBean.isOrderOnTheWayToEnd(mCurrentTaskWithOrder))) {
if ((QueryCurrentTaskRespBean.isStartTaskType(mCurrentTaskWithOrder))) {
TaxiAnalyticsManager.getInstance().triggerStartAutopilotEvent(
isRestartAutopilot,
true,
@@ -283,12 +321,9 @@ object TaxiTaskModel {
DebugView.printInfoMsg("[自驾状态变化] afterValue=STATUS_AUTOPILOT_ENABLE，meaning=可自动驾驶，人工干预状态")
if ((FunctionBuildConfig.isDemoMode
&& checkCurrentTaskCondition()
&& (QueryCurrentTaskRespBean.isOrderOnTheWayToEnd(
mCurrentTaskWithOrder
)
|| QueryCurrentTaskRespBean.isOrderArriveAtEnd(
mCurrentTaskWithOrder
)))
&& (QueryCurrentTaskRespBean.isOrderOnTheWayToEnd(mCurrentTaskWithOrder)
|| QueryCurrentTaskRespBean.isOrderArriveAtEnd(mCurrentTaskWithOrder))
)
) {
// 当美化模式（演示模式）开启时：且有订单、且为去往目的地状态，维持自动驾驶icon开启状态
return
@@ -298,12 +333,9 @@ object TaxiTaskModel {
DebugView.printInfoMsg("[自驾状态变化] afterValue=STATUS_AUTOPILOT_DISABLE，meaning=不可自动驾驶")
if ((FunctionBuildConfig.isDemoMode
&& checkCurrentTaskCondition()
&& (QueryCurrentTaskRespBean.isOrderOnTheWayToEnd(
mCurrentTaskWithOrder
)
|| QueryCurrentTaskRespBean.isOrderArriveAtEnd(
mCurrentTaskWithOrder
)))
&& (QueryCurrentTaskRespBean.isOrderOnTheWayToEnd(mCurrentTaskWithOrder)
|| QueryCurrentTaskRespBean.isOrderArriveAtEnd(mCurrentTaskWithOrder))
)
) {
// 当美化模式（演示模式）开启时：且有订单、且为去往目的地状态，维持自动驾驶icon开启状态
return
@@ -315,12 +347,9 @@ object TaxiTaskModel {
DebugView.printInfoMsg("[自驾状态变化] afterValue=STATUS_PARALLEL_DRIVING，meaning=平行驾驶中")
if (FunctionBuildConfig.isDemoMode) {
if ((checkCurrentTaskCondition()
&& (QueryCurrentTaskRespBean.isOrderOnTheWayToEnd(
mCurrentTaskWithOrder
)
|| QueryCurrentTaskRespBean.isOrderArriveAtEnd(
mCurrentTaskWithOrder
)))
&& (QueryCurrentTaskRespBean.isOrderOnTheWayToEnd(mCurrentTaskWithOrder)
|| QueryCurrentTaskRespBean.isOrderArriveAtEnd(mCurrentTaskWithOrder))
)
) { //订单中
// 当美化模式（演示模式）开启时：且有订单、且为去往目的地状态，维持自动驾驶icon开启状态
} else { //美化模式下没订单，显示人工驾驶
@@ -482,10 +511,12 @@ object TaxiTaskModel {
TAG,
"dynamicCalculateRouteInfo: lastSumLength=$lastSumLength, lastTime=$lastTime, threadName=Thread.currentThread().name"
)
mOrderStatusCallback?.onCurrentOrderDistToEndChanged(
lastSumLength.toLong(),
lastTime.toLong()
)
mTaxiTaskWithOrderCallbackMap.forEach {
val listener = it.value
listener.onTaskTripInfoLocalCalculateChanged(
lastSumLength.toLong(),
lastTime.toLong())
}
}
}
@@ -599,8 +630,8 @@ object TaxiTaskModel {
if (isArriveAtEndSite) {
updateLocalCalculateStation()
//到站后不再调用取消自驾. 原因是取消自驾,D档位会溜车
//cancelAutopilot()
//取消自驾,D档位会溜车 map3.6.0 修改
cancelAutopilot()
}
}
@@ -716,18 +747,6 @@ object TaxiTaskModel {
mCurrentTaskWithOrder = result
if (result.order != null && result.currentStatus == TaskStatusEnum.CompleteTask.code
&& result.servingStatus == 1){
if (result.taskType <= TaskTypeEnum.VirtualTask.code
&& result.order!!.orderStatus < TaxiOrderStatusEnum.ArriveAtStart.code) {
VoiceNotice.showNotice("已为您接到订单")
}
if (result.taskType == TaskTypeEnum.ToOrderStartTask.code
&& result.order!!.orderStatus == TaxiOrderStatusEnum.ArriveAtStart.code){
VoiceNotice.showNotice("已到达上车地点，等待乘客上车")
}
}
// 任务为空
if (result.endSite == null && result.order == null) {
d(TAG, "queryCurrentTaskOnce: 任务为空")
@@ -745,17 +764,10 @@ object TaxiTaskModel {
// 主要是解决A-B演练任务同时接到A-B订单状态流转的问题
//注意: 需要去除到达乘客上车点的节点, 这个节点不拉取任务
if (result?.currentStatus == TaskStatusEnum.CompleteTask.code
&& (!QueryCurrentTaskRespBean.isOrderArriveAtStart(result)
|| !QueryCurrentTaskRespBean.isOrderArriveAtEnd(result))
) {
mTaxiTaskWithOrderCallbackMap.forEach {
val listener = it.value
listener.onTaskCompleted(
QueryCurrentTaskRespBean.isUserArriveAtStart(
result
),
result.endSite!!.siteId
)
listener.onTaskCompleted(result)
}
}
@@ -789,7 +801,7 @@ object TaxiTaskModel {
mControllerStatusCallback?.startOpenAutopilotNonManual()
mTaxiTaskWithOrderCallbackMap.forEach {
val listener = it.value
listener.onStartAutopilot()
listener.onStartAutopilot(TaxiUnmannedConst.START_AUTOPILOT_COUNTDOWN_INTERVAL)
}
}
}
@@ -800,6 +812,7 @@ object TaxiTaskModel {
listener.onTaskWithOrderDataChanged(mCurrentTaskWithOrder)
}
}
updateDemoModeAndAutopilotParameters(result)
}
}
@@ -833,8 +846,9 @@ object TaxiTaskModel {
fun updateLocalCalculateStation() {
if (mCurrentTaskWithOrder == null) return
if (mCurrentTaskWithOrder!!.startSite != null && mCurrentTaskWithOrder!!.endSite != null
&& mCurrentTaskWithOrder!!.currentStatus <= TaskStatusEnum.StartTask.code
&& mCurrentTaskWithOrder!!.currentStatus == TaskStatusEnum.StartTask.code
) {
d(TAG, "updateLocalCalculateStation start")
val curTaskAndOrder = getCurrentTaskWithOrder() ?: return
if (curTaskAndOrder.startSite != null && curTaskAndOrder.endSite != null) {
val startStation = MogoLocation()
@@ -846,6 +860,8 @@ object TaxiTaskModel {
setStationPoint(startStation, endStation, curTaskAndOrder.lineId)
}
} else {
d(TAG, "updateLocalCalculateStation stop")
AmapNaviToDestinationModel.getInstance(mContext).destroyAmaNavi()
setStationPoint(null, null, -1L)
}
}
@@ -869,7 +885,7 @@ object TaxiTaskModel {
TaxiOrderStatusEnum.ArriveAtEnd.code -> {
mTaxiTaskWithOrderCallbackMap.forEach {
val listener = it.value
listener.onOrderTotalMileAndDurationChanged(
listener.onOrderTripInfoChanged(
data.data.mileage,
data.data.duration.toInt()
)
@@ -896,7 +912,7 @@ object TaxiTaskModel {
})
}
fun startTask(lineId: Long) {
fun startTask(lineId: Long, isStartAutopilot: Boolean) {
DebugView.printInfoMsg("[开始任务] 准备发送请求，lindId=$lineId")
TaxiTaskWithOrderServiceManager.startTask(
mContext,
@@ -904,7 +920,9 @@ object TaxiTaskModel {
object : OchCommonServiceCallback<BaseData> {
override fun onSuccess(data: BaseData?) {
DebugView.printInfoMsg("[开始任务] 请求success，lindId=$lineId")
startAutoPilot() //自驾开启
if (isStartAutopilot){
startAutoPilot() //自驾开启
}
d(TAG, "startTask onSuccess: data=${GsonUtil.jsonFromObject(data)}")
}
@@ -927,7 +945,7 @@ object TaxiTaskModel {
})
}
fun prepareNextTask(siteId: Long) {
fun prepareNextTask(delayTime: Long,siteId: Long) {
DebugView.printInfoMsg("[PrepareNextTask] 准备发送请求, siteId=$siteId")
TaxiTaskWithOrderServiceManager.prepareTask(
mContext,
@@ -946,39 +964,39 @@ object TaxiTaskModel {
DebugView.printErrorMsg("[PrepareNextTask] 请求fail, code=$code ,msg=$msg")
d(TAG, "prepareNextTask onFail: code=$code ,msg=$msg")
if (LoginStatusManager.isLogin() && TaxiCarServingStatusManager.isCarServingStatus()) {
startPrepareTaskDelay120S(siteId)
startPrepareTaskDelay(delayTime,siteId)
}
}
})
}
fun startPrepareTaskDelay120S(siteId: Long) {
removePrepareTaskDelay120S()
fun startPrepareTaskDelay(delayTime: Long, siteId: Long) {
removePrepareTaskDelay()
mPrepareTaskDelay120SRunnable = Runnable {
prepareNextTask(siteId)
mPrepareTaskDelayRunnable = Runnable {
prepareNextTask(delayTime,siteId)
}
mTaxiTaskWithOrderCallbackMap.forEach {
val listener = it.value
listener.onStartPrepareTask120s(true)
listener.onStartPrepareTaskUI(delayTime,true)
}
DebugView.printInfoMsg("[PrepareNextTask] 倒计时${TaxiUnmannedConst.TIMER_PREPARE_TASK_INTERVAL_120S / 1000}秒后prepareNextTask, siteId=$siteId")
DebugView.printInfoMsg("[PrepareNextTask] 倒计时${delayTime / 1000}秒后prepareNextTask, siteId=$siteId")
UiThreadHandler.postDelayed(
mPrepareTaskDelay120SRunnable,
TaxiUnmannedConst.TIMER_PREPARE_TASK_INTERVAL_120S
mPrepareTaskDelayRunnable,
delayTime
)
}
fun removePrepareTaskDelay120S() {
if (mPrepareTaskDelay120SRunnable != null) {
fun removePrepareTaskDelay() {
if (mPrepareTaskDelayRunnable != null) {
DebugView.printInfoMsg("[PrepareNextTask] removeCallbacks, 取消prepareNextTask倒计时")
UiThreadHandler.removeCallbacks(mPrepareTaskDelay120SRunnable)
UiThreadHandler.removeCallbacks(mPrepareTaskDelayRunnable)
mTaxiTaskWithOrderCallbackMap.forEach {
val listener = it.value
listener.onStartPrepareTask120s(false)
listener.onStartPrepareTaskUI(0,false)
}
mPrepareTaskDelay120SRunnable = null
mPrepareTaskDelayRunnable = null
}
}
@@ -986,7 +1004,7 @@ object TaxiTaskModel {
* 查询当前任务的轨迹
*/
fun queryTaskTrajectoryByLineIds(planningLineIds: Array<Long>, currentTaskLineId: Long) {
DebugView.printInfoMsg("[查询轨迹信息] 准备发送请求，currentTaskLineId=$currentTaskLineId, planningLineIds=$planningLineIds")
DebugView.printInfoMsg("[查询轨迹信息] 准备发送请求，currentTaskLineId=$currentTaskLineId, planningLineIds=${GsonUtil.jsonFromObject(planningLineIds)}")
TaxiTaskWithOrderServiceManager.queryTrajectoryByLindIds(
mContext,
planningLineIds,
@@ -996,7 +1014,7 @@ object TaxiTaskModel {
TAG,
"queryTaskTrajectoryByLineIds onSuccess: ${GsonUtil.jsonFromObject(data?.data)}"
)
DebugView.printInfoMsg("[查询轨迹信息] 请求success, currentTaskLineId=$currentTaskLineId, planningLineIds=$planningLineIds")
DebugView.printInfoMsg("[查询轨迹信息] 请求success, currentTaskLineId=$currentTaskLineId, planningLineIds=${GsonUtil.jsonFromObject(planningLineIds)}")
data?.data?.also {
mTaskTrajectoryList.addAll(it)
mCurrentTaskTrajectory = it.first { currentTaskLineId == it.lineId }
@@ -1094,6 +1112,19 @@ object TaxiTaskModel {
nodeAliasCode = ChainConstant.CHAIN_CODE_OCH_TAXI_START_AUTOPILOT,
paramIndexes = [-1]
)
fun startAutopilotByClick(){
//订单状态流转成功, 点击了开启自驾按钮, 启动自驾
if (QueryCurrentTaskRespBean.isStartTaskType(mCurrentTaskWithOrder)) {
startAutoPilot()
}else if (QueryCurrentTaskRespBean.isGetTaskType(mCurrentTaskWithOrder)){
startTask(mCurrentTaskWithOrder!!.lineId, true)
}else{
e(TAG, "task currentStatus is not StartTask.")
DebugView.printInfoMsg("[启自驾] task currentStatus is not StartTask")
}
}
fun startAutoPilot() {
DebugView.printInfoMsg("[启自驾] startAutoPilot")
if (!checkCurrentTaskCondition()) {
@@ -1107,6 +1138,7 @@ object TaxiTaskModel {
e(TAG, "no order or order is empty.")
DebugView.printErrorMsg("[启自驾] 轨迹信息不存在！")
ToastUtils.showShort("轨迹信息不存在！")
return
}
//根据开关和后台是否发布轨迹启动自驾
@@ -1144,12 +1176,6 @@ object TaxiTaskModel {
return
}
//在订单状态还没流转成功时, 点击了开启自驾按钮, 先去做状态流转成功再启动自驾
if (mCurrentTaskWithOrder!!.currentStatus == TaskStatusEnum.GetTask.code) {
startTask(mCurrentTaskWithOrder!!.lineId)
return
}
//点击开始自动驾驶按钮订单状态去流转， 不再与自动驾驶是否启动成功挂钩
isRestartAutopilot = mCurrentTaskWithOrder!!.currentStatus != TaskStatusEnum.StartTask.code
@@ -1158,6 +1184,7 @@ object TaxiTaskModel {
e(TAG, "AutopilotControlParameters is empty.")
return
}
CallerAutoPilotControlManager.startAutoPilot(parameters)
DebugView.printInfoMsg("[启自驾] 调用成功")
d(
@@ -1375,22 +1402,16 @@ object TaxiTaskModel {
}
}
//更新本地currentOrder信息，并保存订单到本地避免车机重启丢失数据
private fun updateNativeCurrentOrder(data: QueryCurrentTaskRespBean.Result?) {
//运营模式(美化模式), 鹰眼数据同步
private fun updateDemoModeAndAutopilotParameters(data: QueryCurrentTaskRespBean.Result?) {
if (data == null) {
return
}
mCurrentTaskWithOrder = data
SharedPrefsMgr.getInstance(mContext!!).putString(
TaxiUnmannedConst.SP_KEY_OCH_TAXI_ORDER,
GsonUtil.jsonFromObject(data)
)
val endSite = data.endSite
val currentOrder = mCurrentTaskWithOrder!!.order
if (currentOrder != null) {
if (currentOrder!!.orderStatus == TaxiOrderStatusEnum.OnTheWayToEnd.code) {
if (endSite != null) {
if (QueryCurrentTaskRespBean.isStartTaskType(data)) {
if (FunctionBuildConfig.isDemoMode) {
// 当美化模式（演示模式）开启时: 订单对应自动驾驶开启后，置true
FunctionBuildConfig.isIgnoreConditionsDrawAutopilotTrajectoryData = true
@@ -1400,7 +1421,7 @@ object TaxiTaskModel {
}
updateAutopilotControlParameters()
}
if (currentOrder!!.orderStatus == TaxiOrderStatusEnum.ArriveAtEnd.code) {
if (QueryCurrentTaskRespBean.isCompleteTaskType(data)) {
if (FunctionBuildConfig.isDemoMode) {
d(TAG, "setIPCDemoMode：false")
CallerAutoPilotControlManager.setIPCDemoMode(false)
@@ -1461,4 +1482,31 @@ object TaxiTaskModel {
}
startAutoPilot()
}
fun stopAutoStartAutopilot() {
d(
TAG, "stopAutoStartAutopilot = ${mCurrentTaskWithOrder?.currentStatus}"
)
if (QueryCurrentTaskRespBean.isGetTaskType(mCurrentTaskWithOrder)){
mControllerStatusCallback?.stopOpenAutopilotNonManual()
mTaxiTaskWithOrderCallbackMap.forEach {
val listener = it.value
listener.onStopAutopilot()
}
}
}
fun pauseStartAutopilot(){
mTaxiTaskWithOrderCallbackMap.forEach {
val listener = it.value
listener.onPauseStartAutopilot()
}
}
fun resumeStartAutopilot(remainingTime: Long){
mTaxiTaskWithOrderCallbackMap.forEach {
val listener = it.value
listener.onStartAutopilot(remainingTime)
}
}
}

43
OCH/taxi/unmanned-driver/src/main/java/com/mogo/och/taxi/ui/task/TaxiTaskTabFragment.kt
View File

@@ -15,12 +15,10 @@ import com.google.android.material.tabs.TabLayout
import com.mogo.commons.mvp.BaseFragment
import com.mogo.eagle.core.utilcode.mogo.logger.CallerLogger.d
import com.mogo.eagle.core.utilcode.mogo.logger.scene.SceneConstant
import com.mogo.och.common.module.voice.VoiceNotice
import com.mogo.och.common.module.utils.FlowBus
import com.mogo.och.taxi.R
import com.mogo.och.taxi.bean.QueryCurrentTaskRespBean
import com.mogo.och.taxi.constant.TaskStatusEnum
import com.mogo.och.taxi.constant.TaskTypeEnum
import com.mogo.och.taxi.ui.base.TaxiFragment
import com.mogo.och.taxi.constant.TaxiDriverEventConst
import kotlinx.android.synthetic.main.taxi_server_orders_panel.module_och_taxi_tab
import kotlinx.android.synthetic.main.taxi_server_orders_panel.module_och_taxi_view_pager
import kotlinx.android.synthetic.main.taxi_server_orders_panel.wait_order_num
@@ -69,6 +67,7 @@ class TaxiTaskTabFragment : BaseFragment() {
override fun initViews() {
initTaskTab()
initEventBus()
}
private fun initTaskTab() {
@@ -84,9 +83,7 @@ class TaxiTaskTabFragment : BaseFragment() {
if (TAB_POSITION_CURRENT == position) {
module_och_taxi_tab.addTab(tab, true)
changeTabLayoutUI(tab, true)
currentTaskFragment = TaxiCurrentTaskFragment.newInstance(
parentFragment as TaxiFragment?
)
currentTaskFragment = TaxiCurrentTaskFragment.newInstance()
mFragments.add(currentTaskFragment!!)
} else if (TAB_POSITION_NEXT == position) {
module_och_taxi_tab.addTab(tab)
@@ -183,30 +180,22 @@ class TaxiTaskTabFragment : BaseFragment() {
}
}
fun onNaviToEndStationByAMap(isShow: Boolean) {
if (null == currentTaskFragment) return
currentTaskFragment!!.onNaviToEndStationByAmap(isShow)
private fun initEventBus() {
FlowBus.with<Boolean>(TaxiDriverEventConst.TabFragmentEvent.EVENT_TYPE_SHOW_RED_POINT)
.register(this) { show ->
wait_order_num.visibility = if (show) View.VISIBLE else View.GONE
}
FlowBus.with<QueryCurrentTaskRespBean.Result?>(TaxiDriverEventConst.TabFragmentEvent.EVENT_TYPE_TASK_WITH_ORDER_CHANGED)
.register(this) { taskWithOrder ->
nextTaskFragment?.onTaskDataChanged(taskWithOrder)
}
}
fun onCurrentTaskTripInfoChanged(meters: Long, timeInSecond: Long) {
if (null == currentTaskFragment) return
currentTaskFragment!!.updateCurrentTaskTripInfo(meters, timeInSecond)
fun onNaviToEndStationByAMap(isShow: Boolean) {
currentTaskFragment?.onNaviToEndStationByAmap(isShow)
}
fun onCarTakeOrderStatusChanged() {
if (null == currentTaskFragment) return
currentTaskFragment!!.onCarTakeOrderStatusChanged()
}
fun onTaskDataChanged(result: QueryCurrentTaskRespBean.Result?) {
if (null == nextTaskFragment) return
if (result != null && result.taskType == TaskTypeEnum.VirtualTask.code
&& result.order != null && result.currentStatus != TaskStatusEnum.CompleteTask.code) {
VoiceNotice.showNotice("已为您提前接到下一订单，待完成当前任务后服务")
wait_order_num.visibility = View.VISIBLE
} else {
wait_order_num.visibility = View.GONE
}
nextTaskFragment!!.onTaskDataChanged(result)
currentTaskFragment?.onCarTakeOrderStatusChanged()
}
}

9
OCH/taxi/unmanned-driver/src/main/res/layout/taxi_base_fragment.xml
View File

@@ -186,6 +186,15 @@
app:layout_constraintRight_toRightOf="parent"
app:layout_constraintTop_toBottomOf="@id/viewDriverMsgBoxButton" />
<com.mogo.eagle.core.function.hmi.ui.widget.ParallelDriveView
android:id="@+id/parallelDriveView"
android:layout_width="wrap_content"
android:layout_height="wrap_content"
app:layout_constraintTop_toTopOf="parent"
android:layout_marginTop="@dimen/dp_20"
app:layout_constraintRight_toLeftOf="@+id/viewTrafficLightVr"
app:layout_goneMarginRight="@dimen/dp_160"/>
<!--红绿灯-->
<com.mogo.eagle.core.function.hmi.ui.widget.SingleTrafficLightView
android:id="@+id/viewTrafficLightVr"

21
OCH/taxi/unmanned-driver/src/main/res/layout/taxi_debug_order.xml
View File

@@ -51,6 +51,27 @@
android:layout_height="wrap_content"
android:text="Mock模拟轨迹"
android:textSize="12sp" />
<Button
android:id="@+id/test_brake"
android:layout_width="wrap_content"
android:layout_height="wrap_content"
android:text="Mock刹车"
android:textSize="12sp" />
<Button
android:id="@+id/test_resume_brake"
android:layout_width="wrap_content"
android:layout_height="wrap_content"
android:text="Mock松开刹车"
android:textSize="12sp" />
<Button
android:id="@+id/test_parallel_driver"
android:layout_width="wrap_content"
android:layout_height="wrap_content"
android:text="Mock平行驾驶"
android:textSize="12sp" />
</LinearLayout>
<LinearLayout

17
OCH/taxi/unmanned-passenger/src/main/java/com/mogo/och/taxi/passenger/model/AutopilotManager.kt
View File

@@ -23,6 +23,8 @@ object AutopilotManager : IMoGoAutopilotStatusListener {
private const val TAG = "AutopilotManager"
private var needSpeakByStartAutopilot = false
init {
CallerAutoPilotStatusListenerManager.addListener(TAG, this)
}
@@ -33,14 +35,14 @@ object AutopilotManager : IMoGoAutopilotStatusListener {
}
fun startAutopilot() {
fun startAutopilot():String {
if (!checkCurrentOCHOrder()) {
CallerLogger.e(
SceneConstant.M_TAXI_P + TAG,
"no order or order is empty."
)
ToastUtils.showShort("当前订单不存在或异常！")
return
return "当前订单不存在或异常！"
}
if (TaxiPassengerModel.currentOCHOrder!!.orderStatus == TaxiPassengerOrderStatusEnum.UserArriveAtStart.code) {
startAutoPilotServiceByPassenger()
@@ -63,7 +65,7 @@ object AutopilotManager : IMoGoAutopilotStatusListener {
TaxiPassengerModel.currentOCHOrder!!.orderNo,
OCHAdasAbilityManager.getInstance().autopilotUnAbilityReason
)
return
return OCHAdasAbilityManager.getInstance().autopilotUnAbilityReason + ", 请稍候重试"
}
val parameters = initAutopilotControlParameters()
if (parameters == null) {
@@ -71,7 +73,7 @@ object AutopilotManager : IMoGoAutopilotStatusListener {
SceneConstant.M_TAXI_P + TAG,
"AutopilotControlParameters is empty."
)
return
return "自动化驾驶参数异常"
}
CallerAutoPilotControlManager.startAutoPilot(parameters)
CallerLogger.d(
@@ -89,6 +91,8 @@ object AutopilotManager : IMoGoAutopilotStatusListener {
TaxiPassengerModel.currentOCHOrder!!.orderNo,
TaxiPassengerModel.currentLineId
)
needSpeakByStartAutopilot = true
return ""
}
private fun initAutopilotControlParameters(): AutopilotControlParameters? {
@@ -177,6 +181,10 @@ object AutopilotManager : IMoGoAutopilotStatusListener {
TaxiPassengerModel.currentOCHOrder!!.orderNo,
TaxiPassengerModel.currentLineId
)
if(needSpeakByStartAutopilot) {
VoiceNotice.showNotice("坐稳扶好，我们出发咯！", AIAssist.LEVEL2)
needSpeakByStartAutopilot = false
}
//startServicePilotDone()
}
}
@@ -196,7 +204,6 @@ object AutopilotManager : IMoGoAutopilotStatusListener {
TaxiPassengerModel.currentLineId,
object : OchCommonServiceCallback<TaxiPassengerBaseRespBean> {
override fun onSuccess(data: TaxiPassengerBaseRespBean) {
VoiceNotice.showNotice("坐稳扶好，我们出发咯！", AIAssist.LEVEL2)
}
override fun onFail(code: Int, msg: String) {}

4
OCH/taxi/unmanned-passenger/src/main/java/com/mogo/och/taxi/passenger/model/TaxiPassengerModel.kt
View File

@@ -186,6 +186,10 @@ object TaxiPassengerModel {
} else if (data.data.taskType == TaskType_NONE) {
//0905 当车一直在标定站点时，taskType=None 如果此时有运营单过来，此时需要弹出验证手机号弹框（后端不会自动匹单并更新taskType，但是实际有order信息）
if (data.data?.order == null) {
if (currentOCHOrder != null) {
d(M_TAXI_P + TAG, "queryInAndWaitOrders queryCurrentOrderStatus()")
queryCurrentOrderStatus()
}
d(
M_TAXI_P + TAG,
"queryInAndWaitOrders data.taskType=${data.data.taskType} and order=null, discard data"

5
OCH/taxi/unmanned-passenger/src/main/java/com/mogo/och/taxi/passenger/ui/TaxiPassengerBaseFragment.kt
View File

@@ -255,7 +255,9 @@ class TaxiPassengerBaseFragment() :
OverlayViewUtils.showOverlayView(activity, it)
}
} else {
mStartAutopilotView?.get()?.closeAllAnimsAndView()
mStartAutopilotView?.get()?.let {
OverlayViewUtils.dismissOverlayView(it)
}
mStartAutopilotView = null
}
}
@@ -294,6 +296,7 @@ class TaxiPassengerBaseFragment() :
}
fun showOrHideOverMapView(){
CallerLogger.d(M_TAXI_P + TAG, "showOrHideOverMapView 清理轨迹和站点")
overMapView?.clearV2XMarkers()
overMapView?.clearCustomPolyline()
}

1
OCH/taxi/unmanned-passenger/src/main/java/com/mogo/och/taxi/passenger/ui/arrived/RightRearCamView.kt
View File

@@ -158,5 +158,6 @@ class RightRearCamView : ConstraintLayout , IMoGoBackCameraVideoListener,
actv_cam_position_group?.visibility = VISIBLE
}
v_video_right_rear?.setImageBitmap(mBitmap)
v_video_right_rear?.scaleX = -1f
}
}

268
OCH/taxi/unmanned-passenger/src/main/java/com/mogo/och/taxi/passenger/ui/startautopilot/StartAutopilotView.kt
View File

@@ -4,18 +4,24 @@ import android.annotation.SuppressLint
import android.content.Context
import android.util.AttributeSet
import android.view.LayoutInflater
import android.view.View
import androidx.core.content.ContextCompat
import androidx.core.content.res.ResourcesCompat
import androidx.lifecycle.ViewModelProvider
import com.elegant.utils.UiThreadHandler
import com.mogo.eagle.core.data.config.HdMapBuildConfig
import com.mogo.eagle.core.utilcode.kotlin.onClick
import com.mogo.eagle.core.utilcode.mogo.logger.CallerLogger
import com.mogo.eagle.core.utilcode.mogo.logger.scene.SceneConstant
import com.mogo.eagle.core.utilcode.util.OverlayViewUtils
import com.mogo.eagle.core.utilcode.util.ToastUtils
import com.mogo.och.common.module.manager.devicemanage.data.DoorPosition
import com.mogo.och.common.module.manager.devicemanage.data.DoorState
import com.mogo.och.common.module.utils.FrameAnimatorContainer
import com.mogo.och.common.module.utils.RxUtils
import com.mogo.och.taxi.passenger.R
import com.mogo.och.taxi.passenger.widget.WindowRelativeLayout
import io.reactivex.disposables.Disposable
import kotlinx.android.synthetic.main.taxi_p_start_autopilot_view.view.actv_front_left_door
import kotlinx.android.synthetic.main.taxi_p_start_autopilot_view.view.actv_front_right_door
import kotlinx.android.synthetic.main.taxi_p_start_autopilot_view.view.actv_orderinfo
@@ -26,31 +32,43 @@ import kotlinx.android.synthetic.main.taxi_p_start_autopilot_view.view.starting_
import kotlinx.android.synthetic.main.taxi_p_start_autopilot_view.view.taxi_p_autopilot_btn_bg
import kotlinx.android.synthetic.main.taxi_p_start_autopilot_view.view.taxi_p_autopilot_starting
import kotlinx.android.synthetic.main.taxi_p_start_autopilot_view.view.taxi_p_start_autopilot
import kotlinx.android.synthetic.main.taxi_p_start_autopilot_view.view.cl_car_type
/**
* @author: wangmingjun
* @date: 2022/6/14
* @author: yangyakun
* 页面状态：
* ①：不能启动自驾
* ②：可以启动自驾
* ③：启动自驾中
* ④：启动自驾超时
* ⑤：启动自驾失败
*/
class StartAutopilotView : WindowRelativeLayout, StartAutopilotViewModel.StartAutopilotCallback{
class StartAutopilotView : WindowRelativeLayout, StartAutopilotViewModel.StartAutopilotCallback {
constructor(context: Context) : super(context)
constructor(context: Context, attributeSet: AttributeSet) : super(context, attributeSet)
constructor(context: Context, attributeSet: AttributeSet, defStyleAttr: Int) : super(context, attributeSet, defStyleAttr)
constructor(context: Context, attributeSet: AttributeSet, defStyleAttr: Int) : super(
context,
attributeSet,
defStyleAttr
)
constructor(context: Context, attributeSet: AttributeSet, defStyleAttr: Int, defStyleRes: Int) : super(context, attributeSet, defStyleAttr, defStyleRes)
constructor(
context: Context,
attributeSet: AttributeSet,
defStyleAttr: Int,
defStyleRes: Int
) : super(context, attributeSet, defStyleAttr, defStyleRes)
companion object {
private val TAG = StartAutopilotView::class.java.simpleName
private const val TIMER_START_AUTOPILOT_INTERVAL = 20 * 1000L
}
var isStarting = false
private var taxiPStartAutopilot: FrameAnimatorContainer?=null
private var taxiPStartAutopilotCar: FrameAnimatorContainer?=null
private var taxiPXiaozhiBelt: FrameAnimatorContainer?=null
private var taxiPStartAutopilot: FrameAnimatorContainer? = null
private var taxiPStartAutopilotCar: FrameAnimatorContainer? = null
private var taxiPXiaozhiBelt: FrameAnimatorContainer? = null
init {
@@ -59,175 +77,187 @@ class StartAutopilotView : WindowRelativeLayout, StartAutopilotViewModel.StartAu
private fun initView() {
LayoutInflater.from(context).inflate(R.layout.taxi_p_start_autopilot_view, this, true)
taxiPStartAutopilotCar = FrameAnimatorContainer(R.array.taxi_p_start_autopilot_car, 20,taxi_p_autopilot_starting)
taxiPStartAutopilotCar?.setOnAnimStopListener(object :FrameAnimatorContainer.OnAnimationStoppedListener{
taxiPStartAutopilotCar = FrameAnimatorContainer(
R.array.taxi_p_start_autopilot_car,
20,
taxi_p_autopilot_starting
)
taxiPStartAutopilotCar?.setOnAnimStopListener(object :
FrameAnimatorContainer.OnAnimationStoppedListener {
override fun AnimationStopped() {
CallerLogger.d(SceneConstant.M_TAXI_P + TAG, "动画暂停")
CallerLogger.d(SceneConstant.M_TAXI_P + TAG, "光圈动画暂停")
}
})
taxiPStartAutopilot = FrameAnimatorContainer(R.array.taxi_p_start_autopilot, 15,taxi_p_autopilot_btn_bg)
taxiPStartAutopilot?.setOnAnimStopListener(object :FrameAnimatorContainer.OnAnimationStoppedListener{
taxiPStartAutopilot = FrameAnimatorContainer(
R.array.taxi_p_start_autopilot,
15,
taxi_p_autopilot_btn_bg,
false
)
taxiPStartAutopilot?.setOnAnimStopListener(object :
FrameAnimatorContainer.OnAnimationStoppedListener {
override fun AnimationStopped() {
CallerLogger.d(SceneConstant.M_TAXI_P + TAG, "动画暂停")
CallerLogger.d(SceneConstant.M_TAXI_P + TAG, "可以启动自驾动画暂停")
}
})
taxiPXiaozhiBelt = FrameAnimatorContainer(R.array.xiaozhi_belt, 15,iv_xiaozhi_belt)
taxiPXiaozhiBelt?.setOnAnimStopListener(object :FrameAnimatorContainer.OnAnimationStoppedListener{
taxiPXiaozhiBelt = FrameAnimatorContainer(R.array.xiaozhi_belt, 15, iv_xiaozhi_belt)
taxiPXiaozhiBelt?.setOnAnimStopListener(object :
FrameAnimatorContainer.OnAnimationStoppedListener {
override fun AnimationStopped() {
CallerLogger.d(SceneConstant.M_TAXI_P + TAG, "动画暂停")
CallerLogger.d(SceneConstant.M_TAXI_P + TAG, "小智动画暂停")
}
})
handleStartAutopilotBtnStatus(true)
}
@SuppressLint("UseCompatLoadingForDrawables")
fun handleStartAutopilotBtnStatus(isBoarded: Boolean) {
updateStartAutopilotBtnStatus(isBoarded)
taxiPStartAutopilot?.start()
}
override fun setOrderInfo(show: String) {
actv_orderinfo.text = show
}
override fun setDoorStatus(
doorPosition: StartAutopilotViewModel.DoorPosition,
isOpen: Boolean
) {
override fun setDoorStatus(doorPosition: DoorPosition, state: DoorState) {
when (doorPosition) {
StartAutopilotViewModel.DoorPosition.FRONT_LEFT -> {
if(isOpen){
DoorPosition.FRONT_LEFT -> {
if (state == DoorState.OPEN) {
actv_front_left_door.visibility = VISIBLE
}else{
} else {
actv_front_left_door.visibility = GONE
}
}
StartAutopilotViewModel.DoorPosition.FRONT_RIGHT -> {
if(isOpen){
DoorPosition.FRONT_RIGHT -> {
if (state == DoorState.OPEN) {
actv_front_right_door.visibility = VISIBLE
}else{
} else {
actv_front_right_door.visibility = GONE
}
}
StartAutopilotViewModel.DoorPosition.REAR_LEFT -> {
if(isOpen){
DoorPosition.REAR_LEFT -> {
if (state == DoorState.OPEN) {
actv_rear_left_door.visibility = VISIBLE
}else{
} else {
actv_rear_left_door.visibility = GONE
}
}
StartAutopilotViewModel.DoorPosition.REAR_RIGHT -> {
if(isOpen){
DoorPosition.REAR_RIGHT -> {
if (state == DoorState.OPEN) {
actv_rear_right_door.visibility = VISIBLE
}else{
} else {
actv_rear_right_door.visibility = GONE
}
}
else ->{
}
}
}
else -> {
fun closeAllAnimsAndView() {
isStarting = false
clearStartingAnimFrame()
clearBgAnimDrawable()
OverlayViewUtils.dismissOverlayView(this)
}
fun updateStartAutopilotBtnStatus(isBoarded: Boolean) {
taxi_p_start_autopilot?.let {
if (isBoarded) {
it.setTextColor(ContextCompat.getColor(context,R.color.taxi_p_start_autopilot_txt_color))
it.background = null
} else {
it.background = ResourcesCompat.getDrawable(resources,R.drawable.taxi_p_start_autopilot_txt_btn_bg,null)
taxi_p_autopilot_btn_bg!!.background = null
it.setTextColor( ContextCompat.getColor(context,R.color.taxi_p_start_autopilot_txt_un_color))
}
it.tag = isBoarded
it.text = resources.getString(R.string.taxi_p_start_autopilot_txt)
}
}
private fun startingCarBgAnimatorDrawable(isStart: Boolean) {
if (isStart) {
taxi_p_autopilot_starting!!.setImageResource(0)
taxiPStartAutopilotCar?.start()
override fun canStartAutopilot(can: Boolean) {
if (can) {
ableStartAutopilot()
} else {
taxiPStartAutopilotCar?.stop()
taxi_p_autopilot_starting!!.setImageResource(R.drawable.light_00003)
unableStartAutopilot()
}
}
private fun startOrStopLoadingAnim(start: Boolean) {
startingCarBgAnimatorDrawable(start)
if (start) {
isStarting = true
taxi_p_start_autopilot?.text = resources.getString(R.string.taxi_p_start_autopilot_loading)
taxi_p_start_autopilot?.setTextColor(ContextCompat.getColor(context,R.color.taxi_p_start_autopilot_txt_color))
startingAutopilotCountDown()
override fun onVisibilityChanged(changedView: View, visibility: Int) {
super.onVisibilityChanged(changedView, visibility)
if (changedView != this) {
return
}
if (HdMapBuildConfig.currentCarVrIconRes == R.raw.hq_h9) {
cl_car_type.setBackgroundResource(R.drawable.taxi_p_start_panel__hq_bg)
} else {
clearBgAnimDrawable()
isStarting = false
handleStartAutopilotBtnStatus(true)
cl_car_type.setBackgroundResource(R.drawable.taxi_p_start_panel__df_bg)
}
}
private fun clearBgAnimDrawable() {
taxiPStartAutopilot?.stop()
}
fun clearStartingAnimFrame() {
taxiPStartAutopilotCar?.stop()
}
private fun startingAutopilotCountDown() {
UiThreadHandler.postDelayed({
//未启动成功20s后做处理
if (isStarting) { //判断动画是否在进行
ToastUtils.showLong(R.string.taxi_p_start_autopilot_fail_10s_tip)
updateStatusCountDownOver()
}
}, TIMER_START_AUTOPILOT_INTERVAL)
}
private fun updateStatusCountDownOver() {
isStarting = false
startingCarBgAnimatorDrawable(false)
taxi_p_start_autopilot?.text = resources.getString(R.string.taxi_p_start_autopilot_txt)
}
override fun onAttachedToWindow() {
super.onAttachedToWindow()
CallerLogger.d(SceneConstant.M_TAXI_P + TAG, "onAttachedToWindow")
val viewModel = ViewModelProvider(this).get(StartAutopilotViewModel::class.java)
viewModel.setStartAutopilotCallback(this)
taxi_p_start_autopilot.onClick {
//开启动画和自动驾驶
if (!(taxi_p_start_autopilot!!.tag as Boolean)) {
ToastUtils.showLong(R.string.taxi_p_start_autopilot_un_click_tip)
return@onClick
}
if (!isStarting) {
startOrStopLoadingAnim(true)
viewModel.startAutopilot()
}
startAutopiloting()
viewModel.startAutopilot()
}
starting_autopilot_view_close.onClick {
closeAllAnimsAndView()
unableStartAutopilot()
OverlayViewUtils.dismissOverlayView(this)
}
taxiPXiaozhiBelt?.start()
}
/**
* ①：不能启动自驾
*/
private fun unableStartAutopilot() {
taxiPStartAutopilot?.stop()
taxiPStartAutopilotCar?.stop()
taxi_p_autopilot_starting.setImageResource(R.drawable.light_00003)
taxi_p_autopilot_btn_bg.setImageResource(R.drawable.image_00000_0)
taxi_p_start_autopilot.background =
ContextCompat.getDrawable(context, R.drawable.taxi_p_start_autopilot_txt_btn_bg)
taxi_p_start_autopilot.text = resources.getString(R.string.taxi_p_start_autopilot_txt)
}
/**
* ②：可以启动自驾
*/
private fun ableStartAutopilot() {
taxiPStartAutopilot?.reStart()
taxiPStartAutopilotCar?.stop()
taxi_p_autopilot_starting.setImageResource(R.drawable.light_00003)
taxi_p_start_autopilot.background = null
taxi_p_start_autopilot.text = resources.getString(R.string.taxi_p_start_autopilot_txt)
}
/**
* ③：启动自驾中
*/
fun startAutopiloting() {
taxiPStartAutopilot?.reStart()
taxiPStartAutopilotCar?.reStart()
taxi_p_start_autopilot.background = null
taxi_p_start_autopilot?.text = resources.getString(R.string.taxi_p_start_autopilot_loading)
taxi_p_start_autopilot?.setTextColor(
ContextCompat.getColor(context, R.color.taxi_p_start_autopilot_txt_color)
)
}
/**
* ④：启动自驾超时
*/
override fun startAutopilotingTimeout() {
ableStartAutopilot()
}
/**
* ⑤：启动自驾失败
*/
override fun startAutopilotingFail() {
ableStartAutopilot()
}
private fun goneAllDoorState(){
actv_front_left_door.visibility = GONE
actv_front_right_door.visibility = GONE
actv_rear_left_door.visibility = GONE
actv_rear_right_door.visibility = GONE
}
override fun onDetachedFromWindow() {
isStarting = false
clearStartingAnimFrame()
clearBgAnimDrawable()
CallerLogger.d(SceneConstant.M_TAXI_P + TAG, "onDetachedFromWindow")
unableStartAutopilot()
taxiPXiaozhiBelt?.stop()
goneAllDoorState()
super.onDetachedFromWindow()
}
override fun unableStartAutopilotByDoorState() {
unableStartAutopilot()
}
}

125
OCH/taxi/unmanned-passenger/src/main/java/com/mogo/och/taxi/passenger/ui/startautopilot/StartAutopilotViewModel.kt
View File

@@ -1,40 +1,42 @@
package com.mogo.och.taxi.passenger.ui.startautopilot
import androidx.lifecycle.ViewModel
import chassis.Chassis.DoorNumber
import com.mogo.eagle.core.function.api.autopilot.IMoGoChassisDoorStateListener
import com.mogo.eagle.core.function.call.autopilot.CallerChassisDoorStateListenerManager
import com.mogo.commons.voice.AIAssist
import com.mogo.eagle.core.data.config.FunctionBuildConfig
import com.mogo.eagle.core.function.call.autopilot.CallerAutoPilotStatusListenerManager
import com.mogo.eagle.core.utilcode.mogo.logger.CallerLogger
import com.mogo.eagle.core.utilcode.mogo.logger.scene.SceneConstant
import com.mogo.eagle.core.utilcode.util.ParseVersionUtils
import com.mogo.eagle.core.utilcode.util.ToastUtils
import com.mogo.eagle.core.utilcode.util.UiThreadHandler
import com.mogo.och.taxi.passenger.callback.IOCHTaxiPassengerOrderStatusCallback
import com.mogo.och.common.module.manager.devicemanage.TaxiDoorStateManager
import com.mogo.och.common.module.manager.devicemanage.callback.DoorStateCallback
import com.mogo.och.common.module.manager.devicemanage.data.DoorPosition
import com.mogo.och.common.module.manager.devicemanage.data.DoorState
import com.mogo.och.common.module.utils.RxUtils
import com.mogo.och.common.module.voice.VoiceNotice
import com.mogo.och.taxi.passenger.R
import com.mogo.och.taxi.passenger.model.AutopilotManager
import com.mogo.och.taxi.passenger.model.TaxiPassengerModel
import io.reactivex.disposables.Disposable
class StartAutopilotViewModel : ViewModel(), IOCHTaxiPassengerOrderStatusCallback,
IMoGoChassisDoorStateListener {
class StartAutopilotViewModel : ViewModel(),
DoorStateCallback {
private val TAG = StartAutopilotViewModel::class.java.simpleName
private var viewCallback: StartAutopilotCallback? = null
init {
TaxiPassengerModel.setOrderStatusCallback(TAG, this)
CallerChassisDoorStateListenerManager.addListener(TAG, this)
}
private val TIMER_START_AUTOPILOT_INTERVAL = 20 * 1000L
var startCountDown: Disposable?=null
var doorOpenState = true
fun setStartAutopilotCallback(viewCallback: StartAutopilotCallback) {
TaxiDoorStateManager.addListener(TAG,this)
this.viewCallback = viewCallback
setOrderInfo()
setDoorInfo()
}
private fun setDoorInfo() {
val doorList = CallerChassisDoorStateListenerManager.getDoorList()
CallerLogger.d(SceneConstant.M_TAXI_P + TAG, "门太变化初始化：${doorList}")
doorList?.forEach {
exchangeEnum(it.number,it.status==1)
}
}
private fun setOrderInfo() {
@@ -58,62 +60,69 @@ class StartAutopilotViewModel : ViewModel(), IOCHTaxiPassengerOrderStatusCallbac
override fun onCleared() {
super.onCleared()
this.viewCallback = null
TaxiPassengerModel.setOrderStatusCallback(TAG, null)
CallerChassisDoorStateListenerManager.removeListener(TAG)
RxUtils.disposeSubscribe(startCountDown)
TaxiDoorStateManager.removeListener(TAG)
}
/**
* 开启自动驾驶
*/
fun startAutopilot() {
AutopilotManager.startAutopilot()
}
override fun onAutopilotSingleDoorState(num: DoorNumber, open: Boolean) {
super.onAutopilotSingleDoorState(num, open)
CallerLogger.d(SceneConstant.M_TAXI_P + TAG, "门太变化：${num}--${open}")
exchangeEnum(num,open)
}
private fun exchangeEnum(num: DoorNumber,open: Boolean){
when (num) {
DoorNumber.FRONT_LEFT -> {
runMain(DoorPosition.FRONT_LEFT,open)
val num = ParseVersionUtils.parseVersion(true, CallerAutoPilotStatusListenerManager.getDockerVersion())
if (num >= 30600) {
if(doorOpenState){
VoiceNotice.showNotice("关紧车门后再出发吧！")
ToastUtils.showShort("关紧车门后再出发吧！")
viewCallback?.unableStartAutopilotByDoorState()
return
}
DoorNumber.FRONT_RIGHT -> {
runMain(DoorPosition.FRONT_RIGHT,open)
}
DoorNumber.REAR_LEFT -> {
runMain(DoorPosition.REAR_LEFT,open)
}
DoorNumber.REAR_RIGHT -> {
runMain(DoorPosition.REAR_RIGHT,open)
}
DoorNumber.MIDDLE -> {
runMain(DoorPosition.MIDDLE,open)
}
else -> {}
}
if (RxUtils.isNotDisposed(startCountDown)) {
ToastUtils.showLong("启动中……")
return
}
if (AutopilotManager.startAutopilot().isEmpty()) {
startCountDown = RxUtils.createSubscribe(TIMER_START_AUTOPILOT_INTERVAL) {
viewCallback?.startAutopilotingTimeout()
//未启动成功20s后做处理
ToastUtils.showLong(R.string.taxi_p_start_autopilot_fail_10s_tip)
VoiceNotice.showNotice("啊哦！系统繁忙中，稍后再试试吧～", AIAssist.LEVEL2)
}
}else{
VoiceNotice.showNotice("啊哦！系统繁忙中，稍后再试试吧～", AIAssist.LEVEL2)
viewCallback?.startAutopilotingFail()
}
}
private fun runMain(posttion:DoorPosition,isOpen: Boolean){
override fun hasOpenDoor(have: Boolean) {
CallerLogger.d(SceneConstant.M_TAXI_P + TAG, "车门是否开着：${have}")
doorOpenState = have
UiThreadHandler.post {
viewCallback?.setDoorStatus(posttion,isOpen)
viewCallback?.canStartAutopilot(!doorOpenState)
}
}
override fun doorStateChangeCallback(position: DoorPosition, state: DoorState) {
CallerLogger.d(SceneConstant.M_TAXI_P + TAG, "门太变化：${position}--${state}")
runMain(position,state)
}
private fun runMain(posttion: DoorPosition, state: DoorState){
UiThreadHandler.post({
viewCallback?.setDoorStatus(posttion,state)
},UiThreadHandler.MODE.QUEUE)
}
interface StartAutopilotCallback {
fun setOrderInfo(show: String)
fun setDoorStatus(doorPosition: DoorPosition,isOpen:Boolean)
}
fun setDoorStatus(doorPosition: DoorPosition,state: DoorState)
enum class DoorPosition {
FRONT_LEFT, FRONT_RIGHT, REAR_LEFT, REAR_RIGHT, MIDDLE
fun canStartAutopilot(can:Boolean)
fun startAutopilotingTimeout()
fun startAutopilotingFail()
fun unableStartAutopilotByDoorState()
}
}

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OCH/taxi/unmanned-passenger/src/main/res/drawable-xhdpi/taxi_p_passenger_start_panel_bg.png
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1
OCH/taxi/unmanned-passenger/src/main/res/layout/taxi_p_base_fragment.xml
View File

@@ -135,6 +135,7 @@
android:layout_width="wrap_content"
android:layout_height="wrap_content"
android:text="无人化"
android:visibility="gone"
app:layout_constraintBottom_toBottomOf="parent"
app:layout_constraintStart_toStartOf="parent" />

1
OCH/taxi/unmanned-passenger/src/main/res/layout/taxi_p_setting_view.xml
View File

@@ -3,6 +3,7 @@
xmlns:app="http://schemas.android.com/apk/res-auto"
android:layout_width="match_parent"
android:layout_height="match_parent"
android:clickable="true"
android:background="@drawable/taxi_p_setting_view_bg">
<TextView

4
OCH/taxi/unmanned-passenger/src/main/res/layout/taxi_p_start_autopilot_view.xml
View File

@@ -4,7 +4,8 @@
xmlns:tools="http://schemas.android.com/tools"
android:layout_width="match_parent"
android:layout_height="match_parent"
android:background="@drawable/taxi_p_passenger_start_panel_bg"
android:id="@+id/cl_car_type"
android:background="@drawable/taxi_p_start_panel__df_bg"
tools:ignore="MissingDefaultResource">
<ImageView
@@ -34,6 +35,7 @@
android:layout_width="1000dp"
android:layout_height="500dp"
android:clickable="false"
android:src="@drawable/image_00000_0"
android:layout_marginBottom="@dimen/dp_62"
app:layout_constraintBottom_toBottomOf="parent"
app:layout_constraintLeft_toLeftOf="parent"

11
app/build.gradle
View File

@@ -19,7 +19,7 @@ android {
targetSdkVersion rootProject.ext.android.targetSdkVersion
versionCode rootProject.versionCode as int
versionName rootProject.versionName
applicationId rootProject.ext.android.applicationId
applicationId rootProject.ext.android.fLauncherApplicationId
testInstrumentationRunner "androidx.test.runner.AndroidJUnitRunner"
javaCompileOptions {
@@ -116,6 +116,15 @@ android {
buildConfigField 'String', 'APP_BUILD_TIME', getBuildTime()
buildConfigField 'String', 'MAP_SDK_VERSION', "\"${MAP_SDK_VERSION}\""
buildConfigField 'String', 'MAP_SDK_OPT_VERSION', "\"${MAP_SDK_OPERATION_VERSION}\""
// ②车机类型，主要用于区分自研车机还是别人家的车机，自研车机类型为0
buildConfigField 'int', 'CAR_MACHINE_TYPE', '2'
// ④GPS数据提供源： 0-Android系统，1-工控机，2-OBU
buildConfigField 'int', 'GPS_PROVIDER', "1"
// ⑤构建的是否是演示（美化）模式
buildConfigField 'boolean', 'IS_DEMO_MODE', 'false'
}
mogo {

15
app/script/roleFlavors/driver.gradle
View File

@@ -12,23 +12,8 @@ project.android.productFlavors {
CHANNEL_VALUE_BODY : "Driver",
]
minSdkVersion rootProject.ext.android.minSdkVersionPadLenovo
targetSdkVersion rootProject.ext.android.targetSdkVersionPadLenovo
versionCode rootProject.versionCode as int
versionName rootProject.versionName
// 应用包名
applicationId rootProject.ext.android.fLauncherApplicationId
// ①标识
buildConfigField 'String', 'APP_IDENTITY_MODE_BODY', "\"Driver\""
// ②车机类型，主要用于区分自研车机还是别人家的车机，自研车机类型为0
buildConfigField 'int', 'CAR_MACHINE_TYPE', '2'
// ④GPS数据提供源： 0-Android系统，1-工控机，2-OBU
buildConfigField 'int', 'GPS_PROVIDER', "1"
// ⑤构建的是否是演示（美化）模式
buildConfigField 'boolean', 'IS_DEMO_MODE', 'false'
}
}

15
app/script/roleFlavors/driverpassenger.gradle
View File

@@ -12,23 +12,8 @@ project.android.productFlavors {
CHANNEL_VALUE_BODY : "Driver",
]
minSdkVersion rootProject.ext.android.minSdkVersionPadLenovo
targetSdkVersion rootProject.ext.android.targetSdkVersionPadLenovo
versionCode rootProject.versionCode as int
versionName rootProject.versionName
// 应用包名
applicationId rootProject.ext.android.fLauncherApplicationId
// ①标识
buildConfigField 'String', 'APP_IDENTITY_MODE_BODY', "\"Driver\""
// ②车机类型，主要用于区分自研车机还是别人家的车机，自研车机类型为0
buildConfigField 'int', 'CAR_MACHINE_TYPE', '2'
// ④GPS数据提供源： 0-Android系统，1-工控机，2-OBU
buildConfigField 'int', 'GPS_PROVIDER', "1"
// ⑤构建的是否是演示（美化）模式
buildConfigField 'boolean', 'IS_DEMO_MODE', 'false'
}
}

14
app/script/roleFlavors/passenger.gradle
View File

@@ -12,22 +12,8 @@ project.android.productFlavors {
CHANNEL_VALUE_BODY : "Passenger",
]
minSdkVersion rootProject.ext.android.minSdkVersionPadLenovo
targetSdkVersion rootProject.ext.android.targetSdkVersionPadLenovo
versionCode rootProject.versionCode as int
versionName rootProject.versionName
// 应用包名
applicationId rootProject.ext.android.fLauncherApplicationId
// ①标识
buildConfigField 'String', 'APP_IDENTITY_MODE_BODY', "\"Passenger\""
// ②车机类型，主要用于区分自研车机还是别人家的车机，自研车机类型为0
buildConfigField 'int', 'CAR_MACHINE_TYPE', '2'
// ④GPS数据提供源： 0-Android系统，1-工控机，2-OBU
buildConfigField 'int', 'GPS_PROVIDER', "1"
// ⑤构建的是否是演示（美化）模式
buildConfigField 'boolean', 'IS_DEMO_MODE', 'false'
}
}

2
build.gradle
View File

@@ -33,7 +33,7 @@ buildscript {
classpath "com.mogo.cloud:hook:${service_chain_version}"
classpath "com.mogo.cloud:bizconfig:${plugin_version}"
classpath 'com.volcengine:apm_insight_plugin:1.4.2'
classpath "com.mogo.thread.opt:plg:10.2.0_mogo"
classpath "com.mogo.thread.opt:plg:10.2.1_mogo"
classpath "com.mogo.cloud:systrace:${plugin_version}"
classpath 'com.google.protobuf:protobuf-gradle-plugin:0.8.18'
classpath "com.mogo.sticky:service:${plugin_version}"

2
config.gradle
View File

@@ -209,7 +209,7 @@ ext {
//========================= autosize ======================
androidautoSize : 'com.github.JessYanCoding:AndroidAutoSize:v1.2.1',
thread_opt : "com.mogo.thread.opt:lib:10.2.0_mogo",
thread_opt : "com.mogo.thread.opt:lib:10.2.1_mogo",
weak_network : "com.mogo.weak:network:1.0.1",
btrace : "com.bytedance.btrace:rhea-core:2.0.0",

2
core/function-impl/mogo-core-function-biz/src/main/java/com/mogo/eagle/function/biz/FuncBizProvider.kt
View File

@@ -117,7 +117,7 @@ class FuncBizProvider : IMoGoFuncBizProvider {
}
override fun queryV2XEvents() {
if ((AppIdentityModeUtils.isTaxi(FunctionBuildConfig.appIdentityMode) && !FunctionBuildConfig.isNewV2NData)
if ((AppIdentityModeUtils.isTaxi(FunctionBuildConfig.appIdentityMode) && (!FunctionBuildConfig.v2nMainSwitch || !FunctionBuildConfig.isNewV2NData))
|| AppIdentityModeUtils.isBus(FunctionBuildConfig.appIdentityMode)) {
v2xPoiLoader.queryWholeRoadEvents()
}

2
core/function-impl/mogo-core-function-biz/src/main/java/com/mogo/eagle/function/biz/v2x/overview/OverViewDataManager.kt
View File

@@ -107,7 +107,7 @@ object OverViewDataManager {
.observeOn(AndroidSchedulers.mainThread())
.subscribe {
it?.apply {
if ((AppIdentityModeUtils.isTaxi(FunctionBuildConfig.appIdentityMode) && !FunctionBuildConfig.isNewV2NData)
if ((AppIdentityModeUtils.isTaxi(FunctionBuildConfig.appIdentityMode) && (!FunctionBuildConfig.v2nMainSwitch || !FunctionBuildConfig.isNewV2NData))
|| AppIdentityModeUtils.isBus(FunctionBuildConfig.appIdentityMode)) {
CallerFuncBizListenerManager.invokeV2XEvents(this)
}

2
core/function-impl/mogo-core-function-biz/src/main/java/com/mogo/eagle/function/biz/v2x/v2n/V2XEventManager.kt
View File

@@ -169,7 +169,7 @@ object V2XEventManager : IMoGoChassisLocationGCJ02Listener, IV2XCallback,
handleRoadMarkerEvent(event.data.toRoadMarker())
}
is V2XEvent.RoadEventX -> {
if (!AppIdentityModeUtils.isTaxi(FunctionBuildConfig.appIdentityMode) || !FunctionBuildConfig.isNewV2NData) {
if (!AppIdentityModeUtils.isTaxi(FunctionBuildConfig.appIdentityMode) || !FunctionBuildConfig.v2nMainSwitch || !FunctionBuildConfig.isNewV2NData) {
handleRoadMarkerEvent(event.data.toRoadMarker())
}
}

6
core/function-impl/mogo-core-function-biz/src/main/java/com/mogo/eagle/function/biz/v2x/v2n/pnc/V2NIdentifyDrawer.kt
View File

@@ -239,21 +239,21 @@ internal object V2NIdentifyDrawer {
}
private fun drawShiGong(events: List<TrackedObject>) {
if (AppIdentityModeUtils.isTaxi(FunctionBuildConfig.appIdentityMode) && FunctionBuildConfig.isNewV2NData) {
if (AppIdentityModeUtils.isTaxi(FunctionBuildConfig.appIdentityMode) && FunctionBuildConfig.v2nMainSwitch && FunctionBuildConfig.isNewV2NData) {
handler.removeMessages(MSG_WHAT_DRAW_SHIGONE)
handler.sendMessage(Message.obtain(handler, MSG_WHAT_DRAW_SHIGONE, events))
}
}
private fun drawShiGu(events: List<TrackedObject>) {
if (AppIdentityModeUtils.isTaxi(FunctionBuildConfig.appIdentityMode) && FunctionBuildConfig.isNewV2NData) {
if (AppIdentityModeUtils.isTaxi(FunctionBuildConfig.appIdentityMode) && FunctionBuildConfig.v2nMainSwitch && FunctionBuildConfig.isNewV2NData) {
handler.removeMessages(MSG_WHAT_DRAW_SHIGU)
handler.sendMessage(Message.obtain(handler, MSG_WHAT_DRAW_SHIGU, events))
}
}
private fun drawYongDu(events: List<MogoV2X.RTEData_PB>) {
if (AppIdentityModeUtils.isTaxi(FunctionBuildConfig.appIdentityMode) && FunctionBuildConfig.isNewV2NData) {
if (AppIdentityModeUtils.isTaxi(FunctionBuildConfig.appIdentityMode) && FunctionBuildConfig.v2nMainSwitch && FunctionBuildConfig.isNewV2NData) {
handler.removeMessages(MSG_WHAT_DRAW_YONGDU)
handler.sendMessage(Message.obtain(handler, MSG_WHAT_DRAW_YONGDU, events))
}

8
core/function-impl/mogo-core-function-datacenter/src/main/java/com/mogo/eagle/core/function/datacenter/autopilot/MoGoAutopilotControlProvider.kt
View File

@@ -70,6 +70,7 @@ import com.zhjt.mogo.adas.data.sweeper.task.stop.SweeperTaskStop
import com.zhjt.service.chain.ChainLog
import io.netty.channel.Channel
import mogo.telematics.pad.MessagePad
import mogo.yycp.paralleldriving.protocol.ParallelDrivingRequest
import java.util.*
import java.util.concurrent.TimeUnit
@@ -1093,6 +1094,13 @@ class MoGoAutopilotControlProvider :
return AdasManager.getInstance().sendSweeperCloudSuspendResumeTaskResp(reqNo, bigTaskActionResp)
}
override fun sendParallelDrivingReq(
reqNo: String,
parallelRequest: ParallelDrivingRequest.ParallelRequest
): Boolean {
return AdasManager.getInstance().sendParallelDrivingReq(reqNo, parallelRequest)
}
override fun setIsDrawPointCloud(isDrawPointCloud: Boolean) {
if (isDrawPointCloud) {
AdasManager.getInstance().subscribeInterface(

77
core/function-impl/mogo-core-function-datacenter/src/main/java/com/mogo/eagle/core/function/datacenter/autopilot/adapter/MoGoAdasListenerImpl.kt
View File

@@ -49,28 +49,32 @@ import com.mogo.eagle.core.function.call.obu.CallerObuMapMathListenerManager
import com.mogo.eagle.core.function.call.obu.CallerObuWarningRsiListenerManager
import com.mogo.eagle.core.function.call.obu.CallerObuWarningRsmListenerManager
import com.mogo.eagle.core.function.call.obu.CallerObuWarningSpatListenerManager
import com.mogo.eagle.core.function.call.v2x.*
import com.mogo.eagle.core.utilcode.mogo.logger.Logger
import com.mogo.eagle.core.utilcode.util.DeviceUtils
import com.mogo.support.obu.ObuScene
import com.zhidao.support.adas.high.OnAdasListener
import com.zhjt.mogo.adas.data.bean.AdasParam
import com.zhidao.support.adas.high.common.ProtocolStatus
import com.zhjt.mogo.adas.data.AiCloudTask
import com.zhjt.mogo.adas.data.bean.AutopilotStatistics
import com.zhjt.mogo.adas.data.bean.UnableAutopilotReason
import com.zhjt.mogo.adas.data.sweeper.SweeperCloudTask
import com.zhjt.mogo.adas.data.bean.UnableLaunchReason
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.big.SweeperBigTaskStatus
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.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.status.SweeperTaskStatus
import com.zhjt.mogo.adas.data.sweeper.task.stop.SweeperTaskStop
import com.zhjt.service.chain.ChainLog
import fault_management.FmInfo
import function_state_management.FunctionStates
import mogo.telematics.pad.MessagePad
import mogo.telematics.pad.MessagePad.TrackedObject
import mogo.v2x.MogoV2X
import mogo.v2x.RoadOverviewEvents
import mogo.yycp.paralleldriving.protocol.ParallelTaskProcessNoticeOuterClass
import mogo_msg.MogoReportMsg
import perception.TrafficLightOuterClass
import planning.RoboSweeperTaskIndexOuterClass
@@ -444,6 +448,10 @@ class MoGoAdasListenerImpl : OnAdasListener {
invokeSystemStatus(statusInf)
}
override fun onFaultManagementState(header: MessagePad.Header?, fmInfo: FmInfo.FaultResultMsg) {
CallerFaultManagementStateListenerManager.invokeFaultManagementState(fmInfo)
}
/**
* 数据采集配置应答
*/
@@ -574,7 +582,7 @@ class MoGoAdasListenerImpl : OnAdasListener {
*/
override fun onSweeperFutianCloudTask(
header: MessagePad.Header,
messageType: SweeperCloudTask.MessageType,
messageType: AiCloudTask.MessageType,
reqNo: String?,
sysTime: Long,
taskInfo: SweeperTask.TaskInfo?
@@ -598,7 +606,7 @@ class MoGoAdasListenerImpl : OnAdasListener {
*/
override fun onSweeperFutianCloudTaskConfirm(
header: MessagePad.Header,
messageType: SweeperCloudTask.MessageType,
messageType: AiCloudTask.MessageType,
reqNo: String?,
sysTime: Long,
taskConfirm: SweeperTaskConfirm.TaskConfirm?
@@ -622,7 +630,7 @@ class MoGoAdasListenerImpl : OnAdasListener {
*/
override fun onSweeperFutianCloudTaskStatus(
header: MessagePad.Header,
messageType: SweeperCloudTask.MessageType,
messageType: AiCloudTask.MessageType,
reqNo: String?,
sysTime: Long,
taskStatusPush: SweeperTaskStatus.TaskStatusPush?
@@ -646,7 +654,7 @@ class MoGoAdasListenerImpl : OnAdasListener {
*/
override fun onSweeperFutianCloudTaskStop(
header: MessagePad.Header,
messageType: SweeperCloudTask.MessageType,
messageType: AiCloudTask.MessageType,
reqNo: String?,
sysTime: Long,
stopTaskReq: SweeperTaskStop.StopTaskReq?
@@ -671,7 +679,7 @@ class MoGoAdasListenerImpl : OnAdasListener {
*/
override fun onSweeperFutianCloudTaskSuspendResume(
header: MessagePad.Header,
messageType: SweeperCloudTask.MessageType,
messageType: AiCloudTask.MessageType,
reqNo: String?,
sysTime: Long,
suspendResumeTaskResp: SweeperTaskSuspendResume.SuspendResumeTaskResp?
@@ -695,7 +703,7 @@ class MoGoAdasListenerImpl : OnAdasListener {
*/
override fun onSweeperFutianCloudBootable(
header: MessagePad.Header,
messageType: SweeperCloudTask.MessageType,
messageType: AiCloudTask.MessageType,
reqNo: String?,
sysTime: Long,
isBootableResp: SweeperBootable.IsBootableResp?
@@ -719,7 +727,7 @@ class MoGoAdasListenerImpl : OnAdasListener {
*/
override fun onSweeperFutianCloudBigTaskStatus(
header: MessagePad.Header,
messageType: SweeperCloudTask.MessageType,
messageType: AiCloudTask.MessageType,
reqNo: String?,
sysTime: Long,
bigTaskStatusPush: SweeperBigTaskStatus.BigTaskStatusPush?
@@ -732,13 +740,46 @@ class MoGoAdasListenerImpl : OnAdasListener {
)
}
/**
* 10、云端下发任务暂停/恢复指令到pad（type: 100010）-> sweeper_task_cloud_suspend_resume.proto
*
* @param header 头
* @param messageType 消息类型
* @param reqNo 请求编号
* @param sysTime 当前时间戳
* @param bigTaskActionPush 数据
*/
override fun onSweeperFutianCloudTaskCloudSuspendResume(header: MessagePad.Header, messageType: AiCloudTask.MessageType, reqNo: String?, sysTime: Long, bigTaskActionPush: SweeperTaskCloudSuspendResume.BigTaskActionPush?) {
CallerSweeperFutianCloudTaskListenerManager.invokeSweeperFutianCloudTaskCloudSuspendResume(messageType, reqNo, sysTime, bigTaskActionPush)
}
/**
* 无人化场景
* 平行驾驶请求相关状态反馈
*
* @param header 头
* @param messageType 消息类型
* @param reqNo 请求编号
* @param sysTime 当前时间戳
* @param parallelTaskProcessNotice 数据
*/
override fun onParallelDrivingResp(
header: MessagePad.Header,
messageType: AiCloudTask.MessageType,
reqNo: String?,
sysTime: Long,
parallelTaskProcessNotice: ParallelTaskProcessNoticeOuterClass.ParallelTaskProcessNotice?
) {
CallerParallelDrivingListenerManager.invokeParallelDrivingListener(parallelTaskProcessNotice)
}
/**
* 清扫车云端任务未知类型
*
* @param header 头
* @param bytes 原始数据
*/
override fun onSweeperFutianCloudTaskUnknown(header: MessagePad.Header, bytes: ByteArray) {
override fun onAiCloudTaskUnknown(header: MessagePad.Header, bytes: ByteArray) {
CallerSweeperFutianCloudTaskListenerManager.invokeSweeperFutianCloudTaskUnknown(bytes)
}
@@ -844,7 +885,7 @@ class MoGoAdasListenerImpl : OnAdasListener {
*/
override fun onAutopilotAbility(
isAutopilotAbility: Boolean,
unableAutopilotReasons: ArrayList<UnableAutopilotReason>?
unableAutopilotReasons: ArrayList<UnableLaunchReason>?
) {
if (unableAutopilotReasons != null && unableAutopilotReasons.size > 0) {
autopilotAbilityCheck(isAutopilotAbility, unableAutopilotReasons.toString())
@@ -852,6 +893,16 @@ class MoGoAdasListenerImpl : OnAdasListener {
invokeAutopilotAbility(isAutopilotAbility, unableAutopilotReasons)
}
override fun onParallelDrivingAbility(
isParallelDrivingAbility: Boolean,
unableParallelDrivingReasons: java.util.ArrayList<UnableLaunchReason>?
) {
CallerParallelDrivingActionsListenerManager.invokeParallelDrivingAbility(
isParallelDrivingAbility,
unableParallelDrivingReasons
)
}
@ChainLog(
linkChainLog = CHAIN_TYPE_SOCKET_AUTOPILOT,
linkCode = CHAIN_SOURCE_ADAS,

3
core/function-impl/mogo-core-function-datacenter/src/main/java/com/mogo/eagle/core/function/datacenter/autopilot/adapter/MoGoAdasMsgConnectStatusListenerImpl.kt
View File

@@ -9,6 +9,7 @@ import com.mogo.eagle.core.function.api.cloud.IMoGoCloudListener
import com.mogo.eagle.core.function.call.autopilot.CallerAutoPilotControlManager
import com.mogo.eagle.core.function.call.autopilot.CallerAutoPilotStatusListenerManager
import com.mogo.eagle.core.function.call.autopilot.CallerAutopilotActionsListenerManager
import com.mogo.eagle.core.function.call.autopilot.CallerParallelDrivingActionsListenerManager
import com.mogo.eagle.core.function.call.cloud.CallerCloudListenerManager
import com.mogo.eagle.core.utilcode.mogo.AppIdentityModeUtils
import com.mogo.eagle.core.utilcode.mogo.logger.CallerLogger
@@ -39,10 +40,12 @@ class MoGoAdasMsgConnectStatusListenerImpl :
init {
CallerCloudListenerManager.addListener(TAG, this)
CallerAutopilotActionsListenerManager.setConnected(AdasManager.getInstance().ipcConnectionStatus == Constants.IPC_CONNECTION_STATUS.CONNECTED)
CallerParallelDrivingActionsListenerManager.setConnected(AdasManager.getInstance().ipcConnectionStatus == Constants.IPC_CONNECTION_STATUS.CONNECTED)
}
override fun onConnectionIPCStatus(ipcConnectionStatus: Int, reason: String?) {
CallerAutopilotActionsListenerManager.setConnected(ipcConnectionStatus == Constants.IPC_CONNECTION_STATUS.CONNECTED)
CallerParallelDrivingActionsListenerManager.setConnected(ipcConnectionStatus == Constants.IPC_CONNECTION_STATUS.CONNECTED)
AppConfigInfo.connectStatusDescribe = reason
when (ipcConnectionStatus) {
Constants.IPC_CONNECTION_STATUS.CONNECTED -> {

52
core/function-impl/mogo-core-function-datacenter/src/main/java/com/mogo/eagle/core/function/datacenter/obu/MogoObuDcCombineManager.kt
View File

@@ -561,32 +561,34 @@ class MogoObuDcCombineManager private constructor() : IMoGoObuWarningRsiListener
}
1 -> { //闯红灯 V2I_RLVW_VIOLATION_TYPE_RUNNING_RED_LIGHT 一个红灯周期只显示一次
if (HmiBuildConfig.isShowRunRedLightView) {
if (!isShowRunRedLight) {
isShowRunRedLight = true
ttsContent =
EventTypeEnumNew.getWarningTts(EventTypeEnumNew.TYPE_USECASE_ID_IVP_RED.poiType)
alertContent =
EventTypeEnumNew.getWarningContent(EventTypeEnumNew.TYPE_USECASE_ID_IVP_RED.poiType)
CallerLogger.d(
"${M_OBU}${TAG}",
"MogoObuDcCombineManager changeTrafficLightStatus 闯红灯 --------> ttsContent = $ttsContent ---alertContent = $alertContent "
)
if (alertContent.isEmpty() || ttsContent.isEmpty()) {
return
if(HmiBuildConfig.isShowObuV2iView){
if (HmiBuildConfig.isShowRunRedLightView) {
if (!isShowRunRedLight) {
isShowRunRedLight = true
ttsContent =
EventTypeEnumNew.getWarningTts(EventTypeEnumNew.TYPE_USECASE_ID_IVP_RED.poiType)
alertContent =
EventTypeEnumNew.getWarningContent(EventTypeEnumNew.TYPE_USECASE_ID_IVP_RED.poiType)
CallerLogger.d(
"${M_OBU}${TAG}",
"MogoObuDcCombineManager changeTrafficLightStatus 闯红灯 --------> ttsContent = $ttsContent ---alertContent = $alertContent "
)
if (alertContent.isEmpty() || ttsContent.isEmpty()) {
return
}
saveObuToDcData(
EventTypeEnumNew.TYPE_USECASE_ID_IVP_RED.poiType,
alertContent,
ttsContent,
CommunicationType.V2I
)
showWarning(
EventTypeEnumNew.TYPE_USECASE_ID_IVP_RED.poiType,
alertContent,
ttsContent,
WarningDirectionEnum.ALERT_WARNING_NON
)
}
saveObuToDcData(
EventTypeEnumNew.TYPE_USECASE_ID_IVP_RED.poiType,
alertContent,
ttsContent,
CommunicationType.V2I
)
showWarning(
EventTypeEnumNew.TYPE_USECASE_ID_IVP_RED.poiType,
alertContent,
ttsContent,
WarningDirectionEnum.ALERT_WARNING_NON
)
}
}
}

42
core/function-impl/mogo-core-function-datacenter/src/main/java/com/mogo/eagle/core/function/datacenter/obu/MogoPrivateObuNewManager.kt
View File

@@ -299,7 +299,7 @@ class MogoPrivateObuNewManager private constructor() : OnUpgradeListener {
* v2v预警信息 CvxRvInfoIndInfo CvxV2vThreatIndInfo 他车
*/
override fun onObuRvWarning(data: ObuScene.RvWarningData) {
if (HmiBuildConfig.isShowObuV2vView) {
if (FunctionBuildConfig.v2xMainSwitch && HmiBuildConfig.isShowObuV2vView) {
if (data.warningMsg != null) {
// 更新数据，远车数据，之前要匹配uuid
data.vehBasicsMsg?.let {
@@ -1042,25 +1042,27 @@ class MogoPrivateObuNewManager private constructor() : OnUpgradeListener {
}
1 -> {//闯红灯 V2I_RLVW_VIOLATION_TYPE_RUNNING_RED_LIGHT 一个红灯周期只显示一次
if (HmiBuildConfig.isShowRunRedLightView) {
if (!isShowRunRedLight) {
isShowRunRedLight = true
ttsContent =
EventTypeEnumNew.getWarningTts(EventTypeEnumNew.TYPE_USECASE_ID_IVP_RED.poiType)
alertContent =
EventTypeEnumNew.getWarningContent(EventTypeEnumNew.TYPE_USECASE_ID_IVP_RED.poiType)
saveObuData(
EventTypeEnumNew.TYPE_USECASE_ID_IVP_RED.poiType,
alertContent,
ttsContent,
CommunicationType.V2I
)
showWarning(
EventTypeEnumNew.TYPE_USECASE_ID_IVP_RED.poiType,
alertContent,
ttsContent,
WarningDirectionEnum.ALERT_WARNING_NON
)
if(HmiBuildConfig.isShowObuV2iView){
if (HmiBuildConfig.isShowRunRedLightView) {
if (!isShowRunRedLight) {
isShowRunRedLight = true
ttsContent =
EventTypeEnumNew.getWarningTts(EventTypeEnumNew.TYPE_USECASE_ID_IVP_RED.poiType)
alertContent =
EventTypeEnumNew.getWarningContent(EventTypeEnumNew.TYPE_USECASE_ID_IVP_RED.poiType)
saveObuData(
EventTypeEnumNew.TYPE_USECASE_ID_IVP_RED.poiType,
alertContent,
ttsContent,
CommunicationType.V2I
)
showWarning(
EventTypeEnumNew.TYPE_USECASE_ID_IVP_RED.poiType,
alertContent,
ttsContent,
WarningDirectionEnum.ALERT_WARNING_NON
)
}
}
}
}

1
core/function-impl/mogo-core-function-devatools/src/main/java/com/zhjt/mogo_core_function_devatools/binding/BindingCarManager.kt
View File

@@ -51,7 +51,6 @@ object BindingCarManager : IMoGoAutopilotCarConfigListener {
SharedPrefsMgr.getInstance(mContext!!).putLong("typePassenger", 0)
CallerAutopilotCarConfigListenerManager.addListener(TAG, this)
ipcUpgradeManager.init(context)
UiThreadHandler.postDelayed({ queryAppUpgrade() }, 10_000)
}
fun onDestroy() {

16
core/function-impl/mogo-core-function-devatools/src/main/java/com/zhjt/mogo_core_function_devatools/report/IPCReportManager.kt
View File

@@ -2,14 +2,12 @@ package com.zhjt.mogo_core_function_devatools.report
import android.app.Activity
import android.content.Context
import com.mogo.eagle.core.data.config.FunctionBuildConfig
import com.mogo.eagle.core.data.msgbox.MsgBoxBean
import com.mogo.eagle.core.data.msgbox.MsgBoxType
import com.mogo.eagle.core.data.deva.report.ReportEntity
import com.mogo.eagle.core.function.api.autopilot.IMoGoAutopilotStatusListener
import com.mogo.eagle.core.function.call.autopilot.CallerAutoPilotStatusListenerManager
import com.mogo.eagle.core.function.call.msgbox.CallerMsgBoxManager
import com.mogo.eagle.core.utilcode.mogo.AppIdentityModeUtils
import com.mogo.eagle.core.utilcode.util.TimeUtils
import mogo_msg.MogoReportMsg
@@ -47,11 +45,8 @@ class IPCReportManager : IMoGoAutopilotStatusListener {
private val reportList = arrayListOf<ReportEntity>()
fun initServer(){
//乘客屏不显示监控信息弹窗,只在司机端提示
if(AppIdentityModeUtils.isDriver(FunctionBuildConfig.appIdentityMode)){
// 添加 ADAS状态 监听
CallerAutoPilotStatusListenerManager.addListener(TAG, this)
}
// 添加 ADAS状态 监听
CallerAutoPilotStatusListenerManager.addListener(TAG, this)
}
fun showReportListWindow(context: Context, isShow: Boolean){
@@ -149,11 +144,8 @@ class IPCReportManager : IMoGoAutopilotStatusListener {
}
fun destroy(){
//乘客屏不显示监控信息弹窗,只在司机端提示
if(AppIdentityModeUtils.isDriver(FunctionBuildConfig.appIdentityMode)){
// 移除 ADAS状态 监听
CallerAutoPilotStatusListenerManager.removeListener(TAG)
}
// 移除 ADAS状态 监听
CallerAutoPilotStatusListenerManager.removeListener(TAG)
}
}

575
core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/hmi/ui/setting/SOPSettingView.kt
View File

@@ -2,9 +2,10 @@ package com.mogo.eagle.core.function.hmi.ui.setting
import android.content.Context
import android.util.AttributeSet
import android.util.Log
import android.view.LayoutInflater
import android.view.View
import android.widget.*
import android.widget.Toast
import androidx.constraintlayout.widget.ConstraintLayout
import com.mogo.eagle.core.data.config.FunctionBuildConfig
import com.mogo.eagle.core.data.config.HmiBuildConfig
@@ -21,18 +22,18 @@ import com.mogo.eagle.core.function.call.autopilot.CallerAutoPilotControlManager
import com.mogo.eagle.core.function.call.autopilot.CallerAutopilotGetParamResponseDispatcher
import com.mogo.eagle.core.function.call.devatools.*
import com.mogo.eagle.core.function.call.hmi.CallerHmiManager
import com.mogo.eagle.core.function.call.obu.CallerObuApiManager
import com.mogo.eagle.core.function.hmi.R
import com.mogo.eagle.core.utilcode.mogo.AppIdentityModeUtils
import com.mogo.eagle.core.utilcode.util.ToastUtils
import com.mogo.eagle.core.function.call.hmi.CallerHmiViewControlListenerManager
import com.mogo.eagle.core.function.call.map.CallerMapUIServiceManager
import com.mogo.eagle.core.function.call.obu.CallerObuApiManager
import com.mogo.eagle.core.function.call.telematic.CallerTelematicManager
import com.mogo.eagle.core.function.hmi.ui.utils.HmiActionLog.Companion.hmiAction
import com.mogo.eagle.core.utilcode.mogo.AppIdentityModeUtils
import com.mogo.eagle.core.utilcode.util.ThreadUtils
import com.mogo.eagle.core.utilcode.util.ToastUtils
import com.zhjt.mogo.adas.data.AdasConstants
import com.zhjt.mogo.adas.data.bean.AdasParam
import kotlinx.android.synthetic.main.view_sop_setting.view.*
import kotlinx.android.synthetic.main.view_sop_setting.view.tbRouteDynamicEffect
import mogo.telematics.pad.MessagePad
/**
@@ -50,6 +51,11 @@ internal class SOPSettingView @JvmOverloads constructor(
const val TAG = "SOPSettingView"
}
/**
* OBU连接状态
*/
private var obuConnectStatus = false
init {
LayoutInflater.from(context).inflate(R.layout.view_sop_setting, this, true)
initView()
@@ -57,103 +63,200 @@ internal class SOPSettingView @JvmOverloads constructor(
private fun initView() {
sopLayout.setOnClickListener { }
tbObstacleAvoidance.isChecked = FunctionBuildConfig.isDetouring
tbObstacleAvoidance.setOnCheckedChangeListener { _, isChecked ->
hmiAction("SOP 绕障类功能开关",isChecked)
CallerAutoPilotControlManager.sendDetouring(isChecked)
FunctionBuildConfig.isDetouring = isChecked
//V2X消息设置
v2xSetting()
//地图效果类设置
mapSetting()
//与车相关类设置
vehicleSetting()
//其他类别开关设置
otherSetting()
}
/**
* V2X消息设置
*/
private fun v2xSetting(){
//V2X总开关
scV2XSwitch.isChecked = FunctionBuildConfig.v2xMainSwitch
scV2XSwitch.setOnCheckedChangeListener { _, isChecked ->
FunctionBuildConfig.v2xMainSwitch = isChecked
hmiAction("SOP V2X总开关, ",isChecked)
Log.i(TAG,"SOP V2X总开关,$isChecked")
if(isChecked){
//V2N总开关
scV2NSwitch.isChecked = FunctionBuildConfig.v2nMainSwitch
hmiAction("SOP V2N总开关, ",FunctionBuildConfig.v2nMainSwitch)
Log.i(TAG,"SOP V2N总开关, ${FunctionBuildConfig.v2nMainSwitch}")
//V2I总开关
scV2ISwitch.isChecked = HmiBuildConfig.isShowObuV2iView
hmiAction("SOP V2I总开关, ",HmiBuildConfig.isShowObuV2iView)
Log.i(TAG,"SOP V2I总开关, ${HmiBuildConfig.isShowObuV2iView}")
//V2V总开关
scObuV2vView.isChecked = HmiBuildConfig.isShowObuV2vView
hmiAction("SOP V2V总开关, ",HmiBuildConfig.isShowObuV2vView)
Log.i(TAG,"SOP V2V总开关, ${HmiBuildConfig.isShowObuV2vView}")
//obu总开关
scObu.isChecked = obuConnectStatus
hmiAction("SOP obu总开关, ",obuConnectStatus)
Log.i(TAG,"SOP obu总开关, $obuConnectStatus")
if(obuConnectStatus){
CallerObuApiManager.resetObuIpAddress(MogoObuConst.OBU_DEFAULT_IP)
}
}else{
//V2N总开关
scV2NSwitch.isChecked = false
hmiAction("SOP V2N总开关, ",false)
Log.i(TAG,"SOP V2N总开关, false")
//V2I总开关
scV2ISwitch.isChecked = false
hmiAction("SOP V2I总开关, ",false)
Log.i(TAG,"SOP V2I总开关, false")
//V2V总开关
scObuV2vView.isChecked = false
hmiAction("SOP V2V总开关, ",false)
Log.i(TAG,"SOP V2V总开关, false")
//obu总开关
scObu.isChecked = false
hmiAction("SOP OBU控制总开关, ",false)
Log.i(TAG,"SOP OBU控制总开关, false")
//断开链接
CallerObuApiManager.disConnectObu()
}
scV2NSwitch.isEnabled = isChecked
scV2ISwitch.isEnabled = isChecked
scObuV2vView.isEnabled = isChecked
scObu.isEnabled = isChecked
}
tbMarkingObstacles.isChecked = FunctionBuildConfig.isPNCWarning
tbMarkingObstacles.setOnCheckedChangeListener { _, isChecked ->
hmiAction("SOP 危险障碍物颜色标记开关",isChecked)
FunctionBuildConfig.isPNCWarning = isChecked
//V2N总开关
scV2NSwitch.isChecked = FunctionBuildConfig.v2nMainSwitch
//根据V2N状态设置子开关是否可以点击
//V2N新链路
scNewV2NData.isEnabled = FunctionBuildConfig.v2nMainSwitch
//V2N场景进PNC
scV2nPnc.isEnabled = FunctionBuildConfig.v2nMainSwitch
//绿波通行(默认关闭)
scGreenWaveSop.isEnabled = FunctionBuildConfig.v2nMainSwitch
scV2NSwitch.setOnCheckedChangeListener { compoundButton, isChecked ->
if(isChecked){
//V2N新链路
scNewV2NData.isChecked = FunctionBuildConfig.isNewV2NData
hmiAction("SOP 是否是V2N新链路(云->工控机->App)",FunctionBuildConfig.isNewV2NData)
Log.i(TAG,"SOP 是否是V2N新链路(云->工控机->App), ${FunctionBuildConfig.isNewV2NData}")
//V2N场景进PNC
scV2nPnc.isChecked = FunctionBuildConfig.isV2NPnc
hmiAction("SOP V2N场景进PNC, ",FunctionBuildConfig.isV2NPnc)
Log.i(TAG,"SOP V2N场景进PNC, ${FunctionBuildConfig.isV2NPnc}")
CallerAutoPilotControlManager.sendV2nToPncCmd(FunctionBuildConfig.isV2NPnc)
//绿波通行
scGreenWaveSop.isChecked = HmiBuildConfig.isShowGreenWaveView
hmiAction("SOP obu绿波通行, ",HmiBuildConfig.isShowGreenWaveView)
Log.i(TAG,"SOP obu绿波通行, ${HmiBuildConfig.isShowGreenWaveView}")
CallerTelematicManager.sendMsgToAllClients(TelematicConstant.OBU_GREENWAVE_WARNING, "1".toByteArray())
}else{
//V2N新链路
scNewV2NData.isChecked = false
hmiAction("SOP 是否是V2N新链路(云->工控机->App)",false)
Log.i(TAG,"SOP 是否是V2N新链路(云->工控机->App), false")
//V2N场景进PNC
scV2nPnc.isChecked = false
hmiAction("SOP V2N场景进PNC, ",false)
Log.i(TAG,"SOP V2N场景进PNC, false")
CallerAutoPilotControlManager.sendV2nToPncCmd(false)
//绿波通行
scGreenWaveSop.isChecked = false
hmiAction("SOP obu绿波通行, ",false)
Log.i(TAG,"SOP obu绿波通行, false")
CallerTelematicManager.sendMsgToAllClients(TelematicConstant.OBU_GREENWAVE_WARNING, "0".toByteArray())
}
scNewV2NData.isEnabled = isChecked
scV2nPnc.isEnabled = isChecked
scGreenWaveSop.isEnabled = isChecked
if(!compoundButton.isPressed){
return@setOnCheckedChangeListener
}
FunctionBuildConfig.v2nMainSwitch = isChecked
}
if (AppIdentityModeUtils.isBus(FunctionBuildConfig.appIdentityMode)) {
tbMarkingObstacles.visibility = View.GONE
//V2I总开关
scV2ISwitch.isChecked = HmiBuildConfig.isShowObuV2iView //是否展示obu的v2i
//根据V2I状态设置子开关是否可以点击
scV2iPnc.isEnabled = HmiBuildConfig.isShowObuV2iView
scRunRedLightSop.isEnabled = HmiBuildConfig.isShowObuV2iView
scObuWeaknessTrafficSop.isEnabled = HmiBuildConfig.isShowObuV2iView
scV2ISwitch.setOnCheckedChangeListener { compoundButton, isChecked ->
if(isChecked){
//V2I场景进PNC
scV2iPnc.isChecked = FunctionBuildConfig.isV2IPnc
hmiAction("SOP V2I场景进PNC, ",FunctionBuildConfig.isV2IPnc)
Log.i(TAG,"SOP V2I场景进PNC,${FunctionBuildConfig.isV2IPnc}")
CallerAutoPilotControlManager.sendV2iToPncCmd(FunctionBuildConfig.isV2IPnc)
//闯红灯预警
scRunRedLightSop.isChecked = HmiBuildConfig.isShowRunRedLightView
hmiAction("SOP obu闯红灯预警, ",HmiBuildConfig.isShowRunRedLightView)
Log.i(TAG,"SOP obu闯红灯预警, ${HmiBuildConfig.isShowRunRedLightView}")
CallerTelematicManager.sendMsgToAllClients(TelematicConstant.OBU_RUNREDLIGHT_WARNING, "1".toByteArray())
//路侧弱势交通参与者
scObuWeaknessTrafficSop.isChecked = HmiBuildConfig.isShowObuWeaknessTrafficView
hmiAction("SOP obu弱势交通控制, ",HmiBuildConfig.isShowObuWeaknessTrafficView)
Log.i(TAG,"SOP obu弱势交通控制, ${HmiBuildConfig.isShowObuWeaknessTrafficView}")
}else{
//V2I场景进PNC
scV2iPnc.isChecked = false
CallerAutoPilotControlManager.sendV2iToPncCmd(false)
hmiAction("SOP V2I场景进PNC, ",false)
Log.i(TAG,"SOP V2I场景进PNC, false")
//闯红灯预警
scRunRedLightSop.isChecked = false
hmiAction("SOP obu闯红灯预警, ",false)
Log.i(TAG,"SOP obu闯红灯预警, false")
CallerTelematicManager.sendMsgToAllClients(TelematicConstant.OBU_RUNREDLIGHT_WARNING, "0".toByteArray())
//路侧弱势交通参与者
scObuWeaknessTrafficSop.isChecked = false
hmiAction("SOP obu弱势交通控制, ",false)
Log.i(TAG,"SOP obu弱势交通控制, false")
}
scV2iPnc.isEnabled = isChecked
scRunRedLightSop.isEnabled = isChecked
scObuWeaknessTrafficSop.isEnabled = isChecked
if(!compoundButton.isPressed){
return@setOnCheckedChangeListener
}
HmiBuildConfig.isShowObuV2iView = isChecked
}
tbRouteDynamicEffect.isChecked = HmiBuildConfig.isShowRouteStrategy
tbRouteDynamicEffect.setOnCheckedChangeListener { _, isChecked ->
hmiAction("SOP 引导线动态效果",isChecked)
HmiBuildConfig.isShowRouteStrategy = isChecked
//V2N新链路
scNewV2NData.isChecked = FunctionBuildConfig.isNewV2NData
scNewV2NData.setOnCheckedChangeListener { compoundButton, isChecked ->
if(!compoundButton.isPressed){
return@setOnCheckedChangeListener
}
hmiAction("SOP 是否是V2N新链路(云->工控机->App)",isChecked)
Log.i(TAG,"SOP 是否是V2N新链路(云->工控机->App) ${isChecked}")
FunctionBuildConfig.isNewV2NData = isChecked
}
//默认开启
tbObuWeaknessTrafficSop.isChecked = HmiBuildConfig.isShowObuWeaknessTrafficView
tbObuWeaknessTrafficSop.setOnCheckedChangeListener { _, isChecked ->
hmiAction("SOP obu弱势交通控制, ",isChecked)
HmiBuildConfig.isShowObuWeaknessTrafficView = isChecked
}
/**
* 默认关闭
*/
tbCloudWeaknessTrafficSop.isChecked = HmiBuildConfig.isShowCloudWeaknessTrafficView
tbCloudWeaknessTrafficSop.setOnCheckedChangeListener { _, isChecked ->
hmiAction("SOP 云端弱势交通控制, ",isChecked)
HmiBuildConfig.isShowCloudWeaknessTrafficView = isChecked
}
tbV2nPnc.isChecked = FunctionBuildConfig.isV2NPnc
tbV2nPnc.setOnCheckedChangeListener{ compoundButton, isChecked ->
//V2N场景进PNC
scV2nPnc.isChecked = FunctionBuildConfig.isV2NPnc
scV2nPnc.setOnCheckedChangeListener{ compoundButton, isChecked ->
if(!compoundButton.isPressed){
return@setOnCheckedChangeListener
}
hmiAction("SOP V2N场景进PNC, ",isChecked)
Log.i(TAG,"SOP V2N场景进PNC, $isChecked")
CallerAutoPilotControlManager.sendV2nToPncCmd(isChecked)
FunctionBuildConfig.isV2NPnc = isChecked
}
tbV2iPnc.isChecked = FunctionBuildConfig.isV2IPnc
tbV2iPnc.setOnCheckedChangeListener{ compoundButton, isChecked ->
//绿波通行(默认关闭)
scGreenWaveSop.isChecked = HmiBuildConfig.isShowGreenWaveView
scGreenWaveSop.setOnCheckedChangeListener { compoundButton, isChecked ->
if(!compoundButton.isPressed){
return@setOnCheckedChangeListener
}
hmiAction("SOP V2I场景进PNC, ",isChecked)
CallerAutoPilotControlManager.sendV2iToPncCmd(isChecked)
FunctionBuildConfig.isV2IPnc = isChecked
}
/**
* 默认打开
*/
tbObuV2vView.isChecked = HmiBuildConfig.isShowObuV2vView
tbObuV2vView.setOnCheckedChangeListener { _, isChecked ->
hmiAction("SOP obuV2V开关, ",isChecked)
HmiBuildConfig.isShowObuV2vView = isChecked
}
/**
* 默认打开
*/
tbObuV2iView.isChecked = HmiBuildConfig.isShowObuV2iView
tbObuV2iView.setOnCheckedChangeListener { _, isChecked ->
hmiAction("SOP obuV2i开关, ",isChecked)
HmiBuildConfig.isShowObuV2iView = isChecked
}
/**
* 默认关闭
*/
tbRunRedLightSop.isChecked = HmiBuildConfig.isShowRunRedLightView
tbRunRedLightSop.setOnCheckedChangeListener { _, isChecked ->
hmiAction("SOP obu闯红灯预警, ",isChecked)
HmiBuildConfig.isShowRunRedLightView = isChecked
if (HmiBuildConfig.isShowRunRedLightView) {
CallerTelematicManager.sendMsgToAllClients(TelematicConstant.OBU_RUNREDLIGHT_WARNING, "1".toByteArray())
} else {
CallerTelematicManager.sendMsgToAllClients(TelematicConstant.OBU_RUNREDLIGHT_WARNING, "0".toByteArray())
}
}
/**
* 默认关闭
*/
tbGreenWaveSop.isChecked = HmiBuildConfig.isShowGreenWaveView
tbGreenWaveSop.setOnCheckedChangeListener { _, isChecked ->
hmiAction("SOP obu绿波通行, ",isChecked)
Log.i(TAG,"SOP obu绿波通行, $isChecked")
HmiBuildConfig.isShowGreenWaveView = isChecked
if (HmiBuildConfig.isShowGreenWaveView) {
CallerTelematicManager.sendMsgToAllClients(TelematicConstant.OBU_GREENWAVE_WARNING, "1".toByteArray())
@@ -162,34 +265,141 @@ internal class SOPSettingView @JvmOverloads constructor(
}
}
tbTrafficLight.isChecked = !HmiBuildConfig.isShowTrafficLightView
tbTrafficLight.setOnCheckedChangeListener { _, isChecked ->
hmiAction("SOP 红绿灯标识开关, ",isChecked)
if (isChecked) {
CallerHmiManager.showTrafficLightView()
//V2I场景进PNC
scV2iPnc.isChecked = FunctionBuildConfig.isV2IPnc
scV2iPnc.setOnCheckedChangeListener{ compoundButton, isChecked ->
if(!compoundButton.isPressed){
return@setOnCheckedChangeListener
}
hmiAction("SOP V2I场景进PNC, ",isChecked)
Log.i(TAG,"SOP V2I场景进PNC, $isChecked")
CallerAutoPilotControlManager.sendV2iToPncCmd(isChecked)
FunctionBuildConfig.isV2IPnc = isChecked
}
//闯红灯预警(默认关闭)
scRunRedLightSop.isChecked = HmiBuildConfig.isShowRunRedLightView
scRunRedLightSop.setOnCheckedChangeListener { compoundButton, isChecked ->
if(!compoundButton.isPressed){
return@setOnCheckedChangeListener
}
hmiAction("SOP obu闯红灯预警, ",isChecked)
Log.i(TAG,"SOP obu闯红灯预警, $isChecked")
HmiBuildConfig.isShowRunRedLightView = isChecked
if (HmiBuildConfig.isShowRunRedLightView) {
CallerTelematicManager.sendMsgToAllClients(TelematicConstant.OBU_RUNREDLIGHT_WARNING, "1".toByteArray())
} else {
CallerHmiManager.hideTrafficLightView()
CallerTelematicManager.sendMsgToAllClients(TelematicConstant.OBU_RUNREDLIGHT_WARNING, "0".toByteArray())
}
}
tbSpeedLimit.isChecked = HmiBuildConfig.isShowLimitingVelocityView
tbSpeedLimit.setOnCheckedChangeListener { _, isChecked ->
hmiAction("SOP 限速标识开关, ",isChecked)
if (isChecked) {
HmiBuildConfig.isShowLimitingVelocityView = true
} else {
HmiBuildConfig.isShowLimitingVelocityView = false
CallerHmiViewControlListenerManager.invokeVisible(IViewControlListener.LimitingVelocityView_TAG,View.GONE)
//路侧弱势交通参与者(默认开启)
scObuWeaknessTrafficSop.isChecked = HmiBuildConfig.isShowObuWeaknessTrafficView
scObuWeaknessTrafficSop.setOnCheckedChangeListener { compoundButton, isChecked ->
if(!compoundButton.isPressed){
return@setOnCheckedChangeListener
}
hmiAction("SOP obu弱势交通控制, ",isChecked)
Log.i(TAG,"SOP obu弱势交通控制, $isChecked")
HmiBuildConfig.isShowObuWeaknessTrafficView = isChecked
}
//V2V总开关(默认关闭)
scObuV2vView.isChecked = HmiBuildConfig.isShowObuV2vView
scObuV2vView.setOnCheckedChangeListener { compoundButton, isChecked ->
if(!compoundButton.isPressed){
return@setOnCheckedChangeListener
}
hmiAction("SOP obuV2V开关, ",isChecked)
Log.i(TAG,"SOP obuV2V开关, $isChecked")
HmiBuildConfig.isShowObuV2vView = isChecked
}
//obu总开关
obuConnectStatus = CallerObuApiManager.isConnected()
scObu.isChecked = obuConnectStatus
scObu.setOnCheckedChangeListener { compoundButton, isChecked ->
if(!compoundButton.isPressed){
return@setOnCheckedChangeListener
}
hmiAction("SOP OBU控制总开关, ",isChecked)
Log.i(TAG,"SOP OBU控制总开关, $isChecked")
if (isChecked) {
CallerObuApiManager.resetObuIpAddress(MogoObuConst.OBU_DEFAULT_IP)
} else {
//断开链接
CallerObuApiManager.disConnectObu()
}
}
}
/**
* 地图效果类设置
*/
private fun mapSetting(){
//危险障碍物颜色标记开关
scMarkingObstacles.isChecked = FunctionBuildConfig.isPNCWarning
scMarkingObstacles.setOnCheckedChangeListener { _, isChecked ->
hmiAction("SOP 危险障碍物颜色标记开关, ",isChecked)
Log.i(TAG,"SOP 危险障碍物颜色标记开关, $isChecked")
FunctionBuildConfig.isPNCWarning = isChecked
}
if (AppIdentityModeUtils.isBus(FunctionBuildConfig.appIdentityMode)) {
scMarkingObstacles.isEnabled = false
}
//引导线动态效果
scRouteDynamicEffect.isChecked = HmiBuildConfig.isShowRouteStrategy
scRouteDynamicEffect.setOnCheckedChangeListener { _, isChecked ->
hmiAction("SOP 引导线动态效果, ",isChecked)
Log.i(TAG,"SOP 引导线动态效果, $isChecked")
HmiBuildConfig.isShowRouteStrategy = isChecked
}
//点云效果
//初始化点云数据渲染情况
scDrawPointCloudData.isChecked = FunctionBuildConfig.isDrawPointCloudData
//是否渲染点云数据
scDrawPointCloudData.setOnCheckedChangeListener { _, isChecked ->
CallerAutoPilotControlManager.setIsDrawPointCloud(isChecked)
FunctionBuildConfig.isDrawPointCloudData = isChecked
CallerMapUIServiceManager.getMapUIController()?.setIsDrawPointCloud(isChecked)
hmiAction("SOP 是否渲染点云数据, ",isChecked)
Log.i(TAG,"SOP 是否渲染点云数据, $isChecked")
}
//自车光圈
scCarAperture.isChecked = FunctionBuildConfig.isDisplayAnimEnable
scCarAperture.setOnCheckedChangeListener { _, isChecked ->
CallerMapUIServiceManager.getMapUIController()?.setDisplayAnimEnable(isChecked)
FunctionBuildConfig.isDisplayAnimEnable = isChecked
hmiAction("SOP 是否展示自车光圈，",isChecked)
Log.i(TAG,"SOP 是否展示自车光圈，$isChecked")
}
}
/**
* 与车相关类设置
*/
private fun vehicleSetting(){
//绕障类功能
scObstacleAvoidance.isChecked = FunctionBuildConfig.isDetouring
scObstacleAvoidance.setOnCheckedChangeListener { _, isChecked ->
hmiAction("SOP 绕障类功能开关, ",isChecked)
Log.i(TAG,"SOP 绕障类功能开关, $isChecked")
CallerAutoPilotControlManager.sendDetouring(isChecked)
FunctionBuildConfig.isDetouring = isChecked
}
// 演示模式,上一次勾选的数据
tbDemoMode.isChecked = FunctionBuildConfig.isDemoMode
tbDemoMode.setOnCheckedChangeListener { compoundButton, _ ->
scDemoMode.isChecked = FunctionBuildConfig.isDemoMode
scDemoMode.setOnCheckedChangeListener { compoundButton, _ ->
if(!compoundButton.isPressed){
return@setOnCheckedChangeListener
}
hmiAction("SOP 演示模式开关, ",!FunctionBuildConfig.isDemoMode)
Log.i(TAG,"SOP 演示模式开关, ${!FunctionBuildConfig.isDemoMode}")
FunctionBuildConfig.isDemoMode = !FunctionBuildConfig.isDemoMode
CallerAutoPilotControlManager.setDemoMode(FunctionBuildConfig.isDemoMode)
CallerHmiViewControlListenerManager.invokeFuncMode(FUNC_MODE_DEMO, FunctionBuildConfig.isDemoMode)
@@ -200,87 +410,42 @@ internal class SOPSettingView @JvmOverloads constructor(
}
//只在司机端设置美化模式开关功能
if (AppIdentityModeUtils.isPassenger(FunctionBuildConfig.appIdentityMode)) {
tbDemoMode.visibility = View.GONE
scDemoMode.isEnabled = false
}
// 雨天模式，上一次勾选的数据
tbRainMode.isChecked = FunctionBuildConfig.isRainMode
tbRainMode.setOnCheckedChangeListener { compoundButton, isChecked ->
scRainMode.isChecked = FunctionBuildConfig.isRainMode
scRainMode.setOnCheckedChangeListener { compoundButton, isChecked ->
if(!compoundButton.isPressed){
return@setOnCheckedChangeListener
}
hmiAction("SOP 雨天模式开关, ",isChecked)
Log.i(TAG,"SOP 雨天模式开关, $isChecked")
FunctionBuildConfig.isRainMode = isChecked
CallerAutoPilotControlManager.setRainMode(isChecked)
CallerHmiViewControlListenerManager.invokeFuncMode(FUNC_MODE_RAIN, isChecked)
}
//雨天模式按钮只在司机屏生效，乘客屏不显示
if (AppIdentityModeUtils.isPassenger(FunctionBuildConfig.appIdentityMode)) {
tbRainMode.visibility = View.GONE
}
tbObu.isChecked = CallerObuApiManager.isConnected()
tbObu.setOnCheckedChangeListener { _, isChecked ->
hmiAction("SOP OBU控制总开关, ",isChecked)
if (isChecked) {
CallerObuApiManager.resetObuIpAddress(MogoObuConst.OBU_DEFAULT_IP)
} else {
//断开链接
CallerObuApiManager.disConnectObu()
}
}
tbIPCReport.isChecked = FunctionBuildConfig.isReportWarning
tbIPCReport.setOnCheckedChangeListener { _, isChecked ->
hmiAction("SOP 是否开启异常上报, ",isChecked)
FunctionBuildConfig.isReportWarning = isChecked
}
tbNewV2NData.isChecked = FunctionBuildConfig.isNewV2NData
tbNewV2NData.setOnCheckedChangeListener { _, isChecked ->
hmiAction("SOP 是否是V2N新链路(云->工控机->App)",isChecked)
FunctionBuildConfig.isNewV2NData = isChecked
}
// M1 360度环视
tbNew360LookAround?.also {
if (!AppIdentityModeUtils.isM1(FunctionBuildConfig.appIdentityMode)) {
it.isEnabled = false
} else {
it.isEnabled = true
it.setOnCheckedChangeListener { _, isChecked ->
if (isChecked) {
CallerHmiManager.showM1360LookAround()
} else {
CallerHmiManager.hidM1360LookAround()
}
}
it.isChecked = CallerHmiManager.isM1360LookAroundShowing()
}
scRainMode.isEnabled = false
}
//弱网减速停车
tbWeakNetSlowDown.isChecked = FunctionBuildConfig.isWeakNetSlowDown
tbWeakNetSlowDown.setOnCheckedChangeListener{_, isChecked ->
scWeakNetSlowDown.isChecked = FunctionBuildConfig.isWeakNetSlowDown
scWeakNetSlowDown.setOnCheckedChangeListener{_, isChecked ->
FunctionBuildConfig.isWeakNetSlowDown = isChecked
CallerAutoPilotControlManager.sendWeakNetSlowDown(isChecked)
hmiAction("SOP 弱网减速停车, ",isChecked)
Log.i(TAG,"SOP 弱网减速停车, $isChecked")
}
//故障减速停车
tbFaultSlowDown.isChecked = FunctionBuildConfig.isFaultSlowDown
tbFaultSlowDown.setOnCheckedChangeListener{_, isChecked ->
scFaultSlowDown.isChecked = FunctionBuildConfig.isFaultSlowDown
scFaultSlowDown.setOnCheckedChangeListener{_, isChecked ->
FunctionBuildConfig.isFaultSlowDown = isChecked
CallerAutoPilotControlManager.sendBreakdownSlowDown(isChecked)
hmiAction("SOP 故障减速停车, ",isChecked)
}
//是否展示被动触发的录包弹窗（自动驾驶下出现问题触发的录包）
tbShowBagRecordWindow.isChecked = FunctionBuildConfig.isShowBagRecordWindow
tbShowBagRecordWindow.setOnCheckedChangeListener{_, isChecked ->
FunctionBuildConfig.isShowBagRecordWindow = isChecked
hmiAction("SOP 是否展示被动触发的录包弹窗, ",isChecked)
Log.i(TAG,"SOP 故障减速停车, $isChecked")
}
//融合模式
rgFusionMode.setOnCheckedChangeListener { _, p1 ->
@@ -306,9 +471,74 @@ internal class SOPSettingView @JvmOverloads constructor(
FunctionBuildConfig.fusionMode = 5
}
}
hmiAction("SOP 融合模式, ",FunctionBuildConfig.fusionMode)
Log.i(TAG,"SOP 融合模式, ${FunctionBuildConfig.fusionMode}")
CallerAutoPilotControlManager.sendFusionMode(FunctionBuildConfig.fusionMode)
}
}
/**
* 其他类别开关设置
*/
private fun otherSetting(){
//红绿灯标识开关
scTrafficLight.isChecked = !HmiBuildConfig.isShowTrafficLightView
scTrafficLight.setOnCheckedChangeListener { _, isChecked ->
hmiAction("SOP 红绿灯标识开关, ",isChecked)
Log.i(TAG,"SOP 红绿灯标识开关, $isChecked")
if (isChecked) {
CallerHmiManager.showTrafficLightView()
} else {
CallerHmiManager.hideTrafficLightView()
}
}
//限速标识
scSpeedLimit.isChecked = HmiBuildConfig.isShowLimitingVelocityView
scSpeedLimit.setOnCheckedChangeListener { _, isChecked ->
hmiAction("SOP 限速标识开关, ",isChecked)
Log.i(TAG,"SOP 限速标识开关, $isChecked")
if (isChecked) {
HmiBuildConfig.isShowLimitingVelocityView = true
CallerHmiViewControlListenerManager.invokeVisible(IViewControlListener.LimitingVelocityView_TAG,View.VISIBLE)
} else {
HmiBuildConfig.isShowLimitingVelocityView = false
CallerHmiViewControlListenerManager.invokeVisible(IViewControlListener.LimitingVelocityView_TAG,View.GONE)
}
}
//异常上报提示
scIPCReport.isChecked = FunctionBuildConfig.isReportWarning
scIPCReport.setOnCheckedChangeListener { _, isChecked ->
hmiAction("SOP 是否开启异常上报, ",isChecked)
Log.i(TAG,"SOP 是否开启异常上报, $isChecked")
FunctionBuildConfig.isReportWarning = isChecked
}
// M1 360度环视
scNew360LookAround?.also {
if (!AppIdentityModeUtils.isM1(FunctionBuildConfig.appIdentityMode)) {
it.isEnabled = false
} else {
it.isEnabled = true
it.setOnCheckedChangeListener { _, isChecked ->
if (isChecked) {
CallerHmiManager.showM1360LookAround()
} else {
CallerHmiManager.hidM1360LookAround()
}
}
it.isChecked = CallerHmiManager.isM1360LookAroundShowing()
}
}
//是否展示被动触发的录包弹窗（自动驾驶下出现问题触发的录包）
scShowBagRecordWindow.isChecked = FunctionBuildConfig.isShowBagRecordWindow
scShowBagRecordWindow.setOnCheckedChangeListener{_, isChecked ->
FunctionBuildConfig.isShowBagRecordWindow = isChecked
hmiAction("SOP 是否展示被动触发的录包弹窗, ",isChecked)
Log.i(TAG,"SOP 是否展示被动触发的录包弹窗, $isChecked")
}
//变道绕障的目标障碍物速度阈值
tvSpeed.text = "${FunctionBuildConfig.detouringSpeed} m/s"
@@ -393,8 +623,11 @@ internal class SOPSettingView @JvmOverloads constructor(
mfStatusLayout.setClickEnabled(false)
mfTest.isEnabled = false
}
}
override fun onAttachedToWindow() {
super.onAttachedToWindow()
//添加 业务配置监听
@@ -410,10 +643,10 @@ internal class SOPSettingView @JvmOverloads constructor(
override fun updateFuncMode(tag: String, boolean: Boolean) {
super.updateFuncMode(tag, boolean)
if(tag == FUNC_MODE_DEMO){
tbDemoMode.isChecked = FunctionBuildConfig.isDemoMode
scDemoMode.isChecked = FunctionBuildConfig.isDemoMode
}
if(tag == FUNC_MODE_RAIN){
tbRainMode.isChecked = FunctionBuildConfig.isRainMode
scRainMode.isChecked = FunctionBuildConfig.isRainMode
}
}
@@ -426,40 +659,34 @@ internal class SOPSettingView @JvmOverloads constructor(
CallerDevaToolsManager.mofang()?.unRegisterMoFangStatusListener(this)
}
// private val timerTaskRefresh = object : TimerTask(){
// override fun run() {
// UiThreadHandler.post{
// tbDemoMode.isChecked = FunctionBuildConfig.isDemoMode
// tbRainMode.isChecked = FunctionBuildConfig.isRainMode
// }
// }
//
// }
override fun updateBizView(type: String, lock: Boolean) {
when (type) {
//美化模式
FuncBizConfig.BIZ_BEAUTY_MODE -> {
tbDemoMode.isClickable = !lock
scDemoMode.isClickable = !lock
if(lock){
tbDemoMode.visibility = View.INVISIBLE
scDemoMode.visibility = View.INVISIBLE
}else{
tbDemoMode.visibility = View.VISIBLE
scDemoMode.visibility = View.VISIBLE
}
}
//雨天模式
FuncBizConfig.BIZ_RAIN_MODE -> {
tbRainMode.isClickable = !lock
scRainMode.isClickable = !lock
if (lock) {
tbRainMode.visibility = View.INVISIBLE
scRainMode.visibility = View.INVISIBLE
} else {
tbRainMode.visibility = View.VISIBLE
scRainMode.visibility = View.VISIBLE
}
}
//危险障碍物颜色标记
FuncBizConfig.BIZ_PNC_WARNING -> {
tbMarkingObstacles.isClickable = !lock
scMarkingObstacles.isClickable = !lock
if (lock) {
tbMarkingObstacles.visibility = View.INVISIBLE
scMarkingObstacles.visibility = View.INVISIBLE
} else {
tbMarkingObstacles.visibility = View.VISIBLE
scMarkingObstacles.visibility = View.VISIBLE
}
}
}

71
core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/hmi/ui/vehicle/TakeOverView.kt
View File

@@ -2,7 +2,6 @@ package com.mogo.eagle.core.function.hmi.ui.vehicle
import android.content.Context
import android.util.AttributeSet
import android.util.Log
import android.view.LayoutInflater
import android.view.View
import androidx.constraintlayout.widget.ConstraintLayout
@@ -12,20 +11,24 @@ import com.mogo.eagle.core.data.msgbox.MsgBoxBean
import com.mogo.eagle.core.data.msgbox.MsgBoxType
import com.mogo.eagle.core.data.msgbox.V2XMsg
import com.mogo.eagle.core.function.api.autopilot.IMoGoAutopilotStatusListener
import com.mogo.eagle.core.function.api.autopilot.IMoGoParallelDrivingStatusListener
import com.mogo.eagle.core.function.api.hmi.warning.IMoGoWarningStatusListener
import com.mogo.eagle.core.function.call.autopilot.CallerAutoPilotStatusListenerManager
import com.mogo.eagle.core.function.call.autopilot.CallerParallelDrivingListenerManager
import com.mogo.eagle.core.function.call.hmi.CallerHmiManager
import com.mogo.eagle.core.function.call.msgbox.CallerMsgBoxManager.saveMsgBox
import com.mogo.eagle.core.function.hmi.R
import com.mogo.eagle.core.utilcode.util.ThreadUtils
import com.zhjt.mogo.adas.data.bean.MogoReport
import mogo.yycp.paralleldriving.protocol.ParallelTaskProcessNoticeOuterClass
import mogo_msg.MogoReportMsg
class TakeOverView @JvmOverloads constructor(
context: Context,
attrs: AttributeSet? = null,
defStyleAttr: Int = 0
) : ConstraintLayout(context, attrs, defStyleAttr), IMoGoAutopilotStatusListener {
) : ConstraintLayout(context, attrs, defStyleAttr), IMoGoAutopilotStatusListener,
IMoGoParallelDrivingStatusListener {
companion object {
const val TAG = "TakeOverView"
@@ -41,6 +44,7 @@ class TakeOverView @JvmOverloads constructor(
override fun onAttachedToWindow() {
super.onAttachedToWindow()
CallerAutoPilotStatusListenerManager.addListener(TAG, this)
CallerParallelDrivingListenerManager.addListener(TAG,this)
}
override fun onAutopilotStatusResponse(state: Int) {
@@ -147,5 +151,68 @@ class TakeOverView @JvmOverloads constructor(
override fun onDetachedFromWindow() {
super.onDetachedFromWindow()
CallerAutoPilotStatusListenerManager.removeListener(TAG)
CallerParallelDrivingListenerManager.removeListener(TAG)
}
/**
* 平行驾驶状态回调，云端说有状态变化就回调
*/
override fun onParallelDrivingResp(parallelTaskProcessNotice: ParallelTaskProcessNoticeOuterClass.ParallelTaskProcessNotice?) {
parallelTaskProcessNotice?.let {
if (takeOver) {
return@let
}
when(it.code){
//进入同步状态
"START_SYNC"->{
}
//同步结束
"EXIT_SYNC"->{
}
//无法接管
"UNABLE_TAKEOVER"->{
showParallelDrivingWarning("UNABLE_TAKEOVER","远程无法介入，注意随时接管","远程无法介入，注意随时接管")
}
//同步异常结束
"EXCEPTION_EXIT_SYNC"->{
showParallelDrivingWarning("EXCEPTION_EXIT_SYNC","远程介入失败，注意随时接管","远程介入失败，注意随时接管")
}
//任务已被拒绝
"TASK_REJECTED"->{
}
//异常请人工驾驶
"PARALLEL_EXCEPTION_MANUAL_DRIVING"->{
showParallelDrivingWarning("PARALLEL_EXCEPTION_MANUAL_DRIVING","即将靠边停车，注意随时接管","即将靠边停车，注意随时接管")
}
//平行驾驶异常结束
"EXCEPTION_EXIT_PARALLEL_DRIVING"->{
showParallelDrivingWarning("EXCEPTION_EXIT_PARALLEL_DRIVING","可能应急停车，注意随时接管","可能应急停车，注意随时接管")
}
}
}
}
private fun showParallelDrivingWarning(poiType: String,content: String,tts: String){
CallerHmiManager.warningV2X(poiType, content, tts,
object : IMoGoWarningStatusListener {
override fun onShow() {
takeOver = true
ThreadUtils.runOnUiThread{
visibility = View.VISIBLE
}
}
override fun onDismiss() {
takeOver = false
ThreadUtils.runOnUiThread{
visibility = View.GONE
}
}
}
,isFromObu = false)
}
}

23
core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/hmi/ui/widget/LimitingVelocityView.kt
View File

@@ -27,6 +27,9 @@ class LimitingVelocityView constructor(
private const val TAG = "LimitingVelocityView"
}
//限速控件是否展示
private var isShow = false
init {
LayoutInflater.from(context).inflate(R.layout.view_limiting_speed_vr, this, true)
}
@@ -38,20 +41,22 @@ class LimitingVelocityView constructor(
}
override fun onLimitingVelocityChange(limitingVelocity: Int, sourceType: DataSourceType) {
ThreadUtils.runOnUiThread {
if (limitingVelocity > 0) {
visibility = View.VISIBLE
tvLimitingVelocity.text = "$limitingVelocity"
tvLimitingSource?.text = DataSourceType.getName(sourceType)
} else {
visibility = View.GONE
tvLimitingSource?.text = ""
if(isShow){
ThreadUtils.runOnUiThread {
if (limitingVelocity > 0) {
visibility = View.VISIBLE
tvLimitingVelocity.text = "$limitingVelocity"
tvLimitingSource?.text = DataSourceType.getName(sourceType)
} else {
visibility = View.GONE
tvLimitingSource?.text = ""
}
}
}
}
override fun visible(v: Int) {
super.visible(v)
isShow = v == View.VISIBLE
this.visibility = v
}

352
core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/hmi/ui/widget/ParallelDriveView.kt Normal file
View File

@@ -0,0 +1,352 @@
package com.mogo.eagle.core.function.hmi.ui.widget
import android.annotation.SuppressLint
import android.content.Context
import android.graphics.Color
import android.util.AttributeSet
import android.view.LayoutInflater
import android.widget.ImageView
import android.widget.TextView
import androidx.constraintlayout.widget.ConstraintLayout
import com.mogo.cloud.passport.MoGoAiCloudClientConfig
import com.mogo.commons.voice.AIAssist
import com.mogo.eagle.core.function.api.autopilot.IMoGoAutopilotActionsListener
import com.mogo.eagle.core.function.api.autopilot.IMoGoAutopilotStatusListener
import com.mogo.eagle.core.function.api.autopilot.IMoGoParallelDrivingActionsListener
import com.mogo.eagle.core.function.api.autopilot.IMoGoParallelDrivingStatusListener
import com.mogo.eagle.core.function.call.autopilot.CallerAutoPilotControlManager
import com.mogo.eagle.core.function.call.autopilot.CallerAutoPilotStatusListenerManager
import com.mogo.eagle.core.function.call.autopilot.CallerParallelDrivingActionsListenerManager
import com.mogo.eagle.core.function.call.autopilot.CallerParallelDrivingListenerManager
import com.mogo.eagle.core.function.hmi.R
import com.mogo.eagle.core.utilcode.util.ThreadUtils
import com.mogo.eagle.core.utilcode.util.ToastUtils
import com.zhjt.mogo.adas.data.bean.UnableLaunchReason
import com.zhjt.mogo.adas.data.bean.UnableLaunchReason.SourceType
import mogo.yycp.paralleldriving.protocol.ParallelDrivingRequest.ParallelRequest
import mogo.yycp.paralleldriving.protocol.ParallelTaskProcessNoticeOuterClass
/**
* 平行驾驶状态View
*/
class ParallelDriveView @JvmOverloads constructor(
context: Context,
attrs: AttributeSet? = null,
defStyleAttr: Int = 0
) : ConstraintLayout(context, attrs, defStyleAttr), IMoGoAutopilotStatusListener,
IMoGoParallelDrivingActionsListener, IMoGoParallelDrivingStatusListener {
companion object {
private const val TAG = "ParallelDriveView"
private const val APP_REQUESTING = 1
private const val AD_REQUESTING = 2
private const val SYNCHRONIZING = 3
private const val PARALLEL_DRIVING = 4
private const val FAILURE = 5
private const val ONE_EXCEPTION = 6
private const val TWO_EXCEPTION = 7
private const val UNAVAILABLE = 8
}
//1:ready, 2:自动驾驶中, 7:平行驾驶中
@Volatile
private var autopilotState: Int = 1
// 初始状态为0
private var state: Int = 0
private lateinit var rootLayout: ConstraintLayout
private lateinit var statusIcon: ImageView
private lateinit var statusTitle: TextView
private var listener: ClickEventListener? = null
init {
LayoutInflater.from(context).inflate(R.layout.view_parallel_drive, this, true)
}
override fun onAttachedToWindow() {
super.onAttachedToWindow()
initView()
CallerAutoPilotStatusListenerManager.addListener(TAG, this)
CallerParallelDrivingListenerManager.addListener(TAG, this)
CallerParallelDrivingActionsListenerManager.addListener(TAG, this)
}
private fun initView() {
rootLayout = findViewById(R.id.parDriveLayout)
statusIcon = findViewById(R.id.ivStatusIcon)
statusTitle = findViewById(R.id.tvAutopilotContent)
rootLayout.setOnClickListener {
when (state) {
0 -> {
state = APP_REQUESTING
updateUI(APP_REQUESTING)
reqParaDrive()
listener?.onReqClick()
}
APP_REQUESTING -> {
cancelParaDrive()
ToastUtils.showShort("请求已取消！")
checkAvailableAndUpdateUI()
}
UNAVAILABLE -> {
ToastUtils.showShort("请P档驻车并松开油门刹车后请求")
}
}
}
checkAvailableAndUpdateUI()
}
fun setClickEventListener(listener: ClickEventListener?) {
this.listener = listener
}
override fun onAutopilotStatusResponse(state: Int) {
super.onAutopilotStatusResponse(state)
if (state != autopilotState) {
synchronized(this) {
when (state) {
7 -> {
if (this.autopilotState != 7) {
ThreadUtils.runOnUiThread({
updateUI(PARALLEL_DRIVING)
}, ThreadUtils.MODE.QUEUE)
}
}
else -> {
if (this.autopilotState == 7 && this.autopilotState != state) {
ThreadUtils.runOnUiThread({
checkAvailableAndUpdateUI()
}, ThreadUtils.MODE.QUEUE)
}
}
}
this.autopilotState = state
}
}
}
override fun onParallelDrivingAbility(
isParallelDrivingAbility: Boolean,
unableParallelDrivingReasons: ArrayList<UnableLaunchReason>?
) {
if (!isParallelDrivingAbility) {
ThreadUtils.runOnUiThread({
updateUI(UNAVAILABLE)
}, ThreadUtils.MODE.QUEUE)
}
}
override fun onParallelDrivingResp(parallelTaskProcessNotice: ParallelTaskProcessNoticeOuterClass.ParallelTaskProcessNotice?) {
parallelTaskProcessNotice?.let {
ThreadUtils.runOnUiThread({
when (it.code) {
"START_SYNC" -> {// 同步中
state = SYNCHRONIZING
updateUI(SYNCHRONIZING)
}
"EXCEPTION_EXIT_SYNC" -> {// 同步异常结束
state = ONE_EXCEPTION
updateUI(ONE_EXCEPTION)
}
"TASK_REJECTED" -> {// 任务已被拒绝
state = FAILURE
updateUI(FAILURE)
AIAssist.getInstance(context).speakTTSVoice("请求已被拒绝")
}
"PARALLEL_EXCEPTION_MANUAL_DRIVING" -> {// 异常请人工驾驶
state = TWO_EXCEPTION
updateUI(TWO_EXCEPTION)
}
"EXCEPTION_EXIT_PARALLEL_DRIVING" -> {// 平行驾驶异常结束
state = ONE_EXCEPTION
updateUI(ONE_EXCEPTION)
}
"EXIT_SYNC" -> {// 同步结束
checkAvailableAndUpdateUI()
}
"UNABLE_TAKEOVER" -> {// 无法接管
state = ONE_EXCEPTION
updateUI(ONE_EXCEPTION)
}
"VEHICLE_IN_TROUBLE_PARALLEL_REQUESTED" -> {// 车辆遇困请求平行驾驶
state = AD_REQUESTING
updateUI(AD_REQUESTING)
}
}
}, ThreadUtils.MODE.QUEUE)
}
}
private fun isAvailable(unableAutopilotReasons: ArrayList<UnableLaunchReason>?): Boolean {
var unavailable = false
unableAutopilotReasons?.forEach {
if (it.source.ordinal == SourceType.CHASSIS.ordinal) {
unavailable = true
}
}
return !unavailable
}
@SuppressLint("UseCompatLoadingForDrawables")
private fun updateUI(state: Int) {
when (state) {
0 -> {
rootLayout.isEnabled = true
rootLayout.alpha = 1f
statusIcon.background =
resources.getDrawable(R.drawable.icon_autopilot_status, null)
statusTitle.text = context.getString(R.string.parallel_drive)
statusTitle.setTextColor(Color.parseColor("#FFFFFF"))
statusIcon.alpha = 1f
rootLayout.background = resources.getDrawable(R.drawable.bg_auto_pilot, null)
}
APP_REQUESTING -> {
rootLayout.isEnabled = true
rootLayout.alpha = 1f
statusIcon.background =
resources.getDrawable(R.drawable.icon_para_requesting, null)
statusTitle.setTextColor(Color.parseColor("#FFFFFF"))
statusIcon.alpha = 1f
statusTitle.text = context.getString(R.string.parallel_drive_requesting)
rootLayout.background = resources.getDrawable(R.drawable.bg_auto_pilot, null)
}
AD_REQUESTING -> {
rootLayout.isEnabled = false
rootLayout.alpha = 1f
statusIcon.background =
resources.getDrawable(R.drawable.icon_para_requesting, null)
statusTitle.setTextColor(Color.parseColor("#FFFFFF"))
statusIcon.alpha = 1f
statusTitle.text = context.getString(R.string.parallel_drive_requesting)
rootLayout.background = resources.getDrawable(R.drawable.bg_auto_pilot, null)
}
SYNCHRONIZING -> {
rootLayout.isEnabled = false
rootLayout.alpha = 1f
statusIcon.background =
resources.getDrawable(R.drawable.icon_para_syn, null)
statusTitle.setTextColor(Color.parseColor("#FFFFFF"))
statusIcon.alpha = 1f
statusTitle.text = context.getString(R.string.parallel_drive_synchronizing)
rootLayout.background = resources.getDrawable(R.drawable.bg_auto_pilot, null)
}
PARALLEL_DRIVING -> {
rootLayout.isEnabled = false
rootLayout.alpha = 1f
statusIcon.background =
resources.getDrawable(R.drawable.icon_autopilot_status, null)
statusTitle.setTextColor(Color.parseColor("#FFFFFF"))
statusIcon.alpha = 1f
rootLayout.background =
resources.getDrawable(R.drawable.bg_auto_pilot_running, null)
statusTitle.text = context.getString(R.string.parallel_drive)
}
FAILURE -> {
rootLayout.isEnabled = false
rootLayout.alpha = 1f
rootLayout.postDelayed({
checkAvailableAndUpdateUI()
}, 1000)
statusTitle.setTextColor(Color.parseColor("#FFFFFF"))
statusIcon.alpha = 1f
statusIcon.background =
resources.getDrawable(R.drawable.icon_fail_start, null)
rootLayout.background = resources.getDrawable(R.drawable.bg_auto_pilot, null)
statusTitle.text = context.getString(R.string.parallel_drive_failure)
}
ONE_EXCEPTION -> {
rootLayout.isEnabled = false
rootLayout.alpha = 1f
rootLayout.postDelayed({
checkAvailableAndUpdateUI()
}, 1000)
statusTitle.setTextColor(Color.parseColor("#FFFFFF"))
statusIcon.alpha = 1f
statusIcon.background =
resources.getDrawable(R.drawable.icon_fail_start, null)
rootLayout.background = resources.getDrawable(R.drawable.bg_auto_pilot, null)
statusTitle.text = context.getString(R.string.parallel_drive_exception)
}
TWO_EXCEPTION -> {
rootLayout.isEnabled = false
rootLayout.alpha = 1f
rootLayout.postDelayed({
checkAvailableAndUpdateUI()
}, 2000)
statusTitle.setTextColor(Color.parseColor("#FFFFFF"))
statusIcon.alpha = 1f
statusIcon.background =
resources.getDrawable(R.drawable.icon_fail_start, null)
rootLayout.background = resources.getDrawable(R.drawable.bg_auto_pilot, null)
statusTitle.text = context.getString(R.string.parallel_drive_exception)
}
UNAVAILABLE -> {
rootLayout.isEnabled = false
rootLayout.alpha = 0.4f
statusIcon.background =
resources.getDrawable(R.drawable.icon_autopilot_status, null)
statusTitle.setTextColor(Color.parseColor("#66FFFFFF"))
statusIcon.alpha = 0.4f
rootLayout.background = resources.getDrawable(R.drawable.bg_auto_pilot, null)
statusTitle.text = context.getString(R.string.parallel_drive)
}
else -> {}
}
}
private fun reqParaDrive() {
val sn = MoGoAiCloudClientConfig.getInstance().sn
val parallelRequest = ParallelRequest.newBuilder()
.setSn(sn)
.setType(2)// 2:鹰眼请求
.setTakeover(1)// 1:请求平行驾驶接管
.setCode("PAD_ACTIVE")
parallelRequest.reason = "鹰眼请求"
CallerAutoPilotControlManager.sendParallelDrivingReq(
System.currentTimeMillis().toString(), parallelRequest.build()
)
}
private fun cancelParaDrive() {
val sn = MoGoAiCloudClientConfig.getInstance().sn
val parallelRequest = ParallelRequest.newBuilder()
.setSn(sn)
.setType(2)// 2:鹰眼请求
.setTakeover(2)// 2:取消平行驾驶接管
.setCode("PAD_ACTIVE")
parallelRequest.reason = "鹰眼请求"
CallerAutoPilotControlManager.sendParallelDrivingReq(
System.currentTimeMillis().toString(), parallelRequest.build()
)
}
private fun checkAvailableAndUpdateUI() {
if (CallerParallelDrivingActionsListenerManager.isParallelDrivingAbility()) {
state = 0
updateUI(0)
} else {
state = UNAVAILABLE
updateUI(UNAVAILABLE)
}
}
override fun onDetachedFromWindow() {
super.onDetachedFromWindow()
CallerAutoPilotStatusListenerManager.removeListener(TAG)
CallerParallelDrivingListenerManager.removeListener(TAG)
CallerParallelDrivingActionsListenerManager.removeListener(TAG)
}
interface ClickEventListener {
fun onReqClick()
}
}

42
core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/hmi/ui/widget/SystemVersionView.kt
View File

@@ -5,6 +5,7 @@ import android.util.AttributeSet
import android.view.LayoutInflater
import android.view.View
import androidx.constraintlayout.widget.ConstraintLayout
import com.mogo.eagle.core.data.app.AppConfigInfo
import com.mogo.eagle.core.data.deva.bindingcar.AdUpgradeStateHelper
import com.mogo.eagle.core.data.deva.bindingcar.IPCUpgradeStateInfo
import com.mogo.eagle.core.data.map.MogoLocation
@@ -26,6 +27,8 @@ import com.mogo.eagle.core.utilcode.mogo.logger.scene.SceneConstant.Companion.M_
import com.mogo.eagle.core.utilcode.util.*
import com.mogo.map.MogoData.Companion.mogoMapData
import kotlinx.android.synthetic.main.view_system_version.view.*
import system_master.SsmInfo
import system_master.SystemStatusInfo
/**
@@ -63,6 +66,7 @@ class SystemVersionView @JvmOverloads constructor(
private fun initView() {
showCurrentPadVersion()
showCurrentAdVersion()
updateAdHdMapVersion()
//鹰眼版本视图点击事件
ivPadVersion.setOnClickListener {
@@ -366,4 +370,42 @@ class SystemVersionView @JvmOverloads constructor(
override fun onChassisLocationWGS84(gnssInfo: MogoLocation) {
location = gnssInfo
}
/**
* 状态查询应答
* @param status 数据
* HQ、M1 MAP350开始弃用，其他车型MAP360开始弃用
*/
override fun onAutopilotStatusRespByQuery(status: SystemStatusInfo.StatusInfo) {
if(status.hdMapVer!= null && status.hdMapVer.isNotEmpty()){
AppConfigInfo.adHdMapVersion = status.hdMapVer
updateAdHdMapVersion()
}
}
/**
* 定频SSM接口
* 1hz hq m1 MAP350开始支持，其他车型MAP360开始支持
* 定频SSM接入后 onStatusQueryResp 状态查询应答接口将弃用
* @param statusInf 数据
*/
override fun onSystemStatus(statusInf: SsmInfo.SsmStatusInf) {
if(statusInf.hdMapVer!= null && statusInf.hdMapVer.isNotEmpty()){
AppConfigInfo.adHdMapVersion = statusInf.hdMapVer
updateAdHdMapVersion()
}
}
/**
* 更新工控机高精地图版本
*/
private fun updateAdHdMapVersion(){
if(tvAdHdMapVersionContent.text.isNullOrEmpty() && AppConfigInfo.adHdMapVersion.isNotEmpty() || tvAdHdMapVersionContent.text != AppConfigInfo.adHdMapVersion){
ThreadUtils.runOnUiThread {
tvAdHdMapVersionContent.text = AppConfigInfo.adHdMapVersion
}
}
}
}

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0
core/function-impl/mogo-core-function-hmi/src/main/res/drawable-xhdpi/icon_bad_case.png → core/function-impl/mogo-core-function-hmi/src/main/res/drawable-xhdpi/icon_msg_bad_case.png
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2
core/function-impl/mogo-core-function-hmi/src/main/res/layout/item_bad_case.xml
View File

@@ -18,7 +18,7 @@
android:id="@+id/ivBadCaseImage"
android:layout_width="110dp"
android:layout_height="110dp"
android:src="@drawable/icon_bad_case"
android:src="@drawable/icon_msg_bad_case"
app:layout_constraintTop_toTopOf="parent"
app:layout_constraintBottom_toBottomOf="parent"
app:layout_constraintLeft_toLeftOf="parent"

34
core/function-impl/mogo-core-function-hmi/src/main/res/layout/view_parallel_drive.xml Normal file
View File

@@ -0,0 +1,34 @@
<?xml version="1.0" encoding="utf-8"?>
<androidx.constraintlayout.widget.ConstraintLayout xmlns:android="http://schemas.android.com/apk/res/android"
xmlns:app="http://schemas.android.com/apk/res-auto"
xmlns:tools="http://schemas.android.com/tools"
android:id="@+id/parDriveLayout"
android:layout_width="361dp"
android:layout_height="180dp"
android:background="@drawable/bg_auto_pilot"
>
<ImageView
android:id="@+id/ivStatusIcon"
android:layout_width="58dp"
android:layout_height="58dp"
app:layout_constraintStart_toStartOf="parent"
app:layout_constraintTop_toTopOf="parent"
android:layout_marginStart="72dp"
android:layout_marginTop="56dp"
/>
<TextView
android:id="@+id/tvAutopilotContent"
android:layout_width="wrap_content"
android:layout_height="wrap_content"
app:layout_constraintEnd_toEndOf="parent"
app:layout_constraintTop_toTopOf="parent"
android:layout_marginEnd="72dp"
android:layout_marginTop="60dp"
android:textColor="#FFFFFF"
android:textSize="36dp"
tools:text="远程代驾"
/>
</androidx.constraintlayout.widget.ConstraintLayout>

1159
core/function-impl/mogo-core-function-hmi/src/main/res/layout/view_sop_setting.xml
View File

File diff suppressed because it is too large Load Diff

46
core/function-impl/mogo-core-function-hmi/src/main/res/layout/view_system_version.xml
View File

@@ -12,10 +12,10 @@
android:layout_marginStart="113dp"
android:src="@drawable/icon_version_pad"
android:layout_marginTop="40dp"
android:clickable="true"
app:layout_constraintLeft_toLeftOf="parent"
app:layout_constraintStart_toStartOf="parent"
app:layout_constraintTop_toTopOf="parent"
android:contentDescription="@string/current_system_version"
/>
<ImageView
@@ -62,6 +62,7 @@
app:layout_constraintStart_toStartOf="parent"
android:layout_marginStart="405dp"
android:src="@drawable/icon_version_ad_normal"
android:contentDescription="@string/current_system_version"
/>
<com.mogo.eagle.core.function.hmi.ui.widget.CircularProgressView
@@ -108,10 +109,8 @@
app:layout_constraintLeft_toLeftOf="@id/tvAdVersionTitle"
app:layout_constraintRight_toRightOf="@id/tvAdVersionTitle"
app:layout_constraintTop_toBottomOf="@id/tvAdVersionTitle"
app:layout_constraintBottom_toBottomOf="parent"
android:textColor="#FFA7B6F0"
android:layout_marginTop="2dp"
android:layout_marginBottom="20dp"
android:textSize="32dp"
/>
@@ -124,6 +123,7 @@
app:layout_constraintStart_toStartOf="parent"
android:layout_marginStart="680dp"
android:src="@drawable/icon_version_hd_map"
android:contentDescription="@string/current_system_version"
/>
<ImageView
@@ -136,4 +136,44 @@
app:layout_constraintCircleRadius="90dp"
tools:ignore="MissingConstraints" />
<!--工控机HDMap版本-->
<ImageView
android:id="@+id/ivAdHdMapVersion"
android:layout_width="@dimen/dp_150"
android:layout_height="@dimen/dp_150"
app:layout_constraintLeft_toLeftOf="@id/ivPadVersion"
app:layout_constraintRight_toRightOf="@id/ivPadVersion"
app:layout_constraintTop_toBottomOf="@id/tvPadVersionContent"
android:layout_marginTop="60dp"
android:src="@drawable/icon_version_ad_hd_map"
android:contentDescription="@string/current_system_version"
/>
<TextView
android:id="@+id/tvAdHdMapVersionTitle"
android:layout_width="wrap_content"
android:layout_height="wrap_content"
app:layout_constraintLeft_toLeftOf="@id/ivAdHdMapVersion"
app:layout_constraintRight_toRightOf="@id/ivAdHdMapVersion"
app:layout_constraintTop_toBottomOf="@id/ivAdHdMapVersion"
android:text="@string/current_system_version"
android:textColor="#FFA7B6F0"
android:layout_marginTop="10dp"
android:textSize="32dp"
/>
<TextView
android:id="@+id/tvAdHdMapVersionContent"
android:layout_width="wrap_content"
android:layout_height="wrap_content"
app:layout_constraintLeft_toLeftOf="@id/ivAdHdMapVersion"
app:layout_constraintRight_toRightOf="@id/ivAdHdMapVersion"
app:layout_constraintTop_toBottomOf="@id/tvAdHdMapVersionTitle"
app:layout_constraintBottom_toBottomOf="parent"
android:textColor="#FFA7B6F0"
android:layout_marginTop="2dp"
android:textSize="32dp"
android:layout_marginBottom="20dp"
/>
</androidx.constraintlayout.widget.ConstraintLayout>

5
core/function-impl/mogo-core-function-hmi/src/main/res/values/strings.xml
View File

@@ -86,4 +86,9 @@
<string name="light_source_ai_cloud">云端下发</string>
<string name="light_source_perception">自车感知</string>
<string name="light_source_obu">\u2000OBU\u2000</string>
<string name="parallel_drive">远程代驾</string>
<string name="parallel_drive_requesting">请求中...</string>
<string name="parallel_drive_synchronizing">同步中...</string>
<string name="parallel_drive_failure">请求失败</string>
<string name="parallel_drive_exception">异常</string>
</resources>

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