[sweeper-cloud]联调问题修改

2023-05-19 20:33:40 +08:00
parent 0fdd1c24da
commit 08db6490f1
10 changed files with 86 additions and 56 deletions
--- a/OCH/sweeper/sweeper-cloud/src/main/java/com/mogo/och/sweepercloud/callback/ISweeperControllerStatusCallback.java
+++ b/OCH/sweeper/sweeper-cloud/src/main/java/com/mogo/och/sweepercloud/callback/ISweeperControllerStatusCallback.java
@@ -12,6 +12,6 @@ public interface ISweeperControllerStatusCallback {
    void onVRModeChanged(boolean isVRMode);
    // 自车定位
    void onCarLocationChanged(MogoLocation location);
-    //开始开启自动驾驶
-    void startOpenAutopilot();
+    //自动驾驶状态
+    void onAutopilotState(int state);
 }
--- a/OCH/sweeper/sweeper-cloud/src/main/java/com/mogo/och/sweepercloud/fragment/BaseSweeperTabFragment.java
+++ b/OCH/sweeper/sweeper-cloud/src/main/java/com/mogo/och/sweepercloud/fragment/BaseSweeperTabFragment.java
@@ -183,7 +183,9 @@ public abstract class BaseSweeperTabFragment<V extends IView, P extends Presente
        mapBizView.onCreate(savedInstanceState);
        mMapWeltView.onCreateView(savedInstanceState);
    }
-
+    public void setAutoState(int state){
+        mTrafficDataView.setAutoState(state);
+    }
    /**
     * 消息盒子
     */
@@ -483,18 +485,6 @@ public abstract class BaseSweeperTabFragment<V extends IView, P extends Presente
    public void setTaskDataToFragmentCallback(ISweeperTaskDataToFragmentCallback mTaskDataToFragmentCallback) {
        this.mTaskDataToFragmentCallback = mTaskDataToFragmentCallback;
    }
-    /**
-     * 模拟pad获取正在执行的任务
-     */
-    public void mockCloudTaskInfo() {
-        SweeperCloudTaskUtils.mockSendCloudTaskInfo(SweeperCloudTask.MessageType.CloudPushTask);
-    }
-    /**
-     * 模拟云端发送任务信息
-     */
-    public void mockSendCloudTaskInfo() {
-        SweeperCloudTaskUtils.mockSendCloudTaskInfo(SweeperCloudTask.MessageType.CloudPushTask);
-    }
    /**
     * 结束子任务
     */
--- a/OCH/sweeper/sweeper-cloud/src/main/java/com/mogo/och/sweepercloud/fragment/SweeperFragment.kt
+++ b/OCH/sweeper/sweeper-cloud/src/main/java/com/mogo/och/sweepercloud/fragment/SweeperFragment.kt
@@ -332,10 +332,16 @@ class SweeperFragment : BaseSweeperTabFragment<SweeperFragment?, SweeperPresente
     */
    fun onSweeperCloudAutopilotBootable(taskId: String, subTaskId: String, isBootableResp: SweeperBootable.IsBootableResp) {
        mLoadingDialog.hideLoading()
-        if (isBootableResp.code == SweeperCommon.Code.SUCCEED) {
-            ToastUtils.showLong("上报云控成功")
-        } else {
-            ToastUtils.showLong("上报云控失败")
+        //如果云端要更新的任务和本地缓存任务不是同一个，在无法进行任务列表状态更新
+        mTaskInfo?.let {
+            if (it.taskId != taskId) {
+                return
+            }
+            if (isBootableResp.code == SweeperCommon.Code.SUCCEED) {
+                ToastUtils.showLong("上报云控成功")
+            } else {
+                ToastUtils.showLong("上报云控失败")
+            }
        }
    }

--- a/OCH/sweeper/sweeper-cloud/src/main/java/com/mogo/och/sweepercloud/model/SweeperTaskModel.java
+++ b/OCH/sweeper/sweeper-cloud/src/main/java/com/mogo/och/sweepercloud/model/SweeperTaskModel.java
@@ -302,7 +302,7 @@ public class SweeperTaskModel implements IMoGoSweeperFutianCloudTaskListener, IM
                                         SweeperTask.TaskInfo taskInfo) {

        CallerLogger.INSTANCE.d(M_SWEEPER + TAG,
-                "messageType: " + messageType.getNumber() + " sysTime：" + sysTime + " reqNo：" + reqNo + " onSweeperFutianCloudTask：" + taskInfo == null ? "null" : printMessage(taskInfo) + " mSweeperTaskCallback：" + mSweeperTaskCallback);
+                "messageType: " + messageType.getNumber() + " sysTime：" + sysTime + " reqNo：" + reqNo + " onSweeperFutianCloudTask：" + (taskInfo == null ? "null" : printMessage(taskInfo)) + " mSweeperTaskCallback：" + mSweeperTaskCallback);
        if (mSweeperTaskCallback != null) {
            msgTypeAndReqNo.put(messageType.getNumber(), reqNo);
            mSweeperTaskCallback.onSweeperCloudTask(messageType, taskInfo);
@@ -556,6 +556,9 @@ public class SweeperTaskModel implements IMoGoSweeperFutianCloudTaskListener, IM
    public void onAutopilotStatusResponse(@NonNull AutopilotStatusInfo autoPilotStatusInfo) {
        //CallerLogger.INSTANCE.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;
--- a/OCH/sweeper/sweeper-cloud/src/main/java/com/mogo/och/sweepercloud/presenter/SweeperPresenter.java
+++ b/OCH/sweeper/sweeper-cloud/src/main/java/com/mogo/och/sweepercloud/presenter/SweeperPresenter.java
@@ -83,6 +83,11 @@ public class SweeperPresenter extends Presenter<SweeperFragment>
        }
    }

+    @Override
+    public void onAutopilotState(int state) {
+        ThreadUtils.runOnUiThread(() ->mView.setAutoState(state));
+    }
+
    /**
     * 获取自动驾驶状态
     * @return
@@ -90,12 +95,6 @@ public class SweeperPresenter extends Presenter<SweeperFragment>
    public int getAutopilotState() {
        return SweeperTaskModel.getInstance().getAutopilotState();
    }
-
-    @Override
-    public void startOpenAutopilot() {
-
-    }
-
    /**
     * 清除路线缓存数据
     */
--- a/OCH/sweeper/sweeper-cloud/src/main/java/com/mogo/och/sweepercloud/util/SweeperCloudTaskUtils.kt
+++ b/OCH/sweeper/sweeper-cloud/src/main/java/com/mogo/och/sweepercloud/util/SweeperCloudTaskUtils.kt
@@ -30,9 +30,10 @@ object SweeperCloudTaskUtils {
     */
    @JvmStatic
    fun mockQueryCurrentTaskInfo() {
-        UiThreadHandler.getsUiHandler().postDelayed({
-            mockSendCloudTaskInfo(MessageType.PadSendGetTaskReq)
-        },1000)
+//        UiThreadHandler.getsUiHandler().postDelayed({
+//            mockSendCloudTaskInfo(MessageType.PadSendGetTaskReq)
+//        },1000)
+        SweeperTaskModel.getInstance().getCurrentTask()
    }

    /**
--- a/OCH/sweeper/sweeper-cloud/src/main/java/com/mogo/och/sweepercloud/view/SweeperTrafficDataView.kt
+++ b/OCH/sweeper/sweeper-cloud/src/main/java/com/mogo/och/sweepercloud/view/SweeperTrafficDataView.kt
@@ -12,10 +12,7 @@ import chassis.Chassis.LightSwitch
 import chassis.ChassisStatesOuterClass.BMSSystemStates
 import chassis.ChassisStatesOuterClass.SweeperFuTianTaskSystemStates
 import com.elegant.utils.UiThreadHandler
-import com.mogo.eagle.core.function.api.autopilot.IMoGoBatteryManagementSystemListener
-import com.mogo.eagle.core.function.api.autopilot.IMoGoChassisGearStateListener
-import com.mogo.eagle.core.function.api.autopilot.IMoGoChassisLamplightListener
-import com.mogo.eagle.core.function.api.autopilot.IMoGoSweeperFutianCleanSystemListener
+import com.mogo.eagle.core.function.api.autopilot.*
 import com.mogo.eagle.core.function.call.autopilot.*
 import com.mogo.eagle.core.function.hmi.ui.widget.TapPositionView
 import com.mogo.eagle.core.utilcode.mogo.logger.CallerLogger.d
@@ -32,16 +29,15 @@ class SweeperTrafficDataView : ConstraintLayout,
    IMoGoBatteryManagementSystemListener,
    IMoGoChassisLamplightListener,
    IMoGoChassisGearStateListener,
-    IMoGoSweeperFutianCleanSystemListener
-{
+    IMoGoSweeperFutianCleanSystemListener {
    private var tapPositionView //方向盘下方的档位
            : TapPositionView? = null
    private var speedImage //速度图标
            : ImageView? = null
    private var speedTextView //速度值
            : TextView? = null
-    private var sweeperTurnSignal //转向灯
-            : TurnSignalView? = null
+    private var sweeperAutoState //自动驾驶状态
+            : TextView? = null
    private var tvBattery //电量百分比展示
            : TextView? = null
    private var ivBgWaterWarning //水位预警背景图
@@ -72,7 +68,7 @@ class SweeperTrafficDataView : ConstraintLayout,
        tapPositionView = findViewById(R.id.sweeperTrafficPosition)
        speedImage = findViewById(R.id.sweeperSpeedImage)
        speedTextView = findViewById(R.id.sweeperSpeedText)
-        sweeperTurnSignal = findViewById(R.id.sweeperTurnSignal)
+        sweeperAutoState = findViewById(R.id.sweeperAutoState)
        tvBattery = findViewById(R.id.tvBattery)
        ivBgWaterWarning = findViewById(R.id.sweeperIvBgWaterWarning)
        ivWater = findViewById(R.id.sweeperIvWater)
@@ -92,7 +88,7 @@ class SweeperTrafficDataView : ConstraintLayout,

    override fun onDetachedFromWindow() {
        super.onDetachedFromWindow()
-        CallerBatteryManagementSystemListenerManager.removeListener(TAG )
+        CallerBatteryManagementSystemListenerManager.removeListener(TAG)
        CallerChassisLamplightListenerManager.removeListener(TAG)
        CallerChassisGearStateListenerManager.removeListener(TAG)
        CallerSweeperFutianCleanSystemListenerManager.removeListener(TAG)
@@ -101,7 +97,7 @@ class SweeperTrafficDataView : ConstraintLayout,
    override fun onSweeperFutianTaskIndexData(roboSweeperTaskIndex: RoboSweeperTaskIndexOuterClass.RoboSweeperTaskIndex) {}
    override fun onSweeperFutianCleanSystemState(cleanSystemState: SweeperFuTianTaskSystemStates) {
        val current = System.currentTimeMillis()
-        if (current - mCurrentTimeWaterMillis <=VEHICLE_STATE_INTERVAL_MILLIS) {
+        if (current - mCurrentTimeWaterMillis <= VEHICLE_STATE_INTERVAL_MILLIS) {
            return
        }
        mCurrentTimeWaterMillis = current
@@ -121,23 +117,49 @@ class SweeperTrafficDataView : ConstraintLayout,
    @SuppressLint("SetTextI18n")
    override fun onBatteryManagementSystemStates(states: BMSSystemStates) {
        val current = System.currentTimeMillis()
-        if (current - mCurrentTimeBatteryMillis <=VEHICLE_STATE_INTERVAL_MILLIS) {
+        if (current - mCurrentTimeBatteryMillis <= VEHICLE_STATE_INTERVAL_MILLIS) {
            return
        }
        mCurrentTimeBatteryMillis = current
        d(SceneConstant.M_SWEEPER + TAG, "电量：${states.bmsSoc}")
-        UiThreadHandler.post{
+        UiThreadHandler.post {
            tvBattery?.text = "${states.bmsSoc.roundToInt()}%"
        }
    }
+
    /**
     * 车辆转向灯
     * @param directionLight
     */
    override fun onAutopilotLightSwitchData(lightSwitch: LightSwitch?) {
        //转向灯状态 0是正常 1是左转 2是右转
-        if (lightSwitch != null) {
-            sweeperTurnSignal?.setTurnLight(lightSwitch)
+    }
+
+    /**
+     * 设置自动驾驶状态
+     */
+    fun setAutoState(state: Int) {
+        when (state) {
+            //不可自动驾驶
+            IMoGoAutopilotStatusListener.STATUS_AUTOPILOT_DISABLE -> {
+                sweeperAutoState?.text="自动驾驶"
+                sweeperAutoState?.setBackgroundResource(R.drawable.icon_not_auto)
+            }
+            //人工驾驶
+            IMoGoAutopilotStatusListener.STATUS_AUTOPILOT_ENABLE -> {
+                sweeperAutoState?.text="人工驾驶"
+                sweeperAutoState?.setBackgroundResource(R.drawable.icon_auto)
+            }
+            //自动驾驶中
+            IMoGoAutopilotStatusListener.STATUS_AUTOPILOT_RUNNING -> {
+                sweeperAutoState?.text="自动驾驶"
+                sweeperAutoState?.setBackgroundResource(R.drawable.icon_auto)
+            }
+            //平行驾驶
+            IMoGoAutopilotStatusListener.STATUS_PARALLEL_DRIVING -> {
+                sweeperAutoState?.text="平行驾驶"
+                sweeperAutoState?.setBackgroundResource(R.drawable.icon_auto)
+            }
        }
    }

@@ -148,6 +170,7 @@ class SweeperTrafficDataView : ConstraintLayout,
    override fun onAutopilotBrakeLightData(brakeLight: Boolean) {
        d(TAG, "刹车灯:$brakeLight")
    }
+
    /**
     * 方向盘下方的档位
     * @param gear
@@ -158,9 +181,11 @@ class SweeperTrafficDataView : ConstraintLayout,
            tapPositionView?.updateWithGear(gear)
        }
    }
-    fun getSpeedImage():ImageView?{
-       return speedImage
+
+    fun getSpeedImage(): ImageView? {
+        return speedImage
    }
+
    /**
     * 速度设置
     */
--- a/OCH/sweeper/sweeper-cloud/src/main/res/drawable-xhdpi/icon_auto.png
+++ b/OCH/sweeper/sweeper-cloud/src/main/res/drawable-xhdpi/icon_auto.png
--- a/OCH/sweeper/sweeper-cloud/src/main/res/drawable-xhdpi/icon_not_auto.png
+++ b/OCH/sweeper/sweeper-cloud/src/main/res/drawable-xhdpi/icon_not_auto.png
--- a/OCH/sweeper/sweeper-cloud/src/main/res/layout/sweeper_traffic_data.xml
+++ b/OCH/sweeper/sweeper-cloud/src/main/res/layout/sweeper_traffic_data.xml
@@ -68,21 +68,27 @@
        app:layout_constraintBottom_toBottomOf="@+id/sweeperTrafficPosition"
        android:layout_marginStart="@dimen/dp_34"
        />
-    <com.mogo.och.sweepercloud.view.TurnSignalView
-        android:id="@+id/sweeperTurnSignal"
-        android:layout_width="@dimen/dp_200"
-        android:layout_height="wrap_content"
+    <TextView
+        android:id="@+id/sweeperAutoState"
+        android:layout_width="@dimen/dp_168"
+        android:layout_height="@dimen/dp_58"
        app:layout_constraintTop_toBottomOf="@+id/sweeperTrafficPosition"
        app:layout_constraintLeft_toRightOf="@+id/sweeperSpeedImage"
-        android:layout_marginTop="@dimen/dp_10"/>
+        android:layout_marginTop="@dimen/dp_20"
+        android:gravity="center"
+        android:textColor="@color/white"
+        android:textSize="@dimen/dp_28"
+        android:text="自动驾驶"
+        android:background="@drawable/icon_not_auto"
+        android:layout_marginStart="@dimen/dp_20"/>
    <View
        android:id="@+id/line2"
        android:layout_width="@dimen/dp_1"
        android:layout_height="@dimen/dp_34"
-        app:layout_constraintStart_toEndOf="@+id/sweeperTurnSignal"
-        app:layout_constraintTop_toTopOf="@+id/sweeperTurnSignal"
-        app:layout_constraintBottom_toBottomOf="@+id/sweeperTurnSignal"
-        android:layout_marginStart="@dimen/dp_12"
+        app:layout_constraintStart_toEndOf="@+id/sweeperAutoState"
+        app:layout_constraintTop_toTopOf="@+id/sweeperAutoState"
+        app:layout_constraintBottom_toBottomOf="@+id/sweeperAutoState"
+        android:layout_marginStart="@dimen/dp_26"
        android:background="#414869"/>
    <com.mogo.och.sweepercloud.view.SweeperTrafficLightView
        android:id="@+id/sweeperTrafficLight"
@@ -136,7 +142,7 @@
        android:layout_gravity="center"
        android:gravity="center"
        android:layout_marginEnd="@dimen/dp_36"
-        app:layout_constraintTop_toBottomOf="@+id/sweeperTurnSignal"
+        app:layout_constraintTop_toBottomOf="@+id/sweeperAutoState"
        >
        <ImageView
            android:id="@+id/sweeperIvBgWaterWarning"