From 09f15cdbe78b97bfe85076685f89926cfa2d44b3 Mon Sep 17 00:00:00 2001
From: aibingbing <aibingbing@zhidaoauto.com>
Date: Wed, 24 Aug 2022 21:17:52 +0800
Subject: [PATCH] =?UTF-8?q?[=E6=B8=85=E6=89=AB=E8=BD=A6]feat:=20=E6=96=B0?=
 =?UTF-8?q?=E5=A2=9E=20=E5=8F=91=E9=80=81=E5=91=BD=E4=BB=A4=E6=97=B6loadin?=
 =?UTF-8?q?g=20,=20=E5=91=BD=E4=BB=A4=E6=89=A7=E8=A1=8C=E7=AD=89=E5=BE=85?=
 =?UTF-8?q?=E3=80=81=E8=B6=85=E6=97=B6=E7=AD=89=E9=80=BB=E8=BE=91=EF=BC=8C?=
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---
 .../fragment/BaseSweeperTabFragment.java      |   4 -
 .../sweeper/ui/SweeperOperatePanelView.java   | 258 +++++++++++++++++-
 .../sweeper/util/SweeperFutianCmdUtil.java    |  77 ++++++
 .../main/res/layout/sweeper_base_fragment.xml |   4 +-
 .../res/layout/sweeper_operate_panel_view.xml | 206 ++++++++------
 .../src/main/res/values/strings.xml           |   2 +
 6 files changed, 454 insertions(+), 97 deletions(-)
 create mode 100644 OCH/mogo-och-sweeper/src/main/java/com/mogo/och/sweeper/util/SweeperFutianCmdUtil.java

diff --git a/OCH/mogo-och-sweeper/src/main/java/com/mogo/och/sweeper/fragment/BaseSweeperTabFragment.java b/OCH/mogo-och-sweeper/src/main/java/com/mogo/och/sweeper/fragment/BaseSweeperTabFragment.java
index 714e6091fc..843fb6e68b 100644
--- a/OCH/mogo-och-sweeper/src/main/java/com/mogo/och/sweeper/fragment/BaseSweeperTabFragment.java
+++ b/OCH/mogo-och-sweeper/src/main/java/com/mogo/och/sweeper/fragment/BaseSweeperTabFragment.java
@@ -72,7 +72,6 @@ public abstract class BaseSweeperTabFragment<V extends IView, P extends Presente
     protected RelativeLayout mAICollectBtn;
     public boolean isOperationStatus;//false-收车，true-出车
     private FrameLayout flStationPanelContainer;
-    private FrameLayout flSweepOperatePanelContatiner;//清扫车操作面板View的容器
     private Group groupTestPanel;
     private FrameLayout flSpeed;
 //    private BusArcView mouduleArc;
@@ -106,7 +105,6 @@ public abstract class BaseSweeperTabFragment<V extends IView, P extends Presente
     }
 
     private View panelView;
-    private View sweepOperatePanelView;
 
     @Override
     protected void initViews() {
@@ -116,7 +114,6 @@ public abstract class BaseSweeperTabFragment<V extends IView, P extends Presente
         ctvAutopilotStatusIv = findViewById(R.id.sweeper_autopilot_btn_iv);
         ctvAutopilotStatusTv = findViewById(R.id.sweeper_autopolot_btn_tv);
         flStationPanelContainer = findViewById(R.id.module_mogo_och_station_panel_container);
-        flSweepOperatePanelContatiner = findViewById(R.id.module_mogo_och_sweeper_operate_panel);
 
         // mTrafficLightView = findViewById(R.id.bus_traffic_light_view);
         // CallerHmiManager.INSTANCE.setProxyTrafficLightView(mTrafficLightView);
@@ -127,7 +124,6 @@ public abstract class BaseSweeperTabFragment<V extends IView, P extends Presente
         mTrafficDataView = (TrafficDataView) findViewById(R.id.sweeper_arc);
 
         panelView = LayoutInflater.from(getContext()).inflate(getStationPanelViewId(), flStationPanelContainer);
-        sweepOperatePanelView = LayoutInflater.from(getContext()).inflate(getSweepOperatePanelViewId(), flSweepOperatePanelContatiner);
         slidePanelView.setOnSlidePanelMoveToEndListener(onSlideToEndListener);
 
         mSwitchMapModeLayout = findViewById(R.id.sweeper_switch_model_layout);
diff --git a/OCH/mogo-och-sweeper/src/main/java/com/mogo/och/sweeper/ui/SweeperOperatePanelView.java b/OCH/mogo-och-sweeper/src/main/java/com/mogo/och/sweeper/ui/SweeperOperatePanelView.java
index 9bbab6dc8a..e2cc174570 100644
--- a/OCH/mogo-och-sweeper/src/main/java/com/mogo/och/sweeper/ui/SweeperOperatePanelView.java
+++ b/OCH/mogo-och-sweeper/src/main/java/com/mogo/och/sweeper/ui/SweeperOperatePanelView.java
@@ -1,35 +1,287 @@
 package com.mogo.och.sweeper.ui;
 
 import android.content.Context;
+import android.os.Handler;
+import android.os.Message;
 import android.util.AttributeSet;
 import android.view.LayoutInflater;
+import android.view.View;
 import android.widget.LinearLayout;
+import android.widget.TextView;
 
+import androidx.annotation.NonNull;
 import androidx.annotation.Nullable;
 
+import com.mogo.eagle.core.function.api.autopilot.IMoGoAutopilotVehicleStateListener;
+import com.mogo.eagle.core.function.call.autopilot.CallerAutoPilotManager;
+import com.mogo.eagle.core.function.call.autopilot.CallerAutopilotVehicleStateListenerManager;
+import com.mogo.eagle.core.utilcode.util.ThreadUtils;
+import com.mogo.eagle.core.utilcode.util.ToastUtils;
+import com.mogo.module.common.view.OnPreventFastClickListener;
 import com.mogo.och.sweeper.R;
 
+import chassis.Chassis;
+import chassis.SpecialVehicleTaskCmdOuterClass;
+import chassis.VehicleStateOuterClass;
+
 /**
  * 清扫车操作面板View
  */
-public class SweeperOperatePanelView extends LinearLayout {
+public class SweeperOperatePanelView extends LinearLayout{
+
+    private static final String TAG = "SweeperOperatePanelView";
+    private static final int CMD_EXECUTE_TIMEOUT_SECONDS = 5;
+
+    TextView mBtnMainSwitchOpenClose;//开关
+    TextView mBtnOperateModePureSweep;//纯扫
+    TextView mBtnOperateModePureWash;//纯洗
+    TextView mBtnOperateModeSweepWash;//洗扫
+    TextView mBtnOperateModePureAbsorption;//纯吸
+    TextView mBtnCleanDirectionLeftSide;//左侧
+    TextView mBtnCleanDirectionRightSide;//右侧
+    TextView mBtnCleanDirectionBothSide;//两侧
+    TextView mBtnCleanIntensityStandard;//普通
+    TextView mBtnCleanIntensityStrong;//强力
+    LinearLayout mLoadingContainer;//loading container
+    TextView mLoadingHintTop;//loading 提示-上面
+    TextView mLoadingHintBottom;//loading 提示-下面
+
     public SweeperOperatePanelView(Context context) {
         super(context);
     }
 
     public SweeperOperatePanelView(Context context, @Nullable AttributeSet attrs) {
         super(context, attrs);
+        initView(context);
     }
 
     public SweeperOperatePanelView(Context context, @Nullable AttributeSet attrs, int defStyleAttr) {
         super(context, attrs, defStyleAttr);
+        initView(context);
     }
 
     public SweeperOperatePanelView(Context context, AttributeSet attrs, int defStyleAttr, int defStyleRes) {
         super(context, attrs, defStyleAttr, defStyleRes);
+        initView(context);
     }
 
-    private void init(Context context) {
-        LayoutInflater.from(context).inflate(R.layout.sweeper_traffic_light_view, this, true);
+    private void initView(Context context) {
+        LayoutInflater.from(context).inflate(R.layout.sweeper_operate_panel_view, this, true);
+        mBtnMainSwitchOpenClose = findViewById(R.id.btn_main_switch_open_close);
+        mBtnOperateModePureSweep = findViewById(R.id.btn_operate_mode_pure_sweep);
+        mBtnOperateModePureWash = findViewById(R.id.btn_operate_mode_pure_wash);
+        mBtnOperateModeSweepWash = findViewById(R.id.btn_operate_mode_sweep_wash);
+        mBtnOperateModePureAbsorption = findViewById(R.id.btn_operate_mode_pure_absorption);
+        mBtnCleanDirectionLeftSide = findViewById(R.id.btn_clean_direction_left_side);
+        mBtnCleanDirectionRightSide = findViewById(R.id.btn_clean_direction_right_side);
+        mBtnCleanDirectionBothSide = findViewById(R.id.btn_clean_direction_both_side);
+        mBtnCleanIntensityStandard = findViewById(R.id.btn_clean_intensity_standard);
+        mBtnCleanIntensityStrong = findViewById(R.id.btn_clean_intensity_strong);
+        mLoadingContainer = findViewById(R.id.loading_hint_container);
+        mLoadingHintTop = findViewById(R.id.loading_hint_top);
+        mLoadingHintBottom = findViewById(R.id.loading_hint_bottom);
+        initViewListener();
+    }
+
+    private void initViewListener() {
+        mBtnMainSwitchOpenClose.setOnClickListener(new OnPreventFastClickListener() {
+            @Override
+            public void onClickImpl(View v) {
+                SpecialVehicleTaskCmdOuterClass.RoboSweeperFuTianCleanCmd.Builder builder = SpecialVehicleTaskCmdOuterClass.RoboSweeperFuTianCleanCmd.newBuilder();
+                SpecialVehicleTaskCmdOuterClass.RoboSweeperFuTianCleanCmd fuTianCleanCmd = builder.build();
+                SpecialVehicleTaskCmdOuterClass.RoboSweeperFuTianTaskCmd fuTianTaskCmd = SpecialVehicleTaskCmdOuterClass.RoboSweeperFuTianTaskCmd.newBuilder()
+                        .setRoboSweeperFutianCleanCmd(fuTianCleanCmd).build();
+                sendSweeperCmd(fuTianTaskCmd, new CmdRequestCallback() {
+                    @Override
+                    public void onSendCmd() {
+                        showLoadingMask("命令执行中。。。", 10);
+                    }
+
+                    @Override
+                    public void onCountDownTick(int senonds) {
+                        updateLoadingCountDown(senonds);
+                    }
+
+                    @Override
+                    public boolean onCheckIfCmdSuccess(VehicleStateOuterClass.SweeperFuTianCleanSystemState cleanSystemState) {
+                        return false;
+                    }
+
+                    @Override
+                    public void onCmdSuccess() {
+                        ToastUtils.showLong("执行成功");
+                    }
+
+                    @Override
+                    public void onCmdFailed() {
+
+                    }
+
+                    @Override
+                    public void onCmdTimeout() {
+                        hideLoadingMask();
+                    }
+                }, 10);
+            }
+        });
+    }
+
+    private void showLoadingMask(String hint, int timeout) {
+        ThreadUtils.runOnUiThread(new Runnable() {
+            @Override
+            public void run() {
+                mLoadingContainer.setVisibility(View.VISIBLE);
+                mLoadingHintTop.setText(hint);
+                mLoadingHintBottom.setText(
+                        String.format(
+                                getContext().getApplicationContext().getString(R.string.sweeper_operate_panel_cmd_execute_timeout),
+                                timeout
+                        ));
+            }
+        });
+    }
+
+    private void hideLoadingMask() {
+        ThreadUtils.runOnUiThread(new Runnable() {
+            @Override
+            public void run() {
+                mLoadingContainer.setVisibility(View.GONE);
+            }
+        });
+    }
+
+    private void updateLoadingCountDown(int timeout) {
+        ThreadUtils.runOnUiThread(new Runnable() {
+            @Override
+            public void run() {
+                mLoadingHintBottom.setText(
+                        String.format(
+                                getContext().getApplicationContext().getString(R.string.sweeper_operate_panel_cmd_execute_timeout),
+                                timeout
+                        ));
+            }
+        });
+    }
+
+    private final IMoGoAutopilotVehicleStateListener mIMoGoAutopilotVehicleStateListener = new IMoGoAutopilotVehicleStateListener() {
+        @Override
+        public void onAutopilotDataException(long timestamp) {
+        }
+
+        @Override
+        public void onAutopilotLightSwitchData(@Nullable Chassis.LightSwitch lightSwitch) {
+        }
+
+        @Override
+        public void onAutopilotBrakeLightData(boolean brakeLight) {
+        }
+
+        @Override
+        public void onAutopilotSteeringData(float steering) {
+        }
+
+        @Override
+        public void onAutopilotGearData(@NonNull Chassis.GearPosition gear) {
+        }
+
+        @Override
+        public void onAutopilotAcc(float carAcc) {
+        }
+
+        @Override
+        public void onAutopilotThrottle(float throttle) {
+        }
+
+        @Override
+        public void onAutopilotBrake(float brake) {
+        }
+
+        @Override
+        public void onSweeperFutianCleanSystemState(@NonNull VehicleStateOuterClass.SweeperFuTianCleanSystemState cleanSystemState) {
+            // 有命令正在执行
+            if (mCurrentCmdRequestCallback != null) {
+                if (mCurrentCmdRequestCallback.onCheckIfCmdSuccess(cleanSystemState)) {
+                    mCurrentCmdRequestCallback.onCmdSuccess();
+                    mCurrentCmdRequestCallback = null;
+                }
+            }
+        }
+    };
+
+    @Override
+    protected void onAttachedToWindow() {
+        super.onAttachedToWindow();
+        CallerAutopilotVehicleStateListenerManager.INSTANCE.addListener(TAG, mIMoGoAutopilotVehicleStateListener);
+    }
+
+    @Override
+    protected void onDetachedFromWindow() {
+        super.onDetachedFromWindow();
+        CallerAutopilotVehicleStateListenerManager.INSTANCE.removeListener(TAG);
+    }
+
+    /**
+     * 发送清扫车作业命令
+     *
+     * @param fuTianCleanCmd
+     * @param cmdRequestCallback
+     * @param timeout
+     */
+    private void sendSweeperCmd(
+            SpecialVehicleTaskCmdOuterClass.RoboSweeperFuTianTaskCmd fuTianCleanCmd,
+            CmdRequestCallback cmdRequestCallback,
+            int timeout) {
+        // 设置当前请求的回调
+        mCurrentCmdRequestCallback = cmdRequestCallback;
+        // onSendCmd
+        mCurrentCmdRequestCallback.onSendCmd();
+        // 发送命令
+        CallerAutoPilotManager.INSTANCE.sendSweeperFuTianTaskCmd(fuTianCleanCmd);
+        // 开启倒计时
+        Message msg = Message.obtain();
+        msg.what = MSG_CMD_EXECUTE_COUNT_DOWN;
+        msg.obj = timeout;
+        mSweeperOperateCmdHandler.sendMessage(msg);
+    }
+
+    private final static SweeperOperateCmdHandler mSweeperOperateCmdHandler = new SweeperOperateCmdHandler();
+    private static CmdRequestCallback mCurrentCmdRequestCallback;
+    private static final int MSG_CMD_EXECUTE_COUNT_DOWN = 10001;
+
+    static class SweeperOperateCmdHandler extends Handler {
+
+        @Override
+        public void handleMessage(@NonNull Message msg) {
+            super.handleMessage(msg);
+            if (msg.what == MSG_CMD_EXECUTE_COUNT_DOWN) {
+                int seconds = (int) msg.obj;
+                if (seconds > 0) {
+                    mCurrentCmdRequestCallback.onCountDownTick(seconds);
+                    Message newMsg = Message.obtain();
+                    newMsg.what = MSG_CMD_EXECUTE_COUNT_DOWN;
+                    newMsg.obj = seconds-1;
+                    mSweeperOperateCmdHandler.sendMessageDelayed(newMsg, 1000L);
+                } else {
+                    if (mCurrentCmdRequestCallback != null) {
+                        mCurrentCmdRequestCallback.onCmdTimeout();
+                        mCurrentCmdRequestCallback = null;
+                    }
+                }
+            }
+        }
+    }
+
+    interface CmdRequestCallback {
+        void onSendCmd();
+
+        void onCountDownTick(int senonds);
+
+        boolean onCheckIfCmdSuccess(VehicleStateOuterClass.SweeperFuTianCleanSystemState cleanSystemState);
+
+        void onCmdSuccess();
+
+        void onCmdFailed();
+
+        void onCmdTimeout();
     }
 }
diff --git a/OCH/mogo-och-sweeper/src/main/java/com/mogo/och/sweeper/util/SweeperFutianCmdUtil.java b/OCH/mogo-och-sweeper/src/main/java/com/mogo/och/sweeper/util/SweeperFutianCmdUtil.java
new file mode 100644
index 0000000000..92b1eaecaf
--- /dev/null
+++ b/OCH/mogo-och-sweeper/src/main/java/com/mogo/och/sweeper/util/SweeperFutianCmdUtil.java
@@ -0,0 +1,77 @@
+package com.mogo.och.sweeper.util;
+
+import chassis.SpecialVehicleTaskCmdOuterClass;
+
+/**
+ * 清扫车-福田，构建业务命令数据的工具类
+ */
+public class SweeperFutianCmdUtil {
+    private static final int CLEAN_WORK_OPEN = 1; //清扫作业-开启
+    private static final int CLEAN_WORK_CLOSE = 2;//清扫作业-关闭
+    private static final int CLEAN_MODE_PURE_SWEEP = 1;//作业模式-纯扫
+    private static final int CLEAN_MODE_WASH_SWEEP = 2;//作业模式-洗扫
+    private static final int CLEAN_MODE_PURE_WASH = 3;//作业模式-纯洗
+    private static final int CLEAN_MODE_PURE_DRAW = 4;//作业模式-纯吸
+    private static final int CLEAN_MODE_CLOSE = 5;//作业模式-关闭
+    private static final int CLEAN_DIRECTION_BOTH_SIDE = 1;//清扫方向-两侧
+    private static final int CLEAN_DIRECTION_LEFT_SIDE = 2;//清扫方向-左侧
+    private static final int CLEAN_DIRECTION_RIGHT_SIDE = 3;//清扫方向-右侧
+    private static final int CLEAN_DIRECTION_CLOSE = 4;//清扫方向-关闭
+    private static final int CLEAN_INTENSITY_STRAND = 1;//作业强度-标准
+    private static final int CLEAN_INTENSITY_STRONG = 2;//作业强度-加强
+
+    public static SpecialVehicleTaskCmdOuterClass.RoboSweeperFuTianTaskCmd buildCleanWorkStartCmd() {
+        return buildCleanWorkCmd(CLEAN_WORK_OPEN);
+    }
+
+    public static SpecialVehicleTaskCmdOuterClass.RoboSweeperFuTianTaskCmd buildCleanWorkStopCmd() {
+        return buildCleanWorkCmd(CLEAN_WORK_CLOSE);
+    }
+
+    private static SpecialVehicleTaskCmdOuterClass.RoboSweeperFuTianTaskCmd buildCleanWorkCmd(int startOrStop) {
+        SpecialVehicleTaskCmdOuterClass.RoboSweeperFuTianCleanCmd.Builder builder = SpecialVehicleTaskCmdOuterClass.RoboSweeperFuTianCleanCmd.newBuilder();
+        builder.setCleanOpenRequirement(startOrStop);
+        return buildTaskCmd(builder.build());
+    }
+
+    public static SpecialVehicleTaskCmdOuterClass.RoboSweeperFuTianTaskCmd buildCleanModeCmd(int value) {
+        SpecialVehicleTaskCmdOuterClass.RoboSweeperFuTianCleanCmd.Builder builder = SpecialVehicleTaskCmdOuterClass.RoboSweeperFuTianCleanCmd.newBuilder();
+        builder.setCleanModeRequirement(value);
+        return buildTaskCmd(builder.build());
+    }
+
+    public static SpecialVehicleTaskCmdOuterClass.RoboSweeperFuTianTaskCmd buildCleanModeCloseCmd() {
+        return buildCleanModeCmd(CLEAN_MODE_CLOSE);
+    }
+
+    public static SpecialVehicleTaskCmdOuterClass.RoboSweeperFuTianTaskCmd buildCleanDirectionCmd(int value) {
+        SpecialVehicleTaskCmdOuterClass.RoboSweeperFuTianCleanCmd.Builder builder = SpecialVehicleTaskCmdOuterClass.RoboSweeperFuTianCleanCmd.newBuilder();
+        builder.setCleanDirectionRequirement(value);
+        return buildTaskCmd(builder.build());
+    }
+
+    public static SpecialVehicleTaskCmdOuterClass.RoboSweeperFuTianTaskCmd buildCleanDirectionCloseCmd() {
+        return buildCleanDirectionCmd(CLEAN_DIRECTION_CLOSE);
+    }
+
+    public static SpecialVehicleTaskCmdOuterClass.RoboSweeperFuTianTaskCmd buildCleanIntensityStandardCmd() {
+        return buildCleanIntensityCmd(CLEAN_INTENSITY_STRAND);
+    }
+
+    public static SpecialVehicleTaskCmdOuterClass.RoboSweeperFuTianTaskCmd buildCleanIntensityStrongCmd() {
+        return buildCleanIntensityCmd(CLEAN_INTENSITY_STRONG);
+    }
+
+    private static SpecialVehicleTaskCmdOuterClass.RoboSweeperFuTianTaskCmd buildCleanIntensityCmd(int value) {
+        SpecialVehicleTaskCmdOuterClass.RoboSweeperFuTianCleanCmd.Builder builder = SpecialVehicleTaskCmdOuterClass.RoboSweeperFuTianCleanCmd.newBuilder();
+        builder.setCleanIntensityRequirement(value);
+        return buildTaskCmd(builder.build());
+    }
+
+    private static SpecialVehicleTaskCmdOuterClass.RoboSweeperFuTianTaskCmd buildTaskCmd(
+            SpecialVehicleTaskCmdOuterClass.RoboSweeperFuTianCleanCmd fuTianCleanCmd) {
+        return SpecialVehicleTaskCmdOuterClass.RoboSweeperFuTianTaskCmd.newBuilder()
+                .setRoboSweeperFutianCleanCmd(fuTianCleanCmd).build();
+    }
+
+}
diff --git a/OCH/mogo-och-sweeper/src/main/res/layout/sweeper_base_fragment.xml b/OCH/mogo-och-sweeper/src/main/res/layout/sweeper_base_fragment.xml
index 66b9868af6..be7b2b839f 100644
--- a/OCH/mogo-och-sweeper/src/main/res/layout/sweeper_base_fragment.xml
+++ b/OCH/mogo-och-sweeper/src/main/res/layout/sweeper_base_fragment.xml
@@ -63,12 +63,12 @@
         app:layout_goneMarginTop="@dimen/module_mogo_och_station_panel_container_margin_top_no_call"
         tools:visibility="visible" />
 
-    <FrameLayout
+    <com.mogo.och.sweeper.ui.SweeperOperatePanelView
         android:id="@+id/module_mogo_och_sweeper_operate_panel"
         android:layout_width="wrap_content"
         android:layout_height="wrap_content"
         android:layout_marginTop="@dimen/dp_30"
-        android:layout_marginLeft="@dimen/dp_16"
+        android:layout_marginStart="@dimen/dp_16"
         app:layout_constraintLeft_toRightOf="@id/fl_speed"
         app:layout_constraintTop_toTopOf="@id/fl_speed"
         tools:background="#f00"
diff --git a/OCH/mogo-och-sweeper/src/main/res/layout/sweeper_operate_panel_view.xml b/OCH/mogo-och-sweeper/src/main/res/layout/sweeper_operate_panel_view.xml
index cbdff659db..d8ef44ecf0 100644
--- a/OCH/mogo-och-sweeper/src/main/res/layout/sweeper_operate_panel_view.xml
+++ b/OCH/mogo-och-sweeper/src/main/res/layout/sweeper_operate_panel_view.xml
@@ -1,9 +1,9 @@
 <?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:layout_width="wrap_content"
-    android:layout_height="wrap_content"
-    xmlns:app="http://schemas.android.com/apk/res-auto">
+    android:layout_height="wrap_content">
 
     <TextView
         android:id="@+id/hint_main_switch"
@@ -13,24 +13,24 @@
         android:text="车辆准备"
         android:textColor="#000000"
         android:textSize="@dimen/sweeper_operate_panel_btn_text_size"
-        app:layout_constraintTop_toTopOf="parent"
-        app:layout_constraintLeft_toLeftOf="parent"/>
+        app:layout_constraintLeft_toLeftOf="parent"
+        app:layout_constraintTop_toTopOf="parent" />
 
     <TextView
         android:id="@+id/btn_main_switch_open_close"
         android:layout_width="wrap_content"
         android:layout_height="wrap_content"
+        android:layout_marginStart="@dimen/dp_32"
         android:background="@drawable/sweeper_operate_panel_btn1_bg_selector"
+        android:paddingStart="@dimen/dp_20"
+        android:paddingTop="@dimen/dp_6"
+        android:paddingEnd="@dimen/dp_20"
+        android:paddingBottom="@dimen/dp_6"
         android:text="open"
         android:textColor="#000000"
         android:textSize="@dimen/sweeper_operate_panel_btn_text_size"
-        android:layout_marginStart="@dimen/dp_32"
-        android:paddingStart="@dimen/dp_20"
-        android:paddingEnd="@dimen/dp_20"
-        android:paddingTop="@dimen/dp_6"
-        android:paddingBottom="@dimen/dp_6"
-        app:layout_constraintTop_toTopOf="@id/hint_main_switch"
-        app:layout_constraintLeft_toRightOf="@id/hint_main_switch"/>
+        app:layout_constraintLeft_toRightOf="@id/hint_main_switch"
+        app:layout_constraintTop_toTopOf="@id/hint_main_switch" />
 
     <androidx.constraintlayout.widget.Barrier
         android:id="@+id/main_switch_barrier"
@@ -43,77 +43,77 @@
         android:id="@+id/hint_operate_mode"
         android:layout_width="wrap_content"
         android:layout_height="wrap_content"
+        android:layout_marginTop="@dimen/dp_32"
         android:background="#ffffff"
         android:text="作业模式"
         android:textColor="#000000"
         android:textSize="@dimen/sweeper_operate_panel_btn_text_size"
-        android:layout_marginTop="@dimen/dp_32"
-        app:layout_constraintTop_toBottomOf="@id/main_switch_barrier"
-        app:layout_constraintLeft_toLeftOf="parent"/>
+        app:layout_constraintLeft_toLeftOf="parent"
+        app:layout_constraintTop_toBottomOf="@id/main_switch_barrier" />
 
     <TextView
         android:id="@+id/btn_operate_mode_pure_sweep"
         android:layout_width="wrap_content"
         android:layout_height="wrap_content"
+        android:layout_marginLeft="@dimen/dp_32"
         android:background="@drawable/sweeper_operate_panel_btn2_bg_selector"
+        android:paddingStart="@dimen/dp_20"
+        android:paddingTop="@dimen/dp_6"
+        android:paddingEnd="@dimen/dp_20"
+        android:paddingBottom="@dimen/dp_6"
         android:text="纯扫"
         android:textColor="#000000"
         android:textSize="@dimen/sweeper_operate_panel_btn_text_size"
-        android:layout_marginLeft="@dimen/dp_32"
-        android:paddingStart="@dimen/dp_20"
-        android:paddingEnd="@dimen/dp_20"
-        android:paddingTop="@dimen/dp_6"
-        android:paddingBottom="@dimen/dp_6"
-        app:layout_constraintTop_toTopOf="@id/hint_operate_mode"
-        app:layout_constraintLeft_toRightOf="@id/hint_operate_mode"/>
+        app:layout_constraintLeft_toRightOf="@id/hint_operate_mode"
+        app:layout_constraintTop_toTopOf="@id/hint_operate_mode" />
 
     <TextView
         android:id="@+id/btn_operate_mode_pure_wash"
         android:layout_width="wrap_content"
         android:layout_height="wrap_content"
+        android:layout_marginStart="@dimen/dp_32"
         android:background="@drawable/sweeper_operate_panel_btn2_bg_selector"
+        android:paddingStart="@dimen/dp_20"
+        android:paddingTop="@dimen/dp_6"
+        android:paddingEnd="@dimen/dp_20"
+        android:paddingBottom="@dimen/dp_6"
         android:text="纯洗"
         android:textColor="#000000"
         android:textSize="@dimen/sweeper_operate_panel_btn_text_size"
-        android:layout_marginStart="@dimen/dp_32"
-        android:paddingStart="@dimen/dp_20"
-        android:paddingEnd="@dimen/dp_20"
-        android:paddingTop="@dimen/dp_6"
-        android:paddingBottom="@dimen/dp_6"
-        app:layout_constraintTop_toTopOf="@id/hint_operate_mode"
-        app:layout_constraintLeft_toRightOf="@id/btn_operate_mode_pure_sweep"/>
+        app:layout_constraintLeft_toRightOf="@id/btn_operate_mode_pure_sweep"
+        app:layout_constraintTop_toTopOf="@id/hint_operate_mode" />
 
     <TextView
         android:id="@+id/btn_operate_mode_sweep_wash"
         android:layout_width="wrap_content"
         android:layout_height="wrap_content"
+        android:layout_marginTop="@dimen/dp_32"
         android:background="@drawable/sweeper_operate_panel_btn2_bg_selector"
+        android:paddingStart="@dimen/dp_20"
+        android:paddingTop="@dimen/dp_6"
+        android:paddingEnd="@dimen/dp_20"
+        android:paddingBottom="@dimen/dp_6"
         android:text="洗扫"
         android:textColor="#000000"
         android:textSize="@dimen/sweeper_operate_panel_btn_text_size"
-        android:layout_marginTop="@dimen/dp_32"
-        android:paddingStart="@dimen/dp_20"
-        android:paddingEnd="@dimen/dp_20"
-        android:paddingTop="@dimen/dp_6"
-        android:paddingBottom="@dimen/dp_6"
-        app:layout_constraintTop_toBottomOf="@id/btn_operate_mode_pure_sweep"
-        app:layout_constraintLeft_toLeftOf="@id/btn_operate_mode_pure_sweep"/>
+        app:layout_constraintLeft_toLeftOf="@id/btn_operate_mode_pure_sweep"
+        app:layout_constraintTop_toBottomOf="@id/btn_operate_mode_pure_sweep" />
 
     <TextView
         android:id="@+id/btn_operate_mode_pure_absorption"
         android:layout_width="wrap_content"
         android:layout_height="wrap_content"
+        android:layout_marginStart="@dimen/dp_32"
         android:background="@drawable/sweeper_operate_panel_btn2_bg_selector"
-        android:text="洗吸"
+        android:paddingStart="@dimen/dp_20"
+        android:paddingTop="@dimen/dp_6"
+        android:paddingEnd="@dimen/dp_20"
+        android:paddingBottom="@dimen/dp_6"
+        android:text="纯吸"
         android:textColor="#000000"
         android:textSize="@dimen/sweeper_operate_panel_btn_text_size"
-        android:layout_marginStart="@dimen/dp_32"
-        android:paddingStart="@dimen/dp_20"
-        android:paddingEnd="@dimen/dp_20"
-        android:paddingTop="@dimen/dp_6"
-        android:paddingBottom="@dimen/dp_6"
-        app:layout_constraintTop_toTopOf="@id/btn_operate_mode_sweep_wash"
-        app:layout_constraintLeft_toRightOf="@id/btn_operate_mode_sweep_wash"/>
+        app:layout_constraintLeft_toRightOf="@id/btn_operate_mode_sweep_wash"
+        app:layout_constraintTop_toTopOf="@id/btn_operate_mode_sweep_wash" />
 
     <androidx.constraintlayout.widget.Barrier
         android:id="@+id/operate_mode_barrier"
@@ -126,61 +126,61 @@
         android:id="@+id/hint_clean_direction"
         android:layout_width="wrap_content"
         android:layout_height="wrap_content"
+        android:layout_marginTop="@dimen/dp_32"
         android:background="#ffffff"
         android:text="清扫方向"
         android:textColor="#000000"
         android:textSize="@dimen/sweeper_operate_panel_btn_text_size"
-        android:layout_marginTop="@dimen/dp_32"
-        app:layout_constraintTop_toBottomOf="@id/operate_mode_barrier"
-        app:layout_constraintLeft_toLeftOf="parent"/>
+        app:layout_constraintLeft_toLeftOf="parent"
+        app:layout_constraintTop_toBottomOf="@id/operate_mode_barrier" />
 
     <TextView
         android:id="@+id/btn_clean_direction_left_side"
         android:layout_width="wrap_content"
         android:layout_height="wrap_content"
+        android:layout_marginStart="@dimen/dp_32"
         android:background="@drawable/sweeper_operate_panel_btn2_bg_selector"
+        android:paddingStart="@dimen/dp_20"
+        android:paddingTop="@dimen/dp_6"
+        android:paddingEnd="@dimen/dp_20"
+        android:paddingBottom="@dimen/dp_6"
         android:text="左侧"
         android:textColor="#000000"
         android:textSize="@dimen/sweeper_operate_panel_btn_text_size"
-        android:layout_marginStart="@dimen/dp_32"
-        android:paddingStart="@dimen/dp_20"
-        android:paddingEnd="@dimen/dp_20"
-        android:paddingTop="@dimen/dp_6"
-        android:paddingBottom="@dimen/dp_6"
-        app:layout_constraintTop_toTopOf="@id/hint_clean_direction"
-        app:layout_constraintLeft_toRightOf="@id/hint_clean_direction"/>
+        app:layout_constraintLeft_toRightOf="@id/hint_clean_direction"
+        app:layout_constraintTop_toTopOf="@id/hint_clean_direction" />
 
     <TextView
         android:id="@+id/btn_clean_direction_right_side"
         android:layout_width="wrap_content"
         android:layout_height="wrap_content"
+        android:layout_marginStart="@dimen/dp_32"
         android:background="@drawable/sweeper_operate_panel_btn2_bg_selector"
+        android:paddingStart="@dimen/dp_20"
+        android:paddingTop="@dimen/dp_6"
+        android:paddingEnd="@dimen/dp_20"
+        android:paddingBottom="@dimen/dp_6"
         android:text="右侧"
         android:textColor="#000000"
         android:textSize="@dimen/sweeper_operate_panel_btn_text_size"
-        android:layout_marginStart="@dimen/dp_32"
-        android:paddingStart="@dimen/dp_20"
-        android:paddingEnd="@dimen/dp_20"
-        android:paddingTop="@dimen/dp_6"
-        android:paddingBottom="@dimen/dp_6"
-        app:layout_constraintTop_toTopOf="@id/hint_clean_direction"
-        app:layout_constraintLeft_toRightOf="@id/btn_clean_direction_left_side"/>
+        app:layout_constraintLeft_toRightOf="@id/btn_clean_direction_left_side"
+        app:layout_constraintTop_toTopOf="@id/hint_clean_direction" />
 
     <TextView
         android:id="@+id/btn_clean_direction_both_side"
         android:layout_width="wrap_content"
         android:layout_height="wrap_content"
+        android:layout_marginTop="@dimen/dp_32"
         android:background="@drawable/sweeper_operate_panel_btn2_bg_selector"
+        android:paddingStart="@dimen/dp_20"
+        android:paddingTop="@dimen/dp_6"
+        android:paddingEnd="@dimen/dp_20"
+        android:paddingBottom="@dimen/dp_6"
         android:text="两侧"
         android:textColor="#000000"
         android:textSize="@dimen/sweeper_operate_panel_btn_text_size"
-        android:layout_marginTop="@dimen/dp_32"
-        android:paddingStart="@dimen/dp_20"
-        android:paddingEnd="@dimen/dp_20"
-        android:paddingTop="@dimen/dp_6"
-        android:paddingBottom="@dimen/dp_6"
-        app:layout_constraintTop_toBottomOf="@id/btn_clean_direction_left_side"
-        app:layout_constraintLeft_toLeftOf="@id/btn_clean_direction_left_side"/>
+        app:layout_constraintLeft_toLeftOf="@id/btn_clean_direction_left_side"
+        app:layout_constraintTop_toBottomOf="@id/btn_clean_direction_left_side" />
 
     <androidx.constraintlayout.widget.Barrier
         android:id="@+id/clean_direction_barrier"
@@ -190,46 +190,76 @@
         app:constraint_referenced_ids="hint_clean_direction, btn_clean_direction_left_side, btn_clean_direction_right_side, btn_clean_direction_both_side" />
 
     <TextView
-        android:id="@+id/hint_work_level"
+        android:id="@+id/hint_clean_intensity"
         android:layout_width="wrap_content"
         android:layout_height="wrap_content"
+        android:layout_marginTop="@dimen/dp_32"
         android:background="#ffffff"
         android:text="作业强度"
         android:textColor="#000000"
         android:textSize="@dimen/sweeper_operate_panel_btn_text_size"
-        android:layout_marginTop="@dimen/dp_32"
-        app:layout_constraintTop_toBottomOf="@id/clean_direction_barrier"
-        app:layout_constraintLeft_toLeftOf="parent"/>
+        app:layout_constraintLeft_toLeftOf="parent"
+        app:layout_constraintTop_toBottomOf="@id/clean_direction_barrier" />
 
     <TextView
-        android:id="@+id/btn_work_level_normal"
+        android:id="@+id/btn_clean_intensity_standard"
         android:layout_width="wrap_content"
         android:layout_height="wrap_content"
+        android:layout_marginStart="@dimen/dp_32"
         android:background="@drawable/sweeper_operate_panel_btn2_bg_selector"
-        android:text="普通"
+        android:paddingStart="@dimen/dp_20"
+        android:paddingTop="@dimen/dp_6"
+        android:paddingEnd="@dimen/dp_20"
+        android:paddingBottom="@dimen/dp_6"
+        android:text="标准"
         android:textColor="#000000"
         android:textSize="@dimen/sweeper_operate_panel_btn_text_size"
-        android:layout_marginStart="@dimen/dp_32"
-        android:paddingStart="@dimen/dp_20"
-        android:paddingEnd="@dimen/dp_20"
-        android:paddingTop="@dimen/dp_6"
-        android:paddingBottom="@dimen/dp_6"
-        app:layout_constraintTop_toTopOf="@id/hint_work_level"
-        app:layout_constraintLeft_toRightOf="@id/hint_work_level"/>
+        app:layout_constraintLeft_toRightOf="@id/hint_clean_intensity"
+        app:layout_constraintTop_toTopOf="@id/hint_clean_intensity" />
 
     <TextView
-        android:id="@+id/btn_work_level_hard"
+        android:id="@+id/btn_clean_intensity_strong"
         android:layout_width="wrap_content"
         android:layout_height="wrap_content"
+        android:layout_marginStart="@dimen/dp_32"
         android:background="@drawable/sweeper_operate_panel_btn2_bg_selector"
+        android:paddingStart="@dimen/dp_20"
+        android:paddingTop="@dimen/dp_6"
+        android:paddingEnd="@dimen/dp_20"
+        android:paddingBottom="@dimen/dp_6"
         android:text="强力"
         android:textColor="#000000"
         android:textSize="@dimen/sweeper_operate_panel_btn_text_size"
-        android:layout_marginStart="@dimen/dp_32"
-        android:paddingStart="@dimen/dp_20"
-        android:paddingEnd="@dimen/dp_20"
-        android:paddingTop="@dimen/dp_6"
-        android:paddingBottom="@dimen/dp_6"
-        app:layout_constraintTop_toTopOf="@id/hint_work_level"
-        app:layout_constraintLeft_toRightOf="@id/btn_work_level_normal"/>
+        app:layout_constraintLeft_toRightOf="@id/btn_clean_intensity_standard"
+        app:layout_constraintTop_toTopOf="@id/hint_clean_intensity" />
+
+    <LinearLayout
+        android:id="@+id/loading_hint_container"
+        android:layout_width="0dp"
+        android:layout_height="0dp"
+        android:background="#80000000"
+        android:gravity="center"
+        android:orientation="vertical"
+        app:layout_constraintBottom_toBottomOf="parent"
+        app:layout_constraintLeft_toLeftOf="parent"
+        app:layout_constraintRight_toRightOf="parent"
+        app:layout_constraintTop_toTopOf="parent"
+        android:visibility="gone">
+
+        <TextView
+            android:id="@+id/loading_hint_top"
+            android:layout_width="wrap_content"
+            android:layout_height="wrap_content"
+            android:text="正在执行中，请稍后"
+            android:textColor="#ffffff"
+            android:textSize="@dimen/sweeper_operate_panel_btn_text_size" />
+
+        <TextView
+            android:id="@+id/loading_hint_bottom"
+            android:layout_width="wrap_content"
+            android:layout_height="wrap_content"
+            android:text="预计等待30秒"
+            android:textColor="#ffffff"
+            android:textSize="@dimen/sweeper_operate_panel_btn_text_size" />
+    </LinearLayout>
 </androidx.constraintlayout.widget.ConstraintLayout>
\ No newline at end of file
diff --git a/OCH/mogo-och-sweeper/src/main/res/values/strings.xml b/OCH/mogo-och-sweeper/src/main/res/values/strings.xml
index b2d7412445..95a71366f9 100644
--- a/OCH/mogo-och-sweeper/src/main/res/values/strings.xml
+++ b/OCH/mogo-och-sweeper/src/main/res/values/strings.xml
@@ -24,4 +24,6 @@
     <string name="sweeper_arrive_to_current_tag">当前站点：</string>
     <string name="sweeper_arrive_to_next_tag">下一站：</string>
     <string name="sweeper_auto_disable_tip">自动驾驶状态为0不可用</string>
+
+    <string name="sweeper_operate_panel_cmd_execute_timeout">预计等待%d秒</string>
 </resources>