From b555c75f27da55cfa0a69f9d11e87a81a7157ed4 Mon Sep 17 00:00:00 2001
From: renwj <renwenjie@zhidaoauto.com>
Date: Thu, 11 Aug 2022 20:26:08 +0800
Subject: [PATCH] =?UTF-8?q?[=E7=8A=B6=E6=80=81=E6=A0=8F]RTK=E7=8A=B6?=
 =?UTF-8?q?=E6=80=81=E5=85=BC=E5=AE=B9=E6=97=A7Map=E7=89=88=E6=9C=AC?=
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[状态栏]xxx

[状态栏]
---
 .../status/flow/rtk/RTKImpl.kt                | 63 ++++++++++++++++++-
 1 file changed, 62 insertions(+), 1 deletion(-)

diff --git a/core/function-impl/mogo-core-function-devatools/src/main/java/com/zhjt/mogo_core_function_devatools/status/flow/rtk/RTKImpl.kt b/core/function-impl/mogo-core-function-devatools/src/main/java/com/zhjt/mogo_core_function_devatools/status/flow/rtk/RTKImpl.kt
index 7164563e3e..b5108cb4c9 100644
--- a/core/function-impl/mogo-core-function-devatools/src/main/java/com/zhjt/mogo_core_function_devatools/status/flow/rtk/RTKImpl.kt
+++ b/core/function-impl/mogo-core-function-devatools/src/main/java/com/zhjt/mogo_core_function_devatools/status/flow/rtk/RTKImpl.kt
@@ -7,11 +7,13 @@ import com.mogo.eagle.core.function.call.autopilot.*
 import com.mogo.eagle.core.utilcode.mogo.logger.*
 import com.zhjt.mogo_core_function_devatools.status.entity.RTKStatus
 import com.zhjt.mogo_core_function_devatools.status.flow.IFlow
+import kotlinx.coroutines.*
+import mogo.telematics.pad.MessagePad.GnssInfo
 import system_master.SystemStatusInfo.HealthInfo
 import system_master.SystemStatusInfo.StatusInfo
 import java.util.concurrent.atomic.*
 
-internal class RTKImpl(ctx: Context): IFlow<RTKStatus>(ctx), IMoGoAutopilotStatusListener {
+internal class RTKImpl(ctx: Context): IFlow<RTKStatus>(ctx), IMoGoAutopilotStatusListener, IMoGoAutopilotCarStateListener {
     companion object {
         const val TAG = "RTKImpl"
     }
@@ -20,13 +22,40 @@ internal class RTKImpl(ctx: Context): IFlow<RTKStatus>(ctx), IMoGoAutopilotStatu
         AtomicReference<HealthInfo>(null)
     }
 
+    private val isOldVersion = AtomicBoolean(false)
+
+    private var check: Job? = null
+
+    private var timeOutCheck: Job? = null
+
+
     override fun onCreate() {
         send(RTKStatus(getDesc(), getCode()))
         Logger.d(TAG, "-- onCreate --")
         CallerAutoPilotStatusListenerManager.addListener(TAG, this)
+        CallerAutopilotCarStatusListenerManager.addListener(TAG, this)
+        if (CallerAutoPilotManager.isConnected()) {
+            check()
+        }
+    }
+
+    private fun check() {
+        if (isOldVersion.get()) {
+            return
+        }
+        check?.takeIf { it.isActive }?.cancel()
+        launch {
+            CallerAutoPilotManager.sendStatusQueryReq()
+            delay(5000)
+            isOldVersion.set(true)
+        }.also {
+            check = it
+        }
     }
 
     override fun onAutopilotStatusRespByQuery(status: StatusInfo) {
+        check?.takeIf { it.isActive }?.cancel()
+        isOldVersion.set(false)
         val info = status.healthInfoList?.find { "localization".equals(it.name, true) }
         Log.d(TAG, "info: $info")
         if (info != null) {
@@ -42,6 +71,36 @@ internal class RTKImpl(ctx: Context): IFlow<RTKStatus>(ctx), IMoGoAutopilotStatu
             healthInfo.set(null)
             send(RTKStatus("", -1))
         }
+
+        if (CallerAutoPilotManager.isConnected() && check == null && !isOldVersion.get()) {
+             check()
+        }
+    }
+
+    override fun onAutopilotCarStateData(gnssInfo: GnssInfo?) {
+        if (isOldVersion.get()) {
+            if (isRTKEnabled()) {
+                send(RTKStatus("RTK", 0))
+                timeOutCheck?.takeIf { it.isActive }?.cancel()
+                launch {
+                    delay(4000)
+                    send(RTKStatus("", -1))
+                }.also {
+                    timeOutCheck = it
+                }
+            }
+        }
+    }
+
+    private fun isRTKEnabled(): Boolean {
+        val code = CallerAutoPilotStatusListenerManager.getAutoPilotReportMessageCode()
+        val gnssInfo = CallerAutopilotCarStatusListenerManager.getCurrentGnssInfo()
+        return CallerAutoPilotManager.isConnected() && (
+                code != "EHW_RTK" &&
+                        code != "EHW_GNSS" &&
+                        code != "ESYS_RTK_STATUS_FAULT" &&
+                        code != "ELCT_RTK_STATUS_FAULT" &&
+                        code != "ELCT_RTK_STATUS_UNKNOWN") && gnssInfo != null
     }
 
     private fun getDesc(): String {
@@ -54,7 +113,9 @@ internal class RTKImpl(ctx: Context): IFlow<RTKStatus>(ctx), IMoGoAutopilotStatu
 
     override fun onDestroy() {
         super.onDestroy()
+        isOldVersion.set(false)
         Logger.d(TAG, "-- onDestroy --")
         CallerAutoPilotStatusListenerManager.removeListener(TAG)
+        CallerAutopilotCarStatusListenerManager.removeListener(TAG)
     }
 }
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