From 0d8ecec8823950f3f76fb692f1ba39fcaac73b79 Mon Sep 17 00:00:00 2001
From: xuxinchao <13522809046@163.com>
Date: Fri, 1 Apr 2022 17:29:06 +0800
Subject: [PATCH] =?UTF-8?q?=E8=B0=83=E8=AF=95=E9=9D=A2=E6=9D=BF?=
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控制中心增加车辆状态模块，目前会展示方向盘转向角和档位信息
---
 .../autopilot/adapter/MoGoAdasListenerImpl.kt |  4 ++
 .../adapter/MoGoHandAdasMsgManager.java       | 21 ++++++-
 .../hmi/ui/setting/DebugSettingView.kt        | 58 ++++++++++++++++++-
 .../main/res/layout/view_debug_setting.xml    | 47 +++++++++++++++
 .../IMoGoAutopilotVehicleStateListener.kt     | 12 ++++
 ...lerAutopilotVehicleStateListenerManager.kt | 24 ++++++++
 6 files changed, 162 insertions(+), 4 deletions(-)

diff --git a/core/function-impl/mogo-core-function-autopilot/src/main/java/com/mogo/eagle/core/function/autopilot/adapter/MoGoAdasListenerImpl.kt b/core/function-impl/mogo-core-function-autopilot/src/main/java/com/mogo/eagle/core/function/autopilot/adapter/MoGoAdasListenerImpl.kt
index 713e611e82..3e49dc602d 100644
--- a/core/function-impl/mogo-core-function-autopilot/src/main/java/com/mogo/eagle/core/function/autopilot/adapter/MoGoAdasListenerImpl.kt
+++ b/core/function-impl/mogo-core-function-autopilot/src/main/java/com/mogo/eagle/core/function/autopilot/adapter/MoGoAdasListenerImpl.kt
@@ -152,6 +152,10 @@ class MoGoAdasListenerImpl : OnAdasListener {
             CallerAutopilotVehicleStateListenerManager.invokeAutopilotLightSwitchData(vehicleState.light)
             //刹车灯数据
             CallerAutopilotVehicleStateListenerManager.invokeAutopilotBrakeLightData(vehicleState.brakeLightStatus)
+            //方向盘转向角数据
+            CallerAutopilotVehicleStateListenerManager.invokeAutopilotSteeringData(vehicleState.steering)
+            //挂挡档位数据
+            CallerAutopilotVehicleStateListenerManager.invokeAutopilotGearData(vehicleState.gear)
         }
     }
 
diff --git a/core/function-impl/mogo-core-function-autopilot/src/main/java/com/mogo/eagle/core/function/autopilot/adapter/MoGoHandAdasMsgManager.java b/core/function-impl/mogo-core-function-autopilot/src/main/java/com/mogo/eagle/core/function/autopilot/adapter/MoGoHandAdasMsgManager.java
index ae74990e6d..80566a0a9c 100644
--- a/core/function-impl/mogo-core-function-autopilot/src/main/java/com/mogo/eagle/core/function/autopilot/adapter/MoGoHandAdasMsgManager.java
+++ b/core/function-impl/mogo-core-function-autopilot/src/main/java/com/mogo/eagle/core/function/autopilot/adapter/MoGoHandAdasMsgManager.java
@@ -1,7 +1,5 @@
 package com.mogo.eagle.core.function.autopilot.adapter;
 
-import static com.mogo.eagle.core.utilcode.mogo.logger.scene.SceneConstant.M_DEVA;
-
 import android.content.Context;
 import android.text.TextUtils;
 import android.util.Log;
@@ -20,7 +18,6 @@ import com.mogo.eagle.core.function.call.autopilot.CallerAutopilotIdentifyListen
 import com.mogo.eagle.core.function.call.autopilot.CallerAutopilotVehicleStateListenerManager;
 import com.mogo.eagle.core.function.call.bindingcar.CallerBindingcarManager;
 import com.mogo.eagle.core.function.call.hmi.CallerHmiManager;
-import com.mogo.eagle.core.utilcode.mogo.logger.CallerLogger;
 import com.mogo.eagle.core.utilcode.mogo.storage.SharedPrefsMgr;
 import com.mogo.eagle.core.utilcode.util.ThreadUtils;
 import com.mogo.module.common.drawer.IdentifyDataDrawer;
@@ -159,4 +156,22 @@ public class MoGoHandAdasMsgManager implements
         }
     }
 
+    /**
+     * 车辆方向盘转向角回调
+     * @param steering 方向盘转向角
+     */
+    @Override
+    public void onAutopilotSteeringData(float steering) {
+
+    }
+
+    /**
+     * 车辆挂挡档位
+     * @param gear 档位
+     */
+    @Override
+    public void onAutopilotGearData(@NotNull Chassis.GearPosition gear) {
+
+    }
+
 }
\ No newline at end of file
diff --git a/core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/hmi/ui/setting/DebugSettingView.kt b/core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/hmi/ui/setting/DebugSettingView.kt
index dd851b7762..a0ec0841fa 100644
--- a/core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/hmi/ui/setting/DebugSettingView.kt
+++ b/core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/hmi/ui/setting/DebugSettingView.kt
@@ -12,6 +12,7 @@ import androidx.annotation.RequiresApi
 import androidx.constraintlayout.widget.ConstraintLayout
 import androidx.core.content.ContextCompat
 import androidx.recyclerview.widget.LinearLayoutManager
+import chassis.Chassis
 import com.mogo.cloud.passport.MoGoAiCloudClient
 import com.mogo.commons.AbsMogoApplication
 import com.mogo.commons.debug.DebugConfig
@@ -77,7 +78,8 @@ class DebugSettingView @JvmOverloads constructor(
 ) : ConstraintLayout(context, attrs, defStyleAttr), IMoGoObuStatusListener,
     IMoGoAutopilotStatusListener, IMoGoAutopilotCarStateListener,
     IMoGoMapLocationListener, IMoGoAutopilotIdentifyListener,
-    IMoGoAutopilotPlanningListener, IMoGoAutopilotCarConfigListener {
+    IMoGoAutopilotPlanningListener, IMoGoAutopilotCarConfigListener
+    ,IMoGoAutopilotVehicleStateListener{
 
     private val TAG = "DebugSettingView"
 
@@ -170,6 +172,8 @@ class DebugSettingView @JvmOverloads constructor(
         CallerAutopilotPlanningListenerManager.addListener(TAG, this)
         // 添加 工控机基础信息回调 监听
         CallerAutopilotCarConfigListenerManager.addListener(TAG, this)
+        //添加 车辆底盘数据回调 监听
+        CallerAutopilotVehicleStateListenerManager.addListener(TAG,this)
         if (logInfoView != null) {
             logInfoView!!.onEnterForeground()
         }
@@ -191,6 +195,11 @@ class DebugSettingView @JvmOverloads constructor(
         CallerAutopilotIdentifyListenerManager.removeListener(TAG)
         // 移除 规划路径相关回调 监听
         CallerAutopilotPlanningListenerManager.removeListener(TAG)
+        // 移除 工控机基础信息回调 监听
+        CallerAutopilotCarConfigListenerManager.removeListener(TAG)
+        //移除 车辆底盘数据回调 监听
+        CallerAutopilotVehicleStateListenerManager.removeListener(TAG)
+
         if (logInfoView != null) {
             logInfoView!!.onEnterBackground()
         }
@@ -318,6 +327,21 @@ class DebugSettingView @JvmOverloads constructor(
             }
         }
 
+        /**
+         * 车辆状态控制中心
+         */
+        tbVehicleStateController.setOnCheckedChangeListener { buttonView, isChecked ->
+            if(isChecked){
+                buttonView.setCompoundDrawables(null, null, iconDown, null)
+                //展示车辆状态中心
+                vehicleStateLayout.visibility = View.VISIBLE
+            } else {
+                buttonView.setCompoundDrawables(null, null, iconRight, null)
+                //隐藏车辆状态中心
+                vehicleStateLayout.visibility = View.GONE
+            }
+        }
+
         /**
          * HMI控制中心
          */
@@ -1615,6 +1639,38 @@ class DebugSettingView @JvmOverloads constructor(
         tvObuDelay.text = "obu时延：" + delayTime.toString()
     }
 
+    /**
+     * 车辆转向灯 数据
+     * @param lightSwitch
+     */
+    override fun onAutopilotLightSwitchData(lightSwitch: Chassis.LightSwitch?) {
+
+    }
+
+    /**
+     * 车辆刹车灯 数据
+     * @param brakeLight
+     */
+    override fun onAutopilotBrakeLightData(brakeLight: Boolean) {
+
+    }
+
+    /**
+     * 车辆方向盘转向角回调
+     * @param steering 方向盘转向角
+     */
+    override fun onAutopilotSteeringData(steering: Float) {
+        tvSteeringInfo.text = "方向盘转向角：${steering}"
+    }
+
+    /**
+     * 车辆挂挡档位
+     * @param gear 档位
+     */
+    override fun onAutopilotGearData(gear: Chassis.GearPosition) {
+        tvGearInfo.text = "挂挡档位：${gear}"
+    }
+
     /**
      * 吐司提示
      */
diff --git a/core/function-impl/mogo-core-function-hmi/src/main/res/layout/view_debug_setting.xml b/core/function-impl/mogo-core-function-hmi/src/main/res/layout/view_debug_setting.xml
index 5807b35fb9..e29a385e74 100644
--- a/core/function-impl/mogo-core-function-hmi/src/main/res/layout/view_debug_setting.xml
+++ b/core/function-impl/mogo-core-function-hmi/src/main/res/layout/view_debug_setting.xml
@@ -843,6 +843,53 @@
                         app:layout_constraintTop_toBottomOf="@id/obuDivider2" />
                 </androidx.constraintlayout.widget.ConstraintLayout>
 
+                <ToggleButton
+                    android:id="@+id/tbVehicleStateController"
+                    android:layout_width="match_parent"
+                    android:layout_height="wrap_content"
+                    android:layout_margin="@dimen/dp_10"
+                    android:background="@drawable/setting_toggle_button_background"
+                    android:drawableEnd="@drawable/icon_right"
+                    android:padding="@dimen/dp_20"
+                    android:textOff="车辆状态"
+                    android:textOn="车辆状态"
+                    />
+
+                <LinearLayout
+                    android:id="@+id/vehicleStateLayout"
+                    android:layout_width="match_parent"
+                    android:layout_height="wrap_content"
+                    android:orientation="vertical"
+                    android:visibility="gone">
+
+                    <TextView
+                        android:id="@+id/tvSteeringInfo"
+                        style="@style/DebugSettingText"
+                        android:layout_width="match_parent"
+                        android:layout_height="wrap_content"
+                        android:text="方向盘转向角:"
+                        />
+
+                    <View
+                        android:layout_width="match_parent"
+                        android:layout_height="1dp"
+                        android:background="#F0F0F0" />
+
+                    <TextView
+                        android:id="@+id/tvGearInfo"
+                        style="@style/DebugSettingText"
+                        android:layout_width="match_parent"
+                        android:layout_height="wrap_content"
+                        android:text="挂挡档位:"
+                        />
+
+                    <View
+                        android:layout_width="match_parent"
+                        android:layout_height="1dp"
+                        android:background="#F0F0F0" />
+
+                </LinearLayout>
+
                 <ToggleButton
                     android:id="@+id/tbHmiController"
                     android:layout_width="match_parent"
diff --git a/core/mogo-core-function-api/src/main/java/com/mogo/eagle/core/function/api/autopilot/IMoGoAutopilotVehicleStateListener.kt b/core/mogo-core-function-api/src/main/java/com/mogo/eagle/core/function/api/autopilot/IMoGoAutopilotVehicleStateListener.kt
index 22e15a2f25..5ed01d9298 100644
--- a/core/mogo-core-function-api/src/main/java/com/mogo/eagle/core/function/api/autopilot/IMoGoAutopilotVehicleStateListener.kt
+++ b/core/mogo-core-function-api/src/main/java/com/mogo/eagle/core/function/api/autopilot/IMoGoAutopilotVehicleStateListener.kt
@@ -19,4 +19,16 @@ interface IMoGoAutopilotVehicleStateListener {
      */
     fun onAutopilotBrakeLightData(brakeLight: Boolean)
 
+    /**
+     * 车辆方向盘转向角回调
+     * @param steering 方向盘转向角
+     */
+    fun onAutopilotSteeringData(steering: Float)
+
+    /**
+     * 车辆挂挡档位
+     * @param gear 档位
+     */
+    fun onAutopilotGearData(gear: Chassis.GearPosition)
+
 }
\ No newline at end of file
diff --git a/core/mogo-core-function-call/src/main/java/com/mogo/eagle/core/function/call/autopilot/CallerAutopilotVehicleStateListenerManager.kt b/core/mogo-core-function-call/src/main/java/com/mogo/eagle/core/function/call/autopilot/CallerAutopilotVehicleStateListenerManager.kt
index d1c9c9919a..92dee2d168 100644
--- a/core/mogo-core-function-call/src/main/java/com/mogo/eagle/core/function/call/autopilot/CallerAutopilotVehicleStateListenerManager.kt
+++ b/core/mogo-core-function-call/src/main/java/com/mogo/eagle/core/function/call/autopilot/CallerAutopilotVehicleStateListenerManager.kt
@@ -77,5 +77,29 @@ object CallerAutopilotVehicleStateListenerManager : CallerBase() {
         }
     }
 
+    /**
+     * 车辆方向盘转向角回调
+     * @param steering 方向盘转向角
+     */
+    @Synchronized
+    fun invokeAutopilotSteeringData(steering: Float){
+        M_AUTOPILOT_VEHICLE_LISTENERS.forEach{
+            val listener = it.value
+            listener.onAutopilotSteeringData(steering)
+        }
+    }
+
+    /**
+     * 车辆挂挡档位
+     * @param gear 档位
+     */
+    @Synchronized
+    fun invokeAutopilotGearData(gear: Chassis.GearPosition){
+        M_AUTOPILOT_VEHICLE_LISTENERS.forEach{
+            val listener = it.value
+            listener.onAutopilotGearData(gear)
+        }
+    }
+
 
 }
\ No newline at end of file