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[sweeper-cloud] 清扫车获取云端正在执行的任务逻辑处理

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bxb
2023-05-04 14:10:37 +08:00
parent 9763ebdae7
commit 1c46f27af8
6 changed files with 257 additions and 58 deletions
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132
OCH/sweeper/sweeper-cloud/src/main/java/com/mogo/och/sweepercloud/fragment/SweeperFragment.kt
View File

@@ -7,10 +7,15 @@ import chassis.ChassisStatesOuterClass
import com.amap.api.maps.model.LatLng
import com.mogo.eagle.core.data.map.MogoLocation
import com.mogo.eagle.core.utilcode.util.ToastUtils
import com.mogo.och.common.module.utils.DateTimeUtil
import com.mogo.och.sweepercloud.R
import com.mogo.och.sweepercloud.bean.SweeperRoutePlanningUpdateReqBean
import com.mogo.och.sweepercloud.presenter.SweeperPresenter
import com.mogo.och.sweepercloud.ui.dialog.SweeperCloudDialog
import com.mogo.och.sweepercloud.util.SweeperCloudTaskMockUtils.sendCloudTaskInfo
import com.mogo.och.sweepercloud.view.SweeperCurrentTaskInfoView
import com.zhjt.mogo.adas.data.sweeper.SweeperCloudTask
import com.zhjt.mogo.adas.data.sweeper.task.SweeperTask
import com.zhjt.mogo.adas.data.sweeper.task.SweeperTask.SubTaskInfo
import kotlinx.android.synthetic.main.fragment_och_sweeper.*
import kotlinx.android.synthetic.main.sweeper_no_data_common_view.*
@@ -20,16 +25,18 @@ import kotlinx.coroutines.launch
/**
* 清扫车主界面
*/
class SweeperFragment : BaseSweeperTabFragment<SweeperFragment?, SweeperPresenter?>(){
class SweeperFragment : BaseSweeperTabFragment<SweeperFragment?, SweeperPresenter?>() {
companion object {
const val TAG = "SweeperFragment"
}
private var mCurrentSubPosition: Int = 0 //子任务下标
private var mSubMutableList: MutableList<SubTaskInfo>? = null
private var mCleanSystemState: ChassisStatesOuterClass.SweeperFuTianTaskSystemStates? = null
private var mLocation: MogoLocation? = null
private var mSubTaskType:Int=0 //0:自动驾驶子任务 1：人工驾驶子任务
private var mTaskInfo: SweeperTask.TaskInfo? = null
private var mSubTaskType: Int = 0 //0:自动驾驶子任务 1：人工驾驶子任务
override fun getTagName(): String {
return "SweepersFragment"
@@ -39,9 +46,6 @@ class SweeperFragment : BaseSweeperTabFragment<SweeperFragment?, SweeperPresente
super.initViews()
initListener()
sweeper_cl_work_mode.setTrafficDataView(trafficDataView)
sweeper_current_task_view.setOnClickListener {
}
}
override fun createPresenter(): SweeperPresenter {
@@ -56,6 +60,19 @@ class SweeperFragment : BaseSweeperTabFragment<SweeperFragment?, SweeperPresente
override fun getTaskListPanelViewId(): Int {
return R.layout.fragment_och_sweeper
}
/**
* 设置当前任务信息列表是否显示
*/
private fun setShowCurrentTaskPanelView(isShow: Boolean) {
if (isShow) {
sweeper_current_task_view.visibility = View.VISIBLE
noTaskDataView.visibility=View.GONE
} else {
sweeper_current_task_view.visibility = View.GONE
noTaskDataView.visibility=View.VISIBLE
}
}
/**
* VR模式切换
*
@@ -76,42 +93,15 @@ class SweeperFragment : BaseSweeperTabFragment<SweeperFragment?, SweeperPresente
* 设置子任务的状态
*/
fun setSubTaskState(isWorking: Boolean) {
sweeper_current_task_view.setSubTaskState(isWorking)
getCurrentView().setSubTaskState(isWorking)
}
/**
* 设置各种监听事件
*/
private fun initListener() {
//无任务时刷新
ivNoTaskRefresh.setOnClickListener {
var builder: SweeperCloudDialog.Builder = SweeperCloudDialog.Builder()
builder.titleStr="任务接取"
builder.contentStr="请确认是否接取任务AAAAAAA"
builder.tipStr="（任务时间09:00-12:00）"
builder.leftStr="确认"
builder.middleStr=""
builder.rightStr="拒绝"
builder.countDownTime=15
builder.listener=object : SweeperCloudDialog.SweeperCloudClickListener {
override fun onConfirm() {
ToastUtils.showLong("确认")
}
getCurrentView().setOnClickListener {
override fun onRefuse() {
ToastUtils.showLong("拒绝")
}
override fun onCountDownStop() {
ToastUtils.showLong("倒计时结束")
}
override fun onNext() {
ToastUtils.showLong("下一个")
}
}
val dialog= context?.let { it1 -> builder.build(it1) }
dialog?.show()
}
}
@@ -121,6 +111,7 @@ class SweeperFragment : BaseSweeperTabFragment<SweeperFragment?, SweeperPresente
sweeper_cl_work_mode.setSweeperFutianCleanSystemState(mSubTaskType, cleanSystemState)
}
}
/**
* 当前位置经纬度
*/
@@ -136,10 +127,10 @@ class SweeperFragment : BaseSweeperTabFragment<SweeperFragment?, SweeperPresente
}
val dataList = ArrayList<LatLng>()
for (index in subList.indices) {
val startLocation=subList[index].startLocation
val startLocation = subList[index].startLocation
val startLatLng = LatLng(startLocation.latitude, startLocation.longitude)
dataList.add(index, startLatLng)
val endLocation=subList[index].endLocation
val endLocation = subList[index].endLocation
val endLatLng = LatLng(endLocation.latitude, endLocation.longitude)
dataList.add(index + 1, endLatLng)
}
@@ -152,17 +143,31 @@ class SweeperFragment : BaseSweeperTabFragment<SweeperFragment?, SweeperPresente
/**
* 设置当前子任务终点
*/
private fun setEndStationMarker(subList:MutableList<SubTaskInfo>) {
val endPoint= subList[mCurrentSubPosition].endLocation
private fun setEndStationMarker(subList: MutableList<SubTaskInfo>) {
val endPoint = subList[mCurrentSubPosition].endLocation
val endLatLng = LatLng(endPoint.latitude, endPoint.longitude)
super.mCurrentTaskEndStation = endLatLng
setCurrentTaskEndMarker(endLatLng)
}
/**
* 设置云端任务信息
*/
fun onSweeperCloudTask(messageType: SweeperCloudTask.MessageType, taskInfo: SweeperTask.TaskInfo) {
this.mTaskInfo = taskInfo
setShowCurrentTaskPanelView(true)
if (messageType == SweeperCloudTask.MessageType.PadSendGetTaskReq) {//主动拉取云端正在执行的任务，则直接在任务列表展示
getCurrentView().setData(taskInfo, mCurrentSubPosition)
} else {//云端下发的任务信息需要弹窗接取
receivedTaskInfoDialog()
}
}
//模拟结束子任务
override fun debugEndSubTask() {
super.debugEndSubTask()
mPresenter?.getCurrentTask()
//sendCloudTaskInfo(SweeperCloudTask.MessageType.CloudPushTask)
}
/**
@@ -171,4 +176,53 @@ class SweeperFragment : BaseSweeperTabFragment<SweeperFragment?, SweeperPresente
override fun setTaskRouteList(routeList: ArrayList<SweeperRoutePlanningUpdateReqBean.Result>) {
super.setTaskRouteList(routeList)
}
private fun getCurrentView(): SweeperCurrentTaskInfoView = sweeper_current_task_view
/**
* 接取云端任务弹窗
*/
private fun receivedTaskInfoDialog() {
mTaskInfo?.apply {
var builder: SweeperCloudDialog.Builder = SweeperCloudDialog.Builder()
val startCalendar = DateTimeUtil.formatLongToCalendar(taskStartTime)
val endCalendar = DateTimeUtil.formatLongToCalendar(taskEndTime)
builder.titleStr = "任务接取"
builder.contentStr = "请确认是否接取任务${taskName}"
builder.tipStr = "（任务时间${DateTimeUtil.formatCalendarToString(startCalendar, DateTimeUtil.HH_mm)}-${
DateTimeUtil.formatCalendarToString(
endCalendar,
DateTimeUtil.HH_mm
)
}）"
builder.leftStr = "确认"
builder.middleStr = ""
builder.rightStr = "拒绝"
builder.countDownTime = 15
builder.listener = object : SweeperCloudDialog.SweeperCloudClickListener {
override fun onConfirm() {
ToastUtils.showLong("确认")
setShowCurrentTaskPanelView(true)
}
override fun onRefuse() {
ToastUtils.showLong("拒绝")
setShowCurrentTaskPanelView(false)
}
override fun onCountDownStop() {
ToastUtils.showLong("倒计时结束")
setShowCurrentTaskPanelView(false)
}
override fun onNext() {
}
}
val dialog = context?.let { it1 -> builder.build(it1) }
dialog?.show()
}
}
}

14
OCH/sweeper/sweeper-cloud/src/main/java/com/mogo/och/sweepercloud/model/SweeperTaskModel.java
View File

@@ -32,6 +32,7 @@ import com.mogo.och.sweepercloud.callback.ISweeperCloudTaskCallback;
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.SweeperCloudTaskMockUtils;
import com.mogo.och.sweepercloud.util.SweeperFutianCmdUtil;
import com.zhjt.mogo.adas.data.sweeper.SweeperCloudTask;
import com.zhjt.mogo.adas.data.sweeper.bootable.SweeperBootable;
@@ -507,7 +508,11 @@ public class SweeperTaskModel implements IMoGoSweeperFutianCloudTaskListener, IM
public void getCurrentTask() {
SweeperTask.GetTaskReq.Builder builder = SweeperTask.GetTaskReq.newBuilder();
builder.setSn(getDriverSn());
getAutoPilotControlManager().sendSweeperGetTaskReq(String.valueOf(System.currentTimeMillis()), builder.build());
String reqNo = String.valueOf(System.currentTimeMillis());
SweeperTask.GetTaskReq getTaskReq = builder.build();
CallerLogger.INSTANCE.d(M_SWEEPER + TAG, "getCurrentTask:" + GsonUtil.jsonFromObject(getTaskReq) + "reqNo:" + reqNo);
getAutoPilotControlManager().sendSweeperGetTaskReq(reqNo, builder.build());
SweeperCloudTaskMockUtils.sendCloudTaskInfo(SweeperCloudTask.MessageType.PadSendGetTaskReq);
}
/**
@@ -558,6 +563,7 @@ public class SweeperTaskModel implements IMoGoSweeperFutianCloudTaskListener, IM
/**
* pad上报是否可以进自驾
*
* @param taskId
* @param subTaskId
* @param lineId
@@ -568,10 +574,10 @@ public class SweeperTaskModel implements IMoGoSweeperFutianCloudTaskListener, IM
builder.setTaskId(taskId);
builder.setSubTaskId(subTaskId);
builder.setLineId(lineId);
SweeperBootable.IsBootable isBootable=builder.build();
SweeperBootable.IsBootable isBootable = builder.build();
String reqNo = String.valueOf(System.currentTimeMillis());
CallerLogger.INSTANCE.d(M_SWEEPER + TAG, "sendSweeperAutopilotBootable" + GsonUtil.jsonFromObject(isBootable) + "reqNo:" + reqNo);
getAutoPilotControlManager().sendSweeperAutopilotBootable(reqNo,isBootable);
getAutoPilotControlManager().sendSweeperAutopilotBootable(reqNo, isBootable);
}
public CallerAutoPilotControlManager getAutoPilotControlManager() {
@@ -616,7 +622,7 @@ public class SweeperTaskModel implements IMoGoSweeperFutianCloudTaskListener, IM
@Override
public void onAutopilotIpcConnectStatusChanged(int status, @Nullable String reason) {
CallerLogger.INSTANCE.d(M_SWEEPER + TAG, "onAutopilotIpcConnectStatusChanged status:" + status + "reason：" + reason);
//CallerLogger.INSTANCE.d(M_SWEEPER + TAG, "onAutopilotIpcConnectStatusChanged status:" + status + " reason：" + reason);
}
@Override

50
OCH/sweeper/sweeper-cloud/src/main/java/com/mogo/och/sweepercloud/presenter/SweeperPresenter.java
View File

@@ -19,6 +19,7 @@ import com.zhjt.mogo.adas.data.sweeper.SweeperCloudTask;
import com.zhjt.mogo.adas.data.sweeper.common.SweeperCommon;
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.stop.SweeperTaskStop;
@@ -110,6 +111,7 @@ public class SweeperPresenter extends Presenter<SweeperFragment>
AutopilotStatusInfo info = new AutopilotStatusInfo();
info.setState(status);
}
/**
* 获取当前正在执行的任务
*/
@@ -117,6 +119,48 @@ public class SweeperPresenter extends Presenter<SweeperFragment>
SweeperTaskModel.getInstance().getCurrentTask();
}
/**
* 接取任务弹窗响应
*
* @param taskId
* @param code
*/
public void sendSweeperStartTaskResp(String taskId, SweeperTask.StartTaskCode code) {
SweeperTaskModel.getInstance().sendSweeperStartTaskResp(taskId, code);
}
/**
* 子任务弹窗确认
*
* @param taskId
* @param subTaskId
* @param code
*/
public void sendSweeperTaskConfirmResp(String taskId, String subTaskId, SweeperTaskConfirm.TaskConfirmCode code) {
SweeperTaskModel.getInstance().sendSweeperTaskConfirmResp(taskId, subTaskId, code);
}
/**
* 大任务结束弹窗确认
*
* @param taskId
* @param code
*/
public void sendSweeperStopTaskResp(String taskId, SweeperTaskStop.StopTaskCode code) {
SweeperTaskModel.getInstance().sendSweeperStopTaskResp(taskId, code);
}
/**
* pad上报是否可以进自驾
*
* @param taskId
* @param subTaskId
* @param lineId
*/
public void sendSweeperAutopilotBootable(String taskId, String subTaskId, long lineId) {
SweeperTaskModel.getInstance().sendSweeperAutopilotBootable(taskId, subTaskId, lineId);
}
@Override
public void setRouteList(@NonNull ArrayList<SweeperRoutePlanningUpdateReqBean.Result> routeList) {
mView.setTaskRouteList(routeList);
@@ -124,7 +168,7 @@ public class SweeperPresenter extends Presenter<SweeperFragment>
@Override
public void onSweeperCloudTask(@NonNull SweeperCloudTask.MessageType messageType, @NonNull SweeperTask.TaskInfo taskInfo) {
mView.onSweeperCloudTask(messageType,taskInfo);
}
@Override
@@ -160,11 +204,11 @@ public class SweeperPresenter extends Presenter<SweeperFragment>
@Override
public void setWeltDataToMap(@NonNull ArrayList<WeltDataBean> weltDataBeans, boolean isWeltData, @NonNull String distance) {
mView.setWeltDataToMap(weltDataBeans,isWeltData,distance);
mView.setWeltDataToMap(weltDataBeans, isWeltData, distance);
}
@Override
public void onSweeperFutianCleanSystemState(@NonNull ChassisStatesOuterClass.SweeperFuTianTaskSystemStates cleanSystemState) {
mView.onSweeperFutianCleanSystemState(cleanSystemState);
mView.onSweeperFutianCleanSystemState(cleanSystemState);
}
}

101
OCH/sweeper/sweeper-cloud/src/main/java/com/mogo/och/sweepercloud/util/SweeperCloudTaskMockUtils.kt Normal file
View File

@@ -0,0 +1,101 @@
package com.mogo.och.sweepercloud.util
import com.mogo.cloud.passport.MoGoAiCloudClientConfig
import com.mogo.och.sweepercloud.model.SweeperTaskModel
import com.zhjt.mogo.adas.data.sweeper.SweeperCloudTask.MessageType
import com.zhjt.mogo.adas.data.sweeper.common.SweeperCommon
import com.zhjt.mogo.adas.data.sweeper.task.SweeperTask.Location
import com.zhjt.mogo.adas.data.sweeper.task.SweeperTask.SubTaskInfo
import com.zhjt.mogo.adas.data.sweeper.task.SweeperTask.TaskInfo
import com.zhjt.mogo.adas.data.sweeper.task.SweeperTask.TaskModel
object SweeperCloudTaskMockUtils {
/**
* 模拟云控发送任务给pad
*/
@JvmStatic
fun sendCloudTaskInfo(messageType: MessageType) {
val builder = TaskInfo.newBuilder()
builder.sn = getDriverSn()
builder.taskId = "10"
builder.taskName = "环球贸易中心B座"
builder.currentTime = System.currentTimeMillis()
builder.taskStartTime = 1682664162000
builder.taskEndTime = 1682750562000
//第一个子任务
val subBuilder0 = SubTaskInfo.newBuilder()
subBuilder0.subTaskId = "0"
subBuilder0.subTaskName = "自动驾驶子任务0"
subBuilder0.taskModel = TaskModel.AUTO
subBuilder0.taskStatus = SweeperCommon.TaskStatus.TO_START
val startLocation0 = Location.newBuilder()
startLocation0.siteName = "子任务起点0"
startLocation0.wgsLongitude = 121.6421189511
startLocation0.wgsLatitude = 37.4767125311
startLocation0.longitude = 121.64693997741931
startLocation0.latitude = 37.47740504453125
subBuilder0.startLocation = startLocation0.build()
val endLocation0 = Location.newBuilder()
endLocation0.siteName = "子任务终点0"
endLocation0.wgsLongitude = 121.6392313
endLocation0.wgsLatitude = 37.4726471
endLocation0.longitude = 121.64404710861349
endLocation0.latitude = 37.47333410433059
subBuilder0.startLocation = endLocation0.build()
subBuilder0.lineId = 123
subBuilder0.lineName = "测试路线0"
builder.addSubList(subBuilder0.build())
//第二个子任务
val subBuilder1 = SubTaskInfo.newBuilder()
subBuilder1.subTaskId = "1"
subBuilder1.subTaskName = "自动驾驶子任务1"
subBuilder1.taskModel = TaskModel.AUTO
subBuilder1.taskStatus = SweeperCommon.TaskStatus.TO_START
val startLocation1 = Location.newBuilder()
startLocation1.siteName = "测试子任务站点1"
startLocation1.wgsLongitude = 121.6421189511
startLocation1.wgsLatitude = 37.47264711
startLocation1.longitude = 121.6469395478903
startLocation1.latitude = 37.47333856025812
subBuilder1.startLocation=startLocation1.build()
val endLocation1 = Location.newBuilder()
endLocation1.siteName = "测试子任务站点1"
endLocation1.wgsLongitude = 121.4261245286646
endLocation1.wgsLatitude = 37.52885874483938
endLocation1.longitude = 121.43138115208806
endLocation1.latitude = 37.52987767688798
subBuilder1.endLocation = endLocation1.build()
builder.addSubList(subBuilder1.build())
//第三个子任务
val subBuilder2 = SubTaskInfo.newBuilder()
subBuilder2.subTaskId = "1"
subBuilder2.subTaskName = "人工驾驶子任务路线2"
subBuilder2.taskModel = TaskModel.MANUAL
subBuilder2.taskStatus = SweeperCommon.TaskStatus.TO_START
val startLocation2 = Location.newBuilder()
startLocation2.siteName = "人工驾驶子任务站点2"
startLocation2.wgsLongitude = 121.31344761929978
startLocation2.wgsLatitude = 37.53205755535642
startLocation2.longitude = 121.3185679517558
startLocation2.latitude = 37.5329694887952
subBuilder2.startLocation=startLocation2.build()
val endLocation2 = Location.newBuilder()
endLocation2.siteName = "人工驾驶子任务站点2"
endLocation2.wgsLongitude = 121.4551205070834
endLocation2.wgsLatitude =37.47936696980237
endLocation2.longitude =121.46030960742117
endLocation2.latitude = 37.48032689641474
subBuilder2.endLocation = endLocation2.build()
builder.addSubList(subBuilder2.build())
SweeperTaskModel.getInstance().onSweeperFutianCloudTask(
messageType,
"${System.currentTimeMillis()}",
System.currentTimeMillis(),
builder.build()
)
}
fun getDriverSn(): String? {
return MoGoAiCloudClientConfig.getInstance().sn
}
}

8
OCH/sweeper/sweeper-cloud/src/main/java/com/mogo/och/sweepercloud/view/SubTaskView.kt
View File

@@ -18,8 +18,7 @@ class SubTaskView : ConstraintLayout {
constructor(context: Context, attrs: AttributeSet?) : super(context, attrs) {
initView(context)
}
constructor(context: Context, attrs: AttributeSet?, defStyleAttr: Int) : super(context, attrs, defStyleAttr) {}
constructor(context: Context, attrs: AttributeSet?, defStyleAttr: Int) : super(context, attrs, defStyleAttr) {}
constructor(context: Context, attrs: AttributeSet?, defStyleAttr: Int, defStyleRes: Int) : super(context, attrs, defStyleAttr, defStyleRes) {}
private fun initView(context: Context) {
@@ -32,6 +31,11 @@ class SubTaskView : ConstraintLayout {
fun setData(taskInfo: SubTaskInfo, isSelect: Boolean = false, isLastTask: Boolean = false) {
tvSubTaskName.text = taskInfo.subTaskName
tvSubTaskName.setTextColor(if (isSelect) Color.parseColor("#3BD2FF") else Color.parseColor("#FFFFFF"))
if (taskInfo.taskModel.number == 1) {//人工驾驶子任务
ivManualDriving.visibility = View.VISIBLE
} else {
ivManualDriving.visibility = View.GONE
}
if (isSelect) {
ivSubTask.setImageResource(R.drawable.sweeper_icon_select_subtask)
} else {

10
OCH/sweeper/sweeper-cloud/src/main/res/layout/sweeper_no_data_common_view.xml
View File

@@ -30,14 +30,4 @@
app:layout_constraintLeft_toLeftOf="parent"
app:layout_constraintRight_toRightOf="parent"
app:layout_constraintTop_toBottomOf="@+id/ivNoTaskData" />
<ImageView
android:id="@+id/ivNoTaskRefresh"
android:layout_width="@dimen/dp_42"
android:layout_height="@dimen/dp_42"
android:layout_marginTop="@dimen/dp_39"
android:layout_marginEnd="@dimen/dp_39"
android:src="@drawable/sweeper_refresh"
app:layout_constraintEnd_toEndOf="parent"
app:layout_constraintTop_toTopOf="parent" />
</androidx.constraintlayout.widget.ConstraintLayout>