add func of planning objs and updats eagle_track

2022-06-20 13:38:05 +08:00
parent 71b815e690
commit 246530c61f
21 changed files with 482 additions and 342 deletions
--- 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
@@ -138,7 +138,7 @@ class DebugSettingView @JvmOverloads constructor(
    private var clickListener: ClickListener? = null

    //剪切板
-    private var clipboardManager: ClipboardManager ?= null
+    private var clipboardManager: ClipboardManager? = null

    private val simpleDateFormat by lazy {
        SimpleDateFormat("yyyy-MM-dd HH:mm:ss.SSS")
@@ -292,10 +292,10 @@ class DebugSettingView @JvmOverloads constructor(
         * 开发者模式
         */
        swDevelopMode.setOnCheckedChangeListener { _, isChecked ->
-            if(isChecked){
+            if (isChecked) {
                controlCenterLayout.visibility = View.VISIBLE
                commonLayout.visibility = View.GONE
-            }else{
+            } else {
                controlCenterLayout.visibility = View.GONE
                commonLayout.visibility = View.VISIBLE
            }
@@ -340,12 +340,12 @@ class DebugSettingView @JvmOverloads constructor(
                buttonView.setCompoundDrawables(null, null, iconDown, null)
                //展示OBU控制中心
                obuControllerLayout.visibility = View.VISIBLE
-                tbVehicleStateController.isChecked  = true
+                tbVehicleStateController.isChecked = true
            } else {
                buttonView.setCompoundDrawables(null, null, iconRight, null)
                //隐藏OBU控制中心
                obuControllerLayout.visibility = View.GONE
-                tbVehicleStateController.isChecked  = false
+                tbVehicleStateController.isChecked = false
            }
        }

@@ -550,17 +550,17 @@ class DebugSettingView @JvmOverloads constructor(
            FunctionBuildConfig.isRainMode = isChecked
        }
        //雨天模式按钮只在司机屏生效，乘客屏不显示
-        if(AppIdentityModeUtils.isPassenger(FunctionBuildConfig.appIdentityMode)){
+        if (AppIdentityModeUtils.isPassenger(FunctionBuildConfig.appIdentityMode)) {
            tbIsRainMode.visibility = View.GONE
        }

        //重启工控机所有节点
-        btnIpcReboot.onClick{
+        btnIpcReboot.onClick {
            CallerAutoPilotManager.sendIpcReboot()
            ToastUtils.showLong("重启命令已发送")
        }
        //只在司机端设置工控机节点重启功能
-        if(AppIdentityModeUtils.isPassenger(FunctionBuildConfig.appIdentityMode)){
+        if (AppIdentityModeUtils.isPassenger(FunctionBuildConfig.appIdentityMode)) {
            btnIpcReboot.visibility = View.GONE
        }

@@ -636,15 +636,15 @@ class DebugSettingView @JvmOverloads constructor(
        }

        //设置点云大小
-        btnPointCloudSize.setOnClickListener{
+        btnPointCloudSize.setOnClickListener {
            val cloudSize = etPointCloudSize.text.toString()
-            if(cloudSize.isEmpty()){
+            if (cloudSize.isEmpty()) {
                ToastUtils.showShort("请输入正确的点云大小")
-            }else{
+            } else {
                try {
                    val cloudSizeFloat = cloudSize.toFloat()
                    CallerHDMapManager.setPointCloudSize(cloudSizeFloat)
-                }catch (e: Exception){
+                } catch (e: Exception) {
                    ToastUtils.showShort("点云大小格式输入不正确")
                }
            }
@@ -652,12 +652,12 @@ class DebugSettingView @JvmOverloads constructor(
        //设置点云颜色
        btnPointCloudColor.setOnClickListener {
            val cloudColor = etPointCloudColor.text.toString()
-            if(cloudColor.isEmpty()){
+            if (cloudColor.isEmpty()) {
                ToastUtils.showShort("请输入正确的点云颜色")
-            }else{
+            } else {
                try {
                    CallerHDMapManager.setPointCloudColor(cloudColor)
-                }catch (e: Exception){
+                } catch (e: Exception) {
                    ToastUtils.showShort("点云大小颜色输入不正确")
                }
            }
@@ -695,34 +695,47 @@ class DebugSettingView @JvmOverloads constructor(

        //SN复制按钮
        tvPadSnClip.setOnClickListener {
-            if(clipboardManager==null){
+            if (clipboardManager == null) {
                //获取剪贴板管理器：
-                clipboardManager = context.getSystemService(Context.CLIPBOARD_SERVICE) as ClipboardManager
+                clipboardManager =
+                    context.getSystemService(Context.CLIPBOARD_SERVICE) as ClipboardManager
            }
            // 创建普通字符型ClipData ,将ClipData内容放到系统剪贴板里
-            clipboardManager?.setPrimaryClip(ClipData.newPlainText("MoGoSN",AppConfigInfo.mogoSN))
+            clipboardManager?.setPrimaryClip(ClipData.newPlainText("MoGoSN", AppConfigInfo.mogoSN))
            ToastUtils.showLong("SN复制成功")
        }

        //工控机镜像复制按钮
-        tvIpcVersionInfoClip.setOnClickListener{
-            if(clipboardManager==null){
+        tvIpcVersionInfoClip.setOnClickListener {
+            if (clipboardManager == null) {
                //获取剪贴板管理器：
-                clipboardManager = context.getSystemService(Context.CLIPBOARD_SERVICE) as ClipboardManager
+                clipboardManager =
+                    context.getSystemService(Context.CLIPBOARD_SERVICE) as ClipboardManager
            }
            // 创建普通字符型ClipData ,将ClipData内容放到系统剪贴板里
-            clipboardManager?.setPrimaryClip(ClipData.newPlainText("DockVersion",mAutoPilotStatusInfo?.dockVersion))
+            clipboardManager?.setPrimaryClip(
+                ClipData.newPlainText(
+                    "DockVersion",
+                    mAutoPilotStatusInfo?.dockVersion
+                )
+            )
            ToastUtils.showLong("docker版本复制成功")
        }

        //经纬度复制按钮
-        tvCarInfoCopyClip.setOnClickListener{
-            if(clipboardManager==null){
+        tvCarInfoCopyClip.setOnClickListener {
+            if (clipboardManager == null) {
                //获取剪贴板管理器：
-                clipboardManager = context.getSystemService(Context.CLIPBOARD_SERVICE) as ClipboardManager
+                clipboardManager =
+                    context.getSystemService(Context.CLIPBOARD_SERVICE) as ClipboardManager
            }
            // 创建普通字符型ClipData ,将ClipData内容放到系统剪贴板里
-            clipboardManager?.setPrimaryClip(ClipData.newPlainText("LonAndLat","${mGnssInfo?.longitude},${mGnssInfo?.latitude}"))
+            clipboardManager?.setPrimaryClip(
+                ClipData.newPlainText(
+                    "LonAndLat",
+                    "${mGnssInfo?.longitude},${mGnssInfo?.latitude}"
+                )
+            )
            ToastUtils.showLong("经纬度复制成功")
        }

@@ -1135,7 +1148,7 @@ class DebugSettingView @JvmOverloads constructor(
                if (logTimeStr.isNullOrEmpty()) {
                    logTimeStr = "10"
                }
-                try{
+                try {
                    val logCatchTime = logTimeStr.toInt()
                    if (logCatchTime > 60) {
                        tbLogCatch.isChecked = false
@@ -1143,7 +1156,7 @@ class DebugSettingView @JvmOverloads constructor(
                        return@setOnCheckedChangeListener
                    }
                    CallerDevaToolsManager.startCatchLog(logCatchTime)
-                }catch (e: Exception){
+                } catch (e: Exception) {
                    ToastUtils.showLong("输入格式错误，请重新输入正确时间数字，最长抓取时间为60分钟")
                    etLogCatch.setText("")
                }
@@ -1267,7 +1280,7 @@ class DebugSettingView @JvmOverloads constructor(
        }

        /**
-         * ADAS车辆地盘数据
+         * ADAS车辆底盘数据
         */
        cbAdasVehicle.setOnCheckedChangeListener { _, isChecked ->
            val map = CallerDevaToolsManager.getTraceInfo()
@@ -1278,6 +1291,20 @@ class DebugSettingView @JvmOverloads constructor(
                CallerDevaToolsManager.refreshTraceInfo(map)
            }
        }
+
+        /**
+         * ADAS PLANNING OBJ 感知障碍物
+         */
+        cbAdasPlanningObj.setOnCheckedChangeListener { _, isChecked ->
+            val map = CallerDevaToolsManager.getTraceInfo()
+            val param = map[ChainConstant.CHAIN_LINK_LOG_WEB_SOCKET_PLANNING_OBJECTS]
+            param?.let {
+                it.record = isChecked
+                map[ChainConstant.CHAIN_LINK_LOG_WEB_SOCKET_PLANNING_OBJECTS] = param
+                CallerDevaToolsManager.refreshTraceInfo(map)
+            }
+        }
+
    }

    private fun refreshTraceInfo() {
@@ -1524,9 +1551,9 @@ class DebugSettingView @JvmOverloads constructor(
            }"
        )

-        if(AppConfigInfo.isConnectAutopilot){
+        if (AppConfigInfo.isConnectAutopilot) {
            tvIpcConnectStatus.minLines = 1
-        }else{
+        } else {
            tvIpcConnectStatus.minLines = 4
        }

@@ -1546,7 +1573,7 @@ class DebugSettingView @JvmOverloads constructor(
            }"
        )
        //如果是乘客端，则不显示工控机连接状态
-        if(AppIdentityModeUtils.isPassenger(FunctionBuildConfig.appIdentityMode)){
+        if (AppIdentityModeUtils.isPassenger(FunctionBuildConfig.appIdentityMode)) {
            tvIpcConnectStatus.visibility = View.GONE
            tvAutopilotConnectStatus.visibility = View.GONE
        }
@@ -1856,8 +1883,8 @@ class DebugSettingView @JvmOverloads constructor(
    /**
     * 初始化上报
     */
-    fun reportInit(reportList: ArrayList<ReportEntity>){
-        if(reportList.size > 0){
+    fun reportInit(reportList: ArrayList<ReportEntity>) {
+        if (reportList.size > 0) {
            reportMsgLayout.visibility = View.VISIBLE
            reportList[0].let {
                tvReportSrc.text = "src:${it.src}"
--- 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
@@ -1967,6 +1967,16 @@
                        android:text="ADAS底盘数据"
                        android:textColor="#000"
                        android:textSize="@dimen/dp_24" />
+
+                    <CheckBox
+                        android:id="@+id/cbAdasPlanningObj"
+                        android:layout_width="wrap_content"
+                        android:layout_height="wrap_content"
+                        android:checked="false"
+                        android:padding="@dimen/dp_10"
+                        android:text="ADAS PLANNING 感知障碍物"
+                        android:textColor="#000"
+                        android:textSize="@dimen/dp_24" />
                </LinearLayout>
            </LinearLayout>