Merge branch 'dev_robotaxi-d_240401_6.4.0' of gitlab.zhidaoauto.com:SCA/L4HA/AndroidApp/MoGoEagleEye into dev_robotaxi-d_240401_6.4.0

OCH/common/common/src/main/java/com/mogo/och/common/module/biz/lansocket/LoginLanDriverSocket.kt

@@ -59,10 +59,10 @@ object LoginLanDriverSocket : ILoginCallback {
 
     // 司机端发送业务模式更改和环境校验
     override fun onStatusChange(currentStatus: LoginStatusEnum?) {
+        FlavorUtils.getEnvCheck()
         if (FlavorUtils.vehicleType != null && FlavorUtils.projectType != null && FlavorUtils.envType != null) {
             when (currentStatus) {
                 LoginStatusEnum.Login -> {
-                    FlavorUtils.getEnvCheck()
                     val msg =
                         ChangeBusinessType(
                             FlavorUtils.vehicleType!!,
@@ -77,7 +77,6 @@ object LoginLanDriverSocket : ILoginCallback {
                         BizLoopManager.setLoopFunction(TAG, LoopInfo(60*10, ::loopCheck))
                     }
                 }
-
                 else -> {
                     BizLoopManager.removeLoopFunction(TAG)
                     val msg =

OCH/common/common/src/main/java/com/mogo/och/common/module/biz/lansocket/LoginLanPassengerSocket.kt

@@ -2,12 +2,16 @@ package com.mogo.och.common.module.biz.lansocket
 
 import com.mogo.eagle.core.function.api.telematic.IReceivedMsgListener
 import com.mogo.eagle.core.function.call.telematic.CallerTelematicListenerManager
+import com.mogo.eagle.core.function.call.telematic.CallerTelematicManager
+import com.mogo.eagle.core.utilcode.mogo.logger.CallerLogger
 import com.mogo.eagle.core.utilcode.mogo.logger.Logger
 import com.mogo.eagle.core.utilcode.util.UiThreadHandler
 import com.mogo.och.common.module.biz.login.BusinessEnum
 import com.mogo.och.common.module.biz.login.LoginStatusEnum
 import com.mogo.och.common.module.biz.login.LoginStatusManager
 import com.mogo.och.common.module.manager.logchainanalytic.OchChainLogManager
+import com.mogo.och.common.module.manager.loop.BizLoopManager
+import com.mogo.och.common.module.manager.loop.LoopInfo
 import com.mogo.och.common.module.manager.socket.lan.ILanMessageListener
 import com.mogo.och.common.module.manager.socket.lan.LanSocketManager
 import com.mogo.och.common.module.manager.socket.lan.bean.BaseDPMsg
@@ -36,6 +40,24 @@ object LoginLanPassengerSocket : IReceivedMsgListener {
         }
     }
 
+    var isConnected:Boolean by Delegates.observable(false) { _, oldV, newV ->
+        if (oldV != newV) {
+            if(newV){// 已连接
+                if(driverSn.isEmpty()){
+                    LoginStatusManager.changeStatus("连接成功 未收到司机屏sn")
+                }else{
+                    LoginStatusManager.changeStatus("连接成功 司机SN:${driverSn}")
+                }
+            }else{// 未连接
+                if(driverSn.isEmpty()){
+                    LoginStatusManager.changeStatus("当前状态:连接司机屏中")
+                }else{
+                    LoginStatusManager.changeStatus("连接断开 司机SN:${driverSn}")
+                }
+            }
+        }
+    }
+
     // 环境监测
     private val checkListener = object : ILanMessageListener<EnvCheck> {
         override fun target(): Class<EnvCheck> {
@@ -94,7 +116,7 @@ object LoginLanPassengerSocket : IReceivedMsgListener {
                         BusinessType.taxi -> LoginStatusManager.setBusinessType(BusinessEnum.Taxi.code)
                         BusinessType.taxiunmanned ->LoginStatusManager.setBusinessType(BusinessEnum.Taxi.code)
                     }
-                    status.append(", 后台配置:${LoginStatusManager.getBusInessType().name}>")
+                    status.append(", 切换后:${LoginStatusManager.getBusInessType().name}>")
                     LoginStatusManager.changeStatus(status.toString())
                     UiThreadHandler.postDelayed({
                         LoginStatusManager.setLoginStatus(LoginStatusEnum.Login)
@@ -113,6 +135,7 @@ object LoginLanPassengerSocket : IReceivedMsgListener {
     init {
         //监听司机端消息
         CallerTelematicListenerManager.addListener(TAG, this)
+        BizLoopManager.setLoopFunction(TAG, LoopInfo(3, ::showConnectStatusWithDriver))
         // 乘客屏
         LanSocketManager.registerSocketMessageListener(
             DPMsgType.TYPE_ENV_CHECK.type,
@@ -130,6 +153,11 @@ object LoginLanPassengerSocket : IReceivedMsgListener {
 
     }
 
+    private fun showConnectStatusWithDriver(){
+        CallerLogger.d(TAG,"司机屏连接状态：${CallerTelematicManager.getClientConnStatus()}")
+        isConnected = CallerTelematicManager.getClientConnStatus()
+    }
+
     override fun onReceivedServerSn(sn: String?) {
         Logger.d(TAG, "司机屏sn：$sn")
         driverSn = sn ?: ""

OCH/taxi/unmanned-driver/src/main/java/com/mogo/och/taxi/ui/navi/amap/TaxiAmapNaviFragment.kt

@@ -1,12 +1,10 @@
 package com.mogo.och.taxi.ui.navi.amap
 
 import android.os.Bundle
-import com.amap.api.navi.AMapNaviViewListener
 import com.mogo.commons.mvp.BaseFragment
-import com.mogo.eagle.core.utilcode.mogo.logger.CallerLogger.d
+import com.mogo.eagle.core.utilcode.mogo.logger.CallerLogger
 import com.mogo.eagle.core.utilcode.mogo.logger.scene.SceneConstant
 import com.mogo.och.common.module.map.AmapNaviToDestinationModel
-import com.mogo.och.common.module.map.ICommonNaviChangedCallback
 import com.mogo.och.taxi.R
 import kotlinx.android.synthetic.main.taxi_amap_navi_view.navi_view
 
@@ -15,6 +13,8 @@ import kotlinx.android.synthetic.main.taxi_amap_navi_view.navi_view
  * @date: 2023/7/24
  */
 class TaxiAmapNaviFragment : BaseFragment(){
+
+    private val TAG = "TaxiAmapNaviFragment"
     companion object {
         fun newInstance(): TaxiAmapNaviFragment {
             val args = Bundle()
@@ -36,25 +36,34 @@ class TaxiAmapNaviFragment : BaseFragment(){
     }
 
     override fun initViews(savedInstanceState: Bundle?) {
+        CallerLogger.e(SceneConstant.M_TAXI + TAG, "initViews")
         super.initViews(savedInstanceState)
         if (navi_view != null) navi_view.onCreate(savedInstanceState)
     }
 
     override fun onResume() {
+        CallerLogger.e(SceneConstant.M_TAXI + TAG, "onResume")
         super.onResume()
         if (navi_view != null) navi_view.onResume()
     }
 
     override fun onPause() {
+        CallerLogger.e(SceneConstant.M_TAXI + TAG, "onPause")
         super.onPause()
         if (navi_view != null) navi_view.onPause()
     }
 
-    override fun onDestroy() {
-        super.onDestroy()
+    override fun onDestroyView() {
+        CallerLogger.e(SceneConstant.M_TAXI + TAG, "onDestroyView")
         AmapNaviToDestinationModel.getInstance(context).setVoiceIsMute(false)
         if (navi_view != null) {
             navi_view.onDestroy()
         }
+        super.onDestroyView()
+    }
+
+    override fun onDestroy() {
+        super.onDestroy()
+
     }
 }

core/function-impl/mogo-core-function-devatools/src/main/java/com/zhjt/mogo_core_function_devatools/status/entity/Status.kt

@@ -297,7 +297,7 @@ interface IAutopilotPreLaunchStatus
 /**
  * 速度
  */
-data class SpeedStatus(val speed: Int, var acc: Float): Status(), IAutopilotPreLaunchStatus {
+data class SpeedStatus(val speed: Int): Status(), IAutopilotPreLaunchStatus {
 
     override fun isException(): Boolean {
         return false
@@ -306,22 +306,13 @@ data class SpeedStatus(val speed: Int, var acc: Float): Status(), IAutopilotPreL
     override fun equals(other: Any?): Boolean {
         if (this === other) return true
         if (javaClass != other?.javaClass) return false
-
         other as SpeedStatus
-
-        if (speed != other.speed) return false
-        if (acc != other.acc) return false
-
-        return true
+        return speed == other.speed
     }
 
     override fun hashCode(): Int {
-        var result = speed.hashCode()
-        result = 31 * result + acc.hashCode()
-        return result
+        return speed.hashCode()
     }
-
-
 }
 
 /**
@@ -337,12 +328,9 @@ data class SteerStatus(val angle: Float, var isError: Boolean = false): Status()
     override fun equals(other: Any?): Boolean {
         if (this === other) return true
         if (javaClass != other?.javaClass) return false
-
         other as SteerStatus
-
         if (angle != other.angle) return false
         if (isError != other.isError) return false
-
         return true
     }
 
@@ -362,7 +350,7 @@ data class SteerStatus(val angle: Float, var isError: Boolean = false): Status()
 /**
  * 油门
  */
-data class AcceleratorStatus(val angle: Float, var isError: Boolean = false): Status(), IAutopilotPreLaunchStatus {
+data class AcceleratorStatus(val angle: Int, var isError: Boolean = false): Status(), IAutopilotPreLaunchStatus {
 
     override fun isException(): Boolean {
         return isError && CallerAutoPilotStatusListenerManager.getAutoPilotStatusInfo().state != IMoGoAutopilotStatusListener.STATUS_AUTOPILOT_RUNNING
@@ -394,7 +382,7 @@ data class AcceleratorStatus(val angle: Float, var isError: Boolean = false): St
 /**
  * 刹车
  */
-data class BrakeStatus(val angle: Float, var isError: Boolean = false): Status(), IAutopilotPreLaunchStatus {
+data class BrakeStatus(val angle: Int, var isError: Boolean = false): Status(), IAutopilotPreLaunchStatus {
 
     override fun isException(): Boolean {
         return isError && CallerAutoPilotStatusListenerManager.getAutoPilotStatusInfo().state != IMoGoAutopilotStatusListener.STATUS_AUTOPILOT_RUNNING

core/function-impl/mogo-core-function-devatools/src/main/java/com/zhjt/mogo_core_function_devatools/status/flow/autopilot/AcceleratorImpl.kt

@@ -19,7 +19,7 @@ internal class AcceleratorImpl(ctx: Context): IFlow<AcceleratorStatus>(ctx), IMo
     }
 
     @Volatile
-    private var last: Float? = null
+    private var last: Int? = null
 
     @Volatile
     private var isError: Boolean = false
@@ -40,9 +40,10 @@ internal class AcceleratorImpl(ctx: Context): IFlow<AcceleratorStatus>(ctx), IMo
 
     override fun onAutopilotThrottle(throttle: Float) {
         super.onAutopilotThrottle(throttle)
-        if (last != throttle) {
-            send(AcceleratorStatus(throttle, isError).also { it.rawData = extra })
-            last = throttle
+        val current = throttle.toInt()
+        if (last != current) {
+            send(AcceleratorStatus(current, isError).also { it.rawData = extra })
+            last = current
         }
     }
 
@@ -50,17 +51,17 @@ internal class AcceleratorImpl(ctx: Context): IFlow<AcceleratorStatus>(ctx), IMo
         if (!isAutopilotAbility) {
             val target = unableAutopilotReasons?.find { it.unableType == CHASSIS_THROTTLE }?.also { itx ->
                 isError = true
-                send(AcceleratorStatus(last ?: 0.0f, true).also { extra = itx; it.rawData = itx })
+                send(AcceleratorStatus(last ?: 0, true).also { extra = itx; it.rawData = itx })
             }
             if (target == null) {
                 isError = false
                 extra = null
-                send(AcceleratorStatus(last ?: 0.0f, false))
+                send(AcceleratorStatus(last ?: 0, false))
             }
         } else {
             isError = false
             extra = null
-            send(AcceleratorStatus(last ?: 0.0f, false))
+            send(AcceleratorStatus(last ?: 0, false))
         }
     }
 }

core/function-impl/mogo-core-function-devatools/src/main/java/com/zhjt/mogo_core_function_devatools/status/flow/autopilot/BrakeImpl.kt

@@ -5,15 +5,11 @@ import com.mogo.eagle.core.function.api.autopilot.IMoGoAutopilotActionsListener
 import com.mogo.eagle.core.function.api.autopilot.IMoGoChassisBrakeStateListener
 import com.mogo.eagle.core.function.call.autopilot.CallerAutopilotActionsListenerManager
 import com.mogo.eagle.core.function.call.autopilot.CallerChassisBrakeStateListenerManager
-import com.mogo.eagle.core.utilcode.mogo.logger.Logger
 import com.zhjt.mogo.adas.data.bean.UnableLaunchData
 import com.zhjt.mogo.adas.data.bean.UnableLaunchReason
 import com.zhjt.mogo.adas.data.bean.UnableLaunchReason.UnableType.CHASSIS_BRAKE
-import com.zhjt.mogo.adas.data.bean.UnableLaunchReason.UnableType.CHASSIS_THROTTLE
-import com.zhjt.mogo_core_function_devatools.status.entity.AcceleratorStatus
 import com.zhjt.mogo_core_function_devatools.status.entity.BrakeStatus
 import com.zhjt.mogo_core_function_devatools.status.flow.IFlow
-import com.zhjt.mogo_core_function_devatools.status.flow.autopilot.AcceleratorImpl.Companion
 
 internal class BrakeImpl(ctx: Context): IFlow<BrakeStatus>(ctx), IMoGoChassisBrakeStateListener, IMoGoAutopilotActionsListener {
 
@@ -22,7 +18,7 @@ internal class BrakeImpl(ctx: Context): IFlow<BrakeStatus>(ctx), IMoGoChassisBra
     }
 
     @Volatile
-    private var last: Float = 0.0f
+    private var last: Int = 0
 
     @Volatile
     private var isError: Boolean = false
@@ -43,9 +39,10 @@ internal class BrakeImpl(ctx: Context): IFlow<BrakeStatus>(ctx), IMoGoChassisBra
 
     override fun onAutopilotBrake(brake: Float) {
         super.onAutopilotBrake(brake)
-        if (last != brake) {
-            send(BrakeStatus(brake, isError).also { it.rawData = extra })
-            last = brake
+        val current = brake.toInt()
+        if (last != current) {
+            send(BrakeStatus(current, isError).also { it.rawData = extra })
+            last = current
         }
     }
 

core/function-impl/mogo-core-function-devatools/src/main/java/com/zhjt/mogo_core_function_devatools/status/flow/autopilot/SpeedImpl.kt

@@ -2,19 +2,11 @@ package com.zhjt.mogo_core_function_devatools.status.flow.autopilot
 
 import android.content.Context
 import com.mogo.eagle.core.data.map.MogoLocation
-import com.mogo.eagle.core.function.api.autopilot.IMoGoAutopilotActionsListener
 import com.mogo.eagle.core.function.api.autopilot.IMoGoChassisLocationGCJ02Listener
-import com.mogo.eagle.core.function.api.autopilot.IMoGoChassisThrottleStateListener
-import com.mogo.eagle.core.function.call.autopilot.CallerAutopilotActionsListenerManager
 import com.mogo.eagle.core.function.call.autopilot.CallerChassisLocationGCJ02ListenerManager
-import com.mogo.eagle.core.function.call.autopilot.CallerChassisThrottleStateListenerManager
-import com.mogo.eagle.core.utilcode.mogo.logger.Logger
-import com.zhjt.mogo.adas.data.bean.UnableLaunchData
-import com.zhjt.mogo.adas.data.bean.UnableLaunchReason
-import com.zhjt.mogo.adas.data.bean.UnableLaunchReason.UnableType.CHASSIS_THROTTLE
-import com.zhjt.mogo_core_function_devatools.status.entity.AcceleratorStatus
 import com.zhjt.mogo_core_function_devatools.status.entity.SpeedStatus
 import com.zhjt.mogo_core_function_devatools.status.flow.IFlow
+import kotlin.math.abs
 
 internal class SpeedImpl(ctx: Context): IFlow<SpeedStatus>(ctx), IMoGoChassisLocationGCJ02Listener {
 
@@ -26,9 +18,6 @@ internal class SpeedImpl(ctx: Context): IFlow<SpeedStatus>(ctx), IMoGoChassisLoc
     @Volatile
     private var lastSpeed: Int? = null
 
-    @Volatile
-    private var lastAcc: Float? = null
-
     override fun onCreate() {
         CallerChassisLocationGCJ02ListenerManager.addListener(TAG, 5, this)
     }
@@ -40,20 +29,13 @@ internal class SpeedImpl(ctx: Context): IFlow<SpeedStatus>(ctx), IMoGoChassisLoc
 
     override fun onChassisLocationGCJ02(mogoLocation: MogoLocation?) {
         var isChanged = false
-        val speed =  mogoLocation?.gnssSpeed?.toInt() ?: 0
+        val speed = (abs(mogoLocation?.gnssSpeed ?: 0f) * 3.6f).toInt()
         if (lastSpeed != speed) {
             isChanged = true
             lastSpeed = speed
         }
-        val acceleration = mogoLocation?.acceleration?.toString()?.format("%.1")?.toFloat() ?: 0f
-        if (!isChanged) {
-            if (lastAcc != acceleration) {
-                isChanged = true
-                lastAcc = acceleration
-            }
-        }
         if (isChanged) {
-            send(SpeedStatus(speed, acceleration))
+            send(SpeedStatus(speed))
         }
     }
 }

core/function-impl/mogo-core-function-devatools/src/main/java/com/zhjt/mogo_core_function_devatools/status/model/StatusModel.kt

@@ -20,13 +20,13 @@ internal class StatusModel : ViewModel() {
             it += RTKStatus("", -1)
             // it += NetStatus(false)
 //            it += GpsStatus(enabled = false, isGranted = false)
-            it += SteerStatus(0.0f)
-            it += AcceleratorStatus(0.0f)
-            it += BrakeStatus(0.0f)
+            it += SteerStatus(0f)
+            it += AcceleratorStatus(0)
+            it += BrakeStatus(0)
             it += DoubleFlashStatus(0)
             it += GearStatus(0)
             it += RouteDownloadStatus()
-            it += SpeedStatus(0, 0f)
+            it += SpeedStatus(0)
         })
     }
 

core/function-impl/mogo-core-function-devatools/src/main/java/com/zhjt/mogo_core_function_devatools/status/ui/AutoPilotLaunchBeforeView.kt

@@ -1,5 +1,6 @@
 package com.zhjt.mogo_core_function_devatools.status.ui
 
+import android.annotation.SuppressLint
 import android.content.Context
 import android.util.AttributeSet
 import android.view.LayoutInflater
@@ -33,10 +34,9 @@ import kotlinx.android.synthetic.main.layout_autopilot_launch_before.view.iv_bra
 import kotlinx.android.synthetic.main.layout_autopilot_launch_before.view.iv_double_flash
 import kotlinx.android.synthetic.main.layout_autopilot_launch_before.view.iv_steer
 import kotlinx.android.synthetic.main.layout_autopilot_launch_before.view.speed
-import kotlinx.android.synthetic.main.layout_autopilot_launch_before.view.tv_accelerator
+import kotlinx.android.synthetic.main.layout_autopilot_launch_before.view.tv_brake_or_accelerator
 import me.jessyan.autosize.utils.AutoSizeUtils
 import kotlin.math.abs
-import kotlin.text.*
 
 class AutoPilotLaunchBeforeView: LinearLayout, IStatusListener {
 
@@ -64,6 +64,7 @@ class AutoPilotLaunchBeforeView: LinearLayout, IStatusListener {
         StatusManager.removeListener(TAG)
     }
 
+    @SuppressLint("SetTextI18n")
     override fun onStatusChanged(data: List<Status>, hasException: Boolean) {
         data.filter { it is IAutopilotPreLaunchStatus }.forEach { status ->
             val isError = status.isException() && CallerAutoPilotStatusListenerManager.getAutoPilotStatusInfo().state != IMoGoAutopilotStatusListener.STATUS_AUTOPILOT_RUNNING
@@ -90,9 +91,11 @@ class AutoPilotLaunchBeforeView: LinearLayout, IStatusListener {
                 }
                 is AcceleratorStatus -> {
                     iv_brake_or_accelerator?.isSelected = isError
+                    tv_brake_or_accelerator?.text = "${abs(status.angle)}%"
                 }
                 is BrakeStatus -> {
                     iv_brake_or_accelerator?.isSelected = isError
+                    tv_brake_or_accelerator?.text = "${-abs(status.angle)}%"
                 }
                 is DoubleFlashStatus -> {
                     iv_double_flash?.isSelected = isError
@@ -101,8 +104,7 @@ class AutoPilotLaunchBeforeView: LinearLayout, IStatusListener {
                     iv_steer?.isSelected = isError
                 }
                 is SpeedStatus -> {
-                    speed?.text = "${(abs(status.speed) * 3.6f).toInt()}"
-                    tv_accelerator?.text = "a:" + String.format("%-3.1f", status.acc)
+                    speed?.text = "${status.speed}"
                 }
                 else -> {
                     Logger.d(TAG, "other state: $status")

core/function-impl/mogo-core-function-devatools/src/main/res/layout/layout_autopilot_launch_before.xml

@@ -133,15 +133,16 @@
                 android:layout_marginEnd="@dimen/dp_14"/>
 
             <TextView
-                android:id="@+id/tv_accelerator"
-                android:layout_width="wrap_content"
+                android:id="@+id/tv_brake_or_accelerator"
+                android:layout_width="@dimen/dp_85"
                 android:layout_height="wrap_content"
                 android:textSize="@dimen/dp_30"
+                android:gravity="end"
                 android:layout_marginTop="-1dp"
                 android:maxLines="1"
                 android:textColor="@color/white"
-                tools:text="a:-100"
-                android:text="a: 0.0"/>
+                tools:text="-100%"
+                android:text="0%"/>
         </LinearLayout>
     </LinearLayout>
 </merge>