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[sweeper运营&云控合并]feat:增加清扫云控&运营 关键节点日志，并补充日志内容；

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This commit is contained in:
aibingbing
2023-10-31 20:56:02 +08:00
parent 6aa424c34e
commit 2ac50f7040
15 changed files with 534 additions and 283 deletions
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1
OCH/sweeper/driver/build.gradle
View File

@@ -59,6 +59,7 @@ dependencies {
implementation rootProject.ext.dependencies.androidxcardview
implementation rootProject.ext.dependencies.androidxroomruntime
annotationProcessor rootProject.ext.dependencies.androidxroomcompiler
implementation rootProject.ext.dependencies.localbroadcastmanager
implementation project(":OCH:mogo-och-common-module")
compileOnly project(":libraries:mogo-map")

5
OCH/sweeper/driver/src/main/java/com/mogo/och/sweeper/SweeperProvider.java
View File

@@ -122,15 +122,20 @@ public class SweeperProvider implements IMogoOCH, IMoGoSweeperModeListener {
+ SweeperVehicleConfigUtils.isSPCurrentSweeperOperateMode()
+ ", isSPCurrentSweeperCloudMode=" + SweeperVehicleConfigUtils.isSPCurrentSweeperCloudMode());
if (SweeperVehicleConfigUtils.isSPCurrentSweeperOperateMode()) {
FunctionBuildConfig.sweeperCurrentMode = SweeperVehicleConfigUtils.BUSINESS_MODE_OPERATE;
showOperateFragment();
} else if (SweeperVehicleConfigUtils.isSPCurrentSweeperCloudMode()) {
FunctionBuildConfig.sweeperCurrentMode = SweeperVehicleConfigUtils.BUSINESS_MODE_CLOUD;
showCloudFragment();
} else if (SweeperVehicleConfigUtils.isDefaultSweeperOperateMode(FunctionBuildConfig.sweeperDefaultMode)) {
FunctionBuildConfig.sweeperCurrentMode = SweeperVehicleConfigUtils.BUSINESS_MODE_OPERATE;
showOperateFragment();
} else if (SweeperVehicleConfigUtils.isDefaultSweeperCloudMode(FunctionBuildConfig.sweeperDefaultMode)) {
FunctionBuildConfig.sweeperCurrentMode = SweeperVehicleConfigUtils.BUSINESS_MODE_CLOUD;
showCloudFragment();
} else {
// 默认云控模式
FunctionBuildConfig.sweeperCurrentMode = SweeperVehicleConfigUtils.BUSINESS_MODE_CLOUD;
showCloudFragment();
}

127
OCH/sweeper/driver/src/main/java/com/mogo/och/sweeper/cloud/fragment/BaseSweeperCloudTabFragment.java
View File

@@ -2,6 +2,7 @@ package com.mogo.och.sweeper.cloud.fragment;
import static com.mogo.map.MogoMap.DEFAULT;
import android.content.Intent;
import android.os.Bundle;
import android.view.LayoutInflater;
import android.view.MotionEvent;
@@ -13,16 +14,13 @@ import androidx.annotation.NonNull;
import androidx.annotation.Nullable;
import androidx.constraintlayout.widget.Group;
import androidx.fragment.app.FragmentTransaction;
import androidx.localbroadcastmanager.content.LocalBroadcastManager;
import com.amap.api.maps.model.LatLng;
import com.google.protobuf.TextFormat;
import com.mogo.commons.AbsMogoApplication;
import com.mogo.commons.mvp.IView;
import com.mogo.commons.mvp.MvpFragment;
import com.mogo.commons.mvp.Presenter;
import com.mogo.eagle.core.data.autopilot.AutopilotControlParameters;
import com.mogo.eagle.core.data.config.FunctionBuildConfig;
import com.mogo.eagle.core.function.call.autopilot.CallerAutoPilotControlManager;
import com.mogo.eagle.core.function.call.autopilot.CallerAutopilotRecordListenerManager;
import com.mogo.eagle.core.function.call.devatools.CallerDevaToolsManager;
import com.mogo.eagle.core.function.call.hmi.CallerHmiManager;
@@ -33,32 +31,26 @@ import com.mogo.eagle.core.function.hmi.ui.msgbox.DriverMsgBoxListView;
import com.mogo.eagle.core.function.view.MapBizView;
import com.mogo.eagle.core.utilcode.mogo.view.OnPreventFastClickListener;
import com.mogo.eagle.core.utilcode.util.ThreadUtils;
import com.mogo.eagle.core.utilcode.util.ToastUtils;
import com.mogo.eagle.core.utilcode.util.UiThreadHandler;
import com.mogo.map.listener.IMogoMapListener;
import com.mogo.map.listener.MogoMapListenerHandler;
import com.mogo.map.uicontroller.IMogoMapUIController;
import com.mogo.map.uicontroller.VisualAngleMode;
import com.mogo.och.common.module.manager.autopilotmanager.OCHAdasAbilityManager;
import com.mogo.och.common.module.utils.CoordinateCalculateRouteUtil;
import com.mogo.och.sweeper.R;
import com.mogo.och.sweeper.cloud.view.SweeperCloudTrafficDataView;
import com.mogo.och.sweeper.common.bean.SweeperRoutePlanningUpdateReqBean;
import com.mogo.och.sweeper.common.callback.ISweeperTaskDataToFragmentCallback;
import com.mogo.och.sweeper.common.callback.IWeltMapSwitchToSmallCallback;
import com.mogo.och.sweeper.common.database.bean.WeltDataBean;
import com.mogo.och.sweeper.cloud.util.AutopilotModeConfigManager;
import com.mogo.och.sweeper.cloud.util.SweeperCloudTaskUtils;
import com.mogo.och.sweeper.cloud.view.SweeperCloudTrafficDataView;
import com.mogo.och.sweeper.common.fragment.WeltMapOverViewFragment;
import com.mogo.och.sweeper.common.view.DebugView;
import com.mogo.och.sweeper.common.view.WeltSmallMapView;
import com.zhjt.mogo.adas.data.AiCloudTask;
import java.math.BigDecimal;
import java.math.RoundingMode;
import java.util.ArrayList;
import mogo.telematics.pad.MessagePad;
/**
* 网约车基础Fragment，主要负责布局通用界面，处理站点面板和通话面板互斥情况
* <p>
@@ -128,105 +120,22 @@ public abstract class BaseSweeperCloudTabFragment<V extends IView, P extends Pre
setMessageBox();
//设置左下角四个按钮监听事件
setBottomBtnListener();
// 模拟 下发启动自驾命令
findViewById(R.id.btnStartAutopilot).setOnClickListener(new View.OnClickListener() {
@Override
public void onClick(View v) {
if (!FunctionBuildConfig.isDemoMode && !OCHAdasAbilityManager.getInstance().getAutopilotAbilityStatus()) {
ToastUtils.showLong(OCHAdasAbilityManager.getInstance().getAutopilotUnAbilityReason() + ", 请稍候重试");
return;
}
new AutopilotModeConfigManager(new AutopilotModeConfigManager.OnReadAutopilotModeConfigListener() {
@Override
public void onReadFailed(String err) {
ThreadUtils.runOnUiThread(() -> {
ToastUtils.showLong("读取失败=" + err);
});
}
@Override
public void onParseFailed(String err) {
ToastUtils.showLong("解析失败=" + err);
}
@Override
public void onParse(MessagePad.SetAutopilotModeReq bean) {
ToastUtils.showLong("下发命令\n" + TextFormat.printer().escapingNonAscii(false).printToString(bean));
AutopilotControlParameters parameters = new AutopilotControlParameters();
MessagePad.RouteInfo routeInfo = bean.getRouteInfo();
if (routeInfo.getRouteID() > 0) {
parameters.routeID = routeInfo.getRouteID();
}
parameters.routeName = routeInfo.getRouteName();
parameters.startName = routeInfo.getStartName();//拼音
parameters.endName = routeInfo.getEndName();//拼音
parameters.startLatLon = new AutopilotControlParameters
.AutoPilotLonLat(routeInfo.getStartLocation().getLatitude(), routeInfo.getStartLocation().getLongitude());
parameters.endLatLon = new AutopilotControlParameters
.AutoPilotLonLat(routeInfo.getEndLocation().getLatitude(), routeInfo.getEndLocation().getLongitude());
parameters.vehicleType = 10;
MessagePad.Line line = routeInfo.getLine();
parameters.autoPilotLine = new AutopilotControlParameters.AutoPilotLine(
line.getLineId(), line.getLineName(),
line.getTrajUrl(), line.getTrajMd5(),
line.getStopUrl(), line.getStopMd5(),
line.getTimestamp(), line.getVehicleModel(),
line.getTrajUrlDpqp(), line.getTrajMd5Dpqp(),
line.getStopUrlDpqp(), line.getStopMd5Dpqp(),
line.getTimestampDpqp());
CallerAutoPilotControlManager.INSTANCE.startAutoPilot(parameters);
}
}).read();
}
});
// 模拟 查询当前任务
findViewById(R.id.btnQueryCurrentTask).setOnClickListener(view ->
SweeperCloudTaskUtils.mockQueryCurrentTaskInfo()
//打开调试面板
findViewById(R.id.btnOpenDebugView).setOnClickListener(view -> {
Intent intent = new Intent();
intent.setAction(DebugView.BROADCAST_ACTION);
intent.putExtra(DebugView.BROADCAST_DATA_SHOW, true);
LocalBroadcastManager.getInstance(requireContext()).sendBroadcast(intent);
}
);
// 模拟 云端发送任务
findViewById(R.id.btnSendTask).setOnClickListener(view -> {
SweeperCloudTaskUtils.mockSendCloudTaskInfo(AiCloudTask.MessageType.CloudPushTask);
UiThreadHandler.postDelayed(() -> {
debugEndSubTask();
}, 5000);
}
);
// 模拟 云端发送子任务确认
findViewById(R.id.btnSendSubTaskConfirm).setOnClickListener(view ->
SweeperCloudTaskUtils.mockSendCloudSubTaskConfirm()
);
// 模拟 云端请求结束大任务
findViewById(R.id.btnSendEndTask).setOnClickListener(view ->
SweeperCloudTaskUtils.mockSendCloudBigTaskEnd()
);
// 模拟 云端发送子任务状态
findViewById(R.id.btnSendSubtaskStatus).setOnClickListener(view ->
SweeperCloudTaskUtils.mockSendCloudUpdateSubTaskStatus()
);
// 模拟 云端发送大任务状态
findViewById(R.id.btnSendTaskStatus).setOnClickListener(view ->
SweeperCloudTaskUtils.mockSendCloudBigTaskStatus()
);
// 模拟 添加高精地图Marker
findViewById(R.id.btnAddHDMarker).setOnClickListener(view -> {
// 坐标地址：湖南省衡阳市雁峰区金龙坪街道科学城大道衡山科学城停车场
SweeperCloudTaskUtils.mockAddHdMarker("marker_sweeper_subtask_123_start",
112.57742887355035,
26.82068193910221,
true);
// 坐标地址：湖南省衡阳市雁峰区岳屏镇雁鸣路
SweeperCloudTaskUtils.mockAddHdMarker("marker_sweeper_subtask_123_end",
112.56666738544979,
26.822879976829867,
false);
}
);
// 模拟 移除高精地图Marker
findViewById(R.id.btnRemoveHDMarker).setOnClickListener(view ->
SweeperCloudTaskUtils.mockRemoveHDMarker()
//关闭调试面板
findViewById(R.id.btnCloseDebugView).setOnClickListener(view -> {
Intent intent = new Intent();
intent.setAction(DebugView.BROADCAST_ACTION);
intent.putExtra(DebugView.BROADCAST_DATA_SHOW, false);
LocalBroadcastManager.getInstance(requireContext()).sendBroadcast(intent);
}
);
mTrafficDataView.getSpeedImage().setOnLongClickListener(new View.OnLongClickListener() {
@Override

22
OCH/sweeper/driver/src/main/java/com/mogo/och/sweeper/cloud/fragment/SweeperCloudFragment.kt
View File

@@ -17,8 +17,6 @@ import com.mogo.map.overlay.point.Point
import com.mogo.och.common.module.utils.OCHThreadPoolManager
import com.mogo.och.common.module.voice.VoiceNotice.showNotice
import com.mogo.och.sweeper.R
import com.mogo.och.sweeper.common.constant.SweeperConst.Companion.TYPE_MARKER_SWEEPER_SUBTASK_START_END
import com.mogo.och.sweeper.common.database.MyDataBase
import com.mogo.och.sweeper.cloud.presenter.SweeperCloudPresenter
import com.mogo.och.sweeper.cloud.ui.dialog.SweeperCloudDialog
import com.mogo.och.sweeper.cloud.ui.dialog.SweeperCloudLoadingDialog
@@ -32,6 +30,9 @@ import com.mogo.och.sweeper.cloud.util.SweeperCloudTaskUtils.createSweeperTaskRe
import com.mogo.och.sweeper.cloud.util.SweeperCloudTaskUtils.createSweeperTaskSuspendDialog
import com.mogo.och.sweeper.cloud.util.SweeperCloudTaskUtils.printMessage
import com.mogo.och.sweeper.cloud.view.SweeperCloudCurrentTaskInfoView
import com.mogo.och.sweeper.common.constant.SweeperConst.Companion.TYPE_MARKER_SWEEPER_SUBTASK_START_END
import com.mogo.och.sweeper.common.database.MyDataBase
import com.mogo.och.sweeper.common.view.DebugView
import com.zhjt.mogo.adas.data.AiCloudTask
import com.zhjt.mogo.adas.data.sweeper.bootable.SweeperBootable
import com.zhjt.mogo.adas.data.sweeper.common.SweeperCommon
@@ -42,8 +43,9 @@ import com.zhjt.mogo.adas.data.sweeper.task.SweeperTask.TaskModel
import com.zhjt.mogo.adas.data.sweeper.task.cloud.s_r.SweeperTaskCloudSuspendResume
import com.zhjt.mogo.adas.data.sweeper.task.confirm.SweeperTaskConfirm
import com.zhjt.mogo.adas.data.sweeper.task.stop.SweeperTaskStop
import kotlinx.android.synthetic.main.fragment_och_sweeper_cloud.*
import kotlinx.android.synthetic.main.sweeper_cloud_no_data_common_view.*
import kotlinx.android.synthetic.main.fragment_och_sweeper_cloud.sweeper_cl_work_mode
import kotlinx.android.synthetic.main.fragment_och_sweeper_cloud.sweeper_current_task_view
import kotlinx.android.synthetic.main.sweeper_cloud_no_data_common_view.noTaskDataView
import kotlinx.coroutines.Dispatchers
import kotlinx.coroutines.launch
@@ -311,6 +313,7 @@ class SweeperCloudFragment : BaseSweeperCloudTabFragment<SweeperCloudFragment?,
//已完成的计入任务进度，未完成的不计入
ToastUtils.showLong("任务完成")
showNotice("任务完成")
DebugView.printInfoMsg("[任务状态]任务完成")
removeHDMapMarkerBySubTask(subTaskList[index])
}
@@ -374,6 +377,7 @@ class SweeperCloudFragment : BaseSweeperCloudTabFragment<SweeperCloudFragment?,
mDialog = sweeperCloudTaskNormalEndDialog()
showNotice("任务已结束")
ToastUtils.showLong("任务已结束")
DebugView.printInfoMsg("[任务状态]任务已结束")
} else {
// 产品确认有弹框时不需要同步弹toast, 只需有TTS
mDialog = createSweeperTaskEndDialog(context, object : com.mogo.och.sweeper.cloud.callback.SweeperCloudDialogClickListener {
@@ -501,12 +505,14 @@ class SweeperCloudFragment : BaseSweeperCloudTabFragment<SweeperCloudFragment?,
}
showNotice("任务已结束")
DebugView.printInfoMsg("[任务状态]任务已结束")
// 大任务这里也判断移除HD Marker, 双重判断
removeHDMapMarkerBySubTask(mCurrentRunningSubTaskInfo)
resetTaskInfoPanel()
} else if (bigTaskStatus == TaskStatus.SUSPENDED) {// 暂停
showNotice("任务已暂停")
ToastUtils.showLong("任务已暂停")
DebugView.printInfoMsg("[任务状态]任务已暂停")
//更新任务列表中大任务状态
val builder = it.toBuilder()
builder.taskStatus = TaskStatus.SUSPENDED
@@ -517,6 +523,7 @@ class SweeperCloudFragment : BaseSweeperCloudTabFragment<SweeperCloudFragment?,
) { //恢复
showNotice("任务已恢复")
ToastUtils.showLong("任务已恢复")
DebugView.printInfoMsg("[任务状态]任务已恢复")
//更新任务列表中大任务状态
val builder = it.toBuilder()
@@ -557,6 +564,7 @@ class SweeperCloudFragment : BaseSweeperCloudTabFragment<SweeperCloudFragment?,
SweeperTaskCloudSuspendResume.ActionType.SUSPENDED -> {
mDialog = sweeperCloudTaskSuspendDialog(it.taskId)
showNotice("云端暂停任务，注意车辆即将停车！")
DebugView.printInfoMsg("[任务状态]云端暂停任务，注意车辆即将停车！")
}
else -> {
@@ -579,6 +587,7 @@ class SweeperCloudFragment : BaseSweeperCloudTabFragment<SweeperCloudFragment?,
}
}
showNotice(ttsString)
DebugView.printInfoMsg("[任务状态]$ttsString")
mDialog = sweeperCloudTaskResumeDialog(ttsString, it.taskId)
}
}
@@ -610,9 +619,11 @@ class SweeperCloudFragment : BaseSweeperCloudTabFragment<SweeperCloudFragment?,
if (isBootableResp.code == SweeperCommon.Code.SUCCEED) {
ToastUtils.showLong("上报云控成功")
showNotice("上报云控成功")
DebugView.printInfoMsg("[任务状态]上报云控成功")
} else {
ToastUtils.showLong("上报云控失败")
showNotice("上报云控失败")
DebugView.printErrorMsg("[任务状态]上报云控失败")
}
}
}
@@ -773,8 +784,10 @@ class SweeperCloudFragment : BaseSweeperCloudTabFragment<SweeperCloudFragment?,
mDialog?.show()
if (subTaskInfo.taskModel == TaskModel.MANUAL) {
showNotice("请确认并执行子任务")
DebugView.printInfoMsg("[任务状态]请确认并执行子任务")
} else { //自动驾驶子任务，需要提醒在N档且拉起手刹，做好准备工作
showNotice("请确认并执行子任务, 保持N档拉手刹再进入自动驾驶")
DebugView.printInfoMsg("[任务状态]请确认并执行子任务, 保持N档拉手刹再进入自动驾驶")
}
}
@@ -830,6 +843,7 @@ class SweeperCloudFragment : BaseSweeperCloudTabFragment<SweeperCloudFragment?,
}, it)
mDialog?.show()
showNotice("已为您接取任务")
DebugView.printInfoMsg("[任务状态]已为您接取任务")
}
}

88
OCH/sweeper/driver/src/main/java/com/mogo/och/sweeper/cloud/model/SweeperCloudTaskModel.java
View File

@@ -31,13 +31,14 @@ import com.mogo.eagle.core.utilcode.util.UiThreadHandler;
import com.mogo.och.common.module.manager.autopilotmanager.OCHAdasAbilityManager;
import com.mogo.och.common.module.utils.CoordinateCalculateRouteUtil;
import com.mogo.och.common.module.utils.NumberFormatUtil;
import com.mogo.och.sweeper.common.bean.SweeperRoutePlanningUpdateReqBean;
import com.mogo.och.sweeper.cloud.callback.ISweeperCloudTaskCallback;
import com.mogo.och.sweeper.cloud.callback.ISweeperControllerStatusCallback;
import com.mogo.och.sweeper.cloud.util.SweeperCloudTaskUtils;
import com.mogo.och.sweeper.common.bean.SweeperRoutePlanningUpdateReqBean;
import com.mogo.och.sweeper.common.constant.SweeperConst;
import com.mogo.och.sweeper.common.database.MyDataBase;
import com.mogo.och.sweeper.common.database.bean.WeltDataBean;
import com.mogo.och.sweeper.cloud.util.SweeperCloudTaskUtils;
import com.mogo.och.sweeper.common.view.DebugView;
import com.zhjt.mogo.adas.data.AiCloudTask;
import com.zhjt.mogo.adas.data.sweeper.bootable.SweeperBootable;
import com.zhjt.mogo.adas.data.sweeper.task.SweeperTask;
@@ -197,6 +198,7 @@ public class SweeperCloudTaskModel implements IMoGoSweeperFutianCloudTaskListene
public void onAutopilotRotting(MessagePad.GlobalPathResp routeList) {
if (null != routeList && routeList.getWayPointsList() != null && routeList.getWayPointsList().size() > 0) {
CallerLogger.d(M_SWEEPER + TAG, "onAutopilotRotting: " + SweeperCloudTaskUtils.printMessage(routeList));
DebugView.Companion.printInfoMsg("[MAP全局规划回调] 回调，getWayPointsList.Size=" + routeList.getWayPointsList().size());
// MAP返回路线信息，在1秒内返回了2次，这里加上数据过滤
long current = System.currentTimeMillis();
@@ -290,6 +292,7 @@ public class SweeperCloudTaskModel implements IMoGoSweeperFutianCloudTaskListene
if (StatusDescriptor.VR_MODE == descriptor) {
if (mControllerStatusCallback != null) {
mControllerStatusCallback.onVRModeChanged(isTrue);
DebugView.Companion.printInfoMsg("[VRMode变化] isVRMode=" + isTrue);
}
}
}
@@ -336,6 +339,12 @@ public class SweeperCloudTaskModel implements IMoGoSweeperFutianCloudTaskListene
CallerLogger.d(M_SWEEPER + TAG,
"messageType: " + messageType.getNumber() + " sysTime：" + sysTime + " reqNo：" + reqNo + " onSweeperFutianCloudTask：" + (taskInfo == null ? "null" : SweeperCloudTaskUtils.printMessage(taskInfo)) + " mSweeperTaskCallback：" + mSweeperTaskCallback);
DebugView.Companion.printInfoMsg("[云控]云端下发大任务，messageType=" + messageType.getNumber()
+ ", sysTime=" + sysTime
+ ", reqNo=" + reqNo
+ ", taskInfo=("
+ (taskInfo == null ? "null" : "taskId=" + taskInfo.getTaskId() + ", taskName=" + taskInfo.getTaskName() + ", taskStatus=" + taskInfo.getTaskStatus().name())
+ ")");
if (mSweeperTaskCallback != null) {
msgTypeAndReqNo.put(messageType.getNumber(), reqNo);
mSweeperTaskCallback.onSweeperCloudTask(messageType, taskInfo);
@@ -348,6 +357,12 @@ public class SweeperCloudTaskModel implements IMoGoSweeperFutianCloudTaskListene
CallerLogger.d(M_SWEEPER + TAG, "messageType: " + messageType.getNumber() + " sysTime：" + sysTime + " reqNo：" + reqNo + " " +
"onSweeperFutianCloudTaskConfirm：" + SweeperCloudTaskUtils.printMessage(taskConfirm));
DebugView.Companion.printInfoMsg("[云控]云端下发子任务确认，messageType=" + messageType.getNumber()
+ ", sysTime=" + sysTime
+ ", reqNo=" + reqNo
+ ", taskConfirm=("
+ (taskConfirm == null ? "null" : "taskId=" + taskConfirm.getTaskId() + ", subTaskId=" + taskConfirm.getSubTaskId() + ", isPop=" + taskConfirm.getIsPop())
+ ")");
if (mSweeperTaskCallback != null && taskConfirm != null) {
msgTypeAndReqNo.put(messageType.getNumber(), reqNo);
mSweeperTaskCallback.onSweeperCloudTaskConfirm(taskConfirm.getTaskId(), taskConfirm.getSubTaskId(), taskConfirm.getIsPop());
@@ -359,6 +374,12 @@ public class SweeperCloudTaskModel implements IMoGoSweeperFutianCloudTaskListene
SweeperTaskStatus.TaskStatusPush taskStatusPush) {
CallerLogger.d(M_SWEEPER + TAG, "messageType: " + messageType.getNumber() + " sysTime：" + sysTime + " reqNo：" + reqNo + " " +
"onSweeperFutianCloudTaskStatus：" + SweeperCloudTaskUtils.printMessage(taskStatusPush));
DebugView.Companion.printInfoMsg("[云控]云端下发子任务状态，messageType=" + messageType.getNumber()
+ ", sysTime=" + sysTime
+ ", reqNo=" + reqNo
+ ", taskStatusPush=("
+ (taskStatusPush == null ? "null" : "taskId=" + taskStatusPush.getTaskId() + ", subTaskId=" + taskStatusPush.getSubTaskId() + ", taskStatus=" + taskStatusPush.getTaskStatus().name())
+ ")");
if (mSweeperTaskCallback != null && taskStatusPush != null) {
msgTypeAndReqNo.put(messageType.getNumber(), reqNo);
mSweeperTaskCallback.onSweeperCloudTaskStatus(taskStatusPush.getTaskId(), taskStatusPush.getSubTaskId(), taskStatusPush.getTaskStatus());
@@ -370,6 +391,12 @@ public class SweeperCloudTaskModel implements IMoGoSweeperFutianCloudTaskListene
SweeperTaskStop.StopTaskReq stopTaskReq) {
CallerLogger.d(M_SWEEPER + TAG, "messageType: " + messageType.getNumber() + " sysTime：" + sysTime + " reqNo：" + reqNo + " " +
"onSweeperFutianCloudTaskStop：" + SweeperCloudTaskUtils.printMessage(stopTaskReq));
DebugView.Companion.printInfoMsg("[云控]云端请求pad结束大任务，messageType=" + messageType.getNumber()
+ ", sysTime=" + sysTime
+ ", reqNo=" + reqNo
+ ", stopTaskReq=("
+ (stopTaskReq == null ? "null" : "taskId=" + stopTaskReq.getTaskId() + ", type=" + stopTaskReq.getType() + ", isPop=" + stopTaskReq.getIsPop())
+ ")");
if (mSweeperTaskCallback != null && stopTaskReq != null) {
msgTypeAndReqNo.put(messageType.getNumber(), reqNo);
mSweeperTaskCallback.onSweeperCloudTaskStop(stopTaskReq.getTaskId(), stopTaskReq.getType(), stopTaskReq.getIsPop());
@@ -381,6 +408,12 @@ public class SweeperCloudTaskModel implements IMoGoSweeperFutianCloudTaskListene
SweeperTaskSuspendResume.SuspendResumeTaskResp suspendResumeTaskResp) {
CallerLogger.d(M_SWEEPER + TAG, "messageType: " + messageType.getNumber() + " sysTime：" + sysTime + " reqNo：" + reqNo + " " +
"onSweeperFutianCloudTaskSuspendResume：" + SweeperCloudTaskUtils.printMessage(suspendResumeTaskResp));
DebugView.Companion.printInfoMsg("[云控]pad请求挂起/恢复任务云端回执，messageType=" + messageType.getNumber()
+ ", sysTime=" + sysTime
+ ", reqNo=" + reqNo
+ ", suspendResumeTaskResp=("
+ (suspendResumeTaskResp == null ? "null" : "taskId=" + suspendResumeTaskResp.getTaskId() + ", subTaskId=" + suspendResumeTaskResp.getSubTaskId() + ", code=" + suspendResumeTaskResp.getCode().name())
+ ")");
if (mSweeperTaskCallback != null && suspendResumeTaskResp != null) {
msgTypeAndReqNo.put(messageType.getNumber(), reqNo);
mSweeperTaskCallback.onSweeperCloudTaskSuspendResume(messageType, suspendResumeTaskResp.getTaskId(),
@@ -393,6 +426,12 @@ public class SweeperCloudTaskModel implements IMoGoSweeperFutianCloudTaskListene
SweeperBootable.IsBootableResp isBootableResp) {
CallerLogger.d(M_SWEEPER + TAG, "messageType: " + messageType.getNumber() + " sysTime：" + sysTime + " reqNo：" + reqNo + " " +
"onSweeperFutianCloudBootable：" + SweeperCloudTaskUtils.printMessage(isBootableResp));
DebugView.Companion.printInfoMsg("[云控]pad请求启自驾云端回执，messageType=" + messageType.getNumber()
+ ", sysTime=" + sysTime
+ ", reqNo=" + reqNo
+ ", isBootableResp=("
+ (isBootableResp == null ? "null" : "taskId=" + isBootableResp.getTaskId() + ", subTaskId=" + isBootableResp.getSubTaskId())
+ ")");
if (mSweeperTaskCallback != null && isBootableResp != null) {
msgTypeAndReqNo.put(messageType.getNumber(), reqNo);
mSweeperTaskCallback.onSweeperCloudBootable(isBootableResp.getTaskId(), isBootableResp.getSubTaskId(), isBootableResp);
@@ -404,6 +443,12 @@ public class SweeperCloudTaskModel implements IMoGoSweeperFutianCloudTaskListene
SweeperBigTaskStatus.BigTaskStatusPush bigTaskStatusPush) {
CallerLogger.d(M_SWEEPER + TAG, "messageType: " + messageType.getNumber() + " sysTime：" + sysTime + " reqNo：" + reqNo + " " +
"onSweeperFutianCloudBigTaskStatus：" + SweeperCloudTaskUtils.printMessage(bigTaskStatusPush));
DebugView.Companion.printInfoMsg("[云控]云端下发大任务状态，messageType=" + messageType.getNumber()
+ ", sysTime=" + sysTime
+ ", reqNo=" + reqNo
+ ", bigTaskStatusPush=("
+ (bigTaskStatusPush == null ? "null" : "taskId=" + bigTaskStatusPush.getTaskId() + ", taskStatus=" + bigTaskStatusPush.getTaskStatus().name() + ", isPop=" + bigTaskStatusPush.getIsPop())
+ ")");
if (mSweeperTaskCallback != null && bigTaskStatusPush != null) {
msgTypeAndReqNo.put(messageType.getNumber(), reqNo);
mSweeperTaskCallback.onSweeperCloudBigTaskStatus(bigTaskStatusPush.getTaskId(), bigTaskStatusPush.getTaskStatus(), bigTaskStatusPush.getIsPop());
@@ -415,6 +460,12 @@ public class SweeperCloudTaskModel implements IMoGoSweeperFutianCloudTaskListene
@Nullable SweeperTaskCloudSuspendResume.BigTaskActionPush bigTaskActionPush) {
CallerLogger.d(M_SWEEPER + TAG, "messageType: " + messageType.getNumber() + " sysTime：" + sysTime + " reqNo：" + reqNo + " " +
"onSweeperFutianCloudTaskCloudSuspendResume：" + SweeperCloudTaskUtils.printMessage(bigTaskActionPush));
DebugView.Companion.printInfoMsg("[云控]云端下发暂停/恢复指令，messageType=" + messageType.getNumber()
+ ", sysTime=" + sysTime
+ ", reqNo=" + reqNo
+ ", bigTaskActionPush=("
+ (bigTaskActionPush == null ? "null" : "taskId=" + bigTaskActionPush.getTaskId() + ", action=" + bigTaskActionPush.getAction() + ", isPop=" + bigTaskActionPush.getIsPop())
+ ")");
if (mSweeperTaskCallback != null && bigTaskActionPush != null) {
msgTypeAndReqNo.put(messageType.getNumber(), reqNo);
mSweeperTaskCallback.onSweeperCloudBigTaskSuspendResume(bigTaskActionPush.getTaskId(), bigTaskActionPush.getAction(), bigTaskActionPush.getIsPop());
@@ -435,6 +486,7 @@ public class SweeperCloudTaskModel implements IMoGoSweeperFutianCloudTaskListene
if (mSweeperTaskCallback != null) {
mSweeperTaskCallback.onSweeperFutianCleanSystemState(cleanSystemState);
}
DebugView.Companion.printInfoMsg("[域控]接收到上装系统状态并更新");
}
@Override
@@ -458,6 +510,7 @@ public class SweeperCloudTaskModel implements IMoGoSweeperFutianCloudTaskListene
// CallerLogger.INSTANCE.d(M_SWEEPER + TAG,
// "mSubTaskType：" + mSubTaskType + "+ onSweeperFutianTaskIndexData：" + printMessage(roboSweeperTaskIndex));
// handleWeltData(roboSweeperTaskIndex);
// DebugView.Companion.printInfoMsg("[域控]接收到贴边数据并更新");
}
/**
@@ -538,6 +591,9 @@ public class SweeperCloudTaskModel implements IMoGoSweeperFutianCloudTaskListene
getAutoPilotControlManager().sendSweeperStartTaskResp(reqNo, startTaskResp);
CallerLogger.d(M_SWEEPER + TAG,
"sendSweeperStartTaskResp:" + SweeperCloudTaskUtils.printMessage(startTaskResp) + " reqNo:" + reqNo + " messageType:" + AiCloudTask.MessageType.CloudPushTask.getNumber());
DebugView.Companion.printInfoMsg("[云控]pad发送接收 云端下发大任务信息 回执给云端，taskId=" + taskId
+ ", StartTaskCode=" + code
+ ", reqNo=" + reqNo);
}
/**
@@ -551,9 +607,13 @@ public class SweeperCloudTaskModel implements IMoGoSweeperFutianCloudTaskListene
builder.setCode(code);
SweeperTaskConfirm.TaskConfirmResp taskConfirmResp = builder.build();
String reqNo = msgTypeAndReqNo.get(AiCloudTask.MessageType.CloudPushTaskConfirm.getNumber());
getAutoPilotControlManager().sendSweeperTaskConfirmResp(reqNo, taskConfirmResp);
CallerLogger.d(M_SWEEPER + TAG,
"sendSweeperTaskConfirmResp" + SweeperCloudTaskUtils.printMessage(taskConfirmResp) + " reqNo:" + reqNo + " messageType:" + AiCloudTask.MessageType.CloudPushTaskConfirm.getNumber());
getAutoPilotControlManager().sendSweeperTaskConfirmResp(reqNo, taskConfirmResp);
DebugView.Companion.printInfoMsg("[云控]pad发送接收 云端下发子任务pad确认 回执给云端，taskId=" + taskId
+ ", subTaskId=" + subTaskId
+ ", TaskConfirmCode=" + code
+ ", reqNo=" + reqNo);
}
/**
@@ -573,6 +633,9 @@ public class SweeperCloudTaskModel implements IMoGoSweeperFutianCloudTaskListene
CallerLogger.d(M_SWEEPER + TAG,
"sendSweeperStopTaskResp" + SweeperCloudTaskUtils.printMessage(stopTaskResp) + " reqNo:" + reqNo + " messageType:" + AiCloudTask.MessageType.CloudPushTaskStop.getNumber());
getAutoPilotControlManager().sendSweeperStopTaskResp(reqNo, stopTaskResp);
DebugView.Companion.printInfoMsg("[云控]pad发送接收 云端请求pad结束大任务 回执给云端，taskId=" + taskId
+ ", StopTaskCode=" + code
+ ", reqNo=" + reqNo);
}
/**
@@ -594,6 +657,10 @@ public class SweeperCloudTaskModel implements IMoGoSweeperFutianCloudTaskListene
CallerLogger.d(M_SWEEPER + TAG,
"sendSweeperAutopilotBootable" + SweeperCloudTaskUtils.printMessage(isBootable) + " reqNo:" + reqNo + " messageType:" + AiCloudTask.MessageType.PadSendBootable.getNumber());
getAutoPilotControlManager().sendSweeperAutopilotBootable(reqNo, isBootable);
DebugView.Companion.printInfoMsg("[云控]pad发送 请求进入自动驾驶 给云端，taskId=" + taskId
+ ", subTaskId=" + subTaskId
+ ", lineId=" + lineId
+ ", reqNo=" + reqNo);
//SweeperCloudTaskUtils.mockSendCloudBootable();
}
@@ -613,6 +680,9 @@ public class SweeperCloudTaskModel implements IMoGoSweeperFutianCloudTaskListene
CallerLogger.d(M_SWEEPER + TAG,
"sendSweeperSuspendResumeTaskResp" + SweeperCloudTaskUtils.printMessage(resp) + " reqNo:" + reqNo + " messageType:" + AiCloudTask.MessageType.CloudPushTaskSuspendResume);
getAutoPilotControlManager().sendSweeperCloudSuspendResumeTaskResp(reqNo, resp);
DebugView.Companion.printInfoMsg("[云控]pad发送接收 云端下发大任务暂停/恢复 回执给云端，taskId=" + taskId
+ ", SuspendResumeCode=" + code
+ ", reqNo=" + reqNo);
}
public CallerAutoPilotControlManager getAutoPilotControlManager() {
@@ -630,7 +700,9 @@ public class SweeperCloudTaskModel implements IMoGoSweeperFutianCloudTaskListene
@Override
public void onAutopilotArriveAtStation(@Nullable MessagePad.ArrivalNotification arrivalNotification) {
DebugView.Companion.printInfoMsg("[MAP到站通知] 上报到站，endLocation=("
+ ((arrivalNotification == null || arrivalNotification.getEndLocation() == null) ? "null" : arrivalNotification.getEndLocation().toString())
+ ")");
}
@Override
@@ -651,6 +723,9 @@ public class SweeperCloudTaskModel implements IMoGoSweeperFutianCloudTaskListene
getCurrentTask();
}, 10000);
}
DebugView.Companion.printInfoMsg(
"[域控连接状态变化] status=" + status
+ ", reason=" + reason);
//CallerLogger.d(M_SWEEPER + TAG, "onAutopilotIpcConnectStatusChanged status:" + status + " reason：" + reason);
}
@@ -678,6 +753,7 @@ public class SweeperCloudTaskModel implements IMoGoSweeperFutianCloudTaskListene
public void onSweeperFutianCloudTaskUnknown(@NonNull byte[] bytes) {
String string = new String(bytes, StandardCharsets.UTF_8);
CallerLogger.d(M_SWEEPER + TAG, "onSweeperFutianCloudTaskUnknown:" + string);
DebugView.Companion.printInfoMsg("[云控]接收到云端未知类型消息，Unknown=" + string);
}
@Override
@@ -689,12 +765,16 @@ public class SweeperCloudTaskModel implements IMoGoSweeperFutianCloudTaskListene
}
switch (state) {
case IMoGoAutopilotStatusListener.STATUS_AUTOPILOT_DISABLE://不可自动驾驶
DebugView.Companion.printInfoMsg("[自驾状态变化] afterValue=STATUS_AUTOPILOT_DISABLE，meaning=不可自动驾驶");
break;
case IMoGoAutopilotStatusListener.STATUS_AUTOPILOT_ENABLE://人工驾驶
DebugView.Companion.printInfoMsg("[自驾状态变化] afterValue=STATUS_AUTOPILOT_ENABLE，meaning=可自动驾驶，人工干预状态");
break;
case IMoGoAutopilotStatusListener.STATUS_AUTOPILOT_RUNNING://自动驾驶中
DebugView.Companion.printInfoMsg("[自驾状态变化] afterValue=STATUS_AUTOPILOT_RUNNING，meaning=自动驾驶中");
break;
case IMoGoAutopilotStatusListener.STATUS_PARALLEL_DRIVING://平行驾驶
DebugView.Companion.printInfoMsg("[自驾状态变化] afterValue=STATUS_PARALLEL_DRIVING，meaning=平行驾驶中");
break;
default:
break;

137
OCH/sweeper/driver/src/main/java/com/mogo/och/sweeper/common/view/DebugView.kt Normal file
View File

@@ -0,0 +1,137 @@
package com.mogo.och.sweeper.common.view
import android.content.BroadcastReceiver
import android.content.Context
import android.content.Intent
import android.content.IntentFilter
import android.text.SpannableString
import android.text.Spanned
import android.text.method.ScrollingMovementMethod
import android.text.style.ForegroundColorSpan
import android.util.AttributeSet
import android.view.LayoutInflater
import android.view.View
import android.widget.LinearLayout
import android.widget.TextView
import androidx.lifecycle.ProcessLifecycleOwner
import androidx.lifecycle.lifecycleScope
import androidx.localbroadcastmanager.content.LocalBroadcastManager
import com.mogo.commons.utils.MogoAnalyticUtils
import com.mogo.eagle.core.data.config.FunctionBuildConfig
import com.mogo.eagle.core.function.main.MainMoGoApplication
import com.mogo.eagle.core.utilcode.util.UiThreadHandler
import com.mogo.och.common.module.utils.DateTimeUtil
import com.mogo.och.sweeper.R
import kotlinx.android.synthetic.main.sweeper_debug_view_content.view.currentSweeperModeTextView
import kotlinx.android.synthetic.main.sweeper_debug_view_content.view.debugLogHistoryTextView
import kotlinx.coroutines.Dispatchers
import kotlinx.coroutines.launch
class DebugView @JvmOverloads constructor(
context: Context, attrs: AttributeSet? = null, defStyleAttr: Int = 0, defStyleRes: Int = 0
) : LinearLayout(context, attrs, defStyleAttr, defStyleRes) {
companion object {
const val TAG = "DebugView"
private const val ANALYTICS_EVENT_TYPE_DRIVER_SWEEPER_OPERATION_PROCESS_KEY_NODE_LOG =
"och.driver.sweeper.operation.process.key.node.log"
const val BROADCAST_ACTION = "com.mogo.och.driver.debugview.show"
const val BROADCAST_DATA_SHOW = "isShow"
private var logHistoryTextView: TextView? = null
fun printInfoMsg(msg: String) {
printMsg("Info $msg", MainMoGoApplication.getApp().getColor(R.color.background_info))
trackEvent("Info", msg)
}
fun printWarnMsg(msg: String) {
printMsg("Warn $msg", MainMoGoApplication.getApp().getColor(R.color.background_warn))
trackEvent("Warn", msg)
}
fun printErrorMsg(msg: String) {
printMsg("Error $msg", MainMoGoApplication.getApp().getColor(R.color.background_error))
trackEvent("Error", msg)
}
private fun printMsg(msg: String, textColor: Int) {
logHistoryTextView?.also {
val msg = "${currentDateTimeString()} $msg"
val spannableMsg = SpannableString(msg)
spannableMsg.setSpan(
ForegroundColorSpan(textColor), 0, msg.length, Spanned.SPAN_EXCLUSIVE_EXCLUSIVE
)
UiThreadHandler.post({
it.append("\n")
it.append(spannableMsg)
val offset: Int = it.lineCount * it.lineHeight
if (offset > it.height) {
it.scrollTo(0, offset - it.height)
}
}, UiThreadHandler.MODE.QUEUE)
}
}
/**
* 上报埋点
*/
private fun trackEvent(level: String, msg: String) {
ProcessLifecycleOwner.get().lifecycleScope.launch(Dispatchers.IO) {
val map: MutableMap<String, Any> = HashMap()
map["level"] = level
map["msg"] = msg
MogoAnalyticUtils.track(ANALYTICS_EVENT_TYPE_DRIVER_SWEEPER_OPERATION_PROCESS_KEY_NODE_LOG, map)
}
}
private fun currentDateTimeString(): String {
return DateTimeUtil.formatCalendarToString(
DateTimeUtil.formatLongToCalendar(System.currentTimeMillis()),
DateTimeUtil.yyyy_MM_dd_HH_mm_ss
)
}
}
private val broadcastReceiver = object : BroadcastReceiver() {
override fun onReceive(context: Context, intent: Intent) {
if (BROADCAST_ACTION == intent.action) {
val isShow = intent.getBooleanExtra(BROADCAST_DATA_SHOW, false)
visibility = if (isShow) VISIBLE else GONE
}
}
}
init {
initBroadcastReceiver()
LayoutInflater.from(context).inflate(R.layout.sweeper_debug_view_content, this, true)
debugLogHistoryTextView.movementMethod = ScrollingMovementMethod.getInstance()
visibility = GONE
logHistoryTextView = debugLogHistoryTextView
}
private fun initBroadcastReceiver() {
val intentFilter = IntentFilter()
intentFilter.addAction(BROADCAST_ACTION)
LocalBroadcastManager.getInstance(context).registerReceiver(broadcastReceiver, intentFilter)
}
fun toggleDebugView() {
visibility = if (visibility == View.VISIBLE) View.GONE
else View.VISIBLE
}
override fun onAttachedToWindow() {
super.onAttachedToWindow()
initView()
}
override fun onDetachedFromWindow() {
super.onDetachedFromWindow()
}
fun initView() {
currentSweeperModeTextView.text = "当前清扫模式：${FunctionBuildConfig.sweeperCurrentMode}"
}
}

46
OCH/sweeper/driver/src/main/java/com/mogo/och/sweeper/operate/fragment/BaseSweeperOperateTabFragment.java
View File

@@ -1,5 +1,6 @@
package com.mogo.och.sweeper.operate.fragment;
import android.content.Intent;
import android.os.Bundle;
import android.view.LayoutInflater;
import android.view.MotionEvent;
@@ -7,12 +8,17 @@ import android.view.View;
import android.widget.FrameLayout;
import android.widget.ImageView;
import androidx.annotation.NonNull;
import androidx.annotation.Nullable;
import androidx.constraintlayout.widget.Group;
import androidx.fragment.app.FragmentTransaction;
import androidx.localbroadcastmanager.content.LocalBroadcastManager;
import com.amap.api.maps.model.LatLng;
import com.amap.api.navi.model.NaviLatLng;
import com.mogo.commons.mvp.IView;
import com.mogo.commons.mvp.MvpFragment;
import com.mogo.commons.mvp.Presenter;
import com.mogo.eagle.core.function.api.autopilot.IMoGoAutopilotStatusListener;
import com.mogo.eagle.core.function.call.autopilot.CallerAutopilotRecordListenerManager;
import com.mogo.eagle.core.function.call.devatools.CallerDevaToolsManager;
import com.mogo.eagle.core.function.call.hmi.CallerHmiManager;
@@ -35,18 +41,14 @@ import com.mogo.och.sweeper.common.callback.IWeltMapSwitchToSmallCallback;
import com.mogo.och.sweeper.common.database.bean.WeltDataBean;
import com.mogo.och.sweeper.common.fragment.SweeperAmapNaviFragment;
import com.mogo.och.sweeper.common.fragment.WeltMapOverViewFragment;
import com.mogo.och.sweeper.operate.view.SweeperOperateTrafficDataView;
import com.mogo.och.sweeper.common.view.DebugView;
import com.mogo.och.sweeper.common.view.WeltSmallMapView;
import com.mogo.och.sweeper.operate.view.SweeperOperateTrafficDataView;
import java.math.BigDecimal;
import java.math.RoundingMode;
import java.util.ArrayList;
import androidx.annotation.NonNull;
import androidx.annotation.Nullable;
import androidx.constraintlayout.widget.Group;
import androidx.fragment.app.FragmentTransaction;
/**
* 网约车基础Fragment，主要负责布局通用界面，处理站点面板和通话面板互斥情况
* <p>
@@ -129,23 +131,21 @@ public abstract class BaseSweeperOperateTabFragment<V extends IView, P extends P
setMessageBox();
//设置左下角四个按钮监听事件
setBottomBtnListener();
// 模拟 不可自动驾驶，目前场景是刚开机，adas还未和工控机连接
findViewById(R.id.btnAutopilotDisable).setOnClickListener(view ->
debugAutoPilotStatus(IMoGoAutopilotStatusListener.STATUS_AUTOPILOT_DISABLE)
//打开调试面板
findViewById(R.id.btnOpenDebugView).setOnClickListener(view -> {
Intent intent = new Intent();
intent.setAction(DebugView.BROADCAST_ACTION);
intent.putExtra(DebugView.BROADCAST_DATA_SHOW, true);
LocalBroadcastManager.getInstance(requireContext()).sendBroadcast(intent);
}
);
// 模拟 可自动驾驶，工控机连接正常，且处于人工干预状态
findViewById(R.id.btnAutopilotEnable).setOnClickListener(view ->
debugAutoPilotStatus(IMoGoAutopilotStatusListener.STATUS_AUTOPILOT_ENABLE)
);
// 模拟 自动驾驶能力，自动驾驶中，可能是停车，可能是行进，但是是机器在处理车的前进后退，不是人
findViewById(R.id.btnAutopilotRunning).setOnClickListener(view ->
debugAutoPilotStatus(IMoGoAutopilotStatusListener.STATUS_AUTOPILOT_RUNNING)
);
// 模拟 结束子任务
findViewById(R.id.btnEndTask).setOnClickListener(view ->
debugEndSubTask()
//关闭调试面板
findViewById(R.id.btnCloseDebugView).setOnClickListener(view -> {
Intent intent = new Intent();
intent.setAction(DebugView.BROADCAST_ACTION);
intent.putExtra(DebugView.BROADCAST_DATA_SHOW, false);
LocalBroadcastManager.getInstance(requireContext()).sendBroadcast(intent);
}
);
mTrafficDataView.setOnLongClickListener(new View.OnLongClickListener() {
@Override

107
OCH/sweeper/driver/src/main/java/com/mogo/och/sweeper/operate/model/SweeperOperateTaskModel.java
View File

@@ -3,6 +3,8 @@ package com.mogo.och.sweeper.operate.model;
import static com.mogo.eagle.core.utilcode.mogo.logger.scene.SceneConstant.M_SWEEPER;
import android.content.Context;
import android.content.Intent;
import android.net.ConnectivityManager;
import android.util.Log;
import androidx.annotation.NonNull;
@@ -12,6 +14,8 @@ import com.amap.api.maps.model.LatLng;
import com.elegant.network.utils.GsonUtil;
import com.mogo.aicloud.services.socket.IMogoOnMessageListener;
import com.mogo.commons.AbsMogoApplication;
import com.mogo.commons.module.intent.IMogoIntentListener;
import com.mogo.commons.module.intent.IntentManager;
import com.mogo.commons.module.status.IMogoStatusChangedListener;
import com.mogo.commons.module.status.MogoStatusManager;
import com.mogo.commons.module.status.StatusDescriptor;
@@ -40,20 +44,21 @@ import com.mogo.och.common.module.utils.PinYinUtil;
import com.mogo.och.common.module.utils.ToastUtilsOch;
import com.mogo.och.common.module.voice.VoiceNotice;
import com.mogo.och.sweeper.R;
import com.mogo.och.sweeper.common.bean.SweeperRoutePlanningUpdateReqBean;
import com.mogo.och.sweeper.common.callback.ISweeperADASStatusCallback;
import com.mogo.och.sweeper.common.constant.SweeperConst;
import com.mogo.och.sweeper.common.util.SweeperAnalyticsManager;
import com.mogo.och.sweeper.common.view.DebugView;
import com.mogo.och.sweeper.operate.bean.BaseResponse;
import com.mogo.och.sweeper.operate.bean.SubInfo;
import com.mogo.och.sweeper.operate.bean.SweeperMainTaskBean;
import com.mogo.och.sweeper.common.bean.SweeperRoutePlanningUpdateReqBean;
import com.mogo.och.sweeper.operate.bean.SweeperSubTaskBean;
import com.mogo.och.sweeper.operate.bean.SweeperSubTaskDetailBean;
import com.mogo.och.sweeper.common.callback.ISweeperADASStatusCallback;
import com.mogo.och.sweeper.operate.callback.ISweeperControllerStatusCallback;
import com.mogo.och.sweeper.operate.callback.ISweeperOperateTaskCallback;
import com.mogo.och.sweeper.operate.constant.SubTaskTypeEnum;
import com.mogo.och.sweeper.common.constant.SweeperConst;
import com.mogo.och.sweeper.operate.constant.TaskStatusEnum;
import com.mogo.och.sweeper.operate.net.SweeperOperateServiceManager;
import com.mogo.och.sweeper.common.util.SweeperAnalyticsManager;
import com.mogo.och.sweeper.operate.util.SweeperTrajectoryManager;
import org.jetbrains.annotations.NotNull;
@@ -137,6 +142,9 @@ public class SweeperOperateTaskModel {
OCHSocketMessageManager.msgMonitorType,
mMogoOnMessageListener);
IntentManager.getInstance()
.registerIntentListener(ConnectivityManager.CONNECTIVITY_ACTION, mNetWorkIntentListener);
//2022.1.28
// 调用Disposable.dispose() 时候会出现InterruptedException 导致出现崩溃
// The exception could not be delivered to the consumer because it has already canceled/disposed
@@ -191,7 +199,8 @@ public class SweeperOperateTaskModel {
@Override
public void onAutopilotRotting(MessagePad.GlobalPathResp routeList) {
if (null != routeList && routeList.getWayPointsList()!=null&&routeList.getWayPointsList().size() > 0) {
if (null != routeList && routeList.getWayPointsList() != null && routeList.getWayPointsList().size() > 0) {
DebugView.Companion.printInfoMsg("[MAP全局规划回调] 回调，getWayPointsList.Size=" + routeList.getWayPointsList().size());
if (mCurrentSubTaskDetail.getLineId() != mLineId) {//判断是否同一条路线
mLineId = mCurrentSubTaskDetail.getLineId();
points.addAll(coordinateConverterWgsToGcjList(mContext, routeList.getWayPointsList()));
@@ -216,7 +225,7 @@ public class SweeperOperateTaskModel {
*/
public void clearRouteList() {
points.clear();
mSubTaskType=0;
mSubTaskType = 0;
}
/**
@@ -270,10 +279,26 @@ public class SweeperOperateTaskModel {
}
CallerLogger.d(M_SWEEPER + TAG, "onMsgReceived = " + obj.getMessage());
OCHSocketMessageManager.INSTANCE.pushAppOperationalMsgBox(obj.getPushTimeStamp(),
obj.getMessage(),OCHSocketMessageManager.OPERATION_SYSTEM);
obj.getMessage(), OCHSocketMessageManager.OPERATION_SYSTEM);
}
};
//监听网络变化，避免启动机器时无网导致无法更新信息
private final IMogoIntentListener mNetWorkIntentListener = new IMogoIntentListener() {
@Override
public void onIntentReceived(String intentStr, Intent intent) {
CallerLogger.d(TAG, "mNetWorkIntentListener: onIntentReceived=" + intentStr);
if ((ConnectivityManager.CONNECTIVITY_ACTION.equals(intentStr))) {
if (NetworkUtils.isConnected(mContext)) {
DebugView.Companion.printInfoMsg("[网络状态变化] isConnected=true");
} else {
DebugView.Companion.printErrorMsg("[网络状态变化] isConnected=false");
}
}
}
};
private final IMogoStatusChangedListener mMogoStatusChangedListener = new IMogoStatusChangedListener() {
// VR mode变更回调
@Override
@@ -281,6 +306,7 @@ public class SweeperOperateTaskModel {
if (StatusDescriptor.VR_MODE == descriptor) {
if (mControllerStatusCallback != null) {
mControllerStatusCallback.onVRModeChanged(isTrue);
DebugView.Companion.printInfoMsg("[VRMode变化] isVRMode=" + isTrue);
}
}
}
@@ -294,6 +320,7 @@ public class SweeperOperateTaskModel {
@Override
public void onStartAutopilotFailure(@NotNull String startFailedCode, @NonNull String startFailedMessage) {
DebugView.Companion.printInfoMsg("[启自驾] 执行失败，code=" + startFailedCode + ", msg=" + startFailedMessage);
SweeperAnalyticsManager.getInstance().triggerStartAutopilotFailureEventByAdas(startFailedCode, startFailedMessage);
if (mADASStatusCallback != null && !FunctionBuildConfig.isDemoMode) {
CallerLogger.e(M_SWEEPER + TAG, "mAdasStartFailureListener = " + startFailedMessage);
@@ -308,7 +335,7 @@ public class SweeperOperateTaskModel {
public void onChassisLocationGCJ02(@Nullable MogoLocation gnssInfo) {
if (null == gnssInfo) return;
CallerLogger.e(M_SWEEPER + TAG, "高德定位到站：mLongitude = " + gnssInfo.getLongitude()
+ ", mLatitude=" + gnssInfo.getLatitude() + ", mSubTaskType=" + mSubTaskType +", mIsSubTaskWorking=" + mIsSubTaskWorking
+ ", mLatitude=" + gnssInfo.getLatitude() + ", mSubTaskType=" + mSubTaskType + ", mIsSubTaskWorking=" + mIsSubTaskWorking
+ ", isAutopilotSubTaskArriveEndSite=" + isAutopilotSubTaskArriveEndSite
);
if (mControllerStatusCallback != null) {
@@ -362,6 +389,9 @@ public class SweeperOperateTaskModel {
if (distance <= SweeperConst.ARRIVE_AT_END_STATION_DISTANCE) {
CallerLogger.d(M_SWEEPER + TAG, "行程日志-judgeArrivedStation() distance = " + distance
+ " to " + mCurrentSubTaskDetail.getEndSiteName());
DebugView.Companion.printInfoMsg(
"[自车定位围栏] 触发围栏，围栏范围：" + SweeperConst.ARRIVE_AT_END_STATION_DISTANCE + "米"
);
isAutopilotSubTaskArriveEndSite = true;
//到达子任务终点 结束子任务
subTaskEnd(mIsFirstSubtask, mIsLastSubtask, mSubTaskId); //无自动驾驶到终点信息传null
@@ -384,9 +414,11 @@ public class SweeperOperateTaskModel {
* @param isRestart
*/
private void startAutopilot(boolean isRestart) {
DebugView.Companion.printInfoMsg("[启自驾] startAutoPilot");
if (!FunctionBuildConfig.isDemoMode && !OCHAdasAbilityManager.getInstance().getAutopilotAbilityStatus()) {
ToastUtils.showLong(OCHAdasAbilityManager.getInstance().getAutopilotUnAbilityReason() +
", 请稍候重试");
DebugView.Companion.printErrorMsg("[启自驾]" + OCHAdasAbilityManager.getInstance().getAutopilotUnAbilityReason());
triggerUnableStartAPReasonEvent();
return;
}
@@ -395,9 +427,11 @@ public class SweeperOperateTaskModel {
AutopilotControlParameters parameters = initAutopilotControlParameters();
if (null == parameters) {
CallerLogger.e(M_SWEEPER + TAG, "行程日志-AutopilotControlParameters is empty.");
DebugView.Companion.printErrorMsg("[启自驾]行程日志-AutopilotControlParameters is empty");
return;
}
CallerAutoPilotControlManager.INSTANCE.startAutoPilot(parameters);
DebugView.Companion.printInfoMsg("[启自驾] 调用成功");
CallerLogger.d(M_SWEEPER + TAG, "行程日志-开启自动驾驶====" + GsonUtil.jsonFromObject(parameters)
+ " startLatLon=" + parameters.startName + "，endLatLon=" + parameters.endName +
"isRestart = " + isRestart);
@@ -444,6 +478,9 @@ public class SweeperOperateTaskModel {
public void onArriveTaskEnd(MessagePad.ArrivalNotification data) {
//MAP 280 每隔100ms左右返回一次到站， 导致在到达中间站后再次滑动出发后会有时间差，收到一次到站，出现问题
//此处比对 自驾告诉的子任务终点坐标和本地应到子任务终点坐标， 一致时才表示子任务完成
DebugView.Companion.printInfoMsg("[MAP到站通知] 上报到站，endLocation=("
+ ((data == null || data.getEndLocation() == null) ? "null" : data.getEndLocation().toString())
+ ")");
if (data != null && data.getEndLocation() != null && mCurrentSubTaskDetail != null) {
CallerLogger.d(M_SWEEPER + TAG, "MAP到站通知：" + mCurrentSubTaskDetail.getEndSiteName() + " 经度："
+ data.getEndLocation().getLongitude() + " 纬度：" + data.getEndLocation().getLatitude());
@@ -494,7 +531,6 @@ public class SweeperOperateTaskModel {
* 将轨迹文件信息同步到鹰眼
*/
private void updateAutopilotControlParameters() {
AutopilotControlParameters parameters = initAutopilotControlParameters();
if (null == parameters) {
CallerLogger.e(M_SWEEPER + TAG, "AutopilotControlParameters is empty.");
@@ -503,11 +539,13 @@ public class SweeperOperateTaskModel {
CallerLogger.d(M_SWEEPER + TAG, "AutopilotControlParameters" + GsonUtil.jsonFromObject(parameters));
CallerLogger.d(M_SWEEPER + TAG, "AutopilotControlParameters is update.");
CallerAutoPilotStatusListenerManager.INSTANCE.updateAutopilotControlParameters(parameters);
DebugView.Companion.printInfoMsg("[启自驾] updateAutopilotControlParameters调用成功");
}
private void clearAutopilotControlParameters() {
CallerLogger.d(M_SWEEPER + TAG, "AutopilotControlParameters is clear.");
CallerAutoPilotStatusListenerManager.INSTANCE.updateAutopilotControlParameters(null);
DebugView.Companion.printInfoMsg("[启自驾] clearAutopilotControlParameters调用成功");
}
private AutopilotControlParameters initAutopilotControlParameters() {
@@ -538,10 +576,12 @@ public class SweeperOperateTaskModel {
* 获取当前正在执行的任务
*/
public void getCurrentTask() {
DebugView.Companion.printInfoMsg("[查询当前任务] 请求中");
SweeperOperateServiceManager.getCurrentTask(mContext, new OchCommonServiceCallback<BaseResponse<SweeperSubTaskBean>>() {
@Override
public void onSuccess(BaseResponse<SweeperSubTaskBean> data) {
CallerLogger.d(M_SWEEPER + TAG, "getCurrentTask：" + GsonUtil.jsonFromObject(data));
DebugView.Companion.printInfoMsg("[查询当前任务] 请求success");
if (mSweeperTaskCallback != null && data != null) {
SweeperSubTaskBean sweeperSubTaskBean = data.getData();
if (sweeperSubTaskBean != null && sweeperSubTaskBean.getSubList() != null && sweeperSubTaskBean.getSubList().size() > 0) {
@@ -556,8 +596,10 @@ public class SweeperOperateTaskModel {
public void onError() {
if (!NetworkUtils.isConnected(mContext)) {
ToastUtils.showShort(mContext.getString(R.string.network_error_tip));
DebugView.Companion.printErrorMsg("[查询当前任务] 请求error," + mContext.getString(R.string.network_error_tip));
} else {
ToastUtils.showShort(mContext.getString(R.string.request_error_tip));
DebugView.Companion.printErrorMsg("[查询当前任务] 请求error," + mContext.getString(R.string.request_error_tip));
}
}
@@ -566,8 +608,10 @@ public class SweeperOperateTaskModel {
if (ToastUtilsOch.isCustomFastClick(5000)) {
if (!NetworkUtils.isConnected(mContext)) {
ToastUtils.showShort("网络异常，请稍后重试");
DebugView.Companion.printErrorMsg("[查询当前任务] 请求failed, 网络异常，请稍后重试");
} else {
ToastUtils.showShort(msg);
DebugView.Companion.printErrorMsg("[查询当前任务] 请求failed, " + msg);
}
}
}
@@ -578,10 +622,12 @@ public class SweeperOperateTaskModel {
* 获取主任务列表
*/
public void getMainTaskList(boolean refresh) {
DebugView.Companion.printInfoMsg("[查询主任务] 请求中");
SweeperOperateServiceManager.getMainTaskList(mContext, new OchCommonServiceCallback<BaseResponse<List<SweeperMainTaskBean>>>() {
@Override
public void onSuccess(BaseResponse<List<SweeperMainTaskBean>> data) {
CallerLogger.d(M_SWEEPER + TAG, "getMainTaskList：" + GsonUtil.jsonFromObject(data));
DebugView.Companion.printInfoMsg("[查询主任务] 请求success");
if (mSweeperTaskCallback != null && data != null && data.getCode() == 0) {
List<SweeperMainTaskBean> list = data.getData();
mSweeperTaskCallback.setMainTaskList(list, refresh);
@@ -593,8 +639,10 @@ public class SweeperOperateTaskModel {
if (ToastUtilsOch.isCustomFastClick(5000)) {
if (!NetworkUtils.isConnected(mContext)) {
ToastUtils.showShort("网络异常，请稍后重试");
DebugView.Companion.printErrorMsg("[查询主任务] 请求error, 网络异常，请稍后重试");
} else {
ToastUtils.showShort(msg);
DebugView.Companion.printErrorMsg("[查询主任务] 请求error, " + msg);
}
}
}
@@ -603,8 +651,10 @@ public class SweeperOperateTaskModel {
public void onError() {
if (!NetworkUtils.isConnected(mContext)) {
ToastUtils.showShort(mContext.getString(R.string.network_error_tip));
DebugView.Companion.printErrorMsg("[查询主任务] 请求failed, " + mContext.getString(R.string.network_error_tip));
} else {
ToastUtils.showShort(mContext.getString(R.string.request_error_tip));
DebugView.Companion.printErrorMsg("[查询主任务] 请求failed, " + mContext.getString(R.string.request_error_tip));
}
}
});
@@ -614,10 +664,12 @@ public class SweeperOperateTaskModel {
* 获取子任务列表
*/
public void getSubTaskList(int taskId, SweeperSubTaskBean sweeperSubTaskBean) {
DebugView.Companion.printInfoMsg("[查询子任务] 请求中, taskId=" + taskId);
SweeperOperateServiceManager.getSubTaskList(taskId, mContext, new OchCommonServiceCallback<BaseResponse<List<SubInfo>>>() {
@Override
public void onSuccess(BaseResponse<List<SubInfo>> data) {
CallerLogger.d(M_SWEEPER + TAG, "getSubTaskList：" + GsonUtil.jsonFromObject(data));
DebugView.Companion.printInfoMsg("[查询子任务] 请求success, taskId=" + taskId);
if (mSweeperTaskCallback != null && data != null && data.getCode() == 0) {
List<SubInfo> list = data.getData();
if (list != null && list.size() > 0) {
@@ -634,8 +686,10 @@ public class SweeperOperateTaskModel {
if (ToastUtilsOch.isCustomFastClick(5000)) {
if (!NetworkUtils.isConnected(mContext)) {
ToastUtils.showShort("网络异常，请稍后重试");
DebugView.Companion.printErrorMsg("[查询子任务] 请求failed, 网络异常，请稍后重试, taskId=" + taskId);
} else {
ToastUtils.showShort(msg);
DebugView.Companion.printErrorMsg("[查询子任务] 请求failed, " + msg + ", taskId=" + taskId);
}
}
}
@@ -644,8 +698,10 @@ public class SweeperOperateTaskModel {
public void onError() {
if (!NetworkUtils.isConnected(mContext)) {
ToastUtils.showShort(mContext.getString(R.string.network_error_tip));
DebugView.Companion.printErrorMsg("[查询子任务] 请求error, " + mContext.getString(R.string.network_error_tip) + ", taskId=" + taskId);
} else {
ToastUtils.showShort(mContext.getString(R.string.request_error_tip));
DebugView.Companion.printErrorMsg("[查询子任务] 请求error, " + mContext.getString(R.string.request_error_tip) + ", taskId=" + taskId);
}
}
});
@@ -655,10 +711,12 @@ public class SweeperOperateTaskModel {
* 获取子任务详情包括轨迹文件信息
*/
public void getSubTaskDetail(boolean isFirst, boolean isEnd, int subTaskId, SubTaskTypeEnum subTaskType, boolean isStartSubtask) {
DebugView.Companion.printInfoMsg("[查询子任务详情及轨迹信息] 请求中, isFirst=" + isFirst + ", isEnd=" + isEnd + ", subTaskId=" + subTaskId);
SweeperOperateServiceManager.getSubTaskDetail(subTaskId, mContext, new OchCommonServiceCallback<BaseResponse<SweeperSubTaskDetailBean>>() {
@Override
public void onSuccess(BaseResponse<SweeperSubTaskDetailBean> data) {
CallerLogger.d(M_SWEEPER + TAG, "getSubTaskDetail：" + GsonUtil.jsonFromObject(data));
DebugView.Companion.printInfoMsg("[查询子任务详情及轨迹信息] 请求success, isFirst=" + isFirst + ", isEnd=" + isEnd + ", subTaskId=" + subTaskId);
if (data != null) {
mCurrentSubTaskDetail = data.getData();
if (mCurrentSubTaskDetail != null) {
@@ -693,8 +751,10 @@ public class SweeperOperateTaskModel {
if (ToastUtilsOch.isCustomFastClick(5000)) {
if (!NetworkUtils.isConnected(mContext)) {
ToastUtils.showShort("网络异常，请稍后重试");
DebugView.Companion.printErrorMsg("[查询子任务详情及轨迹信息] 请求failed, 网络异常，请稍后重试, isFirst=" + isFirst + ", isEnd=" + isEnd + ", subTaskId=" + subTaskId);
} else {
ToastUtils.showShort(msg);
DebugView.Companion.printErrorMsg("[查询子任务详情及轨迹信息] 请求failed, " + msg + ", isFirst=" + isFirst + ", isEnd=" + isEnd + ", subTaskId=" + subTaskId);
}
}
}
@@ -703,8 +763,10 @@ public class SweeperOperateTaskModel {
public void onError() {
if (!NetworkUtils.isConnected(mContext)) {
ToastUtils.showShort(mContext.getString(R.string.network_error_tip));
DebugView.Companion.printErrorMsg("[查询子任务详情及轨迹信息] 请求Error, " + mContext.getString(R.string.network_error_tip) + ", isFirst=" + isFirst + ", isEnd=" + isEnd + ", subTaskId=" + subTaskId);
} else {
ToastUtils.showShort(mContext.getString(R.string.request_error_tip));
DebugView.Companion.printErrorMsg("[查询子任务详情及轨迹信息] 请求Error, " + mContext.getString(R.string.request_error_tip) + ", isFirst=" + isFirst + ", isEnd=" + isEnd + ", subTaskId=" + subTaskId);
}
}
});
@@ -714,10 +776,12 @@ public class SweeperOperateTaskModel {
* 子任务开始上报
*/
public void subTaskStart(boolean isFirst, boolean isEnd, int subTaskId, SubTaskTypeEnum subTaskType) {
DebugView.Companion.printInfoMsg("[子任务开始上报] 请求中, isFirst=" + isFirst + ", isEnd=" + isEnd + ", subTaskId=" + subTaskId);
SweeperOperateServiceManager.subTaskStart(isFirst, isEnd, subTaskId, mContext, new OchCommonServiceCallback<BaseResponse<Boolean>>() {
@Override
public void onSuccess(BaseResponse<Boolean> data) {
CallerLogger.d(M_SWEEPER + TAG, "subTaskStart：" + GsonUtil.jsonFromObject(data));
DebugView.Companion.printInfoMsg("[子任务开始上报] 请求success, isFirst=" + isFirst + ", isEnd=" + isEnd + ", subTaskId=" + subTaskId);
if (mSweeperTaskCallback != null && data != null) {
if (data.getData()) {
mIsSubTaskWorking = true;
@@ -743,8 +807,10 @@ public class SweeperOperateTaskModel {
if (ToastUtilsOch.isCustomFastClick(5000)) {
if (!NetworkUtils.isConnected(mContext)) {
ToastUtils.showShort("网络异常，请稍后重试");
DebugView.Companion.printErrorMsg("[子任务开始上报] 请求failed, 网络异常，请稍后重试, isFirst=" + isFirst + ", isEnd=" + isEnd + ", subTaskId=" + subTaskId);
} else {
ToastUtils.showShort(msg);
DebugView.Companion.printErrorMsg("[子任务开始上报] 请求failed, " + msg + ", isFirst=" + isFirst + ", isEnd=" + isEnd + ", subTaskId=" + subTaskId);
}
}
}
@@ -753,8 +819,10 @@ public class SweeperOperateTaskModel {
public void onError() {
if (!NetworkUtils.isConnected(mContext)) {
ToastUtils.showShort(mContext.getString(R.string.network_error_tip));
DebugView.Companion.printErrorMsg("[子任务开始上报] 请求error, " + mContext.getString(R.string.network_error_tip) + ", isFirst=" + isFirst + ", isEnd=" + isEnd + ", subTaskId=" + subTaskId);
} else {
ToastUtils.showShort(mContext.getString(R.string.request_error_tip));
DebugView.Companion.printErrorMsg("[子任务开始上报] 请求error, " + mContext.getString(R.string.request_error_tip) + ", isFirst=" + isFirst + ", isEnd=" + isEnd + ", subTaskId=" + subTaskId);
}
}
});
@@ -764,11 +832,13 @@ public class SweeperOperateTaskModel {
* 子任务结束上报
*/
public void subTaskEnd(boolean isFirst, boolean isEnd, int subTaskId) {
DebugView.Companion.printInfoMsg("[子任务结束上报] 请求中, isFirst=" + isFirst + ", isEnd=" + isEnd + ", subTaskId=" + subTaskId);
SweeperOperateServiceManager.subTaskEnd(isFirst, isEnd, subTaskId, mContext, new OchCommonServiceCallback<BaseResponse<Boolean>>() {
@Override
public void onSuccess(BaseResponse<Boolean> data) {
CallerLogger.d(M_SWEEPER + TAG, "subTaskEnd：" +
String.format("isFirst=%b; isEnd=%b; ", isFirst, isEnd) + GsonUtil.jsonFromObject(data));
DebugView.Companion.printInfoMsg("[子任务结束上报] 请求success, isFirst=" + isFirst + ", isEnd=" + isEnd + ", subTaskId=" + subTaskId);
if (data != null) {
if (data.getData()) {
mIsSubTaskWorking = false;
@@ -792,9 +862,11 @@ public class SweeperOperateTaskModel {
if (ToastUtilsOch.isCustomFastClick(5000)) {
if (!NetworkUtils.isConnected(mContext)) {
ToastUtils.showShort("网络异常，请稍后重试");
DebugView.Companion.printErrorMsg("[子任务结束上报] 请求failed, 网络异常，请稍后重试, isFirst=" + isFirst + ", isEnd=" + isEnd + ", subTaskId=" + subTaskId);
} else {
if (isAutopilotSubTaskArriveEndSite) return;
ToastUtils.showShort(msg);
DebugView.Companion.printErrorMsg("[子任务结束上报] 请求failed, " + msg + ", isFirst=" + isFirst + ", isEnd=" + isEnd + ", subTaskId=" + subTaskId);
}
}
}
@@ -803,8 +875,10 @@ public class SweeperOperateTaskModel {
public void onError() {
if (!NetworkUtils.isConnected(mContext)) {
ToastUtils.showShort(mContext.getString(R.string.network_error_tip));
DebugView.Companion.printErrorMsg("[子任务结束上报] 请求error, " + mContext.getString(R.string.network_error_tip) + ", isFirst=" + isFirst + ", isEnd=" + isEnd + ", subTaskId=" + subTaskId);
} else {
ToastUtils.showShort(mContext.getString(R.string.request_error_tip));
DebugView.Companion.printErrorMsg("[子任务结束上报] 请求error, " + mContext.getString(R.string.request_error_tip) + ", isFirst=" + isFirst + ", isEnd=" + isEnd + ", subTaskId=" + subTaskId);
}
}
@@ -815,11 +889,13 @@ public class SweeperOperateTaskModel {
* 子任务跳过上报
*/
public void subTaskSkip(boolean isFirst, boolean isEnd, int subTaskId) {
DebugView.Companion.printInfoMsg("[子任务跳过上报] 请求中, isFirst=" + isFirst + ", isEnd=" + isEnd + ", subTaskId=" + subTaskId);
SweeperOperateServiceManager.subTaskSkip(isFirst, isEnd, subTaskId, mContext, new OchCommonServiceCallback<BaseResponse<Boolean>>() {
@Override
public void onSuccess(BaseResponse<Boolean> data) {
CallerLogger.d(M_SWEEPER + TAG, "subTaskSkip：" +
String.format("isFirst=%b; isEnd=%b; ", isFirst, isEnd)+ GsonUtil.jsonFromObject(data));
String.format("isFirst=%b; isEnd=%b; ", isFirst, isEnd) + GsonUtil.jsonFromObject(data));
DebugView.Companion.printInfoMsg("[子任务跳过上报] 请求success, isFirst=" + isFirst + ", isEnd=" + isEnd + ", subTaskId=" + subTaskId);
if (mSweeperTaskCallback != null && data != null) {
if (data.getData()) {
mIsSubTaskWorking = false;
@@ -835,8 +911,10 @@ public class SweeperOperateTaskModel {
if (ToastUtilsOch.isCustomFastClick(5000)) {
if (!NetworkUtils.isConnected(mContext)) {
ToastUtils.showShort("网络异常，请稍后重试");
DebugView.Companion.printErrorMsg("[子任务跳过上报] 请求failed, 网络异常，请稍后重试, isFirst=" + isFirst + ", isEnd=" + isEnd + ", subTaskId=" + subTaskId);
} else {
ToastUtils.showShort(msg);
DebugView.Companion.printErrorMsg("[子任务跳过上报] 请求failed, " + msg + ", isFirst=" + isFirst + ", isEnd=" + isEnd + ", subTaskId=" + subTaskId);
}
}
}
@@ -845,8 +923,10 @@ public class SweeperOperateTaskModel {
public void onError() {
if (!NetworkUtils.isConnected(mContext)) {
ToastUtils.showShort(mContext.getString(R.string.network_error_tip));
DebugView.Companion.printErrorMsg("[子任务跳过上报] 请求error, " + mContext.getString(R.string.network_error_tip) + ", isFirst=" + isFirst + ", isEnd=" + isEnd + ", subTaskId=" + subTaskId);
} else {
ToastUtils.showShort(mContext.getString(R.string.request_error_tip));
DebugView.Companion.printErrorMsg("[子任务跳过上报] 请求error, " + mContext.getString(R.string.request_error_tip) + ", isFirst=" + isFirst + ", isEnd=" + isEnd + ", subTaskId=" + subTaskId);
}
}
});
@@ -856,10 +936,12 @@ public class SweeperOperateTaskModel {
* 主任务重置
*/
public void mainTaskReset(int taskId) {
DebugView.Companion.printInfoMsg("[主任务重置] 请求中, taskId=" + taskId);
SweeperOperateServiceManager.mainTaskReset(taskId, mContext, new OchCommonServiceCallback<BaseResponse<Boolean>>() {
@Override
public void onSuccess(BaseResponse<Boolean> data) {
CallerLogger.d(M_SWEEPER + TAG, "mainTaskReset：" + GsonUtil.jsonFromObject(data));
DebugView.Companion.printInfoMsg("[主任务重置] 请求success, taskId=" + taskId);
// 主任务重置 当前子任务也需重置
mIsSubTaskWorking = false;
isAutopilotSubTaskArriveEndSite = false;
@@ -873,8 +955,10 @@ public class SweeperOperateTaskModel {
if (ToastUtilsOch.isCustomFastClick(5000)) {
if (!NetworkUtils.isConnected(mContext)) {
ToastUtils.showShort("网络异常，请稍后重试");
DebugView.Companion.printErrorMsg("[主任务重置] 请求failed, 网络异常，请稍后重试, taskId=" + taskId);
} else {
ToastUtils.showShort(msg);
DebugView.Companion.printErrorMsg("[主任务重置] 请求failed, " + msg + ", taskId=" + taskId);
}
}
}
@@ -883,8 +967,10 @@ public class SweeperOperateTaskModel {
public void onError() {
if (!NetworkUtils.isConnected(mContext)) {
ToastUtils.showShort(mContext.getString(R.string.network_error_tip));
DebugView.Companion.printErrorMsg("[主任务重置] 请求error, " + mContext.getString(R.string.network_error_tip) + ", taskId=" + taskId);
} else {
ToastUtils.showShort(mContext.getString(R.string.request_error_tip));
DebugView.Companion.printErrorMsg("[主任务重置] 请求error, " + mContext.getString(R.string.request_error_tip)+ ", taskId=" + taskId);
}
}
});
@@ -893,5 +979,6 @@ public class SweeperOperateTaskModel {
//结束自动驾驶
public void cancelAutoPilot() {
CallerAutoPilotControlManager.INSTANCE.cancelAutoPilot();
DebugView.Companion.printInfoMsg("[取消自动驾驶] 请求成功");
}
}

11
OCH/sweeper/driver/src/main/java/com/mogo/och/sweeper/operate/presenter/SweeperOperatePresenter.java
View File

@@ -23,6 +23,7 @@ import com.mogo.eagle.core.utilcode.util.ThreadUtils;
import com.mogo.och.common.module.manager.autopilotmanager.OCHAdasAbilityManager;
import com.mogo.och.common.module.utils.CoordinateCalculateRouteUtil;
import com.mogo.och.common.module.utils.NumberFormatUtil;
import com.mogo.och.sweeper.common.view.DebugView;
import com.mogo.och.sweeper.operate.bean.SweeperMainTaskBean;
import com.mogo.och.sweeper.common.bean.SweeperRoutePlanningUpdateReqBean;
import com.mogo.och.sweeper.operate.bean.SweeperSubTaskBean;
@@ -130,8 +131,10 @@ public class SweeperOperatePresenter extends Presenter<SweeperOperateFragment>
ThreadUtils.runOnUiThread(() -> mView.startAutoBtn(state));
switch (state) {
case IMoGoAutopilotStatusListener.STATUS_AUTOPILOT_DISABLE://不可自动驾驶
DebugView.Companion.printInfoMsg("[自驾状态变化] afterValue=STATUS_AUTOPILOT_DISABLE，meaning=不可自动驾驶");
break;
case IMoGoAutopilotStatusListener.STATUS_AUTOPILOT_ENABLE://人工驾驶
DebugView.Companion.printInfoMsg("[自驾状态变化] afterValue=STATUS_AUTOPILOT_ENABLE，meaning=可自动驾驶，人工干预状态");
if (SweeperOperateTaskModel.getInstance().getSubWorking()) {
if (FunctionBuildConfig.isDemoMode) {//美化模式开启时
SweeperOperateTaskModel.getInstance().startBeautificationMode();
@@ -144,6 +147,7 @@ public class SweeperOperatePresenter extends Presenter<SweeperOperateFragment>
}
break;
case IMoGoAutopilotStatusListener.STATUS_AUTOPILOT_RUNNING://自动驾驶中
DebugView.Companion.printInfoMsg("[自驾状态变化] afterValue=STATUS_AUTOPILOT_RUNNING，meaning=自动驾驶中");
SweeperOperateTaskModel.getInstance().triggerStartServiceEvent(
SweeperOperateTaskModel.getInstance().isRestartAutopilot(), true);
if (SweeperOperateTaskModel.getInstance().getSubWorking()) {
@@ -153,6 +157,7 @@ public class SweeperOperatePresenter extends Presenter<SweeperOperateFragment>
}
break;
case IMoGoAutopilotStatusListener.STATUS_PARALLEL_DRIVING://平行驾驶
DebugView.Companion.printInfoMsg("[自驾状态变化] afterValue=STATUS_PARALLEL_DRIVING，meaning=平行驾驶中");
if (SweeperOperateTaskModel.getInstance().getSubWorking()) {
if (FunctionBuildConfig.isDemoMode) {//美化模式开启时
FunctionBuildConfig.isIgnoreConditionsDrawAutopilotTrajectoryData = true;//是否强制绘制引导线
@@ -223,6 +228,9 @@ public class SweeperOperatePresenter extends Presenter<SweeperOperateFragment>
@Override
public void onAutopilotIpcConnectStatusChanged(int status, @Nullable String reason) {
DebugView.Companion.printInfoMsg(
"[域控连接状态变化] status=" + status
+ ", reason=" + reason);
}
@Override
@@ -237,6 +245,9 @@ public class SweeperOperatePresenter extends Presenter<SweeperOperateFragment>
@Override
public void onAutopilotArriveAtStation(@Nullable MessagePad.ArrivalNotification arrivalNotification) {
SweeperOperateTaskModel.getInstance().onArriveTaskEnd(arrivalNotification);
DebugView.Companion.printInfoMsg("[MAP到站通知] 上报到站，endLocation=("
+ ((arrivalNotification == null || arrivalNotification.getEndLocation() == null) ? "null" : arrivalNotification.getEndLocation().toString())
+ ")");
}
@Override

8
OCH/sweeper/driver/src/main/res/drawable/sweeper_debug_view_log_history_bg.xml Normal file
View File

@@ -0,0 +1,8 @@
<?xml version="1.0" encoding="utf-8"?>
<shape xmlns:android="http://schemas.android.com/apk/res/android"
android:shape="rectangle">
<corners android:radius="8dp" />
<stroke
android:width="@dimen/dp_2"
android:color="@color/background_verbose" />
</shape>

63
OCH/sweeper/driver/src/main/res/layout/sweeper_base_fragment.xml
View File

@@ -81,6 +81,7 @@
app:layout_constraintLeft_toLeftOf="parent"
app:layout_constraintRight_toRightOf="parent"
app:layout_constraintTop_toTopOf="parent" />
<!--清扫任务列表面板-->
<FrameLayout
android:id="@+id/module_mogo_och_task_list_container"
@@ -93,6 +94,16 @@
app:layout_goneMarginTop="@dimen/module_mogo_och_station_panel_container_margin_top_no_call"
android:layout_marginTop="-20dp"/>
<!--DebugView-->
<com.mogo.och.sweeper.common.view.DebugView
android:id="@+id/sweeperDebugView"
android:layout_width="@dimen/sweeper_debug_view_width"
android:layout_height="wrap_content"
android:layout_marginTop="-20dp"
app:layout_constraintTop_toBottomOf="@id/sweeper_arc"
app:layout_constraintBottom_toTopOf="@+id/sweeper_switch_model_icon"
app:layout_constraintLeft_toRightOf="@+id/module_mogo_och_task_list_container" />
<com.mogo.och.common.module.wigets.OCHRoundConstraintLayout
android:layout_width="@dimen/dp_711"
android:layout_height="wrap_content"
@@ -100,8 +111,7 @@
app:layout_constraintEnd_toEndOf="parent"
android:layout_marginEnd="@dimen/dp_36"
android:layout_marginTop="@dimen/dp_27"
app:roundLayoutRadius="@dimen/dp_16"
>
app:roundLayoutRadius="@dimen/dp_16">
<com.mogo.och.sweeper.common.view.WeltSmallMapView
android:id="@+id/sweeper_task_welt_small_map"
android:layout_width="wrap_content"
@@ -149,6 +159,7 @@
android:src="@drawable/sweeper_setting_selector"
app:layout_constraintBottom_toBottomOf="parent"
app:layout_constraintStart_toEndOf="@+id/sweeper_collect_model_icon" />
<!--消息盒子选择入口-->
<com.mogo.eagle.core.function.hmi.ui.msgbox.DriverMsgBoxButtonView
android:id="@+id/viewDriverMsgBoxButton"
@@ -169,6 +180,7 @@
android:visibility="gone"
app:layout_constraintBottom_toTopOf="@id/viewDriverMsgBoxButton"
app:layout_constraintEnd_toEndOf="parent" />
<!--消息盒子气泡视图-->
<com.mogo.eagle.core.function.hmi.ui.msgbox.DriverMsgBoxBubbleView
android:id="@+id/viewDriverMsgBoxBubble"
@@ -178,6 +190,7 @@
android:visibility="gone"
app:layout_constraintEnd_toEndOf="parent"
app:layout_constraintTop_toBottomOf="@id/viewDriverMsgBoxButton" />
<!--清扫手动驾驶路线导航-->
<FrameLayout
android:id="@+id/module_mogo_och_navi_panel_container"
@@ -226,53 +239,31 @@
tools:visibility="visible" />
<Button
android:id="@+id/btnAutopilotDisable"
android:id="@+id/btnOpenDebugView"
android:layout_width="wrap_content"
android:layout_height="wrap_content"
android:background="#f00"
android:text="Disable"
android:textSize="30sp"
android:layout_marginTop="@dimen/dp_10"
android:background="#0f0"
android:text="打开任务调试面板"
android:textSize="@dimen/dp_40"
app:layout_constraintRight_toRightOf="parent"
app:layout_constraintTop_toTopOf="parent" />
<Button
android:id="@+id/btnAutopilotEnable"
android:id="@+id/btnCloseDebugView"
android:layout_width="wrap_content"
android:layout_height="wrap_content"
android:background="#0f0"
android:text="Enable"
android:textSize="30sp"
app:layout_constraintRight_toRightOf="@id/btnAutopilotDisable"
app:layout_constraintTop_toBottomOf="@id/btnAutopilotDisable" />
<Button
android:id="@+id/btnAutopilotRunning"
android:layout_width="wrap_content"
android:layout_height="wrap_content"
android:background="#00f"
android:text="Running"
android:textSize="30sp"
app:layout_constraintRight_toRightOf="@id/btnAutopilotDisable"
app:layout_constraintTop_toBottomOf="@id/btnAutopilotEnable" />
<Button
android:id="@+id/btnEndTask"
android:layout_width="wrap_content"
android:layout_height="wrap_content"
android:background="#ffffff"
android:text="结束子任务"
android:textSize="30sp"
app:layout_constraintRight_toRightOf="@id/btnAutopilotRunning"
app:layout_constraintTop_toBottomOf="@id/btnAutopilotRunning" />
android:background="#f00"
android:text="关闭任务调试面板"
android:textSize="@dimen/dp_40"
app:layout_constraintRight_toRightOf="@+id/btnOpenDebugView"
app:layout_constraintTop_toBottomOf="@+id/btnOpenDebugView" />
<androidx.constraintlayout.widget.Group
android:id="@+id/groupTestPanel"
android:layout_width="wrap_content"
android:layout_height="wrap_content"
android:visibility="gone"
app:constraint_referenced_ids="btnAutopilotDisable,btnAutopilotEnable
,btnAutopilotRunning,btnEndTask"
app:constraint_referenced_ids="btnOpenDebugView,btnCloseDebugView"
tools:visibility="visible" />
</androidx.constraintlayout.widget.ConstraintLayout>

125
OCH/sweeper/driver/src/main/res/layout/sweeper_cloud_base_fragment.xml
View File

@@ -81,6 +81,7 @@
app:layout_constraintLeft_toLeftOf="parent"
app:layout_constraintRight_toRightOf="parent"
app:layout_constraintTop_toTopOf="parent" />
<!--清扫任务列表面板-->
<FrameLayout
android:id="@+id/module_mogo_och_task_list_container"
@@ -93,6 +94,16 @@
app:layout_constraintTop_toBottomOf="@id/sweeper_arc"
app:layout_goneMarginTop="@dimen/module_mogo_och_station_panel_container_margin_top_no_call" />
<!--DebugView-->
<com.mogo.och.sweeper.common.view.DebugView
android:id="@+id/sweeperDebugView"
android:layout_width="@dimen/sweeper_debug_view_width"
android:layout_height="wrap_content"
android:layout_marginTop="-20dp"
app:layout_constraintTop_toBottomOf="@id/sweeper_arc"
app:layout_constraintBottom_toTopOf="@+id/sweeper_switch_model_icon"
app:layout_constraintLeft_toRightOf="@+id/module_mogo_och_task_list_container" />
<com.mogo.och.common.module.wigets.OCHRoundConstraintLayout
android:layout_width="@dimen/dp_711"
android:layout_height="wrap_content"
@@ -101,8 +112,7 @@
android:layout_marginEnd="@dimen/dp_36"
android:layout_marginTop="@dimen/dp_27"
app:roundLayoutRadius="@dimen/dp_16"
android:visibility="gone"
>
android:visibility="gone">
<com.mogo.och.sweeper.common.view.WeltSmallMapView
android:id="@+id/sweeper_task_welt_small_map"
android:layout_width="wrap_content"
@@ -150,6 +160,7 @@
android:src="@drawable/sweeper_setting_selector"
app:layout_constraintBottom_toBottomOf="parent"
app:layout_constraintStart_toEndOf="@+id/sweeper_collect_model_icon" />
<!--消息盒子选择入口-->
<com.mogo.eagle.core.function.hmi.ui.msgbox.DriverMsgBoxButtonView
android:id="@+id/viewDriverMsgBoxButton"
@@ -170,6 +181,7 @@
android:visibility="gone"
app:layout_constraintBottom_toTopOf="@id/viewDriverMsgBoxButton"
app:layout_constraintEnd_toEndOf="parent" />
<!--消息盒子气泡视图-->
<com.mogo.eagle.core.function.hmi.ui.msgbox.DriverMsgBoxBubbleView
android:id="@+id/viewDriverMsgBoxBubble"
@@ -186,108 +198,33 @@
android:layout_height="match_parent"
android:visibility="gone"
tools:visibility="visible" />
<Button
android:id="@+id/btnStartAutopilot"
android:layout_width="wrap_content"
android:layout_height="wrap_content"
android:layout_marginTop="@dimen/dp_200"
android:background="#aa0"
android:text="下发启动自驾命令"
android:textSize="30sp"
app:layout_constraintRight_toRightOf="parent"
app:layout_constraintTop_toTopOf="parent" />
<Button
android:id="@+id/btnQueryCurrentTask"
android:layout_width="wrap_content"
android:layout_height="wrap_content"
android:background="#f80"
android:text="pad查询当前大任务"
android:textSize="30sp"
app:layout_constraintRight_toRightOf="@+id/btnStartAutopilot"
app:layout_constraintTop_toBottomOf="@+id/btnStartAutopilot" />
<Button
android:id="@+id/btnSendTask"
android:id="@+id/btnOpenDebugView"
android:layout_width="wrap_content"
android:layout_height="wrap_content"
android:layout_marginTop="@dimen/dp_10"
android:background="#0f0"
android:text="打开任务调试面板"
android:textSize="@dimen/dp_40"
app:layout_constraintRight_toRightOf="parent"
app:layout_constraintTop_toTopOf="parent" />
<Button
android:id="@+id/btnCloseDebugView"
android:layout_width="wrap_content"
android:layout_height="wrap_content"
android:background="#f00"
android:text="模拟云控下发任务"
android:textSize="30sp"
app:layout_constraintRight_toRightOf="@+id/btnQueryCurrentTask"
app:layout_constraintTop_toBottomOf="@+id/btnQueryCurrentTask" />
<Button
android:id="@+id/btnSendSubTaskConfirm"
android:layout_width="wrap_content"
android:layout_height="wrap_content"
android:background="#0f0"
android:text="模拟云控发送子任务确认"
android:textSize="30sp"
app:layout_constraintRight_toRightOf="@id/btnSendTask"
app:layout_constraintTop_toBottomOf="@id/btnSendTask" />
<Button
android:id="@+id/btnSendEndTask"
android:layout_width="wrap_content"
android:layout_height="wrap_content"
android:background="#00f"
android:text="模拟云控结束大任务"
android:textColor="#fff"
android:textSize="30sp"
app:layout_constraintRight_toRightOf="@id/btnSendTask"
app:layout_constraintTop_toBottomOf="@id/btnSendSubTaskConfirm" />
<Button
android:id="@+id/btnSendSubtaskStatus"
android:layout_width="wrap_content"
android:layout_height="wrap_content"
android:background="#ffffff"
android:text="模拟云控下发子任务状态"
android:textSize="30sp"
app:layout_constraintRight_toRightOf="@id/btnSendEndTask"
app:layout_constraintTop_toBottomOf="@id/btnSendEndTask" />
<Button
android:id="@+id/btnSendTaskStatus"
android:layout_width="wrap_content"
android:layout_height="wrap_content"
android:background="#000000"
android:text="模拟云控下发大任务状态"
android:textColor="#fff"
android:textSize="30sp"
app:layout_constraintRight_toRightOf="@id/btnSendSubtaskStatus"
app:layout_constraintTop_toBottomOf="@id/btnSendSubtaskStatus" />
<Button
android:id="@+id/btnAddHDMarker"
android:layout_width="wrap_content"
android:layout_height="wrap_content"
android:background="#000000"
android:text="添加高精地图Marker"
android:textColor="#f30"
android:textSize="30sp"
app:layout_constraintRight_toRightOf="@id/btnSendTaskStatus"
app:layout_constraintTop_toBottomOf="@id/btnSendTaskStatus" />
<Button
android:id="@+id/btnRemoveHDMarker"
android:layout_width="wrap_content"
android:layout_height="wrap_content"
android:background="#000000"
android:text="移除高精地图Marker"
android:textColor="#a90"
android:textSize="30sp"
app:layout_constraintRight_toRightOf="@id/btnAddHDMarker"
app:layout_constraintTop_toBottomOf="@id/btnAddHDMarker" />
android:text="关闭任务调试面板"
android:textSize="@dimen/dp_40"
app:layout_constraintRight_toRightOf="@+id/btnOpenDebugView"
app:layout_constraintTop_toBottomOf="@+id/btnOpenDebugView" />
<androidx.constraintlayout.widget.Group
android:id="@+id/groupTestPanel"
android:layout_width="wrap_content"
android:layout_height="wrap_content"
android:visibility="gone"
app:constraint_referenced_ids="btnStartAutopilot,btnQueryCurrentTask,btnSendTask,btnSendSubTaskConfirm,btnSendEndTask
,btnSendSubtaskStatus,btnSendTaskStatus,btnAddHDMarker,btnRemoveHDMarker"
app:constraint_referenced_ids="btnOpenDebugView,btnCloseDebugView"
tools:visibility="visible" />
</androidx.constraintlayout.widget.ConstraintLayout>

62
OCH/sweeper/driver/src/main/res/layout/sweeper_debug_view_content.xml Normal file
View File

@@ -0,0 +1,62 @@
<?xml version="1.0" encoding="utf-8"?>
<com.mogo.och.common.module.wigets.OCHBorderShadowLayout xmlns:android="http://schemas.android.com/apk/res/android"
xmlns:app="http://schemas.android.com/apk/res-auto"
android:layout_width="match_parent"
android:layout_height="wrap_content"
app:bgColor="@android:color/transparent"
app:blurRadius="20dp"
app:shadowColor="#C7151D4C"
app:shadowRadius="42dp"
app:xOffset="0dp"
app:yOffset="0dp">
<LinearLayout
android:id="@+id/sweeperDebugViewContent"
android:layout_width="match_parent"
android:layout_height="wrap_content"
android:background="@android:color/transparent"
android:orientation="vertical">
<LinearLayout
android:layout_width="wrap_content"
android:layout_height="wrap_content"
android:layout_alignParentStart="true"
android:orientation="vertical">
<TextView
android:layout_width="wrap_content"
android:layout_height="wrap_content"
android:layout_marginTop="@dimen/dp_10"
android:text="清扫车信息"
android:textColor="@android:color/white"
android:textSize="@dimen/dp_24" />
<TextView
android:id="@+id/currentSweeperModeTextView"
android:layout_width="wrap_content"
android:layout_height="wrap_content"
android:textColor="@android:color/white"
android:textSize="@dimen/dp_24" />
</LinearLayout>
<TextView
android:layout_width="wrap_content"
android:layout_height="wrap_content"
android:layout_marginTop="@dimen/dp_10"
android:text="业务流程关键节点日志（司机端）"
android:textColor="@android:color/white"
android:textSize="@dimen/dp_24" />
<TextView
android:id="@+id/debugLogHistoryTextView"
android:layout_width="match_parent"
android:layout_height="wrap_content"
android:background="@drawable/sweeper_debug_view_log_history_bg"
android:fadeScrollbars="false"
android:minLines="30"
android:maxLines="30"
android:scrollbars="vertical"
android:textColor="@android:color/white"
android:textSize="@dimen/dp_24" />
</LinearLayout>
</com.mogo.och.common.module.wigets.OCHBorderShadowLayout>

4
OCH/sweeper/driver/src/main/res/values/dimens.xml
View File

@@ -1,5 +1,5 @@
<?xml version="1.0" encoding="utf-8"?>
<resources>
<resources xmlns:tools="http://schemas.android.com/tools">
<!-- 本套资源适配分体机xhdpi -->
<dimen name="module_mogo_och_sweeper_station_panel_width">300dp</dimen>
<dimen name="module_mogo_och_sweeper_station_panel_height">348dp</dimen>
@@ -151,4 +151,6 @@
<dimen name="sweeper_operate_panel_btn_bg_corner">13dp</dimen>
<dimen name="sweeper_operate_panel_btn_text_size">32dp</dimen>
<dimen name="sweeper_debug_view_width">1000dp</dimen>
</resources>

11
core/mogo-core-data/src/main/java/com/mogo/eagle/core/data/config/FunctionBuildConfig.kt
View File

@@ -314,17 +314,24 @@ object FunctionBuildConfig {
var isFaultSlowDown = true
/**
* 清扫车 默认业务模式（云控）
* 清扫车 默认业务模式（打包时默认的模式）
*/
@Volatile
@JvmField
var sweeperDefaultMode = "Cloud"
/**
* 清扫车 是否能切换当前业务模式
* 清扫车 是否能切换当前业务模式（打包时默认的设置）
*/
@Volatile
@JvmField
var sweeperCanSwitchMode = true
/**
* 清扫车 当前的业务模式
*/
@Volatile
@JvmField
var sweeperCurrentMode = "Cloud"
}