diff --git a/OCH/sweeper/driver/build.gradle b/OCH/sweeper/driver/build.gradle index 8468774843..953aa85ca3 100644 --- a/OCH/sweeper/driver/build.gradle +++ b/OCH/sweeper/driver/build.gradle @@ -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") diff --git a/OCH/sweeper/driver/src/main/java/com/mogo/och/sweeper/SweeperProvider.java b/OCH/sweeper/driver/src/main/java/com/mogo/och/sweeper/SweeperProvider.java index 4874610d6c..b7dcc91413 100644 --- a/OCH/sweeper/driver/src/main/java/com/mogo/och/sweeper/SweeperProvider.java +++ b/OCH/sweeper/driver/src/main/java/com/mogo/och/sweeper/SweeperProvider.java @@ -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(); } diff --git a/OCH/sweeper/driver/src/main/java/com/mogo/och/sweeper/cloud/fragment/BaseSweeperCloudTabFragment.java b/OCH/sweeper/driver/src/main/java/com/mogo/och/sweeper/cloud/fragment/BaseSweeperCloudTabFragment.java index 896fcd1907..6ec468c553 100644 --- a/OCH/sweeper/driver/src/main/java/com/mogo/och/sweeper/cloud/fragment/BaseSweeperCloudTabFragment.java +++ b/OCH/sweeper/driver/src/main/java/com/mogo/och/sweeper/cloud/fragment/BaseSweeperCloudTabFragment.java @@ -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 *

@@ -128,105 +120,22 @@ public abstract class BaseSweeperCloudTabFragment { - 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 diff --git a/OCH/sweeper/driver/src/main/java/com/mogo/och/sweeper/cloud/fragment/SweeperCloudFragment.kt b/OCH/sweeper/driver/src/main/java/com/mogo/och/sweeper/cloud/fragment/SweeperCloudFragment.kt index ee08acaf38..1a99372c5f 100644 --- a/OCH/sweeper/driver/src/main/java/com/mogo/och/sweeper/cloud/fragment/SweeperCloudFragment.kt +++ b/OCH/sweeper/driver/src/main/java/com/mogo/och/sweeper/cloud/fragment/SweeperCloudFragment.kt @@ -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 { 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 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; diff --git a/OCH/sweeper/driver/src/main/java/com/mogo/och/sweeper/common/view/DebugView.kt b/OCH/sweeper/driver/src/main/java/com/mogo/och/sweeper/common/view/DebugView.kt new file mode 100644 index 0000000000..0d1f08f54d --- /dev/null +++ b/OCH/sweeper/driver/src/main/java/com/mogo/och/sweeper/common/view/DebugView.kt @@ -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 = 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}" + } +} \ No newline at end of file diff --git a/OCH/sweeper/driver/src/main/java/com/mogo/och/sweeper/operate/fragment/BaseSweeperOperateTabFragment.java b/OCH/sweeper/driver/src/main/java/com/mogo/och/sweeper/operate/fragment/BaseSweeperOperateTabFragment.java index e25b0fa61a..2726d8bf69 100644 --- a/OCH/sweeper/driver/src/main/java/com/mogo/och/sweeper/operate/fragment/BaseSweeperOperateTabFragment.java +++ b/OCH/sweeper/driver/src/main/java/com/mogo/och/sweeper/operate/fragment/BaseSweeperOperateTabFragment.java @@ -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 *

@@ -129,23 +131,21 @@ public abstract class BaseSweeperOperateTabFragment - 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 diff --git a/OCH/sweeper/driver/src/main/java/com/mogo/och/sweeper/operate/model/SweeperOperateTaskModel.java b/OCH/sweeper/driver/src/main/java/com/mogo/och/sweeper/operate/model/SweeperOperateTaskModel.java index bda98d4dc9..e40a0b38aa 100644 --- a/OCH/sweeper/driver/src/main/java/com/mogo/och/sweeper/operate/model/SweeperOperateTaskModel.java +++ b/OCH/sweeper/driver/src/main/java/com/mogo/och/sweeper/operate/model/SweeperOperateTaskModel.java @@ -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>() { @Override public void onSuccess(BaseResponse 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>>() { @Override public void onSuccess(BaseResponse> 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 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>>() { @Override public void onSuccess(BaseResponse> 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 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>() { @Override public void onSuccess(BaseResponse 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>() { @Override public void onSuccess(BaseResponse 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>() { @Override public void onSuccess(BaseResponse 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>() { @Override public void onSuccess(BaseResponse 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>() { @Override public void onSuccess(BaseResponse 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"); } } diff --git a/OCH/sweeper/driver/src/main/java/com/mogo/och/sweeper/operate/presenter/SweeperOperatePresenter.java b/OCH/sweeper/driver/src/main/java/com/mogo/och/sweeper/operate/presenter/SweeperOperatePresenter.java index 37ba82a05b..0ee3bda143 100644 --- a/OCH/sweeper/driver/src/main/java/com/mogo/och/sweeper/operate/presenter/SweeperOperatePresenter.java +++ b/OCH/sweeper/driver/src/main/java/com/mogo/och/sweeper/operate/presenter/SweeperOperatePresenter.java @@ -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 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 } 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 } 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 @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 @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 diff --git a/OCH/sweeper/driver/src/main/res/drawable/sweeper_debug_view_log_history_bg.xml b/OCH/sweeper/driver/src/main/res/drawable/sweeper_debug_view_log_history_bg.xml new file mode 100644 index 0000000000..3911b44185 --- /dev/null +++ b/OCH/sweeper/driver/src/main/res/drawable/sweeper_debug_view_log_history_bg.xml @@ -0,0 +1,8 @@ + + + + + \ No newline at end of file diff --git a/OCH/sweeper/driver/src/main/res/layout/sweeper_base_fragment.xml b/OCH/sweeper/driver/src/main/res/layout/sweeper_base_fragment.xml index 283719b8f2..84c1b3dd01 100644 --- a/OCH/sweeper/driver/src/main/res/layout/sweeper_base_fragment.xml +++ b/OCH/sweeper/driver/src/main/res/layout/sweeper_base_fragment.xml @@ -81,6 +81,7 @@ app:layout_constraintLeft_toLeftOf="parent" app:layout_constraintRight_toRightOf="parent" app:layout_constraintTop_toTopOf="parent" /> + + + + + app:roundLayoutRadius="@dimen/dp_16"> + + +