[sweeper-cloud]贴边显示问题修改

2023-05-28 14:11:32 +08:00
parent 7234a55b4b
commit 36937826a6
6 changed files with 124 additions and 107 deletions
--- a/OCH/sweeper/sweeper-cloud/src/main/java/com/mogo/och/sweepercloud/fragment/BaseSweeperTabFragment.java
+++ b/OCH/sweeper/sweeper-cloud/src/main/java/com/mogo/och/sweepercloud/fragment/BaseSweeperTabFragment.java
@@ -44,6 +44,7 @@ import com.mogo.map.marker.IMogoMarkerManager;
 import com.mogo.map.uicontroller.IMogoMapUIController;
 import com.mogo.map.uicontroller.VisualAngleMode;
 import com.mogo.och.common.module.manager.OCHAdasAbilityManager;
+import com.mogo.och.common.module.utils.CoordinateCalculateRouteUtil;
 import com.mogo.och.common.module.utils.PinYinUtil;
 import com.mogo.och.sweepercloud.R;
 import com.mogo.och.sweepercloud.bean.SweeperRoutePlanningUpdateReqBean;
@@ -107,6 +108,7 @@ public abstract class BaseSweeperTabFragment<V extends IView, P extends Presente
    protected int getLayoutId() {
        return R.layout.sweeper_base_fragment;
    }
+
    @Override
    public boolean onTouch(View v, MotionEvent event) {
        return true;
@@ -186,8 +188,14 @@ public abstract class BaseSweeperTabFragment<V extends IView, P extends Presente
                SweeperCloudTaskUtils.mockQueryCurrentTaskInfo()
        );
        // 模拟 云端发送任务
-        findViewById(R.id.btnSendTask).setOnClickListener(view ->
-                SweeperCloudTaskUtils.mockSendCloudTaskInfo(SweeperCloudTask.MessageType.CloudPushTask)
+        findViewById(R.id.btnSendTask).setOnClickListener(view -> {
+                    SweeperCloudTaskUtils.mockSendCloudTaskInfo(SweeperCloudTask.MessageType.CloudPushTask);
+                    UiThreadHandler.postDelayed(() -> {
+                        debugEndSubTask();
+                    }, 5000);
+
+                }
+
        );
        // 模拟 云端发送子任务确认
        findViewById(R.id.btnSendSubTaskConfirm).setOnClickListener(view ->
@@ -249,9 +257,11 @@ public abstract class BaseSweeperTabFragment<V extends IView, P extends Presente
        mapBizView.onCreate(savedInstanceState);
        mMapWeltView.onCreateView(savedInstanceState);
    }
-    public void setAutoState(int state){
+
+    public void setAutoState(int state) {
        mTrafficDataView.setAutoState(state);
    }
+
    /**
     * 消息盒子
     */
@@ -551,6 +561,7 @@ public abstract class BaseSweeperTabFragment<V extends IView, P extends Presente
    public void setTaskDataToFragmentCallback(ISweeperTaskDataToFragmentCallback mTaskDataToFragmentCallback) {
        this.mTaskDataToFragmentCallback = mTaskDataToFragmentCallback;
    }
+
    /**
     * 结束子任务
     */
@@ -576,26 +587,25 @@ public abstract class BaseSweeperTabFragment<V extends IView, P extends Presente

    private ArrayList<SweeperRoutePlanningUpdateReqBean.Result> tempData() {
        ArrayList<SweeperRoutePlanningUpdateReqBean.Result> results = new ArrayList<>();
-        results.add(getRoute(116.41732262522, 39.974576894194));
-        results.add(getRoute(116.43963532201855, 39.9752190287537));
-        results.add(getRoute(116.4440910789222, 39.96469276598098));
-        results.add(getRoute(116.45254030604285, 39.958762580403544));
-        results.add(getRoute(116.46168616811329, 39.94668171374373));
+        results.add(getRoute(112.56970669282785, 26.8175674285121));
+        results.add(getRoute(112.57154905962457, 26.81762377130161));
+        results.add(getRoute(112.57723562917293, 26.819769721883098));
        return results;
    }

    private ArrayList<SweeperRoutePlanningUpdateReqBean.Result> tempData1() {
        ArrayList<SweeperRoutePlanningUpdateReqBean.Result> results = new ArrayList<>();
-        results.add(getRoute(116.41732262522, 39.974576894194));
-        results.add(getRoute(116.43963532201855, 39.9752190287537));
-        results.add(getRoute(116.4440910789222, 39.96469276598098));
+        results.add(getRoute(112.56970669282785, 26.8175674285121));
+        results.add(getRoute(112.57154905962457, 26.81762377130161));
+        results.add(getRoute(112.57723562917293, 26.819769721883098));
        return results;
    }

    private SweeperRoutePlanningUpdateReqBean.Result getRoute(double longitude, double latitude) {
+        LatLng latLng = CoordinateCalculateRouteUtil.coordinateConverterWgsToGcj(AbsMogoApplication.getApp(), longitude, latitude);
        SweeperRoutePlanningUpdateReqBean.Result result = new SweeperRoutePlanningUpdateReqBean.Result();
-        result.latitude = latitude;
-        result.longitude = longitude;
+        result.latitude = latLng.latitude;
+        result.longitude = latLng.longitude;
        return result;
    }
 }
--- a/OCH/sweeper/sweeper-cloud/src/main/java/com/mogo/och/sweepercloud/fragment/SweeperFragment.kt
+++ b/OCH/sweeper/sweeper-cloud/src/main/java/com/mogo/och/sweepercloud/fragment/SweeperFragment.kt
@@ -274,6 +274,7 @@ class SweeperFragment : BaseSweeperTabFragment<SweeperFragment?, SweeperPresente
            return
        }
        if (stopTaskType == SweeperTaskStop.StopTaskType.NORMAL) {
+            mPresenter?.isHasTaskInfo(false)
            mDialog = sweeperCloudTaskNormalEndDialog()
            showNotice("任务已结束")
        } else {
@@ -343,6 +344,7 @@ class SweeperFragment : BaseSweeperTabFragment<SweeperFragment?, SweeperPresente
            }
            //大任务处于取消状态 异常状态pad端都显示无任务列表
            if (subTaskStatus == SweeperBigTaskStatus.BigTaskStatus.CANCLE || subTaskStatus == SweeperBigTaskStatus.BigTaskStatus.ABNORMAL || subTaskStatus == SweeperBigTaskStatus.BigTaskStatus.FINISHED) {
+                mPresenter?.isHasTaskInfo(false)
                //数据重复导致连续弹窗
                if (mDialog != null && mDialog!!.isShowing) {
                    return
@@ -376,22 +378,20 @@ class SweeperFragment : BaseSweeperTabFragment<SweeperFragment?, SweeperPresente
     * 重置任务面板为无数据状态
     */
    private fun resetTaskInfoPanel() {
+        //清除任务缓存数据
+        mPresenter?.clearRouteList()
+        lifecycleScope.launch(Dispatchers.IO) {
+            //清除任务地图绘制标记和作业路线
+            clearAllMarkerAndPolyline()
+            //清除贴边数据缓存
+            MyDataBase.getInstance().weltDataDao.deleteAllWeltData()
+        }
        setShowCurrentTaskPanelView(false)
-        mPresenter?.isHasTaskInfo(false)
        mTaskInfo = null
        mCurrentSubTaskInfo = null
        mSubMutableList = null
        mSubTaskType = TaskModel.DEFAULT_MODEL
        setTaskProgress("0")
-        //清除任务缓存数据
-        mPresenter?.clearRouteList()
-        //清除任务地图绘制标记和作业路线
-        clearAllMarkerAndPolyline()
-        lifecycleScope.launch(Dispatchers.IO) {
-            //清除贴边数据缓存
-            MyDataBase.getInstance().weltDataDao.deleteAllWeltData()
-        }
-
    }

    /**
--- a/OCH/sweeper/sweeper-cloud/src/main/java/com/mogo/och/sweepercloud/model/SweeperTaskModel.java
+++ b/OCH/sweeper/sweeper-cloud/src/main/java/com/mogo/och/sweepercloud/model/SweeperTaskModel.java
@@ -192,6 +192,7 @@ public class SweeperTaskModel implements IMoGoSweeperFutianCloudTaskListener, IM
            if (null != routeList && routeList.getWayPointsList() != null && routeList.getWayPointsList().size() > 0) {
                CallerLogger.INSTANCE.d(M_SWEEPER + TAG,"onAutopilotRotting: "+printMessage(routeList));
                if (mCurrentLineId != mLineId) {//判断是否同一条路线
+                    CallerLogger.INSTANCE.d(M_SWEEPER + TAG,"onAutopilotRotting: mCurrentLineId"+mCurrentLineId+"mLineId："+mLineId);
                    mLineId = mCurrentLineId;
                    points.addAll(coordinateConverterWgsToGcjList(mContext, routeList.getWayPointsList()));
                    if (mSweeperTaskCallback != null) {
@@ -305,6 +306,11 @@ public class SweeperTaskModel implements IMoGoSweeperFutianCloudTaskListener, IM
            if (mSweeperTaskCallback != null) {
                mSweeperTaskCallback.setRouteList(points);
            }
+            //防止重新绘制轨迹时，覆盖掉原有的贴边
+            if (mSweeperTaskCallback != null) {
+                mSweeperTaskCallback.setWeltDataToMap((ArrayList<WeltDataBean>) MyDataBase.getInstance().getWeltDataDao().loadAllWeltDataInfo(),
+                        true, "0cm");
+            }
        }
    }

@@ -418,7 +424,7 @@ public class SweeperTaskModel implements IMoGoSweeperFutianCloudTaskListener, IM
            return;
        }
        mWeltDataCurrentTimeMillis = current;
-        CallerLogger.INSTANCE.d(M_SWEEPER + TAG, "onSweeperFutianTaskIndexData：" + printMessage(roboSweeperTaskIndex));
+        CallerLogger.INSTANCE.d(M_SWEEPER + TAG, "mSubTaskType："+mSubTaskType+"+ onSweeperFutianTaskIndexData：" + printMessage(roboSweeperTaskIndex));
        handleWeltData(roboSweeperTaskIndex);

    }
--- a/OCH/sweeper/sweeper-cloud/src/main/java/com/mogo/och/sweepercloud/util/SweeperCloudTaskUtils.kt
+++ b/OCH/sweeper/sweeper-cloud/src/main/java/com/mogo/och/sweepercloud/util/SweeperCloudTaskUtils.kt
@@ -57,90 +57,90 @@ object SweeperCloudTaskUtils {
        subBuilder0.taskStatus = SweeperCommon.TaskStatus.TO_START
        val startLocation0 = Location.newBuilder()
        startLocation0.siteName = "自动驾驶子任务起点0"
-        startLocation0.wgsLongitude = 121.6421189511
-        startLocation0.wgsLatitude = 37.4767125311
-        startLocation0.longitude = 121.64693997741931
-        startLocation0.latitude = 37.47740504453125
+        startLocation0.wgsLongitude =112.56970262448544
+        startLocation0.wgsLatitude = 26.817567832504274
+        startLocation0.longitude = 112.57493487730413
+        startLocation0.latitude =  26.81397095451884
        subBuilder0.startLocation = startLocation0.build()
        val endLocation0 = Location.newBuilder()
        endLocation0.siteName = "自动驾驶子任务终点0"
-        endLocation0.wgsLongitude = 121.6392313
-        endLocation0.wgsLatitude = 37.4726471
-        endLocation0.longitude = 121.64404710861349
-        endLocation0.latitude = 37.47333410433059
+        endLocation0.wgsLongitude = 112.57723562874442
+        endLocation0.wgsLatitude = 26.819769725304003
+        endLocation0.longitude = 112.5824598556873
+        endLocation0.latitude = 26.81616501438377
        subBuilder0.endLocation = endLocation0.build()
        subBuilder0.lineId = 123
        subBuilder0.lineName = "测试路线0"
        builder.addSubList(subBuilder0.build())
        //第二个子任务
-        val subBuilder1 = SubTaskInfo.newBuilder()
-        subBuilder1.subTaskId = "2"
-        subBuilder1.subTaskName = "佛兴禅寺-海水浴场（前岛贴左）"
-        subBuilder1.taskModel = TaskModel.AUTO
-        subBuilder1.taskStatus = SweeperCommon.TaskStatus.TO_START
-        val startLocation1 = Location.newBuilder()
-        startLocation1.siteName = "自动驾驶子任务起点1"
-        startLocation1.wgsLongitude = 121.6421189511
-        startLocation1.wgsLatitude = 37.47264711
-        startLocation1.longitude = 121.6469395478903
-        startLocation1.latitude = 37.47333856025812
-        subBuilder1.startLocation = startLocation1.build()
-        val endLocation1 = Location.newBuilder()
-        endLocation1.siteName = "自动驾驶子任务终点1"
-        endLocation1.wgsLongitude = 121.4261245286646
-        endLocation1.wgsLatitude = 37.52885874483938
-        endLocation1.longitude = 121.43138115208806
-        endLocation1.latitude = 37.52987767688798
-        subBuilder1.endLocation = endLocation1.build()
-        subBuilder1.lineId = 124
-        subBuilder1.lineName = "测试路线1"
-        builder.addSubList(subBuilder1.build())
-        //第三个子任务
-        val subBuilder2 = SubTaskInfo.newBuilder()
-        subBuilder2.subTaskId = "3"
-        subBuilder2.subTaskName = "海水浴场-佛兴禅寺（前岛贴左）"
-        subBuilder2.taskModel = TaskModel.MANUAL
-        subBuilder2.taskStatus = SweeperCommon.TaskStatus.TO_START
-        val startLocation2 = Location.newBuilder()
-        startLocation2.siteName = "人工驾驶子任务起点2"
-        startLocation2.wgsLongitude = 121.31344761929978
-        startLocation2.wgsLatitude = 37.53205755535642
-        startLocation2.longitude = 121.3185679517558
-        startLocation2.latitude = 37.5329694887952
-        subBuilder2.startLocation = startLocation2.build()
-        val endLocation2 = Location.newBuilder()
-        endLocation2.siteName = "人工驾驶子任务终点2"
-        endLocation2.wgsLongitude = 121.4551205070834
-        endLocation2.wgsLatitude = 37.47936696980237
-        endLocation2.longitude = 121.46030960742117
-        endLocation2.latitude = 37.48032689641474
-        subBuilder2.endLocation = endLocation2.build()
-        subBuilder2.lineId = 125
-        subBuilder2.lineName = "测试路线2"
-        builder.addSubList(subBuilder2.build())
-        //第四个子任务
-        val subBuilder3 = SubTaskInfo.newBuilder()
-        subBuilder3.subTaskId = "4"
-        subBuilder3.subTaskName = "海水浴场-佛兴禅寺（前岛贴左第四个任务）"
-        subBuilder3.taskModel = TaskModel.MANUAL
-        subBuilder3.taskStatus = SweeperCommon.TaskStatus.TO_START
-        val startLocation3 = Location.newBuilder()
-        startLocation3.siteName = "人工驾驶子任务起点3"
-        startLocation3.wgsLongitude = 121.31344761929978
-        startLocation3.wgsLatitude = 37.53205755535642
-        startLocation3.longitude = 121.3185679517558
-        startLocation3.latitude = 37.5329694887952
-        subBuilder3.startLocation = startLocation3.build()
-        val endLocation3 = Location.newBuilder()
-        endLocation3.siteName = "人工驾驶子任务终点3"
-        endLocation3.wgsLongitude = 121.4551205070834
-        endLocation3.wgsLatitude = 37.47936696980237
-        endLocation3.longitude = 121.46030960742117
-        endLocation3.latitude = 37.48032689641474
-        subBuilder3.endLocation = endLocation3.build()
-        subBuilder3.lineId = 126
-        subBuilder3.lineName = "测试路线3"
-        builder.addSubList(subBuilder3.build())
+//        val subBuilder1 = SubTaskInfo.newBuilder()
+//        subBuilder1.subTaskId = "2"
+//        subBuilder1.subTaskName = "佛兴禅寺-海水浴场（前岛贴左）"
+//        subBuilder1.taskModel = TaskModel.AUTO
+//        subBuilder1.taskStatus = SweeperCommon.TaskStatus.TO_START
+//        val startLocation1 = Location.newBuilder()
+//        startLocation1.siteName = "自动驾驶子任务起点1"
+//        startLocation1.wgsLongitude = 112.57723562874442
+//        startLocation1.wgsLatitude = 26.819769725304003
+//        startLocation1.longitude = 112.5824598556873
+//        startLocation1.latitude = 26.81616501438377
+//        subBuilder1.startLocation = startLocation1.build()
+//        val endLocation1 = Location.newBuilder()
+//        endLocation1.siteName = "自动驾驶子任务终点1"
+//        endLocation1.wgsLongitude = 112.56970262448544
+//        endLocation1.wgsLatitude = 26.817567832504274
+//        endLocation1.longitude = 112.57493487730413
+//        endLocation1.latitude =  26.81397095451884
+//        subBuilder1.endLocation = endLocation1.build()
+//        subBuilder1.lineId = 124
+//        subBuilder1.lineName = "测试路线1"
+//        builder.addSubList(subBuilder1.build())
+//        //第三个子任务
+//        val subBuilder2 = SubTaskInfo.newBuilder()
+//        subBuilder2.subTaskId = "3"
+//        subBuilder2.subTaskName = "海水浴场-佛兴禅寺（前岛贴左）"
+//        subBuilder2.taskModel = TaskModel.MANUAL
+//        subBuilder2.taskStatus = SweeperCommon.TaskStatus.TO_START
+//        val startLocation2 = Location.newBuilder()
+//        startLocation2.siteName = "人工驾驶子任务起点2"
+//        startLocation2.wgsLongitude = 121.31344761929978
+//        startLocation2.wgsLatitude = 37.53205755535642
+//        startLocation2.longitude = 121.3185679517558
+//        startLocation2.latitude = 37.5329694887952
+//        subBuilder2.startLocation = startLocation2.build()
+//        val endLocation2 = Location.newBuilder()
+//        endLocation2.siteName = "人工驾驶子任务终点2"
+//        endLocation2.wgsLongitude = 121.4551205070834
+//        endLocation2.wgsLatitude = 37.47936696980237
+//        endLocation2.longitude = 121.46030960742117
+//        endLocation2.latitude = 37.48032689641474
+//        subBuilder2.endLocation = endLocation2.build()
+//        subBuilder2.lineId = 125
+//        subBuilder2.lineName = "测试路线2"
+//        builder.addSubList(subBuilder2.build())
+//        //第四个子任务
+//        val subBuilder3 = SubTaskInfo.newBuilder()
+//        subBuilder3.subTaskId = "4"
+//        subBuilder3.subTaskName = "海水浴场-佛兴禅寺（前岛贴左第四个任务）"
+//        subBuilder3.taskModel = TaskModel.MANUAL
+//        subBuilder3.taskStatus = SweeperCommon.TaskStatus.TO_START
+//        val startLocation3 = Location.newBuilder()
+//        startLocation3.siteName = "人工驾驶子任务起点3"
+//        startLocation3.wgsLongitude = 121.31344761929978
+//        startLocation3.wgsLatitude = 37.53205755535642
+//        startLocation3.longitude = 121.3185679517558
+//        startLocation3.latitude = 37.5329694887952
+//        subBuilder3.startLocation = startLocation3.build()
+//        val endLocation3 = Location.newBuilder()
+//        endLocation3.siteName = "人工驾驶子任务终点3"
+//        endLocation3.wgsLongitude = 121.4551205070834
+//        endLocation3.wgsLatitude = 37.47936696980237
+//        endLocation3.longitude = 121.46030960742117
+//        endLocation3.latitude = 37.48032689641474
+//        subBuilder3.endLocation = endLocation3.build()
+//        subBuilder3.lineId = 126
+//        subBuilder3.lineName = "测试路线3"
+//        builder.addSubList(subBuilder3.build())
        SweeperTaskModel.getInstance().onSweeperFutianCloudTask(
            messageType,
            "${System.currentTimeMillis()}",
--- a/OCH/sweeper/sweeper-cloud/src/main/java/com/mogo/och/sweepercloud/view/SweeperTrafficLightView.kt
+++ b/OCH/sweeper/sweeper-cloud/src/main/java/com/mogo/och/sweepercloud/view/SweeperTrafficLightView.kt
@@ -58,7 +58,7 @@ class SweeperTrafficLightView @JvmOverloads constructor(
    override fun showTrafficLight(checkLightId: TrafficLightEnum, lightSource: DataSourceType) {
        mCurrentLightId = checkLightId
        updateTrafficLightIcon(checkLightId)
-        CallerLogger.d(SceneConstant.M_SWEEPER + TAG,"灯态类型："+checkLightId.name +"灯态来源："+DataSourceType.getName(lightSource))
+        CallerLogger.d(SceneConstant.M_SWEEPER + TAG,"灯态类型："+checkLightId.name +" 灯态来源："+DataSourceType.getName(lightSource))
    }

    /**
--- a/OCH/sweeper/sweeper-cloud/src/main/res/layout/sweeper_welt_map_overview.xml
+++ b/OCH/sweeper/sweeper-cloud/src/main/res/layout/sweeper_welt_map_overview.xml
@@ -2,7 +2,8 @@
 <androidx.constraintlayout.widget.ConstraintLayout xmlns:android="http://schemas.android.com/apk/res/android"
    android:layout_width="match_parent"
    android:layout_height="match_parent"
-    xmlns:app="http://schemas.android.com/apk/res-auto">
+    xmlns:app="http://schemas.android.com/apk/res-auto"
+    xmlns:tools="http://schemas.android.com/tools">
    <com.amap.api.maps.TextureMapView
        android:id="@+id/sweeperTextureMapView"
        android:layout_width="match_parent"
@@ -32,7 +33,7 @@
            android:id="@+id/taskProgressTv"
            android:layout_width="0dp"
            android:layout_height="@dimen/dp_60"
-            android:text="进度:60%"
+            tools:text="进度:60%"
            app:layout_constraintStart_toStartOf="parent"
            app:layout_constraintTop_toTopOf="parent"
            android:background="#3f69d9"
@@ -42,15 +43,15 @@
            android:paddingLeft="6dp"
            android:paddingRight="6dp"
            android:textSize="@dimen/dp_34"
-            app:layout_constraintWidth_percent="0.5"
+            app:layout_constraintWidth_percent="0.3"
            android:gravity="center"
            android:visibility="gone"
            />
-        <com.mogo.och.sweepercloud.view.FontAdaptionTextView
+        <TextView
            android:id="@+id/taskWeltDistanceTv"
            android:layout_width="0dp"
            android:layout_height="@dimen/dp_60"
-            android:text="贴边:--cm"
+            tools:text="贴边:--cm"
            app:layout_constraintTop_toTopOf="parent"
            app:layout_constraintEnd_toEndOf="parent"
            android:background="#3d98c7"
@@ -62,7 +63,7 @@
            android:paddingRight="6dp"
            android:textSize="@dimen/dp_34"
            android:gravity="center"
-            app:layout_constraintWidth_percent="0.5"
+            app:layout_constraintWidth_percent="0.7"
            android:visibility="gone"/>
        <com.mogo.och.sweepercloud.view.LegendItemView
            android:id="@+id/sweeperLegend1"