[sweeper310] 增加调试按钮从文件读取下发启动自驾命令参数

2023-05-20 11:16:12 +08:00
parent 07212a55aa
commit 3b0cdfde0d
4 changed files with 262 additions and 8 deletions
--- a/OCH/sweeper/sweeper-cloud/AutopilotModeConfig.json
+++ b/OCH/sweeper/sweeper-cloud/AutopilotModeConfig.json
@@ -0,0 +1,53 @@
+{
+  "mode": 1,
+  "source": 1,
+  "routeInfo": {
+    "startLocation": {
+      "longitude": 2.1,
+      "latitude": 2.2,
+      "altitude": 2.3,
+      "heading": 2.4
+    },
+    "startName": "name1",
+    "endLocation": {
+      "longitude": 3.1,
+      "latitude": 3.2,
+      "altitude": 3.3,
+      "heading": 3.4
+    },
+    "endName": "name2",
+    "wayPoints": [
+      {
+        "longitude": 4.1,
+        "latitude": 4.2,
+        "altitude": 4.3,
+        "heading": 4.4
+      },
+      {
+        "longitude": 5.1,
+        "latitude": 5.2,
+        "altitude": 5.3,
+        "heading": 5.4
+      }
+    ],
+    "speedLimit": 8.8,
+    "vehicleType": 1,
+    "isSpeakVoice": true,
+    "routeID": 2,
+    "routeName": "name3",
+    "line": {
+      "lineId": 1234567,
+      "trajUrl": "trajUrl1",
+      "trajMd5": "trajMd52",
+      "stopUrl": "stopUrl3",
+      "stopMd5": "stopMd54",
+      "timestamp": 987654321,
+      "vehicleModel": "vehicleModel5",
+      "trajUrl_dpqp": "trajUrl_dpqp6",
+      "trajMd5_dpqp": "trajMd5_dpqp7",
+      "stopUrl_dpqp": "stopUrl_dpqp8",
+      "stopMd5_dpqp": "stopMd5_dpqp9",
+      "timestamp_dpqp": 101
+    }
+  }
+}
--- 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
@@ -1,17 +1,30 @@
 package com.mogo.och.sweepercloud.fragment;

+import static com.mogo.eagle.core.utilcode.mogo.logger.scene.SceneConstant.M_SWEEPER;
+
 import android.os.Bundle;
+import android.os.Parcelable;
 import android.view.LayoutInflater;
 import android.view.MotionEvent;
 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 com.amap.api.maps.model.LatLng;
+import com.elegant.network.utils.GsonUtil;
+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;
@@ -20,19 +33,24 @@ import com.mogo.eagle.core.function.hmi.ui.msgbox.DriverMsgBoxBubbleView;
 import com.mogo.eagle.core.function.hmi.ui.msgbox.DriverMsgBoxButtonView;
 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.logger.CallerLogger;
 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.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.PinYinUtil;
 import com.mogo.och.sweepercloud.R;
 import com.mogo.och.sweepercloud.bean.SweeperRoutePlanningUpdateReqBean;
 import com.mogo.och.sweepercloud.callback.ISweeperTaskDataToFragmentCallback;
 import com.mogo.och.sweepercloud.callback.IWeltMapSwitchToSmallCallback;
 import com.mogo.och.sweepercloud.database.bean.WeltDataBean;
+import com.mogo.och.sweepercloud.util.AutopilotModeConfigManager;
 import com.mogo.och.sweepercloud.util.SweeperCloudTaskUtils;
 import com.mogo.och.sweepercloud.view.SweeperTrafficDataView;
 import com.mogo.och.sweepercloud.view.WeltSmallMapView;
@@ -42,10 +60,7 @@ 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;
+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
@@ -115,6 +130,57 @@ public abstract class BaseSweeperTabFragment<V extends IView, P extends Presente
        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.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()
--- a/OCH/sweeper/sweeper-cloud/src/main/java/com/mogo/och/sweepercloud/util/AutopilotModeConfigManager.java
+++ b/OCH/sweeper/sweeper-cloud/src/main/java/com/mogo/och/sweepercloud/util/AutopilotModeConfigManager.java
@@ -0,0 +1,127 @@
+package com.mogo.och.sweepercloud.util;
+
+import android.os.Environment;
+import android.text.TextUtils;
+import android.util.Pair;
+
+import com.google.protobuf.InvalidProtocolBufferException;
+import com.google.protobuf.util.JsonFormat;
+
+import java.io.File;
+import java.io.FileInputStream;
+import java.io.FileNotFoundException;
+import java.io.IOException;
+import java.io.InputStream;
+import java.util.concurrent.atomic.AtomicBoolean;
+
+import mogo.telematics.pad.MessagePad;
+
+/**
+ * 读取启动自动驾驶配置
+ */
+public class AutopilotModeConfigManager {
+    private final static String TAG = AutopilotModeConfigManager.class.getSimpleName();
+    private final AtomicBoolean isReadConfig = new AtomicBoolean(false);
+    private OnReadAutopilotModeConfigListener listener;
+
+
+    public interface OnReadAutopilotModeConfigListener {
+        void onReadFailed(String err);//文件不存在或读取失败
+
+        void onParseFailed(String err);//配置文件解析失败
+
+        void onParse(MessagePad.SetAutopilotModeReq bean);//解析完成
+    }
+
+    public AutopilotModeConfigManager(OnReadAutopilotModeConfigListener listener) {
+        this.listener = listener;
+    }
+
+
+    public void registerListener(OnReadAutopilotModeConfigListener listener) {
+        this.listener = listener;
+    }
+
+    public void unregisterListener() {
+        listener = null;
+    }
+
+    /**
+     * 读取配置文件
+     *
+     * @return 是否调用成功
+     */
+    public boolean read() {
+        if (!isReadConfig.get()) {
+            isReadConfig.set(true);
+            Runnable runnable = new Runnable() {
+                @Override
+                public void run() {
+                    Pair<String, String> config = readFilesToString(new File(Environment.getExternalStorageDirectory().getAbsolutePath() + File.separator + "AutopilotModeConfig.json"));
+                    if (TextUtils.isEmpty(config.first)) {
+                        if (listener != null) {
+                            listener.onReadFailed(config.second);
+                        }
+                    } else {
+                        MessagePad.SetAutopilotModeReq.Builder builder = MessagePad.SetAutopilotModeReq.newBuilder();
+                        String err = null;
+                        try {
+                            JsonFormat.parser().ignoringUnknownFields().merge(config.first, builder);
+                        } catch (InvalidProtocolBufferException e) {
+                            e.printStackTrace();
+                            err = e.getMessage();
+                        }
+                        if (TextUtils.isEmpty(err)) {
+                            MessagePad.SetAutopilotModeReq bean = builder.build();
+                            if (listener != null) {
+                                listener.onParse(bean);
+                            }
+                        } else {
+                            if (listener != null) {
+                                listener.onParseFailed(err);
+                            }
+                        }
+                    }
+                    isReadConfig.set(false);
+                }
+            };
+            new Thread(runnable).start();
+            return true;
+        }
+        return false;
+    }
+
+    /**
+     * @param file
+     * @return first：读取到的内容 second：失败信息
+     */
+    private Pair<String, String> readFilesToString(File file) {
+        InputStream inputStream = null;
+        String err = null;
+        try {
+            inputStream = new FileInputStream(file);
+            byte[] buffer = new byte[1024];
+            int length = -1;
+            StringBuilder stringBuilder = new StringBuilder();
+            while ((length = inputStream.read(buffer)) != -1) {
+                stringBuilder.append(new String(buffer, 0, length));
+            }
+            return new Pair<String, String>(stringBuilder.toString(), err);
+        } catch (FileNotFoundException e) {
+            e.printStackTrace();
+            err = e.toString();
+        } catch (IOException e) {
+            e.printStackTrace();
+            err = e.toString();
+        } finally {
+            if (inputStream != null) {
+                try {
+                    inputStream.close();
+                } catch (IOException e) {
+                    e.printStackTrace();
+                }
+            }
+        }
+        return new Pair<String, String>(null, err);
+    }
+}
--- a/OCH/sweeper/sweeper-cloud/src/main/res/layout/sweeper_base_fragment.xml
+++ b/OCH/sweeper/sweeper-cloud/src/main/res/layout/sweeper_base_fragment.xml
@@ -183,17 +183,25 @@
        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:layout_marginTop="@dimen/dp_200"
        android:background="#f80"
        android:text="pad查询当前任务"
        android:textSize="30sp"
-        app:layout_constraintRight_toRightOf="parent"
-        app:layout_constraintTop_toTopOf="parent" />
+        app:layout_constraintRight_toRightOf="@+id/btnStartAutopilot"
+        app:layout_constraintTop_toBottomOf="@+id/btnStartAutopilot" />

    <Button
        android:id="@+id/btnSendTask"