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[6.0.0]

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[autopilo]
[包修改]
This commit is contained in:
yangyakun
2023-09-01 11:24:17 +08:00
committed by zhongchao
parent 79563efd3d
commit 3b11c7fd58
24 changed files with 96 additions and 74 deletions
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110
OCH/sweeper/sweeper-cloud/src/main/java/com/mogo/och/sweepercloud/fragment/BaseSweeperTabFragment.java
View File

@@ -1,6 +1,5 @@
package com.mogo.och.sweepercloud.fragment;
import android.os.Bundle;
import android.view.LayoutInflater;
import android.view.MotionEvent;
@@ -25,6 +24,7 @@ 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;
import com.mogo.eagle.core.function.call.map.CallerMapUIServiceManager;
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;
@@ -35,8 +35,9 @@ 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.OCHAdasAbilityManager;
import com.mogo.och.common.module.manager.autopilotmanager.OCHAdasAbilityManager;
import com.mogo.och.common.module.utils.CoordinateCalculateRouteUtil;
import com.mogo.och.sweepercloud.R;
import com.mogo.och.sweepercloud.bean.SweeperRoutePlanningUpdateReqBean;
@@ -125,23 +126,25 @@ public abstract class BaseSweeperTabFragment<V extends IView, P extends Presente
//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(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);
});
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 onParseFailed(String err) {
ToastUtils.showLong("解析失败=" + err);
}
@Override
public void onParse(MessagePad.SetAutopilotModeReq bean) {
@@ -204,17 +207,21 @@ public abstract class BaseSweeperTabFragment<V extends IView, P extends Presente
findViewById(R.id.btnSendTaskStatus).setOnClickListener(view ->
SweeperCloudTaskUtils.mockSendCloudBigTaskStatus()
);
mTrafficDataView.getSpeedImage().setOnLongClickListener(v -> {
debugTestBar();
return false;
mTrafficDataView.getSpeedImage().setOnLongClickListener(new View.OnLongClickListener() {
@Override
public boolean onLongClick(View v) {
debugTestBar();
return false;
}
});
}
private void updateSwitchMapIcon() {
if(mapBizView != null){
if (mapBizView.getUI().getCurrentMapVisualAngle().isLongSight()) {
IMogoMapUIController controller = CallerMapUIServiceManager.INSTANCE.getMapUIController();
if (controller != null) {
if (controller.getCurrentMapVisualAngle().isLongSight()) {
mSwitchMapModeImage.setImageResource(R.drawable.sweeper_switch_map_big_selector);
} else if (mapBizView.getUI().getCurrentMapVisualAngle().isMediumSight()) {
} else if (controller.getCurrentMapVisualAngle().isMediumSight()) {
mSwitchMapModeImage.setImageResource(R.drawable.sweeper_switch_map_small_selector);
} else {
mSwitchMapModeImage.setImageResource(R.drawable.sweeper_switch_map_small_selector);
@@ -224,6 +231,8 @@ public abstract class BaseSweeperTabFragment<V extends IView, P extends Presente
/**
* 设置任务进度
*
* @param progress
*/
protected void setTaskProgress(String progress) {
ThreadUtils.runOnUiThread(() -> {
@@ -309,7 +318,9 @@ public abstract class BaseSweeperTabFragment<V extends IView, P extends Presente
private void initListener() {
MogoMapListenerHandler.Companion.getMogoMapListenerHandler().registerHostMapListener(TAG, this);
mMapWeltView.getSwitchToBig().setOnClickListener((v) -> showOrHideOverMapViewFragment(true));
mMapWeltView.getSwitchToBig().setOnClickListener((v) -> {
showOrHideOverMapViewFragment(true);
});
}
/**
@@ -322,6 +333,8 @@ public abstract class BaseSweeperTabFragment<V extends IView, P extends Presente
/**
* 迈速表实时更新
*
* @param newSpeed
*/
public void updateSpeedView(float newSpeed) {
int speed = (int) (Math.abs(newSpeed) * 3.6F); // 倒车时工控机反馈定位信息中speed为负值
@@ -332,6 +345,8 @@ public abstract class BaseSweeperTabFragment<V extends IView, P extends Presente
/**
* 车辆基本信息View
*
* @return
*/
public SweeperTrafficDataView getTrafficDataView() {
return mTrafficDataView;
@@ -378,21 +393,33 @@ public abstract class BaseSweeperTabFragment<V extends IView, P extends Presente
mSwitchMapModeImage.setOnClickListener(new OnPreventFastClickListener() {
@Override
public void onClickImpl(View v) {
if(mapBizView != null){
if (mapBizView.getUI().getCurrentMapVisualAngle().isLongSight()) {
mapBizView.getUI().changeMapVisualAngle(VisualAngleMode.MODE_MEDIUM_SIGHT, null);
IMogoMapUIController controller = CallerMapUIServiceManager.INSTANCE.getMapUIController();
if (controller != null) {
//切换地图的远近视图
if (controller.getCurrentMapVisualAngle().isLongSight()) {
// 2.11.0去掉
// MogoMarkerManager.getInstance(AbsMogoApplication.getApp()).visibleAllMarkers();
controller.changeMapVisualAngle(VisualAngleMode.MODE_MEDIUM_SIGHT, null);
mSwitchMapModeImage.setImageResource(R.drawable.sweeper_switch_map_small_selector);
} else if (mapBizView.getUI().getCurrentMapVisualAngle().isMediumSight()) {
mapBizView.getUI().changeMapVisualAngle(VisualAngleMode.MODE_LONG_SIGHT, null);
} else if (controller.getCurrentMapVisualAngle().isMediumSight()) {
// 2.11.0去掉
// MogoMarkerManager.getInstance(AbsMogoApplication.getApp())
// .inVisibleWithoutMarkers(DataTypes.TYPE_MARKER_ADAS, BusConst.TYPE_MARKER_BUS_ORDER);
controller.changeMapVisualAngle(VisualAngleMode.MODE_LONG_SIGHT, null);
mSwitchMapModeImage.setImageResource(R.drawable.sweeper_switch_map_big_selector);
} else {
mapBizView.getUI().changeMapVisualAngle(VisualAngleMode.MODE_MEDIUM_SIGHT, null);
// 2.11.0去掉
// MogoMarkerManager.getInstance(AbsMogoApplication.getApp()).visibleAllMarkers();
controller.changeMapVisualAngle(VisualAngleMode.MODE_MEDIUM_SIGHT, null);
mSwitchMapModeImage.setImageResource(R.drawable.sweeper_switch_map_big_selector);
}
}
}
});
mSettingBtn.setOnClickListener(v -> CallerHmiManager.INSTANCE.showToolsView());
mSettingBtn.setOnClickListener(v -> {
// TODO: 2021/12/9
CallerHmiManager.INSTANCE.showToolsView();
});
if (mCardBtn != null) {
CallerDevaToolsManager.INSTANCE.initBadCase(mCardBtn);
}
@@ -403,6 +430,8 @@ public abstract class BaseSweeperTabFragment<V extends IView, P extends Presente
/**
* 设置作业任务全览图隐藏或者显示
*
* @param isShow
*/
public void showOrHideOverMapViewFragment(boolean isShow) {
FragmentTransaction transaction = getChildFragmentManager().beginTransaction();
@@ -448,15 +477,20 @@ public abstract class BaseSweeperTabFragment<V extends IView, P extends Presente
/**
* 设置贴边数据到地图
*
* @param weltDataBeans
*/
public void setWeltDataToMap(ArrayList<WeltDataBean> weltDataBeans, Boolean isWeltData, String distance) {
mWeltDataBeanList = weltDataBeans;
ThreadUtils.getSinglePool().execute(() -> {
if (mMapWeltView != null) {
mMapWeltView.setWeltData(weltDataBeans, isWeltData, distance);
}
if (mTaskDataToFragmentCallback != null) {
mTaskDataToFragmentCallback.setWeltData(weltDataBeans, distance);
ThreadUtils.getSinglePool().execute(new Runnable() {
@Override
public void run() {
if (mMapWeltView != null) {
mMapWeltView.setWeltData(weltDataBeans, isWeltData, distance);
}
if (mTaskDataToFragmentCallback != null) {
mTaskDataToFragmentCallback.setWeltData(weltDataBeans, distance);
}
}
});
}
@@ -473,6 +507,8 @@ public abstract class BaseSweeperTabFragment<V extends IView, P extends Presente
/**
* 设置当前任务终点
*
* @param subTaskCoordinate
*/
public void setCurrentTaskEndMarker(LatLng subTaskCoordinate) {
if (mMapWeltView != null) {

2
OCH/sweeper/sweeper-cloud/src/main/java/com/mogo/och/sweepercloud/model/SweeperTaskModel.java
View File

@@ -29,7 +29,7 @@ import com.mogo.eagle.core.function.call.autopilot.CallerSweeperFutianCleanSyste
import com.mogo.eagle.core.function.call.autopilot.CallerSweeperFutianCloudTaskListenerManager;
import com.mogo.eagle.core.utilcode.mogo.logger.CallerLogger;
import com.mogo.eagle.core.utilcode.util.UiThreadHandler;
import com.mogo.och.common.module.manager.OCHAdasAbilityManager;
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.sweepercloud.bean.SweeperRoutePlanningUpdateReqBean;

2
OCH/sweeper/sweeper-cloud/src/main/java/com/mogo/och/sweepercloud/presenter/SweeperPresenter.java
View File

@@ -6,7 +6,7 @@ import com.mogo.commons.mvp.Presenter;
import com.mogo.eagle.core.data.map.MogoLocation;
import com.mogo.eagle.core.function.call.autopilot.CallerSweeperFutianCleanSystemListenerManager;
import com.mogo.eagle.core.utilcode.util.ThreadUtils;
import com.mogo.och.common.module.manager.OCHAdasAbilityManager;
import com.mogo.och.common.module.manager.autopilotmanager.OCHAdasAbilityManager;
import com.mogo.och.sweepercloud.bean.SweeperRoutePlanningUpdateReqBean;
import com.mogo.och.sweepercloud.callback.ISweeperControllerStatusCallback;
import com.mogo.och.sweepercloud.callback.ISweeperCloudTaskCallback;

2
OCH/sweeper/sweeper/src/main/java/com/mogo/och/sweeper/model/SweeperTaskModel.java
View File

@@ -33,7 +33,7 @@ import com.mogo.och.common.module.biz.common.socketmessage.OCHSocketMessageManag
import com.mogo.och.common.module.biz.common.socketmessage.data.OCHOperationalMessage;
import com.mogo.och.common.module.biz.network.OchCommonServiceCallback;
import com.mogo.och.common.module.callback.OchAdasStartFailureCallback;
import com.mogo.och.common.module.manager.OCHAdasAbilityManager;
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.common.module.utils.PinYinUtil;

2
OCH/sweeper/sweeper/src/main/java/com/mogo/och/sweeper/presenter/SweeperPresenter.java
View File

@@ -20,7 +20,7 @@ import com.mogo.eagle.core.function.call.autopilot.CallerAutoPilotStatusListener
import com.mogo.eagle.core.function.call.autopilot.CallerSweeperFutianCleanSystemListenerManager;
import com.mogo.eagle.core.utilcode.mogo.logger.CallerLogger;
import com.mogo.eagle.core.utilcode.util.ThreadUtils;
import com.mogo.och.common.module.manager.OCHAdasAbilityManager;
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.bean.SweeperMainTaskBean;