[清扫车]sweeper 3.0.0合并到master

2023-04-03 20:14:59 +08:00
parent 4763764874 1a6d6bccb5
commit 4cc8a10f3d
7 changed files with 27 additions and 33 deletions
--- a/OCH/mogo-och-sweeper/src/main/java/com/mogo/och/sweeper/bean/SweeperRoutePlanningUpdateReqBean.java
+++ b/OCH/mogo-och-sweeper/src/main/java/com/mogo/och/sweeper/bean/SweeperRoutePlanningUpdateReqBean.java
@@ -1,6 +1,7 @@
 package com.mogo.och.sweeper.bean;

 import java.io.Serializable;
+import java.util.ArrayList;
 import java.util.List;

 /**
@@ -13,15 +14,15 @@ public class SweeperRoutePlanningUpdateReqBean implements Serializable {
    public int lineId;
    public int startSiteId;
    public int endSiteId;
-    public List<Result> points;
+    public ArrayList<Result> points;

-    public static class Result {
+    public static class Result implements Serializable{
          public Double latitude;
          public Double longitude;
    }

    public SweeperRoutePlanningUpdateReqBean(String sn, int lineId, int startSiteId
-            , int endSiteId, List<Result> points) {
+            , int endSiteId, ArrayList<Result> points) {
        this.sn = sn;
        this.lineId = lineId;
        this.startSiteId = startSiteId;
--- a/OCH/mogo-och-sweeper/src/main/java/com/mogo/och/sweeper/fragment/SweeperFragment.kt
+++ b/OCH/mogo-och-sweeper/src/main/java/com/mogo/och/sweeper/fragment/SweeperFragment.kt
@@ -515,8 +515,8 @@ class SweeperFragment : BaseSweeperTabFragment<SweeperFragment?, SweeperPresente

    //模拟结束子任务
    override fun debugEndSubTask() {
-        //mPresenter?.onArriveTaskEnd(null)
-        super.debugEndSubTask()
+        mPresenter?.onArriveTaskEnd(null)
+        //super.debugEndSubTask()
    }

    /**
--- a/OCH/mogo-och-sweeper/src/main/java/com/mogo/och/sweeper/fragment/WeltMapOverViewFragment.kt
+++ b/OCH/mogo-och-sweeper/src/main/java/com/mogo/och/sweeper/fragment/WeltMapOverViewFragment.kt
@@ -34,7 +34,7 @@ class WeltMapOverViewFragment() : BaseFragment(), ISweeperTaskDataToFragmentCall
    }
    override fun initViews(savedInstanceState: Bundle?) {
        super.initViews(savedInstanceState)
-        weltMapOverView.onCreateView(savedInstanceState)
+        weltMapOverView?.onCreateView(savedInstanceState)
        sweeperSwitchToSmall.setOnClickListener {
            mIWeltMapSwitchToSmallCallBack?.onWeltMapSwitchToSmall()
        }
@@ -46,7 +46,7 @@ class WeltMapOverViewFragment() : BaseFragment(), ISweeperTaskDataToFragmentCall
            val routeList = bundle.getSerializable("routeList") as? ArrayList<SweeperRoutePlanningUpdateReqBean.Result>
            val progress = bundle.getString("progress")
            routeList?.let {
-                weltMapOverView.setRouteList(it)
+                weltMapOverView?.setRouteList(it)
            }
            latLng?.let {
                setCurrentTaskCoordinatesLatLng(it)
@@ -55,10 +55,10 @@ class WeltMapOverViewFragment() : BaseFragment(), ISweeperTaskDataToFragmentCall
                setTaskListCoordinatesLatLng(it)
            }
            weltDataList?.let {
-                setWeltData(it,"0.0")
+                setWeltData(it,"0.0cm")
            }
            progress?.let {
-                weltMapOverView.setProgress(progress)
+                weltMapOverView?.setProgress(progress)
            }
        }

@@ -91,39 +91,39 @@ class WeltMapOverViewFragment() : BaseFragment(), ISweeperTaskDataToFragmentCall

    override fun onPause() {
        super.onPause()
-        weltMapOverView.onPause()
+        weltMapOverView?.onPause()
    }

    override fun onResume() {
        super.onResume()
-        weltMapOverView.onResume()
+        weltMapOverView?.onResume()
    }

    override fun onDestroy() {
        super.onDestroy()
-        weltMapOverView.onDestroy()
+        weltMapOverView?.onDestroy()
    }
    override fun setTaskListCoordinatesLatLng(coordinatesLatLng: java.util.ArrayList<LatLng>) {
-        weltMapOverView.setTaskListCoordinatesLatLng(coordinatesLatLng)
+        weltMapOverView?.setTaskListCoordinatesLatLng(coordinatesLatLng)
    }

    override fun setCurrentTaskCoordinatesLatLng(coordinatesLatLng: LatLng) {
-        weltMapOverView.setCurrentTaskCoordinatesLatLng(coordinatesLatLng)
+        weltMapOverView?.setCurrentTaskCoordinatesLatLng(coordinatesLatLng)
    }

    override fun clearAllMarkerAndPolyline() {
-        weltMapOverView.clearAllMarkerAndPolyline()
+        weltMapOverView?.clearAllMarkerAndPolyline()
    }

    override fun setProgress(progress: String) {
-        weltMapOverView.setProgress(progress)
+        weltMapOverView?.setProgress(progress)
    }

    override fun setRouteList(routeList: java.util.ArrayList<SweeperRoutePlanningUpdateReqBean.Result>) {
-        weltMapOverView.setRouteList(routeList)
+        weltMapOverView?.setRouteList(routeList)
    }

    override fun setWeltData(weltDatas: java.util.ArrayList<WeltDataBean>?, distance: String) {
-        weltMapOverView.setWeltData(weltDatas,true,distance)
+        weltMapOverView?.setWeltData(weltDatas,true,distance)
    }
 }
--- a/OCH/mogo-och-sweeper/src/main/java/com/mogo/och/sweeper/model/SweeperTaskModel.java
+++ b/OCH/mogo-och-sweeper/src/main/java/com/mogo/och/sweeper/model/SweeperTaskModel.java
@@ -302,10 +302,6 @@ public class SweeperTaskModel {
        @Override
        public void onChassisLocationGCJ02(@Nullable MogoLocation gnssInfo) {
            if (null == gnssInfo) return;
-            Log.d(M_SWEEPER + TAG, "高德定位到站：mLongitude = " + gnssInfo.getLongitude()
-                    + ", mLatitude=" + gnssInfo.getLatitude() + ", mSubTaskType=" + mSubTaskType + ", mIsSubTaskWorking=" + mIsSubTaskWorking
-                    + ", isAutopilotSubTaskArriveEndSite=" + isAutopilotSubTaskArriveEndSite
-            );
            CallerLogger.INSTANCE.e(M_SWEEPER + TAG, "高德定位到站：mLongitude = " + gnssInfo.getLongitude()
            + ", mLatitude=" + gnssInfo.getLatitude() + ", mSubTaskType=" + mSubTaskType +", mIsSubTaskWorking=" + mIsSubTaskWorking
                    + ", isAutopilotSubTaskArriveEndSite=" + isAutopilotSubTaskArriveEndSite
@@ -349,7 +345,6 @@ public class SweeperTaskModel {
    //根据围栏判断，是否到达子任务终点
    private void judgeArrivedStation(MogoLocation location) {
        if (mCurrentSubTaskDetail == null) {
-            Log.d(TAG, "行程日志-judgeArrivedStation() mCurrentSubTaskDetail is null");
            CallerLogger.INSTANCE.d(TAG, "行程日志-judgeArrivedStation() mCurrentSubTaskDetail is null");
            return;
        }
@@ -361,8 +356,6 @@ public class SweeperTaskModel {
        if (distance <= SweeperConst.ARRIVE_AT_END_STATION_DISTANCE) {
            CallerLogger.INSTANCE.d(M_SWEEPER + TAG, "行程日志-judgeArrivedStation() distance = " + distance
                    + " to " + mCurrentSubTaskDetail.getEndSiteName());
-            Log.d(TAG, "行程日志-judgeArrivedStation() distance = " + distance
-                    + " to " + mCurrentSubTaskDetail.getEndSiteName());
            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
@@ -446,8 +439,6 @@ public class SweeperTaskModel {
        //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
        if (data != null && data.getEndLocation() != null && mCurrentSubTaskDetail != null) {
-            Log.d(M_SWEEPER + TAG, "MAP到站通知：" + mCurrentSubTaskDetail.getEndSiteName() + " 经度："
-                    + data.getEndLocation().getLongitude() + " 纬度：" + data.getEndLocation().getLatitude());
            CallerLogger.INSTANCE.d(M_SWEEPER + TAG, "MAP到站通知：" + mCurrentSubTaskDetail.getEndSiteName() + " 经度："
                    + data.getEndLocation().getLongitude() + " 纬度：" + data.getEndLocation().getLatitude());
            String latitude = NumberFormatUtil.cutOutNumber(data.getEndLocation().getLatitude(), 5); //wgs
@@ -459,8 +450,6 @@ public class SweeperTaskModel {
                return;
            }
        }
-        Log.d(M_SWEEPER + TAG, "MAP到站通知：mSubTaskType=" + mSubTaskType + " isAutopilotSubTaskArriveEndSite="
-                + isAutopilotSubTaskArriveEndSite + " mSubTaskId=" + mSubTaskId);
        CallerLogger.INSTANCE.d(M_SWEEPER + TAG, "MAP到站通知：mSubTaskType=" + mSubTaskType + " isAutopilotSubTaskArriveEndSite="
                + isAutopilotSubTaskArriveEndSite + " mSubTaskId=" + mSubTaskId);
        if (SubTaskTypeEnum.MANUAL_DRIVING_SUBTYPE.getCode() == mSubTaskType) {//人工驾驶子任务需要手动跳过，不能自动结束
@@ -664,7 +653,6 @@ public class SweeperTaskModel {
            @Override
            public void onSuccess(BaseResponse<SweeperSubTaskDetailBean> data) {
                CallerLogger.INSTANCE.d(M_SWEEPER + TAG, "getSubTaskDetail：" + GsonUtil.jsonFromObject(data));
-                Log.d(M_SWEEPER + TAG, "getSubTaskDetail：" + GsonUtil.jsonFromObject(data));
                if (data != null) {
                    mCurrentSubTaskDetail = data.getData();
                    if (mCurrentSubTaskDetail != null) {
--- a/OCH/mogo-och-sweeper/src/main/java/com/mogo/och/sweeper/presenter/SweeperPresenter.java
+++ b/OCH/mogo-och-sweeper/src/main/java/com/mogo/och/sweeper/presenter/SweeperPresenter.java
@@ -356,7 +356,12 @@ public class SweeperPresenter extends Presenter<SweeperFragment>
            weltDataBean.setCleanIntensity(roboSweeperTaskIndex.getCleanIntensity());
            weltDataBean.setSubTaskId(mSubTaskId);
            MyDataBase.getInstance().getWeltDataDao().insert(weltDataBean);
-            String distance = String.valueOf((Math.round(roboSweeperTaskIndex.getDistToRefEdgePoint() * 100)));//m->cm 四舍五入到整数
+            String distance;
+            if (roboSweeperTaskIndex.getDistToRefEdgePoint() >= 1.0) {//大于等于1m
+                distance = format(roboSweeperTaskIndex.getDistToRefEdgePoint()) + "m";
+            } else {//小于1m
+                distance = Math.round(roboSweeperTaskIndex.getDistToRefEdgePoint() * 100) + "cm";//m->cm 四舍五入到整数
+            }
            mView.setWeltDataToMap((ArrayList<WeltDataBean>) MyDataBase.getInstance().getWeltDataDao().loadAllWeltDataInfo(), true, distance);
        }
    }
--- a/OCH/mogo-och-sweeper/src/main/java/com/mogo/och/sweeper/view/WeltMapOverView.kt
+++ b/OCH/mogo-och-sweeper/src/main/java/com/mogo/och/sweeper/view/WeltMapOverView.kt
@@ -302,7 +302,7 @@ class WeltMapOverView : ConstraintLayout, IMoGoChassisLocationGCJ02Listener {
    }

    private fun setDistance(distance: String) {
-        taskWeltDistanceTv.text = "贴边:${distance}cm"
+        taskWeltDistanceTv.text = "贴边:${distance}"
    }

    fun setProgress(progress: String?) {
--- a/OCH/mogo-och-sweeper/src/main/java/com/mogo/och/sweeper/view/WeltSmallMapView.kt
+++ b/OCH/mogo-och-sweeper/src/main/java/com/mogo/och/sweeper/view/WeltSmallMapView.kt
@@ -283,7 +283,7 @@ class WeltSmallMapView : ConstraintLayout, IMoGoChassisLocationGCJ02Listener {
     * 设置贴边距离
     */
    private fun setWeltDistance(distance: String) {
-        taskWeltDistanceTv.text = "贴边:${distance}cm"
+        taskWeltDistanceTv.text = "贴边:${distance}"
    }

    /**