[自主算路验证] feat: 到终点后主动弹出结束任务弹框；

refactor: 算路模式下接单按钮修改成置灰UI，但是依然可点击，点击时提示toast; fix: 到达终点后需要主动取消自动驾驶，否则会一直在自动驾驶状态和D挡；
2023-11-30 15:14:32 +08:00
parent 37e6028086
commit 4cd995569a
8 changed files with 222 additions and 12 deletions
--- a/OCH/taxi/unmanned-driver/src/main/java/com/mogo/och/taxi/callback/ITaxiRoutingCallback.kt
+++ b/OCH/taxi/unmanned-driver/src/main/java/com/mogo/och/taxi/callback/ITaxiRoutingCallback.kt
@@ -12,4 +12,6 @@ interface ITaxiRoutingCallback {
    fun onSubmitGrayLineIssueLocationFailed(errorStr: String)
    fun onSubmitEndTaskSuccess()
    fun onSubmitEndTaskFailed(errorStr: String)
+    fun onAutoPilotArriveAtEndStation(grayId: Long?)
+    fun onGDMapArriveAtEndStation(grayId: Long?)
 }
--- a/OCH/taxi/unmanned-driver/src/main/java/com/mogo/och/taxi/ui/base/BaseTaxiTabFragment.kt
+++ b/OCH/taxi/unmanned-driver/src/main/java/com/mogo/och/taxi/ui/base/BaseTaxiTabFragment.kt
@@ -200,7 +200,7 @@ abstract class BaseTaxiTabFragment<V : IView, P : Presenter<V>> : MvpFragment<V,
        module_mogo_och_operation_status.setOnClickListener(object : OnPreventFastClickListener() {
            override fun onClickImpl(v: View?) {
                if (MogoStatusManager.getInstance().isTaxiUnmanedDriverLineRoutingVerifyMode) {
-                    ToastUtils.showLong("请先切换到Taxi无人化流程模式后使用")
+                    ToastUtils.showLong("退出验证模式后再接单吧")
                    return
                }
                onChangeOperationStatus()
--- a/OCH/taxi/unmanned-driver/src/main/java/com/mogo/och/taxi/ui/base/TaxiFragment.kt
+++ b/OCH/taxi/unmanned-driver/src/main/java/com/mogo/och/taxi/ui/base/TaxiFragment.kt
@@ -273,8 +273,8 @@ class TaxiFragment : BaseTaxiTabFragment<TaxiFragment, TaxiPresenter>(),
        if (MogoStatusManager.getInstance().isTaxiUnmanedDriverTakingOrders) {
            return
        }
-        module_mogo_och_operation_status.isEnabled = !isRoutingVerifyMode
-        val isBtnEnable = module_mogo_och_operation_status.isEnabled
+        module_mogo_och_operation_status.isChecked = !isRoutingVerifyMode
+        val isBtnEnable = module_mogo_och_operation_status.isChecked
        if (isBtnEnable) {
            module_mogo_och_operation_status.setCompoundDrawablesWithIntrinsicBounds(
                resources.getDrawable(R.drawable.shape_size_operation_out),
--- a/OCH/taxi/unmanned-driver/src/main/java/com/mogo/och/taxi/ui/routing/TaxiRoutingChooseLineViewModel.kt
+++ b/OCH/taxi/unmanned-driver/src/main/java/com/mogo/och/taxi/ui/routing/TaxiRoutingChooseLineViewModel.kt
@@ -104,6 +104,12 @@ class TaxiRoutingChooseLineViewModel : BaseViewModel<TaxiRoutingUiState, TaxiRou
    override fun onSubmitEndTaskFailed(errorStr: String) {
    }

+    override fun onAutoPilotArriveAtEndStation(grayId: Long?) {
+    }
+
+    override fun onGDMapArriveAtEndStation(grayId: Long?) {
+    }
+
    override fun onCleared() {
        super.onCleared()
        TaxiRoutingModel.removeTaxiRoutingListener(TAG)
--- a/OCH/taxi/unmanned-driver/src/main/java/com/mogo/och/taxi/ui/routing/TaxiRoutingFragmentViewModel.kt
+++ b/OCH/taxi/unmanned-driver/src/main/java/com/mogo/och/taxi/ui/routing/TaxiRoutingFragmentViewModel.kt
@@ -53,21 +53,30 @@ class TaxiRoutingFragmentViewModel : BaseViewModel<TaxiRoutingUiState, TaxiRouti
                    )
                }
                // 设置灰度路线任务执行状态，切换模式时判断使用
-                MogoStatusManager.getInstance().setTaxiUnmanedDriverLineRoutingPerformTask(TAG, true)
+                MogoStatusManager.getInstance()
+                    .setTaxiUnmanedDriverLineRoutingPerformTask(TAG, true)
            }

            is TaxiRoutingUiIntent.StartTaskAction -> {
                DebugView.printInfoMsg("[开始任务] 准备开始任务")
                val grayLineBean = intent.routingTask.grayLineBean
                val contrailBean = intent.routingTask.contrailBean
+                val grayId = intent.routingTask.grayId
                if (grayLineBean == null || contrailBean == null) {
                    ToastUtils.showShort("灰度线路或轨迹信息异常，请稍后再试")
                    DebugView.printErrorMsg("[开始任务] 灰度线路或轨迹信息异常，请稍后再试")
                    return
                }
                DebugView.printInfoMsg("[启自驾] 准备启动自驾")
-                TaxiRoutingModel.updateCurrentGrayLineAndContrail(grayLineBean, contrailBean)
+                TaxiRoutingModel.updateCurrentGrayLineAndContrail(
+                    grayLineBean,
+                    contrailBean,
+                    grayId
+                )
                TaxiRoutingModel.startAutoPilot(grayLineBean!!, contrailBean!!)
+                //添加到站监听
+                TaxiRoutingModel.addAutoPilotStatusListener()
+                TaxiRoutingModel.addGDMapCurrentLocationListener()
                sendUiState {
                    copy(
                        routingUiState = RoutingUIState.ShowFinishTaskButton(intent.routingTask)
@@ -133,10 +142,13 @@ class TaxiRoutingFragmentViewModel : BaseViewModel<TaxiRoutingUiState, TaxiRouti
                routingUiState = RoutingUIState.Init
            )
        }
-        TaxiRoutingModel.updateCurrentGrayLineAndContrail(null, null)
+        TaxiRoutingModel.updateCurrentGrayLineAndContrail(null, null, -1L)
        // 设置灰度路线任务执行状态，切换模式时判断使用
        MogoStatusManager.getInstance().setTaxiUnmanedDriverLineRoutingPerformTask(TAG, false)
        TaxiRoutingModel.startNaviToEndStationByAMap(false)
+        // 移除到站监听
+        TaxiRoutingModel.removeAutoPilotStatusListener()
+        TaxiRoutingModel.removeGDMapCurrentLocationListener()
    }

    override fun onSubmitEndTaskFailed(errorStr: String) {
@@ -148,6 +160,40 @@ class TaxiRoutingFragmentViewModel : BaseViewModel<TaxiRoutingUiState, TaxiRouti
        }
    }

+    override fun onAutoPilotArriveAtEndStation(grayId: Long?) {
+        TaxiRoutingModel.removeAutoPilotStatusListener()
+        TaxiRoutingModel.removeGDMapCurrentLocationListener()
+
+        TaxiRoutingModel.cancelAutopilot()
+
+        DebugView.printInfoMsg("[结束任务] 到终点站，自动展示结束任务弹框")
+        sendUiState {
+            copy(
+                routingUiState = RoutingUIState.ShowFeedbackDialog(
+                    grayId ?: -1L,
+                    System.currentTimeMillis()
+                )
+            )
+        }
+    }
+
+    override fun onGDMapArriveAtEndStation(grayId: Long?) {
+        TaxiRoutingModel.removeAutoPilotStatusListener()
+        TaxiRoutingModel.removeGDMapCurrentLocationListener()
+
+        TaxiRoutingModel.cancelAutopilot()
+
+        DebugView.printInfoMsg("[结束任务] 到终点站，自动展示结束任务弹框")
+        sendUiState {
+            copy(
+                routingUiState = RoutingUIState.ShowFeedbackDialog(
+                    grayId ?: -1L,
+                    System.currentTimeMillis()
+                )
+            )
+        }
+    }
+
    override fun onCleared() {
        TaxiRoutingModel.removeTaxiRoutingListener(TAG)
        super.onCleared()
--- a/OCH/taxi/unmanned-driver/src/main/java/com/mogo/och/taxi/ui/routing/TaxiRoutingModel.kt
+++ b/OCH/taxi/unmanned-driver/src/main/java/com/mogo/och/taxi/ui/routing/TaxiRoutingModel.kt
@@ -7,10 +7,17 @@ import com.mogo.commons.AbsMogoApplication
 import com.mogo.eagle.core.data.BaseData
 import com.mogo.eagle.core.data.autopilot.AutopilotControlParameters
 import com.mogo.eagle.core.data.config.FunctionBuildConfig
+import com.mogo.eagle.core.data.map.MogoLocation
+import com.mogo.eagle.core.function.api.autopilot.IMoGoAutopilotStatusListener
+import com.mogo.eagle.core.function.api.autopilot.IMoGoChassisLocationGCJ02Listener
 import com.mogo.eagle.core.function.call.autopilot.CallerAutoPilotControlManager
+import com.mogo.eagle.core.function.call.autopilot.CallerAutoPilotStatusListenerManager
+import com.mogo.eagle.core.function.call.autopilot.CallerChassisLocationGCJ02ListenerManager
 import com.mogo.eagle.core.network.utils.GsonUtil
 import com.mogo.eagle.core.utilcode.mogo.logger.CallerLogger
 import com.mogo.eagle.core.utilcode.mogo.logger.scene.SceneConstant
+import com.mogo.eagle.core.utilcode.util.CoordinateUtils
+import com.mogo.eagle.core.utilcode.util.DrivingDirectionUtils
 import com.mogo.eagle.core.utilcode.util.GsonUtils
 import com.mogo.eagle.core.utilcode.util.NetworkUtils
 import com.mogo.eagle.core.utilcode.util.ToastUtils
@@ -29,6 +36,8 @@ import com.mogo.och.taxi.callback.ITaxiRoutingCallback
 import com.mogo.och.taxi.constant.TaxiUnmannedConst
 import com.mogo.och.taxi.network.TaxiRoutingServiceManager
 import com.mogo.och.taxi.ui.debug.DebugView
+import mogo.telematics.pad.MessagePad
+import mogo_msg.MogoReportMsg
 import java.util.concurrent.ConcurrentHashMap

 object TaxiRoutingModel {
@@ -39,6 +48,7 @@ object TaxiRoutingModel {

    private var currentGrayLineBean: GrayLineBean? = null
    private var currentContrailBean: ContrailBean? = null
+    private var currentGrayId: Long? = null

    private val mTaxiRoutingCallbackMap: ConcurrentHashMap<String, ITaxiRoutingCallback> =
        ConcurrentHashMap()
@@ -69,6 +79,131 @@ object TaxiRoutingModel {
        mOrderStatusCallback = callback
    }

+    fun addAutoPilotStatusListener() {
+        CallerAutoPilotStatusListenerManager.addListener(TAG, mMogoAutopilotStatusListener)
+    }
+
+    fun removeAutoPilotStatusListener() {
+        CallerAutoPilotStatusListenerManager.removeListener(TAG)
+    }
+
+    //MAP到站监听
+    private val mMogoAutopilotStatusListener: IMoGoAutopilotStatusListener =
+        object : IMoGoAutopilotStatusListener {
+            override fun onAutopilotIpcConnectStatusChanged(status: Int, reason: String?) {
+            }
+
+            override fun onAutopilotGuardian(guardianInfo: MogoReportMsg.MogoReportMessage?) {
+            }
+
+            override fun onAutopilotStatusResponse(state: Int) {
+            }
+
+            override fun onAutopilotArriveAtStation(arrivalNotification: MessagePad.ArrivalNotification?) {
+                CallerLogger.i(
+                    TAG,
+                    "onAutopilotArriveAtStation = ${arrivalNotification.toString()}"
+                )
+                DebugView.printInfoMsg("[MAP到站通知] 上报到站，location=${arrivalNotification?.endLocation}")
+
+                val endSiteLat: Double? = currentGrayLineBean?.endSite?.gcjLat
+                val endSiteLon: Double? = currentGrayLineBean?.endSite?.gcjLon
+                val mapEndSiteLatWgs: Double? = arrivalNotification?.endLocation?.latitude
+                val mapEndSiteLonWgs: Double? = arrivalNotification?.endLocation?.longitude
+                if (endSiteLon != null && endSiteLat != null && mapEndSiteLonWgs != null && mapEndSiteLatWgs != null) {
+                    val latLngs =
+                        CoordinateUtils.transformWgsToGcj(mapEndSiteLatWgs, mapEndSiteLonWgs)
+                    val distance = CoordinateUtils.calculateLineDistance(
+                        endSiteLon, endSiteLat,
+                        latLngs[0], latLngs[1]
+                    ).toDouble()
+                    if (distance <= TaxiUnmannedConst.ARRIVE_AT_START_STATION_DISTANCE) {// 两坐标小于15米
+                        DebugView.printInfoMsg("[MAP到站通知] 到站坐标和任务终点15米内, 请求到站")
+                        mTaxiRoutingCallbackMap.forEach {
+                            val listener = it.value
+                            listener.onAutoPilotArriveAtEndStation(currentGrayId)
+                        }
+                    } else {
+                        DebugView.printInfoMsg("[MAP到站通知] 到站坐标和任务终点不一致, 不请求到站")
+                    }
+                } else {
+                    DebugView.printErrorMsg(
+                        "[MAP到站通知] 上报到站，数据异常，endSiteLat = $endSiteLat, endSiteLon = $endSiteLon, " +
+                                "mapEndSiteLat = $mapEndSiteLatWgs, mapEndSiteLon = $mapEndSiteLonWgs"
+                    )
+                }
+            }
+        }
+
+    // 自车定位监听
+    private val mMapLocationListener: IMoGoChassisLocationGCJ02Listener =
+        object : IMoGoChassisLocationGCJ02Listener {
+            override fun onChassisLocationGCJ02(currentLocation: MogoLocation?) {
+                //位置变化时，通过围栏判断是否到达x点
+                if (null == currentLocation) return
+                val endSite = currentGrayLineBean?.endSite ?: return
+
+                val endLon = endSite.gcjLon
+                val endLat = endSite.gcjLat
+
+                val distance = CoordinateUtils.calculateLineDistance(
+                    endLon,
+                    endLat,
+                    currentLocation.longitude,
+                    currentLocation.latitude
+                ).toDouble()
+                CallerLogger.i(TAG, "judgeEndStation() distance = $distance")
+                //1、当前位置和站点围栏15m内
+                if (distance <= TaxiUnmannedConst.ARRIVE_AT_START_STATION_DISTANCE) {
+                    //2、开始计算当前位置和站点的向量角度 < 90度 未经过 >90度 经过
+                    val stationAngle = DrivingDirectionUtils.getDegreeOfCar2Poi(
+                        currentLocation.longitude,
+                        currentLocation.latitude,
+                        endLon,
+                        endLat,
+                        currentLocation.heading.toInt()
+                    ).toDouble()
+                    CallerLogger.i(TAG, "judgeEndStation() stationAngle = $stationAngle")
+
+                    //3、刚过站且过站距离在15m内， 提交到站
+                    if (stationAngle > 90) {
+                        CallerLogger.i(TAG, "judgeEndStation() = 刚过站且在15m内")
+                        DebugView.printInfoMsg(
+                            "[自车定位围栏] 触发围栏, endSiteId=${currentGrayLineBean?.endSite?.siteId}, endSiteName=${currentGrayLineBean?.endSite?.siteName}, lineId=${currentGrayLineBean?.lineId}，围栏范围：${TaxiUnmannedConst.ARRIVE_AT_START_STATION_DISTANCE}米 刚过站且在15m内"
+                        )
+                        mTaxiRoutingCallbackMap.forEach {
+                            val listener = it.value
+                            listener.onGDMapArriveAtEndStation(currentGrayId)
+                        }
+                    } else {
+                        // 4、 没有过站距离小于15m 速度小于0.3(根据M1来的模数 可能要调)
+                        if (currentLocation.gnssSpeed < 0.3) {
+                            CallerLogger.i(
+                                TAG,
+                                "judgeEndStation() = 没有过站、速度基本为零且在15m内"
+                            )
+                            DebugView.printInfoMsg(
+                                "[自车定位围栏] 触发围栏, endSiteId=${currentGrayLineBean?.endSite?.siteId}, endSiteName=${currentGrayLineBean?.endSite?.siteName}, lineId=${currentGrayLineBean?.lineId}，围栏范围：${TaxiUnmannedConst.ARRIVE_AT_START_STATION_DISTANCE}米 没有过站、速度基本为零且在15m内"
+                            )
+                            mTaxiRoutingCallbackMap.forEach {
+                                val listener = it.value
+                                listener.onGDMapArriveAtEndStation(currentGrayId)
+                            }
+                        }
+                    }
+                }
+            }
+        }
+
+    fun addGDMapCurrentLocationListener() {
+        //定位监听， 传false是高德坐标系 10 -> 100ms一次
+        CallerChassisLocationGCJ02ListenerManager.addListener(TAG, 10, mMapLocationListener)
+    }
+
+    fun removeGDMapCurrentLocationListener() {
+        CallerChassisLocationGCJ02ListenerManager.removeListener(TAG)
+    }
+
    fun queryRoutingGrayLineList() {
        DebugView.printInfoMsg("[查询灰度路线] 准备发送请求，sn=${MoGoAiCloudClientConfig.getInstance().sn}")
        TaxiRoutingServiceManager.queryRoutingGrayLineList(mContext,
@@ -302,14 +437,22 @@ object TaxiRoutingModel {
            })
    }

-    fun updateCurrentGrayLineAndContrail(grayLineBean: GrayLineBean?, contrailBean: ContrailBean?) {
+    fun updateCurrentGrayLineAndContrail(
+        grayLineBean: GrayLineBean?,
+        contrailBean: ContrailBean?,
+        grayId: Long?
+    ) {
        currentGrayLineBean = grayLineBean
        currentContrailBean = contrailBean
+        currentGrayId = grayId
    }

    fun startAutoPilotByClick() {
        if (currentGrayLineBean == null || currentContrailBean == null) {
-            CallerLogger.e(TAG, "startAutoPilotByClick 异常，currentGrayLineBean == null || currentContrailBean == null")
+            CallerLogger.e(
+                TAG,
+                "startAutoPilotByClick 异常，currentGrayLineBean == null || currentContrailBean == null"
+            )
            DebugView.printErrorMsg("[启自驾] startAutoPilotByClick 异常，currentGrayLineBean == null || currentContrailBean == null")
            return
        }
@@ -398,6 +541,19 @@ object TaxiRoutingModel {
        return parameters
    }

+    /**
+     * 结束自动驾驶
+     * */
+    fun cancelAutopilot() {
+        try {
+            CallerAutoPilotControlManager.cancelAutoPilot()
+            DebugView.printInfoMsg("[取消自驾] 调用成功")
+            CallerLogger.d(TAG, "结束自动驾驶")
+        } catch (e: Exception) {
+            e.printStackTrace()
+        }
+    }
+
    /**
     * 显示/隐藏 前往任务目的地的导航
     *
--- a/OCH/taxi/unmanned-driver/src/main/res/color/taxi_autopilot_text_color_selector.xml
+++ b/OCH/taxi/unmanned-driver/src/main/res/color/taxi_autopilot_text_color_selector.xml
@@ -1,5 +1,5 @@
 <?xml version="1.0" encoding="utf-8"?>
 <selector xmlns:android="http://schemas.android.com/apk/res/android">
-    <item android:color="@color/taxi_autopilot_text_color_normal" android:state_enabled="true"/>
-    <item android:color="@color/taxi_autopilot_text_color_disable" android:state_enabled="false"/>
+    <item android:color="@color/taxi_autopilot_text_color_normal" android:state_focused="true"/>
+    <item android:color="@color/taxi_autopilot_text_color_disable" android:state_focused="false"/>
 </selector>
--- a/OCH/taxi/unmanned-driver/src/main/res/drawable/taxi_operation_status_bg_selector_new.xml
+++ b/OCH/taxi/unmanned-driver/src/main/res/drawable/taxi_operation_status_bg_selector_new.xml
@@ -1,5 +1,5 @@
 <?xml version="1.0" encoding="utf-8"?>
 <selector xmlns:android="http://schemas.android.com/apk/res/android">
-    <item android:drawable="@drawable/taxi_operation_status_bg_disabled" android:state_enabled="false" />
-    <item android:drawable="@drawable/taxi_operation_status_bg" android:state_enabled="true"/>
+    <item android:drawable="@drawable/taxi_operation_status_bg_disabled" android:state_checked="false" />
+    <item android:drawable="@drawable/taxi_operation_status_bg" android:state_checked="true"/>
 </selector>