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[清扫车]清扫车上装模式逻辑修改

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This commit is contained in:
bxb
2023-02-06 21:02:14 +08:00
parent 1f43e60bff
commit 4e2dee116a
4 changed files with 257 additions and 50 deletions
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221
OCH/mogo-och-sweeper/src/main/java/com/mogo/och/sweeper/ui/SweeperOperatePanelView.java
View File

@@ -108,7 +108,15 @@ public class SweeperOperatePanelView extends LinearLayout {
};
private boolean isSelectPureSweepMode = false;//用于标注是否选中纯扫
private boolean isFirst=false;//是否首次打开
private static boolean isResetWorkMode=false;//是否点击复位
private CleaningModeStateCallback cleaningModeStateCallback;
private int count=0;
private ChassisStatesOuterClass.SweeperFuTianTaskSystemStates mCleanSystemState;//当前作业模式
//设置清扫模式数据
private static ChassisStatesOuterClass.SweeperFuTianTaskSystemStates.Builder builder =
ChassisStatesOuterClass.SweeperFuTianTaskSystemStates.newBuilder();
@@ -181,16 +189,25 @@ public class SweeperOperatePanelView extends LinearLayout {
&& currentChoosedModeBtnView.getId() == currentClickView.getId();
//是否纯吸View
boolean isPureAbsorptionClick = currentClickView.getId() == R.id.btn_clean_mode_pure_absorption;
builder.setSecuWorkTonSts(isPureAbsorptionClick&&isClickCurrentChoosedModeBtn);
builder.setSecuWorkTonSts(isPureAbsorptionClick && !isClickCurrentChoosedModeBtn);
//是否纯洗View
boolean isPureWashClick = currentClickView.getId() == R.id.btn_clean_mode_pure_wash;
builder.setSecuModWashSts(isPureWashClick&&isClickCurrentChoosedModeBtn);
builder.setSecuModWashSts(isPureWashClick && !isClickCurrentChoosedModeBtn);
//是否纯扫View
boolean isPureSweepClick = currentClickView.getId() == R.id.btn_clean_mode_pure_sweep;
if (isPureSweepClick){
builder.setSecuWorkTonSts(false);
builder.setSecuModWashSts(false);
builder.setSecuModWashSweepSts(false);
}
//是否洗扫View
boolean isWashSweepClick = currentClickView.getId() == R.id.btn_clean_mode_sweep_wash;
builder.setSecuModWashSweepSts(isWashSweepClick&&isClickCurrentChoosedModeBtn);
builder.setSecuModWashSweepSts(isWashSweepClick && !isClickCurrentChoosedModeBtn);
if (isPureAbsorptionClick) {
builder.setSecuWorkStandSts(true);
}else{
builder.setSecuWorkStandSts(false);
}
CmdRequestCallback cmdRequestCallback = new CmdRequestCallback() {
@Override
public void onSendCmd() {
@@ -229,6 +246,7 @@ public class SweeperOperatePanelView extends LinearLayout {
//success = clean_mode_pure_sweep;
//纯扫 这个模式实际在福田清扫车上没有这个按钮，只是发送指令给特种车端，默认此命令肯定是正确的
success = true;
isSelectPureSweepMode = true;
} else if (isPureWashClick) {
success = clean_mode_pure_wash;
isSelectPureSweepMode = false;
@@ -311,11 +329,14 @@ public class SweeperOperatePanelView extends LinearLayout {
boolean isLeftSide = currentClickView.getId() == R.id.btn_clean_direction_left_side;
boolean isRightSide = currentClickView.getId() == R.id.btn_clean_direction_right_side;
boolean isBothSide = currentClickView.getId() == R.id.btn_clean_direction_both_side;
builder.setSecuWorkLeftSts(isLeftSide&&isClickCurrentChoosedDirectionBtn);
builder.setSecuWorkRightSts(isRightSide&&isClickCurrentChoosedDirectionBtn);
builder.setSecuWorkOnBothsidesSts(isBothSide&&isClickCurrentChoosedDirectionBtn);
builder.setSecuWorkLeftSts(isLeftSide && !isClickCurrentChoosedDirectionBtn);
builder.setSecuWorkRightSts(isRightSide && !isClickCurrentChoosedDirectionBtn);
builder.setSecuWorkOnBothsidesSts(isBothSide && !isClickCurrentChoosedDirectionBtn);
if (!isClickCurrentChoosedDirectionBtn) {
builder.setSecuWorkStandSts(true);
}else{
builder.setSecuWorkStandSts(false);
}
CmdRequestCallback cmdRequestCallback = new CmdRequestCallback() {
@Override
public void onSendCmd() {
@@ -402,6 +423,20 @@ public class SweeperOperatePanelView extends LinearLayout {
}
private void onCleanIntensityBtnClick(final View currentClickView) {
CheckedTextView currentChoosedModeBtnView = null;
for (Integer viewId : cleanIntensityBtnViewIds) {
CheckedTextView view = (CheckedTextView) findViewById(viewId);
if (view.isChecked()) {
currentChoosedModeBtnView = view;
break;
}
}
boolean isClickCurrentChoosedModeBtn = currentChoosedModeBtnView != null
&& currentChoosedModeBtnView.getId() == currentClickView.getId();
//作业强度如果已经选中，则重复点击时不需要再重复发送指令
if (isClickCurrentChoosedModeBtn) {
return;
}
boolean isStandardBtnClick = currentClickView.getId() == R.id.btn_clean_intensity_standard;
builder.setSecuWorkStandSts(isStandardBtnClick);
boolean isStrongBtnClick = currentClickView.getId() == R.id.btn_clean_intensity_strong;
@@ -561,6 +596,7 @@ public class SweeperOperatePanelView extends LinearLayout {
/**
* 发送命令后等待时，展示loading
*
*
* @param timeout
*/
private void showLoadingMask(int timeout) {
@@ -628,9 +664,6 @@ public class SweeperOperatePanelView extends LinearLayout {
* 命令执行超时toast
*/
private void showCmdExecuteTimeoutToast() {
if (cleaningModeStateCallback != null) {
cleaningModeStateCallback.cleaningModeState(OperateStateEnum.FAIL_STATUS, builder.build(), isSelectPureSweepMode);
}
ToastUtils.showLong("超时未响应，操作失败");
}
@@ -655,6 +688,14 @@ public class SweeperOperatePanelView extends LinearLayout {
public void setSweeperFutianCleanSystemState(@NonNull ChassisStatesOuterClass.SweeperFuTianTaskSystemStates cleanSystemState,
CleaningModeStateCallback cleaningModeStateCallback) {
this.cleaningModeStateCallback = cleaningModeStateCallback;
if (!isFirst){
this.mCleanSystemState=cleanSystemState;
isFirst=true;
}
if (isResetWorkMode){
isResetWorkMode=false;
resetSuccess(cleanSystemState);
}
onSyncVehicleStateCallBack(cleanSystemState);
// 有命令正在执行
// if (mCurrentCmdRequestCallback != null) {
@@ -812,9 +853,165 @@ public class SweeperOperatePanelView extends LinearLayout {
* 复位
*/
private void onOperateReset() {
if (mCleanSystemState!=null){
isResetWorkMode=true;
// 洗扫
if (mCleanSystemState.getSecuModWashSweepSts()){
count++;
// 发送命令
sendFuTianTaskCmd(SweeperFutianCmdUtil.buildCleanModeCmd(CLEAN_MODE_WASH_SWEEP));
builder.setSecuModWashSweepSts(true);
}
// 纯洗
if (mCleanSystemState.getSecuModWashSts()){
count++;
sendFuTianTaskCmd(SweeperFutianCmdUtil.buildCleanModeCmd(CLEAN_MODE_PURE_WASH));
builder.setSecuModWashSts(true);
}
// 纯吸
if (mCleanSystemState.getSecuWorkTonSts()){
count++;
sendFuTianTaskCmd(SweeperFutianCmdUtil.buildCleanModeCmd(CLEAN_MODE_PURE_DRAW));
builder.setSecuWorkTonSts(true);
}
//纯扫
if (SweeperFutianCmdUtil.checkIfCleanModePureSweep(mCleanSystemState)){
count++;
sendFuTianTaskCmd(SweeperFutianCmdUtil.buildCleanModeCmd(CLEAN_MODE_PURE_SWEEP));
builder.setSecuModWashSweepSts(false);
builder.setSecuModWashSts(false);
builder.setSecuWorkTonSts(false);
}
// 左侧
if(mCleanSystemState.getSecuWorkLeftSts()){
count++;
sendFuTianTaskCmd(SweeperFutianCmdUtil.buildCleanDirectionCmd(CLEAN_DIRECTION_LEFT_SIDE));
builder.setSecuWorkLeftSts(true);
}
// 右侧
if(mCleanSystemState.getSecuWorkRightSts()){
count++;
sendFuTianTaskCmd(SweeperFutianCmdUtil.buildCleanDirectionCmd(CLEAN_DIRECTION_RIGHT_SIDE));
builder.setSecuWorkRightSts(true);
}
// 两侧
if(mCleanSystemState.getSecuWorkOnBothsidesSts()){
count++;
sendFuTianTaskCmd(SweeperFutianCmdUtil.buildCleanDirectionCmd(CLEAN_DIRECTION_BOTH_SIDE));
builder.setSecuWorkOnBothsidesSts(true);
}
//标准
if (mCleanSystemState.getSecuWorkStandSts()){
count++;
sendFuTianTaskCmd(SweeperFutianCmdUtil.buildCleanIntensityCmd(CLEAN_INTENSITY_STRAND));
builder.setSecuWorkStandSts(true);
}
//强力
if (mCleanSystemState.getSecuWorkStrongSts()){
count++;
sendFuTianTaskCmd(SweeperFutianCmdUtil.buildCleanIntensityCmd(CLEAN_INTENSITY_STRONG));
builder.setSecuWorkStrongSts(true);
}
mCurrentCmdRequestCallback=new CmdRequestCallback() {
@Override
public void onSendCmd() {
showLoadingMask(count*CMD_EXECUTE_TIMEOUT_SECONDS);
}
@Override
public void onCountDownTick(int senonds) {
updateLoadingCountDown(senonds);
}
@Override
public boolean onCheckIfCmdSuccess(ChassisStatesOuterClass.SweeperFuTianTaskSystemStates cleanSystemState) {
// 洗扫
if (cleanSystemState.getSecuModWashSweepSts()){
count--;
}
// 纯洗
if (cleanSystemState.getSecuModWashSts()){
count--;
}
// 纯吸
if (cleanSystemState.getSecuWorkTonSts()){
count--;
}
//纯扫
if (SweeperFutianCmdUtil.checkIfCleanModePureSweep(cleanSystemState)){
count--;
}
// 左侧
if(cleanSystemState.getSecuWorkLeftSts()){
count--;
}
// 右侧
if(cleanSystemState.getSecuWorkRightSts()){
count--;
}
// 两侧
if(cleanSystemState.getSecuWorkOnBothsidesSts()){
count--;
}
//标准
if (cleanSystemState.getSecuWorkStandSts()){
count--;
}
//强力
if (cleanSystemState.getSecuWorkStrongSts()){
count--;
}
return count==0;
}
@Override
public void onCmdSuccess() {
mCleanSystemState=builder.build();
resetSuccess(mCleanSystemState);
hideLoadingMask();
showCmdExecuteSuccessToast();
}
@Override
public void onCmdFailed() {
}
@Override
public void onCmdTimeout() {
runOnUIThread(()->{
hideLoadingMask();
showCmdExecuteTimeoutToast();
});
}
};
// onSendCmd
mCurrentCmdRequestCallback.onSendCmd();
// 开启倒计时
Message msg = Message.obtain();
msg.what = MSG_CMD_EXECUTE_COUNT_DOWN;
msg.obj = count*CMD_EXECUTE_TIMEOUT_SECONDS;
mSweeperOperateCmdHandler.sendMessage(msg);
// Mock Cmd Success
mockSendCmdSuccess();
}
}
/**
* 发送指令
*/
private void sendFuTianTaskCmd(SpecialVehicleTaskCmdOuterClass.RoboSweeperFuTianTaskCmd fuTianTaskCmd){
CallerAutoPilotManager.INSTANCE.sendSweeperFuTianTaskCmd(fuTianTaskCmd);
// log发送命令
logSweeperCmdValue(fuTianTaskCmd);
}
/**
* 重置成功
*/
private void resetSuccess(ChassisStatesOuterClass.SweeperFuTianTaskSystemStates cleanSystemState){
onSyncVehicleStateCallBack(cleanSystemState);
}
private final static SweeperOperateCmdHandler mSweeperOperateCmdHandler = new SweeperOperateCmdHandler();
private static CmdRequestCallback mCurrentCmdRequestCallback;//发送命令后的回调
private static final int MSG_CMD_EXECUTE_COUNT_DOWN = 10001;

5
OCH/mogo-och-sweeper/src/main/java/com/mogo/och/sweeper/ui/popwindow/SweeperOperatePanelPopWindow.kt
View File

@@ -31,8 +31,9 @@ class SweeperOperatePanelPopWindow : PopupWindow {
width = ViewGroup.LayoutParams.WRAP_CONTENT
height = ViewGroup.LayoutParams.WRAP_CONTENT
contentView = mOperatePanelView
isFocusable = true
isOutsideTouchable = true
isFocusable = false
isOutsideTouchable = false
isTouchable=true
mBtnCancel?.setOnClickListener {
dismiss()
}

2
OCH/mogo-och-sweeper/src/main/java/com/mogo/och/sweeper/util/SweeperFutianCmdUtil.java
View File

@@ -155,7 +155,7 @@ public class SweeperFutianCmdUtil {
* @return true:没有作业强度 false：有作业强度
*/
public static boolean checkIfCleanIntensity(ChassisStatesOuterClass.SweeperFuTianTaskSystemStates cleanSystemState){
return !cleanSystemState.getSecuWorkLeftSts()&&!cleanSystemState.getSecuWorkRightSts()&&!cleanSystemState.getSecuWorkOnBothsidesSts();
return !cleanSystemState.getSecuWorkStandSts()&&!cleanSystemState.getSecuWorkStrongSts();
}
/**
* 判断是否纯扫模式

79
OCH/mogo-och-sweeper/src/main/java/com/mogo/och/sweeper/view/SweeperWorkModeView.kt
View File

@@ -18,7 +18,7 @@ import kotlinx.android.synthetic.main.sweeper_work_mode.view.*
*/
class SweeperWorkModeView : ConstraintLayout, CleaningModeStateCallback {
private var isSelectPureSweepMode:Boolean=false
private var isSelectPureSweepMode: Boolean = false
//清扫模式选择面板
private var mOperatePanelPopWindow: SweeperOperatePanelPopWindow? = null
@@ -35,11 +35,12 @@ class SweeperWorkModeView : ConstraintLayout, CleaningModeStateCallback {
LayoutInflater.from(context).inflate(R.layout.sweeper_work_mode, this)
mOperatePanelPopWindow = SweeperOperatePanelPopWindow(context)
}
/**
* 设置清扫模式面板
*/
fun setSweeperFutianCleanSystemState(taskType:Int,cleanSystemState: SweeperFuTianTaskSystemStates, trafficDataView: SweeperTrafficDataView) {
mOperatePanelPopWindow?.setCleanSystemState(cleanSystemState,this@SweeperWorkModeView)
fun setSweeperFutianCleanSystemState(taskType: Int, cleanSystemState: SweeperFuTianTaskSystemStates, trafficDataView: SweeperTrafficDataView) {
mOperatePanelPopWindow?.setCleanSystemState(cleanSystemState, this@SweeperWorkModeView)
//清扫模式选择面板打开关闭处理
ivOpenOperatePanel.setOnClickListener {
if (mOperatePanelPopWindow?.isShowing != true) {
@@ -53,39 +54,39 @@ class SweeperWorkModeView : ConstraintLayout, CleaningModeStateCallback {
}
}
//清扫车暂未选择清扫模式或者任务类型是人工驾驶子任务，则暂无清扫模式
if (SweeperFutianCmdUtil.checkIfCleanMode(cleanSystemState)||taskType==2){
setShowOrHideCleanSystemState(OperateStateEnum.NO_STATUS,cleanSystemState)
}else{
setShowOrHideCleanSystemState(OperateStateEnum.SUCCESS_STATUS,cleanSystemState)
if (SweeperFutianCmdUtil.checkIfCleanMode(cleanSystemState) || taskType == 2) {
setShowOrHideCleanSystemState(OperateStateEnum.NO_STATUS, cleanSystemState)
} else {
setShowOrHideCleanSystemState(OperateStateEnum.SUCCESS_STATUS, cleanSystemState)
}
}
/**
* 设置清扫模式状态显示和隐藏
*/
fun setShowOrHideCleanSystemState(operateState: OperateStateEnum,cleanSystemState: SweeperFuTianTaskSystemStates) {
fun setShowOrHideCleanSystemState(operateState: OperateStateEnum, cleanSystemState: SweeperFuTianTaskSystemStates) {
when (operateState.code) {
OperateStateEnum.SYNCING_STATUS.code ->{
OperateStateEnum.SYNCING_STATUS.code -> {
groupWorkModelPanel?.visibility = View.GONE
tvNoDataDesc?.visibility = View.VISIBLE
tvNoDataDesc?.text = "状态同步中,请稍后"
}
OperateStateEnum.FAIL_STATUS.code ->{
OperateStateEnum.FAIL_STATUS.code -> {
groupWorkModelPanel?.visibility = View.GONE
tvNoDataDesc?.visibility = View.VISIBLE
tvNoDataDesc?.text = "上装启动失败"
}
OperateStateEnum.STARTING_STATUS.code ->{
OperateStateEnum.STARTING_STATUS.code -> {
groupWorkModelPanel?.visibility = View.GONE
tvNoDataDesc?.visibility = View.VISIBLE
tvNoDataDesc?.text = "上装启动中..."
}
OperateStateEnum.NO_STATUS.code ->{
OperateStateEnum.NO_STATUS.code -> {
groupWorkModelPanel?.visibility = View.GONE
tvNoDataDesc?.visibility = View.VISIBLE
tvNoDataDesc?.text = "暂无"
}
else->{
else -> {
groupWorkModelPanel?.visibility = View.VISIBLE
tvNoDataDesc?.visibility = View.GONE
setCleanModeData(cleanSystemState)
@@ -93,32 +94,40 @@ class SweeperWorkModeView : ConstraintLayout, CleaningModeStateCallback {
}
}
override fun cleaningModeState(operateState: OperateStateEnum, cleanSystemState: SweeperFuTianTaskSystemStates,isSelectPureSweepMode:Boolean) {
this.isSelectPureSweepMode=isSelectPureSweepMode
setShowOrHideCleanSystemState(operateState,cleanSystemState)
override fun cleaningModeState(operateState: OperateStateEnum, cleanSystemState: SweeperFuTianTaskSystemStates, isSelectPureSweepMode: Boolean) {
this.isSelectPureSweepMode = isSelectPureSweepMode
setShowOrHideCleanSystemState(operateState, cleanSystemState)
}
/**
* 设置清扫模式数据
*/
private fun setCleanModeData(cleanSystemState: SweeperFuTianTaskSystemStates){
if (SweeperFutianCmdUtil.checkIfCleanMode(cleanSystemState)){
groupWorkModelPanel?.visibility = View.GONE
tvNoDataDesc?.visibility = View.VISIBLE
tvNoDataDesc?.text = "暂无"
}else{
private fun setCleanModeData(cleanSystemState: SweeperFuTianTaskSystemStates) {
if (isSelectPureSweepMode) {
tvCleaningMode?.text = "纯扫模式"
groupWorkModelPanel?.visibility = View.VISIBLE
tvNoDataDesc?.visibility = View.GONE
// 作业模式
if (cleanSystemState.secuModWashSweepSts) tvCleaningMode?.text = "洗扫模式"
if (cleanSystemState.secuModWashSts) tvCleaningMode?.text = "纯洗模式"
if (cleanSystemState.secuWorkTonSts) tvCleaningMode?.text = "纯吸模式"
if (SweeperFutianCmdUtil.checkIfCleanModePureSweep(cleanSystemState)||isSelectPureSweepMode) tvCleaningMode?.text = "纯扫模式"
} else {
if (SweeperFutianCmdUtil.checkIfCleanMode(cleanSystemState)) {
groupWorkModelPanel?.visibility = View.GONE
tvNoDataDesc?.visibility = View.VISIBLE
tvNoDataDesc?.text = "暂无"
} else {
groupWorkModelPanel?.visibility = View.VISIBLE
tvNoDataDesc?.visibility = View.GONE
// 作业模式
if (cleanSystemState.secuModWashSweepSts) tvCleaningMode?.text = "洗扫模式"
if (cleanSystemState.secuModWashSts) tvCleaningMode?.text = "纯洗模式"
if (cleanSystemState.secuWorkTonSts) tvCleaningMode?.text = "纯吸模式"
if (SweeperFutianCmdUtil.checkIfCleanModePureSweep(cleanSystemState)) tvCleaningMode?.text = "纯扫模式"
}
}
//清扫方向
if(SweeperFutianCmdUtil.checkIfCleanDirection(cleanSystemState)){
tvCleaningDirection.visibility=View.GONE
}else{
tvCleaningDirection.visibility=View.VISIBLE
if (SweeperFutianCmdUtil.checkIfCleanDirection(cleanSystemState)) {
tvCleaningDirection.visibility = View.GONE
} else {
tvCleaningDirection.visibility = View.VISIBLE
// 左侧
if (cleanSystemState.secuWorkLeftSts) tvCleaningDirection?.text = "左侧"
// 右侧
@@ -126,10 +135,10 @@ class SweeperWorkModeView : ConstraintLayout, CleaningModeStateCallback {
// 两侧
if (cleanSystemState.secuWorkOnBothsidesSts) tvCleaningDirection?.text = "两侧"
}
if (SweeperFutianCmdUtil.checkIfCleanIntensity(cleanSystemState)){
tvCleaningIntensity.visibility=View.GONE
}else{
tvCleaningIntensity.visibility=View.VISIBLE
if (SweeperFutianCmdUtil.checkIfCleanIntensity(cleanSystemState)) {
tvCleaningIntensity.visibility = View.GONE
} else {
tvCleaningIntensity.visibility = View.VISIBLE
// 作业强度
if (cleanSystemState.secuWorkStandSts) tvCleaningIntensity?.text = "标准"
if (cleanSystemState.secuWorkStrongSts) tvCleaningIntensity?.text = "强力"