[清扫车]清扫车上装模式逻辑修改

OCH/mogo-och-sweeper/src/main/java/com/mogo/och/sweeper/ui/SweeperOperatePanelView.java

@@ -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.setSecuWorkLeftSts(isLeftSide && !isClickCurrentChoosedDirectionBtn);
-        builder.setSecuWorkRightSts(isRightSide&&isClickCurrentChoosedDirectionBtn);
+        builder.setSecuWorkRightSts(isRightSide && !isClickCurrentChoosedDirectionBtn);
-        builder.setSecuWorkOnBothsidesSts(isBothSide&&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;

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

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

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

@@ -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

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

@@ -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) {
+    fun setSweeperFutianCleanSystemState(taskType: Int, cleanSystemState: SweeperFuTianTaskSystemStates, trafficDataView: SweeperTrafficDataView) {
-        mOperatePanelPopWindow?.setCleanSystemState(cleanSystemState,this@SweeperWorkModeView)
+        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){
+        if (SweeperFutianCmdUtil.checkIfCleanMode(cleanSystemState) || taskType == 2) {
-            setShowOrHideCleanSystemState(OperateStateEnum.NO_STATUS,cleanSystemState)
+            setShowOrHideCleanSystemState(OperateStateEnum.NO_STATUS, cleanSystemState)
-        }else{
+        } else {
-            setShowOrHideCleanSystemState(OperateStateEnum.SUCCESS_STATUS,cleanSystemState)
+            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
+    override fun cleaningModeState(operateState: OperateStateEnum, cleanSystemState: SweeperFuTianTaskSystemStates, isSelectPureSweepMode: Boolean) {
-        setShowOrHideCleanSystemState(operateState,cleanSystemState)
+        this.isSelectPureSweepMode = isSelectPureSweepMode
+        setShowOrHideCleanSystemState(operateState, cleanSystemState)
     }
+
     /**
      * 设置清扫模式数据
      */
-    private fun setCleanModeData(cleanSystemState: SweeperFuTianTaskSystemStates){
+    private fun setCleanModeData(cleanSystemState: SweeperFuTianTaskSystemStates) {
-        if (SweeperFutianCmdUtil.checkIfCleanMode(cleanSystemState)){
+        if (isSelectPureSweepMode) {
-            groupWorkModelPanel?.visibility = View.GONE
+            tvCleaningMode?.text = "纯扫模式"
-            tvNoDataDesc?.visibility = View.VISIBLE
-            tvNoDataDesc?.text = "暂无"
-        }else{
             groupWorkModelPanel?.visibility = View.VISIBLE
             tvNoDataDesc?.visibility = View.GONE
-            // 作业模式
+        } else {
-            if (cleanSystemState.secuModWashSweepSts) tvCleaningMode?.text = "洗扫模式"
+            if (SweeperFutianCmdUtil.checkIfCleanMode(cleanSystemState)) {
-            if (cleanSystemState.secuModWashSts) tvCleaningMode?.text = "纯洗模式"
+                groupWorkModelPanel?.visibility = View.GONE
-            if (cleanSystemState.secuWorkTonSts) tvCleaningMode?.text = "纯吸模式"
+                tvNoDataDesc?.visibility = View.VISIBLE
-            if (SweeperFutianCmdUtil.checkIfCleanModePureSweep(cleanSystemState)||isSelectPureSweepMode) tvCleaningMode?.text = "纯扫模式"
+                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)){
+        if (SweeperFutianCmdUtil.checkIfCleanDirection(cleanSystemState)) {
-            tvCleaningDirection.visibility=View.GONE
+            tvCleaningDirection.visibility = View.GONE
-        }else{
+        } else {
-            tvCleaningDirection.visibility=View.VISIBLE
+            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)){
+        if (SweeperFutianCmdUtil.checkIfCleanIntensity(cleanSystemState)) {
-            tvCleaningIntensity.visibility=View.GONE
+            tvCleaningIntensity.visibility = View.GONE
-        }else{
+        } else {
-            tvCleaningIntensity.visibility=View.VISIBLE
+            tvCleaningIntensity.visibility = View.VISIBLE
             // 作业强度
             if (cleanSystemState.secuWorkStandSts) tvCleaningIntensity?.text = "标准"
             if (cleanSystemState.secuWorkStrongSts) tvCleaningIntensity?.text = "强力"