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[sweeper-cloud] 接取云控任务确认弹窗逻辑处理

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This commit is contained in:
bxb
2023-05-05 17:19:17 +08:00
parent 54ea3e3022
commit 55238dd0ed
16 changed files with 283 additions and 256 deletions
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6
OCH/sweeper/sweeper-cloud/src/main/java/com/mogo/och/sweepercloud/callback/ISweeperCloudTaskCallback.kt
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@@ -16,8 +16,11 @@ import com.zhjt.mogo.adas.data.sweeper.task.stop.SweeperTaskStop.StopTaskType
*/
interface ISweeperCloudTaskCallback {
fun onSweeperCloudTask(messageType: SweeperCloudTask.MessageType,taskInfo: SweeperTask.TaskInfo)
fun onSweeperCloudTask(messageType: SweeperCloudTask.MessageType,taskInfo: SweeperTask.TaskInfo?)
/**
* 云端下发子任务请求pad确认
*/
fun onSweeperCloudTaskConfirm(taskId:String,subTaskId:String)
fun onSweeperCloudTaskStatus(taskId:String,subTaskId:String,subTaskStatus: SweeperCommon.TaskStatus)
@@ -43,4 +46,5 @@ interface ISweeperCloudTaskCallback {
*/
fun onSweeperFutianCleanSystemState(cleanSystemState: ChassisStatesOuterClass.SweeperFuTianTaskSystemStates)
}

8
OCH/sweeper/sweeper-cloud/src/main/java/com/mogo/och/sweepercloud/database/bean/WeltDataBean.java
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@@ -19,9 +19,9 @@ public class WeltDataBean implements Serializable {
private int id;
@ColumnInfo(name = "subTaskId", typeAffinity = ColumnInfo.INTEGER)//子任务id
@ColumnInfo(name = "subTaskId", typeAffinity = ColumnInfo.TEXT)//子任务id
private int subTaskId;
private String subTaskId;
@ColumnInfo(name = "locLon", typeAffinity = ColumnInfo.REAL)
@@ -55,11 +55,11 @@ public class WeltDataBean implements Serializable {
this.id = id;
}
public int getSubTaskId() {
public String getSubTaskId() {
return subTaskId;
}
public void setSubTaskId(int subTaskId) {
public void setSubTaskId(String subTaskId) {
this.subTaskId = subTaskId;
}

27
OCH/sweeper/sweeper-cloud/src/main/java/com/mogo/och/sweepercloud/fragment/BaseSweeperTabFragment.java
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@@ -437,6 +437,10 @@ public abstract class BaseSweeperTabFragment<V extends IView, P extends Presente
}
}
/**
* 设置当前子任务终点
* @param subTaskCoordinate
*/
public void setCurrentTaskEndMarker(LatLng subTaskCoordinate) {
if (mMapWeltView != null) {
mMapWeltView.setCurrentTaskCoordinatesLatLng(subTaskCoordinate);
@@ -457,30 +461,15 @@ public abstract class BaseSweeperTabFragment<V extends IView, P extends Presente
mTaskDataToFragmentCallback.clearAllMarkerAndPolyline();
}
}
/**
* 导航去目的地
*/
public void startNaviToStation(Boolean isVoicePlay, double startLat, double startLng, double endLat, double endLng) {
AmapNaviToDestinationModel.getInstance(getContext()).destroyAmaNavi();
NaviLatLng startNaviLatLng = new NaviLatLng(startLat, startLng);
NaviLatLng endNaviLatLng = new NaviLatLng(endLat, endLng);
AmapNaviToDestinationModel.getInstance(getContext()).initAMapNavi(startNaviLatLng, endNaviLatLng);
AmapNaviToDestinationModel.getInstance(getContext()).setVoiceIsMute(isVoicePlay);
}
/**
* 设置任务轨迹点数据
*/
public void setTaskRouteList(ArrayList<SweeperRoutePlanningUpdateReqBean.Result> routeList) {
mRouteList = routeList;
ThreadUtils.getSinglePool().execute(new Runnable() {
@Override
public void run() {
mMapWeltView.setRouteList(routeList);
if (mTaskDataToFragmentCallback != null) {
mTaskDataToFragmentCallback.setRouteList(routeList);
}
ThreadUtils.getSinglePool().execute(() -> {
mMapWeltView.setRouteList(routeList);
if (mTaskDataToFragmentCallback != null) {
mTaskDataToFragmentCallback.setRouteList(routeList);
}
});
}

146
OCH/sweeper/sweeper-cloud/src/main/java/com/mogo/och/sweepercloud/fragment/SweeperFragment.kt
View File

@@ -15,8 +15,10 @@ import com.mogo.och.sweepercloud.ui.dialog.SweeperCloudDialog
import com.mogo.och.sweepercloud.util.SweeperCloudTaskMockUtils.sendCloudTaskInfo
import com.mogo.och.sweepercloud.view.SweeperCurrentTaskInfoView
import com.zhjt.mogo.adas.data.sweeper.SweeperCloudTask
import com.zhjt.mogo.adas.data.sweeper.common.SweeperCommon
import com.zhjt.mogo.adas.data.sweeper.task.SweeperTask
import com.zhjt.mogo.adas.data.sweeper.task.SweeperTask.SubTaskInfo
import com.zhjt.mogo.adas.data.sweeper.task.confirm.SweeperTaskConfirm
import kotlinx.android.synthetic.main.fragment_och_sweeper.*
import kotlinx.android.synthetic.main.sweeper_no_data_common_view.*
import kotlinx.coroutines.Dispatchers
@@ -31,7 +33,6 @@ class SweeperFragment : BaseSweeperTabFragment<SweeperFragment?, SweeperPresente
const val TAG = "SweeperFragment"
}
private var mCurrentSubPosition: Int = 0 //子任务下标
private var mSubMutableList: MutableList<SubTaskInfo>? = null
private var mCleanSystemState: ChassisStatesOuterClass.SweeperFuTianTaskSystemStates? = null
private var mLocation: MogoLocation? = null
@@ -67,12 +68,13 @@ class SweeperFragment : BaseSweeperTabFragment<SweeperFragment?, SweeperPresente
private fun setShowCurrentTaskPanelView(isShow: Boolean) {
if (isShow) {
sweeper_current_task_view.visibility = View.VISIBLE
noTaskDataView.visibility=View.GONE
noTaskDataView.visibility = View.GONE
} else {
sweeper_current_task_view.visibility = View.GONE
noTaskDataView.visibility=View.VISIBLE
noTaskDataView.visibility = View.VISIBLE
}
}
/**
* VR模式切换
*
@@ -89,13 +91,6 @@ class SweeperFragment : BaseSweeperTabFragment<SweeperFragment?, SweeperPresente
mPresenter?.debugAutoPilotStatus(status)
}
/**
* 设置子任务的状态
*/
fun setSubTaskState(isWorking: Boolean) {
getCurrentView().setSubTaskState(isWorking)
}
/**
* 设置各种监听事件
*/
@@ -106,10 +101,8 @@ class SweeperFragment : BaseSweeperTabFragment<SweeperFragment?, SweeperPresente
}
fun onSweeperFutianCleanSystemState(cleanSystemState: ChassisStatesOuterClass.SweeperFuTianTaskSystemStates) {
lifecycleScope.launch(Dispatchers.Main) {
mCleanSystemState = cleanSystemState
sweeper_cl_work_mode.setSweeperFutianCleanSystemState(mSubTaskType, cleanSystemState)
}
mCleanSystemState = cleanSystemState
sweeper_cl_work_mode.setSweeperFutianCleanSystemState(mSubTaskType, cleanSystemState)
}
/**
@@ -119,7 +112,10 @@ class SweeperFragment : BaseSweeperTabFragment<SweeperFragment?, SweeperPresente
this.mLocation = location
}
private fun addWeltData() {
/**
* 大任务中所有子任务起终点集合
*/
private fun addTaskData() {
lifecycleScope.launch(Dispatchers.IO) {
mSubMutableList?.let { subList ->
if (subList.size <= 0) {
@@ -135,7 +131,6 @@ class SweeperFragment : BaseSweeperTabFragment<SweeperFragment?, SweeperPresente
dataList.add(index + 1, endLatLng)
}
setTaskListCoordinatesLatLng(dataList)
setEndStationMarker(subList)
}
}
}
@@ -143,31 +138,78 @@ class SweeperFragment : BaseSweeperTabFragment<SweeperFragment?, SweeperPresente
/**
* 设置当前子任务终点
*/
private fun setEndStationMarker(subList: MutableList<SubTaskInfo>) {
val endPoint = subList[mCurrentSubPosition].endLocation
val endLatLng = LatLng(endPoint.latitude, endPoint.longitude)
super.mCurrentTaskEndStation = endLatLng
setCurrentTaskEndMarker(endLatLng)
private fun setEndStationMarker() {
mSubMutableList?.let { subList ->
val position = getCurrentPosition()
if (position != -1) {
val endPoint = subList[position].endLocation
val endLatLng = LatLng(endPoint.latitude, endPoint.longitude)
super.mCurrentTaskEndStation = endLatLng
setCurrentTaskEndMarker(endLatLng)
}
}
}
/**
* 设置云端任务信息
*/
fun onSweeperCloudTask(messageType: SweeperCloudTask.MessageType, taskInfo: SweeperTask.TaskInfo) {
fun onSweeperCloudTask(messageType: SweeperCloudTask.MessageType, taskInfo: SweeperTask.TaskInfo?) {
this.mTaskInfo = taskInfo
setShowCurrentTaskPanelView(true)
this.mSubMutableList = taskInfo?.subListList
if (messageType == SweeperCloudTask.MessageType.PadSendGetTaskReq) {//主动拉取云端正在执行的任务，则直接在任务列表展示
getCurrentView().setData(taskInfo, mCurrentSubPosition)
if (taskInfo == null) {
setShowCurrentTaskPanelView(false)
} else {
getCurrentView().setData(taskInfo, getCurrentPosition())
setShowCurrentTaskPanelView(true)
}
} else {//云端下发的任务信息需要弹窗接取
setShowCurrentTaskPanelView(true)
getCurrentView().setData(taskInfo)
receivedTaskInfoDialog()
}
}
//模拟结束子任务
override fun debugEndSubTask() {
super.debugEndSubTask()
mPresenter?.getCurrentTask()
//sendCloudTaskInfo(SweeperCloudTask.MessageType.CloudPushTask)
//super.debugEndSubTask()
// TODO: 模拟云控获取任务
//mPresenter?.getCurrentTask()
sendCloudTaskInfo(SweeperCloudTask.MessageType.CloudPushTask)
}
/**
* 获取当前正在执行的子任务在列表中的位置
*/
private fun getCurrentPosition(): Int {
mSubMutableList = mTaskInfo?.subListList
mSubMutableList?.apply {
for (index in 0 until size) {
if (get(index).taskStatus == SweeperCommon.TaskStatus.RUNNING) {
mSubTaskType = get(index).taskModel.number
mPresenter?.setSubtask(get(index).subTaskId, get(index).taskModel.number, get(index).lineId)
return index
}
}
}
return -1
}
/**
* 根据子任务id获取子任务信息
*/
private fun bySubTaskIdFindSubTaskInfo(subTaskId: String): SubTaskInfo? {
mSubMutableList = mTaskInfo?.subListList
mSubMutableList?.apply {
for (index in 0 until size) {
if (get(index).subTaskId == subTaskId) {
mSubTaskType = get(index).taskModel.number
mPresenter?.setSubtask(get(index).subTaskId, get(index).taskModel.number, get(index).lineId)
return get(index)
}
}
}
return null
}
/**
@@ -179,11 +221,55 @@ class SweeperFragment : BaseSweeperTabFragment<SweeperFragment?, SweeperPresente
private fun getCurrentView(): SweeperCurrentTaskInfoView = sweeper_current_task_view
/**
* 云控下发子任务确认弹窗
*/
fun showSubTaskInfoDialog(taskId: String, subTaskId: String) {
if (mTaskInfo == null) return
if (mTaskInfo?.taskId != taskId) return
val subInfo = bySubTaskIdFindSubTaskInfo(subTaskId)
subInfo?.let {
var builder: SweeperCloudDialog.Builder = SweeperCloudDialog.Builder()
builder.titleStr = "任务确认"
builder.contentStr = "请确认是否执行任务${it.subTaskName}"
builder.tipStr = if (it.taskModel.number == 1) "[需手动驾驶至终点${it.endLocation.siteName}]" else "[自动驾驶至终点${it.endLocation.siteName}]"
builder.leftStr = "确认"
builder.middleStr = "下一个"
builder.rightStr = "结束"
builder.countDownTime = 15
builder.listener = object : SweeperCloudDialog.SweeperCloudClickListener {
override fun onConfirm() {
ToastUtils.showLong("确认")
mPresenter?.sendSweeperTaskConfirmResp(taskId, subTaskId, SweeperTaskConfirm.TaskConfirmCode.MANUAL_CONFIRM)
}
override fun onRefuseOrEnd() {
ToastUtils.showLong("结束")
mPresenter?.sendSweeperTaskConfirmResp(taskId, subTaskId, SweeperTaskConfirm.TaskConfirmCode.MANUAL_REFUSE_ALL)
}
override fun onCountDownStop() {
ToastUtils.showLong("倒计时结束")
mPresenter?.sendSweeperTaskConfirmResp(taskId, subTaskId, SweeperTaskConfirm.TaskConfirmCode.OVER_TIME)
}
override fun onNext() {
ToastUtils.showLong("下一个")
mPresenter?.sendSweeperTaskConfirmResp(taskId, subTaskId, SweeperTaskConfirm.TaskConfirmCode.MANUAL_REFUSE_SINGLE)
}
}
val dialog = context?.let { it1 -> builder.build(it1) }
dialog?.show()
}
}
/**
* 接取云端任务弹窗
*/
private fun receivedTaskInfoDialog() {
mTaskInfo?.apply {
mPresenter?.sendSweeperStartTaskResp(taskId, SweeperTask.StartTaskCode.RECEIVED)
var builder: SweeperCloudDialog.Builder = SweeperCloudDialog.Builder()
val startCalendar = DateTimeUtil.formatLongToCalendar(taskStartTime)
val endCalendar = DateTimeUtil.formatLongToCalendar(taskEndTime)
@@ -202,17 +288,19 @@ class SweeperFragment : BaseSweeperTabFragment<SweeperFragment?, SweeperPresente
builder.listener = object : SweeperCloudDialog.SweeperCloudClickListener {
override fun onConfirm() {
ToastUtils.showLong("确认")
setShowCurrentTaskPanelView(true)
mPresenter?.sendSweeperStartTaskResp(taskId, SweeperTask.StartTaskCode.MANUAL_CONFIRM)
}
override fun onRefuse() {
override fun onRefuseOrEnd() {
ToastUtils.showLong("拒绝")
setShowCurrentTaskPanelView(false)
mPresenter?.sendSweeperStartTaskResp(taskId, SweeperTask.StartTaskCode.MANUAL_REFUSE)
}
override fun onCountDownStop() {
ToastUtils.showLong("倒计时结束")
setShowCurrentTaskPanelView(false)
mPresenter?.sendSweeperStartTaskResp(taskId, SweeperTask.StartTaskCode.OVER_TIME)
}
override fun onNext() {

125
OCH/sweeper/sweeper-cloud/src/main/java/com/mogo/och/sweepercloud/model/SweeperTaskModel.java
View File

@@ -21,19 +21,17 @@ import com.mogo.eagle.core.function.call.autopilot.CallerChassisLocationGCJ02Lis
import com.mogo.eagle.core.function.call.autopilot.CallerPlanningRottingListenerManager;
import com.mogo.eagle.core.function.call.autopilot.CallerSweeperFutianCleanSystemListenerManager;
import com.mogo.eagle.core.function.call.autopilot.CallerSweeperFutianCloudTaskListenerManager;
import com.mogo.eagle.core.network.utils.GsonUtil;
import com.mogo.eagle.core.utilcode.mogo.logger.CallerLogger;
import com.mogo.och.common.module.manager.OCHAdasAbilityManager;
import com.mogo.och.common.module.utils.CoordinateCalculateRouteUtil;
import com.mogo.och.common.module.utils.NumberFormatUtil;
import com.mogo.och.sweepercloud.bean.SweeperRoutePlanningUpdateReqBean;
import com.mogo.och.sweepercloud.callback.ISweeperControllerStatusCallback;
import com.mogo.och.sweepercloud.callback.ISweeperCloudTaskCallback;
import com.mogo.och.sweepercloud.callback.ISweeperControllerStatusCallback;
import com.mogo.och.sweepercloud.constant.SweeperConst;
import com.mogo.och.sweepercloud.database.MyDataBase;
import com.mogo.och.sweepercloud.database.bean.WeltDataBean;
import com.mogo.och.sweepercloud.util.SweeperCloudTaskMockUtils;
import com.mogo.och.sweepercloud.util.SweeperFutianCmdUtil;
import com.zhjt.mogo.adas.data.sweeper.SweeperCloudTask;
import com.zhjt.mogo.adas.data.sweeper.bootable.SweeperBootable;
import com.zhjt.mogo.adas.data.sweeper.task.SweeperTask;
@@ -46,6 +44,7 @@ import com.zhjt.mogo.adas.data.sweeper.task.stop.SweeperTaskStop;
import java.io.IOException;
import java.math.BigDecimal;
import java.math.RoundingMode;
import java.nio.charset.StandardCharsets;
import java.util.ArrayList;
import java.util.HashMap;
import java.util.List;
@@ -62,6 +61,7 @@ import planning.RoboSweeperTaskIndexOuterClass;
import system_master.SystemStatusInfo;
import static com.mogo.eagle.core.utilcode.mogo.logger.scene.SceneConstant.M_SWEEPER;
import static com.mogo.och.sweepercloud.util.SweeperCloudTaskMockUtils.printMessage;
/**
* @author congtaowang
@@ -84,7 +84,7 @@ public class SweeperTaskModel implements IMoGoSweeperFutianCloudTaskListener, IM
//自动驾驶状态
private int mAutopilotState = IMoGoAutopilotStatusListener.STATUS_AUTOPILOT_DISABLE;
//当前子任务id
private int mSubTaskId = 0;
private String mSubTaskId = "";
// 清扫模式回调时间间隔
private static final long VEHICLE_STATE_INTERVAL_MILLIS = 500L;
// 清扫模式当前时间戳
@@ -196,7 +196,7 @@ public class SweeperTaskModel implements IMoGoSweeperFutianCloudTaskListener, IM
};
public void setSubtask(int subTaskId, int subTaskType, int currentLineId) {
public void setSubtask(String subTaskId, int subTaskType, int currentLineId) {
this.mSubTaskId = subTaskId;
this.mSubTaskType = subTaskType;
this.mCurrentLineId = currentLineId;
@@ -296,8 +296,10 @@ public class SweeperTaskModel implements IMoGoSweeperFutianCloudTaskListener, IM
@Override
public void onSweeperFutianCloudTask(@NonNull SweeperCloudTask.MessageType messageType, @NonNull String reqNo, long sysTime,
@NonNull SweeperTask.TaskInfo taskInfo) {
CallerLogger.INSTANCE.d(M_SWEEPER + TAG, "onSweeperFutianCloudTask：" + GsonUtil.jsonFromObject(taskInfo));
SweeperTask.TaskInfo taskInfo) {
if (taskInfo != null) {
CallerLogger.INSTANCE.d(M_SWEEPER + TAG, "onSweeperFutianCloudTask：" + printMessage(taskInfo));
}
if (mSweeperTaskCallback != null) {
msgTypeAndReqNo.put(messageType.getNumber(), reqNo);
mSweeperTaskCallback.onSweeperCloudTask(messageType, taskInfo);
@@ -308,7 +310,7 @@ public class SweeperTaskModel implements IMoGoSweeperFutianCloudTaskListener, IM
public void onSweeperFutianCloudTaskConfirm(@NonNull SweeperCloudTask.MessageType messageType, @NonNull String reqNo, long sysTime,
@NonNull SweeperTaskConfirm.TaskConfirm taskConfirm) {
CallerLogger.INSTANCE.d(M_SWEEPER + TAG, "onSweeperFutianCloudTaskConfirm：" + GsonUtil.jsonFromObject(taskConfirm));
CallerLogger.INSTANCE.d(M_SWEEPER + TAG, "onSweeperFutianCloudTaskConfirm：" + printMessage(taskConfirm));
if (mSweeperTaskCallback != null) {
msgTypeAndReqNo.put(messageType.getNumber(), reqNo);
mSweeperTaskCallback.onSweeperCloudTaskConfirm(taskConfirm.getTaskId(), taskConfirm.getSubTaskId());
@@ -318,7 +320,7 @@ public class SweeperTaskModel implements IMoGoSweeperFutianCloudTaskListener, IM
@Override
public void onSweeperFutianCloudTaskStatus(@NonNull SweeperCloudTask.MessageType messageType, @NonNull String reqNo, long sysTime,
@NonNull SweeperTaskStatus.TaskStatusPush taskStatusPush) {
CallerLogger.INSTANCE.d(M_SWEEPER + TAG, "onSweeperFutianCloudTaskStatus：" + GsonUtil.jsonFromObject(taskStatusPush));
CallerLogger.INSTANCE.d(M_SWEEPER + TAG, "onSweeperFutianCloudTaskStatus：" + printMessage(taskStatusPush));
if (mSweeperTaskCallback != null) {
msgTypeAndReqNo.put(messageType.getNumber(), reqNo);
mSweeperTaskCallback.onSweeperCloudTaskStatus(taskStatusPush.getTaskId(), taskStatusPush.getSubTaskId(), taskStatusPush.getTaskStatus());
@@ -328,7 +330,7 @@ public class SweeperTaskModel implements IMoGoSweeperFutianCloudTaskListener, IM
@Override
public void onSweeperFutianCloudTaskStop(@NonNull SweeperCloudTask.MessageType messageType, @NonNull String reqNo, long sysTime,
@NonNull SweeperTaskStop.StopTaskReq stopTaskReq) {
CallerLogger.INSTANCE.d(M_SWEEPER + TAG, "onSweeperFutianCloudTaskStop：" + GsonUtil.jsonFromObject(stopTaskReq));
CallerLogger.INSTANCE.d(M_SWEEPER + TAG, "onSweeperFutianCloudTaskStop：" + printMessage(stopTaskReq));
if (mSweeperTaskCallback != null) {
msgTypeAndReqNo.put(messageType.getNumber(), reqNo);
mSweeperTaskCallback.onSweeperCloudTaskStop(stopTaskReq.getTaskId(), stopTaskReq.getType());
@@ -338,7 +340,7 @@ public class SweeperTaskModel implements IMoGoSweeperFutianCloudTaskListener, IM
@Override
public void onSweeperFutianCloudTaskSuspendResume(@NonNull SweeperCloudTask.MessageType messageType, @NonNull String reqNo, long sysTime,
@NonNull SweeperTaskSuspendResume.SuspendResumeTaskResp suspendResumeTaskResp) {
CallerLogger.INSTANCE.d(M_SWEEPER + TAG, "onSweeperFutianCloudTaskSuspendResume：" + GsonUtil.jsonFromObject(suspendResumeTaskResp));
CallerLogger.INSTANCE.d(M_SWEEPER + TAG, "onSweeperFutianCloudTaskSuspendResume：" + printMessage(suspendResumeTaskResp));
if (mSweeperTaskCallback != null) {
msgTypeAndReqNo.put(messageType.getNumber(), reqNo);
mSweeperTaskCallback.onSweeperCloudTaskSuspendResume(messageType, suspendResumeTaskResp.getTaskId(),
@@ -349,7 +351,7 @@ public class SweeperTaskModel implements IMoGoSweeperFutianCloudTaskListener, IM
@Override
public void onSweeperFutianCloudBootable(@NonNull SweeperCloudTask.MessageType messageType, @NonNull String reqNo, long sysTime,
@NonNull SweeperBootable.IsBootableResp isBootableResp) {
CallerLogger.INSTANCE.d(M_SWEEPER + TAG, "onSweeperFutianCloudBootable：" + GsonUtil.jsonFromObject(isBootableResp));
CallerLogger.INSTANCE.d(M_SWEEPER + TAG, "onSweeperFutianCloudBootable：" + printMessage(isBootableResp));
if (mSweeperTaskCallback != null) {
msgTypeAndReqNo.put(messageType.getNumber(), reqNo);
mSweeperTaskCallback.onSweeperCloudBootable(isBootableResp.getTaskId(), isBootableResp.getSubTaskId(), isBootableResp.getCode());
@@ -359,7 +361,7 @@ public class SweeperTaskModel implements IMoGoSweeperFutianCloudTaskListener, IM
@Override
public void onSweeperFutianCloudBigTaskStatus(@NonNull SweeperCloudTask.MessageType messageType, @NonNull String reqNo, long sysTime,
@NonNull SweeperBigTaskStatus.BigTaskStatusPush bigTaskStatusPush) {
CallerLogger.INSTANCE.d(M_SWEEPER + TAG, "onSweeperFutianCloudBigTaskStatus：" + GsonUtil.jsonFromObject(bigTaskStatusPush));
CallerLogger.INSTANCE.d(M_SWEEPER + TAG, "onSweeperFutianCloudBigTaskStatus：" + printMessage(bigTaskStatusPush));
if (mSweeperTaskCallback != null) {
msgTypeAndReqNo.put(messageType.getNumber(), reqNo);
mSweeperTaskCallback.onSweeperCloudBigTaskStatus(bigTaskStatusPush.getTaskId(), bigTaskStatusPush.getTaskStatus());
@@ -376,52 +378,7 @@ public class SweeperTaskModel implements IMoGoSweeperFutianCloudTaskListener, IM
return;
}
mVehicleStateCurrentTimeMillis = current;
boolean clean_open_requirement = cleanSystemState.getSecuMotWorkSts();
// 洗扫
boolean clean_mode_wash_sweep = cleanSystemState.getSecuModWashSweepSts();
// 纯洗
boolean clean_mode_pure_wash = cleanSystemState.getSecuModWashSts();
// 纯吸
boolean clean_mode_pure_draw = cleanSystemState.getSecuWorkTonSts();
// 左侧
boolean clean_direction_left_side = cleanSystemState.getSecuWorkLeftSts();
// 右侧
boolean clean_direction_right_side = cleanSystemState.getSecuWorkRightSts();
// 两侧
boolean clean_direction_both_side = cleanSystemState.getSecuWorkOnBothsidesSts();
// 作业强度状态
boolean clean_intensity_standard = cleanSystemState.getSecuWorkStandSts();
boolean clean_intensity_strong = cleanSystemState.getSecuWorkStrongSts();
// 纯扫 模式判断：不是另外其他3个模式，同时有清扫方向，说明开启了纯扫模式
boolean clean_mode_pure_sweep = SweeperFutianCmdUtil.checkIfCleanModePureSweep(cleanSystemState);
StringBuilder stringBuilder = new StringBuilder();
stringBuilder.append("开关：")
.append(clean_open_requirement)
.append("\n")
.append("纯扫：")
.append(clean_mode_wash_sweep)
.append("纯洗:")
.append(clean_mode_pure_wash)
.append("纯吸：")
.append(clean_mode_pure_draw)
.append("纯扫：")
.append("\n")
.append(clean_mode_pure_sweep)
.append("左侧：")
.append(clean_direction_left_side)
.append("右侧：")
.append(clean_direction_right_side)
.append("两侧:")
.append("\n")
.append(clean_direction_both_side)
.append("标准：")
.append(clean_intensity_standard)
.append("强力：")
.append(clean_intensity_strong);
CallerLogger.INSTANCE.d(M_SWEEPER + TAG, "onSweeperFutianCleanSystemState：" + stringBuilder);
CallerLogger.INSTANCE.d(M_SWEEPER + TAG, "onSweeperFutianCleanSystemState：" + printMessage(cleanSystemState));
if (mSweeperTaskCallback != null) {
mSweeperTaskCallback.onSweeperFutianCleanSystemState(cleanSystemState);
}
@@ -437,20 +394,7 @@ public class SweeperTaskModel implements IMoGoSweeperFutianCloudTaskListener, IM
return;
}
mWeltDataCurrentTimeMillis = current;
StringBuilder stringBuilder = new StringBuilder();
stringBuilder.append("清扫模式：")
.append(roboSweeperTaskIndex.getCleanMode())
.append("清扫方向:")
.append(roboSweeperTaskIndex.getCleanDirection())
.append("清扫强度：")
.append(roboSweeperTaskIndex.getCleanIntensity())
.append("贴边距离：")
.append(roboSweeperTaskIndex.getDistToRefEdgePoint())
.append("经度：")
.append(roboSweeperTaskIndex.getLocLon())
.append("纬度：")
.append(roboSweeperTaskIndex.getLocLat());
CallerLogger.INSTANCE.d(M_SWEEPER + TAG, "onSweeperFutianTaskIndexData：" + stringBuilder);
CallerLogger.INSTANCE.d(M_SWEEPER + TAG, "onSweeperFutianTaskIndexData：" + printMessage(roboSweeperTaskIndex));
handleWeltData(roboSweeperTaskIndex);
}
@@ -510,8 +454,9 @@ public class SweeperTaskModel implements IMoGoSweeperFutianCloudTaskListener, IM
builder.setSn(getDriverSn());
String reqNo = String.valueOf(System.currentTimeMillis());
SweeperTask.GetTaskReq getTaskReq = builder.build();
CallerLogger.INSTANCE.d(M_SWEEPER + TAG, "getCurrentTask:" + GsonUtil.jsonFromObject(getTaskReq) + "reqNo:" + reqNo);
getAutoPilotControlManager().sendSweeperGetTaskReq(reqNo, builder.build());
CallerLogger.INSTANCE.d(M_SWEEPER + TAG, "getCurrentTask:" + printMessage(getTaskReq) + " reqNo:" + reqNo);
getAutoPilotControlManager().sendSweeperGetTaskReq(reqNo, getTaskReq);
// TODO: 2023/5/5 模拟云控获取任务
SweeperCloudTaskMockUtils.sendCloudTaskInfo(SweeperCloudTask.MessageType.PadSendGetTaskReq);
}
@@ -524,9 +469,13 @@ public class SweeperTaskModel implements IMoGoSweeperFutianCloudTaskListener, IM
builder.setTaskId(taskId);
builder.setCode(code);
SweeperTask.StartTaskResp startTaskResp = builder.build();
String reqNo = msgTypeAndReqNo.get(SweeperCloudTask.MessageType.CloudPushTask);
String reqNo = msgTypeAndReqNo.get(SweeperCloudTask.MessageType.CloudPushTask.getNumber());
getAutoPilotControlManager().sendSweeperStartTaskResp(reqNo, startTaskResp);
CallerLogger.INSTANCE.d(M_SWEEPER + TAG, "sendSweeperStartTaskResp:" + GsonUtil.jsonFromObject(startTaskResp) + "reqNo:" + reqNo);
CallerLogger.INSTANCE.d(M_SWEEPER + TAG, "sendSweeperStartTaskResp:" + printMessage(startTaskResp) + " reqNo:" + reqNo);
// TODO: 2023/5/5 模拟 当云控收到pad接取任务成功的指令时， 云控下发子任务开始确认指令
if (code == SweeperTask.StartTaskCode.MANUAL_CONFIRM) {
SweeperCloudTaskMockUtils.sendCloudSubTaskConfirm();
}
}
/**
@@ -539,8 +488,8 @@ public class SweeperTaskModel implements IMoGoSweeperFutianCloudTaskListener, IM
builder.setSubTaskId(subTaskId);
builder.setCode(code);
SweeperTaskConfirm.TaskConfirmResp taskConfirmResp = builder.build();
String reqNo = msgTypeAndReqNo.get(SweeperCloudTask.MessageType.CloudPushTaskConfirm);
CallerLogger.INSTANCE.d(M_SWEEPER + TAG, "sendSweeperStartTaskResp" + GsonUtil.jsonFromObject(taskConfirmResp) + "reqNo:" + reqNo);
String reqNo = msgTypeAndReqNo.get(SweeperCloudTask.MessageType.CloudPushTaskConfirm.getNumber());
CallerLogger.INSTANCE.d(M_SWEEPER + TAG, "sendSweeperStartTaskResp" + printMessage(taskConfirmResp) + " reqNo:" + reqNo);
getAutoPilotControlManager().sendSweeperTaskConfirmResp(reqNo, taskConfirmResp);
}
@@ -556,8 +505,8 @@ public class SweeperTaskModel implements IMoGoSweeperFutianCloudTaskListener, IM
builder.setTaskId(taskId);
builder.setCode(code);
SweeperTaskStop.StopTaskResp stopTaskResp = builder.build();
String reqNo = msgTypeAndReqNo.get(SweeperCloudTask.MessageType.CloudPushTaskStop);
CallerLogger.INSTANCE.d(M_SWEEPER + TAG, "sendSweeperStartTaskResp" + GsonUtil.jsonFromObject(stopTaskResp) + "reqNo:" + reqNo);
String reqNo = msgTypeAndReqNo.get(SweeperCloudTask.MessageType.CloudPushTaskStop.getNumber());
CallerLogger.INSTANCE.d(M_SWEEPER + TAG, "sendSweeperStartTaskResp" + printMessage(stopTaskResp) + " reqNo:" + reqNo);
getAutoPilotControlManager().sendSweeperStopTaskResp(reqNo, stopTaskResp);
}
@@ -576,7 +525,7 @@ public class SweeperTaskModel implements IMoGoSweeperFutianCloudTaskListener, IM
builder.setLineId(lineId);
SweeperBootable.IsBootable isBootable = builder.build();
String reqNo = String.valueOf(System.currentTimeMillis());
CallerLogger.INSTANCE.d(M_SWEEPER + TAG, "sendSweeperAutopilotBootable" + GsonUtil.jsonFromObject(isBootable) + "reqNo:" + reqNo);
CallerLogger.INSTANCE.d(M_SWEEPER + TAG, "sendSweeperAutopilotBootable" + printMessage(isBootable) + " reqNo:" + reqNo);
getAutoPilotControlManager().sendSweeperAutopilotBootable(reqNo, isBootable);
}
@@ -634,4 +583,16 @@ public class SweeperTaskModel implements IMoGoSweeperFutianCloudTaskListener, IM
public void onAutopilotRouteLineId(long lineId) {
}
/**
* 云控数据异常或者工控机传递数据异常
*
* @param bytes
*/
@Override
public void onSweeperFutianCloudTaskUnknown(@NonNull byte[] bytes) {
String string = new String(bytes, StandardCharsets.UTF_8);
CallerLogger.INSTANCE.d(M_SWEEPER + TAG, "onSweeperFutianCloudTaskUnknown:" + string);
}
}

13
OCH/sweeper/sweeper-cloud/src/main/java/com/mogo/och/sweepercloud/presenter/SweeperPresenter.java
View File

@@ -98,7 +98,7 @@ public class SweeperPresenter extends Presenter<SweeperFragment>
/**
* 设置当前子任务信息
*/
public void setSubtask(int subTaskId, int subTaskType, int currentLineId) {
public void setSubtask(String subTaskId, int subTaskType, int currentLineId) {
SweeperTaskModel.getInstance().setSubtask(subTaskId, subTaskType, currentLineId);
}
@@ -167,18 +167,17 @@ public class SweeperPresenter extends Presenter<SweeperFragment>
}
@Override
public void onSweeperCloudTask(@NonNull SweeperCloudTask.MessageType messageType, @NonNull SweeperTask.TaskInfo taskInfo) {
mView.onSweeperCloudTask(messageType,taskInfo);
public void onSweeperCloudTask(@NonNull SweeperCloudTask.MessageType messageType,SweeperTask.TaskInfo taskInfo) {
ThreadUtils.runOnUiThread(()-> mView.onSweeperCloudTask(messageType,taskInfo));
}
@Override
public void onSweeperCloudTaskConfirm(@NonNull String taskId, @NonNull String subTaskId) {
ThreadUtils.runOnUiThread(()-> mView.showSubTaskInfoDialog(taskId,subTaskId));
}
@Override
public void onSweeperCloudTaskStatus(@NonNull String taskId, @NonNull String subTaskId, @NonNull SweeperCommon.TaskStatus subTaskStatus) {
}
@Override
@@ -204,11 +203,11 @@ public class SweeperPresenter extends Presenter<SweeperFragment>
@Override
public void setWeltDataToMap(@NonNull ArrayList<WeltDataBean> weltDataBeans, boolean isWeltData, @NonNull String distance) {
mView.setWeltDataToMap(weltDataBeans, isWeltData, distance);
ThreadUtils.runOnUiThread(()-> mView.setWeltDataToMap(weltDataBeans, isWeltData, distance));
}
@Override
public void onSweeperFutianCleanSystemState(@NonNull ChassisStatesOuterClass.SweeperFuTianTaskSystemStates cleanSystemState) {
mView.onSweeperFutianCleanSystemState(cleanSystemState);
ThreadUtils.runOnUiThread(()-> mView.onSweeperFutianCleanSystemState(cleanSystemState));
}
}

7
OCH/sweeper/sweeper-cloud/src/main/java/com/mogo/och/sweepercloud/ui/dialog/SweeperCloudDialog.kt
View File

@@ -3,7 +3,6 @@ package com.mogo.och.sweepercloud.ui.dialog
import android.animation.ObjectAnimator
import android.animation.ValueAnimator
import android.content.Context
import android.text.Html
import android.view.View
import android.view.animation.LinearInterpolator
import android.widget.ImageView
@@ -29,7 +28,7 @@ class SweeperCloudDialog : BaseFloatDialog, LifecycleObserver {
constructor(builder: Builder, context: Context) : super(context) {
commonTitle?.text = builder.titleStr
commonContent?.text = Html.fromHtml(builder.contentStr)
commonContent?.text = builder.contentStr
if (builder.tipStr == "") {
commonTip?.visibility = View.GONE
} else {
@@ -68,7 +67,7 @@ class SweeperCloudDialog : BaseFloatDialog, LifecycleObserver {
dismiss()
}
commonRight?.setOnClickListener {
builder.listener?.onRefuse()
builder.listener?.onRefuseOrEnd()
objectAnimator?.cancel()
commonCountDown?.stopCountDown()
dismiss()
@@ -100,7 +99,7 @@ class SweeperCloudDialog : BaseFloatDialog, LifecycleObserver {
interface SweeperCloudClickListener {
fun onConfirm()
fun onRefuse()
fun onRefuseOrEnd()
fun onCountDownStop()
fun onNext()
}

58
OCH/sweeper/sweeper-cloud/src/main/java/com/mogo/och/sweepercloud/util/SweeperCloudTaskMockUtils.kt
View File

@@ -1,6 +1,9 @@
package com.mogo.och.sweepercloud.util
import com.google.protobuf.MessageOrBuilder
import com.google.protobuf.TextFormat
import com.mogo.cloud.passport.MoGoAiCloudClientConfig
import com.mogo.eagle.core.utilcode.util.ThreadUtils
import com.mogo.och.sweepercloud.model.SweeperTaskModel
import com.zhjt.mogo.adas.data.sweeper.SweeperCloudTask.MessageType
import com.zhjt.mogo.adas.data.sweeper.common.SweeperCommon
@@ -8,6 +11,7 @@ import com.zhjt.mogo.adas.data.sweeper.task.SweeperTask.Location
import com.zhjt.mogo.adas.data.sweeper.task.SweeperTask.SubTaskInfo
import com.zhjt.mogo.adas.data.sweeper.task.SweeperTask.TaskInfo
import com.zhjt.mogo.adas.data.sweeper.task.SweeperTask.TaskModel
import com.zhjt.mogo.adas.data.sweeper.task.confirm.SweeperTaskConfirm.TaskConfirm
object SweeperCloudTaskMockUtils {
/**
@@ -24,42 +28,42 @@ object SweeperCloudTaskMockUtils {
builder.taskEndTime = 1682750562000
//第一个子任务
val subBuilder0 = SubTaskInfo.newBuilder()
subBuilder0.subTaskId = "0"
subBuilder0.subTaskId = "1"
subBuilder0.subTaskName = "自动驾驶子任务0"
subBuilder0.taskModel = TaskModel.AUTO
subBuilder0.taskStatus = SweeperCommon.TaskStatus.TO_START
subBuilder0.taskStatus = SweeperCommon.TaskStatus.FINISHED
val startLocation0 = Location.newBuilder()
startLocation0.siteName = "子任务起点0"
startLocation0.siteName = "自动驾驶子任务起点0"
startLocation0.wgsLongitude = 121.6421189511
startLocation0.wgsLatitude = 37.4767125311
startLocation0.longitude = 121.64693997741931
startLocation0.longitude = 121.64693997741931
startLocation0.latitude = 37.47740504453125
subBuilder0.startLocation = startLocation0.build()
val endLocation0 = Location.newBuilder()
endLocation0.siteName = "子任务终点0"
endLocation0.siteName = "自动驾驶子任务终点0"
endLocation0.wgsLongitude = 121.6392313
endLocation0.wgsLatitude = 37.4726471
endLocation0.longitude = 121.64404710861349
endLocation0.latitude = 37.47333410433059
subBuilder0.startLocation = endLocation0.build()
subBuilder0.endLocation = endLocation0.build()
subBuilder0.lineId = 123
subBuilder0.lineName = "测试路线0"
builder.addSubList(subBuilder0.build())
//第二个子任务
val subBuilder1 = SubTaskInfo.newBuilder()
subBuilder1.subTaskId = "1"
subBuilder1.subTaskId = "2"
subBuilder1.subTaskName = "自动驾驶子任务1"
subBuilder1.taskModel = TaskModel.AUTO
subBuilder1.taskStatus = SweeperCommon.TaskStatus.TO_START
val startLocation1 = Location.newBuilder()
startLocation1.siteName = "测试子任务站点1"
startLocation1.siteName = "自动驾驶子任务起点1"
startLocation1.wgsLongitude = 121.6421189511
startLocation1.wgsLatitude = 37.47264711
startLocation1.longitude = 121.6469395478903
startLocation1.latitude = 37.47333856025812
subBuilder1.startLocation=startLocation1.build()
subBuilder1.startLocation = startLocation1.build()
val endLocation1 = Location.newBuilder()
endLocation1.siteName = "测试子任务站点1"
endLocation1.siteName = "自动驾驶子任务终点1"
endLocation1.wgsLongitude = 121.4261245286646
endLocation1.wgsLatitude = 37.52885874483938
endLocation1.longitude = 121.43138115208806
@@ -68,22 +72,22 @@ object SweeperCloudTaskMockUtils {
builder.addSubList(subBuilder1.build())
//第三个子任务
val subBuilder2 = SubTaskInfo.newBuilder()
subBuilder2.subTaskId = "1"
subBuilder2.subTaskId = "3"
subBuilder2.subTaskName = "人工驾驶子任务路线2"
subBuilder2.taskModel = TaskModel.MANUAL
subBuilder2.taskStatus = SweeperCommon.TaskStatus.TO_START
val startLocation2 = Location.newBuilder()
startLocation2.siteName = "人工驾驶子任务站点2"
startLocation2.siteName = "人工驾驶子任务起点2"
startLocation2.wgsLongitude = 121.31344761929978
startLocation2.wgsLatitude = 37.53205755535642
startLocation2.longitude = 121.3185679517558
startLocation2.latitude = 37.5329694887952
subBuilder2.startLocation=startLocation2.build()
subBuilder2.startLocation = startLocation2.build()
val endLocation2 = Location.newBuilder()
endLocation2.siteName = "人工驾驶子任务站点2"
endLocation2.siteName = "人工驾驶子任务终点2"
endLocation2.wgsLongitude = 121.4551205070834
endLocation2.wgsLatitude =37.47936696980237
endLocation2.longitude =121.46030960742117
endLocation2.wgsLatitude = 37.47936696980237
endLocation2.longitude = 121.46030960742117
endLocation2.latitude = 37.48032689641474
subBuilder2.endLocation = endLocation2.build()
builder.addSubList(subBuilder2.build())
@@ -95,7 +99,29 @@ object SweeperCloudTaskMockUtils {
)
}
/**
* 模拟云控发送子任务开始确认信息
*/
@JvmStatic
fun sendCloudSubTaskConfirm() {
val builder = TaskConfirm.newBuilder()
builder.sn = getDriverSn()
builder.taskId = "10"
builder.subTaskId = "1"
ThreadUtils.runOnUiThreadDelayed({
SweeperTaskModel.getInstance().onSweeperFutianCloudTaskConfirm(
MessageType.CloudPushTaskConfirm, "${System.currentTimeMillis()}",
System.currentTimeMillis(), builder.build()
)
}, 10000)
}
fun getDriverSn(): String? {
return MoGoAiCloudClientConfig.getInstance().sn
}
@JvmStatic
fun printMessage(message: MessageOrBuilder): String {
return TextFormat.printer().escapingNonAscii(false).printToString(message)
}
}

7
OCH/sweeper/sweeper-cloud/src/main/java/com/mogo/och/sweepercloud/view/SubTaskView.kt
View File

@@ -7,6 +7,7 @@ import android.view.LayoutInflater
import android.view.View
import androidx.constraintlayout.widget.ConstraintLayout
import com.mogo.och.sweepercloud.R
import com.zhjt.mogo.adas.data.sweeper.common.SweeperCommon
import com.zhjt.mogo.adas.data.sweeper.task.SweeperTask.SubTaskInfo
import kotlinx.android.synthetic.main.sweeper_subtask_view.view.*
@@ -28,15 +29,15 @@ class SubTaskView : ConstraintLayout {
/**
* 设置子任务信息
*/
fun setData(taskInfo: SubTaskInfo, isSelect: Boolean = false, isLastTask: Boolean = false) {
fun setData(taskInfo: SubTaskInfo, isLastTask: Boolean = false) {
tvSubTaskName.text = taskInfo.subTaskName
tvSubTaskName.setTextColor(if (isSelect) Color.parseColor("#3BD2FF") else Color.parseColor("#FFFFFF"))
tvSubTaskName.setTextColor(if (taskInfo.taskStatus==SweeperCommon.TaskStatus.RUNNING) Color.parseColor("#3BD2FF") else Color.parseColor("#FFFFFF"))
if (taskInfo.taskModel.number == 1) {//人工驾驶子任务
ivManualDriving.visibility = View.VISIBLE
} else {
ivManualDriving.visibility = View.GONE
}
if (isSelect) {
if (taskInfo.taskStatus==SweeperCommon.TaskStatus.RUNNING) {
ivSubTask.setImageResource(R.drawable.sweeper_icon_select_subtask)
} else {
ivSubTask.setImageResource(R.drawable.sweeper_icon_not_select_subtask)

53
OCH/sweeper/sweeper-cloud/src/main/java/com/mogo/och/sweepercloud/view/SweeperCurrentTaskInfoView.kt
View File

@@ -7,6 +7,7 @@ import android.view.View
import androidx.constraintlayout.widget.ConstraintLayout
import com.mogo.och.common.module.utils.DateTimeUtil
import com.mogo.och.sweepercloud.R
import com.zhjt.mogo.adas.data.sweeper.common.SweeperCommon.TaskStatus
import com.zhjt.mogo.adas.data.sweeper.task.SweeperTask.SubTaskInfo
import com.zhjt.mogo.adas.data.sweeper.task.SweeperTask.TaskInfo
import kotlinx.android.synthetic.main.sweeper_current_task_info.view.*
@@ -18,10 +19,7 @@ class SweeperCurrentTaskInfoView : ConstraintLayout {
private val TAG: String = "SweeperCurrentTaskInfoView"
//当前任务操作菜单
private var mCurrentPosition = 0
private var listTask: List<SubTaskInfo>? = null
private var mSubTaskType: Int=0
private var mSubTaskStatus: Int = 1
constructor(context: Context) : super(context) {}
constructor(context: Context, attrs: AttributeSet?) : super(context, attrs) {
@@ -41,9 +39,8 @@ class SweeperCurrentTaskInfoView : ConstraintLayout {
*/
fun setData(
subTaskBean: TaskInfo?,
currentPosition: Int,
currentPosition:Int=-1
) {
this.mCurrentPosition = currentPosition
subTaskBean?.apply {
this@SweeperCurrentTaskInfoView.listTask = subListList
tvTaskName.text = taskName
@@ -51,16 +48,22 @@ class SweeperCurrentTaskInfoView : ConstraintLayout {
tvTaskTime.text = DateTimeUtil.formatCalendarToString(calendar, DateTimeUtil.HH_mm)
}
listTask?.let {
mSubTaskStatus = it[currentPosition].taskStatus.number
setSubTaskState(mSubTaskStatus == 1)
//特殊处理当前暂无执行中任务的情况
var position=currentPosition
if (position==-1){
position += 1
setSubTaskState(false)
}else{
setSubTaskState(it[position].taskStatus==TaskStatus.RUNNING)
}
setCurrentData(position)
}
setCurrentData(currentPosition)
}
/**
* 设置子任务的状态
*/
fun setSubTaskState(isWorking: Boolean) {
private fun setSubTaskState(isWorking: Boolean) {
if (isWorking) {
tvTaskState.text = "正在作业"
tvTaskState.setBackgroundResource(R.drawable.bg_shape_task_state_working)
@@ -69,23 +72,23 @@ class SweeperCurrentTaskInfoView : ConstraintLayout {
tvTaskState.setBackgroundResource(R.drawable.bg_shape_task_state_not_ready)
}
}
/**
* 填充数据
*/
fun setCurrentData(mCurrentPosition: Int) {
private fun setCurrentData(currentPosition:Int) {
listTask?.let {
mSubTaskType = it[mCurrentPosition].taskModel.number
if (it.size == 1) {
preSubTask.setData(it[mCurrentPosition], isSelect = true, isLastTask = true)
preSubTask.setData(it[currentPosition], isLastTask = true)
currentSubTask.visibility = View.INVISIBLE
lastSubTask.visibility = View.INVISIBLE
} else if (it.size == 2) {
if (mCurrentPosition == 0) {
preSubTask.setData(it[mCurrentPosition], isSelect = true)
if (currentPosition == 0) {
preSubTask.setData(it[currentPosition])
currentSubTask.setData(it[1], isLastTask = true)
} else {
preSubTask.setData(it[mCurrentPosition - 1])
currentSubTask.setData(it[mCurrentPosition], isSelect = true, isLastTask = true)
preSubTask.setData(it[currentPosition - 1])
currentSubTask.setData(it[currentPosition], isLastTask = true)
}
preSubTask.visibility = View.VISIBLE
currentSubTask.visibility = View.VISIBLE
@@ -95,19 +98,19 @@ class SweeperCurrentTaskInfoView : ConstraintLayout {
currentSubTask.visibility = View.VISIBLE
lastSubTask.visibility = View.VISIBLE
//当前正在执行的任务是第一个子任务
if (mCurrentPosition == 0) {
preSubTask.setData(it[mCurrentPosition], isSelect = true)
if (currentPosition == 0) {
preSubTask.setData(it[currentPosition])
currentSubTask.setData(it[1])
lastSubTask.setData(it[2], isLastTask = true)
//当前正在执行的任务是最后一个子任务
} else if (mCurrentPosition == it.size - 1) {
preSubTask.setData(it[mCurrentPosition - 2])
currentSubTask.setData(it[mCurrentPosition - 1])
lastSubTask.setData(it[mCurrentPosition], isSelect = true, isLastTask = true)
} else if (currentPosition == it.size - 1) {
preSubTask.setData(it[currentPosition - 2])
currentSubTask.setData(it[currentPosition - 1])
lastSubTask.setData(it[currentPosition], isLastTask = true)
} else {
preSubTask.setData(it[mCurrentPosition - 1])
currentSubTask.setData(it[mCurrentPosition], isSelect = true)
lastSubTask.setData(it[mCurrentPosition + 1], isLastTask = true)
preSubTask.setData(it[currentPosition - 1])
currentSubTask.setData(it[currentPosition])
lastSubTask.setData(it[currentPosition + 1], isLastTask = true)
}
}
}

46
OCH/sweeper/sweeper-cloud/src/main/java/com/mogo/och/sweepercloud/view/WeltSmallMapView.kt
View File

@@ -199,39 +199,15 @@ class WeltSmallMapView : ConstraintLayout, IMoGoChassisLocationGCJ02Listener {
return colorList
}
/**
* 添加起点和终点的marker
*/
private fun addStartAndEndMarker(startPoint: LatLng, endPoint: LatLng) {
// for (i in mLineMarkers.indices) {
// mLineMarkers[i]?.isVisible = false
// mLineMarkers[i]?.remove()
// }
// mLineMarkers.clear()
// val startMarker = mAMap?.addMarker(MarkerOptions().icon(BitmapDescriptorFactory.fromResource(R.drawable.sweeper_small_start_marker_icon)))
// startMarker?.position = startPoint
// mLineMarkers.add(startMarker)
// val endMarker = mAMap?.addMarker(MarkerOptions().icon(BitmapDescriptorFactory.fromResource(R.drawable.sweeper_small_end_marker_icon)))
// endMarker?.position = endPoint
// mLineMarkers.add(endMarker)
}
/**
* 设置当前大任务的所有子任务起终点集合
*/
fun setTaskListCoordinatesLatLng(coordinatesLatLng: MutableList<LatLng>) {
this.mTaskCoordinatesLatLng = coordinatesLatLng
// if (mTaskCoordinatesLatLng.size > 0) {
// d(
// SceneConstant.M_SWEEPER + TAG,
// "startPoint：${mTaskCoordinatesLatLng[0]} endPoint：${mTaskCoordinatesLatLng[mTaskCoordinatesLatLng.size - 1]}"
// )
// addStartAndEndMarker(mTaskCoordinatesLatLng[0], mTaskCoordinatesLatLng[mTaskCoordinatesLatLng.size - 1])
// }
}
/**
* 设置当前大任务的所有子任务起终点集合
* 设置当前子任务的终点
*/
fun setCurrentTaskCoordinatesLatLng(coordinatesLatLng: LatLng) {
endStationMarker?.remove()
@@ -243,28 +219,12 @@ class WeltSmallMapView : ConstraintLayout, IMoGoChassisLocationGCJ02Listener {
* 清除所有标记和路线
*/
fun clearAllMarkerAndPolyline() {
// for (i in mLineMarkers.indices) {
// mLineMarkers[i]?.isVisible = false
// mLineMarkers[i]?.remove()
// }
endStationMarker?.remove()
mWeltPolylines?.remove()
// mLineMarkers.clear()
mRoutePolylines?.remove()
//mFirst = false
//showOrHiddenWelt(false)
}
fun getSwitchToBig(): ImageView = sweeperSwitchToBig
/**
* 显示或隐藏贴边
*/
private fun showOrHiddenWelt(isShow: Boolean) {
taskProgressTv.visibility = if (isShow) View.VISIBLE else View.GONE
taskWeltDistanceTv.visibility = if (isShow) View.VISIBLE else View.GONE
}
/**
* 设置贴边数据
*/
@@ -273,10 +233,6 @@ class WeltSmallMapView : ConstraintLayout, IMoGoChassisLocationGCJ02Listener {
ThreadUtils.runOnUiThread {
setWeltDistance(distance)
}
//if (!mFirst&&isWeltData) {
// showOrHiddenWelt(true)
// mFirst = true
//}
}
/**

28
OCH/sweeper/sweeper-cloud/src/main/res/layout/dialog_sweeper_cloud_view.xml
View File

@@ -9,8 +9,8 @@
android:layout_gravity="center">
<ImageView
android:id="@+id/sweeper_cloud_imageview"
android:layout_width="@dimen/dp_70"
android:layout_height="@dimen/dp_70"
android:layout_width="@dimen/dp_75"
android:layout_height="@dimen/dp_75"
android:layout_marginStart="@dimen/dp_30"
android:layout_marginTop="@dimen/dp_30"
app:layout_constraintLeft_toLeftOf="parent"
@@ -19,16 +19,16 @@
/>
<com.mogo.och.sweepercloud.view.CountDownView
android:id="@+id/sweeper_cloud_countdown"
android:layout_width="@dimen/dp_65"
android:layout_height="@dimen/dp_65"
android:layout_marginStart="@dimen/dp_30"
android:layout_marginTop="@dimen/dp_30"
android:text="15"
android:layout_width="@dimen/dp_75"
android:layout_height="@dimen/dp_75"
tools:text="15"
android:gravity="center"
android:textColor="@color/white"
android:textSize="@dimen/dp_32"
app:layout_constraintLeft_toLeftOf="parent"
app:layout_constraintTop_toTopOf="parent" />
app:layout_constraintLeft_toLeftOf="@+id/sweeper_cloud_imageview"
app:layout_constraintTop_toTopOf="@+id/sweeper_cloud_imageview"
app:layout_constraintEnd_toEndOf="@+id/sweeper_cloud_imageview"
app:layout_constraintBottom_toBottomOf="@+id/sweeper_cloud_imageview"/>
<TextView
android:id="@+id/sweeper_cloud_title"
@@ -36,7 +36,7 @@
android:layout_height="wrap_content"
android:layout_marginTop="@dimen/dp_30"
android:gravity="center"
android:text="任务领取"
tools:text="任务领取"
android:textColor="@color/white"
android:textSize="@dimen/dp_56"
app:layout_constraintEnd_toEndOf="parent"
@@ -51,7 +51,7 @@
android:layout_marginTop="@dimen/dp_49"
android:layout_marginEnd="@dimen/dp_30"
android:gravity="center"
android:text="请确认是否接取任务AAAAAAA"
tools:text="请确认是否接取任务AAAAAAA"
android:textColor="#FFFFFFFF"
android:textSize="@dimen/dp_50"
app:layout_constraintTop_toBottomOf="@+id/sweeper_cloud_title"
@@ -65,7 +65,7 @@
android:layout_marginTop="@dimen/dp_10"
android:layout_marginEnd="@dimen/dp_30"
android:gravity="center"
android:text="（任务时间09:00-12:00）"
tools:text="（任务时间09:00-12:00）"
android:textColor="#A6CEFF"
android:textSize="@dimen/dp_40"
app:layout_constraintTop_toBottomOf="@+id/sweeper_cloud_content"
@@ -97,7 +97,7 @@
android:layout_weight="1"
android:background="#3769B5"
android:gravity="center"
android:text="下一个"
tools:text="下一个"
android:textColor="#FFFFFFFF"
android:textSize="@dimen/dp_50" />
@@ -108,7 +108,7 @@
android:layout_weight="1"
android:background="@drawable/bg_shape_right_bottom_round"
android:gravity="center"
android:text="拒绝"
tools:text="拒绝"
android:textColor="#FFFFFFFF"
android:textSize="@dimen/dp_50" />
</LinearLayout>

2
OCH/sweeper/sweeper-cloud/src/main/res/layout/fragment_och_sweeper.xml
View File

@@ -28,7 +28,7 @@
android:id="@+id/sweeper_current_task_view"
android:layout_width="match_parent"
android:layout_height="match_parent"
android:visibility="visible" />
android:visibility="gone" />
<include
layout="@layout/sweeper_no_data_common_view"
/>

7
OCH/sweeper/sweeper-cloud/src/main/res/layout/sweeper_current_task_info.xml
View File

@@ -3,6 +3,7 @@
xmlns:app="http://schemas.android.com/apk/res-auto"
android:layout_width="match_parent"
android:layout_height="match_parent"
xmlns:tools="http://schemas.android.com/tools"
android:background="@drawable/bg_shape_task_panel">
<TextView
@@ -15,7 +16,7 @@
android:textSize="@dimen/dp_38"
app:layout_constraintStart_toStartOf="parent"
app:layout_constraintTop_toTopOf="parent"
android:text="惠新西街南口地铁站公交站" />
tools:text="惠新西街南口地铁站公交站" />
<TextView
android:id="@+id/tvTaskTime"
@@ -33,7 +34,7 @@
android:gravity="center"
app:layout_constraintStart_toStartOf="parent"
app:layout_constraintTop_toBottomOf="@+id/tvTaskName"
android:text="9:00" />
tools:text="9:00" />
<TextView
android:id="@+id/tvTaskState"
@@ -103,7 +104,7 @@
android:layout_height="@dimen/dp_116"
android:background="@drawable/sweeper_upload_autopoiltstate"
android:gravity="center"
android:text="启动自驾"
android:text="请求进入自动驾驶"
android:textColor="@android:color/white"
android:textSize="@dimen/module_mogo_och_sweeper_station_notice_text_size"
app:layout_constraintBottom_toBottomOf="parent" />

2
OCH/sweeper/sweeper-cloud/src/main/res/layout/sweeper_no_data_common_view.xml
View File

@@ -5,7 +5,7 @@
android:layout_width="match_parent"
android:layout_height="match_parent"
android:background="@drawable/bg_shape_task_panel"
android:visibility="gone">
android:visibility="visible">
<ImageView
android:id="@+id/ivNoTaskData"

4
OCH/sweeper/sweeper-cloud/src/main/res/layout/sweeper_subtask_view.xml
View File

@@ -3,12 +3,12 @@
android:layout_width="match_parent"
android:layout_height="match_parent"
xmlns:app="http://schemas.android.com/apk/res-auto"
>
xmlns:tools="http://schemas.android.com/tools">
<TextView
android:id="@+id/tvSubTaskName"
android:layout_width="0dp"
android:layout_height="wrap_content"
android:text="惠新西街南口地铁站公交站"
tools:text="惠新西街南口地铁站公交站"
android:textSize="@dimen/dp_38"
android:textColor="@color/white"
app:layout_constraintStart_toStartOf="parent"