[6.8.2]

[fea] [美化模式]
2024-12-05 14:40:54 +08:00
parent 9afd36322b
commit 5b3bb09104
5 changed files with 200 additions and 44 deletions
--- a/OCH/common/common/src/main/java/com/mogo/och/common/module/manager/autopilot/autopilot/OchAutoPilotStatusListenerManager.kt
+++ b/OCH/common/common/src/main/java/com/mogo/och/common/module/manager/autopilot/autopilot/OchAutoPilotStatusListenerManager.kt
@@ -60,14 +60,16 @@ object OchAutoPilotStatusListenerManager : CallerBase<IOchAutopilotStatusListene

    private var _autopilotState: Int by Delegates.observable(0) { _, oldValue, newValue ->
        if (oldValue != newValue) {
-            if (AppIdentityModeUtils.isDriver(FunctionBuildConfig.appIdentityMode)) {
-                if(oldValue==IMoGoAutopilotStatusListener.STATUS_AUTOPILOT_RUNNING){
-                    if(newValue==IMoGoAutopilotStatusListener.STATUS_AUTOPILOT_ENABLE){
-                        ToastUtils.showLong(R.string.common_change2_autopilot2_manual)
-                    }
-                }else if(oldValue==IMoGoAutopilotStatusListener.STATUS_PARALLEL_DRIVING){
-                    if(newValue==IMoGoAutopilotStatusListener.STATUS_AUTOPILOT_ENABLE){
-                        ToastUtils.showLong(R.string.common_change2_pxjs_manual)
+            if (!FunctionBuildConfig.isDemoMode) {
+                if (AppIdentityModeUtils.isDriver(FunctionBuildConfig.appIdentityMode)) {
+                    if (oldValue == IMoGoAutopilotStatusListener.STATUS_AUTOPILOT_RUNNING) {
+                        if (newValue == IMoGoAutopilotStatusListener.STATUS_AUTOPILOT_ENABLE) {
+                            ToastUtils.showLong(R.string.common_change2_autopilot2_manual)
+                        }
+                    } else if (oldValue == IMoGoAutopilotStatusListener.STATUS_PARALLEL_DRIVING) {
+                        if (newValue == IMoGoAutopilotStatusListener.STATUS_AUTOPILOT_ENABLE) {
+                            ToastUtils.showLong(R.string.common_change2_pxjs_manual)
+                        }
                    }
                }
            }
--- a/OCH/common/common/src/main/java/com/mogo/och/common/module/manager/autopilot/line/ILineCallback.java
+++ b/OCH/common/common/src/main/java/com/mogo/och/common/module/manager/autopilot/line/ILineCallback.java
@@ -2,21 +2,59 @@ package com.mogo.och.common.module.manager.autopilot.line;


 public interface ILineCallback {
+
+    /**
+     * 清除高精地图的轨迹线成功
+     */
    default void clearLineSuccess(){}

+    /**
+     * 高精地图上绘制轨迹线成功
+     */
    default void drawLineSuccess(){}

+    /**
+     * 高精地图上绘制轨迹线失败
+     */
    default void drawLineFail(){}

+    /**
+     * och 已向eye 发送启动自驾参数
+     */
    default void sendStartAutopilotSuccess(){}

+    /**
+     * 因为起始站点、自驾轨迹参数、线路信息变化导致的自驾orderId的变化
+     */
+    default void onAutopilotIdChange(String oldId,String newId){}
+
+
+    /**
+     * 启动自驾15s超时
+     */
    default void startAutopilotTimeOut(){}

+    /**
+     * 底盘收到启动自驾的指令
+     */
    default void sendStartAutopilotSuccessAck(){}

+    /**
+     * 底盘告知启动自驾失败
+     * @param startFailedCode 错误码
+     * @param startFailedMessage 错误信息
+     */
    default void startAutopilotFailure(String startFailedCode,String startFailedMessage){}

-    default void startAutopilotSuccess(){}
+    /**
+     * 自驾启动成功
+     * @param source 自驾成功来源
+     * @param autopilotId 当前启动自驾的id
+     */
+    default void startAutopilotSuccess(int source, String autopilotId){}

+    /**
+     * 距离站点小于15m后向底盘查询是否到站底盘反馈 已到站
+     */
    default void arrivedStationSuccessBySearch(){}
 }
--- a/OCH/common/common/src/main/java/com/mogo/och/common/module/manager/autopilot/line/LineManager.kt
+++ b/OCH/common/common/src/main/java/com/mogo/och/common/module/manager/autopilot/line/LineManager.kt
@@ -81,6 +81,9 @@ object LineManager : CallerBase<ILineCallback>() {
    private var autopilotId: String by Delegates.observable("") { _, oldValue, newValue ->
        if (oldValue != newValue) {
            CallerEagleBaseFunctionCall4OchManager.setOchAutopilotOrderId(newValue)
+            M_LISTENERS.forEach {
+                it.value.onAutopilotIdChange(oldValue,newValue)
+            }
            if(!AppIdentityModeUtils.isBus(FunctionBuildConfig.appIdentityMode)&&!AppIdentityModeUtils.isShuttle(FunctionBuildConfig.appIdentityMode)){
                val (start, end) = getStations()
                if(start!=null&&end!=null){
@@ -252,11 +255,11 @@ object LineManager : CallerBase<ILineCallback>() {
    }

    private fun setAutopilotControlParameters(){
-        getStationsWithLineAndContrai { start, end, lineInfo, contrai ->
-            val parameters = LineManager.initAutopilotControlParameters()
+        getStationsWithLine { start, end, lineInfo ->
+            val parameters = initAutopilotControlParameters()
            if (null == parameters) {
                e(M_BUS + TAG, "AutopilotControlParameters is empty.")
-                return@getStationsWithLineAndContrai
+                return@getStationsWithLine
            }
            d(M_BUS + TAG, "AutopilotControlParameters is update.")
            CallerAutoPilotStatusListenerManager.updateAutopilotControlParameters(parameters)
@@ -315,6 +318,9 @@ object LineManager : CallerBase<ILineCallback>() {

    fun initAutopilotControlParameters(): AutopilotControlParameters? {
        var parameters: AutopilotControlParameters? = null
+        getStationsWithLine { start, end, lineInfo ->
+            this.autopilotId =  "${lineInfo.lineId}_${start.siteId}_${end.siteId}_${lineInfo.orderId}"
+        }
        getStationsWithLineAndContrai { start, end, lineInfo, contrai ->
            parameters = AutopilotControlParameters()
            parameters?.routeID = lineInfo.lineId.toInt()
@@ -324,7 +330,6 @@ object LineManager : CallerBase<ILineCallback>() {
            parameters?.startLatLon = AutoPilotLonLat(start.lat, start.lon)
            parameters?.endLatLon = AutoPilotLonLat(end.lat, end.lon)
            parameters?.vehicleType = 10
-            this.autopilotId =  "${lineInfo.lineId}_${start.siteId}_${end.siteId}_${lineInfo.orderId}"
            parameters?.orderId = this.autopilotId
            parameters?.firstAutopilotFlag = isFirstStartAutopilot

@@ -518,6 +523,11 @@ object LineManager : CallerBase<ILineCallback>() {
        }
    }

+    /**
+     * @param source 0: och 通过自驾状态变化确定启动自驾成功
+     *               1: 通过can消息发送自驾状态确定启动自驾成功
+     *               2：通过FSM 反馈确定启动自驾成功
+     */
    fun triggerStartServiceEvent(send: Boolean,source:Int,type:String) {
        getStationsWithLine { start, end, lineInfo ->
            OchAutopilotAnalytics.triggerStartAutopilotEvent(
@@ -531,6 +541,11 @@ object LineManager : CallerBase<ILineCallback>() {
                type,
                source
            )
+            if(send){
+                M_LISTENERS.forEach {
+                    it.value.startAutopilotSuccess(source,autopilotId)
+                }
+            }
        }
    }

--- a/OCH/common/common/src/main/java/com/mogo/och/common/module/wigets/autopilot/AutopilotStateModel.kt
+++ b/OCH/common/common/src/main/java/com/mogo/och/common/module/wigets/autopilot/AutopilotStateModel.kt
@@ -1,6 +1,7 @@
 package com.mogo.och.common.module.wigets.autopilot

 import androidx.lifecycle.ViewModel
+import com.mogo.eagle.core.data.config.FunctionBuildConfig
 import com.mogo.eagle.core.function.api.autopilot.IMoGoAutopilotStatusListener
 import com.mogo.eagle.core.function.call.autopilot.CallerAutoPilotControlManager
 import com.mogo.eagle.core.utilcode.util.UiThreadHandler
@@ -10,6 +11,8 @@ import com.mogo.och.common.module.manager.autopilot.autopilot.IOchAutopilotStatu
 import com.mogo.och.common.module.manager.autopilot.autopilot.OchAutoPilotStatusListenerManager
 import com.mogo.och.common.module.manager.autopilot.line.ILineCallback
 import com.mogo.och.common.module.manager.autopilot.line.LineManager
+import com.mogo.och.common.module.manager.beautifymode.BeautifyManager
+import com.mogo.och.common.module.manager.beautifymode.IBeautifyModeCallback
 import com.mogo.och.common.module.manager.logchainanalytic.OchChainLogManager
 import com.mogo.och.common.module.manager.loop.BizLoopManager
 import com.mogo.och.common.module.utils.RxUtils
@@ -21,7 +24,7 @@ import java.util.concurrent.atomic.AtomicBoolean
 * @since: 2022/12/15
 */
 class AutopilotStateModel :  ViewModel(), IOchAutopilotStatusListener, ILineCallback,
-    IOchDebugAutopilotStatusListener {
+    IOchDebugAutopilotStatusListener, IBeautifyModeCallback {

    private val TAG = AutopilotStateModel::class.java.simpleName

@@ -29,12 +32,16 @@ class AutopilotStateModel :  ViewModel(), IOchAutopilotStatusListener, ILineCall

    private val isPalyStartAni = AtomicBoolean(false)

+    // autopilotId 这个自驾id 启动成功过
+    private var lineId:String? = null
+

    override fun onCleared() {
        this.viewCallback = null
        AutopilotStateDebug.removeListener(TAG)
        OchAutoPilotStatusListenerManager.removeListener(TAG)
        LineManager.removeListener(TAG)
+        BeautifyManager.setStatusChangeListener(TAG,null)
    }

    fun setViewCallback(viewCallback:AutopilotStateCallback){
@@ -42,6 +49,7 @@ class AutopilotStateModel :  ViewModel(), IOchAutopilotStatusListener, ILineCall
        AutopilotStateDebug.addListener(TAG,this)
        OchAutoPilotStatusListenerManager.addListener(TAG,this)
        LineManager.addListener(TAG,this)
+        BeautifyManager.setStatusChangeListener(TAG,this)
    }

    override fun debugStatusChange(debugStatus: Boolean) {
@@ -90,39 +98,126 @@ class AutopilotStateModel :  ViewModel(), IOchAutopilotStatusListener, ILineCall
        autopilotStateChange()
    }

-    private fun autopilotStateChange(){
-        // 正在起自驾过程中
-        // 自驾状态变化为非自驾状态
-        // 或者
-        // FSM 状态改为不能启动自驾
-        // 按照启动自驾失败计算
-        if(isPalyStartAni.get() &&
-                (!CallerAutoPilotControlManager.isCanStartAutopilot(false)
-                    || OchAutoPilotStatusListenerManager.autopilotState!=IMoGoAutopilotStatusListener.STATUS_AUTOPILOT_RUNNING)){
-            OchChainLogManager.writeChainLog("自驾信息","正在起自驾过程中、自驾状态变化切为非自驾状态或者FSM 状态改为不能启动自驾")
-            startAutopilotFail()
+    override fun dispatchStatus(typeEnum: BeautifyManager.ChangeTypeEnum) {
+        OchChainLogManager.writeChainLog("美化模式","美化模式发生变化:${typeEnum}")
+        autopilotStateChange()
+    }
+
+    override fun startAutopilotSuccess(
+        source: Int,
+        autopilotId: String?
+    ) {
+        LineManager.getLineInfo {
+            this.lineId = it.lineId.toString()
+        }
+        autopilotStateChange()
+        this.viewCallback?.startAutopilotSuccess()
+    }
+
+    override fun onAutopilotIdChange(oldId: String?, newId: String?) {
+        if(LineManager.lineInfos?.lineId.toString()==this.lineId){
            return
        }
-        BizLoopManager.runInMainThread{
-            OchChainLogManager.writeChainLog("自驾信息","自驾状态:${OchAutoPilotStatusListenerManager.autopilotState} 能否启动自驾：${CallerAutoPilotControlManager.isCanStartAutopilot(false)}")
-            when (OchAutoPilotStatusListenerManager.autopilotState) {
-                IMoGoAutopilotStatusListener.STATUS_AUTOPILOT_DISABLE-> {// 不可用 不可启动自驾
-                    this.viewCallback?.autopilotDisable()
-                }
-                IMoGoAutopilotStatusListener.STATUS_AUTOPILOT_ENABLE-> {
-                    if (CallerAutoPilotControlManager.isCanStartAutopilot(false) && OchAutoPilotStatusListenerManager.canStartAutopilotFromFSM) {// 不可用
-                        this.viewCallback?.canStartAutopilot()
-                    } else {// 部分可用
-                        this.viewCallback?.autopilotDisable()
+        this.lineId = null
+        autopilotStateChange()
+    }
+
+    /**
+     * 1、自驾状态发生变化
+     * 2、能否启动自驾变化
+     * 3、FSM能否启动自驾变化
+     * 4、美化模式发生变化
+     * 5、启动自驾成功
+     * 6、自驾orderid发生变化
+     * 7、启动自驾超时失败
+     * 8、底盘明确告知启动自驾失败
+     * 9、启动自驾失败展示3s 失败后恢复新的状态
+     */
+    private fun autopilotStateChange(){
+        if (FunctionBuildConfig.isDemoMode) {
+            BizLoopManager.runInMainThread {
+                OchChainLogManager.writeChainLog(
+                    "自驾信息",
+                    "自驾状态:${OchAutoPilotStatusListenerManager.autopilotState} 能否启动自驾：${
+                        CallerAutoPilotControlManager.isCanStartAutopilot(false)
+                    }"
+                )
+                if(lineId.isNullOrEmpty()){// 没有启动成功过
+                    when (OchAutoPilotStatusListenerManager.autopilotState) {
+                        IMoGoAutopilotStatusListener.STATUS_AUTOPILOT_DISABLE -> {// 不可用 不可启动自驾
+                            this.viewCallback?.canStartAutopilot()
+                        }
+
+                        IMoGoAutopilotStatusListener.STATUS_AUTOPILOT_ENABLE -> {
+                            if (CallerAutoPilotControlManager.isCanStartAutopilot(false) && OchAutoPilotStatusListenerManager.canStartAutopilotFromFSM) {// 不可用
+                                this.viewCallback?.canStartAutopilot()
+                            } else {// 部分可用
+                                this.viewCallback?.canStartAutopilot()
+                            }
+                        }
+
+                        IMoGoAutopilotStatusListener.STATUS_AUTOPILOT_RUNNING -> {// 自驾中
+                            this.viewCallback?.stopAutopilotAnimation()
+                            this.viewCallback?.inAutopilot()
+                        }
+
+                        IMoGoAutopilotStatusListener.STATUS_PARALLEL_DRIVING -> {// 平行驾驶中
+                            this.viewCallback?.stopAutopilotAnimation()
+                            this.viewCallback?.inAutopilot()
+                        }
                    }
-                }
-                IMoGoAutopilotStatusListener.STATUS_AUTOPILOT_RUNNING-> {// 自驾中
-                    this.viewCallback?.stopAutopilotAnimation()
+                }else{
                    this.viewCallback?.inAutopilot()
                }
-                IMoGoAutopilotStatusListener.STATUS_PARALLEL_DRIVING-> {// 平行驾驶中
-                    this.viewCallback?.stopAutopilotAnimation()
-                    this.viewCallback?.inRemoteDriver()
+            }
+
+        }else {
+            // 正在起自驾过程中
+            // 自驾状态变化为非自驾状态
+            // 或者
+            // FSM 状态改为不能启动自驾
+            // 按照启动自驾失败计算
+            if (isPalyStartAni.get() &&
+                (!CallerAutoPilotControlManager.isCanStartAutopilot(false)
+                        || OchAutoPilotStatusListenerManager.autopilotState != IMoGoAutopilotStatusListener.STATUS_AUTOPILOT_RUNNING)
+            ) {
+                OchChainLogManager.writeChainLog(
+                    "自驾信息",
+                    "正在起自驾过程中、自驾状态变化切为非自驾状态或者FSM 状态改为不能启动自驾"
+                )
+                startAutopilotFail()
+                return
+            }
+
+            BizLoopManager.runInMainThread {
+                OchChainLogManager.writeChainLog(
+                    "自驾信息",
+                    "自驾状态:${OchAutoPilotStatusListenerManager.autopilotState} 能否启动自驾：${
+                        CallerAutoPilotControlManager.isCanStartAutopilot(false)
+                    }"
+                )
+                when (OchAutoPilotStatusListenerManager.autopilotState) {
+                    IMoGoAutopilotStatusListener.STATUS_AUTOPILOT_DISABLE -> {// 不可用 不可启动自驾
+                        this.viewCallback?.autopilotDisable()
+                    }
+
+                    IMoGoAutopilotStatusListener.STATUS_AUTOPILOT_ENABLE -> {
+                        if (CallerAutoPilotControlManager.isCanStartAutopilot(false) && OchAutoPilotStatusListenerManager.canStartAutopilotFromFSM) {// 不可用
+                            this.viewCallback?.canStartAutopilot()
+                        } else {// 部分可用
+                            this.viewCallback?.autopilotDisable()
+                        }
+                    }
+
+                    IMoGoAutopilotStatusListener.STATUS_AUTOPILOT_RUNNING -> {// 自驾中
+                        this.viewCallback?.stopAutopilotAnimation()
+                        this.viewCallback?.inAutopilot()
+                    }
+
+                    IMoGoAutopilotStatusListener.STATUS_PARALLEL_DRIVING -> {// 平行驾驶中
+                        this.viewCallback?.stopAutopilotAnimation()
+                        this.viewCallback?.inRemoteDriver()
+                    }
                }
            }
        }
@@ -144,7 +239,7 @@ class AutopilotStateModel :  ViewModel(), IOchAutopilotStatusListener, ILineCall
     * 条件过滤完成 正式进入启动自驾状态
     */
    override fun sendStartAutopilotSuccess() {
-        OchChainLogManager.writeChainLog("自驾信息","启动自驾成功")
+        OchChainLogManager.writeChainLog("自驾信息","发送启动自驾信息到底盘成功")
        BizLoopManager.runInMainThread {
            this.viewCallback?.startAutopilotAnimation()
            isPalyStartAni.set(true)
@@ -169,6 +264,12 @@ class AutopilotStateModel :  ViewModel(), IOchAutopilotStatusListener, ILineCall
        }
    }

+    /**
+     * 1、正在起自驾过程中、自驾状态变化切为非自驾状态或者FSM 状态改为不能启动自驾
+     * 2、debug状态下5s后自动按照失败计算
+     * 3、超时失败
+     * 4、底盘明确告知启动失败
+     */
    private fun startAutopilotFail(){
        BizLoopManager.runInMainThread{
            this.viewCallback?.stopAutopilotAnimation()
--- a/OCH/offline/driver/src/main/java/com/mogo/och/offline/model/OrderModel.java
+++ b/OCH/offline/driver/src/main/java/com/mogo/och/offline/model/OrderModel.java
@@ -182,7 +182,7 @@ public class OrderModel {
            new IReceivedMsgListener() {
                @Override
                public void onFusionColor(boolean fusionColor) {
-                    IReceivedMsgListener.super.onFusionColor(fusionColor);
+
                }

                @Override