diff --git a/OCH/mogo-och-sweeper/src/main/java/com/mogo/och/sweeper/ui/SweeperOperatePanelView.java b/OCH/mogo-och-sweeper/src/main/java/com/mogo/och/sweeper/ui/SweeperOperatePanelView.java index b03088d321..bb0ac4310e 100644 --- a/OCH/mogo-och-sweeper/src/main/java/com/mogo/och/sweeper/ui/SweeperOperatePanelView.java +++ b/OCH/mogo-och-sweeper/src/main/java/com/mogo/och/sweeper/ui/SweeperOperatePanelView.java @@ -31,7 +31,6 @@ import com.mogo.eagle.core.function.call.autopilot.CallerAutoPilotManager; import com.mogo.eagle.core.function.call.autopilot.CallerAutopilotVehicleStateListenerManager; import com.mogo.eagle.core.utilcode.util.ThreadUtils; import com.mogo.eagle.core.utilcode.util.ToastUtils; -import com.mogo.eagle.core.utilcode.util.UiThreadHandler; import com.mogo.module.common.view.OnPreventFastClickListener; import com.mogo.och.sweeper.R; import com.mogo.och.sweeper.util.SweeperFutianCmdUtil; @@ -181,6 +180,15 @@ public class SweeperOperatePanelView extends LinearLayout { @Override public boolean onCheckIfCmdSuccess(VehicleStateOuterClass.SweeperFuTianCleanSystemState cleanSystemState) { + boolean success = false; + if (cleanSystemState == null) { + return success; + } + if (isCloseAction) { + success = !cleanSystemState.getSecuMotWorkSts(); + } else { + success = cleanSystemState.getSecuMotWorkSts(); + } //TODO return true; } @@ -253,8 +261,14 @@ public class SweeperOperatePanelView extends LinearLayout { } boolean isClickCurrentChoosedModeBtn = currentChoosedModeBtnView != null && currentChoosedModeBtnView.getId() == currentClickView.getId(); - //是否纯吸 + //是否纯吸View boolean isPureAbsorption = currentClickView.getId() == R.id.btn_clean_mode_pure_absorption; + //是否纯洗View + boolean isPureWash = currentClickView.getId() == R.id.btn_clean_mode_pure_wash; + //是否纯扫View + boolean isPureSweep = currentClickView.getId() == R.id.btn_clean_mode_pure_sweep; + //是否洗扫View + boolean isWashSweep = currentClickView.getId() == R.id.btn_clean_mode_sweep_wash; CmdRequestCallback cmdRequestCallback = new CmdRequestCallback() { @Override @@ -269,6 +283,28 @@ public class SweeperOperatePanelView extends LinearLayout { @Override public boolean onCheckIfCmdSuccess(VehicleStateOuterClass.SweeperFuTianCleanSystemState cleanSystemState) { + boolean success = false; + if (cleanSystemState == null) { + return success; + } + // 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(); + // 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 = checkIfCleanModePureSweep(cleanSystemState); + + if (isPureSweep) { + success = clean_mode_pure_sweep; + } else if (isPureWash) { + success = clean_mode_pure_wash; + } else if (isWashSweep) { + success = clean_mode_wash_sweep; + } else if (isPureAbsorption) { + success = clean_mode_pure_draw; + } //TODO return true; } @@ -335,6 +371,11 @@ public class SweeperOperatePanelView extends LinearLayout { boolean isClickCurrentChoosedDirectionBtn = currentChoosedDirectionBtnView != null && currentChoosedDirectionBtnView.getId() == currentClickView.getId(); + 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; + + CmdRequestCallback cmdRequestCallback = new CmdRequestCallback() { @Override public void onSendCmd() { @@ -348,6 +389,24 @@ public class SweeperOperatePanelView extends LinearLayout { @Override public boolean onCheckIfCmdSuccess(VehicleStateOuterClass.SweeperFuTianCleanSystemState cleanSystemState) { + boolean success = false; + if (cleanSystemState == null) { + return success; + } + // 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(); + + if (isLeftSide) { + success = clean_direction_left_side; + } else if (isRightSide) { + success = clean_direction_right_side; + } else if (isBothSide) { + success = clean_direction_both_side; + } //TODO return true; } @@ -396,6 +455,7 @@ public class SweeperOperatePanelView extends LinearLayout { private void onCleanIntensityBtnClick(final View currentClickView) { boolean isStandardBtnClick = currentClickView.getId() == R.id.btn_clean_intensity_standard; + boolean isStrongBtnClick = currentClickView.getId() == R.id.btn_clean_intensity_strong; CmdRequestCallback cmdRequestCallback = new CmdRequestCallback() { @Override public void onSendCmd() { @@ -409,6 +469,17 @@ public class SweeperOperatePanelView extends LinearLayout { @Override public boolean onCheckIfCmdSuccess(VehicleStateOuterClass.SweeperFuTianCleanSystemState cleanSystemState) { + boolean success = false; + if (cleanSystemState == null) { + return success; + } + boolean clean_intensity_standard = cleanSystemState.getSecuWorkStandSts(); + boolean clean_intensity_strong = cleanSystemState.getSecuWorkStrongSts(); + if (isStandardBtnClick) { + success = clean_intensity_standard; + } else if (isStrongBtnClick) { + success = clean_intensity_strong; + } //TODO return true; } @@ -708,12 +779,12 @@ public class SweeperOperatePanelView extends LinearLayout { protected void onAttachedToWindow() { super.onAttachedToWindow(); CallerAutopilotVehicleStateListenerManager.INSTANCE.addListener(TAG, mIMoGoAutopilotVehicleStateListener); - syncVehicleStateAndRecoverOperatePanelStates(); +// syncVehicleStateAndRecoverOperatePanelStates(); // TODO // Mock VehicleState 数据回调 - UiThreadHandler.postDelayed(() -> { - onSyncVehicleStateCallBack(SweeperFutianCmdUtil.buildSweeperFuTionCleanSystemStateMockData()); - }, 3000L); +// UiThreadHandler.postDelayed(() -> { +// onSyncVehicleStateCallBack(SweeperFutianCmdUtil.buildSweeperFuTionCleanSystemStateMockData()); +// }, 3000L); } @Override @@ -753,8 +824,7 @@ public class SweeperOperatePanelView extends LinearLayout { boolean clean_direction_both_side = cleanSystemState.getSecuWorkOnBothsidesSts(); // 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 = (clean_direction_left_side || clean_direction_right_side || clean_direction_both_side) - && (!clean_mode_wash_sweep && !clean_mode_pure_wash && !clean_mode_pure_draw); + boolean clean_mode_pure_sweep = checkIfCleanModePureSweep(cleanSystemState); // 作业强度状态 boolean clean_intensity_standard = cleanSystemState.getSecuWorkStandSts(); @@ -818,6 +888,35 @@ public class SweeperOperatePanelView extends LinearLayout { }); } + /** + * 通过底盘数据判断是纯扫模式 + * + * @param cleanSystemState + * @return + */ + private boolean checkIfCleanModePureSweep(VehicleStateOuterClass.SweeperFuTianCleanSystemState cleanSystemState) { + // 作业模式状态 + // 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(); + + // 清扫方向状态 + // 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(); + + // 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 = (clean_direction_left_side || clean_direction_right_side || clean_direction_both_side) + && (!clean_mode_wash_sweep && !clean_mode_pure_wash && !clean_mode_pure_draw); + return clean_mode_pure_sweep; + } + /** * 发送清扫车相关作业命令 *