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[dev_arch_opt_3.0]

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[Change]
[1、拆分汽车底盘数据透出，都采用单个类型数据回调]

Signed-off-by: donghongyu <donghongyu@zhidaoauto.com>
This commit is contained in:
donghongyu
2023-01-05 21:21:02 +08:00
parent 22198c92ec
commit 723540b9a4
26 changed files with 333 additions and 325 deletions
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25
core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/hmi/ui/setting/DebugSettingView.kt
View File

@@ -101,15 +101,19 @@ class DebugSettingView @JvmOverloads constructor(
) : ConstraintLayout(context, attrs, defStyleAttr),
IMoGoObuStatusListener,
IMoGoAutopilotStatusListener,
IMoGoAutopilotCarStateListener,
IMoGoChassisGnssInfoListener,
IMoGoMapLocationListener,
IMoGoAutopilotIdentifyListener,
IMoGoPlanningRottingListener,
IMoGoPlanningTrajectoryListener,
IMoGoAutopilotVehicleStateListener,
IMoGoDevaToolsFuncConfigListener,
IMoGoChassisLamplightListener,
IMoGoDevaToolsListener,
IMoGoChassisAccStateListener,
IMoGoChassisSteeringStateListener,
IMoGoChassisGearStateListener,
IMoGoChassisBrakeStateListener,
IMoGoChassisThrottleStateListener,
IMoGoSweeperFutianCleanSystemListener{
private val TAG = "DebugSettingView"
@@ -194,7 +198,7 @@ class DebugSettingView @JvmOverloads constructor(
// 添加 ADAS状态 监听
CallerAutoPilotStatusListenerManager.addListener(TAG, this)
// 添加 ADAS车辆状态&定位 监听
CallerAutopilotCarStatusListenerManager.addListener(TAG, this)
CallerChassisGnssInfoListenerManager.addListener(TAG, this)
// 添加 地图样式改变 监听
CallerMapLocationListenerManager.addListener(TAG, this, false)
// 添加 域控制器感知数据 监听
@@ -203,7 +207,12 @@ class DebugSettingView @JvmOverloads constructor(
CallerPlanningRottingListenerManager.addListener(TAG, this)
CallerPlanningTrajectoryListenerManager.addListener(TAG, this)
//添加 车辆底盘数据回调 监听
CallerAutopilotVehicleStateListenerManager.addListener(TAG, this)
CallerChassisAccStateListenerManager.addListener(TAG, this)
CallerChassisBrakeStateListenerManager.addListener(TAG, this)
CallerChassisGearStateListenerManager.addListener(TAG, this)
CallerChassisSteeringStateListenerManager.addListener(TAG, this)
CallerChassisThrottleStateListenerManager.addListener(TAG, this)
//添加 开发套件工具接口 监听
CallerDevaToolsListenerManager.addListener(TAG, this)
//添加 底盘灯光数据 监听
@@ -232,7 +241,7 @@ class DebugSettingView @JvmOverloads constructor(
// 移除 ADAS状态 监听
CallerAutoPilotStatusListenerManager.removeListener(TAG)
// 移除 ADAS车辆状态&定位 监听
CallerAutopilotCarStatusListenerManager.removeListener(TAG)
CallerChassisGnssInfoListenerManager.removeListener(TAG)
// 移除 地图样式改变 监听
CallerMapLocationListenerManager.removeListener(TAG, false)
// 移除 域控制器感知数据 监听
@@ -241,7 +250,11 @@ class DebugSettingView @JvmOverloads constructor(
CallerPlanningRottingListenerManager.removeListener(TAG)
CallerPlanningTrajectoryListenerManager.removeListener(TAG)
// 移除 车辆底盘数据回调 监听
CallerAutopilotVehicleStateListenerManager.removeListener(TAG)
CallerChassisAccStateListenerManager.removeListener(TAG)
CallerChassisBrakeStateListenerManager.removeListener(TAG)
CallerChassisGearStateListenerManager.removeListener(TAG)
CallerChassisSteeringStateListenerManager.removeListener(TAG)
CallerChassisThrottleStateListenerManager.removeListener(TAG)
// 移除 开发套件工具接口 监听
CallerDevaToolsListenerManager.removeListener(TAG)
// 移除 底盘灯光数据 监听

145
core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/hmi/ui/widget/SteeringWheelView.java
View File

@@ -18,9 +18,11 @@ import androidx.constraintlayout.widget.ConstraintLayout;
import com.mogo.eagle.core.data.autopilot.AutopilotStatusInfo;
import com.mogo.eagle.core.data.config.FunctionBuildConfig;
import com.mogo.eagle.core.function.api.autopilot.IMoGoAutopilotStatusListener;
import com.mogo.eagle.core.function.api.autopilot.IMoGoAutopilotVehicleStateListener;
import com.mogo.eagle.core.function.api.autopilot.IMoGoChassisGearStateListener;
import com.mogo.eagle.core.function.api.autopilot.IMoGoChassisSteeringStateListener;
import com.mogo.eagle.core.function.call.autopilot.CallerAutoPilotStatusListenerManager;
import com.mogo.eagle.core.function.call.autopilot.CallerAutopilotVehicleStateListenerManager;
import com.mogo.eagle.core.function.call.autopilot.CallerChassisGearStateListenerManager;
import com.mogo.eagle.core.function.call.autopilot.CallerChassisSteeringStateListenerManager;
import com.mogo.eagle.core.function.hmi.R;
import com.mogo.eagle.core.utilcode.mogo.AppIdentityModeUtils;
import com.mogo.eagle.core.utilcode.mogo.logger.CallerLogger;
@@ -29,7 +31,6 @@ import com.mogo.eagle.core.utilcode.util.ThreadUtils;
import org.jetbrains.annotations.NotNull;
import chassis.Chassis;
import chassis.VehicleStateOuterClass;
import mogo.telematics.pad.MessagePad;
import mogo_msg.MogoReportMsg;
import system_master.SystemStatusInfo;
@@ -41,7 +42,9 @@ import system_master.SystemStatusInfo;
* 档位随CAN数据做切换和高亮显示
* @since: 4/7/22
*/
public class SteeringWheelView extends ConstraintLayout {
public class SteeringWheelView extends ConstraintLayout implements
IMoGoChassisSteeringStateListener,
IMoGoChassisGearStateListener {
private static final String TAG = "SteeringWheelView";
private ImageView autopilotIV;
private TextView steeringTVL;
@@ -65,7 +68,8 @@ public class SteeringWheelView extends ConstraintLayout {
}
initView();
CallerAutoPilotStatusListenerManager.INSTANCE.addListener(TAG, mGoAutopilotStatusListener);
CallerAutopilotVehicleStateListenerManager.INSTANCE.addListener(TAG, mIMoGoAutopilotVehicleStateListener);
CallerChassisGearStateListenerManager.INSTANCE.addListener(TAG, this);
CallerChassisSteeringStateListenerManager.INSTANCE.addListener(TAG, this);
tapPositionView.updateWithGear(Chassis.GearPosition.GEAR_R);
}
@@ -163,92 +167,59 @@ public class SteeringWheelView extends ConstraintLayout {
}
};
private final IMoGoAutopilotVehicleStateListener mIMoGoAutopilotVehicleStateListener = new IMoGoAutopilotVehicleStateListener() {
/**
* @param brake 刹车
*/
@Override
public void onAutopilotBrake(float brake) {
/**
* 方向盘转向角 左+右-
* @param steering
*/
@Override
public void onAutopilotSteeringData(float steering) {
if (Math.abs(steering) < 1) {
steering = 0;
}
/**
* @param throttle 油门
*/
@Override
public void onAutopilotThrottle(float throttle) {
}
/**
* 车辆加速度
* @param carAcc
*/
@Override
public void onAutopilotAcc(float carAcc) {
}
/**
* 方向盘转向角 左+右-
* @param steering
*/
@Override
public void onAutopilotSteeringData(float steering) {
if (Math.abs(steering) < 1) {
steering = 0;
float steeringValue = steering;
ThreadUtils.runOnUiThread(new Runnable() {
@Override
public void run() {
if (steeringTVL != null && steeringValue > 0) {
steeringTVR.setVisibility(View.INVISIBLE);
steeringTVL.setVisibility(View.VISIBLE);
steeringTVL.setText(String.valueOf((int) steeringValue) + "°");
} else if (steeringTVR != null && steeringValue <= 0) {
steeringTVL.setVisibility(View.INVISIBLE);
steeringTVR.setVisibility(View.VISIBLE);
steeringTVR.setText(String.valueOf((int) -steeringValue) + "°");
} else {
CallerLogger.INSTANCE.d(TAG, "onAutopilotSteeringData error");
}
animationWithSteeringData(-steeringValue);
if (steeringCircularV != null) {
steeringCircularV.setProgress((int) (-steeringValue * 100) / 360, 20);
}
if (steeringCircularVAlpha != null) {
steeringCircularVAlpha.setProgress((int) (-steeringValue * 100) / 360, 20);
}
}
float steeringValue = steering;
ThreadUtils.runOnUiThread(new Runnable() {
@Override
public void run() {
if (steeringTVL != null && steeringValue > 0) {
steeringTVR.setVisibility(View.INVISIBLE);
steeringTVL.setVisibility(View.VISIBLE);
steeringTVL.setText(String.valueOf((int) steeringValue) + "°");
} else if (steeringTVR != null && steeringValue <= 0) {
steeringTVL.setVisibility(View.INVISIBLE);
steeringTVR.setVisibility(View.VISIBLE);
steeringTVR.setText(String.valueOf((int) -steeringValue) + "°");
} else {
CallerLogger.INSTANCE.d(TAG, "onAutopilotSteeringData error");
}
animationWithSteeringData(-steeringValue);
if (steeringCircularV != null) {
steeringCircularV.setProgress((int) (-steeringValue * 100) / 360, 20);
}
if (steeringCircularVAlpha != null) {
steeringCircularVAlpha.setProgress((int) (-steeringValue * 100) / 360, 20);
}
});
}
/**
* 档位
* @param gear
*/
@Override
public void onAutopilotGearData(@NotNull Chassis.GearPosition gear) {
ThreadUtils.runOnUiThread(new Runnable() {
@Override
public void run() {
CallerLogger.INSTANCE.d(TAG, "乘客屏档位" + gear.toString());
if (tapPositionView != null) {
tapPositionView.updateWithGear(gear);
}
});
}
});
}
/**
* 档位
* @param gear
*/
@Override
public void onAutopilotGearData(@NotNull Chassis.GearPosition gear) {
ThreadUtils.runOnUiThread(new Runnable() {
@Override
public void run() {
CallerLogger.INSTANCE.d(TAG, "乘客屏档位" + gear.toString());
if (tapPositionView != null) {
tapPositionView.updateWithGear(gear);
}
}
});
}
@Override
public void onAutopilotDataException(long timestamp) {
}
};
}
/**
* 方向盘随CAN数据做方向和角度旋转

110
core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/hmi/ui/widget/TrafficDataView.java
View File

@@ -15,10 +15,16 @@ import androidx.annotation.NonNull;
import androidx.annotation.Nullable;
import androidx.constraintlayout.widget.ConstraintLayout;
import com.mogo.eagle.core.function.api.autopilot.IMoGoAutopilotVehicleStateListener;
import com.mogo.eagle.core.function.api.autopilot.IMoGoChassisBrakeStateListener;
import com.mogo.eagle.core.function.api.autopilot.IMoGoChassisGearStateListener;
import com.mogo.eagle.core.function.api.autopilot.IMoGoChassisSteeringStateListener;
import com.mogo.eagle.core.function.api.autopilot.IMoGoChassisThrottleStateListener;
import com.mogo.eagle.core.function.call.autopilot.CallerAutoPilotStatusListenerManager;
import com.mogo.eagle.core.function.call.autopilot.CallerAutopilotPlanningActionsListenerManager;
import com.mogo.eagle.core.function.call.autopilot.CallerAutopilotVehicleStateListenerManager;
import com.mogo.eagle.core.function.call.autopilot.CallerChassisBrakeStateListenerManager;
import com.mogo.eagle.core.function.call.autopilot.CallerChassisGearStateListenerManager;
import com.mogo.eagle.core.function.call.autopilot.CallerChassisSteeringStateListenerManager;
import com.mogo.eagle.core.function.call.autopilot.CallerChassisThrottleStateListenerManager;
import com.mogo.eagle.core.function.hmi.R;
import com.mogo.eagle.core.utilcode.mogo.logger.CallerLogger;
import com.mogo.eagle.core.utilcode.util.ThreadUtils;
@@ -32,7 +38,11 @@ import chassis.Chassis;
* @description 速度 加速度 档位 刹车 油门状态值
* @since: 6/24/22
*/
public class TrafficDataView extends ConstraintLayout {
public class TrafficDataView extends ConstraintLayout implements
IMoGoChassisSteeringStateListener,
IMoGoChassisGearStateListener ,
IMoGoChassisBrakeStateListener,
IMoGoChassisThrottleStateListener {
private static final String TAG = "TrafficDataView";
private TapPositionView tapPositionView;
private TextView speedTextView;
@@ -100,7 +110,10 @@ public class TrafficDataView extends ConstraintLayout {
protected void onAttachedToWindow() {
super.onAttachedToWindow();
handler.sendEmptyMessageDelayed(MSG_SEND_UPDATE, 1000L);
CallerAutopilotVehicleStateListenerManager.INSTANCE.addListener(TAG, mIMoGoAutopilotVehicleStateListener);
CallerChassisSteeringStateListenerManager.INSTANCE.addListener(TAG, this);
CallerChassisGearStateListenerManager.INSTANCE.addListener(TAG, this);
CallerChassisBrakeStateListenerManager.INSTANCE.addListener(TAG, this);
CallerChassisThrottleStateListenerManager.INSTANCE.addListener(TAG, this);
CallerAutopilotPlanningActionsListenerManager.INSTANCE.addListener(TAG, planningActionMsg -> acceleration = planningActionMsg.getDestinationAcc());
}
@@ -116,63 +129,52 @@ public class TrafficDataView extends ConstraintLayout {
@Override
protected void onDetachedFromWindow() {
super.onDetachedFromWindow();
CallerAutopilotVehicleStateListenerManager.INSTANCE.removeListener(TAG);
CallerChassisSteeringStateListenerManager.INSTANCE.removeListener(TAG);
CallerChassisGearStateListenerManager.INSTANCE.removeListener(TAG);
CallerChassisBrakeStateListenerManager.INSTANCE.removeListener(TAG);
CallerChassisThrottleStateListenerManager.INSTANCE.removeListener(TAG);
CallerAutopilotPlanningActionsListenerManager.INSTANCE.removeListener(TAG);
}
private final IMoGoAutopilotVehicleStateListener mIMoGoAutopilotVehicleStateListener = new IMoGoAutopilotVehicleStateListener() {
/**
* 方向盘转向角 左+右-
* @param steering
*/
@Override
public void onAutopilotSteeringData(float steering) {
CallerLogger.INSTANCE.d(TAG, "steering原始值====" + steering);
if (Math.abs(steering) < 1) {
steering = 0;
/**
* 方向盘转向角 左+右-
* @param steering
*/
@Override
public void onAutopilotSteeringData(float steering) {
CallerLogger.INSTANCE.d(TAG, "steering原始值====" + steering);
if (Math.abs(steering) < 1) {
steering = 0;
}
CallerLogger.INSTANCE.d(TAG, "steering忽略小数点后====" + (int) steering);
}
/**
* 档位
* @param gear
*/
@Override
public void onAutopilotGearData(@NotNull Chassis.GearPosition gear) {
CallerLogger.INSTANCE.d(TAG, "司机屏档位" + gear.toString());
ThreadUtils.runOnUiThread(() -> {
if (tapPositionView != null) {
tapPositionView.updateWithGear(gear);
}
CallerLogger.INSTANCE.d(TAG, "steering忽略小数点后====" + (int) steering);
}
});
}
/**
* 档位
* @param gear
*/
@Override
public void onAutopilotGearData(@NotNull Chassis.GearPosition gear) {
CallerLogger.INSTANCE.d(TAG, "司机屏档位" + gear.toString());
ThreadUtils.runOnUiThread(() -> {
if (tapPositionView != null) {
tapPositionView.updateWithGear(gear);
}
});
}
@Override
public void onAutopilotDataException(long timestamp) {
}
@Override
public void onAutopilotAcc(float carAcc) {
}
@Override
public void onAutopilotBrake(float brake) {
CallerLogger.INSTANCE.d(TAG, "刹车:" + brake);
mBrake = brake;
}
@Override
public void onAutopilotThrottle(float throttle) {
CallerLogger.INSTANCE.d(TAG, "油门:" + throttle);
mThrottle = throttle;
}
};
@Override
public void onAutopilotBrake(float brake) {
CallerLogger.INSTANCE.d(TAG, "刹车:" + brake);
mBrake = brake;
}
@Override
public void onAutopilotThrottle(float throttle) {
CallerLogger.INSTANCE.d(TAG, "油门:" + throttle);
mThrottle = throttle;
}
/**
* 设置弧形颜色
*