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zhongchao
2023-09-11 16:31:44 +08:00
parent b054caa402 ea468d9eb1
commit 72a3161562
34 changed files with 1215 additions and 374 deletions
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10
OCH/sweeper/sweeper-cloud/src/main/java/com/mogo/och/sweepercloud/callback/ISweeperCloudTaskCallback.kt
View File

@@ -10,6 +10,8 @@ import com.zhjt.mogo.adas.data.sweeper.common.SweeperCommon
import com.zhjt.mogo.adas.data.sweeper.common.SweeperCommon.Code
import com.zhjt.mogo.adas.data.sweeper.task.SweeperTask
import com.zhjt.mogo.adas.data.sweeper.task.big.SweeperBigTaskStatus
import com.zhjt.mogo.adas.data.sweeper.task.cloud.s_r.SweeperTaskCloudSuspendResume.ActionType
import com.zhjt.mogo.adas.data.sweeper.task.cloud.s_r.SweeperTaskCloudSuspendResume.BigTaskActionPush
import com.zhjt.mogo.adas.data.sweeper.task.stop.SweeperTaskStop.StopTaskType
/**
@@ -50,7 +52,13 @@ interface ISweeperCloudTaskCallback {
/**
* 云端同步大任务状态
*/
fun onSweeperCloudBigTaskStatus(taskId:String,subTaskStatus: SweeperBigTaskStatus.BigTaskStatus)
fun onSweeperCloudBigTaskStatus(taskId:String, bigTaskStatus: SweeperCommon.TaskStatus, isPop:Boolean)
/**
* 云端同步大任务暂停 / 恢复 指令
*/
fun onSweeperCloudBigTaskSuspendResume(taskId:String, actionType: ActionType, isPop:Boolean)
/**
* 设置轨迹坐标点集合
*/

4
OCH/sweeper/sweeper-cloud/src/main/java/com/mogo/och/sweepercloud/constant/SweeperConst.kt
View File

@@ -55,9 +55,9 @@ class SweeperConst {
const val EVENT_PARAM_UNABLE_START_REASON = "unable_start_reason";
/**
* 订单起终点Marker类型
* 子任务起终点Marker类型
*/
const val TYPE_MARKER_SWEEPER_ORDER = "TYPE_MARKER_SWEEPER_ORDER"
const val TYPE_MARKER_SWEEPER_SUBTASK_START_END = "TYPE_MARKER_SWEEPER_SUBTASK_START_END"
const val TIMER_START_AUTOPILOT_INTERVAL = 20 * 1000L

19
OCH/sweeper/sweeper-cloud/src/main/java/com/mogo/och/sweepercloud/fragment/BaseSweeperTabFragment.java
View File

@@ -53,6 +53,7 @@ import com.zhjt.mogo.adas.data.sweeper.SweeperCloudTask;
import java.math.BigDecimal;
import java.math.RoundingMode;
import java.util.ArrayList;
import java.util.Random;
import mogo.telematics.pad.MessagePad;
@@ -207,6 +208,24 @@ public abstract class BaseSweeperTabFragment<V extends IView, P extends Presente
findViewById(R.id.btnSendTaskStatus).setOnClickListener(view ->
SweeperCloudTaskUtils.mockSendCloudBigTaskStatus()
);
// 模拟 添加高精地图Marker
findViewById(R.id.btnAddHDMarker).setOnClickListener(view -> {
// 坐标地址：湖南省衡阳市雁峰区金龙坪街道科学城大道衡山科学城停车场
SweeperCloudTaskUtils.mockAddHdMarker("marker_sweeper_subtask_123_start",
112.57742887355035,
26.82068193910221,
true);
// 坐标地址：湖南省衡阳市雁峰区岳屏镇雁鸣路
SweeperCloudTaskUtils.mockAddHdMarker("marker_sweeper_subtask_123_end",
112.56666738544979,
26.822879976829867,
false);
}
);
// 模拟 移除高精地图Marker
findViewById(R.id.btnRemoveHDMarker).setOnClickListener(view ->
SweeperCloudTaskUtils.mockRemoveHDMarker()
);
mTrafficDataView.getSpeedImage().setOnLongClickListener(new View.OnLongClickListener() {
@Override
public boolean onLongClick(View v) {

677
OCH/sweeper/sweeper-cloud/src/main/java/com/mogo/och/sweepercloud/fragment/SweeperFragment.kt
View File

@@ -5,38 +5,48 @@ import android.view.View
import androidx.lifecycle.lifecycleScope
import chassis.ChassisStatesOuterClass
import com.amap.api.maps.model.LatLng
import com.elegant.utils.UiThreadHandler
import com.mogo.eagle.core.data.map.MogoLocation
import com.mogo.eagle.core.function.api.autopilot.IMoGoAutopilotStatusListener.Companion.STATUS_AUTOPILOT_ENABLE
import com.mogo.eagle.core.function.api.autopilot.IMoGoAutopilotStatusListener.Companion.STATUS_AUTOPILOT_RUNNING
import com.mogo.eagle.core.function.call.map.CallerMapUIServiceManager
import com.mogo.eagle.core.utilcode.mogo.logger.CallerLogger
import com.mogo.eagle.core.utilcode.mogo.logger.scene.SceneConstant
import com.mogo.eagle.core.utilcode.util.ToastUtils
import com.mogo.map.overlay.core.Level
import com.mogo.map.overlay.point.Point
import com.mogo.och.common.module.utils.OCHThreadPoolManager
import com.mogo.och.common.module.voice.VoiceNotice.showNotice
import com.mogo.och.sweepercloud.R
import com.mogo.och.sweepercloud.bean.SweeperRoutePlanningUpdateReqBean
import com.mogo.och.sweepercloud.callback.SweeperCloudDialogClickListener
import com.mogo.och.sweepercloud.constant.SweeperConst.Companion.TYPE_MARKER_SWEEPER_SUBTASK_START_END
import com.mogo.och.sweepercloud.database.MyDataBase
import com.mogo.och.sweepercloud.presenter.SweeperPresenter
import com.mogo.och.sweepercloud.ui.dialog.SweeperCloudDialog
import com.mogo.och.sweepercloud.ui.dialog.SweeperCloudLoadingDialog
import com.mogo.och.sweepercloud.util.SweeperCloudTaskUtils
import com.mogo.och.sweepercloud.util.SweeperCloudTaskUtils.createConfirmStartSubTaskDialog
import com.mogo.och.sweepercloud.util.SweeperCloudTaskUtils.createReceivedTaskInfoDialog
import com.mogo.och.sweepercloud.util.SweeperCloudTaskUtils.createReceivedBigTaskInfoDialog
import com.mogo.och.sweepercloud.util.SweeperCloudTaskUtils.createSweeperTaskEndDialog
import com.mogo.och.sweepercloud.util.SweeperCloudTaskUtils.createSweeperTaskExceptionEndDialog
import com.mogo.och.sweepercloud.util.SweeperCloudTaskUtils.createSweeperTaskNormalEndDialog
import com.mogo.och.sweepercloud.util.SweeperCloudTaskUtils.createSweeperTaskResumeDialog
import com.mogo.och.sweepercloud.util.SweeperCloudTaskUtils.createSweeperTaskSuspendDialog
import com.mogo.och.sweepercloud.util.SweeperCloudTaskUtils.printMessage
import com.mogo.och.sweepercloud.view.SweeperCurrentTaskInfoView
import com.zhjt.mogo.adas.data.sweeper.SweeperCloudTask
import com.zhjt.mogo.adas.data.sweeper.bootable.SweeperBootable
import com.zhjt.mogo.adas.data.sweeper.common.SweeperCommon
import com.zhjt.mogo.adas.data.sweeper.common.SweeperCommon.TaskStatus
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.SweeperTask.TaskModel
import com.zhjt.mogo.adas.data.sweeper.task.big.SweeperBigTaskStatus
import com.zhjt.mogo.adas.data.sweeper.task.cloud.s_r.SweeperTaskCloudSuspendResume
import com.zhjt.mogo.adas.data.sweeper.task.confirm.SweeperTaskConfirm
import com.zhjt.mogo.adas.data.sweeper.task.stop.SweeperTaskStop
import kotlinx.android.synthetic.main.fragment_och_sweeper.*
import kotlinx.android.synthetic.main.sweeper_no_data_common_view.*
import kotlinx.android.synthetic.main.fragment_och_sweeper.sweeper_cl_work_mode
import kotlinx.android.synthetic.main.fragment_och_sweeper.sweeper_current_task_view
import kotlinx.android.synthetic.main.sweeper_no_data_common_view.noTaskDataView
import kotlinx.coroutines.Dispatchers
import kotlinx.coroutines.launch
@@ -54,8 +64,13 @@ class SweeperFragment : BaseSweeperTabFragment<SweeperFragment?, SweeperPresente
private var mLocation: MogoLocation? = null
private var mTaskInfo: SweeperTask.TaskInfo? = null
private var mSubTaskType: TaskModel = TaskModel.DEFAULT_MODEL //1:自动驾驶子任务 2：人工驾驶子任务 -1:未知任务类型
private var mCurrentSubTaskInfo: SubTaskInfo? = null//当前正在执行的子任务
private val mLoadingDialog: SweeperCloudLoadingDialog by lazy { SweeperCloudLoadingDialog(requireContext()) }
private var mCurrentRunningSubTaskInfo: SubTaskInfo? = null//当前正在执行的子任务
private var mCurrentSuspendSubTaskInfo: SubTaskInfo? = null//当前暂停的子任务
private val mLoadingDialog: SweeperCloudLoadingDialog by lazy {
SweeperCloudLoadingDialog(
requireContext()
)
}
private var mDialog: SweeperCloudDialog? = null
override fun getTagName(): String {
@@ -111,12 +126,18 @@ class SweeperFragment : BaseSweeperTabFragment<SweeperFragment?, SweeperPresente
* 设置各种监听事件
*/
private fun initListener() {
getCurrentView().getAutoBtn().setOnClickListener {
getCurrentTaskView().getAutoBtn().setOnClickListener {
//前置条件 (1)必须处于人工驾驶状态 （2）必须有正在执行的子任务，且子任务类型为自动驾驶子任务 才能请求云端进入自驾
mCurrentSubTaskInfo?.let {
if (mPresenter?.autopilotState == STATUS_AUTOPILOT_ENABLE && it.taskModel == TaskModel.AUTO) {
mCurrentRunningSubTaskInfo?.let {
if (mPresenter?.autopilotState == STATUS_AUTOPILOT_ENABLE
&& it.taskModel == TaskModel.AUTO
) {
mLoadingDialog.showLoading()
mPresenter?.sendSweeperAutopilotBootable(mTaskInfo?.taskId, it.subTaskId, it.lineId.toLong())
mPresenter?.sendSweeperAutopilotBootable(
mTaskInfo?.taskId,
it.subTaskId,
it.lineId.toLong()
)
}
}
}
@@ -124,7 +145,10 @@ class SweeperFragment : BaseSweeperTabFragment<SweeperFragment?, SweeperPresente
override fun setAutoState(state: Int) {
super.setAutoState(state)
getCurrentView().updateStartAutoPilotBtnState(state)
getCurrentTaskView().updateStartAutoPilotBtnByAutoPilotState(
state == STATUS_AUTOPILOT_ENABLE,
mCurrentRunningSubTaskInfo?.taskModel == TaskModel.AUTO,
mCurrentRunningSubTaskInfo?.taskStatus == TaskStatus.RUNNING)
}
fun onSweeperFutianCleanSystemState(cleanSystemState: ChassisStatesOuterClass.SweeperFuTianTaskSystemStates) {
@@ -179,7 +203,10 @@ class SweeperFragment : BaseSweeperTabFragment<SweeperFragment?, SweeperPresente
/**
* 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
this.mSubMutableList = taskInfo?.subListList
CallerLogger.d(SceneConstant.M_SWEEPER + TAG, taskInfo?.let { printMessage(it) })
@@ -189,21 +216,36 @@ class SweeperFragment : BaseSweeperTabFragment<SweeperFragment?, SweeperPresente
}
//主动拉取云端正在执行的任务，有则直接在任务列表展示
if (messageType == SweeperCloudTask.MessageType.PadSendGetTaskReq) {
getCurrentView().setData(taskInfo, getCurrentPosition())
getCurrentTaskView().setData(taskInfo, getCurrentRunningSubTaskPosition())
setShowCurrentTaskPanelView(true)
addTaskData()
mPresenter?.isHasTaskInfo(true)
} else {//云端下发的任务信息需要弹窗接取
if (taskInfo.isPop) {//是否需要弹窗确认
receivedTaskInfoDialog()
//更新自动驾驶按钮样式
updateStartAutoPilotBtnByAutoPilotState()
//恢复高精地图上的Marker
mCurrentRunningSubTaskInfo?.also {
addHDMapMarkerBySubTask(it)
}
} else {//云端下发的大任务信息需要弹窗提示（V3.2.0开始不需要安全员确认接取任务，只能默认接收）
//是否需要弹窗确认
getCurrentTaskView().setData(taskInfo)
setShowCurrentTaskPanelView(true)
addTaskData()
mPresenter?.isHasTaskInfo(true)
//更新自动驾驶按钮样式
updateStartAutoPilotBtnByAutoPilotState()
if (taskInfo.isPop) {
showReceivedBigTaskDialog()
} else {
mPresenter?.sendSweeperStartTaskResp(taskInfo.taskId, SweeperTask.StartTaskCode.RECEIVED)
setShowCurrentTaskPanelView(true)
getCurrentView().setData(taskInfo)
addTaskData()
mPresenter?.isHasTaskInfo(true)
//延时2秒再上报确认接取任务，防止时间太短跟收到任务指令冲突
UiThreadHandler.postDelayed({ mPresenter?.sendSweeperStartTaskResp(taskInfo.taskId, SweeperTask.StartTaskCode.MANUAL_CONFIRM) }, 2000)
// 默认发送接收到消息的ACK回执
mPresenter?.sendSweeperStartTaskResp(
taskInfo.taskId,
SweeperTask.StartTaskCode.RECEIVED
)
}
//设置任务进度
this.mSubMutableList?.let {
@@ -212,18 +254,35 @@ class SweeperFragment : BaseSweeperTabFragment<SweeperFragment?, SweeperPresente
}
}
private fun updateStartAutoPilotBtnByAutoPilotState() {
getCurrentTaskView().updateStartAutoPilotBtnByAutoPilotState(
mPresenter?.autopilotState == STATUS_AUTOPILOT_ENABLE,
mCurrentRunningSubTaskInfo?.taskModel == TaskModel.AUTO,
mCurrentRunningSubTaskInfo?.taskStatus == TaskStatus.RUNNING
)
}
/**
* 根据云端同步的子任务状态，更新列表中任务状态
*/
fun onSweeperUpdateSubTaskStatus(taskId: String, subTaskId: String, subTaskStatus: SweeperCommon.TaskStatus) {
fun onSweeperUpdateSubTaskStatus(
taskId: String,
subTaskId: String,
subTaskStatus: SweeperCommon.TaskStatus
) {
mLoadingDialog.hideLoading()
updateSubTaskInfo(taskId, subTaskId, subTaskStatus)
updateStartAutoPilotBtnByAutoPilotState()
}
/**
* 子任务确认时，更新子任务信息
*/
private fun updateSubTaskInfo(taskId: String, subTaskId: String, subTaskStatus: SweeperCommon.TaskStatus) {
private fun updateSubTaskInfo(
taskId: String,
subTaskId: String,
subTaskStatus: SweeperCommon.TaskStatus
) {
mTaskInfo?.let {
//如果云端要更新的任务和本地缓存任务不是同一个，在无法更新子任务状态
if (taskId != it.taskId) {
@@ -235,23 +294,39 @@ class SweeperFragment : BaseSweeperTabFragment<SweeperFragment?, SweeperPresente
val subBuilder = subTaskList[index].toBuilder()
subBuilder.taskStatus = subTaskStatus
if (subTaskStatus == SweeperCommon.TaskStatus.RUNNING) {
mCurrentSubTaskInfo = subBuilder.build()
mCurrentRunningSubTaskInfo = subBuilder.build()
//更新当前正在执行的任务状态
updateCurrentSubTaskInfo(index + 1)
// 先移除在添加 起终点 Marker
addHDMapMarkerBySubTask(subTaskList[index])
} else {
mCurrentSubTaskInfo = null
mCurrentRunningSubTaskInfo = null
}
if (subTaskStatus == SweeperCommon.TaskStatus.SUSPENDED) {
mCurrentSuspendSubTaskInfo = subBuilder.build()
} else {
mCurrentSuspendSubTaskInfo = null
}
//判断是否结束子任务
if (subTaskStatus == SweeperCommon.TaskStatus.FINISHED) {
//已完成的计入任务进度，未完成的不计入
ToastUtils.showLong("任务完成")
showNotice("任务完成")
removeHDMapMarkerBySubTask(subTaskList[index])
}
// 其他异常结束时也需要remove marker
if (subTaskStatus == SweeperCommon.TaskStatus.ABNORMAL ||
subTaskStatus == SweeperCommon.TaskStatus.CANCEL
) {
removeHDMapMarkerBySubTask(subTaskList[index])
}
val builder = it.toBuilder()
builder.setSubList(index, subBuilder.build())
mTaskInfo = builder.build()
mSubMutableList = mTaskInfo?.subListList
getCurrentView().setData(mTaskInfo, index)
getCurrentTaskView().setData(mTaskInfo, index)
}
}
}
@@ -261,59 +336,76 @@ class SweeperFragment : BaseSweeperTabFragment<SweeperFragment?, SweeperPresente
/**
* 云端请求结束大任务
*/
fun onSweeperCloudTaskStop(taskId: String, stopTaskType: SweeperTaskStop.StopTaskType, isPop: Boolean) {
fun onSweeperCloudTaskStop(
taskId: String,
stopTaskType: SweeperTaskStop.StopTaskType,
isPop: Boolean
) {
mTaskInfo?.let {
//如果云端要更新的任务和本地缓存任务不是同一个，在无法结束任务
if (taskId != it.taskId) {
return
}
if (isPop) {
sweeperCloudTaskStopDialog(taskId, stopTaskType, it)
} else {
mPresenter?.sendSweeperStopTaskResp(taskId, SweeperTaskStop.StopTaskCode.MANUAL_CONFIRM)
// 发送接收到信息的ACK回执
mPresenter?.sendSweeperStopTaskResp(taskId, SweeperTaskStop.StopTaskCode.RECEIVED)
}
}
}
/**
* 结束任务弹窗处理
* 中止任务弹窗处理
*/
private fun sweeperCloudTaskStopDialog(taskId: String, stopTaskType: SweeperTaskStop.StopTaskType, taskInfo: SweeperTask.TaskInfo) {
private fun sweeperCloudTaskStopDialog(
taskId: String,
stopTaskType: SweeperTaskStop.StopTaskType,
taskInfo: SweeperTask.TaskInfo
) {
mLoadingDialog.hideLoading()
val timeout: String = getTimeSpent(taskInfo.taskEndTime)
val timeoutHintString: String =
SweeperCloudTaskUtils.getTimeSpentString(taskInfo.taskEndTime)
//数据重复导致连续弹窗
if (mDialog != null && mDialog!!.isShowing) {
return
}
if (stopTaskType == SweeperTaskStop.StopTaskType.NORMAL) {
mPresenter?.isHasTaskInfo(false)
mDialog = sweeperCloudTaskNormalEndDialog()
showNotice("任务已结束")
ToastUtils.showLong("任务已结束")
} else {
// 产品确认有弹框时不需要同步弹toast, 只需有TTS
mDialog = createSweeperTaskEndDialog(context, object : SweeperCloudDialogClickListener {
override fun onConfirm() {
mPresenter?.sendSweeperStopTaskResp(taskId, SweeperTaskStop.StopTaskCode.MANUAL_CONFIRM)
mLoadingDialog.showLoading()
//ToastUtils.showLong("确认")
// mPresenter?.sendSweeperStopTaskResp(taskId, SweeperTaskStop.StopTaskCode.MANUAL_CONFIRM)
// mLoadingDialog.showLoading()
// //ToastUtils.showLong("确认")
// 发送接收到信息的ACK回执
mPresenter?.sendSweeperStopTaskResp(taskId, SweeperTaskStop.StopTaskCode.RECEIVED)
}
override fun onRefuseOrEnd() {
mPresenter?.sendSweeperStopTaskResp(taskId, SweeperTaskStop.StopTaskCode.MANUAL_REFUSE)
mLoadingDialog.showLoading()
//ToastUtils.showLong("拒绝")
// mPresenter?.sendSweeperStopTaskResp(taskId, SweeperTaskStop.StopTaskCode.MANUAL_REFUSE)
// mLoadingDialog.showLoading()
// //ToastUtils.showLong("拒绝")
}
override fun onCountDownStop() {
mPresenter?.sendSweeperStopTaskResp(taskId, SweeperTaskStop.StopTaskCode.OVER_TIME)
mLoadingDialog.showLoading()
//ToastUtils.showLong("倒计时")
// mPresenter?.sendSweeperStopTaskResp(taskId, SweeperTaskStop.StopTaskCode.OVER_TIME)
// mLoadingDialog.showLoading()
// //ToastUtils.showLong("倒计时")
// 发送接收到信息的ACK回执
mPresenter?.sendSweeperStopTaskResp(taskId, SweeperTaskStop.StopTaskCode.RECEIVED)
}
override fun onNext() {
}
}, stopTaskType, timeout)
}, stopTaskType, timeoutHintString)
}
mDialog?.show()
}
@@ -324,8 +416,8 @@ class SweeperFragment : BaseSweeperTabFragment<SweeperFragment?, SweeperPresente
private fun sweeperCloudTaskNormalEndDialog(): SweeperCloudDialog? {
return createSweeperTaskNormalEndDialog(context, object : SweeperCloudDialogClickListener {
override fun onConfirm() {
ToastUtils.showLong("任务已结束")
resetTaskInfoPanel()
// ToastUtils.showLong("任务已结束")
// resetTaskInfoPanel()
}
override fun onRefuseOrEnd() {
@@ -333,14 +425,13 @@ class SweeperFragment : BaseSweeperTabFragment<SweeperFragment?, SweeperPresente
}
override fun onCountDownStop() {
ToastUtils.showLong("任务已结束")
resetTaskInfoPanel()
// ToastUtils.showLong("任务已结束")
// resetTaskInfoPanel()
}
override fun onNext() {
}
})
}
@@ -348,32 +439,36 @@ class SweeperFragment : BaseSweeperTabFragment<SweeperFragment?, SweeperPresente
* 大任务异常结束弹窗（异常 / 取消）
*/
private fun sweeperCloudTaskExceptionEndDialog(isCancel: Boolean): SweeperCloudDialog? {
return createSweeperTaskExceptionEndDialog(context, object : SweeperCloudDialogClickListener {
override fun onConfirm() {
ToastUtils.showLong("任务已结束")
resetTaskInfoPanel()
}
return createSweeperTaskExceptionEndDialog(
context,
object : SweeperCloudDialogClickListener {
override fun onConfirm() {
// ToastUtils.showLong("任务已结束")
// resetTaskInfoPanel()
}
override fun onRefuseOrEnd() {
override fun onRefuseOrEnd() {
}
}
override fun onCountDownStop() {
ToastUtils.showLong("任务已结束")
resetTaskInfoPanel()
}
override fun onCountDownStop() {
// ToastUtils.showLong("任务已结束")
// resetTaskInfoPanel()
}
override fun onNext() {
override fun onNext() {
}
}
}, isCancel)
},
isCancel
)
}
/**
* 云端同步大任务状态
*/
fun onSweeperCloudBigTaskStatus(taskId: String, subTaskStatus: SweeperBigTaskStatus.BigTaskStatus) {
fun onSweeperCloudBigTaskStatus(taskId: String, bigTaskStatus: SweeperCommon.TaskStatus, isPop: Boolean) {
//隐藏loading
mLoadingDialog.hideLoading()
mTaskInfo?.let {
@@ -381,20 +476,110 @@ class SweeperFragment : BaseSweeperTabFragment<SweeperFragment?, SweeperPresente
if (it.taskId != taskId) {
return
}
//大任务处于取消状态 异常状态pad端都显示无任务列表
if (subTaskStatus == SweeperBigTaskStatus.BigTaskStatus.CANCLE || subTaskStatus == SweeperBigTaskStatus.BigTaskStatus.ABNORMAL || subTaskStatus == SweeperBigTaskStatus.BigTaskStatus.FINISHED) {
//大任务处于取消状态/异常结束/正常结束 时都代表大任务结束了，任务列表切换为无任务列表状态
if (bigTaskStatus == SweeperCommon.TaskStatus.CANCEL
|| bigTaskStatus == SweeperCommon.TaskStatus.ABNORMAL
|| bigTaskStatus == SweeperCommon.TaskStatus.FINISHED
) {
mPresenter?.isHasTaskInfo(false)
if (isPop) {
mDialog = if (bigTaskStatus == SweeperCommon.TaskStatus.CANCEL
|| bigTaskStatus == SweeperCommon.TaskStatus.ABNORMAL){
sweeperCloudTaskExceptionEndDialog(bigTaskStatus == SweeperCommon.TaskStatus.CANCEL)}
else
sweeperCloudTaskNormalEndDialog()
mDialog?.show()
}
showNotice("任务已结束")
// 大任务这里也判断移除HD Marker, 双重判断
removeHDMapMarkerBySubTask(mCurrentRunningSubTaskInfo)
resetTaskInfoPanel()
} else if (bigTaskStatus == SweeperCommon.TaskStatus.SUSPENDED) {// 暂停
showNotice("任务已暂停")
ToastUtils.showLong("任务已暂停")
//更新任务列表中大任务状态
val builder = it.toBuilder()
builder.taskStatus = SweeperCommon.TaskStatus.SUSPENDED
mTaskInfo = builder.build()
getCurrentTaskView().setData(mTaskInfo, getCurrentRunningSubTaskPosition())
} else if (it.taskStatus == SweeperCommon.TaskStatus.SUSPENDED
&& bigTaskStatus == SweeperCommon.TaskStatus.RUNNING
) { //恢复
showNotice("任务已恢复")
ToastUtils.showLong("任务已恢复")
//更新任务列表中大任务状态
val builder = it.toBuilder()
builder.taskStatus = SweeperCommon.TaskStatus.RUNNING
mTaskInfo = builder.build()
getCurrentTaskView().setData(mTaskInfo, getCurrentRunningSubTaskPosition())
} else if (bigTaskStatus == SweeperCommon.TaskStatus.RUNNING) { //首次开始运行的时候，非恢复后的运行
//更新任务列表中大任务状态
val builder = it.toBuilder()
builder.taskStatus = SweeperCommon.TaskStatus.RUNNING
mTaskInfo = builder.build()
getCurrentTaskView().setData(mTaskInfo, getCurrentRunningSubTaskPosition())
}
}
}
/**
* 云端同步 暂停/恢复 大任务状态
*/
fun onSweeperCloudBigTaskSuspendOrResume(
taskId: String,
actionType: SweeperTaskCloudSuspendResume.ActionType,
isPop: Boolean
) {
//隐藏loading
mLoadingDialog.hideLoading()
mTaskInfo?.let {
//如果云端要更新的任务和本地缓存任务不是同一个，在无法进行任务列表状态更新
if (it.taskId != taskId) {
return
}
if (isPop) {
//数据重复导致连续弹窗
if (mDialog != null && mDialog!!.isShowing) {
return
}
mDialog = if (subTaskStatus == SweeperBigTaskStatus.BigTaskStatus.CANCLE
|| subTaskStatus == SweeperBigTaskStatus.BigTaskStatus.ABNORMAL)
sweeperCloudTaskExceptionEndDialog(subTaskStatus == SweeperBigTaskStatus.BigTaskStatus.CANCLE)
else
sweeperCloudTaskNormalEndDialog()
when (actionType) {
SweeperTaskCloudSuspendResume.ActionType.SUSPENDED -> {
mDialog = sweeperCloudTaskSuspendDialog(it.taskId)
showNotice("云端暂停任务，注意车辆即将停车！")
}
else -> {
var ttsString = "云端恢复任务，注意车辆即将启动！"
mCurrentSuspendSubTaskInfo?.also { suspendSub ->
val isAutoPoilotState =
mPresenter?.autopilotState == STATUS_AUTOPILOT_RUNNING
when {
suspendSub.taskModel == TaskModel.MANUAL -> {
ttsString = "云端恢复任务，请继续手动驾驶完成任务！"
}
suspendSub.taskModel == TaskModel.AUTO && isAutoPoilotState -> {
ttsString = "云端恢复任务，注意车辆即将启动！"
}
suspendSub.taskModel == TaskModel.AUTO && !isAutoPoilotState -> {
ttsString = "云端恢复任务，请到达合适的位置后开启自动驾驶！"
}
}
}
showNotice(ttsString)
mDialog = sweeperCloudTaskResumeDialog(ttsString, it.taskId)
}
}
mDialog?.show()
showNotice("任务已结束")
} else {
// 发送接收到信息的ACK回执
mPresenter?.sendSweeperSuspendResumeTaskResp(
taskId,
SweeperTaskCloudSuspendResume.Code.RECEIVED
)
}
}
}
@@ -402,7 +587,11 @@ class SweeperFragment : BaseSweeperTabFragment<SweeperFragment?, SweeperPresente
/**
* pad请求云端进入自动驾驶回调
*/
fun onSweeperCloudAutopilotBootable(taskId: String, subTaskId: String, isBootableResp: SweeperBootable.IsBootableResp) {
fun onSweeperCloudAutopilotBootable(
taskId: String,
subTaskId: String,
isBootableResp: SweeperBootable.IsBootableResp
) {
mLoadingDialog.hideLoading()
//如果云端要更新的任务和本地缓存任务不是同一个，在无法进行任务列表状态更新
mTaskInfo?.let {
@@ -411,8 +600,10 @@ class SweeperFragment : BaseSweeperTabFragment<SweeperFragment?, SweeperPresente
}
if (isBootableResp.code == SweeperCommon.Code.SUCCEED) {
ToastUtils.showLong("上报云控成功")
showNotice("上报云控成功")
} else {
ToastUtils.showLong("上报云控失败")
showNotice("上报云控失败")
}
}
}
@@ -431,7 +622,8 @@ class SweeperFragment : BaseSweeperTabFragment<SweeperFragment?, SweeperPresente
}
setShowCurrentTaskPanelView(false)
mTaskInfo = null
mCurrentSubTaskInfo = null
mCurrentRunningSubTaskInfo = null
mCurrentSuspendSubTaskInfo = null
mSubMutableList = null
mSubTaskType = TaskModel.DEFAULT_MODEL
setTaskProgress("0")
@@ -441,12 +633,12 @@ class SweeperFragment : BaseSweeperTabFragment<SweeperFragment?, SweeperPresente
*
* 获取当前正在执行的子任务在列表中的位置
*/
private fun getCurrentPosition(): Int {
private fun getCurrentRunningSubTaskPosition(): Int {
mSubMutableList = mTaskInfo?.subListList
mSubMutableList?.apply {
for (index in 0 until size) {
if (get(index).taskStatus == SweeperCommon.TaskStatus.RUNNING) {
mCurrentSubTaskInfo = get(index)
mCurrentRunningSubTaskInfo = get(index)
updateCurrentSubTaskInfo(index + 1)
return index
}
@@ -458,7 +650,7 @@ class SweeperFragment : BaseSweeperTabFragment<SweeperFragment?, SweeperPresente
/**
* 根据子任务id获取子任务信息
*/
private fun bySubTaskIdFindSubTaskInfo(subTaskId: String): SubTaskInfo? {
private fun getSubTaskInfoBySubId(subTaskId: String): SubTaskInfo? {
mSubMutableList = mTaskInfo?.subListList
mSubMutableList?.apply {
for (index in 0 until size) {
@@ -474,7 +666,7 @@ class SweeperFragment : BaseSweeperTabFragment<SweeperFragment?, SweeperPresente
* 更新当前子任务信息
*/
private fun updateCurrentSubTaskInfo(position: Int) {
mCurrentSubTaskInfo?.let {
mCurrentRunningSubTaskInfo?.let {
mSubTaskType = it.taskModel
mPresenter?.setSubtask(it.subTaskId, it.taskModel, it.lineId)
setEndStationMarker(position)
@@ -492,20 +684,24 @@ class SweeperFragment : BaseSweeperTabFragment<SweeperFragment?, SweeperPresente
super.setTaskRouteList(routeList)
}
private fun getCurrentView(): SweeperCurrentTaskInfoView = sweeper_current_task_view
private fun getCurrentTaskView(): SweeperCurrentTaskInfoView = sweeper_current_task_view
fun handleSubTaskInfoDialog(taskId: String, subTaskId: String, isPop: Boolean) {
if (mTaskInfo == null) return
if (mTaskInfo?.taskId != taskId) return
val subInfo = bySubTaskIdFindSubTaskInfo(subTaskId)
val subInfo = getSubTaskInfoBySubId(subTaskId)
subInfo?.let {
updateSubTaskInfo(taskId, subTaskId, SweeperCommon.TaskStatus.RUNNING)
if (isPop) {
showSubTaskInfoDialog(taskId, subTaskId, it)
showSubTaskConfirmDialog(taskId, subTaskId, it)
} else {
mPresenter?.sendSweeperTaskConfirmResp(taskId, subTaskId, SweeperTaskConfirm.TaskConfirmCode.MANUAL_CONFIRM)
//mPresenter?.setPreLineId(-1)
updateSubTaskInfo(taskId, subTaskId, SweeperCommon.TaskStatus.RUNNING)
// 发送接收到消息的ACK回执
mPresenter?.sendSweeperTaskConfirmResp(
taskId,
subTaskId,
SweeperTaskConfirm.TaskConfirmCode.RECEIVED
)
}
}
}
@@ -513,7 +709,11 @@ class SweeperFragment : BaseSweeperTabFragment<SweeperFragment?, SweeperPresente
/**
* 云控下发子任务确认弹窗
*/
private fun showSubTaskInfoDialog(taskId: String, subTaskId: String, subTaskInfo: SubTaskInfo) {
private fun showSubTaskConfirmDialog(
taskId: String,
subTaskId: String,
subTaskInfo: SubTaskInfo
) {
mLoadingDialog.hideLoading()
if (mTaskInfo == null) return
if (mTaskInfo?.taskId != taskId) return
@@ -521,103 +721,262 @@ class SweeperFragment : BaseSweeperTabFragment<SweeperFragment?, SweeperPresente
if (mDialog != null && mDialog!!.isShowing) {
return
}
mDialog = createConfirmStartSubTaskDialog(context, object : SweeperCloudDialogClickListener {
override fun onConfirm() {
//ToastUtils.showLong("确认")
mPresenter?.sendSweeperTaskConfirmResp(taskId, subTaskId, SweeperTaskConfirm.TaskConfirmCode.MANUAL_CONFIRM)
//mPresenter?.setPreLineId(-1)
updateSubTaskInfo(taskId, subTaskId, SweeperCommon.TaskStatus.RUNNING)
mLoadingDialog.showLoading()
}
mDialog =
createConfirmStartSubTaskDialog(context, object : SweeperCloudDialogClickListener {
override fun onConfirm() {
// //ToastUtils.showLong("确认")
// mPresenter?.sendSweeperTaskConfirmResp(taskId, subTaskId, SweeperTaskConfirm.TaskConfirmCode.MANUAL_CONFIRM)
// //mPresenter?.setPreLineId(-1)
// updateSubTaskInfo(taskId, subTaskId, SweeperCommon.TaskStatus.RUNNING)
// mLoadingDialog.showLoading()
// 发送接收到消息的ACK回执
mPresenter?.sendSweeperTaskConfirmResp(
taskId,
subTaskId,
SweeperTaskConfirm.TaskConfirmCode.RECEIVED
)
}
override fun onRefuseOrEnd() {
//ToastUtils.showLong("结束")
mPresenter?.sendSweeperTaskConfirmResp(taskId, subTaskId, SweeperTaskConfirm.TaskConfirmCode.MANUAL_REFUSE_ALL)
mLoadingDialog.showLoading()
}
override fun onRefuseOrEnd() {
// //ToastUtils.showLong("结束")
// mPresenter?.sendSweeperTaskConfirmResp(taskId, subTaskId, SweeperTaskConfirm.TaskConfirmCode.MANUAL_REFUSE_ALL)
// mLoadingDialog.showLoading()
}
override fun onCountDownStop() {
//ToastUtils.showLong("倒计时结束")
mPresenter?.sendSweeperTaskConfirmResp(taskId, subTaskId, SweeperTaskConfirm.TaskConfirmCode.OVER_TIME)
mLoadingDialog.showLoading()
}
override fun onCountDownStop() {
// //ToastUtils.showLong("倒计时结束")
// mPresenter?.sendSweeperTaskConfirmResp(taskId, subTaskId, SweeperTaskConfirm.TaskConfirmCode.OVER_TIME)
// mLoadingDialog.showLoading()
// 发送接收到消息的ACK回执
mPresenter?.sendSweeperTaskConfirmResp(
taskId,
subTaskId,
SweeperTaskConfirm.TaskConfirmCode.RECEIVED
)
}
override fun onNext() {
//ToastUtils.showLong("下一个")
mPresenter?.sendSweeperTaskConfirmResp(taskId, subTaskId, SweeperTaskConfirm.TaskConfirmCode.MANUAL_REFUSE_SINGLE)
mLoadingDialog.showLoading()
}
}, subTaskInfo)
override fun onNext() {
// //ToastUtils.showLong("下一个")
// mPresenter?.sendSweeperTaskConfirmResp(taskId, subTaskId, SweeperTaskConfirm.TaskConfirmCode.MANUAL_REFUSE_SINGLE)
// mLoadingDialog.showLoading()
}
}, subTaskInfo)
mDialog?.show()
showNotice("请确认是否执行任务")
if (subTaskInfo.taskModel == TaskModel.MANUAL) {
showNotice("请确认并执行子任务")
} else { //自动驾驶子任务，需要提醒在N档且拉起手刹，做好准备工作
showNotice("请确认并执行子任务, 保持N档拉手刹再进入自动驾驶")
}
}
/**
* 接取云端任务弹窗
* 接取云端大任务弹窗提示
* （V3.2.0 开始不需要确认/拒绝/下一个 操作了，安全员只能被动接取，弹框只是一个提示）
*/
private fun receivedTaskInfoDialog() {
private fun showReceivedBigTaskDialog() {
mTaskInfo?.let {
mPresenter?.sendSweeperStartTaskResp(it.taskId, SweeperTask.StartTaskCode.RECEIVED)
//数据重复导致连续弹窗
if (mDialog != null && mDialog!!.isShowing) {
return
}
mDialog = createReceivedTaskInfoDialog(context, object : SweeperCloudDialogClickListener {
override fun onConfirm() {
//ToastUtils.showLong("确认")
mPresenter?.sendSweeperStartTaskResp(it.taskId, SweeperTask.StartTaskCode.MANUAL_CONFIRM)
setShowCurrentTaskPanelView(true)
getCurrentView().setData(it)
mLoadingDialog.showLoading()
addTaskData()
mPresenter?.isHasTaskInfo(true)
}
mDialog =
createReceivedBigTaskInfoDialog(context, object : SweeperCloudDialogClickListener {
override fun onConfirm() {
// ToastUtils.showLong("确认")
// mPresenter?.sendSweeperStartTaskResp(it.taskId, SweeperTask.StartTaskCode.MANUAL_CONFIRM)
// setShowCurrentTaskPanelView(true)
// getCurrentTaskView().setData(it)
// mLoadingDialog.showLoading()
// addTaskData()
// mPresenter?.isHasTaskInfo(true)
// 默认发送接收到消息的ACK回执
mPresenter?.sendSweeperStartTaskResp(
it.taskId,
SweeperTask.StartTaskCode.RECEIVED
)
}
override fun onRefuseOrEnd() {
//ToastUtils.showLong("拒绝")
mPresenter?.sendSweeperStartTaskResp(it.taskId, SweeperTask.StartTaskCode.MANUAL_REFUSE)
mLoadingDialog.showLoading()
resetTaskInfoPanel()
}
override fun onRefuseOrEnd() {
// ToastUtils.showLong("拒绝")
// mPresenter?.sendSweeperStartTaskResp(it.taskId, SweeperTask.StartTaskCode.MANUAL_REFUSE)
// mLoadingDialog.showLoading()
// resetTaskInfoPanel()
}
override fun onCountDownStop() {
//ToastUtils.showLong("倒计时结束")
resetTaskInfoPanel()
mPresenter?.sendSweeperStartTaskResp(it.taskId, SweeperTask.StartTaskCode.OVER_TIME)
mLoadingDialog.showLoading()
}
override fun onCountDownStop() {
// ToastUtils.showLong("倒计时结束")
// resetTaskInfoPanel()
// mPresenter?.sendSweeperStartTaskResp(it.taskId, SweeperTask.StartTaskCode.OVER_TIME)
// mLoadingDialog.showLoading()
// 默认发送接收到消息的ACK回执
mPresenter?.sendSweeperStartTaskResp(
it.taskId,
SweeperTask.StartTaskCode.RECEIVED
)
}
override fun onNext() {
override fun onNext() {
}
}, it)
}
}, it)
mDialog?.show()
showNotice("请确认是否接取任务")
showNotice("已为您接取任务")
}
}
/**
* 计算任务超时时间
* 大任务暂停弹框
*/
private fun getTimeSpent(taskEndTime: Long): String {
private fun sweeperCloudTaskSuspendDialog(taskId: String): SweeperCloudDialog? {
return createSweeperTaskSuspendDialog(context, object : SweeperCloudDialogClickListener {
override fun onConfirm() {
// 发送接收到信息的ACK回执
mPresenter?.sendSweeperSuspendResumeTaskResp(
taskId,
SweeperTaskCloudSuspendResume.Code.RECEIVED
)
}
val timeLag: Long = System.currentTimeMillis() - taskEndTime
//天
val day: Long = timeLag / (24 * 60 * 60 * 1000)
//小时
val hour = (timeLag / (60 * 60 * 1000) - day * 24)
//分钟
val minute = ((timeLag / (60 * 1000)) - day * 24 * 60 - hour * 60)
override fun onRefuseOrEnd() {
if (day >= 1) {
return "${day}天${hour}时${minute}分钟"
}
override fun onCountDownStop() {
// 发送接收到信息的ACK回执
mPresenter?.sendSweeperSuspendResumeTaskResp(
taskId,
SweeperTaskCloudSuspendResume.Code.RECEIVED
)
}
override fun onNext() {
}
})
}
/**
* 大任务恢复弹框
*/
private fun sweeperCloudTaskResumeDialog(contentStr: String, taskId: String): SweeperCloudDialog? {
return createSweeperTaskResumeDialog(context, object : SweeperCloudDialogClickListener {
override fun onConfirm() {
// 发送接收到信息的ACK回执
mPresenter?.sendSweeperSuspendResumeTaskResp(
taskId,
SweeperTaskCloudSuspendResume.Code.RECEIVED
)
}
override fun onRefuseOrEnd() {
}
override fun onCountDownStop() {
// 发送接收到信息的ACK回执
mPresenter?.sendSweeperSuspendResumeTaskResp(
taskId,
SweeperTaskCloudSuspendResume.Code.RECEIVED
)
}
override fun onNext() {
}
}, contentStr)
}
/**
* 添加高精地图中的 子任务 起终点 Marker
*/
private fun addHDMapMarkerBySubTask(subTask: SubTaskInfo) {
if (subTask.startLocation == null
|| subTask.endLocation == null
|| subTask.subTaskId == null
) {
return
}
if (hour >= 1) {
return "${hour}时${minute}分钟"
val startPoint = subTask.startLocation
val endPoint = subTask.endLocation
val hdMarkerIdStart = "marker_sweeper_subtask_${subTask.subTaskId}_start"
val hdMarkerIdEnd = "marker_sweeper_subtask_${subTask.subTaskId}_end"
val setStartMarkerRunnable = createSetHDMapMakerRunnable(hdMarkerIdStart, startPoint.wgsLongitude, startPoint.wgsLatitude, true)
val setEndMarkerRunnable = createSetHDMapMakerRunnable(hdMarkerIdEnd, endPoint.wgsLongitude, endPoint.wgsLatitude, false)
val removeMarkerRunnable = createRemoveHDMapMakerRunnable()
val addSubTaskHDMarkRunnable = Runnable {
// 先移除高精地图中的 子任务 起终点 Marker, 避免重复添加
removeMarkerRunnable.run()
setStartMarkerRunnable.run()
setEndMarkerRunnable.run()
}
return "${minute}分钟"
OCHThreadPoolManager.getsInstance().execute(addSubTaskHDMarkRunnable)
}
/**
* 移除高精地图中的 子任务 起终点 Marker
*/
private fun removeHDMapMarkerBySubTask(subTaskInfo: SubTaskInfo?) {
val removeMarkerRunnable = createRemoveHDMapMakerRunnable()
OCHThreadPoolManager.getsInstance().execute(removeMarkerRunnable)
}
/**
* 设置高精地图里的Marker Runnable
*/
private fun createSetHDMapMakerRunnable(
uuid: String,
longitude: Double,
latitude: Double,
isStartMarker: Boolean
) : Runnable {
//开启线程执行起终点marker设置
val setMapMarkerRunnable = Runnable {
CallerLogger.d(
SceneConstant.M_SWEEPER + "-" +TAG + "-setMapMaker",
"threadName=${Thread.currentThread().name}, uuid=$uuid, latitude=$latitude, longitude=$longitude"
)
val builder =
Point.Options.Builder(TYPE_MARKER_SWEEPER_SUBTASK_START_END, Level.MAP_MARKER)
.setId(uuid)
.anchor(0.5f, 0.5f)
.set3DMode(true)
.isUseGps(true)
.controlAngle(true)
.icon3DRes(if (isStartMarker) R.raw.star_marker else R.raw.end_marker)
.longitude(longitude)
.latitude(latitude)
val mapUIController = CallerMapUIServiceManager.getMapUIController()
if (mapUIController != null) {
val centerLine = mapUIController.getCenterLineInfo(longitude, latitude, -1f)
if (null != centerLine) { // 有可能鹰眼map为空没有角度。判空使用后可能造成maker角度跟道路角度不一致 地图未初始化会返回空
val angle = centerLine.angle
if (angle != null) {
builder.rotate(angle.toFloat())
}
}
}
val overlayManager = CallerMapUIServiceManager.getOverlayManager()
overlayManager?.showOrUpdatePoint(builder.build())
}
return setMapMarkerRunnable
}
/**
* 移除高精地图里的Marker Runnable
*/
private fun createRemoveHDMapMakerRunnable() : Runnable{
//开启线程移除起终点marker设置
val removeMapMarkerRunnable = Runnable {
CallerLogger.d(
SceneConstant.M_SWEEPER + "-" +TAG + "-RemoveMapMaker",
"threadName=${Thread.currentThread().name}"
)
val overlayManager = CallerMapUIServiceManager.getOverlayManager()
overlayManager?.removeAllPointsInOwner(TYPE_MARKER_SWEEPER_SUBTASK_START_END)
}
return removeMapMarkerRunnable
}
}

106
OCH/sweeper/sweeper-cloud/src/main/java/com/mogo/och/sweepercloud/model/SweeperTaskModel.java
View File

@@ -42,9 +42,10 @@ import com.mogo.och.sweepercloud.util.SweeperCloudTaskUtils;
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;
import com.zhjt.mogo.adas.data.sweeper.task.SweeperTaskSuspendResume;
import com.zhjt.mogo.adas.data.sweeper.task.big.SweeperBigTaskStatus;
import com.zhjt.mogo.adas.data.sweeper.task.cloud.s_r.SweeperTaskCloudSuspendResume;
import com.zhjt.mogo.adas.data.sweeper.task.confirm.SweeperTaskConfirm;
import com.zhjt.mogo.adas.data.sweeper.task.s_r.SweeperTaskSuspendResume;
import com.zhjt.mogo.adas.data.sweeper.task.status.SweeperTaskStatus;
import com.zhjt.mogo.adas.data.sweeper.task.stop.SweeperTaskStop;
@@ -183,7 +184,6 @@ public class SweeperTaskModel implements IMoGoSweeperFutianCloudTaskListener, IM
});
}
public void setControllerStatusCallback(ISweeperControllerStatusCallback callback) {
this.mControllerStatusCallback = callback;
}
@@ -217,7 +217,6 @@ public class SweeperTaskModel implements IMoGoSweeperFutianCloudTaskListener, IM
}
}
}
};
public void setSubtask(String subTaskId, SweeperTask.TaskModel subTaskType, int currentLineId) {
@@ -257,8 +256,9 @@ public class SweeperTaskModel implements IMoGoSweeperFutianCloudTaskListener, IM
return this.mAutopilotState;
}
public static List<SweeperRoutePlanningUpdateReqBean.Result> coordinateConverterWgsToGcjList(Context mContext,
List<MessagePad.Location> mogoLatLngList) {
public static List<SweeperRoutePlanningUpdateReqBean.Result> coordinateConverterWgsToGcjList(
Context mContext,
List<MessagePad.Location> mogoLatLngList) {
List<SweeperRoutePlanningUpdateReqBean.Result> points = new ArrayList<>();
for (MessagePad.Location m : mogoLatLngList) {
LatLng mogoLatLng = CoordinateCalculateRouteUtil.coordinateConverterWgsToGcj(mContext, m);
@@ -305,7 +305,6 @@ public class SweeperTaskModel implements IMoGoSweeperFutianCloudTaskListener, IM
}
if (mSubTaskType == SweeperTask.TaskModel.MANUAL) {//收集人工驾驶子任务坐标点
addCoordinates(gnssInfo);
return;
}
}
};
@@ -335,8 +334,7 @@ public class SweeperTaskModel implements IMoGoSweeperFutianCloudTaskListener, IM
@Override
public void onSweeperFutianCloudTask(@NonNull SweeperCloudTask.MessageType messageType, String reqNo, long sysTime,
SweeperTask.TaskInfo taskInfo) {
CallerLogger.d(M_SWEEPER + TAG,
CallerLogger.INSTANCE.d(M_SWEEPER + TAG,
"messageType: " + messageType.getNumber() + " sysTime：" + sysTime + " reqNo：" + reqNo + " onSweeperFutianCloudTask：" + (taskInfo == null ? "null" : printMessage(taskInfo)) + " mSweeperTaskCallback：" + mSweeperTaskCallback);
if (mSweeperTaskCallback != null) {
msgTypeAndReqNo.put(messageType.getNumber(), reqNo);
@@ -408,7 +406,18 @@ public class SweeperTaskModel implements IMoGoSweeperFutianCloudTaskListener, IM
"onSweeperFutianCloudBigTaskStatus：" + printMessage(bigTaskStatusPush));
if (mSweeperTaskCallback != null && bigTaskStatusPush != null) {
msgTypeAndReqNo.put(messageType.getNumber(), reqNo);
mSweeperTaskCallback.onSweeperCloudBigTaskStatus(bigTaskStatusPush.getTaskId(), bigTaskStatusPush.getTaskStatus());
mSweeperTaskCallback.onSweeperCloudBigTaskStatus(bigTaskStatusPush.getTaskId(), bigTaskStatusPush.getTaskStatus(), bigTaskStatusPush.getIsPop());
}
}
@Override
public void onSweeperFutianCloudTaskCloudSuspendResume(@NonNull SweeperCloudTask.MessageType messageType, @Nullable String reqNo, long sysTime,
@Nullable SweeperTaskCloudSuspendResume.BigTaskActionPush bigTaskActionPush) {
CallerLogger.INSTANCE.d(M_SWEEPER + TAG, "messageType: " + messageType.getNumber() + " sysTime：" + sysTime + " reqNo：" + reqNo + " " +
"onSweeperFutianCloudTaskCloudSuspendResume：" + printMessage(bigTaskActionPush));
if (mSweeperTaskCallback != null && bigTaskActionPush != null) {
msgTypeAndReqNo.put(messageType.getNumber(), reqNo);
mSweeperTaskCallback.onSweeperCloudBigTaskSuspendResume(bigTaskActionPush.getTaskId(), bigTaskActionPush.getAction(), bigTaskActionPush.getIsPop());
}
}
@@ -430,24 +439,25 @@ public class SweeperTaskModel implements IMoGoSweeperFutianCloudTaskListener, IM
@Override
public void onSweeperFutianTaskIndexData(@NonNull RoboSweeperTaskIndexOuterClass.RoboSweeperTaskIndex roboSweeperTaskIndex) {
if (roboSweeperTaskIndex == null) {
return;
}
long current = System.currentTimeMillis();
if (current - mWeltDataCurrentTimeMillis <= WELT_DATA_INTERVAL_MILLIS) {
return;
}
mWeltDataCurrentTimeMillis = current;
//没有任务数据时，不处理贴边
if (!isHasTaskInfo) {
return;
}
CallerLogger.d(M_SWEEPER + TAG,
"mSubTaskType：" + mSubTaskType + "+ onSweeperFutianTaskIndexData：" + printMessage(roboSweeperTaskIndex));
handleWeltData(roboSweeperTaskIndex);
// 20230728 因小地图不展示了，贴边数据先不处理了，浪费资源
// if (roboSweeperTaskIndex == null) {
// return;
// }
//
// long current = System.currentTimeMillis();
// if (current - mWeltDataCurrentTimeMillis <= WELT_DATA_INTERVAL_MILLIS) {
// return;
// }
// mWeltDataCurrentTimeMillis = current;
//
// //没有任务数据时，不处理贴边
// if (!isHasTaskInfo) {
// return;
// }
//
// CallerLogger.INSTANCE.d(M_SWEEPER + TAG,
// "mSubTaskType：" + mSubTaskType + "+ onSweeperFutianTaskIndexData：" + printMessage(roboSweeperTaskIndex));
// handleWeltData(roboSweeperTaskIndex);
}
/**
@@ -494,7 +504,7 @@ public class SweeperTaskModel implements IMoGoSweeperFutianCloudTaskListener, IM
}
}
public static String format(double value) {
private static String format(double value) {
BigDecimal bd = new BigDecimal(value);
bd = bd.setScale(2, RoundingMode.HALF_UP);
return bd.toString();
@@ -584,6 +594,24 @@ public class SweeperTaskModel implements IMoGoSweeperFutianCloudTaskListener, IM
//SweeperCloudTaskUtils.mockSendCloudBootable();
}
/**
* 大任务暂停/恢复 接收到指令到 回复
* @param taskId
* @param code
*/
public void sendSweeperSuspendResumeTaskResp(String taskId, SweeperTaskCloudSuspendResume.Code code) {
SweeperTaskCloudSuspendResume.BigTaskActionResp.Builder builder = SweeperTaskCloudSuspendResume.BigTaskActionResp.newBuilder();
builder.setSn(getDriverSn());
builder.setTaskId(taskId);
builder.setCode(code);
SweeperTaskCloudSuspendResume.BigTaskActionResp resp = builder.build();
String reqNo = msgTypeAndReqNo.get(SweeperCloudTask.MessageType.CloudPushTaskSuspendResume.getNumber());
CallerLogger.INSTANCE.d(M_SWEEPER + TAG,
"sendSweeperSuspendResumeTaskResp" + printMessage(resp) + " reqNo:" + reqNo + " messageType:" + SweeperCloudTask.MessageType.CloudPushTaskSuspendResume);
getAutoPilotControlManager().sendSweeperCloudSuspendResumeTaskResp(reqNo, resp);
}
public CallerAutoPilotControlManager getAutoPilotControlManager() {
return CallerAutoPilotControlManager.INSTANCE;
}
@@ -611,6 +639,7 @@ public class SweeperTaskModel implements IMoGoSweeperFutianCloudTaskListener, IM
default:
break;
}
}
@Override
@@ -631,6 +660,7 @@ public class SweeperTaskModel implements IMoGoSweeperFutianCloudTaskListener, IM
@Override
public void onAutopilotIpcConnectStatusChanged(int status, @Nullable String reason) {
if (status == 0x00) {//判断工控机重连后，获取当前正在执行的子任务,延时10秒，防止工控机连接上时SN为空
CallerAutoPilotControlManager.INSTANCE.setIsSubscribeBackCameraVideoVideo(0, false);//TODO 当前3.2.0版本产品未规划后摄像头展示功能
UiThreadHandler.postDelayed(() -> {
getCurrentTask();
}, 10000);
@@ -666,11 +696,27 @@ public class SweeperTaskModel implements IMoGoSweeperFutianCloudTaskListener, IM
@Override
public void onAutopilotStatusResponse(int state) {
// TODO: 2023/6/19 bingbing
//CallerLogger.INSTANCE.d(M_SWEEPER + TAG, "onAutopilotStatusResponse state:" + state);
this.mAutopilotState = state;
if (mControllerStatusCallback != null) {
mControllerStatusCallback.onAutopilotState(state);
}
switch (state) {
case IMoGoAutopilotStatusListener.STATUS_AUTOPILOT_DISABLE://不可自动驾驶
break;
case IMoGoAutopilotStatusListener.STATUS_AUTOPILOT_ENABLE://人工驾驶
break;
case IMoGoAutopilotStatusListener.STATUS_AUTOPILOT_RUNNING://自动驾驶中
break;
case IMoGoAutopilotStatusListener.STATUS_PARALLEL_DRIVING://平行驾驶
break;
default:
break;
}
}
@Override
public void onAutopilotDockerInfo(@NonNull String dockerVersion) {
// TODO: 2023/6/19 bingbing
}
}

28
OCH/sweeper/sweeper-cloud/src/main/java/com/mogo/och/sweepercloud/presenter/SweeperPresenter.java
View File

@@ -1,6 +1,9 @@
package com.mogo.och.sweepercloud.presenter;
import androidx.annotation.NonNull;
import androidx.lifecycle.LifecycleOwner;
import com.mogo.commons.AbsMogoApplication;
import com.mogo.commons.mvp.Presenter;
import com.mogo.eagle.core.data.map.MogoLocation;
@@ -8,8 +11,8 @@ import com.mogo.eagle.core.function.call.autopilot.CallerSweeperFutianCleanSyste
import com.mogo.eagle.core.utilcode.util.ThreadUtils;
import com.mogo.och.common.module.manager.autopilotmanager.OCHAdasAbilityManager;
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.callback.ISweeperTaskRouteCallback;
import com.mogo.och.sweepercloud.database.bean.WeltDataBean;
import com.mogo.och.sweepercloud.fragment.SweeperFragment;
@@ -18,15 +21,12 @@ import com.zhjt.mogo.adas.data.sweeper.SweeperCloudTask;
import com.zhjt.mogo.adas.data.sweeper.bootable.SweeperBootable;
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.big.SweeperBigTaskStatus;
import com.zhjt.mogo.adas.data.sweeper.task.cloud.s_r.SweeperTaskCloudSuspendResume;
import com.zhjt.mogo.adas.data.sweeper.task.confirm.SweeperTaskConfirm;
import com.zhjt.mogo.adas.data.sweeper.task.stop.SweeperTaskStop;
import java.util.ArrayList;
import androidx.annotation.NonNull;
import androidx.lifecycle.LifecycleOwner;
import chassis.ChassisStatesOuterClass;
/**
@@ -175,6 +175,15 @@ public class SweeperPresenter extends Presenter<SweeperFragment>
SweeperTaskModel.getInstance().sendSweeperAutopilotBootable(taskId, subTaskId, lineId);
}
/**
* 大任务暂停/恢复 接收到指令到 回复
* @param taskId
* @param code
*/
public void sendSweeperSuspendResumeTaskResp(String taskId, SweeperTaskCloudSuspendResume.Code code) {
SweeperTaskModel.getInstance().sendSweeperSuspendResumeTaskResp(taskId, code);
}
@Override
public void setRouteList(@NonNull ArrayList<SweeperRoutePlanningUpdateReqBean.Result> routeList) {
mView.setTaskRouteList(routeList);
@@ -212,8 +221,13 @@ public class SweeperPresenter extends Presenter<SweeperFragment>
}
@Override
public void onSweeperCloudBigTaskStatus(@NonNull String taskId, SweeperBigTaskStatus.BigTaskStatus subTaskStatus) {
ThreadUtils.runOnUiThread(() -> mView.onSweeperCloudBigTaskStatus(taskId, subTaskStatus));
public void onSweeperCloudBigTaskStatus(@NonNull String taskId, SweeperCommon.TaskStatus bigTaskStatus, boolean isPop) {
ThreadUtils.runOnUiThread(() -> mView.onSweeperCloudBigTaskStatus(taskId, bigTaskStatus, isPop));
}
@Override
public void onSweeperCloudBigTaskSuspendResume(@NonNull String taskId, @NonNull SweeperTaskCloudSuspendResume.ActionType actionType, boolean isPop) {
ThreadUtils.runOnUiThread(() -> mView.onSweeperCloudBigTaskSuspendOrResume(taskId, actionType, isPop));
}
@Override

177
OCH/sweeper/sweeper-cloud/src/main/java/com/mogo/och/sweepercloud/util/SweeperCloudTaskUtils.kt
View File

@@ -1,27 +1,36 @@
package com.mogo.och.sweepercloud.util
import android.content.Context
import android.util.Log
import com.elegant.utils.UiThreadHandler
import com.google.protobuf.MessageOrBuilder
import com.google.protobuf.TextFormat
import com.mogo.cloud.passport.MoGoAiCloudClientConfig
import com.mogo.eagle.core.function.call.map.CallerMapUIServiceManager
import com.mogo.eagle.core.utilcode.mogo.logger.CallerLogger
import com.mogo.eagle.core.utilcode.mogo.logger.scene.SceneConstant
import com.mogo.map.overlay.core.Level
import com.mogo.map.overlay.point.Point
import com.mogo.och.common.module.utils.DateTimeUtil
import com.mogo.och.common.module.utils.OCHThreadPoolManager
import com.mogo.och.common.module.voice.VoiceNotice
import com.mogo.och.sweepercloud.R
import com.mogo.och.sweepercloud.callback.SweeperCloudDialogClickListener
import com.mogo.och.sweepercloud.constant.SweeperConst
import com.mogo.och.sweepercloud.model.SweeperTaskModel
import com.mogo.och.sweepercloud.ui.dialog.SweeperCloudDialog
import com.zhjt.mogo.adas.data.sweeper.SweeperCloudTask.MessageType
import com.zhjt.mogo.adas.data.sweeper.bootable.SweeperBootable
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.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.big.SweeperBigTaskStatus
import com.zhjt.mogo.adas.data.sweeper.task.big.SweeperBigTaskStatus.BigTaskStatus
import com.zhjt.mogo.adas.data.sweeper.task.confirm.SweeperTaskConfirm.TaskConfirm
import com.zhjt.mogo.adas.data.sweeper.task.status.SweeperTaskStatus
import com.zhjt.mogo.adas.data.sweeper.task.stop.SweeperTaskStop
import java.util.*
import java.util.UUID
object SweeperCloudTaskUtils {
const val TAG = "SweeperCloudTaskUtils"
@@ -204,7 +213,7 @@ object SweeperCloudTaskUtils {
val builder = SweeperBigTaskStatus.BigTaskStatusPush.newBuilder()
builder.sn = getDriverSn()
builder.taskId = "10"
builder.taskStatus = BigTaskStatus.FINISHED
builder.taskStatus = SweeperCommon.TaskStatus.FINISHED
builder.systemTime = System.currentTimeMillis()
SweeperTaskModel.getInstance().onSweeperFutianCloudBigTaskStatus(
MessageType.CloudPushBigTaskStatus, "${System.currentTimeMillis()}",
@@ -230,20 +239,67 @@ object SweeperCloudTaskUtils {
}, 10000)
}
/**
* 模式添加高精地图Marker
*/
@JvmStatic
fun mockAddHdMarker(uuid: String, longitude: Double, latitude: Double, isStartMarker: Boolean) {
//开启线程执行起终点marker设置
val setMapMarkerRunnable = Runnable {
val builder =
Point.Options.Builder(SweeperConst.TYPE_MARKER_SWEEPER_SUBTASK_START_END, Level.MAP_MARKER)
.setId(uuid)
.anchor(0.5f, 0.5f)
.set3DMode(true)
.isUseGps(true)
.controlAngle(true)
.icon3DRes(if (isStartMarker) R.raw.star_marker else R.raw.end_marker)
.longitude(longitude)
.latitude(latitude)
val mapUIController = CallerMapUIServiceManager.getMapUIController()
if (mapUIController != null) {
val centerLine = mapUIController.getCenterLineInfo(longitude, latitude, -1f)
if (null != centerLine) { // 有可能鹰眼map为空没有角度。判空使用后可能造成maker角度跟道路角度不一致 地图未初始化会返回空
val angle = centerLine.angle
if (angle != null) {
builder.rotate(angle.toFloat())
}
}
}
val overlayManager = CallerMapUIServiceManager.getOverlayManager()
Log.d(TAG, "CallerMapUIServiceManager.getOverlayManager()=$overlayManager")
overlayManager?.showOrUpdatePoint(builder.build())
}
OCHThreadPoolManager.getsInstance().execute(setMapMarkerRunnable)
}
/**
* 模拟 移除高精地图Marker
*/
@JvmStatic
fun mockRemoveHDMarker() {
//开启线程移除起终点marker设置
val removeMapMarkerRunnable = Runnable {
val overlayManager = CallerMapUIServiceManager.getOverlayManager()
overlayManager?.removeAllPointsInOwner(SweeperConst.TYPE_MARKER_SWEEPER_SUBTASK_START_END)
}
OCHThreadPoolManager.getsInstance().execute(removeMapMarkerRunnable)
}
private fun getDriverSn(): String? {
return MoGoAiCloudClientConfig.getInstance().sn
}
/**
* 创建接收任务弹窗
* 创建接收大任务弹窗
*/
@JvmStatic
fun createReceivedTaskInfoDialog(context: Context?, listener: SweeperCloudDialogClickListener?, taskInfo: TaskInfo): SweeperCloudDialog? {
fun createReceivedBigTaskInfoDialog(context: Context?, listener: SweeperCloudDialogClickListener?, taskInfo: TaskInfo): SweeperCloudDialog? {
var builder: SweeperCloudDialog.Builder = SweeperCloudDialog.Builder()
val startCalendar = DateTimeUtil.formatLongToCalendar(taskInfo.taskStartTime)
val endCalendar = DateTimeUtil.formatLongToCalendar(taskInfo.taskEndTime)
builder.titleStr = "任务接取"
builder.contentStr = "请确认是否接取${taskInfo.taskName}"
builder.contentStr = "已为您接取任务${taskInfo.taskName}"
builder.tipStr = "（任务时间${DateTimeUtil.formatCalendarToString(startCalendar, DateTimeUtil.HH_mm)}-${
DateTimeUtil.formatCalendarToString(
endCalendar,
@@ -252,8 +308,8 @@ object SweeperCloudTaskUtils {
}）"
builder.leftStr = "确认"
builder.middleStr = ""
builder.rightStr = "拒绝"
builder.countDownTime = 15
builder.rightStr = ""
builder.countDownTime = 10
builder.listener = listener
return context?.let { it1 -> builder.build(it1) }
}
@@ -268,20 +324,20 @@ object SweeperCloudTaskUtils {
subTaskInfo: SubTaskInfo
): SweeperCloudDialog? {
var builder: SweeperCloudDialog.Builder = SweeperCloudDialog.Builder()
builder.titleStr = "任务确认"
builder.contentStr = "请确认是否执行${subTaskInfo.subTaskName}"
builder.titleStr = "子任务确认"
builder.contentStr = "请确认并执行子任务 ${subTaskInfo.subTaskName}"
builder.tipStr =
if (subTaskInfo.taskModel == TaskModel.MANUAL) "[需手动驾驶至终点${subTaskInfo.endLocation.siteName}]" else "[自动驾驶至终点${subTaskInfo.endLocation.siteName}]"
if (subTaskInfo.taskModel == TaskModel.MANUAL) "[需手动驾驶至终点 ${subTaskInfo.endLocation.siteName}]" else "[自动驾驶至终点 ${subTaskInfo.endLocation.siteName}，请保持N档拉手刹再进入自动驾驶]"
builder.leftStr = "确认"
builder.middleStr = "下一个"
builder.rightStr = "结束"
builder.countDownTime = 15
builder.middleStr = ""
builder.rightStr = ""
builder.countDownTime = 10
builder.listener = listener
return context?.let { it1 -> builder.build(it1) }
}
/**
* 创建结束任务弹窗
* 创建任务中止弹窗
*/
@JvmStatic
fun createSweeperTaskEndDialog(
@@ -291,28 +347,33 @@ object SweeperCloudTaskUtils {
timeoutStr: String
): SweeperCloudDialog? {
var builder: SweeperCloudDialog.Builder = SweeperCloudDialog.Builder()
builder.titleStr = "任务结束"
val titleStr = when (stopTaskType) {
SweeperTaskStop.StopTaskType.ADVANCE -> "任务中止"
SweeperTaskStop.StopTaskType.EXCEPTION -> "任务异常结束"
else -> "任务结束"
}
builder.titleStr = titleStr
when (stopTaskType) {
//任务提前结束
SweeperTaskStop.StopTaskType.ADVANCE -> {
builder.contentStr = "云端请求终止任务，请确认"
builder.tipStr = "【确认后请接管停车】"
builder.contentStr = "云端中止任务，注意车辆即将停车！"
builder.tipStr = ""
builder.leftStr = "确认"
builder.middleStr = ""
builder.rightStr = "拒绝"
VoiceNotice.showNotice("云端请求终止任务，请确认")
builder.rightStr = ""
VoiceNotice.showNotice("云端中止任务")
}
//任务超时结束
SweeperTaskStop.StopTaskType.TIMEOUT -> {
builder.contentStr = "任务已超时${timeoutStr},请确认是否结束"
builder.tipStr = "【结束后请接管停车】"
//任务异常结束
SweeperTaskStop.StopTaskType.EXCEPTION -> {
builder.contentStr = "云端异常结束任务！"
builder.tipStr = ""
builder.leftStr = "确认"
builder.middleStr = ""
builder.rightStr = "拒绝"
VoiceNotice.showNotice("任务已超时${timeoutStr},请确认是否结束")
builder.rightStr = ""
VoiceNotice.showNotice("云端异常结束任务")
}
}
builder.countDownTime = 15
builder.countDownTime = 10
builder.listener = listener
return context?.let { it1 -> builder.build(it1) }
}
@@ -358,12 +419,72 @@ object SweeperCloudTaskUtils {
return context?.let { it1 -> builder.build(it1) }
}
@JvmStatic
fun createSweeperTaskSuspendDialog(
context: Context?,
listener: SweeperCloudDialogClickListener?
): SweeperCloudDialog? {
var builder: SweeperCloudDialog.Builder = SweeperCloudDialog.Builder()
builder.titleStr = "任务暂停"
builder.contentStr = "云端暂停任务，注意车辆即将停车！"
builder.tipStr = "【云端任务恢复前不可启动自动驾驶】"
builder.leftStr = "确认"
builder.middleStr = ""
builder.rightStr = ""
builder.countDownTime = 10
builder.listener = listener
return context?.let { it1 -> builder.build(it1) }
}
@JvmStatic
fun createSweeperTaskResumeDialog(
context: Context?,
listener: SweeperCloudDialogClickListener?,
contentStr: String
): SweeperCloudDialog? {
var builder: SweeperCloudDialog.Builder = SweeperCloudDialog.Builder()
builder.titleStr = "任务恢复"
builder.contentStr = contentStr
builder.tipStr = "【注意安全，坐稳扶好】"
builder.leftStr = "确认"
builder.middleStr = ""
builder.rightStr = ""
builder.countDownTime = 10
builder.listener = listener
return context?.let { it1 -> builder.build(it1) }
}
@JvmStatic
fun printMessage(message: MessageOrBuilder): String {
return "\n"+TextFormat.printer().escapingNonAscii(false).printToString(message)
}
@JvmStatic
fun getRequestId():String{
return UUID.randomUUID().toString()
}
/**
* 计算任务超时时间
*/
@JvmStatic
fun getTimeSpentString(taskEndTime: Long): String {
val timeLag: Long = System.currentTimeMillis() - taskEndTime
//天
val day: Long = timeLag / (24 * 60 * 60 * 1000)
//小时
val hour = (timeLag / (60 * 60 * 1000) - day * 24)
//分钟
val minute = ((timeLag / (60 * 1000)) - day * 24 * 60 - hour * 60)
if (day >= 1) {
return "${day}天${hour}时${minute}分钟"
}
if (hour >= 1) {
return "${hour}时${minute}分钟"
}
return "${minute}分钟"
}
}

11
OCH/sweeper/sweeper-cloud/src/main/java/com/mogo/och/sweepercloud/view/SubTaskView.kt
View File

@@ -30,15 +30,20 @@ class SubTaskView : ConstraintLayout {
/**
* 设置子任务信息
*/
fun setData(taskInfo: SubTaskInfo,isLastTask: Boolean = false) {
fun setData(taskInfo: SubTaskInfo, isLastTask: Boolean = false) {
tvSubTaskName.text = taskInfo.subTaskName
tvSubTaskName.setTextColor(if (taskInfo.taskStatus==SweeperCommon.TaskStatus.RUNNING) 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 == TaskModel.MANUAL) {//人工驾驶子任务
ivManualDriving.visibility = View.VISIBLE
} else {
ivManualDriving.visibility = View.GONE
}
if (taskInfo.taskStatus==SweeperCommon.TaskStatus.RUNNING) {
if (taskInfo.taskStatus == SweeperCommon.TaskStatus.RUNNING) {
ivSubTask.setImageResource(R.drawable.sweeper_icon_select_subtask)
} else {
ivSubTask.setImageResource(R.drawable.sweeper_icon_not_select_subtask)

197
OCH/sweeper/sweeper-cloud/src/main/java/com/mogo/och/sweepercloud/view/SweeperCurrentTaskInfoView.kt
View File

@@ -1,5 +1,6 @@
package com.mogo.och.sweepercloud.view
import android.annotation.SuppressLint
import android.content.Context
import android.graphics.Color
import android.util.AttributeSet
@@ -10,10 +11,17 @@ import androidx.constraintlayout.widget.ConstraintLayout
import com.mogo.eagle.core.function.api.autopilot.IMoGoAutopilotStatusListener
import com.mogo.och.common.module.utils.DateTimeUtil
import com.mogo.och.sweepercloud.R
import com.zhjt.mogo.adas.data.sweeper.common.SweeperCommon
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.*
import kotlinx.android.synthetic.main.sweeper_current_task_info.view.currentSubTask
import kotlinx.android.synthetic.main.sweeper_current_task_info.view.lastSubTask
import kotlinx.android.synthetic.main.sweeper_current_task_info.view.preSubTask
import kotlinx.android.synthetic.main.sweeper_current_task_info.view.tvStartAuto
import kotlinx.android.synthetic.main.sweeper_current_task_info.view.tvTaskName
import kotlinx.android.synthetic.main.sweeper_current_task_info.view.tvTaskState
import kotlinx.android.synthetic.main.sweeper_current_task_info.view.tvTaskTime
/**
* 清扫车当前任务信息展示
@@ -46,7 +54,7 @@ class SweeperCurrentTaskInfoView : ConstraintLayout {
private fun initView(context: Context) {
LayoutInflater.from(context).inflate(R.layout.sweeper_current_task_info, this)
setSubTaskState(false)
updateTaskStateText(TaskStatus.TO_START)
}
fun getAutoBtn(): TextView {
@@ -56,7 +64,7 @@ class SweeperCurrentTaskInfoView : ConstraintLayout {
/**
* 根据当前自动驾驶状态，更新【请求进入自动驾驶】按钮样式
*/
fun updateStartAutoPilotBtnState(autopilotState: Int) {
fun updateStartAutoPilotBtnByAutoPilotState(autopilotState: Int) {
when (autopilotState) {
//不可自动驾驶
IMoGoAutopilotStatusListener.STATUS_AUTOPILOT_DISABLE -> {
@@ -82,90 +90,119 @@ class SweeperCurrentTaskInfoView : ConstraintLayout {
}
/**
* 设置当前任务数据
* 根据 当前自动驾驶状态-是否是自动驾驶子任务-子任务是否在运行，更新【请求进入自动驾驶】按钮样式
*/
fun setData(
subTaskBean: TaskInfo?,
currentPosition: Int = -1
fun updateStartAutoPilotBtnByAutoPilotState(
isManualAutoPilotState: Boolean,
isAutoSubTask: Boolean,
isSubTaskRunning: Boolean
) {
subTaskBean?.apply {
this@SweeperCurrentTaskInfoView.listTask = subListList
tvTaskName.text = taskName
val calendarStart = DateTimeUtil.formatLongToCalendar(taskStartTime)
val calendarEnd = DateTimeUtil.formatLongToCalendar(taskEndTime)
tvTaskTime.text =
"${DateTimeUtil.formatCalendarToString(calendarStart, DateTimeUtil.HH_mm)}-${
DateTimeUtil.formatCalendarToString(
calendarEnd,
DateTimeUtil.HH_mm
)
}"
}
listTask?.let {
//特殊处理当前暂无执行中任务的情况
if (currentPosition == -1) {
setSubTaskState(false)
setCurrentData(currentPosition + 1)
} else {
setSubTaskState(it[currentPosition].taskStatus == TaskStatus.RUNNING)
setCurrentData(currentPosition)
}
}
}
/**
* 设置子任务的状态
*/
private fun setSubTaskState(isWorking: Boolean) {
if (isWorking) {
tvTaskState.text = "任务执行中"
tvTaskState.setBackgroundResource(R.drawable.bg_shape_task_state_working)
if (isManualAutoPilotState && isAutoSubTask && isSubTaskRunning) {
tvStartAuto.setTextColor(Color.parseColor("#FFFFFFFF"))
tvStartAuto.isSelected = true
} else {
tvTaskState.text = "任务待开始"
tvTaskState.setBackgroundResource(R.drawable.bg_shape_task_state_not_ready)
tvStartAuto.setTextColor(Color.parseColor("#66FFFFFF"))
tvStartAuto.isSelected = false
}
}
/**
* 填充数据
*/
private fun setCurrentData(currentPosition: Int) {
listTask?.let {
if (it.size == 1) {
preSubTask.setData(it[currentPosition], isLastTask = true)
currentSubTask.visibility = View.INVISIBLE
lastSubTask.visibility = View.INVISIBLE
} else if (it.size == 2) {
if (currentPosition == 0) {
preSubTask.setData(it[currentPosition])
currentSubTask.setData(it[1], isLastTask = true)
/**
* 设置当前任务数据
*/
@SuppressLint("SetTextI18n")
fun setData(
taskInfo: TaskInfo?,
currentPosition: Int = -1
) {
// 更新 任务名称、任务时间
taskInfo?.apply {
this@SweeperCurrentTaskInfoView.listTask = subListList
tvTaskName.text = taskName
val calendarStart = DateTimeUtil.formatLongToCalendar(taskStartTime)
val calendarEnd = DateTimeUtil.formatLongToCalendar(taskEndTime)
tvTaskTime.text =
"${DateTimeUtil.formatCalendarToString(calendarStart, DateTimeUtil.HH_mm)}-${
DateTimeUtil.formatCalendarToString(
calendarEnd,
DateTimeUtil.HH_mm
)
}"
}
// 更新大任务状态
updateTaskStateText(taskInfo?.taskStatus ?: TaskStatus.TO_START)
// 更新子任务列表
listTask?.let {
//特殊处理当前暂无执行中任务的情况
if (currentPosition == -1) {
setCurrentData(currentPosition + 1)
} else {
preSubTask.setData(it[currentPosition - 1])
currentSubTask.setData(it[currentPosition], isLastTask = true)
}
preSubTask.visibility = View.VISIBLE
currentSubTask.visibility = View.VISIBLE
lastSubTask.visibility = View.GONE
} else {
preSubTask.visibility = View.VISIBLE
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 (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 (currentPosition == it.size - 1) {
preSubTask.setData(it[currentPosition - 2])
currentSubTask.setData(it[currentPosition - 1])
lastSubTask.setData(it[currentPosition], isLastTask = true)
} else {
preSubTask.setData(it[currentPosition - 1])
currentSubTask.setData(it[currentPosition])
lastSubTask.setData(it[currentPosition + 1], isLastTask = true)
setCurrentData(currentPosition)
}
}
}
}
}
/**
* 设置任务的状态
*/
private fun updateTaskStateText(taskStatus: SweeperCommon.TaskStatus) {
when (taskStatus) {
SweeperCommon.TaskStatus.RUNNING -> {
tvTaskState.text = "任务执行中"
tvTaskState.setBackgroundResource(R.drawable.bg_shape_task_state_working)
}
SweeperCommon.TaskStatus.SUSPENDED -> {
tvTaskState.text = "任务已暂停"
tvTaskState.setBackgroundResource(R.drawable.bg_shape_task_state_not_ready)
}
else -> {
tvTaskState.text = "任务待开始"
tvTaskState.setBackgroundResource(R.drawable.bg_shape_task_state_not_ready)
}
}
}
/**
* 填充数据
*/
private fun setCurrentData(currentPosition: Int) {
listTask?.let {
if (it.size == 1) {
preSubTask.setData(it[currentPosition], isLastTask = true)
currentSubTask.visibility = View.INVISIBLE
lastSubTask.visibility = View.INVISIBLE
} else if (it.size == 2) {
if (currentPosition == 0) {
preSubTask.setData(it[currentPosition])
currentSubTask.setData(it[1], isLastTask = true)
} else {
preSubTask.setData(it[currentPosition - 1])
currentSubTask.setData(it[currentPosition], isLastTask = true)
}
preSubTask.visibility = View.VISIBLE
currentSubTask.visibility = View.VISIBLE
lastSubTask.visibility = View.GONE
} else {
preSubTask.visibility = View.VISIBLE
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 (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 (currentPosition == it.size - 1) {
preSubTask.setData(it[currentPosition - 2])
currentSubTask.setData(it[currentPosition - 1])
lastSubTask.setData(it[currentPosition], isLastTask = true)
} else {
preSubTask.setData(it[currentPosition - 1])
currentSubTask.setData(it[currentPosition])
lastSubTask.setData(it[currentPosition + 1], isLastTask = true)
}
}
}
}
}

36
OCH/sweeper/sweeper-cloud/src/main/res/layout/sweeper_base_fragment.xml
View File

@@ -201,7 +201,7 @@
android:layout_width="wrap_content"
android:layout_height="wrap_content"
android:background="#f80"
android:text="pad查询当前任务"
android:text="pad查询当前大任务"
android:textSize="30sp"
app:layout_constraintRight_toRightOf="@+id/btnStartAutopilot"
app:layout_constraintTop_toBottomOf="@+id/btnStartAutopilot" />
@@ -211,7 +211,7 @@
android:layout_width="wrap_content"
android:layout_height="wrap_content"
android:background="#f00"
android:text="接收云控任务"
android:text="模拟云控下发任务"
android:textSize="30sp"
app:layout_constraintRight_toRightOf="@+id/btnQueryCurrentTask"
app:layout_constraintTop_toBottomOf="@+id/btnQueryCurrentTask" />
@@ -221,7 +221,7 @@
android:layout_width="wrap_content"
android:layout_height="wrap_content"
android:background="#0f0"
android:text="云控子任务确认"
android:text="模拟云控发送子任务确认"
android:textSize="30sp"
app:layout_constraintRight_toRightOf="@id/btnSendTask"
app:layout_constraintTop_toBottomOf="@id/btnSendTask" />
@@ -231,7 +231,7 @@
android:layout_width="wrap_content"
android:layout_height="wrap_content"
android:background="#00f"
android:text="云控结束大任务"
android:text="模拟云控结束大任务"
android:textColor="#fff"
android:textSize="30sp"
app:layout_constraintRight_toRightOf="@id/btnSendTask"
@@ -242,7 +242,7 @@
android:layout_width="wrap_content"
android:layout_height="wrap_content"
android:background="#ffffff"
android:text="云控子任务状态"
android:text="模拟云控下发子任务状态"
android:textSize="30sp"
app:layout_constraintRight_toRightOf="@id/btnSendEndTask"
app:layout_constraintTop_toBottomOf="@id/btnSendEndTask" />
@@ -252,19 +252,41 @@
android:layout_width="wrap_content"
android:layout_height="wrap_content"
android:background="#000000"
android:text="云控大任务状态"
android:text="模拟云控下发大任务状态"
android:textColor="#fff"
android:textSize="30sp"
app:layout_constraintRight_toRightOf="@id/btnSendSubtaskStatus"
app:layout_constraintTop_toBottomOf="@id/btnSendSubtaskStatus" />
<Button
android:id="@+id/btnAddHDMarker"
android:layout_width="wrap_content"
android:layout_height="wrap_content"
android:background="#000000"
android:text="添加高精地图Marker"
android:textColor="#f30"
android:textSize="30sp"
app:layout_constraintRight_toRightOf="@id/btnSendTaskStatus"
app:layout_constraintTop_toBottomOf="@id/btnSendTaskStatus" />
<Button
android:id="@+id/btnRemoveHDMarker"
android:layout_width="wrap_content"
android:layout_height="wrap_content"
android:background="#000000"
android:text="移除高精地图Marker"
android:textColor="#a90"
android:textSize="30sp"
app:layout_constraintRight_toRightOf="@id/btnAddHDMarker"
app:layout_constraintTop_toBottomOf="@id/btnAddHDMarker" />
<androidx.constraintlayout.widget.Group
android:id="@+id/groupTestPanel"
android:layout_width="wrap_content"
android:layout_height="wrap_content"
android:visibility="gone"
app:constraint_referenced_ids="btnStartAutopilot,btnQueryCurrentTask,btnSendTask,btnSendSubTaskConfirm,btnSendEndTask
,btnSendSubtaskStatus,btnSendTaskStatus"
,btnSendSubtaskStatus,btnSendTaskStatus,btnAddHDMarker,btnRemoveHDMarker"
tools:visibility="visible" />

15
core/function-impl/mogo-core-function-datacenter/src/main/java/com/mogo/eagle/core/function/datacenter/autopilot/MoGoAutopilotControlProvider.kt
View File

@@ -63,7 +63,8 @@ import com.zhjt.mogo.adas.data.AdasConstants
import com.zhjt.mogo.adas.data.bean.MogoReport
import com.zhjt.mogo.adas.data.sweeper.bootable.SweeperBootable
import com.zhjt.mogo.adas.data.sweeper.task.SweeperTask
import com.zhjt.mogo.adas.data.sweeper.task.SweeperTaskSuspendResume
import com.zhjt.mogo.adas.data.sweeper.task.cloud.s_r.SweeperTaskCloudSuspendResume
import com.zhjt.mogo.adas.data.sweeper.task.s_r.SweeperTaskSuspendResume
import com.zhjt.mogo.adas.data.sweeper.task.confirm.SweeperTaskConfirm
import com.zhjt.mogo.adas.data.sweeper.task.stop.SweeperTaskStop
import com.zhjt.service.chain.ChainLog
@@ -1080,6 +1081,18 @@ class MoGoAutopilotControlProvider :
return AdasManager.getInstance().sendSweeperAutopilotBootable(reqNo, isBootable)
}
/**
* pad收到云端下发暂停恢复响应
* 10、云端下发任务暂停/恢复指令到pad（type: 100010）sweeper_task_cloud_suspend_resume.proto/BigTaskActionResp
*
* @param reqNo 请求编号
* @param bigTaskActionResp 参数
* @return boolean
*/
override fun sendSweeperCloudSuspendResumeTaskResp(reqNo: String, bigTaskActionResp: SweeperTaskCloudSuspendResume.BigTaskActionResp): Boolean {
return AdasManager.getInstance().sendSweeperCloudSuspendResumeTaskResp(reqNo, bigTaskActionResp)
}
override fun setIsDrawPointCloud(isDrawPointCloud: Boolean) {
if (isDrawPointCloud) {
AdasManager.getInstance().subscribeInterface(

16
core/function-impl/mogo-core-function-datacenter/src/main/java/com/mogo/eagle/core/function/datacenter/autopilot/adapter/MoGoAdasListenerImpl.kt
View File

@@ -61,8 +61,9 @@ import com.zhjt.mogo.adas.data.bean.UnableAutopilotReason
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
import com.zhjt.mogo.adas.data.sweeper.task.SweeperTaskSuspendResume
import com.zhjt.mogo.adas.data.sweeper.task.s_r.SweeperTaskSuspendResume
import com.zhjt.mogo.adas.data.sweeper.task.big.SweeperBigTaskStatus
import com.zhjt.mogo.adas.data.sweeper.task.cloud.s_r.SweeperTaskCloudSuspendResume
import com.zhjt.mogo.adas.data.sweeper.task.confirm.SweeperTaskConfirm
import com.zhjt.mogo.adas.data.sweeper.task.status.SweeperTaskStatus
import com.zhjt.mogo.adas.data.sweeper.task.stop.SweeperTaskStop
@@ -733,6 +734,19 @@ class MoGoAdasListenerImpl : OnAdasListener {
)
}
/**
* 10、云端下发任务暂停/恢复指令到pad（type: 100010）-> sweeper_task_cloud_suspend_resume.proto
*
* @param header 头
* @param messageType 消息类型
* @param reqNo 请求编号
* @param sysTime 当前时间戳
* @param bigTaskActionPush 数据
*/
override fun onSweeperFutianCloudTaskCloudSuspendResume(header: MessagePad.Header, messageType: SweeperCloudTask.MessageType, reqNo: String?, sysTime: Long, bigTaskActionPush: SweeperTaskCloudSuspendResume.BigTaskActionPush?) {
CallerSweeperFutianCloudTaskListenerManager.invokeSweeperFutianCloudTaskCloudSuspendResume(messageType, reqNo, sysTime, bigTaskActionPush)
}
/**
* 清扫车云端任务未知类型
*

10
core/function-impl/mogo-core-function-devatools/src/main/java/com/zhjt/mogo_core_function_devatools/mofang/MoFangCommandExecutor.kt
View File

@@ -3,8 +3,10 @@ package com.zhjt.mogo_core_function_devatools.mofang
import android.os.*
import android.util.*
import android.view.KeyEvent
import com.mogo.eagle.core.data.config.*
import com.mogo.eagle.core.function.call.autopilot.*
import com.mogo.eagle.core.network.utils.GsonUtil
import com.mogo.eagle.core.utilcode.mogo.*
import com.zhjt.mogo_core_function_devatools.mofang.MoFangAnalyticUtils.Companion.EVENT_EXECUTE
import com.zhjt.mogo_core_function_devatools.mofang.MoFangAnalyticUtils.Companion.EVENT_EXECUTE_SUB_KEYCODE
import com.zhjt.mogo_core_function_devatools.mofang.MoFangAnalyticUtils.Companion.EVENT_EXECUTE_SUB_TYPE
@@ -82,7 +84,13 @@ internal class MoFangCommandExecutor {
MoFangAnalyticUtils.track(EVENT_EXECUTE, mutableMapOf(EVENT_EXECUTE_SUB_KEYCODE to (getKeycodeByWhat(msg.what) ?: ""), EVENT_EXECUTE_SUB_TYPE to (getInputTypeByWhat(msg.what) ?: "")))
linkedLog?.record(mapOf("执行:${System.currentTimeMillis()}" to "$message, $json"))
Log.d(TAG, "--- 启动自驾 ----入参:$json")
CallerAutoPilotControlManager.startAutoPilot(parameters)
//清扫车有FSM模块，魔方启动自驾时需要将Source修改为魔方，以便telamatics做区分并在转发时增加flag标记
if (AppIdentityModeUtils.isSweeper(FunctionBuildConfig.appIdentityMode)) {
CallerAutoPilotControlManager.startAutoPilotByMoFang(parameters)
} else{
CallerAutoPilotControlManager.startAutoPilot(parameters)
}
} catch (t: Throwable) {
t.printStackTrace()
Log.e(TAG, "error: ${t.message}, msg-> $msg")

1
core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/hmi/ui/widget/RomaTaxiView.kt
View File

@@ -86,7 +86,6 @@ class RomaTaxiView @JvmOverloads constructor(
ll_roma_bg.setBackgroundResource(R.drawable.romabg_press_select_bg)
}
ivRomaView.setBackgroundResource(R.drawable.roma_press_select_bg)
} else {
romaMode = false
if(normalRes!=0){

13
core/mogo-core-function-api/src/main/java/com/mogo/eagle/core/function/api/autopilot/IMoGoAutopilotControlProvider.kt
View File

@@ -8,10 +8,11 @@ import com.mogo.eagle.core.function.api.base.IMoGoFunctionServerProvider
import com.zhjt.mogo.adas.data.sweeper.bootable.SweeperBootable.IsBootable
import com.zhjt.mogo.adas.data.sweeper.task.SweeperTask.GetTaskReq
import com.zhjt.mogo.adas.data.sweeper.task.SweeperTask.StartTaskResp
import com.zhjt.mogo.adas.data.sweeper.task.SweeperTaskSuspendResume.SuspendResumeTaskReq
import com.zhjt.mogo.adas.data.sweeper.task.s_r.SweeperTaskSuspendResume.SuspendResumeTaskReq
import com.zhjt.mogo.adas.data.sweeper.task.confirm.SweeperTaskConfirm.TaskConfirmResp
import com.zhjt.mogo.adas.data.sweeper.task.stop.SweeperTaskStop.StopTaskResp
import com.zhjt.mogo.adas.data.AdasConstants
import com.zhjt.mogo.adas.data.sweeper.task.cloud.s_r.SweeperTaskCloudSuspendResume.BigTaskActionResp
/**
* @author xiaoyuzhou
@@ -457,6 +458,16 @@ interface IMoGoAutopilotControlProvider : IMoGoFunctionServerProvider {
*/
fun sendSweeperAutopilotBootable(reqNo: String, isBootable: IsBootable): Boolean
/**
* pad收到云端下发暂停恢复响应
* 10、云端下发任务暂停/恢复指令到pad（type: 100010）sweeper_task_cloud_suspend_resume.proto/BigTaskActionResp
*
* @param reqNo 请求编号
* @param bigTaskActionResp 参数
* @return boolean
*/
fun sendSweeperCloudSuspendResumeTaskResp(reqNo: String, bigTaskActionResp: BigTaskActionResp): Boolean
/**
* 打开点云绘制
*

14
core/mogo-core-function-api/src/main/java/com/mogo/eagle/core/function/api/autopilot/IMoGoSweeperFutianCloudTaskListener.kt
View File

@@ -3,12 +3,12 @@ package com.mogo.eagle.core.function.api.autopilot
import com.zhjt.mogo.adas.data.sweeper.SweeperCloudTask
import com.zhjt.mogo.adas.data.sweeper.bootable.SweeperBootable.IsBootableResp
import com.zhjt.mogo.adas.data.sweeper.task.SweeperTask
import com.zhjt.mogo.adas.data.sweeper.task.SweeperTaskSuspendResume.SuspendResumeTaskResp
import com.zhjt.mogo.adas.data.sweeper.task.big.SweeperBigTaskStatus.BigTaskStatusPush
import com.zhjt.mogo.adas.data.sweeper.task.cloud.s_r.SweeperTaskCloudSuspendResume.BigTaskActionPush
import com.zhjt.mogo.adas.data.sweeper.task.confirm.SweeperTaskConfirm.TaskConfirm
import com.zhjt.mogo.adas.data.sweeper.task.s_r.SweeperTaskSuspendResume.SuspendResumeTaskResp
import com.zhjt.mogo.adas.data.sweeper.task.status.SweeperTaskStatus.TaskStatusPush
import com.zhjt.mogo.adas.data.sweeper.task.stop.SweeperTaskStop.StopTaskReq
import mogo.telematics.pad.MessagePad
/**
* 清扫车（福田）云端任务接口
@@ -87,6 +87,16 @@ interface IMoGoSweeperFutianCloudTaskListener {
*/
fun onSweeperFutianCloudBigTaskStatus(messageType: SweeperCloudTask.MessageType, reqNo: String?, sysTime: Long, bigTaskStatusPush: BigTaskStatusPush?)
/**
* 10、云端下发任务暂停/恢复指令到pad（type: 100010）-> sweeper_task_cloud_suspend_resume.proto
*
* @param messageType 消息类型
* @param reqNo 请求编号
* @param sysTime 当前时间戳
* @param bigTaskActionPush 数据
*/
fun onSweeperFutianCloudTaskCloudSuspendResume(messageType: SweeperCloudTask.MessageType, reqNo: String?, sysTime: Long, bigTaskActionPush: BigTaskActionPush?)
/**
* 清扫车云端任务未知类型
*

14
core/mogo-core-function-call/src/main/java/com/mogo/eagle/core/function/call/autopilot/CallerAutoPilotControlManager.kt
View File

@@ -17,10 +17,11 @@ import com.mogo.eagle.core.utilcode.mogo.AppIdentityModeUtils
import com.zhjt.mogo.adas.data.sweeper.bootable.SweeperBootable.IsBootable
import com.zhjt.mogo.adas.data.sweeper.task.SweeperTask.GetTaskReq
import com.zhjt.mogo.adas.data.sweeper.task.SweeperTask.StartTaskResp
import com.zhjt.mogo.adas.data.sweeper.task.SweeperTaskSuspendResume.SuspendResumeTaskReq
import com.zhjt.mogo.adas.data.sweeper.task.s_r.SweeperTaskSuspendResume.SuspendResumeTaskReq
import com.zhjt.mogo.adas.data.sweeper.task.confirm.SweeperTaskConfirm.TaskConfirmResp
import com.zhjt.mogo.adas.data.sweeper.task.stop.SweeperTaskStop.StopTaskResp
import com.zhjt.mogo.adas.data.AdasConstants
import com.zhjt.mogo.adas.data.sweeper.task.cloud.s_r.SweeperTaskCloudSuspendResume.BigTaskActionResp
import com.zhjt.service.chain.ChainLog
import com.zhjt.service_biz.BizConfig
import kotlin.random.Random
@@ -629,6 +630,17 @@ object CallerAutoPilotControlManager {
return providerApi?.sendSweeperAutopilotBootable(reqNo, isBootable) ?: false
}
/**
* pad收到云端下发暂停恢复响应
* 10、云端下发任务暂停/恢复指令到pad（type: 100010）sweeper_task_cloud_suspend_resume.proto/BigTaskActionResp
*
* @param reqNo 请求编号
* @param bigTaskActionResp 参数
* @return boolean
*/
fun sendSweeperCloudSuspendResumeTaskResp( reqNo: String, bigTaskActionResp: BigTaskActionResp): Boolean {
return providerApi?.sendSweeperCloudSuspendResumeTaskResp(reqNo, bigTaskActionResp) ?: false
}
/**
* 打开点云绘制

18
core/mogo-core-function-call/src/main/java/com/mogo/eagle/core/function/call/autopilot/CallerSweeperFutianCloudTaskListenerManager.kt
View File

@@ -5,8 +5,9 @@ import com.mogo.eagle.core.function.call.base.CallerBase
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
import com.zhjt.mogo.adas.data.sweeper.task.SweeperTaskSuspendResume
import com.zhjt.mogo.adas.data.sweeper.task.s_r.SweeperTaskSuspendResume
import com.zhjt.mogo.adas.data.sweeper.task.big.SweeperBigTaskStatus
import com.zhjt.mogo.adas.data.sweeper.task.cloud.s_r.SweeperTaskCloudSuspendResume
import com.zhjt.mogo.adas.data.sweeper.task.confirm.SweeperTaskConfirm
import com.zhjt.mogo.adas.data.sweeper.task.status.SweeperTaskStatus
import com.zhjt.mogo.adas.data.sweeper.task.stop.SweeperTaskStop
@@ -123,6 +124,21 @@ object CallerSweeperFutianCloudTaskListenerManager : CallerBase<IMoGoSweeperFuti
}
}
/**
* 10、云端下发任务暂停/恢复指令到pad（type: 100010）-> sweeper_task_cloud_suspend_resume.proto
*
* @param messageType 消息类型
* @param reqNo 请求编号
* @param sysTime 当前时间戳
* @param bigTaskActionPush 数据
*/
fun invokeSweeperFutianCloudTaskCloudSuspendResume(messageType: SweeperCloudTask.MessageType, reqNo: String?, sysTime: Long, bigTaskActionPush: SweeperTaskCloudSuspendResume.BigTaskActionPush?) {
M_LISTENERS.forEach {
val listener = it.value
listener.onSweeperFutianCloudTaskCloudSuspendResume(messageType, reqNo, sysTime, bigTaskActionPush)
}
}
/**
* 清扫车云端任务未知类型
*

2
gradle.properties
View File

@@ -172,6 +172,6 @@ CHARTER_DRIVER_VERSION=6.0.0
# 包车模式乘客端端版本号
CHARTER_PASSENGER_VERSION=5.0.0
# 支持云控清扫车模式司机端版本号
SWEEPERCLOUD_DRIVER_VERSION=3.1.4
SWEEPERCLOUD_DRIVER_VERSION=3.2.0
# 清扫车模式司机端版本号
SWEEPEROPERATE_DRIVER_VERSION=3.1.0

3
libraries/mogo-adas-data/src/main/proto/special_vehicle_task_cmd.proto
View File

@@ -14,6 +14,9 @@ message RoboSweeperFuTianCleanCmd {
optional uint32 sweepdisk_speed_requirement = 8 [default = 0]; // 扫盘加速需求 0--no req, 1--decelerate req, 2--accelerate req（扫盘加速需求，每点一次为加速一次，每次加速为5%pwm）
optional uint32 sweepdisk_desire_speed_requirement = 9 [default = 0]; // 扫盘期望转速, 0-100% 必须是5的倍数
optional uint32 one_touch_take_out_trash_requirement = 10 [default = 0]; // 一键倒垃圾请求，0：no req; 1: take out; 2: stop take out
optional uint32 clean_tail_door_requirement = 11 [default = 0]; // 垃圾尾门开关请求，0--no req; 1-- open; 2:--stop take out
optional uint32 clean_tail_tip_requirement = 12 [default = 0]; // 垃圾箱举升请求，0--no req; 1 -- tail ret,2-- tail tip
optional uint32 clean_work_Enc_des_requirement = 13 [default = 0]; // 垃圾箱清淤请求，0--no req; 1:--open; 2--close
}
message RoboSweeperFuTianTaskCmd {

25
libraries/mogo-adas-data/src/main/proto/sweeper/README.md
View File

@@ -12,6 +12,7 @@
|7、pad主动拉取当前车辆正在执行任务的完整信息（type：100007）|sweeper/sweeper_task.proto|
|8、接管后回自驾-pad上报状态给云端 云端下发启动自驾（type: 100008）|sweeper/sweeper_bootable.proto|
|9、云端下发pad大任务状态（type: 100009）|sweeper/sweeper_big_task_status.proto|
|10、云端下发任务暂停/恢复指令到pad（type: 100010）|sweeper/sweeper_task_cloud_suspend_resume.proto|
# 接口使用说明
## 回调接口类：IMoGoSweeperFutianCloudTaskListener
@@ -181,4 +182,28 @@ fun onSweeperFutianCloudBigTaskStatus(messageType: SweeperCloudTask.MessageType,
客户端回复：
无
~~~
~~~
服务端发：
/**
* 10、云端下发任务暂停/恢复指令到pad（type: 100010）
*
* @param messageType 消息类型
* @param reqNo 请求编号
* @param sysTime 当前时间戳
* @param bigTaskActionPush 数据
*/
fun onSweeperFutianCloudTaskCloudSuspendResume(messageType: SweeperCloudTask.MessageType, reqNo: String?, sysTime: Long, bigTaskActionPush: BigTaskActionPush?)
客户端回复:
/**
* pad收到云端下发暂停恢复响应
* 10、云端下发任务暂停/恢复指令到pad（type: 100010）
*
* @param reqNo 请求编号
* @param bigTaskActionResp 参数
* @return boolean
*/
CallerAutoPilotControlManager.INSTANCE.sendSweeperSuspendResumeTaskReq(）
~~~

12
libraries/mogo-adas-data/src/main/proto/sweeper/sweeper_big_task_status.proto
View File

@@ -1,25 +1,19 @@
syntax = "proto3";
package com.zhjt.mogo.adas.data.sweeper.task.big;
import "sweeper/sweeper_common.proto";
/**** 9、云端下发pad大任务状态（type: 100009） ****/
//9.1、请求信息
// 任务状态
enum BigTaskStatus {
DEFAULT_STATUS = 0; // 无效值
TO_START = 1; //待开始
RUNNING = 2; // 运行中
CANCLE = 3; // 取消
FINISHED = 4; // 结束
ABNORMAL = 5; // 异常
}
message BigTaskStatusPush {
string sn = 1;// sn
string taskId = 2;// 大任务编号
BigTaskStatus TaskStatus = 3;// 大任务状态
common.TaskStatus TaskStatus = 3;// 大任务状态
uint64 systemTime = 4; // 时间戳
bool isPop = 5; // 是否弹窗(0725新增)
}
//4.2、响应信息

1
libraries/mogo-adas-data/src/main/proto/sweeper/sweeper_cloud_task.proto
View File

@@ -16,6 +16,7 @@ enum MessageType
PadSendGetTaskReq = 100007; //7、pad主动拉取当前车辆正在执行任务的完整信息（type：100007）-> sweeper_task.proto
PadSendBootable = 100008; //8、接管后回自驾-pad上报状态给云端 云端下发启动自驾（type: 100008）-> sweeper_bootable.proto
CloudPushBigTaskStatus = 100009; //9、云端下发pad大任务状态（type: 100009）-> sweeper_big_task_status.proto
CloudPushTaskSuspendResume = 100010; //10、云端下发任务暂停/恢复指令到pad（type: 100010）-> sweeper_task_cloud_suspend_resume.proto
}
//云下行消息

7
libraries/mogo-adas-data/src/main/proto/sweeper/sweeper_common.proto
View File

@@ -7,9 +7,10 @@ enum TaskStatus
DEFAULT_STATUS = 0; // 无效值
TO_START = 1; //待开始
RUNNING = 2; // 运行中
SUSPENDED = 3; // 暂停
FINISHED = 4; // 结束
ABNORMAL = 5; // *异常
CANCEL = 3; // 取消（提前结束）
FINISHED = 4; // 正常结束
ABNORMAL = 5; // 异常结束
SUSPENDED = 6; // 暂停 (新增)
}
// 响应状态

7
libraries/mogo-adas-data/src/main/proto/sweeper/sweeper_task.proto
View File

@@ -55,16 +55,17 @@ message TaskInfo {
uint64 currentTime = 6; //当前时间戳
repeated SubTaskInfo subList = 7; // 子任务列表信息
bool isPop = 8; // 是否弹窗
common.TaskStatus taskStatus = 9; // 大任务状态（新增）
}
//1.2、响应信息
// 响应状态
enum StartTaskCode {
DEFAULT_CODE = 0; // 无效值
MANUAL_CONFIRM = 1; // 安全员确认执行任务-pad
MANUAL_REFUSE = 2; // 安全员拒绝任务-pad
MANUAL_CONFIRM = 1; // 安全员确认执行任务-pad（无效值）
MANUAL_REFUSE = 2; // 安全员拒绝任务-pad（无效值）
RECEIVED = 3; // 收到任务
OVER_TIME = 4; // 超时未确认
OVER_TIME = 4; // 超时未确认（无效值）
}
/**

40
libraries/mogo-adas-data/src/main/proto/sweeper/sweeper_task_cloud_suspend_resume.proto Normal file
View File

@@ -0,0 +1,40 @@
syntax = "proto3";
package com.zhjt.mogo.adas.data.sweeper.task.cloud.s_r;
/**** 10、云端下发任务暂停/恢复指令到pad（type: 100010） ****/
//10.1、请求信息
// 指令类型
enum ActionType {
DEFAULT_TYPE = 0; // 无效值
SUSPENDED = 1; // 暂停
RESUME = 2; //恢复
}
message BigTaskActionPush {
string sn = 1;// sn
string taskId = 2;// 大任务编号
ActionType action = 3;// 指令类型
uint64 systemTime = 4; // 时间戳
bool isPop = 5; // 是否弹窗
}
//10.2、响应信息
// 响应状态
enum Code {
DEFAULT_CODE = 0; // 无效值
RECEIVED = 1; // 收到指令
}
/**
开始大任务响应
*/
message BigTaskActionResp {
string sn = 1;// sn
string taskId = 2;// 大任务编号
Code code = 3; //响应状态
}

9
libraries/mogo-adas-data/src/main/proto/sweeper/sweeper_task_confirm.proto
View File

@@ -19,10 +19,11 @@ message TaskConfirm {
// 响应状态
enum TaskConfirmCode {
DEFAULT_CODE = 0; // 无效值
MANUAL_CONFIRM = 1; // 安全员确认执行任务-pad
MANUAL_REFUSE_ALL = 2; // 安全员拒绝全部任务-pad
MANUAL_REFUSE_SINGLE = 3; // 安全员拒绝单个子任务-pad
OVER_TIME = 4; // 超时未确认
MANUAL_CONFIRM = 1; // 安全员确认执行任务-pad（无效值）
MANUAL_REFUSE_ALL = 2; // 安全员拒绝全部任务-pad（无效值）
MANUAL_REFUSE_SINGLE = 3; // 安全员拒绝单个子任务-pad（无效值）
OVER_TIME = 4; // 超时未确认（无效值）
RECEIVED = 5; // 收到子任务（新增）
}
/**

10
libraries/mogo-adas-data/src/main/proto/sweeper/sweeper_task_stop.proto
View File

@@ -8,9 +8,10 @@ package com.zhjt.mogo.adas.data.sweeper.task.stop;
// 任务状态
enum StopTaskType {
DEFAULT_TYPE = 0; // 无效值
TIMEOUT = 1; //超时结束
TIMEOUT = 1; //超时结束（无效值）
ADVANCE = 2; // 提前结束
NORMAL = 3; // 正常结束
EXCEPTION = 4; // 异常结束（新增）
}
@@ -29,9 +30,10 @@ message StopTaskReq {
// 响应状态
enum StopTaskCode {
DEFAULT_CODE = 0; // 无效值
MANUAL_CONFIRM = 1; // 安全员确认
MANUAL_REFUSE = 2; // 安全员拒绝
OVER_TIME = 3; // 超时未确认
MANUAL_CONFIRM = 1; // 安全员确认（无效值）
MANUAL_REFUSE = 2; // 安全员拒绝（无效值）
OVER_TIME = 3; // 超时未确认（无效值）
RECEIVED = 4; // 收到结束指令（新增）
}
/**

2
libraries/mogo-adas-data/src/main/proto/sweeper/sweeper_task_suspend_resume.proto
View File

@@ -1,5 +1,5 @@
syntax = "proto3";
package com.zhjt.mogo.adas.data.sweeper.task;
package com.zhjt.mogo.adas.data.sweeper.task.s_r;
import "sweeper/sweeper_common.proto";

16
libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/AdasChannel.java
View File

@@ -50,8 +50,9 @@ import com.zhjt.mogo.adas.data.bean.AutopilotStatistics;
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;
import com.zhjt.mogo.adas.data.sweeper.task.SweeperTaskSuspendResume;
import com.zhjt.mogo.adas.data.sweeper.task.cloud.s_r.SweeperTaskCloudSuspendResume;
import com.zhjt.mogo.adas.data.sweeper.task.confirm.SweeperTaskConfirm;
import com.zhjt.mogo.adas.data.sweeper.task.s_r.SweeperTaskSuspendResume;
import com.zhjt.mogo.adas.data.sweeper.task.stop.SweeperTaskStop;
import com.zhjt.service.chain.ChainLog;
@@ -1989,5 +1990,18 @@ public class AdasChannel implements IAdasNetCommApi, FpgaSocket.IWebSocketConnec
public boolean sendSweeperAutopilotBootable(@NonNull String reqNo, @NonNull SweeperBootable.IsBootable isBootable) {
return sendSweeperCloudTaskCmd(SweeperCloudTask.MessageType.PadSendBootable, reqNo, isBootable.toByteString());
}
/**
* pad收到云端下发暂停恢复响应
* 10、云端下发任务暂停/恢复指令到pad（type: 100010）sweeper_task_cloud_suspend_resume.proto/BigTaskActionResp
*
* @param reqNo 请求编号
* @param bigTaskActionResp 参数
* @return boolean
*/
@Override
public boolean sendSweeperCloudSuspendResumeTaskResp(@NonNull String reqNo, @NonNull SweeperTaskCloudSuspendResume.BigTaskActionResp bigTaskActionResp) {
return sendSweeperCloudTaskCmd(SweeperCloudTask.MessageType.CloudPushTaskSuspendResume, reqNo, bigTaskActionResp.toByteString());
}
}

16
libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/AdasManager.java
View File

@@ -16,8 +16,9 @@ import com.zhjt.mogo.adas.data.AdasConstants;
import com.zhjt.mogo.adas.data.bean.AdasParam;
import com.zhjt.mogo.adas.data.sweeper.bootable.SweeperBootable;
import com.zhjt.mogo.adas.data.sweeper.task.SweeperTask;
import com.zhjt.mogo.adas.data.sweeper.task.SweeperTaskSuspendResume;
import com.zhjt.mogo.adas.data.sweeper.task.cloud.s_r.SweeperTaskCloudSuspendResume;
import com.zhjt.mogo.adas.data.sweeper.task.confirm.SweeperTaskConfirm;
import com.zhjt.mogo.adas.data.sweeper.task.s_r.SweeperTaskSuspendResume;
import com.zhjt.mogo.adas.data.sweeper.task.stop.SweeperTaskStop;
import java.util.HashSet;
@@ -1180,6 +1181,19 @@ public class AdasManager implements IAdasNetCommApi {
return mChannel != null && mChannel.sendSweeperAutopilotBootable(reqNo, isBootable);
}
/**
* pad收到云端下发暂停恢复响应
* 10、云端下发任务暂停/恢复指令到pad（type: 100010）sweeper_task_cloud_suspend_resume.proto/BigTaskActionResp
*
* @param reqNo 请求编号
* @param bigTaskActionResp 参数
* @return boolean
*/
@Override
public boolean sendSweeperCloudSuspendResumeTaskResp(@NonNull String reqNo, @NonNull SweeperTaskCloudSuspendResume.BigTaskActionResp bigTaskActionResp) {
return mChannel != null && mChannel.sendSweeperCloudSuspendResumeTaskResp(reqNo, bigTaskActionResp);
}
/**
* 获取工控机固定IP列表
*

13
libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/IAdasNetCommApi.java
View File

@@ -9,8 +9,9 @@ import com.zhidao.support.adas.high.common.MessageType;
import com.zhjt.mogo.adas.data.AdasConstants;
import com.zhjt.mogo.adas.data.sweeper.bootable.SweeperBootable;
import com.zhjt.mogo.adas.data.sweeper.task.SweeperTask;
import com.zhjt.mogo.adas.data.sweeper.task.SweeperTaskSuspendResume;
import com.zhjt.mogo.adas.data.sweeper.task.cloud.s_r.SweeperTaskCloudSuspendResume;
import com.zhjt.mogo.adas.data.sweeper.task.confirm.SweeperTaskConfirm;
import com.zhjt.mogo.adas.data.sweeper.task.s_r.SweeperTaskSuspendResume;
import com.zhjt.mogo.adas.data.sweeper.task.stop.SweeperTaskStop;
import java.util.List;
@@ -739,6 +740,16 @@ public interface IAdasNetCommApi {
*/
boolean sendSweeperAutopilotBootable(@NonNull String reqNo, @NonNull SweeperBootable.IsBootable isBootable);
/**
* pad收到云端下发暂停恢复响应
* 10、云端下发任务暂停/恢复指令到pad（type: 100010）sweeper_task_cloud_suspend_resume.proto/BigTaskActionResp
*
* @param reqNo 请求编号
* @param bigTaskActionResp 参数
* @return boolean
*/
boolean sendSweeperCloudSuspendResumeTaskResp(@NonNull String reqNo, @NonNull SweeperTaskCloudSuspendResume.BigTaskActionResp bigTaskActionResp);
// TODO 需求暂停 待讨论
// boolean getRoutes();

14
libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/OnAdasListener.java
View File

@@ -13,9 +13,10 @@ import com.zhjt.mogo.adas.data.bean.UnableAutopilotReason;
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;
import com.zhjt.mogo.adas.data.sweeper.task.SweeperTaskSuspendResume;
import com.zhjt.mogo.adas.data.sweeper.task.big.SweeperBigTaskStatus;
import com.zhjt.mogo.adas.data.sweeper.task.cloud.s_r.SweeperTaskCloudSuspendResume;
import com.zhjt.mogo.adas.data.sweeper.task.confirm.SweeperTaskConfirm;
import com.zhjt.mogo.adas.data.sweeper.task.s_r.SweeperTaskSuspendResume;
import com.zhjt.mogo.adas.data.sweeper.task.status.SweeperTaskStatus;
import com.zhjt.mogo.adas.data.sweeper.task.stop.SweeperTaskStop;
@@ -370,6 +371,17 @@ public interface OnAdasListener {
*/
void onSweeperFutianCloudBigTaskStatus(@NonNull MessagePad.Header header, @NonNull SweeperCloudTask.MessageType messageType, @Nullable String reqNo, long sysTime, @Nullable SweeperBigTaskStatus.BigTaskStatusPush bigTaskStatusPush);
/**
* 10、云端下发任务暂停/恢复指令到pad（type: 100010）-> sweeper_task_cloud_suspend_resume.proto
*
* @param header 头
* @param messageType 消息类型
* @param reqNo 请求编号
* @param sysTime 当前时间戳
* @param bigTaskActionPush 数据
*/
void onSweeperFutianCloudTaskCloudSuspendResume(@NonNull MessagePad.Header header, @NonNull SweeperCloudTask.MessageType messageType, @Nullable String reqNo, long sysTime, @Nullable SweeperTaskCloudSuspendResume.BigTaskActionPush bigTaskActionPush);
/**
* 清扫车云端任务未知类型
*

46
libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/msg/SweeperCloudTaskMessage.java
View File

@@ -1,11 +1,9 @@
package com.zhidao.support.adas.high.msg;
import android.os.SystemClock;
import android.util.Log;
import com.google.protobuf.ByteString;
import com.google.protobuf.InvalidProtocolBufferException;
import com.google.protobuf.TextFormat;
import com.zhidao.support.adas.high.AdasChannel;
import com.zhidao.support.adas.high.OnAdasListener;
import com.zhidao.support.adas.high.common.ByteUtil;
@@ -14,9 +12,10 @@ import com.zhidao.support.adas.high.protocol.RawData;
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;
import com.zhjt.mogo.adas.data.sweeper.task.SweeperTaskSuspendResume;
import com.zhjt.mogo.adas.data.sweeper.task.big.SweeperBigTaskStatus;
import com.zhjt.mogo.adas.data.sweeper.task.cloud.s_r.SweeperTaskCloudSuspendResume;
import com.zhjt.mogo.adas.data.sweeper.task.confirm.SweeperTaskConfirm;
import com.zhjt.mogo.adas.data.sweeper.task.s_r.SweeperTaskSuspendResume;
import com.zhjt.mogo.adas.data.sweeper.task.status.SweeperTaskStatus;
import com.zhjt.mogo.adas.data.sweeper.task.stop.SweeperTaskStop;
@@ -44,7 +43,7 @@ public class SweeperCloudTaskMessage extends MyAbstractMessageHandler {
String reqNo = message.getReqNo(); //请求编号，响应请求时，使用请求方的请求编号
long sysTime = message.getSysTime(); //当前时间戳
ByteString payload = message.getPayload();
Log.i("SweeperCloudTaskMessage", "MsgType=" + (msgType == null ? "null" : msgType.getNumber()) + " reqNo=" + reqNo + " sysTime=" + sysTime);
CupidLogUtils.i("SweeperCloudTaskMessage", "MsgType=" + (msgType == null ? "null" : msgType.getNumber()) + " reqNo=" + reqNo + " sysTime=" + sysTime);
boolean isExistPayload = payload != null && !payload.isEmpty();
if (msgType == SweeperCloudTask.MessageType.CloudPushTask || msgType == SweeperCloudTask.MessageType.PadSendGetTaskReq) {
//1、云端下发大任务信息（type: 100001）-> sweeper_task.proto
@@ -53,8 +52,8 @@ public class SweeperCloudTaskMessage extends MyAbstractMessageHandler {
if (isExistPayload) {
taskInfo = SweeperTask.TaskInfo.parseFrom(payload);
}
Log.i("SweeperCloudTaskMessage", " msgType=" + msgType + " " + (taskInfo == null ? "null" :
TextFormat.printer().escapingNonAscii(false).printToString(taskInfo)));
// Log.i("SweeperCloudTaskMessage", " msgType=" + msgType + " " + (taskInfo == null ? "null" :
// TextFormat.printer().escapingNonAscii(false).printToString(taskInfo)));
adasListener.onSweeperFutianCloudTask(header, msgType, reqNo, sysTime, taskInfo);
} else if (msgType == SweeperCloudTask.MessageType.CloudPushTaskConfirm) {
//2、云端下发子任务，请求pad确认（type：100002）-> sweeper_task_confirm.proto
@@ -62,8 +61,8 @@ public class SweeperCloudTaskMessage extends MyAbstractMessageHandler {
if (isExistPayload) {
taskConfirm = SweeperTaskConfirm.TaskConfirm.parseFrom(payload);
}
Log.i("SweeperCloudTaskMessage", " msgType=" + msgType + " " + (taskConfirm == null ? "null" :
TextFormat.printer().escapingNonAscii(false).printToString(taskConfirm)));
// Log.i("SweeperCloudTaskMessage", " msgType=" + msgType + " " + (taskConfirm == null ? "null" :
// TextFormat.printer().escapingNonAscii(false).printToString(taskConfirm)));
adasListener.onSweeperFutianCloudTaskConfirm(header, msgType, reqNo, sysTime, taskConfirm);
} else if (msgType == SweeperCloudTask.MessageType.CloudPushTaskStatus) {
//3、云端下发任务状态到pad（type：100003）-> sweeper_task_status.proto
@@ -71,8 +70,8 @@ public class SweeperCloudTaskMessage extends MyAbstractMessageHandler {
if (isExistPayload) {
taskStatusPush = SweeperTaskStatus.TaskStatusPush.parseFrom(payload);
}
Log.i("SweeperCloudTaskMessage", " msgType=" + msgType + " " + (taskStatusPush == null ? "null" :
TextFormat.printer().escapingNonAscii(false).printToString(taskStatusPush)));
// Log.i("SweeperCloudTaskMessage", " msgType=" + msgType + " " + (taskStatusPush == null ? "null" :
// TextFormat.printer().escapingNonAscii(false).printToString(taskStatusPush)));
adasListener.onSweeperFutianCloudTaskStatus(header, msgType, reqNo, sysTime, taskStatusPush);
} else if (msgType == SweeperCloudTask.MessageType.CloudPushTaskStop) {
//4、云端请求pad结束任务（type：100004）-> sweeper_task_stop.proto
@@ -80,8 +79,8 @@ public class SweeperCloudTaskMessage extends MyAbstractMessageHandler {
if (isExistPayload) {
stopTaskReq = SweeperTaskStop.StopTaskReq.parseFrom(payload);
}
Log.i("SweeperCloudTaskMessage", " msgType=" + msgType + " " + (stopTaskReq == null ? "null" :
TextFormat.printer().escapingNonAscii(false).printToString(stopTaskReq)));
// Log.i("SweeperCloudTaskMessage", " msgType=" + msgType + " " + (stopTaskReq == null ? "null" :
// TextFormat.printer().escapingNonAscii(false).printToString(stopTaskReq)));
adasListener.onSweeperFutianCloudTaskStop(header, msgType, reqNo, sysTime, stopTaskReq);
} else if (msgType == SweeperCloudTask.MessageType.PadSendTaskSuspend || msgType == SweeperCloudTask.MessageType.PadSendTaskResume) {
//5、pad请求挂起任务（type：100005）-> sweeper_task_suspend_resume.proto
@@ -90,8 +89,8 @@ public class SweeperCloudTaskMessage extends MyAbstractMessageHandler {
if (isExistPayload) {
suspendResumeTaskResp = SweeperTaskSuspendResume.SuspendResumeTaskResp.parseFrom(payload);
}
Log.i("SweeperCloudTaskMessage", " msgType=" + msgType + " " + (suspendResumeTaskResp == null ? "null" :
TextFormat.printer().escapingNonAscii(false).printToString(suspendResumeTaskResp)));
// Log.i("SweeperCloudTaskMessage", " msgType=" + msgType + " " + (suspendResumeTaskResp == null ? "null" :
// TextFormat.printer().escapingNonAscii(false).printToString(suspendResumeTaskResp)));
adasListener.onSweeperFutianCloudTaskSuspendResume(header, msgType, reqNo, sysTime, suspendResumeTaskResp);
} else if (msgType == SweeperCloudTask.MessageType.PadSendBootable) {
//8、接管后回自驾-pad上报状态给云端 云端下发启动自驾（type: 100008）-> sweeper_autopilot.proto
@@ -99,8 +98,8 @@ public class SweeperCloudTaskMessage extends MyAbstractMessageHandler {
if (isExistPayload) {
isBootableResp = SweeperBootable.IsBootableResp.parseFrom(payload);
}
Log.i("SweeperCloudTaskMessage", " msgType=" + msgType + " " + (isBootableResp == null ? "null" :
TextFormat.printer().escapingNonAscii(false).printToString(isBootableResp)));
// Log.i("SweeperCloudTaskMessage", " msgType=" + msgType + " " + (isBootableResp == null ? "null" :
// TextFormat.printer().escapingNonAscii(false).printToString(isBootableResp)));
adasListener.onSweeperFutianCloudBootable(header, msgType, reqNo, sysTime, isBootableResp);
} else if (msgType == SweeperCloudTask.MessageType.CloudPushBigTaskStatus) {
//9、云端下发pad大任务状态（type: 100009）-> sweeper_big_task_status.proto
@@ -108,12 +107,21 @@ public class SweeperCloudTaskMessage extends MyAbstractMessageHandler {
if (isExistPayload) {
bigTaskStatusPush = SweeperBigTaskStatus.BigTaskStatusPush.parseFrom(payload);
}
Log.i("SweeperCloudTaskMessage", " msgType=" + msgType + " " + (bigTaskStatusPush == null ? "null" :
TextFormat.printer().escapingNonAscii(false).printToString(bigTaskStatusPush)));
// Log.i("SweeperCloudTaskMessage", " msgType=" + msgType + " " + (bigTaskStatusPush == null ? "null" :
// TextFormat.printer().escapingNonAscii(false).printToString(bigTaskStatusPush)));
adasListener.onSweeperFutianCloudBigTaskStatus(header, msgType, reqNo, sysTime, bigTaskStatusPush);
} else if (msgType == SweeperCloudTask.MessageType.CloudPushTaskSuspendResume) {
//10、云端下发任务暂停/恢复指令到pad（type: 100010）
SweeperTaskCloudSuspendResume.BigTaskActionPush bigTaskActionPush = null;
if (isExistPayload) {
bigTaskActionPush = SweeperTaskCloudSuspendResume.BigTaskActionPush.parseFrom(payload);
}
// Log.i("SweeperCloudTaskMessage", " msgType=" + msgType + " " + (bigTaskActionPush == null ? "null" :
// TextFormat.printer().escapingNonAscii(false).printToString(bigTaskActionPush)));
adasListener.onSweeperFutianCloudTaskCloudSuspendResume(header, msgType, reqNo, sysTime, bigTaskActionPush);
} else {
//未知数据类型
Log.i("SweeperCloudTaskMessage", " 错误数据=" + ByteUtil.byteArrToHex(bytes));
CupidLogUtils.i("SweeperCloudTaskMessage", " 错误数据=" + ByteUtil.byteArrToHex(bytes));
adasListener.onSweeperFutianCloudTaskUnknown(header, bytes);
}
}