[3.4.0] add func of door state invoke

2023-07-20 16:50:22 +08:00
parent 512cdd77b4
commit 73da6671bd
8 changed files with 147 additions and 11 deletions
--- a/core/mogo-core-function-call/src/main/java/com/mogo/eagle/core/function/call/autopilot/CallerChassisDoorStateListenerManager.kt
+++ b/core/mogo-core-function-call/src/main/java/com/mogo/eagle/core/function/call/autopilot/CallerChassisDoorStateListenerManager.kt
@@ -0,0 +1,108 @@
+package com.mogo.eagle.core.function.call.autopilot
+
+import chassis.Chassis
+import chassis.VehicleStateOuterClass
+import com.mogo.eagle.core.function.api.autopilot.IMoGoChassisDoorStateListener
+import com.mogo.eagle.core.function.call.base.CallerBase
+import java.util.*
+import kotlin.properties.Delegates
+
+/**
+ * 车门数据 回调监听
+ */
+object CallerChassisDoorStateListenerManager : CallerBase<IMoGoChassisDoorStateListener>() {
+
+    private val listCache = Collections.emptyList<VehicleStateOuterClass.DoorStateV2>()
+
+    private var frontLeft by Delegates.observable(0) { _, oldV, newV ->
+        if (oldV != newV) {
+            invokeSingleDoorState(Chassis.DoorNumber.FRONT_LEFT, newV)
+        }
+    }
+
+    private var frontRight by Delegates.observable(0) { _, oldV, newV ->
+        if (oldV != newV) {
+            invokeSingleDoorState(Chassis.DoorNumber.FRONT_RIGHT, newV)
+        }
+    }
+
+    private var backLeft by Delegates.observable(0) { _, oldV, newV ->
+        if (oldV != newV) {
+            invokeSingleDoorState(Chassis.DoorNumber.REAR_LEFT, newV)
+        }
+    }
+
+    private var backRight by Delegates.observable(0) { _, oldV, newV ->
+        if (oldV != newV) {
+            invokeSingleDoorState(Chassis.DoorNumber.REAR_RIGHT, newV)
+        }
+    }
+
+    private var middle by Delegates.observable(0) { _, oldV, newV ->
+        if (oldV != newV) {
+            invokeSingleDoorState(Chassis.DoorNumber.MIDDLE, newV)
+        }
+    }
+
+    override fun doSomeAfterAddListener(tag: String, listener: IMoGoChassisDoorStateListener) {
+        super.doSomeAfterAddListener(tag, listener)
+        if (listCache.size > 0) {
+            listener.onAutopilotDoorState(listCache)
+        }
+    }
+
+    /**
+     * 车门状态
+     */
+    fun invokeAutopilotDoorState(doorList: MutableList<VehicleStateOuterClass.DoorStateV2>) {
+        listCache.addAll(doorList)
+        doorList.forEach {
+            when (it.number) {
+                Chassis.DoorNumber.FRONT_LEFT -> frontLeft = it.status
+                Chassis.DoorNumber.FRONT_RIGHT -> frontRight = it.status
+                Chassis.DoorNumber.REAR_LEFT -> backLeft = it.status
+                Chassis.DoorNumber.REAR_RIGHT -> backRight = it.status
+                Chassis.DoorNumber.MIDDLE -> middle = it.status
+                else -> {}
+            }
+        }
+        M_LISTENERS.forEach {
+            val listener = it.value
+            listener.onAutopilotDoorState(doorList)
+        }
+    }
+
+    @Synchronized
+    private fun invokeSingleDoorState(num: Chassis.DoorNumber, value: Int) {
+        M_LISTENERS.forEach {
+            val listener = it.value
+            listener.onAutopilotSingleDoorState(num, value == 1)
+        }
+    }
+
+    /**
+     * 返回所有门状态
+     */
+    fun getDoorList(): List<VehicleStateOuterClass.DoorStateV2>? {
+        return if (listCache.size > 0) listCache else null
+    }
+
+    /**
+     * 获取某个门的状态
+     * @param num
+     * @return true:开门，false:关门
+     */
+    fun getIndexDoorState(num: Chassis.DoorNumber): Boolean {
+        return when (num) {
+            Chassis.DoorNumber.FRONT_LEFT -> frontLeft == 1
+            Chassis.DoorNumber.FRONT_RIGHT -> frontRight == 1
+            Chassis.DoorNumber.REAR_LEFT -> backLeft == 1
+            Chassis.DoorNumber.REAR_RIGHT -> backRight == 1
+            Chassis.DoorNumber.MIDDLE -> middle == 1
+            else -> {
+                false
+            }
+        }
+    }
+}
+