[dev_arch_opt_3.0]
[Change] [ 1、临时修改清扫车异常，如果合并到dev_robosweeper-d_app-module_221230_1.1.0分支，这里修改可以不提交 ] Signed-off-by: donghongyu <donghongyu@zhidaoauto.com>
This commit is contained in:
donghongyu
@@ -6,9 +6,18 @@ import android.view.LayoutInflater;
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import android.widget.ImageView;
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import android.widget.TextView;
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import com.mogo.eagle.core.function.api.autopilot.IMoGoAutopilotVehicleStateListener;
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import androidx.annotation.NonNull;
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import androidx.annotation.Nullable;
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import androidx.constraintlayout.widget.ConstraintLayout;
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import com.mogo.eagle.core.function.api.autopilot.IMoGoChassisGearStateListener;
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import com.mogo.eagle.core.function.api.autopilot.IMoGoChassisLamplightListener;
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import com.mogo.eagle.core.function.api.autopilot.IMoGoChassisSteeringStateListener;
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import com.mogo.eagle.core.function.api.v2x.LimitingVelocityListener;
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import com.mogo.eagle.core.function.call.autopilot.CallerAutopilotVehicleStateListenerManager;
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import com.mogo.eagle.core.function.call.autopilot.CallerChassisGearStateListenerManager;
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import com.mogo.eagle.core.function.call.autopilot.CallerChassisLamplightListenerManager;
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import com.mogo.eagle.core.function.call.autopilot.CallerChassisSteeringStateListenerManager;
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import com.mogo.eagle.core.function.call.v2x.CallLimitingVelocityListenerManager;
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import com.mogo.eagle.core.function.hmi.ui.widget.TapPositionView;
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import com.mogo.eagle.core.utilcode.mogo.logger.CallerLogger;
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@@ -17,13 +26,12 @@ import com.mogo.och.sweeper.R;
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import org.jetbrains.annotations.NotNull;
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import androidx.annotation.NonNull;
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import androidx.annotation.Nullable;
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import androidx.constraintlayout.widget.ConstraintLayout;
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import chassis.Chassis;
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import chassis.VehicleStateOuterClass;
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public class SweeperTrafficDataView extends ConstraintLayout {
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public class SweeperTrafficDataView extends ConstraintLayout
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implements IMoGoChassisLamplightListener,
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IMoGoChassisSteeringStateListener,
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IMoGoChassisGearStateListener {
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private static final String TAG = "SweeperTrafficDataView";
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private TapPositionView tapPositionView;//方向盘
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private ImageView speedImage;//速度图标
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@@ -58,7 +66,10 @@ public class SweeperTrafficDataView extends ConstraintLayout {
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@Override
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protected void onAttachedToWindow() {
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super.onAttachedToWindow();
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CallerAutopilotVehicleStateListenerManager.INSTANCE.addListener(TAG, mIMoGoAutopilotVehicleStateListener);
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//添加 底盘灯光数据 监听
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CallerChassisLamplightListenerManager.INSTANCE.addListener(TAG, this);
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CallerChassisSteeringStateListenerManager.INSTANCE.addListener(TAG, this);
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CallerChassisGearStateListenerManager.INSTANCE.addListener(TAG, this);
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//增加限速监听
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CallLimitingVelocityListenerManager.INSTANCE.addListener(TAG,limitingVelocityListener);
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}
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@@ -66,90 +77,68 @@ public class SweeperTrafficDataView extends ConstraintLayout {
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@Override
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protected void onDetachedFromWindow() {
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super.onDetachedFromWindow();
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CallerAutopilotVehicleStateListenerManager.INSTANCE.removeListener(mIMoGoAutopilotVehicleStateListener);
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// 移除 底盘灯光数据 监听
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CallerChassisLamplightListenerManager.INSTANCE.removeListener(TAG);
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CallerChassisSteeringStateListenerManager.INSTANCE.removeListener(TAG);
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CallerChassisGearStateListenerManager.INSTANCE.removeListener(TAG);
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CallLimitingVelocityListenerManager.INSTANCE.removeListener(limitingVelocityListener);
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}
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private final IMoGoAutopilotVehicleStateListener mIMoGoAutopilotVehicleStateListener = new IMoGoAutopilotVehicleStateListener() {
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@Override
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public void onSweeperFutianCleanSystemState(@NonNull VehicleStateOuterClass.SweeperFuTianCleanSystemState cleanSystemState) {
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}
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/**
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* 车辆转向灯
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* @param lightSwitch
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*/
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@Override
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public void onAutopilotLightSwitchData(@org.jetbrains.annotations.Nullable Chassis.LightSwitch lightSwitch) {
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//转向灯状态 0是正常 1是左转 2是右转
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if (lightSwitch != null) {
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CallerLogger.INSTANCE.d(TAG, "车辆转向灯:" + lightSwitch.toString());
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if (lightSwitch.getNumber()==1){
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sweeperTurnSignal.showLeftSignal();
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}else if(lightSwitch.getNumber()==2){
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sweeperTurnSignal.showRightSignal();
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}else{
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sweeperTurnSignal.showDirection();
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}
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/**
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* 车辆转向灯
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* @param lightSwitch
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*/
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@Override
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public void onAutopilotLightSwitchData(@org.jetbrains.annotations.Nullable Chassis.LightSwitch lightSwitch) {
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//转向灯状态 0是正常 1是左转 2是右转
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if (lightSwitch != null) {
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CallerLogger.INSTANCE.d(TAG, "车辆转向灯:" + lightSwitch.toString());
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if (lightSwitch.getNumber()==1){
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sweeperTurnSignal.showLeftSignal();
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}else if(lightSwitch.getNumber()==2){
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sweeperTurnSignal.showRightSignal();
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}else{
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sweeperTurnSignal.showDirection();
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}
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}
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}
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/**
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* 刹车灯
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* @param brakeLight
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*/
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@Override
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public void onAutopilotBrakeLightData(boolean brakeLight) {
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CallerLogger.INSTANCE.d(TAG, "刹车灯:" + brakeLight);
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/**
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* 刹车灯
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* @param brakeLight
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*/
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@Override
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public void onAutopilotBrakeLightData(boolean brakeLight) {
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CallerLogger.INSTANCE.d(TAG, "刹车灯:" + brakeLight);
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}
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/**
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* 方向盘转向角 左+右-
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* @param steering
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*/
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@Override
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public void onAutopilotSteeringData(float steering) {
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CallerLogger.INSTANCE.d(TAG, "steering原始值====" + steering);
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if (Math.abs(steering) < 1) {
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steering = 0;
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}
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CallerLogger.INSTANCE.d(TAG, "steering忽略小数点后====" + (int) steering);
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}
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/**
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* 方向盘转向角 左+右-
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* @param steering
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*/
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@Override
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public void onAutopilotSteeringData(float steering) {
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CallerLogger.INSTANCE.d(TAG, "steering原始值====" + steering);
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if (Math.abs(steering) < 1) {
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steering = 0;
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/**
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* 档位
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* @param gear
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*/
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@Override
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public void onAutopilotGearData(@NotNull Chassis.GearPosition gear) {
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CallerLogger.INSTANCE.d(TAG, "司机屏档位" + gear.toString());
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ThreadUtils.runOnUiThread(() -> {
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if (tapPositionView != null) {
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tapPositionView.updateWithGear(gear);
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}
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CallerLogger.INSTANCE.d(TAG, "steering忽略小数点后====" + (int) steering);
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}
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});
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}
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/**
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* 档位
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* @param gear
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*/
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@Override
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public void onAutopilotGearData(@NotNull Chassis.GearPosition gear) {
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CallerLogger.INSTANCE.d(TAG, "司机屏档位" + gear.toString());
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ThreadUtils.runOnUiThread(() -> {
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if (tapPositionView != null) {
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tapPositionView.updateWithGear(gear);
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}
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});
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}
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@Override
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public void onAutopilotDataException(long timestamp) {
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}
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@Override
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public void onAutopilotAcc(float carAcc) {
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}
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@Override
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public void onAutopilotBrake(float brake) {
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CallerLogger.INSTANCE.d(TAG, "刹车:" + brake);
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}
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@Override
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public void onAutopilotThrottle(float throttle) {
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CallerLogger.INSTANCE.d(TAG, "油门:" + throttle);
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}
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};
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/**
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* 限速监听
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*/
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@@ -172,4 +161,5 @@ public class SweeperTrafficDataView extends ConstraintLayout {
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speedImage.setBackgroundResource(newSpeed > 60 ? R.drawable.sweeper_traffic_data_speed_warning :R.drawable.sweeper_bg_traffic_data_speed);
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}
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}
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}
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