[sweeper-cloud]

refactor: 接收自动驾驶轨迹 加上时间间隔过滤；
refactor: 人工驾驶子任务因为MAP问题，先过滤掉；
log: 增加 红绿灯 日志打印；

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

@@ -1,7 +1,13 @@
 package com.mogo.och.sweepercloud.model;
 
+import static com.mogo.eagle.core.utilcode.mogo.logger.scene.SceneConstant.M_SWEEPER;
+import static com.mogo.och.sweepercloud.util.SweeperCloudTaskUtils.printMessage;
+
 import android.content.Context;
 
+import androidx.annotation.NonNull;
+import androidx.annotation.Nullable;
+
 import com.amap.api.maps.model.LatLng;
 import com.mogo.cloud.passport.MoGoAiCloudClientConfig;
 import com.mogo.commons.AbsMogoApplication;
@@ -50,8 +56,6 @@ import java.util.ArrayList;
 import java.util.HashMap;
 import java.util.List;
 
-import androidx.annotation.NonNull;
-import androidx.annotation.Nullable;
 import chassis.ChassisStatesOuterClass;
 import io.reactivex.exceptions.UndeliverableException;
 import io.reactivex.functions.Consumer;
@@ -61,9 +65,6 @@ import mogo_msg.MogoReportMsg;
 import planning.RoboSweeperTaskIndexOuterClass;
 import system_master.SystemStatusInfo;
 
-import static com.mogo.eagle.core.utilcode.mogo.logger.scene.SceneConstant.M_SWEEPER;
-import static com.mogo.och.sweepercloud.util.SweeperCloudTaskUtils.printMessage;
-
 /**
  * @author congtaowang
  * @since 2021/3/23
@@ -95,6 +96,11 @@ public class SweeperTaskModel implements IMoGoSweeperFutianCloudTaskListener, IM
     // 贴边数据当前时间戳
     private long mWeltDataCurrentTimeMillis;
 
+    // 轨迹数据回调时间间隔
+    private static final long ROUTE_DATA_INTERVAL_MILLIS = 1000L;
+    // 轨迹数据当前时间戳
+    private long mRouteDataCurrentTimeMillis;
+
     private String longitude;//经度
 
     private String latitude;//纬度
@@ -191,6 +197,15 @@ public class SweeperTaskModel implements IMoGoSweeperFutianCloudTaskListener, IM
         public void onAutopilotRotting(MessagePad.GlobalPathResp routeList) {
             if (null != routeList && routeList.getWayPointsList() != null && routeList.getWayPointsList().size() > 0) {
                 CallerLogger.INSTANCE.d(M_SWEEPER + TAG,"onAutopilotRotting: "+printMessage(routeList));
+
+                // MAP返回路线信息，在1秒内返回了2次，这里加上数据过滤
+                long current = System.currentTimeMillis();
+                if (current - mRouteDataCurrentTimeMillis <= ROUTE_DATA_INTERVAL_MILLIS) {
+                    CallerLogger.INSTANCE.d(M_SWEEPER + TAG,"onAutopilotRotting: interval <=" + ROUTE_DATA_INTERVAL_MILLIS + " data is abandon");
+                    return;
+                }
+                mRouteDataCurrentTimeMillis = current;
+
                 if (mCurrentLineId != mLineId) {//判断是否同一条路线
                     CallerLogger.INSTANCE.d(M_SWEEPER + TAG,"onAutopilotRotting: mCurrentLineId"+mCurrentLineId+"mLineId："+mLineId);
                     mLineId = mCurrentLineId;
@@ -415,18 +430,26 @@ public class SweeperTaskModel implements IMoGoSweeperFutianCloudTaskListener, IM
         if (roboSweeperTaskIndex == null) {
             return;
         }
-        //没有任务数据时，不处理贴边
-        if (!isHasTaskInfo){
-            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;
+        }
+
+        //人工子任务 当前因为云控需求时MAP不能获取任务状态，在人工子任务时还是返回的上一个任务的贴边数据
+        // 所以 20230529 暂时过滤掉，待后面MAP处理后这里的过滤可以删除
+        if (mSubTaskType == SweeperTask.TaskModel.MANUAL) {
+            return;
+        }
+
         CallerLogger.INSTANCE.d(M_SWEEPER + TAG, "mSubTaskType："+mSubTaskType+"+ onSweeperFutianTaskIndexData：" + printMessage(roboSweeperTaskIndex));
         handleWeltData(roboSweeperTaskIndex);
-
     }
 
     /**
@@ -487,11 +510,6 @@ public class SweeperTaskModel implements IMoGoSweeperFutianCloudTaskListener, IM
         CallerLogger.INSTANCE.d(M_SWEEPER + TAG,
                 "getCurrentTask:" + printMessage(getTaskReq) + " reqNo:" + reqNo + " messageType:" + SweeperCloudTask.MessageType.PadSendGetTaskReq.getNumber());
         getAutoPilotControlManager().sendSweeperGetTaskReq(reqNo, getTaskReq);
-        // TODO: 2023/5/5 模拟云控获取任务
-//        UiThreadHandler.postDelayed(() -> {
-//            SweeperCloudTaskUtils.mockSendCloudTaskInfo(SweeperCloudTask.MessageType.PadSendGetTaskReq);
-//        }, 1000);
-
     }
 
     /**

OCH/sweeper/sweeper-cloud/src/main/java/com/mogo/och/sweepercloud/view/SweeperTrafficLightView.kt

@@ -70,6 +70,7 @@ class SweeperTrafficLightView @JvmOverloads constructor(
             sweeper_traffic_light_iv.setImageResource(R.drawable.sweeper_light_gay_nor)
             sweeper_traffic_light_time_tv.text = ""
             this@SweeperTrafficLightView.visibility = VISIBLE
+            CallerLogger.d(SceneConstant.M_SWEEPER + TAG,"灯态类型：disableTrafficLight")
         }
     }