[状态栏]RTK状态逻辑优化

[状态栏]xxx

[状态栏]优化循迹或算路异常判断

[状态栏]优化算路或

core/function-impl/mogo-core-function-devatools/src/main/java/com/zhjt/mogo_core_function_devatools/status/StatusManager.kt

@@ -11,6 +11,7 @@ import androidx.lifecycle.Lifecycle.Event.ON_DESTROY
 import com.mogo.eagle.core.function.api.autopilot.IMoGoAutopilotStatusListener
 import com.mogo.eagle.core.function.call.autopilot.*
 import com.mogo.eagle.core.utilcode.kotlin.*
+import com.mogo.eagle.core.utilcode.mogo.logger.*
 import com.mogo.eagle.core.utilcode.util.*
 import com.zhjt.mogo_core_function_devatools.status.entity.CanStatus
 import com.zhjt.mogo_core_function_devatools.status.entity.GpsStatus
@@ -39,21 +40,18 @@ object StatusManager {
     private const val TAG = "StatusManager"
 
     private lateinit var model: StatusModel
-
     private var timer: Job? = null
-
-
     private var hasInit = false
-
     private val listeners by lazy { CopyOnWriteArrayList<IStatusListener>() }
 
-
     private val listener = object : IMoGoAutopilotStatusListener {
         override fun onAutopilotGuardian(guardianInfo: MogoReportMsg.MogoReportMessage?) {
             super.onAutopilotGuardian(guardianInfo)
             guardianInfo?.code?.takeIf {
-                it.contains("RTK_STATUS", true) || it.contains("CAN", true)
+                Logger.d(TAG, "-- onAutopilotGuardian ---: code: $it")
+                it.contains("RTK_STATUS", true) || it.contains("CAN", true) || it == "ILCT_RTK_OR_SLAM_CHANGE"
             }?.run {
+                Logger.d(TAG, "-- onAutopilotGuardian trigger req ---: code: $this")
                 req()
             }
         }
@@ -176,7 +174,6 @@ object StatusManager {
     }
 
     interface IStatusListener {
-
         fun onStatusChanged(data: List<Status>, hasException: Boolean)
     }
 }

core/function-impl/mogo-core-function-devatools/src/main/java/com/zhjt/mogo_core_function_devatools/status/entity/Status.kt

@@ -1,9 +1,18 @@
 package com.zhjt.mogo_core_function_devatools.status.entity
 
+import com.mogo.eagle.core.function.api.autopilot.*
+import com.mogo.eagle.core.function.call.autopilot.*
 import com.zhjt.mogo_core_function_devatools.status.entity.TracingStatus.Tracing
 import com.zhjt.mogo_core_function_devatools.status.entity.TracingStatus.Tracing.*
 
-sealed class Status
+sealed class Status {
+
+    abstract fun isException(): Boolean
+
+    abstract override fun equals(other: Any?): Boolean
+
+    abstract override fun hashCode(): Int
+}
 
 /**
  * 工控机
@@ -24,15 +33,11 @@ class IpcStatus(val enabled: Boolean = false): Status() {
     override fun toString(): String {
         return "IpcStatus(enabled=$enabled)"
     }
+
+    override fun isException(): Boolean = !enabled
 }
 
-class NetStatus(val enabled: Boolean = false, var name: String? = null, val speed: Speed? = null): Status() {
-    class Speed(val tx: Int, val rx: Int) {
-
-        override fun toString(): String {
-            return "Speed(tx=$tx, rx=$rx)"
-        }
-    }
+class NetStatus(val enabled: Boolean = false, var name: String? = null): Status() {
 
     override fun equals(other: Any?): Boolean {
         if (javaClass != other?.javaClass) return false
@@ -49,8 +54,10 @@ class NetStatus(val enabled: Boolean = false, var name: String? = null, val spee
     }
 
     override fun toString(): String {
-        return "NetStatus(enabled=$enabled, name=$name, speed=$speed)"
+        return "NetStatus(enabled=$enabled, name=$name)"
     }
+
+    override fun isException(): Boolean = !enabled
 }
 
 /**
@@ -76,27 +83,38 @@ class GpsStatus(val enabled: Boolean = false, val isGranted: Boolean = false): S
     override fun toString(): String {
         return "GpsStatus(enabled=$enabled, isGranted=$isGranted)"
     }
+
+    override fun isException(): Boolean = !enabled || !isGranted
 }
 
 /**
  * RTK/GNSS定位状态
  */
-class RTKStatus(var enabled: Boolean = false, var desc: String = "RTK"): Status() {
+class RTKStatus(var desc: String = "", var state: Int): Status() {
 
     override fun equals(other: Any?): Boolean {
         if (javaClass != other?.javaClass) return false
         other as RTKStatus
-        if (enabled != other.enabled) return false
-
         if (desc != other.desc) {
             return false
         }
+        if (state != other.state) {
+            return false
+        }
         return true
     }
 
     override fun hashCode(): Int {
-        return enabled.hashCode()
+        var result = desc.hashCode()
+        result = 31 * result + state
+        return result
     }
+
+    override fun toString(): String {
+        return "RTKStatus(desc='$desc', state=$state)"
+    }
+
+    override fun isException(): Boolean = desc.isEmpty() || (desc == "RTK") && state != 0
 }
 
 /**
@@ -119,7 +137,7 @@ class CanStatus(var enabled: Boolean = false): Status() {
         return "CanStatus(enabled=$enabled)"
     }
 
-
+    override fun isException(): Boolean = !enabled
 }
 
 /**
@@ -163,9 +181,13 @@ class TracingStatus(var state: Tracing = UNKNOWN): Status() {
          */
         UNKNOWN;
 
-        fun isException(): Boolean = when (this) {
-            TRACK_FINDED, TRACK_NOT_EXIST, TRACK_LOAD_FAIL, ROUTE_FAILED, UNKNOWN -> true
-            else -> false
+        fun isException(): Boolean {
+            val c1 = when (this) {
+                TRACK_FINDED, TRACK_NOT_EXIST, TRACK_LOAD_FAIL, ROUTE_FAILED, UNKNOWN -> true
+                else -> false
+            }
+            val c2 = CallerAutoPilotStatusListenerManager.getAutoPilotStatusInfo().state != IMoGoAutopilotStatusListener.STATUS_AUTOPILOT_DISABLE
+            return c1 and c2
         }
     }
 
@@ -186,6 +208,8 @@ class TracingStatus(var state: Tracing = UNKNOWN): Status() {
     override fun hashCode(): Int {
         return state.hashCode()
     }
+
+    override fun isException(): Boolean = state.isException()
 }
 
 fun String.toState(): Tracing? {

core/function-impl/mogo-core-function-devatools/src/main/java/com/zhjt/mogo_core_function_devatools/status/flow/nets/NetsImpl.kt

@@ -7,13 +7,11 @@ import android.net.*
 import android.net.wifi.*
 import android.os.Build.VERSION
 import android.os.Build.VERSION_CODES
-import android.util.*
 import androidx.core.location.*
 import com.mogo.eagle.core.utilcode.kotlin.*
 import com.mogo.eagle.core.utilcode.util.*
 import com.zhjt.mogo_core_function_devatools.status.flow.IFlow
 import com.zhjt.mogo_core_function_devatools.status.entity.NetStatus
-import com.zhjt.mogo_core_function_devatools.status.entity.NetStatus.Speed
 import kotlinx.coroutines.*
 import java.util.concurrent.atomic.*
 
@@ -62,10 +60,6 @@ internal class NetsImpl(ctx: Context): IFlow<NetStatus>(ctx) {
         override fun onLinkPropertiesChanged(network: Network, linkProperties: LinkProperties) {
             super.onLinkPropertiesChanged(network, linkProperties)
         }
-
-        override fun onBlockedStatusChanged(network: Network, blocked: Boolean) {
-            super.onBlockedStatusChanged(network, blocked)
-        }
     }
 
 
@@ -89,16 +83,7 @@ internal class NetsImpl(ctx: Context): IFlow<NetStatus>(ctx) {
         val name = if (isLocationEnabled()) connectionInfo.ssid?.replace(Regex("[\\W]"), "") else "WI-FI"
         loopCheckAndSendJob?.safeCancel()
         launch(Dispatchers.Default) { delay(1000); checkAndSend() }.also { loopCheckAndSendJob = it }
-        var tr = 0
-        if (VERSION.SDK_INT >= VERSION_CODES.Q) {
-            tr = connectionInfo.txLinkSpeedMbps
-        }
-        var sr = 0
-        if (VERSION.SDK_INT >= VERSION_CODES.Q) {
-            sr = connectionInfo.rxLinkSpeedMbps
-        }
-        val speed = Speed(tr, sr)
-        send(enabled, name, speed)
+        send(enabled, name)
     }
 
     private fun isLocationEnabled() =
@@ -114,8 +99,8 @@ internal class NetsImpl(ctx: Context): IFlow<NetStatus>(ctx) {
             activeNetworkInfo != null && activeNetworkInfo.isConnected
         }
 
-    private fun send(enabled: Boolean, name: String?, speed: Speed? = null) {
-        send(NetStatus(enabled, name, speed))
+    private fun send(enabled: Boolean, name: String?) {
+        send(NetStatus(enabled, name))
     }
 
     override fun onDestroy() {

core/function-impl/mogo-core-function-devatools/src/main/java/com/zhjt/mogo_core_function_devatools/status/flow/rtk/RTKImpl.kt

@@ -4,83 +4,57 @@ import android.content.*
 import android.util.*
 import com.mogo.eagle.core.function.api.autopilot.*
 import com.mogo.eagle.core.function.call.autopilot.*
-import com.mogo.eagle.core.utilcode.kotlin.*
+import com.mogo.eagle.core.utilcode.mogo.logger.*
 import com.zhjt.mogo_core_function_devatools.status.entity.RTKStatus
 import com.zhjt.mogo_core_function_devatools.status.flow.IFlow
-import kotlinx.coroutines.*
-import mogo.telematics.pad.MessagePad.GnssInfo
 import system_master.SystemStatusInfo.HealthInfo
 import system_master.SystemStatusInfo.StatusInfo
 import java.util.concurrent.atomic.*
 
-internal class RTKImpl(ctx: Context): IFlow<RTKStatus>(ctx), IMoGoAutopilotCarStateListener, IMoGoAutopilotStatusListener {
+internal class RTKImpl(ctx: Context): IFlow<RTKStatus>(ctx), IMoGoAutopilotStatusListener {
     companion object {
         const val TAG = "RTKImpl"
     }
 
-    private var job: Job? = null
-
     private val healthInfo by lazy {
         AtomicReference<HealthInfo>(null)
     }
 
     override fun onCreate() {
-        send(RTKStatus(isRTKEnabled()))
-        Log.d(TAG, "-- onCreate --")
-        CallerAutopilotCarStatusListenerManager.addListener(TAG, this)
+        send(RTKStatus(getDesc(), getCode()))
+        Logger.d(TAG, "-- onCreate --")
         CallerAutoPilotStatusListenerManager.addListener(TAG, this)
     }
 
-    private fun isRTKEnabled(): Boolean {
-        val code = CallerAutoPilotStatusListenerManager.getAutoPilotReportMessageCode()
-        val gnssInfo = CallerAutopilotCarStatusListenerManager.getCurrentGnssInfo()
-        val status = healthInfo.get()
-        return CallerAutoPilotManager.isConnected() && (
-                        code != "EHW_RTK" &&
-                        code != "EHW_GNSS" &&
-                        code != "ESYS_RTK_STATUS_FAULT" &&
-                        code != "ELCT_RTK_STATUS_FAULT" &&
-                        code != "ELCT_RTK_STATUS_UNKNOWN") && gnssInfo != null && (status == null || status.state?.ordinal == 0)
-    }
-
-    override fun onAutopilotCarStateData(gnssInfo: GnssInfo?) {
-        send(RTKStatus(isRTKEnabled(), getDesc()))
-        timeOutCheck()
-    }
-
-    override fun onAutopilotIpcConnectStatusChanged(status: Int, reason: String?) {
-        super.onAutopilotIpcConnectStatusChanged(status, reason)
-        send(RTKStatus(isRTKEnabled(), getDesc()))
-    }
-
     override fun onAutopilotStatusRespByQuery(status: StatusInfo) {
         val info = status.healthInfoList?.find { "localization".equals(it.name, true) }
         Log.d(TAG, "info: $info")
         if (info != null) {
             healthInfo.set(info)
+            send(RTKStatus(getDesc(), getCode()))
+        }
+    }
+
+    override fun onAutopilotIpcConnectStatusChanged(status: Int, reason: String?) {
+        super.onAutopilotIpcConnectStatusChanged(status, reason)
+        if (!CallerAutoPilotManager.isConnected()) {
+            Logger.d(TAG, "工控机断开了....")
+            healthInfo.set(null)
+            send(RTKStatus("", -1))
         }
     }
 
     private fun getDesc(): String {
-        return healthInfo.get()?.desc?.uppercase() ?: "RTK"
+        return healthInfo.get()?.desc?.uppercase() ?: ""
     }
 
-    private fun timeOutCheck() {
-        job?.safeCancel()
-        launch(Dispatchers.Default) {
-            delay(4000)
-            send(RTKStatus(isRTKEnabled(), getDesc()))
-        }.also { job = it  }
+    private fun getCode(): Int {
+        return healthInfo.get()?.state?.ordinal ?: -1
     }
 
     override fun onDestroy() {
         super.onDestroy()
-        Log.d(TAG, "-- onDestroy --")
-        try {
-            CallerAutopilotCarStatusListenerManager.removeListener(TAG)
-            CallerAutoPilotStatusListenerManager.removeListener(TAG)
-        } finally {
-            job?.safeCancel()
-        }
+        Logger.d(TAG, "-- onDestroy --")
+        CallerAutoPilotStatusListenerManager.removeListener(TAG)
     }
 }

core/function-impl/mogo-core-function-devatools/src/main/java/com/zhjt/mogo_core_function_devatools/status/flow/trace/TracingImpl.kt

@@ -37,11 +37,18 @@ internal class TracingImpl(ctx: Context): IFlow<TracingStatus>(ctx), IMoGoAutopi
         }
     }
 
+    override fun onAutopilotIpcConnectStatusChanged(status: Int, reason: String?) {
+        super.onAutopilotIpcConnectStatusChanged(status, reason)
+        if (!CallerAutoPilotManager.isConnected()) {
+            send(TracingStatus(UNKNOWN))
+        }
+    }
 
     override fun onAutopilotStatusResponse(autoPilotStatusInfo: AutopilotStatusInfo) {
         super.onAutopilotStatusResponse(autoPilotStatusInfo)
         if (autoPilotStatusInfo.state == IMoGoAutopilotStatusListener.STATUS_AUTOPILOT_DISABLE) {
             send(TracingStatus(UNKNOWN))
+            return
         }
         if (old.isException() && autoPilotStatusInfo.state == IMoGoAutopilotStatusListener.STATUS_AUTOPILOT_RUNNING) {
             send(TracingStatus(TRACK_LOADED))

core/function-impl/mogo-core-function-devatools/src/main/java/com/zhjt/mogo_core_function_devatools/status/model/StatusModel.kt

@@ -1,8 +1,6 @@
 package com.zhjt.mogo_core_function_devatools.status.model
 
-import android.util.*
 import androidx.lifecycle.*
-import com.mogo.eagle.core.function.api.autopilot.*
 import com.mogo.eagle.core.function.call.autopilot.*
 import com.zhjt.mogo_core_function_devatools.status.entity.CanStatus
 import com.zhjt.mogo_core_function_devatools.status.entity.GpsStatus
@@ -25,7 +23,7 @@ internal class StatusModel : ViewModel() {
             it += NetStatus(false)
             it += CanStatus(false)
             it += TracingStatus(UNKNOWN)
-            it += RTKStatus(false)
+            it += RTKStatus("", -1)
             it += GpsStatus(enabled = false, isGranted = false)
         })
     }
@@ -50,60 +48,7 @@ internal class StatusModel : ViewModel() {
     }
 
     private fun getExceptionStatus(l: ArrayList<Status>): Status? {
-        var ret: Status? = null
-        for (s in l) {
-            ret = when(s) {
-                is IpcStatus -> {
-                    if (!s.enabled) {
-                        s
-                    } else {
-                        null
-                    }
-                }
-                is CanStatus -> {
-                    if (CallerAutoPilotManager.isConnected() && !s.enabled) {
-                        s
-                    } else {
-                        null
-                    }
-                }
-                is NetStatus -> {
-                    if (!s.enabled) {
-                        s
-                    } else {
-                        null
-                    }
-                }
-                is GpsStatus -> {
-                    if (!s.enabled) {
-                        s
-                    } else {
-                        null
-                    }
-                }
-                is TracingStatus -> {
-                    val c1 = CallerAutoPilotStatusListenerManager.getAutoPilotStatusInfo().state != IMoGoAutopilotStatusListener.STATUS_AUTOPILOT_DISABLE
-                    val c2 = s.state.isException()
-                    if (c1 && c2) {
-                        s
-                    } else {
-                        null
-                    }
-                }
-                is RTKStatus -> {
-                    if (!s.enabled) {
-                        s
-                    } else {
-                        null
-                    }
-                }
-            }
-
-            if (ret != null) {
-                break
-            }
-        }
-        return ret
+        return l.find { it.isException() }
     }
 
     private fun ArrayList<Status>.updateOrInsert(s: Status) {

core/function-impl/mogo-core-function-devatools/src/main/java/com/zhjt/mogo_core_function_devatools/status/ui/adapter/StatusAdapter.kt

@@ -15,6 +15,7 @@ import com.zhjt.mogo_core_function_devatools.status.entity.IpcStatus
 import com.zhjt.mogo_core_function_devatools.status.entity.Status
 import com.zhjt.mogo_core_function_devatools.status.entity.TracingStatus.Tracing.*
 import com.zhjt.mogo_core_function_devatools.status.ui.adapter.StatusAdapter.StatusViewHolder
+import kotlinx.coroutines.*
 
 internal class StatusAdapter(val ctx: Context, var data: ArrayList<Status>): RecyclerView.Adapter<StatusViewHolder>() {
 
@@ -80,10 +81,18 @@ internal class StatusAdapter(val ctx: Context, var data: ArrayList<Status>): Rec
                     }
                 }
                 is RTKStatus -> {
-                    if (status.enabled) {
-                        iv.background = ContextCompat.getDrawable(itemView.context, drawable.icon_dev_status_rtk_enable)
-                    } else {
-                        iv.background = ContextCompat.getDrawable(itemView.context, drawable.icon_dev_status_rtk_disable)
+                    when(status.desc) {
+                        "RTK" ->
+                            when(status.state) {
+                                0 -> iv.background = ContextCompat.getDrawable(itemView.context, drawable.icon_dev_status_rtk_good)
+                                1 -> iv.background = ContextCompat.getDrawable(itemView.context, drawable.icon_dev_status_rtk_not_credible)
+                                2 -> iv.background = ContextCompat.getDrawable(itemView.context, drawable.icon_dev_status_rtk_inaccurate)
+                                else -> iv.background = ContextCompat.getDrawable(itemView.context, drawable.icon_dev_status_rtk_error)
+                            }
+                        "SLAM" ->
+                            iv.background = ContextCompat.getDrawable(itemView.context, drawable.icon_dev_status_slam_good)
+                        else ->
+                            iv.background = ContextCompat.getDrawable(itemView.context, drawable.icon_dev_status_rtk_unknow)
                     }
                 }
             }
@@ -94,7 +103,19 @@ internal class StatusAdapter(val ctx: Context, var data: ArrayList<Status>): Rec
             is GpsStatus -> "GPS:${ if (status.enabled) "状态正常" else "非正常连接" }"
             is IpcStatus -> "工控机:${ if (status.enabled) "状态正常" else "非正常连接" }"
             is NetStatus -> "WIFI:${ if (status.enabled) "${status.name}" else "非正常连接" }"
-            is RTKStatus -> "${status.desc.uppercase()}:${ if (status.enabled) "状态正常" else "非正常连接" }"
+            is RTKStatus -> when(status.desc) {
+                "RTK" ->
+                    when(status.state) {
+                        0 -> "RTK定位，状态良好"
+                        1 -> "RTK定位，定位不可信"
+                        2 -> "RTK定位，误差增大到米级"
+                        else -> "RTK定位，状态异常"
+                    }
+                "SLAM" ->
+                    "SLAM定位，状态良好"
+                else ->
+                    "定位异常"
+            }
             is TracingStatus -> "轨迹类型:${ if (status.state == TRACK_LOADED) "循迹" else if (status.state == ROUTE_LOADED) "自主算路" else "暂无轨迹" }"
         }
     }