[6.4.0][启自驾指引] 代码逻辑优化

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

@@ -297,7 +297,7 @@ interface IAutopilotPreLaunchStatus
 /**
  * 速度
  */
-data class SpeedStatus(val speed: Int, var acc: Float): Status(), IAutopilotPreLaunchStatus {
+data class SpeedStatus(val speed: Int): Status(), IAutopilotPreLaunchStatus {
 
     override fun isException(): Boolean {
         return false
@@ -306,22 +306,13 @@ data class SpeedStatus(val speed: Int, var acc: Float): Status(), IAutopilotPreL
     override fun equals(other: Any?): Boolean {
         if (this === other) return true
         if (javaClass != other?.javaClass) return false
-
         other as SpeedStatus
-
-        if (speed != other.speed) return false
-        if (acc != other.acc) return false
-
-        return true
+        return speed == other.speed
     }
 
     override fun hashCode(): Int {
-        var result = speed.hashCode()
-        result = 31 * result + acc.hashCode()
-        return result
+        return speed.hashCode()
     }
-
-
 }
 
 /**
@@ -337,12 +328,9 @@ data class SteerStatus(val angle: Float, var isError: Boolean = false): Status()
     override fun equals(other: Any?): Boolean {
         if (this === other) return true
         if (javaClass != other?.javaClass) return false
-
         other as SteerStatus
-
         if (angle != other.angle) return false
         if (isError != other.isError) return false
-
         return true
     }
 
@@ -362,7 +350,7 @@ data class SteerStatus(val angle: Float, var isError: Boolean = false): Status()
 /**
  * 油门
  */
-data class AcceleratorStatus(val angle: Float, var isError: Boolean = false): Status(), IAutopilotPreLaunchStatus {
+data class AcceleratorStatus(val angle: Int, var isError: Boolean = false): Status(), IAutopilotPreLaunchStatus {
 
     override fun isException(): Boolean {
         return isError && CallerAutoPilotStatusListenerManager.getAutoPilotStatusInfo().state != IMoGoAutopilotStatusListener.STATUS_AUTOPILOT_RUNNING
@@ -394,7 +382,7 @@ data class AcceleratorStatus(val angle: Float, var isError: Boolean = false): St
 /**
  * 刹车
  */
-data class BrakeStatus(val angle: Float, var isError: Boolean = false): Status(), IAutopilotPreLaunchStatus {
+data class BrakeStatus(val angle: Int, var isError: Boolean = false): Status(), IAutopilotPreLaunchStatus {
 
     override fun isException(): Boolean {
         return isError && CallerAutoPilotStatusListenerManager.getAutoPilotStatusInfo().state != IMoGoAutopilotStatusListener.STATUS_AUTOPILOT_RUNNING

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

@@ -19,7 +19,7 @@ internal class AcceleratorImpl(ctx: Context): IFlow<AcceleratorStatus>(ctx), IMo
     }
 
     @Volatile
-    private var last: Float? = null
+    private var last: Int? = null
 
     @Volatile
     private var isError: Boolean = false
@@ -40,9 +40,10 @@ internal class AcceleratorImpl(ctx: Context): IFlow<AcceleratorStatus>(ctx), IMo
 
     override fun onAutopilotThrottle(throttle: Float) {
         super.onAutopilotThrottle(throttle)
-        if (last != throttle) {
-            send(AcceleratorStatus(throttle, isError).also { it.rawData = extra })
-            last = throttle
+        val current = throttle.toInt()
+        if (last != current) {
+            send(AcceleratorStatus(current, isError).also { it.rawData = extra })
+            last = current
         }
     }
 
@@ -50,17 +51,17 @@ internal class AcceleratorImpl(ctx: Context): IFlow<AcceleratorStatus>(ctx), IMo
         if (!isAutopilotAbility) {
             val target = unableAutopilotReasons?.find { it.unableType == CHASSIS_THROTTLE }?.also { itx ->
                 isError = true
-                send(AcceleratorStatus(last ?: 0.0f, true).also { extra = itx; it.rawData = itx })
+                send(AcceleratorStatus(last ?: 0, true).also { extra = itx; it.rawData = itx })
             }
             if (target == null) {
                 isError = false
                 extra = null
-                send(AcceleratorStatus(last ?: 0.0f, false))
+                send(AcceleratorStatus(last ?: 0, false))
             }
         } else {
             isError = false
             extra = null
-            send(AcceleratorStatus(last ?: 0.0f, false))
+            send(AcceleratorStatus(last ?: 0, false))
         }
     }
 }

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

@@ -5,15 +5,11 @@ import com.mogo.eagle.core.function.api.autopilot.IMoGoAutopilotActionsListener
 import com.mogo.eagle.core.function.api.autopilot.IMoGoChassisBrakeStateListener
 import com.mogo.eagle.core.function.call.autopilot.CallerAutopilotActionsListenerManager
 import com.mogo.eagle.core.function.call.autopilot.CallerChassisBrakeStateListenerManager
-import com.mogo.eagle.core.utilcode.mogo.logger.Logger
 import com.zhjt.mogo.adas.data.bean.UnableLaunchData
 import com.zhjt.mogo.adas.data.bean.UnableLaunchReason
 import com.zhjt.mogo.adas.data.bean.UnableLaunchReason.UnableType.CHASSIS_BRAKE
-import com.zhjt.mogo.adas.data.bean.UnableLaunchReason.UnableType.CHASSIS_THROTTLE
-import com.zhjt.mogo_core_function_devatools.status.entity.AcceleratorStatus
 import com.zhjt.mogo_core_function_devatools.status.entity.BrakeStatus
 import com.zhjt.mogo_core_function_devatools.status.flow.IFlow
-import com.zhjt.mogo_core_function_devatools.status.flow.autopilot.AcceleratorImpl.Companion
 
 internal class BrakeImpl(ctx: Context): IFlow<BrakeStatus>(ctx), IMoGoChassisBrakeStateListener, IMoGoAutopilotActionsListener {
 
@@ -22,7 +18,7 @@ internal class BrakeImpl(ctx: Context): IFlow<BrakeStatus>(ctx), IMoGoChassisBra
     }
 
     @Volatile
-    private var last: Float = 0.0f
+    private var last: Int = 0
 
     @Volatile
     private var isError: Boolean = false
@@ -43,9 +39,10 @@ internal class BrakeImpl(ctx: Context): IFlow<BrakeStatus>(ctx), IMoGoChassisBra
 
     override fun onAutopilotBrake(brake: Float) {
         super.onAutopilotBrake(brake)
-        if (last != brake) {
-            send(BrakeStatus(brake, isError).also { it.rawData = extra })
-            last = brake
+        val current = brake.toInt()
+        if (last != current) {
+            send(BrakeStatus(current, isError).also { it.rawData = extra })
+            last = current
         }
     }
 

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

@@ -2,19 +2,11 @@ package com.zhjt.mogo_core_function_devatools.status.flow.autopilot
 
 import android.content.Context
 import com.mogo.eagle.core.data.map.MogoLocation
-import com.mogo.eagle.core.function.api.autopilot.IMoGoAutopilotActionsListener
 import com.mogo.eagle.core.function.api.autopilot.IMoGoChassisLocationGCJ02Listener
-import com.mogo.eagle.core.function.api.autopilot.IMoGoChassisThrottleStateListener
-import com.mogo.eagle.core.function.call.autopilot.CallerAutopilotActionsListenerManager
 import com.mogo.eagle.core.function.call.autopilot.CallerChassisLocationGCJ02ListenerManager
-import com.mogo.eagle.core.function.call.autopilot.CallerChassisThrottleStateListenerManager
-import com.mogo.eagle.core.utilcode.mogo.logger.Logger
-import com.zhjt.mogo.adas.data.bean.UnableLaunchData
-import com.zhjt.mogo.adas.data.bean.UnableLaunchReason
-import com.zhjt.mogo.adas.data.bean.UnableLaunchReason.UnableType.CHASSIS_THROTTLE
-import com.zhjt.mogo_core_function_devatools.status.entity.AcceleratorStatus
 import com.zhjt.mogo_core_function_devatools.status.entity.SpeedStatus
 import com.zhjt.mogo_core_function_devatools.status.flow.IFlow
+import kotlin.math.abs
 
 internal class SpeedImpl(ctx: Context): IFlow<SpeedStatus>(ctx), IMoGoChassisLocationGCJ02Listener {
 
@@ -26,9 +18,6 @@ internal class SpeedImpl(ctx: Context): IFlow<SpeedStatus>(ctx), IMoGoChassisLoc
     @Volatile
     private var lastSpeed: Int? = null
 
-    @Volatile
-    private var lastAcc: Float? = null
-
     override fun onCreate() {
         CallerChassisLocationGCJ02ListenerManager.addListener(TAG, 5, this)
     }
@@ -40,20 +29,13 @@ internal class SpeedImpl(ctx: Context): IFlow<SpeedStatus>(ctx), IMoGoChassisLoc
 
     override fun onChassisLocationGCJ02(mogoLocation: MogoLocation?) {
         var isChanged = false
-        val speed =  mogoLocation?.gnssSpeed?.toInt() ?: 0
+        val speed = (abs(mogoLocation?.gnssSpeed ?: 0f) * 3.6f).toInt()
         if (lastSpeed != speed) {
             isChanged = true
             lastSpeed = speed
         }
-        val acceleration = mogoLocation?.acceleration?.toString()?.format("%.1")?.toFloat() ?: 0f
-        if (!isChanged) {
-            if (lastAcc != acceleration) {
-                isChanged = true
-                lastAcc = acceleration
-            }
-        }
         if (isChanged) {
-            send(SpeedStatus(speed, acceleration))
+            send(SpeedStatus(speed))
         }
     }
 }

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

@@ -20,13 +20,13 @@ internal class StatusModel : ViewModel() {
             it += RTKStatus("", -1)
             // it += NetStatus(false)
 //            it += GpsStatus(enabled = false, isGranted = false)
-            it += SteerStatus(0.0f)
-            it += AcceleratorStatus(0.0f)
-            it += BrakeStatus(0.0f)
+            it += SteerStatus(0f)
+            it += AcceleratorStatus(0)
+            it += BrakeStatus(0)
             it += DoubleFlashStatus(0)
             it += GearStatus(0)
             it += RouteDownloadStatus()
-            it += SpeedStatus(0, 0f)
+            it += SpeedStatus(0)
         })
     }
 

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

@@ -1,5 +1,6 @@
 package com.zhjt.mogo_core_function_devatools.status.ui
 
+import android.annotation.SuppressLint
 import android.content.Context
 import android.util.AttributeSet
 import android.view.LayoutInflater
@@ -33,10 +34,9 @@ import kotlinx.android.synthetic.main.layout_autopilot_launch_before.view.iv_bra
 import kotlinx.android.synthetic.main.layout_autopilot_launch_before.view.iv_double_flash
 import kotlinx.android.synthetic.main.layout_autopilot_launch_before.view.iv_steer
 import kotlinx.android.synthetic.main.layout_autopilot_launch_before.view.speed
-import kotlinx.android.synthetic.main.layout_autopilot_launch_before.view.tv_accelerator
+import kotlinx.android.synthetic.main.layout_autopilot_launch_before.view.tv_brake_or_accelerator
 import me.jessyan.autosize.utils.AutoSizeUtils
 import kotlin.math.abs
-import kotlin.text.*
 
 class AutoPilotLaunchBeforeView: LinearLayout, IStatusListener {
 
@@ -64,6 +64,7 @@ class AutoPilotLaunchBeforeView: LinearLayout, IStatusListener {
         StatusManager.removeListener(TAG)
     }
 
+    @SuppressLint("SetTextI18n")
     override fun onStatusChanged(data: List<Status>, hasException: Boolean) {
         data.filter { it is IAutopilotPreLaunchStatus }.forEach { status ->
             val isError = status.isException() && CallerAutoPilotStatusListenerManager.getAutoPilotStatusInfo().state != IMoGoAutopilotStatusListener.STATUS_AUTOPILOT_RUNNING
@@ -90,9 +91,11 @@ class AutoPilotLaunchBeforeView: LinearLayout, IStatusListener {
                 }
                 is AcceleratorStatus -> {
                     iv_brake_or_accelerator?.isSelected = isError
+                    tv_brake_or_accelerator?.text = "${abs(status.angle)}%"
                 }
                 is BrakeStatus -> {
                     iv_brake_or_accelerator?.isSelected = isError
+                    tv_brake_or_accelerator?.text = "${-abs(status.angle)}%"
                 }
                 is DoubleFlashStatus -> {
                     iv_double_flash?.isSelected = isError
@@ -101,8 +104,7 @@ class AutoPilotLaunchBeforeView: LinearLayout, IStatusListener {
                     iv_steer?.isSelected = isError
                 }
                 is SpeedStatus -> {
-                    speed?.text = "${(abs(status.speed) * 3.6f).toInt()}"
-                    tv_accelerator?.text = "a:" + String.format("%-3.1f", status.acc)
+                    speed?.text = "${status.speed}"
                 }
                 else -> {
                     Logger.d(TAG, "other state: $status")

core/function-impl/mogo-core-function-devatools/src/main/res/layout/layout_autopilot_launch_before.xml

@@ -133,15 +133,16 @@
                 android:layout_marginEnd="@dimen/dp_14"/>
 
             <TextView
-                android:id="@+id/tv_accelerator"
-                android:layout_width="wrap_content"
+                android:id="@+id/tv_brake_or_accelerator"
+                android:layout_width="@dimen/dp_85"
                 android:layout_height="wrap_content"
                 android:textSize="@dimen/dp_30"
+                android:gravity="end"
                 android:layout_marginTop="-1dp"
                 android:maxLines="1"
                 android:textColor="@color/white"
-                tools:text="a:-100"
-                android:text="a: 0.0"/>
+                tools:text="-100%"
+                android:text="0%"/>
         </LinearLayout>
     </LinearLayout>
 </merge>