Merge branch 'dev_sweeper-d_230614_3.1.4' into 'test_sweeper-d_230614_3.1.4.1'

Dev sweeper d 230614 3.1.4 See merge request SCA/L4HA/AndroidApp/MoGoEagleEye!794
2023-07-04 09:54:11 +00:00
parent 0a2fa12244 93d5e43963
commit 85729fb448
10 changed files with 93 additions and 25 deletions
--- a/OCH/sweeper/sweeper-cloud/src/main/java/com/mogo/och/sweepercloud/fragment/SweeperFragment.kt
+++ b/OCH/sweeper/sweeper-cloud/src/main/java/com/mogo/och/sweepercloud/fragment/SweeperFragment.kt
@@ -122,6 +122,11 @@ class SweeperFragment : BaseSweeperTabFragment<SweeperFragment?, SweeperPresente
        }
    }

+    override fun setAutoState(state: Int) {
+        super.setAutoState(state)
+        getCurrentView().updateStartAutoPilotBtnState(state)
+    }
+
    fun onSweeperFutianCleanSystemState(cleanSystemState: ChassisStatesOuterClass.SweeperFuTianTaskSystemStates) {
        mCleanSystemState = cleanSystemState
        sweeper_cl_work_mode.setSweeperFutianCleanSystemState(mSubTaskType, cleanSystemState)
--- a/OCH/sweeper/sweeper-cloud/src/main/java/com/mogo/och/sweepercloud/view/SweeperCurrentTaskInfoView.kt
+++ b/OCH/sweeper/sweeper-cloud/src/main/java/com/mogo/och/sweepercloud/view/SweeperCurrentTaskInfoView.kt
@@ -1,11 +1,13 @@
 package com.mogo.och.sweepercloud.view

 import android.content.Context
+import android.graphics.Color
 import android.util.AttributeSet
 import android.view.LayoutInflater
 import android.view.View
 import android.widget.TextView
 import androidx.constraintlayout.widget.ConstraintLayout
+import com.mogo.eagle.core.function.api.autopilot.IMoGoAutopilotStatusListener
 import com.mogo.och.common.module.utils.DateTimeUtil
 import com.mogo.och.sweepercloud.R
 import com.zhjt.mogo.adas.data.sweeper.common.SweeperCommon.TaskStatus
@@ -27,8 +29,20 @@ class SweeperCurrentTaskInfoView : ConstraintLayout {
        initView(context)
    }

-    constructor(context: Context, attrs: AttributeSet?, defStyleAttr: Int) : super(context, attrs, defStyleAttr) {}
-    constructor(context: Context, attrs: AttributeSet?, defStyleAttr: Int, defStyleRes: Int) : super(context, attrs, defStyleAttr, defStyleRes) {}
+    constructor(context: Context, attrs: AttributeSet?, defStyleAttr: Int) : super(
+        context,
+        attrs,
+        defStyleAttr
+    ) {
+    }
+
+    constructor(
+        context: Context,
+        attrs: AttributeSet?,
+        defStyleAttr: Int,
+        defStyleRes: Int
+    ) : super(context, attrs, defStyleAttr, defStyleRes) {
+    }

    private fun initView(context: Context) {
        LayoutInflater.from(context).inflate(R.layout.sweeper_current_task_info, this)
@@ -39,6 +53,34 @@ class SweeperCurrentTaskInfoView : ConstraintLayout {
        return tvStartAuto
    }

+    /**
+     * 根据当前自动驾驶状态，更新【请求进入自动驾驶】按钮样式
+     */
+    fun updateStartAutoPilotBtnState(autopilotState: Int) {
+        when (autopilotState) {
+            //不可自动驾驶
+            IMoGoAutopilotStatusListener.STATUS_AUTOPILOT_DISABLE -> {
+                tvStartAuto.setTextColor(Color.parseColor("#66FFFFFF"))
+                tvStartAuto.isSelected = false
+            }
+            //人工驾驶
+            IMoGoAutopilotStatusListener.STATUS_AUTOPILOT_ENABLE -> {
+                tvStartAuto.setTextColor(Color.parseColor("#FFFFFFFF"))
+                tvStartAuto.isSelected = true
+            }
+            //自动驾驶中
+            IMoGoAutopilotStatusListener.STATUS_AUTOPILOT_RUNNING -> {
+                tvStartAuto.setTextColor(Color.parseColor("#66FFFFFF"))
+                tvStartAuto.isSelected = false
+            }
+            //平行驾驶
+            IMoGoAutopilotStatusListener.STATUS_PARALLEL_DRIVING -> {
+                tvStartAuto.setTextColor(Color.parseColor("#66FFFFFF"))
+                tvStartAuto.isSelected = false
+            }
+        }
+    }
+
    /**
     * 设置当前任务数据
     */
@@ -51,12 +93,13 @@ class SweeperCurrentTaskInfoView : ConstraintLayout {
            tvTaskName.text = taskName
            val calendarStart = DateTimeUtil.formatLongToCalendar(taskStartTime)
            val calendarEnd = DateTimeUtil.formatLongToCalendar(taskEndTime)
-            tvTaskTime.text = "${DateTimeUtil.formatCalendarToString(calendarStart, DateTimeUtil.HH_mm)}-${
-                DateTimeUtil.formatCalendarToString(
-                    calendarEnd,
-                    DateTimeUtil.HH_mm
-                )
-            }"
+            tvTaskTime.text =
+                "${DateTimeUtil.formatCalendarToString(calendarStart, DateTimeUtil.HH_mm)}-${
+                    DateTimeUtil.formatCalendarToString(
+                        calendarEnd,
+                        DateTimeUtil.HH_mm
+                    )
+                }"
        }
        listTask?.let {
            //特殊处理当前暂无执行中任务的情况
@@ -75,10 +118,10 @@ class SweeperCurrentTaskInfoView : ConstraintLayout {
     */
    private fun setSubTaskState(isWorking: Boolean) {
        if (isWorking) {
-            tvTaskState.text = "正在作业"
+            tvTaskState.text = "任务执行中"
            tvTaskState.setBackgroundResource(R.drawable.bg_shape_task_state_working)
        } else {
-            tvTaskState.text = "暂未准备"
+            tvTaskState.text = "任务待开始"
            tvTaskState.setBackgroundResource(R.drawable.bg_shape_task_state_not_ready)
        }
    }
--- a/OCH/sweeper/sweeper-cloud/src/main/res/drawable/sweeper_upload_autopoiltstate.xml
+++ b/OCH/sweeper/sweeper-cloud/src/main/res/drawable/sweeper_upload_autopoiltstate.xml
@@ -1,10 +1,15 @@
 <?xml version="1.0" encoding="utf-8"?>
 <selector xmlns:android="http://schemas.android.com/apk/res/android">
-    <item>
+    <item android:state_selected="true">
        <shape android:shape="rectangle">
-
-            <corners android:bottomRightRadius="30dp" android:bottomLeftRadius="@dimen/dp_30"/>
+            <corners android:bottomLeftRadius="@dimen/dp_30" android:bottomRightRadius="@dimen/dp_30" />
            <gradient android:angle="180" android:endColor="#2F6EFF" android:startColor="#20AAFF" />
        </shape>
    </item>
+    <item android:state_selected="false">
+        <shape>
+            <solid android:color="#4D2F6EFF" />
+            <corners android:bottomLeftRadius="@dimen/dp_30" android:bottomRightRadius="@dimen/dp_30" />
+        </shape>
+    </item>
 </selector>
--- a/OCH/sweeper/sweeper-cloud/src/main/res/layout/sweeper_work_mode.xml
+++ b/OCH/sweeper/sweeper-cloud/src/main/res/layout/sweeper_work_mode.xml
@@ -26,7 +26,7 @@
            android:layout_height="wrap_content"
            android:layout_marginStart="@dimen/dp_36"
            android:layout_marginTop="@dimen/dp_20"
-            android:text="当前作业模式："
+            android:text="当前上装模式："
            android:textColor="@color/white"
            android:textSize="@dimen/dp_32"
            app:layout_constraintStart_toStartOf="parent"
--- a/core/function-impl/mogo-core-function-datacenter/src/main/java/com/mogo/eagle/core/function/datacenter/autopilot/MoGoAutopilotControlProvider.kt
+++ b/core/function-impl/mogo-core-function-datacenter/src/main/java/com/mogo/eagle/core/function/datacenter/autopilot/MoGoAutopilotControlProvider.kt
@@ -322,10 +322,29 @@ class MoGoAutopilotControlProvider :
        startAutoPilot(controlParameters, Constants.AUTOPILOT_SOURCE.PAD)
    }

-    override fun startAutoPilotByMoFang(controlParameters: AutopilotControlParameters) {
-        startAutoPilot(controlParameters, Constants.AUTOPILOT_SOURCE.MO_FANG)
+    override fun startAutoPilotByMoFang(controlParameters: AutopilotControlParameters?) {
+        if (controlParameters==null){
+            startAutoPilotWithNoParameter(Constants.AUTOPILOT_SOURCE.MO_FANG)
+        }else{
+            startAutoPilot(controlParameters, Constants.AUTOPILOT_SOURCE.MO_FANG)
+        }
+    }
+    private fun startAutoPilotWithNoParameter(source: Int) {
+        if (AppIdentityModeUtils.isPassenger(FunctionBuildConfig.appIdentityMode)) {
+            val invokeResult = AdasManager.getInstance()
+                .sendAutoPilotModeReq(1, source, null)
+            invokeAutoPilotResult(if (invokeResult) "无参自动驾驶调用成功" else "自动驾驶调用失败, socket 或者 rawPack 可能为空")
+        } else {
+            if (AdasManager.getInstance().ipcConnectionStatus == IPC_CONNECTION_STATUS.CONNECTED) {
+                val invokeResult = AdasManager.getInstance()
+                    .sendAutoPilotModeReq(1, source, null)
+                invokeAutoPilotResult(if (invokeResult) "无参自动驾驶调用成功" else "自动驾驶调用失败, socket 或者 rawPack 可能为空")
+            } else {
+                invokeAutoPilotResult("车机与工控机链接失败，无法开启自动驾驶 无参")
+                CallerLogger.e("$M_ADAS_IMPL$TAG", "车机与工控机链接失败，无法开启自动驾驶")
+            }
+        }
    }
-
    private fun startAutoPilot(controlParameters: AutopilotControlParameters, source: Int) {
        if (AppIdentityModeUtils.isPassenger(FunctionBuildConfig.appIdentityMode)) {
            val invokeResult = AdasManager.getInstance()
--- a/core/mogo-core-function-api/src/main/java/com/mogo/eagle/core/function/api/autopilot/IMoGoAutopilotControlProvider.kt
+++ b/core/mogo-core-function-api/src/main/java/com/mogo/eagle/core/function/api/autopilot/IMoGoAutopilotControlProvider.kt
@@ -42,7 +42,7 @@ interface IMoGoAutopilotControlProvider : IMoGoFunctionServerProvider {
     *
     * @param controlParameters 开启自动驾驶的控制参数
     */
-    fun startAutoPilotByMoFang(controlParameters: AutopilotControlParameters)
+    fun startAutoPilotByMoFang(controlParameters: AutopilotControlParameters?)

    /**
     * 给工控机透出路口红绿灯信息
--- a/core/mogo-core-function-call/src/main/java/com/mogo/eagle/core/function/call/autopilot/CallerAutoPilotControlManager.kt
+++ b/core/mogo-core-function-call/src/main/java/com/mogo/eagle/core/function/call/autopilot/CallerAutoPilotControlManager.kt
@@ -93,10 +93,6 @@ object CallerAutoPilotControlManager {
        clientPkFileName = "sn"
    )
    fun startAutoPilotByMoFang(controlParameters: AutopilotControlParameters?) {
-        if (controlParameters == null) {
-            //LogUtils.eTag(TAG, "自动驾驶控制参数异常，请检查参数信息")
-            return
-        }
        providerApi?.startAutoPilotByMoFang(controlParameters)
        // 更新记录在全局的控制参数
        CallerAutoPilotStatusListenerManager.updateAutopilotControlParameters(controlParameters)
--- a/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/AdasChannel.java
+++ b/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/AdasChannel.java
@@ -836,7 +836,7 @@ public class AdasChannel implements IAdasNetCommApi, FpgaSocket.IWebSocketConnec
     * 设置自动驾驶模式 启动自动驾驶
     *
     * @param mode      1: enter autopilot mode, 0: quit autopilot mode
-     * @param source    命令来源: 0: pad模拟(模拟时routeInfo传null), 1: AICloud业务
+     * @param source    命令来源: 0: pad模拟, 1: pad业务, 2:aicloud, 3:魔方(清扫车MAP Version==332以及MAP Version>=350，其他车型目前未上线)
     * @param routeInfo 自动驾驶路径信息
     * @return boolean
     */
--- a/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/AdasManager.java
+++ b/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/AdasManager.java
@@ -297,7 +297,7 @@ public class AdasManager implements IAdasNetCommApi {
     * 设置自动驾驶模式 启动自动驾驶
     *
     * @param mode      1: enter autopilot mode, 0: quit autopilot mode
-     * @param source    命令来源: 0: pad模拟(模拟时routeInfo传null), 1: AICloud业务
+     * @param source    命令来源: 0: pad模拟, 1: pad业务, 2:aicloud, 3:魔方(清扫车MAP Version==332以及MAP Version>=350，其他车型目前未上线)
     * @param routeInfo 自动驾驶路径信息
     * @return
     */
--- a/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/IAdasNetCommApi.java
+++ b/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/IAdasNetCommApi.java
@@ -86,7 +86,7 @@ public interface IAdasNetCommApi {
     * 设置自动驾驶模式 启动自动驾驶
     *
     * @param mode      1: enter autopilot mode, 0: quit autopilot mode
-     * @param source    命令来源: 0: pad模拟(模拟时routeInfo传null), 1: AICloud业务
+     * @param source    命令来源: 0: pad模拟, 1: pad业务, 2:aicloud, 3:魔方(清扫车MAP Version==332以及MAP Version>=350，其他车型目前未上线)
     * @param routeInfo 自动驾驶路径信息
     * @return 加入WS发送消息队列是否成功
     */