diff --git 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 index 1dc67cae43..0714e5ddc3 100644 --- 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 { + 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) } } diff --git 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 index 6d189929bc..ea710c45e4 100644 --- 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 @@ - + - - + + + + + + + \ No newline at end of file diff --git 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 index f2e743be58..34be95b606 100644 --- 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" diff --git 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 index 1c3b6cfcd4..f538aa58b0 100644 --- 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() diff --git 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 index 3df523e14b..d4f979dc59 100644 --- 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 diff --git 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 index c03f05bc0a..5bbca5918b 100644 --- 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) diff --git 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 index d665729ac1..62be98f40b 100644 --- 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 */ diff --git 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 index cd5094aebc..7390609693 100644 --- 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 */ diff --git 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 index 08e5cb088d..8362541ce7 100644 --- 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 */