From 932dbb4f7cd31994c2512eaa43c9957a67a487ef Mon Sep 17 00:00:00 2001 From: xinfengkun Date: Fri, 16 Jun 2023 10:06:41 +0800 Subject: [PATCH 1/3] =?UTF-8?q?[sweeper314][adas-data]=20=E4=BF=AE?= =?UTF-8?q?=E6=94=B9=E5=90=AF=E5=8A=A8=E8=87=AA=E9=A9=BE=E5=8F=82=E6=95=B0?= =?UTF-8?q?=E6=B3=A8=E9=87=8A?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- .../src/main/java/com/zhidao/support/adas/high/AdasChannel.java | 2 +- .../src/main/java/com/zhidao/support/adas/high/AdasManager.java | 2 +- .../main/java/com/zhidao/support/adas/high/IAdasNetCommApi.java | 2 +- 3 files changed, 3 insertions(+), 3 deletions(-) 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 */ From 3b467a517e212991bf8bfe05e27b2419fa102483 Mon Sep 17 00:00:00 2001 From: aibingbing Date: Fri, 16 Jun 2023 15:52:15 +0800 Subject: [PATCH 2/3] =?UTF-8?q?[Sweeper-Cloud]=20feat:=20=E2=80=9C?= =?UTF-8?q?=E8=AF=B7=E6=B1=82=E8=BF=9B=E5=85=A5=E8=87=AA=E5=8A=A8=E9=A9=BE?= =?UTF-8?q?=E9=A9=B6=E2=80=9D=E6=8C=89=E9=92=AE=E6=A0=B9=E6=8D=AE=E8=87=AA?= =?UTF-8?q?=E9=A9=BE=E7=8A=B6=E6=80=81=E5=88=87=E6=8D=A2=E8=83=8C=E6=99=AF?= =?UTF-8?q?=E5=92=8C=E5=AD=97=E4=BD=93=E9=A2=9C=E8=89=B2=EF=BC=9B=20feat:?= =?UTF-8?q?=20=E4=BF=AE=E6=94=B9=E6=96=87=E6=A1=88=20=E6=AD=A3=E5=9C=A8?= =?UTF-8?q?=E4=BD=9C=E4=B8=9A->=E4=BB=BB=E5=8A=A1=E6=89=A7=E8=A1=8C?= =?UTF-8?q?=E4=B8=AD=EF=BC=8C=E6=9A=82=E6=9C=AA=E5=87=86=E5=A4=87->?= =?UTF-8?q?=E4=BB=BB=E5=8A=A1=E5=BE=85=E5=BC=80=E5=A7=8B=EF=BC=8C=E5=BD=93?= =?UTF-8?q?=E5=89=8D=E4=BD=9C=E4=B8=9A=E6=A8=A1=E5=BC=8F->=E5=BD=93?= =?UTF-8?q?=E5=89=8D=E4=B8=8A=E8=A3=85=E4=BD=9C=E4=B8=9A=EF=BC=9B?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- .../sweepercloud/fragment/SweeperFragment.kt | 5 ++ .../view/SweeperCurrentTaskInfoView.kt | 63 ++++++++++++++++--- .../sweeper_upload_autopoiltstate.xml | 11 +++- .../src/main/res/layout/sweeper_work_mode.xml | 2 +- 4 files changed, 67 insertions(+), 14 deletions(-) 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" From 93d5e4396325487159c59c1439a9f35636d75268 Mon Sep 17 00:00:00 2001 From: xinfengkun Date: Wed, 21 Jun 2023 14:03:50 +0800 Subject: [PATCH 3/3] =?UTF-8?q?[sweeper314]=E6=B7=BB=E5=8A=A0=E6=97=A0?= =?UTF-8?q?=E5=8F=82=E6=95=B0=E5=90=AF=E5=8A=A8=E8=87=AA=E9=A9=BE=E6=96=B9?= =?UTF-8?q?=E6=B3=95?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- .../autopilot/MoGoAutopilotControlProvider.kt | 25 ++++++++++++++++--- .../IMoGoAutopilotControlProvider.kt | 2 +- .../CallerAutoPilotControlManager.kt | 4 --- 3 files changed, 23 insertions(+), 8 deletions(-) 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)