diff --git a/OCH/mogo-och-sweeper/src/main/java/com/mogo/och/sweeper/fragment/BaseSweeperTabFragment.java b/OCH/mogo-och-sweeper/src/main/java/com/mogo/och/sweeper/fragment/BaseSweeperTabFragment.java index cef6c8826a..843fb6e68b 100644 --- a/OCH/mogo-och-sweeper/src/main/java/com/mogo/och/sweeper/fragment/BaseSweeperTabFragment.java +++ b/OCH/mogo-och-sweeper/src/main/java/com/mogo/och/sweeper/fragment/BaseSweeperTabFragment.java @@ -415,6 +415,12 @@ public abstract class BaseSweeperTabFragment cleanModeBtnViewIds = Arrays.asList( + R.id.btn_clean_mode_pure_sweep, + R.id.btn_clean_mode_pure_wash, + R.id.btn_clean_mode_sweep_wash, + R.id.btn_clean_mode_pure_absorption); + + // 作业模式相关操作按钮，对应命令参数值 + HashMap cleanModeBtnAndCmdValueMap = new HashMap() { + { + put(R.id.btn_clean_mode_pure_sweep, CLEAN_MODE_PURE_SWEEP); + put(R.id.btn_clean_mode_pure_wash, CLEAN_MODE_PURE_WASH); + put(R.id.btn_clean_mode_sweep_wash, CLEAN_MODE_WASH_SWEEP); + put(R.id.btn_clean_mode_pure_absorption, CLEAN_MODE_PURE_DRAW); + } + }; + + // 清扫方向相关操作按钮的id + List cleanDirectionBtnViewIds = Arrays.asList( + R.id.btn_clean_direction_left_side, + R.id.btn_clean_direction_right_side, + R.id.btn_clean_direction_both_side); + + // 清扫方向相关按钮操作，对应命令参数值 + HashMap cleanDirectionBtnAndCmdValueMap = new HashMap() { + { + put(R.id.btn_clean_direction_left_side, CLEAN_DIRECTION_LEFT_SIDE); + put(R.id.btn_clean_direction_right_side, CLEAN_DIRECTION_RIGHT_SIDE); + put(R.id.btn_clean_direction_both_side, CLEAN_DIRECTION_BOTH_SIDE); + } + }; + + // 作业强度相关按钮操作 + List cleanIntensityBtnViewIds = Arrays.asList( + R.id.btn_clean_intensity_standard, + R.id.btn_clean_intensity_strong); + + // 作业强度相关按钮操作，对应命令参数值 + HashMap cleanIntensityBtnAndCmdValueMap = new HashMap() { + { + put(R.id.btn_clean_intensity_standard, CLEAN_INTENSITY_STRAND); + put(R.id.btn_clean_intensity_strong, CLEAN_INTENSITY_STRONG); + } + }; + + public SweeperOperatePanelView(Context context) { + super(context); + } + + public SweeperOperatePanelView(Context context, @Nullable AttributeSet attrs) { + super(context, attrs); + initView(context); + } + + public SweeperOperatePanelView(Context context, @Nullable AttributeSet attrs, int defStyleAttr) { + super(context, attrs, defStyleAttr); + initView(context); + } + + public SweeperOperatePanelView(Context context, AttributeSet attrs, int defStyleAttr, int defStyleRes) { + super(context, attrs, defStyleAttr, defStyleRes); + initView(context); + } + + private void initView(Context context) { + LayoutInflater.from(context).inflate(R.layout.sweeper_operate_panel_view, this, true); + mBtnCleanWorkOpenClose = (CheckedTextView) findViewById(R.id.btn_clean_work_open_close); + mBtnCleanModePureSweep = (CheckedTextView) findViewById(R.id.btn_clean_mode_pure_sweep); + mBtnCleanModePureWash = (CheckedTextView) findViewById(R.id.btn_clean_mode_pure_wash); + mBtnCleanModeSweepWash = (CheckedTextView) findViewById(R.id.btn_clean_mode_sweep_wash); + mBtnCleanModePureAbsorption = (CheckedTextView) findViewById(R.id.btn_clean_mode_pure_absorption); + mBtnCleanDirectionLeftSide = (CheckedTextView) findViewById(R.id.btn_clean_direction_left_side); + mBtnCleanDirectionRightSide = (CheckedTextView) findViewById(R.id.btn_clean_direction_right_side); + mBtnCleanDirectionBothSide = (CheckedTextView) findViewById(R.id.btn_clean_direction_both_side); + mBtnCleanIntensityStandard = (CheckedTextView) findViewById(R.id.btn_clean_intensity_standard); + mBtnCleanIntensityStrong = (CheckedTextView) findViewById(R.id.btn_clean_intensity_strong); + mLoadingContainer = findViewById(R.id.loading_hint_container); + mLoadingHintTop = findViewById(R.id.loading_hint_top); + mLoadingHintBottom = findViewById(R.id.loading_hint_bottom); + initViewListener(); + } + + private void initViewListener() { + setClickListener(mBtnCleanWorkOpenClose, (v) -> onCleanWorkBtnClick()); + setClickListener(mBtnCleanModePureSweep, (v) -> onCleanModeBtnClick(v)); + setClickListener(mBtnCleanModePureWash, (v) -> onCleanModeBtnClick(v)); + setClickListener(mBtnCleanModeSweepWash, (v) -> onCleanModeBtnClick(v)); + setClickListener(mBtnCleanModePureAbsorption, (v) -> onCleanModeBtnClick(v)); + setClickListener(mBtnCleanDirectionLeftSide, (v) -> onCleanDirectionBtnClick(v)); + setClickListener(mBtnCleanDirectionRightSide, (v) -> onCleanDirectionBtnClick(v)); + setClickListener(mBtnCleanDirectionBothSide, (v) -> onCleanDirectionBtnClick(v)); + setClickListener(mBtnCleanIntensityStandard, (v) -> onCleanIntensityBtnClick(v)); + setClickListener(mBtnCleanIntensityStrong, (v) -> onCleanIntensityBtnClick(v)); + } + + /** + * 清扫任务开关按钮点击事件 + */ + private void onCleanWorkBtnClick() { + // 是否是 关闭 操作 + boolean isCloseAction = mBtnCleanWorkOpenClose.isChecked(); + CmdRequestCallback cmdRequestCallback = new CmdRequestCallback() { + @Override + public void onSendCmd() { + showLoadingMask(CMD_EXECUTE_TIMEOUT_SECONDS); + } + + @Override + public void onCountDownTick(int seconds) { + updateLoadingCountDown(seconds); + } + + @Override + public boolean onCheckIfCmdSuccess(VehicleStateOuterClass.SweeperFuTianCleanSystemState cleanSystemState) { + boolean success = false; + if (cleanSystemState == null) { + return success; + } + if (isCloseAction) { + success = !cleanSystemState.getSecuMotWorkSts(); + } else { + success = cleanSystemState.getSecuMotWorkSts(); + } + //TODO + return true; + } + + @Override + public void onCmdSuccess() { + if (isCloseAction) { + mBtnCleanWorkOpenClose.setText("Open"); + mBtnCleanWorkOpenClose.setChecked(false); + toggleCleanModeBtnsStatus(false); + toggleCleanDirectionBtnsStatus(false); + toggleCleanIntensityBtnsStatus(false); + } else { + mBtnCleanWorkOpenClose.setText("Close"); + mBtnCleanWorkOpenClose.setChecked(true); + toggleCleanModeBtnsStatus(true); + } + hideLoadingMask(); + showCmdExecuteSuccessToast(); + } + + @Override + public void onCmdFailed() { + } + + @Override + public void onCmdTimeout() { + //按钮样式恢复原样 + if (isCloseAction) { + mBtnCleanWorkOpenClose.setText("Close"); + mBtnCleanWorkOpenClose.setChecked(true); + } else { + mBtnCleanWorkOpenClose.setText("Open"); + mBtnCleanWorkOpenClose.setChecked(false); + } + hideLoadingMask(); + showCmdExecuteTimeoutToast(); + } + }; + if (isCloseAction) { + //关闭操作，点击时需要弹框提示确认后，关闭 + showConfirmCleanWorkCloseDialog(() -> { + sendSweeperCmd( + SweeperFutianCmdUtil.buildCleanWorkStopCmd(), + cmdRequestCallback + , CMD_EXECUTE_TIMEOUT_SECONDS); + }); + } else { + //打开操作，点击时打开 + sendSweeperCmd( + SweeperFutianCmdUtil.buildCleanWorkStartCmd(), + cmdRequestCallback, + CMD_EXECUTE_TIMEOUT_SECONDS); + } + } + + /** + * 作业模式按钮点击事件 + * + * @param currentClickView + */ + private void onCleanModeBtnClick(final View currentClickView) { + CheckedTextView currentChoosedModeBtnView = null; + for (Integer viewId : cleanModeBtnViewIds) { + CheckedTextView view = (CheckedTextView) findViewById(viewId); + if (view.isChecked()) { + currentChoosedModeBtnView = view; + break; + } + } + boolean isClickCurrentChoosedModeBtn = currentChoosedModeBtnView != null + && currentChoosedModeBtnView.getId() == currentClickView.getId(); + //是否纯吸View + boolean isPureAbsorption = currentClickView.getId() == R.id.btn_clean_mode_pure_absorption; + //是否纯洗View + boolean isPureWash = currentClickView.getId() == R.id.btn_clean_mode_pure_wash; + //是否纯扫View + boolean isPureSweep = currentClickView.getId() == R.id.btn_clean_mode_pure_sweep; + //是否洗扫View + boolean isWashSweep = currentClickView.getId() == R.id.btn_clean_mode_sweep_wash; + + CmdRequestCallback cmdRequestCallback = new CmdRequestCallback() { + @Override + public void onSendCmd() { + showLoadingMask(CMD_EXECUTE_TIMEOUT_SECONDS); + } + + @Override + public void onCountDownTick(int seconds) { + updateLoadingCountDown(seconds); + } + + @Override + public boolean onCheckIfCmdSuccess(VehicleStateOuterClass.SweeperFuTianCleanSystemState cleanSystemState) { + boolean success = false; + if (cleanSystemState == null) { + return success; + } + // 洗扫 + boolean clean_mode_wash_sweep = cleanSystemState.getSecuModWashSweepSts(); + // 纯洗 + boolean clean_mode_pure_wash = cleanSystemState.getSecuModWashSts(); + // 纯吸 + boolean clean_mode_pure_draw = cleanSystemState.getSecuWorkTonSts(); + // 纯扫 模式判断：不是另外其他3个模式，同时有清扫方向，说明开启了纯扫模式 + boolean clean_mode_pure_sweep = checkIfCleanModePureSweep(cleanSystemState); + + if (isPureSweep) { + success = clean_mode_pure_sweep; + } else if (isPureWash) { + success = clean_mode_pure_wash; + } else if (isWashSweep) { + success = clean_mode_wash_sweep; + } else if (isPureAbsorption) { + success = clean_mode_pure_draw; + } + //TODO + return true; + } + + @Override + public void onCmdSuccess() { + ((CheckedTextView) currentClickView).setChecked(!isClickCurrentChoosedModeBtn); + toggleCleanModeBtnsByChoosedViewId(currentClickView.getId(), isClickCurrentChoosedModeBtn); + if (isClickCurrentChoosedModeBtn) { + toggleCleanDirectionBtnsStatus(false); + toggleCleanIntensityBtnsStatus(false); + } else { + // 如果是纯吸，没有设置清扫方向，同时自动设置作业强度为标准 + if (isPureAbsorption) { + toggleCleanDirectionBtnsStatus(false); + setCleanIntensityStandard(); + } else { + toggleCleanDirectionBtnsStatus(true); + toggleCleanIntensityBtnsStatus(false); + } + } + hideLoadingMask(); + showCmdExecuteSuccessToast(); + } + + @Override + public void onCmdFailed() { + } + + @Override + public void onCmdTimeout() { + ((CheckedTextView) currentClickView).setChecked(isClickCurrentChoosedModeBtn); + hideLoadingMask(); + showCmdExecuteTimeoutToast(); + } + }; + + if (isClickCurrentChoosedModeBtn) { + //当前已选择模式的按钮，取消当前模式，并关闭清扫方向 + sendSweeperCmd( + SweeperFutianCmdUtil.buildCleanModeCloseCmd(), + cmdRequestCallback, + CMD_EXECUTE_TIMEOUT_SECONDS); + } else { + //开启新的作业模式，直接发送命令(纯吸需要一并设置作业强度为标准) + int cmdValue = cleanModeBtnAndCmdValueMap.get(currentClickView.getId()); + sendSweeperCmd( + isPureAbsorption ? SweeperFutianCmdUtil.buildCleanModePureDrawCmd() + : SweeperFutianCmdUtil.buildCleanModeCmd(cmdValue), + cmdRequestCallback, + CMD_EXECUTE_TIMEOUT_SECONDS); + } + } + + private void onCleanDirectionBtnClick(final View currentClickView) { + CheckedTextView currentChoosedDirectionBtnView = null; + for (Integer viewId : cleanDirectionBtnViewIds) { + CheckedTextView view = (CheckedTextView) findViewById(viewId); + if (view.isChecked()) { + currentChoosedDirectionBtnView = view; + break; + } + } + boolean isClickCurrentChoosedDirectionBtn = currentChoosedDirectionBtnView != null + && currentChoosedDirectionBtnView.getId() == currentClickView.getId(); + + boolean isLeftSide = currentClickView.getId() == R.id.btn_clean_direction_left_side; + boolean isRightSide = currentClickView.getId() == R.id.btn_clean_direction_right_side; + boolean isBothSide = currentClickView.getId() == R.id.btn_clean_direction_both_side; + + + CmdRequestCallback cmdRequestCallback = new CmdRequestCallback() { + @Override + public void onSendCmd() { + showLoadingMask(CMD_EXECUTE_TIMEOUT_SECONDS); + } + + @Override + public void onCountDownTick(int seconds) { + updateLoadingCountDown(seconds); + } + + @Override + public boolean onCheckIfCmdSuccess(VehicleStateOuterClass.SweeperFuTianCleanSystemState cleanSystemState) { + boolean success = false; + if (cleanSystemState == null) { + return success; + } + // 左侧 + boolean clean_direction_left_side = cleanSystemState.getSecuWorkLeftSts(); + // 右侧 + boolean clean_direction_right_side = cleanSystemState.getSecuWorkRightSts(); + // 两侧 + boolean clean_direction_both_side = cleanSystemState.getSecuWorkOnBothsidesSts(); + + if (isLeftSide) { + success = clean_direction_left_side; + } else if (isRightSide) { + success = clean_direction_right_side; + } else if (isBothSide) { + success = clean_direction_both_side; + } + //TODO + return true; + } + + @Override + public void onCmdSuccess() { + ((CheckedTextView) currentClickView).setChecked(!isClickCurrentChoosedDirectionBtn); + toggleCleanDirectionBtnsByChoosedViewId(currentClickView.getId(), isClickCurrentChoosedDirectionBtn); + if (isClickCurrentChoosedDirectionBtn) { + toggleCleanIntensityBtnsStatus(false); + } else { + toggleCleanIntensityBtnsStatus(true); + // 一并设置作业强度为标准 + setCleanIntensityStandard(); + } + hideLoadingMask(); + showCmdExecuteSuccessToast(); + } + + @Override + public void onCmdFailed() { + } + + @Override + public void onCmdTimeout() { + ((CheckedTextView) currentClickView).setChecked(isClickCurrentChoosedDirectionBtn); + hideLoadingMask(); + showCmdExecuteTimeoutToast(); + } + }; + if (isClickCurrentChoosedDirectionBtn) { + //当前已选择模式的按钮，取消当前模式，重置作业强度为标准，并置灰作业强度按钮 + sendSweeperCmd( + SweeperFutianCmdUtil.buildCleanDirectionCloseCmd(), + cmdRequestCallback, + CMD_EXECUTE_TIMEOUT_SECONDS); + } else { + //开启新的作业模式，直接发送命令(作业强度默认为标准) + int cmdValue = cleanDirectionBtnAndCmdValueMap.get(currentClickView.getId()); + sendSweeperCmd( + SweeperFutianCmdUtil.buildCleanDirectionCmd(cmdValue), + cmdRequestCallback, + CMD_EXECUTE_TIMEOUT_SECONDS); + } + } + + private void onCleanIntensityBtnClick(final View currentClickView) { + boolean isStandardBtnClick = currentClickView.getId() == R.id.btn_clean_intensity_standard; + boolean isStrongBtnClick = currentClickView.getId() == R.id.btn_clean_intensity_strong; + CmdRequestCallback cmdRequestCallback = new CmdRequestCallback() { + @Override + public void onSendCmd() { + showLoadingMask(CMD_EXECUTE_TIMEOUT_SECONDS); + } + + @Override + public void onCountDownTick(int seconds) { + updateLoadingCountDown(seconds); + } + + @Override + public boolean onCheckIfCmdSuccess(VehicleStateOuterClass.SweeperFuTianCleanSystemState cleanSystemState) { + boolean success = false; + if (cleanSystemState == null) { + return success; + } + boolean clean_intensity_standard = cleanSystemState.getSecuWorkStandSts(); + boolean clean_intensity_strong = cleanSystemState.getSecuWorkStrongSts(); + if (isStandardBtnClick) { + success = clean_intensity_standard; + } else if (isStrongBtnClick) { + success = clean_intensity_strong; + } + //TODO + return true; + } + + @Override + public void onCmdSuccess() { + ((CheckedTextView) currentClickView).setChecked(true); + if (isStandardBtnClick) { + setCleanIntensityStandard(); + } else { + setCleanIntensityStrong(); + } + hideLoadingMask(); + showCmdExecuteSuccessToast(); + } + + @Override + public void onCmdFailed() { + } + + @Override + public void onCmdTimeout() { + ((CheckedTextView) currentClickView).setChecked(false); + hideLoadingMask(); + showCmdExecuteTimeoutToast(); + } + }; + int cmdValue = cleanIntensityBtnAndCmdValueMap.get(currentClickView.getId()); + sendSweeperCmd( + SweeperFutianCmdUtil.buildCleanIntensityCmd(cmdValue), + cmdRequestCallback, + CMD_EXECUTE_TIMEOUT_SECONDS); + } + + /** + * 作业模式按钮状态切换-置灰/开启 按钮 + * + * @param enable + */ + private void toggleCleanModeBtnsStatus(boolean enable) { + for (Integer viewId : cleanModeBtnViewIds) { + CheckedTextView view = (CheckedTextView) findViewById(viewId); + view.setEnabled(enable); + view.setChecked(false); + } + } + + /** + * 作业模式按钮状态切换-将当前点击按钮之外的其他按钮 置灰或开启 + * + * @param choosedBtnId + * @param enable + */ + private void toggleCleanModeBtnsByChoosedViewId(int choosedBtnId, boolean enable) { + for (Integer viewId : cleanModeBtnViewIds) { + CheckedTextView view = (CheckedTextView) findViewById(viewId); + if (view.getId() != choosedBtnId) { + view.setEnabled(enable); + view.setChecked(false); + } + } + } + + /** + * 清扫方向按钮状态切换-置灰/开启 按钮 + * + * @param enable + */ + private void toggleCleanDirectionBtnsStatus(boolean enable) { + for (Integer viewId : cleanDirectionBtnViewIds) { + CheckedTextView view = (CheckedTextView) findViewById(viewId); + view.setEnabled(enable); + view.setChecked(false); + } + } + + /** + * 清扫方向按钮状态切换-将当前点击按钮之外的其他按钮 置灰或开启 + * + * @param choosedBtnId + * @param enable + */ + private void toggleCleanDirectionBtnsByChoosedViewId(int choosedBtnId, boolean enable) { + for (Integer viewId : cleanDirectionBtnViewIds) { + CheckedTextView view = (CheckedTextView) findViewById(viewId); + if (view.getId() != choosedBtnId) { + view.setEnabled(enable); + view.setChecked(false); + } + } + } + + /** + * 作业强度按钮状态切换-置灰/开启 按钮 + * + * @param enable + */ + private void toggleCleanIntensityBtnsStatus(boolean enable) { + for (Integer viewId : cleanIntensityBtnViewIds) { + CheckedTextView view = (CheckedTextView) findViewById(viewId); + view.setEnabled(enable); + view.setChecked(false); + } + } + + /** + * 设置作业强度-标准 + */ + private void setCleanIntensityStandard() { + mBtnCleanIntensityStandard.setChecked(true); + mBtnCleanIntensityStandard.setEnabled(true); + mBtnCleanIntensityStrong.setChecked(false); + mBtnCleanIntensityStrong.setEnabled(true); + } + + /** + * 设置作业强度-加强 + */ + private void setCleanIntensityStrong() { + mBtnCleanIntensityStandard.setChecked(false); + mBtnCleanIntensityStandard.setEnabled(true); + mBtnCleanIntensityStrong.setChecked(true); + mBtnCleanIntensityStrong.setEnabled(true); + } + + /** + * 发送命令后等待时，展示loading + * + * @param timeout + */ + private void showLoadingMask(int timeout) { + showLoadingMask("执行中，请稍后。。。", timeout); + } + + /** + * 发送命令后等待时，展示loading + * + * @param hint + * @param timeout + */ + private void showLoadingMask(String hint, int timeout) { + runOnUIThread(() -> { + mLoadingContainer.setVisibility(View.VISIBLE); + mLoadingHintTop.setText(hint); + mLoadingHintBottom.setText( + String.format( + getContext().getApplicationContext().getString(R.string.sweeper_operate_panel_cmd_execute_timeout), + timeout + )); + mLoadingHintBottom.setVisibility(timeout < 0 ? View.INVISIBLE : View.VISIBLE); + }); + } + + /** + * 隐藏loading + */ + private void hideLoadingMask() { + runOnUIThread(() -> { + mLoadingContainer.setVisibility(View.GONE); + }); + } + + /** + * 更新loading中倒计时 + * + * @param timeout + */ + private void updateLoadingCountDown(int timeout) { + runOnUIThread(() -> { + mLoadingHintBottom.setText( + String.format( + getContext().getApplicationContext().getString(R.string.sweeper_operate_panel_cmd_execute_timeout), + timeout + )); + }); + } + + /** + * 命令执行成功toast + */ + private void showCmdExecuteSuccessToast() { + ToastUtils.showLong("设备已响应，操作成功"); + } + + /** + * 命令执行超时toast + */ + private void showCmdExecuteTimeoutToast() { + ToastUtils.showLong("超时未响应，操作失败"); + } + + /** + * 根据底盘数据恢复操作面板中相关按钮状态 成功toast + */ + private void showRecoverPanelButtonStateSuccessToast() { + ToastUtils.showLong("恢复操作面板状态成功"); + } + + /** + * 关闭清扫作业时，确认操作的弹框 + * + * @param runnable + */ + private void showConfirmCleanWorkCloseDialog(Runnable runnable) { + AlertDialog.Builder builder = new AlertDialog.Builder(getContext()); + builder.setMessage("是否关闭清扫作业？"); + builder.setCancelable(true); + builder.setPositiveButton("确认", new DialogInterface.OnClickListener() { + @Override + public void onClick(DialogInterface dialog, int which) { + runnable.run(); + dialog.dismiss(); + } + }); + builder.setNegativeButton("取消", new DialogInterface.OnClickListener() { + @Override + public void onClick(DialogInterface dialog, int which) { + dialog.dismiss(); + } + }); + AlertDialog dialog = builder.create(); + dialog.show(); + } + + private void runOnUIThread(Runnable runnable) { + ThreadUtils.runOnUiThread(new Runnable() { + @Override + public void run() { + runnable.run(); + } + }); + } + + private void setClickListener(View view, OnClickListener listener) { + view.setOnClickListener(new OnPreventFastClickListener() { + @Override + public void onClickImpl(View v) { + listener.onClick(v); + } + }); + } + + /** + * 底盘数据透传listener + */ + private final IMoGoAutopilotVehicleStateListener mIMoGoAutopilotVehicleStateListener = new IMoGoAutopilotVehicleStateListener() { + @Override + public void onAutopilotDataException(long timestamp) { + } + + @Override + public void onAutopilotLightSwitchData(@Nullable Chassis.LightSwitch lightSwitch) { + } + + @Override + public void onAutopilotBrakeLightData(boolean brakeLight) { + } + + @Override + public void onAutopilotSteeringData(float steering) { + } + + @Override + public void onAutopilotGearData(@NonNull Chassis.GearPosition gear) { + } + + @Override + public void onAutopilotAcc(float carAcc) { + } + + @Override + public void onAutopilotThrottle(float throttle) { + } + + @Override + public void onAutopilotBrake(float brake) { + } + + @Override + public void onSweeperFutianCleanSystemState(@NonNull VehicleStateOuterClass.SweeperFuTianCleanSystemState cleanSystemState) { + // 第一次进入时同步底盘状态，只拿第一次的数据 + if (mSyncingVehicleState) { + onSyncVehicleStateCallBack(cleanSystemState); + return; + } + // 有命令正在执行 + if (mCurrentCmdRequestCallback != null) { + if (mCurrentCmdRequestCallback.onCheckIfCmdSuccess(cleanSystemState)) { + mCurrentCmdRequestCallback.onCmdSuccess(); + mCurrentCmdRequestCallback = null; + } + } + } + }; + + @Override + protected void onAttachedToWindow() { + super.onAttachedToWindow(); + CallerAutopilotVehicleStateListenerManager.INSTANCE.addListener(TAG, mIMoGoAutopilotVehicleStateListener); +// syncVehicleStateAndRecoverOperatePanelStates(); + // TODO + // Mock VehicleState 数据回调 +// UiThreadHandler.postDelayed(() -> { +// onSyncVehicleStateCallBack(SweeperFutianCmdUtil.buildSweeperFuTionCleanSystemStateMockData()); +// }, 3000L); + } + + @Override + protected void onDetachedFromWindow() { + super.onDetachedFromWindow(); + CallerAutopilotVehicleStateListenerManager.INSTANCE.removeListener(TAG); + } + + /** + * 等待同步底盘数据，并根据底盘数据恢复操作面板中按钮的状态 + */ + private synchronized void syncVehicleStateAndRecoverOperatePanelStates() { + // show sync loading + showLoadingMask("状态同步中，请稍后", -1); + mSyncingVehicleState = true; + } + + private synchronized void onSyncVehicleStateCallBack(VehicleStateOuterClass.SweeperFuTianCleanSystemState cleanSystemState) { + if (cleanSystemState == null) return; + mSyncingVehicleState = false; + // 清扫作业开启状态（以电机状态为true代表Open成功，实际控制端控制步骤为：1.发送远程控制上装指令 2.发送电机启动指令） + boolean clean_open_requirement = cleanSystemState.getSecuMotWorkSts(); + // 作业模式状态 + // 洗扫 + boolean clean_mode_wash_sweep = cleanSystemState.getSecuModWashSweepSts(); + // 纯洗 + boolean clean_mode_pure_wash = cleanSystemState.getSecuModWashSts(); + // 纯吸 + boolean clean_mode_pure_draw = cleanSystemState.getSecuWorkTonSts(); + + // 清扫方向状态 + // 左侧 + boolean clean_direction_left_side = cleanSystemState.getSecuWorkLeftSts(); + // 右侧 + boolean clean_direction_right_side = cleanSystemState.getSecuWorkRightSts(); + // 两侧 + boolean clean_direction_both_side = cleanSystemState.getSecuWorkOnBothsidesSts(); + + // 纯扫 模式判断：不是另外其他3个模式，同时有清扫方向，说明开启了纯扫模式 + boolean clean_mode_pure_sweep = checkIfCleanModePureSweep(cleanSystemState); + + // 作业强度状态 + boolean clean_intensity_standard = cleanSystemState.getSecuWorkStandSts(); + boolean clean_intensity_strong = cleanSystemState.getSecuWorkStrongSts(); + + runOnUIThread(() -> { + if (clean_open_requirement) { + // 打开状态 + mBtnCleanWorkOpenClose.setText("Close"); + mBtnCleanWorkOpenClose.setChecked(true); + } else { + // 关闭状态 + mBtnCleanWorkOpenClose.setText("Open"); + mBtnCleanWorkOpenClose.setChecked(false); + } + if (clean_mode_pure_sweep) { + //纯扫 + mBtnCleanModePureSweep.setChecked(true); + mBtnCleanModePureSweep.setEnabled(true); + toggleCleanModeBtnsByChoosedViewId(R.id.btn_clean_mode_pure_sweep, false); + } else if (clean_mode_pure_wash) { + //纯洗 + mBtnCleanModePureWash.setChecked(true); + mBtnCleanModePureWash.setEnabled(true); + toggleCleanModeBtnsByChoosedViewId(R.id.btn_clean_mode_pure_wash, false); + } else if (clean_mode_wash_sweep) { + //洗扫 + mBtnCleanModeSweepWash.setChecked(true); + mBtnCleanModeSweepWash.setEnabled(true); + toggleCleanModeBtnsByChoosedViewId(R.id.btn_clean_mode_sweep_wash, false); + } else if (clean_mode_pure_draw) { + //纯吸，需要disable作业方向 + mBtnCleanModePureAbsorption.setChecked(true); + mBtnCleanModePureAbsorption.setEnabled(true); + toggleCleanModeBtnsByChoosedViewId(R.id.btn_clean_mode_pure_absorption, false); + toggleCleanDirectionBtnsStatus(false); + } + + if (!clean_mode_pure_draw) {// 非纯吸模式才有清扫方向 + if (clean_direction_left_side) { + mBtnCleanDirectionLeftSide.setChecked(true); + mBtnCleanDirectionLeftSide.setEnabled(true); + toggleCleanDirectionBtnsByChoosedViewId(R.id.btn_clean_direction_left_side, false); + } else if (clean_direction_right_side) { + mBtnCleanDirectionRightSide.setChecked(true); + mBtnCleanDirectionRightSide.setEnabled(true); + toggleCleanDirectionBtnsByChoosedViewId(R.id.btn_clean_direction_right_side, false); + } else if (clean_direction_both_side) { + mBtnCleanDirectionBothSide.setChecked(true); + mBtnCleanDirectionBothSide.setEnabled(true); + toggleCleanDirectionBtnsByChoosedViewId(R.id.btn_clean_direction_both_side, false); + } + } + if (clean_intensity_standard) { + setCleanIntensityStandard(); + } else if (clean_intensity_strong) { + setCleanIntensityStrong(); + } + hideLoadingMask(); + showRecoverPanelButtonStateSuccessToast(); + }); + } + + /** + * 通过底盘数据判断是纯扫模式 + * + * @param cleanSystemState + * @return + */ + private boolean checkIfCleanModePureSweep(VehicleStateOuterClass.SweeperFuTianCleanSystemState cleanSystemState) { + // 作业模式状态 + // 洗扫 + boolean clean_mode_wash_sweep = cleanSystemState.getSecuModWashSweepSts(); + // 纯洗 + boolean clean_mode_pure_wash = cleanSystemState.getSecuModWashSts(); + // 纯吸 + boolean clean_mode_pure_draw = cleanSystemState.getSecuWorkTonSts(); + + // 清扫方向状态 + // 左侧 + boolean clean_direction_left_side = cleanSystemState.getSecuWorkLeftSts(); + // 右侧 + boolean clean_direction_right_side = cleanSystemState.getSecuWorkRightSts(); + // 两侧 + boolean clean_direction_both_side = cleanSystemState.getSecuWorkOnBothsidesSts(); + + // 纯扫 模式判断：不是另外其他3个模式，同时有清扫方向，说明开启了纯扫模式 + boolean clean_mode_pure_sweep = (clean_direction_left_side || clean_direction_right_side || clean_direction_both_side) + && (!clean_mode_wash_sweep && !clean_mode_pure_wash && !clean_mode_pure_draw); + return clean_mode_pure_sweep; + } + + /** + * 发送清扫车相关作业命令 + * + * @param fuTianCleanCmd + * @param cmdRequestCallback + * @param timeout + */ + private void sendSweeperCmd( + SpecialVehicleTaskCmdOuterClass.RoboSweeperFuTianTaskCmd fuTianCleanCmd, + CmdRequestCallback cmdRequestCallback, + int timeout) { + // 设置当前请求的回调 + mCurrentCmdRequestCallback = cmdRequestCallback; + // onSendCmd + mCurrentCmdRequestCallback.onSendCmd(); + // 发送命令 + CallerAutoPilotManager.INSTANCE.sendSweeperFuTianTaskCmd(fuTianCleanCmd); + // log发送命令 + logSweeperCmdValue(fuTianCleanCmd); + // 开启倒计时 + Message msg = Message.obtain(); + msg.what = MSG_CMD_EXECUTE_COUNT_DOWN; + msg.obj = timeout; + mSweeperOperateCmdHandler.sendMessage(msg); + // Mock Cmd Success + Message successMsg = Message.obtain(); + successMsg.what = MSG_CMD_EXECUTE_MOCK_SUCCESS; + mSweeperOperateCmdHandler.sendMessageDelayed(successMsg, 1000L * CMD_EXECUTE_MOCK_SUCCESS_SECONDS); + } + + private void logSweeperCmdValue(SpecialVehicleTaskCmdOuterClass.RoboSweeperFuTianTaskCmd taskCmd) { + SpecialVehicleTaskCmdOuterClass.RoboSweeperFuTianCleanCmd roboSweeperFutianCleanCmd = taskCmd.getRoboSweeperFutianCleanCmd(); + int clean_open_requirement = roboSweeperFutianCleanCmd.getCleanOpenRequirement(); + int clean_mode_requirement = roboSweeperFutianCleanCmd.getCleanModeRequirement(); + int clean_direction_requirement = roboSweeperFutianCleanCmd.getCleanDirectionRequirement(); + int clean_intensity_requirement = roboSweeperFutianCleanCmd.getCleanIntensityRequirement(); + Log.d(TAG, "---- sendSweeperFuTianTaskCmd ----" + + "[clean_open_requirement = " + clean_open_requirement + "]," + + "[clean_mode_requirement = " + clean_mode_requirement + "]," + + "[clean_direction_requirement = " + clean_direction_requirement + "]," + + "[clean_intensity_requirement = " + clean_intensity_requirement + "]" + ); + } + + private final static SweeperOperateCmdHandler mSweeperOperateCmdHandler = new SweeperOperateCmdHandler(); + private static CmdRequestCallback mCurrentCmdRequestCallback;//发送命令后的回调 + private boolean mSyncingVehicleState;//第一次进入页面时，同步底盘状态的标志位 + private static final int MSG_CMD_EXECUTE_COUNT_DOWN = 10001; + private static final int MSG_CMD_EXECUTE_MOCK_SUCCESS = 10002; + + /** + * 执行命令时倒计时的Handler + */ + static class SweeperOperateCmdHandler extends Handler { + + @Override + public void handleMessage(@NonNull Message msg) { + super.handleMessage(msg); + if (msg.what == MSG_CMD_EXECUTE_COUNT_DOWN) { + int seconds = (int) msg.obj; + if (seconds > 0) { + if (mCurrentCmdRequestCallback != null) { + mCurrentCmdRequestCallback.onCountDownTick(seconds); + } + Message newMsg = Message.obtain(); + newMsg.what = MSG_CMD_EXECUTE_COUNT_DOWN; + newMsg.obj = seconds - 1; + mSweeperOperateCmdHandler.sendMessageDelayed(newMsg, 1000L); + } else { + if (mCurrentCmdRequestCallback != null) { + mCurrentCmdRequestCallback.onCmdTimeout(); + mCurrentCmdRequestCallback = null; + } + removeMessages(MSG_CMD_EXECUTE_COUNT_DOWN); + } + } else if (msg.what == MSG_CMD_EXECUTE_MOCK_SUCCESS) { + if (mCurrentCmdRequestCallback != null) { + mCurrentCmdRequestCallback.onCmdSuccess(); + mCurrentCmdRequestCallback = null; + } + removeMessages(MSG_CMD_EXECUTE_COUNT_DOWN); + } + } + } + + interface CmdRequestCallback { + void onSendCmd(); + + void onCountDownTick(int senonds); + + boolean onCheckIfCmdSuccess(VehicleStateOuterClass.SweeperFuTianCleanSystemState cleanSystemState); + + void onCmdSuccess(); + + void onCmdFailed(); + + void onCmdTimeout(); + } +} diff --git a/OCH/mogo-och-sweeper/src/main/java/com/mogo/och/sweeper/util/SweeperFutianCmdUtil.java b/OCH/mogo-och-sweeper/src/main/java/com/mogo/och/sweeper/util/SweeperFutianCmdUtil.java new file mode 100644 index 0000000000..969b0dbc34 --- /dev/null +++ b/OCH/mogo-och-sweeper/src/main/java/com/mogo/och/sweeper/util/SweeperFutianCmdUtil.java @@ -0,0 +1,148 @@ +package com.mogo.och.sweeper.util; + +import chassis.SpecialVehicleTaskCmdOuterClass; +import chassis.VehicleStateOuterClass; + +/** + * 清扫车-福田，构建业务命令数据的工具类 + */ +public class SweeperFutianCmdUtil { + private static final int CLEAN_WORK_OPEN = 1; //清扫作业-开启 + private static final int CLEAN_WORK_CLOSE = 2;//清扫作业-关闭 + public static final int CLEAN_MODE_PURE_SWEEP = 1;//作业模式-纯扫 + public static final int CLEAN_MODE_WASH_SWEEP = 2;//作业模式-洗扫 + public static final int CLEAN_MODE_PURE_WASH = 3;//作业模式-纯洗 + public static final int CLEAN_MODE_PURE_DRAW = 4;//作业模式-纯吸 + private static final int CLEAN_MODE_CLOSE = 5;//作业模式-关闭 + public static final int CLEAN_DIRECTION_BOTH_SIDE = 1;//清扫方向-两侧 + public static final int CLEAN_DIRECTION_LEFT_SIDE = 2;//清扫方向-左侧 + public static final int CLEAN_DIRECTION_RIGHT_SIDE = 3;//清扫方向-右侧 + private static final int CLEAN_DIRECTION_CLOSE = 4;//清扫方向-关闭 + public static final int CLEAN_INTENSITY_STRAND = 1;//作业强度-标准 + public static final int CLEAN_INTENSITY_STRONG = 2;//作业强度-加强 + + /** + * 清扫作业：打开 + * + * @return + */ + public static SpecialVehicleTaskCmdOuterClass.RoboSweeperFuTianTaskCmd buildCleanWorkStartCmd() { + return buildCleanWorkCmd(CLEAN_WORK_OPEN); + } + + /** + * 清扫作业：关闭 + * + * @return + */ + public static SpecialVehicleTaskCmdOuterClass.RoboSweeperFuTianTaskCmd buildCleanWorkStopCmd() { + return buildCleanWorkCmd(CLEAN_WORK_CLOSE); + } + + + private static SpecialVehicleTaskCmdOuterClass.RoboSweeperFuTianTaskCmd buildCleanWorkCmd(int startOrStop) { + SpecialVehicleTaskCmdOuterClass.RoboSweeperFuTianCleanCmd.Builder builder = SpecialVehicleTaskCmdOuterClass.RoboSweeperFuTianCleanCmd.newBuilder(); + builder.setCleanOpenRequirement(startOrStop); + return buildTaskCmd(builder.build()); + } + + /** + * 作业模式：传入具体的模式对应的值 + * + * @param value + * @return + */ + public static SpecialVehicleTaskCmdOuterClass.RoboSweeperFuTianTaskCmd buildCleanModeCmd(int value) { + SpecialVehicleTaskCmdOuterClass.RoboSweeperFuTianCleanCmd.Builder builder = SpecialVehicleTaskCmdOuterClass.RoboSweeperFuTianCleanCmd.newBuilder(); + builder.setCleanModeRequirement(value); + return buildTaskCmd(builder.build()); + } + + /** + * 作业模式：纯吸 + * + * @return + */ + public static SpecialVehicleTaskCmdOuterClass.RoboSweeperFuTianTaskCmd buildCleanModePureDrawCmd() { + SpecialVehicleTaskCmdOuterClass.RoboSweeperFuTianCleanCmd.Builder builder = SpecialVehicleTaskCmdOuterClass.RoboSweeperFuTianCleanCmd.newBuilder(); + builder.setCleanModeRequirement(CLEAN_MODE_PURE_DRAW); + //不用设置作业方向，自动设置作业强度为：标准 + builder.setCleanIntensityRequirement(CLEAN_INTENSITY_STRAND); + return buildTaskCmd(builder.build()); + } + + /** + * 作业模式：关闭作业模式 + * + * @return + */ + public static SpecialVehicleTaskCmdOuterClass.RoboSweeperFuTianTaskCmd buildCleanModeCloseCmd() { + SpecialVehicleTaskCmdOuterClass.RoboSweeperFuTianCleanCmd.Builder builder = SpecialVehicleTaskCmdOuterClass.RoboSweeperFuTianCleanCmd.newBuilder(); + builder.setCleanModeRequirement(CLEAN_MODE_CLOSE); + //关闭清扫方向，待下次在选择 + builder.setCleanDirectionRequirement(CLEAN_DIRECTION_CLOSE); + //自动设置作业强度为：标准 + builder.setCleanIntensityRequirement(CLEAN_INTENSITY_STRAND); + return buildTaskCmd(builder.build()); + } + + /** + * 作业方向：根据具体的方向传入具体的值 + * + * @param value + * @return + */ + public static SpecialVehicleTaskCmdOuterClass.RoboSweeperFuTianTaskCmd buildCleanDirectionCmd(int value) { + SpecialVehicleTaskCmdOuterClass.RoboSweeperFuTianCleanCmd.Builder builder = SpecialVehicleTaskCmdOuterClass.RoboSweeperFuTianCleanCmd.newBuilder(); + builder.setCleanDirectionRequirement(value); + builder.setCleanIntensityRequirement(CLEAN_INTENSITY_STRAND); + // 同时作业强度默认：标准 + return buildTaskCmd(builder.build()); + } + + /** + * 作业方向：关闭作业方向 + * + * @return + */ + public static SpecialVehicleTaskCmdOuterClass.RoboSweeperFuTianTaskCmd buildCleanDirectionCloseCmd() { + SpecialVehicleTaskCmdOuterClass.RoboSweeperFuTianCleanCmd.Builder builder = SpecialVehicleTaskCmdOuterClass.RoboSweeperFuTianCleanCmd.newBuilder(); + builder.setCleanDirectionRequirement(CLEAN_DIRECTION_CLOSE); + //重置作业强度为标准 + builder.setCleanIntensityRequirement(CLEAN_INTENSITY_STRAND); + return buildTaskCmd(builder.build()); + } + + /** + * 作业强度：传入具体的值 + * + * @param value + * @return + */ + public static SpecialVehicleTaskCmdOuterClass.RoboSweeperFuTianTaskCmd buildCleanIntensityCmd(int value) { + SpecialVehicleTaskCmdOuterClass.RoboSweeperFuTianCleanCmd.Builder builder = SpecialVehicleTaskCmdOuterClass.RoboSweeperFuTianCleanCmd.newBuilder(); + builder.setCleanIntensityRequirement(value); + return buildTaskCmd(builder.build()); + } + + private static SpecialVehicleTaskCmdOuterClass.RoboSweeperFuTianTaskCmd buildTaskCmd( + SpecialVehicleTaskCmdOuterClass.RoboSweeperFuTianCleanCmd fuTianCleanCmd) { + return SpecialVehicleTaskCmdOuterClass.RoboSweeperFuTianTaskCmd.newBuilder() + .setRoboSweeperFutianCleanCmd(fuTianCleanCmd).build(); + } + + /** + * 构建底盘Mock数据 + * + * @return + */ + public static VehicleStateOuterClass.SweeperFuTianCleanSystemState buildSweeperFuTionCleanSystemStateMockData() { + VehicleStateOuterClass.SweeperFuTianCleanSystemState.Builder builder = VehicleStateOuterClass.SweeperFuTianCleanSystemState.newBuilder(); + builder.setSecuMotWorkSts(true); + builder.setSecuModWashSts(true); + builder.setSecuWorkOnBothsidesSts(true); + builder.setSecuWorkStrongSts(true); + return builder.build(); + } + +} diff --git a/OCH/mogo-och-sweeper/src/main/res/drawable/bg_sweeper_operate_panel.xml b/OCH/mogo-och-sweeper/src/main/res/drawable/bg_sweeper_operate_panel.xml new file mode 100644 index 0000000000..c9f7378baa --- /dev/null +++ b/OCH/mogo-och-sweeper/src/main/res/drawable/bg_sweeper_operate_panel.xml @@ -0,0 +1,6 @@ + + + + + \ No newline at end of file diff --git a/OCH/mogo-och-sweeper/src/main/res/drawable/bg_sweeper_operate_panel_btn_close.xml b/OCH/mogo-och-sweeper/src/main/res/drawable/bg_sweeper_operate_panel_btn_close.xml new file mode 100644 index 0000000000..8455e0cafb --- /dev/null +++ b/OCH/mogo-och-sweeper/src/main/res/drawable/bg_sweeper_operate_panel_btn_close.xml @@ -0,0 +1,7 @@ + + + + + + \ No newline at end of file diff --git a/OCH/mogo-och-sweeper/src/main/res/drawable/bg_sweeper_operate_panel_btn_default.xml b/OCH/mogo-och-sweeper/src/main/res/drawable/bg_sweeper_operate_panel_btn_default.xml new file mode 100644 index 0000000000..84464f5307 --- /dev/null +++ b/OCH/mogo-och-sweeper/src/main/res/drawable/bg_sweeper_operate_panel_btn_default.xml @@ -0,0 +1,7 @@ + + + + + + \ No newline at end of file diff --git a/OCH/mogo-och-sweeper/src/main/res/drawable/bg_sweeper_operate_panel_btn_disabled.xml b/OCH/mogo-och-sweeper/src/main/res/drawable/bg_sweeper_operate_panel_btn_disabled.xml new file mode 100644 index 0000000000..a5cb095bc8 --- /dev/null +++ b/OCH/mogo-och-sweeper/src/main/res/drawable/bg_sweeper_operate_panel_btn_disabled.xml @@ -0,0 +1,7 @@ + + + + + + \ No newline at end of file diff --git a/OCH/mogo-och-sweeper/src/main/res/drawable/bg_sweeper_operate_panel_btn_open.xml b/OCH/mogo-och-sweeper/src/main/res/drawable/bg_sweeper_operate_panel_btn_open.xml new file mode 100644 index 0000000000..ec0eeb317b --- /dev/null +++ b/OCH/mogo-och-sweeper/src/main/res/drawable/bg_sweeper_operate_panel_btn_open.xml @@ -0,0 +1,7 @@ + + + + + + \ No newline at end of file diff --git a/OCH/mogo-och-sweeper/src/main/res/drawable/bg_sweeper_operate_panel_btn_pressed.xml b/OCH/mogo-och-sweeper/src/main/res/drawable/bg_sweeper_operate_panel_btn_pressed.xml new file mode 100644 index 0000000000..8d7970361a --- /dev/null +++ b/OCH/mogo-och-sweeper/src/main/res/drawable/bg_sweeper_operate_panel_btn_pressed.xml @@ -0,0 +1,7 @@ + + + + + + \ No newline at end of file diff --git a/OCH/mogo-och-sweeper/src/main/res/drawable/sweeper_operate_panel_btn1_bg_selector.xml b/OCH/mogo-och-sweeper/src/main/res/drawable/sweeper_operate_panel_btn1_bg_selector.xml new file mode 100644 index 0000000000..ba7719ba91 --- /dev/null +++ b/OCH/mogo-och-sweeper/src/main/res/drawable/sweeper_operate_panel_btn1_bg_selector.xml @@ -0,0 +1,4 @@ + + + + \ No newline at end of file diff --git a/OCH/mogo-och-sweeper/src/main/res/drawable/sweeper_operate_panel_btn2_bg_selector.xml b/OCH/mogo-och-sweeper/src/main/res/drawable/sweeper_operate_panel_btn2_bg_selector.xml new file mode 100755 index 0000000000..c51538216c --- /dev/null +++ b/OCH/mogo-och-sweeper/src/main/res/drawable/sweeper_operate_panel_btn2_bg_selector.xml @@ -0,0 +1,6 @@ + + + + + + \ No newline at end of file diff --git a/OCH/mogo-och-sweeper/src/main/res/layout/sweeper_base_fragment.xml b/OCH/mogo-och-sweeper/src/main/res/layout/sweeper_base_fragment.xml index db9054dc42..3329a05a39 100644 --- a/OCH/mogo-och-sweeper/src/main/res/layout/sweeper_base_fragment.xml +++ b/OCH/mogo-och-sweeper/src/main/res/layout/sweeper_base_fragment.xml @@ -63,6 +63,17 @@ app:layout_goneMarginTop="@dimen/module_mogo_och_station_panel_container_margin_top_no_call" tools:visibility="visible" /> + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + \ No newline at end of file diff --git a/OCH/mogo-och-sweeper/src/main/res/values/colors.xml b/OCH/mogo-och-sweeper/src/main/res/values/colors.xml index 4ff9efb121..855ffb1a50 100644 --- a/OCH/mogo-och-sweeper/src/main/res/values/colors.xml +++ b/OCH/mogo-och-sweeper/src/main/res/values/colors.xml @@ -44,4 +44,13 @@ #FF006D43 #FFFFE198 #FFFF9B00 + + #7DE261 + #f00 + #BF30334C + #ffffff + #1FA7FF + #80ffffff + #BF30334C + \ No newline at end of file diff --git a/OCH/mogo-och-sweeper/src/main/res/values/dimens.xml b/OCH/mogo-och-sweeper/src/main/res/values/dimens.xml index d3aedccd5e..8cbd5c847a 100644 --- a/OCH/mogo-och-sweeper/src/main/res/values/dimens.xml +++ b/OCH/mogo-och-sweeper/src/main/res/values/dimens.xml @@ -151,4 +151,7 @@ 154px 130px 60px + + 16px + 36px \ No newline at end of file diff --git a/OCH/mogo-och-sweeper/src/main/res/values/strings.xml b/OCH/mogo-och-sweeper/src/main/res/values/strings.xml index b2d7412445..95a71366f9 100644 --- a/OCH/mogo-och-sweeper/src/main/res/values/strings.xml +++ b/OCH/mogo-och-sweeper/src/main/res/values/strings.xml @@ -24,4 +24,6 @@ 当前站点： 下一站： 自动驾驶状态为0不可用 + + 预计等待%d秒 diff --git a/core/function-impl/mogo-core-function-autopilot/src/main/java/com/mogo/eagle/core/function/autopilot/MoGoAutopilotProvider.kt b/core/function-impl/mogo-core-function-autopilot/src/main/java/com/mogo/eagle/core/function/autopilot/MoGoAutopilotProvider.kt index c071543a4c..ad02f82186 100644 --- a/core/function-impl/mogo-core-function-autopilot/src/main/java/com/mogo/eagle/core/function/autopilot/MoGoAutopilotProvider.kt +++ b/core/function-impl/mogo-core-function-autopilot/src/main/java/com/mogo/eagle/core/function/autopilot/MoGoAutopilotProvider.kt @@ -4,6 +4,7 @@ import android.Manifest.permission import android.content.Context import android.util.Log import androidx.annotation.RequiresPermission +import chassis.SpecialVehicleTaskCmdOuterClass import com.alibaba.android.arouter.facade.annotation.Route import com.mogo.cloud.passport.MoGoAiCloudClientConfig import com.mogo.eagle.core.data.app.AppConfigInfo @@ -545,4 +546,9 @@ class MoGoAutopilotProvider : Log.d(TAG, "---- sendStatusQueryReq ----") AdasManager.getInstance().sendStatusQueryReq() } + + override fun sendSweeperFuTianTaskCmd(fuTianTaskCmd: SpecialVehicleTaskCmdOuterClass.RoboSweeperFuTianTaskCmd) { + Log.d(TAG, "---- sendSweeperFuTianTaskCmd ----") + AdasManager.getInstance().sendRoboSweeperFuTianTaskCmd(fuTianTaskCmd) + } } \ No newline at end of file diff --git a/core/function-impl/mogo-core-function-autopilot/src/main/java/com/mogo/eagle/core/function/autopilot/adapter/MoGoAdasListenerImpl.kt b/core/function-impl/mogo-core-function-autopilot/src/main/java/com/mogo/eagle/core/function/autopilot/adapter/MoGoAdasListenerImpl.kt index 2ad188b830..f36f3681d4 100644 --- a/core/function-impl/mogo-core-function-autopilot/src/main/java/com/mogo/eagle/core/function/autopilot/adapter/MoGoAdasListenerImpl.kt +++ b/core/function-impl/mogo-core-function-autopilot/src/main/java/com/mogo/eagle/core/function/autopilot/adapter/MoGoAdasListenerImpl.kt @@ -1,6 +1,5 @@ package com.mogo.eagle.core.function.autopilot.adapter -import android.util.* import chassis.VehicleStateOuterClass import com.mogo.eagle.core.data.config.FunctionBuildConfig import com.mogo.eagle.core.data.config.HdMapBuildConfig @@ -45,7 +44,6 @@ import com.mogo.eagle.core.function.call.autopilot.CallerAutopilotPointCloudList import com.mogo.eagle.core.function.call.autopilot.CallerAutopilotRecordListenerManager.invokeAutopilotRecordResult import com.mogo.eagle.core.function.call.autopilot.CallerAutopilotVehicleStateListenerManager import com.mogo.eagle.core.function.call.map.CallerMapUIServiceManager -import com.mogo.eagle.core.network.utils.* import com.zhidao.support.adas.high.AdasManager import com.zhidao.support.adas.high.OnAdasListener import com.zhidao.support.adas.high.common.ProtocolStatus @@ -57,7 +55,6 @@ import mogo_msg.MogoReportMsg import perception.TrafficLightOuterClass import prediction.Prediction import record_cache.RecordPanelOuterClass -import rule_segement.MogoPointCloudOuterClass import system_master.SystemStatusInfo /** @@ -162,7 +159,10 @@ class MoGoAdasListenerImpl : OnAdasListener { CallerAutopilotVehicleStateListenerManager.invokeAutopilotThrottle(vehicleState.throttle) //刹车 CallerAutopilotVehicleStateListenerManager.invokeAutopilotBrake(vehicleState.brake) - + //清扫车（福田）清扫控制系统状态 + vehicleState.sweeperFutianCleanSystemState?.also { + CallerAutopilotVehicleStateListenerManager.invokeSweeperFutianCleanSystemState(it) + } } else { CallerAutopilotVehicleStateListenerManager.invokeAutopilotDataException(header.timestamp.toLong()) } diff --git a/core/function-impl/mogo-core-function-autopilot/src/main/java/com/mogo/eagle/core/function/autopilot/adapter/MoGoHandAdasMsgManager.java b/core/function-impl/mogo-core-function-autopilot/src/main/java/com/mogo/eagle/core/function/autopilot/adapter/MoGoHandAdasMsgManager.java index ee651b95c2..6db47cdab3 100644 --- a/core/function-impl/mogo-core-function-autopilot/src/main/java/com/mogo/eagle/core/function/autopilot/adapter/MoGoHandAdasMsgManager.java +++ b/core/function-impl/mogo-core-function-autopilot/src/main/java/com/mogo/eagle/core/function/autopilot/adapter/MoGoHandAdasMsgManager.java @@ -4,6 +4,7 @@ import android.content.Context; import android.text.TextUtils; import android.util.Log; +import androidx.annotation.NonNull; import androidx.annotation.Nullable; import com.mogo.cloud.passport.MoGoAiCloudClientConfig; @@ -23,6 +24,7 @@ import com.mogo.eagle.core.utilcode.mogo.storage.SharedPrefsMgr; import org.jetbrains.annotations.NotNull; import chassis.Chassis; +import chassis.VehicleStateOuterClass; import mogo.telematics.pad.MessagePad; public class MoGoHandAdasMsgManager implements @@ -166,4 +168,9 @@ public class MoGoHandAdasMsgManager implements public void onAutopilotBrake(float brake) { } + + @Override + public void onSweeperFutianCleanSystemState(VehicleStateOuterClass.SweeperFuTianCleanSystemState cleanSystemState) { + + } } \ No newline at end of file diff --git a/core/function-impl/mogo-core-function-devatools/src/main/java/com/zhjt/mogo_core_function_devatools/status/flow/can/CanImpl.kt b/core/function-impl/mogo-core-function-devatools/src/main/java/com/zhjt/mogo_core_function_devatools/status/flow/can/CanImpl.kt index 0e254a00b2..99ea3ba91d 100644 --- a/core/function-impl/mogo-core-function-devatools/src/main/java/com/zhjt/mogo_core_function_devatools/status/flow/can/CanImpl.kt +++ b/core/function-impl/mogo-core-function-devatools/src/main/java/com/zhjt/mogo_core_function_devatools/status/flow/can/CanImpl.kt @@ -4,6 +4,7 @@ import android.content.* import android.util.Log import chassis.Chassis.GearPosition import chassis.Chassis.LightSwitch +import chassis.VehicleStateOuterClass import com.mogo.eagle.core.function.api.autopilot.* import com.mogo.eagle.core.function.call.autopilot.* import com.mogo.eagle.core.utilcode.kotlin.* @@ -81,6 +82,11 @@ internal class CanImpl(ctx: Context): IFlow(ctx), IMoGoAutopilotVehic timeOutCheck() } + override fun onSweeperFutianCleanSystemState(cleanSystemState: VehicleStateOuterClass.SweeperFuTianCleanSystemState) { + send(CanStatus(isCanEnabled())) + timeOutCheck() + } + override fun onAutopilotGuardian(guardianInfo: MogoReportMessage?) { super.onAutopilotGuardian(guardianInfo) send(CanStatus(isCanEnabled())) diff --git a/core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/hmi/ui/setting/DebugSettingView.kt b/core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/hmi/ui/setting/DebugSettingView.kt index 18bc7c28dc..1fb0bdf472 100644 --- a/core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/hmi/ui/setting/DebugSettingView.kt +++ b/core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/hmi/ui/setting/DebugSettingView.kt @@ -19,6 +19,7 @@ import androidx.core.content.ContextCompat import androidx.core.view.* import androidx.recyclerview.widget.LinearLayoutManager import chassis.Chassis +import chassis.VehicleStateOuterClass import com.mogo.cloud.passport.MoGoAiCloudClient import com.mogo.cloud.passport.MoGoAiCloudClientConfig import com.mogo.commons.AbsMogoApplication @@ -1984,6 +1985,13 @@ class DebugSettingView @JvmOverloads constructor( } + /** + * 清扫车（福田）清扫控制系统状态 + */ + override fun onSweeperFutianCleanSystemState(cleanSystemState: VehicleStateOuterClass.SweeperFuTianCleanSystemState) { + + } + /** * 吐司提示 */ diff --git a/core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/hmi/ui/widget/SteeringWheelView.java b/core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/hmi/ui/widget/SteeringWheelView.java index 67594f090e..7fe1bbbc7c 100644 --- a/core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/hmi/ui/widget/SteeringWheelView.java +++ b/core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/hmi/ui/widget/SteeringWheelView.java @@ -28,6 +28,7 @@ import com.mogo.eagle.core.utilcode.util.ThreadUtils; import org.jetbrains.annotations.NotNull; import chassis.Chassis; +import chassis.VehicleStateOuterClass; import mogo.telematics.pad.MessagePad; import mogo_msg.MogoReportMsg; import system_master.SystemStatusInfo; @@ -170,6 +171,10 @@ public class SteeringWheelView extends ConstraintLayout { private final IMoGoAutopilotVehicleStateListener mIMoGoAutopilotVehicleStateListener = new IMoGoAutopilotVehicleStateListener() { + @Override + public void onSweeperFutianCleanSystemState(@NonNull VehicleStateOuterClass.SweeperFuTianCleanSystemState cleanSystemState) { + } + /** * @param brake 刹车 */ diff --git a/core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/hmi/ui/widget/TrafficDataView.java b/core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/hmi/ui/widget/TrafficDataView.java index cc2d7aa78d..d8c2f8a433 100644 --- a/core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/hmi/ui/widget/TrafficDataView.java +++ b/core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/hmi/ui/widget/TrafficDataView.java @@ -24,6 +24,7 @@ import com.mogo.eagle.core.utilcode.util.ThreadUtils; import org.jetbrains.annotations.NotNull; import chassis.Chassis; +import chassis.VehicleStateOuterClass; /** * @author Jing @@ -123,6 +124,10 @@ public class TrafficDataView extends ConstraintLayout { } private final IMoGoAutopilotVehicleStateListener mIMoGoAutopilotVehicleStateListener = new IMoGoAutopilotVehicleStateListener() { + @Override + public void onSweeperFutianCleanSystemState(@NonNull VehicleStateOuterClass.SweeperFuTianCleanSystemState cleanSystemState) { + } + /** * 车辆转向灯 * @param lightSwitch diff --git a/core/mogo-core-function-api/src/main/java/com/mogo/eagle/core/function/api/autopilot/IMoGoAutopilotProvider.kt b/core/mogo-core-function-api/src/main/java/com/mogo/eagle/core/function/api/autopilot/IMoGoAutopilotProvider.kt index a360b916a5..340678071a 100644 --- a/core/mogo-core-function-api/src/main/java/com/mogo/eagle/core/function/api/autopilot/IMoGoAutopilotProvider.kt +++ b/core/mogo-core-function-api/src/main/java/com/mogo/eagle/core/function/api/autopilot/IMoGoAutopilotProvider.kt @@ -1,5 +1,6 @@ package com.mogo.eagle.core.function.api.autopilot +import chassis.SpecialVehicleTaskCmdOuterClass import com.mogo.eagle.core.data.autopilot.AutopilotControlParameters import com.mogo.eagle.core.data.trafficlight.TrafficLightResult import com.mogo.eagle.core.function.api.base.IMoGoFunctionServerProvider @@ -205,4 +206,9 @@ interface IMoGoAutopilotProvider : IMoGoFunctionServerProvider { * 主动查询工控机的各topic状态 */ fun sendStatusQueryReq() + + /** + * 福田清扫车业务指令下发 + */ + fun sendSweeperFuTianTaskCmd(fuTianTaskCmd: SpecialVehicleTaskCmdOuterClass.RoboSweeperFuTianTaskCmd) } \ No newline at end of file diff --git a/core/mogo-core-function-api/src/main/java/com/mogo/eagle/core/function/api/autopilot/IMoGoAutopilotVehicleStateListener.kt b/core/mogo-core-function-api/src/main/java/com/mogo/eagle/core/function/api/autopilot/IMoGoAutopilotVehicleStateListener.kt index 75bde9e46f..bc80cc6fd9 100644 --- a/core/mogo-core-function-api/src/main/java/com/mogo/eagle/core/function/api/autopilot/IMoGoAutopilotVehicleStateListener.kt +++ b/core/mogo-core-function-api/src/main/java/com/mogo/eagle/core/function/api/autopilot/IMoGoAutopilotVehicleStateListener.kt @@ -1,7 +1,7 @@ package com.mogo.eagle.core.function.api.autopilot import chassis.Chassis -import mogo.telematics.pad.MessagePad +import chassis.VehicleStateOuterClass /** * 车辆底盘 数据 回调监听 @@ -52,4 +52,9 @@ interface IMoGoAutopilotVehicleStateListener { * 刹车 */ fun onAutopilotBrake(brake: Float) + + /** + * 清扫车（福田）清扫控制系统状态 + */ + fun onSweeperFutianCleanSystemState(cleanSystemState: VehicleStateOuterClass.SweeperFuTianCleanSystemState) } \ No newline at end of file diff --git a/core/mogo-core-function-call/src/main/java/com/mogo/eagle/core/function/call/autopilot/CallerAutoPilotManager.kt b/core/mogo-core-function-call/src/main/java/com/mogo/eagle/core/function/call/autopilot/CallerAutoPilotManager.kt index 7f3da3c452..5ef749755d 100644 --- a/core/mogo-core-function-call/src/main/java/com/mogo/eagle/core/function/call/autopilot/CallerAutoPilotManager.kt +++ b/core/mogo-core-function-call/src/main/java/com/mogo/eagle/core/function/call/autopilot/CallerAutoPilotManager.kt @@ -1,6 +1,7 @@ package com.mogo.eagle.core.function.call.autopilot import android.os.SystemClock +import chassis.SpecialVehicleTaskCmdOuterClass import com.mogo.eagle.core.data.autopilot.AutopilotControlParameters import com.mogo.eagle.core.data.constants.MogoServicePaths import com.mogo.eagle.core.data.deva.chain.ChainConstant @@ -263,4 +264,11 @@ object CallerAutoPilotManager { fun sendStatusQueryReq() { providerApi?.sendStatusQueryReq() } + + /** + * 福田清扫车业务指令下发 + */ + fun sendSweeperFuTianTaskCmd(fuTianTaskCmd: SpecialVehicleTaskCmdOuterClass.RoboSweeperFuTianTaskCmd) { + providerApi?.sendSweeperFuTianTaskCmd(fuTianTaskCmd) + } } \ No newline at end of file diff --git a/core/mogo-core-function-call/src/main/java/com/mogo/eagle/core/function/call/autopilot/CallerAutopilotVehicleStateListenerManager.kt b/core/mogo-core-function-call/src/main/java/com/mogo/eagle/core/function/call/autopilot/CallerAutopilotVehicleStateListenerManager.kt index df4cd2c638..a704804633 100644 --- a/core/mogo-core-function-call/src/main/java/com/mogo/eagle/core/function/call/autopilot/CallerAutopilotVehicleStateListenerManager.kt +++ b/core/mogo-core-function-call/src/main/java/com/mogo/eagle/core/function/call/autopilot/CallerAutopilotVehicleStateListenerManager.kt @@ -2,6 +2,7 @@ package com.mogo.eagle.core.function.call.autopilot import androidx.annotation.Nullable import chassis.Chassis +import chassis.VehicleStateOuterClass import com.mogo.eagle.core.function.api.autopilot.IMoGoAutopilotVehicleStateListener import com.mogo.eagle.core.function.call.base.CallerBase import mogo.telematics.pad.MessagePad @@ -132,6 +133,16 @@ object CallerAutopilotVehicleStateListenerManager : CallerBase() { } } + /** + * clean system state 清扫车（福田）清扫控制系统状态 + */ + fun invokeSweeperFutianCleanSystemState(cleanSystemState: VehicleStateOuterClass.SweeperFuTianCleanSystemState){ + M_AUTOPILOT_VEHICLE_LISTENERS.forEach{ + val listener = it.value + listener.onSweeperFutianCleanSystemState(cleanSystemState) + } + } + /** * 工控机时间回调