From 8bef639bbc95f3eb1065ecd35de20d82e183e7bd Mon Sep 17 00:00:00 2001 From: yangyakun Date: Wed, 18 Dec 2024 18:03:09 +0800 Subject: [PATCH] [6.8.4] [fix] [recode] --- .../ui/autopilot/AutopilotStateModel.kt | 123 ++++++++++-------- 1 file changed, 72 insertions(+), 51 deletions(-) diff --git a/OCH/common/bridge/src/main/java/com/mogo/och/bridge/ui/autopilot/AutopilotStateModel.kt b/OCH/common/bridge/src/main/java/com/mogo/och/bridge/ui/autopilot/AutopilotStateModel.kt index d3885dda79..a954dc18ba 100644 --- a/OCH/common/bridge/src/main/java/com/mogo/och/bridge/ui/autopilot/AutopilotStateModel.kt +++ b/OCH/common/bridge/src/main/java/com/mogo/och/bridge/ui/autopilot/AutopilotStateModel.kt @@ -20,14 +20,12 @@ import java.util.concurrent.atomic.AtomicBoolean * @description BadCase录包管理页面 * @since: 2022/12/15 */ -class AutopilotStateModel : ViewModel(), - com.mogo.och.bridge.autopilot.autopilot.IOchAutopilotStatusListener, - com.mogo.och.bridge.autopilot.line.ILineCallback, +class AutopilotStateModel : ViewModel(), IOchAutopilotStatusListener, ILineCallback, IOchDebugAutopilotStatusListener { private val TAG = AutopilotStateModel::class.java.simpleName - private var viewCallback: AutopilotStateCallback?=null + private var viewCallback: AutopilotStateCallback? = null private val isPalyStartAni = AtomicBoolean(false) @@ -35,42 +33,45 @@ class AutopilotStateModel : ViewModel(), override fun onCleared() { this.viewCallback = null AutopilotStateDebug.removeListener(TAG) - com.mogo.och.bridge.autopilot.autopilot.OchAutoPilotStatusListenerManager.removeListener(TAG) - com.mogo.och.bridge.autopilot.line.LineManager.removeListener(TAG) + OchAutoPilotStatusListenerManager.removeListener(TAG) + LineManager.removeListener(TAG) } - fun setViewCallback(viewCallback: AutopilotStateCallback){ + fun setViewCallback(viewCallback: AutopilotStateCallback) { this.viewCallback = viewCallback - AutopilotStateDebug.addListener(TAG,this) - com.mogo.och.bridge.autopilot.autopilot.OchAutoPilotStatusListenerManager.addListener(TAG,this) - com.mogo.och.bridge.autopilot.line.LineManager.addListener(TAG,this) + AutopilotStateDebug.addListener(TAG, this) + OchAutoPilotStatusListenerManager.addListener(TAG, this) + LineManager.addListener(TAG, this) } override fun debugStatusChange(debugStatus: Boolean) { super.debugStatusChange(debugStatus) - if(debugStatus){ - com.mogo.och.bridge.autopilot.autopilot.OchAutoPilotStatusListenerManager.removeListener(TAG) - com.mogo.och.bridge.autopilot.line.LineManager.removeListener(TAG) - }else{ - com.mogo.och.bridge.autopilot.autopilot.OchAutoPilotStatusListenerManager.addListener(TAG,this) - com.mogo.och.bridge.autopilot.line.LineManager.addListener(TAG,this) + if (debugStatus) { + OchAutoPilotStatusListenerManager.removeListener(TAG) + LineManager.removeListener(TAG) + } else { + OchAutoPilotStatusListenerManager.addListener(TAG, this) + LineManager.addListener(TAG, this) } } override fun debugDispatchState(state: Int?) { super.debugDispatchState(state) when (state) { - IMoGoAutopilotStatusListener.STATUS_AUTOPILOT_DISABLE-> {// 不可用 不可启动自驾 + IMoGoAutopilotStatusListener.STATUS_AUTOPILOT_DISABLE -> {// 不可用 不可启动自驾 this.viewCallback?.autopilotDisable() } - IMoGoAutopilotStatusListener.STATUS_AUTOPILOT_ENABLE-> { + + IMoGoAutopilotStatusListener.STATUS_AUTOPILOT_ENABLE -> { this.viewCallback?.canStartAutopilot() } - IMoGoAutopilotStatusListener.STATUS_AUTOPILOT_RUNNING-> {// 自驾中 + + IMoGoAutopilotStatusListener.STATUS_AUTOPILOT_RUNNING -> {// 自驾中 this.viewCallback?.stopAutopilotAnimation() this.viewCallback?.inAutopilot() } - IMoGoAutopilotStatusListener.STATUS_PARALLEL_DRIVING-> {// 平行驾驶中 + + IMoGoAutopilotStatusListener.STATUS_PARALLEL_DRIVING -> {// 平行驾驶中 this.viewCallback?.stopAutopilotAnimation() this.viewCallback?.inRemoteDriver() } @@ -78,51 +79,63 @@ class AutopilotStateModel : ViewModel(), } override fun onAutopilotStatusResponse(state: Int) { - OchChainLogManager.writeChainLog("自驾信息","自驾状态变化:${state}") + OchChainLogManager.writeChainLog("自驾信息", "自驾状态变化:${state}") autopilotStateChange() } override fun canStartAutopilot(canStart: Boolean) { - OchChainLogManager.writeChainLog("自驾信息","能否启动自驾:${canStart}") + OchChainLogManager.writeChainLog("自驾信息", "能否启动自驾:${canStart}") autopilotStateChange() } override fun onFsmCanStartAutopilot(can: Boolean) { - OchChainLogManager.writeChainLog("自驾信息","FSM能否启动自驾:${can}") + OchChainLogManager.writeChainLog("自驾信息", "FSM能否启动自驾:${can}") autopilotStateChange() } - private fun autopilotStateChange(){ + private fun autopilotStateChange() { // 正在起自驾过程中 // 自驾状态变化为非自驾状态 // 或者 // FSM 状态改为不能启动自驾 // 按照启动自驾失败计算 - if(isPalyStartAni.get() && - (!CallerAutoPilotControlManager.isCanStartAutopilot(false) - || com.mogo.och.bridge.autopilot.autopilot.OchAutoPilotStatusListenerManager.autopilotState!=IMoGoAutopilotStatusListener.STATUS_AUTOPILOT_RUNNING)){ - OchChainLogManager.writeChainLog("自驾信息","正在起自驾过程中、自驾状态变化切为非自驾状态或者FSM 状态改为不能启动自驾") + if (isPalyStartAni.get() && + (!CallerAutoPilotControlManager.isCanStartAutopilot(false) + || OchAutoPilotStatusListenerManager.autopilotState != IMoGoAutopilotStatusListener.STATUS_AUTOPILOT_RUNNING) + ) { + OchChainLogManager.writeChainLog( + "自驾信息", + "正在起自驾过程中、自驾状态变化切为非自驾状态或者FSM 状态改为不能启动自驾" + ) startAutopilotFail() return } - BizLoopManager.runInMainThread{ - OchChainLogManager.writeChainLog("自驾信息","自驾状态:${com.mogo.och.bridge.autopilot.autopilot.OchAutoPilotStatusListenerManager.autopilotState} 能否启动自驾：${CallerAutoPilotControlManager.isCanStartAutopilot(false)}") - when (com.mogo.och.bridge.autopilot.autopilot.OchAutoPilotStatusListenerManager.autopilotState) { - IMoGoAutopilotStatusListener.STATUS_AUTOPILOT_DISABLE-> {// 不可用 不可启动自驾 + BizLoopManager.runInMainThread { + OchChainLogManager.writeChainLog( + "自驾信息", + "自驾状态:${OchAutoPilotStatusListenerManager.autopilotState} 能否启动自驾：${ + CallerAutoPilotControlManager.isCanStartAutopilot(false) + }" + ) + when (OchAutoPilotStatusListenerManager.autopilotState) { + IMoGoAutopilotStatusListener.STATUS_AUTOPILOT_DISABLE -> {// 不可用 不可启动自驾 this.viewCallback?.autopilotDisable() } - IMoGoAutopilotStatusListener.STATUS_AUTOPILOT_ENABLE-> { - if (CallerAutoPilotControlManager.isCanStartAutopilot(false) && com.mogo.och.bridge.autopilot.autopilot.OchAutoPilotStatusListenerManager.canStartAutopilotFromFSM) {// 不可用 + + IMoGoAutopilotStatusListener.STATUS_AUTOPILOT_ENABLE -> { + if (CallerAutoPilotControlManager.isCanStartAutopilot(false) && OchAutoPilotStatusListenerManager.canStartAutopilotFromFSM) {// 不可用 this.viewCallback?.canStartAutopilot() } else {// 部分可用 this.viewCallback?.autopilotDisable() } } - IMoGoAutopilotStatusListener.STATUS_AUTOPILOT_RUNNING-> {// 自驾中 + + IMoGoAutopilotStatusListener.STATUS_AUTOPILOT_RUNNING -> {// 自驾中 this.viewCallback?.stopAutopilotAnimation() this.viewCallback?.inAutopilot() } - IMoGoAutopilotStatusListener.STATUS_PARALLEL_DRIVING-> {// 平行驾驶中 + + IMoGoAutopilotStatusListener.STATUS_PARALLEL_DRIVING -> {// 平行驾驶中 this.viewCallback?.stopAutopilotAnimation() this.viewCallback?.inRemoteDriver() } @@ -131,14 +144,14 @@ class AutopilotStateModel : ViewModel(), } fun startAutopilot() { - OchChainLogManager.writeChainLog("自驾信息","启动自驾") - if(AutopilotStateDebug.debugStatus){ + OchChainLogManager.writeChainLog("自驾信息", "启动自驾") + if (AutopilotStateDebug.debugStatus) { sendStartAutopilotSuccess() RxUtils.createSubscribe(5_000) { startAutopilotFail() } - }else { - com.mogo.och.bridge.autopilot.line.LineManager.startAutopilot() + } else { + LineManager.startAutopilot() } } @@ -146,7 +159,7 @@ class AutopilotStateModel : ViewModel(), * 条件过滤完成 正式进入启动自驾状态 */ override fun sendStartAutopilotSuccess() { - OchChainLogManager.writeChainLog("自驾信息","启动自驾成功") + OchChainLogManager.writeChainLog("自驾信息", "启动自驾成功") BizLoopManager.runInMainThread { this.viewCallback?.startAutopilotAnimation() isPalyStartAni.set(true) @@ -154,51 +167,59 @@ class AutopilotStateModel : ViewModel(), } override fun startAutopilotTimeOut() { - OchChainLogManager.writeChainLog("自驾信息","启动自驾超时失败") - if(com.mogo.och.bridge.autopilot.autopilot.OchAutoPilotStatusListenerManager.autopilotState == IMoGoAutopilotStatusListener.STATUS_AUTOPILOT_RUNNING){ + OchChainLogManager.writeChainLog("自驾信息", "启动自驾超时失败") + if (OchAutoPilotStatusListenerManager.autopilotState == IMoGoAutopilotStatusListener.STATUS_AUTOPILOT_RUNNING) { autopilotStateChange() - }else { + } else { startAutopilotFail() } } override fun startAutopilotFailure(startFailedCode: String?, startFailedMessage: String?) { - OchChainLogManager.writeChainLog("自驾信息","底盘强制失败原因：${startFailedCode}_${startFailedMessage}") - if(com.mogo.och.bridge.autopilot.autopilot.OchAutoPilotStatusListenerManager.autopilotState == IMoGoAutopilotStatusListener.STATUS_AUTOPILOT_RUNNING){ + OchChainLogManager.writeChainLog( + "自驾信息", + "底盘强制失败原因：${startFailedCode}_${startFailedMessage}" + ) + if (OchAutoPilotStatusListenerManager.autopilotState == IMoGoAutopilotStatusListener.STATUS_AUTOPILOT_RUNNING) { autopilotStateChange() - }else { + } else { startAutopilotFail() } } - private fun startAutopilotFail(){ - BizLoopManager.runInMainThread{ + private fun startAutopilotFail() { + BizLoopManager.runInMainThread { this.viewCallback?.stopAutopilotAnimation() this.viewCallback?.startAutopilotFail() this.isPalyStartAni.set(false) UiThreadHandler.postDelayed({ autopilotStateChange() - },3000,UiThreadHandler.MODE.QUEUE) + }, 3000, UiThreadHandler.MODE.QUEUE) } } - interface AutopilotStateCallback{ + interface AutopilotStateCallback { //开始动画 fun startAutopilotAnimation() + //结束动画 fun stopAutopilotAnimation() // 进入自动驾驶 fun inAutopilot() + // 自动驾驶不可用 fun autopilotDisable() + // 可用启动自驾 fun canStartAutopilot() + // 进入平行驾驶 fun inRemoteDriver() // 启动自驾成功 fun startAutopilotSuccess() + // 启动自驾失败 fun startAutopilotFail() }