loadAllWeltDataInfo();
+}
diff --git a/OCH/sweeper/sweeper-cloud/src/main/java/com/mogo/och/sweepercloud/fragment/BaseSweeperTabFragment.java b/OCH/sweeper/sweeper-cloud/src/main/java/com/mogo/och/sweepercloud/fragment/BaseSweeperTabFragment.java
new file mode 100644
index 0000000000..3cab0a8613
--- /dev/null
+++ b/OCH/sweeper/sweeper-cloud/src/main/java/com/mogo/och/sweepercloud/fragment/BaseSweeperTabFragment.java
@@ -0,0 +1,611 @@
+package com.mogo.och.sweepercloud.fragment;
+
+import static com.mogo.eagle.core.utilcode.mogo.logger.scene.SceneConstant.M_SWEEPER;
+
+import android.os.Bundle;
+import android.os.Parcelable;
+import android.view.LayoutInflater;
+import android.view.MotionEvent;
+import android.view.View;
+import android.widget.FrameLayout;
+import android.widget.ImageView;
+
+import androidx.annotation.NonNull;
+import androidx.annotation.Nullable;
+import androidx.constraintlayout.widget.Group;
+import androidx.fragment.app.FragmentTransaction;
+
+import com.amap.api.maps.model.LatLng;
+import com.elegant.network.utils.GsonUtil;
+import com.google.protobuf.TextFormat;
+import com.mogo.commons.AbsMogoApplication;
+import com.mogo.commons.mvp.IView;
+import com.mogo.commons.mvp.MvpFragment;
+import com.mogo.commons.mvp.Presenter;
+import com.mogo.eagle.core.data.autopilot.AutopilotControlParameters;
+import com.mogo.eagle.core.data.config.FunctionBuildConfig;
+import com.mogo.eagle.core.function.call.autopilot.CallerAutoPilotControlManager;
+import com.mogo.eagle.core.function.call.autopilot.CallerAutopilotRecordListenerManager;
+import com.mogo.eagle.core.function.call.devatools.CallerDevaToolsManager;
+import com.mogo.eagle.core.function.call.hmi.CallerHmiManager;
+import com.mogo.eagle.core.function.call.map.CallerMapUIServiceManager;
+import com.mogo.eagle.core.function.hmi.ui.msgbox.DriverMsgBoxBubbleView;
+import com.mogo.eagle.core.function.hmi.ui.msgbox.DriverMsgBoxButtonView;
+import com.mogo.eagle.core.function.hmi.ui.msgbox.DriverMsgBoxListView;
+import com.mogo.eagle.core.function.view.MapBizView;
+import com.mogo.eagle.core.utilcode.mogo.logger.CallerLogger;
+import com.mogo.eagle.core.utilcode.mogo.view.OnPreventFastClickListener;
+import com.mogo.eagle.core.utilcode.util.ThreadUtils;
+import com.mogo.eagle.core.utilcode.util.ToastUtils;
+import com.mogo.eagle.core.utilcode.util.UiThreadHandler;
+import com.mogo.map.listener.IMogoMapListener;
+import com.mogo.map.listener.MogoMapListenerHandler;
+import com.mogo.map.marker.IMogoMarkerManager;
+import com.mogo.map.uicontroller.IMogoMapUIController;
+import com.mogo.map.uicontroller.VisualAngleMode;
+import com.mogo.och.common.module.manager.OCHAdasAbilityManager;
+import com.mogo.och.common.module.utils.CoordinateCalculateRouteUtil;
+import com.mogo.och.common.module.utils.PinYinUtil;
+import com.mogo.och.sweepercloud.R;
+import com.mogo.och.sweepercloud.bean.SweeperRoutePlanningUpdateReqBean;
+import com.mogo.och.sweepercloud.callback.ISweeperTaskDataToFragmentCallback;
+import com.mogo.och.sweepercloud.callback.IWeltMapSwitchToSmallCallback;
+import com.mogo.och.sweepercloud.database.bean.WeltDataBean;
+import com.mogo.och.sweepercloud.util.AutopilotModeConfigManager;
+import com.mogo.och.sweepercloud.util.SweeperCloudTaskUtils;
+import com.mogo.och.sweepercloud.view.SweeperTrafficDataView;
+import com.mogo.och.sweepercloud.view.WeltSmallMapView;
+import com.zhjt.mogo.adas.data.sweeper.SweeperCloudTask;
+
+import java.math.BigDecimal;
+import java.math.RoundingMode;
+import java.util.ArrayList;
+
+import mogo.telematics.pad.MessagePad;
+
+/**
+ * 网约车基础Fragment，主要负责布局通用界面，处理站点面板和通话面板互斥情况
+ *
+ * 部分业务放在了此处处理
+ *
+ * @author tongchenfei
+ */
+public abstract class BaseSweeperTabFragment> extends MvpFragment implements IMogoMapListener,
+ IWeltMapSwitchToSmallCallback, View.OnTouchListener {
+
+ private static final String TAG = "BaseSweeperTabFragment";
+ //地图放大缩小
+ private ImageView mSwitchMapModeImage;
+ //设置信息面板
+ protected ImageView mSettingBtn;
+ //安全员问题上报面板
+ protected ImageView mCardBtn;
+ //道路状况上报面板
+ protected ImageView mAICollectBtn;
+ //任务列表面板
+ private FrameLayout flTaskListPanelContainer;
+ private MapBizView mapBizView;
+ private Group groupTestPanel;
+ //清扫车车辆基本信息 速度 档位 转向灯 红绿灯等
+ private SweeperTrafficDataView mTrafficDataView;
+ //作业任务贴边数据展示图
+ private WeltSmallMapView mMapWeltView;
+ //任务作业全览图
+ private WeltMapOverViewFragment mWeltMapOverViewFragment;
+ private FrameLayout mFlWeltMapOverView;
+ private DriverMsgBoxButtonView mViewDriverMsgBoxButton;
+ private DriverMsgBoxListView mViewDriverMsgBoxList;
+ private DriverMsgBoxBubbleView mViewDriverMsgBoxBubble;
+ private ArrayList mWeltDataBeanList;//存储贴边数据
+ private ArrayList mSubTaskCoordinates;//存储当前大任务的所有子任务起点和终点
+ // 当前子任务的终点坐标
+ protected LatLng mCurrentTaskEndStation;
+ private ArrayList mRouteList;//存储任务的坐标轨迹
+ private String mProgress;
+ private ISweeperTaskDataToFragmentCallback mTaskDataToFragmentCallback;
+
+ @Override
+ protected int getLayoutId() {
+ return R.layout.sweeper_base_fragment;
+ }
+
+ @Override
+ public boolean onTouch(View v, MotionEvent event) {
+ return true;
+ }
+
+ @Override
+ protected void initViews() {
+ mapBizView = findViewById(R.id.mapBizView);
+ groupTestPanel = findViewById(R.id.groupTestPanel);
+ flTaskListPanelContainer = findViewById(R.id.module_mogo_och_task_list_container);
+ mTrafficDataView = findViewById(R.id.sweeper_arc);
+ LayoutInflater.from(getContext()).inflate(getTaskListPanelViewId(), flTaskListPanelContainer);
+ mSwitchMapModeImage = findViewById(R.id.sweeper_switch_model_icon);
+ mSettingBtn = findViewById(R.id.sweeper_setting_model_icon);
+ mCardBtn = findViewById(R.id.sweeper_card_model_icon);
+ mAICollectBtn = findViewById(R.id.sweeper_collect_model_icon);
+ mMapWeltView = findViewById(R.id.sweeper_task_welt_small_map);
+ mFlWeltMapOverView = findViewById(R.id.sweeper_welt_map_overview);
+ initListener();
+ //设置消息盒子
+ setMessageBox();
+ //设置左下角四个按钮监听事件
+ setBottomBtnListener();
+ // 模拟 下发启动自驾命令
+ findViewById(R.id.btnStartAutopilot).setOnClickListener(new View.OnClickListener() {
+ @Override
+ public void onClick(View v) {
+ if (!FunctionBuildConfig.isDemoMode && !OCHAdasAbilityManager.getInstance().getAutopilotAbilityStatus()) {
+ ToastUtils.showLong(OCHAdasAbilityManager.getInstance().getAutopilotUnAbilityReason() + ", 请稍候重试");
+ return;
+ }
+ new AutopilotModeConfigManager(new AutopilotModeConfigManager.OnReadAutopilotModeConfigListener() {
+ @Override
+ public void onReadFailed(String err) {
+ ThreadUtils.runOnUiThread(() -> {
+ ToastUtils.showLong("读取失败=" + err);
+ });
+ }
+
+ @Override
+ public void onParseFailed(String err) {
+ ToastUtils.showLong("解析失败=" + err);
+ }
+
+ @Override
+ public void onParse(MessagePad.SetAutopilotModeReq bean) {
+ ToastUtils.showLong("下发命令\n" + TextFormat.printer().escapingNonAscii(false).printToString(bean));
+ AutopilotControlParameters parameters = new AutopilotControlParameters();
+ MessagePad.RouteInfo routeInfo = bean.getRouteInfo();
+ if (routeInfo.getRouteID() > 0) {
+ parameters.routeID = routeInfo.getRouteID();
+ }
+ parameters.routeName = routeInfo.getRouteName();
+ parameters.startName = routeInfo.getStartName();//拼音
+ parameters.endName = routeInfo.getEndName();//拼音
+ parameters.startLatLon = new AutopilotControlParameters
+ .AutoPilotLonLat(routeInfo.getStartLocation().getLatitude(), routeInfo.getStartLocation().getLongitude());
+ parameters.endLatLon = new AutopilotControlParameters
+ .AutoPilotLonLat(routeInfo.getEndLocation().getLatitude(), routeInfo.getEndLocation().getLongitude());
+ parameters.vehicleType = 10;
+ MessagePad.Line line = routeInfo.getLine();
+ parameters.autoPilotLine = new AutopilotControlParameters.AutoPilotLine(
+ line.getLineId(),
+ line.getTrajUrl(), line.getTrajMd5(),
+ line.getStopUrl(), line.getStopMd5(),
+ line.getTimestamp(), line.getVehicleModel(),
+ line.getTrajUrlDpqp(), line.getTrajMd5Dpqp(),
+ line.getStopUrlDpqp(), line.getStopMd5Dpqp(),
+ line.getTimestampDpqp());
+ CallerAutoPilotControlManager.INSTANCE.startAutoPilot(parameters);
+ }
+ }).read();
+ }
+ });
+ // 模拟 查询当前任务
+ findViewById(R.id.btnQueryCurrentTask).setOnClickListener(view ->
+ SweeperCloudTaskUtils.mockQueryCurrentTaskInfo()
+ );
+ // 模拟 云端发送任务
+ findViewById(R.id.btnSendTask).setOnClickListener(view -> {
+ SweeperCloudTaskUtils.mockSendCloudTaskInfo(SweeperCloudTask.MessageType.CloudPushTask);
+ UiThreadHandler.postDelayed(() -> {
+ debugEndSubTask();
+ }, 5000);
+
+ }
+
+ );
+ // 模拟 云端发送子任务确认
+ findViewById(R.id.btnSendSubTaskConfirm).setOnClickListener(view ->
+ SweeperCloudTaskUtils.mockSendCloudSubTaskConfirm()
+ );
+
+ // 模拟 云端请求结束大任务
+ findViewById(R.id.btnSendEndTask).setOnClickListener(view ->
+ SweeperCloudTaskUtils.mockSendCloudBigTaskEnd()
+ );
+ // 模拟 云端发送子任务状态
+ findViewById(R.id.btnSendSubtaskStatus).setOnClickListener(view ->
+ SweeperCloudTaskUtils.mockSendCloudUpdateSubTaskStatus()
+ );
+ // 模拟 云端发送大任务状态
+ findViewById(R.id.btnSendTaskStatus).setOnClickListener(view ->
+ SweeperCloudTaskUtils.mockSendCloudBigTaskStatus()
+ );
+ mTrafficDataView.getSpeedImage().setOnLongClickListener(new View.OnLongClickListener() {
+ @Override
+ public boolean onLongClick(View v) {
+ debugTestBar();
+ return false;
+ }
+ });
+ }
+
+ private void updateSwitchMapIcon() {
+ IMogoMapUIController controller = CallerMapUIServiceManager.INSTANCE.getMapUIController();
+ if (controller != null) {
+ if (controller.getCurrentMapVisualAngle().isLongSight()) {
+ mSwitchMapModeImage.setImageResource(R.drawable.sweeper_switch_map_big_selector);
+ } else if (controller.getCurrentMapVisualAngle().isMediumSight()) {
+ mSwitchMapModeImage.setImageResource(R.drawable.sweeper_switch_map_small_selector);
+ } else {
+ mSwitchMapModeImage.setImageResource(R.drawable.sweeper_switch_map_small_selector);
+ }
+ }
+ }
+
+ /**
+ * 设置任务进度
+ *
+ * @param progress
+ */
+ protected void setTaskProgress(String progress) {
+ ThreadUtils.runOnUiThread(() -> {
+ mMapWeltView.setTaskProgress(progress);
+ mProgress = progress;
+ if (mTaskDataToFragmentCallback != null) {
+ mTaskDataToFragmentCallback.setProgress(progress);
+ }
+ });
+ }
+
+ @Override
+ protected void initViews(Bundle savedInstanceState) {
+ super.initViews(savedInstanceState);
+ mapBizView.onCreate(savedInstanceState);
+ mMapWeltView.onCreateView(savedInstanceState);
+ }
+
+ public void setAutoState(int state) {
+ mTrafficDataView.setAutoState(state);
+ }
+
+ /**
+ * 消息盒子
+ */
+ private void setMessageBox() {
+ mViewDriverMsgBoxButton = findViewById(R.id.viewDriverMsgBoxButton);
+ mViewDriverMsgBoxList = findViewById(R.id.viewDriverMsgBoxList);
+ mViewDriverMsgBoxBubble = findViewById(R.id.viewDriverMsgBoxBubble);
+ //消息盒子
+ mViewDriverMsgBoxButton.setClickListener(show -> {
+ if (show) {
+ mViewDriverMsgBoxList.setVisibility(View.VISIBLE);
+ mViewDriverMsgBoxList.notifyData();
+ mViewDriverMsgBoxBubble.setVisibility(View.GONE);
+ mViewDriverMsgBoxBubble.isShowData(false);
+ } else {
+ mViewDriverMsgBoxList.setVisibility(View.GONE);
+ mViewDriverMsgBoxBubble.setVisibility(View.VISIBLE);
+ mViewDriverMsgBoxBubble.isShowData(true);
+ }
+ });
+ }
+
+ @Override
+ public void onPause() {
+ super.onPause();
+ mMapWeltView.onPause();
+ }
+
+ @Override
+ public void onResume() {
+ super.onResume();
+ mapBizView.onResume();
+ mMapWeltView.onResume();
+ }
+
+ @Override
+ public void onSaveInstanceState(@NonNull Bundle outState) {
+ super.onSaveInstanceState(outState);
+ mapBizView.onSaveInstanceState(outState);
+ }
+
+ @Override
+ public void onLowMemory() {
+ super.onLowMemory();
+ mapBizView.onLowMemory();
+ }
+
+ @Override
+ public void onDestroyView() {
+ mapBizView.onDestroy();
+ super.onDestroyView();
+ CallerAutopilotRecordListenerManager.INSTANCE.removeListener(TAG);
+ }
+
+ @Override
+ public void onViewCreated(@NonNull View view, @Nullable Bundle savedInstanceState) {
+ super.onViewCreated(view, savedInstanceState);
+ view.setOnTouchListener(this);
+
+ }
+
+ private void initListener() {
+ MogoMapListenerHandler.Companion.getMogoMapListenerHandler().registerHostMapListener(TAG, this);
+ mMapWeltView.getSwitchToBig().setOnClickListener((v) -> {
+ showOrHideOverMapViewFragment(true);
+ });
+ }
+
+ /**
+ * 清扫车任务列表面板view，在{@link #initViews()}时候添加到container中
+ *
+ * @return 站点面板view
+ */
+ public abstract int getTaskListPanelViewId();
+
+
+ /**
+ * 迈速表实时更新
+ *
+ * @param newSpeed
+ */
+ public void updateSpeedView(float newSpeed) {
+ int speed = (int) (Math.abs(newSpeed) * 3.6F); // 倒车时工控机反馈定位信息中speed为负值
+ if (mTrafficDataView != null) {
+ mTrafficDataView.updateSpeedWithValue(speed);
+ }
+ }
+
+ /**
+ * 车辆基本信息View
+ *
+ * @return
+ */
+ public SweeperTrafficDataView getTrafficDataView() {
+ return mTrafficDataView;
+ }
+
+ @Override
+ public void onDestroy() {
+ super.onDestroy();
+ mMapWeltView.onDestroy();
+ MogoMapListenerHandler.Companion.getMogoMapListenerHandler().unregisterHostMapListener(TAG);
+ }
+
+ @Override
+ public void onMapVisualAngleChanged(VisualAngleMode visualAngleMode) {
+ if (visualAngleMode.isMediumSight()) {
+ mSwitchMapModeImage.setVisibility(View.VISIBLE);
+ } else if (visualAngleMode.isLongSight()) {
+ mSwitchMapModeImage.setVisibility(View.VISIBLE);
+ } else if (visualAngleMode.isCloseSight()) {
+ mSwitchMapModeImage.setVisibility(View.GONE);
+ }
+ }
+
+ /**
+ * sweeper调试面板打开关闭
+ */
+ public void debugTestBar() {
+ if (groupTestPanel.getVisibility() == View.VISIBLE) {
+ groupTestPanel.setVisibility(View.GONE);
+ } else {
+ groupTestPanel.setVisibility(View.VISIBLE);
+ }
+ }
+
+ /**
+ * 底部四个按钮监听
+ * 1.地图放大缩小
+ * 2.设置面板
+ * 3.安全员问题上报面板
+ * 4.道路状况上报面板
+ */
+ private void setBottomBtnListener() {
+ updateSwitchMapIcon();
+ mSwitchMapModeImage.setOnClickListener(new OnPreventFastClickListener() {
+ @Override
+ public void onClickImpl(View v) {
+ IMogoMapUIController controller = CallerMapUIServiceManager.INSTANCE.getMapUIController();
+ IMogoMarkerManager markerManager = CallerMapUIServiceManager.INSTANCE.getMarkerManager(AbsMogoApplication.getApp());
+ if (controller != null && markerManager != null) {
+ //切换地图的远近视图
+ if (controller.getCurrentMapVisualAngle().isLongSight()) {
+ // 2.11.0去掉
+// MogoMarkerManager.getInstance(AbsMogoApplication.getApp()).visibleAllMarkers();
+ controller.changeMapVisualAngle(VisualAngleMode.MODE_MEDIUM_SIGHT, null);
+ mSwitchMapModeImage.setImageResource(R.drawable.sweeper_switch_map_small_selector);
+ } else if (controller.getCurrentMapVisualAngle().isMediumSight()) {
+ // 2.11.0去掉
+// MogoMarkerManager.getInstance(AbsMogoApplication.getApp())
+// .inVisibleWithoutMarkers(DataTypes.TYPE_MARKER_ADAS, BusConst.TYPE_MARKER_BUS_ORDER);
+ controller.changeMapVisualAngle(VisualAngleMode.MODE_LONG_SIGHT, null);
+ mSwitchMapModeImage.setImageResource(R.drawable.sweeper_switch_map_big_selector);
+ } else {
+ // 2.11.0去掉
+// MogoMarkerManager.getInstance(AbsMogoApplication.getApp()).visibleAllMarkers();
+ controller.changeMapVisualAngle(VisualAngleMode.MODE_MEDIUM_SIGHT, null);
+ mSwitchMapModeImage.setImageResource(R.drawable.sweeper_switch_map_big_selector);
+ }
+ }
+ }
+ });
+ mSettingBtn.setOnClickListener(v -> {
+ // TODO: 2021/12/9
+ CallerHmiManager.INSTANCE.showToolsView();
+ });
+ if (mCardBtn != null) {
+ CallerDevaToolsManager.INSTANCE.initBadCase(mCardBtn);
+ }
+ if (mAICollectBtn != null) {
+ CallerDevaToolsManager.INSTANCE.initAiCollect(mAICollectBtn);
+ }
+ }
+
+ /**
+ * 设置作业任务全览图隐藏或者显示
+ *
+ * @param isShow
+ */
+ public void showOrHideOverMapViewFragment(boolean isShow) {
+ FragmentTransaction transaction = getChildFragmentManager().beginTransaction();
+ if (isShow) {
+ mFlWeltMapOverView.setVisibility(View.VISIBLE);
+ if (mWeltMapOverViewFragment == null) {
+ mWeltMapOverViewFragment = mWeltMapOverViewFragment.newInstance(
+ (IWeltMapSwitchToSmallCallback) this,
+ mCurrentTaskEndStation,
+ mWeltDataBeanList,
+ mSubTaskCoordinates,
+ mRouteList,
+ mProgress,
+ (SweeperFragment) this);
+ }
+ if (mWeltMapOverViewFragment.isHidden()) {
+ transaction.setTransition(FragmentTransaction.TRANSIT_FRAGMENT_OPEN)
+ .show(mWeltMapOverViewFragment).commitAllowingStateLoss();
+ return;
+ }
+ if (mWeltMapOverViewFragment.isAdded()) {
+ transaction.setTransition(FragmentTransaction.TRANSIT_FRAGMENT_OPEN)
+ .show(mWeltMapOverViewFragment).commitAllowingStateLoss();
+ return;
+ }
+ transaction
+ .setTransition(FragmentTransaction.TRANSIT_FRAGMENT_OPEN)
+ .add(R.id.sweeper_welt_map_overview, mWeltMapOverViewFragment)
+ .show(mWeltMapOverViewFragment).commitAllowingStateLoss();
+ } else {
+ mFlWeltMapOverView.setVisibility(View.GONE);
+ if (mWeltMapOverViewFragment != null) {
+ transaction.setTransition(FragmentTransaction.TRANSIT_FRAGMENT_CLOSE)
+ .hide(mWeltMapOverViewFragment).commitAllowingStateLoss();
+ }
+ }
+ }
+
+ @Override
+ public void onWeltMapSwitchToSmall() {
+ showOrHideOverMapViewFragment(false);
+ }
+
+ /**
+ * 设置贴边数据到地图
+ *
+ * @param weltDataBeans
+ */
+ public void setWeltDataToMap(ArrayList weltDataBeans, Boolean isWeltData, String distance) {
+ mWeltDataBeanList = weltDataBeans;
+ ThreadUtils.getSinglePool().execute(new Runnable() {
+ @Override
+ public void run() {
+ if (mMapWeltView != null) {
+ mMapWeltView.setWeltData(weltDataBeans, isWeltData, distance);
+ }
+ if (mTaskDataToFragmentCallback != null) {
+ mTaskDataToFragmentCallback.setWeltData(weltDataBeans, distance);
+ }
+ }
+ });
+ }
+
+ public void setTaskListCoordinatesLatLng(ArrayList subTaskCoordinates) {
+ this.mSubTaskCoordinates = subTaskCoordinates;
+ if (mMapWeltView != null) {
+ mMapWeltView.setTaskListCoordinatesLatLng(subTaskCoordinates);
+ }
+ if (mTaskDataToFragmentCallback != null) {
+ mTaskDataToFragmentCallback.setTaskListCoordinatesLatLng(subTaskCoordinates);
+ }
+ }
+
+ /**
+ * 设置当前任务终点
+ *
+ * @param subTaskCoordinate
+ */
+ public void setCurrentTaskEndMarker(LatLng subTaskCoordinate) {
+ if (mMapWeltView != null) {
+ mMapWeltView.setCurrentTaskCoordinatesLatLng(subTaskCoordinate);
+ }
+ if (mTaskDataToFragmentCallback != null) {
+ mTaskDataToFragmentCallback.setCurrentTaskCoordinatesLatLng(subTaskCoordinate);
+ }
+ }
+
+ /**
+ * 清除marker标记和任务路线数据
+ */
+ public void clearAllMarkerAndPolyline() {
+ if (mMapWeltView != null) {
+ mMapWeltView.clearAllMarkerAndPolyline();
+ }
+ if (mTaskDataToFragmentCallback != null) {
+ mTaskDataToFragmentCallback.clearAllMarkerAndPolyline();
+ }
+ }
+
+ /**
+ * 设置任务轨迹点数据
+ */
+ public void setTaskRouteList(ArrayList routeList) {
+ mRouteList = routeList;
+ ThreadUtils.getSinglePool().execute(() -> {
+ mMapWeltView.setRouteList(routeList);
+ if (mTaskDataToFragmentCallback != null) {
+ mTaskDataToFragmentCallback.setRouteList(routeList);
+ }
+ });
+ }
+
+ public static String format(double value) {
+ BigDecimal bd = new BigDecimal(value);
+ bd = bd.setScale(2, RoundingMode.HALF_UP);
+ return bd.toString();
+ }
+
+ public void setTaskDataToFragmentCallback(ISweeperTaskDataToFragmentCallback mTaskDataToFragmentCallback) {
+ this.mTaskDataToFragmentCallback = mTaskDataToFragmentCallback;
+ }
+
+ /**
+ * 结束子任务
+ */
+ public void debugEndSubTask() {
+ ArrayList resultArrayList = tempData();
+ setTaskRouteList(resultArrayList);
+ UiThreadHandler.postDelayed(() -> {
+ ArrayList routeList = tempData1();
+ ArrayList weltDataBeans = new ArrayList<>();
+ ArrayList subTaskCoordinates = new ArrayList<>();
+ for (int i = 0; i < routeList.size(); i++) {
+ WeltDataBean weltDataBean = new WeltDataBean();
+ weltDataBean.setLocLon(routeList.get(i).longitude);
+ weltDataBean.setLocLat(routeList.get(i).latitude);
+ weltDataBean.setWeltDistance(Math.random() * 50);
+ weltDataBeans.add(weltDataBean);
+ subTaskCoordinates.add(new LatLng(routeList.get(i).latitude, routeList.get(i).longitude));
+ }
+ setTaskListCoordinatesLatLng(subTaskCoordinates);
+ setWeltDataToMap(weltDataBeans, true, format(Math.random() * 50));
+ }, 2000);
+ }
+
+ private ArrayList tempData() {
+ ArrayList results = new ArrayList<>();
+ results.add(getRoute(112.56970669282785, 26.8175674285121));
+ results.add(getRoute(112.57154905962457, 26.81762377130161));
+ results.add(getRoute(112.57723562917293, 26.819769721883098));
+ return results;
+ }
+
+ private ArrayList tempData1() {
+ ArrayList results = new ArrayList<>();
+ results.add(getRoute(112.56970669282785, 26.8175674285121));
+ results.add(getRoute(112.57154905962457, 26.81762377130161));
+ results.add(getRoute(112.57723562917293, 26.819769721883098));
+ return results;
+ }
+
+ private SweeperRoutePlanningUpdateReqBean.Result getRoute(double longitude, double latitude) {
+ LatLng latLng = CoordinateCalculateRouteUtil.coordinateConverterWgsToGcj(AbsMogoApplication.getApp(), longitude, latitude);
+ SweeperRoutePlanningUpdateReqBean.Result result = new SweeperRoutePlanningUpdateReqBean.Result();
+ result.latitude = latLng.latitude;
+ result.longitude = latLng.longitude;
+ return result;
+ }
+}
diff --git a/OCH/sweeper/sweeper-cloud/src/main/java/com/mogo/och/sweepercloud/fragment/BaseSweeperUIFragment.java b/OCH/sweeper/sweeper-cloud/src/main/java/com/mogo/och/sweepercloud/fragment/BaseSweeperUIFragment.java
new file mode 100644
index 0000000000..e220d1a777
--- /dev/null
+++ b/OCH/sweeper/sweeper-cloud/src/main/java/com/mogo/och/sweepercloud/fragment/BaseSweeperUIFragment.java
@@ -0,0 +1,50 @@
+package com.mogo.och.sweepercloud.fragment;
+
+import android.os.Bundle;
+import android.view.LayoutInflater;
+import android.view.View;
+import android.view.ViewGroup;
+
+import androidx.annotation.NonNull;
+import androidx.annotation.Nullable;
+import androidx.fragment.app.Fragment;
+
+/**
+ * @author: wangmingjun
+ * @date: 2021/9/9
+ */
+public abstract class BaseSweeperUIFragment extends Fragment {
+ private View mRootView;
+ @Nullable
+ @Override
+ public View onCreateView(@NonNull LayoutInflater inflater, @Nullable ViewGroup container, @Nullable Bundle savedInstanceState) {
+ if (mRootView == null) {
+ mRootView = inflater.inflate(getLayoutId(), container, false);
+ } else {
+ ViewGroup viewGroup = (ViewGroup) mRootView.getParent();
+ if (viewGroup != null) {
+ viewGroup.removeView(mRootView);
+ }
+ }
+ initViews(mRootView);
+ initViews(savedInstanceState);
+ return mRootView;
+ }
+ /**
+ * 布局资源
+ *
+ * @return
+ */
+ protected abstract int getLayoutId();
+
+ protected abstract void initViews(View view);
+
+ protected void initViews(Bundle savedInstanceState) {
+ }
+
+ @Override
+ public void onDestroy() {
+ super.onDestroy();
+ mRootView = null;
+ }
+}
diff --git a/OCH/sweeper/sweeper-cloud/src/main/java/com/mogo/och/sweepercloud/fragment/SweeperAmapNaviFragment.java b/OCH/sweeper/sweeper-cloud/src/main/java/com/mogo/och/sweepercloud/fragment/SweeperAmapNaviFragment.java
new file mode 100644
index 0000000000..e05d396e95
--- /dev/null
+++ b/OCH/sweeper/sweeper-cloud/src/main/java/com/mogo/och/sweepercloud/fragment/SweeperAmapNaviFragment.java
@@ -0,0 +1,230 @@
+package com.mogo.och.sweepercloud.fragment;
+
+import android.os.Bundle;
+import android.view.View;
+
+import com.amap.api.navi.AMapNaviViewListener;
+import com.mogo.eagle.core.utilcode.mogo.logger.CallerLogger;
+import com.mogo.och.common.module.map.AmapNaviToDestinationModel;
+import com.mogo.och.common.module.map.CommonAmapNaviVIew;
+import com.mogo.och.common.module.map.ICommonNaviChangedCallback;
+import com.mogo.och.sweepercloud.R;
+
+import static com.mogo.eagle.core.utilcode.mogo.logger.scene.SceneConstant.M_TAXI;
+
+/**
+ * @author: wangmingjun
+ * @date: 2021/11/30
+ */
+public class SweeperAmapNaviFragment extends BaseSweeperUIFragment implements AMapNaviViewListener {
+
+ private CommonAmapNaviVIew mAMapNaviView;
+ private ICommonNaviChangedCallback mNaviToStartInfoCallback;
+ public static SweeperAmapNaviFragment newInstance() {
+
+ Bundle args = new Bundle();
+
+ SweeperAmapNaviFragment fragment = new SweeperAmapNaviFragment();
+ fragment.setArguments(args);
+ return fragment;
+ }
+
+ @Override
+ protected int getLayoutId() {
+ return R.layout.sweeper_amap_navi_view;
+ }
+
+ @Override
+ protected void initViews(View view) {
+ mAMapNaviView = view.findViewById(R.id.navi_view);
+ }
+
+ @Override
+ protected void initViews(Bundle savedInstanceState) {
+ super.initViews(savedInstanceState);
+ if (mAMapNaviView != null)
+ mAMapNaviView.onCreate(savedInstanceState);
+ }
+
+ @Override
+ public void onResume() {
+ super.onResume();
+ if (mAMapNaviView != null)
+ mAMapNaviView.onResume();
+ }
+
+ @Override
+ public void onPause() {
+ super.onPause();
+ if (mAMapNaviView != null)
+ mAMapNaviView.onPause();
+ }
+
+ @Override
+ public void onHiddenChanged(boolean hidden) {
+ super.onHiddenChanged(hidden);
+ if (hidden) { //不在最前端界面显示
+ if (mAMapNaviView != null){
+ mAMapNaviView.onPause();
+ }
+ } else { //重新显示到最前端
+ if (mAMapNaviView != null){
+ mAMapNaviView.onResume();
+ }
+ }
+ }
+ @Override
+ public void onDestroy() {
+ super.onDestroy();
+
+ AmapNaviToDestinationModel.getInstance(getContext()).setVoiceIsMute(false);
+ if (mAMapNaviView != null){
+ mAMapNaviView.onDestroy();
+ }
+
+ if (mNaviToStartInfoCallback != null){
+ mNaviToStartInfoCallback = null;
+ }
+ }
+
+ @Override
+ public void onNaviSetting() {
+ //底部导航设置点击回调
+ }
+
+ @Override
+ public void onNaviCancel() {
+ }
+
+ @Override
+ public void onNaviMapMode(int naviMode) {
+ //导航态车头模式，0:车头朝上状态；1:正北朝上模式。
+ }
+
+ @Override
+ public void onNaviTurnClick() {
+ //转弯view的点击回调
+ }
+
+ @Override
+ public void onNextRoadClick() {
+ //下一个道路View点击回调
+ }
+
+
+ @Override
+ public void onScanViewButtonClick() {
+ //全览按钮点击回调
+ }
+
+
+ @Override
+ public void onLockMap(boolean isLock) {
+ //锁地图状态发生变化时回调
+ }
+
+ @Override
+ public void onNaviViewLoaded() {
+ CallerLogger.INSTANCE.d(M_TAXI + "wlx", "导航页面加载成功");
+ CallerLogger.INSTANCE.d(M_TAXI + "wlx", "请不要使用AMapNaviView.getMap().setOnMapLoadedListener();会overwrite导航SDK内部画线逻辑");
+ }
+
+ @Override
+ public void onMapTypeChanged(int i) {
+
+ }
+
+ @Override
+ public void onNaviViewShowMode(int i) {
+
+ }
+
+ @Override
+ public boolean onNaviBackClick() {
+ return false;
+ }
+
+ /**
+ * 车道信息说明：
+ *
+ * 0xFF, 无对应车道
+ * 0, 直行
+ * 1, 左转
+ * 2, 直行+左转
+ * 3, 右转
+ * 4, 直行+右转
+ * 5, 左掉头
+ * 6, 左转+右转
+ * 7, 直行+左转+右转
+ * 8, 右掉头
+ * 9, 直行+左掉头
+ * 10, 直行+右掉头
+ * 11, 左转+左掉头
+ * 12, 右转+右掉头
+ * 13, 直行+扩展
+ * 14, 左转+左掉头+扩展
+ * 15, 保留
+ * 16, 直行+左转+左掉头
+ * 17, 右转+左掉头
+ * 18, 左转+右转+左掉头
+ * 19, 直行+右转+左掉头
+ * 20, 左转+右掉头
+ * 21, 公交车道
+ * 22, 空车道
+ * 23 可变车道
+ */
+
+ String[] array = {
+ "直行车道"
+ , "左转车道"
+ , "左转或直行车道"
+ , "右转车道"
+ , "右转或直行车道"
+ , "左掉头车道"
+ , "左转或者右转车道"
+ , " 左转或右转或直行车道"
+ , "右转掉头车道"
+ , "直行或左转掉头车道"
+ , "直行或右转掉头车道"
+ , "左转或左掉头车道"
+ , "右转或右掉头车道"
+ , "直行并且车道扩展"
+ , "左转+左掉头+扩展"
+ , "不可以选择该车道"
+ , "直行+左转+左掉头车道"
+ , "右转+左掉头"
+ , "左转+右转+左掉头"
+ , "直行+右转+左掉头"
+ , "左转+右掉头"
+ , "公交车道"
+ , "空车道"
+ , "可变车道"
+ };
+
+ String[] actions = {
+ "直行"
+ , "左转"
+ , "左转或直行"
+ , "右转"
+ , "右转或这行"
+ , "左掉头"
+ , "左转或者右转"
+ , " 左转或右转或直行"
+ , "右转掉头"
+ , "直行或左转掉头"
+ , "直行或右转掉头"
+ , "左转或左掉头"
+ , "右转或右掉头"
+ , "直行并且车道扩展"
+ , "左转+左掉头+扩展"
+ , "不可以选择"
+ , "直行+左转+左掉头"
+ , "右转+左掉头"
+ , "左转+右转+左掉头"
+ , "直行+右转+左掉头"
+ , "左转+右掉头"
+ , "公交车道"
+ , "空车道"
+ , "可变车道"
+ };
+}
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
new file mode 100644
index 0000000000..a59f2c0fd7
--- /dev/null
+++ b/OCH/sweeper/sweeper-cloud/src/main/java/com/mogo/och/sweepercloud/fragment/SweeperFragment.kt
@@ -0,0 +1,587 @@
+package com.mogo.och.sweepercloud.fragment
+
+import android.os.Bundle
+import android.view.View
+import androidx.lifecycle.lifecycleScope
+import chassis.ChassisStatesOuterClass
+import com.amap.api.maps.model.LatLng
+import com.elegant.utils.UiThreadHandler
+import com.mogo.eagle.core.data.map.MogoLocation
+import com.mogo.eagle.core.function.api.autopilot.IMoGoAutopilotStatusListener.Companion.STATUS_AUTOPILOT_ENABLE
+import com.mogo.eagle.core.utilcode.mogo.logger.CallerLogger
+import com.mogo.eagle.core.utilcode.mogo.logger.scene.SceneConstant
+import com.mogo.eagle.core.utilcode.util.ToastUtils
+import com.mogo.och.common.module.voice.VoiceNotice.showNotice
+import com.mogo.och.sweepercloud.R
+import com.mogo.och.sweepercloud.bean.SweeperRoutePlanningUpdateReqBean
+import com.mogo.och.sweepercloud.callback.SweeperCloudDialogClickListener
+import com.mogo.och.sweepercloud.database.MyDataBase
+import com.mogo.och.sweepercloud.presenter.SweeperPresenter
+import com.mogo.och.sweepercloud.ui.dialog.SweeperCloudDialog
+import com.mogo.och.sweepercloud.ui.dialog.SweeperCloudLoadingDialog
+import com.mogo.och.sweepercloud.util.SweeperCloudTaskUtils.createConfirmStartSubTaskDialog
+import com.mogo.och.sweepercloud.util.SweeperCloudTaskUtils.createReceivedTaskInfoDialog
+import com.mogo.och.sweepercloud.util.SweeperCloudTaskUtils.createSweeperTaskEndDialog
+import com.mogo.och.sweepercloud.util.SweeperCloudTaskUtils.createSweeperTaskNormalEndDialog
+import com.mogo.och.sweepercloud.util.SweeperCloudTaskUtils.printMessage
+import com.mogo.och.sweepercloud.view.SweeperCurrentTaskInfoView
+import com.zhjt.mogo.adas.data.sweeper.SweeperCloudTask
+import com.zhjt.mogo.adas.data.sweeper.bootable.SweeperBootable
+import com.zhjt.mogo.adas.data.sweeper.common.SweeperCommon
+import com.zhjt.mogo.adas.data.sweeper.task.SweeperTask
+import com.zhjt.mogo.adas.data.sweeper.task.SweeperTask.SubTaskInfo
+import com.zhjt.mogo.adas.data.sweeper.task.SweeperTask.TaskModel
+import com.zhjt.mogo.adas.data.sweeper.task.big.SweeperBigTaskStatus
+import com.zhjt.mogo.adas.data.sweeper.task.confirm.SweeperTaskConfirm
+import com.zhjt.mogo.adas.data.sweeper.task.stop.SweeperTaskStop
+import kotlinx.android.synthetic.main.fragment_och_sweeper.*
+import kotlinx.android.synthetic.main.sweeper_no_data_common_view.*
+import kotlinx.coroutines.Dispatchers
+import kotlinx.coroutines.launch
+
+/**
+ * 清扫车主界面
+ */
+class SweeperFragment : BaseSweeperTabFragment() {
+
+ companion object {
+ const val TAG = "SweeperFragment"
+ }
+
+ private var mSubMutableList: MutableList? = null
+ private var mCleanSystemState: ChassisStatesOuterClass.SweeperFuTianTaskSystemStates? = null
+ private var mLocation: MogoLocation? = null
+ private var mTaskInfo: SweeperTask.TaskInfo? = null
+ private var mSubTaskType: TaskModel = TaskModel.DEFAULT_MODEL //1:自动驾驶子任务 2：人工驾驶子任务 -1:未知任务类型
+ private var mCurrentSubTaskInfo: SubTaskInfo? = null//当前正在执行的子任务
+ private val mLoadingDialog: SweeperCloudLoadingDialog by lazy { SweeperCloudLoadingDialog(requireContext()) }
+ private var mDialog: SweeperCloudDialog? = null
+
+ override fun getTagName(): String {
+ return "SweepersFragment"
+ }
+
+ override fun initViews() {
+ super.initViews()
+ initListener()
+ sweeper_cl_work_mode.setTrafficDataView(trafficDataView)
+ }
+
+ override fun createPresenter(): SweeperPresenter {
+ return SweeperPresenter(this)
+ }
+
+ override fun onActivityCreated(savedInstanceState: Bundle?) {
+ super.onActivityCreated(savedInstanceState)
+ mPresenter?.getCurrentTask()
+ }
+
+ override fun getTaskListPanelViewId(): Int {
+ return R.layout.fragment_och_sweeper
+ }
+
+ /**
+ * 设置当前任务信息列表是否显示
+ */
+ private fun setShowCurrentTaskPanelView(isShow: Boolean) {
+ if (isShow) {
+ sweeper_current_task_view.visibility = View.VISIBLE
+ noTaskDataView.visibility = View.GONE
+ } else {
+ sweeper_current_task_view.visibility = View.GONE
+ noTaskDataView.visibility = View.VISIBLE
+ }
+ }
+
+ /**
+ * VR模式切换
+ *
+ * @param isVRMode
+ */
+ fun onVRModeChanged(isVRMode: Boolean) {
+ if (mRootView != null) {
+ mRootView.visibility = if (isVRMode) View.VISIBLE else View.GONE
+ }
+ }
+
+ fun hideOchSweeper() {}
+
+ /**
+ * 设置各种监听事件
+ */
+ private fun initListener() {
+ getCurrentView().getAutoBtn().setOnClickListener {
+ //前置条件 (1)必须处于人工驾驶状态 （2）必须有正在执行的子任务，且子任务类型为自动驾驶子任务 才能请求云端进入自驾
+ mCurrentSubTaskInfo?.let {
+ if (mPresenter?.autopilotState == STATUS_AUTOPILOT_ENABLE && it.taskModel == TaskModel.AUTO) {
+ mLoadingDialog.showLoading()
+ mPresenter?.sendSweeperAutopilotBootable(mTaskInfo?.taskId, it.subTaskId, it.lineId.toLong())
+ }
+ }
+ }
+ }
+
+ fun onSweeperFutianCleanSystemState(cleanSystemState: ChassisStatesOuterClass.SweeperFuTianTaskSystemStates) {
+ mCleanSystemState = cleanSystemState
+ sweeper_cl_work_mode.setSweeperFutianCleanSystemState(mSubTaskType, cleanSystemState)
+ }
+
+ /**
+ * 当前位置经纬度
+ */
+ fun setCurrentLocation(location: MogoLocation) {
+ this.mLocation = location
+ }
+
+ /**
+ * 大任务中所有子任务起终点集合
+ */
+ private fun addTaskData() {
+ lifecycleScope.launch(Dispatchers.IO) {
+ mSubMutableList?.let { subList ->
+ if (subList.size <= 0) {
+ return@launch
+ }
+ val dataList = ArrayList()
+ for (index in subList.indices) {
+ val startLocation = subList[index].startLocation
+ val startLatLng = LatLng(startLocation.latitude, startLocation.longitude)
+ dataList.add(index, startLatLng)
+ val endLocation = subList[index].endLocation
+ val endLatLng = LatLng(endLocation.latitude, endLocation.longitude)
+ dataList.add(index + 1, endLatLng)
+ }
+ setTaskListCoordinatesLatLng(dataList)
+ }
+ }
+ }
+
+ /**
+ * 设置当前子任务终点
+ */
+ private fun setEndStationMarker(position: Int) {
+ lifecycleScope.launch(Dispatchers.IO) {
+ mSubMutableList?.let { subList ->
+ val endPoint = subList[position - 1].endLocation
+ val endLatLng = LatLng(endPoint.latitude, endPoint.longitude)
+ super.mCurrentTaskEndStation = endLatLng
+ setCurrentTaskEndMarker(endLatLng)
+ }
+ }
+ }
+
+ /**
+ * 设置云端任务信息
+ */
+ fun onSweeperCloudTask(messageType: SweeperCloudTask.MessageType, taskInfo: SweeperTask.TaskInfo?) {
+ this.mTaskInfo = taskInfo
+ this.mSubMutableList = taskInfo?.subListList
+ CallerLogger.d(SceneConstant.M_SWEEPER + TAG, taskInfo?.let { printMessage(it) })
+ if (taskInfo == null || this.mSubMutableList == null) {
+ resetTaskInfoPanel()
+ return
+ }
+ //主动拉取云端正在执行的任务，有则直接在任务列表展示
+ if (messageType == SweeperCloudTask.MessageType.PadSendGetTaskReq) {
+ getCurrentView().setData(taskInfo, getCurrentPosition())
+ setShowCurrentTaskPanelView(true)
+ addTaskData()
+ mPresenter?.isHasTaskInfo(true)
+ } else {//云端下发的任务信息需要弹窗接取
+ if (taskInfo.isPop) {//是否需要弹窗确认
+ receivedTaskInfoDialog()
+ } else {
+ mPresenter?.sendSweeperStartTaskResp(taskInfo.taskId, SweeperTask.StartTaskCode.RECEIVED)
+ setShowCurrentTaskPanelView(true)
+ getCurrentView().setData(taskInfo)
+ addTaskData()
+ mPresenter?.isHasTaskInfo(true)
+ //延时2秒再上报确认接取任务，防止时间太短跟收到任务指令冲突
+ UiThreadHandler.postDelayed({ mPresenter?.sendSweeperStartTaskResp(taskInfo.taskId, SweeperTask.StartTaskCode.MANUAL_CONFIRM) }, 2000)
+ }
+ //设置任务进度
+ this.mSubMutableList?.let {
+ setTaskProgress("0/${it.size}")
+ }
+ }
+ }
+
+ /**
+ * 根据云端同步的子任务状态，更新列表中任务状态
+ */
+ fun onSweeperUpdateSubTaskStatus(taskId: String, subTaskId: String, subTaskStatus: SweeperCommon.TaskStatus) {
+ mLoadingDialog.hideLoading()
+ updateSubTaskInfo(taskId, subTaskId, subTaskStatus)
+ }
+
+ /**
+ * 子任务确认时，更新子任务信息
+ */
+ private fun updateSubTaskInfo(taskId: String, subTaskId: String, subTaskStatus: SweeperCommon.TaskStatus) {
+ mTaskInfo?.let {
+ //如果云端要更新的任务和本地缓存任务不是同一个，在无法更新子任务状态
+ if (taskId != it.taskId) {
+ return
+ }
+ mSubMutableList?.let { subTaskList ->
+ for (index in 0 until subTaskList.size) {
+ if (subTaskList[index].subTaskId == subTaskId) {
+ val subBuilder = subTaskList[index].toBuilder()
+ subBuilder.taskStatus = subTaskStatus
+ if (subTaskStatus == SweeperCommon.TaskStatus.RUNNING) {
+ mCurrentSubTaskInfo = subBuilder.build()
+ //更新当前正在执行的任务状态
+ updateCurrentSubTaskInfo(index + 1)
+ } else {
+ mCurrentSubTaskInfo = null
+ }
+ //判断是否结束子任务
+ if (subTaskStatus == SweeperCommon.TaskStatus.FINISHED) {
+ //已完成的计入任务进度，未完成的不计入
+ ToastUtils.showLong("任务完成")
+ showNotice("任务完成")
+ }
+ val builder = it.toBuilder()
+ builder.setSubList(index, subBuilder.build())
+ mTaskInfo = builder.build()
+ mSubMutableList = mTaskInfo?.subListList
+ getCurrentView().setData(mTaskInfo, index)
+ }
+ }
+ }
+ }
+ }
+
+ /**
+ * 云端请求结束大任务
+ */
+ fun onSweeperCloudTaskStop(taskId: String, stopTaskType: SweeperTaskStop.StopTaskType, isPop: Boolean) {
+ mTaskInfo?.let {
+ //如果云端要更新的任务和本地缓存任务不是同一个，在无法结束任务
+ if (taskId != it.taskId) {
+ return
+ }
+ if (isPop) {
+ sweeperCloudTaskStopDialog(taskId, stopTaskType, it)
+ } else {
+ mPresenter?.sendSweeperStopTaskResp(taskId, SweeperTaskStop.StopTaskCode.MANUAL_CONFIRM)
+ }
+ }
+
+ }
+
+ /**
+ * 结束任务弹窗处理
+ */
+ private fun sweeperCloudTaskStopDialog(taskId: String, stopTaskType: SweeperTaskStop.StopTaskType, taskInfo: SweeperTask.TaskInfo) {
+ mLoadingDialog.hideLoading()
+ val timeout: String = getTimeSpent(taskInfo.taskEndTime)
+ //数据重复导致连续弹窗
+ if (mDialog != null && mDialog!!.isShowing) {
+ return
+ }
+ if (stopTaskType == SweeperTaskStop.StopTaskType.NORMAL) {
+ mPresenter?.isHasTaskInfo(false)
+ mDialog = sweeperCloudTaskNormalEndDialog()
+ showNotice("任务已结束")
+ } else {
+ mDialog = createSweeperTaskEndDialog(context, object : SweeperCloudDialogClickListener {
+ override fun onConfirm() {
+ mPresenter?.sendSweeperStopTaskResp(taskId, SweeperTaskStop.StopTaskCode.MANUAL_CONFIRM)
+ mLoadingDialog.showLoading()
+ //ToastUtils.showLong("确认")
+ }
+
+ override fun onRefuseOrEnd() {
+ mPresenter?.sendSweeperStopTaskResp(taskId, SweeperTaskStop.StopTaskCode.MANUAL_REFUSE)
+ mLoadingDialog.showLoading()
+ //ToastUtils.showLong("拒绝")
+ }
+
+ override fun onCountDownStop() {
+ mPresenter?.sendSweeperStopTaskResp(taskId, SweeperTaskStop.StopTaskCode.OVER_TIME)
+ mLoadingDialog.showLoading()
+ //ToastUtils.showLong("倒计时")
+ }
+
+ override fun onNext() {
+ }
+
+ }, stopTaskType, timeout)
+ }
+ mDialog?.show()
+ }
+
+ /**
+ * 大任务结束弹窗
+ */
+ private fun sweeperCloudTaskNormalEndDialog(): SweeperCloudDialog? {
+ return createSweeperTaskNormalEndDialog(context, object : SweeperCloudDialogClickListener {
+ override fun onConfirm() {
+ ToastUtils.showLong("任务已结束")
+ resetTaskInfoPanel()
+ }
+
+ override fun onRefuseOrEnd() {
+
+ }
+
+ override fun onCountDownStop() {
+ ToastUtils.showLong("任务已结束")
+ resetTaskInfoPanel()
+ }
+
+ override fun onNext() {
+
+ }
+
+ })
+ }
+
+ /**
+ * 云端同步大任务状态
+ */
+ fun onSweeperCloudBigTaskStatus(taskId: String, subTaskStatus: SweeperBigTaskStatus.BigTaskStatus) {
+ //隐藏loading
+ mLoadingDialog.hideLoading()
+ mTaskInfo?.let {
+ //如果云端要更新的任务和本地缓存任务不是同一个，在无法进行任务列表状态更新
+ if (it.taskId != taskId) {
+ return
+ }
+ //大任务处于取消状态 异常状态pad端都显示无任务列表
+ if (subTaskStatus == SweeperBigTaskStatus.BigTaskStatus.CANCLE || subTaskStatus == SweeperBigTaskStatus.BigTaskStatus.ABNORMAL || subTaskStatus == SweeperBigTaskStatus.BigTaskStatus.FINISHED) {
+ mPresenter?.isHasTaskInfo(false)
+ //数据重复导致连续弹窗
+ if (mDialog != null && mDialog!!.isShowing) {
+ return
+ }
+ mDialog = sweeperCloudTaskNormalEndDialog()
+ mDialog?.show()
+ showNotice("任务已结束")
+ }
+ }
+ }
+
+ /**
+ * pad请求云端进入自动驾驶回调
+ */
+ fun onSweeperCloudAutopilotBootable(taskId: String, subTaskId: String, isBootableResp: SweeperBootable.IsBootableResp) {
+ mLoadingDialog.hideLoading()
+ //如果云端要更新的任务和本地缓存任务不是同一个，在无法进行任务列表状态更新
+ mTaskInfo?.let {
+ if (it.taskId != taskId) {
+ return
+ }
+ if (isBootableResp.code == SweeperCommon.Code.SUCCEED) {
+ ToastUtils.showLong("上报云控成功")
+ } else {
+ ToastUtils.showLong("上报云控失败")
+ }
+ }
+ }
+
+ /**
+ * 重置任务面板为无数据状态
+ */
+ private fun resetTaskInfoPanel() {
+ //清除任务缓存数据
+ mPresenter?.clearRouteList()
+ lifecycleScope.launch(Dispatchers.IO) {
+ //清除任务地图绘制标记和作业路线
+ clearAllMarkerAndPolyline()
+ //清除贴边数据缓存
+ MyDataBase.getInstance().weltDataDao.deleteAllWeltData()
+ }
+ setShowCurrentTaskPanelView(false)
+ mTaskInfo = null
+ mCurrentSubTaskInfo = null
+ mSubMutableList = null
+ mSubTaskType = TaskModel.DEFAULT_MODEL
+ setTaskProgress("0")
+ }
+
+ /**
+ *
+ * 获取当前正在执行的子任务在列表中的位置
+ */
+ private fun getCurrentPosition(): Int {
+ mSubMutableList = mTaskInfo?.subListList
+ mSubMutableList?.apply {
+ for (index in 0 until size) {
+ if (get(index).taskStatus == SweeperCommon.TaskStatus.RUNNING) {
+ mCurrentSubTaskInfo = get(index)
+ updateCurrentSubTaskInfo(index + 1)
+ return index
+ }
+ }
+ }
+ return -1
+ }
+
+ /**
+ * 根据子任务id获取子任务信息
+ */
+ private fun bySubTaskIdFindSubTaskInfo(subTaskId: String): SubTaskInfo? {
+ mSubMutableList = mTaskInfo?.subListList
+ mSubMutableList?.apply {
+ for (index in 0 until size) {
+ if (get(index).subTaskId == subTaskId) {
+ return get(index)
+ }
+ }
+ }
+ return null
+ }
+
+ /**
+ * 更新当前子任务信息
+ */
+ private fun updateCurrentSubTaskInfo(position: Int) {
+ mCurrentSubTaskInfo?.let {
+ mSubTaskType = it.taskModel
+ mPresenter?.setSubtask(it.subTaskId, it.taskModel, it.lineId)
+ setEndStationMarker(position)
+ //设置任务进度
+ this.mSubMutableList?.apply {
+ setTaskProgress("${position}/${size}")
+ }
+ }
+ }
+
+ /**
+ * 设置路线轨迹
+ */
+ override fun setTaskRouteList(routeList: ArrayList) {
+ super.setTaskRouteList(routeList)
+ }
+
+ private fun getCurrentView(): SweeperCurrentTaskInfoView = sweeper_current_task_view
+
+
+ fun handleSubTaskInfoDialog(taskId: String, subTaskId: String, isPop: Boolean) {
+ if (mTaskInfo == null) return
+ if (mTaskInfo?.taskId != taskId) return
+ val subInfo = bySubTaskIdFindSubTaskInfo(subTaskId)
+ subInfo?.let {
+ if (isPop) {
+ showSubTaskInfoDialog(taskId, subTaskId, it)
+ } else {
+ mPresenter?.sendSweeperTaskConfirmResp(taskId, subTaskId, SweeperTaskConfirm.TaskConfirmCode.MANUAL_CONFIRM)
+ //mPresenter?.setPreLineId(-1)
+ updateSubTaskInfo(taskId, subTaskId, SweeperCommon.TaskStatus.RUNNING)
+ }
+ }
+ }
+
+ /**
+ * 云控下发子任务确认弹窗
+ */
+ private fun showSubTaskInfoDialog(taskId: String, subTaskId: String, subTaskInfo: SubTaskInfo) {
+ mLoadingDialog.hideLoading()
+ if (mTaskInfo == null) return
+ if (mTaskInfo?.taskId != taskId) return
+ //数据重复导致连续弹窗
+ if (mDialog != null && mDialog!!.isShowing) {
+ return
+ }
+ mDialog = createConfirmStartSubTaskDialog(context, object : SweeperCloudDialogClickListener {
+ override fun onConfirm() {
+ //ToastUtils.showLong("确认")
+ mPresenter?.sendSweeperTaskConfirmResp(taskId, subTaskId, SweeperTaskConfirm.TaskConfirmCode.MANUAL_CONFIRM)
+ //mPresenter?.setPreLineId(-1)
+ updateSubTaskInfo(taskId, subTaskId, SweeperCommon.TaskStatus.RUNNING)
+ mLoadingDialog.showLoading()
+ }
+
+ override fun onRefuseOrEnd() {
+ //ToastUtils.showLong("结束")
+ mPresenter?.sendSweeperTaskConfirmResp(taskId, subTaskId, SweeperTaskConfirm.TaskConfirmCode.MANUAL_REFUSE_ALL)
+ mLoadingDialog.showLoading()
+ }
+
+ override fun onCountDownStop() {
+ //ToastUtils.showLong("倒计时结束")
+ mPresenter?.sendSweeperTaskConfirmResp(taskId, subTaskId, SweeperTaskConfirm.TaskConfirmCode.OVER_TIME)
+ mLoadingDialog.showLoading()
+ }
+
+ override fun onNext() {
+ //ToastUtils.showLong("下一个")
+ mPresenter?.sendSweeperTaskConfirmResp(taskId, subTaskId, SweeperTaskConfirm.TaskConfirmCode.MANUAL_REFUSE_SINGLE)
+ mLoadingDialog.showLoading()
+ }
+
+ }, subTaskInfo)
+ mDialog?.show()
+ showNotice("请确认是否执行任务")
+ }
+
+ /**
+ * 接取云端任务弹窗
+ */
+ private fun receivedTaskInfoDialog() {
+ mTaskInfo?.let {
+ mPresenter?.sendSweeperStartTaskResp(it.taskId, SweeperTask.StartTaskCode.RECEIVED)
+ //数据重复导致连续弹窗
+ if (mDialog != null && mDialog!!.isShowing) {
+ return
+ }
+ mDialog = createReceivedTaskInfoDialog(context, object : SweeperCloudDialogClickListener {
+ override fun onConfirm() {
+ //ToastUtils.showLong("确认")
+ mPresenter?.sendSweeperStartTaskResp(it.taskId, SweeperTask.StartTaskCode.MANUAL_CONFIRM)
+ setShowCurrentTaskPanelView(true)
+ getCurrentView().setData(it)
+ mLoadingDialog.showLoading()
+ addTaskData()
+ mPresenter?.isHasTaskInfo(true)
+ }
+
+ override fun onRefuseOrEnd() {
+ //ToastUtils.showLong("拒绝")
+ mPresenter?.sendSweeperStartTaskResp(it.taskId, SweeperTask.StartTaskCode.MANUAL_REFUSE)
+ mLoadingDialog.showLoading()
+ resetTaskInfoPanel()
+ }
+
+ override fun onCountDownStop() {
+ //ToastUtils.showLong("倒计时结束")
+ resetTaskInfoPanel()
+ mPresenter?.sendSweeperStartTaskResp(it.taskId, SweeperTask.StartTaskCode.OVER_TIME)
+ mLoadingDialog.showLoading()
+ }
+
+ override fun onNext() {
+
+ }
+
+ }, it)
+ mDialog?.show()
+ showNotice("请确认是否接取任务")
+ }
+
+ }
+
+ /**
+ * 计算任务超时时间
+ */
+ private fun getTimeSpent(taskEndTime: Long): String {
+
+ val timeLag: Long = System.currentTimeMillis() - taskEndTime
+ //天
+ val day: Long = timeLag / (24 * 60 * 60 * 1000)
+ //小时
+ val hour = (timeLag / (60 * 60 * 1000) - day * 24)
+ //分钟
+ val minute = ((timeLag / (60 * 1000)) - day * 24 * 60 - hour * 60)
+
+ if (day >= 1) {
+ return "${day}天${hour}时${minute}分钟"
+ }
+ if (hour >= 1) {
+ return "${hour}时${minute}分钟"
+ }
+ return "${minute}分钟"
+ }
+}
\ No newline at end of file
diff --git a/OCH/sweeper/sweeper-cloud/src/main/java/com/mogo/och/sweepercloud/fragment/WeltMapOverViewFragment.kt b/OCH/sweeper/sweeper-cloud/src/main/java/com/mogo/och/sweepercloud/fragment/WeltMapOverViewFragment.kt
new file mode 100644
index 0000000000..de471c94b8
--- /dev/null
+++ b/OCH/sweeper/sweeper-cloud/src/main/java/com/mogo/och/sweepercloud/fragment/WeltMapOverViewFragment.kt
@@ -0,0 +1,129 @@
+package com.mogo.och.sweepercloud.fragment
+
+import android.os.Bundle
+import com.amap.api.maps.model.LatLng
+import com.mogo.commons.mvp.BaseFragment
+import com.mogo.och.sweepercloud.R
+import com.mogo.och.sweepercloud.bean.SweeperRoutePlanningUpdateReqBean
+import com.mogo.och.sweepercloud.callback.ISweeperTaskDataToFragmentCallback
+import com.mogo.och.sweepercloud.callback.IWeltMapSwitchToSmallCallback
+import com.mogo.och.sweepercloud.database.bean.WeltDataBean
+import kotlinx.android.synthetic.main.fragment_welt_map_overview.*
+import kotlinx.android.synthetic.main.sweeper_welt_map_overview.*
+
+/**
+ * 作业任务全览图
+ */
+class WeltMapOverViewFragment : BaseFragment(), ISweeperTaskDataToFragmentCallback {
+ private var mIWeltMapSwitchToSmallCallBack: IWeltMapSwitchToSmallCallback? = null
+ private var mFragment: SweeperFragment? = null
+ override fun getLayoutId(): Int = R.layout.fragment_welt_map_overview
+ override fun getTagName(): String {
+ return "WeltMapOverViewFragment"
+ }
+
+ override fun initViews() {
+
+ }
+ fun setWeltMapSwitchToSmallCallBack(iWeltMapSwitchToSmallCallback: IWeltMapSwitchToSmallCallback){
+ this.mIWeltMapSwitchToSmallCallBack=iWeltMapSwitchToSmallCallback
+ }
+ fun setSweeperFragment(fragment: SweeperFragment){
+ this.mFragment=fragment
+ mFragment?.setTaskDataToFragmentCallback(this)
+ }
+ override fun initViews(savedInstanceState: Bundle?) {
+ super.initViews(savedInstanceState)
+ weltMapOverView?.onCreateView(savedInstanceState)
+ sweeperSwitchToSmall.setOnClickListener {
+ mIWeltMapSwitchToSmallCallBack?.onWeltMapSwitchToSmall()
+ }
+ val bundle = arguments
+ if (bundle != null) {
+ val latLngs = bundle.getSerializable("subTaskCoordinates") as? ArrayList
+ val latLng = bundle.getParcelable("subTaskEndCoordinates")
+ val weltDataList = bundle.getSerializable("weltDataList") as? ArrayList
+ val routeList = bundle.getSerializable("routeList") as? ArrayList
+ val progress = bundle.getString("progress")
+ routeList?.let {
+ weltMapOverView?.setRouteList(it)
+ }
+ latLng?.let {
+ setCurrentTaskCoordinatesLatLng(it)
+ }
+ latLngs?.let {
+ setTaskListCoordinatesLatLng(it)
+ }
+ weltDataList?.let {
+ setWeltData(it,"0.0cm")
+ }
+ progress?.let {
+ weltMapOverView?.setProgress(progress)
+ }
+ }
+
+ }
+
+ companion object {
+ @JvmStatic
+ fun newInstance(
+ mIWeltMapSwitchToSmallCallBack: IWeltMapSwitchToSmallCallback,
+ mCurrentTaskEndStation:LatLng?,
+ weltDataList: ArrayList?,
+ latLngs: ArrayList?,
+ routeList: ArrayList?,
+ progress:String?,
+ sweeperFragment: SweeperFragment
+ ): WeltMapOverViewFragment {
+ val args = Bundle()
+ args.putSerializable("weltDataList", weltDataList)
+ args.putSerializable("subTaskCoordinates", latLngs)
+ args.putParcelable("subTaskEndCoordinates", mCurrentTaskEndStation)
+ args.putSerializable("routeList", routeList)
+ args.putString("progress", progress)
+ val fragment = WeltMapOverViewFragment()
+ fragment.setWeltMapSwitchToSmallCallBack(mIWeltMapSwitchToSmallCallBack)
+ fragment.setSweeperFragment(sweeperFragment)
+ fragment.arguments = args
+ return fragment
+ }
+ }
+
+ override fun onPause() {
+ super.onPause()
+ weltMapOverView?.onPause()
+ }
+
+ override fun onResume() {
+ super.onResume()
+ weltMapOverView?.onResume()
+ }
+
+ override fun onDestroy() {
+ super.onDestroy()
+ weltMapOverView?.onDestroy()
+ }
+ override fun setTaskListCoordinatesLatLng(coordinatesLatLng: java.util.ArrayList) {
+ weltMapOverView?.setTaskListCoordinatesLatLng(coordinatesLatLng)
+ }
+
+ override fun setCurrentTaskCoordinatesLatLng(coordinatesLatLng: LatLng) {
+ weltMapOverView?.setCurrentTaskCoordinatesLatLng(coordinatesLatLng)
+ }
+
+ override fun clearAllMarkerAndPolyline() {
+ weltMapOverView?.clearAllMarkerAndPolyline()
+ }
+
+ override fun setProgress(progress: String) {
+ weltMapOverView?.setProgress(progress)
+ }
+
+ override fun setRouteList(routeList: java.util.ArrayList) {
+ weltMapOverView?.setRouteList(routeList)
+ }
+
+ override fun setWeltData(weltDatas: java.util.ArrayList?, distance: String) {
+ weltMapOverView?.setWeltData(weltDatas,true,distance)
+ }
+}
\ No newline at end of file
diff --git a/OCH/sweeper/sweeper-cloud/src/main/java/com/mogo/och/sweepercloud/model/SweeperTaskModel.java b/OCH/sweeper/sweeper-cloud/src/main/java/com/mogo/och/sweepercloud/model/SweeperTaskModel.java
new file mode 100644
index 0000000000..bcacdb6ffb
--- /dev/null
+++ b/OCH/sweeper/sweeper-cloud/src/main/java/com/mogo/och/sweepercloud/model/SweeperTaskModel.java
@@ -0,0 +1,661 @@
+package com.mogo.och.sweepercloud.model;
+
+import static com.mogo.eagle.core.utilcode.mogo.logger.scene.SceneConstant.M_SWEEPER;
+import static com.mogo.och.sweepercloud.util.SweeperCloudTaskUtils.printMessage;
+
+import android.content.Context;
+
+import androidx.annotation.NonNull;
+import androidx.annotation.Nullable;
+
+import com.amap.api.maps.model.LatLng;
+import com.mogo.cloud.passport.MoGoAiCloudClientConfig;
+import com.mogo.commons.AbsMogoApplication;
+import com.mogo.commons.module.status.IMogoStatusChangedListener;
+import com.mogo.commons.module.status.MogoStatusManager;
+import com.mogo.commons.module.status.StatusDescriptor;
+import com.mogo.eagle.core.data.autopilot.AutopilotStatusInfo;
+import com.mogo.eagle.core.data.map.MogoLocation;
+import com.mogo.eagle.core.function.api.autopilot.IMoGoAutopilotStatusListener;
+import com.mogo.eagle.core.function.api.autopilot.IMoGoChassisLocationGCJ02Listener;
+import com.mogo.eagle.core.function.api.autopilot.IMoGoPlanningRottingListener;
+import com.mogo.eagle.core.function.api.autopilot.IMoGoSweeperFutianCleanSystemListener;
+import com.mogo.eagle.core.function.api.autopilot.IMoGoSweeperFutianCloudTaskListener;
+import com.mogo.eagle.core.function.call.autopilot.CallerAutoPilotControlManager;
+import com.mogo.eagle.core.function.call.autopilot.CallerAutoPilotStatusListenerManager;
+import com.mogo.eagle.core.function.call.autopilot.CallerChassisLocationGCJ02ListenerManager;
+import com.mogo.eagle.core.function.call.autopilot.CallerPlanningRottingListenerManager;
+import com.mogo.eagle.core.function.call.autopilot.CallerSweeperFutianCleanSystemListenerManager;
+import com.mogo.eagle.core.function.call.autopilot.CallerSweeperFutianCloudTaskListenerManager;
+import com.mogo.eagle.core.utilcode.mogo.logger.CallerLogger;
+import com.mogo.eagle.core.utilcode.util.UiThreadHandler;
+import com.mogo.och.common.module.manager.OCHAdasAbilityManager;
+import com.mogo.och.common.module.utils.CoordinateCalculateRouteUtil;
+import com.mogo.och.common.module.utils.NumberFormatUtil;
+import com.mogo.och.sweepercloud.bean.SweeperRoutePlanningUpdateReqBean;
+import com.mogo.och.sweepercloud.callback.ISweeperCloudTaskCallback;
+import com.mogo.och.sweepercloud.callback.ISweeperControllerStatusCallback;
+import com.mogo.och.sweepercloud.constant.SweeperConst;
+import com.mogo.och.sweepercloud.database.MyDataBase;
+import com.mogo.och.sweepercloud.database.bean.WeltDataBean;
+import com.mogo.och.sweepercloud.util.SweeperCloudTaskUtils;
+import com.zhjt.mogo.adas.data.sweeper.SweeperCloudTask;
+import com.zhjt.mogo.adas.data.sweeper.bootable.SweeperBootable;
+import com.zhjt.mogo.adas.data.sweeper.task.SweeperTask;
+import com.zhjt.mogo.adas.data.sweeper.task.SweeperTaskSuspendResume;
+import com.zhjt.mogo.adas.data.sweeper.task.big.SweeperBigTaskStatus;
+import com.zhjt.mogo.adas.data.sweeper.task.confirm.SweeperTaskConfirm;
+import com.zhjt.mogo.adas.data.sweeper.task.status.SweeperTaskStatus;
+import com.zhjt.mogo.adas.data.sweeper.task.stop.SweeperTaskStop;
+
+import java.io.IOException;
+import java.math.BigDecimal;
+import java.math.RoundingMode;
+import java.nio.charset.StandardCharsets;
+import java.util.ArrayList;
+import java.util.HashMap;
+import java.util.List;
+
+import chassis.ChassisStatesOuterClass;
+import io.reactivex.exceptions.UndeliverableException;
+import io.reactivex.functions.Consumer;
+import io.reactivex.plugins.RxJavaPlugins;
+import mogo.telematics.pad.MessagePad;
+import mogo_msg.MogoReportMsg;
+import planning.RoboSweeperTaskIndexOuterClass;
+import system_master.SystemStatusInfo;
+
+/**
+ * @author congtaowang
+ * @since 2021/3/23
+ *
+ * 清扫车任务管理
+ */
+public class SweeperTaskModel implements IMoGoSweeperFutianCloudTaskListener, IMoGoAutopilotStatusListener, IMoGoSweeperFutianCleanSystemListener {
+ private final String TAG = SweeperTaskModel.class.getSimpleName();
+ private static volatile SweeperTaskModel sInstance;
+ public double mLongitude = 0;
+ public double mLatitude = 0;
+ private Context mContext;
+ private ISweeperControllerStatusCallback mControllerStatusCallback; //Model->Presenter：VR mode等
+ private ISweeperCloudTaskCallback mSweeperTaskCallback;
+ ArrayList points = new ArrayList<>();//全路径信息
+ private SweeperTask.TaskModel mSubTaskType = SweeperTask.TaskModel.DEFAULT_MODEL; //1自动驾驶 2.人工驾驶 0:无效值
+ private int mCurrentLineId = 0; //当前路线id
+ private int mPreLineId = -1;//上一次存储的路线id
+ //自动驾驶状态
+ private int mAutopilotState = IMoGoAutopilotStatusListener.STATUS_AUTOPILOT_DISABLE;
+ //当前子任务id
+ private String mSubTaskId = "";
+ // 清扫模式回调时间间隔
+ private static final long VEHICLE_STATE_INTERVAL_MILLIS = 500L;
+ // 清扫模式当前时间戳
+ private long mVehicleStateCurrentTimeMillis;
+ // 贴边数据回调时间间隔
+ private static final long WELT_DATA_INTERVAL_MILLIS = 1000L;
+ // 贴边数据当前时间戳
+ private long mWeltDataCurrentTimeMillis;
+
+ // 轨迹数据回调时间间隔
+ private static final long ROUTE_DATA_INTERVAL_MILLIS = 1000L;
+ // 轨迹数据当前时间戳
+ private long mRouteDataCurrentTimeMillis;
+
+ private String longitude;//经度
+
+ private String latitude;//纬度
+
+ private boolean isHasTaskInfo = false;//判断是否有任务数据
+
+ //用于对应messageType和reqNo绑定在一起，保证请求的reqNo和响应的reqNo一致
+ private HashMap msgTypeAndReqNo = new HashMap<>();
+
+ public static SweeperTaskModel getInstance() {
+ if (sInstance == null) {
+ synchronized (SweeperTaskModel.class) {
+ if (sInstance == null) {
+ sInstance = new SweeperTaskModel();
+ }
+ }
+ }
+ return sInstance;
+ }
+
+ private SweeperTaskModel() {
+
+ }
+
+ public void init() {
+ mContext = AbsMogoApplication.getApp();
+ // 定位监听
+ CallerChassisLocationGCJ02ListenerManager.INSTANCE.addListener(TAG, mMapLocationListener);
+
+ MogoStatusManager.getInstance().registerStatusChangedListener(TAG, StatusDescriptor.VR_MODE, mMogoStatusChangedListener);
+
+ //自动驾驶路线规划接口
+ CallerPlanningRottingListenerManager.INSTANCE.addListener(TAG, moGoAutopilotPlanningListener);
+
+ //添加清扫车云控任务回调监听
+ CallerSweeperFutianCloudTaskListenerManager.INSTANCE.addListener(TAG, this);
+
+ //自动驾驶状态监听
+ CallerAutoPilotStatusListenerManager.INSTANCE.addListener(TAG, this);
+
+ //清扫车模式和贴边数据回调监听
+ CallerSweeperFutianCleanSystemListenerManager.INSTANCE.addListener(TAG, this);
+
+ //2022.1.28
+ // 调用Disposable.dispose() 时候会出现InterruptedException 导致出现崩溃
+ // The exception could not be delivered to the consumer because it has already canceled/disposed
+ // the flow or the excTeption has nowhere to go to begin with
+ RxJavaPlugins.setErrorHandler(new Consumer() {
+ @Override
+ public void accept(Throwable e) {
+ if (e instanceof UndeliverableException) {
+ e = e.getCause();
+ CallerLogger.INSTANCE.d(M_SWEEPER + TAG, "UndeliverableException");
+ }
+ if ((e instanceof IOException)) {//
+ // fine, irrelevant network problem or API that throws on cancellation
+ CallerLogger.INSTANCE.d(M_SWEEPER + TAG, "IOException");
+ return;
+ }
+ if (e instanceof InterruptedException) {
+ // fine, some blocking code was interrupted by a dispose call
+ CallerLogger.INSTANCE.d(M_SWEEPER + TAG, "InterruptedException");
+ return;
+ }
+ if ((e instanceof NullPointerException) || (e instanceof IllegalArgumentException)) {
+ // that's likely a bug in the application
+ CallerLogger.INSTANCE.d(M_SWEEPER + TAG, "NullPointerException or IllegalArgumentException");
+ Thread.currentThread().getUncaughtExceptionHandler().uncaughtException(Thread.currentThread(), e);
+ return;
+ }
+ if (e instanceof IllegalStateException) {
+ // that's a bug in RxJava or in a custom operator
+ CallerLogger.INSTANCE.d(M_SWEEPER + TAG, "IllegalStateException");
+ Thread.currentThread().getUncaughtExceptionHandler().uncaughtException(Thread.currentThread(), e);
+ return;
+ }
+ CallerLogger.INSTANCE.d(M_SWEEPER + TAG, "Undeliverable exception");
+ }
+ });
+ }
+
+
+ public void setControllerStatusCallback(ISweeperControllerStatusCallback callback) {
+ this.mControllerStatusCallback = callback;
+ }
+
+ public void setSweeperTaskCallback(ISweeperCloudTaskCallback callback) {
+ this.mSweeperTaskCallback = callback;
+ }
+
+ private final IMoGoPlanningRottingListener moGoAutopilotPlanningListener = new IMoGoPlanningRottingListener() {
+
+ @Override
+ public void onAutopilotRotting(MessagePad.GlobalPathResp routeList) {
+ if (null != routeList && routeList.getWayPointsList() != null && routeList.getWayPointsList().size() > 0) {
+ CallerLogger.INSTANCE.d(M_SWEEPER + TAG, "onAutopilotRotting: " + printMessage(routeList));
+
+ // MAP返回路线信息，在1秒内返回了2次，这里加上数据过滤
+ long current = System.currentTimeMillis();
+ if (current - mRouteDataCurrentTimeMillis <= ROUTE_DATA_INTERVAL_MILLIS) {
+ CallerLogger.INSTANCE.d(M_SWEEPER + TAG, "onAutopilotRotting: interval <=" + ROUTE_DATA_INTERVAL_MILLIS + " data is abandon");
+ return;
+ }
+ mRouteDataCurrentTimeMillis = current;
+
+ if (mCurrentLineId != mPreLineId) {//判断是否同一条路线
+ CallerLogger.INSTANCE.d(M_SWEEPER + TAG, "onAutopilotRotting: mCurrentLineId" + mCurrentLineId + "mPreLineId：" + mPreLineId);
+ mPreLineId = mCurrentLineId;
+ points.addAll(coordinateConverterWgsToGcjList(mContext, routeList.getWayPointsList()));
+ if (mSweeperTaskCallback != null) {
+ mSweeperTaskCallback.setRouteList(points);
+ }
+ }
+ }
+ }
+
+ };
+
+ public void setSubtask(String subTaskId, SweeperTask.TaskModel subTaskType, int currentLineId) {
+ this.mSubTaskId = subTaskId;
+ this.mSubTaskType = subTaskType;
+ this.mCurrentLineId = currentLineId;
+ }
+
+ /**
+ * 清除路线缓存数据
+ */
+ public void clearRouteList() {
+ points.clear();
+ mSubTaskType = SweeperTask.TaskModel.UNRECOGNIZED;
+ mCurrentLineId = 0;
+ mPreLineId = -1;
+ }
+
+ /**
+ * 重新设置上一次的lineId，防止同一个轨迹，同一个lineid时不绘制轨迹
+ */
+ public void setPreLineId(int preLineId) {
+ this.mPreLineId = preLineId;
+ }
+
+ /**
+ * 判断是否有任务数据
+ */
+ public void isHasTaskInfo(boolean isHasTaskInfo) {
+ this.isHasTaskInfo = isHasTaskInfo;
+ }
+
+ /**
+ * 获取自动开始状态
+ */
+ public int getAutopilotState() {
+ return this.mAutopilotState;
+ }
+
+ public static List coordinateConverterWgsToGcjList(Context mContext,
+ List mogoLatLngList) {
+ List points = new ArrayList<>();
+ for (MessagePad.Location m : mogoLatLngList) {
+ LatLng mogoLatLng = CoordinateCalculateRouteUtil.coordinateConverterWgsToGcj(mContext, m);
+ SweeperRoutePlanningUpdateReqBean.Result result = new SweeperRoutePlanningUpdateReqBean.Result();
+ result.latitude = mogoLatLng.latitude;
+ result.longitude = mogoLatLng.longitude;
+ points.add(result);
+ }
+ return points;
+ }
+
+ public void release() {
+ MogoStatusManager.getInstance().unregisterStatusChangedListener(TAG, StatusDescriptor.VR_MODE, mMogoStatusChangedListener);
+ // 注销定位监听
+ CallerChassisLocationGCJ02ListenerManager.INSTANCE.removeListener(TAG);
+ //自动驾驶路线规划接口
+ CallerPlanningRottingListenerManager.INSTANCE.removeListener(moGoAutopilotPlanningListener);
+ OCHAdasAbilityManager.getInstance().setAdasStartFailureCallback(null);
+ }
+
+ private Object readResolve() {
+ // 阻止反序列化，必须实现 Serializable 接口
+ return sInstance;
+ }
+
+ private final IMogoStatusChangedListener mMogoStatusChangedListener = new IMogoStatusChangedListener() {
+ // VR mode变更回调
+ @Override
+ public void onStatusChanged(StatusDescriptor descriptor, boolean isTrue) {
+ if (StatusDescriptor.VR_MODE == descriptor) {
+ if (mControllerStatusCallback != null) {
+ mControllerStatusCallback.onVRModeChanged(isTrue);
+ }
+ }
+ }
+ };
+ // 自车定位
+ private final IMoGoChassisLocationGCJ02Listener mMapLocationListener = new IMoGoChassisLocationGCJ02Listener() {
+ @Override
+ public void onChassisLocationGCJ02(@Nullable MogoLocation gnssInfo) {
+ if (null == gnssInfo) return;
+ if (mControllerStatusCallback != null) {
+ mControllerStatusCallback.onCarLocationChanged(gnssInfo);
+ }
+ if (mSubTaskType == SweeperTask.TaskModel.MANUAL) {//收集人工驾驶子任务坐标点
+ addCoordinates(gnssInfo);
+ return;
+ }
+ }
+ };
+
+ /**
+ * 根据当前定位收集人工驾驶子任务轨迹点
+ *
+ * @param mogoLatLng
+ */
+ private void addCoordinates(MogoLocation mogoLatLng) {
+ String tempLongitude = NumberFormatUtil.cutOutNumber(mogoLatLng.getLongitude(), 5);
+ String tempLatitude = NumberFormatUtil.cutOutNumber(mogoLatLng.getLatitude(), 5);
+ //用于过滤车是否停在原地，经纬度相同的情况
+ if (!tempLongitude.equals(mLongitude) && !tempLatitude.equals(mLatitude)) {
+ mLongitude = mogoLatLng.getLongitude();
+ mLatitude = mogoLatLng.getLatitude();
+ SweeperRoutePlanningUpdateReqBean.Result result = new SweeperRoutePlanningUpdateReqBean.Result();
+ result.latitude = mogoLatLng.getLatitude();
+ result.longitude = mogoLatLng.getLongitude();
+ points.add(result);
+ if (mSweeperTaskCallback != null) {
+ mSweeperTaskCallback.setRouteList(points);
+ }
+ }
+ }
+
+ @Override
+ public void onSweeperFutianCloudTask(@NonNull SweeperCloudTask.MessageType messageType, String reqNo, long sysTime,
+ SweeperTask.TaskInfo taskInfo) {
+
+ CallerLogger.INSTANCE.d(M_SWEEPER + TAG,
+ "messageType: " + messageType.getNumber() + " sysTime：" + sysTime + " reqNo：" + reqNo + " onSweeperFutianCloudTask：" + (taskInfo == null ? "null" : printMessage(taskInfo)) + " mSweeperTaskCallback：" + mSweeperTaskCallback);
+ if (mSweeperTaskCallback != null) {
+ msgTypeAndReqNo.put(messageType.getNumber(), reqNo);
+ mSweeperTaskCallback.onSweeperCloudTask(messageType, taskInfo);
+ }
+ }
+
+ @Override
+ public void onSweeperFutianCloudTaskConfirm(@NonNull SweeperCloudTask.MessageType messageType, String reqNo, long sysTime,
+ SweeperTaskConfirm.TaskConfirm taskConfirm) {
+
+ CallerLogger.INSTANCE.d(M_SWEEPER + TAG, "messageType: " + messageType.getNumber() + " sysTime：" + sysTime + " reqNo：" + reqNo + " " +
+ "onSweeperFutianCloudTaskConfirm：" + printMessage(taskConfirm));
+ if (mSweeperTaskCallback != null && taskConfirm != null) {
+ msgTypeAndReqNo.put(messageType.getNumber(), reqNo);
+ mSweeperTaskCallback.onSweeperCloudTaskConfirm(taskConfirm.getTaskId(), taskConfirm.getSubTaskId(), taskConfirm.getIsPop());
+ }
+ }
+
+ @Override
+ public void onSweeperFutianCloudTaskStatus(@NonNull SweeperCloudTask.MessageType messageType, String reqNo, long sysTime,
+ SweeperTaskStatus.TaskStatusPush taskStatusPush) {
+ CallerLogger.INSTANCE.d(M_SWEEPER + TAG, "messageType: " + messageType.getNumber() + " sysTime：" + sysTime + " reqNo：" + reqNo + " " +
+ "onSweeperFutianCloudTaskStatus：" + printMessage(taskStatusPush));
+ if (mSweeperTaskCallback != null && taskStatusPush != null) {
+ msgTypeAndReqNo.put(messageType.getNumber(), reqNo);
+ mSweeperTaskCallback.onSweeperCloudTaskStatus(taskStatusPush.getTaskId(), taskStatusPush.getSubTaskId(), taskStatusPush.getTaskStatus());
+ }
+ }
+
+ @Override
+ public void onSweeperFutianCloudTaskStop(@NonNull SweeperCloudTask.MessageType messageType, String reqNo, long sysTime,
+ SweeperTaskStop.StopTaskReq stopTaskReq) {
+ CallerLogger.INSTANCE.d(M_SWEEPER + TAG, "messageType: " + messageType.getNumber() + " sysTime：" + sysTime + " reqNo：" + reqNo + " " +
+ "onSweeperFutianCloudTaskStop：" + printMessage(stopTaskReq));
+ if (mSweeperTaskCallback != null && stopTaskReq != null) {
+ msgTypeAndReqNo.put(messageType.getNumber(), reqNo);
+ mSweeperTaskCallback.onSweeperCloudTaskStop(stopTaskReq.getTaskId(), stopTaskReq.getType(), stopTaskReq.getIsPop());
+ }
+ }
+
+ @Override
+ public void onSweeperFutianCloudTaskSuspendResume(@NonNull SweeperCloudTask.MessageType messageType, String reqNo, long sysTime,
+ SweeperTaskSuspendResume.SuspendResumeTaskResp suspendResumeTaskResp) {
+ CallerLogger.INSTANCE.d(M_SWEEPER + TAG, "messageType: " + messageType.getNumber() + " sysTime：" + sysTime + " reqNo：" + reqNo + " " +
+ "onSweeperFutianCloudTaskSuspendResume：" + printMessage(suspendResumeTaskResp));
+ if (mSweeperTaskCallback != null && suspendResumeTaskResp != null) {
+ msgTypeAndReqNo.put(messageType.getNumber(), reqNo);
+ mSweeperTaskCallback.onSweeperCloudTaskSuspendResume(messageType, suspendResumeTaskResp.getTaskId(),
+ suspendResumeTaskResp.getSubTaskId(), suspendResumeTaskResp.getCode());
+ }
+ }
+
+ @Override
+ public void onSweeperFutianCloudBootable(@NonNull SweeperCloudTask.MessageType messageType, String reqNo, long sysTime,
+ SweeperBootable.IsBootableResp isBootableResp) {
+ CallerLogger.INSTANCE.d(M_SWEEPER + TAG, "messageType: " + messageType.getNumber() + " sysTime：" + sysTime + " reqNo：" + reqNo + " " +
+ "onSweeperFutianCloudBootable：" + printMessage(isBootableResp));
+ if (mSweeperTaskCallback != null && isBootableResp != null) {
+ msgTypeAndReqNo.put(messageType.getNumber(), reqNo);
+ mSweeperTaskCallback.onSweeperCloudBootable(isBootableResp.getTaskId(), isBootableResp.getSubTaskId(), isBootableResp);
+ }
+ }
+
+ @Override
+ public void onSweeperFutianCloudBigTaskStatus(@NonNull SweeperCloudTask.MessageType messageType, String reqNo, long sysTime,
+ SweeperBigTaskStatus.BigTaskStatusPush bigTaskStatusPush) {
+ CallerLogger.INSTANCE.d(M_SWEEPER + TAG, "messageType: " + messageType.getNumber() + " sysTime：" + sysTime + " reqNo：" + reqNo + " " +
+ "onSweeperFutianCloudBigTaskStatus：" + printMessage(bigTaskStatusPush));
+ if (mSweeperTaskCallback != null && bigTaskStatusPush != null) {
+ msgTypeAndReqNo.put(messageType.getNumber(), reqNo);
+ mSweeperTaskCallback.onSweeperCloudBigTaskStatus(bigTaskStatusPush.getTaskId(), bigTaskStatusPush.getTaskStatus());
+ }
+ }
+
+ @Override
+ public void onSweeperFutianCleanSystemState(@NonNull ChassisStatesOuterClass.SweeperFuTianTaskSystemStates cleanSystemState) {
+ if (cleanSystemState == null) {
+ return;
+ }
+ long current = System.currentTimeMillis();
+ if (current - mVehicleStateCurrentTimeMillis <= VEHICLE_STATE_INTERVAL_MILLIS) {
+ return;
+ }
+ mVehicleStateCurrentTimeMillis = current;
+ // CallerLogger.INSTANCE.d(M_SWEEPER + TAG, "onSweeperFutianCleanSystemState：" + printMessage(cleanSystemState));
+ if (mSweeperTaskCallback != null) {
+ mSweeperTaskCallback.onSweeperFutianCleanSystemState(cleanSystemState);
+ }
+ }
+
+ @Override
+ public void onSweeperFutianTaskIndexData(@NonNull RoboSweeperTaskIndexOuterClass.RoboSweeperTaskIndex roboSweeperTaskIndex) {
+ if (roboSweeperTaskIndex == null) {
+ return;
+ }
+
+ long current = System.currentTimeMillis();
+ if (current - mWeltDataCurrentTimeMillis <= WELT_DATA_INTERVAL_MILLIS) {
+ return;
+ }
+ mWeltDataCurrentTimeMillis = current;
+
+ //没有任务数据时，不处理贴边
+ if (!isHasTaskInfo) {
+ return;
+ }
+
+ CallerLogger.INSTANCE.d(M_SWEEPER + TAG,
+ "mSubTaskType：" + mSubTaskType + "+ onSweeperFutianTaskIndexData：" + printMessage(roboSweeperTaskIndex));
+ handleWeltData(roboSweeperTaskIndex);
+ }
+
+ /**
+ * 贴边数据处理
+ */
+ private void handleWeltData(RoboSweeperTaskIndexOuterClass.RoboSweeperTaskIndex roboSweeperTaskIndex) {
+ String tempLongitude = NumberFormatUtil.cutOutNumber(roboSweeperTaskIndex.getLocLon(), 6);
+ String tempLatitude = NumberFormatUtil.cutOutNumber(roboSweeperTaskIndex.getLocLat(), 6);
+ //用于过滤车是否停在原地，经纬度相同的情况
+ if (!tempLongitude.equals(longitude) && !tempLatitude.equals(latitude)) {
+ latitude = NumberFormatUtil.cutOutNumber(roboSweeperTaskIndex.getLocLat(), 6);
+ longitude = NumberFormatUtil.cutOutNumber(roboSweeperTaskIndex.getLocLon(), 6);
+ //保存贴边数据到数据库中
+ WeltDataBean weltDataBean = new WeltDataBean();
+ //把wgs坐标系坐标转换成gcj坐标
+ LatLng latLng = CoordinateCalculateRouteUtil.coordinateConverterWgsToGcj(AbsMogoApplication.getApp(), roboSweeperTaskIndex.getLocLon(),
+ roboSweeperTaskIndex.getLocLat());
+ weltDataBean.setLocLon(latLng.longitude);
+ weltDataBean.setLocLat(latLng.latitude);
+ int edgeCleanState = roboSweeperTaskIndex.getEdgeCleanState();
+ if (edgeCleanState == 0 ||
+ (mSubTaskType == SweeperTask.TaskModel.MANUAL)) {
+ //人工子任务 当前因为云控需求时MAP不能获取任务状态，在人工子任务时还是返回的上一个任务的贴边数据
+ // 所以 20230529 暂时过滤掉，待后面MAP修改后这里可删除，这里人工子任务默认都是非贴边
+ weltDataBean.setWeltDistance(SweeperConst.NONWELT);
+ } else {
+ weltDataBean.setWeltDistance(roboSweeperTaskIndex.getDistToRefEdgePoint());
+ }
+ weltDataBean.setCleanMode(roboSweeperTaskIndex.getCleanMode());
+ weltDataBean.setCleanDirection(roboSweeperTaskIndex.getCleanDirection());
+ weltDataBean.setCleanIntensity(roboSweeperTaskIndex.getCleanIntensity());
+ weltDataBean.setSubTaskId(mSubTaskId);
+ MyDataBase.getInstance().getWeltDataDao().insert(weltDataBean);
+ String distance;
+ if (roboSweeperTaskIndex.getDistToRefEdgePoint() >= 1.0) {//大于等于1m
+ distance = format(roboSweeperTaskIndex.getDistToRefEdgePoint()) + "m";
+ } else {//小于1m
+ distance = Math.round(roboSweeperTaskIndex.getDistToRefEdgePoint() * 100) + "cm";//m->cm 四舍五入到整数
+ }
+ if (mSweeperTaskCallback != null) {
+ mSweeperTaskCallback.setWeltDataToMap((ArrayList) MyDataBase.getInstance().getWeltDataDao().loadAllWeltDataInfo(),
+ true, distance);
+ }
+ }
+ }
+
+ public static String format(double value) {
+ BigDecimal bd = new BigDecimal(value);
+ bd = bd.setScale(2, RoundingMode.HALF_UP);
+ return bd.toString();
+ }
+
+ /**
+ * 获取当前正在执行的任务
+ */
+ public void getCurrentTask() {
+ SweeperTask.GetTaskReq.Builder builder = SweeperTask.GetTaskReq.newBuilder();
+ builder.setSn(getDriverSn());
+ String reqNo = SweeperCloudTaskUtils.getRequestId();
+ SweeperTask.GetTaskReq getTaskReq = builder.build();
+ CallerLogger.INSTANCE.d(M_SWEEPER + TAG,
+ "getCurrentTask:" + printMessage(getTaskReq) + " reqNo:" + reqNo + " messageType:" + SweeperCloudTask.MessageType.PadSendGetTaskReq.getNumber());
+ getAutoPilotControlManager().sendSweeperGetTaskReq(reqNo, getTaskReq);
+ }
+
+ /**
+ * 接取任务响应
+ */
+ public void sendSweeperStartTaskResp(String taskId, SweeperTask.StartTaskCode code) {
+ SweeperTask.StartTaskResp.Builder builder = SweeperTask.StartTaskResp.newBuilder();
+ builder.setSn(getDriverSn());
+ builder.setTaskId(taskId);
+ builder.setCode(code);
+ SweeperTask.StartTaskResp startTaskResp = builder.build();
+ String reqNo = msgTypeAndReqNo.get(SweeperCloudTask.MessageType.CloudPushTask.getNumber());
+ getAutoPilotControlManager().sendSweeperStartTaskResp(reqNo, startTaskResp);
+ CallerLogger.INSTANCE.d(M_SWEEPER + TAG,
+ "sendSweeperStartTaskResp:" + printMessage(startTaskResp) + " reqNo:" + reqNo + " messageType:" + SweeperCloudTask.MessageType.CloudPushTask.getNumber());
+ }
+
+ /**
+ * 子任务开始确认
+ */
+ public void sendSweeperTaskConfirmResp(String taskId, String subTaskId, SweeperTaskConfirm.TaskConfirmCode code) {
+ SweeperTaskConfirm.TaskConfirmResp.Builder builder = SweeperTaskConfirm.TaskConfirmResp.newBuilder();
+ builder.setSn(getDriverSn());
+ builder.setTaskId(taskId);
+ builder.setSubTaskId(subTaskId);
+ builder.setCode(code);
+ SweeperTaskConfirm.TaskConfirmResp taskConfirmResp = builder.build();
+ String reqNo = msgTypeAndReqNo.get(SweeperCloudTask.MessageType.CloudPushTaskConfirm.getNumber());
+ CallerLogger.INSTANCE.d(M_SWEEPER + TAG,
+ "sendSweeperTaskConfirmResp" + printMessage(taskConfirmResp) + " reqNo:" + reqNo + " messageType:" + SweeperCloudTask.MessageType.CloudPushTaskConfirm.getNumber());
+ getAutoPilotControlManager().sendSweeperTaskConfirmResp(reqNo, taskConfirmResp);
+ }
+
+ /**
+ * 大任务结束确认
+ *
+ * @param taskId
+ * @param code
+ */
+ public void sendSweeperStopTaskResp(String taskId, SweeperTaskStop.StopTaskCode code) {
+ SweeperTaskStop.StopTaskResp.Builder builder = SweeperTaskStop.StopTaskResp.newBuilder();
+ builder.setSn(getDriverSn());
+ builder.setTaskId(taskId);
+ builder.setCode(code);
+ SweeperTaskStop.StopTaskResp stopTaskResp = builder.build();
+ String reqNo = msgTypeAndReqNo.get(SweeperCloudTask.MessageType.CloudPushTaskStop.getNumber());
+ CallerLogger.INSTANCE.d(M_SWEEPER + TAG,
+ "sendSweeperStopTaskResp" + printMessage(stopTaskResp) + " reqNo:" + reqNo + " messageType:" + SweeperCloudTask.MessageType.CloudPushTaskStop.getNumber());
+ getAutoPilotControlManager().sendSweeperStopTaskResp(reqNo, stopTaskResp);
+ }
+
+ /**
+ * pad上报是否可以进自驾
+ *
+ * @param taskId
+ * @param subTaskId
+ * @param lineId
+ */
+ public void sendSweeperAutopilotBootable(String taskId, String subTaskId, long lineId) {
+ SweeperBootable.IsBootable.Builder builder = SweeperBootable.IsBootable.newBuilder();
+ builder.setSn(getDriverSn());
+ builder.setTaskId(taskId);
+ builder.setSubTaskId(subTaskId);
+ builder.setLineId(lineId);
+ SweeperBootable.IsBootable isBootable = builder.build();
+ String reqNo = SweeperCloudTaskUtils.getRequestId();
+ CallerLogger.INSTANCE.d(M_SWEEPER + TAG,
+ "sendSweeperAutopilotBootable" + printMessage(isBootable) + " reqNo:" + reqNo + " messageType:" + SweeperCloudTask.MessageType.PadSendBootable.getNumber());
+ getAutoPilotControlManager().sendSweeperAutopilotBootable(reqNo, isBootable);
+ // TODO: 2023/5/16
+ //SweeperCloudTaskUtils.mockSendCloudBootable();
+ }
+
+ public CallerAutoPilotControlManager getAutoPilotControlManager() {
+ return CallerAutoPilotControlManager.INSTANCE;
+ }
+
+ public String getDriverSn() {
+ return MoGoAiCloudClientConfig.getInstance().getSn();
+ }
+
+ @Override
+ public void onAutopilotStatusResponse(@NonNull AutopilotStatusInfo autoPilotStatusInfo) {
+ //CallerLogger.INSTANCE.d(M_SWEEPER + TAG, "onAutopilotStatusResponse state:" + autoPilotStatusInfo.getState());
+ this.mAutopilotState = autoPilotStatusInfo.getState();
+ if (mControllerStatusCallback != null) {
+ mControllerStatusCallback.onAutopilotState(autoPilotStatusInfo.getState());
+ }
+ switch (autoPilotStatusInfo.getState()) {
+ case IMoGoAutopilotStatusListener.STATUS_AUTOPILOT_DISABLE://不可自动驾驶
+ break;
+ case IMoGoAutopilotStatusListener.STATUS_AUTOPILOT_ENABLE://人工驾驶
+ break;
+ case IMoGoAutopilotStatusListener.STATUS_AUTOPILOT_RUNNING://自动驾驶中
+ break;
+ case IMoGoAutopilotStatusListener.STATUS_PARALLEL_DRIVING://平行驾驶
+ break;
+ default:
+ break;
+ }
+ }
+
+ @Override
+ public void onAutopilotArriveAtStation(@Nullable MessagePad.ArrivalNotification arrivalNotification) {
+
+ }
+
+ @Override
+ public void onAutopilotSNRequest() {
+
+ }
+
+ @Override
+ public void onAutopilotGuardian(@Nullable MogoReportMsg.MogoReportMessage guardianInfo) {
+
+ }
+
+ @Override
+ public void onAutopilotIpcConnectStatusChanged(int status, @Nullable String reason) {
+ if (status == 0x00) {//判断工控机重连后，获取当前正在执行的子任务,延时10秒，防止工控机连接上时SN为空
+ UiThreadHandler.postDelayed(() -> {
+ getCurrentTask();
+ }, 10000);
+ }
+ //CallerLogger.INSTANCE.d(M_SWEEPER + TAG, "onAutopilotIpcConnectStatusChanged status:" + status + " reason：" + reason);
+ }
+
+ @Override
+ public void onAutopilotStatusRespByQuery(@NonNull SystemStatusInfo.StatusInfo status) {
+ // CallerLogger.INSTANCE.d(M_SWEEPER + TAG, "onAutopilotStatusRespByQuery status:" + status.getSysState().getNumber());
+ }
+
+ @Override
+ public void onAutopilotRouteLineId(long lineId) {
+
+ }
+
+ /**
+ * 云控数据异常或者工控机传递数据异常
+ *
+ * @param bytes
+ */
+ @Override
+ public void onSweeperFutianCloudTaskUnknown(@NonNull byte[] bytes) {
+ String string = new String(bytes, StandardCharsets.UTF_8);
+ CallerLogger.INSTANCE.d(M_SWEEPER + TAG, "onSweeperFutianCloudTaskUnknown:" + string);
+ }
+
+}
diff --git a/OCH/sweeper/sweeper-cloud/src/main/java/com/mogo/och/sweepercloud/presenter/SweeperPresenter.java b/OCH/sweeper/sweeper-cloud/src/main/java/com/mogo/och/sweepercloud/presenter/SweeperPresenter.java
new file mode 100644
index 0000000000..c454c5e66f
--- /dev/null
+++ b/OCH/sweeper/sweeper-cloud/src/main/java/com/mogo/och/sweepercloud/presenter/SweeperPresenter.java
@@ -0,0 +1,228 @@
+package com.mogo.och.sweepercloud.presenter;
+
+
+import com.mogo.commons.AbsMogoApplication;
+import com.mogo.commons.mvp.Presenter;
+import com.mogo.eagle.core.data.map.MogoLocation;
+import com.mogo.eagle.core.function.call.autopilot.CallerSweeperFutianCleanSystemListenerManager;
+import com.mogo.eagle.core.utilcode.util.ThreadUtils;
+import com.mogo.och.common.module.manager.OCHAdasAbilityManager;
+import com.mogo.och.sweepercloud.bean.SweeperRoutePlanningUpdateReqBean;
+import com.mogo.och.sweepercloud.callback.ISweeperControllerStatusCallback;
+import com.mogo.och.sweepercloud.callback.ISweeperCloudTaskCallback;
+import com.mogo.och.sweepercloud.callback.ISweeperTaskRouteCallback;
+import com.mogo.och.sweepercloud.database.bean.WeltDataBean;
+import com.mogo.och.sweepercloud.fragment.SweeperFragment;
+import com.mogo.och.sweepercloud.model.SweeperTaskModel;
+import com.zhjt.mogo.adas.data.sweeper.SweeperCloudTask;
+import com.zhjt.mogo.adas.data.sweeper.bootable.SweeperBootable;
+import com.zhjt.mogo.adas.data.sweeper.common.SweeperCommon;
+import com.zhjt.mogo.adas.data.sweeper.task.SweeperTask;
+import com.zhjt.mogo.adas.data.sweeper.task.big.SweeperBigTaskStatus;
+import com.zhjt.mogo.adas.data.sweeper.task.confirm.SweeperTaskConfirm;
+import com.zhjt.mogo.adas.data.sweeper.task.stop.SweeperTaskStop;
+
+
+import java.util.ArrayList;
+
+import androidx.annotation.NonNull;
+import androidx.lifecycle.LifecycleOwner;
+import chassis.ChassisStatesOuterClass;
+
+/**
+ * 网约车小巴
+ *
+ * @author tongchenfei
+ */
+public class SweeperPresenter extends Presenter
+ implements ISweeperControllerStatusCallback,
+ ISweeperCloudTaskCallback, ISweeperTaskRouteCallback {
+
+ private static final String TAG = "SweeperPresenter";
+
+ public SweeperPresenter(SweeperFragment view) {
+ super(view);
+ SweeperTaskModel.getInstance().init();
+ OCHAdasAbilityManager.getInstance().init(AbsMogoApplication.getApp());
+ }
+
+ @Override
+ public void onCreate(@NonNull LifecycleOwner owner) {
+ super.onCreate(owner);
+ initModelListener();
+ }
+
+ @Override
+ public void onDestroy(@NonNull LifecycleOwner owner) {
+ super.onDestroy(owner);
+ SweeperTaskModel.getInstance().release();
+ releaseListener();
+ }
+
+ public void initModelListener() {
+ SweeperTaskModel.getInstance().setControllerStatusCallback(this);
+ SweeperTaskModel.getInstance().setSweeperTaskCallback(this);
+ }
+
+ public void releaseListener() {
+ SweeperTaskModel.getInstance().setControllerStatusCallback(null);
+ SweeperTaskModel.getInstance().setSweeperTaskCallback(null);
+ CallerSweeperFutianCleanSystemListenerManager.INSTANCE.removeListener(TAG);
+ }
+
+ @Override
+ public void onVRModeChanged(boolean isVRMode) {
+ ThreadUtils.runOnUiThread(() -> mView.onVRModeChanged(isVRMode));
+ }
+
+ @Override
+ public void onCarLocationChanged(MogoLocation location) {
+ if (null != location) {
+ ThreadUtils.runOnUiThread(() -> mView.updateSpeedView((float) location.getGnssSpeed()));
+ ThreadUtils.runOnUiThread(() -> mView.setCurrentLocation(location));
+ }
+ }
+
+ @Override
+ public void onAutopilotState(int state) {
+ ThreadUtils.runOnUiThread(() -> mView.setAutoState(state));
+ }
+
+ /**
+ * 获取自动驾驶状态
+ *
+ * @return
+ */
+ public int getAutopilotState() {
+ return SweeperTaskModel.getInstance().getAutopilotState();
+ }
+
+ /**
+ * 清除路线缓存数据
+ */
+ public void clearRouteList() {
+ SweeperTaskModel.getInstance().clearRouteList();
+ }
+
+ /**
+ * 设置当前子任务信息
+ */
+ public void setSubtask(String subTaskId, SweeperTask.TaskModel subTaskType, int currentLineId) {
+ SweeperTaskModel.getInstance().setSubtask(subTaskId, subTaskType, currentLineId);
+ }
+
+ /**
+ * 判断是否有任务数据
+ */
+ public void isHasTaskInfo(boolean isHasTaskInfo) {
+ SweeperTaskModel.getInstance().isHasTaskInfo(isHasTaskInfo);
+ }
+
+ /**
+ * 设置上一个任务的lineId
+ * @param preLineId
+ */
+ public void setPreLineId(int preLineId) {
+ SweeperTaskModel.getInstance().setPreLineId(preLineId);
+ }
+
+ /**
+ * 获取当前正在执行的任务
+ */
+ public void getCurrentTask() {
+ SweeperTaskModel.getInstance().getCurrentTask();
+ }
+
+ /**
+ * 接取任务弹窗响应
+ *
+ * @param taskId
+ * @param code
+ */
+ public void sendSweeperStartTaskResp(String taskId, SweeperTask.StartTaskCode code) {
+ SweeperTaskModel.getInstance().sendSweeperStartTaskResp(taskId, code);
+ }
+
+ /**
+ * 子任务弹窗确认
+ *
+ * @param taskId
+ * @param subTaskId
+ * @param code
+ */
+ public void sendSweeperTaskConfirmResp(String taskId, String subTaskId, SweeperTaskConfirm.TaskConfirmCode code) {
+ SweeperTaskModel.getInstance().sendSweeperTaskConfirmResp(taskId, subTaskId, code);
+ }
+
+ /**
+ * 大任务结束弹窗确认
+ *
+ * @param taskId
+ * @param code
+ */
+ public void sendSweeperStopTaskResp(String taskId, SweeperTaskStop.StopTaskCode code) {
+ SweeperTaskModel.getInstance().sendSweeperStopTaskResp(taskId, code);
+ }
+
+ /**
+ * pad上报是否可以进自驾
+ *
+ * @param taskId
+ * @param subTaskId
+ * @param lineId
+ */
+ public void sendSweeperAutopilotBootable(String taskId, String subTaskId, long lineId) {
+ SweeperTaskModel.getInstance().sendSweeperAutopilotBootable(taskId, subTaskId, lineId);
+ }
+
+ @Override
+ public void setRouteList(@NonNull ArrayList routeList) {
+ mView.setTaskRouteList(routeList);
+ }
+
+ @Override
+ public void onSweeperCloudTask(@NonNull SweeperCloudTask.MessageType messageType, SweeperTask.TaskInfo taskInfo) {
+ ThreadUtils.runOnUiThread(() -> mView.onSweeperCloudTask(messageType, taskInfo));
+ }
+
+ @Override
+ public void onSweeperCloudTaskConfirm(@NonNull String taskId, @NonNull String subTaskId, boolean isPop) {
+ ThreadUtils.runOnUiThread(() -> mView.handleSubTaskInfoDialog(taskId, subTaskId, isPop));
+ }
+
+ @Override
+ public void onSweeperCloudTaskStatus(@NonNull String taskId, @NonNull String subTaskId, SweeperCommon.TaskStatus subTaskStatus) {
+ ThreadUtils.runOnUiThread(() -> mView.onSweeperUpdateSubTaskStatus(taskId, subTaskId, subTaskStatus));
+ }
+
+ @Override
+ public void onSweeperCloudTaskStop(@NonNull String taskId, SweeperTaskStop.StopTaskType stopTaskType, boolean isPop) {
+ ThreadUtils.runOnUiThread(() -> mView.onSweeperCloudTaskStop(taskId, stopTaskType, isPop));
+ }
+
+ @Override
+ public void onSweeperCloudTaskSuspendResume(@NonNull SweeperCloudTask.MessageType messageType, @NonNull String taskId,
+ @NonNull String subTaskId, SweeperCommon.Code code) {
+
+ }
+
+ @Override
+ public void onSweeperCloudBootable(@NonNull String taskId, @NonNull String subTaskId, SweeperBootable.IsBootableResp isBootableResp) {
+ ThreadUtils.runOnUiThread(() -> mView.onSweeperCloudAutopilotBootable(taskId, subTaskId, isBootableResp));
+ }
+
+ @Override
+ public void onSweeperCloudBigTaskStatus(@NonNull String taskId, SweeperBigTaskStatus.BigTaskStatus subTaskStatus) {
+ ThreadUtils.runOnUiThread(() -> mView.onSweeperCloudBigTaskStatus(taskId, subTaskStatus));
+ }
+
+ @Override
+ public void setWeltDataToMap(@NonNull ArrayList weltDataBeans, boolean isWeltData, @NonNull String distance) {
+ ThreadUtils.runOnUiThread(() -> mView.setWeltDataToMap(weltDataBeans, isWeltData, distance));
+ }
+
+ @Override
+ public void onSweeperFutianCleanSystemState(@NonNull ChassisStatesOuterClass.SweeperFuTianTaskSystemStates cleanSystemState) {
+ ThreadUtils.runOnUiThread(() -> mView.onSweeperFutianCleanSystemState(cleanSystemState));
+ }
+}
diff --git a/OCH/sweeper/sweeper-cloud/src/main/java/com/mogo/och/sweepercloud/receiver/TestSweeperBroadcastReceiver.java b/OCH/sweeper/sweeper-cloud/src/main/java/com/mogo/och/sweepercloud/receiver/TestSweeperBroadcastReceiver.java
new file mode 100644
index 0000000000..29a82c69ab
--- /dev/null
+++ b/OCH/sweeper/sweeper-cloud/src/main/java/com/mogo/och/sweepercloud/receiver/TestSweeperBroadcastReceiver.java
@@ -0,0 +1,42 @@
+package com.mogo.och.sweepercloud.receiver;
+
+import static com.mogo.eagle.core.utilcode.mogo.logger.scene.SceneConstant.M_BUS;
+
+import android.content.BroadcastReceiver;
+import android.content.Context;
+import android.content.Intent;
+
+import com.mogo.eagle.core.utilcode.mogo.logger.CallerLogger;
+import com.mogo.och.sweepercloud.constant.SweeperConst;
+
+/**
+ * 测试小巴车的场景
+ *
+ * @author donghongyu
+ * @date 4/26/21 12:08 PM
+ */
+public class TestSweeperBroadcastReceiver extends BroadcastReceiver {
+ private static final String TAG = "TestBusBroadcastReceiver";
+
+ private Context mContext;
+
+ @Override
+ public void onReceive(Context context, Intent intent) {
+ try {
+ this.mContext = context;
+ int sceneType = intent.getIntExtra(SweeperConst.BROADCAST_TEST_SWEEPER_CONTROL_TYPE_EXTRA_KEY, 0);
+ CallerLogger.INSTANCE.d(M_BUS + TAG, "sceneType:" + sceneType);
+
+ // 分发场景
+ dispatchSceneTest(sceneType);
+ } catch (Exception e) {
+ e.printStackTrace();
+ }
+ }
+
+ private void dispatchSceneTest(int sceneType) {
+
+ }
+
+
+}
diff --git a/OCH/sweeper/sweeper-cloud/src/main/java/com/mogo/och/sweepercloud/ui/SweeperOperatePanelView.java b/OCH/sweeper/sweeper-cloud/src/main/java/com/mogo/och/sweepercloud/ui/SweeperOperatePanelView.java
new file mode 100644
index 0000000000..741b9a9e6e
--- /dev/null
+++ b/OCH/sweeper/sweeper-cloud/src/main/java/com/mogo/och/sweepercloud/ui/SweeperOperatePanelView.java
@@ -0,0 +1,1097 @@
+package com.mogo.och.sweepercloud.ui;
+
+import static com.mogo.och.sweepercloud.util.SweeperFutianCmdUtil.CLEAN_DIRECTION_BOTH_SIDE;
+import static com.mogo.och.sweepercloud.util.SweeperFutianCmdUtil.CLEAN_DIRECTION_LEFT_SIDE;
+import static com.mogo.och.sweepercloud.util.SweeperFutianCmdUtil.CLEAN_DIRECTION_RIGHT_SIDE;
+import static com.mogo.och.sweepercloud.util.SweeperFutianCmdUtil.CLEAN_INTENSITY_STRAND;
+import static com.mogo.och.sweepercloud.util.SweeperFutianCmdUtil.CLEAN_INTENSITY_STRONG;
+import static com.mogo.och.sweepercloud.util.SweeperFutianCmdUtil.CLEAN_MODE_PURE_DRAW;
+import static com.mogo.och.sweepercloud.util.SweeperFutianCmdUtil.CLEAN_MODE_PURE_SWEEP;
+import static com.mogo.och.sweepercloud.util.SweeperFutianCmdUtil.CLEAN_MODE_PURE_WASH;
+import static com.mogo.och.sweepercloud.util.SweeperFutianCmdUtil.CLEAN_MODE_WASH_SWEEP;
+
+import android.animation.ObjectAnimator;
+import android.content.Context;
+import android.os.Handler;
+import android.os.Message;
+import android.util.AttributeSet;
+import android.util.Log;
+import android.view.LayoutInflater;
+import android.view.View;
+import android.view.animation.LinearInterpolator;
+import android.widget.CheckedTextView;
+import android.widget.FrameLayout;
+import android.widget.ImageView;
+import android.widget.LinearLayout;
+import android.widget.TextView;
+
+import androidx.annotation.NonNull;
+import androidx.annotation.Nullable;
+
+import com.mogo.eagle.core.function.call.autopilot.CallerAutoPilotControlManager;
+import com.mogo.eagle.core.utilcode.mogo.view.OnPreventFastClickListener;
+import com.mogo.eagle.core.utilcode.util.ToastUtils;
+import com.mogo.och.sweepercloud.R;
+import com.mogo.och.sweepercloud.callback.ICleaningModeStateCallback;
+import com.mogo.och.sweepercloud.constant.OperateStateEnum;
+import com.mogo.och.sweepercloud.util.SweeperFutianCmdUtil;
+import com.mogo.och.sweepercloud.view.NoTouchConstraintLayout;
+import com.mogo.och.sweepercloud.callback.ICleaningModeStateCallback;
+import com.mogo.och.sweepercloud.util.SweeperFutianCmdUtil;
+import com.mogo.och.sweepercloud.view.NoTouchConstraintLayout;
+
+import java.util.Arrays;
+import java.util.HashMap;
+import java.util.List;
+
+import chassis.ChassisStatesOuterClass;
+import chassis.SpecialVehicleTaskCmdOuterClass;
+
+import static com.mogo.och.sweepercloud.util.SweeperFutianCmdUtil.CLEAN_DIRECTION_CLOSE;
+import static com.mogo.och.sweepercloud.util.SweeperFutianCmdUtil.CLEAN_MODE_CLOSE;
+import static com.mogo.och.sweepercloud.util.SweeperFutianCmdUtil.CLEAN_WORK_CLOSE;
+import static com.mogo.och.sweepercloud.util.SweeperFutianCmdUtil.CLEAN_WORK_OPEN;
+
+/**
+ * 清扫车操作面板View
+ */
+public class SweeperOperatePanelView extends LinearLayout {
+
+ private static final String TAG = "SweeperOperatePanelView";
+ private static final int CMD_EXECUTE_TIMEOUT_SECONDS = 30;
+ private static final int CMD_EXECUTE_MOCK_SUCCESS_SECONDS = 3;
+ private boolean isFirst = false;
+
+ CheckedTextView mBtnCleanWorkOpenClose;//开关
+ CheckedTextView mBtnCleanModePureSweep;//纯扫
+ CheckedTextView mBtnCleanModePureWash;//纯洗
+ CheckedTextView mBtnCleanModeSweepWash;//洗扫
+ CheckedTextView mBtnCleanModePureAbsorption;//纯吸
+ CheckedTextView mBtnCleanDirectionLeftSide;//左侧
+ CheckedTextView mBtnCleanDirectionRightSide;//右侧
+ CheckedTextView mBtnCleanDirectionBothSide;//两侧
+ CheckedTextView mBtnCleanIntensityStandard;//普通
+ CheckedTextView mBtnCleanIntensityStrong;//强力
+ FrameLayout mLoadingContainer;//loading container
+ TextView mLoadingHint;//loading 文本提示
+ ImageView mLoadingView;//loading 转圈动画
+ NoTouchConstraintLayout mWorkmodePanelRootView;
+
+ // 作业模式相关操作按钮的id
+ List 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, SweeperFutianCmdUtil.CLEAN_MODE_PURE_SWEEP);
+ put(R.id.btn_clean_mode_pure_wash, SweeperFutianCmdUtil.CLEAN_MODE_PURE_WASH);
+ put(R.id.btn_clean_mode_sweep_wash, SweeperFutianCmdUtil.CLEAN_MODE_WASH_SWEEP);
+ put(R.id.btn_clean_mode_pure_absorption, SweeperFutianCmdUtil.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, SweeperFutianCmdUtil.CLEAN_DIRECTION_LEFT_SIDE);
+ put(R.id.btn_clean_direction_right_side, SweeperFutianCmdUtil.CLEAN_DIRECTION_RIGHT_SIDE);
+ put(R.id.btn_clean_direction_both_side, SweeperFutianCmdUtil.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, SweeperFutianCmdUtil.CLEAN_INTENSITY_STRAND);
+ put(R.id.btn_clean_intensity_strong, SweeperFutianCmdUtil.CLEAN_INTENSITY_STRONG);
+ }
+ };
+ private boolean isSelectPureSweepMode = false;//用于标注是否选中纯扫
+
+ private ICleaningModeStateCallback cleaningModeStateCallback;
+
+ private OperateStateEnum operateStateEnum = OperateStateEnum.SYNCING_STATUS;
+
+ private ObjectAnimator objectAnimator;
+
+ private static ChassisStatesOuterClass.SweeperFuTianTaskSystemStates mCurrentCleanSystemState;//当前作业模式
+
+ 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);
+ mWorkmodePanelRootView = (NoTouchConstraintLayout) findViewById(R.id.work_mode_panel_root_view);
+ 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);
+ mLoadingHint = findViewById(R.id.loading_hint);
+ mLoadingView = findViewById(R.id.loading_view);
+ 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(ChassisStatesOuterClass.SweeperFuTianTaskSystemStates cleanSystemState) {
+ boolean success = false;
+ if (cleanSystemState == null) {
+ return success;
+ }
+ if (isCloseAction) {
+ success = !cleanSystemState.getSecuMotWorkSts();
+ } else {
+ success = cleanSystemState.getSecuMotWorkSts();
+ }
+ return success;
+ }
+
+ @Override
+ public void onCmdSuccess() {
+ if (isCloseAction) {
+ mBtnCleanWorkOpenClose.setText("打开");
+ mBtnCleanWorkOpenClose.setChecked(false);
+ toggleCleanModeBtnsStatus(false);
+ toggleCleanDirectionBtnsStatus(false);
+ toggleCleanIntensityBtnsStatus(false);
+ } else {
+ mBtnCleanWorkOpenClose.setText("关闭");
+ 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("关闭");
+ mBtnCleanWorkOpenClose.setChecked(true);
+ } else {
+ mBtnCleanWorkOpenClose.setText("打开");
+ 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
+ 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 isPureAbsorptionClick = currentClickView.getId() == R.id.btn_clean_mode_pure_absorption;
+ //是否纯洗View
+ boolean isPureWashClick = currentClickView.getId() == R.id.btn_clean_mode_pure_wash;
+ //是否纯扫View
+ boolean isPureSweepClick = currentClickView.getId() == R.id.btn_clean_mode_pure_sweep;
+ //是否洗扫View
+ boolean isWashSweepClick = 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(ChassisStatesOuterClass.SweeperFuTianTaskSystemStates 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 = SweeperFutianCmdUtil.checkIfCleanModePureSweep(cleanSystemState);
+ // 关闭作业模式（实际执行了3个操作： 关闭作业模式 关闭清扫方向 切换标准强度，实际以关闭作业模式成功为准）
+ boolean clean_mode_close = !clean_mode_wash_sweep
+ && !clean_mode_pure_wash
+ && !clean_mode_pure_draw
+ && !clean_mode_pure_sweep;
+
+ if (isClickCurrentChoosedModeBtn && clean_mode_close) {// 关闭放第一判断
+ success = clean_mode_close;
+ isSelectPureSweepMode = false;
+ } else if (isPureSweepClick) {
+ //success = clean_mode_pure_sweep;
+ //纯扫 这个模式实际在福田清扫车上没有这个按钮，只是发送指令给特种车端，默认此命令肯定是正确的
+ success = true;
+ isSelectPureSweepMode = true;
+ } else if (isPureWashClick) {
+ success = clean_mode_pure_wash;
+ isSelectPureSweepMode = false;
+ } else if (isWashSweepClick) {
+ success = clean_mode_wash_sweep;
+ isSelectPureSweepMode = false;
+ } else if (isPureAbsorptionClick) {
+ success = clean_mode_pure_draw;
+ isSelectPureSweepMode = false;
+ }
+ return success;
+ }
+
+ @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 (isPureAbsorptionClick) {
+ 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(
+ isPureAbsorptionClick ? 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(ChassisStatesOuterClass.SweeperFuTianTaskSystemStates 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();
+ // 关闭清扫方向（实际执行了2个操作：关闭清扫方向 切换标准强度，实际以关闭清扫方向成功为准）
+ boolean clean_direction_close = !clean_direction_left_side && !clean_direction_right_side
+ && !clean_direction_both_side;
+
+ if (isClickCurrentChoosedDirectionBtn && clean_direction_close) {//关闭放第一判断
+ success = clean_direction_close;
+ } else if (isLeftSide) {
+ success = clean_direction_left_side;
+ } else if (isRightSide) {
+ success = clean_direction_right_side;
+ } else if (isBothSide) {
+ success = clean_direction_both_side;
+ }
+ return success;
+ }
+
+ @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) {
+ CheckedTextView currentChoosedModeBtnView = null;
+ for (Integer viewId : cleanIntensityBtnViewIds) {
+ CheckedTextView view = (CheckedTextView) findViewById(viewId);
+ if (view.isChecked()) {
+ currentChoosedModeBtnView = view;
+ break;
+ }
+ }
+ boolean isClickCurrentChoosedModeBtn = currentChoosedModeBtnView != null
+ && currentChoosedModeBtnView.getId() == currentClickView.getId();
+ //作业强度如果已经选中，则重复点击时不需要再重复发送指令
+ if (isClickCurrentChoosedModeBtn) {
+ return;
+ }
+ 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(ChassisStatesOuterClass.SweeperFuTianTaskSystemStates 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;
+ }
+ return success;
+ }
+
+ @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) {
+ mLoadingContainer.setVisibility(View.VISIBLE);
+ mWorkmodePanelRootView.setInterceptTouchEvent(true);
+ if (timeout < 0) {//状态同步中
+ mLoadingHint.setText("状态同步中，请稍后");
+ mLoadingView.setVisibility(View.GONE);
+ } else {
+ mLoadingHint.setText(timeout + "s");
+ mLoadingView.setVisibility(View.VISIBLE);
+ startRotation();
+ }
+ if (cleaningModeStateCallback != null && timeout > 0) {
+ operateStateEnum = OperateStateEnum.STARTING_STATUS;
+ cleaningModeStateCallback.cleaningModeState(operateStateEnum, mCurrentCleanSystemState, isSelectPureSweepMode);
+ }
+ }
+
+ /**
+ * 隐藏loading
+ */
+ private void hideLoadingMask() {
+ mSweeperOperateCmdHandler.removeMessages(MSG_CMD_EXECUTE_COUNT_DOWN);
+ mLoadingContainer.setVisibility(View.GONE);
+ mWorkmodePanelRootView.setInterceptTouchEvent(false);
+ }
+
+ /**
+ * 更新loading中倒计时
+ *
+ * @param timeout
+ */
+ private void updateLoadingCountDown(int timeout) {
+ mLoadingHint.setText(timeout + "s");
+ }
+
+ /**
+ * 命令执行成功toast
+ */
+ private void showCmdExecuteSuccessToast() {
+ if (cleaningModeStateCallback != null) {
+ operateStateEnum = OperateStateEnum.SUCCESS_STATUS;
+ cleaningModeStateCallback.cleaningModeState(operateStateEnum, mCurrentCleanSystemState, isSelectPureSweepMode);
+ }
+ //停止旋转动画
+ stopRotation();
+ ToastUtils.showLong("设备已响应，操作成功");
+ }
+
+ /**
+ * 命令执行超时toast
+ */
+ private void showCmdExecuteTimeoutToast() {
+ if (cleaningModeStateCallback != null) {
+ operateStateEnum = OperateStateEnum.FAIL_STATUS;
+ cleaningModeStateCallback.cleaningModeState(operateStateEnum, mCurrentCleanSystemState, isSelectPureSweepMode);
+ }
+ //停止旋转动画
+ stopRotation();
+ ToastUtils.showLong("超时未响应，操作失败");
+ }
+
+ private void setClickListener(View view, OnClickListener listener) {
+ view.setOnClickListener(new OnPreventFastClickListener() {
+ @Override
+ public void onClickImpl(View v) {
+ listener.onClick(v);
+ }
+ });
+ }
+
+ public void setSweeperFutianCleanSystemState(ChassisStatesOuterClass.SweeperFuTianTaskSystemStates cleanSystemState,
+ ICleaningModeStateCallback cleaningModeStateCallback) {
+ this.cleaningModeStateCallback = cleaningModeStateCallback;
+ // 有命令正在执行
+ if (mCurrentCmdRequestCallback != null) {
+ Log.d(TAG, "getSecuWorkLeftSts = " + cleanSystemState.getSecuWorkLeftSts());
+ if (mCurrentCmdRequestCallback.onCheckIfCmdSuccess(cleanSystemState)) {
+ mCurrentCmdRequestCallback.onCmdSuccess();
+ mCurrentCmdRequestCallback = null;
+ }
+ }
+ //正在上装中或者上装失败，则不更新面板内容
+ if (operateStateEnum == OperateStateEnum.STARTING_STATUS) {
+ return;
+ }
+ if (!isFirst) {
+ isFirst = true;
+ onSyncVehicleStateCallBack(cleanSystemState);
+ }
+ }
+
+ /**
+ * 设置是否展示状态同步中
+ *
+ * @param operateState
+ */
+ public void showSyncing(OperateStateEnum operateState) {
+ if (operateState == OperateStateEnum.SYNCING_STATUS) {
+ syncVehicleStateAndRecoverOperatePanelStates();
+ isFirst = false;
+ } else {
+ hideLoadingMask();
+ }
+ }
+
+ /**
+ * 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(-1);
+ }
+
+ private synchronized void onSyncVehicleStateCallBack(ChassisStatesOuterClass.SweeperFuTianTaskSystemStates cleanSystemState) {
+ if (cleanSystemState == null) return;
+ // 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 = SweeperFutianCmdUtil.checkIfCleanModePureSweep(cleanSystemState);
+
+ // 作业强度状态
+ boolean clean_intensity_standard = cleanSystemState.getSecuWorkStandSts();
+ boolean clean_intensity_strong = cleanSystemState.getSecuWorkStrongSts();
+ if (clean_open_requirement) {
+ // 打开状态
+ mBtnCleanWorkOpenClose.setText("关闭");
+ mBtnCleanWorkOpenClose.setChecked(true);
+ } else {
+ // 关闭状态
+ mBtnCleanWorkOpenClose.setText("打开");
+ 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();
+ }
+
+ /**
+ * 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
+ CallerAutoPilotControlManager.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
+ //mockCleanModeSuccess(fuTianCleanCmd);
+ }
+
+ private void mockSendCmdSuccess() {
+ 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 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) {
+ if (mCurrentCmdRequestCallback.onCheckIfCmdSuccess(mCurrentCleanSystemState)) {
+ mCurrentCmdRequestCallback.onCmdSuccess();
+ mCurrentCmdRequestCallback = null;
+ }
+ }
+ removeMessages(MSG_CMD_EXECUTE_COUNT_DOWN);
+ }
+ }
+ }
+
+ interface CmdRequestCallback {
+ void onSendCmd();
+
+ void onCountDownTick(int senonds);
+
+ boolean onCheckIfCmdSuccess(ChassisStatesOuterClass.SweeperFuTianTaskSystemStates cleanSystemState);
+
+ void onCmdSuccess();
+
+ void onCmdFailed();
+
+ void onCmdTimeout();
+ }
+
+ /**
+ * 开始旋转
+ */
+ private void startRotation() {
+ if (objectAnimator == null) {
+ objectAnimator = ObjectAnimator.ofFloat(mLoadingView, "rotation", 0, 360f);
+ objectAnimator.setDuration(1500);
+ objectAnimator.setRepeatCount(-1);
+ objectAnimator.setInterpolator(new LinearInterpolator());
+ objectAnimator.start();
+ }
+ }
+
+ /**
+ * 停止旋转
+ */
+ private void stopRotation() {
+ if (objectAnimator != null && objectAnimator.isRunning()) {
+ objectAnimator.end();
+ objectAnimator = null;
+ }
+ }
+
+ /**
+ * 模拟指令操作成功
+ */
+ private void mockCleanModeSuccess(SpecialVehicleTaskCmdOuterClass.RoboSweeperFuTianTaskCmd fuTianTaskCmd) {
+ ChassisStatesOuterClass.SweeperFuTianTaskSystemStates.Builder builder = ChassisStatesOuterClass.SweeperFuTianTaskSystemStates.newBuilder();
+ chassis.SpecialVehicleTaskCmdOuterClass.RoboSweeperFuTianCleanCmd fuTianCleanCmd = fuTianTaskCmd.getRoboSweeperFutianCleanCmd();
+ if (fuTianCleanCmd.getCleanOpenRequirement() == SweeperFutianCmdUtil.CLEAN_WORK_OPEN) {//打开
+ builder.setSecuMotWorkSts(true);
+ builder.setSecuModWashSweepSts(false);
+ builder.setSecuModWashSts(false);
+ builder.setSecuWorkTonSts(false);
+ builder.setSecuWorkOnBothsidesSts(false);
+ builder.setSecuWorkLeftSts(false);
+ builder.setSecuWorkRightSts(false);
+ builder.setSecuWorkStandSts(true);
+ builder.setSecuWorkStrongSts(false);
+ mCurrentCleanSystemState = builder.build();
+ mockSendCmdSuccess();
+ return;
+ } else if (fuTianCleanCmd.getCleanOpenRequirement() == SweeperFutianCmdUtil.CLEAN_WORK_CLOSE) {//关闭
+ builder.setSecuModWashSweepSts(false);
+ builder.setSecuModWashSts(false);
+ builder.setSecuWorkTonSts(false);
+ builder.setSecuWorkOnBothsidesSts(false);
+ builder.setSecuWorkLeftSts(false);
+ builder.setSecuWorkRightSts(false);
+ builder.setSecuWorkStandSts(true);
+ builder.setSecuWorkStrongSts(false);
+ builder.setSecuMotWorkSts(false);
+ mCurrentCleanSystemState = builder.build();
+ mockSendCmdSuccess();
+ return;
+ }
+ if (fuTianCleanCmd.getCleanModeRequirement() == SweeperFutianCmdUtil.CLEAN_MODE_PURE_SWEEP) {//纯扫
+ builder.setSecuModWashSweepSts(false);
+ builder.setSecuModWashSts(false);
+ builder.setSecuWorkTonSts(false);
+ mCurrentCleanSystemState = builder.build();
+ mockSendCmdSuccess();
+ return;
+ } else if (fuTianCleanCmd.getCleanModeRequirement() == SweeperFutianCmdUtil.CLEAN_MODE_WASH_SWEEP) {//洗扫
+ builder.setSecuModWashSweepSts(!mCurrentCleanSystemState.getSecuModWashSweepSts());
+ mCurrentCleanSystemState = builder.build();
+ mockSendCmdSuccess();
+ return;
+ } else if (fuTianCleanCmd.getCleanModeRequirement() == SweeperFutianCmdUtil.CLEAN_MODE_PURE_WASH) {//纯洗
+ builder.setSecuModWashSts(!mCurrentCleanSystemState.getSecuModWashSts());
+ mCurrentCleanSystemState = builder.build();
+ mockSendCmdSuccess();
+ return;
+ } else if (fuTianCleanCmd.getCleanModeRequirement() == SweeperFutianCmdUtil.CLEAN_MODE_PURE_DRAW) {//纯吸
+ builder.setSecuWorkTonSts(!mCurrentCleanSystemState.getSecuWorkTonSts());
+ builder.setSecuWorkStandSts(true);
+ builder.setSecuWorkOnBothsidesSts(false);
+ builder.setSecuWorkLeftSts(false);
+ builder.setSecuWorkRightSts(false);
+ mCurrentCleanSystemState = builder.build();
+ mockSendCmdSuccess();
+ return;
+ } else if (fuTianCleanCmd.getCleanModeRequirement() == SweeperFutianCmdUtil.CLEAN_MODE_CLOSE) {
+ builder.setSecuModWashSweepSts(false);
+ builder.setSecuModWashSts(false);
+ builder.setSecuWorkTonSts(false);
+ builder.setSecuWorkOnBothsidesSts(false);
+ builder.setSecuWorkLeftSts(false);
+ builder.setSecuWorkRightSts(false);
+ builder.setSecuWorkStandSts(true);
+ builder.setSecuWorkStrongSts(false);
+ mCurrentCleanSystemState = builder.build();
+ mockSendCmdSuccess();
+ return;
+ }
+ if (fuTianCleanCmd.getCleanDirectionRequirement() == SweeperFutianCmdUtil.CLEAN_DIRECTION_BOTH_SIDE) {//两侧
+ builder.setSecuWorkOnBothsidesSts(!mCurrentCleanSystemState.getSecuWorkOnBothsidesSts());
+ builder.setSecuWorkStandSts(true);
+ builder.setSecuWorkStrongSts(false);
+ mCurrentCleanSystemState = builder.build();
+ mockSendCmdSuccess();
+ return;
+ } else if (fuTianCleanCmd.getCleanDirectionRequirement() == SweeperFutianCmdUtil.CLEAN_DIRECTION_LEFT_SIDE) {//左侧
+ builder.setSecuWorkLeftSts(!mCurrentCleanSystemState.getSecuWorkLeftSts());
+ builder.setSecuWorkStandSts(true);
+ builder.setSecuWorkStrongSts(false);
+ mCurrentCleanSystemState = builder.build();
+ mockSendCmdSuccess();
+ return;
+ } else if (fuTianCleanCmd.getCleanDirectionRequirement() == SweeperFutianCmdUtil.CLEAN_DIRECTION_RIGHT_SIDE) {//右侧
+ builder.setSecuWorkRightSts(!mCurrentCleanSystemState.getSecuWorkRightSts());
+ builder.setSecuWorkStandSts(true);
+ builder.setSecuWorkStrongSts(false);
+ mCurrentCleanSystemState = builder.build();
+ mockSendCmdSuccess();
+ return;
+ } else if (fuTianCleanCmd.getCleanDirectionRequirement() == SweeperFutianCmdUtil.CLEAN_DIRECTION_CLOSE) {
+ builder.setSecuWorkLeftSts(false);
+ builder.setSecuWorkRightSts(false);
+ builder.setSecuWorkOnBothsidesSts(false);
+ builder.setSecuWorkStandSts(true);
+ builder.setSecuWorkStrongSts(false);
+ mCurrentCleanSystemState = builder.build();
+ mockSendCmdSuccess();
+ return;
+ }
+ if (fuTianCleanCmd.getCleanIntensityRequirement() == SweeperFutianCmdUtil.CLEAN_INTENSITY_STRAND) {
+ builder.setSecuWorkStrongSts(true);
+ builder.setSecuWorkStandSts(false);
+ mCurrentCleanSystemState = builder.build();
+ mockSendCmdSuccess();
+ return;
+ } else if (fuTianCleanCmd.getCleanIntensityRequirement() == SweeperFutianCmdUtil.CLEAN_INTENSITY_STRONG) {
+ builder.setSecuWorkStandSts(true);
+ builder.setSecuWorkStrongSts(false);
+ mCurrentCleanSystemState = builder.build();
+ mockSendCmdSuccess();
+ }
+
+ }
+
+}
diff --git a/OCH/sweeper/sweeper-cloud/src/main/java/com/mogo/och/sweepercloud/ui/dialog/SweeperCloudDialog.kt b/OCH/sweeper/sweeper-cloud/src/main/java/com/mogo/och/sweepercloud/ui/dialog/SweeperCloudDialog.kt
new file mode 100644
index 0000000000..23deab9621
--- /dev/null
+++ b/OCH/sweeper/sweeper-cloud/src/main/java/com/mogo/och/sweepercloud/ui/dialog/SweeperCloudDialog.kt
@@ -0,0 +1,133 @@
+package com.mogo.och.sweepercloud.ui.dialog
+
+import android.animation.ObjectAnimator
+import android.animation.ValueAnimator
+import android.content.Context
+import android.view.View
+import android.view.animation.LinearInterpolator
+import android.widget.ImageView
+import android.widget.TextView
+import androidx.lifecycle.LifecycleObserver
+import com.mogo.eagle.core.function.hmi.dialog.BaseFloatDialog
+import com.mogo.eagle.core.utilcode.util.ClickUtils
+import com.mogo.och.sweepercloud.R
+import com.mogo.och.sweepercloud.callback.SweeperCloudDialogClickListener
+import com.mogo.och.sweepercloud.view.CountDownView
+
+/**
+ * 清扫车云控任务dialog基类
+ */
+ class SweeperCloudDialog : BaseFloatDialog, LifecycleObserver {
+ private var commonTitle: TextView? = null //标题
+ private var commonLeft: TextView? = null//底部左边按钮
+ private var commonMiddle: TextView? = null //底部中间按钮
+ private var commonRight: TextView? = null //底部右边按钮
+ private var commonCountDown: CountDownView? = null //倒计时
+ private var commonContent: TextView? = null //内容
+ private var commonTip: TextView? = null //文本提示
+ private var countDownImage: ImageView? = null //内容
+ private var objectAnimator: ObjectAnimator? = null
+
+ constructor(builder: Builder, context: Context) : super(context) {
+ commonTitle?.text = builder.titleStr
+ commonContent?.text = builder.contentStr
+ if (builder.tipStr == "") {
+ commonTip?.visibility = View.GONE
+ } else {
+ commonTip?.text = builder.tipStr
+ }
+ if (builder.leftStr == "") {
+ commonLeft?.visibility = View.GONE
+ } else {
+ commonLeft?.text = builder.leftStr
+ }
+ if (builder.middleStr == "") {
+ commonMiddle?.visibility = View.GONE
+ } else {
+ commonMiddle?.text = builder.middleStr
+ }
+ if (builder.rightStr == "") {
+ commonRight?.visibility = View.GONE
+ } else {
+ commonRight?.text = builder.rightStr
+ }
+ if (builder.countDownTime == 0) {
+ commonCountDown?.visibility = View.GONE
+ } else {
+ commonCountDown?.startCountDown(builder.countDownTime)
+ }
+ commonLeft?.setOnClickListener {
+ //防止重复点击
+ if(ClickUtils.isFastClick()){
+ builder.listener?.onConfirm()
+ objectAnimator?.cancel()
+ commonCountDown?.stopCountDown()
+ dismiss()
+ }
+ }
+ commonMiddle?.setOnClickListener {
+ //防止重复点击
+ if(ClickUtils.isFastClick()){
+ builder.listener?.onNext()
+ objectAnimator?.cancel()
+ commonCountDown?.stopCountDown()
+ dismiss()
+ }
+ }
+ commonRight?.setOnClickListener {
+ //防止重复点击
+ if(ClickUtils.isFastClick()){
+ builder.listener?.onRefuseOrEnd()
+ objectAnimator?.cancel()
+ commonCountDown?.stopCountDown()
+ dismiss()
+ }
+ }
+ commonCountDown?.setCountDownListener(object : CountDownView.CountDownListener {
+ override fun stop() {
+ builder.listener?.onCountDownStop()
+ objectAnimator?.cancel()
+ commonCountDown?.stopCountDown()
+ dismiss()
+ }
+
+ })
+ countDownImage?.let { startAnima(it) }
+ }
+
+ init {
+ setContentView(R.layout.dialog_sweeper_cloud_view)
+ setCanceledOnTouchOutside(false)
+ commonTitle = findViewById(R.id.sweeper_cloud_title)
+ commonContent = findViewById(R.id.sweeper_cloud_content)
+ commonTip = findViewById(R.id.sweeper_cloud_tip)
+ commonLeft = findViewById(R.id.sweeper_cloud_left)
+ commonMiddle = findViewById(R.id.sweeper_cloud_middle)
+ commonRight = findViewById(R.id.sweeper_cloud_right)
+ countDownImage = findViewById(R.id.sweeper_cloud_imageview)
+ commonCountDown = findViewById(R.id.sweeper_cloud_countdown)
+ }
+ class Builder {
+ var titleStr: String = ""
+ var contentStr: String = ""
+ var tipStr: String = ""
+ var leftStr: String = ""
+ var middleStr: String = ""
+ var rightStr: String = ""
+ var countDownTime: Int = 0
+ var listener: SweeperCloudDialogClickListener? = null
+ fun build(context: Context): SweeperCloudDialog {
+ return SweeperCloudDialog(this, context)
+ }
+ }
+ /**
+ * 启动动画
+ */
+ private fun startAnima(imageView: ImageView) {
+ objectAnimator = ObjectAnimator.ofFloat(imageView, "rotation", 0f, 359f)
+ objectAnimator?.repeatCount = ValueAnimator.INFINITE
+ objectAnimator?.duration = 1500
+ objectAnimator?.interpolator = LinearInterpolator()
+ objectAnimator?.start()
+ }
+}
\ No newline at end of file
diff --git a/OCH/sweeper/sweeper-cloud/src/main/java/com/mogo/och/sweepercloud/ui/dialog/SweeperCloudLoadingDialog.kt b/OCH/sweeper/sweeper-cloud/src/main/java/com/mogo/och/sweepercloud/ui/dialog/SweeperCloudLoadingDialog.kt
new file mode 100644
index 0000000000..3321382705
--- /dev/null
+++ b/OCH/sweeper/sweeper-cloud/src/main/java/com/mogo/och/sweepercloud/ui/dialog/SweeperCloudLoadingDialog.kt
@@ -0,0 +1,75 @@
+package com.mogo.och.sweepercloud.ui.dialog
+
+import android.animation.ObjectAnimator
+import android.content.Context
+import android.view.animation.LinearInterpolator
+import androidx.lifecycle.LifecycleObserver
+import com.elegant.utils.UiThreadHandler
+import com.mogo.eagle.core.function.hmi.dialog.BaseFloatDialog
+import com.mogo.eagle.core.utilcode.util.ToastUtils
+import com.mogo.och.sweepercloud.R
+import kotlinx.android.synthetic.main.dialog_sweeper_cloud_loading.*
+
+/**
+ * loading
+ */
+class SweeperCloudLoadingDialog : BaseFloatDialog, LifecycleObserver {
+ private var objectAnimator: ObjectAnimator? = null
+ private val mLoadingView by lazy { dialog_loading_view }
+ private val mLoadingText by lazy { dialog_loading_text }
+ private var mRunnable:Runnable= Runnable {
+ ToastUtils.showLong("超时未响应，操作失败")
+ hideLoading()
+ }
+
+ constructor(context: Context) : super(context)
+
+ init {
+ setContentView(R.layout.dialog_sweeper_cloud_loading)
+ setCanceledOnTouchOutside(false)
+ }
+
+ /**
+ * 开始旋转
+ */
+ private fun startRotation() {
+ objectAnimator = ObjectAnimator.ofFloat(mLoadingView, "rotation", -720f, 0f)
+ objectAnimator?.let {
+ it.duration = 3000
+ it.repeatCount = -1
+ it.interpolator = LinearInterpolator()
+ it.start()
+ }
+ }
+
+ /**
+ * 停止旋转
+ */
+ private fun stopRotation() {
+ objectAnimator?.let {
+ if (it.isRunning) {
+ it.end()
+ objectAnimator = null
+ }
+ }
+ }
+
+ /**
+ * 显示dialog
+ */
+ fun showLoading() {
+ mLoadingText.text = "加载中..."
+ startRotation()
+ show()
+ UiThreadHandler.getsUiHandler().postDelayed(mRunnable, 15000L)
+ }
+
+ /**
+ * 隐藏dialog
+ */
+ fun hideLoading() {
+ UiThreadHandler.getsUiHandler().removeCallbacks(mRunnable)
+ stopRotation()
+ dismiss()
+ }
+}
\ No newline at end of file
diff --git a/OCH/sweeper/sweeper-cloud/src/main/java/com/mogo/och/sweepercloud/ui/dialog/SweeperManualDrivingDialog.kt b/OCH/sweeper/sweeper-cloud/src/main/java/com/mogo/och/sweepercloud/ui/dialog/SweeperManualDrivingDialog.kt
new file mode 100644
index 0000000000..52e21df88c
--- /dev/null
+++ b/OCH/sweeper/sweeper-cloud/src/main/java/com/mogo/och/sweepercloud/ui/dialog/SweeperManualDrivingDialog.kt
@@ -0,0 +1,70 @@
+package com.mogo.och.sweepercloud.ui.dialog
+
+import android.content.Context
+import android.widget.TextView
+import androidx.lifecycle.LifecycleObserver
+import com.mogo.eagle.core.function.hmi.dialog.BaseFloatDialog
+import com.mogo.och.sweepercloud.R
+
+/**
+ * 不带带有title, tip,confirm,cancel的dialog
+ */
+class SweeperManualDrivingDialog: BaseFloatDialog, LifecycleObserver {
+
+ private var commonConfirm : TextView? = null
+ private var commonTips : TextView? = null
+
+ private var clickListener: ClickListener? = null
+
+ constructor(builder: Builder,context: Context) : super(context) {
+ commonTips?.text = builder.tipsStr
+ commonConfirm?.text = builder.confirmStr
+ }
+
+ init{
+ setContentView(R.layout.dialog_sweeper_manual_driving)
+
+ setCanceledOnTouchOutside(false)
+
+ commonConfirm = findViewById(R.id.sweeper_common_confirm)
+ commonTips = findViewById(R.id.sweeper_common_tips)
+
+ commonConfirm?.setOnClickListener{
+ clickListener?.confirm()
+ dismiss()
+ }
+ }
+
+ fun setClickListener(clickListener: ClickListener) {
+ this.clickListener = clickListener
+ }
+
+ fun showUpgradeDialog(){
+ if(isShowing){
+ return
+ }
+ show()
+ }
+
+ interface ClickListener{
+ fun confirm()
+ }
+
+ class Builder{
+ var tipsStr:String = ""
+ var confirmStr:String = ""
+ fun tips(tips: String) : Builder{
+ this.tipsStr = tips
+ return this
+ }
+
+ fun confirmStr(commit: String) : Builder{
+ this.confirmStr = commit
+ return this
+ }
+ fun build(context: Context): SweeperManualDrivingDialog? {
+ return SweeperManualDrivingDialog(this,context)
+ }
+ }
+
+}
\ No newline at end of file
diff --git a/OCH/sweeper/sweeper-cloud/src/main/java/com/mogo/och/sweepercloud/ui/dialog/SweeperNoTitleCommonDialog.kt b/OCH/sweeper/sweeper-cloud/src/main/java/com/mogo/och/sweepercloud/ui/dialog/SweeperNoTitleCommonDialog.kt
new file mode 100644
index 0000000000..a2b41f4592
--- /dev/null
+++ b/OCH/sweeper/sweeper-cloud/src/main/java/com/mogo/och/sweepercloud/ui/dialog/SweeperNoTitleCommonDialog.kt
@@ -0,0 +1,85 @@
+package com.mogo.och.sweepercloud.ui.dialog
+
+import android.content.Context
+import android.widget.TextView
+import androidx.lifecycle.LifecycleObserver
+import com.mogo.eagle.core.function.hmi.dialog.BaseFloatDialog
+import com.mogo.och.sweepercloud.R
+
+/**
+ * 不带带有title, tip,confirm,cancel的dialog
+ */
+class SweeperNoTitleCommonDialog: BaseFloatDialog, LifecycleObserver {
+
+ private var commonConfirm : TextView? = null
+ private var commonCancel : TextView? = null
+ private var commonTips : TextView? = null
+
+ private var clickListener: ClickListener? = null
+
+ constructor(builder: Builder,context: Context) : super(context) {
+ commonTips?.text = builder.tipsStr
+ commonCancel?.text = builder.cancelStr
+ commonConfirm?.text = builder.confirmStr
+ }
+
+ init{
+ setContentView(R.layout.dialog_sweeper_no_title)
+
+ setCanceledOnTouchOutside(true)
+
+ commonConfirm = findViewById(R.id.sweeper_common_confirm)
+ commonCancel = findViewById(R.id.sweeper_common_cancel)
+ commonTips = findViewById(R.id.sweeper_common_tips)
+
+ commonConfirm?.setOnClickListener{
+ clickListener?.confirm()
+ dismiss()
+ }
+ commonCancel?.setOnClickListener {
+ clickListener?.cancel()
+ dismiss()
+ }
+ }
+
+ fun setClickListener(clickListener: ClickListener) {
+ this.clickListener = clickListener
+ }
+
+ fun showUpgradeDialog(){
+ if(isShowing){
+ return
+ }
+ show()
+ }
+
+ interface ClickListener{
+ fun confirm()
+ fun cancel()
+ }
+
+ class Builder{
+ var tipsStr:String = ""
+ var confirmStr:String = ""
+ var cancelStr:String = ""
+ fun tips(tips: String) : Builder{
+ this.tipsStr = tips
+ return this
+ }
+
+ fun confirmStr(commit: String) : Builder{
+ this.confirmStr = commit
+ return this
+ }
+
+ fun cancelStr(cancel: String) : Builder{
+ this.cancelStr = cancel
+ return this
+ }
+
+ fun build(context: Context): SweeperNoTitleCommonDialog? {
+ return SweeperNoTitleCommonDialog(this,context)
+ }
+ }
+
+}
\ No newline at end of file
diff --git a/OCH/sweeper/sweeper-cloud/src/main/java/com/mogo/och/sweepercloud/ui/popwindow/SweeperOperatePanelPopWindow.kt b/OCH/sweeper/sweeper-cloud/src/main/java/com/mogo/och/sweepercloud/ui/popwindow/SweeperOperatePanelPopWindow.kt
new file mode 100644
index 0000000000..4db379e1ac
--- /dev/null
+++ b/OCH/sweeper/sweeper-cloud/src/main/java/com/mogo/och/sweepercloud/ui/popwindow/SweeperOperatePanelPopWindow.kt
@@ -0,0 +1,59 @@
+package com.mogo.och.sweepercloud.ui.popwindow
+
+import android.content.Context
+import android.graphics.Color
+import android.graphics.drawable.ColorDrawable
+import android.view.LayoutInflater
+import android.view.ViewGroup
+import android.widget.PopupWindow
+import chassis.ChassisStatesOuterClass
+import com.mogo.och.sweepercloud.R
+import com.mogo.och.sweepercloud.callback.ICleaningModeStateCallback
+import com.mogo.och.sweepercloud.constant.OperateStateEnum
+import com.mogo.och.sweepercloud.ui.SweeperOperatePanelView
+
+/**
+ * 清扫车面板浮窗
+ */
+class SweeperOperatePanelPopWindow : PopupWindow{
+
+ private var mOperatePanelView: SweeperOperatePanelView? = null
+
+ constructor(context: Context) : super(context) {
+ init(context)
+ }
+ private fun init(context: Context) {
+ setBackgroundDrawable(ColorDrawable(Color.TRANSPARENT))
+ mOperatePanelView = LayoutInflater.from(context).inflate(R.layout.sweeper_popwindow_operate_panel, null) as SweeperOperatePanelView?
+ width = ViewGroup.LayoutParams.WRAP_CONTENT
+ height = ViewGroup.LayoutParams.WRAP_CONTENT
+ contentView = mOperatePanelView
+ }
+
+ /**
+ * 设置清扫模式数据
+ */
+ fun setCleanSystemState(
+ cleanSystemState: ChassisStatesOuterClass.SweeperFuTianTaskSystemStates?,
+ cleaningModeStateCallback: ICleaningModeStateCallback
+ ) {
+ mOperatePanelView?.setSweeperFutianCleanSystemState(cleanSystemState, cleaningModeStateCallback)
+ }
+
+ /**.
+ *
+ * 设置是否让popWindow消失
+ */
+ fun setIsOutsideTouchable(isOutsideTouchable:Boolean){
+ this.isFocusable = isOutsideTouchable
+ this.isOutsideTouchable = isOutsideTouchable
+ this.isTouchable=isOutsideTouchable
+ }
+
+ /**
+ * 设置是否展示状态同步中
+ */
+ fun showSyncing(operateState: OperateStateEnum){
+ mOperatePanelView?.showSyncing(operateState)
+ }
+}
\ No newline at end of file
diff --git a/OCH/sweeper/sweeper-cloud/src/main/java/com/mogo/och/sweepercloud/util/AutopilotModeConfigManager.java b/OCH/sweeper/sweeper-cloud/src/main/java/com/mogo/och/sweepercloud/util/AutopilotModeConfigManager.java
new file mode 100644
index 0000000000..f828af22a5
--- /dev/null
+++ b/OCH/sweeper/sweeper-cloud/src/main/java/com/mogo/och/sweepercloud/util/AutopilotModeConfigManager.java
@@ -0,0 +1,127 @@
+package com.mogo.och.sweepercloud.util;
+
+import android.os.Environment;
+import android.text.TextUtils;
+import android.util.Pair;
+
+import com.google.protobuf.InvalidProtocolBufferException;
+import com.google.protobuf.util.JsonFormat;
+
+import java.io.File;
+import java.io.FileInputStream;
+import java.io.FileNotFoundException;
+import java.io.IOException;
+import java.io.InputStream;
+import java.util.concurrent.atomic.AtomicBoolean;
+
+import mogo.telematics.pad.MessagePad;
+
+/**
+ * 读取启动自动驾驶配置
+ */
+public class AutopilotModeConfigManager {
+ private final static String TAG = AutopilotModeConfigManager.class.getSimpleName();
+ private final AtomicBoolean isReadConfig = new AtomicBoolean(false);
+ private OnReadAutopilotModeConfigListener listener;
+
+
+ public interface OnReadAutopilotModeConfigListener {
+ void onReadFailed(String err);//文件不存在或读取失败
+
+ void onParseFailed(String err);//配置文件解析失败
+
+ void onParse(MessagePad.SetAutopilotModeReq bean);//解析完成
+ }
+
+ public AutopilotModeConfigManager(OnReadAutopilotModeConfigListener listener) {
+ this.listener = listener;
+ }
+
+
+ public void registerListener(OnReadAutopilotModeConfigListener listener) {
+ this.listener = listener;
+ }
+
+ public void unregisterListener() {
+ listener = null;
+ }
+
+ /**
+ * 读取配置文件
+ *
+ * @return 是否调用成功
+ */
+ public boolean read() {
+ if (!isReadConfig.get()) {
+ isReadConfig.set(true);
+ Runnable runnable = new Runnable() {
+ @Override
+ public void run() {
+ Pair config = readFilesToString(new File(Environment.getExternalStorageDirectory().getAbsolutePath() + File.separator + "AutopilotModeConfig.json"));
+ if (TextUtils.isEmpty(config.first)) {
+ if (listener != null) {
+ listener.onReadFailed(config.second);
+ }
+ } else {
+ MessagePad.SetAutopilotModeReq.Builder builder = MessagePad.SetAutopilotModeReq.newBuilder();
+ String err = null;
+ try {
+ JsonFormat.parser().ignoringUnknownFields().merge(config.first, builder);
+ } catch (InvalidProtocolBufferException e) {
+ e.printStackTrace();
+ err = e.getMessage();
+ }
+ if (TextUtils.isEmpty(err)) {
+ MessagePad.SetAutopilotModeReq bean = builder.build();
+ if (listener != null) {
+ listener.onParse(bean);
+ }
+ } else {
+ if (listener != null) {
+ listener.onParseFailed(err);
+ }
+ }
+ }
+ isReadConfig.set(false);
+ }
+ };
+ new Thread(runnable).start();
+ return true;
+ }
+ return false;
+ }
+
+ /**
+ * @param file
+ * @return first：读取到的内容 second：失败信息
+ */
+ private Pair readFilesToString(File file) {
+ InputStream inputStream = null;
+ String err = null;
+ try {
+ inputStream = new FileInputStream(file);
+ byte[] buffer = new byte[1024];
+ int length = -1;
+ StringBuilder stringBuilder = new StringBuilder();
+ while ((length = inputStream.read(buffer)) != -1) {
+ stringBuilder.append(new String(buffer, 0, length));
+ }
+ return new Pair(stringBuilder.toString(), err);
+ } catch (FileNotFoundException e) {
+ e.printStackTrace();
+ err = e.toString();
+ } catch (IOException e) {
+ e.printStackTrace();
+ err = e.toString();
+ } finally {
+ if (inputStream != null) {
+ try {
+ inputStream.close();
+ } catch (IOException e) {
+ e.printStackTrace();
+ }
+ }
+ }
+ return new Pair(null, err);
+ }
+}
diff --git a/OCH/sweeper/sweeper-cloud/src/main/java/com/mogo/och/sweepercloud/util/SweeperAnalyticsManager.java b/OCH/sweeper/sweeper-cloud/src/main/java/com/mogo/och/sweepercloud/util/SweeperAnalyticsManager.java
new file mode 100644
index 0000000000..91b5820710
--- /dev/null
+++ b/OCH/sweeper/sweeper-cloud/src/main/java/com/mogo/och/sweepercloud/util/SweeperAnalyticsManager.java
@@ -0,0 +1,149 @@
+package com.mogo.och.sweepercloud.util;
+
+import static com.mogo.eagle.core.utilcode.mogo.logger.scene.SceneConstant.M_SWEEPER;
+
+import android.os.Build;
+import android.text.TextUtils;
+
+import com.mogo.cloud.passport.MoGoAiCloudClientConfig;
+import com.mogo.commons.debug.DebugConfig;
+import com.mogo.commons.utils.MogoAnalyticUtils;
+import com.mogo.eagle.core.data.app.AppConfigInfo;
+import com.mogo.eagle.core.function.api.autopilot.IMoGoAutopilotStatusListener;
+import com.mogo.eagle.core.function.call.autopilot.CallerAutoPilotStatusListenerManager;
+import com.mogo.eagle.core.utilcode.mogo.logger.CallerLogger;
+import com.mogo.eagle.core.utilcode.util.DateTimeUtils;
+import com.mogo.eagle.core.utilcode.util.UiThreadHandler;
+import com.mogo.och.sweepercloud.constant.SweeperConst;
+
+import java.util.HashMap;
+
+/**
+ * OCH sweeper埋点工具
+ *
+ * Created on 2022/3/24
+ */
+public class SweeperAnalyticsManager {
+
+ private static final class SingletonHolder {
+ private static final SweeperAnalyticsManager INSTANCE = new SweeperAnalyticsManager();
+ }
+
+ public static SweeperAnalyticsManager getInstance() {
+ return SweeperAnalyticsManager.SingletonHolder.INSTANCE;
+ }
+
+ private String mStartAutopilotKey;
+ private HashMap mStartAutopilotParams = new HashMap<>();
+
+ private Runnable startAutopilotRunnable = () -> {
+ // 15s内未开启，上报失败埋点
+ triggerStartAutopilotFailureEvent("", "15s后app等待超时");
+ };
+
+ public void triggerStartAutopilotFailureEventByAdas(String failCode, String failMsg){
+ removeWaitingCallback();
+ triggerStartAutopilotFailureEvent(failCode, failMsg);
+ }
+
+ private void triggerStartAutopilotFailureEvent(String failCode, String failMsg){
+ if (mStartAutopilotParams.isEmpty()) return;
+
+ CallerLogger.INSTANCE.e( M_SWEEPER + "triggerStartAutopilotFailureEvent", failMsg );
+
+ if (CallerAutoPilotStatusListenerManager.INSTANCE.getAutoPilotStatusInfo().getState() !=
+ IMoGoAutopilotStatusListener.STATUS_AUTOPILOT_RUNNING){
+ mStartAutopilotParams.put(SweeperConst.EVENT_PARAM_START_FAILURE_CODE, failCode);
+ mStartAutopilotParams.put(SweeperConst.EVENT_PARAM_START_FAILURE_MSG, failMsg);
+ }
+ mStartAutopilotParams.put(SweeperConst.EVENT_PARAM_START_RESULT
+ , CallerAutoPilotStatusListenerManager.INSTANCE.getAutoPilotStatusInfo().getState() ==
+ IMoGoAutopilotStatusListener.STATUS_AUTOPILOT_RUNNING);
+
+ MogoAnalyticUtils.INSTANCE.track(mStartAutopilotKey, mStartAutopilotParams);
+
+ clearStartAutopilotParams();//清空参数数据，防止误传
+ }
+
+ private void removeWaitingCallback() {
+ if (Build.VERSION.SDK_INT >= Build.VERSION_CODES.Q) {
+ if (startAutopilotRunnable != null) {
+ UiThreadHandler.removeCallbacks(startAutopilotRunnable);
+ }
+ }
+ }
+
+ public void clearStartAutopilotFailureMSG(){
+ mStartAutopilotParams.put(SweeperConst.EVENT_PARAM_START_FAILURE_CODE, "");
+ mStartAutopilotParams.put(SweeperConst.EVENT_PARAM_START_FAILURE_MSG, "");
+ }
+
+ private void clearStartAutopilotParams(){
+ mStartAutopilotParams.clear();
+ }
+
+ /**
+ * 触发'开启自动驾驶'埋点流程
+ * 开启自动驾驶，15s内成功则发送成功埋点，否则发送失败埋点
+ * @param restart false（点击'滑动出发'启动）/true（接管后点击'自动驾驶'按钮启动）
+ * @param send 是否直接发送埋点（15s内开启成功则直接发送成功埋点）
+ */
+ public void triggerStartAutopilotEvent(
+ boolean restart, boolean send, String startName, String endName, int lineId) {
+ mStartAutopilotKey = restart ?
+ SweeperConst.EVENT_KEY_RESTART_AUTOPILOT : SweeperConst.EVENT_KEY_START_SERVICE;
+ String sn = MoGoAiCloudClientConfig.getInstance().getSn();
+ String plateNum = AppConfigInfo.INSTANCE.getPlateNumber();
+ String dateTime = DateTimeUtils.getTimeText(
+ System.currentTimeMillis(), DateTimeUtils.yyyy_MM_dd_HH_mm_ss);
+
+ mStartAutopilotParams.put(SweeperConst.EVENT_PARAM_SN, sn);
+ mStartAutopilotParams.put(SweeperConst.EVENT_PARAM_PLATE_NUM, TextUtils.isEmpty(plateNum) ? "" : plateNum);
+ mStartAutopilotParams.put(SweeperConst.EVENT_PARAM_ENV_ONLINE,
+ DebugConfig.getNetMode() == DebugConfig.NET_MODE_RELEASE ? true : false);
+ mStartAutopilotParams.put(SweeperConst.EVENT_PARAM_TIME, dateTime);
+ mStartAutopilotParams.put(SweeperConst.EVENT_PARAM_START_NAME, startName);
+ mStartAutopilotParams.put(SweeperConst.EVENT_PARAM_END_NAME, endName);
+ mStartAutopilotParams.put(SweeperConst.EVENT_PARAM_LINE_ID, lineId);
+
+ if (send) {
+ if (mStartAutopilotParams.isEmpty()) return;
+ // 开启成功，上报埋点
+ clearStartAutopilotFailureMSG();
+ removeWaitingCallback();
+ mStartAutopilotParams.put(SweeperConst.EVENT_PARAM_START_RESULT, true);
+ MogoAnalyticUtils.INSTANCE.track(mStartAutopilotKey, mStartAutopilotParams);
+
+ clearStartAutopilotParams();//清空参数数据，防止误传
+ } else {
+ UiThreadHandler.postDelayed(startAutopilotRunnable, SweeperConst.LOOP_PERIOD_15S);
+ }
+ }
+
+ /**
+ * 触发"无法开启自驾已知异常"埋点
+ * @param startName
+ * @param endName
+ * @param lineId
+ */
+ public void triggerUnableStartAPReasonEvent(String startName, String endName, int lineId,
+ String reason) {
+ String sn = MoGoAiCloudClientConfig.getInstance().getSn();
+ String plateNum = AppConfigInfo.INSTANCE.getPlateNumber();
+ String dateTime = DateTimeUtils.getTimeText(
+ System.currentTimeMillis(), DateTimeUtils.yyyy_MM_dd_HH_mm_ss);
+
+ HashMap params = new HashMap<>();
+
+ params.put(SweeperConst.EVENT_PARAM_SN, sn);
+ params.put(SweeperConst.EVENT_PARAM_PLATE_NUM, TextUtils.isEmpty(plateNum) ? "" : plateNum);
+ params.put(SweeperConst.EVENT_PARAM_ENV_ONLINE,
+ DebugConfig.getNetMode() == DebugConfig.NET_MODE_RELEASE ? true : false);
+ params.put(SweeperConst.EVENT_PARAM_TIME, dateTime);
+ params.put(SweeperConst.EVENT_PARAM_START_NAME, startName);
+ params.put(SweeperConst.EVENT_PARAM_END_NAME, endName);
+ params.put(SweeperConst.EVENT_PARAM_LINE_ID, lineId);
+ params.put(SweeperConst.EVENT_PARAM_UNABLE_START_REASON, reason);
+ MogoAnalyticUtils.INSTANCE.track(SweeperConst.EVENT_KEY_AP_UNABLE_START_REASON, params);
+ }
+}
diff --git a/OCH/sweeper/sweeper-cloud/src/main/java/com/mogo/och/sweepercloud/util/SweeperCloudTaskUtils.kt b/OCH/sweeper/sweeper-cloud/src/main/java/com/mogo/och/sweepercloud/util/SweeperCloudTaskUtils.kt
new file mode 100644
index 0000000000..25fb456c39
--- /dev/null
+++ b/OCH/sweeper/sweeper-cloud/src/main/java/com/mogo/och/sweepercloud/util/SweeperCloudTaskUtils.kt
@@ -0,0 +1,348 @@
+package com.mogo.och.sweepercloud.util
+
+import android.content.Context
+import com.elegant.utils.UiThreadHandler
+import com.google.protobuf.MessageOrBuilder
+import com.google.protobuf.TextFormat
+import com.mogo.cloud.passport.MoGoAiCloudClientConfig
+import com.mogo.eagle.core.utilcode.mogo.logger.CallerLogger
+import com.mogo.eagle.core.utilcode.mogo.logger.scene.SceneConstant
+import com.mogo.och.common.module.utils.DateTimeUtil
+import com.mogo.och.common.module.voice.VoiceNotice
+import com.mogo.och.sweepercloud.callback.SweeperCloudDialogClickListener
+import com.mogo.och.sweepercloud.model.SweeperTaskModel
+import com.mogo.och.sweepercloud.ui.dialog.SweeperCloudDialog
+import com.zhjt.mogo.adas.data.sweeper.SweeperCloudTask.MessageType
+import com.zhjt.mogo.adas.data.sweeper.bootable.SweeperBootable
+import com.zhjt.mogo.adas.data.sweeper.common.SweeperCommon
+import com.zhjt.mogo.adas.data.sweeper.task.SweeperTask.*
+import com.zhjt.mogo.adas.data.sweeper.task.big.SweeperBigTaskStatus
+import com.zhjt.mogo.adas.data.sweeper.task.big.SweeperBigTaskStatus.BigTaskStatus
+import com.zhjt.mogo.adas.data.sweeper.task.confirm.SweeperTaskConfirm.TaskConfirm
+import com.zhjt.mogo.adas.data.sweeper.task.status.SweeperTaskStatus
+import com.zhjt.mogo.adas.data.sweeper.task.stop.SweeperTaskStop
+import java.util.*
+
+object SweeperCloudTaskUtils {
+ const val TAG = "SweeperCloudTaskUtils"
+
+ /**
+ * 模拟发送查询当前任务的请求
+ */
+ @JvmStatic
+ fun mockQueryCurrentTaskInfo() {
+// UiThreadHandler.getsUiHandler().postDelayed({
+// mockSendCloudTaskInfo(MessageType.PadSendGetTaskReq)
+// },1000)
+ SweeperTaskModel.getInstance().getCurrentTask()
+ }
+
+ /**
+ * 模拟云控发送任务给pad
+ */
+ @JvmStatic
+ fun mockSendCloudTaskInfo(messageType: MessageType) {
+ val builder = TaskInfo.newBuilder()
+ builder.sn = getDriverSn()
+ builder.taskId = "10"
+ builder.taskName = "烟台清扫车作业任务"
+ builder.currentTime = System.currentTimeMillis()
+ builder.taskStartTime = 1683507615000
+ builder.taskEndTime = 1683540015000
+ //第一个子任务
+ val subBuilder0 = SubTaskInfo.newBuilder()
+ subBuilder0.subTaskId = "1"
+ subBuilder0.subTaskName = "海水浴场-佛兴禅寺（前岛贴右）"
+ subBuilder0.taskModel = TaskModel.AUTO
+ subBuilder0.taskStatus = SweeperCommon.TaskStatus.TO_START
+ val startLocation0 = Location.newBuilder()
+ startLocation0.siteName = "自动驾驶子任务起点0"
+ startLocation0.wgsLongitude =112.56970262448544
+ startLocation0.wgsLatitude = 26.817567832504274
+ startLocation0.longitude = 112.57493487730413
+ startLocation0.latitude = 26.81397095451884
+ subBuilder0.startLocation = startLocation0.build()
+ val endLocation0 = Location.newBuilder()
+ endLocation0.siteName = "自动驾驶子任务终点0"
+ endLocation0.wgsLongitude = 112.57723562874442
+ endLocation0.wgsLatitude = 26.819769725304003
+ endLocation0.longitude = 112.5824598556873
+ endLocation0.latitude = 26.81616501438377
+ subBuilder0.endLocation = endLocation0.build()
+ subBuilder0.lineId = 123
+ subBuilder0.lineName = "测试路线0"
+ builder.addSubList(subBuilder0.build())
+ //第二个子任务
+// val subBuilder1 = SubTaskInfo.newBuilder()
+// subBuilder1.subTaskId = "2"
+// subBuilder1.subTaskName = "佛兴禅寺-海水浴场（前岛贴左）"
+// subBuilder1.taskModel = TaskModel.AUTO
+// subBuilder1.taskStatus = SweeperCommon.TaskStatus.TO_START
+// val startLocation1 = Location.newBuilder()
+// startLocation1.siteName = "自动驾驶子任务起点1"
+// startLocation1.wgsLongitude = 112.57723562874442
+// startLocation1.wgsLatitude = 26.819769725304003
+// startLocation1.longitude = 112.5824598556873
+// startLocation1.latitude = 26.81616501438377
+// subBuilder1.startLocation = startLocation1.build()
+// val endLocation1 = Location.newBuilder()
+// endLocation1.siteName = "自动驾驶子任务终点1"
+// endLocation1.wgsLongitude = 112.56970262448544
+// endLocation1.wgsLatitude = 26.817567832504274
+// endLocation1.longitude = 112.57493487730413
+// endLocation1.latitude = 26.81397095451884
+// subBuilder1.endLocation = endLocation1.build()
+// subBuilder1.lineId = 124
+// subBuilder1.lineName = "测试路线1"
+// builder.addSubList(subBuilder1.build())
+// //第三个子任务
+// val subBuilder2 = SubTaskInfo.newBuilder()
+// subBuilder2.subTaskId = "3"
+// subBuilder2.subTaskName = "海水浴场-佛兴禅寺（前岛贴左）"
+// subBuilder2.taskModel = TaskModel.MANUAL
+// subBuilder2.taskStatus = SweeperCommon.TaskStatus.TO_START
+// val startLocation2 = Location.newBuilder()
+// startLocation2.siteName = "人工驾驶子任务起点2"
+// startLocation2.wgsLongitude = 121.31344761929978
+// startLocation2.wgsLatitude = 37.53205755535642
+// startLocation2.longitude = 121.3185679517558
+// startLocation2.latitude = 37.5329694887952
+// subBuilder2.startLocation = startLocation2.build()
+// val endLocation2 = Location.newBuilder()
+// endLocation2.siteName = "人工驾驶子任务终点2"
+// endLocation2.wgsLongitude = 121.4551205070834
+// endLocation2.wgsLatitude = 37.47936696980237
+// endLocation2.longitude = 121.46030960742117
+// endLocation2.latitude = 37.48032689641474
+// subBuilder2.endLocation = endLocation2.build()
+// subBuilder2.lineId = 125
+// subBuilder2.lineName = "测试路线2"
+// builder.addSubList(subBuilder2.build())
+// //第四个子任务
+// val subBuilder3 = SubTaskInfo.newBuilder()
+// subBuilder3.subTaskId = "4"
+// subBuilder3.subTaskName = "海水浴场-佛兴禅寺（前岛贴左第四个任务）"
+// subBuilder3.taskModel = TaskModel.MANUAL
+// subBuilder3.taskStatus = SweeperCommon.TaskStatus.TO_START
+// val startLocation3 = Location.newBuilder()
+// startLocation3.siteName = "人工驾驶子任务起点3"
+// startLocation3.wgsLongitude = 121.31344761929978
+// startLocation3.wgsLatitude = 37.53205755535642
+// startLocation3.longitude = 121.3185679517558
+// startLocation3.latitude = 37.5329694887952
+// subBuilder3.startLocation = startLocation3.build()
+// val endLocation3 = Location.newBuilder()
+// endLocation3.siteName = "人工驾驶子任务终点3"
+// endLocation3.wgsLongitude = 121.4551205070834
+// endLocation3.wgsLatitude = 37.47936696980237
+// endLocation3.longitude = 121.46030960742117
+// endLocation3.latitude = 37.48032689641474
+// subBuilder3.endLocation = endLocation3.build()
+// subBuilder3.lineId = 126
+// subBuilder3.lineName = "测试路线3"
+// builder.addSubList(subBuilder3.build())
+ SweeperTaskModel.getInstance().onSweeperFutianCloudTask(
+ messageType,
+ "${System.currentTimeMillis()}",
+ System.currentTimeMillis(),
+ builder.build()
+ )
+ CallerLogger.d(SceneConstant.M_SWEEPER + TAG, "messageType:" + messageType.number + "taskInfo:" + printMessage(builder.build()))
+ }
+
+ /**
+ * 模拟云控发送子任务开始确认信息
+ */
+ @JvmStatic
+ fun mockSendCloudSubTaskConfirm() {
+ val builder = TaskConfirm.newBuilder()
+ builder.sn = getDriverSn()
+ builder.taskId = "10"
+ builder.subTaskId = "1"
+ SweeperTaskModel.getInstance().onSweeperFutianCloudTaskConfirm(
+ MessageType.CloudPushTaskConfirm, "${System.currentTimeMillis()}",
+ System.currentTimeMillis(), builder.build()
+ )
+ }
+
+ /**
+ * 模拟下发更新子任务状态指令
+ */
+ @JvmStatic
+ fun mockSendCloudUpdateSubTaskStatus() {
+ val builder = SweeperTaskStatus.TaskStatusPush.newBuilder()
+ builder.sn = getDriverSn()
+ builder.taskId = "10"
+ builder.subTaskId = "1"
+ builder.taskStatus = SweeperCommon.TaskStatus.RUNNING
+ SweeperTaskModel.getInstance().onSweeperFutianCloudTaskStatus(
+ MessageType.CloudPushTaskStatus, "${System.currentTimeMillis()}",
+ System.currentTimeMillis(), builder.build()
+ )
+ }
+
+ /**
+ * 模拟云端发送大任务结束
+ */
+ @JvmStatic
+ fun mockSendCloudBigTaskEnd() {
+ val builder = SweeperTaskStop.StopTaskReq.newBuilder()
+ builder.sn = getDriverSn()
+ builder.taskId = "10"
+ builder.type = SweeperTaskStop.StopTaskType.ADVANCE
+ SweeperTaskModel.getInstance().onSweeperFutianCloudTaskStop(
+ MessageType.CloudPushTaskStop, "${System.currentTimeMillis()}",
+ System.currentTimeMillis(), builder.build()
+ )
+ }
+
+ /**
+ * 模拟云端发送大任务状态给pad
+ */
+ @JvmStatic
+ fun mockSendCloudBigTaskStatus() {
+ val builder = SweeperBigTaskStatus.BigTaskStatusPush.newBuilder()
+ builder.sn = getDriverSn()
+ builder.taskId = "10"
+ builder.taskStatus = BigTaskStatus.FINISHED
+ builder.systemTime = System.currentTimeMillis()
+ SweeperTaskModel.getInstance().onSweeperFutianCloudBigTaskStatus(
+ MessageType.CloudPushBigTaskStatus, "${System.currentTimeMillis()}",
+ System.currentTimeMillis(), builder.build()
+ )
+ }
+
+ /**
+ * 模拟云端发送是否可以启动自驾
+ */
+ @JvmStatic
+ fun mockSendCloudBootable() {
+ val builder = SweeperBootable.IsBootableResp.newBuilder()
+ builder.sn = getDriverSn()
+ builder.taskId = "10"
+ builder.subTaskId = "1"
+ builder.code = SweeperCommon.Code.SUCCEED
+ UiThreadHandler.getsUiHandler().postDelayed({
+ SweeperTaskModel.getInstance().onSweeperFutianCloudBootable(
+ MessageType.PadSendBootable, "${System.currentTimeMillis()}",
+ System.currentTimeMillis(), builder.build()
+ )
+ }, 10000)
+ }
+
+ private fun getDriverSn(): String? {
+ return MoGoAiCloudClientConfig.getInstance().sn
+ }
+
+ /**
+ * 创建接收任务弹窗
+ */
+ @JvmStatic
+ fun createReceivedTaskInfoDialog(context: Context?, listener: SweeperCloudDialogClickListener?, taskInfo: TaskInfo): SweeperCloudDialog? {
+ var builder: SweeperCloudDialog.Builder = SweeperCloudDialog.Builder()
+ val startCalendar = DateTimeUtil.formatLongToCalendar(taskInfo.taskStartTime)
+ val endCalendar = DateTimeUtil.formatLongToCalendar(taskInfo.taskEndTime)
+ builder.titleStr = "任务接取"
+ builder.contentStr = "请确认是否接取${taskInfo.taskName}"
+ builder.tipStr = "（任务时间${DateTimeUtil.formatCalendarToString(startCalendar, DateTimeUtil.HH_mm)}-${
+ DateTimeUtil.formatCalendarToString(
+ endCalendar,
+ DateTimeUtil.HH_mm
+ )
+ }）"
+ builder.leftStr = "确认"
+ builder.middleStr = ""
+ builder.rightStr = "拒绝"
+ builder.countDownTime = 15
+ builder.listener = listener
+ return context?.let { it1 -> builder.build(it1) }
+ }
+
+ /**
+ * 创建确认开始子任务弹窗
+ */
+ @JvmStatic
+ fun createConfirmStartSubTaskDialog(
+ context: Context?,
+ listener: SweeperCloudDialogClickListener?,
+ subTaskInfo: SubTaskInfo
+ ): SweeperCloudDialog? {
+ var builder: SweeperCloudDialog.Builder = SweeperCloudDialog.Builder()
+ builder.titleStr = "任务确认"
+ builder.contentStr = "请确认是否执行${subTaskInfo.subTaskName}"
+ builder.tipStr =
+ if (subTaskInfo.taskModel == TaskModel.MANUAL) "[需手动驾驶至终点${subTaskInfo.endLocation.siteName}]" else "[自动驾驶至终点${subTaskInfo.endLocation.siteName}]"
+ builder.leftStr = "确认"
+ builder.middleStr = "下一个"
+ builder.rightStr = "结束"
+ builder.countDownTime = 15
+ builder.listener = listener
+ return context?.let { it1 -> builder.build(it1) }
+ }
+
+ /**
+ * 创建结束任务弹窗
+ */
+ @JvmStatic
+ fun createSweeperTaskEndDialog(
+ context: Context?,
+ listener: SweeperCloudDialogClickListener?,
+ stopTaskType: SweeperTaskStop.StopTaskType,
+ timeoutStr: String
+ ): SweeperCloudDialog? {
+ var builder: SweeperCloudDialog.Builder = SweeperCloudDialog.Builder()
+ builder.titleStr = "任务结束"
+ when (stopTaskType) {
+ //任务提前结束
+ SweeperTaskStop.StopTaskType.ADVANCE -> {
+ builder.contentStr = "云端请求终止任务，请确认"
+ builder.tipStr = "【确认后请接管停车】"
+ builder.leftStr = "确认"
+ builder.middleStr = ""
+ builder.rightStr = "拒绝"
+ VoiceNotice.showNotice("云端请求终止任务，请确认")
+ }
+ //任务超时结束
+ SweeperTaskStop.StopTaskType.TIMEOUT -> {
+ builder.contentStr = "任务已超时${timeoutStr},请确认是否结束"
+ builder.tipStr = "【结束后请接管停车】"
+ builder.leftStr = "确认"
+ builder.middleStr = ""
+ builder.rightStr = "拒绝"
+ VoiceNotice.showNotice("任务已超时${timeoutStr},请确认是否结束")
+ }
+ }
+ builder.countDownTime = 15
+ builder.listener = listener
+ return context?.let { it1 -> builder.build(it1) }
+ }
+
+ /**
+ * 任务正常结束弹窗
+ */
+ @JvmStatic
+ fun createSweeperTaskNormalEndDialog(
+ context: Context?,
+ listener: SweeperCloudDialogClickListener?
+ ): SweeperCloudDialog? {
+ var builder: SweeperCloudDialog.Builder = SweeperCloudDialog.Builder()
+ builder.titleStr = "任务结束"
+ builder.contentStr = "任务已完成，干的漂亮！"
+ builder.tipStr = ""
+ builder.leftStr = "确认"
+ builder.middleStr = ""
+ builder.rightStr = ""
+ builder.countDownTime = 10
+ builder.listener = listener
+ return context?.let { it1 -> builder.build(it1) }
+ }
+
+ @JvmStatic
+ fun printMessage(message: MessageOrBuilder): String {
+ return "\n"+TextFormat.printer().escapingNonAscii(false).printToString(message)
+ }
+ @JvmStatic
+ fun getRequestId():String{
+ return UUID.randomUUID().toString()
+ }
+}
\ No newline at end of file
diff --git a/OCH/sweeper/sweeper-cloud/src/main/java/com/mogo/och/sweepercloud/util/SweeperFutianCmdUtil.java b/OCH/sweeper/sweeper-cloud/src/main/java/com/mogo/och/sweepercloud/util/SweeperFutianCmdUtil.java
new file mode 100644
index 0000000000..35e2a0963b
--- /dev/null
+++ b/OCH/sweeper/sweeper-cloud/src/main/java/com/mogo/och/sweepercloud/util/SweeperFutianCmdUtil.java
@@ -0,0 +1,202 @@
+package com.mogo.och.sweepercloud.util;
+
+import chassis.ChassisStatesOuterClass;
+import chassis.SpecialVehicleTaskCmdOuterClass;
+
+/**
+ * 清扫车-福田，构建业务命令数据的工具类
+ */
+public class SweeperFutianCmdUtil {
+ public static final int CLEAN_WORK_OPEN = 1; //清扫作业-开启
+ public 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
+ public 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
+ public 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();
+ }
+
+ /**
+ * 判断是否有作业模式
+ * @param cleanSystemState
+ * @return true:没有作业模式 false：有作业模式
+ */
+ public static boolean checkIfCleanMode(ChassisStatesOuterClass.SweeperFuTianTaskSystemStates cleanSystemState){
+ return (!cleanSystemState.getSecuModWashSweepSts()&&!cleanSystemState.getSecuModWashSts()&&!cleanSystemState.getSecuWorkTonSts())&&
+ (!cleanSystemState.getSecuWorkLeftSts()&&!cleanSystemState.getSecuWorkRightSts()&&!cleanSystemState.getSecuWorkOnBothsidesSts());
+ }
+
+ /**
+ * 判断是否有清扫方向
+ * @param cleanSystemState
+ * @return true:没有清扫方向 false：有清扫方向
+ */
+ public static boolean checkIfCleanDirection(ChassisStatesOuterClass.SweeperFuTianTaskSystemStates cleanSystemState){
+ return !cleanSystemState.getSecuWorkLeftSts()&&!cleanSystemState.getSecuWorkRightSts()&&!cleanSystemState.getSecuWorkOnBothsidesSts();
+ }
+ /**
+ * 判断是否有作业强度
+ * @param cleanSystemState
+ * @return true:没有作业强度 false：有作业强度
+ */
+ public static boolean checkIfCleanIntensity(ChassisStatesOuterClass.SweeperFuTianTaskSystemStates cleanSystemState){
+ return !cleanSystemState.getSecuWorkStandSts()&&!cleanSystemState.getSecuWorkStrongSts();
+ }
+ /**
+ * 判断是否纯扫模式
+ *
+ * @param cleanSystemState
+ * @return
+ */
+ public static boolean checkIfCleanModePureSweep(ChassisStatesOuterClass.SweeperFuTianTaskSystemStates 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;
+ }
+ /**
+ * 构建底盘Mock数据
+ *
+ * @return
+ */
+ public static ChassisStatesOuterClass.SweeperFuTianTaskSystemStates buildSweeperFuTionCleanSystemStateMockData() {
+ ChassisStatesOuterClass.SweeperFuTianTaskSystemStates.Builder builder = ChassisStatesOuterClass.SweeperFuTianTaskSystemStates.newBuilder();
+ builder.setSecuMotWorkSts(true);
+ builder.setSecuModWashSts(true);
+ builder.setSecuWorkOnBothsidesSts(true);
+ builder.setSecuWorkStrongSts(true);
+ return builder.build();
+ }
+
+}
diff --git a/OCH/sweeper/sweeper-cloud/src/main/java/com/mogo/och/sweepercloud/util/SweeperMapAssetStyleUtil.java b/OCH/sweeper/sweeper-cloud/src/main/java/com/mogo/och/sweepercloud/util/SweeperMapAssetStyleUtil.java
new file mode 100644
index 0000000000..57d39a354b
--- /dev/null
+++ b/OCH/sweeper/sweeper-cloud/src/main/java/com/mogo/och/sweepercloud/util/SweeperMapAssetStyleUtil.java
@@ -0,0 +1,61 @@
+package com.mogo.och.sweepercloud.util;
+
+
+import android.content.Context;
+
+import java.io.IOException;
+import java.io.InputStream;
+
+/**
+ * @author donghongyu
+ * @date 12/18/20 5:37 PM
+ */
+public class SweeperMapAssetStyleUtil {
+
+ public static byte[] getAssetsStyle(Context context,String fileName) {
+ byte[] buffer1 = null;
+ InputStream is1 = null;
+ try {
+ is1 = context.getResources().getAssets().open(fileName); //eg. over_view_style.data
+ int lenght1 = is1.available();
+ buffer1 = new byte[lenght1];
+ is1.read(buffer1);
+ } catch (IOException e) {
+ e.printStackTrace();
+ } finally {
+ try {
+ if (is1 != null) {
+ is1.close();
+ }
+ } catch (IOException e) {
+ e.printStackTrace();
+ }
+ }
+ return buffer1;
+ }
+
+
+ public static byte[] getAssetsExtraStyle(Context context, String fileName) {
+ byte[] buffer1 = null;
+ InputStream is1 = null;
+ try {
+ is1 = context.getResources().getAssets().open(fileName); //eg. over_view_style_extra.data
+ int lenght1 = is1.available();
+ buffer1 = new byte[lenght1];
+ is1.read(buffer1);
+ } catch (IOException e) {
+ e.printStackTrace();
+ } finally {
+ try {
+ if (is1 != null) {
+ is1.close();
+ }
+ } catch (IOException e) {
+ e.printStackTrace();
+ }
+ }
+ return buffer1;
+ }
+
+
+}
diff --git a/OCH/sweeper/sweeper-cloud/src/main/java/com/mogo/och/sweepercloud/view/CountDownView.kt b/OCH/sweeper/sweeper-cloud/src/main/java/com/mogo/och/sweepercloud/view/CountDownView.kt
new file mode 100644
index 0000000000..5790ef8072
--- /dev/null
+++ b/OCH/sweeper/sweeper-cloud/src/main/java/com/mogo/och/sweepercloud/view/CountDownView.kt
@@ -0,0 +1,65 @@
+package com.mogo.och.sweepercloud.view
+
+import android.content.Context
+import android.os.Handler
+import android.os.Message
+import android.util.AttributeSet
+import androidx.appcompat.widget.AppCompatTextView
+/**
+ * 倒计时View
+ */
+class CountDownView : AppCompatTextView, Handler.Callback {
+ private val mHandler = Handler(this)
+ private var mCountDownTime = DEFAULT_COUNT_DOWN_TIME
+ private var listener: CountDownListener? = null
+
+ constructor(context: Context?) : super(context!!) {}
+ constructor(context: Context?, attrs: AttributeSet?) : super(context!!, attrs) {}
+ constructor(context: Context?, attrs: AttributeSet?, defStyleAttr: Int) : super(context!!, attrs, defStyleAttr) {}
+
+ override fun handleMessage(message: Message): Boolean {
+ if (message.what == MSG_COUNT_DOWN) {
+ mCountDownTime--
+ if (mCountDownTime > 0) {
+ text = "$mCountDownTime"
+ mHandler.sendEmptyMessageDelayed(MSG_COUNT_DOWN, DEFAULT_COUNT_DOWN_DELAY)
+ } else {
+ stopCountDown()
+ listener?.stop()
+ }
+ }
+ return false
+ }
+
+ fun setCountDownListener(listener: CountDownListener?) {
+ this.listener = listener
+ }
+
+ /**
+ * 启动倒计时
+ */
+ fun startCountDown(countDownTime:Int) {
+ mHandler.removeMessages(MSG_COUNT_DOWN)
+ text = "$countDownTime"
+ mCountDownTime=countDownTime
+ mHandler.sendEmptyMessageDelayed(MSG_COUNT_DOWN, DEFAULT_COUNT_DOWN_DELAY)
+ }
+
+ /**
+ * 停止倒计时
+ */
+ fun stopCountDown() {
+ mHandler.removeMessages(MSG_COUNT_DOWN)
+ text = null
+ }
+
+ interface CountDownListener {
+ fun stop()
+ }
+
+ companion object {
+ private const val DEFAULT_COUNT_DOWN_TIME = 15
+ private const val MSG_COUNT_DOWN = 1001
+ private const val DEFAULT_COUNT_DOWN_DELAY = 1000L
+ }
+}
\ No newline at end of file
diff --git a/OCH/sweeper/sweeper-cloud/src/main/java/com/mogo/och/sweepercloud/view/FontAdaptionTextView.java b/OCH/sweeper/sweeper-cloud/src/main/java/com/mogo/och/sweepercloud/view/FontAdaptionTextView.java
new file mode 100644
index 0000000000..816baff142
--- /dev/null
+++ b/OCH/sweeper/sweeper-cloud/src/main/java/com/mogo/och/sweepercloud/view/FontAdaptionTextView.java
@@ -0,0 +1,47 @@
+package com.mogo.och.sweepercloud.view;
+
+import android.content.Context;
+import android.util.AttributeSet;
+import android.util.TypedValue;
+import android.widget.TextView;
+
+public class FontAdaptionTextView extends TextView {
+ public FontAdaptionTextView(Context context) {
+ super(context);
+ }
+
+ public FontAdaptionTextView(Context context, AttributeSet attrs) {
+ super(context, attrs);
+ }
+
+ public FontAdaptionTextView(Context context, AttributeSet attrs, int defStyleAttr) {
+ super(context, attrs, defStyleAttr);
+ }
+
+ @Override
+ protected void onMeasure(int widthMeasureSpec, int heightMeasureSpec) {
+ super.onMeasure(widthMeasureSpec, heightMeasureSpec);
+ if (getMeasuredWidth() != 0) {
+
+ //判断View字体行数
+ if (getLayout().getLineCount() > 1) {
+ //获取view内部间隔
+ int l = getPaddingLeft();
+ int r = getPaddingRight();
+ float pp = 0;
+ //计算字符串长度
+ for (int i = 0; i < getLayout().getLineCount(); i++) {
+ pp = pp + l + r + getLayout().getLineWidth(i);
+ }
+
+ //计算view的宽度与字符串长度的比例
+ float f = getMeasuredWidth() / pp;
+ //获取缩放后的字体高度
+ float s = getTextSize() * f;
+ //设置控件字体大小
+ setTextSize(TypedValue.COMPLEX_UNIT_PX, s);
+ }
+ }
+ }
+
+}
diff --git a/OCH/sweeper/sweeper-cloud/src/main/java/com/mogo/och/sweepercloud/view/LegendItemView.kt b/OCH/sweeper/sweeper-cloud/src/main/java/com/mogo/och/sweepercloud/view/LegendItemView.kt
new file mode 100644
index 0000000000..b5598dce04
--- /dev/null
+++ b/OCH/sweeper/sweeper-cloud/src/main/java/com/mogo/och/sweepercloud/view/LegendItemView.kt
@@ -0,0 +1,32 @@
+package com.mogo.och.sweepercloud.view
+
+import android.content.Context
+import android.util.AttributeSet
+import android.view.LayoutInflater
+import android.widget.LinearLayout
+import com.mogo.och.sweepercloud.R
+import kotlinx.android.synthetic.main.sweeper_item_legend.view.*
+
+/**
+ * 任务路线全览图图例
+ */
+class LegendItemView:LinearLayout {
+ constructor(context: Context) : super(context) {}
+ constructor(context: Context, attrs: AttributeSet?) : super(context, attrs) {
+ 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) {}
+
+ private fun initView(context: Context) {
+ LayoutInflater.from(context).inflate(R.layout.sweeper_item_legend, this)
+ }
+
+ /**
+ * 设置数据
+ */
+ fun setData(resId:Int,text:String){
+ sweeperLegendIcon.setImageResource(resId)
+ sweeperLegendText.text = text
+ }
+}
\ No newline at end of file
diff --git a/OCH/sweeper/sweeper-cloud/src/main/java/com/mogo/och/sweepercloud/view/NoTouchConstraintLayout.java b/OCH/sweeper/sweeper-cloud/src/main/java/com/mogo/och/sweepercloud/view/NoTouchConstraintLayout.java
new file mode 100644
index 0000000000..0e5714b7cf
--- /dev/null
+++ b/OCH/sweeper/sweeper-cloud/src/main/java/com/mogo/och/sweepercloud/view/NoTouchConstraintLayout.java
@@ -0,0 +1,45 @@
+package com.mogo.och.sweepercloud.view;
+
+import android.content.Context;
+import android.util.AttributeSet;
+import android.view.MotionEvent;
+
+import androidx.constraintlayout.widget.ConstraintLayout;
+
+/**
+ * 强制拦截所有touch时间的约束布局
+ *
+ * @author tongchenfei
+ */
+public class NoTouchConstraintLayout extends ConstraintLayout {
+ private boolean interceptTouchEvent = false;
+
+ public NoTouchConstraintLayout(Context context) {
+ super(context);
+ }
+
+ public NoTouchConstraintLayout(Context context, AttributeSet attrs) {
+ super(context, attrs);
+ }
+
+ public NoTouchConstraintLayout(Context context, AttributeSet attrs, int defStyleAttr) {
+ super(context, attrs, defStyleAttr);
+ }
+
+ @Override
+ public boolean onInterceptTouchEvent(MotionEvent ev) {
+ if (interceptTouchEvent) {
+ return true;
+ }
+ return false;
+ }
+
+ /**
+ * 设置事件拦截
+ *
+ * @param interceptTouchEvent
+ */
+ public void setInterceptTouchEvent(boolean interceptTouchEvent) {
+ this.interceptTouchEvent = interceptTouchEvent;
+ }
+}
diff --git a/OCH/sweeper/sweeper-cloud/src/main/java/com/mogo/och/sweepercloud/view/NoTouchFrameLayout.java b/OCH/sweeper/sweeper-cloud/src/main/java/com/mogo/och/sweepercloud/view/NoTouchFrameLayout.java
new file mode 100644
index 0000000000..10ff08d760
--- /dev/null
+++ b/OCH/sweeper/sweeper-cloud/src/main/java/com/mogo/och/sweepercloud/view/NoTouchFrameLayout.java
@@ -0,0 +1,30 @@
+package com.mogo.och.sweepercloud.view;
+
+import android.content.Context;
+import android.util.AttributeSet;
+import android.view.MotionEvent;
+import android.widget.FrameLayout;
+
+/**
+ * 强制拦截所有touch时间的约束布局
+ *
+ * @author tongchenfei
+ */
+public class NoTouchFrameLayout extends FrameLayout {
+ public NoTouchFrameLayout(Context context) {
+ super(context);
+ }
+
+ public NoTouchFrameLayout(Context context, AttributeSet attrs) {
+ super(context, attrs);
+ }
+
+ public NoTouchFrameLayout(Context context, AttributeSet attrs, int defStyleAttr) {
+ super(context, attrs, defStyleAttr);
+ }
+
+ @Override
+ public boolean onInterceptTouchEvent(MotionEvent ev) {
+ return false;
+ }
+}
diff --git a/OCH/sweeper/sweeper-cloud/src/main/java/com/mogo/och/sweepercloud/view/SubTaskView.kt b/OCH/sweeper/sweeper-cloud/src/main/java/com/mogo/och/sweepercloud/view/SubTaskView.kt
new file mode 100644
index 0000000000..32559b6bdc
--- /dev/null
+++ b/OCH/sweeper/sweeper-cloud/src/main/java/com/mogo/och/sweepercloud/view/SubTaskView.kt
@@ -0,0 +1,48 @@
+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 androidx.constraintlayout.widget.ConstraintLayout
+import com.mogo.och.sweepercloud.R
+import com.zhjt.mogo.adas.data.sweeper.common.SweeperCommon
+import com.zhjt.mogo.adas.data.sweeper.task.SweeperTask.SubTaskInfo
+import com.zhjt.mogo.adas.data.sweeper.task.SweeperTask.TaskModel
+import kotlinx.android.synthetic.main.sweeper_subtask_view.view.*
+
+/**
+ * 子任务View
+ */
+class SubTaskView : ConstraintLayout {
+ constructor(context: Context) : super(context) {}
+ constructor(context: Context, attrs: AttributeSet?) : super(context, attrs) {
+ 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) {}
+
+ private fun initView(context: Context) {
+ LayoutInflater.from(context).inflate(R.layout.sweeper_subtask_view, this)
+ }
+
+ /**
+ * 设置子任务信息
+ */
+ fun setData(taskInfo: SubTaskInfo,isLastTask: Boolean = false) {
+ tvSubTaskName.text = taskInfo.subTaskName
+ tvSubTaskName.setTextColor(if (taskInfo.taskStatus==SweeperCommon.TaskStatus.RUNNING) Color.parseColor("#3BD2FF") else Color.parseColor("#FFFFFF"))
+ if (taskInfo.taskModel == TaskModel.MANUAL) {//人工驾驶子任务
+ ivManualDriving.visibility = View.VISIBLE
+ } else {
+ ivManualDriving.visibility = View.GONE
+ }
+ if (taskInfo.taskStatus==SweeperCommon.TaskStatus.RUNNING) {
+ ivSubTask.setImageResource(R.drawable.sweeper_icon_select_subtask)
+ } else {
+ ivSubTask.setImageResource(R.drawable.sweeper_icon_not_select_subtask)
+ }
+ ivRightDownArrow.visibility = if (isLastTask) View.GONE else View.VISIBLE
+ }
+}
\ No newline at end of file
diff --git 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
new file mode 100644
index 0000000000..3bdbcea852
--- /dev/null
+++ b/OCH/sweeper/sweeper-cloud/src/main/java/com/mogo/och/sweepercloud/view/SweeperCurrentTaskInfoView.kt
@@ -0,0 +1,128 @@
+package com.mogo.och.sweepercloud.view
+
+import android.content.Context
+import android.util.AttributeSet
+import android.view.LayoutInflater
+import android.view.View
+import android.widget.TextView
+import androidx.constraintlayout.widget.ConstraintLayout
+import com.mogo.och.common.module.utils.DateTimeUtil
+import com.mogo.och.sweepercloud.R
+import com.zhjt.mogo.adas.data.sweeper.common.SweeperCommon.TaskStatus
+import com.zhjt.mogo.adas.data.sweeper.task.SweeperTask.SubTaskInfo
+import com.zhjt.mogo.adas.data.sweeper.task.SweeperTask.TaskInfo
+import kotlinx.android.synthetic.main.sweeper_current_task_info.view.*
+
+/**
+ * 清扫车当前任务信息展示
+ */
+class SweeperCurrentTaskInfoView : ConstraintLayout {
+ private val TAG: String = "SweeperCurrentTaskInfoView"
+
+ //当前任务操作菜单
+ private var listTask: List? = null
+
+ constructor(context: Context) : super(context) {}
+ constructor(context: Context, attrs: AttributeSet?) : super(context, attrs) {
+ 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) {}
+
+ private fun initView(context: Context) {
+ LayoutInflater.from(context).inflate(R.layout.sweeper_current_task_info, this)
+ setSubTaskState(false)
+ }
+
+ fun getAutoBtn(): TextView {
+ return tvStartAuto
+ }
+
+ /**
+ * 设置当前任务数据
+ */
+ fun setData(
+ subTaskBean: TaskInfo?,
+ currentPosition: Int = -1
+ ) {
+ subTaskBean?.apply {
+ this@SweeperCurrentTaskInfoView.listTask = subListList
+ 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
+ )
+ }"
+ }
+ listTask?.let {
+ //特殊处理当前暂无执行中任务的情况
+ if (currentPosition == -1) {
+ setSubTaskState(false)
+ setCurrentData(currentPosition + 1)
+ } else {
+ setSubTaskState(it[currentPosition].taskStatus == TaskStatus.RUNNING)
+ setCurrentData(currentPosition)
+ }
+ }
+ }
+
+ /**
+ * 设置子任务的状态
+ */
+ private fun setSubTaskState(isWorking: Boolean) {
+ if (isWorking) {
+ tvTaskState.text = "正在作业"
+ tvTaskState.setBackgroundResource(R.drawable.bg_shape_task_state_working)
+ } else {
+ tvTaskState.text = "暂未准备"
+ tvTaskState.setBackgroundResource(R.drawable.bg_shape_task_state_not_ready)
+ }
+ }
+
+ /**
+ * 填充数据
+ */
+ private fun setCurrentData(currentPosition: Int) {
+ listTask?.let {
+ if (it.size == 1) {
+ preSubTask.setData(it[currentPosition], isLastTask = true)
+ currentSubTask.visibility = View.INVISIBLE
+ lastSubTask.visibility = View.INVISIBLE
+ } else if (it.size == 2) {
+ if (currentPosition == 0) {
+ preSubTask.setData(it[currentPosition])
+ currentSubTask.setData(it[1], isLastTask = true)
+ } else {
+ preSubTask.setData(it[currentPosition - 1])
+ currentSubTask.setData(it[currentPosition], isLastTask = true)
+ }
+ preSubTask.visibility = View.VISIBLE
+ currentSubTask.visibility = View.VISIBLE
+ lastSubTask.visibility = View.GONE
+ } else {
+ preSubTask.visibility = View.VISIBLE
+ currentSubTask.visibility = View.VISIBLE
+ lastSubTask.visibility = View.VISIBLE
+ //当前正在执行的任务是第一个子任务
+ if (currentPosition == 0) {
+ preSubTask.setData(it[currentPosition])
+ currentSubTask.setData(it[1])
+ lastSubTask.setData(it[2], isLastTask = true)
+ //当前正在执行的任务是最后一个子任务
+ } else if (currentPosition == it.size - 1) {
+ preSubTask.setData(it[currentPosition - 2])
+ currentSubTask.setData(it[currentPosition - 1])
+ lastSubTask.setData(it[currentPosition], isLastTask = true)
+ } else {
+ preSubTask.setData(it[currentPosition - 1])
+ currentSubTask.setData(it[currentPosition])
+ lastSubTask.setData(it[currentPosition + 1], isLastTask = true)
+ }
+ }
+ }
+ }
+}
\ No newline at end of file
diff --git a/OCH/sweeper/sweeper-cloud/src/main/java/com/mogo/och/sweepercloud/view/SweeperLimitingVelocityView.kt b/OCH/sweeper/sweeper-cloud/src/main/java/com/mogo/och/sweepercloud/view/SweeperLimitingVelocityView.kt
new file mode 100644
index 0000000000..f7c2dff777
--- /dev/null
+++ b/OCH/sweeper/sweeper-cloud/src/main/java/com/mogo/och/sweepercloud/view/SweeperLimitingVelocityView.kt
@@ -0,0 +1,59 @@
+package com.mogo.och.sweepercloud.view
+
+import android.content.Context
+import android.util.AttributeSet
+import android.view.LayoutInflater
+import android.view.View
+import android.widget.LinearLayout
+import com.mogo.eagle.core.data.enums.DataSourceType
+import com.mogo.eagle.core.function.api.hmi.view.IViewControlListener
+import com.mogo.eagle.core.function.api.hmi.view.IViewControlListener.Companion.LimitingVelocityView_TAG
+import com.mogo.eagle.core.function.api.datacenter.union.ILimitingVelocityListener
+import com.mogo.eagle.core.function.call.hmi.CallerHmiViewControlListenerManager
+import com.mogo.eagle.core.function.call.v2x.CallerLimitingVelocityListenerManager
+import com.mogo.eagle.core.utilcode.util.ThreadUtils
+import com.mogo.och.sweepercloud.R
+import kotlinx.android.synthetic.main.sweeper_limiting_speed.view.*
+
+class SweeperLimitingVelocityView(
+ context: Context,
+ attrs: AttributeSet? = null,
+) : LinearLayout(context, attrs), ILimitingVelocityListener, IViewControlListener {
+
+ companion object {
+ private const val TAG = "SweeperLimitingVelocityView"
+ }
+
+ init {
+ LayoutInflater.from(context).inflate(R.layout.sweeper_limiting_speed, this, true)
+ }
+
+ override fun onAttachedToWindow() {
+ super.onAttachedToWindow()
+ CallerLimitingVelocityListenerManager.addListener(TAG, this)
+ CallerHmiViewControlListenerManager.addListener(LimitingVelocityView_TAG, this)
+ }
+
+ override fun onLimitingVelocityChange(limitingVelocity: Int, sourceType: DataSourceType) {
+ ThreadUtils.runOnUiThread {
+ if (limitingVelocity > 0) {
+ this.visibility = View.VISIBLE
+ tvLimitingVelocity.text = "$limitingVelocity"
+ } else {
+ this.visibility = View.GONE
+ }
+ }
+ }
+
+ override fun visible(v: Int) {
+ super.visible(v)
+ this.visibility = v
+ }
+
+ override fun onDetachedFromWindow() {
+ super.onDetachedFromWindow()
+ CallerLimitingVelocityListenerManager.removeListener(TAG)
+ CallerHmiViewControlListenerManager.removeListener(LimitingVelocityView_TAG)
+ }
+
+}
\ No newline at end of file
diff --git a/OCH/sweeper/sweeper-cloud/src/main/java/com/mogo/och/sweepercloud/view/SweeperTrafficDataView.kt b/OCH/sweeper/sweeper-cloud/src/main/java/com/mogo/och/sweepercloud/view/SweeperTrafficDataView.kt
new file mode 100644
index 0000000000..6ee2639db7
--- /dev/null
+++ b/OCH/sweeper/sweeper-cloud/src/main/java/com/mogo/och/sweepercloud/view/SweeperTrafficDataView.kt
@@ -0,0 +1,196 @@
+package com.mogo.och.sweepercloud.view
+
+import android.annotation.SuppressLint
+import android.content.Context
+import android.util.AttributeSet
+import android.view.LayoutInflater
+import android.widget.ImageView
+import android.widget.TextView
+import androidx.constraintlayout.widget.ConstraintLayout
+import chassis.Chassis.GearPosition
+import chassis.Chassis.LightSwitch
+import chassis.ChassisStatesOuterClass.BMSSystemStates
+import chassis.ChassisStatesOuterClass.SweeperFuTianTaskSystemStates
+import com.elegant.utils.UiThreadHandler
+import com.mogo.eagle.core.function.api.autopilot.*
+import com.mogo.eagle.core.function.call.autopilot.*
+import com.mogo.eagle.core.function.hmi.ui.widget.TapPositionView
+import com.mogo.eagle.core.utilcode.mogo.logger.CallerLogger.d
+import com.mogo.eagle.core.utilcode.mogo.logger.scene.SceneConstant
+import com.mogo.eagle.core.utilcode.util.ThreadUtils
+import com.mogo.och.sweepercloud.R
+import planning.RoboSweeperTaskIndexOuterClass
+import kotlin.math.roundToInt
+
+/**
+ * 车辆基本信息：方向盘下方的档位 转向灯 限速 速度 电量 水量
+ */
+class SweeperTrafficDataView : ConstraintLayout,
+ IMoGoBatteryManagementSystemListener,
+ IMoGoChassisLamplightListener,
+ IMoGoChassisGearStateListener,
+ IMoGoSweeperFutianCleanSystemListener {
+ private var tapPositionView //方向盘下方的档位
+ : TapPositionView? = null
+ private var speedImage //速度图标
+ : ImageView? = null
+ private var speedTextView //速度值
+ : TextView? = null
+ private var sweeperAutoState //自动驾驶状态
+ : TextView? = null
+ private var tvBattery //电量百分比展示
+ : TextView? = null
+ private var ivBgWaterWarning //水位预警背景图
+ : ImageView? = null
+ private var ivWater //水位图标
+ : ImageView? = null
+
+ private val TAG = "SweeperTrafficDataView"
+
+ // 底盘数据回调时间间隔
+ private val VEHICLE_STATE_INTERVAL_MILLIS = 500L
+
+ // 当前时间戳
+ private var mCurrentTimeWaterMillis: Long = 0
+
+ private var mCurrentTimeBatteryMillis: Long = 0
+
+ constructor(context: Context) : super(context) {}
+ constructor(context: Context, attrs: AttributeSet?) : super(context, attrs) {
+ 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) {}
+
+ private fun initView(context: Context) {
+ LayoutInflater.from(context).inflate(R.layout.sweeper_traffic_data, this)
+ tapPositionView = findViewById(R.id.sweeperTrafficPosition)
+ speedImage = findViewById(R.id.sweeperSpeedImage)
+ speedTextView = findViewById(R.id.sweeperSpeedText)
+ sweeperAutoState = findViewById(R.id.sweeperAutoState)
+ tvBattery = findViewById(R.id.tvBattery)
+ ivBgWaterWarning = findViewById(R.id.sweeperIvBgWaterWarning)
+ ivWater = findViewById(R.id.sweeperIvWater)
+ }
+
+ override fun onAttachedToWindow() {
+ super.onAttachedToWindow()
+ //电量
+ CallerBatteryManagementSystemListenerManager.addListener(TAG, this)
+ //转向灯
+ CallerChassisLamplightListenerManager.addListener(TAG, this)
+ //档位
+ CallerChassisGearStateListenerManager.addListener(TAG, this)
+ //清扫车相关数据接口
+ CallerSweeperFutianCleanSystemListenerManager.addListener(TAG, this)
+ }
+
+ override fun onDetachedFromWindow() {
+ super.onDetachedFromWindow()
+ CallerBatteryManagementSystemListenerManager.removeListener(TAG)
+ CallerChassisLamplightListenerManager.removeListener(TAG)
+ CallerChassisGearStateListenerManager.removeListener(TAG)
+ CallerSweeperFutianCleanSystemListenerManager.removeListener(TAG)
+ }
+
+ override fun onSweeperFutianTaskIndexData(roboSweeperTaskIndex: RoboSweeperTaskIndexOuterClass.RoboSweeperTaskIndex) {}
+ override fun onSweeperFutianCleanSystemState(cleanSystemState: SweeperFuTianTaskSystemStates) {
+ val current = System.currentTimeMillis()
+ if (current - mCurrentTimeWaterMillis <= VEHICLE_STATE_INTERVAL_MILLIS) {
+ return
+ }
+ mCurrentTimeWaterMillis = current
+ d(SceneConstant.M_SWEEPER + TAG, "水位：${cleanSystemState.hasSecuCleanWaterTankLow()}")
+ UiThreadHandler.post {
+ if (cleanSystemState.hasSecuCleanWaterTankLow()) { //清水箱水位低不能清洗作业报警信号
+ ivBgWaterWarning?.visibility = VISIBLE
+ ivWater?.isSelected = true
+ } else {
+ ivBgWaterWarning?.visibility = GONE
+ ivWater?.isSelected = false
+ }
+ }
+
+ }
+
+ @SuppressLint("SetTextI18n")
+ override fun onBatteryManagementSystemStates(states: BMSSystemStates) {
+ val current = System.currentTimeMillis()
+ if (current - mCurrentTimeBatteryMillis <= VEHICLE_STATE_INTERVAL_MILLIS) {
+ return
+ }
+ mCurrentTimeBatteryMillis = current
+ d(SceneConstant.M_SWEEPER + TAG, "电量：${states.bmsSoc}")
+ UiThreadHandler.post {
+ tvBattery?.text = "${states.bmsSoc.roundToInt()}%"
+ }
+ }
+
+ /**
+ * 车辆转向灯
+ * @param directionLight
+ */
+ override fun onAutopilotLightSwitchData(lightSwitch: LightSwitch?) {
+ //转向灯状态 0是正常 1是左转 2是右转
+ }
+
+ /**
+ * 设置自动驾驶状态
+ */
+ fun setAutoState(state: Int) {
+ when (state) {
+ //不可自动驾驶
+ IMoGoAutopilotStatusListener.STATUS_AUTOPILOT_DISABLE -> {
+ sweeperAutoState?.text="自动驾驶"
+ sweeperAutoState?.setBackgroundResource(R.drawable.icon_not_auto)
+ }
+ //人工驾驶
+ IMoGoAutopilotStatusListener.STATUS_AUTOPILOT_ENABLE -> {
+ sweeperAutoState?.text="人工驾驶"
+ sweeperAutoState?.setBackgroundResource(R.drawable.icon_auto)
+ }
+ //自动驾驶中
+ IMoGoAutopilotStatusListener.STATUS_AUTOPILOT_RUNNING -> {
+ sweeperAutoState?.text="自动驾驶"
+ sweeperAutoState?.setBackgroundResource(R.drawable.icon_auto)
+ }
+ //平行驾驶
+ IMoGoAutopilotStatusListener.STATUS_PARALLEL_DRIVING -> {
+ sweeperAutoState?.text="平行驾驶"
+ sweeperAutoState?.setBackgroundResource(R.drawable.icon_auto)
+ }
+ }
+ }
+
+ /**
+ * 刹车灯
+ * @param brakeLight
+ */
+ override fun onAutopilotBrakeLightData(brakeLight: Boolean) {
+ d(TAG, "刹车灯:$brakeLight")
+ }
+
+ /**
+ * 方向盘下方的档位
+ * @param gear
+ */
+ override fun onAutopilotGearData(gear: GearPosition) {
+ d(TAG, "司机屏档位$gear")
+ ThreadUtils.runOnUiThread {
+ tapPositionView?.updateWithGear(gear)
+ }
+ }
+
+ fun getSpeedImage(): ImageView? {
+ return speedImage
+ }
+
+ /**
+ * 速度设置
+ */
+ fun updateSpeedWithValue(newSpeed: Int) {
+ speedTextView?.text = newSpeed.toString()
+ speedImage?.setBackgroundResource(if (newSpeed > 60) R.drawable.sweeper_traffic_data_speed_warning else R.drawable.sweeper_bg_traffic_data_speed)
+ }
+}
\ No newline at end of file
diff --git a/OCH/sweeper/sweeper-cloud/src/main/java/com/mogo/och/sweepercloud/view/SweeperTrafficLightView.kt b/OCH/sweeper/sweeper-cloud/src/main/java/com/mogo/och/sweepercloud/view/SweeperTrafficLightView.kt
new file mode 100644
index 0000000000..96a5af1933
--- /dev/null
+++ b/OCH/sweeper/sweeper-cloud/src/main/java/com/mogo/och/sweepercloud/view/SweeperTrafficLightView.kt
@@ -0,0 +1,148 @@
+package com.mogo.och.sweepercloud.view
+
+import android.content.Context
+import android.util.AttributeSet
+import android.view.LayoutInflater
+import android.widget.LinearLayout
+import com.mogo.eagle.core.data.enums.DataSourceType
+import com.mogo.eagle.core.data.enums.TrafficLightEnum
+import com.mogo.eagle.core.function.api.datacenter.union.IMoGoTrafficLightListener
+import com.mogo.eagle.core.function.call.v2x.CallerTrafficLightListenerManager
+import com.mogo.eagle.core.utilcode.mogo.logger.CallerLogger
+import com.mogo.eagle.core.utilcode.mogo.logger.scene.SceneConstant
+import com.mogo.eagle.core.utilcode.util.UiThreadHandler
+import com.mogo.och.sweepercloud.R
+import kotlinx.android.synthetic.main.sweeper_traffic_light_view.view.*
+
+/**
+ * 清扫车：红绿灯view-
+ *
+ * Created on 2022/3/29
+ */
+class SweeperTrafficLightView @JvmOverloads constructor(
+ context: Context?,
+ attrs: AttributeSet? = null,
+ defStyleAttr: Int = 0
+) : LinearLayout(context, attrs, defStyleAttr), IMoGoTrafficLightListener {
+
+ companion object {
+ private const val TAG = "SweeperTrafficLightView"
+ }
+
+ private var mCurrentLightId = TrafficLightEnum.BLACK
+
+ init {
+ init(context)
+ }
+
+ private fun init(context: Context?) {
+ LayoutInflater.from(context).inflate(R.layout.sweeper_traffic_light_view, this, true)
+ }
+
+ override fun onAttachedToWindow() {
+ super.onAttachedToWindow()
+ CallerTrafficLightListenerManager.addListener(TAG, this)
+ }
+
+ override fun onDetachedFromWindow() {
+ super.onDetachedFromWindow()
+ CallerTrafficLightListenerManager.removeListener(TAG)
+ }
+
+ /**
+ * 展示红绿灯预警
+ *
+ * @param checkLightId 0-都是默认，1-红，2-黄，3-绿
+ * @param lightSource 1:云端下发；2:自车感知
+ */
+ override fun showTrafficLight(checkLightId: TrafficLightEnum, lightSource: DataSourceType) {
+ mCurrentLightId = checkLightId
+ updateTrafficLightIcon(checkLightId)
+ CallerLogger.d(SceneConstant.M_SWEEPER + TAG,"灯态类型："+checkLightId.name +" 灯态来源："+DataSourceType.getName(lightSource))
+ }
+
+ /**
+ * 关闭红绿灯预警展示，并重制灯态
+ */
+ override fun disableTrafficLight() {
+ UiThreadHandler.post {
+ mCurrentLightId = TrafficLightEnum.BLACK
+ sweeper_traffic_light_iv.setImageResource(R.drawable.sweeper_light_gay_nor)
+ sweeper_traffic_light_time_tv.text = ""
+ this@SweeperTrafficLightView.visibility = VISIBLE
+ CallerLogger.d(SceneConstant.M_SWEEPER + TAG,"灯态类型：disableTrafficLight")
+ }
+ }
+
+ /**
+ * @param redNum 红灯倒计时
+ * @param yellowNum 黄灯倒计时
+ * @param greenNum 绿灯倒计时
+ */
+ override fun changeCountdownTrafficLightNum(redNum: Int, yellowNum: Int, greenNum: Int) {
+ when (mCurrentLightId) {
+ TrafficLightEnum.RED -> changeCountdownRed(redNum)
+ TrafficLightEnum.YELLOW -> changeCountdownYellow(yellowNum)
+ TrafficLightEnum.GREEN -> changeCountdownGreen(greenNum)
+ else -> UiThreadHandler.post { sweeper_traffic_light_time_tv.text = "" }
+ }
+ }
+
+ override fun changeCountdownRed(redNum: Int) {
+ UiThreadHandler.post {
+ if (redNum > 0) {
+ sweeper_traffic_light_time_tv.text = redNum.toString()
+ } else {
+ sweeper_traffic_light_time_tv.text = ""
+ }
+ }
+ }
+
+ override fun changeCountdownGreen(greenNum: Int) {
+ UiThreadHandler.post {
+ if (greenNum > 0) {
+ sweeper_traffic_light_time_tv.text = greenNum.toString()
+ } else {
+ sweeper_traffic_light_time_tv.text = ""
+ }
+ }
+ }
+
+ override fun changeCountdownYellow(yellowNum: Int) {
+ UiThreadHandler.post {
+ if (yellowNum > 0) {
+ sweeper_traffic_light_time_tv.text = yellowNum.toString()
+ } else {
+ sweeper_traffic_light_time_tv.text = ""
+ }
+ }
+ }
+
+ /**
+ * 更新红绿灯icon
+ *
+ * @param lightId 0-都是默认，1-红，2-黄，3-绿
+ */
+ private fun updateTrafficLightIcon(lightId: TrafficLightEnum) {
+ UiThreadHandler.post {
+ when (lightId) {
+ TrafficLightEnum.RED -> {
+ sweeper_traffic_light_iv.setImageResource(R.drawable.sweeper_light_red_nor)
+ this@SweeperTrafficLightView.visibility = VISIBLE
+ }
+ TrafficLightEnum.YELLOW -> {
+ sweeper_traffic_light_iv.setImageResource(R.drawable.sweeper_lightyellow_nor)
+ this@SweeperTrafficLightView.visibility = VISIBLE
+ }
+ TrafficLightEnum.GREEN -> {
+ sweeper_traffic_light_iv.setImageResource(R.drawable.sweeper_light_green_nor)
+ this@SweeperTrafficLightView.visibility = VISIBLE
+ }
+ else -> {
+ sweeper_traffic_light_iv.setImageResource(R.drawable.sweeper_light_gay_nor)
+ this@SweeperTrafficLightView.visibility = VISIBLE
+ }
+ }
+ }
+ }
+}
\ No newline at end of file
diff --git a/OCH/sweeper/sweeper-cloud/src/main/java/com/mogo/och/sweepercloud/view/SweeperWorkModeView.kt b/OCH/sweeper/sweeper-cloud/src/main/java/com/mogo/och/sweepercloud/view/SweeperWorkModeView.kt
new file mode 100644
index 0000000000..08dd7f348c
--- /dev/null
+++ b/OCH/sweeper/sweeper-cloud/src/main/java/com/mogo/och/sweepercloud/view/SweeperWorkModeView.kt
@@ -0,0 +1,180 @@
+package com.mogo.och.sweepercloud.view
+
+import android.content.Context
+import android.util.AttributeSet
+import android.view.LayoutInflater
+import android.view.View
+import androidx.constraintlayout.widget.ConstraintLayout
+import chassis.ChassisStatesOuterClass.SweeperFuTianTaskSystemStates
+import com.elegant.utils.UiThreadHandler
+import com.mogo.eagle.core.utilcode.mogo.logger.CallerLogger.d
+import com.mogo.eagle.core.utilcode.mogo.logger.scene.SceneConstant
+import com.mogo.och.sweepercloud.R
+import com.mogo.och.sweepercloud.callback.ICleaningModeStateCallback
+import com.mogo.och.sweepercloud.constant.OperateStateEnum
+import com.mogo.och.sweepercloud.ui.popwindow.SweeperOperatePanelPopWindow
+import com.mogo.och.sweepercloud.util.SweeperFutianCmdUtil
+import com.zhjt.mogo.adas.data.sweeper.task.SweeperTask.TaskModel
+import kotlinx.android.synthetic.main.sweeper_work_mode.view.*
+
+/**
+ * 清扫车模式信息展示
+ */
+class SweeperWorkModeView : ConstraintLayout,ICleaningModeStateCallback {
+
+ private var isSelectPureSweepMode: Boolean = false
+ private val TAG = "SweeperWorkModeView"
+ //清扫模式选择面板
+ private var mOperatePanelPopWindow: SweeperOperatePanelPopWindow? = null
+
+ private var operateState: OperateStateEnum=OperateStateEnum.SYNCING_STATUS
+
+ constructor(context: Context) : super(context) {}
+ constructor(context: Context, attrs: AttributeSet?) : super(context, attrs) {
+ 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) {}
+
+ private fun initView(context: Context) {
+ LayoutInflater.from(context).inflate(R.layout.sweeper_work_mode, this)
+ mOperatePanelPopWindow = SweeperOperatePanelPopWindow(context)
+ setShowOrHideCleanSystemState(OperateStateEnum.SYNCING_STATUS,null)
+ }
+
+ /**
+ * 设置view
+ */
+ fun setTrafficDataView(trafficDataView: SweeperTrafficDataView){
+ //清扫模式选择面板打开关闭处理
+ ivOpenOperatePanel.setOnClickListener {
+ if (mOperatePanelPopWindow?.isShowing != true) {
+ mOperatePanelPopWindow?.showAsDropDown(
+ trafficDataView,
+ resources.getDimension(R.dimen.dp_600).toInt(),
+ 0
+ )
+ UiThreadHandler.postDelayed({
+ d(SceneConstant.M_SWEEPER + TAG, "operateState："+operateState.code)
+ mOperatePanelPopWindow?.showSyncing(operateState)
+
+ },300)
+ } else {
+ mOperatePanelPopWindow?.dismiss()
+ }
+ }
+ }
+ /**
+ * 设置清扫模式面板
+ */
+ fun setSweeperFutianCleanSystemState(taskType: TaskModel, cleanSystemState: SweeperFuTianTaskSystemStates?) {
+ // TODO:传递清扫车底盘数据给上装面板
+ //mOperatePanelPopWindow?.setCleanSystemState(cleanSystemState, this@SweeperWorkModeView)
+ if (this.operateState.code==OperateStateEnum.STARTING_STATUS.code){
+ return
+ }
+ //如果状态是同步中，在底盘首次回调时把状态强制修改成成功
+ if (this.operateState.code==OperateStateEnum.SYNCING_STATUS.code){
+ this.operateState=OperateStateEnum.SUCCESS_STATUS
+ d(SceneConstant.M_SWEEPER + TAG, "SystemState operateState："+operateState.code)
+ }
+ //清扫车暂未选择清扫模式或者任务类型是人工驾驶子任务，则暂无清扫模式
+ if (SweeperFutianCmdUtil.checkIfCleanMode(cleanSystemState) || taskType==TaskModel.MANUAL||taskType==TaskModel.DEFAULT_MODEL) {
+ setShowOrHideCleanSystemState(OperateStateEnum.NO_STATUS, cleanSystemState)
+ } else {
+ setShowOrHideCleanSystemState(OperateStateEnum.SUCCESS_STATUS, cleanSystemState)
+ }
+ }
+
+ /**
+ * 设置清扫模式状态显示和隐藏
+ */
+ private fun setShowOrHideCleanSystemState(operateState: OperateStateEnum, cleanSystemState: SweeperFuTianTaskSystemStates?) {
+ when (operateState.code) {
+ OperateStateEnum.SYNCING_STATUS.code -> {
+ groupWorkModelPanel?.visibility = View.GONE
+ tvNoDataDesc?.visibility = View.VISIBLE
+ tvNoDataDesc?.text = "状态同步中,请稍后"
+ mOperatePanelPopWindow?.setIsOutsideTouchable(true)
+ }
+ OperateStateEnum.FAIL_STATUS.code -> {
+ groupWorkModelPanel?.visibility = View.GONE
+ tvNoDataDesc?.visibility = View.VISIBLE
+ tvNoDataDesc?.text = "上装启动失败"
+ mOperatePanelPopWindow?.setIsOutsideTouchable(true)
+ }
+ OperateStateEnum.STARTING_STATUS.code -> {
+ groupWorkModelPanel?.visibility = View.GONE
+ tvNoDataDesc?.visibility = View.VISIBLE
+ tvNoDataDesc?.text = "上装启动中..."
+ mOperatePanelPopWindow?.setIsOutsideTouchable(false)
+ }
+ OperateStateEnum.NO_STATUS.code -> {
+ groupWorkModelPanel?.visibility = View.GONE
+ tvNoDataDesc?.visibility = View.VISIBLE
+ tvNoDataDesc?.text = "暂无"
+ mOperatePanelPopWindow?.setIsOutsideTouchable(true)
+ }
+ else -> {
+ groupWorkModelPanel?.visibility = View.VISIBLE
+ tvNoDataDesc?.visibility = View.GONE
+ setCleanModeData(cleanSystemState)
+ mOperatePanelPopWindow?.setIsOutsideTouchable(true)
+ }
+
+ }
+ }
+
+ override fun cleaningModeState(operateState: OperateStateEnum, cleanSystemState: SweeperFuTianTaskSystemStates?, isSelectPureSweepMode: Boolean) {
+ this.isSelectPureSweepMode = isSelectPureSweepMode
+ this.operateState=operateState
+ setShowOrHideCleanSystemState(operateState, cleanSystemState)
+ }
+
+ /**
+ * 设置清扫模式数据
+ */
+ private fun setCleanModeData(cleanSystemState: SweeperFuTianTaskSystemStates?) {
+ if (isSelectPureSweepMode) {
+ tvCleaningMode?.text = "纯扫模式"
+ groupWorkModelPanel?.visibility = View.VISIBLE
+ tvNoDataDesc?.visibility = View.GONE
+ } else {
+ if (SweeperFutianCmdUtil.checkIfCleanMode(cleanSystemState)) {
+ groupWorkModelPanel?.visibility = View.GONE
+ tvNoDataDesc?.visibility = View.VISIBLE
+ tvNoDataDesc?.text = "暂无"
+ return
+ } else {
+ groupWorkModelPanel?.visibility = View.VISIBLE
+ tvNoDataDesc?.visibility = View.GONE
+ // 作业模式
+ if (cleanSystemState?.secuModWashSweepSts == true) tvCleaningMode?.text = "洗扫模式"
+ if (cleanSystemState?.secuModWashSts == true) tvCleaningMode?.text = "纯洗模式"
+ if (cleanSystemState?.secuWorkTonSts == true) tvCleaningMode?.text = "纯吸模式"
+ if (SweeperFutianCmdUtil.checkIfCleanModePureSweep(cleanSystemState)) tvCleaningMode?.text = "纯扫模式"
+ }
+ }
+ //清扫方向
+ if (SweeperFutianCmdUtil.checkIfCleanDirection(cleanSystemState)) {
+ tvCleaningDirection.visibility = View.GONE
+ } else {
+ tvCleaningDirection.visibility = View.VISIBLE
+ // 左侧
+ if (cleanSystemState?.secuWorkLeftSts == true) tvCleaningDirection?.text = "左侧"
+ // 右侧
+ if (cleanSystemState?.secuWorkRightSts == true) tvCleaningDirection?.text = "右侧"
+ // 两侧
+ if (cleanSystemState?.secuWorkOnBothsidesSts == true) tvCleaningDirection?.text = "两侧"
+ }
+ if (SweeperFutianCmdUtil.checkIfCleanIntensity(cleanSystemState)) {
+ tvCleaningIntensity.visibility = View.GONE
+ } else {
+ tvCleaningIntensity.visibility = View.VISIBLE
+ // 作业强度
+ if (cleanSystemState?.secuWorkStandSts == true) tvCleaningIntensity?.text = "标准"
+ if (cleanSystemState?.secuWorkStrongSts == true) tvCleaningIntensity?.text = "强力"
+ }
+ }
+}
\ No newline at end of file
diff --git a/OCH/sweeper/sweeper-cloud/src/main/java/com/mogo/och/sweepercloud/view/TurnSignalView.kt b/OCH/sweeper/sweeper-cloud/src/main/java/com/mogo/och/sweepercloud/view/TurnSignalView.kt
new file mode 100644
index 0000000000..59bbe0788d
--- /dev/null
+++ b/OCH/sweeper/sweeper-cloud/src/main/java/com/mogo/och/sweepercloud/view/TurnSignalView.kt
@@ -0,0 +1,90 @@
+package com.mogo.och.sweepercloud.view
+
+import android.animation.AnimatorSet
+import android.animation.ObjectAnimator
+import android.content.Context
+import android.util.AttributeSet
+import android.view.LayoutInflater
+import android.view.View
+import android.widget.ImageView
+import android.widget.LinearLayout
+import chassis.Chassis
+import com.mogo.och.sweepercloud.R
+import kotlinx.android.synthetic.main.sweeper_turn_signal.view.*
+import kotlinx.coroutines.Dispatchers
+import kotlinx.coroutines.GlobalScope
+import kotlinx.coroutines.launch
+
+class TurnSignalView : LinearLayout {
+ constructor(context: Context?) : super(context) {}
+ constructor(context: Context, attrs: AttributeSet?) : super(context, attrs) {
+ initView(context)
+ }
+
+ private var init: Boolean = false
+
+ 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_turn_signal, this)
+ init = true
+ }
+
+ /**
+ * 转向灯动画
+ */
+ fun setTurnLight(directionLight: Chassis.LightSwitch?) {
+ GlobalScope.launch(Dispatchers.Main) {
+ if (!init) {
+ return@launch
+ }
+ //根据左右进行显示和隐藏，实际要判断每个来的时间和频度
+ when (directionLight) {
+ Chassis.LightSwitch.LIGHT_LEFT -> { //左转向
+ leftSelectImage.visibility = View.VISIBLE
+ rightSelectImage.visibility = View.GONE
+ rightSelectImage.clearAnimation()
+ setAnimation(leftSelectImage)
+ }
+ Chassis.LightSwitch.LIGHT_RIGHT -> { //右转向
+ leftSelectImage.visibility = View.GONE
+ rightSelectImage.visibility = View.VISIBLE
+ leftSelectImage.clearAnimation()
+ setAnimation(rightSelectImage)
+ }
+ else -> { //消失
+ leftSelectImage.clearAnimation()
+ rightSelectImage.clearAnimation()
+ leftSelectImage.visibility = View.GONE
+ rightSelectImage.visibility = View.GONE
+ }
+ }
+ }
+ }
+
+ //实现图片闪烁效果
+ private fun setAnimation(imageView: ImageView) {
+ val animationSet = AnimatorSet()
+ val valueAnimator = ObjectAnimator.ofFloat(imageView, "alpha", 0f, 1.0f)
+ val valueAnimatorDisappare = ObjectAnimator.ofFloat(imageView, "alpha", 1.0f, 0f)
+ valueAnimator.duration = 1000
+ valueAnimatorDisappare.duration = 800
+ valueAnimator.repeatCount = -1
+ valueAnimatorDisappare.repeatCount = -1
+ animationSet.playTogether(valueAnimatorDisappare, valueAnimator)
+ animationSet.start()
+ }
+}
\ No newline at end of file
diff --git a/OCH/sweeper/sweeper-cloud/src/main/java/com/mogo/och/sweepercloud/view/VerticalDashLineView.java b/OCH/sweeper/sweeper-cloud/src/main/java/com/mogo/och/sweepercloud/view/VerticalDashLineView.java
new file mode 100644
index 0000000000..bc6aae4605
--- /dev/null
+++ b/OCH/sweeper/sweeper-cloud/src/main/java/com/mogo/och/sweepercloud/view/VerticalDashLineView.java
@@ -0,0 +1,64 @@
+package com.mogo.och.sweepercloud.view;
+
+import android.content.Context;
+import android.graphics.Canvas;
+import android.graphics.Color;
+import android.graphics.DashPathEffect;
+import android.graphics.LinearGradient;
+import android.graphics.Paint;
+import android.graphics.Path;
+import android.graphics.Shader;
+import android.util.AttributeSet;
+import android.view.View;
+
+import androidx.annotation.Nullable;
+
+/**
+ * 垂直虚线
+ *
+ * @author tongchenfei
+ */
+public class VerticalDashLineView extends View {
+ public VerticalDashLineView(Context context) {
+ this(context,null);
+ }
+
+ public VerticalDashLineView(Context context, @Nullable AttributeSet attrs) {
+ this(context, attrs,0);
+ }
+
+ public VerticalDashLineView(Context context, @Nullable AttributeSet attrs, int defStyleAttr) {
+ super(context, attrs, defStyleAttr);
+ init();
+ }
+
+ private final Paint linePaint = new Paint(Paint.ANTI_ALIAS_FLAG);
+ private final Path dashPath = new Path();
+
+ private void init(){
+ linePaint.setColor(Color.GREEN);
+ linePaint.setStyle(Paint.Style.STROKE);
+ linePaint.setStrokeWidth(2);
+ linePaint.setPathEffect(new DashPathEffect(new float[]{5, 5}, 0));
+ }
+
+ public void setGradient(int startColor, int endColor) {
+ LinearGradient linearGradient = new LinearGradient(0, 0, getWidth(), getHeight(), startColor, endColor, Shader.TileMode.CLAMP);
+ linePaint.setShader(linearGradient);
+ invalidate();
+ }
+
+ public void setColor(int color) {
+ linePaint.setShader(null);
+ linePaint.setColor(color);
+ invalidate();
+ }
+
+ @Override
+ protected void onDraw(Canvas canvas) {
+ dashPath.reset();
+ dashPath.moveTo((float) getWidth()/2, 0);
+ dashPath.lineTo((float) getWidth()/2,getHeight());
+ canvas.drawPath(dashPath,linePaint);
+ }
+}
diff --git a/OCH/sweeper/sweeper-cloud/src/main/java/com/mogo/och/sweepercloud/view/WeltMapOverView.kt b/OCH/sweeper/sweeper-cloud/src/main/java/com/mogo/och/sweepercloud/view/WeltMapOverView.kt
new file mode 100644
index 0000000000..5f157e0d67
--- /dev/null
+++ b/OCH/sweeper/sweeper-cloud/src/main/java/com/mogo/och/sweepercloud/view/WeltMapOverView.kt
@@ -0,0 +1,342 @@
+package com.mogo.och.sweepercloud.view
+
+import android.content.Context
+import android.graphics.Color
+import android.os.Bundle
+import android.util.AttributeSet
+import android.view.LayoutInflater
+import android.view.View
+import android.widget.ImageView
+import androidx.constraintlayout.widget.ConstraintLayout
+import androidx.core.content.ContextCompat
+import com.amap.api.maps.AMap
+import com.amap.api.maps.CameraUpdateFactory
+import com.amap.api.maps.model.*
+import com.mogo.eagle.core.data.map.MogoLocation
+import com.mogo.eagle.core.function.api.autopilot.IMoGoChassisLocationGCJ02Listener
+import com.mogo.eagle.core.function.call.autopilot.CallerChassisLocationGCJ02ListenerManager
+import com.mogo.eagle.core.utilcode.mogo.logger.CallerLogger
+import com.mogo.eagle.core.utilcode.mogo.logger.scene.SceneConstant
+import com.mogo.eagle.core.utilcode.util.CoordinateUtils
+import com.mogo.eagle.core.utilcode.util.ThreadUtils
+import com.mogo.och.sweepercloud.R
+import com.mogo.och.sweepercloud.bean.SweeperRoutePlanningUpdateReqBean
+import com.mogo.och.sweepercloud.constant.SweeperConst
+import com.mogo.och.sweepercloud.database.bean.WeltDataBean
+import com.mogo.och.sweepercloud.util.SweeperMapAssetStyleUtil
+import kotlinx.android.synthetic.main.sweeper_welt_map_overview.view.*
+
+
+/**
+ * 作业任务全览图
+ */
+class WeltMapOverView : ConstraintLayout, IMoGoChassisLocationGCJ02Listener {
+ private var mTaskCoordinatesLatLng: MutableList = mutableListOf() //当前大任务的所有起终点集合
+ private var mCarMarker: Marker? = null
+ private var mAMap: AMap? = null
+ private var mWeltPolylines: Polyline? = null
+ private var mRoutePolylines: Polyline?=null
+// private val mLineMarkers: MutableList = mutableListOf()
+ private var mEndStationMarker: Marker? = null
+ private var mFirst: Boolean = false
+
+ //清扫车任务地图
+ private val TAG = "WeltMapOverView"
+
+ constructor(context: Context) : super(context) {}
+ constructor(context: Context, attrs: AttributeSet?) : super(context, attrs) {
+ 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) {}
+
+ private fun initView(context: Context) {
+ LayoutInflater.from(context).inflate(R.layout.sweeper_welt_map_overview, this)
+ initAMapView()
+ // 注册定位监听
+ CallerChassisLocationGCJ02ListenerManager.addListener(TAG, this)
+ CallerChassisLocationGCJ02ListenerManager.setListenerHz(TAG,5)
+ }
+
+ private fun initAMapView() {
+ mAMap = sweeperTextureMapView.map
+ // 地图文字标注
+ mAMap?.showMapText(true)
+ //显示3D建筑物
+ mAMap?.showBuildings(true)
+ // 设置导航地图模式，aMap是地图控制器对象。
+ mAMap?.mapType = AMap.MAP_TYPE_NIGHT
+ // 关闭显示实时路况图层，aMap是地图控制器对象。
+ mAMap?.isTrafficEnabled = false
+ // 设置 锚点 图标
+ mCarMarker = mAMap?.addMarker(
+ MarkerOptions()
+ .icon(BitmapDescriptorFactory.fromResource(R.drawable.sweeper_car_big))
+ .anchor(0.5f, 0.5f)
+ )
+ // 设置地图的样式
+ val uiSettings = mAMap?.uiSettings
+ uiSettings?.isZoomControlsEnabled = false // 地图缩放级别的交换按钮
+ uiSettings?.setAllGesturesEnabled(false) // 所有手势
+ uiSettings?.isMyLocationButtonEnabled = false // 显示默认的定位按钮
+ uiSettings?.setLogoBottomMargin(-150) //设置Logo下边界距离屏幕底部的边距,设置为负值即可
+ // 加载自定义样式
+ val customMapStyleOptions = CustomMapStyleOptions()
+ .setEnable(true)
+ .setStyleData(SweeperMapAssetStyleUtil.getAssetsStyle(context, "map_style.data"))
+ .setStyleExtraData(SweeperMapAssetStyleUtil.getAssetsExtraStyle(context, "map_style_extra.data"))
+ // 设置自定义样式
+ mAMap?.setCustomMapStyle(customMapStyleOptions)
+ //mAMap?.moveCamera(CameraUpdateFactory.zoomTo(15f))
+ mAMap?.setOnMapLoadedListener(AMap.OnMapLoadedListener {
+ //mAMap?.moveCamera(CameraUpdateFactory.zoomTo(15f))
+ CallerLogger.d(SceneConstant.M_SWEEPER + TAG, "WeltView---onMapLoaded")
+ // 加载自定义样式
+ val customMapStyleOptions = CustomMapStyleOptions()
+ .setEnable(true)
+ .setStyleData(SweeperMapAssetStyleUtil.getAssetsStyle(context, "map_style.data"))
+ .setStyleExtraData(SweeperMapAssetStyleUtil.getAssetsExtraStyle(context, "map_style_extra.data"))
+ // 设置自定义样式
+ mAMap?.setCustomMapStyle(customMapStyleOptions)
+ // 实时路况图层关闭，必须添加在loaded结束之后,其他位置不生效
+ mAMap?.isTrafficEnabled = false
+ mAMap?.showBuildings(true)
+ })
+ }
+
+ /**
+ * 添加画线颜色值
+ */
+ private fun getRouteColorList(weltData: MutableList):MutableList {
+ val colorList= mutableListOf()
+ var nextWeltDataBean:WeltDataBean?=null
+ for (i in weltData.indices) {
+ val weltDataBean = weltData[i]
+ if(i+110){
+ colorList.add(Color.TRANSPARENT)
+ continue
+ }
+ }
+ if (weltDataBean.weltDistance == SweeperConst.NONWELT) {//非贴边
+ colorList.add(ContextCompat.getColor(context,R.color.sweeper_236299))
+ } else if (weltDataBean.weltDistance < 0) {
+ colorList.add(ContextCompat.getColor(context,R.color.sweeper_c22101))
+ } else if (weltDataBean.weltDistance >= 0 && weltDataBean.weltDistance < 0.1) {
+ colorList.add(ContextCompat.getColor(context,R.color.sweeper_4dffa4))
+ } else if (weltDataBean.weltDistance >= 0.1 && weltDataBean.weltDistance < 0.2) {
+ colorList.add(ContextCompat.getColor(context,R.color.sweeper_ffdd4d))
+ } else if (weltDataBean.weltDistance >= 0.2) {
+ colorList.add(ContextCompat.getColor(context,R.color.sweeper_ff912b))
+ }
+ }
+ return colorList
+ }
+
+ override fun onChassisLocationGCJ02(mogoLocation: MogoLocation?) {
+ ThreadUtils.getSinglePool().run {
+ mogoLocation?.let { gnssInfo ->
+ val currentLatLng = LatLng(gnssInfo.latitude, gnssInfo.longitude)
+ //更新车辆位置
+ mCarMarker?.rotateAngle = (360 - gnssInfo.heading).toFloat()
+ mCarMarker?.position = currentLatLng
+ mCarMarker?.setToTop()
+ //圈定地图显示范围
+ val boundsBuilder = LatLngBounds.Builder()
+ if (mTaskCoordinatesLatLng.size > 0) {
+ //存放经纬度
+ for (i in mTaskCoordinatesLatLng.indices) {
+ val latLng = mTaskCoordinatesLatLng[i]
+ boundsBuilder.include(latLng)
+ }
+ }
+ mRoutePolylines?.points?.forEach {latLng->
+ boundsBuilder.include(latLng)
+ }
+ boundsBuilder.include(currentLatLng)
+ mAMap?.moveCamera(CameraUpdateFactory.newLatLngBoundsRect(boundsBuilder.build(), 100, 100, 100, 100))
+
+ }
+ }
+ }
+
+ /**
+ * 根据贴边数据绘制任务路线
+ */
+ fun drawablePolyline(weltDatas: MutableList?) {
+ weltDatas?.let {
+ val colorList=getRouteColorList(it)
+ val coordinatesLatLngs= mutableListOf()
+ for (i in it.indices) {
+ coordinatesLatLngs.add(LatLng(it[i].locLat,it[i].locLon))
+ }
+ if (coordinatesLatLngs.size > 2) {
+ //设置线段纹理
+ mWeltPolylines?.remove()
+ val polylineOptions = PolylineOptions()
+ polylineOptions.addAll(coordinatesLatLngs)
+ polylineOptions.width(14f) //线段宽度
+ polylineOptions.isUseTexture = false
+ polylineOptions.lineCapType(PolylineOptions.LineCapType.LineCapSquare)
+ polylineOptions.colorValues(colorList)
+ polylineOptions.visible(true)
+ // 绘制线
+ mWeltPolylines = mAMap?.addPolyline(polylineOptions)
+ }
+ }
+ }
+
+ /**
+ * 绘制起点和终点的marker
+ */
+ private fun drawStartAndEndMarker(startPoint: LatLng, endPoint: LatLng) {
+// val startMarker = mAMap?.addMarker(MarkerOptions().icon(BitmapDescriptorFactory.fromResource(R.drawable.sweeper_big_start_maker_icon)))
+// startMarker?.position = startPoint
+// mLineMarkers.add(startMarker)
+// val endMarker = mAMap?.addMarker(MarkerOptions().icon(BitmapDescriptorFactory.fromResource(R.drawable.sweeper_big_end_maker_icon)))
+// endMarker?.position = endPoint
+// mLineMarkers.add(endMarker)
+ }
+
+ private fun drawEndMarker(endPoint: LatLng){
+ mEndStationMarker?.remove()
+ mEndStationMarker = mAMap?.addMarker(MarkerOptions().icon(BitmapDescriptorFactory.fromResource(R.drawable.sweeper_big_end_maker_icon)))
+ mEndStationMarker?.position = endPoint
+ }
+
+ /**
+ * 清除所有标记和路线
+ */
+ fun clearAllMarkerAndPolyline() {
+// for (i in mLineMarkers.indices) {
+// mLineMarkers[i]?.isVisible = false
+// mLineMarkers[i]?.remove()
+// }
+ mEndStationMarker?.remove()
+ mWeltPolylines?.remove()
+ mRoutePolylines?.remove()
+// mLineMarkers.clear()
+ //mFirst = false
+ //showOrHiddenLegendData(false)
+ }
+
+ /**
+ * 设置贴边数据
+ */
+ fun setWeltData(weltDatas: MutableList?, isWeltData: Boolean, distance: String?) {
+ drawablePolyline(weltDatas)
+ ThreadUtils.runOnUiThread {
+ distance?.let {
+ setDistance(it)
+ }
+ }
+ //if (!mFirst && isWeltData) {
+ // mFirst = true
+ // showOrHiddenLegendData(true)
+ //}
+ }
+
+ /**
+ * 任务轨迹数据
+ */
+ fun setRouteList(routeList: ArrayList) {
+ val routeCoordinatesLatLngs= mutableListOf()
+ for (i in routeList.indices) {
+ routeCoordinatesLatLngs.add(LatLng(routeList[i].latitude,routeList[i].longitude))
+ }
+ ThreadUtils.runOnUiThread {
+ drawRouteListPolyline(routeCoordinatesLatLngs)
+ }
+ }
+
+ private fun drawRouteListPolyline(routeList: MutableList) {
+ mRoutePolylines?.remove()
+ val polylineOptions = PolylineOptions()
+ polylineOptions.width(14f) //线段宽度
+ polylineOptions.isUseTexture = false
+ polylineOptions.lineCapType(PolylineOptions.LineCapType.LineCapSquare)
+ polylineOptions.color(ContextCompat.getColor(context,R.color.sweeper_3ba1cc))
+ polylineOptions.addAll(routeList)
+ polylineOptions.visible(true)
+ mRoutePolylines=mAMap?.addPolyline(polylineOptions)
+ }
+
+ /**
+ * 设置当前大任务的所有子任务起终点集合
+ */
+ fun setTaskListCoordinatesLatLng(coordinatesLatLng: MutableList) {
+ ThreadUtils.runOnUiThread {
+ this.mTaskCoordinatesLatLng = coordinatesLatLng
+ if (mTaskCoordinatesLatLng.size > 0) {
+ drawStartAndEndMarker(mTaskCoordinatesLatLng[0], mTaskCoordinatesLatLng[mTaskCoordinatesLatLng.size - 1])
+ }
+ }
+ }
+ /**
+ * 设置当前任务终点
+ */
+ fun setCurrentTaskCoordinatesLatLng(coordinatesLatLng: LatLng) {
+ ThreadUtils.runOnUiThread {
+ drawEndMarker(coordinatesLatLng)
+ }
+ }
+
+ /**
+ * 设置图例数据
+ */
+ private fun showOrHiddenLegendData(isShow: Boolean) {
+ groupLegend.visibility = if (isShow) View.VISIBLE else View.GONE
+ sweeperLegend1.setData(R.drawable.sweeper_legend1, "a<0")
+ sweeperLegend2.setData(R.drawable.sweeper_legend2, "0≤a<10")
+ sweeperLegend3.setData(R.drawable.sweeper_legend3, "10≤a<20")
+ sweeperLegend4.setData(R.drawable.sweeper_legend4, "a≥20")
+ sweeperLegend5.setData(R.drawable.sweeper_legend5, "非贴边")
+ sweeperLegend6.setData(R.drawable.sweeper_legend6, "未经过")
+ }
+
+ private fun setDistance(distance: String) {
+ taskWeltDistanceTv.text="贴边:${distance}"
+ }
+
+ fun setProgress(progress: String?) {
+ progress?.let {
+ if ("0" == progress) {
+ taskProgressTv.visibility = View.GONE
+ taskWeltDistanceTv.visibility = View.GONE
+ showOrHiddenLegendData(false)
+ } else {
+ taskProgressTv.visibility = View.VISIBLE
+ taskWeltDistanceTv.visibility = View.VISIBLE
+ taskProgressTv.text = it
+ showOrHiddenLegendData(true)
+ }
+ }
+ }
+ fun onCreateView(savedInstanceState: Bundle?) {
+ sweeperTextureMapView.onCreate(savedInstanceState)
+ }
+
+ fun onResume() {
+ sweeperTextureMapView.onResume()
+ }
+
+ fun onPause() {
+ sweeperTextureMapView.onPause()
+ }
+
+ fun onDestroy() {
+ sweeperTextureMapView.onDestroy()
+ }
+
+ fun getSweeperSwitchToSmall(): ImageView {
+ return sweeperSwitchToSmall
+ }
+}
\ No newline at end of file
diff --git a/OCH/sweeper/sweeper-cloud/src/main/java/com/mogo/och/sweepercloud/view/WeltSmallMapView.kt b/OCH/sweeper/sweeper-cloud/src/main/java/com/mogo/och/sweepercloud/view/WeltSmallMapView.kt
new file mode 100644
index 0000000000..4db516bb7a
--- /dev/null
+++ b/OCH/sweeper/sweeper-cloud/src/main/java/com/mogo/och/sweepercloud/view/WeltSmallMapView.kt
@@ -0,0 +1,304 @@
+package com.mogo.och.sweepercloud.view
+
+import android.content.Context
+import android.graphics.Color
+import android.os.Bundle
+import android.util.AttributeSet
+import android.view.LayoutInflater
+import android.view.View
+import android.widget.ImageView
+import androidx.constraintlayout.widget.ConstraintLayout
+import androidx.core.content.ContextCompat
+import com.amap.api.maps.AMap
+import com.amap.api.maps.CameraUpdateFactory
+import com.amap.api.maps.model.*
+import com.mogo.eagle.core.data.map.MogoLocation
+import com.mogo.eagle.core.function.api.autopilot.IMoGoChassisLocationGCJ02Listener
+import com.mogo.eagle.core.function.call.autopilot.CallerChassisLocationGCJ02ListenerManager
+import com.mogo.eagle.core.utilcode.mogo.logger.CallerLogger.d
+import com.mogo.eagle.core.utilcode.mogo.logger.scene.SceneConstant
+import com.mogo.eagle.core.utilcode.util.CoordinateUtils
+import com.mogo.eagle.core.utilcode.util.ThreadUtils
+import com.mogo.och.sweepercloud.R
+import com.mogo.och.sweepercloud.bean.SweeperRoutePlanningUpdateReqBean
+import com.mogo.och.sweepercloud.constant.SweeperConst
+import com.mogo.och.sweepercloud.database.bean.WeltDataBean
+import com.mogo.och.sweepercloud.util.SweeperMapAssetStyleUtil
+import kotlinx.android.synthetic.main.sweeper_welt_small_map_view.view.*
+
+
+/**
+ * 作业任务小地图
+ */
+class WeltSmallMapView : ConstraintLayout, IMoGoChassisLocationGCJ02Listener {
+ private var mTaskCoordinatesLatLng: MutableList = mutableListOf() //当前大任务的所有起终点集合
+ private var mCarMarker: Marker? = null
+ private var mAMap: AMap? = null
+ private var mWeltPolylines: Polyline? = null
+ private var mRoutePolylines: Polyline?=null
+// private val mLineMarkers: MutableList = mutableListOf()
+ private var endStationMarker:Marker? = null
+
+ //清扫车任务地图
+ private val TAG = "WeltMapView"
+
+ constructor(context: Context) : super(context) {}
+ constructor(context: Context, attrs: AttributeSet?) : super(context, attrs) {
+ 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) {}
+
+ private fun initView(context: Context) {
+ LayoutInflater.from(context).inflate(R.layout.sweeper_welt_small_map_view, this)
+ initAMapView()
+ // 注册定位监听
+ CallerChassisLocationGCJ02ListenerManager.addListener(TAG, this)
+ CallerChassisLocationGCJ02ListenerManager.setListenerHz(TAG,5)
+ }
+
+ override fun onChassisLocationGCJ02(mogoLocation: MogoLocation?) {
+ d(SceneConstant.M_SWEEPER + TAG, "mogoLocation：$mogoLocation")
+ ThreadUtils.getSinglePool().run {
+ mogoLocation?.let {
+ val currentLatLng = LatLng(it.latitude, it.longitude)
+ drawCarMarker(mogoLocation)
+ //圈定地图显示范围
+ val boundsBuilder = LatLngBounds.Builder()
+ if (mTaskCoordinatesLatLng.size > 0) {
+ //存放经纬度
+ for (i in mTaskCoordinatesLatLng.indices) {
+ boundsBuilder.include(mTaskCoordinatesLatLng[i])
+ }
+ }
+ mRoutePolylines?.points?.forEach {latLng->
+ boundsBuilder.include(latLng)
+ }
+ boundsBuilder.include(currentLatLng)
+ mAMap!!.moveCamera(CameraUpdateFactory.newLatLngBoundsRect(boundsBuilder.build(), 100, 100, 100, 100))
+ }
+ }
+ }
+
+ /**
+ * 绘制自车
+ *
+ * @param location
+ */
+ private fun drawCarMarker(location: MogoLocation?) {
+ if (location == null) return
+ val currentLatLng = LatLng(location.latitude, location.longitude)
+ //更新车辆位置
+ if (mCarMarker != null) {
+ mCarMarker!!.rotateAngle = (360 - location.heading).toFloat()
+ mCarMarker!!.position = currentLatLng
+ mCarMarker!!.setToTop()
+ }
+ }
+
+ private fun initAMapView() {
+ mAMap = sweeperSmallTextureMapView?.map
+ // 地图文字标注
+ mAMap?.showMapText(true)
+ // 设置导航地图模式，aMap是地图控制器对象。
+ mAMap?.mapType = AMap.MAP_TYPE_NIGHT
+ // 关闭显示实时路况图层，aMap是地图控制器对象。
+ mAMap?.isTrafficEnabled = false
+ // 设置 锚点 图标
+ mCarMarker = mAMap?.addMarker(
+ MarkerOptions()
+ .icon(BitmapDescriptorFactory.fromResource(R.drawable.sweeper_car_small))
+ .anchor(0.5f, 0.5f)
+ )
+ // 设置地图的样式
+ val uiSettings = mAMap?.uiSettings
+ uiSettings?.isZoomControlsEnabled = false // 地图缩放级别的交换按钮
+ uiSettings?.setAllGesturesEnabled(false) // 所有手势
+ uiSettings?.isMyLocationButtonEnabled = false // 显示默认的定位按钮
+ uiSettings?.setLogoBottomMargin(-150) //设置Logo下边界距离屏幕底部的边距,设置为负值即可
+ // 加载自定义样式
+ val customMapStyleOptions = CustomMapStyleOptions()
+ .setEnable(true)
+ .setStyleData(SweeperMapAssetStyleUtil.getAssetsStyle(context, "map_style.data"))
+ .setStyleExtraData(SweeperMapAssetStyleUtil.getAssetsExtraStyle(context, "map_style_extra.data"))
+ // 设置自定义样式
+ mAMap?.setCustomMapStyle(customMapStyleOptions)
+ mAMap?.setOnMapLoadedListener(AMap.OnMapLoadedListener {
+ d(SceneConstant.M_SWEEPER + TAG, "WeltView---onMapLoaded")
+ // 加载自定义样式
+ val customMapStyleOptions = CustomMapStyleOptions()
+ .setEnable(true)
+ .setStyleData(SweeperMapAssetStyleUtil.getAssetsStyle(context, "map_style.data"))
+ .setStyleExtraData(SweeperMapAssetStyleUtil.getAssetsExtraStyle(context, "map_style_extra.data"))
+ // 设置自定义样式
+ mAMap?.setCustomMapStyle(customMapStyleOptions)
+ mAMap?.setPointToCenter(sweeperSmallTextureMapView.width / 2, sweeperSmallTextureMapView.height / 2)
+ })
+ }
+
+ /**
+ * 根据贴边数据绘制任务路线
+ */
+ private fun drawablePolyline(weltDatas: MutableList?) {
+ weltDatas?.let {
+ val colorList = getRouteColorList(it)
+ val coordinatesLatLngs = mutableListOf()
+ for (i in it.indices) {
+ coordinatesLatLngs.add(LatLng(it[i].locLat,it[i].locLon))
+ }
+ if (coordinatesLatLngs.size > 2) {
+ //设置线段纹理
+ mWeltPolylines?.remove()
+ val polylineOptions = PolylineOptions()
+ polylineOptions.addAll(coordinatesLatLngs)
+ polylineOptions.width(14f) //线段宽度
+ polylineOptions.isUseTexture = false
+ polylineOptions.lineCapType(PolylineOptions.LineCapType.LineCapSquare)
+ polylineOptions.colorValues(colorList)
+ polylineOptions.visible(true)
+ // 绘制线
+ mWeltPolylines = mAMap?.addPolyline(polylineOptions)
+ }
+ }
+ }
+
+ /**
+ * 添加画线颜色值
+ */
+ private fun getRouteColorList(weltData: MutableList): MutableList {
+ val colorList = mutableListOf()
+ var nextWeltDataBean:WeltDataBean?=null
+ for (i in weltData.indices) {
+ val weltDataBean = weltData[i]
+ if(i+110){
+ colorList.add(Color.TRANSPARENT)
+ continue
+ }
+ }
+
+ if (weltDataBean.weltDistance == SweeperConst.NONWELT) {//非贴边
+ colorList.add(ContextCompat.getColor(context,R.color.sweeper_236299))
+ } else if (weltDataBean.weltDistance < 0) {
+ colorList.add(ContextCompat.getColor(context,R.color.sweeper_c22101))
+ } else if (weltDataBean.weltDistance >= 0 && weltDataBean.weltDistance < 0.1) {
+ colorList.add(ContextCompat.getColor(context,R.color.sweeper_4dffa4))
+ } else if (weltDataBean.weltDistance >= 0.1 && weltDataBean.weltDistance < 0.2) {
+ colorList.add(ContextCompat.getColor(context,R.color.sweeper_ffdd4d))
+ } else if (weltDataBean.weltDistance >= 0.2) {
+ colorList.add(ContextCompat.getColor(context,R.color.sweeper_ff912b))
+ }
+ }
+ return colorList
+ }
+
+ /**
+ * 设置当前大任务的所有子任务起终点集合
+ */
+ fun setTaskListCoordinatesLatLng(coordinatesLatLng: MutableList) {
+ ThreadUtils.runOnUiThread {
+ this.mTaskCoordinatesLatLng = coordinatesLatLng
+ }
+ }
+
+ /**
+ * 设置当前任务的终点
+ */
+ fun setCurrentTaskCoordinatesLatLng(coordinatesLatLng: LatLng) {
+ ThreadUtils.runOnUiThread {
+ endStationMarker?.remove()
+ endStationMarker = mAMap?.addMarker(MarkerOptions().icon(BitmapDescriptorFactory.fromResource(R.drawable.sweeper_small_end_marker_icon)))
+ endStationMarker?.position = coordinatesLatLng
+ }
+ }
+
+ /**
+ * 清除所有标记和路线
+ */
+ fun clearAllMarkerAndPolyline() {
+ endStationMarker?.remove()
+ mWeltPolylines?.remove()
+ mRoutePolylines?.remove()
+ }
+
+ fun getSwitchToBig(): ImageView = sweeperSwitchToBig
+ /**
+ * 设置贴边数据
+ */
+ fun setWeltData(weltDatas: MutableList, isWeltData: Boolean, distance: String) {
+ drawablePolyline(weltDatas)
+ ThreadUtils.runOnUiThread {
+ setWeltDistance(distance)
+ }
+ }
+
+ /**
+ * 设置贴边距离
+ */
+ private fun setWeltDistance(distance: String) {
+ taskWeltDistanceTv.text = "贴边:${distance}"
+ }
+
+ /**
+ * 设置任务轨迹数据
+ */
+ fun setRouteList(routeList: ArrayList) {
+ val routeCoordinatesLatLngs = mutableListOf()
+ for (i in routeList.indices) {
+ routeCoordinatesLatLngs.add(LatLng(routeList[i].latitude, routeList[i].longitude))
+ }
+ ThreadUtils.runOnUiThread {
+ drawRouteListPolyline(routeCoordinatesLatLngs)
+ }
+ }
+
+ private fun drawRouteListPolyline(routeList: MutableList) {
+ mRoutePolylines?.remove()
+ val polylineOptions = PolylineOptions()
+ polylineOptions.addAll(routeList)
+ polylineOptions.width(14f) //线段宽度
+ polylineOptions.isUseTexture = false
+ polylineOptions.lineCapType(PolylineOptions.LineCapType.LineCapSquare)
+ polylineOptions.color(ContextCompat.getColor(context,R.color.sweeper_3ba1cc))
+ polylineOptions.visible(true)
+ mRoutePolylines=mAMap?.addPolyline(polylineOptions)
+ }
+
+ /**
+ * 设置任务进度
+ */
+ fun setTaskProgress(progress: String?) {
+ if (progress == "0") {
+ taskWeltDistanceTv.visibility = View.GONE
+ taskProgressTv.visibility = View.GONE
+ } else {
+ taskWeltDistanceTv.visibility = View.VISIBLE
+ taskProgressTv.visibility = View.VISIBLE
+ taskProgressTv.text = progress
+ }
+
+ }
+
+ fun onCreateView(savedInstanceState: Bundle?) {
+ sweeperSmallTextureMapView?.onCreate(savedInstanceState)
+ }
+
+ fun onResume() {
+ sweeperSmallTextureMapView?.onResume()
+ }
+
+ fun onPause() {
+ sweeperSmallTextureMapView?.onPause()
+ }
+
+ fun onDestroy() {
+ sweeperSmallTextureMapView?.onDestroy()
+ }
+}
\ No newline at end of file
diff --git a/OCH/mogo-och-sweeper/src/main/res/drawable-xhdpi/bg_shape_work_mode.png b/OCH/sweeper/sweeper-cloud/src/main/res/drawable-xhdpi/bg_shape_work_mode.png
similarity index 100%
rename from OCH/mogo-och-sweeper/src/main/res/drawable-xhdpi/bg_shape_work_mode.png
rename to OCH/sweeper/sweeper-cloud/src/main/res/drawable-xhdpi/bg_shape_work_mode.png
diff --git a/OCH/mogo-och-sweeper/src/main/res/drawable-xhdpi/bg_sweeper_operate_panel.png b/OCH/sweeper/sweeper-cloud/src/main/res/drawable-xhdpi/bg_sweeper_operate_panel.png
similarity index 100%
rename from OCH/mogo-och-sweeper/src/main/res/drawable-xhdpi/bg_sweeper_operate_panel.png
rename to OCH/sweeper/sweeper-cloud/src/main/res/drawable-xhdpi/bg_sweeper_operate_panel.png
diff --git a/OCH/mogo-och-sweeper/src/main/res/drawable-xhdpi/icon_ai_normal.png b/OCH/sweeper/sweeper-cloud/src/main/res/drawable-xhdpi/icon_ai_normal.png
similarity index 100%
rename from OCH/mogo-och-sweeper/src/main/res/drawable-xhdpi/icon_ai_normal.png
rename to OCH/sweeper/sweeper-cloud/src/main/res/drawable-xhdpi/icon_ai_normal.png
diff --git a/OCH/sweeper/sweeper-cloud/src/main/res/drawable-xhdpi/icon_auto.png b/OCH/sweeper/sweeper-cloud/src/main/res/drawable-xhdpi/icon_auto.png
new file mode 100755
index 0000000000..b76ce3dd2b
Binary files /dev/null and b/OCH/sweeper/sweeper-cloud/src/main/res/drawable-xhdpi/icon_auto.png differ
diff --git a/OCH/mogo-och-sweeper/src/main/res/drawable-xhdpi/icon_battery.png b/OCH/sweeper/sweeper-cloud/src/main/res/drawable-xhdpi/icon_battery.png
similarity index 100%
rename from OCH/mogo-och-sweeper/src/main/res/drawable-xhdpi/icon_battery.png
rename to OCH/sweeper/sweeper-cloud/src/main/res/drawable-xhdpi/icon_battery.png
diff --git a/OCH/sweeper/sweeper-cloud/src/main/res/drawable-xhdpi/icon_manual_driving.png b/OCH/sweeper/sweeper-cloud/src/main/res/drawable-xhdpi/icon_manual_driving.png
new file mode 100755
index 0000000000..8e1fa65d96
Binary files /dev/null and b/OCH/sweeper/sweeper-cloud/src/main/res/drawable-xhdpi/icon_manual_driving.png differ
diff --git a/OCH/mogo-och-sweeper/src/main/res/drawable-xhdpi/icon_message_box.png b/OCH/sweeper/sweeper-cloud/src/main/res/drawable-xhdpi/icon_message_box.png
similarity index 100%
rename from OCH/mogo-och-sweeper/src/main/res/drawable-xhdpi/icon_message_box.png
rename to OCH/sweeper/sweeper-cloud/src/main/res/drawable-xhdpi/icon_message_box.png
diff --git a/OCH/mogo-och-sweeper/src/main/res/drawable-xhdpi/icon_message_box_pressed.png b/OCH/sweeper/sweeper-cloud/src/main/res/drawable-xhdpi/icon_message_box_pressed.png
similarity index 100%
rename from OCH/mogo-och-sweeper/src/main/res/drawable-xhdpi/icon_message_box_pressed.png
rename to OCH/sweeper/sweeper-cloud/src/main/res/drawable-xhdpi/icon_message_box_pressed.png
diff --git a/OCH/sweeper/sweeper-cloud/src/main/res/drawable-xhdpi/icon_not_auto.png b/OCH/sweeper/sweeper-cloud/src/main/res/drawable-xhdpi/icon_not_auto.png
new file mode 100755
index 0000000000..3cb8679a55
Binary files /dev/null and b/OCH/sweeper/sweeper-cloud/src/main/res/drawable-xhdpi/icon_not_auto.png differ
diff --git a/OCH/mogo-och-sweeper/src/main/res/drawable-xhdpi/icon_right_down_arrow.png b/OCH/sweeper/sweeper-cloud/src/main/res/drawable-xhdpi/icon_right_down_arrow.png
similarity index 100%
rename from OCH/mogo-och-sweeper/src/main/res/drawable-xhdpi/icon_right_down_arrow.png
rename to OCH/sweeper/sweeper-cloud/src/main/res/drawable-xhdpi/icon_right_down_arrow.png
diff --git a/OCH/mogo-och-sweeper/src/main/res/drawable-xhdpi/icon_water_level_warning.png b/OCH/sweeper/sweeper-cloud/src/main/res/drawable-xhdpi/icon_water_level_warning.png
similarity index 100%
rename from OCH/mogo-och-sweeper/src/main/res/drawable-xhdpi/icon_water_level_warning.png
rename to OCH/sweeper/sweeper-cloud/src/main/res/drawable-xhdpi/icon_water_level_warning.png
diff --git a/OCH/mogo-och-sweeper/src/main/res/drawable-xhdpi/icon_water_nor.png b/OCH/sweeper/sweeper-cloud/src/main/res/drawable-xhdpi/icon_water_nor.png
similarity index 100%
rename from OCH/mogo-och-sweeper/src/main/res/drawable-xhdpi/icon_water_nor.png
rename to OCH/sweeper/sweeper-cloud/src/main/res/drawable-xhdpi/icon_water_nor.png
diff --git a/OCH/mogo-och-sweeper/src/main/res/drawable-xhdpi/icon_water_select.png b/OCH/sweeper/sweeper-cloud/src/main/res/drawable-xhdpi/icon_water_select.png
similarity index 100%
rename from OCH/mogo-och-sweeper/src/main/res/drawable-xhdpi/icon_water_select.png
rename to OCH/sweeper/sweeper-cloud/src/main/res/drawable-xhdpi/icon_water_select.png
diff --git a/OCH/mogo-och-sweeper/src/main/res/drawable-xhdpi/no_task_data.png b/OCH/sweeper/sweeper-cloud/src/main/res/drawable-xhdpi/no_task_data.png
similarity index 100%
rename from OCH/mogo-och-sweeper/src/main/res/drawable-xhdpi/no_task_data.png
rename to OCH/sweeper/sweeper-cloud/src/main/res/drawable-xhdpi/no_task_data.png
diff --git a/OCH/mogo-och-sweeper/src/main/res/drawable-xhdpi/sweeper_base_slide_block.png b/OCH/sweeper/sweeper-cloud/src/main/res/drawable-xhdpi/sweeper_base_slide_block.png
similarity index 100%
rename from OCH/mogo-och-sweeper/src/main/res/drawable-xhdpi/sweeper_base_slide_block.png
rename to OCH/sweeper/sweeper-cloud/src/main/res/drawable-xhdpi/sweeper_base_slide_block.png
diff --git a/OCH/mogo-och-sweeper/src/main/res/drawable-xhdpi/sweeper_bg_traffic_data.png b/OCH/sweeper/sweeper-cloud/src/main/res/drawable-xhdpi/sweeper_bg_traffic_data.png
similarity index 100%
rename from OCH/mogo-och-sweeper/src/main/res/drawable-xhdpi/sweeper_bg_traffic_data.png
rename to OCH/sweeper/sweeper-cloud/src/main/res/drawable-xhdpi/sweeper_bg_traffic_data.png
diff --git a/OCH/mogo-och-sweeper/src/main/res/drawable-xhdpi/sweeper_bg_traffic_data_speed.png b/OCH/sweeper/sweeper-cloud/src/main/res/drawable-xhdpi/sweeper_bg_traffic_data_speed.png
similarity index 100%
rename from OCH/mogo-och-sweeper/src/main/res/drawable-xhdpi/sweeper_bg_traffic_data_speed.png
rename to OCH/sweeper/sweeper-cloud/src/main/res/drawable-xhdpi/sweeper_bg_traffic_data_speed.png
diff --git a/OCH/mogo-och-sweeper/src/main/res/drawable-xhdpi/sweeper_big_end_maker_icon.png b/OCH/sweeper/sweeper-cloud/src/main/res/drawable-xhdpi/sweeper_big_end_maker_icon.png
similarity index 100%
rename from OCH/mogo-och-sweeper/src/main/res/drawable-xhdpi/sweeper_big_end_maker_icon.png
rename to OCH/sweeper/sweeper-cloud/src/main/res/drawable-xhdpi/sweeper_big_end_maker_icon.png
diff --git a/OCH/mogo-och-sweeper/src/main/res/drawable-xhdpi/sweeper_big_start_maker_icon.png b/OCH/sweeper/sweeper-cloud/src/main/res/drawable-xhdpi/sweeper_big_start_maker_icon.png
similarity index 100%
rename from OCH/mogo-och-sweeper/src/main/res/drawable-xhdpi/sweeper_big_start_maker_icon.png
rename to OCH/sweeper/sweeper-cloud/src/main/res/drawable-xhdpi/sweeper_big_start_maker_icon.png
diff --git a/OCH/mogo-och-sweeper/src/main/res/drawable-xhdpi/sweeper_car_big.png b/OCH/sweeper/sweeper-cloud/src/main/res/drawable-xhdpi/sweeper_car_big.png
similarity index 100%
rename from OCH/mogo-och-sweeper/src/main/res/drawable-xhdpi/sweeper_car_big.png
rename to OCH/sweeper/sweeper-cloud/src/main/res/drawable-xhdpi/sweeper_car_big.png
diff --git a/OCH/mogo-och-sweeper/src/main/res/drawable-xhdpi/sweeper_car_small.png b/OCH/sweeper/sweeper-cloud/src/main/res/drawable-xhdpi/sweeper_car_small.png
similarity index 100%
rename from OCH/mogo-och-sweeper/src/main/res/drawable-xhdpi/sweeper_car_small.png
rename to OCH/sweeper/sweeper-cloud/src/main/res/drawable-xhdpi/sweeper_car_small.png
diff --git a/OCH/mogo-och-sweeper/src/main/res/drawable-xhdpi/sweeper_card_normal.png b/OCH/sweeper/sweeper-cloud/src/main/res/drawable-xhdpi/sweeper_card_normal.png
similarity index 100%
rename from OCH/mogo-och-sweeper/src/main/res/drawable-xhdpi/sweeper_card_normal.png
rename to OCH/sweeper/sweeper-cloud/src/main/res/drawable-xhdpi/sweeper_card_normal.png
diff --git a/OCH/mogo-och-sweeper/src/main/res/drawable-xhdpi/sweeper_card_pressed.png b/OCH/sweeper/sweeper-cloud/src/main/res/drawable-xhdpi/sweeper_card_pressed.png
similarity index 100%
rename from OCH/mogo-och-sweeper/src/main/res/drawable-xhdpi/sweeper_card_pressed.png
rename to OCH/sweeper/sweeper-cloud/src/main/res/drawable-xhdpi/sweeper_card_pressed.png
diff --git a/OCH/mogo-och-sweeper/src/main/res/drawable-xhdpi/sweeper_clean_mode_icon.png b/OCH/sweeper/sweeper-cloud/src/main/res/drawable-xhdpi/sweeper_clean_mode_icon.png
similarity index 100%
rename from OCH/mogo-och-sweeper/src/main/res/drawable-xhdpi/sweeper_clean_mode_icon.png
rename to OCH/sweeper/sweeper-cloud/src/main/res/drawable-xhdpi/sweeper_clean_mode_icon.png
diff --git a/OCH/mogo-och-sweeper/src/main/res/drawable-xhdpi/sweeper_close_navi_icon.png b/OCH/sweeper/sweeper-cloud/src/main/res/drawable-xhdpi/sweeper_close_navi_icon.png
similarity index 100%
rename from OCH/mogo-och-sweeper/src/main/res/drawable-xhdpi/sweeper_close_navi_icon.png
rename to OCH/sweeper/sweeper-cloud/src/main/res/drawable-xhdpi/sweeper_close_navi_icon.png
diff --git a/OCH/sweeper/sweeper-cloud/src/main/res/drawable-xhdpi/sweeper_cloud_loading.png b/OCH/sweeper/sweeper-cloud/src/main/res/drawable-xhdpi/sweeper_cloud_loading.png
new file mode 100644
index 0000000000..0c2d84f448
Binary files /dev/null and b/OCH/sweeper/sweeper-cloud/src/main/res/drawable-xhdpi/sweeper_cloud_loading.png differ
diff --git a/OCH/sweeper/sweeper-cloud/src/main/res/drawable-xhdpi/sweeper_cloud_rotate.png b/OCH/sweeper/sweeper-cloud/src/main/res/drawable-xhdpi/sweeper_cloud_rotate.png
new file mode 100755
index 0000000000..3e49a07b00
Binary files /dev/null and b/OCH/sweeper/sweeper-cloud/src/main/res/drawable-xhdpi/sweeper_cloud_rotate.png differ
diff --git a/OCH/sweeper/sweeper-cloud/src/main/res/drawable-xhdpi/sweeper_cloud_rotation.png b/OCH/sweeper/sweeper-cloud/src/main/res/drawable-xhdpi/sweeper_cloud_rotation.png
new file mode 100644
index 0000000000..9f33e0d8dd
Binary files /dev/null and b/OCH/sweeper/sweeper-cloud/src/main/res/drawable-xhdpi/sweeper_cloud_rotation.png differ
diff --git a/OCH/sweeper/sweeper-cloud/src/main/res/drawable-xhdpi/sweeper_cloud_rotation_background.png b/OCH/sweeper/sweeper-cloud/src/main/res/drawable-xhdpi/sweeper_cloud_rotation_background.png
new file mode 100755
index 0000000000..8d3650e9ba
Binary files /dev/null and b/OCH/sweeper/sweeper-cloud/src/main/res/drawable-xhdpi/sweeper_cloud_rotation_background.png differ
diff --git a/OCH/mogo-och-sweeper/src/main/res/drawable-xhdpi/sweeper_collect_normal.png b/OCH/sweeper/sweeper-cloud/src/main/res/drawable-xhdpi/sweeper_collect_normal.png
similarity index 100%
rename from OCH/mogo-och-sweeper/src/main/res/drawable-xhdpi/sweeper_collect_normal.png
rename to OCH/sweeper/sweeper-cloud/src/main/res/drawable-xhdpi/sweeper_collect_normal.png
diff --git a/OCH/mogo-och-sweeper/src/main/res/drawable-xhdpi/sweeper_collect_pressed.png b/OCH/sweeper/sweeper-cloud/src/main/res/drawable-xhdpi/sweeper_collect_pressed.png
similarity index 100%
rename from OCH/mogo-och-sweeper/src/main/res/drawable-xhdpi/sweeper_collect_pressed.png
rename to OCH/sweeper/sweeper-cloud/src/main/res/drawable-xhdpi/sweeper_collect_pressed.png
diff --git a/OCH/mogo-och-sweeper/src/main/res/drawable-xhdpi/sweeper_full_screen_icon.png b/OCH/sweeper/sweeper-cloud/src/main/res/drawable-xhdpi/sweeper_full_screen_icon.png
similarity index 100%
rename from OCH/mogo-och-sweeper/src/main/res/drawable-xhdpi/sweeper_full_screen_icon.png
rename to OCH/sweeper/sweeper-cloud/src/main/res/drawable-xhdpi/sweeper_full_screen_icon.png
diff --git a/OCH/mogo-och-sweeper/src/main/res/drawable-xhdpi/sweeper_icon_ai_select.png b/OCH/sweeper/sweeper-cloud/src/main/res/drawable-xhdpi/sweeper_icon_ai_select.png
similarity index 100%
rename from OCH/mogo-och-sweeper/src/main/res/drawable-xhdpi/sweeper_icon_ai_select.png
rename to OCH/sweeper/sweeper-cloud/src/main/res/drawable-xhdpi/sweeper_icon_ai_select.png
diff --git a/OCH/mogo-och-sweeper/src/main/res/drawable-xhdpi/sweeper_icon_bad_case_normal.png b/OCH/sweeper/sweeper-cloud/src/main/res/drawable-xhdpi/sweeper_icon_bad_case_normal.png
similarity index 100%
rename from OCH/mogo-och-sweeper/src/main/res/drawable-xhdpi/sweeper_icon_bad_case_normal.png
rename to OCH/sweeper/sweeper-cloud/src/main/res/drawable-xhdpi/sweeper_icon_bad_case_normal.png
diff --git a/OCH/mogo-och-sweeper/src/main/res/drawable-xhdpi/sweeper_icon_bad_case_select.png b/OCH/sweeper/sweeper-cloud/src/main/res/drawable-xhdpi/sweeper_icon_bad_case_select.png
similarity index 100%
rename from OCH/mogo-och-sweeper/src/main/res/drawable-xhdpi/sweeper_icon_bad_case_select.png
rename to OCH/sweeper/sweeper-cloud/src/main/res/drawable-xhdpi/sweeper_icon_bad_case_select.png
diff --git a/OCH/mogo-och-sweeper/src/main/res/drawable-xhdpi/sweeper_icon_msg_box_close.png b/OCH/sweeper/sweeper-cloud/src/main/res/drawable-xhdpi/sweeper_icon_msg_box_close.png
similarity index 100%
rename from OCH/mogo-och-sweeper/src/main/res/drawable-xhdpi/sweeper_icon_msg_box_close.png
rename to OCH/sweeper/sweeper-cloud/src/main/res/drawable-xhdpi/sweeper_icon_msg_box_close.png
diff --git a/OCH/mogo-och-sweeper/src/main/res/drawable-xhdpi/sweeper_icon_msg_box_open.png b/OCH/sweeper/sweeper-cloud/src/main/res/drawable-xhdpi/sweeper_icon_msg_box_open.png
similarity index 100%
rename from OCH/mogo-och-sweeper/src/main/res/drawable-xhdpi/sweeper_icon_msg_box_open.png
rename to OCH/sweeper/sweeper-cloud/src/main/res/drawable-xhdpi/sweeper_icon_msg_box_open.png
diff --git a/OCH/mogo-och-sweeper/src/main/res/drawable-xhdpi/sweeper_icon_not_select_subtask.png b/OCH/sweeper/sweeper-cloud/src/main/res/drawable-xhdpi/sweeper_icon_not_select_subtask.png
similarity index 100%
rename from OCH/mogo-och-sweeper/src/main/res/drawable-xhdpi/sweeper_icon_not_select_subtask.png
rename to OCH/sweeper/sweeper-cloud/src/main/res/drawable-xhdpi/sweeper_icon_not_select_subtask.png
diff --git a/OCH/mogo-och-sweeper/src/main/res/drawable-xhdpi/sweeper_icon_select_subtask.png b/OCH/sweeper/sweeper-cloud/src/main/res/drawable-xhdpi/sweeper_icon_select_subtask.png
similarity index 100%
rename from OCH/mogo-och-sweeper/src/main/res/drawable-xhdpi/sweeper_icon_select_subtask.png
rename to OCH/sweeper/sweeper-cloud/src/main/res/drawable-xhdpi/sweeper_icon_select_subtask.png
diff --git a/OCH/mogo-och-sweeper/src/main/res/drawable-xhdpi/sweeper_light_gay_nor.png b/OCH/sweeper/sweeper-cloud/src/main/res/drawable-xhdpi/sweeper_light_gay_nor.png
similarity index 100%
rename from OCH/mogo-och-sweeper/src/main/res/drawable-xhdpi/sweeper_light_gay_nor.png
rename to OCH/sweeper/sweeper-cloud/src/main/res/drawable-xhdpi/sweeper_light_gay_nor.png
diff --git a/OCH/mogo-och-sweeper/src/main/res/drawable-xhdpi/sweeper_light_green_nor.png b/OCH/sweeper/sweeper-cloud/src/main/res/drawable-xhdpi/sweeper_light_green_nor.png
similarity index 100%
rename from OCH/mogo-och-sweeper/src/main/res/drawable-xhdpi/sweeper_light_green_nor.png
rename to OCH/sweeper/sweeper-cloud/src/main/res/drawable-xhdpi/sweeper_light_green_nor.png
diff --git a/OCH/mogo-och-sweeper/src/main/res/drawable-xhdpi/sweeper_light_red_nor.png b/OCH/sweeper/sweeper-cloud/src/main/res/drawable-xhdpi/sweeper_light_red_nor.png
similarity index 100%
rename from OCH/mogo-och-sweeper/src/main/res/drawable-xhdpi/sweeper_light_red_nor.png
rename to OCH/sweeper/sweeper-cloud/src/main/res/drawable-xhdpi/sweeper_light_red_nor.png
diff --git a/OCH/mogo-och-sweeper/src/main/res/drawable-xhdpi/sweeper_lightyellow_nor.png b/OCH/sweeper/sweeper-cloud/src/main/res/drawable-xhdpi/sweeper_lightyellow_nor.png
similarity index 100%
rename from OCH/mogo-och-sweeper/src/main/res/drawable-xhdpi/sweeper_lightyellow_nor.png
rename to OCH/sweeper/sweeper-cloud/src/main/res/drawable-xhdpi/sweeper_lightyellow_nor.png
diff --git a/OCH/mogo-och-sweeper/src/main/res/drawable-xhdpi/sweeper_line.png b/OCH/sweeper/sweeper-cloud/src/main/res/drawable-xhdpi/sweeper_line.png
similarity index 100%
rename from OCH/mogo-och-sweeper/src/main/res/drawable-xhdpi/sweeper_line.png
rename to OCH/sweeper/sweeper-cloud/src/main/res/drawable-xhdpi/sweeper_line.png
diff --git a/OCH/mogo-och-sweeper/src/main/res/drawable-xhdpi/sweeper_loading_nor.png b/OCH/sweeper/sweeper-cloud/src/main/res/drawable-xhdpi/sweeper_loading_nor.png
similarity index 100%
rename from OCH/mogo-och-sweeper/src/main/res/drawable-xhdpi/sweeper_loading_nor.png
rename to OCH/sweeper/sweeper-cloud/src/main/res/drawable-xhdpi/sweeper_loading_nor.png
diff --git a/OCH/mogo-och-sweeper/src/main/res/drawable-xhdpi/sweeper_navi_refresh.png b/OCH/sweeper/sweeper-cloud/src/main/res/drawable-xhdpi/sweeper_navi_refresh.png
similarity index 100%
rename from OCH/mogo-och-sweeper/src/main/res/drawable-xhdpi/sweeper_navi_refresh.png
rename to OCH/sweeper/sweeper-cloud/src/main/res/drawable-xhdpi/sweeper_navi_refresh.png
diff --git a/OCH/mogo-och-sweeper/src/main/res/drawable-xhdpi/sweeper_och_dot_line.png b/OCH/sweeper/sweeper-cloud/src/main/res/drawable-xhdpi/sweeper_och_dot_line.png
similarity index 100%
rename from OCH/mogo-och-sweeper/src/main/res/drawable-xhdpi/sweeper_och_dot_line.png
rename to OCH/sweeper/sweeper-cloud/src/main/res/drawable-xhdpi/sweeper_och_dot_line.png
diff --git a/OCH/mogo-och-sweeper/src/main/res/drawable-xhdpi/sweeper_setting_btn_bg.png b/OCH/sweeper/sweeper-cloud/src/main/res/drawable-xhdpi/sweeper_setting_btn_bg.png
similarity index 100%
rename from OCH/mogo-och-sweeper/src/main/res/drawable-xhdpi/sweeper_setting_btn_bg.png
rename to OCH/sweeper/sweeper-cloud/src/main/res/drawable-xhdpi/sweeper_setting_btn_bg.png
diff --git a/OCH/mogo-och-sweeper/src/main/res/drawable-xhdpi/sweeper_setting_normal.png b/OCH/sweeper/sweeper-cloud/src/main/res/drawable-xhdpi/sweeper_setting_normal.png
similarity index 100%
rename from OCH/mogo-och-sweeper/src/main/res/drawable-xhdpi/sweeper_setting_normal.png
rename to OCH/sweeper/sweeper-cloud/src/main/res/drawable-xhdpi/sweeper_setting_normal.png
diff --git a/OCH/mogo-och-sweeper/src/main/res/drawable-xhdpi/sweeper_setting_pressed.png b/OCH/sweeper/sweeper-cloud/src/main/res/drawable-xhdpi/sweeper_setting_pressed.png
similarity index 100%
rename from OCH/mogo-och-sweeper/src/main/res/drawable-xhdpi/sweeper_setting_pressed.png
rename to OCH/sweeper/sweeper-cloud/src/main/res/drawable-xhdpi/sweeper_setting_pressed.png
diff --git a/OCH/mogo-och-sweeper/src/main/res/drawable-xhdpi/sweeper_small_end_marker_icon.png b/OCH/sweeper/sweeper-cloud/src/main/res/drawable-xhdpi/sweeper_small_end_marker_icon.png
similarity index 100%
rename from OCH/mogo-och-sweeper/src/main/res/drawable-xhdpi/sweeper_small_end_marker_icon.png
rename to OCH/sweeper/sweeper-cloud/src/main/res/drawable-xhdpi/sweeper_small_end_marker_icon.png
diff --git a/OCH/mogo-och-sweeper/src/main/res/drawable-xhdpi/sweeper_small_start_marker_icon.png b/OCH/sweeper/sweeper-cloud/src/main/res/drawable-xhdpi/sweeper_small_start_marker_icon.png
similarity index 100%
rename from OCH/mogo-och-sweeper/src/main/res/drawable-xhdpi/sweeper_small_start_marker_icon.png
rename to OCH/sweeper/sweeper-cloud/src/main/res/drawable-xhdpi/sweeper_small_start_marker_icon.png
diff --git a/OCH/mogo-och-sweeper/src/main/res/drawable-xhdpi/sweeper_switch_map_big_normal.png b/OCH/sweeper/sweeper-cloud/src/main/res/drawable-xhdpi/sweeper_switch_map_big_normal.png
similarity index 100%
rename from OCH/mogo-och-sweeper/src/main/res/drawable-xhdpi/sweeper_switch_map_big_normal.png
rename to OCH/sweeper/sweeper-cloud/src/main/res/drawable-xhdpi/sweeper_switch_map_big_normal.png
diff --git a/OCH/mogo-och-sweeper/src/main/res/drawable-xhdpi/sweeper_switch_map_big_pressed.png b/OCH/sweeper/sweeper-cloud/src/main/res/drawable-xhdpi/sweeper_switch_map_big_pressed.png
similarity index 100%
rename from OCH/mogo-och-sweeper/src/main/res/drawable-xhdpi/sweeper_switch_map_big_pressed.png
rename to OCH/sweeper/sweeper-cloud/src/main/res/drawable-xhdpi/sweeper_switch_map_big_pressed.png
diff --git a/OCH/mogo-och-sweeper/src/main/res/drawable-xhdpi/sweeper_switch_map_long.png b/OCH/sweeper/sweeper-cloud/src/main/res/drawable-xhdpi/sweeper_switch_map_long.png
similarity index 100%
rename from OCH/mogo-och-sweeper/src/main/res/drawable-xhdpi/sweeper_switch_map_long.png
rename to OCH/sweeper/sweeper-cloud/src/main/res/drawable-xhdpi/sweeper_switch_map_long.png
diff --git a/OCH/mogo-och-sweeper/src/main/res/drawable-xhdpi/sweeper_switch_map_medium.png b/OCH/sweeper/sweeper-cloud/src/main/res/drawable-xhdpi/sweeper_switch_map_medium.png
similarity index 100%
rename from OCH/mogo-och-sweeper/src/main/res/drawable-xhdpi/sweeper_switch_map_medium.png
rename to OCH/sweeper/sweeper-cloud/src/main/res/drawable-xhdpi/sweeper_switch_map_medium.png
diff --git a/OCH/mogo-och-sweeper/src/main/res/drawable-xhdpi/sweeper_switch_map_small_normal.png b/OCH/sweeper/sweeper-cloud/src/main/res/drawable-xhdpi/sweeper_switch_map_small_normal.png
similarity index 100%
rename from OCH/mogo-och-sweeper/src/main/res/drawable-xhdpi/sweeper_switch_map_small_normal.png
rename to OCH/sweeper/sweeper-cloud/src/main/res/drawable-xhdpi/sweeper_switch_map_small_normal.png
diff --git a/OCH/mogo-och-sweeper/src/main/res/drawable-xhdpi/sweeper_switch_map_small_pressed.png b/OCH/sweeper/sweeper-cloud/src/main/res/drawable-xhdpi/sweeper_switch_map_small_pressed.png
similarity index 100%
rename from OCH/mogo-och-sweeper/src/main/res/drawable-xhdpi/sweeper_switch_map_small_pressed.png
rename to OCH/sweeper/sweeper-cloud/src/main/res/drawable-xhdpi/sweeper_switch_map_small_pressed.png
diff --git a/OCH/mogo-och-sweeper/src/main/res/drawable-xhdpi/sweeper_task_list_left_select_icon.png b/OCH/sweeper/sweeper-cloud/src/main/res/drawable-xhdpi/sweeper_task_list_left_select_icon.png
similarity index 100%
rename from OCH/mogo-och-sweeper/src/main/res/drawable-xhdpi/sweeper_task_list_left_select_icon.png
rename to OCH/sweeper/sweeper-cloud/src/main/res/drawable-xhdpi/sweeper_task_list_left_select_icon.png
diff --git a/OCH/mogo-och-sweeper/src/main/res/drawable-xhdpi/sweeper_task_not_working.png b/OCH/sweeper/sweeper-cloud/src/main/res/drawable-xhdpi/sweeper_task_not_working.png
similarity index 100%
rename from OCH/mogo-och-sweeper/src/main/res/drawable-xhdpi/sweeper_task_not_working.png
rename to OCH/sweeper/sweeper-cloud/src/main/res/drawable-xhdpi/sweeper_task_not_working.png
diff --git a/OCH/mogo-och-sweeper/src/main/res/drawable-xhdpi/sweeper_task_working.png b/OCH/sweeper/sweeper-cloud/src/main/res/drawable-xhdpi/sweeper_task_working.png
similarity index 100%
rename from OCH/mogo-och-sweeper/src/main/res/drawable-xhdpi/sweeper_task_working.png
rename to OCH/sweeper/sweeper-cloud/src/main/res/drawable-xhdpi/sweeper_task_working.png
diff --git a/OCH/mogo-och-sweeper/src/main/res/drawable-xhdpi/sweeper_traffic_data_speed_warning.png b/OCH/sweeper/sweeper-cloud/src/main/res/drawable-xhdpi/sweeper_traffic_data_speed_warning.png
similarity index 100%
rename from OCH/mogo-och-sweeper/src/main/res/drawable-xhdpi/sweeper_traffic_data_speed_warning.png
rename to OCH/sweeper/sweeper-cloud/src/main/res/drawable-xhdpi/sweeper_traffic_data_speed_warning.png
diff --git a/OCH/mogo-och-sweeper/src/main/res/drawable-xhdpi/sweeper_unselect_btn.png b/OCH/sweeper/sweeper-cloud/src/main/res/drawable-xhdpi/sweeper_unselect_btn.png
similarity index 100%
rename from OCH/mogo-och-sweeper/src/main/res/drawable-xhdpi/sweeper_unselect_btn.png
rename to OCH/sweeper/sweeper-cloud/src/main/res/drawable-xhdpi/sweeper_unselect_btn.png
diff --git a/OCH/mogo-och-sweeper/src/main/res/drawable-xhdpi/turn_signal_left_nor.png b/OCH/sweeper/sweeper-cloud/src/main/res/drawable-xhdpi/turn_signal_left_nor.png
similarity index 100%
rename from OCH/mogo-och-sweeper/src/main/res/drawable-xhdpi/turn_signal_left_nor.png
rename to OCH/sweeper/sweeper-cloud/src/main/res/drawable-xhdpi/turn_signal_left_nor.png
diff --git a/OCH/mogo-och-sweeper/src/main/res/drawable-xhdpi/turn_signal_left_select.png b/OCH/sweeper/sweeper-cloud/src/main/res/drawable-xhdpi/turn_signal_left_select.png
similarity index 100%
rename from OCH/mogo-och-sweeper/src/main/res/drawable-xhdpi/turn_signal_left_select.png
rename to OCH/sweeper/sweeper-cloud/src/main/res/drawable-xhdpi/turn_signal_left_select.png
diff --git a/OCH/mogo-och-sweeper/src/main/res/drawable-xhdpi/turn_signal_right_nor.png b/OCH/sweeper/sweeper-cloud/src/main/res/drawable-xhdpi/turn_signal_right_nor.png
similarity index 100%
rename from OCH/mogo-och-sweeper/src/main/res/drawable-xhdpi/turn_signal_right_nor.png
rename to OCH/sweeper/sweeper-cloud/src/main/res/drawable-xhdpi/turn_signal_right_nor.png
diff --git a/OCH/mogo-och-sweeper/src/main/res/drawable-xhdpi/turn_signal_right_select.png b/OCH/sweeper/sweeper-cloud/src/main/res/drawable-xhdpi/turn_signal_right_select.png
similarity index 100%
rename from OCH/mogo-och-sweeper/src/main/res/drawable-xhdpi/turn_signal_right_select.png
rename to OCH/sweeper/sweeper-cloud/src/main/res/drawable-xhdpi/turn_signal_right_select.png
diff --git a/OCH/mogo-och-sweeper/src/main/res/drawable/bg_bubble.xml b/OCH/sweeper/sweeper-cloud/src/main/res/drawable/bg_bubble.xml
similarity index 100%
rename from OCH/mogo-och-sweeper/src/main/res/drawable/bg_bubble.xml
rename to OCH/sweeper/sweeper-cloud/src/main/res/drawable/bg_bubble.xml
diff --git a/OCH/mogo-och-sweeper/src/main/res/drawable/bg_shape_clean_mode.xml b/OCH/sweeper/sweeper-cloud/src/main/res/drawable/bg_shape_clean_mode.xml
similarity index 100%
rename from OCH/mogo-och-sweeper/src/main/res/drawable/bg_shape_clean_mode.xml
rename to OCH/sweeper/sweeper-cloud/src/main/res/drawable/bg_shape_clean_mode.xml
diff --git a/OCH/sweeper/sweeper-cloud/src/main/res/drawable/bg_shape_dialog_cloud_view.xml b/OCH/sweeper/sweeper-cloud/src/main/res/drawable/bg_shape_dialog_cloud_view.xml
new file mode 100644
index 0000000000..a0f105b0ac
--- /dev/null
+++ b/OCH/sweeper/sweeper-cloud/src/main/res/drawable/bg_shape_dialog_cloud_view.xml
@@ -0,0 +1,4 @@
+
+
+
+
\ No newline at end of file
diff --git a/OCH/mogo-och-sweeper/src/main/res/drawable/bg_shape_dialog_no_title.xml b/OCH/sweeper/sweeper-cloud/src/main/res/drawable/bg_shape_dialog_no_title.xml
similarity index 100%
rename from OCH/mogo-och-sweeper/src/main/res/drawable/bg_shape_dialog_no_title.xml
rename to OCH/sweeper/sweeper-cloud/src/main/res/drawable/bg_shape_dialog_no_title.xml
diff --git a/OCH/sweeper/sweeper-cloud/src/main/res/drawable/bg_shape_left_bottom_round.xml b/OCH/sweeper/sweeper-cloud/src/main/res/drawable/bg_shape_left_bottom_round.xml
new file mode 100644
index 0000000000..5d247295b3
--- /dev/null
+++ b/OCH/sweeper/sweeper-cloud/src/main/res/drawable/bg_shape_left_bottom_round.xml
@@ -0,0 +1,5 @@
+
+
+
+
+
\ No newline at end of file
diff --git a/OCH/mogo-och-sweeper/src/main/res/drawable/bg_shape_left_right_bottom_round.xml b/OCH/sweeper/sweeper-cloud/src/main/res/drawable/bg_shape_left_right_bottom_round.xml
similarity index 100%
rename from OCH/mogo-och-sweeper/src/main/res/drawable/bg_shape_left_right_bottom_round.xml
rename to OCH/sweeper/sweeper-cloud/src/main/res/drawable/bg_shape_left_right_bottom_round.xml
diff --git a/OCH/mogo-och-sweeper/src/main/res/drawable/bg_shape_right_bottom_round.xml b/OCH/sweeper/sweeper-cloud/src/main/res/drawable/bg_shape_right_bottom_round.xml
similarity index 100%
rename from OCH/mogo-och-sweeper/src/main/res/drawable/bg_shape_right_bottom_round.xml
rename to OCH/sweeper/sweeper-cloud/src/main/res/drawable/bg_shape_right_bottom_round.xml
diff --git a/OCH/mogo-och-sweeper/src/main/res/drawable/bg_shape_task_panel.xml b/OCH/sweeper/sweeper-cloud/src/main/res/drawable/bg_shape_task_panel.xml
similarity index 100%
rename from OCH/mogo-och-sweeper/src/main/res/drawable/bg_shape_task_panel.xml
rename to OCH/sweeper/sweeper-cloud/src/main/res/drawable/bg_shape_task_panel.xml
diff --git a/OCH/mogo-och-sweeper/src/main/res/drawable/bg_shape_task_state_not_ready.xml b/OCH/sweeper/sweeper-cloud/src/main/res/drawable/bg_shape_task_state_not_ready.xml
similarity index 100%
rename from OCH/mogo-och-sweeper/src/main/res/drawable/bg_shape_task_state_not_ready.xml
rename to OCH/sweeper/sweeper-cloud/src/main/res/drawable/bg_shape_task_state_not_ready.xml
diff --git a/OCH/mogo-och-sweeper/src/main/res/drawable/bg_shape_task_state_working.xml b/OCH/sweeper/sweeper-cloud/src/main/res/drawable/bg_shape_task_state_working.xml
similarity index 100%
rename from OCH/mogo-och-sweeper/src/main/res/drawable/bg_shape_task_state_working.xml
rename to OCH/sweeper/sweeper-cloud/src/main/res/drawable/bg_shape_task_state_working.xml
diff --git a/OCH/mogo-och-sweeper/src/main/res/drawable/bg_shape_welt_panel.xml b/OCH/sweeper/sweeper-cloud/src/main/res/drawable/bg_shape_welt_panel.xml
similarity index 100%
rename from OCH/mogo-och-sweeper/src/main/res/drawable/bg_shape_welt_panel.xml
rename to OCH/sweeper/sweeper-cloud/src/main/res/drawable/bg_shape_welt_panel.xml
diff --git a/OCH/mogo-och-sweeper/src/main/res/drawable/bg_sweeper_operate_panel_btn_close.xml b/OCH/sweeper/sweeper-cloud/src/main/res/drawable/bg_sweeper_operate_panel_btn_close.xml
similarity index 100%
rename from OCH/mogo-och-sweeper/src/main/res/drawable/bg_sweeper_operate_panel_btn_close.xml
rename to OCH/sweeper/sweeper-cloud/src/main/res/drawable/bg_sweeper_operate_panel_btn_close.xml
diff --git a/OCH/mogo-och-sweeper/src/main/res/drawable/bg_sweeper_operate_panel_btn_default.xml b/OCH/sweeper/sweeper-cloud/src/main/res/drawable/bg_sweeper_operate_panel_btn_default.xml
similarity index 100%
rename from OCH/mogo-och-sweeper/src/main/res/drawable/bg_sweeper_operate_panel_btn_default.xml
rename to OCH/sweeper/sweeper-cloud/src/main/res/drawable/bg_sweeper_operate_panel_btn_default.xml
diff --git a/OCH/mogo-och-sweeper/src/main/res/drawable/bg_sweeper_operate_panel_btn_disabled.xml b/OCH/sweeper/sweeper-cloud/src/main/res/drawable/bg_sweeper_operate_panel_btn_disabled.xml
similarity index 100%
rename from OCH/mogo-och-sweeper/src/main/res/drawable/bg_sweeper_operate_panel_btn_disabled.xml
rename to OCH/sweeper/sweeper-cloud/src/main/res/drawable/bg_sweeper_operate_panel_btn_disabled.xml
diff --git a/OCH/mogo-och-sweeper/src/main/res/drawable/bg_sweeper_operate_panel_btn_open.xml b/OCH/sweeper/sweeper-cloud/src/main/res/drawable/bg_sweeper_operate_panel_btn_open.xml
similarity index 100%
rename from OCH/mogo-och-sweeper/src/main/res/drawable/bg_sweeper_operate_panel_btn_open.xml
rename to OCH/sweeper/sweeper-cloud/src/main/res/drawable/bg_sweeper_operate_panel_btn_open.xml
diff --git a/OCH/mogo-och-sweeper/src/main/res/drawable/bg_sweeper_operate_panel_btn_pressed.xml b/OCH/sweeper/sweeper-cloud/src/main/res/drawable/bg_sweeper_operate_panel_btn_pressed.xml
similarity index 100%
rename from OCH/mogo-och-sweeper/src/main/res/drawable/bg_sweeper_operate_panel_btn_pressed.xml
rename to OCH/sweeper/sweeper-cloud/src/main/res/drawable/bg_sweeper_operate_panel_btn_pressed.xml
diff --git a/OCH/mogo-och-sweeper/src/main/res/drawable/bg_task_menu.xml b/OCH/sweeper/sweeper-cloud/src/main/res/drawable/bg_task_menu.xml
similarity index 100%
rename from OCH/mogo-och-sweeper/src/main/res/drawable/bg_task_menu.xml
rename to OCH/sweeper/sweeper-cloud/src/main/res/drawable/bg_task_menu.xml
diff --git a/OCH/mogo-och-sweeper/src/main/res/drawable/icon_more.xml b/OCH/sweeper/sweeper-cloud/src/main/res/drawable/icon_more.xml
similarity index 100%
rename from OCH/mogo-och-sweeper/src/main/res/drawable/icon_more.xml
rename to OCH/sweeper/sweeper-cloud/src/main/res/drawable/icon_more.xml
diff --git a/OCH/mogo-och-sweeper/src/main/res/drawable/sweeper_ai_collect_selector.xml b/OCH/sweeper/sweeper-cloud/src/main/res/drawable/sweeper_ai_collect_selector.xml
similarity index 100%
rename from OCH/mogo-och-sweeper/src/main/res/drawable/sweeper_ai_collect_selector.xml
rename to OCH/sweeper/sweeper-cloud/src/main/res/drawable/sweeper_ai_collect_selector.xml
diff --git a/OCH/mogo-och-sweeper/src/main/res/drawable/sweeper_bad_case_selector.xml b/OCH/sweeper/sweeper-cloud/src/main/res/drawable/sweeper_bad_case_selector.xml
similarity index 100%
rename from OCH/mogo-och-sweeper/src/main/res/drawable/sweeper_bad_case_selector.xml
rename to OCH/sweeper/sweeper-cloud/src/main/res/drawable/sweeper_bad_case_selector.xml
diff --git a/OCH/mogo-och-sweeper/src/main/res/drawable/sweeper_bg_waring_limiting_velocity.xml b/OCH/sweeper/sweeper-cloud/src/main/res/drawable/sweeper_bg_waring_limiting_velocity.xml
similarity index 100%
rename from OCH/mogo-och-sweeper/src/main/res/drawable/sweeper_bg_waring_limiting_velocity.xml
rename to OCH/sweeper/sweeper-cloud/src/main/res/drawable/sweeper_bg_waring_limiting_velocity.xml
diff --git a/OCH/sweeper/sweeper-cloud/src/main/res/drawable/sweeper_cloud_rotation_layer.xml b/OCH/sweeper/sweeper-cloud/src/main/res/drawable/sweeper_cloud_rotation_layer.xml
new file mode 100644
index 0000000000..b4793b37ad
--- /dev/null
+++ b/OCH/sweeper/sweeper-cloud/src/main/res/drawable/sweeper_cloud_rotation_layer.xml
@@ -0,0 +1,5 @@
+
+
+ -
+
+
+
+
+
+
+
+
\ No newline at end of file
diff --git a/OCH/sweeper/sweeper/src/main/res/drawable/bg_shape_clean_mode.xml b/OCH/sweeper/sweeper/src/main/res/drawable/bg_shape_clean_mode.xml
new file mode 100644
index 0000000000..57588e065f
--- /dev/null
+++ b/OCH/sweeper/sweeper/src/main/res/drawable/bg_shape_clean_mode.xml
@@ -0,0 +1,5 @@
+
+
+
+
+
\ No newline at end of file
diff --git a/OCH/sweeper/sweeper/src/main/res/drawable/bg_shape_dialog_no_title.xml b/OCH/sweeper/sweeper/src/main/res/drawable/bg_shape_dialog_no_title.xml
new file mode 100644
index 0000000000..e6970921d5
--- /dev/null
+++ b/OCH/sweeper/sweeper/src/main/res/drawable/bg_shape_dialog_no_title.xml
@@ -0,0 +1,4 @@
+
+
+
+
\ No newline at end of file
diff --git a/OCH/mogo-och-sweeper/src/main/res/drawable/bg_shape_left_bottom_round.xml b/OCH/sweeper/sweeper/src/main/res/drawable/bg_shape_left_bottom_round.xml
similarity index 100%
rename from OCH/mogo-och-sweeper/src/main/res/drawable/bg_shape_left_bottom_round.xml
rename to OCH/sweeper/sweeper/src/main/res/drawable/bg_shape_left_bottom_round.xml
diff --git a/OCH/sweeper/sweeper/src/main/res/drawable/bg_shape_left_right_bottom_round.xml b/OCH/sweeper/sweeper/src/main/res/drawable/bg_shape_left_right_bottom_round.xml
new file mode 100644
index 0000000000..bd0ab9d1e1
--- /dev/null
+++ b/OCH/sweeper/sweeper/src/main/res/drawable/bg_shape_left_right_bottom_round.xml
@@ -0,0 +1,5 @@
+
+
+
+
+
\ No newline at end of file
diff --git a/OCH/sweeper/sweeper/src/main/res/drawable/bg_shape_right_bottom_round.xml b/OCH/sweeper/sweeper/src/main/res/drawable/bg_shape_right_bottom_round.xml
new file mode 100644
index 0000000000..7fc3db37cc
--- /dev/null
+++ b/OCH/sweeper/sweeper/src/main/res/drawable/bg_shape_right_bottom_round.xml
@@ -0,0 +1,5 @@
+
+
+
+
+
\ No newline at end of file
diff --git a/OCH/sweeper/sweeper/src/main/res/drawable/bg_shape_task_panel.xml b/OCH/sweeper/sweeper/src/main/res/drawable/bg_shape_task_panel.xml
new file mode 100644
index 0000000000..3a6f72848e
--- /dev/null
+++ b/OCH/sweeper/sweeper/src/main/res/drawable/bg_shape_task_panel.xml
@@ -0,0 +1,6 @@
+
+
+
+
+
\ No newline at end of file
diff --git a/OCH/sweeper/sweeper/src/main/res/drawable/bg_shape_task_state_not_ready.xml b/OCH/sweeper/sweeper/src/main/res/drawable/bg_shape_task_state_not_ready.xml
new file mode 100644
index 0000000000..c808b231e8
--- /dev/null
+++ b/OCH/sweeper/sweeper/src/main/res/drawable/bg_shape_task_state_not_ready.xml
@@ -0,0 +1,5 @@
+
+
+
+
+
\ No newline at end of file
diff --git a/OCH/sweeper/sweeper/src/main/res/drawable/bg_shape_task_state_working.xml b/OCH/sweeper/sweeper/src/main/res/drawable/bg_shape_task_state_working.xml
new file mode 100644
index 0000000000..ad4e25124f
--- /dev/null
+++ b/OCH/sweeper/sweeper/src/main/res/drawable/bg_shape_task_state_working.xml
@@ -0,0 +1,5 @@
+
+
+
+
+
\ No newline at end of file
diff --git a/app_ipc_monitoring/src/main/res/drawable/bg_special_vehicle_float.xml b/OCH/sweeper/sweeper/src/main/res/drawable/bg_shape_welt_panel.xml
similarity index 53%
rename from app_ipc_monitoring/src/main/res/drawable/bg_special_vehicle_float.xml
rename to OCH/sweeper/sweeper/src/main/res/drawable/bg_shape_welt_panel.xml
index f234ac57f3..a6c900aa78 100644
--- a/app_ipc_monitoring/src/main/res/drawable/bg_special_vehicle_float.xml
+++ b/OCH/sweeper/sweeper/src/main/res/drawable/bg_shape_welt_panel.xml
@@ -1,7 +1,6 @@
-
-
-
-
+
+
+
\ No newline at end of file
diff --git a/OCH/sweeper/sweeper/src/main/res/drawable/bg_sweeper_operate_panel_btn_close.xml b/OCH/sweeper/sweeper/src/main/res/drawable/bg_sweeper_operate_panel_btn_close.xml
new file mode 100644
index 0000000000..8455e0cafb
--- /dev/null
+++ b/OCH/sweeper/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/sweeper/sweeper/src/main/res/drawable/bg_sweeper_operate_panel_btn_default.xml b/OCH/sweeper/sweeper/src/main/res/drawable/bg_sweeper_operate_panel_btn_default.xml
new file mode 100644
index 0000000000..3de0910dcd
--- /dev/null
+++ b/OCH/sweeper/sweeper/src/main/res/drawable/bg_sweeper_operate_panel_btn_default.xml
@@ -0,0 +1,6 @@
+
+
+
+
+
\ No newline at end of file
diff --git a/OCH/sweeper/sweeper/src/main/res/drawable/bg_sweeper_operate_panel_btn_disabled.xml b/OCH/sweeper/sweeper/src/main/res/drawable/bg_sweeper_operate_panel_btn_disabled.xml
new file mode 100644
index 0000000000..16e880f1a2
--- /dev/null
+++ b/OCH/sweeper/sweeper/src/main/res/drawable/bg_sweeper_operate_panel_btn_disabled.xml
@@ -0,0 +1,6 @@
+
+
+
+
+
\ No newline at end of file
diff --git a/OCH/sweeper/sweeper/src/main/res/drawable/bg_sweeper_operate_panel_btn_open.xml b/OCH/sweeper/sweeper/src/main/res/drawable/bg_sweeper_operate_panel_btn_open.xml
new file mode 100644
index 0000000000..ec0eeb317b
--- /dev/null
+++ b/OCH/sweeper/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/sweeper/sweeper/src/main/res/drawable/bg_sweeper_operate_panel_btn_pressed.xml b/OCH/sweeper/sweeper/src/main/res/drawable/bg_sweeper_operate_panel_btn_pressed.xml
new file mode 100644
index 0000000000..4e57ba75b0
--- /dev/null
+++ b/OCH/sweeper/sweeper/src/main/res/drawable/bg_sweeper_operate_panel_btn_pressed.xml
@@ -0,0 +1,6 @@
+
+
+
+
+
\ No newline at end of file
diff --git a/OCH/sweeper/sweeper/src/main/res/drawable/bg_task_menu.xml b/OCH/sweeper/sweeper/src/main/res/drawable/bg_task_menu.xml
new file mode 100644
index 0000000000..1df3248028
--- /dev/null
+++ b/OCH/sweeper/sweeper/src/main/res/drawable/bg_task_menu.xml
@@ -0,0 +1,5 @@
+
+
+
+
+
\ No newline at end of file
diff --git a/OCH/sweeper/sweeper/src/main/res/drawable/icon_more.xml b/OCH/sweeper/sweeper/src/main/res/drawable/icon_more.xml
new file mode 100644
index 0000000000..3d348cf41a
--- /dev/null
+++ b/OCH/sweeper/sweeper/src/main/res/drawable/icon_more.xml
@@ -0,0 +1,9 @@
+
+
+
diff --git a/OCH/sweeper/sweeper/src/main/res/drawable/sweeper_ai_collect_selector.xml b/OCH/sweeper/sweeper/src/main/res/drawable/sweeper_ai_collect_selector.xml
new file mode 100755
index 0000000000..b0d14bd0c6
--- /dev/null
+++ b/OCH/sweeper/sweeper/src/main/res/drawable/sweeper_ai_collect_selector.xml
@@ -0,0 +1,8 @@
+
+
+ -
+
+
+
+
+ -
+
+
+
+
+
+
\ No newline at end of file
diff --git a/OCH/sweeper/sweeper/src/main/res/drawable/sweeper_collect_selector.xml b/OCH/sweeper/sweeper/src/main/res/drawable/sweeper_collect_selector.xml
new file mode 100644
index 0000000000..8ed41c58fb
--- /dev/null
+++ b/OCH/sweeper/sweeper/src/main/res/drawable/sweeper_collect_selector.xml
@@ -0,0 +1,5 @@
+
+
+ -
+
+
+
+
+
+ -
+
+
+
+
+
+
\ No newline at end of file
diff --git a/OCH/sweeper/sweeper/src/main/res/drawable/sweeper_refresh.xml b/OCH/sweeper/sweeper/src/main/res/drawable/sweeper_refresh.xml
new file mode 100644
index 0000000000..58e3089f6f
--- /dev/null
+++ b/OCH/sweeper/sweeper/src/main/res/drawable/sweeper_refresh.xml
@@ -0,0 +1,9 @@
+
+
+
diff --git a/OCH/sweeper/sweeper/src/main/res/drawable/sweeper_selector_msg_box.xml b/OCH/sweeper/sweeper/src/main/res/drawable/sweeper_selector_msg_box.xml
new file mode 100644
index 0000000000..142a5bc514
--- /dev/null
+++ b/OCH/sweeper/sweeper/src/main/res/drawable/sweeper_selector_msg_box.xml
@@ -0,0 +1,5 @@
+
+
+ -
+
+
+
\ No newline at end of file
diff --git a/OCH/sweeper/sweeper/src/main/res/drawable/sweeper_switch_card_selector.xml b/OCH/sweeper/sweeper/src/main/res/drawable/sweeper_switch_card_selector.xml
new file mode 100644
index 0000000000..70950d6361
--- /dev/null
+++ b/OCH/sweeper/sweeper/src/main/res/drawable/sweeper_switch_card_selector.xml
@@ -0,0 +1,5 @@
+
+
+ -
+
+
+
+
+
\ No newline at end of file
diff --git a/OCH/sweeper/sweeper/src/main/res/drawable/sweeper_task_dividing_line2_selector.xml b/OCH/sweeper/sweeper/src/main/res/drawable/sweeper_task_dividing_line2_selector.xml
new file mode 100644
index 0000000000..55353f3ca8
--- /dev/null
+++ b/OCH/sweeper/sweeper/src/main/res/drawable/sweeper_task_dividing_line2_selector.xml
@@ -0,0 +1,8 @@
+
+
+ -
+
+
+
+
+
\ No newline at end of file
diff --git a/OCH/mogo-och-sweeper/src/main/res/drawable/sweeper_task_list_btn.xml b/OCH/sweeper/sweeper/src/main/res/drawable/sweeper_task_list_btn.xml
similarity index 100%
rename from OCH/mogo-och-sweeper/src/main/res/drawable/sweeper_task_list_btn.xml
rename to OCH/sweeper/sweeper/src/main/res/drawable/sweeper_task_list_btn.xml
diff --git a/OCH/mogo-och-sweeper/src/main/res/drawable/sweeper_task_list_not_selected.xml b/OCH/sweeper/sweeper/src/main/res/drawable/sweeper_task_list_not_selected.xml
similarity index 100%
rename from OCH/mogo-och-sweeper/src/main/res/drawable/sweeper_task_list_not_selected.xml
rename to OCH/sweeper/sweeper/src/main/res/drawable/sweeper_task_list_not_selected.xml
diff --git a/OCH/sweeper/sweeper/src/main/res/drawable/sweeper_task_list_selected.xml b/OCH/sweeper/sweeper/src/main/res/drawable/sweeper_task_list_selected.xml
new file mode 100644
index 0000000000..6d189929bc
--- /dev/null
+++ b/OCH/sweeper/sweeper/src/main/res/drawable/sweeper_task_list_selected.xml
@@ -0,0 +1,10 @@
+
+
+ -
+
+
+
+
+
+
+
\ No newline at end of file
diff --git a/OCH/sweeper/sweeper/src/main/res/drawable/sweeper_water_selector.xml b/OCH/sweeper/sweeper/src/main/res/drawable/sweeper_water_selector.xml
new file mode 100755
index 0000000000..9c959df076
--- /dev/null
+++ b/OCH/sweeper/sweeper/src/main/res/drawable/sweeper_water_selector.xml
@@ -0,0 +1,5 @@
+
+
+