yangyakun921/MoGoEagleEye
1
0
Fork 0
Code Issues Pull Requests Actions Packages Projects Releases Wiki Activity

[sweeper-cloud]pb回调部分代码修改

Browse Source
This commit is contained in:
bxb
2023-04-28 11:34:25 +08:00
parent fb5f86fb82
commit 9763ebdae7
20 changed files with 489 additions and 2064 deletions
Download Patch File Download Diff File Expand all files Collapse all files

31
OCH/sweeper/sweeper-cloud/src/main/java/com/mogo/och/sweepercloud/bean/BaseResponse.java
View File

@@ -1,31 +0,0 @@
package com.mogo.och.sweepercloud.bean;
import com.mogo.eagle.core.data.BaseData;
public class BaseResponse<T> extends BaseData {
private T data;
public int getCode() {
return code;
}
public void setCode(int code) {
this.code = code;
}
public String getMsg() {
return msg;
}
public void setMsg(String msg) {
this.msg = msg;
}
public T getData() {
return data;
}
public void setData(T data) {
this.data = data;
}
}

11
OCH/sweeper/sweeper-cloud/src/main/java/com/mogo/och/sweepercloud/bean/SubStartRequest.kt
View File

@@ -1,11 +0,0 @@
package com.mogo.och.sweepercloud.bean
import com.mogo.cloud.passport.MoGoAiCloudClientConfig
data class SubStartRequest(
var carSn:String=MoGoAiCloudClientConfig.getInstance().sn,
var taskId:Int,
var startTime:Long,
var isFirst:Boolean,
var isEnd:Boolean
)

14
OCH/sweeper/sweeper-cloud/src/main/java/com/mogo/och/sweepercloud/bean/SweeperMainTaskBean.kt
View File

@@ -1,14 +0,0 @@
package com.mogo.och.sweepercloud.bean
/**
*
* 清扫车任务信息
*
* @author tongchenfei
*/
data class SweeperMainTaskBean(
var mainTaskId:Int = 0,
var mainTaskName: String? = null,
var subTaskTotal:Int = 0,
var mainTaskStartTime: Long = 0
)

28
OCH/sweeper/sweeper-cloud/src/main/java/com/mogo/och/sweepercloud/bean/SweeperSubTaskBean.kt
View File

@@ -1,28 +0,0 @@
package com.mogo.och.sweepercloud.bean
/**
* 子任务信息
*/
data class SweeperSubTaskBean(
var taskId: Int = 0,
var taskName: String?,
var taskStartTime: Long = 0,
var sort: Int = 1,
var subList: MutableList<SubInfo>?
)
data class SubInfo(
var taskId: Int = 0,
var taskName: String?,
var mileage: Int = 0,
var taskStatus: Int,// 状态1未执行 2执行中 3结束 4跳过
var taskType: Int,//1自动驾驶 2人工驾驶
var timeSpent: String,
var startSiteName: String,//起点名称
var startWgs84Lon: Double,//起点经度
var startWgs84Lat: Double,//起点纬度
var endSiteName: String,//终点名称
var endWgs84Lon: Double,//终点经度
var endWgs84Lat: Double,//终点纬度
var sort: Int = 0,
)

314
OCH/sweeper/sweeper-cloud/src/main/java/com/mogo/och/sweepercloud/bean/SweeperSubTaskDetailBean.java
View File

@@ -1,314 +0,0 @@
package com.mogo.och.sweepercloud.bean;
public class SweeperSubTaskDetailBean {
private int id; //子任务id
private int lineId; //线路id
private String lineName;//线路名称
private int sort;
private int status;
private int startSiteId; //子任务起点id
private String startSiteName; //子任务起点名称
private double startSiteLon; //子任务起点高德经度
private double startSiteLat; //子任务起点高德纬度
private double startSiteWgs64Lon;//子任务起点高精经度
private double startSiteWgs64Lat;//子任务起点高精纬度
private int endSiteId;//子任务终点id
private String endSiteName;//子任务终点名称
private double endSiteLon; //子任务终点高德经度
private double endSiteLat;//子任务终点高德纬度
private double endSiteWgs64Lon;//子任务终点高精经度
private double endSiteWgs64Lat;//子任务终点高精纬度
private String brand; //品牌
private String carModel; //车辆型号
private String csvFileUrl = ""; //轨迹文件csv文件url地址
private String csvFileMd5 = ""; //轨迹文件csv md5
private String csvFileName = "";//轨迹文件cvs名称
private String txtFileUrl = ""; //轨迹文件txt url地址
private String txtFileMd5 = ""; //轨迹文件txt md5
private String txtFileName; //轨迹文件txt名称
private long publishTime;
private String contrailFileType; //轨迹文件类型
private String publishStatus;//发布状态 1发布 2未发布 3 发布中
private String csvFileUrlDPQP = ""; //轨迹文件下载的cos url，默认“”
private String csvFileMd5DPQP = ""; //轨迹文件md5，默认“”
private String txtFileUrlDPQP = ""; //打点文件下载的cos url，默认“”
private String txtFileMd5DPQP = ""; //轨迹文件md5，默认“”
private long publishTimeDPQP; //上传轨迹完成时间戳ms：用于MEC本地手动导入轨迹验证时不会被云端轨迹覆盖
private long taskCreateTime;
private String brandDPQP;
private String carModelDPQP;
public int getId() {
return id;
}
public void setId(int id) {
this.id = id;
}
public int getLineId() {
return lineId;
}
public void setLineId(int lineId) {
this.lineId = lineId;
}
public String getLineName() {
return lineName;
}
public void setLineName(String lineName) {
this.lineName = lineName;
}
public int getSort() {
return sort;
}
public void setSort(int sort) {
this.sort = sort;
}
public int getStatus() {
return status;
}
public void setStatus(int status) {
this.status = status;
}
public int getStartSiteId() {
return startSiteId;
}
public void setStartSiteId(int startSiteId) {
this.startSiteId = startSiteId;
}
public String getStartSiteName() {
return startSiteName;
}
public void setStartSiteName(String startSiteName) {
this.startSiteName = startSiteName;
}
public double getStartSiteLon() {
return startSiteLon;
}
public void setStartSiteLon(double startSiteLon) {
this.startSiteLon = startSiteLon;
}
public double getStartSiteLat() {
return startSiteLat;
}
public void setStartSiteLat(double startSiteLat) {
this.startSiteLat = startSiteLat;
}
public double getStartSiteWgs64Lon() {
return startSiteWgs64Lon;
}
public void setStartSiteWgs64Lon(double startSiteWgs64Lon) {
this.startSiteWgs64Lon = startSiteWgs64Lon;
}
public double getStartSiteWgs64Lat() {
return startSiteWgs64Lat;
}
public void setStartSiteWgs64Lat(double startSiteWgs64Lat) {
this.startSiteWgs64Lat = startSiteWgs64Lat;
}
public int getEndSiteId() {
return endSiteId;
}
public void setEndSiteId(int endSiteId) {
this.endSiteId = endSiteId;
}
public String getEndSiteName() {
return endSiteName;
}
public void setEndSiteName(String endSiteName) {
this.endSiteName = endSiteName;
}
public double getEndSiteLon() {
return endSiteLon;
}
public void setEndSiteLon(double endSiteLon) {
this.endSiteLon = endSiteLon;
}
public double getEndSiteLat() {
return endSiteLat;
}
public void setEndSiteLat(double endSiteLat) {
this.endSiteLat = endSiteLat;
}
public double getEndSiteWgs64Lon() {
return endSiteWgs64Lon;
}
public void setEndSiteWgs64Lon(double endSiteWgs64Lon) {
this.endSiteWgs64Lon = endSiteWgs64Lon;
}
public double getEndSiteWgs64Lat() {
return endSiteWgs64Lat;
}
public void setEndSiteWgs64Lat(double endSiteWgs64Lat) {
this.endSiteWgs64Lat = endSiteWgs64Lat;
}
public long getTaskCreateTime() {
return taskCreateTime;
}
public void setTaskCreateTime(long taskCreateTime) {
this.taskCreateTime = taskCreateTime;
}
public String getBrand() {
return brand;
}
public void setBrand(String brand) {
this.brand = brand;
}
public String getCarModel() {
return carModel;
}
public void setCarModel(String carModel) {
this.carModel = carModel;
}
public String getCsvFileUrl() {
return csvFileUrl;
}
public void setCsvFileUrl(String csvFileUrl) {
this.csvFileUrl = csvFileUrl;
}
public String getCsvFileMd5() {
return csvFileMd5;
}
public void setCsvFileMd5(String csvFileMd5) {
this.csvFileMd5 = csvFileMd5;
}
public String getCsvFileName() {
return csvFileName;
}
public void setCsvFileName(String csvFileName) {
this.csvFileName = csvFileName;
}
public String getTxtFileUrl() {
return txtFileUrl;
}
public void setTxtFileUrl(String txtFileUrl) {
this.txtFileUrl = txtFileUrl;
}
public String getTxtFileMd5() {
return txtFileMd5;
}
public void setTxtFileMd5(String txtFileMd5) {
this.txtFileMd5 = txtFileMd5;
}
public String getTxtFileName() {
return txtFileName;
}
public void setTxtFileName(String txtFileName) {
this.txtFileName = txtFileName;
}
public long getPublishTime() {
return publishTime;
}
public void setPublishTime(long publishTime) {
this.publishTime = publishTime;
}
public String getBrandDPQP() {
return brandDPQP;
}
public void setBrandDPQP(String brandDPQP) {
this.brandDPQP = brandDPQP;
}
public String getCarModelDPQP() {
return carModelDPQP;
}
public void setCarModelDPQP(String carModelDPQP) {
this.carModelDPQP = carModelDPQP;
}
public String getCsvFileUrlDPQP() {
return csvFileUrlDPQP;
}
public void setCsvFileUrlDPQP(String csvFileUrlDPQP) {
this.csvFileUrlDPQP = csvFileUrlDPQP;
}
public String getCsvFileMd5DPQP() {
return csvFileMd5DPQP;
}
public void setCsvFileMd5DPQP(String csvFileMd5DPQP) {
this.csvFileMd5DPQP = csvFileMd5DPQP;
}
public String getTxtFileUrlDPQP() {
return txtFileUrlDPQP;
}
public void setTxtFileUrlDPQP(String txtFileUrlDPQP) {
this.txtFileUrlDPQP = txtFileUrlDPQP;
}
public String getTxtFileMd5DPQP() {
return txtFileMd5DPQP;
}
public void setTxtFileMd5DPQP(String txtFileMd5DPQP) {
this.txtFileMd5DPQP = txtFileMd5DPQP;
}
public long getPublishTimeDPQP() {
return publishTimeDPQP;
}
public void setPublishTimeDPQP(long publishTimeDPQP) {
this.publishTimeDPQP = publishTimeDPQP;
}
}

46
OCH/sweeper/sweeper-cloud/src/main/java/com/mogo/och/sweepercloud/callback/ISweeperCloudTaskCallback.kt Normal file
View File

@@ -0,0 +1,46 @@
package com.mogo.och.sweepercloud.callback
import chassis.ChassisStatesOuterClass
import com.mogo.och.sweepercloud.bean.SweeperRoutePlanningUpdateReqBean
import com.mogo.och.sweepercloud.database.bean.WeltDataBean
import com.zhjt.mogo.adas.data.sweeper.SweeperCloudTask
import com.zhjt.mogo.adas.data.sweeper.common.SweeperCommon
import com.zhjt.mogo.adas.data.sweeper.common.SweeperCommon.Code
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.stop.SweeperTaskStop.StopTaskType
/**
* @author: wangmingjun
* @date: 2021/10/22
*/
interface ISweeperCloudTaskCallback {
fun onSweeperCloudTask(messageType: SweeperCloudTask.MessageType,taskInfo: SweeperTask.TaskInfo)
fun onSweeperCloudTaskConfirm(taskId:String,subTaskId:String)
fun onSweeperCloudTaskStatus(taskId:String,subTaskId:String,subTaskStatus: SweeperCommon.TaskStatus)
fun onSweeperCloudTaskStop(taskId:String,stopTaskType: StopTaskType)
fun onSweeperCloudTaskSuspendResume(messageType: SweeperCloudTask.MessageType,taskId:String,subTaskId:String,code:Code)
fun onSweeperCloudBootable(taskId:String,subTaskId:String,code:Code)
fun onSweeperCloudBigTaskStatus(taskId:String,subTaskStatus: SweeperBigTaskStatus.BigTaskStatus)
/**
* 设置轨迹坐标点集合
*/
fun setRouteList(routeList: java.util.ArrayList<SweeperRoutePlanningUpdateReqBean.Result>)
/**
* 贴边数据回传
*/
fun setWeltDataToMap(weltDataBeans: ArrayList<WeltDataBean?>, isWeltData: Boolean, distance: String)
/**
* 底盘清扫模式数据回传
*/
fun onSweeperFutianCleanSystemState(cleanSystemState: ChassisStatesOuterClass.SweeperFuTianTaskSystemStates)
}

46
OCH/sweeper/sweeper-cloud/src/main/java/com/mogo/och/sweepercloud/callback/ISweeperTaskCallback.kt
View File

@@ -1,46 +0,0 @@
package com.mogo.och.sweepercloud.callback
import com.mogo.och.sweepercloud.bean.SweeperMainTaskBean
import com.mogo.och.sweepercloud.bean.SweeperRoutePlanningUpdateReqBean
import com.mogo.och.sweepercloud.bean.SweeperSubTaskBean
import com.mogo.och.sweepercloud.bean.SweeperSubTaskDetailBean
import com.mogo.och.sweepercloud.constant.SubTaskTypeEnum
import com.mogo.och.sweepercloud.constant.TaskStatusEnum
import java.util.ArrayList
/**
* @author: wangmingjun
* @date: 2021/10/22
*/
interface ISweeperTaskCallback {
/**
* 获取主任务列表
*/
fun setMainTaskList(mainTaskBeanList: MutableList<SweeperMainTaskBean>?,refresh:Boolean)
/**
* 获取子任务列表
*/
fun setSubTaskBean(subTaskBean: SweeperSubTaskBean,isWorkingSubTask:Boolean)
/**
* 更新子任务状态
*/
fun updateSubTaskStatus(typeEnum: TaskStatusEnum, isLastSubTask: Boolean)
/**
* 主任务重置
*/
fun setMainTaskReset(isSuccess: Boolean)
/**
* 获取子任务详情包括轨迹信息
*/
fun setSubTakDetail(subTaskDetailBean: SweeperSubTaskDetailBean, subTaskTypeEnum: SubTaskTypeEnum)
/**
* 设置轨迹坐标点集合
*/
fun setRouteList(routeList: ArrayList<SweeperRoutePlanningUpdateReqBean.Result>)
}

9
OCH/sweeper/sweeper-cloud/src/main/java/com/mogo/och/sweepercloud/constant/SubTaskTypeEnum.kt
View File

@@ -1,9 +0,0 @@
package com.mogo.och.sweepercloud.constant
/**
* 任务类型
*/
enum class SubTaskTypeEnum(val code: Int) {
AUTOPILOT_SUBTYPE(1),//自动驾驶子任务
MANUAL_DRIVING_SUBTYPE(2),//人工驾驶
}

12
OCH/sweeper/sweeper-cloud/src/main/java/com/mogo/och/sweepercloud/constant/TaskStatusEnum.kt
View File

@@ -1,12 +0,0 @@
package com.mogo.och.sweepercloud.constant
/**
* 当前任务操作菜单
*/
enum class TaskStatusEnum(val code: Int) {
JUMP_OVER_SUBTASK( 1),//跳过子任务
END_TASK( 2),//结束主任务
CANCEL_TASK( 3),//取消
START_SUBTASK(4),//开始子任务
END_SUBTASK(5),//结束子任务
}

55
OCH/sweeper/sweeper-cloud/src/main/java/com/mogo/och/sweepercloud/fragment/SweeperFragment.kt
View File

@@ -5,18 +5,13 @@ import android.view.View
import androidx.lifecycle.lifecycleScope
import chassis.ChassisStatesOuterClass
import com.amap.api.maps.model.LatLng
import com.mogo.commons.AbsMogoApplication
import com.mogo.eagle.core.data.map.MogoLocation
import com.mogo.eagle.core.utilcode.util.ToastUtils
import com.mogo.och.common.module.utils.CoordinateCalculateRouteUtil
import com.mogo.och.sweepercloud.R
import com.mogo.och.sweepercloud.bean.SubInfo
import com.mogo.och.sweepercloud.bean.SweeperMainTaskBean
import com.mogo.och.sweepercloud.bean.SweeperRoutePlanningUpdateReqBean
import com.mogo.och.sweepercloud.bean.SweeperSubTaskBean
import com.mogo.och.sweepercloud.constant.SubTaskTypeEnum
import com.mogo.och.sweepercloud.presenter.SweeperPresenter
import com.mogo.och.sweepercloud.ui.dialog.SweeperCloudDialog
import com.zhjt.mogo.adas.data.sweeper.task.SweeperTask.SubTaskInfo
import kotlinx.android.synthetic.main.fragment_och_sweeper.*
import kotlinx.android.synthetic.main.sweeper_no_data_common_view.*
import kotlinx.coroutines.Dispatchers
@@ -31,13 +26,10 @@ class SweeperFragment : BaseSweeperTabFragment<SweeperFragment?, SweeperPresente
const val TAG = "SweeperFragment"
}
private var mCurrentSubPosition: Int = 0 //子任务下标
private var mSubMutableList: MutableList<SubInfo>? = null
private var mSubTaskBean: SweeperSubTaskBean? = null
private var mSubTaskType: SubTaskTypeEnum = SubTaskTypeEnum.AUTOPILOT_SUBTYPE //1:自动驾驶子任务 2：人工驾驶子任务
private var mSubMutableList: MutableList<SubTaskInfo>? = null
private var mCleanSystemState: ChassisStatesOuterClass.SweeperFuTianTaskSystemStates? = null
private var mMainTask: SweeperMainTaskBean? = null
private var mLocation: MogoLocation? = null
private var mSubInfo: SubInfo? = null
private var mSubTaskType:Int=0 //0:自动驾驶子任务 1：人工驾驶子任务
override fun getTagName(): String {
return "SweepersFragment"
@@ -144,46 +136,33 @@ class SweeperFragment : BaseSweeperTabFragment<SweeperFragment?, SweeperPresente
}
val dataList = ArrayList<LatLng>()
for (index in subList.indices) {
val startPoint = CoordinateCalculateRouteUtil.coordinateConverterWgsToGcj(
AbsMogoApplication.getApp(),
subList[index].startWgs84Lon,
subList[index].startWgs84Lat
)
val startLatLng = LatLng(startPoint.latitude, startPoint.longitude)
val startLocation=subList[index].startLocation
val startLatLng = LatLng(startLocation.latitude, startLocation.longitude)
dataList.add(index, startLatLng)
val endPoint = CoordinateCalculateRouteUtil.coordinateConverterWgsToGcj(
AbsMogoApplication.getApp(),
subList[index].endWgs84Lon,
subList[index].endWgs84Lat
)
val endLatLng = LatLng(endPoint.latitude, endPoint.longitude)
val endLocation=subList[index].endLocation
val endLatLng = LatLng(endLocation.latitude, endLocation.longitude)
dataList.add(index + 1, endLatLng)
}
setTaskListCoordinatesLatLng(dataList)
setEndStationMarker()
setEndStationMarker(subList)
}
}
}
private fun setEndStationMarker() {
lifecycleScope.launch(Dispatchers.IO) {
mSubInfo?.let {
val endPoint = CoordinateCalculateRouteUtil.coordinateConverterWgsToGcj(
AbsMogoApplication.getApp(),
it.endWgs84Lon,
it.endWgs84Lat
)
super.mCurrentTaskEndStation = endPoint
setCurrentTaskEndMarker(endPoint)
}
}
/**
* 设置当前子任务终点
*/
private fun setEndStationMarker(subList:MutableList<SubTaskInfo>) {
val endPoint= subList[mCurrentSubPosition].endLocation
val endLatLng = LatLng(endPoint.latitude, endPoint.longitude)
super.mCurrentTaskEndStation = endLatLng
setCurrentTaskEndMarker(endLatLng)
}
//模拟结束子任务
override fun debugEndSubTask() {
mPresenter?.onArriveTaskEnd(null)
//super.debugEndSubTask()
super.debugEndSubTask()
}
/**

964
OCH/sweeper/sweeper-cloud/src/main/java/com/mogo/och/sweepercloud/model/SweeperTaskModel.java
View File

File diff suppressed because it is too large Load Diff

103
OCH/sweeper/sweeper-cloud/src/main/java/com/mogo/och/sweepercloud/net/ISweeperApiService.java
View File

@@ -1,103 +0,0 @@
package com.mogo.och.sweepercloud.net;
import com.mogo.och.sweepercloud.bean.BaseResponse;
import com.mogo.och.sweepercloud.bean.SubInfo;
import com.mogo.och.sweepercloud.bean.SubStartRequest;
import com.mogo.och.sweepercloud.bean.SweeperSubTaskBean;
import com.mogo.och.sweepercloud.bean.SweeperMainTaskBean;
import com.mogo.och.sweepercloud.bean.SweeperSubTaskDetailBean;
import java.util.List;
import java.util.Map;
import io.reactivex.Observable;
import retrofit2.http.Body;
import retrofit2.http.GET;
import retrofit2.http.Header;
import retrofit2.http.Headers;
import retrofit2.http.POST;
import retrofit2.http.Query;
import retrofit2.http.QueryMap;
/**
* 清扫车相关接口
*/
public interface ISweeperApiService {
/**
* 获取当前正在执行的任务
* @param appId
* @param ticket
* @param carSn
* @return
*/
@GET("/och-sweep/api/task/v1/currentTask")
Observable<BaseResponse<SweeperSubTaskBean>> getCurrentTask(@Header ("appId") String appId, @Header("ticket") String ticket, @Query("carSn") String carSn);
/**
* 清扫车任务列表
* @param appId
* @param ticket
* @param carSn
* @return
*/
@GET("/och-sweep/api/task/v1/mainTaskList")
Observable<BaseResponse<List<SweeperMainTaskBean>>> getMainTaskList(@Header ("appId") String appId, @Header("ticket") String ticket, @Query("carSn") String carSn);
/**
* 清扫车子任务列表
* @param appId
* @param ticket
* @param map
* @return
*/
@GET("/och-sweep/api/task/v1/subTaskList")
Observable<BaseResponse<List<SubInfo>>> getSubTaskList(@Header ("appId") String appId, @Header("ticket") String ticket, @QueryMap Map<String, String> map);
/**
* 子任务详情 包括子任务轨迹信息
* @param appId
* @param ticket
* @param map
* @return
*/
@GET("/och-sweep/api/task/v1/subTaskInfo")
Observable<BaseResponse<SweeperSubTaskDetailBean>> getSubTaskDetail(@Header ("appId") String appId, @Header("ticket") String ticket, @QueryMap Map<String, String> map);
/**
* 子任务开始
* @param appId
* @param ticket
* @param subStartRequest
* @return
*/
@Headers({"Content-type:application/json;charset=UTF-8"})
@POST("/och-sweep/api/task/v1/subTaskStart")
Observable<BaseResponse<Boolean>> subTaskStart(@Header ("appId") String appId, @Header("ticket") String ticket, @Body SubStartRequest subStartRequest);
/**
* 子任务结束
* @param appId
* @param ticket
* @param subStartRequest
* @return
*/
@Headers({"Content-type:application/json;charset=UTF-8"})
@POST("/och-sweep/api/task/v1/subTaskEnd")
Observable<BaseResponse<Boolean>> subTaskEnd(@Header ("appId") String appId, @Header("ticket") String ticket, @Body SubStartRequest subStartRequest);
/**
* 子任务跳过
* @param appId
* @param ticket
* @param subStartRequest
* @return
*/
@Headers({"Content-type:application/json;charset=UTF-8"})
@POST("/och-sweep/api/task/v1/subTaskSkip")
Observable<BaseResponse<Boolean>> subTaskSkip(@Header ("appId") String appId, @Header("ticket") String ticket, @Body SubStartRequest subStartRequest);
/**
* 主任务重置
* @param appId
* @param ticket
* @return
*/
@GET("/och-sweep/api/task/v1/mainTaskReset")
Observable<BaseResponse<Boolean>> mainTaskReset(@Header ("appId") String appId, @Header("ticket") String ticket,@QueryMap Map<String, String> map);
}

173
OCH/sweeper/sweeper-cloud/src/main/java/com/mogo/och/sweepercloud/net/SweeperServiceManager.kt
View File

@@ -1,173 +0,0 @@
package com.mogo.och.sweepercloud.net
import android.content.Context
import com.elegant.network.utils.GsonUtil
import com.mogo.cloud.passport.MoGoAiCloudClientConfig
import com.mogo.eagle.core.network.MoGoRetrofitFactory
import com.mogo.eagle.core.utilcode.mogo.logger.CallerLogger.d
import com.mogo.eagle.core.utilcode.mogo.logger.scene.SceneConstant
import com.mogo.och.common.module.biz.constant.OchCommonConst
import com.mogo.och.common.module.biz.network.OchCommonServiceCallback
import com.mogo.och.common.module.biz.network.OchCommonSubscribeImpl
import com.mogo.och.common.module.biz.network.interceptor.transformTry
import com.mogo.och.sweepercloud.bean.*
import com.mogo.och.sweepercloud.model.SweeperTaskModel
object SweeperServiceManager {
private val TAG = SweeperTaskModel::class.java.simpleName
private val mService: ISweeperApiService = MoGoRetrofitFactory.getInstance(OchCommonConst.getSweeperUrl()).create(
ISweeperApiService::class.java
)
/**
* 获取当前正在执行的任务
*/
@JvmStatic
fun getCurrentTask(context: Context, callback: OchCommonServiceCallback<BaseResponse<SweeperSubTaskBean>>?) {
val map = hashMapOf<String, String>()
map["serviceAppId"] = getServiceAppId()
map["token"] = getToken()
map["sn"] = getCarSN()
d(SceneConstant.M_SWEEPER + TAG, "getCurrentTask：" + GsonUtil.jsonFromObject(map))
mService.getCurrentTask(
getServiceAppId(),
getToken(),
getCarSN()
)
.transformTry()
.subscribe(OchCommonSubscribeImpl(context, callback, "getCurrentTask"))
}
/**
* 获取主任务列表
*/
@JvmStatic
fun getMainTaskList(context: Context, callback: OchCommonServiceCallback<BaseResponse<MutableList<SweeperMainTaskBean>>>?) {
val map = hashMapOf<String, String>()
map["serviceAppId"] = getServiceAppId()
map["token"] = getToken()
map["sn"] = getCarSN()
d(SceneConstant.M_SWEEPER + TAG, "getMainTaskList：" + GsonUtil.jsonFromObject(map))
mService.getMainTaskList(
getServiceAppId(),
getToken(),
getCarSN()
)
.transformTry()
.subscribe(OchCommonSubscribeImpl(context, callback, "getMainTaskList"))
}
/**
* 获取子任务列表
*/
@JvmStatic
fun getSubTaskList(taskId: Int, context: Context, callback: OchCommonServiceCallback<BaseResponse<MutableList<SubInfo>>>?) {
val map = hashMapOf<String, String>()
map["carSn"] = getCarSN()
map["taskId"] = taskId.toString()
d(SceneConstant.M_SWEEPER + TAG, "getSubTaskList：" + GsonUtil.jsonFromObject(map))
mService.getSubTaskList(
getServiceAppId(),
getToken(),
map
)
.transformTry()
.subscribe(OchCommonSubscribeImpl(context, callback, "getSubTaskList"))
}
/**
* 获取子任务详情包括轨迹文件信息
*/
@JvmStatic
fun getSubTaskDetail(subTaskId: Int, context: Context, callback: OchCommonServiceCallback<BaseResponse<SweeperSubTaskDetailBean>>?) {
val map = hashMapOf<String, String>()
map["carSn"] = getCarSN()
map["taskId"] = subTaskId.toString()
d(SceneConstant.M_SWEEPER + TAG, "getSubTaskDetail：" + GsonUtil.jsonFromObject(map))
mService.getSubTaskDetail(
getServiceAppId(),
getToken(),
map
)
.transformTry()
.subscribe(OchCommonSubscribeImpl(context, callback, "getSubTaskList"))
}
/**
* 子任务开始上报
*/
@JvmStatic
fun subTaskStart(isFirst: Boolean, isEnd: Boolean, subTaskId: Int, context: Context, callback: OchCommonServiceCallback<BaseResponse<Boolean>>?) {
val subStartRequest = SubStartRequest(getCarSN(), subTaskId, System.currentTimeMillis(), isFirst, isEnd)
d(SceneConstant.M_SWEEPER + TAG, "subTaskStart：" + GsonUtil.jsonFromObject(subStartRequest))
mService.subTaskStart(
getServiceAppId(),
getToken(),
subStartRequest
)
.transformTry()
.subscribe(OchCommonSubscribeImpl(context, callback, "subTaskStart"))
}
/**
* 子任务结束上报
*/
@JvmStatic
fun subTaskEnd(isFirst: Boolean, isEnd: Boolean, subTaskId: Int, context: Context, callback: OchCommonServiceCallback<BaseResponse<Boolean>>?) {
val subStartRequest = SubStartRequest(getCarSN(), subTaskId, System.currentTimeMillis(), isFirst, isEnd)
d(SceneConstant.M_SWEEPER + TAG, "subTaskEnd：" + GsonUtil.jsonFromObject(subStartRequest))
mService.subTaskEnd(
getServiceAppId(),
getToken(),
subStartRequest
)
.transformTry()
.subscribe(OchCommonSubscribeImpl(context, callback, "subTaskEnd"))
}
/**
* 子任务跳过上报
*/
@JvmStatic
fun subTaskSkip(isFirst: Boolean, isEnd: Boolean, subTaskId: Int, context: Context, callback: OchCommonServiceCallback<BaseResponse<Boolean>>?) {
val subStartRequest = SubStartRequest(getCarSN(), subTaskId, System.currentTimeMillis(), isFirst, isEnd)
d(SceneConstant.M_SWEEPER + TAG, "subTaskSkip：" + GsonUtil.jsonFromObject(subStartRequest))
mService.subTaskSkip(
getServiceAppId(),
getToken(),
subStartRequest
)
.transformTry()
.subscribe(OchCommonSubscribeImpl(context, callback, "subTaskSkip"))
}
/**
* 主任务重置
*/
@JvmStatic
fun mainTaskReset(taskId: Int, context: Context, callback: OchCommonServiceCallback<BaseResponse<Boolean>>?) {
val map = hashMapOf<String, String>()
map["carSn"] = getCarSN()
map["taskId"] = taskId.toString()
d(SceneConstant.M_SWEEPER + TAG, "mainTaskReset：" + GsonUtil.jsonFromObject(map))
mService.mainTaskReset(
getServiceAppId(),
getToken(),
map
)
.transformTry()
.subscribe(OchCommonSubscribeImpl(context, callback, "mainTaskReset"))
}
private fun getCarSN(): String {
return MoGoAiCloudClientConfig.getInstance().sn
}
private fun getServiceAppId(): String {
return MoGoAiCloudClientConfig.getInstance().serviceAppId
}
private fun getToken(): String {
return MoGoAiCloudClientConfig.getInstance().token
}
}

363
OCH/sweeper/sweeper-cloud/src/main/java/com/mogo/och/sweepercloud/presenter/SweeperPresenter.java
View File

@@ -1,58 +1,32 @@
package com.mogo.och.sweepercloud.presenter;
import static com.mogo.eagle.core.utilcode.mogo.logger.scene.SceneConstant.M_SWEEPER;
import androidx.annotation.NonNull;
import androidx.annotation.Nullable;
import androidx.lifecycle.LifecycleOwner;
import com.amap.api.maps.model.LatLng;
import com.mogo.commons.AbsMogoApplication;
import com.mogo.commons.mvp.Presenter;
import com.mogo.eagle.core.data.autopilot.AutopilotStatusInfo;
import com.mogo.eagle.core.data.config.FunctionBuildConfig;
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.IMoGoSweeperFutianCleanSystemListener;
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.CallerSweeperFutianCleanSystemListenerManager;
import com.mogo.eagle.core.utilcode.mogo.logger.CallerLogger;
import com.mogo.eagle.core.utilcode.util.ThreadUtils;
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.SweeperMainTaskBean;
import com.mogo.och.sweepercloud.bean.SweeperRoutePlanningUpdateReqBean;
import com.mogo.och.sweepercloud.bean.SweeperSubTaskBean;
import com.mogo.och.sweepercloud.bean.SweeperSubTaskDetailBean;
import com.mogo.och.sweepercloud.callback.ISweeperADASStatusCallback;
import com.mogo.och.sweepercloud.callback.ISweeperControllerStatusCallback;
import com.mogo.och.sweepercloud.callback.ISweeperTaskCallback;
import com.mogo.och.sweepercloud.callback.ISweeperCloudTaskCallback;
import com.mogo.och.sweepercloud.callback.ISweeperTaskRouteCallback;
import com.mogo.och.sweepercloud.constant.SubTaskTypeEnum;
import com.mogo.och.sweepercloud.constant.SweeperConst;
import com.mogo.och.sweepercloud.constant.TaskStatusEnum;
import com.mogo.och.sweepercloud.database.MyDataBase;
import com.mogo.och.sweepercloud.database.bean.WeltDataBean;
import com.mogo.och.sweepercloud.fragment.SweeperFragment;
import com.mogo.och.sweepercloud.model.SweeperTaskModel;
import com.mogo.och.sweepercloud.util.SweeperFutianCmdUtil;
import com.mogo.och.sweepercloud.util.SweeperTrajectoryManager;
import com.zhjt.mogo.adas.data.sweeper.SweeperCloudTask;
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.stop.SweeperTaskStop;
import org.jetbrains.annotations.NotNull;
import java.math.BigDecimal;
import java.math.RoundingMode;
import java.util.ArrayList;
import java.util.List;
import androidx.annotation.NonNull;
import androidx.lifecycle.LifecycleOwner;
import chassis.ChassisStatesOuterClass;
import mogo.telematics.pad.MessagePad;
import mogo_msg.MogoReportMsg;
import planning.RoboSweeperTaskIndexOuterClass;
import system_master.SystemStatusInfo;
/**
* 网约车小巴
@@ -60,31 +34,13 @@ import system_master.SystemStatusInfo;
* @author tongchenfei
*/
public class SweeperPresenter extends Presenter<SweeperFragment>
implements IMoGoAutopilotStatusListener, ISweeperControllerStatusCallback, ISweeperADASStatusCallback,
IMoGoSweeperFutianCleanSystemListener, ISweeperTaskCallback, ISweeperTaskRouteCallback {
implements ISweeperControllerStatusCallback,
ISweeperCloudTaskCallback, ISweeperTaskRouteCallback {
private static final String TAG = "SweeperPresenter";
//当前子任务id
private int mSubTaskId = 0;
// 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;
private String longitude;//经度
private String latitude;//纬度
public SweeperPresenter(SweeperFragment view) {
super(view);
//2021.11.1 鹰眼架构整合，由IMoGoAutopilotStatusListener逐步替代IMogoAdasOCHCallback接口
CallerAutoPilotStatusListenerManager.INSTANCE.addListener(TAG, this);
//清扫车模式和贴边数据回调监听
CallerSweeperFutianCleanSystemListenerManager.INSTANCE.addListener(TAG, this);
SweeperTaskModel.getInstance().init();
OCHAdasAbilityManager.getInstance().init(AbsMogoApplication.getApp());
}
@@ -104,69 +60,15 @@ public class SweeperPresenter extends Presenter<SweeperFragment>
public void initModelListener() {
SweeperTaskModel.getInstance().setControllerStatusCallback(this);
SweeperTaskModel.getInstance().setAdasStatusCallback(this);
SweeperTaskModel.getInstance().setSweeperTaskCallback(this);
}
public void releaseListener() {
SweeperTaskModel.getInstance().setControllerStatusCallback(null);
SweeperTaskModel.getInstance().setAdasStatusCallback(null);
SweeperTaskModel.getInstance().setSweeperTaskCallback(null);
CallerSweeperFutianCleanSystemListenerManager.INSTANCE.removeListener(TAG);
}
@Override
public void onAutopilotRouteLineId(long lineId) {
}
@Override
public void onAutopilotStatusResponse(@NotNull AutopilotStatusInfo autopilotStatusInfo) {
if (autopilotStatusInfo == null) return;
CallerLogger.INSTANCE.d(M_SWEEPER + TAG, "onAutopilotStatusResponse state:" + autopilotStatusInfo.getState());
SweeperTaskModel.getInstance().setAutopilotState(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
if (SweeperTaskModel.getInstance().getSubWorking()) {
if (FunctionBuildConfig.isDemoMode) {//美化模式开启时
SweeperTaskModel.getInstance().startBeautificationMode();
}
} else {
if (FunctionBuildConfig.isDemoMode) {//美化模式开启时
//关闭美化模式
SweeperTaskModel.getInstance().closeBeautificationMode();
}
}
break;
case IMoGoAutopilotStatusListener.STATUS_AUTOPILOT_RUNNING://自动驾驶中
SweeperTaskModel.getInstance().triggerStartServiceEvent(
SweeperTaskModel.getInstance().isRestartAutopilot(), true);
if (SweeperTaskModel.getInstance().getSubWorking()) {
if (FunctionBuildConfig.isDemoMode) {//美化模式开启时
SweeperTaskModel.getInstance().startBeautificationMode();
}
}
break;
case IMoGoAutopilotStatusListener.STATUS_PARALLEL_DRIVING://平行驾驶
if (SweeperTaskModel.getInstance().getSubWorking()) {
if (FunctionBuildConfig.isDemoMode) {//美化模式开启时
FunctionBuildConfig.isIgnoreConditionsDrawAutopilotTrajectoryData = true;//是否强制绘制引导线
CallerAutoPilotControlManager.INSTANCE.setIPCDemoMode(false);//是否自动启动自驾
}
} else {
if (FunctionBuildConfig.isDemoMode) {//美化模式开启时
//关闭美化模式
SweeperTaskModel.getInstance().closeBeautificationMode();
}
}
break;
default:
break;
}
}
@Override
public void onVRModeChanged(boolean isVRMode) {
ThreadUtils.runOnUiThread(() -> mView.onVRModeChanged(isVRMode));
@@ -184,26 +86,21 @@ public class SweeperPresenter extends Presenter<SweeperFragment>
public void startOpenAutopilot() {
}
/**
* 清除路线缓存数据
*/
public void clearRouteList(){
public void clearRouteList() {
SweeperTaskModel.getInstance().clearRouteList();
}
public void startAutopilot() {
SweeperTaskModel.getInstance().startAutopilot();
}
/**
* 设置当前子任务信息
*/
public void setSubtask(boolean isFirstSubtask, boolean isLastSubtask, int subTaskId,int subTaskType) {
this.mSubTaskId = subTaskId;
SweeperTaskModel.getInstance().setSubtask(isFirstSubtask, isLastSubtask, subTaskId,subTaskType);
}
public void setWorking(boolean isWorking){
SweeperTaskModel.getInstance().setWorking(isWorking);
public void setSubtask(int subTaskId, int subTaskType, int currentLineId) {
SweeperTaskModel.getInstance().setSubtask(subTaskId, subTaskType, currentLineId);
}
/**
* 测试使用
*
@@ -212,165 +109,7 @@ public class SweeperPresenter extends Presenter<SweeperFragment>
public void debugAutoPilotStatus(int status) {
AutopilotStatusInfo info = new AutopilotStatusInfo();
info.setState(status);
onAutopilotStatusResponse(info);
}
@Override
public void onAutopilotGuardian(MogoReportMsg.MogoReportMessage guardianInfo) {
SweeperTrajectoryManager.getInstance().onAutopilotGuardian(guardianInfo);
}
@Override
public void onAutopilotIpcConnectStatusChanged(int status, @Nullable String reason) {
}
@Override
public void onAutopilotStatusRespByQuery(@NonNull SystemStatusInfo.StatusInfo status) {
}
@Override
public void onAutopilotArriveAtStation(@Nullable MessagePad.ArrivalNotification arrivalNotification) {
SweeperTaskModel.getInstance().onArriveTaskEnd(arrivalNotification);
}
@Override
public void onAutopilotSNRequest() {
}
@Override
public void onStartAdasFailure() {
}
public void onArriveTaskEnd(@Nullable MessagePad.ArrivalNotification arrivalNotification) {
SweeperTaskModel.getInstance().onArriveTaskEnd(arrivalNotification);
}
@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;
boolean clean_open_requirement = cleanSystemState.getSecuMotWorkSts();
// 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();
// 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();
// 作业强度状态
boolean clean_intensity_standard = cleanSystemState.getSecuWorkStandSts();
boolean clean_intensity_strong = cleanSystemState.getSecuWorkStrongSts();
// 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);
StringBuilder stringBuilder = new StringBuilder();
stringBuilder.append("开关：")
.append(clean_open_requirement)
.append("\n")
.append("纯扫：")
.append(clean_mode_wash_sweep)
.append("纯洗:")
.append(clean_mode_pure_wash)
.append("纯吸：")
.append(clean_mode_pure_draw)
.append("纯扫：")
.append("\n")
.append(clean_mode_pure_sweep)
.append("左侧：")
.append(clean_direction_left_side)
.append("右侧：")
.append(clean_direction_right_side)
.append("两侧:")
.append("\n")
.append(clean_direction_both_side)
.append("标准：")
.append(clean_intensity_standard)
.append("强力：")
.append(clean_intensity_strong);
CallerLogger.INSTANCE.d(M_SWEEPER + TAG, "onSweeperFutianCleanSystemState：" + stringBuilder);
mView.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;
StringBuilder stringBuilder = new StringBuilder();
stringBuilder.append("清扫模式：")
.append(roboSweeperTaskIndex.getCleanMode())
.append("清扫方向:")
.append(roboSweeperTaskIndex.getCleanDirection())
.append("清扫强度：")
.append(roboSweeperTaskIndex.getCleanIntensity())
.append("贴边距离：")
.append(roboSweeperTaskIndex.getDistToRefEdgePoint())
.append("经度：")
.append(roboSweeperTaskIndex.getLocLon())
.append("纬度：")
.append(roboSweeperTaskIndex.getLocLat());
CallerLogger.INSTANCE.d(M_SWEEPER + TAG, "onSweeperFutianTaskIndexData：" + stringBuilder);
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){
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
}
mView.setWeltDataToMap((ArrayList<WeltDataBean>) 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
*/
@@ -378,32 +117,54 @@ public class SweeperPresenter extends Presenter<SweeperFragment>
SweeperTaskModel.getInstance().getCurrentTask();
}
@Override
public void setMainTaskList(List<SweeperMainTaskBean> mainTaskBeanList, boolean refresh) {
}
@Override
public void setSubTaskBean(SweeperSubTaskBean subTaskBean, boolean isWorkingSubTask) {
}
@Override
public void updateSubTaskStatus(TaskStatusEnum typeEnum, boolean isLastSubTask) {
}
@Override
public void setMainTaskReset(boolean isSuccess) {
}
@Override
public void setSubTakDetail(@NonNull SweeperSubTaskDetailBean subTaskDetailBean, SubTaskTypeEnum subTaskTypeEnum) {
}
@Override
public void setRouteList(@NonNull ArrayList<SweeperRoutePlanningUpdateReqBean.Result> routeList) {
mView.setTaskRouteList(routeList);
mView.setTaskRouteList(routeList);
}
@Override
public void onSweeperCloudTask(@NonNull SweeperCloudTask.MessageType messageType, @NonNull SweeperTask.TaskInfo taskInfo) {
}
@Override
public void onSweeperCloudTaskConfirm(@NonNull String taskId, @NonNull String subTaskId) {
}
@Override
public void onSweeperCloudTaskStatus(@NonNull String taskId, @NonNull String subTaskId, @NonNull SweeperCommon.TaskStatus subTaskStatus) {
}
@Override
public void onSweeperCloudTaskStop(@NonNull String taskId, @NonNull SweeperTaskStop.StopTaskType stopTaskType) {
}
@Override
public void onSweeperCloudTaskSuspendResume(@NonNull SweeperCloudTask.MessageType messageType, @NonNull String taskId,
@NonNull String subTaskId, @NonNull SweeperCommon.Code code) {
}
@Override
public void onSweeperCloudBootable(@NonNull String taskId, @NonNull String subTaskId, @NonNull SweeperCommon.Code code) {
}
@Override
public void onSweeperCloudBigTaskStatus(@NonNull String taskId, @NonNull SweeperBigTaskStatus.BigTaskStatus subTaskStatus) {
}
@Override
public void setWeltDataToMap(@NonNull ArrayList<WeltDataBean> weltDataBeans, boolean isWeltData, @NonNull String distance) {
mView.setWeltDataToMap(weltDataBeans,isWeltData,distance);
}
@Override
public void onSweeperFutianCleanSystemState(@NonNull ChassisStatesOuterClass.SweeperFuTianTaskSystemStates cleanSystemState) {
mView.onSweeperFutianCleanSystemState(cleanSystemState);
}
}

79
OCH/sweeper/sweeper-cloud/src/main/java/com/mogo/och/sweepercloud/ui/adapter/TaskListAdapter.kt
View File

@@ -1,79 +0,0 @@
package com.mogo.och.sweepercloud.ui.adapter
import android.graphics.Color
import android.view.LayoutInflater
import android.view.View
import android.view.ViewGroup
import android.widget.ImageView
import android.widget.TextView
import androidx.recyclerview.widget.RecyclerView
import com.mogo.och.common.module.utils.DateTimeUtil
import com.mogo.och.sweepercloud.R
import com.mogo.och.sweepercloud.bean.SweeperMainTaskBean
class TaskListAdapter() : RecyclerView.Adapter<TaskListAdapter.TaskViewHolder>() {
private var mItemClickListener: TaskItemClickListener? = null
private var mSelectPosition: Int = -1
private var data:MutableList<SweeperMainTaskBean>?=null
fun setOnTaskItemClickListener(itemClickListener: TaskItemClickListener?) {
mItemClickListener = itemClickListener
}
class TaskViewHolder(itemView: View) : RecyclerView.ViewHolder(itemView) {
val selectIv: ImageView
val taskName: TextView//任务名称
val taskDesc: TextView//任务描述
val tvTaskTime: TextView//任务时间
init {
selectIv = itemView.findViewById(R.id.ivTaskSelect)
taskName = itemView.findViewById(R.id.tvTaskName)
taskDesc = itemView.findViewById(R.id.tvTaskDesc)
tvTaskTime = itemView.findViewById(R.id.tvTaskTime)
}
}
fun selectPosition(position: Int) {
this.mSelectPosition = position
notifyDataSetChanged()
}
fun setTaskListData(data: MutableList<SweeperMainTaskBean>?){
this.data=data
notifyDataSetChanged()
}
interface TaskItemClickListener {
fun onItemClick(position: Int,mainTask:SweeperMainTaskBean)
}
override fun onCreateViewHolder(parent: ViewGroup, viewType: Int): TaskViewHolder {
val view = LayoutInflater.from(parent.context).inflate(
R.layout.sweeper_item_task_info, parent, false
)
return TaskViewHolder(view)
}
override fun onBindViewHolder(holder: TaskViewHolder, position: Int) {
data?.let { mainTask->
holder.taskName.text= mainTask[position].mainTaskName
holder.taskDesc.text= "全程包含${mainTask[position].subTaskTotal}个子任务"
val calendar = DateTimeUtil.formatLongToCalendar(mainTask[position].mainTaskStartTime)
if (DateTimeUtil.compareDateIsCurrentDay(calendar)){
holder.tvTaskTime.text="今天${DateTimeUtil.formatCalendarToString(calendar, DateTimeUtil.HH_mm)}"
}else{
holder.tvTaskTime.text=DateTimeUtil.formatCalendarToString(calendar, DateTimeUtil.MM_dd_HH_mm)
}
holder.itemView.setOnClickListener {
mItemClickListener?.onItemClick(position,mainTask[position])
}
}
if (position == mSelectPosition) {
holder.selectIv.visibility = View.VISIBLE
holder.itemView.setBackgroundColor(Color.parseColor("#FF122B4E"))
} else {
holder.selectIv.visibility = View.GONE
holder.itemView.setBackgroundColor(Color.parseColor("#00000000"))
}
}
override fun getItemCount(): Int = data?.size ?: 0
}

91
OCH/sweeper/sweeper-cloud/src/main/java/com/mogo/och/sweepercloud/ui/popwindow/MenuPopWindow.kt
View File

@@ -1,91 +0,0 @@
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.View
import android.view.ViewGroup.LayoutParams
import android.widget.PopupWindow
import android.widget.TextView
import com.mogo.och.sweepercloud.R
import com.mogo.och.sweepercloud.constant.TaskStatusEnum
/**
* 当前任务操作菜单栏
*/
class MenuPopWindow : PopupWindow, View.OnClickListener{
private var mTvJumpOverTask: TextView? = null
private var mTaskJumpLineView: View? = null
private var mTvEndTask: TextView? = null
private var mTvCancelTask: TextView? = null
private var mMenuItemClickListener:OnMenuItemOnClickListener?=null
constructor(context: Context,menuItemClickListener:OnMenuItemOnClickListener) : super(context) {
init(context)
this.mMenuItemClickListener=menuItemClickListener
}
/**
* 初始化布局
*/
private fun init(context: Context) {
setBackgroundDrawable(ColorDrawable(Color.TRANSPARENT))
var view: View = LayoutInflater.from(context).inflate(R.layout.sweeper_task_menu, null)
mTvJumpOverTask = view.findViewById(R.id.tvJumpOverTask)
mTaskJumpLineView = view.findViewById(R.id.taskJumpLineView)
mTvEndTask = view.findViewById(R.id.tvEndTask)
mTvCancelTask = view.findViewById(R.id.tvCancelTask)
mTvJumpOverTask?.setOnClickListener(this)
mTvEndTask?.setOnClickListener(this)
mTvCancelTask?.setOnClickListener(this)
width = context.resources.getDimension(R.dimen.dp_174).toInt()
height = LayoutParams.WRAP_CONTENT
contentView = view
isFocusable = true
isOutsideTouchable = true
}
/**
* 设置是否是手动任务
* 1：云端自动驾驶任务
* 2：云端手动驾驶任务
* 3: 运营任务
*/
fun setMenuView(type: Int) {
if (type == 1) {
mTvJumpOverTask?.visibility = View.GONE
mTaskJumpLineView?.visibility = View.GONE
} else {
mTvJumpOverTask?.visibility = View.VISIBLE
mTaskJumpLineView?.visibility = View.VISIBLE
}
}
interface OnMenuItemOnClickListener {
fun onMenuItemClick(itemType: TaskStatusEnum)
}
override fun onClick(v: View) {
when(v.id){
R.id.tvJumpOverTask->{
mMenuItemClickListener?.onMenuItemClick(TaskStatusEnum.JUMP_OVER_SUBTASK)
dismiss()
}
R.id.tvEndTask->{
mMenuItemClickListener?.onMenuItemClick(TaskStatusEnum.END_TASK)
dismiss()
}
R.id.tvCancelTask->{
mMenuItemClickListener?.onMenuItemClick(TaskStatusEnum.CANCEL_TASK)
dismiss()
}
}
}
}

183
OCH/sweeper/sweeper-cloud/src/main/java/com/mogo/och/sweepercloud/util/SweeperTrajectoryManager.java
View File

@@ -1,183 +0,0 @@
package com.mogo.och.sweepercloud.util;
import com.mogo.eagle.core.data.autopilot.AutopilotControlParameters;
import com.mogo.eagle.core.function.call.autopilot.CallerAutoPilotControlManager;
import com.mogo.eagle.core.utilcode.mogo.logger.CallerLogger;
import com.mogo.eagle.core.utilcode.util.GsonUtils;
import com.mogo.och.sweepercloud.bean.SweeperSubTaskDetailBean;
import com.mogo.och.sweepercloud.constant.SweeperConst;
import java.util.concurrent.TimeUnit;
import androidx.annotation.Nullable;
import io.reactivex.Observable;
import io.reactivex.android.schedulers.AndroidSchedulers;
import io.reactivex.disposables.Disposable;
import io.reactivex.schedulers.Schedulers;
import mogo_msg.MogoReportMsg;
import static com.mogo.eagle.core.utilcode.mogo.logger.scene.SceneConstant.M_SWEEPER;
/**
* Bus轨迹管理：给MEC下发用于轨迹下载的信息
* Created on 2022/6/23
*/
public class SweeperTrajectoryManager {
private static final String TAG = SweeperTrajectoryManager.class.getSimpleName();
private static final class SingletonHolder {
private static final SweeperTrajectoryManager INSTANCE = new SweeperTrajectoryManager();
}
public static SweeperTrajectoryManager getInstance() {
return SweeperTrajectoryManager.SingletonHolder.INSTANCE;
}
private AutopilotControlParameters.AutoPilotLine mAutoPilotLine = null;
private Disposable mSendReqDisposable = null;
public SweeperTrajectoryManager() {
mAutoPilotLine = new AutopilotControlParameters.AutoPilotLine(-1,
"", "", "", "", 0, "",
"", "", "", "", 0);
}
/**
* 同步Bus路线信息
*/
public void syncTrajectoryInfo(SweeperSubTaskDetailBean sweeperSubTaskDetailBean) {
if (sweeperSubTaskDetailBean != null) {
CallerLogger.INSTANCE.d(M_SWEEPER + TAG, "syncTrajectoryInfo() start.");
startTrajReqLoop(sweeperSubTaskDetailBean);
} else {
// 无路线信息or当前未在始发站
CallerLogger.INSTANCE.d(M_SWEEPER + TAG, "syncTrajectoryInfo() stop.");
stopTrajReqLoop();
}
}
/**
* 接口MEC反馈的常规信息（MAP v2.5.0新增轨迹相关信息）
*
* @param guardianInfo
*/
public void onAutopilotGuardian(@Nullable MogoReportMsg.MogoReportMessage guardianInfo) {
if (guardianInfo == null || !guardianInfo.hasCode()) return;
if ("ISYS_INIT_TRAJECTORY_START".equals(guardianInfo.getCode())) {
// 1. 轨迹管理_轨迹开始下载（本地已有对应轨迹也触发）
CallerLogger.INSTANCE.d(M_SWEEPER + TAG, "onAutopilotGuardian() 轨迹开始下载");
// ToastUtils.showShort("轨迹开始下载");
stopTrajReqLoop();
} else if ("ISYS_INIT_TRAJECTORY_SUCCESS".equals(guardianInfo.getCode())) {
// 2. 轨迹管理_轨迹下载成功（本地已有对应轨迹也触发）
CallerLogger.INSTANCE.d(M_SWEEPER + TAG, "onAutopilotGuardian() 轨迹下载成功");
// ToastUtils.showShort("轨迹下载成功");
stopTrajReqLoop();
} else if ("ISYS_INIT_TRAJECTORY_FAILURE".equals(guardianInfo.getCode())) {
// 3. 轨迹管理_轨迹下载失败，本地无对应轨迹
CallerLogger.INSTANCE.d(M_SWEEPER + TAG, "onAutopilotGuardian() " +
"轨迹下载失败，本地无对应轨迹");
// ToastUtils.showShort("轨迹下载失败，本地无对应轨迹");
} else if ("ISYS_INIT_TRAJECTORY_WARNING".equals(guardianInfo.getCode())) {
// 4. 轨迹管理_轨迹下载失败，本地有对应轨迹，认为成功
CallerLogger.INSTANCE.d(M_SWEEPER + TAG, "onAutopilotGuardian() " +
"轨迹下载失败，本地有对应轨迹，认为成功");
// ToastUtils.showShort("轨迹下载失败，本地有对应轨迹，认为成功");
} else if ("ISYS_INIT_TRAJECTORY_TIMEOUT".equals(guardianInfo.getCode())) {
// 5. 轨迹管理_轨迹下载超时
CallerLogger.INSTANCE.d(M_SWEEPER + TAG, "onAutopilotGuardian() 轨迹下载超时");
// ToastUtils.showShort("轨迹下载超时");
}
}
private void setupAutoPilotLine(SweeperSubTaskDetailBean subTaskDetail) {
if (subTaskDetail == null) {
CallerLogger.INSTANCE.e(M_SWEEPER + TAG, "setupAutoPilotLine(): routesResult is null.");
return;
} else {
mAutoPilotLine = new AutopilotControlParameters.AutoPilotLine(subTaskDetail.getLineId(),
subTaskDetail.getCsvFileUrl(), subTaskDetail.getCsvFileMd5(),
subTaskDetail.getTxtFileUrl(), subTaskDetail.getTxtFileMd5(),
subTaskDetail.getPublishTime(), subTaskDetail.getCarModel(),
subTaskDetail.getCsvFileUrlDPQP(), subTaskDetail.getCsvFileMd5DPQP(),
subTaskDetail.getTxtFileUrlDPQP(), subTaskDetail.getTxtFileMd5DPQP(),
subTaskDetail.getPublishTimeDPQP());
}
}
private void clearAutoPilotLine() {
if (mAutoPilotLine == null) return;
mAutoPilotLine.setLineId(-1);
mAutoPilotLine.setTrajUrl("");
mAutoPilotLine.setTrajMd5("");
mAutoPilotLine.setStopUrl("");
mAutoPilotLine.setStopMd5("");
mAutoPilotLine.setTimestamp(0);
mAutoPilotLine.setVehicleModel("");
mAutoPilotLine.setTrajUrl_dpqp("");
mAutoPilotLine.setTrajMd5_dpqp("");
mAutoPilotLine.setStopUrl_dpqp("");
mAutoPilotLine.setStopMd5_dpqp("");
mAutoPilotLine.setTimestamp_dpqp(0);
}
private void startTrajReqLoop(SweeperSubTaskDetailBean sweeperSubTaskDetailBean) {
if (mSendReqDisposable != null && !mSendReqDisposable.isDisposed()) {
return;
}
CallerLogger.INSTANCE.d(M_SWEEPER + TAG, "startTrajReqLoop()");
setupAutoPilotLine(sweeperSubTaskDetailBean);
mSendReqDisposable = Observable.interval(SweeperConst.LOOP_DELAY,
SweeperConst.LOOP_PERIOD_10S, TimeUnit.MILLISECONDS)
.map((aLong -> aLong + 1))
.subscribeOn(Schedulers.io())
.observeOn(AndroidSchedulers.mainThread())
.subscribe(aLong -> {
if (aLong > SweeperConst.LOOP_SEND_TRAJ_TIMES) {
stopTrajReqLoop();
return;
}
CallerLogger.INSTANCE.d(M_SWEEPER + TAG, "loop sendTrajectoryReq: " + aLong);
sendTrajectoryReq();
});
}
public void stopTrajReqLoop() {
if (mSendReqDisposable != null) {
CallerLogger.INSTANCE.d(M_SWEEPER + TAG, "stopTrajReqLoop()");
mSendReqDisposable.dispose();
mSendReqDisposable = null;
clearAutoPilotLine();
}
}
private void sendTrajectoryReq() {
if (mAutoPilotLine == null) {
CallerLogger.INSTANCE.e(M_SWEEPER + TAG, "sendTrajectoryReq(): mAutoPilotLine is null!!!");
return;
}
// TODO: 2022/6/24
// test1
// mAutoPilotLine.setLineId(148);
// mAutoPilotLine.setTrajUrl("http://file-qa.zhidaozhixing.com/fileServer/upload/downloadFileStream?key=fileServer/online_car_hailing/e27c20c2da32481021d934c3ef084536/traj_148.csv");
// mAutoPilotLine.setTrajMd5("e27c20c2da32481021d934c3ef084536");
// mAutoPilotLine.setStopUrl("http://file-qa.zhidaozhixing.com/fileServer/upload/downloadFileStream?key=fileServer/online_car_hailing/6224c9dd2c0e2bd990c6482c0464de45/stop_148.txt");
// mAutoPilotLine.setStopMd5("6224c9dd2c0e2bd990c6482c0464de45");
// mAutoPilotLine.setTimestamp(1654596000000L); //20220607 18:00
// mAutoPilotLine.setVehicleModel("红旗H9");
// test2
// mAutoPilotLine.setLineId(148);
// mAutoPilotLine.setTrajUrl("http://file-qa.zhidaozhixing.com/fileServer/upload/downloadFileStream?key=fileServer/online_car_hailing/8654497cf918be461a59c7ad8e22920d/traj_148.csv");
// mAutoPilotLine.setTrajMd5("8654497cf918be461a59c7ad8e22920d");
// mAutoPilotLine.setStopUrl("http://file-qa.zhidaozhixing.com/fileServer/upload/downloadFileStream?key=fileServer/online_car_hailing/1bb098b244922649bf3e7bada0d3950f/stop_148.txt");
// mAutoPilotLine.setStopMd5("1bb098b244922649bf3e7bada0d3950f");
// mAutoPilotLine.setTimestamp(1654761600000L); //20220609 16:00
// mAutoPilotLine.setVehicleModel("红旗H9");
CallerAutoPilotControlManager.INSTANCE.sendTrajectoryDownloadReq(mAutoPilotLine);
CallerLogger.INSTANCE.d(M_SWEEPER + TAG, "sendTrajectoryReq(): "
+ GsonUtils.toJson(mAutoPilotLine));
}
}

6
OCH/sweeper/sweeper-cloud/src/main/java/com/mogo/och/sweepercloud/view/SubTaskView.kt
View File

@@ -7,7 +7,7 @@ import android.view.LayoutInflater
import android.view.View
import androidx.constraintlayout.widget.ConstraintLayout
import com.mogo.och.sweepercloud.R
import com.mogo.och.sweepercloud.bean.SubInfo
import com.zhjt.mogo.adas.data.sweeper.task.SweeperTask.SubTaskInfo
import kotlinx.android.synthetic.main.sweeper_subtask_view.view.*
/**
@@ -29,8 +29,8 @@ class SubTaskView : ConstraintLayout {
/**
* 设置子任务信息
*/
fun setData(taskInfo: SubInfo, isSelect: Boolean = false, isLastTask: Boolean = false) {
tvSubTaskName.text = taskInfo.taskName
fun setData(taskInfo: SubTaskInfo, isSelect: Boolean = false, isLastTask: Boolean = false) {
tvSubTaskName.text = taskInfo.subTaskName
tvSubTaskName.setTextColor(if (isSelect) Color.parseColor("#3BD2FF") else Color.parseColor("#FFFFFF"))
if (isSelect) {
ivSubTask.setImageResource(R.drawable.sweeper_icon_select_subtask)

20
OCH/sweeper/sweeper-cloud/src/main/java/com/mogo/och/sweepercloud/view/SweeperCurrentTaskInfoView.kt
View File

@@ -7,9 +7,8 @@ import android.view.View
import androidx.constraintlayout.widget.ConstraintLayout
import com.mogo.och.common.module.utils.DateTimeUtil
import com.mogo.och.sweepercloud.R
import com.mogo.och.sweepercloud.bean.SubInfo
import com.mogo.och.sweepercloud.bean.SweeperSubTaskBean
import com.mogo.och.sweepercloud.constant.SubTaskTypeEnum
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.*
/**
@@ -20,8 +19,8 @@ class SweeperCurrentTaskInfoView : ConstraintLayout {
//当前任务操作菜单
private var mCurrentPosition = 0
private var listTask: List<SubInfo>? = null
private var mSubTaskType: SubTaskTypeEnum = SubTaskTypeEnum.AUTOPILOT_SUBTYPE
private var listTask: List<SubTaskInfo>? = null
private var mSubTaskType: Int=0
private var mSubTaskStatus: Int = 1
constructor(context: Context) : super(context) {}
@@ -41,19 +40,19 @@ class SweeperCurrentTaskInfoView : ConstraintLayout {
* 设置当前任务数据
*/
fun setData(
subTaskBean: SweeperSubTaskBean?,
subTaskBean: TaskInfo?,
currentPosition: Int,
) {
this.mCurrentPosition = currentPosition
subTaskBean?.apply {
this@SweeperCurrentTaskInfoView.listTask = subList
this@SweeperCurrentTaskInfoView.listTask = subListList
tvTaskName.text = taskName
val calendar = DateTimeUtil.formatLongToCalendar(taskStartTime)
tvTaskTime.text = DateTimeUtil.formatCalendarToString(calendar, DateTimeUtil.HH_mm)
}
listTask?.let {
mSubTaskStatus = it[currentPosition].taskStatus
setSubTaskState(mSubTaskStatus == 2)
mSubTaskStatus = it[currentPosition].taskStatus.number
setSubTaskState(mSubTaskStatus == 1)
}
setCurrentData(currentPosition)
}
@@ -75,8 +74,7 @@ class SweeperCurrentTaskInfoView : ConstraintLayout {
*/
fun setCurrentData(mCurrentPosition: Int) {
listTask?.let {
mSubTaskType =
if (it[mCurrentPosition].taskType == SubTaskTypeEnum.AUTOPILOT_SUBTYPE.code) SubTaskTypeEnum.AUTOPILOT_SUBTYPE else SubTaskTypeEnum.MANUAL_DRIVING_SUBTYPE
mSubTaskType = it[mCurrentPosition].taskModel.number
if (it.size == 1) {
preSubTask.setData(it[mCurrentPosition], isSelect = true, isLastTask = true)
currentSubTask.visibility = View.INVISIBLE

5
OCH/sweeper/sweeper-cloud/src/main/java/com/mogo/och/sweepercloud/view/SweeperWorkModeView.kt
View File

@@ -12,7 +12,6 @@ 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.constant.SubTaskTypeEnum
import com.mogo.och.sweepercloud.ui.popwindow.SweeperOperatePanelPopWindow
import com.mogo.och.sweepercloud.util.SweeperFutianCmdUtil
import kotlinx.android.synthetic.main.sweeper_work_mode.view.*
@@ -68,7 +67,7 @@ class SweeperWorkModeView : ConstraintLayout,ICleaningModeStateCallback {
/**
* 设置清扫模式面板
*/
fun setSweeperFutianCleanSystemState(taskType: SubTaskTypeEnum, cleanSystemState: SweeperFuTianTaskSystemStates?) {
fun setSweeperFutianCleanSystemState(taskType: Int, 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){
@@ -80,7 +79,7 @@ class SweeperWorkModeView : ConstraintLayout,ICleaningModeStateCallback {
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.code == SubTaskTypeEnum.MANUAL_DRIVING_SUBTYPE.code) {
if (SweeperFutianCmdUtil.checkIfCleanMode(cleanSystemState) || taskType==1) {
setShowOrHideCleanSystemState(OperateStateEnum.NO_STATUS, cleanSystemState)
} else {
setShowOrHideCleanSystemState(OperateStateEnum.SUCCESS_STATUS, cleanSystemState)