[清扫车] feat: 底盘数据回调，增加最小时间间隔判断，避免回调太频繁导致阻塞;

OCH/mogo-och-sweeper/src/main/java/com/mogo/och/sweeper/ui/SweeperOperatePanelView.java

@@ -736,6 +736,11 @@ public class SweeperOperatePanelView extends LinearLayout {
         });
     }
 
+    // 当前时间戳
+    private long mCurrentTimeMillis;
+    // 底盘数据回调时间间隔
+    private static final long VEHICLE_STATE_INTERVAL_MILLIS = 500L;
+
     /**
      * 底盘数据透传listener
      */
@@ -774,6 +779,13 @@ public class SweeperOperatePanelView extends LinearLayout {
 
         @Override
         public void onSweeperFutianCleanSystemState(@NonNull VehicleStateOuterClass.SweeperFuTianCleanSystemState cleanSystemState) {
+            long current = System.currentTimeMillis();
+            if (current - mCurrentTimeMillis <= VEHICLE_STATE_INTERVAL_MILLIS) {
+                return;
+            }
+            mCurrentTimeMillis = current;
+
+            Log.d(TAG, "onSweeperFutianCleanSystemState");
             // 第一次进入时同步底盘状态，只拿第一次的数据
             if (mSyncingVehicleState) {
                 onSyncVehicleStateCallBack(cleanSystemState);
@@ -793,11 +805,12 @@ public class SweeperOperatePanelView extends LinearLayout {
     protected void onAttachedToWindow() {
         super.onAttachedToWindow();
         CallerAutopilotVehicleStateListenerManager.INSTANCE.addListener(TAG, mIMoGoAutopilotVehicleStateListener);
+        // TODO 最终调试时需要打开
         //syncVehicleStateAndRecoverOperatePanelStates();
         // Mock VehicleState 数据回调
-       // UiThreadHandler.postDelayed(() -> {
-       //     onSyncVehicleStateCallBack(SweeperFutianCmdUtil.buildSweeperFuTionCleanSystemStateMockData());
-       // }, 3000L);
+        // UiThreadHandler.postDelayed(() -> {
+        //     onSyncVehicleStateCallBack(SweeperFutianCmdUtil.buildSweeperFuTionCleanSystemStateMockData());
+        // }, 3000L);
     }
 
     @Override