From 9b5364a64d6b0a3af886b1c2fde37be78d799d79 Mon Sep 17 00:00:00 2001 From: aibingbing Date: Wed, 9 Oct 2024 19:14:42 +0800 Subject: [PATCH] =?UTF-8?q?[6.7.0][=E5=B7=A5=E5=85=B7=E7=AE=B1]=20refactor?= =?UTF-8?q?:=20=E5=A2=9E=E5=8A=A0=20=E6=BC=AB=E6=B8=B8=20=E7=9A=84?= =?UTF-8?q?=E6=97=A5=E5=BF=97=E6=89=93=E5=8D=B0=EF=BC=9B?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- .../bone/toolkit/custom/ToolDriverRomaView.kt | 3 +++ .../core/function/business/ai/RomaManager.kt | 18 ++++++++++++++++++ 2 files changed, 21 insertions(+) diff --git a/core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/hmi/bone/toolkit/custom/ToolDriverRomaView.kt b/core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/hmi/bone/toolkit/custom/ToolDriverRomaView.kt index 236608766b..8f69e31e74 100644 --- a/core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/hmi/bone/toolkit/custom/ToolDriverRomaView.kt +++ b/core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/hmi/bone/toolkit/custom/ToolDriverRomaView.kt @@ -47,6 +47,7 @@ class ToolDriverRomaView @JvmOverloads constructor( return@setOnClickListener } if (!click) { + ToastUtils.showShort("漫游准备中，请等待") return@setOnClickListener } if (!MogoStatusManager.getInstance().isSocketOnLine) { @@ -57,6 +58,7 @@ class ToolDriverRomaView @JvmOverloads constructor( romaMode = !romaMode //司机屏不控制乘客屏漫游，独自漫游 romaTrigger(romaMode) + Logger.d(TAG, "romaTrigger romaMode->$romaMode") } } @@ -72,6 +74,7 @@ class ToolDriverRomaView @JvmOverloads constructor( } override fun romaStatus(status: Boolean) { + Logger.d(TAG, "romaStatus status->$status") ThreadUtils.runOnUiThread { click = true if (status) { diff --git a/core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/business/ai/RomaManager.kt b/core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/business/ai/RomaManager.kt index fc975e552c..b0ac52e5ff 100644 --- a/core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/business/ai/RomaManager.kt +++ b/core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/business/ai/RomaManager.kt @@ -42,6 +42,7 @@ import com.mogo.eagle.core.function.call.map.CallerMapUIServiceManager import com.mogo.eagle.core.function.call.map.CallerVisualAngleManager import com.mogo.eagle.core.function.utils.MapRomaTrace import com.mogo.eagle.core.function.utils.MapRomaTrace.Companion.getCurrentCNode +import com.mogo.eagle.core.utilcode.mogo.logger.Logger import com.mogo.eagle.core.utilcode.util.ToastUtils import com.mogo.map.uicontroller.VisualAngleMode import com.zhidaoauto.map.data.point.LonLatPoint @@ -97,6 +98,7 @@ class RomaManager() : IMoGoPlanningRottingListener, "cityCode" to CallerChassisLocationWGS84ListenerManager.getChassisLocationWGS84().cityCode ) ) + Logger.d(TAG, "H_ERROR_CLOUD msg=云端 $H_DELAY_TIME 秒内无感知数据下发，socketStatus=${MogoStatusManager.getInstance().isSocketOnLine}, cityCode=${CallerChassisLocationWGS84ListenerManager.getChassisLocationWGS84().cityCode}") } else { MapRomaTrace.log( CHAIN_CODE_ROMA_MAP_START, CHAIN_CODE_ROMA_CLOUD_PUSH, TAG, @@ -105,6 +107,7 @@ class RomaManager() : IMoGoPlanningRottingListener, "cloudDataSize" to cloudDataSize ) ) + Logger.d(TAG, "H_ERROR_CLOUD msg=延迟 $H_DELAY_TIME 秒内获取云端下发感知数据大小，cloudDataSize=${cloudDataSize}") } } if (it.what == H_ERROR_MAP) { @@ -112,6 +115,7 @@ class RomaManager() : IMoGoPlanningRottingListener, CHAIN_CODE_ROMA_MAP_START, CHAIN_CODE_ROMA_MAP_ERROR, TAG, mutableMapOf("msg" to "地图漫游模式启动失败,原因:${it.obj}") ) + Logger.d(TAG, "H_ERROR_MAP msg=地图漫游模式启动失败,原因:${it.obj}") if (DebugConfig.isDebug()) { ToastUtils.showShort("进入漫游模式失败, code:${it.obj}") } @@ -130,6 +134,7 @@ class RomaManager() : IMoGoPlanningRottingListener, TAG, mutableMapOf("reject" to "正在展示路口，点触漫游按钮") ) + Logger.d(TAG, "trigger reject=正在展示路口，点触漫游按钮") CallerMapRomaListener.invokeMapRoma(false) return } @@ -142,16 +147,19 @@ class RomaManager() : IMoGoPlanningRottingListener, TAG, mutableMapOf("trigger" to true) ) + Logger.d(TAG, "trigger trigger=true, roamStatus=${roamStatus}") openRoma() } else { // 跟上次关联，需要确认parent进度 MapRomaTrace.log(getCurrentCNode(), CHAIN_CODE_ROMA_CLOSE_CLICK, TAG, "") + Logger.d(TAG, "trigger trigger=false, roamStatus=${roamStatus}") handler.removeMessages(H_ERROR_CLOUD) closeRoma() } } private fun openRoma() { + Logger.d(TAG, "openRoma") CallerMapIdentifyManager.updateRoam(TAG, true) CallerMapUIServiceManager.getMapUIController()?.visualAngleLock(true) CallerMapUIServiceManager.getMapUIController()?.setScrollGesturesEnable(false) @@ -162,6 +170,7 @@ class RomaManager() : IMoGoPlanningRottingListener, @Synchronized private fun closeRoma(manual: Boolean = true) { + Logger.d(TAG, "closeRoma, manual=$manual") CallerMapUIServiceManager.getMapUIController()?.visualAngleLock(false) CallerMapUIServiceManager.getMapUIController()?.setScrollGesturesEnable(true) // updateLongSightLevel(false) @@ -184,6 +193,7 @@ class RomaManager() : IMoGoPlanningRottingListener, "lat" to gnss.latitude ), true ) + Logger.d(TAG, "mapRomaInRange, range=$range, lon=${gnss.longitude}, lat=${gnss.latitude}, romaModeStyle=${FunctionBuildConfig.romaModeStyle}") inRange = range if (FunctionBuildConfig.romaModeStyle == 1) { return @@ -192,6 +202,7 @@ class RomaManager() : IMoGoPlanningRottingListener, } private fun requestRangeOfIdentify(dataReceive: Boolean) { + Logger.d(TAG, "requestRangeOfIdentify") val loc = CallerChassisLocationWGS84ListenerManager.getChassisLocationWGS84().gnssInfo // false，改变父节点信息 MapRomaTrace.log( @@ -209,6 +220,7 @@ class RomaManager() : IMoGoPlanningRottingListener, } override fun response(requestStatus: Boolean, errorMsg: String?) { + Logger.d(TAG, "response, requestStatus=$requestStatus, errorMsg=${errorMsg}") //错误情况 if (errorMsg != null) { // false，改变父节点信息 @@ -269,6 +281,7 @@ class RomaManager() : IMoGoPlanningRottingListener, paramIndexes = [0] ) override fun onAiIdentifyData(obj: SocketDownData.SocketDownDataProto?) { + Logger.d(TAG, "onAiIdentifyData") obj?.let { obj.data?.let { if (it.allListList != null && it.allListList.size > 0) { @@ -291,6 +304,7 @@ class RomaManager() : IMoGoPlanningRottingListener, //status 0：进入漫游模式成功 1；进入漫游模式失败 2：正常结束漫游 3：切换视角结束漫游 override fun mapRomaStatus(status: Int, msg: String) { super.mapRomaStatus(status, msg) + Logger.d(TAG, "mapRomaStatus, status=$status, msg=$msg") when (status) { 0 -> { MapRomaTrace.log( @@ -348,6 +362,7 @@ class RomaManager() : IMoGoPlanningRottingListener, } private fun reset(invokeCloud: Boolean = true) { + Logger.d(TAG, "reset, invokeCloud=$invokeCloud") if (showAiCloud.get()) { showAiCloud.set(false) aiCloudDataChange.set(false) @@ -362,12 +377,14 @@ class RomaManager() : IMoGoPlanningRottingListener, override fun onAutopilotRouteLineId(lineId: Long) { super.onAutopilotRouteLineId(lineId) + Logger.d(TAG, "onAutopilotRouteLineId, lineId=$lineId") if (lineId == 0L) { updateRomaStyle(true) } } override fun onAutopilotRotting(globalPathResp: MessagePad.GlobalPathResp?) { + Logger.d(TAG, "onAutopilotRotting, globalPathResp=${globalPathResp}") globalPathResp?.let { if (it.wayPointsList != null && it.wayPointsList.size > 0) { val roamList = ArrayList() @@ -386,6 +403,7 @@ class RomaManager() : IMoGoPlanningRottingListener, TAG, "updateRomaStyle auto status:$auto, route:${routeList?.size ?: "reset null"}" ) + Logger.d(TAG, "updateRomaStyle auto status:$auto, route:${routeList?.size ?: "reset null"}") routeList?.let { CallerMapUIServiceManager.getMapUIController()?.setRoamTrajectory(it) }