[6.6.0][FSM] feat: 状态栏增加 FSM 状态，增加 FSM 异常时消息弹框；

core/function-impl/mogo-core-function-devatools/src/main/java/com/zhjt/mogo_core_function_devatools/status/flow/fsm/FSMImpl.kt

@@ -8,6 +8,8 @@ import com.mogo.eagle.core.function.call.autopilot.CallerAutoPilotStatusListener
 import com.mogo.eagle.core.function.call.autopilot.CallerFsm2024ListenerManager
 import com.mogo.eagle.core.utilcode.mogo.logger.CallerLogger
 import com.mogo.eagle.core.utilcode.mogo.logger.scene.SceneConstant.Companion.M_DEVA
+import com.mogo.eagle.core.utilcode.util.DateTimeUtils
+import com.mogo.eagle.core.utilcode.util.UiThreadHandler
 import com.zhjt.mogo.adas.data.AdasConstants
 import com.zhjt.mogo_core_function_devatools.status.entity.FSMStateCode
 import com.zhjt.mogo_core_function_devatools.status.entity.FSMStatus
@@ -16,6 +18,7 @@ import fsm.Fsm2024
 import kotlinx.coroutines.Dispatchers
 import kotlinx.coroutines.launch
 import java.util.concurrent.atomic.AtomicReference
+import kotlin.random.Random
 
 internal class FSMImpl(ctx: Context) : IFlow<FSMStatus>(ctx), IMoGoAutopilotStatusListener,
     IMoGoFsm2024Listener {
@@ -49,6 +52,24 @@ internal class FSMImpl(ctx: Context) : IFlow<FSMStatus>(ctx), IMoGoAutopilotStat
         CallerLogger.d("$M_DEVA$TAG", "-- onCreate --")
         CallerAutoPilotStatusListenerManager.addListener(TAG, this)
         CallerFsm2024ListenerManager.addListener(TAG, this)
+
+        //TODO
+        test()
+        test1()
+    }
+
+    fun test() {
+        send(FSMStatus(FSMStateCode.Error, "检查到异常，不能启动自驾，time=${DateTimeUtils.getCurrentDateTime()}"))
+        UiThreadHandler.postDelayed({
+                                    test()
+        },3000L)
+    }
+
+    fun test1() {
+        send(FSMStatus(FSMStateCode.Normal, "状态正常"))
+        UiThreadHandler.postDelayed({
+            test1()
+        }, Random.nextInt(1,10) * 1000L)
     }
 
     override fun onAutopilotIpcConnectStatusChanged(
@@ -56,15 +77,15 @@ internal class FSMImpl(ctx: Context) : IFlow<FSMStatus>(ctx), IMoGoAutopilotStat
         reason: String?
     ) {
         super.onAutopilotIpcConnectStatusChanged(status, reason)
-        if (!CallerAutoPilotStatusListenerManager.isConnect()) {
-            CallerLogger.d("$M_DEVA$TAG", "工控机断开了....")
-            fsmStateMsg.set(null)
-            send(FSMStatus(FSMStateCode.IpcNotConnected, "工控机断开了"))
-        } else {
-            CallerLogger.d("$M_DEVA$TAG", "工控机已连接....")
+        if (CallerAutoPilotStatusListenerManager.isConnect()) {
+            CallerLogger.d("$M_DEVA$TAG", "工控机已连接")
             launch(Dispatchers.Default) {
                 CallerAutoPilotControlManager.sendStatusQueryReq()
             }
+        } else {
+            CallerLogger.d("$M_DEVA$TAG", "工控机断开了....")
+            fsmStateMsg.set(null)
+            send(FSMStatus(FSMStateCode.IpcNotConnected, "工控机断开了"))
         }
     }
 

core/function-impl/mogo-core-function-devatools/src/main/java/com/zhjt/mogo_core_function_devatools/status/ui/adapter/StatusAdapter.kt

@@ -137,15 +137,19 @@ internal class StatusAdapter(val ctx: Context, var data: List<Status>): Recycler
                     when (status.state) {
                         FSMStateCode.IpcNotConnected -> {
                             iv.setImageDrawable(null)
+                            CallerHmiManager.dismissFSMStatusDetailWindow()
                         }
                         FSMStateCode.NoneExist -> {
                             iv.background = ContextCompat.getDrawable(itemView.context, drawable.icon_dev_status_fsm_not_exist)
+                            CallerHmiManager.dismissFSMStatusDetailWindow()
                         }
                         FSMStateCode.Normal -> {
                             iv.background = ContextCompat.getDrawable(itemView.context, drawable.icon_dev_status_fsm_normal)
+                            CallerHmiManager.dismissFSMStatusDetailWindow()
                         }
                         FSMStateCode.Error -> {
                             iv.background = ContextCompat.getDrawable(itemView.context, drawable.icon_dev_status_fsm_error)
+                            CallerHmiManager.showFSMStatusDetailWindow("FSM异常：", "#FF3B3B", status.desc)
                         }
                     }
                 }

core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/hmi/ui/MoGoHmiProvider.kt

@@ -38,6 +38,7 @@ import com.mogo.eagle.core.function.hmi.ui.notice.DispatchDialogManager
 import com.mogo.eagle.core.function.hmi.ui.notice.NoticeCheckDialog
 import com.mogo.eagle.core.function.hmi.ui.notice.traffic.NoticeTrafficDialog
 import com.mogo.eagle.core.function.hmi.ui.setting.CameraLiveView.Companion.cameraLiveView
+import com.mogo.eagle.core.function.hmi.ui.setting.FSMStatusDetailWindowManager
 import com.mogo.eagle.core.function.hmi.ui.setting.StatusView
 import com.mogo.eagle.core.function.hmi.ui.setting.ToolsView.Companion.toolsView
 import com.mogo.eagle.core.function.hmi.ui.tools.AdUpgradeDialog
@@ -341,6 +342,21 @@ class MoGoHmiProvider : IMoGoHmiProvider {
     override fun is360LookAroundShowing(): Boolean {
         return lookAround.get()?.isShowing() ?: false
     }
+
+    /**
+     * 展示 FSM 状态详情弹框
+     */
+    override fun showFSMStatusDetailWindow(title: String, titleColor:String, content: String) {
+        context?.let { FSMStatusDetailWindowManager.fsmStatusDetailWindowManager.show(it, title, titleColor, content)}
+    }
+
+    /**
+     * 关闭 FSM 状态详情弹框
+     */
+    override fun dismissFSMStatusDetailWindow() {
+        context?.let { FSMStatusDetailWindowManager.fsmStatusDetailWindowManager.dismiss()}
+    }
+
     override fun showStatusSummaryDialog() {
         context?.let { StatusView.statusView.toggle(it) }
     }

core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/hmi/ui/setting/FSMStatusDetailView.kt

@@ -0,0 +1,48 @@
+package com.mogo.eagle.core.function.hmi.ui.setting
+
+import android.content.Context
+import android.graphics.Color
+import android.util.AttributeSet
+import android.view.LayoutInflater
+import android.widget.FrameLayout
+import android.widget.TextView
+import com.mogo.eagle.core.function.hmi.R
+
+/**
+ * FSM状态展示 View
+ */
+class FSMStatusDetailView @JvmOverloads constructor(
+    context: Context,
+    attrs: AttributeSet? = null,
+    defStyleAttr: Int = 0
+) : FrameLayout(
+    context,
+    attrs,
+    defStyleAttr
+) {
+    companion object {
+        private const val TAG = "FSMStatusView"
+    }
+
+    private var tvTitle: TextView? = null
+    private var tvContent: TextView? = null
+
+    init {
+        LayoutInflater.from(context).inflate(R.layout.view_status_fsm_layout, this, true)
+        initView()
+    }
+
+    private fun initView() {
+        tvTitle = findViewById(R.id.tvTitle)
+        tvContent = findViewById(R.id.tvContent)
+    }
+
+    fun setFsmMsg(title: String, titleColor: String , content: String) {
+        tvTitle?.text = title
+        tvContent?.text = content
+        runCatching {
+            val c = Color.parseColor(titleColor)
+            tvTitle?.setTextColor(c)
+        }
+    }
+}

core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/hmi/ui/setting/FSMStatusDetailWindowManager.kt

@@ -0,0 +1,88 @@
+package com.mogo.eagle.core.function.hmi.ui.setting
+
+import android.animation.Animator
+import android.content.Context
+import android.view.Gravity
+import android.view.View
+import android.view.WindowManager
+import android.view.animation.OvershootInterpolator
+import com.mogo.eagle.core.data.enums.SidePattern
+import com.mogo.eagle.core.function.hmi.notification.WarningFloat
+import com.mogo.eagle.core.function.hmi.notification.anim.DefaultAnimator
+import me.jessyan.autosize.utils.AutoSizeUtils
+
+/**
+ * FSM 状态弹框管理类
+ */
+class FSMStatusDetailWindowManager private constructor() {
+
+    private var mFSMStatusViewFloat: WarningFloat.Builder? = null
+    private var mFSMStatusDetailView: FSMStatusDetailView? = null
+
+    companion object {
+        val fsmStatusDetailWindowManager by lazy(LazyThreadSafetyMode.SYNCHRONIZED) {
+            FSMStatusDetailWindowManager()
+        }
+    }
+
+    fun show(
+        context: Context, title: String, titleColor: String, content: String
+    ) {
+        if (mFSMStatusDetailView == null) {
+            mFSMStatusDetailView = FSMStatusDetailView(context)
+        }
+        if (mFSMStatusViewFloat?.isShow() == true) {
+            mFSMStatusDetailView?.apply {
+                setFsmMsg(title, titleColor, content)
+            }
+        } else {
+            mFSMStatusDetailView?.apply {
+                setFsmMsg(title, titleColor, content)
+            }
+            mFSMStatusViewFloat = WarningFloat.with(context)
+                .setTag("FSMStatusView")
+                .setLayout(mFSMStatusDetailView!!)
+                .setSidePattern(SidePattern.RIGHT)
+                .setGravity(
+                    Gravity.RIGHT,
+                    offsetY = AutoSizeUtils.dp2px(context, 112f),
+                    offsetX = AutoSizeUtils.dp2px(context, (214f) * -1L)
+                )
+                .setImmersionStatusBar(true)
+                .slideDel(false)
+                .setWindowHeight(WindowManager.LayoutParams.WRAP_CONTENT)
+                .setWindowWidth(AutoSizeUtils.dp2px(context, 538f))
+                .setAnimator(object : DefaultAnimator() {
+                    override fun enterAnim(
+                        view: View,
+                        params: WindowManager.LayoutParams,
+                        windowManager: WindowManager,
+                        sidePattern: SidePattern
+                    ): Animator? =
+                        super.enterAnim(view, params, windowManager, sidePattern)
+                            ?.apply {
+                                interpolator = OvershootInterpolator()
+                            }
+
+                    override fun exitAnim(
+                        view: View,
+                        params: WindowManager.LayoutParams,
+                        windowManager: WindowManager,
+                        sidePattern: SidePattern
+                    ): Animator? {
+                        mFSMStatusViewFloat = null
+                        mFSMStatusDetailView = null
+                        return super.exitAnim(view, params, windowManager, sidePattern)
+                            ?.setDuration(200)
+                    }
+                })
+                .show()
+        }
+    }
+
+    fun dismiss() {
+        mFSMStatusViewFloat?.let {
+            WarningFloat.dismiss(it.config.floatTag, false)
+        }
+    }
+}

core/function-impl/mogo-core-function-hmi/src/main/res/drawable/status_dialog_fsm_status_background.xml

@@ -0,0 +1,5 @@
+<?xml version="1.0" encoding="utf-8"?>
+<shape xmlns:android="http://schemas.android.com/apk/res/android">
+    <solid android:color="#B3000000" />
+    <corners android:radius="@dimen/dp_30" />
+</shape>

core/function-impl/mogo-core-function-hmi/src/main/res/layout/view_status_fsm_layout.xml

@@ -0,0 +1,42 @@
+<?xml version="1.0" encoding="utf-8"?>
+<androidx.constraintlayout.widget.ConstraintLayout xmlns:android="http://schemas.android.com/apk/res/android"
+    xmlns:app="http://schemas.android.com/apk/res-auto"
+    xmlns:tools="http://schemas.android.com/tools"
+    android:layout_width="@dimen/dp_538"
+    android:layout_height="wrap_content"
+    android:background="@drawable/status_dialog_fsm_status_background"
+    android:paddingStart="@dimen/dp_30"
+    android:paddingTop="@dimen/dp_20"
+    android:paddingEnd="@dimen/dp_30"
+    android:paddingBottom="@dimen/dp_20"
+    tools:ignore="MissingDefaultResource">
+
+    <TextView
+        android:id="@+id/tvTitle"
+        android:layout_width="wrap_content"
+        android:layout_height="wrap_content"
+        android:ellipsize="end"
+        android:gravity="left|center_vertical"
+        android:maxLines="1"
+        android:text=""
+        android:textColor="#FF3B3B"
+        android:textSize="@dimen/dp_28"
+        app:layout_constraintLeft_toLeftOf="parent"
+        app:layout_constraintTop_toTopOf="parent"
+        tools:text="FSM异常：" />
+
+    <TextView
+        android:id="@+id/tvContent"
+        android:layout_width="wrap_content"
+        android:layout_height="wrap_content"
+        android:layout_marginTop="3dp"
+        android:ellipsize="end"
+        android:gravity="left|center_vertical"
+        android:text=""
+        android:textColor="#D5D5D5"
+        android:textSize="@dimen/dp_28"
+        app:layout_constraintLeft_toLeftOf="parent"
+        app:layout_constraintTop_toBottomOf="@+id/tvTitle"
+        tools:text="FSM异常，不能启动自驾，刹车干预" />
+
+</androidx.constraintlayout.widget.ConstraintLayout>

core/mogo-core-function-api/src/main/java/com/mogo/eagle/core/function/api/hmi/warning/IMoGoHmiProvider.kt

@@ -156,6 +156,17 @@ interface IMoGoHmiProvider :IProvider{
      * 360环视弹窗是否正在展示
      */
     fun is360LookAroundShowing(): Boolean
+
+    /**
+     * 展示 FSM 状态详情弹框
+     */
+    fun showFSMStatusDetailWindow(title: String, titleColor:String, content: String)
+
+    /**
+     * 关闭 FSM 状态详情弹框
+     */
+    fun dismissFSMStatusDetailWindow()
+
     fun showStatusSummaryDialog()
 
     /**

core/mogo-core-function-call/src/main/java/com/mogo/eagle/core/function/call/hmi/CallerHmiManager.kt

@@ -230,6 +230,20 @@ object CallerHmiManager {
         return hmiProviderApi?.is360LookAroundShowing() ?: false
     }
 
+    /**
+     * 展示 FSM 状态详情弹框
+     */
+    fun showFSMStatusDetailWindow(title: String, titleColor:String, content: String) {
+       hmiProviderApi?.showFSMStatusDetailWindow(title, titleColor, content)
+    }
+
+    /**
+     * 关闭 FSM 状态详情弹框
+     */
+    fun dismissFSMStatusDetailWindow() {
+        hmiProviderApi?.dismissFSMStatusDetailWindow()
+    }
+
     fun showStatusSummaryDialog() {
         hmiProviderApi?.showStatusSummaryDialog()
     }