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[sweeper-cloud]pad端根据工控机的连接状态，调用获取当前任务的接口，防止工控机断开连接时，pad未拉取到当前正在执行的任务

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bxb
2023-05-18 17:20:47 +08:00
parent afa30152e5
commit accdce8a7c
1 changed files with 38 additions and 23 deletions
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61
OCH/sweeper/sweeper-cloud/src/main/java/com/mogo/och/sweepercloud/model/SweeperTaskModel.java
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@@ -22,6 +22,7 @@ import com.mogo.eagle.core.function.call.autopilot.CallerPlanningRottingListener
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;
@@ -300,10 +301,8 @@ public class SweeperTaskModel implements IMoGoSweeperFutianCloudTaskListener, IM
public void onSweeperFutianCloudTask(@NonNull SweeperCloudTask.MessageType messageType, String reqNo, long sysTime,
SweeperTask.TaskInfo taskInfo) {
if (taskInfo != null) {
CallerLogger.INSTANCE.d(M_SWEEPER + TAG,
"messageType: "+messageType.getNumber()+" sysTime："+sysTime+ "reqNo："+reqNo+" onSweeperFutianCloudTask：" +printMessage(taskInfo) + " mSweeperTaskCallback：" + mSweeperTaskCallback);
}
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);
@@ -314,8 +313,9 @@ public class SweeperTaskModel implements IMoGoSweeperFutianCloudTaskListener, IM
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) {
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());
}
@@ -324,8 +324,9 @@ public class SweeperTaskModel implements IMoGoSweeperFutianCloudTaskListener, IM
@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) {
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());
}
@@ -334,18 +335,20 @@ public class SweeperTaskModel implements IMoGoSweeperFutianCloudTaskListener, IM
@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) {
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());
}
}
@Override
public void onSweeperFutianCloudTaskSuspendResume(@NonNull SweeperCloudTask.MessageType messageType,String reqNo, long sysTime,
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) {
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());
@@ -355,8 +358,9 @@ public class SweeperTaskModel implements IMoGoSweeperFutianCloudTaskListener, IM
@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) {
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);
}
@@ -365,8 +369,9 @@ public class SweeperTaskModel implements IMoGoSweeperFutianCloudTaskListener, IM
@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) {
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());
}
@@ -458,7 +463,8 @@ public class SweeperTaskModel implements IMoGoSweeperFutianCloudTaskListener, IM
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());
CallerLogger.INSTANCE.d(M_SWEEPER + TAG,
"getCurrentTask:" + printMessage(getTaskReq) + " reqNo:" + reqNo + " messageType:" + SweeperCloudTask.MessageType.PadSendGetTaskReq.getNumber());
getAutoPilotControlManager().sendSweeperGetTaskReq(reqNo, getTaskReq);
// TODO: 2023/5/5 模拟云控获取任务
// UiThreadHandler.postDelayed(() -> {
@@ -478,7 +484,8 @@ public class SweeperTaskModel implements IMoGoSweeperFutianCloudTaskListener, IM
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());
CallerLogger.INSTANCE.d(M_SWEEPER + TAG,
"sendSweeperStartTaskResp:" + printMessage(startTaskResp) + " reqNo:" + reqNo + " messageType:" + SweeperCloudTask.MessageType.CloudPushTask.getNumber());
}
/**
@@ -492,7 +499,8 @@ public class SweeperTaskModel implements IMoGoSweeperFutianCloudTaskListener, IM
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());
CallerLogger.INSTANCE.d(M_SWEEPER + TAG,
"sendSweeperTaskConfirmResp" + printMessage(taskConfirmResp) + " reqNo:" + reqNo + " messageType:" + SweeperCloudTask.MessageType.CloudPushTaskConfirm.getNumber());
getAutoPilotControlManager().sendSweeperTaskConfirmResp(reqNo, taskConfirmResp);
}
@@ -509,7 +517,8 @@ public class SweeperTaskModel implements IMoGoSweeperFutianCloudTaskListener, IM
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());
CallerLogger.INSTANCE.d(M_SWEEPER + TAG,
"sendSweeperStopTaskResp" + printMessage(stopTaskResp) + " reqNo:" + reqNo + " messageType:" + SweeperCloudTask.MessageType.CloudPushTaskStop.getNumber());
getAutoPilotControlManager().sendSweeperStopTaskResp(reqNo, stopTaskResp);
}
@@ -528,10 +537,11 @@ public class SweeperTaskModel implements IMoGoSweeperFutianCloudTaskListener, IM
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());
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();
//SweeperCloudTaskUtils.mockSendCloudBootable();
}
public CallerAutoPilotControlManager getAutoPilotControlManager() {
@@ -577,6 +587,11 @@ public class SweeperTaskModel implements IMoGoSweeperFutianCloudTaskListener, IM
@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);
}