[6.7.0][FSM] feat：完善 FSM 相关状态逻辑；

2024-09-12 19:12:44 +08:00
parent 2a80dca6fd
commit b40b74dbf4
11 changed files with 316 additions and 19 deletions
--- a/OCH/taxi/unmanned-driver/src/main/res/layout/unmanned_taxi_base_fragment.xml
+++ b/OCH/taxi/unmanned-driver/src/main/res/layout/unmanned_taxi_base_fragment.xml
@@ -459,7 +459,7 @@
        app:layout_constraintStart_toStartOf="parent"
        />

-    <com.mogo.eagle.core.function.hmi.ui.bone.BoneContainerView
+    <com.mogo.eagle.core.function.hmi.bone.BoneContainerView
        android:id="@+id/boneContainerView"
        android:layout_width="@dimen/dp_1046"
        android:layout_height="match_parent"
--- a/core/function-impl/mogo-core-function-devatools/src/main/java/com/zhjt/mogo_core_function_devatools/status/entity/Status.kt
+++ b/core/function-impl/mogo-core-function-devatools/src/main/java/com/zhjt/mogo_core_function_devatools/status/entity/Status.kt
@@ -166,6 +166,8 @@ class FSMStatus(var state: FSMStateCode, var desc: String = ""): Status(), IAuto
    }

    override fun isException(): Boolean =  state == FSMStateCode.ExistError
+
+    fun hasFSMModule(): Boolean  =  (state == FSMStateCode.ExistNormal) || (state == FSMStateCode.ExistError)
 }

 /**
--- a/core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/hmi/bone/BoneTopStatusLayout.kt
+++ b/core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/hmi/bone/BoneTopStatusLayout.kt
@@ -4,20 +4,48 @@ import android.content.Context
 import android.util.AttributeSet
 import android.view.LayoutInflater
 import androidx.constraintlayout.widget.ConstraintLayout
+import androidx.core.content.ContextCompat
 import com.mogo.eagle.core.function.hmi.R
+import com.mogo.eagle.core.function.hmi.bone.status.StartAutoPilotStatusView
+import kotlinx.android.synthetic.main.view_bone_top_status.view.topStatusContainer

 class BoneTopStatusLayout @JvmOverloads constructor(
-    context: Context,
-    attrs: AttributeSet? = null,
-    defStyleAttr: Int = 0
-) : ConstraintLayout(context, attrs, defStyleAttr) {
+    context: Context, attrs: AttributeSet? = null, defStyleAttr: Int = 0
+) : ConstraintLayout(context, attrs, defStyleAttr),
+    StartAutoPilotStatusView.IStartAutoPilotStatusChanged {
+
+    companion object {
+        const val TAG = "BoneTopStatusLayout"
+    }

    init {
        LayoutInflater.from(context).inflate(R.layout.view_bone_top_status, this, true)
-        initView()
    }

-    private fun initView() {
+    override fun onAttachedToWindow() {
+        super.onAttachedToWindow()
+        StartAutoPilotStatusView.addStatusChangedListener(TAG, this)
+    }

+    override fun onDetachedFromWindow() {
+        super.onDetachedFromWindow()
+        StartAutoPilotStatusView.removeStatusChangedListener(TAG)
+    }
+
+    override fun onStatusError() {
+        super.onStatusError()
+        context?.also {
+            topStatusContainer.background = ContextCompat.getDrawable(
+                it, R.drawable.bg_top_status_layout_error
+            )
+        }
+    }
+
+    override fun onStatusNormal() {
+        super.onStatusNormal()
+        context?.also {
+            topStatusContainer.background =
+                ContextCompat.getDrawable(it, R.drawable.bg_top_status_layout_normal)
+        }
    }
 }
--- a/core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/hmi/bone/status/StartAutoPilotStatusView.kt
+++ b/core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/hmi/bone/status/StartAutoPilotStatusView.kt
@@ -0,0 +1,264 @@
+package com.mogo.eagle.core.function.hmi.bone.status
+
+import android.content.Context
+import android.util.AttributeSet
+import android.view.LayoutInflater
+import android.view.View
+import androidx.constraintlayout.widget.ConstraintLayout
+import androidx.core.content.ContextCompat
+import chassis.Chassis
+import com.mogo.eagle.core.function.api.autopilot.IMoGoAutopilotStatusListener
+import com.mogo.eagle.core.function.call.autopilot.CallerAutoPilotStatusListenerManager
+import com.mogo.eagle.core.function.hmi.R
+import com.mogo.eagle.core.utilcode.kotlin.onClick
+import com.mogo.eagle.core.utilcode.mogo.logger.CallerLogger
+import com.mogo.eagle.core.utilcode.mogo.logger.Logger
+import com.mogo.eagle.core.utilcode.util.ToastUtils
+import com.zhjt.mogo_core_function_devatools.status.StatusManager
+import com.zhjt.mogo_core_function_devatools.status.entity.AcceleratorStatus
+import com.zhjt.mogo_core_function_devatools.status.entity.BrakeStatus
+import com.zhjt.mogo_core_function_devatools.status.entity.DoubleFlashStatus
+import com.zhjt.mogo_core_function_devatools.status.entity.FSMStateCode
+import com.zhjt.mogo_core_function_devatools.status.entity.FSMStatus
+import com.zhjt.mogo_core_function_devatools.status.entity.GearStatus
+import com.zhjt.mogo_core_function_devatools.status.entity.IAutopilotPreLaunchStatus
+import com.zhjt.mogo_core_function_devatools.status.entity.SpeedStatus
+import com.zhjt.mogo_core_function_devatools.status.entity.Status
+import com.zhjt.mogo_core_function_devatools.status.entity.SteerStatus
+import kotlinx.android.synthetic.main.view_start_autopilot_status.view.fSMStatusLayout
+import kotlinx.android.synthetic.main.view_start_autopilot_status.view.iv_accelerator
+import kotlinx.android.synthetic.main.view_start_autopilot_status.view.iv_brake
+import kotlinx.android.synthetic.main.view_start_autopilot_status.view.iv_double_flash
+import kotlinx.android.synthetic.main.view_start_autopilot_status.view.iv_steer
+import kotlinx.android.synthetic.main.view_start_autopilot_status.view.tv_gear
+import kotlinx.android.synthetic.main.view_start_autopilot_status.view.withoutFSMStatusLayout
+import java.util.concurrent.ConcurrentHashMap
+import java.util.concurrent.atomic.AtomicBoolean
+
+/**
+ * 自动驾驶相关的状态展示view
+ * 1, 有 FSM 模块：展示 FSM 的当前状态，启动自驾时人工干预主要由 FSM 拦截，非自驾/自驾 状态都展示异常
+ * 2，无 FSM 模块：展示 启动前 档位/方向盘/油门/刹车/双闪 等状态，人工干预由鹰眼判断拦截，鹰眼数据源为 CanAdapter,
+ *    如果当前在自动驾驶状态 则不显示人工干预异常状态
+ */
+class StartAutoPilotStatusView @JvmOverloads constructor(
+    context: Context,
+    attrs: AttributeSet? = null,
+    defStyleAttr: Int = 0
+) : ConstraintLayout(context, attrs, defStyleAttr), StatusManager.IStatusListener {
+
+    companion object {
+        private const val TAG = "StartAutoPilotStatusView"
+        private val statusChangedListeners by lazy { ConcurrentHashMap<String, IStartAutoPilotStatusChanged>() }
+        fun addStatusChangedListener(tag: String, listener: IStartAutoPilotStatusChanged) {
+            if (statusChangedListeners.containsKey(tag)) {
+                statusChangedListeners.remove(tag)
+            }
+            statusChangedListeners[tag] = listener
+        }
+
+        fun removeStatusChangedListener(tag: String) {
+            statusChangedListeners.remove(tag)
+        }
+    }
+
+    private val hasFSM by lazy { AtomicBoolean(false) }
+
+
+    init {
+        LayoutInflater.from(context).inflate(R.layout.view_start_autopilot_status, this, true)
+        initView()
+    }
+
+    private fun initView() {
+        // 默认展示 有 FSM 的情况，未知状态
+        changeStatusContainer(true)
+        handleFSM(FSMStatus(FSMStateCode.UnKnown, "未知"))
+    }
+
+    /**
+     * 根据是否有 FSM 切换展示的容器
+     */
+    private fun changeStatusContainer(hasFSMModule: Boolean) {
+        CallerLogger.i(TAG, "changeStatusContainer 切换展示，hasFSM=$hasFSMModule")
+        if (hasFSMModule) {
+            fSMStatusLayout?.visibility = View.VISIBLE
+            withoutFSMStatusLayout?.visibility = View.GONE
+        } else {
+            fSMStatusLayout?.visibility = View.GONE
+            withoutFSMStatusLayout?.visibility = View.VISIBLE
+        }
+    }
+
+    private fun handleFSM(status: FSMStatus) {
+        Logger.d(TAG, "--- handleFSM ---:${status.isException()}")
+        val lastHasFSM = hasFSM.get()
+        val newHasFSM = status.hasFSMModule()
+        hasFSM.set(newHasFSM)
+        if (lastHasFSM != newHasFSM) {
+            changeStatusContainer(status.hasFSMModule())
+        }
+
+        when (status.state) {
+            FSMStateCode.UnKnown -> {
+                fSMStatusLayout?.setOnClickListener(null)
+                fSMStatusLayout?.setImageDrawable(
+                    ContextCompat.getDrawable(
+                        context,
+                        R.drawable.icon_fsm_status_bg_unknown
+                    )
+                )
+            }
+
+            FSMStateCode.NotExist -> {
+                fSMStatusLayout?.setOnClickListener(null)
+                fSMStatusLayout?.setImageDrawable(
+                    ContextCompat.getDrawable(
+                        context,
+                        R.drawable.icon_fsm_status_bg_unknown
+                    )
+                )
+            }
+
+            FSMStateCode.ExistNormal -> {
+                fSMStatusLayout?.setOnClickListener(null)
+                fSMStatusLayout?.setImageDrawable(
+                    ContextCompat.getDrawable(
+                        context,
+                        R.drawable.icon_fsm_status_bg_normal
+                    )
+                )
+            }
+
+            FSMStateCode.ExistError -> {
+                // TODO
+                fSMStatusLayout?.onClick {
+                    ToastUtils.showLong("onClick")
+                }
+                fSMStatusLayout?.setImageDrawable(
+                    ContextCompat.getDrawable(
+                        context,
+                        R.drawable.icon_fsm_status_bg_error
+                    )
+                )
+            }
+        }
+        notifyStatus(status.isException())
+    }
+
+    private fun handleWithoutFSM(status: Status) {
+        val isError =
+            status.isException() && CallerAutoPilotStatusListenerManager.getAutoPilotStatusInfo().state != IMoGoAutopilotStatusListener.STATUS_AUTOPILOT_RUNNING
+        Logger.d(TAG, "--- handleWithoutFSM ---: $isError")
+        when (status) {
+            is GearStatus -> {
+                val position = try {
+                    Chassis.GearPosition.valueOf(status.value)
+                } catch (ignore: Throwable) {
+                    Chassis.GearPosition.GEAR_NONE
+                }
+                if (tv_gear?.isEnabled == true) {
+                    tv_gear?.isEnabled = false
+                }
+
+                when (position) {
+                    Chassis.GearPosition.GEAR_N -> {
+                        tv_gear.isEnabled = isError
+                        tv_gear.text = "N"
+                    }
+
+                    Chassis.GearPosition.GEAR_R -> {
+                        tv_gear.isEnabled = isError
+                        tv_gear.text = "R"
+                    }
+
+                    Chassis.GearPosition.GEAR_P -> {
+                        tv_gear.isEnabled = isError
+                        tv_gear.text = "P"
+                    }
+
+                    Chassis.GearPosition.GEAR_D -> {
+                        tv_gear.isEnabled = isError
+                        tv_gear.text = "D"
+                    }
+
+                    Chassis.GearPosition.GEAR_NONE -> {
+                        tv_gear.isEnabled = false
+                        tv_gear.text = ""
+                    }
+
+                    else -> {}
+                }
+            }
+
+            is AcceleratorStatus -> {
+                iv_accelerator?.isSelected = isError
+            }
+
+            is BrakeStatus -> {
+                iv_brake?.isSelected = isError
+            }
+
+            is DoubleFlashStatus -> {
+                iv_double_flash?.isSelected = isError
+            }
+
+            is SteerStatus -> {
+                iv_steer?.isSelected = isError
+            }
+
+            is SpeedStatus -> {
+                // TODO
+            }
+
+            else -> {
+                Logger.d(TAG, "other state: $status")
+            }
+        }
+        notifyStatus(isError)
+    }
+
+    private fun notifyStatus(isError: Boolean) {
+        statusChangedListeners.values.forEach { itx ->
+            if (isError) {
+                itx.onStatusError()
+            } else {
+                itx.onStatusNormal()
+            }
+        }
+    }
+
+
+    override fun onAttachedToWindow() {
+        super.onAttachedToWindow()
+        StatusManager.addListener(TAG, this)
+    }
+
+    override fun onDetachedFromWindow() {
+        super.onDetachedFromWindow()
+        StatusManager.removeListener(TAG)
+    }
+
+    /**
+     * @param changed: 变化的数据
+     * @param all: 所有状态数据
+     */
+    override fun onStatusChanged(changed: List<Status>, all: List<Status>) {
+        changed.filter { it is IAutopilotPreLaunchStatus }.forEach { status ->
+            when (status) {
+                is FSMStatus -> {
+                    handleFSM(status)
+                }
+
+                else -> {
+                    handleWithoutFSM(status)
+                }
+            }
+        }
+    }
+
+    interface IStartAutoPilotStatusChanged {
+        fun onStatusNormal() {}
+        fun onStatusError() {}
+    }
+}
--- a/core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/hmi/bone/tab/CarInfoTabView.kt
+++ b/core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/hmi/bone/tab/CarInfoTabView.kt
@@ -15,4 +15,4 @@ class CarInfoTabView @JvmOverloads constructor(
    init {
        LayoutInflater.from(context).inflate(R.layout.view_car_info_tab, this, true)
    }
-}x
+}
--- a/core/function-impl/mogo-core-function-hmi/src/main/res/drawable-xhdpi/bg_top_status_layout_error.png
+++ b/core/function-impl/mogo-core-function-hmi/src/main/res/drawable-xhdpi/bg_top_status_layout_error.png
--- a/core/function-impl/mogo-core-function-hmi/src/main/res/drawable-xhdpi/bg_top_status_layout_normal.png
+++ b/core/function-impl/mogo-core-function-hmi/src/main/res/drawable-xhdpi/bg_top_status_layout_normal.png
--- a/core/function-impl/mogo-core-function-hmi/src/main/res/drawable/bg_autopilot_status_gear.xml
+++ b/core/function-impl/mogo-core-function-hmi/src/main/res/drawable/bg_autopilot_status_gear.xml
@@ -1,5 +1,5 @@
 <?xml version="1.0" encoding="utf-8"?>
 <selector xmlns:android="http://schemas.android.com/apk/res/android">
-    <item android:state_selected="true" android:drawable="@drawable/icon_status_gear_bg_error" />
-    <item android:drawable="@drawable/icon_status_gear_bg_normal" />
+    <item android:state_enabled="true" android:drawable="@drawable/icon_status_gear_bg_error" />
+    <item android:state_enabled="false" android:drawable="@drawable/icon_status_gear_bg_normal" />
 </selector>
--- a/core/function-impl/mogo-core-function-hmi/src/main/res/layout/view_bone_container.xml
+++ b/core/function-impl/mogo-core-function-hmi/src/main/res/layout/view_bone_container.xml
@@ -12,6 +12,7 @@
        app:layout_constraintTop_toTopOf="parent"
        app:layout_constraintLeft_toLeftOf="parent"
        app:layout_constraintRight_toRightOf="parent"
+        android:layout_marginStart="@dimen/dp_19"
        android:elevation="10dp"
        android:layout_height="wrap_content"/>

--- a/core/function-impl/mogo-core-function-hmi/src/main/res/layout/view_bone_top_status.xml
+++ b/core/function-impl/mogo-core-function-hmi/src/main/res/layout/view_bone_top_status.xml
@@ -1,14 +1,16 @@
 <?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"
+    android:id="@+id/topStatusContainer"
    android:layout_width="@dimen/dp_964"
-    android:layout_height="@dimen/dp_357">
+    android:layout_height="@dimen/dp_357"
+    android:background="@drawable/bg_top_status_layout_normal">

-
-    <com.mogo.eagle.core.function.hmi.ui.bone.status.StartAutoPilotStatusView
-        android:layout_width="wrap_content"
+    <com.mogo.eagle.core.function.hmi.bone.status.StartAutoPilotStatusView
+        android:layout_width="match_parent"
        android:layout_height="wrap_content"
+        android:layout_marginBottom="@dimen/dp_59"
        app:layout_constraintBottom_toBottomOf="parent"
-        app:layout_constraintLeft_toLeftOf="parent"
-        app:layout_constraintRight_toRightOf="parent" />
+        app:layout_constraintLeft_toLeftOf="parent"/>
+
 </androidx.constraintlayout.widget.ConstraintLayout>
--- a/core/function-impl/mogo-core-function-hmi/src/main/res/layout/view_start_autopilot_status.xml
+++ b/core/function-impl/mogo-core-function-hmi/src/main/res/layout/view_start_autopilot_status.xml
@@ -6,15 +6,15 @@
    android:layout_height="@dimen/dp_102">

    <ImageView
-        android:id="@+id/clFSMStatusLayout"
+        android:id="@+id/fSMStatusLayout"
        android:layout_width="match_parent"
        android:layout_height="match_parent"
        android:scaleType="fitXY"
-        android:background="@drawable/icon_fsm_status_bg_normal"
+        android:src="@drawable/icon_fsm_status_bg_normal"
        tools:visibility="visible"/>

    <LinearLayout
-        android:id="@+id/llBeforeLaunchStatusLayout"
+        android:id="@+id/withoutFSMStatusLayout"
        android:layout_width="match_parent"
        android:layout_height="match_parent"
        android:paddingStart="@dimen/dp_34"