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[清扫车]保存贴边数据到数据库中

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This commit is contained in:
bxb
2023-02-22 18:02:33 +08:00
parent 87d30e4768
commit b76ae6fb1a
13 changed files with 369 additions and 84 deletions
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4
OCH/mogo-och-sweeper/build.gradle
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@@ -18,7 +18,7 @@ android {
javaCompileOptions {
annotationProcessorOptions {
arguments = [AROUTER_MODULE_NAME: project.getName()]
arguments = [AROUTER_MODULE_NAME: project.getName(),"room.schemaLocation": "$projectDir/schemas".toString()]
}
}
}
@@ -53,6 +53,8 @@ dependencies {
implementation rootProject.ext.dependencies.rxandroid
implementation rootProject.ext.dependencies.androidxrecyclerview
implementation rootProject.ext.dependencies.androidxcardview
implementation rootProject.ext.dependencies.androidxroomruntime
annotationProcessor rootProject.ext.dependencies.androidxroomcompiler
implementation project(":OCH:mogo-och-common-module")
compileOnly project(":libraries:mogo-map")

10
OCH/mogo-och-sweeper/src/main/java/com/mogo/och/sweeper/bean/WeltDataBean.kt
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@@ -1,10 +0,0 @@
package com.mogo.och.sweeper.bean
data class WeltDataBean(
var locLon: Double,//经度
var locLat: Double,//纬度
var weltDistance: Double,//贴边距离
var cleanMode: Int,//清扫模式
var cleanDirection: Int,//清扫方向
var cleanIntensity: Int,//作业强度
)

3
OCH/mogo-och-sweeper/src/main/java/com/mogo/och/sweeper/constant/SweeperConst.kt
View File

@@ -9,7 +9,8 @@ class SweeperConst {
companion object {
private const val BASE_URL_OCH_DEV = "http://tech-dev.zhidaohulian.com"
private const val BASE_URL_OCH_QA = "https://tech-qa.zhidaohulian.com"
//private const val BASE_URL_OCH_QA = "https://tech-qa.zhidaohulian.com"
private const val BASE_URL_OCH_QA = "http://sweep-dev.svc.zhidaoauto.com"
private const val BASE_URL_OCH_RELEASE = "https://tech.zhidaohulian.com"
@JvmStatic

29
OCH/mogo-och-sweeper/src/main/java/com/mogo/och/sweeper/database/MyDataBase.java Normal file
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@@ -0,0 +1,29 @@
package com.mogo.och.sweeper.database;
import com.mogo.commons.AbsMogoApplication;
import com.mogo.och.sweeper.database.bean.WeltDataBean;
import com.mogo.och.sweeper.database.dao.WeltDataDao;
import androidx.room.Database;
import androidx.room.Room;
import androidx.room.RoomDatabase;
//注解Database告诉系统这是Room数据库对象
//entities指定该数据库有哪些表，多张表就逗号分隔
//version指定数据库版本号，升级时需要用到
//数据库继承自RoomDatabase
@Database(entities = {WeltDataBean.class}, version = 1)
public abstract class MyDataBase extends RoomDatabase {
private static final String DATABASE_NAME = "weltData_db";
//结合单例模式完成数据库实例创建
public static MyDataBase getInstance() {
return SingleTon.instance;
}
private static class SingleTon {
private static final MyDataBase instance =
Room.databaseBuilder(AbsMogoApplication.getApp().getApplicationContext(), MyDataBase.class, DATABASE_NAME).build();
}
public abstract WeltDataDao getWeltDataDao();
}

125
OCH/mogo-och-sweeper/src/main/java/com/mogo/och/sweeper/database/bean/WeltDataBean.java Normal file
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@@ -0,0 +1,125 @@
package com.mogo.och.sweeper.database.bean;
import androidx.room.ColumnInfo;
import androidx.room.Entity;
import androidx.room.Index;
import androidx.room.PrimaryKey;
@Entity(tableName = WeltDataBean.WeltDataTable, indices = {@Index(value = "id", unique = true)})
public class WeltDataBean {
public static final String WeltDataTable = "welt_data_table";
//ColumnInfo用于指定该字段存储在表中的名字，并指定类型
@PrimaryKey(autoGenerate = true)
@ColumnInfo(name = "id", typeAffinity = ColumnInfo.INTEGER)
private int id;
@ColumnInfo(name = "subTaskId", typeAffinity = ColumnInfo.INTEGER)//子任务id
private int subTaskId;
@ColumnInfo(name = "locLon", typeAffinity = ColumnInfo.REAL)
private double locLon;//自车RTK定位经度
@ColumnInfo(name = "locLat", typeAffinity = ColumnInfo.REAL)
private double locLat;//自车RTK定位纬度
@ColumnInfo(name = "weltDistance", typeAffinity = ColumnInfo.REAL)
private double weltDistance;//贴边距离
@ColumnInfo(name = "cleanMode", typeAffinity = ColumnInfo.INTEGER)
private int cleanMode;//清扫作业模式 1–纯扫 2--洗扫, 3--纯洗, 4--纯吸
@ColumnInfo(name = "cleanDirection", typeAffinity = ColumnInfo.INTEGER)
private int cleanDirection;//清扫方向 1--两侧, 2--左侧, 3--右侧
@ColumnInfo(name = "cleanIntensity", typeAffinity = ColumnInfo.INTEGER)
private int cleanIntensity;//清扫强度 1--两侧, 2--左侧, 3--右侧
public int getId() {
return id;
}
public void setId(int id) {
this.id = id;
}
public int getSubTaskId() {
return subTaskId;
}
public void setSubTaskId(int subTaskId) {
this.subTaskId = subTaskId;
}
public double getLocLon() {
return locLon;
}
public void setLocLon(double locLon) {
this.locLon = locLon;
}
public double getLocLat() {
return locLat;
}
public void setLocLat(double locLat) {
this.locLat = locLat;
}
public double getWeltDistance() {
return weltDistance;
}
public void setWeltDistance(double weltDistance) {
this.weltDistance = weltDistance;
}
public int getCleanMode() {
return cleanMode;
}
public void setCleanMode(int cleanMode) {
this.cleanMode = cleanMode;
}
public int getCleanDirection() {
return cleanDirection;
}
public void setCleanDirection(int cleanDirection) {
this.cleanDirection = cleanDirection;
}
public int getCleanIntensity() {
return cleanIntensity;
}
public void setCleanIntensity(int cleanIntensity) {
this.cleanIntensity = cleanIntensity;
}
@Override
public String toString() {
return "WeltDataBean{" +
"id=" + id +
", subTaskId='" + subTaskId + '\'' +
", locLon=" + locLon +
", locLat=" + locLat +
", weltDistance=" + weltDistance +
", cleanMode=" + cleanMode +
", cleanDirection=" + cleanDirection +
", cleanIntensity=" + cleanIntensity +
'}';
}
}

27
OCH/mogo-och-sweeper/src/main/java/com/mogo/och/sweeper/database/dao/WeltDataDao.java Normal file
View File

@@ -0,0 +1,27 @@
package com.mogo.och.sweeper.database.dao;
import com.mogo.och.sweeper.database.bean.WeltDataBean;
import java.util.List;
import androidx.room.Dao;
import androidx.room.Insert;
import androidx.room.OnConflictStrategy;
import androidx.room.Query;
import static com.mogo.och.sweeper.database.bean.WeltDataBean.WeltDataTable;
@Dao
public interface WeltDataDao {
//插入数据
@Insert(onConflict = OnConflictStrategy.REPLACE)
void insert(WeltDataBean fileInfo);
//删除所有数据
@Query("DELETE FROM " + WeltDataTable)
int deleteAllWeltData();
//查询所有数据
@Query("SELECT * FROM " + WeltDataTable)
List<WeltDataBean> loadAllWeltDataInfo();
}

91
OCH/mogo-och-sweeper/src/main/java/com/mogo/och/sweeper/fragment/BaseSweeperTabFragment.java
View File

@@ -1,12 +1,14 @@
package com.mogo.och.sweeper.fragment;
import android.os.Bundle;
import android.os.Looper;
import android.view.LayoutInflater;
import android.view.View;
import android.widget.FrameLayout;
import android.widget.ImageView;
import android.widget.LinearLayout;
import com.amap.api.maps.model.LatLng;
import com.mogo.commons.AbsMogoApplication;
import com.mogo.commons.mvp.IView;
import com.mogo.commons.mvp.MvpFragment;
@@ -18,6 +20,7 @@ import com.mogo.eagle.core.function.call.hmi.CallerHmiManager;
import com.mogo.eagle.core.function.call.map.CallerMapUIServiceManager;
import com.mogo.eagle.core.function.view.MapBizView;
import com.mogo.eagle.core.utilcode.mogo.view.OnPreventFastClickListener;
import com.mogo.eagle.core.utilcode.util.UiThreadHandler;
import com.mogo.map.listener.IMogoMapListener;
import com.mogo.map.listener.MogoMapListenerHandler;
import com.mogo.map.marker.IMogoMarkerManager;
@@ -26,7 +29,7 @@ import com.mogo.map.uicontroller.VisualAngleMode;
import com.mogo.och.common.module.map.AmapNaviToDestinationModel;
import com.mogo.och.common.module.utils.CoordinateCalculateRouteUtil;
import com.mogo.och.sweeper.R;
import com.mogo.och.sweeper.bean.WeltDataBean;
import com.mogo.och.sweeper.database.bean.WeltDataBean;
import com.mogo.och.sweeper.callback.IWeltMapSwitchToSmallCallback;
import com.mogo.och.sweeper.view.SweeperTrafficDataView;
import com.mogo.och.sweeper.view.WeltSmallMapView;
@@ -332,6 +335,7 @@ public abstract class BaseSweeperTabFragment<V extends IView, P extends Presente
refreshNavi();
} else if (id == R.id.sweeper_switch_to_big) {
showOrHideOverMapViewFragment(true);
setWeltData();
}
}
@@ -339,6 +343,7 @@ public abstract class BaseSweeperTabFragment<V extends IView, P extends Presente
/**
* 设置作业任务全览图隐藏或者显示
*
* @param isShow
*/
public void showOrHideOverMapViewFragment(boolean isShow) {
@@ -376,19 +381,85 @@ public abstract class BaseSweeperTabFragment<V extends IView, P extends Presente
showOrHideOverMapViewFragment(false);
}
/**
* 设置贴边数据到地图
*
* @param weltDataBeans
*/
public void setWeltDataToMap(List<WeltDataBean> weltDataBeans) {
if (mMapWeltView != null) {
mMapWeltView.setWeltData(weltDataBeans);
runOnUIThread(() -> {
mMapWeltView.drawablePolyline();
});
}
if (mWeltMapOverViewFragment != null && mWeltMapOverViewFragment.isVisible()) {
mWeltMapOverViewFragment.setWeltData(weltDataBeans);
runOnUIThread(() -> {
mWeltMapOverViewFragment.drawablePolyline();
});
}
}
/**
* 添加起点和终点
*/
public void addStartAndEndMarker(LatLng startPoint, LatLng endPoint) {
if (mMapWeltView != null) {
mMapWeltView.addStartAndEndMarker(startPoint, endPoint);
}
if (mWeltMapOverViewFragment != null && mWeltMapOverViewFragment.isVisible()) {
mWeltMapOverViewFragment.addStartAndEndMarker(startPoint, endPoint);
}
}
/**
* 清除marker标记和任务路线数据
*/
public void clearAllMarkerAndPolyline() {
if (mMapWeltView != null) {
mMapWeltView.clearAllMarkerAndPolyline();
}
if (mWeltMapOverViewFragment != null) {
mWeltMapOverViewFragment.clearAllMarkerAndPolyline();
}
}
private void runOnUIThread(Runnable executor) {
if (executor == null) {
return;
}
if (Looper.myLooper() != Looper.getMainLooper()) {
UiThreadHandler.post(executor);
} else {
executor.run();
}
}
/**
* mock 贴边假数据
*/
private void setWeltData() {
List<WeltDataBean> weltDataBean = new ArrayList<>();
weltDataBean.add(new WeltDataBean(116.38851540542558, 39.97419244219622, -10, 1, 1, 1));
weltDataBean.add(new WeltDataBean(116.38777443467706, 39.96694323029558, 8, 1, 1, 1));
weltDataBean.add(new WeltDataBean(116.39311478161825, 39.967085313029074, 16, 1, 1, 1));
weltDataBean.add(new WeltDataBean(116.40963237692603, 39.975055860562826, 30, 1, 1, 1));
weltDataBean.add(new WeltDataBean(116.41146331146084, 39.97513910337909, -9999.0, 1, 1, 1));
weltDataBean.add(new WeltDataBean(116.40748849300006, 39.96752223478818, -10000.0, 1, 1, 1));
weltDataBean.add(new WeltDataBean(116.42670283855335, 39.97526250389533, 1000, 1, 1, 1));
mMapWeltView.setWeltData(weltDataBean);
mMapWeltView.drawablePolyline();
weltDataBean.add(getWeltDataBean(116.38851540542558, 39.97419244219622, -10.0));
weltDataBean.add(getWeltDataBean(116.38777443467706, 39.96694323029558, 8.0));
weltDataBean.add(getWeltDataBean(116.39311478161825, 39.967085313029074, 16.0));
weltDataBean.add(getWeltDataBean(116.40963237692603, 39.975055860562826, 30.0));
weltDataBean.add(getWeltDataBean(116.41146331146084, 39.97513910337909, -9999.0));
weltDataBean.add(getWeltDataBean(116.40748849300006, 39.96752223478818, -10000.0));
weltDataBean.add(getWeltDataBean(116.42670283855335, 39.97526250389533, 1000.0));
setWeltDataToMap(weltDataBean);
addStartAndEndMarker(CoordinateCalculateRouteUtil.coordinateConverterWgsToGcj(AbsMogoApplication.getApp(),116.38851540542558,39.97419244219622),
CoordinateCalculateRouteUtil.coordinateConverterWgsToGcj(AbsMogoApplication.getApp(),116.42670283855335,39.97526250389533));
}
private WeltDataBean getWeltDataBean(Double locLon, Double locLat, Double weltDistance) {
//把wgs坐标系坐标转换成gcj坐标
LatLng latLng= CoordinateCalculateRouteUtil.coordinateConverterWgsToGcj(AbsMogoApplication.getApp(),locLon,locLat);
WeltDataBean weltDataBean = new WeltDataBean();
weltDataBean.setLocLon(latLng.longitude);
weltDataBean.setLocLat(latLng.latitude);
weltDataBean.setWeltDistance(weltDistance);
return weltDataBean;
}
}

4
OCH/mogo-och-sweeper/src/main/java/com/mogo/och/sweeper/fragment/SweeperFragment.kt
View File

@@ -2,6 +2,8 @@ package com.mogo.och.sweeper.fragment
import android.os.Bundle
import android.view.View
import androidx.annotation.MainThread
import androidx.annotation.UiThread
import androidx.recyclerview.widget.LinearLayoutManager
import chassis.ChassisStatesOuterClass
import com.mogo.eagle.core.data.map.MogoLocation
@@ -186,7 +188,7 @@ class SweeperFragment : BaseSweeperTabFragment<SweeperFragment?, SweeperPresente
}
}
}
@UiThread
fun onSweeperFutianCleanSystemState(cleanSystemState: ChassisStatesOuterClass.SweeperFuTianTaskSystemStates) {
this.mCleanSystemState = cleanSystemState
sweeper_cl_work_mode.setSweeperFutianCleanSystemState(mSubTaskType, cleanSystemState)

43
OCH/mogo-och-sweeper/src/main/java/com/mogo/och/sweeper/fragment/WeltMapOverViewFragment.kt
View File

@@ -1,11 +1,11 @@
package com.mogo.och.sweeper.fragment
import android.os.Bundle
import com.amap.api.maps.model.LatLng
import com.mogo.commons.mvp.BaseFragment
import com.mogo.och.common.module.utils.CoordinateCalculateRouteUtil
import com.mogo.och.sweeper.R
import com.mogo.och.sweeper.bean.WeltDataBean
import com.mogo.och.sweeper.callback.IWeltMapSwitchToSmallCallback
import com.mogo.och.sweeper.database.bean.WeltDataBean
import kotlinx.android.synthetic.main.fragment_welt_map_overview.*
import kotlinx.android.synthetic.main.sweeper_welt_map_overview.*
@@ -26,7 +26,6 @@ class WeltMapOverViewFragment(var mIWeltMapSwitchToSmallCallBack: IWeltMapSwitch
override fun onActivityCreated(savedInstanceState: Bundle?) {
super.onActivityCreated(savedInstanceState)
setWeltData()
setLegendData()
sweeperSwitchToSmall.setOnClickListener {
mIWeltMapSwitchToSmallCallBack?.onWeltMapSwitchToSmall()
@@ -57,29 +56,29 @@ class WeltMapOverViewFragment(var mIWeltMapSwitchToSmallCallBack: IWeltMapSwitch
super.onDestroy()
weltMapOverView.onDestroy()
}
/**
* mock 贴边假数据
* 设置任务路线数据
*/
private fun setWeltData() {
val weltDataBean: MutableList<WeltDataBean> = ArrayList()
weltDataBean.add(WeltDataBean(116.38851540542558, 39.97419244219622, -10.0, 1, 1, 1))
weltDataBean.add(WeltDataBean(116.38777443467706, 39.96694323029558, 8.0, 1, 1, 1))
weltDataBean.add(WeltDataBean(116.39311478161825, 39.967085313029074, 16.0, 1, 1, 1))
weltDataBean.add(WeltDataBean(116.40963237692603, 39.975055860562826, 30.0, 1, 1, 1))
weltDataBean.add(WeltDataBean(116.41146331146084, 39.97513910337909, -9999.0, 1, 1, 1))
weltDataBean.add(WeltDataBean(116.40748849300006, 39.96752223478818, -10000.0, 1, 1, 1))
weltDataBean.add(WeltDataBean(116.42670283855335, 39.97526250389533, 1000.0, 1, 1, 1))
weltMapOverView.setWeltData(weltDataBean)
weltMapOverView.drawablePolyline()
weltMapOverView.addStartAndEndMarker(
CoordinateCalculateRouteUtil.coordinateConverterWgsToGcj(context, 116.38851540542558, 39.97419244219622),
CoordinateCalculateRouteUtil.coordinateConverterWgsToGcj(
context, 116.42670283855335, 39.97526250389533
)
)
fun setWeltData(weltDatas:MutableList<WeltDataBean>) {
weltMapOverView.setWeltData(weltDatas)
}
/**
* 绘制任务路线数据
*/
fun drawablePolyline(){
weltMapOverView.drawablePolyline()
}
/**
* 添加起点和终点marker
*/
fun addStartAndEndMarker(startPoint: LatLng, endPoint: LatLng){
weltMapOverView.drawStartAndEndMarker(startPoint,endPoint)
}
fun clearAllMarkerAndPolyline(){
weltMapOverView.clearAllMarkerAndPolyline()
}
/**
* 设置图例数据
*/

67
OCH/mogo-och-sweeper/src/main/java/com/mogo/och/sweeper/presenter/SweeperPresenter.java
View File

@@ -2,6 +2,7 @@ package com.mogo.och.sweeper.presenter;
import android.os.Looper;
import com.amap.api.maps.model.LatLng;
import com.amap.api.navi.model.NaviLatLng;
import com.mogo.commons.AbsMogoApplication;
import com.mogo.commons.mvp.Presenter;
@@ -17,6 +18,7 @@ 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.map.AmapNaviToDestinationModel;
import com.mogo.och.common.module.utils.CoordinateCalculateRouteUtil;
import com.mogo.och.sweeper.bean.SweeperMainTaskBean;
import com.mogo.och.sweeper.bean.SweeperSubTaskBean;
import com.mogo.och.sweeper.bean.SweeperSubTaskDetailBean;
@@ -25,6 +27,8 @@ import com.mogo.och.sweeper.callback.ISweeperControllerStatusCallback;
import com.mogo.och.sweeper.callback.ISweeperTaskCallback;
import com.mogo.och.sweeper.constant.SubTaskTypeEnum;
import com.mogo.och.sweeper.constant.TaskStatusEnum;
import com.mogo.och.sweeper.database.MyDataBase;
import com.mogo.och.sweeper.database.bean.WeltDataBean;
import com.mogo.och.sweeper.fragment.SweeperFragment;
import com.mogo.och.sweeper.model.SweeperTaskModel;
import com.mogo.och.sweeper.util.SweeperFutianCmdUtil;
@@ -59,10 +63,15 @@ public class SweeperPresenter extends Presenter<SweeperFragment>
private int mSubTaskId = 0;
//当前是否最后一个子任务
private boolean mIsLastSubtask = false;
// 底盘数据回调时间间隔
// 清扫模式回调时间间隔
private static final long VEHICLE_STATE_INTERVAL_MILLIS = 500L;
// 当前时间戳
private long mCurrentTimeMillis;
// 清扫模式当前时间戳
private long mVehicleStateCurrentTimeMillis;
// 贴边数据回调时间间隔
private static final long WELT_DATA_INTERVAL_MILLIS = 2000L;
// 贴边数据当前时间戳
private long mWeltDataCurrentTimeMillis;
public SweeperPresenter(SweeperFragment view) {
super(view);
@@ -172,6 +181,10 @@ public class SweeperPresenter extends Presenter<SweeperFragment>
}
/**
* 当前子任务id
* @param mSubTaskId
*/
public void setSubTaskId(int mSubTaskId) {
this.mSubTaskId = mSubTaskId;
SweeperTaskModel.getInstance().setSubTaskId(mSubTaskId);
@@ -235,11 +248,14 @@ public class SweeperPresenter extends Presenter<SweeperFragment>
@Override
public void onSweeperFutianCleanSystemState(@NonNull ChassisStatesOuterClass.SweeperFuTianTaskSystemStates cleanSystemState) {
long current = System.currentTimeMillis();
if (current - mCurrentTimeMillis <= VEHICLE_STATE_INTERVAL_MILLIS) {
if (cleanSystemState==null){
return;
}
mCurrentTimeMillis = current;
long current = System.currentTimeMillis();
if (current - mVehicleStateCurrentTimeMillis <= VEHICLE_STATE_INTERVAL_MILLIS) {
return;
}
mVehicleStateCurrentTimeMillis = current;
boolean clean_open_requirement = cleanSystemState.getSecuMotWorkSts();
// 洗扫
boolean clean_mode_wash_sweep = cleanSystemState.getSecuModWashSweepSts();
@@ -286,13 +302,46 @@ public class SweeperPresenter extends Presenter<SweeperFragment>
.append(clean_intensity_strong);
CallerLogger.INSTANCE.d(M_SWEEPER + TAG, "onSweeperFutianCleanSystemState："+stringBuilder);
runOnUIThread(() -> mView.onSweeperFutianCleanSystemState(cleanSystemState));
mView.onSweeperFutianCleanSystemState(cleanSystemState);
}
@Override
public void onSweeperFutianTaskIndexData(@NonNull RoboSweeperTaskIndexOuterClass.RoboSweeperTaskIndex roboSweeperTaskIndex) {
long current = System.currentTimeMillis();
if (current - mWeltDataCurrentTimeMillis <= WELT_DATA_INTERVAL_MILLIS) {
return;
}
mWeltDataCurrentTimeMillis = current;
if (roboSweeperTaskIndex==null){
return;
}
StringBuilder stringBuilder = new StringBuilder();
stringBuilder.append("清扫模式：")
.append(roboSweeperTaskIndex.getCleanMode())
.append("清扫方向:")
.append(roboSweeperTaskIndex.getCleanDirection())
.append("清扫强度：")
.append(roboSweeperTaskIndex.getCleanIntensity())
.append("贴边距离：")
.append(roboSweeperTaskIndex.getDistToRefEdgePoint())
.append("经度：")
.append(roboSweeperTaskIndex.getLocLon())
.append("纬度：")
.append(roboSweeperTaskIndex.getLocLat());
CallerLogger.INSTANCE.d(M_SWEEPER + TAG, "onSweeperFutianTaskIndexData："+stringBuilder);
//保存贴边数据到数据库中
WeltDataBean weltDataBean=new WeltDataBean();
//把wgs坐标系坐标转换成gcj坐标
LatLng latLng=CoordinateCalculateRouteUtil.coordinateConverterWgsToGcj(AbsMogoApplication.getApp(),roboSweeperTaskIndex.getLocLon(),roboSweeperTaskIndex.getLocLat());
weltDataBean.setLocLon(latLng.longitude);
weltDataBean.setLocLat(latLng.latitude);
weltDataBean.setWeltDistance(roboSweeperTaskIndex.getDistToRefEdgePoint());
weltDataBean.setCleanMode(roboSweeperTaskIndex.getCleanMode());
weltDataBean.setCleanDirection(roboSweeperTaskIndex.getCleanDirection());
weltDataBean.setCleanIntensity(roboSweeperTaskIndex.getCleanIntensity());
weltDataBean.setSubTaskId(mSubTaskId);
MyDataBase.getInstance().getWeltDataDao().insert(weltDataBean);
mView.setWeltDataToMap(MyDataBase.getInstance().getWeltDataDao().loadAllWeltDataInfo());
}
/**

30
OCH/mogo-och-sweeper/src/main/java/com/mogo/och/sweeper/view/WeltMapOverView.kt
View File

@@ -15,9 +15,8 @@ import com.mogo.eagle.core.function.api.autopilot.IMoGoChassisLocationGCJ02Liste
import com.mogo.eagle.core.function.call.autopilot.CallerChassisLocationGCJ02ListenerManager
import com.mogo.eagle.core.utilcode.mogo.logger.CallerLogger
import com.mogo.eagle.core.utilcode.mogo.logger.scene.SceneConstant
import com.mogo.och.common.module.utils.CoordinateCalculateRouteUtil
import com.mogo.och.sweeper.R
import com.mogo.och.sweeper.bean.WeltDataBean
import com.mogo.och.sweeper.database.bean.WeltDataBean
import kotlinx.android.synthetic.main.sweeper_welt_map_overview.view.*
/**
@@ -31,8 +30,10 @@ class WeltMapOverView : ConstraintLayout, IMoGoChassisLocationGCJ02Listener {
private var mPolyline: Polyline? = null
private var colorList: MutableList<Int> = mutableListOf()
private val mLineMarkers: MutableList<Marker?> = mutableListOf()
//清扫车任务地图
private val TAG = "WeltMapOverView"
constructor(context: Context) : super(context) {}
constructor(context: Context, attrs: AttributeSet?) : super(context, attrs) {
initView(context)
@@ -49,6 +50,7 @@ class WeltMapOverView : ConstraintLayout, IMoGoChassisLocationGCJ02Listener {
CallerChassisLocationGCJ02ListenerManager.addListener(TAG, this)
setLegendData()
}
private fun initAMapView() {
mAMap = sweeperTextureMapView.map
// 地图文字标注
@@ -62,7 +64,7 @@ class WeltMapOverView : ConstraintLayout, IMoGoChassisLocationGCJ02Listener {
// 设置 锚点 图标
mCarMarker = mAMap?.addMarker(
MarkerOptions()
.icon(BitmapDescriptorFactory.fromResource(R.drawable.sweeper_car_small))
.icon(BitmapDescriptorFactory.fromResource(R.drawable.sweeper_car_big))
.anchor(0.5f, 0.5f)
)
// 设置地图的样式
@@ -99,6 +101,7 @@ class WeltMapOverView : ConstraintLayout, IMoGoChassisLocationGCJ02Listener {
}
}
}
override fun onChassisLocationGCJ02(mogoLocation: MogoLocation?) {
mogoLocation?.let { gnssInfo ->
val currentLatLng = LatLng(gnssInfo.latitude, gnssInfo.longitude)
@@ -118,6 +121,7 @@ class WeltMapOverView : ConstraintLayout, IMoGoChassisLocationGCJ02Listener {
}
}
}
/**
* 根据贴边数据绘制任务路线
*/
@@ -140,9 +144,9 @@ class WeltMapOverView : ConstraintLayout, IMoGoChassisLocationGCJ02Listener {
}
/**
* 添加起点和终点的marker
* 绘制起点和终点的marker
*/
fun addStartAndEndMarker(startPoint: LatLng, endPoint: LatLng) {
fun drawStartAndEndMarker(startPoint: LatLng, endPoint: LatLng) {
val startMarker = mAMap?.addMarker(MarkerOptions().icon(BitmapDescriptorFactory.fromResource(R.drawable.start_maker_icon)))
startMarker?.position = startPoint
mLineMarkers.add(startMarker)
@@ -152,32 +156,26 @@ class WeltMapOverView : ConstraintLayout, IMoGoChassisLocationGCJ02Listener {
}
/**
* 清除maker
* 清除所有标记和路线
*/
private fun clearMarkers() {
public fun clearAllMarkerAndPolyline() {
mPolyline?.remove()
for (i in mLineMarkers.indices) {
mLineMarkers[i]?.isVisible = false
mLineMarkers[i]?.remove()
}
mLineMarkers.clear()
}
/**
* 清除任务路线
*/
fun clearPolyline() {
mPolyline?.remove()
}
/**
* 设置贴边数据
*/
fun setWeltData(weltData: MutableList<WeltDataBean>) {
this.mWeltData = weltData
for (i in mWeltData.indices) {
mCoordinatesLatLng.add(CoordinateCalculateRouteUtil.coordinateConverterWgsToGcj(context, mWeltData[i].locLon, mWeltData[i].locLat))
mCoordinatesLatLng.add(LatLng(mWeltData[i].locLat, mWeltData[i].locLon))
}
}
/**
* 设置图例数据
*/

20
OCH/mogo-och-sweeper/src/main/java/com/mogo/och/sweeper/view/WeltSmallMapView.kt
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@@ -16,7 +16,7 @@ import com.mogo.eagle.core.utilcode.mogo.logger.CallerLogger.d
import com.mogo.eagle.core.utilcode.mogo.logger.scene.SceneConstant
import com.mogo.och.common.module.utils.CoordinateCalculateRouteUtil
import com.mogo.och.sweeper.R
import com.mogo.och.sweeper.bean.WeltDataBean
import com.mogo.och.sweeper.database.bean.WeltDataBean
import kotlinx.android.synthetic.main.sweeper_welt_small_map_view.view.*
/**
@@ -104,7 +104,7 @@ class WeltSmallMapView : ConstraintLayout, IMoGoChassisLocationGCJ02Listener {
uiSettings?.setLogoBottomMargin(-150) //设置Logo下边界距离屏幕底部的边距,设置为负值即可
mAMap?.setOnMapLoadedListener(AMap.OnMapLoadedListener {
d(SceneConstant.M_SWEEPER + TAG, "WeltView---onMapLoaded")
//mAMap?.setPointToCenter(mAMapNaviView?.width?.div(2) ?: 0, mAMapNaviView?.height?.div(2) ?: 0)
mAMap?.setPointToCenter(sweeperSmallTextureMapView.width / 2, sweeperSmallTextureMapView.height / 2)
})
}
@@ -145,7 +145,6 @@ class WeltSmallMapView : ConstraintLayout, IMoGoChassisLocationGCJ02Listener {
polylineOptions.colorValues(colorList)
// 绘制线
mPolyline = mAMap?.addPolyline(polylineOptions)
addStartAndEndMarker(mCoordinatesLatLng[0], mCoordinatesLatLng[mCoordinatesLatLng.size - 1])
}
}
}
@@ -153,7 +152,7 @@ class WeltSmallMapView : ConstraintLayout, IMoGoChassisLocationGCJ02Listener {
/**
* 添加起点和终点的marker
*/
private fun addStartAndEndMarker(startPoint: LatLng, endPoint: LatLng) {
fun addStartAndEndMarker(startPoint: LatLng, endPoint: LatLng) {
val startMarker = mAMap?.addMarker(MarkerOptions().icon(BitmapDescriptorFactory.fromResource(R.drawable.start_maker_icon)))
startMarker?.position = startPoint
mLineMarkers.add(startMarker)
@@ -163,23 +162,16 @@ class WeltSmallMapView : ConstraintLayout, IMoGoChassisLocationGCJ02Listener {
}
/**
* 清除数据
* 清除所有标记和路线
*/
private fun clearMarkers() {
fun clearAllMarkerAndPolyline() {
mPolyline?.remove()
for (i in mLineMarkers.indices) {
mLineMarkers[i]?.isVisible = false
mLineMarkers[i]?.remove()
}
mLineMarkers.clear()
}
/**
* 清除任务路线
*/
fun clearPolyline() {
mPolyline?.remove()
}
/**
* 设置贴边数据
*/

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OCH/mogo-och-sweeper/src/main/res/drawable-xhdpi/sweeper_car_big.png Normal file
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