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[8.1.0]OTA升级+自动驾驶检测

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This commit is contained in:
xuxinchao
2025-06-18 19:12:26 +08:00
parent cf078ed0e1
commit c231722586
38 changed files with 2955 additions and 23 deletions
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57
core/function-impl/mogo-core-function-devatools-rviz/src/main/java/com/zhjt/mogo_core_function_devatools/rviz/bean/TrajectoryInfoRes.kt Normal file
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package com.zhjt.mogo_core_function_devatools.rviz.bean
/*{
"code":0,
"message":"success",
"msg":"success",
"result":{
"trackContrail":{
"csvFileUrl":"xxxxx.csv",
"csvFileMd5":"1018c022535df18448ab740af0b9c9a0",
"txtFileUrl":"xxxx.txt",
"txtFileMd5":"aea78906597cf97a0d61bc9918778c17",
"contrailSaveTime":1656468916000
},
"dbqpContrail":{
"csvFileUrl":"xxxx.csv",
"csvFileMd5":"1018c022535df18448ab740af0b9c9a0",
"txtFileUrl":"xxxx.txt",
"txtFileMd5":"aea78906597cf97a0d61bc9918778c17",
"contrailSaveTime":1656468916000
}
}
}*/
data class TrajectoryInfoRes(
val code: Int,
val message: String,
val msg: String,
val result: TrajectoryInfo
)
data class TrajectoryInfo(
val dbqpContrail: DbqpContrail,
val trackContrail: TrackContrail
)
data class TrackContrail(
val contrailSaveTime: Long,
val csvFileMd5: String,
val csvFileUrl: String,
val txtFileMd5: String,
val txtFileUrl: String
)
data class DbqpContrail(
val contrailSaveTime: Long,
val csvFileMd5: String,
val csvFileUrl: String,
val txtFileMd5: String,
val txtFileUrl: String
)
data class TrajectoryInfoReq(
val brand: String,
val carModel: String,
val lineId: Int
)

35
core/function-impl/mogo-core-function-devatools-rviz/src/main/java/com/zhjt/mogo_core_function_devatools/rviz/bean/TrajectoryLisRes.kt Normal file
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package com.zhjt.mogo_core_function_devatools.rviz.bean
/*{
"code":0,
"message":"success",
"msg":"success",
"result":[
{
"lineId":89,
"lineName":"顺义Bus10KM路线"
},
{
"lineId":90,
"lineName":"Bus鹰眼_13号路口起到终"
}
]
}*/
data class TrajectoryLisRes(
val code: Int,
val message: String,
val msg: String,
val result: List<TrajectoryListInfo>
)
data class TrajectoryListInfo(
val lineId: Int,
val lineName: String
)
class TrajectoryLisReq {
var name: String = ""
var page: Int = 0
var pageSize: Int = 100
var cityCode: String = ""
}

46
core/function-impl/mogo-core-function-devatools-rviz/src/main/java/com/zhjt/mogo_core_function_devatools/rviz/bean/TrajectorySiteLRes.kt Normal file
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package com.zhjt.mogo_core_function_devatools.rviz.bean
/*{
"code":0,
"message":"success",
"msg":"success",
"result":[
{
"siteId":47,
"seq":1,
"name":"石家庄市",
"description":"",
"lon":114.25118147313091,
"lat":38.123641911994746,
"wgs84Lon":115.0050379087139,
"wgs84Lat":38.12405426963943
},
{
"siteId":48,
"seq":2,
"name":"市政府",
"description":"市政府",
"wgs84Lon":115.0050379087139,
"wgs84Lat":38.12405426963943,
"lat":38.12405426963943
"lat":38.12405426963943
}
]
}*/
data class TrajectorySiteLRes(
val code: Int,
val message: String,
val msg: String,
val result: List<TrajectorySiteInfo>
)
data class TrajectorySiteInfo(
val description: String,
val lat: Double,
val lon: Double,
val wgs84Lat: Double,
val wgs84Lon: Double,
val name: String,
val seq: Int,
val siteId: Int
)

101
core/function-impl/mogo-core-function-devatools-rviz/src/main/java/com/zhjt/mogo_core_function_devatools/rviz/bean/VehicleConfigData.kt Normal file
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package com.zhjt.mogo_core_function_devatools.rviz.bean
/**
* 车辆配置数据
*/
object VehicleConfigData {
// plate：JL-金旅小巴、HQ-红旗、DF-东风，车牌号信息
var plate = ""
// brand：HQ-红旗 DF-东风 JINLV-金旅 FT-清扫车 KW-开沃
var brand = ""
// 车辆子类型：M1、M2
var subtype = ""
// 102 镜像版本名称
var dockerName = "未知"
// 当前机器上配置的所有 Docker 信息
var dockerList: Map<String, String>? = null
// MAP 加载地图版本
var dockerMapHDVersionName = "未知"
// StartupConfigCache.json 文件不存在时候，使用命令获取文件MD5
var scaliBratedSensorMD5 = ""
/**
* 获取车辆平台类型
* -1--未定义或者没获取到车辆类型，调用者需要处理异常，并提示用户重新尝试
* 0--taxi,
* 1--bus,
* 2--sweeper
*/
fun getCarType(): VehicleType {
// brand：HQ-红旗 DF-东风 JINLV-金旅 FT-清扫车 KW-开沃
// 处理Taxi
return if (
brand.startsWith("DF")
or brand.startsWith("HQ")
) {
VehicleType.TAXI
}
// 处理BUS：B1、M1、M2、KW
else if (
brand.startsWith("JINLV")
or brand.startsWith("KW")
) {
VehicleType.BUS
}
// 清扫车：FT、
else if (brand.startsWith("FT")) {
VehicleType.SWEEPER
}
// 默认使用
else {
VehicleType.TAXI
}
}
/**
* 获取车辆品牌
*/
fun getCarBrand(): String {
return if (brand.startsWith("DF")) {
"东风"
} else if (brand.startsWith("HQ")) {
"红旗"
} else if (brand.startsWith("JINLV") || brand.startsWith("JV") || brand.startsWith("JL")) {
"金旅"
} else if (brand.startsWith("KW")) {
"开沃"
} else if (brand.startsWith("FT")) {
"福田"
} else {
"金旅"
}
}
/**
* 获取车辆品牌--类型
*/
fun getCarModel(): String {
return if (plate.startsWith("DF")) {
"E70"
} else if (plate.startsWith("HQ")) {
"H9"
} else if (plate.startsWith("JV") || plate.startsWith("JL")) {
"金旅牌XML6606JEVY0"
} else if (plate.startsWith("KW")) {
"NJL6450ICEV"
} else if (plate.startsWith("FT")) {
"清扫车"
} else if (plate.startsWith("SW")) {
"清扫车"
} else {
"金旅牌XML6606JEVY0"
}
}
}

13
core/function-impl/mogo-core-function-devatools-rviz/src/main/java/com/zhjt/mogo_core_function_devatools/rviz/bean/VehicleType.java Normal file
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package com.zhjt.mogo_core_function_devatools.rviz.bean;
/**
* 车辆类型
*/
public enum VehicleType {
// 出租车
TAXI,
// 公交车
BUS,
// 清扫车
SWEEPER,
}

205
core/function-impl/mogo-core-function-devatools-rviz/src/main/java/com/zhjt/mogo_core_function_devatools/rviz/dialog/SelectAutopilotLineDialog.kt Normal file
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package com.zhjt.mogo_core_function_devatools.rviz.dialog
import android.app.Activity
import android.app.Dialog
import android.content.Context
import android.os.Bundle
import android.text.Editable
import android.text.TextWatcher
import android.view.WindowManager
import android.widget.EditText
import android.widget.ImageView
import android.widget.TextView
import androidx.lifecycle.Lifecycle
import androidx.lifecycle.LifecycleOwner
import androidx.lifecycle.LifecycleRegistry
import androidx.recyclerview.widget.DividerItemDecoration
import androidx.recyclerview.widget.LinearLayoutManager
import androidx.recyclerview.widget.RecyclerView
import com.mogo.eagle.core.function.call.autopilot.CallerChassisLocationWGS84ListenerManager
import com.mogo.eagle.core.utilcode.util.ToastUtils
import com.mogo.eagle.core.utilcode.util.Utils
import com.mogo.eagle.core.utilcode.util.WindowUtils
import com.zhjt.mogo_core_function_devatools.rviz.net.TrajectoryApiClient
import com.zhjt.mogo_core_function_devatools.rviz.R
import com.zhjt.mogo_core_function_devatools.rviz.bean.TrajectoryListInfo
import com.zhjt.mogo_core_function_devatools.rviz.bean.VehicleConfigData
import com.zhjt.mogo_core_function_devatools.rviz.dialog.adapter.AutopilotLineAdapter
import com.zhjt.mogo_core_function_devatools.rviz.net.NetworkCallback
import com.zhjt.mogo_core_function_devatools.rviz.ui.views.MoGoLoadingView
import kotlinx.coroutines.CoroutineScope
import kotlinx.coroutines.Dispatchers
import kotlinx.coroutines.cancel
/**
* 自动驾驶路线选择提示窗
*/
class SelectAutopilotLineDialog(context: Context) : Dialog(context), LifecycleOwner {
private val scopeQueryTrajectoryList = CoroutineScope(Dispatchers.Main)
private val mLifecycleRegistry = LifecycleRegistry(this)
private var mActivity: Activity? = null
private var autopilotLineAdapter: AutopilotLineAdapter? = null
private var clickListener: ClickListener? = null
private var searchStr: String? = null
private var allLineList: ArrayList<TrajectoryListInfo> = ArrayList() //所有的路线
private var selectLineList: ArrayList<TrajectoryListInfo> = ArrayList() //选择的路线
private lateinit var etSearch: EditText
private lateinit var rvLineList: RecyclerView
private lateinit var tvLoading: MoGoLoadingView
private lateinit var tvCancel: TextView
private lateinit var ivSearch: ImageView
override fun onCreate(savedInstanceState: Bundle?) {
super.onCreate(savedInstanceState)
setContentView(R.layout.dialog_select_autopilot_line)
setCanceledOnTouchOutside(false)
etSearch = findViewById(R.id.etSearch)
rvLineList = findViewById(R.id.rvLineList)
tvLoading = findViewById(R.id.tvLoading)
tvCancel = findViewById(R.id.tvCancel)
ivSearch = findViewById(R.id.ivSearch)
autopilotLineAdapter = AutopilotLineAdapter()
autopilotLineAdapter?.setListener(object : AutopilotLineAdapter.SubClickListener {
override fun onClick(trajectoryListInfo: TrajectoryListInfo) {
etSearch.setText("")
clickListener?.onClick(trajectoryListInfo)
dismiss()
}
})
val linearLayoutManager = LinearLayoutManager(Utils.getApp())
rvLineList.layoutManager = linearLayoutManager
rvLineList.adapter = autopilotLineAdapter
val divider = DividerItemDecoration(context, linearLayoutManager.orientation)
rvLineList.addItemDecoration(divider)
val params: WindowManager.LayoutParams = window!!.attributes
params.width = WindowUtils.dip2px(context,context.resources.getDimension(R.dimen.dp_280))
params.height = WindowUtils.dip2px(context,context.resources.getDimension(R.dimen.dp_250))
window?.attributes = params
window?.setBackgroundDrawable(null)
initEvent()
}
fun showSelectLineDialog(activity: Activity) {
mActivity = activity
// if (activity.resources.configuration.orientation == Configuration.ORIENTATION_LANDSCAPE) {
// AutoSize.autoConvertDensity(activity, 1660f, true)
// } else {
// AutoSize.autoConvertDensity(activity, 960f, true)
// }
show()
}
fun setSelectLineData(list: ArrayList<TrajectoryListInfo>) {
if (list.isNotEmpty()) {
autopilotLineAdapter?.setData(list)
allLineList = list
}
}
private fun initEvent() {
setOnShowListener {
mLifecycleRegistry.currentState = Lifecycle.State.CREATED
mLifecycleRegistry.currentState = Lifecycle.State.STARTED
tvLoading.show("数据加载中……")
// 处理Taxi
// 处理BUS包含：JV、KW、FT、SW
// CallerChassisLocationWGS84ListenerManager.getChassisLocationWGS84().cityCode?.let {
// TrajectoryApiClient.queryTrajectoryList(
// this,
// VehicleConfigData.getCarType().name,
// it,
// object :
// NetworkCallback<ArrayList<TrajectoryListInfo>> {
// override fun onSuccess(data: ArrayList<TrajectoryListInfo>) {
// setSelectLineData(data)
// tvLoading.hide()
// }
//
// override fun onError(msg: String) {
// ToastUtils.showLong("获取 Bus 站点列表异常，异常原因：${msg}")
// tvLoading.show("获取 Bus 站点列表异常")
// }
// }
// )
// } ?: let {
// ToastUtils.showLong("获取 Bus 站点列表异常，获取当前未知失败，请开启定位权限")
// tvLoading.show("获取 Bus 站点列表异常，请开启定位权限")
// }
}
//取消
tvCancel.setOnClickListener {
etSearch.setText("")
dismiss()
}
//搜索
etSearch.addTextChangedListener(object : TextWatcher {
override fun beforeTextChanged(p0: CharSequence?, p1: Int, p2: Int, p3: Int) {
}
override fun onTextChanged(p0: CharSequence?, p1: Int, p2: Int, p3: Int) {
}
override fun afterTextChanged(str: Editable?) {
searchStr = str.toString()
if (searchStr.isNullOrBlank()) {
ivSearch.setImageResource(R.drawable.icon_line_search)
autopilotLineAdapter?.setData(allLineList)
} else {
ivSearch.setImageResource(R.drawable.icon_line_delect)
selectLineList.clear()
for (info in allLineList) {
if (info.lineName.contains(searchStr!!) || info.lineId.toString()
.contains(searchStr!!)
) {
selectLineList.add(info)
}
}
autopilotLineAdapter?.setData(selectLineList)
}
}
})
ivSearch.setOnClickListener {
if (searchStr != null && searchStr!!.isNotEmpty()) {
etSearch.setText("")
ivSearch.setImageResource(R.drawable.icon_line_search)
autopilotLineAdapter?.setData(allLineList)
}
}
}
fun setListener(listener: ClickListener) {
clickListener = listener
}
interface ClickListener {
fun onClick(info: TrajectoryListInfo)
}
override fun dismiss() {
scopeQueryTrajectoryList.cancel()
mActivity = null
super.dismiss()
}
override fun onDetachedFromWindow() {
mLifecycleRegistry.currentState = Lifecycle.State.DESTROYED
scopeQueryTrajectoryList.cancel()
super.onDetachedFromWindow()
}
override fun getLifecycle(): Lifecycle {
return lifecycle
}
}

54
core/function-impl/mogo-core-function-devatools-rviz/src/main/java/com/zhjt/mogo_core_function_devatools/rviz/dialog/adapter/AutopilotLineAdapter.kt Normal file
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package com.zhjt.mogo_core_function_devatools.rviz.dialog.adapter
import android.view.LayoutInflater
import android.view.View
import android.view.ViewGroup
import android.widget.TextView
import androidx.recyclerview.widget.RecyclerView
import com.zhjt.mogo_core_function_devatools.rviz.R
import com.zhjt.mogo_core_function_devatools.rviz.bean.TrajectoryListInfo
/**
* 自动驾驶路线适配器
*/
class AutopilotLineAdapter : RecyclerView.Adapter<AutopilotLineAdapter.AutopilotLineHolder>() {
private var data: ArrayList<TrajectoryListInfo>? = null
private var subClickListener: SubClickListener? = null
fun setData(list: ArrayList<TrajectoryListInfo>) {
data = list
notifyDataSetChanged()
}
fun setListener(listener: SubClickListener) {
subClickListener = listener
}
override fun onCreateViewHolder(parent: ViewGroup, viewType: Int): AutopilotLineHolder {
val view = LayoutInflater.from(parent.context)
.inflate(R.layout.item_autopilot_line, parent, false)
return AutopilotLineHolder(view)
}
override fun getItemCount() = data?.size ?: 0
override fun onBindViewHolder(holder: AutopilotLineHolder, position: Int) {
data?.let {
val info = it[position]
holder.tvAutopilotLine.text = "${info.lineId}-${info.lineName}"
holder.tvAutopilotLine.setOnClickListener {
subClickListener?.onClick(info)
}
}
}
class AutopilotLineHolder(itemView: View) : RecyclerView.ViewHolder(itemView) {
var tvAutopilotLine: TextView = itemView.findViewById(R.id.tvAutopilotLine)
}
interface SubClickListener {
fun onClick(trajectoryListInfo: TrajectoryListInfo)
}
}

76
core/function-impl/mogo-core-function-devatools-rviz/src/main/java/com/zhjt/mogo_core_function_devatools/rviz/dialog/adapter/ConsoleAdapter.java Normal file
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package com.zhjt.mogo_core_function_devatools.rviz.dialog.adapter;
import android.annotation.SuppressLint;
import android.graphics.Color;
import android.view.LayoutInflater;
import android.view.View;
import android.view.ViewGroup;
import android.widget.TextView;
import androidx.annotation.NonNull;
import androidx.recyclerview.widget.RecyclerView;
import com.mogo.eagle.core.data.deva.report.ReportEntity;
import com.zhjt.mogo_core_function_devatools.rviz.R;
import java.util.List;
/**
* @author XuXinChao
* @description 状态监控-控制台适配器
* @since: 2022/7/26
*/
public class ConsoleAdapter extends RecyclerView.Adapter<ConsoleAdapter.ConsoleHolder> {
private List<ReportEntity> data;
private static final String RESULT_AUTOPILOT_DISABLE = "RESULT_AUTOPILOT_DISABLE";
private static final String RESULT_AUTOPILOT_SYSTEM_UNSTARTED = "RESULT_AUTOPILOT_SYSTEM_UNSTARTED";
private static final String RESULT_REMOTEPILOT_DISABLE = "RESULT_REMOTEPILOT_DISABLE";
public void setData(List<ReportEntity> data) {
if (data != null && data.size() > 0) {
this.data = data;
notifyDataSetChanged();
}
}
@NonNull
@Override
public ConsoleHolder onCreateViewHolder(@NonNull ViewGroup parent, int viewType) {
// AutoSizeCompat.autoConvertDensityOfGlobal(parent.getContext().getResources());
View view = LayoutInflater.from(parent.getContext()).inflate(R.layout.item_console, parent, false);
return new ConsoleHolder(view);
}
@SuppressLint("SetTextI18n")
@Override
public void onBindViewHolder(@NonNull ConsoleHolder holder, int position) {
ReportEntity reportEntity = data.get(position);
holder.tvConsoleContent.setText("Time:" + reportEntity.getTime() + "\nCode:" + reportEntity.getCode() + "\nMsg:" + reportEntity.getMsg());
if (RESULT_AUTOPILOT_DISABLE.equals(reportEntity.getCode())
|| RESULT_AUTOPILOT_SYSTEM_UNSTARTED.equals(reportEntity.getCode())
|| RESULT_REMOTEPILOT_DISABLE.equals(reportEntity.getCode())) {
holder.tvConsoleContent.setTextColor(Color.RED);
} else {
holder.tvConsoleContent.setTextColor(Color.WHITE);
}
}
@Override
public int getItemCount() {
return data != null ? data.size() : 0;
}
public static class ConsoleHolder extends RecyclerView.ViewHolder {
private TextView tvConsoleContent;
public ConsoleHolder(@NonNull View itemView) {
super(itemView);
tvConsoleContent = itemView.findViewById(R.id.tvConsoleContent);
}
}
}

31
core/function-impl/mogo-core-function-devatools-rviz/src/main/java/com/zhjt/mogo_core_function_devatools/rviz/net/MisHost.kt Normal file
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package com.zhjt.mogo_core_function_devatools.rviz.net
import com.mogo.commons.debug.DebugConfig
import com.mogo.eagle.core.data.EnvConfig
object MisHost {
private const val HOST_QA = "https://eagle-qa.zhidaozhixing.com/"
private const val HOST_RELEASE = "https://eagle-mis-v6.zhidaozhixing.com/"
private const val LOGIN_HOST_QA =
"https://carlife-test.zhidaohulian.com/qa/eagle/login/index.html?deviceId="
private const val LOGIN_HOST_RELEASE =
"https://carlife-test.zhidaohulian.com/eagle/login/index.html?deviceId="
fun getHost(): String {
return if (DebugConfig.getNetMode() == DebugConfig.NET_MODE_DEV || DebugConfig.getNetMode() == DebugConfig.NET_MODE_QA) {
HOST_QA
} else {
HOST_RELEASE
}
}
fun getLoginURL(): String {
return if (DebugConfig.getNetMode() == DebugConfig.NET_MODE_DEV || DebugConfig.getNetMode() == DebugConfig.NET_MODE_QA) {
LOGIN_HOST_QA
} else {
LOGIN_HOST_RELEASE
}
}
}

149
core/function-impl/mogo-core-function-devatools-rviz/src/main/java/com/zhjt/mogo_core_function_devatools/rviz/net/NetworkManager.java Normal file
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package com.zhjt.mogo_core_function_devatools.rviz.net;
import android.util.Log;
import androidx.lifecycle.Lifecycle;
import androidx.lifecycle.LifecycleObserver;
import androidx.lifecycle.LifecycleOwner;
import androidx.lifecycle.OnLifecycleEvent;
import java.util.HashMap;
import java.util.Map;
import java.util.concurrent.TimeUnit;
import io.reactivex.Observable;
import io.reactivex.android.schedulers.AndroidSchedulers;
import io.reactivex.disposables.CompositeDisposable;
import io.reactivex.disposables.Disposable;
import io.reactivex.functions.Consumer;
import io.reactivex.schedulers.Schedulers;
import okhttp3.OkHttpClient;
import retrofit2.Retrofit;
import retrofit2.adapter.rxjava2.RxJava2CallAdapterFactory;
import retrofit2.converter.gson.GsonConverterFactory;
import retrofit2.converter.scalars.ScalarsConverterFactory;
/**
* 网络请求工具
*/
public class NetworkManager implements LifecycleObserver {
private static final String TAG = "NetworkManager";
private static final int DEFAULT_TIMEOUT = 10;
private static NetworkManager instance;
private final Retrofit.Builder retrofit;
private final Map<String, Object> serviceMap;
private final Map<LifecycleOwner, Disposable> ownerDisposableMap;
private final CompositeDisposable compositeDisposable;
private NetworkManager() {
OkHttpClient.Builder builder = new OkHttpClient.Builder();
builder.connectTimeout(DEFAULT_TIMEOUT, TimeUnit.SECONDS);
retrofit = new Retrofit.Builder()
.client(builder.build())
.addConverterFactory(GsonConverterFactory.create())
.addConverterFactory(ScalarsConverterFactory.create())
.addCallAdapterFactory(RxJava2CallAdapterFactory.create());
serviceMap = new HashMap<>();
ownerDisposableMap = new HashMap<>();
compositeDisposable = new CompositeDisposable();
}
public static synchronized NetworkManager getInstance() {
if (instance == null) {
instance = new NetworkManager();
}
return instance;
}
/**
* 创建网络请求
*
* @param serviceClass API服务
* @param baseUrl 请求地址
* @param <T>
* @return
*/
public <T> T createService(Class<T> serviceClass, String baseUrl) {
if (serviceMap.containsKey(baseUrl)) {
return (T) serviceMap.get(baseUrl);
} else {
T service = retrofit.baseUrl(baseUrl).build().create(serviceClass);
serviceMap.put(baseUrl, service);
return service;
}
}
/**
* 发送网络请求
*
* @param observable
* @param owner 发送网络请求的 LifecycleOwner
* @param callback 回调
* @param <T>
*/
public <T> void sendRequest(Observable<T> observable,
final LifecycleOwner owner,
final NetworkCallback<T> callback) {
// 在工作线程执行网络请求
Disposable disposable = observable.subscribeOn(Schedulers.io())
// 切换到主线程回调
.observeOn(AndroidSchedulers.mainThread())
// 回调
.subscribe(new Consumer<T>() {
@Override
public void accept(T t) {
if (callback != null) {
callback.onSuccess(t);
}
}
}, new Consumer<Throwable>() {
@Override
public void accept(Throwable throwable) {
if (callback != null) {
callback.onError(throwable.getMessage());
}
}
});
if (owner != null) {
owner.getLifecycle().addObserver(this);
ownerDisposableMap.put(owner, disposable);
compositeDisposable.add(disposable);
}
}
/**
* 取消所有网络请求
*/
public void cancelAllRequests() {
compositeDisposable.clear();
}
// 绑定生命周期，跟随发起网络请求的地方生命周期自动销毁
@OnLifecycleEvent(Lifecycle.Event.ON_DESTROY)
public void onDestroy(LifecycleOwner owner) {
Log.d(TAG, "onDestroy: owner=" + owner);
owner.getLifecycle().removeObserver(this);
ownerDisposableMap.remove(owner);
}
/**
* 网络请求回调
*
* @param <T>
*/
public interface NetworkCallback<T> {
// 请求成功回调
void onSuccess(T response);
/**
* 异常回调
*
* @param throwable 异常信息
*/
void onError(String throwable);
}
}

135
core/function-impl/mogo-core-function-devatools-rviz/src/main/java/com/zhjt/mogo_core_function_devatools/rviz/net/TrajectoryApiClient.kt Normal file
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package com.zhjt.mogo_core_function_devatools.rviz.net
import android.util.Log
import androidx.lifecycle.LifecycleOwner
import com.mogo.module.common.net.mis.trajectory.net.TrajectoryApiService
import com.zhjt.mogo_core_function_devatools.rviz.bean.TrajectoryInfo
import com.zhjt.mogo_core_function_devatools.rviz.bean.TrajectoryInfoReq
import com.zhjt.mogo_core_function_devatools.rviz.bean.TrajectoryLisReq
import com.zhjt.mogo_core_function_devatools.rviz.bean.TrajectoryListInfo
import com.zhjt.mogo_core_function_devatools.rviz.bean.TrajectorySiteInfo
object TrajectoryApiClient {
private val TAG = "TrajectoryApiClient"
private val baseUrl = MisHost.getHost()
private val apiService: TrajectoryApiService =
NetworkManager.getInstance().createService(TrajectoryApiService::class.java, baseUrl)
// /**
// * 查询 Bus&Taxi 有轨迹的QA线路列表
// */
// fun queryTrajectoryList(
// owner: LifecycleOwner,
// carType: String,
// cityCode: String,
// callback: NetworkCallback<ArrayList<TrajectoryListInfo>>
// ) {
// val reqBody = TrajectoryLisReq()
// reqBody.page = 1
// reqBody.pageSize = 1000
// reqBody.cityCode = cityCode
//
// val observable = if (carType == "TAXI") {
// apiService.queryTaxiTrajectoryList(reqBody)
// } else {
// apiService.queryBusTrajectoryList(reqBody)
// }
//
// NetworkManager.getInstance()
// .sendRequest(
// observable,
// owner,
// object :
// NetworkManager.NetworkCallback<BaseResponse<ArrayList<TrajectoryListInfo>>> {
// override fun onSuccess(response: BaseResponse<ArrayList<TrajectoryListInfo>>?) {
// Log.d(TAG, "查询 $carType 有轨迹的QA线路列表：$response")
// // 处理网络请求成功的响应
// response?.result?.let { callback.onSuccess(it) }
// }
//
// override fun onError(throwable: String) {
// Log.e(TAG, "查询 $carType 有轨迹的QA线路列表：$throwable")
// // 处理网络请求失败的情况
// callback.onError(throwable)
// }
// }
// )
// }
//
//
// /**
// * 查询 Bus&Taxi 线路对应的站点
// */
// fun querySiteList(
// owner: LifecycleOwner,
// carType: String,
// lineId: Int,
// callback: NetworkCallback<ArrayList<TrajectorySiteInfo>>
// ) {
// val observable = if (carType == "TAXI") {
// apiService.queryTaxiSiteList(lineId)
// } else {
// apiService.queryBusSiteList(lineId)
// }
//
// NetworkManager.getInstance()
// .sendRequest(
// observable,
// owner,
// object :
// NetworkManager.NetworkCallback<BaseResponse<ArrayList<TrajectorySiteInfo>>> {
// override fun onSuccess(response: BaseResponse<ArrayList<TrajectorySiteInfo>>?) {
// Log.d(TAG, "查询 $carType 线路对应的站点：$response")
// // 处理网络请求成功的响应
// response?.result?.let { callback.onSuccess(it) }
// }
//
// override fun onError(throwable: String) {
// Log.e(TAG, "查询 $carType 线路对应的站点：$throwable")
// // 处理网络请求失败的情况
// callback.onError(throwable)
// }
// }
// )
// }
//
// /**
// * 查询 Bus&Taxi 线路对应的轨迹
// */
// fun queryTrajectoryInfo(
// owner: LifecycleOwner,
// carType: String,
// reqBody: TrajectoryInfoReq,
// callback: NetworkCallback<TrajectoryInfo>
// ) {
//
// val observable = if (carType == "TAXI") {
// apiService.queryTaxiTrajectoryInfo(reqBody)
// } else {
// apiService.queryBusTrajectoryInfo(reqBody)
// }
//
// NetworkManager.getInstance()
// .sendRequest(
// observable,
// owner,
// object :
// NetworkManager.NetworkCallback<BaseResponse<TrajectoryInfo>> {
// override fun onSuccess(response: BaseResponse<TrajectoryInfo>?) {
// Log.d(TAG, "查询 $carType 线路对应的轨迹：$response")
// // 处理网络请求成功的响应
// response?.result?.let { callback.onSuccess(it) }
// }
//
// override fun onError(throwable: String) {
// Log.e(TAG, "查询 $carType 线路对应的轨迹：$throwable")
// // 处理网络请求失败的情况
// callback.onError(throwable)
// }
// }
// )
// }
}

58
core/function-impl/mogo-core-function-devatools-rviz/src/main/java/com/zhjt/mogo_core_function_devatools/rviz/net/TrajectoryApiService.kt Normal file
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package com.mogo.module.common.net.mis.trajectory.net
import com.mogo.eagle.core.data.BaseResponse
import com.zhjt.mogo_core_function_devatools.rviz.bean.TrajectoryInfo
import com.zhjt.mogo_core_function_devatools.rviz.bean.TrajectoryInfoReq
import com.zhjt.mogo_core_function_devatools.rviz.bean.TrajectoryLisReq
import com.zhjt.mogo_core_function_devatools.rviz.bean.TrajectoryListInfo
import com.zhjt.mogo_core_function_devatools.rviz.bean.TrajectorySiteInfo
import io.reactivex.Observable
import retrofit2.http.Body
import retrofit2.http.GET
import retrofit2.http.POST
import retrofit2.http.Query
interface TrajectoryApiService {
/**
* 查询 Bus 有轨迹的QA线路列表
* @param deviceId deviceId
*/
@POST("/eagleEye-mis/line/qa/bus/list")
fun queryBusTrajectoryList(@Body reqBody: TrajectoryLisReq): Observable<BaseResponse<ArrayList<TrajectoryListInfo>>>
/**
* 查询 Taxi 有轨迹的QA线路列表
* @param deviceId deviceId
*/
@POST("/eagleEye-mis/line/qa/taxi/list")
fun queryTaxiTrajectoryList(@Body reqBody: TrajectoryLisReq): Observable<BaseResponse<ArrayList<TrajectoryListInfo>>>
/**
* 查询 Bus 线路对应的站点
* @param lineId 线路ID
*/
@GET("/eagleEye-mis/line/query/bus/site")
fun queryBusSiteList(@Query("lineId") lineId: Int): Observable<BaseResponse<ArrayList<TrajectorySiteInfo>>>
/**
* 查询 Taxi 线路对应的站点
* @param lineId 线路ID
*/
@GET("/eagleEye-mis/line/query/taxi/site")
fun queryTaxiSiteList(@Query("lineId") lineId: Int): Observable<BaseResponse<ArrayList<TrajectorySiteInfo>>>
/**
* 查询 Bus 线路对应的轨迹
*/
@POST("/eagleEye-mis/line/query/bus/contrail")
fun queryBusTrajectoryInfo(@Body reqBody: TrajectoryInfoReq): Observable<BaseResponse<TrajectoryInfo>>
/**
* 查询 Taxi 线路对应的轨迹
*/
@POST("/eagleEye-mis/line/query/taxi/contrail")
fun queryTaxiTrajectoryInfo(@Body reqBody: TrajectoryInfoReq): Observable<BaseResponse<TrajectoryInfo>>
}

350
core/function-impl/mogo-core-function-devatools-rviz/src/main/java/com/zhjt/mogo_core_function_devatools/rviz/net/TrajectoryNetModel.kt Normal file
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package com.mogo.module.common.net.mis.trajectory.net
import android.util.Log
import com.mogo.eagle.core.data.BaseResponse
import com.zhjt.mogo_core_function_devatools.rviz.bean.TrajectoryInfo
import com.zhjt.mogo_core_function_devatools.rviz.bean.TrajectoryInfoReq
import com.zhjt.mogo_core_function_devatools.rviz.bean.TrajectoryLisReq
import com.zhjt.mogo_core_function_devatools.rviz.bean.TrajectoryListInfo
import com.zhjt.mogo_core_function_devatools.rviz.bean.TrajectorySiteInfo
import com.zhjt.mogo_core_function_devatools.rviz.net.MisHost
import com.zhjt.mogo_core_function_devatools.rviz.net.MoGoRetrofitFactory
import com.zhjt.mogo_core_function_devatools.rviz.net.NetworkCallback
import kotlinx.coroutines.CoroutineScope
import kotlinx.coroutines.Job
import kotlinx.coroutines.async
import kotlinx.coroutines.launch
import retrofit2.Call
import retrofit2.Callback
import retrofit2.Response
object TrajectoryNetModel {
private val TAG = "TrajectoryNetModel"
private val coroutineScopeMap = HashMap<CoroutineScope, Job>()
private fun getNetWorkApi(baseUrl: String = MisHost.getHost()): TrajectoryApi {
return MoGoRetrofitFactory.getInstanceNoCallAdapter(baseUrl)
.create(TrajectoryApi::class.java)
}
/**
* 查询 Bus 有轨迹的QA线路列表
*/
fun queryBusTrajectoryList(
scope: CoroutineScope,
cityCode: String,
callback: NetworkCallback<ArrayList<TrajectoryListInfo>>
) {
val reqBody = TrajectoryLisReq()
reqBody.page = 1
reqBody.pageSize = 1000
reqBody.cityCode = cityCode
val call = getNetWorkApi().queryBusTrajectoryList(reqBody)
coroutineScopeMap[scope]?.cancel()
val newJob = scope.async {
call.enqueue(object : Callback<BaseResponse<ArrayList<TrajectoryListInfo>>> {
override fun onResponse(
call: Call<BaseResponse<ArrayList<TrajectoryListInfo>>>,
response: Response<BaseResponse<ArrayList<TrajectoryListInfo>>>
) {
Log.d(TAG, "查询 Bus 有轨迹的QA线路列表：" + response.body().toString())
scope.launch {
response.body()?.let { responseBody ->
if (responseBody.code == 0) {
responseBody.result?.let { result ->
callback.onSuccess(result)
} ?: let {
callback.onError("msg=${responseBody.msg},code=${responseBody.code}")
}
} else {
callback.onError("msg=${responseBody.msg},code=${responseBody.code}")
}
} ?: let {
callback.onError("网络异常")
}
}
}
override fun onFailure(
call: Call<BaseResponse<ArrayList<TrajectoryListInfo>>>,
t: Throwable
) {
Log.e(TAG, "网络异常")
scope.launch { callback.onError("网络异常") }
}
})
}
coroutineScopeMap[scope] = newJob
scope.coroutineContext[Job]?.invokeOnCompletion {
coroutineScopeMap.remove(scope)
}
}
/**
* 查询 Taxi 有轨迹的QA线路列表
*/
fun queryTaxiTrajectoryList(
scope: CoroutineScope,
cityCode: String,
callback: NetworkCallback<ArrayList<TrajectoryListInfo>>
) {
val reqBody = TrajectoryLisReq()
reqBody.page = 1
reqBody.pageSize = 1000
reqBody.cityCode = cityCode
val call = getNetWorkApi().queryTaxiTrajectoryList(reqBody)
coroutineScopeMap[scope]?.cancel()
val newJob = scope.async {
call.enqueue(object : Callback<BaseResponse<ArrayList<TrajectoryListInfo>>> {
override fun onResponse(
call: Call<BaseResponse<ArrayList<TrajectoryListInfo>>>,
response: Response<BaseResponse<ArrayList<TrajectoryListInfo>>>
) {
Log.d(TAG, "查询 Taxi 有轨迹的QA线路列表：" + response.body().toString())
scope.launch {
response.body()?.let { responseBody ->
if (responseBody.code == 0) {
responseBody.result?.let { result ->
callback.onSuccess(result)
} ?: let {
callback.onError("msg=${responseBody.msg},code=${responseBody.code}")
}
} else {
callback.onError("msg=${responseBody.msg},code=${responseBody.code}")
}
} ?: let {
callback.onError("网络异常")
}
}
}
override fun onFailure(
call: Call<BaseResponse<ArrayList<TrajectoryListInfo>>>,
t: Throwable
) {
Log.e(TAG, "网络异常：")
scope.launch { callback.onError("网络异常") }
}
})
}
coroutineScopeMap[scope] = newJob
scope.coroutineContext[Job]?.invokeOnCompletion {
coroutineScopeMap.remove(scope)
}
}
/**
* 查询 Bus 线路对应的站点
*/
fun queryBusSiteList(
scope: CoroutineScope,
lineId: Int,
callback: NetworkCallback<ArrayList<TrajectorySiteInfo>>
) {
val call = getNetWorkApi().queryBusSiteList(lineId)
coroutineScopeMap[scope]?.cancel()
val newJob = scope.async {
call.enqueue(object : Callback<BaseResponse<ArrayList<TrajectorySiteInfo>>> {
override fun onResponse(
call: Call<BaseResponse<ArrayList<TrajectorySiteInfo>>>,
response: Response<BaseResponse<ArrayList<TrajectorySiteInfo>>>
) {
Log.d(TAG, "查询 Bus 有轨迹的QA线路列表：" + response.body().toString())
scope.launch {
response.body()?.let { responseBody ->
if (responseBody.code == 0) {
responseBody.result?.let { result ->
callback.onSuccess(result)
} ?: let {
callback.onError("msg=${responseBody.msg},code=${responseBody.code}")
}
} else {
callback.onError("msg=${responseBody.msg},code=${responseBody.code}")
}
} ?: let {
callback.onError("网络异常")
}
}
}
override fun onFailure(
call: Call<BaseResponse<ArrayList<TrajectorySiteInfo>>>,
t: Throwable
) {
Log.e(TAG, "网络异常：")
scope.launch { callback.onError("网络异常") }
}
})
}
coroutineScopeMap[scope] = newJob
scope.coroutineContext[Job]?.invokeOnCompletion {
coroutineScopeMap.remove(scope)
}
}
/**
* 查询 Taxi 线路对应的站点
*/
fun queryTaxiSiteList(
scope: CoroutineScope,
lineId: Int,
callback: NetworkCallback<ArrayList<TrajectorySiteInfo>>
) {
val call = getNetWorkApi().queryTaxiSiteList(lineId)
coroutineScopeMap[scope]?.cancel()
val newJob = scope.async {
call.enqueue(object : Callback<BaseResponse<ArrayList<TrajectorySiteInfo>>> {
override fun onResponse(
call: Call<BaseResponse<ArrayList<TrajectorySiteInfo>>>,
response: Response<BaseResponse<ArrayList<TrajectorySiteInfo>>>
) {
Log.d(TAG, "查询 Taxi 有轨迹的QA线路列表：" + response.body().toString())
scope.launch {
response.body()?.let { responseBody ->
if (responseBody.code == 0) {
responseBody.result?.let { result ->
callback.onSuccess(result)
} ?: let {
callback.onError("msg=${responseBody.msg},code=${responseBody.code}")
}
} else {
callback.onError("msg=${responseBody.msg},code=${responseBody.code}")
}
} ?: let {
callback.onError("网络异常")
}
}
}
override fun onFailure(
call: Call<BaseResponse<ArrayList<TrajectorySiteInfo>>>,
t: Throwable
) {
Log.e(TAG, "网络异常：")
scope.launch { callback.onError("网络异常") }
}
})
}
coroutineScopeMap[scope] = newJob
scope.coroutineContext[Job]?.invokeOnCompletion {
coroutineScopeMap.remove(scope)
}
}
/**
* 查询 Bus 线路对应的轨迹
*/
fun queryBusTrajectoryInfo(
scope: CoroutineScope,
reqBody: TrajectoryInfoReq,
callback: NetworkCallback<TrajectoryInfo>
) {
val call = getNetWorkApi().queryBusTrajectoryInfo(reqBody)
coroutineScopeMap[scope]?.cancel()
val newJob = scope.async {
call.enqueue(object : Callback<BaseResponse<TrajectoryInfo>> {
override fun onResponse(
call: Call<BaseResponse<TrajectoryInfo>>,
response: Response<BaseResponse<TrajectoryInfo>>
) {
Log.d(TAG, "查询 Bus 有轨迹的QA线路列表：" + response.body().toString())
scope.launch {
response.body()?.let { responseBody ->
if (responseBody.code == 0) {
responseBody.result?.let { result ->
callback.onSuccess(result)
} ?: let {
callback.onError("msg=${responseBody.msg},code=${responseBody.code}")
}
} else {
callback.onError("msg=${responseBody.msg},code=${responseBody.code}")
}
} ?: let {
callback.onError("网络异常")
}
}
}
override fun onFailure(
call: Call<BaseResponse<TrajectoryInfo>>,
t: Throwable
) {
Log.e(TAG, "网络异常：")
scope.launch { callback.onError("网络异常") }
}
})
}
coroutineScopeMap[scope] = newJob
scope.coroutineContext[Job]?.invokeOnCompletion {
coroutineScopeMap.remove(scope)
}
}
/**
* 查询 Taxi 线路对应的轨迹
*/
fun queryTaxiTrajectoryInfo(
scope: CoroutineScope,
reqBody: TrajectoryInfoReq,
callback: NetworkCallback<TrajectoryInfo>
) {
val call = getNetWorkApi().queryTaxiTrajectoryInfo(reqBody)
coroutineScopeMap[scope]?.cancel()
val newJob = scope.async {
call.enqueue(object : Callback<BaseResponse<TrajectoryInfo>> {
override fun onResponse(
call: Call<BaseResponse<TrajectoryInfo>>,
response: Response<BaseResponse<TrajectoryInfo>>
) {
Log.d(TAG, "查询 Taxi 有轨迹的QA线路列表：" + response.body().toString())
response.body()?.let { responseBody ->
if (responseBody.code == 0) {
responseBody.result?.let { result ->
callback.onSuccess(result)
} ?: let {
callback.onError("msg=${responseBody.msg},code=${responseBody.code}")
}
} else {
callback.onError("msg=${responseBody.msg},code=${responseBody.code}")
}
} ?: let {
callback.onError("网络异常")
}
}
override fun onFailure(
call: Call<BaseResponse<TrajectoryInfo>>,
t: Throwable
) {
Log.e(TAG, "网络异常：")
scope.launch { callback.onError("网络异常") }
}
})
}
coroutineScopeMap[scope] = newJob
scope.coroutineContext[Job]?.invokeOnCompletion {
coroutineScopeMap.remove(scope)
}
}
}

57
core/function-impl/mogo-core-function-devatools-rviz/src/main/java/com/zhjt/mogo_core_function_devatools/rviz/net/api/TrajectoryApi.kt Normal file
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package com.mogo.module.common.net.mis.trajectory.net
import com.mogo.eagle.core.data.BaseResponse
import com.zhjt.mogo_core_function_devatools.rviz.bean.TrajectoryInfo
import com.zhjt.mogo_core_function_devatools.rviz.bean.TrajectoryInfoReq
import com.zhjt.mogo_core_function_devatools.rviz.bean.TrajectoryLisReq
import com.zhjt.mogo_core_function_devatools.rviz.bean.TrajectoryListInfo
import com.zhjt.mogo_core_function_devatools.rviz.bean.TrajectorySiteInfo
import retrofit2.Call
import retrofit2.http.*
interface TrajectoryApi {
/**
* 查询 Bus 有轨迹的QA线路列表
* @param deviceId deviceId
*/
@POST("/eagleEye-mis/line/qa/bus/list")
fun queryBusTrajectoryList(@Body reqBody: TrajectoryLisReq): Call<BaseResponse<ArrayList<TrajectoryListInfo>>>
/**
* 查询 Taxi 有轨迹的QA线路列表
* @param deviceId deviceId
*/
@POST("/eagleEye-mis/line/qa/taxi/list")
fun queryTaxiTrajectoryList(@Body reqBody: TrajectoryLisReq): Call<BaseResponse<ArrayList<TrajectoryListInfo>>>
/**
* 查询 Bus 线路对应的站点
* @param lineId 线路ID
*/
@GET("/eagleEye-mis/line/query/bus/site")
fun queryBusSiteList(@Query("lineId") lineId: Int): Call<BaseResponse<ArrayList<TrajectorySiteInfo>>>
/**
* 查询 Taxi 线路对应的站点
* @param lineId 线路ID
*/
@GET("/eagleEye-mis/line/query/taxi/site")
fun queryTaxiSiteList(@Query("lineId") lineId: Int): Call<BaseResponse<ArrayList<TrajectorySiteInfo>>>
/**
* 查询 Bus 线路对应的轨迹
*/
@POST("/eagleEye-mis/line/query/bus/contrail")
fun queryBusTrajectoryInfo(@Body reqBody: TrajectoryInfoReq): Call<BaseResponse<TrajectoryInfo>>
/**
* 查询 Taxi 线路对应的轨迹
*/
@POST("/eagleEye-mis/line/query/taxi/contrail")
fun queryTaxiTrajectoryInfo(@Body reqBody: TrajectoryInfoReq): Call<BaseResponse<TrajectoryInfo>>
}

741
core/function-impl/mogo-core-function-devatools-rviz/src/main/java/com/zhjt/mogo_core_function_devatools/rviz/ui/views/CheckAutopilotView.kt Normal file
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package com.zhjt.mogo_core_function_devatools.rviz.ui.views
import android.annotation.SuppressLint
import android.app.Activity
import android.content.Context
import android.util.AttributeSet
import android.util.Log
import android.view.LayoutInflater
import android.widget.Button
import android.widget.ImageView
import android.widget.TextView
import android.widget.ToggleButton
import androidx.appcompat.widget.AppCompatEditText
import androidx.appcompat.widget.AppCompatTextView
import androidx.constraintlayout.widget.ConstraintLayout
import androidx.core.content.ContextCompat
import androidx.lifecycle.Lifecycle
import androidx.lifecycle.LifecycleOwner
import androidx.lifecycle.LifecycleRegistry
import androidx.lifecycle.Observer
import androidx.recyclerview.widget.RecyclerView
import chassis.Chassis
import chassis.VehicleStateOuterClass
import com.mogo.eagle.core.data.deva.report.ReportEntity
import com.mogo.eagle.core.function.call.autopilot.CallerAutoPilotControlManager
import com.mogo.eagle.core.utilcode.util.ThreadUtils
import com.mogo.eagle.core.utilcode.util.TimeUtils
import com.mogo.eagle.core.utilcode.util.ToastUtils
import com.zhjt.mogo_core_function_devatools.rviz.R
import com.zhjt.mogo_core_function_devatools.rviz.bean.TrackContrail
import com.zhjt.mogo_core_function_devatools.rviz.bean.TrajectoryInfo
import com.zhjt.mogo_core_function_devatools.rviz.bean.TrajectoryInfoReq
import com.zhjt.mogo_core_function_devatools.rviz.bean.TrajectoryListInfo
import com.zhjt.mogo_core_function_devatools.rviz.bean.TrajectorySiteInfo
import com.zhjt.mogo_core_function_devatools.rviz.bean.VehicleConfigData
import com.zhjt.mogo_core_function_devatools.rviz.bean.VehicleType
import com.zhjt.mogo_core_function_devatools.rviz.common.coroutines.FlowBus
import com.zhjt.mogo_core_function_devatools.rviz.dialog.SelectAutopilotLineDialog
import com.zhjt.mogo_core_function_devatools.rviz.dialog.adapter.ConsoleAdapter
import com.zhjt.mogo_core_function_devatools.rviz.net.NetworkCallback
import com.zhjt.mogo_core_function_devatools.rviz.net.TrajectoryApiClient
import com.zhjt.mogo_core_function_devatools.rviz.widgets.ros.TelematicsSubscriberEventKey
import com.zhjt.mogo_core_function_devatools.rviz.widgets.ros.TopicSubscriberEventKey
import kotlinx.coroutines.CoroutineScope
import kotlinx.coroutines.Dispatchers
import mogo.telematics.pad.MessagePad
import mogo_msg.MogoReportMsg
import java.util.LinkedList
class CheckAutopilotView @JvmOverloads constructor(
context: Context,
attrs: AttributeSet? = null,
defStyleAttr: Int = 0
) : ConstraintLayout(context, attrs, defStyleAttr), LifecycleOwner {
companion object {
const val TAG = "CheckAutopilotView"
}
// private val scopeUploadReportInfo = CoroutineScope(Dispatchers.Main)
//
// private val mLifecycleRegistry = LifecycleRegistry(this)
// private var reportMsgInfoSubscriber: CommSubscriber<BinaryData, MogoReportMsg.MogoReportMessage>? =
// null
// private var reportMsgErrorSubscriber: CommSubscriber<BinaryData, MogoReportMsg.MogoReportMessage>? =
// null
//
// // 当前选择的自动驾驶路线信息
// var mTrajectoryListInfo: TrajectoryListInfo? = null
// var mTrajectorySiteInfo: List<TrajectorySiteInfo>? = null
// var mTrajectoryInfo: TrajectoryInfo? = null
//
// private var selectAutopilotLineDialog: SelectAutopilotLineDialog? = null
// private var mActivity: Activity? = null
//
//
// /**
// * 传给自动驾驶
// * 1、先下载轨迹信息
// * @see TelematicsControlApi.sendTrajectoryDownloadReq
// * 2、再启动自动驾驶
// * @see TelematicsControlApi.requestEnterAutoPilot
// */
// val mTrajectoryLine = MessagePad.Line.newBuilder()
//
// private val consoleAdapter =
// ConsoleAdapter()//控制台适配器
// private val consoleList = LinkedList<ReportEntity>()
//
// private var trajectoryListInfo: TrajectoryListInfo? = null
//
// private var currentAutopilotStatus: Int = 0 //自动驾驶状态 0代表不可自动驾驶,1代表可自动驾驶,2代表自动驾驶中,7:平行驾驶中
//
// @Volatile
// private var speedLimit: Int = 1
//
// //Warning
// // 自动驾驶效果受影响：
// // 自动驾驶部分功能受严重影响，演示模式可以考虑强行启动，非演示模式下建议停止自动驾驶，联系人员排查问题。
// //例如定位偏移，camera无数据，算法非常严重的丢帧，属于自动驾驶可以启动，但是效果受影响。
// private val RESULT_AUTOPILOT_INFERIOR = "RESULT_AUTOPILOT_INFERIOR"
//
// // 存在不确定因素
// // 一般为过渡状态，存在不确定因素，有可能对自动驾驶有微弱影响，需要在pad端显示为黄色告警。
// //如果偶尔上报该result可忽略，如果频繁上报需联系人员进行排查。 目前仅有RTK无法确认状态事件
// private val RESULT_SHOW_WARNING = "RESULT_SHOW_WARNING"
//
// // 远程驾驶效果受影响
// // 远程驾驶部分功能受影响。例如网络高延迟
// private val RESULT_REMOTEPILOT_INFERIOR = "RESULT_REMOTEPILOT_INFERIOR"
//
// //Error
// // 无法启动自动驾驶
// private val RESULT_AUTOPILOT_DISABLE = "RESULT_AUTOPILOT_DISABLE"
//
// // 自动驾驶系统启动失败
// // 自动驾驶系统启动过程中出错，pad可能无法连接，云端监控可能无法上报
// private val RESULT_AUTOPILOT_SYSTEM_UNSTARTED = "RESULT_AUTOPILOT_SYSTEM_UNSTARTED"
//
// // 自动驾驶效果受影响
// //自动驾驶部分功能受严重影响，演示模式可以考虑强行启动，非演示模式下建议停止自动驾驶，联系人员排查问题。
// //例如定位偏移，camera无数据，算法非常严重的丢帧，属于自动驾驶可以启动，但是效果受影响。
// private val RESULT_REMOTEPILOT_DISABLE = "RESULT_REMOTEPILOT_DISABLE"
//
// /**
// * 获取控制台上报数据列表
// */
// fun getConsoleList(): List<com.mogo.eagle.core.data.deva.report.ReportEntity> {
// return consoleList
// }
//
// fun getTrajectoryListInfo(): TrajectoryListInfo? {
// return trajectoryListInfo
// }
//
// fun getTrackContrail(): TrackContrail? {
// return mTrajectoryInfo?.trackContrail
// }
//
// fun setActivity(activity: Activity) {
// mActivity = activity
// }
//
// // 订阅工控机日志
// private val consoleObserver: Observer<MogoReportMsg.MogoReportMessage> =
// Observer { mogoReportMessage: MogoReportMsg.MogoReportMessage ->
// if (consoleList.size > 1000) {
// consoleList.removeLast()
// }
// if (mogoReportMessage.resultList.contains(RESULT_AUTOPILOT_INFERIOR)
// || mogoReportMessage.resultList.contains(RESULT_SHOW_WARNING)
// || mogoReportMessage.resultList.contains(RESULT_REMOTEPILOT_INFERIOR)
// || mogoReportMessage.resultList.contains(RESULT_AUTOPILOT_DISABLE)
// || mogoReportMessage.resultList.contains(RESULT_AUTOPILOT_SYSTEM_UNSTARTED)
// || mogoReportMessage.resultList.contains(RESULT_REMOTEPILOT_DISABLE)
// ) {
// // 处理底盘超时
//// if (
//// !mogoReportMessage.resultList.equals(RESULT_AUTOPILOT_DISABLE)
//// || !mogoReportMessage.resultList.equals(RESULT_REMOTEPILOT_INFERIOR)
//// || !mogoReportMessage.resultList.equals(RESULT_AUTOPILOT_INFERIOR)
//// ) {
//// btnControlAutoPilot.isChecked = false
//// Log.e(TAG, "进入自动驾驶--失败")
//// }
//
// consoleList.addFirst(
// ReportEntity(
// TimeUtils.getNowString(),
// mogoReportMessage.code,
// mogoReportMessage.msg
// )
// )
// }
// if (consoleList.size > 0) {
// consoleAdapter.setData(consoleList)
// }
// }
//
// //订阅到站
// private val arrivalObserver: Observer<MessagePad.ArrivalNotification> = Observer {
// it.let {
// Log.i("arrivalObserver", "CheckAuto页面收到到站回调")
// Log.i("arrivalObserver", "latitude=" + it.endLocation.latitude)
// Log.i("arrivalObserver", "longitude=" + it.endLocation.longitude)
// //取消自动驾驶
// CallerAutoPilotControlManager.cancelAutoPilot()
// //吐司提示
// ToastUtils.showShort("您已到达站点")
// }
// }
//
// //订阅工控机日志监控
// private val reportObserver: Observer<MogoReportMsg.MogoReportMessage> = Observer {
// it.let {
// //掉自驾
// when (it.code) {
// "EMAP_EXIT_AUTOPILOT_FOR_PLANNING",//因planning掉帧强退自动驾驶
// "EMAP_EXIT_AUTOPILOT_FOR_LOCATION",//因location掉帧强退自动驾驶
// "EMAP_EXIT_AUTOPILOT_FOR_CHASSIS",//因底盘消息掉帧强退自动驾驶
// "EXIT_AUTOPILOT_FOR_DISTANCE",//因planning起点距离当前过远强退自动驾驶
// "EXIT_AUTOPILOT_FOR_BRAKE",//制动踏板干预而强退自动驾驶
// "EXIT_AUTOPILOT_FOR_ACCEL",//加速踏板干预而强退自动驾驶
// "EXIT_AUTOPILOT_FOR_STEER",//方向盘干预而强退自动驾驶
// "EXIT_AUTOPILOT_FOR_GEAR_SWITCH",//档位切换干预而强退自动驾驶
// "EMAP_EXIT_AUTOPILOT_FOR_CHASSIS_NO_RESPONSE",//底盘不响应请求而强退自动驾驶
// "EMAP_EXIT_AUTOPILOT_FOR_CHASSIS_UNKNOWN",//底盘退出原因未知而强退自动驾驶
// "IRECORDER_TASK_AUTO"//自动录包任务创建
// -> {
// //当司机或外界原因导致自动驾驶退出，需要在页面将状态同步显示出来，并将按钮设置为「启动自动驾驶」
// ThreadUtils.runOnUiThread {
// ToastUtils.showShort("自动驾驶退出")
// btnControlAutoPilot.isEnabled = true
// btnControlAutoPilot.isChecked = false
// }
// }
// }
// }
// }
//
// //自动驾驶状态
// private val autopilotStateObserver: Observer<MessagePad.AutopilotState> = Observer {
// it.let {
// if (currentAutopilotStatus != it.state) {
// currentAutopilotStatus = it.state
// ThreadUtils.runOnUiThread {
// when (it.state) {
// 0 -> {
// btnAutoPilotStatus.text = "不可自驾"
// }
//
// 1 -> {
// btnAutoPilotStatus.text = "可自动驾驶"
// }
//
// 2 -> {
// btnAutoPilotStatus.text = "自动驾驶中"
// }
//
// 7 -> {
// btnAutoPilotStatus.text = "平行驾驶中"
// }
// }
// }
// }
// }
// }
//
// //车机基础信息应答
// private val carConfigObserver: Observer<MessagePad.CarConfigResp> = Observer {
// it.let {
// ThreadUtils.runOnUiThread {
// speedLimit = (it.speedLimit * 3.6).toInt()
// etInputSpeed.setText(speedLimit.toString())
// }
// }
// }
//
// //自车状态(底盘)，车灯、转向灯等
// private val vehicleStateObserver: Observer<VehicleStateOuterClass.VehicleState> = Observer {
// ThreadUtils.runOnUiThread {
// when (it.gear) {
// Chassis.GearPosition.GEAR_P -> {
// tvGearP.setTextColor(ContextCompat.getColor(context, R.color.white))
// tvGearR.setTextColor(
// ContextCompat.getColor(
// context,
// R.color.p_default_txt_color
// )
// )
// tvGearN.setTextColor(
// ContextCompat.getColor(
// context,
// R.color.p_default_txt_color
// )
// )
// tvGearD.setTextColor(
// ContextCompat.getColor(
// context,
// R.color.p_default_txt_color
// )
// )
// }
//
// Chassis.GearPosition.GEAR_R -> {
// tvGearP.setTextColor(
// ContextCompat.getColor(
// context,
// R.color.p_default_txt_color
// )
// )
// tvGearR.setTextColor(ContextCompat.getColor(context, R.color.white))
// tvGearN.setTextColor(
// ContextCompat.getColor(
// context,
// R.color.p_default_txt_color
// )
// )
// tvGearD.setTextColor(
// ContextCompat.getColor(
// context,
// R.color.p_default_txt_color
// )
// )
// }
//
// Chassis.GearPosition.GEAR_N -> {
// tvGearP.setTextColor(
// ContextCompat.getColor(
// context,
// R.color.p_default_txt_color
// )
// )
// tvGearR.setTextColor(
// ContextCompat.getColor(
// context,
// R.color.p_default_txt_color
// )
// )
// tvGearN.setTextColor(ContextCompat.getColor(context, R.color.white))
// tvGearD.setTextColor(
// ContextCompat.getColor(
// context,
// R.color.p_default_txt_color
// )
// )
// }
//
// Chassis.GearPosition.GEAR_D -> {
// tvGearP.setTextColor(
// ContextCompat.getColor(
// context,
// R.color.p_default_txt_color
// )
// )
// tvGearR.setTextColor(
// ContextCompat.getColor(
// context,
// R.color.p_default_txt_color
// )
// )
// tvGearN.setTextColor(
// ContextCompat.getColor(
// context,
// R.color.p_default_txt_color
// )
// )
// tvGearD.setTextColor(ContextCompat.getColor(context, R.color.white))
// }
//
// else -> {
// tvGearP.setTextColor(
// ContextCompat.getColor(
// context,
// R.color.p_default_txt_color
// )
// )
// tvGearR.setTextColor(
// ContextCompat.getColor(
// context,
// R.color.p_default_txt_color
// )
// )
// tvGearN.setTextColor(
// ContextCompat.getColor(
// context,
// R.color.p_default_txt_color
// )
// )
// tvGearD.setTextColor(
// ContextCompat.getColor(
// context,
// R.color.p_default_txt_color
// )
// )
// }
// }
// }
// }
//
// init {
// LayoutInflater.from(context).inflate(R.layout.view_check_autopilot, this, true)
// initView(context, attrs!!)
// mLifecycleRegistry.currentState = Lifecycle.State.CREATED
// }
//
// private lateinit var tvAutoDriveLineSelect: TextView
// private lateinit var tvSpeedTitle: TextView
// private lateinit var ivSpeedReduce: ImageView
// private lateinit var etInputSpeed: AppCompatEditText
// private lateinit var ivSpeedAdd: ImageView
// private lateinit var tvSureModify: AppCompatTextView
// private lateinit var tvGearP: TextView
// private lateinit var tvGearR: TextView
// private lateinit var tvGearN: TextView
// private lateinit var tvGearD: TextView
// private lateinit var btnAutoPilotStatus: Button
// private lateinit var btnControlAutoPilot: ToggleButton
// private lateinit var rvReportConsole: RecyclerView
//
//
// private fun initView(context: Context, attrs: AttributeSet) {
// tvAutoDriveLineSelect = findViewById(R.id.tvAutoDriveLineSelect)
// tvSpeedTitle = findViewById(R.id.tvSpeedTitle)
// ivSpeedReduce = findViewById(R.id.ivSpeedReduce)
// etInputSpeed = findViewById(R.id.etInputSpeed)
// ivSpeedAdd = findViewById(R.id.ivSpeedAdd)
// tvSureModify = findViewById(R.id.tvSureModify)
// tvGearP = findViewById(R.id.tvGearP)
// tvGearR = findViewById(R.id.tvGearR)
// tvGearN = findViewById(R.id.tvGearN)
// tvGearD = findViewById(R.id.tvGearD)
// btnAutoPilotStatus = findViewById(R.id.btnAutoPilotStatus)
// btnControlAutoPilot = findViewById(R.id.btnControlAutoPilot)
// rvReportConsole = findViewById(R.id.rvReportConsole)
//
//
//
//
// initSpeedView()
// consoleAdapter.setData(consoleList)
// rvReportConsole.adapter = consoleAdapter
// initAutopilotLineData()
//
// // 启动自动驾驶
// btnControlAutoPilot.setOnClickListener {
// if (currentAutopilotStatus != 0) {
// if (currentAutopilotStatus != 2) {
// mTrajectoryListInfo?.let { trajectoryListInfo ->
// mTrajectorySiteInfo?.let { trajectorySiteInfo ->
// if (trajectorySiteInfo.isEmpty()) {
// if (btnControlAutoPilot.isChecked) {
// ToastUtils.showShort("该路线缺少站点信息")
// }
// btnControlAutoPilot.isChecked = false
// return@setOnClickListener
// }
// val routeInfo = MessagePad.RouteInfo.newBuilder()
// routeInfo.routeID = trajectoryListInfo.lineId
// routeInfo.routeName = trajectoryListInfo.lineName
//
// routeInfo.vehicleType =
// if (VehicleConfigData.getCarType() == VehicleType.TAXI) {
// 9
// } else {
// 10
// }
// routeInfo.isSpeakVoice = false
//
// val startSite = trajectorySiteInfo[0]
// val endSite = trajectorySiteInfo[trajectorySiteInfo.size - 1]
//
// routeInfo.startName =
// PinYinUtil.getPinYinHeadChar(startSite.name) // 起点名称拼音首字母大写：科学城B区2号门（KXCBQ2HM）
// routeInfo.endName =
// PinYinUtil.getPinYinHeadChar(endSite.name) // 终点名称拼音首字母大写：科学城C区三号门（KXCCQSHM）
//
// val startLoc = routeInfo.startLocationBuilder
// startLoc.latitude = startSite.wgs84Lat
// startLoc.longitude = startSite.wgs84Lon
//
// val endLoc = routeInfo.endLocationBuilder
// endLoc.latitude = endSite.wgs84Lat
// endLoc.longitude = endSite.wgs84Lon
//
// routeInfo.startLocation = startLoc.build()
// routeInfo.endLocation = endLoc.build()
//
// //传入站点列表
// for(site in trajectorySiteInfo){
// val locBuilder = MessagePad.Location.newBuilder()
// locBuilder.latitude = site.wgs84Lat
// locBuilder.longitude = site.wgs84Lon
// routeInfo.addWayPoints(locBuilder.build())
// }
//
// // 初始化选择的自动驾驶路线信息
// routeInfo.line = initTrajectoryLine(trajectoryListInfo)
//
// // 模拟强制进入
// //if (TelematicsControlApi.instance.requestEnterAutoPilotSimulate(true)) {
// // 启动自动驾驶
// if (TelematicsControlApi.instance.requestEnterAutoPilot(routeInfo.build())) {
// btnControlAutoPilot.isChecked = true
// Log.d(TAG, "自动驾驶命令下发成功")
// ToastUtils.showShort("自动驾驶命令下发成功")
// } else {
// btnControlAutoPilot.isChecked = false
// Log.e(TAG, "自动驾驶命令下发失败")
// ToastUtils.showShort("自动驾驶命令下发失败")
// }
// } ?: let {
// btnControlAutoPilot.isChecked = false
// Log.e(TAG, "进入自动驾驶--失败")
// Log.e(TAG, "站点信息异常，请选择要测试的驾驶路线！！！")
// ToastUtils.showShort("进入自动驾驶--失败")
// }
// } ?: let {
// btnControlAutoPilot.isChecked = false
// Log.e(TAG, "进入自动驾驶--失败")
// Log.e(TAG, "未选择自动驾驶路线，请选择要测试的驾驶路线！！！")
// ToastUtils.showShort("进入自动驾驶--失败")
// }
// } else {
// // 模拟强制退出
// //if (TelematicsControlApi.instance.requestEnterAutoPilotSimulate(false)) {
// // 正常流程退出自动驾驶
// CallerAutoPilotControlManager.cancelAutoPilot()
// }
// } else {
// btnControlAutoPilot.isChecked = false
// ToastUtils.showShort("车辆未就绪，请稍后再试")
// }
// }
//
// }
//
// /**
// * 自动驾驶车速设置
// */
// //TODO
//
// /**
// * 初始化轨迹信息
// */
// private fun initTrajectoryLine(trajectoryListInfo: TrajectoryListInfo): MessagePad.Line {
// // 给自动驾驶用于进行循迹路线加载
// mTrajectoryInfo?.trackContrail?.let {
// mTrajectoryLine.lineId = trajectoryListInfo.lineId.toLong()
// mTrajectoryLine.lineName =trajectoryListInfo.lineName
// mTrajectoryLine.trajMd5 = it.csvFileMd5
// mTrajectoryLine.trajUrl = it.csvFileUrl
// mTrajectoryLine.stopMd5 = it.txtFileMd5
// mTrajectoryLine.stopUrl = it.txtFileUrl
// mTrajectoryLine.timestamp = it.contrailSaveTime
// mTrajectoryLine.vehicleModel =
// VehicleConfigData.getCarBrand() + VehicleConfigData.getCarModel()
// } ?: let {
// btnControlAutoPilot.isChecked = false
// Log.e(TAG, "循迹路线未配置! 请登录运营管理平台配置!")
// ToastUtils.showShort("循迹路线未配置！请登录运营管理平台配置！")
// }
// mTrajectoryInfo?.dbqpContrail?.let {
// mTrajectoryLine.trajUrlDpqp = it.csvFileUrl
// mTrajectoryLine.trajMd5Dpqp = it.csvFileMd5
// mTrajectoryLine.stopUrlDpqp = it.txtFileUrl
// mTrajectoryLine.stopMd5Dpqp = it.txtFileMd5
// mTrajectoryLine.timestampDpqp = it.contrailSaveTime
// } ?: let {
// Log.e(TAG, "dbqp路线未配置！请登录运营管理平台配置！")
// //ToastUtils.show("dbqp路线未配置！请登录运营管理平台配置！")
// }
//
// return mTrajectoryLine.build()
// }
//
// /**
// * 初始化路线选择器
// */
// private fun initAutopilotLineData() {
// // 循迹路线选择
// tvAutoDriveLineSelect.setOnClickListener {
// //弹出路线选择弹窗
// if (selectAutopilotLineDialog == null) {
// selectAutopilotLineDialog = SelectAutopilotLineDialog(context)
// }
// mActivity?.let { activity ->
// selectAutopilotLineDialog?.setListener(object :
// SelectAutopilotLineDialog.ClickListener {
// override fun onClick(info: TrajectoryListInfo) {
// Log.d(TAG, "选中路线：${info}")
// info.let {
// mTrajectoryListInfo = it
// tvAutoDriveLineSelect.text = it.lineName
// checkAutoLine(it)
// }
// }
// })
// selectAutopilotLineDialog?.showSelectLineDialog(activity)
// }
// }
// }
//
// /**
// * 调用接口获取选中的路线信息
// */
// private fun checkAutoLine(trajectoryListInfo: TrajectoryListInfo) {
// val trajectoryInfoReq = TrajectoryInfoReq(
// VehicleConfigData.getCarBrand(),
// VehicleConfigData.getCarModel(),
// trajectoryListInfo.lineId
// )
// Log.d(
// TAG,
// "调用接口获取选中的路线信息 checkAutoLine，trajectoryInfoReq：${trajectoryInfoReq}"
// )
// // 处理Taxi
// // 处理BUS包含：JV、KW、FT、SW
// TrajectoryApiClient.querySiteList(
// this,
// VehicleConfigData.getCarType().name,
// trajectoryListInfo.lineId,
// object : NetworkCallback<ArrayList<TrajectorySiteInfo>> {
// override fun onSuccess(data: ArrayList<TrajectorySiteInfo>) {
// mTrajectorySiteInfo = data
// if (data.size > 0) {
// btnControlAutoPilot.isEnabled = true
// } else {
// btnControlAutoPilot.isEnabled = false
// ToastUtils.showShort("该路线缺少站点信息")
// }
// }
//
// override fun onError(msg: String) {
// Log.e(
// TAG,
// "获取 ${VehicleConfigData.getCarType().name} 站点详情异常，异常原因：网络异常"
// )
// ToastUtils.showShort("获取 ${VehicleConfigData.getCarType().name} 站点详情异常，异常原因：网络异常")
// }
// }
// )
// TrajectoryApiClient.queryTrajectoryInfo(
// this,
// VehicleConfigData.getCarType().name,
// trajectoryInfoReq,
// object : NetworkCallback<TrajectoryInfo> {
// override fun onSuccess(data: TrajectoryInfo) {
// mTrajectoryInfo = data
//
// // 先发给自动驾驶下载路线
// TelematicsControlApi.instance.sendTrajectoryDownloadReq(
// initTrajectoryLine(
// trajectoryListInfo
// )
// )
// }
//
// override fun onError(msg: String) {
// Log.e(
// TAG,
// "查询 ${VehicleConfigData.getCarType().name} 线路对应的轨迹 异常，异常原因：网络异常"
// )
// ToastUtils.showShort("查询 ${VehicleConfigData.getCarType().name} 线路对应的轨迹 异常，异常原因：网络异常")
// }
// }
// )
// }
//
//
// override fun onAttachedToWindow() {
// super.onAttachedToWindow()
// mLifecycleRegistry.currentState = Lifecycle.State.STARTED
// postDelayed({
// //订阅工控机异常上报
// reportMsgInfoSubscriber =
// CommSubscriber<BinaryData, MogoReportMsg.MogoReportMessage>(
// ConfigFactory.getInstance().topicConfig.autopilotInfoReportMsgInfo.topicPath,
// ConfigFactory.getInstance().topicConfig.autopilotInfoReportMsgInfo.msgType,
// MogoReportMsg.MogoReportMessage.parser(),
// TopicSubscriberEventKey.REPORT_MSG_SUBSCRIBER
// )
// TopicSubscriberServiceManager.instance.addTopicSubscriber(
// reportMsgInfoSubscriber!!.getTopicPath(),
// reportMsgInfoSubscriber!!
// )
//
// reportMsgErrorSubscriber =
// CommSubscriber<BinaryData, MogoReportMsg.MogoReportMessage>(
// ConfigFactory.getInstance().topicConfig.autopilotInfoReportMsgError.topicPath,
// ConfigFactory.getInstance().topicConfig.autopilotInfoReportMsgError.msgType,
// MogoReportMsg.MogoReportMessage.parser(),
// TopicSubscriberEventKey.REPORT_MSG_SUBSCRIBER
// )
// TopicSubscriberServiceManager.instance.addTopicSubscriber(
// reportMsgErrorSubscriber!!.getTopicPath(),
// reportMsgErrorSubscriber!!
// )
// }, 2000)
//
// // 订阅数据
// FlowBus.with<MogoReportMsg.MogoReportMessage>(TopicSubscriberEventKey.REPORT_MSG_SUBSCRIBER)
// .register(this) {
// consoleObserver.onChanged(it)
// }
//
// //订阅到站提醒
// FlowBus.with<MessagePad.ArrivalNotification>(TelematicsSubscriberEventKey.Subscribe_Arrival_Notification)
// .register(this) {
// arrivalObserver.onChanged(it)
// }
//
// //订阅工控机日志监控
// FlowBus.with<MogoReportMsg.MogoReportMessage>(TelematicsSubscriberEventKey.Subscribe_Mogo_Report_Message)
// .register(this) {
// reportObserver.onChanged(it)
// }
//
// //订阅自动驾驶状态
// FlowBus.with<MessagePad.AutopilotState>(TelematicsSubscriberEventKey.Subscribe_Autopilot_State)
// .register(this) {
// autopilotStateObserver.onChanged(it)
// }
//
// //订阅车机基础信息
// FlowBus.withStick<MessagePad.CarConfigResp>(TelematicsSubscriberEventKey.Subscribe_CarConfig_Resp)
// .register(this) {
// carConfigObserver.onChanged(it)
// }
//
// //订阅自车状态(底盘)，车灯、转向灯等
// FlowBus.with<VehicleStateOuterClass.VehicleState>(TelematicsSubscriberEventKey.Subscribe_Vehicle_State)
// .register(this) {
// vehicleStateObserver.onChanged(it)
// }
// }
//
// override fun onDetachedFromWindow() {
// super.onDetachedFromWindow()
// scopeUploadReportInfo.cancel()
//
// mLifecycleRegistry.currentState = Lifecycle.State.DESTROYED
//
// reportMsgInfoSubscriber?.let {
// TopicSubscriberServiceManager.instance.removeTopicSubscriber(
// reportMsgInfoSubscriber!!.getTopicPath(),
// )
// }
// reportMsgErrorSubscriber?.let {
// TopicSubscriberServiceManager.instance.removeTopicSubscriber(
// reportMsgErrorSubscriber!!.getTopicPath(),
// )
// }
// }
override fun getLifecycle(): Lifecycle {
return lifecycle
}
}

65
core/function-impl/mogo-core-function-devatools-rviz/src/main/java/com/zhjt/mogo_core_function_devatools/rviz/ui/views/MoGoLoadingView.java Normal file
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package com.zhjt.mogo_core_function_devatools.rviz.ui.views;
import android.content.Context;
import android.util.AttributeSet;
import android.view.Gravity;
import android.view.ViewGroup;
import android.widget.ImageView;
import android.widget.LinearLayout;
import android.widget.ProgressBar;
import android.widget.TextView;
import com.zhjt.mogo_core_function_devatools.rviz.R;
/**
* 加载进度View
*/
public class MoGoLoadingView extends LinearLayout {
private Context context;
private ProgressBar progressBar;
private ImageView placeholderMap;
private TextView textView;
public MoGoLoadingView(Context context) {
this(context, null);
}
public MoGoLoadingView(Context context, AttributeSet attrs) {
this(context, attrs, 0);
}
public MoGoLoadingView(Context context, AttributeSet attrs, int defStyleAttr) {
super(context, attrs, defStyleAttr);
this.context = context;
setOrientation(LinearLayout.VERTICAL);
setGravity(Gravity.CENTER);
// 创建ProgressBar
progressBar = new ProgressBar(context);
addView(progressBar);
// 创建TextView
textView = new TextView(context);
textView.setTextSize(30f);
textView.setTextColor(getResources().getColor(R.color.white));
LayoutParams params = new LayoutParams(
ViewGroup.LayoutParams.WRAP_CONTENT, ViewGroup.LayoutParams.WRAP_CONTENT);
params.setMargins(0, 16, 0, 0); // 设置文字的上边距
textView.setLayoutParams(params);
addView(textView);
}
public void setText(String text) {
textView.setText(text);
}
public void show(String text) {
setVisibility(VISIBLE);
textView.setText(text);
}
public void hide() {
setVisibility(GONE);
}
}

280
core/function-impl/mogo-core-function-devatools-rviz/src/main/java/com/zhjt/mogo_core_function_devatools/rviz/widgets/ros/TelematicsSubscriberEventKey.java Normal file
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package com.zhjt.mogo_core_function_devatools.rviz.widgets.ros;
/**
* 通过LiveEventBus订阅的消息key
*
* @author mogoauto
*/
public interface TelematicsSubscriberEventKey {
/**
* 感知物体
*/
String Subscribe_Tracked_Objects = "Telematics_Tracked_Objects";
/**
* 工控机日志监控
*/
String Subscribe_Mogo_Report_Message = "Telematics_Mogo_Report_Message";
/**
* 感知红绿灯
*/
String Subscribe_Traffic_Lights = "Telematics_TrafficLights";
/**
* 车前引导线
*/
String Subscribe_Trajectory = "Telematics_Trajectory";
/**
* 他车轨迹预测
*/
String Subscribe_Prediction_Objects = "Telematics_PredictionObjects";
/**
* 过滤后的点云数据
*/
String Subscribe_PointCloud = "Telematics_PointCloud";
/**
* planning障碍物
*/
String Subscribe_Planning_Objects = "Telematics_PlanningObjects";
/**
* 数据采集结果
*/
String Subscribe_Record_Panel = "Telematics_RecordPanel";
/**
* 报警信息
* 暂时保留，目前没有使用
*/
String Subscribe_Warn = "Telematics_Warn";
/**
* 到站提醒 自动驾驶站点
*/
String Subscribe_Arrival_Notification = "Telematics_ArrivalNotification";
String Arrival_Notification = "Arrival_Notification";
/**
* 工控机数据错误
*/
String Subscribe_Error = "Telematics_Error";
/**
* 车机基础信息应答
*/
String Subscribe_CarConfig_Resp = "Telematics_CarConfigResp";
/**
* 自动驾驶状态
*/
String Subscribe_Autopilot_State = "Telematics_AutopilotState";
/**
* 工控机健康状态查询应答
*/
String Subscribe_System_Status_Info = "Telematics_SystemStatusInfo";
/**
* 自车定位信息
*/
String Subscribe_Gnss_Info = "Telematics_GnssInfo";
/**
* 自车状态(底盘)，车灯等。
*/
String Subscribe_Vehicle_State = "Telematics_VehicleState";
/**
* 自车状态(底盘)，车灯等。
*/
String Subscribe_ChassisStates_State = "Telematics_ChassisStates";
/**
* DebugInfo
*/
String Subscribe_DebugInfo = "Telematics_DebugInfo";
/**
* 自动驾驶路径应答
*/
String Subscribe_Global_Path_Resp = "Telematics_GlobalPathResp";
/**
* planning决策状态, 透传
*/
String Subscribe_Planning_Action_Msg = "Telematics_PlanningActionMsg";
/**
* 是否有能力启动自动驾驶
*/
String Subscribe_Autopilot_Ability = "Telematics_AutopilotAbility";
/**
* 启动自动驾驶状态统计
*/
String Subscribe_Autopilot_Statistics = "Telematics_AutopilotStatistics";
/**
* 数据采集配置应答
*/
String Subscribe_Record_Data_Config = "Telematics_RecordDataConfig";
/**
* 启动自动驾驶调用结果数组
* enterResult[0]===true-进入自动驾驶，false-未进入自动驾驶
* enterResult[1]===具体原因
*/
String Control_Enter_Autopilot_Result = "Telematics_ControlEnterAutopilotResult";
/**
* 退出自动驾驶调用结果数组
* enterResult[0]===true-退出自动驾驶，false-未退出自动驾驶
* enterResult[1]===具体原因
*/
String Control_Out_Autopilot_Result = "Telematics_ControlOutAutopilotResult";
/**
* 向工控机发送红绿灯数据
*/
String Control_Traffic_Light_Result = "Telematics_ControlTrafficLightResult";
/**
* 向工控机发送红绿灯数据
*/
String Control_Trajectory_Download_Result = "Telematics_ControlTrajectoryDownloadResult";
/**
* 向工控机发送 录制开始Bag包请求
*/
String Control_Start_Record_Package_Result = "Telematics_ControlStartRecordPackageResult";
/**
* 向工控机发送 录制结束Bag包请求
*/
String Control_Stop_Record_Package_Result = "Telematics_ControlStartRecordPackageResult";
/**
* 向工控机发送 向左变道 请求
*/
String Control_Operator_Change_Lane_Left_Result = "Telematics_ControlOperatorChangeLaneLeftResult";
/**
* 向工控机发送 向右变道 请求
*/
String Control_Operator_Change_Lane_Right_Result = "Telematics_ControlOperatorChangeLaneRightResult";
/**
* 向工控机发送 设置加速度 请求
*/
String Control_Operator_Set_Accelerated_Speed_Result = "Telematics_ControlOperatorSetAcceleratedSpeedResult";
/**
* 向工控机发送 鸣笛 请求
*/
String Control_Operator_Set_Horn_Result = "Telematics_ControlOperatorSetHornResult";
/**
* 向工控机发送 所有节点重启命令 请求
*/
String Control_Ipc_Reboot_Result = "Telematics_ControlIpcRebootResult";
/**
* 向工控机发送 办公室调试使用，强制开启自动驾驶，将 status，pilotMode，control_pilotMode，强追设置为 1 请求
*/
String Control_Auto_Pilot_Mode_Result = "Telematics_ControlAutoPilotModeResult";
/**
* 向工控机发送 发生行程相关 请求
*/
String Set_Trip_Info_Result = "Telematics_SetTripInfoResult";
/**
* 向工控机发送 设置自动驾驶最大速度 请求
*/
String Set_Speed_Limit_Result = "Telematics_SetSpeedLimitResult";
/**
* 向工控机发送 设置工控机演示模式（美化模式）开启、关闭 请求
*/
String Set_Demo_Mode_Result = "Telematics_SetDemoModeResult";
/**
* 向工控机发送 雨天模式 开启、关闭 请求
*/
String Set_Rain_Mode_Result = "Telematics_SetRainModeResult";
/**
* 向工控机发送 绕障类功能开关 开启、关闭 请求
*/
String Set_Detouring_Mode_Result = "Telematics_SetDetouringModeResult";
/**
* 向工控机发送 主动查询工控机的各topic状态 请求
*/
String Get_Ros_Topic_Status_Query_Result = "Telematics_GetRosTopicStatusQueryResult";
/**
* 向工控机发送 获取数据采集录制模式配置列表 请求
*/
String Get_Bad_Case_Config_Result = "Telematics_GetBadCaseConfigResult";
/**
* 向工控机发送 请求工控机基础配置信息 请求
*/
String Get_Car_Config_Result = "Telematics_GetCarConfigResult";
/**
* 向工控机发送 获取全局路径 请求
*/
String Get_Global_Path_Result = "Telematics_GetGlobalPathResult";
/**
* 向工控机发送 获取协议版本 请求
*/
String Get_Protocol_Version_Result = "Telematics_GetProtocolVersionResult";
/**
* 向工控机发送 获取工控机上报数据result 请求
*/
String Get_Report_Result_Desc_Result = "Telematics_GetReportResultDescResult";
/**
* 向工控机发送 获取工控机上报数据action 请求
*/
String Get_Report_Action_Desc_Result = "Telematics_GetReportActionDescResult";
/**
* 相机标定检查视频30 1Hz
*/
String Camera_Calib_Check_Data30 = "Camera_Calib_Check_Data30";
/**
* 相机标定检查视频60 1Hz
*/
String Camera_Calib_Check_Data60 = "Camera_Calib_Check_Data60";
/**
* 相机标定检查视频120前 1Hz
*/
String Camera_Calib_Check_Data120Front = "Camera_Calib_Check_Data120Front";
/**
* 相机标定检查视频120后 1Hz
*/
String Camera_Calib_Check_Data120Back = "Camera_Calib_Check_Data120Back";
/**
* 相机标定检查视频120左 1Hz
*/
String Camera_Calib_Check_Data120Left = "Camera_Calib_Check_Data120Left";
/**
* 相机标定检查视频120右 1Hz
*/
String Camera_Calib_Check_Data120Right = "Camera_Calib_Check_Data120Right";
/**
*电源盒协议接口
*/
String Power_Supply_Unit = "Power_Supply_Unit";
}

57
core/function-impl/mogo-core-function-devatools-rviz/src/main/java/com/zhjt/mogo_core_function_devatools/rviz/widgets/ros/TopicSubscriberEventKey.java Normal file
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package com.zhjt.mogo_core_function_devatools.rviz.widgets.ros;
/**
* 通过LiveEventBus订阅的消息key
*/
public interface TopicSubscriberEventKey {
// 红绿灯
String HAD_MAP_TRAFFIC_LIGHTS_SUBSCRIBER = "HadMapTrafficLightsSubscriber";
// 自车GPS/TRK位置数据
String LOCALIZATION_GLOBAL_SUBSCRIBER = "LocalizationGlobalSubscriber";
//RTK检测 /sensor/gnss/gps_fix
String GPS_FIX_SUBSCRIBER = "GpsFixSubscriber";
// 自车底盘信息
String LOCALIZATION_ODOMETRY_SUBSCRIBER = "LocalizationOdometrySubscriber";
// 图像识别
String PERCEPTION_OBJECT_DETECTION_IMAGE_SUBSCRIBER = "PerceptionObjectDetectionImageSubscriber";
// PB格式的点云数据
String PERCEPTION_POINT_CLOUD_PB_SUBSCRIBER = "PerceptionPointCloudPbSubscriber";
// 激光雷达+图像标定融合Image数据
String SIG_IMAGE_SUBSCRIBER = "SignImageSubscriber";
// H264 视频流
String SIG_H264_IMAGE_SUBSCRIBER = "SIG_H264_IMAGE_SUBSCRIBER";
// 规划控制画的车道线、引导线
String PLANNING_CONTROL_SUBSCRIBER = "PlanningControlSubscriber";
// ROS数据格式的点云数据
String SENSOR_POINT_CLOUD2_SUBSCRIBER = "SensorPointCloud2Subscriber";
// 全局地图
String TELEMATICS_GLOBAL_DISPLAY_SUBSCRIBER = "TelematicsGlobalDisplaySubscriber";
// 底盘状态信息
String VEHICLE_STATE_SUBSCRIBER = "VehicleStateSubscriber";
// 融合感知TXT数据
String PERCEPTION_TEXT_SUBSCRIBER = "PerceptionTextSubscriber";
// 融合感知框数据
String PERCEPTION_BOX_SUBSCRIBER = "PerceptionBoxSubscriber";
// 用户交互选中到命名空间
String PERCEPTION_BOX_SUBSCRIBER_SHOW = "PERCEPTION_BOX_SUBSCRIBER_SHOW";
// Marker的分类命名空间
String PERCEPTION_BOX_NAME_SPACE_CHANGE = "PERCEPTION_BOX_NAME_SPACE_CHANGE";
// 系统日志--错误日志&错误日志
String REPORT_MSG_SUBSCRIBER = "REPORT_MSG_SUBSCRIBER";
// 公用的取消注册监听，配合传入的String参数区分具体是谁
String COMMON_UN_SUBSCRIBER = "COMMON_UN_SUBSCRIBER";
// Topic HZ
String TOPIC_HZ_SUBSCRIBER = "TOPIC_HZ_SUBSCRIBER";
// Node Health
String NODE_HEALTH_SUBSCRIBER = "NODE_HEALTH_SUBSCRIBER";
// System cmd
String SYSTEM_CMS_SUBSCRIBER = "SYSTEM_CMS_SUBSCRIBER";
}

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102
core/function-impl/mogo-core-function-devatools-rviz/src/main/res/layout/dialog_select_autopilot_line.xml Normal file
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<?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:layout_width="match_parent"
android:layout_height="match_parent"
>
<TextView
android:id="@+id/tvSelectLineTitle"
android:layout_width="wrap_content"
android:layout_height="wrap_content"
android:layout_margin="@dimen/dp_15"
android:text="请选择自动驾驶路线"
android:textColor="#FFFFFFFF"
android:textSize="@dimen/sp_18"
app:layout_constraintLeft_toLeftOf="parent"
app:layout_constraintRight_toRightOf="parent"
app:layout_constraintTop_toTopOf="parent" />
<androidx.constraintlayout.widget.ConstraintLayout
android:id="@+id/clSearchLayout"
android:layout_width="@dimen/dp_0"
android:layout_height="@dimen/dp_40"
android:layout_marginStart="@dimen/dp_30"
android:layout_marginTop="@dimen/dp_15"
android:layout_marginEnd="@dimen/dp_30"
android:focusable="true"
android:focusableInTouchMode="true"
app:layout_constraintLeft_toLeftOf="parent"
app:layout_constraintRight_toRightOf="parent"
app:layout_constraintTop_toBottomOf="@id/tvSelectLineTitle">
<ImageView
android:id="@+id/ivSearch"
android:layout_width="@dimen/dp_25"
android:layout_height="@dimen/dp_25"
android:layout_marginEnd="@dimen/dp_15"
android:src="@drawable/icon_line_search"
app:layout_constraintBottom_toBottomOf="parent"
app:layout_constraintRight_toRightOf="parent"
app:layout_constraintTop_toTopOf="parent" />
<EditText
android:id="@+id/etSearch"
android:layout_width="@dimen/dp_0"
android:layout_height="@dimen/dp_0"
android:layout_marginStart="@dimen/dp_15"
android:background="@null"
android:hint="自动驾驶路线搜索"
android:textColor="#FFFFFFFF"
android:textColorHint="#B3FFFFFF"
android:textSize="@dimen/sp_16"
app:layout_constraintBottom_toBottomOf="parent"
app:layout_constraintLeft_toLeftOf="parent"
app:layout_constraintRight_toLeftOf="@id/ivSearch"
app:layout_constraintTop_toTopOf="parent" />
</androidx.constraintlayout.widget.ConstraintLayout>
<androidx.recyclerview.widget.RecyclerView
android:id="@+id/rvLineList"
android:layout_width="@dimen/dp_0"
android:layout_height="@dimen/dp_0"
app:layout_constraintBottom_toTopOf="@id/viewHorizontalLine"
app:layout_constraintLeft_toLeftOf="@id/clSearchLayout"
app:layout_constraintRight_toRightOf="@id/clSearchLayout"
app:layout_constraintTop_toBottomOf="@id/clSearchLayout" />
<com.zhjt.mogo_core_function_devatools.rviz.ui.views.MoGoLoadingView
android:id="@+id/tvLoading"
android:layout_width="wrap_content"
android:layout_height="wrap_content"
app:layout_constraintBottom_toTopOf="@+id/viewHorizontalLine"
app:layout_constraintEnd_toEndOf="parent"
app:layout_constraintStart_toEndOf="parent"
app:layout_constraintStart_toStartOf="parent"
app:layout_constraintTop_toBottomOf="@+id/clSearchLayout" />
<View
android:id="@+id/viewHorizontalLine"
android:layout_width="match_parent"
android:layout_height="@dimen/dp_1"
android:background="#66B8BFE8"
app:layout_constraintBottom_toTopOf="@id/tvCancel"
app:layout_constraintLeft_toLeftOf="parent"
app:layout_constraintRight_toRightOf="parent" />
<TextView
android:id="@+id/tvCancel"
android:layout_width="match_parent"
android:layout_height="wrap_content"
android:gravity="center"
android:padding="@dimen/dp_15"
android:text="取消"
android:textColor="#FFFFFFFF"
android:textSize="@dimen/sp_18"
app:layout_constraintBottom_toBottomOf="parent"
app:layout_constraintLeft_toLeftOf="parent"
app:layout_constraintRight_toRightOf="parent" />
</androidx.constraintlayout.widget.ConstraintLayout>

11
core/function-impl/mogo-core-function-devatools-rviz/src/main/res/layout/item_autopilot_line.xml Normal file
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<?xml version="1.0" encoding="utf-8"?>
<TextView xmlns:android="http://schemas.android.com/apk/res/android"
android:id="@+id/tvAutopilotLine"
android:layout_width="match_parent"
android:layout_height="wrap_content"
android:textColor="@color/white"
android:textSize="@dimen/sp_16"
android:gravity="center_horizontal"
android:padding="@dimen/dp_10"
>
</TextView>

26
core/function-impl/mogo-core-function-devatools-rviz/src/main/res/layout/item_console.xml Normal file
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<?xml version="1.0" encoding="utf-8"?>
<LinearLayout xmlns:android="http://schemas.android.com/apk/res/android"
xmlns:tools="http://schemas.android.com/tools"
android:layout_width="match_parent"
android:layout_height="wrap_content"
android:orientation="vertical">
<TextView
android:id="@+id/tvConsoleContent"
android:layout_width="match_parent"
android:layout_height="wrap_content"
android:layout_marginStart="@dimen/dp_5"
android:layout_marginTop="@dimen/dp_5"
android:layout_marginEnd="@dimen/dp_5"
android:gravity="start"
android:textColor="@color/white"
android:textSize="@dimen/sp_12"
tools:text="ReportMsg" />
<View
android:layout_width="match_parent"
android:layout_height="@dimen/dp_1"
android:layout_marginStart="@dimen/dp_5"
android:layout_marginEnd="@dimen/dp_5"
android:background="@color/white" />
</LinearLayout>

218
core/function-impl/mogo-core-function-devatools-rviz/src/main/res/layout/view_check_autopilot.xml Normal file
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<?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:id="@+id/vehicleStateView"
android:layout_width="match_parent"
android:layout_height="match_parent"
android:background="@color/auto_check_bg"
>
<TextView
android:id="@+id/tvAutoDriveLineSelect"
android:layout_width="@dimen/dp_0"
android:layout_height="wrap_content"
app:layout_constraintTop_toTopOf="parent"
app:layout_constraintLeft_toLeftOf="parent"
app:layout_constraintRight_toRightOf="parent"
app:layout_constraintBottom_toTopOf="@id/ivSpeedReduce"
android:text="请选择自动驾驶路线"
android:padding="@dimen/dp_5"
android:textSize="@dimen/sp_18"
android:textColor="@color/white"
android:gravity="center_horizontal"
android:layout_margin="@dimen/dp_10"
/>
<TextView
android:id="@+id/tvSpeedTitle"
android:layout_width="wrap_content"
android:layout_height="wrap_content"
android:text="车 速 设 置:"
android:textColor="@color/white"
android:textSize="@dimen/sp_18"
app:layout_constraintStart_toStartOf="@id/tvAutoDriveLineSelect"
app:layout_constraintTop_toTopOf="@id/ivSpeedReduce"
app:layout_constraintBottom_toBottomOf="@id/ivSpeedReduce"
/>
<ImageView
android:id="@+id/ivSpeedReduce"
android:layout_width="@dimen/dp_28"
android:layout_height="@dimen/dp_35"
android:layout_marginTop="@dimen/dp_10"
android:src="@drawable/icon_speed_reduce"
app:layout_constraintStart_toEndOf="@id/tvSpeedTitle"
app:layout_constraintTop_toBottomOf="@id/tvAutoDriveLineSelect"
android:scaleType="fitXY"
android:layout_marginStart="@dimen/dp_15"
/>
<androidx.appcompat.widget.AppCompatEditText
android:id="@+id/etInputSpeed"
android:layout_width="@dimen/dp_60"
android:layout_height="@dimen/dp_35"
app:layout_constraintTop_toTopOf="@id/ivSpeedReduce"
app:layout_constraintBottom_toBottomOf="@id/ivSpeedReduce"
app:layout_constraintLeft_toRightOf="@id/ivSpeedReduce"
android:background="#1E3062"
android:textColor="#FFFFFFFF"
android:textSize="@dimen/sp_16"
android:gravity="center"
tools:ignore="SpeakableTextPresentCheck"
android:focusableInTouchMode="false"
/>
<ImageView
android:id="@+id/ivSpeedAdd"
android:layout_width="@dimen/dp_28"
android:layout_height="@dimen/dp_35"
app:layout_constraintTop_toTopOf="@id/etInputSpeed"
app:layout_constraintBottom_toBottomOf="@id/etInputSpeed"
app:layout_constraintLeft_toRightOf="@id/etInputSpeed"
android:src="@drawable/icon_speed_add"
android:scaleType="fitXY"
/>
<TextView
android:id="@+id/tvUnit"
android:layout_width="wrap_content"
android:layout_height="wrap_content"
android:text="km/h"
android:textColor="#FFFFFFFF"
android:textSize="@dimen/sp_18"
app:layout_constraintTop_toTopOf="@id/ivSpeedAdd"
app:layout_constraintBottom_toBottomOf="@id/ivSpeedAdd"
app:layout_constraintLeft_toRightOf="@id/ivSpeedAdd"
android:layout_marginStart="@dimen/dp_10" />
<androidx.appcompat.widget.AppCompatTextView
android:id="@+id/tvSureModify"
android:layout_width="wrap_content"
android:layout_height="wrap_content"
android:gravity="center"
android:text="确定"
android:textColor="@android:color/white"
android:textSize="@dimen/sp_18"
android:paddingTop="@dimen/dp_5"
android:paddingBottom="@dimen/dp_5"
android:paddingStart="@dimen/dp_20"
android:paddingEnd="@dimen/dp_20"
android:layout_marginStart="@dimen/dp_20"
app:layout_constraintTop_toTopOf="@id/ivSpeedAdd"
app:layout_constraintBottom_toBottomOf="@id/ivSpeedAdd"
app:layout_constraintLeft_toRightOf="@id/tvUnit"
/>
<TextView
android:id="@+id/tvGearP"
android:layout_width="wrap_content"
android:layout_height="wrap_content"
app:layout_constraintTop_toTopOf="@id/btnAutoPilotStatus"
app:layout_constraintBottom_toBottomOf="@id/btnAutoPilotStatus"
app:layout_constraintLeft_toLeftOf="parent"
android:text="P"
android:textAlignment="center"
android:textColor="@color/p_default_txt_color"
android:textSize="@dimen/sp_20"
android:textStyle="bold"
android:layout_marginStart="@dimen/dp_10"
/>
<TextView
android:id="@+id/tvGearR"
android:layout_width="wrap_content"
android:layout_height="wrap_content"
app:layout_constraintTop_toTopOf="@id/btnAutoPilotStatus"
app:layout_constraintBottom_toBottomOf="@id/btnAutoPilotStatus"
app:layout_constraintLeft_toRightOf="@id/tvGearP"
android:text="R"
android:textAlignment="center"
android:textColor="@color/p_default_txt_color"
android:textSize="@dimen/sp_20"
android:textStyle="bold"
android:layout_marginStart="@dimen/dp_5"
/>
<TextView
android:id="@+id/tvGearN"
android:layout_width="wrap_content"
android:layout_height="wrap_content"
app:layout_constraintTop_toTopOf="@id/btnAutoPilotStatus"
app:layout_constraintBottom_toBottomOf="@id/btnAutoPilotStatus"
app:layout_constraintLeft_toRightOf="@id/tvGearR"
android:text="N"
android:textAlignment="center"
android:textColor="@color/p_default_txt_color"
android:textSize="@dimen/sp_20"
android:textStyle="bold"
android:layout_marginStart="@dimen/dp_5"
/>
<TextView
android:id="@+id/tvGearD"
android:layout_width="wrap_content"
android:layout_height="wrap_content"
app:layout_constraintTop_toTopOf="@id/btnAutoPilotStatus"
app:layout_constraintBottom_toBottomOf="@id/btnAutoPilotStatus"
app:layout_constraintLeft_toRightOf="@id/tvGearN"
android:text="D"
android:textAlignment="center"
android:textColor="@color/p_default_txt_color"
android:textSize="@dimen/sp_20"
android:textStyle="bold"
android:layout_marginStart="@dimen/dp_5"
/>
<Button
android:id="@+id/btnAutoPilotStatus"
android:layout_width="@dimen/dp_120"
android:layout_height="@dimen/dp_35"
android:textColor="@color/white"
app:layout_constraintLeft_toRightOf="@id/tvGearD"
app:layout_constraintRight_toLeftOf="@id/btnControlAutoPilot"
app:layout_constraintTop_toTopOf="@id/btnControlAutoPilot"
app:layout_constraintBottom_toBottomOf="@id/btnControlAutoPilot"
android:layout_marginStart="@dimen/dp_15"
android:layout_marginEnd="@dimen/dp_15"
android:textSize="@dimen/sp_18"
android:text="自驾状态"
/>
<ToggleButton
android:id="@+id/btnControlAutoPilot"
android:layout_width="@dimen/dp_0"
android:layout_height="@dimen/dp_35"
android:layout_marginTop="@dimen/dp_10"
android:layout_marginEnd="@dimen/dp_10"
android:enabled="false"
android:paddingStart="@dimen/dp_20"
android:paddingEnd="@dimen/dp_20"
android:textColor="@color/white"
android:textOff="启动自动驾驶"
android:textOn="退出自动驾驶"
android:textSize="@dimen/sp_18"
app:layout_constraintTop_toBottomOf="@+id/ivSpeedReduce"
app:layout_constraintRight_toRightOf="parent"
app:layout_constraintLeft_toRightOf="@id/btnAutoPilotStatus"
/>
<!--控制台 RecyclerVie=-->
<androidx.recyclerview.widget.RecyclerView
android:id="@+id/rvReportConsole"
android:layout_width="match_parent"
android:layout_height="@dimen/dp_0"
android:layout_marginTop="@dimen/dp_10"
android:background="@color/bottom_container_bg"
android:orientation="vertical"
app:layoutManager="androidx.recyclerview.widget.LinearLayoutManager"
app:layout_constraintEnd_toEndOf="parent"
app:layout_constraintStart_toStartOf="parent"
app:layout_constraintTop_toBottomOf="@id/btnControlAutoPilot"
app:layout_constraintBottom_toBottomOf="parent"
/>
</androidx.constraintlayout.widget.ConstraintLayout>

4
core/function-impl/mogo-core-function-devatools-rviz/src/main/res/values/color.xml
View File

@@ -17,4 +17,8 @@
<color name="rviz_fmd_fm_fault_level2">#D4AF37</color>
<color name="rviz_fmd_fm_fault_level3">#fc8f28</color>
<color name="rviz_fmd_fm_fault_level4">#bb0000</color>
<color name="auto_check_bg">#F2384F70</color>
<color name="p_default_txt_color">#FF6E8EC9</color>
</resources>