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[pb12][清扫车指标数据]添加清扫车指标数据,以及移除老底盘回调，添加int字段用于判断新老底盘来源

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This commit is contained in:
xinfengkun
2023-01-10 14:44:35 +08:00
parent 084efad76a
commit c4876e612f
16 changed files with 168 additions and 56 deletions
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20
app_ipc_monitoring/src/main/java/com/zhidao/adas/client/DataDistribution.java
View File

@@ -20,10 +20,10 @@ import com.zhidao.adas.client.bean.PlanningObjects;
import com.zhidao.adas.client.bean.PredictionObstacleTrajectory;
import com.zhidao.adas.client.bean.RecordDataConfig;
import com.zhidao.adas.client.bean.RecordPanel;
import com.zhidao.adas.client.bean.RoboSweeperTaskIndex;
import com.zhidao.adas.client.bean.StatusInfo;
import com.zhidao.adas.client.bean.TrackedObjects;
import com.zhidao.adas.client.bean.Trajectory;
import com.zhidao.adas.client.bean.VehicleState;
import com.zhidao.adas.client.bean.Warn;
import com.zhidao.adas.client.log.LogSave;
import com.zhidao.adas.client.utils.Constants;
@@ -104,7 +104,6 @@ public class DataDistribution {
public final List<String> listTrajectory = new ArrayList<>();
public final List<String> listTrackedObjects = new ArrayList<>();
public final List<String> listGnssInfo = new ArrayList<>();
public final List<String> listVehicleState = new ArrayList<>();
public final List<String> listAutopilotState = new ArrayList<>();
public final List<String> listMogoReportMessage = new ArrayList<>();
public final List<String> listPerceptionTrafficLight = new ArrayList<>();
@@ -121,6 +120,7 @@ public class DataDistribution {
public final List<String> listPlanningDecisionState = new ArrayList<>();
public final List<String> listChassisStates = new ArrayList<>();
public final List<String> listFSMFunctionStates = new ArrayList<>();
public final List<String> listRoboSweeperTaskIndex = new ArrayList<>();
public String cutDown(String str) {
if (isCutDown && str.length() > 650) {
@@ -180,14 +180,6 @@ public class DataDistribution {
if (listener != null && Constants.TITLE.RECEIVE_GNSS_INFO.equals(listener.first)) {
listener.second.onRefresh();
}
} else if (data instanceof VehicleState) {
listVehicleState.add(0, time + str);
if (listVehicleState.size() > LIST_SIZE) {
listVehicleState.remove(listVehicleState.size() - 1);
}
if (listener != null && Constants.TITLE.RECEIVE_VEHICLE_STATE.equals(listener.first)) {
listener.second.onRefresh();
}
} else if (data instanceof ChassisStates) {
listChassisStates.add(0, time + str);
if (listChassisStates.size() > LIST_SIZE) {
@@ -282,6 +274,14 @@ public class DataDistribution {
if (listener != null && Constants.TITLE.RECEIVE_RECORD_DATA_CONFIG_RESP.equals(listener.first)) {
listener.second.onRefresh();
}
} else if (data instanceof RoboSweeperTaskIndex) {
listRoboSweeperTaskIndex.add(0, time + str);
if (listRoboSweeperTaskIndex.size() > LIST_SIZE) {
listRoboSweeperTaskIndex.remove(listRoboSweeperTaskIndex.size() - 1);
}
if (listener != null && Constants.TITLE.RECEIVE_SWEEPER_TASK_INDEX_DATA.equals(listener.first)) {
listener.second.onRefresh();
}
} else if (data instanceof FSMFunctionStates) {
listFSMFunctionStates.add(0, time + str);
if (listFSMFunctionStates.size() > LIST_SIZE) {

10
app_ipc_monitoring/src/main/java/com/zhidao/adas/client/bean/VehicleState.java → app_ipc_monitoring/src/main/java/com/zhidao/adas/client/bean/RoboSweeperTaskIndex.java
View File

@@ -4,19 +4,21 @@ import com.google.protobuf.TextFormat;
import java.text.SimpleDateFormat;
import chassis.VehicleStateOuterClass;
import mogo.telematics.pad.MessagePad;
import planning.RoboSweeperTaskIndexOuterClass;
public class VehicleState extends BaseInfo {
public final VehicleStateOuterClass.VehicleState bean;
public class RoboSweeperTaskIndex extends BaseInfo {
public final RoboSweeperTaskIndexOuterClass.RoboSweeperTaskIndex bean;
public VehicleState(MessagePad.Header header, VehicleStateOuterClass.VehicleState bean, SimpleDateFormat sdf) {
public RoboSweeperTaskIndex(MessagePad.Header header, RoboSweeperTaskIndexOuterClass.RoboSweeperTaskIndex bean, SimpleDateFormat sdf) {
super("接收", bean.getSerializedSize(), header, sdf);
this.bean = bean;
}
@Override
public String toString() {
return super.toString() + TextFormat.printer().escapingNonAscii(false).printToString(bean);
}
}

21
app_ipc_monitoring/src/main/java/com/zhidao/adas/client/ui/InfoFragment.java
View File

@@ -2,6 +2,7 @@ package com.zhidao.adas.client.ui;
import android.os.Bundle;
import android.os.Message;
import android.text.TextUtils;
import android.view.Gravity;
import android.view.LayoutInflater;
import android.view.View;
@@ -30,6 +31,7 @@ public class InfoFragment extends BaseFragment {
private DataShowAdapter adapter;
private TextView tvTitle;
private String subTitle;
public InfoFragment() {
}
@@ -55,11 +57,24 @@ public class InfoFragment extends BaseFragment {
private View layout_update;
public void setTitle(String title) {
if (tvTitle != null) {
tvTitle.setText(title);
} else {
subTitle = title;
}
}
private void initView(View view) {
tvTitle = view.findViewById(R.id.tv_title);
RecyclerView rvInfo = view.findViewById(R.id.rv_info);
layout_update = view.findViewById(R.id.layout_update);
tvTitle.setText(title);
if (TextUtils.isEmpty(subTitle)) {
tvTitle.setText(title);
} else {
tvTitle.setText(subTitle);
subTitle = null;
}
tvTitle.setGravity(Gravity.CENTER);
//创建默认的线性LayoutManager 横向的GridLayoutManager
MyLinearLayoutManager linearLayoutManager = new MyLinearLayoutManager(this.getContext());
@@ -103,8 +118,6 @@ public class InfoFragment extends BaseFragment {
private void setData() {
if (Constants.TITLE.RECEIVE_GNSS_INFO.equals(title)) {
adapter.setData(DataDistribution.getInstance().listGnssInfo);
} else if (Constants.TITLE.RECEIVE_VEHICLE_STATE.equals(title)) {
adapter.setData(DataDistribution.getInstance().listVehicleState);
} else if (Constants.TITLE.RECEIVE_CHASSIS_STATES.equals(title)) {
adapter.setData(DataDistribution.getInstance().listChassisStates);
} else if (Constants.TITLE.RECEIVE_TRACKED_OBJECTS.equals(title)) {
@@ -139,6 +152,8 @@ public class InfoFragment extends BaseFragment {
adapter.setData(DataDistribution.getInstance().listPlanningDecisionState);
} else if (Constants.TITLE.RECEIVE_FUNCTION_STATES.equals(title)) {
adapter.setData(DataDistribution.getInstance().listFSMFunctionStates);
} else if (Constants.TITLE.RECEIVE_SWEEPER_TASK_INDEX_DATA.equals(title)) {
adapter.setData(DataDistribution.getInstance().listRoboSweeperTaskIndex);
} else {
adapter.setData(DataDistribution.getInstance().listErrorData);
}

29
app_ipc_monitoring/src/main/java/com/zhidao/adas/client/ui/MainActivity.java
View File

@@ -73,11 +73,11 @@ import com.zhidao.adas.client.bean.PlanningObjects;
import com.zhidao.adas.client.bean.PredictionObstacleTrajectory;
import com.zhidao.adas.client.bean.RecordDataConfig;
import com.zhidao.adas.client.bean.RecordPanel;
import com.zhidao.adas.client.bean.RoboSweeperTaskIndex;
import com.zhidao.adas.client.bean.SpecialVehicleBean;
import com.zhidao.adas.client.bean.StatusInfo;
import com.zhidao.adas.client.bean.TrackedObjects;
import com.zhidao.adas.client.bean.Trajectory;
import com.zhidao.adas.client.bean.VehicleState;
import com.zhidao.adas.client.bean.Warn;
import com.zhidao.adas.client.log.ConnectStatusSave;
import com.zhidao.adas.client.log.LogSave;
@@ -116,12 +116,12 @@ import java.util.concurrent.ScheduledExecutorService;
import chassis.Chassis;
import chassis.ChassisStatesOuterClass;
import chassis.VehicleStateOuterClass;
import function_state_management.FunctionStates;
import io.netty.channel.Channel;
import mogo.telematics.pad.MessagePad;
import mogo_msg.MogoReportMsg;
import perception.TrafficLightOuterClass;
import planning.RoboSweeperTaskIndexOuterClass;
import prediction.Prediction;
import record_cache.RecordPanelOuterClass;
import system_master.SystemStatusInfo;
@@ -632,7 +632,6 @@ public class MainActivity extends BaseActivity implements OnAdasListener, OnAdas
titleFragmentData.add(Constants.TITLE.RECEIVE_GNSS_INFO);
titleFragmentData.add(Constants.TITLE.RECEIVE_TRAJECTORY);
titleFragmentData.add(Constants.TITLE.RECEIVE_TRACKED_OBJECTS);
titleFragmentData.add(Constants.TITLE.RECEIVE_VEHICLE_STATE);
titleFragmentData.add(Constants.TITLE.RECEIVE_CHASSIS_STATES);
titleFragmentData.add(Constants.TITLE.RECEIVE_AUTOPILOT_STATE);
titleFragmentData.add(Constants.TITLE.RECEIVE_FUNCTION_STATES);
@@ -648,6 +647,7 @@ public class MainActivity extends BaseActivity implements OnAdasListener, OnAdas
titleFragmentData.add(Constants.TITLE.RECEIVE_GLOBAL_PATH_RESP);
titleFragmentData.add(Constants.TITLE.RECEIVE_ARRIVAL_NOTIFICATION);
titleFragmentData.add(Constants.TITLE.RECEIVE_STATUS_QUERY_RESP);
titleFragmentData.add(Constants.TITLE.RECEIVE_SWEEPER_TASK_INDEX_DATA);
titleFragmentData.add(Constants.TITLE.RECEIVE_WARN);
titleFragmentData.add(Constants.TITLE.RECEIVE_ERROR);
@@ -895,11 +895,6 @@ public class MainActivity extends BaseActivity implements OnAdasListener, OnAdas
DataDistribution.getInstance().addData(base);
}
@Override
public void onVehicleState(MessagePad.Header header, VehicleStateOuterClass.VehicleState vehicleState) {
VehicleState base = new VehicleState(header, vehicleState, sdf);
DataDistribution.getInstance().addData(base);
}
@Override
public void onChassisStates(MessagePad.Header header, ChassisStatesOuterClass.ChassisStates chassisStates) {
@@ -1034,6 +1029,12 @@ public class MainActivity extends BaseActivity implements OnAdasListener, OnAdas
DataDistribution.getInstance().addData(base);
}
@Override
public void onSweeperTaskIndexData(MessagePad.Header header, RoboSweeperTaskIndexOuterClass.RoboSweeperTaskIndex roboSweeperTaskIndex) {
RoboSweeperTaskIndex base = new RoboSweeperTaskIndex(header, roboSweeperTaskIndex, sdf);
DataDistribution.getInstance().addData(base);
}
private void initAdas() {
CupidLogUtils.e(TAG, "--->初始化");
@@ -1224,6 +1225,18 @@ public class MainActivity extends BaseActivity implements OnAdasListener, OnAdas
}
if (Constants.TITLE.RECEIVE_CAR_CONFIG_RESP.equals(title)) {
AdasManager.getInstance().sendCarConfigReq();
} else if (Constants.TITLE.RECEIVE_CHASSIS_STATES.equals(title)) {
InfoFragment fragment = (InfoFragment) to;
int type = AdasManager.getInstance().getUsedChassisType();
String source;
if (type == com.zhidao.support.adas.high.common.Constants.CHASSIS_TYPE.NEW_CHASSIS) {
source = "ChassisStates";
} else if (type == com.zhidao.support.adas.high.common.Constants.CHASSIS_TYPE.OLD_CHASSIS) {
source = "VehicleState";
} else {
source = "Unknown";
}
fragment.setTitle(Constants.TITLE.RECEIVE_CHASSIS_STATES + "\t来源：" + source);
}
fromFragment = to;
}

2
app_ipc_monitoring/src/main/java/com/zhidao/adas/client/utils/Constants.java
View File

@@ -150,7 +150,6 @@ public class Constants {
String RECEIVE_TRAJECTORY = MessageType.TYPE_RECEIVE_TRAJECTORY.desc;
String RECEIVE_TRACKED_OBJECTS = MessageType.TYPE_RECEIVE_TRACKED_OBJECTS.desc;
String RECEIVE_GNSS_INFO = MessageType.TYPE_RECEIVE_GNSS_INFO.desc;
String RECEIVE_VEHICLE_STATE = MessageType.TYPE_RECEIVE_VEHICLE_STATE.desc;
String RECEIVE_CHASSIS_STATES = MessageType.TYPE_RECEIVE_CHASSIS_STATES.desc;
String RECEIVE_AUTOPILOT_STATE = MessageType.TYPE_RECEIVE_AUTOPILOT_STATE.desc;
String RECEIVE_FUNCTION_STATES = MessageType.TYPE_RECEIVE_FUNCTION_STATES.desc;
@@ -160,6 +159,7 @@ public class Constants {
String RECEIVE_POINT_CLOUD_ORIGINAL = MessageType.TYPE_RECEIVE_POINT_CLOUD.desc;
String RECEIVE_PLANNING_OBJECTS = MessageType.TYPE_RECEIVE_PLANNING_OBJECTS.desc;
String RECEIVE_PLANNING_DECISION_STATE = MessageType.TYPE_RECEIVE_PLANNING_DECISION_STATE.desc;
String RECEIVE_SWEEPER_TASK_INDEX_DATA = MessageType.TYPE_RECEIVE_SWEEPER_TASK_INDEX_DATA.desc;
// String RECEIVE_BASIC_INFO_REQ = "自动驾驶设备基础信息请求";
String TITLE_CAR_CONFIG_RESP = "工控机版本\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t配置";