[清扫车]贴边数据回调和电量回调

2023-01-11 11:50:19 +08:00
parent c9450f6367
commit c656ceea58
10 changed files with 143 additions and 17 deletions
--- a/OCH/mogo-och-sweeper/src/main/java/com/mogo/och/sweeper/ui/SweeperOperatePanelView.java
+++ b/OCH/mogo-och-sweeper/src/main/java/com/mogo/och/sweeper/ui/SweeperOperatePanelView.java
@@ -42,6 +42,7 @@ import java.util.List;
 import chassis.Chassis;
 import chassis.ChassisStatesOuterClass;
 import chassis.SpecialVehicleTaskCmdOuterClass;
+import planning.RoboSweeperTaskIndexOuterClass;

 /**
 * 清扫车操作面板View
@@ -758,6 +759,11 @@ public class SweeperOperatePanelView extends LinearLayout {
     * 底盘数据透传listener
     */
    private final IMoGoAutopilotVehicleStateListener mIMoGoAutopilotVehicleStateListener = new IMoGoAutopilotVehicleStateListener() {
+        @Override
+        public void onBMSSystemStates(@NonNull ChassisStatesOuterClass.BMSSystemStates bmsSystemStates) {
+
+        }
+
        @Override
        public void onAutopilotDataException(long timestamp) {
        }
@@ -813,6 +819,11 @@ public class SweeperOperatePanelView extends LinearLayout {
                }
            }
        }
+
+        @Override
+        public void onSweeperFutianTaskIndexData(@NonNull RoboSweeperTaskIndexOuterClass.RoboSweeperTaskIndex roboSweeperTaskIndex) {
+
+        }
    };

    @Override
--- a/OCH/mogo-och-sweeper/src/main/java/com/mogo/och/sweeper/view/SweeperTrafficDataView.java
+++ b/OCH/mogo-och-sweeper/src/main/java/com/mogo/och/sweeper/view/SweeperTrafficDataView.java
@@ -21,7 +21,9 @@ import androidx.annotation.NonNull;
 import androidx.annotation.Nullable;
 import androidx.constraintlayout.widget.ConstraintLayout;
 import chassis.Chassis;
+import chassis.ChassisStatesOuterClass;
 import chassis.VehicleStateOuterClass;
+import planning.RoboSweeperTaskIndexOuterClass;

 public class SweeperTrafficDataView extends ConstraintLayout {
    private static final String TAG = "SweeperTrafficDataView";
@@ -71,9 +73,21 @@ public class SweeperTrafficDataView extends ConstraintLayout {
    }
    private final IMoGoAutopilotVehicleStateListener mIMoGoAutopilotVehicleStateListener = new IMoGoAutopilotVehicleStateListener() {
        @Override
-        public void onSweeperFutianCleanSystemState(@NonNull VehicleStateOuterClass.SweeperFuTianCleanSystemState cleanSystemState) {
+        public void onSweeperFutianTaskIndexData(@NonNull RoboSweeperTaskIndexOuterClass.RoboSweeperTaskIndex roboSweeperTaskIndex) {
+
        }

+        @Override
+        public void onSweeperFutianCleanSystemState(@NonNull ChassisStatesOuterClass.SweeperFuTianTaskSystemStates cleanSystemState) {
+
+        }
+
+        @Override
+        public void onBMSSystemStates(@NonNull ChassisStatesOuterClass.BMSSystemStates bmsSystemStates) {
+
+        }
+
+
        /**
         * 车辆转向灯
         * @param lightSwitch
--- a/core/function-impl/mogo-core-function-autopilot/src/main/java/com/mogo/eagle/core/function/autopilot/adapter/MoGoAdasListenerImpl.kt
+++ b/core/function-impl/mogo-core-function-autopilot/src/main/java/com/mogo/eagle/core/function/autopilot/adapter/MoGoAdasListenerImpl.kt
@@ -190,6 +190,10 @@ class MoGoAdasListenerImpl : OnAdasListener {
                //刹车
                CallerAutopilotVehicleStateListenerManager.invokeAutopilotBrake(it.brakePedalResponsePosition)
            }
+            chassisStates.bmsSystemStates?.let {
+                //电池管理系统
+                CallerAutopilotVehicleStateListenerManager.invokeBMSSystemStates(it)
+            }
            chassisStates.taskSystemStates?.let { taskSystemStates ->
                taskSystemStates.sweeperFutianTaskSystemStates?.let {
                    //清扫车（福田）清扫控制系统状态
@@ -478,7 +482,10 @@ class MoGoAdasListenerImpl : OnAdasListener {
     * @param roboSweeperTaskIndex 数据
     */
    override fun onSweeperTaskIndexData(header: MessagePad.Header?, roboSweeperTaskIndex: RoboSweeperTaskIndexOuterClass.RoboSweeperTaskIndex?) {
-
+        roboSweeperTaskIndex?.let {
+            //清扫车（福田）清扫控制系统状态
+            CallerAutopilotVehicleStateListenerManager.invokeSweeperFutianCleanTaskIndexData(it)
+        }
    }


--- a/core/function-impl/mogo-core-function-autopilot/src/main/java/com/mogo/eagle/core/function/autopilot/adapter/MoGoHandAdasMsgManager.java
+++ b/core/function-impl/mogo-core-function-autopilot/src/main/java/com/mogo/eagle/core/function/autopilot/adapter/MoGoHandAdasMsgManager.java
@@ -30,6 +30,7 @@ import org.jetbrains.annotations.NotNull;
 import chassis.Chassis;
 import chassis.ChassisStatesOuterClass;
 import mogo.telematics.pad.MessagePad;
+import planning.RoboSweeperTaskIndexOuterClass;

 public class MoGoHandAdasMsgManager implements
        IMoGoAutopilotVehicleStateListener,
@@ -189,5 +190,14 @@ public class MoGoHandAdasMsgManager implements
    @Override
    public void onSweeperFutianCleanSystemState(ChassisStatesOuterClass.SweeperFuTianTaskSystemStates cleanSystemState) {

+    }
+    @Override
+    public void onSweeperFutianTaskIndexData(@NonNull RoboSweeperTaskIndexOuterClass.RoboSweeperTaskIndex roboSweeperTaskIndex) {
+
+    }
+
+    @Override
+    public void onBMSSystemStates(@NonNull ChassisStatesOuterClass.BMSSystemStates bmsSystemStates) {
+
    }
 }
--- a/core/function-impl/mogo-core-function-devatools/src/main/java/com/zhjt/mogo_core_function_devatools/status/flow/can/CanImpl.kt
+++ b/core/function-impl/mogo-core-function-devatools/src/main/java/com/zhjt/mogo_core_function_devatools/status/flow/can/CanImpl.kt
@@ -1,19 +1,26 @@
 package com.zhjt.mogo_core_function_devatools.status.flow.can

-import android.content.*
+import android.content.Context
 import android.util.Log
 import chassis.Chassis.GearPosition
 import chassis.Chassis.LightSwitch
 import chassis.ChassisStatesOuterClass
-import com.mogo.eagle.core.function.api.autopilot.*
-import com.mogo.eagle.core.function.call.autopilot.*
-import com.mogo.eagle.core.utilcode.kotlin.*
-import com.zhjt.mogo_core_function_devatools.status.flow.IFlow
+import com.mogo.eagle.core.function.api.autopilot.IMoGoAutopilotStatusListener
+import com.mogo.eagle.core.function.api.autopilot.IMoGoAutopilotVehicleStateListener
+import com.mogo.eagle.core.function.call.autopilot.CallerAutoPilotManager
+import com.mogo.eagle.core.function.call.autopilot.CallerAutoPilotStatusListenerManager
+import com.mogo.eagle.core.function.call.autopilot.CallerAutopilotVehicleStateListenerManager
+import com.mogo.eagle.core.utilcode.kotlin.safeCancel
 import com.zhjt.mogo_core_function_devatools.status.entity.CanStatus
-import kotlinx.coroutines.*
+import com.zhjt.mogo_core_function_devatools.status.flow.IFlow
+import kotlinx.coroutines.Dispatchers
+import kotlinx.coroutines.Job
+import kotlinx.coroutines.delay
+import kotlinx.coroutines.launch
 import mogo_msg.MogoReportMsg.MogoReportMessage
+import planning.RoboSweeperTaskIndexOuterClass
 import system_master.SystemStatusInfo.StatusInfo
-import java.util.concurrent.atomic.*
+import java.util.concurrent.atomic.AtomicInteger

 internal class CanImpl(ctx: Context): IFlow<CanStatus>(ctx), IMoGoAutopilotVehicleStateListener, IMoGoAutopilotStatusListener {

@@ -82,11 +89,17 @@ internal class CanImpl(ctx: Context): IFlow<CanStatus>(ctx), IMoGoAutopilotVehic
        timeOutCheck()
    }

+    override fun onBMSSystemStates(bmsSystemStates: ChassisStatesOuterClass.BMSSystemStates) {
+
+    }
+
    override fun onSweeperFutianCleanSystemState(cleanSystemState: ChassisStatesOuterClass.SweeperFuTianTaskSystemStates) {
        send(CanStatus(isCanEnabled()))
        timeOutCheck()
    }
+    override fun onSweeperFutianTaskIndexData(roboSweeperTaskIndex: RoboSweeperTaskIndexOuterClass.RoboSweeperTaskIndex) {

+    }
    override fun onAutopilotGuardian(guardianInfo: MogoReportMessage?) {
        super.onAutopilotGuardian(guardianInfo)
        send(CanStatus(isCanEnabled()))
--- a/core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/hmi/ui/setting/DebugSettingView.kt
+++ b/core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/hmi/ui/setting/DebugSettingView.kt
@@ -15,7 +15,7 @@ import androidx.annotation.RequiresApi
 import androidx.appcompat.widget.PopupMenu
 import androidx.constraintlayout.widget.ConstraintLayout
 import androidx.core.content.ContextCompat
-import androidx.core.view.*
+import androidx.core.view.MenuCompat
 import androidx.recyclerview.widget.LinearLayoutManager
 import chassis.Chassis
 import chassis.ChassisStatesOuterClass
@@ -24,7 +24,7 @@ import com.mogo.cloud.passport.MoGoAiCloudClientConfig
 import com.mogo.commons.debug.DebugConfig
 import com.mogo.commons.module.status.MogoStatusManager
 import com.mogo.eagle.core.data.app.AppConfigInfo
-import com.mogo.eagle.core.data.autopilot.*
+import com.mogo.eagle.core.data.autopilot.AutopilotStatusInfo
 import com.mogo.eagle.core.data.config.FunctionBuildConfig
 import com.mogo.eagle.core.data.config.HmiBuildConfig
 import com.mogo.eagle.core.data.constants.MoGoConfig
@@ -47,6 +47,7 @@ import com.mogo.eagle.core.function.api.devatools.IMoGoDevaToolsFuncConfigListen
 import com.mogo.eagle.core.function.api.devatools.IMoGoDevaToolsListener
 import com.mogo.eagle.core.function.api.map.listener.IMoGoMapLocationListener
 import com.mogo.eagle.core.function.api.obu.IMoGoObuStatusListener
+import com.mogo.eagle.core.function.business.routeoverlay.RouteStrategy
 import com.mogo.eagle.core.function.call.autopilot.*
 import com.mogo.eagle.core.function.call.devatools.CallerDevaToolsFuncConfigListenerManager
 import com.mogo.eagle.core.function.call.devatools.CallerDevaToolsListenerManager
@@ -59,6 +60,7 @@ import com.mogo.eagle.core.function.call.map.CallerSmpManager
 import com.mogo.eagle.core.function.call.obu.CallerOBUManager
 import com.mogo.eagle.core.function.call.obu.CallerObuListenerManager
 import com.mogo.eagle.core.function.call.setting.CallerMoGoUiSettingManager
+import com.mogo.eagle.core.function.call.telematic.CallerTelematicManager
 import com.mogo.eagle.core.function.hmi.R
 import com.mogo.eagle.core.function.hmi.ui.logcatch.ILogViewListener
 import com.mogo.eagle.core.function.hmi.ui.logcatch.LogInfoView
@@ -76,17 +78,32 @@ import com.mogo.eagle.core.utilcode.util.*
 import com.mogo.map.MogoMapUIController
 import com.mogo.map.uicontroller.VisualAngleMode
 import com.mogo.map.uicontroller.VisualAngleMode.*
-import com.mogo.eagle.core.function.business.routeoverlay.*
-import com.mogo.eagle.core.function.call.telematic.CallerTelematicManager
 import com.zhidao.easysocket.utils.L
 import com.zhidao.support.adas.high.other.permission.BackgrounderPermission
-import com.zhjt.mogo_core_function_devatools.env.*
+import com.zhjt.mogo_core_function_devatools.env.EnvChangeManager
 import kotlinx.android.synthetic.main.view_debug_setting.view.*
-import kotlinx.android.synthetic.main.view_debug_setting.view.tbRouteDynamicEffect
 import mogo.telematics.pad.MessagePad
 import mogo_msg.MogoReportMsg
+import planning.RoboSweeperTaskIndexOuterClass
 import java.text.SimpleDateFormat
 import java.util.*
+import kotlin.collections.ArrayList
+import kotlin.collections.List
+import kotlin.collections.Map
+import kotlin.collections.MutableList
+import kotlin.collections.MutableMap
+import kotlin.collections.arrayListOf
+import kotlin.collections.component1
+import kotlin.collections.component2
+import kotlin.collections.component3
+import kotlin.collections.component4
+import kotlin.collections.first
+import kotlin.collections.forEach
+import kotlin.collections.iterator
+import kotlin.collections.mutableMapOf
+import kotlin.collections.removeLast
+import kotlin.collections.set
+import kotlin.collections.sortByDescending
 import kotlin.math.abs


@@ -2169,13 +2186,19 @@ class DebugSettingView @JvmOverloads constructor(

    }

+    override fun onBMSSystemStates(bmsSystemStates: ChassisStatesOuterClass.BMSSystemStates) {
+
+    }
+
    /**
     * 清扫车（福田）清扫控制系统状态
     */
    override fun onSweeperFutianCleanSystemState(cleanSystemState: ChassisStatesOuterClass.SweeperFuTianTaskSystemStates) {

    }
+    override fun onSweeperFutianTaskIndexData(roboSweeperTaskIndex: RoboSweeperTaskIndexOuterClass.RoboSweeperTaskIndex) {

+    }
    /**
     * 吐司提示
     */
--- a/core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/hmi/ui/widget/SteeringWheelView.java
+++ b/core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/hmi/ui/widget/SteeringWheelView.java
@@ -30,6 +30,7 @@ import chassis.Chassis;
 import chassis.ChassisStatesOuterClass;
 import mogo.telematics.pad.MessagePad;
 import mogo_msg.MogoReportMsg;
+import planning.RoboSweeperTaskIndexOuterClass;
 import system_master.SystemStatusInfo;

 import static com.mogo.eagle.core.utilcode.mogo.logger.scene.SceneConstant.M_BUS_P;
@@ -165,10 +166,19 @@ public class SteeringWheelView extends ConstraintLayout {

    private final IMoGoAutopilotVehicleStateListener mIMoGoAutopilotVehicleStateListener = new IMoGoAutopilotVehicleStateListener() {

+        @Override
+        public void onBMSSystemStates(@NonNull ChassisStatesOuterClass.BMSSystemStates bmsSystemStates) {
+
+        }
+
        @Override
        public void onSweeperFutianCleanSystemState(@NonNull ChassisStatesOuterClass.SweeperFuTianTaskSystemStates cleanSystemState) {
        }

+        @Override
+        public void onSweeperFutianTaskIndexData(@NonNull RoboSweeperTaskIndexOuterClass.RoboSweeperTaskIndex roboSweeperTaskIndex) {
+
+        }
        /**
         * @param brake 刹车
         */
--- a/core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/hmi/ui/widget/TrafficDataView.java
+++ b/core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/hmi/ui/widget/TrafficDataView.java
@@ -27,6 +27,7 @@ import org.jetbrains.annotations.NotNull;

 import chassis.Chassis;
 import chassis.ChassisStatesOuterClass;
+import planning.RoboSweeperTaskIndexOuterClass;

 /**
 * @author Jing
@@ -123,9 +124,17 @@ public class TrafficDataView extends ConstraintLayout {

    private final IMoGoAutopilotVehicleStateListener mIMoGoAutopilotVehicleStateListener = new IMoGoAutopilotVehicleStateListener() {
        @Override
-        public void onSweeperFutianCleanSystemState(@NonNull ChassisStatesOuterClass.SweeperFuTianTaskSystemStates cleanSystemState) {
+        public void onBMSSystemStates(@NonNull ChassisStatesOuterClass.BMSSystemStates bmsSystemStates) {
+
        }

+        @Override
+        public void onSweeperFutianCleanSystemState(@NonNull ChassisStatesOuterClass.SweeperFuTianTaskSystemStates cleanSystemState) {
+        }
+        @Override
+        public void onSweeperFutianTaskIndexData(@NonNull RoboSweeperTaskIndexOuterClass.RoboSweeperTaskIndex roboSweeperTaskIndex) {
+
+        }
        /**
         * 车辆转向灯
         * @param lightSwitch
--- a/core/mogo-core-function-api/src/main/java/com/mogo/eagle/core/function/api/autopilot/IMoGoAutopilotVehicleStateListener.kt
+++ b/core/mogo-core-function-api/src/main/java/com/mogo/eagle/core/function/api/autopilot/IMoGoAutopilotVehicleStateListener.kt
@@ -2,6 +2,7 @@ package com.mogo.eagle.core.function.api.autopilot

 import chassis.Chassis
 import chassis.ChassisStatesOuterClass
+import planning.RoboSweeperTaskIndexOuterClass

 /**
 * 车辆底盘 数据 回调监听
@@ -53,8 +54,18 @@ interface IMoGoAutopilotVehicleStateListener {
     */
    fun onAutopilotBrake(brake: Float)

+    /**
+     * 电池管理状态
+     */
+    fun onBMSSystemStates(bmsSystemStates: ChassisStatesOuterClass.BMSSystemStates)
+
    /**
     * 清扫车（福田）清扫控制系统状态
     */
    fun onSweeperFutianCleanSystemState(cleanSystemState: ChassisStatesOuterClass.SweeperFuTianTaskSystemStates)
+
+    /**
+     * 清扫车（福田）指标数据 贴边数据
+     */
+    fun onSweeperFutianTaskIndexData(roboSweeperTaskIndex: RoboSweeperTaskIndexOuterClass.RoboSweeperTaskIndex)
 }
--- a/core/mogo-core-function-call/src/main/java/com/mogo/eagle/core/function/call/autopilot/CallerAutopilotVehicleStateListenerManager.kt
+++ b/core/mogo-core-function-call/src/main/java/com/mogo/eagle/core/function/call/autopilot/CallerAutopilotVehicleStateListenerManager.kt
@@ -5,6 +5,7 @@ import chassis.Chassis
 import chassis.ChassisStatesOuterClass
 import com.mogo.eagle.core.function.api.autopilot.IMoGoAutopilotVehicleStateListener
 import com.mogo.eagle.core.function.call.base.CallerBase
+import planning.RoboSweeperTaskIndexOuterClass
 import java.util.concurrent.ConcurrentHashMap

 /**
@@ -131,7 +132,15 @@ object CallerAutopilotVehicleStateListenerManager : CallerBase() {
            listener.onAutopilotBrake(brake)
        }
    }
-
+    /**
+     * 电池管理状态
+     */
+    fun invokeBMSSystemStates(bmsSystemStates: ChassisStatesOuterClass.BMSSystemStates) {
+        M_AUTOPILOT_VEHICLE_LISTENERS.forEach {
+            val listener = it.value
+            listener.onBMSSystemStates(bmsSystemStates)
+        }
+    }
    /**
     * clean system state 清扫车（福田）清扫控制系统状态
     */
@@ -142,6 +151,15 @@ object CallerAutopilotVehicleStateListenerManager : CallerBase() {
        }
    }

+    /**
+     *清扫车（福田）指标数据 贴边数据
+     */
+    fun invokeSweeperFutianCleanTaskIndexData(roboSweeperTaskIndex: RoboSweeperTaskIndexOuterClass.RoboSweeperTaskIndex) {
+        M_AUTOPILOT_VEHICLE_LISTENERS.forEach {
+            val listener = it.value
+            listener.onSweeperFutianTaskIndexData(roboSweeperTaskIndex)
+        }
+    }

    /**
     * 工控机时间回调