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[清扫车]获取主任务列表 子任务列表相关逻辑添加

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This commit is contained in:
bxb
2023-02-10 18:44:53 +08:00
parent 99a09049fc
commit d1ed8716fc
19 changed files with 1039 additions and 720 deletions
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10
OCH/mogo-och-sweeper/src/main/java/com/mogo/och/sweeper/fragment/BaseSweeperTabFragment.java
View File

@@ -71,10 +71,6 @@ public abstract class BaseSweeperTabFragment<V extends IView, P extends Presente
//
private ImageView mRefreshNavi;
public static final String TYPE_ENTRANCE = "entrance";
public boolean isAnimateRunning = false;
@Override
protected int getLayoutId() {
return R.layout.sweeper_base_fragment;
@@ -224,12 +220,6 @@ public abstract class BaseSweeperTabFragment<V extends IView, P extends Presente
* @return 站点面板view
*/
public abstract int getTaskListPanelViewId();
/**
* 重新开启自动驾驶
*/
public abstract void restartAutopilot();
/**
* 模拟自动驾驶返回状态
*

193
OCH/mogo-och-sweeper/src/main/java/com/mogo/och/sweeper/fragment/SweeperFragment.kt
View File

@@ -1,28 +1,38 @@
package com.mogo.och.sweeper.fragment
import android.os.Bundle
import android.view.View
import androidx.recyclerview.widget.LinearLayoutManager
import chassis.ChassisStatesOuterClass
import com.amap.api.navi.model.NaviLatLng
import com.mogo.och.common.module.map.AmapNaviToDestinationModel
import com.mogo.och.sweeper.R
import com.mogo.och.sweeper.bean.TaskInfoBean
import com.mogo.och.sweeper.constant.TaskMenuTypeEnum
import com.mogo.och.sweeper.bean.SubInfo
import com.mogo.och.sweeper.bean.SweeperMainTaskBean
import com.mogo.och.sweeper.bean.SweeperSubTaskBean
import com.mogo.och.sweeper.constant.SubTaskTypeEnum
import com.mogo.och.sweeper.constant.TaskStatusEnum
import com.mogo.och.sweeper.presenter.SweeperPresenter
import com.mogo.och.sweeper.ui.adapter.TaskListAdapter
import com.mogo.och.sweeper.ui.popwindow.MenuPopWindow
import com.mogo.och.sweeper.util.SweeperFutianCmdUtil
import kotlinx.android.synthetic.main.fragment_och_sweeper.*
import kotlinx.android.synthetic.main.sweeper_no_data_common_view.*
/**
* 清扫车主界面
*/
class SweeperFragment : BaseSweeperTabFragment<SweeperFragment?, SweeperPresenter?>(), MenuPopWindow.OnMenuItemOnClickListener{
private var mAdapter: TaskListAdapter? = null
private var mPosition: Int = -1
private val mutableList: MutableList<TaskInfoBean> by lazy { mutableListOf() }
private var subTaskType:Int=1;//1:自动驾驶子任务 2：人工驾驶子任务
private var cleanSystemState: ChassisStatesOuterClass.SweeperFuTianTaskSystemStates?=null
private var mCurrentSubPosition: Int =0 //子任务下标
private var mMainMutableList: MutableList<SweeperMainTaskBean>?=null
private var mSubMutableList: MutableList<SubInfo>?=null
private var mSubTaskBean: SweeperSubTaskBean?=null
private var mSubTaskType:SubTaskTypeEnum=SubTaskTypeEnum.AUTOPILOT_SUBTYPE //1:自动驾驶子任务 2：人工驾驶子任务
private var mCleanSystemState: ChassisStatesOuterClass.SweeperFuTianTaskSystemStates?=null
private var mIsLastSubTask=false //是否最后一个子任务
private var mSubTaskId=-1//子任务id
private var mMainTask:SweeperMainTaskBean?=null
//当前经纬度
override fun getTagName(): String {
@@ -31,17 +41,30 @@ class SweeperFragment : BaseSweeperTabFragment<SweeperFragment?, SweeperPresente
override fun initViews() {
super.initViews()
mutableList.add(TaskInfoBean(1, "环球贸易中心", 1))
mutableList.add(TaskInfoBean(2, "环球贸易中心", 1))
mutableList.add(TaskInfoBean(3, "环球贸易中心", 1))
mutableList.add(TaskInfoBean(4, "环球贸易中心", 1))
mutableList.add(TaskInfoBean(5, "环球贸易中心", 1))
mutableList.add(TaskInfoBean(6, "环球贸易中心", 1))
mutableList.add(TaskInfoBean(7, "环球贸易中心", 1))
mutableList.add(TaskInfoBean(8, "环球贸易中心", 1))
mutableList.add(TaskInfoBean(9, "环球贸易中心", 1))
mutableList.add(TaskInfoBean(10, "环球贸易中心", 1))
mAdapter = context?.let { TaskListAdapter(it, mutableList) }
mMainMutableList= mutableListOf()
mMainMutableList?.add(SweeperMainTaskBean(1, "惠新西街南口地铁站公交站", 10,1675848980000L))
mMainMutableList?.add(SweeperMainTaskBean(2, "惠新西街南口地铁站公交站", 10,1675935380000L))
mMainMutableList?.add(SweeperMainTaskBean(3, "惠新西街南口地铁站公交站", 10,1675762580000L))
mMainMutableList?.add(SweeperMainTaskBean(4, "环球贸易中心", 10,1675848980000L))
mMainMutableList?.add(SweeperMainTaskBean(5, "惠新西街南口地铁站公交站", 10,1675848980000L))
mMainMutableList?.add(SweeperMainTaskBean(6, "惠新西街南口地铁站公交站", 10,1675848980000L))
mMainMutableList?.add(SweeperMainTaskBean(7, "惠新西街南口地铁站公交站", 10,1675762580000L))
mMainMutableList?.add(SweeperMainTaskBean(8, "环球贸易中心", 10,1675848980000L))
mMainMutableList?.add(SweeperMainTaskBean(9, "惠新西街南口地铁站公交站", 10,1675848980000L))
mMainMutableList?.add(SweeperMainTaskBean(10, "惠新西街南口地铁站公交站", 10,1675935380000L))
mSubMutableList= mutableListOf()
mSubMutableList?.add(SubInfo(1, "惠新西街南口地铁站公交站", 1200,1,1,1675848980000L,0))
mSubMutableList?.add(SubInfo(2, "惠新西街南口地铁站公交站", 2000,1,1,1675935380000L,0))
mSubMutableList?.add(SubInfo(3, "惠新西街南口地铁站公交站", 500,1,1,1675762580000L,0))
mSubMutableList?.add(SubInfo(4, "环球贸易中心", 10,1,1,1675848980000L,0))
mSubMutableList?.add(SubInfo(5, "惠新西街南口地铁站公交站", 800,1,1,1675848980000L,0))
mSubMutableList?.add(SubInfo(6, "惠新西街南口地铁站公交站", 90000,1,1,1675848980000L,0))
mSubMutableList?.add(SubInfo(7, "惠新西街南口地铁站公交站", 12356,1,1,1675762580000L,0))
mSubMutableList?.add(SubInfo(8, "环球贸易中心", 400,1,1,1675848980000L,0))
mSubMutableList?.add(SubInfo(9, "惠新西街南口地铁站公交站", 200,1,1,1675848980000L,0))
mSubMutableList?.add(SubInfo(10, "惠新西街南口地铁站公交站", 300,1,1,1675935380000L,0))
mAdapter = context?.let { TaskListAdapter(it, mMainMutableList)}
val linearLayoutManager = LinearLayoutManager(context)
linearLayoutManager.orientation = LinearLayoutManager.VERTICAL
rvTaskList?.layoutManager = linearLayoutManager
@@ -56,16 +79,13 @@ class SweeperFragment : BaseSweeperTabFragment<SweeperFragment?, SweeperPresente
return SweeperPresenter(this)
}
override fun onActivityCreated(savedInstanceState: Bundle?) {
super.onActivityCreated(savedInstanceState)
mPresenter?.getCurrentTask()
}
override fun getTaskListPanelViewId(): Int {
return R.layout.fragment_och_sweeper
}
override fun restartAutopilot() {
if (!isAnimateRunning) {
mPresenter?.restartAutopilot()
}
}
/**
* VR模式切换
*
@@ -83,10 +103,10 @@ class SweeperFragment : BaseSweeperTabFragment<SweeperFragment?, SweeperPresente
}
/**
* 设置自动驾驶可用状态
* 根据自动驾驶状态更新按钮
*/
fun onAutopilotEnableChange(isEnable: Boolean) {
currentTaskPanelView.setEnableClickBtn(isEnable)
fun readyTaskBtn(text:String,isClick:Boolean,isTaskWorking:Boolean) {
currentTaskPanelView.setEnableClickBtn(text,isClick,isTaskWorking)
}
/**
@@ -94,34 +114,43 @@ class SweeperFragment : BaseSweeperTabFragment<SweeperFragment?, SweeperPresente
*/
private fun initListener() {
tvTaskConfirm.setOnClickListener {
mMainTask?.let { task->
mSubTaskBean= SweeperSubTaskBean(task.mainTaskId,task.mainTaskName,task.mainTaskStartTime,mSubMutableList)
//获取当前子任务列表
presenter?.getSubTaskList(task.mainTaskId,mSubTaskBean)
}
//mock 数据
setShowTaskListPanelView(false)
workModePanelView.visibility = View.VISIBLE
setShowCurrentTaskPanelView(true)
currentTaskPanelView.setData(workModePanelView,mutableList, mPosition,this)
workModePanelView.setSweeperFutianCleanSystemState(subTaskType,if(cleanSystemState==null) SweeperFutianCmdUtil.buildSweeperFuTionCleanSystemStateMockData() else cleanSystemState,trafficDataView)
}
currentTaskPanelView.getReadyTaskBtn().setOnClickListener {
mPresenter?.startAutopilot()
currentTaskPanelView.setData(workModePanelView,mSubTaskBean, mCurrentSubPosition,this,presenter)
workModePanelView.setSweeperFutianCleanSystemState(mSubTaskType,if(mCleanSystemState==null) SweeperFutianCmdUtil.buildSweeperFuTionCleanSystemStateMockData() else mCleanSystemState,trafficDataView)
}
}
private val onTaskItemClickListener = object : TaskListAdapter.TaskItemClickListener {
override fun onItemClick(position: Int) {
override fun onItemClick(position: Int,mainTask:SweeperMainTaskBean) {
mAdapter?.selectPosition(position)
mPosition = position
tvTaskConfirm.isSelected = true
this@SweeperFragment.mMainTask=mainTask
}
}
override fun onMenuItemClick(itemType: TaskMenuTypeEnum) {
when (itemType.code) {
TaskMenuTypeEnum.JUMP_OVER_TASK.code -> {
setShowTaskListPanelView(true)
setShowCurrentTaskPanelView(false)
workModePanelView.visibility = View.GONE
override fun onMenuItemClick(itemType: TaskStatusEnum) {
when (itemType) {
TaskStatusEnum.JUMP_OVER_SUBTASK -> {//跳过任务
presenter?.subTaskSkip(mSubTaskId,mIsLastSubTask)
//mock
mCurrentSubPosition++
currentTaskPanelView.setData(workModePanelView,mSubTaskBean, mCurrentSubPosition,this,presenter)
}
TaskMenuTypeEnum.END_TASK.code -> {
TaskStatusEnum.END_TASK -> {
mMainTask?.let {
presenter?.mainTaskReset(it.mainTaskId)
}
//mock
setShowTaskListPanelView(true)
setShowCurrentTaskPanelView(false)
workModePanelView.visibility = View.GONE
@@ -130,8 +159,8 @@ class SweeperFragment : BaseSweeperTabFragment<SweeperFragment?, SweeperPresente
}
fun onSweeperFutianCleanSystemState(cleanSystemState: ChassisStatesOuterClass.SweeperFuTianTaskSystemStates) {
this.cleanSystemState=cleanSystemState
workModePanelView.setSweeperFutianCleanSystemState(subTaskType,cleanSystemState,trafficDataView)
this.mCleanSystemState=cleanSystemState
workModePanelView.setSweeperFutianCleanSystemState(mSubTaskType,cleanSystemState,trafficDataView)
}
/**
* 导航去目的地
@@ -143,4 +172,82 @@ class SweeperFragment : BaseSweeperTabFragment<SweeperFragment?, SweeperPresente
AmapNaviToDestinationModel.getInstance(context).initAMapNavi(startNaviLatLng, endNaviLatLng)
AmapNaviToDestinationModel.getInstance(context).setVoiceIsMute(isVoicePlay)
}
/**
* 设置当前主任务列表数据
*/
fun setMainTaskList(mainTaskBeanList: MutableList<SweeperMainTaskBean>?){
setShowCurrentTaskPanelView(false)
setShowTaskListPanelView(true)
workModePanelView.visibility = View.GONE
if(mainTaskBeanList!=null&& mainTaskBeanList.isNotEmpty()){
noTaskDataView.visibility=View.GONE
sweeperListCl.visibility=View.VISIBLE
mAdapter?.setTaskListData(mainTaskBeanList)
}else{
noTaskDataView.visibility=View.VISIBLE
sweeperListCl.visibility=View.GONE
}
}
/**
* 设置当前子任务列表数据
*/
fun setSubTaskBean(subTaskBean: SweeperSubTaskBean?){
this.mSubTaskBean= subTaskBean
setShowCurrentTaskPanelView(true)
setShowTaskListPanelView(false)
workModePanelView.visibility = View.VISIBLE
currentTaskPanelView.setData(workModePanelView,mSubTaskBean, mCurrentSubPosition,this,presenter)
setSubTaskData()
}
/**
* 更新子任务状态
*/
fun updateSubTaskStatus(typeEnum: TaskStatusEnum, isLastSubTask: Boolean){
if (isLastSubTask){
setShowCurrentTaskPanelView(false)
setShowTaskListPanelView(true)
return
}
when(typeEnum){
TaskStatusEnum.END_SUBTASK->{//子任务结束
mCurrentSubPosition++
setSubTaskData()
presenter?.startTask(mSubTaskId,mSubTaskType)
}
TaskStatusEnum.JUMP_OVER_SUBTASK->{ //子任务跳过
presenter?.subTaskEnd(mSubTaskId,mIsLastSubTask)
}
TaskStatusEnum.START_SUBTASK->{ //子任务开始
if (mSubTaskType==SubTaskTypeEnum.AUTOPILOT_SUBTYPE){//自动驾驶子任务
readyTaskBtn("暂停任务",true,true)
}else{//手动驾驶的子任务会弹窗
}
currentTaskPanelView.setCurrentData(mCurrentSubPosition)
}
}
}
/**
* 主任务重置
*/
fun setMainTaskReset(isSuccess: Boolean){
if (isSuccess){
setShowCurrentTaskPanelView(false)
setShowTaskListPanelView(true)
workModePanelView.visibility = View.GONE
}
}
/**
* 设置子任务数据
*/
private fun setSubTaskData(){
mSubMutableList?.let {
mSubTaskId=it[mCurrentSubPosition].taskId
mSubTaskType=if (it[mCurrentSubPosition].taskType==SubTaskTypeEnum.AUTOPILOT_SUBTYPE.code)
SubTaskTypeEnum.AUTOPILOT_SUBTYPE else SubTaskTypeEnum.MANUAL_DRIVING_SUBTYPE
}
}
}

51
OCH/mogo-och-sweeper/src/main/java/com/mogo/och/sweeper/model/ISweeperTask.java
View File

@@ -1,51 +0,0 @@
package com.mogo.och.sweeper.model;
import java.util.List;
public interface ISweeperTask<T> {
/**
* 获取任务列表
* @return
*/
List<T> getTaskList();
/**
* 设置任务列表
* @param taskList
*/
void setTaskList(List<T> taskList);
/**
* 获取当前任务
* @return
*/
T getCurrentTask();
/**
* 设置当前任务
* @param currentTask
*/
void setCurrentTask(T currentTask);
/**
* 开始任务
*/
void startTask();
/**
* 暂停任务
*/
void pauseTask();
/**
* 跳过任务
*/
void jumpOverTask();
/**
* 结束任务
*/
void endTask();
}

40
OCH/mogo-och-sweeper/src/main/java/com/mogo/och/sweeper/model/OperationalTask.kt
View File

@@ -1,40 +0,0 @@
package com.mogo.och.sweeper.model
import com.mogo.och.sweeper.bean.TaskInfoBean
/**
* 运营任务
*/
class OperationalTask : ISweeperTask<TaskInfoBean> {
override fun getTaskList(): MutableList<TaskInfoBean> {
return mutableListOf()
}
override fun startTask() {
}
override fun pauseTask() {
}
override fun jumpOverTask() {
}
override fun endTask() {
}
override fun setTaskList(taskList: MutableList<TaskInfoBean>?) {
}
override fun getCurrentTask(): TaskInfoBean {
return TaskInfoBean(1, "", 1)
}
override fun setCurrentTask(currentTask: TaskInfoBean?) {
}
}

589
OCH/mogo-och-sweeper/src/main/java/com/mogo/och/sweeper/model/SweeperTaskModel.java
View File

@@ -1,6 +1,7 @@
package com.mogo.och.sweeper.model;
import static com.mogo.eagle.core.utilcode.mogo.logger.scene.SceneConstant.M_BUS;
import static com.mogo.eagle.core.utilcode.mogo.logger.scene.SceneConstant.M_SWEEPER;
import android.content.Context;
@@ -17,7 +18,6 @@ import com.mogo.commons.module.status.StatusDescriptor;
import com.mogo.eagle.core.data.autopilot.AutopilotControlParameters;
import com.mogo.eagle.core.data.config.FunctionBuildConfig;
import com.mogo.eagle.core.data.map.MogoLocation;
import com.mogo.eagle.core.function.api.autopilot.IMoGoAutopilotStatusListener;
import com.mogo.eagle.core.function.api.autopilot.IMoGoChassisLocationGCJ02Listener;
import com.mogo.eagle.core.function.api.autopilot.IMoGoPlanningRottingListener;
import com.mogo.eagle.core.function.call.autopilot.CallerAutoPilotControlManager;
@@ -25,20 +25,30 @@ import com.mogo.eagle.core.function.call.autopilot.CallerAutoPilotStatusListener
import com.mogo.eagle.core.function.call.autopilot.CallerChassisLocationGCJ02ListenerManager;
import com.mogo.eagle.core.function.call.autopilot.CallerPlanningRottingListenerManager;
import com.mogo.eagle.core.utilcode.mogo.logger.CallerLogger;
import com.mogo.eagle.core.utilcode.util.NetworkUtils;
import com.mogo.eagle.core.utilcode.util.ToastUtils;
import com.mogo.och.common.module.biz.network.OchCommonServiceCallback;
import com.mogo.och.common.module.callback.OchAdasStartFailureCallback;
import com.mogo.och.common.module.manager.OCHAdasAbilityManager;
import com.mogo.och.common.module.utils.CoordinateCalculateRouteUtil;
import com.mogo.och.common.module.utils.NumberFormatUtil;
import com.mogo.och.common.module.utils.PinYinUtil;
import com.mogo.och.sweeper.R;
import com.mogo.och.sweeper.bean.BaseResponse;
import com.mogo.och.sweeper.bean.SubInfo;
import com.mogo.och.sweeper.bean.SweeperMainTaskBean;
import com.mogo.och.sweeper.bean.SweeperRoutePlanningUpdateReqBean;
import com.mogo.och.sweeper.bean.SweeperRoutesResult;
import com.mogo.och.sweeper.bean.SweeperTaskBean;
import com.mogo.och.sweeper.callback.IRefreshSweeperTaskCallback;
import com.mogo.och.sweeper.bean.SweeperSubTaskBean;
import com.mogo.och.sweeper.bean.SweeperSubTaskDetailBean;
import com.mogo.och.sweeper.callback.ISweeperTaskCallback;
import com.mogo.och.sweeper.callback.ISweeperADASStatusCallback;
import com.mogo.och.sweeper.callback.ISweeperControllerStatusCallback;
import com.mogo.och.sweeper.constant.SubTaskTypeEnum;
import com.mogo.och.sweeper.constant.SweeperConst;
import com.mogo.och.sweeper.constant.TaskStatusEnum;
import com.mogo.och.sweeper.net.SweeperServiceManager;
import com.mogo.och.sweeper.util.SweeperAnalyticsManager;
import com.mogo.och.sweeper.util.SweeperTrajectoryManager;
import org.jetbrains.annotations.NotNull;
@@ -50,6 +60,7 @@ import io.reactivex.exceptions.UndeliverableException;
import io.reactivex.functions.Consumer;
import io.reactivex.plugins.RxJavaPlugins;
import mogo.telematics.pad.MessagePad;
/**
* @author congtaowang
* @since 2021/3/23
@@ -58,29 +69,27 @@ import mogo.telematics.pad.MessagePad;
*/
public class SweeperTaskModel {
private final String TAG = SweeperTaskModel.class.getSimpleName();
private int currentLineId = -1;
private int backgroundCurrentTaskIndex = 0;//A->B 此处值是A任务索引
private static volatile SweeperTaskModel sInstance;
public double mLongitude = 0;
public double mLatitude = 0;
private Context mContext;
private final List<SweeperTaskBean> stationList = new ArrayList<>();
private SweeperRoutesResult busRoutesResult = null;
/**
* 用来表示是否正在开往下一站
*/
private boolean isGoingToNextStation = false;
// 运营类型
private static final int VEHICLE_TYPE = 10;
private ISweeperControllerStatusCallback mControllerStatusCallback; //Model->Presenter：VR mode等
private ISweeperADASStatusCallback mADASStatusCallback;
private IRefreshSweeperTaskCallback mRefreshSweeperTaskCallback;
private ISweeperTaskCallback mSweeperTaskCallback;
List<SweeperRoutePlanningUpdateReqBean.Result> points = new ArrayList<>();//全路径信息
private volatile boolean isArrivedStation = false;
//0: 代表没有启动过 1代表是启动第一次，当>=1 代表是重试 每次到站/路线结束清空置为0
//当前子任务详情信息包括轨迹文件信息
private SweeperSubTaskDetailBean currentSubTaskDetail;
//子任务是否正在进行中
private boolean isSubTaskWorking = false;
//自动驾驶是否到达子任务终点
private boolean isArriveSubTaskEndSite = false;
//当前子任务id
private int mSubTaskId=0;
// //当前是否最后一个子任务
private boolean mIsLastSubtask=false;
//0: 代表没有启动过 1代表是启动第一次，当>=1 代表是重试 每次子任务结束/主任务结束清空置为0
private volatile int firstStartAutopilot = 0;
public static SweeperTaskModel getInstance() {
@@ -97,7 +106,6 @@ public class SweeperTaskModel {
private SweeperTaskModel() {
}
public void init() {
mContext = AbsMogoApplication.getApp();
// 定位监听
@@ -120,41 +128,47 @@ public class SweeperTaskModel {
public void accept(Throwable e) {
if (e instanceof UndeliverableException) {
e = e.getCause();
CallerLogger.INSTANCE.d(M_BUS + TAG, "UndeliverableException");
CallerLogger.INSTANCE.d(M_SWEEPER + TAG, "UndeliverableException");
}
if ((e instanceof IOException)) {//
// fine, irrelevant network problem or API that throws on cancellation
CallerLogger.INSTANCE.d(M_BUS + TAG, "IOException");
CallerLogger.INSTANCE.d(M_SWEEPER + TAG, "IOException");
return;
}
if (e instanceof InterruptedException) {
// fine, some blocking code was interrupted by a dispose call
CallerLogger.INSTANCE.d(M_BUS + TAG, "InterruptedException");
CallerLogger.INSTANCE.d(M_SWEEPER + TAG, "InterruptedException");
return;
}
if ((e instanceof NullPointerException) || (e instanceof IllegalArgumentException)) {
// that's likely a bug in the application
CallerLogger.INSTANCE.d(M_BUS + TAG, "NullPointerException or IllegalArgumentException");
CallerLogger.INSTANCE.d(M_SWEEPER + TAG, "NullPointerException or IllegalArgumentException");
Thread.currentThread().getUncaughtExceptionHandler().uncaughtException(Thread.currentThread(), e);
return;
}
if (e instanceof IllegalStateException) {
// that's a bug in RxJava or in a custom operator
CallerLogger.INSTANCE.d(M_BUS + TAG, "IllegalStateException");
CallerLogger.INSTANCE.d(M_SWEEPER + TAG, "IllegalStateException");
Thread.currentThread().getUncaughtExceptionHandler().uncaughtException(Thread.currentThread(), e);
return;
}
CallerLogger.INSTANCE.d(M_BUS + TAG, "Undeliverable exception");
CallerLogger.INSTANCE.d(M_SWEEPER + TAG, "Undeliverable exception");
}
});
}
public void setAdasStatusCallback(ISweeperADASStatusCallback callback){
public void setAdasStatusCallback(ISweeperADASStatusCallback callback) {
this.mADASStatusCallback = callback;
}
public void setControllerStatusCallback(ISweeperControllerStatusCallback callback) {
this.mControllerStatusCallback = callback;
}
public void setSweeperTaskCallback(ISweeperTaskCallback callback) {
this.mSweeperTaskCallback = callback;
}
private final IMoGoPlanningRottingListener moGoAutopilotPlanningListener = new IMoGoPlanningRottingListener() {
@Override
@@ -166,8 +180,15 @@ public class SweeperTaskModel {
}
};
public void setSubTaskId(int mSubTaskId) {
this.mSubTaskId = mSubTaskId;
}
public static List<SweeperRoutePlanningUpdateReqBean.Result> coordinateConverterWgsToGcjList(Context mContext, List<MessagePad.Location> mogoLatLngList) {
public void setIsLastSubtask(boolean mIsLastSubtask) {
this.mIsLastSubtask = mIsLastSubtask;
}
public static List<SweeperRoutePlanningUpdateReqBean.Result> coordinateConverterWgsToGcjList(Context mContext,
List<MessagePad.Location> mogoLatLngList) {
List<SweeperRoutePlanningUpdateReqBean.Result> points = new ArrayList<>();
for (MessagePad.Location m : mogoLatLngList) {
LatLng mogoLatLng = CoordinateCalculateRouteUtil.coordinateConverterWgsToGcj(mContext, m);
@@ -178,6 +199,7 @@ public class SweeperTaskModel {
}
return points;
}
public void release() {
MogoStatusManager.getInstance().unregisterStatusChangedListener(TAG, StatusDescriptor.VR_MODE, mMogoStatusChangedListener);
// 注销定位监听
@@ -208,8 +230,8 @@ public class SweeperTaskModel {
@Override
public void onStartAutopilotFailure(@NotNull String startFailedCode, @NonNull String startFailedMessage) {
SweeperAnalyticsManager.getInstance().triggerStartAutopilotFailureEventByAdas(startFailedCode, startFailedMessage);
if (mADASStatusCallback != null && !FunctionBuildConfig.isDemoMode){
CallerLogger.INSTANCE.e( M_BUS + TAG, "mAdasStartFailureListener = "+startFailedMessage );
if (mADASStatusCallback != null && !FunctionBuildConfig.isDemoMode) {
CallerLogger.INSTANCE.e(M_SWEEPER + TAG, "mAdasStartFailureListener = " + startFailedMessage);
mADASStatusCallback.onStartAdasFailure();
}
}
@@ -225,72 +247,56 @@ public class SweeperTaskModel {
if (mControllerStatusCallback != null) {
mControllerStatusCallback.onCarLocationChanged(gnssInfo);
}
//是否到站的围栏判断 离站状态并且自动驾驶还未触发到站
if (isGoingToNextStation && !isArrivedStation) {
//子任务完成的围栏判断 子任务正在执行中，还未到达子任务终点
if (isSubTaskWorking&&!isArriveSubTaskEndSite) {
judgeArrivedStation(gnssInfo);
}
}
};
//根据围栏判断，是否到达站点
//根据围栏判断，是否到达子任务终点
private void judgeArrivedStation(MogoLocation location) {
if (backgroundCurrentTaskIndex + 1 > stationList.size() - 1) {
CallerLogger.INSTANCE.e(M_BUS + TAG, "到站数组越界");
return;
}
SweeperTaskBean upcomingStation = stationList.get(backgroundCurrentTaskIndex + 1);
double startLon = upcomingStation.getGcjLon();
double startLat = upcomingStation.getGcjLat();
double endSiteLon = currentSubTaskDetail.getEndSiteLon();
double endSiteLat = currentSubTaskDetail.getEndSiteLat();
double distance = CoordinateUtils.calculateLineDistance(
startLon, startLat,
endSiteLon, endSiteLat,
location.getLongitude(), location.getLatitude());
if (distance <= SweeperConst.ARRIVE_AT_END_STATION_DISTANCE) {
CallerLogger.INSTANCE.d(M_BUS + TAG, "行程日志-judgeArrivedStation() distance = " + distance
+ " to " + upcomingStation.getName());
onArriveAt(null); //无自动驾驶到站信息传null
CallerLogger.INSTANCE.d(M_SWEEPER + TAG, "行程日志-judgeArrivedStation() distance = " + distance
+ " to " + currentSubTaskDetail.getEndSiteName());
onArriveTaskEnd(null); //无自动驾驶到终点信息传null
return;
}
}
private void onStartAutopilot(int leaveIndex) {
//开启自动驾驶 2.10.0: 如果自动驾驶状态下开启， 非自动驾驶状态下不开启，需手动点击自动驾驶按钮开启
isGoingToNextStation = true;
if (CallerAutoPilotStatusListenerManager.INSTANCE.getAutoPilotStatusInfo().getState()
== IMoGoAutopilotStatusListener.STATUS_AUTOPILOT_RUNNING) {
startAutopilot(false, leaveIndex);
} else {
firstStartAutopilot = 0;
}
/**
* 在踩刹车、控制方向盘等操作后，会停止自动驾驶，重启自动驾驶的话相当于重新设置自动驾驶目的地
*/
public void startAutopilot() {
CallerLogger.INSTANCE.d(M_SWEEPER + TAG, "行程日志-重启自动驾驶===" + isSubTaskWorking);
//只去启动自动驾驶
startAutopilot(firstStartAutopilot >= 1);
}
/**
* 开启自动驾驶
*
* @param isRestart
*/
private void startAutopilot(boolean isRestart, int leaveIndex) {
private void startAutopilot(boolean isRestart) {
if (!FunctionBuildConfig.isDemoMode && !OCHAdasAbilityManager.getInstance().getAutopilotAbilityStatus()) {
ToastUtils.showLong(OCHAdasAbilityManager.getInstance().getAutopilotUnAbilityReason() +
", 请稍候重试");
triggerUnableStartAPReasonEvent();
return;
}
firstStartAutopilot++;
triggerStartServiceEvent(isRestart, false);
AutopilotControlParameters parameters = initAutopilotControlParameters(leaveIndex);
AutopilotControlParameters parameters = initAutopilotControlParameters();
if (null == parameters) {
CallerLogger.INSTANCE.e(M_BUS + TAG, "行程日志-AutopilotControlParameters is empty.");
CallerLogger.INSTANCE.e(M_SWEEPER + TAG, "行程日志-AutopilotControlParameters is empty.");
return;
}
CallerAutoPilotControlManager.INSTANCE.startAutoPilot(parameters);
CallerLogger.INSTANCE.d(M_BUS + TAG, "行程日志-开启自动驾驶====" + GsonUtil.jsonFromObject(parameters)
CallerLogger.INSTANCE.d(M_SWEEPER + TAG, "行程日志-开启自动驾驶====" + GsonUtil.jsonFromObject(parameters)
+ " startLatLon=" + parameters.startName + "，endLatLon=" + parameters.endName +
"isRestart = " + isRestart);
@@ -298,185 +304,398 @@ public class SweeperTaskModel {
mControllerStatusCallback.startOpenAutopilot();
}
}
/**
* 获取任务子任务执行状态
*/
public boolean getSubWorking(){
return isSubTaskWorking;
}
/**
* 关闭美化模式
*/
public void closeBeautificationMode() {
if (FunctionBuildConfig.isDemoMode) {
FunctionBuildConfig.isIgnoreConditionsDrawAutopilotTrajectoryData = false; //是否强制绘制引导线
CallerAutoPilotControlManager.INSTANCE.setIgnoreConditionDraw(false);// 同步给乘客屏
CallerAutoPilotControlManager.INSTANCE.setIPCDemoMode(false);//是否自动启动自驾
CallerLogger.INSTANCE.d(M_BUS + TAG, "美化模式-ignore：置为false");
CallerLogger.INSTANCE.d(M_SWEEPER + TAG, "美化模式-ignore：置为false");
}
}
private void clearStartAutopilotTag() {
firstStartAutopilot = 0;
}
/**
* 开启美化模式
*/
private void startBeautificationMode() {
FunctionBuildConfig.isIgnoreConditionsDrawAutopilotTrajectoryData = true;
CallerAutoPilotControlManager.INSTANCE.setIPCDemoMode(true);
public void startBeautificationMode() {
FunctionBuildConfig.isIgnoreConditionsDrawAutopilotTrajectoryData = true;//是否强制绘制引导线
CallerAutoPilotControlManager.INSTANCE.setIPCDemoMode(true);//是否自动启动自驾
}
public void clearBusStationData() {
if (mRefreshSweeperTaskCallback != null) {
mRefreshSweeperTaskCallback.clearSweeperTasksMarkers();
}
}
/**
* 在踩刹车、控制方向盘等操作后，会停止自动驾驶，重启自动驾驶的话相当于重新设置自动驾驶目的地
*/
public void restartAutopilot() {
CallerLogger.INSTANCE.d(M_BUS + TAG, "行程日志-重启自动驾驶===" + isGoingToNextStation);
//只去启动自动驾驶，不再去上报离站
startAutopilot(firstStartAutopilot >= 1, -1);
}
public boolean isRestartAutopilot() {
return firstStartAutopilot > 1;
}
/**
* task正常结束
*/
private void endTask() {
if (backgroundCurrentTaskIndex >= stationList.size()) {
CallerLogger.INSTANCE.e(M_BUS + TAG, "travel over index out of station list");
return;
}
CallerLogger.INSTANCE.d(M_BUS + TAG, "单程结束====");
CallerAutoPilotControlManager.INSTANCE.cancelAutoPilot();
CallerLogger.INSTANCE.d(M_BUS + TAG, "任务正常走完endTask()");
}
/**
* 到站
*
* @param data
*/
public void onArriveAt(MessagePad.ArrivalNotification data) {
if (backgroundCurrentTaskIndex + 1 > stationList.size() - 1) {
CallerLogger.INSTANCE.e(M_BUS + TAG, "行程日志-到站异常，取消后续操作结束");
return;
}
public void onArriveTaskEnd(MessagePad.ArrivalNotification data) {
//MAP 280 每隔100ms左右返回一次到站， 导致在到达中间站后再次滑动出发后会有时间差，收到一次到站，出现问题
//此处比对 自驾告诉的到站站点坐标和本地应到站站点坐标， 一致时才能到站
//此处比对 自驾告诉的子任务终点坐标和本地应到子任务终点坐标， 一致时才表示子任务完成
if (data != null && data.getEndLocation() != null) {
String latitude = NumberFormatUtil.cutOutNumber(data.getEndLocation().getLatitude(), 5); //wgs
String longitude = NumberFormatUtil.cutOutNumber(data.getEndLocation().getLongitude(), 5);
int arrivedStationIndex = backgroundCurrentTaskIndex + 1;
SweeperTaskBean arriveStation = stationList.get(arrivedStationIndex);
String arriveLat = NumberFormatUtil.cutOutNumber(arriveStation.getLat(), 5);
String arriveLon = NumberFormatUtil.cutOutNumber(arriveStation.getLon(), 5);
String arriveLat = NumberFormatUtil.cutOutNumber(currentSubTaskDetail.getEndSiteWgs64Lat(), 5);
String arriveLon = NumberFormatUtil.cutOutNumber(currentSubTaskDetail.getEndSiteWgs64Lon(), 5);
if (!latitude.equals(arriveLat) || !longitude.equals(arriveLon)) {
CallerLogger.INSTANCE.e(M_BUS + TAG, "行程日志-到站拦截,到站坐标不一致");
CallerLogger.INSTANCE.e(M_SWEEPER + TAG, "行程日志-子任务终点拦截,自动子任务终点与本地子任务终点不一致");
return;
}
}
if (isArrivedStation) return;
CallerLogger.INSTANCE.d(M_BUS + TAG, "行程日志-当前==backgroundCurrentTaskIndex="
+ backgroundCurrentTaskIndex);
CallerLogger.INSTANCE.d(M_SWEEPER + TAG, "行程日志-当前==subTaskId="
+ currentSubTaskDetail.getId());
//到达子任务终点 结束子任务
subTaskEnd(mSubTaskId,mIsLastSubtask);
}
public boolean isGoingToNextStation() {
return isGoingToNextStation;
}
public void triggerStartServiceEvent(boolean isRestart, boolean send) {
if (stationList == null || backgroundCurrentTaskIndex >= stationList.size() - 1) {
if (currentSubTaskDetail == null) {
return;
}
SweeperTaskBean currentStation = stationList.get(backgroundCurrentTaskIndex);
SweeperTaskBean nextStation = stationList.get(backgroundCurrentTaskIndex + 1);
SweeperAnalyticsManager.getInstance().triggerStartAutopilotEvent(isRestart, send,
currentStation.getName(), nextStation.getName(), currentLineId);
currentSubTaskDetail.getStartSiteName(), currentSubTaskDetail.getEndSiteName(), currentSubTaskDetail.getLineId());
}
public void triggerUnableStartAPReasonEvent() {
if (stationList == null || backgroundCurrentTaskIndex >= stationList.size() - 1) {
if (currentSubTaskDetail == null) {
return;
}
SweeperTaskBean currentStation = stationList.get(backgroundCurrentTaskIndex);
SweeperTaskBean nextStation = stationList.get(backgroundCurrentTaskIndex + 1);
SweeperAnalyticsManager.getInstance().triggerUnableStartAPReasonEvent(
currentStation.getName(), nextStation.getName(), currentLineId,
currentSubTaskDetail.getStartSiteName(), currentSubTaskDetail.getEndSiteName(), currentSubTaskDetail.getLineId(),
OCHAdasAbilityManager.getInstance().getAutopilotUnAbilityReason());
}
public SweeperRoutesResult getBusRoutesResult() {
return busRoutesResult;
}
public int getCurrentStationIndex() {
return backgroundCurrentTaskIndex;
}
/**
* 将业务订单信息保存，鹰眼可取用
*/
private void updateAutopilotControlParameters() {
AutopilotControlParameters parameters = initAutopilotControlParameters(-1);
AutopilotControlParameters parameters = initAutopilotControlParameters();
if (null == parameters) {
CallerLogger.INSTANCE.e(M_BUS + TAG, "AutopilotControlParameters is empty.");
CallerLogger.INSTANCE.e(M_SWEEPER + TAG, "AutopilotControlParameters is empty.");
return;
}
CallerLogger.INSTANCE.d(M_BUS + TAG, "AutopilotControlParameters is update.");
CallerLogger.INSTANCE.d(M_SWEEPER + TAG, "AutopilotControlParameters is update.");
CallerAutoPilotStatusListenerManager.INSTANCE.updateAutopilotControlParameters(parameters);
}
private void clearAutopilotControlParameters() {
CallerLogger.INSTANCE.d(M_BUS + TAG, "AutopilotControlParameters is clear.");
CallerLogger.INSTANCE.d(M_SWEEPER + TAG, "AutopilotControlParameters is clear.");
CallerAutoPilotStatusListenerManager.INSTANCE.updateAutopilotControlParameters(null);
}
private AutopilotControlParameters initAutopilotControlParameters(int leaveIndex) {
SweeperTaskBean currentStation = null;
SweeperTaskBean nextStation = null;
if (leaveIndex < 0) {
if (backgroundCurrentTaskIndex + 1 > stationList.size() - 1 || !isGoingToNextStation) {
CallerLogger.INSTANCE.e(M_BUS + TAG, "行程日志-mismatch condition1.");
return null;
}
currentStation = stationList.get(backgroundCurrentTaskIndex);
nextStation = stationList.get(backgroundCurrentTaskIndex + 1);
} else {
if (leaveIndex + 1 > stationList.size() - 1 || !isGoingToNextStation) {
CallerLogger.INSTANCE.e(M_BUS + TAG, "行程日志-mismatch condition2.");
return null;
}
currentStation = stationList.get(leaveIndex);
nextStation = stationList.get(leaveIndex + 1);
}
private AutopilotControlParameters initAutopilotControlParameters() {
AutopilotControlParameters parameters = new AutopilotControlParameters();
parameters.routeID = busRoutesResult.getLineId();
parameters.routeName = busRoutesResult.getName();
parameters.startName = PinYinUtil.getPinYinHeadChar(currentStation.getName());
parameters.endName = PinYinUtil.getPinYinHeadChar(nextStation.getName());
parameters.startLatLon = new AutopilotControlParameters
.AutoPilotLonLat(currentStation.getLat(), currentStation.getLon());
parameters.endLatLon = new AutopilotControlParameters
.AutoPilotLonLat(nextStation.getLat(), nextStation.getLon());
parameters.vehicleType = VEHICLE_TYPE;
if (parameters.autoPilotLine == null) {
if (currentSubTaskDetail != null) {
parameters.routeID = currentSubTaskDetail.getLineId();
parameters.routeName = currentSubTaskDetail.getLineName();
parameters.startName = PinYinUtil.getPinYinHeadChar(currentSubTaskDetail.getStartSiteName());
parameters.endName = PinYinUtil.getPinYinHeadChar(currentSubTaskDetail.getEndSiteName());
parameters.startLatLon = new AutopilotControlParameters
.AutoPilotLonLat(currentSubTaskDetail.getStartSiteWgs64Lat(), currentSubTaskDetail.getStartSiteWgs64Lon());
parameters.endLatLon = new AutopilotControlParameters
.AutoPilotLonLat(currentSubTaskDetail.getEndSiteWgs64Lat(), currentSubTaskDetail.getEndSiteWgs64Lon());
parameters.vehicleType = VEHICLE_TYPE;
parameters.autoPilotLine = new AutopilotControlParameters.AutoPilotLine(
busRoutesResult.getLineId(),
busRoutesResult.csvFileUrl, busRoutesResult.csvFileMd5,
busRoutesResult.txtFileUrl, busRoutesResult.txtFileMd5,
busRoutesResult.contrailSaveTime, busRoutesResult.carModel,
busRoutesResult.csvFileUrlDPQP, busRoutesResult.csvFileMd5DPQP,
busRoutesResult.txtFileUrlDPQP, busRoutesResult.txtFileMd5DPQP,
busRoutesResult.contrailSaveTimeDPQP);
currentSubTaskDetail.getLineId(),
currentSubTaskDetail.getCsvFileUrl(),currentSubTaskDetail.getCsvFileMd5(),
currentSubTaskDetail.getTxtFileUrl(),currentSubTaskDetail.getTxtFileMd5(),
currentSubTaskDetail.getContrailSaveTime(), currentSubTaskDetail.getCarModel(),
currentSubTaskDetail.getCsvFileUrlDPQP(),currentSubTaskDetail.getCsvFileMd5DPQP(),
currentSubTaskDetail.getTxtFileUrlDPQP(),currentSubTaskDetail.getTxtFileMd5DPQP(),
currentSubTaskDetail.getContrailSaveTimeDPQP());
}
return parameters;
}
/**
* 获取当前正在执行的任务
*/
public void getCurrentTask() {
SweeperServiceManager.getCurrentTask(mContext, new OchCommonServiceCallback<BaseResponse<SweeperSubTaskBean>>() {
@Override
public void onSuccess(BaseResponse<SweeperSubTaskBean> data) {
if (mSweeperTaskCallback != null && data != null) {
SweeperSubTaskBean sweeperSubTaskBean = data.getData();
if (sweeperSubTaskBean != null && sweeperSubTaskBean.getSubList()!=null&&sweeperSubTaskBean.getSubList().size() > 0) {
mSweeperTaskCallback.setSubTaskBean(sweeperSubTaskBean);
} else {
getMainTaskList();
}
}
}
@Override
public void onError() {
if (!NetworkUtils.isConnected(mContext)) {
ToastUtils.showShort(mContext.getString(R.string.network_error_tip));
} else {
ToastUtils.showShort(mContext.getString(R.string.request_error_tip));
}
}
@Override
public void onFail(int code, String msg) {
if (!NetworkUtils.isConnected(mContext)) {
ToastUtils.showShort("网络异常，请稍后重试");
} else {
ToastUtils.showShort(msg);
}
}
});
}
/**
* 获取主任务列表
*/
public void getMainTaskList() {
SweeperServiceManager.getMainTaskList(mContext, new OchCommonServiceCallback<BaseResponse<List<SweeperMainTaskBean>>>() {
@Override
public void onSuccess(BaseResponse<List<SweeperMainTaskBean>> data) {
if (mSweeperTaskCallback != null && data != null && data.getCode() == 0) {
List<SweeperMainTaskBean> list = data.getData();
mSweeperTaskCallback.setMainTaskList(list);
}
}
@Override
public void onFail(int code, String msg) {
if (!NetworkUtils.isConnected(mContext)) {
ToastUtils.showShort("网络异常，请稍后重试");
} else {
ToastUtils.showShort(msg);
}
}
@Override
public void onError() {
if (!NetworkUtils.isConnected(mContext)) {
ToastUtils.showShort(mContext.getString(R.string.network_error_tip));
} else {
ToastUtils.showShort(mContext.getString(R.string.request_error_tip));
}
}
});
}
/**
* 获取子任务列表
*/
public void getSubTaskList(int taskId,SweeperSubTaskBean sweeperSubTaskBean) {
SweeperServiceManager.getSubTaskList(taskId, mContext, new OchCommonServiceCallback<BaseResponse<List<SubInfo>>>() {
@Override
public void onSuccess(BaseResponse<List<SubInfo>> data) {
if (mSweeperTaskCallback != null && data != null && data.getCode() == 0) {
List<SubInfo> list = data.getData();
if (list != null && list.size() > 0) {
sweeperSubTaskBean.setSubList(list);
mSweeperTaskCallback.setSubTaskBean(sweeperSubTaskBean);
} else {
getMainTaskList();
}
}
}
@Override
public void onFail(int code, String msg) {
if (!NetworkUtils.isConnected(mContext)) {
ToastUtils.showShort("网络异常，请稍后重试");
} else {
ToastUtils.showShort(msg);
}
}
@Override
public void onError() {
if (!NetworkUtils.isConnected(mContext)) {
ToastUtils.showShort(mContext.getString(R.string.network_error_tip));
} else {
ToastUtils.showShort(mContext.getString(R.string.request_error_tip));
}
}
});
}
/**
* 获取子任务详情包括轨迹文件信息
*/
public void getSubTaskDetail(int subTaskId) {
SweeperServiceManager.getSubTaskDetail(subTaskId, mContext, new OchCommonServiceCallback<BaseResponse<SweeperSubTaskDetailBean>>() {
@Override
public void onSuccess(BaseResponse<SweeperSubTaskDetailBean> data) {
if (data != null) {
currentSubTaskDetail = data.getData();
if (currentSubTaskDetail!=null){
//向自动驾驶发送要下载文件轨迹路径
SweeperTrajectoryManager.getInstance().syncTrajectoryInfo(currentSubTaskDetail);
updateAutopilotControlParameters();
}
}
}
@Override
public void onFail(int code, String msg) {
if (!NetworkUtils.isConnected(mContext)) {
ToastUtils.showShort("网络异常，请稍后重试");
} else {
ToastUtils.showShort(msg);
}
}
@Override
public void onError() {
if (!NetworkUtils.isConnected(mContext)) {
ToastUtils.showShort(mContext.getString(R.string.network_error_tip));
} else {
ToastUtils.showShort(mContext.getString(R.string.request_error_tip));
}
}
});
}
/**
* 子任务开始上报
*/
public void subTaskStart(int subTaskId, SubTaskTypeEnum subTaskType) {
SweeperServiceManager.subTaskStart(subTaskId, mContext, new OchCommonServiceCallback<BaseResponse<Boolean>>() {
@Override
public void onSuccess(BaseResponse<Boolean> data) {
if (mSweeperTaskCallback != null && data != null) {
if (data.getData()) {
mSweeperTaskCallback.updateSubTaskStatus(TaskStatusEnum.START_SUBTASK,false);
startBeautificationMode();
if (subTaskType==SubTaskTypeEnum.AUTOPILOT_SUBTYPE){//如果是自动驾驶子任务子开启自驾
startAutopilot(false);
}
}
}
}
@Override
public void onFail(int code, String msg) {
if (!NetworkUtils.isConnected(mContext)) {
ToastUtils.showShort("网络异常，请稍后重试");
} else {
ToastUtils.showShort(msg);
}
}
@Override
public void onError() {
if (!NetworkUtils.isConnected(mContext)) {
ToastUtils.showShort(mContext.getString(R.string.network_error_tip));
} else {
ToastUtils.showShort(mContext.getString(R.string.request_error_tip));
}
}
});
}
/**
* 子任务结束上报
*/
public void subTaskEnd(int subTaskId,boolean isLastSubTask) {
SweeperServiceManager.subTaskEnd(subTaskId, mContext, new OchCommonServiceCallback<BaseResponse<Boolean>>() {
@Override
public void onSuccess(BaseResponse<Boolean> data) {
if (mSweeperTaskCallback != null && data != null) {
if (data.getData()) {
mSweeperTaskCallback.updateSubTaskStatus(TaskStatusEnum.END_SUBTASK,isLastSubTask);
}
}
}
@Override
public void onFail(int code, String msg) {
if (!NetworkUtils.isConnected(mContext)) {
ToastUtils.showShort("网络异常，请稍后重试");
} else {
ToastUtils.showShort(msg);
}
}
@Override
public void onError() {
if (!NetworkUtils.isConnected(mContext)) {
ToastUtils.showShort(mContext.getString(R.string.network_error_tip));
} else {
ToastUtils.showShort(mContext.getString(R.string.request_error_tip));
}
}
});
}
/**
* 子任务跳过上报
*/
public void subTaskSkip(int subTaskId,boolean isLastSubTask) {
SweeperServiceManager.subTaskSkip(subTaskId, mContext, new OchCommonServiceCallback<BaseResponse<Boolean>>() {
@Override
public void onSuccess(BaseResponse<Boolean> data) {
if (mSweeperTaskCallback != null && data != null) {
if (data.getData()) {
mSweeperTaskCallback.updateSubTaskStatus(TaskStatusEnum.JUMP_OVER_SUBTASK,isLastSubTask);
if (isLastSubTask){//如果是最后一个子任务，则跳过完成后，调用结束子任务接口
subTaskEnd(subTaskId, true);
}
}
}
}
@Override
public void onFail(int code, String msg) {
if (!NetworkUtils.isConnected(mContext)) {
ToastUtils.showShort("网络异常，请稍后重试");
} else {
ToastUtils.showShort(msg);
}
}
@Override
public void onError() {
if (!NetworkUtils.isConnected(mContext)) {
ToastUtils.showShort(mContext.getString(R.string.network_error_tip));
} else {
ToastUtils.showShort(mContext.getString(R.string.request_error_tip));
}
}
});
}
/**
* 主任务重置
*/
public void mainTaskReset(int taskId) {
SweeperServiceManager.mainTaskReset(taskId, mContext, new OchCommonServiceCallback<BaseResponse<Boolean>>() {
@Override
public void onSuccess(BaseResponse<Boolean> data) {
if (mSweeperTaskCallback != null && data != null) {
mSweeperTaskCallback.setMainTaskReset(data.getData());
}
}
@Override
public void onFail(int code, String msg) {
if (!NetworkUtils.isConnected(mContext)) {
ToastUtils.showShort("网络异常，请稍后重试");
} else {
ToastUtils.showShort(msg);
}
}
@Override
public void onError() {
if (!NetworkUtils.isConnected(mContext)) {
ToastUtils.showShort(mContext.getString(R.string.network_error_tip));
} else {
ToastUtils.showShort(mContext.getString(R.string.request_error_tip));
}
}
});
}
}

242
OCH/mogo-och-sweeper/src/main/java/com/mogo/och/sweeper/presenter/SweeperPresenter.java
View File

@@ -8,6 +8,7 @@ import com.mogo.commons.mvp.Presenter;
import com.mogo.eagle.core.data.autopilot.AutopilotControlParameters;
import com.mogo.eagle.core.data.autopilot.AutopilotStatusInfo;
import com.mogo.eagle.core.data.config.FunctionBuildConfig;
import com.mogo.eagle.core.data.map.MogoLocation;
import com.mogo.eagle.core.function.api.autopilot.IMoGoAutopilotStatusListener;
import com.mogo.eagle.core.function.api.autopilot.IMoGoSweeperFutianCleanSystemListener;
@@ -18,14 +19,21 @@ import com.mogo.eagle.core.utilcode.mogo.logger.CallerLogger;
import com.mogo.eagle.core.utilcode.util.UiThreadHandler;
import com.mogo.och.common.module.manager.OCHAdasAbilityManager;
import com.mogo.och.common.module.utils.PinYinUtil;
import com.mogo.och.sweeper.bean.SweeperMainTaskBean;
import com.mogo.och.sweeper.bean.SweeperSubTaskBean;
import com.mogo.och.sweeper.callback.ISweeperADASStatusCallback;
import com.mogo.och.sweeper.callback.ISweeperControllerStatusCallback;
import com.mogo.och.sweeper.callback.ISweeperTaskCallback;
import com.mogo.och.sweeper.constant.SubTaskTypeEnum;
import com.mogo.och.sweeper.constant.TaskStatusEnum;
import com.mogo.och.sweeper.fragment.SweeperFragment;
import com.mogo.och.sweeper.model.SweeperTaskModel;
import com.mogo.och.sweeper.util.SweeperTrajectoryManager;
import org.jetbrains.annotations.NotNull;
import java.util.List;
import androidx.annotation.NonNull;
import androidx.annotation.Nullable;
import androidx.lifecycle.LifecycleOwner;
@@ -35,20 +43,19 @@ import mogo_msg.MogoReportMsg;
import planning.RoboSweeperTaskIndexOuterClass;
import system_master.SystemStatusInfo;
import static com.mogo.eagle.core.utilcode.mogo.logger.scene.SceneConstant.M_BUS;
/**
* 网约车小巴
*
* @author tongchenfei
*/
public class SweeperPresenter extends Presenter<SweeperFragment>
implements IMoGoAutopilotStatusListener, ISweeperControllerStatusCallback, ISweeperADASStatusCallback, IMoGoSweeperFutianCleanSystemListener {
implements IMoGoAutopilotStatusListener, ISweeperControllerStatusCallback, ISweeperADASStatusCallback, IMoGoSweeperFutianCleanSystemListener, ISweeperTaskCallback {
private static final String TAG = "BusPresenter";
private int currentAutopilotStatus = -1;
private boolean isRestartAutopilot = false;
//当前子任务id
private int mSubTaskId=0;
//当前是否最后一个子任务
private boolean mIsLastSubtask=false;
public SweeperPresenter(SweeperFragment view) {
super(view);
@@ -76,50 +83,59 @@ public class SweeperPresenter extends Presenter<SweeperFragment>
public void initModelListener() {
SweeperTaskModel.getInstance().setControllerStatusCallback(this);
SweeperTaskModel.getInstance().setAdasStatusCallback(this);
SweeperTaskModel.getInstance().setSweeperTaskCallback(this);
}
public void releaseListener() {
SweeperTaskModel.getInstance().setControllerStatusCallback(null);
SweeperTaskModel.getInstance().setAdasStatusCallback(null);
SweeperTaskModel.getInstance().setSweeperTaskCallback(null);
CallerSweeperFutianCleanSystemListenerManager.INSTANCE.removeListener(TAG);
}
public void restartAutopilot() {
currentAutopilotStatus = -1;
SweeperTaskModel.getInstance().restartAutopilot();
isRestartAutopilot = true;
}
@Override
public void onAutopilotStatusResponse(@NotNull AutopilotStatusInfo autopilotStatusInfo) {
if (autopilotStatusInfo == null) return;
int state = autopilotStatusInfo.getState();
switch (state) {
case IMoGoAutopilotStatusListener.STATUS_AUTOPILOT_ENABLE:
if (currentAutopilotStatus != IMoGoAutopilotStatusListener.STATUS_AUTOPILOT_ENABLE) {
currentAutopilotStatus = IMoGoAutopilotStatusListener.STATUS_AUTOPILOT_ENABLE;
}
// 设置自动驾驶状态是否可用
runOnUIThread(() -> mView.onAutopilotEnableChange(true));
switch (autopilotStatusInfo.getState()){
case IMoGoAutopilotStatusListener.STATUS_AUTOPILOT_DISABLE://不可自动驾驶
runOnUIThread(() -> mView.readyTaskBtn("准备出发",false,false));
break;
case IMoGoAutopilotStatusListener.STATUS_AUTOPILOT_RUNNING:
if (currentAutopilotStatus != IMoGoAutopilotStatusListener.STATUS_AUTOPILOT_RUNNING) {
currentAutopilotStatus = IMoGoAutopilotStatusListener.STATUS_AUTOPILOT_RUNNING;
SweeperTaskModel.getInstance().triggerStartServiceEvent(
SweeperTaskModel.getInstance().isRestartAutopilot(), true);
case IMoGoAutopilotStatusListener.STATUS_AUTOPILOT_ENABLE://人工驾驶
if (SweeperTaskModel.getInstance().getSubWorking()){
if(FunctionBuildConfig.isDemoMode){//美化模式开启时
SweeperTaskModel.getInstance().startBeautificationMode();
}
}else{
if (FunctionBuildConfig.isDemoMode){//美化模式开启时
//关闭美化模式
SweeperTaskModel.getInstance().closeBeautificationMode();
}
}
// 设置自动驾驶状态是否可用
runOnUIThread(() -> mView.onAutopilotEnableChange(true));
runOnUIThread(() -> mView.readyTaskBtn("准备出发",true,false));
break;
case IMoGoAutopilotStatusListener.STATUS_AUTOPILOT_DISABLE:
if (currentAutopilotStatus != IMoGoAutopilotStatusListener.STATUS_AUTOPILOT_DISABLE) {
currentAutopilotStatus = IMoGoAutopilotStatusListener.STATUS_AUTOPILOT_DISABLE;
case IMoGoAutopilotStatusListener.STATUS_AUTOPILOT_RUNNING://自动驾驶中
if (SweeperTaskModel.getInstance().getSubWorking()){
if (FunctionBuildConfig.isDemoMode){//美化模式开启时
SweeperTaskModel.getInstance().startBeautificationMode();
}
runOnUIThread(() -> mView.readyTaskBtn("暂停任务",true,true));
}else{
runOnUIThread(() -> mView.readyTaskBtn("准备出发",true,false));
}
// 设置自动驾驶状态是否可用
runOnUIThread(() -> mView.onAutopilotEnableChange(false));
case IMoGoAutopilotStatusListener.STATUS_PARALLEL_DRIVING://平行驾驶
if (SweeperTaskModel.getInstance().getSubWorking()){
if(FunctionBuildConfig.isDemoMode){//美化模式开启时
FunctionBuildConfig.isIgnoreConditionsDrawAutopilotTrajectoryData = true;//是否强制绘制引导线
CallerAutoPilotControlManager.INSTANCE.setIPCDemoMode(false);//是否自动启动自驾
}
}else{
if (FunctionBuildConfig.isDemoMode){//美化模式开启时
//关闭美化模式
SweeperTaskModel.getInstance().closeBeautificationMode();
}
}
runOnUIThread(() -> mView.readyTaskBtn("准备出发",true,false));
break;
default:
// 设置自动驾驶状态是否可用
runOnUIThread(() -> mView.onAutopilotEnableChange(false));
break;
}
}
@@ -135,12 +151,22 @@ public class SweeperPresenter extends Presenter<SweeperFragment>
runOnUIThread(() -> mView.updateSpeedView((float) location.getGnssSpeed()));
}
}
public void cancelAutoPilot(){
//结束自动驾驶
CallerAutoPilotControlManager.INSTANCE.cancelAutoPilot();
}
@Override
public void startOpenAutopilot() {
}
public void setSubTaskId(int mSubTaskId) {
this.mSubTaskId = mSubTaskId;
SweeperTaskModel.getInstance().setSubTaskId(mSubTaskId);
}
public void setIsLastSubtask(boolean mIsLastSubtask) {
this.mIsLastSubtask = mIsLastSubtask;
SweeperTaskModel.getInstance().setIsLastSubtask(mIsLastSubtask);
}
private void runOnUIThread(Runnable executor) {
if (executor == null) {
return;
@@ -151,38 +177,6 @@ public class SweeperPresenter extends Presenter<SweeperFragment>
executor.run();
}
}
public void startAutopilot(){
AutopilotControlParameters parameters = new AutopilotControlParameters();
parameters.isSpeakVoice = true;
parameters.routeID = 164;
parameters.routeName = "bus5KM（小董）";
parameters.startName = PinYinUtil.getPinYinHeadChar("鹰眼270-13号路口起");
parameters.endName = PinYinUtil.getPinYinHeadChar("老干部演绎中心11223");
parameters.startLatLon = new AutopilotControlParameters
.AutoPilotLonLat( 40.199247410363796,116.73367125257714 );
parameters.endLatLon = new AutopilotControlParameters
.AutoPilotLonLat(40.20237, 116.74481 );
parameters.vehicleType = 10;
if (parameters.autoPilotLine == null) {
parameters.autoPilotLine = new AutopilotControlParameters.AutoPilotLine(
164,
"/home/mogo/data/vehicle_monitor/MapEngine_data/track_record_data/JL/traj_164.csv",
"",
"/home/mogo/data/vehicle_monitor/MapEngine_data/track_record_data/JL/stop_164.txt",
"",
1662021611000L,
"金旅牌XML6606JEVY0",
"",
"",
"",
"",
0L);
}
// CallerLogger.INSTANCE.d( M_BUS + TAG, "开启自动驾驶====" + GsonUtil.jsonFromObject(parameters)
// +" startLatLon="+currentStation.getName()+"，endLatLon="+nextStation.getName());
CallerLogger.INSTANCE.d( M_BUS + TAG, "开启自动驾驶====" + GsonUtil.jsonFromObject(parameters));
CallerAutoPilotControlManager.INSTANCE.startAutoPilot(parameters);
}
/**
* 测试使用
*
@@ -210,7 +204,7 @@ public class SweeperPresenter extends Presenter<SweeperFragment>
@Override
public void onAutopilotArriveAtStation(@Nullable MessagePad.ArrivalNotification arrivalNotification) {
SweeperTaskModel.getInstance().onArriveTaskEnd(arrivalNotification);
}
@Override
@@ -230,5 +224,115 @@ public class SweeperPresenter extends Presenter<SweeperFragment>
@Override
public void onSweeperFutianTaskIndexData(@NonNull RoboSweeperTaskIndexOuterClass.RoboSweeperTaskIndex roboSweeperTaskIndex) {
}
/**
* 获取当前正在执行的任务
*/
public void getCurrentTask(){
SweeperTaskModel.getInstance().getCurrentTask();
}
/**
* 获取子任务列表
*/
public void getSubTaskList(int taskId,SweeperSubTaskBean sweeperSubTaskBean){
SweeperTaskModel.getInstance().getSubTaskList(taskId,sweeperSubTaskBean);
}
/**
* 获取子任务详情包括轨迹文件信息
*/
public void getSubTaskDetail(int subTaskId){
SweeperTaskModel.getInstance().getSubTaskDetail(subTaskId);
}
/**
* 子任务开始上报
*/
/**
* 开始任务
*/
public void startTask(int subTaskId,SubTaskTypeEnum subTaskType){
if (SweeperTaskModel.getInstance().getSubWorking()&&subTaskType==SubTaskTypeEnum.AUTOPILOT_SUBTYPE){//如果任务正在执行中，被人工接管后掉出自驾，则只重启自动驾驶
SweeperTaskModel.getInstance().startAutopilot();
}else{
SweeperTaskModel.getInstance().subTaskStart(subTaskId,subTaskType);
}
// AutopilotControlParameters parameters = new AutopilotControlParameters();
// parameters.isSpeakVoice = true;
// parameters.routeID = 164;
// parameters.routeName = "bus5KM（小董）";
// parameters.startName = PinYinUtil.getPinYinHeadChar("鹰眼270-13号路口起");
// parameters.endName = PinYinUtil.getPinYinHeadChar("老干部演绎中心11223");
// parameters.startLatLon = new AutopilotControlParameters
// .AutoPilotLonLat( 40.199247410363796,116.73367125257714 );
// parameters.endLatLon = new AutopilotControlParameters
// .AutoPilotLonLat(40.20237, 116.74481 );
// parameters.vehicleType = 10;
// if (parameters.autoPilotLine == null) {
// parameters.autoPilotLine = new AutopilotControlParameters.AutoPilotLine(
// 164,
// "/home/mogo/data/vehicle_monitor/MapEngine_data/track_record_data/JL/traj_164.csv",
// "",
// "/home/mogo/data/vehicle_monitor/MapEngine_data/track_record_data/JL/stop_164.txt",
// "",
// 1662021611000L,
// "金旅牌XML6606JEVY0",
// "",
// "",
// "",
// "",
// 0L);
// }
//// CallerLogger.INSTANCE.d( M_BUS + TAG, "开启自动驾驶====" + GsonUtil.jsonFromObject(parameters)
//// +" startLatLon="+currentStation.getName()+"，endLatLon="+nextStation.getName());
// CallerLogger.INSTANCE.d( M_BUS + TAG, "开启自动驾驶====" + GsonUtil.jsonFromObject(parameters));
// CallerAutoPilotControlManager.INSTANCE.startAutoPilot(parameters);
}
/**
* 子任务结束上报
*/
public void subTaskEnd(int subTaskId,boolean isLastSubTask){
SweeperTaskModel.getInstance().subTaskEnd(subTaskId,isLastSubTask);
}
/**
* 子任务跳过上报
*/
public void subTaskSkip(int subTaskId,boolean isLastSubTask){
SweeperTaskModel.getInstance().subTaskSkip(subTaskId,isLastSubTask);
}
/**
* 主任务重置
*/
public void mainTaskReset(int taskId){
SweeperTaskModel.getInstance().mainTaskReset(taskId);
}
@Override
public void setMainTaskList(List<SweeperMainTaskBean> mainTaskBeanList) {
mView.setMainTaskList(mainTaskBeanList);
}
@Override
public void setSubTaskBean(SweeperSubTaskBean subTaskBean) {
mView.setSubTaskBean(subTaskBean);
}
@Override
public void updateSubTaskStatus(TaskStatusEnum typeEnum,boolean isLastSubTask) {
if (isLastSubTask){
if(FunctionBuildConfig.isDemoMode){//美化模式开启时
SweeperTaskModel.getInstance().closeBeautificationMode();
}
cancelAutoPilot();
}
mView.updateSubTaskStatus(typeEnum,isLastSubTask);
}
@Override
public void setMainTaskReset(boolean isSuccess) {
mView.setMainTaskReset(isSuccess);
}
@Override
public void emptyDataUI(int type) {
}
}

255
OCH/mogo-och-sweeper/src/main/java/com/mogo/och/sweeper/ui/SweeperOperatePanelView.java
View File

@@ -52,6 +52,7 @@ public class SweeperOperatePanelView extends LinearLayout {
private static final int CMD_EXECUTE_TIMEOUT_SECONDS = 30;
private static final int CMD_EXECUTE_MOCK_SUCCESS_SECONDS = 3;
CheckedTextView mBtnCleanWorkOpenClose;//开关
CheckedTextView mBtnCleanModePureSweep;//纯扫
CheckedTextView mBtnCleanModePureWash;//纯洗
CheckedTextView mBtnCleanModeSweepWash;//洗扫
@@ -64,7 +65,6 @@ public class SweeperOperatePanelView extends LinearLayout {
LinearLayout mLoadingContainer;//loading container
TextView mLoadingHintTop;//loading 提示-上面
TextView mLoadingHintBottom;//loading 提示-下面
private TextView mBtnReset;//复位
// 作业模式相关操作按钮的id
List<Integer> cleanModeBtnViewIds = Arrays.asList(
@@ -114,10 +114,7 @@ public class SweeperOperatePanelView extends LinearLayout {
private CleaningModeStateCallback cleaningModeStateCallback;
private int count = 0;
private static ChassisStatesOuterClass.SweeperFuTianTaskSystemStates mCurrentCleanSystemState;//当前作业模式
private ChassisStatesOuterClass.SweeperFuTianTaskSystemStates mCleanSystemState;//原有的作业模式
public SweeperOperatePanelView(Context context) {
super(context);
@@ -140,6 +137,7 @@ public class SweeperOperatePanelView extends LinearLayout {
private void initView(Context context) {
LayoutInflater.from(context).inflate(R.layout.sweeper_operate_panel_view, this, true);
mBtnCleanWorkOpenClose = (CheckedTextView) findViewById(R.id.btn_clean_work_open_close);
mBtnCleanModePureSweep = (CheckedTextView) findViewById(R.id.btn_clean_mode_pure_sweep);
mBtnCleanModePureWash = (CheckedTextView) findViewById(R.id.btn_clean_mode_pure_wash);
mBtnCleanModeSweepWash = (CheckedTextView) findViewById(R.id.btn_clean_mode_sweep_wash);
@@ -152,11 +150,11 @@ public class SweeperOperatePanelView extends LinearLayout {
mLoadingContainer = findViewById(R.id.loading_hint_container);
mLoadingHintTop = findViewById(R.id.loading_hint_top);
mLoadingHintBottom = findViewById(R.id.loading_hint_bottom);
mBtnReset = findViewById(R.id.btn_operate_panel_reset);
initViewListener();
}
private void initViewListener() {
setClickListener(mBtnCleanWorkOpenClose, (v) -> onCleanWorkBtnClick());
setClickListener(mBtnCleanModePureSweep, (v) -> onCleanModeBtnClick(v));
setClickListener(mBtnCleanModePureWash, (v) -> onCleanModeBtnClick(v));
setClickListener(mBtnCleanModeSweepWash, (v) -> onCleanModeBtnClick(v));
@@ -166,7 +164,90 @@ public class SweeperOperatePanelView extends LinearLayout {
setClickListener(mBtnCleanDirectionBothSide, (v) -> onCleanDirectionBtnClick(v));
setClickListener(mBtnCleanIntensityStandard, (v) -> onCleanIntensityBtnClick(v));
setClickListener(mBtnCleanIntensityStrong, (v) -> onCleanIntensityBtnClick(v));
setClickListener(mBtnReset, (v) -> onOperateReset());
}
/**
* 清扫任务开关按钮点击事件
*/
private void onCleanWorkBtnClick() {
// 是否是 关闭 操作
boolean isCloseAction = mBtnCleanWorkOpenClose.isChecked();
CmdRequestCallback cmdRequestCallback = new CmdRequestCallback() {
@Override
public void onSendCmd() {
showLoadingMask(CMD_EXECUTE_TIMEOUT_SECONDS);
}
@Override
public void onCountDownTick(int seconds) {
updateLoadingCountDown(seconds);
}
@Override
public boolean onCheckIfCmdSuccess(ChassisStatesOuterClass.SweeperFuTianTaskSystemStates cleanSystemState) {
boolean success = false;
if (cleanSystemState == null) {
return success;
}
if (isCloseAction) {
success = !cleanSystemState.getSecuMotWorkSts();
} else {
success = cleanSystemState.getSecuMotWorkSts();
}
return success;
}
@Override
public void onCmdSuccess() {
runOnUIThread(() -> {
if (isCloseAction) {
mBtnCleanWorkOpenClose.setText("打开");
mBtnCleanWorkOpenClose.setChecked(false);
toggleCleanModeBtnsStatus(false);
toggleCleanDirectionBtnsStatus(false);
toggleCleanIntensityBtnsStatus(false);
} else {
mBtnCleanWorkOpenClose.setText("关闭");
mBtnCleanWorkOpenClose.setChecked(true);
toggleCleanModeBtnsStatus(true);
}
hideLoadingMask();
showCmdExecuteSuccessToast();
});
}
@Override
public void onCmdFailed() {
}
@Override
public void onCmdTimeout() {
//按钮样式恢复原样
runOnUIThread(() -> {
if (isCloseAction) {
mBtnCleanWorkOpenClose.setText("打开");
mBtnCleanWorkOpenClose.setChecked(true);
} else {
mBtnCleanWorkOpenClose.setText("关闭");
mBtnCleanWorkOpenClose.setChecked(false);
}
hideLoadingMask();
showCmdExecuteTimeoutToast();
});
}
};
if (isCloseAction) {
//关闭操作，点击时需要弹框提示确认后，关闭
sendSweeperCmd(
SweeperFutianCmdUtil.buildCleanWorkStopCmd(),
cmdRequestCallback
, CMD_EXECUTE_TIMEOUT_SECONDS);
} else {
//打开操作，点击时打开
sendSweeperCmd(
SweeperFutianCmdUtil.buildCleanWorkStartCmd(),
cmdRequestCallback,
CMD_EXECUTE_TIMEOUT_SECONDS);
}
}
/**
@@ -662,12 +743,6 @@ public class SweeperOperatePanelView extends LinearLayout {
public void setSweeperFutianCleanSystemState(ChassisStatesOuterClass.SweeperFuTianTaskSystemStates cleanSystemState,
CleaningModeStateCallback cleaningModeStateCallback) {
this.cleaningModeStateCallback = cleaningModeStateCallback;
this.mCleanSystemState = cleanSystemState;
//hideLoadingMask();
// if (isResetWorkMode){
// isResetWorkMode=false;
// resetSuccess(cleanSystemState);
// }
onSyncVehicleStateCallBack(cleanSystemState);
// 有命令正在执行
if (mCurrentCmdRequestCallback != null) {
@@ -724,6 +799,15 @@ public class SweeperOperatePanelView extends LinearLayout {
// 作业强度状态
boolean clean_intensity_standard = cleanSystemState.getSecuWorkStandSts();
boolean clean_intensity_strong = cleanSystemState.getSecuWorkStrongSts();
if (clean_open_requirement) {
// 打开状态
mBtnCleanWorkOpenClose.setText("关闭");
mBtnCleanWorkOpenClose.setChecked(true);
} else {
// 关闭状态
mBtnCleanWorkOpenClose.setText("打开");
mBtnCleanWorkOpenClose.setChecked(false);
}
if (clean_mode_pure_sweep) {
//纯扫
mBtnCleanModePureSweep.setChecked(true);
@@ -817,153 +901,6 @@ public class SweeperOperatePanelView extends LinearLayout {
+ "[clean_intensity_requirement = " + clean_intensity_requirement + "]"
);
}
/**
* 复位
*/
private void onOperateReset() {
if (mCleanSystemState != null) {
// 洗扫
if (mCurrentCleanSystemState.getSecuModWashSweepSts() || mCurrentCleanSystemState.getSecuModWashSts() || mCurrentCleanSystemState.getSecuWorkTonSts() || SweeperFutianCmdUtil.checkIfCleanModePureSweep(mCurrentCleanSystemState)) {
sendFuTianTaskCmd(SweeperFutianCmdUtil.buildCleanModeCloseCmd());
}
// 左侧
if (mCurrentCleanSystemState.getSecuWorkLeftSts() || mCurrentCleanSystemState.getSecuWorkRightSts() || mCurrentCleanSystemState.getSecuWorkOnBothsidesSts()) {
sendFuTianTaskCmd(SweeperFutianCmdUtil.buildCleanDirectionCloseCmd());
}
// 洗扫
if (mCurrentCleanSystemState.getSecuModWashSweepSts()) {
count++;
// 发送命令
sendFuTianTaskCmd(SweeperFutianCmdUtil.buildCleanModeCmd(CLEAN_MODE_WASH_SWEEP));
}
// 纯洗
if (mCleanSystemState.getSecuModWashSts()) {
count++;
sendFuTianTaskCmd(SweeperFutianCmdUtil.buildCleanModeCmd(CLEAN_MODE_PURE_WASH));
}
// 纯吸
if (mCleanSystemState.getSecuWorkTonSts()) {
count++;
sendFuTianTaskCmd(SweeperFutianCmdUtil.buildCleanModeCmd(CLEAN_MODE_PURE_DRAW));
}
//纯扫
if (SweeperFutianCmdUtil.checkIfCleanModePureSweep(mCleanSystemState)) {
count++;
sendFuTianTaskCmd(SweeperFutianCmdUtil.buildCleanModeCmd(CLEAN_MODE_PURE_SWEEP));
}
// 左侧
if (mCleanSystemState.getSecuWorkLeftSts()) {
count++;
sendFuTianTaskCmd(SweeperFutianCmdUtil.buildCleanDirectionCmd(CLEAN_DIRECTION_LEFT_SIDE));
}
// 右侧
if (mCleanSystemState.getSecuWorkRightSts()) {
count++;
sendFuTianTaskCmd(SweeperFutianCmdUtil.buildCleanDirectionCmd(CLEAN_DIRECTION_RIGHT_SIDE));
}
// 两侧
if (mCleanSystemState.getSecuWorkOnBothsidesSts()) {
count++;
sendFuTianTaskCmd(SweeperFutianCmdUtil.buildCleanDirectionCmd(CLEAN_DIRECTION_BOTH_SIDE));
}
//标准
if (mCleanSystemState.getSecuWorkStandSts()) {
count++;
sendFuTianTaskCmd(SweeperFutianCmdUtil.buildCleanIntensityCmd(CLEAN_INTENSITY_STRAND));
}
//强力
if (mCleanSystemState.getSecuWorkStrongSts()) {
count++;
sendFuTianTaskCmd(SweeperFutianCmdUtil.buildCleanIntensityCmd(CLEAN_INTENSITY_STRONG));
}
mCurrentCmdRequestCallback = new CmdRequestCallback() {
@Override
public void onSendCmd() {
showLoadingMask(count * CMD_EXECUTE_TIMEOUT_SECONDS);
}
@Override
public void onCountDownTick(int senonds) {
updateLoadingCountDown(senonds);
}
@Override
public boolean onCheckIfCmdSuccess(ChassisStatesOuterClass.SweeperFuTianTaskSystemStates cleanSystemState) {
// 洗扫
if (cleanSystemState.getSecuModWashSweepSts()) {
count--;
}
// 纯洗
if (cleanSystemState.getSecuModWashSts()) {
count--;
}
// 纯吸
if (cleanSystemState.getSecuWorkTonSts()) {
count--;
}
//纯扫
if (SweeperFutianCmdUtil.checkIfCleanModePureSweep(cleanSystemState)) {
count--;
}
// 左侧
if (cleanSystemState.getSecuWorkLeftSts()) {
count--;
}
// 右侧
if (cleanSystemState.getSecuWorkRightSts()) {
count--;
}
// 两侧
if (cleanSystemState.getSecuWorkOnBothsidesSts()) {
count--;
}
//标准
if (cleanSystemState.getSecuWorkStandSts()) {
count--;
}
//强力
if (cleanSystemState.getSecuWorkStrongSts()) {
count--;
}
return count == 0;
}
@Override
public void onCmdSuccess() {
resetSuccess(mCleanSystemState);
mCurrentCleanSystemState=mCleanSystemState;
hideLoadingMask();
showCmdExecuteSuccessToast();
}
@Override
public void onCmdFailed() {
}
@Override
public void onCmdTimeout() {
runOnUIThread(() -> {
hideLoadingMask();
showCmdExecuteTimeoutToast();
});
}
};
// onSendCmd
mCurrentCmdRequestCallback.onSendCmd();
// 开启倒计时
Message msg = Message.obtain();
msg.what = MSG_CMD_EXECUTE_COUNT_DOWN;
msg.obj = count * CMD_EXECUTE_TIMEOUT_SECONDS;
mSweeperOperateCmdHandler.sendMessage(msg);
// Mock Cmd Success
//mockSendCmdSuccess();
}
}
/**
* 发送指令
*/

31
OCH/mogo-och-sweeper/src/main/java/com/mogo/och/sweeper/ui/adapter/TaskListAdapter.kt
View File

@@ -8,12 +8,14 @@ import android.view.ViewGroup
import android.widget.ImageView
import android.widget.TextView
import androidx.recyclerview.widget.RecyclerView
import com.mogo.och.common.module.utils.DateTimeUtil
import com.mogo.och.sweeper.R
import com.mogo.och.sweeper.bean.TaskInfoBean
import com.mogo.och.sweeper.bean.SweeperMainTaskBean
import com.mogo.och.sweeper.constant.SubTaskTypeEnum
class TaskListAdapter(
private val context: Context,
private val data: List<TaskInfoBean>?,
private var data: List<SweeperMainTaskBean>?,
) : RecyclerView.Adapter<TaskListAdapter.TaskViewHolder>() {
private var mItemClickListener: TaskItemClickListener? = null
private var mSelectPosition: Int = -1
@@ -25,11 +27,13 @@ class TaskListAdapter(
val selectIv: ImageView
val taskName: TextView//任务名称
val taskDesc: TextView//任务描述
val tvTaskTime: TextView//任务时间
init {
selectIv = itemView.findViewById(R.id.ivTaskSelect)
taskName = itemView.findViewById(R.id.tvTaskName)
taskDesc = itemView.findViewById(R.id.tvTaskDesc)
tvTaskTime = itemView.findViewById(R.id.tvTaskTime)
}
}
@@ -37,9 +41,12 @@ class TaskListAdapter(
this.mSelectPosition = position
notifyDataSetChanged()
}
fun setTaskListData(data: List<SweeperMainTaskBean>?){
this.data=data
notifyDataSetChanged()
}
interface TaskItemClickListener {
fun onItemClick(position: Int)
fun onItemClick(position: Int,mainTask:SweeperMainTaskBean)
}
override fun onCreateViewHolder(parent: ViewGroup, viewType: Int): TaskViewHolder {
@@ -50,6 +57,19 @@ class TaskListAdapter(
}
override fun onBindViewHolder(holder: TaskViewHolder, position: Int) {
data?.let { mainTask->
holder.taskName.text= mainTask[position].mainTaskName
holder.taskDesc.text= "全程包含${mainTask[position].subTaskTotal}个子任务"
val calendar = DateTimeUtil.formatLongToCalendar(mainTask[position].mainTaskStartTime)
if (DateTimeUtil.compareDateIsCurrentDay(calendar)){
holder.tvTaskTime.text="今天${DateTimeUtil.formatCalendarToString(calendar, DateTimeUtil.TAXI_HH_mm)}"
}else{
holder.tvTaskTime.text=DateTimeUtil.formatCalendarToString(calendar, DateTimeUtil.TAXI_MM_dd_HH_mm)
}
holder.itemView.setOnClickListener {
mItemClickListener?.onItemClick(position,mainTask[position])
}
}
if (position == mSelectPosition) {
holder.selectIv.visibility = View.VISIBLE
holder.itemView.setBackgroundColor(Color.parseColor("#FF152644"))
@@ -57,9 +77,6 @@ class TaskListAdapter(
holder.selectIv.visibility = View.GONE
holder.itemView.setBackgroundColor(Color.parseColor("#00000000"))
}
holder.itemView.setOnClickListener {
mItemClickListener?.onItemClick(position)
}
}
override fun getItemCount(): Int = data?.size ?: 0

13
OCH/mogo-och-sweeper/src/main/java/com/mogo/och/sweeper/ui/popwindow/MenuPopWindow.kt
View File

@@ -8,11 +8,8 @@ import android.view.View
import android.view.ViewGroup.LayoutParams
import android.widget.PopupWindow
import android.widget.TextView
import chassis.ChassisStatesOuterClass
import com.mogo.och.sweeper.R
import com.mogo.och.sweeper.callback.CleaningModeStateCallback
import com.mogo.och.sweeper.constant.OperateStateEnum
import com.mogo.och.sweeper.constant.TaskMenuTypeEnum
import com.mogo.och.sweeper.constant.TaskStatusEnum
/**
* 当前任务操作菜单栏
@@ -71,21 +68,21 @@ class MenuPopWindow : PopupWindow, View.OnClickListener{
}
interface OnMenuItemOnClickListener {
fun onMenuItemClick(itemType: TaskMenuTypeEnum)
fun onMenuItemClick(itemType: TaskStatusEnum)
}
override fun onClick(v: View) {
when(v.id){
R.id.tvJumpOverTask->{
mMenuItemClickListener?.onMenuItemClick(TaskMenuTypeEnum.JUMP_OVER_TASK)
mMenuItemClickListener?.onMenuItemClick(TaskStatusEnum.JUMP_OVER_SUBTASK)
dismiss()
}
R.id.tvEndTask->{
mMenuItemClickListener?.onMenuItemClick(TaskMenuTypeEnum.END_TASK)
mMenuItemClickListener?.onMenuItemClick(TaskStatusEnum.END_TASK)
dismiss()
}
R.id.tvCancelTask->{
mMenuItemClickListener?.onMenuItemClick(TaskMenuTypeEnum.CANCEL_TASK)
mMenuItemClickListener?.onMenuItemClick(TaskStatusEnum.CANCEL_TASK)
dismiss()
}
}

9
OCH/mogo-och-sweeper/src/main/java/com/mogo/och/sweeper/ui/popwindow/SweeperOperatePanelPopWindow.kt
View File

@@ -18,7 +18,6 @@ import com.mogo.och.sweeper.ui.SweeperOperatePanelView
class SweeperOperatePanelPopWindow : PopupWindow {
private var mOperatePanelView: SweeperOperatePanelView? = null
private var mBtnCancel: TextView? = null //取消
constructor(context: Context) : super(context) {
init(context)
@@ -27,16 +26,12 @@ class SweeperOperatePanelPopWindow : PopupWindow {
private fun init(context: Context) {
setBackgroundDrawable(ColorDrawable(Color.TRANSPARENT))
mOperatePanelView = LayoutInflater.from(context).inflate(R.layout.sweeper_popwindow_operate_panel, null) as SweeperOperatePanelView?
mBtnCancel = mOperatePanelView?.findViewById(R.id.btn_operate_panel_cancel)
width = ViewGroup.LayoutParams.WRAP_CONTENT
height = ViewGroup.LayoutParams.WRAP_CONTENT
contentView = mOperatePanelView
isFocusable = false
isOutsideTouchable = false
isFocusable = true
isOutsideTouchable = true
isTouchable=true
mBtnCancel?.setOnClickListener {
dismiss()
}
}
/**

85
OCH/mogo-och-sweeper/src/main/java/com/mogo/och/sweeper/util/SweeperTrajectoryManager.java
View File

@@ -1,24 +1,22 @@
package com.mogo.och.sweeper.util;
import androidx.annotation.Nullable;
import com.mogo.eagle.core.data.autopilot.AutopilotControlParameters;
import com.mogo.eagle.core.function.call.autopilot.CallerAutoPilotControlManager;
import com.mogo.eagle.core.utilcode.mogo.logger.CallerLogger;
import com.mogo.eagle.core.utilcode.util.GsonUtils;
import com.mogo.och.sweeper.bean.SweeperRoutesResult;
import com.mogo.och.sweeper.bean.SweeperSubTaskDetailBean;
import com.mogo.och.sweeper.constant.SweeperConst;
import com.mogo.och.sweeper.model.SweeperTaskModel;
import java.util.concurrent.TimeUnit;
import androidx.annotation.Nullable;
import io.reactivex.Observable;
import io.reactivex.android.schedulers.AndroidSchedulers;
import io.reactivex.disposables.Disposable;
import io.reactivex.schedulers.Schedulers;
import mogo_msg.MogoReportMsg;
import static com.mogo.eagle.core.utilcode.mogo.logger.scene.SceneConstant.M_BUS;
import static com.mogo.eagle.core.utilcode.mogo.logger.scene.SceneConstant.M_SWEEPER;
/**
* Bus轨迹管理：给MEC下发用于轨迹下载的信息
@@ -47,82 +45,63 @@ public class SweeperTrajectoryManager {
/**
* 同步Bus路线信息
*/
public void syncTrajectoryInfo() {
SweeperRoutesResult routesResult = SweeperTaskModel.getInstance().getBusRoutesResult();
if (routesResult != null
&& SweeperTaskModel.getInstance().getCurrentStationIndex() == 0
&& !SweeperTaskModel.getInstance().isGoingToNextStation()) {
CallerLogger.INSTANCE.d(M_BUS + TAG, "syncTrajectoryInfo() start.");
startTrajReqLoop();
public void syncTrajectoryInfo(SweeperSubTaskDetailBean sweeperSubTaskDetailBean) {
if (sweeperSubTaskDetailBean != null) {
CallerLogger.INSTANCE.d(M_SWEEPER + TAG, "syncTrajectoryInfo() start.");
startTrajReqLoop(sweeperSubTaskDetailBean);
} else {
// 无路线信息or当前未在始发站
CallerLogger.INSTANCE.d(M_BUS + TAG, "syncTrajectoryInfo() stop.");
CallerLogger.INSTANCE.d(M_SWEEPER + TAG, "syncTrajectoryInfo() stop.");
stopTrajReqLoop();
}
}
/**
* 接口MEC反馈的常规信息（MAP v2.5.0新增轨迹相关信息）
*
* @param guardianInfo
*/
public void onAutopilotGuardian(@Nullable MogoReportMsg.MogoReportMessage guardianInfo) {
if (guardianInfo == null || !guardianInfo.hasCode()) return;
if ("ISYS_INIT_TRAJECTORY_START".equals(guardianInfo.getCode())) {
// 1. 轨迹管理_轨迹开始下载（本地已有对应轨迹也触发）
CallerLogger.INSTANCE.d(M_BUS + TAG, "onAutopilotGuardian() 轨迹开始下载");
CallerLogger.INSTANCE.d(M_SWEEPER + TAG, "onAutopilotGuardian() 轨迹开始下载");
// ToastUtils.showShort("轨迹开始下载");
stopTrajReqLoop();
} else if ("ISYS_INIT_TRAJECTORY_SUCCESS".equals(guardianInfo.getCode())) {
// 2. 轨迹管理_轨迹下载成功（本地已有对应轨迹也触发）
CallerLogger.INSTANCE.d(M_BUS + TAG, "onAutopilotGuardian() 轨迹下载成功");
CallerLogger.INSTANCE.d(M_SWEEPER + TAG, "onAutopilotGuardian() 轨迹下载成功");
// ToastUtils.showShort("轨迹下载成功");
stopTrajReqLoop();
} else if ("ISYS_INIT_TRAJECTORY_FAILURE".equals(guardianInfo.getCode())) {
// 3. 轨迹管理_轨迹下载失败，本地无对应轨迹
CallerLogger.INSTANCE.d(M_BUS + TAG, "onAutopilotGuardian() " +
CallerLogger.INSTANCE.d(M_SWEEPER + TAG, "onAutopilotGuardian() " +
"轨迹下载失败，本地无对应轨迹");
// ToastUtils.showShort("轨迹下载失败，本地无对应轨迹");
} else if ("ISYS_INIT_TRAJECTORY_WARNING".equals(guardianInfo.getCode())) {
// 4. 轨迹管理_轨迹下载失败，本地有对应轨迹，认为成功
CallerLogger.INSTANCE.d(M_BUS + TAG, "onAutopilotGuardian() " +
CallerLogger.INSTANCE.d(M_SWEEPER + TAG, "onAutopilotGuardian() " +
"轨迹下载失败，本地有对应轨迹，认为成功");
// ToastUtils.showShort("轨迹下载失败，本地有对应轨迹，认为成功");
} else if ("ISYS_INIT_TRAJECTORY_TIMEOUT".equals(guardianInfo.getCode())) {
// 5. 轨迹管理_轨迹下载超时
CallerLogger.INSTANCE.d(M_BUS + TAG, "onAutopilotGuardian() 轨迹下载超时");
CallerLogger.INSTANCE.d(M_SWEEPER + TAG, "onAutopilotGuardian() 轨迹下载超时");
// ToastUtils.showShort("轨迹下载超时");
}
}
private void setupAutoPilotLine() {
SweeperRoutesResult routesResult = SweeperTaskModel.getInstance().getBusRoutesResult();
if (routesResult == null) {
CallerLogger.INSTANCE.e(M_BUS + TAG,
"setupAutoPilotLine(): routesResult is null.");
private void setupAutoPilotLine(SweeperSubTaskDetailBean subTaskDetail) {
if (subTaskDetail == null) {
CallerLogger.INSTANCE.e(M_SWEEPER + TAG, "setupAutoPilotLine(): routesResult is null.");
return;
} else {
if (mAutoPilotLine == null) {
mAutoPilotLine = new AutopilotControlParameters.AutoPilotLine(routesResult.getLineId(),
routesResult.csvFileUrl, routesResult.csvFileMd5,
routesResult.txtFileUrl, routesResult.txtFileMd5,
routesResult.contrailSaveTime, routesResult.carModel,
routesResult.csvFileUrlDPQP, routesResult.csvFileMd5DPQP,
routesResult.txtFileUrlDPQP, routesResult.txtFileMd5DPQP,
routesResult.contrailSaveTimeDPQP);
} else {
mAutoPilotLine.setLineId(routesResult.getLineId());
mAutoPilotLine.setTrajUrl(routesResult.csvFileUrl);
mAutoPilotLine.setTrajMd5(routesResult.csvFileMd5);
mAutoPilotLine.setStopUrl(routesResult.txtFileUrl);
mAutoPilotLine.setStopMd5(routesResult.txtFileMd5);
mAutoPilotLine.setTimestamp(routesResult.contrailSaveTime);
mAutoPilotLine.setVehicleModel(routesResult.carModel);
mAutoPilotLine.setTrajUrl_dpqp(routesResult.csvFileUrlDPQP);
mAutoPilotLine.setTrajMd5_dpqp(routesResult.csvFileMd5DPQP);
mAutoPilotLine.setStopUrl_dpqp(routesResult.txtFileUrlDPQP);
mAutoPilotLine.setStopMd5_dpqp(routesResult.txtFileMd5DPQP);
mAutoPilotLine.setTimestamp_dpqp(routesResult.contrailSaveTimeDPQP);
}
mAutoPilotLine = new AutopilotControlParameters.AutoPilotLine(subTaskDetail.getLineId(),
subTaskDetail.getCsvFileUrl(), subTaskDetail.getCsvFileMd5(),
subTaskDetail.getTxtFileUrl(), subTaskDetail.getTxtFileMd5(),
subTaskDetail.getContrailSaveTime(), subTaskDetail.getCarModel(),
subTaskDetail.getCsvFileUrlDPQP(), subTaskDetail.getCsvFileMd5DPQP(),
subTaskDetail.getTxtFileUrlDPQP(), subTaskDetail.getTxtFileMd5DPQP(),
subTaskDetail.getContrailSaveTimeDPQP());
}
}
@@ -142,14 +121,14 @@ public class SweeperTrajectoryManager {
mAutoPilotLine.setTimestamp_dpqp(0);
}
private void startTrajReqLoop() {
private void startTrajReqLoop(SweeperSubTaskDetailBean sweeperSubTaskDetailBean) {
if (mSendReqDisposable != null && !mSendReqDisposable.isDisposed()) {
return;
}
CallerLogger.INSTANCE.d(M_BUS + TAG, "startTrajReqLoop()");
setupAutoPilotLine();
CallerLogger.INSTANCE.d(M_SWEEPER + TAG, "startTrajReqLoop()");
setupAutoPilotLine(sweeperSubTaskDetailBean);
mSendReqDisposable = Observable.interval(SweeperConst.LOOP_DELAY,
SweeperConst.LOOP_PERIOD_10S, TimeUnit.MILLISECONDS)
SweeperConst.LOOP_PERIOD_10S, TimeUnit.MILLISECONDS)
.map((aLong -> aLong + 1))
.subscribeOn(Schedulers.io())
.observeOn(AndroidSchedulers.mainThread())
@@ -158,14 +137,14 @@ public class SweeperTrajectoryManager {
stopTrajReqLoop();
return;
}
CallerLogger.INSTANCE.d(M_BUS + TAG, "loop sendTrajectoryReq: " + aLong);
CallerLogger.INSTANCE.d(M_SWEEPER + TAG, "loop sendTrajectoryReq: " + aLong);
sendTrajectoryReq();
});
}
public void stopTrajReqLoop() {
if (mSendReqDisposable != null) {
CallerLogger.INSTANCE.d(M_BUS + TAG, "stopTrajReqLoop()");
CallerLogger.INSTANCE.d(M_SWEEPER + TAG, "stopTrajReqLoop()");
mSendReqDisposable.dispose();
mSendReqDisposable = null;
clearAutoPilotLine();
@@ -174,7 +153,7 @@ public class SweeperTrajectoryManager {
private void sendTrajectoryReq() {
if (mAutoPilotLine == null) {
CallerLogger.INSTANCE.e(M_BUS + TAG, "sendTrajectoryReq(): mAutoPilotLine is null!!!");
CallerLogger.INSTANCE.e(M_SWEEPER + TAG, "sendTrajectoryReq(): mAutoPilotLine is null!!!");
return;
}
@@ -198,7 +177,7 @@ public class SweeperTrajectoryManager {
// mAutoPilotLine.setVehicleModel("红旗H9");
CallerAutoPilotControlManager.INSTANCE.sendTrajectoryDownloadReq(mAutoPilotLine);
CallerLogger.INSTANCE.d(M_BUS + TAG, "sendTrajectoryReq(): "
CallerLogger.INSTANCE.d(M_SWEEPER + TAG, "sendTrajectoryReq(): "
+ GsonUtils.toJson(mAutoPilotLine));
}
}

33
OCH/mogo-och-sweeper/src/main/java/com/mogo/och/sweeper/view/SubTaskView.kt
View File

@@ -6,8 +6,10 @@ import android.util.AttributeSet
import android.view.LayoutInflater
import android.view.View
import androidx.constraintlayout.widget.ConstraintLayout
import com.mogo.och.common.module.utils.DateTimeUtil
import com.mogo.och.sweeper.R
import com.mogo.och.sweeper.bean.TaskInfoBean
import com.mogo.och.sweeper.bean.SubInfo
import com.mogo.och.sweeper.bean.SweeperSubTaskBean
import kotlinx.android.synthetic.main.sweeper_subtask_view.view.*
/**
@@ -29,16 +31,27 @@ class SubTaskView : ConstraintLayout {
/**
* 设置子任务信息
*/
fun setData(taskInfo:TaskInfoBean,isSelect:Boolean=false,isLastTask:Boolean=false){
fun setData(taskInfo: SubInfo, isSelect: Boolean = false, isLastTask: Boolean = false) {
tvSubTaskName.text = taskInfo.taskName
tvSubTaskName.setTextColor(if (isSelect) Color.parseColor("#3BD2FF")else Color.parseColor("#FFFFFF"))
if (isSelect){
ivSubTaskSelect.visibility=View.VISIBLE
ivSubTask.visibility=View.GONE
}else{
ivSubTaskSelect.visibility=View.GONE
ivSubTask.visibility=View.VISIBLE
var mileage: String = if (taskInfo.mileage < 1000) {
"${taskInfo.mileage}米"
} else {
"${taskInfo.mileage / 1000F}千米"
}
ivRightDownArrow.visibility=if (isLastTask) View.GONE else View.VISIBLE
var timeSpent=if(DateTimeUtil.secondsToHourStr(taskInfo.timeSpent)!=""){
"${DateTimeUtil.secondsToHourStr(taskInfo.timeSpent/1000)}小时${DateTimeUtil.secondsToMinuteStr(taskInfo.timeSpent/1000)}分钟"
}else{
"${DateTimeUtil.secondsToMinuteStr(taskInfo.timeSpent/1000)}分钟"
}
tvSubTaskDesc.text = "全程约${mileage}，预计耗时$timeSpent 分钟"
tvSubTaskName.setTextColor(if (isSelect) Color.parseColor("#3BD2FF") else Color.parseColor("#FFFFFF"))
if (isSelect) {
ivSubTaskSelect.visibility = View.VISIBLE
ivSubTask.visibility = View.GONE
} else {
ivSubTaskSelect.visibility = View.GONE
ivSubTask.visibility = View.VISIBLE
}
ivRightDownArrow.visibility = if (isLastTask) View.GONE else View.VISIBLE
}
}

120
OCH/mogo-och-sweeper/src/main/java/com/mogo/och/sweeper/view/SweeperCurrentTaskInfoView.kt
View File

@@ -4,11 +4,12 @@ import android.content.Context
import android.util.AttributeSet
import android.view.LayoutInflater
import android.view.View
import android.widget.ImageView
import android.widget.TextView
import androidx.constraintlayout.widget.ConstraintLayout
import com.mogo.och.sweeper.R
import com.mogo.och.sweeper.bean.TaskInfoBean
import com.mogo.och.sweeper.bean.SubInfo
import com.mogo.och.sweeper.bean.SweeperSubTaskBean
import com.mogo.och.sweeper.constant.SubTaskTypeEnum
import com.mogo.och.sweeper.presenter.SweeperPresenter
import com.mogo.och.sweeper.ui.popwindow.MenuPopWindow
import kotlinx.android.synthetic.main.sweeper_current_task_info.view.*
@@ -18,6 +19,10 @@ import kotlinx.android.synthetic.main.sweeper_current_task_info.view.*
class SweeperCurrentTaskInfoView : ConstraintLayout {
//当前任务操作菜单
private var mTaskMenuPopWindow: MenuPopWindow? = null
private var presenter: SweeperPresenter?=null
private var mCurrentPosition=-1
private var listTask:List<SubInfo>?=null
constructor(context: Context) : super(context) {}
constructor(context: Context, attrs: AttributeSet?) : super(context, attrs) {
initView(context)
@@ -29,41 +34,22 @@ class SweeperCurrentTaskInfoView : ConstraintLayout {
private fun initView(context: Context) {
LayoutInflater.from(context).inflate(R.layout.sweeper_current_task_info, this)
}
/**
* 设置当前任务数据
*/
fun setData(workModePanelView:SweeperWorkModeView,listTask: List<TaskInfoBean>, currentPosition: Int,menuItemClickListener: MenuPopWindow.OnMenuItemOnClickListener) {
fun setData(
workModePanelView: SweeperWorkModeView,
subTaskBean: SweeperSubTaskBean?,
currentPosition: Int,
menuItemClickListener: MenuPopWindow.OnMenuItemOnClickListener,
presenter:SweeperPresenter?
) {
this.presenter=presenter
this.listTask=subTaskBean?.subList
this.mCurrentPosition=currentPosition
mTaskMenuPopWindow = MenuPopWindow(context, menuItemClickListener)
if (listTask.size == 1) {
preSubTask.setData(listTask[currentPosition], isSelect=true,isLastTask=true)
currentSubTask.visibility = View.INVISIBLE
lastSubTask.visibility = View.INVISIBLE
} else if (listTask.size == 2) {
if (currentPosition==0){
preSubTask.setData(listTask[currentPosition], isSelect=true)
currentSubTask.setData(listTask[1], isSelect=true)
}else{
preSubTask.setData(listTask[currentPosition - 1])
currentSubTask.setData(listTask[currentPosition], isSelect=true,isLastTask=true)
}
lastSubTask.visibility = View.INVISIBLE
} else {
//当前正在执行的任务是第一个子任务
if (currentPosition == 0) {
preSubTask.setData(listTask[currentPosition], isSelect=true)
currentSubTask.setData(listTask[1])
lastSubTask.setData(listTask[2], isLastTask=true)
//当前正在执行的任务是最后一个子任务
} else if (currentPosition == listTask.size - 1) {
preSubTask.setData(listTask[currentPosition - 2])
currentSubTask.setData(listTask[currentPosition-1])
lastSubTask.setData(listTask[currentPosition], isSelect=true,isLastTask=true)
} else {
preSubTask.setData(listTask[currentPosition - 1])
currentSubTask.setData(listTask[currentPosition],isSelect=true)
lastSubTask.setData(listTask[currentPosition + 1],isLastTask=true)
}
}
setCurrentData(currentPosition)
//任务操作菜单打开关闭处理
ivMore.setOnClickListener {
if (mTaskMenuPopWindow?.isShowing != true) {
@@ -76,16 +62,72 @@ class SweeperCurrentTaskInfoView : ConstraintLayout {
mTaskMenuPopWindow?.dismiss()
}
}
}
readyTaskBtn.setOnClickListener {
//开始执行任务
startSubTask()
}
}
/**
* 设置准备就绪按钮时都可以点击
*/
fun setEnableClickBtn(isEnable:Boolean){
readyTaskBtn.isSelected= isEnable
fun setEnableClickBtn(text:String,isClick:Boolean,isTaskWorking:Boolean) {
readyTaskBtn.text=text
readyTaskBtn.isClickable=isClick
readyTaskBtn.isSelected=isClick
if (isTaskWorking){
tvTaskState.text="正在作业"
tvTaskState.setBackgroundResource(R.drawable.bg_shape_task_state_working)
}else{
tvTaskState.text="暂未准备"
tvTaskState.setBackgroundResource(R.drawable.bg_shape_task_state_not_ready)
}
}
fun getReadyTaskBtn():TextView{
return readyTaskBtn
/**
* 开始子任务
*/
private fun startSubTask(){
listTask?.let {
presenter?.startTask(it[mCurrentPosition].taskId,
if(it[mCurrentPosition].taskType== SubTaskTypeEnum.AUTOPILOT_SUBTYPE.code) SubTaskTypeEnum.AUTOPILOT_SUBTYPE else SubTaskTypeEnum.MANUAL_DRIVING_SUBTYPE)
}
}
/**
* 填充数据
*/
fun setCurrentData(mCurrentPosition:Int){
listTask?.let {
if (it.size == 1) {
preSubTask.setData(it[mCurrentPosition], isSelect = true, isLastTask = true)
currentSubTask.visibility = View.INVISIBLE
lastSubTask.visibility = View.INVISIBLE
} else if (it.size == 2) {
if (mCurrentPosition == 0) {
preSubTask.setData(it[mCurrentPosition], isSelect = true)
currentSubTask.setData(it[1], isSelect = true)
} else {
preSubTask.setData(it[mCurrentPosition - 1])
currentSubTask.setData(it[mCurrentPosition], isSelect = true, isLastTask = true)
}
lastSubTask.visibility = View.INVISIBLE
} else {
//当前正在执行的任务是第一个子任务
if (mCurrentPosition == 0) {
preSubTask.setData(it[mCurrentPosition], isSelect = true)
currentSubTask.setData(it[1])
lastSubTask.setData(it[2], isLastTask = true)
//当前正在执行的任务是最后一个子任务
} else if (mCurrentPosition == it.size - 1) {
preSubTask.setData(it[mCurrentPosition - 2])
currentSubTask.setData(it[mCurrentPosition - 1])
lastSubTask.setData(it[mCurrentPosition], isSelect = true, isLastTask = true)
} else {
preSubTask.setData(it[mCurrentPosition - 1])
currentSubTask.setData(it[mCurrentPosition], isSelect = true)
lastSubTask.setData(it[mCurrentPosition + 1], isLastTask = true)
}
}
}
}
}

5
OCH/mogo-och-sweeper/src/main/java/com/mogo/och/sweeper/view/SweeperWorkModeView.kt
View File

@@ -9,6 +9,7 @@ import chassis.ChassisStatesOuterClass.SweeperFuTianTaskSystemStates
import com.mogo.och.sweeper.R
import com.mogo.och.sweeper.callback.CleaningModeStateCallback
import com.mogo.och.sweeper.constant.OperateStateEnum
import com.mogo.och.sweeper.constant.SubTaskTypeEnum
import com.mogo.och.sweeper.ui.popwindow.SweeperOperatePanelPopWindow
import com.mogo.och.sweeper.util.SweeperFutianCmdUtil
import kotlinx.android.synthetic.main.sweeper_work_mode.view.*
@@ -39,7 +40,7 @@ class SweeperWorkModeView : ConstraintLayout, CleaningModeStateCallback {
/**
* 设置清扫模式面板
*/
fun setSweeperFutianCleanSystemState(taskType: Int, cleanSystemState: SweeperFuTianTaskSystemStates?, trafficDataView: SweeperTrafficDataView) {
fun setSweeperFutianCleanSystemState(taskType: SubTaskTypeEnum, cleanSystemState: SweeperFuTianTaskSystemStates?, trafficDataView: SweeperTrafficDataView) {
mOperatePanelPopWindow?.setCleanSystemState(cleanSystemState, this@SweeperWorkModeView)
//清扫模式选择面板打开关闭处理
ivOpenOperatePanel.setOnClickListener {
@@ -54,7 +55,7 @@ class SweeperWorkModeView : ConstraintLayout, CleaningModeStateCallback {
}
}
//清扫车暂未选择清扫模式或者任务类型是人工驾驶子任务，则暂无清扫模式
if (SweeperFutianCmdUtil.checkIfCleanMode(cleanSystemState) || taskType == 2) {
if (SweeperFutianCmdUtil.checkIfCleanMode(cleanSystemState) || taskType.code == SubTaskTypeEnum.MANUAL_DRIVING_SUBTYPE.code) {
setShowOrHideCleanSystemState(OperateStateEnum.NO_STATUS, cleanSystemState)
} else {
setShowOrHideCleanSystemState(OperateStateEnum.SUCCESS_STATUS, cleanSystemState)

1
OCH/mogo-och-sweeper/src/main/res/layout/fragment_och_sweeper.xml
View File

@@ -10,6 +10,7 @@
app:layout_constraintTop_toTopOf="parent"
app:layout_constraintBottom_toBottomOf="parent">
<androidx.constraintlayout.widget.ConstraintLayout
android:id="@+id/sweeperListCl"
android:layout_width="match_parent"
android:layout_height="match_parent">
<View

13
OCH/mogo-och-sweeper/src/main/res/layout/sweeper_item_task_info.xml
View File

@@ -8,15 +8,17 @@
android:paddingEnd="@dimen/dp_36">
<TextView
android:id="@+id/tvTaskName"
android:layout_width="wrap_content"
android:layout_width="0dp"
android:layout_height="wrap_content"
android:textSize="@dimen/dp_40"
android:textColor="@color/white"
app:layout_constraintStart_toStartOf="parent"
app:layout_constraintTop_toTopOf="parent"
android:text="惠新西街南口地铁站"
app:layout_constraintEnd_toStartOf="@+id/tvTaskTime"
tools:text="惠新西街南口地铁站"
android:layout_marginStart="@dimen/dp_38"
android:layout_marginTop="@dimen/dp_21"/>
android:layout_marginTop="@dimen/dp_21"
android:layout_marginEnd="@dimen/dp_10"/>
<TextView
android:id="@+id/tvTaskDesc"
android:layout_width="wrap_content"
@@ -25,17 +27,18 @@
android:textColor="#A6CEFF"
app:layout_constraintTop_toBottomOf="@+id/tvTaskName"
app:layout_constraintStart_toStartOf="parent"
android:text="全程包含12个子任务"
tools:text="全程包含12个子任务"
android:layout_marginStart="@dimen/dp_38"
android:layout_marginTop="1dp"/>
<TextView
android:id="@+id/tvTaskTime"
android:layout_width="wrap_content"
android:layout_height="wrap_content"
android:background="@drawable/bg_shape_clean_mode"
app:layout_constraintEnd_toEndOf="parent"
app:layout_constraintTop_toTopOf="parent"
app:layout_constraintBottom_toBottomOf="parent"
android:text="9:00"
tools:text="9:00"
android:textColor="@color/white"
android:paddingStart="@dimen/dp_12"
android:paddingEnd="@dimen/dp_12"

2
OCH/mogo-och-sweeper/src/main/res/layout/sweeper_no_data_common_view.xml
View File

@@ -1,7 +1,7 @@
<?xml version="1.0" encoding="utf-8"?>
<androidx.constraintlayout.widget.ConstraintLayout xmlns:android="http://schemas.android.com/apk/res/android"
xmlns:app="http://schemas.android.com/apk/res-auto"
android:id="@+id/no_order_data_view"
android:id="@+id/noTaskDataView"
android:layout_width="match_parent"
android:layout_height="match_parent"
android:visibility="visible">

60
OCH/mogo-och-sweeper/src/main/res/layout/sweeper_operate_panel_view.xml
View File

@@ -4,6 +4,37 @@
android:layout_width="@dimen/dp_957"
android:layout_height="@dimen/dp_758"
android:background="@drawable/bg_sweeper_operate_panel">
<TextView
android:id="@+id/hint_clean_open"
android:layout_width="wrap_content"
android:layout_height="wrap_content"
android:layout_marginTop="@dimen/dp_48"
android:gravity="top|center_horizontal"
android:layout_marginStart="@dimen/dp_90"
android:text="车辆准备"
android:textColor="@color/white"
android:textSize="@dimen/sweeper_operate_panel_btn_text_size"
app:layout_constraintTop_toTopOf="parent"
app:layout_constraintStart_toStartOf="parent"
/>
<CheckedTextView
android:id="@+id/btn_clean_work_open_close"
android:layout_width="wrap_content"
android:layout_height="wrap_content"
android:background="@drawable/sweeper_operate_panel_btn2_bg_selector"
android:gravity="center"
android:paddingStart="@dimen/dp_48"
android:paddingTop="@dimen/dp_12"
android:paddingEnd="@dimen/dp_48"
android:paddingBottom="@dimen/dp_12"
android:layout_marginStart="@dimen/dp_90"
android:textColor="@color/white"
android:layout_marginTop="@dimen/dp_17"
android:text="打开"
android:textSize="@dimen/sweeper_operate_panel_btn_text_size"
app:layout_constraintStart_toStartOf="parent"
app:layout_constraintTop_toBottomOf="@id/hint_clean_open" />
<TextView
android:id="@+id/hint_clean_mode"
android:layout_width="wrap_content"
@@ -14,7 +45,7 @@
android:textColor="@color/white"
android:textSize="@dimen/sweeper_operate_panel_btn_text_size"
app:layout_constraintLeft_toLeftOf="parent"
app:layout_constraintTop_toTopOf="parent"
app:layout_constraintTop_toBottomOf="@+id/btn_clean_work_open_close"
android:paddingStart="@dimen/dp_90"
/>
@@ -230,33 +261,6 @@
android:textSize="@dimen/sweeper_operate_panel_btn_text_size"
app:layout_constraintLeft_toRightOf="@id/btn_clean_intensity_standard"
app:layout_constraintTop_toBottomOf="@id/hint_clean_intensity" />
<TextView
android:id="@+id/btn_operate_panel_reset"
android:layout_width="0dp"
android:layout_height="@dimen/dp_128"
app:layout_constraintStart_toStartOf="parent"
android:background="@drawable/sweeper_oprate_panel_reset_btn"
app:layout_constraintWidth_percent="0.5"
app:layout_constraintBottom_toBottomOf="parent"
android:layout_marginStart="@dimen/dp_24"
android:textColor="@color/white"
android:text="复位"
android:gravity="center"
android:textSize="@dimen/dp_40"
/>
<TextView
android:id="@+id/btn_operate_panel_cancel"
android:layout_width="0dp"
android:layout_height="@dimen/dp_128"
app:layout_constraintEnd_toEndOf="parent"
android:background="@drawable/sweeper_oprate_panel_cancel_btn"
app:layout_constraintWidth_percent="0.5"
app:layout_constraintBottom_toBottomOf="parent"
android:textColor="@color/white"
android:text="取消"
android:gravity="center"
android:textSize="@dimen/dp_40"
/>
<LinearLayout
android:id="@+id/loading_hint_container"
android:layout_width="0dp"

7
OCH/mogo-och-sweeper/src/main/res/layout/sweeper_subtask_view.xml
View File

@@ -2,12 +2,13 @@
<androidx.constraintlayout.widget.ConstraintLayout xmlns:android="http://schemas.android.com/apk/res/android"
android:layout_width="match_parent"
android:layout_height="match_parent"
xmlns:app="http://schemas.android.com/apk/res-auto">
xmlns:app="http://schemas.android.com/apk/res-auto"
xmlns:tools="http://schemas.android.com/tools">
<TextView
android:id="@+id/tvSubTaskName"
android:layout_width="0dp"
android:layout_height="wrap_content"
android:text="惠新西街南口地铁"
tools:text="惠新西街南口地铁"
android:textSize="@dimen/dp_40"
android:textColor="@color/white"
app:layout_constraintEnd_toEndOf="parent"
@@ -45,7 +46,7 @@
app:layout_constraintTop_toBottomOf="@+id/tvSubTaskName"
app:layout_constraintStart_toStartOf="@+id/tvSubTaskName"
android:textColor="#A6CEFF"
android:text="全程约384米，预计耗时19分钟"
tools:text="全程约384米，预计耗时19分钟"
android:textSize="@dimen/dp_30"
android:layout_marginTop="@dimen/dp_4"
/>