[FSM] feat: FSM状态 和 人工干预状态 增加美化模式判断；

core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/hmi/bone/status/StartAutoPilotStatusView.kt

@@ -7,13 +7,18 @@ import android.view.View
 import androidx.constraintlayout.widget.ConstraintLayout
 import androidx.core.content.ContextCompat
 import chassis.Chassis
+import com.mogo.eagle.core.data.config.FunctionBuildConfig
 import com.mogo.eagle.core.function.api.autopilot.IMoGoAutopilotStatusListener
+import com.mogo.eagle.core.function.api.hmi.view.IViewControlListener
+import com.mogo.eagle.core.function.api.hmi.view.IViewControlListener.Companion.FUNC_MODE_DEMO
 import com.mogo.eagle.core.function.call.autopilot.CallerAutoPilotStatusListenerManager
 import com.mogo.eagle.core.function.call.hmi.CallerHmiManager
+import com.mogo.eagle.core.function.call.hmi.CallerHmiViewControlListenerManager
 import com.mogo.eagle.core.function.hmi.R
 import com.mogo.eagle.core.utilcode.kotlin.onClick
 import com.mogo.eagle.core.utilcode.mogo.logger.CallerLogger
 import com.mogo.eagle.core.utilcode.mogo.logger.Logger
+import com.mogo.eagle.core.utilcode.util.UiThreadHandler
 import com.zhjt.mogo_core_function_devatools.status.StatusManager
 import com.zhjt.mogo_core_function_devatools.status.entity.AcceleratorStatus
 import com.zhjt.mogo_core_function_devatools.status.entity.BrakeStatus
@@ -44,7 +49,8 @@ class StartAutoPilotStatusView @JvmOverloads constructor(
     context: Context,
     attrs: AttributeSet? = null,
     defStyleAttr: Int = 0
-) : ConstraintLayout(context, attrs, defStyleAttr), StatusManager.IStatusListener {
+) : ConstraintLayout(context, attrs, defStyleAttr), StatusManager.IStatusListener,
+    IViewControlListener {
 
     companion object {
         private const val TAG = "StartAutoPilotStatusView"
@@ -89,7 +95,7 @@ class StartAutoPilotStatusView @JvmOverloads constructor(
     }
 
     private fun handleFSM(status: FSMStatus) {
-        Logger.d(TAG, "--- handleFSM ---FSMStatus: code=${status.state} isError=${status.isException()} ")
+        Logger.d(TAG, "--- handleFSM ---FSMStatus: code=${status.state} isError=${status.isException()} isDemoMode=${FunctionBuildConfig.isDemoMode}")
         val lastHasFSM = hasFSM.get()
         val newHasFSM = status.hasFSMModule()
         Logger.d(TAG, "--- handleFSM ---lastHasFSM=${lastHasFSM} newHasFSM=${newHasFSM}")
@@ -98,6 +104,11 @@ class StartAutoPilotStatusView @JvmOverloads constructor(
         }
         hasFSM.set(newHasFSM)
 
+        if (FunctionBuildConfig.isDemoMode && status.isException()) {
+            // 美化模式下如果是异常的，修改成正常的
+            status.state = FSMStateCode.ExistNormal
+        }
+
         when (status.state) {
             FSMStateCode.UnKnown -> {
                 fSMStatusLayout?.setOnClickListener(null)
@@ -145,9 +156,15 @@ class StartAutoPilotStatusView @JvmOverloads constructor(
     }
 
     private fun handleWithoutFSM(status: Status) {
-        val isError =
+        var isError =
             status.isException() && CallerAutoPilotStatusListenerManager.getAutoPilotStatusInfo().state != IMoGoAutopilotStatusListener.STATUS_AUTOPILOT_RUNNING
-        Logger.d(TAG, "--- handleWithoutFSM ---${status::class.simpleName}: $isError")
+        Logger.d(TAG, "--- handleWithoutFSM --- isError=${status::class.simpleName}: $isError isDemoMode=${FunctionBuildConfig.isDemoMode}")
+
+        if (FunctionBuildConfig.isDemoMode && isError) {
+            // 美化模式下如果是异常的，修改成正常的
+            isError = false
+        }
+
         when (status) {
             is GearStatus -> {
                 val position = try {
@@ -224,6 +241,34 @@ class StartAutoPilotStatusView @JvmOverloads constructor(
         }
     }
 
+    /**
+     * 处理无FSM模块时 && 美化模式时
+     */
+    private fun handleWithoutFSMDemoMode() {
+        Logger.d(TAG, "--- handleWithoutFSMDemoMode ---")
+        UiThreadHandler.post {
+            tv_gear?.isEnabled = false
+            iv_accelerator?.isSelected = false
+            iv_brake?.isSelected = false
+            iv_double_flash?.isSelected = false
+            iv_steer?.isSelected = false
+            withoutFSMStatusLayout?.background =
+                ContextCompat.getDrawable(
+                    context,
+                    R.drawable.icon_no_fsm_status_bg_normal
+                )
+            notifyStatus(false)
+        }
+    }
+
+    /**
+     * 处理有FSM模块时 && 美化模式时
+     */
+    private fun handleFSMDemoMode() {
+        Logger.d(TAG, "--- handleFSMDemoMode ---")
+        handleFSM(FSMStatus(FSMStateCode.ExistNormal, listOf("正常")))
+    }
+
     private fun notifyStatus(isError: Boolean) {
         Logger.d(TAG, "--- notifyStatus ---: $isError")
         statusChangedListeners.values.forEach { itx ->
@@ -238,11 +283,27 @@ class StartAutoPilotStatusView @JvmOverloads constructor(
     override fun onAttachedToWindow() {
         super.onAttachedToWindow()
         StatusManager.addListener(TAG, this)
+        CallerHmiViewControlListenerManager.addListener(TAG,this)
     }
 
     override fun onDetachedFromWindow() {
         super.onDetachedFromWindow()
         StatusManager.removeListener(TAG)
+        CallerHmiViewControlListenerManager.removeListener(TAG)
+    }
+
+    override fun updateFuncMode(tag: String, boolean: Boolean) {
+        if(tag == FUNC_MODE_DEMO){
+            Logger.i(TAG, "updateFuncMode: tag=$tag value=$boolean")
+            if (FunctionBuildConfig.isDemoMode) {
+                // 构建数据，强制刷新成正常的状态
+                if (hasFSM.get()) {
+                    handleFSMDemoMode()
+                } else {
+                    handleWithoutFSMDemoMode()
+                }
+            }
+        }
     }
 
     /**