[Sweeper cloud 3.2.0] refactor: 自动驾驶状态监听方法修改；代码格式修改；

2023-07-18 15:26:34 +08:00
parent e30a575112
commit dc2bf86ac2
3 changed files with 67 additions and 65 deletions
--- a/OCH/sweeper/sweeper-cloud/src/main/java/com/mogo/och/sweepercloud/fragment/SweeperFragment.kt
+++ b/OCH/sweeper/sweeper-cloud/src/main/java/com/mogo/och/sweepercloud/fragment/SweeperFragment.kt
@@ -19,6 +19,7 @@ import com.mogo.och.sweepercloud.database.MyDataBase
 import com.mogo.och.sweepercloud.presenter.SweeperPresenter
 import com.mogo.och.sweepercloud.ui.dialog.SweeperCloudDialog
 import com.mogo.och.sweepercloud.ui.dialog.SweeperCloudLoadingDialog
+import com.mogo.och.sweepercloud.util.SweeperCloudTaskUtils
 import com.mogo.och.sweepercloud.util.SweeperCloudTaskUtils.createConfirmStartSubTaskDialog
 import com.mogo.och.sweepercloud.util.SweeperCloudTaskUtils.createReceivedTaskInfoDialog
 import com.mogo.och.sweepercloud.util.SweeperCloudTaskUtils.createSweeperTaskEndDialog
@@ -35,8 +36,9 @@ import com.zhjt.mogo.adas.data.sweeper.task.SweeperTask.TaskModel
 import com.zhjt.mogo.adas.data.sweeper.task.big.SweeperBigTaskStatus
 import com.zhjt.mogo.adas.data.sweeper.task.confirm.SweeperTaskConfirm
 import com.zhjt.mogo.adas.data.sweeper.task.stop.SweeperTaskStop
-import kotlinx.android.synthetic.main.fragment_och_sweeper.*
-import kotlinx.android.synthetic.main.sweeper_no_data_common_view.*
+import kotlinx.android.synthetic.main.fragment_och_sweeper.sweeper_cl_work_mode
+import kotlinx.android.synthetic.main.fragment_och_sweeper.sweeper_current_task_view
+import kotlinx.android.synthetic.main.sweeper_no_data_common_view.noTaskDataView
 import kotlinx.coroutines.Dispatchers
 import kotlinx.coroutines.launch

@@ -114,7 +116,8 @@ class SweeperFragment : BaseSweeperTabFragment<SweeperFragment?, SweeperPresente
        getCurrentView().getAutoBtn().setOnClickListener {
            //前置条件 (1)必须处于人工驾驶状态 （2）必须有正在执行的子任务，且子任务类型为自动驾驶子任务 才能请求云端进入自驾
            mCurrentSubTaskInfo?.let {
-                if (mPresenter?.autopilotState == STATUS_AUTOPILOT_ENABLE && it.taskModel == TaskModel.AUTO) {
+                if (mPresenter?.autopilotState == STATUS_AUTOPILOT_ENABLE
+                    && it.taskModel == TaskModel.AUTO) {
                    mLoadingDialog.showLoading()
                    mPresenter?.sendSweeperAutopilotBootable(mTaskInfo?.taskId, it.subTaskId, it.lineId.toLong())
                }
@@ -189,7 +192,7 @@ class SweeperFragment : BaseSweeperTabFragment<SweeperFragment?, SweeperPresente
        }
        //主动拉取云端正在执行的任务，有则直接在任务列表展示
        if (messageType == SweeperCloudTask.MessageType.PadSendGetTaskReq) {
-            getCurrentView().setData(taskInfo, getCurrentPosition())
+            getCurrentView().setData(taskInfo, getCurrentRunningSubTaskPosition())
            setShowCurrentTaskPanelView(true)
            addTaskData()
            mPresenter?.isHasTaskInfo(true)
@@ -273,7 +276,6 @@ class SweeperFragment : BaseSweeperTabFragment<SweeperFragment?, SweeperPresente
                mPresenter?.sendSweeperStopTaskResp(taskId, SweeperTaskStop.StopTaskCode.MANUAL_CONFIRM)
            }
        }
-
    }

    /**
@@ -281,7 +283,7 @@ class SweeperFragment : BaseSweeperTabFragment<SweeperFragment?, SweeperPresente
     */
    private fun sweeperCloudTaskStopDialog(taskId: String, stopTaskType: SweeperTaskStop.StopTaskType, taskInfo: SweeperTask.TaskInfo) {
        mLoadingDialog.hideLoading()
-        val timeout: String = getTimeSpent(taskInfo.taskEndTime)
+        val timeoutHintString: String = SweeperCloudTaskUtils.getTimeSpentString(taskInfo.taskEndTime)
        //数据重复导致连续弹窗
        if (mDialog != null && mDialog!!.isShowing) {
            return
@@ -313,7 +315,7 @@ class SweeperFragment : BaseSweeperTabFragment<SweeperFragment?, SweeperPresente
                override fun onNext() {
                }

-            }, stopTaskType, timeout)
+            }, stopTaskType, timeoutHintString)
        }
        mDialog?.show()
    }
@@ -340,7 +342,6 @@ class SweeperFragment : BaseSweeperTabFragment<SweeperFragment?, SweeperPresente
            override fun onNext() {

            }
-
        })
    }

@@ -441,7 +442,7 @@ class SweeperFragment : BaseSweeperTabFragment<SweeperFragment?, SweeperPresente
     *
     * 获取当前正在执行的子任务在列表中的位置
     */
-    private fun getCurrentPosition(): Int {
+    private fun getCurrentRunningSubTaskPosition(): Int {
        mSubMutableList = mTaskInfo?.subListList
        mSubMutableList?.apply {
            for (index in 0 until size) {
@@ -458,7 +459,7 @@ class SweeperFragment : BaseSweeperTabFragment<SweeperFragment?, SweeperPresente
    /**
     * 根据子任务id获取子任务信息
     */
-    private fun bySubTaskIdFindSubTaskInfo(subTaskId: String): SubTaskInfo? {
+    private fun getSubTaskInfoBySubId(subTaskId: String): SubTaskInfo? {
        mSubMutableList = mTaskInfo?.subListList
        mSubMutableList?.apply {
            for (index in 0 until size) {
@@ -494,14 +495,13 @@ class SweeperFragment : BaseSweeperTabFragment<SweeperFragment?, SweeperPresente

    private fun getCurrentView(): SweeperCurrentTaskInfoView = sweeper_current_task_view

-
    fun handleSubTaskInfoDialog(taskId: String, subTaskId: String, isPop: Boolean) {
        if (mTaskInfo == null) return
        if (mTaskInfo?.taskId != taskId) return
-        val subInfo = bySubTaskIdFindSubTaskInfo(subTaskId)
+        val subInfo = getSubTaskInfoBySubId(subTaskId)
        subInfo?.let {
            if (isPop) {
-                showSubTaskInfoDialog(taskId, subTaskId, it)
+                showSubTaskConfirmDialog(taskId, subTaskId, it)
            } else {
                mPresenter?.sendSweeperTaskConfirmResp(taskId, subTaskId, SweeperTaskConfirm.TaskConfirmCode.MANUAL_CONFIRM)
                //mPresenter?.setPreLineId(-1)
@@ -513,7 +513,7 @@ class SweeperFragment : BaseSweeperTabFragment<SweeperFragment?, SweeperPresente
    /**
     * 云控下发子任务确认弹窗
     */
-    private fun showSubTaskInfoDialog(taskId: String, subTaskId: String, subTaskInfo: SubTaskInfo) {
+    private fun showSubTaskConfirmDialog(taskId: String, subTaskId: String, subTaskInfo: SubTaskInfo) {
        mLoadingDialog.hideLoading()
        if (mTaskInfo == null) return
        if (mTaskInfo?.taskId != taskId) return
@@ -591,33 +591,9 @@ class SweeperFragment : BaseSweeperTabFragment<SweeperFragment?, SweeperPresente
                override fun onNext() {

                }
-
            }, it)
            mDialog?.show()
            showNotice("请确认是否接取任务")
        }
-
-    }
-
-    /**
-     * 计算任务超时时间
-     */
-    private fun getTimeSpent(taskEndTime: Long): String {
-
-        val timeLag: Long = System.currentTimeMillis() - taskEndTime
-        //天
-        val day: Long = timeLag / (24 * 60 * 60 * 1000)
-        //小时
-        val hour = (timeLag / (60 * 60 * 1000) - day * 24)
-        //分钟
-        val minute = ((timeLag / (60 * 1000)) - day * 24 * 60 - hour * 60)
-
-        if (day >= 1) {
-            return "${day}天${hour}时${minute}分钟"
-        }
-        if (hour >= 1) {
-            return "${hour}时${minute}分钟"
-        }
-        return "${minute}分钟"
    }
 }
--- a/OCH/sweeper/sweeper-cloud/src/main/java/com/mogo/och/sweepercloud/model/SweeperTaskModel.java
+++ b/OCH/sweeper/sweeper-cloud/src/main/java/com/mogo/och/sweepercloud/model/SweeperTaskModel.java
@@ -182,7 +182,6 @@ public class SweeperTaskModel implements IMoGoSweeperFutianCloudTaskListener, IM
        });
    }

-
    public void setControllerStatusCallback(ISweeperControllerStatusCallback callback) {
        this.mControllerStatusCallback = callback;
    }
@@ -216,7 +215,6 @@ public class SweeperTaskModel implements IMoGoSweeperFutianCloudTaskListener, IM
                }
            }
        }
-
    };

    public void setSubtask(String subTaskId, SweeperTask.TaskModel subTaskType, int currentLineId) {
@@ -256,8 +254,9 @@ public class SweeperTaskModel implements IMoGoSweeperFutianCloudTaskListener, IM
        return this.mAutopilotState;
    }

-    public static List<SweeperRoutePlanningUpdateReqBean.Result> coordinateConverterWgsToGcjList(Context mContext,
-                                                                                                 List<MessagePad.Location> mogoLatLngList) {
+    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);
@@ -304,7 +303,6 @@ public class SweeperTaskModel implements IMoGoSweeperFutianCloudTaskListener, IM
            }
            if (mSubTaskType == SweeperTask.TaskModel.MANUAL) {//收集人工驾驶子任务坐标点
                addCoordinates(gnssInfo);
-                return;
            }
        }
    };
@@ -334,7 +332,6 @@ public class SweeperTaskModel implements IMoGoSweeperFutianCloudTaskListener, IM
    @Override
    public void onSweeperFutianCloudTask(@NonNull SweeperCloudTask.MessageType messageType, String reqNo, long sysTime,
                                         SweeperTask.TaskInfo taskInfo) {
-
        CallerLogger.INSTANCE.d(M_SWEEPER + TAG,
                "messageType: " + messageType.getNumber() + " sysTime：" + sysTime + " reqNo：" + reqNo + " onSweeperFutianCloudTask：" + (taskInfo == null ? "null" : printMessage(taskInfo)) + " mSweeperTaskCallback：" + mSweeperTaskCallback);
        if (mSweeperTaskCallback != null) {
@@ -493,7 +490,7 @@ public class SweeperTaskModel implements IMoGoSweeperFutianCloudTaskListener, IM
        }
    }

-    public static String format(double value) {
+    private static String format(double value) {
        BigDecimal bd = new BigDecimal(value);
        bd = bd.setScale(2, RoundingMode.HALF_UP);
        return bd.toString();
@@ -507,6 +504,7 @@ public class SweeperTaskModel implements IMoGoSweeperFutianCloudTaskListener, IM
        builder.setSn(getDriverSn());
        String reqNo = SweeperCloudTaskUtils.getRequestId();
        SweeperTask.GetTaskReq getTaskReq = builder.build();
+
        CallerLogger.INSTANCE.d(M_SWEEPER + TAG,
                "getCurrentTask:" + printMessage(getTaskReq) + " reqNo:" + reqNo + " messageType:" + SweeperCloudTask.MessageType.PadSendGetTaskReq.getNumber());
        getAutoPilotControlManager().sendSweeperGetTaskReq(reqNo, getTaskReq);
@@ -522,6 +520,7 @@ public class SweeperTaskModel implements IMoGoSweeperFutianCloudTaskListener, IM
        builder.setCode(code);
        SweeperTask.StartTaskResp startTaskResp = builder.build();
        String reqNo = msgTypeAndReqNo.get(SweeperCloudTask.MessageType.CloudPushTask.getNumber());
+
        getAutoPilotControlManager().sendSweeperStartTaskResp(reqNo, startTaskResp);
        CallerLogger.INSTANCE.d(M_SWEEPER + TAG,
                "sendSweeperStartTaskResp:" + printMessage(startTaskResp) + " reqNo:" + reqNo + " messageType:" + SweeperCloudTask.MessageType.CloudPushTask.getNumber());
@@ -538,6 +537,7 @@ public class SweeperTaskModel implements IMoGoSweeperFutianCloudTaskListener, IM
        builder.setCode(code);
        SweeperTaskConfirm.TaskConfirmResp taskConfirmResp = builder.build();
        String reqNo = msgTypeAndReqNo.get(SweeperCloudTask.MessageType.CloudPushTaskConfirm.getNumber());
+
        CallerLogger.INSTANCE.d(M_SWEEPER + TAG,
                "sendSweeperTaskConfirmResp" + printMessage(taskConfirmResp) + " reqNo:" + reqNo + " messageType:" + SweeperCloudTask.MessageType.CloudPushTaskConfirm.getNumber());
        getAutoPilotControlManager().sendSweeperTaskConfirmResp(reqNo, taskConfirmResp);
@@ -556,6 +556,7 @@ public class SweeperTaskModel implements IMoGoSweeperFutianCloudTaskListener, IM
        builder.setCode(code);
        SweeperTaskStop.StopTaskResp stopTaskResp = builder.build();
        String reqNo = msgTypeAndReqNo.get(SweeperCloudTask.MessageType.CloudPushTaskStop.getNumber());
+
        CallerLogger.INSTANCE.d(M_SWEEPER + TAG,
                "sendSweeperStopTaskResp" + printMessage(stopTaskResp) + " reqNo:" + reqNo + " messageType:" + SweeperCloudTask.MessageType.CloudPushTaskStop.getNumber());
        getAutoPilotControlManager().sendSweeperStopTaskResp(reqNo, stopTaskResp);
@@ -576,10 +577,10 @@ public class SweeperTaskModel implements IMoGoSweeperFutianCloudTaskListener, IM
        builder.setLineId(lineId);
        SweeperBootable.IsBootable isBootable = builder.build();
        String reqNo = SweeperCloudTaskUtils.getRequestId();
+
        CallerLogger.INSTANCE.d(M_SWEEPER + TAG,
                "sendSweeperAutopilotBootable" + printMessage(isBootable) + " reqNo:" + reqNo + " messageType:" + SweeperCloudTask.MessageType.PadSendBootable.getNumber());
        getAutoPilotControlManager().sendSweeperAutopilotBootable(reqNo, isBootable);
-        // TODO: 2023/5/16
        //SweeperCloudTaskUtils.mockSendCloudBootable();
    }

@@ -593,23 +594,7 @@ public class SweeperTaskModel implements IMoGoSweeperFutianCloudTaskListener, IM

    @Override
    public void onAutopilotStatusResponse(@NonNull AutopilotStatusInfo autoPilotStatusInfo) {
-        //CallerLogger.INSTANCE.d(M_SWEEPER + TAG, "onAutopilotStatusResponse state:" + autoPilotStatusInfo.getState());
-        this.mAutopilotState = autoPilotStatusInfo.getState();
-        if (mControllerStatusCallback != null) {
-            mControllerStatusCallback.onAutopilotState(autoPilotStatusInfo.getState());
-        }
-        switch (autoPilotStatusInfo.getState()) {
-            case IMoGoAutopilotStatusListener.STATUS_AUTOPILOT_DISABLE://不可自动驾驶
-                break;
-            case IMoGoAutopilotStatusListener.STATUS_AUTOPILOT_ENABLE://人工驾驶
-                break;
-            case IMoGoAutopilotStatusListener.STATUS_AUTOPILOT_RUNNING://自动驾驶中
-                break;
-            case IMoGoAutopilotStatusListener.STATUS_PARALLEL_DRIVING://平行驾驶
-                break;
-            default:
-                break;
-        }
+
    }

    @Override
@@ -660,11 +645,27 @@ public class SweeperTaskModel implements IMoGoSweeperFutianCloudTaskListener, IM

    @Override
    public void onAutopilotStatusResponse(int state) {
-        // TODO: 2023/6/19 bingbing
+        //CallerLogger.INSTANCE.d(M_SWEEPER + TAG, "onAutopilotStatusResponse state:" + state);
+        this.mAutopilotState = state;
+        if (mControllerStatusCallback != null) {
+            mControllerStatusCallback.onAutopilotState(state);
+        }
+        switch (state) {
+            case IMoGoAutopilotStatusListener.STATUS_AUTOPILOT_DISABLE://不可自动驾驶
+                break;
+            case IMoGoAutopilotStatusListener.STATUS_AUTOPILOT_ENABLE://人工驾驶
+                break;
+            case IMoGoAutopilotStatusListener.STATUS_AUTOPILOT_RUNNING://自动驾驶中
+                break;
+            case IMoGoAutopilotStatusListener.STATUS_PARALLEL_DRIVING://平行驾驶
+                break;
+            default:
+                break;
+        }
    }

    @Override
    public void onAutopilotDockerInfo(@NonNull String dockerVersion) {
-        // TODO: 2023/6/19 bingbing
+
    }
 }
--- a/OCH/sweeper/sweeper-cloud/src/main/java/com/mogo/och/sweepercloud/util/SweeperCloudTaskUtils.kt
+++ b/OCH/sweeper/sweeper-cloud/src/main/java/com/mogo/och/sweepercloud/util/SweeperCloudTaskUtils.kt
@@ -362,8 +362,33 @@ object SweeperCloudTaskUtils {
    fun printMessage(message: MessageOrBuilder): String {
        return "\n"+TextFormat.printer().escapingNonAscii(false).printToString(message)
    }
+
    @JvmStatic
    fun getRequestId():String{
        return UUID.randomUUID().toString()
    }
+
+    /**
+     * 计算任务超时时间
+     */
+    @JvmStatic
+    fun getTimeSpentString(taskEndTime: Long): String {
+        val timeLag: Long = System.currentTimeMillis() - taskEndTime
+        //天
+        val day: Long = timeLag / (24 * 60 * 60 * 1000)
+        //小时
+        val hour = (timeLag / (60 * 60 * 1000) - day * 24)
+        //分钟
+        val minute = ((timeLag / (60 * 1000)) - day * 24 * 60 - hour * 60)
+
+        if (day >= 1) {
+            return "${day}天${hour}时${minute}分钟"
+        }
+        if (hour >= 1) {
+            return "${hour}时${minute}分钟"
+        }
+        return "${minute}分钟"
+    }
+
+
 }