Merge branch 'dev_sweeper-d_230423_3.1.0' of gitlab.zhidaoauto.com:SCA/L4HA/AndroidApp/MoGoEagleEye into dev_sweeper-d_230423_3.1.0

2023-05-09 15:33:36 +08:00
parent bb22ec10d5 b88a86d595
commit e0b2cd3529
11 changed files with 108 additions and 30 deletions
--- a/OCH/sweeper/sweeper-cloud/src/main/java/com/mogo/och/sweepercloud/callback/ISweeperCloudTaskCallback.kt
+++ b/OCH/sweeper/sweeper-cloud/src/main/java/com/mogo/och/sweepercloud/callback/ISweeperCloudTaskCallback.kt
@@ -23,14 +23,29 @@ interface ISweeperCloudTaskCallback {
     */
    fun onSweeperCloudTaskConfirm(taskId:String,subTaskId:String)

+    /**
+     * 云端下发子任务状态同步
+     */
    fun onSweeperCloudTaskStatus(taskId:String,subTaskId:String,subTaskStatus: SweeperCommon.TaskStatus)

+    /**
+     * 云端下发结束大任务指令
+     */
    fun onSweeperCloudTaskStop(taskId:String,stopTaskType: StopTaskType)

+    /**
+     * 挂起/恢复
+     */
    fun onSweeperCloudTaskSuspendResume(messageType: SweeperCloudTask.MessageType,taskId:String,subTaskId:String,code:Code)

+    /**
+     * pad请求云端进入自驾
+     */
    fun onSweeperCloudBootable(taskId:String,subTaskId:String,code:Code)

+    /**
+     * 云端同步大任务状态
+     */
    fun onSweeperCloudBigTaskStatus(taskId:String,subTaskStatus: SweeperBigTaskStatus.BigTaskStatus)
    /**
     * 设置轨迹坐标点集合
--- 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
@@ -14,7 +14,7 @@ import com.mogo.och.sweepercloud.presenter.SweeperPresenter
 import com.mogo.och.sweepercloud.ui.dialog.SweeperCloudLoadingDialog
 import com.mogo.och.sweepercloud.util.SweeperCloudTaskUtils.createConfirmStartSubTaskDialog
 import com.mogo.och.sweepercloud.util.SweeperCloudTaskUtils.createReceivedTaskInfoDialog
-import com.mogo.och.sweepercloud.util.SweeperCloudTaskUtils.sendCloudTaskInfo
+import com.mogo.och.sweepercloud.util.SweeperCloudTaskUtils.mockSendCloudTaskInfo
 import com.mogo.och.sweepercloud.view.SweeperCurrentTaskInfoView
 import com.zhjt.mogo.adas.data.sweeper.SweeperCloudTask
 import com.zhjt.mogo.adas.data.sweeper.common.SweeperCommon
@@ -39,7 +39,8 @@ class SweeperFragment : BaseSweeperTabFragment<SweeperFragment?, SweeperPresente
    private var mCleanSystemState: ChassisStatesOuterClass.SweeperFuTianTaskSystemStates? = null
    private var mLocation: MogoLocation? = null
    private var mTaskInfo: SweeperTask.TaskInfo? = null
-    private var mSubTaskType: Int = 0 //0:自动驾驶子任务 1：人工驾驶子任务
+    private var mSubTaskType: Int = -1 //0:自动驾驶子任务 1：人工驾驶子任务 -1:未知任务类型
+    private var mCurrentSubTaskInfo: SubTaskInfo? = null//当前正在执行的子任务
    private val mLoadingDialog: SweeperCloudLoadingDialog by lazy { SweeperCloudLoadingDialog(requireContext()) }

    override fun getTagName(): String {
@@ -173,12 +174,44 @@ class SweeperFragment : BaseSweeperTabFragment<SweeperFragment?, SweeperPresente
        }
    }

+    /**
+     * 根据云端同步的子任务状态，更新列表中任务状态
+     */
+    fun onSweeperUpdateSubTaskStatus(taskId: String, subTaskId: String, subTaskStatus: SweeperCommon.TaskStatus) {
+        mLoadingDialog.hideLoading()
+        mTaskInfo?.let {
+            //如果云端要更新的任务和本地缓存任务不是同一个，在无法更新子任务状态
+            if (taskId != it.taskId) {
+                return
+            }
+            mSubMutableList?.let { subTaskList ->
+                for (index in 0 until subTaskList.size) {
+                    if (subTaskList[index].subTaskId == subTaskId) {
+                        val subBuilder = subTaskList[index].toBuilder()
+                        subBuilder.taskStatus = subTaskStatus
+                        if (subTaskStatus == SweeperCommon.TaskStatus.RUNNING) {
+                            mCurrentSubTaskInfo = subBuilder.build()
+                            //更新当前正在执行的任务状态
+                            updateCurrentSubTaskInfo()
+                        }
+                        val builder = it.toBuilder()
+                        builder.setSubList(index,subBuilder.build())
+                        mTaskInfo=builder.build()
+                        mSubMutableList=mTaskInfo?.subListList
+                        getCurrentView().setData(mTaskInfo, index)
+                    }
+                }
+
+            }
+        }
+    }
+
    //模拟结束子任务
    override fun debugEndSubTask() {
        //super.debugEndSubTask()
        // TODO: 模拟云控获取任务
        //mPresenter?.getCurrentTask()
-        sendCloudTaskInfo(SweeperCloudTask.MessageType.CloudPushTask)
+        mockSendCloudTaskInfo(SweeperCloudTask.MessageType.CloudPushTask)
    }

    /**
@@ -189,8 +222,8 @@ class SweeperFragment : BaseSweeperTabFragment<SweeperFragment?, SweeperPresente
        mSubMutableList?.apply {
            for (index in 0 until size) {
                if (get(index).taskStatus == SweeperCommon.TaskStatus.RUNNING) {
-                    mSubTaskType = get(index).taskModel.number
-                    mPresenter?.setSubtask(get(index).subTaskId, get(index).taskModel.number, get(index).lineId)
+                    mCurrentSubTaskInfo = get(index)
+                    updateCurrentSubTaskInfo()
                    return index
                }
            }
@@ -206,8 +239,6 @@ class SweeperFragment : BaseSweeperTabFragment<SweeperFragment?, SweeperPresente
        mSubMutableList?.apply {
            for (index in 0 until size) {
                if (get(index).subTaskId == subTaskId) {
-                    mSubTaskType = get(index).taskModel.number
-                    mPresenter?.setSubtask(get(index).subTaskId, get(index).taskModel.number, get(index).lineId)
                    return get(index)
                }
            }
@@ -215,6 +246,16 @@ class SweeperFragment : BaseSweeperTabFragment<SweeperFragment?, SweeperPresente
        return null
    }

+    /**
+     * 更新当前子任务信息
+     */
+    private fun updateCurrentSubTaskInfo() {
+        mCurrentSubTaskInfo?.let {
+            mSubTaskType = it.taskModel.number
+            mPresenter?.setSubtask(it.subTaskId, it.taskModel.number, it.lineId)
+        }
+    }
+
    /**
     * 设置路线轨迹
     */
--- 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
@@ -78,7 +78,7 @@ public class SweeperTaskModel implements IMoGoSweeperFutianCloudTaskListener, IM
    private ISweeperControllerStatusCallback mControllerStatusCallback; //Model->Presenter：VR mode等
    private ISweeperCloudTaskCallback mSweeperTaskCallback;
    ArrayList<SweeperRoutePlanningUpdateReqBean.Result> points = new ArrayList<>();//全路径信息
-    private int mSubTaskType = 0; //1自动驾驶 2.人工驾驶
+    private int mSubTaskType = -1; //1自动驾驶 2.人工驾驶 -1：未知任务类型
    private int mCurrentLineId = 0; //当前路线id
    private int mLineId = 0;//上一次存储的路线id
    //自动驾驶状态
@@ -457,7 +457,7 @@ public class SweeperTaskModel implements IMoGoSweeperFutianCloudTaskListener, IM
        CallerLogger.INSTANCE.d(M_SWEEPER + TAG, "getCurrentTask:" + printMessage(getTaskReq) + " reqNo:" + reqNo);
        getAutoPilotControlManager().sendSweeperGetTaskReq(reqNo, getTaskReq);
        // TODO: 2023/5/5 模拟云控获取任务 
-        SweeperCloudTaskUtils.sendCloudTaskInfo(SweeperCloudTask.MessageType.PadSendGetTaskReq);
+        SweeperCloudTaskUtils.mockSendCloudTaskInfo(SweeperCloudTask.MessageType.PadSendGetTaskReq);
    }

    /**
@@ -474,7 +474,7 @@ public class SweeperTaskModel implements IMoGoSweeperFutianCloudTaskListener, IM
        CallerLogger.INSTANCE.d(M_SWEEPER + TAG, "sendSweeperStartTaskResp:" + printMessage(startTaskResp) + " reqNo:" + reqNo);
        // TODO: 2023/5/5 模拟 当云控收到pad接取任务成功的指令时， 云控下发子任务开始确认指令
        if (code == SweeperTask.StartTaskCode.MANUAL_CONFIRM) {
-            SweeperCloudTaskUtils.sendCloudSubTaskConfirm();
+            SweeperCloudTaskUtils.mockSendCloudSubTaskConfirm();
        }
    }

@@ -491,6 +491,10 @@ public class SweeperTaskModel implements IMoGoSweeperFutianCloudTaskListener, IM
        String reqNo = msgTypeAndReqNo.get(SweeperCloudTask.MessageType.CloudPushTaskConfirm.getNumber());
        CallerLogger.INSTANCE.d(M_SWEEPER + TAG, "sendSweeperStartTaskResp" + printMessage(taskConfirmResp) + " reqNo:" + reqNo);
        getAutoPilotControlManager().sendSweeperTaskConfirmResp(reqNo, taskConfirmResp);
+        // TODO: 2023/5/8 模拟当云控收到pad子任务确认指令后。云控下发子任务状态更新指令
+        if (code == SweeperTaskConfirm.TaskConfirmCode.MANUAL_CONFIRM) {
+            SweeperCloudTaskUtils.mockSendCloudUpdateSubTaskStatus();
+        }
    }

    /**
--- a/OCH/sweeper/sweeper-cloud/src/main/java/com/mogo/och/sweepercloud/presenter/SweeperPresenter.java
+++ b/OCH/sweeper/sweeper-cloud/src/main/java/com/mogo/och/sweepercloud/presenter/SweeperPresenter.java
@@ -178,6 +178,7 @@ public class SweeperPresenter extends Presenter<SweeperFragment>

    @Override
    public void onSweeperCloudTaskStatus(@NonNull String taskId, @NonNull String subTaskId, @NonNull SweeperCommon.TaskStatus subTaskStatus) {
+        ThreadUtils.runOnUiThread(()->mView.onSweeperUpdateSubTaskStatus(taskId,subTaskId,subTaskStatus));
    }

    @Override
--- a/OCH/sweeper/sweeper-cloud/src/main/java/com/mogo/och/sweepercloud/ui/dialog/SweeperCloudLoadingDialog.kt
+++ b/OCH/sweeper/sweeper-cloud/src/main/java/com/mogo/och/sweepercloud/ui/dialog/SweeperCloudLoadingDialog.kt
@@ -35,7 +35,7 @@ class SweeperCloudLoadingDialog : BaseFloatDialog, LifecycleObserver {
    private fun startRotation() {
        objectAnimator = ObjectAnimator.ofFloat(mLoadingView, "rotation", 0f, 360f)
        objectAnimator?.let {
-            it.duration = 1500
+            it.duration = 1000
            it.repeatCount = -1
            it.interpolator = LinearInterpolator()
            it.start()
--- 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
@@ -13,20 +13,21 @@ import com.zhjt.mogo.adas.data.sweeper.SweeperCloudTask.MessageType
 import com.zhjt.mogo.adas.data.sweeper.common.SweeperCommon
 import com.zhjt.mogo.adas.data.sweeper.task.SweeperTask.*
 import com.zhjt.mogo.adas.data.sweeper.task.confirm.SweeperTaskConfirm.TaskConfirm
+import com.zhjt.mogo.adas.data.sweeper.task.status.SweeperTaskStatus

 object SweeperCloudTaskUtils {
    /**
     * 模拟云控发送任务给pad
     */
    @JvmStatic
-    fun sendCloudTaskInfo(messageType: MessageType) {
+    fun mockSendCloudTaskInfo(messageType: MessageType) {
        val builder = TaskInfo.newBuilder()
        builder.sn = getDriverSn()
        builder.taskId = "10"
        builder.taskName = "烟台清扫车作业任务"
        builder.currentTime = System.currentTimeMillis()
-        builder.taskStartTime = 1682664162000
-        builder.taskEndTime = 1682750562000
+        builder.taskStartTime = 1683507615000
+        builder.taskEndTime = 1683540015000
        //第一个子任务
        val subBuilder0 = SubTaskInfo.newBuilder()
        subBuilder0.subTaskId = "1"
@@ -104,7 +105,7 @@ object SweeperCloudTaskUtils {
     * 模拟云控发送子任务开始确认信息
     */
    @JvmStatic
-    fun sendCloudSubTaskConfirm() {
+    fun mockSendCloudSubTaskConfirm() {
        val builder = TaskConfirm.newBuilder()
        builder.sn = getDriverSn()
        builder.taskId = "10"
@@ -116,7 +117,23 @@ object SweeperCloudTaskUtils {
            )
        }, 10000)
    }
-
+    /**
+     * 模拟下发更新子任务状态指令
+     */
+    @JvmStatic
+    fun mockSendCloudUpdateSubTaskStatus() {
+        val builder = SweeperTaskStatus.TaskStatusPush.newBuilder()
+        builder.sn = getDriverSn()
+        builder.taskId = "10"
+        builder.subTaskId = "3"
+        builder.taskStatus = SweeperCommon.TaskStatus.RUNNING
+        ThreadUtils.runOnUiThreadDelayed({
+            SweeperTaskModel.getInstance().onSweeperFutianCloudTaskStatus(
+                MessageType.CloudPushTaskStatus, "${System.currentTimeMillis()}",
+                System.currentTimeMillis(), builder.build()
+            )
+        }, 10000)
+    }
    fun getDriverSn(): String? {
        return MoGoAiCloudClientConfig.getInstance().sn
    }
--- a/OCH/sweeper/sweeper-cloud/src/main/java/com/mogo/och/sweepercloud/view/SubTaskView.kt
+++ b/OCH/sweeper/sweeper-cloud/src/main/java/com/mogo/och/sweepercloud/view/SubTaskView.kt
@@ -29,7 +29,7 @@ class SubTaskView : ConstraintLayout {
    /**
     * 设置子任务信息
     */
-    fun setData(taskInfo: SubTaskInfo, isLastTask: Boolean = false) {
+    fun setData(taskInfo: SubTaskInfo,isLastTask: Boolean = false) {
        tvSubTaskName.text = taskInfo.subTaskName
        tvSubTaskName.setTextColor(if (taskInfo.taskStatus==SweeperCommon.TaskStatus.RUNNING) Color.parseColor("#3BD2FF") else Color.parseColor("#FFFFFF"))
        if (taskInfo.taskModel.number == 1) {//人工驾驶子任务
--- a/OCH/sweeper/sweeper-cloud/src/main/java/com/mogo/och/sweepercloud/view/SweeperCurrentTaskInfoView.kt
+++ b/OCH/sweeper/sweeper-cloud/src/main/java/com/mogo/och/sweepercloud/view/SweeperCurrentTaskInfoView.kt
@@ -39,24 +39,24 @@ class SweeperCurrentTaskInfoView : ConstraintLayout {
     */
    fun setData(
        subTaskBean: TaskInfo?,
-        currentPosition:Int=-1
+        currentPosition: Int = -1
    ) {
        subTaskBean?.apply {
            this@SweeperCurrentTaskInfoView.listTask = subListList
            tvTaskName.text = taskName
-            val calendar = DateTimeUtil.formatLongToCalendar(taskStartTime)
-            tvTaskTime.text = DateTimeUtil.formatCalendarToString(calendar, DateTimeUtil.HH_mm)
+            val calendarStart = DateTimeUtil.formatLongToCalendar(taskStartTime)
+            val calendarEnd = DateTimeUtil.formatLongToCalendar(taskEndTime)
+            tvTaskTime.text = "${DateTimeUtil.formatCalendarToString(calendarStart, DateTimeUtil.HH_mm)}-${DateTimeUtil.formatCalendarToString(calendarEnd, DateTimeUtil.HH_mm)}"
        }
        listTask?.let {
            //特殊处理当前暂无执行中任务的情况
-            var position=currentPosition
-            if (position==-1){
-                position += 1
+            if (currentPosition == -1) {
                setSubTaskState(false)
-            }else{
-                setSubTaskState(it[position].taskStatus==TaskStatus.RUNNING)
+                setCurrentData(currentPosition + 1)
+            } else {
+                setSubTaskState(it[currentPosition].taskStatus == TaskStatus.RUNNING)
+                setCurrentData(currentPosition)
            }
-            setCurrentData(position)
        }
    }

@@ -76,7 +76,7 @@ class SweeperCurrentTaskInfoView : ConstraintLayout {
    /**
     * 填充数据
     */
-   private fun setCurrentData(currentPosition:Int) {
+    private fun setCurrentData(currentPosition: Int) {
        listTask?.let {
            if (it.size == 1) {
                preSubTask.setData(it[currentPosition], isLastTask = true)
--- a/OCH/sweeper/sweeper-cloud/src/main/java/com/mogo/och/sweepercloud/view/SweeperWorkModeView.kt
+++ b/OCH/sweeper/sweeper-cloud/src/main/java/com/mogo/och/sweepercloud/view/SweeperWorkModeView.kt
@@ -79,7 +79,7 @@ class SweeperWorkModeView : ConstraintLayout,ICleaningModeStateCallback {
            d(SceneConstant.M_SWEEPER + TAG, "SystemState operateState："+operateState.code)
        }
        //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==1) {
+        if (SweeperFutianCmdUtil.checkIfCleanMode(cleanSystemState) || taskType==1||taskType==-1) {
            setShowOrHideCleanSystemState(OperateStateEnum.NO_STATUS, cleanSystemState)
        } else {
            setShowOrHideCleanSystemState(OperateStateEnum.SUCCESS_STATUS, cleanSystemState)
--- a/OCH/sweeper/sweeper-cloud/src/main/res/layout/sweeper_current_task_info.xml
+++ b/OCH/sweeper/sweeper-cloud/src/main/res/layout/sweeper_current_task_info.xml
@@ -77,7 +77,7 @@
        android:id="@+id/preSubTask"
        android:layout_width="match_parent"
        android:layout_height="wrap_content"
-        android:layout_marginTop="@dimen/dp_50"
+        android:layout_marginTop="@dimen/dp_10"
        app:layout_constraintEnd_toEndOf="parent"
        app:layout_constraintStart_toStartOf="parent"
        app:layout_constraintTop_toBottomOf="@+id/viewTaskInfoLine" />
--- a/OCH/sweeper/sweeper-cloud/src/main/res/layout/sweeper_subtask_view.xml
+++ b/OCH/sweeper/sweeper-cloud/src/main/res/layout/sweeper_subtask_view.xml
@@ -43,7 +43,7 @@
    <ImageView
        android:id="@+id/ivRightDownArrow"
        android:layout_width="@dimen/dp_16"
-        android:layout_height="@dimen/dp_60"
+        android:layout_height="@dimen/dp_95"
        android:src="@drawable/icon_right_down_arrow"
        app:layout_constraintTop_toBottomOf="@+id/ivSubTask"
        android:layout_marginTop="@dimen/dp_16"