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Merge branch 'dev_robotaxi-d_230809_6.0.0' into 6.0.0merge2master

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# Conflicts:
#	OCH/sweeper/sweeper-cloud/src/main/java/com/mogo/och/sweepercloud/model/SweeperTaskModel.java
#	libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/AdasChannel.java
#	libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/OnAdasListener.java
This commit is contained in:
yangyakun
2023-09-11 17:43:17 +08:00
parent ea468d9eb1 1e0c42d15a
commit e53ee5e6ca
3672 changed files with 38961 additions and 14144 deletions
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2
OCH/sweeper/sweeper-cloud/build.gradle
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@@ -45,7 +45,7 @@ android {
dependencies {
implementation fileTree(dir: "libs", include: ["*.jar"])
implementation rootProject.ext.dependencies.kotlinstdlibjdk7
implementation rootProject.ext.dependencies.kotlinstdlib
implementation rootProject.ext.dependencies.androidxappcompat
implementation rootProject.ext.dependencies.arouter
annotationProcessor rootProject.ext.dependencies.aroutercompiler

86
OCH/sweeper/sweeper-cloud/schemas/com.mogo.och.sweepercloud.database.MyDataBase/1.json Normal file
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@@ -0,0 +1,86 @@
{
"formatVersion": 1,
"database": {
"version": 1,
"identityHash": "48873cc5d9f967e9df0245dc045cf91a",
"entities": [
{
"tableName": "welt_data_table",
"createSql": "CREATE TABLE IF NOT EXISTS `${TABLE_NAME}` (`id` INTEGER PRIMARY KEY AUTOINCREMENT NOT NULL, `subTaskId` TEXT, `locLon` REAL NOT NULL, `locLat` REAL NOT NULL, `weltDistance` REAL NOT NULL, `cleanMode` INTEGER NOT NULL, `cleanDirection` INTEGER NOT NULL, `cleanIntensity` INTEGER NOT NULL)",
"fields": [
{
"fieldPath": "id",
"columnName": "id",
"affinity": "INTEGER",
"notNull": true
},
{
"fieldPath": "subTaskId",
"columnName": "subTaskId",
"affinity": "TEXT",
"notNull": false
},
{
"fieldPath": "locLon",
"columnName": "locLon",
"affinity": "REAL",
"notNull": true
},
{
"fieldPath": "locLat",
"columnName": "locLat",
"affinity": "REAL",
"notNull": true
},
{
"fieldPath": "weltDistance",
"columnName": "weltDistance",
"affinity": "REAL",
"notNull": true
},
{
"fieldPath": "cleanMode",
"columnName": "cleanMode",
"affinity": "INTEGER",
"notNull": true
},
{
"fieldPath": "cleanDirection",
"columnName": "cleanDirection",
"affinity": "INTEGER",
"notNull": true
},
{
"fieldPath": "cleanIntensity",
"columnName": "cleanIntensity",
"affinity": "INTEGER",
"notNull": true
}
],
"primaryKey": {
"columnNames": [
"id"
],
"autoGenerate": true
},
"indices": [
{
"name": "index_welt_data_table_id",
"unique": true,
"columnNames": [
"id"
],
"orders": [],
"createSql": "CREATE UNIQUE INDEX IF NOT EXISTS `index_welt_data_table_id` ON `${TABLE_NAME}` (`id`)"
}
],
"foreignKeys": []
}
],
"views": [],
"setupQueries": [
"CREATE TABLE IF NOT EXISTS room_master_table (id INTEGER PRIMARY KEY,identity_hash TEXT)",
"INSERT OR REPLACE INTO room_master_table (id,identity_hash) VALUES(42, '48873cc5d9f967e9df0245dc045cf91a')"
]
}
}

6
OCH/sweeper/sweeper-cloud/src/main/java/com/mogo/och/sweepercloud/SweeperProvider.java
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@@ -35,7 +35,7 @@ public class SweeperProvider implements IMogoOCH {
private void showFragment() {
FragmentManager supportFragmentManager = activity.getSupportFragmentManager();
if (sweeperFragment == null) {
CallerLogger.INSTANCE.d(TAG, "准备add fragment======");
CallerLogger.d(TAG, "准备add fragment======");
Fragment fragmentByTag = supportFragmentManager.findFragmentByTag(sweeperFragment.TAG);
if (fragmentByTag instanceof SweeperFragment) {
sweeperFragment = (SweeperFragment) fragmentByTag;
@@ -47,12 +47,12 @@ public class SweeperProvider implements IMogoOCH {
}
return;
}
CallerLogger.INSTANCE.d(TAG, "准备show fragment");
CallerLogger.d(TAG, "准备show fragment");
supportFragmentManager.beginTransaction().show(sweeperFragment).commitAllowingStateLoss();
}
private void hideFragment() {
if (sweeperFragment != null) {
CallerLogger.INSTANCE.d(TAG, "准备hide fragment");
CallerLogger.d(TAG, "准备hide fragment");
activity.getSupportFragmentManager().beginTransaction().hide(sweeperFragment).commitAllowingStateLoss();
}

10
OCH/sweeper/sweeper-cloud/src/main/java/com/mogo/och/sweepercloud/fragment/BaseSweeperTabFragment.java
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@@ -1,9 +1,6 @@
package com.mogo.och.sweepercloud.fragment;
import static com.mogo.eagle.core.utilcode.mogo.logger.scene.SceneConstant.M_SWEEPER;
import android.os.Bundle;
import android.os.Parcelable;
import android.view.LayoutInflater;
import android.view.MotionEvent;
import android.view.View;
@@ -16,7 +13,6 @@ import androidx.constraintlayout.widget.Group;
import androidx.fragment.app.FragmentTransaction;
import com.amap.api.maps.model.LatLng;
import com.elegant.network.utils.GsonUtil;
import com.google.protobuf.TextFormat;
import com.mogo.commons.AbsMogoApplication;
import com.mogo.commons.mvp.IView;
@@ -33,7 +29,6 @@ import com.mogo.eagle.core.function.hmi.ui.msgbox.DriverMsgBoxBubbleView;
import com.mogo.eagle.core.function.hmi.ui.msgbox.DriverMsgBoxButtonView;
import com.mogo.eagle.core.function.hmi.ui.msgbox.DriverMsgBoxListView;
import com.mogo.eagle.core.function.view.MapBizView;
import com.mogo.eagle.core.utilcode.mogo.logger.CallerLogger;
import com.mogo.eagle.core.utilcode.mogo.view.OnPreventFastClickListener;
import com.mogo.eagle.core.utilcode.util.ThreadUtils;
import com.mogo.eagle.core.utilcode.util.ToastUtils;
@@ -42,9 +37,8 @@ import com.mogo.map.listener.IMogoMapListener;
import com.mogo.map.listener.MogoMapListenerHandler;
import com.mogo.map.uicontroller.IMogoMapUIController;
import com.mogo.map.uicontroller.VisualAngleMode;
import com.mogo.och.common.module.manager.OCHAdasAbilityManager;
import com.mogo.och.common.module.manager.autopilotmanager.OCHAdasAbilityManager;
import com.mogo.och.common.module.utils.CoordinateCalculateRouteUtil;
import com.mogo.och.common.module.utils.PinYinUtil;
import com.mogo.och.sweepercloud.R;
import com.mogo.och.sweepercloud.bean.SweeperRoutePlanningUpdateReqBean;
import com.mogo.och.sweepercloud.callback.ISweeperTaskDataToFragmentCallback;
@@ -171,7 +165,7 @@ public abstract class BaseSweeperTabFragment<V extends IView, P extends Presente
parameters.vehicleType = 10;
MessagePad.Line line = routeInfo.getLine();
parameters.autoPilotLine = new AutopilotControlParameters.AutoPilotLine(
line.getLineId(),
line.getLineId(), line.getLineName(),
line.getTrajUrl(), line.getTrajMd5(),
line.getStopUrl(), line.getStopMd5(),
line.getTimestamp(), line.getVehicleModel(),

4
OCH/sweeper/sweeper-cloud/src/main/java/com/mogo/och/sweepercloud/fragment/SweeperAmapNaviFragment.java
View File

@@ -125,8 +125,8 @@ public class SweeperAmapNaviFragment extends BaseSweeperUIFragment implements AM
@Override
public void onNaviViewLoaded() {
CallerLogger.INSTANCE.d(M_TAXI + "wlx", "导航页面加载成功");
CallerLogger.INSTANCE.d(M_TAXI + "wlx", "请不要使用AMapNaviView.getMap().setOnMapLoadedListener();会overwrite导航SDK内部画线逻辑");
CallerLogger.d(M_TAXI + "wlx", "导航页面加载成功");
CallerLogger.d(M_TAXI + "wlx", "请不要使用AMapNaviView.getMap().setOnMapLoadedListener();会overwrite导航SDK内部画线逻辑");
}
@Override

66
OCH/sweeper/sweeper-cloud/src/main/java/com/mogo/och/sweepercloud/model/SweeperTaskModel.java
View File

@@ -29,7 +29,7 @@ import com.mogo.eagle.core.function.call.autopilot.CallerSweeperFutianCleanSyste
import com.mogo.eagle.core.function.call.autopilot.CallerSweeperFutianCloudTaskListenerManager;
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.manager.autopilotmanager.OCHAdasAbilityManager;
import com.mogo.och.common.module.utils.CoordinateCalculateRouteUtil;
import com.mogo.och.common.module.utils.NumberFormatUtil;
import com.mogo.och.sweepercloud.bean.SweeperRoutePlanningUpdateReqBean;
@@ -64,6 +64,7 @@ import io.reactivex.plugins.RxJavaPlugins;
import mogo.telematics.pad.MessagePad;
import mogo_msg.MogoReportMsg;
import planning.RoboSweeperTaskIndexOuterClass;
import system_master.SsmInfo;
import system_master.SystemStatusInfo;
/**
@@ -154,31 +155,31 @@ public class SweeperTaskModel implements IMoGoSweeperFutianCloudTaskListener, IM
public void accept(Throwable e) {
if (e instanceof UndeliverableException) {
e = e.getCause();
CallerLogger.INSTANCE.d(M_SWEEPER + TAG, "UndeliverableException");
CallerLogger.d(M_SWEEPER + TAG, "UndeliverableException");
}
if ((e instanceof IOException)) {//
// fine, irrelevant network problem or API that throws on cancellation
CallerLogger.INSTANCE.d(M_SWEEPER + TAG, "IOException");
CallerLogger.d(M_SWEEPER + TAG, "IOException");
return;
}
if (e instanceof InterruptedException) {
// fine, some blocking code was interrupted by a dispose call
CallerLogger.INSTANCE.d(M_SWEEPER + TAG, "InterruptedException");
CallerLogger.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_SWEEPER + TAG, "NullPointerException or IllegalArgumentException");
CallerLogger.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_SWEEPER + TAG, "IllegalStateException");
CallerLogger.d(M_SWEEPER + TAG, "IllegalStateException");
Thread.currentThread().getUncaughtExceptionHandler().uncaughtException(Thread.currentThread(), e);
return;
}
CallerLogger.INSTANCE.d(M_SWEEPER + TAG, "Undeliverable exception");
CallerLogger.d(M_SWEEPER + TAG, "Undeliverable exception");
}
});
}
@@ -196,18 +197,18 @@ public class SweeperTaskModel implements IMoGoSweeperFutianCloudTaskListener, IM
@Override
public void onAutopilotRotting(MessagePad.GlobalPathResp routeList) {
if (null != routeList && routeList.getWayPointsList() != null && routeList.getWayPointsList().size() > 0) {
CallerLogger.INSTANCE.d(M_SWEEPER + TAG, "onAutopilotRotting: " + printMessage(routeList));
CallerLogger.d(M_SWEEPER + TAG, "onAutopilotRotting: " + printMessage(routeList));
// MAP返回路线信息，在1秒内返回了2次，这里加上数据过滤
long current = System.currentTimeMillis();
if (current - mRouteDataCurrentTimeMillis <= ROUTE_DATA_INTERVAL_MILLIS) {
CallerLogger.INSTANCE.d(M_SWEEPER + TAG, "onAutopilotRotting: interval <=" + ROUTE_DATA_INTERVAL_MILLIS + " data is abandon");
CallerLogger.d(M_SWEEPER + TAG, "onAutopilotRotting: interval <=" + ROUTE_DATA_INTERVAL_MILLIS + " data is abandon");
return;
}
mRouteDataCurrentTimeMillis = current;
if (mCurrentLineId != mPreLineId) {//判断是否同一条路线
CallerLogger.INSTANCE.d(M_SWEEPER + TAG, "onAutopilotRotting: mCurrentLineId" + mCurrentLineId + "mPreLineId：" + mPreLineId);
CallerLogger.d(M_SWEEPER + TAG, "onAutopilotRotting: mCurrentLineId" + mCurrentLineId + "mPreLineId：" + mPreLineId);
mPreLineId = mCurrentLineId;
points.addAll(coordinateConverterWgsToGcjList(mContext, routeList.getWayPointsList()));
if (mSweeperTaskCallback != null) {
@@ -333,7 +334,8 @@ 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,
CallerLogger.d(M_SWEEPER + TAG,
"messageType: " + messageType.getNumber() + " sysTime：" + sysTime + " reqNo：" + reqNo + " onSweeperFutianCloudTask：" + (taskInfo == null ? "null" : printMessage(taskInfo)) + " mSweeperTaskCallback：" + mSweeperTaskCallback);
if (mSweeperTaskCallback != null) {
msgTypeAndReqNo.put(messageType.getNumber(), reqNo);
@@ -345,7 +347,7 @@ public class SweeperTaskModel implements IMoGoSweeperFutianCloudTaskListener, IM
public void onSweeperFutianCloudTaskConfirm(@NonNull SweeperCloudTask.MessageType messageType, String reqNo, long sysTime,
SweeperTaskConfirm.TaskConfirm taskConfirm) {
CallerLogger.INSTANCE.d(M_SWEEPER + TAG, "messageType: " + messageType.getNumber() + " sysTime：" + sysTime + " reqNo：" + reqNo + " " +
CallerLogger.d(M_SWEEPER + TAG, "messageType: " + messageType.getNumber() + " sysTime：" + sysTime + " reqNo：" + reqNo + " " +
"onSweeperFutianCloudTaskConfirm：" + printMessage(taskConfirm));
if (mSweeperTaskCallback != null && taskConfirm != null) {
msgTypeAndReqNo.put(messageType.getNumber(), reqNo);
@@ -356,7 +358,7 @@ public class SweeperTaskModel implements IMoGoSweeperFutianCloudTaskListener, IM
@Override
public void onSweeperFutianCloudTaskStatus(@NonNull SweeperCloudTask.MessageType messageType, String reqNo, long sysTime,
SweeperTaskStatus.TaskStatusPush taskStatusPush) {
CallerLogger.INSTANCE.d(M_SWEEPER + TAG, "messageType: " + messageType.getNumber() + " sysTime：" + sysTime + " reqNo：" + reqNo + " " +
CallerLogger.d(M_SWEEPER + TAG, "messageType: " + messageType.getNumber() + " sysTime：" + sysTime + " reqNo：" + reqNo + " " +
"onSweeperFutianCloudTaskStatus：" + printMessage(taskStatusPush));
if (mSweeperTaskCallback != null && taskStatusPush != null) {
msgTypeAndReqNo.put(messageType.getNumber(), reqNo);
@@ -367,7 +369,7 @@ public class SweeperTaskModel implements IMoGoSweeperFutianCloudTaskListener, IM
@Override
public void onSweeperFutianCloudTaskStop(@NonNull SweeperCloudTask.MessageType messageType, String reqNo, long sysTime,
SweeperTaskStop.StopTaskReq stopTaskReq) {
CallerLogger.INSTANCE.d(M_SWEEPER + TAG, "messageType: " + messageType.getNumber() + " sysTime：" + sysTime + " reqNo：" + reqNo + " " +
CallerLogger.d(M_SWEEPER + TAG, "messageType: " + messageType.getNumber() + " sysTime：" + sysTime + " reqNo：" + reqNo + " " +
"onSweeperFutianCloudTaskStop：" + printMessage(stopTaskReq));
if (mSweeperTaskCallback != null && stopTaskReq != null) {
msgTypeAndReqNo.put(messageType.getNumber(), reqNo);
@@ -378,7 +380,7 @@ public class SweeperTaskModel implements IMoGoSweeperFutianCloudTaskListener, IM
@Override
public void onSweeperFutianCloudTaskSuspendResume(@NonNull SweeperCloudTask.MessageType messageType, String reqNo, long sysTime,
SweeperTaskSuspendResume.SuspendResumeTaskResp suspendResumeTaskResp) {
CallerLogger.INSTANCE.d(M_SWEEPER + TAG, "messageType: " + messageType.getNumber() + " sysTime：" + sysTime + " reqNo：" + reqNo + " " +
CallerLogger.d(M_SWEEPER + TAG, "messageType: " + messageType.getNumber() + " sysTime：" + sysTime + " reqNo：" + reqNo + " " +
"onSweeperFutianCloudTaskSuspendResume：" + printMessage(suspendResumeTaskResp));
if (mSweeperTaskCallback != null && suspendResumeTaskResp != null) {
msgTypeAndReqNo.put(messageType.getNumber(), reqNo);
@@ -390,7 +392,7 @@ public class SweeperTaskModel implements IMoGoSweeperFutianCloudTaskListener, IM
@Override
public void onSweeperFutianCloudBootable(@NonNull SweeperCloudTask.MessageType messageType, String reqNo, long sysTime,
SweeperBootable.IsBootableResp isBootableResp) {
CallerLogger.INSTANCE.d(M_SWEEPER + TAG, "messageType: " + messageType.getNumber() + " sysTime：" + sysTime + " reqNo：" + reqNo + " " +
CallerLogger.d(M_SWEEPER + TAG, "messageType: " + messageType.getNumber() + " sysTime：" + sysTime + " reqNo：" + reqNo + " " +
"onSweeperFutianCloudBootable：" + printMessage(isBootableResp));
if (mSweeperTaskCallback != null && isBootableResp != null) {
msgTypeAndReqNo.put(messageType.getNumber(), reqNo);
@@ -401,7 +403,7 @@ public class SweeperTaskModel implements IMoGoSweeperFutianCloudTaskListener, IM
@Override
public void onSweeperFutianCloudBigTaskStatus(@NonNull SweeperCloudTask.MessageType messageType, String reqNo, long sysTime,
SweeperBigTaskStatus.BigTaskStatusPush bigTaskStatusPush) {
CallerLogger.INSTANCE.d(M_SWEEPER + TAG, "messageType: " + messageType.getNumber() + " sysTime：" + sysTime + " reqNo：" + reqNo + " " +
CallerLogger.d(M_SWEEPER + TAG, "messageType: " + messageType.getNumber() + " sysTime：" + sysTime + " reqNo：" + reqNo + " " +
"onSweeperFutianCloudBigTaskStatus：" + printMessage(bigTaskStatusPush));
if (mSweeperTaskCallback != null && bigTaskStatusPush != null) {
msgTypeAndReqNo.put(messageType.getNumber(), reqNo);
@@ -412,7 +414,7 @@ public class SweeperTaskModel implements IMoGoSweeperFutianCloudTaskListener, IM
@Override
public void onSweeperFutianCloudTaskCloudSuspendResume(@NonNull SweeperCloudTask.MessageType messageType, @Nullable String reqNo, long sysTime,
@Nullable SweeperTaskCloudSuspendResume.BigTaskActionPush bigTaskActionPush) {
CallerLogger.INSTANCE.d(M_SWEEPER + TAG, "messageType: " + messageType.getNumber() + " sysTime：" + sysTime + " reqNo：" + reqNo + " " +
CallerLogger.d(M_SWEEPER + TAG, "messageType: " + messageType.getNumber() + " sysTime：" + sysTime + " reqNo：" + reqNo + " " +
"onSweeperFutianCloudTaskCloudSuspendResume：" + printMessage(bigTaskActionPush));
if (mSweeperTaskCallback != null && bigTaskActionPush != null) {
msgTypeAndReqNo.put(messageType.getNumber(), reqNo);
@@ -430,7 +432,7 @@ public class SweeperTaskModel implements IMoGoSweeperFutianCloudTaskListener, IM
return;
}
mVehicleStateCurrentTimeMillis = current;
// CallerLogger.INSTANCE.d(M_SWEEPER + TAG, "onSweeperFutianCleanSystemState：" + printMessage(cleanSystemState));
// CallerLogger.d(M_SWEEPER + TAG, "onSweeperFutianCleanSystemState：" + printMessage(cleanSystemState));
if (mSweeperTaskCallback != null) {
mSweeperTaskCallback.onSweeperFutianCleanSystemState(cleanSystemState);
}
@@ -518,7 +520,7 @@ public class SweeperTaskModel implements IMoGoSweeperFutianCloudTaskListener, IM
String reqNo = SweeperCloudTaskUtils.getRequestId();
SweeperTask.GetTaskReq getTaskReq = builder.build();
CallerLogger.INSTANCE.d(M_SWEEPER + TAG,
CallerLogger.d(M_SWEEPER + TAG,
"getCurrentTask:" + printMessage(getTaskReq) + " reqNo:" + reqNo + " messageType:" + SweeperCloudTask.MessageType.PadSendGetTaskReq.getNumber());
getAutoPilotControlManager().sendSweeperGetTaskReq(reqNo, getTaskReq);
}
@@ -535,7 +537,7 @@ public class SweeperTaskModel implements IMoGoSweeperFutianCloudTaskListener, IM
String reqNo = msgTypeAndReqNo.get(SweeperCloudTask.MessageType.CloudPushTask.getNumber());
getAutoPilotControlManager().sendSweeperStartTaskResp(reqNo, startTaskResp);
CallerLogger.INSTANCE.d(M_SWEEPER + TAG,
CallerLogger.d(M_SWEEPER + TAG,
"sendSweeperStartTaskResp:" + printMessage(startTaskResp) + " reqNo:" + reqNo + " messageType:" + SweeperCloudTask.MessageType.CloudPushTask.getNumber());
}
@@ -550,8 +552,7 @@ 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,
CallerLogger.d(M_SWEEPER + TAG,
"sendSweeperTaskConfirmResp" + printMessage(taskConfirmResp) + " reqNo:" + reqNo + " messageType:" + SweeperCloudTask.MessageType.CloudPushTaskConfirm.getNumber());
getAutoPilotControlManager().sendSweeperTaskConfirmResp(reqNo, taskConfirmResp);
}
@@ -570,7 +571,7 @@ public class SweeperTaskModel implements IMoGoSweeperFutianCloudTaskListener, IM
SweeperTaskStop.StopTaskResp stopTaskResp = builder.build();
String reqNo = msgTypeAndReqNo.get(SweeperCloudTask.MessageType.CloudPushTaskStop.getNumber());
CallerLogger.INSTANCE.d(M_SWEEPER + TAG,
CallerLogger.d(M_SWEEPER + TAG,
"sendSweeperStopTaskResp" + printMessage(stopTaskResp) + " reqNo:" + reqNo + " messageType:" + SweeperCloudTask.MessageType.CloudPushTaskStop.getNumber());
getAutoPilotControlManager().sendSweeperStopTaskResp(reqNo, stopTaskResp);
}
@@ -591,7 +592,7 @@ public class SweeperTaskModel implements IMoGoSweeperFutianCloudTaskListener, IM
SweeperBootable.IsBootable isBootable = builder.build();
String reqNo = SweeperCloudTaskUtils.getRequestId();
CallerLogger.INSTANCE.d(M_SWEEPER + TAG,
CallerLogger.d(M_SWEEPER + TAG,
"sendSweeperAutopilotBootable" + printMessage(isBootable) + " reqNo:" + reqNo + " messageType:" + SweeperCloudTask.MessageType.PadSendBootable.getNumber());
getAutoPilotControlManager().sendSweeperAutopilotBootable(reqNo, isBootable);
//SweeperCloudTaskUtils.mockSendCloudBootable();
@@ -610,7 +611,7 @@ public class SweeperTaskModel implements IMoGoSweeperFutianCloudTaskListener, IM
SweeperTaskCloudSuspendResume.BigTaskActionResp resp = builder.build();
String reqNo = msgTypeAndReqNo.get(SweeperCloudTask.MessageType.CloudPushTaskSuspendResume.getNumber());
CallerLogger.INSTANCE.d(M_SWEEPER + TAG,
CallerLogger.d(M_SWEEPER + TAG,
"sendSweeperSuspendResumeTaskResp" + printMessage(resp) + " reqNo:" + reqNo + " messageType:" + SweeperCloudTask.MessageType.CloudPushTaskSuspendResume);
getAutoPilotControlManager().sendSweeperCloudSuspendResumeTaskResp(reqNo, resp);
}
@@ -651,14 +652,19 @@ public class SweeperTaskModel implements IMoGoSweeperFutianCloudTaskListener, IM
getCurrentTask();
}, 10000);
}
//CallerLogger.INSTANCE.d(M_SWEEPER + TAG, "onAutopilotIpcConnectStatusChanged status:" + status + " reason：" + reason);
//CallerLogger.d(M_SWEEPER + TAG, "onAutopilotIpcConnectStatusChanged status:" + status + " reason：" + reason);
}
@Override
public void onAutopilotStatusRespByQuery(@NonNull SystemStatusInfo.StatusInfo status) {
// CallerLogger.INSTANCE.d(M_SWEEPER + TAG, "onAutopilotStatusRespByQuery status:" + status.getSysState().getNumber());
// CallerLogger.d(M_SWEEPER + TAG, "onAutopilotStatusRespByQuery status:" + status.getSysState().getNumber());
}
@Override
public void onSystemStatus(@NonNull SsmInfo.SsmStatusInf statusInf) {
}
@Override
public void onAutopilotRouteLineId(long lineId) {
@@ -672,12 +678,12 @@ public class SweeperTaskModel implements IMoGoSweeperFutianCloudTaskListener, IM
@Override
public void onSweeperFutianCloudTaskUnknown(@NonNull byte[] bytes) {
String string = new String(bytes, StandardCharsets.UTF_8);
CallerLogger.INSTANCE.d(M_SWEEPER + TAG, "onSweeperFutianCloudTaskUnknown:" + string);
CallerLogger.d(M_SWEEPER + TAG, "onSweeperFutianCloudTaskUnknown:" + string);
}
@Override
public void onAutopilotStatusResponse(int state) {
//CallerLogger.INSTANCE.d(M_SWEEPER + TAG, "onAutopilotStatusResponse state:" + state);
//CallerLogger.d(M_SWEEPER + TAG, "onAutopilotStatusResponse state:" + state);
this.mAutopilotState = state;
if (mControllerStatusCallback != null) {
mControllerStatusCallback.onAutopilotState(state);

2
OCH/sweeper/sweeper-cloud/src/main/java/com/mogo/och/sweepercloud/presenter/SweeperPresenter.java
View File

@@ -9,7 +9,7 @@ import com.mogo.commons.mvp.Presenter;
import com.mogo.eagle.core.data.map.MogoLocation;
import com.mogo.eagle.core.function.call.autopilot.CallerSweeperFutianCleanSystemListenerManager;
import com.mogo.eagle.core.utilcode.util.ThreadUtils;
import com.mogo.och.common.module.manager.OCHAdasAbilityManager;
import com.mogo.och.common.module.manager.autopilotmanager.OCHAdasAbilityManager;
import com.mogo.och.sweepercloud.bean.SweeperRoutePlanningUpdateReqBean;
import com.mogo.och.sweepercloud.callback.ISweeperCloudTaskCallback;
import com.mogo.och.sweepercloud.callback.ISweeperControllerStatusCallback;

2
OCH/sweeper/sweeper-cloud/src/main/java/com/mogo/och/sweepercloud/receiver/TestSweeperBroadcastReceiver.java
View File

@@ -25,7 +25,7 @@ public class TestSweeperBroadcastReceiver extends BroadcastReceiver {
try {
this.mContext = context;
int sceneType = intent.getIntExtra(SweeperConst.BROADCAST_TEST_SWEEPER_CONTROL_TYPE_EXTRA_KEY, 0);
CallerLogger.INSTANCE.d(M_BUS + TAG, "sceneType:" + sceneType);
CallerLogger.d(M_BUS + TAG, "sceneType:" + sceneType);
// 分发场景
dispatchSceneTest(sceneType);

2
OCH/sweeper/sweeper-cloud/src/main/java/com/mogo/och/sweepercloud/util/SweeperAnalyticsManager.java
View File

@@ -49,7 +49,7 @@ public class SweeperAnalyticsManager {
private void triggerStartAutopilotFailureEvent(String failCode, String failMsg){
if (mStartAutopilotParams.isEmpty()) return;
CallerLogger.INSTANCE.e( M_SWEEPER + "triggerStartAutopilotFailureEvent", failMsg );
CallerLogger.e( M_SWEEPER + "triggerStartAutopilotFailureEvent", failMsg );
if (CallerAutoPilotStatusListenerManager.INSTANCE.getAutoPilotStatusInfo().getState() !=
IMoGoAutopilotStatusListener.STATUS_AUTOPILOT_RUNNING){

4
OCH/sweeper/sweeper-cloud/src/main/java/com/mogo/och/sweepercloud/view/SweeperTrafficDataView.kt
View File

@@ -101,9 +101,9 @@ class SweeperTrafficDataView : ConstraintLayout,
return
}
mCurrentTimeWaterMillis = current
d(SceneConstant.M_SWEEPER + TAG, "水位：${cleanSystemState.hasSecuCleanWaterTankLow()}")
d(SceneConstant.M_SWEEPER + TAG, "水位：${cleanSystemState.secuCleanWaterTankLow}")
UiThreadHandler.post {
if (cleanSystemState.hasSecuCleanWaterTankLow()) { //清水箱水位低不能清洗作业报警信号
if (cleanSystemState.secuCleanWaterTankLow) { //清水箱水位低不能清洗作业报警信号
ivBgWaterWarning?.visibility = VISIBLE
ivWater?.isSelected = true
} else {

2
OCH/sweeper/sweeper/build.gradle
View File

@@ -45,7 +45,7 @@ android {
dependencies {
implementation fileTree(dir: "libs", include: ["*.jar"])
implementation rootProject.ext.dependencies.kotlinstdlibjdk7
implementation rootProject.ext.dependencies.kotlinstdlib
implementation rootProject.ext.dependencies.androidxappcompat
implementation rootProject.ext.dependencies.arouter
annotationProcessor rootProject.ext.dependencies.aroutercompiler

86
OCH/sweeper/sweeper/schemas/com.mogo.och.sweeper.database.MyDataBase/1.json Normal file
View File

@@ -0,0 +1,86 @@
{
"formatVersion": 1,
"database": {
"version": 1,
"identityHash": "0897ef4b7b6a43fccf8bcf4b2144dafa",
"entities": [
{
"tableName": "welt_data_table",
"createSql": "CREATE TABLE IF NOT EXISTS `${TABLE_NAME}` (`id` INTEGER PRIMARY KEY AUTOINCREMENT NOT NULL, `subTaskId` INTEGER NOT NULL, `locLon` REAL NOT NULL, `locLat` REAL NOT NULL, `weltDistance` REAL NOT NULL, `cleanMode` INTEGER NOT NULL, `cleanDirection` INTEGER NOT NULL, `cleanIntensity` INTEGER NOT NULL)",
"fields": [
{
"fieldPath": "id",
"columnName": "id",
"affinity": "INTEGER",
"notNull": true
},
{
"fieldPath": "subTaskId",
"columnName": "subTaskId",
"affinity": "INTEGER",
"notNull": true
},
{
"fieldPath": "locLon",
"columnName": "locLon",
"affinity": "REAL",
"notNull": true
},
{
"fieldPath": "locLat",
"columnName": "locLat",
"affinity": "REAL",
"notNull": true
},
{
"fieldPath": "weltDistance",
"columnName": "weltDistance",
"affinity": "REAL",
"notNull": true
},
{
"fieldPath": "cleanMode",
"columnName": "cleanMode",
"affinity": "INTEGER",
"notNull": true
},
{
"fieldPath": "cleanDirection",
"columnName": "cleanDirection",
"affinity": "INTEGER",
"notNull": true
},
{
"fieldPath": "cleanIntensity",
"columnName": "cleanIntensity",
"affinity": "INTEGER",
"notNull": true
}
],
"primaryKey": {
"columnNames": [
"id"
],
"autoGenerate": true
},
"indices": [
{
"name": "index_welt_data_table_id",
"unique": true,
"columnNames": [
"id"
],
"orders": [],
"createSql": "CREATE UNIQUE INDEX IF NOT EXISTS `index_welt_data_table_id` ON `${TABLE_NAME}` (`id`)"
}
],
"foreignKeys": []
}
],
"views": [],
"setupQueries": [
"CREATE TABLE IF NOT EXISTS room_master_table (id INTEGER PRIMARY KEY,identity_hash TEXT)",
"INSERT OR REPLACE INTO room_master_table (id,identity_hash) VALUES(42, '0897ef4b7b6a43fccf8bcf4b2144dafa')"
]
}
}

6
OCH/sweeper/sweeper/src/main/java/com/mogo/och/sweeper/SweeperProvider.java
View File

@@ -35,7 +35,7 @@ public class SweeperProvider implements IMogoOCH {
private void showFragment() {
FragmentManager supportFragmentManager = activity.getSupportFragmentManager();
if (sweeperFragment == null) {
CallerLogger.INSTANCE.d(TAG, "准备add fragment======");
CallerLogger.d(TAG, "准备add fragment======");
Fragment fragmentByTag = supportFragmentManager.findFragmentByTag(sweeperFragment.TAG);
if (fragmentByTag instanceof SweeperFragment) {
sweeperFragment = (SweeperFragment) fragmentByTag;
@@ -47,12 +47,12 @@ public class SweeperProvider implements IMogoOCH {
}
return;
}
CallerLogger.INSTANCE.d(TAG, "准备show fragment");
CallerLogger.d(TAG, "准备show fragment");
supportFragmentManager.beginTransaction().show(sweeperFragment).commitAllowingStateLoss();
}
private void hideFragment() {
if (sweeperFragment != null) {
CallerLogger.INSTANCE.d(TAG, "准备hide fragment");
CallerLogger.d(TAG, "准备hide fragment");
activity.getSupportFragmentManager().beginTransaction().hide(sweeperFragment).commitAllowingStateLoss();
}

4
OCH/sweeper/sweeper/src/main/java/com/mogo/och/sweeper/fragment/SweeperAmapNaviFragment.java
View File

@@ -125,8 +125,8 @@ public class SweeperAmapNaviFragment extends BaseSweeperUIFragment implements AM
@Override
public void onNaviViewLoaded() {
CallerLogger.INSTANCE.d(M_TAXI + "wlx", "导航页面加载成功");
CallerLogger.INSTANCE.d(M_TAXI + "wlx", "请不要使用AMapNaviView.getMap().setOnMapLoadedListener();会overwrite导航SDK内部画线逻辑");
CallerLogger.d(M_TAXI + "wlx", "导航页面加载成功");
CallerLogger.d(M_TAXI + "wlx", "请不要使用AMapNaviView.getMap().setOnMapLoadedListener();会overwrite导航SDK内部画线逻辑");
}
@Override

70
OCH/sweeper/sweeper/src/main/java/com/mogo/och/sweeper/model/SweeperTaskModel.java
View File

@@ -33,7 +33,7 @@ import com.mogo.och.common.module.biz.common.socketmessage.OCHSocketMessageManag
import com.mogo.och.common.module.biz.common.socketmessage.data.OCHOperationalMessage;
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.manager.autopilotmanager.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;
@@ -146,31 +146,31 @@ public class SweeperTaskModel {
public void accept(Throwable e) {
if (e instanceof UndeliverableException) {
e = e.getCause();
CallerLogger.INSTANCE.d(M_SWEEPER + TAG, "UndeliverableException");
CallerLogger.d(M_SWEEPER + TAG, "UndeliverableException");
}
if ((e instanceof IOException)) {//
// fine, irrelevant network problem or API that throws on cancellation
CallerLogger.INSTANCE.d(M_SWEEPER + TAG, "IOException");
CallerLogger.d(M_SWEEPER + TAG, "IOException");
return;
}
if (e instanceof InterruptedException) {
// fine, some blocking code was interrupted by a dispose call
CallerLogger.INSTANCE.d(M_SWEEPER + TAG, "InterruptedException");
CallerLogger.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_SWEEPER + TAG, "NullPointerException or IllegalArgumentException");
CallerLogger.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_SWEEPER + TAG, "IllegalStateException");
CallerLogger.d(M_SWEEPER + TAG, "IllegalStateException");
Thread.currentThread().getUncaughtExceptionHandler().uncaughtException(Thread.currentThread(), e);
return;
}
CallerLogger.INSTANCE.d(M_SWEEPER + TAG, "Undeliverable exception");
CallerLogger.d(M_SWEEPER + TAG, "Undeliverable exception");
}
});
}
@@ -265,10 +265,10 @@ public class SweeperTaskModel {
@Override
public void onMsgReceived(OCHOperationalMessage obj) {
if (obj == null) {
CallerLogger.INSTANCE.d(M_SWEEPER + TAG, "onMsgReceived = null");
CallerLogger.d(M_SWEEPER + TAG, "onMsgReceived = null");
return;
}
CallerLogger.INSTANCE.d(M_SWEEPER + TAG, "onMsgReceived = " + obj.getMessage());
CallerLogger.d(M_SWEEPER + TAG, "onMsgReceived = " + obj.getMessage());
OCHSocketMessageManager.INSTANCE.pushAppOperationalMsgBox(obj.getPushTimeStamp(),
obj.getMessage(),OCHSocketMessageManager.OPERATION_SYSTEM);
}
@@ -291,7 +291,7 @@ public class SweeperTaskModel {
public void onStartAutopilotFailure(@NotNull String startFailedCode, @NonNull String startFailedMessage) {
SweeperAnalyticsManager.getInstance().triggerStartAutopilotFailureEventByAdas(startFailedCode, startFailedMessage);
if (mADASStatusCallback != null && !FunctionBuildConfig.isDemoMode) {
CallerLogger.INSTANCE.e(M_SWEEPER + TAG, "mAdasStartFailureListener = " + startFailedMessage);
CallerLogger.e(M_SWEEPER + TAG, "mAdasStartFailureListener = " + startFailedMessage);
mADASStatusCallback.onStartAdasFailure();
}
}
@@ -302,7 +302,7 @@ public class SweeperTaskModel {
@Override
public void onChassisLocationGCJ02(@Nullable MogoLocation gnssInfo) {
if (null == gnssInfo) return;
CallerLogger.INSTANCE.e(M_SWEEPER + TAG, "高德定位到站：mLongitude = " + gnssInfo.getLongitude()
CallerLogger.e(M_SWEEPER + TAG, "高德定位到站：mLongitude = " + gnssInfo.getLongitude()
+ ", mLatitude=" + gnssInfo.getLatitude() + ", mSubTaskType=" + mSubTaskType +", mIsSubTaskWorking=" + mIsSubTaskWorking
+ ", isAutopilotSubTaskArriveEndSite=" + isAutopilotSubTaskArriveEndSite
);
@@ -346,7 +346,7 @@ public class SweeperTaskModel {
//根据围栏判断，是否到达子任务终点
private void judgeArrivedStation(MogoLocation location) {
if (mCurrentSubTaskDetail == null) {
CallerLogger.INSTANCE.d(TAG, "行程日志-judgeArrivedStation() mCurrentSubTaskDetail is null");
CallerLogger.d(TAG, "行程日志-judgeArrivedStation() mCurrentSubTaskDetail is null");
return;
}
double endSiteLon = mCurrentSubTaskDetail.getEndSiteLon();
@@ -355,7 +355,7 @@ public class SweeperTaskModel {
endSiteLon, endSiteLat,
location.getLongitude(), location.getLatitude());
if (distance <= SweeperConst.ARRIVE_AT_END_STATION_DISTANCE) {
CallerLogger.INSTANCE.d(M_SWEEPER + TAG, "行程日志-judgeArrivedStation() distance = " + distance
CallerLogger.d(M_SWEEPER + TAG, "行程日志-judgeArrivedStation() distance = " + distance
+ " to " + mCurrentSubTaskDetail.getEndSiteName());
isAutopilotSubTaskArriveEndSite = true;
//到达子任务终点 结束子任务
@@ -368,7 +368,7 @@ public class SweeperTaskModel {
* 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===" + mIsSubTaskWorking);
CallerLogger.d(M_SWEEPER + TAG, "行程日志-重启自动驾驶===" + mIsSubTaskWorking);
//只去启动自动驾驶
startAutopilot(firstStartAutopilot >= 1);
}
@@ -389,11 +389,11 @@ public class SweeperTaskModel {
triggerStartServiceEvent(isRestart, false);
AutopilotControlParameters parameters = initAutopilotControlParameters();
if (null == parameters) {
CallerLogger.INSTANCE.e(M_SWEEPER + TAG, "行程日志-AutopilotControlParameters is empty.");
CallerLogger.e(M_SWEEPER + TAG, "行程日志-AutopilotControlParameters is empty.");
return;
}
CallerAutoPilotControlManager.INSTANCE.startAutoPilot(parameters);
CallerLogger.INSTANCE.d(M_SWEEPER + TAG, "行程日志-开启自动驾驶====" + GsonUtil.jsonFromObject(parameters)
CallerLogger.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);
@@ -420,7 +420,7 @@ public class SweeperTaskModel {
if (FunctionBuildConfig.isDemoMode) {
FunctionBuildConfig.isIgnoreConditionsDrawAutopilotTrajectoryData = false; //是否强制绘制引导线
CallerAutoPilotControlManager.INSTANCE.setIPCDemoMode(false);//是否自动启动自驾
CallerLogger.INSTANCE.d(M_SWEEPER + TAG, "美化模式-ignore：置为false");
CallerLogger.d(M_SWEEPER + TAG, "美化模式-ignore：置为false");
}
}
@@ -430,7 +430,7 @@ public class SweeperTaskModel {
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
CallerLogger.INSTANCE.d(M_SWEEPER + TAG, "美化模式-ignore：置为true");
CallerLogger.d(M_SWEEPER + TAG, "美化模式-ignore：置为true");
}
/**
@@ -440,18 +440,18 @@ public class SweeperTaskModel {
//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 && mCurrentSubTaskDetail != null) {
CallerLogger.INSTANCE.d(M_SWEEPER + TAG, "MAP到站通知：" + mCurrentSubTaskDetail.getEndSiteName() + " 经度："
CallerLogger.d(M_SWEEPER + TAG, "MAP到站通知：" + mCurrentSubTaskDetail.getEndSiteName() + " 经度："
+ data.getEndLocation().getLongitude() + " 纬度：" + data.getEndLocation().getLatitude());
String latitude = NumberFormatUtil.cutOutNumber(data.getEndLocation().getLatitude(), 5); //wgs
String longitude = NumberFormatUtil.cutOutNumber(data.getEndLocation().getLongitude(), 5);
String arriveLat = NumberFormatUtil.cutOutNumber(mCurrentSubTaskDetail.getEndSiteWgs64Lat(), 5);
String arriveLon = NumberFormatUtil.cutOutNumber(mCurrentSubTaskDetail.getEndSiteWgs64Lon(), 5);
if (!latitude.equals(arriveLat) || !longitude.equals(arriveLon)) {
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");
CallerLogger.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;
}
}
CallerLogger.INSTANCE.d(M_SWEEPER + TAG, "MAP到站通知：mSubTaskType=" + mSubTaskType + " isAutopilotSubTaskArriveEndSite="
CallerLogger.d(M_SWEEPER + TAG, "MAP到站通知：mSubTaskType=" + mSubTaskType + " isAutopilotSubTaskArriveEndSite="
+ isAutopilotSubTaskArriveEndSite + " mSubTaskId=" + mSubTaskId);
if (SubTaskTypeEnum.MANUAL_DRIVING_SUBTYPE.getCode() == mSubTaskType) {//人工驾驶子任务需要手动跳过，不能自动结束
return;
@@ -492,16 +492,16 @@ public class SweeperTaskModel {
AutopilotControlParameters parameters = initAutopilotControlParameters();
if (null == parameters) {
CallerLogger.INSTANCE.e(M_SWEEPER + TAG, "AutopilotControlParameters is empty.");
CallerLogger.e(M_SWEEPER + TAG, "AutopilotControlParameters is empty.");
return;
}
CallerLogger.INSTANCE.d(M_SWEEPER + TAG, "AutopilotControlParameters" + GsonUtil.jsonFromObject(parameters));
CallerLogger.INSTANCE.d(M_SWEEPER + TAG, "AutopilotControlParameters is update.");
CallerLogger.d(M_SWEEPER + TAG, "AutopilotControlParameters" + GsonUtil.jsonFromObject(parameters));
CallerLogger.d(M_SWEEPER + TAG, "AutopilotControlParameters is update.");
CallerAutoPilotStatusListenerManager.INSTANCE.updateAutopilotControlParameters(parameters);
}
private void clearAutopilotControlParameters() {
CallerLogger.INSTANCE.d(M_SWEEPER + TAG, "AutopilotControlParameters is clear.");
CallerLogger.d(M_SWEEPER + TAG, "AutopilotControlParameters is clear.");
CallerAutoPilotStatusListenerManager.INSTANCE.updateAutopilotControlParameters(null);
}
@@ -518,7 +518,7 @@ public class SweeperTaskModel {
.AutoPilotLonLat(mCurrentSubTaskDetail.getEndSiteWgs64Lat(), mCurrentSubTaskDetail.getEndSiteWgs64Lon());
parameters.vehicleType = VEHICLE_TYPE;
parameters.autoPilotLine = new AutopilotControlParameters.AutoPilotLine(
mCurrentSubTaskDetail.getLineId(),
mCurrentSubTaskDetail.getLineId(), mCurrentSubTaskDetail.getLineName(),
mCurrentSubTaskDetail.getCsvFileUrl(), mCurrentSubTaskDetail.getCsvFileMd5(),
mCurrentSubTaskDetail.getTxtFileUrl(), mCurrentSubTaskDetail.getTxtFileMd5(),
mCurrentSubTaskDetail.getPublishTime(), mCurrentSubTaskDetail.getCarModel(),
@@ -536,7 +536,7 @@ public class SweeperTaskModel {
SweeperServiceManager.getCurrentTask(mContext, new OchCommonServiceCallback<BaseResponse<SweeperSubTaskBean>>() {
@Override
public void onSuccess(BaseResponse<SweeperSubTaskBean> data) {
CallerLogger.INSTANCE.d(M_SWEEPER + TAG, "getCurrentTask：" + GsonUtil.jsonFromObject(data));
CallerLogger.d(M_SWEEPER + TAG, "getCurrentTask：" + GsonUtil.jsonFromObject(data));
if (mSweeperTaskCallback != null && data != null) {
SweeperSubTaskBean sweeperSubTaskBean = data.getData();
if (sweeperSubTaskBean != null && sweeperSubTaskBean.getSubList() != null && sweeperSubTaskBean.getSubList().size() > 0) {
@@ -576,7 +576,7 @@ public class SweeperTaskModel {
SweeperServiceManager.getMainTaskList(mContext, new OchCommonServiceCallback<BaseResponse<List<SweeperMainTaskBean>>>() {
@Override
public void onSuccess(BaseResponse<List<SweeperMainTaskBean>> data) {
CallerLogger.INSTANCE.d(M_SWEEPER + TAG, "getMainTaskList：" + GsonUtil.jsonFromObject(data));
CallerLogger.d(M_SWEEPER + TAG, "getMainTaskList：" + GsonUtil.jsonFromObject(data));
if (mSweeperTaskCallback != null && data != null && data.getCode() == 0) {
List<SweeperMainTaskBean> list = data.getData();
mSweeperTaskCallback.setMainTaskList(list, refresh);
@@ -612,7 +612,7 @@ public class SweeperTaskModel {
SweeperServiceManager.getSubTaskList(taskId, mContext, new OchCommonServiceCallback<BaseResponse<List<SubInfo>>>() {
@Override
public void onSuccess(BaseResponse<List<SubInfo>> data) {
CallerLogger.INSTANCE.d(M_SWEEPER + TAG, "getSubTaskList：" + GsonUtil.jsonFromObject(data));
CallerLogger.d(M_SWEEPER + TAG, "getSubTaskList：" + GsonUtil.jsonFromObject(data));
if (mSweeperTaskCallback != null && data != null && data.getCode() == 0) {
List<SubInfo> list = data.getData();
if (list != null && list.size() > 0) {
@@ -653,12 +653,12 @@ public class SweeperTaskModel {
SweeperServiceManager.getSubTaskDetail(subTaskId, mContext, new OchCommonServiceCallback<BaseResponse<SweeperSubTaskDetailBean>>() {
@Override
public void onSuccess(BaseResponse<SweeperSubTaskDetailBean> data) {
CallerLogger.INSTANCE.d(M_SWEEPER + TAG, "getSubTaskDetail：" + GsonUtil.jsonFromObject(data));
CallerLogger.d(M_SWEEPER + TAG, "getSubTaskDetail：" + GsonUtil.jsonFromObject(data));
if (data != null) {
mCurrentSubTaskDetail = data.getData();
if (mCurrentSubTaskDetail != null) {
mSweeperTaskCallback.setSubTakDetail(mCurrentSubTaskDetail, subTaskType);
CallerLogger.INSTANCE.d(M_SWEEPER + TAG, "getSubTaskDetail：subTaskType=" + subTaskType
CallerLogger.d(M_SWEEPER + TAG, "getSubTaskDetail：subTaskType=" + subTaskType
+ ", isStartSubtask=" + isStartSubtask + ", mAutopilotState=" + mAutopilotState);
Log.d(M_SWEEPER + TAG, "getSubTaskDetail：subTaskType=" + subTaskType
+ ", isStartSubtask=" + isStartSubtask + ", mAutopilotState=" + mAutopilotState);
@@ -712,7 +712,7 @@ public class SweeperTaskModel {
SweeperServiceManager.subTaskStart(isFirst, isEnd, subTaskId, mContext, new OchCommonServiceCallback<BaseResponse<Boolean>>() {
@Override
public void onSuccess(BaseResponse<Boolean> data) {
CallerLogger.INSTANCE.d(M_SWEEPER + TAG, "subTaskStart：" + GsonUtil.jsonFromObject(data));
CallerLogger.d(M_SWEEPER + TAG, "subTaskStart：" + GsonUtil.jsonFromObject(data));
if (mSweeperTaskCallback != null && data != null) {
if (data.getData()) {
mIsSubTaskWorking = true;
@@ -762,7 +762,7 @@ public class SweeperTaskModel {
SweeperServiceManager.subTaskEnd(isFirst, isEnd, subTaskId, mContext, new OchCommonServiceCallback<BaseResponse<Boolean>>() {
@Override
public void onSuccess(BaseResponse<Boolean> data) {
CallerLogger.INSTANCE.d(M_SWEEPER + TAG, "subTaskEnd：" +
CallerLogger.d(M_SWEEPER + TAG, "subTaskEnd：" +
String.format("isFirst=%b; isEnd=%b; ", isFirst, isEnd) + GsonUtil.jsonFromObject(data));
if (data != null) {
if (data.getData()) {
@@ -813,7 +813,7 @@ public class SweeperTaskModel {
SweeperServiceManager.subTaskSkip(isFirst, isEnd, subTaskId, mContext, new OchCommonServiceCallback<BaseResponse<Boolean>>() {
@Override
public void onSuccess(BaseResponse<Boolean> data) {
CallerLogger.INSTANCE.d(M_SWEEPER + TAG, "subTaskSkip：" +
CallerLogger.d(M_SWEEPER + TAG, "subTaskSkip：" +
String.format("isFirst=%b; isEnd=%b; ", isFirst, isEnd)+ GsonUtil.jsonFromObject(data));
if (mSweeperTaskCallback != null && data != null) {
if (data.getData()) {
@@ -854,7 +854,7 @@ public class SweeperTaskModel {
SweeperServiceManager.mainTaskReset(taskId, mContext, new OchCommonServiceCallback<BaseResponse<Boolean>>() {
@Override
public void onSuccess(BaseResponse<Boolean> data) {
CallerLogger.INSTANCE.d(M_SWEEPER + TAG, "mainTaskReset：" + GsonUtil.jsonFromObject(data));
CallerLogger.d(M_SWEEPER + TAG, "mainTaskReset：" + GsonUtil.jsonFromObject(data));
// 主任务重置 当前子任务也需重置
mIsSubTaskWorking = false;
isAutopilotSubTaskArriveEndSite = false;

11
OCH/sweeper/sweeper/src/main/java/com/mogo/och/sweeper/presenter/SweeperPresenter.java
View File

@@ -20,7 +20,7 @@ import com.mogo.eagle.core.function.call.autopilot.CallerAutoPilotStatusListener
import com.mogo.eagle.core.function.call.autopilot.CallerSweeperFutianCleanSystemListenerManager;
import com.mogo.eagle.core.utilcode.mogo.logger.CallerLogger;
import com.mogo.eagle.core.utilcode.util.ThreadUtils;
import com.mogo.och.common.module.manager.OCHAdasAbilityManager;
import com.mogo.och.common.module.manager.autopilotmanager.OCHAdasAbilityManager;
import com.mogo.och.common.module.utils.CoordinateCalculateRouteUtil;
import com.mogo.och.common.module.utils.NumberFormatUtil;
import com.mogo.och.sweeper.bean.SweeperMainTaskBean;
@@ -52,6 +52,7 @@ import chassis.ChassisStatesOuterClass;
import mogo.telematics.pad.MessagePad;
import mogo_msg.MogoReportMsg;
import planning.RoboSweeperTaskIndexOuterClass;
import system_master.SsmInfo;
import system_master.SystemStatusInfo;
/**
@@ -229,6 +230,10 @@ public class SweeperPresenter extends Presenter<SweeperFragment>
}
@Override
public void onSystemStatus(@NonNull SsmInfo.SsmStatusInf statusInf) {
}
@Override
public void onAutopilotArriveAtStation(@Nullable MessagePad.ArrivalNotification arrivalNotification) {
SweeperTaskModel.getInstance().onArriveTaskEnd(arrivalNotification);
@@ -297,7 +302,7 @@ public class SweeperPresenter extends Presenter<SweeperFragment>
"强力：" +
clean_intensity_strong;
CallerLogger.INSTANCE.d(M_SWEEPER + TAG, "onSweeperFutianCleanSystemState：" + stringBuilder);
CallerLogger.d(M_SWEEPER + TAG, "onSweeperFutianCleanSystemState：" + stringBuilder);
mView.onSweeperFutianCleanSystemState(cleanSystemState);
}
@@ -320,7 +325,7 @@ public class SweeperPresenter extends Presenter<SweeperFragment>
roboSweeperTaskIndex.getLocLon() +
"纬度：" +
roboSweeperTaskIndex.getLocLat();
CallerLogger.INSTANCE.d(M_SWEEPER + TAG, "onSweeperFutianTaskIndexData：" + stringBuilder);
CallerLogger.d(M_SWEEPER + TAG, "onSweeperFutianTaskIndexData：" + stringBuilder);
String tempLongitude=NumberFormatUtil.cutOutNumber(roboSweeperTaskIndex.getLocLon(), 6);
String tempLatitude=NumberFormatUtil.cutOutNumber(roboSweeperTaskIndex.getLocLat(), 6);
//用于过滤车是否停在原地，经纬度相同的情况

2
OCH/sweeper/sweeper/src/main/java/com/mogo/och/sweeper/receiver/TestSweeperBroadcastReceiver.java
View File

@@ -25,7 +25,7 @@ public class TestSweeperBroadcastReceiver extends BroadcastReceiver {
try {
this.mContext = context;
int sceneType = intent.getIntExtra(SweeperConst.BROADCAST_TEST_SWEEPER_CONTROL_TYPE_EXTRA_KEY, 0);
CallerLogger.INSTANCE.d(M_BUS + TAG, "sceneType:" + sceneType);
CallerLogger.d(M_BUS + TAG, "sceneType:" + sceneType);
// 分发场景
dispatchSceneTest(sceneType);

2
OCH/sweeper/sweeper/src/main/java/com/mogo/och/sweeper/util/SweeperAnalyticsManager.java
View File

@@ -49,7 +49,7 @@ public class SweeperAnalyticsManager {
private void triggerStartAutopilotFailureEvent(String failCode, String failMsg){
if (mStartAutopilotParams.isEmpty()) return;
CallerLogger.INSTANCE.e( M_SWEEPER + "triggerStartAutopilotFailureEvent", failMsg );
CallerLogger.e( M_SWEEPER + "triggerStartAutopilotFailureEvent", failMsg );
if (CallerAutoPilotStatusListenerManager.INSTANCE.getState() !=
IMoGoAutopilotStatusListener.STATUS_AUTOPILOT_RUNNING){

55
OCH/sweeper/sweeper/src/main/java/com/mogo/och/sweeper/util/SweeperTrajectoryManager.java
View File

@@ -37,7 +37,7 @@ public class SweeperTrajectoryManager {
private Disposable mSendReqDisposable = null;
public SweeperTrajectoryManager() {
mAutoPilotLine = new AutopilotControlParameters.AutoPilotLine(-1,
mAutoPilotLine = new AutopilotControlParameters.AutoPilotLine(-1, "",
"", "", "", "", 0, "",
"", "", "", "", 0);
}
@@ -47,11 +47,11 @@ public class SweeperTrajectoryManager {
*/
public void syncTrajectoryInfo(SweeperSubTaskDetailBean sweeperSubTaskDetailBean) {
if (sweeperSubTaskDetailBean != null) {
CallerLogger.INSTANCE.d(M_SWEEPER + TAG, "syncTrajectoryInfo() start.");
CallerLogger.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_SWEEPER + TAG, "syncTrajectoryInfo() stop.");
CallerLogger.d(M_SWEEPER + TAG, "syncTrajectoryInfo() stop.");
stopTrajReqLoop();
}
}
@@ -65,37 +65,42 @@ public class SweeperTrajectoryManager {
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_SWEEPER + TAG, "onAutopilotGuardian() 轨迹开始下载");
CallerLogger.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_SWEEPER + TAG, "onAutopilotGuardian() 轨迹下载成功");
CallerLogger.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_SWEEPER + TAG, "onAutopilotGuardian() " +
CallerLogger.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_SWEEPER + TAG, "onAutopilotGuardian() " +
CallerLogger.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_SWEEPER + TAG, "onAutopilotGuardian() 轨迹下载超时");
CallerLogger.d(M_SWEEPER + TAG, "onAutopilotGuardian() 轨迹下载超时");
// ToastUtils.showShort("轨迹下载超时");
} else if ("ISSM_FUNC_AUTO_PILOT_READY".equals(guardianInfo.getCode())) {
// 收到ssm的自动驾驶变为ready，再次下发轨迹下载.解决：域控重启，或者102域控启动太早，107节点初始化未完成导致的轨迹未进行下载。
CallerLogger.d(M_SWEEPER + TAG, "onAutopilotGuardian() ssm ready，再次发起下载");
// TODO: 2023/7/25
}
}
private void setupAutoPilotLine(SweeperSubTaskDetailBean subTaskDetail) {
if (subTaskDetail == null) {
CallerLogger.INSTANCE.e(M_SWEEPER + TAG, "setupAutoPilotLine(): routesResult is null.");
CallerLogger.e(M_SWEEPER + TAG, "setupAutoPilotLine(): routesResult is null.");
return;
} else {
mAutoPilotLine = new AutopilotControlParameters.AutoPilotLine(subTaskDetail.getLineId(),
mAutoPilotLine = new AutopilotControlParameters.AutoPilotLine(
subTaskDetail.getLineId(), subTaskDetail.getLineName(),
subTaskDetail.getCsvFileUrl(), subTaskDetail.getCsvFileMd5(),
subTaskDetail.getTxtFileUrl(), subTaskDetail.getTxtFileMd5(),
subTaskDetail.getPublishTime(), subTaskDetail.getCarModel(),
@@ -108,6 +113,7 @@ public class SweeperTrajectoryManager {
private void clearAutoPilotLine() {
if (mAutoPilotLine == null) return;
mAutoPilotLine.setLineId(-1);
mAutoPilotLine.setLineName("");
mAutoPilotLine.setTrajUrl("");
mAutoPilotLine.setTrajMd5("");
mAutoPilotLine.setStopUrl("");
@@ -125,7 +131,7 @@ public class SweeperTrajectoryManager {
if (mSendReqDisposable != null && !mSendReqDisposable.isDisposed()) {
return;
}
CallerLogger.INSTANCE.d(M_SWEEPER + TAG, "startTrajReqLoop()");
CallerLogger.d(M_SWEEPER + TAG, "startTrajReqLoop()");
setupAutoPilotLine(sweeperSubTaskDetailBean);
mSendReqDisposable = Observable.interval(SweeperConst.LOOP_DELAY,
SweeperConst.LOOP_PERIOD_10S, TimeUnit.MILLISECONDS)
@@ -137,14 +143,14 @@ public class SweeperTrajectoryManager {
stopTrajReqLoop();
return;
}
CallerLogger.INSTANCE.d(M_SWEEPER + TAG, "loop sendTrajectoryReq: " + aLong);
CallerLogger.d(M_SWEEPER + TAG, "loop sendTrajectoryReq: " + aLong);
sendTrajectoryReq();
});
}
public void stopTrajReqLoop() {
if (mSendReqDisposable != null) {
CallerLogger.INSTANCE.d(M_SWEEPER + TAG, "stopTrajReqLoop()");
CallerLogger.d(M_SWEEPER + TAG, "stopTrajReqLoop()");
mSendReqDisposable.dispose();
mSendReqDisposable = null;
clearAutoPilotLine();
@@ -153,31 +159,12 @@ public class SweeperTrajectoryManager {
private void sendTrajectoryReq() {
if (mAutoPilotLine == null) {
CallerLogger.INSTANCE.e(M_SWEEPER + TAG, "sendTrajectoryReq(): mAutoPilotLine is null!!!");
CallerLogger.e(M_SWEEPER + TAG, "sendTrajectoryReq(): mAutoPilotLine is null!!!");
return;
}
// TODO: 2022/6/24
// test1
// mAutoPilotLine.setLineId(148);
// mAutoPilotLine.setTrajUrl("http://file-qa.zhidaozhixing.com/fileServer/upload/downloadFileStream?key=fileServer/online_car_hailing/e27c20c2da32481021d934c3ef084536/traj_148.csv");
// mAutoPilotLine.setTrajMd5("e27c20c2da32481021d934c3ef084536");
// mAutoPilotLine.setStopUrl("http://file-qa.zhidaozhixing.com/fileServer/upload/downloadFileStream?key=fileServer/online_car_hailing/6224c9dd2c0e2bd990c6482c0464de45/stop_148.txt");
// mAutoPilotLine.setStopMd5("6224c9dd2c0e2bd990c6482c0464de45");
// mAutoPilotLine.setTimestamp(1654596000000L); //20220607 18:00
// mAutoPilotLine.setVehicleModel("红旗H9");
// test2
// mAutoPilotLine.setLineId(148);
// mAutoPilotLine.setTrajUrl("http://file-qa.zhidaozhixing.com/fileServer/upload/downloadFileStream?key=fileServer/online_car_hailing/8654497cf918be461a59c7ad8e22920d/traj_148.csv");
// mAutoPilotLine.setTrajMd5("8654497cf918be461a59c7ad8e22920d");
// mAutoPilotLine.setStopUrl("http://file-qa.zhidaozhixing.com/fileServer/upload/downloadFileStream?key=fileServer/online_car_hailing/1bb098b244922649bf3e7bada0d3950f/stop_148.txt");
// mAutoPilotLine.setStopMd5("1bb098b244922649bf3e7bada0d3950f");
// mAutoPilotLine.setTimestamp(1654761600000L); //20220609 16:00
// mAutoPilotLine.setVehicleModel("红旗H9");
CallerAutoPilotControlManager.INSTANCE.sendTrajectoryDownloadReq(mAutoPilotLine);
CallerLogger.INSTANCE.d(M_SWEEPER + TAG, "sendTrajectoryReq(): "
CallerLogger.d(M_SWEEPER + TAG, "sendTrajectoryReq(): "
+ GsonUtils.toJson(mAutoPilotLine));
}
}

4
OCH/sweeper/sweeper/src/main/java/com/mogo/och/sweeper/view/SweeperTrafficDataView.kt
View File

@@ -105,9 +105,9 @@ class SweeperTrafficDataView : ConstraintLayout,
return
}
mCurrentTimeWaterMillis = current
d(SceneConstant.M_SWEEPER + TAG, "水位：${cleanSystemState.hasSecuCleanWaterTankLow()}")
d(SceneConstant.M_SWEEPER + TAG, "水位：${cleanSystemState.secuCleanWaterTankLow}")
UiThreadHandler.post {
if (cleanSystemState.hasSecuCleanWaterTankLow()) { //清水箱水位低不能清洗作业报警信号
if (cleanSystemState.secuCleanWaterTankLow) { //清水箱水位低不能清洗作业报警信号
ivBgWaterWarning?.visibility = VISIBLE
ivWater?.isSelected = true
} else {