diff --git a/OCH/mogo-och-sweeper/src/main/java/com/mogo/och/sweeper/fragment/SweeperFragment.kt b/OCH/mogo-och-sweeper/src/main/java/com/mogo/och/sweeper/fragment/SweeperFragment.kt index 6064312c32..90d635b08d 100644 --- a/OCH/mogo-och-sweeper/src/main/java/com/mogo/och/sweeper/fragment/SweeperFragment.kt +++ b/OCH/mogo-och-sweeper/src/main/java/com/mogo/och/sweeper/fragment/SweeperFragment.kt @@ -7,8 +7,6 @@ import com.amap.api.navi.model.NaviLatLng import com.mogo.och.common.module.map.AmapNaviToDestinationModel import com.mogo.och.sweeper.R import com.mogo.och.sweeper.bean.TaskInfoBean -import com.mogo.och.sweeper.callback.CleaningModeStateCallback -import com.mogo.och.sweeper.constant.OperateStateEnum import com.mogo.och.sweeper.constant.TaskMenuTypeEnum import com.mogo.och.sweeper.presenter.SweeperPresenter import com.mogo.och.sweeper.ui.adapter.TaskListAdapter @@ -24,6 +22,7 @@ class SweeperFragment : BaseSweeperTabFragment by lazy { mutableListOf() } private var subTaskType:Int=1;//1:自动驾驶子任务 2：人工驾驶子任务 + private var cleanSystemState: ChassisStatesOuterClass.SweeperFuTianTaskSystemStates?=null //当前经纬度 private var mCurLatitude = 0.0 @@ -101,8 +100,10 @@ class SweeperFragment : BaseSweeperTabFragment executor.run(); } } - + public void startAutopilot(){ + AutopilotControlParameters parameters = new AutopilotControlParameters(); + parameters.isSpeakVoice = true; + parameters.routeID = 164; + parameters.routeName = "bus5KM（小董）"; + parameters.startName = PinYinUtil.getPinYinHeadChar("鹰眼270-13号路口起"); + parameters.endName = PinYinUtil.getPinYinHeadChar("老干部演绎中心11223"); + parameters.startLatLon = new AutopilotControlParameters + .AutoPilotLonLat( 40.199247410363796,116.73367125257714 ); + parameters.endLatLon = new AutopilotControlParameters + .AutoPilotLonLat(40.20237, 116.74481 ); + parameters.vehicleType = 10; + if (parameters.autoPilotLine == null) { + parameters.autoPilotLine = new AutopilotControlParameters.AutoPilotLine( + 164, + "/home/mogo/data/vehicle_monitor/MapEngine_data/track_record_data/JL/traj_164.csv", + "", + "/home/mogo/data/vehicle_monitor/MapEngine_data/track_record_data/JL/stop_164.txt", + "", + 1662021611000L, + "金旅牌XML6606JEVY0", + "", + "", + "", + "", + 0L); + } +// CallerLogger.INSTANCE.d( M_BUS + TAG, "开启自动驾驶====" + GsonUtil.jsonFromObject(parameters) +// +" startLatLon="+currentStation.getName()+"，endLatLon="+nextStation.getName()); + CallerLogger.INSTANCE.d( M_BUS + TAG, "开启自动驾驶====" + GsonUtil.jsonFromObject(parameters)); + CallerAutoPilotManager.INSTANCE.startAutoPilot(parameters); + } /** * 测试使用 * diff --git a/OCH/mogo-och-sweeper/src/main/java/com/mogo/och/sweeper/ui/SweeperOperatePanelView.java b/OCH/mogo-och-sweeper/src/main/java/com/mogo/och/sweeper/ui/SweeperOperatePanelView.java index c8fe4aa81b..c895b0e6ea 100644 --- a/OCH/mogo-och-sweeper/src/main/java/com/mogo/och/sweeper/ui/SweeperOperatePanelView.java +++ b/OCH/mogo-och-sweeper/src/main/java/com/mogo/och/sweeper/ui/SweeperOperatePanelView.java @@ -30,10 +30,12 @@ import chassis.ChassisStatesOuterClass; import chassis.SpecialVehicleTaskCmdOuterClass; import static com.mogo.och.sweeper.util.SweeperFutianCmdUtil.CLEAN_DIRECTION_BOTH_SIDE; +import static com.mogo.och.sweeper.util.SweeperFutianCmdUtil.CLEAN_DIRECTION_CLOSE; import static com.mogo.och.sweeper.util.SweeperFutianCmdUtil.CLEAN_DIRECTION_LEFT_SIDE; import static com.mogo.och.sweeper.util.SweeperFutianCmdUtil.CLEAN_DIRECTION_RIGHT_SIDE; import static com.mogo.och.sweeper.util.SweeperFutianCmdUtil.CLEAN_INTENSITY_STRAND; import static com.mogo.och.sweeper.util.SweeperFutianCmdUtil.CLEAN_INTENSITY_STRONG; +import static com.mogo.och.sweeper.util.SweeperFutianCmdUtil.CLEAN_MODE_CLOSE; import static com.mogo.och.sweeper.util.SweeperFutianCmdUtil.CLEAN_MODE_PURE_DRAW; import static com.mogo.och.sweeper.util.SweeperFutianCmdUtil.CLEAN_MODE_PURE_SWEEP; import static com.mogo.och.sweeper.util.SweeperFutianCmdUtil.CLEAN_MODE_PURE_WASH; @@ -108,18 +110,14 @@ public class SweeperOperatePanelView extends LinearLayout { }; private boolean isSelectPureSweepMode = false;//用于标注是否选中纯扫 - private boolean isFirst=false;//是否首次打开 - - private static boolean isResetWorkMode=false;//是否点击复位 + private static boolean isResetWorkMode = false;//是否点击复位 private CleaningModeStateCallback cleaningModeStateCallback; - private int count=0; + private int count = 0; - private ChassisStatesOuterClass.SweeperFuTianTaskSystemStates mCleanSystemState;//当前作业模式 - //设置清扫模式数据 - private static ChassisStatesOuterClass.SweeperFuTianTaskSystemStates.Builder builder = - ChassisStatesOuterClass.SweeperFuTianTaskSystemStates.newBuilder(); + private static ChassisStatesOuterClass.SweeperFuTianTaskSystemStates mCurrentCleanSystemState;//当前作业模式 + private ChassisStatesOuterClass.SweeperFuTianTaskSystemStates mCleanSystemState;//原有的作业模式 public SweeperOperatePanelView(Context context) { super(context); @@ -189,25 +187,12 @@ public class SweeperOperatePanelView extends LinearLayout { && currentChoosedModeBtnView.getId() == currentClickView.getId(); //是否纯吸View boolean isPureAbsorptionClick = currentClickView.getId() == R.id.btn_clean_mode_pure_absorption; - builder.setSecuWorkTonSts(isPureAbsorptionClick && !isClickCurrentChoosedModeBtn); //是否纯洗View boolean isPureWashClick = currentClickView.getId() == R.id.btn_clean_mode_pure_wash; - builder.setSecuModWashSts(isPureWashClick && !isClickCurrentChoosedModeBtn); //是否纯扫View boolean isPureSweepClick = currentClickView.getId() == R.id.btn_clean_mode_pure_sweep; - if (isPureSweepClick){ - builder.setSecuWorkTonSts(false); - builder.setSecuModWashSts(false); - builder.setSecuModWashSweepSts(false); - } //是否洗扫View boolean isWashSweepClick = currentClickView.getId() == R.id.btn_clean_mode_sweep_wash; - builder.setSecuModWashSweepSts(isWashSweepClick && !isClickCurrentChoosedModeBtn); - if (isPureAbsorptionClick) { - builder.setSecuWorkStandSts(true); - }else{ - builder.setSecuWorkStandSts(false); - } CmdRequestCallback cmdRequestCallback = new CmdRequestCallback() { @Override public void onSendCmd() { @@ -329,14 +314,6 @@ public class SweeperOperatePanelView extends LinearLayout { boolean isLeftSide = currentClickView.getId() == R.id.btn_clean_direction_left_side; boolean isRightSide = currentClickView.getId() == R.id.btn_clean_direction_right_side; boolean isBothSide = currentClickView.getId() == R.id.btn_clean_direction_both_side; - builder.setSecuWorkLeftSts(isLeftSide && !isClickCurrentChoosedDirectionBtn); - builder.setSecuWorkRightSts(isRightSide && !isClickCurrentChoosedDirectionBtn); - builder.setSecuWorkOnBothsidesSts(isBothSide && !isClickCurrentChoosedDirectionBtn); - if (!isClickCurrentChoosedDirectionBtn) { - builder.setSecuWorkStandSts(true); - }else{ - builder.setSecuWorkStandSts(false); - } CmdRequestCallback cmdRequestCallback = new CmdRequestCallback() { @Override public void onSendCmd() { @@ -438,9 +415,7 @@ public class SweeperOperatePanelView extends LinearLayout { return; } boolean isStandardBtnClick = currentClickView.getId() == R.id.btn_clean_intensity_standard; - builder.setSecuWorkStandSts(isStandardBtnClick); boolean isStrongBtnClick = currentClickView.getId() == R.id.btn_clean_intensity_strong; - builder.setSecuWorkStrongSts(isStrongBtnClick); CmdRequestCallback cmdRequestCallback = new CmdRequestCallback() { @Override public void onSendCmd() { @@ -596,7 +571,6 @@ public class SweeperOperatePanelView extends LinearLayout { /** * 发送命令后等待时，展示loading * - * * @param timeout */ private void showLoadingMask(int timeout) { @@ -620,7 +594,7 @@ public class SweeperOperatePanelView extends LinearLayout { )); mLoadingHintBottom.setVisibility(timeout < 0 ? View.INVISIBLE : View.VISIBLE); if (cleaningModeStateCallback != null && timeout > 0) { - cleaningModeStateCallback.cleaningModeState(OperateStateEnum.STARTING_STATUS, builder.build(), isSelectPureSweepMode); + cleaningModeStateCallback.cleaningModeState(OperateStateEnum.STARTING_STATUS, mCurrentCleanSystemState, isSelectPureSweepMode); } }); } @@ -655,7 +629,7 @@ public class SweeperOperatePanelView extends LinearLayout { */ private void showCmdExecuteSuccessToast() { if (cleaningModeStateCallback != null) { - cleaningModeStateCallback.cleaningModeState(OperateStateEnum.SUCCESS_STATUS, builder.build(), isSelectPureSweepMode); + cleaningModeStateCallback.cleaningModeState(OperateStateEnum.SUCCESS_STATUS,mCurrentCleanSystemState, isSelectPureSweepMode); } ToastUtils.showLong("设备已响应，操作成功"); } @@ -685,26 +659,24 @@ public class SweeperOperatePanelView extends LinearLayout { }); } - public void setSweeperFutianCleanSystemState(@NonNull ChassisStatesOuterClass.SweeperFuTianTaskSystemStates cleanSystemState, + public void setSweeperFutianCleanSystemState(ChassisStatesOuterClass.SweeperFuTianTaskSystemStates cleanSystemState, CleaningModeStateCallback cleaningModeStateCallback) { this.cleaningModeStateCallback = cleaningModeStateCallback; - if (!isFirst){ - this.mCleanSystemState=cleanSystemState; - isFirst=true; - } - if (isResetWorkMode){ - isResetWorkMode=false; - resetSuccess(cleanSystemState); - } + this.mCleanSystemState = cleanSystemState; + //hideLoadingMask(); +// if (isResetWorkMode){ +// isResetWorkMode=false; +// resetSuccess(cleanSystemState); +// } onSyncVehicleStateCallBack(cleanSystemState); // 有命令正在执行 -// if (mCurrentCmdRequestCallback != null) { -// Log.d(TAG, "getSecuWorkLeftSts = " + cleanSystemState.getSecuWorkLeftSts()); -// if (mCurrentCmdRequestCallback.onCheckIfCmdSuccess(cleanSystemState)) { -// mCurrentCmdRequestCallback.onCmdSuccess(); -// mCurrentCmdRequestCallback = null; -// } -// } + if (mCurrentCmdRequestCallback != null) { + Log.d(TAG, "getSecuWorkLeftSts = " + cleanSystemState.getSecuWorkLeftSts()); + if (mCurrentCmdRequestCallback.onCheckIfCmdSuccess(cleanSystemState)) { + mCurrentCmdRequestCallback.onCmdSuccess(); + mCurrentCmdRequestCallback = null; + } + } } @Override @@ -826,12 +798,12 @@ public class SweeperOperatePanelView extends LinearLayout { msg.obj = timeout; mSweeperOperateCmdHandler.sendMessage(msg); // Mock Cmd Success - mockSendCmdSuccess(); + mockCleanModeSuccess(fuTianCleanCmd); } private void mockSendCmdSuccess() { Message successMsg = Message.obtain(); - successMsg.what = MSG_CMD_EXECUTE_MOCK_SUCCESS; + successMsg.what=MSG_CMD_EXECUTE_MOCK_SUCCESS; mSweeperOperateCmdHandler.sendMessageDelayed(successMsg, 1000L * CMD_EXECUTE_MOCK_SUCCESS_SECONDS); } @@ -853,69 +825,67 @@ public class SweeperOperatePanelView extends LinearLayout { * 复位 */ private void onOperateReset() { - if (mCleanSystemState!=null){ - isResetWorkMode=true; + if (mCleanSystemState != null) { + isResetWorkMode = true; // 洗扫 - if (mCleanSystemState.getSecuModWashSweepSts()){ + if (mCurrentCleanSystemState.getSecuModWashSweepSts() || mCurrentCleanSystemState.getSecuModWashSts() || mCurrentCleanSystemState.getSecuWorkTonSts() || SweeperFutianCmdUtil.checkIfCleanModePureSweep(mCurrentCleanSystemState)) {; + sendFuTianTaskCmd(SweeperFutianCmdUtil.buildCleanModeCloseCmd()); + } + // 左侧 + if (mCurrentCleanSystemState.getSecuWorkLeftSts() || mCurrentCleanSystemState.getSecuWorkRightSts() || mCurrentCleanSystemState.getSecuWorkOnBothsidesSts()) { + sendFuTianTaskCmd(SweeperFutianCmdUtil.buildCleanDirectionCloseCmd()); + } + + // 洗扫 + if (mCurrentCleanSystemState.getSecuModWashSweepSts()) { count++; // 发送命令 sendFuTianTaskCmd(SweeperFutianCmdUtil.buildCleanModeCmd(CLEAN_MODE_WASH_SWEEP)); - builder.setSecuModWashSweepSts(true); } // 纯洗 - if (mCleanSystemState.getSecuModWashSts()){ + if (mCleanSystemState.getSecuModWashSts()) { count++; sendFuTianTaskCmd(SweeperFutianCmdUtil.buildCleanModeCmd(CLEAN_MODE_PURE_WASH)); - builder.setSecuModWashSts(true); } // 纯吸 - if (mCleanSystemState.getSecuWorkTonSts()){ + if (mCleanSystemState.getSecuWorkTonSts()) { count++; sendFuTianTaskCmd(SweeperFutianCmdUtil.buildCleanModeCmd(CLEAN_MODE_PURE_DRAW)); - builder.setSecuWorkTonSts(true); } //纯扫 - if (SweeperFutianCmdUtil.checkIfCleanModePureSweep(mCleanSystemState)){ + if (SweeperFutianCmdUtil.checkIfCleanModePureSweep(mCleanSystemState)) { count++; sendFuTianTaskCmd(SweeperFutianCmdUtil.buildCleanModeCmd(CLEAN_MODE_PURE_SWEEP)); - builder.setSecuModWashSweepSts(false); - builder.setSecuModWashSts(false); - builder.setSecuWorkTonSts(false); } // 左侧 - if(mCleanSystemState.getSecuWorkLeftSts()){ + if (mCleanSystemState.getSecuWorkLeftSts()) { count++; sendFuTianTaskCmd(SweeperFutianCmdUtil.buildCleanDirectionCmd(CLEAN_DIRECTION_LEFT_SIDE)); - builder.setSecuWorkLeftSts(true); } // 右侧 - if(mCleanSystemState.getSecuWorkRightSts()){ + if (mCleanSystemState.getSecuWorkRightSts()) { count++; sendFuTianTaskCmd(SweeperFutianCmdUtil.buildCleanDirectionCmd(CLEAN_DIRECTION_RIGHT_SIDE)); - builder.setSecuWorkRightSts(true); } // 两侧 - if(mCleanSystemState.getSecuWorkOnBothsidesSts()){ + if (mCleanSystemState.getSecuWorkOnBothsidesSts()) { count++; sendFuTianTaskCmd(SweeperFutianCmdUtil.buildCleanDirectionCmd(CLEAN_DIRECTION_BOTH_SIDE)); - builder.setSecuWorkOnBothsidesSts(true); } //标准 - if (mCleanSystemState.getSecuWorkStandSts()){ + if (mCleanSystemState.getSecuWorkStandSts()) { count++; sendFuTianTaskCmd(SweeperFutianCmdUtil.buildCleanIntensityCmd(CLEAN_INTENSITY_STRAND)); - builder.setSecuWorkStandSts(true); } //强力 - if (mCleanSystemState.getSecuWorkStrongSts()){ + if (mCleanSystemState.getSecuWorkStrongSts()) { count++; sendFuTianTaskCmd(SweeperFutianCmdUtil.buildCleanIntensityCmd(CLEAN_INTENSITY_STRONG)); - builder.setSecuWorkStrongSts(true); } - mCurrentCmdRequestCallback=new CmdRequestCallback() { + mCurrentCmdRequestCallback = new CmdRequestCallback() { @Override public void onSendCmd() { - showLoadingMask(count*CMD_EXECUTE_TIMEOUT_SECONDS); + showLoadingMask(count * CMD_EXECUTE_TIMEOUT_SECONDS); } @Override @@ -926,50 +896,49 @@ public class SweeperOperatePanelView extends LinearLayout { @Override public boolean onCheckIfCmdSuccess(ChassisStatesOuterClass.SweeperFuTianTaskSystemStates cleanSystemState) { // 洗扫 - if (cleanSystemState.getSecuModWashSweepSts()){ + if (cleanSystemState.getSecuModWashSweepSts()) { count--; } // 纯洗 - if (cleanSystemState.getSecuModWashSts()){ + if (cleanSystemState.getSecuModWashSts()) { count--; } // 纯吸 - if (cleanSystemState.getSecuWorkTonSts()){ + if (cleanSystemState.getSecuWorkTonSts()) { count--; } //纯扫 - if (SweeperFutianCmdUtil.checkIfCleanModePureSweep(cleanSystemState)){ + if (SweeperFutianCmdUtil.checkIfCleanModePureSweep(cleanSystemState)) { count--; } // 左侧 - if(cleanSystemState.getSecuWorkLeftSts()){ + if (cleanSystemState.getSecuWorkLeftSts()) { count--; } // 右侧 - if(cleanSystemState.getSecuWorkRightSts()){ + if (cleanSystemState.getSecuWorkRightSts()) { count--; } // 两侧 - if(cleanSystemState.getSecuWorkOnBothsidesSts()){ + if (cleanSystemState.getSecuWorkOnBothsidesSts()) { count--; } //标准 - if (cleanSystemState.getSecuWorkStandSts()){ + if (cleanSystemState.getSecuWorkStandSts()) { count--; } //强力 - if (cleanSystemState.getSecuWorkStrongSts()){ + if (cleanSystemState.getSecuWorkStrongSts()) { count--; } - return count==0; + return count == 0; } @Override public void onCmdSuccess() { - mCleanSystemState=builder.build(); - resetSuccess(mCleanSystemState); - hideLoadingMask(); - showCmdExecuteSuccessToast(); + resetSuccess(mCurrentCleanSystemState); + hideLoadingMask(); + showCmdExecuteSuccessToast(); } @@ -980,7 +949,7 @@ public class SweeperOperatePanelView extends LinearLayout { @Override public void onCmdTimeout() { - runOnUIThread(()->{ + runOnUIThread(() -> { hideLoadingMask(); showCmdExecuteTimeoutToast(); }); @@ -991,27 +960,31 @@ public class SweeperOperatePanelView extends LinearLayout { // 开启倒计时 Message msg = Message.obtain(); msg.what = MSG_CMD_EXECUTE_COUNT_DOWN; - msg.obj = count*CMD_EXECUTE_TIMEOUT_SECONDS; + msg.obj = count * CMD_EXECUTE_TIMEOUT_SECONDS; mSweeperOperateCmdHandler.sendMessage(msg); // Mock Cmd Success - mockSendCmdSuccess(); + //mockSendCmdSuccess(); } } /** * 发送指令 */ - private void sendFuTianTaskCmd(SpecialVehicleTaskCmdOuterClass.RoboSweeperFuTianTaskCmd fuTianTaskCmd){ + private void sendFuTianTaskCmd(SpecialVehicleTaskCmdOuterClass.RoboSweeperFuTianTaskCmd fuTianTaskCmd) { + //mock + mockCleanModeSuccess(fuTianTaskCmd); CallerAutoPilotManager.INSTANCE.sendSweeperFuTianTaskCmd(fuTianTaskCmd); // log发送命令 logSweeperCmdValue(fuTianTaskCmd); } + /** * 重置成功 */ - private void resetSuccess(ChassisStatesOuterClass.SweeperFuTianTaskSystemStates cleanSystemState){ + private void resetSuccess(ChassisStatesOuterClass.SweeperFuTianTaskSystemStates cleanSystemState) { onSyncVehicleStateCallBack(cleanSystemState); } + private final static SweeperOperateCmdHandler mSweeperOperateCmdHandler = new SweeperOperateCmdHandler(); private static CmdRequestCallback mCurrentCmdRequestCallback;//发送命令后的回调 private static final int MSG_CMD_EXECUTE_COUNT_DOWN = 10001; @@ -1044,7 +1017,7 @@ public class SweeperOperatePanelView extends LinearLayout { } } else if (msg.what == MSG_CMD_EXECUTE_MOCK_SUCCESS) { if (mCurrentCmdRequestCallback != null) { - if (mCurrentCmdRequestCallback.onCheckIfCmdSuccess(builder.build())) { + if (mCurrentCmdRequestCallback.onCheckIfCmdSuccess(mCurrentCleanSystemState)) { mCurrentCmdRequestCallback.onCmdSuccess(); mCurrentCmdRequestCallback = null; } @@ -1068,4 +1041,91 @@ public class SweeperOperatePanelView extends LinearLayout { void onCmdTimeout(); } + /** + * 模拟指令操作成功 + */ + private void mockCleanModeSuccess(SpecialVehicleTaskCmdOuterClass.RoboSweeperFuTianTaskCmd fuTianTaskCmd) { + ChassisStatesOuterClass.SweeperFuTianTaskSystemStates.Builder builder = ChassisStatesOuterClass.SweeperFuTianTaskSystemStates.newBuilder(); + chassis.SpecialVehicleTaskCmdOuterClass.RoboSweeperFuTianCleanCmd fuTianCleanCmd = fuTianTaskCmd.getRoboSweeperFutianCleanCmd(); + if (fuTianCleanCmd.getCleanModeRequirement() == CLEAN_MODE_PURE_SWEEP) {//纯扫 + builder.setSecuModWashSweepSts(false); + builder.setSecuModWashSts(false); + builder.setSecuWorkTonSts(false); + mCurrentCleanSystemState=builder.build(); + mockSendCmdSuccess(); + return; + } else if (fuTianCleanCmd.getCleanModeRequirement() == CLEAN_MODE_WASH_SWEEP) {//洗扫 + builder.setSecuModWashSweepSts(!mCurrentCleanSystemState.getSecuModWashSweepSts()); + mCurrentCleanSystemState=builder.build(); + mockSendCmdSuccess(); + return; + } else if (fuTianCleanCmd.getCleanModeRequirement() == CLEAN_MODE_PURE_WASH) {//纯洗 + builder.setSecuModWashSts(!mCurrentCleanSystemState.getSecuModWashSts()); + mCurrentCleanSystemState=builder.build(); + mockSendCmdSuccess(); + return; + } else if (fuTianCleanCmd.getCleanModeRequirement() == CLEAN_MODE_PURE_DRAW) {//纯吸 + builder.setSecuWorkTonSts(!mCurrentCleanSystemState.getSecuWorkTonSts()); + mCurrentCleanSystemState=builder.build(); + mockSendCmdSuccess(); + return; + }else if(fuTianCleanCmd.getCleanModeRequirement() == CLEAN_MODE_CLOSE){ + builder.setSecuModWashSweepSts(false); + builder.setSecuModWashSts(false); + builder.setSecuWorkTonSts(false); + builder.setSecuWorkOnBothsidesSts(false); + builder.setSecuWorkLeftSts(false); + builder.setSecuWorkRightSts(false); + builder.setSecuWorkStandSts(true); + builder.setSecuWorkStrongSts(false); + mCurrentCleanSystemState=builder.build(); + mockSendCmdSuccess(); + return; + } + if (fuTianCleanCmd.getCleanDirectionRequirement() == CLEAN_DIRECTION_BOTH_SIDE) {//两侧 + builder.setSecuWorkOnBothsidesSts(!mCurrentCleanSystemState.getSecuWorkOnBothsidesSts()); + builder.setSecuWorkStandSts(true); + builder.setSecuWorkStrongSts(false); + mCurrentCleanSystemState=builder.build(); + mockSendCmdSuccess(); + return; + } else if (fuTianCleanCmd.getCleanDirectionRequirement() == CLEAN_DIRECTION_LEFT_SIDE) {//左侧 + builder.setSecuWorkLeftSts(!mCurrentCleanSystemState.getSecuWorkLeftSts()); + builder.setSecuWorkStandSts(true); + builder.setSecuWorkStrongSts(false); + mCurrentCleanSystemState=builder.build(); + mockSendCmdSuccess(); + return; + } else if (fuTianCleanCmd.getCleanDirectionRequirement() == CLEAN_DIRECTION_RIGHT_SIDE) {//右侧 + builder.setSecuWorkRightSts(!mCurrentCleanSystemState.getSecuWorkRightSts()); + builder.setSecuWorkStandSts(true); + builder.setSecuWorkStrongSts(false); + mCurrentCleanSystemState=builder.build(); + mockSendCmdSuccess(); + return; + }else if(fuTianCleanCmd.getCleanDirectionRequirement()==CLEAN_DIRECTION_CLOSE){ + builder.setSecuWorkLeftSts(false); + builder.setSecuWorkRightSts(false); + builder.setSecuWorkOnBothsidesSts(false); + builder.setSecuWorkStandSts(true); + builder.setSecuWorkStrongSts(false); + mCurrentCleanSystemState=builder.build(); + mockSendCmdSuccess(); + return; + } + if (fuTianCleanCmd.getCleanIntensityRequirement()==CLEAN_INTENSITY_STRAND){ + builder.setSecuWorkStrongSts(true); + builder.setSecuWorkStandSts(false); + mCurrentCleanSystemState=builder.build(); + mockSendCmdSuccess(); + return; + }else if(fuTianCleanCmd.getCleanIntensityRequirement()==CLEAN_INTENSITY_STRONG){ + builder.setSecuWorkStandSts(true); + builder.setSecuWorkStrongSts(false); + mCurrentCleanSystemState=builder.build(); + mockSendCmdSuccess(); + } + + } + } diff --git a/OCH/mogo-och-sweeper/src/main/java/com/mogo/och/sweeper/ui/popwindow/SweeperOperatePanelPopWindow.kt b/OCH/mogo-och-sweeper/src/main/java/com/mogo/och/sweeper/ui/popwindow/SweeperOperatePanelPopWindow.kt index 5a1d16ca42..ca164caf11 100644 --- a/OCH/mogo-och-sweeper/src/main/java/com/mogo/och/sweeper/ui/popwindow/SweeperOperatePanelPopWindow.kt +++ b/OCH/mogo-och-sweeper/src/main/java/com/mogo/och/sweeper/ui/popwindow/SweeperOperatePanelPopWindow.kt @@ -43,7 +43,7 @@ class SweeperOperatePanelPopWindow : PopupWindow { * 设置清扫模式数据 */ fun setCleanSystemState( - cleanSystemState: ChassisStatesOuterClass.SweeperFuTianTaskSystemStates, + cleanSystemState: ChassisStatesOuterClass.SweeperFuTianTaskSystemStates?, cleaningModeStateCallback: CleaningModeStateCallback ) { mOperatePanelView?.setSweeperFutianCleanSystemState(cleanSystemState, cleaningModeStateCallback) diff --git a/OCH/mogo-och-sweeper/src/main/java/com/mogo/och/sweeper/util/SweeperFutianCmdUtil.java b/OCH/mogo-och-sweeper/src/main/java/com/mogo/och/sweeper/util/SweeperFutianCmdUtil.java index 43b0f82e99..86f4f50752 100644 --- a/OCH/mogo-och-sweeper/src/main/java/com/mogo/och/sweeper/util/SweeperFutianCmdUtil.java +++ b/OCH/mogo-och-sweeper/src/main/java/com/mogo/och/sweeper/util/SweeperFutianCmdUtil.java @@ -13,11 +13,11 @@ public class SweeperFutianCmdUtil { public static final int CLEAN_MODE_WASH_SWEEP = 2;//作业模式-洗扫 public static final int CLEAN_MODE_PURE_WASH = 3;//作业模式-纯洗 public static final int CLEAN_MODE_PURE_DRAW = 4;//作业模式-纯吸 - private static final int CLEAN_MODE_CLOSE = 5;//作业模式-关闭 + public static final int CLEAN_MODE_CLOSE = 5;//作业模式-关闭 public static final int CLEAN_DIRECTION_BOTH_SIDE = 1;//清扫方向-两侧 public static final int CLEAN_DIRECTION_LEFT_SIDE = 2;//清扫方向-左侧 public static final int CLEAN_DIRECTION_RIGHT_SIDE = 3;//清扫方向-右侧 - private static final int CLEAN_DIRECTION_CLOSE = 4;//清扫方向-关闭 + public static final int CLEAN_DIRECTION_CLOSE = 4;//清扫方向-关闭 public static final int CLEAN_INTENSITY_STRAND = 1;//作业强度-标准 public static final int CLEAN_INTENSITY_STRONG = 2;//作业强度-加强 diff --git a/OCH/mogo-och-sweeper/src/main/java/com/mogo/och/sweeper/view/SweeperCurrentTaskInfoView.kt b/OCH/mogo-och-sweeper/src/main/java/com/mogo/och/sweeper/view/SweeperCurrentTaskInfoView.kt index 1921a111ab..42918e2334 100644 --- a/OCH/mogo-och-sweeper/src/main/java/com/mogo/och/sweeper/view/SweeperCurrentTaskInfoView.kt +++ b/OCH/mogo-och-sweeper/src/main/java/com/mogo/och/sweeper/view/SweeperCurrentTaskInfoView.kt @@ -5,6 +5,7 @@ import android.util.AttributeSet import android.view.LayoutInflater import android.view.View import android.widget.ImageView +import android.widget.TextView import androidx.constraintlayout.widget.ConstraintLayout import com.mogo.och.sweeper.R import com.mogo.och.sweeper.bean.TaskInfoBean @@ -83,4 +84,8 @@ class SweeperCurrentTaskInfoView : ConstraintLayout { fun setEnableClickBtn(isEnable:Boolean){ readyTaskBtn.isSelected= isEnable } + + fun getReadyTaskBtn():TextView{ + return readyTaskBtn + } } \ No newline at end of file diff --git a/OCH/mogo-och-sweeper/src/main/java/com/mogo/och/sweeper/view/SweeperTrafficLightView.kt b/OCH/mogo-och-sweeper/src/main/java/com/mogo/och/sweeper/view/SweeperTrafficLightView.kt index 471e3cd92d..57c2ad5cfa 100644 --- a/OCH/mogo-och-sweeper/src/main/java/com/mogo/och/sweeper/view/SweeperTrafficLightView.kt +++ b/OCH/mogo-och-sweeper/src/main/java/com/mogo/och/sweeper/view/SweeperTrafficLightView.kt @@ -64,7 +64,7 @@ class SweeperTrafficLightView @JvmOverloads constructor( override fun disableTrafficLight() { UiThreadHandler.post { mCurrentLightId = TrafficLightEnum.BLACK - sweeper_traffic_light_iv.setBackgroundResource(R.drawable.sweeper_light_gay_nor) + sweeper_traffic_light_iv.setImageResource(R.drawable.sweeper_light_gay_nor) sweeper_traffic_light_time_tv.text = "" this@SweeperTrafficLightView.visibility = VISIBLE } @@ -123,19 +123,19 @@ class SweeperTrafficLightView @JvmOverloads constructor( UiThreadHandler.post { when (lightId) { TrafficLightEnum.RED -> { - sweeper_traffic_light_iv.setBackgroundResource(R.drawable.sweeper_light_red_nor) + sweeper_traffic_light_iv.setImageResource(R.drawable.sweeper_light_red_nor) this@SweeperTrafficLightView.visibility = VISIBLE } TrafficLightEnum.YELLOW -> { - sweeper_traffic_light_iv.setBackgroundResource(R.drawable.sweeper_lightyellow_nor) + sweeper_traffic_light_iv.setImageResource(R.drawable.sweeper_lightyellow_nor) this@SweeperTrafficLightView.visibility = VISIBLE } TrafficLightEnum.GREEN -> { - sweeper_traffic_light_iv.setBackgroundResource(R.drawable.sweeper_light_green_nor) + sweeper_traffic_light_iv.setImageResource(R.drawable.sweeper_light_green_nor) this@SweeperTrafficLightView.visibility = VISIBLE } else -> { - sweeper_traffic_light_iv.setBackgroundResource(R.drawable.sweeper_light_gay_nor) + sweeper_traffic_light_iv.setImageResource(R.drawable.sweeper_light_gay_nor) this@SweeperTrafficLightView.visibility = VISIBLE } } diff --git a/OCH/mogo-och-sweeper/src/main/java/com/mogo/och/sweeper/view/SweeperWorkModeView.kt b/OCH/mogo-och-sweeper/src/main/java/com/mogo/och/sweeper/view/SweeperWorkModeView.kt index 0761d7b339..ef454443c6 100644 --- a/OCH/mogo-och-sweeper/src/main/java/com/mogo/och/sweeper/view/SweeperWorkModeView.kt +++ b/OCH/mogo-och-sweeper/src/main/java/com/mogo/och/sweeper/view/SweeperWorkModeView.kt @@ -39,7 +39,7 @@ class SweeperWorkModeView : ConstraintLayout, CleaningModeStateCallback { /** * 设置清扫模式面板 */ - fun setSweeperFutianCleanSystemState(taskType: Int, cleanSystemState: SweeperFuTianTaskSystemStates, trafficDataView: SweeperTrafficDataView) { + fun setSweeperFutianCleanSystemState(taskType: Int, cleanSystemState: SweeperFuTianTaskSystemStates?, trafficDataView: SweeperTrafficDataView) { mOperatePanelPopWindow?.setCleanSystemState(cleanSystemState, this@SweeperWorkModeView) //清扫模式选择面板打开关闭处理 ivOpenOperatePanel.setOnClickListener { @@ -64,7 +64,7 @@ class SweeperWorkModeView : ConstraintLayout, CleaningModeStateCallback { /** * 设置清扫模式状态显示和隐藏 */ - fun setShowOrHideCleanSystemState(operateState: OperateStateEnum, cleanSystemState: SweeperFuTianTaskSystemStates) { + fun setShowOrHideCleanSystemState(operateState: OperateStateEnum, cleanSystemState: SweeperFuTianTaskSystemStates?) { when (operateState.code) { OperateStateEnum.SYNCING_STATUS.code -> { groupWorkModelPanel?.visibility = View.GONE @@ -95,7 +95,7 @@ class SweeperWorkModeView : ConstraintLayout, CleaningModeStateCallback { } } - override fun cleaningModeState(operateState: OperateStateEnum, cleanSystemState: SweeperFuTianTaskSystemStates, isSelectPureSweepMode: Boolean) { + override fun cleaningModeState(operateState: OperateStateEnum, cleanSystemState: SweeperFuTianTaskSystemStates?, isSelectPureSweepMode: Boolean) { this.isSelectPureSweepMode = isSelectPureSweepMode setShowOrHideCleanSystemState(operateState, cleanSystemState) } @@ -103,7 +103,7 @@ class SweeperWorkModeView : ConstraintLayout, CleaningModeStateCallback { /** * 设置清扫模式数据 */ - private fun setCleanModeData(cleanSystemState: SweeperFuTianTaskSystemStates) { + private fun setCleanModeData(cleanSystemState: SweeperFuTianTaskSystemStates?) { if (isSelectPureSweepMode) { tvCleaningMode?.text = "纯扫模式" groupWorkModelPanel?.visibility = View.VISIBLE @@ -113,13 +113,14 @@ class SweeperWorkModeView : ConstraintLayout, CleaningModeStateCallback { groupWorkModelPanel?.visibility = View.GONE tvNoDataDesc?.visibility = View.VISIBLE tvNoDataDesc?.text = "暂无" + return } else { groupWorkModelPanel?.visibility = View.VISIBLE tvNoDataDesc?.visibility = View.GONE // 作业模式 - if (cleanSystemState.secuModWashSweepSts) tvCleaningMode?.text = "洗扫模式" - if (cleanSystemState.secuModWashSts) tvCleaningMode?.text = "纯洗模式" - if (cleanSystemState.secuWorkTonSts) tvCleaningMode?.text = "纯吸模式" + if (cleanSystemState?.secuModWashSweepSts == true) tvCleaningMode?.text = "洗扫模式" + if (cleanSystemState?.secuModWashSts == true) tvCleaningMode?.text = "纯洗模式" + if (cleanSystemState?.secuWorkTonSts == true) tvCleaningMode?.text = "纯吸模式" if (SweeperFutianCmdUtil.checkIfCleanModePureSweep(cleanSystemState)) tvCleaningMode?.text = "纯扫模式" } } @@ -129,19 +130,19 @@ class SweeperWorkModeView : ConstraintLayout, CleaningModeStateCallback { } else { tvCleaningDirection.visibility = View.VISIBLE // 左侧 - if (cleanSystemState.secuWorkLeftSts) tvCleaningDirection?.text = "左侧" + if (cleanSystemState?.secuWorkLeftSts == true) tvCleaningDirection?.text = "左侧" // 右侧 - if (cleanSystemState.secuWorkRightSts) tvCleaningDirection?.text = "右侧" + if (cleanSystemState?.secuWorkRightSts == true) tvCleaningDirection?.text = "右侧" // 两侧 - if (cleanSystemState.secuWorkOnBothsidesSts) tvCleaningDirection?.text = "两侧" + if (cleanSystemState?.secuWorkOnBothsidesSts == true) tvCleaningDirection?.text = "两侧" } if (SweeperFutianCmdUtil.checkIfCleanIntensity(cleanSystemState)) { tvCleaningIntensity.visibility = View.GONE } else { tvCleaningIntensity.visibility = View.VISIBLE // 作业强度 - if (cleanSystemState.secuWorkStandSts) tvCleaningIntensity?.text = "标准" - if (cleanSystemState.secuWorkStrongSts) tvCleaningIntensity?.text = "强力" + if (cleanSystemState?.secuWorkStandSts == true) tvCleaningIntensity?.text = "标准" + if (cleanSystemState?.secuWorkStrongSts == true) tvCleaningIntensity?.text = "强力" } } } \ No newline at end of file diff --git a/OCH/mogo-och-sweeper/src/main/res/layout/sweeper_base_fragment.xml b/OCH/mogo-och-sweeper/src/main/res/layout/sweeper_base_fragment.xml index 132e194f13..26ba95e83b 100644 --- a/OCH/mogo-och-sweeper/src/main/res/layout/sweeper_base_fragment.xml +++ b/OCH/mogo-och-sweeper/src/main/res/layout/sweeper_base_fragment.xml @@ -49,16 +49,6 @@ app:layout_constraintBottom_toTopOf="@+id/sweeper_switch_model_layout" android:visibility="visible" android:layout_marginBottom="@dimen/dp_30"/> - -