From f567b4f971bd17ca6f0a41de57c85af983aa682a Mon Sep 17 00:00:00 2001
From: donghongyu <donghongyu@zhidaoauto.com>
Date: Wed, 8 Feb 2023 15:37:16 +0800
Subject: [PATCH] =?UTF-8?q?[dev=5Farch=5Fopt=5F3.0]=20[Change]=20[=201?=
 =?UTF-8?q?=E3=80=81=E8=A7=A3=E5=86=B3=E5=90=88=E5=B9=B63.0=E7=9A=84?=
 =?UTF-8?q?=E5=88=86=E6=94=AF=20]?=
MIME-Version: 1.0
Content-Type: text/plain; charset=UTF-8
Content-Transfer-Encoding: 8bit

Signed-off-by: donghongyu <donghongyu@zhidaoauto.com>
---
 .../fragment/BaseSweeperTabFragment.java      | 30 ++---------------
 .../och/sweeper/model/SweeperTaskModel.java   | 33 ++++++++++---------
 .../sweeper/ui/SweeperOperatePanelView.java   | 27 +++++++--------
 .../main/res/layout/sweeper_base_fragment.xml | 10 ------
 4 files changed, 32 insertions(+), 68 deletions(-)

diff --git a/OCH/mogo-och-sweeper/src/main/java/com/mogo/och/sweeper/fragment/BaseSweeperTabFragment.java b/OCH/mogo-och-sweeper/src/main/java/com/mogo/och/sweeper/fragment/BaseSweeperTabFragment.java
index c3f4a24f84..fa60cf4551 100644
--- a/OCH/mogo-och-sweeper/src/main/java/com/mogo/och/sweeper/fragment/BaseSweeperTabFragment.java
+++ b/OCH/mogo-och-sweeper/src/main/java/com/mogo/och/sweeper/fragment/BaseSweeperTabFragment.java
@@ -1,16 +1,13 @@
 package com.mogo.och.sweeper.fragment;
 
-import static com.mogo.eagle.core.utilcode.mogo.logger.scene.SceneConstant.M_BUS;
-import static com.mogo.och.sweeper.constant.SweeperConst.TIMER_START_AUTOPILOT_INTERVAL;
-
-import android.animation.ObjectAnimator;
-import android.content.Intent;
 import android.os.Bundle;
 import android.view.LayoutInflater;
 import android.view.View;
 import android.widget.FrameLayout;
 import android.widget.ImageView;
+import android.widget.LinearLayout;
 
+import androidx.annotation.NonNull;
 import androidx.constraintlayout.widget.Group;
 import androidx.fragment.app.FragmentTransaction;
 
@@ -23,10 +20,7 @@ import com.mogo.eagle.core.function.call.autopilot.CallerAutopilotRecordListener
 import com.mogo.eagle.core.function.call.devatools.CallerDevaToolsManager;
 import com.mogo.eagle.core.function.call.hmi.CallerHmiManager;
 import com.mogo.eagle.core.function.call.map.CallerMapUIServiceManager;
-import com.mogo.eagle.core.function.call.map.CallerSmpManager;
-import com.mogo.eagle.core.function.smp.view.SmallMapView;
 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.map.listener.IMogoMapListener;
 import com.mogo.map.listener.MogoMapListenerHandler;
@@ -51,7 +45,7 @@ public abstract class BaseSweeperTabFragment<V extends IView, P extends Presente
     private static final String TAG = "BaseSweeperTabFragment";
     //地图放大缩小
     private ImageView mSwitchMapModeImage;
-    private FrameLayout mSwitchMapModeLayout;
+    private LinearLayout mSwitchMapModeLayout;
     //设置信息面板
     protected FrameLayout mSettingBtn;
     //安全员问题上报面板
@@ -77,7 +71,6 @@ public abstract class BaseSweeperTabFragment<V extends IView, P extends Presente
     //
     private ImageView mRefreshNavi;
 
-    private SmallMapView smallMapView;
 
     public static final String TYPE_ENTRANCE = "entrance";
     public boolean isAnimateRunning = false;
@@ -107,7 +100,6 @@ public abstract class BaseSweeperTabFragment<V extends IView, P extends Presente
         mCloseNavIcon = findViewById(R.id.sweeper_close_navi_icon);
         mRefreshNavi = findViewById(R.id.sweeper_refresh_navi);
         initListener();
-        hideEagleConfig();
         //设置左下角四个按钮监听事件
         setBottomBtnListener();
         // 模拟 不可自动驾驶，目前场景是刚开机，adas还未和工控机连接
@@ -125,7 +117,6 @@ public abstract class BaseSweeperTabFragment<V extends IView, P extends Presente
                 debugAutoPilotStatus(IMoGoAutopilotStatusListener.STATUS_AUTOPILOT_RUNNING)
         );
 
-        smallMapView = findViewById(R.id.smallMapView);
     }
 
     private void updateSwitchMapIcon() {
@@ -145,20 +136,17 @@ public abstract class BaseSweeperTabFragment<V extends IView, P extends Presente
     protected void initViews(Bundle savedInstanceState) {
         super.initViews(savedInstanceState);
         mapBizView.onCreate(savedInstanceState);
-        smallMapView.onCreateView(savedInstanceState);
     }
 
     @Override
     public void onPause() {
         super.onPause();
-        smallMapView.onPause();
     }
 
     @Override
     public void onResume() {
         super.onResume();
         mapBizView.onResume();
-        smallMapView.onResume();
     }
 
     @Override
@@ -173,10 +161,6 @@ public abstract class BaseSweeperTabFragment<V extends IView, P extends Presente
         mapBizView.onLowMemory();
     }
 
-    private void debugArrivedRoute() {
-        BDRouteDataTestUtils.converToRouteData();
-    }
-
     @Override
     public void onDestroyView() {
         mapBizView.onDestroy();
@@ -277,7 +261,6 @@ public abstract class BaseSweeperTabFragment<V extends IView, P extends Presente
     @Override
     public void onDestroy() {
         super.onDestroy();
-        smallMapView.onDestroy();
         MogoMapListenerHandler.Companion.getMogoMapListenerHandler().unregisterHostMapListener(TAG);
     }
 
@@ -356,13 +339,6 @@ public abstract class BaseSweeperTabFragment<V extends IView, P extends Presente
         }
     }
 
-    /**
-     * 隐藏鹰眼原有控件
-     */
-    private void hideEagleConfig() {
-        //隐藏小地图
-        CallerSmpManager.INSTANCE.hidePanel();
-    }
 
     /**
      * 人工驾驶地图导航
diff --git a/OCH/mogo-och-sweeper/src/main/java/com/mogo/och/sweeper/model/SweeperTaskModel.java b/OCH/mogo-och-sweeper/src/main/java/com/mogo/och/sweeper/model/SweeperTaskModel.java
index 113e689501..11691dfa51 100644
--- a/OCH/mogo-och-sweeper/src/main/java/com/mogo/och/sweeper/model/SweeperTaskModel.java
+++ b/OCH/mogo-och-sweeper/src/main/java/com/mogo/och/sweeper/model/SweeperTaskModel.java
@@ -1,7 +1,12 @@
 package com.mogo.och.sweeper.model;
 
+import static com.mogo.eagle.core.utilcode.mogo.logger.scene.SceneConstant.M_BUS;
+
 import android.content.Context;
 
+import androidx.annotation.NonNull;
+import androidx.annotation.Nullable;
+
 import com.amap.api.maps.model.LatLng;
 import com.elegant.network.utils.GsonUtil;
 import com.mogo.cloud.commons.utils.CoordinateUtils;
@@ -11,14 +16,14 @@ import com.mogo.commons.module.status.MogoStatusManager;
 import com.mogo.commons.module.status.StatusDescriptor;
 import com.mogo.eagle.core.data.autopilot.AutopilotControlParameters;
 import com.mogo.eagle.core.data.config.FunctionBuildConfig;
+import com.mogo.eagle.core.data.map.MogoLocation;
 import com.mogo.eagle.core.function.api.autopilot.IMoGoAutopilotStatusListener;
 import com.mogo.eagle.core.function.api.autopilot.IMoGoChassisLocationGCJ02Listener;
 import com.mogo.eagle.core.function.api.autopilot.IMoGoPlanningRottingListener;
-import com.mogo.eagle.core.function.call.autopilot.CallerAutoPilotManager;
+import com.mogo.eagle.core.function.call.autopilot.CallerAutoPilotControlManager;
 import com.mogo.eagle.core.function.call.autopilot.CallerAutoPilotStatusListenerManager;
-import com.mogo.eagle.core.function.call.autopilot.CallerChassisLocationGCJ20ListenerManager;
+import com.mogo.eagle.core.function.call.autopilot.CallerChassisLocationGCJ02ListenerManager;
 import com.mogo.eagle.core.function.call.autopilot.CallerPlanningRottingListenerManager;
-import com.mogo.eagle.core.function.call.map.CallerMapLocationListenerManager;
 import com.mogo.eagle.core.utilcode.mogo.logger.CallerLogger;
 import com.mogo.eagle.core.utilcode.util.ToastUtils;
 import com.mogo.och.common.module.callback.OchAdasStartFailureCallback;
@@ -41,14 +46,10 @@ import java.io.IOException;
 import java.util.ArrayList;
 import java.util.List;
 
-import androidx.annotation.NonNull;
-import androidx.annotation.Nullable;
 import io.reactivex.exceptions.UndeliverableException;
 import io.reactivex.functions.Consumer;
 import io.reactivex.plugins.RxJavaPlugins;
 import mogo.telematics.pad.MessagePad;
-
-import static com.mogo.eagle.core.utilcode.mogo.logger.scene.SceneConstant.M_BUS;
 /**
  * @author congtaowang
  * @since 2021/3/23
@@ -100,7 +101,7 @@ public class SweeperTaskModel {
     public void init() {
         mContext = AbsMogoApplication.getApp();
         // 定位监听
-        CallerChassisLocationGCJ20ListenerManager.INSTANCE.addListener(TAG, mMapLocationListener);
+        CallerChassisLocationGCJ02ListenerManager.INSTANCE.addListener(TAG, mMapLocationListener);
 
         MogoStatusManager.getInstance().registerStatusChangedListener(TAG, StatusDescriptor.VR_MODE, mMogoStatusChangedListener);
 
@@ -180,7 +181,7 @@ public class SweeperTaskModel {
     public void release() {
         MogoStatusManager.getInstance().unregisterStatusChangedListener(TAG, StatusDescriptor.VR_MODE, mMogoStatusChangedListener);
         // 注销定位监听
-        CallerMapLocationListenerManager.INSTANCE.removeListener(TAG);
+        CallerChassisLocationGCJ02ListenerManager.INSTANCE.removeListener(TAG);
         //自动驾驶路线规划接口
         CallerPlanningRottingListenerManager.INSTANCE.removeListener(moGoAutopilotPlanningListener);
         OCHAdasAbilityManager.getInstance().setAdasStartFailureCallback(null);
@@ -217,7 +218,7 @@ public class SweeperTaskModel {
     // 自车定位
     private final IMoGoChassisLocationGCJ02Listener mMapLocationListener = new IMoGoChassisLocationGCJ02Listener() {
         @Override
-        public void onChassisLocationGCJ02(@Nullable MessagePad.GnssInfo gnssInfo) {
+        public void onChassisLocationGCJ02(@Nullable MogoLocation gnssInfo) {
             if (null == gnssInfo) return;
             mLongitude = gnssInfo.getLongitude();
             mLatitude = gnssInfo.getLatitude();
@@ -232,7 +233,7 @@ public class SweeperTaskModel {
     };
 
     //根据围栏判断，是否到达站点
-    private void judgeArrivedStation(MessagePad.GnssInfo location) {
+    private void judgeArrivedStation(MogoLocation location) {
 
         if (backgroundCurrentTaskIndex + 1 > stationList.size() - 1) {
             CallerLogger.INSTANCE.e(M_BUS + TAG, "到站数组越界");
@@ -287,7 +288,7 @@ public class SweeperTaskModel {
             return;
         }
 
-        CallerAutoPilotManager.INSTANCE.startAutoPilot(parameters);
+        CallerAutoPilotControlManager.INSTANCE.startAutoPilot(parameters);
 
         CallerLogger.INSTANCE.d(M_BUS + TAG, "行程日志-开启自动驾驶====" + GsonUtil.jsonFromObject(parameters)
                 + " startLatLon=" + parameters.startName + "，endLatLon=" + parameters.endName +
@@ -303,8 +304,8 @@ public class SweeperTaskModel {
     public void closeBeautificationMode() {
         if (FunctionBuildConfig.isDemoMode) {
             FunctionBuildConfig.isIgnoreConditionsDrawAutopilotTrajectoryData = false; //是否强制绘制引导线
-            CallerAutoPilotManager.INSTANCE.setIgnoreConditionDraw(false);// 同步给乘客屏
-            CallerAutoPilotManager.INSTANCE.setIPCDemoMode(false);//是否自动启动自驾
+            CallerAutoPilotControlManager.INSTANCE.setIgnoreConditionDraw(false);// 同步给乘客屏
+            CallerAutoPilotControlManager.INSTANCE.setIPCDemoMode(false);//是否自动启动自驾
             CallerLogger.INSTANCE.d(M_BUS + TAG, "美化模式-ignore：置为false");
         }
     }
@@ -317,7 +318,7 @@ public class SweeperTaskModel {
      */
     private void startBeautificationMode() {
         FunctionBuildConfig.isIgnoreConditionsDrawAutopilotTrajectoryData = true;
-        CallerAutoPilotManager.INSTANCE.setIPCDemoMode(true);
+        CallerAutoPilotControlManager.INSTANCE.setIPCDemoMode(true);
     }
 
     public void clearBusStationData() {
@@ -345,7 +346,7 @@ public class SweeperTaskModel {
             return;
         }
         CallerLogger.INSTANCE.d(M_BUS + TAG, "单程结束====");
-        CallerAutoPilotManager.INSTANCE.cancelAutoPilot();
+        CallerAutoPilotControlManager.INSTANCE.cancelAutoPilot();
         CallerLogger.INSTANCE.d(M_BUS + TAG, "任务正常走完endTask()");
 
     }
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 9ff4cc1ef4..fcf6a2825c 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
@@ -1,5 +1,15 @@
 package com.mogo.och.sweeper.ui;
 
+import static com.mogo.och.sweeper.util.SweeperFutianCmdUtil.CLEAN_DIRECTION_BOTH_SIDE;
+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_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;
+import static com.mogo.och.sweeper.util.SweeperFutianCmdUtil.CLEAN_MODE_WASH_SWEEP;
+
 import android.content.Context;
 import android.os.Handler;
 import android.os.Message;
@@ -13,11 +23,8 @@ import android.widget.TextView;
 
 import androidx.annotation.NonNull;
 import androidx.annotation.Nullable;
-import androidx.appcompat.app.AlertDialog;
-import com.mogo.eagle.core.function.call.autopilot.CallerAutoPilotManager;
-import com.mogo.eagle.core.function.api.autopilot.IMoGoSweeperFutianCleanSystemListener;
+
 import com.mogo.eagle.core.function.call.autopilot.CallerAutoPilotControlManager;
-import com.mogo.eagle.core.function.call.autopilot.CallerSweeperFutianCleanSystemListenerManager;
 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;
@@ -33,16 +40,6 @@ import java.util.List;
 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_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_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;
-import static com.mogo.och.sweeper.util.SweeperFutianCmdUtil.CLEAN_MODE_WASH_SWEEP;
-
 /**
  * 清扫车操作面板View
  */
@@ -1006,7 +1003,7 @@ public class SweeperOperatePanelView extends LinearLayout {
      * 发送指令
      */
     private void sendFuTianTaskCmd(SpecialVehicleTaskCmdOuterClass.RoboSweeperFuTianTaskCmd fuTianTaskCmd){
-        CallerAutoPilotManager.INSTANCE.sendSweeperFuTianTaskCmd(fuTianTaskCmd);
+        CallerAutoPilotControlManager.INSTANCE.sendSweeperFuTianTaskCmd(fuTianTaskCmd);
         // log发送命令
         logSweeperCmdValue(fuTianTaskCmd);
     }
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 531d1b84b9..dfba90d42a 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
@@ -284,15 +284,5 @@
         ,btnAutopilotRunning"
         tools:visibility="visible" />
 
-    <com.mogo.eagle.core.function.smp.view.SmallMapView
-        android:id="@+id/smallMapView"
-        android:layout_width="wrap_content"
-        android:layout_height="wrap_content"
-        android:layout_marginRight="30dp"
-        android:layout_marginBottom="30dp"
-        android:visibility="visible"
-        app:layout_constraintBottom_toBottomOf="parent"
-        app:layout_constraintEnd_toEndOf="parent"
-        />
 
 </androidx.constraintlayout.widget.ConstraintLayout>
\ No newline at end of file