fixed conflict

2022-07-27 17:51:38 +08:00
parent 9fa157d296
commit fd99007dd1
4 changed files with 140 additions and 12 deletions
--- a/core/function-impl/mogo-core-function-autopilot/src/main/java/com/mogo/eagle/core/function/autopilot/MoGoAutopilotProvider.kt
+++ b/core/function-impl/mogo-core-function-autopilot/src/main/java/com/mogo/eagle/core/function/autopilot/MoGoAutopilotProvider.kt
@@ -428,6 +428,38 @@ class MoGoAutopilotProvider :
        AdasManager.getInstance().sendRecordDataConfigReq()
    }

+    /**
+     * 向左变道
+     */
+    override fun sendOperatorChangeLaneLeft() {
+        Log.d("liyz", "MoGoAutopilotProvider sendOperatorChangeLaneLeft -------> ")
+        AdasManager.getInstance().sendOperatorCmdChangeLaneLeft()
+    }
+
+    /**
+     * 向右变道
+     */
+    override fun sendOperatorChangeLaneRight() {
+        Log.d("liyz", "MoGoAutopilotProvider sendOperatorChangeLaneRight -------> ")
+        AdasManager.getInstance().sendOperatorCmdChangeLaneRight()
+    }
+
+    /**
+     * 发送设置加速度 acc>0加速 acc<0减速 acc=0复位
+     */
+    override fun sendOperatorSetAcceleratedSpeed(cc: Double) {
+        Log.d("liyz", "MoGoAutopilotProvider sendOperatorSetAcceleratedSpeed cc $cc ")
+        AdasManager.getInstance().sendOperatorCmdSetAcceleratedSpeed(cc)
+    }
+
+    /**
+     * 鸣笛  value 1: honk 2: stop honking
+     */
+    override fun sendOperatorSetHorn(value: Double) {
+        Log.d("liyz", "MoGoAutopilotProvider sendOperatorSetHorn value $value ")
+        AdasManager.getInstance().sendOperatorCmdSetHorn(value)
+    }
+
    /**
     * 发送工控机所有节点重启命令
     */
--- a/core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/main/MainLauncherActivity.java
+++ b/core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/main/MainLauncherActivity.java
@@ -22,6 +22,8 @@ import com.mogo.commons.debug.DebugConfig;
 import com.mogo.eagle.core.data.config.FunctionBuildConfig;
 import com.mogo.eagle.core.function.api.base.IMoGoFunctionProvider;
 import com.mogo.eagle.core.function.api.setting.IMoGoSkinModeChangeListener;
+import com.mogo.eagle.core.function.call.autopilot.CallerAutoPilotManager;
+import com.mogo.eagle.core.function.call.map.CallerMapUIServiceManager;
 import com.mogo.eagle.core.function.call.setting.CallerSkinModeListenerManager;
 import com.mogo.eagle.core.function.hmi.R;
 import com.mogo.eagle.core.utilcode.mogo.AppIdentityModeUtils;
@@ -37,6 +39,8 @@ import org.greenrobot.eventbus.EventBus;
 import org.greenrobot.eventbus.Subscribe;

 import java.util.List;
+import java.util.Timer;
+import java.util.TimerTask;

 /**
 * 针对作为Launcher的情况，做个性化操作
@@ -49,6 +53,11 @@ public class MainLauncherActivity extends MainActivity implements IMogoIntentLis
    private final static Handler handlerV2XEvent = new Handler();
    private static Runnable runnableV2XEvent;

+    private volatile double accelerated;//加速度
+    private Timer timerHorn;
+    private Timer timerAcc;
+
+
    @Override
    protected void onCreate(@Nullable Bundle savedInstanceState) {
        super.onCreate(savedInstanceState);
@@ -161,11 +170,12 @@ public class MainLauncherActivity extends MainActivity implements IMogoIntentLis

    @Override
    public boolean onKeyDown(int keyCode, KeyEvent event) {
-        if (keyCode == KeyEvent.KEYCODE_VOLUME_UP){ //向上长按
+        if (keyCode == KeyEvent.KEYCODE_VOLUME_UP) { //向上长按
            ToastUtils.showShort("↑↑↑");
            return true;
-        }else if (keyCode == KeyEvent.KEYCODE_VOLUME_DOWN){ //下和中间键盘长按，减速为-2
+        } else if (keyCode == KeyEvent.KEYCODE_VOLUME_DOWN) { //下和中间键盘长按，减速为-2
            ToastUtils.showShort("↓↓↓");
+            sendAcc(true, -2);
            return true;
        }
        return super.onKeyDown(keyCode, event);
@@ -174,20 +184,35 @@ public class MainLauncherActivity extends MainActivity implements IMogoIntentLis
    @Override
    public boolean dispatchTouchEvent(MotionEvent event) {
        Log.d("liyz", "dispatchTouchEvent event.getX() = " + event.getX() + "--event.getY() = " + event.getY());
-        if(event.getX()== -1469.6875 && event.getY()==530.0){ //向左变道
+//        CallerMapUIServiceManager.INSTANCE.getMapUIController().changeZoom(0);
+        if (event.getX() == -1469.6875 && event.getY() == 530.0) { //向左变道
            ToastUtils.showShort("← 向左变道");
+            CallerAutoPilotManager.INSTANCE.sendOperatorChangeLaneLeft();
            return true;
-        }else if(event.getX()== -1096.25  && event.getY()==132.5){ //鸣笛
+        } else if (event.getX() == -1096.25 && event.getY() == 132.5) { //鸣笛
            ToastUtils.showShort("↑ 鸣笛 ");
+            CallerAutoPilotManager.INSTANCE.sendOperatorSetHorn(1);
+            timerHorn = new Timer();
+            timerHorn.schedule(new TimerTask() {
+                @Override
+                public void run() {
+                    CallerAutoPilotManager.INSTANCE.sendOperatorSetHorn(2);
+                    timerHorn = null;
+                }
+            }, 500);
+
            return true;
-        }else if(event.getX()== -863.4375 && event.getY()==690.0){ //向右变道
+        } else if (event.getX() == -863.4375 && event.getY() == 690.0) { //向右变道
+            CallerAutoPilotManager.INSTANCE.sendOperatorChangeLaneRight();
            ToastUtils.showShort("→ 向右变道");
            return true;
-        }else if(event.getX()== -1096.25 && event.getY()==1099.0){ // -1减速
+        } else if (event.getX() == -1096.25 && event.getY() == 1099.0) { // -1减速
+            sendAcc(true, -1); //TODO 需要可以配置
            ToastUtils.showShort("↓");
            return true;
-        }else if(event.getX()== -1096.25 && event.getY()==690.0){ //复原
+        } else if (event.getX() == -1096.25 && event.getY() == 690.0) { //复原
            ToastUtils.showShort("O 复原 ");
+            sendAcc(false, 0.0);
            return true;
        }
        return super.dispatchTouchEvent(event);
@@ -203,19 +228,19 @@ public class MainLauncherActivity extends MainActivity implements IMogoIntentLis
        //O x:-1096.25       y：690.0
        Log.d("liyz", "onTouchEvent event.getX() = " + event.getX() + "--event.getY() = " + event.getY());

-        if(event.getX()== -1469.6875 && event.getY()==530.0){
+        if (event.getX() == -1469.6875 && event.getY() == 530.0) {
            ToastUtils.showShort("←");
            return true;
-        }else if(event.getX()== -1096.25  && event.getY()==132.5){
+        } else if (event.getX() == -1096.25 && event.getY() == 132.5) {
            ToastUtils.showShort("↑");
            return true;
-        }else if(event.getX()== -863.4375 && event.getY()==690.0){
+        } else if (event.getX() == -863.4375 && event.getY() == 690.0) {
            ToastUtils.showShort("→");
            return true;
-        }else if(event.getX()== -1096.25 && event.getY()==1099.0){
+        } else if (event.getX() == -1096.25 && event.getY() == 1099.0) {
            ToastUtils.showShort("↓");
            return true;
-        }else if(event.getX()== -1096.25 && event.getY()==690.0){
+        } else if (event.getX() == -1096.25 && event.getY() == 690.0) {
            ToastUtils.showShort("O");
            return true;
        }
@@ -230,4 +255,27 @@ public class MainLauncherActivity extends MainActivity implements IMogoIntentLis
            BarUtils.setStatusBarLightMode(this, true);
        }
    }
+
+    private synchronized void sendAcc(boolean isSend, double acc) {
+        if (isSend) {
+            accelerated = acc;
+            if (timerAcc == null) {
+                timerAcc = new Timer();
+                timerAcc.schedule(new TimerTask() {
+                    @Override
+                    public void run() {
+                        CallerAutoPilotManager.INSTANCE.sendOperatorSetAcceleratedSpeed(accelerated);
+                    }
+                }, 0, 500); //TODO
+            }
+        } else {
+            if (timerAcc != null) {
+                timerAcc.cancel();
+                timerAcc = null;
+            }
+            CallerAutoPilotManager.INSTANCE.sendOperatorSetAcceleratedSpeed(acc);
+        }
+    }
+
+
 }
--- a/core/mogo-core-function-api/src/main/java/com/mogo/eagle/core/function/api/autopilot/IMoGoAutopilotProvider.kt
+++ b/core/mogo-core-function-api/src/main/java/com/mogo/eagle/core/function/api/autopilot/IMoGoAutopilotProvider.kt
@@ -205,4 +205,24 @@ interface IMoGoAutopilotProvider : IMoGoFunctionServerProvider {
     * 主动查询工控机的各topic状态
     */
    fun sendStatusQueryReq()
+
+    /**
+     * 向左变道
+     */
+    fun sendOperatorChangeLaneLeft()
+
+    /**
+     * 向右变道
+     */
+    fun sendOperatorChangeLaneRight()
+
+    /**
+     * 设置加速度
+     */
+    fun sendOperatorSetAcceleratedSpeed(cc: Double)
+
+    /**
+     * 鸣笛 开始：1，结束：2
+     */
+    fun sendOperatorSetHorn(value: Double)
 }
--- a/core/mogo-core-function-call/src/main/java/com/mogo/eagle/core/function/call/autopilot/CallerAutoPilotManager.kt
+++ b/core/mogo-core-function-call/src/main/java/com/mogo/eagle/core/function/call/autopilot/CallerAutoPilotManager.kt
@@ -185,6 +185,34 @@ object CallerAutoPilotManager {
        providerApi?.getBadCaseConfig()
    }

+    /**
+     * 向左变道
+     */
+    fun sendOperatorChangeLaneLeft() {
+        providerApi?.sendOperatorChangeLaneLeft()
+    }
+
+    /**
+     * 向右变道
+     */
+    fun sendOperatorChangeLaneRight() {
+        providerApi?.sendOperatorChangeLaneRight()
+    }
+
+    /**
+     * 发送设置加速度 acc>0加速 acc<0减速 acc=0复位
+     */
+    fun sendOperatorSetAcceleratedSpeed(cc: Double) {
+        providerApi?.sendOperatorSetAcceleratedSpeed(cc)
+    }
+
+    /**
+     * 鸣笛  value 1: honk 2: stop honking
+     */
+    fun sendOperatorSetHorn(value: Double) {
+        providerApi?.sendOperatorSetHorn(value)
+    }
+
    /**
     * 发送工控机所有节点重启命令
     */