完成OBU 调试

2021-08-11 18:44:04 +08:00
parent 896472ec09
commit 012c52560d
5 changed files with 170 additions and 77 deletions
--- a/README.md
+++ b/README.md
@@ -26,6 +26,9 @@ adb shell am broadcast -a com.hmi.v2x.limitingvelocity --ez limitingVelocityIsSh
 // 控制OBU场景自测
 adb shell am broadcast -a com.obu.test_trigger --ei obuStates 1 --ei obuLevel 3 --ei obuType 0x2A01

+// 控制OBU 展示周边周边车辆 惠新西街南口附近，南向北
+adb shell am broadcast -a com.obu.test_trigger_recognized
+


 // (旧版本)使用命令行触发各种测试场景演示
--- a/modules/mogo-module-obu-mogo/src/main/AndroidManifest.xml
+++ b/modules/mogo-module-obu-mogo/src/main/AndroidManifest.xml
@@ -8,6 +8,13 @@
            <intent-filter>
                <action android:name="com.obu.test_trigger" />

+                <category android:name="android.intent.category.DEFAULT" />
+            </intent-filter>
+        </receiver>
+        <receiver android:name=".receiver.ObuTestTriggerRecognizedReceiver">
+            <intent-filter>
+                <action android:name="com.obu.test_trigger_recognized" />
+
                <category android:name="android.intent.category.DEFAULT" />
            </intent-filter>
        </receiver>
--- a/modules/mogo-module-obu-mogo/src/main/java/com/mogo/module/obu/mogo/MogoPrivateObuManager.kt
+++ b/modules/mogo-module-obu-mogo/src/main/java/com/mogo/module/obu/mogo/MogoPrivateObuManager.kt
@@ -1,7 +1,6 @@
 package com.mogo.module.obu.mogo

 import android.content.Context
-import android.util.Log
 import com.alibaba.android.arouter.launcher.ARouter
 import com.mogo.module.common.enum.WarningTypeEnum
 import com.mogo.module.obu.mogo.map.ObuRecognizedResultDrawer
@@ -14,7 +13,6 @@ import com.zhidao.support.obu.MogoObuManager
 import com.zhidao.support.obu.OnMogoObuListener
 import com.zhidao.support.obu.constants.ObuConstants
 import com.zhidao.support.obu.model.*
-import com.zhidao.support.obu.model.advance.MovingObjectInfo

 /**
 * @description
@@ -247,7 +245,7 @@ class MogoPrivateObuManager private constructor() {
        }


-        // V2V预警信息 TODO 他车是否一直出现
+        // V2V预警信息
        override fun onCvxV2vThreatIndInfo(info: CvxV2vThreatIndInfo?) {
            Logger.e(MogoObuConst.TAG_MOGO_OBU, "onCvxV2vThreatIndInfo ------> $info")
            info?.let {
@@ -255,26 +253,17 @@ class MogoPrivateObuManager private constructor() {
                info.threat_info?.let {
                    //预警方位
                    val direction = info.ext_info.target_classification
-                    //显示警告红边
-                    mMogoServiceApis!!.v2XListenerManager.warningChangedForListenerWithDirection(
-                        getMessageDirection(direction),
-                        "ACTION_V2X_FRONT_WARNING"
-                    )
                    //处理预警类型
-                    val appId = info.threat_info.app_id
-                    Logger.d(
-                        MogoObuConst.TAG_MOGO_OBU,
-                        "direction = " + direction + "----" + getMessageDirection(
-                            direction
-                        ) + "--appId = " + appId
-                    )
+                    val useCaseId = info.threat_info.app_id
+                    val level = info.threat_info.threat_level
+                    val status = info.status
+
                    handleSdkObu(
-                        info.vehicle_id,
-                        appId,
-                        info.threat_info.threat_level,
-                        getMessageDirection(direction),
-                        info.status,
-                        info.basic_info
+                        useCaseId,
+                        direction,
+                        status,
+                        level,
+                        info
                    )
                }
            }
@@ -321,20 +310,15 @@ class MogoPrivateObuManager private constructor() {
     * @see com.mogo.module.common.enum.WarningTypeEnum
     */
    private fun handleSdkObu(
-        vehicleId: String,
        useCaseId: Int,
-        level: Int,
        direction: Int,
        status: Int,
-        basicInfo: MovingObjectInfo
+        level: Int,
+        info: CvxV2vThreatIndInfo
    ) {
+        //  这里排除需要特殊定制的语音及文案外,其余的都可以使用 WarningTypeEnum 提供的
        var alertContent = ""
        var ttsContent = ""
-        Log.d(
-            MogoObuConst.TAG_MOGO_OBU,
-            "useCaseId = $useCaseId ---level = $level --direction = $direction ---status = $status "
-        )
-        // TODO 这里排除需要特殊定制的语音及文案外,其余的都可以使用 WarningTypeEnum 提供的
        when (useCaseId) {
            // 变道预警,注意左后车辆/注意右后车辆
            WarningTypeEnum.TYPE_USECASE_ID_LCW.useCaseId -> {
@@ -404,7 +388,7 @@ class MogoPrivateObuManager private constructor() {
            // 前方拥堵提醒,前方XXX米道路拥堵，请减速慢行 TODO
            WarningTypeEnum.TYPE_USECASE_ID_TJW.useCaseId -> {
                ttsContent = WarningTypeEnum.getWarningTts(useCaseId)
-//                ttsContent = String.format(ttsContent, "")
+                //                ttsContent = String.format(ttsContent, "")
                alertContent = WarningTypeEnum.getWarningContent(useCaseId)
            }

@@ -427,36 +411,36 @@ class MogoPrivateObuManager private constructor() {
            }
        }

-
-        when (status) {
+         when (status) {
            // 添加
-            ObuConstants.STATUS.ADD -> {
+            ObuConstants.STATUS.ADD-> {
+                //显示警告红边
+                mMogoServiceApis!!.v2XListenerManager.warningChangedForListenerWithDirection(
+                    getMessageDirection(direction),
+                    "ACTION_V2X_FRONT_WARNING"
+                )
                //显示弹框，语音提示
                mIMoGoWaringProvider!!.showWarningV2X(
                    useCaseId,
                    alertContent,
-                    if (level == 3) ttsContent else "",
+                    if (status == 3) ttsContent else "",
                    useCaseId.toString()
                )
+                //更新周边车辆进行预警颜色变换，车辆实时移动和变色
+                mObuRecognizedResultDrawer?.updateCvxRvInfoIndInfo(level, info)
            }
            // 删除
            ObuConstants.STATUS.DELETE -> {
                // 移除顶部弹窗
                mIMoGoWaringProvider?.disableWarningV2X(useCaseId.toString())
                // 移除地图元素
-                mObuRecognizedResultDrawer?.removeCvxRvInfoIndInfo(vehicleId)
+                mObuRecognizedResultDrawer?.removeCvxRvInfoIndInfo(info.vehicle_id)
            }
            // 更新
            else -> {
                //更新周边车辆进行预警颜色变换，车辆实时移动和变色
-                mObuRecognizedResultDrawer?.updateCvxRvInfoIndInfo(
-                    level,
-                    vehicleId,
-                    basicInfo
-                )
+                mObuRecognizedResultDrawer?.updateCvxRvInfoIndInfo(level, info)
            }
        }
-
    }
-
 }
--- a/modules/mogo-module-obu-mogo/src/main/java/com/mogo/module/obu/mogo/map/ObuRecognizedResultDrawer.kt
+++ b/modules/mogo-module-obu-mogo/src/main/java/com/mogo/module/obu/mogo/map/ObuRecognizedResultDrawer.kt
@@ -12,7 +12,9 @@ import com.mogo.module.common.R
 import com.mogo.module.common.constants.DataTypes
 import com.mogo.utils.WorkThreadHandler
 import com.zhidao.support.obu.model.CvxRvInfoIndInfo
+import com.zhidao.support.obu.model.CvxV2vThreatIndInfo
 import com.zhidao.support.obu.model.advance.MovingObjectInfo
+import com.zhidao.support.obu.model.advance.V2vThreat
 import java.util.concurrent.ConcurrentHashMap

 /**
@@ -43,29 +45,6 @@ class ObuRecognizedResultDrawer() {
            override fun handleMessage(msg: Message) {
                super.handleMessage(msg)
                drawerCvxRvInfo()
-
-                /*// TODO 测试数据
-                mCvxRvInfoIndInfoMap.forEach {
-                    var latitude = ((it.value.basic_info.position.latitude * 10000000.0).toLong())
-                    var longitude = (it.value.basic_info.position.longitude * 10000000.0).toLong()
-                    latitude += 5
-                    //longitude += 100
-                    it.value.basic_info.position.setValue(
-                        0,
-                        latitude,
-                        longitude,
-                        30
-                    )
-                    val result = latitude.toInt() % 2
-                    if (result == 0) {
-                        updateCvxRvInfoIndInfo(0, it.key, it.value.basic_info)
-                    } else {
-                        updateCvxRvInfoIndInfo(3, it.key, it.value.basic_info)
-                    }
-                    //addCvxRvInfoIndInfo(it.value)
-                }*/
-
-
                // 延时50毫秒重复发送自己，定时轮询进行车辆绘制，可以及时将已经不存在车辆删除
                sendEmptyMessageDelayed(0, 100L)
            }
@@ -74,22 +53,72 @@ class ObuRecognizedResultDrawer() {
    init {
        mContext = AbsMogoApplication.getApp()
        mDrawerHandler.sendEmptyMessageDelayed(1, 0L)
-
-        /* // TODO 测试数据
-         val cvxRvInfoIndInfo = CvxRvInfoIndInfo(0, 1, 2)
-         cvxRvInfoIndInfo.vehicle_id = "123321"
-         val position = Position(0, 399739429, 1164115207, 20)
-         val movingObjectInfo = MovingObjectInfo(0, position, 1800, 60)
-         cvxRvInfoIndInfo.basic_info = movingObjectInfo
-         addCvxRvInfoIndInfo(cvxRvInfoIndInfo)*/
-
    }

    /**
     * 添加识别的数据
     */
-    fun addCvxRvInfoIndInfo(value: CvxRvInfoIndInfo) {
-        mCvxRvInfoIndInfoMap[value.vehicle_id] = value
+    fun addCvxRvInfoIndInfo(cvxRvInfoIndInfo: CvxRvInfoIndInfo) {
+        mCvxRvInfoIndInfoMap[cvxRvInfoIndInfo.vehicle_id] = cvxRvInfoIndInfo
+    }
+
+    /**
+     * 更新识别数据,V2V预警的时候需要修改车辆颜色
+     */
+    fun updateCvxRvInfoIndInfo(threatLevel: Int, cvxV2vThreatIndInfo: CvxV2vThreatIndInfo) {
+        val value = mCvxRvInfoIndInfoMap[cvxV2vThreatIndInfo.vehicle_id]
+        // 存在即改变
+        value?.let {
+            // 修改位置信息
+            value.basic_info = cvxV2vThreatIndInfo.basic_info
+            // 修改V2X预警级别
+            if (!value.threat_infos.isNullOrEmpty()) {
+                value.threat_infos[0] = cvxV2vThreatIndInfo.threat_info
+            } else {
+                val threatInfos = ArrayList<V2vThreat>()
+                threatInfos.add(0, cvxV2vThreatIndInfo.threat_info)
+                value.threat_infos = threatInfos
+            }
+
+            // 修改颜色
+            when (threatLevel) {
+                1 -> {
+                    mMarkersCaches[cvxV2vThreatIndInfo.vehicle_id]?.setAnchorColor("#D8D8D8FF")
+                }
+                2 -> {
+                    mMarkersCaches[cvxV2vThreatIndInfo.vehicle_id]?.setAnchorColor("#FFD53EFF")
+                }
+                3 -> {
+                    mMarkersCaches[cvxV2vThreatIndInfo.vehicle_id]?.setAnchorColor("#FF3C45FF")
+                }
+                else -> {
+                    mMarkersCaches[cvxV2vThreatIndInfo.vehicle_id]?.setAnchorColor("#D8D8D8FF")
+                }
+            }
+            mCvxRvInfoIndInfoMap[cvxV2vThreatIndInfo.vehicle_id] = value
+        }
+        // 不存在即添加
+            ?: let {
+                // 构建周边车辆数据结构
+                val cvxRvInfoIndInfo = CvxRvInfoIndInfo(
+                    cvxV2vThreatIndInfo.opCode,
+                    cvxV2vThreatIndInfo.ch,
+                    cvxV2vThreatIndInfo.bitMask
+                )
+                cvxRvInfoIndInfo.vehicle_id = cvxV2vThreatIndInfo.vehicle_id
+                cvxRvInfoIndInfo.basic_info = cvxV2vThreatIndInfo.basic_info
+                // 修改V2X预警级别
+                if (!cvxRvInfoIndInfo.threat_infos.isNullOrEmpty()) {
+                    cvxRvInfoIndInfo.threat_infos[0] = cvxV2vThreatIndInfo.threat_info
+                } else {
+                    val threatInfos = ArrayList<V2vThreat>()
+                    threatInfos.add(0, cvxV2vThreatIndInfo.threat_info)
+                    cvxRvInfoIndInfo.threat_infos = threatInfos
+                }
+
+
+                mCvxRvInfoIndInfoMap[cvxV2vThreatIndInfo.vehicle_id] = cvxRvInfoIndInfo
+            }
    }

    /**
@@ -122,7 +151,7 @@ class ObuRecognizedResultDrawer() {
     * 移除识别的数据
     */
    fun removeCvxRvInfoIndInfo(key: String) {
-        if (mCvxRvInfoIndInfoMap.contains(key)) {
+        if (mCvxRvInfoIndInfoMap.containsKey(key)) {
            mCvxRvInfoIndInfoMap.remove(key)
        }
    }
@@ -179,6 +208,26 @@ class ObuRecognizedResultDrawer() {
                    cvxRvInfoIndInfo.basic_info.position.longitude
                )
            )
+
+        // 判断车辆V2X预警级别，调整车辆颜色
+        if (!cvxRvInfoIndInfo.threat_infos.isNullOrEmpty()) {
+            // 修改颜色
+            when (cvxRvInfoIndInfo.threat_infos.first().threat_level) {
+                1 -> {
+                    options.anchorColor("#D8D8D8FF")
+                }
+                2 -> {
+                    options.anchorColor("#FFD53EFF")
+                }
+                3 -> {
+                    options.anchorColor("#FF3C45FF")
+                }
+                else -> {
+                    options.anchorColor("#D8D8D8FF")
+                }
+            }
+        }
+
        val marker = MogoApisHandler.getInstance().apis.mapServiceApi.getMarkerManager(mContext)
            .addMarker(DataTypes.TYPE_MARKER_OBU_DATA, options)

--- a/modules/mogo-module-obu-mogo/src/main/java/com/mogo/module/obu/mogo/receiver/ObuTestTriggerRecognizedReceiver.kt
+++ b/modules/mogo-module-obu-mogo/src/main/java/com/mogo/module/obu/mogo/receiver/ObuTestTriggerRecognizedReceiver.kt
@@ -0,0 +1,50 @@
+package com.mogo.module.obu.mogo.receiver
+
+import android.content.BroadcastReceiver
+import android.content.Context
+import android.content.Intent
+import com.mogo.module.obu.mogo.MogoObuConst
+import com.mogo.module.obu.mogo.MogoPrivateObuManager
+import com.mogo.utils.logger.Logger
+import com.zhidao.support.obu.model.CvxRvInfoIndInfo
+import com.zhidao.support.obu.model.advance.MovingObjectInfo
+import com.zhidao.support.obu.model.advance.Position
+
+/**
+ * @author xiaoyuzhou
+ * @date 2021/8/11 10:50 上午
+ *
+ * OBU 周边车辆 测试使用
+ */
+class ObuTestTriggerRecognizedReceiver : BroadcastReceiver() {
+    private var mContext: Context? = null
+
+    companion object {
+        private const val TAG = "ObuTestTriggerRecognizedReceiver"
+    }
+
+    override fun onReceive(context: Context, intent: Intent) {
+        mContext = context
+        /**
+         * OBU 场景类型
+         * @see com.zhidao.support.obu.constants.ObuConstants.USE_CASE_ID
+         */
+        val obuType = intent.getIntExtra(MogoObuConst.BROADCAST_OBU_TYPE_EXTRA_KEY, 0)
+        val obuStatus = intent.getIntExtra(MogoObuConst.BROADCAST_OBU_STATES_EXTRA_KEY, 0)
+        val obuLevel = intent.getIntExtra(MogoObuConst.BROADCAST_OBU_LEVEL_EXTRA_KEY, 3)
+        Logger.d(TAG, "obuType:$obuType obuStatus:$obuStatus obuLevel:$obuLevel")
+
+        // TODO 测试数据
+        val cvxRvInfoIndInfo = CvxRvInfoIndInfo(0, 1, 2)
+        cvxRvInfoIndInfo.vehicle_id = "123321"
+        val position = Position(0, 399739429, 1164115207, 20)
+        val movingObjectInfo = MovingObjectInfo(0, position, 1800, 60)
+        cvxRvInfoIndInfo.basic_info = movingObjectInfo
+
+        MogoPrivateObuManager.INSTANCE
+            .getMogoObuListener()
+            .onCvxRvInfoIndInfo(cvxRvInfoIndInfo)
+
+    }
+
+}