Merge branch 'dev_robo_240612_6.5.0_tmp' of gitlab.zhidaoauto.com:SCA/L4HA/AndroidApp/MoGoEagleEye into dev_robo_240612_6.5.0_tmp

# Conflicts: # core/function-impl/mogo-core-function-biz/src/main/java/com/mogo/eagle/function/biz/v2x/v2n/pnc/V2NIdentifyDrawer.kt
2024-07-04 11:19:18 +08:00
parent f9b46b0502 c68b1af956
commit 04e7ab0476
78 changed files with 1194 additions and 378 deletions
--- a/core/function-impl/mogo-core-function-biz/src/main/java/com/mogo/eagle/function/biz/v2x/v2n/pnc/V2NIdentifyDrawer.kt
+++ b/core/function-impl/mogo-core-function-biz/src/main/java/com/mogo/eagle/function/biz/v2x/v2n/pnc/V2NIdentifyDrawer.kt
@@ -6,6 +6,7 @@ import android.os.Message
 import android.text.TextUtils
 import android.util.Log
 import androidx.core.util.Pair
+import com.mogo.commons.voice.AIAssist
 import com.mogo.eagle.core.data.config.FunctionBuildConfig
 import com.mogo.eagle.core.data.enums.CommunicationType
 import com.mogo.eagle.core.data.enums.DataSourceType
@@ -33,7 +34,9 @@ import com.mogo.eagle.core.function.call.hmi.CallerRoadV2NEventWindowListenerMan
 import com.mogo.eagle.core.function.call.map.CallerVisualAngleManager
 import com.mogo.eagle.core.function.call.msgbox.CallerMsgBoxManager.saveMsgBox
 import com.mogo.eagle.core.utilcode.mogo.AppIdentityModeUtils
+import com.mogo.eagle.core.utilcode.mogo.logger.CallerLogger
 import com.mogo.eagle.core.utilcode.mogo.logger.Logger
+import com.mogo.eagle.core.utilcode.util.AppStateManager
 import com.mogo.eagle.core.utilcode.util.CoordinateTransform
 import com.mogo.eagle.core.utilcode.util.CoordinateUtils
 import com.mogo.eagle.core.utilcode.util.DrivingDirectionUtils
@@ -46,14 +49,17 @@ import com.mogo.eagle.function.biz.v2x.v2n.utils.EventDismissManager
 import com.mogo.eagle.function.biz.v2x.v2n.utils.IEventDismissListener
 import com.mogo.eagle.function.biz.v2x.v2n.utils.V2NUtils
 import com.mogo.eagle.function.biz.v2x.v2n.utils.V2XEventAnalyticsManager
+import com.mogo.map.MapDataWrapper
 import com.mogo.map.entities.Lane
 import mogo.telematics.pad.MessagePad
 import mogo.telematics.pad.MessagePad.Header
 import mogo.telematics.pad.MessagePad.TrackedObject
+import mogo.telematics.pad.MessagePad.V2nCrossSpeed
 import mogo.v2x.MogoV2X
 import mogo.v2x.MogoV2X.RSI_PB
 import mogo.v2x.MogoV2X.RTEData_PB
 import java.util.concurrent.TimeUnit.SECONDS
+import kotlin.math.abs

 /**
 * V2N上车相关事件绘制
@@ -66,6 +72,7 @@ internal object V2NIdentifyDrawer: IEventDismissListener {
    private const val MSG_WHAT_DRAW_SHIGU = 0x1011  // 交通事故
    private const val MSG_WHAT_DRAW_YONGDU = 0x1012  // 交通拥堵
    private const val MSG_WHAT_DRAW_OTHER_RETROGRADE_VEHICLE = 0x1013  // 他车倒车/逆行
+    private const val MSG_WHAT_DRAW_GREEN_WAVE = 0x1014  // 绿波通行

    private val callback = Handler.Callback { msg ->
        if (msg.what == MSG_WHAT_DRAW_SHIGONE || msg.what == MSG_WHAT_DRAW_SHIGU) {
@@ -156,33 +163,6 @@ internal object V2NIdentifyDrawer: IEventDismissListener {
                                )
                            )
                        )
-//                        CallerHmiManager.warningV2X(
-//                            poiType,
-//                            alertContent,
-//                            ttsContent,
-//                            object : IMoGoWarningStatusListener {
-//                                override fun onShow() {
-//                                    super.onShow()
-//                                    runCatching { CallerHmiManager.notifyXiaoZhiStatusChanged(V2N(EventTypeEnumNew.getEnumType(poiType)), State.START) }
-//                                    CallerVisualAngleManager.changeAngle(
-//                                        RoadEvent(
-//                                            itx.longitude,
-//                                            itx.latitude,
-//                                            itx.angle
-//                                        )
-//                                    )
-//                                }
-//
-//                                override fun onDismiss() {
-//                                    super.onDismiss()
-//                                    runCatching { CallerHmiManager.notifyXiaoZhiStatusChanged(V2N(EventTypeEnumNew.getEnumType(poiType)), State.STOP) }
-//                                    CallerVisualAngleManager.changeAngle(Default())
-//                                }
-//                            },
-//                            ALERT_WARNING_TOP,
-//                            10000,
-//                            false
-//                        )
                        if (polygon.isNotEmpty()) {
                            val decision = V2NUtils.computeOccupyLanesInfo(Triple(car.longitude, car.latitude, car.heading.toFloat()), Triple(itx.longitude, itx.latitude, itx.heading.toFloat()), polygon.map { kotlin.Pair(it.first, it.second) })
                            if (decision != null) {
@@ -377,6 +357,41 @@ internal object V2NIdentifyDrawer: IEventDismissListener {
            )

        }
+
+        if (msg.what == MSG_WHAT_DRAW_GREEN_WAVE) {
+            val data = msg.obj as? V2nCrossSpeed ?: return@Callback true
+            val destX = data.lng
+            val destY = data.lat
+            val id = "${destX}_${destY}"
+            AiRoadMarker.aiMakers.getOrPut(id) {
+                AiRoadMarker().apply {
+                    try {
+                        val location = CallerChassisLocationWGS84ListenerManager.getChassisLocationWGS84()
+                        val current = abs(location.gnssSpeed) * 3.6f.toInt()
+                        val min = abs(data.speedStraightMin * 3.6f).toInt()
+                        val max = abs(data.speedStraightMax * 3.6f).toInt()
+                        marker(Marker(id, EventTypeEnumNew.TYPE_SOCKET_ROAD_GREE_WAVE.poiType, destX, destY, 0.0, null, null, null), drawMarker = false, false)
+                        if (AppIdentityModeUtils.isDriver(FunctionBuildConfig.appIdentityMode)) {
+                            AppStateManager.currentActivity()?.let {
+                                val speakText = StringBuilder("保持当前车速即可通过路口，好丝滑！")
+                                if (current < min) {
+                                    speakText.setLength(0)
+                                    speakText.append("蘑菇推荐您提升车速至${min}千米每小小, 当前车速${current}千米每小时")
+                                }
+                                if (current > max) {
+                                    speakText.setLength(0)
+                                    speakText.append("蘑菇推荐您降低车速至${max}千米每小时, 当前车速${current}千米每小时")
+                                }
+                                AIAssist.getInstance(it).speakTTSVoice(speakText.toString())
+                            }
+                        }
+                        CallerHmiManager.showGreenWave(min, max, computeCrossCountBetween(Triple(location.longitude, location.latitude, location.heading), kotlin.Pair(destX, destY)))
+                    } finally {
+                        receive()
+                    }
+                }
+            }
+        }
        true
    }

@@ -446,6 +461,21 @@ internal object V2NIdentifyDrawer: IEventDismissListener {
        }
    }

+    private fun computeCrossCountBetween(start: kotlin.Triple<Double, Double, Double>, end: kotlin.Pair<Double, Double>): Int {
+        val points = V2NUtils.generateIntermediatePoints(kotlin.Pair(start.first, start.second), end, 10.0 * 1e-7)
+        var crossId = MapDataWrapper.getCrossRoad(start.first, start.second, start.third)?.cross_id_end
+        val angle = start.third
+        var count = 1
+        for (p in points) {
+            val crossRoad = MapDataWrapper.getCrossRoad(p.first, p.second, angle)
+            if (crossRoad != null && !TextUtils.isEmpty(crossRoad.cross_id) && !TextUtils.equals(crossId, crossRoad.cross_id)) {
+                count++
+                crossId = crossRoad.cross_id
+            }
+        }
+        return count
+    }
+
    private fun getAlertContent(poiType: String, distance: Double): String {
        return when (poiType) {
            EventTypeEnumNew.TYPE_SOCKET_ROAD_SHIGONG.poiType -> {
@@ -531,29 +561,43 @@ internal object V2NIdentifyDrawer: IEventDismissListener {
    }

    private fun drawOtherRetrogradeVehicle(event: MessagePad.Event) {
-        Log.d("V2NIdentifyDrawer", "---drawOtherRetrogradeVehicle --- :${event.toString()}, [${FunctionBuildConfig.v2nMainSwitch}, ${FunctionBuildConfig.isNewV2NData}]")
+        Logger.i("V2NIdentifyDrawer", "---drawOtherRetrogradeVehicle --- :${event.toString()}, [${FunctionBuildConfig.v2nMainSwitch}, ${FunctionBuildConfig.isNewV2NData}]")
        if (V2NCarTypeCheck.verifyCarType() && FunctionBuildConfig.v2nMainSwitch && FunctionBuildConfig.isNewV2NData) {
            handler.removeMessages(MSG_WHAT_DRAW_OTHER_RETROGRADE_VEHICLE)
            handler.sendMessage(Message.obtain(handler, MSG_WHAT_DRAW_OTHER_RETROGRADE_VEHICLE, event))
        }
    }

+    private fun drawGreenWave(crossSpeed: V2nCrossSpeed) {
+        Log.d("V2NIdentifyDrawer", "---drawGreenWave---: $crossSpeed, [${FunctionBuildConfig.v2nMainSwitch}, ${FunctionBuildConfig.isNewV2NData}]")
+        if (V2NCarTypeCheck.verifyCarType() && FunctionBuildConfig.v2nMainSwitch && FunctionBuildConfig.isNewV2NData) {
+            handler.removeMessages(MSG_WHAT_DRAW_GREEN_WAVE)
+            handler.sendMessage(Message.obtain(handler, MSG_WHAT_DRAW_GREEN_WAVE, crossSpeed))
+        }
+    }
+
    private val nioEventListener = object : IMoGoV2nNioEventListener {
        override fun onV2nNioCongestionEvent(congestion: MessagePad.V2nCongestion) {
            super.onV2nNioCongestionEvent(congestion)
+            V2XBizTrace.onAck(congestion, "onV2nNioCongestionEvent", true)
        }

        override fun onV2nNioCrossoverEvent(event: MessagePad.Event) {
            super.onV2nNioCrossoverEvent(event)
+            V2XBizTrace.onAck(event,"onV2nNioCrossoverEvent", true)
+            //TODO renwj
        }

-        override fun onV2nNioGreenWavePassageEvent(crossSpeed: MessagePad.V2nCrossSpeed) {
+        override fun onV2nNioGreenWavePassageEvent(crossSpeed: V2nCrossSpeed) {
            super.onV2nNioGreenWavePassageEvent(crossSpeed)
+            V2XBizTrace.onAck(crossSpeed, "onV2nNioGreenWavePassageEvent",  true)
+            drawGreenWave(crossSpeed)
        }

        override fun onV2nNioOtherRetrogradeEvent(event: MessagePad.Event) {
            super.onV2nNioOtherRetrogradeEvent(event)
-            Logger.i(TAG, "onV2nNioOtherRetrogradeEvent --> ${event.toString()}")
+            CallerLogger.i(TAG, "onV2nNioOtherRetrogradeEvent --> ${event}")
+            V2XBizTrace.onAck(event, "onV2nNioOtherRetrogradeEvent",  true)
            drawOtherRetrogradeVehicle(event)
        }
    }
--- a/core/function-impl/mogo-core-function-biz/src/main/java/com/mogo/eagle/function/biz/v2x/v2n/utils/V2NUtils.kt
+++ b/core/function-impl/mogo-core-function-biz/src/main/java/com/mogo/eagle/function/biz/v2x/v2n/utils/V2NUtils.kt
@@ -7,8 +7,11 @@ import com.mogo.map.entities.Lane
 import com.zhidaoauto.map.data.road.CenterLine
 import org.locationtech.jts.geom.Coordinate
 import org.locationtech.jts.geom.GeometryFactory
+import org.locationtech.jts.geom.LineString
+import org.locationtech.jts.linearref.LengthIndexedLine
 import java.util.concurrent.CountDownLatch

+
 object V2NUtils {

    private const val TAG = "V2NUtils"
@@ -42,4 +45,25 @@ object V2NUtils {
    }

    data class Decision(val laneId: Int? = null,val total: List<Lane>, val occupy: List<Lane>)
+
+
+    fun generateIntermediatePoints(head: Pair<Double, Double>, tail: Pair<Double, Double>, interval: Double): List<Pair<Double, Double>> {
+        val geometryFactory = GeometryFactory()
+        val start = Coordinate(head.first, head.second)
+        val end = Coordinate(tail.first, tail.second)
+        val line: LineString = geometryFactory.createLineString(arrayOf(start, end))
+        val indexedLine = LengthIndexedLine(line)
+        val lineLength = indexedLine.endIndex
+        val result: MutableList<Coordinate> = ArrayList()
+        var i = 0.0
+        while (i <= lineLength) {
+            val p = indexedLine.extractPoint(i)
+            result.add(p)
+            i += interval
+        }
+        if (result[result.size - 1].distance(end) > 0.0001) {
+            result.add(end)
+        }
+        return result.map { Pair(it.x, it.y) }
+    }
 }