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Merge branch 'dev_robotaxi-d_240705_6.5.0' of gitlab.zhidaoauto.com:SCA/L4HA/AndroidApp/MoGoEagleEye into dev_robotaxi-d_240705_6.5.0

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aibingbing
2024-07-16 10:12:40 +08:00
parent 6a1b829018 607b48a9d0
commit 0c84dde105
11 changed files with 90 additions and 46 deletions
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26
core/function-impl/mogo-core-function-biz/src/main/java/com/mogo/eagle/function/biz/v2x/v2n/pnc/V2NIdentifyDrawer.kt
View File

@@ -497,19 +497,19 @@ internal object V2NIdentifyDrawer: IEventDismissListener {
}
private fun computeCrossCountBetween(start: Triple<Double, Double, Double>, end: kotlin.Pair<Double, Double>): Int {
val points = V2NUtils.generateIntermediatePoints(kotlin.Pair(start.first, start.second), end, 50.0 * 1e-7)
V2XBizTrace.onAck(points, "computeCrossCountBetween", true)
var crossId = MapDataWrapper.getCrossRoad(start.first, start.second, start.third)?.cross_id
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
// val points = V2NUtils.generateIntermediatePoints(kotlin.Pair(start.first, start.second), end, 50.0 * 1e-7)
// V2XBizTrace.onAck(points, "computeCrossCountBetween", true)
// var crossId = MapDataWrapper.getCrossRoad(start.first, start.second, start.third)?.cross_id
// val angle = start.third
// var count = 0
// 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 1
}
private fun getAlertContent(poiType: String, distance: Double): String {

2
core/function-impl/mogo-core-function-biz/src/main/java/com/mogo/eagle/function/biz/v2x/v2n/scenario/scene/airoad/AiRoadMarker.kt
View File

@@ -115,7 +115,7 @@ class AiRoadMarker {
.longitude(marker.poi_lon)
.latitude(marker.poi_lat)
if (marker.poiType == EventTypeEnumNew.TYPE_SOCKET_ROAD_PEOPLE_CROSS.poiType) {
builder.anchorColor("#D6E1BA9A")
builder.anchorColor("#FFE1BA9A")
}
CallerMapUIServiceManager.getOverlayManager()?.showOrUpdatePoint(builder.build())?.let { p ->
if (!markerIds.contains(markerId)) {

20
core/function-impl/mogo-core-function-datacenter/src/main/java/com/mogo/eagle/core/function/datacenter/autopilot/telematic/TeleMsgHandler.kt
View File

@@ -6,6 +6,8 @@ import androidx.lifecycle.lifecycleScope
import com.google.protobuf.TextFormat
import com.mogo.commons.storage.SharedPrefsMgr
import com.mogo.eagle.core.data.app.AppConfigInfo
import com.mogo.eagle.core.data.autopilot.AutopilotControlParameters
import com.mogo.eagle.core.data.autopilot.AutopilotControlParameters.AutoPilotLine
import com.mogo.eagle.core.data.biz.trafficlight.TrafficLightResult
import com.mogo.eagle.core.data.config.FunctionBuildConfig
import com.mogo.eagle.core.data.config.HmiBuildConfig
@@ -16,6 +18,7 @@ import com.mogo.eagle.core.data.v2x.V2XEvent.RoadEventX
import com.mogo.eagle.core.function.call.autopilot.CallerAutoPilotControlManager
import com.mogo.eagle.core.function.call.autopilot.CallerAutoPilotControlManager.setDemoMode
import com.mogo.eagle.core.function.call.autopilot.CallerAutoPilotControlManager.setIgnoreConditionDraw
import com.mogo.eagle.core.function.call.autopilot.CallerAutoPilotStatusListenerManager
import com.mogo.eagle.core.function.call.autopilot.CallerAutopilotIdentifyListenerManager
import com.mogo.eagle.core.function.call.autopilot.CallerV2nNioEventListenerManager
import com.mogo.eagle.core.function.call.cloud.CallerCloudListenerManager
@@ -66,7 +69,7 @@ class TeleMsgHandler : IMsgHandler {
private var listener: EventListener? = null
override fun handleMsgFromServer(msg: MogoProtocolMsg?, channel: Channel?) {
msg?.let {
msg?.let { it ->
if (it.protocolType == TelematicConstant.V2N_AI_ROAD_DATA_TO_PASSENGER) {
try {
Log.d(TAG, "乘客屏收到司机屏转发云端下发的V2N事件 --- 1 ---")
@@ -84,6 +87,9 @@ class TeleMsgHandler : IMsgHandler {
if (it.protocolType == TelematicConstant.V2N_AI_ROAD_PEOPLE_CROSS) {
runCatching {
CallerAutoPilotStatusListenerManager.updateAutopilotControlParameters(AutopilotControlParameters().also { itx ->
itx.autoPilotLine = AutoPilotLine(10L, "", "","", "", System.currentTimeMillis(), "")
})
Log.d(TAG, "乘客屏收到司机屏转发云端下发的行人/非机动车横穿事件 --- 1 ---")
CallerV2nNioEventListenerManager.invokeV2nNioCrossoverEvent(MessagePad.Event.parseFrom(msg.body))
Log.d(TAG, "乘客屏收到司机屏转发云端下发的行人/非机动车横穿事件 --- 2 ---")
@@ -93,6 +99,9 @@ class TeleMsgHandler : IMsgHandler {
if (it.protocolType == TelematicConstant.V2N_AI_ROAD_GREEN_WAVE) {
runCatching {
Log.d(TAG, "乘客屏收到司机屏转发云端下发的绿波通行 --- 1 ---")
CallerAutoPilotStatusListenerManager.updateAutopilotControlParameters(AutopilotControlParameters().also { itx ->
itx.autoPilotLine = AutoPilotLine(10L, "", "","", "", System.currentTimeMillis(), "")
})
CallerV2nNioEventListenerManager.invokeV2nNioGreenWavePassageEvent(MessagePad.V2nCrossSpeed.parseFrom(msg.body))
Log.d(TAG, "乘客屏收到司机屏转发云端下发的绿波通行 --- 2 ---")
}
@@ -101,6 +110,9 @@ class TeleMsgHandler : IMsgHandler {
if (it.protocolType == TelematicConstant.V2N_AI_ROAD_OTHER_RETROGRADE_VEHICLE) {
runCatching {
Log.d(TAG, "乘客屏收到司机屏转发云端下发的他车逆行 --- 1 ---")
CallerAutoPilotStatusListenerManager.updateAutopilotControlParameters(AutopilotControlParameters().also { itx ->
itx.autoPilotLine = AutoPilotLine(10L, "", "","", "", System.currentTimeMillis(), "")
})
CallerV2nNioEventListenerManager.invokeV2nNioOtherRetrogradeEvent(MessagePad.Event.parseFrom(msg.body))
Log.d(TAG, "乘客屏收到司机屏转发云端下发的他车逆行 --- 2 ---")
}
@@ -108,6 +120,9 @@ class TeleMsgHandler : IMsgHandler {
}
if (it.protocolType == TelematicConstant.V2N_AI_ROAD_SHI_GONG) {
runCatching {
CallerAutoPilotStatusListenerManager.updateAutopilotControlParameters(AutopilotControlParameters().also { itx ->
itx.autoPilotLine = AutoPilotLine(10L, "", "","", "", System.currentTimeMillis(), "")
})
Log.d(TAG, "乘客屏收到司机屏转发云端下发的道路施工 --- 1 ---")
CallerAutopilotIdentifyListenerManager.invokeAutopilotIdentifyDataUpdate(Collections.singletonList(TrackedObject.parseFrom(msg.body)))
Log.d(TAG, "乘客屏收到司机屏转发云端下发的道路施工 --- 2 ---")
@@ -116,6 +131,9 @@ class TeleMsgHandler : IMsgHandler {
}
if (it.protocolType == TelematicConstant.V2N_AI_ROAD_SHI_GU) {
runCatching {
CallerAutoPilotStatusListenerManager.updateAutopilotControlParameters(AutopilotControlParameters().also { itx ->
itx.autoPilotLine = AutoPilotLine(10L, "", "","", "", System.currentTimeMillis(), "")
})
Log.d(TAG, "乘客屏收到司机屏转发云端下发的道路事故 --- 1 ---")
CallerAutopilotIdentifyListenerManager.invokeAutopilotIdentifyDataUpdate(Collections.singletonList(TrackedObject.parseFrom(msg.body)))
Log.d(TAG, "乘客屏收到司机屏转发云端下发的道路事故 --- 2 ---")

2
core/function-impl/mogo-core-function-hmi/src/main/res/drawable/bg_green_wave_driver.xml
View File

@@ -1,6 +1,6 @@
<?xml version="1.0" encoding="utf-8"?>
<shape xmlns:android="http://schemas.android.com/apk/res/android"
android:shape="rectangle">
<corners android:radius="@dimen/dp_16" />
<corners android:radius="@dimen/dp_20" />
<solid android:color="#43D1A6" />
</shape>

2
core/function-impl/mogo-core-function-hmi/src/main/res/drawable/bg_green_wave_passenger.xml
View File

@@ -1,7 +1,7 @@
<?xml version="1.0" encoding="utf-8"?>
<shape xmlns:android="http://schemas.android.com/apk/res/android"
android:shape="rectangle">
<corners android:radius="@dimen/dp_16" />
<corners android:radius="@dimen/dp_20" />
<gradient
android:startColor="#68E0BB"
android:endColor="#b072ECC3"/>

2
core/function-impl/mogo-core-function-hmi/src/main/res/layout/view_green_wave_driver_layout.xml
View File

@@ -25,6 +25,7 @@
android:layout_marginBottom="-5dp"
android:textColor="#43D1AB"
android:textSize="@dimen/sp_34"
android:fontFamily="@font/font_din"
tools:text="56" />
<TextView
@@ -62,6 +63,7 @@
android:layout_marginBottom="@dimen/dp_4"
android:textColor="#ffffff"
android:textSize="@dimen/dp_30"
android:textStyle="bold"
tools:text="建议车速45-60km/h" />
<TextView

2
core/function-impl/mogo-core-function-hmi/src/main/res/layout/view_green_wave_passenger_layout.xml
View File

@@ -25,6 +25,7 @@
android:textSize="@dimen/dp_49"
android:textColor="#0F664B"
android:layout_marginBottom="-5dp"
android:fontFamily="@font/font_din"
tools:text="56"/>
<TextView
@@ -61,6 +62,7 @@
android:textSize="@dimen/dp_33"
android:textColor="#004A35"
android:layout_marginBottom="@dimen/dp_4"
android:textStyle="bold"
tools:text="建议车速45-60km/h" />
<TextView

70
core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/angle/MoGoVisualAngleChangeProvider.kt
View File

@@ -17,6 +17,7 @@ import com.mogo.eagle.core.function.api.map.road.IMoGoMapRoadListener
import com.mogo.eagle.core.function.call.autopilot.*
import com.mogo.eagle.core.function.call.map.*
import com.mogo.eagle.core.utilcode.kotlin.*
import com.mogo.map.MapDataWrapper
import com.zhidaoauto.map.data.road.StopLine
import com.zhidaoauto.map.sdk.open.common.tools.MapTools
import kotlinx.coroutines.*
@@ -34,25 +35,27 @@ class MoGoVisualAngleChangeProvider: IMoGoVisualAngleChangeProvider {
private val listeners by lazy { ConcurrentHashMap<String, ArrayList<OnMoGoVisualAngleSceneChangeListener>>() }
private val triggerLocation = AtomicReference<MogoLocation>()
private val distanceOfCarToStopLine = AtomicReference(0.0)
private val travelled by lazy { AtomicReference(0.0) }
private val prevScene by lazy { AtomicReference<Scene>() }
private val listener = object : IMoGoMapRoadListener {
private val roadId = AtomicReference<String>()
private val triggerRoadId = AtomicReference<String>()
@Volatile
private var inCrossRoad = false
@Volatile
private var hasCrossRoad = false
private val distanceOfCarToStopLine = AtomicReference(0.0)
private val triggerLocation = AtomicReference<MogoLocation>()
private val travelled by lazy { AtomicReference(0.0) }
override fun onRoadIdInfo(roadId: String) {
this.roadId.set(roadId)
Log.d(TAG, "-- onRoadIdInfo --: prev: ${this.triggerRoadId.get()} -> curr: $roadId")
val loc = CallerChassisLocationGCJ02ListenerManager.getChassisLocationGCJ02()
val loc = CallerChassisLocationWGS84ListenerManager.getChassisLocationWGS84()
var triggerClose = false
val distance = distanceOfCarToStopLine.get() + 5
var distance = distanceOfCarToStopLine.get()
if (hasCrossRoad && distance > 0) {
distance += 3.0
val prev = triggerLocation.get()
if (prev != null) {
travelled.set(MapTools.distance(loc.longitude, loc.latitude, prev.longitude, prev.latitude) + travelled.get())
@@ -60,19 +63,34 @@ class MoGoVisualAngleChangeProvider: IMoGoVisualAngleChangeProvider {
}
val oldRoadId = triggerRoadId.get()
Log.d(TAG, "-- onRoadIdInfo --: travelled --: ${travelled.get()}")
if ((travelled.get() > distance) && oldRoadId != roadId) {
distanceOfCarToStopLine.set(0.0)
hasCrossRoad = false
triggerRoadId.set(null)
travelled.set(0.0)
triggerLocation.set(null)
Log.d(TAG, "-- onRoadIdInfo --: trigger close --")
triggerClose = true
if ((travelled.get() > distance)) {
val cross = MapDataWrapper.getCrossRoad(loc.longitude, loc.latitude, loc.heading)
Log.d(TAG, "-- onRoadIdInfo --: cross --: ${cross?.status}")
if (cross?.status == 1) {
if (!inCrossRoad) {
inCrossRoad = true
}
} else {
if (inCrossRoad) {
triggerClose = true
}
if (!triggerClose && roadId != "0" && oldRoadId != null && oldRoadId != roadId) {
triggerClose = true
}
}
if (triggerClose) {
Log.d(TAG, "-- onRoadIdInfo --: trigger close --")
distanceOfCarToStopLine.set(0.0)
hasCrossRoad = false
triggerRoadId.set(null)
travelled.set(0.0)
triggerLocation.set(null)
inCrossRoad = false
changeScene(Default())
}
}
}
if (triggerClose) {
changeScene(Default())
}
}
@@ -80,11 +98,16 @@ class MoGoVisualAngleChangeProvider: IMoGoVisualAngleChangeProvider {
Log.d(TAG, "-- onStopLineInfo --: ${info.distance}")
if (!hasCrossRoad && info.distance <= 80.0) {
hasCrossRoad = true
triggerRoadId.set(this.roadId.get())
distanceOfCarToStopLine.set(info.distance)
triggerLocation.set(CallerChassisLocationGCJ02ListenerManager.getChassisLocationGCJ02())
changeScene(CrossRoad(2))
}
if (hasCrossRoad && triggerRoadId.get() == null && info.distance <= 20) {
val roadId = this.roadId.get()
if (roadId != null && roadId != "0") {
triggerRoadId.set(this.roadId.get())
distanceOfCarToStopLine.set(info.distance)
triggerLocation.set(CallerChassisLocationWGS84ListenerManager.getChassisLocationWGS84())
}
}
}
}
@@ -110,9 +133,6 @@ class MoGoVisualAngleChangeProvider: IMoGoVisualAngleChangeProvider {
CallerMapRoadListenerManager.addListener(TAG, listener)
}
@Volatile
private var hasCrossRoad = false
private var scope: CoroutineScope = acquireScope()
private fun acquireScope(): CoroutineScope {

4
core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/view/TravelRealityView.kt
View File

@@ -367,6 +367,7 @@ class TravelRealityView @JvmOverloads constructor(
private fun advanceRequest() {
isRoadTrackReq = true
Log.d(TAG, "请求获取智慧导致轨迹!")
// 获取智慧道路轨迹
travelNetWorkModel.getCityRoadTrack(onSuccess = {
Log.d(TAG, "Road track result is:$it")
@@ -661,6 +662,7 @@ class TravelRealityView @JvmOverloads constructor(
}
private fun reqCrossLive(ipList: MutableList<String>) {
Log.d(TAG, "请求获取缩略图!")
ndeRoadCameraNetWorkModel.batchRequestCrossLive(ipList, onSuccess = {
val liveOptionsList = ArrayList<MarkerOptions>()
var markerOption: MarkerOptions
@@ -1076,6 +1078,7 @@ class TravelRealityView @JvmOverloads constructor(
reqData = pointList
handleGlobalPath(pointList)
Log.d(TAG, "请求获取路口设备!")
// 获取路口设备
travelNetWorkModel.getCrossDevice(onSuccess = {
Log.d(TAG, "Cross device result is:$it")
@@ -1084,6 +1087,7 @@ class TravelRealityView @JvmOverloads constructor(
}, onError = {
Log.d(TAG, "Cross device error is:$it")
})
Log.d(TAG, "请求获取道路事件!")
// 获取道路事件
val cityCode = CallerMapUIServiceManager.getCityCode() ?: "0734"
travelNetWorkModel.getEventsWithTrajRequest(