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[2.13.2] 修改rsi可能得0，导致的空白；修改滤波的显示和速度单位

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This commit is contained in:
lixiaopeng
2023-01-12 18:32:21 +08:00
parent df66532641
commit 11971cd606
7 changed files with 220 additions and 184 deletions
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4
core/function-impl/mogo-core-function-obu-mogo/src/main/java/com/mogo/eagle/core/function/obu/mogo/MogoObuDcCombineManager.kt
View File

@@ -547,7 +547,7 @@ class MogoObuDcCombineManager private constructor() : IMoGoObuDcCombineListener
1 -> { //闯红灯 V2I_RLVW_VIOLATION_TYPE_RUNNING_RED_LIGHT 一个红灯周期只显示一次
if (!isShowRunRedLight) {
isShowRunRedLight = true
CallerHmiManager.disableWarningV2X(2.toString())
CallerHmiManager.disableWarningV2X(1667.toString())
ttsContent = EventTypeEnumNew.getWarningTts(EventTypeEnumNew.TYPE_USECASE_ID_IVP_RED.poiType)
alertContent = EventTypeEnumNew.getWarningContent(EventTypeEnumNew.TYPE_USECASE_ID_IVP_RED.poiType)
CallerLogger.d("${M_OBU}${TAG}","MogoObuDcCombineManager changeTrafficLightStatus 闯红灯 --------> ttsContent = $ttsContent ---alertContent = $alertContent ")
@@ -573,7 +573,7 @@ class MogoObuDcCombineManager private constructor() : IMoGoObuDcCombineListener
2 -> { //绿波通行引导 V2I_RLVW_VIOLATION_TYPE_NO_VIOLATION 一个绿灯周期只显示一次
if (!isShowGreenWave) {
isShowGreenWave = true
CallerHmiManager.disableWarningV2X(1.toString())
CallerHmiManager.disableWarningV2X(1666.toString())
CallerLogger.d(
"${M_OBU}${TAG}",
"MogoObuDcCombineManager 绿波通行引导 --------> speed_min = ${currentLight.suggestMinSpeed} --speed_max = ${currentLight.suggestMaxSpeed}")

1
core/function-impl/mogo-core-function-obu-mogo/src/main/java/com/mogo/eagle/core/function/obu/mogo/MogoPrivateObuManager.kt
View File

@@ -692,6 +692,7 @@ class MogoPrivateObuManager private constructor() {
ObuConstants.STATUS.DELETE -> {
// 移除顶部弹窗
CallerHmiManager.disableWarningTrafficLight()
Log.e("liyz", "old obu delete ------>")
// CallerHmiManager.disableWarningV2X(appId.toString())
}
}

392
core/function-impl/mogo-core-function-obu-mogo/src/main/java/com/mogo/eagle/core/function/obu/mogo/MogoPrivateObuNewManager.kt
View File

@@ -171,44 +171,44 @@ class MogoPrivateObuNewManager private constructor() {
override fun onMogoObuRvWarning(data: MogoObuRvWarningData) {
super.onMogoObuRvWarning(data)
// if (HmiBuildConfig.isShowObuV2vView) { //TODO 临时需要关闭v2v开关
mObuStatusInfo.obuRvStatus = true
CallerObuListenerManager.invokeListener(mObuStatusInfo)
if (!data.warningMsg.warningData.isNullOrEmpty()) {
// 更新数据，远车数据，之前要匹配uuid
TrafficDataConvertUtilsNew.cvxRvInfoIndInfo2TrafficData(data)?.let {
CallerMapUIServiceManager.getMarkerService()?.updateITrafficLocationInfo(it)
}
mObuStatusInfo.obuRvStatus = true
CallerObuListenerManager.invokeListener(mObuStatusInfo)
if (!data.warningMsg.warningData.isNullOrEmpty()) {
// 更新数据，远车数据，之前要匹配uuid
TrafficDataConvertUtilsNew.cvxRvInfoIndInfo2TrafficData(data)?.let {
CallerMapUIServiceManager.getMarkerService()?.updateITrafficLocationInfo(it)
}
CallerLogger.d("$M_OBU${MogoObuConst.TAG_MOGO_NEW_OBU}", data.toString())
data.let {
//预警信息,预警类型 threat_level 2、3
var status = data.status
data.vehBasicsMsg?.let {
//预警方位
val direction = getMessageDirection(data.vehBasicsMsg.targetPosition)
//处理预警类型
var appId = ""
var level = -1
data.warningMsg?.let {
if (data.warningMsg.warningData != null && data.warningMsg.warningData.size > 0) {
level = data.warningMsg.warningData[0].warningLevel
appId = data.warningMsg.warningData[0].warningType.toString()
}
CallerLogger.d("$M_OBU${MogoObuConst.TAG_MOGO_NEW_OBU}", data.toString())
data.let {
//预警信息,预警类型 threat_level 2、3
var status = data.status
data.vehBasicsMsg?.let {
//预警方位
val direction = getMessageDirection(data.vehBasicsMsg.targetPosition)
//处理预警类型
var appId = ""
var level = -1
data.warningMsg?.let {
if (data.warningMsg.warningData != null && data.warningMsg.warningData.size > 0) {
level = data.warningMsg.warningData[0].warningLevel
appId = data.warningMsg.warningData[0].warningType.toString()
}
}
CallerLogger.d(
"$M_OBU${MogoObuConst.TAG_MOGO_NEW_OBU}",
"onMogoObuRvWarning target_classification = ${
getMessageDirection(data.vehBasicsMsg.targetPosition)
} --- direction = $direction --- appId = $appId ---level = $level -- status = $status"
)
//拼凑数据
if (appId != null) {
handleSdkObu(appId, direction, status, level, data)
}
CallerLogger.d(
"$M_OBU${MogoObuConst.TAG_MOGO_NEW_OBU}",
"onMogoObuRvWarning target_classification = ${
getMessageDirection(data.vehBasicsMsg.targetPosition)
} --- direction = $direction --- appId = $appId ---level = $level -- status = $status"
)
//拼凑数据
if (appId != null) {
handleSdkObu(appId, direction, status, level, data)
}
}
}
}
// }
}
@@ -217,42 +217,43 @@ class MogoPrivateObuNewManager private constructor() {
*/
override fun onMogoObuSpatWarning(data: MogoObuSpatWarningData) {
super.onMogoObuSpatWarning(data)
if (data?.lights != null && data.lights.isNotEmpty()
) {
if (data != null) {
// if (HmiBuildConfig.isShowObuV2iView) {
handlerTrafficLight(
data.warningType,
data.status,
data.lights
)
handlerTrafficLight(
data.warningType,
data.status,
data.lights
)
// }
}
}
/**
* RSI预警信息 CvxRtiThreatIndInfo（交通标志预警（前方限速、前方学校等等），交通事件预警（前方拥堵、前方积水等等））
* RSI预警信息 onMogoObuRsiWarning（交通标志预警（前方限速、前方学校等等），交通事件预警（前方拥堵、前方积水等等））
*/
override fun onMogoObuRsiWarning(data: MogoObuRsiWarningData) {
super.onMogoObuRsiWarning(data)
// if (HmiBuildConfig.isShowObuV2iView) {
if (data != null && data.warningMsg != null && data.warningMsg.size > 0) {
var alertContent = ""
var ttsContent = ""
var appId = data.warningMsg[0].sceneType.toString()
val status = data.status
val level = data.warningMsg[0].warningLevel
val direction = getMessageDirection(data.warningMsg[0].targetPosition)
CallerLogger.d(
"$M_OBU${MogoObuConst.TAG_MOGO_NEW_OBU}",
"onMogoObuRsiWarning appId = $appId --status = $status --level = $level -- eventSerialNum = ${data.warningMsg[0].eventSerialNum} ---signSerialNum = ${data.warningMsg[0].signSerialNum} --- direction = $direction -- targetPosition = ${data.warningMsg[0].targetPosition}"
)
if (data != null && data.warningMsg != null && data.warningMsg.size > 0) {
var alertContent = ""
var ttsContent = ""
var appId = data.warningMsg[0].sceneType.toString()
val status = data.status
val level = data.warningMsg[0].warningLevel
val direction = getMessageDirection(data.warningMsg[0].targetPosition)
CallerLogger.d(
"$M_OBU${MogoObuConst.TAG_MOGO_NEW_OBU}",
"onMogoObuRsiWarning appId = $appId --status = $status --level = $level -- eventSerialNum = ${data.warningMsg[0].eventSerialNum} ---signSerialNum = ${data.warningMsg[0].signSerialNum} --- direction = $direction -- targetPosition = ${data.warningMsg[0].targetPosition}"
)
if (appId != "0") {
when (appId) {
// 道路危险情况预警
MogoObuConstants.RSI_SCENE_TYPE.HLW.toString() -> {
when (data.warningMsg[0].eventSerialNum) {
MogoObuConstants.RTE.RTI_TYPE_BREAKDOWN -> {//车辆故障
appId = EventTypeEnumNew.TYPE_USECASE_ID_BREAKDOWN_WARNING.poiType
appId =
EventTypeEnumNew.TYPE_USECASE_ID_BREAKDOWN_WARNING.poiType
}
MogoObuConstants.RTE.RTI_TYPE_ROAD_WATER -> { //道路积水
appId = EventTypeEnumNew.FOURS_PONDING.poiType
@@ -337,7 +338,8 @@ class MogoPrivateObuNewManager private constructor() {
appId = EventTypeEnumNew.TYPE_USECASE_ID_ROAD_NO_TOOTING.poiType
}
MogoObuConstants.RTS.RTI_TYPE_SPEED_LIMIT -> { //限速
appId = EventTypeEnumNew.TYPE_USECASE_ID_ROAD_SPEED_LIMIT.poiType
appId =
EventTypeEnumNew.TYPE_USECASE_ID_ROAD_SPEED_LIMIT.poiType
}
// MogoObuConstants.RTS.RTI_TYPE_GO_STRAIGHT_TURN_RIGHT -> { //直行或右转
// appId =
@@ -400,7 +402,11 @@ class MogoPrivateObuNewManager private constructor() {
CallerLogger.d(
"$M_OBU${MogoObuConst.TAG_MOGO_NEW_OBU}",
"new onMogoObuRsiWarning appId = $appId --- ttsContent = $ttsContent --alertContent = $alertContent -- eventSerialNum = ${data.warningMsg[0].eventSerialNum} ---signSerialNum = ${data.warningMsg[0].signSerialNum} ---direction = ${direction.direction} --distance = ${Math.round(data.warningMsg[0].distance)} ---eventRadius = ${Math.round(data.warningMsg[0].eventRadius)} --speedMaxLimit = ${data.warningMsg[0].speedMaxLimit.toInt()}"
"new onMogoObuRsiWarning appId = $appId --- ttsContent = $ttsContent --alertContent = $alertContent -- eventSerialNum = ${data.warningMsg[0].eventSerialNum} ---signSerialNum = ${data.warningMsg[0].signSerialNum} ---direction = ${direction.direction} --distance = ${
Math.round(
data.warningMsg[0].distance
)
} ---eventRadius = ${Math.round(data.warningMsg[0].eventRadius)} --speedMaxLimit = ${data.warningMsg[0].speedMaxLimit.toInt()}"
)
when (status) {
MogoObuConstants.STATUS.ADD -> { // 添加
@@ -456,6 +462,7 @@ class MogoPrivateObuNewManager private constructor() {
}
}
}
}
// }
}
@@ -473,99 +480,105 @@ class MogoPrivateObuNewManager private constructor() {
) {
super.onMogoObuRsmWarning(data)
// if (HmiBuildConfig.isShowObuV2iView) {
if (HmiBuildConfig.isShowObuWeaknessTrafficView) {
// 交通参与者类型 0x0:未知 UNKNOWN | 1机动车 2:非机动车 NON_MOTOR | 3:行人 PEDESTRIAN 4:obu
if (data != null && data.participant != null) {
var v2xType = ""
if (data.participant.ptcType == 1) { //机动车
v2xType =
EventTypeEnumNew.TYPE_USECASE_ID_VRUCW_MOTOR_VEHICLES.poiType
} else if (data.participant.ptcType == 2) { //非机动车
v2xType =
EventTypeEnumNew.TYPE_USECASE_ID_VRUCW_NOT_MOTOR_VEHICLES.poiType
} else if (data.participant.ptcType == 3) { //行人
v2xType =
EventTypeEnumNew.TYPE_USECASE_ID_VRUCW_PERSON.poiType
} else { //未知
v2xType = EventTypeEnumNew.TYPE_ERROR.poiType
}
val ttsContent = EventTypeEnumNew.getWarningTts(v2xType)
val alertContent =
EventTypeEnumNew.getWarningContent(v2xType)
var level = -1
val direction = getMessageDirection(data.participant.targetPosition)
if (data.warningMsg != null && data.warningMsg.warningData != null && data.warningMsg.warningData.size > 0) {
level = data.warningMsg.warningData[0].warningLevel //默认是1个
CallerLogger.d("$M_OBU${MogoObuConst.TAG_MOGO_NEW_OBU}",
"onMogoObuRsmWarning ---status---> ${data.status} ---data.warningMsg.warningData[0].status = ${data.warningMsg.warningData[0].status} ---v2xType = $v2xType ---alertContent = $alertContent ---ttsContent = $ttsContent "
)
if (HmiBuildConfig.isShowObuWeaknessTrafficView) {
// 交通参与者类型 0x0:未知 UNKNOWN | 1机动车 2:非机动车 NON_MOTOR | 3:行人 PEDESTRIAN 4:obu
if (data != null && data.participant != null) {
var v2xType = ""
if (data.participant.ptcType == 1) { //机动车
v2xType =
EventTypeEnumNew.TYPE_USECASE_ID_VRUCW_MOTOR_VEHICLES.poiType
} else if (data.participant.ptcType == 2) { //非机动车
v2xType =
EventTypeEnumNew.TYPE_USECASE_ID_VRUCW_NOT_MOTOR_VEHICLES.poiType
} else if (data.participant.ptcType == 3) { //行人
v2xType =
EventTypeEnumNew.TYPE_USECASE_ID_VRUCW_PERSON.poiType
} else { //未知
v2xType = EventTypeEnumNew.TYPE_ERROR.poiType
}
val ttsContent = EventTypeEnumNew.getWarningTts(v2xType)
val alertContent =
EventTypeEnumNew.getWarningContent(v2xType)
var level = -1
val direction = getMessageDirection(data.participant.targetPosition)
if (data.warningMsg != null && data.warningMsg.warningData != null && data.warningMsg.warningData.size > 0) {
level = data.warningMsg.warningData[0].warningLevel //默认是1个
CallerLogger.d(
"$M_OBU${MogoObuConst.TAG_MOGO_NEW_OBU}",
"onMogoObuRsmWarning ---status---> ${data.status} ---data.warningMsg.warningData[0].status = ${data.warningMsg.warningData[0].status} ---v2xType = $v2xType ---alertContent = $alertContent ---ttsContent = $ttsContent "
)
when (data.warningMsg.warningData[0].status) {
MogoObuConstants.STATUS.ADD -> { // 添加
when (data.warningMsg.warningData[0].status) {
MogoObuConstants.STATUS.ADD -> { // 添加
// if (level == 2 || level == 3) { //不考虑level
//显示警告红边
CallerHmiManager.showWarning(direction)
CallerMsgBoxManager.saveMsgBox(
MsgBoxBean(
MsgBoxType.V2X,
V2XMsg(
v2xType,
alertContent,
ttsContent
//显示警告红边
CallerHmiManager.showWarning(direction)
CallerMsgBoxManager.saveMsgBox(
MsgBoxBean(
MsgBoxType.V2X,
V2XMsg(
v2xType,
alertContent,
ttsContent
)
).apply {
sourceType = DataSourceType.OBU
}
)
CallerHmiManager.warningV2X(
v2xType,
alertContent,
ttsContent,// 只有第一次才tts，防止更新的时候不断的提醒
(v2xType + direction.direction),//使用当前事件类型+方向记录tag，当发生变化的时候关闭当前弹出新的
object : IMoGoWarningStatusListener {
override fun onDismiss() {
// 关闭警告红边
CallerHmiManager.showWarning(
WarningDirectionEnum.ALERT_WARNING_NON
)
).apply {
sourceType = DataSourceType.OBU
}
)
CallerHmiManager.warningV2X(
v2xType,
alertContent,
ttsContent,// 只有第一次才tts，防止更新的时候不断的提醒
(v2xType + direction.direction),//使用当前事件类型+方向记录tag，当发生变化的时候关闭当前弹出新的
object : IMoGoWarningStatusListener {
override fun onDismiss() {
// 关闭警告红边
CallerHmiManager.showWarning(
WarningDirectionEnum.ALERT_WARNING_NON
)
}
},
true,
5000L
)
},
true,
5000L
)
// }
// 更新数据
TrafficDataConvertUtilsNew.cvxPtcThreatIndInfo2TrafficData(data)?.let {
CallerLogger.d("$M_OBU${MogoObuConst.TAG_MOGO_NEW_OBU}", "add cvxPtcThreatIndInfo2TrafficData ---it---> $it")
// 更新数据
TrafficDataConvertUtilsNew.cvxPtcThreatIndInfo2TrafficData(data)
?.let {
CallerLogger.d(
"$M_OBU${MogoObuConst.TAG_MOGO_NEW_OBU}",
"add cvxPtcThreatIndInfo2TrafficData ---it---> $it"
)
CallerMapUIServiceManager.getMarkerService()
?.updateITrafficThreatLevelInfo(it)
}
}
}
MogoObuConstants.STATUS.UPDATE -> {// 更新
}
MogoObuConstants.STATUS.UPDATE -> {// 更新
}
// 删除
MogoObuConstants.STATUS.DELETE -> {
// 关闭警告红边
CallerHmiManager.showWarning(WarningDirectionEnum.ALERT_WARNING_NON)
// 更新数据 TODO 删除原来的，改变颜色，删除marker。不影响别的模型添加
TrafficDataConvertUtilsNew.cvxPtcThreatIndInfo2TrafficData(data)
?.let {
// 事件结束，还原交通参与者颜色
it.threatLevel = 0x01
CallerMapUIServiceManager.getMarkerService()
?.updateITrafficThreatLevelInfo(it)
}
// 删除
MogoObuConstants.STATUS.DELETE -> {
// 关闭警告红边
CallerHmiManager.showWarning(WarningDirectionEnum.ALERT_WARNING_NON)
// 更新数据 TODO 删除原来的，改变颜色，删除marker。不影响别的模型添加
TrafficDataConvertUtilsNew.cvxPtcThreatIndInfo2TrafficData(data)
?.let {
// 事件结束，还原交通参与者颜色
it.threatLevel = 0x01
CallerMapUIServiceManager.getMarkerService()
?.updateITrafficThreatLevelInfo(it)
}
//删除弱势交通元素
CallerMapUIServiceManager.getMarkerService()?.removeCvxRvInfoIndInfo(data.participant.ptcId.toString())
}
//删除弱势交通元素
CallerMapUIServiceManager.getMarkerService()
?.removeCvxRvInfoIndInfo(data.participant.ptcId.toString())
}
}
}
}
}
// }
}
@@ -574,16 +587,20 @@ class MogoPrivateObuNewManager private constructor() {
*/
override fun onMogoObuMapMath(data: MogoObuMapMathData?) {
super.onMogoObuMapMath(data)
if(isShowObuLimitSpeedView) {
if (isShowObuLimitSpeedView) {
if (data != null) {
CallerLogger.d(
"$M_OBU${MogoObuConst.TAG_MOGO_NEW_OBU}",
"onMogoObuMapMath = ${data.status} --speedMaxLimit = ${Math.round((data.speedMaxLimit*3.6))}")
"onMogoObuMapMath = ${data.status} --speedMaxLimit = ${Math.round((data.speedMaxLimit * 3.6))}"
)
Log.d("liyz", "obu onMogoObuMapMath status = ${data.status} --speedMaxLimit = ${Math.round((data.speedMaxLimit * 3.6))}")
when (data.status) {
MogoObuConstants.STATUS.ADD -> { // 添加
UiThreadHandler.post {
if(data.speedMaxLimit > 0) {
CallerHmiManager.showLimitingVelocity(Math.round((data.speedMaxLimit*3.6)).toInt())
if (data.speedMaxLimit > 0) {
CallerHmiManager.showLimitingVelocity(
Math.round((data.speedMaxLimit * 3.6)).toInt()
)
}
}
}
@@ -602,41 +619,41 @@ class MogoPrivateObuNewManager private constructor() {
}
}
}
}
/**
* 获取消息的方位 车辆相关
*/
private fun getMessageDirection(targetClassification: Int): WarningDirectionEnum {
/**
* 获取消息的方位 车辆相关
*/
private fun getMessageDirection(targetClassification: Int): WarningDirectionEnum {
// CallerLogger.d("$M_OBU${TAG_MOGO_NEW_OBU}", "预警红边：预警方向->$targetClassification")
return when (targetClassification) {
MogoObuConstants.VEH_TARGET_POSITION.AHEAD_IN_LANE,
MogoObuConstants.VEH_TARGET_POSITION.ONCOMING_IN_LANE -> WarningDirectionEnum.ALERT_WARNING_TOP //正前方
return when (targetClassification) {
MogoObuConstants.VEH_TARGET_POSITION.AHEAD_IN_LANE,
MogoObuConstants.VEH_TARGET_POSITION.ONCOMING_IN_LANE -> WarningDirectionEnum.ALERT_WARNING_TOP //正前方
MogoObuConstants.VEH_TARGET_POSITION.BEHEAD_IN_LANE -> WarningDirectionEnum.ALERT_WARNING_BOTTOM //正后方
MogoObuConstants.VEH_TARGET_POSITION.BEHEAD_IN_LANE -> WarningDirectionEnum.ALERT_WARNING_BOTTOM //正后方
MogoObuConstants.VEH_TARGET_POSITION.INTERSECTION_RIGHT -> WarningDirectionEnum.ALERT_WARNING_RIGHT //正右方
MogoObuConstants.VEH_TARGET_POSITION.INTERSECTION_RIGHT -> WarningDirectionEnum.ALERT_WARNING_RIGHT //正右方
MogoObuConstants.VEH_TARGET_POSITION.INTERSECTION_LEFT -> WarningDirectionEnum.ALERT_WARNING_LEFT //正左方
MogoObuConstants.VEH_TARGET_POSITION.INTERSECTION_LEFT -> WarningDirectionEnum.ALERT_WARNING_LEFT //正左方
MogoObuConstants.VEH_TARGET_POSITION.AHEAD_LEFT, MogoObuConstants.VEH_TARGET_POSITION.AHEAD_FAR_LEFT,
MogoObuConstants.VEH_TARGET_POSITION.ONCOMING_LEFT, MogoObuConstants.VEH_TARGET_POSITION.ONCOMING_FAR_LEFT
-> WarningDirectionEnum.ALERT_WARNING_TOP_LEFT //左前方
MogoObuConstants.VEH_TARGET_POSITION.AHEAD_LEFT, MogoObuConstants.VEH_TARGET_POSITION.AHEAD_FAR_LEFT,
MogoObuConstants.VEH_TARGET_POSITION.ONCOMING_LEFT, MogoObuConstants.VEH_TARGET_POSITION.ONCOMING_FAR_LEFT
-> WarningDirectionEnum.ALERT_WARNING_TOP_LEFT //左前方
MogoObuConstants.VEH_TARGET_POSITION.AHEAD_RIGHT, MogoObuConstants.VEH_TARGET_POSITION.AHEAD_FAR_RIGHT,
MogoObuConstants.VEH_TARGET_POSITION.ONCOMING_RIGHT, MogoObuConstants.VEH_TARGET_POSITION.ONCOMING_FAT_RIGHT
-> WarningDirectionEnum.ALERT_WARNING_TOP_RIGHT //右前方
MogoObuConstants.VEH_TARGET_POSITION.AHEAD_RIGHT, MogoObuConstants.VEH_TARGET_POSITION.AHEAD_FAR_RIGHT,
MogoObuConstants.VEH_TARGET_POSITION.ONCOMING_RIGHT, MogoObuConstants.VEH_TARGET_POSITION.ONCOMING_FAT_RIGHT
-> WarningDirectionEnum.ALERT_WARNING_TOP_RIGHT //右前方
MogoObuConstants.VEH_TARGET_POSITION.BEHEAD_LEFT, MogoObuConstants.VEH_TARGET_POSITION.BEHEAD_FAR_LEFT,
-> WarningDirectionEnum.ALERT_WARNING_BOTTOM_LEFT //左后方
MogoObuConstants.VEH_TARGET_POSITION.BEHEAD_LEFT, MogoObuConstants.VEH_TARGET_POSITION.BEHEAD_FAR_LEFT,
-> WarningDirectionEnum.ALERT_WARNING_BOTTOM_LEFT //左后方
MogoObuConstants.VEH_TARGET_POSITION.BEHEAD_RIGHT, MogoObuConstants.VEH_TARGET_POSITION.BEHEAD_FAR_RIGHT,
-> WarningDirectionEnum.ALERT_WARNING_BOTTOM_RIGHT //右后方
MogoObuConstants.VEH_TARGET_POSITION.BEHEAD_RIGHT, MogoObuConstants.VEH_TARGET_POSITION.BEHEAD_FAR_RIGHT,
-> WarningDirectionEnum.ALERT_WARNING_BOTTOM_RIGHT //右后方
MogoObuConstants.VEH_TARGET_POSITION.UNCLASSIFIED -> WarningDirectionEnum.ALERT_WARNING_NON //未知
else -> WarningDirectionEnum.ALERT_WARNING_ALL
}
MogoObuConstants.VEH_TARGET_POSITION.UNCLASSIFIED -> WarningDirectionEnum.ALERT_WARNING_NON //未知
else -> WarningDirectionEnum.ALERT_WARNING_ALL
}
}
/**
* 构造对应展示数据和场景 根据obu的场景，add change delete确定是否展示
@@ -783,7 +800,7 @@ class MogoPrivateObuNewManager private constructor() {
// 关闭警告红边
CallerHmiManager.showWarning(WarningDirectionEnum.ALERT_WARNING_NON)
// 移除顶部弹窗
// CallerHmiManager.disableWarningV2X((appId + direction.direction))
// CallerHmiManager.disableWarningV2X((appId + direction.direction))
//更新周边车辆进行预警颜色变换，车辆实时移动和变色
TrafficDataConvertUtilsNew.cvxV2vThreatIndInfo2TrafficData(info)?.let {
it.threatLevel = 0x01
@@ -807,7 +824,9 @@ class MogoPrivateObuNewManager private constructor() {
MogoObuConstants.STATUS.ADD,
MogoObuConstants.STATUS.UPDATE
-> {
changeTrafficLightStatus(appId, lights)
if (lights != null && lights.isNotEmpty()) {
changeTrafficLightStatus(appId, lights)
}
}
// 删除
MogoObuConstants.STATUS.DELETE -> {
@@ -843,16 +862,21 @@ class MogoPrivateObuNewManager private constructor() {
)
// 闯红灯预警，绿波通行和闯红灯是互斥的
when (appId) {
0x0 -> {//不可用 V2I_RLVW_VIOLATION_TYPE_UNAVAILABLE 无效
0 -> {//不可用 V2I_RLVW_VIOLATION_TYPE_UNAVAILABLE 无效
}
0x1 -> {//闯红灯 V2I_RLVW_VIOLATION_TYPE_RUNNING_RED_LIGHT 一个红灯周期只显示一次
1 -> {//闯红灯 V2I_RLVW_VIOLATION_TYPE_RUNNING_RED_LIGHT 一个红灯周期只显示一次
if (!isShowRunRedLight) {
isShowRunRedLight = true
CallerHmiManager.disableWarningV2X(0x2.toString())
CallerLogger.d("$M_OBU${MogoObuConst.TAG_MOGO_NEW_OBU}","changeTrafficLightStatus 闯红灯 --------> ")
ttsContent = EventTypeEnumNew.getWarningTts(EventTypeEnumNew.TYPE_USECASE_ID_IVP_RED.poiType)
alertContent = EventTypeEnumNew.getWarningContent(EventTypeEnumNew.TYPE_USECASE_ID_IVP_RED.poiType)
CallerHmiManager.disableWarningV2X(1667.toString())
CallerLogger.d(
"$M_OBU${MogoObuConst.TAG_MOGO_NEW_OBU}",
"changeTrafficLightStatus 闯红灯 --------> "
)
ttsContent =
EventTypeEnumNew.getWarningTts(EventTypeEnumNew.TYPE_USECASE_ID_IVP_RED.poiType)
alertContent =
EventTypeEnumNew.getWarningContent(EventTypeEnumNew.TYPE_USECASE_ID_IVP_RED.poiType)
CallerMsgBoxManager.saveMsgBox(
MsgBoxBean(
MsgBoxType.V2X,
@@ -867,31 +891,39 @@ class MogoPrivateObuNewManager private constructor() {
)
CallerHmiManager.warningV2X(
EventTypeEnumNew.TYPE_USECASE_ID_IVP_RED.poiType, alertContent, ttsContent,// 只有第一次才tts，防止更新的时候不断的提醒
EventTypeEnumNew.TYPE_USECASE_ID_IVP_RED.poiType, null, true, 5000L)
EventTypeEnumNew.TYPE_USECASE_ID_IVP_RED.poiType,
alertContent,
ttsContent,// 只有第一次才tts，防止更新的时候不断的提醒
EventTypeEnumNew.TYPE_USECASE_ID_IVP_RED.poiType,
null,
true,
5000L
)
}
}
0x2 -> { //绿波通行引导 V2I_RLVW_VIOLATION_TYPE_NO_VIOLATION 一个绿灯周期只显示一次 100m的时候
2 -> { //绿波通行引导 V2I_RLVW_VIOLATION_TYPE_NO_VIOLATION 一个绿灯周期只显示一次 100m的时候
if (!isShowGreenWave) {
isShowGreenWave = true
CallerHmiManager.disableWarningV2X(0x1.toString())
CallerHmiManager.disableWarningV2X(1666.toString())
CallerLogger.d(
"$M_OBU${MogoObuConst.TAG_MOGO_NEW_OBU}",
"new changeTrafficLightStatus speed_min = ${currentLight.suggestMinSpeed} --speed_max = ${currentLight.suggestMaxSpeed} --TYPE_USECASE_ID_IVP_GREEN ---alertContent = $alertContent ---ttsContent = $ttsContent"
)
val adviceSpeed =
"${currentLight.suggestMinSpeed} - ${currentLight.suggestMaxSpeed}"
"${Math.round(currentLight.suggestMinSpeed*3.6)} - ${Math.round(currentLight.suggestMaxSpeed*3.6)}"
val adviceSpeedTts =
"${currentLight.suggestMinSpeed}到${currentLight.suggestMaxSpeed}"
"${Math.round(currentLight.suggestMinSpeed*3.6)} 到 ${Math.round(currentLight.suggestMaxSpeed*3.6)}"
ttsContent =
String.format(
EventTypeEnumNew.getWarningTts(appId.toString()),
EventTypeEnumNew.getWarningTts(EventTypeEnumNew.TYPE_USECASE_ID_IVP_GREEN.poiType),
adviceSpeedTts
)
alertContent =
String.format(
EventTypeEnumNew.getWarningContent(appId.toString()),
EventTypeEnumNew.getWarningContent(EventTypeEnumNew.TYPE_USECASE_ID_IVP_GREEN.poiType),
adviceSpeed
)
@@ -927,7 +959,7 @@ class MogoPrivateObuNewManager private constructor() {
when (currentLight.light) {
// 灯光不可用
0 -> {
// CallerHmiManager.showWarningTrafficLight(0, 3)
// CallerHmiManager.showWarningTrafficLight(0, 3)
CallerObuTrafficLightListenerManager.invokeObuTrafficLight(0)
}
// 红灯
@@ -937,7 +969,7 @@ class MogoPrivateObuNewManager private constructor() {
isRedLight = true
}
isGreenLight = false
// CallerHmiManager.showWarningTrafficLight(1, 3)
// CallerHmiManager.showWarningTrafficLight(1, 3)
CallerObuTrafficLightListenerManager.invokeObuTrafficLight(1)
val red = currentLight.countDown.toInt()
CallerHmiManager.changeCountdownRed(red)
@@ -950,7 +982,7 @@ class MogoPrivateObuNewManager private constructor() {
isGreenLight = true
}
isRedLight = false
// CallerHmiManager.showWarningTrafficLight(3, 3)
// CallerHmiManager.showWarningTrafficLight(3, 3)
CallerObuTrafficLightListenerManager.invokeObuTrafficLight(3)
val green = currentLight.countDown.toInt()
CallerHmiManager.changeCountdownGreen(green)
@@ -959,10 +991,10 @@ class MogoPrivateObuNewManager private constructor() {
// 黄灯
7, 8 -> {
CallerHmiManager.disableWarningV2X(appId.toString())
// CallerHmiManager.showWarningTrafficLight(2, 3)
// CallerHmiManager.showWarningTrafficLight(2, 3)
CallerObuTrafficLightListenerManager.invokeObuTrafficLight(2)
val yellow = currentLight.countDown.toInt()
CallerHmiManager.changeCountdownYellow(yellow)
}
}
}
}

1
core/function-impl/mogo-core-function-v2x/src/main/java/com/mogo/eagle/core/function/v2x/speedlimit/SpeedLimitDataManager.java
View File

@@ -58,6 +58,7 @@ public class SpeedLimitDataManager implements IMogoCarLocationChangedListener2 {
int speedLimit = MogoMapUIController.getInstance().getLimitSpeed(mLocation.getLongitude(), mLocation.getLatitude(), mLocation.getBearing());
UiThreadHandler.post(() -> {
if (speedLimit > 0) {
Log.d("liyz", "SpeedLimitDataManager map getSpeedLimit speedLimit = " + speedLimit);
CallerHmiManager.INSTANCE.showLimitingVelocity(speedLimit);
CallLimitingVelocityListenerManager.INSTANCE.invokeOnLimitingVelocityChange(speedLimit);
}

3
core/function-impl/mogo-core-function-v2x/src/main/java/com/mogo/eagle/core/function/v2x/trafficlight/core/TrafficLightDispatcher.kt
View File

@@ -57,6 +57,7 @@ class TrafficLightDispatcher : IMoGoAutopilotIdentifyListener, IMoGoTrafficLight
* @param trafficLights 感知红绿灯
*/
override fun onAutopilotPerceptionTrafficLight(trafficLights: TrafficLightOuterClass.TrafficLights?) {
Log.d("liyz", "onAutopilotPerceptionTrafficLight hasObuLightStatus = $hasObuLightStatus ---hasAiLightStatus = $hasAiLightStatus")
if (!hasObuLightStatus) {
if (!hasAiLightStatus) {
trafficLights?.let { it ->
@@ -72,6 +73,7 @@ class TrafficLightDispatcher : IMoGoAutopilotIdentifyListener, IMoGoTrafficLight
}
if (light == null) {
//隐藏红绿灯显示
Log.e("liyz", "onAutopilotPerceptionTrafficLight delete ------>")
TrafficLightHMIManager.INSTANCE.hideTrafficLight()
} else {
when (light.state) {
@@ -138,7 +140,6 @@ class TrafficLightDispatcher : IMoGoAutopilotIdentifyListener, IMoGoTrafficLight
override fun onObuTrafficLight(light: Int) {
super.onObuTrafficLight(light)
hasObuLightStatus = true
Log.d("liyz", "onObuTrafficLight light = $light")
CallerHmiManager.showWarningTrafficLight(light, 3)
}