[2.13.2-v2x] add new func of road event from telemetics

2022-12-19 18:11:57 +08:00
parent 00ba93371e
commit 2842782f82
11 changed files with 201 additions and 94 deletions
--- a/core/function-impl/mogo-core-function-v2x/src/main/java/com/mogo/eagle/core/function/v2x/events/V2XEventManager.kt
+++ b/core/function-impl/mogo-core-function-v2x/src/main/java/com/mogo/eagle/core/function/v2x/events/V2XEventManager.kt
@@ -444,56 +444,20 @@ object V2XEventManager : IMoGoMapLocationListener, IMoGoTokenCallback, IV2XCallb
                handleWarningTargetEvent(event.data)
            }
            is V2XEvent.RoadAI -> {
-                handleRoadMarkerEvent(event.data.toRoadMarker)
+                handleRoadMarkerEvent(event.data.toRoadMarker())
            }
        }
    }

-    private val RW_PB.toRoadMarker: V2XMarkerCardResult
-        get() = V2XMarkerCardResult().also { l1 ->
-            this.roadwork?.polygonList?.takeIf { it.isNotEmpty() }?.also { old ->
-                l1.extras = HashMap<String, List<Pair<Double, Double>>>().also { extra ->
-                    extra["polygon"] = old.map { d ->
-                        Pair(d.lon, d.lat)
-                    }
-
-                    extra["gps_location"] = listOf(
-                        Pair(
-                            this.roadwork?.center?.point?.lon ?: 0.0,
-                            this.roadwork?.center?.point?.lat ?: 0.0
-                        )
-                    )
-                }
-            }
-            l1.exploreWay = ArrayList<V2XMarkerExploreWay>().also { l2 ->
-                l2.add(V2XMarkerExploreWay().also { l3 ->
-                    l3.poiType = this.roadwork?.poiType?.toString()
-                    l3.generateTime = this.roadwork?.detectTime ?: 0L
-                    l3.location = V2XMarkerLocation().also { l4 ->
-                        val p = CoordinateUtils.transformWgsToGcj(
-                            this.roadwork?.center?.point?.lat ?: 0.0,
-                            this.roadwork?.center?.point?.lon ?: 0.0
-                        )
-                        l4.lon = p[0]
-                        l4.lat = p[1]
-                        l4.angle = this.roadwork?.center?.road?.bearing?.toDouble() ?: 0.0
-                    }
-                })
-            }
-
-            AiRoadMarker.receive(
-                Marker(
-                    this.roadwork?.center?.point?.lat ?: 0.0,
-                    this.roadwork?.center?.point?.lon ?: 0.0,
-                    this.roadwork?.center?.road?.bearing?.toDouble() ?: 0.0,
-                    null,
-                    null,
-                    null
-                )
-            )
-        }
-
    @SuppressLint("NewApi")
+    @ChainLog(
+        linkChainLog = CHAIN_LINK_LOG_CLOUD_V2N,
+        linkCode = CHAIN_LINK_CLOUD,
+        endpoint = TracingConstants.Endpoint.PAD,
+        nodeAliasCode = CHAIN_ALIAS_CODE_CLOUD_V2N,
+        paramIndexes = [0],
+        clientPkFileName = "sn"
+    )
    override fun onAutopilotIdentifyPlanningObj(planningObjects: List<MessagePad.PlanningObject>?) {
        super.onAutopilotIdentifyPlanningObj(planningObjects)
        planningObjects?.let {
@@ -501,12 +465,18 @@ object V2XEventManager : IMoGoMapLocationListener, IMoGoTokenCallback, IV2XCallb
                val first = it.stream()
                    .filter { planningObj: MessagePad.PlanningObject -> planningObj.type >= 1000 }
                    .findFirst()
-                if(first.isPresent){
-                    when(first.get().type){
+                if (first.isPresent) {
+                    when (first.get().type) {
 //                        1004 -> { //V2N_RSM,静止事件，包括异常停车、异常静止障碍物
-//
 //                        }
                        1005 -> { //V2N_RSI,施工事件，包括锥桶或者挡板围城的施工场景，是个多边形包围区域
+                            val trackedObj =
+                                CallerMapIdentifyManager.getIdentifyObj(first.get().uuid.toString())
+                            trackedObj?.let { t ->
+                                handleRoadMarkerEvent(t.toRoadMarker())
+                            }
+                        }
+                        1007 -> { //三角牌

                        }
                    }
--- a/core/function-impl/mogo-core-function-v2x/src/main/java/com/mogo/eagle/core/function/v2x/events/utils/EntityUtils.kt
+++ b/core/function-impl/mogo-core-function-v2x/src/main/java/com/mogo/eagle/core/function/v2x/events/utils/EntityUtils.kt
@@ -1,55 +1,132 @@
 package com.mogo.eagle.core.function.v2x.events.utils

+import androidx.core.util.Pair
+import com.mogo.cloud.commons.utils.CoordinateUtils
+import com.mogo.eagle.core.data.enums.EventTypeEnum
 import com.mogo.eagle.core.data.map.entity.MarkerExploreWay
 import com.mogo.eagle.core.data.map.entity.MarkerLocation
 import com.mogo.eagle.core.data.map.entity.MarkerUserInfo
-import com.mogo.v2x.data.MarkerExploreWayItem
-import com.mogo.v2x.data.V2XMarkerExploreWay
-import com.mogo.v2x.data.V2XMarkerLocation
-import com.mogo.v2x.data.V2XMarkerUserInfo
+import com.mogo.eagle.core.function.v2x.events.scenario.scene.airoad.AiRoadMarker
+import com.mogo.v2x.data.*
+import mogo.telematics.pad.MessagePad
+import roadwork.Road


-fun V2XMarkerLocation?.toMarkerLocation(): MarkerLocation? = if (this == null) null else MarkerLocation().also {
-    it.lon = this.lon
-    it.lat = this.lat
-    it.address = this.address
-    it.angle = this.angle
-}
+fun V2XMarkerLocation?.toMarkerLocation(): MarkerLocation? =
+    if (this == null) null else MarkerLocation().also {
+        it.lon = this.lon
+        it.lat = this.lat
+        it.address = this.address
+        it.angle = this.angle
+    }

-fun MarkerExploreWayItem?.toMarkerExploreWayItem(): com.mogo.eagle.core.data.map.entity.MarkerExploreWayItem? = if (this == null) null else com.mogo.eagle.core.data.map.entity.MarkerExploreWayItem().also {
-    it.illegalCount = this.illegalCount
-    it.content = this.content
-    it.url = this.url
-    it.thumbnail = this.thumbnail
-}
+fun MarkerExploreWayItem?.toMarkerExploreWayItem(): com.mogo.eagle.core.data.map.entity.MarkerExploreWayItem? =
+    if (this == null) null else com.mogo.eagle.core.data.map.entity.MarkerExploreWayItem().also {
+        it.illegalCount = this.illegalCount
+        it.content = this.content
+        it.url = this.url
+        it.thumbnail = this.thumbnail
+    }

-fun V2XMarkerUserInfo?.toMarkerUserInfo(): MarkerUserInfo? = if (this == null) null else MarkerUserInfo().also {
-    it.safeLabelType = this.safeLabelType
-    it.safeLabel = this.safeLabel
-    it.lastActiveweekAvgscore = this.lastActiveweekAvgscore
-    it.gender = this.gender
-    it.userHead = this.userHead
-    it.userName = this.userName
-    it.setAge(this.age)
-}
+fun V2XMarkerUserInfo?.toMarkerUserInfo(): MarkerUserInfo? =
+    if (this == null) null else MarkerUserInfo().also {
+        it.safeLabelType = this.safeLabelType
+        it.safeLabel = this.safeLabel
+        it.lastActiveweekAvgscore = this.lastActiveweekAvgscore
+        it.gender = this.gender
+        it.userHead = this.userHead
+        it.userName = this.userName
+        it.setAge(this.age)
+    }

-fun V2XMarkerExploreWay.toMarkExploreWay(extras: Map<String, Any>? = null): MarkerExploreWay = MarkerExploreWay().also {
-    it.items = this.items?.map { itx -> itx.toMarkerExploreWayItem() }
-    it.userInfo = this.userInfo?.toMarkerUserInfo()
-    it.distance = this.distance
-    it.cityName = this.cityName
-    it.setGenerateTime(this.generateTime)
-    it.infoId = this.infoId
-    it.setFileType(this.fileType)
-    it.setDirection(this.direction)
-    it.location = this.location?.toMarkerLocation()
-    it.sn = this.sn
-    it.canLive = this.canLive != "0"
-    it.poiType = this.poiType
-    it.type = this.type
-    it.infoCheckNode = this.infoCheckNode
-    it.isFabulous = this.isFabulous
-    it.uploadType = this.uploadType
-    it.isCanLive = this.canLive != "0"
-    it.extras = extras
-}
+fun V2XMarkerExploreWay.toMarkExploreWay(extras: Map<String, Any>? = null): MarkerExploreWay =
+    MarkerExploreWay().also {
+        it.items = this.items?.map { itx -> itx.toMarkerExploreWayItem() }
+        it.userInfo = this.userInfo?.toMarkerUserInfo()
+        it.distance = this.distance
+        it.cityName = this.cityName
+        it.setGenerateTime(this.generateTime)
+        it.infoId = this.infoId
+        it.setFileType(this.fileType)
+        it.setDirection(this.direction)
+        it.location = this.location?.toMarkerLocation()
+        it.sn = this.sn
+        it.canLive = this.canLive != "0"
+        it.poiType = this.poiType
+        it.type = this.type
+        it.infoCheckNode = this.infoCheckNode
+        it.isFabulous = this.isFabulous
+        it.uploadType = this.uploadType
+        it.isCanLive = this.canLive != "0"
+        it.extras = extras
+    }
+
+fun Road.RW_PB.toRoadMarker(): V2XMarkerCardResult =
+    V2XMarkerCardResult().also { l1 ->
+        this.roadwork?.polygonList?.takeIf { it.isNotEmpty() }?.also { old ->
+            l1.extras = HashMap<String, List<Pair<Double, Double>>>().also { extra ->
+                extra["polygon"] = old.map { d ->
+                    Pair(d.lon, d.lat)
+                }
+
+                extra["gps_location"] = listOf(
+                    Pair(
+                        this.roadwork?.center?.point?.lon ?: 0.0,
+                        this.roadwork?.center?.point?.lat ?: 0.0
+                    )
+                )
+            }
+        }
+        l1.exploreWay = ArrayList<V2XMarkerExploreWay>().also { l2 ->
+            l2.add(V2XMarkerExploreWay().also { l3 ->
+                l3.poiType = this.roadwork?.poiType?.toString()
+                l3.generateTime = this.roadwork?.detectTime ?: 0L
+                l3.location = V2XMarkerLocation().also { l4 ->
+                    val p = CoordinateUtils.transformWgsToGcj(
+                        this.roadwork?.center?.point?.lat ?: 0.0,
+                        this.roadwork?.center?.point?.lon ?: 0.0
+                    )
+                    l4.lon = p[0]
+                    l4.lat = p[1]
+                    l4.angle = this.roadwork?.center?.road?.bearing?.toDouble() ?: 0.0
+                }
+            })
+        }
+
+        AiRoadMarker.receive(
+            AiRoadMarker.Marker(
+                this.roadwork?.center?.point?.lat ?: 0.0,
+                this.roadwork?.center?.point?.lon ?: 0.0,
+                this.roadwork?.center?.road?.bearing?.toDouble() ?: 0.0,
+                null,
+                null,
+                null
+            )
+        )
+    }
+
+fun MessagePad.TrackedObject.toRoadMarker(): V2XMarkerCardResult =
+    V2XMarkerCardResult().also { l1 ->
+        this.polygonList?.takeIf { it.isNotEmpty() }?.also { old ->
+            l1.extras = HashMap<String, List<Pair<Double, Double>>>().also { extra ->
+                extra["polygon"] = old.map { d -> Pair(d.longitude, d.latitude) }
+                extra["gps_location"] = listOf(Pair(this.longitude, this.latitude))
+            }
+        }
+        l1.exploreWay = ArrayList<V2XMarkerExploreWay>().also { l2 ->
+            l2.add(V2XMarkerExploreWay().also { l3 ->
+                l3.poiType = EventTypeEnum.AI_ROAD_WORK.poiType
+                l3.generateTime = 0L
+                l3.location = V2XMarkerLocation().also { l4 ->
+                    val p = CoordinateUtils.transformWgsToGcj(this.latitude, this.longitude)
+                    l4.lon = p[0]
+                    l4.lat = p[1]
+                    l4.angle = this.heading
+                }
+            })
+        }
+
+        AiRoadMarker.receive(
+            AiRoadMarker.Marker(this.latitude, this.longitude, this.heading, null, null, null)
+        )
+    }