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Merge branch '2.15.0_merge_master' into dev_minibus-d_230425_3.2.0

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This commit is contained in:
zhongchao
2023-05-08 15:27:54 +08:00
parent a8a92a920a 22cf999031
commit 2bc64adb67
97 changed files with 3615 additions and 6757 deletions
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16
core/function-impl/mogo-core-function-datacenter/src/main/java/com/mogo/eagle/core/function/datacenter/obu/MogoObuDcCombineManager.kt
View File

@@ -16,6 +16,7 @@ import com.mogo.eagle.core.function.call.map.CallerMapUIServiceManager
import com.mogo.eagle.core.function.call.obu.*
import com.mogo.eagle.core.function.call.v2x.CallerLimitingVelocityListenerManager
import com.mogo.eagle.core.function.call.v2x.CallerTrafficLightListenerManager
import com.mogo.eagle.core.function.datacenter.obu.drawer.*
import com.mogo.eagle.core.function.datacenter.obu.utils.TrafficDataConvertUtilsNew
import com.mogo.eagle.core.utilcode.mogo.logger.CallerLogger
import com.mogo.eagle.core.utilcode.mogo.logger.scene.SceneConstant.Companion.M_OBU
@@ -324,8 +325,7 @@ class MogoObuDcCombineManager private constructor() : IMoGoObuWarningRsiListener
// 更新数据，模型变色的时候是不是update,如果不是更新，可能导致模型不变色，（add的时候，是否有level高的） TODO
TrafficDataConvertUtilsNew.cvxPtcThreatIndInfo2TrafficData(rsmWarningData)
?.let {
CallerMapUIServiceManager.getMarkerService()
?.updateITrafficThreatLevelInfo(it)
TrafficMarkerDrawer.updateITrafficThreatLevelInfo(it)
}
}
@@ -338,13 +338,11 @@ class MogoObuDcCombineManager private constructor() : IMoGoObuWarningRsiListener
?.let {
// 事件结束，还原交通参与者颜色
it.threatLevel = 0x01
CallerMapUIServiceManager.getMarkerService()
?.updateITrafficThreatLevelInfo(it)
TrafficMarkerDrawer.updateITrafficThreatLevelInfo(it)
}
//删除弱势交通元素
CallerMapUIServiceManager.getMarkerService()
?.removeCvxRvInfoIndInfo(rsmWarningData.participant.ptcId.toString())
TrafficMarkerDrawer.removeCvxRvInfoIndInfo(rsmWarningData.participant.ptcId.toString())
}
}
@@ -363,8 +361,7 @@ class MogoObuDcCombineManager private constructor() : IMoGoObuWarningRsiListener
rsmWarningData
)
?.let {
CallerMapUIServiceManager.getMarkerService()
?.updateITrafficThreatLevelInfo(it)
TrafficMarkerDrawer.updateITrafficThreatLevelInfo(it)
}
if (alertContent.isEmpty() || ttsContent.isEmpty()) {
@@ -381,8 +378,7 @@ class MogoObuDcCombineManager private constructor() : IMoGoObuWarningRsiListener
// 关闭警告红边
CallerHmiManager.dismissWarning(WarningDirectionEnum.ALERT_WARNING_ALL)
//删除弱势交通元素
CallerMapUIServiceManager.getMarkerService()
?.removeCvxRvInfoIndInfo(rsmWarningData.participant.ptcId.toString())
TrafficMarkerDrawer.removeCvxRvInfoIndInfo(rsmWarningData.participant.ptcId.toString())
}
}
}

33
core/function-impl/mogo-core-function-datacenter/src/main/java/com/mogo/eagle/core/function/datacenter/obu/MogoPrivateObuNewManager.kt
View File

@@ -19,6 +19,7 @@ import com.mogo.eagle.core.function.call.map.CallerVisualAngleManager
import com.mogo.eagle.core.function.call.obu.*
import com.mogo.eagle.core.function.call.v2x.CallerLimitingVelocityListenerManager
import com.mogo.eagle.core.function.call.v2x.CallerTrafficLightListenerManager
import com.mogo.eagle.core.function.datacenter.obu.drawer.*
import com.mogo.eagle.core.function.datacenter.obu.utils.TrafficDataConvertUtilsNew
import com.mogo.eagle.core.utilcode.breakpoint.Config
import com.mogo.eagle.core.utilcode.mogo.logger.CallerLogger
@@ -309,8 +310,7 @@ class MogoPrivateObuNewManager private constructor() : OnUpgradeListener {
data.vehBasicsMsg?.let {
TrafficDataConvertUtilsNew.cvxRvInfoIndInfo2TrafficData(it)
?.let { data ->
CallerMapUIServiceManager.getMarkerService()
?.updateITrafficLocationInfo(data)
TrafficMarkerDrawer.updateITrafficLocationInfo(data)
}
}.also {
CallerLogger.e(
@@ -570,8 +570,7 @@ class MogoPrivateObuNewManager private constructor() : OnUpgradeListener {
// 更新数据
TrafficDataConvertUtilsNew.cvxRtiThreatIndInfo2TrafficData(data)
?.let {
CallerMapUIServiceManager.getMarkerService()
?.updateITrafficThreatLevelInfo(it)
TrafficMarkerDrawer.updateITrafficThreatLevelInfo(it)
}
}
@@ -584,8 +583,8 @@ class MogoPrivateObuNewManager private constructor() : OnUpgradeListener {
?.let {
// 事件结束，还原车辆颜色
it.threatLevel = 0x01
CallerMapUIServiceManager.getMarkerService()
?.updateITrafficInfo(it)
TrafficMarkerDrawer.updateITrafficInfo(it)
}
}
}
@@ -641,8 +640,8 @@ class MogoPrivateObuNewManager private constructor() : OnUpgradeListener {
// 更新数据，模型变色的时候是不是update,如果不是更新，可能导致模型不变色，（add的时候，是否有level高的） TODO
TrafficDataConvertUtilsNew.cvxPtcThreatIndInfo2TrafficData(data)
?.let {
CallerMapUIServiceManager.getMarkerService()
?.updateITrafficThreatLevelInfo(it)
TrafficMarkerDrawer.updateITrafficThreatLevelInfo(it)
}
}
@@ -655,13 +654,11 @@ class MogoPrivateObuNewManager private constructor() : OnUpgradeListener {
?.let {
// 事件结束，还原交通参与者颜色
it.threatLevel = 0x01
CallerMapUIServiceManager.getMarkerService()
?.updateITrafficThreatLevelInfo(it)
TrafficMarkerDrawer.updateITrafficThreatLevelInfo(it)
}
//删除弱势交通元素
CallerMapUIServiceManager.getMarkerService()
?.removeCvxRvInfoIndInfo(data.participant.ptcId.toString())
TrafficMarkerDrawer.removeCvxRvInfoIndInfo(data.participant.ptcId.toString())
}
}
@@ -677,8 +674,7 @@ class MogoPrivateObuNewManager private constructor() : OnUpgradeListener {
//更新模型的颜色
TrafficDataConvertUtilsNew.cvxPtcThreatIndInfo2TrafficData(data)
?.let {
CallerMapUIServiceManager.getMarkerService()
?.updateITrafficThreatLevelInfo(it)
TrafficMarkerDrawer.updateITrafficThreatLevelInfo(it)
}
if (alertContent.isEmpty() || ttsContent.isEmpty()) {
@@ -695,8 +691,7 @@ class MogoPrivateObuNewManager private constructor() : OnUpgradeListener {
// 关闭警告红边
CallerHmiManager.dismissWarning(WarningDirectionEnum.ALERT_WARNING_ALL)
//删除弱势交通元素
CallerMapUIServiceManager.getMarkerService()
?.removeCvxRvInfoIndInfo(data.participant.ptcId.toString())
TrafficMarkerDrawer.removeCvxRvInfoIndInfo(data.participant.ptcId.toString())
}
}
}
@@ -953,8 +948,7 @@ class MogoPrivateObuNewManager private constructor() : OnUpgradeListener {
//更新周边车辆进行预警颜色变换，车辆实时移动和变色 ，UUID不需要匹配了
TrafficDataConvertUtilsNew.cvxV2vThreatIndInfo2TrafficData(info)?.let {
CallerMapUIServiceManager.getMarkerService()
?.updateITrafficThreatLevelInfo(it)
TrafficMarkerDrawer.updateITrafficThreatLevelInfo(it)
CallerObuWarningListenerManager.invokeTrackerWarningInfo(it)
}
}
@@ -965,8 +959,7 @@ class MogoPrivateObuNewManager private constructor() : OnUpgradeListener {
//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
CallerMapUIServiceManager.getMarkerService()
?.updateITrafficThreatLevelInfo(it)
TrafficMarkerDrawer.updateITrafficThreatLevelInfo(it)
CallerObuWarningListenerManager.removeTrackerWarningInfo(it)
}
}

10
core/function-impl/mogo-core-function-datacenter/src/main/java/com/mogo/eagle/core/function/datacenter/obu/const/ObuConst.kt Normal file
View File

@@ -0,0 +1,10 @@
package com.mogo.eagle.core.function.datacenter.obu.const
class ObuConst {
companion object {
@JvmStatic
val OBU_MARKER_OWNER = "obu_new_marker_owner"
}
}

239
core/function-impl/mogo-core-function-datacenter/src/main/java/com/mogo/eagle/core/function/datacenter/obu/drawer/TrafficMarkerDrawer.kt Normal file
View File

@@ -0,0 +1,239 @@
package com.mogo.eagle.core.function.datacenter.obu.drawer
import android.annotation.SuppressLint
import android.content.Context
import android.os.Handler
import android.os.Message
import android.text.TextUtils
import com.mogo.commons.AbsMogoApplication
import com.mogo.eagle.core.data.config.FunctionBuildConfig
import com.mogo.eagle.core.data.constants.DataTypes
import com.mogo.eagle.core.data.enums.TrafficTypeEnum
import com.mogo.eagle.core.data.traffic.TrafficData
import com.mogo.eagle.core.data.traffic.threatLevelColor
import com.mogo.eagle.core.function.call.map.*
import com.mogo.eagle.core.function.datacenter.obu.const.*
import com.mogo.eagle.core.utilcode.mogo.logger.CallerLogger
import com.mogo.eagle.core.utilcode.mogo.thread.WorkThreadHandler
import com.mogo.map.overlay.core.Level.MAP_MARKER
import com.mogo.map.overlay.point.*
import java.util.concurrent.ConcurrentHashMap
/**
* 此类用于obu/v2x预警绘制交通元素 2D\3D绘制
* obu:与其进行调试单独展示，与debugview上感知开关相关联
* v2x:绘制云端预警marker，不会做感知控制管理，后续根据注解的方式来控制v2x业务
*/
@SuppressLint("StaticFieldLeak")
object TrafficMarkerDrawer {
private const val TAG = "TrafficMarkerDrawer"
private var mContext: Context? = null
// 动画持续时间
private const val stepTime = 150L
// 维护Obu识别的他车集合
private val mTrafficMap = ConcurrentHashMap<String, TrafficData>()
// 地图内部资源md5缓存，便于资源复用
private val mMarkerCachesResMd5Values = ConcurrentHashMap<String, String>()
// 上一帧数据的缓存，用来做移动动画
private val mMarkersCaches = ConcurrentHashMap<String, Point?>()
// 维护一个线程定时轮询数据进行地图绘制
private val mDrawerHandler: Handler =
object : Handler(WorkThreadHandler.newInstance("other_traffic_drawer").looper) {
override fun handleMessage(msg: Message) {
super.handleMessage(msg)
if (FunctionBuildConfig.debugTrackerProvider == 1) {
drawerTrafficInfo()
}
// 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, 50L)
}
}
init {
mContext = AbsMogoApplication.getApp()
mDrawerHandler.sendEmptyMessageDelayed(1, 0L)
}
/**
* 更新识别数据,V2V预警的时候需要修改车辆颜色
*/
fun updateITrafficInfo(trafficData: TrafficData) {
if (trafficData.uuid != null) {
mTrafficMap[trafficData.uuid!!] = trafficData
}
}
/**
* 更新识别数据位置
*/
fun updateITrafficLocationInfo(trafficData: TrafficData) {
CallerLogger.d(TAG, "updateITrafficLocationInfo trafficData = $trafficData")
CallerLogger.d(TAG,
"trafficData.type = " + trafficData.type + "---trafficData.threatLevel = " + trafficData.threatLevel + "----FunctionBuildConfig.debugTrackerProvider = " + FunctionBuildConfig.debugTrackerProvider)
if (FunctionBuildConfig.debugTrackerProvider != 1) {
return
}
val tempTraffic = mTrafficMap[trafficData.uuid]
if (tempTraffic != null) {
tempTraffic.lat = trafficData.lat
tempTraffic.lon = trafficData.lon
tempTraffic.heading = trafficData.heading
if (trafficData.uuid != null) {
mTrafficMap[trafficData.uuid!!] = tempTraffic
}
} else {
if (trafficData.uuid != null) {
mTrafficMap[trafficData.uuid!!] = trafficData
}
}
}
/**
* 更新识别数据颜色
*/
fun updateITrafficThreatLevelInfo(trafficData: TrafficData) {
CallerLogger.d(TAG,
"trafficData.type = " + trafficData.type + "---trafficData.threatLevel = " + trafficData.threatLevel + "----FunctionBuildConfig.debugTrackerProvider = " + FunctionBuildConfig.debugTrackerProvider)
if (FunctionBuildConfig.debugTrackerProvider != 1) {
return
}
if (!TextUtils.isEmpty(trafficData.uuid)) {
val tempTraffic = mTrafficMap[trafficData.uuid]
if (tempTraffic != null) {
tempTraffic.lat = trafficData.lat
tempTraffic.lon = trafficData.lon
tempTraffic.heading = trafficData.heading
tempTraffic.threatLevel = trafficData.threatLevel
if (trafficData.uuid != null) {
mTrafficMap[trafficData.uuid!!] = tempTraffic
}
} else {
if (trafficData.uuid != null) {
mTrafficMap[trafficData.uuid!!] = trafficData
}
}
}
}
/**
* 移除识别的数据
*/
fun removeCvxRvInfoIndInfo(key: String) {
if (mTrafficMap.containsKey(key)) {
mTrafficMap.remove(key)
mMarkersCaches[key]?.let {
it.delegate?.remove()
}
}
}
/**
* 绘制
*/
private fun drawerTrafficInfo() {
// 数据为空的时候清除所有数据
if (mTrafficMap.isEmpty()) {
mMarkersCaches.forEach { it ->
it.value?.also { CallerMapUIServiceManager.getOverlayManager()?.removePoint(it) }
}
mMarkersCaches.clear()
} else {
// 循环绘制识别的数据
mTrafficMap.forEach {
// 如果数据已经存在 Marker，取出做动画
if (mMarkersCaches[it.key] != null) {
mMarkersCaches[it.key]?.let { marker ->
changeDynamicMarker(marker, it.value)
}
}
// 不存在的添加Marker绘制
else {
drawObuRecognizedDataMarker(it.value)
}
}
}
}
/**
* 绘制单条
*/
private fun drawObuRecognizedDataMarker(trafficData: TrafficData) {
CallerLogger.d(
TAG,
"drawObuRecognizedDataMarker trafficData.type = " + trafficData.type + "---trafficData.threatLevel = " + trafficData.threatLevel
)
val resId: Int = trafficData.type.traffic3DIconId
val resIdVal = resId.toString() + ""
val builder = Point.Options.Builder(DataTypes.TYPE_MARKER_ADAS, MAP_MARKER)
.anchor(0.5f, 0.5f)
.set3DMode(true)
.isUseGps(true)
.controlAngle(true)
.resName(mMarkerCachesResMd5Values[resIdVal])
.icon3DRes(resId)
.rotate(trafficData.heading.toFloat())
.longitude(trafficData.lon)
.latitude(trafficData.lat)
if (trafficData.type != TrafficTypeEnum.TYPE_TRAFFIC_ID_SPECIAL_VEHICLE) {
// 修改颜色
mMarkersCaches[trafficData.uuid]?.also {
CallerMapUIServiceManager.getOverlayManager()?.showOrUpdatePoint(it.option.builder().anchorColor(trafficData.threatLevelColor()).build())
}
}
val options = builder.build()
val point = CallerMapUIServiceManager.getOverlayManager()?.showOrUpdatePoint(options) // val marker = MogoMarkerManager.getInstance(mContext)
// .addMarker(DataTypes.TYPE_MARKER_OBU_DATA, options)
// 缓存3D资源
mMarkerCachesResMd5Values[resIdVal] = options.resName ?: "" // 缓存数据
if (trafficData.uuid != null) {
mMarkersCaches[trafficData.uuid!!] = point
}
}
/**
* 带动画的修改Marker
*/
private fun changeDynamicMarker(
marker: Point,
trafficData: TrafficData
) {
CallerLogger.d(
TAG,
"changeDynamicMarker trafficData.type = " + trafficData.type + "---trafficData.threatLevel = " + trafficData.threatLevel
)
if (trafficData.type != TrafficTypeEnum.TYPE_TRAFFIC_ID_SPECIAL_VEHICLE) {
mMarkersCaches[trafficData.uuid]?.also {
CallerMapUIServiceManager.getOverlayManager()?.showOrUpdatePoint(it.option.builder().anchorColor(trafficData.threatLevelColor()).build())
}
}
try {
marker.delegate?.addDynamicAnchorPosition(
com.mogo.eagle.core.data.map.MogoLatLng(
trafficData.lat,
trafficData.lon
),
trafficData.heading.toFloat(),
stepTime
)
} catch (e: Exception) {
e.printStackTrace()
try {
drawObuRecognizedDataMarker(trafficData)
} catch (e: Exception) {
e.printStackTrace()
}
}
}
}