[3.4.0-map-sdk] merge 6.1.0

2023-09-25 09:55:35 +08:00
parent 62e87dcf86 a5e09f5596
commit 30fdb81087
11 changed files with 94 additions and 72 deletions
--- a/core/function-impl/mogo-core-function-datacenter/src/main/java/com/mogo/eagle/core/function/datacenter/autopilot/adapter/MoGoAdasListenerImpl.kt
+++ b/core/function-impl/mogo-core-function-datacenter/src/main/java/com/mogo/eagle/core/function/datacenter/autopilot/adapter/MoGoAdasListenerImpl.kt
@@ -1,6 +1,5 @@
 package com.mogo.eagle.core.function.datacenter.autopilot.adapter

-import android.util.Log
 import bag_manager.BagManagerOuterClass
 import chassis.ChassisStatesOuterClass
 import chassis.VehicleStateOuterClass
@@ -164,9 +163,6 @@ class MoGoAdasListenerImpl : OnAdasListener {
        vehicleState: VehicleStateOuterClass.VehicleState?
    ) {
        if (vehicleState != null) {
-            Log.i(
-                "xfk",
-                "底盘 onVehicleState 刹车=${vehicleState.brake}")
            //转向灯数据
            CallerChassisLamplightListenerManager.invokeAutopilotLightSwitchData(vehicleState.light)
            //刹车灯数据
@@ -256,9 +252,6 @@ class MoGoAdasListenerImpl : OnAdasListener {
                CallerChassisThrottleStateListenerManager.invokeAutopilotThrottle(it.throttleResponsePosition)
            }
            chassisStates.brakeSystemStates?.let {
-                Log.i(
-                    "xfk",
-                    "底盘 onVehicleState 刹车=${it.brakePedalResponsePosition}")
                //刹车
                CallerChassisBrakeStateListenerManager.invokeAutopilotBrake(it.brakePedalResponsePosition)
            }
--- a/core/function-impl/mogo-core-function-datacenter/src/main/java/com/mogo/eagle/core/function/datacenter/obu/MogoObuDcCombineManager.kt
+++ b/core/function-impl/mogo-core-function-datacenter/src/main/java/com/mogo/eagle/core/function/datacenter/obu/MogoObuDcCombineManager.kt
@@ -1,6 +1,7 @@
 package com.mogo.eagle.core.function.datacenter.obu

 import android.content.Context
+import com.mogo.eagle.core.data.config.FunctionBuildConfig
 import com.mogo.eagle.core.data.config.HmiBuildConfig
 import com.mogo.eagle.core.data.enums.CommunicationType
 import com.mogo.eagle.core.data.enums.DataSourceType
@@ -62,25 +63,25 @@ class MogoObuDcCombineManager private constructor() : IMoGoObuWarningRsiListener
    }

    override fun onMoGoObuRsiWarning(rsiWarningData: ObuScene.RsiWarningData) {
-        if (HmiBuildConfig.isShowObuV2iView) {
+        if (FunctionBuildConfig.v2xMainSwitch && HmiBuildConfig.isShowObuV2iView) {
            onMogoObuDcRsiWarning(rsiWarningData)
        }
    }

    override fun onMoGoObuRsmWarning(rsmWarningData: ObuScene.RsmWarningData) {
-        if (HmiBuildConfig.isShowObuV2iView) {
+        if (FunctionBuildConfig.v2xMainSwitch && HmiBuildConfig.isShowObuV2iView) {
            onMogoObuDcRsmWarning(rsmWarningData)
        }
    }

    override fun onMoGoObuSpatWarning(spatWarningData: ObuScene.SpatWarningData) {
-        if (HmiBuildConfig.isShowObuV2iView) {
+        if (FunctionBuildConfig.v2xMainSwitch && HmiBuildConfig.isShowObuV2iView) {
            onMogoObuDcSpatWarning(spatWarningData)
        }
    }

    override fun onMoGoObuMapMath(mapMatchData: ObuScene.MapMatchData) {
-        if (HmiBuildConfig.isShowObuV2iView) {
+        if (FunctionBuildConfig.v2xMainSwitch && HmiBuildConfig.isShowObuV2iView) {
            onMogoObuMapMath(mapMatchData)
        }
    }
@@ -561,7 +562,7 @@ class MogoObuDcCombineManager private constructor() : IMoGoObuWarningRsiListener

            }
            1 -> { //闯红灯 V2I_RLVW_VIOLATION_TYPE_RUNNING_RED_LIGHT 一个红灯周期只显示一次
-                if(HmiBuildConfig.isShowObuV2iView){
+                if(FunctionBuildConfig.v2xMainSwitch && HmiBuildConfig.isShowObuV2iView){
                    if (HmiBuildConfig.isShowRunRedLightView) {
                        if (!isShowRunRedLight) {
                            isShowRunRedLight = true
@@ -594,7 +595,7 @@ class MogoObuDcCombineManager private constructor() : IMoGoObuWarningRsiListener
            }

            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 (HmiBuildConfig.isShowGreenWaveView) {
+                if (FunctionBuildConfig.v2xMainSwitch && FunctionBuildConfig.v2nMainSwitch && HmiBuildConfig.isShowGreenWaveView) {
                    if (!isShowGreenWave) {
                        isShowGreenWave = true
                        CallerLogger.d(
@@ -602,14 +603,14 @@ class MogoObuDcCombineManager private constructor() : IMoGoObuWarningRsiListener
                            "MogoObuDcCombineManager 绿波通行引导 --------> speed_min = ${currentLight.suggestMinSpeed} --speed_max = ${currentLight.suggestMaxSpeed}"
                        )
                        var minSpeedTemp = Math.round(currentLight.suggestMinSpeed * 3.6)
-                        var maxSpeedTemp = Math.round(currentLight.suggestMaxSpeed * 3.6)
+                        val maxSpeedTemp = Math.round(currentLight.suggestMaxSpeed * 3.6)
                        if (minSpeedTemp == maxSpeedTemp) {
                            minSpeedTemp -= 5
                        }

                        val maxSpeed = currentLight.suggestMaxSpeed
                        if (maxSpeed > 0) {
-                            var currentSpeed =
+                            val currentSpeed =
                                CallerChassisLocationGCJ02ListenerManager.getChassisLocationGCJ02().gnssSpeed.toDouble()
                            if (currentSpeed > 0) {
                                ttsContentNew =
--- a/core/function-impl/mogo-core-function-datacenter/src/main/java/com/mogo/eagle/core/function/datacenter/obu/MogoPrivateObuNewManager.kt
+++ b/core/function-impl/mogo-core-function-datacenter/src/main/java/com/mogo/eagle/core/function/datacenter/obu/MogoPrivateObuNewManager.kt
@@ -346,7 +346,7 @@ class MogoPrivateObuNewManager private constructor() : OnUpgradeListener {
         * 红绿灯预警信息 CvxIvpThreatIndInfo
         */
        override fun onObuSpatWarning(data: ObuScene.SpatWarningData) {
-            if (HmiBuildConfig.isShowObuV2iView) {
+            if (FunctionBuildConfig.v2xMainSwitch && HmiBuildConfig.isShowObuV2iView) {
                handlerTrafficLight(
                    data.warningType,
                    data.status,
@@ -359,7 +359,7 @@ class MogoPrivateObuNewManager private constructor() : OnUpgradeListener {
         * 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 onObuRsiWarning(data: ObuScene.RsiWarningData) {
-            if (HmiBuildConfig.isShowObuV2iView) {
+            if (FunctionBuildConfig.v2xMainSwitch && HmiBuildConfig.isShowObuV2iView) {
                if (data.warningMsgList != null && data.warningMsgList.size > 0) {
                    var alertContent = ""
                    var ttsContent = ""
@@ -632,7 +632,7 @@ class MogoPrivateObuNewManager private constructor() : OnUpgradeListener {
                "$M_OBU${MogoObuConst.TAG_MOGO_NEW_OBU}",
                "onMogoObuRsmWarning ------> ${data?.toString()}"
            )
-            if (HmiBuildConfig.isShowObuV2iView) {
+            if (FunctionBuildConfig.v2xMainSwitch && HmiBuildConfig.isShowObuV2iView) {
                if (HmiBuildConfig.isShowObuWeaknessTrafficView) {
                    // 交通参与者类型 0x0:未知 UNKNOWN | 1机动车  2:非机动车 NON_MOTOR | 3:行人 PEDESTRIAN 4:obu
                    if (data != null && data.participant != null) {
@@ -725,7 +725,7 @@ class MogoPrivateObuNewManager private constructor() : OnUpgradeListener {
         * 地图匹配 是OBU算法输出地图匹配结果，主车匹配道路哪条路或者哪条车道
         */
        override fun onObuMapMath(data: ObuScene.MapMatchData?) {
-            if (HmiBuildConfig.isShowObuV2iView) {
+            if (FunctionBuildConfig.v2xMainSwitch && HmiBuildConfig.isShowObuV2iView) {
                if (data != null) {
                    CallerLogger.d(
                        "$M_OBU${MogoObuConst.TAG_MOGO_NEW_OBU}",
@@ -1042,7 +1042,7 @@ class MogoPrivateObuNewManager private constructor() : OnUpgradeListener {

            }
            1 -> {//闯红灯 V2I_RLVW_VIOLATION_TYPE_RUNNING_RED_LIGHT 一个红灯周期只显示一次
-                if(HmiBuildConfig.isShowObuV2iView){
+                if(FunctionBuildConfig.v2xMainSwitch && HmiBuildConfig.isShowObuV2iView){
                    if (HmiBuildConfig.isShowRunRedLightView) {
                        if (!isShowRunRedLight) {
                            isShowRunRedLight = true
--- a/core/function-impl/mogo-core-function-devatools/src/main/java/com/zhjt/mogo_core_function_devatools/badcase/biz/adapter/BagManagerListAdapter.kt
+++ b/core/function-impl/mogo-core-function-devatools/src/main/java/com/zhjt/mogo_core_function_devatools/badcase/biz/adapter/BagManagerListAdapter.kt
@@ -96,10 +96,12 @@ class BagManagerListAdapter: RecyclerView.Adapter<RecyclerView.ViewHolder>() {
                            //已上报
                            holder.tvBagReportStatus.text = "已上报"
                            holder.tvBagReportStatus.setBackgroundResource(R.drawable.bag_reported_button_bg)
+                            holder.tvBagReportStatus.isClickable = false
                        }else{
                            //未上报
                            holder.tvBagReportStatus.text = "上报"
                            holder.tvBagReportStatus.setBackgroundResource(R.drawable.bag_report_button_bg)
+                            holder.tvBagReportStatus.isClickable = true
                            holder.tvBagReportStatus.setOnClickListener {
                                bagClickListener?.uploadBI(bagInfoEntity)
                            }
@@ -127,11 +129,15 @@ class BagManagerListAdapter: RecyclerView.Adapter<RecyclerView.ViewHolder>() {
                    holder.tvBagSize.text = "${bagSize}G"

                    //时间
-                    bagInfoEntity.timestamp?.let { time->
-                        val hour = time.substring(8,10)
-                        val min = time.substring(10,12)
-                        val second = time.substring(12,14)
-                        holder.tvBagTime.text = "${hour}:${min}:${second}"
+                    bagInfoEntity.timestamp.let { time->
+                        try {
+                            val hour = time.substring(8,10)
+                            val min = time.substring(10,12)
+                            val second = time.substring(12,14)
+                            holder.tvBagTime.text = "${hour}:${min}:${second}"
+                        }catch (e: Exception){
+                            e.printStackTrace()
+                        }
                    }
                }
            }
--- a/core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/hmi/ui/setting/DebugSettingView.kt
+++ b/core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/hmi/ui/setting/DebugSettingView.kt
@@ -856,7 +856,22 @@ internal class DebugSettingView @JvmOverloads constructor(

        //TODO
        tbIsDrawPath.setOnCheckedChangeListener { _, isChecked ->
+            ToastUtils.showShort("功能开发中")
+        }

+        if(FunctionBuildConfig.isDrawPointCloudData){
+            //如果点云效果是打开的，则自车光圈也跟随打开
+            tbCarAperture.isChecked = true
+        }else{
+            tbCarAperture.isChecked = FunctionBuildConfig.isDisplayAnimEnable
+        }
+        tbCarAperture.setOnCheckedChangeListener { compoundButton, isChecked ->
+            CallerMapUIServiceManager.getMapUIController()?.setDisplayAnimEnable(isChecked)
+            CallerSopSettingManager.invokeCarApertureListener(isChecked)
+            if(!compoundButton.isPressed){
+                return@setOnCheckedChangeListener
+            }
+            FunctionBuildConfig.isDisplayAnimEnable = isChecked
        }

        //初始化点云数据渲染情况
@@ -866,6 +881,12 @@ internal class DebugSettingView @JvmOverloads constructor(
            if (!compoundButton.isPressed) {
                return@setOnCheckedChangeListener
            }
+            //打开点云效果时，如果自车光圈是关闭状态，则自动打开自车光圈（点云是跟随光圈的 默认没有光圈就不显示点云的）
+            if(isChecked && !FunctionBuildConfig.isDisplayAnimEnable){
+                tbCarAperture.isChecked = true
+            }else{
+                tbCarAperture.isChecked = FunctionBuildConfig.isDisplayAnimEnable
+            }
            CallerAutoPilotControlManager.setIsDrawPointCloud(isChecked)
            FunctionBuildConfig.isDrawPointCloudData = isChecked
            CallerMapUIServiceManager.getMapUIController()?.setIsDrawPointCloud(isChecked)
@@ -2240,4 +2261,11 @@ internal class DebugSettingView @JvmOverloads constructor(
        tbDrawPointCloudData.isChecked = status
    }

+    /**
+     * 自车光圈
+     */
+    override fun onCarApertureClickEvent(status: Boolean) {
+        tbCarAperture.isChecked = status
+    }
+
 }
--- a/core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/hmi/ui/setting/SOPSettingView.kt
+++ b/core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/hmi/ui/setting/SOPSettingView.kt
@@ -390,6 +390,7 @@ internal class SOPSettingView @JvmOverloads constructor(
        }
        scCarAperture.setOnCheckedChangeListener { compoundButton, isChecked ->
            CallerMapUIServiceManager.getMapUIController()?.setDisplayAnimEnable(isChecked)
+            CallerSopSettingManager.invokeCarApertureListener(isChecked)
            hmiAction("SOP 是否展示自车光圈，",isChecked)
            Log.i(TAG,"SOP 是否展示自车光圈，$isChecked")
            if(!compoundButton.isPressed){
@@ -768,6 +769,10 @@ internal class SOPSettingView @JvmOverloads constructor(
        scDrawPointCloudData.isChecked = status
    }

+    override fun onCarApertureClickEvent(status: Boolean) {
+        scCarAperture.isChecked = status
+    }
+
    /**
     * 工控机配置参数获取
     */
--- a/core/function-impl/mogo-core-function-hmi/src/main/res/layout/view_debug_setting.xml
+++ b/core/function-impl/mogo-core-function-hmi/src/main/res/layout/view_debug_setting.xml
@@ -1775,6 +1775,22 @@
                        app:layout_constraintRight_toRightOf="@id/tbIsDrawAutopilotTrajectoryData"
                        app:layout_constraintTop_toBottomOf="@id/tbIsDrawAutopilotTrajectoryData" />

+                    <ToggleButton
+                        android:id="@+id/tbCarAperture"
+                        android:layout_width="0dp"
+                        android:layout_height="wrap_content"
+                        android:layout_margin="2dp"
+                        android:padding="@dimen/dp_20"
+                        android:textColor="#000"
+                        android:textOff="开启自车光圈"
+                        android:textOn="关闭自车光圈"
+                        android:textSize="@dimen/dp_24"
+                        app:layout_constraintLeft_toRightOf="@id/tbChangeAutoPilotStatus"
+                        app:layout_constraintRight_toRightOf="parent"
+                        app:layout_constraintTop_toBottomOf="@id/tbIsDrawAutopilotTrajectoryData"
+                        />
+
+
                    <ToggleButton
                        android:id="@+id/tbDrawPointCloudData"
                        android:layout_width="0dp"
@@ -1785,9 +1801,10 @@
                        android:textOff="开启渲染点云数据"
                        android:textOn="关闭渲染点云数据"
                        android:textSize="@dimen/dp_24"
-                        app:layout_constraintLeft_toRightOf="@id/tbChangeAutoPilotStatus"
-                        app:layout_constraintRight_toRightOf="parent"
-                        app:layout_constraintTop_toBottomOf="@id/tbIsDrawAutopilotTrajectoryData" />
+                        app:layout_constraintLeft_toLeftOf="@id/tbChangeAutoPilotStatus"
+                        app:layout_constraintRight_toRightOf="@id/tbChangeAutoPilotStatus"
+                        app:layout_constraintTop_toBottomOf="@id/tbChangeAutoPilotStatus"
+                        />

                    <Button
                        android:id="@+id/btnPointCloudSize"
--- a/core/mogo-core-function-api/src/main/java/com/mogo/eagle/core/function/api/setting/ISopSettingListener.kt
+++ b/core/mogo-core-function-api/src/main/java/com/mogo/eagle/core/function/api/setting/ISopSettingListener.kt
@@ -20,4 +20,9 @@ interface ISopSettingListener {
     */
    fun onPointCloudClickEvent(status: Boolean){}

+    /**
+     * 自车光圈
+     */
+    fun onCarApertureClickEvent(status: Boolean){}
+
 }
--- a/core/mogo-core-function-call/src/main/java/com/mogo/eagle/core/function/call/autopilot/CallerAutopilotActionsListenerManager.kt
+++ b/core/mogo-core-function-call/src/main/java/com/mogo/eagle/core/function/call/autopilot/CallerAutopilotActionsListenerManager.kt
@@ -1,6 +1,5 @@
 package com.mogo.eagle.core.function.call.autopilot

-import android.util.Log
 import com.mogo.eagle.core.function.api.autopilot.IMoGoAutopilotActionsListener
 import com.mogo.eagle.core.function.call.base.CallerBase
 import com.zhjt.mogo.adas.data.bean.UnableLaunchReason
@@ -18,7 +17,6 @@ object CallerAutopilotActionsListenerManager : CallerBase<IMoGoAutopilotActionsL
    init {
        isAutopilotAbility = false
        unableAutopilotReasons = disconnectedReason()
-//        printLog("初始化")
    }

    private fun disconnectedReason(): ArrayList<UnableLaunchReason> {
@@ -54,7 +52,6 @@ object CallerAutopilotActionsListenerManager : CallerBase<IMoGoAutopilotActionsL
            this.isAutopilotAbility = isConnected
            unableAutopilotReasons = if (isConnected) null else disconnectedReason()
            notification()
-//            printLog("更新数据 连接状态变更")
        }
    }

@@ -62,9 +59,6 @@ object CallerAutopilotActionsListenerManager : CallerBase<IMoGoAutopilotActionsL
    fun invokeAutopilotAbility(
        isAutopilotAbility: Boolean, unableAutopilotReasons: ArrayList<UnableLaunchReason>?
    ) {
-        Log.i(
-            "xfk",
-            "CallerAutopilotActionsListenerManager invokeAutopilotAbility=${CallerAutopilotActionsListenerManager.isAutopilotAbility} ${(if (CallerAutopilotActionsListenerManager.unableAutopilotReasons == null) null else CallerAutopilotActionsListenerManager.unableAutopilotReasons.toString())}")
        if (isConnected) {
            var isEquals: Boolean = true
            if (unableAutopilotReasons != null && this.unableAutopilotReasons != null) {
@@ -73,41 +67,22 @@ object CallerAutopilotActionsListenerManager : CallerBase<IMoGoAutopilotActionsL
                    this.unableAutopilotReasons?.let { old ->
                        old.sortWith(compareBy(UnableLaunchReason::hashCode));
                        isEquals = onw.toTypedArray() contentEquals old.toTypedArray()
-//                        Log.i(
-//                            "ddd",
-//                            "都不为null时=${isEquals}=${this.isAutopilotAbility} ${(if (this.unableAutopilotReasons == null) null else this.unableAutopilotReasons.toString())}"
-//                        )
                    }
                }
            } else isEquals =
                !(unableAutopilotReasons != null || this.unableAutopilotReasons != null)
-//            Log.i(
-//                "ddd",
-//                " 两个List是否相同=${isEquals} 新是否能启动自驾=${isAutopilotAbility} 老是否能启动自驾=${this.isAutopilotAbility} 新List是否为空=${unableAutopilotReasons == null} 老List是否为空=${this.unableAutopilotReasons == null}"
-//            )
            if (this.isAutopilotAbility != isAutopilotAbility || !isEquals) {
                this.isAutopilotAbility = isAutopilotAbility
                this.unableAutopilotReasons = unableAutopilotReasons
                notification()
-//                printLog("更新数据")
            }
        }
    }

    private fun notification() {
-        Log.i(
-            "xfk",
-            "CallerAutopilotActionsListenerManager 通知=${isAutopilotAbility} ${(if (unableAutopilotReasons == null) null else unableAutopilotReasons.toString())}")
        M_LISTENERS.forEach {
            val listener = it.value
            listener.onAutopilotAbility(isAutopilotAbility, unableAutopilotReasons)
        }
    }
-
-//    fun printLog(tag: String) {
-//        Log.i(
-//            "xfk",
-//            "${tag}=${isAutopilotAbility} ${(if (unableAutopilotReasons == null) null else unableAutopilotReasons.toString())}"
-//        )
-//    }
 }
--- a/core/mogo-core-function-call/src/main/java/com/mogo/eagle/core/function/call/setting/CallerSopSettingManager.kt
+++ b/core/mogo-core-function-call/src/main/java/com/mogo/eagle/core/function/call/setting/CallerSopSettingManager.kt
@@ -38,4 +38,14 @@ object CallerSopSettingManager: CallerBase<ISopSettingListener>() {
        }
    }

+    /**
+     * 触发自车光圈事件监听
+     */
+    fun invokeCarApertureListener(status: Boolean){
+        M_LISTENERS.forEach {
+            val listener = it.value
+            listener.onCarApertureClickEvent(status)
+        }
+    }
+
 }