Merge branch 'dev_robotaxi-d-app-module_2130_221116_2.13.0' into 'test_robotaxi-d-app-module_2130_221116_2.13.0.1'

Dev robotaxi d app module 2130 221116 2.13.0 See merge request zhjt/AndroidApp/MoGoEagleEye!464
2022-12-20 11:53:30 +00:00
parent aae4b72d16 d2a7461825
commit 319b66f598
6 changed files with 87 additions and 93 deletions
--- a/OCH/mogo-och-bus-passenger/src/main/java/com/mogo/och/bus/passenger/model/BusPassengerModel.java
+++ b/OCH/mogo-och-bus-passenger/src/main/java/com/mogo/och/bus/passenger/model/BusPassengerModel.java
@@ -441,10 +441,10 @@ public class BusPassengerModel {
                    int nextRouteIndex = CoordinateCalculateRouteUtil.getArrivedPointIndexNew(currentRouteIndex
                            ,mRoutePoints
                            ,stationNext.getGcjLon(),stationNext.getGcjLat());
-                    CallerLogger.INSTANCE.d(M_BUS_P + TAG, "currentRouteIndex = " + currentRouteIndex
+                    CallerLogger.INSTANCE.d(M_BUS_P + TAG, "轨迹排查==currentRouteIndex = " + currentRouteIndex
                            + "， nextRouteIndex = " + nextRouteIndex);
                    if (currentRouteIndex < nextRouteIndex){ //如果找到的next在起点的轨迹前面，直接舍弃这个轨迹，不显示
-                        mTwoStationsRouts.addAll(mRoutePoints.subList(currentRouteIndex,nextRouteIndex));
+                        mTwoStationsRouts.addAll(mRoutePoints.subList(currentRouteIndex,nextRouteIndex + 1));
                    }
                }
            }else { //只有两个站点的时候整个路线就是两个站点之间的轨迹
@@ -476,16 +476,25 @@ public class BusPassengerModel {
            }

            for (List<MogoLocation> lastPoints: lastPointsMap.values()){
+                CallerLogger.INSTANCE.d(M_BUS_P + TAG, "轨迹排查==lastPoints.size() = " + lastPoints.size());
                float lastSumLength = 0;
                if (lastPoints.size() == 1){ //只是最后一个点，计算当前位置和最后一个点的距离
-                    lastSumLength = CoordinateUtils.calculateLineDistance(
-                            lastPoints.get(0).getLongitude(), lastPoints.get(0).getLatitude(),
-                            mLocation.getLongitude(), mLocation.getLatitude());
+                    if (mNextStationIndex <= mStations.size()-1 && mNextStationIndex >= 0){
+                        BusPassengerStation stationNext = mStations.get(mNextStationIndex);
+                        lastSumLength = CoordinateUtils.calculateLineDistance(
+                                stationNext.getGcjLon(), stationNext.getGcjLat(),
+                                mLocation.getLongitude(), mLocation.getLatitude());
+                    }else {
+                        lastSumLength = CoordinateUtils.calculateLineDistance(
+                                lastPoints.get(0).getLongitude(), lastPoints.get(0).getLatitude(),
+                                mLocation.getLongitude(), mLocation.getLatitude());
+                    }
+
                }else {
                    lastSumLength = CoordinateCalculateRouteUtil.calculateRouteSumLength(lastPoints);
                }
                double lastTime = lastSumLength / BusPassengerConst.BUS_AVERAGE_SPEED * 3.6 ; //秒
-                CallerLogger.INSTANCE.d(M_BUS_P + TAG, "lastSumLength = " + lastSumLength);
+                CallerLogger.INSTANCE.d(M_BUS_P + TAG, "轨迹排查==lastSumLength = " + lastSumLength);
                if (mAutopilotPlanningCallback != null){
                    mAutopilotPlanningCallback.routePlanningToNextStationChanged((long)lastSumLength,(long) lastTime);
                }
--- a/OCH/mogo-och-common-module/src/main/java/com/mogo/och/common/module/utils/CoordinateCalculateRouteUtil.java
+++ b/OCH/mogo-och-common-module/src/main/java/com/mogo/och/common/module/utils/CoordinateCalculateRouteUtil.java
@@ -126,7 +126,7 @@ public class CoordinateCalculateRouteUtil {
                if (currentIndex == mRoutePoints.size()-1){
                    latePoints.add(mRoutePoints.get(currentIndex));
                }else if(currentIndex < mRoutePoints.size()-1){
-                    latePoints.addAll(mRoutePoints.subList(currentIndex,mRoutePoints.size()-1));
+                    latePoints.addAll(mRoutePoints.subList(currentIndex,mRoutePoints.size()));
                }
                return latePoints;
            }
@@ -263,7 +263,7 @@ public class CoordinateCalculateRouteUtil {
 //                LatLng latLng = new LatLng(location.getLatitude(), location.getLongitude());
                latePoints.add(location);
            }else {
-                List<MogoLocation> locations = mRoutePoints.subList(currentIndex,mRoutePoints.size()-1);
+                List<MogoLocation> locations = mRoutePoints.subList(currentIndex,mRoutePoints.size());
                for (MogoLocation location: locations) {
 //                    LatLng latLng = new LatLng(location.getLatitude(), location.getLongitude());
                    latePoints.add(location);
--- a/core/function-impl/mogo-core-function-autopilot/src/main/java/com/mogo/eagle/core/function/autopilot/adapter/MoGoHandAdasMsgManager.java
+++ b/core/function-impl/mogo-core-function-autopilot/src/main/java/com/mogo/eagle/core/function/autopilot/adapter/MoGoHandAdasMsgManager.java
@@ -96,7 +96,7 @@ public class MoGoHandAdasMsgManager implements
    @Override
    public void onAutopilotLightSwitchData(Chassis.LightSwitch lightSwitch) {
        //can数据转发  转向灯状态 0是正常 1是左转 2是右转
-        if (!AppIdentityModeUtils.isBus(FunctionBuildConfig.appIdentityMode)) { //小巴不展示
+//        if (!AppIdentityModeUtils.isBus(FunctionBuildConfig.appIdentityMode)) { //小巴不展示
            if (lightSwitch != null) {
                int state = setTurnLightState(lightSwitch.getNumber());
                if (state == 1 || state == 2) {
@@ -107,7 +107,7 @@ public class MoGoHandAdasMsgManager implements
                }
                CallerHmiManager.INSTANCE.showTurnLight(state);
            }
-        }
+//        }

    }

@@ -126,7 +126,7 @@ public class MoGoHandAdasMsgManager implements
    @Override
    public void onAutopilotCarStateData(@Nullable MessagePad.GnssInfo gnssInfo) {
        //根据加速度判断 是否刹车
-        if (!AppIdentityModeUtils.isBus(FunctionBuildConfig.appIdentityMode)) { //小巴不展示
+//        if (!AppIdentityModeUtils.isBus(FunctionBuildConfig.appIdentityMode)) { //小巴不展示
            if (gnssInfo != null) {
                //设置刹车信息
                if (gnssInfo.getAcceleration() < SharedPrefsMgr.getInstance(mContext).getFloat(MoGoConfig.BRAKE_ACCELERATION_THRESHOLD, -2.5F)) {
@@ -137,7 +137,7 @@ public class MoGoHandAdasMsgManager implements
                if (!isShowTurnLight) {
                    CallerHmiManager.INSTANCE.showBrakeLight(brakeLight);
                }
-            }
+//            }
        }
    }

--- a/core/mogo-core-function-call/build.gradle
+++ b/core/mogo-core-function-call/build.gradle
@@ -50,6 +50,8 @@ dependencies {
    // MoGo 数据埋点工具
    implementation rootProject.ext.dependencies.analytics

+    compileOnly rootProject.ext.dependencies.mogocustommap
+
    if (Boolean.valueOf(USE_MAVEN_PACKAGE)) {
        implementation rootProject.ext.dependencies.mogo_core_data
        implementation rootProject.ext.dependencies.mogo_core_utils
--- a/core/mogo-core-function-call/src/main/java/com/mogo/eagle/core/function/call/map/CallerVisualAngleManager.kt
+++ b/core/mogo-core-function-call/src/main/java/com/mogo/eagle/core/function/call/map/CallerVisualAngleManager.kt
@@ -20,6 +20,7 @@ import com.mogo.eagle.core.utilcode.kotlin.safeCancel
 import com.mogo.eagle.core.utilcode.mogo.AppIdentityModeUtils
 import com.mogo.eagle.core.utilcode.mogo.logger.scene.SceneConstant.Companion.M_DEVA
 import com.mogo.map.uicontroller.VisualAngleMode
+import com.zhidaoauto.map.sdk.open.tools.MapTools
 import kotlinx.coroutines.*
 import kotlinx.coroutines.android.asCoroutineDispatcher
 import kotlinx.coroutines.internal.synchronized
@@ -63,42 +64,43 @@ object CallerVisualAngleManager {
        val displayThreshold: Long  //最大展示时长 > 0; 表示最长展示多长时间， -1 表示，一直展示，直到触发默认视角, 0: 默认视角专用值，
    }

-    private val beginLocation = AtomicReference<MogoLocation>()
+    private val triggerLocation = AtomicReference<MogoLocation>()

-    private val distanceOfCarToStopLine = AtomicReference<Double>()
+    private val distanceOfCarToStopLine = AtomicReference(0.0)
+
+    private val travelled by lazy { AtomicReference(0.0) }

    private val listener = object : OnRoadListener {
-        private var roadId = ""
+        private val roadId = AtomicReference<String>()
+        private val triggerRoadId = AtomicReference<String>()

        override fun onRoadIdInfo(roadId: String) {
-            val oldRoadId = this.roadId
-            Log.d(TAG, "-- onRoadIdInfo --: prev: ${this.roadId} -> curr: $roadId")
-            val startLoc = beginLocation.get()
-            val currLoc = CallerMapLocationListenerManager.getCurrentLocation()
+            this.roadId.set(roadId)
+            Log.d(TAG, "-- onRoadIdInfo --: prev: ${this.triggerRoadId.get()} -> curr: $roadId")
+            val loc = CallerMapLocationListenerManager.getCurrentLocation()
            var triggerClose = false
-            val distance = distanceOfCarToStopLine.get()
-            if (hasCrossRoad &&  distance > 0 && oldRoadId != roadId && startLoc != null && currLoc != null && CoordinateUtils.calculateLineDistance(startLoc.longitude, startLoc.latitude, currLoc.longitude, currLoc.latitude).also {
-                    Log.d(TAG, "d1: $it, d2: $distance")
-                } >= distance) {
-                distanceOfCarToStopLine.set(0.0)
-                hasCrossRoad = false
-                Log.d(TAG, "-- onRoadIdInfo --: trigger close --")
-                triggerClose = true
-            }
-            if (!triggerClose && hasCrossRoad && oldRoadId == roadId) {
-                val beginLoc = beginLocation.get()
-                val endLoc = CallerMapLocationListenerManager.getCurrentLocation()
-                if (beginLoc != null && endLoc != null && abs(beginLoc.bearing - endLoc.bearing) >= 170) {
-                    Log.d(TAG, "-- onRoadIdInfo --: trigger close 2 --")
-                    triggerClose = true
+            val distance = distanceOfCarToStopLine.get() +  5
+            if (hasCrossRoad && distance > 0) {
+                val prev = triggerLocation.get()
+                if (prev != null && loc != null) {
+                    travelled.set(MapTools.distance(loc.longitude, loc.latitude, prev.longitude, prev.latitude) + travelled.get())
+                    triggerLocation.set(loc)
+                }
+                val oldRoadId = triggerRoadId.get()
+                Log.d(TAG, "-- onRoadIdInfo --: travelled --: ${travelled.get()}")
+                if ((travelled.get() > distance) && oldRoadId != null && oldRoadId != roadId) {
+                    distanceOfCarToStopLine.set(0.0)
                    hasCrossRoad = false
-                    beginLocation.set(null)
+                    triggerRoadId.set(null)
+                    travelled.set(0.0)
+                    triggerLocation.set(null)
+                    Log.d(TAG, "-- onRoadIdInfo --: trigger close --")
+                    triggerClose = true
                }
            }
            if (triggerClose) {
                changeVisualAngle(CrossRoad(false))
            }
-            this.roadId = roadId
        }


@@ -106,8 +108,9 @@ object CallerVisualAngleManager {
            Log.d(TAG, "-- onStopLineInfo --: ${info.distanceOfCarToStopLine}")
            if (!hasCrossRoad && info.distanceOfCarToStopLine <= 30.0) {
                hasCrossRoad = true
+                triggerRoadId.set(this.roadId.get())
                distanceOfCarToStopLine.set(info.distanceOfCarToStopLine)
-                beginLocation.set(CallerMapLocationListenerManager.getCurrentLocation())
+                triggerLocation.set(CallerMapLocationListenerManager.getCurrentLocation())
                changeVisualAngle(CrossRoad(true))
            }
        }
@@ -236,12 +239,11 @@ object CallerVisualAngleManager {
        }
    }

-    private val heap by lazy {
+    private val queue by lazy {
        PriorityQueue<Record>()
    }

-    @OptIn(InternalCoroutinesApi::class)
-    fun changeVisualAngle(scene: Scene) {
+    fun changeVisualAngle(current: Scene) {
        val appIdentityMode = FunctionBuildConfig.appIdentityMode
        if (AppIdentityModeUtils.isBus(appIdentityMode) && AppIdentityModeUtils.isPassenger(appIdentityMode)) {
            return
@@ -252,85 +254,68 @@ object CallerVisualAngleManager {
            val displayed = getDisplayed()
            if (displayed == null) {
                Log.d("${M_DEVA}${TAG}", "--- 2 ---")
-                val top = getTop() //堆顶
-                if (top != null) {
-                    if (top.target.priority >= scene.priority) {
-                        Log.d("${M_DEVA}${TAG}", "--- 3 ---")
-                        top.triggerTime = triggerTime
-                        doChangeAngle(top)
-                        synchronized(heap){
-                            heap += Record(scene, triggerTime = -1)
-                        }
-                    } else {
-                        Log.d("${M_DEVA}${TAG}", "--- 4 ---")
-                        doChangeAngle(Record(scene, triggerTime = triggerTime))
-                    }
-                } else {
-                    Log.d("${M_DEVA}${TAG}", "--- 5 ---")
-                    doChangeAngle(Record(scene, triggerTime = triggerTime))
-                }
+                doChangeAngle(Record(current, triggerTime = triggerTime))
            } else {
                val prev = displayed.target
-                Log.d("${M_DEVA}${TAG}", "--- 6 --- old: $prev -> cur: $scene")
+                Log.d("${M_DEVA}${TAG}", "--- 3 --- old: $prev -> cur: $current")
                val prevTriggerTime = displayed.triggerTime
-                if (scene !is Default && prev.priority >= scene.priority && (prev is RoadEvent || prev is TooClose)) {
-
+                if (current !is Default && prev.priority > current.priority && (prev is RoadEvent || prev is TooClose)) {
                    val displayDuration = triggerTime - prevTriggerTime
-                    Log.d("${M_DEVA}${TAG}", "--- 7 ---:duration: $displayDuration")
+                    Log.d("${M_DEVA}${TAG}", "--- 4 ---:场景[$prev], 已展示时长: duration: $displayDuration")
                    if (displayDuration < prev.displayThreshold) {
-                        Log.d("${M_DEVA}${TAG}", "--- 8 --- old: $prev -> cur: $scene")
+                        Log.d("${M_DEVA}${TAG}", "--- 5 --- 场景[$prev]:仍在保护展示时长内，直接return")
                        return@launch
                    }
                }
-                if (prev.priority > scene.priority) {
-                    Log.d("${M_DEVA}${TAG}", "--- 9 --- old: $prev -> cur: $scene")
-                    if (prev.displayThreshold < 0) {
-                        return@launch
-                    }
-                }
-                if (scene is Turning) {
-                    val isOpen = scene.open
+                if (prev is Turning && current is Turning) {
+                    val isOpen = current.open
                    if (!isOpen) {
-                        Log.d("${M_DEVA}${TAG}", "--- 10 --- old: $prev -> cur: $scene")
+                        Log.d("${M_DEVA}${TAG}", "--- 7 --- 场景[$current], 收到关闭通知")
+                        queue -= displayed
                        changeVisualAngle(Default())
-                        heap -= displayed
                        return@launch
                    }
                }
-                if (scene is CrossRoad) {
-                    val isOpen = scene.open
+                if (prev is CrossRoad && current is CrossRoad) {
+                    val isOpen = current.open
                    if (!isOpen) {
-                        Log.d("${M_DEVA}${TAG}", "--- 11 --- old: $prev -> cur: $scene")
+                        Log.d("${M_DEVA}${TAG}", "--- 8 --- old: $prev -> cur: $current")
+                        queue -= displayed
                        changeVisualAngle(Default())
-                        heap -= displayed
                        return@launch
                    }
                }

-                if (scene is Default) {
-                    Log.d("${M_DEVA}${TAG}", "--- 12 ---")
+                if (prev.priority > current.priority && prev.displayThreshold < 0) {
+                    Log.d("${M_DEVA}${TAG}", "--- 6 --- 场景[$prev]正在展示，尚未收到关闭，场景，依然展示当前场景，直接return")
+                    return@launch
+                }
+
+                if (current is Default) {
+                    Log.d("${M_DEVA}${TAG}", "--- 9 ---")
                    defaultDelayJob?.safeCancel()
                    launch {
-                        val delay = scene.unit.toMillis(scene.delay)
-                        Log.d("${M_DEVA}${TAG}", "--- 13 ---")
+                        val delay = current.unit.toMillis(current.delay)
+                        Log.d("${M_DEVA}${TAG}", "--- 10 ---")
                        delay(delay)
-                        Log.d("${M_DEVA}${TAG}", "--- 14 ---")
-                        doChangeAngle(Record(scene, triggerTime = triggerTime))
-                        heap -= displayed
+                        queue -= displayed
+                        Log.d("${M_DEVA}${TAG}", "--- 11 ---")
+                        doChangeAngle(Record(current, triggerTime = triggerTime))
                    }.also { itx ->
                        itx.invokeOnCompletion {
                            if (it is CancellationException) {
-                                Log.d("${M_DEVA}${TAG}", "--- 15 ---")
+                                Log.d("${M_DEVA}${TAG}", "--- 12 ---")
                            }
                        }
                        defaultDelayJob = itx
                    }
                } else {
-                    Log.d("${M_DEVA}${TAG}", "--- 16 ---")
+                    Log.d("${M_DEVA}${TAG}", "--- 13 ---")
                    defaultDelayJob?.safeCancel()
-                    if (displayed.target.priority < scene.priority) {
-                        Log.d("${M_DEVA}${TAG}", "--- 17 ---")
-                        doChangeAngle(Record(scene, triggerTime = triggerTime))
+                    if (displayed.target.priority < current.priority) {
+                        Log.d("${M_DEVA}${TAG}", "--- 14 ---")
+                        queue -= displayed
+                        doChangeAngle(Record(current, triggerTime = triggerTime))
                    }
                }
            }
@@ -344,8 +329,8 @@ object CallerVisualAngleManager {
            Log.d("${M_DEVA}${TAG}", "--- doChangeAngle ---： ${record.target}")
            if (record.target !is Default) {
                record.isDisplay = true
-                synchronized(heap) {
-                    heap += record
+                synchronized(queue) {
+                    queue += record
                }
            }
            it.changeMapVisualAngle(angle, null)
@@ -356,8 +341,6 @@ object CallerVisualAngleManager {
     * 是否有正在展示的
     */
    @Synchronized
-    private fun getDisplayed() = heap.find { it.isDisplay }
+    private fun getDisplayed() = queue.firstOrNull()

-    @Synchronized
-    private fun getTop() = heap.firstOrNull()
 }
--- a/core/mogo-core-res/src/main/res/raw/xiaobache.nt3d
+++ b/core/mogo-core-res/src/main/res/raw/xiaobache.nt3d