Merge remote-tracking branch 'origin/dev_robotaxi-d-app-module_280_220608_2.8.0' into dev_robotaxi-d-app-module_280_220608_2.8.0

core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/map/identify/IdentifyOriginDataDrawer.kt

@@ -4,14 +4,16 @@ import android.annotation.SuppressLint
 import android.util.Log
 import androidx.collection.ArraySet
 import com.mogo.commons.AbsMogoApplication
+import com.mogo.eagle.core.data.autopilot.AutopilotStatusInfo
 import com.mogo.eagle.core.data.config.FunctionBuildConfig
 import com.mogo.eagle.core.data.enums.TrafficTypeEnum
+import com.mogo.eagle.core.function.api.autopilot.IMoGoAutopilotStatusListener
+import com.mogo.eagle.core.function.call.autopilot.CallerAutoPilotStatusListenerManager
 import com.mogo.eagle.core.utilcode.mogo.logger.CallerLogger.w
 import com.mogo.map.MogoMarkerManager
 import com.mogo.module.common.MogoApisHandler
 import mogo.telematics.pad.MessagePad
 import mogo.telematics.pad.MessagePad.TrackedObject
-import java.util.*
 import java.util.concurrent.ConcurrentHashMap
 import java.util.function.Consumer
 import kotlin.collections.ArrayList
@@ -21,12 +23,19 @@ import kotlin.collections.ArrayList
  * @date 2021/10/19 10:45 上午
  * 域控制器识别信息绘制
  */
-class IdentifyOriginDataDrawer : Identify {
+class IdentifyOriginDataDrawer : Identify, IMoGoAutopilotStatusListener {
 
     companion object {
         private const val TAG = "IdentifyDataDrawer"
     }
 
+    init {
+        // 添加 ADAS状态 监听
+        CallerAutoPilotStatusListenerManager.addListener(TAG, this)
+    }
+
+    private var mAutopilotStatus: Int = 0 //自动驾驶状态
+
     /**
      * 上一帧数据的缓存
      */
@@ -58,42 +67,45 @@ class IdentifyOriginDataDrawer : Identify {
 
     @SuppressLint("NewApi")
     override fun renderPlanningWarningObj(planningObjects: List<MessagePad.PlanningObject>?) {
-
-        if (planningObjects == null) {
-            Log.d("hy","planningObjects null")
-            if (colorTrafficData.size == 0) {
+        //处于美化模式或者自动驾驶状态下展示
+        if(FunctionBuildConfig.isIgnoreConditionsDrawAutopilotTrajectoryData || mAutopilotStatus==2){
+            if (planningObjects == null) {
+                Log.d("hy","planningObjects null")
+                if (colorTrafficData.size == 0) {
+                    return
+                }
+                colorTrafficData.forEach {
+                    val cacheData = mMarkersCaches[it] //todo 是否要直接绘制 还是等下一帧
+                    if (cacheData != null) {
+                        mMarkersCaches[it] = cacheData.toBuilder().setColor("#D8D8D8FF").build()
+                    }
+                }
+                colorTrafficData.clear()
                 return
             }
-            colorTrafficData.forEach {
-                val cacheData = mMarkersCaches[it] //todo 是否要直接绘制 还是等下一帧
-                if (cacheData != null) {
-                    mMarkersCaches[it] = cacheData.toBuilder().setColor("#D8D8D8FF").build()
-                }
-            }
-            colorTrafficData.clear()
-            return
-        }
-        val tempTrafficData = ArrayList<TrackedObject>()
+            val tempTrafficData = ArrayList<TrackedObject>()
 
 //        //todo test code 用于模拟感知物
-//        mMarkersCaches["67025"] = obj
-//        mMarkersCaches["3124"] = obj1
-//        mMarkersCaches["12"] = obj2
+//            mMarkersCaches["67025"] = obj
+//            mMarkersCaches["3124"] = obj1
+//            mMarkersCaches["12"] = obj2
 
-        mMarkersCaches.forEach { (uuid, data) ->
-            var temp = data
-            planningObjects.forEach {
-                val trackId = it.uuid.toString()
-                if(uuid == trackId){
-                    colorTrafficData.add(trackId)
-                    temp = data.toBuilder().setColor("#FFBCB239").build()
+            mMarkersCaches.forEach { (uuid, data) ->
+                var temp = data
+                planningObjects.forEach {
+                    val trackId = it.uuid.toString()
+                    if(uuid == trackId){
+                        colorTrafficData.add(trackId)
+                        temp = data.toBuilder().setColor("#FFBCB239").build()
+                    }
                 }
+                tempTrafficData.add(temp)
             }
-            tempTrafficData.add(temp)
+
+            MogoMarkerManager.getInstance(AbsMogoApplication.getApp())
+                .updateBatchMarkerPosition(tempTrafficData)
         }
 
-        MogoMarkerManager.getInstance(AbsMogoApplication.getApp())
-            .updateBatchMarkerPosition(tempTrafficData)
     }
 
     /**
@@ -176,4 +188,8 @@ class IdentifyOriginDataDrawer : Identify {
         trafficDataUuidList.clear()
     }
 
+    override fun onAutopilotStatusResponse(autoPilotStatusInfo: AutopilotStatusInfo) {
+        mAutopilotStatus = autoPilotStatusInfo.state
+    }
+
 }