[6.9.0]remove identify beatuy mode

2024-12-27 16:24:40 +08:00
parent da612d1951
commit 386c1190b9
7 changed files with 22 additions and 175 deletions
--- 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
@@ -216,7 +216,6 @@ import kotlinx.android.synthetic.main.view_debug_setting.view.swDevelopMode
 import kotlinx.android.synthetic.main.view_debug_setting.view.tbADASLog
 import kotlinx.android.synthetic.main.view_debug_setting.view.tbAppUpgrade
 import kotlinx.android.synthetic.main.view_debug_setting.view.tbAppVersionInfo
-import kotlinx.android.synthetic.main.view_debug_setting.view.tbBeautyMode
 import kotlinx.android.synthetic.main.view_debug_setting.view.tbBusStationStrategyBorderPoint
 import kotlinx.android.synthetic.main.view_debug_setting.view.tbCarAperture
 import kotlinx.android.synthetic.main.view_debug_setting.view.tbChangeAutoPilotStatus
@@ -1017,12 +1016,6 @@ internal class DebugSettingView @JvmOverloads constructor(
            tbIsRainMode.visibility = View.GONE
        }

-        tbBeautyMode.isChecked = FunctionBuildConfig.isBeautyMode
-        //感知优化模式
-        tbBeautyMode.setOnCheckedChangeListener { _, isChecked ->
-            FunctionBuildConfig.isBeautyMode = isChecked
-        }
-
        tbObuWarningFusionUnion.isChecked = FunctionBuildConfig.isObuWarningFusionUnion
        tbObuWarningFusionUnion.setOnCheckedChangeListener { _, isChecked ->
            FunctionBuildConfig.isObuWarningFusionUnion = isChecked
@@ -2123,16 +2116,6 @@ internal class DebugSettingView @JvmOverloads constructor(
        tvGitBranchInfo.text = "Git分支：${AppConfigInfo.workingBranchName}"
        tvAppBuildTimeInfo.text = "版本构建时间：${AppConfigInfo.appBuildTime}"

-        if (tbBeautyMode.isVisible) {
-            val version = ParseVersionUtils.parseVersion(
-                true,
-                CallerAutoPilotStatusListenerManager.getDockerVersion()
-            )
-            if (version >= 30100 && AppIdentityModeUtils.isTaxi(FunctionBuildConfig.appIdentityMode)) {
-                tbBeautyMode.visibility = View.GONE
-            }
-        }
-
        /**
         * 状态中心
         */
--- 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
@@ -266,18 +266,6 @@
                android:textOn="关闭雨天模式"
                android:textSize="@dimen/dp_24" />

-            <ToggleButton
-                android:id="@+id/tbBeautyMode"
-                android:layout_width="match_parent"
-                android:layout_height="wrap_content"
-                android:layout_margin="@dimen/dp_10"
-                android:padding="@dimen/dp_20"
-                android:background="@drawable/radio_button_normal_background_right"
-                android:textColor="#000"
-                android:textOff="开启感知优化模式"
-                android:textOn="关闭感知优化模式"
-                android:textSize="@dimen/dp_24" />
-
            <ToggleButton
                android:id="@+id/tbObuWarningFusionUnion"
                android:layout_width="match_parent"
--- a/core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/business/identify/IdentifyBeautifyDataDrawer.kt
+++ b/core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/business/identify/IdentifyBeautifyDataDrawer.kt
@@ -31,7 +31,7 @@ class IdentifyBeautifyDataDrawer : Identify {
     */
    @SuppressLint("NewApi")
    override fun renderAdasRecognizedResult(resultList: List<TrackedObject>?) {
-        if (resultList == null || resultList.isEmpty()) {
+        if (resultList.isNullOrEmpty()) {
            TrackManager.getInstance().clearAll()
            return
        }
--- a/core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/business/identify/IdentifyFactory.kt
+++ b/core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/business/identify/IdentifyFactory.kt
@@ -2,16 +2,13 @@ package com.mogo.eagle.core.function.business.identify

 import android.os.Handler
 import android.os.Message
-import com.mogo.eagle.core.data.config.FunctionBuildConfig
 import com.mogo.eagle.core.data.deva.chain.ChainConstant
 import com.mogo.eagle.core.data.traffic.TrafficData
 import com.mogo.eagle.core.function.api.autopilot.IMoGoAutopilotCarConfigListener
 import com.mogo.eagle.core.function.api.datacenter.obu.IMoGoObuStatusListener
 import com.mogo.eagle.core.function.call.autopilot.CallerAutopilotCarConfigListenerManager
 import com.mogo.eagle.core.function.call.obu.CallerObuWarningListenerManager
-import com.mogo.eagle.core.utilcode.mogo.AppIdentityModeUtils.isTaxi
 import com.mogo.eagle.core.utilcode.mogo.thread.WorkThreadHandler
-import com.mogo.eagle.core.utilcode.util.ParseVersionUtils
 import com.zhjt.service.chain.ChainLog
 import mogo.telematics.pad.MessagePad
 import mogo.telematics.pad.MessagePad.TrackedObject
@@ -27,22 +24,16 @@ object IdentifyFactory : Identify, IMoGoObuStatusListener, IMoGoAutopilotCarConf
        internal val originDataDrawer = IdentifyOriginDataDrawer()
    }

-    object UserIdentify {
-        internal val beautifyDataDrawer = IdentifyBeautifyDataDrawer()
-    }
-
    object AiIdentify {
        internal val aiCloudDataDrawer = IdentifyAiCloudDataDrawer()
    }

-    private var identify: Identify? = null
+    private var identify: Identify = DriverIdentify.originDataDrawer
    private var aiCloudIdentify: Identify? = null
    private var startTime: Long = 0L
    private var dockerVersion: String? = null

    fun initType() {
-        drawType("默认开启感知优化，等待docker版本")
-        identify = UserIdentify.beautifyDataDrawer
        aiCloudIdentify = AiIdentify.aiCloudDataDrawer
        CallerAutopilotCarConfigListenerManager.addListener(TAG, this)
        CallerObuWarningListenerManager.addListener(TAG, this)
@@ -53,16 +44,6 @@ object IdentifyFactory : Identify, IMoGoObuStatusListener, IMoGoAutopilotCarConf
        dockerVersion = carConfigResp.dockVersion
    }

-    @ChainLog(
-        linkChainLog = ChainConstant.CHAIN_TYPE_STATUS,
-        linkCode = ChainConstant.CHAIN_SOURCE_INIT,
-        nodeAliasCode = ChainConstant.CHAIN_CODE_ADAS_RECT_DATA,
-        paramIndexes = [0]
-    )
-    private fun drawType(type: String) {
-
-    }
-
    private const val MSG_DATA_TRACK = 0
    private const val MSG_DATA_AI_TRACK = 1
    private const val MSG_DATA_WARNING = 2
@@ -76,46 +57,6 @@ object IdentifyFactory : Identify, IMoGoObuStatusListener, IMoGoAutopilotCarConf
        object : Handler(WorkThreadHandler.newInstance("IdentifyFactoryDrawer").looper) {
            override fun handleMessage(msg: Message) {
                super.handleMessage(msg)
-
-                if (identify == null) {
-                    if (dockerVersion != null && dockerVersion!!.isNotEmpty()) {
-                        try {
-                            val version = ParseVersionUtils.parseVersion(true, dockerVersion)
-                            identify =
-                                if (version >= 30100 && isTaxi(FunctionBuildConfig.appIdentityMode)) {
-                                    FunctionBuildConfig.isBeautyMode = false
-                                    drawType("关闭感知优化模式")
-                                    DriverIdentify.originDataDrawer
-                                } else {
-                                    FunctionBuildConfig.isBeautyMode = true
-                                    drawType("开启感知优化模式")
-                                    UserIdentify.beautifyDataDrawer
-                                }
-                        } catch (e: Exception) {
-                            drawType("解析docker异常:$dockerVersion")
-                            identify = UserIdentify.beautifyDataDrawer
-                        }
-                    } else {
-                        return
-                    }
-                }
-
-                if (!FunctionBuildConfig.isBeautyMode) {
-                    // 非感知美化优化模式，清除旧数据，使用 DriverIdentify originDataDrawer 原始数据绘制
-                    if (identify is IdentifyBeautifyDataDrawer) {
-                        identify!!.clearOldMarker()
-                        drawType("isBeautyMode 模式改变，关闭感知优化模式")
-                        identify = DriverIdentify.originDataDrawer
-                    }
-                } else {
-                    // 感知优化模式，清除旧数据，使用 UserIdentify beautifyDataDrawer 优化数据
-                    if (identify is IdentifyOriginDataDrawer) {
-                        identify!!.clearOldMarker()
-                        drawType("isBeautyMode 模式改变，开启感知优化模式")
-                        identify = UserIdentify.beautifyDataDrawer
-                    }
-                }
-
                when (msg.what) {
                    MSG_CHECK -> {
                        if (startTime == 0L) {
@@ -126,14 +67,14 @@ object IdentifyFactory : Identify, IMoGoObuStatusListener, IMoGoAutopilotCarConf
                        val internal = TimeUnit.NANOSECONDS.toMillis(endTime - startTime)
                        if (internal >= 1000) {
                            lostFrame(internal.toString())
-                            identify!!.clearOldMarker()
+                            identify.clearOldMarker()
                        }
                        sendEmptyMessageDelayed(MSG_CHECK, 1000L)
                    }

                    MSG_DATA_TRACK -> {
                        if (msg.obj is List<*>) {
-                            identify!!.renderAdasRecognizedResult(msg.obj as List<TrackedObject>?)
+                            identify.renderAdasRecognizedResult(msg.obj as List<TrackedObject>?)
                            startTime = System.nanoTime()
                        }
                    }
@@ -149,24 +90,24 @@ object IdentifyFactory : Identify, IMoGoObuStatusListener, IMoGoAutopilotCarConf

                    MSG_DATA_WARNING -> {
                        if (msg.obj is List<*>) {
-                            identify!!.renderPlanningWarningObj(msg.obj as List<MessagePad.PlanningObject>?)
+                            identify.renderPlanningWarningObj(msg.obj as List<MessagePad.PlanningObject>?)
                        }
                    }

                    MSG_DATA_OBU_WARNING_UPDATE -> {
                        if (msg.obj is TrafficData) {
-                            identify!!.renderOBUWarningObj(true, msg.obj as TrafficData)
+                            identify.renderOBUWarningObj(true, msg.obj as TrafficData)
                        }
                    }

                    MSG_DATA_OBU_WARNING_REMOVE -> {
                        if (msg.obj is TrafficData) {
-                            identify!!.renderOBUWarningObj(false, msg.obj as TrafficData)
+                            identify.renderOBUWarningObj(false, msg.obj as TrafficData)
                        }
                    }

                    MSG_DATA_CLEAR -> {
-                        identify!!.clearOldMarker()
+                        identify.clearOldMarker()
                    }

                    MSG_DATA_AI_CLEAR -> {
--- a/core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/business/identify/TrackManager.java
+++ b/core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/business/identify/TrackManager.java
@@ -59,7 +59,7 @@ public class TrackManager {

    @SuppressLint("NewApi")
    public synchronized void renderPlanningWarningObj(List<MessagePad.PlanningObject> planningObjects) {
-        WarningHelper.INSTANCE.renderPlanningWarningObj(planningObjects, mMarkersCaches);
+
    }

    public synchronized void renderOBUWarningObj(boolean exist, TrafficData obuTrafficData) {
--- a/core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/business/identify/WarningHelper.kt
+++ b/core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/business/identify/WarningHelper.kt
@@ -1,7 +1,6 @@
 package com.mogo.eagle.core.function.business.identify

 import android.annotation.SuppressLint
-import android.util.Log
 import com.mogo.eagle.core.data.config.FunctionBuildConfig
 import com.mogo.eagle.core.data.traffic.TrafficData
 import com.mogo.eagle.core.data.traffic.threatLevelColor
@@ -15,11 +14,6 @@ import java.util.function.Consumer
 object WarningHelper {

    //感知物预警各自先以帧数更新保持，不做同一个集合的融合处理(以卫星时间做判断先后，可能会出现不同ip节点间的回溯问题)
-    /**
-     * planning 感知物预警缓存，用于重置color状态
-     */
-    private val pncWarningBeautyTrafficData = ConcurrentHashMap<String, PlanningTrack>()
-
    /**
     * planning 感知物预警缓存，用于重置color状态
     */
@@ -30,37 +24,6 @@ object WarningHelper {
     */
    private val obuWarningTrafficData = ConcurrentHashMap<String, TrafficData>()

-    @SuppressLint("NewApi")
-    fun renderPlanningWarningObj(
-        planningObjects: List<PlanningObject>?,
-        mMarkersCaches: ConcurrentHashMap<String, TrackObj>
-    ) {
-        pncWarningBeautyTrafficData.clear()
-        //处于美化模式或者自动驾驶状态下展示
-        if (FunctionBuildConfig.isIgnoreConditionsDrawAutopilotTrajectoryData || getAutoPilotStatusInfo().state == 2) {
-            if (planningObjects == null) {
-                return
-            }
-            planningObjects.forEach(Consumer { planningObj: PlanningObject ->
-                val trackId = planningObj.uuid.toString()
-                if (mMarkersCaches.containsKey(trackId)) {
-                    mMarkersCaches[trackId] ?: return@Consumer
-                    if (planningObj.type == 0) {   //0是leading障碍物，障碍物车身红色提示
-                        pncWarningBeautyTrafficData[trackId] = PlanningTrack(
-                            "#D65D5AFF-drawColor",
-                            getCurWgs84SatelliteTime()
-                        )
-                    } else if (planningObj.type == 1) {   //1是避障和择机的障碍物，障碍物车身黄色提示
-                        pncWarningBeautyTrafficData[trackId] = PlanningTrack(
-                            "#E4DD94FF-drawColor",
-                            getCurWgs84SatelliteTime()
-                        )
-                    }
-                }
-            })
-        }
-    }
-
    @SuppressLint("NewApi")
    fun renderPlanningOriginWarningObj(
        planningObjects: List<PlanningObject>?,
@@ -110,48 +73,31 @@ object WarningHelper {
        return ""
    }

-    fun getPncColor(uuid: String, color:((String) -> Unit)) {
-        if(!FunctionBuildConfig.isPNCWarning){
+    fun getPncColor(uuid: String, color: ((String) -> Unit)) {
+        if (!FunctionBuildConfig.isPNCWarning) {
            color.invoke("")
            return
        }
-        if (FunctionBuildConfig.isBeautyMode) {
-            // 判断物体是否有预警信息
-            if (pncWarningBeautyTrafficData.containsKey(uuid)) {
-                val planningTrack = pncWarningBeautyTrafficData[uuid]
-                if (planningTrack != null && !timeOut(planningTrack.time)) {
-                    color.invoke("${planningTrack.color}-drawColor")
-                } else {
-                    val c = pncWarningBeautyTrafficData.remove(uuid)
-                    color.invoke("${c?.color}-resetColor")
-                }
-                return
+        // 判断物体是否有预警信息
+        if (pncWarningOriginTrafficData.containsKey(uuid)) {
+            val planningTrack = pncWarningOriginTrafficData[uuid]
+            if (planningTrack != null && !timeOut(planningTrack.time)) {
+                color.invoke("${planningTrack.color}-drawColor")
+            } else {
+                val c = pncWarningOriginTrafficData.remove(uuid)
+                color.invoke("${c?.color}-resetColor")
            }
-            color.invoke("")
-        } else {
-            // 判断物体是否有预警信息
-            if (pncWarningOriginTrafficData.containsKey(uuid)) {
-                val planningTrack = pncWarningOriginTrafficData[uuid]
-                if (planningTrack != null && !timeOut(planningTrack.time)) {
-                    color.invoke("${planningTrack.color}-drawColor")
-                } else {
-                    val c = pncWarningOriginTrafficData.remove(uuid)
-                    color.invoke("${c?.color}-resetColor")
-                }
-                return
-            }
-            color.invoke("")
+            return
        }
+        color.invoke("")
    }

-    fun remove(key:String){
-        pncWarningBeautyTrafficData.remove(key)
+    fun remove(key: String) {
        pncWarningOriginTrafficData.remove(key)
        obuWarningTrafficData.remove(key)
    }

    fun clear() {
-        pncWarningBeautyTrafficData.clear()
        pncWarningOriginTrafficData.clear()
        obuWarningTrafficData.clear()
    }
--- a/core/mogo-core-data/src/main/java/com/mogo/eagle/core/data/config/FunctionBuildConfig.kt
+++ b/core/mogo-core-data/src/main/java/com/mogo/eagle/core/data/config/FunctionBuildConfig.kt
@@ -87,17 +87,6 @@ object FunctionBuildConfig {
    @JvmField
    var overTakeSpeed = 10.0

-    /**
-     * 是否是感知优化模式
-     * 默认开启
-     * 打开后可实现感知优化效果
-     * 1、静止车辆抖动优化
-     * 2、静止车辆航向角和位置按车道方向优化
-     */
-    @Volatile
-    @JvmField
-    var isBeautyMode = true
-
    /**
     * 开启roma自由/循迹路线
     * 0:自由模式