diff --git 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 index cc66911749..ed527f57e5 100644 --- 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 */ diff --git 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 index f1ecdf7c4f..093800dad4 100644 --- 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" /> - - ?) { - if (resultList == null || resultList.isEmpty()) { + if (resultList.isNullOrEmpty()) { TrackManager.getInstance().clearAll() return } diff --git 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 index 3ef8f35565..a63c633aa1 100644 --- 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?) + identify.renderAdasRecognizedResult(msg.obj as List?) 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?) + identify.renderPlanningWarningObj(msg.obj as List?) } } 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 -> { diff --git 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 index 1a3c93e85c..29107b1cf1 100644 --- 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 planningObjects) { - WarningHelper.INSTANCE.renderPlanningWarningObj(planningObjects, mMarkersCaches); + } public synchronized void renderOBUWarningObj(boolean exist, TrafficData obuTrafficData) { diff --git 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 index 6106dcdcd1..533348fd66 100644 --- 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() - /** * 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() - @SuppressLint("NewApi") - fun renderPlanningWarningObj( - planningObjects: List?, - mMarkersCaches: ConcurrentHashMap - ) { - 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?, @@ -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() } diff --git 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 index 867271d80e..6d7f326b30 100644 --- 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