[2.13.2] fixed conflict

2023-01-11 15:29:30 +08:00
parent 51f773b87a df66532641
commit 3e4043ae07
30 changed files with 218 additions and 65 deletions
--- a/app_mogo_magic_ring/src/main/java/com/zhidao/adas/magic/ui/MainActivity.java
+++ b/app_mogo_magic_ring/src/main/java/com/zhidao/adas/magic/ui/MainActivity.java
@@ -66,6 +66,7 @@ import java.util.TimerTask;

 import chassis.VehicleStateOuterClass;
 import mogo.telematics.pad.MessagePad;
+import mogo.v2x.ObuWarningEvent;
 import mogo_msg.MogoReportMsg;
 import perception.TrafficLightOuterClass;
 import prediction.Prediction;
--- 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
@@ -632,6 +632,15 @@ class DebugSettingView @JvmOverloads constructor(
            }
        }

+        tbDrawAiCloudFusion.isChecked = FunctionBuildConfig.isDrawAiCloudFusion
+        //云端感知绘制
+        tbDrawAiCloudFusion.setOnCheckedChangeListener { _, isChecked ->
+            FunctionBuildConfig.isDrawAiCloudFusion = isChecked
+            if (!FunctionBuildConfig.isDrawAiCloudFusion) {
+                tbDrawAiCloudFusion.isChecked = false
+            }
+        }
+
        //重启工控机所有节点
        btnIpcReboot.onClick {
            CallerAutoPilotManager.sendIpcReboot()
--- a/core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/hmi/ui/widget/PerspectiveSwitchView.kt
+++ b/core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/hmi/ui/widget/PerspectiveSwitchView.kt
@@ -5,6 +5,7 @@ import android.util.AttributeSet
 import android.view.LayoutInflater
 import android.view.View
 import android.widget.FrameLayout
+import com.mogo.eagle.core.function.call.map.CallerMapUIServiceManager
 import com.mogo.eagle.core.function.hmi.R
 import com.mogo.map.MogoMapUIController
 import com.mogo.map.uicontroller.VisualAngleMode
@@ -34,12 +35,14 @@ class PerspectiveSwitchView @JvmOverloads constructor(
 //                .visibleAllMarkers()
            MogoMapUIController.getInstance()
                .changeMapVisualAngle(VisualAngleMode.MODE_MEDIUM_SIGHT, null)
+            CallerMapUIServiceManager.getMapUIController()?.setLockMode(true)
            textSwitch.setText(R.string.module_map_model_normal)
        } else if (MogoMapUIController.getInstance().currentMapVisualAngle.isMediumSight) {
 //            MogoMarkerManager.getInstance(AbsMogoApplication.getApp())
 //                .inVisibleWithoutMarkers(DataTypes.TYPE_MARKER_ADAS)
            MogoMapUIController.getInstance()
                .changeMapVisualAngle(VisualAngleMode.MODE_LONG_SIGHT, null)
+            CallerMapUIServiceManager.getMapUIController()?.setLockMode(false)
            textSwitch.setText(R.string.module_map_model_faster)
        } else {
 //            MogoMarkerManager.getInstance(AbsMogoApplication.getApp())
--- a/core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/main/MainMoGoApplication.java
+++ b/core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/main/MainMoGoApplication.java
@@ -17,7 +17,6 @@ import com.mogo.commons.AbsMogoApplication;
 import com.mogo.commons.debug.DebugConfig;
 import com.mogo.commons.module.MogoModule;
 import com.mogo.commons.module.MogoModulePaths;
-import com.mogo.commons.voice.AIAssist;
 import com.mogo.eagle.core.data.config.FunctionBuildConfig;
 import com.mogo.eagle.core.data.constants.MoGoConfig;
 import com.mogo.eagle.core.data.constants.MogoServicePaths;
@@ -65,21 +64,23 @@ public abstract class MainMoGoApplication extends AbsMogoApplication {
        }
        start = System.currentTimeMillis();
        connectAmiIp();
-        initOverviewDb();
        // Crash 日志收集
        initCrashConfig();
        initLogConfig();
        initTipToast();
        initModules();
-        if (DebugConfig.isDebug()) {
-            initKoom();
-        }
        //查询是否有版本的更新
        queryAppUpgrade();
-        clearMessageBoxTable();
-        checkMonitorDb();
+        if (ProcessUtils.isMainProcess(this)) {
+            initOverviewDb();
+            if (DebugConfig.isDebug()) {
+                initKoom();
+            }
+            clearMessageBoxTable();
+            checkMonitorDb();
+            CallerMsgBoxManager.INSTANCE.queryAllMessages(this);
+        }
        upgradeProgressListener();
-        CallerMsgBoxManager.INSTANCE.queryAllMessages(this);
    }

    @Override
--- 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
@@ -254,6 +254,18 @@
                android:textOn="关闭车端V2N预警"
                android:textSize="@dimen/dp_24" />

+            <ToggleButton
+                android:id="@+id/tbDrawAiCloudFusion"
+                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="开启云端感知绘制"
+                android:textOn="关闭云端感知绘制"
+                android:textSize="@dimen/dp_24" />
+
            <ToggleButton
                android:id="@+id/tbMojie"
                android:layout_width="match_parent"
--- a/core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/business/ai/AiCloudIdentifyDataManager.kt
+++ b/core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/business/ai/AiCloudIdentifyDataManager.kt
@@ -1,17 +1,19 @@
 package com.mogo.eagle.core.function.business.ai

 import android.content.Context
-import com.mogo.cloud.socket.IMogoCloudSocketOnMessageListener
-import com.mogo.cloud.socket.SocketManager
-import com.mogo.cloud.socket.entity.SocketDownData.SocketDownDataProto
+import com.mogo.aicloud.services.socket.IMogoOnMessageListener
+import com.mogo.aicloud.services.socket.MogoAiCloudSocketManager
+import com.mogo.eagle.core.data.config.FunctionBuildConfig
 import com.mogo.eagle.core.function.business.ai.net.AiCloudIdentifyNetWorkModel
 import com.mogo.eagle.core.function.business.identify.MapIdentifySubscriber
+import com.mogo.eagle.core.function.call.map.CallerMapIdentifyManager
+import com.mogo.eagle.core.function.call.map.CallerMapUIServiceManager
 import com.mogo.eagle.core.utilcode.mogo.logger.CallerLogger
 import com.mogo.eagle.core.utilcode.mogo.logger.scene.SceneConstant.Companion.M_MAP
 import com.mogo.map.listener.IMogoMapListener
 import com.mogo.map.uicontroller.VisualAngleMode
 import com.mogo.module.common.MogoApisHandler
-import com.mogo.realtime.constant.RealTimeConstant
+import mogo.yycp.api.proto.SocketDownData

 class AiCloudIdentifyDataManager : IMogoMapListener {

@@ -32,16 +34,20 @@ class AiCloudIdentifyDataManager : IMogoMapListener {

    fun init(mContext: Context) {
        MogoApisHandler.getInstance().apis.registerCenterApi.registerMogoMapListener(TAG, this)
-        SocketManager.getInstance()
+        MogoAiCloudSocketManager.getInstance(mContext)
            .registerOnMessageListener(
-                RealTimeConstant.LOW_FREQUENCY_CHANNEL_ID,
-                object : IMogoCloudSocketOnMessageListener<SocketDownDataProto> {
-                    override fun target(msgType: Int): Class<SocketDownDataProto> {
-                        return SocketDownDataProto::class.java
+                0x040003, //低频数据
+                object : IMogoOnMessageListener<SocketDownData.SocketDownDataProto> {
+                    override fun target(): Class<SocketDownData.SocketDownDataProto> {
+                        return SocketDownData.SocketDownDataProto::class.java
                    }

-                    override fun onMsgReceived(msgType: Int, obj: SocketDownDataProto?) {
+                    override fun onMsgReceived(obj: SocketDownData.SocketDownDataProto?) {
                        CallerLogger.d("$M_MAP$TAG", "SocketDownDataProto obj : $obj")
+                        if(!FunctionBuildConfig.isDrawAiCloudFusion){
+                            MapIdentifySubscriber.instance.clearAiCloudRoma()
+                            return
+                        }
                        obj?.let {
                            obj.data?.let {
                                if (showAiCloud) {
@@ -74,9 +80,14 @@ class AiCloudIdentifyDataManager : IMogoMapListener {

    override fun onMapVisualAngleChanged(visualAngleMode: VisualAngleMode) {
        super.onMapVisualAngleChanged(visualAngleMode)
-        showAiCloud = when {
-            visualAngleMode.isLongSight -> true
-            else -> false
+        when {
+            visualAngleMode.isLongSight -> {
+                showAiCloud = true
+            }
+            else -> {
+                showAiCloud = false
+                CallerMapIdentifyManager.clearAiCloudRoma()
+            }
        }
    }

--- a/core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/business/identify/Identify.kt
+++ b/core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/business/identify/Identify.kt
@@ -1,9 +1,9 @@
 package com.mogo.eagle.core.function.business.identify

-import com.mogo.cloud.socket.entity.SocketDownData
 import com.mogo.eagle.core.data.traffic.TrafficData
 import mogo.telematics.pad.MessagePad
 import mogo.telematics.pad.MessagePad.TrackedObject
+import mogo.yycp.api.proto.SocketDownData

 interface Identify {

--- a/core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/business/identify/IdentifyAiCloudDataDrawer.kt
+++ b/core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/business/identify/IdentifyAiCloudDataDrawer.kt
@@ -2,7 +2,6 @@ package com.mogo.eagle.core.function.business.identify

 import android.annotation.SuppressLint
 import androidx.collection.ArraySet
-import com.mogo.cloud.socket.entity.SocketDownData
 import com.mogo.commons.AbsMogoApplication
 import com.mogo.commons.module.status.MogoStatusManager
 import com.mogo.eagle.core.data.traffic.TrafficData
@@ -10,6 +9,7 @@ import com.mogo.eagle.core.utilcode.mogo.logger.CallerLogger.w
 import com.mogo.map.MogoMarkerManager
 import mogo.telematics.pad.MessagePad.PlanningObject
 import mogo.telematics.pad.MessagePad.TrackedObject
+import mogo.yycp.api.proto.SocketDownData
 import java.util.concurrent.ConcurrentHashMap

 class IdentifyAiCloudDataDrawer : Identify {
@@ -62,7 +62,7 @@ class IdentifyAiCloudDataDrawer : Identify {
            it.remove()
            mMarkersCaches.remove(key)
            MogoMarkerManager.getInstance(AbsMogoApplication.getApp())
-                .removeMarker(key)
+                .removeMarker(key.hashCode().toString())
        }

        val filterList = filterTrafficData(resultList)
@@ -86,15 +86,19 @@ class IdentifyAiCloudDataDrawer : Identify {
            val uuid = "" + data.uuid
            mMarkersCaches[uuid] = data
            trafficDataUuidList.add(uuid)
+            mFilterTrafficData[uuid] = data
        }
        return mFilterTrafficData
    }

    @SuppressLint("NewApi")
    override fun clearAiMarker() {
+        if(trafficDataUuidList.size == 0){
+            return
+        }
        for (uuid in trafficDataUuidList) {
            MogoMarkerManager.getInstance(AbsMogoApplication.getApp())
-                .removeMarker(uuid)
+                .removeMarker(uuid.hashCode().toString())
        }
        trafficDataUuidList.clear()
    }
--- 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
@@ -2,7 +2,6 @@ package com.mogo.eagle.core.function.business.identify

 import android.os.Handler
 import android.os.Message
-import com.mogo.cloud.socket.entity.SocketDownData
 import com.mogo.eagle.core.data.config.FunctionBuildConfig
 import com.mogo.eagle.core.data.traffic.TrafficData
 import com.mogo.eagle.core.function.api.obu.IMoGoObuStatusListener
@@ -10,6 +9,7 @@ import com.mogo.eagle.core.function.call.obu.CallerObuListenerManager
 import com.mogo.eagle.core.utilcode.mogo.thread.WorkThreadHandler
 import mogo.telematics.pad.MessagePad
 import mogo.telematics.pad.MessagePad.TrackedObject
+import mogo.yycp.api.proto.SocketDownData

 object IdentifyFactory : Identify, IMoGoObuStatusListener {

--- a/core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/business/identify/MapIdentifySubscriber.kt
+++ b/core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/business/identify/MapIdentifySubscriber.kt
@@ -2,7 +2,6 @@ package com.mogo.eagle.core.function.business.identify

 import android.content.Context
 import com.alibaba.android.arouter.facade.annotation.Route
-import com.mogo.cloud.socket.entity.SocketDownData
 import com.mogo.eagle.core.data.config.FunctionBuildConfig
 import com.mogo.eagle.core.data.constants.MogoServicePaths.PATH_IDENTIFY
 import com.mogo.eagle.core.function.api.autopilot.IMoGoAutopilotIdentifyListener
@@ -13,6 +12,7 @@ import com.mogo.eagle.core.function.call.autopilot.CallerAutopilotIdentifyListen
 import com.mogo.eagle.core.utilcode.util.ThreadUtils
 import mogo.telematics.pad.MessagePad
 import mogo.telematics.pad.MessagePad.TrackedObject
+import mogo.yycp.api.proto.SocketDownData

 /**
 * 订阅感知数据的订阅者
--- a/core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/overview/remote/V2XEventResult.kt
+++ b/core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/overview/remote/V2XEventResult.kt
@@ -38,8 +38,8 @@ data class V2XEvent(
    @SerializedName("radius")
    var radius: Double,

-    @SerializedName("type")
-    var type: Int
+    @SerializedName("poiType")
+    var poiType: String?
 )

@Keep
--- a/core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/smp/AMapCustomView.java
+++ b/core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/smp/AMapCustomView.java
@@ -271,7 +271,7 @@ public class AMapCustomView
                LatLng latLng = MarkerDrawerManager.INSTANCE.coordinateConverterWgsToGcj(mContext, center.getLat(), center.getLon());
                markerOption.position(latLng);
                markerOption.anchor(0.13f, 1f);
-                markerOption.icon(BitmapDescriptorFactory.fromBitmap(getV2XBitmap()));
+                markerOption.icon(BitmapDescriptorFactory.fromBitmap(getV2XBitmap(event.getPoiType())));
                markerOptionsList.add(markerOption);
            }
        }
@@ -284,8 +284,8 @@ public class AMapCustomView
        currMarkerList = mAMap.addMarkers(markerOptionsList, false);
    }

-    private Bitmap getV2XBitmap() {
-        V2XMarkerView marker = new V2XMarkerView(getContext());
+    private Bitmap getV2XBitmap(String poiType) {
+        V2XMarkerView marker = new V2XMarkerView(getContext(), null, 0, poiType);
        marker.measure(View.MeasureSpec.makeMeasureSpec(AutoSizeUtils.dp2px(mContext, 229), View.MeasureSpec.EXACTLY),
                View.MeasureSpec.makeMeasureSpec(AutoSizeUtils.dp2px(mContext, 96), View.MeasureSpec.EXACTLY));
        marker.layout(0, 0, marker.getMeasuredWidth(), marker.getMeasuredHeight());
--- a/core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/smp/V2XMarkerView.kt
+++ b/core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/smp/V2XMarkerView.kt
@@ -3,14 +3,16 @@ package com.mogo.eagle.core.function.smp
 import android.content.Context
 import android.util.AttributeSet
 import android.view.LayoutInflater
+import android.widget.ImageView
+import android.widget.TextView
 import androidx.constraintlayout.widget.ConstraintLayout
 import com.mogo.eagle.core.function.map.R
-import kotlinx.android.synthetic.main.view_maker_with_count.view.*

 class V2XMarkerView @JvmOverloads constructor(
    context: Context,
    attrs: AttributeSet? = null,
-    defStyleAttr: Int = 0
+    defStyleAttr: Int = 0,
+    private val poiType: String? = ""
 ) : ConstraintLayout (
    context,
    attrs,
@@ -19,5 +21,33 @@ class V2XMarkerView @JvmOverloads constructor(

    init {
        LayoutInflater.from(context).inflate(R.layout.layout_v2x_maker, this, true)
+        initView()
+    }
+
+    private fun initView() {
+        val iconView = findViewById<ImageView>(R.id.ivIcon)
+        val contentView = findViewById<TextView>(R.id.tvContent)
+        when (poiType) {
+            "10006" -> {
+                iconView.setBackgroundResource(R.drawable.icon_small_v2x_road_construction)
+                contentView.text = "道路施工"
+            }
+            "10007" -> {
+                iconView.setBackgroundResource(R.drawable.icon_v2x_road_congestion)
+                contentView.text = "道路拥堵"
+            }
+            "10032" -> {
+                iconView.setBackgroundResource(R.drawable.icon_v2x_road_accidents)
+                contentView.text = "道路事故"
+            }
+            "10025" -> {
+                iconView.setBackgroundResource(R.drawable.icon_v2x_obstacle)
+                contentView.text = "障碍车辆"
+            }
+//            "10031" -> {
+//                iconView.setBackgroundResource(R.drawable.icon_small_v2x_road_construction)
+//                contentView.text = "弱势预警"
+//            }
+        }
    }
 }
--- a/core/function-impl/mogo-core-function-map/src/main/res/layout/layout_v2x_maker.xml
+++ b/core/function-impl/mogo-core-function-map/src/main/res/layout/layout_v2x_maker.xml
@@ -19,7 +19,7 @@
        />

    <TextView
-        android:id="@+id/tv"
+        android:id="@+id/tvContent"
        android:layout_width="119dp"
        android:layout_height="35dp"
        android:text="道路施工"
--- a/core/function-impl/mogo-core-function-msgbox/src/main/java/com/mogo/eagle/core/function/msgbox/DataManager.kt
+++ b/core/function-impl/mogo-core-function-msgbox/src/main/java/com/mogo/eagle/core/function/msgbox/DataManager.kt
@@ -3,7 +3,6 @@ package com.mogo.eagle.core.function.msgbox
 import android.content.Context
 import android.os.Looper
 import com.mogo.eagle.core.data.msgbox.*
-import com.mogo.eagle.core.data.notice.NoticeNormalData
 import com.mogo.eagle.core.data.report.ReportEntity
 import com.mogo.eagle.core.function.call.msgbox.CallerMsgBoxListenerManager
 import com.mogo.eagle.core.function.msgbox.db.MsgBoxDb
@@ -12,6 +11,7 @@ import com.mogo.eagle.core.utilcode.kotlin.lifeCycleScope
 import com.mogo.eagle.core.utilcode.util.GsonUtils
 import com.mogo.eagle.core.utilcode.util.Utils
 import kotlinx.coroutines.Dispatchers
+import kotlinx.coroutines.delay
 import kotlinx.coroutines.launch
 import kotlinx.coroutines.withContext

@@ -156,6 +156,7 @@ object DataManager {
    }

    private suspend fun getCacheMessages(context: Context): List<MsgBoxBean> = withContext(Dispatchers.IO) {
+        delay(2000)
        return@withContext MsgBoxDb.getDb(context)
            .monitorDao()
            .getAllCachedMessages()
--- a/core/function-impl/mogo-core-function-obu-mogo/src/main/java/com/mogo/eagle/core/function/obu/mogo/MogoPrivateObuNewManager.kt
+++ b/core/function-impl/mogo-core-function-obu-mogo/src/main/java/com/mogo/eagle/core/function/obu/mogo/MogoPrivateObuNewManager.kt
@@ -95,7 +95,6 @@ class MogoPrivateObuNewManager private constructor() {
         */
        override fun onConnectStatus(connectStatus: Int) {
            if (connectStatus == 0) { //断开连接
-                CallerLogger.d("$M_OBU${MogoObuConst.TAG_MOGO_NEW_OBU}", "onConnectFail ------> ")
                mObuStatusInfo.obuStatus = false
                mObuStatusInfo.obuHvStatus = false
                mObuStatusInfo.obuRvStatus = false
@@ -104,7 +103,6 @@ class MogoPrivateObuNewManager private constructor() {
                mContext?.let { SharedPrefsMgr.getInstance(it).putBoolean("OBU_HV", false) }
                mContext?.let { SharedPrefsMgr.getInstance(it).putBoolean("OBU_RV", false) }
            } else if (connectStatus == 1) { //连接成功
-                CallerLogger.d("$M_OBU${MogoObuConst.TAG_MOGO_NEW_OBU}", "onConnected ------> ")
                mObuStatusInfo.obuStatus = true
                CallerObuListenerManager.invokeListener(mObuStatusInfo)
                mContext?.let { SharedPrefsMgr.getInstance(it).putBoolean("OBU", true) }
@@ -246,7 +244,7 @@ class MogoPrivateObuNewManager private constructor() {
                    val direction = getMessageDirection(data.warningMsg[0].targetPosition)
                    CallerLogger.d(
                        "$M_OBU${MogoObuConst.TAG_MOGO_NEW_OBU}",
-                        "onCvxRtiThreatIndInfo appId = $appId --status = $status --level = $level -- eventSerialNum  = ${data.warningMsg[0].eventSerialNum} ---signSerialNum = ${data.warningMsg[0].signSerialNum} --- direction = $direction -- targetPosition = ${data.warningMsg[0].targetPosition}"
+                        "onMogoObuRsiWarning appId = $appId --status = $status --level = $level -- eventSerialNum  = ${data.warningMsg[0].eventSerialNum} ---signSerialNum = ${data.warningMsg[0].signSerialNum} --- direction = $direction -- targetPosition = ${data.warningMsg[0].targetPosition}"
                    )

                    when (appId) {
@@ -378,7 +376,6 @@ class MogoPrivateObuNewManager private constructor() {
                        // 拥堵
                        MogoObuConstants.RSI_SCENE_TYPE.TJW.toString() -> {
                            appId = EventTypeEnumNew.TYPE_USECASE_ID_TJW.poiType
-
                            alertContent = EventTypeEnumNew.getWarningContent(appId)
                            ttsContent = EventTypeEnumNew.getWarningTts(appId)
                            alertContent = String.format( //事件才有影响范围
@@ -403,16 +400,13 @@ class MogoPrivateObuNewManager private constructor() {

                    CallerLogger.d(
                        "$M_OBU${MogoObuConst.TAG_MOGO_NEW_OBU}",
-                        "new onMogoObuRsiWarning ttsContent = $ttsContent --alertContent = $alertContent --appId = $appId ---direction = ${direction.direction} --distance = ${Math.round(data.warningMsg[0].distance)} ---eventRadius = ${Math.round(data.warningMsg[0].eventRadius)} --speedMaxLimit  = ${data.warningMsg[0].speedMaxLimit.toInt()}"
+                        "new onMogoObuRsiWarning  appId = $appId --- ttsContent = $ttsContent --alertContent = $alertContent -- eventSerialNum  = ${data.warningMsg[0].eventSerialNum} ---signSerialNum = ${data.warningMsg[0].signSerialNum}  ---direction = ${direction.direction} --distance = ${Math.round(data.warningMsg[0].distance)} ---eventRadius = ${Math.round(data.warningMsg[0].eventRadius)} --speedMaxLimit  = ${data.warningMsg[0].speedMaxLimit.toInt()}"
                    )
                    when (status) {
                        MogoObuConstants.STATUS.ADD -> { // 添加
                            //显示警告红边
 //                        CallerHmiManager.showWarning(direction)
                            //不显示弹框，语音提示,数据在消息盒子里面展示，此处不在处理弹框
-                            if (alertContent.isNullOrEmpty() || ttsContent.isNullOrEmpty()) {
-                                Log.d("MsgBox-PriObuNewMana1", "alertContent或ttsContent为空!")
-                            }
                            CallerMsgBoxManager.saveMsgBox(
                                MsgBoxBean(
                                    MsgBoxType.V2X,
@@ -451,10 +445,6 @@ class MogoPrivateObuNewManager private constructor() {
                        }

                        MogoObuConstants.STATUS.DELETE -> { // 删除
-                            // 关闭警告红边
-//                        CallerHmiManager.showWarning(WarningDirectionEnum.ALERT_WARNING_NON)
-                            // 移除顶部弹窗
-//                        CallerHmiManager.disableWarningV2X((appId + direction.direction))
                            // 更新数据
                            TrafficDataConvertUtilsNew.cvxRtiThreatIndInfo2TrafficData(data)
                                ?.let {
@@ -507,7 +497,7 @@ class MogoPrivateObuNewManager private constructor() {
                        if (data.warningMsg != null && data.warningMsg.warningData != null && data.warningMsg.warningData.size > 0) {
                            level = data.warningMsg.warningData[0].warningLevel //默认是1个
                            CallerLogger.d("$M_OBU${MogoObuConst.TAG_MOGO_NEW_OBU}",
-                                "new onMogoObuRsmWarning ---status---> ${data.status} ---data.warningMsg.warningData[0].status = ${data.warningMsg.warningData[0].status} ---v2xType = $v2xType ---alertContent = $alertContent ---ttsContent = $ttsContent "
+                                "onMogoObuRsmWarning ---status---> ${data.status} ---data.warningMsg.warningData[0].status = ${data.warningMsg.warningData[0].status} ---v2xType = $v2xType ---alertContent = $alertContent ---ttsContent = $ttsContent "
                            )

                            when (data.warningMsg.warningData[0].status) {
@@ -515,9 +505,6 @@ class MogoPrivateObuNewManager private constructor() {
 //                        if (level == 2 || level == 3) { //不考虑level
                                    //显示警告红边
                                    CallerHmiManager.showWarning(direction)
-                                    if (alertContent.isNullOrEmpty() || ttsContent.isNullOrEmpty()) {
-                                        Log.d("MsgBox-PriObuNewMana2", "alertContent或ttsContent为空!")
-                                    }
                                    CallerMsgBoxManager.saveMsgBox(
                                        MsgBoxBean(
                                            MsgBoxType.V2X,
@@ -591,7 +578,7 @@ class MogoPrivateObuNewManager private constructor() {
                if (data != null) {
                    CallerLogger.d(
                        "$M_OBU${MogoObuConst.TAG_MOGO_NEW_OBU}",
-                        "onMogoObuMapMathstatus = ${data.status} --speedMaxLimit = ${Math.round((data.speedMaxLimit*3.6))}")
+                        "onMogoObuMapMath = ${data.status} --speedMaxLimit = ${Math.round((data.speedMaxLimit*3.6))}")
                    when (data.status) {
                        MogoObuConstants.STATUS.ADD -> { // 添加
                            UiThreadHandler.post {
--- a/core/function-impl/mogo-core-function-v2x/src/main/java/com/mogo/eagle/core/function/v2x/events/V2XEventManager.kt
+++ b/core/function-impl/mogo-core-function-v2x/src/main/java/com/mogo/eagle/core/function/v2x/events/V2XEventManager.kt
@@ -451,7 +451,6 @@ object V2XEventManager : IMoGoMapLocationListener, IMoGoTokenCallback, IV2XCallb
        }
    }

-    @SuppressLint("NewApi")
    override fun onAutopilotIdentifyPlanningObj(planningObjects: List<MessagePad.PlanningObject>?) {
        super.onAutopilotIdentifyPlanningObj(planningObjects)
        if(!FunctionBuildConfig.isV2NFromCar){
--- 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
@@ -64,6 +64,13 @@ object FunctionBuildConfig {
    @JvmField
    var isBeautyMode = true

+    /**
+     * 是否绘制云端感知物
+     */
+    @Volatile
+    @JvmField
+    var isDrawAiCloudFusion = true
+
    /**
     * 是否开启感知物替换颜色功能
     * 默认关闭
@@ -179,4 +186,5 @@ object FunctionBuildConfig {
    @JvmField
    var isPNCWarning = true

+
 }
--- a/core/mogo-core-data/src/main/java/com/mogo/eagle/core/data/enums/EventTypeEnumNew.kt
+++ b/core/mogo-core-data/src/main/java/com/mogo/eagle/core/data/enums/EventTypeEnumNew.kt
@@ -130,7 +130,7 @@ enum class EventTypeEnumNew(
    // 红绿灯事件、一种是绿灯不足3秒
    ALERT_TRAFFIC_LIGHT_WARNING("99996"),

-    // 故障车辆
+    // 故障车辆 TODO
    ALERT_CAR_TROUBLE_WARNING("20007"),

    // 疲劳驾驶
@@ -150,7 +150,7 @@ enum class EventTypeEnumNew(

    //-------------obu v2n start ------------>
    TYPE_USECASE_ID_FCW(
-        2000.toString(),
+        2010.toString(),
        "前向碰撞预警",
        poiTypeSrcVr = R.drawable.icon_warning_v2x_collision_warning,
        content = "前车碰撞预警",
--- a/core/mogo-core-function-call/src/main/java/com/mogo/eagle/core/function/call/map/CallerMapIdentifyManager.kt
+++ b/core/mogo-core-function-call/src/main/java/com/mogo/eagle/core/function/call/map/CallerMapIdentifyManager.kt
@@ -15,4 +15,8 @@ object CallerMapIdentifyManager : CallerBase() {
    fun getIdentifyObj(uuid: String): MessagePad.TrackedObject? {
        return identifyApi.getIdentifyObj(uuid)
    }
+
+    fun clearAiCloudRoma(){
+        identifyApi.clearAiCloudRoma()
+    }
 }
--- a/core/mogo-core-res/src/main/function-hmi-res/drawable-xhdpi/icon_v2x_obstacle.png
+++ b/core/mogo-core-res/src/main/function-hmi-res/drawable-xhdpi/icon_v2x_obstacle.png
--- a/core/mogo-core-res/src/main/function-hmi-res/drawable-xhdpi/icon_v2x_road_accidents.png
+++ b/core/mogo-core-res/src/main/function-hmi-res/drawable-xhdpi/icon_v2x_road_accidents.png
--- a/core/mogo-core-res/src/main/function-hmi-res/drawable-xhdpi/icon_v2x_road_congestion.png
+++ b/core/mogo-core-res/src/main/function-hmi-res/drawable-xhdpi/icon_v2x_road_congestion.png
--- a/libraries/mogo-adas-data/src/main/proto/SocketDownDataProto3.proto
+++ b/libraries/mogo-adas-data/src/main/proto/SocketDownDataProto3.proto
@@ -0,0 +1,78 @@
+syntax = "proto3";
+package mogo.yycp.service;
+option java_package = "mogo.yycp.api.proto";
+option java_outer_classname = "SocketDownData";
+/*
+message xxx {
+  // 字段规则：required -> 字段只能也必须出现 1 次
+  // 字段规则：optional -> 字段可出现 0 次或1次
+  // 字段规则：repeated -> 字段可出现任意多次（包括 0）
+  // 类型：int32、int64、sint32、sint64、string、32-bit ....
+  // 字段编号：0 ~ 536870911（除去 19000 到 19999 之间的数字）
+  字段规则 类型 名称 = 字段编号;
+}
+*/
+//返回车机主实体
+message SocketDownDataProto {
+    uint64 seq = 1;
+    uint32 msgType = 2;
+    string sn = 3;
+    LauncherSnapshotProto data = 4;
+    uint64 utcTime = 5;
+    uint64 upUtcTime = 6;
+    string cityCode = 7;
+}
+
+//LauncherSnapshot数据响应VO
+message LauncherSnapshotProto {
+    //总数据集合 RoadDataVo
+    repeated CloudRoadDataProto allList = 1;
+    //前方50米数据集合 RoadDataVo
+    repeated CloudRoadDataProto nearList = 2;
+    //摄像头 RoadDataVo
+    CloudRoadDataProto camera = 3;
+    string msgId = 4;
+    uint64 time = 5;
+    //过期时间
+    uint64 expire = 6;
+}
+//RoadDataVo
+message CloudRoadDataProto {
+    /**物体类型 1-人 2-自行车 3-小轿车 4-摩托车 5-红绿灯 6-bus 8-truck 9-路边摄像头*/
+    uint32 type = 1;
+    /**数据来源 1,"自车数据"  2,"ADAS数据"  3,"路测设备识别数据" */
+    uint32 fromType = 2;
+    /**
+     * 车机上行pgs坐标给lat，lon两个成员变量
+     *
+     * 在下发车机时计算高德经纬度
+     * 1.将gps（lat，lon）给wgslat,wgalon
+     * 2.高德算法算出高德经纬度，给lat,lon
+     */
+    double lat = 3; //gps->gd
+    double lon = 4; //gps->gd
+    double wgslat = 5; //原gps
+    double wgslon = 6; //原gps
+    //车机sn
+    string sn = 7;
+    //车辆UUID
+    string uuid = 8;
+    /** 车牌号 */
+    string cardId = 9;
+    /**速度*/
+    double speed = 10;
+    /**方向*/
+    double heading = 11;
+    /** 系统时间 */
+    uint64 systemTime = 12;
+    /** 星历时间 */
+    uint64 satelliteTime = 13;
+    /**红绿灯状态 1红 2绿 3黄*/
+    uint32 lightStatus = 14;
+    /**红绿灯剩余时间 读秒*/
+    uint32 lightLeftTime = 15;
+    /**视频流直播地址*/
+    string rtmpUrl = 16;
+    /**距离*/
+    double distance = 17;
+}
--- a/libraries/mogo-map-api/build.gradle
+++ b/libraries/mogo-map-api/build.gradle
@@ -55,7 +55,6 @@ dependencies {
        implementation project(':core:mogo-core-utils')
        implementation project(':core:mogo-core-data')
    }
-    implementation rootProject.ext.dependencies.mogoaicloudsocket
 }

 apply from: new File(rootProject.rootDir, "gradle/upload.gradle").toString()
--- a/libraries/mogo-map-api/src/main/java/com/mogo/map/IMogoMap.java
+++ b/libraries/mogo-map-api/src/main/java/com/mogo/map/IMogoMap.java
@@ -1,6 +1,5 @@
 package com.mogo.map;

-import com.mogo.cloud.socket.entity.SocketDownData;
 import com.mogo.eagle.core.data.map.MogoLatLng;
 import com.mogo.map.center.CenterLine;
 import com.mogo.map.marker.IMogoMarker;
@@ -14,6 +13,7 @@ import java.util.ArrayList;
 import java.util.HashMap;

 import mogo.telematics.pad.MessagePad;
+import mogo.yycp.api.proto.SocketDownData;

 /**
 * @author congtaowang
--- a/libraries/mogo-map-api/src/main/java/com/mogo/map/marker/IMogoMarkerManager.java
+++ b/libraries/mogo-map-api/src/main/java/com/mogo/map/marker/IMogoMarkerManager.java
@@ -2,7 +2,6 @@ package com.mogo.map.marker;

 import android.content.Context;

-import com.mogo.cloud.socket.entity.SocketDownData;
 import com.mogo.eagle.core.data.map.MogoLatLng;

 import java.util.ArrayList;
@@ -11,6 +10,7 @@ import java.util.List;
 import java.util.Map;

 import mogo.telematics.pad.MessagePad;
+import mogo.yycp.api.proto.SocketDownData;

 /**
 * @author congtaowang
--- a/libraries/mogo-map/src/main/java/com/mogo/map/AMapWrapper.java
+++ b/libraries/mogo-map/src/main/java/com/mogo/map/AMapWrapper.java
@@ -5,7 +5,6 @@ import android.content.Context;
 import android.graphics.Point;
 import android.util.Pair;

-import com.mogo.cloud.socket.entity.SocketDownData;
 import com.mogo.eagle.core.data.config.FunctionBuildConfig;
 import com.mogo.eagle.core.data.map.MogoLatLng;
 import com.mogo.eagle.core.utilcode.mogo.logger.CallerLogger;
@@ -41,8 +40,10 @@ import java.util.ArrayList;
 import java.util.Collections;
 import java.util.HashMap;
 import java.util.List;
+import java.util.concurrent.CopyOnWriteArrayList;

 import mogo.telematics.pad.MessagePad;
+import mogo.yycp.api.proto.SocketDownData;

 /**
 * @author congtaowang
@@ -121,10 +122,14 @@ public class AMapWrapper implements IMogoMap {
                markerOptionsArrayList.add(markerOptions);
            }
        });
+//        markerOptionsArrayList.addAll(cwList);
        long time = markerOptionsArrayList.get(0).getTime();
-        MarkerHelper.INSTANCE.updateBatchMarkerPositon(markerOptionsArrayList, false, FunctionBuildConfig.isBeautyMode ? 8.0f : 0f, 1, time, 1);
+        MarkerHelper.INSTANCE.updateBatchMarkerPositon(markerOptionsArrayList, false, FunctionBuildConfig.isBeautyMode ? 8.0f : 0f, 1, time, 0);
+//        cwList.clear();
    }

+//    private final CopyOnWriteArrayList<MarkerSimpleData> cwList = new CopyOnWriteArrayList<>();
+
    @SuppressLint("NewApi")
    @Override
    public void updateBatchAiMarkerPosition(HashMap<String, SocketDownData.CloudRoadDataProto> optionsArrayList) {
@@ -138,9 +143,10 @@ public class AMapWrapper implements IMogoMap {
                markerOptionsArrayList.add(markerOptions);
            }
        });
+//        cwList.addAll(markerOptionsArrayList);
        long time = markerOptionsArrayList.get(0).getTime();
-        MarkerHelper.INSTANCE.updateBatchMarkerPositon(markerOptionsArrayList, false, FunctionBuildConfig.isBeautyMode ? 8.0f : 0f, 1, time, 1);
-
+        //todo 最后一个参数，是否管理锚点的删除
+        MarkerHelper.INSTANCE.updateBatchMarkerPositon(markerOptionsArrayList, false, FunctionBuildConfig.isBeautyMode ? 8.0f : 0f, 1, time, 0);
    }

    @Override
--- a/libraries/mogo-map/src/main/java/com/mogo/map/MogoMarkerManager.java
+++ b/libraries/mogo-map/src/main/java/com/mogo/map/MogoMarkerManager.java
@@ -2,7 +2,6 @@ package com.mogo.map;

 import android.content.Context;

-import com.mogo.cloud.socket.entity.SocketDownData;
 import com.mogo.eagle.core.data.map.MogoLatLng;
 import com.mogo.eagle.core.function.call.v2x.CallMarkersClearManager;
 import com.mogo.map.marker.IMogoMarker;
@@ -16,6 +15,7 @@ import java.util.List;
 import java.util.Map;

 import mogo.telematics.pad.MessagePad;
+import mogo.yycp.api.proto.SocketDownData;

 /**
 * @author congtaowang
--- a/libraries/mogo-map/src/main/java/com/mogo/map/utils/ObjectUtils.java
+++ b/libraries/mogo-map/src/main/java/com/mogo/map/utils/ObjectUtils.java
@@ -5,7 +5,6 @@ import android.graphics.Color;
 import android.text.TextUtils;
 import android.view.View;

-import com.mogo.cloud.socket.entity.SocketDownData;
 import com.mogo.eagle.core.data.map.CenterLine;
 import com.mogo.eagle.core.data.map.MogoLatLng;
 import com.mogo.eagle.core.data.map.MogoLocation;
@@ -49,6 +48,7 @@ import java.util.ArrayList;
 import java.util.List;

 import mogo.telematics.pad.MessagePad;
+import mogo.yycp.api.proto.SocketDownData;

 /**
 * @author congtaowang