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[6.10.0][Feat]车龙事件新增推荐车道信息

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This commit is contained in:
chenfufeng
2025-02-10 19:28:51 +08:00
parent ba1f25bff9
commit 42a98050e3
2 changed files with 265 additions and 80 deletions
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333
core/function-impl/mogo-core-function-biz/src/main/java/com/mogo/eagle/function/biz/v2x/v2n/pnc/V2NIdentifyDrawer.kt
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@@ -66,7 +66,7 @@ import kotlin.math.abs
/**
* V2N上车相关事件绘制
*/
internal object V2NIdentifyDrawer: IEventDismissListener {
internal object V2NIdentifyDrawer : IEventDismissListener {
private const val TAG = "V2NIdentifyDataSubscriber"
@@ -94,7 +94,12 @@ internal object V2NIdentifyDrawer: IEventDismissListener {
itx.longitude,
itx.latitude,
car.heading.toInt()
) < 90 && CoordinateUtils.calculateLineDistance(car.longitude, car.latitude, itx.longitude, itx.latitude) <= 300
) < 90 && CoordinateUtils.calculateLineDistance(
car.longitude,
car.latitude,
itx.longitude,
itx.latitude
) <= 300
}
if (filtered.isEmpty()) {
V2XBizTrace.onAck(TAG, mapOf("shiGong-shiGu-filter" to ""), true)
@@ -112,36 +117,43 @@ internal object V2NIdentifyDrawer: IEventDismissListener {
// }
// Log.d("V2NIdentifyDrawer", "--- 不在路口了 ---")
if (msg.what == MSG_WHAT_DRAW_SHIGONE) {
CallerServicesEventManager.updateServicesNum(CallerServicesEventManager.ServiceType.ROAD_CONSTRUCTION)
CallerServicesEventManager.updateServicesNum(
CallerServicesEventManager.ServiceType.ROAD_CONSTRUCTION
)
} else {
CallerServicesEventManager.updateServicesNum(CallerServicesEventManager.ServiceType.ROAD_ACCIDENT)
CallerServicesEventManager.updateServicesNum(
CallerServicesEventManager.ServiceType.ROAD_ACCIDENT
)
}
val poiType = getPoiType(itx.type).poiType
val polygon = itx.polygonList.map { Pair.create(it.longitude, it.latitude) }
marker(Marker(id,
poiType,
itx.longitude,
itx.latitude,
itx.heading,
polygon,
null,
V2XRoadEventEntity().also { e ->
e.poiType = poiType
e.location = MarkerLocation().also { l ->
val p = CoordinateTransform.WGS84ToGCJ02(
itx.longitude,
itx.latitude
)
l.lon = p[0]
l.lat = p[1]
l.angle = itx.heading
}
e.noveltyInfo = MarkerExploreWay().also {
it.poiType = poiType
it.location = e.location
it.polygon = polygon
}
}, isUseGps = true), true, isDrawRoadLine(poiType)
val polygon =
itx.polygonList.map { Pair.create(it.longitude, it.latitude) }
marker(
Marker(id,
poiType,
itx.longitude,
itx.latitude,
itx.heading,
polygon,
null,
V2XRoadEventEntity().also { e ->
e.poiType = poiType
e.location = MarkerLocation().also { l ->
val p = CoordinateTransform.WGS84ToGCJ02(
itx.longitude,
itx.latitude
)
l.lon = p[0]
l.lat = p[1]
l.angle = itx.heading
}
e.noveltyInfo = MarkerExploreWay().also {
it.poiType = poiType
it.location = e.location
it.polygon = polygon
}
}, isUseGps = true
), true, isDrawRoadLine(poiType)
)
val distance = CoordinateUtils.calculateLineDistance(
@@ -150,21 +162,36 @@ internal object V2NIdentifyDrawer: IEventDismissListener {
car.longitude,
car.latitude
)
val isDriver = AppIdentityModeUtils.isDriver(FunctionBuildConfig.appIdentityMode)
val isDriver =
AppIdentityModeUtils.isDriver(FunctionBuildConfig.appIdentityMode)
if (!isDriver) {
runCatching {
CallerHmiManager.notifyXiaoZhiStatusChanged(V2N(EventTypeEnumNew.getEnumType(poiType)), START)
CallerHmiManager.notifyXiaoZhiStatusChanged(
V2N(
EventTypeEnumNew.getEnumType(
poiType
)
), START
)
}
scope.launch {
delay(5000)
runCatching {
CallerHmiManager.notifyXiaoZhiStatusChanged(V2N(EventTypeEnumNew.getEnumType(poiType)), STOP)
CallerHmiManager.notifyXiaoZhiStatusChanged(
V2N(
EventTypeEnumNew.getEnumType(poiType)
), STOP
)
}
}
}
val contentType = if (poiType == EventTypeEnumNew.TYPE_SOCKET_ROAD_SHIGONG.poiType) "道路施工" else "道路事故"
val contentType =
if (poiType == EventTypeEnumNew.TYPE_SOCKET_ROAD_SHIGONG.poiType) "道路施工" else "道路事故"
val content = "前方${distance.toInt()}米有$contentType"
val tts = "${SkinResources.getInstance().getString(R.string.operation_platform_name)}发现前方$contentType, 提醒您注意行人及来车"
val tts = "${
SkinResources.getInstance()
.getString(R.string.operation_platform_name)
}发现前方$contentType, 提醒您注意行人及来车"
V2XBizTrace.onAck(TAG, "绘制poi事件:$poiType")
saveMsgBox(
MsgBoxBean(
@@ -177,7 +204,16 @@ internal object V2NIdentifyDrawer: IEventDismissListener {
)
)
)
CallerRoadV2NEventWindowListenerManager.showLiveVideo(id, itx.detectStartTime.takeIf { it > 0 } ?: System.currentTimeMillis(), EventTypeEnumNew.getUpdateIconRes(poiType), content, isDriver, tts, itx.cameraIp, itx.longitude, itx.latitude)
CallerRoadV2NEventWindowListenerManager.showLiveVideo(
id,
itx.detectStartTime.takeIf { it > 0 } ?: System.currentTimeMillis(),
EventTypeEnumNew.getUpdateIconRes(poiType),
content,
isDriver,
tts,
itx.cameraIp,
itx.longitude,
itx.latitude)
//消息埋点
V2XEventAnalyticsManager.triggerV2XEvent(
poiType, content, tts,
@@ -193,7 +229,8 @@ internal object V2NIdentifyDrawer: IEventDismissListener {
V2XBizTrace.onAck(TAG, mapOf("other_retrograde_vehicle" to "event == null"), true)
return@Callback true
}
val body = runCatching { GsonUtils.fromJson(event.exts, Extras::class.java) }.getOrNull()
val body =
runCatching { GsonUtils.fromJson(event.exts, Extras::class.java) }.getOrNull()
val cameraIp = body?.cameraIp
val array = body?.eventExtUnits
var heading = 0.0
@@ -206,42 +243,77 @@ internal object V2NIdentifyDrawer: IEventDismissListener {
}
val newEventId = "other_retrograde_vehicle_${event.eventId}"
val isUseGps = event.gnssType != 0
V2XBizTrace.onAck(TAG, mapOf("cameraIp" to cameraIp, "heading" to heading, "uuid" to uuid, "isUseGps" to isUseGps, "newEventId" to newEventId), true)
V2XBizTrace.onAck(
TAG,
mapOf(
"cameraIp" to cameraIp,
"heading" to heading,
"uuid" to uuid,
"isUseGps" to isUseGps,
"newEventId" to newEventId
),
true
)
val eventLocation = arrayOf(event.longitude, event.latitude)
val carLocation = if (isUseGps) CallerChassisLocationWGS84ListenerManager.getChassisLocationWGS84() else CallerChassisLocationGCJ02ListenerManager.getChassisLocationGCJ02()
val carLocation =
if (isUseGps) CallerChassisLocationWGS84ListenerManager.getChassisLocationWGS84() else CallerChassisLocationGCJ02ListenerManager.getChassisLocationGCJ02()
if (DrivingDirectionUtils.getDegreeOfCar2Poi(
carLocation.longitude,
carLocation.latitude,
eventLocation[0],
eventLocation[1],
carLocation.heading.toInt()
) >= 90) {
V2XBizTrace.onAck(event, "other-retrograde-vehicle" to "事件在车的后面，不触发", true)
) >= 90
) {
V2XBizTrace.onAck(
event,
"other-retrograde-vehicle" to "事件在车的后面，不触发",
true
)
return@Callback true
}
AiRoadMarker.aiMakers.getOrPut(newEventId) {
val distance = CoordinateUtils.calculateLineDistance(carLocation.longitude, carLocation.latitude, eventLocation[0], eventLocation[1])
val distance = CoordinateUtils.calculateLineDistance(
carLocation.longitude,
carLocation.latitude,
eventLocation[0],
eventLocation[1]
)
if (distance > 150) {
Logger.i(TAG, "other_retrograde_vehicle --> distance > 150")
V2XBizTrace.onAck(TAG, mapOf("other_retrograde_vehicle" to "distance > 150"), true)
V2XBizTrace.onAck(
TAG,
mapOf("other_retrograde_vehicle" to "distance > 150"),
true
)
return@Callback true
}
CallerServicesEventManager.updateServicesNum(CallerServicesEventManager.ServiceType.RETROGRADE_EVENT)
val isDriver = AppIdentityModeUtils.isDriver(FunctionBuildConfig.appIdentityMode)
if (AppIdentityModeUtils.isPassenger(FunctionBuildConfig.appIdentityMode)) {
runCatching {
CallerHmiManager.notifyXiaoZhiStatusChanged(V2N(EventTypeEnumNew.TYPE_SOCKET_ROAD_OTHER_RETROGRADE_VEHICLE), START)
CallerHmiManager.notifyXiaoZhiStatusChanged(
V2N(EventTypeEnumNew.TYPE_SOCKET_ROAD_OTHER_RETROGRADE_VEHICLE),
START
)
}
scope.launch {
delay(5000)
runCatching {
CallerHmiManager.notifyXiaoZhiStatusChanged(V2N(EventTypeEnumNew.TYPE_SOCKET_ROAD_OTHER_RETROGRADE_VEHICLE), STOP)
CallerHmiManager.notifyXiaoZhiStatusChanged(
V2N(EventTypeEnumNew.TYPE_SOCKET_ROAD_OTHER_RETROGRADE_VEHICLE),
STOP
)
}
}
}
// 弹事件框
val alertContent = String.format(EventTypeEnumNew.getAlarmContent(EventTypeEnumNew.TYPE_SOCKET_ROAD_OTHER_RETROGRADE_VEHICLE.poiType), distance.toInt())
val alertTts = EventTypeEnumNew.getWarningTts(EventTypeEnumNew.TYPE_SOCKET_ROAD_OTHER_RETROGRADE_VEHICLE.poiType)
val alertContent = String.format(
EventTypeEnumNew.getAlarmContent(EventTypeEnumNew.TYPE_SOCKET_ROAD_OTHER_RETROGRADE_VEHICLE.poiType),
distance.toInt()
)
val alertTts =
EventTypeEnumNew.getWarningTts(EventTypeEnumNew.TYPE_SOCKET_ROAD_OTHER_RETROGRADE_VEHICLE.poiType)
CallerRoadV2NEventWindowListenerManager.showLiveVideo(
newEventId,
event.timestamp,
@@ -251,15 +323,28 @@ internal object V2NIdentifyDrawer: IEventDismissListener {
alertTts,
cameraIp.toString(),
eventLocation[0],
eventLocation[1])
eventLocation[1]
)
//消息埋点
V2XEventAnalyticsManager.triggerV2XEvent(
EventTypeEnumNew.TYPE_SOCKET_ROAD_OTHER_RETROGRADE_VEHICLE.poiType, alertContent, alertTts,
DataSourceType.AICLOUD, CommunicationType.V2N
EventTypeEnumNew.TYPE_SOCKET_ROAD_OTHER_RETROGRADE_VEHICLE.poiType,
alertContent,
alertTts,
DataSourceType.AICLOUD,
CommunicationType.V2N
)
AiRoadMarker()
}.also {
it.marker(Marker(newEventId, EventTypeEnumNew.TYPE_SOCKET_ROAD_OTHER_RETROGRADE_VEHICLE.poiType, eventLocation[0], eventLocation[1], heading, isUseGps = isUseGps), drawMarker = true, false, isHighFrequency = true)
it.marker(
Marker(
newEventId,
EventTypeEnumNew.TYPE_SOCKET_ROAD_OTHER_RETROGRADE_VEHICLE.poiType,
eventLocation[0],
eventLocation[1],
heading,
isUseGps = isUseGps
), drawMarker = true, false, isHighFrequency = true
)
}.receive()
} else if (msg.what == MSG_WHAT_DRAW_GREEN_WAVE) {
val data = msg.obj as? V2nCrossSpeed ?: return@Callback true
@@ -272,7 +357,8 @@ internal object V2NIdentifyDrawer: IEventDismissListener {
destX,
destY,
location.heading.toInt()
) >= 90) {
) >= 90
) {
V2XBizTrace.onAck(data, "green-wave-event" to "事件在车的后面，不触发", true)
return@Callback true
}
@@ -283,7 +369,18 @@ internal object V2NIdentifyDrawer: IEventDismissListener {
val current = abs(location.gnssSpeed).toInt()
val min = abs(data.speedStraightMin).toInt()
val max = abs(data.speedStraightMax).toInt()
marker(Marker(id, EventTypeEnumNew.TYPE_SOCKET_ROAD_GREE_WAVE.poiType, destX, destY, 0.0, null, null, null), drawMarker = false, false)
marker(
Marker(
id,
EventTypeEnumNew.TYPE_SOCKET_ROAD_GREE_WAVE.poiType,
destX,
destY,
0.0,
null,
null,
null
), drawMarker = false, false
)
var alertTts = ""
var alertContent = ""
if (AppIdentityModeUtils.isDriver(FunctionBuildConfig.appIdentityMode)) {
@@ -291,11 +388,21 @@ internal object V2NIdentifyDrawer: IEventDismissListener {
val speakText = StringBuilder("保持当前车速即可通过路口，好丝滑！")
if (current < min) {
speakText.setLength(0)
speakText.append("${SkinResources.getInstance().getString(R.string.operation_platform_name)}推荐您提升车速至${min}千米每小时, 当前车速${current}千米每小时")
speakText.append(
"${
SkinResources.getInstance()
.getString(R.string.operation_platform_name)
}推荐您提升车速至${min}千米每小时, 当前车速${current}千米每小时"
)
}
if (current > max) {
speakText.setLength(0)
speakText.append("${SkinResources.getInstance().getString(R.string.operation_platform_name)}推荐您降低车速至${max}千米每小时, 当前车速${current}千米每小时")
speakText.append(
"${
SkinResources.getInstance()
.getString(R.string.operation_platform_name)
}推荐您降低车速至${max}千米每小时, 当前车速${current}千米每小时"
)
}
val tts = speakText.toString()
alertTts = tts
@@ -305,10 +412,23 @@ internal object V2NIdentifyDrawer: IEventDismissListener {
}
//消息埋点
V2XEventAnalyticsManager.triggerV2XEvent(
EventTypeEnumNew.TYPE_SOCKET_ROAD_GREE_WAVE.poiType, alertContent, alertTts,
DataSourceType.AICLOUD, CommunicationType.V2N
EventTypeEnumNew.TYPE_SOCKET_ROAD_GREE_WAVE.poiType,
alertContent,
alertTts,
DataSourceType.AICLOUD,
CommunicationType.V2N
)
CallerHmiManager.showGreenWave(
min,
max,
computeCrossCountBetween(
Triple(
location.longitude,
location.latitude,
location.heading
), kotlin.Pair(destX, destY)
)
)
CallerHmiManager.showGreenWave(min, max, computeCrossCountBetween(Triple(location.longitude, location.latitude, location.heading), kotlin.Pair(destX, destY)))
} finally {
receive()
}
@@ -332,15 +452,22 @@ internal object V2NIdentifyDrawer: IEventDismissListener {
val isUseGps = data.gnssType != 0
Logger.i(TAG, "isUseGps --> $isUseGps")
val eventLocation = arrayOf(data.longitude, data.latitude)
val carLocation = if (isUseGps) CallerChassisLocationWGS84ListenerManager.getChassisLocationWGS84() else CallerChassisLocationGCJ02ListenerManager.getChassisLocationGCJ02()
val distance = CoordinateUtils.calculateLineDistance(carLocation.longitude, carLocation.latitude, eventLocation[0], eventLocation[1])
val carLocation =
if (isUseGps) CallerChassisLocationWGS84ListenerManager.getChassisLocationWGS84() else CallerChassisLocationGCJ02ListenerManager.getChassisLocationGCJ02()
val distance = CoordinateUtils.calculateLineDistance(
carLocation.longitude,
carLocation.latitude,
eventLocation[0],
eventLocation[1]
)
if (DrivingDirectionUtils.getDegreeOfCar2Poi(
carLocation.longitude,
carLocation.latitude,
eventLocation[0],
eventLocation[1],
carLocation.heading.toInt()
) >= 90) {
) >= 90
) {
V2XBizTrace.onAck(data, "people-cross" to "事件在车的后面，不触发", true)
return@Callback true
}
@@ -356,18 +483,28 @@ internal object V2NIdentifyDrawer: IEventDismissListener {
val isDriver = AppIdentityModeUtils.isDriver(FunctionBuildConfig.appIdentityMode)
if (AppIdentityModeUtils.isPassenger(FunctionBuildConfig.appIdentityMode)) {
runCatching {
CallerHmiManager.notifyXiaoZhiStatusChanged(V2N(EventTypeEnumNew.TYPE_SOCKET_ROAD_PEOPLE_CROSS), START)
CallerHmiManager.notifyXiaoZhiStatusChanged(
V2N(EventTypeEnumNew.TYPE_SOCKET_ROAD_PEOPLE_CROSS),
START
)
}
scope.launch {
delay(5000)
runCatching {
CallerHmiManager.notifyXiaoZhiStatusChanged(V2N(EventTypeEnumNew.TYPE_SOCKET_ROAD_PEOPLE_CROSS), STOP)
CallerHmiManager.notifyXiaoZhiStatusChanged(
V2N(EventTypeEnumNew.TYPE_SOCKET_ROAD_PEOPLE_CROSS),
STOP
)
}
}
}
// 弹事件框
val alertContent = String.format(EventTypeEnumNew.getAlarmContent(EventTypeEnumNew.TYPE_SOCKET_ROAD_PEOPLE_CROSS.poiType), distance.toInt())
val alertTts = EventTypeEnumNew.getWarningTts(EventTypeEnumNew.TYPE_SOCKET_ROAD_PEOPLE_CROSS.poiType)
val alertContent = String.format(
EventTypeEnumNew.getAlarmContent(EventTypeEnumNew.TYPE_SOCKET_ROAD_PEOPLE_CROSS.poiType),
distance.toInt()
)
val alertTts =
EventTypeEnumNew.getWarningTts(EventTypeEnumNew.TYPE_SOCKET_ROAD_PEOPLE_CROSS.poiType)
CallerRoadV2NEventWindowListenerManager.showLiveVideo(
data.eventId,
data.timestamp,
@@ -377,16 +514,26 @@ internal object V2NIdentifyDrawer: IEventDismissListener {
alertTts,
cameraIp.toString(),
eventLocation[0],
eventLocation[1])
eventLocation[1]
)
//消息埋点
V2XEventAnalyticsManager.triggerV2XEvent(
EventTypeEnumNew.TYPE_SOCKET_ROAD_PEOPLE_CROSS.poiType, alertContent, alertTts,
DataSourceType.AICLOUD, CommunicationType.V2N
)
AiRoadMarker()
AiRoadMarker()
}.also {
Logger.i(TAG, "people cross -- 4 --")
it.marker(Marker(data.eventId, EventTypeEnumNew.TYPE_SOCKET_ROAD_PEOPLE_CROSS.poiType, eventLocation[0], eventLocation[1], heading, isUseGps = isUseGps), drawMarker = true, false, isHighFrequency = true)
it.marker(
Marker(
data.eventId,
EventTypeEnumNew.TYPE_SOCKET_ROAD_PEOPLE_CROSS.poiType,
eventLocation[0],
eventLocation[1],
heading,
isUseGps = isUseGps
), drawMarker = true, false, isHighFrequency = true
)
}.receive()
}
true
@@ -418,7 +565,10 @@ internal object V2NIdentifyDrawer: IEventDismissListener {
// }
// }
private fun computeCrossCountBetween(start: Triple<Double, Double, Double>, end: kotlin.Pair<Double, Double>): Int {
private fun computeCrossCountBetween(
start: Triple<Double, Double, Double>,
end: kotlin.Pair<Double, Double>
): Int {
// val points = V2NUtils.generateIntermediatePoints(kotlin.Pair(start.first, start.second), end, 50.0 * 1e-7)
// V2XBizTrace.onAck(points, "computeCrossCountBetween", true)
// var crossId = MapDataWrapper.getCrossRoad(start.first, start.second, start.third)?.cross_id
@@ -472,28 +622,45 @@ internal object V2NIdentifyDrawer: IEventDismissListener {
override fun onAutopilotIdentifyDataUpdate(trafficData: List<TrackedObject>?) {
super.onAutopilotIdentifyDataUpdate(trafficData)
//source: 1 -> 感知数据； 2 -> 融合数据
val shiGong = trafficData?.filter { itx -> (itx.type == 501 || itx.type == 502) && itx.trackedSourceList.find { it.source != 1 } != null }
val shiGong =
trafficData?.filter { itx -> (itx.type == 501 || itx.type == 502) && itx.trackedSourceList.find { it.source != 1 } != null }
if (!shiGong.isNullOrEmpty()) {
drawShiGong(shiGong)
}
val shiGu = trafficData?.filter { itx -> itx.type == 13 && itx.trackedSourceList.find { it.source != 1 } != null }
val shiGu =
trafficData?.filter { itx -> itx.type == 13 && itx.trackedSourceList.find { it.source != 1 } != null }
if (!shiGu.isNullOrEmpty()) {
drawShiGu(shiGu)
}
val chelong = trafficData?.find { itx ->
itx.addAttribute == MessagePad.AdditionalAttribute.ATTR_ROAD_CONGESTION
var hasCheLong = false
val roadMsgList = ArrayList<NDEMsg.RoadMsg>()
trafficData?.forEach { obj ->
if (obj.type == 707) {
if (obj.polygonCount > 1) {
hasCheLong = true
}
roadMsgList.add(
NDEMsg.RoadMsg(
obj.arrowType, laneNum = obj.laneNum,
isRecommend = obj.suggestedLanes, isCheLong = obj.polygonCount > 1
)
)
}
}
if (chelong != null) {
if (hasCheLong) {
saveMsgBox(MsgBoxBean(
MsgBoxType.NDE,
NDEMsg(
"","路口车龙","前方路口有车龙"
)
"", "路口车龙", "前方路口有车龙"
).also {
it.setRoadList(roadMsgList)
}
))
// 司机屏才TTS
if (AppIdentityModeUtils.isDriver(FunctionBuildConfig.appIdentityMode)) {
ThreadUtils.runOnUiThread {
AIAssist.getInstance(Utils.getApp()).speakTTSVoiceWithLevel("蘑菇发现前方路口有车龙", AIAssist.NEW_LEVEL_2)
AIAssist.getInstance(Utils.getApp())
.speakTTSVoiceWithLevel("蘑菇发现前方路口有车龙", AIAssist.NEW_LEVEL_2)
}
}
}
@@ -537,7 +704,13 @@ internal object V2NIdentifyDrawer: IEventDismissListener {
private fun drawOtherRetrogradeVehicle(event: MessagePad.Event) {
if (V2NCarTypeCheck.verifyCarType() && FunctionBuildConfig.v2nTotalSwitch) {
handler.removeMessages(MSG_WHAT_DRAW_OTHER_RETROGRADE_VEHICLE)
handler.sendMessage(Message.obtain(handler, MSG_WHAT_DRAW_OTHER_RETROGRADE_VEHICLE, event))
handler.sendMessage(
Message.obtain(
handler,
MSG_WHAT_DRAW_OTHER_RETROGRADE_VEHICLE,
event
)
)
}
}
@@ -563,20 +736,20 @@ internal object V2NIdentifyDrawer: IEventDismissListener {
override fun onV2nNioCrossoverEvent(event: MessagePad.Event) {
super.onV2nNioCrossoverEvent(event)
V2XBizTrace.onAck(event,"onV2nNioCrossoverEvent", true)
V2XBizTrace.onAck(event, "onV2nNioCrossoverEvent", true)
drawPeopleCross(event)
}
override fun onV2nNioGreenWavePassageEvent(crossSpeed: V2nCrossSpeed) {
super.onV2nNioGreenWavePassageEvent(crossSpeed)
V2XBizTrace.onAck(crossSpeed, "onV2nNioGreenWavePassageEvent", true)
V2XBizTrace.onAck(crossSpeed, "onV2nNioGreenWavePassageEvent", true)
drawGreenWave(crossSpeed)
}
override fun onV2nNioOtherRetrogradeEvent(event: MessagePad.Event) {
super.onV2nNioOtherRetrogradeEvent(event)
CallerLogger.i(TAG, "onV2nNioOtherRetrogradeEvent --> ${event}")
V2XBizTrace.onAck(event, "onV2nNioOtherRetrogradeEvent", true)
V2XBizTrace.onAck(event, "onV2nNioOtherRetrogradeEvent", true)
drawOtherRetrogradeVehicle(event)
}
}