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Merge remote-tracking branch 'origin/dev_robotaxi-d_240807_6.6.0' into dev_robotaxi-d_240807_6.6.0

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donghongyu-pc
2024-09-04 19:25:09 +08:00
parent c7c4fcdd30 275d64f1c7
commit 430fbe900c
7 changed files with 22 additions and 67 deletions
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46
core/function-impl/mogo-core-function-biz/src/main/java/com/mogo/eagle/function/biz/v2x/v2n/pnc/V2NIdentifyDrawer.kt
View File

@@ -140,52 +140,6 @@ internal object V2NIdentifyDrawer: IEventDismissListener {
car.longitude,
car.latitude
)
// if (polygon.isNotEmpty()) {
// val decision = V2NUtils.computeOccupyLanesInfo(Triple(car.longitude, car.latitude, car.heading.toFloat()), Triple(itx.longitude, itx.latitude, itx.heading.toFloat()), polygon.map { kotlin.Pair(it.first, it.second) })
// if (decision != null) {
// val isDriver = AppIdentityModeUtils.isDriver(FunctionBuildConfig.appIdentityMode)
// val total = decision.total
// val occupy = decision.occupy
// val laneId = decision.laneId
// val sb = StringBuilder()
// V2XBizTrace.onAck(decision, "计算出道路事件占道决策数据1")
// if (laneId != null) {
// val isOccupy = occupy.find { it.id == laneId } != null
// if (isOccupy) {
// if (isDriver) {
// val bestLane = V2NUtils.computeBestLane(laneId, occupy, total)
// V2XBizTrace.onAck(bestLane, "计算出最优车道")
// sb.append("发现前方${distance.toInt()}米${ if (poiType == EventTypeEnumNew.TYPE_SOCKET_ROAD_SHIGONG.poiType) "车道施工" else "车道事故" }@@, 蘑菇建议您尽快${bestLane.second}")
// } else {
// sb.append("发现前方${distance.toInt()}米${ if (poiType == EventTypeEnumNew.TYPE_SOCKET_ROAD_SHIGONG.poiType) "车道施工" else "车道事故" }@@, 蘑菇时刻为您守护")
// }
// } else {
// if (isDriver) {
// sb.append("发现前方${distance.toInt()}米${ if (poiType == EventTypeEnumNew.TYPE_SOCKET_ROAD_SHIGONG.poiType) "车道施工" else "车道事故" }@@, 蘑菇提醒您小心${ if (computeDirection(laneId, occupy) > 0) "右侧" else "左侧" }行人及来车")
// } else {
// sb.append("发现前方${distance.toInt()}米${ if (poiType == EventTypeEnumNew.TYPE_SOCKET_ROAD_SHIGONG.poiType) "车道施工" else "车道事故" }@@, 蘑菇时刻为您守护")
// }
// }
// } else {
// sb.append("发现前方${distance.toInt()}米${ if (poiType == EventTypeEnumNew.TYPE_SOCKET_ROAD_SHIGONG.poiType) "车道施工" else "车道事故" }@@, 蘑菇时刻为您守护")
// }
// if (AppIdentityModeUtils.isPassenger(FunctionBuildConfig.appIdentityMode)) {
// runCatching {
// CallerHmiManager.notifyXiaoZhiStatusChanged(V2N(EventTypeEnumNew.getEnumType(poiType)), START)
// }
// scope.launch {
// delay(5000)
// runCatching {
// CallerHmiManager.notifyXiaoZhiStatusChanged(V2N(EventTypeEnumNew.getEnumType(poiType)), STOP)
// }
// }
// }
// val ss = sb.toString()
// val content = ss.substring(0, ss.indexOf("@@"))
// val tts = ss.replace("@@", "")
// CallerRoadV2NEventWindowListenerManager.showLiveVideo(id, itx.detectStartTime.takeIf { it > 0 } ?: System.currentTimeMillis(), EventTypeEnumNew.getUpdateIconRes(poiType), content, isDriver, tts, itx.cameraIp, itx.longitude, itx.latitude)
// }
// }
val isDriver = AppIdentityModeUtils.isDriver(FunctionBuildConfig.appIdentityMode)
if (!isDriver) {
runCatching {

2
core/function-impl/mogo-core-function-biz/src/main/java/com/mogo/eagle/function/biz/v2x/v2n/scenario/scene/airoad/AiRoadMarker.kt
View File

@@ -46,7 +46,7 @@ class AiRoadMarker {
val aiMakers = ConcurrentHashMap<String, AiRoadMarker>()
private const val TAG = "AiRoadMarker"
private val COLOR_START = Color.parseColor("#002ABAD9")
private val COLOR_START = Color.parseColor("#0030A3FF")
private val COLOR_END = Color.parseColor("#66FF7A30")
private val builders by lazy { ConcurrentHashMap<String, Point.Options.Builder>() }

4
core/function-impl/mogo-core-function-biz/src/main/java/com/mogo/eagle/function/biz/v2x/v2n/scenario/scene/road/V2XAiRoadEventMarker.kt
View File

@@ -38,12 +38,12 @@ class V2XAiRoadEventMarker {
if (AppIdentityModeUtils.isDriver(FunctionBuildConfig.appIdentityMode)) {
val colors = ArrayList<Int>()
colors.add(Color.argb(204, 237, 172, 21))
colors.add(Color.argb(0, 255, 255, 255))
colors.add(Color.argb(0, 48, 163, 255))
builder.colors(colors)
} else {
val colors = ArrayList<Int>()
colors.add(Color.parseColor("#99FF8F2A"))
colors.add(Color.argb(0, 255, 255, 255))
colors.add(Color.argb(0, 48, 163, 255))
builder.colors(colors)
}
val dispersedPoints = getDispersedPoints(polygon.map { Pair<Double, Double>(it.first, it.second) }, 3)

2
core/function-impl/mogo-core-function-devatools/src/main/java/com/zhjt/mogo_core_function_devatools/status/StatusManager.kt
View File

@@ -214,6 +214,7 @@ object StatusManager {
is DoubleFlashStatus -> "双闪"
is GearStatus -> "档位"
is RouteDownloadStatus -> if (item.state == RouteStart) "轨迹下载中" else "轨迹下载失败"
is FSMStatus -> "FSM"
else -> "其它"
}
}
@@ -239,7 +240,6 @@ object StatusManager {
} else {
ret or shl
}
}
}
return ret

4
core/function-impl/mogo-core-function-devatools/src/main/java/com/zhjt/mogo_core_function_devatools/status/ui/StatusView.kt
View File

@@ -49,11 +49,11 @@ internal class StatusView(private val model: StatusModel, ctx: Context): Constra
.horizontalInnerSpace(10.PX)
.build()
)
val adapter = model.status.value?.let { data -> StatusAdapter(context, data.second.filter { (it !is IAutopilotPreLaunchStatus) && (it !is FSMStatus)}) }?.also { adapter -> itx.adapter = adapter }
val adapter = model.status.value?.let { data -> StatusAdapter(context, data.second.filter { (it !is IAutopilotPreLaunchStatus) || (it is FSMStatus)}) }?.also { adapter -> itx.adapter = adapter }
adapter?.let { _ ->
model.status.observeForever(Observer<Pair<Status?, ArrayList<Status>>> { data ->
val old = adapter.data
val update = data.second.filter { (it !is IAutopilotPreLaunchStatus) && (it !is FSMStatus) }
val update = data.second.filter { (it !is IAutopilotPreLaunchStatus) || (it is FSMStatus) }
val result = DiffUtil.calculateDiff(StatusDiffCallback(old, update))
adapter.data = update
result.dispatchUpdatesTo(adapter)

4
core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/business/routeoverlay/RouteOverlayDrawer.java
View File

@@ -73,7 +73,7 @@ public class RouteOverlayDrawer {
List<Integer> alphas = MapTools.INSTANCE.getColorAlpha(temps);
if (alphas != null && !alphas.isEmpty()) {
for (int i : alphas) {
greenWaveColors.add(Color.argb(i, 109,254,208));
greenWaveColors.add(Color.argb(i, 48, 163, 255));
}
}
}
@@ -151,7 +151,7 @@ public class RouteOverlayDrawer {
if (alphas != null && !alphas.isEmpty()) {
colors = new CopyOnWriteArrayList<>();
for (int i : alphas) {
colors.add(Color.argb(i, 48,203,251));
colors.add(Color.argb(i, 48,163,255));
}
}
}

27
core/mogo-core-function-call/src/main/java/com/mogo/eagle/core/function/call/autopilot/CallerAutoPilotControlManager.kt
View File

@@ -93,34 +93,35 @@ object CallerAutoPilotControlManager {
*/
fun isCanStartAutopilot(isShowTip: Boolean, source: Int = 0): Boolean {
/**
* 方向盘： 1<<0
* 油门 : 1<<1
* 刹车: 1<<2
* 双闪: 1<<3
* 档位: 1<<4
* 轨迹下载: (下载中) 1<<5； （下载失败）1<<6
* FSM: 1<<0
* 方向盘： 1<<1
* 油门 : 1<<2
* 刹车: 1<<3
* 双闪: 1<<4
* 档位: 1<<5
* 轨迹下载: (下载中) 1<<6； （下载失败）1<<7
*/
val exceptionValue = CallerDevaToolsManager.getExceptionStatusBeforeLaunchAutopilot(source)
if (exceptionValue != 0) {
if (isShowTip) {
val sb = StringBuilder("请检查车辆")
if ((exceptionValue and 1) != 0) {
sb.append("FSM$")
}
if ((exceptionValue and (1 shl 1)) != 0) {
sb.append("方向盘$")
}
if (((exceptionValue and (1 shl 1)) != 0)) {
if (((exceptionValue and (1 shl 2)) != 0)) {
sb.append("油门$")
}
if ((exceptionValue and (1 shl 2)) != 0) {
if ((exceptionValue and (1 shl 3)) != 0) {
sb.append("刹车$")
}
if ((exceptionValue and (1 shl 3)) != 0) {
if ((exceptionValue and (1 shl 4)) != 0) {
sb.append("双闪$")
}
if ((exceptionValue and (1 shl 4)) != 0) {
sb.append("档位$")
}
if ((exceptionValue and (1 shl 5)) != 0) {
sb.append("FSM$")
sb.append("档位$")
}
if ((exceptionValue and (1 shl 6)) != 0 || ((exceptionValue and (1 shl 7)) != 0)) {
if (!sb.contains("$")) {