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[2.13.0-arch-opt] fix bug of thread problem and add new func obu fusion and warning union

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This commit is contained in:
zhongchao
2023-02-15 21:09:04 +08:00
parent be7f5d419a
commit 4bec76e02d
6 changed files with 150 additions and 41 deletions
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26
OCH/mogo-och-sweeper/src/main/java/com/mogo/och/sweeper/view/SweeperTrafficDataView.java
View File

@@ -89,18 +89,20 @@ public class SweeperTrafficDataView extends ConstraintLayout
*/
@Override
public void onAutopilotLightSwitchData(@org.jetbrains.annotations.Nullable Chassis.LightSwitch lightSwitch) {
//转向灯状态 0是正常 1是左转 2是右转
if (lightSwitch != null) {
CallerLogger.INSTANCE.d(TAG, "车辆转向灯:" + lightSwitch.toString());
if (lightSwitch.getNumber()==1){
CallerVisualAngleManager.INSTANCE.showTurning(true);
sweeperTurnSignal.showLeftSignal();
}else if(lightSwitch.getNumber()==2){
CallerVisualAngleManager.INSTANCE.showTurning(true);
sweeperTurnSignal.showRightSignal();
}else{
CallerVisualAngleManager.INSTANCE.showTurning(false);
sweeperTurnSignal.showDirection();
ThreadUtils.runOnUiThread {
//转向灯状态 0是正常 1是左转 2是右转
if (lightSwitch != null) {
CallerLogger.INSTANCE.d(TAG, "车辆转向灯:" + lightSwitch.toString());
if (lightSwitch.getNumber()==1){
CallerVisualAngleManager.INSTANCE.showTurning(true);
sweeperTurnSignal.showLeftSignal();
}else if(lightSwitch.getNumber()==2){
CallerVisualAngleManager.INSTANCE.showTurning(true);
sweeperTurnSignal.showRightSignal();
}else{
CallerVisualAngleManager.INSTANCE.showTurning(false);
sweeperTurnSignal.showDirection();
}
}
}
}

84
core/function-impl/mogo-core-function-datacenter/src/main/java/com/mogo/eagle/core/function/datacenter/obu/MogoPrivateObuNewManager.kt
View File

@@ -11,12 +11,14 @@ import com.mogo.eagle.core.function.api.hmi.warning.IMoGoWarningStatusListener
import com.mogo.eagle.core.function.api.map.angle.Default
import com.mogo.eagle.core.function.api.map.angle.TooClose
import com.mogo.eagle.core.function.call.autopilot.CallerAutoPilotStatusListenerManager
import com.mogo.eagle.core.function.call.autopilot.CallerAutopilotIdentifyListenerManager
import com.mogo.eagle.core.function.call.hmi.CallerHmiManager
import com.mogo.eagle.core.function.call.map.CallerMapUIServiceManager
import com.mogo.eagle.core.function.call.map.CallerVisualAngleManager
import com.mogo.eagle.core.function.call.msgbox.CallerMsgBoxManager
import com.mogo.eagle.core.function.call.obu.CallerObuConnectListenerManager
import com.mogo.eagle.core.function.call.obu.CallerObuLocationWGS84ListenerManager
import com.mogo.eagle.core.function.call.obu.CallerObuWarningListenerManager
import com.mogo.eagle.core.function.call.v2x.CallerLimitingVelocityListenerManager
import com.mogo.eagle.core.function.call.v2x.CallerTrafficLightListenerManager
import com.mogo.eagle.core.function.datacenter.obu.utils.TrafficDataConvertUtilsNew
@@ -577,18 +579,24 @@ class MogoPrivateObuNewManager private constructor() {
info: ObuScene.RvWarningData
) {
// 这里排除需要特殊定制的语音及文案外,其余的都可以使用 EventTypeEnumNew 提供的
var alertContent: String = ""
var ttsContent: String = ""
var alertContent = ""
var ttsContent = ""
var v2xType = appId
var changeVisualAngle = false
when (appId) {
//前向碰撞预警
MogoObuConstants.V2X_WARNING_TYPE.FCW.toString() -> {
alertContent =
EventTypeEnumNew.getWarningContent(EventTypeEnumNew.TYPE_USECASE_ID_FCW.poiType)
ttsContent =
EventTypeEnumNew.getWarningTts(EventTypeEnumNew.TYPE_USECASE_ID_FCW.poiType)
// ObuManager.getInstance().obuRvToTrackedObject(info) //todo emArrow
if (FunctionBuildConfig.isObuWarningFusionUnion) {
alertContent = "前车距离过近"
ttsContent = "前车距离过近"
CallerObuWarningListenerManager.invokeTrackerFusionData(ObuManager.getInstance().obuRvToTrackedObject(info))
} else {
alertContent =
EventTypeEnumNew.getWarningContent(EventTypeEnumNew.TYPE_USECASE_ID_FCW.poiType)
ttsContent =
EventTypeEnumNew.getWarningTts(EventTypeEnumNew.TYPE_USECASE_ID_FCW.poiType)
}
v2xType = EventTypeEnumNew.TYPE_USECASE_ID_FCW.poiType
}
//交叉路口碰撞预警
@@ -597,6 +605,7 @@ class MogoPrivateObuNewManager private constructor() {
EventTypeEnumNew.getWarningContent(EventTypeEnumNew.TYPE_USECASE_ID_ICW.poiType)
ttsContent =
EventTypeEnumNew.getWarningTts(EventTypeEnumNew.TYPE_USECASE_ID_ICW.poiType)
v2xType = EventTypeEnumNew.TYPE_USECASE_ID_ICW.poiType
}
//左转辅助预警
@@ -605,6 +614,7 @@ class MogoPrivateObuNewManager private constructor() {
EventTypeEnumNew.getWarningContent(EventTypeEnumNew.TYPE_USECASE_ID_LTA.poiType)
ttsContent =
EventTypeEnumNew.getWarningTts(EventTypeEnumNew.TYPE_USECASE_ID_LTA.poiType)
v2xType = EventTypeEnumNew.TYPE_USECASE_ID_LTA.poiType
}
//盲区预警
@@ -613,6 +623,7 @@ class MogoPrivateObuNewManager private constructor() {
EventTypeEnumNew.getWarningTts(EventTypeEnumNew.TYPE_USECASE_ID_BSW.poiType)
alertContent =
EventTypeEnumNew.getWarningContent(EventTypeEnumNew.TYPE_USECASE_ID_BSW.poiType)
v2xType = EventTypeEnumNew.TYPE_USECASE_ID_BSW.poiType
if (
direction == WarningDirectionEnum.ALERT_WARNING_LEFT ||
direction == WarningDirectionEnum.ALERT_WARNING_TOP_LEFT ||
@@ -638,7 +649,8 @@ class MogoPrivateObuNewManager private constructor() {
EventTypeEnumNew.getWarningContent(EventTypeEnumNew.TYPE_USECASE_ID_LCW.poiType)
ttsContent =
EventTypeEnumNew.getWarningTts(EventTypeEnumNew.TYPE_USECASE_ID_LCW.poiType)
if (
v2xType = EventTypeEnumNew.TYPE_USECASE_ID_LCW.poiType
if (
direction == WarningDirectionEnum.ALERT_WARNING_LEFT ||
direction == WarningDirectionEnum.ALERT_WARNING_TOP_LEFT ||
direction == WarningDirectionEnum.ALERT_WARNING_BOTTOM_LEFT
@@ -661,6 +673,7 @@ class MogoPrivateObuNewManager private constructor() {
EventTypeEnumNew.getWarningContent(EventTypeEnumNew.TYPE_USECASE_ID_DNPW.poiType)
ttsContent =
EventTypeEnumNew.getWarningTts(EventTypeEnumNew.TYPE_USECASE_ID_DNPW.poiType)
v2xType = EventTypeEnumNew.TYPE_USECASE_ID_DNPW.poiType
}
//紧急制动预警
@@ -669,6 +682,7 @@ class MogoPrivateObuNewManager private constructor() {
EventTypeEnumNew.getWarningContent(EventTypeEnumNew.TYPE_USECASE_ID_EBW.poiType)
ttsContent =
EventTypeEnumNew.getWarningTts(EventTypeEnumNew.TYPE_USECASE_ID_EBW.poiType)
v2xType = EventTypeEnumNew.TYPE_USECASE_ID_EBW.poiType
}
//异常车辆提醒
@@ -687,6 +701,7 @@ class MogoPrivateObuNewManager private constructor() {
EventTypeEnumNew.getWarningContent(EventTypeEnumNew.TYPE_USECASE_ID_CLW.poiType)
ttsContent =
EventTypeEnumNew.getWarningTts(EventTypeEnumNew.TYPE_USECASE_ID_CLW.poiType)
v2xType = EventTypeEnumNew.TYPE_USECASE_ID_CLW.poiType
alertContent = String.format(alertContent, direction.desc)
ttsContent = String.format(ttsContent, direction.desc)
}
@@ -696,6 +711,7 @@ class MogoPrivateObuNewManager private constructor() {
EventTypeEnumNew.getWarningContent(EventTypeEnumNew.TYPE_USECASE_ID_EVW.poiType)
ttsContent =
EventTypeEnumNew.getWarningTts(EventTypeEnumNew.TYPE_USECASE_ID_EVW.poiType)
v2xType = EventTypeEnumNew.TYPE_USECASE_ID_EVW.poiType
}
// 这里处理固定的提示信息,包括了<紧急车辆提醒>
@@ -715,9 +731,9 @@ class MogoPrivateObuNewManager private constructor() {
)
if (level == 2 || level == 3) {
//不显示弹框，其它保留
saveObuData(appId, alertContent, ttsContent)
saveObuData(v2xType, alertContent, ttsContent)
CallerHmiManager.warningV2X(
appId,
v2xType,
alertContent,
ttsContent,// 只有第一次才tts，防止更新的时候不断的提醒
object : IMoGoWarningStatusListener {
@@ -736,10 +752,12 @@ class MogoPrivateObuNewManager private constructor() {
}, direction
)
}
//更新周边车辆进行预警颜色变换，车辆实时移动和变色 ，UUID不需要匹配了
TrafficDataConvertUtilsNew.cvxV2vThreatIndInfo2TrafficData(info)?.let {
CallerMapUIServiceManager.getMarkerService()
?.updateITrafficThreatLevelInfo(it)
CallerObuWarningListenerManager.invokeTrackerWarningInfo(it)
}
}
// 删除
@@ -751,6 +769,7 @@ class MogoPrivateObuNewManager private constructor() {
it.threatLevel = 0x01
CallerMapUIServiceManager.getMarkerService()
?.updateITrafficThreatLevelInfo(it)
CallerObuWarningListenerManager.removeTrackerWarningInfo(it)
}
}
}
@@ -815,13 +834,24 @@ class MogoPrivateObuNewManager private constructor() {
if (!isShowRunRedLight) {
isShowRunRedLight = true
CallerLogger.d(
"$M_OBU${MogoObuConst.TAG_MOGO_NEW_OBU}", "changeTrafficLightStatus 闯红灯 --------> ")
"$M_OBU${MogoObuConst.TAG_MOGO_NEW_OBU}",
"changeTrafficLightStatus 闯红灯 --------> "
)
ttsContent =
EventTypeEnumNew.getWarningTts(EventTypeEnumNew.TYPE_USECASE_ID_IVP_RED.poiType)
alertContent =
EventTypeEnumNew.getWarningContent(EventTypeEnumNew.TYPE_USECASE_ID_IVP_RED.poiType)
saveObuData(EventTypeEnumNew.TYPE_USECASE_ID_IVP_RED.poiType, alertContent, ttsContent)
showWarning(EventTypeEnumNew.TYPE_USECASE_ID_IVP_RED.poiType, alertContent, ttsContent, WarningDirectionEnum.ALERT_WARNING_NON)
saveObuData(
EventTypeEnumNew.TYPE_USECASE_ID_IVP_RED.poiType,
alertContent,
ttsContent
)
showWarning(
EventTypeEnumNew.TYPE_USECASE_ID_IVP_RED.poiType,
alertContent,
ttsContent,
WarningDirectionEnum.ALERT_WARNING_NON
)
}
}
@@ -839,16 +869,27 @@ class MogoPrivateObuNewManager private constructor() {
ttsContent =
String.format(
EventTypeEnumNew.getWarningTts(EventTypeEnumNew.TYPE_USECASE_ID_IVP_GREEN.poiType),
adviceSpeedTts)
adviceSpeedTts
)
alertContent =
String.format(
EventTypeEnumNew.getWarningContent(EventTypeEnumNew.TYPE_USECASE_ID_IVP_GREEN.poiType),
adviceSpeed)
adviceSpeed
)
val maxSpeed = currentLight.suggestMaxSpeed
if (maxSpeed > 0) {
saveObuData(EventTypeEnumNew.TYPE_USECASE_ID_IVP_GREEN.poiType, alertContent, ttsContent)
showWarning(EventTypeEnumNew.TYPE_USECASE_ID_IVP_GREEN.poiType, alertContent, ttsContent, WarningDirectionEnum.ALERT_WARNING_NON)
saveObuData(
EventTypeEnumNew.TYPE_USECASE_ID_IVP_GREEN.poiType,
alertContent,
ttsContent
)
showWarning(
EventTypeEnumNew.TYPE_USECASE_ID_IVP_GREEN.poiType,
alertContent,
ttsContent,
WarningDirectionEnum.ALERT_WARNING_NON
)
}
}
}
@@ -914,7 +955,12 @@ class MogoPrivateObuNewManager private constructor() {
/**
* 消息盒子对应消息的语音播报
*/
private fun showWarning(type: String, content: String, tts: String, direction: WarningDirectionEnum) {
private fun showWarning(
type: String,
content: String,
tts: String,
direction: WarningDirectionEnum
) {
CallerHmiManager.warningV2X(
type,
content,

13
core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/hmi/ui/vehicle/SteeringBrakeView.kt
View File

@@ -32,6 +32,7 @@ class SteeringBrakeView(context: Context, attrs: AttributeSet?) : ConstraintLayo
private const val TAG = "SteeringBrakeView"
}
@Volatile
private var isShowTurnLight = false
private var brakeLight = -1
@@ -61,11 +62,13 @@ class SteeringBrakeView(context: Context, attrs: AttributeSet?) : ConstraintLayo
"$M_HMI$TAG",
"---onAutopilotLightSwitchData ---Acceleration = " + gnssInfo.acceleration + "-- brakeLight = " + brakeLight
)
if (!isShowTurnLight) { //在不展示转向灯的情况下，展示车辆刹车的动效
brakeView.visibility = View.VISIBLE
brakeView.setBrakeLight(brakeLight)
} else {
brakeView.visibility = View.GONE
ThreadUtils.runOnUiThread {
if (!isShowTurnLight) { //在不展示转向灯的情况下，展示车辆刹车的动效
brakeView.visibility = View.VISIBLE
brakeView.setBrakeLight(brakeLight)
} else {
brakeView.visibility = View.GONE
}
}
}
}

51
core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/business/identify/MapIdentifySubscriber.kt
View File

@@ -4,10 +4,13 @@ import android.content.Context
import com.alibaba.android.arouter.facade.annotation.Route
import com.mogo.eagle.core.data.config.FunctionBuildConfig
import com.mogo.eagle.core.data.constants.MogoServicePaths.PATH_IDENTIFY
import com.mogo.eagle.core.data.traffic.TrafficData
import com.mogo.eagle.core.function.api.autopilot.IMoGoAutopilotIdentifyListener
import com.mogo.eagle.core.function.api.base.IMoGoSubscriber
import com.mogo.eagle.core.function.api.map.marker.IMoGoIdentifyListener
import com.mogo.eagle.core.function.api.obu.IMoGoObuStatusListener
import com.mogo.eagle.core.function.call.autopilot.CallerAutopilotIdentifyListenerManager
import com.mogo.eagle.core.function.call.obu.CallerObuWarningListenerManager
import com.mogo.eagle.core.utilcode.util.ThreadUtils
import mogo.telematics.pad.MessagePad
import mogo.telematics.pad.MessagePad.TrackedObject
@@ -21,7 +24,7 @@ import mogo.yycp.api.proto.SocketDownData
*/
@Route(path = PATH_IDENTIFY)
class MapIdentifySubscriber private constructor() : IMoGoIdentifyListener, IMoGoSubscriber,
IMoGoAutopilotIdentifyListener {
IMoGoAutopilotIdentifyListener, IMoGoObuStatusListener {
private val TAG = "MapIdentifySubscriber"
@@ -37,11 +40,12 @@ class MapIdentifySubscriber private constructor() : IMoGoIdentifyListener, IMoGo
override fun onCrate() {
CallerAutopilotIdentifyListenerManager.addListener(TAG, this)
CallerObuWarningListenerManager.addListener(TAG, this)
}
override fun onDestroy() {
CallerAutopilotIdentifyListenerManager.removeListener(TAG)
CallerObuWarningListenerManager.removeListener(TAG)
}
override fun onAutopilotIdentifyDataUpdate(trafficData: List<TrackedObject>?) {
@@ -62,7 +66,6 @@ class MapIdentifySubscriber private constructor() : IMoGoIdentifyListener, IMoGo
try {
if (FunctionBuildConfig.isDrawAiCloudFusion) {
ThreadUtils.getSinglePool().execute {
// aiCloudDataDrawer.renderAiCloudResult(cloudData)
IdentifyFactory.renderAiCloudResult(cloudData)
}
} else {
@@ -74,7 +77,6 @@ class MapIdentifySubscriber private constructor() : IMoGoIdentifyListener, IMoGo
}
fun clearAiCloudRoma() {
// aiCloudDataDrawer.clearAiMarker()
IdentifyFactory.clearAiMarker()
}
@@ -92,6 +94,47 @@ class MapIdentifySubscriber private constructor() : IMoGoIdentifyListener, IMoGo
}
}
override fun updateTrackerFusionData(trackObject: TrackedObject?) {
super.updateTrackerFusionData(trackObject)
try {
if (FunctionBuildConfig.isObuWarningFusionUnion) {
ThreadUtils.getSinglePool().execute {
//todo emArrow
}
} else {
}
} catch (e: Exception) {
e.printStackTrace()
}
}
override fun updateTrackerWarningInfo(trafficData: TrafficData) {
super.updateTrackerWarningInfo(trafficData)
try {
if (FunctionBuildConfig.isObuWarningFusionUnion) {
ThreadUtils.getSinglePool().execute {
IdentifyFactory.renderOBUWarningObj(true, trafficData)
}
} else {
IdentifyFactory.renderOBUWarningObj(false, trafficData)
}
} catch (e: Exception) {
e.printStackTrace()
}
}
override fun removeTrackerWarningInfo(trafficData: TrafficData) {
super.removeTrackerWarningInfo(trafficData)
try {
ThreadUtils.getSinglePool().execute {
IdentifyFactory.renderOBUWarningObj(false, trafficData)
}
} catch (e: Exception) {
e.printStackTrace()
}
}
override fun getIdentifyObj(uuid: String): TrackedObject? {
return IdentifyFactory.getIdentifyObj(uuid)
}

9
core/mogo-core-function-api/src/main/java/com/mogo/eagle/core/function/api/obu/IMoGoObuStatusListener.kt
View File

@@ -1,7 +1,7 @@
package com.mogo.eagle.core.function.api.obu
import com.mogo.eagle.core.data.obu.ObuStatusInfo
import com.mogo.eagle.core.data.traffic.TrafficData
import mogo.telematics.pad.MessagePad
/**
* @author xiaoyuzhou
@@ -17,6 +17,13 @@ interface IMoGoObuStatusListener {
}
/**
* obu Tracker data
*/
fun updateTrackerFusionData(trackObject: MessagePad.TrackedObject?){
}
/**
* 更新obu Tracker 预警信息
*/

8
core/mogo-core-function-call/src/main/java/com/mogo/eagle/core/function/call/obu/CallerObuWarningListenerManager.kt
View File

@@ -3,6 +3,7 @@ package com.mogo.eagle.core.function.call.obu
import com.mogo.eagle.core.data.traffic.TrafficData
import com.mogo.eagle.core.function.api.obu.IMoGoObuStatusListener
import com.mogo.eagle.core.function.call.base.CallerBase
import mogo.telematics.pad.MessagePad
/**
* OBU 监听管理
@@ -19,6 +20,13 @@ object CallerObuWarningListenerManager : CallerBase<IMoGoObuStatusListener>() {
}
}
fun invokeTrackerFusionData(trackObject: MessagePad.TrackedObject?){
M_LISTENERS.forEach {
val listener = it.value
listener.updateTrackerFusionData(trackObject)
}
}
fun invokeTrackerWarningInfo(trafficData: TrafficData) {
M_LISTENERS.forEach {
val listener = it.value