Merge remote-tracking branch 'origin/dev_robotaxi-d_230912_6.1.0' into dev_robotaxi-d_230912_6.1.0

core/function-impl/mogo-core-function-datacenter/src/main/java/com/mogo/eagle/core/function/datacenter/v2x/TrafficLightDispatcher.kt

@@ -66,6 +66,11 @@ class TrafficLightDispatcher : IMoGoAutopilotIdentifyListener, IMoGoTrafficLight
     //obu数据
     @Volatile
     private var hasObuLightStatus: Boolean = false
+
+    //是否有自车感知红绿灯数据
+    @Volatile
+    private var hasAutopilotPerception: Boolean = false
+
     //红绿灯定时器，超时未更新隐藏红绿灯
     @Volatile
     private var lightCountDownTimer: CountDownTimer? = null
@@ -90,7 +95,7 @@ class TrafficLightDispatcher : IMoGoAutopilotIdentifyListener, IMoGoTrafficLight
         )
         if (!hasObuLightStatus) {
             if (!hasAiLightStatus) {
-                trafficLights?.let { it ->
+                trafficLights?.let {
                     var light: TrafficLight? = null
                     if (it.hasStraight()) {
                         light = it.straight
@@ -106,9 +111,13 @@ class TrafficLightDispatcher : IMoGoAutopilotIdentifyListener, IMoGoTrafficLight
                         "onAutopilotPerceptionTrafficLight light = $light "
                     )
                     if (light == null) {
+                        hasAutopilotPerception = false
                         //隐藏红绿灯显示
                         hide("感知light为null隐藏", DataSourceType.TELEMATIC)
                     } else {
+                        if(!hasAutopilotPerception){
+                            hasAutopilotPerception = true
+                        }
                         onTrafficLightPlusSource(light.convert(), 0, DataSourceType.TELEMATIC)
                     }
                 }
@@ -127,7 +136,6 @@ class TrafficLightDispatcher : IMoGoAutopilotIdentifyListener, IMoGoTrafficLight
             )
         }
         if (!hasObuLightStatus) {
-            hasAiLightStatus = true
             CallerLogger.d(
                 "${SceneConstant.M_D_C}${TAG}",
                 "onTrafficLightStatus trafficLightResult = $trafficLightResult "
@@ -156,7 +164,7 @@ class TrafficLightDispatcher : IMoGoAutopilotIdentifyListener, IMoGoTrafficLight
             //如果没有OBU灯态则进行隐藏，如果有OBU灯态，则交由OBU管理
             if (!hasObuLightStatus) {
                 CallerTrafficLightListenerManager.resetTrafficLightStatus(!hasObuLightStatus)
-                hide("云端离开路口隐藏", DataSourceType.AICLOUD)
+//                hide("云端离开路口隐藏", DataSourceType.AICLOUD)
             }
         }
     }
@@ -165,15 +173,15 @@ class TrafficLightDispatcher : IMoGoAutopilotIdentifyListener, IMoGoTrafficLight
      * 红绿灯接口请求失败
      */
     override fun onTrafficRequestError() {
-        hasAiLightStatus = false
         CallerLogger.d(
             "${SceneConstant.M_D_C}${TAG}",
             "onTrafficRequestError hasObuLightStatus = $hasObuLightStatus ------> "
         )
-        CallerTrafficLightListenerManager.resetTrafficLightStatus(!hasObuLightStatus)
-        if (!hasObuLightStatus) {
-            hide("云端红绿灯接口请求失败隐藏", DataSourceType.AICLOUD)
-        }
+        CallerTrafficLightListenerManager.resetTrafficLightStatus(hasAiLightStatus)
+        hasAiLightStatus = false
+//        if (!hasObuLightStatus) {
+//            hide("云端红绿灯接口请求失败隐藏", DataSourceType.AICLOUD)
+//        }
     }
 
     /**
@@ -186,14 +194,14 @@ class TrafficLightDispatcher : IMoGoAutopilotIdentifyListener, IMoGoTrafficLight
     }
 
     /**
-     * 是否重置红绿灯数据,需要确保，在obu的红绿灯显示的时候，不执行。否则会闪屏
+     * 是否重置红绿灯数据,需要确保，在obu的红绿灯显示或自车感知红绿灯显示的时候，不执行。否则会闪屏
      */
     override fun resetTrafficLight(isReset: Boolean) {
         CallerLogger.d(
             "${SceneConstant.M_D_C}${TAG}",
             "resetTrafficLight ------> isReset = $isReset ---hasObuLightStatus = $hasObuLightStatus"
         )
-        if (!hasObuLightStatus) {
+        if (!hasObuLightStatus && !hasAutopilotPerception) {
             if (isReset) {
                 hide("云端重置红绿灯数据", DataSourceType.AICLOUD)
             }
@@ -228,6 +236,7 @@ class TrafficLightDispatcher : IMoGoAutopilotIdentifyListener, IMoGoTrafficLight
         super.onTrafficLightPlusSource(light, remain, lightSource)
         if (lightSource == DataSourceType.OBU) {
             hasObuLightStatus = true
+            hasAutopilotPerception = false
         }
         CallerLogger.d(
             "${SceneConstant.M_D_C}${TAG}",
@@ -293,6 +302,8 @@ class TrafficLightDispatcher : IMoGoAutopilotIdentifyListener, IMoGoTrafficLight
             "updateTrafficLight ----- currentTrafficLight = $currentTrafficLight"
         )
         currentTrafficLight?.let {
+            hasAiLightStatus = true
+            hasAutopilotPerception = false
             val remain = if (it.time() > 99) {
                 99
             } else {