[6.2.6][V2N] V2N功能初始化移除车型限制;道路施工取车道中心线后300数据，将经过的停止线之后的数据过滤掉

2023-12-28 16:39:28 +08:00
parent 602cc2a343
commit 524c632418
3 changed files with 66 additions and 12 deletions
--- a/core/function-impl/mogo-core-function-biz/src/main/java/com/mogo/eagle/function/biz/FuncBizProvider.kt
+++ b/core/function-impl/mogo-core-function-biz/src/main/java/com/mogo/eagle/function/biz/FuncBizProvider.kt
@@ -8,6 +8,7 @@ import com.mogo.eagle.core.data.config.FunctionBuildConfig
 import com.mogo.eagle.core.data.constants.MogoServicePaths
 import com.mogo.eagle.core.function.api.biz.IMoGoFuncBizProvider
 import com.mogo.eagle.core.function.api.biz.IMoGoNoticeNetCallBack
+import com.mogo.eagle.core.function.call.autopilot.CallerV2XListenerManager
 import com.mogo.eagle.core.function.call.autopilot.CallerV2XListenerManager.V2NCarTypeCheck
 import com.mogo.eagle.core.utilcode.mogo.AppIdentityModeUtils
 import com.mogo.eagle.function.biz.dispatch.DispatchAutoPilotManager.Companion.dispatchAutoPilotManager
@@ -43,11 +44,9 @@ class FuncBizProvider : IMoGoFuncBizProvider {
            MogoTrafficLightManager.INSTANCE.initServer(context)
        }
        VipCarManager.INSTANCE.initServer(context)
-        if(!(AppIdentityModeUtils.isBus(FunctionBuildConfig.appIdentityMode)
-            && AppIdentityModeUtils.isPassenger(FunctionBuildConfig.appIdentityMode))){
+        if (V2NCarTypeCheck.verifyCarType()) {
            V2XEventManager.init(context)
        }
-
        if(AppIdentityModeUtils.isDriver(FunctionBuildConfig.appIdentityMode)){
            LineUploadManager.getInstance(context)?.init()
        }
--- a/core/function-impl/mogo-core-function-biz/src/main/java/com/mogo/eagle/function/biz/v2x/v2n/V2XEventManager.kt
+++ b/core/function-impl/mogo-core-function-biz/src/main/java/com/mogo/eagle/function/biz/v2x/v2n/V2XEventManager.kt
@@ -36,10 +36,13 @@ import com.mogo.eagle.core.function.call.autopilot.CallerAutoPilotStatusListener
 import com.mogo.eagle.core.function.call.autopilot.CallerAutopilotIdentifyListenerManager
 import com.mogo.eagle.core.function.call.autopilot.CallerChassisLocationGCJ02ListenerManager
 import com.mogo.eagle.core.function.call.autopilot.CallerChassisLocationGCJ02ListenerManager.getChassisLocationGCJ02
+import com.mogo.eagle.core.function.call.autopilot.CallerChassisLocationWGS84ListenerManager
 import com.mogo.eagle.core.function.call.autopilot.CallerV2XListenerManager
 import com.mogo.eagle.core.function.call.autopilot.CallerV2XListenerManager.V2NCarTypeCheck.Companion.verifyCarType
 import com.mogo.eagle.core.function.call.cloud.CallerCloudListenerManager
 import com.mogo.eagle.core.function.call.hmi.CallerHmiManager
+import com.mogo.eagle.core.function.call.map.CallerMapRoadListenerManager
+import com.mogo.eagle.core.function.call.map.CallerMapRoadListenerManager.OnRoadListener
 import com.mogo.eagle.core.function.call.msgbox.CallerMsgBoxManager
 import com.mogo.eagle.core.function.call.telematic.CallerTelematicManager
 import com.mogo.eagle.core.utilcode.mogo.AppIdentityModeUtils
@@ -58,8 +61,8 @@ import com.mogo.eagle.function.biz.v2x.v2n.receiver.SceneBroadcastReceiver
 import com.mogo.eagle.function.biz.v2x.v2n.scenario.impl.V2XScenarioManager
 import com.mogo.eagle.function.biz.v2x.v2n.utils.V2XEventAnalyticsManager
 import com.mogo.eagle.function.biz.v2x.v2n.utils.toRoadMarker
+import com.zhidaoauto.map.data.road.StopLine
 import com.zhjt.service.chain.ChainLog
-import com.zhjt.service.chain.TraceNodeCore.Companion.update
 import kotlinx.coroutines.CoroutineScope
 import kotlinx.coroutines.Dispatchers
 import kotlinx.coroutines.android.asCoroutineDispatcher
@@ -68,15 +71,15 @@ import kotlinx.coroutines.launch
 import mogo.telematics.pad.MessagePad.PlanningObject
 import mogo.v2x.MogoV2X
 import java.nio.charset.Charset
-import java.util.concurrent.ConcurrentHashMap
 import java.util.concurrent.CopyOnWriteArrayList
 import java.util.concurrent.CopyOnWriteArraySet
 import java.util.concurrent.atomic.AtomicBoolean
+import java.util.concurrent.atomic.AtomicReference


 object V2XEventManager : IMoGoChassisLocationGCJ02Listener, IV2XCallback,
    IMoGoAutopilotIdentifyListener, IMoGoCloudListener,
-    IMoGoV2XListener, IMoGoAutopilotStatusListener {
+    IMoGoV2XListener, IMoGoAutopilotStatusListener, OnRoadListener {

    private const val TAG = "V2XEventManager"

@@ -88,15 +91,56 @@ object V2XEventManager : IMoGoChassisLocationGCJ02Listener, IV2XCallback,

    private val hasInit by lazy { AtomicBoolean(false) }

+    private val firstLocationInCross by lazy { AtomicReference<MogoLocation>() }
+
+    @Volatile
+    private var roadId = ""
+
+    @Volatile
+    private var roadIdWithEnterCross = ""
+
+    @Volatile
+    private var hasCrossRoad = false
+
    fun init(context: Context) {
        if (hasInit.compareAndSet(false, true)) {
            registerListener()
            v2xPoiLoader.startLoopPoi()
            // 注册广播接收场景弹窗使用的
            SceneBroadcastReceiver.register(context)
+            CallerMapRoadListenerManager.registerRoadListener(TAG, this)
        }
    }

+    override fun onRoadIdInfo(roadId: String) {
+        super.onRoadIdInfo(roadId)
+        Log.d(TAG, "--- onRoadIdInfo ---: $roadId")
+        this.roadId = roadId
+        val enterCrossRoadId = this.roadIdWithEnterCross
+        if (hasCrossRoad && roadId.isNotBlank() && enterCrossRoadId.isNotBlank() && enterCrossRoadId != roadId)  {
+            hasCrossRoad = false
+            if (firstLocationInCross.get() == null) {
+                Log.d(TAG, "--- onRoadIdInfo --- 1 ---: $roadId")
+                firstLocationInCross.set(CallerChassisLocationWGS84ListenerManager.getChassisLocationWGS84())
+            }
+        }
+    }
+
+    override fun onStopLineInfo(info: StopLine) {
+        super.onStopLineInfo(info)
+        Log.d(TAG, "--- onStopLineInfo --- 1 ---: ${ info.distance }")
+        if (!hasCrossRoad && info.distance <= 10) {
+            Log.d(TAG, "--- onStopLineInfo --- 2 ---: $roadId")
+            hasCrossRoad = true
+            roadIdWithEnterCross = this.roadId
+            firstLocationInCross.set(null)
+        }
+    }
+
+    fun getFirstLocationInCross(): MogoLocation? {
+        return firstLocationInCross.get()
+    }
+
    private fun registerListener() {
        CallerChassisLocationGCJ02ListenerManager.addListener(TAG, 1, this)
        v2xPoiLoader.addCallback(this)
@@ -319,6 +363,7 @@ object V2XEventManager : IMoGoChassisLocationGCJ02Listener, IV2XCallback,
                unRegisterListener()
            }
            v2xPoiLoader.stopLoopPoi()
+            CallerMapRoadListenerManager.unRegisterRoadListener(TAG)
        }
    }

--- a/core/function-impl/mogo-core-function-biz/src/main/java/com/mogo/eagle/function/biz/v2x/v2n/scenario/scene/airoad/AiRoadMarker.kt
+++ b/core/function-impl/mogo-core-function-biz/src/main/java/com/mogo/eagle/function/biz/v2x/v2n/scenario/scene/airoad/AiRoadMarker.kt
@@ -5,6 +5,7 @@ import android.graphics.Color
 import android.os.Handler
 import android.os.HandlerThread
 import android.os.Looper
+import android.util.Log
 import android.view.animation.DecelerateInterpolator
 import androidx.core.util.Pair
 import com.mogo.eagle.core.data.map.MogoLatLng
@@ -14,6 +15,7 @@ import com.mogo.eagle.core.function.call.map.CallerMapUIServiceManager
 import com.mogo.eagle.core.utilcode.util.CoordinateUtils
 import com.mogo.eagle.core.utilcode.util.DrivingDirectionUtils
 import com.mogo.eagle.function.biz.v2x.V2XBizTrace
+import com.mogo.eagle.function.biz.v2x.v2n.V2XEventManager
 import com.mogo.eagle.function.biz.v2x.v2n.consts.V2XConst
 import com.mogo.eagle.function.biz.v2x.v2n.remove.MarkerRemoveManager
 import com.mogo.eagle.function.biz.v2x.v2n.remove.MarkerWrapper
@@ -37,6 +39,8 @@ class AiRoadMarker {
        val aiMakers = ConcurrentHashMap<String, AiRoadMarker>()

        private const val TAG = "AiRoadMarker"
+        private val COLOR_START = Color.parseColor("#002ABAD9")
+        private val COLOR_END = Color.parseColor("#66FF7A30")
    }

    private val marker by lazy { AtomicReference<Marker>() }
@@ -45,9 +49,6 @@ class AiRoadMarker {
        CallerMapUIServiceManager.getOverlayManager()
    }

-    private val START_COLOR = Color.parseColor("#002ABAD9")
-    private val END_COLOR = Color.parseColor("#66FF7A30")
-
    private val roadMarker by lazy { V2XAiRoadEventMarker() }

    private val line = AtomicReference<Polyline>()
@@ -151,7 +152,16 @@ class AiRoadMarker {
            V2XBizTrace.onAck("$TAG -marker-4-l2:", l2)
            val points = LinkedList<MogoLatLng>()
            if (l2.points.isNotEmpty()) {
-                points.addAll(l2.points.reversed().map {
+                points.addAll(l2.points.reversed().filter {
+                    val location = V2XEventManager.getFirstLocationInCross()
+                    Log.d(TAG, "l2: location -> $location")
+                    if (location != null) {
+                        val angle = DrivingDirectionUtils.getDegreeOfCar2Poi2(location.longitude, location.latitude, it.longitude, it.latitude, location.heading)
+                        angle <= 90
+                    } else {
+                        true
+                    }
+                }.map {
                    MogoLatLng(it.latitude, it.longitude)
                })
            }
@@ -202,8 +212,8 @@ class AiRoadMarker {
            (0..total).forEach { i ->
                colors += evaluator.evaluate(
                    interceptor.getInterpolation(i * 1f / total),
-                    START_COLOR,
-                    END_COLOR
+                    COLOR_START,
+                    COLOR_END
                ) as Int
            }
            builder.points(points)