Merge branch 'dev_robotaxi-d_250417_8.0.0' into dev_robotaxi-d_250417_8.0.0_routing

OCH/taxi/unmanned-passenger/src/main/res/layout/taxi_p_overmap.xml

@@ -65,6 +65,7 @@
 
     <androidx.appcompat.widget.AppCompatImageView
         android:id="@+id/aciv_only_center"
+        android:visibility="gone"
         android:src="@drawable/taxi_p_center_location_selector"
         app:layout_constraintTop_toTopOf="@+id/aciv_only_center_bg"
         app:layout_constraintBottom_toBottomOf="@+id/aciv_only_center_bg"

core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/business/identify/IdentifyFactory.kt

@@ -2,7 +2,6 @@ package com.mogo.eagle.core.function.business.identify
 
 import android.os.Handler
 import android.os.Message
-import com.mogo.eagle.core.data.config.FunctionBuildConfig
 import com.mogo.eagle.core.data.deva.chain.ChainConstant
 import com.mogo.eagle.core.data.traffic.TrafficData
 import com.mogo.eagle.core.function.api.autopilot.IMoGoAutopilotCarConfigListener
@@ -10,12 +9,10 @@ import com.mogo.eagle.core.function.api.datacenter.obu.IMoGoObuStatusListener
 import com.mogo.eagle.core.function.call.autopilot.CallerAutopilotCarConfigListenerManager
 import com.mogo.eagle.core.function.call.obu.CallerObuWarningListenerManager
 import com.mogo.eagle.core.utilcode.mogo.thread.WorkThreadHandler
-import com.mogo.map.MogoMap
 import com.zhjt.service.chain.ChainLog
 import mogo.telematics.pad.MessagePad
 import mogo.telematics.pad.MessagePad.TrackedObject
 import mogo.yycp.api.proto.SocketDownData
-import prediction2025.Prediction2025
 import java.util.concurrent.TimeUnit
 
 object IdentifyFactory : Identify, IMoGoObuStatusListener, IMoGoAutopilotCarConfigListener {
@@ -31,36 +28,9 @@ object IdentifyFactory : Identify, IMoGoObuStatusListener, IMoGoAutopilotCarConf
         internal val aiCloudDataDrawer = IdentifyAiCloudDataDrawer()
     }
 
-    // 预测
-    object PreDriverIdentify {
-        internal val preDataDrawer = IdentifyOriginDataDrawer()
-
-        //        internal val preDataDrawer2 = IdentifyPredictionDataDrawer()
-//        internal val preDataDrawer3 = IdentifyPredictionDataDrawer()
-        internal val preDataDrawer2 = IdentifyOriginDataDrawer()
-        internal val preDataDrawer3 = IdentifyOriginDataDrawer()
-    }
-
-    // 决策
-    object DesDriverIdentify {
-        internal val desDataDrawer = IdentifyOriginDataDrawer()
-    }
-
     private var identify: Identify = DriverIdentify.originDataDrawer
     private var aiCloudIdentify: Identify? = null
-
-    // 预测
-    private var preIdentify: Identify = PreDriverIdentify.preDataDrawer
-
-    //    private var preIdentify2: Identify = PreDriverIdentify.preDataDrawer2
-//    private var preIdentify3: Identify = PreDriverIdentify.preDataDrawer3
-    // 决策
-    private var desIdentify: Identify = DesDriverIdentify.desDataDrawer
-
     private var startTime: Long = 0L
-
-    //    private var preStartTime: Long = 0L
-//    private var desStartTime: Long = 0L
     private var dockerVersion: String? = null
 
     fun initType() {
@@ -81,8 +51,6 @@ object IdentifyFactory : Identify, IMoGoObuStatusListener, IMoGoAutopilotCarConf
     private const val MSG_DATA_OBU_WARNING_REMOVE = 4
     private const val MSG_DATA_CLEAR = 5
     private const val MSG_DATA_AI_CLEAR = 6
-    private const val MSG_DATA_PRE_TRACK = 7
-    private const val MSG_DATA_PRE_CLEAR = 8
 
     // 维护一个线程定时轮询数据进行地图绘制
     private val mDrawerHandler: Handler =
@@ -100,23 +68,13 @@ object IdentifyFactory : Identify, IMoGoObuStatusListener, IMoGoAutopilotCarConf
                         if (internal >= 1000) {
                             lostFrame(internal.toString())
                             identify.clearOldMarker()
-                            preIdentify.clearOldMarker()
                         }
                         sendEmptyMessageDelayed(MSG_CHECK, 1000L)
                     }
 
                     MSG_DATA_TRACK -> {
                         if (msg.obj is List<*>) {
-                            val objectList = msg.obj as List<TrackedObject>?
-                            val mapInstanceList = ArrayList<String>()
-                            mapInstanceList.add(MogoMap.DEFAULT)
-//                            if (FunctionBuildConfig.isDrawDecIdentifyData) {
-//                                mapInstanceList.add(MogoMap.SMALL_DES_MAP)
-//                            }
-                            if (FunctionBuildConfig.isDrawPreIdentifyData) {
-                                mapInstanceList.add(MogoMap.SMALL_PRED_MAP)
-                            }
-                            identify.renderAdasRegResults(objectList, mapInstanceList)
+                            identify.renderAdasRecognizedResult(msg.obj as List<TrackedObject>?)
                             startTime = System.nanoTime()
                         }
                     }
@@ -130,15 +88,6 @@ object IdentifyFactory : Identify, IMoGoObuStatusListener, IMoGoAutopilotCarConf
                         }
                     }
 
-                    MSG_DATA_PRE_TRACK -> {
-                        if (msg.obj is List<*>) {
-                            val objectList = msg.obj as List<Prediction2025.mPredictionObjectApp>
-//                            preIdentify.renderPredictionResult(objectList, MogoMap.SMALL_PRED_MAP)
-//                            preIdentify2.renderPredictionResult(objectList, MogoMap.SMALL_PRED_MAP2)
-//                            preIdentify3.renderPredictionResult(objectList, MogoMap.SMALL_PRED_MAP3)
-                        }
-                    }
-
                     MSG_DATA_WARNING -> {
                         if (msg.obj is List<*>) {
                             identify.renderPlanningWarningObj(msg.obj as List<MessagePad.PlanningObject>?)
@@ -158,21 +107,12 @@ object IdentifyFactory : Identify, IMoGoObuStatusListener, IMoGoAutopilotCarConf
                     }
 
                     MSG_DATA_CLEAR -> {
-                        val mapInstanceList = ArrayList<String>()
-                        mapInstanceList.add(MogoMap.DEFAULT)
-                        mapInstanceList.add(MogoMap.SMALL_PRED_MAP)
-                        identify.clearOldMarkers(mapInstanceList)
+                        identify.clearOldMarker()
                     }
 
                     MSG_DATA_AI_CLEAR -> {
                         aiCloudIdentify!!.clearAiMarker(msg.data.getString("mapInstance")!!)
                     }
-
-                    MSG_DATA_PRE_CLEAR -> {
-                        preIdentify.clearPredictionMarker(MogoMap.SMALL_PRED_MAP)
-//                        preIdentify2.clearPredictionMarker(MogoMap.SMALL_PRED_MAP2)
-//                        preIdentify3.clearPredictionMarker(MogoMap.SMALL_PRED_MAP3)
-                    }
                 }
             }
         }
@@ -184,13 +124,6 @@ object IdentifyFactory : Identify, IMoGoObuStatusListener, IMoGoAutopilotCarConf
         mDrawerHandler.sendMessage(message)
     }
 
-    override fun renderPredictionResult(predictionObjectList: List<Prediction2025.mPredictionObjectApp>?) {
-        val message = Message.obtain()
-        message.what = MSG_DATA_PRE_TRACK
-        message.obj = predictionObjectList
-        mDrawerHandler.sendMessage(message)
-    }
-
     override fun renderAiCloudResult(
         resultList: List<SocketDownData.CloudRoadDataProto>,
         mapInstance: String
@@ -222,12 +155,6 @@ object IdentifyFactory : Identify, IMoGoObuStatusListener, IMoGoAutopilotCarConf
         mDrawerHandler.sendMessage(message)
     }
 
-    override fun clearPredictionMarker(mapInstance: String) {
-        val message = Message.obtain()
-        message.what = MSG_DATA_PRE_CLEAR
-        mDrawerHandler.sendMessage(message)
-    }
-
     override fun updateTrackerWarningInfo(trafficData: TrafficData) {
         super.updateTrackerWarningInfo(trafficData)
         val message = Message.obtain()

core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/view/TravelRealityView.kt

@@ -420,6 +420,13 @@ class TravelRealityView @JvmOverloads constructor(
             what = CLEAR_ALL_DATA
             nonFrequentHandler?.sendMessage(this)
         }
+        UiThreadHandler.post {
+            smallSiteMarkerList?.forEach {
+                it.destroy()
+            }
+            smallSiteMarkerList = null
+            clearPolyline()
+        }
         mSiteList.clear()
     }