[6.8.2] add func of fusion color

2024-12-04 11:34:32 +08:00
parent b92f8e69fd
commit 5e477b5873
12 changed files with 120 additions and 15 deletions
--- a/core/function-impl/mogo-core-function-datacenter/src/main/java/com/mogo/eagle/core/function/datacenter/autopilot/MoGoAutopilotControlProvider.kt
+++ b/core/function-impl/mogo-core-function-datacenter/src/main/java/com/mogo/eagle/core/function/datacenter/autopilot/MoGoAutopilotControlProvider.kt
@@ -56,6 +56,7 @@ import com.mogo.eagle.core.utilcode.util.ToastUtils
 import com.mogo.eagle.core.utilcode.util.UiThreadHandler
 import com.mogo.telematic.MogoProtocolMsg
 import com.mogo.telematic.MogoProtocolMsg.NORMAL_DATA
+import com.mogo.telematic.MogoProtocolMsg.SYNC_FUSION_COLOR_STATUS
 import com.mogo.telematic.MogoProtocolMsg.SYNC_MODE_STATUS
 import com.mogo.telematic.NSDNettyManager
 import com.mogo.telematic.client.listener.NettyClientListener
@@ -161,6 +162,7 @@ class MoGoAutopilotControlProvider :
                            override fun run() {
                                // 同步是否开启美化模式
                                setDemoMode(FunctionBuildConfig.isDemoMode)
+                                setFusionColor(FunctionBuildConfig.isFusionColor)
                                setIgnoreConditionDraw(FunctionBuildConfig.isIgnoreConditionsDrawAutopilotTrajectoryData)
                                msgHandler.synMsgToAllClients()
                            }
@@ -559,6 +561,32 @@ class MoGoAutopilotControlProvider :
        }
    }

+    /**
+     * 感知颜色绘制同步
+     */
+    override fun setFusionColor(isEnable: Boolean) {
+        // 同步给乘客端
+        if (AppIdentityModeUtils.isDriver(FunctionBuildConfig.appIdentityMode)) {
+            val byteArray = if (isEnable) {
+                "1;${System.currentTimeMillis()}".toByteArray()
+            } else {
+                "0;${System.currentTimeMillis()}".toByteArray()
+            }
+            if (NSDNettyManager.getInstance().isServerStart) {
+                NSDNettyManager.getInstance()
+                    .sendMsgToAllClients(
+                        MogoProtocolMsg(
+                            SYNC_FUSION_COLOR_STATUS,
+                            byteArray.size,
+                            byteArray
+                        )
+                    )
+            } else {
+                CallerLogger.d("$M_D_C$TAG", "同步感知颜色绘制时司机端Server未启动！")
+            }
+        }
+    }
+
    override fun setIgnoreConditionDraw(isIgnore: Boolean) {
        // 同步给乘客端
        if (AppIdentityModeUtils.isDriver(FunctionBuildConfig.appIdentityMode)) {
--- a/core/function-impl/mogo-core-function-datacenter/src/main/java/com/mogo/eagle/core/function/datacenter/autopilot/telematic/TeleMsgHandler.kt
+++ b/core/function-impl/mogo-core-function-datacenter/src/main/java/com/mogo/eagle/core/function/datacenter/autopilot/telematic/TeleMsgHandler.kt
@@ -20,6 +20,7 @@ import com.mogo.eagle.core.data.multidisplay.TelematicConstant
 import com.mogo.eagle.core.data.v2x.V2XEvent.RoadEventX
 import com.mogo.eagle.core.function.call.autopilot.CallerAutoPilotControlManager
 import com.mogo.eagle.core.function.call.autopilot.CallerAutoPilotControlManager.setDemoMode
+import com.mogo.eagle.core.function.call.autopilot.CallerAutoPilotControlManager.setFusionColor
 import com.mogo.eagle.core.function.call.autopilot.CallerAutoPilotControlManager.setIgnoreConditionDraw
 import com.mogo.eagle.core.function.call.autopilot.CallerAutoPilotStatusListenerManager
 import com.mogo.eagle.core.function.call.autopilot.CallerAutopilotIdentifyListenerManager
@@ -74,6 +75,9 @@ class TeleMsgHandler : IMsgHandler {
    @Volatile
    private var demoModeTime = 0L

+    @Volatile
+    private var fusionColorTime = 0L
+
    @Volatile
    private var timestamp = 0L

@@ -299,6 +303,27 @@ class TeleMsgHandler : IMsgHandler {
                    }
                }

+                MogoProtocolMsg.SYNC_FUSION_COLOR_STATUS -> {
+                    val content = String(it.body)
+                    if (content.contains(";")) {
+                        val strArr = content.split(";")
+                        if (strArr.size == 2) {
+                            val currTime = strArr[1].toLong()
+                            if (currTime > fusionColorTime) {
+                                val fusionColor = when (strArr[0]) {
+                                    "1" -> true
+                                    else -> false
+                                }
+                                CallerTelematicListenerManager.dispatchFusionColor(fusionColor)
+                                fusionColorTime = currTime
+                                invokeNettyConnResult("乘客屏收到 fusionColor为：${fusionColor}")
+                            } else {
+                                invokeNettyConnResult("乘客屏收到过时的fusionColor")
+                            }
+                        }
+                    }
+                }
+
                MogoProtocolMsg.REQ_MAC_ADDRESS -> {
                    val carConfig = MessagePad.CarConfigResp.parseFrom(msg.body)
                    AppConfigInfo.plateNumber = carConfig.plateNumber
@@ -481,6 +506,7 @@ class TeleMsgHandler : IMsgHandler {
        val socketAddress = channel?.remoteAddress().toString()
        CallerLogger.d("${SceneConstant.M_D_C}$TAG", "Client ip is:${socketAddress}")
        setDemoMode(FunctionBuildConfig.isDemoMode)
+        setFusionColor(FunctionBuildConfig.isFusionColor)
        setIgnoreConditionDraw(FunctionBuildConfig.isIgnoreConditionsDrawAutopilotTrajectoryData)
    }

--- a/core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/hmi/ui/operate/OperatePanelLayout.kt
+++ b/core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/hmi/ui/operate/OperatePanelLayout.kt
@@ -445,6 +445,7 @@ class OperatePanelLayout : LinearLayout {
                    FunctionBuildConfig.isFusionColor = isChecked //6.6.2版本基于运营需求-产品设计-v2i进pnc,感知目标颜色替换
                    FunctionBuildConfig.fusionMode = 2
                    CallerAutoPilotControlManager.sendFusionMode(2)
+                    CallerAutoPilotControlManager.setFusionColor(isChecked)
                    CallerHmiViewControlListenerManager.invokeFuncMode(IViewControlListener.FUNC_FUSION_COLOR,isChecked)
                    CallerAutoPilotControlManager.sendV2iToPncCmd(isChecked)
                    hmiAction("V2I场景进PNC, ", isChecked)
--- a/core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/hmi/ui/setting/DebugSettingView.kt
+++ b/core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/hmi/ui/setting/DebugSettingView.kt
@@ -75,6 +75,7 @@ import com.mogo.eagle.core.function.api.hmi.view.IViewControlListener.Companion.
 import com.mogo.eagle.core.function.api.hmi.view.IViewControlListener.Companion.FUNC_MODE_DEMO
 import com.mogo.eagle.core.function.api.hmi.view.IViewControlListener.Companion.FUNC_MODE_RAIN
 import com.mogo.eagle.core.function.api.setting.ISopSettingListener
+import com.mogo.eagle.core.function.api.telematic.IReceivedMsgListener
 import com.mogo.eagle.core.function.call.autopilot.CallerAutoPilotControlManager
 import com.mogo.eagle.core.function.call.autopilot.CallerAutoPilotStatusListenerManager
 import com.mogo.eagle.core.function.call.autopilot.CallerAutopilotIdentifyListenerManager
@@ -97,6 +98,7 @@ import com.mogo.eagle.core.function.call.obu.CallerObuConnectListenerManager
 import com.mogo.eagle.core.function.call.obu.CallerObuInfoListenerManager
 import com.mogo.eagle.core.function.call.setting.CallerMoGoUiSettingManager
 import com.mogo.eagle.core.function.call.setting.CallerSopSettingManager
+import com.mogo.eagle.core.function.call.telematic.CallerTelematicListenerManager
 import com.mogo.eagle.core.function.call.telematic.CallerTelematicManager
 import com.mogo.eagle.core.function.hmi.R
 import com.mogo.eagle.core.function.hmi.ui.utils.HmiActionLog
@@ -360,7 +362,8 @@ internal class DebugSettingView @JvmOverloads constructor(
    IMoGoChassisStatesListener,
    IMoGoSweeperFutianCleanSystemListener,
    IMoGoObuInfoListener,
-    ISopSettingListener, IViewControlListener, IMoGoCloudListener, IBindStateChangeListener {
+    ISopSettingListener, IViewControlListener, IMoGoCloudListener, IBindStateChangeListener,
+    IReceivedMsgListener {

    companion object {
        private const val TAG = "DebugSettingView"
@@ -469,6 +472,8 @@ internal class DebugSettingView @JvmOverloads constructor(

        CallerHmiViewControlListenerManager.addListener(TAG, this)

+        CallerTelematicListenerManager.addListener(TAG, this)
+
        //添加 业务配置监听
        CallerDevaToolsFuncConfigListenerManager.registerDevaToolsFuncConfigListener(
            FuncBizConfig.FOUNDATION, TAG, true, this
@@ -513,6 +518,9 @@ internal class DebugSettingView @JvmOverloads constructor(
        CallerSopSettingManager.removeListener(TAG)

        CallerHmiViewControlListenerManager.removeListener(TAG)
+
+        CallerTelematicListenerManager.removeListener(TAG)
+
        DevicesManager.removeBindStateChangeListener(TAG)
        // 移除 业务配置监听
        CallerDevaToolsFuncConfigListenerManager.unRegisterDevaToolsFuncConfigListener(
@@ -946,6 +954,7 @@ internal class DebugSettingView @JvmOverloads constructor(
        btnDrawFusion.isChecked = FunctionBuildConfig.isFusionColor
        btnDrawFusion.setOnCheckedChangeListener { _, isChecked ->
            FunctionBuildConfig.isFusionColor = isChecked
+            CallerAutoPilotControlManager.setFusionColor(isChecked)
        }

        // 演示模式,上一次勾选的数据
@@ -2714,6 +2723,13 @@ internal class DebugSettingView @JvmOverloads constructor(
        tbCarAperture.isChecked = status
    }

+    override fun onFusionColor(fusionColor: Boolean) {
+        super.onFusionColor(fusionColor)
+        ThreadUtils.runOnUiThread {
+            btnDrawFusion.isChecked = FunctionBuildConfig.isFusionColor
+        }
+    }
+
    override fun updateFuncMode(tag: String, boolean: Boolean) {
        super.updateFuncMode(tag, boolean)
        if (tag == FUNC_MODE_DEMO) {