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[6.5.0][道路事件] 修复qa发现的问题

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This commit is contained in:
renwj
2024-07-09 19:21:02 +08:00
parent b0e216657f
commit 647fd8aa46
22 changed files with 351 additions and 118 deletions
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10
OCH/bus/driver/src/main/res/layout/bus_base_fragment.xml
View File

@@ -107,6 +107,16 @@
app:layout_goneMarginEnd="40dp"
app:layout_goneMarginTop="@dimen/dp_236" />
<com.mogo.eagle.core.function.hmi.ui.greenwave.GreenWaveView
android:layout_marginTop="@dimen/dp_71"
android:layout_width="wrap_content"
android:layout_height="wrap_content"
android:visibility="invisible"
app:layout_constraintEnd_toEndOf="@+id/viewLimitingVelocity"
app:layout_constraintTop_toBottomOf="@+id/viewLimitingVelocity"
app:layout_goneMarginEnd="40dp"
app:layout_goneMarginTop="@dimen/dp_236" />
<!-- 前方路况探查 -->
<com.mogo.eagle.core.function.view.RoadCrossRoamView
android:layout_width="@dimen/dp_600"

10
OCH/charter/driver/src/main/res/layout/charter_base_fragment.xml
View File

@@ -114,6 +114,16 @@
android:visibility="invisible"
app:layout_constraintTop_toBottomOf="@+id/viewLimitingVelocity"/>
<com.mogo.eagle.core.function.hmi.ui.greenwave.GreenWaveView
android:layout_width="wrap_content"
android:layout_height="wrap_content"
android:layout_marginTop="@dimen/dp_71"
app:layout_constraintEnd_toEndOf="@+id/viewLimitingVelocity"
app:layout_goneMarginEnd="40dp"
app:layout_goneMarginTop="@dimen/dp_236"
android:visibility="invisible"
app:layout_constraintTop_toBottomOf="@+id/viewLimitingVelocity"/>
<!--消息盒子选择入口-->
<com.mogo.eagle.core.function.hmi.ui.msgbox.DriverMsgBoxButtonView
android:id="@+id/viewDriverMsgBoxButton"

10
OCH/shuttle/driver/src/main/res/layout/shuttle_base_fragment.xml
View File

@@ -104,6 +104,16 @@
android:visibility="invisible"
app:layout_constraintTop_toBottomOf="@+id/viewLimitingVelocity"/>
<com.mogo.eagle.core.function.hmi.ui.greenwave.GreenWaveView
android:layout_width="wrap_content"
android:layout_height="wrap_content"
android:layout_marginTop="@dimen/dp_71"
app:layout_constraintEnd_toEndOf="@+id/viewLimitingVelocity"
app:layout_goneMarginEnd="40dp"
app:layout_goneMarginTop="@dimen/dp_236"
android:visibility="invisible"
app:layout_constraintTop_toBottomOf="@+id/viewLimitingVelocity"/>
<!--消息盒子选择入口-->
<com.mogo.eagle.core.function.hmi.ui.msgbox.DriverMsgBoxButtonView
android:id="@+id/viewDriverMsgBoxButton"

9
OCH/taxi/driver/src/main/res/layout/taxi_base_fragment.xml
View File

@@ -139,6 +139,15 @@
app:layout_goneMarginEnd="40dp"
app:layout_goneMarginTop="@dimen/dp_236" />
<com.mogo.eagle.core.function.hmi.ui.greenwave.GreenWaveView
android:layout_width="wrap_content"
android:layout_height="wrap_content"
android:layout_marginTop="@dimen/dp_71"
android:visibility="invisible"
app:layout_constraintEnd_toEndOf="@+id/viewLimitingVelocity"
app:layout_constraintTop_toBottomOf="@+id/viewLimitingVelocity"
app:layout_goneMarginEnd="40dp"
app:layout_goneMarginTop="@dimen/dp_236" />
<!-- 前方路况探查 -->
<com.mogo.eagle.core.function.view.RoadCrossRoamView
android:layout_width="@dimen/dp_600"

9
OCH/taxi/passenger/src/main/res/layout/taxi_p_base_fragment.xml
View File

@@ -252,6 +252,15 @@
app:layout_constraintBottom_toTopOf="@id/aciv_xiaozhi_normal"
app:layout_constraintEnd_toEndOf="parent" />
<com.mogo.eagle.core.function.hmi.ui.greenwave.GreenWaveView
android:layout_width="wrap_content"
android:layout_height="wrap_content"
android:layout_marginEnd="@dimen/dp_50"
android:layout_marginBottom="-80dp"
android:visibility="gone"
app:layout_constraintBottom_toTopOf="@id/aciv_xiaozhi_normal"
app:layout_constraintEnd_toEndOf="parent" />
<com.mogo.och.taxi.passenger.ui.debug.DebugView
android:layout_width="wrap_content"
android:layout_height="wrap_content"

10
OCH/taxi/unmanned-driver/src/main/res/layout/unmanned_taxi_base_fragment.xml
View File

@@ -138,6 +138,15 @@
android:visibility="invisible"
app:layout_constraintTop_toBottomOf="@+id/viewLimitingVelocity"/>
<com.mogo.eagle.core.function.hmi.ui.greenwave.GreenWaveView
android:layout_width="wrap_content"
android:layout_height="wrap_content"
android:layout_marginTop="@dimen/dp_71"
app:layout_constraintEnd_toEndOf="@+id/viewLimitingVelocity"
app:layout_goneMarginEnd="40dp"
app:layout_goneMarginTop="@dimen/dp_236"
android:visibility="invisible"
app:layout_constraintTop_toBottomOf="@+id/viewLimitingVelocity"/>
<!--消息盒子选择入口-->
<com.mogo.eagle.core.function.hmi.ui.msgbox.DriverMsgBoxButtonView
android:id="@+id/viewDriverMsgBoxButton"
@@ -147,6 +156,7 @@
android:layout_marginEnd="25dp"
app:layout_constraintRight_toLeftOf="@id/viewLimitingVelocity"
app:layout_constraintTop_toBottomOf="@+id/ivCameraIcon" />
,.
<!--消息盒子打开视图-->
<com.mogo.eagle.core.function.hmi.ui.msgbox.DriverMsgBoxListView
android:id="@+id/viewDriverMsgBoxList"

9
OCH/taxi/unmanned-passenger/src/main/res/layout/taxt_u_p_base_fragment.xml
View File

@@ -246,6 +246,15 @@
android:layout_marginBottom="-80dp"
app:layout_constraintEnd_toEndOf="parent" />
<com.mogo.eagle.core.function.hmi.ui.greenwave.GreenWaveView
android:layout_width="wrap_content"
android:layout_height="wrap_content"
android:layout_marginEnd="@dimen/dp_50"
app:layout_constraintBottom_toTopOf="@id/aciv_xiaozhi_normal"
android:layout_marginBottom="-80dp"
android:visibility="gone"
app:layout_constraintEnd_toEndOf="parent" />
<com.mogo.och.taxi.passenger.ui.debug.DebugView
android:layout_width="wrap_content"
android:layout_height="wrap_content"

137
app/src/androidTest/java/com/mogo/functions/test/V2NTest.kt
View File

@@ -8,11 +8,14 @@ import androidx.test.filters.LargeTest
import androidx.test.platform.app.InstrumentationRegistry
import com.google.protobuf.ByteString
import com.mogo.eagle.core.data.config.FunctionBuildConfig
import com.mogo.eagle.core.data.multidisplay.TelematicConstant
import com.mogo.eagle.core.function.call.autopilot.CallerChassisLocationWGS84ListenerManager
import com.mogo.eagle.core.function.call.autopilot.CallerV2nNioEventListenerManager
import com.mogo.eagle.core.function.call.telematic.CallerTelematicManager
import com.mogo.eagle.core.function.main.MainLauncherActivity
import com.mogo.eagle.core.utilcode.util.CoordinateUtils
import com.mogo.eagle.core.utilcode.util.DrivingDirectionUtils
import com.mogo.eagle.core.utilcode.util.GsonUtils
import com.mogo.map.MapDataWrapper
import kotlinx.coroutines.delay
import kotlinx.coroutines.runBlocking
@@ -21,6 +24,7 @@ import mogo.telematics.pad.MessagePad.V2nCrossSpeed
import org.junit.Before
import org.junit.Test
import org.junit.runner.RunWith
import java.util.HashMap
import java.util.concurrent.TimeUnit
@@ -47,34 +51,47 @@ class V2NTest {
if (millis > 0) {
delay(millis)
}
var location = CallerChassisLocationWGS84ListenerManager.getChassisLocationWGS84()
val distance = arguments.getString("distance", "0").toDouble()
var newPoint = DrivingDirectionUtils.calculateNewPoint(location.longitude, location.latitude, location.heading, distance)
var crossInfo = MapDataWrapper.getCrossRoad(newPoint.first, newPoint.second, location.heading)
while (crossInfo == null || TextUtils.isEmpty(crossInfo.cross_id) || TextUtils.isEmpty(crossInfo.cross_id_end)) {
Log.d(TAG, "获取到的路口数据无效, 5秒后重试")
delay(TimeUnit.SECONDS.toMillis(5))
Log.d(TAG, "5秒时间到，开始计算新的路口数据")
location = CallerChassisLocationWGS84ListenerManager.getChassisLocationWGS84()
newPoint = DrivingDirectionUtils.calculateNewPoint(location.longitude, location.latitude, location.heading, distance)
crossInfo = MapDataWrapper.getCrossRoad(newPoint.first, newPoint.second, location.heading)
val targetX = arguments.getString("lon", "0").toDouble()
val targetY = arguments.getString("lat", "0").toDouble()
val targetDistance = arguments.getString("distance", "0").toDouble()
var car = CallerChassisLocationWGS84ListenerManager.getChassisLocationWGS84()
var distance = CoordinateUtils.calculateLineDistance(car.longitude, car.latitude, targetX, targetY)
Log.d(TAG, "target_distance: $targetDistance, current distance: $distance")
while (distance > targetDistance) {
delay(2000)
car = CallerChassisLocationWGS84ListenerManager.getChassisLocationWGS84()
distance = CoordinateUtils.calculateLineDistance(car.longitude, car.latitude, targetX, targetY)
Log.d(TAG, "target_distance: $targetDistance, current distance: $distance")
}
Log.d(TAG, "获取到路口数据...")
Log.d(TAG, "开始获取路口数据...")
var crossInfo = MapDataWrapper.getCrossRoad(car.longitude, car.latitude, car.heading)
while (crossInfo == null || TextUtils.isEmpty(crossInfo.cross_id) || TextUtils.isEmpty(crossInfo.cross_id_end)) {
Log.d(TAG, "获取到的路口数据无效, 1秒后重试")
delay(TimeUnit.SECONDS.toMillis(1))
Log.d(TAG, "1秒时间到，开始计算新的路口数据")
car = CallerChassisLocationWGS84ListenerManager.getChassisLocationWGS84()
crossInfo = MapDataWrapper.getCrossRoad(car.longitude, car.latitude, car.heading)
}
val newPoint = DrivingDirectionUtils.calculateNewPoint(car.longitude, car.latitude, car.heading , 200.0)
Log.d(TAG, "获取到路口数据..., 自车:[${car.longitude}, ${car.latitude}]前方200米外的点: [${newPoint.first}, ${newPoint.second}]")
FunctionBuildConfig.isNewV2NData = true
FunctionBuildConfig.v2nMainSwitch = true
CallerV2nNioEventListenerManager.invokeV2nNioGreenWavePassageEvent(
V2nCrossSpeed.getDefaultInstance().toBuilder()
.setSpeedLeftMin(0)
.setSpeedLeftMax(0)
.setSpeedRightMin(0)
.setSpeedRightMax(0)
.setSpeedStraightMin(30)
.setSpeedStraightMax(54)
.setMaxSpeed(0)
.setMaxStatus(0)
.setLng(newPoint.first)
.setLat(newPoint.second)
.build())
runCatching {
val map = HashMap<String, Boolean>().also {
it["f1"] = FunctionBuildConfig.v2nMainSwitch
it["f2"] = FunctionBuildConfig.isNewV2NData
}
CallerTelematicManager.sendMsgToAllClients(TelematicConstant.V2N_NEW_LINK_SWITCH, GsonUtils.toJson(map).toByteArray())
}
delay(2000)
val data = V2nCrossSpeed.getDefaultInstance().toBuilder().setSpeedLeftMin(0).setSpeedLeftMax(0).setSpeedRightMin(0).setSpeedRightMax(0).setSpeedStraightMin(30).setSpeedStraightMax(54).setMaxSpeed(0).setMaxStatus(0).setLng(newPoint.first).setLat(newPoint.second).build()
CallerV2nNioEventListenerManager.invokeV2nNioGreenWavePassageEvent(data)
while (!CallerTelematicManager.getServerStarted()) {
Log.d(TAG , "乘客屏未连接, 2秒后重试...")
delay(2000)
}
Log.d(TAG, "乘客屏已连接, 将数据发送给乘客屏...")
CallerTelematicManager.sendMsgToAllClients(TelematicConstant.V2N_AI_ROAD_GREEN_WAVE, data.toByteArray())
delay(TimeUnit.MINUTES.toMillis(10))
}
@@ -103,21 +120,67 @@ class V2NTest {
Log.d(TAG, "location:[x:${targetX}, y:${targetY}, new_location:[x:${newPoint.first}, y:${newPoint.second}]")
FunctionBuildConfig.isNewV2NData = true
FunctionBuildConfig.v2nMainSwitch = true
runCatching {
val map = HashMap<String, Boolean>().also {
it["f1"] = FunctionBuildConfig.v2nMainSwitch
it["f2"] = FunctionBuildConfig.isNewV2NData
}
CallerTelematicManager.sendMsgToAllClients(TelematicConstant.V2N_NEW_LINK_SWITCH, GsonUtils.toJson(map).toByteArray())
}
delay(2000)
val eventId = "xxxxxxxxxxxxx"
for (i in 0 until 500) {
CallerV2nNioEventListenerManager.invokeV2nNioCrossoverEvent(
MessagePad.Event.getDefaultInstance().toBuilder()
.setLongitude(newPoint.first)
.setLatitude(newPoint.second)
.setEventId(eventId)
.setTimestamp(System.currentTimeMillis())
.addAllTargetIds(emptyList())
.addTargetIdsBytes(ByteString.EMPTY)
.addTargetIds("0")
.setExts("{ \"cameraIp\": \"172.18.7.40\" }")
.build())
val data = MessagePad.Event.getDefaultInstance().toBuilder().setLongitude(newPoint.first).setLatitude(newPoint.second).setEventId(eventId).setTimestamp(System.currentTimeMillis()).addAllTargetIds(emptyList()).addTargetIdsBytes(ByteString.EMPTY).addTargetIds("0").setExts("{ \"cameraIp\": \"172.18.7.40\",\"eventExtUnits\":[{\"heading\":266.5414733886719,\"uuid\":\"e440951e-5eb6-4091-8560-72a5d8aaf229\"}] }").build()
CallerTelematicManager.sendMsgToAllClients(TelematicConstant.V2N_AI_ROAD_PEOPLE_CROSS, data.toByteArray())
CallerV2nNioEventListenerManager.invokeV2nNioCrossoverEvent(data)
delay(50)
newPoint = DrivingDirectionUtils.calculateNewPoint(targetX, targetY, targetHeading, 0.5)
newPoint = DrivingDirectionUtils.calculateNewPoint(targetX, targetY, targetHeading, 1.0)
}
delay(TimeUnit.MINUTES.toMillis(10))
}
@Test
fun testOtherRetrogradeVehicle(): Unit = runBlocking {
val arguments = InstrumentationRegistry.getArguments()
val millis = arguments.getString("delay", "0").toLong()
if (millis > 0) {
delay(millis)
}
val targetX = arguments.getString("lon", "0").toDouble()
val targetY = arguments.getString("lat", "0").toDouble()
val targetHeading = arguments.getString("angle", "0").toDouble()
val targetDistance = arguments.getString("distance", "0").toDouble()
var car = CallerChassisLocationWGS84ListenerManager.getChassisLocationWGS84()
var distance = CoordinateUtils.calculateLineDistance(car.longitude, car.latitude, targetX, targetY)
Log.d(TAG, "target_distance: $targetDistance, current distance: $distance")
while (distance > targetDistance) {
delay(2000)
car = CallerChassisLocationWGS84ListenerManager.getChassisLocationWGS84()
distance = CoordinateUtils.calculateLineDistance(car.longitude, car.latitude, targetX, targetY)
}
Log.d(TAG, "2 -- > target_distance: $targetDistance, current distance: $distance")
var newPoint = DrivingDirectionUtils.calculateNewPoint(targetX, targetY, targetHeading, targetDistance)
Log.d(TAG, "location:[x:${targetX}, y:${targetY}, new_location:[x:${newPoint.first}, y:${newPoint.second}]")
FunctionBuildConfig.isNewV2NData = true
FunctionBuildConfig.v2nMainSwitch = true
FunctionBuildConfig.isNewV2NData = true
FunctionBuildConfig.v2nMainSwitch = true
runCatching {
val map = HashMap<String, Boolean>().also {
it["f1"] = FunctionBuildConfig.v2nMainSwitch
it["f2"] = FunctionBuildConfig.isNewV2NData
}
CallerTelematicManager.sendMsgToAllClients(TelematicConstant.V2N_NEW_LINK_SWITCH, GsonUtils.toJson(map).toByteArray())
}
delay(2000)
val eventId = "xxxxxxxxxxxxx"
for (i in 0 until 500) {
val data = MessagePad.Event.getDefaultInstance().toBuilder().setLongitude(newPoint.first).setLatitude(newPoint.second).setEventId(eventId).setTimestamp(System.currentTimeMillis()).addAllTargetIds(emptyList()).addTargetIdsBytes(ByteString.EMPTY).addTargetIds("0").setExts("{ \"cameraIp\": \"172.18.7.40\",\"eventExtUnits\":[{\"heading\":266.5414733886719,\"uuid\":\"e440951e-5eb6-4091-8560-72a5d8aaf229\"}] }").build()
CallerTelematicManager.sendMsgToAllClients(TelematicConstant.V2N_AI_ROAD_OTHER_RETROGRADE_VEHICLE, data.toByteArray())
CallerV2nNioEventListenerManager.invokeV2nNioOtherRetrogradeEvent(data)
delay(50)
newPoint = DrivingDirectionUtils.calculateNewPoint(targetX, targetY, targetHeading, 1.0)
}
delay(TimeUnit.MINUTES.toMillis(10))
}

58
core/function-impl/mogo-core-function-biz/src/main/java/com/mogo/eagle/function/biz/v2x/v2n/pnc/V2NIdentifyDrawer.kt
View File

@@ -6,6 +6,8 @@ import android.os.Message
import android.text.TextUtils
import android.util.Log
import androidx.core.util.Pair
import com.google.gson.JsonArray
import com.google.gson.JsonObject
import com.mogo.commons.voice.AIAssist
import com.mogo.eagle.core.data.config.FunctionBuildConfig
import com.mogo.eagle.core.data.enums.CommunicationType
@@ -197,7 +199,7 @@ internal object V2NIdentifyDrawer: IEventDismissListener {
}
}
val alert = sb.toString()
CallerRoadV2NEventWindowListenerManager.showLiveVideo("${itx.longitude}-${itx.latitude}", itx.systemTime.toLong(), EventTypeEnumNew.getUpdateIconRes(poiType), alert, isDriver, itx.cameraIp, itx.longitude, itx.latitude)
CallerRoadV2NEventWindowListenerManager.showLiveVideo("${itx.longitude}-${itx.latitude}", itx.detectStartTime, EventTypeEnumNew.getUpdateIconRes(poiType), alert, isDriver, itx.cameraIp, itx.longitude, itx.latitude)
}
}
//消息埋点
@@ -210,7 +212,7 @@ internal object V2NIdentifyDrawer: IEventDismissListener {
}
} else if (msg.what == MSG_WHAT_DRAW_YONGDU) {
Log.d("V2NIdentifyDrawer", "---callback -- drawYongDu --- 1 ---")
val events = msg.obj as? List<*>
/* val events = msg.obj as? List<*>
if (events == null || events.isEmpty()) {
Log.d("V2NIdentifyDrawer", "---callback -- drawYongDu --- 1 filter is empty ---")
V2XBizTrace.onAck(TAG, mapOf("yongDu" to ""), true)
@@ -313,7 +315,7 @@ internal object V2NIdentifyDrawer: IEventDismissListener {
)
}
}.receive()
}
}*/
} else if (msg.what == MSG_WHAT_DRAW_OTHER_RETROGRADE_VEHICLE) {
val event = msg.obj as? MessagePad.Event
if (event == null) {
@@ -321,6 +323,24 @@ internal object V2NIdentifyDrawer: IEventDismissListener {
V2XBizTrace.onAck(TAG, mapOf("other_retrograde_vehicle" to "event == null"), true)
return@Callback true
}
val body = runCatching { GsonUtils.fromJson(event.exts, Map::class.java) }.getOrNull()
val cameraIp = body?.get("cameraIp") as? String ?: ""
val array = (body?.get("eventExtUnits") as? JsonArray)
var heading = 0.0
var uuid = ""
if (array != null && array.size() > 0) {
for (e in array) {
if (e is JsonObject) {
if (e.has("heading")) {
heading = runCatching { e.asDouble }.getOrNull() ?: 0.0
}
if (e.has("uuid")) {
uuid = runCatching { e.asString }.getOrNull() ?: ""
}
}
}
}
Logger.d(TAG, "cameraIp: $cameraIp, heading:$heading, uuid: $uuid")
val newEventId = "other_retrograde_vehicle_${event.eventId}"
AiRoadMarker.aiMakers.getOrPut(newEventId) {
val eventLocation = when (event.gnssType) {
@@ -335,8 +355,6 @@ internal object V2NIdentifyDrawer: IEventDismissListener {
return@Callback true
}
val isDriver = AppIdentityModeUtils.isDriver(FunctionBuildConfig.appIdentityMode)
val cameraIp = if(TextUtils.isEmpty(event.exts)) ""
else (GsonUtils.fromJson(event.exts, Map::class.java)["cameraIp"])?:""
// 弹事件框
CallerRoadV2NEventWindowListenerManager.showLiveVideo(
newEventId,
@@ -387,6 +405,24 @@ internal object V2NIdentifyDrawer: IEventDismissListener {
} else if (msg.what == MSG_WHAT_DRAW_PEOPLE_CROSS) {
Logger.i(TAG, "people cross -- 1 --")
val data = msg.obj as? MessagePad.Event ?: return@Callback true
val body = runCatching { GsonUtils.fromJson(data.exts, Map::class.java) }.getOrNull()
val cameraIp = body?.get("cameraIp") as? String ?: ""
val array = (body?.get("eventExtUnits") as? JsonArray)
var heading = 0.0
var uuid = ""
if (array != null && array.size() > 0) {
for (e in array) {
if (e is JsonObject) {
if (e.has("heading")) {
heading = runCatching { e.asDouble }.getOrNull() ?: 0.0
}
if (e.has("uuid")) {
uuid = runCatching { e.asString }.getOrNull() ?: ""
}
}
}
}
Logger.d(TAG, "cameraIp: $cameraIp, heading:$heading, uuid: $uuid")
AiRoadMarker.aiMakers.getOrPut(data.eventId) {
Logger.i(TAG, "people cross -- 2 --")
val isDriver = AppIdentityModeUtils.isDriver(FunctionBuildConfig.appIdentityMode)
@@ -398,22 +434,19 @@ internal object V2NIdentifyDrawer: IEventDismissListener {
return@Callback true
}
Logger.i(TAG, "people cross -- 3 --")
val cameraIp = if(TextUtils.isEmpty(data.exts)) ""
else (GsonUtils.fromJson(data.exts, Map::class.java)["cameraIp"])?:""
// 弹事件框
CallerRoadV2NEventWindowListenerManager.showLiveVideo(
data.eventId,
data.timestamp,
EventTypeEnumNew.getUpdateIconRes(EventTypeEnumNew.TYPE_SOCKET_ROAD_PEOPLE_CROSS.poiType),
String.format(EventTypeEnumNew.getAlarmContent(EventTypeEnumNew.TYPE_SOCKET_ROAD_PEOPLE_CROSS.poiType), distance.toInt()),
isDriver,
cameraIp.toString(),
isDriver, cameraIp,
data.longitude,
data.latitude)
AiRoadMarker()
}.also {
Logger.i(TAG, "people cross -- 4 --")
it.marker(Marker(data.eventId, EventTypeEnumNew.TYPE_SOCKET_ROAD_PEOPLE_CROSS.poiType, data.longitude, data.latitude, 0.0), drawMarker = true, false, isHighFrequency = true)
it.marker(Marker(data.eventId, EventTypeEnumNew.TYPE_SOCKET_ROAD_PEOPLE_CROSS.poiType, data.longitude, data.latitude, heading), drawMarker = true, false, isHighFrequency = true)
}.receive()
}
true
@@ -457,7 +490,7 @@ internal object V2NIdentifyDrawer: IEventDismissListener {
var best = Int.MIN_VALUE
var delta = Int.MAX_VALUE
for (lane in freeLanes) {
val abs = kotlin.math.abs(lane.id - laneId)
val abs = abs(lane.id - laneId)
if (abs < delta && lane.id != laneId) {
best = lane.id
delta = abs
@@ -488,7 +521,7 @@ internal object V2NIdentifyDrawer: IEventDismissListener {
private fun computeCrossCountBetween(start: Triple<Double, Double, Double>, end: kotlin.Pair<Double, Double>): Int {
val points = V2NUtils.generateIntermediatePoints(kotlin.Pair(start.first, start.second), end, 50.0 * 1e-7)
V2XBizTrace.onAck(points, "computeCrossCountBetween", true)
var crossId = MapDataWrapper.getCrossRoad(start.first, start.second, start.third)?.cross_id_end
var crossId = MapDataWrapper.getCrossRoad(start.first, start.second, start.third)?.cross_id
val angle = start.third
var count = 1
for (p in points) {
@@ -605,6 +638,7 @@ internal object V2NIdentifyDrawer: IEventDismissListener {
private fun drawPeopleCross(event: MessagePad.Event) {
Log.d("V2NIdentifyDrawer", "---drawPeopleCross---: $event, [${FunctionBuildConfig.v2nMainSwitch}, ${FunctionBuildConfig.isNewV2NData}]")
if (V2NCarTypeCheck.verifyCarType() && FunctionBuildConfig.v2nMainSwitch && FunctionBuildConfig.isNewV2NData) {
handler.removeMessages(MSG_WHAT_DRAW_PEOPLE_CROSS)
handler.sendMessage(Message.obtain(handler, MSG_WHAT_DRAW_PEOPLE_CROSS, event))
}
}

37
core/function-impl/mogo-core-function-biz/src/main/java/com/mogo/eagle/function/biz/v2x/v2n/scenario/scene/airoad/AiRoadMarker.kt
View File

@@ -11,6 +11,7 @@ import com.mogo.eagle.core.data.enums.EventTypeEnumNew
import com.mogo.eagle.core.data.map.MogoLatLng
import com.mogo.eagle.core.data.map.entity.V2XRoadEventEntity
import com.mogo.eagle.core.function.call.autopilot.CallerChassisLocationWGS84ListenerManager
import com.mogo.eagle.core.function.call.hmi.CallerHmiManager
import com.mogo.eagle.core.function.call.hmi.CallerRoadV2NEventWindowListenerManager
import com.mogo.eagle.core.function.call.map.CallerMapUIServiceManager
import com.mogo.eagle.core.utilcode.mogo.logger.Logger
@@ -101,6 +102,7 @@ class AiRoadMarker {
fun marker(marker: Marker, drawMarker: Boolean, drawRoadLine: Boolean = false, isHighFrequency:Boolean = false) {
val markerId = marker.id
if (isHighFrequency && drawMarker) {
this.marker.set(marker)
Logger.d(TAG, "marker --->poiType: $marker, ${EventTypeEnumNew.getMarker3DRes(marker.poiType)}")
val builder = getOrPutPointOptionBuilder(markerId, V2XConst.V2X_MARKER_OWNER, MAP_MARKER)
builder
@@ -108,6 +110,9 @@ class AiRoadMarker {
.isUseGps(true)
.icon3DRes(EventTypeEnumNew.getMarker3DRes(marker.poiType))
.anchorColor("#D65D5AFF")
.controlAngle(true)
.anchor(0.5f, 0.5f)
.rotate(marker.poi_angle.toFloat())
.longitude(marker.poi_lon)
.latitude(marker.poi_lat)
CallerMapUIServiceManager.getOverlayManager()?.showOrUpdatePoint(builder.build())?.let { p ->
@@ -119,10 +124,13 @@ class AiRoadMarker {
}
val wrapper = MarkerWrapper(markerId, marker.poi_lon, marker.poi_lat, 1, elapsedDistance = distance)
wrapper.onRemoved = {
Logger.d(TAG, "222 -> marker --->poiType: $marker, ${EventTypeEnumNew.getMarker3DRes(marker.poiType)}")
CallerRoadV2NEventWindowListenerManager.dismiss(markerId)
builders.remove(markerId)
markerIds.remove(p.id)
if (marker.poiType == EventTypeEnumNew.TYPE_SOCKET_ROAD_GREE_WAVE.poiType) {
CallerHmiManager.dismissGreenWave()
} else {
CallerRoadV2NEventWindowListenerManager.dismiss(marker.id)
}
}
wrapper.addPoint(p)
MarkerRemoveManager.addMarker(wrapper)
@@ -222,22 +230,7 @@ class AiRoadMarker {
V2XBizTrace.onAck("$TAG -marker-4-l2:", l2)
val points = LinkedList<MogoLatLng>()
if (l2.points.isNotEmpty()) {
points.addAll(l2.points.reversed()/*.filter {
val location = V2XEventManager.getFirstLocationInCross()
Log.d(TAG, "l2: location -> $location")
if (location != null) {
val carLocation = CallerChassisLocationWGS84ListenerManager.getChassisLocationWGS84()
if (DrivingDirectionUtils.getDegreeOfCar2Poi2(carLocation.longitude, carLocation.latitude, location.longitude, location.latitude, carLocation.heading) > 90) {
//处理同一个路口不同车道调头,这种极端情况
true
} else {
val angle = DrivingDirectionUtils.getDegreeOfCar2Poi2(location.longitude, location.latitude, it.longitude, it.latitude, location.heading)
angle <= 90
}
} else {
true
}
}.*/.map {
points.addAll(l2.points.reversed().map {
MogoLatLng(it.latitude, it.longitude)
})
}
@@ -330,7 +323,11 @@ class AiRoadMarker {
roadMarker.removeMarkers()
handler.removeCallbacks(checkExpiredTask)
aiMakers.remove(marker.id)
CallerRoadV2NEventWindowListenerManager.dismiss("${marker.poi_lon}-${marker.poi_lat}")
if (marker.poiType == EventTypeEnumNew.TYPE_SOCKET_ROAD_GREE_WAVE.poiType) {
CallerHmiManager.dismissGreenWave()
} else {
CallerRoadV2NEventWindowListenerManager.dismiss(marker.id)
}
}
}
@@ -373,7 +370,7 @@ class AiRoadMarker {
val poi_angle: Double,
val polygon: List<Pair<Double, Double>>? = null,
var farthestPoint: Pair<Double, Double>? = null,
var entity: V2XRoadEventEntity? = null
var entity: V2XRoadEventEntity? = null,
) {
override fun equals(other: Any?): Boolean {

25
core/function-impl/mogo-core-function-datacenter/src/main/java/com/mogo/eagle/core/function/datacenter/autopilot/telematic/TeleMsgHandler.kt
View File

@@ -16,6 +16,7 @@ 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.setIgnoreConditionDraw
import com.mogo.eagle.core.function.call.autopilot.CallerV2nNioEventListenerManager
import com.mogo.eagle.core.function.call.cloud.CallerCloudListenerManager
import com.mogo.eagle.core.function.call.devatools.CallerDevaToolsManager
import com.mogo.eagle.core.function.call.map.CallerMapUIServiceManager
@@ -78,6 +79,30 @@ class TeleMsgHandler : IMsgHandler {
return
}
if (it.protocolType == TelematicConstant.V2N_AI_ROAD_PEOPLE_CROSS) {
runCatching {
Log.d(TAG, "乘客屏收到司机屏转发云端下发的行人/非机动车横穿事件 --- 1 ---")
CallerV2nNioEventListenerManager.invokeV2nNioCrossoverEvent(MessagePad.Event.parseFrom(msg.body))
Log.d(TAG, "乘客屏收到司机屏转发云端下发的行人/非机动车横穿事件 --- 2 ---")
}
return
}
if (it.protocolType == TelematicConstant.V2N_AI_ROAD_GREEN_WAVE) {
runCatching {
Log.d(TAG, "乘客屏收到司机屏转发云端下发的绿波通行 --- 1 ---")
CallerV2nNioEventListenerManager.invokeV2nNioGreenWavePassageEvent(MessagePad.V2nCrossSpeed.parseFrom(msg.body))
Log.d(TAG, "乘客屏收到司机屏转发云端下发的绿波通行 --- 2 ---")
}
return
}
if (it.protocolType == TelematicConstant.V2N_AI_ROAD_OTHER_RETROGRADE_VEHICLE) {
runCatching {
Log.d(TAG, "乘客屏收到司机屏转发云端下发的他车逆行 --- 1 ---")
CallerV2nNioEventListenerManager.invokeV2nNioOtherRetrogradeEvent(MessagePad.Event.parseFrom(msg.body))
Log.d(TAG, "乘客屏收到司机屏转发云端下发的他车逆行 --- 2 ---")
}
return
}
if (it.protocolType == TelematicConstant.V2N_NEW_LINK_SWITCH) {
try {
Log.d(TAG, "乘客屏收到司机屏转发的新链路开关 --- 1 ---")

37
core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/hmi/ui/MoGoHmiProvider.kt
View File

@@ -1,6 +1,7 @@
package com.mogo.eagle.core.function.hmi.ui
import android.content.Context
import android.telecom.Call
import android.text.TextUtils
import android.view.Gravity
import android.view.ViewGroup
@@ -86,9 +87,6 @@ class MoGoHmiProvider : IMoGoHmiProvider {
private val xiaozhi by lazy { XiaoZhiStateManager() }
private val greenWave by lazy { AtomicReference<MoGoPopWindow>() }
override fun init(context: Context?) {
this.context = context
}
@@ -410,39 +408,10 @@ class MoGoHmiProvider : IMoGoHmiProvider {
}
override fun showGreenWave(min: Int, max: Int, cross: Int) {
val activity = AppStateManager.currentActivity() ?: return
activity.lifeCycleScope.launch {
greenWave.get()?.hide()
val content = GreenWaveView(activity)
MoGoPopWindow.Builder()
.contentView(content)
.width(WindowManager.LayoutParams.WRAP_CONTENT)
.height(WindowManager.LayoutParams.WRAP_CONTENT)
.attachToActivity(activity)
.draggable(true)
.gravityInActivity(Gravity.CENTER)
.also {
if (AppIdentityModeUtils.isPassenger(FunctionBuildConfig.appIdentityMode)) {
it.offsetX(960)
it.offsetY(445)
} else {
it.offsetX(980)
it.offsetY(-324)
}
}
.onDismissed {
greenWave.set(null)
}
.onShowed {
content.bind(min, max, cross)
}
.build().also {
greenWave.set(it)
}.show()
}
CallerHmiViewControlListenerManager.invokeGreenWaveVisible(min, max, cross)
}
override fun dismissGreenWave() {
greenWave.get()?.hide()
CallerHmiViewControlListenerManager.invokeGreenWaveDismiss()
}
}

43
core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/hmi/ui/greenwave/GreenWaveView.kt
View File

@@ -4,6 +4,7 @@ import android.content.Context
import android.util.AttributeSet
import android.view.LayoutInflater
import android.view.MotionEvent
import android.view.View
import android.view.ViewGroup
import android.widget.ImageView
import android.widget.LinearLayout
@@ -13,7 +14,9 @@ import androidx.recyclerview.widget.RecyclerView
import com.mogo.eagle.core.data.config.FunctionBuildConfig
import com.mogo.eagle.core.data.map.MogoLocation
import com.mogo.eagle.core.function.api.autopilot.IMoGoChassisLocationGCJ02Listener
import com.mogo.eagle.core.function.api.hmi.view.IViewControlListener
import com.mogo.eagle.core.function.call.autopilot.CallerChassisLocationGCJ02ListenerManager
import com.mogo.eagle.core.function.call.hmi.CallerHmiViewControlListenerManager
import com.mogo.eagle.core.function.hmi.R
import com.mogo.eagle.core.utilcode.kotlin.scope
import com.mogo.eagle.core.utilcode.mogo.AppIdentityModeUtils
@@ -32,7 +35,7 @@ import kotlinx.android.synthetic.main.view_green_wave_driver_layout.view.recomme
import kotlinx.android.synthetic.main.view_green_wave_passenger_layout.view.recommend_cross as passenger_recommend_cross
import kotlinx.android.synthetic.main.view_green_wave_driver_layout.view.recommend_cross as driver_recommend_cross
class GreenWaveView: LinearLayout, IMoGoChassisLocationGCJ02Listener, RecyclerView.OnItemTouchListener, Runnable {
class GreenWaveView: LinearLayout, IMoGoChassisLocationGCJ02Listener, RecyclerView.OnItemTouchListener, Runnable, IViewControlListener {
companion object {
private const val TAG = "GreenWaveView"
@@ -86,15 +89,7 @@ class GreenWaveView: LinearLayout, IMoGoChassisLocationGCJ02Listener, RecyclerVi
override fun onAttachedToWindow() {
super.onAttachedToWindow()
CallerChassisLocationGCJ02ListenerManager.addListener(TAG, 5, this)
val rv: RecyclerView? = if (isDriver) driver_wave_rv else passenger_wave_rv
rv?.addItemDecoration(CommonDividerItemDecoration.Builder()
.spanCountTBCare(false)
.horizontalInnerSpace(SizeUtils.dp2px(10f))
.build())
rv?.addOnItemTouchListener(this)
rv?.layoutManager = LinearLayoutManager(context, LinearLayoutManager.HORIZONTAL, true)
rv?.adapter = WaveAdapter()
startAutoScroll()
CallerHmiViewControlListenerManager.addListener(TAG, this)
}
private fun startAutoScroll() {
@@ -123,6 +118,7 @@ class GreenWaveView: LinearLayout, IMoGoChassisLocationGCJ02Listener, RecyclerVi
override fun onDetachedFromWindow() {
super.onDetachedFromWindow()
CallerChassisLocationGCJ02ListenerManager.removeListener(TAG)
CallerHmiViewControlListenerManager.removeListener(this)
val rv: RecyclerView? = if (isDriver) driver_wave_rv else passenger_wave_rv
rv?.removeOnItemTouchListener(this)
stopAutoScroll()
@@ -146,8 +142,18 @@ class GreenWaveView: LinearLayout, IMoGoChassisLocationGCJ02Listener, RecyclerVi
}
}
fun bind(minSpeed: Int, maxSpeed: Int, cross: Int) {
private fun show(minSpeed: Int, maxSpeed: Int, cross: Int) {
scope.launch {
this@GreenWaveView.visibility = View.VISIBLE
val rv: RecyclerView? = if (isDriver) driver_wave_rv else passenger_wave_rv
rv?.addItemDecoration(CommonDividerItemDecoration.Builder()
.spanCountTBCare(false)
.horizontalInnerSpace(SizeUtils.dp2px(10f))
.build())
rv?.addOnItemTouchListener(this@GreenWaveView)
rv?.layoutManager = LinearLayoutManager(context, LinearLayoutManager.HORIZONTAL, true)
rv?.adapter = WaveAdapter()
startAutoScroll()
if (isDriver) {
driver_recommend_speed?.text = "建议车速${minSpeed}-${maxSpeed}km/h"
driver_recommend_cross?.text = "可丝滑通过${cross}个路口"
@@ -157,4 +163,19 @@ class GreenWaveView: LinearLayout, IMoGoChassisLocationGCJ02Listener, RecyclerVi
}
}
}
private fun hide() {
scope.launch {
visibility = View.GONE
}
}
override fun onGreenWaveViewDismiss() {
hide()
}
override fun onGreenWaveViewVisible(min: Int, max: Int, cross: Int) {
super.onGreenWaveViewVisible(min, max, cross)
show(min, max, cross)
}
}

3
core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/angle/scenes/CrossRoad.kt
View File

@@ -3,13 +3,14 @@ package com.mogo.eagle.core.function.angle.scenes
import com.mogo.eagle.core.function.api.map.angle.Scene
import com.mogo.map.uicontroller.VisualAngleMode
import com.mogo.map.uicontroller.VisualAngleMode.MAP_STYLE_VR_ANGLE_CROSS
import com.mogo.map.uicontroller.VisualAngleMode.MAP_STYLE_VR_ANGLE_CROSS_NEW
/**
* 十字路口
*/
class CrossRoad(private val delayTime: Long): Scene {
override val angle: VisualAngleMode
get() = MAP_STYLE_VR_ANGLE_CROSS
get() = MAP_STYLE_VR_ANGLE_CROSS_NEW
override val priority: Int = 0
override val displayThreshold: Long

2
core/mogo-core-data/src/main/java/com/mogo/eagle/core/data/enums/EventTypeEnumNew.kt
View File

@@ -830,7 +830,7 @@ enum class EventTypeEnumNew(
}
TYPE_SOCKET_ROAD_CONGESTION.poiType -> R.raw.v2x_yongdu
TYPE_SOCKET_ROAD_PEOPLE_CROSS.poiType -> if (FunctionBuildConfig.skinMode != 0) TrafficTypeEnum.TYPE_TRAFFIC_ID_PEOPLE.traffic3DIconId else TrafficTypeEnum.TYPE_TRAFFIC_ID_PEOPLE.traffic3DNightIconId
TYPE_SOCKET_ROAD_OTHER_RETROGRADE_VEHICLE.poiType -> if (FunctionBuildConfig.skinMode != 0) TrafficTypeEnum.TYPE_TRAFFIC_ID_TA_CHE.traffic3DIconId else TrafficTypeEnum.TYPE_TRAFFIC_ID_TA_CHE.traffic3DNightIconId
TYPE_SOCKET_ROAD_OTHER_RETROGRADE_VEHICLE.poiType -> R.raw.tachexiaoche_collision
else -> 0
}
}

6
core/mogo-core-data/src/main/java/com/mogo/eagle/core/data/multidisplay/TelematicConstant.kt
View File

@@ -17,8 +17,12 @@ class TelematicConstant {
const val OBU_RUNREDLIGHT_WARNING = 200 //闯红灯预警开关
const val OBU_GREENWAVE_WARNING = 201 //绿波通行开关
const val V2N_NEW_LINK_SWITCH = 202 // FunctionBuildConfig#v2nMainSwitch & FunctionBuildConfig#isNewV2NData
const val V2N_AI_ROAD_PEOPLE_CROSS = 203
const val V2N_AI_ROAD_GREEN_WAVE = 204
const val V2N_AI_ROAD_OTHER_RETROGRADE_VEHICLE = 205
}
}

10
core/mogo-core-function-api/src/main/java/com/mogo/eagle/core/function/api/hmi/view/IViewControlListener.kt
View File

@@ -48,4 +48,14 @@ interface IViewControlListener {
*/
fun updateFuncMode(tag:String, boolean: Boolean){}
/**
* 绿波通行控件展示
*/
fun onGreenWaveViewVisible(min: Int, max: Int, cross: Int) {}
/**
* 绿波通行控件隐藏
*/
fun onGreenWaveViewDismiss() {}
}

14
core/mogo-core-function-call/src/main/java/com/mogo/eagle/core/function/call/hmi/CallerHmiViewControlListenerManager.kt
View File

@@ -31,6 +31,20 @@ object CallerHmiViewControlListenerManager : CallerBase<IViewControlListener>()
}
}
fun invokeGreenWaveVisible(min: Int, max: Int, cross: Int) {
M_LISTENERS.forEach {
val listener = it.value
listener.onGreenWaveViewVisible(min, max, cross)
}
}
fun invokeGreenWaveDismiss() {
M_LISTENERS.forEach {
val listener = it.value
listener.onGreenWaveViewDismiss()
}
}
fun updateStatusBarRightView(
tag: String,
insert: Boolean,

BIN
core/mogo-core-res/src/main/res/raw/tachexiaoche_collision.nt3d Normal file
View File

Binary file not shown.

13
libraries/mapmodule/src/main/java/com/zhidaoauto/map/sdk/inner/common/ConstantExt.kt
View File

@@ -44,6 +44,19 @@ object ConstantExt {
//无人机视角-缩放值
const val MAP_STYLE_VR_ZOOM_VAL_DRONE = 2.9f
//新路口视角
const val MAP_STYLE_VR_ANGLE_ROAD_CROSS_NEW = 12
//新路口视角-摄像机高度
const val MAP_STYLE_VR_EYE_HEIGHT_ROAD_CROSS_NEW = 59.3f
//新路口视角-摄像机角度
const val MAP_STYLE_VR_OVER_LOOK_ROAD_CROSS_NEW = 36.3f
//新路口视角-缩放值
const val MAP_STYLE_VR_ZOOM_VAL_ROAD_CROSS_NEW = 2.9f
//漫游距离1公里
const val ROAM_DIS_1KM = 1000f
//漫游距离3公里

9
libraries/mapmodule/src/main/java/com/zhidaoauto/map/sdk/inner/map/MapController.kt
View File

@@ -1558,6 +1558,15 @@ class MapController(private var context: Context?, private val mMapView: IMapVie
-1
)
}
ConstantExt.MAP_STYLE_VR_ANGLE_ROAD_CROSS_NEW -> {
disableSkyboxAndInterpolation(
ConstantExt.MAP_STYLE_VR_EYE_HEIGHT_ROAD_CROSS_NEW,
ConstantExt.MAP_STYLE_VR_OVER_LOOK_ROAD_CROSS_NEW,
ConstantExt.MAP_STYLE_VR_ZOOM_VAL_ROAD_CROSS_NEW,
ConstantExt.MAP_STYLE_VR_ANGLE_ROAD_CROSS_NEW,
-1
)
}
}
if(type != ConstantExt.MAP_STYLE_VR_ROAM) {
mEventController?.dispatchMapViewVisualAngleChangeListener(type)

8
libraries/mogo-map-api/src/main/java/com/mogo/map/uicontroller/VisualAngleMode.kt
View File

@@ -54,10 +54,16 @@ enum class VisualAngleMode(val code: Int) : IMogoMapVisualAngle {
*/
MAP_STYLE_VR_SKY_BOX(10),
/**
* 无人机模式
*/
MAP_STYLE_VR_DRONE(11);
MAP_STYLE_VR_DRONE(11),
/**
* 十字路口视角-新版
*/
MAP_STYLE_VR_ANGLE_CROSS_NEW(12);
override val isLongSight: Boolean
get() = code == MODE_LONG_SIGHT.code